Merge branch 'master' of git@gitlab.sd-zeus.com:yangzeyu/SCVerificationPipelineDT.git

a038b034 · 何宏钊 · 04a96013 · 11196f28 · a038b034 · a038b034
Commit a038b034 authored Oct 09, 2024 by 何宏钊
14 changed files
--- a/Assets/Scripts/Components/AGV/AGVDemoV2.cs
+++ b/Assets/Scripts/Components/AGV/AGVDemoV2.cs
@@ -17,17 +17,40 @@ public class AGVDemoV2 : MonoBehaviour
    public ReportErrorsUI ReportErrorsUI;

    public List<string> IsHasError;
+    public Animator animator;

    private void Start()
    {
        IsHasError = new List<string>();
        StartCoroutine(UpdatePosition());
        StartCoroutine(UpdateErrorReporting());
+
+        // 递归查找名字为"机械臂"的子物体
+        Transform mechanicalArm = FindChildRecursive(AGVManager._getOrCreateAGV(AGVName).transform, "机械臂");
+
+        if (mechanicalArm != null)
+        {
+            animator = mechanicalArm.gameObject.GetComponent<Animator>();
+        }
+        else
+        {
+            Debug.Log("未找到名为'机械臂'的子物体");
+        }
+    }
+
+    private void Update()
+    {
+        // 根据需要设置playbackValue
+        AnimatorStateInfo stateInfo = animator.GetCurrentAnimatorStateInfo(0);
+        if (stateInfo.IsName("Base Layer.Run"))
+        {  //获取 Base Layer 动画节点下的名为 Run 的 State
+            animator.SetFloat("Playback", manager.position.z * 10/7);         //设置 Blend 参数
+        }
    }

    private void UpdatePosition1()
    {
-        AGVManager.AddMoveMsg(AGVName, manager.position, manager.angle);
+        AGVManager.AddMoveMsg(AGVName, new Vector3(manager.position.x,manager.position.y,0), manager.angle);
    }


@@ -89,4 +112,33 @@ public class AGVDemoV2 : MonoBehaviour
            IsHasError.Remove(faultDataName);
        }
    }
+
+    /// <summary>
+    /// 查找子物体
+    /// </summary>
+    /// <param name="parent"></param>
+    /// <param name="childName"></param>
+    /// <returns></returns>
+    Transform FindChildRecursive(Transform parent, string childName)
+    {
+        // 遍历当前父物体的所有直接子物体
+        foreach (Transform child in parent)
+        {
+            // 如果找到名字匹配的子物体，返回该子物体
+            if (child.name == childName)
+            {
+                return child;
+            }
+
+            // 如果当前子物体本身还有子物体，则递归查找
+            Transform result = FindChildRecursive(child, childName);
+            if (result != null)
+            {
+                return result; // 如果在递归中找到目标物体，则返回
+            }
+        }
+
+        // 如果未找到，返回 null
+        return null;
+    }
 }
--- a/Assets/Scripts/Components/AGV/LoginManager.cs
+++ b/Assets/Scripts/Components/AGV/LoginManager.cs
@@ -62,7 +62,7 @@ public class LoginManager : MonoBehaviour
        {
            RobotPositionData robotPositionData = (RobotPositionData)data;
            position = new Vector3(robotPositionData.data.x, robotPositionData.data.y, robotPositionData.data.h);
-            angle = robotPositionData.data.angle * Mathf.Rad2Deg;
+            angle = -robotPositionData.data.angle * Mathf.Rad2Deg;
        }

        if (data.GetType().Equals(typeof(FaultEventData)))

--- a/Assets/Scripts/Components/UI/SensorDataManger.cs
+++ b/Assets/Scripts/Components/UI/SensorDataManger.cs
@@ -36,10 +36,10 @@ public class SensorDataManger : MonoBehaviour
    void Start()
    {
        //编辑模式下使用，创建UI
-        //foreach (GameObject item in model1)
-        //{
-        //    Create3dUI(item, _parent1);
-        //}
+        foreach (GameObject item in model1)
+        {
+            Create3dUI(item, _parent1);
+        }

        //foreach (GameObject item in model2)
        //{

--- a/Assets/_Scenes/3_Main.unity
+++ b/Assets/_Scenes/3_Main.unity
--- a/Assets/_Scenes/4_Main.unity
+++ b/Assets/_Scenes/4_Main.unity
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+  m_LocalPosition: {x: -0, y: 0.319, z: 0.399}
  m_LocalScale: {x: 1, y: 1, z: 1}
  m_ConstrainProportionsScale: 0
  m_Children:
@@ -435,7 +435,7 @@ Transform:
  m_GameObject: {fileID: 1965839620980476416}
  serializedVersion: 2
  m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
-  m_LocalPosition: {x: -0, y: 0.158, z: -0.27}
+  m_LocalPosition: {x: 0, y: 0.158, z: 0.371}
  m_LocalScale: {x: 1, y: 1, z: 1}
  m_ConstrainProportionsScale: 0
  m_Children:
@@ -680,6 +680,7 @@ GameObject:
  serializedVersion: 6
  m_Component:
  - component: {fileID: 4819334625844746506}
+  - component: {fileID: 8454028405836851946}
  m_Layer: 0
  m_Name: "\u673A\u68B0\u81C2"
  m_TagString: Untagged
@@ -696,7 +697,7 @@ Transform:
  m_GameObject: {fileID: 3166591749672883522}
  serializedVersion: 2
  m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
-  m_LocalPosition: {x: 0.003, y: 0.662, z: -0.2}
+  m_LocalPosition: {x: 0.003, y: 0.662, z: 0.441}
  m_LocalScale: {x: 1, y: 1, z: 1}
  m_ConstrainProportionsScale: 0
  m_Children:
@@ -704,6 +705,27 @@ Transform:
  - {fileID: 5191093196653855318}
  m_Father: {fileID: 5676559366613536494}
  m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
+--- !u!95 &8454028405836851946
+Animator:
+  serializedVersion: 5
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 3166591749672883522}
+  m_Enabled: 1
+  m_Avatar: {fileID: 0}
+  m_Controller: {fileID: 9100000, guid: b08872cc4286b044aaad51256ade5915, type: 2}
+  m_CullingMode: 0
+  m_UpdateMode: 0
+  m_ApplyRootMotion: 0
+  m_LinearVelocityBlending: 0
+  m_StabilizeFeet: 0
+  m_WarningMessage: 
+  m_HasTransformHierarchy: 1
+  m_AllowConstantClipSamplingOptimization: 1
+  m_KeepAnimatorStateOnDisable: 0
+  m_WriteDefaultValuesOnDisable: 0
 --- !u!1 &3189119573151215578
 GameObject:
  m_ObjectHideFlags: 0