结构调整

src/core/manager/TaskManager.ts

@@ -1,7 +1,7 @@
 import * as THREE from 'three'
 import gsap from 'gsap'
 import Viewport from '@/core/engine/Viewport'
-import Clx3dObject from "@/modules/clx/Clx3dObject";
+import Clx3dObject from "@/modules/amr/ptr/clx/Clx3dObject";
 
 export default class TaskManager implements TaskManagerIF {
 

src/core/manager/WorldModel.ts

@@ -108,8 +108,8 @@ export default class WorldModel {
       import('../../modules/pallet'),
       import('../../modules/tote'),
       import('../../modules/carton'),
-      import('../../modules/cl2'),
-      import('../../modules/clx'),
+      import('../../modules/amr/ptr/cl2'),
+      import('../../modules/amr/ptr/clx'),
       import('../../modules/charger')
 
     ]).then(() => {

src/core/manager/amr/AmrMessageManager.ts

@@ -1,5 +1,5 @@
 import { AmrMsg, AmrMsg10010, AmrMsg10050, AmrMsg10060, AmrMsg10110, AmrMsg10120, AmrMsg20050 } from '@/core/manager/amr/AmrMessageDefine'
-import Cl23dObject from '@/modules/cl2/Cl23dObject'
+import Cl23dObject from '@/modules/amr/ptr/cl2/Cl23dObject'
 import Viewport from '@/core/engine/Viewport'
 
 export default class AmrMessageManager {

src/core/script/ModelManager.ts

@@ -4,8 +4,8 @@ import * as THREE from 'three'
 import { getMatrixFromTf } from '@/core/ModelUtils.ts'
 import type { Object3DLike } from '@/types/ModelTypes.ts'
 import TaskManager from '../manager/TaskManager.ts'
-import Cl2Entity from '@/modules/cl2/Cl2Entity.ts'
-import ClxEntity from '@/modules/clx/ClxEntity.ts'
+import Cl2Entity from '@/modules/amr/ptr/cl2/Cl2Entity.ts'
+import ClxEntity from '@/modules/amr/ptr/clx/ClxEntity.ts'
 import { getRenderer } from '@/core/manager/ModuleManager.ts'
 
 export default class ModelManager implements IControls, Model {

src/modules/cl2/Cl23dObject.ts → src/modules/amr/ptr/cl2/Cl23dObject.ts

@@ -3,8 +3,8 @@ import {CSG} from 'three-csg-ts'
 import gsap from 'gsap'
 import mqtt from 'mqtt'
 import {Euler} from 'three/src/math/Euler'
-import Cl2Entity from '@/modules/cl2/Cl2Entity'
-import Cl23DGraphics from "@/modules/cl2/Cl23DGraphics"
+import Cl2Entity from '@/modules/amr/ptr/cl2/Cl2Entity'
+import Cl23DGraphics from "@/modules/amr/ptr/cl2/Cl23DGraphics"
 import {
   AmrErrorCode,
   AmrMsg,

src/modules/cl2/Cl2Entity.ts → src/modules/amr/ptr/cl2/Cl2Entity.ts

@@ -3,7 +3,7 @@ import BaseEntity from '@/core/base/BaseItemEntity.ts'
 import type Viewport from '@/core/engine/Viewport.ts'
 import gsap from 'gsap'
 import { nextTick } from 'vue'
-import Cl23dObject, {type Cl2Task} from "@/modules/cl2/Cl23dObject";
+import Cl23dObject from "./Cl23dObject";
 /**
  * CL2 机械臂实体类
  * 0.4m/ss // a  max 1.2m/s
@@ -16,82 +16,7 @@ export default class Cl2Entity extends BaseEntity {
   }
 
 
-  // 移动
-  addRobotTask(task: Cl2Task) {
 
-    if (task.id === 10010) {
-      let startX = task.content.StartX
-      let startY = task.content.StartY
-
-      if (task.content.Link?.length > 0) {
-        for (let i = 0; i < task.content.Link.length; i++) {
-          const link = task.content.Link[i];
-          let moveDirection: 0 | 1 | 2 | 3 | 15 = 15;
-          // 计算 移动方向
-          if (startX !== link.X && startY !== link.Y) {
-            throw new Error('Invalid task');
-          } else if (startX === link.X) {
-            if (startY < link.Y && link.Speed > 0 || startY > link.Y && link.Speed < 0) {
-              moveDirection = 3
-            } else {
-              moveDirection = 1
-            }
-          } else {
-            if (startX > link.X && link.Speed > 0 || startX < link.X && link.Speed < 0) {
-              moveDirection = 0
-            } else {
-              moveDirection = 2
-            }
-          }
-          this.taskQueue.add(this.createTask('ROTATION',
-            () => this.cl2Object.addRotation(moveDirection * Math.PI/2)
-          ))
-          this.taskQueue.add(this.createTask('TRAVEL',
-            () => this.cl2Object.addTravel(Model.getPositionByLogicXY(link.X, link.Y) ,Math.abs(link.Speed/1000))
-          ))
-          startX = link.X
-          startY = link.Y
-        }
-      }
-      //移动
-      if (task.content.OperationType === 0) {
-
-      } else if (task.content.OperationType === 1) {
-
-      } else if (task.content.OperationType === 2) {
-
-      } else if (task.content.OperationType === 3) {
-
-      } else if (task.content.OperationType === 4) {
-        // 取货
-        if (task.content.PickMode === 1) {
-          const gh = task.content.GoodsSlotHeight/1000
-          this.addArmRaise(gh)
-          this.addArmExtender()
-          // this.addArmRaise(gh + 0.1)
-          this.addLoad(task.content.GoodsId)
-          this.addArmRetractor()
-          this.addArmLower()
-          // 放货
-        } else if (task.content.PickMode === 2) {
-          this.addArmRaise(task.content.GoodsSlotHeight/1000 + 0.2)
-          this.addArmExtender()
-          this.addArmLower()
-          this.addUnload(task.content.GoodsId, '')
-          this.addArmRetractor()
-        }
-
-      } else if (task.content.OperationType === 5) {
-
-      } else if (task.content.OperationType === 135) {
-
-      } else if (task.content.OperationType === 136) {}
-
-
-    }
-
-
-  }
 
   // 抬
   addArmRaise(height: number) {

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

@@ -1,7 +1,7 @@
 import * as THREE from 'three'
 import BaseRenderer from '@/core/base/BaseRenderer.ts'
 import Constract from '@/core/Constract.ts'
-import Cl23dObject from "@/modules/cl2/Cl23dObject";
+import Cl23dObject from "./Cl23dObject";
 
 /**
  * ptr侧叉渲染器

src/modules/clx/ClxEntity.ts → src/modules/amr/ptr/clx/ClxEntity.ts

@@ -2,7 +2,7 @@ import BaseEntity from '@/core/base/BaseItemEntity.ts'
 import type Viewport from '@/core/engine/Viewport.ts'
 import * as THREE from 'three'
 import gsap from 'gsap'
-import Clx3dObject from '@/modules/clx/Clx3dObject.ts'
+import Clx3dObject from './Clx3dObject.ts'
 
 export default class ClxEntity extends BaseEntity {
   constructor(viewport: Viewport, id: string) {

src/modules/clx/ClxRenderer.ts → src/modules/amr/ptr/clx/ClxRenderer.ts

@@ -1,7 +1,7 @@
 import * as THREE from 'three'
 import BaseRenderer from '@/core/base/BaseRenderer.ts'
 import Constract from '@/core/Constract.ts'
-import Clx3dObject from "@/modules/clx/Clx3dObject";
+import Clx3dObject from "./Clx3dObject";
 
 /**
  * clx渲染器

src/modules/clx/index.ts → src/modules/amr/ptr/clx/index.ts

@@ -1,12 +1,11 @@
 import { defineModule } from '@/core/manager/ModuleManager.ts'
 import ClxRenderer from './ClxRenderer.ts'
 import ClxInteraction from './ClxInteraction.ts'
-import propertySetter from '@/modules/clx/ClxPropertySetter.ts'
+import propertySetter from './ClxPropertySetter.ts'
 
 export const ITEM_TYPE_NAME = 'clx'
 
 export default defineModule(ITEM_TYPE_NAME, () => ({
-  name: ITEM_TYPE_NAME,
   renderer: new ClxRenderer(ITEM_TYPE_NAME),
   interaction: new ClxInteraction(ITEM_TYPE_NAME),
   setter: propertySetter