From 6bbc9425c7a1d45e71b8f5d17b90b0edfe216e65 Mon Sep 17 00:00:00 2001 From: luoyifan Date: Sun, 22 Jun 2025 16:39:38 +0800 Subject: [PATCH] =?UTF-8?q?A*=20=E8=B7=AF=E5=BE=84=E8=A7=84=E5=88=92?= =?UTF-8?q?=E5=99=A8?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- doc/RCS3任务拆解.md | 3 +-- doc/RCS数据库结构.md | 7 +++++-- src/example/example1.js | 40 ++++++++++++++++++++-------------------- 3 files changed, 26 insertions(+), 24 deletions(-) diff --git a/doc/RCS3任务拆解.md b/doc/RCS3任务拆解.md index bafa76c..a020f08 100644 --- a/doc/RCS3任务拆解.md +++ b/doc/RCS3任务拆解.md @@ -111,8 +111,7 @@ CL2 和 CLX 使用的是货叉朝向和方向正负系。比如: 凯乐士CL2使 { type: 'robotRotation', executorId: '机器人编号', - worldRotation: 90 - // 转动身体到世界角度 90 度 + worldRotation: 90 // 转动身体到世界角度 90 度, 世界角度为：上=0°，左=90°，右=270°，下=180° } ``` diff --git a/doc/RCS数据库结构.md b/doc/RCS数据库结构.md index 2c0c1fe..a67df05 100644 --- a/doc/RCS数据库结构.md +++ b/doc/RCS数据库结构.md @@ -3,6 +3,7 @@ drop table if exists rcs_task_biz; create table rcs_task_biz ( biz_task_id bigint not null, + env_id bigint not null comment '环境ID', biz_type varchar(10) not null comment '任务类型' default 'carry', lpn varchar(50) not null comment '托盘ID', priority integer not null comment '任务优先级', @@ -13,9 +14,9 @@ create table rcs_task_biz biz_task_error_info varchar(500) default 'N/A' comment '异常提示信息', biz_task_description varchar(500) default 'N/A' comment '任务描述', biz_task_status varchar(10) default 'pending' comment '任务状态', - create_at timestamp not null comment '创建时间', + create_at timestamp not null comment '创建时间', create_by varchar(50) not null comment '创建人', - update_at timestamp not null comment '更新时间', + update_at timestamp not null comment '更新时间', update_by varchar(50) not null comment '更新人', primary key (biz_task_id) ); @@ -25,6 +26,7 @@ create table rcs_task_plan ( plan_task_id bigint not null comment '规划ID', biz_task_id bigint not null comment '业务任务ID', + env_id bigint not null comment '环境ID', plan_type varchar(10) not null comment '规划类型' default 'carry', executor_id varchar(50) not null comment '执行器ID', seq integer not null comment '规划序号', @@ -46,6 +48,7 @@ create table rcs_task_device device_task_id bigint not null comment '设备任务ID', plan_task_id bigint not null comment '规划ID', biz_task_id bigint not null comment '业务任务ID', + env_id bigint not null comment '环境ID', device_type varchar(50) not null comment '设备类型', device_item_id varchar(50) not null comment '执行器ID', seq integer not null comment '执行序号', diff --git a/src/example/example1.js b/src/example/example1.js index 1f8d2a2..2c72cf1 100644 --- a/src/example/example1.js +++ b/src/example/example1.js @@ -155,6 +155,26 @@ export default { catalogCode: 'f2', t: 'floor', items: [ { + id: 'm1', t: 'measure', v: true, + tf: [[0, 0, 0], [90, 0, 0], [0.1, 0.1, 0.1]], + dt: { in: [], out: [], center: ['m2', 'm4'] } + }, + { + id: 'm2', t: 'measure', v: true, + tf: [[8.4, 0, 0], [90, 0, 0], [0.1, 0.1, 0.1]], + dt: { in: [], out: [], center: ['m1', 'm3'] } + }, + { + id: 'm3', t: 'measure', v: true, + tf: [[8.4, 0, 9], [90, 0, 0], [0.1, 0.1, 0.1]], + dt: { in: [], out: [], center: ['m2', 'm4'] } + }, + { + id: 'm4', t: 'measure', v: true, + tf: [[0, 0, 9], [90, 0, 0], [0.1, 0.1, 0.1]], + dt: { in: [], out: [], center: ['m3', 'm1'] } + }, + { id: 'rack1', t: 'rack', v: true, @@ -182,26 +202,6 @@ export default { } }, { - id: 'm1', t: 'measure', v: true, - tf: [[0, 0, 0], [90, 0, 0], [0.1, 0.1, 0.1]], - dt: { in: [], out: [], center: ['m2', 'm4'] } - }, - { - id: 'm2', t: 'measure', v: true, - tf: [[8.4, 0, 0], [90, 0, 0], [0.1, 0.1, 0.1]], - dt: { in: [], out: [], center: ['m1', 'm3'] } - }, - { - id: 'm3', t: 'measure', v: true, - tf: [[8.4, 0, 9], [90, 0, 0], [0.1, 0.1, 0.1]], - dt: { in: [], out: [], center: ['m2', 'm4'] } - }, - { - id: 'm4', t: 'measure', v: true, - tf: [[0, 0, 9], [90, 0, 0], [0.1, 0.1, 0.1]], - dt: { in: [], out: [], center: ['m3', 'm1'] } - }, - { id: '1', t: 'way', v: true, tf: [[2.7, 0, 2.13], [90, 0, 0], [0.25, 0.25, 0.1]], dt: {