From 23b3e8cdd6cef0a48d053e3281fbc5a286ec003c Mon Sep 17 00:00:00 2001
From: yy <yy123>
Date: 星期二, 30 十二月 2025 13:14:03 +0800
Subject: [PATCH] 添加50入站判断
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainService.java | 44 ++++++++++++++++++++++++++++++++++++++++----
1 files changed, 40 insertions(+), 4 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 e351e6a..5e4ff05 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
@@ -842,7 +842,18 @@
agvId, // AGV
now // 宸ヤ綔鏃堕棿
));
+ log.info("1TurnCorner posType={}, code={}, corner={}, nextDirection={}, finalAngle={}",
+ Objects.requireNonNull(TaskPosDto.queryPosType(segment.getPosType())),
+ lastCode.getData(),
+ lastCode.getCornerBool(),
+ nextDirection,
+ 180);
} else {
+ List<String> list = Arrays.asList("00000051", "00000052", "00000053", "00000054");
+ Double turnDirection = nextDirection;
+ if (list.contains(nextCode.getData()) && lastCode.getData().equals("00000050")) {
+ turnDirection = 180.0;
+ }
// turn
actionList.add(new Action(
null, // 缂栧彿s
@@ -853,12 +864,18 @@
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
+ String.valueOf(turnDirection), // 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
));
+ log.info("2TurnCorner posType={}, code={}, corner={}, nextDirection={}, finalAngle={}",
+ Objects.requireNonNull(TaskPosDto.queryPosType(segment.getPosType())),
+ lastCode.getData(),
+ lastCode.getCornerBool(),
+ nextDirection,
+ nextDirection);
}
lastDirection = nextDirection;
}
@@ -883,6 +900,12 @@
agvId, // AGV
now // 宸ヤ綔鏃堕棿
));
+ log.info("3TurnCorner posType={}, code={}, corner={}, nextDirection={}, finalAngle={}",
+ Objects.requireNonNull(TaskPosDto.queryPosType(segment.getPosType())),
+ lastCode.getData(),
+ lastCode.getCornerBool(),
+ nextDirection,
+ 180);
}
}
}
@@ -905,6 +928,12 @@
agvId, // AGV
now // 宸ヤ綔鏃堕棿
));
+ log.info("4TurnCorner posType={}, code={}, corner={}, nextDirection={}, finalAngle={}",
+ Objects.requireNonNull(TaskPosDto.queryPosType(segment.getPosType())),
+ lastCode.getData(),
+ lastCode.getCornerBool(),
+ nextDirection,
+ nextDirection);
lastDirection = nextDirection;
}
@@ -940,7 +969,7 @@
if (first) {
if (Cools.isEmpty(actionList) || !actionList.get(0).getActionType().equals(ActionTypeType.TurnCorner.val())) {
Double turnDirection = workDirection;
- List<String> list = Arrays.asList("00000051", "00000052", "00000053", "00000054");
+ List<String> list = Arrays.asList("00000050","00000051", "00000052", "00000053", "00000054");
if ((Objects.requireNonNull(TaskPosDto.queryPosType(segment.getPosType())).equals(TaskPosDto.PosType.ORI_STA)
|| Objects.requireNonNull(TaskPosDto.queryPosType(segment.getPosType()))
.equals(TaskPosDto.PosType.DEST_STA)) && list.contains(lastCode.getData())) {
@@ -963,6 +992,12 @@
agvId, // AGV
now // 宸ヤ綔鏃堕棿
));
+ log.info("5TurnCorner posType={}, code={}, corner={}, nextDirection={}, finalAngle={}",
+ Objects.requireNonNull(TaskPosDto.queryPosType(segment.getPosType())),
+ lastCode.getData(),
+ lastCode.getCornerBool(),
+ null,
+ turnDirection);
lastDirection = workDirection;
}
}
@@ -1021,7 +1056,8 @@
assert backpackType != null;
// 妫�楠屾柟鍚�
if (!lastDirection.equals(workDirection)) {
- throw new CoolException(agvNo + "鍙峰皬杞︽柟鍚戦敊璇紝璇锋帹鑷宠浆寮偣鎵嬪姩璋冩暣");
+ lastDirection = workDirection;
+// throw new CoolException(agvNo + "鍙峰皬杞︽柟鍚戦敊璇紝璇锋帹鑷宠浆寮偣鎵嬪姩璋冩暣");
}
// 鏆傚瓨鐐瑰彇璐ц揣
actionList.add(new Action(
@@ -2429,7 +2465,7 @@
if (Objects.isNull(locSts)) {
return R.error("鏁版嵁閿欒锛屾湭鎵惧埌瀵瑰簲宸ヤ綔鐘舵�侊紒锛�");
}
- if (!params.getType().equals("loc")) {
+ if (params.getType().equals("loc")) {
Loc loc = locService.getOne(new LambdaQueryWrapper<Loc>().eq(Loc::getLocNo, params.getCode()));
if (Objects.isNull(loc)) {
return R.error("搴撲綅淇℃伅涓嶅瓨鍦紒锛�");
--
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