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 | 43 ++++++++++++++++++++++++++++++++-----------
1 files changed, 32 insertions(+), 11 deletions(-)
diff --git a/src/components/agv.jsx b/src/components/agv.jsx
index 9c74ec6..d928826 100644
--- a/src/components/agv.jsx
+++ b/src/components/agv.jsx
@@ -29,9 +29,15 @@
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)
@@ -87,29 +105,30 @@
}
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 -800 * 0.077;
+ return -maxVal * 0.077;
} else if (forkLen > 0) {
- return 800 * 0.077;
+ 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;
@@ -124,6 +143,8 @@
if (!props || Object.keys(props).length === 0) {
return;
}
+
+ // console.log(props.taskShelfBarcode);
// group position
const pos = {
@@ -185,8 +206,8 @@
}
// fork lenght
- // const forkLength = props.forkLength * 0.077;
- const forkLength = forkLengthFn(props.forkLength, loaderTargetTheta);
+ 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 })
@@ -251,7 +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>
--
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