From 9efa735d68a8385a73290156b73850f7233e05fe Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期三, 08 五月 2024 10:27:24 +0800
Subject: [PATCH] #
---
src/components/agv.jsx | 53 ++++++++++++++++++++++++++++++++---------------------
1 files changed, 32 insertions(+), 21 deletions(-)
diff --git a/src/components/agv.jsx b/src/components/agv.jsx
index 8de561a..4588a9d 100644
--- a/src/components/agv.jsx
+++ b/src/components/agv.jsx
@@ -14,13 +14,18 @@
} from '../config/setting'
const Agv = (props) => {
- const { agvNo, position, theta, height, loaderTheta, forkLength, trayList, hasBox } = props;
+ const { agvNo, position, trayList, hasBox } = 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 [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 [forkDis, setForkDis] = useState(0);
+ const [realTrayList, setRealTrayList] = useState([]);
useEffect(() => {
if (!props || Object.keys(props).length === 0) {
@@ -28,17 +33,12 @@
}
// 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)
@@ -51,8 +51,8 @@
}
// group theta
- if (groupTheta !== theta) {
- const minTheta = Common.minDiffTheta(groupTheta, theta);
+ if (groupTheta !== theta && props.theta !== null) {
+ const minTheta = Common.normalizeAngle(theta);
new TWEEN.Tween({ value: groupTheta })
.to({ value: minTheta }, INTERVAL_TIME)
.easing(TWEEN.Easing.Linear.None)
@@ -65,7 +65,7 @@
}
// 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)
@@ -79,8 +79,13 @@
// loader theta
const loaderAbsoluteAngle = (theta + loaderTheta) % 360;
- if (integrateTheta !== loaderAbsoluteAngle) {
- const minTheta = Common.minDiffTheta(integrateTheta, loaderAbsoluteAngle);
+ // console.log("integrateTheta", integrateTheta);
+ // console.log("theta", theta);
+ // console.log("loaderTheta", loaderTheta);
+ // console.log("loaderAbsoluteAngle", loaderAbsoluteAngle);
+ if (integrateTheta !== loaderAbsoluteAngle && props.loaderTheta !== null) {
+ const minTheta = Common.normalizeAngle(loaderAbsoluteAngle);
+ // const minTheta = Common.minDiffTheta(integrateTheta, loaderAbsoluteAngle);
new TWEEN.Tween({ value: integrateTheta })
.to({ value: minTheta }, INTERVAL_TIME)
.easing(TWEEN.Easing.Linear.None)
@@ -93,7 +98,9 @@
}
// fork lenght
- if (forkDis !== forkLength) {
+ // console.log("forkDis", forkDis);
+ // console.log("forkLength", forkLength);
+ if (forkDis !== forkLength && props.forkLength !== null) {
new TWEEN.Tween({ value: forkDis })
.to({ value: forkLength }, INTERVAL_TIME)
.easing(TWEEN.Easing.Linear.None)
@@ -103,6 +110,10 @@
.onComplete((e) => {
setForkDis(e.value)
}).start();
+ }
+
+ if (trayList) {
+ setRealTrayList(trayList);
}
}, [props]);
@@ -156,12 +167,12 @@
</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={[-43, 25, 0]} />}
+ {realTrayList?.[1]?.hasBox && <Box rotationY={Math.PI / 2} position={[-43, 48, 0]} />}
+ {realTrayList?.[2]?.hasBox && <Box rotationY={Math.PI / 2} position={[-43, 71, 0]} />}
+ {realTrayList?.[3]?.hasBox && <Box rotationY={Math.PI / 2} position={[-43, 94, 0]} />}
+ {realTrayList?.[4]?.hasBox && <Box rotationY={Math.PI / 2} position={[-43, 117, 0]} />}
+ {realTrayList?.[5]?.hasBox && <Box rotationY={Math.PI / 2} position={[-43, 140, 0]} />}
</group>
</group>
</>
--
Gitblit v1.9.1