Logs 推送问题

src/components/YvSrcEditorInner.vue

@@ -150,6 +150,13 @@ export default {
         () => null
       )
     },
+    clear(){
+      if (this.editor) {
+        this.editor.setValue('')
+        this.$emit('update:modelValue', '')
+        this.$emit('change', '')
+      }
+    },
     init() {
       // this.editor.updateOptions(option);
       this.editor.setValue(this.modelValue ?? '')

src/core/manager/BackendMessageReceiver.ts

@@ -349,7 +349,7 @@ export default class BackendMessageReceiver {
   private handleDeviceAlive(message: MqttMessage, handler: BackendMessageHandler) {
     try {
       const data = JSON.parse(message.payload.toString())
-      handler('DeviceAlive', message.topic, _.cloneDeep(data))
+      handler('DeviceAlive', message.topic, data)
 
       // 处理设备存活状态
     } catch (error) {
@@ -359,8 +359,7 @@ export default class BackendMessageReceiver {
 
   private handleLogMonitor(message: MqttMessage, handler: BackendMessageHandler) {
     try {
-      const data = JSON.parse(message.payload.toString())
+      handler('Logs', message.topic, message.payload.toString())
-      handler('Logs', message.topic, _.cloneDeep(data))
 
       // 处理日志更新
     } catch (error) {
@@ -371,7 +370,7 @@ export default class BackendMessageReceiver {
   private handleAlarmMonitor(message: MqttMessage, handler: BackendMessageHandler) {
     try {
       const data = JSON.parse(message.payload.toString())
-      handler('Alarm', message.topic, _.cloneDeep(data))
+      handler('Alarm', message.topic, data)
 
     } catch (error) {
       console.error('Error parsing alarm data:', error)

src/core/script/ModelManager.ts

@@ -77,6 +77,10 @@ export default class ModelManager implements IControls, Model {
     return item
   }
 
+  find3D(id: string): any {
+    return this.viewport.entityManager.findObjectById(id)
+  }
+
   getPositionByEntityId(entityId: string): THREE.Vector3 {
     const item = this.viewport.entityManager.findItemById(entityId)
     const matrix = getMatrixFromTf(item.tf)

src/editor/widgets/logger/LoggerView.vue

@@ -11,12 +11,13 @@
     </span>
   </div>
   <div class="calc-bottom-panel">
-    <YvSrcEditor ref="jsEditor" language="typescript" v-model="currentLog" />
+    <YvSrcEditor ref="jsEditor" language="typescript" />
   </div>
 </template>
 <script>
 import IWidgets from '../IWidgets.js'
 import YvSrcEditor from '@/components/YvSrcEditor.vue'
+import { worldModel } from '@/core/manager/WorldModel.js'
 
 export default {
   name: 'LoggerView',
@@ -24,8 +25,53 @@ export default {
   mixins: [IWidgets],
   data() {
     return {
+      stopSubscribe: [],
       searchKeyword: ''
     }
+  },
+  mounted() {
+    window['LoggerView'] = this
+  },
+  unmounted() {
+    window['LoggerView'] = null
+    this.undescribe()
+  },
+  methods: {
+    onServerLogMessage() {
+
+    },
+    async refreshData() {
+      this.$refs.jsEditor.clear()
+    },
+    async subscribe() {
+      await this.refreshData()
+
+      // 订阅设备状态消息
+      this.stopSubscribe.push(
+        worldModel.backendMessageReceiver.subscribe('Logs', this.onServerLogMessage.bind(this))
+      )
+    },
+    undescribe() {
+      // 取消订阅设备状态消息
+      for (const stopFn of this.stopSubscribe) {
+        stopFn()
+      }
+      this.stopSubscribe = []
+    }
+  },
+  watch: {
+    isActivated: {
+      handler(value) {
+        if (value) {
+          this.subscribe()
+        }
+        // 如果不需要自动订阅，可以取消下面的代码注释
+        // else {
+        //   this.undescribe()
+        // }
+      },
+      immediate: true
+    }
   }
 }
 </script>

src/editor/widgets/monitor/MonitorView.vue

@@ -4,12 +4,16 @@
     <el-button size="small" :icon="renderIcon('Refresh')" @click="refreshData"
                style="margin-left: 5px;"
     />
+    <el-button size="small" :icon="renderIcon('fa Simplybuilt')" @click="simBootAll"
+               style="margin-left: 2px;" link
+               v-if="worldModelState.runState.isRunning && worldModelState.runState.isVirtual"
+    >全上线
+    </el-button>
     <el-input v-model="searchKeyword" size="small" style="width: 240px" placeholder="Search">
       <template #prefix>
         <component :is="renderIcon('element Search')"></component>
       </template>
     </el-input>
-
     <span class="close" @click="closeMe">
       <component :is="renderIcon('element Close')" />
     </span>
@@ -93,6 +97,18 @@ export default {
     this.undescribe()
   },
   methods: {
+    simBootAll() {
+      const viewport = window['viewport']
+      for (const deviceInfo of this.deviceList) {
+        if (deviceInfo.isOnline) {
+          continue
+        }
+        const view3DObject = Model.find3D(deviceInfo.id)
+        if (typeof view3DObject.boot === 'function') {
+          view3DObject.boot()
+        }
+      }
+    },
     copyDeviceId(deviceInfo) {
       navigator.clipboard.writeText(deviceInfo.id).then(() => {
         system.msg('设备ID已复制到剪贴板', 'success')
@@ -234,6 +250,9 @@ export default {
     },
     idle() {
       return this.deviceList.filter(device => device.mode === 'AMR_FREE_MODE').length
+    },
+    worldModelState() {
+      return worldModel.state
     }
   },
   watch: {

src/editor/widgets/server/ServerView.vue

@@ -108,6 +108,13 @@ export default {
         worldModel.backendMessageReceiver.subscribe('ServerState', this.onServerStateMessage.bind(this))
       )
     },
+    undescribe() {
+      // 取消订阅设备状态消息
+      for (const stopFn of this.stopSubscribe) {
+        stopFn()
+      }
+      this.stopSubscribe = []
+    },
     async refreshData() {
       this.serverList = []
       this.isLoading = true
@@ -123,13 +130,6 @@ export default {
         this.isLoading = false
       }
     },
-    undescribe() {
-      // 取消订阅设备状态消息
-      for (const stopFn of this.stopSubscribe) {
-        stopFn()
-      }
-      this.stopSubscribe = []
-    },
 
     // 获取系统标签的样式类
     getSystemTagClass(system) {

src/modules/amr/ptr/PtrObject.ts

@@ -1,4 +1,4 @@
-import * as THREE from "three";
+import * as THREE from 'three'
 import {
   AmrErrorCode,
   AmrMsg, AmrMsg10010, AmrMsg10050, AmrMsg10060, AmrMsg10110, AmrMsg10120, AmrMsg20010,
@@ -14,14 +14,14 @@ import {
   TaskModeChangeData,
   TaskStatusChangeData,
   TaskTypeChangeData
-} from "@/core/manager/amr/AmrMessageDefine";
+} from '@/core/manager/amr/AmrMessageDefine'
-import {worldModel} from "@/core/manager/WorldModel";
+import { worldModel } from '@/core/manager/WorldModel'
-import Viewport from "@/core/engine/Viewport";
+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 gsap from 'gsap'
 
 
-type CStepTaskType = "MOVE" | "MOVE_BACKWARD" | "ROTATION" | "LOAD" | "UNLOAD" | "CHARGE"
+type CStepTaskType = 'MOVE' | 'MOVE_BACKWARD' | 'ROTATION' | 'LOAD' | 'UNLOAD' | 'CHARGE'
 
 export interface StepTask {
   SeqNo: number;
@@ -55,8 +55,8 @@ export default class PtrObject extends THREE.Object3D {
 
   public clock = new THREE.Clock()
 
-  override AGVModel = ""
+  override AGVModel = ''
-  override AGVFnModel = ""
+  override AGVFnModel = ''
 
   private boxBody: any = null
   private __toPos: THREE.Vector3 = null
@@ -159,7 +159,7 @@ export default class PtrObject extends THREE.Object3D {
   private mqRetryTimeCount: number = 0
 
   constructor(item: ItemJson, viewport: Viewport) {
-    super();
+    super()
     this.viewport = viewport
     this.item = item
     this.vehicleId = parseInt(item.id)
@@ -194,23 +194,23 @@ export default class PtrObject extends THREE.Object3D {
 
   // 开机
   boot() {
-    this.bootTime = Date.now();
+    this.bootTime = Date.now()
-    this.computeLogicXYAndDirection();
+    this.computeLogicXYAndDirection()
 
-    const boxShape = new this.viewport.ammoModel.btBoxShape(new Ammo.btVector3(0.5, 0.5, 0.5));
+    const boxShape = new this.viewport.ammoModel.btBoxShape(new Ammo.btVector3(0.5, 0.5, 0.5))
 
     const mass = 10
     const localInertia = new this.viewport.ammoModel.btVector3(0, 0, 0)
     boxShape.calculateLocalInertia(mass, localInertia)
 
-    const boxTransform = new this.viewport.ammoModel.btTransform();
+    const boxTransform = new this.viewport.ammoModel.btTransform()
-    boxTransform.setIdentity();
+    boxTransform.setIdentity()
-    boxTransform.setOrigin(new this.viewport.ammoModel.btVector3(this.position.x, this.position.y, this.position.z));
+    boxTransform.setOrigin(new this.viewport.ammoModel.btVector3(this.position.x, this.position.y, this.position.z))
 
-    const boxMotionState = new this.viewport.ammoModel.btDefaultMotionState(boxTransform);
+    const boxMotionState = new this.viewport.ammoModel.btDefaultMotionState(boxTransform)
     const rbInfo = new this.viewport.ammoModel.btRigidBodyConstructionInfo(mass, boxMotionState, boxShape, localInertia)
-    this.boxBody = new this.viewport.ammoModel.btRigidBody(rbInfo);
+    this.boxBody = new this.viewport.ammoModel.btRigidBody(rbInfo)
-    this.viewport.physicsWorld.addRigidBody(this.boxBody);
+    this.viewport.physicsWorld.addRigidBody(this.boxBody)
 
     if (!worldModel.state.runState.isVirtual) {
       return
@@ -321,7 +321,7 @@ export default class PtrObject extends THREE.Object3D {
       ActuatorsData: [
         {
           MechNo: 1,
-          Name: "Mech1",
+          Name: 'Mech1',
           PickMode: this.PickMode
         }
       ]
@@ -349,10 +349,10 @@ export default class PtrObject extends THREE.Object3D {
     content.CurLogicX = this.currentLogicX
     content.CurLogicY = this.currentLogicY
     content.CurOrientation = this.currentOrientation
-    content.CurX = this.position.x;
+    content.CurX = this.position.x
-    content.CurY = this.position.z;
+    content.CurY = this.position.z
-    content.X = this.position.x;
+    content.X = this.position.x
-    content.Y = this.position.z;
+    content.Y = this.position.z
     const m20060 = new AmrMsg<AmrMsg20060>(content)
     this.sendMessage(m20060)
   }
@@ -460,27 +460,27 @@ export default class PtrObject extends THREE.Object3D {
     }
     const ddra = Math.PI / 180
     if (ra >= Math.PI * 2 - ddra || ra <= ddra) {
-      this.currentDirection = 0;
+      this.currentDirection = 0
 
     } else if (ra >= Math.PI / 2 - ddra && ra <= Math.PI / 2 + ddra) {
-      this.currentDirection = 3;
+      this.currentDirection = 3
 
     } else if (ra >= Math.PI - ddra && ra <= Math.PI + ddra) {
-      this.currentDirection = 2;
+      this.currentDirection = 2
 
     } else if (ra >= Math.PI / 2 * 3 - ddra && ra <= Math.PI / 2 * 3 + ddra) {
-      this.currentDirection = 1;
+      this.currentDirection = 1
     } else {
-      this.currentDirection = 15;
+      this.currentDirection = 15
     }
 
     const pointItem = Model.getItemByXYZ(this.position.x, this.position.y, this.position.z)
     if (!pointItem || !pointItem.logicX || !pointItem.logicY) {
-      this.currentLogicX = -1;
+      this.currentLogicX = -1
-      this.currentLogicY = -1;
+      this.currentLogicY = -1
     } else {
-      this.currentLogicX = pointItem.logicX;
+      this.currentLogicX = pointItem.logicX
-      this.currentLogicY = pointItem.logicY;
+      this.currentLogicY = pointItem.logicY
     }
     this.currentOrientation = this.getAmrOrientation(this.rotation.y)
   }
@@ -494,7 +494,7 @@ export default class PtrObject extends THREE.Object3D {
       } else {
         currentStepTask = {
           SeqNo: 0,
-          StepTaskType: "MOVE",
+          StepTaskType: 'MOVE',
           OperationType: 0,
           PickMode: 0,
           X: this.currentLogicX,
@@ -549,7 +549,7 @@ export default class PtrObject extends THREE.Object3D {
         if (endDirection != currentStepTask.EndDirection) {
           const stepTask: StepTask = {
             SeqNo: data.SeqNo,
-            StepTaskType: "ROTATION",
+            StepTaskType: 'ROTATION',
             OperationType: 0,
             PickMode: 0,
             X: prevLink.X,
@@ -567,7 +567,7 @@ export default class PtrObject extends THREE.Object3D {
 
         const stepTask: StepTask = {
           SeqNo: data.SeqNo,
-          StepTaskType: link.Speed > 0 ? "MOVE" : "MOVE_BACKWARD",
+          StepTaskType: link.Speed > 0 ? 'MOVE' : 'MOVE_BACKWARD',
           OperationType: 0,
           PickMode: 0,
           X: link.X,
@@ -590,7 +590,7 @@ export default class PtrObject extends THREE.Object3D {
       || (linkCount > 0 && data.Link[linkCount - 1].X == data.EndX && data.Link[linkCount - 1].Y == data.EndY)) {
 
       if (data.OperationType == 0 && data.EndDirection >= 0 && data.EndDirection <= 3) {
-        endDirection = data.EndDirection;
+        endDirection = data.EndDirection
       } else if (data.OperationType == 3 && data.ChargeDirection >= 0 && data.ChargeDirection <= 3) {
         endDirection = data.ChargeDirection
       } else if (data.OperationType == 4 && data.GoodsSlotDirection >= 0 && data.GoodsSlotDirection <= 3) {
@@ -610,7 +610,7 @@ export default class PtrObject extends THREE.Object3D {
         }
         const stepTask: StepTask = {
           SeqNo: data.SeqNo,
-          StepTaskType: "ROTATION",
+          StepTaskType: 'ROTATION',
           OperationType: 0,
           PickMode: 0,
           X: data.EndX,
@@ -629,7 +629,7 @@ export default class PtrObject extends THREE.Object3D {
 
         const stepTask: StepTask = {
           SeqNo: data.SeqNo,
-          StepTaskType: "CHARGE",
+          StepTaskType: 'CHARGE',
           OperationType: 3,
           PickMode: 0,
           X: data.EndX,
@@ -647,7 +647,7 @@ export default class PtrObject extends THREE.Object3D {
 
         const stepTask: StepTask = {
           SeqNo: data.SeqNo,
-          StepTaskType: data.PickMode == 1 ? "LOAD" : "UNLOAD",
+          StepTaskType: data.PickMode == 1 ? 'LOAD' : 'UNLOAD',
           OperationType: 4,
           PickMode: data.PickMode,
           X: data.EndX,
@@ -676,7 +676,7 @@ export default class PtrObject extends THREE.Object3D {
     while (this.currentStepTaskList.length > 0) {
       const stepTask = this.currentStepTaskList[0]
       if (this.runningStepTask) {
-        if ((stepTask.StepTaskType == "MOVE" || stepTask.StepTaskType == "MOVE_BACKWARD")
+        if ((stepTask.StepTaskType == 'MOVE' || stepTask.StepTaskType == 'MOVE_BACKWARD')
           && this.rotationAnimation == null && this.actionAnimation == null
           && stepTask.EndDirection == this.runningStepTask.EndDirection
           && (stepTask.Speed > 0) == (this.runningStepTask.Speed > 0)) {
@@ -693,13 +693,13 @@ export default class PtrObject extends THREE.Object3D {
         this.runningStepTask = stepTask
         this.currentStepTaskList.shift()
         this.runningStepTaskList.push(stepTask)
-        if (stepTask.StepTaskType == "MOVE" || stepTask.StepTaskType == "MOVE_BACKWARD") {
+        if (stepTask.StepTaskType == 'MOVE' || stepTask.StepTaskType == 'MOVE_BACKWARD') {
           this.addTravel(stepTask.X, stepTask.Y, stepTask.Speed / 1000)
-        } else if (stepTask.StepTaskType == "ROTATION") {
+        } else if (stepTask.StepTaskType == 'ROTATION') {
           this.addRotation(stepTask.EndDirection)
-        } else if (stepTask.StepTaskType == "LOAD") {
+        } else if (stepTask.StepTaskType == 'LOAD') {
           this.addLoad(stepTask.GoodsSlotHeight / 1000)
-        } else if (stepTask.StepTaskType == "UNLOAD") {
+        } else if (stepTask.StepTaskType == 'UNLOAD') {
           this.addUnload(stepTask.GoodsSlotHeight / 1000)
         }
       }
@@ -775,7 +775,6 @@ export default class PtrObject extends THREE.Object3D {
   addTravel(logicX: number, logicY: number, speed: number = 1): Promise<void> {
 
 
-
     this.OperationType = 0
     this.PickMode = 0
     const pos = Model.getPositionByLogicXY(logicX, logicY)
@@ -791,13 +790,13 @@ export default class PtrObject extends THREE.Object3D {
 
     // 运动参数
     const accelForce = speed > 0 ? 4 : (-4)
-    let currentPhase = 'accelerate';
+    let currentPhase = 'accelerate'
 
     if (this.viewport.registerPhysicsUpdateCallBack.has(this.item.id)) {
       return null
     }
 
-    this.travelAnimation = "asd"
+    this.travelAnimation = 'asd'
 
     const force = new this.viewport.ammoModel.btVector3(accelForce, 0, 0)
     this.viewport.registerPhysicsUpdateCallBack.set(this.item.id, () => {
@@ -826,7 +825,8 @@ export default class PtrObject extends THREE.Object3D {
         this.travelAnimation = null
         this.onActionCompleted()
 
-      } if (distance <= stopDistance) {
+      }
+      if (distance <= stopDistance) {
         currentPhase = 'decelerate'
       }
       // 运动阶段控制

src/types/Model.d.ts

@@ -3,12 +3,18 @@
  */
 declare interface Model {
   /**
-   * 根据实体 ID 查找模型实体
+   * 根据实体 ID 查找数据实体
    * @param entityId 实体 ID
    */
   find(entityId: string): ItemJson
 
   /**
+   * 根据实体 ID 查找模型实体
+   * @param id
+   */
+  find3D(id: string): any
+
+  /**
    * 根据实体 ID 获取位置
    */
   getPositionByEntityId(entityId: string): Vector3IF
@@ -87,6 +93,7 @@ declare interface Model {
    */
   multiSelectedEntityIds: string[]
 
+
 }
 
 /**