From fc5fc7ca68282cce52c240ae5b3e69e81c27bfcb Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期三, 13 十一月 2024 14:15:10 +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 ca8080e..c5b0a72 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
@@ -684,13 +684,12 @@
List<Action> actionList = new ArrayList<>();
// start node
Code lastCode = codeService.getById(agvDetail.getRecentCode());
+ Double lastDirection = agvDetail.getAgvAngle();
if (!lastCode.getData().equals(pathList.get(0))) {
throw new CoolException("AGV[" + agv.getUuid() + "]瀹氫綅鍋忕Щ...");
}
- Double lastDirection = agvDetail.getAgvAngle();
boolean first = true;
-
for (Segment segment : segmentList) {
// 鍒嗘鎵�灞炵殑Task
@@ -922,7 +921,7 @@
break;
case TO_CHARGE:
// 妫�楠屾柟鍚�
- FuncSta chargeFuncSta = funcStaService.query(agvId, lastCode.getId(), FuncStaType.CHARGE.toString());
+ FuncSta chargeFuncSta = funcStaService.query(lastCode.getId(), FuncStaType.CHARGE.toString());
Double chargeDirection = Double.parseDouble(chargeFuncSta.getAngle());
if (!lastDirection.equals(chargeDirection)) {
actionList.add(new Action(
--
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