#

luxiaotao1123

2021-12-15 a56777639efc65d506b85d2bcff68ce0e3748490

#

 static/js/app.js

@@ -15,7 +15,9 @@
        this.stats = null;
        this.goodTypes=[];//存储所有的库位类型
        this.wrkTasks = [];// 任务列表
        this.crnTasks = [];// 堆垛机列表
        this.time = 0;//标记堆垛机运行的时间
        this.progress = 0;

        this.start = function () {
            this.initMain();
@@ -38,8 +40,9 @@
            this.stats.begin();
            this.renderer.render(this.scene, this.camera);
            this.stats.end();
            this.queryTask();
            // this.modelMove();
            // this.queryTask();
            this.queryCrn();
            this.modelMove();
        }
        this.initScene = function () {
            this.scene = new THREE.Scene();
@@ -272,6 +275,21 @@
                }
            }
        }
        this.queryCrn = function () {
            if (CrnDatas !== null) {
                for (let crnData of CrnDatas) {
                    let crnTask = getArrVal(this.crnTasks, "crnNo", crnData.crnNo);
                    if (null == crnTask) {
                        // let crnFork = getArrVal(this.objects, "name", wrkMast.crnNo + "-fork");
                        this.crnTasks.push(new CrnTask(crnData));
                    } else {
                        if(!crnTask.run) {
                            crnTask.modify(crnData);
                        }
                    }
                }
            }
        }
        this.getExistedGoodType=function(state){
            for (let i=0;i<this.goodTypes.length;i++) {
                let type=this.goodTypes[i];
@@ -350,6 +368,9 @@
                        .load( '堆垛机本体.obj', function ( object ) {
                            object.position.z = -500;
                            object.position.x = -2060;
                            // object.position.z = 0;
                            // object.position.x = 0;
                            // object.position.y = 0;
                            object.scale.set(0.025, 0.025, 0.025);
                            object.rotateY(- Math.PI / 2)
                            that.addObject( object );
@@ -359,27 +380,24 @@
        this.initModelMove = function () {
            console.log(this.wrkTasks)
            for (var wrkMast of this.wrkTasks) {
                let crnBody = getArrVal(this.objects, "name", wrkMast.crnNo + "-body");
                console.log(crnBody)
                this.crnBody = getArrVal(this.objects, "name", wrkMast.crnNo + "-body");
                // 取货点定位
                let sourceLocPosition = getBinPosition(wrkMast.sourceLocNo);
                let points = [crnBody.position, sourceLocPosition];
                let points = [new THREE.Vector3(this.crnBody.position.x, this.crnBody.position.y, this.crnBody.position.z), sourceLocPosition];
                this.curve = new Route(points);
                console.log(this.curve);
            }

        }
        this.modelMove = function () {
            if (this.curve) {
                this.time = this.time + 1;
                let points = this.curve.getPoints(2000);
                let point = points[this.time];
                let point1 = points[this.time+1];
                if(this.time >= 2000) {
                    this.time = 0;
                }
                if(point&&point.x){
                    this.AgvCar.position.set(point.x,40,point.z);
                    this.AgvCar.lookAt(point1.x,40,point1.z);
                this.progress += 0.001;
                if (this.progress>1.0) {
                    this.curve = null;
                } else {
                    let point = this.curve.getPoint(this.progress);
                    if(point&&point.x){
                        this.crnBody.position.set(point.x,point.y,point.z);
                    }
                }
            }
        }

 static/js/data/Asrs.js

New file
@@ -0,0 +1,33 @@

setInterval(function () {
    queryTaskCurrent();
    queryCrnCurrent();
},1000);

var TaskDatas = null;
function queryTaskCurrent() {
    $.ajax({
        // url: 'http://47.97.1.152:58080/jkwcs/three/init/store/v1',
        url: 'http://localhost:9090/jkwcs/three/query/task/current/v1',
        type: "GET",
        data: {},
        async: false,
        success: function (res) {
            TaskDatas = res.data;
        }
    })
}

var CrnDatas = null;
function queryCrnCurrent() {
    $.ajax({
        // url: 'http://47.97.1.152:58080/jkwcs/three/init/store/v1',
        url: 'http://localhost:9090/jkwcs/three/query/crn/cache/v1',
        type: "GET",
        data: {},
        async: false,
        success: function (res) {
            CrnDatas = res.data;
        }
    })
}

 static/js/data/Task.js

File was deleted

 static/js/object/CrnTask.js

New file
@@ -0,0 +1,62 @@
// 堆垛机当前运行状态对象
function CrnTask(crnData) {
    let that = this;

    // 访问公有属性，需要在变量名前加上this.
    that.crnNo = 0;
    that.run = false;
    // 上一数据
    that.preBay = 1 ;
    that.preLev = 1 ;
    that.preX = 0;
    that.preY = 0;
    that.preZ = 0;
    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"
    // 当前数据
    that.bay = 1 ;
    that.lev = 1 ;
    that.x = 0;
    that.y = 0;
    that.z = 0;
    that.forkPos = -1;

    // 构造函数
    let init = function () {
        that.crnNo = crnData.crnNo;
        that.bay = crnData.bay;
        that.lev = crnData.lev;
        that.x = crnData.position.x;
        that.y = crnData.position.y;
        that.z = crnData.position.z;
        that.forkPos = crnData.forkPos;
    };
    init();

    // 对外函数
    that.modify = function (crnData) {
        if (that.run || that.crnNo === 0) {
            console.error(that.crnNo + "号堆垛机更新失败");
        } else {
            // 上一次
            that.preBay = that.bay;
            that.preLev = that.lev;
            that.preX = that.x;
            that.preY = that.y;
            that.preY = that.y;
            that.preForkPos = that.forkPos;
            // 当前
            that.bay = crnData.bay;
            that.lev = crnData.lev;
            that.x = crnData.position.x;
            that.y = crnData.position.y;
            that.z = crnData.position.z;
            that.forkPos = crnData.forkPos;
            // create Route ------------------------------------------------
            //  new Route();    // body
            // new Route();    // load
            that.run = true;
            console.log(that);
        }
    }

}

 static/js/object/Route.js

@@ -1,3 +1,4 @@

/**
 *  points:[
     {x:-100,y:1,z:50},
@@ -14,15 +15,29 @@
    let curvePoints=[];
    // 1.去取货 ------------------------------------------------------------------------
    // z轴
    curvePoints.push(option[0]);
    curvePoints.push({
        x: option[0].x,
        y: option[0].y,
        z: option[1].z
    });
    return new THREE.CatmullRomCurve3(curvePoints,false,'catmullrom',0.000000001);
    // curvePoints.push(option[0]);
    // curvePoints.push(
    //     new THREE.Vector3(
    //         option[0].x,
    //         option[0].y,
    //         option[1].z/2
    //     )
    // );
    // curvePoints.push(
    //     new THREE.Vector3(
    //         option[0].x,
    //         option[0].y,
    //         option[1].z
    //     )
    // );
    // return new THREE.CatmullRomCurve3(curvePoints,false,'centripetal',0.000000001);


    return new THREE.LineCurve3(option[0],new THREE.Vector3(
        option[0].x,
        option[0].y,
        option[1].z
    ));




 static/js/object/StoreCrn.js

@@ -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: .3
        opacity: 1.3
    }))
    a.name = option.crnNo + "-body";
    a.position.x = option.crnBody.position.x;

 static/model/obj/body.mtl

New file
@@ -0,0 +1,62 @@
# 3ds Max Wavefront OBJ Exporter v0.97b - (c)2007 guruware
# 创建的文件:13.12.2021 16:30:26

newmtl 02___Default
    Ns 100.0000
    Ni 1.5000
    d 1.0000
    Tr 0.0000
    Tf 1.0000 1.0000 1.0000 
    illum 2
    Ka 0.0000 0.0000 0.0000
    Kd 1.0000 0.4706 0.0000
    Ks 0.1569 0.1569 0.1569
    Ke 0.0000 0.0000 0.0000

newmtl Material__1
    Ns 100.0000
    Ni 1.5000
    d 1.0000
    Tr 0.0000
    Tf 1.0000 1.0000 1.0000 
    illum 2
    Ka 0.0000 0.0000 0.0000
    Kd 0.4275 0.4275 0.4275
    Ks 0.1922 0.1922 0.1922
    Ke 0.0000 0.0000 0.0000

newmtl 09___Default
    Ns 100.0000
    Ni 1.5000
    d 1.0000
    Tr 0.0000
    Tf 1.0000 1.0000 1.0000 
    illum 2
    Ka 0.0000 0.0000 0.0000
    Kd 0.5059 0.5059 0.5059
    Ks 0.1333 0.1333 0.1333
    Ke 0.0000 0.0000 0.0000

newmtl 01___Default
    Ns 100.0000
    Ni 1.5000
    d 1.0000
    Tr 0.0000
    Tf 1.0000 1.0000 1.0000 
    illum 2
    Ka 0.0000 0.0000 0.0000
    Kd 0.0745 0.0745 0.9490
    Ks 0.2353 0.2353 0.2353
    Ke 0.0000 0.0000 0.0000

newmtl 04___Default
    Ns 10.0000
    Ni 1.5000
    d 1.0000
    Tr 0.0000
    Tf 1.0000 1.0000 1.0000 
    illum 2
    Ka 0.7098 0.0000 0.0000
    Kd 0.7098 0.0000 0.0000
    Ks 0.0000 0.0000 0.0000
    Ke 0.0000 0.0000 0.0000

 static/model/obj/body.obj

New file
Diff too large

 static/model/obj/body2.mtl

New file
@@ -0,0 +1,62 @@
# 3ds Max Wavefront OBJ Exporter v0.97b - (c)2007 guruware
# 创建的文件:13.12.2021 16:49:31

newmtl 02___Default
    Ns 100.0000
    Ni 1.5000
    d 1.0000
    Tr 0.0000
    Tf 1.0000 1.0000 1.0000 
    illum 2
    Ka 0.0000 0.0000 0.0000
    Kd 1.0000 0.4706 0.0000
    Ks 0.1569 0.1569 0.1569
    Ke 0.0000 0.0000 0.0000

newmtl Material__1
    Ns 100.0000
    Ni 1.5000
    d 1.0000
    Tr 0.0000
    Tf 1.0000 1.0000 1.0000 
    illum 2
    Ka 0.0000 0.0000 0.0000
    Kd 0.4275 0.4275 0.4275
    Ks 0.1922 0.1922 0.1922
    Ke 0.0000 0.0000 0.0000

newmtl 09___Default
    Ns 100.0000
    Ni 1.5000
    d 1.0000
    Tr 0.0000
    Tf 1.0000 1.0000 1.0000 
    illum 2
    Ka 0.0000 0.0000 0.0000
    Kd 0.5059 0.5059 0.5059
    Ks 0.1333 0.1333 0.1333
    Ke 0.0000 0.0000 0.0000

newmtl 01___Default
    Ns 100.0000
    Ni 1.5000
    d 1.0000
    Tr 0.0000
    Tf 1.0000 1.0000 1.0000 
    illum 2
    Ka 0.0000 0.0000 0.0000
    Kd 0.0745 0.0745 0.9490
    Ks 0.2353 0.2353 0.2353
    Ke 0.0000 0.0000 0.0000

newmtl 04___Default
    Ns 10.0000
    Ni 1.5000
    d 1.0000
    Tr 0.0000
    Tf 1.0000 1.0000 1.0000 
    illum 2
    Ka 0.7098 0.0000 0.0000
    Kd 0.7098 0.0000 0.0000
    Ks 0.0000 0.0000 0.0000
    Ke 0.0000 0.0000 0.0000

 static/model/obj/body2.obj

New file
Diff too large

 static/model/obj/body3.mtl

New file
@@ -0,0 +1,62 @@
# 3ds Max Wavefront OBJ Exporter v0.97b - (c)2007 guruware
# 创建的文件:13.12.2021 16:56:27

newmtl 02___Default
    Ns 100.0000
    Ni 1.5000
    d 1.0000
    Tr 0.0000
    Tf 1.0000 1.0000 1.0000 
    illum 2
    Ka 0.0000 0.0000 0.0000
    Kd 1.0000 0.4706 0.0000
    Ks 0.1569 0.1569 0.1569
    Ke 0.0000 0.0000 0.0000

newmtl Material__1
    Ns 100.0000
    Ni 1.5000
    d 1.0000
    Tr 0.0000
    Tf 1.0000 1.0000 1.0000 
    illum 2
    Ka 0.0000 0.0000 0.0000
    Kd 0.4275 0.4275 0.4275
    Ks 0.1922 0.1922 0.1922
    Ke 0.0000 0.0000 0.0000

newmtl 09___Default
    Ns 100.0000
    Ni 1.5000
    d 1.0000
    Tr 0.0000
    Tf 1.0000 1.0000 1.0000 
    illum 2
    Ka 0.0000 0.0000 0.0000
    Kd 0.5059 0.5059 0.5059
    Ks 0.1333 0.1333 0.1333
    Ke 0.0000 0.0000 0.0000

newmtl 01___Default
    Ns 100.0000
    Ni 1.5000
    d 1.0000
    Tr 0.0000
    Tf 1.0000 1.0000 1.0000 
    illum 2
    Ka 0.0000 0.0000 0.0000
    Kd 0.0745 0.0745 0.9490
    Ks 0.2353 0.2353 0.2353
    Ke 0.0000 0.0000 0.0000

newmtl 04___Default
    Ns 10.0000
    Ni 1.5000
    d 1.0000
    Tr 0.0000
    Tf 1.0000 1.0000 1.0000 
    illum 2
    Ka 0.7098 0.0000 0.0000
    Kd 0.7098 0.0000 0.0000
    Ks 0.0000 0.0000 0.0000
    Ke 0.0000 0.0000 0.0000

 static/model/obj/body3.obj

New file
Diff too large

 views/index.html

@@ -11,7 +11,7 @@
        <script type="text/javascript" src="../static/js/utils.js"></script>
        <script type="text/javascript" src="../static/js/common.js"></script>
        <script type="text/javascript" src="../static/js/data/Warehouse.js"></script>
        <script type="text/javascript" src="../static/js/data/Task.js"></script>
        <script type="text/javascript" src="../static/js/data/Asrs.js"></script>
        <script type="text/javascript" src="../static/js/object/Cube.js"></script>
        <script type="text/javascript" src="../static/js/object/StoreArea.js"></script>
        <script type="text/javascript" src="../static/js/object/Store.js"></script>
@@ -21,6 +21,7 @@
        <script type="text/javascript" src="../static/js/object/StoreGoods.js"></script>
        <script type="text/javascript" src="../static/js/object/Route.js"></script>
        <script type="text/javascript" src="../static/js/object/RouteLine.js"></script>
        <script type="text/javascript" src="../static/js/object/CrnTask.js"></script>
        <script type="text/javascript" src="../static/js/lib/btnHide.js"></script>
    </head>
    <body style="position: relative">