展会界面

src/core/manager/EnvManager.ts

@@ -200,6 +200,7 @@ export default class EnvManager {
         }
         item.id = getAgvItemNameById(agvState.id)
         item.dt.vehicleId = agvState.id
+
         Model.createExecutor(item)
       }
     }

src/modules/amr/ptr/PtrObject.ts

@@ -377,6 +377,10 @@ export default class PtrObject extends THREE.Object3D {
   }
 
   subscribeMessage(topic: string) {
+    if (!worldModel.envManager.client) {
+      console.warn('worldModel.envManager.client is null!')
+      return
+    }
     worldModel.envManager.client.subscribe(topic, { qos: 0 })
   }
 
@@ -391,6 +395,11 @@ export default class PtrObject extends THREE.Object3D {
     if (this.sendMessageQueue.length <= 0) {
       this.mqRetryTimeCount = 0
     }
+    if (!worldModel.envManager.client) {
+      console.warn('worldModel.envManager.client is null!')
+      this.heartBeatTimeCount = 0
+      return
+    }
     worldModel.envManager.client.publish('/agv_robot/status', JSON.stringify(msg))
     this.heartBeatTimeCount = 0
   }
@@ -402,6 +411,10 @@ export default class PtrObject extends THREE.Object3D {
     const content = new AmrMsg20100(this.vehicleId)
     content.Temperature = { Battery: this.Battery }
     const m20100 = new AmrMsg<AmrMsg20100>(content)
+    if (!worldModel.envManager.client) {
+      console.warn('worldModel.envManager.client is null!')
+      return
+    }
     worldModel.envManager.client.publish('/agv_robot/status', JSON.stringify(m20100))
   }
 
@@ -412,6 +425,10 @@ export default class PtrObject extends THREE.Object3D {
     const msg20050 = new AmrMsg20050(seqNo, vehicleId)
     const ack = new AmrMsg<AmrMsg20050>(msg20050)
     this.heartBeatTimeCount = 0
+    if (!worldModel.envManager.client) {
+      console.warn('worldModel.envManager.client is null!')
+      return
+    }
     worldModel.envManager.client.publish('/agv_robot/status', JSON.stringify(ack))
   }
 

src/views/taskManagement/automatedPresentation.vue

@@ -1,21 +1,221 @@
 <template>
   <div class="modeling-simulation">
+    <!--
     <iframe class="galaxis-ai" style="width: 100%;height: 100%;border: none;" src="https://180.100.199.56:8656/#/chat"></iframe>
+
+    我需要2列，每列4个按钮. 分别功能是
+    CL2 开始演示
+    /api/workbench/ApiController@demo_start
+    {
+      "car_no": "cl2"
+    }
+
+    CL2 停止演示
+    /api/workbench/ApiController@demo_stop
+    {
+      "car_no": "cl2"
+    }
+
+    CL2 入库请求
+    /api/workbench/ApiController@in_bound
+
+    CL2 出库请求
+    /api/workbench/ApiController@out_bound
+
+    ---
+    CLX 开始演示
+    /api/workbench/ApiController@demo_start
+    {
+      "car_no": "clx"
+    }
+
+    CLX 停止演示
+    /api/workbench/ApiController@demo_stop
+    {
+      "car_no": "clx"
+    }
+
+    CLX 呼叫礼品托盘
+    /api/workbench/ApiController@gift_slot
+
+    CLX 礼品回库
+    /api/workbench/ApiController@gift_back
+    -->
+    <el-card>
+      <el-row>
+        <el-col :span="6">
+          <el-row class="each-row">
+            <el-button @click="clxDemoStart"  type="primary" :icon="renderIcon('Play')">CLX 开始演示</el-button>
+          </el-row>
+          <el-row class="each-row">
+            <el-button @click="clxDemoStop" plain type="warning" :icon="renderIcon('Stop')">CLX 停止演示</el-button>
+          </el-row>
+          <el-row class="each-row">
+            <el-button @click="clxGiftSlot">CLX 呼叫礼品托盘</el-button>
+          </el-row>
+          <el-row class="each-row">
+            <el-button @click="clxGiftBack">CLX 礼品回库</el-button>
+          </el-row>
+        </el-col>
+        <el-col :span="6">
+          <el-row class="each-row">
+            <el-button @click="cl2DemoStart" type="primary" :icon="renderIcon('Play')">CL2 开始演示</el-button>
+          </el-row>
+          <el-row class="each-row">
+            <el-button @click="cl2DemoStop" type="warning" plain :icon="renderIcon('Stop')">CL2 停止演示</el-button>
+          </el-row>
+          <el-row class="each-row">
+            <el-button @click="cl2InBound">CL2 入库请求</el-button>
+          </el-row>
+          <el-row class="each-row">
+            <el-button @click="cl2OutBound">CL2 出库请求</el-button>
+          </el-row>
+        </el-col>
+      </el-row>
+    </el-card>
   </div>
 </template>
 <script setup lang="ts">
-import { onMounted, onUnmounted } from "vue";
+import { renderIcon } from '@/utils/webutils.ts'
+import { onMounted, onUnmounted } from 'vue'
+import { Request } from '@ease-forge/shared'
 
 function mes(event: MessageEvent) {
-    console.log('data', event.data);
+  console.log('data', event.data)
+}
+
+function cl2DemoStart() {
+  system.showLoading()
+  Request.request.post(
+    '/api/workbench/ApiController@demo_start',
+    {
+      'car_no': 'cl2'
+    }
+  ).then((res) => {
+    if (res.success) {
+      system.showInfoDialog(res.msg)
+    }
+  }).finally(() => {
+    system.clearLoading()
+  })
+}
+
+function cl2DemoStop() {
+  system.showLoading()
+  Request.request.post(
+    '/api/workbench/ApiController@demo_stop',
+    {
+      'car_no': 'cl2'
+    }
+  ).then((res) => {
+    if (res.success) {
+      system.showInfoDialog(res.msg)
+    }
+  }).finally(() => {
+    system.clearLoading()
+  })
+}
+
+function cl2InBound() {
+  system.showLoading()
+  Request.request.post(
+    '/api/workbench/ApiController@in_bound',
+    {
+      'car_no': 'cl2'
+    }
+  ).then((res) => {
+    if (res.success) {
+      system.showInfoDialog(res.msg)
+    }
+  }).finally(() => {
+    system.clearLoading()
+  })
+}
+
+function cl2OutBound() {
+  system.showLoading()
+  Request.request.post(
+    '/api/workbench/ApiController@out_bound',
+    {
+      'car_no': 'cl2'
+    }
+  ).then((res) => {
+    if (res.success) {
+      system.showInfoDialog(res.msg)
+    }
+  }).finally(() => {
+    system.clearLoading()
+  })
+}
+
+function clxDemoStart() {
+  system.showLoading()
+  Request.request.post(
+    '/api/workbench/ApiController@demo_start',
+    {
+      'car_no': 'clx'
+    }
+  ).then((res) => {
+    if (res.success) {
+      system.showInfoDialog(res.msg)
+    }
+  }).finally(() => {
+    system.clearLoading()
+  })
+}
+
+function clxDemoStop() {
+  system.showLoading()
+  Request.request.post(
+    '/api/workbench/ApiController@demo_stop',
+    {
+      'car_no': 'clx'
+    }
+  ).then((res) => {
+    if (res.success) {
+      system.showInfoDialog(res.msg)
+    }
+  }).finally(() => {
+    system.clearLoading()
+  })
 }
 
-onMounted(() => window.addEventListener('message', mes));
-onUnmounted(() => window.removeEventListener('message', mes));
+function clxGiftSlot() {
+  system.showLoading()
+  Request.request.post(
+    '/api/workbench/ApiController@gift_slot'
+  ).then((res) => {
+    if (res.success) {
+      system.showInfoDialog(res.msg)
+    }
+  }).finally(() => {
+    system.clearLoading()
+  })
+}
+
+function clxGiftBack() {
+  system.showLoading()
+  Request.request.post(
+    '/api/workbench/ApiController@gift_back'
+  ).then((res) => {
+    if (res.success) {
+      system.showInfoDialog(res.msg)
+    }
+  }).finally(() => {
+    system.clearLoading()
+  })
+}
+
+onMounted(() => window.addEventListener('message', mes))
+onUnmounted(() => window.removeEventListener('message', mes))
 </script>
 <style lang="less">
 .modeling-simulation {
   width: 100%;
   height: 100%;
 }
+
+.each-row {
+  margin-bottom: 10px;
+}
 </style>