#

luxiaotao1123

2024-05-08 d026e41e49dc17eaaefd96b0c69f560ffc728483

 src/components/agv.jsx

@@ -5,32 +5,41 @@
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 Agv = (props) => {
    const { position, theta, height, loaderTheta, forkLength, trayList, hasBox } = props;
    const { agvNo, position, theta, trayList, hasBox } = props;
    const height = props.height * 0.04;
    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 [integrateTheta, setIntegrateTheta] = useState(0);
    const [forkDis, setForkDis] = useState(0);
    const [realTrayList, setRealTrayList] = useState([]);

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

        // group position
        const pos = {
            x: position?.[0],
            y: position?.[1],
            z: position?.[2],
            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)) {
        if (!Common.deepEqual(groupPos, pos) && props.position !== null) {
            new TWEEN.Tween(groupPos)
                .to({
                    x: position[0],
                    y: position[1],
                    z: position[2]
                }, INTERVAL_TIME)
                .to(pos, INTERVAL_TIME)
                .easing(TWEEN.Easing.Linear.None)
                .onUpdate((e) => {
                    setGroupPos({ ...e });
@@ -41,8 +50,8 @@
        }

        // group theta
        if (groupTheta !== theta) {
            const minTheta = Common.minDiffTheta(groupTheta, theta);
        if (groupTheta !== -theta && props.theta !== null) {
            const minTheta = Common.minDiffTheta(groupTheta, -theta);
            new TWEEN.Tween({ value: groupTheta })
                .to({ value: minTheta }, INTERVAL_TIME)
                .easing(TWEEN.Easing.Linear.None)
@@ -55,7 +64,7 @@
        }

        // loader height
        if (loaderHeight !== height) {
        if (loaderHeight !== height && props.height !== null) {
            new TWEEN.Tween({ value: loaderHeight })
                .to({ value: height }, INTERVAL_TIME)
                .easing(TWEEN.Easing.Linear.None)
@@ -65,6 +74,44 @@
                .onComplete((e) => {
                    setLoaderHeight(e.value)
                }).start();
        }

        // loader theta
        const loaderAbsoluteAngle = (theta + loaderTheta) % 360;
        // console.log("integrateTheta", integrateTheta);
        // console.log("theta", theta);
        // console.log("loaderTheta", loaderTheta);
        // console.log("loaderAbsoluteAngle", loaderAbsoluteAngle);
        if (integrateTheta !== loaderAbsoluteAngle && props.loaderTheta !== null) {
            // const minTheta = Common.minDiffTheta(integrateTheta, loaderAbsoluteAngle);
            new TWEEN.Tween({ value: integrateTheta })
                .to({ value: loaderAbsoluteAngle }, INTERVAL_TIME)
                .easing(TWEEN.Easing.Linear.None)
                .onUpdate((e) => {
                    setIntegrateTheta(e.value)
                })
                .onComplete((e) => {
                    setIntegrateTheta(e.value)
                }).start();
        }

        // fork lenght
        // console.log("forkDis", forkDis);
        // console.log("forkLength", forkLength);
        if (forkDis !== forkLength && props.forkLength !== null) {
            new TWEEN.Tween({ value: forkDis })
                .to({ value: forkLength }, INTERVAL_TIME)
                .easing(TWEEN.Easing.Linear.None)
                .onUpdate((e) => {
                    setForkDis(e.value)
                })
                .onComplete((e) => {
                    setForkDis(e.value)
                }).start();
        }

        if (trayList) {
            setRealTrayList(trayList);
        }

    }, [props]);
@@ -78,6 +125,7 @@
        if (!fbx.castShadow) {
            Common.setShadow(fbx);
        }
        fbx.scale.set(MODEL_AGV_SCALE, MODEL_AGV_SCALE, MODEL_AGV_SCALE);
        return fbx.clone();
    }, [])

@@ -86,6 +134,7 @@
        if (!fbx.castShadow) {
            Common.setShadow(fbx);
        }
        fbx.scale.set(MODEL_AGV_SCALE, MODEL_AGV_SCALE, MODEL_AGV_SCALE);
        return fbx.clone();
    }, [])

@@ -94,6 +143,7 @@
        if (!fbx.castShadow) {
            Common.setShadow(fbx);
        }
        fbx.scale.set(MODEL_AGV_SCALE, MODEL_AGV_SCALE, MODEL_AGV_SCALE);
        return fbx.clone();
    }, [])

@@ -101,16 +151,26 @@
        <>
            <group
                rotation-y={Common.rotationParseNum(groupTheta)}
                scale={0.5}
                position={[groupPos.x, groupPos.y, groupPos.z]}
            >
                <primitive object={bodyModel} castShadow />
                <group
                    position-y={loaderHeight}
                    rotation-y={Common.rotationParseNum(integrateTheta)}
                >
                    <primitive object={loaderModel} castShadow position={[0, 50, 0]} />
                    <primitive object={forkModel} castShadow position={[0, 61, 0]} />
                    <Box position={[100, 100, 300]} />
                    <primitive object={loaderModel} castShadow position={[0, 20, 0]} />
                    <group position-z={forkDis}>
                        <primitive object={forkModel} castShadow position={[0, 25, 0]} />
                        {hasBox && <Box position={[0, 24, 0]} />}
                    </group>
                </group>
                <group>
                    {realTrayList?.[0]?.hasBox && <Box rotationY={Math.PI / 2} position={[-43, 25, 0]} />}
                    {realTrayList?.[1]?.hasBox && <Box rotationY={Math.PI / 2} position={[-43, 48, 0]} />}
                    {realTrayList?.[2]?.hasBox && <Box rotationY={Math.PI / 2} position={[-43, 71, 0]} />}
                    {realTrayList?.[3]?.hasBox && <Box rotationY={Math.PI / 2} position={[-43, 94, 0]} />}
                    {realTrayList?.[4]?.hasBox && <Box rotationY={Math.PI / 2} position={[-43, 117, 0]} />}
                    {realTrayList?.[5]?.hasBox && <Box rotationY={Math.PI / 2} position={[-43, 140, 0]} />}
                </group>
            </group>
        </>