#

luxiaotao1123

2022-03-18 5c483396c08bb7f89c36825603a163f86dba70dd

 static/js/object/CrnTask.js

@@ -1,3 +1,24 @@

const xOffset = -1735;
const yOffset = -289;
const zOffset = -480;

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

const xOffset1 = -1735;
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) {
    let that = this;
@@ -25,6 +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 () {
@@ -40,106 +67,116 @@
        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");
        }
    };
    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;
            }
            that.run = true;
            // 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 ------------------------------------------------

            // 堆垛机叉牙 伸叉
            if (that.prePosition.x !== that.position.x) {
                curves.push({
                    start: false,
                    progress: 0,
                    part: 'fork',
                    route: new Route([
                        {
                            x: that.prePosition.x,
                            y: that.crnFork.position.y,
                            z: that.crnFork.position.z
                        },
                        {
                            x: that.position.x,
                            y: that.crnFork.position.y,
                            z: that.crnFork.position.z
                        }
                    ])
                })
            }

            // 堆垛机载货台和叉牙 移动
            if (that.prePosition.z !== that.position.z || that.prePosition.y !== that.position.y) {
                curves.push({
                    start: false,
                    progress: 0,
                    part: 'load',
                    route: new Route([
                        {
                            x: that.crnLoad.position.x,
                            y: that.prePosition.y,
                            z: that.prePosition.z
                        },
                        {
                            x: that.crnLoad.position.x,
                            y: that.position.y,
                            z: that.position.z
                        }
                    ])
                })
            }

            // 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))
            });

            curves[0].start = true;

            return;
        }
        if (that.crnBody===null) {
            that.crnBody = getArrVal(object.objects, "name", that.crnNo + "-body");
            // return;
        }
        if (that.crnLoad===null) {
            that.crnLoad = getArrVal(object.objects, "name", that.crnNo + "-load");
            // return;
        }
        if (that.crnFork===null) {
            that.crnFork = getArrVal(object.objects, "name", that.crnNo + "-fork");
            // 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;
        }
        that.run = true;
        // 上一次
        that.preBay = that.bay;
        that.preLev = that.lev;
        that.preX = that.x;
        that.preY = that.y;
        that.preZ = that.z;
        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 ------------------------------------------------

        // 堆垛机叉牙 伸叉
        if (that.prePosition.x !== that.position.x) {
            curves.push({
                start: false,
                progress: 0,
                part: 'fork',
                loaded: crnData.loaded,
                route: new Route([
                    {
                        x: that.prePosition.x,
                        y: that.crnFork.position.y,
                        z: that.crnFork.position.z
                    },
                    {
                        x: that.position.x,
                        y: that.crnFork.position.y,
                        z: that.crnFork.position.z
                    }
                ])
            })
        }

        // 堆垛机载货台和叉牙 移动
        if (that.prePosition.z !== that.position.z || that.prePosition.y !== that.position.y) {
            curves.push({
                start: false,
                progress: 0,
                part: 'load',
                loaded: crnData.loaded,
                loadPos: crnData.loadPos,
                route: new Route([
                    {
                        x: that.crnLoad.position.x,
                        y: that.prePosition.y,
                        z: that.prePosition.z
                    },
                    {
                        x: that.crnLoad.position.x,
                        y: that.position.y,
                        z: that.position.z
                    }
                ])
            })
        }

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

        curves[0].start = true;

    }

    that.move = function () {
@@ -152,6 +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;
                        }
@@ -159,16 +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;
                                    that.crnLoad.position.set(point.x, point.y, point.z);
                                    that.crnFork.position.set(point.x, point.y, point.z);
                                    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, point.y, point.z);
                                    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