From c536ca4d61bd123023b2f23567e8c52b7845be85 Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@gmail.com>
Date: 星期三, 14 一月 2026 13:39:44 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainService.java | 25 ++++++++++---------------
1 files changed, 10 insertions(+), 15 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 745c251..ad51a92 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
@@ -987,30 +987,25 @@
now // 宸ヤ綔鏃堕棿
));
lastDirection = nextLaneDir;
-
- if (nextDirection.equals(oppNextLaneDir)) {
- reverse = true;
- }
- } else {
- if (nextDirection.equals(oppNextLaneDir)) {
- nextDirection = nextLaneDir;
- reverse = true;
- }
}
- nextDirection = nextLaneDir;
- } else if (null != lastLaneDir) {
- final double oppLastLaneDir = (lastLaneDir + 180) % 360;
- if (nextDirection.equals(oppLastLaneDir)) {
+ if (nextDirection.equals(oppNextLaneDir)) {
reverse = true;
}
- nextDirection = lastLaneDir;
+ nextDirection = nextLaneDir; // 闃叉 绗竴涓姩浣滀竴瀹氭槸 turn 鍑洪棶棰�
+ } else if (null != lastLaneDir) {
+ final double oppLastLaneDir = (lastLaneDir + 180) % 360;
- if (!lastDirection.equals(nextDirection)) {
+ if (!lastDirection.equals(nextDirection)) { // lastLaneDir
if (!lastCode.getCornerBool()) {
throw new CoolException(agvNo + "鍙峰皬杞︾寮�宸烽亾闇�璋冩暣鏂瑰悜涓� " + nextDirection + "掳锛岃鎺ㄨ嚦杞集鐐规墜鍔ㄨ皟鏁�");
}
}
+
+ if (nextDirection.equals(oppLastLaneDir)) {
+ reverse = true;
+ }
+ nextDirection = lastLaneDir; // 闃叉 绗竴涓姩浣滀竴瀹氭槸 turn 鍑洪棶棰�
} else {
// 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
--
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