连接到已带状态的服务器

src/core/manager/EnvManager.ts

@@ -70,7 +70,7 @@ export default class EnvManager {
         keepalive: 60
       })
 
-      await LCC.loadExecutor()
+      await this.loadExecutorToModel()
 
       this.client.on('connect', this.onMqttConnect)
       this.client.on('message', this.onMqttMessage)
@@ -83,6 +83,47 @@ export default class EnvManager {
     }
   }
 
+  // 加载执行器到3D视图上
+  async loadExecutorToModel() {
+    if (!window['Model']) {
+      return
+    }
+
+    const deviceRes = await LCC.queryDeviceInfoList()
+    if (!deviceRes.success) {
+      return
+    }
+
+    const deviceList: AgvStatusVo[] = deviceRes.data || []
+    for (const agvState of deviceList) {
+      const agvItem = Model.find(agvState.id)
+      if (!agvItem) {
+        // 还没加载到地图
+        const item = JSON.parse(agvState.virtualExecutorPayload)
+        const pos = Model.getPositionByLogicXY(agvState.logicX, agvState.logicY)
+        if (pos) {
+          item.tf[0] = [pos.x, pos.y, agvState.z]
+        }
+        switch (_.toLower(agvState.direction)) {
+          // right=0/left=180/up=90/down=-90
+          case 'right':
+            item.tf[1][1] = 0 // 右侧
+            break
+          case 'left':
+            item.tf[1][1] = 180 // 左侧
+            break
+          case 'down':
+            item.tf[1][1] = -90 // 下方
+            break
+          case 'up':
+            item.tf[1][1] = 90 // 上方
+            break
+        }
+        Model.createExecutor(item)
+      }
+    }
+  }
+
   async disconnectEnv() {
     system.showLoading()
     try {

src/core/script/LCCScript.ts

@@ -90,59 +90,59 @@ export default class LCCScript implements LCC {
     })
   }
 
-  queryDeviceInfoList(): Promise<ServerResponse<DeviceVo[]>> {
+  queryDeviceInfoList(): Promise<ServerResponse<AgvStatusVo[]>> {
     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', {
-      projectUuid: worldModel.state.project_uuid,
-      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)
-      // 车所在的标记位置，及方向 11_4:RIGHT
-      const [wayPointId, direction] = _.split(row.virtual_location_at, ':')
-
-      if (window['Model']) {
-        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])
-        switch (_.toLower(direction)) {
-          // right=0/left=180/up=90/down=-90
-          case 'right':
-            item.tf[1][1] = 0 // 右侧
-            break
-          case 'left':
-            item.tf[1][1] = 180 // 左侧
-            break
-          case 'down':
-            item.tf[1][1] = -90 // 下方
-            break
-          case 'up':
-            item.tf[1][1] = 90 // 上方
-            break
-        }
-        if (row.virtual_floor_code === worldModel.state.catalogCode) {
-          Model.createExecutor(item)
-        }
-      }
-    }
-
-    return res.data
-  }
+  // // 从后台读取所有车
+  // async loadExecutor(): Promise<ExecutorVo> {
+  //   const res = await Request.request.post('/api/workbench/LccController@loadExecutor', {
+  //     projectUuid: worldModel.state.project_uuid,
+  //     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)
+  //     // 车所在的标记位置，及方向 11_4:RIGHT
+  //     const [wayPointId, direction] = _.split(row.virtual_location_at, ':')
+  //
+  //     if (window['Model']) {
+  //       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])
+  //       switch (_.toLower(direction)) {
+  //         // right=0/left=180/up=90/down=-90
+  //         case 'right':
+  //           item.tf[1][1] = 0 // 右侧
+  //           break
+  //         case 'left':
+  //           item.tf[1][1] = 180 // 左侧
+  //           break
+  //         case 'down':
+  //           item.tf[1][1] = -90 // 下方
+  //           break
+  //         case 'up':
+  //           item.tf[1][1] = 90 // 上方
+  //           break
+  //       }
+  //       if (row.virtual_floor_code === worldModel.state.catalogCode) {
+  //         Model.createExecutor(item)
+  //       }
+  //     }
+  //   }
+  //
+  //   return res.data
+  // }
 
   /**
    * 脚本打印日志

src/core/script/ModelManager.ts

@@ -142,6 +142,9 @@ this.viewport.stateManager.update(({ getEntity, putEntity, addEntity }) => {
 
   getPositionByLogicXY(logicX: number, logicY: number): THREE.Vector3 {
     const item = this.viewport.entityManager.findItemByLogicXY(logicX, logicY)
+    if (!item) {
+      return null
+    }
     const matrix = getMatrixFromTf(item.tf)
     const position = new THREE.Vector3()
     matrix.decompose(position, new THREE.Quaternion(), new THREE.Vector3())

src/editor/widgets/monitor/MonitorView.vue

@@ -1,11 +1,15 @@
 <template>
   <div class="title">
     设备监控
+    <el-button size="small" :icon="renderIcon('Refresh')" @click="refreshData"
+               style="margin-left: 5px;"
+    />
     <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>
@@ -76,7 +80,7 @@ export default {
       stopSubscribe: [],
       /**
        * 设备列表数据
-       * @type {Array< Partial< DeviceVo>>}
+       * @type {Array<Partial<AgvStatusVo>>}
        */
       deviceList: []
     }
@@ -100,7 +104,7 @@ export default {
      * 获取任务进度百分比
      */
     getTaskProcessPercent(deviceInfo) {
-      if (deviceInfo == null || deviceInfo.taskTotalCount === 0) {
+      if (deviceInfo == null || !deviceInfo.taskTotalCount || !deviceInfo.taskCompleted) {
         return 0
       }
       return Math.round((deviceInfo.taskCompleted / deviceInfo.taskTotalCount) * 100)
@@ -133,7 +137,6 @@ export default {
      * @type {DeviceStatusFn}
      */
     onDeviceStatusMessage(type, topic, body) {
-      console.log(this, topic, body)
       const deviceInfo = _.find(this.deviceList, device => device.id === body.id)
       if (!deviceInfo) {
         return
@@ -141,12 +144,7 @@ export default {
       _.assign(deviceInfo, body)
     },
     async subscribe() {
-      this.deviceList = []
-      const res = await LCC.queryDeviceInfoList()
-      if (!res.success) {
-        return
-      }
-      this.deviceList = res.data
+      await this.refreshData()
 
       // 订阅设备状态消息
       this.stopSubscribe.push(
@@ -156,6 +154,14 @@ export default {
         worldModel.backendMessageReceiver.subscribe('DeviceStatus', this.onDeviceStatusMessage.bind(this))
       )
     },
+    async refreshData(){
+      this.deviceList = []
+      const res = await LCC.queryDeviceInfoList()
+      if (!res.success) {
+        return
+      }
+      this.deviceList = res.data
+    },
     undescribe() {
       // 取消订阅设备状态消息
       for (const stopFn of this.stopSubscribe) {

src/types/LCC.d.ts

@@ -21,7 +21,7 @@ declare interface LCC {
   /**
    * 获取所有车，并放到 Model 上
    */
-  loadExecutor(): Promise<ExecutorVo>
+  // loadExecutor(): Promise<ExecutorVo>
 
   /**
    * 保存并同步当前项目所有脚本
@@ -32,7 +32,7 @@ declare interface LCC {
   /**
    * 获取所有设备状态
    */
-  queryDeviceInfoList(): Promise<ServerResponse<DeviceVo[]>>
+  queryDeviceInfoList(): Promise<ServerResponse<AgvStatusVo[]>>
 
   /**
    * 获取服务器状态信息
@@ -73,7 +73,7 @@ type BackendTopicType = 'ServerState' | 'ClientState' | 'TaskUpdate' | 'InvUpdat
 
 type DeviceAliveFn = (type: BackendTopicType, topic: string, body: DeviceAliveVo) => void
 
-type DeviceStatusFn = (type: BackendTopicType, topic: string, body: DeviceVo) => void
+type DeviceStatusFn = (type: BackendTopicType, topic: string, body: AgvStatusVo) => void
 
 type ServerStateFn = (type: BackendTopicType, topic: string, body: ServerStatusVo) => void
 
@@ -112,7 +112,7 @@ interface DeviceAliveVo {
   online: boolean
 }
 
-interface DeviceVo {
+interface AgvStatusVo {
   // 设备 ID
   id: string
   // 设备类型
@@ -165,6 +165,8 @@ interface DeviceVo {
   bizTaskTo: string
   // 搬运托盘号
   bizLpn: string
+  virtualLocationAt: string; // 车所在的标记位置，及方向 11_4:RIGHT
+  virtualExecutorPayload: string; // 车的虚拟执行器负载
 }
 
 /**