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luxiaotao1123

2021-12-16 1d91186a6cc9a4241cea01ee8d30a8b093a1d82d

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 static/js/app.js

@@ -284,6 +284,7 @@
                        this.crnTasks.push(new CrnTask(crnData, this));
                    } else {
                        if(!crnTask.run) {
                            // console.log(2)
                            crnTask.modify(crnData);
                        }
                    }
@@ -403,7 +404,7 @@
        }
        this.crnMove = function (object) {
            for (let crnTask of this.crnTasks) {
                crnTask.move(this);
                crnTask.move();
            }
        }
    },

 static/js/object/CrnTask.js

@@ -22,6 +22,10 @@
    that.forkPos = -1;

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

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

@@ -35,7 +39,9 @@
        that.position = crnData.position;
        that.forkPos = crnData.forkPos;

        that.crnBody = getArrVal(object.objects, "name", that.crnNo + "-body")
        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");
    };
    init();

@@ -46,6 +52,7 @@
            if (JSON.stringify(crnData.position) === JSON.stringify(that.position)) {
                return;
            }
            that.run = true;
            // 上一次
            that.preBay = that.bay;
            that.preLev = that.lev;
@@ -62,26 +69,117 @@
            that.z = crnData.position.z;
            that.position = crnData.position;
            that.forkPos = crnData.forkPos;

            // create Route ------------------------------------------------
            that.curve = new Route([that.prePosition, that.position]);    // body

            // 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(bodyRoute);
            console.log("pre" + JSON.stringify(that.prePosition));
            console.log(JSON.stringify(that.position));
            that.run = true;
            // console.log(that.curve);
            // console.log("pre" + JSON.stringify(that.prePosition));
            // console.log(JSON.stringify(that.position));

        }
    }

    that.move = function (object) {
        if (that.curve) {
            that.progress += 0.001;
            if (that.progress>1.0) {
                that.curve = null;
            } else {
                let point = that.curve.getPoint(that.progress);
                if(point && point.x){
                    that.crnBody.position.set(point.x,point.y,point.z);
    that.move = function () {
        if (curves.length > 0) {
            for (let i = 0; i < curves.length ; i++) {
                if (curves[i].start) {
                    curves[i].progress += 0.01;
                    if (curves[i].progress > 1.0) {
                        curves[i].start = false;
                        if (i !== curves.length - 1) {
                            curves[i+1].start = true;
                        } else {
                            curves = [];
                            that.run = false;
                        }
                    } 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);
                                    break
                                case 'fork':
                                    that.crnFork.position.set(point.x, point.y, point.z);
                                    break
                                default:
                                    break
                            }
                        }
                    }
                }
            }
        }

 static/js/object/StoreCrn.js

@@ -1,5 +1,5 @@
function StoreCrn(option, object) {
    this.crnBodyLength = option.crnBody.length||30;//库位长度
    this.crnBodyLength = option.crnBody.length||50;//库位长度
    this.crnBodyWidth = option.crnBody.width||50;//库位宽
    this.crnBodyHeight = option.crnBody.height||500;//库位高
    this.crnLoadLength = option.crnLoad.length||60;//库位长度
@@ -13,7 +13,7 @@
    var a = new THREE.Mesh(new THREE.BoxBufferGeometry(this.crnBodyLength, this.crnBodyHeight, this.crnBodyWidth), new THREE.MeshBasicMaterial({
        color: 0xff0000,
        transparent: true,
        opacity: 1.3
        opacity: .3
    }))
    a.name = option.crnNo + "-body";
    a.position.x = option.crnBody.position.x;