库存监视 InvUpdate, 3D 模型初始化位置变更

src/core/base/BaseRenderer.ts

@@ -108,7 +108,7 @@ export default abstract class BaseRenderer {
   }
 
   createPointForEntity(item: ItemJson, option?: RendererCudOption): Object3DLike {
-    const point = this.createPoint(item, option)
+    let point = this.createPoint(item, option)
     point.visible = ((typeof item.v !== 'undefined') ? item.v : true)
 
     if (item.dt.storeAt?.item) {
@@ -118,7 +118,24 @@ export default abstract class BaseRenderer {
     setUserDataForItem(item, point)
     this.afterCreateOrUpdatePoint(item, option, point)
     this.tempViewport.entityManager.appendObject(item.id, point)
+    if (typeof option.getParentObject3D === 'function') {
+      // 要求添加到指定 父对象
+      const parent: THREE.Object3D = option.getParentObject3D(this.tempViewport, item)
+      if (point instanceof MeshWrap) {
+        const wrap = point as MeshWrap
+        const mesh = wrap.manager.wrapToObject3D(wrap)
+        this.tempViewport.entityManager.replaceObject(item.id, mesh)
+        parent.add(mesh)
+        point = mesh
+
+      } else {
+        parent.add(point)
+      }
+
+    } else {
+      // 默认添加到场景中
       this.appendToScene(point)
+    }
     return point
   }
 
@@ -155,13 +172,14 @@ export default abstract class BaseRenderer {
       if (!rackRenderer) {
         console.error(`Cannot find renderer for rack type ${rack.t}`)
       }
-      const { position, rotation } = rackRenderer.getStorePlacement(rack, item.dt.storeAt.bay, item.dt.storeAt.level, item.dt.storeAt.cell)
+      const { position, rotation, getParentObject3D } = rackRenderer.getStorePlacement(rack, item.dt.storeAt.bay, item.dt.storeAt.level, item.dt.storeAt.cell)
       if (!position || !rotation) {
         console.error(`无法获取物品 ${item.id} 的存储位置`)
       }
 
       option.position = position
       option.rotation = rotation
+      option.getParentObject3D = getParentObject3D
     }
 
     if (_.isArray(option?.position) && _.isArray(option?.rotation)) {
@@ -312,7 +330,10 @@ export default abstract class BaseRenderer {
    * 获取物品存储到地堆货位中，返回可存放的位置和角度一个 Position 和 Rotation
    */
   getStorePlacement(storeItem: ItemJson, bay = 0, level = 0, cell = 0)
-    : { position: [number, number, number], rotation: [number, number, number] } {
+    : {
+    position: [number, number, number], rotation: [number, number, number],
+    getParentObject3D?: (viewport: Viewport, parent: ItemJson) => THREE.Object3D
+  } {
     throw new Error(' 不支持库存物品的添加. t=' + this.itemTypeName)
   }
 

src/core/manager/EnvManager.ts

@@ -58,10 +58,6 @@ export default class EnvManager {
     const env = worldModel.state.runState.currentEnv
     try {
       worldModel.backendMessageReceiver.setProjectEnv(worldModel.state.project_uuid, worldModel.state.runState.currentEnvId)
-      await this.loadInvToModel()
-      this.stopSubscribe.push(
-        worldModel.backendMessageReceiver.subscribe('InvUpdate', this.onInvUpdateMessage.bind(this))
-      )
 
       this.client = mqtt.connect(env.envConfig.mqtt.websocket, {
         path: '/mqtt',
@@ -75,6 +71,13 @@ export default class EnvManager {
       })
 
       await this.loadExecutorToModel()
+      this.stopSubscribe.push(
+        worldModel.backendMessageReceiver.subscribe('InvUpdate', this.onInvUpdateMessage.bind(this))
+      )
+      this.stopSubscribe.push(
+        worldModel.backendMessageReceiver.subscribe('ServerState', this.onServerUpdateMessage.bind(this))
+      )
+      await this.loadInvToModel()
 
       this.client.on('connect', this.onMqttConnect)
       this.client.on('message', this.onMqttMessage)
@@ -87,16 +90,30 @@ export default class EnvManager {
     }
   }
 
+  /**
+   * 监听在服务器停机之后，客户端连接也必须停机
+   */
+  onServerUpdateMessage(type: BackendTopicType, topic: string, data: ServerStatusVo) {
+    if (worldModel.state.runState.isRunning && worldModel.state.runState.currentEnvId === data.envId) {
+      // 处理服务器状态更新
+      if (!data.isRunning) {
+        // 如果服务器停止了，则断开连接
+        console.log(`Server stopped: ${data.envId}`)
+        system.msg(`Server is stopped, client disconnect!`, 'warning')
+        this.disconnectEnv().finally()
+      }
+    }
+  }
+
   async onInvUpdateMessage(type: BackendTopicType, topic: string, body: InvUpdateVo) {
+    console.log(`InvUpdate: ${type} ${topic}`, body)
+
     if (!window['Model']) {
       // 如果没有3D模型加载，则不处理库存更新
       return
     }
 
-    const lpnItem = Model.find(body.lpn)
+    Model.deleteInv(body.lpn)
-    if (lpnItem) {
-      Model.deleteItem(lpnItem.id)
-    }
 
     if (body.after != null) {
       // 将托盘挪到目标位置
@@ -223,6 +240,6 @@ export default class EnvManager {
    * 卸载资源
    */
   dispose(): void {
-    this.disconnectEnv()
+    this.disconnectEnv().finally()
   }
 }

src/core/script/ModelManager.ts

@@ -85,6 +85,10 @@ export default class ModelManager implements IControls, Model {
     return position
   }
 
+  deleteInv(itemId) {
+    this.viewport.runtimeManager.removeEntity(itemId)
+  }
+
   deleteItem(itemId) {
     if (this.viewport.runtimeManager.has(itemId)) {
       // 临时执行器

src/editor/widgets/server/EnvSelectConnect.vue

@@ -55,10 +55,10 @@ export default {
   methods: {
     renderIcon,
     connectEnv() {
-      worldModel.envManager.connectEnv()
+      worldModel.envManager.connectEnv().finally()
     },
     disconnectEnv() {
-      worldModel.envManager.disconnectEnv()
+      worldModel.envManager.disconnectEnv().finally()
     },
     createEnv() {
       EnvManager.createEnv(this.worldModelState.project_uuid).then(() => {

src/modules/amr/ptr/cl2/Cl2Renderer.ts

@@ -1,8 +1,9 @@
 import * as THREE from 'three'
 import BaseRenderer from '@/core/base/BaseRenderer.ts'
 import Constract from '@/core/Constract.ts'
-import Cl23dObject from "./Cl23dObject";
+import Cl23dObject from './Cl23dObject'
 import type { Object3DLike } from '@/types/ModelTypes.ts'
+import type Viewport from '@/core/engine/Viewport.ts'
 
 /**
  * ptr侧叉渲染器
@@ -24,6 +25,39 @@ export default class PtrRenderer extends BaseRenderer {
   }
 
   /**
+   * 如果某物品要放到 Cl2 上 返回可存放的位置和角度一个 Position 和 Rotation
+   */
+  getStorePlacement(storeItem: ItemJson, bay = 0, level = 0, cell = 0)
+    : {
+    position: [number, number, number], rotation: [number, number, number],
+    getParentObject3D?: (viewport: Viewport, parent: THREE.Object3D) => THREE.Object3D
+  } {
+
+    return {
+      position: [0, 0.2, 0],
+      rotation: [0, 90, 0],
+      getParentObject3D: this.getArmObject.bind(this)
+    }
+  }
+
+  getArmObject(viewport: Viewport, item: ItemJson): THREE.Object3D {
+    // 获取机械臂对象
+    const object = viewport.entityManager.findObjectById(item.dt.storeAt?.item)
+    if (!object) {
+      console.warn('PtrRenderer: getArmObject failed, not found Cl2:', item.dt.storeAt?.item)
+      return
+    }
+
+    const agv = object as THREE.Group
+    if (agv.children.length > 1) {
+      const pillar = agv.children[1]
+      if (pillar.children.length > 1) {
+        return pillar.children[1]
+      }
+    }
+  }
+
+  /**
    * 所有的点，必须使用 storeWidth/storeDepth, 改TF无效
    */
   override afterCreateOrUpdatePoint(item: ItemJson, option: RendererCudOption, object: THREE.Object3D) {
@@ -39,7 +73,6 @@ export default class PtrRenderer extends BaseRenderer {
     )
   }
 
-
   createLineBasic(start: ItemJson, end: ItemJson, type: LinkType): THREE.Object3D {
     throw new Error('not allow store line.')
   }
@@ -51,11 +84,6 @@ export default class PtrRenderer extends BaseRenderer {
 
   createPoint(item: ItemJson, option?: RendererCudOption): THREE.Object3D {
     // 创建平面几何体
-    if (!item.dt.ptrWidth || !item.dt.ptrDepth) {
-      system.showErrorDialog('field ptrWidth / ptrDepth is null!')
-      return null
-    }
-
     const group = new Cl23dObject(item, this.tempViewport, option)
     group.name = PtrRenderer.POINT_NAME
 
@@ -64,7 +92,6 @@ export default class PtrRenderer extends BaseRenderer {
     return group
   }
 
-
   updatePoint(item: ItemJson, object: Object3DLike, option?: RendererCudOption): Object3DLike {
     const group: THREE.Group = object as THREE.Group
 

src/modules/rack/RackRenderer.ts

@@ -83,7 +83,7 @@ export default class RackRenderer extends BaseRenderer {
     localX += bays[bay].bayWidth / 2 // 居中
 
     let localY = 0
-    for (let i = 0; i < level; i++) {
+    for (let i = 0; i <= level; i++) {
       localY += levelHeights[i]
     }
 

src/types/Model.d.ts

@@ -40,6 +40,11 @@ declare interface Model {
    */
   createInv(boxType: ContainerT, lpn: string, rack: string, bay: number = 0, level: number = 0, cell: number = 0): void
 
+  /**
+   * 根据 ID 删除库存物品
+   * @param itemId 物品ID
+   */
+  deleteInv(itemId: string): void
 
   /**
    * 在指定位置创建一个流动的库存物品

src/types/Types.d.ts

@@ -63,6 +63,7 @@ interface RendererCudOption {
   position?: any
   //THREE.Quaternion
   rotation?: any
+  getParentObject3D?: (viewport:any, item: ItemJson) => any
 }
 
 /**