From 507d28f90ec6772b3e4d73a57aad59263031112b Mon Sep 17 00:00:00 2001
From: vincentlu <t1341870251@gmail.com>
Date: 星期五, 21 三月 2025 08:13:51 +0800
Subject: [PATCH] Merge remote-tracking branch 'origin/jbly' into jbly
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainService.java | 2 +-
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapService.java | 14 +++++++++++++-
2 files changed, 14 insertions(+), 2 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 19e6b38..060eea6 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
@@ -667,7 +667,7 @@
List<Action> actionList = new ArrayList<>();
// start node
Code lastCode = codeService.getCacheById(agvDetail.getRecentCode());
- Double lastDirection = agvDetail.getAgvAngle();
+ Double lastDirection = MapService.mapToNearest(agvDetail.getAgvAngle());
if (!lastCode.getData().equals(pathList.get(0))) {
throw new CoolException("AGV[" + agvNo + "]瀹氫綅鍋忕Щ...");
}
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapService.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapService.java
index 1f0817d..cb00614 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapService.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapService.java
@@ -123,6 +123,18 @@
}).collect(Collectors.toList());
}
+ public static Double mapToNearest(Double angle) {
+ if (null == angle) {
+ return null;
+ }
+ angle = (angle + 360) % 360;
+ double remainder = angle % 45;
+ if (remainder < 22.5) {
+ return angle - remainder;
+ } else {
+ return angle + (45 - remainder);
+ }
+ }
// 瑙掑害璁＄畻
public Double calculateDirection(Code startCode, Code endCode, int angleOffsetVal) {
@@ -134,7 +146,7 @@
double deltaX = x1 - x0;
double deltaY = y1 - y0;
- double angle = -Math.atan2(deltaX, deltaY);
+ double angle = Math.atan2(deltaX, deltaY);
angle = Math.toDegrees(angle) + angleOffsetVal;
angle = (angle + 360) % 360; // 灏嗚搴﹁浆鎹负姝ｅ��
--
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