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 | 17 +++++++++++------
1 files changed, 11 insertions(+), 6 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 d01f215..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
@@ -768,7 +768,7 @@
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());
@@ -792,7 +792,7 @@
boolean reverse = false;
if (nextDirection.equals((workDirection + 180) % 360)) {
List<String> list = Arrays.asList("00000050", "00000051", "00000052", "00000053", "00000054", "00000080", "00000081", "00000082", "00000083", "00000084");
- if (isStation && list.contains(lastCode.getData())) {
+ if ((isStation && list.contains("00000050")) || (isLoc && list.contains("00000080"))) {
reverse = false;
lastDirection = nextDirection;
} else {
@@ -819,7 +819,7 @@
nextDirection = lastDirection;
reverse = true;
} else {
- if (isStation && (lastCode.getData().equals("00000050") || lastCode.getData().equals("00000080"))) {
+ if ((isStation && lastCode.getData().equals("00000050")) || (isLoc && lastCode.getData().equals("00000080"))) {
// turn
reverse = false;
actionList.add(new Action(
@@ -844,6 +844,11 @@
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
@@ -854,7 +859,7 @@
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
@@ -870,7 +875,7 @@
lastDirection = nextDirection;
}
} else {
- if (isStation && (lastCode.getData().equals("00000050") || lastCode.getData().equals("00000080"))) {
+ if ((isStation && lastCode.getData().equals("00000050")) || (isLoc && lastCode.getData().equals("00000080"))) {
// turn
reverse = false;
actionList.add(new Action(
@@ -958,7 +963,7 @@
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", "00000080", "00000081", "00000082", "00000083", "00000084");
- if (isStation && list.contains(lastCode.getData())) {
+ if ((isStation && list.contains("00000050")) || (isLoc && list.contains("00000080"))) {
turnDirection = workDirection + 180.0;
}
if (lastCode.getCornerBool()) {
--
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