From e286f7e2b9e80162e132311fb02402d8a3a951f4 Mon Sep 17 00:00:00 2001
From: vincentlu <t1341870251@gmail.com>
Date: 星期一, 13 一月 2025 14:22:58 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapService.java | 11 +++++------
1 files changed, 5 insertions(+), 6 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 2be706d..faa379e 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
@@ -1,6 +1,5 @@
package com.zy.acs.manager.core.service;
-import com.alibaba.fastjson.JSONObject;
import com.zy.acs.common.enums.AgvDirectionType;
import com.zy.acs.framework.common.Cools;
import com.zy.acs.manager.common.utils.MapDataUtils;
@@ -35,6 +34,8 @@
@Slf4j
@Component("mapService")
public class MapService {
+
+ private final static int[][] DIRECTIONS = {{0,1},{0,-1},{-1,0},{1,0}};
@Value("${floyd.enable}")
private Boolean floydEnable;
@@ -118,14 +119,14 @@
return floydNavigateService.calculatePath(startIdx, endIdx).stream().map(path -> {
Long codeId = floydNavigateService.getCodeId(path);
- Code code = codeService.getById(codeId);
+ Code code = codeService.getCacheById(codeId);
return code.getData();
}).collect(Collectors.toList());
}
// 瑙掑害璁＄畻
- public Double calculateDirection(Code startCode, Code endCode) {
+ public Double calculateDirection(Code startCode, Code endCode, int angleOffsetVal) {
Double x0 = startCode.getX();
Double y0 = startCode.getY();
@@ -135,7 +136,6 @@
double deltaX = x1 - x0;
double deltaY = y1 - y0;
double angle = -Math.atan2(deltaX, deltaY);
- int angleOffsetVal = configService.getVal("mapAngleOffsetVal", Integer.class);
angle = Math.toDegrees(angle) + angleOffsetVal;
angle = (angle + 360) % 360; // 灏嗚搴﹁浆鎹负姝ｅ��
@@ -143,8 +143,7 @@
}
// 鍧愭爣璐ф灦闃堝�� todo:luxiaotao
- public AgvDirectionType calculateAgvWorkDirection(JSONObject storeDirection, Loc loc, Code code) {
- storeDirection.getString("key");
+ public AgvDirectionType calculateAgvWorkDirection(Loc loc, Code code) {
Integer compDirect = loc.getCompDirect();
AgvDirectionType agvDirectionType = null;
if (compDirect == 0) {
--
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