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 | 121 ++++++++++++++++++++++++++++++++++-----
1 files changed, 104 insertions(+), 17 deletions(-)
diff --git a/src/components/agv.jsx b/src/components/agv.jsx
index aff9fbc..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,
@@ -20,18 +22,24 @@
if (loaderAngle > 180 - 10 && loaderAngle < 180 + 10) {
return -forkDis;
}
- if (loaderAngle > 270 - 10 && loaderAngle < 270 + 10) {
+ if (loaderAngle > 90 - 10 && loaderAngle < 90 + 10) {
return forkDis;
}
- if (loaderAngle > 90 - 10 && loaderAngle < 90 + 10) {
+ if (loaderAngle > 270 - 10 && loaderAngle < 270 + 10) {
return forkDis;
}
return forkDis;
}
-const getLoaderHasBox = (loaderAngle, forkDis, finger1, finger2, finger3, finger4) => {
- console.log(loaderAngle, forkDis, finger1, finger2, finger3, finger4);
+const getLoaderHasBox = (loaderAngle, inOutFlag, finger1, finger2, finger3, finger4) => {
+ // console.log(loaderAngle, forkDis, finger1, finger2, finger3, finger4);
if (loaderAngle > 360 - 10 || loaderAngle < 0 + 10) {
+ if (inOutFlag === 1) {
+ return finger1 && finger2;
+ }
+ if (inOutFlag === 2) {
+ return finger3 && finger4;
+ }
return finger1 && finger2; // 鍙栬揣鏄鐨� 鏀捐揣鏄敊鐨� 锛堝彸锛�
/**
* 2鎺� (0)
@@ -49,6 +57,12 @@
*/
}
if (loaderAngle > 180 - 10 && loaderAngle < 180 + 10) {
+ if (inOutFlag === 1) {
+ return finger1 && finger2;
+ }
+ if (inOutFlag === 2) {
+ return finger3 && finger4;
+ }
return finger3 && finger4; // 鏀捐揣鏄鐨� 鍙栬揣鏄敊鐨� 锛堝乏锛�
/**
* 1銆�3鎺� (180)
@@ -65,6 +79,12 @@
*/
}
if (loaderAngle > 90 - 10 && loaderAngle < 90 + 10) {
+ if (inOutFlag === 3) {
+ return finger3 && finger4;
+ }
+ if (inOutFlag === 4) {
+ return finger1 && finger2;
+ }
return finger1 && finger2; // 鏀捐揣鏄鐨� 鍙栬揣鏄敊鐨� 锛堜腑锛�
/**
* 鑳岀瘬 (90)
@@ -86,13 +106,66 @@
return finger1 && finger2 && finger3 && finger4;
}
+const forkLengthFn = (forkLen, loaderAngle) => {
+ let maxVal = 800;
+ if (loaderAngle > 360 - 10 || loaderAngle < 0 + 10) {
+ maxVal = 1100;
+ }
+ if (loaderAngle > 180 - 10 && loaderAngle < 180 + 10) {
+ maxVal = 1100;
+ }
+ if (loaderAngle > 90 - 10 && loaderAngle < 90 + 10) {
+ maxVal = 800;
+ }
+ if (loaderAngle > 270 - 10 && loaderAngle < 270 + 10) {
+ maxVal = 0;
+ }
+ if (forkLen < 0) {
+ return -maxVal * 0.077;
+ } else if (forkLen > 0) {
+ return maxVal * 0.077;
+ } else {
+ return 0;
+ }
+}
+
+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 } = props;
+ const { agvNo, position, trayList, hasBox, finger1, finger2, finger3, finger4, inOutFlag, offset } = props;
const theta = -props.theta;
const height = props.height * 0.0655;
- const forkLength = props.forkLength * 0.077;
- // console.log(props.forkLength);
- const loaderTheta = Number(props.loaderTheta?.toFixed(1));
const [groupPos, setGroupPos] = useState({ x: 0, y: 0, z: 0 });
const [groupTheta, setGroupTheta] = useState(0);
@@ -100,18 +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;
}
+ // 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)
@@ -126,7 +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)
@@ -139,7 +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)
@@ -152,7 +234,7 @@
}
// loader theta
- const loaderTargetTheta = Common.normalizeAngle(loaderTheta + 90);
+ const loaderTargetTheta = Common.normalizeAngle(Number(props.loaderTheta?.toFixed(1)) + 90);
if (loaderAngle !== loaderTargetTheta && props.loaderTheta !== null) {
new TWEEN.Tween({ value: loaderAngle })
.to({ value: loaderTargetTheta }, INTERVAL_TIME)
@@ -166,6 +248,8 @@
}
// fork lenght
+ const forkLength = props.forkLength * 0.077;
+ // const forkLength = forkLengthFn(props.forkLength, loaderTargetTheta);
if (forkDis !== forkLength && props.forkLength !== null) {
const targetForkDis = getCorrectForkDis(Common.positiveAngle(loaderTargetTheta), forkLength);
new TWEEN.Tween({ value: forkDis })
@@ -193,6 +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();
@@ -202,6 +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();
@@ -211,6 +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();
@@ -230,7 +317,7 @@
<primitive object={loaderModel} castShadow position={[0, 0, 0]} />
<group position-z={forkDis}>
<primitive object={forkModel} castShadow position={[0, 6, 0]} />
- {(hasBox || getLoaderHasBox(loaderAngle, forkDis, finger1, finger2, finger3, finger4)) && <Box position={[0, 6, 0]} />}
+ {(hasBox || getLoaderHasBox(loaderAngle, inOutFlag, finger1, finger2, finger3, finger4)) && <Box position={[0, 6, 0]} />}
</group>
</group>
<group>
--
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