cl2 基于设备状态和任务状态分步生成设备任务消息

src/core/base/BaseItemEntity.ts

@@ -10,7 +10,7 @@ import { getRenderer } from '@/core/manager/ModuleManager.ts'
  * 物流实体基类
  */
 export default abstract class BaseEntity implements EntityIf, Loadable, Carry, Walk, ForkArm, LiftingArm {
-  protected readonly viewport: Viewport
+  public readonly viewport: Viewport
   protected readonly taskQueue: TaskQueue = new TaskQueue()
   readonly id: string
   readonly item: ItemJson

src/core/manager/EnvManager.ts

@@ -1,17 +1,23 @@
 import type Viewport from '@/core/engine/Viewport.ts'
 import { worldModel } from '@/core/manager/WorldModel.ts'
 import mqtt, { type IConnackPacket, type IPublishPacket } from 'mqtt'
-import type { Cl2Task } from '@/modules/cl2/Cl23dObject.ts'
 import type { ErrorWithReasonCode } from 'mqtt/src/lib/shared.ts'
 import type Cl23dObject from '@/modules/cl2/Cl23dObject.ts'
 import { Request } from '@ease-forge/shared'
+import AmrMessageManager from "@/core/manager/amr/AmrMessageManager";
+import {AmrMsg} from "@/core/manager/amr/AmrMessageDefine";
 
 export default class EnvManager {
   private viewport: Viewport
-  private client: mqtt.MqttClient = null
+  private amrMessageManager: AmrMessageManager = null
+  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
@@ -92,10 +98,14 @@ export default class EnvManager {
   }
 
   onMqttMessage = (topic: string, payload: Buffer, packet: IPublishPacket) => {
-    console.log(`[${topic}] ${msg}`)
+    console.log(`[${topic}]-> ${payload.toString()}`)
-    debugger
+    if (topic.startsWith("/wcs_server/")) {
-    const a: Cl2Task = JSON.parse(msg.toString())
+      const message: AmrMsg<any> = JSON.parse(payload.toString())
-    this.handleMessage(a)
+      this.amrMessageManager.handleMessage(topic, message)
+    } else {
+
+    }
+
   }
 
   onMqttError = (error: Error | ErrorWithReasonCode) => {

src/core/manager/amr/AmrMessageDefine.ts

@@ -0,0 +1,174 @@
+import type Viewport from '@/core/engine/Viewport.ts'
+
+type LogicDirection = 0 | 1 | 2 | 3 | 15
+
+
+class AmrMsg<T> {
+  id: number
+  content: T
+
+  constructor<T>(content: T) {
+    if (content instanceof AmrMsg20020) {
+      this.id = 20020
+    } else if (content instanceof AmrMsg20050) {
+      this.id = 20050
+    } else if (content instanceof AmrMsg20149) {
+      this.id = 20149
+    } else if (content instanceof AmrMsg20250) {
+      this.id = 20250
+    }
+    this.content = content
+  }
+}
+
+class AmrMsg10010 {
+  SeqNo: number;
+  OperationType: 0 | 1 | 2 | 3 | 4 | 5 | 135 | 136;
+  UseBriefLocation: boolean;
+  StartX: number;
+  StartY: number;
+  EndX: number;
+  EndY: number;
+  EndDirection: 0 | 1 | 2 | 3 | 15;
+  // 0:不控制（无动作） 1:从货架上取货 2:将货物放到货架上 3:仅调整托盘高度（不进行取放货操作） 4:调整车身货物(仅供调试，RCS勿发送此命令) 5:仅调整载货台到取货高度，但是不动作 6:仅调整载货台到放货高度，但是不动作
+  PickMode: 0 | 1 | 2 | 3 | 4 | 5 | 6;
+  GoodsSlotHeight: number;
+  GoodsSlotDirection: 0 | 1 | 2 | 3 | 15;
+  GoodsId: string;
+  Link: {
+    // id: string; // 实际报文没有
+    X: number;
+    Y: number;
+    Speed: number;
+  }[]
+}
+
+
+class AmrMsg20000Base {
+  SeqNo: number
+  VehicleId: number
+  CreateTime: number
+  SendTime: number
+  CreateMonoTime: number
+
+  constructor() {
+    this.SeqNo = getAmrMsgSeqNo()
+    this.CreateTime = Date.now()
+    this.SendTime = Date.now()
+  }
+}
+
+
+class AmrMsg20020 extends AmrMsg20000Base {
+  CurDirection: LogicDirection
+  CurLogicX: number
+  CurLogicY: number
+  CurX: number
+  CurY: number
+  // 地标类型 二维码 1 默认
+  MarkerType: number = 1
+  CurOrientation: number = 0
+  X: number = 0
+  Y: number = 0
+
+  constructor() {
+    super()
+  }
+}
+
+class AmrMsg20050 extends AmrMsg20000Base {
+  constructor(seqNo: number, vehicleId: number) {
+    super()
+    this.SeqNo = seqNo
+    this.VehicleId = vehicleId
+  }
+}
+
+class AmrMsg20149 extends AmrMsg20000Base {
+  AGVFnModel: string
+  AGVModel: string
+  Battery: number
+
+  constructor() {
+    super()
+  }
+}
+
+class AmrMsg20250 extends AmrMsg20000Base {
+  // 异常持续时间 秒
+  Duration: number = 0
+  // 异常代码
+  ErrCode: number
+  // 异常代码 名称
+  ErrCodeName: string
+  // 异常事件类型 0：无 1：开始 2：更新 3：结束 4：开始并结束
+  ErrEvtType: number
+  // 异常等级 0：Undetermined 未确定 12：Info 信息 13：Warning 警告 14：Critical 严重 15：Fatal 致命
+  ErrLevel: number
+  // 异常生命周期 0：易变的 1：一次性 2：持续性 3：任务期间
+  ErrLifecycle: number
+  // 异常详情 根据不同的异常，字段不一样，比如针对ErrCode为2电量低的情况，ErrMsg中使用CurBattery标识当前电量；
+  ErrMsg: object
+
+  constructor() {
+    super()
+  }
+
+  // 地标异常
+  // {"content":{"CreateMonoTime":64489153,"CreateTime":1751337599272,"Duration":3,"ErrCode":5,"ErrCodeName":"kLocationMarkNotFound","ErrEvtType":1,"ErrLevel":14,"ErrLifecycle":2,"ErrMsg":{"ErrDesc":"无法在 (-1.00, -1.00) 位置使用扫描设备 kLocationMarkCamera(ID: 1) 找到码","ErrDescEn":"Unable to use scanner kLocationMarkCamera(id: 1) to find a mark at (-1.00, -1.00)","ErrPrivInfo":{"Camera":1,"CurLogicX":-1,"CurLogicY":-1,"ExpectCode":"","X":-1000.0,"Y":-1000.0}},"SendTime":1751337602101,"SeqNo":4,"VehicleId":3},"id":20250}
+}
+
+let __AmrMsgSeqNo__: number = 0
+
+const getAmrMsgSeqNo = () => {
+  if (__AmrMsgSeqNo__ >= 0Xfffffff) {
+    __AmrMsgSeqNo__ = 0
+  } else {
+    __AmrMsgSeqNo__++
+  }
+  return __AmrMsgSeqNo__
+}
+
+export {AmrMsg, AmrMsg10010, AmrMsg20020, AmrMsg20050, AmrMsg20149, AmrMsg20250, AmrErrorCode, LogicDirection}
+
+const AmrErrorCode = {
+  0: {
+    // 无异常
+    ErrCode: 0,
+    ErrCodeName: "",
+    ErrMsg: {}
+  },
+  5: {
+    // 未找到地面二维码 "ErrEvtType":1,"ErrLevel":14,"ErrLifecycle":2
+    ErrCode: 5,
+    ErrCodeName: "kLocationMarkNotFound",
+    ErrMsg: {
+      "ErrDesc": "无法在 (-1.00, -1.00) 位置使用扫描设备 kLocationMarkCamera(ID: 1) 找到码",
+      "ErrDescEn": "Unable to use scanner kLocationMarkCamera(id: 1) to find a mark at (-1.00, -1.00)",
+      "ErrPrivInfo": {"Camera": 1, "CurLogicX": -1, "CurLogicY": -1, "ExpectCode": "", "X": -1000.0, "Y": -1000.0}
+    }
+  },
+  15: {
+    // 未记录的地标码 "ErrEvtType":4,"ErrLevel":13,"ErrLifecycle":1
+    ErrCode: 15,
+    ErrCodeName: "kUnrecognizedMark",
+    ErrMsg: {
+      "ErrDesc": "在位置 (-799.00, -1004.00)（逻辑位置：(-1.00, -1.00)）发现了一个未识别的码（224842）",
+      "ErrDescEn": "Found an unrecognized mark(224842) at location (-799.00, -1004.00)(logic location: (-1.00, -1.00))",
+      "ErrPrivInfo": {"CurLogicX": -1, "CurLogicY": -1, "MarkName": "224842", "X": -799.0, "Y": -1004.0}
+    }
+  },
+  67: {
+    // 障碍物检测功能异常 "ErrEvtType":1,"ErrLevel":14,"ErrLifecycle":2,
+    ErrCode: 67,
+    ErrCodeName: "kObstacleDetectionMalfunction",
+    ErrMsg: {"ErrDesc": "障碍物检测功能异常", "ErrDescEn": "Obstacle detection malfunction", "ErrPrivInfo": {"CurLogicX": 6, "CurLogicY": 2, "X": 10816.0, "Y": 2115.0}}
+  },
+  85: {
+    // 需要人工介入处理  "ErrEvtType":1,"ErrLevel":14,"ErrLifecycle":2
+    // 当设备遇到无法/不敢自动恢复的异常时，如果导致执行中断的异常结束了，则会报这个异常。比如行驶过程中防撞条被碰了一下而后马上松开了，由于防撞条触发很可能有撞击，所以检测到防撞条触发后车会停止不动，这种情况下需要人工介入检查处理。由于被撞物体与防撞条已经不接触了，所以防撞条触发异常（异常号8）会结束，结束的同时设备主动产生本异常，以提示人工介入。此异常消息中会包含一个字段，用以提示可能的导致异常的原因；由于异常过程可能伴随多种严重异常（比如碰撞到物体到停车过程可能伴随有失控、检测不到地标码等异常），这个字段所提示原因并不一定是确切的原因
+    ErrCode: 85,
+    ErrCodeName: "kRequestForIntervention",
+    ErrMsg: {"ErrDesc": "需要人工协助。无法恢复的原因：kLocationMarkNotFound（ID：5）", "ErrDescEn": "Manual assistance is required. Likely reason for my inability: kLocationMarkNotFound(id: 5)", "ErrPrivInfo": {"ReasonException": 5}}
+  }
+}

src/core/manager/amr/AmrMessageManager.ts

@@ -0,0 +1,68 @@
+import {AmrMsg, AmrMsg10010, AmrMsg20050} from "@/core/manager/amr/AmrMessageDefine";
+import Cl23dObject from "@/modules/cl2/Cl23dObject";
+import Viewport from "@/core/engine/Viewport";
+
+export default class AmrMessageManager {
+
+  public viewport: Viewport
+
+  handleMessage(topic, amrMsg: AmrMsg<any>) {
+
+    const vehicleId = parseInt(topic.replace("/wcs_server/", ""))
+    switch (amrMsg.id) {
+      // AMR作业指令 10010
+      case 10010:
+        const cl2 = this.viewport.entityManager.findObjectById(amrMsg.content.VehicleId + "") as Cl23dObject
+        cl2.handleMessage(amrMsg as AmrMsg<AmrMsg10010>)
+        break;
+      // 停止/解除 10040
+      case 10040:
+        break;
+      // 电文应答 10050
+      case 10050:
+        break;
+      // 配置信息 10060
+      case 10060:
+        break;
+      // 旋转货架 10080
+      case 10080:
+        break;
+      // 旋转车身 10081
+      case 10081:
+        break;
+      // 控制卷帘门 10082
+      case 10082:
+        break;
+      // 心跳 10100
+      case 10100:
+        break;
+      // 状态查询 10110
+      case 10110:
+        break;
+      // 取消已下发小车任务 10120
+      case 10120:
+        break;
+      // 设置小车坐标 10200
+      case 10200:
+        break;
+      // 等待就绪 19997
+      case 19997:
+        break;
+    }
+    if (amrMsg.id != 10050 && amrMsg.id != 10100) {
+      const seqNo = amrMsg.content.SeqNo;
+      this.sendAck(seqNo, vehicleId);
+    }
+  }
+
+  sendAck(seqNo: number, vehicleId: number) {
+    const msg20050 = new AmrMsg20050(seqNo, vehicleId)
+    const ack = new AmrMsg<AmrMsg20050>(msg20050)
+    this.sendMessage(ack)
+  }
+
+  sendMessage(amrMsg: AmrMsg<any>) {
+    this.viewport.envManager.client.publish('/agv_robot/status', JSON.stringify(amrMsg))
+  }
+
+}

src/editor/propEditors/PtrController.vue

@@ -0,0 +1,40 @@
+<script setup lang="ts">
+import lodash from "lodash";
+import { computed, reactive } from "vue";
+import { ElButton, ElDivider, ElFormItem, ElIcon, ElInputNumber, useFormItem } from "element-plus";
+import { CopyDocument, Delete } from "@element-plus/icons-vue";
+import { Typeof } from "@ease-forge/shared";
+import type Viewport from "@/core/engine/Viewport";
+import {BayEditorProps} from "@/editor/propEditors/BayEditor.vue";
+import Cl23dObject from "@/modules/cl2/Cl23dObject";
+
+defineOptions({
+    name: 'PtrController',
+});
+// 读取组件 props 属性
+const props = withDefaults(defineProps(), {});
+
+function start() {
+  const viewport: Viewport = window['viewport']
+  // viewport.envManager.client.publish('/agv_robot/status', '')
+  const item = viewport.state.selectedItem
+  const object3D: Cl23dObject = viewport.state.selectedObject as Cl23dObject
+  console.log(item, object3D)
+  object3D.boot()
+}
+
+
+</script>
+
+<template>
+    <div class="ptr-controller">
+      <el-button @click="start">启动</el-button>
+    </div>
+</template>
+
+<style scoped>
+.ptr-controller {
+    width: 100%;
+    user-select: none;
+}
+</style>

src/editor/widgets/property/PropertyPanelConstant.ts

@@ -5,6 +5,7 @@ import { dataFormInputComponents } from "@/components/data-form/DataFormConstant
 import TransformEditor from "@/editor/propEditors/TransformEditor.vue";
 import InOutCenterEditor from "@/editor/propEditors/InOutCenterEditor.vue";
 import BayEditor from "@/editor/propEditors/BayEditor.vue";
+import PtrController from "@/editor/propEditors/PtrController.vue";
 
 const defDataFormProps: DataFormProps = {
     columnCount: 1,
@@ -16,6 +17,7 @@ const defDataFormProps: DataFormProps = {
 dataFormInputComponents.TransformEditor = markRaw<any>(TransformEditor);
 dataFormInputComponents.InOutCenterEditor = markRaw<any>(InOutCenterEditor);
 dataFormInputComponents.BayEditor = markRaw<any>(BayEditor);
+dataFormInputComponents.PtrController = markRaw<any>(PtrController);
 
 const basicFieldsSetter: Array<PropertyFieldSetter> = [
     {

src/modules/cl2/Cl23DGraphics.ts

@@ -0,0 +1,295 @@
+import * as THREE from "three";
+import {CSG} from "three-csg-ts";
+//@ts-ignore
+import { mergeGeometries } from 'three/addons/utils/BufferGeometryUtils.js'
+
+export default class Cl23DGraphics {
+
+// 创建ptr的底座
+  public static createPtrPedestal(): THREE.BufferGeometry {
+    // 参数配置
+    const radius = 0.8        // 圆半径
+    const lineDist = 0.75     // 切割线距离圆心距离
+    const segments = 64       // 圆的分段精度
+
+    // 计算切割线与圆的交点
+    const intersectY = Math.sqrt(radius * radius - lineDist * lineDist)
+    const startAngle = Math.asin(intersectY / radius)
+    const endAngle = Math.acos(intersectY / radius)
+
+
+    const shape = new THREE.Shape()
+    shape.moveTo(0, 0)  // 起点在圆心
+    shape.absarc(0, 0, 0.8, startAngle, endAngle, false) // 从0到π绘制半圆
+    shape.absarc(0, 0, 0.8, startAngle + Math.PI / 2, endAngle + Math.PI / 2, false)
+    shape.absarc(0, 0, 0.8, startAngle + Math.PI, endAngle + Math.PI, false)
+    shape.absarc(0, 0, 0.8, startAngle + Math.PI / 2 * 3, endAngle + Math.PI / 2 * 3, false)
+
+    shape.lineTo(-0.5, -intersectY)
+    shape.lineTo(-0.5, -intersectY + 0.17)
+    shape.lineTo(0.75, -intersectY + 0.17)
+    shape.lineTo(0.75, intersectY - 0.17)
+    shape.lineTo(-0.5, intersectY - 0.17)
+    shape.lineTo(-0.5, intersectY)
+    shape.closePath()  // 闭合路径
+
+    // 拉伸轨迹线
+    const curve = new THREE.CatmullRomCurve3(
+      [new THREE.Vector3(0, 0.02, 0), new THREE.Vector3(0, 0.22, 0)],
+      false,  // 闭合曲线
+      'catmullrom',
+      0
+    )
+
+    // 挤出几何图形 参数
+    const options = {
+      steps: 1,
+      bevelEnabled: false,
+      extrudePath: curve //  设置挤出轨迹
+    }
+    // 创建挤出几何体
+    const geometry = new THREE.ExtrudeGeometry(shape, options)
+    const material = new THREE.MeshBasicMaterial({color: 0xffdddbca})
+    const mesh = new THREE.Mesh(geometry, material)
+
+    mesh.updateMatrix()
+
+    // 倒角
+    const shapeD = new THREE.Shape()
+    shapeD.moveTo(-0.02, -0.02)
+    shapeD.lineTo(0.02, 0.02)
+    shapeD.lineTo(-0.02, 0.02)
+    shapeD.closePath()
+
+    const curveD = new THREE.EllipseCurve(
+      0, 0, radius, radius, 0, Math.PI * 2, false, 0
+    )
+    // 生成拉伸路径点
+    const pointsD = curveD.getPoints(segments).map(p =>
+      new THREE.Vector3(p.x, 0.20, p.y)
+    )
+    // 3. 挤出成型
+    const optionsD = {
+      steps: segments,
+      bevelEnabled: false,
+      // bevelSegments: 0.01,
+      extrudePath: new THREE.CatmullRomCurve3(pointsD)
+    }
+
+    const geometryD = new THREE.ExtrudeGeometry(shapeD, optionsD)
+    const meshD = new THREE.Mesh(geometryD, material)
+    meshD.updateMatrix()
+
+    // 布尔运算
+    const result = CSG.subtract(mesh, meshD)
+
+    return result.geometry
+  }
+
+// 创建ptr的立柱
+  public static createPtrPillar(): THREE.BufferGeometry {
+    // 606.5
+    const width = 0.245
+    const depth = 0.716
+    const dd = 0.05
+    const shape = new THREE.Shape()
+    shape.moveTo(-0.728, -0.358 + dd)
+    shape.lineTo(-0.728 + dd, -0.358)
+    shape.lineTo(-0.728 + width - dd, -0.358)
+    shape.lineTo(-0.728 + width, -0.358 + dd)
+
+    shape.lineTo(-0.728 + width, -0.28)
+    shape.lineTo(-0.728 + width - 0.08, -0.28)
+    shape.lineTo(-0.728 + width - 0.08, 0.28)
+    shape.lineTo(-0.728 + width, 0.28)
+
+    shape.lineTo(-0.728 + width, -0.358 + depth - dd)
+    shape.lineTo(-0.728 + width - dd, -0.358 + depth)
+    shape.lineTo(-0.728 + dd, -0.358 + depth)
+    shape.lineTo(-0.728, -0.358 + depth - dd)
+    // shape.lineTo(-0.728, -0.358 + dd);
+    // shape.closePath()
+
+    // 拉伸轨迹线
+    const curve = new THREE.CatmullRomCurve3(
+      [new THREE.Vector3(0, 0.22, 0), new THREE.Vector3(0, 1.872, 0)],
+      false,  // 闭合曲线
+      'catmullrom',
+      0
+    )
+
+    // 挤出几何图形 参数
+    const options = {
+      steps: 1,
+      bevelSegments: 0.05,
+      bevelEnabled: true,
+      extrudePath: curve //  设置挤出轨迹
+    }
+    // 创建挤出几何体
+    let geometry = new THREE.ExtrudeGeometry(shape, options)
+
+
+    const fd = 0.03
+    const shapeBf = new THREE.Shape()
+
+    shapeBf.moveTo(-0.728 + width - 0.08, -0.28)
+    shapeBf.lineTo(-0.728 + width + 0.02, -0.28)
+    shapeBf.lineTo(-0.728 + width + 0.02, -0.25)
+    shapeBf.lineTo(-0.728 + width + 0.02 + 1.130 - fd, -0.25)
+    shapeBf.lineTo(-0.728 + width + 0.02 + 1.130, -0.25 + fd)
+    shapeBf.lineTo(-0.728 + width + 0.02 + 1.130, -0.14 - fd)
+    shapeBf.lineTo(-0.728 + width + 0.02 + 1.130 - fd, -0.14)
+    shapeBf.lineTo(-0.728 + width + 0.02, -0.14)
+    shapeBf.lineTo(-0.728 + width + 0.02, 0.14)
+    shapeBf.lineTo(-0.728 + width + 0.02 + 1.130 - fd, 0.14)
+    shapeBf.lineTo(-0.728 + width + 0.02 + 1.130, 0.14 + fd)
+    shapeBf.lineTo(-0.728 + width + 0.02 + 1.130, 0.25 - fd)
+    shapeBf.lineTo(-0.728 + width + 0.02 + 1.130 - fd, 0.25)
+    shapeBf.lineTo(-0.728 + width + 0.02, 0.25)
+    shapeBf.lineTo(-0.728 + width + 0.02, 0.28)
+    shapeBf.lineTo(-0.728 + width - 0.08, 0.28)
+
+    shapeBf.closePath()
+
+    // 拉伸轨迹线
+    const curveBf = new THREE.CatmullRomCurve3(
+      [new THREE.Vector3(0, 0.02, 0), new THREE.Vector3(0, 0.06, 0)],
+      false,  // 闭合曲线
+      'catmullrom',
+      0
+    )
+
+    // 挤出几何图形 参数
+    const optionsBf = {
+      steps: 1,
+      bevelSegments: 0.05,
+      bevelEnabled: true,
+      extrudePath: curveBf //  设置挤出轨迹
+    }
+    // 创建挤出几何体
+    const geometryBf = new THREE.ExtrudeGeometry(shapeBf, optionsBf)
+    geometry = mergeGeometries([geometry, geometryBf])
+    const material = new THREE.MeshBasicMaterial({color: 0xffdddbca})
+    const mesh = new THREE.Mesh(geometry, material)
+
+    const shapeD = new THREE.Shape()
+    shapeD.moveTo(-0.3, -0.25)
+    shapeD.lineTo(-0.3, 0.25)
+    shapeD.lineTo(0.3, 0.25)
+    shapeD.lineTo(0.3, -0.25)
+    shapeD.closePath()
+
+    const curveD = new THREE.CatmullRomCurve3(
+      [new THREE.Vector3(0, 1.45, -1), new THREE.Vector3(0, 1.45, 1)],
+      false,  // 闭合曲线
+      'catmullrom',
+      0
+    )
+
+    const optionsD = {
+      steps: 1,
+      bevelSegments: 0.05,
+      bevelEnabled: true,
+      extrudePath: curveD //  设置挤出轨迹
+    }
+
+    const geometryD = new THREE.ExtrudeGeometry(shapeD, optionsD)
+    const meshD = new THREE.Mesh(geometryD, material)
+    mesh.updateMatrix()
+    meshD.updateMatrix()
+    const result = CSG.subtract(mesh, meshD)
+
+    return result.geometry
+
+  }
+
+// 创建ptr的立柱
+  public static createPtrFork(): THREE.BufferGeometry {
+    // 606.5
+    const width = 0.245
+    const depth = 0.716
+    const dd = 0.05
+    const fd = 0.03
+    const shape = new THREE.Shape()
+
+    shape.moveTo(-0.728 + width - 0.08, -0.28)
+    shape.lineTo(-0.728 + width + 0.02, -0.28)
+    shape.lineTo(-0.728 + width + 0.02, -0.27)
+    shape.lineTo(-0.728 + width + 0.02 + 1.130 - fd, -0.27)
+    shape.lineTo(-0.728 + width + 0.02 + 1.130, -0.27 + fd)
+    shape.lineTo(-0.728 + width + 0.02 + 1.130, -0.12 - fd)
+    shape.lineTo(-0.728 + width + 0.02 + 1.130 - fd, -0.12)
+    shape.lineTo(-0.728 + width + 0.02, -0.12)
+    shape.lineTo(-0.728 + width + 0.02, 0.12)
+    shape.lineTo(-0.728 + width + 0.02 + 1.130 - fd, 0.12)
+    shape.lineTo(-0.728 + width + 0.02 + 1.130, 0.12 + fd)
+    shape.lineTo(-0.728 + width + 0.02 + 1.130, 0.27 - fd)
+    shape.lineTo(-0.728 + width + 0.02 + 1.130 - fd, 0.27)
+    shape.lineTo(-0.728 + width + 0.02, 0.27)
+    shape.lineTo(-0.728 + width + 0.02, 0.28)
+    shape.lineTo(-0.728 + width - 0.08, 0.28)
+
+    shape.closePath()
+
+    // 拉伸轨迹线
+    const curve = new THREE.CatmullRomCurve3(
+      [new THREE.Vector3(0, 0.02, 0), new THREE.Vector3(0, 0.482, 0)],
+      false,  // 闭合曲线
+      'catmullrom',
+      0
+    )
+
+    // 挤出几何图形 参数
+    const options = {
+      steps: 1,
+      bevelSegments: 0.05,
+      bevelEnabled: true,
+      extrudePath: curve //  设置挤出轨迹
+    }
+    // 创建挤出几何体
+    const geometry = new THREE.ExtrudeGeometry(shape, options)
+    const material = new THREE.MeshBasicMaterial({color: 0xffdddbca})
+    const mesh = new THREE.Mesh(geometry, material)
+    mesh.updateMatrix()
+
+    const shapeD = new THREE.Shape()
+
+
+    shapeD.moveTo(-0.728 + width + 0.02, -0.3)
+    shapeD.lineTo(-0.728 + width + 0.02 + 1.2, -0.3)
+    shapeD.lineTo(-0.728 + width + 0.02 + 1.2, 0.3)
+    shapeD.lineTo(-0.728 + width + 0.02, 0.3)
+    shape.closePath()
+
+    // 拉伸轨迹线
+    const curveD = new THREE.CatmullRomCurve3(
+      [new THREE.Vector3(0, 0.07, 0), new THREE.Vector3(0, 0.482, 0)],
+      false,  // 闭合曲线
+      'catmullrom',
+      0
+    )
+
+    // 挤出几何图形 参数
+    const optionsD = {
+      steps: 1,
+      bevelSegments: 0.05,
+      bevelEnabled: true,
+      extrudePath: curveD //  设置挤出轨迹
+    }
+    // 创建挤出几何体
+    const geometryD = new THREE.ExtrudeGeometry(shapeD, optionsD)
+    const meshD = new THREE.Mesh(geometryD, material)
+
+    meshD.updateMatrix()
+
+    // 布尔运算
+    const result = CSG.subtract(mesh, meshD)
+
+    return result.geometry
+  }
+
+  public static ptrPedestalGeometry: THREE.BufferGeometry = null
+  public static ptrPillarGeometry: THREE.BufferGeometry = null
+  public static ptrForkGeometry: THREE.BufferGeometry = null
+
+}

src/modules/cl2/Cl23dObject.ts

@@ -1,37 +1,12 @@
 import * as THREE from 'three'
 import { CSG } from 'three-csg-ts'
-//@ts-ignore
-import { mergeGeometries } from 'three/addons/utils/BufferGeometryUtils.js'
 import gsap from 'gsap'
 import mqtt from 'mqtt'
 import { Euler } from 'three/src/math/Euler'
 import Cl2Entity from '@/modules/cl2/Cl2Entity'
+import Cl23DGraphics from "@/modules/cl2/Cl23DGraphics"
+import {AmrErrorCode, AmrMsg, AmrMsg10010, AmrMsg20020, AmrMsg20149, AmrMsg20250, type LogicDirection} from "@/core/manager/amr/AmrMessageDefine";
 
-export interface Cl2Task {
-  // 0：运输 1：接货 2：卸货 3：充电 4：提升移栽取货或卸货 5：滚筒取货或卸货（双向作业） 135：旋转货架 136：旋转车身
-  id: number;
-  content: {
-    SeqNo: number;
-    OperationType: 0 | 1 | 2 | 3 | 4 | 5 | 135 | 136;
-    UseBriefLocation: boolean;
-    StartX: number;
-    StartY: number;
-    EndX: number;
-    EndY: number;
-    EndDirection: 0 | 1 | 2 | 3 | 15;
-    // 0:不控制（无动作） 1:从货架上取货 2:将货物放到货架上 3:仅调整托盘高度（不进行取放货操作） 4:调整车身货物(仅供调试，RCS勿发送此命令) 5:仅调整载货台到取货高度，但是不动作 6:仅调整载货台到放货高度，但是不动作
-    PickMode: 0 | 1 | 2 | 3 | 4 | 5 | 6;
-    GoodsSlotHeight: number;
-    GoodsSlotDirection: 0 | 1 | 2 | 3 | 15;
-    GoodsId: string;
-    Link: {
-      // id: string; // 实际报文没有
-      X: number;
-      Y: number;
-      Speed: number;
-    }[]
-  }
-}
 
 interface Task {
   SeqNo: number;
@@ -46,293 +21,6 @@ interface Task {
 
 export default class Cl23dObject extends THREE.Object3D {
 
-  // 创建ptr的底座
-  private static createPtrPedestal(): THREE.BufferGeometry {
-    // 参数配置
-    const radius = 0.8        // 圆半径
-    const lineDist = 0.75     // 切割线距离圆心距离
-    const segments = 64       // 圆的分段精度
-
-    // 计算切割线与圆的交点
-    const intersectY = Math.sqrt(radius * radius - lineDist * lineDist)
-    const startAngle = Math.asin(intersectY / radius)
-    const endAngle = Math.acos(intersectY / radius)
-
-
-    const shape = new THREE.Shape()
-    shape.moveTo(0, 0)  // 起点在圆心
-    shape.absarc(0, 0, 0.8, startAngle, endAngle, false) // 从0到π绘制半圆
-    shape.absarc(0, 0, 0.8, startAngle + Math.PI / 2, endAngle + Math.PI / 2, false)
-    shape.absarc(0, 0, 0.8, startAngle + Math.PI, endAngle + Math.PI, false)
-    shape.absarc(0, 0, 0.8, startAngle + Math.PI / 2 * 3, endAngle + Math.PI / 2 * 3, false)
-
-    shape.lineTo(-0.5, -intersectY)
-    shape.lineTo(-0.5, -intersectY + 0.17)
-    shape.lineTo(0.75, -intersectY + 0.17)
-    shape.lineTo(0.75, intersectY - 0.17)
-    shape.lineTo(-0.5, intersectY - 0.17)
-    shape.lineTo(-0.5, intersectY)
-    shape.closePath()  // 闭合路径
-
-    // 拉伸轨迹线
-    const curve = new THREE.CatmullRomCurve3(
-      [new THREE.Vector3(0, 0.02, 0), new THREE.Vector3(0, 0.22, 0)],
-      false,  // 闭合曲线
-      'catmullrom',
-      0
-    )
-
-    // 挤出几何图形 参数
-    const options = {
-      steps: 1,
-      bevelEnabled: false,
-      extrudePath: curve //  设置挤出轨迹
-    }
-    // 创建挤出几何体
-    const geometry = new THREE.ExtrudeGeometry(shape, options)
-    const material = new THREE.MeshBasicMaterial({ color: 0xffdddbca })
-    const mesh = new THREE.Mesh(geometry, material)
-
-    mesh.updateMatrix()
-
-    // 倒角
-    const shapeD = new THREE.Shape()
-    shapeD.moveTo(-0.02, -0.02)
-    shapeD.lineTo(0.02, 0.02)
-    shapeD.lineTo(-0.02, 0.02)
-    shapeD.closePath()
-
-    const curveD = new THREE.EllipseCurve(
-      0, 0, radius, radius, 0, Math.PI * 2, false, 0
-    )
-    // 生成拉伸路径点
-    const pointsD = curveD.getPoints(segments).map(p =>
-      new THREE.Vector3(p.x, 0.20, p.y)
-    )
-    // 3. 挤出成型
-    const optionsD = {
-      steps: segments,
-      bevelEnabled: false,
-      // bevelSegments: 0.01,
-      extrudePath: new THREE.CatmullRomCurve3(pointsD)
-    }
-
-    const geometryD = new THREE.ExtrudeGeometry(shapeD, optionsD)
-    const meshD = new THREE.Mesh(geometryD, material)
-    meshD.updateMatrix()
-
-    // 布尔运算
-    const result = CSG.subtract(mesh, meshD)
-
-    return result.geometry
-  }
-
-  // 创建ptr的立柱
-  private static createPtrPillar(): THREE.BufferGeometry {
-    // 606.5
-    const width = 0.245
-    const depth = 0.716
-    const dd = 0.05
-    const shape = new THREE.Shape()
-    shape.moveTo(-0.728, -0.358 + dd)
-    shape.lineTo(-0.728 + dd, -0.358)
-    shape.lineTo(-0.728 + width - dd, -0.358)
-    shape.lineTo(-0.728 + width, -0.358 + dd)
-
-    shape.lineTo(-0.728 + width, -0.28)
-    shape.lineTo(-0.728 + width - 0.08, -0.28)
-    shape.lineTo(-0.728 + width - 0.08, 0.28)
-    shape.lineTo(-0.728 + width, 0.28)
-
-    shape.lineTo(-0.728 + width, -0.358 + depth - dd)
-    shape.lineTo(-0.728 + width - dd, -0.358 + depth)
-    shape.lineTo(-0.728 + dd, -0.358 + depth)
-    shape.lineTo(-0.728, -0.358 + depth - dd)
-    // shape.lineTo(-0.728, -0.358 + dd);
-    // shape.closePath()
-
-    // 拉伸轨迹线
-    const curve = new THREE.CatmullRomCurve3(
-      [new THREE.Vector3(0, 0.22, 0), new THREE.Vector3(0, 1.872, 0)],
-      false,  // 闭合曲线
-      'catmullrom',
-      0
-    )
-
-    // 挤出几何图形 参数
-    const options = {
-      steps: 1,
-      bevelSegments: 0.05,
-      bevelEnabled: true,
-      extrudePath: curve //  设置挤出轨迹
-    }
-    // 创建挤出几何体
-    let geometry = new THREE.ExtrudeGeometry(shape, options)
-
-
-    const fd = 0.03
-    const shapeBf = new THREE.Shape()
-
-    shapeBf.moveTo(-0.728 + width - 0.08, -0.28)
-    shapeBf.lineTo(-0.728 + width + 0.02, -0.28)
-    shapeBf.lineTo(-0.728 + width + 0.02, -0.25)
-    shapeBf.lineTo(-0.728 + width + 0.02 + 1.130 - fd, -0.25)
-    shapeBf.lineTo(-0.728 + width + 0.02 + 1.130, -0.25 + fd)
-    shapeBf.lineTo(-0.728 + width + 0.02 + 1.130, -0.14 - fd)
-    shapeBf.lineTo(-0.728 + width + 0.02 + 1.130 - fd, -0.14)
-    shapeBf.lineTo(-0.728 + width + 0.02, -0.14)
-    shapeBf.lineTo(-0.728 + width + 0.02, 0.14)
-    shapeBf.lineTo(-0.728 + width + 0.02 + 1.130 - fd, 0.14)
-    shapeBf.lineTo(-0.728 + width + 0.02 + 1.130, 0.14 + fd)
-    shapeBf.lineTo(-0.728 + width + 0.02 + 1.130, 0.25 - fd)
-    shapeBf.lineTo(-0.728 + width + 0.02 + 1.130 - fd, 0.25)
-    shapeBf.lineTo(-0.728 + width + 0.02, 0.25)
-    shapeBf.lineTo(-0.728 + width + 0.02, 0.28)
-    shapeBf.lineTo(-0.728 + width - 0.08, 0.28)
-
-    shapeBf.closePath()
-
-    // 拉伸轨迹线
-    const curveBf = new THREE.CatmullRomCurve3(
-      [new THREE.Vector3(0, 0.02, 0), new THREE.Vector3(0, 0.06, 0)],
-      false,  // 闭合曲线
-      'catmullrom',
-      0
-    )
-
-    // 挤出几何图形 参数
-    const optionsBf = {
-      steps: 1,
-      bevelSegments: 0.05,
-      bevelEnabled: true,
-      extrudePath: curveBf //  设置挤出轨迹
-    }
-    // 创建挤出几何体
-    const geometryBf = new THREE.ExtrudeGeometry(shapeBf, optionsBf)
-    geometry = mergeGeometries([geometry, geometryBf])
-    const material = new THREE.MeshBasicMaterial({ color: 0xffdddbca })
-    const mesh = new THREE.Mesh(geometry, material)
-
-    const shapeD = new THREE.Shape()
-    shapeD.moveTo(-0.3, -0.25)
-    shapeD.lineTo(-0.3, 0.25)
-    shapeD.lineTo(0.3, 0.25)
-    shapeD.lineTo(0.3, -0.25)
-    shapeD.closePath()
-
-    const curveD = new THREE.CatmullRomCurve3(
-      [new THREE.Vector3(0, 1.45, -1), new THREE.Vector3(0, 1.45, 1)],
-      false,  // 闭合曲线
-      'catmullrom',
-      0
-    )
-
-    const optionsD = {
-      steps: 1,
-      bevelSegments: 0.05,
-      bevelEnabled: true,
-      extrudePath: curveD //  设置挤出轨迹
-    }
-
-    const geometryD = new THREE.ExtrudeGeometry(shapeD, optionsD)
-    const meshD = new THREE.Mesh(geometryD, material)
-    mesh.updateMatrix()
-    meshD.updateMatrix()
-    const result = CSG.subtract(mesh, meshD)
-
-    return result.geometry
-
-  }
-
-  // 创建ptr的立柱
-  private static createPtrFork(): THREE.BufferGeometry {
-    // 606.5
-    const width = 0.245
-    const depth = 0.716
-    const dd = 0.05
-    const fd = 0.03
-    const shape = new THREE.Shape()
-
-    shape.moveTo(-0.728 + width - 0.08, -0.28)
-    shape.lineTo(-0.728 + width + 0.02, -0.28)
-    shape.lineTo(-0.728 + width + 0.02, -0.27)
-    shape.lineTo(-0.728 + width + 0.02 + 1.130 - fd, -0.27)
-    shape.lineTo(-0.728 + width + 0.02 + 1.130, -0.27 + fd)
-    shape.lineTo(-0.728 + width + 0.02 + 1.130, -0.12 - fd)
-    shape.lineTo(-0.728 + width + 0.02 + 1.130 - fd, -0.12)
-    shape.lineTo(-0.728 + width + 0.02, -0.12)
-    shape.lineTo(-0.728 + width + 0.02, 0.12)
-    shape.lineTo(-0.728 + width + 0.02 + 1.130 - fd, 0.12)
-    shape.lineTo(-0.728 + width + 0.02 + 1.130, 0.12 + fd)
-    shape.lineTo(-0.728 + width + 0.02 + 1.130, 0.27 - fd)
-    shape.lineTo(-0.728 + width + 0.02 + 1.130 - fd, 0.27)
-    shape.lineTo(-0.728 + width + 0.02, 0.27)
-    shape.lineTo(-0.728 + width + 0.02, 0.28)
-    shape.lineTo(-0.728 + width - 0.08, 0.28)
-
-    shape.closePath()
-
-    // 拉伸轨迹线
-    const curve = new THREE.CatmullRomCurve3(
-      [new THREE.Vector3(0, 0.02, 0), new THREE.Vector3(0, 0.482, 0)],
-      false,  // 闭合曲线
-      'catmullrom',
-      0
-    )
-
-    // 挤出几何图形 参数
-    const options = {
-      steps: 1,
-      bevelSegments: 0.05,
-      bevelEnabled: true,
-      extrudePath: curve //  设置挤出轨迹
-    }
-    // 创建挤出几何体
-    const geometry = new THREE.ExtrudeGeometry(shape, options)
-    const material = new THREE.MeshBasicMaterial({ color: 0xffdddbca })
-    const mesh = new THREE.Mesh(geometry, material)
-    mesh.updateMatrix()
-
-    const shapeD = new THREE.Shape()
-
-
-    shapeD.moveTo(-0.728 + width + 0.02, -0.3)
-    shapeD.lineTo(-0.728 + width + 0.02 + 1.2, -0.3)
-    shapeD.lineTo(-0.728 + width + 0.02 + 1.2, 0.3)
-    shapeD.lineTo(-0.728 + width + 0.02, 0.3)
-    shape.closePath()
-
-    // 拉伸轨迹线
-    const curveD = new THREE.CatmullRomCurve3(
-      [new THREE.Vector3(0, 0.07, 0), new THREE.Vector3(0, 0.482, 0)],
-      false,  // 闭合曲线
-      'catmullrom',
-      0
-    )
-
-    // 挤出几何图形 参数
-    const optionsD = {
-      steps: 1,
-      bevelSegments: 0.05,
-      bevelEnabled: true,
-      extrudePath: curveD //  设置挤出轨迹
-    }
-    // 创建挤出几何体
-    const geometryD = new THREE.ExtrudeGeometry(shapeD, optionsD)
-    const meshD = new THREE.Mesh(geometryD, material)
-
-    meshD.updateMatrix()
-
-    // 布尔运算
-    const result = CSG.subtract(mesh, meshD)
-
-    return result.geometry
-  }
-
-  private static ptrPedestalGeometry: THREE.BufferGeometry = null
-  private static ptrPillarGeometry: THREE.BufferGeometry = null
-  private static ptrForkGeometry: THREE.BufferGeometry = null
-
   private item: ItemJson
 
   private _cl2Entity: Cl2Entity = null
@@ -345,8 +33,11 @@ export default class Cl23dObject extends THREE.Object3D {
   private riseAnimation: core.Tween = null
   private stretchAnimation: core.Tween = null
   private currentAnimation: core.Tween = null
-  private currentDirection: number = 15
+  private currentDirection: LogicDirection = 15
+
+  private bootTime: number = 0
 
+  private seqNoName: string = ""
 
   public get cl2Entity(): Cl2Entity {
     if (!this._cl2Entity) {
@@ -362,26 +53,26 @@ export default class Cl23dObject extends THREE.Object3D {
     super()
     console.log('time', this.clock.getElapsedTime())
     this.item = item
-    if (!Cl23dObject.ptrPedestalGeometry) {
+    if (!Cl23DGraphics.ptrPedestalGeometry) {
-      Cl23dObject.ptrPedestalGeometry = Cl23dObject.createPtrPedestal()
+      Cl23DGraphics.ptrPedestalGeometry = Cl23DGraphics.createPtrPedestal()
     }
-    const ptrPedestalGeometry = Cl23dObject.ptrPedestalGeometry
+    const ptrPedestalGeometry = Cl23DGraphics.ptrPedestalGeometry
     const ptrPedestalMaterial = new THREE.MeshPhongMaterial({ color: 0xffdddbca })
     const ptrPedestalMesh = new THREE.Mesh(ptrPedestalGeometry, ptrPedestalMaterial)
     ptrPedestalMesh.name = 'ptrPedestal'
 
-    if (!Cl23dObject.ptrPillarGeometry) {
+    if (!Cl23DGraphics.ptrPillarGeometry) {
-      Cl23dObject.ptrPillarGeometry = Cl23dObject.createPtrPillar()
+      Cl23DGraphics.ptrPillarGeometry = Cl23DGraphics.createPtrPillar()
     }
-    const ptrPillarGeometry = Cl23dObject.ptrPillarGeometry
+    const ptrPillarGeometry = Cl23DGraphics.ptrPillarGeometry
     const ptrPillarMaterial = new THREE.MeshPhongMaterial({ color: 0xff6c6956 })
     const ptrPillarMesh = new THREE.Mesh(ptrPillarGeometry, ptrPillarMaterial)
 
 
-    if (!Cl23dObject.ptrForkGeometry) {
+    if (!Cl23DGraphics.ptrForkGeometry) {
-      Cl23dObject.ptrForkGeometry = Cl23dObject.createPtrFork()
+      Cl23DGraphics.ptrForkGeometry = Cl23DGraphics.createPtrFork()
     }
-    const ptrForkGeometry = Cl23dObject.ptrForkGeometry
+    const ptrForkGeometry = Cl23DGraphics.ptrForkGeometry
     const ptrForkMaterial = new THREE.MeshPhongMaterial({ color: 0xff444444 })
     const ptrForkMesh = new THREE.Mesh(ptrForkGeometry, ptrForkMaterial)
     ptrForkMesh.name = 'ptrFork'
@@ -393,48 +84,82 @@ export default class Cl23dObject extends THREE.Object3D {
     groupPillar.add(ptrForkMesh)
     this.add(groupPillar)
 
-    try {
+    this.seqNoName = 'CL2' + this.cl2Entity.id
-      // 安全连接配置
-      // const client = mqtt.connect('mqtt://127.0.0.1:9001', {
-      //   path: '/mqtt',
-      //   clientId: 'virtual-' + item.id,
-      //   clean: true,
-      //   connectTimeout: 10000,
-      //   username: 'user',
-      //   password: 'user',
-      //   unixSocket: true,
-      //   keepalive: 60
-      // })
-      const client = {
-        on() {
-        }
-      }
-      // debugger
-
-      /*
-      // 事件绑定
-      client.on('connect', () => {
-        console.log('Connected')
-        client.subscribe(['/wcs_server/' + item.id], { qos: 0 })
-        client.publish('/agv_robot/status', JSON.stringify(m20020), { retain: true })
-      })
 
-      client.on('message', (topic, msg) => {
+  }
-        console.log(`[${topic}] ${msg}`)
-        const a: Cl2Task = JSON.parse(msg.toString())
-        this.handleMessage(a)
 
-      })
+  private AGVModel = "CYBER-LIFT-A_V1.0"
+  private AGVFnModel = "FITBOTS-CYBER-LIFT-1000_V1.0"
 
-      client.on('error', (error) => {
+
-        console.error('Error:', error)
+  // 开机
-      })
+  boot() {
-       */
+    this.bootTime = Date.now();
-    } catch (e) {
+    this.computeLogicDirection();
-      console.error(e)
+    this.subscribeMessage('/wcs_server/' + this.cl2Entity.id)
+
+    setTimeout(()=>{
+      this.send20149()
+      // 检查当前所在位置和方向 根据车当前所在的xz坐标获取地标
+      setTimeout(()=>{
+        this.sendCurrentPositionAndDirection()
+      }, 1000)
+    }, 2000)
+  }
+  // 关机
+  shutdown() {
+
+  }
+
+  // 主程序启动上报
+  send20149() {
+    const content = new AmrMsg20149()
+    content.AGVModel = this.AGVModel
+    content.AGVFnModel = this.AGVFnModel
+    // 电量
+    content.Battery = 100
+    content.CreateMonoTime = Date.now() - this.bootTime
+    content.VehicleId = parseInt(this.cl2Entity.id)
+    const m20149 = new AmrMsg<AmrMsg20149>(content)
+    this.sendMessage(m20149)
+  }
+  // 上报当前位姿，地标和方向
+  sendCurrentPositionAndDirection() {
+    const pointItem = Model.getItemByXYZ(this.position.x, this.position.y, this.position.z)
+    if (!pointItem || !pointItem.logicX || !pointItem.logicY) {
+      // 当前车辆所在位置未找到
+      const content = new AmrMsg20250()
+      content.Duration = 0
+      content.ErrCode = 5
+      content.ErrCodeName = AmrErrorCode[5].ErrCodeName
+      content.ErrEvtType = 1
+      content.ErrLevel = 14
+      content.ErrLifecycle = 2
+      content.CreateMonoTime = Date.now() - this.bootTime
+      content.VehicleId = parseInt(this.cl2Entity.id)
+      const m20250 = new AmrMsg<AmrMsg20250>(content)
+      this.sendMessage(m20250)
+    } else {
+      // 发送正常地标信息
+      const content = new AmrMsg20020()
+      content.CurDirection = this.currentDirection
+      content.CurLogicX = pointItem.logicX
+      content.CurLogicY = pointItem.logicY
+      content.CurX = pointItem.logicX
+      content.CurY = pointItem.logicY
+      content.CreateMonoTime = Date.now() - this.bootTime
+      content.VehicleId = parseInt(this.cl2Entity.id)
+      const m20020 = new AmrMsg<AmrMsg20020>(content)
+      this.sendMessage(m20020)
     }
   }
 
+  subscribeMessage(topic: string) {
+    this.cl2Entity.viewport.envManager.client.subscribe(topic, { qos: 0 })
+  }
+  sendMessage(msg: AmrMsg<any>) {
+    this.cl2Entity.viewport.envManager.client.publish('/agv_robot/status', JSON.stringify(msg))
+  }
 
   /*==========消息处理============*/
 
@@ -463,7 +188,7 @@ export default class Cl23dObject extends THREE.Object3D {
     client.publish('/agv_robot/status', JSON.stringify(m20020), { retain: true })
   }
 
-  handleMessage(data: Cl2Task) {
+  handleMessage(data: AmrMsg<AmrMsg10010>) {
     return
     if (data.id === 10010) {
 
@@ -535,6 +260,32 @@ export default class Cl23dObject extends THREE.Object3D {
     }
   }
 
+  // 计算逻辑方向
+  computeLogicDirection() {
+    let ra = this.rotation.y
+    while (ra > Math.PI * 2) {
+      ra -= Math.PI * 2
+    }
+    while (ra < 0) {
+      ra += Math.PI * 2
+    }
+    const ddra = Math.PI/8
+    if (ra >= ddra * 7  || ra < ddra) {
+      this.currentDirection = 0;
+
+    } else if (ra >= ddra && ra < ddra * 3) {
+      this.currentDirection = 3;
+
+    } else if (ra >= ddra * 3 && ra < ddra * 5) {
+      this.currentDirection = 2;
+
+    } else if (ra >= ddra * 5 && ra < ddra * 7) {
+      this.currentDirection = 1;
+    } else {
+      this.currentDirection = 15;
+    }
+  }
+
   executeTask() {
 
     if (this.currentAnimation) {
@@ -720,3 +471,5 @@ export default class Cl23dObject extends THREE.Object3D {
   // }, 2000)
 
 }
+
+

src/modules/cl2/Cl2PropertySetter.ts

@@ -13,6 +13,10 @@ const propertySetter: PropertySetter = {
                 dataPath: 'dt.palletDepth', label: '托盘深度', input: 'InputNumber',
                 inputProps: {},
             },
+            {
+              dataPath: 'state', label: 'ptr控制', input: 'PtrController',
+              inputProps: {},
+            },
         ],
     },
 };