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luxiaotao1123

2021-12-15 1f7585d8c4cc86f0a1e6d3d62188e88698b57089

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// 堆垛机当前运行状态对象
function CrnTask(crnData, object) {
    let that = this;
 
    that.crnNo = 0;
    that.run = false;
    // 上一数据
    that.preBay = 1 ;
    that.preLev = 1 ;
    that.preX = 0;
    that.preY = 0;
    that.preZ = 0;
    that.prePosition = null;
    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"
    // 当前数据
    that.bay = 1 ;
    that.lev = 1 ;
    that.x = 0;
    that.y = 0;
    that.z = 0;
    that.position = null;
    that.forkPos = -1;
 
    that.crnBody = null;
    that.curve = null;
    that.progress = 0;
 
    let init = function () {
        that.crnNo = crnData.crnNo;
        that.bay = crnData.bay;
        that.lev = crnData.lev;
        that.x = crnData.position.x;
        that.y = crnData.position.y;
        that.z = crnData.position.z;
        that.position = crnData.position;
        that.forkPos = crnData.forkPos;
 
        that.crnBody = getArrVal(object.objects, "name", that.crnNo + "-body")
    };
    init();
 
    that.modify = function (crnData) {
        if (that.run || that.crnNo === 0) {
            console.error(that.crnNo + "号堆垛机更新失败");
        } else {
            if (JSON.stringify(crnData.position) === JSON.stringify(that.position)) {
                return;
            }
            // 上一次
            that.preBay = that.bay;
            that.preLev = that.lev;
            that.preX = that.x;
            that.preY = that.y;
            that.preY = that.y;
            that.prePosition = JSON.parse(JSON.stringify(that.position));
            that.preForkPos = that.forkPos;
            // 当前
            that.bay = crnData.bay;
            that.lev = crnData.lev;
            that.x = crnData.position.x;
            that.y = crnData.position.y;
            that.z = crnData.position.z;
            that.position = crnData.position;
            that.forkPos = crnData.forkPos;
            // create Route ------------------------------------------------
            that.curve = new Route([that.prePosition, that.position]);    // body
 
            // new Route();    // load
            // console.log(bodyRoute);
            console.log("pre" + JSON.stringify(that.prePosition));
            console.log(JSON.stringify(that.position));
            that.run = true;
        }
    }
 
    that.move = function (object) {
        if (that.curve) {
            that.progress += 0.001;
            if (that.progress>1.0) {
                that.curve = null;
            } else {
                let point = that.curve.getPoint(that.progress);
                if(point && point.x){
                    that.crnBody.position.set(point.x,point.y,point.z);
                }
            }
        }
    }
 
}