From bdd072164b38edc65d80d865cefc1c20a6c8b232 Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@gmail.com>
Date: 星期五, 03 四月 2026 15:30:54 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/hik/HikOrderPublishService.java | 36 ++++++++++++++++++++++++++----------
1 files changed, 26 insertions(+), 10 deletions(-)
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/hik/HikOrderPublishService.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/hik/HikOrderPublishService.java
index 5d5bc5a..7c9dec5 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/hik/HikOrderPublishService.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/hik/HikOrderPublishService.java
@@ -17,9 +17,11 @@
import com.zy.acs.manager.common.config.HikOrderProperties;
import com.zy.acs.manager.core.constant.HikAngleConstant;
import com.zy.acs.manager.manager.entity.Action;
+import com.zy.acs.manager.manager.entity.AgvDetail;
import com.zy.acs.manager.manager.entity.AgvModel;
import com.zy.acs.manager.manager.entity.Code;
import com.zy.acs.manager.manager.enums.ActionTypeType;
+import com.zy.acs.manager.manager.service.AgvDetailService;
import com.zy.acs.manager.manager.service.CodeService;
import lombok.AllArgsConstructor;
import lombok.extern.slf4j.Slf4j;
@@ -43,6 +45,8 @@
private SnowflakeIdWorker snowflakeIdWorker;
@Autowired
private CodeService codeService;
+ @Autowired
+ private AgvDetailService agvDetailService;
private final RedisSupport redis = RedisSupport.defaultRedisSupport;
@@ -117,8 +121,14 @@
switch (actionType) {
case TurnCorner:
- currentTheta = parseThetaRadians(action.getParams());
- currentNode.node.getNodePosition().setTheta(currentTheta);
+ if (i == 0) {
+ AgvDetail agvDetail = agvDetailService.selectMajorByAgvId(firstAction.getAgvId());
+ currentTheta = parseThetaRadians(String.valueOf(agvDetail.getAgvAngle()));
+ currentNode.node.getNodePosition().setTheta(currentTheta);
+ } else {
+ currentTheta = parseThetaRadians(action.getParams());
+ currentNode.node.getNodePosition().setTheta(currentTheta);
+ }
break;
case StraightAheadTurnable:
case StraightAheadUnturnable:
@@ -173,14 +183,15 @@
}
HkOrderNode node = new HkOrderNode();
- node.setNodeId(buildId(actionGroupId, "N", nodeIndex, code));
+// node.setNodeId(buildId(actionGroupId, "N", nodeIndex, code));
+ node.setNodeId(code);
node.setSequenceId(sequenceId);
- node.setNodeDescription(code);
+// node.setNodeDescription(code);
node.setReleased(Boolean.TRUE);
node.setAllowedDeviationXY(hikOrderProperties.getDefaultAllowedDeviationXY());
node.setAllowedDeviationTheta(hikOrderProperties.getDefaultAllowedDeviationTheta());
node.setMapId(hikOrderProperties.getMapId());
- node.setMapDescription(hikOrderProperties.getMapDescription());
+// node.setMapDescription(hikOrderProperties.getMapDescription());
node.setActions(new ArrayList<>());
node.setNodePosition(buildNodePosition(codeEntity));
return new NodeCursor(code, node);
@@ -203,15 +214,20 @@
Action action,
AgvModel agvModel) {
HkOrderEdge edge = new HkOrderEdge();
- edge.setEdgeId(buildId(actionGroupId, "E", edgeIndex, startNode.code + "_" + endCode));
+// edge.setEdgeId(buildId(actionGroupId, "E", edgeIndex, startNode.code + "_" + endCode));
+ edge.setEdgeId(startNode.code + "_" + endCode);
edge.setSequenceId(sequenceId);
- edge.setEdgeDescription(startNode.code + "->" + endCode);
+// edge.setEdgeDescription(startNode.code + "->" + endCode);
edge.setReleased(Boolean.TRUE);
edge.setStartNodeId(startNode.node.getNodeId());
- edge.setEndNodeId(buildId(actionGroupId, "N", edgeIndex + 1, endCode));
+// edge.setEndNodeId(buildId(actionGroupId, "N", edgeIndex + 1, endCode));
+ edge.setEndNodeId(endCode);
edge.setMaxSpeed(resolveMaxSpeed(action, agvModel));
- edge.setOrientation(edgeTheta);
- edge.setOrientationType("GLOBAL");
+ // GLOBAL
+ // TANGENTIAL
+ edge.setOrientationType("TANGENTIAL");
+ edge.setOrientation(0.0);
+// edge.setOrientation(edgeTheta);
edge.setRotationAllowed(Boolean.FALSE);
edge.setActions(new ArrayList<>());
return edge;
--
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