提交

Assets/Plugins/HslCommunication.dll.meta

@@ -1,33 +0,0 @@
-fileFormatVersion: 2
-guid: 362b1633b920f104d935369b4fe6c613
-PluginImporter:
-  externalObjects: {}
-  serializedVersion: 2
-  iconMap: {}
-  executionOrder: {}
-  defineConstraints: []
-  isPreloaded: 0
-  isOverridable: 0
-  isExplicitlyReferenced: 0
-  validateReferences: 1
-  platformData:
-  - first:
-      Any: 
-    second:
-      enabled: 1
-      settings: {}
-  - first:
-      Editor: Editor
-    second:
-      enabled: 0
-      settings:
-        DefaultValueInitialized: true
-  - first:
-      Windows Store Apps: WindowsStoreApps
-    second:
-      enabled: 0
-      settings:
-        CPU: AnyCPU
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 

Assets/Scripts/MqttManager.cs

@@ -123,7 +123,7 @@ public class MqttManager : MonoSingleton<MqttManager>
                         Convoyorequipment convoyorequipment = JsonConvert.DeserializeObject<Convoyorequipment>(str.message);
                         string con = convoyorequipment.Id.Substring(0, 2);
                         Debug.Log(con);
-                        if (con=="54")
+                        if (con == "54")
                         {
                             convoyorequipments.Add(convoyorequipment);
                         }
@@ -134,9 +134,9 @@ public class MqttManager : MonoSingleton<MqttManager>
                         break;
                     case "ca":
                         Carequipment carequipment = JsonConvert.DeserializeObject<Carequipment>(str.message);
-                        //string carname = str.device;
-                        //GameObject cargame = GameObject.Find(carname);
-                        // await Carpoint(cargame,carequipment);
+                        string carname = str.device;
+                        GameObject cargame = GameObject.Find(carname);
+                        Carpoint(cargame, carequipment);
                         break;
                     case "fe":
                         Feequipment feequipment = JsonConvert.DeserializeObject<Feequipment>(str.message);
@@ -158,11 +158,17 @@ public class MqttManager : MonoSingleton<MqttManager>
             }
         }
     }
-    public async UniTask Carpoint(GameObject car, Carequipment carequipment)
+    public void  Carpoint(GameObject car, Carequipment carequipment)
     {
-        string point = carequipment.CarState_Car_Column + "-" + carequipment.CarState_Car_Row + "-" + carequipment.CarState_Car_Layer;
-        Debug.Log(point);
-        GameObject displacement = GameObject.Find(point);
-        await car.transform.DOMove(displacement.transform.position, Vector3.Distance(car.transform.position, displacement.transform.position) / speed).SetEase(Ease.InOutQuad).AsyncWaitForCompletion();
+        Debug.Log(carequipment.id);
+        if (car)
+        {
+            Carinformation carbox = car.GetComponent<Carinformation>();
+            carbox.BoxCode = carequipment.CarState_BoxCode;
+            string point = carequipment.CarState_Car_Column + "-" + carequipment.CarState_Car_Row + "-" + carequipment.CarState_Car_Layer;
+            Debug.Log(point);
+            GameObject displacement = GameObject.Find(point);
+            car.transform.DOMove(displacement.transform.position, Vector3.Distance(car.transform.position, displacement.transform.position) / speed).SetEase(Ease.InOutQuad);
+        }
     }
 }

Assets/Scripts/YL/Carinformation.cs

@@ -0,0 +1,23 @@
+using System;
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+public class Carinformation : MonoBehaviour
+{
+    public string ID;
+    /// <summary>
+    /// 获取mqtt数据对应的箱子id
+    /// </summary>
+    public string BoxCode;
+    void Start()
+    {
+        
+    }
+
+    // Update is called once per frame
+    void Update()
+    {
+        
+    }
+}

Assets/Scripts/YL/Carinformation.cs.meta

@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: ba648a40aa90ec04ca725f6bc6394e6e
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 

Assets/Scripts/YL/Consentmark.cs

@@ -5,4 +5,5 @@ using UnityEngine;
 public class Consentmark : MonoBehaviour
 {
     public string ID;
+  
 }

Assets/Scripts/YL/Deliveryfromstorage.cs

@@ -21,12 +21,8 @@ public class Deliveryfromstorage : MonoBehaviour
         car1 = GameObject.Find("14-37-2");
         tarton = car1.GetComponent<Transform>();
 
-        //MoveTo(tarton);
-        //Sequence mySequence = DOTween.Sequence();
-        //mySequence.Append(transform.DOMove(car.transform.position, 5).SetEase(Ease.InOutQuad)).Append(transform.DOMove(car1.transform.position, 5)).SetEase(Ease.InOutQuad).Append(transform.DOMove(car.transform.position, 5).OnComplete(() =>
-        //{
-
-        //}));
+          
+         
         await Planneddisplacement();
     }
 
@@ -34,29 +30,29 @@ public class Deliveryfromstorage : MonoBehaviour
     {
 
         Transform point = GameObject.Find("8-40-2").transform;
-        await transform.DOMove(point.transform.position, (Vector3.Distance(transform.position, point.transform.position) / speed)).SetEase(Ease.InOutQuad).AsyncWaitForCompletion();
+        await transform.DOMove(point.transform.position, (Vector3.Distance(transform.position, point.transform.position) / speed)).SetEase(Ease.Linear).AsyncWaitForCompletion();
 
         Transform point2 = GameObject.Find("8-32-2").transform;
-        await transform.DOMove(point2.transform.position, (Vector3.Distance(transform.position, point2.transform.position) / speed)).SetEase(Ease.InOutQuad).AsyncWaitForCompletion();
+        await transform.DOMove(point2.transform.position, (Vector3.Distance(transform.position, point2.transform.position) / speed)).SetEase(Ease.Linear).AsyncWaitForCompletion();
         Transform point3 = GameObject.Find("13-32-2").transform;
-        await transform.DOMove(point3.transform.position, (Vector3.Distance(transform.position, point3.transform.position) / speed)).SetEase(Ease.InOutQuad).AsyncWaitForCompletion();
+        await transform.DOMove(point3.transform.position, (Vector3.Distance(transform.position, point3.transform.position) / speed)).SetEase(Ease.Linear).AsyncWaitForCompletion();
         Transform point4 = GameObject.Find("13-7-2").transform;
-        await transform.DOMove(point4.transform.position, (Vector3.Distance(transform.position, point4.transform.position) / speed)).SetEase(Ease.InOutQuad).AsyncWaitForCompletion();
+        await transform.DOMove(point4.transform.position, (Vector3.Distance(transform.position, point4.transform.position) / speed)).SetEase(Ease.Linear).AsyncWaitForCompletion();
         Transform point5 = GameObject.Find("14-7-2").transform;
-        await transform.DOMove(point5.transform.position, (Vector3.Distance(transform.position, point5.transform.position) / speed)).SetEase(Ease.InOutQuad).AsyncWaitForCompletion();
-        await transform.DOMove(point4.transform.position, (Vector3.Distance(transform.position, point4.transform.position) / speed)).SetEase(Ease.InOutQuad).AsyncWaitForCompletion();
+        await transform.DOMove(point5.transform.position, (Vector3.Distance(transform.position, point5.transform.position) / speed)).SetEase(Ease.Linear).AsyncWaitForCompletion();
+        await transform.DOMove(point4.transform.position, (Vector3.Distance(transform.position, point4.transform.position) / speed)).SetEase(Ease.Linear).AsyncWaitForCompletion();
         Transform point6 = GameObject.Find("13-1-2").transform;
-        await transform.DOMove(point6.transform.position, (Vector3.Distance(transform.position, point6.transform.position) / speed)).SetEase(Ease.InOutQuad).AsyncWaitForCompletion();
+        await transform.DOMove(point6.transform.position, (Vector3.Distance(transform.position, point6.transform.position) / speed)).SetEase(Ease.Linear).AsyncWaitForCompletion();
         Transform point7 = GameObject.Find("14-1-2").transform;
-        await transform.DOMove(point7.transform.position, (Vector3.Distance(transform.position, point7.transform.position) / speed)).SetEase(Ease.InOutQuad).AsyncWaitForCompletion();
+        await transform.DOMove(point7.transform.position, (Vector3.Distance(transform.position, point7.transform.position) / speed)).SetEase(Ease.Linear).AsyncWaitForCompletion();
         await UniTask.Delay(4000);
-        await transform.DOMove(point6.transform.position, (Vector3.Distance(transform.position, point6.transform.position) / speed)).SetEase(Ease.InQuad).AsyncWaitForCompletion();
-        await transform.DOMove(point4.transform.position, (Vector3.Distance(transform.position, point6.transform.position) / speed)).SetEase(Ease.InOutQuad).AsyncWaitForCompletion();
+        await transform.DOMove(point6.transform.position, (Vector3.Distance(transform.position, point6.transform.position) / speed)).SetEase(Ease.Linear).AsyncWaitForCompletion();
+        await transform.DOMove(point4.transform.position, (Vector3.Distance(transform.position, point4.transform.position) / speed)).SetEase(Ease.Linear).AsyncWaitForCompletion();
         Transform point8 = GameObject.Find("15-7-2").transform;
-        await transform.DOMove(point8.transform.position, (Vector3.Distance(transform.position, point8.transform.position) / speed)).SetEase(Ease.InOutQuad).AsyncWaitForCompletion();
-        await transform.DOMove(point4.transform.position, (Vector3.Distance(transform.position, point4.transform.position) / speed)).SetEase(Ease.InOutQuad).AsyncWaitForCompletion();
-        await transform.DOMove(point6.transform.position, (Vector3.Distance(transform.position, point6.transform.position) / speed)).SetEase(Ease.InOutQuad).AsyncWaitForCompletion();
-        await transform.DOMove(point7.transform.position, (Vector3.Distance(transform.position, point7.transform.position) / speed)).SetEase(Ease.InOutQuad).AsyncWaitForCompletion();
+        await transform.DOMove(point8.transform.position, (Vector3.Distance(transform.position, point8.transform.position) / speed)).SetEase(Ease.Linear).AsyncWaitForCompletion();
+        await transform.DOMove(point4.transform.position, (Vector3.Distance(transform.position, point4.transform.position) / speed)).SetEase(Ease.Linear).AsyncWaitForCompletion();
+        await transform.DOMove(point6.transform.position, (Vector3.Distance(transform.position, point6.transform.position) / speed)).SetEase(Ease.Linear).AsyncWaitForCompletion();
+        await transform.DOMove(point7.transform.position, (Vector3.Distance(transform.position, point7.transform.position) / speed)).SetEase(Ease.Linear).AsyncWaitForCompletion();
 
 
 
@@ -67,8 +63,16 @@ public class Deliveryfromstorage : MonoBehaviour
 
         if (other.gameObject.CompareTag("Box"))
         {
+            Carinformation car = transform.GetComponent<Carinformation>();
+            Boxinformation boxinformation = other.gameObject.transform.GetComponent<Boxinformation>();
+            if (car && boxinformation)
+            {
+                boxinformation.ID = car.BoxCode;
+                Debug.Log(boxinformation.ID);
+            }
             Debug.Log("触发了");
-            other.transform.SetParent(transform);
+            other.transform.position = new Vector3(other.transform.position.x, other.transform.position.y + 0.2f, other.transform.position.z);
+            //other.transform.position = new Vector3(other.transform.position.x, other.transform.position.y - 0.2f, other.transform.position.z);
             if (other.gameObject != null)
             {
                 // 获取触发器物体的碰撞体
@@ -83,16 +87,18 @@ public class Deliveryfromstorage : MonoBehaviour
 
                     // 设置物体的位置
                     other.transform.position = triggerTop;
+                    other.transform.SetParent(transform);
                 }
                 else
                 {
-                    Debug.LogError("Trigger object does not have a Collider component.");
+                    Debug.LogError("没有碰撞器");
                 }
             }
             else
             {
-                Debug.LogError("Colliding object is not assigned.");
+                Debug.LogError("碰撞到物体了");
             }
         }
     }
+
 }

Assets/Scripts/YL/Displaygoods.cs

@@ -22,26 +22,12 @@ public class Displaygoods : MonoBehaviour
 
     }
 
-    // Update is called once per frame
+    
     void Update()
     {
 
     }
-    private async void OnTriggerEnter(Collider other)
-    {
-        //if (other.gameObject.CompareTag("Car"))
-        //{
-        //    Debug.Log("´¥·¢ÁËС³µ");
-
-        //    if (box7.transform.childCount > 0)
-        //    {
-        //        Debug.Log("ÉÏÏò");
-        //        GameObject box = box7.transform.GetChild(0).gameObject;
-        //        box.transform.SetParent(null);
-        //        await Boxmove(box);
-        //    }
-        //}
-    }
+   
     public async void OnTriggerStay(Collider other)
     {
         if (other.gameObject.CompareTag("Car"))
@@ -59,13 +45,25 @@ public class Displaygoods : MonoBehaviour
     }
     public async UniTask Boxmove(GameObject car,GameObject box)
     {
-        await box.transform.DOMove(Box1.transform.position, (Vector3.Distance(box.transform.position, Box1.transform.position) / speed)).SetEase(Ease.InOutQuad).AsyncWaitForCompletion();
-        await box.transform.DOMove(Box2.transform.position, (Vector3.Distance(box.transform.position, Box2.transform.position) / speed)).SetEase(Ease.InOutQuad).AsyncWaitForCompletion();
-        await box.transform.DOMove(Box3.transform.position, (Vector3.Distance(box.transform.position, Box3.transform.position) / speed)).SetEase(Ease.InOutQuad).AsyncWaitForCompletion();
+        await MoveObjectToPosition(box.transform, Box1.transform.position, speed);
+        await MoveObjectToPosition(box.transform, Box2.transform.position, speed);
+        await MoveObjectToPosition(box.transform, Box3.transform.position, speed);
         box.transform.SetParent(car.transform);
         Transform point = GameObject.Find("11-32-2").transform;
-        await car.transform.DOMove(point.transform.position,(Vector3.Distance(car.transform.position,point.transform.position)/speed)).SetEase(Ease.InOutQuad).AsyncWaitForCompletion();
+        await MoveObjectToPosition(car.transform, point.transform.position, speed);
         Transform point2 = GameObject.Find("11-33-2").transform;
-        await car.transform.DOMove(point2.transform.position, (Vector3.Distance(car.transform.position, point2.transform.position) / speed)).SetEase(Ease.InOutQuad).AsyncWaitForCompletion();
+        await MoveObjectToPosition(car.transform, point2.transform.position, speed);
+    }
+    /// <summary>
+    /// ÉÏÏä²Ù×÷
+    /// </summary>
+    /// <param name="target"></param>
+    /// <param name="destination"></param>
+    /// <param name="speed"></param>
+    /// <returns></returns>
+    private async UniTask MoveObjectToPosition(Transform target, Vector3 destination, float speed)
+    {
+        float duration = Vector3.Distance(target.position, destination) / speed;
+        await target.DOMove(destination, duration).SetEase(Ease.InOutQuad).AsyncWaitForCompletion();
     }
 }

Assets/Scripts/YL/Enteringreservoirarea.cs

@@ -4,6 +4,7 @@ using System.Collections;
 using System.Collections.Generic;
 using Unity.VisualScripting;
 using UnityEngine;
+using UnityEngine.UIElements;
 
 public class Enteringreservoirarea : MonoBehaviour
 {
@@ -91,6 +92,10 @@ public class Enteringreservoirarea : MonoBehaviour
     {
 
     }
+    /// <summary>
+    /// 箱子触发
+    /// </summary>
+    /// <param name="other"></param>
     private async void OnTriggerEnter(Collider other)
     {
         if (other.gameObject.CompareTag("Box"))
@@ -98,44 +103,63 @@ public class Enteringreservoirarea : MonoBehaviour
             await Makeprogress(other.gameObject, Uptrans);
         }
     }
-
+    /// <summary>
+    /// 
+    /// </summary>
+    /// <param name="box"></param>
+    /// <param name="hoister"></param>
+    /// <returns></returns>
     private async UniTask Makeprogress(GameObject box, GameObject hoister)
     {
-        await hoister.transform.DOMove(point.transform.position, (Vector3.Distance(hoister.transform.position, transportbox.position) / speed)).SetEase(Ease.InOutQuad).AsyncWaitForCompletion();
+        await MoveObjectToPosition(hoister.transform, point.transform.position, speed);
         box.gameObject.transform.position = new Vector3(box.transform.position.x, box.transform.position.y + 0.8f, box.transform.position.z);
-        box.gameObject.transform.SetParent(null);
+        box.transform.SetParent(null);
         await Moveup(box.gameObject, hoister);
     }
     private async UniTask Moveup(GameObject point, GameObject upmachine)
     {
-        await point.transform.DOMove(transportbox.transform.position, (Vector3.Distance(point.transform.position, transportbox.position) / speed)).SetEase(Ease.InOutQuad).AsyncWaitForCompletion();
+        await MoveObjectToPosition(point.transform, transportbox.position, speed);
         point.transform.SetParent(upmachine.transform);
-        await upmachine.transform.DOMove(pos.transform.position, (Vector3.Distance(upmachine.transform.position, pos.transform.position) / speed)).SetEase(Ease.InOutQuad).AsyncWaitForCompletion();
+        await MoveObjectToPosition(upmachine.transform, pos.transform.position, speed);
         point.transform.SetParent(null);
-        await point.transform.DOMove(boxpos.transform.position, (Vector3.Distance(point.transform.position, boxpos.position) / speed)).SetEase(Ease.InOutQuad).AsyncWaitForCompletion();
-        await point.transform.DOMove(box2.transform.position, (Vector3.Distance(point.transform.position, box2.position) / speed)).SetEase(Ease.InOutQuad).AsyncWaitForCompletion();
+        await MoveObjectToPosition(point.transform, boxpos.transform.position, speed);
+        await MoveObjectToPosition(point.transform, box2.transform.position, speed);
         GameObject boxchild = point.transform.GetChild(0).gameObject;
         boxchild.transform.SetParent(null);
         Debug.Log(boxchild.name);
-        await point.transform.DOMove(box3.transform.position, (Vector3.Distance(point.transform.position, box3.transform.position) / speed)).SetEase(Ease.InOutQuad).AsyncWaitForCompletion();
+        await MoveObjectToPosition(point.transform, box3.transform.position, speed);
         boxchild.transform.SetParent(Palletizingarm1.transform);
-        await Palletizingarm1.gameObject.transform.DOMove(tongs2.transform.position, (Vector3.Distance(Palletizingarm1.transform.position, tongs2.transform.position) / speed)).SetEase(Ease.InOutQuad).AsyncWaitForCompletion();
+        await MoveObjectToPosition(Palletizingarm1.transform, tongs2.transform.position, speed);
         boxchild.transform.SetParent(null);
-        await point.transform.DOMove(box4.transform.position, (Vector3.Distance(point.transform.position, box4.transform.position) / speed)).SetEase(Ease.InOutQuad).AsyncWaitForCompletion();
-        await Palletizingarm1.gameObject.transform.DOMove(tongs1.transform.position, (Vector3.Distance(Palletizingarm1.transform.position, tongs1.transform.position) / speed)).SetEase(Ease.InOutQuad).AsyncWaitForCompletion();
-        await boxchild.transform.DOMove(box3.transform.position, (Vector3.Distance(boxchild.transform.position, box3.transform.position) / speed)).SetEase(Ease.InOutQuad).AsyncWaitForCompletion();
-        await point.transform.DOMove(box5.transform.position, (Vector3.Distance(point.transform.position, box5.transform.position) / speed)).SetEase(Ease.InOutQuad).AsyncWaitForCompletion();
-        await boxchild.transform.DOMove(box4.transform.position, (Vector3.Distance(boxchild.transform.position, box4.transform.position) / speed)).SetEase(Ease.InOutQuad).AsyncWaitForCompletion();
-        await point.transform.DOMove(box6.transform.position, (Vector3.Distance(point.transform.position, box6.transform.position) / speed)).SetEase(Ease.InOutQuad).AsyncWaitForCompletion();
-        await boxchild.transform.DOMove(box5.transform.position, (Vector3.Distance(boxchild.transform.position, box5.transform.position) / speed)).SetEase(Ease.InOutQuad).AsyncWaitForCompletion();
-        await Palletizingarm2.transform.DOMove(tongs3.transform.position, (Vector3.Distance(Palletizingarm2.transform.position, tongs3.transform.position) / speed)).SetEase(Ease.InOutQuad).AsyncWaitForCompletion();
+        await MoveObjectToPosition(point.transform, box4.transform.position, speed);
+        await MoveObjectToPosition(Palletizingarm1.transform, tongs1.transform.position, speed);
+        await MoveObjectToPosition(boxchild.transform, box3.transform.position, speed);
+        await MoveObjectToPosition(point.transform, box5.transform.position, speed);
+        await MoveObjectToPosition(boxchild.transform, box4.transform.position, speed);
+        await MoveObjectToPosition(point.transform, box6.transform.position, speed);
+        await MoveObjectToPosition(boxchild.transform, box5.transform.position, speed);
+        await MoveObjectToPosition(Palletizingarm2.transform, tongs3.transform.position, speed);
         point.transform.SetParent(Palletizingarm2.transform);
-        await Palletizingarm2.transform.DOMove(tongs4.transform.position, (Vector3.Distance(Palletizingarm2.transform.position, tongs4.transform.position) / speed)).SetEase(Ease.InOutQuad).AsyncWaitForCompletion();
-        await boxchild.transform.DOMove(box6.transform.position, (Vector3.Distance(boxchild.transform.position, box6.transform.position) / speed)).SetEase(Ease.InOutQuad).AsyncWaitForCompletion();
+        await MoveObjectToPosition(Palletizingarm2.transform, tongs4.transform.position, speed);
+        await MoveObjectToPosition(boxchild.transform, box6.transform.position, speed);
         point.transform.SetParent(null);
         boxchild.transform.SetParent(point.transform);
-        await point.transform.DOMove(box7.transform.position, (Vector3.Distance(point.transform.position, box7.transform.position) / speed)).SetEase(Ease.InOutQuad).AsyncWaitForCompletion();
-        await Palletizingarm2.transform.DOMove(tongs3.transform.position, (Vector3.Distance(Palletizingarm2.transform.position, tongs3.transform.position) / speed)).SetEase(Ease.InOutQuad).AsyncWaitForCompletion();
+        BoxCollider collider = point.GetComponent<BoxCollider>();
+        collider.center = new Vector3(0,0,0);  
+        await MoveObjectToPosition(point.transform, box7.transform.position, speed);
+        await MoveObjectToPosition(Palletizingarm2.transform, tongs3.transform.position, speed);
         point.transform.SetParent(box7);
     }
+    /// <summary>
+    /// 箱子做对应的动画
+    /// </summary>
+    /// <param name="target"></param>
+    /// <param name="destination"></param>
+    /// <param name="speed"></param>
+    /// <returns></returns>
+    private async UniTask MoveObjectToPosition(Transform target, Vector3 destination, float speed)
+    {
+        float duration = Vector3.Distance(target.position, destination) / speed;
+        await target.DOMove(destination, duration).SetEase(Ease.InOutQuad).AsyncWaitForCompletion();
+    }
 }

Assets/Scripts/YL/Fetchbox.cs

@@ -1,10 +1,9 @@
 using System;
 using System.Collections;
-using System.Collections.Generic;
 using UnityEngine;
 using static InterfaceManager;
 using DefaultNamespace;
-
+using System.Collections.Generic;
 
 public class Fetchbox : MonoBehaviour
 {

Assets/Scripts/YL/Interaction.cs

@@ -110,7 +110,7 @@ public class Interaction : MonoBehaviour
                 Debug.Log(gameObject.tag);
                 if (hit.collider.CompareTag("Car"))
                 {
-                    Consentmark carinformation = hit.collider.gameObject.GetComponent<Consentmark>();
+                    Carinformation carinformation = hit.collider.gameObject.GetComponent<Carinformation>();
                     Debug.Log(carinformation.ID);
                     string url = Carinterface + carinformation.ID;
                     StartCoroutine(Post1(url, (data) =>

Assets/Scripts/YL/Movetest.cs

@@ -51,6 +51,7 @@ public class Movetest : MonoBehaviour
         await transform.DOMove(point6.transform.position, (Vector3.Distance(transform.position, point6.transform.position) / speed)).SetEase(Ease.InOutQuad).AsyncWaitForCompletion();
         Transform point7 = GameObject.Find("14-39-2").transform;
         await transform.DOMove(point7.transform.position,(Vector3.Distance(transform.position,point7.transform.position)/speed)).SetEase(Ease.InOutQuad).AsyncWaitForCompletion();
+        await UniTask.Delay(2000);
         //await transform.DOMove(point6.transform.position, (Vector3.Distance(transform.position, point6.transform.position) / speed)).SetEase(Ease.InOutQuad).AsyncWaitForCompletion();
         //await transform.DOMove(point4.transform.position, (Vector3.Distance(transform.position, point4.transform.position) / speed)).SetEase(Ease.InOutQuad).AsyncWaitForCompletion();
         await transform.DOMove(point6.transform.position, (Vector3.Distance(transform.position, point6.transform.position) / speed)).SetEase(Ease.InOutQuad).AsyncWaitForCompletion();
@@ -64,6 +65,13 @@ public class Movetest : MonoBehaviour
 
         if (other.gameObject.CompareTag("Box"))
         {
+            Carinformation car = transform.GetComponent<Carinformation>();
+            Boxinformation boxinformation = other.gameObject.transform.GetComponent<Boxinformation>();
+            if (car && boxinformation)
+            {
+                boxinformation.ID = car.BoxCode;
+                Debug.Log(boxinformation.ID);
+            }
             Debug.Log("´¥·¢ÁË");
             other.transform.SetParent(transform);
             if (other.gameObject != null)

Assets/Scripts/YL/MqttHslClient.cs

@@ -1,77 +1,60 @@
 using UnityEngine;
 using System;
-using System.Threading;
+using uPLibrary.Networking.M2Mqtt;
+using uPLibrary.Networking.M2Mqtt.Messages;
 using System.Threading.Tasks;
-using MQTTnet;
-using MQTTnet.Client;
-using MQTTnet.Protocol;
 
 public class MqttHslClient : MonoBehaviour
 {
-    private MqttFactory mqttFactory = new MqttFactory();
-    private IMqttClient mqttClient;
-    void Start()
-    {
-        mqttClient = mqttFactory.CreateMqttClient();
-        Task.Run(async () => await ConnectToMqttBrokerAsync());
-    }
-    private async Task ConnectToMqttBrokerAsync()
-    {
-        try
-        {
-            var options = new MqttClientOptionsBuilder()
-            .WithTcpServer("172.16.1.104", 8083)  // 使用 HiveMQ 公共代理
-            .WithClientId(Guid.NewGuid().ToString())
-            .WithCleanSession()
-            .Build();
-            //连接
-            var response = await mqttClient.ConnectAsync(options, CancellationToken.None);
-            Debug.Log(("The MQTT client is connected.") + mqttClient.IsConnected);
-            //生成订阅
-            var topicFilter = new MqttTopicFilterBuilder()
-            .WithTopic("car8")
-            .WithQualityOfServiceLevel(MqttQualityOfServiceLevel.ExactlyOnce)
-            .Build();
-            await mqttClient.SubscribeAsync(topicFilter);
-            mqttClient.ApplicationMessageReceivedAsync += (e =>
-            {
-                var topic = e.ApplicationMessage.Topic;
-                var payload = System.Text.Encoding.UTF8.GetString(e.ApplicationMessage.PayloadSegment.Array);
-                Debug.Log($"Topic is {topic}, Payload is {payload}");
-                return Task.CompletedTask;
-            });
-        }
-        catch (Exception e)
-        {
-            Debug.Log(e.Message);
-        }
-    }
-    private void HandleReceivedMessage(MqttApplicationMessageReceivedEventArgs e)
-    {
-        // 接收到 MQTT 消息时的处理逻辑
-        string topic = e.ApplicationMessage.Topic;
-        string payload = System.Text.Encoding.UTF8.GetString(e.ApplicationMessage.Payload);
-        Debug.Log($"Received message from topic '{topic}': {payload}");
+    private MqttClient mqttClient;
+    public string brokerAddress = "172.16.1.104";//代理的地址
+    public int brokerPort = 8083;//代理端口
+    private string[] topic = { "car1", "car2", "car3", "car4", "car5" }; // 订阅的多个主题
 
-        // 如果消息是 JSON 格式，可以进行 JSON 解析
-        try
-        {
-            //MyDataObject data = JsonUtility.FromJson<MyDataObject>(payload);
-            // 现在您可以使用 data 对象中的数据
-            //Debug.Log($"Parsed JSON: {data}");
-        }
-        catch (Exception ex)
-        {
-            Debug.LogError($"Failed to parse JSON: {ex.Message}");
-        }
-    }
-    void Update()
+    async void Start()
     {
+        await Task.Run(() =>
+        {
+            ConnectToMqttServer();
+        });
 
     }
-
-    private void OnDestroy()
+    public void ConnectToMqttServer()
     {
+        for (int i = 0; i < topic.Length; i++)
+        {
+            Debug.Log(topic[i]);
+        }
+        // 创建 MQTT 客户端实例
+        mqttClient = new MqttClient(brokerAddress, brokerPort, false, null, null, MqttSslProtocols.None);
 
+        // 注册消息处理函数
+        mqttClient.MqttMsgPublishReceived += OnMqttMsgPublishReceived;
+
+        // 连接到 MQTT 代理
+        mqttClient.Connect(Guid.NewGuid().ToString());
+
+        // 订阅多个主题
+
+        byte[] qosLevels = { MqttMsgBase.QOS_LEVEL_AT_MOST_ONCE, MqttMsgBase.QOS_LEVEL_AT_MOST_ONCE, MqttMsgBase.QOS_LEVEL_AT_MOST_ONCE, MqttMsgBase.QOS_LEVEL_AT_MOST_ONCE, MqttMsgBase.QOS_LEVEL_AT_MOST_ONCE };
+        mqttClient.Subscribe(topic, qosLevels);
+    }
+    private void OnMqttMsgPublishReceived(object sender, MqttMsgPublishEventArgs e)
+    {
+        string message = System.Text.Encoding.UTF8.GetString(e.Message);
+        Debug.Log($"Received message from topic {e.Topic}: {message}");
+        // 处理接收到的消息
+    }
+    /// <summary>
+    /// 结束时释放内存
+    /// </summary>
+    void OnDestroy()
+    {
+        if (mqttClient != null && mqttClient.IsConnected)
+        {
+            mqttClient.Disconnect();
+        }
     }
 }
+
+

Assets/Scripts/YL/Outboundequipment.cs

@@ -0,0 +1,71 @@
+using Cysharp.Threading.Tasks;
+using DG.Tweening;
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+public class Outboundequipment : MonoBehaviour
+{
+    /// <summary>
+    /// 提升机架子
+    /// </summary>
+    public GameObject frame;
+    /// <summary>
+    /// 箱子位移的速度
+    /// </summary>
+    private float speed = 5f;
+    /// <summary>
+    /// 提升机第一个点位
+    /// </summary>
+    public Transform point1;
+    /// <summary>
+    /// 提升机第二个点位
+    /// </summary>
+    public Transform point2;
+    /// <summary>
+    /// 提升机第三个点位
+    /// </summary>
+    public Transform point3;
+    void Start()
+    {
+        
+    }
+    void Update()
+    {
+        
+    }
+    private async void OnTriggerEnter(Collider other)
+    {
+        if (other.gameObject.CompareTag("Box"))
+        {
+            await Shipment(other.gameObject,frame);
+        }
+    }
+    /// <summary>
+    /// 出货
+    /// </summary>
+    /// <returns></returns>
+    private async UniTask Shipment(GameObject box,GameObject frame)
+    {
+        await MoveObjectToPosition(frame.transform, point1.transform.position,speed);
+        box.gameObject.transform.position = new Vector3(box.transform.position.x, box.transform.position.y + 0.8f, box.transform.position.z);
+        await MoveObjectToPosition(box.transform, point1.transform.position, speed);
+        box.transform.SetParent(frame.transform);
+        await MoveObjectToPosition(frame.transform, point2.transform.position, speed);
+        box.transform.SetParent(null);
+        await MoveObjectToPosition(box.transform, point3.transform.position, speed);
+
+    }
+    /// <summary>
+    /// 出货动画
+    /// </summary>
+    /// <param name="target"></param>
+    /// <param name="destination"></param>
+    /// <param name="speed"></param>
+    /// <returns></returns>
+    private async UniTask MoveObjectToPosition(Transform target, Vector3 destination, float speed)
+    {
+        float duration = Vector3.Distance(target.position, destination) / speed;
+        await target.DOMove(destination, duration).SetEase(Ease.InOutQuad).AsyncWaitForCompletion();
+    }
+}

Assets/Scripts/YL/Outboundequipment.cs.meta

@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 35aa1c9c22f6c5a4e86d37ebf9872d6c
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 

Assets/Scripts/YL/Shippingoffthebox.cs

@@ -0,0 +1,77 @@
+using Cysharp.Threading.Tasks;
+using DG.Tweening;
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+public class Shippingoffthebox : MonoBehaviour
+{
+    /// <summary>
+    /// 位移速度
+    /// </summary>
+    private float speed = 5f;
+    async void Start()
+    {
+        await Displacement();
+    }
+
+    private async UniTask Displacement()
+    {
+        Transform point1 = GameObject.Find("13-40-2").transform;
+        await transform.DOMove(point1.transform.position, (Vector3.Distance(transform.position, point1.transform.position) / speed)).SetEase(Ease.Linear).AsyncWaitForCompletion();
+        Transform point2 = GameObject.Find("13-36-2").transform;
+        await transform.DOMove(point2.transform.position, (Vector3.Distance(transform.position, point2.transform.position) / speed)).SetEase(Ease.Linear).AsyncWaitForCompletion();
+        Transform point3 = GameObject.Find("14-36-2").transform;
+        await transform.DOMove(point3.transform.position, (Vector3.Distance(transform.position, point3.transform.position) / speed)).SetEase(Ease.Linear).AsyncWaitForCompletion();
+        Transform point4 = GameObject.Find("4-36-2").transform;
+        await transform.DOMove(point4.transform.position, (Vector3.Distance(transform.position, point4.transform.position) / speed)).SetEase(Ease.Linear).AsyncWaitForCompletion();
+        Transform point5 = GameObject.Find("4-31-2").transform;
+        await transform.DOMove(point5.transform.position, (Vector3.Distance(transform.position, point5.transform.position) / speed)).SetEase(Ease.Linear).AsyncWaitForCompletion();
+        Transform point6 = GameObject.Find("3-31-2").transform;
+        await transform.DOMove(point6.transform.position, (Vector3.Distance(transform.position, point6.transform.position) / speed)).SetEase(Ease.Linear).AsyncWaitForCompletion();
+    }
+    void Update()
+    {
+        
+    }
+    private void OnTriggerEnter(Collider other)
+    {
+
+        if (other.gameObject.CompareTag("Box"))
+        {
+            Carinformation car = transform.GetComponent<Carinformation>();
+            Boxinformation boxinformation = other.gameObject.transform.GetComponent<Boxinformation>();
+            if (car && boxinformation)
+            {
+                boxinformation.ID = car.BoxCode;
+                Debug.Log(boxinformation.ID);
+            }
+            Debug.Log("触发了");
+            other.transform.SetParent(transform);
+            if (other.gameObject != null)
+            {
+                // 获取触发器物体的碰撞体
+                Collider triggerCollider = GetComponent<Collider>();
+
+                // 确保触发器物体有碰撞体
+                if (triggerCollider != null)
+                {
+                    // 计算触发器物体顶部的世界坐标
+                    Vector3 triggerPosition = triggerCollider.bounds.center;
+                    Vector3 triggerTop = triggerPosition + Vector3.up * (triggerCollider.bounds.extents.y + -0.2f);
+
+                    // 设置物体的位置
+                    other.transform.position = triggerTop;
+                }
+                else
+                {
+                    Debug.LogError("Trigger object does not have a Collider component.");
+                }
+            }
+            else
+            {
+                Debug.LogError("Colliding object is not assigned.");
+            }
+        }
+    }
+}

Assets/Scripts/YL/Shippingoffthebox.cs.meta

@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: c0616546235b4fc40addc3ba12ce0d0b
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 

Assets/Scripts/YL/Transportbox.cs

@@ -1,7 +1,7 @@
 using Cysharp.Threading.Tasks;
 using DG.Tweening;
-using System.Collections;
-using System.Collections.Generic;
+using Unity.VisualScripting;
+using UnityEditor.SceneManagement;
 using UnityEngine;
 
 public class Transportbox : MonoBehaviour
@@ -27,9 +27,33 @@ public class Transportbox : MonoBehaviour
     /// </summary>
     public Transform pos;
     /// <summary>
-    /// Ïä×ÓµÄλÖÃ
+    /// 箱子第一个位置点
     /// </summary>
     public Transform boxpos;
+    /// <summary>
+    /// 箱子第二个位置点
+    /// </summary>
+    public Transform box2;
+    /// <summary>
+    /// 提升机第四个点位
+    /// </summary>
+    public Transform box3;
+    /// <summary>
+    /// 码垛机提升抓手
+    /// </summary>
+    public GameObject tongs;
+    /// <summary>
+    /// 箱子位移第四个点位
+    /// </summary>
+    public Transform box4;
+    /// <summary>
+    /// 码垛机向下位移
+    /// </summary>
+    public Transform box5;
+    /// <summary>
+    /// 码垛机回原位
+    /// </summary>
+    public Transform box6;
     void Start()
     {
 
@@ -41,6 +65,10 @@ public class Transportbox : MonoBehaviour
     {
 
     }
+    /// <summary>
+    /// 有箱子触发
+    /// </summary>
+    /// <param name="other"></param>
     private async void OnTriggerEnter(Collider other)
     {
         if (other.gameObject.CompareTag("Box"))
@@ -48,20 +76,82 @@ public class Transportbox : MonoBehaviour
             await Makeprogress(other.gameObject, Uptrans);
         }
     }
-
+    /// <summary>
+    /// 下箱
+    /// </summary>
+    /// <param name="box"></param>
+    /// <param name="hoister"></param>
+    /// <returns></returns>
     private async UniTask Makeprogress(GameObject box, GameObject hoister)
     {
-        await hoister.transform.DOMove(point.transform.position, (Vector3.Distance(hoister.transform.position, transportbox.position) / speed)).SetEase(Ease.InOutQuad).AsyncWaitForCompletion();
+        await MoveObjectToPosition(hoister.transform, point.transform.position, speed);
         box.gameObject.transform.position = new Vector3(box.transform.position.x, box.transform.position.y + 0.8f, box.transform.position.z);
         box.gameObject.transform.SetParent(null);
         await Moveup(box.gameObject, hoister);
     }
+    /// <summary>
+    /// 入库烟箱
+    /// </summary>
+    /// <param name="point"></param>
+    /// <param name="upmachine"></param>
+    /// <returns></returns>
     private async UniTask Moveup(GameObject point, GameObject upmachine)
     {
-        await point.transform.DOMove(transportbox.transform.position, (Vector3.Distance(point.transform.position, transportbox.position) / speed)).SetEase(Ease.InOutQuad).AsyncWaitForCompletion();
+        await MoveObjectToPosition(point.transform, transportbox.transform.position, speed);
         point.transform.SetParent(upmachine.transform);
-        await upmachine.transform.DOMove(pos.transform.position, (Vector3.Distance(upmachine.transform.position, pos.transform.position) / speed)).SetEase(Ease.InOutQuad).AsyncWaitForCompletion();
-        point.transform.SetParent(null); 
-        await point.transform.DOMove(boxpos.transform.position,(Vector3.Distance(point.transform.position,boxpos.position) / speed)).SetEase(Ease.InOutQuad).AsyncWaitForCompletion();
+        await MoveObjectToPosition(upmachine.transform, pos.transform.position, speed);
+        point.transform.SetParent(null);
+        await MoveObjectToPosition(point.transform, boxpos.transform.position, speed);
+        await MoveObjectToPosition(point.transform, box2.transform.position, speed);
+        Boxinformation box = point.GetComponent<Boxinformation>();
+        GameObject daughter = point.transform.GetChild(0).gameObject;
+        daughter.transform.SetParent(null);
+        BoxCollider boxtwe = point.GetComponent<BoxCollider>();
+        boxtwe.size = new Vector3(1.3f, 1.3f, 1.3f);
+        boxtwe.center = new Vector3(0, 0.6f,0);
+        Boxinformation boxdata = daughter.AddComponent<Boxinformation>();
+        Assign(boxdata, box);
+        BoxCollider cillider = daughter.AddComponent<BoxCollider>();
+        cillider.size = new Vector3(1.3f, 1.3f, 1.3f);
+        daughter.tag = "Box";
+        daughter.transform.SetParent(tongs.transform);
+        await MoveObjectToPosition(tongs.transform, box3.transform.position, speed);
+        await MoveObjectToPosition(point.transform, box4.transform.position, speed);
+        await MoveObjectToPosition(tongs.transform, box5.transform.position, speed);
+        daughter.transform.SetParent(null);
+        await MoveObjectToPosition(tongs.transform, box6.transform.position, speed);
+    }
+    /// <summary>
+    /// 获取箱子身上参数
+    /// </summary>
+    /// <param name="box1"></param>
+    /// <param name="box2"></param>
+    public void Assign(Boxinformation box1, Boxinformation box2)
+    {
+        box1.ID = box2.ID;
+        box1.type = box2.type;
+        box1.locationId = box2.locationId;
+        box1.description = box2.description;
+        box1.locationState = box2.locationState;
+        box1.storageState = box2.storageState;
+        box1.layer = box2.layer;
+        box1.row = box2.row;
+        box1.column = box2.column;
+        box1.specialFlag = box2.specialFlag;
+        box1.palletNum = box2.palletNum;
+        box1.itemType = box2.itemType;
+        box1.isSpecial = box2.isSpecial;
+    }
+    /// <summary>
+    /// 让箱子做对应的动画
+    /// </summary>
+    /// <param name="target">需要移动的物体</param>
+    /// <param name="destination">指定的位置</param>
+    /// <param name="speed">速度</param>
+    /// <returns></returns>
+    private async UniTask MoveObjectToPosition(Transform target, Vector3 destination, float speed)
+    {
+        float duration = Vector3.Distance(target.position, destination) / speed;
+        await target.DOMove(destination, duration).SetEase(Ease.InOutQuad).AsyncWaitForCompletion();
     }
 }