worldModel.envManager.client 被删除的问题

src/core/manager/EnvManager.ts

@@ -200,6 +200,7 @@ export default class EnvManager {
         }
         item.id = getAgvItemNameById(agvState.id)
         item.dt.vehicleId = agvState.id
+
         Model.createExecutor(item)
       }
     }

src/modules/amr/ptr/PtrObject.ts

@@ -377,6 +377,10 @@ export default class PtrObject extends THREE.Object3D {
   }
 
   subscribeMessage(topic: string) {
+    if (!worldModel.envManager.client) {
+      console.warn('worldModel.envManager.client is null!')
+      return
+    }
     worldModel.envManager.client.subscribe(topic, { qos: 0 })
   }
 
@@ -391,6 +395,11 @@ export default class PtrObject extends THREE.Object3D {
     if (this.sendMessageQueue.length <= 0) {
       this.mqRetryTimeCount = 0
     }
+    if (!worldModel.envManager.client) {
+      console.warn('worldModel.envManager.client is null!')
+      this.heartBeatTimeCount = 0
+      return
+    }
     worldModel.envManager.client.publish('/agv_robot/status', JSON.stringify(msg))
     this.heartBeatTimeCount = 0
   }
@@ -402,6 +411,10 @@ export default class PtrObject extends THREE.Object3D {
     const content = new AmrMsg20100(this.vehicleId)
     content.Temperature = { Battery: this.Battery }
     const m20100 = new AmrMsg<AmrMsg20100>(content)
+    if (!worldModel.envManager.client) {
+      console.warn('worldModel.envManager.client is null!')
+      return
+    }
     worldModel.envManager.client.publish('/agv_robot/status', JSON.stringify(m20100))
   }
 
@@ -412,6 +425,10 @@ export default class PtrObject extends THREE.Object3D {
     const msg20050 = new AmrMsg20050(seqNo, vehicleId)
     const ack = new AmrMsg<AmrMsg20050>(msg20050)
     this.heartBeatTimeCount = 0
+    if (!worldModel.envManager.client) {
+      console.warn('worldModel.envManager.client is null!')
+      return
+    }
     worldModel.envManager.client.publish('/agv_robot/status', JSON.stringify(ack))
   }