From 9f19c2ea1a1d4e94460eb2d881b7cf8cc10e66df Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期四, 14 十一月 2024 10:42:10 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapService.java | 13 ++++++-------
1 files changed, 6 insertions(+), 7 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 df62c1f..52eac9f 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
@@ -41,14 +41,14 @@
private ActionService actionService;
public List<String> checkoutPath(String agvNo, Code startCode, Code endCode, Boolean lock) {
- return this.checkoutPath(agvNo, startCode, endCode, lock, null, null);
+ return this.checkoutPath(agvNo, startCode, endCode, lock, null);
}
/**
* 瀵诲潃 ===>> A Star
*/
public synchronized List<String> checkoutPath(String agvNo, Code startCode, Code endCode
- , Boolean lock, List<String> whiteList, List<String> blackList) {
+ , Boolean lock, List<String> blackList) {
int[] startMapIdx = mapDataDispatcher.getCodeMatrixIdx(null, startCode.getData());
int[] endMapIdx = mapDataDispatcher.getCodeMatrixIdx(null, endCode.getData());
@@ -56,7 +56,7 @@
NavigateNode startNode = new NavigateNode(startMapIdx[0], startMapIdx[1], startCode.getData());
NavigateNode endNode = new NavigateNode(endMapIdx[0], endMapIdx[1], endCode.getData());
- NavigateNode finishNode = aStarNavigateService.execute(agvNo, startNode, endNode, lock, whiteList, blackList);
+ NavigateNode finishNode = aStarNavigateService.execute(agvNo, startNode, endNode, lock, blackList);
if (null == finishNode) {
log.warn("{} 鍙稟GV妫�绱{}] ===>> [{}]璺緞澶辫触......", agvNo, startCode.getData(), endCode.getData());
@@ -123,10 +123,9 @@
double deltaX = x1 - x0;
double deltaY = y1 - y0;
- double angle = Math.atan2(deltaX, deltaY);
- int offsetAngle = configService.getVal("mapXoffset", Integer.class);
- angle = angle + offsetAngle;
- angle = Math.toDegrees(angle);
+ double angle = -Math.atan2(deltaX, deltaY);
+ int angleOffsetVal = configService.getVal("mapAngleOffsetVal", Integer.class);
+ angle = Math.toDegrees(angle) + angleOffsetVal;
angle = (angle + 360) % 360; // 灏嗚搴﹁浆鎹负姝ｅ��
return angle;
--
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