From c5aeffce02ad53eb88192e4d3ef26549d9961406 Mon Sep 17 00:00:00 2001
From: vincentlu <t1341870251@gmail.com>
Date: 星期四, 15 一月 2026 13:45:14 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainService.java | 18 +++++++++---------
1 files changed, 9 insertions(+), 9 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 ad51a92..c6c21d6 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
@@ -978,7 +978,7 @@
null, // 鍔ㄤ綔鍙�
null, // 浼樺厛绾�
ActionTypeType.TurnCorner.desc, // 鍚嶇О
- (double) mapService.spinDirection(lastCode).val, // 灞炴�у��
+ (double) MapService.calcSpinDirection(lastCode, lastDirection, nextLaneDir).val, // 灞炴�у��
lastCode.getData(), // 鍦伴潰鐮�
String.valueOf(nextLaneDir), // 鍔ㄤ綔鍙傛暟
ActionTypeType.TurnCorner.val(), // 鍔ㄤ綔绫诲瀷
@@ -993,10 +993,10 @@
reverse = true;
}
nextDirection = nextLaneDir; // 闃叉 绗竴涓姩浣滀竴瀹氭槸 turn 鍑洪棶棰�
- } else if (null != lastLaneDir) {
+ } else if (null != lastLaneDir) { // todo turn 鐜舰鐩磋
final double oppLastLaneDir = (lastLaneDir + 180) % 360;
- if (!lastDirection.equals(nextDirection)) { // lastLaneDir
+ if (!lastDirection.equals(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�");
}
@@ -1045,7 +1045,7 @@
null, // 鍔ㄤ綔鍙�
null, // 浼樺厛绾�
ActionTypeType.TurnCorner.desc, // 鍚嶇О
- (double) mapService.spinDirection(lastCode).val, // 灞炴�у��
+ (double) MapService.calcSpinDirection(lastCode, lastDirection, nextDirection).val, // 灞炴�у��
lastCode.getData(), // 鍦伴潰鐮�
String.valueOf(nextDirection), // 鍔ㄤ綔鍙傛暟
ActionTypeType.TurnCorner.val(), // 鍔ㄤ綔绫诲瀷
@@ -1070,7 +1070,7 @@
null, // 鍔ㄤ綔鍙�
null, // 浼樺厛绾�
ActionTypeType.TurnCorner.desc, // 鍚嶇О
- (double) mapService.spinDirection(lastCode).val, // 灞炴�у��
+ (double) MapService.calcSpinDirection(lastCode, lastDirection, nextDirection).val, // 灞炴�у��
lastCode.getData(), // 鍦伴潰鐮�
String.valueOf(nextDirection), // 鍔ㄤ綔鍙傛暟
ActionTypeType.TurnCorner.val(), // 鍔ㄤ綔绫诲瀷
@@ -1137,7 +1137,7 @@
null, // 鍔ㄤ綔鍙�
null, // 浼樺厛绾�
ActionTypeType.TurnCorner.desc, // 鍚嶇О
- (double) mapService.spinDirection(lastCode).val, // 灞炴�у��
+ (double) MapService.calcSpinDirection(lastCode, lastDirection, firstTurnDir).val, // 灞炴�у��
lastCode.getData(), // 鍦伴潰鐮�
String.valueOf(firstTurnDir), // 鍔ㄤ綔鍙傛暟
ActionTypeType.TurnCorner.val(), // 鍔ㄤ綔绫诲瀷
@@ -1263,7 +1263,7 @@
null, // 鍔ㄤ綔鍙�
null, // 浼樺厛绾�
ActionTypeType.TurnCorner.desc, // 鍚嶇О
- (double) mapService.spinDirection(lastCode).val, // 灞炴�у��
+ (double) MapService.calcSpinDirection(lastCode, lastDirection, oriStaWorkDirection).val, // 灞炴�у��
lastCode.getData(), // 鍦伴潰鐮�
String.valueOf(oriStaWorkDirection), // 鍔ㄤ綔鍙傛暟
ActionTypeType.TurnCorner.val(), // 鍔ㄤ綔绫诲瀷
@@ -1327,7 +1327,7 @@
null, // 鍔ㄤ綔鍙�
null, // 浼樺厛绾�
ActionTypeType.TurnCorner.desc, // 鍚嶇О
- (double) mapService.spinDirection(lastCode).val, // 灞炴�у��
+ (double) MapService.calcSpinDirection(lastCode, lastDirection, destStaWorkDirection).val, // 灞炴�у��
lastCode.getData(), // 鍦伴潰鐮�
String.valueOf(destStaWorkDirection), // 鍔ㄤ綔鍙傛暟
ActionTypeType.TurnCorner.val(), // 鍔ㄤ綔绫诲瀷
@@ -1386,7 +1386,7 @@
null, // 鍔ㄤ綔鍙�
null, // 浼樺厛绾�
ActionTypeType.TurnCorner.desc, // 鍚嶇О
- (double) mapService.spinDirection(lastCode).val, // 灞炴�у��
+ (double) MapService.calcSpinDirection(lastCode, lastDirection, chargeDirection).val, // 灞炴�у��
lastCode.getData(), // 鍦伴潰鐮�
String.valueOf(chargeDirection), // 鍔ㄤ綔鍙傛暟
ActionTypeType.TurnCorner.val(), // 鍔ㄤ綔绫诲瀷
--
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