From afbdf224dcc6f4c5d0f9331e25b99e0621cb6afd Mon Sep 17 00:00:00 2001
From: yy <yy123>
Date: 星期二, 30 十二月 2025 14:37:40 +0800
Subject: [PATCH] no message
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainService.java | 64 ++++++++++++++++++++++---------
1 files changed, 45 insertions(+), 19 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 20100cf..520d46f 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
@@ -34,7 +34,6 @@
import com.zy.acs.manager.manager.entity.*;
import com.zy.acs.manager.manager.enums.*;
import com.zy.acs.manager.manager.service.*;
-import com.zy.acs.manager.manager.service.impl.LocStsServiceImpl;
import com.zy.acs.manager.manager.service.impl.WebsocketServiceImpl;
import com.zy.acs.manager.manager.utils.ActionSorter;
import com.zy.acs.manager.system.service.ConfigService;
@@ -143,7 +142,6 @@
}
Boolean locStaStatusCheck = configService.getVal("LOC_STA_STATUS_CHECK", Boolean.class, true);
Integer locStaTaskNum = configService.getVal("LOC_STA_TASK_NUM", Integer.class, 2);
-
// 淇濆瓨浠诲姟
for (Task task : taskList) {
@@ -766,10 +764,11 @@
boolean first = true;
for (Segment segment : segmentList) {
-
// 鍒嗘鎵�灞炵殑Task
Task task = taskService.getById(segment.getTaskId());
-
+ TaskPosDto.PosType posType = Objects.requireNonNull(TaskPosDto.queryPosType(segment.getPosType()));
+ boolean isStation = posType.equals(TaskPosDto.PosType.ORI_STA) || posType.equals(TaskPosDto.PosType.DEST_STA);
+ boolean isLoc = posType.equals(TaskPosDto.PosType.ORI_LOC) || posType.equals(TaskPosDto.PosType.DEST_LOC);
// 鑺傜偣鏉＄爜
Code code = codeService.getCacheById(segment.getEndNode());
@@ -792,10 +791,8 @@
// 绗竴姝ワ細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
boolean reverse = false;
if (nextDirection.equals((workDirection + 180) % 360)) {
- List<String> list = Arrays.asList("00000050", "00000051", "00000052", "00000053", "00000054");
- if ((Objects.requireNonNull(TaskPosDto.queryPosType(segment.getPosType())).equals(TaskPosDto.PosType.ORI_STA)
- || Objects.requireNonNull(TaskPosDto.queryPosType(segment.getPosType()))
- .equals(TaskPosDto.PosType.DEST_STA)) && list.contains(lastCode.getData())) {
+ List<String> list = Arrays.asList("00000050", "00000051", "00000052", "00000053", "00000054", "00000080", "00000081", "00000082", "00000083", "00000084");
+ if ((isStation && list.contains("00000050")) || (isLoc && list.contains("00000080"))) {
reverse = false;
lastDirection = nextDirection;
} else {
@@ -822,9 +819,7 @@
nextDirection = lastDirection;
reverse = true;
} else {
- if ((Objects.requireNonNull(TaskPosDto.queryPosType(segment.getPosType()))
- .equals(TaskPosDto.PosType.ORI_STA) || Objects.requireNonNull(TaskPosDto.queryPosType(segment.getPosType()))
- .equals(TaskPosDto.PosType.DEST_STA)) && lastCode.getData().equals("00000050")) {
+ if ((isStation && lastCode.getData().equals("00000050")) || (isLoc && lastCode.getData().equals("00000080"))) {
// turn
reverse = false;
actionList.add(new Action(
@@ -842,7 +837,18 @@
agvId, // AGV
now // 宸ヤ綔鏃堕棿
));
+ log.info("1TurnCorner posType={}, code={}, corner={}, nextDirection={}, finalAngle={}",
+ posType,
+ lastCode.getData(),
+ lastCode.getCornerBool(),
+ nextDirection,
+ 180);
} else {
+ List<String> list = Arrays.asList("00000051", "00000052", "00000053", "00000054");
+ Double turnDirection = nextDirection;
+ if ((isStation && list.contains("00000050")) || (isLoc && list.contains("00000080"))) {
+ turnDirection = 180.0;
+ }
// turn
actionList.add(new Action(
null, // 缂栧彿s
@@ -853,19 +859,23 @@
ActionTypeType.TurnCorner.desc, // 鍚嶇О
mapService.isTurnCorner(lastCode.getData()) ? 1D : 0D, // 灞炴�у��
lastCode.getData(), // 鍦伴潰鐮�
- String.valueOf(nextDirection), // 鍔ㄤ綔鍙傛暟
+ String.valueOf(turnDirection), // 鍔ㄤ綔鍙傛暟
ActionTypeType.TurnCorner.val(), // 鍔ㄤ綔绫诲瀷
actionPrepareSts, // 鍔ㄤ綔杩涘害
agvId, // AGV
now // 宸ヤ綔鏃堕棿
));
+ log.info("2TurnCorner posType={}, code={}, corner={}, nextDirection={}, finalAngle={}",
+ posType,
+ lastCode.getData(),
+ lastCode.getCornerBool(),
+ nextDirection,
+ nextDirection);
}
lastDirection = nextDirection;
}
} else {
- if ((Objects.requireNonNull(TaskPosDto.queryPosType(segment.getPosType()))
- .equals(TaskPosDto.PosType.ORI_STA) || Objects.requireNonNull(TaskPosDto.queryPosType(segment.getPosType()))
- .equals(TaskPosDto.PosType.DEST_STA)) && lastCode.getData().equals("00000050")) {
+ if ((isStation && lastCode.getData().equals("00000050")) || (isLoc && lastCode.getData().equals("00000080"))) {
// turn
reverse = false;
actionList.add(new Action(
@@ -883,6 +893,12 @@
agvId, // AGV
now // 宸ヤ綔鏃堕棿
));
+ log.info("3TurnCorner posType={}, code={}, corner={}, nextDirection={}, finalAngle={}",
+ posType,
+ lastCode.getData(),
+ lastCode.getCornerBool(),
+ nextDirection,
+ 180);
}
}
}
@@ -905,6 +921,12 @@
agvId, // AGV
now // 宸ヤ綔鏃堕棿
));
+ log.info("4TurnCorner posType={}, code={}, corner={}, nextDirection={}, finalAngle={}",
+ posType,
+ lastCode.getData(),
+ lastCode.getCornerBool(),
+ nextDirection,
+ nextDirection);
lastDirection = nextDirection;
}
@@ -940,10 +962,8 @@
if (first) {
if (Cools.isEmpty(actionList) || !actionList.get(0).getActionType().equals(ActionTypeType.TurnCorner.val())) {
Double turnDirection = workDirection;
- List<String> list = Arrays.asList("00000050","00000051", "00000052", "00000053", "00000054");
- if ((Objects.requireNonNull(TaskPosDto.queryPosType(segment.getPosType())).equals(TaskPosDto.PosType.ORI_STA)
- || Objects.requireNonNull(TaskPosDto.queryPosType(segment.getPosType()))
- .equals(TaskPosDto.PosType.DEST_STA)) && list.contains(lastCode.getData())) {
+ List<String> list = Arrays.asList("00000050","00000051", "00000052", "00000053", "00000054", "00000080", "00000081", "00000082", "00000083", "00000084");
+ if ((isStation && list.contains("00000050")) || (isLoc && list.contains("00000080"))) {
turnDirection = workDirection + 180.0;
}
if (lastCode.getCornerBool()) {
@@ -963,6 +983,12 @@
agvId, // AGV
now // 宸ヤ綔鏃堕棿
));
+ log.info("5TurnCorner posType={}, code={}, corner={}, nextDirection={}, finalAngle={}",
+ posType,
+ lastCode.getData(),
+ lastCode.getCornerBool(),
+ null,
+ turnDirection);
lastDirection = workDirection;
}
}
--
Gitblit v1.9.1