仿真环境启动

src/components/yvTable/YvTable.vue

@@ -287,9 +287,7 @@ export default {
       })
 
       _.forEach(insertRows, (row, index) => {
-        if (!row._rid) {
         row._rid = _.uniqueId('_')
-        }
       })
       sel.add = _.cloneDeep(insertRows)
       if (sel.add.length > 0 || sel.update.length > 0 || sel.remove.length > 0) {

src/core/engine/Viewport.ts

@@ -26,6 +26,7 @@ import ItemFindManager from '@/core/manager/ItemFindManager.ts'
 import { MapControls } from 'three/examples/jsm/controls/MapControls'
 import ModelManager from '@/core/script/ModelManager.ts'
 import RuntimeManager from '@/core/manager/RuntimeManager.ts'
+import EnvManager from '@/core/manager/EnvManager.ts'
 
 /**
  * 视窗对象
@@ -50,6 +51,7 @@ export default class Viewport {
   interactionManager = new InteractionManager()
   modelManager = new ModelManager()
   runtimeManager = new RuntimeManager()
+  envManager = new EnvManager()
 
   // 状态管理器
   stateManager: StateManager
@@ -63,7 +65,8 @@ export default class Viewport {
     markRaw(this.itemFindManager),
     markRaw(this.interactionManager),
     markRaw(this.modelManager),
-    markRaw(this.runtimeManager)
+    markRaw(this.runtimeManager),
+    markRaw(this.envManager)
   ]
 
   // 对象实例管理器 moduleName -> InstanceMeshManager

src/core/manager/EntityManager.ts

@@ -101,6 +101,54 @@ export default class EntityManager {
     this.lineDiffs.delete.clear()
   }
 
+  deleteEntityOnlyRuntime(id: string) {
+    const entity = this.___entityMap.get(id)
+    if (entity) {
+      this.viewport.itemFindManager.remove(id)
+      const renderer = getRenderer(entity.t)
+      if (renderer) {
+        renderer.tempViewport = this.viewport
+        renderer.deletePoint(id, { isRuntime: true })
+        this.___entityMap.delete(id)
+        renderer.tempViewport = null
+      }
+    }
+  }
+
+  /**
+   * 在运行时创建或更新一个实体, 他不会参与 StateManager 运算，也不会参与 Link 运算
+   */
+  createOrUpdateEntityOnlyRuntime(entity: ItemJson) {
+    if (!entity?.id) {
+      throw new Error('Entity must have an id')
+    }
+    const originEntity = this.___entityMap.get(entity.id)
+    const renderer = getRenderer(entity.t)
+    if (!renderer) {
+      throw new Error(`Renderer for type ${entity.t} not found`)
+    }
+
+    this.viewport.itemFindManager.addOrUpdate(entity)
+    this.___entityMap.set(entity.id, entity)
+
+    const option = {
+      isRuntime: true,
+      originEntity: _.cloneDeep(originEntity)
+
+    } as RendererCudOption
+
+    renderer.tempViewport = this.viewport
+
+    if (typeof originEntity === 'undefined') {
+      renderer.createPointForEntity(entity, option)
+
+    } else {
+      renderer.updatePointForEntity(entity, option)
+    }
+
+    renderer.tempViewport = null
+  }
+
   /**
    * 创建或更新一个实体, 这个点的 center[] / in[] / out[] 关联的点, 可能都要对应进行关联
    */
@@ -510,6 +558,7 @@ export default class EntityManager {
     }
     let item: ItemJson | undefined = undefined
     this.___entityMap.forEach((value) => {
+      //@ts-ignore
       if (value.logicX === logicX && value.logicY === logicY) {
         item = value
         return
@@ -521,6 +570,7 @@ export default class EntityManager {
   findItemByLogicXYZ(x: number, y: number, z: number): ItemJson | undefined {
     let item: ItemJson | undefined = undefined
     this.___entityMap.forEach((value) => {
+      //@ts-ignore
       if (value.tf[0][0] === x && /*value.tf[0][1] === y &&*/ value.tf[0][2] === z && value.logicX) {
         item = value
         return

src/core/manager/EnvManager.ts

@@ -0,0 +1,233 @@
+import type Viewport from '@/core/engine/Viewport.ts'
+import { worldModel } from '@/core/manager/WorldModel.ts'
+import mqtt, { type IConnackPacket, type IPublishPacket } from 'mqtt'
+import type { Cl2Task } from '@/modules/cl2/Cl23dObject.ts'
+import type { ErrorWithReasonCode } from 'mqtt/src/lib/shared.ts'
+import type Cl23dObject from '@/modules/cl2/Cl23dObject.ts'
+import { Request } from '@ease-forge/shared'
+
+export default class EnvManager {
+  private viewport: Viewport
+  private client: mqtt.MqttClient = null
+
+  init(viewport: Viewport): void {
+    this.viewport = viewport
+  }
+
+  // 从后台读取所有车
+  async loadExecutors() {
+    const res = await Request.request.post('/api/workbench/EnvController@getAllExecutor', {
+      projectUuid: worldModel.state.project_uuid,
+      catalogCode: worldModel.state.catalogCode,
+      envId: worldModel.state.runState.currentEnvId
+    })
+    for (const row of res.data) {
+      const executor_id = row.executor_id
+      const payload = JSON.parse(row.virtual_executor_payload)
+      const wayPointId = row.virtual_location_at
+
+      const point = Model.find(wayPointId)
+      if (!point) {
+        console.error(`Waypoint with ID ${wayPointId} not found for executor ${executor_id}.`)
+        continue
+      }
+
+      const item = _.cloneDeep(payload)
+      item.id = executor_id
+      item.tf[0] = _.cloneDeep(point.tf[0])
+      Model.createExecutor(item)
+    }
+  }
+
+  // 从后台读取所有库存
+  async loadInv() {
+    const res = await Request.request.post('/api/workbench/EnvController@getAllInv', {
+      projectUuid: worldModel.state.project_uuid,
+      catalogCode: worldModel.state.catalogCode,
+      envId: worldModel.state.runState.currentEnvId
+    })
+    for (const row of res.data) {
+      const bay = row.bay
+      const cell = row.cell // : 0
+      const level = row.level // : 0
+      const loc_code = row.loc_code // : "rack1_0_0_0"
+      const lpn = row.lpn // : "LPN1"
+      const rack = row.rack // : "rack1"
+      const container_type = row.container_type // : "pallet"
+      Model.createInv(container_type, lpn, rack, bay, level, cell)
+    }
+  }
+
+  appendExecutor(id) {
+    const obj = this.viewport.entityManager.findObjectById(id)
+    const item = this.viewport.entityManager.findItemById(id)
+    if (item.t == 'cl2' && obj.userData.t === 'cl2') {
+      debugger
+
+      const cl2 = obj as Cl23dObject
+      cl2.onMqttConnect(item, this.client)
+      // this.client.subscribe(['/wcs_server/' + cl2.id], { qos: 0 })
+      // this.client.publish('/agv_robot/status', JSON.stringify(m20020), { retain: true })
+    }
+  }
+
+  onMqttConnect = (packet: IConnackPacket) => {
+    console.log('Connected')
+  }
+
+  onMqttMessage = (topic: string, payload: Buffer, packet: IPublishPacket) => {
+    console.log(`[${topic}] ${msg}`)
+    debugger
+    const a: Cl2Task = JSON.parse(msg.toString())
+    this.handleMessage(a)
+  }
+
+  onMqttError = (error: Error | ErrorWithReasonCode) => {
+    console.error('Error:', error)
+  }
+
+  async start(env: EnvInfo) {
+    if (!env) {
+      system.showErrorDialog('Environment is not specified, cannot start EnvManager.')
+      return
+    }
+    if (!worldModel.state.isOpened) {
+      system.showErrorDialog('WorldModel is not opened, cannot start EnvManager.')
+      return
+    }
+    if (!this.viewport) {
+      system.showErrorDialog('Viewport is not initialized, cannot start EnvManager.')
+      return
+    }
+    if (!worldModel.state.runState.currentEnvId) {
+      system.showErrorDialog('Current environment ID is not set, cannot start EnvManager.')
+      return
+    }
+    if (worldModel.state.runState.isRunning) {
+      system.showErrorDialog('EnvManager is already running, cannot start again.')
+      return
+    }
+    const payload = env.env_payload
+    const brokerUrl = payload?.mqtt?.websocket
+    const username = payload?.mqtt?.username
+    const password = payload?.mqtt?.password
+
+    if (!brokerUrl || !username || !password) {
+      system.showErrorDialog('MQTT broker URL, username, or password is not set in the environment payload.')
+      return
+    }
+
+    this.stop()
+
+    system.showLoading()
+    worldModel.state.runState.isLoading = true
+    worldModel.state.runState.currentEnv = Object.freeze(env)
+    try {
+      await this.loadExecutors()
+      await this.loadInv()
+
+      this.client = mqtt.connect(brokerUrl, {
+        path: '/mqtt',
+        clientId: system.createUUID(),
+        clean: true,
+        connectTimeout: 300,
+        username,
+        password,
+        unixSocket: true,
+        keepalive: 60
+      })
+
+      this.client.on('connect', this.onMqttConnect)
+      this.client.on('message', this.onMqttMessage)
+      this.client.on('error', this.onMqttError)
+      worldModel.state.runState.isRunning = true
+
+    } finally {
+      system.clearLoading()
+      worldModel.state.runState.isLoading = false
+    }
+  }
+
+  async stop() {
+    system.showLoading()
+    try {
+      if (worldModel.state.runState.isRunning) {
+        worldModel.state.runState.isRunning = false
+      }
+      worldModel.state.runState.currentEnv = null
+      if (this.client) {
+        this.client.removeAllListeners()
+        this.client.end()
+        this.client = null
+      }
+
+      this.clearExecutors()
+      this.clearInv()
+      this.viewport.runtimeManager.clear()
+
+    } finally {
+      system.clearLoading()
+      worldModel.state.runState.isLoading = false
+    }
+  }
+
+  clearInv() {
+
+  }
+
+  clearExecutors() {
+
+  }
+
+  static CURRENT_ALL_ENV: EnvInfo[]
+
+  /**
+   * 创建运行环境
+   * @param worldId 世界ID
+   * @param envName 运行环境名称
+   * @param isVirtual 是否是虚拟环境
+   */
+  static async createEnv(worldId: string, envName: string, isVirtual: boolean) {
+    throw new Error('Method not implemented.')
+  }
+
+  /**
+   * 获取所有运行环境
+   */
+  static async getAllEnv(worldId: string): Promise<ServerResponse<EnvInfo[]>> {
+    // system.invokeServer('')
+    if (!worldId) {
+      return Promise.resolve({ success: true, data: [], msg: '' })
+    }
+    const res = await Request.request.post('/api/workbench/EnvController@getAllEnv', {
+      worldId: worldId
+    })
+    if (res.success) {
+      EnvManager.CURRENT_ALL_ENV = res.data
+      for (const env of res.data) {
+        // payload 转换为 json 数据
+        if (env.env_payload) {
+          try {
+            env.env_payload = JSON.parse(env.env_payload)
+          } catch (e) {
+            console.error('解析环境负载失败:', e)
+            env.env_payload = {}
+          }
+        }
+      }
+
+      return res
+    }
+
+    EnvManager.CURRENT_ALL_ENV = []
+    return res
+  }
+
+  /**
+   * 卸载资源
+   */
+  dispose(): void {
+    this.viewport = null
+    this.stop()
+  }
+}

src/core/manager/RunManager.ts

@@ -1,67 +0,0 @@
-import { Request } from '@ease-forge/shared'
-
-/**
- * 运行管理器
- */
-class RunManager {
-
-  // 是否正在运行
-  isRunning: boolean = false
-
-  /**
-   * 获取所有运行环境
-   */
-  async getAllEnv(worldId: string): Promise<ServerResponse<EnvInfo[]>> {
-    // system.invokeServer('')
-    if (!worldId) {
-      return Promise.resolve({ success: true, data: [], msg: '' })
-    }
-    const res = await Request.request.post('/api/workbench/EnvController@getAllEnv', {
-      worldId: worldId
-    })
-    for (const env of res.data) {
-      // payload 转换为 json 数据
-      if (env.env_payload) {
-        try {
-          env.env_payload = JSON.parse(env.env_payload)
-        } catch (e) {
-          console.error('解析环境负载失败:', e)
-          env.env_payload = {}
-        }
-      }
-    }
-
-    return res
-  }
-
-  /**
-   * 创建运行环境
-   * @param worldId 世界ID
-   * @param envName 运行环境名称
-   * @param isVirtual 是否是虚拟环境
-   */
-  async createEnv(worldId: string, envName: string, isVirtual: boolean) {
-    throw new Error('Method not implemented.')
-  }
-
-  /**
-   * 开始运行
-   */
-  async run(timeRate: number, envId: number) {
-    if (this.isRunning) {
-      await this.stop()
-    }
-
-    // 启动 websocket 监听等等
-  }
-
-  /**
-   * 停止运行
-   */
-  async stop() {
-    // 停止 websocket 监听等等
-  }
-}
-
-const runManager = new RunManager()
-export default runManager

src/core/manager/RuntimeManager.ts

@@ -5,6 +5,8 @@ import type Viewport from '@/core/engine/Viewport.ts'
  */
 export default class RuntimeManager {
   private viewport: Viewport
+  private readonly tmpExecutors = new Set<string>
+  // 货架ID -> 托盘ID
   private readonly storeRackMap = new Map<string, Set<string>>()
 
   init(viewport: Viewport): void {
@@ -58,11 +60,21 @@ export default class RuntimeManager {
    * 清空所有存储项
    */
   clear() {
+    for (const id of this.tmpExecutors) {
+      this.viewport.entityManager.deleteEntityOnlyRuntime(id)
+    }
+
+    this.tmpExecutors.clear()
     this.storeRackMap.clear()
   }
 
   dispose(): void {
     this.viewport = null
-    this.storeRackMap.clear()
+    this.clear()
+  }
+
+  addEntity(item: ItemJson) {
+    this.tmpExecutors.add(item.id)
+    this.viewport.entityManager.createOrUpdateEntityOnlyRuntime(item)
   }
 }

src/core/manager/WorldModel.ts

@@ -26,6 +26,7 @@ export interface WorldModelState {
     isRunning: boolean,
     isVirtual: boolean,
     timeRate: number,
+    currentEnv: EnvInfo
   }
 }
 
@@ -218,6 +219,7 @@ export default class WorldModel {
       const items = _.cloneDeep(floor.items)
       delete floor.items
       console.log("floor", floor);
+      //@ts-ignore
       const vdata: VData = {
         items: items as ItemJson[],
         infos: floor,

src/core/script/ModelManager.ts

@@ -94,11 +94,26 @@ export default class ModelManager implements IControls, Model {
     })
   }
 
-  createInv(boxType: ContainerT, lpn: string, rack: string, bay?: number, level?: number, cell?: number): void {
+  createExecutor(item: ItemJson): void {
+    this.viewport.runtimeManager.addEntity(item)
+  }
 
+  createInv(boxType: ContainerT, lpn: string, rack: string, bay?: number, level?: number, cell?: number): void {
     const scale = getRenderer(boxType).defaultScale
+    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: rack, bay, level, cell }
+      }
+    })
 
-    this.viewport.stateManager.update(({ getEntity, putEntity, addEntity }) => {
+    // 这一段代码不要删除，他是用向正式环境提交数据用的
+    /*
+this.viewport.stateManager.update(({ getEntity, putEntity, addEntity }) => {
   debugger
   const item = getEntity(lpn)
   if (item) {
@@ -124,7 +139,8 @@ export default class ModelManager implements IControls, Model {
       }
     })
   }
-    })
+})
+     */
   }
 
   getPositionByLogicXY(logicX: number, logicY: number): THREE.Vector3 {

src/editor/ModelMain.vue

@@ -31,11 +31,13 @@
           <el-button :icon="renderIcon('Play')" type="primary"
                      v-if="!worldModelState.runState.isRunning"
                      :disabled="!worldModelState.runState.currentEnvId"
-                     :loading="worldModelState.runState.isLoading">启动
+                     :loading="worldModelState.runState.isLoading"
+                     @click="startEnv">启动仿真
           </el-button>
           <el-button :icon="renderIcon('Stop')" type="danger" plain
                      v-if="worldModelState.runState.isRunning"
-                     :loading="worldModelState.runState.isLoading">停止
+                     :loading="worldModelState.runState.isLoading"
+                     @click="stopEnv">停止仿真
           </el-button>
         </div>
       </div>
@@ -150,9 +152,8 @@ import CatalogDefine from './CatalogDefine.vue'
 import Logo from '@/assets/images/logo.png'
 import './ModelMain.less'
 import EventBus from '@/runtime/EventBus.js'
-import { useRouter } from 'vue-router'
 import { worldModel } from '@/core/manager/WorldModel.ts'
-import runManager from '@/core/manager/RunManager.js'
+import EnvManager from '@/core/manager/EnvManager.js'
 
 export default {
   components: { Model2DEditor, Model3DViewer, Split, SplitArea, CatalogDefine },
@@ -269,15 +270,16 @@ export default {
   },
   watch: {
     'worldModelState.isOpened': {
-      handler(newVal) {
+      handler() {
-        if (newVal.isOpened) {
+        if (this.worldModelState.isOpened) {
           this.reloadEnvList()
         }
       }
     },
     'worldModelState.project_uuid': {
-      handler(newVal) {
+      immediate: true,
-        if (newVal.isOpened) {
+      handler() {
+        if (this.worldModelState.isOpened) {
           this.reloadEnvList()
         }
       }
@@ -299,8 +301,18 @@ export default {
   methods: {
     renderIcon,
     getWidgetBySide,
+    startEnv() {
+      const env = this.envList.find(env => env.env_id === this.worldModelState.runState.currentEnvId)
+      if (env) {
+        this.currentViewport.envManager.start(env)
+      }
+    },
+    stopEnv() {
+      this.currentViewport.envManager.stop()
+    },
     reloadEnvList() {
-      runManager.getAllEnv(this.worldModelState.project_uuid).then(res => {
+      EnvManager.getAllEnv(this.worldModelState.project_uuid)
+        .then(res => {
           this.envList = res.data
         })
     },

src/editor/OpenProject.vue

@@ -1,31 +1,31 @@
 <script setup lang="ts">
-import { onMounted, reactive, useTemplateRef } from "vue";
+import { onMounted, reactive, useTemplateRef } from 'vue'
-import { AgGridVue } from "ag-grid-vue3";
+import { AgGridVue } from 'ag-grid-vue3'
-import { ElButton } from "element-plus";
+import { ElButton } from 'element-plus'
-import { type GridOptions } from "ag-grid-enterprise";
+import { type GridOptions } from 'ag-grid-enterprise'
-import { type GridApi, type GridReadyEvent } from "ag-grid-community";
+import { type GridApi, type GridReadyEvent } from 'ag-grid-community'
-import { Request } from "@ease-forge/shared";
+import { Request } from '@ease-forge/shared'
-import { localeText as localeTextCn } from "../components/yvTable/yv-aggrid-cn.locale";
+import { localeText as localeTextCn } from '../components/yvTable/yv-aggrid-cn.locale'
-import "ag-grid-community/styles/ag-grid.css";
+import 'ag-grid-community/styles/ag-grid.css'
-import "ag-grid-community/styles/ag-theme-alpine.css";
+import 'ag-grid-community/styles/ag-theme-alpine.css'
 
 defineOptions({
-    name: 'OpenProject',
+  name: 'OpenProject'
-});
+})
 
 // 组件事件定义
 const emit = defineEmits<{
-    "cancel": [];
+  'cancel': [];
-    "open": [row: any];
+  'open': [row: any];
-    "add": [expose: OpenProjectExpose];
+  'add': [expose: OpenProjectExpose];
-}>();
+}>()
 
 // 定义 Props 类型
 interface OpenProjectProps {
 }
 
 // 读取组件 props 属性
-const props = withDefaults(defineProps<OpenProjectProps>(), {});
+const props = withDefaults(defineProps<OpenProjectProps>(), {})
 
 // 定义 State 类型
 interface OpenProjectState {
@@ -33,7 +33,7 @@ interface OpenProjectState {
 }
 
 // state 属性
-const state = reactive<OpenProjectState>({});
+const state = reactive<OpenProjectState>({})
 
 // 定义 Data 类型
 interface OpenProjectData {
@@ -48,42 +48,39 @@ const data: OpenProjectData = {
     // suppressNoRowsOverlay: true,
     // suppressLoadingOverlay: true,
     // 选择行配置
-        rowSelection: "single",
+    rowSelection: 'single',
     columnDefs: [
-            { field: 'id', headerName: 'id', editable: false, hide: true },
+      { field: 'id', headerName: 'id', editable: false },
       { field: 'projectUuid', headerName: '项目编号', editable: false },
       { field: 'projectLabel', headerName: '项目标题', editable: false },
       { field: 'projectVersion', headerName: '项目版本', editable: false },
-            { field: 'server', headerName: '所在服务器', editable: false },
-            { field: 'directoryData', headerName: '目录数据', editable: false },
-            { field: 'otherData', headerName: '其他数据', editable: false },
       { field: 'createAt', headerName: '创建时间', editable: false },
       { field: 'createBy', headerName: '创建人', editable: false },
       { field: 'updateAt', headerName: '最后更新时间', editable: false },
-            { field: 'updateBy', headerName: '更新人', editable: false },
+      { field: 'updateBy', headerName: '更新人', editable: false }
     ],
     onGridReady(event: GridReadyEvent) {
       data.api = event.api
-        },
+    }
-    },
+  }
-};
+}
-const grid = useTemplateRef<InstanceType<typeof AgGridVue>>("gridRef");
+const grid = useTemplateRef<InstanceType<typeof AgGridVue>>('gridRef')
-onMounted(loadData);
+onMounted(loadData)
 
 function loadData() {
-    Request.request.post("/api/workbench/LccModelManager@projectList").then(res => {
+  Request.request.post('/api/workbench/LccModelManager@projectList').then(res => {
-        state.grid1Data = res.records;
+    state.grid1Data = res.records
-    });
+  })
 }
 
 function open() {
-    const row = data.api?.getSelectedRows()?.[0];
+  const row = data.api?.getSelectedRows()?.[0]
-    if (!row) return;
+  if (!row) return
-    emit("open", row);
+  emit('open', row)
 }
 
 function add() {
-    emit("add", expose);
+  emit('add', expose)
 }
 
 interface OpenProjectExpose {
@@ -95,14 +92,14 @@ interface OpenProjectExpose {
 const expose: OpenProjectExpose = {
   state,
   data,
-    loadData,
+  loadData
-};
+}
 // 定义组件公开内容
-defineExpose(expose);
+defineExpose(expose)
 
 export type {
   OpenProjectProps,
-    OpenProjectState,
+  OpenProjectState
 }
 </script>
 

src/editor/menus/FileMenu.ts

@@ -109,7 +109,7 @@ export default defineMenu((menus) => {
             }
           }), {
             title: '打开项目',
-            width: 1500,
+            width: 600,
             height: 500,
             showClose: true,
             showMax: true,
@@ -142,6 +142,8 @@ export default defineMenu((menus) => {
               envId: 1,
               otherData: JSON.stringify(worldModel.state.worldData)
             })
+            system.msg('保存成功', 'success')
+
           } finally {
             system.clearLoading()
           }

src/modules/cl2/Cl23dObject.ts

@@ -409,28 +409,10 @@ export default class Cl23dObject extends THREE.Object3D {
         on() {
         }
       }
+      debugger
 
-      const m20020 = {
+      /*
-        'content': {
+      // 事件绑定
-          'CreateMonoTime': 233701185,
-          'CreateTime': 1750638957541,
-          'CurDirection': 0,
-          'CurLogicX': 6,
-          'CurLogicY': 2,
-          'CurOrientation': -3.1375624383367926,
-          'CurX': 6,
-          'CurY': 2,
-          'MarkerType': 1,
-          'SendTime': 1750638957541,
-          'SeqNo': 11,
-          'VehicleId': 3,
-          'X': 2652.477598132277,
-          'Y': 3944.4427159671854
-        },
-        'id': 20020
-      }
-
-// 事件绑定
       client.on('connect', () => {
         console.log('Connected')
         client.subscribe(['/wcs_server/' + item.id], { qos: 0 })
@@ -447,6 +429,7 @@ export default class Cl23dObject extends THREE.Object3D {
       client.on('error', (error) => {
         console.error('Error:', error)
       })
+       */
     } catch (e) {
       console.error(e)
     }
@@ -455,8 +438,33 @@ export default class Cl23dObject extends THREE.Object3D {
 
   /*==========消息处理============*/
 
+  onMqttConnect(item: ItemJson, client: mqtt.MqttClient) {
+    const m20020 = {
+      'content': {
+        'CreateMonoTime': 233701185,
+        'CreateTime': 1750638957541,
+        'CurDirection': 0,
+        'CurLogicX': 6,
+        'CurLogicY': 2,
+        'CurOrientation': -3.1375624383367926,
+        'CurX': 6,
+        'CurY': 2,
+        'MarkerType': 1,
+        'SendTime': 1750638957541,
+        'SeqNo': 11,
+        'VehicleId': 3,
+        'X': 2652.477598132277,
+        'Y': 3944.4427159671854
+      },
+      'id': 20020
+    }
+
+    client.subscribe(['/wcs_server/' + item.id], { qos: 0 })
+    client.publish('/agv_robot/status', JSON.stringify(m20020), { retain: true })
+  }
+
   handleMessage(data: Cl2Task) {
-    return;
+    return
     if (data.id === 10010) {
 
       if (this.taskList.length <= 0) {

src/types/LCC.d.ts

@@ -11,17 +11,6 @@ declare interface LCC {
   loadFloor(projectUUID: string, catalogCode: string, envId: string): Promise<ServerResponse<boolean>>
 
   /**
-   * 在指定位置创建库存物品
-   * @param boxType 容器类型
-   * @param lpn 货品标签
-   * @param rack 货架ID
-   * @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
-   */
-  createInv(boxType: ContainerT, lpn: string, rack: string, bay: number = 0, level: number = 0, cell: number = 0): void
-
-  /**
    * 移动库存物品到指定位置
    * @param lpn 货品标签
    * @param rack 货架ID

src/types/Model.d.ts

@@ -30,7 +30,7 @@ declare interface Model {
 
 
   /**
-   * 获取当前楼层的其他数据
+   * 在指定位置创建一个流动的库存物品
    * @param boxType 容器类型
    * @param lpn 货品标签
    * @param rack 货架ID
@@ -40,6 +40,13 @@ declare interface Model {
    */
   createInv(boxType: ContainerT, lpn: string, rack: string, bay: number = 0, level: number = 0, cell: number = 0): void
 
+
+  /**
+   * 在指定位置创建一个流动的库存物品
+   * @param item 物品Json
+   */
+  createExecutor(item: ItemJson): void
+
   /**
    * 物品删除
    */
@@ -205,7 +212,7 @@ declare function msg(str: string, type: MSG_TYPE = 1): void
  * 环境信息
  */
 interface EnvInfo {
-  env_id: string
+  env_id: number
   world_id: string
   env_name: string
   is_virtual: boolean