agv-summoner/js/map.js

var mapUtil = mapUtil || {};
const nullPoint = 65535;
(function(_, joint) {
    'use strict';
    mapUtil.findElement = function (type, sn) {
        let eles = graph.getElements();
        for (let i in eles) {
            let ele = eles[i];
            let eleType = ele.get("type");
            let eleSn = ele.attr("sn/id");
            if (_.startsWith(eleType, type)) {
                // console.log("ele", ele, eleType, eleSn, typeof(eleSn));
                if (eleSn + "" === sn + "") {
                    return ele;
                }
            }
        }
        return null;
    };
    mapUtil.findElements = function(type){
        let eles = graph.getElements();
        let rets = [];
        for (let i in eles) {
            let ele = eles[i];
            let eleType = ele.get("type");
            if (_.startsWith(eleType, type)) {
                rets.push(ele)
            }
        }
        return rets;
    };
    mapUtil.getAgv = function (sn) {
        return mapUtil.findElement("agv", sn);
    };
    mapUtil.getStation = function (sn) {
        return mapUtil.findElement("st", sn);
    };
    mapUtil.getPt = function (sn) {
        return mapUtil.findElement("pt", sn)
    };
    mapUtil.isNotStation = function(element) {
        let tp = element.get("type")
        //console.log("tp", tp)
        if (_.startsWith(tp, "st.")){
            // console.log("is station")
            return false
        }
        return true
    };
    mapUtil.getLink = function(linkId){
        let links = graph.getLinks();
        for (let i in links){
            // let link = links[i];
            let linkSn = links[i].attr("sn/id");
            if(linkId + "" === linkSn){
                return links[i];
            }
        }
        return null;
    };
    mapUtil.getLinkView = function(paper, linkId){
        let links = graph.getLinks();
        for (let i in links){
            // let link = links[i];
            let linkSn = links[i].attr("sn/id");
            if(linkId + "" === linkSn){
                return links[i].findView(paper);
            }
        }
        return null;
    };
    mapUtil.findLink = function(links, srcId, dstId) {
        let l;
        for (let i in links) {
            l = links[i];
            if ((l.source().id === srcId) && (l.target().id === dstId)) {
                return l;
            }
        }
        return null;
    };
    mapUtil.showAgvAtDefault = function (agv, agvId) {
        agv.rotate(0, true);
        agv.position(agvId * 100 + 500, 30);
    };
    mapUtil.showAgvPosition = function (status) {
        let agvId = status.AgvId;
        let stationId = status.Station;
        let linkId = status.Point;
        let CrossType = status.CrossType;
        // 界面上找到AGV
        let agv = mapUtil.getAgv(agvId);
        agv.set("z", 9999);
        agv.toFront();
        // 如果AGV在站点上，则直接放置在站点上
        if(stationId !== nullPoint){
            let st = mapUtil.getStation(stationId);
            if (st === null){
                mapUtil.showAgvAtDefault(agv, agvId)
                return;
            }
            let pos = st.position()
            agv.rotate(0, true);
            agv.position(pos.x, pos.y);
            return;
        }
        // 查找对应的路线
        let link = mapUtil.getLink(linkId);
        if (link === null){
            mapUtil.showAgvAtDefault(agv, agvId);
            return;
        }
        let pose = link.attr("agv/pose");
        let linkV = link.findView(paper);
        let preAction = status.DRAction >> 4;
        //let tangle = mapUtil.getTangentAngle(linkV.getTangentAtRatio(0.5));
        //let angle = tangle - 180 + 90 * pose;
        let isOutCross = false;
        if (((CrossType === 2) && (pose === 1 || pose === 2))||((CrossType === 1) && (pose === 3 || pose === 4))){
            isOutCross = true;
        }
        if(CrossType === 3 || isOutCross === true){
            // 已经走到link后面的十字路口
            let cross;
            console.log("linkId", linkId, preAction, pose);
            if(pose === preAction){
                cross = link.getTargetElement();
                console.log("t")
            }else{
                cross = link.getSourceElement();
                console.log("s")
            }
            if (cross === null){
                mapUtil.showAgvAtDefault(agv, agvId);
                return;
            }
            let pos = cross.position();
            agv.rotate(0, true);
            agv.position(pos.x, pos.y);
        }else{
            // 放在link的中心线上
            let pos = linkV.getPointAtRatio(0.5);
            pos.x = pos.x - 15;
            pos.y = pos.y - 15;
            agv.rotate(0, true);
            agv.position(pos.x, pos.y);
        }
    };
    mapUtil.getTangentAngle = function (tangent) {
        // 直角的边长
        let x = tangent.end.x - tangent.start.x;
        let y = tangent.end.y - tangent.start.y;
        let ax = Math.abs(x);
        let ay = Math.abs(y);
        let an = Math.atan(Math.tan(ay/ax));
        console.log("an", an);
        // 斜边长
        let z = Math.sqrt(Math.pow(x, 2) + Math.pow(y, 2));
        // 余弦
        let cos = y / z;
        // 弧度
        let radina = Math.acos(cos);
        console.log("radina", radina);
        // 角度
        let angle =  180 / (Math.PI / radina);
        return angle;
    }
})(_, joint);