cl2 接入amr指令

src/core/manager/EntityManager.ts

@@ -504,6 +504,21 @@ export default class EntityManager {
     return this.___entityMap.get(linkStartPointId)
   }
 
+  findItemByLogicXY(logicX: number, logicY: number): ItemJson | undefined {
+    if (logicX < 0 || logicY < 0) {
+      return
+    }
+    let item: ItemJson | undefined = undefined
+     this.___entityMap.forEach((value) => {
+       if (value.logicX === logicX && value.logicY === logicY) {
+         item = value
+         return
+       }
+     })
+    return item
+  }
+
+
   getObjectByCanvasMouse(event: MouseEvent): Object3DLike[] {
     const _domElement = this.viewport.renderer.domElement
     const rect = _domElement.getBoundingClientRect()

src/core/script/ModelManager.ts

@@ -81,6 +81,13 @@ export default class ModelManager implements IControls, Model {
     matrix.decompose(position, new THREE.Quaternion(), new THREE.Vector3())
     return position
   }
+  getPositionByLogicXY(logicX: number, logicY: number): THREE.Vector3 {
+    const item = this.viewport.entityManager.findItemByLogicXY(logicX, logicY)
+    const matrix = getMatrixFromTf(item.tf)
+    const position = new THREE.Vector3()
+    matrix.decompose(position, new THREE.Quaternion(), new THREE.Vector3())
+    return position
+  }
 
   dispose() {
     this.viewport = null as any

src/modules/cl2/Cl23dObject.ts

@@ -516,8 +516,12 @@ export default class Cl23dObject extends THREE.Object3D {
     if (data.id === 10010) {
       const cl2: Cl2Entity = Model.getCl2("10") as Cl2Entity
       cl2.addRobotTask(data)
-      cl2.taskStartRun()
+      this.fn(cl2)
     }
   }
 
+  fn = _.debounce((cl2: Cl2Entity) => {
+    cl2.taskStartRun()
+  }, 2000)
+
 }

src/modules/cl2/Cl2Entity.ts

@@ -47,7 +47,7 @@ export default class Cl2Entity extends BaseEntity {
             () => this.cl2Object.addRotation(moveDirection * Math.PI/2)
           ))
           this.taskQueue.add(this.createTask('TRAVEL',
-            () => this.cl2Object.addTravel(Model.getPositionByEntityId(link.id) ,Math.abs(link.Speed/1000))
+            () => this.cl2Object.addTravel(Model.getPositionByLogicXY(link.X, link.Y) ,Math.abs(link.Speed/1000))
           ))
           startX = link.X
           startY = link.Y

src/types/ScriptSupport.d.ts

@@ -1,3 +1,5 @@
+import * as THREE from "three";
+
 /**
  * 物流模型 API 接口
  */
@@ -14,6 +16,11 @@ declare interface Model {
   getPositionByEntityId(entityId: string): Vector3IF
 
   /**
+   * 根据逻辑坐标获取位置
+   */
+  getPositionByLogicXY(logicX: number, logicY: number): THREE.Vector3
+
+  /**
    * 根据ID获取 CL2 叉车控制器
    */
   getCl2(id: string): Cl2If