#

luxiaotao1123

2024-08-17 afbd08deb5101d2f2ff97f66f4388162f38860a2

 src/components/agv.jsx

@@ -5,6 +5,7 @@
import Box from './box';
import * as Common from '../utils/common';
import * as TWEEN from "@tweenjs/tween.js";
import { useStore } from '@/store';
import {
    INTERVAL_TIME,
    MODEL_AGV_SCALE,
@@ -29,9 +30,15 @@
    return forkDis;
}

const getLoaderHasBox = (loaderAngle, forkDis, finger1, finger2, finger3, finger4) => {
const getLoaderHasBox = (loaderAngle, inOutFlag, finger1, finger2, finger3, finger4) => {
    // console.log(loaderAngle, forkDis, finger1, finger2, finger3, finger4);
    if (loaderAngle > 360 - 10 || loaderAngle < 0 + 10) {
        if (inOutFlag === 1) {
            return finger1 && finger2;
        }
        if (inOutFlag === 2) {
            return finger3 && finger4;
        }
        return finger1 && finger2;  // 取货是对的 放货是错的 （右）
        /**
         * 2排 (0)
@@ -49,6 +56,12 @@
         */
    }
    if (loaderAngle > 180 - 10 && loaderAngle < 180 + 10) {
        if (inOutFlag === 1) {
            return finger1 && finger2;
        }
        if (inOutFlag === 2) {
            return finger3 && finger4;
        }
        return finger3 && finger4;  // 放货是对的   取货是错的 （左）
        /**
         * 1、3排 (180)
@@ -65,6 +78,12 @@
         */
    }
    if (loaderAngle > 90 - 10 && loaderAngle < 90 + 10) {
        if (inOutFlag === 3) {
            return finger3 && finger4;
        }
        if (inOutFlag === 4) {
            return finger1 && finger2;
        }
        return finger1 && finger2;  // 放货是对的 取货是错的 （中）
        /**
         * 背篓 (90)
@@ -109,8 +128,41 @@
    }
}

const getMajorPos = (position, bodyAngle, offset) => {
    const majorAngle = Common.positiveAngle(bodyAngle);
    // console.log(position, majorAngle, offset);
    if (majorAngle > 360 - 10 || majorAngle < 0 + 10) {
        return {
            x: (position?.[2] + offset) * 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 (majorAngle > 180 - 10 && majorAngle < 180 + 10) {
        return {
            x: (position?.[2] - offset) * 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 (majorAngle > 90 - 10 && majorAngle < 90 + 10) {
        return {
            x: position?.[2] * REAL_COMPARE_MAP_SCALE + REAL_COMPARE_MAP_OFFSET_X,
            y: position?.[1] * REAL_COMPARE_MAP_SCALE,
            z: (position?.[0] - offset) * REAL_COMPARE_MAP_SCALE + REAL_COMPARE_MAP_OFFSET_Z,
        }
    }
    if (majorAngle > 270 - 10 && majorAngle < 270 + 10) {
        return {
            x: position?.[2] * REAL_COMPARE_MAP_SCALE + REAL_COMPARE_MAP_OFFSET_X,
            y: position?.[1] * REAL_COMPARE_MAP_SCALE,
            z: (position?.[0] + offset) * REAL_COMPARE_MAP_SCALE + REAL_COMPARE_MAP_OFFSET_Z,
        }
    }
}

const Agv = (props) => {
    const { agvNo, position, trayList, hasBox, finger1, finger2, finger3, finger4 } = props;
    const { agvNo, position, trayList, hasBox, finger1, finger2, finger3, finger4, inOutFlag, offset } = props;
    const theta = -props.theta;
    const height = props.height * 0.0655;

@@ -120,18 +172,28 @@
    const [loaderAngle, setLoaderAngle] = useState(0);
    const [forkDis, setForkDis] = useState(0);
    const [realTrayList, setRealTrayList] = useState([]);
    const store = useStore();

    useEffect(() => {
        if (store.autoCruise && agvNo === store.cruiseAgvNo) {
            // store.lookAt = groupPos;

            store.lookAt.x = groupPos.x;
            store.lookAt.y = loaderHeight;
            store.lookAt.z = groupPos.z;
        }
    }, [groupPos, loaderHeight])

    useEffect(() => {
        if (!props || Object.keys(props).length === 0) {
            return;
        }

        // group theta
        const targetTheta = Common.normalizeAngle(theta - groupTheta) + groupTheta;
        // 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,
        }
        const pos = getMajorPos(position, targetTheta, offset);

        if (!Common.deepEqual(groupPos, pos) && props.position !== null) {
            new TWEEN.Tween(groupPos)
                .to(pos, INTERVAL_TIME)
@@ -146,7 +208,6 @@

        // 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)
@@ -159,7 +220,7 @@
        }

        // loader height
        if (loaderHeight !== height && props.height !== null) {
        if (loaderHeight !== height && props.height !== null && props.height > 1) {
            new TWEEN.Tween({ value: loaderHeight })
                .to({ value: height }, INTERVAL_TIME)
                .easing(TWEEN.Easing.Linear.None)
@@ -252,7 +313,7 @@
                    <primitive object={loaderModel} castShadow position={[0, 0, 0]} />
                    <group position-z={forkDis}>
                        <primitive object={forkModel} castShadow position={[0, 6, 0]} />
                        {(hasBox || getLoaderHasBox(loaderAngle, forkDis, finger1, finger2, finger3, finger4)) && <Box position={[0, 6, 0]} />}
                        {(hasBox || getLoaderHasBox(loaderAngle, inOutFlag, finger1, finger2, finger3, finger4)) && <Box position={[0, 6, 0]} />}
                    </group>
                </group>
                <group>