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代码变更

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Pang_mir 2025-05-09 15:52:45 +08:00
parent 2eb6590e59
commit e03ed1cc33
3 changed files with 300 additions and 301 deletions
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6
Assets/GameLogic/Game/Core/Component/ShelfNetListenerComponent.cs
View File

@ -31,8 +31,10 @@ public class ShelfNetListenerComponent : MonoBehaviour,IWcsSocketDataHandle
private void Start() private void Start()
{ {
_shelfActor = GetComponent<ShelfActor>(); _shelfActor = GetComponent<ShelfActor>();
_deviceCode = _shelfActor._shelfConfig.deviceCode; _deviceCode = "DDJ01";
_deviceType = _shelfActor._shelfConfig.deviceType; // _deviceCode = _shelfActor._shelfConfig.deviceCode;
// _deviceType = _shelfActor._shelfConfig.deviceType;
_deviceType = "STACKER";
} }
public void DataHandle(object data, object other = null) public void DataHandle(object data, object other = null)

3
Assets/GameLogic/Origin/application/InitNetWorkProcess.cs
View File

@ -16,7 +16,6 @@ public class InitNetWorkProcess : IProcessState
[Autowired("WmsStorageWebsocket")] [Autowired("WmsStorageWebsocket")]
private WmsStorageWebsocket wmsStorageWebsocket; private WmsStorageWebsocket wmsStorageWebsocket;
private bool executing = false; private bool executing = false;
[Autowired] AgvTaskListData _agvTaskListData;
public string Name { get => "InitNetWorkProcess"; } public string Name { get => "InitNetWorkProcess"; }
public int Priority { get => 0; } public int Priority { get => 0; }
public bool IsExecuteProcess { get => executing; set => executing = value; } public bool IsExecuteProcess { get => executing; set => executing = value; }
@ -38,8 +37,6 @@ public class InitNetWorkProcess : IProcessState
////监听后台数据变化 ////监听后台数据变化
wmsStorageWebsocket.OnMessage(v.DataHandle); wmsStorageWebsocket.OnMessage(v.DataHandle);
}); });
//³õʼ»¯agvÈÎÎñÁбí
_agvTaskListData.Init();
netWorkComponent?.ConnectAllWebSocket(); netWorkComponent?.ConnectAllWebSocket();
} }

592
Assets/GameLogic/Origin/device/agv/ForkAgvDevice.cs
View File

@ -154,301 +154,301 @@ public class ForkAgvDevice : AbstractDevice, ICar
} }
private void FixedUpdate() // private void FixedUpdate()
{ // {
//设备没初始化 // //设备没初始化
if (!initialize) // if (!initialize)
{ // {
return; // return;
} // }
//
if (!hasTask) // if (!hasTask)
{ // {
return; // return;
} // }
UpdateTask(); // UpdateTask();
//当任务状态是下发状态是，执行 // //当任务状态是下发状态是，执行
if (taskInfo.agvTaskStatus == AgvCarManage.CarTaskStatusEnum.SENT) // if (taskInfo.agvTaskStatus == AgvCarManage.CarTaskStatusEnum.SENT)
{ // {
if (currentFeedBackStatus != AgvCarManage.CarTaskStatusEnum.TAKING) // if (currentFeedBackStatus != AgvCarManage.CarTaskStatusEnum.TAKING)
{ // {
currentFeedBackStatus = AgvCarManage.CarTaskStatusEnum.TAKING; // currentFeedBackStatus = AgvCarManage.CarTaskStatusEnum.TAKING;
} // }
//多次申请 // //多次申请
FeedBackTaskStatus(currentFeedBackStatus); // FeedBackTaskStatus(currentFeedBackStatus);
} // }
//取货中 // //取货中
if (taskInfo.agvTaskStatus == AgvCarManage.CarTaskStatusEnum.TAKING) // if (taskInfo.agvTaskStatus == AgvCarManage.CarTaskStatusEnum.TAKING)
{ // {
agent.isStopped = false; // agent.isStopped = false;
//开始代理 // //开始代理
StartAgent(taskInfo.fromLocation); // StartAgent(taskInfo.fromLocation);
// 起点旋转位置 // // 起点旋转位置
if (applyTakePosition.Count > 0) // if (applyTakePosition.Count > 0)
{ // {
Vector3 applyTakeVector = LastPosition(applyTakePosition,taskInfo.fromLocation); // Vector3 applyTakeVector = LastPosition(applyTakePosition,taskInfo.fromLocation);
//抵达后，申请取货流程 // //抵达后，申请取货流程
Vector3 targetPosition = new Vector3(applyTakeVector.x, transform.position.y, applyTakeVector.z); // Vector3 targetPosition = new Vector3(applyTakeVector.x, transform.position.y, applyTakeVector.z);
if (Vector3.Distance(transform.position, targetPosition) <= 0.1f) // if (Vector3.Distance(transform.position, targetPosition) <= 0.1f)
{ // {
agent.isStopped = true; // agent.isStopped = true;
agent.updateRotation = false; // agent.updateRotation = false;
currentFeedBackStatus = AgvCarManage.CarTaskStatusEnum.APPLY_TAKE; // currentFeedBackStatus = AgvCarManage.CarTaskStatusEnum.APPLY_TAKE;
FeedBackTaskStatus(currentFeedBackStatus); // FeedBackTaskStatus(currentFeedBackStatus);
} // }
} // }
} // }
//申请取货 // //申请取货
if (taskInfo.agvTaskStatus == AgvCarManage.CarTaskStatusEnum.APPLY_TAKE) // if (taskInfo.agvTaskStatus == AgvCarManage.CarTaskStatusEnum.APPLY_TAKE)
{ // {
//抵达终点 // //抵达终点
Vector3 targetPosition = new Vector3(transform.position.x, agent.destination.y, transform.position.z); // Vector3 targetPosition = new Vector3(transform.position.x, agent.destination.y, transform.position.z);
if (Vector3.Distance(targetPosition, agent.destination) <= 0.1f) // if (Vector3.Distance(targetPosition, agent.destination) <= 0.1f)
{ // {
//获取库位容器模型，绑定到货叉上 // //获取库位容器模型，绑定到货叉上
GameObject game = deviceParseService.GameObjectByDevice(taskInfo.fromLocation); // GameObject game = deviceParseService.GameObjectByDevice(taskInfo.fromLocation);
if (game != null) // if (game != null)
{ // {
Container container = game.GetComponentInChildren<Container>(); // Container container = game.GetComponentInChildren<Container>();
if (container != null) // if (container != null)
{ // {
container.transform.parent = forkCargo.transform; // container.transform.parent = forkCargo.transform;
container.Agent.enabled = false; // container.Agent.enabled = false;
container.Agent.isStopped = true; // container.Agent.isStopped = true;
playable.Play(); // playable.Play();
} // }
} // }
//反馈取货完成 // //反馈取货完成
currentFeedBackStatus = AgvCarManage.CarTaskStatusEnum.TAKE_FINISHED; // currentFeedBackStatus = AgvCarManage.CarTaskStatusEnum.TAKE_FINISHED;
FeedBackTaskStatus(currentFeedBackStatus); // FeedBackTaskStatus(currentFeedBackStatus);
} // }
Quaternion targetRotation = RotationByDevice(taskInfo.fromDevice); // Quaternion targetRotation = RotationByDevice(taskInfo.fromDevice);
if (transform.localRotation == targetRotation) // if (transform.localRotation == targetRotation)
{ // {
//校验起点是设备，需要提升货叉到高位 // //校验起点是设备，需要提升货叉到高位
if (!IsShelf(taskInfo.fromLocation)) // if (!IsShelf(taskInfo.fromLocation))
{ // {
if(playable.time <= 1.3) // if(playable.time <= 1.3)
{ // {
playable.Play(); // playable.Play();
} // }
else // else
{ // {
playable.Pause(); // playable.Pause();
} // }
} // }
if(playable.state == PlayState.Paused) // if(playable.state == PlayState.Paused)
{ // {
agent.isStopped = false; // agent.isStopped = false;
} // }
} // }
else // else
{ // {
transform.localRotation = Quaternion.RotateTowards(transform.localRotation, targetRotation, _speed * 2); // transform.localRotation = Quaternion.RotateTowards(transform.localRotation, targetRotation, _speed * 2);
} // }
} // }
//
//
//取货完成 // //取货完成
if (taskInfo.agvTaskStatus == AgvCarManage.CarTaskStatusEnum.TAKE_FINISHED) // if (taskInfo.agvTaskStatus == AgvCarManage.CarTaskStatusEnum.TAKE_FINISHED)
{ // {
if (HasGood) // if (HasGood)
{ // {
//是库位取货方式 // //是库位取货方式
if (IsShelf(taskInfo.fromDevice)) // if (IsShelf(taskInfo.fromDevice))
{ // {
if (playable.time >= 0.4) // if (playable.time >= 0.4)
{ // {
OnMinFPS(); // OnMinFPS();
} // }
if (playable.state == PlayState.Paused) // if (playable.state == PlayState.Paused)
{ // {
agent.updateRotation = true; // agent.updateRotation = true;
currentFeedBackStatus = AgvCarManage.CarTaskStatusEnum.PUTTING; // currentFeedBackStatus = AgvCarManage.CarTaskStatusEnum.PUTTING;
FeedBackTaskStatus(currentFeedBackStatus); // FeedBackTaskStatus(currentFeedBackStatus);
} // }
} // }
else // else
{ // {
//接驳点取货方式 // //接驳点取货方式
//需要回退到指定位置做货叉下降动作 // //需要回退到指定位置做货叉下降动作
Vector3 target = LastPosition(applyTakePosition, taskInfo.fromDevice); // Vector3 target = LastPosition(applyTakePosition, taskInfo.fromDevice);
agent.isStopped = false; // agent.isStopped = false;
//开始代理 // //开始代理
StartAgent(target); // StartAgent(target);
Vector3 targetPosition = new Vector3(target.x, transform.position.y, target.z); // Vector3 targetPosition = new Vector3(target.x, transform.position.y, target.z);
//到位后，开始下降货叉 // //到位后，开始下降货叉
if (Vector3.Distance(transform.position, targetPosition) <= 0.1f) // if (Vector3.Distance(transform.position, targetPosition) <= 0.1f)
{ // {
if (playable.time >= 0.6) // if (playable.time >= 0.6)
{ // {
playable.playableGraph.GetRootPlayable(0).SetSpeed(-1); // playable.playableGraph.GetRootPlayable(0).SetSpeed(-1);
playable.Play(); // playable.Play();
} // }
else // else
{ // {
playable.Pause(); // playable.Pause();
agent.updateRotation = true; // agent.updateRotation = true;
currentFeedBackStatus = AgvCarManage.CarTaskStatusEnum.PUTTING; // currentFeedBackStatus = AgvCarManage.CarTaskStatusEnum.PUTTING;
FeedBackTaskStatus(currentFeedBackStatus); // FeedBackTaskStatus(currentFeedBackStatus);
} // }
} // }
else // else
{ // {
//货叉升到满叉才执行后续动作 // //货叉升到满叉才执行后续动作
if (playable.time < 1.99) // if (playable.time < 1.99)
{ // {
playable.Play(); // playable.Play();
} // }
} // }
//
} // }
//
} // }
else // else
{ // {
GameObject game = deviceParseService.GameObjectByDevice(taskInfo.fromLocation); // GameObject game = deviceParseService.GameObjectByDevice(taskInfo.fromLocation);
if (game != null) // if (game != null)
{ // {
Container container = game.GetComponentInChildren<Container>(); // Container container = game.GetComponentInChildren<Container>();
//
if (container != null) // if (container != null)
{ // {
container.isAwke = false; // container.isAwke = false;
container.transform.parent = forkCargo.transform; // container.transform.parent = forkCargo.transform;
playable.Play(); // playable.Play();
} // }
} // }
} // }
return; // return;
} // }
//放货中 // //放货中
if (taskInfo.agvTaskStatus == AgvCarManage.CarTaskStatusEnum.PUTTING) // if (taskInfo.agvTaskStatus == AgvCarManage.CarTaskStatusEnum.PUTTING)
{ // {
//未代理开始代理 // //未代理开始代理
StartAgent(taskInfo.toLocation); // StartAgent(taskInfo.toLocation);
//
// 起点旋转位置 // // 起点旋转位置
if (applyPutPosition.Count > 0) // if (applyPutPosition.Count > 0)
{ // {
Vector3 applyPutVector = LastPosition(applyPutPosition, taskInfo.toLocation); // Vector3 applyPutVector = LastPosition(applyPutPosition, taskInfo.toLocation);
//抵达后，申请取货流程 // //抵达后，申请取货流程
Vector3 targetPosition = new Vector3(applyPutVector.x, transform.position.y, applyPutVector.z); // Vector3 targetPosition = new Vector3(applyPutVector.x, transform.position.y, applyPutVector.z);
if (Vector3.Distance(transform.position, targetPosition) <= 0.1f) // if (Vector3.Distance(transform.position, targetPosition) <= 0.1f)
{ // {
agent.isStopped = true; // agent.isStopped = true;
agent.updateRotation = false; // agent.updateRotation = false;
currentFeedBackStatus = AgvCarManage.CarTaskStatusEnum.APPLY_PUT; // currentFeedBackStatus = AgvCarManage.CarTaskStatusEnum.APPLY_PUT;
FeedBackTaskStatus(currentFeedBackStatus); // FeedBackTaskStatus(currentFeedBackStatus);
} // }
//
} // }
//
} // }
//申请放货 // //申请放货
if (taskInfo.agvTaskStatus == AgvCarManage.CarTaskStatusEnum.APPLY_PUT && currentFeedBackStatus == AgvCarManage.CarTaskStatusEnum.APPLY_PUT) // if (taskInfo.agvTaskStatus == AgvCarManage.CarTaskStatusEnum.APPLY_PUT && currentFeedBackStatus == AgvCarManage.CarTaskStatusEnum.APPLY_PUT)
{ // {
//抵达终点 // //抵达终点
if (Vector3.Distance(transform.position, agent.destination) <= 0.1f) // if (Vector3.Distance(transform.position, agent.destination) <= 0.1f)
{ // {
currentFeedBackStatus = AgvCarManage.CarTaskStatusEnum.PUT_FINISHED; // currentFeedBackStatus = AgvCarManage.CarTaskStatusEnum.PUT_FINISHED;
//
} // }
Quaternion targetRotation = RotationByDevice(taskInfo.toDevice); // Quaternion targetRotation = RotationByDevice(taskInfo.toDevice);
if (transform.localRotation == targetRotation) // if (transform.localRotation == targetRotation)
{ // {
//启用代理 // //启用代理
agent.isStopped = false; // agent.isStopped = false;
//如果是设备将货叉提升完 // //如果是设备将货叉提升完
if(!IsShelf(taskInfo.toLocation)) // if(!IsShelf(taskInfo.toLocation))
{ // {
playable.Play(); // playable.Play();
} // }
} // }
else // else
{ // {
transform.localRotation = Quaternion.RotateTowards(transform.localRotation, targetRotation, _speed * 2); // transform.localRotation = Quaternion.RotateTowards(transform.localRotation, targetRotation, _speed * 2);
} // }
} // }
//
if (currentFeedBackStatus == AgvCarManage.CarTaskStatusEnum.PUT_FINISHED) // if (currentFeedBackStatus == AgvCarManage.CarTaskStatusEnum.PUT_FINISHED)
{ // {
if (HasGood) // if (HasGood)
{ // {
//校验是库位还是设备 // //校验是库位还是设备
//
if(IsShelf(taskInfo.toLocation)) // if(IsShelf(taskInfo.toLocation))
{ // {
Debug.LogWarning("放货持续"); // Debug.LogWarning("放货持续");
if (playable.time > 0) // if (playable.time > 0)
{ // {
playable.playableGraph.GetRootPlayable(0).SetSpeed(-1); // playable.playableGraph.GetRootPlayable(0).SetSpeed(-1);
playable.Play(); // playable.Play();
} // }
else // else
{ // {
//暂停播放 // //暂停播放
//playable.Pause(); // //playable.Pause();
////解绑容器 // ////解绑容器
//Container container = forkCargo.transform.GetComponentInChildren<Container>(); // //Container container = forkCargo.transform.GetComponentInChildren<Container>();
//container.transform.parent = null; // //container.transform.parent = null;
OnMaxFPS(); // OnMaxFPS();
} // }
} // }
else // else
{ // {
if (playable.time > 1.5f) // if (playable.time > 1.5f)
{ // {
playable.playableGraph.GetRootPlayable(0).SetSpeed(-1); // playable.playableGraph.GetRootPlayable(0).SetSpeed(-1);
playable.Play(); // playable.Play();
} // }
else // else
{ // {
OnMaxFPS(); // OnMaxFPS();
} // }
} // }
//
} // }
else // else
{ // {
if(!IsShelf(taskInfo.toLocation)) // if(!IsShelf(taskInfo.toLocation))
{ // {
//当后退完成后最终下降完货叉，并重置agv状态 // //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 position = LastPosition(applyPutPosition, taskInfo.toLocation);
Vector3 targetPosition = new Vector3(position.x, transform.position.y, position.z); // Vector3 targetPosition = new Vector3(position.x, transform.position.y, position.z);
//
if (Vector3.Distance(transform.position, targetPosition) <= 0.1f) // if (Vector3.Distance(transform.position, targetPosition) <= 0.1f)
{ // {
if(playable.time > 0) // if(playable.time > 0)
{ // {
playable.Play(); // playable.Play();
} // }
else // else
{ // {
playable.Pause(); // playable.Pause();
FeedBackTaskStatus(currentFeedBackStatus); // FeedBackTaskStatus(currentFeedBackStatus);
Rest(); // Rest();
} // }
} // }
} // }
else // else
{ // {
Vector3 position = LastPosition(applyPutPosition, taskInfo.toLocation); // Vector3 position = LastPosition(applyPutPosition, taskInfo.toLocation);
Vector3 targetPosition = new Vector3(position.x, transform.position.y, position.z); // Vector3 targetPosition = new Vector3(position.x, transform.position.y, position.z);
if (Vector3.Distance(transform.position, targetPosition) <= 0.1f) // if (Vector3.Distance(transform.position, targetPosition) <= 0.1f)
{ // {
GameObject game = deviceParseService.GameObjectByDevice(taskInfo.toLocation); // GameObject game = deviceParseService.GameObjectByDevice(taskInfo.toLocation);
Container container = containersManage.GetContainerByCode(taskInfo.containerCode); // Container container = containersManage.GetContainerByCode(taskInfo.containerCode);
container.transform.parent = game.transform; // container.transform.parent = game.transform;
container.transform.localPosition = new Vector3(0, -0.2472343f, 0.0006999969f); // container.transform.localPosition = new Vector3(0, -0.2472343f, 0.0006999969f);
container.Agent.enabled = true; // container.Agent.enabled = true;
FeedBackTaskStatus(currentFeedBackStatus); // FeedBackTaskStatus(currentFeedBackStatus);
Rest(); // Rest();
} // }
} // }
} // }
} // }
} // }
/// <summary> /// <summary>
/// 重置设备状态 /// 重置设备状态
/// </summary> /// </summary>
@ -473,7 +473,7 @@ public class ForkAgvDevice : AbstractDevice, ICar
{ {
if(debugFeedBack) if(debugFeedBack)
{ {
taskInfo.agvTaskStatus = status; // taskInfo.agvTaskStatus = status;
} }
FeedBackEntity feedBackDTO = new FeedBackEntity(); FeedBackEntity feedBackDTO = new FeedBackEntity();
feedBackDTO.feedbackStatus = status.ToString(); feedBackDTO.feedbackStatus = status.ToString();