#

luxiaotao1123

2024-05-09 52e2f1793f9e75da9eabe779d61e0391a6ee4dbf

 src/components/agv.jsx

@@ -5,36 +5,147 @@
import Box from './box';
import * as Common from '../utils/common';
import * as TWEEN from "@tweenjs/tween.js";
import { INTERVAL_TIME } from '@/config/setting'
import {
    INTERVAL_TIME,
    MODEL_AGV_SCALE,
    REAL_COMPARE_MAP_SCALE,
    REAL_COMPARE_MAP_OFFSET_X,
    REAL_COMPARE_MAP_OFFSET_Z,
} from '../config/setting'

const getCorrectForkDis = (loaderAngle, forkDis) => {
    if (loaderAngle > 360 - 10 || loaderAngle < 0 + 10) {
        return -forkDis;
    }
    if (loaderAngle > 180 - 10 && loaderAngle < 180 + 10) {
        return -forkDis;
    }
    if (loaderAngle > 270 - 10 && loaderAngle < 270 + 10) {
        return forkDis;
    }
    if (loaderAngle > 90 - 10 && loaderAngle < 90 + 10) {
        return forkDis;
    }
    return forkDis;
}

const getLoaderHasBox = (loaderAngle, finger1, finger2, finger3, finger4) => {
    console.log(loaderAngle, finger1, finger2, finger3, finger4);
    if (loaderAngle > 360 - 10 || loaderAngle < 0 + 10) {
        return finger3 && finger4;
    }
    if (loaderAngle > 180 - 10 && loaderAngle < 180 + 10) {
        return finger3 && finger4;
    }
    if (loaderAngle > 270 - 10 && loaderAngle < 270 + 10) {
        return finger1 && finger2;
    }
    if (loaderAngle > 90 - 10 && loaderAngle < 90 + 10) {
        return finger1 && finger2;
    }
    return finger1 && finger2 && finger3 && finger4;
}

const Agv = (props) => {
    const { position, theta } = props;
    const { agvNo, position, trayList, hasBox, finger1, finger2, finger3, finger4 } = props;
    const theta = -props.theta;
    const height = props.height * 0.06;
    const forkLength = props.forkLength * 0.1;
    const loaderTheta = Number(props.loaderTheta?.toFixed(1));

    const [groupPos, setGroupPos] = useState({ x: 0, y: 0, z: 0 });
    const [groupTheta, setGroupTheta] = useState(0);
    const [loaderHeight, setLoaderHeight] = useState(0);
    const [loaderAngle, setLoaderAngle] = useState(0);
    const [forkDis, setForkDis] = useState(0);
    const [realTrayList, setRealTrayList] = useState([]);

    useEffect(() => {
        if (!props || Object.keys(props).length === 0) {
            return;
        }
        new TWEEN.Tween(groupPos)
            .to({
                x: position[0],
                y: position[1],
                z: position[2]
            }, INTERVAL_TIME)
            .easing(TWEEN.Easing.Linear.None)
            .onUpdate((e) => {
                setGroupPos({ ...e });
            })
            .start();

        // group position
        const pos = {
            x: position?.[2] * REAL_COMPARE_MAP_SCALE + REAL_COMPARE_MAP_OFFSET_X,
            y: position?.[1] * REAL_COMPARE_MAP_SCALE,
            z: position?.[0] * REAL_COMPARE_MAP_SCALE + REAL_COMPARE_MAP_OFFSET_Z,
        }
        if (!Common.deepEqual(groupPos, pos) && props.position !== null) {
            new TWEEN.Tween(groupPos)
                .to(pos, INTERVAL_TIME)
                .easing(TWEEN.Easing.Linear.None)
                .onUpdate((e) => {
                    setGroupPos({ ...e });
                })
                .onComplete((e) => {
                    setGroupPos({ ...e });
                }).start();
        }

        // group theta
        if (groupTheta !== theta && props.theta !== null) {
            const targetTheta = Common.normalizeAngle(theta - groupTheta) + groupTheta;
            new TWEEN.Tween({ value: groupTheta })
                .to({ value: targetTheta }, INTERVAL_TIME)
                .easing(TWEEN.Easing.Linear.None)
                .onUpdate((e) => {
                    setGroupTheta(e.value)
                })
                .onComplete((e) => {
                    setGroupTheta(e.value)
                }).start();
        }

        // loader height
        if (loaderHeight !== height && props.height !== null) {
            new TWEEN.Tween({ value: loaderHeight })
                .to({ value: height }, INTERVAL_TIME)
                .easing(TWEEN.Easing.Linear.None)
                .onUpdate((e) => {
                    setLoaderHeight(e.value)
                })
                .onComplete((e) => {
                    setLoaderHeight(e.value)
                }).start();
        }

        // loader theta
        const loaderTargetTheta = Common.normalizeAngle(loaderTheta + 90);
        if (loaderAngle !== loaderTargetTheta && props.loaderTheta !== null) {
            new TWEEN.Tween({ value: loaderAngle })
                .to({ value: loaderTargetTheta }, INTERVAL_TIME)
                .easing(TWEEN.Easing.Linear.None)
                .onUpdate((e) => {
                    setLoaderAngle(e.value)
                })
                .onComplete((e) => {
                    setLoaderAngle(e.value)
                }).start();
        }

        // fork lenght
        if (forkDis !== forkLength && props.forkLength !== null) {
            const targetForkDis = getCorrectForkDis(Common.positiveAngle(loaderTargetTheta), forkLength);
            new TWEEN.Tween({ value: forkDis })
                .to({ value: targetForkDis }, INTERVAL_TIME)
                .easing(TWEEN.Easing.Linear.None)
                .onUpdate((e) => {
                    setForkDis(e.value)
                })
                .onComplete((e) => {
                    setForkDis(e.value)
                }).start();
        }

        if (trayList) {
            setRealTrayList(trayList);
        }

    }, [props]);

    useFrame((state, delta) => {
        TWEEN.update();
        // setGroupPos(preState => ({
        //     ...preState,
        //     x: preState.x + 1
        // }))
    })

    const bodyModel = useMemo(() => {
@@ -42,6 +153,7 @@
        if (!fbx.castShadow) {
            Common.setShadow(fbx);
        }
        fbx.scale.set(MODEL_AGV_SCALE, MODEL_AGV_SCALE, MODEL_AGV_SCALE);
        return fbx.clone();
    }, [])

@@ -50,6 +162,7 @@
        if (!fbx.castShadow) {
            Common.setShadow(fbx);
        }
        fbx.scale.set(MODEL_AGV_SCALE, MODEL_AGV_SCALE, MODEL_AGV_SCALE);
        return fbx.clone();
    }, [])

@@ -58,20 +171,35 @@
        if (!fbx.castShadow) {
            Common.setShadow(fbx);
        }
        fbx.scale.set(MODEL_AGV_SCALE, MODEL_AGV_SCALE, MODEL_AGV_SCALE);
        return fbx.clone();
    }, [])

    return (
        <>
            <group
                rotation-y={Common.rotationParseNum(theta)}
                scale={0.5}
                rotation-y={Common.rotationParseNum(groupTheta)}
                position={[groupPos.x, groupPos.y, groupPos.z]}
            >
                <primitive object={bodyModel} castShadow />
                <primitive object={loaderModel} castShadow position={[0, 100, 0]} />
                <primitive object={forkModel} castShadow position={[0, 120, 0]} />
                <Box position={[100, 100, 300]} />
                <group
                    position-y={loaderHeight}
                    rotation-y={Common.rotationParseNum(loaderAngle)}
                >
                    <primitive object={loaderModel} castShadow position={[0, 20, 0]} />
                    <group position-z={forkDis}>
                        <primitive object={forkModel} castShadow position={[0, 25, 0]} />
                        {(hasBox || getLoaderHasBox(loaderAngle, finger1, finger2, finger3, finger4)) && <Box position={[0, 26, 0]} />}
                    </group>
                </group>
                <group>
                    {realTrayList?.[0]?.hasBox && <Box rotationY={Math.PI / 2} position={[-60, 34, 0]} />}
                    {realTrayList?.[1]?.hasBox && <Box rotationY={Math.PI / 2} position={[-60, 66, 0]} />}
                    {realTrayList?.[2]?.hasBox && <Box rotationY={Math.PI / 2} position={[-60, 99, 0]} />}
                    {realTrayList?.[3]?.hasBox && <Box rotationY={Math.PI / 2} position={[-60, 131, 0]} />}
                    {realTrayList?.[4]?.hasBox && <Box rotationY={Math.PI / 2} position={[-60, 163, 0]} />}
                    {realTrayList?.[5]?.hasBox && <Box rotationY={Math.PI / 2} position={[-60, 195, 0]} />}
                </group>
            </group>
        </>
    )