代码变更
This commit is contained in:
parent
2eb6590e59
commit
e03ed1cc33
@ -31,8 +31,10 @@ public class ShelfNetListenerComponent : MonoBehaviour,IWcsSocketDataHandle
|
||||
private void Start()
|
||||
{
|
||||
_shelfActor = GetComponent<ShelfActor>();
|
||||
_deviceCode = _shelfActor._shelfConfig.deviceCode;
|
||||
_deviceType = _shelfActor._shelfConfig.deviceType;
|
||||
_deviceCode = "DDJ01";
|
||||
// _deviceCode = _shelfActor._shelfConfig.deviceCode;
|
||||
// _deviceType = _shelfActor._shelfConfig.deviceType;
|
||||
_deviceType = "STACKER";
|
||||
}
|
||||
|
||||
public void DataHandle(object data, object other = null)
|
||||
|
||||
@ -16,7 +16,6 @@ public class InitNetWorkProcess : IProcessState
|
||||
[Autowired("WmsStorageWebsocket")]
|
||||
private WmsStorageWebsocket wmsStorageWebsocket;
|
||||
private bool executing = false;
|
||||
[Autowired] AgvTaskListData _agvTaskListData;
|
||||
public string Name { get => "InitNetWorkProcess"; }
|
||||
public int Priority { get => 0; }
|
||||
public bool IsExecuteProcess { get => executing; set => executing = value; }
|
||||
@ -38,8 +37,6 @@ public class InitNetWorkProcess : IProcessState
|
||||
////监听后台数据变化
|
||||
wmsStorageWebsocket.OnMessage(v.DataHandle);
|
||||
});
|
||||
//³õʼ»¯agvÈÎÎñÁбí
|
||||
_agvTaskListData.Init();
|
||||
netWorkComponent?.ConnectAllWebSocket();
|
||||
|
||||
}
|
||||
|
||||
@ -154,301 +154,301 @@ public class ForkAgvDevice : AbstractDevice, ICar
|
||||
}
|
||||
|
||||
|
||||
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 (taskInfo.agvTaskStatus == AgvCarManage.CarTaskStatusEnum.SENT)
|
||||
{
|
||||
if (currentFeedBackStatus != AgvCarManage.CarTaskStatusEnum.TAKING)
|
||||
{
|
||||
currentFeedBackStatus = AgvCarManage.CarTaskStatusEnum.TAKING;
|
||||
}
|
||||
//多次申请
|
||||
FeedBackTaskStatus(currentFeedBackStatus);
|
||||
}
|
||||
//取货中
|
||||
if (taskInfo.agvTaskStatus == AgvCarManage.CarTaskStatusEnum.TAKING)
|
||||
{
|
||||
agent.isStopped = false;
|
||||
//开始代理
|
||||
StartAgent(taskInfo.fromLocation);
|
||||
// 起点旋转位置
|
||||
if (applyTakePosition.Count > 0)
|
||||
{
|
||||
Vector3 applyTakeVector = LastPosition(applyTakePosition,taskInfo.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 (taskInfo.agvTaskStatus == AgvCarManage.CarTaskStatusEnum.APPLY_TAKE)
|
||||
{
|
||||
//抵达终点
|
||||
Vector3 targetPosition = new Vector3(transform.position.x, agent.destination.y, transform.position.z);
|
||||
if (Vector3.Distance(targetPosition, agent.destination) <= 0.1f)
|
||||
{
|
||||
//获取库位容器模型，绑定到货叉上
|
||||
GameObject game = deviceParseService.GameObjectByDevice(taskInfo.fromLocation);
|
||||
if (game != null)
|
||||
{
|
||||
Container container = game.GetComponentInChildren<Container>();
|
||||
if (container != null)
|
||||
{
|
||||
container.transform.parent = forkCargo.transform;
|
||||
container.Agent.enabled = false;
|
||||
container.Agent.isStopped = true;
|
||||
playable.Play();
|
||||
}
|
||||
}
|
||||
//反馈取货完成
|
||||
currentFeedBackStatus = AgvCarManage.CarTaskStatusEnum.TAKE_FINISHED;
|
||||
FeedBackTaskStatus(currentFeedBackStatus);
|
||||
}
|
||||
Quaternion targetRotation = RotationByDevice(taskInfo.fromDevice);
|
||||
if (transform.localRotation == targetRotation)
|
||||
{
|
||||
//校验起点是设备，需要提升货叉到高位
|
||||
if (!IsShelf(taskInfo.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 (taskInfo.agvTaskStatus == AgvCarManage.CarTaskStatusEnum.TAKE_FINISHED)
|
||||
{
|
||||
if (HasGood)
|
||||
{
|
||||
//是库位取货方式
|
||||
if (IsShelf(taskInfo.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, taskInfo.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 >= 0.6)
|
||||
{
|
||||
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(taskInfo.fromLocation);
|
||||
if (game != null)
|
||||
{
|
||||
Container container = game.GetComponentInChildren<Container>();
|
||||
|
||||
if (container != null)
|
||||
{
|
||||
container.isAwke = false;
|
||||
container.transform.parent = forkCargo.transform;
|
||||
playable.Play();
|
||||
}
|
||||
}
|
||||
}
|
||||
return;
|
||||
}
|
||||
//放货中
|
||||
if (taskInfo.agvTaskStatus == AgvCarManage.CarTaskStatusEnum.PUTTING)
|
||||
{
|
||||
//未代理开始代理
|
||||
StartAgent(taskInfo.toLocation);
|
||||
|
||||
// 起点旋转位置
|
||||
if (applyPutPosition.Count > 0)
|
||||
{
|
||||
Vector3 applyPutVector = LastPosition(applyPutPosition, taskInfo.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 (taskInfo.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(taskInfo.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(taskInfo.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(taskInfo.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(taskInfo.toLocation))
|
||||
{
|
||||
//当后退完成后最终下降完货叉，并重置agv状态
|
||||
Vector3 position = LastPosition(applyPutPosition, taskInfo.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, taskInfo.toLocation);
|
||||
Vector3 targetPosition = new Vector3(position.x, transform.position.y, position.z);
|
||||
if (Vector3.Distance(transform.position, targetPosition) <= 0.1f)
|
||||
{
|
||||
GameObject game = deviceParseService.GameObjectByDevice(taskInfo.toLocation);
|
||||
Container container = containersManage.GetContainerByCode(taskInfo.containerCode);
|
||||
container.transform.parent = game.transform;
|
||||
container.transform.localPosition = new Vector3(0, -0.2472343f, 0.0006999969f);
|
||||
container.Agent.enabled = true;
|
||||
FeedBackTaskStatus(currentFeedBackStatus);
|
||||
Rest();
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
// 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 (taskInfo.agvTaskStatus == AgvCarManage.CarTaskStatusEnum.SENT)
|
||||
// {
|
||||
// if (currentFeedBackStatus != AgvCarManage.CarTaskStatusEnum.TAKING)
|
||||
// {
|
||||
// currentFeedBackStatus = AgvCarManage.CarTaskStatusEnum.TAKING;
|
||||
// }
|
||||
// //多次申请
|
||||
// FeedBackTaskStatus(currentFeedBackStatus);
|
||||
// }
|
||||
// //取货中
|
||||
// if (taskInfo.agvTaskStatus == AgvCarManage.CarTaskStatusEnum.TAKING)
|
||||
// {
|
||||
// agent.isStopped = false;
|
||||
// //开始代理
|
||||
// StartAgent(taskInfo.fromLocation);
|
||||
// // 起点旋转位置
|
||||
// if (applyTakePosition.Count > 0)
|
||||
// {
|
||||
// Vector3 applyTakeVector = LastPosition(applyTakePosition,taskInfo.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 (taskInfo.agvTaskStatus == AgvCarManage.CarTaskStatusEnum.APPLY_TAKE)
|
||||
// {
|
||||
// //抵达终点
|
||||
// Vector3 targetPosition = new Vector3(transform.position.x, agent.destination.y, transform.position.z);
|
||||
// if (Vector3.Distance(targetPosition, agent.destination) <= 0.1f)
|
||||
// {
|
||||
// //获取库位容器模型，绑定到货叉上
|
||||
// GameObject game = deviceParseService.GameObjectByDevice(taskInfo.fromLocation);
|
||||
// if (game != null)
|
||||
// {
|
||||
// Container container = game.GetComponentInChildren<Container>();
|
||||
// if (container != null)
|
||||
// {
|
||||
// container.transform.parent = forkCargo.transform;
|
||||
// container.Agent.enabled = false;
|
||||
// container.Agent.isStopped = true;
|
||||
// playable.Play();
|
||||
// }
|
||||
// }
|
||||
// //反馈取货完成
|
||||
// currentFeedBackStatus = AgvCarManage.CarTaskStatusEnum.TAKE_FINISHED;
|
||||
// FeedBackTaskStatus(currentFeedBackStatus);
|
||||
// }
|
||||
// Quaternion targetRotation = RotationByDevice(taskInfo.fromDevice);
|
||||
// if (transform.localRotation == targetRotation)
|
||||
// {
|
||||
// //校验起点是设备，需要提升货叉到高位
|
||||
// if (!IsShelf(taskInfo.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 (taskInfo.agvTaskStatus == AgvCarManage.CarTaskStatusEnum.TAKE_FINISHED)
|
||||
// {
|
||||
// if (HasGood)
|
||||
// {
|
||||
// //是库位取货方式
|
||||
// if (IsShelf(taskInfo.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, taskInfo.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 >= 0.6)
|
||||
// {
|
||||
// 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(taskInfo.fromLocation);
|
||||
// if (game != null)
|
||||
// {
|
||||
// Container container = game.GetComponentInChildren<Container>();
|
||||
//
|
||||
// if (container != null)
|
||||
// {
|
||||
// container.isAwke = false;
|
||||
// container.transform.parent = forkCargo.transform;
|
||||
// playable.Play();
|
||||
// }
|
||||
// }
|
||||
// }
|
||||
// return;
|
||||
// }
|
||||
// //放货中
|
||||
// if (taskInfo.agvTaskStatus == AgvCarManage.CarTaskStatusEnum.PUTTING)
|
||||
// {
|
||||
// //未代理开始代理
|
||||
// StartAgent(taskInfo.toLocation);
|
||||
//
|
||||
// // 起点旋转位置
|
||||
// if (applyPutPosition.Count > 0)
|
||||
// {
|
||||
// Vector3 applyPutVector = LastPosition(applyPutPosition, taskInfo.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 (taskInfo.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(taskInfo.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(taskInfo.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(taskInfo.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(taskInfo.toLocation))
|
||||
// {
|
||||
// //当后退完成后最终下降完货叉，并重置agv状态
|
||||
// Vector3 position = LastPosition(applyPutPosition, taskInfo.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, taskInfo.toLocation);
|
||||
// Vector3 targetPosition = new Vector3(position.x, transform.position.y, position.z);
|
||||
// if (Vector3.Distance(transform.position, targetPosition) <= 0.1f)
|
||||
// {
|
||||
// GameObject game = deviceParseService.GameObjectByDevice(taskInfo.toLocation);
|
||||
// Container container = containersManage.GetContainerByCode(taskInfo.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>
|
||||
@ -473,7 +473,7 @@ public class ForkAgvDevice : AbstractDevice, ICar
|
||||
{
|
||||
if(debugFeedBack)
|
||||
{
|
||||
taskInfo.agvTaskStatus = status;
|
||||
// taskInfo.agvTaskStatus = status;
|
||||
}
|
||||
FeedBackEntity feedBackDTO = new FeedBackEntity();
|
||||
feedBackDTO.feedbackStatus = status.ToString();
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user