From cc69250f7766581dbfd38f500021d03b29f0a4e0 Mon Sep 17 00:00:00 2001
From: vincentlu <t1341870251@gmail.com>
Date: 星期二, 07 四月 2026 13:00:11 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainService.java | 5 ++---
1 files changed, 2 insertions(+), 3 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 e8e1658..2c0889a 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
@@ -23,6 +23,7 @@
import com.zy.acs.manager.core.integrate.dto.OpenBusSubmitParam;
import com.zy.acs.manager.core.service.hik.HikOrderPublishService;
import com.zy.acs.manager.core.service.astart.MapDataDispatcher;
+import com.zy.acs.manager.core.utils.AgvAngleUtils;
import com.zy.acs.manager.manager.entity.*;
import com.zy.acs.manager.manager.enums.*;
import com.zy.acs.manager.manager.service.*;
@@ -901,8 +902,6 @@
if (Cools.isEmpty(agvId, segmentList)) { return pathTrace; }
Date now = new Date();
long actionPrepareSts = ActionStsType.PREPARE.val();
-// JSONObject storeDirection = configService.getVal("storeDirection", JSONObject.class);
- int angleOffsetVal = configService.getVal("mapAngleOffsetVal", Integer.class);
// Double defaultShelfDepth = configService.getVal("defaultShelfDepth", Double.class);
// defaultShelfDepth = Optional.ofNullable(defaultShelfDepth).orElse((double) 0);
String agvNo = agvService.getAgvNo(agvId);
@@ -951,7 +950,7 @@
Code nextCode = codeService.getCacheByData(next);
// 杞﹀ご鏈濆墠鐨勪笅涓�涓璧版柟鍚�
- Double nextDirection = mapService.calculateDirection(lastCode, nextCode, angleOffsetVal);
+ Double nextDirection = AgvAngleUtils.calculateDirection(lastCode, nextCode, agvModel);
// 鍙嶅悜瑙�
final double oppLastDir = (lastDirection + 180) % 360;
--
Gitblit v1.9.1