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 | 40 +++++++++++++++++++++++-----------------
1 files changed, 23 insertions(+), 17 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 cb00614..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
@@ -12,6 +12,8 @@
import com.zy.acs.manager.manager.entity.Code;
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;
@@ -154,7 +156,7 @@
}
// 鍧愭爣璐ф灦闃堝�� todo:luxiaotao
- public AgvDirectionType calculateAgvWorkDirection(Loc loc, Code code) {
+ public AgvDirectionType calculateAgvWorkDirectionByShelf(Loc loc, Code code) {
Integer compDirect = loc.getCompDirect();
AgvDirectionType agvDirectionType = null;
if (compDirect == 0) {
@@ -166,27 +168,24 @@
return agvDirectionType;
}
+ public Double getStaAngle(Sta sta, Double workDirection) {
+ if (null == sta) {
+ return null;
+ }
+ if (Cools.isEmpty(sta.getAngle())) {
+ return workDirection;
+ }
+ return Double.parseDouble(sta.getAngle());
+ }
+
+ 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) {
@@ -416,6 +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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