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luxiaotao1123

2024-06-11 9b69a0862558ff1afe49ddf980981ca1510de454

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 src/components/agv.jsx

@@ -127,8 +127,41 @@
    }
}

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

@@ -144,12 +177,11 @@
            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)
@@ -164,7 +196,6 @@

        // 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)