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321 lines
6.9 KiB
321 lines
6.9 KiB
/**
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* LCC 物流控制中心客户端 API 声明
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*/
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declare interface LCC {
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/**
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* 打印日志
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*/
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log(message: string, ...args: any[]): void
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/**
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* 延时函数
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*/
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sleep(timeOfMs: number = 1000): Promise<void>
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/**
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* 读取当前项目所有库存, 并放到 Model 上
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*/
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queryInv(option: InvQueryCondition = {}): Promise<ServerResponse<InvVo[]>>
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/**
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* 创造库存
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* @param lpn 容器号
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* @param targetStore 目标存储位置 rack3/0/0/0
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*/
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createInv(lpn: string, targetStore: string): Promise<ServerResponse<void>>
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/**
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* 转移库存
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* @param lpn 容器号
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* @param targetStore 目标存储位置 rack3/0/0/0
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*/
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moveInv(lpn: string, targetStore: string): Promise<ServerResponse<void>>
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/**
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* 删除库存
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* @param lpn 容器号
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*/
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deleteInv(lpn: string): Promise<ServerResponse<void>>
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/**
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* 保存当前项目所有脚本
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* @param scriptList
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*/
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saveScripts(scriptList: { name: string, content: string }[]): Promise<ServerResponse<void>>
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/**
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* 同步当前项目所有脚本
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*/
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syncScripts(): Promise<ServerResponse<{ name: string, content: string }[]>>
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/**
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* 获取所有设备状态
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*/
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queryDeviceInfoList(): Promise<ServerResponse<AgvStatusVo[]>>
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/**
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* 获取服务器状态信息
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*/
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queryServerState(option: { projectUUID?: string, envId?: string } = {}): Promise<ServerResponse<ServerStatusVo[]>>
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/**
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* 获取服务器状态信息
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*/
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startServer(projectUUID: string, envId: string): Promise<ServerResponse<String>>
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/**
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* 停止服务器
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*/
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stopServer(projectUUID: string, envId: string): Promise<ServerResponse<String>>
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/**
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* 连接到服务器, 根据 worldModel 当前选中的服务器和环境进行连接
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*/
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connectServer(): Promise<void>
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/**
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* 断开连接
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*/
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disconnectServer(): Promise<void>
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/**
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* 等待服务端授权
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*/
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getAuthorizationConfig(): Promise<ServerResponse<ServerAuthorizationConfigVo>>
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}
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/**
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* 后端消息主题
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*/
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type BackendTopicType = 'ServerState' | 'ClientState' | 'TaskUpdate' | 'InvUpdate' |
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'DeviceStatus' | 'DeviceAlive' | 'Logs' | 'Alarm' | 'ScriptUpdate'
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type DeviceAliveFn = (type: BackendTopicType, topic: string, body: DeviceAliveVo) => void
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type DeviceStatusFn = (type: BackendTopicType, topic: string, body: AgvStatusVo) => void
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type ServerStateFn = (type: BackendTopicType, topic: string, body: ServerStatusVo) => void
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type InvUpdateFn = (type: BackendTopicType, topic: string, body: InvUpdateVo) => void
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type StopSubscribe = () => void
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interface InvQueryCondition {
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lpn?: string
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locCode?: string
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wayPoint?: string
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wayDirection?: LLCDirection
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catalogCode?: string
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rack?: string
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bay?: number
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level?: number
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cell?: number
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}
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interface ServerAuthorizationConfigVo {
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/**
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* 授权码
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*/
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authorizationCode: string
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/**
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* 授权过期时间戳
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*/
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expirationTime: number
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/**
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* 前端推送服务器配置
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*/
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frontendMqtt: {
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brokerUrl: string
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username: string
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password: string
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websocket: string
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}
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}
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/**
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* 后端消息回调
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*/
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type BackendMessageHandler = (type: BackendTopicType, topic: string, message: any) => void
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type ContainerT = 'pallet' | 'tote' | 'carton' | 'box'
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interface DeviceAliveVo {
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id: string
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type: string
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online: boolean
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}
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interface AgvStatusVo {
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// 设备 ID
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id: string
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// 设备类型
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type: string
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// 是否在线
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isOnline: boolean
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// 是否系统托管
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isSystemManaged: boolean
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// 设备x,y,z坐标
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x: number
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y: number
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z: number
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// 设备逻辑坐标x,y
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logicX: number
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logicY: number
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// 设备姿态(up/down/left/right)
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direction: string
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// 设备旋转角度
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orientation: number
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// 电池电量
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soc: number
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// 工作模式:
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// AMR_FREE_MODE=空闲模式;
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// AMR_INIT_MODE=初始化模式;
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// AMR_TASK_MODE=任务模式;
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// AMR_SINGLE_ACTION_MODE=单动作模式;
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// AMR_MANUAL_MODE=手动模式;
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// AMR_HANDSET_MODE=遥控器模式;
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// AMR_CHARGE_MODE=充电模式;
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// AMR_TASK_INTERRUPT_MODE=任务被中断模式;
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// AMR_CUSTOMIZE_MODE=自定义模式;
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mode: 'AMR_FREE_MODE' | 'AMR_INIT_MODE' | 'AMR_TASK_MODE' | 'AMR_SINGLE_ACTION_MODE' | 'AMR_MANUAL_MODE' | 'AMR_HANDSET_MODE' | 'AMR_CHARGE_MODE' | 'AMR_TASK_INTERRUPT_MODE' | 'AMR_CUSTOMIZE_MODE'
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// 任务状态 ID: IDLE / PAUSED / EXECUTING
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taskStatus: string
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// 是否阻挡
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isBlocked: boolean
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// 已完成任务数
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taskCompleted: number
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// 总共任务数，通过 taskCompleted/taskTotalCount 可以计算出完成率
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taskTotalCount: number
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// 业务任务ID
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bizTaskId: string
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// 业务任务类型: 移动任务 / 充电任务 / 搬运任务 / 装载任务 / 卸载任务
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bizTaskType: '' | 'MOVE' | 'CHARGE' | 'CARRY' | 'LOAD' | 'UNLOAD'
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// 业务任务类型: 待调度 / 设备执行中 / 暂停执行 / 调度异常 / 规划异常 / 设备执行异常
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bizTaskStatus: 'WAITING_FOR_DISPATCH' | 'DEVICE_EXECUTING' | 'PAUSED' | 'DISPATCH_ERROR' | 'PLANNING_ERROR' | 'DEVICE_ERROR'
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// 比如 WAY_1_1 Rack1/0/0/0
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bizTaskFrom: string
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// 比如 WAY_1_1 Rack1/0/0/0 charge1
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bizTaskTo: string
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// 搬运托盘号
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bizLpn: string
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virtualLocationAt: string; // 车所在的标记位置，及方向 11_4:RIGHT
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virtualExecutorPayload: string; // 车的虚拟执行器负载
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loadBasLocationVo: BasLocationVo | null
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unloadBasLocationVo: BasLocationVo | null
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}
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interface BasLocationVo {
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/**
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* 位置编码
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*/
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locCode: string
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/**
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* 货位类型
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*/
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locType: string
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/**
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* 货位
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*/
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rack: string
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/**
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* 列
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*/
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bay: number
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/**
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* 层
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*/
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level: number
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/**
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* 格
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*/
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cell: number
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}
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interface InvUpdateVo {
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lpn: string
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before: BasLocationVo | null
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after: BasLocationVo | null
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qty: number
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}
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/**
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* 服务器状态信息
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*/
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interface ServerStatusVo {
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projectUuid: string;
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envId: number;
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isVirtual: boolean;
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serverId: string;
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isRunning: boolean;
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startTime: number;
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stopTime: number;
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timeRate: number;
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subSystemList: string[];
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cpuUsage: number;
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memoryUsage: number;
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diskIoLoad: number;
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/**
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* 空闲内存，单位GB
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*/
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freeMemory: number;
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/**
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* 磁盘剩余空间，单位GB
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*/
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diskFreeSpace: number;
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envConfig: EnvConfigVo;
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projectLabel: string;
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}
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interface InvVo {
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lpn: string
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container_type: ContainerT
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loc_code: string
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rack: string
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bay: number
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level: number
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cell: number
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way_point: string
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loc_direction: LLCDirection
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catalog_code: string
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is_lock: boolean
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is_frozen: boolean
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}
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interface ExecutorVo {
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executor_id: string
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virtual_floor_code: string
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virtual_executor_payload: any
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virtual_location_at: string
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}
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interface LccProjectVo {
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projectUuid: string
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projectLabel: string
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projectFileLocation: string
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directoryData: CatalogGroupVo[]
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otherData: any
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}
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interface CatalogGroupVo {
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label: string,
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items: CatalogItem[]
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}
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interface CatalogItem {
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catalogCode: string
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label: string
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}
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/**
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* LCC 物流控制中心服务端 API 接口
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*/
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declare const LCC: LCC
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