From 01883c7d5eca26efb7f844773cae50e5154b9f8b Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期二, 20 八月 2024 15:30:06 +0800
Subject: [PATCH] #
---
src/components/agv.jsx | 65 +++++++++++++++++++++++++++-----
1 files changed, 55 insertions(+), 10 deletions(-)
diff --git a/src/components/agv.jsx b/src/components/agv.jsx
index 6ecf7a0..856455b 100644
--- a/src/components/agv.jsx
+++ b/src/components/agv.jsx
@@ -5,9 +5,11 @@
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,
+ MODEL_AGV_COLOR,
REAL_COMPARE_MAP_SCALE,
REAL_COMPARE_MAP_OFFSET_X,
REAL_COMPARE_MAP_OFFSET_Z,
@@ -127,8 +129,41 @@
}
}
+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;
@@ -138,20 +173,28 @@
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;
}
- console.log(props.taskShelfBarcode);
-
+ // 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)
@@ -166,7 +209,6 @@
// 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)
@@ -179,7 +221,7 @@
}
// 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)
@@ -235,6 +277,7 @@
const fbx = useFBX('/models/agv/body.fbx');
if (!fbx.castShadow) {
Common.setShadow(fbx);
+ Common.setColor(fbx, MODEL_AGV_COLOR);
}
fbx.scale.set(MODEL_AGV_SCALE, MODEL_AGV_SCALE * 0.97, MODEL_AGV_SCALE);
return fbx.clone();
@@ -244,6 +287,7 @@
const fbx = useFBX('/models/agv/loader.fbx');
if (!fbx.castShadow) {
Common.setShadow(fbx);
+ Common.setColor(fbx, MODEL_AGV_COLOR);
}
fbx.scale.set(MODEL_AGV_SCALE, MODEL_AGV_SCALE, MODEL_AGV_SCALE);
return fbx.clone();
@@ -253,6 +297,7 @@
const fbx = useFBX('/models/agv/fork.fbx');
if (!fbx.castShadow) {
Common.setShadow(fbx);
+ Common.setColor(fbx, MODEL_AGV_COLOR);
}
fbx.scale.set(MODEL_AGV_SCALE, MODEL_AGV_SCALE, MODEL_AGV_SCALE);
return fbx.clone();
--
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