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/MapService.java | 65 ++++++++++++++++++++------------
1 files changed, 40 insertions(+), 25 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 d792dd8..d6ac66c 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
@@ -1,13 +1,14 @@
package com.zy.acs.manager.core.service;
import com.alibaba.fastjson.JSON;
-import com.zy.acs.common.enums.AgvDirectionType;
+import com.zy.acs.common.enums.ActuatorDirectionType;
import com.zy.acs.framework.common.Cools;
+import com.zy.acs.framework.exception.CoolException;
import com.zy.acs.manager.core.constant.MapDataConstant;
import com.zy.acs.manager.core.domain.DirectionDto;
+import com.zy.acs.manager.core.domain.LaneDto;
import com.zy.acs.manager.core.domain.SortCodeDto;
import com.zy.acs.manager.core.domain.UnlockPathTask;
-import com.zy.acs.manager.core.domain.type.CodeDirectionType;
import com.zy.acs.manager.core.service.astart.*;
import com.zy.acs.manager.core.service.astart.domain.AStarNavigateNode;
import com.zy.acs.manager.core.service.astart.domain.DynamicNode;
@@ -17,9 +18,8 @@
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;
+import com.zy.acs.manager.manager.service.LaneService;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.beans.factory.annotation.Value;
@@ -53,9 +53,9 @@
@Autowired
private AStarNavigateService aStarNavigateService;
@Autowired
- private ConfigService configService;
+ private LaneService laneService;
@Autowired
- private ActionService actionService;
+ private LaneBuilder laneBuilder;
@Autowired
private LinkedBlockingQueue<UnlockPathTask> unlockTaskQueue;
@@ -159,27 +159,39 @@
return angle;
}
- // 鍧愭爣璐ф灦闃堝�� todo:luxiaotao
- public AgvDirectionType calculateAgvWorkDirectionByShelf(Loc loc, Code code) {
+ // 鍧愭爣璐ф灦闃堝��
+ public ActuatorDirectionType calculateAgvWorkDirectionByShelf(Loc loc, Code code) {
Integer compDirect = loc.getCompDirect();
- AgvDirectionType agvDirectionType = null;
- if (compDirect == 0) {
- agvDirectionType = AgvDirectionType.RIGHT;
- }
- if (compDirect == 1) {
- agvDirectionType = AgvDirectionType.LEFT;
- }
- return agvDirectionType;
+ return ActuatorDirectionType.fromVal(compDirect);
}
- public Double getStaAngle(Sta sta, Double workDirection) {
- if (null == sta) {
- return null;
+ public Double getStaAngle(Sta sta) {
+ if (null == sta.getCode()) {
+ throw new CoolException(sta.getStaNo() + "鍙锋帴椹崇珯鏈缃湴鐮侊紒");
}
- if (Cools.isEmpty(sta.getAngle())) {
- return workDirection;
+ Code code = codeService.getCacheById(sta.getCode());
+ if (code.getCornerBool()) {
+ if (!Cools.isEmpty(sta.getAngle())) {
+ return Double.parseDouble(sta.getAngle());
+ } else {
+ throw new CoolException(sta.getStaNo() + "鍙锋帴椹崇珯鏈缃溅浣撲綔涓氳搴︼紒");
+ }
+ } else {
+ LaneDto laneDto = laneBuilder.search(code.getData());
+ Double laneDir = laneService.getLaneDirection(laneDto);
+
+ if (!Cools.isEmpty(laneDir)) {
+ if (!Cools.isEmpty(sta.getAngle()) && !laneDir.equals(Double.parseDouble(sta.getAngle()))) {
+ throw new CoolException(sta.getStaNo() + "鍙锋帴椹崇珯杞︿綋浣滀笟瑙掑害涓庡贩閬撹繘鍏ヨ搴︿笉涓�鑷达紒");
+ }
+ return laneDir;
+ } else {
+ if (!Cools.isEmpty(sta.getAngle())) {
+ return Double.parseDouble(sta.getAngle());
+ }
+ throw new CoolException("鏈缃�" + sta.getStaNo() + "鍙锋帴椹崇珯鎵�澶勫贩閬撶殑杩涘叆瑙掑害");
+ }
}
- return Double.parseDouble(sta.getAngle());
}
public Double calculateAgvWorkDirectionByStation(Double staWorkDirection, Double lastDirection) {
@@ -429,6 +441,7 @@
public static void main(String[] args) {
CodeSpinType codeSpinType = calcSpinDirection(null, 260.0, 10.0);
List<DirectionDto> directionDtoList = DirectionDto.initCodeDirections();
+ System.out.println(JSON.toJSONString(directionDtoList));
System.out.println(codeSpinType.toString());
}
@@ -437,9 +450,11 @@
return CodeSpinType.NA;
}
List<Double> disableAngleList = new ArrayList<>();
- List<DirectionDto> directionDtoList = DirectionDto.initCodeDirections();
- if (code.getData().contains("57")) {
- directionDtoList = DirectionDto.initCodeDirections0();
+ List<DirectionDto> directionDtoList;
+ if (!Cools.isEmpty(code.getDirRule())) {
+ directionDtoList = JSON.parseArray(code.getDirRule(), DirectionDto.class);
+ } else {
+ directionDtoList = DirectionDto.initCodeDirections();
}
for (DirectionDto dto : directionDtoList) {
if (null != dto.getEnabled() && !dto.getEnabled()) {
--
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