Merge remote-tracking branch 'origin/master'

src/components/YvSrcEditorInner.vue

@@ -150,6 +150,13 @@ export default {
         () => null
       )
     },
+    clear(){
+      if (this.editor) {
+        this.editor.setValue('')
+        this.$emit('update:modelValue', '')
+        this.$emit('change', '')
+      }
+    },
     init() {
       // this.editor.updateOptions(option);
       this.editor.setValue(this.modelValue ?? '')

src/core/base/BaseRenderer.ts

@@ -108,7 +108,7 @@ export default abstract class BaseRenderer {
   }
 
   createPointForEntity(item: ItemJson, option?: RendererCudOption): Object3DLike {
-    const point = this.createPoint(item, option)
+    let point = this.createPoint(item, option)
     point.visible = ((typeof item.v !== 'undefined') ? item.v : true)
 
     if (item.dt.storeAt?.item) {
@@ -118,7 +118,24 @@ export default abstract class BaseRenderer {
     setUserDataForItem(item, point)
     this.afterCreateOrUpdatePoint(item, option, point)
     this.tempViewport.entityManager.appendObject(item.id, point)
-    this.appendToScene(point)
+    if (typeof option.getParentObject3D === 'function') {
+      // 要求添加到指定 父对象
+      const parent: THREE.Object3D = option.getParentObject3D(this.tempViewport, item)
+      if (point instanceof MeshWrap) {
+        const wrap = point as MeshWrap
+        const mesh = wrap.manager.wrapToObject3D(wrap)
+        this.tempViewport.entityManager.replaceObject(item.id, mesh)
+        parent.add(mesh)
+        point = mesh
+
+      } else {
+        parent.add(point)
+      }
+
+    } else {
+      // 默认添加到场景中
+      this.appendToScene(point)
+    }
     return point
   }
 
@@ -147,7 +164,7 @@ export default abstract class BaseRenderer {
 
     if (item.dt.storeAt?.item) {
       // 如果是库存物品, 则需要将位置和角度设置为库存位置
-      const rack = this.tempViewport.stateManager.findItemById(item.dt.storeAt?.item)
+      const rack = Model.find(item.dt.storeAt?.item)
       if (!rack) {
         console.error(`Cannot find rack for item ${item.id} at ${item.dt.storeAt?.item}`)
       }
@@ -155,13 +172,14 @@ export default abstract class BaseRenderer {
       if (!rackRenderer) {
         console.error(`Cannot find renderer for rack type ${rack.t}`)
       }
-      const { position, rotation } = rackRenderer.getStorePlacement(rack, item.dt.storeAt.bay, item.dt.storeAt.level, item.dt.storeAt.cell)
+      const { position, rotation, getParentObject3D } = rackRenderer.getStorePlacement(rack, item.dt.storeAt.bay, item.dt.storeAt.level, item.dt.storeAt.cell)
       if (!position || !rotation) {
         console.error(`无法获取物品 ${item.id} 的存储位置`)
       }
 
       option.position = position
       option.rotation = rotation
+      option.getParentObject3D = getParentObject3D
     }
 
     if (_.isArray(option?.position) && _.isArray(option?.rotation)) {
@@ -312,7 +330,10 @@ export default abstract class BaseRenderer {
    * 获取物品存储到地堆货位中，返回可存放的位置和角度一个 Position 和 Rotation
    */
   getStorePlacement(storeItem: ItemJson, bay = 0, level = 0, cell = 0)
-    : { position: [number, number, number], rotation: [number, number, number] } {
+    : {
+    position: [number, number, number], rotation: [number, number, number],
+    getParentObject3D?: (viewport: Viewport, parent: ItemJson) => THREE.Object3D
+  } {
     throw new Error(' 不支持库存物品的添加. t=' + this.itemTypeName)
   }
 

src/core/manager/BackendMessageReceiver.ts

@@ -1,6 +1,5 @@
 import mqtt, { type IClientOptions, type IClientSubscribeOptions } from 'mqtt'
 import { reactive } from 'vue'
-import type Viewport from '@/core/engine/Viewport.ts'
 
 // 定义MQTT消息类型
 export interface MqttMessage {
@@ -22,6 +21,7 @@ type ProcessFn = (message: MqttMessage, handler: BackendMessageHandler) => void
 interface HandlerNode {
   processFn: ProcessFn
   handler: BackendMessageHandler
+  handlerId: string
 }
 
 /**
@@ -86,6 +86,7 @@ export default class BackendMessageReceiver {
         this.client.on('close', () => {
           this.state.status = ConnectionStatus.DISCONNECTED
           this.state.isConnected = false
+          debugger
           console.log('backendMQTT disconnected')
         })
 
@@ -175,7 +176,8 @@ export default class BackendMessageReceiver {
     if (!this.handlers.has(topic)) {
       this.handlers.set(topic, [])
     }
-    this.handlers.get(topic)?.push({ processFn, handler })
+    const handlerId = system.createUUID()
+    this.handlers.get(topic)?.push({ processFn, handler, handlerId })
 
     // 如果尚未订阅该主题
     if (!this.state.subscribedTopics.includes(topic) && this.client) {
@@ -185,54 +187,50 @@ export default class BackendMessageReceiver {
       this.client.subscribe(topic, options, (err) => {
         if (err) {
           console.error(`Failed to subscribe to ${topic}:`, err)
+        } else {
+          console.log(`BackendMQTT Subscribed to ${topic}`)
         }
       })
     }
 
     return () => {
       // 取消订阅
-      this.unsubscribe(type, handler)
+      this.unsubscribe(handlerId)
     }
   }
 
   // 取消订阅
-  public unsubscribe(type: BackendTopicType, handler: BackendMessageHandler): void {
+  private unsubscribe(handlerId: string): void {
     // if (!this.client?.connected) {
     //   throw new Error('Cannot unsubscribe - backendMQTT not connected')
     // }
 
-    const [topic, processFn] = this.getTopicStringByType(type)
-    if (!topic) {
-      throw new Error(`Invalid topic for type ${type}`)
-    }
-
     // 移除特定处理函数
-    if (handler && this.handlers.has(topic)) {
-      const handlers = this.handlers.get(topic) || []
-      const newHandlers = handlers.filter(h => (h.processFn !== processFn && h.handler !== handler))
+    for (const [topic, handlers] of this.handlers.entries()) {
+      const newHandlers = handlers.filter(node => node.handlerId !== handlerId)
 
       if (newHandlers.length > 0) {
+
         this.handlers.set(topic, newHandlers)
-      } else {
-        this.handlers.delete(topic)
-      }
-    } else {
-      this.handlers.delete(topic)
-    }
 
-    // 如果没有处理器了，取消订阅
-    if (!this.handlers.has(topic) && this.client) {
+      } else {
 
-      const options = {}
-      console.log(`client.unsubscribe(${topic},`, options)
-      this.client.unsubscribe(topic, options, (err) => {
-        if (err) {
-          console.error(`Failed to unsubscribe from ${topic}:`, err)
-        } else {
-          this.state.subscribedTopics = this.state.subscribedTopics.filter(t => t !== topic)
-          console.log(`Unsubscribed from ${topic}`)
+        // 如果没有处理器了，取消订阅
+        this.handlers.delete(topic)
+        if (this.client) {
+          const options = {}
+          console.log(`client.unsubscribe(${topic},`, options)
+          this.client.unsubscribe(topic, options, (err) => {
+            if (err) {
+              console.error(`Failed to unsubscribe from ${topic}:`, err)
+            } else {
+              this.state.subscribedTopics = this.state.subscribedTopics.filter(t => t !== topic)
+              console.log(`BackendMQTT Unsubscribed from ${topic}`)
+            }
+          })
         }
-      })
+
+      }
     }
   }
 
@@ -351,7 +349,7 @@ export default class BackendMessageReceiver {
   private handleDeviceAlive(message: MqttMessage, handler: BackendMessageHandler) {
     try {
       const data = JSON.parse(message.payload.toString())
-      handler('DeviceAlive', message.topic, _.cloneDeep(data))
+      handler('DeviceAlive', message.topic, data)
 
       // 处理设备存活状态
     } catch (error) {
@@ -361,8 +359,7 @@ export default class BackendMessageReceiver {
 
   private handleLogMonitor(message: MqttMessage, handler: BackendMessageHandler) {
     try {
-      const data = JSON.parse(message.payload.toString())
-      handler('Logs', message.topic, _.cloneDeep(data))
+      handler('Logs', message.topic, message.payload.toString())
 
       // 处理日志更新
     } catch (error) {
@@ -373,7 +370,7 @@ export default class BackendMessageReceiver {
   private handleAlarmMonitor(message: MqttMessage, handler: BackendMessageHandler) {
     try {
       const data = JSON.parse(message.payload.toString())
-      handler('Alarm', message.topic, _.cloneDeep(data))
+      handler('Alarm', message.topic, data)
 
     } catch (error) {
       console.error('Error parsing alarm data:', error)

src/core/manager/EnvManager.ts

@@ -9,6 +9,7 @@ import { AmrMsg } from '@/core/manager/amr/AmrMessageDefine'
 export default class EnvManager {
   private amrMessageManager: AmrMessageManager = new AmrMessageManager()
   public client: mqtt.MqttClient = null
+  readonly stopSubscribe: StopSubscribe[] = []
 
   onMqttConnect = (packet: IConnackPacket) => {
     console.log('Connected')
@@ -57,7 +58,6 @@ export default class EnvManager {
     const env = worldModel.state.runState.currentEnv
     try {
       worldModel.backendMessageReceiver.setProjectEnv(worldModel.state.project_uuid, worldModel.state.runState.currentEnvId)
-      await LCC.loadInv()
 
       this.client = mqtt.connect(env.envConfig.mqtt.websocket, {
         path: '/mqtt',
@@ -71,6 +71,13 @@ export default class EnvManager {
       })
 
       await this.loadExecutorToModel()
+      this.stopSubscribe.push(
+        worldModel.backendMessageReceiver.subscribe('InvUpdate', this.onInvUpdateMessage.bind(this))
+      )
+      this.stopSubscribe.push(
+        worldModel.backendMessageReceiver.subscribe('ServerState', this.onServerUpdateMessage.bind(this))
+      )
+      await this.loadInvToModel()
 
       this.client.on('connect', this.onMqttConnect)
       this.client.on('message', this.onMqttMessage)
@@ -83,6 +90,61 @@ export default class EnvManager {
     }
   }
 
+  /**
+   * 监听在服务器停机之后，客户端连接也必须停机
+   */
+  onServerUpdateMessage(type: BackendTopicType, topic: string, data: ServerStatusVo) {
+    if (worldModel.state.runState.isRunning && worldModel.state.runState.currentEnvId === data.envId) {
+      // 处理服务器状态更新
+      if (!data.isRunning) {
+        // 如果服务器停止了，则断开连接
+        console.log(`Server stopped: ${data.envId}`)
+        system.msg(`Server is stopped, client disconnect!`, 'warning')
+        this.disconnectEnv().finally()
+      }
+    }
+  }
+
+  async onInvUpdateMessage(type: BackendTopicType, topic: string, body: InvUpdateVo) {
+    console.log(`InvUpdate: ${type} ${topic}`, body)
+
+    if (!window['Model']) {
+      // 如果没有3D模型加载，则不处理库存更新
+      return
+    }
+
+    Model.deleteInv(body.lpn)
+
+    if (body.after != null) {
+      // 将托盘挪到目标位置
+      const after = body.after
+      Model.createInv('pallet', body.lpn, after.rack, after.bay, after.level, after.cell)
+    }
+  }
+
+  // 加载库存到3D视图上
+  async loadInvToModel() {
+    if (!window['Model']) {
+      return
+    }
+
+    const invRes = await LCC.loadInv()
+    if (!invRes.success) {
+      return
+    }
+
+    for (const row of invRes.data) {
+      const bay = row.bay
+      const cell = row.cell // : 0
+      const level = row.level // : 0
+      const loc_code = row.loc_code // : "rack1_0_0_0"
+      const lpn = row.lpn // : "LPN1"
+      const rack = row.rack // : "rack1"
+      const container_type = row.container_type // : "pallet"
+      Model.createInv(container_type, lpn, rack, bay, level, cell)
+    }
+  }
+
   // 加载执行器到3D视图上
   async loadExecutorToModel() {
     if (!window['Model']) {
@@ -128,6 +190,12 @@ export default class EnvManager {
     system.showLoading()
     try {
       worldModel.state.runState.isRunning = false
+
+      for (const stopFn of this.stopSubscribe) {
+        stopFn()
+      }
+      this.stopSubscribe.length = 0
+
       if (this.client) {
         this.client.removeAllListeners()
         this.client.end()
@@ -172,6 +240,6 @@ export default class EnvManager {
    * 卸载资源
    */
   dispose(): void {
-    this.disconnectEnv()
+    this.disconnectEnv().finally()
   }
 }

src/core/manager/RuntimeManager.ts

@@ -78,4 +78,24 @@ export default class RuntimeManager {
     this.tmpExecutors.add(item.id)
     this.viewport.entityManager.createOrUpdateEntityOnlyRuntime(item)
   }
+
+  removeEntity(itemId: string) {
+    this.tmpExecutors.delete(itemId)
+
+    // 从各个货架中移除
+    for (const [rackId, items] of this.storeRackMap.entries()) {
+      if (items.has(itemId)) {
+        items.delete(itemId)
+        if (items.size === 0) {
+          this.storeRackMap.delete(rackId)
+        }
+      }
+    }
+
+    this.viewport.entityManager.deleteEntityOnlyRuntime(itemId)
+  }
+
+  has(itemId: string) {
+    return this.tmpExecutors.has(itemId)
+  }
 }

src/core/script/LCCScript.ts

@@ -57,25 +57,38 @@ export default class LCCScript implements LCC {
   }
 
   // 从后台读取所有库存
-  async loadInv(): Promise<ServerResponse<InvVo>> {
-    const res = await Request.request.post('/api/workbench/LccController@loadInv', {
-      projectUuid: worldModel.state.project_uuid,
+  async loadInv(): Promise<ServerResponse<InvVo[]>> {
+    return Request.request.post('/api/workbench/InvController@loadInv', {
+      projectUUID: worldModel.state.project_uuid,
       catalogCode: worldModel.state.catalogCode,
       envId: worldModel.state.runState.currentEnvId
     })
-    for (const row of res.data) {
-      const bay = row.bay
-      const cell = row.cell // : 0
-      const level = row.level // : 0
-      const loc_code = row.loc_code // : "rack1_0_0_0"
-      const lpn = row.lpn // : "LPN1"
-      const rack = row.rack // : "rack1"
-      const container_type = row.container_type // : "pallet"
-      if (window['Model']) {
-        Model.createInv(container_type, lpn, rack, bay, level, cell)
-      }
-    }
-    return res.data
+  }
+
+  createInv(lpn: string, targetStore: string): Promise<ServerResponse<void>> {
+    return Request.request.post('/api/workbench/InvController@createInv', {
+      projectUUID: worldModel.state.project_uuid,
+      envId: worldModel.state.runState.currentEnvId,
+      lpn: lpn,
+      targetStore: targetStore
+    })
+  }
+
+  moveInv(lpn: string, targetStore: string): Promise<ServerResponse<void>> {
+    return Request.request.post('/api/workbench/InvController@moveInv', {
+      projectUUID: worldModel.state.project_uuid,
+      envId: worldModel.state.runState.currentEnvId,
+      lpn: lpn,
+      targetStore: targetStore
+    })
+  }
+
+  deleteInv(lpn: string): Promise<ServerResponse<void>> {
+    return Request.request.post('/api/workbench/InvController@deleteInv', {
+      projectUUID: worldModel.state.project_uuid,
+      envId: worldModel.state.runState.currentEnvId,
+      lpn: lpn
+    })
   }
 
   saveAndSyncScripts(scriptList: { name: string; content: string }[]): Promise<ServerResponse<{ name: string; content: string }[]>> {

src/core/script/ModelManager.ts

@@ -77,6 +77,10 @@ export default class ModelManager implements IControls, Model {
     return item
   }
 
+  find3D(id: string): any {
+    return this.viewport.entityManager.findObjectById(id)
+  }
+
   getPositionByEntityId(entityId: string): THREE.Vector3 {
     const item = this.viewport.entityManager.findItemById(entityId)
     const matrix = getMatrixFromTf(item.tf)
@@ -85,7 +89,16 @@ export default class ModelManager implements IControls, Model {
     return position
   }
 
+  deleteInv(itemId) {
+    this.viewport.runtimeManager.removeEntity(itemId)
+  }
+
   deleteItem(itemId) {
+    if (this.viewport.runtimeManager.has(itemId)) {
+      // 临时执行器
+      this.viewport.runtimeManager.removeEntity(itemId)
+      return
+    }
     this.viewport.stateManager.update(({ deleteEntity }) => {
       deleteEntity(itemId)
     })

src/editor/widgets/logger/LoggerView.vue

@@ -11,12 +11,13 @@
     </span>
   </div>
   <div class="calc-bottom-panel">
-    <YvSrcEditor ref="jsEditor" language="typescript" v-model="currentLog" />
+    <YvSrcEditor ref="jsEditor" language="typescript" />
   </div>
 </template>
 <script>
 import IWidgets from '../IWidgets.js'
 import YvSrcEditor from '@/components/YvSrcEditor.vue'
+import { worldModel } from '@/core/manager/WorldModel.js'
 
 export default {
   name: 'LoggerView',
@@ -24,8 +25,53 @@ export default {
   mixins: [IWidgets],
   data() {
     return {
+      stopSubscribe: [],
       searchKeyword: ''
     }
+  },
+  mounted() {
+    window['LoggerView'] = this
+  },
+  unmounted() {
+    window['LoggerView'] = null
+    this.undescribe()
+  },
+  methods: {
+    onServerLogMessage() {
+
+    },
+    async refreshData() {
+      this.$refs.jsEditor.clear()
+    },
+    async subscribe() {
+      await this.refreshData()
+
+      // 订阅设备状态消息
+      this.stopSubscribe.push(
+        worldModel.backendMessageReceiver.subscribe('Logs', this.onServerLogMessage.bind(this))
+      )
+    },
+    undescribe() {
+      // 取消订阅设备状态消息
+      for (const stopFn of this.stopSubscribe) {
+        stopFn()
+      }
+      this.stopSubscribe = []
+    }
+  },
+  watch: {
+    isActivated: {
+      handler(value) {
+        if (value) {
+          this.subscribe()
+        }
+        // 如果不需要自动订阅，可以取消下面的代码注释
+        // else {
+        //   this.undescribe()
+        // }
+      },
+      immediate: true
+    }
   }
 }
 </script>

src/editor/widgets/monitor/MonitorView.vue

@@ -4,12 +4,16 @@
     <el-button size="small" :icon="renderIcon('Refresh')" @click="refreshData"
                style="margin-left: 5px;"
     />
+    <el-button size="small" :icon="renderIcon('fa Simplybuilt')" @click="simBootAll"
+               style="margin-left: 2px;" link
+               v-if="worldModelState.runState.isRunning && worldModelState.runState.isVirtual"
+    >全上线
+    </el-button>
     <el-input v-model="searchKeyword" size="small" style="width: 240px" placeholder="Search">
       <template #prefix>
         <component :is="renderIcon('element Search')"></component>
       </template>
     </el-input>
-
     <span class="close" @click="closeMe">
       <component :is="renderIcon('element Close')" />
     </span>
@@ -93,6 +97,18 @@ export default {
     this.undescribe()
   },
   methods: {
+    simBootAll() {
+      const viewport = window['viewport']
+      for (const deviceInfo of this.deviceList) {
+        if (deviceInfo.isOnline) {
+          continue
+        }
+        const view3DObject = Model.find3D(deviceInfo.id)
+        if (typeof view3DObject.boot === 'function') {
+          view3DObject.boot()
+        }
+      }
+    },
     copyDeviceId(deviceInfo) {
       navigator.clipboard.writeText(deviceInfo.id).then(() => {
         system.msg('设备ID已复制到剪贴板', 'success')
@@ -154,7 +170,7 @@ export default {
         worldModel.backendMessageReceiver.subscribe('DeviceStatus', this.onDeviceStatusMessage.bind(this))
       )
     },
-    async refreshData(){
+    async refreshData() {
       this.deviceList = []
       const res = await LCC.queryDeviceInfoList()
       if (!res.success) {
@@ -234,6 +250,9 @@ export default {
     },
     idle() {
       return this.deviceList.filter(device => device.mode === 'AMR_FREE_MODE').length
+    },
+    worldModelState() {
+      return worldModel.state
     }
   },
   watch: {

src/editor/widgets/server/EnvSelectConnect.vue

@@ -55,10 +55,10 @@ export default {
   methods: {
     renderIcon,
     connectEnv() {
-      worldModel.envManager.connectEnv()
+      worldModel.envManager.connectEnv().finally()
     },
     disconnectEnv() {
-      worldModel.envManager.disconnectEnv()
+      worldModel.envManager.disconnectEnv().finally()
     },
     createEnv() {
       EnvManager.createEnv(this.worldModelState.project_uuid).then(() => {

src/editor/widgets/server/ServerView.vue

@@ -108,6 +108,13 @@ export default {
         worldModel.backendMessageReceiver.subscribe('ServerState', this.onServerStateMessage.bind(this))
       )
     },
+    undescribe() {
+      // 取消订阅设备状态消息
+      for (const stopFn of this.stopSubscribe) {
+        stopFn()
+      }
+      this.stopSubscribe = []
+    },
     async refreshData() {
       this.serverList = []
       this.isLoading = true
@@ -123,13 +130,6 @@ export default {
         this.isLoading = false
       }
     },
-    undescribe() {
-      // 取消订阅设备状态消息
-      for (const stopFn of this.stopSubscribe) {
-        stopFn()
-      }
-      this.stopSubscribe = []
-    },
 
     // 获取系统标签的样式类
     getSystemTagClass(system) {

src/modules/amr/ptr/PtrObject.ts

@@ -1,4 +1,4 @@
-import * as THREE from "three";
+import * as THREE from 'three'
 import {
   AmrErrorCode,
   AmrMsg, AmrMsg10010, AmrMsg10050, AmrMsg10060, AmrMsg10110, AmrMsg10120, AmrMsg20010,
@@ -14,14 +14,14 @@ import {
   TaskModeChangeData,
   TaskStatusChangeData,
   TaskTypeChangeData
-} from "@/core/manager/amr/AmrMessageDefine";
-import {worldModel} from "@/core/manager/WorldModel";
-import Viewport from "@/core/engine/Viewport";
-import {Euler} from "three/src/math/Euler";
-import gsap from "gsap";
+} from '@/core/manager/amr/AmrMessageDefine'
+import { worldModel } from '@/core/manager/WorldModel'
+import Viewport from '@/core/engine/Viewport'
+import { Euler } from 'three/src/math/Euler'
+import gsap from 'gsap'
 
 
-type CStepTaskType = "MOVE" | "MOVE_BACKWARD" | "ROTATION" | "LOAD" | "UNLOAD" | "CHARGE"
+type CStepTaskType = 'MOVE' | 'MOVE_BACKWARD' | 'ROTATION' | 'LOAD' | 'UNLOAD' | 'CHARGE'
 
 export interface StepTask {
   SeqNo: number;
@@ -55,8 +55,8 @@ export default class PtrObject extends THREE.Object3D {
 
   public clock = new THREE.Clock()
 
-  override AGVModel = ""
-  override AGVFnModel = ""
+  override AGVModel = ''
+  override AGVFnModel = ''
 
   private boxBody: any = null
   private __toPos: THREE.Vector3 = null
@@ -159,7 +159,7 @@ export default class PtrObject extends THREE.Object3D {
   private mqRetryTimeCount: number = 0
 
   constructor(item: ItemJson, viewport: Viewport) {
-    super();
+    super()
     this.viewport = viewport
     this.item = item
     this.vehicleId = parseInt(item.id)
@@ -194,23 +194,23 @@ export default class PtrObject extends THREE.Object3D {
 
   // 开机
   boot() {
-    this.bootTime = Date.now();
-    this.computeLogicXYAndDirection();
+    this.bootTime = Date.now()
+    this.computeLogicXYAndDirection()
 
-    const boxShape = new this.viewport.ammoModel.btBoxShape(new Ammo.btVector3(0.5, 0.5, 0.5));
+    const boxShape = new this.viewport.ammoModel.btBoxShape(new Ammo.btVector3(0.5, 0.5, 0.5))
 
     const mass = 10
     const localInertia = new this.viewport.ammoModel.btVector3(0, 0, 0)
     boxShape.calculateLocalInertia(mass, localInertia)
 
-    const boxTransform = new this.viewport.ammoModel.btTransform();
-    boxTransform.setIdentity();
-    boxTransform.setOrigin(new this.viewport.ammoModel.btVector3(this.position.x, this.position.y, this.position.z));
+    const boxTransform = new this.viewport.ammoModel.btTransform()
+    boxTransform.setIdentity()
+    boxTransform.setOrigin(new this.viewport.ammoModel.btVector3(this.position.x, this.position.y, this.position.z))
 
-    const boxMotionState = new this.viewport.ammoModel.btDefaultMotionState(boxTransform);
+    const boxMotionState = new this.viewport.ammoModel.btDefaultMotionState(boxTransform)
     const rbInfo = new this.viewport.ammoModel.btRigidBodyConstructionInfo(mass, boxMotionState, boxShape, localInertia)
-    this.boxBody = new this.viewport.ammoModel.btRigidBody(rbInfo);
-    this.viewport.physicsWorld.addRigidBody(this.boxBody);
+    this.boxBody = new this.viewport.ammoModel.btRigidBody(rbInfo)
+    this.viewport.physicsWorld.addRigidBody(this.boxBody)
 
     if (!worldModel.state.runState.isVirtual) {
       return
@@ -321,7 +321,7 @@ export default class PtrObject extends THREE.Object3D {
       ActuatorsData: [
         {
           MechNo: 1,
-          Name: "Mech1",
+          Name: 'Mech1',
           PickMode: this.PickMode
         }
       ]
@@ -349,10 +349,10 @@ export default class PtrObject extends THREE.Object3D {
     content.CurLogicX = this.currentLogicX
     content.CurLogicY = this.currentLogicY
     content.CurOrientation = this.currentOrientation
-    content.CurX = this.position.x;
-    content.CurY = this.position.z;
-    content.X = this.position.x;
-    content.Y = this.position.z;
+    content.CurX = this.position.x
+    content.CurY = this.position.z
+    content.X = this.position.x
+    content.Y = this.position.z
     const m20060 = new AmrMsg<AmrMsg20060>(content)
     this.sendMessage(m20060)
   }
@@ -362,7 +362,7 @@ export default class PtrObject extends THREE.Object3D {
   }
 
   subscribeMessage(topic: string) {
-    worldModel.envManager.client.subscribe(topic, {qos: 0})
+    worldModel.envManager.client.subscribe(topic, { qos: 0 })
   }
 
   sendMessage(msg: AmrMsg<any>) {
@@ -385,7 +385,7 @@ export default class PtrObject extends THREE.Object3D {
       return
     }
     const content = new AmrMsg20100(this.vehicleId)
-    content.Temperature = {Battery: this.Battery}
+    content.Temperature = { Battery: this.Battery }
     const m20100 = new AmrMsg<AmrMsg20100>(content)
     worldModel.envManager.client.publish('/agv_robot/status', JSON.stringify(m20100))
   }
@@ -460,27 +460,27 @@ export default class PtrObject extends THREE.Object3D {
     }
     const ddra = Math.PI / 180
     if (ra >= Math.PI * 2 - ddra || ra <= ddra) {
-      this.currentDirection = 0;
+      this.currentDirection = 0
 
     } else if (ra >= Math.PI / 2 - ddra && ra <= Math.PI / 2 + ddra) {
-      this.currentDirection = 3;
+      this.currentDirection = 3
 
     } else if (ra >= Math.PI - ddra && ra <= Math.PI + ddra) {
-      this.currentDirection = 2;
+      this.currentDirection = 2
 
     } else if (ra >= Math.PI / 2 * 3 - ddra && ra <= Math.PI / 2 * 3 + ddra) {
-      this.currentDirection = 1;
+      this.currentDirection = 1
     } else {
-      this.currentDirection = 15;
+      this.currentDirection = 15
     }
 
     const pointItem = Model.getItemByXYZ(this.position.x, this.position.y, this.position.z)
     if (!pointItem || !pointItem.logicX || !pointItem.logicY) {
-      this.currentLogicX = -1;
-      this.currentLogicY = -1;
+      this.currentLogicX = -1
+      this.currentLogicY = -1
     } else {
-      this.currentLogicX = pointItem.logicX;
-      this.currentLogicY = pointItem.logicY;
+      this.currentLogicX = pointItem.logicX
+      this.currentLogicY = pointItem.logicY
     }
     this.currentOrientation = this.getAmrOrientation(this.rotation.y)
   }
@@ -494,7 +494,7 @@ export default class PtrObject extends THREE.Object3D {
       } else {
         currentStepTask = {
           SeqNo: 0,
-          StepTaskType: "MOVE",
+          StepTaskType: 'MOVE',
           OperationType: 0,
           PickMode: 0,
           X: this.currentLogicX,
@@ -513,7 +513,7 @@ export default class PtrObject extends THREE.Object3D {
 
     const linkCount = data.Link?.length || 0
     if (linkCount > 0) {
-      let prevLink = {X: data.StartX, Y: data.StartY, Speed: 1000}
+      let prevLink = { X: data.StartX, Y: data.StartY, Speed: 1000 }
       for (let i = 0; i < data.Link.length; i++) {
         const link = data.Link[i]
         if ((currentStepTask.X == link.X && currentStepTask.Y == link.Y)
@@ -549,7 +549,7 @@ export default class PtrObject extends THREE.Object3D {
         if (endDirection != currentStepTask.EndDirection) {
           const stepTask: StepTask = {
             SeqNo: data.SeqNo,
-            StepTaskType: "ROTATION",
+            StepTaskType: 'ROTATION',
             OperationType: 0,
             PickMode: 0,
             X: prevLink.X,
@@ -567,7 +567,7 @@ export default class PtrObject extends THREE.Object3D {
 
         const stepTask: StepTask = {
           SeqNo: data.SeqNo,
-          StepTaskType: link.Speed > 0 ? "MOVE" : "MOVE_BACKWARD",
+          StepTaskType: link.Speed > 0 ? 'MOVE' : 'MOVE_BACKWARD',
           OperationType: 0,
           PickMode: 0,
           X: link.X,
@@ -590,7 +590,7 @@ export default class PtrObject extends THREE.Object3D {
       || (linkCount > 0 && data.Link[linkCount - 1].X == data.EndX && data.Link[linkCount - 1].Y == data.EndY)) {
 
       if (data.OperationType == 0 && data.EndDirection >= 0 && data.EndDirection <= 3) {
-        endDirection = data.EndDirection;
+        endDirection = data.EndDirection
       } else if (data.OperationType == 3 && data.ChargeDirection >= 0 && data.ChargeDirection <= 3) {
         endDirection = data.ChargeDirection
       } else if (data.OperationType == 4 && data.GoodsSlotDirection >= 0 && data.GoodsSlotDirection <= 3) {
@@ -610,7 +610,7 @@ export default class PtrObject extends THREE.Object3D {
         }
         const stepTask: StepTask = {
           SeqNo: data.SeqNo,
-          StepTaskType: "ROTATION",
+          StepTaskType: 'ROTATION',
           OperationType: 0,
           PickMode: 0,
           X: data.EndX,
@@ -629,7 +629,7 @@ export default class PtrObject extends THREE.Object3D {
 
         const stepTask: StepTask = {
           SeqNo: data.SeqNo,
-          StepTaskType: "CHARGE",
+          StepTaskType: 'CHARGE',
           OperationType: 3,
           PickMode: 0,
           X: data.EndX,
@@ -647,7 +647,7 @@ export default class PtrObject extends THREE.Object3D {
 
         const stepTask: StepTask = {
           SeqNo: data.SeqNo,
-          StepTaskType: data.PickMode == 1 ? "LOAD" : "UNLOAD",
+          StepTaskType: data.PickMode == 1 ? 'LOAD' : 'UNLOAD',
           OperationType: 4,
           PickMode: data.PickMode,
           X: data.EndX,
@@ -676,7 +676,7 @@ export default class PtrObject extends THREE.Object3D {
     while (this.currentStepTaskList.length > 0) {
       const stepTask = this.currentStepTaskList[0]
       if (this.runningStepTask) {
-        if ((stepTask.StepTaskType == "MOVE" || stepTask.StepTaskType == "MOVE_BACKWARD")
+        if ((stepTask.StepTaskType == 'MOVE' || stepTask.StepTaskType == 'MOVE_BACKWARD')
           && this.rotationAnimation == null && this.actionAnimation == null
           && stepTask.EndDirection == this.runningStepTask.EndDirection
           && (stepTask.Speed > 0) == (this.runningStepTask.Speed > 0)) {
@@ -693,13 +693,13 @@ export default class PtrObject extends THREE.Object3D {
         this.runningStepTask = stepTask
         this.currentStepTaskList.shift()
         this.runningStepTaskList.push(stepTask)
-        if (stepTask.StepTaskType == "MOVE" || stepTask.StepTaskType == "MOVE_BACKWARD") {
+        if (stepTask.StepTaskType == 'MOVE' || stepTask.StepTaskType == 'MOVE_BACKWARD') {
           this.addTravel(stepTask.X, stepTask.Y, stepTask.Speed / 1000)
-        } else if (stepTask.StepTaskType == "ROTATION") {
+        } else if (stepTask.StepTaskType == 'ROTATION') {
           this.addRotation(stepTask.EndDirection)
-        } else if (stepTask.StepTaskType == "LOAD") {
+        } else if (stepTask.StepTaskType == 'LOAD') {
           this.addLoad(stepTask.GoodsSlotHeight / 1000)
-        } else if (stepTask.StepTaskType == "UNLOAD") {
+        } else if (stepTask.StepTaskType == 'UNLOAD') {
           this.addUnload(stepTask.GoodsSlotHeight / 1000)
         }
       }
@@ -775,7 +775,6 @@ export default class PtrObject extends THREE.Object3D {
   addTravel(logicX: number, logicY: number, speed: number = 1): Promise<void> {
 
 
-
     this.OperationType = 0
     this.PickMode = 0
     const pos = Model.getPositionByLogicXY(logicX, logicY)
@@ -790,14 +789,14 @@ export default class PtrObject extends THREE.Object3D {
     }
 
     // 运动参数
-    const accelForce = speed > 0 ? 4 : (-4 )
-    let currentPhase = 'accelerate';
+    const accelForce = speed > 0 ? 4 : (-4)
+    let currentPhase = 'accelerate'
 
     if (this.viewport.registerPhysicsUpdateCallBack.has(this.item.id)) {
       return null
     }
 
-    this.travelAnimation = "asd"
+    this.travelAnimation = 'asd'
 
     const force = new this.viewport.ammoModel.btVector3(accelForce, 0, 0)
     this.viewport.registerPhysicsUpdateCallBack.set(this.item.id, () => {
@@ -826,7 +825,8 @@ export default class PtrObject extends THREE.Object3D {
         this.travelAnimation = null
         this.onActionCompleted()
 
-      } if (distance <= stopDistance) {
+      }
+      if (distance <= stopDistance) {
         currentPhase = 'decelerate'
       }
       // 运动阶段控制

src/modules/amr/ptr/cl2/Cl2Renderer.ts

@@ -1,8 +1,9 @@
 import * as THREE from 'three'
 import BaseRenderer from '@/core/base/BaseRenderer.ts'
 import Constract from '@/core/Constract.ts'
-import Cl23dObject from "./Cl23dObject";
+import Cl23dObject from './Cl23dObject'
 import type { Object3DLike } from '@/types/ModelTypes.ts'
+import type Viewport from '@/core/engine/Viewport.ts'
 
 /**
  * ptr侧叉渲染器
@@ -24,6 +25,39 @@ export default class PtrRenderer extends BaseRenderer {
   }
 
   /**
+   * 如果某物品要放到 Cl2 上 返回可存放的位置和角度一个 Position 和 Rotation
+   */
+  getStorePlacement(storeItem: ItemJson, bay = 0, level = 0, cell = 0)
+    : {
+    position: [number, number, number], rotation: [number, number, number],
+    getParentObject3D?: (viewport: Viewport, parent: THREE.Object3D) => THREE.Object3D
+  } {
+
+    return {
+      position: [0, 0.2, 0],
+      rotation: [0, 90, 0],
+      getParentObject3D: this.getArmObject.bind(this)
+    }
+  }
+
+  getArmObject(viewport: Viewport, item: ItemJson): THREE.Object3D {
+    // 获取机械臂对象
+    const object = viewport.entityManager.findObjectById(item.dt.storeAt?.item)
+    if (!object) {
+      console.warn('PtrRenderer: getArmObject failed, not found Cl2:', item.dt.storeAt?.item)
+      return
+    }
+
+    const agv = object as THREE.Group
+    if (agv.children.length > 1) {
+      const pillar = agv.children[1]
+      if (pillar.children.length > 1) {
+        return pillar.children[1]
+      }
+    }
+  }
+
+  /**
    * 所有的点，必须使用 storeWidth/storeDepth, 改TF无效
    */
   override afterCreateOrUpdatePoint(item: ItemJson, option: RendererCudOption, object: THREE.Object3D) {
@@ -39,7 +73,6 @@ export default class PtrRenderer extends BaseRenderer {
     )
   }
 
-
   createLineBasic(start: ItemJson, end: ItemJson, type: LinkType): THREE.Object3D {
     throw new Error('not allow store line.')
   }
@@ -51,11 +84,6 @@ export default class PtrRenderer extends BaseRenderer {
 
   createPoint(item: ItemJson, option?: RendererCudOption): THREE.Object3D {
     // 创建平面几何体
-    if (!item.dt.ptrWidth || !item.dt.ptrDepth) {
-      system.showErrorDialog('field ptrWidth / ptrDepth is null!')
-      return null
-    }
-
     const group = new Cl23dObject(item, this.tempViewport, option)
     group.name = PtrRenderer.POINT_NAME
 
@@ -64,7 +92,6 @@ export default class PtrRenderer extends BaseRenderer {
     return group
   }
 
-
   updatePoint(item: ItemJson, object: Object3DLike, option?: RendererCudOption): Object3DLike {
     const group: THREE.Group = object as THREE.Group
 

src/modules/rack/RackRenderer.ts

@@ -83,7 +83,7 @@ export default class RackRenderer extends BaseRenderer {
     localX += bays[bay].bayWidth / 2 // 居中
 
     let localY = 0
-    for (let i = 0; i < level; i++) {
+    for (let i = 0; i <= level; i++) {
       localY += levelHeights[i]
     }
 

src/types/LCC.d.ts

@@ -16,11 +16,32 @@ declare interface LCC {
   /**
    * 读取当前项目所有库存, 并放到 Model 上
    */
-  loadInv(): Promise<ServerResponse<InvVo>>
+  loadInv(): Promise<ServerResponse<InvVo[]>>
+
+  /**
+   * 创造库存
+   * @param lpn 容器号
+   * @param targetStore 目标存储位置 rack3/0/0/0
+   */
+  createInv(lpn: string, targetStore: string): Promise<ServerResponse<void>>
+
+  /**
+   * 转移库存
+   * @param lpn 容器号
+   * @param targetStore 目标存储位置 rack3/0/0/0
+   */
+  moveInv(lpn: string, targetStore: string): Promise<ServerResponse<void>>
+
+  /**
+   * 删除库存
+   * @param lpn 容器号
+   */
+  deleteInv(lpn: string): Promise<ServerResponse<void>>
 
   /**
    * 获取所有车，并放到 Model 上
    */
+
   // loadExecutor(): Promise<ExecutorVo>
 
   /**
@@ -77,6 +98,8 @@ type DeviceStatusFn = (type: BackendTopicType, topic: string, body: AgvStatusVo)
 
 type ServerStateFn = (type: BackendTopicType, topic: string, body: ServerStatusVo) => void
 
+type InvUpdateFn = (type: BackendTopicType, topic: string, body: InvUpdateVo) => void
+
 type StopSubscribe = () => void
 
 interface ServerAuthorizationConfigVo {
@@ -169,6 +192,45 @@ interface AgvStatusVo {
   virtualExecutorPayload: string; // 车的虚拟执行器负载
 }
 
+interface BasLocationVo {
+  /**
+   * 位置编码
+   */
+  locCode: string
+
+  /**
+   * 货位类型
+   */
+  locType: string
+
+  /**
+   * 货位
+   */
+  rack: string
+
+  /**
+   * 列
+   */
+  bay: number
+
+  /**
+   * 层
+   */
+  level: number
+
+  /**
+   * 格
+   */
+  cell: number
+}
+
+interface InvUpdateVo {
+  lpn: string
+  before: BasLocationVo | null
+  after: BasLocationVo | null
+  qty: number
+}
+
 /**
  * 服务器状态信息
  */

src/types/Model.d.ts

@@ -3,12 +3,18 @@
  */
 declare interface Model {
   /**
-   * 根据实体 ID 查找模型实体
+   * 根据实体 ID 查找数据实体
    * @param entityId 实体 ID
    */
   find(entityId: string): ItemJson
 
   /**
+   * 根据实体 ID 查找模型实体
+   * @param id
+   */
+  find3D(id: string): any
+
+  /**
    * 根据实体 ID 获取位置
    */
   getPositionByEntityId(entityId: string): Vector3IF
@@ -40,6 +46,11 @@ declare interface Model {
    */
   createInv(boxType: ContainerT, lpn: string, rack: string, bay: number = 0, level: number = 0, cell: number = 0): void
 
+  /**
+   * 根据 ID 删除库存物品
+   * @param itemId 物品ID
+   */
+  deleteInv(itemId: string): void
 
   /**
    * 在指定位置创建一个流动的库存物品
@@ -82,6 +93,7 @@ declare interface Model {
    */
   multiSelectedEntityIds: string[]
 
+
 }
 
 /**

src/types/Types.d.ts

@@ -63,6 +63,7 @@ interface RendererCudOption {
   position?: any
   //THREE.Quaternion
   rotation?: any
+  getParentObject3D?: (viewport:any, item: ItemJson) => any
 }
 
 /**