cl2 基于设备状态和任务状态分步生成设备任务消息

src/core/manager/amr/AmrMessageDefine.ts

@@ -516,6 +516,7 @@ export {
   AmrMsg10060,
   AmrMsg10110,
   AmrMsg10120,
+  AmrMsg20000Base,
   AmrMsg20010,
   AmrMsg20011,
   AmrMsg20012,

src/core/manager/amr/AmrMessageManager.ts

@@ -1,4 +1,4 @@
-import { AmrMsg, AmrMsg10010, AmrMsg10050, AmrMsg10060, AmrMsg10110, AmrMsg10120, AmrMsg20050 } from '@/core/manager/amr/AmrMessageDefine'
+import {AmrMsg, AmrMsg10010, AmrMsg10050, AmrMsg10060, AmrMsg10110, AmrMsg10120, AmrMsg20000Base, AmrMsg20020, AmrMsg20060} from '@/core/manager/amr/AmrMessageDefine'
 import Cl23dObject from '@/modules/amr/ptr/cl2/Cl23dObject'
 import Viewport from '@/core/engine/Viewport'
 
@@ -62,7 +62,18 @@ export default class AmrMessageManager {
     }
   }
 
-  handleStatusMessage(topic, amrMsg: AmrMsg<any>) {
-    // switch ()
+  handleStatusMessage(topic, amrMsg: AmrMsg<AmrMsg20000Base>) {
+    const vehicleId = amrMsg.content.VehicleId
+    const amrItem = this.viewport.entityManager.findObjectById(vehicleId + '') as Cl23dObject
+    switch (amrMsg.id) {
+      case 20020:
+        amrItem.handle20020Message(amrMsg.content as AmrMsg20020)
+        break
+      case 20060:
+        amrItem.handle20060Message(amrMsg.content as AmrMsg20060)
+        break
+      default:
+        break
+    }
   }
 }

src/editor/propEditors/PtrController.vue

@@ -14,12 +14,20 @@ defineOptions({
 // 读取组件 props 属性
 const props = withDefaults(defineProps(), {});
 
-function start() {
+function startMonitor() {
   const viewport: Viewport = window['viewport']
   // viewport.envManager.client.publish('/agv_robot/status', '')
   const item = viewport.state.selectedItem
   const ptrObject: PtrObject = viewport.state.selectedObject as PtrObject
-  ptrObject.boot()
+  ptrObject.bootForMonitor()
+}
+
+function startShow() {
+  const viewport: Viewport = window['viewport']
+  // viewport.envManager.client.publish('/agv_robot/status', '')
+  const item = viewport.state.selectedItem
+  const ptrObject: PtrObject = viewport.state.selectedObject as PtrObject
+  ptrObject.bootForShow()
 }
 
 function stop() {
@@ -35,7 +43,8 @@ function stop() {
 
 <template>
     <div class="ptr-controller">
-      <el-button @click="start">启动</el-button>
+      <el-button @click="startMonitor">启动模拟</el-button>
+      <el-button @click="startShow">启动演示</el-button>
       <el-button @click="stop">关闭</el-button>
     </div>
 </template>

src/editor/widgets/monitor/MonitorView.vue

@@ -104,8 +104,8 @@ export default {
           continue
         }
         const view3DObject = Model.find3D(deviceInfo.id)
-        if (typeof view3DObject.boot === 'function') {
-          view3DObject.boot()
+        if (typeof view3DObject.bootForMonitor === 'function') {
+          view3DObject.bootForMonitor()
         }
       }
     },

src/modules/amr/ptr/PtrObject.ts

@@ -172,9 +172,7 @@ export default class PtrObject extends THREE.Object3D {
 
     this.viewport.addFrameTimerCallback(this.item.id, this.onFrameTimer.bind(this))
     if (!worldModel.state.runState.isVirtual) {
-      this.subscribeMessage('/wcs_server/' + this.item.id)
-      this.subscribeMessage('/agv_robot/status')
-      this.boot()
+      this.bootForShow()
     }
     window.agv3 = this
   }
@@ -219,10 +217,19 @@ export default class PtrObject extends THREE.Object3D {
     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)
+  }
+
+  bootForShow() {
+
+    this.boot()
+    this.subscribeMessage('/wcs_server/' + this.item.id)
+    this.subscribeMessage('/agv_robot/status')
 
-    if (!worldModel.state.runState.isVirtual) {
-      return
   }
+
+  bootForMonitor() {
+
+    this.boot()
     this.subscribeMessage('/wcs_server/' + this.vehicleId)
     this.send20147()
     setTimeout(() => {
@@ -565,6 +572,8 @@ export default class PtrObject extends THREE.Object3D {
         }
 
         if (endDirection != currentStepTask.EndDirection) {
+          const item = this.viewport.entityManager.findItemByLogicXY(prevLink.X, prevLink.Y)
+          if (item.dt?.agvRotation && item.dt?.agvRotation?.length > 0) {
             const stepTask: StepTask = {
               SeqNo: data.SeqNo,
               StepTaskType: 'ROTATION',
@@ -582,6 +591,7 @@ export default class PtrObject extends THREE.Object3D {
             currentStepTask = stepTask
             this.currentStepTaskList.push(stepTask)
           }
+        }
 
         const stepTask: StepTask = {
           SeqNo: data.SeqNo,
@@ -704,7 +714,7 @@ export default class PtrObject extends THREE.Object3D {
           this.runningStepTask = stepTask
           this.currentStepTaskList.shift()
           this.runningStepTaskList.push(stepTask)
-
+          console.log('移动')
           this.addTravel(stepTask.X, stepTask.Y, stepTask.EndDirection, stepTask.Speed / 1000)
 
         } else {
@@ -715,12 +725,16 @@ export default class PtrObject extends THREE.Object3D {
         this.currentStepTaskList.shift()
         this.runningStepTaskList.push(stepTask)
         if (stepTask.StepTaskType == 'MOVE' || stepTask.StepTaskType == 'MOVE_BACKWARD') {
+          console.log('移动')
           this.addTravel(stepTask.X, stepTask.Y, stepTask.EndDirection, stepTask.Speed / 1000)
         } else if (stepTask.StepTaskType == 'ROTATION') {
+          console.log('转动')
           this.addRotation(stepTask.EndDirection)
         } else if (stepTask.StepTaskType == 'LOAD') {
+          console.log('取货')
           this.addLoad(stepTask.GoodsSlotHeight / 1000, this.agvStatusVo.bizLpn)
         } else if (stepTask.StepTaskType == 'UNLOAD') {
+          console.log('放货')
           this.addUnload(stepTask.GoodsSlotHeight / 1000, this.agvStatusVo.bizLpn)
         }
       }
@@ -747,6 +761,9 @@ export default class PtrObject extends THREE.Object3D {
 
   // 转
   addRotation(direction: number): Promise<void> {
+    this.OperationType = 0
+    this.PickMode = 0
+    this.TaskMode = 2
     let rad = 0
     switch (direction) {
       case 1:
@@ -794,6 +811,7 @@ export default class PtrObject extends THREE.Object3D {
 
     this.OperationType = 0
     this.PickMode = 0
+    this.TaskMode = 2
     const pos = Model.getPositionByLogicXY(logicX, logicY)
     this.__toPos = pos as THREE.Vector3
     //加速度
@@ -923,6 +941,7 @@ export default class PtrObject extends THREE.Object3D {
   addLoad(height: number, goodsId: string): void {
     this.actionAnimation = 'wq'
     console.log('取货')
+    this.TaskMode = 2
     this.PickMode = 1
     this.OperationType = 4
     this.animationUpFork(height).then(
@@ -951,6 +970,7 @@ export default class PtrObject extends THREE.Object3D {
   addUnload(height: number, goodsId: string): void {
     this.actionAnimation = 'wq'
     console.log('卸货')
+    this.TaskMode = 2
     this.PickMode = 2
     this.OperationType = 4
     this.animationUpFork(height + 0.2).then(