From 52e2f1793f9e75da9eabe779d61e0391a6ee4dbf Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期四, 09 五月 2024 10:16:14 +0800
Subject: [PATCH] #
---
src/components/agv.jsx | 99 ++++++++++++++++++++++++++++++++++---------------
1 files changed, 68 insertions(+), 31 deletions(-)
diff --git a/src/components/agv.jsx b/src/components/agv.jsx
index 8de561a..bc1fc69 100644
--- a/src/components/agv.jsx
+++ b/src/components/agv.jsx
@@ -13,14 +13,52 @@
REAL_COMPARE_MAP_OFFSET_Z,
} from '../config/setting'
+const getCorrectForkDis = (loaderAngle, forkDis) => {
+ if (loaderAngle > 360 - 10 || loaderAngle < 0 + 10) {
+ return -forkDis;
+ }
+ if (loaderAngle > 180 - 10 && loaderAngle < 180 + 10) {
+ return -forkDis;
+ }
+ if (loaderAngle > 270 - 10 && loaderAngle < 270 + 10) {
+ return forkDis;
+ }
+ if (loaderAngle > 90 - 10 && loaderAngle < 90 + 10) {
+ return forkDis;
+ }
+ return forkDis;
+}
+
+const getLoaderHasBox = (loaderAngle, finger1, finger2, finger3, finger4) => {
+ console.log(loaderAngle, finger1, finger2, finger3, finger4);
+ if (loaderAngle > 360 - 10 || loaderAngle < 0 + 10) {
+ return finger3 && finger4;
+ }
+ if (loaderAngle > 180 - 10 && loaderAngle < 180 + 10) {
+ return finger3 && finger4;
+ }
+ if (loaderAngle > 270 - 10 && loaderAngle < 270 + 10) {
+ return finger1 && finger2;
+ }
+ if (loaderAngle > 90 - 10 && loaderAngle < 90 + 10) {
+ return finger1 && finger2;
+ }
+ return finger1 && finger2 && finger3 && finger4;
+}
+
const Agv = (props) => {
- const { agvNo, position, theta, height, loaderTheta, forkLength, trayList, hasBox } = props;
+ const { agvNo, position, trayList, hasBox, finger1, finger2, finger3, finger4 } = props;
+ const theta = -props.theta;
+ const height = props.height * 0.06;
+ const forkLength = props.forkLength * 0.1;
+ const loaderTheta = Number(props.loaderTheta?.toFixed(1));
const [groupPos, setGroupPos] = useState({ x: 0, y: 0, z: 0 });
const [groupTheta, setGroupTheta] = useState(0);
const [loaderHeight, setLoaderHeight] = useState(0);
- const [integrateTheta, setIntegrateTheta] = useState(0);
+ const [loaderAngle, setLoaderAngle] = useState(0);
const [forkDis, setForkDis] = useState(0);
+ const [realTrayList, setRealTrayList] = useState([]);
useEffect(() => {
if (!props || Object.keys(props).length === 0) {
@@ -28,17 +66,12 @@
}
// group position
- // const pos = {
- // x: position?.[0],
- // y: position?.[1],
- // z: position?.[2],
- // }
const pos = {
- x: position?.[0] * REAL_COMPARE_MAP_SCALE + REAL_COMPARE_MAP_OFFSET_X,
+ x: position?.[2] * REAL_COMPARE_MAP_SCALE + REAL_COMPARE_MAP_OFFSET_X,
y: position?.[1] * REAL_COMPARE_MAP_SCALE,
- z: position?.[2] * REAL_COMPARE_MAP_SCALE + REAL_COMPARE_MAP_OFFSET_Z,
+ z: position?.[0] * REAL_COMPARE_MAP_SCALE + REAL_COMPARE_MAP_OFFSET_Z,
}
- if (!Common.deepEqual(groupPos, pos)) {
+ if (!Common.deepEqual(groupPos, pos) && props.position !== null) {
new TWEEN.Tween(groupPos)
.to(pos, INTERVAL_TIME)
.easing(TWEEN.Easing.Linear.None)
@@ -51,10 +84,10 @@
}
// group theta
- if (groupTheta !== theta) {
- const minTheta = Common.minDiffTheta(groupTheta, theta);
+ if (groupTheta !== theta && props.theta !== null) {
+ const targetTheta = Common.normalizeAngle(theta - groupTheta) + groupTheta;
new TWEEN.Tween({ value: groupTheta })
- .to({ value: minTheta }, INTERVAL_TIME)
+ .to({ value: targetTheta }, INTERVAL_TIME)
.easing(TWEEN.Easing.Linear.None)
.onUpdate((e) => {
setGroupTheta(e.value)
@@ -65,7 +98,7 @@
}
// loader height
- if (loaderHeight !== height) {
+ if (loaderHeight !== height && props.height !== null) {
new TWEEN.Tween({ value: loaderHeight })
.to({ value: height }, INTERVAL_TIME)
.easing(TWEEN.Easing.Linear.None)
@@ -78,24 +111,24 @@
}
// loader theta
- const loaderAbsoluteAngle = (theta + loaderTheta) % 360;
- if (integrateTheta !== loaderAbsoluteAngle) {
- const minTheta = Common.minDiffTheta(integrateTheta, loaderAbsoluteAngle);
- new TWEEN.Tween({ value: integrateTheta })
- .to({ value: minTheta }, INTERVAL_TIME)
+ const loaderTargetTheta = Common.normalizeAngle(loaderTheta + 90);
+ if (loaderAngle !== loaderTargetTheta && props.loaderTheta !== null) {
+ new TWEEN.Tween({ value: loaderAngle })
+ .to({ value: loaderTargetTheta }, INTERVAL_TIME)
.easing(TWEEN.Easing.Linear.None)
.onUpdate((e) => {
- setIntegrateTheta(e.value)
+ setLoaderAngle(e.value)
})
.onComplete((e) => {
- setIntegrateTheta(e.value)
+ setLoaderAngle(e.value)
}).start();
}
// fork lenght
- if (forkDis !== forkLength) {
+ if (forkDis !== forkLength && props.forkLength !== null) {
+ const targetForkDis = getCorrectForkDis(Common.positiveAngle(loaderTargetTheta), forkLength);
new TWEEN.Tween({ value: forkDis })
- .to({ value: forkLength }, INTERVAL_TIME)
+ .to({ value: targetForkDis }, INTERVAL_TIME)
.easing(TWEEN.Easing.Linear.None)
.onUpdate((e) => {
setForkDis(e.value)
@@ -103,6 +136,10 @@
.onComplete((e) => {
setForkDis(e.value)
}).start();
+ }
+
+ if (trayList) {
+ setRealTrayList(trayList);
}
}, [props]);
@@ -147,21 +184,21 @@
<primitive object={bodyModel} castShadow />
<group
position-y={loaderHeight}
- rotation-y={Common.rotationParseNum(integrateTheta)}
+ rotation-y={Common.rotationParseNum(loaderAngle)}
>
<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]} />}
+ {(hasBox || getLoaderHasBox(loaderAngle, finger1, finger2, finger3, finger4)) && <Box position={[0, 26, 0]} />}
</group>
</group>
<group>
- {trayList?.[0]?.hasBox && <Box rotationY={Math.PI / 2} position={[-43, 25, 0]} />}
- {trayList?.[1]?.hasBox && <Box rotationY={Math.PI / 2} position={[-43, 48, 0]} />}
- {trayList?.[2]?.hasBox && <Box rotationY={Math.PI / 2} position={[-43, 71, 0]} />}
- {trayList?.[3]?.hasBox && <Box rotationY={Math.PI / 2} position={[-43, 94, 0]} />}
- {trayList?.[4]?.hasBox && <Box rotationY={Math.PI / 2} position={[-43, 117, 0]} />}
- {trayList?.[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>
</>
--
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