370 lines
13 KiB
C#
370 lines
13 KiB
C#
using DefaultNamespace;
|
|
using DG.Tweening;
|
|
using HighlightPlus;
|
|
using System;
|
|
using System.Collections;
|
|
using System.Collections.Generic;
|
|
using UnityEngine;
|
|
using UnityEngine.UIElements;
|
|
using static InterfaceManager;
|
|
|
|
public class Palletizertent : MonoBehaviour
|
|
{
|
|
/// <summary>
|
|
/// 设备id
|
|
/// </summary>
|
|
public string ID;
|
|
/// <summary>
|
|
/// 速度
|
|
/// </summary>
|
|
public float Speed = 3.5f;
|
|
[Header("码垛机手臂")]
|
|
public GameObject Armobj;
|
|
[Header("需要判断位置的箱子")]
|
|
public Transform Haveabox;
|
|
/// <summary>
|
|
/// 初始化判断
|
|
/// </summary>
|
|
private bool ispcon = false;
|
|
/// <summary>
|
|
/// 普通实箱
|
|
/// </summary>
|
|
public Material Commonfruitbox;
|
|
/// <summary>
|
|
/// 普通空箱
|
|
/// </summary>
|
|
public Material Normalairbox;
|
|
/// <summary>
|
|
/// 特殊实箱
|
|
/// </summary>
|
|
public Material Specialkernelbox;
|
|
/// <summary>
|
|
/// 特殊空箱
|
|
/// </summary>
|
|
public Material Specialbox;
|
|
/// <summary>
|
|
/// 一个箱子
|
|
/// </summary>
|
|
public GameObject Boxgame;
|
|
/// <summary>
|
|
/// 展示对应的位置
|
|
/// </summary>
|
|
public Transform Points;
|
|
public void Stacking(Dpmequipment cmequipment)
|
|
{
|
|
if (cmequipment.FaultFree == "False")
|
|
{
|
|
HighlightEffect highlightEffect = transform.GetComponent<HighlightEffect>();
|
|
highlightEffect.highlighted = true;
|
|
}
|
|
else if(cmequipment.FaultFree == "True")
|
|
{
|
|
HighlightEffect highlightEffect = transform.GetComponent<HighlightEffect>();
|
|
highlightEffect.highlighted = false;
|
|
}
|
|
//if (ispcon)
|
|
//{
|
|
// if (cmequipment.boxesNumber == "1" && cmequipment.UpperInPlace == "True")
|
|
// {
|
|
// //Suitcase();
|
|
// }
|
|
// else if (cmequipment.boxesNumber == "0" && cmequipment.DownInPlace == "True")
|
|
// {
|
|
// Stow();
|
|
// }
|
|
// else if (cmequipment.boxesNumber == "0" && cmequipment.MiddleInPlace == "True")
|
|
// {
|
|
// Centreposition();
|
|
// }
|
|
// else
|
|
// {
|
|
// Debug.Log("没有条件");
|
|
// }
|
|
//}
|
|
//if (!ispcon && cmequipment.boxesNumber == "1")
|
|
//{
|
|
// if (!ispcon && ID == "2")
|
|
// {
|
|
// Boxinit2(cmequipment);
|
|
// ispcon = true;
|
|
// }
|
|
// else if (!ispcon)
|
|
// {
|
|
// Boxinit(cmequipment);
|
|
// ispcon = true;
|
|
// }
|
|
//}
|
|
//ispcon = true;
|
|
}
|
|
/// <summary>
|
|
/// 码垛机初始化
|
|
/// </summary>
|
|
public void Boxinit(Dpmequipment dpmequipment)
|
|
{
|
|
if (dpmequipment.boxesNumber == "1")
|
|
{
|
|
Armobj.transform.DOMoveY(Armobj.transform.position.y + 0.2f, 0.2f).SetEase(Ease.InOutQuad).OnComplete(() =>
|
|
{
|
|
GameObject box = Instantiate(Boxgame, Points.transform);
|
|
//Debug.Log("初始化码垛机手臂的位置");
|
|
box.gameObject.transform.SetParent(Armobj.transform);
|
|
MqttManager.Instance.firstbox.Add(box);
|
|
if (dpmequipment.boxesNumber == "0" && dpmequipment.DownInPlace == "True")
|
|
{
|
|
Stow();
|
|
}
|
|
else if (dpmequipment.boxesNumber == "0" && dpmequipment.MiddleInPlace == "True")
|
|
{
|
|
Centreposition();
|
|
}
|
|
else
|
|
{
|
|
//Debug.Log("没有条件");
|
|
}
|
|
});
|
|
}
|
|
}
|
|
|
|
public void Boxinit2(Dpmequipment dpmequipment)
|
|
{
|
|
if (dpmequipment.boxesNumber == "1")
|
|
{
|
|
Armobj.transform.DOMoveY(Armobj.transform.position.y + 0.2f, 0.2f).SetEase(Ease.InOutQuad).OnComplete(() =>
|
|
{
|
|
GameObject box = Instantiate(Boxgame, Points.transform);
|
|
Renderer renderer = box.GetComponent<Renderer>();
|
|
if (renderer)
|
|
{
|
|
renderer.material = Specialkernelbox;
|
|
}
|
|
//Debug.Log("初始化码垛机手臂的位置");
|
|
box.gameObject.transform.SetParent(Armobj.transform);
|
|
MqttManager.Instance.firstbox.Add(box);
|
|
if (dpmequipment.boxesNumber == "0" && dpmequipment.DownInPlace == "True")
|
|
{
|
|
Stow();
|
|
}
|
|
else if (dpmequipment.boxesNumber == "0" && dpmequipment.MiddleInPlace == "True")
|
|
{
|
|
Centreposition();
|
|
}
|
|
else
|
|
{
|
|
//Debug.Log("没有条件");
|
|
}
|
|
});
|
|
}
|
|
}
|
|
private void Init(Dpmequipment dpmequipment)
|
|
{
|
|
string url = Tasknumber + dpmequipment.TaskNumber;
|
|
StartCoroutine(Getstring(url, (data) =>
|
|
{
|
|
Initdata initdata = JsonUtility.FromJson<Initdata>(data);
|
|
if (initdata != null && Boxgame)
|
|
{
|
|
//Debug.Log("码垛机初始化" + data);
|
|
GameObject box = Instantiate(Boxgame, Points.transform);
|
|
//Debug.Log("生成对应位置");
|
|
Boxtasknumber boxtasknumber = box.GetComponent<Boxtasknumber>();
|
|
boxtasknumber.ID = initdata.result[0].transferId;
|
|
switch (initdata.result[0].palletType)
|
|
{
|
|
case "QBox":
|
|
if (initdata.result[0].itemType == "EmptyBox")
|
|
{
|
|
Renderer renderer = box.GetComponent<Renderer>();
|
|
//Renderer renderer1 = box.transform.GetChild(0).GetComponent<Renderer>();
|
|
if (renderer != null)
|
|
{
|
|
renderer.material = Normalairbox;
|
|
}
|
|
//if (renderer1 != null)
|
|
//{
|
|
// renderer1.material = Normalairbox;
|
|
//}
|
|
}
|
|
else
|
|
{
|
|
Renderer renderer2 = box.GetComponent<Renderer>();
|
|
// Renderer renderer3 = box.transform.GetChild(0).GetComponent<Renderer>();
|
|
if (renderer2 != null)
|
|
{
|
|
renderer2.material = Commonfruitbox;
|
|
}
|
|
//if (renderer3 != null)
|
|
//{
|
|
// renderer3.material = Commonfruitbox;
|
|
//}
|
|
}
|
|
break;
|
|
case "Box":
|
|
if (initdata.result[0].itemType == "EmptyBox")
|
|
{
|
|
Renderer renderer = box.GetComponent<Renderer>();
|
|
//Renderer renderer1 = box.transform.GetChild(0).GetComponent<Renderer>();
|
|
if (renderer != null)
|
|
{
|
|
renderer.material = Specialbox;
|
|
}
|
|
//if (renderer1 != null)
|
|
//{
|
|
// renderer1.material = Specialbox;
|
|
//}
|
|
}
|
|
else
|
|
{
|
|
Renderer renderer2 = box.GetComponent<Renderer>();
|
|
//Renderer renderer3 = box.transform.GetChild(0).GetComponent<Renderer>();
|
|
if (renderer2 != null)
|
|
{
|
|
renderer2.material = Specialkernelbox;
|
|
}
|
|
//if (renderer3 != null)
|
|
//{
|
|
// renderer3.material = Specialkernelbox;
|
|
//}
|
|
}
|
|
break;
|
|
default:
|
|
break;
|
|
}
|
|
if (dpmequipment.boxesNumber == "1")
|
|
{
|
|
Armobj.transform.DOMoveY(Armobj.transform.position.y + 0.2f, 0.2f).SetEase(Ease.InOutQuad).OnComplete(() =>
|
|
{
|
|
//Debug.Log("初始化码垛机手臂的位置");
|
|
box.gameObject.transform.SetParent(Armobj.transform);
|
|
MqttManager.Instance.firstbox.Add(box);
|
|
});
|
|
}
|
|
if (dpmequipment.boxesNumber == "0" && dpmequipment.DownInPlace == "True")
|
|
{
|
|
Stow();
|
|
}
|
|
else if (dpmequipment.boxesNumber == "0" && dpmequipment.MiddleInPlace == "True")
|
|
{
|
|
Centreposition();
|
|
}
|
|
else
|
|
{
|
|
//Debug.Log("没有条件");
|
|
}
|
|
}
|
|
}));
|
|
}
|
|
|
|
/// <summary>
|
|
/// 中到位操作
|
|
/// </summary>
|
|
private void Centreposition()
|
|
{
|
|
//Debug.Log("中到位是否满足条件");
|
|
if (Armobj.transform.childCount > 0 && Haveabox.childCount > 0)
|
|
{
|
|
//Debug.Log("执行中到位");
|
|
GameObject box = Armobj.transform.GetChild(0).gameObject;
|
|
GameObject box2 = Haveabox.transform.GetChild(0).gameObject;
|
|
if (box2 != null)
|
|
{
|
|
if (box2.GetComponent<Boxtasknumber>() != null)
|
|
{
|
|
Destroy(box2.GetComponent<Boxtasknumber>());
|
|
}
|
|
if (box2.GetComponent<BoxCollider>() != null)
|
|
{
|
|
Destroy(box2.GetComponent<BoxCollider>());
|
|
}
|
|
}
|
|
if (box != null && box2)
|
|
{
|
|
box.transform.SetParent(null);
|
|
box2.transform.SetParent(null);
|
|
Vector3 transform = box2.transform.position;
|
|
box2.transform.position = box.transform.position;
|
|
box.transform.position = transform;
|
|
box2.transform.SetParent(box.transform);
|
|
if (box.GetComponent<BoxCollider>() != null)
|
|
{
|
|
BoxCollider box3 = box.GetComponent<BoxCollider>();
|
|
box3.center = new Vector3(0, 0, 0);
|
|
//Debug.Log("把碰撞体给到箱子中心");
|
|
box.transform.SetParent(Haveabox.transform);
|
|
Armobj.transform.DOMoveY(Armobj.transform.position.y - 0.23f, 0.2f).SetEase(Ease.InOutQuad);
|
|
//Debug.Log("执行中到位完成");
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
/// <summary>
|
|
/// 提箱操作
|
|
/// </summary>
|
|
/// <param name="cmequipment"></param>
|
|
public void Suitcase()
|
|
{
|
|
if (Haveabox.childCount > 0)
|
|
{
|
|
if (Haveabox.transform.GetChild(0).childCount > 0 && Armobj.transform.childCount == 0)
|
|
{
|
|
GameObject box = Haveabox.GetChild(0).GetChild(0).gameObject;
|
|
if (box != null)
|
|
{
|
|
box.transform.SetParent(null);
|
|
Armobj.transform.DOMoveY(Armobj.transform.position.y + 0.2f, 0.2f).SetEase(Ease.InOutQuad).OnComplete(() =>
|
|
{
|
|
box.transform.SetParent(Armobj.transform);
|
|
//if (box.transform.GetComponent<Boxtasknumber>() == null)
|
|
//{
|
|
// box.AddComponent<Boxtasknumber>();
|
|
// box.AddComponent<BoxCollider>();
|
|
// box.GetComponent<Boxtasknumber>().ID = task;
|
|
//}
|
|
// Debug.Log("两个箱子提箱");
|
|
});
|
|
}
|
|
}
|
|
else if (Haveabox.childCount == 1)
|
|
{
|
|
GameObject box = Haveabox.transform.GetChild(0).gameObject;
|
|
if (box != null)
|
|
{
|
|
Armobj.transform.DOMoveY(Armobj.transform.position.y - 1.03f, 0.5f).SetEase(Ease.InOutQuad).OnComplete(() =>
|
|
{
|
|
box.transform.SetParent(Armobj.transform);
|
|
// Debug.Log("一个箱子提箱");
|
|
Armobj.transform.DOMoveY(Armobj.transform.position.y + 1.23f, 0.6f).SetEase(Ease.InOutQuad);
|
|
});
|
|
}
|
|
}
|
|
else
|
|
{
|
|
//Debug.Log("提箱子啥也不是");
|
|
}
|
|
}
|
|
}
|
|
/// <summary>
|
|
/// 放下箱子操作
|
|
/// </summary>
|
|
public void Stow()
|
|
{
|
|
if (Armobj.transform.childCount > 0 && Haveabox.childCount == 0)
|
|
{
|
|
Armobj.transform.DOMoveY(Armobj.transform.position.y - 1.23f, 0.5f).SetEase(Ease.InOutQuad).OnComplete(() =>
|
|
{
|
|
if (Armobj.transform.childCount > 0)
|
|
{
|
|
GameObject box = Armobj.transform.GetChild(0).gameObject;
|
|
box.transform.SetParent(Haveabox);
|
|
Armobj.transform.DOMoveY(Armobj.transform.position.y + 1.03f, 0.4f).SetEase(Ease.InOutQuad);
|
|
//Debug.Log("执行下到位");
|
|
}
|
|
});
|
|
}
|
|
else
|
|
{
|
|
//Debug.Log("放箱子啥也不是");
|
|
}
|
|
}
|
|
}
|