Charger 充电API 已完成

src/core/manager/EnvManager.ts

@@ -24,7 +24,8 @@ export default class EnvManager {
     for (const row of res.data) {
       const executor_id = row.executor_id
       const payload = JSON.parse(row.virtual_executor_payload)
-      const wayPointId = row.virtual_location_at
+      // 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) {
@@ -35,6 +36,21 @@ export default class EnvManager {
       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)
     }
   }
@@ -163,7 +179,7 @@ export default class EnvManager {
 
       this.clearExecutors()
       this.clearInv()
-      this.viewport.runtimeManager.clear()
+      this.viewport?.runtimeManager?.clear()
 
     } finally {
       system.clearLoading()

src/core/script/RCSScript.ts

@@ -85,14 +85,13 @@ export default class RCSScript implements RCS {
     })
   }
 
-  agvToCharger(agvId: string, targetWayPointId: string, targetDirection: LLCDirection, option?: any): Promise<ServerResponse<boolean>> {
+  agvToCharger(agvId: string, chargerId: string, option: AgvOptions = {}): Promise<ServerResponse<Object>> {
     return Request.request.post('/api/workbench/RcsController@agvToCharger', {
       projectUUID: worldModel.state.project_uuid,
       catalogCode: worldModel.state.catalogCode,
       envId: 1,
       agvId: agvId,
-      targetWayPointId,
-      targetDirection,
+      chargerId,
       option
     })
   }

src/modules/charger/ChargerPropertySetter.ts

@@ -6,13 +6,9 @@ const propertySetter: PropertySetter = {
         fields: [
             ...basicFieldsSetter,
             {
-                dataPath: 'dt.chargerWidth', label: '充电桩宽度', input: 'InputNumber',
+                dataPath: 'dt.chargerPortDirection', label: '充口方向', input: 'Input',
                 inputProps: {},
-            },
-            {
-                dataPath: 'dt.chargerDepth', label: '充电桩深度', input: 'InputNumber',
-                inputProps: {},
-            },
+            }
         ],
     },
 };

src/modules/charger/ChargerRenderer.ts

@@ -19,7 +19,7 @@ export default class ChargerRenderer extends BaseRenderer {
    * 默认点的高度, 防止和地面重合
    */
   readonly defulePositionY: number = Constract.HEIGHT_WAY
-  readonly defaultScale: THREE.Vector3 = new THREE.Vector3(1, 1, 1)
+  readonly defaultScale: THREE.Vector3 = new THREE.Vector3(0.6, 1, 0.3)
   readonly defaultRotation: THREE.Vector3 = new THREE.Vector3(0, 0, 0)
 
   constructor(itemTypeName: string) {
@@ -42,23 +42,12 @@ export default class ChargerRenderer extends BaseRenderer {
     )
   }
 
-
-  createLineBasic(start: ItemJson, end: ItemJson, type: LinkType): THREE.Object3D {
-    throw new Error('not allow store line.')
-  }
-
-  updateLine(start: ItemJson, end: ItemJson, type: LinkType, option?: RendererCudOption) {
-    throw new Error('not allow store line.')
+  createLine(start: ItemJson, end: ItemJson, type: LinkType): THREE.Object3D {
+    return null
   }
 
-
   createPoint(item: ItemJson, option?: RendererCudOption): THREE.Object3D {
     // 创建平面几何体
-    if (!item.dt.chargerWidth || !item.dt.chargerDepth) {
-      system.showErrorDialog('field chargerWidth / chargerDepth is null!')
-      return null
-    }
-
     const textureLoader = new THREE.TextureLoader()
     const texture = textureLoader.load(chargerUrl)
 
@@ -66,7 +55,7 @@ export default class ChargerRenderer extends BaseRenderer {
     group.name = ChargerRenderer.POINT_NAME
 
     // 绘制背景矩形框
-    const planeGeometry = new THREE.PlaneGeometry(item.dt.chargerWidth, item.dt.chargerDepth)
+    const planeGeometry = new THREE.PlaneGeometry(this.defaultScale.x, this.defaultScale.z)
     planeGeometry.rotateX(-Math.PI / 2)
     const planeMaterial = new THREE.MeshLambertMaterial({
       map: texture,      // 颜色贴图

src/modules/clx/ClxRenderer.ts

@@ -51,11 +51,6 @@ export default class ClxRenderer extends BaseRenderer {
 
   createPoint(item: ItemJson, option?: RendererCudOption): THREE.Object3D {
     // 创建平面几何体
-    if (!item.dt.clxWidth || !item.dt.clxDepth) {
-      system.showErrorDialog('field clxWidth / clxDepth is null!')
-      return
-    }
-
     const group = new Clx3dObject(item, option)
     group.name = ClxRenderer.POINT_NAME
 

src/types/RCS.d.ts

@@ -53,11 +53,10 @@ declare interface RCS {
   /**
    * 机器人充电
    * @param agvId 机器人ID
-   * @param targetWayPointId 充电路标ID
-   * @param targetDirection 充电时车的方向
+   * @param chargerId 充电路标ID
    * @param option 其他选项
    */
-  agvToCharger(agvId: string, targetWayPointId: string, targetDirection: LLCDirection, option: AgvOptions = {}): Promise<ServerResponse<boolean>>
+  agvToCharger(agvId: string, chargerId: string, option: AgvOptions = {}): Promise<ServerResponse<Object>>
 
   /**
    * 等待机器人任务完成