From e6f1eb205862b834ba1747557a723fefff6ab881 Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期二, 12 十一月 2024 10:54:47 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/fake/AgvSimulatorTask.java | 46 ++++++++++++++++++++++++----------------------
1 files changed, 24 insertions(+), 22 deletions(-)
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/fake/AgvSimulatorTask.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/fake/AgvSimulatorTask.java
index 1b2b688..308766e 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/fake/AgvSimulatorTask.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/fake/AgvSimulatorTask.java
@@ -126,34 +126,36 @@
* @param action 褰撳墠鍔ㄤ綔
*/
private void simulateRotating(Agv agv, AgvDetail agvDetail, Action action) throws InterruptedException {
-// Double agvAngle = agvDetail.getAgvAngle();
-// double actionAngle = Double.parseDouble(action.getParams());
+// double totalAngle = Double.parseDouble(action.getParams());
+// double stepAngle = 90.0;
+// double actionProgress = 0.0;
+//
+// while (actionProgress < totalAngle) {
+// double angleToRotate = Math.min(stepAngle, totalAngle - actionProgress);
+// // 鏇存柊AGV鐨勮搴�
+// double newAngle = (agvDetail.getAgvAngle() + angleToRotate) % 360;
+// agvDetail.setAgvAngle(newAngle);
+//
+// // 妯℃嫙鐢甸噺娑堣��
+//// agvDetail.setVol(agvDetail.getVol() - 0.05 * (angleToRotate / 15.0)); // 鏍规嵁瑙掑害娑堣�楃數閲�
+//
+// agvDetailService.updateById(agvDetail);
+//
+// Thread.sleep(1000);
+//
+// actionProgress += angleToRotate;
+// }
+ double actionAngle = Double.parseDouble(action.getParams());
- double totalAngle = Double.parseDouble(action.getParams()); // 鍋囪Action鏈塧ngle灞炴��
- double stepAngle = 45.0; // 姣忕鏃嬭浆15搴︼紝鍏蜂綋鍊兼牴鎹渶姹傝皟鏁�
- double actionProgress = 0.0;
+ double newAngle = (agvDetail.getAgvAngle() + actionAngle) % 360;
- while (actionProgress < totalAngle) {
- double angleToRotate = Math.min(stepAngle, totalAngle - actionProgress);
- // 鏇存柊AGV鐨勮搴�
- double newAngle = (agvDetail.getAgvAngle() + angleToRotate) % 360;
- agvDetail.setAgvAngle(newAngle);
+ agvDetail.setAgvAngle(newAngle);
+ agvDetailService.updateById(agvDetail);
- // 妯℃嫙鐢甸噺娑堣��
-// agvDetail.setVol(agvDetail.getVol() - 0.05 * (angleToRotate / 15.0)); // 鏍规嵁瑙掑害娑堣�楃數閲�
+ Thread.sleep(1000);
- // 鏇存柊AGV璇︾粏淇℃伅
- agvDetailService.updateById(agvDetail);
-
- // 妯℃嫙瀹為檯鎵ц鏃堕棿
- Thread.sleep(1000); // 姣忕鎵ц涓�娆�
-
- actionProgress += angleToRotate;
- }
-
- // 鍔ㄤ綔瀹屾垚锛屾洿鏂扮姸鎬�
action.setActionSts(ActionStsType.FINISH.val());
actionService.updateById(action);
}
--
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