From 98ddfb579a20bc9b753caf326e501ca882e6250d Mon Sep 17 00:00:00 2001
From: vincentlu <t1341870251@gmail.com>
Date: 星期四, 05 二月 2026 11:22:05 +0800
Subject: [PATCH] #
---
/dev/null | 25 ------------
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainService.java | 22 ++++++----
zy-acs-common/src/main/java/com/zy/acs/common/enums/ActuatorDirectionType.java | 30 +++++++++++++++
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapService.java | 6 +-
4 files changed, 46 insertions(+), 37 deletions(-)
diff --git a/zy-acs-common/src/main/java/com/zy/acs/common/enums/ActuatorDirectionType.java b/zy-acs-common/src/main/java/com/zy/acs/common/enums/ActuatorDirectionType.java
new file mode 100644
index 0000000..df899cf
--- /dev/null
+++ b/zy-acs-common/src/main/java/com/zy/acs/common/enums/ActuatorDirectionType.java
@@ -0,0 +1,30 @@
+package com.zy.acs.common.enums;
+
+import com.zy.acs.framework.exception.CoolException;
+
+public enum ActuatorDirectionType {
+
+ LEFT(1),
+ RIGHT(2),
+ FORWARD(3),
+ ;
+
+ public int val;
+
+ ActuatorDirectionType(int val) {
+ this.val = val;
+ }
+
+ public static ActuatorDirectionType fromVal(Integer val) {
+ if (null == val) {
+ throw new CoolException("actuator direction param val is null");
+ }
+ for (ActuatorDirectionType type : ActuatorDirectionType.values()) {
+ if (type.val == val) {
+ return type;
+ }
+ }
+ throw new IllegalArgumentException("Invalid ActuatorDirectionType: " + val);
+ }
+
+}
diff --git a/zy-acs-common/src/main/java/com/zy/acs/common/enums/AgvDirectionType.java b/zy-acs-common/src/main/java/com/zy/acs/common/enums/AgvDirectionType.java
deleted file mode 100644
index adefeb4..0000000
--- a/zy-acs-common/src/main/java/com/zy/acs/common/enums/AgvDirectionType.java
+++ /dev/null
@@ -1,25 +0,0 @@
-package com.zy.acs.common.enums;
-
-public enum AgvDirectionType {
-
- LEFT(1),
- RIGHT(2),
- FORWARD(3),
- ;
-
- public int val;
-
- AgvDirectionType(int val) {
- this.val = val;
- }
-
- public static AgvDirectionType fromVal(int val) {
- for (AgvDirectionType type : AgvDirectionType.values()) {
- if (type.val == val) {
- return type;
- }
- }
- throw new IllegalArgumentException("Invalid AgvDirectionType: " + val);
- }
-
-}
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 230d0e6..495193d 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
@@ -1155,7 +1155,7 @@
}
// 浣滀笟鐐瑰姩浣�
- AgvDirectionType agvDirectionType;
+ ActuatorDirectionType actuatorDirectionType;
Double staWorkDirection;
AgvBackpackType backpackType = AgvBackpackType.query(segment.getBackpack());
switch (Objects.requireNonNull(TaskPosDto.queryPosType(segment.getPosType()))) {
@@ -1168,7 +1168,8 @@
// 璐ф灦鍙栬揣
Loc oriLoc = locService.getById(task.getOriLoc());
// 璁＄畻宸﹀彸鏂瑰悜
- agvDirectionType = mapService.calculateAgvWorkDirectionByShelf(oriLoc, lastCode);
+ actuatorDirectionType = ActuatorDirectionType.fromVal(oriLoc.getCompDirect());
+// actuatorDirectionType = mapService.calculateAgvWorkDirectionByShelf(oriLoc, lastCode);
actionList.add(new Action(
null, // 缂栧彿
task.getBusId(), // 鎬荤嚎
@@ -1176,7 +1177,7 @@
null, // 鍔ㄤ綔鍙�
null, // 浼樺厛绾�
ActionTypeType.ReadyTakeFromShelvesLoc.desc, // 鍚嶇О
- (double) agvDirectionType.val, // 灞炴�у��
+ (double) actuatorDirectionType.val, // 灞炴�у��
lastCode.getData(), // 鍦伴潰鐮�
JSON.toJSONString(new HeightDepthDto(oriLoc.getOffset())), // 鍔ㄤ綔鍙傛暟
ActionTypeType.ReadyTakeFromShelvesLoc.val(), // 鍔ㄤ綔绫诲瀷
@@ -1231,7 +1232,8 @@
// 璐ф灦鏀捐揣
Loc destLoc = locService.getById(task.getDestLoc());
// 璁＄畻宸﹀彸鏂瑰悜
- agvDirectionType = mapService.calculateAgvWorkDirectionByShelf(destLoc, lastCode);
+ actuatorDirectionType = ActuatorDirectionType.fromVal(destLoc.getCompDirect());
+// actuatorDirectionType = mapService.calculateAgvWorkDirectionByShelf(destLoc, lastCode);
actionList.add(new Action(
null, // 缂栧彿
task.getBusId(), // 鎬荤嚎
@@ -1239,7 +1241,7 @@
null, // 鍔ㄤ綔鍙�
null, // 浼樺厛绾�
ActionTypeType.ReadyReleaseToShelvesLoc.desc, // 鍚嶇О
- (double) agvDirectionType.val, // 灞炴�у��
+ (double) actuatorDirectionType.val, // 灞炴�у��
lastCode.getData(), // 鍦伴潰鐮�
JSON.toJSONString(new HeightDepthDto(destLoc.getOffset())), // 鍔ㄤ綔鍙傛暟
ActionTypeType.ReadyReleaseToShelvesLoc.val(), // 鍔ㄤ綔绫诲瀷
@@ -1276,7 +1278,8 @@
lastDirection = oriStaWorkDirection;
}
// 璁＄畻璐у弶宸ヤ綔鏂瑰悜
- staWorkDirection = mapService.calculateAgvWorkDirectionByStation(oriStaWorkDirection, lastDirection);
+ actuatorDirectionType = ActuatorDirectionType.fromVal(oriSta.getActDir());
+// staWorkDirection = mapService.calculateAgvWorkDirectionByStation(oriStaWorkDirection, lastDirection);
actionList.add(new Action(
null, // 缂栧彿
task.getBusId(), // 鎬荤嚎
@@ -1284,7 +1287,7 @@
null, // 鍔ㄤ綔鍙�
null, // 浼樺厛绾�
ActionTypeType.ReadyTakeFromConveyorSta.desc, // 鍚嶇О
- staWorkDirection, // 灞炴�у��
+ (double) actuatorDirectionType.val, // 灞炴�у��
lastCode.getData(), // 鍦伴潰鐮�
JSON.toJSONString(new HeightDepthDto(oriSta.getHeight(), Optional.ofNullable(oriSta.getDepth()).orElse((double) 0))), // 鍔ㄤ綔鍙傛暟
ActionTypeType.ReadyTakeFromConveyorSta.val(), // 鍔ㄤ綔绫诲瀷
@@ -1359,7 +1362,8 @@
));
}
// 璁＄畻璐у弶宸ヤ綔鏂瑰悜
- staWorkDirection = mapService.calculateAgvWorkDirectionByStation(destStaWorkDirection, lastDirection);
+// staWorkDirection = mapService.calculateAgvWorkDirectionByStation(destStaWorkDirection, lastDirection);
+ actuatorDirectionType = ActuatorDirectionType.fromVal(destSta.getActDir());
actionList.add(new Action(
null, // 缂栧彿
task.getBusId(), // 鎬荤嚎
@@ -1367,7 +1371,7 @@
null, // 鍔ㄤ綔鍙�
null, // 浼樺厛绾�
ActionTypeType.ReadyReleaseToConveyorSta.desc, // 鍚嶇О
- staWorkDirection, // 灞炴�у��
+ (double) actuatorDirectionType.val, // 灞炴�у��
lastCode.getData(), // 鍦伴潰鐮�
JSON.toJSONString(new HeightDepthDto(destSta.getHeight(), Optional.ofNullable(destSta.getDepth()).orElse((double) 0))), // 鍔ㄤ綔鍙傛暟
ActionTypeType.ReadyReleaseToConveyorSta.val(), // 鍔ㄤ綔绫诲瀷
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 16a385a..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
@@ -1,7 +1,7 @@
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;
@@ -159,9 +159,9 @@
}
// 鍧愭爣璐ф灦闃堝��
- public AgvDirectionType calculateAgvWorkDirectionByShelf(Loc loc, Code code) {
+ public ActuatorDirectionType calculateAgvWorkDirectionByShelf(Loc loc, Code code) {
Integer compDirect = loc.getCompDirect();
- return AgvDirectionType.fromVal(compDirect);
+ return ActuatorDirectionType.fromVal(compDirect);
}
public Double getStaAngle(Sta sta, Double workDirection) {
--
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