From 15cbe9c08401f51e4ad739c48b2743993c966602 Mon Sep 17 00:00:00 2001
From: vincentlu <t1341870251@gmail.com>
Date: 星期一, 17 三月 2025 13:08:42 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainService.java | 45 ++++++++++++++++++++++++++++++++++++++++-----
1 files changed, 40 insertions(+), 5 deletions(-)
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainService.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainService.java
index 8b08e91..efc79ab 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainService.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainService.java
@@ -696,12 +696,48 @@
Code nextCode = codeService.getCacheByData(next);
Double nextDirection = mapService.calculateDirection(lastCode, nextCode, angleOffsetVal);
+ // 濡傛灉鍘讳笅涓妭鐐圭殑鏂瑰悜涓庡綋鍓嶆柟鍚戝樊180搴︼紝鍒欎笉闇�瑕佹棆杞紝鏀逛负鍙嶆柟鍚戣璧帮紝nextDirection缁х画璧嬪�兼槸涓轰簡閬垮厤 鈥樼涓�涓姩浣滀竴瀹氭槸 turn鈥� 鐨勫垽鏂�
boolean reverse = false;
if (nextDirection.equals((workDirection + 180) % 360)) {
nextDirection = workDirection;
reverse = true;
}
- if (!lastDirection.equals(nextDirection) || actionList.isEmpty()) {
+
+ if (!lastCode.getCornerBool()) {
+ if (nextDirection.equals((lastDirection + 180) % 360)) {
+ nextDirection = lastDirection;
+ reverse = true;
+ }
+ } else {
+ if (!lastDirection.equals(nextDirection)) {
+ if (lastDirection.equals((nextDirection + 180) % 360)) {
+ nextDirection = lastDirection;
+ reverse = true;
+ } else {
+ // turn
+ actionList.add(new Action(
+ null, // 缂栧彿
+ task.getBusId(), // 鎬荤嚎
+ task.getId(), // 浠诲姟
+ null, // 鍔ㄤ綔鍙�
+ null, // 浼樺厛绾�
+ ActionTypeType.TurnCorner.desc, // 鍚嶇О
+ mapService.isTurnCorner(lastCode.getData()) ? 1D : 0D, // 灞炴�у��
+ lastCode.getData(), // 鍦伴潰鐮�
+ String.valueOf(nextDirection), // 鍔ㄤ綔鍙傛暟
+ ActionTypeType.TurnCorner.val(), // 鍔ㄤ綔绫诲瀷
+ actionPrepareSts, // 鍔ㄤ綔杩涘害
+ agvId, // AGV
+ now // 宸ヤ綔鏃堕棿
+ ));
+
+ lastDirection = nextDirection;
+ }
+ }
+ }
+
+ // 绗竴涓姩浣滀竴瀹氭槸 turn
+ if (actionList.isEmpty()) {
// turn
actionList.add(new Action(
null, // 缂栧彿
@@ -720,7 +756,6 @@
));
lastDirection = nextDirection;
-
}
// run
@@ -1050,9 +1085,9 @@
action.setStartTime(now);
action.setIoTime(now);
action.setUpdateTime(now);
- if (!actionService.updateById(action)) {
- throw new BusinessException(action.getPriority() + " - " + action.getName() + "鍔ㄤ綔鏇存柊澶辫触");
- }
+ }
+ if (!actionService.updateBatchById(actionList)) {
+ throw new BusinessException("failed to update action batch !!!");
}
// task
--
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