cl2 基于设备状态和任务状态分步生成设备任务消息

servo/src/main/java/com/galaxis/rcs/plan/path/PathUtils.java

@@ -184,7 +184,7 @@ public class PathUtils {
     public static short amrAngleToDirection(double angle) {
 
         // 误差范围 +-1度
-        double angleRange = 1.0f;
+        double angleRange = 10f;
 
         while (angle < 0) {
             angle += 360;

servo/src/main/java/com/galaxis/rcs/ptr/PtrAgvItem.java

@@ -605,16 +605,16 @@ public abstract class PtrAgvItem extends ExecutorItem {
                             short d = 0;
                             switch (store.get("direction").toString()) {
                                 case "up":
-                                    d = 1;
+                                    d = 3;
                                     break;
                                 case "right":
-                                    d = 2;
+                                    d = 0;
                                     break;
                                 case "down":
-                                    d = 3;
+                                    d = 1;
                                     break;
                                 case "left":
-                                    d = 0;
+                                    d = 2;
                                     break;
                             }
                             deviceTask.goodsSlotDirection = d;
@@ -669,16 +669,16 @@ public abstract class PtrAgvItem extends ExecutorItem {
                             short d = 0;
                             switch (store.get("direction").toString()) {
                                 case "up":
-                                    d = 1;
+                                    d = 3;
                                     break;
                                 case "right":
-                                    d = 2;
+                                    d = 0;
                                     break;
                                 case "down":
-                                    d = 3;
+                                    d = 1;
                                     break;
                                 case "left":
-                                    d = 0;
+                                    d = 2;
                                     break;
                             }
                             deviceTask.goodsSlotDirection = d;