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 | 17 +++++++++++------
1 files changed, 11 insertions(+), 6 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 04ef31d..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
@@ -842,13 +842,18 @@
agvId, // AGV
now // 宸ヤ綔鏃堕棿
));
- log.info("TurnCorner posType={}, code={}, corner={}, nextDirection={}, finalAngle={}",
+ 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
@@ -859,13 +864,13 @@
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("TurnCorner posType={}, code={}, corner={}, nextDirection={}, finalAngle={}",
+ log.info("2TurnCorner posType={}, code={}, corner={}, nextDirection={}, finalAngle={}",
Objects.requireNonNull(TaskPosDto.queryPosType(segment.getPosType())),
lastCode.getData(),
lastCode.getCornerBool(),
@@ -895,7 +900,7 @@
agvId, // AGV
now // 宸ヤ綔鏃堕棿
));
- log.info("TurnCorner posType={}, code={}, corner={}, nextDirection={}, finalAngle={}",
+ log.info("3TurnCorner posType={}, code={}, corner={}, nextDirection={}, finalAngle={}",
Objects.requireNonNull(TaskPosDto.queryPosType(segment.getPosType())),
lastCode.getData(),
lastCode.getCornerBool(),
@@ -923,7 +928,7 @@
agvId, // AGV
now // 宸ヤ綔鏃堕棿
));
- log.info("TurnCorner posType={}, code={}, corner={}, nextDirection={}, finalAngle={}",
+ log.info("4TurnCorner posType={}, code={}, corner={}, nextDirection={}, finalAngle={}",
Objects.requireNonNull(TaskPosDto.queryPosType(segment.getPosType())),
lastCode.getData(),
lastCode.getCornerBool(),
@@ -987,7 +992,7 @@
agvId, // AGV
now // 宸ヤ綔鏃堕棿
));
- log.info("TurnCorner posType={}, code={}, corner={}, nextDirection={}, finalAngle={}",
+ log.info("5TurnCorner posType={}, code={}, corner={}, nextDirection={}, finalAngle={}",
Objects.requireNonNull(TaskPosDto.queryPosType(segment.getPosType())),
lastCode.getData(),
lastCode.getCornerBool(),
--
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