LccMqttManager /

EnvManager 脱离 viewport 也能运行

src/core/engine/Viewport.ts

@@ -52,8 +52,6 @@ export default class Viewport {
   interactionManager = new InteractionManager()
   modelManager = new ModelManager()
   runtimeManager = new RuntimeManager()
-  lccMqttManager = new LccMqttManager()
-  envManager = new EnvManager()
 
   // 状态管理器
   stateManager: StateManager
@@ -68,8 +66,6 @@ export default class Viewport {
     markRaw(this.interactionManager),
     markRaw(this.modelManager),
     markRaw(this.runtimeManager),
-    markRaw(this.envManager),
-    markRaw(this.lccMqttManager)
   ]
 
   registerFrameTimerCallBack: Map<string, ()=> void>  = new Map()

src/core/manager/EnvManager.ts

@@ -9,71 +9,9 @@ import { AmrMsg } from '@/core/manager/amr/AmrMessageDefine'
 
 export default class EnvManager {
   private viewport: Viewport
-  private amrMessageManager: AmrMessageManager = null
+  private amrMessageManager: AmrMessageManager = new AmrMessageManager()
   public client: mqtt.MqttClient = null
 
-  init(viewport: Viewport): void {
-    this.viewport = viewport
-    if (!this.amrMessageManager) {
-      this.amrMessageManager = new AmrMessageManager()
-    }
-    this.amrMessageManager.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)
-      // 车所在的标记位置，及方向 11_4:RIGHT
-      const [wayPointId, direction] = _.split(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])
-      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
-      }
-      Model.createExecutor(item)
-    }
-  }
-
-  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')
   }
@@ -86,7 +24,6 @@ export default class EnvManager {
     } else {
 
     }
-
   }
 
   onMqttError = (error: Error | ErrorWithReasonCode) => {
@@ -102,10 +39,6 @@ export default class EnvManager {
       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
@@ -129,8 +62,8 @@ export default class EnvManager {
     worldModel.state.runState.isLoading = true
     worldModel.state.runState.currentEnv = Object.freeze(env)
     try {
-      await LCC.projectStart()
+      await LCC.serverStart()
-      await this.loadExecutors()
+      await LCC.loadExecutor()
       await LCC.loadInv()
 
       this.client = mqtt.connect(env.envConfig.mqtt.websocket, {
@@ -144,7 +77,7 @@ export default class EnvManager {
         keepalive: 60
       })
 
-      this.viewport.lccMqttManager.start(env.envConfig.frontendMqtt)
+      await worldModel.lccMqttManager.start(env.envConfig.frontendMqtt)
       this.client.on('connect', this.onMqttConnect)
       this.client.on('message', this.onMqttMessage)
       this.client.on('error', this.onMqttError)
@@ -159,8 +92,8 @@ export default class EnvManager {
   async stop() {
     system.showLoading()
     try {
-      if (LCC) {
+      if (window['LCC']) {
-        await LCC.projectStop()
+        await LCC.serverStop()
       }
       worldModel.state.runState.isRunning = false
       if (this.client) {
@@ -214,7 +147,6 @@ export default class EnvManager {
    * 卸载资源
    */
   dispose(): void {
-    this.viewport = null
     this.stop()
   }
 }

src/core/manager/LccMqttManager.ts

@@ -20,15 +20,12 @@ enum ConnectionStatus {
   ERROR = 'error'
 }
 
-// 定义LCC MQTT管理器类
+/**
+ * 服务端将变化数据推送给客户端的管理器类
+ */
 export default class LccMqttManager {
   private client: mqtt.MqttClient | null = null
   private handlers: Map<string, MqttMessageHandler[]> = new Map()
-  private viewport: Viewport
-
-  init(viewport: Viewport): void {
-    this.viewport = viewport
-  }
 
   // 状态管理
   public state = reactive({

src/core/manager/WorldModel.ts

@@ -5,6 +5,10 @@ import EventBus from '@/runtime/EventBus'
 import StateManager from '@/core/manager/StateManager.ts'
 import { getQueryParams, setQueryParam } from '@/utils/webutils.ts'
 import localforage from 'localforage'
+import LccMqttManager from '@/core/manager/LccMqttManager.ts'
+import EnvManager from '@/core/manager/EnvManager.ts'
+import RCSScript from '@/core/script/RCSScript.ts'
+import LCCScript from '@/core/script/LCCScript.ts'
 
 export interface WorldModelState {
   isOpened: boolean // 是否已打开世界模型
@@ -36,6 +40,8 @@ export interface WorldModelState {
  */
 export default class WorldModel {
   currentStateManager: StateManager
+  lccMqttManager = new LccMqttManager()
+  envManager = new EnvManager()
 
   /**
    * 世界模型双向绑定的状态数据
@@ -56,7 +62,7 @@ export default class WorldModel {
     isDraft: false,  // 是否是草稿数据, 如果是草稿数据, 则不需要再从服务器加载数据
 
     runState: {
-      currentEnvId: 0,
+      currentEnvId: null,
       isLoading: false,
       isRunning: false,
       isVirtual: false,
@@ -220,4 +226,6 @@ export default class WorldModel {
 
 const worldModel = new WorldModel()
 window['worldModel'] = worldModel
+window['RCS'] = new RCSScript()
+window['LCC'] = new LCCScript()
 export { worldModel }

src/core/manager/amr/AmrMessageManager.ts

@@ -1,61 +1,63 @@
-import {AmrMsg, AmrMsg10010, AmrMsg10050, AmrMsg10060, AmrMsg10110, AmrMsg10120, AmrMsg20050} from "@/core/manager/amr/AmrMessageDefine";
+import { AmrMsg, AmrMsg10010, AmrMsg10050, AmrMsg10060, AmrMsg10110, AmrMsg10120, AmrMsg20050 } from '@/core/manager/amr/AmrMessageDefine'
-import Cl23dObject from "@/modules/cl2/Cl23dObject";
+import Cl23dObject from '@/modules/cl2/Cl23dObject'
-import Viewport from "@/core/engine/Viewport";
+import Viewport from '@/core/engine/Viewport'
 
 export default class AmrMessageManager {
 
-  public viewport: Viewport
+  public get viewport(): Viewport {
+    return window['viewport']
+  }
 
   handleMessage(topic, amrMsg: AmrMsg<any>) {
 
-    const vehicleId = parseInt(topic.replace("/wcs_server/", ""))
+    const vehicleId = parseInt(topic.replace('/wcs_server/', ''))
-    const amrItem = this.viewport.entityManager.findObjectById(vehicleId + "") as Cl23dObject
+    const amrItem = this.viewport.entityManager.findObjectById(vehicleId + '') as Cl23dObject
     switch (amrMsg.id) {
       // AMR作业指令 10010
       case 10010:
         amrItem.handle10010Message(amrMsg.content as AmrMsg10010)
-        break;
+        break
       // 停止/解除 10040
       case 10040:
-        break;
+        break
       // 电文应答 10050
       case 10050:
         amrItem.handle10050Message(amrMsg as AmrMsg<AmrMsg10050>)
-        break;
+        break
       // 配置信息 10060
       case 10060:
         amrItem.handle10060Message(amrMsg as AmrMsg<AmrMsg10060>)
-        break;
+        break
       // 旋转货架 10080
       case 10080:
-        break;
+        break
       // 旋转车身 10081
       case 10081:
-        break;
+        break
       // 控制卷帘门 10082
       case 10082:
-        break;
+        break
       // 心跳 10100
       case 10100:
-        break;
+        break
       // 状态查询 10110
       case 10110:
         amrItem.handle10110Message(amrMsg as AmrMsg<AmrMsg10110>)
-        break;
+        break
       // 取消已下发小车任务 10120
       case 10120:
         amrItem.handle10120Message(amrMsg as AmrMsg<AmrMsg10120>)
-        break;
+        break
       // 设置小车坐标 10200
       case 10200:
-        break;
+        break
       // 等待就绪 19997
       case 19997:
-        break;
+        break
     }
     if (amrMsg.id != 10050 && amrMsg.id != 10100) {
-      const seqNo = amrMsg.content.SeqNo;
+      const seqNo = amrMsg.content.SeqNo
-      amrItem.sendAck(seqNo, vehicleId);
+      amrItem.sendAck(seqNo, vehicleId)
     }
   }
 }

src/core/script/LCCScript.ts

@@ -6,43 +6,35 @@ import { Request } from '@ease-forge/shared'
  * LCC 物流控制中心客户端 API 实现
  */
 export default class LCCScript implements LCC {
-  private readonly viewport: Viewport
-
-  constructor(viewport: Viewport) {
-    this.viewport = viewport
-  }
-
   async getAllProjects(): Promise<ServerResponse<LccProjectVo[]>> {
-    return Request.request.post('/api/workbench/LccController@getAllProjects', {
+    return Request.request.post('/api/workbench/LccController@getAllProjects', {})
-    })
   }
 
-  async projectStart(): Promise<ServerResponse<boolean>> {
+  async serverStart(): Promise<ServerResponse<boolean>> {
     if (!worldModel.state.project_uuid || !worldModel.state.runState.currentEnvId) {
       return Promise.reject(new Error('Project UUID or Environment ID is not set.'))
     }
 
-    return Request.request.post('/api/workbench/LccController@projectStart', {
+    return Request.request.post('/api/workbench/LccController@serverStart', {
       projectUUID: worldModel.state.project_uuid,
       envId: worldModel.state.runState.currentEnvId
     })
   }
 
-  async projectStop(): Promise<ServerResponse<boolean>> {
+  async serverStop(): Promise<ServerResponse<boolean>> {
     if (!worldModel.state.project_uuid || !worldModel.state.runState.currentEnvId) {
       return Promise.reject(new Error('Project UUID or Environment ID is not set.'))
     }
 
-    return Request.request.post('/api/workbench/LccController@projectStop', {
+    return Request.request.post('/api/workbench/LccController@serverStop', {
       projectUUID: worldModel.state.project_uuid,
       envId: worldModel.state.runState.currentEnvId
     })
   }
 
-
   // 从后台读取所有库存
   async loadInv(): Promise<ServerResponse<InvVo>> {
-    const res = await Request.request.post('/api/workbench/LccController@getAllInv', {
+    const res = await Request.request.post('/api/workbench/LccController@loadInv', {
       projectUuid: worldModel.state.project_uuid,
       catalogCode: worldModel.state.catalogCode,
       envId: worldModel.state.runState.currentEnvId
@@ -55,8 +47,57 @@ export default class LCCScript implements LCC {
       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)
+      if (window['Model']) {
+        Model.createInv(container_type, lpn, rack, bay, level, cell)
+      }
     }
     return res.data
   }
+
+  // 从后台读取所有车
+  async loadExecutor(): Promise<ServerResponse<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
+  }
 }

src/core/script/ModelManager.ts

@@ -7,8 +7,6 @@ import TaskManager from '../manager/TaskManager.ts'
 import Cl2Entity from '@/modules/cl2/Cl2Entity.ts'
 import ClxEntity from '@/modules/clx/ClxEntity.ts'
 import { getRenderer } from '@/core/manager/ModuleManager.ts'
-import RCSScript from '@/core/script/RCSScript.ts'
-import LCCScript from '@/core/script/LCCScript.ts'
 
 export default class ModelManager implements IControls, Model {
   private viewport: Viewport
@@ -67,9 +65,6 @@ export default class ModelManager implements IControls, Model {
     window['executestring'] = this.executestring.bind(this)
     window['logger'] = this.logger
     window['msg'] = this.msg
-
-    window['RCS'] = new RCSScript(this.viewport)
-    window['LCC'] = new LCCScript(this.viewport)
   }
 
   find(entityId: string): ItemJson {

src/core/script/RCSScript.ts

@@ -3,12 +3,6 @@ import { Request } from '@ease-forge/shared'
 import { worldModel } from '@/core/manager/WorldModel.ts'
 
 export default class RCSScript implements RCS {
-  private readonly viewport: Viewport
-
-  constructor(viewport: Viewport) {
-    this.viewport = viewport
-  }
-
   agvMove(agvId: string, targetWayPointId: string, targetDirection: '' | LLCDirection = '', option: AgvOptions = {}): Promise<ServerResponse<boolean>> {
     return Request.request.post('/api/workbench/RcsController@agvMove', {
       projectUUID: worldModel.state.project_uuid,

src/editor/ModelMain.vue

@@ -13,7 +13,7 @@
         </div>
         <div v-if="isModelOpen" style="display: flex; flex-direction: row; align-items: center; margin-right: 10px;">
           <div class="field-block" style="margin-right: 5px;">
-            <el-select style="width:180px;" placeholder="运行环境" :disabled="worldModelState.runState.currentEnvId && worldModelState.runState.isRunning"
+            <el-select style="width:180px;" placeholder="选择运行环境" :disabled="worldModelState.runState.currentEnvId && worldModelState.runState.isRunning"
                        v-model="currentEnvId">
               <el-option v-for="env in envList" :key="env.envId" :label="env.envName" :value="env.envId"></el-option>
               <template #footer>
@@ -334,11 +334,11 @@ export default {
     startEnv() {
       const env = this.envList.find(env => env.envId === this.worldModelState.runState.currentEnvId)
       if (env) {
-        this.currentViewport.envManager.start(env)
+        worldModel.envManager.start(env)
       }
     },
     stopEnv() {
-      this.currentViewport.envManager.stop()
+      worldModel.envManager.stop()
     },
     createEnv() {
       EnvManager.createEnv(this.worldModelState.project_uuid).then(() => {

src/types/LCC.d.ts

@@ -10,17 +10,22 @@ declare interface LCC {
   /**
    * 启动当前项目
    */
-  projectStart(): Promise<ServerResponse<boolean>>
+  serverStart(): Promise<ServerResponse<boolean>>
 
   /**
    * 停止当前项目
    */
-  projectStop(): Promise<ServerResponse<boolean>>
+  serverStop(): Promise<ServerResponse<boolean>>
 
   /**
    * 读取当前项目所有库存, 并放到 Model 上
    */
   loadInv(): Promise<ServerResponse<InvVo>>
+
+  /**
+   * 获取所有车，并放到 Model 上
+   */
+  loadExecutor(): Promise<ServerResponse<ExecutorVo>>
 }
 
 type ContainerT = 'pallet' | 'tote' | 'carton' | 'box'
@@ -35,6 +40,13 @@ interface InvVo {
   cell: number
 }
 
+interface ExecutorVo {
+  executor_id: string
+  virtual_floor_code: string
+  virtual_executor_payload: any
+  virtual_location_at: string
+}
+
 interface LccProjectVo {
   projectUuid: string
   projectLabel: string