From 388cf4c7cb8f942332eb0ad8d3c3e1d92714b747 Mon Sep 17 00:00:00 2001
From: vincentlu <t1341870251@gmail.com>
Date: 星期一, 09 三月 2026 14:11:24 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainService.java | 17 +++++++++--------
1 files changed, 9 insertions(+), 8 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 495193d..d58843f 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
@@ -20,10 +20,11 @@
import com.zy.acs.manager.common.exception.BusinessException;
import com.zy.acs.manager.core.domain.AgvBackpackDto;
import com.zy.acs.manager.core.domain.LaneDto;
+import com.zy.acs.manager.core.domain.PathDto;
import com.zy.acs.manager.core.domain.TaskPosDto;
import com.zy.acs.manager.core.integrate.conveyor.ConveyorStationService;
-import com.zy.acs.manager.core.service.astart.MapDataDispatcher;
import com.zy.acs.manager.core.integrate.dto.OpenBusSubmitParam;
+import com.zy.acs.manager.core.service.astart.MapDataDispatcher;
import com.zy.acs.manager.manager.entity.*;
import com.zy.acs.manager.manager.enums.*;
import com.zy.acs.manager.manager.service.*;
@@ -383,7 +384,7 @@
int idx = -1;
for (int i = 0; i < destPosList.size(); i++) {
if (Objects.equals(destPosList.get(i).getTaskId(), newDto.getTaskId())
- && Objects.equals(destPosList.get(i).getCodeId(), newDto.getCodeId())) {
+ && Objects.equals(destPosList.get(i).getCodeId(), newDto.getCodeId())) {
idx = i;
break;
}
@@ -893,7 +894,7 @@
* 鏍规嵁鍒嗙墖鐢熸垚鍔ㄤ綔 ( 杞﹁締鍙兘宸茬粡鍋氳繃涓�浜涗换鍔′簡,姝ｅ湪绛夊緟涓嬩竴娈典换鍔� )
*/
@Transactional
- public synchronized void generateAction(Long agvId, List<Segment> segmentList, List<String> pathList, Date algoStartTime) {
+ public synchronized List<PathDto> generateAction(Long agvId, List<Segment> segmentList, List<String> pathList, Date algoStartTime) {
try {
if (Cools.isEmpty(agvId, segmentList)) { return; }
Date now = new Date();
@@ -1239,7 +1240,7 @@
task.getBusId(), // 鎬荤嚎
task.getId(), // 浠诲姟
null, // 鍔ㄤ綔鍙�
- null, // 浼樺厛绾�
+ null, // 浼樺厛绾�
ActionTypeType.ReadyReleaseToShelvesLoc.desc, // 鍚嶇О
(double) actuatorDirectionType.val, // 灞炴�у��
lastCode.getData(), // 鍦伴潰鐮�
@@ -1253,7 +1254,7 @@
case ORI_STA:
// 绔欑偣鍙栬揣
Sta oriSta = staService.getById(task.getOriSta());
- Double oriStaWorkDirection = mapService.getStaAngle(oriSta, workDirection);
+ Double oriStaWorkDirection = mapService.getStaAngle(oriSta);
// 妫�楠屾柟鍚�
if (!lastDirection.equals(oriStaWorkDirection)) {
if (!lastCode.getCornerBool()) {
@@ -1318,7 +1319,7 @@
case DEST_STA:
// 绔欑偣鏀捐揣
Sta destSta = staService.getById(task.getDestSta());
- Double destStaWorkDirection = mapService.getStaAngle(destSta, workDirection);
+ Double destStaWorkDirection = mapService.getStaAngle(destSta);
// 妫�楠屾柟鍚�
if (!lastDirection.equals(destStaWorkDirection)) {
if (!lastCode.getCornerBool()) {
@@ -1833,9 +1834,9 @@
// segment list
List<Segment> segmentList = segmentService.list(new LambdaQueryWrapper<Segment>()
- .eq(Segment::getGroupId, serialNo)
+ .eq(Segment::getGroupId, serialNo)
// .eq(Segment::getState, SegmentStateType.RUNNING.toString())
- .orderByAsc(Segment::getSerial)
+ .orderByAsc(Segment::getSerial)
);
// settlement
--
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