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初始化代码

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SnowShow 2025-05-07 11:20:40 +08:00
parent 3368cdfb44
commit 31556f9aa3
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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);
}
}
}
}

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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);
}
}
}
}

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

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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();
}

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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; }
}

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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);
}
}
}

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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()
{
}
}

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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

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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;
}
}
}

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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;
}
}
}

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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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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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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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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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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;
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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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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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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; }
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[System.Serializable]
public class KeyValueObject
{
public string label;
public object value;
public KeyValueObject(string label, object value)
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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;
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//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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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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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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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 Normal file
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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));
}
}

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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;
}

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Assets/script/device/ICar.cs Normal file
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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; }
}

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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;
}

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200
Assets/script/device/agv/AgvCarManage.cs Normal file
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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);
}
}

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Assets/script/device/agv/ForkAgvDevice.cs Normal file
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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);
}
}

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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()
{
}
}

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Assets/script/device/container/ContainerEntity.cs Normal file
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[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;
}

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Assets/script/device/container/ContainersManage.cs Normal file
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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/AbstractConveyorDevice.cs Normal file
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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);
}
}

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Assets/script/device/conveyor/ConveyorDevice.cs Normal file
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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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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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/// <summary>
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/// </summary>
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public enum StackerForkActionEnum
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/// <summary>
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/// </summary>
RightExtendFork = 1,
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LeftRetractFork = 2,
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/// <summary>
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/// </summary>
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public enum StackerForkCargoEnum
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/// </summary>
LeftShallow = 0,
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ForkCargo = 1,
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