From 13ea8b334572c2423abb8d156fd8428f8d074172 Mon Sep 17 00:00:00 2001
From: zhang <zc857179121@qq.com>
Date: 星期四, 03 七月 2025 08:24:58 +0800
Subject: [PATCH] 1
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/DemoController.java | 17 ++++++++---------
1 files changed, 8 insertions(+), 9 deletions(-)
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/DemoController.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/DemoController.java
index 09533ab..341654f 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/DemoController.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/DemoController.java
@@ -7,10 +7,7 @@
import com.zy.acs.manager.core.service.*;
import com.zy.acs.manager.core.service.astart.MapDataDispatcher;
import com.zy.acs.manager.core.utils.RouteGenerator;
-import com.zy.acs.manager.manager.entity.Agv;
-import com.zy.acs.manager.manager.entity.AgvDetail;
-import com.zy.acs.manager.manager.entity.Code;
-import com.zy.acs.manager.manager.entity.FuncSta;
+import com.zy.acs.manager.manager.entity.*;
import com.zy.acs.manager.manager.enums.FuncStaType;
import com.zy.acs.manager.manager.enums.StatusType;
import com.zy.acs.manager.manager.service.*;
@@ -38,7 +35,7 @@
@Autowired
private TaskService taskService;
@Autowired
- private MainService mainService;
+ private MainLxtService mainService;
@Autowired
private MainLockWrapService mainLockWrapService;
@Autowired
@@ -49,8 +46,6 @@
private JdbcTemplate jdbcTemplate;
@Autowired
private LocService locService;
- @Autowired
- private TrafficService trafficService;
@Autowired
private ThreadPoolRegulator threadPoolRegulator;
@Autowired
@@ -63,6 +58,8 @@
private RouteGenerator routeGenerator;
@Autowired
private FuncStaService funcStaService;
+ @Autowired
+ private AgvModelService agvModelService;
@RequestMapping(value = "/system/info", method = {RequestMethod.GET, RequestMethod.POST})
public R systemInfo() {
@@ -138,7 +135,7 @@
.eq(FuncSta::getType, FuncStaType.STANDBY.toString())
.orderByAsc(FuncSta::getId));
- List<Agv> agvList = agvService.list(new LambdaQueryWrapper<Agv>().eq(Agv::getStatus, StatusType.ENABLE.val).orderByAsc(Agv::getId));
+ List<Agv> agvList = agvService.list(new LambdaQueryWrapper<Agv>().eq(Agv::getStatus, StatusType.ENABLE.val). orderByAsc(Agv::getId));
int size = Math.min(standbyFunStaList.size(), agvList.size());
@@ -149,11 +146,13 @@
Agv agv = agvList.get(i);
AgvDetail agvDetail = agvDetailService.selectByAgvId(agv.getId());
+ AgvModel agvModel = agvModelService.getByAgvId(agv.getId());
+ Double workDirection = agvModel.getWorkDirection();
agvDetail.setPos(1);
agvDetail.setCode(code.getId());
agvDetail.setStatus(AgvStatusType.IDLE.val);
- agvDetail.setAgvAngle(90D);
+ agvDetail.setAgvAngle(workDirection);
agvDetail.setVol(5000);
agvDetailService.updateById(agvDetail);
--
Gitblit v1.9.1