yvan-rcs-web/src/modules/amr/ptr/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 from "./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)
  }




  // 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
  }
}