cl2 基于设备状态和任务状态分步生成设备任务消息

src/core/manager/EnvManager.ts

@@ -17,7 +17,7 @@ export default class EnvManager {
   }
 
   onMqttMessage = (topic: string, payload: Buffer, packet: IPublishPacket) => {
-    console.log(`[${topic}]-> ${payload.toString()}`)
+    // console.log(`[${topic}]-> ${payload.toString()}`)
     if (topic.startsWith('/wcs_server/')) {
       const message: AmrMsg<any> = JSON.parse(payload.toString())
       this.amrMessageManager.handleMessage(topic, message)

src/modules/amr/ptr/PtrObject.ts

@@ -62,7 +62,12 @@ export default class PtrObject extends THREE.Object3D {
   private runningStepTask: StepTask = null
   public runningStepTaskList: StepTask[] = []
 
+  // 移动动画
   public travelAnimation: core.Tween = null
+  // 旋转动画
+  public rotationAnimation: core.Tween = null
+  // 动作动画
+  public actionAnimation: core.Tween = null
 
   // 心跳间隔 UInt32 单位: s
   private heartBeatInterval: number = 0
@@ -345,7 +350,7 @@ export default class PtrObject extends THREE.Object3D {
     if (!worldModel.state.runState.isVirtual) {
       return
     }
-    console.log('send message:', JSON.stringify(msg))
+    // console.log('send message:', JSON.stringify(msg))
     if (this.sendMessageQueue.indexOf(msg) < 0) {
       this.sendMessageQueue.push(msg)
     }
@@ -428,17 +433,17 @@ export default class PtrObject extends THREE.Object3D {
     while (ra < 0) {
       ra += Math.PI * 2
     }
-    const ddra = Math.PI / 8
+    const ddra = Math.PI / 180
-    if (ra >= ddra * 7 || ra < ddra) {
+    if (ra >= Math.PI * 2 - ddra || ra <= ddra) {
       this.currentDirection = 0;
 
-    } else if (ra >= ddra && ra < ddra * 3) {
+    } else if (ra >= Math.PI/2 - ddra && ra <= Math.PI/2 + ddra) {
       this.currentDirection = 3;
 
-    } else if (ra >= ddra * 3 && ra < ddra * 5) {
+    } else if (ra >= Math.PI - ddra && ra <= Math.PI + ddra) {
       this.currentDirection = 2;
 
-    } else if (ra >= ddra * 5 && ra < ddra * 7) {
+    } else if (ra >= Math.PI/2*3 - ddra && ra <= Math.PI/2*3 + ddra) {
       this.currentDirection = 1;
     } else {
       this.currentDirection = 15;
@@ -477,11 +482,13 @@ export default class PtrObject extends THREE.Object3D {
     }
     let endDirection = currentStepTask.EndDirection
 
-    if (data.Link.length > 0) {
+    const linkCount = data.Link?.length || 0
+    if (linkCount > 0) {
       for (let i = 0; i < data.Link.length; i++) {
         const link = data.Link[i]
         if ((currentStepTask.X == link.X && currentStepTask.Y == link.Y)
           || (currentStepTask.X != link.X && currentStepTask.Y != link.Y)) {
+          debugger
           continue
         } else if (currentStepTask.X < link.X) {
           if (link.Speed > 0) {
@@ -547,6 +554,9 @@ export default class PtrObject extends THREE.Object3D {
       }
     }
 
+    // 如果没有link 或者当前link的XY是任务结束点位
+    if (linkCount <= 0
+      || (linkCount > 0 && data.Link[linkCount - 1].X == data.EndX && data.Link[linkCount - 1].Y == data.EndY)) {
 
       if (data.OperationType == 0 && data.EndDirection >= 0 && data.EndDirection <= 3) {
         endDirection = data.EndDirection;
@@ -615,6 +625,10 @@ export default class PtrObject extends THREE.Object3D {
       } else {
 
       }
+    }
+
+
+    console.log(JSON.stringify(this.currentStepTaskList))
 
   }
 
@@ -624,6 +638,7 @@ export default class PtrObject extends THREE.Object3D {
       const stepTask = this.currentStepTaskList[0]
       if (this.runningStepTask) {
         if ((stepTask.StepTaskType == "MOVE" || stepTask.StepTaskType == "MOVE_BACKWARD")
+          && this.rotationAnimation == null && this.actionAnimation == null
           && stepTask.EndDirection == this.runningStepTask.EndDirection
           && (stepTask.Speed > 0) == (this.runningStepTask.Speed > 0)) {
           this.runningStepTask = stepTask
@@ -693,12 +708,13 @@ export default class PtrObject extends THREE.Object3D {
     const duration = time
 
     return new Promise(resolve => {
-      gsap.to(this.rotation, {
+      this.rotationAnimation = gsap.to(this.rotation, {
         y: tr,
         duration,
         ease: 'none',
         onComplete: ()=>{
           resolve()
+          this.rotationAnimation = null
           this.onActionCompleted()
         }
       })
@@ -718,11 +734,7 @@ export default class PtrObject extends THREE.Object3D {
 
     if (!this.travelAnimation) {
       return new Promise(resolve => {
-        this.travelAnimation = gsap.fromTo(this.position, {
+        this.travelAnimation = gsap.to(this.position, {
-          x: fromPos.x,
-          y: fromPos.y,
-          z: fromPos.z,
-        }, {
           x: toPos.x,
           y: toPos.y,
           z: toPos.z,
@@ -776,6 +788,7 @@ export default class PtrObject extends THREE.Object3D {
         ()=>this.animationUpFork(height + 0.2).then(
           ()=>this.animationHideFork().then(
             ()=>this.animationDownFork().then(()=>{
+              this.actionAnimation = null
               this.onActionCompleted()
             })
           )
@@ -792,6 +805,7 @@ export default class PtrObject extends THREE.Object3D {
         ()=>this.animationUpFork(height).then(
           ()=>this.animationHideFork().then(
             ()=>this.animationDownFork().then(()=>{
+              this.actionAnimation = null
               this.onActionCompleted()
             })
           )
@@ -815,13 +829,13 @@ export default class PtrObject extends THREE.Object3D {
 
   //获取ptr的角度朝向
   getAmrOrientation(radY: number) {
-    radY = radY + Math.PI
     while (radY < 0) {
       radY += Math.PI * 2
     }
     while (radY > Math.PI * 2) {
       radY -= Math.PI * 2
     }
+    radY = (Math.PI * 2 - radY)%(Math.PI * 2)
     return THREE.MathUtils.radToDeg(radY)
   }
 

src/modules/amr/ptr/cl2/Cl23dObject.ts

@@ -83,7 +83,7 @@ export default class Cl23dObject extends PtrObject {
     const ptrPillar = this.getObjectByName('ptrPillar')
     const time = 3
     return new Promise(resolve => {
-      gsap.to(ptrPillar.position, {
+      this.actionAnimation = gsap.to(ptrPillar.position, {
         z: -z,
         duration: time,
         repeat: 0,
@@ -106,7 +106,7 @@ export default class Cl23dObject extends PtrObject {
       const bh = 0.22
       const children = ptrFork.children
 
-      gsap.to(ptrFork.position, {
+      this.actionAnimation = gsap.to(ptrFork.position, {
         y: y,
         duration: time,
         repeat: 0,

src/modules/amr/ptr/clx/Clx3dObject.ts

@@ -184,7 +184,7 @@ export default class Clx3dObject extends PtrObject {
     })
 
     return new Promise(resolve => {
-      gsap.to(clxFork.position, {
+      this.actionAnimation = gsap.to(clxFork.position, {
         z: -z,
         duration: time,
         repeat: 0,
@@ -243,7 +243,7 @@ export default class Clx3dObject extends PtrObject {
       const bh = 0.22
       const children = clxFork.children
 
-      gsap.to(clxFork.position, {
+      this.actionAnimation = gsap.to(clxFork.position, {
         y: y,
         duration: time,
         repeat: 0,
@@ -252,7 +252,6 @@ export default class Clx3dObject extends PtrObject {
         onUpdate: function() {
           const a = this.targets()[0]
           if (a.y <  bh) {
-            console.log(a.z)
             if (a.z > -1) {
               for (let i = 0; i < children.length; i++) {
                 const child = children[i]