From af5e14557af94409a0d2e3f2dca1eed1b99a895a Mon Sep 17 00:00:00 2001
From: skyouc <creaycat@gmail.com>
Date: 星期一, 05 一月 2026 19:44:47 +0800
Subject: [PATCH] no message
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainService.java | 13 ++-----------
1 files changed, 2 insertions(+), 11 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 e15e2a2..505da1b 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
@@ -856,7 +856,7 @@
Double turnDirection = nextDirection;
if ((turnCodes.contains(nextCode.getData()) && lastCode.getData().equals("00000050")) || (isLoc && locTurnCodes.contains(nextCode.getData()) && lastCode.getData().equals("00000080"))) {
turnDirection = 180.0;
- nextDirection = turnDirection;
+ reverse = false;
}
// turn
actionList.add(new Action(
@@ -905,7 +905,6 @@
now // 宸ヤ綔鏃堕棿
));
- reverse = false;
log.info("3TurnCorner posType={}, code={}, corner={}, nextDirection={}, finalAngle={}",
posType,
lastCode.getData(),
@@ -976,20 +975,12 @@
if (Cools.isEmpty(actionList) || !actionList.get(0).getActionType().equals(ActionTypeType.TurnCorner.val())) {
Double turnDirection = workDirection;
Code nextCode = codeService.getCacheByData(lastCode.getData());
- boolean reverse = true;
// Double nextDirection = mapService.calculateDirection(lastCode, nextCode, angleOffsetVal);
// if (isStation && turnCodes.contains(lastCode.getData())) {
if ((turnCodes.contains(nextCode.getData()) && lastCode.getData().equals("00000050")) || (isLoc && locTurnCodes.contains(nextCode.getData()) && lastCode.getData().equals("00000080"))) {
// if ((isStation && turnCodes.contains(lastCode.getData())) || (isLoc && locTurnCodes.contains(lastCode.getData()))) {
turnDirection = workDirection + 180.0;
- reverse = false;
}
- // run
- ActionTypeType actionType = ActionTypeType.StraightAheadTurnable;
- if (reverse) {
- actionType = ActionTypeType.StraightBackTurnable;
- }
-
if (lastCode.getCornerBool()) {
// turn
actionList.add(new Action(
@@ -998,7 +989,7 @@
task.getId(), // 浠诲姟
null, // 鍔ㄤ綔鍙�
null, // 浼樺厛绾�
- actionType.desc, // 鍚嶇О
+ ActionTypeType.TurnCorner.desc, // 鍚嶇О
mapService.isTurnCorner(lastCode.getData()) ? 1D : 0D, // 灞炴�у��
lastCode.getData(), // 鍦伴潰鐮�
String.valueOf(turnDirection), // 鍔ㄤ綔鍙傛暟
--
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