From 3b8bd7dbba101f4207a08bf0254a9e58bc708348 Mon Sep 17 00:00:00 2001
From: vincentlu <t1341870251@gmail.com>
Date: 星期一, 19 一月 2026 13:34:12 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/MissionServiceImpl.java | 13 ++++++++++---
1 files changed, 10 insertions(+), 3 deletions(-)
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/MissionServiceImpl.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/MissionServiceImpl.java
index 42d8eb3..cd79ba3 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/MissionServiceImpl.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/MissionServiceImpl.java
@@ -151,8 +151,7 @@
AgvDetail agvDetail = agvDetailService.selectMajorByAgvId(firstAction.getAgvId());
Double lastDirection = MapService.mapToNearest(agvDetail.getAgvAngle());
- List<Action> fullActionList = actionService.list(
- new LambdaQueryWrapper<Action>()
+ List<Action> fullActionList = actionService.list(new LambdaQueryWrapper<Action>()
.eq(Action::getGroupId, actionGroupId)
.select(Action::getId, Action::getActionType, Action::getPriority)
.orderByDesc(Action::getPriority)
@@ -181,6 +180,13 @@
if (null != turnActionId) {
Action turn = actionService.getById(turnActionId);
Double direction = Double.parseDouble(turn.getParams());
+
+ if (!lastDirection.equals(direction)) {
+ if (!code.getCornerBool()) {
+ throw new CoolException(agvDetail.getAgvId$() + "鍙峰皬杞︽柟鍚戦敊璇紝璇锋帹鑷宠浆寮偣鎵嬪姩璋冩暣");
+ }
+ }
+
// new turn action
prependTurn = new Action(
null, // 缂栧彿
@@ -219,9 +225,10 @@
}
int i = newActionList.size();
for (Action action : newActionList) {
+ action.setId(null);
action.setPriority(i);
if (!actionService.save(action)) {
- throw new BusinessException(action.getName() + " Action Update Fail!");
+ throw new BusinessException(action.getName() + " Action Save Fail!");
}
i -= 1;
}
--
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