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 |  107 ++++++++++++++++++++++++++++++++++++++++++++++-------
 1 files changed, 93 insertions(+), 14 deletions(-)

diff --git a/src/components/agv.jsx b/src/components/agv.jsx
index b0cc514..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) {
         return -forkDis;
     }
-    if (loaderAngle > 270 - 10 && loaderAngle < 270 + 10) {
-        return forkDis;
+    if (loaderAngle > 180 - 10 && loaderAngle < 180 + 10) {
+        return -forkDis;
     }
     if (loaderAngle > 90 - 10 && loaderAngle < 90 + 10) {
+        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);
@@ -94,7 +171,7 @@
         }
 
         // 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)
@@ -108,6 +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 })
@@ -136,7 +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();
     }, [])
 
@@ -169,10 +248,10 @@
                     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, 26, 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>

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