pallet 无法出现的问题

src/core/ModelUtils.ts

@@ -292,6 +292,7 @@ export function processModel(mesh: THREE.Mesh) {
     -center.z
   )
   geometry.applyMatrix4(translate)
+  geometry.computeVertexNormals();
 
   // 可选：验证最终包围盒
   //@ts-ignore

src/core/base/BaseRenderer.ts

@@ -136,7 +136,7 @@ export default abstract class BaseRenderer {
     // 由基础类创造一个属于自己的点演示
     const point = this.createPointBasic(item, option)
     const matrix = this.calcMeshMatrix(item, option)
-    point.applyMatrix4(matrix)
+    point.setMatrix4(matrix)
 
     point.visible = ((typeof item.v !== 'undefined') ? item.v : true)
     return point
@@ -262,7 +262,7 @@ export default abstract class BaseRenderer {
     //   point.manager.syncMeshObject3D(point)
     // }
     const matrix = this.calcMeshMatrix(item, option)
-    point.applyMatrix4(matrix)
+    point.setMatrix4(matrix)
 
     point.visible = ((typeof item.v !== 'undefined') ? item.v : true)
     return point

src/core/manager/EnvManager.ts

@@ -7,7 +7,6 @@ import AmrMessageManager from '@/core/manager/amr/AmrMessageManager'
 import { AmrMsg } from '@/core/manager/amr/AmrMessageDefine'
 
 export default class EnvManager {
-  private viewport: Viewport
   private amrMessageManager: AmrMessageManager = new AmrMessageManager()
   public client: mqtt.MqttClient = null
 
@@ -105,9 +104,10 @@ export default class EnvManager {
         this.client = null
       }
 
-      this.clearExecutors()
+      if (window['viewport']) {
-      this.clearInv()
+        const viewport = window['viewport'] as Viewport
-      this.viewport?.runtimeManager?.clear()
+        viewport?.runtimeManager?.clear()
+      }
 
     } finally {
       system.clearLoading()
@@ -115,14 +115,6 @@ export default class EnvManager {
     }
   }
 
-  clearInv() {
-
-  }
-
-  clearExecutors() {
-
-  }
-
   /**
    * 创建运行环境
    * @param worldId 世界ID

src/core/script/LCCScript.ts

@@ -66,6 +66,13 @@ export default class LCCScript implements LCC {
     })
   }
 
+  queryDeviceInfoList(): Promise<ServerResponse<DeviceVo[]>> {
+    return Request.request.post('/api/workbench/LccController@queryDeviceInfoList', {
+      projectUUID: worldModel.state.project_uuid,
+      envId: worldModel.state.runState.currentEnvId
+    })
+  }
+
   // 从后台读取所有车
   async loadExecutor(): Promise<ExecutorVo> {
     const res = await Request.request.post('/api/workbench/LccController@loadExecutor', {

src/editor/widgets/monitor/MonitorView.vue

@@ -52,8 +52,8 @@
                       p-id="22185" fill="#ffffff"></path></svg>
                   </span>
                   <div class="progress">
-                    <span :style="{width:'55%'}"></span>
+                    <span :style="{width:getTaskProcessPercent(deviceInfo)+'%'}"></span>
-                    <div class="text">55%</div>
+                    <div class="text"> {{ getTaskProcessPercent(deviceInfo) }} %</div>
                   </div>
                 </div>
                 <div class="data-infor">
@@ -105,71 +105,31 @@ export default {
     return {
       searchKeyword: '',
       selectedId: '',
-      /*
-       设备列表, 数据展示为:
-        [
-          {
-            id: 'device-id',
-            type: 'device-type',
-            online: true,
-            x: 0,
-            y: 0,
-            z: 0,
-            logicX: 0,
-            logicY: 0,
-            direction: 'up',
-            orientation: 0,
-            soc: 100,
-            mode: 'AMR_FREE_MODE',
-            taskStatus: 'IDLE',
-            isBlocked: false,
-            taskCompleted: 0,
-            taskTotalCount: 10
-          }
-        ]
-       */
       /**
        * 设备列表数据
-       * @type {Array<{
+       * @type {Array<DeviceVo>}
-       id: string,
-       type: string,
-       online: boolean,
-       x: number,
-       y: number,
-       z: number,
-       logicX: number,
-       logicY: number,
-       direction: string,
-       orientation: number,
-       soc: number,
-       mode: 'AMR_FREE_MODE' |
-       'AMR_INIT_MODE' |
-       'AMR_TASK_MODE' |
-       'AMR_SINGLE_ACTION_MODE' |
-       'AMR_MANUAL_MODE' |
-       'AMR_HANDSET_MODE' |
-       'AMR_CHARGE_MODE' |
-       'AMR_TASK_INTERRUPT_MODE' |
-       'AMR_CUSTOMIZE_MODE',
-       taskStatus: string,
-       isBlocked: boolean,
-       taskCompleted: number,
-       taskTotalCount: number
-       // 业务任务ID
-       bizTaskId: string
-       // 业务任务类型: 移动任务 / 充电任务 / 搬运任务 / 装载任务 / 卸载任务
-       bizTaskType: '' | 'MOVE' |'CHARGE' |'CARRY' |'LOAD' |'UNLOAD'
-       // 比如 WAY_1_1 Rack1/0/0/0
-       bizTaskFrom: string
-       // 比如 WAY_1_1 Rack1/0/0/0 charge1
-       bizTaskTo: string
-       }>}
        */
       deviceList: []
     }
   },
+  mounted() {
+    window['MonitorView'] = this
+  },
+  unmounted() {
+    window['MonitorView'] = null
+    this.undescribe()
+  },
   methods: {
     /**
+     * 获取任务进度百分比
+     */
+    getTaskProcessPercent(deviceInfo) {
+      if (deviceInfo == null || deviceInfo.taskTotalCount === 0) {
+        return 0
+      }
+      return Math.round((deviceInfo.taskCompleted / deviceInfo.taskTotalCount) * 100)
+    },
+    /**
      * 处理设备存活消息
      * @type {(type: BackendTopicType, topic: string, body: {
      *   id: string
@@ -207,35 +167,11 @@ export default {
     },
     async subscribe() {
       this.deviceList = []
-      const list = await LCC.loadExecutor()
+      const res = await LCC.queryDeviceInfoList()
-      this.deviceList = _.map(list, executorVo => {
+      if (!res.success) {
-        const row = {
+        return
-          online: false
+      }
-        }
+      this.deviceList = res.data
-
-        return {
-          id: executorVo.executor_id,
-          type: row.type,
-          online: row.online,
-          x: row.x,
-          y: row.y,
-          z: row.z,
-          logicX: row.logicX,
-          logicY: row.logicY,
-          direction: row.direction,
-          orientation: row.orientation,
-          soc: row.soc,
-          mode: row.mode,
-          taskStatus: row.taskStatus,
-          isBlocked: row.isBlocked,
-          taskCompleted: row.taskCompleted || 0,
-          taskTotalCount: row.taskTotalCount || 0,
-          bizTaskId: row.bizTaskId || '',
-          bizTaskType: row.bizTaskType || '',
-          bizTaskFrom: row.bizTaskFrom || '',
-          bizTaskTo: row.bizTaskTo || ''
-        }
-      })
 
       // 订阅设备状态消息
       LCC.subscribe('DeviceAlive', this.onDeviceAliveMessage)

src/modules/pallet/PalletRenderer.ts

@@ -8,7 +8,7 @@ import { loadGlbModule, loadTexture, processModel } from '@/core/ModelUtils.ts'
 import InstanceMeshManager from '@/core/manager/InstanceMeshManager.ts'
 
 /**
- * 货架货位渲染器
+ * 托盘渲染器
  */
 export default class PalletRenderer extends BaseRenderer {
   static POINT_NAME = 'pallet_point'
@@ -24,34 +24,38 @@ export default class PalletRenderer extends BaseRenderer {
   }
 
   palletGeometry: THREE.BufferGeometry
-  palletMaterial: THREE.Material
+  palletMaterial: THREE.MeshPhongMaterial
+  private _isInitialized = false
 
+  async init() {
+    await super.init()
 
-  init() {
+    const [glbGroup, palletTexture] = await Promise.all([
-    return Promise.all([
-      super.init(),
       loadGlbModule(MODULE_PALLET_GLB),
       loadTexture(MODULE_PALLET_TEX)
+    ])
 
-    ]).then(([_, glbGroup, palletTexture]) => {
+    const mesh = glbGroup.children[0] as THREE.Mesh
-      const mesh = glbGroup.children[0] as THREE.Mesh
 
-      this.palletGeometry = processModel(mesh)
+    this.palletGeometry = processModel(mesh)
-      this.palletMaterial = new THREE.MeshPhongMaterial({ color: 0x2b5d94 })
+    this.palletMaterial = new THREE.MeshPhongMaterial({ color: 0x2b5d94 })
 
-      palletTexture.flipY = true
+    palletTexture.flipY = true
-      palletTexture.wrapS = THREE.RepeatWrapping
+    palletTexture.wrapS = THREE.RepeatWrapping
-      palletTexture.wrapT = THREE.RepeatWrapping
+    palletTexture.wrapT = THREE.RepeatWrapping
-      palletTexture.repeat.set(0.5, 0.5)
+    palletTexture.repeat.set(0.5, 0.5)
 
-      //@ts-ignore
+    this.palletMaterial.color.set(this.defaultUserData.color)
-      this.palletMaterial.color.set(this.defaultUserData.color)
+    this.palletMaterial.map = palletTexture
-      //@ts-ignore
+    this.palletMaterial.needsUpdate = true
-      this.palletMaterial.normalMap = palletTexture
+
-    })
+    this._isInitialized = true
   }
 
   createPointBasic(item: ItemJson, option?: RendererCudOption): Object3DLike {
+    if (!this._isInitialized) {
+      throw new Error('Renderer not initialized')
+    }
     return this.pointManager.createByItem(item)
   }
 
@@ -59,6 +63,9 @@ export default class PalletRenderer extends BaseRenderer {
     if (!this.tempViewport) {
       throw new Error('tempViewport is not set.')
     }
+    if (!this._isInitialized) {
+      throw new Error('Renderer not ready')
+    }
     return this.tempViewport.getOrCreateMeshManager(this.itemTypeName, () =>
       // 构建 InstanceMesh 代理对象
       new InstanceMeshManager(this.itemTypeName,

src/modules/tote/ToteRenderer.ts

@@ -8,7 +8,7 @@ import { load3DModule, loadByUrl, loadTexture, processModel } from '@/core/Model
 import InstanceMeshManager from '@/core/manager/InstanceMeshManager.ts'
 
 /**
- * 货架货位渲染器
+ * 周转箱渲染器
  */
 export default class PalletRenderer extends BaseRenderer {
   static POINT_NAME = 'pallet_point'
@@ -26,50 +26,6 @@ export default class PalletRenderer extends BaseRenderer {
   toteGeometry: THREE.BufferGeometry
   toteMaterial: THREE.Material
 
-  //
-  // processModel(mesh: THREE.Mesh) {
-  //   const geometry = mesh.geometry.clone() as THREE.BufferGeometry
-  //   geometry.rotateX(-Math.PI / 2)
-  //
-  //   // 获取原始包围盒
-  //   //@ts-ignore
-  //   const box = new THREE.Box3().setFromBufferAttribute(geometry.attributes.position)
-  //   const size = new THREE.Vector3()
-  //   box.getSize(size)
-  //
-  //   // 计算缩放因子：让整个包围盒变成 1x1x1 的立方体
-  //   const scaleX = 1 / size.x
-  //   const scaleY = 1 / size.y
-  //   const scaleZ = 1 / size.z
-  //
-  //   // 缩放几何体到 1x1x1 立方体（保持原点不变）
-  //   geometry.scale(scaleX, scaleY, scaleZ)
-  //
-  //   // 更新包围盒
-  //   //@ts-ignore
-  //   const scaledBox = new THREE.Box3().setFromBufferAttribute(geometry.attributes.position)
-  //   const center = new THREE.Vector3()
-  //   scaledBox.getCenter(center)
-  //
-  //   // 平移：让中心在 (0, height/2, 0)，底部贴地
-  //   const translate = new THREE.Matrix4().makeTranslation(
-  //     -center.x,
-  //     -scaledBox.min.y, // 保证底部贴地
-  //     -center.z
-  //   )
-  //   geometry.applyMatrix4(translate)
-  //
-  //   // 可选：验证最终包围盒
-  //   //@ts-ignore
-  //   const finalBox = new THREE.Box3().setFromBufferAttribute(geometry.attributes.position)
-  //   const finalSize = new THREE.Vector3()
-  //   finalBox.getSize(finalSize)
-  //   console.log('最终包围盒大小:', finalSize) // 应该是 (1, 1, 1)
-  //   console.log('包围盒底部 Y 值:', finalBox.min.y) // 应该是 0
-  //
-  //   return geometry
-  // }
-
   init() {
     return Promise.all([
       super.init(),

src/types/LCC.d.ts

@@ -46,6 +46,11 @@ declare interface LCC {
    * @param eventHandler 消息处理函数
    */
   unsubscribe(topicType: BackendTopicType, eventHandler: BackendMessageHandler);
+
+  /**
+   * 获取所有设备状态
+   */
+  queryDeviceInfoList(): Promise<ServerResponse<DeviceVo[]>>
 }
 
 /**
@@ -54,17 +59,32 @@ declare interface LCC {
 type BackendTopicType = 'ServerState' | 'ClientState' | 'TaskUpdate' | 'InvUpdate' |
   'DeviceStatus' | 'DeviceAlive' | 'Logs' | 'Alarm' | 'ScriptUpdate'
 
-type DeviceAliveFn = (type: BackendTopicType, topic: string, body: {
+type DeviceAliveFn = (type: BackendTopicType, topic: string, body: DeviceAliveVo) => void
+
+type DeviceStatusFn = (type: BackendTopicType, topic: string, body: DeviceVo) => void
+
+/**
+ * 后端消息回调
+ */
+type BackendMessageHandler = (type: BackendTopicType, topic: string, message: any) => void
+
+type ContainerT = 'pallet' | 'tote' | 'carton' | 'box'
+
+interface DeviceAliveVo {
   id: string
   type: string
   online: boolean
-}) => void
+}
 
-type DeviceStatusFn = (type: BackendTopicType, topic: string, body: {
+interface DeviceVo {
   // 设备 ID
   id: string
   // 设备类型
   type: string
+  // 是否在线
+  isOnline: boolean
+  // 是否系统托管
+  isSystemManaged: boolean
   // 设备x,y,z坐标
   x: number
   y: number
@@ -88,15 +108,7 @@ type DeviceStatusFn = (type: BackendTopicType, topic: string, body: {
   // AMR_CHARGE_MODE=充电模式;
   // AMR_TASK_INTERRUPT_MODE=任务被中断模式;
   // AMR_CUSTOMIZE_MODE=自定义模式;
-  mode: 'AMR_FREE_MODE' |
+  mode: 'AMR_FREE_MODE' | 'AMR_INIT_MODE' | 'AMR_TASK_MODE' | 'AMR_SINGLE_ACTION_MODE' | 'AMR_MANUAL_MODE' | 'AMR_HANDSET_MODE' | 'AMR_CHARGE_MODE' | 'AMR_TASK_INTERRUPT_MODE' | 'AMR_CUSTOMIZE_MODE'
-    'AMR_INIT_MODE' |
-    'AMR_TASK_MODE' |
-    'AMR_SINGLE_ACTION_MODE' |
-    'AMR_MANUAL_MODE' |
-    'AMR_HANDSET_MODE' |
-    'AMR_CHARGE_MODE' |
-    'AMR_TASK_INTERRUPT_MODE' |
-    'AMR_CUSTOMIZE_MODE'
   // 任务状态 ID: IDLE / PAUSED / EXECUTING
   taskStatus: string
   // 是否阻挡
@@ -117,14 +129,7 @@ type DeviceStatusFn = (type: BackendTopicType, topic: string, body: {
   bizTaskTo: string
   // 搬运托盘号
   bizLpn: string
-}) => void
+}
-
-/**
- * 后端消息回调
- */
-type BackendMessageHandler = (type: BackendTopicType, topic: string, message: any) => void
-
-type ContainerT = 'pallet' | 'tote' | 'carton' | 'box'
 
 interface InvVo {
   lpn: string