From 80f5003a640db7795d69c5e3a73caa685c289b80 Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@gmail.com>
Date: 星期三, 14 一月 2026 16:27:38 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainService.java | 86 ++++++++++++++++++++++++++++++-------------
1 files changed, 60 insertions(+), 26 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 dbcc983..5e7058c 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
@@ -936,7 +936,6 @@
if (!lastCode.getData().equals(code.getData())) {
// 璧拌璺緞鑺傜偣
-// List<String> pathList = mapService.checkoutPath(agv.getUuid(), lastCode, code);
List<String> pathListPart = pathList.subList(pathList.indexOf(lastCode.getData()), pathList.indexOf(code.getData()) + 1);
for (int i = 0; i < pathListPart.size(); i++) {
@@ -945,10 +944,13 @@
String next = pathListPart.get(i);
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);
// 鍙嶅悜瑙�
final double oppLastDir = (lastDirection + 180) % 360;
+ // 鏄惁鍊掗��琛岃蛋
+ boolean reverse = false;
// 宸烽亾閫昏緫
if (!laneBuilder.isInitialized()) {
@@ -957,21 +959,16 @@
LaneDto lastLaneDto = laneBuilder.search(lastCode.getData());
LaneDto nextLaneDto = laneBuilder.search(nextCode.getData());
// 杩涘叆宸烽亾瑙掑害
- Double laneDir = laneService.getLaneDirection(nextLaneDto);
- // 绗竴娆¤繘鍏ユ宸烽亾
- boolean firstEnteringLane = null != laneDir && (
- lastLaneDto == null
- || !Objects.equals(lastLaneDto.getHashCode(), nextLaneDto.getHashCode())
- );
-
- boolean reverse = false;
+ Double lastLaneDir = laneService.getLaneDirection(lastLaneDto);
+ Double nextLaneDir = laneService.getLaneDirection(nextLaneDto);
// 宸烽亾寮哄埗杞集锛屼紭鍏堢骇 > workDirection
- if (firstEnteringLane) {
-// final double oppLaneDir = (laneDir + 180) % 360;
- if (!lastDirection.equals(laneDir)) {
+ if (null != nextLaneDir) {
+ final double oppNextLaneDir = (nextLaneDir + 180) % 360;
+
+ if (!lastDirection.equals(nextLaneDir)) {
if (!lastCode.getCornerBool()) {
- throw new CoolException(agvNo + "鍙峰皬杞﹁繘鍏ュ贩閬撻渶璋冩暣鏂瑰悜涓� " + laneDir + "掳锛岃鎺ㄨ嚦杞集鐐规墜鍔ㄨ皟鏁�");
+ throw new CoolException(agvNo + "鍙峰皬杞﹁繘鍏ュ贩閬撻渶璋冩暣鏂瑰悜涓� " + nextLaneDir + "掳锛岃鎺ㄨ嚦杞集鐐规墜鍔ㄨ皟鏁�");
}
// turn
actionList.add(new Action(
@@ -981,16 +978,34 @@
null, // 鍔ㄤ綔鍙�
null, // 浼樺厛绾�
ActionTypeType.TurnCorner.desc, // 鍚嶇О
- (double) mapService.spinDirection(lastCode).val, // 灞炴�у��
+ (double) MapService.calcSpinDirection(lastCode, lastDirection, nextLaneDir).val, // 灞炴�у��
lastCode.getData(), // 鍦伴潰鐮�
- String.valueOf(laneDir), // 鍔ㄤ綔鍙傛暟
+ String.valueOf(nextLaneDir), // 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 = laneDir;
+ lastDirection = nextLaneDir;
}
+
+ if (nextDirection.equals(oppNextLaneDir)) {
+ reverse = true;
+ }
+ nextDirection = nextLaneDir; // 闃叉 绗竴涓姩浣滀竴瀹氭槸 turn 鍑洪棶棰�
+ } else if (null != lastLaneDir) { // todo turn 鐜舰鐩磋
+ final double oppLastLaneDir = (lastLaneDir + 180) % 360;
+
+ if (!lastDirection.equals(nextDirection)) { // lastLaneDir
+ if (!lastCode.getCornerBool()) {
+ throw new CoolException(agvNo + "鍙峰皬杞︾寮�宸烽亾闇�璋冩暣鏂瑰悜涓� " + nextDirection + "掳锛岃鎺ㄨ嚦杞集鐐规墜鍔ㄨ皟鏁�");
+ }
+ }
+
+ if (nextDirection.equals(oppLastLaneDir)) {
+ reverse = true;
+ }
+ nextDirection = lastLaneDir; // 闃叉 绗竴涓姩浣滀竴瀹氭槸 turn 鍑洪棶棰�
} else {
// 濡傛灉涓嬩竴涓柟鍚戞濂芥槸浣滀笟鏂瑰悜鐨勭浉鍙嶆柟鍚戯紝鍒欓噸缃笅涓�涓柟鍚戜负浣滀笟鏂瑰悜锛屾爣璁� reverse = true
@@ -1030,7 +1045,7 @@
null, // 鍔ㄤ綔鍙�
null, // 浼樺厛绾�
ActionTypeType.TurnCorner.desc, // 鍚嶇О
- (double) mapService.spinDirection(lastCode).val, // 灞炴�у��
+ (double) MapService.calcSpinDirection(lastCode, lastDirection, nextDirection).val, // 灞炴�у��
lastCode.getData(), // 鍦伴潰鐮�
String.valueOf(nextDirection), // 鍔ㄤ綔鍙傛暟
ActionTypeType.TurnCorner.val(), // 鍔ㄤ綔绫诲瀷
@@ -1055,7 +1070,7 @@
null, // 鍔ㄤ綔鍙�
null, // 浼樺厛绾�
ActionTypeType.TurnCorner.desc, // 鍚嶇О
- (double) mapService.spinDirection(lastCode).val, // 灞炴�у��
+ (double) MapService.calcSpinDirection(lastCode, lastDirection, nextDirection).val, // 灞炴�у��
lastCode.getData(), // 鍦伴潰鐮�
String.valueOf(nextDirection), // 鍔ㄤ綔鍙傛暟
ActionTypeType.TurnCorner.val(), // 鍔ㄤ綔绫诲瀷
@@ -1095,6 +1110,25 @@
// 鍒濆鏂瑰悜鍊艰ˉ涓�
if (first) {
if (Cools.isEmpty(actionList) || !actionList.get(0).getActionType().equals(ActionTypeType.TurnCorner.val())) {
+ Double firstTurnDir = workDirection;
+
+ // 宸烽亾閫昏緫
+ if (!laneBuilder.isInitialized()) {
+ throw new CoolException("lanes are not initialized");
+ }
+ LaneDto lastLaneDto = laneBuilder.search(lastCode.getData());
+ // 杩涘叆宸烽亾瑙掑害
+ Double lastLaneDir = laneService.getLaneDirection(lastLaneDto);
+ if (lastLaneDir != null) {
+ firstTurnDir = lastLaneDir;
+ }
+
+ if (!lastDirection.equals(firstTurnDir)) {
+ 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");
+ }
+ }
+
// turn
actionList.add(new Action(
null, // 缂栧彿
@@ -1103,16 +1137,16 @@
null, // 鍔ㄤ綔鍙�
null, // 浼樺厛绾�
ActionTypeType.TurnCorner.desc, // 鍚嶇О
- (double) mapService.spinDirection(lastCode).val, // 灞炴�у��
+ (double) MapService.calcSpinDirection(lastCode, lastDirection, firstTurnDir).val, // 灞炴�у��
lastCode.getData(), // 鍦伴潰鐮�
- String.valueOf(workDirection), // 鍔ㄤ綔鍙傛暟
+ String.valueOf(firstTurnDir), // 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 = workDirection;
+ lastDirection = firstTurnDir;
}
first = false;
@@ -1229,7 +1263,7 @@
null, // 鍔ㄤ綔鍙�
null, // 浼樺厛绾�
ActionTypeType.TurnCorner.desc, // 鍚嶇О
- (double) mapService.spinDirection(lastCode).val, // 灞炴�у��
+ (double) MapService.calcSpinDirection(lastCode, lastDirection, oriStaWorkDirection).val, // 灞炴�у��
lastCode.getData(), // 鍦伴潰鐮�
String.valueOf(oriStaWorkDirection), // 鍔ㄤ綔鍙傛暟
ActionTypeType.TurnCorner.val(), // 鍔ㄤ綔绫诲瀷
@@ -1293,7 +1327,7 @@
null, // 鍔ㄤ綔鍙�
null, // 浼樺厛绾�
ActionTypeType.TurnCorner.desc, // 鍚嶇О
- (double) mapService.spinDirection(lastCode).val, // 灞炴�у��
+ (double) MapService.calcSpinDirection(lastCode, lastDirection, destStaWorkDirection).val, // 灞炴�у��
lastCode.getData(), // 鍦伴潰鐮�
String.valueOf(destStaWorkDirection), // 鍔ㄤ綔鍙傛暟
ActionTypeType.TurnCorner.val(), // 鍔ㄤ綔绫诲瀷
@@ -1352,7 +1386,7 @@
null, // 鍔ㄤ綔鍙�
null, // 浼樺厛绾�
ActionTypeType.TurnCorner.desc, // 鍚嶇О
- (double) mapService.spinDirection(lastCode).val, // 灞炴�у��
+ (double) MapService.calcSpinDirection(lastCode, lastDirection, chargeDirection).val, // 灞炴�у��
lastCode.getData(), // 鍦伴潰鐮�
String.valueOf(chargeDirection), // 鍔ㄤ綔鍙傛暟
ActionTypeType.TurnCorner.val(), // 鍔ㄤ綔绫诲瀷
@@ -1865,8 +1899,8 @@
AGV_06_DOWN agv_06_down = new AGV_06_DOWN();
agv_06_down.setSerialNo(agv_06_up.getSerialNo());
agv_06_down.setActionCode(agv_06_up.getActionCode());
- agv_06_down.setResult(success ? 1 : 0);
-
+ //agv_06_down.setResult(success ? 1 : 0);
+ agv_06_down.setResult(1);
redis.push(RedisConstant.AGV_PATH_DOWN_FLAG, AgvProtocol.build(protocol.getAgvNo()).setMessageBody(agv_06_down));
}
--
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