From c402e77c8a141b05d5ef62b73306ba7322585bb2 Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@gmail.com>
Date: 星期三, 14 一月 2026 13:24:46 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapService.java | 28 ++++++++++------------------
1 files changed, 10 insertions(+), 18 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 1da3a4f..21c0dfb 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
@@ -13,6 +13,7 @@
import com.zy.acs.manager.manager.entity.Loc;
import com.zy.acs.manager.manager.entity.Segment;
import com.zy.acs.manager.manager.entity.Sta;
+import com.zy.acs.manager.manager.enums.CodeSpinType;
import com.zy.acs.manager.manager.service.ActionService;
import com.zy.acs.manager.manager.service.CodeService;
import com.zy.acs.manager.system.service.ConfigService;
@@ -177,30 +178,14 @@
return Double.parseDouble(sta.getAngle());
}
- public AgvDirectionType calculateAgvWorkDirectionByStation(Sta sta, Code code) {
- return AgvDirectionType.FORWARD;
+ public Double calculateAgvWorkDirectionByStation(Double staWorkDirection, Double lastDirection) {
+ return Math.abs(staWorkDirection - lastDirection) + 90.0D;
}
public double calculateDistance(double x1, double y1, double x2, double y2) {
double deltaX = x2 - x1;
double deltaY = y2 - y1;
return Math.sqrt(deltaX * deltaX + deltaY * deltaY);
- }
-
- public DirectionType calcDirectionType(int[] originIdx, int[] oppositeIdx) {
- if (oppositeIdx[0] < originIdx[0] && oppositeIdx[1] == originIdx[1]) {
- return DirectionType.TOP;
- }
- if (oppositeIdx[0] > originIdx[0] && oppositeIdx[1] == originIdx[1]) {
- return DirectionType.BOTTOM;
- }
- if (oppositeIdx[0] == originIdx[0] && oppositeIdx[1] > originIdx[1]) {
- return DirectionType.RIGHT;
- }
- if (oppositeIdx[0] == originIdx[0] && oppositeIdx[1] < originIdx[1]) {
- return DirectionType.LEFT;
- }
- return DirectionType.NONE;
}
public void lockPath(Integer lev, List<String> pathList, String agvNo) {
@@ -430,6 +415,13 @@
return turnMatrixNode == TurnNodeType.TURN.val;
}
+ public CodeSpinType spinDirection(Code code) {
+ if (Cools.isEmpty(code)) {
+ return CodeSpinType.NA;
+ }
+ return CodeSpinType.of(code.getSpin());
+ }
+
/**
* That vehicle is walking if the dynamic node count > 1
*/
--
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