初始化代码

Assets/script/application.meta

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Assets/script/application/ApplicationBoot.cs

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+
+using EasyInject.Attributes;
+using EasyInject.Utils;
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using UnityEngine;
+[DefaultExecutionOrder(-1000000000)]
+[GameObjectBean]
+[AddComponentMenu("WXDC/Application/ApplicationBoot")]
+public sealed class ApplicationBoot : MonoBehaviour
+{
+    public static readonly IIoC Instance = new MyIoC();
+
+
+    [Autowired]
+    private ApplicationStateMachine applicationState;
+
+
+    [RuntimeInitializeOnLoadMethod(RuntimeInitializeLoadType.BeforeSceneLoad)]
+    static void OnBeforeSceneLoad()
+    {
+        Debug.Log("First scene loading: Before Awake is called.");
+    }
+
+    private void Awake()
+    {
+        Debug.Log("IOC容器初始化");
+        Instance.Init();
+    }
+
+    [RuntimeInitializeOnLoadMethod(RuntimeInitializeLoadType.BeforeSplashScreen)]
+    private static void Run()
+    {
+        //Debug.Log("IOC容器初始化");
+        //Instance.Init();
+    }
+    private void Start()
+    {
+        applicationState.OnInit();
+    }
+    private void Update()
+    {
+        applicationState.OnUpdate();
+    }
+    private void OnDestroy()
+    {
+        // Clear the Beans in the corresponding scene
+        Shutdown();
+        Instance.ClearBeans(UnityEngine.SceneManagement.SceneManager.GetActiveScene().name);
+    }
+
+   
+
+    /// <summary>
+    /// 应用关闭执行
+    /// </summary>
+    private void Shutdown()
+    {
+        List<IApplcationShutdown> shutdowns =  Instance.GetBeans<IApplcationShutdown>();
+        shutdowns = shutdowns.Distinct().ToList();
+        foreach(var down in shutdowns)
+        { 
+            if (down == null)
+            {
+                continue;
+            }
+            try
+            {
+                down?.Shutdown();
+            }
+            catch (Exception ex)
+            {
+                Debug.LogError(ex);
+            }
+
+        }
+    }
+}

Assets/script/application/ApplicationBoot.cs.meta

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Assets/script/application/ApplicationStateMachine.cs

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+using EasyInject.Attributes;
+using System;
+using System.Collections.Generic;
+using UnityEngine;
+/// <summary>
+/// 程序状态机
+/// </summary>
+[Component]
+public  class ApplicationStateMachine
+{
+    private List<IProcessState> processStates;
+    private static IProcessState currentProcess ;
+
+    private static ApplicationStateMachine stateMachine;
+
+    public  event ProcessCompleted ProcessCompletedEvent;
+    public delegate void ProcessCompleted();
+    public ApplicationStateMachine()
+    {
+        stateMachine = this;
+    }
+
+    private static void SetCurrentProcess(IProcessState current)
+    {
+        current.IsExecuteProcess = true;
+        currentProcess = current;
+
+        int index = stateMachine.processStates.IndexOf(currentProcess);
+       
+        try {
+            current.OnEnter();
+        }catch (Exception ex)
+        {
+            Debug.LogError(ex.Message);
+        }
+        //已经是最后流程了，触发完成事件
+        if (index == stateMachine.processStates.Count - 1)
+        {
+            stateMachine.ProcessCompletedEvent?.Invoke();
+        }
+
+    }
+
+    /// <summary>
+    /// 切换下一个流程，根据流程优先级切换
+    /// </summary>
+    public static void Chanage(IProcessState currentProcess)
+    {
+        int index = stateMachine.processStates.IndexOf(currentProcess) + 1;
+        if (stateMachine.processStates.Count != index && stateMachine.processStates[index] != null)
+        {
+            currentProcess.IsExecuteProcess = false;
+            currentProcess.OnExit();
+            SetCurrentProcess(stateMachine.processStates[index]);
+        }
+    }
+    public void OnInit()
+    {
+        Debug.Log("初始化状态机");
+        processStates = ApplicationBoot.Instance.GetBeans<IProcessState>();
+        if (processStates != null && processStates.Count > 0)
+        {
+            processStates.Sort((a, b) => a.Priority - b.Priority);
+            SetCurrentProcess(processStates[0]);
+        }
+    }
+    /// <summary>
+    /// 每帧更新状态机
+    /// </summary>
+   public void OnUpdate()
+    {
+        if (currentProcess != null)
+        {
+            try
+            {
+                currentProcess.OnUpdate();
+            }
+            catch (Exception ex)
+            {
+                Debug.LogError(ex.Message);
+            }
+         
+        }
+    }
+}

Assets/script/application/ApplicationStateMachine.cs.meta

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Assets/script/application/IApplcationShutdown.cs

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+
+/// <summary>
+/// 程序关闭
+/// </summary>
+public interface IApplcationShutdown 
+{
+    /// <summary>
+    /// 程序关闭触发
+    /// </summary>
+    void Shutdown();
+}

Assets/script/application/IApplcationShutdown.cs.meta

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Assets/script/application/IProcessCompleted.cs

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+/// <summary>
+/// 当流程完成的时候会触发
+/// </summary>
+public interface IProcessCompleted
+{
+    /// <summary>
+    /// 当流程完成的时候会触发
+    /// </summary>
+    void ProcessCompleted();
+}

Assets/script/application/IProcessCompleted.cs.meta

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Assets/script/application/IProcessState.cs

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+using EasyInject.Attributes;
+using EasyInject.Behaviours;
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+/// <summary>
+/// 流程状态
+/// </summary>
+
+public interface IProcessState 
+{
+    string Name { get;}
+    int Priority { get;}
+    /// <summary>
+    /// 进入当前流程
+    /// </summary>
+    void OnEnter();
+    /// <summary>
+    /// 退出当前流程
+    /// </summary>
+    void OnExit();
+    /// <summary>
+    /// 处于当前流程每帧都会执行
+    /// </summary>
+    void OnUpdate();
+    /// <summary>
+    /// 是当前流程
+    /// </summary>
+    /// <returns></returns>
+    bool IsExecuteProcess { get; set; }
+}

Assets/script/application/IProcessState.cs.meta

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Assets/script/application/InitNetWorkProcess.cs

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+using EasyInject.Attributes;
+using System.Collections.Generic;
+using UnityEngine;
+
+/// <summary>
+/// 初始化网络流程
+/// </summary>
+[Component("InitNetWorkProcess")]
+public class InitNetWorkProcess : IProcessState
+{
+    [Autowired]
+    private NetWorkComponent netWorkComponent;
+    [Autowired("WcsWebSocket")]
+    private WcsWebSocket wcsWebSocket;
+    [Autowired("WmsStorageWebsocket")]
+    private WmsStorageWebsocket wmsStorageWebsocket;
+    private bool executing = false;
+    public string Name { get => "InitNetWorkProcess"; }
+    public int Priority { get => 0; }
+    public bool IsExecuteProcess { get => executing; set => executing = value; }
+
+    public void OnEnter()
+    {
+        Debug.Log("正在处理网络流程");
+
+       List<IWcsSocketDataHandle> wcsSocketDataHandles = ApplicationBoot.Instance.GetBeans<IWcsSocketDataHandle>();
+        wcsSocketDataHandles.ForEach(x =>
+        {
+            ////监听后台数据变化
+            wcsWebSocket.OnMessage(x.GetChannleKey(), x.DataHandle);
+        });
+
+        List<IStorageSocketDataHandle> storageSocketDataHandles = ApplicationBoot.Instance.GetBeans<IStorageSocketDataHandle>();
+        storageSocketDataHandles.ForEach(v =>
+        {
+            ////监听后台数据变化
+            wmsStorageWebsocket.OnMessage(v.DataHandle);
+        });
+
+       netWorkComponent?.ConnectAllWebSocket();
+       
+    }
+
+    public void OnExit()
+    {
+        Debug.Log("网络服务启动完成");
+        IsExecuteProcess = false;
+
+    }
+
+    public void OnUpdate()
+    {
+        if (netWorkComponent.AllWebSocketConnected())
+        {
+            ApplicationStateMachine.Chanage(this);
+        }
+    }
+}

Assets/script/application/InitNetWorkProcess.cs.meta

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Assets/script/application/InitStorageProcess.cs

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+using BestHTTP;
+using EasyInject.Attributes;
+using Newtonsoft.Json;
+using Newtonsoft.Json.Linq;
+using System.Collections.Generic;
+using System.Text;
+using Unity.VisualScripting;
+using UnityEngine;
+using static UnityEngine.EventSystems.EventTrigger;
+/// <summary>
+/// 初始化库存流程
+/// </summary>
+[Component]
+public class InitStorageProcess : IProcessState
+{
+    [Autowired]
+    private readonly NetWorkComponent netWorkComponent;
+    [Autowired]
+    private readonly LocationStorageManage storageManage;
+    [Autowired]
+    private readonly ContainersManage containerManage;
+    public string Name => "InitStorageProcess";
+    public int Priority => 2;
+
+    private bool isExecuting;
+    public bool IsExecuteProcess { get => isExecuting; set => isExecuting = value; }
+
+    public void OnEnter()
+    {
+        IsExecuteProcess = true;
+        Debug.Log("进入库存初始化流程");
+        ///平库
+        SendRequset(33, 50);
+        SendRequset(1, 32);
+    }
+
+    private  void SendRequset(int startRow, int endRow)
+    {
+        List<string> ints = new List<string>();
+        for (int i = startRow; i <= endRow; i++)
+        {
+            ints.Add(i.ToString("D2"));
+        }
+        netWorkComponent.RemoteGetStorageDataByRows(ints, RsultHandle);
+
+    }
+    public void RsultHandle(HTTPRequest originalRequest, HTTPResponse response)
+    {
+        if (response == null)
+        {
+            //请求错误重试
+            if(originalRequest.State == HTTPRequestStates.Error)
+            {
+                Debug.LogWarning("异常重试");
+                originalRequest.Send();
+            }
+            return;
+        }
+
+        if (response.IsSuccess)
+        {
+            Debug.LogWarning("处理");
+            JObject keyValues = JObject.Parse(UTF8Encoding.UTF8.GetString(response.Data));
+            JToken containers = keyValues["object"]["containers"];
+
+            List<StorageResponseData> storageResponses = JsonConvert.DeserializeObject<List<StorageResponseData>>(containers.ToString());
+
+            if (storageResponses != null)
+            {
+              
+
+                foreach (StorageResponseData responseData in storageResponses)
+                {
+
+                    //无货的不往下处理了
+                    if (string.IsNullOrEmpty(responseData.containerCode))
+                    {
+                        continue;
+                    }
+                    //库位号
+                    string storageName = responseData.locationCode;
+                    GameObject storageObj = storageManage.GetStorageByName(storageName);
+                    if (storageObj != null)
+                    {
+                        //赋值容器数据
+                        ContainerEntity containerEntity = new();
+                        containerEntity.channelType = responseData.channelType;
+                        containerEntity.location = responseData.locationCode;
+                        containerEntity.containerCode = responseData.containerCode;
+                        containerEntity.procedureCode = responseData.procedureCode;
+                        containerEntity.containerType = responseData.containerType;
+                        containerEntity.isEmpty = responseData.isEmpty;
+                        containerEntity.isTool = responseData.isTool;
+                        int row = int.Parse(storageObj.name.Split("-")[0]);
+                        if (row >= storageManage.startRow && row <= storageManage.endRow)
+                        {
+                            containerManage.CreateContainer(new Vector3(0, -0.2472343f, 0.0006999969f), storageObj.transform, containerEntity, storageObj.layer);
+                        }
+                        else
+                        {
+                            containerManage.CreateContainer(Vector3.zero, storageObj.transform, containerEntity, storageObj.layer);
+                        }
+                       
+                    }
+                }
+            }
+        }
+    }
+    public void OnExit()
+    {
+       
+    }
+
+    public void OnUpdate()
+    {
+    }
+}

Assets/script/application/InitStorageProcess.cs.meta

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Assets/script/application/SkipUnityLogo.cs

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+#if !UNITY_EDITOR
+using UnityEngine;
+using UnityEngine.Rendering;
+using UnityEngine.Scripting;
+ 
+[Preserve]
+public class SkipUnityLogo
+{
+    [RuntimeInitializeOnLoadMethod(RuntimeInitializeLoadType.BeforeSplashScreen)]
+    private static void BeforeSplashScreen()
+    {
+#if UNITY_WEBGL
+        Application.focusChanged += Application_focusChanged;
+#else
+        System.Threading.Tasks.Task.Run(AsyncSkip);
+#endif
+    }
+ 
+#if UNITY_WEBGL
+    private static void Application_focusChanged(bool obj)
+    {
+        Application.focusChanged -= Application_focusChanged;
+        SplashScreen.Stop(SplashScreen.StopBehavior.StopImmediate);
+    }
+#else
+    private static void AsyncSkip()
+    {
+        SplashScreen.Stop(SplashScreen.StopBehavior.StopImmediate);
+    }
+#endif
+}
+#endif

Assets/script/application/SkipUnityLogo.cs.meta

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Assets/script/camera.meta

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Assets/script/camera/CameraController.cs

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+
+using EasyInject.Attributes;
+using System;
+using Unity.VisualScripting;
+using UnityEngine;
+using UnityEngine.Playables;
+/// <summary>
+/// 相机控制
+/// </summary>
+[GameObjectBean]
+public class CameraController : MonoBehaviour
+{
+    public Transform target; // 要围绕其旋转的目标物体
+
+    [Space(5)]
+    [Header("缩放配置")]
+    public float zoomSpeed = 5.0f; // 缩放速度
+    public float minDistance = 1.0f; // 最小距离
+    public float maxDistance = 30.0f; // 最大距离
+    public float speed = 1f; // 最大距离
+    public float distance = 0f; // 最大距离
+
+    public float yMin = 1;
+    public float yMax = 60;
+    private float xRot = 0; 
+    private float yRot = 0;
+
+
+    public bool isPlaying = true;
+    void Start()
+    {
+        distance = Vector3.Distance(transform.position, target.position);
+       
+    }
+
+    void FixedUpdate()
+    {
+        //鼠标围绕目标旋转
+        mouseRoundRoller();
+
+        // 检测鼠标滚轮输入并进行缩放
+        float scrollInput = Input.GetAxis("Mouse ScrollWheel");
+
+        if (scrollInput != 0)
+        {
+            // 根据鼠标滚轮的方向改变距离
+            Camera camera = transform.GetComponent<Camera>();
+
+            float result = camera.fieldOfView - scrollInput * zoomSpeed;
+            // 限制距离范围
+            result = Mathf.Clamp(result, minDistance, maxDistance);
+            camera.fieldOfView = result;
+        }
+    }
+    /// <summary>
+    /// 鼠标操作旋转
+    /// </summary>
+    void mouseRoundRoller()
+    {
+        if (Input.GetMouseButton(0)) // 检查鼠标左键是否按下
+        {
+            // 根据鼠标移动量调整旋转角度
+            float mouseX = Input.GetAxis("Mouse X") * speed;
+            float mouseY = Input.GetAxis("Mouse Y") * speed;
+
+            yRot -= mouseX;
+            xRot += mouseY;
+
+            // 限制上下旋转角度
+            xRot = Mathf.Clamp(xRot, -90, 90);
+            // 应用新的旋转角度
+            transform.rotation = Quaternion.Euler(xRot, yRot, 0);
+
+            // 更新位置以保持与目标物体的距离不变
+
+            Vector3 v = target.position - transform.forward * distance;
+            transform.position = v;
+        }
+
+    }
+
+
+}

Assets/script/camera/CameraController.cs.meta

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Assets/script/camera/CameraFollow.cs

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+using Cinemachine;
+using EasyInject.Attributes;
+using UnityEngine;
+/// <summary>
+/// 相机的跟随
+/// </summary>
+[GameObjectBean]
+public class CameraFollow : MonoBehaviour
+{
+    [Header("上下偏移")]
+    public float y;
+    [Header("左右偏移")]
+    public float z;
+    public float speed = 120;
+    [Autowired]
+    private CameraManage cameraManage;
+    public CinemachineVirtualCamera virtualCamera;
+    /// <summary>
+    /// 主要控制旋转的句柄
+    /// </summary>
+    private GameObject target;
+    private void Update()
+    {
+        mouseRoundRoller();
+    }
+    void mouseRoundRoller()
+    {
+        if(target == null)
+        {
+            return;
+        }
+        //不得当前活动相机返回
+        if (!CinemachineCore.Instance.IsLive(virtualCamera))
+        {
+            return;
+        }
+        if (Input.GetMouseButton(0)) // 检查鼠标左键是否按下
+        {
+            // 根据鼠标移动量调整旋转角度
+            float mouseX = Input.GetAxis("Mouse X") * speed * Time.deltaTime;
+            float y = target.transform.rotation.eulerAngles.y;
+            y -= mouseX;
+            // 应用新的旋转角度
+            target.transform.rotation = Quaternion.Euler(0, y, 0);
+            //transform.position = transform.position - transform.forward;
+        }
+
+    }
+    public void OnEnter(CinemachineVirtualCamera cinemachineCamera)
+    {
+        cinemachineCamera.LookAt = transform;
+        cinemachineCamera.Follow = transform;
+        CinemachineTransposer transposer = cinemachineCamera.GetCinemachineComponent<CinemachineTransposer>();
+        if (transposer != null )
+        {
+            cameraManage.IsPlaying = false;
+            transposer.m_FollowOffset.y = y;
+            transposer.m_FollowOffset.z = z;
+            ICinemachineCamera cinemachine = cameraManage.GetMaxPriorityCamera();
+            cinemachineCamera.Priority = cinemachine.Priority +1;
+            cinemachine.Priority = 0;
+
+        }
+    }
+    public void OnEnter()
+    {
+        if (target == null)
+        {
+            target = new GameObject(name + "_camera");
+            target.transform.parent = transform;
+            target.transform.localPosition = Vector3.zero;
+        }
+        virtualCamera.LookAt = target.transform;
+        virtualCamera.Follow = target.transform;
+        CinemachineTransposer transposer = virtualCamera.GetCinemachineComponent<CinemachineTransposer>();
+        if (transposer != null)
+        {
+           cameraManage.IsPlaying = false;
+            //cameraManage.playable.Stop();
+            transposer.m_FollowOffset.y = y;
+            transposer.m_FollowOffset.z = z;
+            ICinemachineCamera cinemachine = cameraManage.GetMaxPriorityCamera();
+            int back = cinemachine.Priority;
+            Debug.LogWarning("相机切换="+transform.name);
+            virtualCamera.Priority = cinemachine.Priority + 1;
+            cinemachine.Priority = 0;
+        }
+    }
+
+}

Assets/script/camera/CameraFollow.cs.meta

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Assets/script/camera/CameraManage.cs

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+using Cinemachine;
+using EasyInject.Attributes;
+using System.Collections.Generic;
+using UnityEngine;
+using UnityEngine.Playables;
+[GameObjectBean]
+public class CameraManage:MonoBehaviour
+{
+    [Autowired]
+    private AutoRotationButton autoRotation;
+    [SerializeField]
+    private CinemachineVirtualCamera followVirtualCamera;
+    private float startTime = 0;
+    [SerializeField]
+    private bool _isPlaying = true;
+    private PlayableDirector _playableDirector;
+     public bool IsPlaying { get { return _isPlaying; } set { 
+            _isPlaying = value;
+        } }
+    private void Start()
+    {
+        _playableDirector = GetComponent<PlayableDirector>();
+    }
+    private void Update()
+    {
+        //if (CinemachineCore.Instance.IsLive(followVirtualCamera))
+        //{
+        //    Camera.main.cullingMask = LayerMask.GetMask("storage", LayerMask.LayerToName(followVirtualCamera.Follow.gameObject.layer));
+        //}
+       
+
+        if (!_isPlaying)
+        {
+            return;
+        }
+        //如果时间线正在播放
+        //任意键按下
+        //if (Input.anyKeyDown)
+        //{
+        //    playable.Pause();
+        //    startTime = Time.time + 3;
+        //}
+        //if (Time.time - startTime > 0)
+        //{
+        //    playable.Play();
+        //}
+    }
+
+
+    private CinemachineVirtualCameraBase[] cinemachineVirtuals;
+
+    /// <summary>
+    /// 获取最高的优先级相机
+    /// </summary>
+    /// <returns></returns>
+    public ICinemachineCamera GetMaxPriorityCamera()
+    {
+        if (cinemachineVirtuals == null)
+        {
+            cinemachineVirtuals = GameObject.FindObjectsByType<CinemachineVirtualCameraBase>(FindObjectsSortMode.InstanceID);
+        }
+        var list = new List<CinemachineVirtualCameraBase>(cinemachineVirtuals);
+        list.Sort((a,b) => b.Priority-a.Priority);
+        return list[0];
+    }
+    /// <summary>
+    /// 镜头切换
+    /// </summary>
+    private void ShotCut(Transform follow,Transform lookAt,Vector3 offset)
+    {
+    
+        followVirtualCamera.Follow = follow;
+        followVirtualCamera.LookAt = lookAt;
+        //关闭旋转
+        autoRotation.ClickRotationBtn(false);
+        CinemachineTransposer transposer= followVirtualCamera.GetCinemachineComponent<CinemachineTransposer>();
+        transposer.m_FollowOffset.x = offset.x;
+        transposer.m_FollowOffset.y = offset.y;
+        transposer.m_FollowOffset.z = offset.z;
+       // Camera.main.cullingMask = LayerMask.GetMask("storage", LayerMask.LayerToName(follow.gameObject.layer));
+
+        ICinemachineCamera maxCamera = GetMaxPriorityCamera();
+        followVirtualCamera.Priority = maxCamera.Priority + 2;
+        maxCamera.Priority -= 1;
+       
+    }
+    public void ShotCut(IFollowHelp follow)
+    {
+        ShotCut(follow.Follow,follow.FookAt,follow.Offset);
+    }
+
+}

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Assets/script/camera/CameraRotate.cs

@@ -0,0 +1,38 @@
+using Cinemachine;
+using EasyInject.Attributes;
+using UnityEngine;
+/// <summary>
+/// 相机的左右围绕旋转
+/// </summary>
+[GameObjectBean]
+public sealed class CameraRotate : MonoBehaviour
+{
+    public float speed = 0;
+    [SerializeField]
+    private CinemachineVirtualCamera followVirtualCamera;
+
+    private void Update()
+    {
+        mouseRoundRoller();
+    }
+    void mouseRoundRoller()
+    {
+        //不得当前活动相机返回
+        if (!CinemachineCore.Instance.IsLive(followVirtualCamera))
+        {
+            return;
+        }
+        if (Input.GetMouseButton(0)) // 检查鼠标左键是否按下
+        {
+            // 根据鼠标移动量调整旋转角度
+            float mouseX = Input.GetAxis("Mouse X") * speed * Time.deltaTime;
+            Transform target = followVirtualCamera.LookAt;
+            float y = target.rotation.eulerAngles.y;
+            y -= mouseX;
+            // 应用新的旋转角度
+            target.rotation = Quaternion.Euler(0, y, 0);
+            //transform.position = transform.position - transform.forward;
+        }
+
+    }
+}

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Assets/script/camera/CameraShotCut.cs

@@ -0,0 +1,57 @@
+
+using UnityEngine;
+using EasyInject.Attributes;
+using UnityEngine.UI;
+using Cinemachine;
+using Unity.VisualScripting;
+[GameObjectBean(ENameType.GameObjectName)]
+public class CameraShotCut : MonoBehaviour,IFollowHelp
+{
+    [Autowired]
+    private AutoRotationButton autoRotation;
+    [Autowired]
+    private CameraManage cameraManage;
+    [SerializeField]
+    private GameObject follow;
+    [SerializeField]
+    private GameObject lookat;
+    [SerializeField]
+    private Vector3 offset;
+    private Button button;
+
+    [SerializeField]
+    private LayerMask layerMask;
+    [SerializeField]
+    public MonoBehaviour followHelp;
+    public Transform Follow => follow.transform;
+
+    public Transform FookAt => lookat.transform;
+
+    public Vector3 Offset => offset;
+
+    void Start()
+    {
+        button = GetComponent<Button>();
+        button.onClick.AddListener(Click);
+    }
+    public void Click()
+    {
+        autoRotation.ClickRotationBtn(true);
+        if (followHelp != null)
+        {
+            if(followHelp is IFollowHelp help)
+            {
+                cameraManage.ShotCut(help);
+            }
+            return;
+        }
+       
+       
+        cameraManage.ShotCut(this);
+        if(!layerMask.IsUnityNull())
+        {
+            Camera.main.cullingMask = layerMask;
+        }
+     
+    }
+}

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Assets/script/camera/IFollowHelp.cs

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+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+public interface IFollowHelp 
+{
+    /// <summary>
+    /// ¾µÍ·¸úËæ
+    /// </summary>
+    public Transform Follow { get; }
+ 
+    /// <summary>
+    /// ¾µÍ·³¯Ïò
+    /// </summary>
+    public Transform FookAt { get; }
+
+    public Vector3 Offset { get; }
+}

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Assets/script/data/AgvData.cs

@@ -0,0 +1,17 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+public class AgvData 
+{
+    public string deviecCode;
+    public string driverName = "标准AGV驱动";
+    public string onlineStatus = "在线";
+    public string isWoking = "运行中";
+    public string currentAction;
+    public string feedBack;
+    public string startDevice;
+    public string endDevice;
+    public string errorMessage;
+    public string container;
+}

Assets/script/data/AgvData.cs.meta

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Assets/script/data/AgvTaskData.cs

@@ -0,0 +1,43 @@
+using System;
+using static AgvCarManage;
+[System.Serializable]
+
+public class AgvTaskData 
+{
+
+    public long instructionId;
+
+    public long instructionCode;
+
+    public String containerCode;
+
+    public string containerIsEmpty;
+
+    public String taskProcedure;
+
+    public String fromDevice;
+
+    public String fromLocation;
+
+    public String toDevice;
+
+    public String toLocation;
+
+    public String carId;
+
+    public string instructionStatus;
+
+    public CarTaskStatusEnum agvTaskStatus;
+
+    public override bool Equals(object obj)
+    {
+        return obj is AgvTaskData data &&
+               instructionId == data.instructionId &&
+               instructionCode == data.instructionCode;
+    }
+
+    public override int GetHashCode()
+    {
+        return HashCode.Combine(instructionId, instructionCode);
+    }
+}

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Assets/script/data/ConveyorData.cs

@@ -0,0 +1,27 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+/// <summary>
+/// ÊäËÍÏ߶ԽÓÊý¾Ý
+/// </summary>
+[System.Serializable]
+public class ConveyorData
+{
+    public int mode;
+    public int move;
+    public int action;
+    public string nextDevice;
+    public string containerType;
+    public string containerCode;
+    public string instructionCode;
+    public string lastInstructionCode;
+    public string lastContainerCode;
+    public string procedureCode;
+    public string deviceCode;
+    public bool? stopWorking;
+    public bool isEmpty; 
+    public string isFull;
+    public string skuCode;
+    public int toCommand;
+
+}

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Assets/script/data/DeviceData.cs

@@ -0,0 +1,19 @@
+using System;
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+public class DeviceData
+{
+    public string deviceCode { get; set; }
+    public string deviceName { get; set; }
+    public string deviceType { get; set; }
+    public Boolean isOnline { get; set; }
+    public Boolean hasError { get; set; }
+    public Boolean isWorking { get; set; }
+    public Boolean hasGoods { get; set; }
+    public string errorMessage { get; set; }
+    public string driverCode { get; set; }
+    public string driverName { get; set; }
+    public object extra { get; set; }
+}

Assets/script/data/DeviceData.cs.meta

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Assets/script/data/KeyValueObject.cs

@@ -0,0 +1,13 @@
+
+[System.Serializable]
+public class KeyValueObject
+{
+   public string label;
+   public object value;
+
+    public KeyValueObject(string label, object value)
+    {
+        this.label = label;
+        this.value = value;
+    }
+}

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Assets/script/data/StackerData.cs

@@ -0,0 +1,54 @@
+
+using System;
+
+[System.Serializable]
+public class StackerData
+{
+    public string frontContainerCode;
+    public string frontInstructionCode;
+    //public string frontFrom;
+    //public  bool? frontStatus;
+    public string frontStatusDescription;
+    //public string backContainerCode;
+    //public string backInstructionCode;
+    //public string backTo;
+    //public string backStatusDescription;
+    public int roadway;
+    public int frontRow;
+    public int frontColumn;
+    public int frontLayer;
+    public int special1;
+    public StackerForkActionEnum frontForkAction;
+    public string frontForkActionDescription;
+    public StackerForkCargoEnum frontForkCargo;
+    //public int backRow;
+    //public int backColumn;
+    //public int backLayer;
+    //public StackerForkActionEnum backForkAction;
+    //public string backForkActionDescription;
+    //public string taskType;
+    //public string taskTypeDescription;
+    public  Boolean frontForkHasGoods;
+    //public  bool? backForkHasGoods;
+    public string strategyCode;
+    public string strategyName;
+    //public string stageTrackLength;
+    //public string realTrackLength;
+    //public string moveDirection;
+    public int toRow;
+    public int toColumn;
+    public int toLayer;
+    public int toCommand;
+    public string toCommandDescription;
+    public  bool? stopWorking;
+    public  bool? frontContainerIsFull;
+    public  bool? backContainerIsFull;
+    //public string futureFlow;
+    //public string pastFlow;
+    //public string moveLocation;
+    //public string moveLocationFromLocation;
+    //public string moveLocationToLocation;
+    //public string moveLocationContainer;
+    //public string moveLocationInstructionCode;
+  
+}

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Assets/script/data/StorageRequestEntity.cs

@@ -0,0 +1,12 @@
+
+
+using System.Collections.Generic;
+
+[System.Serializable]
+public class StorageRequestEntity
+{
+    public string systemCode = "DT";
+    public string houseCode = "DT";
+    public bool excludeEmptyLoc = false;
+    public List<string> rows = new();
+}

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Assets/script/data/StorageRespones.cs

@@ -0,0 +1,19 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+[System.Serializable]
+public class StorageResponseData
+{
+    public string containerCode;
+    public string skuCode;
+    public string containerType;
+    public string lot;
+    public string procedureCode;
+    public string channelType;
+    public bool isEmpty;
+    public string locationCode;
+    public bool isTool;
+    public int row;
+    public int column;
+    public int layer;
+}

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Assets/script/device/AbstractDevice.cs

@@ -0,0 +1,56 @@
+
+using Cinemachine;
+using EasyInject.Attributes;
+using UnityEngine;
+/// <summary>
+/// 抽象的设备类
+/// </summary>
+
+public abstract class AbstractDevice : MonoBehaviour, IWcsSocketDataHandle, IFollowHelp, IProcessCompleted, IMouseClick
+{
+    [Autowired]
+    protected EventCompent eventCompent;
+    [Autowired]
+    protected CameraManage cameraManage;
+    [Header("镜头跟随")]
+    public Transform follow;
+    [Header("镜头看向")]
+    public Transform lookAt;
+    [Header("镜头偏移")]
+    public Vector3 offset;
+
+    public event IDevice.DataChangeEvent DataChange;
+    public event IDevice.DataChangeEvent ErrorMessage;
+
+    public abstract Transform Transform { get; }
+    public abstract string DeviceType { get; }
+    public abstract string DeviceCode { get; }
+
+    Transform IFollowHelp.Follow => follow;
+
+    Transform IFollowHelp.FookAt => lookAt;
+
+    public Vector3 Offset => offset;
+
+    public abstract DeviceData DeviceData { get; }
+
+    public virtual void MouseSingleClick()
+    {
+        if (follow && lookAt)
+        {
+            cameraManage.ShotCut(this);
+        }
+    }
+    public virtual void MouseDoubleClick()
+    {
+        
+    }
+
+    public abstract void ProcessCompleted();
+    public virtual void DataHandle(object data, object other = null)
+    {
+        DataChange?.Invoke(data,other);
+    }
+
+    public abstract T DynamicData<T>();
+}

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Assets/script/device/DeviceParseService.cs

@@ -0,0 +1,74 @@
+using EasyInject.Attributes;
+using System;
+using System.Collections.Generic;
+using UnityEngine;
+/// <summary>
+/// 设备解析服务
+/// </summary>
+[Component("DeviceParseService")]
+public class DeviceParseService 
+{
+    [Autowired("LocationStorageManage")]
+    private  LocationStorageManage storageManage;
+
+    /// <summary>
+    /// 根据设备号解析所在场景坐标
+    /// </summary>
+    /// <param name="device"></param>
+    /// <returns></returns>
+    /// <exception cref="System.Exception"></exception>
+    public Vector3 PositionByDevice(string device)
+    {
+        if (string.IsNullOrEmpty(device))
+        {
+            throw new System.Exception("解析设备坐标异常，设备号未传递");
+        }
+        //带横杠就是库位
+
+        if(device.Contains("-"))
+        {
+            if(storageManage == null)
+            {
+                storageManage = ApplicationBoot.Instance.GetBean<LocationStorageManage>();
+            }
+            GameObject storage = storageManage.storages.Find(v => v.name == device);
+            if (storage != null)
+            {
+                return storage.transform.position;
+            }
+            throw new System.Exception("解析设备坐标异常，场景不存在该设备 ："+device);
+        }
+
+        List<IDevice> list =  ApplicationBoot.Instance.GetBeans<IDevice>();
+        IDevice currentDevice = list.Find(v => v.DeviceCode == device);
+        if (currentDevice != null)
+        {
+            return currentDevice.Transform.position;
+        }
+
+        throw new System.Exception("解析设备坐标异常");
+    }
+    /// <summary>
+    /// 根据设备名在场景搜索
+    /// </summary>
+    /// <param name="device"></param>
+    /// <returns></returns>
+    public GameObject GameObjectByDevice(string device)
+    {
+        //是库位
+        if(device.Contains("-"))
+        {
+            GameObject obj = storageManage.storages.Find(v => string.Equals(device, v.name));
+            if (obj != null)
+            {
+                return obj;
+            }
+        }
+        else
+        {
+            ConveyorDevice conveyor = ApplicationBoot.Instance.GetBean<ConveyorDevice>(device);
+            return conveyor.Position;
+        }
+        throw new Exception(string.Format("未在找到设备【{0}】", device));
+    }
+}

Assets/script/device/DeviceParseService.cs.meta

@@ -0,0 +1,11 @@
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+MonoImporter:
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+  assetBundleVariant: 

Assets/script/device/DeviceStatus.cs

@@ -0,0 +1,17 @@
+
+
+using UnityEngine.Playables;
+
+[System.Serializable]
+public class DeviceStatus 
+{
+    public SerializationVector posistion;
+    public SerializationVector roation;
+    public SerializationVector scale;
+    public string deviceCode;
+    public double animationTime;
+    public double animationSpeed;
+    public PlayState playState;
+    public int modelId;
+
+}

Assets/script/device/DeviceStatus.cs.meta

@@ -0,0 +1,11 @@
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+guid: a3919649d16133d4bb17b64d20280ae0
+MonoImporter:
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Assets/script/device/ICar.cs

@@ -0,0 +1,38 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+/// <summary>
+/// 小车接口
+/// </summary>
+public interface ICar : IDevice
+{
+    /// <summary>
+    /// 所属区域
+    /// </summary>
+    string Region { get;}
+
+    /// <summary>
+    /// 有正在执行的任务
+    /// </summary>
+    bool hasTask { get; }
+    /// <summary>
+    /// 下发任务给小车
+    /// </summary>
+    /// <param name="taskData"></param>
+    void SendTask(AgvTaskData taskData);
+    /// <summary>
+    /// 可用巷道
+    /// </summary>
+    List<string> AllowRows { get; }
+    /// <summary>
+    /// 已初始化
+    /// </summary>
+    bool Initialize {  get; }
+    /// <summary>
+    /// 初始化触发
+    /// </summary>
+    void OnInit();
+
+    float Speed { get; set; }
+}

Assets/script/device/ICar.cs.meta

@@ -0,0 +1,11 @@
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Assets/script/device/IDevice.cs

@@ -0,0 +1,46 @@
+
+using UnityEngine;
+/// <summary>
+/// 设备基本属性
+/// </summary>
+public interface IDevice
+{
+    /// <summary>
+    /// 位置信息
+    /// </summary>
+    Transform Transform { get; }
+    /// <summary>
+    /// 当前设备数据
+    /// </summary>
+    DeviceData DeviceData { get; }
+    /// <summary>
+    /// 实时交互数据
+    /// </summary>
+    /// <typeparam name="T"></typeparam>
+    /// <returns></returns>
+    T DynamicData<T>();
+
+    /// <summary>
+    /// 设备代码
+    /// </summary>
+    string DeviceCode{ get; }
+
+
+    /// <summary>
+    /// 设备类型
+    /// </summary>
+    string DeviceType { get; }
+
+    delegate void DataChangeEvent(object data,object other);
+
+    delegate void ErrorMessageEvent(object data);
+    /// <summary>
+    /// 数据变化监听
+    /// </summary>
+    event DataChangeEvent DataChange;
+    /// <summary>
+    /// 异常信息监听
+    /// </summary>
+    event DataChangeEvent ErrorMessage;
+
+}

Assets/script/device/IDevice.cs.meta

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Assets/script/device/agv.meta

@@ -0,0 +1,8 @@
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+  userData: 
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Assets/script/device/agv/AgvCarManage.cs

@@ -0,0 +1,200 @@
+using BestHTTP;
+using EasyInject.Attributes;
+using Newtonsoft.Json;
+using Newtonsoft.Json.Linq;
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+/// <summary>
+/// AGV 小车管理
+/// </summary>
+[GameObjectBean]
+public class AgvCarManage : MonoBehaviour,IApplcationShutdown
+{
+    /// <summary>
+    /// agv小车来源
+    /// </summary>
+    private List<ICar> source;
+    /// <summary>
+    /// agv任务列表
+    /// </summary>
+    [SerializeField]
+    private List<AgvTaskData> tasks;
+    [Autowired]
+    NetWorkComponent netWorkComponent;
+
+    private Coroutine coroutine;
+    [SerializeField]
+    private bool initialize;
+
+    public enum CarTaskStatusEnum
+    {
+        //待机
+        STANDBY = 0,
+        //取货中
+        TAKING = 1,
+        //申请取货
+        APPLY_TAKE = 2,
+        //取货完成
+        TAKE_FINISHED = 3,
+        //放货中
+        PUTTING = 4,
+        //申请放货
+        APPLY_PUT = 5,
+        //放货完成
+        PUT_FINISHED = 6,
+        //任务异常完成
+        ERORR_FINNSHED = 7,
+        //异常
+        EXCEPTION = 8,
+        //作废
+        DERRECATE = 9,
+        SENT = 10,
+    }
+
+    private void Start()
+    {
+        coroutine = StartCoroutine(LoadAgvTask());
+        source = ApplicationBoot.Instance.GetBeans<ICar>();
+    }
+
+    private void OnInit()
+    {
+        foreach (ICar car in source)
+        {
+            car?.OnInit();
+        }
+      
+        initialize = true;
+    }
+    private void FixedUpdate()
+    {
+        if (!initialize)
+        {
+            return;
+        }
+        //排序
+        //tasks.Sort((a, b) =>
+        //{
+        //    if(a.fromLocation.Contains("-") && b.fromLocation.Contains("-"))
+        //    {
+        //        string[] aStr = a.fromLocation.Split("-");
+        //        string[] bStr = b.fromLocation.Split("-");
+
+        //        if (int.Parse(aStr[0]) > int.Parse(bStr[0]))
+        //        {
+        //            return 1;
+        //        }
+        //        if (int.Parse(aStr[1]) > int.Parse(bStr[1]))
+        //        {
+        //            return 1;
+        //        }
+        //        return -1;
+        //    }
+        //    return 0;
+        //});
+        //分配小车去消费任务
+       
+        foreach (AgvTaskData data in tasks)
+        {
+            ICar car =  source.Find(v => (v.AllowRows.Contains(data.fromDevice)) && !v.hasTask && v.Initialize);
+            if (car != null)
+            {
+                //下发任务给小车
+                car.SendTask(data);
+            }
+        }
+
+    }
+
+    /// <summary>
+    /// 每秒加载后台AGV任务列表
+    /// </summary>
+    /// <returns></returns>
+    public IEnumerator LoadAgvTask()
+    {
+        while (true)
+        {
+          
+            yield return new  WaitForSecondsRealtime(1f);
+         
+            netWorkComponent.RemoteGetAgvTaskListData(OnTaskList);
+        }
+    }
+
+
+    /// <summary>
+    /// 接受响应数据
+    /// </summary>
+    /// <param name="originalRequest"></param>
+    /// <param name="response"></param>
+    private void OnTaskList(HTTPRequest originalRequest, HTTPResponse response)
+    {
+      
+        if(response == null)
+        {
+            return;
+        }
+        if (response.IsSuccess)
+        {
+            JObject resultData =  JObject.Parse(response.DataAsText);
+            string json =  resultData["object"].ToString();
+            if (!string.IsNullOrEmpty(json))
+            {
+                List<AgvTaskData> agvTasks =  JsonConvert.DeserializeObject<List<AgvTaskData>>(json);
+                agvTasks.Sort((a, b) =>
+                {
+                    if (a.fromLocation.Contains("-") && b.fromLocation.Contains("-"))
+                    {
+                        string[] aStr = a.fromLocation.Split("-");
+                        string[] bStr = b.fromLocation.Split("-");
+
+                        if (int.Parse(aStr[0]) > int.Parse(bStr[0]))
+                        {
+                            return 1;
+                        }
+                        if (int.Parse(aStr[1]) > int.Parse(bStr[1]))
+                        {
+                            return 1;
+                        }
+                        return -1;
+                    }
+                    return 0;
+                });
+                tasks = agvTasks;
+                if (!initialize)
+                {
+                    OnInit();
+                }
+               
+            }
+        }
+    }
+    /// <summary>
+    /// 存在当前任务
+    /// </summary>
+    /// <param name="task"></param>
+    /// <returns></returns>
+    public bool Contains(AgvTaskData task)
+    {
+        return tasks.Find(v => task.instructionCode == v.instructionCode && task.instructionId == v.instructionId) != null;
+    }
+    /// <summary>
+    /// 根据指令号获取任务
+    /// </summary>
+    /// <param name="instructionCode"></param>
+    /// <returns></returns>
+    public AgvTaskData GetTaskByCode(long instructionCode)
+    {
+        return tasks.Find(v => instructionCode == v.instructionCode);
+    }
+
+    public void Shutdown()
+    {
+        Debug.Log("释放AGV任务协程");
+        StopCoroutine(coroutine);
+    }
+
+
+   
+}

Assets/script/device/agv/AgvCarManage.cs.meta

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Assets/script/device/agv/AgvForkSignal.signal

@@ -0,0 +1,14 @@
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+%TAG !u! tag:unity3d.com,2011:
+--- !u!114 &11400000
+MonoBehaviour:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
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+  m_Script: {fileID: 11500000, guid: d6fa2d92fc1b3f34da284357edf89c3b, type: 3}
+  m_Name: AgvForkSignal
+  m_EditorClassIdentifier: 

Assets/script/device/agv/AgvForkSignal.signal.meta

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Assets/script/device/agv/ForkAgvDevice.cs

@@ -0,0 +1,904 @@
+using AssetBundleBrowser.AssetBundleModel;
+using BestHTTP;
+using EasyInject.Attributes;
+using Newtonsoft.Json;
+using Newtonsoft.Json.Linq;
+using System;
+using System.Collections.Generic;
+using Unity.VisualScripting;
+using UnityEngine;
+using UnityEngine.AI;
+using UnityEngine.Playables;
+using static UnityEditor.FilePathAttribute;
+using UnityEngine.UIElements;
+/// <summary>
+/// 叉车AGV
+/// </summary>
+[GameObjectBean(ENameType.GameObjectName)]
+public class ForkAgvDevice : AbstractDevice, ICar
+{
+    [Autowired]
+    private AgvPopUI agvPopUI;
+    /// <summary>
+    /// 设备位置解析服务
+    /// </summary>
+    [Autowired("DeviceParseService")]
+    private readonly DeviceParseService deviceParseService;
+    /// <summary>
+    /// 提供网络服务
+    /// </summary>
+    [Autowired]
+    private readonly NetWorkComponent netWorkComponent;
+    /// <summary>
+    /// 车辆管理服务
+    /// </summary>
+    [Autowired]
+    private readonly AgvCarManage carManage;
+
+    [Autowired]
+    private ContainersManage containersManage;
+    /// <summary>
+    /// 路线高亮服务
+    /// </summary>
+    private LineRenderer lineRenderer;
+
+    [SerializeField]
+    private bool initialize = false;
+
+    [SerializeField]
+    private float _speed;
+    [Header("货叉")]
+    [SerializeField]
+    private GameObject forkCargo;
+    [Header("申请取货位置")]
+    [SerializeField]
+    private List<GameObject> applyTakePosition = new();
+    [Header("申请放货位置")]
+    [SerializeField]
+    private List<GameObject> applyPutPosition = new();
+    [Header("目标是设备角度设置")]
+    [SerializeField]
+    private List<ForkAgvRotationSet> forkAgvRotationSets = new();
+    [Header("目标是库位角度设置")]
+    [SerializeField]
+    public float shelfRotation = -90;
+    public string CarName => name;
+    [Header("可用巷道")]
+    public List<string> _allowRows = new List<string>();
+    [SerializeField]
+    private bool _hasTask;
+    [SerializeField]
+    private string _region;
+    [Header("路线颜色")]
+    [SerializeField]
+    private Color pathColor;
+
+    /// <summary>
+    /// 代理组件
+    /// </summary>
+    private NavMeshAgent agent;
+
+    /// <summary>
+    /// 时间轴组件
+    /// </summary>
+    private  PlayableDirector playable;
+
+    /// <summary>
+    /// 当前agv任务
+    /// </summary>
+    [SerializeField]
+    private AgvTaskData taskData;
+
+    /// <summary>
+    /// 当前反馈状态
+    /// </summary>
+    [SerializeField]
+    private AgvCarManage.CarTaskStatusEnum currentFeedBackStatus;
+
+    private List<string> paths = new List<string>();
+
+    public bool hasTask => _hasTask;
+
+    public string Region => _region;
+
+    public List<string> AllowRows => _allowRows;
+
+    public override Transform Transform => transform;
+
+    public override string DeviceCode => name;
+
+    public override string DeviceType => "AGV";
+
+    public bool Initialize => initialize;
+ 
+    public bool HasGood{ get{ return forkCargo.GetComponentInChildren<Container>() != null;} }
+
+    float ICar.Speed { get => _speed; set { agent.speed = value; _speed = value; } }
+
+    public override DeviceData DeviceData => throw new NotImplementedException();
+
+    private AgvData _data = new();
+    private bool isOpenPop;
+    [Header("模拟反馈")]
+    [SerializeField]
+    private bool debugFeedBack;
+    //保存当前动画状态
+    public double animationTime;
+    public double animationSpeed;
+    public PlayState playState;
+    public Boolean agentIsStoping;
+    public Boolean agentRotationUpdate;
+    public Vector3 agentTarget;
+
+    [System.Serializable]
+    public class ForkAgvRotationSet
+    {
+        //设备
+        public List<GameObject> device;
+        //非库位取或放，agv保持的角度
+        public float deviceRotation;
+    }
+
+    private void Start()
+    {
+        agent = GetComponent<NavMeshAgent>();
+        agent.speed = _speed;
+        playable = GetComponent<PlayableDirector>();
+        playable.Pause();
+        lineRenderer = transform.GetOrAddComponent<LineRenderer>();
+
+        lineRenderer.positionCount = 0;
+        lineRenderer.startColor = pathColor;
+        lineRenderer.endColor = pathColor;
+        _data.deviecCode = name;
+    }
+
+
+    private void FixedUpdate()
+    {
+        //设备没初始化
+        if (!initialize)
+        {
+            return;
+        }
+
+        if (!hasTask)
+        {
+            return;
+        }
+        UpdateTask();
+        //当任务状态是下发状态是，执行
+        if (taskData.agvTaskStatus == AgvCarManage.CarTaskStatusEnum.SENT)
+        {
+            if (currentFeedBackStatus != AgvCarManage.CarTaskStatusEnum.TAKING)
+            {
+                currentFeedBackStatus = AgvCarManage.CarTaskStatusEnum.TAKING;
+            }
+            //多次申请
+            FeedBackTaskStatus(currentFeedBackStatus);
+        }
+        //取货中
+        if (taskData.agvTaskStatus == AgvCarManage.CarTaskStatusEnum.TAKING)
+        {
+            agent.isStopped = false;
+            //开始代理
+            StartAgent(taskData.fromLocation);
+           // 起点旋转位置
+            if (applyTakePosition.Count > 0)
+            {
+               Vector3 applyTakeVector =  LastPosition(applyTakePosition,taskData.fromLocation);
+                //抵达后，申请取货流程
+                Vector3 targetPosition = new Vector3(applyTakeVector.x, transform.position.y, applyTakeVector.z);
+                if (Vector3.Distance(transform.position, targetPosition) <= 0.1f)
+                {
+                    agent.isStopped = true;
+                    agent.updateRotation = false;
+                    currentFeedBackStatus = AgvCarManage.CarTaskStatusEnum.APPLY_TAKE;
+                    FeedBackTaskStatus(currentFeedBackStatus);
+                }
+            }
+        }
+        //申请取货
+        if (taskData.agvTaskStatus == AgvCarManage.CarTaskStatusEnum.APPLY_TAKE)
+        {
+            //抵达终点
+            if (Vector3.Distance(transform.position, agent.destination) <= 0.1f)
+            {
+                //获取库位容器模型，绑定到货叉上
+                GameObject game = deviceParseService.GameObjectByDevice(taskData.fromLocation);
+                if (game != null)
+                {
+                    Container container = game.GetComponentInChildren<Container>();
+                    if (container != null)
+                    {
+                        container.transform.parent = forkCargo.transform;
+                        playable.Play();
+                    }
+                }
+                //反馈取货完成
+                currentFeedBackStatus = AgvCarManage.CarTaskStatusEnum.TAKE_FINISHED;
+                FeedBackTaskStatus(currentFeedBackStatus);
+            }
+            Quaternion targetRotation = RotationByDevice(taskData.fromDevice);
+            if (transform.localRotation == targetRotation)
+            {
+                //校验起点是设备，需要提升货叉到高位
+                if (!IsShelf(taskData.fromLocation))
+                {
+                    if(playable.time <= 1.3)
+                    {
+                        playable.Play();
+                    }
+                    else
+                    {
+                        playable.Pause();
+                    } 
+                }
+                if(playable.state == PlayState.Paused)
+                {
+                    agent.isStopped = false;
+                }
+            }
+            else
+            {
+                transform.localRotation = Quaternion.RotateTowards(transform.localRotation, targetRotation, _speed * 2);
+            }
+        }
+
+
+        //取货完成
+        if (taskData.agvTaskStatus == AgvCarManage.CarTaskStatusEnum.TAKE_FINISHED)
+        {
+            if (HasGood)
+            {
+                //是库位取货方式
+                if (IsShelf(taskData.fromDevice))
+                {
+                    if (playable.time >= 0.4)
+                    {
+                        OnMinFPS();
+                    }
+                    if (playable.state == PlayState.Paused)
+                    {
+                        agent.updateRotation = true;
+                        currentFeedBackStatus = AgvCarManage.CarTaskStatusEnum.PUTTING;
+                        FeedBackTaskStatus(currentFeedBackStatus);
+                    }
+                }
+                else
+                {
+                    //接驳点取货方式
+                    //需要回退到指定位置做货叉下降动作
+                    Vector3 target = LastPosition(applyTakePosition, taskData.fromDevice);
+                    agent.isStopped = false;
+                    //开始代理
+                    StartAgent(target);
+                    Vector3 targetPosition = new Vector3(target.x, transform.position.y, target.z);
+                    //到位后，开始下降货叉
+                    if (Vector3.Distance(transform.position, targetPosition) <= 0.1f)
+                    {
+                        if (playable.time >= 0.4)
+                        {
+                            playable.playableGraph.GetRootPlayable(0).SetSpeed(-1);
+                            playable.Play();
+                        }
+                        else
+                        {
+                            playable.Pause();
+                            agent.updateRotation = true;
+                            currentFeedBackStatus = AgvCarManage.CarTaskStatusEnum.PUTTING;
+                            FeedBackTaskStatus(currentFeedBackStatus);
+                        }
+                    }
+                    else
+                    {
+                        //货叉升到满叉才执行后续动作
+                        if (playable.time < 1.99)
+                        {
+                            playable.Play();
+                        }
+                    }
+
+                }
+
+            }
+            else
+            {
+                GameObject game = deviceParseService.GameObjectByDevice(taskData.fromLocation);
+                if (game != null)
+                {
+                    Container container = game.GetComponentInChildren<Container>();
+                    
+                    if (container != null)
+                    {
+                        container.Agent.enabled = false;
+                        container.transform.parent = forkCargo.transform;
+                        playable.Play();
+                    }
+                }
+            }
+            return;
+        }
+         //放货中
+        if (taskData.agvTaskStatus == AgvCarManage.CarTaskStatusEnum.PUTTING)
+        {
+            //未代理开始代理
+            StartAgent(taskData.toLocation);
+
+            // 起点旋转位置
+            if (applyPutPosition.Count > 0)
+            {
+                Vector3 applyPutVector = LastPosition(applyPutPosition, taskData.toLocation);
+                //抵达后，申请取货流程
+                Vector3 targetPosition = new Vector3(applyPutVector.x, transform.position.y, applyPutVector.z);
+                if (Vector3.Distance(transform.position, targetPosition) <= 0.1f)
+                {
+                    agent.isStopped = true;
+                    agent.updateRotation = false;
+                    currentFeedBackStatus = AgvCarManage.CarTaskStatusEnum.APPLY_PUT;
+                    FeedBackTaskStatus(currentFeedBackStatus);
+                }
+
+            }
+
+        }
+        //申请放货
+        if (taskData.agvTaskStatus == AgvCarManage.CarTaskStatusEnum.APPLY_PUT && currentFeedBackStatus == AgvCarManage.CarTaskStatusEnum.APPLY_PUT)
+        {
+            //抵达终点
+            if (Vector3.Distance(transform.position, agent.destination) <= 0.1f)
+            {
+                currentFeedBackStatus = AgvCarManage.CarTaskStatusEnum.PUT_FINISHED;
+
+            }
+            Quaternion targetRotation = RotationByDevice(taskData.toDevice);
+            if (transform.localRotation == targetRotation)
+            {
+                //启用代理
+                agent.isStopped = false;
+                //如果是设备将货叉提升完
+                if(!IsShelf(taskData.toLocation))
+                {
+                    playable.Play();
+                }
+            }
+            else
+            {
+                transform.localRotation = Quaternion.RotateTowards(transform.localRotation, targetRotation, _speed * 2);
+            }
+        }
+
+        if (currentFeedBackStatus == AgvCarManage.CarTaskStatusEnum.PUT_FINISHED)
+        {
+            if (HasGood)
+            {
+                //校验是库位还是设备
+               
+                if(IsShelf(taskData.toLocation))
+                {
+                    Debug.LogWarning("放货持续");
+                    if (playable.time > 0)
+                    {
+                        playable.playableGraph.GetRootPlayable(0).SetSpeed(-1);
+                        playable.Play();
+                    }
+                    else
+                    {
+                        //暂停播放
+                        //playable.Pause();
+                        ////解绑容器
+                        //Container container = forkCargo.transform.GetComponentInChildren<Container>();
+                        //container.transform.parent = null;
+                        OnMaxFPS();
+                    }
+                }
+                else
+                {
+                    if (playable.time > 1.5f)
+                    {
+                        playable.playableGraph.GetRootPlayable(0).SetSpeed(-1);
+                        playable.Play();
+                    }
+                    else
+                    {
+                        OnMaxFPS();
+                    }
+                }
+               
+            }
+            else
+            {
+                if(!IsShelf(taskData.toLocation))
+                {
+                    //当后退完成后最终下降完货叉，并重置agv状态
+                    Vector3 position = LastPosition(applyPutPosition, taskData.toLocation);
+                    Vector3 targetPosition = new Vector3(position.x, transform.position.y, position.z);
+
+                    if (Vector3.Distance(transform.position, targetPosition) <= 0.1f)
+                    {
+                        if(playable.time > 0)
+                        {
+                            playable.Play();
+                        }
+                        else
+                        {
+                            playable.Pause();
+                            FeedBackTaskStatus(currentFeedBackStatus);
+                            Rest();
+                        }
+                    }
+                }
+                else
+                {
+                    Vector3 position = LastPosition(applyPutPosition, taskData.toLocation);
+                    Vector3 targetPosition = new Vector3(position.x, transform.position.y, position.z);
+                    if (Vector3.Distance(transform.position, targetPosition) <= 0.1f)
+                    {
+                        GameObject game = deviceParseService.GameObjectByDevice(taskData.toLocation);
+                        Container container = containersManage.GetContainerByCode(taskData.containerCode);
+                        container.transform.parent = game.transform;
+                        container.transform.localPosition = new Vector3(0, -0.2472343f, 0.0006999969f);
+                        container.Agent.enabled = true;
+                        FeedBackTaskStatus(currentFeedBackStatus);
+                        Rest();
+                    }
+                }  
+            }
+        }
+    }
+    /// <summary>
+    /// 重置设备状态
+    /// </summary>
+   public void Rest()
+    {
+        taskData = new AgvTaskData();
+        _hasTask = false;
+        paths.Clear();
+        currentFeedBackStatus =AgvCarManage.CarTaskStatusEnum.STANDBY;
+        agent.ResetPath();
+        agent.isStopped = false;
+        agent.updateRotation = true;
+        playable.playableGraph.GetRootPlayable(0).SetSpeed(1);
+        playable.time = 0;
+        playable.Pause();
+    }
+
+    /// <summary>
+    /// 反馈任务状态
+    /// </summary>
+    public void FeedBackTaskStatus(AgvCarManage.CarTaskStatusEnum status,string feedBacklocation = "")
+    {
+        if(debugFeedBack)
+        {
+            taskData.agvTaskStatus = status;
+        }
+        FeedBackEntity feedBackDTO = new FeedBackEntity();
+        feedBackDTO.feedbackStatus = status.ToString();
+        feedBackDTO.feedbackLocation = feedBacklocation;
+        feedBackDTO.taskCode = taskData.instructionCode;
+        feedBackDTO.carId = taskData.carId;
+        netWorkComponent.RemoteFeedBackAgvTaskStatus(feedBackDTO, OnFeedBack);
+    }
+    /// <summary>
+    /// 接受反馈回调信息
+    /// </summary>
+    private void OnFeedBack(HTTPRequest originalRequest, HTTPResponse response)
+    {
+        if(response == null)
+        {
+            return;
+        }
+        //请求成功
+        if (response.IsSuccess)
+        {
+            try
+            {
+                //解析反馈
+                JObject result = JObject.Parse(response.DataAsText);
+                bool isSuccesss = bool.Parse(result["success"].ToString());
+                //后台处理反馈成功
+                if (isSuccesss)
+                {
+                    //更新当前任务状态,懒更新
+                    // taskData.agvTaskStatus = currentFeedBackStatus;
+                    //agent.isStopped = true;
+                }
+                else
+                {
+                    Debug.LogError(name + " 反馈 =" + response.DataAsText);
+                }
+            }
+            catch(Exception ex)
+            {
+
+            }
+            
+          
+      
+        }
+    }
+    private void Reset()
+    {
+        taskData = null;
+        _hasTask = false;
+        agent.ResetPath();
+    }
+    public void SendTask(AgvTaskData taskData)
+    {
+        //if (!Initialize)
+        //{
+        //    return;
+        //}
+        this.taskData  = taskData;
+        _hasTask = true;
+    }
+    /// <summary>
+    ///  检查数据并初始化
+    /// </summary>
+    private void CheckValueAndInit(HTTPRequest originalRequest, HTTPResponse response)
+    {
+
+        //响应成功
+        if (response.IsSuccess)
+        {
+            try
+            {
+                JObject result = JObject.Parse(response.DataAsText);
+
+                if (result["object"] == null)
+                {
+                    Debug.LogWarning("检查数据并初始化" + $"{response.DataAsText}");
+                    return;
+                }
+                string json = result["object"].ToString();
+                CarStatusEntity statusEntity = JsonConvert.DeserializeObject<CarStatusEntity>(json);
+                if (statusEntity != null && statusEntity.task != null)
+                {
+                    //任务存在的时候才运行初始位置
+                    if (carManage.Contains(statusEntity.task))
+                    {
+
+                    }
+                    Debug.LogWarning(name + "agv 初始化赋值 =" + JsonConvert.SerializeObject(statusEntity.task));
+                    //agv本体
+                    this.SendTask(statusEntity.task);
+                    this.transform.localPosition = statusEntity.posistion.ToVector();
+                    this.transform.localRotation = statusEntity.roation.ToQuaternion();
+                    this.transform.localScale = statusEntity.scale.ToVector();
+                    this.currentFeedBackStatus = statusEntity.currentFeedBackStatus;
+
+                    //货叉
+                    if (statusEntity.cargoStatus != null)
+                    {
+                        //forkCargo.transform.localPosition = statusEntity.cargoStatus.posistion.ToVector();
+                        //forkCargo.transform.localRotation = statusEntity.cargoStatus.roation.ToQuaternion();
+                        //forkCargo.transform.localScale = statusEntity.cargoStatus.scale.ToVector();
+                        playable.time = statusEntity.cargoStatus.animationTime;
+                        if (statusEntity.cargoStatus.playState == PlayState.Playing)
+                        {
+                            playable.Play();
+                        }
+                        if (statusEntity.cargoStatus.playState == PlayState.Paused)
+                        {
+                            playable.Pause();
+                        }
+                        playable.RebuildGraph();
+                        playable.playableGraph.GetRootPlayable(0).SetSpeed(statusEntity.cargoStatus.animationSpeed);
+                    }
+                    //容器
+                    if (statusEntity.containerStatus != null)
+                    {
+                        Container container = ApplicationBoot.Instance.GetBean<Container>(statusEntity.containerStatus.deviceCode);
+                        container.transform.localPosition = statusEntity.containerStatus.posistion.ToVector();
+                        container.transform.localRotation = statusEntity.containerStatus.roation.ToQuaternion();
+                        container.transform.localScale = statusEntity.containerStatus.scale.ToVector();
+                        container.transform.parent = forkCargo.transform;
+                    }
+                    initialize = true;
+                }
+            }catch(Exception x) { }
+            
+        }
+        else
+        {
+           // Debug.LogWarning(name + ":获取缓存数据响应=" + response.DataAsText);
+           // Debug.LogWarning(string.Format("【url:{0}】", originalRequest.CurrentUri));
+
+        }
+        initialize = true;
+    }
+
+    private void OnDestroy()
+    {
+        Shutdown();
+    }
+    public void Shutdown()
+    {
+        //当前agv的设备信息
+        CarStatusEntity carStatus = new();
+        carStatus.scale = Utils.ToSerializationVectorByVector(transform.localScale);
+        carStatus.posistion = Utils.ToSerializationVectorByVector(transform.localPosition);
+        carStatus.roation = Utils.ToSerializationVectorByVector(transform.localRotation.eulerAngles);
+        carStatus.deviceCode = DeviceCode;
+        carStatus.modelId = GetInstanceID();
+        carStatus.currentFeedBackStatus = currentFeedBackStatus;
+        carStatus.agentIsStoping = this.agentIsStoping;
+        carStatus.agentRotationUpdate = this.agentRotationUpdate;
+        carStatus.target = Utils.ToSerializationVectorByVector(this.agentTarget);
+        //货叉设备信息
+        CarStatusEntity cargo = new()
+        {
+            scale = Utils.ToSerializationVectorByVector(forkCargo.transform.localScale),
+            posistion = Utils.ToSerializationVectorByVector(forkCargo.transform.localPosition),
+            roation = Utils.ToSerializationVectorByVector(forkCargo.transform.localRotation.eulerAngles),
+            modelId = forkCargo.GetInstanceID(),
+            deviceCode = forkCargo.name,
+            animationTime = animationTime,
+            animationSpeed = animationSpeed,
+            playState = this.playState
+        };
+        //有货
+        if (HasGood)
+        {
+            CarStatusEntity containerStatus = new();
+            Container container = forkCargo.GetComponentInChildren<Container>();
+            containerStatus.scale = Utils.ToSerializationVectorByVector(container.transform.localScale);
+            containerStatus.posistion = Utils.ToSerializationVectorByVector(container.transform.localPosition);
+            containerStatus.roation = Utils.ToSerializationVectorByVector(container.transform.localRotation.eulerAngles);
+
+            carStatus.containerStatus = containerStatus;
+        }
+        carStatus.cargoStatus = cargo;
+        if(taskData != null && taskData.instructionId != 0)
+        {
+            carStatus.task = taskData;
+        }
+     
+        //保存当前设备数据
+        netWorkComponent.RemoteSaveData(name, carStatus, SaveResult);
+    }
+
+    private void SaveResult(HTTPRequest originalRequest, HTTPResponse response)
+    {
+        if (response == null)
+        {
+            return;
+        }
+     
+        if (response.IsSuccess)
+        {
+            Debug.Log("保存返回= " + response.DataAsText);
+        }
+        else
+        {
+            Debug.Log("保存返回= " + response.DataAsText);
+        }
+    }
+    /// <summary>
+    /// 开始代理
+    /// </summary>
+    /// <param name="deviceName"></param>
+    public void StartAgent(string deviceName)
+    {
+        //未代理开始代理
+        if (!paths.Contains(deviceName))
+        {
+            Vector3 targetPosistion = deviceParseService.PositionByDevice(deviceName);
+            agent.SetDestination(targetPosistion);
+            lineRenderer.positionCount = 0;
+            lineRenderer.SetPositions(agent.path.corners);
+            paths.Add(taskData.fromLocation);
+        }
+    }
+    /// <summary>
+    /// 开始代理
+    /// </summary>
+    /// <param name="deviceName"></param>
+    public void StartAgent(Vector3 target)
+    {
+        agent.SetDestination(target);
+    }
+
+    /// <summary>
+    /// 取货完成
+    /// </summary>
+    public void OnTakeFinish()
+    {
+        currentFeedBackStatus = AgvCarManage.CarTaskStatusEnum.TAKE_FINISHED;
+        
+    }
+    public void MouseLeftDown()
+    {
+        CameraFollow cameraFollow = transform.GetComponent<CameraFollow>();
+        if (cameraFollow)
+        { 
+            cameraFollow.OnEnter();
+        }
+      
+    }
+    /// <summary>
+    /// 更新任务
+    /// </summary>
+    public void UpdateTask()
+    {
+      
+        _data.feedBack = currentFeedBackStatus.ToString();
+        if(taskData != null)
+        {
+            AgvTaskData task = carManage.GetTaskByCode(taskData.instructionCode);
+            try
+            {
+                animationSpeed = playable.playableGraph.GetRootPlayable(0).GetSpeed();
+
+
+            }
+            catch (Exception e)
+            {
+
+            }
+            animationTime = playable.time;
+            playState = playable.state;
+            agentIsStoping = agent.isStopped;
+            agentRotationUpdate = agent.updateRotation;
+            agentTarget = agent.destination;
+            if (task != null)
+            {
+                taskData = task;
+                _data.container = taskData.containerCode;
+                _data.startDevice = taskData.fromLocation;
+                _data.endDevice = taskData.toLocation;
+                _data.currentAction = taskData.agvTaskStatus.ToString();
+            }
+            else
+            {
+                Rest();
+            }
+        }
+        
+    }
+    public void OnInit()
+    {
+        //获取远程缓存
+        netWorkComponent.RemoteGetDataByLable(name, CheckValueAndInit);
+    }
+
+    /// <summary>
+    /// 任务状态反馈实体
+    /// </summary>
+    private class FeedBackEntity
+    {
+        public string systemCode = "DT";
+        public string houseCode = "DT";
+        public long taskCode;
+        public string carId;
+        public string taskType;
+        public string feedbackStatus;
+        public string feedbackLocation;
+    }
+    /// <summary>
+    /// 车辆状态实体
+    /// </summary>
+    [System.Serializable]
+    private class CarStatusEntity :  DeviceStatus
+    {
+        public AgvTaskData task;
+        public AgvCarManage.CarTaskStatusEnum currentFeedBackStatus;
+        public Boolean agentIsStoping;
+        public Boolean agentRotationUpdate;
+        public SerializationVector target;
+        public DeviceStatus cargoStatus;
+        public DeviceStatus containerStatus;
+    }
+    /// <summary>
+    /// 解析申请取放货坐标
+    /// </summary>
+    /// <param name="objects"></param>
+    /// <param name="name"></param>
+    /// <returns></returns>
+    /// <exception cref="Exception"></exception>
+    public Vector3 LastPosition(List<GameObject> objects, string name)
+    {
+        //如果的库位
+        if (name.Contains("-"))
+        {
+            string[] str =  name.Split('-');
+            GameObject game = objects.Find(v => string.Equals(v.name, "row_" + str[0]));
+            if (game != null)
+            {
+                return new Vector3(game.transform.position.x, transform.position.y, game.transform.position.z);
+            }
+        }
+        else
+        {
+            //设备
+            GameObject game = objects.Find(v => string.Equals(v.name, "device_" +name));
+            if (game != null)
+            {
+                return new Vector3(game.transform.position.x,transform.position.y,game.transform.position.z);
+            }
+        }
+        throw new Exception(string.Format("【{0}】未配置申请取放货坐标【{1}】",this.name,name));
+    }
+
+
+    private Quaternion RotationByDevice(string name)
+    {
+        if(name.Contains("shelf"))
+        {
+            return Quaternion.Euler(0,shelfRotation , 0);
+        }
+        else
+        {
+            foreach (var itme in forkAgvRotationSets)
+            {
+                GameObject obj = itme.device.Find(v => string.Equals(v.name, name));
+
+                if (obj != null)
+                {
+                    return Quaternion.Euler(0, itme.deviceRotation, 0);
+                }
+            }
+        }
+       throw new Exception(string.Format("未找到该设备【{0}】旋转角度",name));
+    }
+    /// <summary>
+    /// 在动画指定最小帧时触发
+    /// </summary>
+    public void OnMinFPS()
+    {
+        //有货停止播放
+        if (HasGood)
+        {
+            playable.Pause();
+        }
+    }
+    public void OnMaxFPS()
+    {
+
+        if (currentFeedBackStatus == AgvCarManage.CarTaskStatusEnum.PUT_FINISHED)
+        {
+
+            //暂停播放
+            playable.Pause();
+            //解绑容器
+            Container container = forkCargo.transform.GetComponentInChildren<Container>();
+            container.transform.parent = null;
+            container.Agent.enabled = true;
+            //agv得退出一段距离
+            //倒退位置坐标
+            Vector3 applyPutVector = LastPosition(applyPutPosition, taskData.toLocation);
+            //开始代理
+            StartAgent(applyPutVector);
+
+        }
+
+    }
+    /// <summary>
+    /// 校验当前目标是否是库位
+    /// </summary>
+    /// <param name="name"></param>
+    public bool IsShelf(string name)
+    {
+        return name.Contains("-") || name.Contains("shelf");
+    }
+
+    public override void DataHandle(object data, object other = null)
+    {
+       
+    }
+
+    public override void ProcessCompleted()
+    {
+    }
+
+    public override T DynamicData<T>()
+    {
+        return (T)(object) _data;
+    }
+    public override void MouseSingleClick()
+    {
+        base.MouseSingleClick();
+        isOpenPop = !isOpenPop;
+        agvPopUI.Open(this, isOpenPop);
+    }
+}

Assets/script/device/agv/ForkAgvDevice.cs.meta

@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: d6a19140d0547b543a8b8d970239d4fb
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 

Assets/script/device/container.meta

@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 2951555ea357d3048bed9f854d7a8494
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 

Assets/script/device/container/Container.cs

@@ -0,0 +1,103 @@
+using UnityEngine;
+using EasyInject.Attributes;
+using UnityEngine.AI;
+
+
+[GameObjectBean(ENameType.GameObjectName)]
+[AddComponentMenu("WXDC/Container/Container")]
+public class Container : MonoBehaviour, IMouseClick, IFollowHelp
+{
+    [SerializeField]
+    private ContainerEntity _containerData;
+    [Autowired]
+    private CameraManage cameraManage;
+    private NavMeshAgent _agent;
+    [SerializeField]
+    public GameObject target;
+    [SerializeField]
+    public bool debugMode;
+
+    public bool isAwke;
+
+    [SerializeField]
+    private Vector3 _offset = new Vector3(0,0,-3);
+    [SerializeField]
+    private Transform _follow;
+    [SerializeField]
+    private Transform _lookAt;
+    [Autowired]
+    private ContainerPopUI containerPop;
+    private bool isOpenPop;
+
+    /// <summary>
+    /// NavMeshAgent 代理
+    /// </summary>
+    public NavMeshAgent Agent { get => _agent; set => _agent = value; }
+
+    private void Start()
+    {
+        _agent = GetComponent<NavMeshAgent>();
+    }
+
+    /// <summary>
+    /// 容器信息
+    /// </summary>
+    public ContainerEntity ContainerData { get => _containerData; set => _containerData = value; }
+
+    public Transform Follow => _follow ? _follow : transform;
+
+    public Transform FookAt => _lookAt ? _lookAt : transform;
+
+    public Vector3 Offset => _offset;
+    private void FixedUpdate()
+    {
+        if (debugMode)
+        {
+            if (!CheckAgentPosition(target.transform.position))
+            {
+                Agent.SetDestination(target.transform.position);
+            }
+        }
+    }
+
+
+    /// <summary>
+    /// 如果代理终点已经是该位置了返回true
+    /// </summary>
+    /// <returns></returns>
+    public bool CheckAgentPosition(Vector3 target)
+    {
+        Debug.LogWarning(string.Format("容器= 【{0}】 距离【{1}】 ", name, Vector3.Distance(Agent.destination, new Vector3(target.x, Agent.destination.y, target.z))));
+        return Vector3.Distance(Agent.destination, new Vector3(target.x, Agent.destination.y, target.z)) <= 0.12f;
+    }
+    public void ToTarget(Vector3 target)
+    {
+        if(debugMode)
+        {
+            return;
+        }
+        if (!isAwke)
+        {
+            //唤醒
+            Agent.Warp(target);
+            Agent.enabled = true;
+            isAwke = true;
+        }
+        Agent.SetDestination(target);
+    }
+
+    public virtual void MouseSingleClick()
+    {
+        if (Follow && FookAt)
+        {
+            cameraManage.ShotCut(this);
+        }
+        isOpenPop = !isOpenPop;
+        containerPop.Open(_containerData,Follow,isOpenPop);
+
+    }
+    public virtual void MouseDoubleClick()
+    {
+        
+    }
+}

Assets/script/device/container/Container.cs.meta

@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 49c84f211aaa17841b7f94f22df5d7bf
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 

Assets/script/device/container/ContainerEntity.cs

@@ -0,0 +1,60 @@
+[System.Serializable]
+public class ContainerEntity
+{
+    /// <summary>
+    /// 容器编号
+    /// </summary>
+    public string containerCode;
+    /// <summary>
+    /// 容器类型
+    /// </summary>
+    public string containerType;
+    /// <summary>
+    /// 生产批次
+    /// </summary>
+    public string lot;
+    /// <summary>
+    /// 工序编号
+    /// </summary>
+    public string procedureCode;
+    /// <summary>
+    /// 通道策略
+    /// </summary>
+    public string procedureName;
+    /// <summary>
+    /// 通道策略
+    /// </summary>
+    public string channelType;
+    /// <summary>
+    /// 是否是空托
+    /// </summary>
+    public bool isEmpty;
+    /// <summary>
+    /// 是否是工装托盘
+    /// </summary>
+    public bool isTool;
+    /// <summary>
+    /// 布局行数
+    /// </summary>
+    public int layoutRows;
+    /// <summary>
+    /// 布局列数
+    /// </summary>
+    public int layoutColumns;
+    /// <summary>
+    ///通道总数（最大通道号）
+    /// </summary>
+    public int maxChannel;
+    /// <summary>
+    /// 入库时间
+    /// </summary>
+    public string stockInTime;
+    /// <summary>
+    /// 库位号
+    /// </summary>
+    public string location;
+    /// <summary>
+    /// 线边仓编号
+    /// </summary>
+    public string stockCode;  
+}

Assets/script/device/container/ContainerEntity.cs.meta

@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 2e2892a1eb5700a4b9e20785c7e3fa93
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 

Assets/script/device/container/ContainersManage.cs

@@ -0,0 +1,162 @@
+
+using UnityEngine;
+using EasyInject.Attributes;
+using System.Collections.Generic;
+using UnityEngine.AI;
+using Unity.VisualScripting;
+using System;
+
+
+[GameObjectBean]
+[AddComponentMenu("WXDC/Container/ContainerManage")]
+public class ContainersManage : MonoBehaviour, IApplcationShutdown
+{
+    [Autowired]
+    private EventCompent eventCompent;
+
+    [SerializeField]
+    private List<GameObject> _source = new();
+    [SerializeField]
+    private GameObject defualtContainer;
+    [SerializeField]
+    private List<Container> _hideContainers = new();
+    [SerializeField]
+    private float speed;
+
+
+
+    [SerializeField]
+    private float agentHight;
+    [SerializeField]
+    private float agentWidth;
+
+
+    /// <summary>
+    /// 根据模型代码加载
+    /// </summary>
+    public Container CreateContainer(Vector3 position,ContainerEntity entity, LayerMask layerMask)
+    {
+        Container container = CreateContainer(entity);
+        container.transform.parent = null;
+        container.transform.position = position;
+        container.gameObject.layer = layerMask;
+        foreach (Transform child in container.GetComponentsInChildren<Transform>())
+        {
+            child.gameObject.layer = layerMask;
+        }
+        return container;
+    }
+    private Container CreateContainer(ContainerEntity entity)
+    {
+        //容器类型为空
+        if (string.IsNullOrEmpty(entity.containerType))
+        {
+            throw new System.Exception("容器类型 为空");
+        }
+
+
+        if (_hideContainers.Count > 0)
+        {
+            lock (_hideContainers)
+            {
+                Container containerObject = _hideContainers.Find(v => string.Equals(v.ContainerData.containerType, entity.containerType));
+                if (containerObject != null)
+                {
+                    ApplicationBoot.Instance.AddBean(containerObject, entity.containerCode);
+                    containerObject.name = entity.containerCode;
+                    containerObject.ContainerData = entity;
+                    return containerObject;
+                }
+            }
+        }
+        else
+        {
+            GameObject obj = _source.Find(v => string.Equals(entity.containerType, v.name));
+            if (obj != null)
+            {
+                Container container = ApplicationBoot.Instance.CreateGameObjectAsBean<Container>(obj, entity.containerCode);
+                container.name = entity.containerCode;
+                container.ContainerData = entity;
+                container.transform.localPosition = obj.transform.localPosition;
+                container.Agent = container.GetComponent<NavMeshAgent>();
+                container.Agent.updateRotation = false;
+
+                eventCompent.MouseClickEvents += container.MouseSingleClick;
+                eventCompent.MouseDoubleClickEvents += container.MouseDoubleClick;
+                return container;
+            }
+            else
+            {
+                Container container = ApplicationBoot.Instance.CreateGameObjectAsBean<Container>(defualtContainer, entity.containerCode);
+                container.name = entity.containerCode;
+                container.ContainerData = entity;
+                container.transform.localPosition = obj.transform.localPosition;
+                container.Agent = container.GetComponent<NavMeshAgent>();
+                container.Agent.updateRotation = false;
+
+                eventCompent.MouseClickEvents += container.MouseSingleClick;
+                eventCompent.MouseDoubleClickEvents += container.MouseDoubleClick;
+                return container;
+            }
+
+        }
+        throw new System.Exception(string.Format("生成容器类型：【{code}】失败"));
+    }
+    public Container CreateContainer(Vector3 localPosition,Transform parent, ContainerEntity entity,LayerMask layerMask)
+    {
+        Container container = CreateContainer(entity);
+        container.transform.parent = parent;
+        container.transform.localPosition = localPosition;
+        foreach (Transform child in container.GetComponentsInChildren<Transform>())
+        {
+            child.gameObject.layer = layerMask;
+        }
+        return container;
+    }
+    public Container CreateContainer(Transform parent, ContainerEntity entity)
+    {
+        Container container = CreateContainer(entity);
+        container.transform.parent = parent;
+        return container;
+    }
+
+    /// <summary>
+    /// 获取IOC容器中的托盘实例
+    /// </summary>
+    /// <param name="containerCode">容器代码也是bean名称</param>
+    /// <returns></returns>
+    public Container GetContainerByCode(string containerCode)
+    {
+      return ApplicationBoot.Instance.GetBean<Container>(containerCode);
+    }
+    /// <summary>
+    /// 从场景中移除该容器
+    /// </summary>
+    /// <param name="container"></param>
+    public void RemoveContainer(Container container)
+    {
+
+        try
+        {
+            //只从ioc移除
+            ApplicationBoot.Instance.DeleteGameObjBean(container, container.name, false);
+            //隐藏
+            container.gameObject.SetActive(false);
+            container.enabled = false;
+            //添加到隐藏队列
+            _hideContainers.Add(container);
+        }catch (Exception e)
+        {
+
+        }
+
+    }
+
+    // Update is called once per frame
+    public void Shutdown()
+    {
+        _hideContainers.Clear();
+        _source.Clear();
+    }
+
+}

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Assets/script/device/conveyor.meta

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Assets/script/device/conveyor/AbstractConveyorDevice.cs

@@ -0,0 +1,75 @@
+
+using EasyInject.Attributes;
+using Newtonsoft.Json;
+using UnityEngine;
+
+/// <summary>
+/// 抽象的输送线设备
+/// </summary>
+public abstract class AbstractConveyorDevice : AbstractDevice
+{
+    [Autowired]
+    public ConveyorPopUI PopUI;
+    public ConveyorData conveyorData;
+    public GameObject ShadowPosition;
+    public DeviceData deviceData;
+    public override string DeviceType => "CONVEYOR";
+    public override Transform Transform => transform;
+    public override string DeviceCode => this.name;
+
+    public override T DynamicData<T>() => (T)(object)conveyorData;
+
+    private bool isOpenPop;
+
+    public override DeviceData DeviceData => deviceData;    
+    /// <summary>
+    /// 位置坐标
+    /// </summary>
+    public GameObject Position {
+        get{
+            return ShadowPosition ? ShadowPosition : gameObject;
+        }
+    }
+
+    public override void DataHandle(object data, object other = null)
+    {
+        conveyorData = JsonConvert.DeserializeObject<ConveyorData>(JsonConvert.SerializeObject(data));
+        deviceData  = JsonConvert.DeserializeObject<DeviceData>(JsonConvert.SerializeObject(other));
+        base.DataHandle(data, other);
+    }
+
+    /// <summary>
+    ///  容器在输送线上可停靠的坐标
+    /// </summary>
+    public Vector3 ContainerParkingPosition {
+        get {
+            if(ShadowPosition != null)
+            {
+                return ShadowPosition.transform.position;
+            }
+            else
+            {
+                return transform.position;
+            }
+        } 
+    }
+    public Transform ContainerParkingTransform
+    {
+        get
+        {
+            if (ShadowPosition != null)
+            {
+                return ShadowPosition.transform;
+            }
+            else
+            {
+                return transform;
+            }
+        }
+    }
+    public override void MouseSingleClick()
+    {
+        isOpenPop = !isOpenPop;
+        PopUI.Open(this,isOpenPop);
+    }
+}

Assets/script/device/conveyor/AbstractConveyorDevice.cs.meta

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Assets/script/device/conveyor/ConveyorDevice.cs

@@ -0,0 +1,98 @@
+using EasyInject.Attributes;
+using System.ComponentModel;
+using UnityEngine;
+
+
+
+/// <summary>
+/// 标准输送线设备
+/// </summary>
+[GameObjectBean(ENameType.GameObjectName)]
+public class ConveyorDevice : AbstractConveyorDevice
+{
+    [Autowired]
+     private readonly ContainersManage containerManage;
+    [SerializeField]
+    [Header("是agv交互位置")]
+    private bool isAgvInteraction;
+
+
+    private void LateUpdate()
+    {
+        if (string.IsNullOrEmpty(conveyorData.containerCode))
+        {
+            return;
+        }
+        //存在容器号。同时忽略执行中的，当设备有货有容器号且待机的托盘移动到当前设备
+        if( conveyorData.mode == 3 && conveyorData.move % 2 == 1)
+        {
+            //获取场景中的容器
+            Container container = containerManage.GetContainerByCode(conveyorData.containerCode);
+
+            if (container != null)
+            {
+                //设置图层
+                SetLayer(container);
+                //如果托盘的终点不是当前位置，更改容器目标点坐标
+                if (!container.CheckAgentPosition(ContainerParkingPosition))
+                {
+                    //Debug.LogWarning(string.Format("输送线【{0}】停盘位置 【{1}】",this.name, ContainerParkingPosition));
+                    container.ToTarget(ContainerParkingPosition);
+                }
+            }
+        }
+        //待机有货的时候
+        if (conveyorData.mode == 2 && conveyorData.move % 2 == 1 && !string.IsNullOrEmpty(conveyorData.containerCode))
+        {
+            //获取场景中的容器
+            Container container = containerManage.GetContainerByCode(conveyorData.containerCode);
+
+            
+            if (container == null)
+            {
+               
+
+                //到这一步也就是说这个条码托盘未被加载到场景，这种情况属于初始化才会出现
+                ContainerEntity entity = new();
+                entity.containerCode = conveyorData.containerCode;
+                entity.containerType = conveyorData.containerType;
+                entity.isEmpty = conveyorData.isEmpty;
+                //containerManage.CreateContainer(ContainerParkingPosition, entity);
+            }
+            else
+            {
+                //如果托盘的终点不是当前位置，更改容器目标点坐标
+                if (!container.CheckAgentPosition(ContainerParkingPosition))
+                {
+                    //Debug.LogWarning(string.Format("输送线【{0}】停盘位置 【{1}】", this.name, ContainerParkingPosition));
+                    container.ToTarget(ContainerParkingPosition);
+                }
+               
+            }
+        }
+        
+    }
+    public override void ProcessCompleted()
+    {
+        //流程完成后触发，用来作位置的初始化操作
+        Container container = containerManage.GetContainerByCode(conveyorData.containerCode);
+        if(container == null)
+        {
+            //到这一步也就是说这个条码托盘未被加载到场景，这种情况属于初始化才会出现
+            ContainerEntity entity = new();
+            entity.containerCode = conveyorData.containerCode;
+            entity.containerType = conveyorData.containerType;
+            entity.isEmpty = conveyorData.isEmpty;
+            containerManage.CreateContainer(ContainerParkingPosition, entity,gameObject.layer);
+        }
+
+    }
+    private void SetLayer(Container container)
+    {
+        foreach(var item in container.GetComponentsInChildren<Transform>())
+        {
+            item.gameObject.layer = gameObject.layer;
+        }
+    }
+  
+}

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Assets/script/device/stacker/Stacker.signal

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Assets/script/device/stacker/StackerDevice.cs

@@ -0,0 +1,556 @@
+using EasyInject.Attributes;
+using Newtonsoft.Json;
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using UnityEngine;
+using UnityEngine.Playables;
+using UnityEngine.Timeline;
+
+[GameObjectBean(ENameType.GameObjectName)]
+public class StackerDevice : AbstractDevice
+{
+    [SerializeField]
+    private StackerData stackerData;
+    private DeviceData deviceData;
+    [Header("前叉货叉光电描述")]
+    [SerializeField]
+    private string frontHasGoodsDesc;
+
+
+    [Autowired]
+    private LocationStorageManage storageManage;
+    [Autowired]
+    private ContainersManage containersManage;
+    [Autowired]
+    private StackerPopUI stackerPopUI;
+    [SerializeField]
+    private List<StackerForkActionBinding> forkActionBinding;
+
+
+    /// <summary>
+    /// 深浅伸叉动作映射
+    /// </summary>
+    [Header("深浅伸叉动作映射")]
+    [SerializeField]
+    private ForkActionMap forkActionMap;
+    /// <summary>
+    /// 上一次动作
+    /// </summary>
+    [SerializeField]
+    private StackerForkActionEnum lastforkActionEnum;
+    /// <summary>
+    /// 堆垛机移动的方向
+    /// </summary>
+    [SerializeField]
+    private Direction moveDirection = Direction.X;
+    [SerializeField]
+    private GameObject forkCargo;
+    [SerializeField]
+    private GameObject fork;
+    [SerializeField]
+    private Vector3 forkCargoOffset = Vector3.zero;
+    [Header("行走巷道内载货台高度偏移")]
+    [SerializeField]
+    private float isStorageforkCargoYOffset = 0.8f;
+    [Header("站台列载货台高度偏移")]
+    [SerializeField]
+    private float isDeviceforkCargoYOffset = -0.15f;
+    [SerializeField]
+    private float speed = 0.3f;
+    [SerializeField]
+    private float forkCargoUpOrDownSpeed = 0.3f;
+    
+    [Header("载货台起升下降距离")]
+    [SerializeField]
+    private float LiftingAndLoweringDistance = 0.3f;
+    public override Transform Transform => forkCargo.transform;
+    public override string DeviceType =>  "STACKER";
+    public override string DeviceCode => name;
+
+    public override DeviceData DeviceData => deviceData;
+
+    private bool allowUpOrDown;
+    private float upOrDownSpeed;
+
+    private bool isOpenPop;
+    public enum Direction
+    {
+        Z,X
+    }
+    private PlayableDirector playableDirector;
+    /// <summary>
+    /// 所有动画轨道
+    /// </summary>
+    private List<TrackAsset> trackAssets = new();
+    private void Start()
+    {
+        playableDirector = transform.GetComponent<PlayableDirector>();
+        if(storageManage == null)
+        {
+            storageManage = ApplicationBoot.Instance.GetBean<LocationStorageManage>();
+        }
+
+        playableDirector.Stop();
+        StopActionClip();
+
+        var graph = playableDirector.playableAsset as TimelineAsset;
+        if (graph == null)
+        {
+            throw new Exception(name + "：未找到 TimelineAsset 资源");
+        }
+        trackAssets = new List<TrackAsset>(graph.GetRootTracks().ToArray());
+    }
+
+    private void Update()
+    {
+       
+        //堆垛机本体移动
+        StackerBodyMove();
+        //载货台移动
+        ForkCargoVerticalMove();
+        //伸叉后起升或下降一段距离
+        ForkCargoUpOrDown();
+
+        //货叉动作执行
+        ExtendForkActionHandle();
+    }
+
+    private void ForkCargoUpOrDown()
+    {
+        if (!allowUpOrDown)
+        {
+            return;
+        }
+        forkCargo.transform.Translate(Vector3.up * upOrDownSpeed * forkCargoUpOrDownSpeed * Time.deltaTime);
+    }
+
+    /// <summary>
+    /// 堆垛机主体移动
+    /// </summary>
+    private void StackerBodyMove()
+    {
+        //排列成层 有其一值为0则不处理
+        if(stackerData.frontRow == 0 || stackerData.special1 == 0 || stackerData.frontLayer == 0)
+        {
+            return;
+        }
+        //获取库位坐标
+        string row = stackerData.frontRow.ToString("D2");
+        string column = stackerData.special1.ToString("D2");
+        string layer = stackerData.frontLayer.ToString("D2");
+        //当取货或方法是站台列，直接目的地就是站台列
+        if(stackerData.toColumn >= 200)
+        {
+            column = stackerData.toColumn.ToString();
+            layer = stackerData.toLayer.ToString("D2");
+        }
+       
+        string storageName = string.Format("{0}-{1}-{2}", row, column, layer);
+
+        GameObject storageObject = storageManage.GetStorageByName(storageName);
+        if (storageObject == null)
+        {
+            throw new System.Exception(string.Format("【{1}】没有找到库位【{0}】坐标",storageName,name));
+        }
+        //解析堆垛机可用坐标
+        Vector3 target = Vector3.zero;
+        if (moveDirection == Direction.X)
+        {
+            target = new Vector3(storageObject.transform.position.x + forkCargoOffset.x,transform.position.y,transform.position.z);
+        }
+        if (moveDirection == Direction.Z)
+        {
+            target = new Vector3(transform.position.x, transform.position.y, storageObject.transform.position.z+ forkCargoOffset.z);
+        }
+        if(target == Vector3.zero)
+        {
+            return;
+        }
+        //往目标点移动
+        transform.position = Vector3.MoveTowards(transform.position,target, speed * Time.deltaTime);
+       
+    }
+
+    /// <summary>
+    /// 载货台垂直移动
+    /// </summary>
+    private void ForkCargoVerticalMove()
+    {
+        //货叉动作是静止的才允许提升
+        if(StackerForkActionEnum.ForkRest == stackerData.frontForkAction )
+        {
+            //排列层 有其一值为0则不处理
+            //if (stackerData.frontRow == 0 || stackerData.special1 == 0 || stackerData.frontLayer == 0)
+            //{
+            //    return;
+            //}
+            if (stackerData.toRow == 0 || stackerData.toColumn == 0 || stackerData.toLayer == 0)
+            {
+                return;
+            }
+            Vector3 target = ForkCargoTarget();
+            //往目标点移动
+            forkCargo.transform.position = Vector3.MoveTowards(forkCargo.transform.position, target, speed * Time.deltaTime);
+        }
+       
+    }
+
+    private Vector3 ForkCargoTarget()
+    {
+
+        //获取库位坐标
+        string row = stackerData.toRow.ToString("D2");
+        string column = stackerData.toColumn.ToString("D2");
+        string layer = stackerData.toLayer.ToString("D2");
+
+        //当取货或方法是站台列，直接目的地就是站台列
+        //if (stackerData.toColumn >= 200)
+        //{
+        //    column = stackerData.toColumn.ToString();
+        //    layer = stackerData.toLayer.ToString("D2");
+        //}
+
+        string storageName = string.Format("{0}-{1}-{2}", row, column, layer);
+
+        GameObject storageObject = storageManage.GetStorageByName(storageName);
+        if (storageObject == null)
+        {
+            throw new System.Exception(string.Format("【{1}】没有找到库位【{0}】坐标", storageName, name));
+        }
+        //这里因为取货或者放货要保持抬起跟下降动作，增加额外值
+        float targetY = stackerData.frontForkHasGoods == true ? forkCargoOffset.y : 0;
+        float forkCargoBodyY = int.Parse(column) >= 200 ? isDeviceforkCargoYOffset : isStorageforkCargoYOffset;
+        //解析货叉可用坐标
+        Vector3 target = new Vector3(forkCargo.transform.position.x, storageObject.transform.position.y + forkCargoBodyY + targetY, forkCargo.transform.position.z);
+        return target;
+    }
+    /// <summary>
+    /// 货叉伸叉动作处理
+    /// </summary>
+    private void ExtendForkActionHandle()
+    {
+        //向左伸叉
+        if(stackerData.frontForkAction == StackerForkActionEnum.LeftExtendFork)
+        {
+            if(lastforkActionEnum != StackerForkActionEnum.LeftExtendFork)
+            {
+                //播放动画
+                PlayTrackGroup(GetForkActionName(StackerForkActionEnum.LeftExtendFork));
+                lastforkActionEnum = StackerForkActionEnum.LeftExtendFork;
+            }
+
+        }
+
+        //向右伸叉
+        if (stackerData.frontForkAction == StackerForkActionEnum.RightExtendFork)
+        {
+            if (lastforkActionEnum != StackerForkActionEnum.RightExtendFork)
+            {
+                //播放动画
+                string name = GetForkActionName(StackerForkActionEnum.RightExtendFork);
+                PlayTrackGroup(GetForkActionName(StackerForkActionEnum.RightExtendFork));
+                lastforkActionEnum = StackerForkActionEnum.RightExtendFork;
+               
+            }
+        }
+        //向右缩叉
+        if (stackerData.frontForkAction == StackerForkActionEnum.RightRetractFork)
+        {
+            if (lastforkActionEnum != StackerForkActionEnum.RightRetractFork)
+            {
+                //缩动画播放之前，绑定容器
+                CheckAndBindContainer();
+                //继续播放
+                string name = GetForkActionName(StackerForkActionEnum.RightRetractFork);
+                PlayTrackGroup(name,false);
+                lastforkActionEnum = StackerForkActionEnum.RightRetractFork;
+                allowUpOrDown = true;
+            }
+               
+        }
+
+        //向左缩叉
+        if (stackerData.frontForkAction == StackerForkActionEnum.LeftRetractFork)
+        {
+            if (lastforkActionEnum != StackerForkActionEnum.LeftRetractFork)
+            {
+
+                CheckAndBindContainer();
+                //继续播放
+                PlayTrackGroup(GetForkActionName(StackerForkActionEnum.LeftRetractFork), false);
+                lastforkActionEnum = StackerForkActionEnum.LeftRetractFork;
+                allowUpOrDown = true;
+            }
+    
+        }
+        //清空货叉状态
+        if (stackerData.frontForkAction == StackerForkActionEnum.ForkRest)
+        {
+            if(lastforkActionEnum != StackerForkActionEnum.ForkRest)
+            {
+                lastforkActionEnum = StackerForkActionEnum.ForkRest;
+                //StopActionClip();
+            }
+           
+        }
+
+    }
+    /// <summary>
+    /// 货叉缩叉动作完成处理（缩叉完成后自动触发）
+    /// </summary>
+    public void RetractForkActionFinishHandle()
+    {
+        //清空状态
+        //StopActionClip(); 
+
+        Debug.LogWarning("清理货叉状态");
+    }
+
+    /// <summary>
+    /// 货叉缩叉动作处理（当伸叉到位后会自动触发）
+    /// </summary>
+    public void ForkActionStopHandle(float speed)
+    {
+        //劫持动画，让其暂停
+     
+        upOrDownSpeed = stackerData.frontForkHasGoods ? -speed*2 : speed;
+
+        playableDirector.Pause();
+    }
+    public void ForkActionStartHandle()
+    {
+        //开始动画
+        allowUpOrDown = false;
+        //针对放货
+        if (stackerData.frontForkHasGoods)
+        {
+            ForkBindContainer();
+        }
+    }
+    public void StopActionClip()
+    {
+        playableDirector.time = 0;
+        playableDirector.Stop();
+
+        foreach (var track in trackAssets)
+        {
+            track.muted = true;
+        }
+
+    }
+    /// <summary>
+    /// 绑定容器到货叉
+    /// </summary>
+    private void CheckAndBindContainer()
+    {
+        if (!allowUpOrDown && stackerData.frontForkHasGoods)
+        {
+            return;
+        }
+        ForkBindContainer();
+    }
+    private void ForkBindContainer()
+    {
+       
+        //直接获取容器
+        Container container = containersManage.GetContainerByCode(stackerData.frontContainerCode);
+        Debug.Log(string.Format("容器号 【{0}，场景实例 【{1}】】", stackerData.frontContainerCode, container));
+        if (container != null)
+        {
+            if (stackerData.frontForkHasGoods == true)
+            {
+                //绑定库位
+                string storageName =   string.Format("{0}-{1}-{2}", stackerData.toRow.ToString("D2"), stackerData.toColumn.ToString("D2"), stackerData.toLayer.ToString("D2"));
+                GameObject storage = storageManage.GetStorageByName(storageName);
+                if (storage == null)
+                {
+                    throw new Exception(string.Format("设备【{1}】未找到库位【{0}】",storageName,name));
+                }
+                if(stackerData.toColumn >= 200)
+                {
+                    //暂停代理
+                    container.Agent.isStopped = false;
+                    //启用
+                    container.Agent.enabled = true;
+                }
+                container.transform.parent = storage.transform;
+            }
+            else
+            {
+                //暂停代理
+                container.Agent.isStopped = true;
+                //清空身上代理路径
+                container.Agent.ResetPath();
+                //关闭唤醒状态
+                container.isAwke = false;
+                container.Agent.enabled = false;
+                //绑定到货叉
+                container.transform.parent = fork.transform;
+                Debug.LogWarning(name + "：绑定容器 =" + container);
+            }
+
+        }
+    }
+    private string GetForkActionName(StackerForkActionEnum forkActionEnum)
+    {
+        string row = stackerData.toRow.ToString("D2");
+        //左伸
+        if (StackerForkActionEnum.LeftExtendFork == forkActionEnum || StackerForkActionEnum.RightRetractFork == forkActionEnum)
+        {
+            //左浅
+            if (string.Equals(forkActionMap.leftShaollow, row))
+            {
+                return stackerData.frontForkHasGoods == true ? ForkActionNameConstant.leftPutShaollw : ForkActionNameConstant.leftTakeShaollw;
+            }
+            //左深
+            if (string.Equals(forkActionMap.leftDeeps, row))
+            {
+                return stackerData.frontForkHasGoods == true ? ForkActionNameConstant.leftPutDeep : ForkActionNameConstant.leftTakeDeep;
+            }
+        }
+        //右伸
+        if (StackerForkActionEnum.RightExtendFork == forkActionEnum || StackerForkActionEnum.LeftRetractFork == forkActionEnum)
+        {
+            //右浅
+            if (string.Equals(forkActionMap.rightShaollow, row))
+            {
+                return stackerData.frontForkHasGoods == true ? ForkActionNameConstant.RightPutShaollw : ForkActionNameConstant.RightTakeShaollw;
+            }
+
+            //右深
+            if (string.Equals(forkActionMap.rightDeeps, row))
+            {
+                return stackerData.frontForkHasGoods == true ? ForkActionNameConstant.RightPutDeep : ForkActionNameConstant.RightTakeDeep;
+            }
+        }
+        throw new Exception(name + ":未配置伸叉映射");
+    }
+
+    public override void MouseSingleClick()
+    {
+        base.MouseSingleClick();
+        isOpenPop = !isOpenPop;
+        stackerPopUI.Open(this, isOpenPop);
+    }
+
+    /// <summary>
+    /// 获取要播放动画名称
+    /// </summary>
+    /// <param name="actionEnum"></param>
+    /// <returns></returns>
+    private string GetActionAnimationName(StackerForkActionEnum actionEnum)
+    {
+        return forkActionBinding.Find(v => v.forkActionEnum == actionEnum).actionClipName;
+    }
+    public override void DataHandle(object data, object other = null)
+    {
+     
+        //接收数据
+        stackerData = JsonConvert.DeserializeObject<StackerData>(JsonConvert.SerializeObject(data));
+        frontHasGoodsDesc = stackerData.frontForkHasGoods == true ? "前叉有货" : "无货";
+        deviceData = JsonConvert.DeserializeObject<DeviceData>(JsonConvert.SerializeObject(other));
+    }
+
+    public override void ProcessCompleted()
+    {
+    }
+    [System.Serializable]
+    public class StackerForkActionBinding
+    {
+        public StackerForkActionEnum forkActionEnum;
+        public string actionClipName;
+    }
+    /// <summary>
+    /// 播放分组
+    /// </summary>
+    private void PlayTrackGroup(string groupName, bool isRest = true)
+    {
+        var graph = playableDirector.playableAsset as TimelineAsset;
+        if (graph == null)
+        {
+            throw new Exception(name+"：未找到 TimelineAsset 资源");
+        }
+        if (isRest)
+        {
+            List<TrackAsset> others = new List<TrackAsset>();
+            foreach (var track in trackAssets)
+            {
+                if (string.Equals(track.name, groupName))
+                {
+                    track.muted = false;
+                   
+                    foreach (var clip in track.GetClips())
+                    {
+                     
+                    }
+                }
+                else
+                {
+                    others.Add(track);
+                }
+            }
+            //关闭其他动画
+            others.ForEach(v => v.muted = true);
+            playableDirector.Stop();
+        }
+        playableDirector.Play();
+    }
+
+    public override T DynamicData<T>()
+    {
+        return (T)(object)stackerData;
+    }
+
+    [System.Serializable]
+    public class ForkActionMap
+    {
+        public string leftShaollow;
+        public string leftDeeps;
+        public string rightShaollow;
+        public string rightDeeps;
+    }
+
+    /// <summary>
+    ///  堆垛机动作动画名称常量
+    /// </summary>
+    private class ForkActionNameConstant
+    {
+        /// <summary>
+        /// 左浅取货
+        /// </summary>
+        public static string leftTakeShaollw = "Lef_take_shallow";
+        /// <summary>
+        /// 左深取货
+        /// </summary>
+        public static string leftTakeDeep = "Lef_take_deep";
+        /// <summary>
+        /// 左浅放货
+        /// </summary>
+        public static string leftPutShaollw = "Left_put_shallow";
+        /// <summary>
+        /// 左深放货
+        /// </summary>
+        public static string leftPutDeep = "Left_put_deep";
+
+        /// <summary>
+        /// 右浅取货
+        /// </summary>
+        public static string RightTakeShaollw = "Right_take_shallow";
+        /// <summary>
+        /// 右深取货
+        /// </summary>
+        public static string RightTakeDeep = "Right_take_deep";
+        /// <summary>
+        /// 右浅放货
+        /// </summary>
+        public static string RightPutShaollw = "Right_put_shallow";
+        /// <summary>
+        /// 右深放货
+        /// </summary>
+        public static string RightPutDeep = "Right_put_deep";
+
+        public static string ForkCargoUp = "载货台上升";
+        public static string ForkCargoDown = "载货台下降";
+    }
+}

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Assets/script/device/stacker/StackerForkActionEnum.cs

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+/// <summary>
+/// 堆垛机货叉申叉信号
+/// </summary>
+[System.Serializable]
+public enum StackerForkActionEnum 
+{
+
+    /// <summary>
+    /// 右伸叉
+    /// </summary>
+    RightExtendFork = 1,
+    /// <summary>
+    /// 左缩叉
+    /// </summary>
+    LeftRetractFork = 2,
+
+    /// <summary>
+    /// 左伸叉
+    /// </summary>
+    LeftExtendFork = 3,
+    /// <summary>
+    /// 右缩叉
+    /// </summary>
+    RightRetractFork = 4,
+    /// <summary>
+    /// 静止
+    /// </summary>
+    ForkRest = 0
+
+
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+
+/// <summary>
+/// 堆垛机探货光电
+/// </summary>
+[System.Serializable]
+public enum StackerForkCargoEnum 
+{
+    /// <summary>
+    /// 左浅有货
+    /// </summary>
+    LeftShallow = 0,
+    /// <summary>
+    /// 原位有货
+    /// </summary>
+    ForkCargo = 1,
+    /// <summary>
+    /// 右浅有货
+    /// </summary>
+    RightShallow = 2,
+    /// <summary>
+    /// 左深有货
+    /// </summary>
+    LeftDeep = 4,
+    /// <summary>
+    /// 右深有货
+    /// </summary>
+    RightDeep = 3,
+
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