#

luxiaotao1123

2021-12-22 656503685a93be51b12e5cb9c6a880eae6dcf7b4

 static/js/object/CrnTask.js

@@ -1,3 +1,16 @@

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

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

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

// 堆垛机当前运行状态对象
function CrnTask(crnData, object) {
    let that = this;
@@ -26,8 +39,6 @@
    that.crnFork = null;

    let curves = [];
    that.curve = null;
    that.progress = 0;

    let init = function () {
        that.crnNo = crnData.crnNo;
@@ -42,108 +53,121 @@
        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[0].start = true;

            console.log(curves);

            // new Route();    // load
            // console.log(that.curve);
            // console.log("pre" + JSON.stringify(that.prePosition));
            // console.log(JSON.stringify(that.position));

            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 (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;

    }

    that.move = function () {
@@ -161,19 +185,18 @@
                        }
                    } else {
                        let point = curves[i].route.getPoint(curves[i].progress);
                        console.log(point)
                        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.crnLoad.position.set(point.x, point.y + yOffset0, point.z + zOffset0);
                                    that.crnFork.position.set(point.x, point.y + yOffset1, point.z + zOffset1);
                                    break
                                case 'fork':
                                    that.crnFork.position.set(point.x, point.y, point.z);
                                    that.crnFork.position.set(point.x + xOffset1, point.y, point.z);
                                    break
                                default:
                                    break