From 4325f2bbb38f91a6b5c77e168a0daceeb2711ea0 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=E5=A4=9C=E7=AC=99=E6=AD=8C?= <2277317060@qq.com> Date: Thu, 22 Aug 2024 16:22:32 +0800 Subject: [PATCH] =?UTF-8?q?=E4=BF=AE=E6=94=B9agv=E5=8A=A8=E7=94=BB?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- hw-ui/src/api/board/model.js | 11 + hw-ui/src/views/board/model/agv.js | 250 ++++++++---------- hw-ui/src/views/board/model/index.vue | 10 + .../views/mes/productplan/editProductPlan.vue | 5 +- 4 files changed, 141 insertions(+), 135 deletions(-) create mode 100644 hw-ui/src/api/board/model.js diff --git a/hw-ui/src/api/board/model.js b/hw-ui/src/api/board/model.js new file mode 100644 index 0000000..4f2bcf2 --- /dev/null +++ b/hw-ui/src/api/board/model.js @@ -0,0 +1,11 @@ + +import request from '@/utils/request' + +// 开始 +export function getAgvDeviceStatus(query) { + return request({ + url: '/dms/model/getAgvDeviceStatus', + method: 'get', + data: query + }) +} diff --git a/hw-ui/src/views/board/model/agv.js b/hw-ui/src/views/board/model/agv.js index ab73346..eadf0f1 100644 --- a/hw-ui/src/views/board/model/agv.js +++ b/hw-ui/src/views/board/model/agv.js @@ -22,6 +22,18 @@ let AGVanimationLine = { '5BFAGV': [], '5CTU': [] } +const calculateAngle = (sideA, sideB) => { + + // 计算角度 + let angle = Math.atan2(sideB, sideA) * 180 / Math.PI + + // 确保角度值在0到180度之间 + if (angle < 0) { + angle += 180 + } + + return angle +} let animationEnum = ['2AGV', '3AGV', '5CCAGV', '5BFAGV', '5CTU'] @@ -53,6 +65,35 @@ function AGVanimate() { AGVanimate() +let floorOrigin = { + floor2Data: { + x: 109000, + y: 119960 + }, + floor3Data: { + x: 39000, + y: 49460 + }, + floor5Data: { + x: 159000, + y: 150575 + } +} + +let floorData1 = { + floor2Data: { + x: 42500, + z: 20500 + }, + floor3Data: { + x: 42500, + z: 20500 + }, + floor5Data: { + x: 50300, + z: 20500 + } +} let floorData = { floor2Data: { x: 1314, @@ -214,8 +255,9 @@ const loadAGV = (r) => { // 更新渲染器 renderer.render(scene, camera) }, - ()=>{}, - err=>{ + () => { + }, + err => { loadAGV([e]) } ) @@ -264,27 +306,75 @@ let rotateF = (e) => { } return e } -const AGVAnimationF = (item, type, newLocation = 0, time = 2000) => { + +const AGVAnimationF1 = (item, location, time = 2000) => { + + let AGVGroupLocationData = AGVGroupEnum[item] + let AGVLocationData = AGVDataEnum[item] + let group = groupEnum[item] + let floor = floorEnum[item] + +} + +const AGVAnimationF = (item, type, newLocation = {}, time = 2000) => { let s = 1 - newLocation %= 360 - if ((item === '2AGV' || item === '3AGV' || item === '5CCAGV') && type === 'rotate') { - newLocation -= 90 - } - if ((item === '5CTU') && type === 'rotate') { - newLocation += 90 + if (type === 'rotate') { + newLocation.rotate %= 360 + if ((item === '2AGV' || item === '3AGV' || item === '5CCAGV') && type === 'rotate') { + newLocation.rotate -= 90 + } + if ((item === '5CTU') && type === 'rotate') { + newLocation.rotate += 90 + } } let AGVGroupLocationData = AGVGroupEnum[item] let AGVLocationData = AGVDataEnum[item] let group = groupEnum[item] let floor = floorEnum[item] switch (type) { + case 'xz': { + return new Promise(async(resolve, reject) => { + let locationx = agvData[AGVGroupLocationData].x - (newLocation.x / 100) * floorData[floor].x + let locationz = agvData[AGVGroupLocationData].z + (newLocation.z / 100) * floorData[floor].z + let xlength = agvData[AGVLocationData].x - locationx + let zlength = agvData[AGVLocationData].z - locationz + + let rotate = calculateAngle(Math.abs(xlength), Math.abs(zlength)) + if (xlength < 0 && zlength < 0) { + rotate = 180 - rotate + } + if (xlength < 0 && zlength > 0) { + rotate = 180 + rotate + } + if (xlength > 0 && zlength > 0) { + rotate = 360 - rotate + } + + await AGVAnimationF(item, 'rotate', { rotate: rotate }) + + // let distancex = locationx - agvData[AGVLocationData].x + // let distancez = locationz - agvData[AGVLocationData].z + let tween = new TWEEN.Tween(agvData[group].position) + .to({ x: locationx, z: locationz }, time) + .onComplete(() => { + agvData[group].position.x = locationx + agvData[AGVLocationData].x = locationx + agvData[group].position.z = locationz + agvData[AGVLocationData].z = locationz + resolve() + tween.stop() + tween = null + }) + .start() + }) + } case 'x': { return new Promise(async(resolve, reject) => { - let location = agvData[AGVGroupLocationData].x - (newLocation / 100) * floorData[floor].x + let location = agvData[AGVGroupLocationData].x - (newLocation.x / 100) * floorData[floor].x if ((agvData[group].position.x - location) > 0) { - await AGVAnimationF(item, 'rotate', 0) + await AGVAnimationF(item, 'rotate', { rotate: 0 }) } else { - await AGVAnimationF(item, 'rotate', 180) + await AGVAnimationF(item, 'rotate', { rotate: 180 }) } if (agvData[AGVLocationData].x === location) { resolve() @@ -299,50 +389,16 @@ const AGVAnimationF = (item, type, newLocation = 0, time = 2000) => { tween.stop() tween = null }) - .start() // 立即开始动画 - // let time1 = setInterval(() => { - // if ((distance > 0 && agvData[group].position.x >= location) || (distance < 0 && agvData[group].position.x <= location)) { - // agvData[group].position.x = location - // agvData[AGVLocationData].x = location - // resolve() - // clearInterval(time1) - // clearTimeout(time3) - // } else { - // if (timeOrSpeed) { - // if ((agvData[group].position.x - location) < 0) { - // agvData[group].position.x += s - // } else { - // agvData[group].position.x -= s - // } - // } else { - // agvData[group].position.x += distance / (time / 16) - // } - // - // agvData[AGVLocationData].x = agvData[group].position.x - // } - // }, 16) - // let intervalTime - // if (timeOrSpeed) { - // intervalTime = (distance / ((((agvData[group].position.x - location) < 0) ? 1 : -1) * s) * 16) + 1000 - // } else { - // intervalTime = time + 1000 - // } - // let time3 = setTimeout(() => { - // agvData[group].position.x = location - // agvData[AGVLocationData].x = location - // resolve() - // clearInterval(time1) - // clearTimeout(time3) - // }, intervalTime) + .start() }) } case 'z': { return new Promise(async(resolve, reject) => { - let location = agvData[AGVGroupLocationData].z + (newLocation / 100) * floorData[floor].z + let location = agvData[AGVGroupLocationData].z + (newLocation.z / 100) * floorData[floor].z if ((agvData[group].position.z - location) > 0) { - await AGVAnimationF(item, 'rotate', 270) + await AGVAnimationF(item, 'rotate', { rotate: 270 }) } else { - await AGVAnimationF(item, 'rotate', 90) + await AGVAnimationF(item, 'rotate', { rotate: 90 }) } if (agvData[AGVLocationData].z === location) { resolve() @@ -359,80 +415,28 @@ const AGVAnimationF = (item, type, newLocation = 0, time = 2000) => { tween = null }) .start() - // let time1 = setInterval(() => { - // if ((distance > 0 && agvData[group].position.z >= location) || (distance < 0 && agvData[group].position.z <= location)) { - // agvData[group].position.z = location - // agvData[AGVLocationData].z = location - // resolve() - // clearInterval(time1) - // clearTimeout(time3) - // } else { - // - // if (timeOrSpeed) { - // if ((agvData[group].position.z - location) < 0) { - // agvData[group].position.z += s - // } else { - // agvData[group].position.z -= s - // } - // } else { - // agvData[group].position.z += distance / (time / 16) - // } - // - // agvData[AGVLocationData].z = agvData[group].position.z - // } - // }, 16) - // let intervalTime - // if (timeOrSpeed) { - // intervalTime = (distance / ((((agvData[group].position.z - location) < 0) ? 1 : -1) * s) * 16) + 1000 - // } else { - // intervalTime = time + 1000 - // } - // let time3 = setTimeout(() => { - // agvData[group].position.z = location - // agvData[AGVLocationData].z = location - // resolve() - // clearInterval(time1) - // clearTimeout(time3) - // }, intervalTime) }) } case 'rotate': { return new Promise((resolve, reject) => { let nowRotate = parseFloat((agvData[group].rotation.y / (Math.PI / 180)).toFixed(2)) nowRotate = rotateF(nowRotate) - newLocation = rotateF(newLocation) - let distance = newLocation - nowRotate + newLocation.rotate = rotateF(newLocation.rotate) + let distance = newLocation.rotate - nowRotate distance = rotateF(distance) let nowRotateNum = agvData[group].rotation.y let endRotateNum = nowRotateNum + (distance * (Math.PI / 180)) let bool = (nowRotateNum - endRotateNum) > 0 let tween = new TWEEN.Tween(agvData[group].rotation) - .to({ y: newLocation * (Math.PI / 180) }, 500) // 移动到(1, 1, 1)，持续1000毫秒 + .to({ y: newLocation.rotate * (Math.PI / 180) }, 500) // 移动到(1, 1, 1)，持续1000毫秒 .onComplete(() => { - agvData[group].rotation.y = (newLocation * (Math.PI / 180)) + agvData[group].rotation.y = (newLocation.rotate * (Math.PI / 180)) resolve() tween.stop() tween = null }) .start() - // let time1 = setInterval(() => { - // if ((bool && nowRotateNum < endRotateNum) || (!bool && nowRotateNum > endRotateNum)) { - // agvData[group].rotation.y = (newLocation * (Math.PI / 180)) - // resolve() - // clearInterval(time1) - // clearTimeout(time2) - // } else { - // agvData[group].rotation.y += ((distance / (500 / 16)) * (Math.PI / 180)) - // nowRotateNum += ((distance / (500 / 16)) * (Math.PI / 180)) - // } - // }, 16) - // let time2 = setTimeout(() => { - // agvData[group].rotation.y = (newLocation * (Math.PI / 180)) - // resolve() - // clearInterval(time1) - // clearTimeout(time2) - // }, 500 + 1000) }) } @@ -444,7 +448,7 @@ const AGVAnimationF = (item, type, newLocation = 0, time = 2000) => { } } -const AGVAnimation = (e, item, type, newLocation = 0, time = 2000) => { +const AGVAnimation = (e, item, type, newLocation = {}, time = 2000) => { if (agvData[groupEnum[e]] && AGVanimationLine[e].length < 10) { AGVanimationLine[e].push(() => AGVAnimationF(item, type, newLocation, time)) } @@ -453,34 +457,14 @@ const AGVAnimation = (e, item, type, newLocation = 0, time = 2000) => { setInterval(() => { if (isLoading) { + AGVAnimation('2AGV', '2AGV', 'xz', { x: Math.random() * 100, z: Math.random() * 100 }) + AGVAnimation('3AGV', '3AGV', 'xz', { x: Math.random() * 100, z: Math.random() * 100 }) + AGVAnimation('5CCAGV', '5CCAGV', 'xz', { x: Math.random() * 100, z: Math.random() * 100 }) + AGVAnimation('5BFAGV', '5BFAGV', 'xz', { x: Math.random() * 100, z: Math.random() * 100 }) - if (Math.random() > 0.5) { - AGVAnimation('2AGV', '2AGV', 'x', Math.random() * 100) - } else { - AGVAnimation('2AGV', '2AGV', 'z', Math.random() * 100) - } - - if (Math.random() > 0.5) { - AGVAnimation('3AGV', '3AGV', 'x', Math.random() * 100) - } else { - AGVAnimation('3AGV', '3AGV', 'z', Math.random() * 100) - } - - if (Math.random() > 0.5) { - AGVAnimation('5CCAGV', '5CCAGV', 'x', Math.random() * 100) - } else { - AGVAnimation('5CCAGV', '5CCAGV', 'z', Math.random() * 100) - } - - if (Math.random() > 0.5) { - AGVAnimation('5BFAGV', '5BFAGV', 'x', Math.random() * 100) - } else { - AGVAnimation('5BFAGV', '5BFAGV', 'z', Math.random() * 100) - } - - AGVAnimation('5CTU', '5CTU', 'x', (7 + Math.random() * 70)) + AGVAnimation('5CTU', '5CTU', 'x', { x: (7 + Math.random() * 70) }) } -}, 1000) +}, 2500) export { agvData, diff --git a/hw-ui/src/views/board/model/index.vue b/hw-ui/src/views/board/model/index.vue index f3fe246..78c36bb 100644 --- a/hw-ui/src/views/board/model/index.vue +++ b/hw-ui/src/views/board/model/index.vue @@ -92,6 +92,7 @@ import { MTLLoader } from 'three/examples/jsm/loaders/MTLLoader.js' import { OrbitControls } from 'three/examples/jsm/controls/OrbitControls.js' import { CSS2DObject, CSS2DRenderer } from 'three/examples/jsm/renderers/CSS2DRenderer' import Demo from '@/components/model/demo.vue' +import {getAgvDeviceStatus} from '@/api/board/model' import { tuopanInishengji, @@ -133,6 +134,9 @@ export default { } }, mounted() { + getAgvDeviceStatus().then(e=>{ + console.log(e) + }) this.$refs.threeJs.appendChild(renderer.domElement) // controls.rotateSpeed = -controls.rotateSpeed; @@ -149,6 +153,12 @@ export default { // labelObject.position.set(-1000, 333, 130) // 根据需要调整位置 // scene.add(labelObject) + // setInterval(()=>{ + // labelObject.position.x +=0.1 + // labelObject.position.y +=0.1 + // labelObject.position.z +=0.1 + // },40) + // 渲染循环 diff --git a/hw-ui/src/views/mes/productplan/editProductPlan.vue b/hw-ui/src/views/mes/productplan/editProductPlan.vue index f44fad9..600f7f4 100644 --- a/hw-ui/src/views/mes/productplan/editProductPlan.vue +++ b/hw-ui/src/views/mes/productplan/editProductPlan.vue @@ -149,7 +149,7 @@ || scope.row.planStatus=== PLAN_STATUS.FINISHED || form.orderStatus===ORDER_STATUS.FINISHED || form.orderStatus===ORDER_STATUS.RECALLED || form.orderStatus===ORDER_STATUS.DELETED" clearable placeholder="请选择计划开始时间" - type="datetime" value-format="yyyy-MM-dd HH:mm:ss" + type="datetime" value-format="yyyy-MM-dd" /> @@ -160,7 +160,7 @@ || scope.row.planStatus=== PLAN_STATUS.FINISHED || form.orderStatus===ORDER_STATUS.FINISHED || form.orderStatus===ORDER_STATUS.RECALLED || form.orderStatus===ORDER_STATUS.DELETED" clearable placeholder="请选择计划完成时间" - type="datetime" value-format="yyyy-MM-dd HH:mm:ss"/> + type="datetime" value-format="yyyy-MM-dd"/> @@ -694,6 +694,7 @@ export default { } this.getId(this.mesProductPlanList); + console.log(this.mesProductPlanList) },