From e7ba29233031f8f101c73a9c63e4718ba78e3eb4 Mon Sep 17 00:00:00 2001
From: yy <yy123>
Date: 星期一, 02 三月 2026 15:16:08 +0800
Subject: [PATCH] 111
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainService.java | 21 +++++++++++++++++----
1 files changed, 17 insertions(+), 4 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 b717ce4..fe36656 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
@@ -769,9 +769,9 @@
Task task = taskService.getById(segment.getTaskId());
TaskPosDto.PosType posType = Objects.requireNonNull(TaskPosDto.queryPosType(segment.getPosType()));
// 鐩爣鏄惁涓虹珯鐐�
- boolean isStation = posType == TaskPosDto.PosType.ORI_STA || posType == TaskPosDto.PosType.DEST_STA;
+ boolean isStation = posType == TaskPosDto.PosType.ORI_STA || posType == TaskPosDto.PosType.DEST_STA || posType == TaskPosDto.PosType.MOVE;
// 鐩爣鏄惁涓哄簱浣�
- boolean isLoc = posType == TaskPosDto.PosType.ORI_LOC || posType == TaskPosDto.PosType.DEST_LOC;
+ boolean isLoc = posType == TaskPosDto.PosType.ORI_LOC || posType == TaskPosDto.PosType.DEST_LOC || posType == TaskPosDto.PosType.MOVE ;
// 绔欑偣鍦扮爜
List<String> turnCodes = Arrays.asList("00000050", "00000051", "00000052", "00000053", "00000054");
// 搴撲綅鍦扮爜
@@ -833,7 +833,7 @@
ActionTypeType.TurnCorner.desc, // 鍚嶇О
mapService.isTurnCorner(lastCode.getData()) ? 1D : 0D, // 灞炴�у��
lastCode.getData(), // 鍦伴潰鐮�
- String.valueOf(180), // 鍔ㄤ綔鍙傛暟
+ String.valueOf(nextDirection), // 鍔ㄤ綔鍙傛暟
ActionTypeType.TurnCorner.val(), // 鍔ㄤ綔绫诲瀷
actionPrepareSts, // 鍔ㄤ綔杩涘害
agvId, // AGV
@@ -889,7 +889,7 @@
ActionTypeType.TurnCorner.desc, // 鍚嶇О
mapService.isTurnCorner(lastCode.getData()) ? 1D : 0D, // 灞炴�у��
lastCode.getData(), // 鍦伴潰鐮�
- String.valueOf(180), // 鍔ㄤ綔鍙傛暟
+ String.valueOf((nextCode.getData().equals("00000051")||nextCode.getData().equals("00000081") )? 180 : (nextCode.getData().equals("00000025")?270:(nextCode.getData().equals("00000055")?90:0)) ), // 鍔ㄤ綔鍙傛暟
ActionTypeType.TurnCorner.val(), // 鍔ㄤ綔绫诲瀷
actionPrepareSts, // 鍔ㄤ綔杩涘害
agvId, // AGV
@@ -934,6 +934,19 @@
lastDirection = nextDirection;
}
+ // 濡傛灉褰撳墠鍦扮爜鍜屼笅涓�涓湴鐮侀兘鍦ㄧ珯鐐瑰湴鐮侀泦鍚堝唴锛屽垯鏍规嵁鍦ㄩ泦鍚堜腑鐨勯『搴忓喅瀹氳杩涙柟鍚戝拰鏄惁鍊掗��
+ if (turnCodes.contains(lastCode.getData()) && turnCodes.contains(nextCode.getData())) {
+ int lastIndex = turnCodes.indexOf(lastCode.getData());
+ int nextIndex = turnCodes.indexOf(nextCode.getData());
+ if (nextIndex > lastIndex) {
+ nextDirection = 180D;
+ reverse = false;
+ } else if (nextIndex < lastIndex) {
+ nextDirection = 0D;
+ reverse = true;
+ }
+ }
+
// run
ActionTypeType actionType = ActionTypeType.StraightAheadTurnable;
if (reverse) {
--
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