From 594ef7f4b4f28a9c1d8ca8d97138d16b9ff2f219 Mon Sep 17 00:00:00 2001
From: vincentlu <t1341870251@gmail.com>
Date: 星期一, 12 一月 2026 14:12:45 +0800
Subject: [PATCH] #
---
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/manager/service/impl/CodeGapServiceImpl.java | 10 ++++++++--
2 files changed, 9 insertions(+), 3 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 977eeba..815c73f 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
@@ -907,6 +907,7 @@
AgvModel agvModel = agvModelService.getByAgvId(agvId);
Double workDirection = agvModel.getWorkDirection();
+ final double oppWorkDir = (workDirection + 180) % 360;
boolean backupAction = null != agvModel.getBackupAction() && agvModel.getBackupActionBool();
boolean needUndocking = null != agvModel.getNeedUndocking() && agvModel.getNeedUndockingBool();
AgvSpeedType agvSpeedType = AgvSpeedType.query(agvModel.getTravelSpeed());
@@ -947,7 +948,6 @@
Double nextDirection = mapService.calculateDirection(lastCode, nextCode, angleOffsetVal);
// 鍙嶅悜瑙�
- final double oppWorkDir = (workDirection + 180) % 360;
final double oppLastDir = (lastDirection + 180) % 360;
// 濡傛灉涓嬩竴涓柟鍚戞濂芥槸浣滀笟鏂瑰悜鐨勭浉鍙嶆柟鍚戯紝鍒欓噸缃笅涓�涓柟鍚戜负浣滀笟鏂瑰悜锛屾爣璁� reverse = true
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/CodeGapServiceImpl.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/CodeGapServiceImpl.java
index 138afec..7e73a0d 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/CodeGapServiceImpl.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/CodeGapServiceImpl.java
@@ -75,12 +75,18 @@
}
if (null == codeGap) {
- codeGap = getOne(new LambdaQueryWrapper<CodeGap>().eq(CodeGap::getCode0, code0).eq(CodeGap::getCode1, code1));
+ codeGap = this.getOne(new LambdaQueryWrapper<CodeGap>()
+ .eq(CodeGap::getCode0, code0).eq(CodeGap::getCode1, code1).last("limit 1"));
if (codeGap == null) {
- codeGap = getOne(new LambdaQueryWrapper<CodeGap>().eq(CodeGap::getCode1, code0).eq(CodeGap::getCode0, code1));
+ codeGap = this.getOne(new LambdaQueryWrapper<CodeGap>()
+ .eq(CodeGap::getCode1, code0).eq(CodeGap::getCode0, code1).last("limit 1"));
}
}
+ if (null == codeGap) {
+// throw new CoolException("failed to find code of both " + code0 + " and " + code1);
+ }
+
return codeGap;
}
--
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