From c5f8df63aa5b80331a65f3cb9cd201f12cd399f2 Mon Sep 17 00:00:00 2001
From: skyouc <creaycat@gmail.com>
Date: 星期三, 24 十二月 2025 18:06:54 +0800
Subject: [PATCH] 1
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainService.java | 30 ++++++++++++++++++++++++++++++
1 files changed, 30 insertions(+), 0 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 20100cf..e86a2dd 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
@@ -842,6 +842,12 @@
agvId, // AGV
now // 宸ヤ綔鏃堕棿
));
+ log.info("1TurnCorner posType={}, code={}, corner={}, nextDirection={}, finalAngle={}",
+ Objects.requireNonNull(TaskPosDto.queryPosType(segment.getPosType())),
+ lastCode.getData(),
+ lastCode.getCornerBool(),
+ nextDirection,
+ 180);
} else {
// turn
actionList.add(new Action(
@@ -859,6 +865,12 @@
agvId, // AGV
now // 宸ヤ綔鏃堕棿
));
+ log.info("2TurnCorner posType={}, code={}, corner={}, nextDirection={}, finalAngle={}",
+ Objects.requireNonNull(TaskPosDto.queryPosType(segment.getPosType())),
+ lastCode.getData(),
+ lastCode.getCornerBool(),
+ nextDirection,
+ nextDirection);
}
lastDirection = nextDirection;
}
@@ -883,6 +895,12 @@
agvId, // AGV
now // 宸ヤ綔鏃堕棿
));
+ log.info("3TurnCorner posType={}, code={}, corner={}, nextDirection={}, finalAngle={}",
+ Objects.requireNonNull(TaskPosDto.queryPosType(segment.getPosType())),
+ lastCode.getData(),
+ lastCode.getCornerBool(),
+ nextDirection,
+ 180);
}
}
}
@@ -905,6 +923,12 @@
agvId, // AGV
now // 宸ヤ綔鏃堕棿
));
+ log.info("4TurnCorner posType={}, code={}, corner={}, nextDirection={}, finalAngle={}",
+ Objects.requireNonNull(TaskPosDto.queryPosType(segment.getPosType())),
+ lastCode.getData(),
+ lastCode.getCornerBool(),
+ nextDirection,
+ nextDirection);
lastDirection = nextDirection;
}
@@ -963,6 +987,12 @@
agvId, // AGV
now // 宸ヤ綔鏃堕棿
));
+ log.info("5TurnCorner posType={}, code={}, corner={}, nextDirection={}, finalAngle={}",
+ Objects.requireNonNull(TaskPosDto.queryPosType(segment.getPosType())),
+ lastCode.getData(),
+ lastCode.getCornerBool(),
+ null,
+ turnDirection);
lastDirection = workDirection;
}
}
--
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