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 | 215 ++++++++++++++++++++++++++++++++++++++++++-----------
1 files changed, 170 insertions(+), 45 deletions(-)
diff --git a/src/components/agv.jsx b/src/components/agv.jsx
index 4892475..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,
@@ -14,27 +15,156 @@
} from '../config/setting'
const getCorrectForkDis = (loaderAngle, forkDis) => {
- if (loaderAngle > 180 - 10 && loaderAngle < 180 + 10) {
- return forkDis;
- }
- if (loaderAngle > 360 - 10 && loaderAngle < 0 + 10) {
+ if (loaderAngle > 360 - 10 || loaderAngle < 0 + 10) {
return -forkDis;
}
- if (loaderAngle > 270 - 10 && loaderAngle < 270 + 10) {
+ if (loaderAngle > 180 - 10 && loaderAngle < 180 + 10) {
return -forkDis;
}
if (loaderAngle > 90 - 10 && loaderAngle < 90 + 10) {
- return -forkDis;
+ return forkDis;
+ }
+ if (loaderAngle > 270 - 10 && loaderAngle < 270 + 10) {
+ return forkDis;
}
return forkDis;
}
+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)
+ *
+ * 鍙栬揣
+ * 0 false false false false
+ * 0 false false true true
+ * 0 true true true true
+ *
+ * 鏀捐揣
+ * 0 true true true true
+ * 0 false false true true
+ * 0 false false false false
+ *
+ */
+ }
+ 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)
+ *
+ * 鍙栬揣
+ * 180 false false false false
+ * 180 false false true true
+ * 180 true true true true
+ *
+ * 鏀捐揣
+ * 180 false false true true
+ * 180 false false false false
+ *
+ */
+ }
+ 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)
+ *
+ * 鍙栬揣
+ * 90 true true false false
+ * 90 true true true true
+ *
+ * 鏀捐揣
+ * 90 true true true true
+ * 90 true true false false
+ * 90 false false false false
+ *
+ */
+ }
+ if (loaderAngle > 270 - 10 && loaderAngle < 270 + 10) {
+ return finger1 && finger2;
+ }
+ return finger1 && finger2 && finger3 && finger4;
+}
+
+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 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 } = props;
+ const { agvNo, position, trayList, hasBox, finger1, finger2, finger3, finger4, inOutFlag, offset } = 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 height = props.height * 0.0655;
const [groupPos, setGroupPos] = useState({ x: 0, y: 0, z: 0 });
const [groupTheta, setGroupTheta] = useState(0);
@@ -42,18 +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)
@@ -68,7 +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)
@@ -81,7 +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)
@@ -94,14 +233,8 @@
}
// loader theta
- let loaderTargetTheta;
- const loaderAbsoluteAngle = (theta + loaderTheta) % 360;
- if (loaderAngle !== loaderAbsoluteAngle && props.loaderTheta !== null) {
- console.log("theta", theta);
- console.log("loaderTheta", loaderTheta);
- console.log("loaderAbsoluteAngle", loaderAbsoluteAngle);
- loaderTargetTheta = Common.normalizeAngle(loaderAbsoluteAngle - loaderAngle) + loaderAngle;
- console.log("loaderTargetTheta", loaderTargetTheta);
+ 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)
.easing(TWEEN.Easing.Linear.None)
@@ -114,6 +247,8 @@
}
// 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 })
@@ -142,7 +277,7 @@
if (!fbx.castShadow) {
Common.setShadow(fbx);
}
- fbx.scale.set(MODEL_AGV_SCALE, MODEL_AGV_SCALE, MODEL_AGV_SCALE);
+ fbx.scale.set(MODEL_AGV_SCALE, MODEL_AGV_SCALE * 0.97, MODEL_AGV_SCALE);
return fbx.clone();
}, [])
@@ -175,31 +310,21 @@
position-y={loaderHeight}
rotation-y={Common.rotationParseNum(loaderAngle)}
>
- <primitive object={loaderModel} castShadow position={[0, 20, 0]} />
+ <primitive object={loaderModel} castShadow position={[0, 0, 0]} />
<group position-z={forkDis}>
- <primitive object={forkModel} castShadow position={[0, 25, 0]} />
- {hasBox && <Box position={[0, 24, 0]} />}
+ <primitive object={forkModel} castShadow position={[0, 6, 0]} />
+ {(hasBox || getLoaderHasBox(loaderAngle, inOutFlag, finger1, finger2, finger3, finger4)) && <Box position={[0, 6, 0]} />}
</group>
</group>
<group>
- {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]} />}
+ {realTrayList?.[0]?.hasBox && <Box rotationY={Math.PI / 2} position={[-60, 34, 0]} />}
+ {realTrayList?.[1]?.hasBox && <Box rotationY={Math.PI / 2} position={[-60, 66, 0]} />}
+ {realTrayList?.[2]?.hasBox && <Box rotationY={Math.PI / 2} position={[-60, 99, 0]} />}
+ {realTrayList?.[3]?.hasBox && <Box rotationY={Math.PI / 2} position={[-60, 131, 0]} />}
+ {realTrayList?.[4]?.hasBox && <Box rotationY={Math.PI / 2} position={[-60, 163, 0]} />}
+ {realTrayList?.[5]?.hasBox && <Box rotationY={Math.PI / 2} position={[-60, 195, 0]} />}
</group>
</group>
- {/* <group
- position-y={loaderHeight}
- rotation-y={Common.rotationParseNum(0)}
- >
- <primitive object={loaderModel} castShadow position={[0, 20, 0]} />
- <group position-z={forkDis}>
- <primitive object={forkModel} castShadow position={[0, 25, 0]} />
- {hasBox && <Box position={[0, 24, 0]} />}
- </group>
- </group> */}
</>
)
}
--
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