cl2 基于设备状态和任务状态分步生成设备任务消息

src/core/base/TaskQueue.ts

@@ -70,6 +70,7 @@ export default class TaskQueue {
   start(onTaskComplete?: (task: Task) => void): void {
     this.onTaskComplete = onTaskComplete
     if (!this.isRunning) {
+      debugger
       this.isRunning = true
       this.executeNextTask()
     }

src/core/manager/EntityManager.ts

@@ -518,6 +518,17 @@ export default class EntityManager {
     return item
   }
 
+  findItemByLogicXYZ(x: number, y: number, z: number): ItemJson | undefined {
+    let item: ItemJson | undefined = undefined
+    this.___entityMap.forEach((value) => {
+      if (value.tf[0][0] === x && /*value.tf[0][1] === y &&*/ value.tf[0][2] === z && value.logicX) {
+        item = value
+        return
+      }
+    })
+    return item
+  }
+
 
   getObjectByCanvasMouse(event: MouseEvent): Object3DLike[] {
     const _domElement = this.viewport.renderer.domElement

src/core/script/ModelManager.ts

@@ -88,6 +88,10 @@ export default class ModelManager implements IControls, Model {
     matrix.decompose(position, new THREE.Quaternion(), new THREE.Vector3())
     return position
   }
+  getItemByXYZ(x: number, y: number, z: number): ItemJson | undefined {
+    const item = this.viewport.entityManager.findItemByLogicXYZ(x, y, z)
+    return item
+  }
 
   dispose() {
     this.viewport = null as any

src/modules/cl2/Cl23dObject.ts

@@ -33,6 +33,17 @@ export interface Cl2Task {
   }
 }
 
+interface Task {
+  SeqNo: number;
+  OperationType: 0 | 1 | 2 | 3 | 4 | 5 | 135 | 136;
+  PickMode: 0 | 1 | 2 | 3 | 4 | 5 | 6;
+  GoodsSlotHeight: number;
+  GoodsSlotDirection: 0 | 1 | 2 | 3 | 15;
+  X: number;
+  Y: number;
+  Speed: number;
+}
+
 export default class Cl23dObject extends THREE.Object3D {
 
   // 创建ptr的底座
@@ -323,8 +334,33 @@ export default class Cl23dObject extends THREE.Object3D {
   private static ptrPillarGeometry: THREE.BufferGeometry = null;
   private static ptrForkGeometry: THREE.BufferGeometry = null;
 
+  private item: ItemJson;
+
+  private _cl2Entity: Cl2Entity = null;
+
+  private taskList: Task[] = [];
+  private executingTask: Task[] = [];
+
+  private  travelAnimation: core.Tween = null
+  private  rotationAnimation: core.Tween = null;
+  private  riseAnimation: core.Tween = null;
+  private  stretchAnimation: core.Tween = null;
+
+
+
+  public get cl2Entity(): Cl2Entity {
+    if (!this._cl2Entity) {
+      const cl2: Cl2Entity = Model.getCl2(this.item.id) as Cl2Entity
+      this._cl2Entity = cl2
+    }
+    return this._cl2Entity
+  }
+
+  private clock = new THREE.Clock();
   constructor(item: ItemJson, option?: RendererCudOption) {
     super();
+    console.log("time", this.clock.getElapsedTime());
+    this.item = item;
     if (!Cl23dObject.ptrPedestalGeometry) {
       Cl23dObject.ptrPedestalGeometry = Cl23dObject.createPtrPedestal()
     }
@@ -398,7 +434,7 @@ export default class Cl23dObject extends THREE.Object3D {
 
       client.on('message', (topic, msg) => {
         console.log(`[${topic}] ${msg}`);
-        const a = JSON.parse(msg.toString());
+        const a: Cl2Task = JSON.parse(msg.toString());
         this.handleMessage(a);
 
       });
@@ -409,9 +445,62 @@ export default class Cl23dObject extends THREE.Object3D {
     } catch (e) {
       console.error(e)
     }
+  }
 
+
+  /*==========消息处理============*/
+
+  handleMessage(data: Cl2Task) {
+    if (data.id === 10010) {
+
+      if (this.taskList.length <= 0) {
+        //当队列为空时，检查当前车辆所在位置
+        const pointItem = Model.getItemByXYZ(this.position.x, this.position.y, this.position.z)
+        if (!pointItem || data.content.StartX != pointItem.logicX || data.content.StartY != pointItem.logicY) {
+          throw new Error('当前车辆所在位置未找到')
+        }
+      }
+
+      for (const item of data.content.Link) {
+        // 添加到队列
+        this.taskList.push({
+          SeqNo: data.content.SeqNo,
+          OperationType: data.content.OperationType,
+          PickMode: data.content.PickMode,
+          GoodsSlotHeight: data.content.GoodsSlotHeight,
+          GoodsSlotDirection: data.content.GoodsSlotDirection,
+          X: item.X,
+          Y: item.Y,
+          Speed: item.Speed,
+        })
+      }
+      console.log("time", this.clock.getElapsedTime());
+
+      this.executeTask()
+      return
+
+      this.cl2Entity.addRobotTask(data)
+      if (!this.cl2Entity.taskIsRunning) {
+        this.cl2Entity.taskStartRun()
+      }
+    }
   }
 
+  executeTask() {
+
+    while (this.taskList.length > 0) {
+      const task = this.taskList.shift()
+      this.addTravel(task.X, task.Y, task.Speed/1000)
+
+      this.executingTask.push(task)
+    }
+
+
+  }
+
+
+  /*==========动画处理============*/
+
   animationShowFork(z: number): Promise<void> {
 
     const ptrPillar = this.getObjectByName('ptrPillar')
@@ -493,35 +582,42 @@ export default class Cl23dObject extends THREE.Object3D {
   }
 
   // 走
-  addTravel(pos: Vector3IF | string, speed : number = 1): Promise<void> {
+  addTravel(logicX: number, logicY: number, speed : number = 1): Promise<void> {
+
+    const pos = Model.getPositionByLogicXY(logicX, logicY)
 
     const fromPos = this.position
     const toPos = new THREE.Vector3(pos.x, pos.y, pos.z)
     const distance = fromPos.distanceTo(toPos)
     const duration = Math.max(1.0, distance / speed)
 
-    return new Promise(resolve => {
+    if (!this.travelAnimation) {
-      gsap.to(this.position, {
+      return new Promise(resolve => {
-        x: toPos.x,
+        this.travelAnimation = gsap.to(this.position, {
-        y: toPos.y,
+          x: toPos.x,
-        z: toPos.z,
+          y: toPos.y,
-        duration,
+          z: toPos.z,
-        ease: 'sine.inOut',
+          duration,
-        onComplete: resolve
+          ease: 'sine.inOut',
+          onComplete: ()=>{
+            this.travelAnimation = null;
+            resolve()
+          }
+        })
       })
-    })
+    } else {
-  }
+      this.travelAnimation.vars.x = toPos.x
-
+      this.travelAnimation.vars.y = toPos.y
-  handleMessage(data) {
+      this.travelAnimation.vars.z = toPos.z
-    if (data.id === 10010) {
+      const tt = this.travelAnimation.duration()
-      const cl2: Cl2Entity = Model.getCl2("10") as Cl2Entity
+      this.travelAnimation.duration(tt + duration)
-      cl2.addRobotTask(data)
-      this.fn(cl2)
     }
+
+
   }
 
-  fn = _.debounce((cl2: Cl2Entity) => {
+  // fn = _.debounce((cl2: Cl2Entity) => {
-    cl2.taskStartRun()
+  //   cl2.taskStartRun()
-  }, 2000)
+  // }, 2000)
 
 }

src/modules/cl2/Cl2Entity.ts

@@ -32,9 +32,9 @@ export default class Cl2Entity extends BaseEntity {
             throw new Error('Invalid task');
           } else if (startX === link.X) {
             if (startY < link.Y && link.Speed > 0 || startY > link.Y && link.Speed < 0) {
-              moveDirection = 1
-            } else {
               moveDirection = 3
+            } else {
+              moveDirection = 1
             }
           } else {
             if (startX > link.X && link.Speed > 0 || startX < link.X && link.Speed < 0) {