AGV ID 问题

src/core/ModelUtils.ts

@@ -16,6 +16,10 @@ import LineSegmentManager from '@/core/manager/LineSegmentManager.ts'
 import type InstanceMeshManager from '@/core/manager/InstanceMeshManager.ts'
 import { MeshWrap } from '@/core/manager/InstanceMeshManager.ts'
 
+export function getAgvItemNameById(agvId: string | number) {
+  return 'AGV_' + agvId
+}
+
 /**
  * 计算点集凸包（2D）
  */
@@ -292,7 +296,7 @@ export function processModel(mesh: THREE.Mesh) {
     -center.z
   )
   geometry.applyMatrix4(translate)
-  geometry.computeVertexNormals();
+  geometry.computeVertexNormals()
 
   // 可选：验证最终包围盒
   //@ts-ignore

src/core/manager/EnvManager.ts

@@ -5,6 +5,7 @@ import type { ErrorWithReasonCode } from 'mqtt/src/lib/shared.ts'
 import { Request } from '@ease-forge/shared'
 import AmrMessageManager from '@/core/manager/amr/AmrMessageManager'
 import { AmrMsg } from '@/core/manager/amr/AmrMessageDefine'
+import { getAgvItemNameById } from '@/core/ModelUtils.ts'
 
 export default class EnvManager {
   private amrMessageManager: AmrMessageManager = new AmrMessageManager()
@@ -100,7 +101,7 @@ export default class EnvManager {
    * 处理设备状态消息
    */
   onDeviceStatusMessage(type, topic, data: AgvStatusVo) {
-    const object3D = Model.find3D(data.id)
+    const object3D = Model.find3D(getAgvItemNameById(data.id))
     if (object3D) {
       object3D.agvStatusVo = data
     }
@@ -134,7 +135,7 @@ export default class EnvManager {
     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)
+      Model.createInv('pallet', body.lpn, after.rack, after.bay, after.level, after.cell, after.locCode)
     }
   }
 
@@ -157,7 +158,7 @@ export default class EnvManager {
       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)
+      Model.createInv(container_type, lpn, rack, bay, level, cell, loc_code)
     }
   }
 
@@ -174,7 +175,7 @@ export default class EnvManager {
 
     const deviceList: AgvStatusVo[] = deviceRes.data || []
     for (const agvState of deviceList) {
-      const agvItem = Model.find(agvState.id)
+      const agvItem = Model.find(getAgvItemNameById(agvState.id))
       if (!agvItem) {
         // 还没加载到地图
         const item = JSON.parse(agvState.virtualExecutorPayload)
@@ -197,6 +198,8 @@ export default class EnvManager {
             item.tf[1][1] = 90 // 上方
             break
         }
+        item.id = getAgvItemNameById(agvState.id)
+        item.dt.vehicleId = agvState.id
         Model.createExecutor(item)
       }
     }

src/core/manager/amr/AmrMessageManager.ts

@@ -1,6 +1,7 @@
 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'
+import { getAgvItemNameById } from '@/core/ModelUtils.ts'
 
 export default class AmrMessageManager {
 
@@ -9,9 +10,8 @@ export default class AmrMessageManager {
   }
 
   handleMessage(topic, amrMsg: AmrMsg<any>) {
-
     const vehicleId = parseInt(topic.replace('/wcs_server/', ''))
-    const amrItem = this.viewport.entityManager.findObjectById(vehicleId + '') as Cl23dObject
+    const amrItem = Model.find3D(getAgvItemNameById(vehicleId)) as Cl23dObject
     switch (amrMsg.id) {
       // AMR作业指令 10010
       case 10010:
@@ -64,7 +64,7 @@ export default class AmrMessageManager {
 
   handleStatusMessage(topic, amrMsg: AmrMsg<AmrMsg20000Base>) {
     const vehicleId = amrMsg.content.VehicleId
-    const amrItem = this.viewport.entityManager.findObjectById(vehicleId + '') as Cl23dObject
+    const amrItem = Model.find3D(getAgvItemNameById(vehicleId)) as Cl23dObject
     switch (amrMsg.id) {
       case 20020:
         amrItem.handle20020Message(amrMsg.content as AmrMsg20020)

src/core/script/ModelManager.ts

@@ -17,12 +17,12 @@ export default class ModelManager implements IControls, Model {
   }
 
   getClx(id: string): ClxIf {
-    throw new Error("不支持 ClxIf");
+    throw new Error('不支持 ClxIf')
     // return new ClxEntity(this.viewport, id)
   }
 
   getFm600(id: string): Fm600If {
-    throw new Error("不支持 Fm600If");
+    throw new Error('不支持 Fm600If')
     // return new FM600Entity(this.viewport, id)
   }
 
@@ -113,8 +113,22 @@ export default class ModelManager implements IControls, Model {
     this.viewport.runtimeManager.addEntity(item)
   }
 
-  createInv(boxType: ContainerT, lpn: string, rack: string, bay?: number, level?: number, cell?: number): void {
+  createInv(boxType: ContainerT, lpn: string, rack: string, bay?: number, level?: number, cell?: number, locCode?: string): void {
     const scale = getRenderer(boxType).defaultScale
+    if (_.startsWith(locCode, 'AGV_')) {
+      // 库存在 AGV 上
+      this.viewport.runtimeManager.addEntity({
+        id: lpn,
+        t: boxType as string,
+        tf: [[-5000, -1, 0], [0, 0, 0], [scale.x, scale.y, scale.z]],
+        v: true,
+        dt: {
+          in: [], out: [], center: [],
+          storeAt: { item: locCode, bay, level, cell }
+        }
+      })
+
+    }else {
       this.viewport.runtimeManager.addEntity({
         id: lpn,
         t: boxType as string,
@@ -125,6 +139,7 @@ export default class ModelManager implements IControls, Model {
           storeAt: { item: rack, bay, level, cell }
         }
       })
+    }
 
     // 这一段代码不要删除，他是用向正式环境提交数据用的
     /*

src/editor/widgets/monitor/MonitorView.vue

@@ -73,6 +73,7 @@
 <script>
 import IWidgets from '../IWidgets.js'
 import { worldModel } from '@/core/manager/WorldModel.js'
+import { getAgvItemNameById } from '@/core/ModelUtils.js'
 
 export default {
   name: 'MonitorView',
@@ -103,7 +104,7 @@ export default {
         if (deviceInfo.isOnline) {
           continue
         }
-        const view3DObject = Model.find3D(deviceInfo.id)
+        const view3DObject = Model.find3D(getAgvItemNameById(deviceInfo.id))
         if (typeof view3DObject.bootForMonitor === 'function') {
           view3DObject.bootForMonitor()
         }
@@ -136,6 +137,7 @@ export default {
     onDeviceAliveMessage(type, topic, body) {
       const deviceInfo = _.find(this.deviceList, device => device.id === body.id)
       if (!deviceInfo) {
+        console.warn("device " + body.id + " not on list")
         // 如果设备信息不存在，则添加新设备
         this.deviceList.push({
           id: body.id,
@@ -155,6 +157,7 @@ export default {
     onDeviceStatusMessage(type, topic, body) {
       const deviceInfo = _.find(this.deviceList, device => device.id === body.id)
       if (!deviceInfo) {
+        console.warn("device " + body.id + " not on list")
         return
       }
       _.assign(deviceInfo, body)

src/modules/amr/ptr/PtrObject.ts

@@ -15,13 +15,13 @@ import {
   TaskStatusChangeData,
   TaskTypeChangeData
 } from '@/core/manager/amr/AmrMessageDefine'
-import {worldModel} from '@/core/manager/WorldModel'
+import { worldModel } from '@/core/manager/WorldModel'
 import Viewport from '@/core/engine/Viewport'
-import {Euler} from 'three/src/math/Euler'
+import { Euler } from 'three/src/math/Euler'
 import gsap from 'gsap'
-import {MeshWrap} from "@/core/manager/InstanceMeshManager";
+import { MeshWrap } from '@/core/manager/InstanceMeshManager'
-import {getRenderer} from "@/core/manager/ModuleManager";
+import { getRenderer } from '@/core/manager/ModuleManager'
-import {MathUtils} from "three";
+import { MathUtils } from 'three'
 
 
 type CStepTaskType = 'MOVE' | 'MOVE_BACKWARD' | 'ROTATION' | 'LOAD' | 'UNLOAD' | 'CHARGE'
@@ -88,7 +88,7 @@ export default class PtrObject extends THREE.Object3D {
   private __TaskStatus: CEventId = 0
   private __PickMode: CPickMode = 0
 
-  private agvStatusVo: AgvStatusVo;
+  private agvStatusVo: AgvStatusVo
 
   // 是否模拟设备
   private isMonitoring: boolean = false
@@ -172,9 +172,9 @@ export default class PtrObject extends THREE.Object3D {
     super()
     this.viewport = viewport
     this.item = item
-    this.vehicleId = parseInt(item.id)
+    this.vehicleId = parseInt(item.dt.vehicleId)
 
-    this.viewport.addFrameTimerCallback(this.item.id, this.onFrameTimer.bind(this))
+    this.viewport.addFrameTimerCallback('' + this.vehicleId, this.onFrameTimer.bind(this))
     window.agv3 = this
   }
 
@@ -223,9 +223,8 @@ export default class PtrObject extends THREE.Object3D {
   bootForShow() {
     this.isMonitoring = false
     this.boot()
-    this.subscribeMessage('/wcs_server/' + this.item.id)
+    this.subscribeMessage('/wcs_server/' + this.vehicleId)
     this.subscribeMessage('/agv_robot/status')
-
   }
 
   bootForMonitor() {
@@ -378,7 +377,7 @@ 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>) {
@@ -401,7 +400,7 @@ 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))
   }
@@ -536,16 +535,16 @@ export default class PtrObject extends THREE.Object3D {
     const quat2 = new THREE.Quaternion().setFromEuler(euler)
     const angleDiff = quat1.angleTo(quat2)
 
-    if (p.distanceTo(this.position) < 0.5 && Math.abs(angleDiff) < Math.PI/4) {
+    if (p.distanceTo(this.position) < 0.5 && Math.abs(angleDiff) < Math.PI / 4) {
       return
     }
 
     this.position.set(p.x, 0, p.z)
 
-    const transform = new Ammo.btTransform();
+    const transform = new Ammo.btTransform()
-    this.boxBody.getMotionState().getWorldTransform(transform);
+    this.boxBody.getMotionState().getWorldTransform(transform)
-    transform.setOrigin(new Ammo.btVector3(p.x, 0, p.z)); // 设置新位置
+    transform.setOrigin(new Ammo.btVector3(p.x, 0, p.z)) // 设置新位置
-    this.boxBody.getMotionState().setWorldTransform(transform);
+    this.boxBody.getMotionState().setWorldTransform(transform)
     this.viewport.ammoModel.destroy(transform)
     this.rotation.set(0, r, 0)
   }
@@ -578,7 +577,7 @@ 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)
@@ -877,6 +876,7 @@ export default class PtrObject extends THREE.Object3D {
   keepSpeed: any
   force: any
   stopD: number = 0.01
+
   // 走
   addTravel(logicX: number, logicY: number, direction: number, speed: number = 1): Promise<void> {
 
@@ -912,13 +912,13 @@ export default class PtrObject extends THREE.Object3D {
       this.keepSpeed.setValue(0, 0, speed)
     }
 
-    if (this.viewport.registerPhysicsUpdateCallBack.has(this.item.id)) {
+    if (this.viewport.registerPhysicsUpdateCallBack.has('' + this.vehicleId)) {
       return null
     }
 
     this.travelAnimation = 'asd'
 
-    this.viewport.registerPhysicsUpdateCallBack.set(this.item.id, () => {
+    this.viewport.registerPhysicsUpdateCallBack.set('' + this.vehicleId, () => {
 
       this.viewport.physicsWorld.stepSimulation(1 / 60, 10)
 
@@ -943,7 +943,8 @@ export default class PtrObject extends THREE.Object3D {
         const stopVel = new this.viewport.ammoModel.btVector3(0, 0, 0)
         this.boxBody.setLinearVelocity(stopVel)
         this.viewport.ammoModel.destroy(stopVel)
-        this.viewport.registerPhysicsUpdateCallBack.delete(this.item.id)
+
+        this.viewport.registerPhysicsUpdateCallBack.delete('' + this.vehicleId)
         this.viewport.ammoModel.destroy(this.force)
         this.viewport.ammoModel.destroy(this.keepSpeed)
         this.position.set(this.__toPos.x, this.__toPos.y, this.__toPos.z)
@@ -977,17 +978,17 @@ export default class PtrObject extends THREE.Object3D {
           if (cSpeed >= Math.abs(speed) || distance <= stopDistance) {
             currentPhase = 'uniform'
           }
-          this.boxBody.setDamping(0, 0);
+          this.boxBody.setDamping(0, 0)
           break
         case 'uniform':
           currentPhase = 'uniform'
           this.boxBody.setLinearVelocity(keepSpeed)
-          this.boxBody.setDamping(0, 0);
+          this.boxBody.setDamping(0, 0)
           break
         case 'decelerate':
           // 检测停止
           if (cSpeed > 0) {
-            this.boxBody.setDamping(sa, 0);
+            this.boxBody.setDamping(sa, 0)
           }
 
           this.boxBody.activate()
@@ -1057,7 +1058,7 @@ export default class PtrObject extends THREE.Object3D {
     this.OperationType = 4
     this.animationUpFork(height + 0.2).then(
       () => this.animationShowFork(1.35).then(
-        ()=>this.animationUpFork(height).then(
+        () => this.animationUpFork(height).then(
           () => {
             try {
               const a = this.agvStatusVo.unloadBasLocationVo
@@ -1124,7 +1125,7 @@ export default class PtrObject extends THREE.Object3D {
       throw new Error(`无法拾取物品 ${id}，它不是一个有效的 MeshWrap`)
     }
     item.dt.storeAt = {
-      item: this.id + ""
+      item: this.id + ''
     }
     const mesh = wrap.manager.wrapToObject3D(wrap)
     this.viewport.entityManager.replaceObject(id, mesh)

src/types/Model.d.ts

@@ -48,8 +48,9 @@ declare interface Model {
    * @param bay 可选参数, 货架列
    * @param level 可选参数, 货架层
    * @param cell 可选参数, 货架格
+   * @param locCode 可选参数, 货位编号
    */
-  createInv(boxType: ContainerT, lpn: string, rack: string, bay: number = 0, level: number = 0, cell: number = 0): void
+  createInv(boxType: ContainerT, lpn: string, rack: string, bay: number = 0, level: number = 0, cell: number = 0, locCode: string = ''): void
 
   /**
    * 根据 ID 删除库存物品