From c65a357fc8b907af755e1ef6a2c201e31eb71e94 Mon Sep 17 00:00:00 2001
From: vincentlu <t1341870251@gmail.com>
Date: 星期六, 07 二月 2026 13:50:38 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainService.java | 28 ++++++++++++++--------------
1 files changed, 14 insertions(+), 14 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 7597586..82c2626 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
@@ -383,7 +383,7 @@
int idx = -1;
for (int i = 0; i < destPosList.size(); i++) {
if (Objects.equals(destPosList.get(i).getTaskId(), newDto.getTaskId())
- && Objects.equals(destPosList.get(i).getCodeId(), newDto.getCodeId())) {
+ && Objects.equals(destPosList.get(i).getCodeId(), newDto.getCodeId())) {
idx = i;
break;
}
@@ -1239,7 +1239,7 @@
task.getBusId(), // 鎬荤嚎
task.getId(), // 浠诲姟
null, // 鍔ㄤ綔鍙�
- null, // 浼樺厛绾�
+ null, // 浼樺厛绾�
ActionTypeType.ReadyReleaseToShelvesLoc.desc, // 鍚嶇О
(double) actuatorDirectionType.val, // 灞炴�у��
lastCode.getData(), // 鍦伴潰鐮�
@@ -1253,9 +1253,9 @@
case ORI_STA:
// 绔欑偣鍙栬揣
Sta oriSta = staService.getById(task.getOriSta());
- Double angle = oriSta.getAngle() == null ? mapService.getStaAngle(oriSta, workDirection) : Double.valueOf(oriSta.getAngle());
+ Double oriStaWorkDirection = mapService.getStaAngle(oriSta);
// 妫�楠屾柟鍚�
- if (!lastDirection.equals(Double.valueOf(angle))) {
+ if (!lastDirection.equals(oriStaWorkDirection)) {
if (!lastCode.getCornerBool()) {
throw new CoolException(agvNo + "鍙峰皬杞︽柟鍚戦敊璇紝璇锋帹鑷宠浆寮偣鎵嬪姩璋冩暣");
}
@@ -1267,15 +1267,15 @@
null, // 鍔ㄤ綔鍙�
null, // 浼樺厛绾�
ActionTypeType.TurnCorner.desc, // 鍚嶇О
- (double) MapService.calcSpinDirection(lastCode, lastDirection, angle).val, // 灞炴�у��
+ (double) MapService.calcSpinDirection(lastCode, lastDirection, oriStaWorkDirection).val, // 灞炴�у��
lastCode.getData(), // 鍦伴潰鐮�
- String.valueOf(angle), // 鍔ㄤ綔鍙傛暟
+ String.valueOf(oriStaWorkDirection), // 鍔ㄤ綔鍙傛暟
ActionTypeType.TurnCorner.val(), // 鍔ㄤ綔绫诲瀷
actionPrepareSts, // 鍔ㄤ綔杩涘害
agvId, // AGV
now // 宸ヤ綔鏃堕棿
));
- lastDirection = angle;
+ lastDirection = oriStaWorkDirection;
}
// 璁＄畻璐у弶宸ヤ綔鏂瑰悜
actuatorDirectionType = ActuatorDirectionType.fromVal(oriSta.getActDir());
@@ -1318,9 +1318,9 @@
case DEST_STA:
// 绔欑偣鏀捐揣
Sta destSta = staService.getById(task.getDestSta());
- angle = destSta.getAngle() == null ? mapService.getStaAngle(destSta, workDirection) : Double.valueOf(destSta.getAngle());
+ Double destStaWorkDirection = mapService.getStaAngle(destSta);
// 妫�楠屾柟鍚�
- if (!lastDirection.equals(angle)) {
+ if (!lastDirection.equals(destStaWorkDirection)) {
if (!lastCode.getCornerBool()) {
throw new CoolException(agvNo + "鍙峰皬杞︽柟鍚戦敊璇紝璇锋帹鑷宠浆寮偣鎵嬪姩璋冩暣");
}
@@ -1332,15 +1332,15 @@
null, // 鍔ㄤ綔鍙�
null, // 浼樺厛绾�
ActionTypeType.TurnCorner.desc, // 鍚嶇О
- (double) MapService.calcSpinDirection(lastCode, lastDirection, angle).val, // 灞炴�у��
+ (double) MapService.calcSpinDirection(lastCode, lastDirection, destStaWorkDirection).val, // 灞炴�у��
lastCode.getData(), // 鍦伴潰鐮�
- String.valueOf(angle), // 鍔ㄤ綔鍙傛暟
+ String.valueOf(destStaWorkDirection), // 鍔ㄤ綔鍙傛暟
ActionTypeType.TurnCorner.val(), // 鍔ㄤ綔绫诲瀷
actionPrepareSts, // 鍔ㄤ綔杩涘害
agvId, // AGV
now // 宸ヤ綔鏃堕棿
));
- lastDirection = angle;
+ lastDirection = destStaWorkDirection;
}
// 鑳岀瘬鍙栬揣
if (backupAction) {
@@ -1833,9 +1833,9 @@
// segment list
List<Segment> segmentList = segmentService.list(new LambdaQueryWrapper<Segment>()
- .eq(Segment::getGroupId, serialNo)
+ .eq(Segment::getGroupId, serialNo)
// .eq(Segment::getState, SegmentStateType.RUNNING.toString())
- .orderByAsc(Segment::getSerial)
+ .orderByAsc(Segment::getSerial)
);
// settlement
--
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