From 6d21360f263ae282bfa7ca4533154aad66feeb53 Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期四, 16 五月 2024 09:07:39 +0800
Subject: [PATCH] #

---
 src/components/agv.jsx |   60 ++++++++++++++++++++++++++++++++++++++++++++++--------------
 1 files changed, 46 insertions(+), 14 deletions(-)

diff --git a/src/components/agv.jsx b/src/components/agv.jsx
index 7f1b19a..d928826 100644
--- a/src/components/agv.jsx
+++ b/src/components/agv.jsx
@@ -20,18 +20,24 @@
     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) => {
+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 +55,12 @@
          */
     }
     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 +77,12 @@
          */
     }
     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)
@@ -86,23 +104,33 @@
     return finger1 && finger2 && finger3 && finger4;
 }
 
-const forkLengthFn = (param) => {
-    if (param < 0) {
-        return -800 * 0.077;
-    } else if (param > 0) {
-        return 800 * 0.077;
+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 Agv = (props) => {
-    const { agvNo, position, trayList, hasBox, finger1, finger2, finger3, finger4 } = props;
+    const { agvNo, position, trayList, hasBox, finger1, finger2, finger3, finger4, inOutFlag } = props;
     const theta = -props.theta;
     const height = props.height * 0.0655;
-    // const forkLength = props.forkLength * 0.077;
-    const forkLength = forkLengthFn(props.forkLength);
-    const loaderTheta = Number(props.loaderTheta?.toFixed(1));
 
     const [groupPos, setGroupPos] = useState({ x: 0, y: 0, z: 0 });
     const [groupTheta, setGroupTheta] = useState(0);
@@ -115,6 +143,8 @@
         if (!props || Object.keys(props).length === 0) {
             return;
         }
+
+        // console.log(props.taskShelfBarcode);
 
         // group position
         const pos = {
@@ -162,7 +192,7 @@
         }
 
         // 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)
@@ -176,6 +206,8 @@
         }
 
         // 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 })
@@ -240,7 +272,7 @@
                     <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>

--
Gitblit v1.9.1