库存监视 InvUpdate

src/core/base/BaseRenderer.ts

@@ -147,7 +147,7 @@ export default abstract class BaseRenderer {
 
     if (item.dt.storeAt?.item) {
       // 如果是库存物品, 则需要将位置和角度设置为库存位置
-      const rack = this.tempViewport.stateManager.findItemById(item.dt.storeAt?.item)
+      const rack = Model.find(item.dt.storeAt?.item)
       if (!rack) {
         console.error(`Cannot find rack for item ${item.id} at ${item.dt.storeAt?.item}`)
       }

src/core/manager/EnvManager.ts

@@ -9,6 +9,7 @@ import { AmrMsg } from '@/core/manager/amr/AmrMessageDefine'
 export default class EnvManager {
   private amrMessageManager: AmrMessageManager = new AmrMessageManager()
   public client: mqtt.MqttClient = null
+  readonly stopSubscribe: StopSubscribe[] = []
 
   onMqttConnect = (packet: IConnackPacket) => {
     console.log('Connected')
@@ -57,7 +58,10 @@ export default class EnvManager {
     const env = worldModel.state.runState.currentEnv
     try {
       worldModel.backendMessageReceiver.setProjectEnv(worldModel.state.project_uuid, worldModel.state.runState.currentEnvId)
-      await LCC.loadInv()
+      await this.loadInvToModel()
+      this.stopSubscribe.push(
+        worldModel.backendMessageReceiver.subscribe('InvUpdate', this.onInvUpdateMessage.bind(this))
+      )
 
       this.client = mqtt.connect(env.envConfig.mqtt.websocket, {
         path: '/mqtt',
@@ -83,6 +87,47 @@ export default class EnvManager {
     }
   }
 
+  async onInvUpdateMessage(type: BackendTopicType, topic: string, body: InvUpdateVo) {
+    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)
+    if (lpnItem) {
+      Model.deleteItem(lpnItem.id)
+    }
+
+    if (body.after != null) {
+      // 将托盘挪到目标位置
+      const after = body.after
+      Model.createInv('pallet', body.lpn, after.rack, after.bay, after.level, after.cell)
+    }
+  }
+
+  // 加载库存到3D视图上
+  async loadInvToModel() {
+    if (!window['Model']) {
+      return
+    }
+
+    const invRes = await LCC.loadInv()
+    if (!invRes.success) {
+      return
+    }
+
+    for (const row of invRes.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)
+    }
+  }
+
   // 加载执行器到3D视图上
   async loadExecutorToModel() {
     if (!window['Model']) {
@@ -128,6 +173,12 @@ export default class EnvManager {
     system.showLoading()
     try {
       worldModel.state.runState.isRunning = false
+
+      for (const stopFn of this.stopSubscribe) {
+        stopFn()
+      }
+      this.stopSubscribe.length = 0
+
       if (this.client) {
         this.client.removeAllListeners()
         this.client.end()

src/core/manager/RuntimeManager.ts

@@ -78,4 +78,24 @@ export default class RuntimeManager {
     this.tmpExecutors.add(item.id)
     this.viewport.entityManager.createOrUpdateEntityOnlyRuntime(item)
   }
+
+  removeEntity(itemId: string) {
+    this.tmpExecutors.delete(itemId)
+
+    // 从各个货架中移除
+    for (const [rackId, items] of this.storeRackMap.entries()) {
+      if (items.has(itemId)) {
+        items.delete(itemId)
+        if (items.size === 0) {
+          this.storeRackMap.delete(rackId)
+        }
+      }
+    }
+
+    this.viewport.entityManager.deleteEntityOnlyRuntime(itemId)
+  }
+
+  has(itemId: string) {
+    return this.tmpExecutors.has(itemId)
+  }
 }

src/core/script/LCCScript.ts

@@ -57,25 +57,38 @@ export default class LCCScript implements LCC {
   }
 
   // 从后台读取所有库存
-  async loadInv(): Promise<ServerResponse<InvVo>> {
-    const res = await Request.request.post('/api/workbench/LccController@loadInv', {
-      projectUuid: worldModel.state.project_uuid,
+  async loadInv(): Promise<ServerResponse<InvVo[]>> {
+    return Request.request.post('/api/workbench/InvController@loadInv', {
+      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"
-      if (window['Model']) {
-        Model.createInv(container_type, lpn, rack, bay, level, cell)
-      }
-    }
-    return res.data
+  }
+
+  createInv(lpn: string, targetStore: string): Promise<ServerResponse<void>> {
+    return Request.request.post('/api/workbench/InvController@createInv', {
+      projectUUID: worldModel.state.project_uuid,
+      envId: worldModel.state.runState.currentEnvId,
+      lpn: lpn,
+      targetStore: targetStore
+    })
+  }
+
+  moveInv(lpn: string, targetStore: string): Promise<ServerResponse<void>> {
+    return Request.request.post('/api/workbench/InvController@moveInv', {
+      projectUUID: worldModel.state.project_uuid,
+      envId: worldModel.state.runState.currentEnvId,
+      lpn: lpn,
+      targetStore: targetStore
+    })
+  }
+
+  deleteInv(lpn: string): Promise<ServerResponse<void>> {
+    return Request.request.post('/api/workbench/InvController@deleteInv', {
+      projectUUID: worldModel.state.project_uuid,
+      envId: worldModel.state.runState.currentEnvId,
+      lpn: lpn
+    })
   }
 
   saveAndSyncScripts(scriptList: { name: string; content: string }[]): Promise<ServerResponse<{ name: string; content: string }[]>> {

src/core/script/ModelManager.ts

@@ -86,6 +86,11 @@ export default class ModelManager implements IControls, Model {
   }
 
   deleteItem(itemId) {
+    if(this.viewport.runtimeManager.has(itemId)){
+      // 临时执行器
+      this.viewport.runtimeManager.removeEntity(itemId)
+      return
+    }
     this.viewport.stateManager.update(({ deleteEntity }) => {
       deleteEntity(itemId)
     })

src/types/LCC.d.ts

@@ -16,11 +16,32 @@ declare interface LCC {
   /**
    * 读取当前项目所有库存, 并放到 Model 上
    */
-  loadInv(): Promise<ServerResponse<InvVo>>
+  loadInv(): Promise<ServerResponse<InvVo[]>>
+
+  /**
+   * 创造库存
+   * @param lpn 容器号
+   * @param targetStore 目标存储位置 rack3/0/0/0
+   */
+  createInv(lpn: string, targetStore: string): Promise<ServerResponse<void>>
+
+  /**
+   * 转移库存
+   * @param lpn 容器号
+   * @param targetStore 目标存储位置 rack3/0/0/0
+   */
+  moveInv(lpn: string, targetStore: string): Promise<ServerResponse<void>>
+
+  /**
+   * 删除库存
+   * @param lpn 容器号
+   */
+  deleteInv(lpn: string): Promise<ServerResponse<void>>
 
   /**
    * 获取所有车，并放到 Model 上
    */
+
   // loadExecutor(): Promise<ExecutorVo>
 
   /**
@@ -77,6 +98,8 @@ type DeviceStatusFn = (type: BackendTopicType, topic: string, body: AgvStatusVo)
 
 type ServerStateFn = (type: BackendTopicType, topic: string, body: ServerStatusVo) => void
 
+type InvUpdateFn = (type: BackendTopicType, topic: string, body: InvUpdateVo) => void
+
 type StopSubscribe = () => void
 
 interface ServerAuthorizationConfigVo {
@@ -169,6 +192,45 @@ interface AgvStatusVo {
   virtualExecutorPayload: string; // 车的虚拟执行器负载
 }
 
+interface BasLocationVo {
+  /**
+   * 位置编码
+   */
+  locCode: string
+
+  /**
+   * 货位类型
+   */
+  locType: string
+
+  /**
+   * 货位
+   */
+  rack: string
+
+  /**
+   * 列
+   */
+  bay: number
+
+  /**
+   * 层
+   */
+  level: number
+
+  /**
+   * 格
+   */
+  cell: number
+}
+
+interface InvUpdateVo {
+  lpn: string
+  before: BasLocationVo | null
+  after: BasLocationVo | null
+  qty: number
+}
+
 /**
  * 服务器状态信息
  */