重构 PTR 的小车实体、报文收发、协议、全放在一起；增加 agvLoad/agvUnload/cancelTasks/waitTaskFinish 方法

src/core/script/RCSScript.ts

@@ -9,18 +9,29 @@ export default class RCSScript implements RCS {
     this.viewport = viewport
   }
 
-  agvMove(agvId: string, targetWayPointId: string, option: AgvMoveOption = {}): Promise<ServerResponse<boolean>> {
+  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,
       catalogCode: worldModel.state.catalogCode,
       envId: 1,
       agvId,
       targetWayPointId,
+      targetDirection,
       option
     })
   }
 
-  agvCarry(agvId: string, fromStoreLoc: string, targetStoreLoc: string, option?: any): Promise<ServerResponse<boolean>> {
+  waitTaskFinish(agvId: string, option: AgvOptions = {}): Promise<ServerResponse<boolean>> {
+    return Request.request.post('/api/workbench/RcsController@waitTaskFinish', {
+      projectUUID: worldModel.state.project_uuid,
+      catalogCode: worldModel.state.catalogCode,
+      envId: 1,
+      agvId,
+      option
+    })
+  }
+
+  agvCarry(agvId: string, fromStoreLoc: string, targetStoreLoc: string, option: AgvOptions = {}): Promise<ServerResponse<boolean>> {
     return Request.request.post('/api/workbench/RcsController@agvCarry', {
       projectUUID: worldModel.state.project_uuid,
       catalogCode: worldModel.state.catalogCode,
@@ -32,15 +43,47 @@ export default class RCSScript implements RCS {
     })
   }
 
-  agvInfo(agvId: string): Promise<ServerResponse<Object>> {
+  agvLoad(agvId: string, targetStoreLoc: string, option: AgvOptions = {}): Promise<ServerResponse<boolean>> {
+    return Request.request.post('/api/workbench/RcsController@agvLoad', {
+      projectUUID: worldModel.state.project_uuid,
+      catalogCode: worldModel.state.catalogCode,
+      envId: 1,
+      agvId,
+      targetStoreLoc,
+      option
+    })
+  }
+
+  agvUnload(agvId: string, targetStoreLoc: string, option: AgvOptions = {}): Promise<ServerResponse<boolean>> {
+    return Request.request.post('/api/workbench/RcsController@agvUnload', {
+      projectUUID: worldModel.state.project_uuid,
+      catalogCode: worldModel.state.catalogCode,
+      envId: 1,
+      agvId,
+      targetStoreLoc,
+      option
+    })
+  }
+
+  agvInfo(agvId: string, option: AgvOptions = {}): Promise<ServerResponse<Object>> {
     return Request.request.post('/api/workbench/RcsController@agvInfo', {
       projectUUID: worldModel.state.project_uuid,
       catalogCode: worldModel.state.catalogCode,
       envId: 1,
-      agvId: agvId
+      agvId: agvId,
+      option
     })
   }
 
+  cancelTasks(agvId: string, option: AgvOptions = {}): Promise<ServerResponse<boolean>> {
+    return Request.request.post('/api/workbench/RcsController@cancelTasks', {
+      projectUUID: worldModel.state.project_uuid,
+      catalogCode: worldModel.state.catalogCode,
+      envId: 1,
+      agvId: agvId,
+      option
+    })
+  }
 
   agvToCharger(agvId: string, chargerId: string, option?: any): Promise<ServerResponse<boolean>> {
     return Request.request.post('/api/workbench/RcsController@agvToCharger', {

src/types/RCS.d.ts

@@ -5,16 +5,18 @@ declare interface RCS {
   /**
    * 获取机器人信息
    * @param agvId
+   * @param option 其他选项
    */
-  agvInfo(agvId: string): Promise<ServerResponse<Object>>
+  agvInfo(agvId: string, option: AgvOptions = {}): Promise<ServerResponse<Object>>
 
   /**
    * 后台机器人移动
    * @param agvId 机器人ID
    * @param targetWayPointId 目标路径点ID
+   * @param targetDirection 目标方向, 不给值的情况下表示不改变方向
    * @param option 选项
    */
-  agvMove(agvId: string, targetWayPointId: string, option: AgvMoveOption = {}): Promise<ServerResponse<boolean>>
+  agvMove(agvId: string, targetWayPointId: string, targetDirection: '' | LLCDirection = '', option: AgvOptions = {}): Promise<ServerResponse<boolean>>
 
   /**
    * 后台机器人搬运（库存点 -> 库存点）
@@ -23,7 +25,30 @@ declare interface RCS {
    * @param targetStoreLoc 目标库存点ID
    * @param option 其他选项
    */
-  agvCarry(agvId: string, fromStoreLoc: string, targetStoreLoc: string, option: any = {}): Promise<ServerResponse<boolean>>
+  agvCarry(agvId: string, fromStoreLoc: string, targetStoreLoc: string, option: AgvOptions = {}): Promise<ServerResponse<boolean>>
+
+  /**
+   * 后台机器人取货（库存点 -> 库存点）
+   * @param agvId 机器人ID
+   * @param targetStoreLoc 目标库存点ID
+   * @param option 其他选项
+   */
+  agvLoad(agvId: string, targetStoreLoc: string, option: AgvOptions = {}): Promise<ServerResponse<boolean>>
+
+  /**
+   * 后台机器人卸货（库存点 -> 库存点）
+   * @param agvId 机器人ID
+   * @param targetStoreLoc 目标库存点ID
+   * @param option 其他选项
+   */
+  agvUnload(agvId: string, targetStoreLoc: string, option: AgvOptions = {}): Promise<ServerResponse<boolean>>
+
+  /**
+   * 取消机器人任务
+   * @param agvId 机器人ID
+   * @param option 其他选项
+   */
+  cancelTasks(agvId: string, option: AgvOptions = {}): Promise<ServerResponse<boolean>>
 
   /**
    * 机器人充电
@@ -31,10 +56,17 @@ declare interface RCS {
    * @param chargerId 充电桩ID
    * @param option 其他选项
    */
-  agvToCharger(agvId: string, chargerId: string, option: any = {}): Promise<ServerResponse<boolean>>
+  agvToCharger(agvId: string, chargerId: string, option: AgvOptions = {}): Promise<ServerResponse<boolean>>
+
+  /**
+   * 等待机器人任务完成
+   * @param agvId 机器人ID
+   * @param option 其他选项
+   */
+  waitTaskFinish(agvId: string, option: AgvOptions = {}): Promise<ServerResponse<boolean>>
 }
 
-declare interface AgvMoveOption {
+declare interface AgvOptions {
   /**
    * 任务优先级
    */