From 28f9d6aadef16cafb888ff6bcc97f99bde971d8d Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期五, 10 五月 2024 13:58:20 +0800
Subject: [PATCH] #
---
src/components/agv.jsx | 139 +++++++++++++++++++++++++++++++++------------
1 files changed, 101 insertions(+), 38 deletions(-)
diff --git a/src/components/agv.jsx b/src/components/agv.jsx
index 4892475..9c74ec6 100644
--- a/src/components/agv.jsx
+++ b/src/components/agv.jsx
@@ -14,27 +14,104 @@
} from '../config/setting'
const getCorrectForkDis = (loaderAngle, forkDis) => {
- if (loaderAngle > 180 - 10 && loaderAngle < 180 + 10) {
- return forkDis;
- }
- if (loaderAngle > 360 - 10 && loaderAngle < 0 + 10) {
+ if (loaderAngle > 360 - 10 || loaderAngle < 0 + 10) {
return -forkDis;
}
- if (loaderAngle > 270 - 10 && loaderAngle < 270 + 10) {
+ if (loaderAngle > 180 - 10 && loaderAngle < 180 + 10) {
return -forkDis;
}
if (loaderAngle > 90 - 10 && loaderAngle < 90 + 10) {
- return -forkDis;
+ return forkDis;
+ }
+ 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);
+ if (loaderAngle > 360 - 10 || loaderAngle < 0 + 10) {
+ return finger1 && finger2; // 鍙栬揣鏄鐨� 鏀捐揣鏄敊鐨� 锛堝彸锛�
+ /**
+ * 2鎺� (0)
+ *
+ * 鍙栬揣
+ * 0 false false false false
+ * 0 false false true true
+ * 0 true true true true
+ *
+ * 鏀捐揣
+ * 0 true true true true
+ * 0 false false true true
+ * 0 false false false false
+ *
+ */
+ }
+ if (loaderAngle > 180 - 10 && loaderAngle < 180 + 10) {
+ return finger3 && finger4; // 鏀捐揣鏄鐨� 鍙栬揣鏄敊鐨� 锛堝乏锛�
+ /**
+ * 1銆�3鎺� (180)
+ *
+ * 鍙栬揣
+ * 180 false false false false
+ * 180 false false true true
+ * 180 true true true true
+ *
+ * 鏀捐揣
+ * 180 false false true true
+ * 180 false false false false
+ *
+ */
+ }
+ if (loaderAngle > 90 - 10 && loaderAngle < 90 + 10) {
+ return finger1 && finger2; // 鏀捐揣鏄鐨� 鍙栬揣鏄敊鐨� 锛堜腑锛�
+ /**
+ * 鑳岀瘬 (90)
+ *
+ * 鍙栬揣
+ * 90 true true false false
+ * 90 true true true true
+ *
+ * 鏀捐揣
+ * 90 true true true true
+ * 90 true true false false
+ * 90 false false false false
+ *
+ */
+ }
+ if (loaderAngle > 270 - 10 && loaderAngle < 270 + 10) {
+ return finger1 && finger2;
+ }
+ return finger1 && finger2 && finger3 && finger4;
+}
+
+const forkLengthFn = (forkLen, loaderAngle) => {
+ if (loaderAngle > 360 - 10 || loaderAngle < 0 + 10) {
+
+ }
+ if (loaderAngle > 180 - 10 && loaderAngle < 180 + 10) {
+
+ }
+ if (loaderAngle > 90 - 10 && loaderAngle < 90 + 10) {
+
+ }
+ if (loaderAngle > 270 - 10 && loaderAngle < 270 + 10) {
+
+ }
+ if (forkLen < 0) {
+ return -800 * 0.077;
+ } else if (forkLen > 0) {
+ return 800 * 0.077;
+ } else {
+ return 0;
+ }
+}
+
const Agv = (props) => {
- const { agvNo, position, trayList, hasBox } = props;
+ const { agvNo, position, trayList, hasBox, finger1, finger2, finger3, finger4 } = props;
const theta = -props.theta;
- const height = props.height * 0.04;
- const forkLength = props.forkLength * 0.1;
- const loaderTheta = Number(props.loaderTheta?.toFixed(1));
+ const height = props.height * 0.0655;
const [groupPos, setGroupPos] = useState({ x: 0, y: 0, z: 0 });
const [groupTheta, setGroupTheta] = useState(0);
@@ -94,14 +171,8 @@
}
// loader theta
- let loaderTargetTheta;
- const loaderAbsoluteAngle = (theta + loaderTheta) % 360;
- if (loaderAngle !== loaderAbsoluteAngle && props.loaderTheta !== null) {
- console.log("theta", theta);
- console.log("loaderTheta", loaderTheta);
- console.log("loaderAbsoluteAngle", loaderAbsoluteAngle);
- loaderTargetTheta = Common.normalizeAngle(loaderAbsoluteAngle - loaderAngle) + loaderAngle;
- console.log("loaderTargetTheta", loaderTargetTheta);
+ 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)
.easing(TWEEN.Easing.Linear.None)
@@ -114,6 +185,8 @@
}
// 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 })
@@ -142,7 +215,7 @@
if (!fbx.castShadow) {
Common.setShadow(fbx);
}
- fbx.scale.set(MODEL_AGV_SCALE, MODEL_AGV_SCALE, MODEL_AGV_SCALE);
+ fbx.scale.set(MODEL_AGV_SCALE, MODEL_AGV_SCALE * 0.97, MODEL_AGV_SCALE);
return fbx.clone();
}, [])
@@ -175,31 +248,21 @@
position-y={loaderHeight}
rotation-y={Common.rotationParseNum(loaderAngle)}
>
- <primitive object={loaderModel} castShadow position={[0, 20, 0]} />
+ <primitive object={loaderModel} castShadow position={[0, 0, 0]} />
<group position-z={forkDis}>
- <primitive object={forkModel} castShadow position={[0, 25, 0]} />
- {hasBox && <Box position={[0, 24, 0]} />}
+ <primitive object={forkModel} castShadow position={[0, 6, 0]} />
+ {(hasBox || getLoaderHasBox(loaderAngle, forkDis, finger1, finger2, finger3, finger4)) && <Box position={[0, 6, 0]} />}
</group>
</group>
<group>
- {realTrayList?.[0]?.hasBox && <Box rotationY={Math.PI / 2} position={[-43, 25, 0]} />}
- {realTrayList?.[1]?.hasBox && <Box rotationY={Math.PI / 2} position={[-43, 48, 0]} />}
- {realTrayList?.[2]?.hasBox && <Box rotationY={Math.PI / 2} position={[-43, 71, 0]} />}
- {realTrayList?.[3]?.hasBox && <Box rotationY={Math.PI / 2} position={[-43, 94, 0]} />}
- {realTrayList?.[4]?.hasBox && <Box rotationY={Math.PI / 2} position={[-43, 117, 0]} />}
- {realTrayList?.[5]?.hasBox && <Box rotationY={Math.PI / 2} position={[-43, 140, 0]} />}
+ {realTrayList?.[0]?.hasBox && <Box rotationY={Math.PI / 2} position={[-60, 34, 0]} />}
+ {realTrayList?.[1]?.hasBox && <Box rotationY={Math.PI / 2} position={[-60, 66, 0]} />}
+ {realTrayList?.[2]?.hasBox && <Box rotationY={Math.PI / 2} position={[-60, 99, 0]} />}
+ {realTrayList?.[3]?.hasBox && <Box rotationY={Math.PI / 2} position={[-60, 131, 0]} />}
+ {realTrayList?.[4]?.hasBox && <Box rotationY={Math.PI / 2} position={[-60, 163, 0]} />}
+ {realTrayList?.[5]?.hasBox && <Box rotationY={Math.PI / 2} position={[-60, 195, 0]} />}
</group>
</group>
- {/* <group
- position-y={loaderHeight}
- rotation-y={Common.rotationParseNum(0)}
- >
- <primitive object={loaderModel} castShadow position={[0, 20, 0]} />
- <group position-z={forkDis}>
- <primitive object={forkModel} castShadow position={[0, 25, 0]} />
- {hasBox && <Box position={[0, 24, 0]} />}
- </group>
- </group> */}
</>
)
}
--
Gitblit v1.9.1