#

luxiaotao1123

2022-03-18 5c483396c08bb7f89c36825603a163f86dba70dd

 static/js/object/CrnTask.js

@@ -4,12 +4,20 @@
const zOffset = -480;

const xOffset0 = -1735;
const yOffset0 = -108;
const yOffset0 = -117;
const zOffset0 = -480;

const xOffset1 = -1735;
const yOffset1 = -107;
const yOffset1 = -116;
const zOffset1 = -475;

const palletX = -18;
const palletY = 2;
const palletZ = -46;

const goodsX = -17;
const goodsY = 5;
const goodsZ = -6;

// 堆垛机当前运行状态对象
function CrnTask(crnData, object) {
@@ -38,6 +46,12 @@
    that.crnLoad = null;
    that.crnFork = null;

    that.pallet = null;
    that.goods = null;

    that.sourceLocNo = null;
    that.locNo = null;

    let curves = [];

    let init = function () {
@@ -53,8 +67,9 @@
        that.crnBody = getArrVal(object.objects, "name", that.crnNo + "-body");
        that.crnLoad = getArrVal(object.objects, "name", that.crnNo + "-load");
        that.crnFork = getArrVal(object.objects, "name", that.crnNo + "-fork");

        if (that.crnBody===null || that.crnLoad===null || that.crnFork==null) {
            console.log(that.crnNo + "号堆垛机没有初始化");
            // console.log(that.crnNo + "号堆垛机没有初始化");
        }
    };
    init();
@@ -66,16 +81,25 @@
        }
        if (that.crnBody===null) {
            that.crnBody = getArrVal(object.objects, "name", that.crnNo + "-body");
            return;
            // return;
        }
        if (that.crnLoad===null) {
            that.crnLoad = getArrVal(object.objects, "name", that.crnNo + "-load");
            return;
            // return;
        }
        if (that.crnFork===null) {
            that.crnFork = getArrVal(object.objects, "name", that.crnNo + "-fork");
            return;
            // return;
        }
        if (crnData.sourceLocNo != null) {
            that.sourceLocNo = crnData.sourceLocNo;
            that.pallet = getArrVal(object.objects, "name", crnData.sourceLocNo + "-Pallet");
            that.goods = getArrVal(object.objects, "name", crnData.sourceLocNo + "-Goods");
        }
        if (crnData.locNo != null) {
            that.locNo = crnData.locNo;
        }

        if (JSON.stringify(crnData.position) === JSON.stringify(that.position)) {
            return;
        }
@@ -85,7 +109,7 @@
        that.preLev = that.lev;
        that.preX = that.x;
        that.preY = that.y;
        that.preY = that.y;
        that.preZ = that.z;
        that.prePosition = JSON.parse(JSON.stringify(that.position));
        that.preForkPos = that.forkPos;
        // 当前
@@ -105,6 +129,7 @@
                start: false,
                progress: 0,
                part: 'fork',
                loaded: crnData.loaded,
                route: new Route([
                    {
                        x: that.prePosition.x,
@@ -126,6 +151,8 @@
                start: false,
                progress: 0,
                part: 'load',
                loaded: crnData.loaded,
                loadPos: crnData.loadPos,
                route: new Route([
                    {
                        x: that.crnLoad.position.x,
@@ -141,29 +168,11 @@
            })
        }

        // 堆垛机本体运动轨迹
        if (that.prePosition.z !== that.position.z && false) {
            curves.push({
                start: false,
                progress: 0,
                part: 'body',
                route: new Route([
                    {
                        x: that.crnBody.position.x,
                        y: that.crnBody.position.y,
                        z: that.prePosition.z
                    },
                    {
                        x: that.crnBody.position.x,
                        y: that.crnBody.position.y,
                        z: that.position.z
                    }
                ])
            })
        }

        curves.map((value, index) => {
            console.log(value.part + " --> " + JSON.stringify(value.route.points))
            if (that.crnNo === 1) {
                // console.log(crnData)
                // console.log(value.part + " --> " + JSON.stringify(value.route.points))
            }
        });

        curves[0].start = true;
@@ -180,6 +189,15 @@
                        if (i !== curves.length - 1) {
                            curves[i+1].start = true;
                        } else {
                            // if (that.locNo != null) {
                            //     if (that.pallet != null) {
                            //         that.pallet.name = that.locNo + "-Pallet";
                            //     }
                            //     if (that.goods != null) {
                            //         that.goods.name = that.locNo + "-Goods";
                            //     }
                            // }
                            // reset
                            curves = [];
                            that.run = false;
                        }
@@ -187,16 +205,22 @@
                        let point = curves[i].route.getPoint(curves[i].progress);
                        if ( point && point.x ) {
                            switch (curves[i].part) {
                                case 'body':
                                    that.crnBody.position.set(point.x, point.y, point.z);
                                    break
                                case 'load':
                                    that.crnBody.position.z = point.z + zOffset;
                                    that.crnLoad.position.set(point.x, point.y + yOffset0, point.z + zOffset0);
                                    that.crnFork.position.set(point.x, point.y + yOffset1, point.z + zOffset1);
                                    that.crnBody.position.z = point.z + zOffset - that.crnBody.userData.crnBodyWidth/2;
                                    that.crnLoad.position.set(point.x, point.y + yOffset0, point.z + zOffset0 - that.crnLoad.userData.crnLoadWidth/2 + 5);
                                    that.crnFork.position.set(point.x, point.y + yOffset1, point.z + zOffset1 - that.crnLoad.userData.crnLoadWidth/2);
                                    if (curves[i].loaded === 1 && that.pallet) {
                                        that.pallet.position.set(point.x - xOffset + palletX, point.y + palletY, point.z + palletZ);
                                        that.goods.position.set(point.x - xOffset + goodsX, point.y + goodsY, point.z + goodsZ);
                                    }
                                    break
                                case 'fork':
                                    that.crnFork.position.set(point.x + xOffset1, point.y, point.z);
                                    // todo:luxiaotao 托盘+货物 运动 不是根据loaded，是根据上下定位
                                    if (curves[i].loaded === 1 && that.pallet) {
                                        that.pallet.position.setX(point.x + palletX);
                                        that.goods.position.setX(point.x + goodsX);
                                    }
                                    break
                                default:
                                    break