From afbd08deb5101d2f2ff97f66f4388162f38860a2 Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期六, 17 八月 2024 11:21:55 +0800
Subject: [PATCH] #
---
src/components/agv.jsx | 98 ++++++++++++++++++++++++++++++++++++++++---------
1 files changed, 80 insertions(+), 18 deletions(-)
diff --git a/src/components/agv.jsx b/src/components/agv.jsx
index 9c74ec6..73e1d51 100644
--- a/src/components/agv.jsx
+++ b/src/components/agv.jsx
@@ -5,6 +5,7 @@
import Box from './box';
import * as Common from '../utils/common';
import * as TWEEN from "@tweenjs/tween.js";
+import { useStore } from '@/store';
import {
INTERVAL_TIME,
MODEL_AGV_SCALE,
@@ -29,9 +30,15 @@
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 +56,12 @@
*/
}
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 +78,12 @@
*/
}
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 +106,63 @@
}
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 getMajorPos = (position, bodyAngle, offset) => {
+ const majorAngle = Common.positiveAngle(bodyAngle);
+ // console.log(position, majorAngle, offset);
+ if (majorAngle > 360 - 10 || majorAngle < 0 + 10) {
+ return {
+ x: (position?.[2] + offset) * REAL_COMPARE_MAP_SCALE + REAL_COMPARE_MAP_OFFSET_X,
+ y: position?.[1] * REAL_COMPARE_MAP_SCALE,
+ z: position?.[0] * REAL_COMPARE_MAP_SCALE + REAL_COMPARE_MAP_OFFSET_Z,
+ }
+ }
+ if (majorAngle > 180 - 10 && majorAngle < 180 + 10) {
+ return {
+ x: (position?.[2] - offset) * REAL_COMPARE_MAP_SCALE + REAL_COMPARE_MAP_OFFSET_X,
+ y: position?.[1] * REAL_COMPARE_MAP_SCALE,
+ z: position?.[0] * REAL_COMPARE_MAP_SCALE + REAL_COMPARE_MAP_OFFSET_Z,
+ }
+ }
+ if (majorAngle > 90 - 10 && majorAngle < 90 + 10) {
+ return {
+ x: position?.[2] * REAL_COMPARE_MAP_SCALE + REAL_COMPARE_MAP_OFFSET_X,
+ y: position?.[1] * REAL_COMPARE_MAP_SCALE,
+ z: (position?.[0] - offset) * REAL_COMPARE_MAP_SCALE + REAL_COMPARE_MAP_OFFSET_Z,
+ }
+ }
+ if (majorAngle > 270 - 10 && majorAngle < 270 + 10) {
+ return {
+ x: position?.[2] * REAL_COMPARE_MAP_SCALE + REAL_COMPARE_MAP_OFFSET_X,
+ y: position?.[1] * REAL_COMPARE_MAP_SCALE,
+ z: (position?.[0] + offset) * REAL_COMPARE_MAP_SCALE + REAL_COMPARE_MAP_OFFSET_Z,
+ }
+ }
+}
+
const Agv = (props) => {
- const { agvNo, position, trayList, hasBox, finger1, finger2, finger3, finger4 } = props;
+ const { agvNo, position, trayList, hasBox, finger1, finger2, finger3, finger4, inOutFlag, offset } = props;
const theta = -props.theta;
const height = props.height * 0.0655;
@@ -119,18 +172,28 @@
const [loaderAngle, setLoaderAngle] = useState(0);
const [forkDis, setForkDis] = useState(0);
const [realTrayList, setRealTrayList] = useState([]);
+ const store = useStore();
+
+ useEffect(() => {
+ if (store.autoCruise && agvNo === store.cruiseAgvNo) {
+ // store.lookAt = groupPos;
+
+ store.lookAt.x = groupPos.x;
+ store.lookAt.y = loaderHeight;
+ store.lookAt.z = groupPos.z;
+ }
+ }, [groupPos, loaderHeight])
useEffect(() => {
if (!props || Object.keys(props).length === 0) {
return;
}
+ // group theta
+ const targetTheta = Common.normalizeAngle(theta - groupTheta) + groupTheta;
// group position
- const pos = {
- x: position?.[2] * REAL_COMPARE_MAP_SCALE + REAL_COMPARE_MAP_OFFSET_X,
- y: position?.[1] * REAL_COMPARE_MAP_SCALE,
- z: position?.[0] * REAL_COMPARE_MAP_SCALE + REAL_COMPARE_MAP_OFFSET_Z,
- }
+ const pos = getMajorPos(position, targetTheta, offset);
+
if (!Common.deepEqual(groupPos, pos) && props.position !== null) {
new TWEEN.Tween(groupPos)
.to(pos, INTERVAL_TIME)
@@ -145,7 +208,6 @@
// group theta
if (groupTheta !== theta && props.theta !== null) {
- const targetTheta = Common.normalizeAngle(theta - groupTheta) + groupTheta;
new TWEEN.Tween({ value: groupTheta })
.to({ value: targetTheta }, INTERVAL_TIME)
.easing(TWEEN.Easing.Linear.None)
@@ -158,7 +220,7 @@
}
// loader height
- if (loaderHeight !== height && props.height !== null) {
+ if (loaderHeight !== height && props.height !== null && props.height > 1) {
new TWEEN.Tween({ value: loaderHeight })
.to({ value: height }, INTERVAL_TIME)
.easing(TWEEN.Easing.Linear.None)
@@ -185,8 +247,8 @@
}
// 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 +313,7 @@
<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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