From 6aebedee20f028bab732befc4cf6ae1780b3bf07 Mon Sep 17 00:00:00 2001
From: vincentlu <t1341870251@gmail.com>
Date: 星期四, 05 二月 2026 15:15:17 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapService.java | 25 ++++++++++---------------
1 files changed, 10 insertions(+), 15 deletions(-)
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 d792dd8..ae8ee1c 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
@@ -1,13 +1,12 @@
package com.zy.acs.manager.core.service;
import com.alibaba.fastjson.JSON;
-import com.zy.acs.common.enums.AgvDirectionType;
+import com.zy.acs.common.enums.ActuatorDirectionType;
import com.zy.acs.framework.common.Cools;
import com.zy.acs.manager.core.constant.MapDataConstant;
import com.zy.acs.manager.core.domain.DirectionDto;
import com.zy.acs.manager.core.domain.SortCodeDto;
import com.zy.acs.manager.core.domain.UnlockPathTask;
-import com.zy.acs.manager.core.domain.type.CodeDirectionType;
import com.zy.acs.manager.core.service.astart.*;
import com.zy.acs.manager.core.service.astart.domain.AStarNavigateNode;
import com.zy.acs.manager.core.service.astart.domain.DynamicNode;
@@ -159,17 +158,10 @@
return angle;
}
- // 鍧愭爣璐ф灦闃堝�� todo:luxiaotao
- public AgvDirectionType calculateAgvWorkDirectionByShelf(Loc loc, Code code) {
+ // 鍧愭爣璐ф灦闃堝��
+ public ActuatorDirectionType calculateAgvWorkDirectionByShelf(Loc loc, Code code) {
Integer compDirect = loc.getCompDirect();
- AgvDirectionType agvDirectionType = null;
- if (compDirect == 0) {
- agvDirectionType = AgvDirectionType.RIGHT;
- }
- if (compDirect == 1) {
- agvDirectionType = AgvDirectionType.LEFT;
- }
- return agvDirectionType;
+ return ActuatorDirectionType.fromVal(compDirect);
}
public Double getStaAngle(Sta sta, Double workDirection) {
@@ -429,6 +421,7 @@
public static void main(String[] args) {
CodeSpinType codeSpinType = calcSpinDirection(null, 260.0, 10.0);
List<DirectionDto> directionDtoList = DirectionDto.initCodeDirections();
+ System.out.println(JSON.toJSONString(directionDtoList));
System.out.println(codeSpinType.toString());
}
@@ -437,9 +430,11 @@
return CodeSpinType.NA;
}
List<Double> disableAngleList = new ArrayList<>();
- List<DirectionDto> directionDtoList = DirectionDto.initCodeDirections();
- if (code.getData().contains("57")) {
- directionDtoList = DirectionDto.initCodeDirections0();
+ List<DirectionDto> directionDtoList;
+ if (!Cools.isEmpty(code.getDirRule())) {
+ directionDtoList = JSON.parseArray(code.getDirRule(), DirectionDto.class);
+ } else {
+ directionDtoList = DirectionDto.initCodeDirections();
}
for (DirectionDto dto : directionDtoList) {
if (null != dto.getEnabled() && !dto.getEnabled()) {
--
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