From 7d25d293acb4e901402ca2ec1d933518d6c29cf7 Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期五, 10 五月 2024 16:33:24 +0800
Subject: [PATCH] #
---
src/components/agv.jsx | 32 ++++++++++++++++++++++++++------
1 files changed, 26 insertions(+), 6 deletions(-)
diff --git a/src/components/agv.jsx b/src/components/agv.jsx
index 2253df5..6ecf7a0 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)
@@ -98,7 +116,7 @@
maxVal = 800;
}
if (loaderAngle > 270 - 10 && loaderAngle < 270 + 10) {
- maxVal = 800;
+ maxVal = 0;
}
if (forkLen < 0) {
return -maxVal * 0.077;
@@ -110,7 +128,7 @@
}
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;
@@ -125,6 +143,8 @@
if (!props || Object.keys(props).length === 0) {
return;
}
+
+ console.log(props.taskShelfBarcode);
// group position
const pos = {
@@ -186,8 +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 })
@@ -252,7 +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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