// 堆垛机当前运行状态对象
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function CrnTask(crnData, object) {
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let that = this;
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that.crnNo = 0;
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that.run = false;
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// 上一数据
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that.preBay = 1 ;
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that.preLev = 1 ;
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that.preX = 0;
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that.preY = 0;
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that.preZ = 0;
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that.prePosition = null;
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that.preForkPos = -1; // -1, "不在定位" 0, "货叉原位" 1, "货叉在左侧远" 2, "货叉在左侧" 3, "货叉在右侧" 4, "货叉在右侧远"
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// 当前数据
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that.bay = 1 ;
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that.lev = 1 ;
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that.x = 0;
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that.y = 0;
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that.z = 0;
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that.position = null;
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that.forkPos = -1;
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that.crnBody = null;
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that.crnLoad = null;
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that.crnFork = null;
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let curves = [];
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that.curve = null;
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that.progress = 0;
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let init = function () {
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that.crnNo = crnData.crnNo;
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that.bay = crnData.bay;
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that.lev = crnData.lev;
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that.x = crnData.position.x;
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that.y = crnData.position.y;
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that.z = crnData.position.z;
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that.position = crnData.position;
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that.forkPos = crnData.forkPos;
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that.crnBody = getArrVal(object.objects, "name", that.crnNo + "-body");
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that.crnLoad = getArrVal(object.objects, "name", that.crnNo + "-load");
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that.crnFork = getArrVal(object.objects, "name", that.crnNo + "-fork");
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};
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init();
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that.modify = function (crnData) {
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if (that.run || that.crnNo === 0) {
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console.error(that.crnNo + "号堆垛机更新失败");
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} else {
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if (JSON.stringify(crnData.position) === JSON.stringify(that.position)) {
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return;
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}
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that.run = true;
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// 上一次
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that.preBay = that.bay;
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that.preLev = that.lev;
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that.preX = that.x;
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that.preY = that.y;
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that.preY = that.y;
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that.prePosition = JSON.parse(JSON.stringify(that.position));
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that.preForkPos = that.forkPos;
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// 当前
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that.bay = crnData.bay;
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that.lev = crnData.lev;
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that.x = crnData.position.x;
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that.y = crnData.position.y;
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that.z = crnData.position.z;
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that.position = crnData.position;
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that.forkPos = crnData.forkPos;
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// create Route ------------------------------------------------
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// 堆垛机叉牙 伸叉
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if (that.prePosition.x !== that.position.x) {
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curves.push({
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start: false,
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progress: 0,
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part: 'fork',
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route: new Route([
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{
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x: that.prePosition.x,
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y: that.crnFork.position.y,
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z: that.crnFork.position.z
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},
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{
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x: that.position.x,
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y: that.crnFork.position.y,
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z: that.crnFork.position.z
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}
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])
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})
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}
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// 堆垛机载货台和叉牙 移动
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if (that.prePosition.z !== that.position.z || that.prePosition.y !== that.position.y) {
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curves.push({
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start: false,
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progress: 0,
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part: 'load',
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route: new Route([
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{
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x: that.crnLoad.position.x,
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y: that.prePosition.y,
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z: that.prePosition.z
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},
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{
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x: that.crnLoad.position.x,
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y: that.position.y,
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z: that.position.z
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}
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])
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})
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}
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// 堆垛机本体运动轨迹
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if (that.prePosition.z !== that.position.z && false) {
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curves.push({
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start: false,
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progress: 0,
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part: 'body',
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route: new Route([
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{
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x: that.crnBody.position.x,
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y: that.crnBody.position.y,
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z: that.prePosition.z
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},
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{
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x: that.crnBody.position.x,
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y: that.crnBody.position.y,
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z: that.position.z
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}
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])
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})
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}
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curves[0].start = true;
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console.log(curves);
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// new Route(); // load
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// console.log(that.curve);
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// console.log("pre" + JSON.stringify(that.prePosition));
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// console.log(JSON.stringify(that.position));
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}
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}
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that.move = function () {
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if (curves.length > 0) {
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for (let i = 0; i < curves.length ; i++) {
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if (curves[i].start) {
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curves[i].progress += 0.01;
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if (curves[i].progress > 1.0) {
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curves[i].start = false;
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if (i !== curves.length - 1) {
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curves[i+1].start = true;
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} else {
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curves = [];
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that.run = false;
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}
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} else {
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let point = curves[i].route.getPoint(curves[i].progress);
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console.log(point)
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if ( point && point.x ) {
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switch (curves[i].part) {
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case 'body':
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that.crnBody.position.set(point.x, point.y, point.z);
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break
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case 'load':
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that.crnBody.position.z = point.z;
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that.crnLoad.position.set(point.x, point.y, point.z);
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that.crnFork.position.set(point.x, point.y, point.z);
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break
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case 'fork':
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that.crnFork.position.set(point.x, point.y, point.z);
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break
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default:
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break
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}
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}
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}
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}
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}
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}
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}
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}
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