From ca9d1359afeb60ca2dc7215b17535c4bd5e6f274 Mon Sep 17 00:00:00 2001
From: vincentlu <t1341870251@gmail.com>
Date: 星期四, 05 二月 2026 10:19:16 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapService.java | 27 +++++++++++++--------------
1 files changed, 13 insertions(+), 14 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 423b127..c3cb502 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
@@ -7,7 +7,6 @@
import com.zy.acs.manager.core.domain.DirectionDto;
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;
@@ -161,15 +160,8 @@
// 鍧愭爣璐ф灦闃堝�� todo:luxiaotao
public AgvDirectionType 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;
+ Integer compDirect = loc.getCompDirect();
+ return AgvDirectionType.fromVal(compDirect);
}
public Double getStaAngle(Sta sta, Double workDirection) {
@@ -427,16 +419,23 @@
}
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());
}
- public CodeSpinType calcSpinDirection(Code code, Double currDir, Double nextDir) {
+ public static CodeSpinType calcSpinDirection(Code code, Double currDir, Double nextDir) {
if (Cools.isEmpty(code, currDir, nextDir)) {
return CodeSpinType.NA;
}
List<Double> disableAngleList = new ArrayList<>();
- List<DirectionDto> directionDtoList = DirectionDto.initCodeDirections();
+ 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()) {
disableAngleList.add(dto.getAngle());
@@ -455,8 +454,8 @@
return CodeSpinType.NA;
}
- double cwDelta = cwDelta(curr, next); // (0, 360)
- double ccwDelta = 360.0 - cwDelta; // (0, 360)
+ double cwDelta = cwDelta(curr, next);
+ double ccwDelta = 360.0 - cwDelta;
boolean cwBlocked = false;
boolean ccwBlocked = false;
--
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