From 62173395ea959cb4274986ec8a795c9f228934e9 Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期二, 12 十一月 2024 15:56:53 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/fake/AgvSimulatorTask.java | 35 ++++-------------------------------
zy-acs-flow/src/map/tool.js | 2 +-
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapService.java | 4 ++--
3 files changed, 7 insertions(+), 34 deletions(-)
diff --git a/zy-acs-flow/src/map/tool.js b/zy-acs-flow/src/map/tool.js
index 59f467f..ab5e99f 100644
--- a/zy-acs-flow/src/map/tool.js
+++ b/zy-acs-flow/src/map/tool.js
@@ -656,7 +656,7 @@
}
}
-const agvRotationOffsetDegrees = 90;
+const agvRotationOffsetDegrees = 0;
const agvRotationOffset = rotationParseNum(agvRotationOffsetDegrees);
const showAgvSprite = (curZone, agvVo, setCurSprite) => {
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 86c4139..3a13c86 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
@@ -124,8 +124,8 @@
double deltaX = x1 - x0;
double deltaY = y1 - y0;
double angle = Math.atan2(deltaX, deltaY);
- int offsetAngle = configService.getVal("mapXoffset", Integer.class);
- angle = angle + offsetAngle;
+ int angleOffsetVal = configService.getVal("mapAngleOffsetVal", Integer.class);
+ angle = angle + angleOffsetVal;
angle = Math.toDegrees(angle);
angle = (angle + 360) % 360; // 灏嗚搴﹁浆鎹负姝ｅ��
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/fake/AgvSimulatorTask.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/fake/AgvSimulatorTask.java
index 55028a4..869cb02 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/fake/AgvSimulatorTask.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/fake/AgvSimulatorTask.java
@@ -86,6 +86,7 @@
switch (Objects.requireNonNull(ActionTypeType.get(action.getActionTypeEl()))) {
case TurnCorner:
+ simulateWalking(agv, agvDetail, action);
simulateRotating(agv, agvDetail, action);
break;
case StraightBackUnturnable:
@@ -107,12 +108,9 @@
private void simulateWalking(Agv agv, AgvDetail agvDetail, Action action) throws InterruptedException {
- Code currCode = codeService.getById(agvDetail.getRecentCode());
Code code = codeService.selectByData(action.getCode());
-
agvDetail.setPos(1);
agvDetail.setCode(code.getId());
-
// 妯℃嫙鐢甸噺娑堣��
// agvDetail.setVol(agvDetail.getVol() - 0.1 * distanceToMove); // 鏍规嵁璺濈娑堣�楃數閲�
@@ -125,7 +123,6 @@
action.setActionSts(ActionStsType.FINISH.val());
actionService.updateById(action);
-
}
/**
@@ -136,37 +133,13 @@
* @param action 褰撳墠鍔ㄤ綔
*/
private void simulateRotating(Agv agv, AgvDetail agvDetail, Action action) throws InterruptedException {
-
-// double totalAngle = Double.parseDouble(action.getParams());
-// double stepAngle = 90.0;
-// double actionProgress = 0.0;
-//
-// while (actionProgress < totalAngle) {
-// double angleToRotate = Math.min(stepAngle, totalAngle - actionProgress);
-// // 鏇存柊AGV鐨勮搴�
-// double newAngle = (agvDetail.getAgvAngle() + angleToRotate) % 360;
-// agvDetail.setAgvAngle(newAngle);
-//
-// // 妯℃嫙鐢甸噺娑堣��
-//// agvDetail.setVol(agvDetail.getVol() - 0.05 * (angleToRotate / 15.0)); // 鏍规嵁瑙掑害娑堣�楃數閲�
-//
-// agvDetailService.updateById(agvDetail);
-//
-// Thread.sleep(1000);
-//
-// actionProgress += angleToRotate;
-// }
-
double actionAngle = Double.parseDouble(action.getParams());
-
- double newAngle = (agvDetail.getAgvAngle() + actionAngle) % 360;
-
- agvDetail.setAgvAngle(newAngle);
+ agvDetail.setAgvAngle(actionAngle);
+ // 妯℃嫙鐢甸噺娑堣��?
+// agvDetail.setVol(agvDetail.getVol() - 0.05 * (angleToRotate / 15.0)); // 鏍规嵁瑙掑害娑堣�楃數閲�
Thread.sleep(1000);
-
agvDetailService.updateById(agvDetail);
-
action.setActionSts(ActionStsType.FINISH.val());
actionService.updateById(action);
}
--
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