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cl2 基于设备状态和任务状态分步生成设备任务消息

master
yuliang 6 months ago
parent
3bb9ab09a1
commit
9bbea8b9b4
2 changed files with 526 additions and 36 deletions
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  1. 422
      doc/command-example/f1.json
  2. 140
      src/modules/cl2/Cl23dObject.ts

422
doc/command-example/f1.json
View File

@ -0,0 +1,422 @@
[
{
"id": "rack1",
"t": "rack",
"v": true,
"tf": [
[
1.55,
0,
-1.5
],
[
0,
0,
0
],
[
2.2,
2.8,
1
]
],
"dt": {
"rackDepth": 1,
"bottomBarHeight": 0.2,
"bottomLinkHeight": 0.2,
"topLinkDistance": 0.2,
"levelCount": 2,
"bayCount": 2,
"hideFloor": 0,
"extendColumns": 1,
"columnSpacing": 1,
"bays": [
{
"bayWidth": 1.1,
"levelHeight": [
1.4,
1.4
]
},
{
"bayWidth": 1.1,
"levelHeight": [
1.4,
1.4
]
}
],
"center": [],
"in": [],
"out": [],
"rackWidth": 2.2,
"rackHeight": 2.8
},
"_rid": "_2"
},
{
"id": "rack2",
"t": "rack",
"v": true,
"tf": [
[
3.9,
0,
-1.5
],
[
0,
0,
0
],
[
2.2,
2.8,
1
]
],
"dt": {
"rackDepth": 1,
"bottomBarHeight": 0.2,
"bottomLinkHeight": 0.2,
"topLinkDistance": 0.2,
"levelCount": 2,
"bayCount": 2,
"hideFloor": 0,
"extendColumns": 1,
"columnSpacing": 1,
"bays": [
{
"bayWidth": 1.1,
"levelHeight": [
1.4,
1.4
]
},
{
"bayWidth": 1.1,
"levelHeight": [
1.4,
1.4
]
}
],
"center": [],
"in": [],
"out": [],
"rackWidth": 2.2,
"rackHeight": 2.8
},
"_rid": "_3"
},
{
"id": "1_2",
"t": "way",
"v": true,
"logicX": 1,
"logicY": 2,
"tf": [
[
1,
0.01,
0
],
[
0,
0,
0
],
[
0.25,
0.1,
0.25
]
],
"dt": {
"in": [
"2_2"
],
"out": [
"2_2"
],
"center": [],
"linkStore": [
{
"item": "rack1",
"bay": 0,
"level": 0,
"cell": 0,
"direction": "up"
},
{
"item": "rack1",
"bay": 0,
"level": 1,
"cell": 0,
"direction": "up"
}
]
},
"_rid": "_4"
},
{
"id": "2_2",
"t": "way",
"v": true,
"logicX": 2,
"logicY": 2,
"tf": [
[
2.1,
0.01,
0
],
[
0,
0,
0
],
[
0.25,
0.1,
0.25
]
],
"dt": {
"in": [
"1_2",
"3_2"
],
"out": [
"1_2",
"3_2"
],
"center": [],
"linkStore": [
{
"item": "rack1",
"bay": 1,
"level": 0,
"cell": 0,
"direction": "up"
},
{
"item": "rack1",
"bay": 1,
"level": 1,
"cell": 0,
"direction": "up"
}
]
},
"_rid": "_5"
},
{
"id": "3_2",
"t": "way",
"v": true,
"logicX": 3,
"logicY": 2,
"tf": [
[
3.39,
0.01,
0
],
[
0,
0,
0
],
[
0.25,
0.1,
0.25
]
],
"dt": {
"in": [
"2_2",
"4_2"
],
"out": [
"2_2",
"4_2"
],
"center": [],
"linkStore": [
{
"item": "rack2",
"bay": 0,
"level": 0,
"cell": 0,
"direction": "up"
},
{
"item": "rack2",
"bay": 0,
"level": 1,
"cell": 0,
"direction": "up"
}
]
},
"_rid": "_6"
},
{
"id": "4_2",
"t": "way",
"v": true,
"logicX": 4,
"logicY": 2,
"tf": [
[
4.44,
0.01,
0
],
[
0,
0,
0
],
[
0.25,
0.1,
0.25
]
],
"dt": {
"in": [
"3_2",
"5_2"
],
"out": [
"3_2",
"5_2"
],
"center": [],
"linkStore": [
{
"item": "rack2",
"bay": 1,
"level": 0,
"cell": 0,
"direction": "up"
},
{
"item": "rack2",
"bay": 1,
"level": 1,
"cell": 0,
"direction": "up"
}
]
},
"_rid": "_7"
},
{
"id": "5_2",
"t": "way",
"v": true,
"logicX": 5,
"logicY": 2,
"tf": [
[
5.44,
0.01,
0
],
[
0,
0,
0
],
[
0.25,
0.1,
0.25
]
],
"dt": {
"in": [
"4_2",
"6_2"
],
"out": [
"4_2",
"6_2"
],
"center": []
},
"_rid": "_8"
},
{
"id": "6_2",
"t": "way",
"v": true,
"logicX": 6,
"logicY": 2,
"tf": [
[
6.44,
0.01,
0
],
[
0,
0,
0
],
[
0.25,
0.1,
0.25
]
],
"dt": {
"in": [
"5_2"
],
"out": [
"5_2"
],
"center": [],
"agvRotation": [
"cl2",
"clx"
]
},
"_rid": "_9"
},
{
"id": "3",
"t": "cl2",
"v": true,
"tf": [
[
6.440,
0,
0
],
[
0,
0,
0
],
[
1.5,
1.98,
1.5
]
],
"dt": {
"in": [],
"out": [],
"center": [],
"ptrWidth": 1.5,
"ptrDepth": 1.5,
"ptrHeight": 1.98
}
}
]

140
src/modules/cl2/Cl23dObject.ts
View File

@ -25,7 +25,7 @@ export interface Cl2Task {
GoodsSlotDirection: 0 | 1 | 2 | 3 | 15; GoodsSlotDirection: 0 | 1 | 2 | 3 | 15;
GoodsId: string; GoodsId: string;
Link: { Link: {
id: string; // 实际报文没有 // id: string; // 实际报文没有
X: number; X: number;
Y: number; Y: number;
Speed: number; Speed: number;
@ -54,17 +54,17 @@ export default class Cl23dObject extends THREE.Object3D {
const segments = 64; // 圆的分段精度 const segments = 64; // 圆的分段精度
// 计算切割线与圆的交点 // 计算切割线与圆的交点
const intersectY = Math.sqrt(radius*radius - lineDist*lineDist); const intersectY = Math.sqrt(radius * radius - lineDist * lineDist);
const startAngle = Math.asin(intersectY/radius); const startAngle = Math.asin(intersectY / radius);
const endAngle = Math.acos(intersectY/radius); const endAngle = Math.acos(intersectY / radius);
const shape = new THREE.Shape(); const shape = new THREE.Shape();
shape.moveTo(0, 0); // 起点在圆心 shape.moveTo(0, 0); // 起点在圆心
shape.absarc(0, 0, 0.8, startAngle, endAngle, false); // 从0到π绘制半圆 shape.absarc(0, 0, 0.8, startAngle, endAngle, false); // 从0到π绘制半圆
shape.absarc(0, 0, 0.8, startAngle + Math.PI/2, endAngle + Math.PI/2, false); shape.absarc(0, 0, 0.8, startAngle + Math.PI / 2, endAngle + Math.PI / 2, false);
shape.absarc(0, 0, 0.8, startAngle + Math.PI, endAngle + Math.PI, false); shape.absarc(0, 0, 0.8, startAngle + Math.PI, endAngle + Math.PI, false);
shape.absarc(0, 0, 0.8, startAngle + Math.PI/2 * 3, endAngle + Math.PI/2 * 3, false); shape.absarc(0, 0, 0.8, startAngle + Math.PI / 2 * 3, endAngle + Math.PI / 2 * 3, false);
shape.lineTo(-0.5, -intersectY) shape.lineTo(-0.5, -intersectY)
shape.lineTo(-0.5, -intersectY + 0.17) shape.lineTo(-0.5, -intersectY + 0.17)
@ -147,7 +147,7 @@ export default class Cl23dObject extends THREE.Object3D {
shape.lineTo(-0.728 + width, -0.358 + depth - dd); shape.lineTo(-0.728 + width, -0.358 + depth - dd);
shape.lineTo(-0.728 + width - dd, -0.358 + depth); shape.lineTo(-0.728 + width - dd, -0.358 + depth);
shape.lineTo(-0.728 + dd, -0.358 + depth); shape.lineTo(-0.728 + dd, -0.358 + depth);
shape.lineTo(-0.728, -0.358 + depth - dd); shape.lineTo(-0.728, -0.358 + depth - dd);
// shape.lineTo(-0.728, -0.358 + dd); // shape.lineTo(-0.728, -0.358 + dd);
// shape.closePath() // shape.closePath()
@ -170,7 +170,6 @@ export default class Cl23dObject extends THREE.Object3D {
let geometry = new THREE.ExtrudeGeometry(shape, options) let geometry = new THREE.ExtrudeGeometry(shape, options)
const fd = 0.03 const fd = 0.03
const shapeBf = new THREE.Shape(); const shapeBf = new THREE.Shape();
@ -341,11 +340,12 @@ export default class Cl23dObject extends THREE.Object3D {
private taskList: Task[] = []; private taskList: Task[] = [];
private executingTask: Task[] = []; private executingTask: Task[] = [];
private travelAnimation: core.Tween = null private travelAnimation: core.Tween = null
private rotationAnimation: core.Tween = null; private rotationAnimation: core.Tween = null;
private riseAnimation: core.Tween = null; private riseAnimation: core.Tween = null;
private stretchAnimation: core.Tween = null; private stretchAnimation: core.Tween = null;
private currentAnimation: core.Tween = null;
private currentDirection: number = 15;
public get cl2Entity(): Cl2Entity { public get cl2Entity(): Cl2Entity {
@ -357,6 +357,7 @@ export default class Cl23dObject extends THREE.Object3D {
} }
private clock = new THREE.Clock(); private clock = new THREE.Clock();
constructor(item: ItemJson, option?: RendererCudOption) { constructor(item: ItemJson, option?: RendererCudOption) {
super(); super();
console.log("time", this.clock.getElapsedTime()); console.log("time", this.clock.getElapsedTime());
@ -428,8 +429,8 @@ export default class Cl23dObject extends THREE.Object3D {
// 事件绑定 // 事件绑定
client.on('connect', () => { client.on('connect', () => {
console.log('Connected'); console.log('Connected');
client.subscribe(['/wcs_server/' + item.id], { qos: 0 }); client.subscribe(['/wcs_server/' + item.id], {qos: 0});
client.publish('/agv_robot/status', JSON.stringify(m20020), { retain: true }); client.publish('/agv_robot/status', JSON.stringify(m20020), {retain: true});
}); });
client.on('message', (topic, msg) => { client.on('message', (topic, msg) => {
@ -461,19 +462,54 @@ export default class Cl23dObject extends THREE.Object3D {
} }
} }
const startTask = {
X: data.content.StartX,
Y: data.content.StartY,
Speed: 0
}
for (const item of data.content.Link) { for (const item of data.content.Link) {
let moveDirection: 0 | 1 | 2 | 3 | 15 = 15;
if (startTask.X < item.X) {
if (item.Speed > 0) {
moveDirection = 0
} else {
moveDirection = 2
}
}
if (startTask.Y < item.Y) {
if (item.Speed > 0) {
moveDirection = 1
} else {
moveDirection = 3
}
}
// 添加到队列 // 添加到队列
this.taskList.push({ this.taskList.push({
SeqNo: data.content.SeqNo, SeqNo: data.content.SeqNo,
OperationType: data.content.OperationType, OperationType: 0,
PickMode: data.content.PickMode, PickMode: 0,
GoodsSlotHeight: data.content.GoodsSlotHeight, GoodsSlotHeight: data.content.GoodsSlotHeight,
GoodsSlotDirection: data.content.GoodsSlotDirection, GoodsSlotDirection: data.content.GoodsSlotDirection,
X: item.X, X: item.X,
Y: item.Y, Y: item.Y,
Speed: item.Speed, Speed: item.Speed,
Direction: moveDirection
})
startTask.X = item.X
startTask.Y = item.Y
startTask.Speed = item.Speed
}
if (data.content.OperationType === 4 || data.content.OperationType === 5) {
this.taskList.push({
OperationType: data.content.OperationType,
PickMode: data.content.PickMode,
GoodsSlotHeight: data.content.GoodsSlotHeight,
GoodsSlotDirection: data.content.GoodsSlotDirection,
}) })
} }
console.log("time", this.clock.getElapsedTime()); console.log("time", this.clock.getElapsedTime());
this.executeTask() this.executeTask()
@ -488,11 +524,16 @@ export default class Cl23dObject extends THREE.Object3D {
executeTask() { executeTask() {
const currentTask = this.executingTask[this.executingTask.length - 1]
while (this.taskList.length > 0) { while (this.taskList.length > 0) {
const task = this.taskList.shift() const task = this.taskList.shift()
this.addTravel(task.X, task.Y, task.Speed/1000) if (task.OperationType === 0) {
this.addTravel(task.X, task.Y, task.Speed / 1000)
this.executingTask.push(task) }
if ((task.Speed > 0) != (currentTask.Speed > 1) || task.Direction != currentTask.Direction) {
// 转向
// this.addArmRotate(task.Direction)
}
} }
@ -535,15 +576,15 @@ export default class Cl23dObject extends THREE.Object3D {
repeat: 0, repeat: 0,
ease: 'sine.inOut', ease: 'sine.inOut',
onComplete: resolve, onComplete: resolve,
onUpdate: function() { onUpdate: function () {
const a = this.targets()[0] const a = this.targets()[0]
if (a.y < bh) { if (a.y < bh) {
if (pz > -1) { if (pz > -1) {
for (let i = 0; i < children.length; i++) { for (let i = 0; i < children.length; i++) {
const child = children[i] const child = children[i]
child.position.y = bh - a.y child.position.y = bh - a.y
} }
} else if (a.y < 0 ) { } else if (a.y < 0) {
for (let i = 0; i < children.length; i++) { for (let i = 0; i < children.length; i++) {
const child = children[i] const child = children[i]
child.position.y = 0 - a.y child.position.y = 0 - a.y
@ -561,28 +602,53 @@ export default class Cl23dObject extends THREE.Object3D {
// 转 // 转
addRotation(rad: number): Promise<void> { addRotation(direction: number): Promise<void> {
let rad = 0;
switch (direction) {
case 1:
rad = Math.PI / 2 * 3;
break;
case 2:
rad = Math.PI;
break;
case 3:
rad = Math.PI / 2;
break;
default:
rad = 0;
}
const quat1 = new THREE.Quaternion().setFromEuler(this.rotation); const quat1 = new THREE.Quaternion().setFromEuler(this.rotation);
const euler: Euler = new Euler(this.rotation.x, rad, this.rotation.z); const euler: Euler = new Euler(this.rotation.x, rad, this.rotation.z);
const quat2 = new THREE.Quaternion().setFromEuler(euler); const quat2 = new THREE.Quaternion().setFromEuler(euler);
const angleDiff = quat1.angleTo(quat2); const angleDiff = quat1.angleTo(quat2);
console.log(rad, this.rotation.y, angleDiff) console.log(rad, this.rotation.y, angleDiff)
const tr = this.rotation.y + angleDiff const tr = this.rotation.y + angleDiff
let time = Math.abs(angleDiff) / (Math.PI/3) let time = Math.abs(angleDiff) / (Math.PI / 7)
const duration = angleDiff != 0 ? Math.max(0.5, time) : 0 const duration = time
return new Promise(resolve => {
gsap.to(this.rotation, {
y: tr,
duration,
ease: 'none',
onComplete: resolve
})
})
if (!this.rotationAnimation) {
return new Promise(resolve => {
this.rotationAnimation = gsap.to(this.rotation, {
y: tr,
duration,
ease: 'none',
onComplete: () => {
this.rotationAnimation = null
this.currentAnimation = null
resolve()
}
})
this.currentAnimation = this.rotationAnimation
})
} else {
this.rotationAnimation.vars.y = tr
const tt = this.rotationAnimation.duration()
this.rotationAnimation.duration(tt + duration)
}
} }
// 走 // 走
addTravel(logicX: number, logicY: number, speed : number = 1): Promise<void> { addTravel(logicX: number, logicY: number, speed: number = 1): Promise<void> {
const pos = Model.getPositionByLogicXY(logicX, logicY) const pos = Model.getPositionByLogicXY(logicX, logicY)
@ -599,11 +665,13 @@ export default class Cl23dObject extends THREE.Object3D {
z: toPos.z, z: toPos.z,
duration, duration,
ease: 'sine.inOut', ease: 'sine.inOut',
onComplete: ()=>{ onComplete: () => {
this.travelAnimation = null; this.travelAnimation = null;
this.currentAnimation = null
resolve() resolve()
} }
}) })
this.currentAnimation = this.travelAnimation
}) })
} else { } else {
this.travelAnimation.vars.x = toPos.x this.travelAnimation.vars.x = toPos.x

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