From 9b79c0073a7108cd05ed49806a4affb45e9f1629 Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@gmail.com>
Date: 星期三, 14 一月 2026 16:11:06 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainService.java | 26 ++++++++++----------------
1 files changed, 10 insertions(+), 16 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 091f636..45c9131 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
@@ -936,7 +936,6 @@
if (!lastCode.getData().equals(code.getData())) {
// 璧拌璺緞鑺傜偣
-// List<String> pathList = mapService.checkoutPath(agv.getUuid(), lastCode, code);
List<String> pathListPart = pathList.subList(pathList.indexOf(lastCode.getData()), pathList.indexOf(code.getData()) + 1);
for (int i = 0; i < pathListPart.size(); i++) {
@@ -988,30 +987,25 @@
now // 宸ヤ綔鏃堕棿
));
lastDirection = nextLaneDir;
-
- if (nextDirection.equals(oppNextLaneDir)) {
- reverse = true;
- }
- } else {
- if (nextDirection.equals(oppNextLaneDir)) {
- nextDirection = nextLaneDir;
- reverse = true;
- }
}
- nextDirection = nextLaneDir;
- } else if (null != lastLaneDir) {
- final double oppLastLaneDir = (lastLaneDir + 180) % 360;
- if (nextDirection.equals(oppLastLaneDir)) {
+ if (nextDirection.equals(oppNextLaneDir)) {
reverse = true;
}
- nextDirection = lastLaneDir;
+ nextDirection = nextLaneDir; // 闃叉 绗竴涓姩浣滀竴瀹氭槸 turn 鍑洪棶棰�
+ } else if (null != lastLaneDir) { // todo turn 鐜舰鐩磋
+ final double oppLastLaneDir = (lastLaneDir + 180) % 360;
- if (!lastDirection.equals(nextDirection)) {
+ if (!lastDirection.equals(nextDirection)) { // lastLaneDir
if (!lastCode.getCornerBool()) {
throw new CoolException(agvNo + "鍙峰皬杞︾寮�宸烽亾闇�璋冩暣鏂瑰悜涓� " + nextDirection + "掳锛岃鎺ㄨ嚦杞集鐐规墜鍔ㄨ皟鏁�");
}
}
+
+ if (nextDirection.equals(oppLastLaneDir)) {
+ reverse = true;
+ }
+ nextDirection = lastLaneDir; // 闃叉 绗竴涓姩浣滀竴瀹氭槸 turn 鍑洪棶棰�
} else {
// 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
--
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