From 7c893c661975dd03600113d84d3d5fadd33d1cb2 Mon Sep 17 00:00:00 2001
From: vincentlu <t1341870251@gmail.com>
Date: 星期一, 12 一月 2026 14:57:23 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainService.java | 20 ++++++++++++++++++--
1 files changed, 18 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 977eeba..c6c48e3 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
@@ -90,7 +90,7 @@
@Autowired
private SegmentService segmentService;
@Autowired
- private TrafficService trafficService;
+ private LaneService laneService;
@Autowired
private AgvModelService agvModelService;
@Autowired
@@ -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());
@@ -947,9 +948,24 @@
Double nextDirection = mapService.calculateDirection(lastCode, nextCode, angleOffsetVal);
// 鍙嶅悜瑙�
- final double oppWorkDir = (workDirection + 180) % 360;
final double oppLastDir = (lastDirection + 180) % 360;
+ // 宸烽亾閫昏緫
+ if (!laneBuilder.isInitialized()) {
+ throw new BusinessException("lanes are not initialized");
+ }
+ LaneDto lastLaneDto = laneBuilder.search(lastCode.getData());
+ LaneDto nextLaneDto = laneBuilder.search(nextCode.getData());
+ // 杩涘叆宸烽亾瑙掑害
+ Double laneDir = laneService.getLaneDirection(nextLaneDto);
+ // 绗竴娆¤繘鍏ユ宸烽亾
+ boolean firstEnteringLane = null != laneDir && (
+ lastLaneDto == null
+ || !Objects.equals(lastLaneDto.getHashCode(), nextLaneDto.getHashCode())
+ );
+
+
+
// 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
boolean reverse = false;
if (nextDirection.equals(oppWorkDir)) {
--
Gitblit v1.9.1