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265 lines
7.9 KiB
265 lines
7.9 KiB
import type Viewport from '@/core/engine/Viewport.ts'
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import { worldModel } from '@/core/manager/WorldModel.ts'
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import mqtt, { type IConnackPacket, type IPublishPacket } from 'mqtt'
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import type { ErrorWithReasonCode } from 'mqtt/src/lib/shared.ts'
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import { Request } from '@ease-forge/shared'
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import AmrMessageManager from '@/core/manager/amr/AmrMessageManager'
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import { AmrMsg } from '@/core/manager/amr/AmrMessageDefine'
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import { getAgvItemNameById } from '@/core/ModelUtils.ts'
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export default class EnvManager {
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private amrMessageManager: AmrMessageManager = new AmrMessageManager()
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public client: mqtt.MqttClient = null
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readonly stopSubscribe: StopSubscribe[] = []
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public env: EnvInfo = null
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onMqttConnect = (packet: IConnackPacket) => {
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console.log('Connected')
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}
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onMqttMessage = (topic: string, payload: Buffer, packet: IPublishPacket) => {
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// console.log(`[${topic}]-> ${payload.toString()}`)
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if (topic.startsWith('/wcs_server/')) {
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const message: AmrMsg<any> = JSON.parse(payload.toString())
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this.amrMessageManager.handleMessage(topic, message)
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} else if (topic.startsWith('/agv_robot/status')) {
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const message: AmrMsg<any> = JSON.parse(payload.toString())
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this.amrMessageManager.handleStatusMessage(topic, message)
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}
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}
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onMqttError = (error: Error | ErrorWithReasonCode) => {
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console.error('EnvManager (' + this.env.envConfig.mqtt.websocket + ') error:', error)
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}
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async connectEnv() {
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if (!worldModel.state.isOpened) {
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system.showErrorDialog('WorldModel is not opened, cannot start EnvManager.')
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return
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}
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if (!worldModel.state.runState.currentEnvId) {
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system.showErrorDialog('Current environment ID is not set, cannot start EnvManager.')
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return
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}
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if (worldModel.state.runState.isRunning) {
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system.showErrorDialog('EnvManager is already running, cannot start again.')
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return
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}
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if (!worldModel.state.runState.currentEnv) {
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system.showErrorDialog('Environment is not specified, cannot start EnvManager.')
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return
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}
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if (!worldModel.state.runState.currentEnv.envConfig.mqtt.websocket) {
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system.showErrorDialog('MQTT websocket URL is not set in the envConfig.mqtt.')
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return
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}
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await this.disconnectEnv()
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system.showLoading()
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worldModel.state.runState.isLoading = true
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const env = _.cloneDeep(worldModel.state.runState.currentEnv)
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this.env = env
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try {
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worldModel.backendMessageReceiver.setProjectEnv(worldModel.state.project_uuid, worldModel.state.runState.currentEnvId)
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this.client = mqtt.connect(env.envConfig.mqtt.websocket, {
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path: '/mqtt',
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clientId: system.createUUID(),
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clean: true,
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connectTimeout: 300,
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username: env.envConfig.mqtt.username,
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password: env.envConfig.mqtt.password,
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unixSocket: true,
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keepalive: 60
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})
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await this.loadExecutorToModel()
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this.stopSubscribe.push(
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worldModel.backendMessageReceiver.subscribe('InvUpdate', this.onInvUpdateMessage.bind(this))
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)
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this.stopSubscribe.push(
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worldModel.backendMessageReceiver.subscribe('ServerState', this.onServerUpdateMessage.bind(this))
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)
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this.stopSubscribe.push(
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worldModel.backendMessageReceiver.subscribe('DeviceStatus', this.onDeviceStatusMessage.bind(this))
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)
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await this.loadInvToModel()
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this.client.on('connect', this.onMqttConnect)
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this.client.on('message', this.onMqttMessage)
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this.client.on('error', this.onMqttError)
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worldModel.state.runState.isRunning = true
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} finally {
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system.clearLoading()
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worldModel.state.runState.isLoading = false
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}
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}
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/**
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* 处理设备状态消息
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*/
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onDeviceStatusMessage(type, topic, data: AgvStatusVo) {
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const object3D = Model.find3D(getAgvItemNameById(data.id))
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if (object3D) {
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object3D.agvStatusVo = data
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}
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}
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/**
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* 监听在服务器停机之后，客户端连接也必须停机
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*/
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onServerUpdateMessage(type: BackendTopicType, topic: string, data: ServerStatusVo) {
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if (worldModel.state.runState.isRunning && worldModel.state.runState.currentEnvId === data.envId) {
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// 处理服务器状态更新
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if (!data.isRunning) {
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// 如果服务器停止了，则断开连接
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console.log(`Server stopped: ${data.envId}`)
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system.msg(`Server is stopped, client disconnect!`, 'warning')
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this.disconnectEnv().finally()
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}
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}
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}
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async onInvUpdateMessage(type: BackendTopicType, topic: string, body: InvUpdateVo) {
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console.log(`InvUpdate: ${type} ${topic}`, body)
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if (!window['Model']) {
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// 如果没有3D模型加载，则不处理库存更新
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return
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}
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Model.deleteInv(body.lpn)
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if (body.after != null) {
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// 将托盘挪到目标位置
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const after = body.after
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Model.createInv('pallet', body.lpn, after.rack, after.bay, after.level, after.cell, after.locCode)
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}
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}
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// 加载库存到3D视图上
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async loadInvToModel() {
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if (!window['Model']) {
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return
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}
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const invRes = await LCC.queryInv({})
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if (!invRes.success) {
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return
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}
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for (const row of invRes.data) {
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const bay = row.bay
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const cell = row.cell // : 0
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const level = row.level // : 0
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const loc_code = row.loc_code // : "rack1_0_0_0"
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const lpn = row.lpn // : "LPN1"
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const rack = row.rack // : "rack1"
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const container_type = row.container_type // : "pallet"
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Model.createInv(container_type, lpn, rack, bay, level, cell, loc_code)
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}
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}
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// 加载执行器到3D视图上
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async loadExecutorToModel() {
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if (!window['Model']) {
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return
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}
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const deviceRes = await LCC.queryDeviceInfoList()
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if (!deviceRes.success) {
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return
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}
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const deviceList: AgvStatusVo[] = deviceRes.data || []
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for (const agvState of deviceList) {
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const agvItem = Model.find(getAgvItemNameById(agvState.id))
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if (!agvItem) {
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// 还没加载到地图
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const item = JSON.parse(agvState.virtualExecutorPayload)
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const pos = Model.getPositionByLogicXY(agvState.logicX, agvState.logicY)
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if (pos) {
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item.tf[0] = [pos.x, pos.y, pos.z]
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}
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switch (_.toLower(agvState.direction)) {
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// right=0/left=180/up=90/down=-90
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case 'right':
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item.tf[1][1] = 0 // 右侧
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break
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case 'left':
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item.tf[1][1] = 180 // 左侧
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break
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case 'down':
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item.tf[1][1] = -90 // 下方
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break
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case 'up':
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item.tf[1][1] = 90 // 上方
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break
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}
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item.id = getAgvItemNameById(agvState.id)
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item.dt.vehicleId = agvState.id
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Model.createExecutor(item)
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}
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}
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}
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async disconnectEnv() {
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system.showLoading()
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try {
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worldModel.state.runState.isRunning = false
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for (const stopFn of this.stopSubscribe) {
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stopFn()
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}
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this.stopSubscribe.length = 0
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if (this.client) {
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this.client.removeAllListeners()
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this.client.end()
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this.client = null
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}
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if (window['viewport']) {
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const viewport = window['viewport'] as Viewport
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viewport?.runtimeManager?.clear()
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}
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} finally {
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system.clearLoading()
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worldModel.state.runState.isLoading = false
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}
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}
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/**
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* 创建运行环境
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* @param worldId 世界ID
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*/
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static async createEnv(worldId: string) {
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throw new Error('Method not implemented.')
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}
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/**
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* 获取所有运行环境
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*/
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static async getAllEnv(worldId: string): Promise<EnvInfo[]> {
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// system.invokeServer('')
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if (!worldId) {
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return Promise.reject('World ID is not provided.')
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}
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const res = await Request.request.post('/api/workbench/EnvController@getAllEnv', {
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worldId: worldId
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})
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return res.data
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}
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/**
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* 卸载资源
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*/
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dispose(): void {
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this.disconnectEnv().finally()
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}
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}
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