yvan-rcs-web/src/modules/cl2/Cl2Entity.ts

import * as THREE from 'three'
import BaseEntity from '@/core/base/BaseItemEntity.ts'
import type Viewport from '@/core/engine/Viewport.ts'
import gsap from 'gsap'
import { nextTick } from 'vue'
import Cl23dObject, {type Cl2Task} from "@/modules/cl2/Cl23dObject";
/**
 * CL2 机械臂实体类
 * 0.4m/ss // a  max 1.2m/s
 * 90 = 3.5s cl2
 * 90 = 5s // cLX
 */
export default class Cl2Entity extends BaseEntity {
  constructor(viewport: Viewport, id: string) {
    super(viewport, id)
  }


  // 移动
  addRobotTask(task: Cl2Task) {

    if (task.id === 10010) {
      let startX = task.content.StartX
      let startY = task.content.StartY

      if (task.content.Link?.length > 0) {
        for (let i = 0; i < task.content.Link.length; i++) {
          const link = task.content.Link[i];
          let moveDirection: 0 | 1 | 2 | 3 | 15 = 15;
          // 计算 移动方向
          if (startX !== link.X && startY !== link.Y) {
            throw new Error('Invalid task');
          } else if (startX === link.X) {
            if (startY < link.Y && link.Speed > 0 || startY > link.Y && link.Speed < 0) {
              moveDirection = 3
            } else {
              moveDirection = 1
            }
          } else {
            if (startX > link.X && link.Speed > 0 || startX < link.X && link.Speed < 0) {
              moveDirection = 2
            } else {
              moveDirection = 0
            }
          }
          this.taskQueue.add(this.createTask('ROTATION',
            () => this.cl2Object.addRotation(moveDirection * Math.PI/2)
          ))
          this.taskQueue.add(this.createTask('TRAVEL',
            () => this.cl2Object.addTravel(Model.getPositionByEntityId(link.id) ,Math.abs(link.Speed/1000))
          ))
          startX = link.X
          startY = link.Y
        }
      }
      //移动
      if (task.content.OperationType === 0) {

      } else if (task.content.OperationType === 1) {

      } else if (task.content.OperationType === 2) {

      } else if (task.content.OperationType === 3) {

      } else if (task.content.OperationType === 4) {
        // 取货
        if (task.content.PickMode === 1) {
          const gh = task.content.GoodsSlotHeight/1000
          this.addArmRaise(gh)
          this.addArmExtender()
          // this.addArmRaise(gh + 0.1)
          this.addLoad(task.content.GoodsId)
          this.addArmRetractor()
          this.addArmLower()
          // 放货
        } else if (task.content.PickMode === 2) {
          this.addArmRaise(task.content.GoodsSlotHeight/1000 + 0.2)
          this.addArmExtender()
          this.addArmLower()
          this.addUnload(task.content.GoodsId, '')
          this.addArmRetractor()
        }

      } else if (task.content.OperationType === 5) {

      } else if (task.content.OperationType === 135) {

      } else if (task.content.OperationType === 136) {}


    }


  }

  // 抬
  addArmRaise(height: number) {
    // super.addArmRaise(height)
    this.taskQueue.add(this.createTask('ARM_RAISE',
      () => this.cl2Object.animationUpFork(height)
    ))
  }

  // 降
  addArmLower() {
    // super.addArmLower()
    this.taskQueue.add(this.createTask('ARM_LOWER',
      () => this.cl2Object.animationDownFork()
    ))
  }

  // 伸
  addArmExtender(z: number = 1.2) {
    // super.addArmExtender()
    this.taskQueue.add(this.createTask('ARM_EXTEND',
      () => this.cl2Object.animationShowFork(z)
    ))
  }

  // 缩
  addArmRetractor() {
    // super.addArmRetractor()
    this.taskQueue.add(this.createTask('ARM_RETRACT',
      () => this.cl2Object.animationHideFork()
    ))
  }
  // 装
  addLoad(item: string): void {

    const ptrForkMesh = this.getArmObject()
    this.taskQueue.add(this.createTask('LOAD', async () => {
      // 实际业务中应包含装载逻辑
      this.isCarrying = true
      this.isLoading = true
      // 将物品拾取到机械臂上
      const mesh = this.pickupItem(item)
      mesh.position.set(0, 0, -0.15)
      mesh.rotation.set(0, THREE.MathUtils.degToRad(90), 0)
      ptrForkMesh.add(mesh)
    }))

    this.taskQueue.add(this.createTask('ARM_RAISE',
      ()=>{
      return new Promise(resolve => {
        gsap.to(ptrForkMesh.position, {
          y: ptrForkMesh.position.y + 0.2,
          duration: 1,
          ease: 'sine.inOut',
          onComplete: () => {
            this.isCarrying = true
            this.isLoading = false
            resolve()
          }
        })
      })
      }))
  }

  // 卸
  addUnload(itemId: string, rackId: string, bay?: number, level?: number, cell?: number): void {
    this.taskQueue.add(this.createTask('UNLOAD', async () => {
      const item = this.viewport.entityManager.findItemById(itemId)
      this.isCarrying = false
      this.isUnloading = false

      // 将物品从机械臂上卸下
      this.dropItem(item, rackId, bay, level)
    }))
  }

  // 帮助方法：获取机械臂对象
  getArmObject(): THREE.Object3D | undefined {
    const agv = this.object as THREE.Group
    if (agv.children.length > 1) {
      const pillar = agv.children[1]
      if (pillar.children.length > 1) {
        return pillar.children[1]
      }
    }
    return undefined
  }

  // 帮助方法：获取机械臂立柱
  getArmPillar(): THREE.Object3D | undefined {
    const agv = this.object as THREE.Group
    if (agv.children.length > 1) {
      return agv.children[1]
    }
    return undefined
  }

  get cl2Object(): Cl23dObject {
    return this.object as Cl23dObject
  }
}