#

luxiaotao1123

2022-06-22 967b1b51f17b94b9aaa6264d14266a73d48416ed

 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) {
@@ -25,6 +33,7 @@
    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"
    that.preLoadPos = -1;
    // 当前数据
    that.bay = 1 ;
    that.lev = 1 ;
@@ -33,10 +42,18 @@
    that.z = 0;
    that.position = null;
    that.forkPos = -1;
    that.loadPos = -1;

    that.crnBody = null;
    that.crnLoad = null;
    that.crnFork = null;

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

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

    let curves = [];

@@ -49,10 +66,12 @@
        that.z = crnData.position.z;
        that.position = crnData.position;
        that.forkPos = crnData.forkPos;
        that.loadPos = crnData.loadPos;

        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");
        }
@@ -76,6 +95,19 @@
            that.crnFork = getArrVal(object.objects, "name", that.crnNo + "-fork");
            return;
        }

        // 出库 / 移库
        if (crnData.sourceLocNo != null) {
            that.pallet = getArrVal(object.objects, "name", crnData.sourceLocNo + "-Pallet");
            that.goods = getArrVal(object.objects, "name", crnData.sourceLocNo + "-Goods");
        } else {
            // 入库
            if (crnData.wrkNo != null) {
                that.pallet = getArrVal(object.objects, "name", crnData.wrkNo + "-Pallet");
                that.goods = getArrVal(object.objects, "name", crnData.wrkNo + "-Goods");
            }
        }

        if (JSON.stringify(crnData.position) === JSON.stringify(that.position)) {
            return;
        }
@@ -85,9 +117,10 @@
        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;
        that.preLoadPos = that.loadPos;
        // 当前
        that.bay = crnData.bay;
        that.lev = crnData.lev;
@@ -96,6 +129,38 @@
        that.z = crnData.position.z;
        that.position = crnData.position;
        that.forkPos = crnData.forkPos;
        that.loadPos = crnData.loadPos;
        that.sourceLocNo = crnData.sourceLocNo;
        that.locNo = crnData.locNo;
        that.wrkNo = crnData.wrkNo;

        // 根据货叉上下定位 判断堆垛机取放货作业 -----------------------------------------------

        // 上定位 ===>> 下定位    放货完成
        if (that.preLoadPos === 1 && that.loadPos === 0) {
            // 入库 / 移库
            if (that.locNo != null) {
                if (that.pallet != null) {
                    that.pallet.name = that.locNo + "-Pallet";
                }
                if (that.goods != null) {
                    that.goods.name = that.locNo + "-Goods";
                }
            } else {
                // 出库
                if (crnData.wrkNo != null) {
                    if (that.pallet != null) {
                        that.pallet.name = crnData.wrkNo + "-Pallet";
                    }
                    if (that.goods != null) {
                        that.goods.name = crnData.wrkNo + "-Goods";
                    }
                }
            }
        // 下定位 ===>> 上定位    取货完成
        } else {

        }

        // create Route ------------------------------------------------

@@ -105,6 +170,8 @@
                start: false,
                progress: 0,
                part: 'fork',
                loaded: crnData.loaded,
                loadPos: crnData.loadPos,
                route: new Route([
                    {
                        x: that.prePosition.x,
@@ -126,6 +193,8 @@
                start: false,
                progress: 0,
                part: 'load',
                loaded: crnData.loaded,
                loadPos: crnData.loadPos,
                route: new Route([
                    {
                        x: that.crnLoad.position.x,
@@ -135,27 +204,6 @@
                    {
                        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
                    }
                ])
@@ -189,16 +237,22 @@
                        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);
                                    // console.log("loadPos:" + curves[i].loadPos + "\n" + that.pallet);
                                    if (curves[i].loadPos === 1 && that.pallet) {
                                        that.pallet.position.setX(point.x + palletX);
                                        that.goods.position.setX(point.x + goodsX);
                                    }
                                    break
                                default:
                                    break