FM600

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

@@ -1,6 +1,7 @@
 package com.galaxis.rcs.plan.path;
 
 import com.galaxis.rcs.common.enums.LCCDirection;
+import com.galaxis.rcs.plan.PlanTaskSequence;
 
 import java.util.*;
 
@@ -150,8 +151,12 @@ public class PathUtils {
     /**
      * 转换货位方向到AGV所需方向
      */
-    public static LCCDirection convertStoreDirection(LCCDirection storeDirection) {
+    public static LCCDirection convertStoreDirection(PlanTaskSequence plan, LCCDirection storeDirection) {
         // 转换规则: 货位在路径点的方位 -> AGV所需方向
+        if (plan.getAgv().t.toLowerCase().startsWith("fm") || plan.getAgv().t.toLowerCase().startsWith("fit")) {
+            // if qianfu AGV
+            return storeDirection;
+        }
         return switch (storeDirection) {
             case UP -> LCCDirection.RIGHT;    // 货位在上方 → 车头向右
             case DOWN -> LCCDirection.LEFT;    // 货位在下方 → 车头向左

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

@@ -77,7 +77,7 @@ public class PtrPathPlanner {
         // 取货点
         String loadRackId = task.from().rackId();
         int pickupBay = task.from().bay();
-        List<NodeDirection> loadNodeDirectionList = findNodeForStore(loadRackId, pickupBay);
+        List<NodeDirection> loadNodeDirectionList = findNodeForStore(plan, loadRackId, pickupBay);
         if (loadNodeDirectionList.isEmpty()) {
             throw new RuntimeException("Pickup node not found for rackId=" + loadRackId + ", bay=" + pickupBay);
         }
@@ -85,7 +85,7 @@ public class PtrPathPlanner {
         // 放货点
         String unloadRackId = task.to().rackId();
         int unloadBay = task.to().bay();
-        List<NodeDirection> unloadNodeDirectionList = findNodeForStore(unloadRackId, unloadBay);
+        List<NodeDirection> unloadNodeDirectionList = findNodeForStore(plan, unloadRackId, unloadBay);
         if (unloadNodeDirectionList.isEmpty()) {
             throw new RuntimeException("Drop node not found for rackId=" + unloadRackId + ", bay=" + unloadBay);
         }
@@ -143,7 +143,7 @@ public class PtrPathPlanner {
         // 放货点
         String unloadRackId = task.to().rackId();
         int unloadBay = task.to().bay();
-        var unloadNodeDirectionList = findNodeForStore(unloadRackId, unloadBay);
+        var unloadNodeDirectionList = findNodeForStore(plan, unloadRackId, unloadBay);
         if (unloadNodeDirectionList.isEmpty()) {
             throw new RuntimeException("Drop node not found for rackId=" + unloadRackId + ", bay=" + unloadBay);
         }
@@ -190,7 +190,7 @@ public class PtrPathPlanner {
         // 放货点
         String loadRackId = task.to().rackId();
         int unloadBay = task.to().bay();
-        var loadNodeDirectionList = findNodeForStore(loadRackId, unloadBay);
+        var loadNodeDirectionList = findNodeForStore(plan, loadRackId, unloadBay);
         if (loadNodeDirectionList.isEmpty()) {
             throw new RuntimeException("Drop node not found for rackId=" + loadRackId + ", bay=" + unloadBay);
         }
@@ -230,13 +230,13 @@ public class PtrPathPlanner {
         plan.addFinish();
     }
 
-    private List<NodeDirection> findNodeForStore(String storeId, int bay) {
+    private List<NodeDirection> findNodeForStore(PlanTaskSequence plan, String storeId, int bay) {
         List<Node> nodes = this.graph.getNodesForStore(storeId);
         List<NodeDirection> results = Lists.newArrayList();
         for (Node node : nodes) {
             for (StoreLink link : node.storeLinks()) {
                 if (link.storeId().equals(storeId) && link.bay() == bay) {
-                    LCCDirection agvDirection = convertStoreDirection(link.direction());
+                    LCCDirection agvDirection = convertStoreDirection(plan, link.direction());
                     results.add(new NodeDirection(node, agvDirection));
                 }
             }