From 84e12ecd3923f28b62b8659b138a554b0f6e084d Mon Sep 17 00:00:00 2001
From: zhangc <zc@123>
Date: 星期五, 30 一月 2026 15:16:53 +0800
Subject: [PATCH] Merge remote-tracking branch 'origin/rcs_master' into rcs_master
---
zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/MissionServiceImpl.java | 7 +++++++
1 files changed, 7 insertions(+), 0 deletions(-)
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/MissionServiceImpl.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/MissionServiceImpl.java
index 25c6b9b..cd79ba3 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/MissionServiceImpl.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/MissionServiceImpl.java
@@ -180,6 +180,13 @@
if (null != turnActionId) {
Action turn = actionService.getById(turnActionId);
Double direction = Double.parseDouble(turn.getParams());
+
+ if (!lastDirection.equals(direction)) {
+ if (!code.getCornerBool()) {
+ throw new CoolException(agvDetail.getAgvId$() + "鍙峰皬杞︽柟鍚戦敊璇紝璇锋帹鑷宠浆寮偣鎵嬪姩璋冩暣");
+ }
+ }
+
// new turn action
prependTurn = new Action(
null, // 缂栧彿
--
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