yvan-rcs-web/src/core/script/ModelManager.ts

import Viewport from '@/core/engine/Viewport.ts'
import { compileTypeScript, executeTypeScript } from '@/core/script/ModelScript.ts'
import * as THREE from 'three'
import { getMatrixFromTf } from '@/core/ModelUtils.ts'
import type { Object3DLike } from '@/types/ModelTypes.ts'
import TaskManager from '../manager/TaskManager.ts'
import Cl2Entity from '@/modules/amr/ptr/cl2/Cl2Entity.ts'
import ClxEntity from '@/modules/amr/ptr/clx/ClxEntity.ts'
import { getRenderer } from '@/core/manager/ModuleManager.ts'
import { markRaw } from 'vue'
import ToolProxyManager from '@/runtime/ToolProxyManager.ts'

export default class ModelManager implements IControls, Model {
  private viewport: Viewport

  getCl2(id: string): Cl2If {
    return new Cl2Entity(this.viewport, id)
  }

  getClx(id: string): ClxIf {
    return new ClxEntity(this.viewport, id)
  }

  createTask(agv: object): TaskManager {
    if (TaskManager.taskMap.has(agv)) {
      return TaskManager.taskMap.get(agv)
    }

    return new TaskManager(agv, this.viewport)
  }

  get selectedObject(): Object3DLike | undefined {
    return this.viewport.state.selectedObject
  }

  get selectedEntityId(): string | undefined {
    return this.viewport.state.selectedEntityId
  }

  get selectedItem(): ItemJson | undefined {
    return this.viewport.state.selectedItem
  }

  get multiSelectedObjects(): Object3DLike[] {
    return this.viewport.state.multiSelectedObjects
  }

  get multiSelectedItems(): ItemJson[] {
    return this.viewport.state.multiSelectedItems
  }

  get multiSelectedEntityIds(): string[] {
    return this.viewport.state.multiSelectedEntityIds
  }

  logger = {
    info: (...args: any[]) => console.info(...args),
    error: (...args: any[]) => console.error(...args),
    warn: (...args: any[]) => console.warn(...args),
    debug: (...args: any[]) => console.debug(...args)
  }

  init(viewport: Viewport) {
    this.viewport = viewport
    window['Model'] = this
    window['print'] = this.print.bind(this)
    window['executestring'] = this.executestring.bind(this)
    window['logger'] = this.logger
    window['msg'] = this.msg
  }

  find(entityId: string): ItemJson {
    const item = this.viewport.entityManager.findItemById(entityId)
    if (!item) {
      print(`Item with ID ${entityId} not found in the viewport.`)
    }
    return item
  }

  find3D(id: string): any {
    return this.viewport.entityManager.findObjectById(id)
  }

  getPositionByEntityId(entityId: string): THREE.Vector3 {
    const item = this.viewport.entityManager.findItemById(entityId)
    const matrix = getMatrixFromTf(item.tf)
    const position = new THREE.Vector3()
    matrix.decompose(position, new THREE.Quaternion(), new THREE.Vector3())
    return position
  }

  deleteInv(itemId) {
    this.viewport.runtimeManager.removeEntity(itemId)
  }

  deleteItem(itemId) {
    if (this.viewport.runtimeManager.has(itemId)) {
      // 临时执行器
      this.viewport.runtimeManager.removeEntity(itemId)
      return
    }
    this.viewport.stateManager.update(({ deleteEntity }) => {
      deleteEntity(itemId)
    })
  }

  createExecutor(item: ItemJson): void {
    this.viewport.runtimeManager.addEntity(item)
  }

  createInv(boxType: ContainerT, lpn: string, rack: string, bay?: number, level?: number, cell?: number): void {
    const scale = getRenderer(boxType).defaultScale
    this.viewport.runtimeManager.addEntity({
      id: lpn,
      t: boxType as string,
      tf: [[-5000, -1, 0], [0, 0, 0], [scale.x, scale.y, scale.z]],
      v: true,
      dt: {
        in: [], out: [], center: [],
        storeAt: { item: rack, bay, level, cell }
      }
    })

    // 这一段代码不要删除，他是用向正式环境提交数据用的
    /*
this.viewport.stateManager.update(({ getEntity, putEntity, addEntity }) => {
  debugger
  const item = getEntity(lpn)
  if (item) {
    _.extend(item, {
      t: boxType as string,
      tf: [[-5000, -1, 0], [0, 0, 0], [scale.x, scale.y, scale.z]],
      v: true,
      dt: {
        in: [], out: [], center: [],
        storeAt: { item: rack, bay, level, cell }
      }
    })
    putEntity(item)
  } else {
    addEntity({
      id: lpn,
      t: boxType as string,
      tf: [[-5000, -1, 0], [0, 0, 0], [scale.x, scale.y, scale.z]],
      v: true,
      dt: {
        in: [], out: [], center: [],
        storeAt: { item: rack, bay, level, cell }
      }
    })
  }
})
     */
  }

  getPositionByLogicXY(logicX: number, logicY: number): THREE.Vector3 {
    const item = this.viewport.entityManager.findItemByLogicXY(logicX, logicY)
    if (!item) {
      return null
    }
    const matrix = getMatrixFromTf(item.tf)
    const position = new THREE.Vector3()
    matrix.decompose(position, new THREE.Quaternion(), new THREE.Vector3())
    return position
  }

  getItemByXYZ(x: number, y: number, z: number): ItemJson | undefined {
    const item = this.viewport.entityManager.findItemByLogicXYZ(x, y, z)
    return item
  }

  dispose() {
    this.viewport = null as any
    window['Model'] = null
    window['print'] = null
    window['executestring'] = null
    window['logger'] = null
    window['msg'] = null
    window['RCS'] = null
    window['LCC'] = null
  }

  async executestring(script: string) {
    return executeTypeScript.call(this, script, {})
  }

  print(...data: any[]) {
    console.log(...data)
  }

  msg(content: string, type: number = 1) {
    if (type === 1) {
      system.showErrorDialog(content)
    } else if (type === 2) {
      system.showInfoDialog(content)
    }
  }

  // 脚本与 Worker 的映射，用于快速查找
  private scriptWorkers = new WeakMap<CustomScript, Worker>()
  private toolProxyManager = new ToolProxyManager()

  /**
   * 开启另外的线程，运行脚本
   */
  async runScript(script: CustomScript) {
    // 检查脚本是否已在运行
    if (script.isRunning) {
      console.warn(`脚本 "${script.name}" 已在运行中`)
      return
    }

    try {
      // 创建 Blob URL 作为 Worker 执行内容
      const jsCode = await compileTypeScript(script.content)

      const wrappedContent = `
// Worker 端工具代理
// 创建代理对象
const createToolProxy = (port) => {
  return new Proxy({}, {
    get(_, toolName) {
      return new Proxy({}, {
        get(_, methodName) {
          return (...args) => {
            return new Promise((resolve, reject) => {
              const callId = Math.random().toString(36).substr(2, 10);

              // 发送调用请求
              port.postMessage({
                type: 'call',
                tool: toolName,
                method: methodName,
                callId,
                args
              });

              // 监听响应
              const responseHandler = (event) => {
                const { data } = event;
                if (data.callId === callId) {
                  console.log('[Worker] 收到响应: ' + toolName + '.' + methodName, data.type);
                  port.removeEventListener('message', responseHandler);

                  if (data.type === 'result') {
                    resolve(data.result);
                  } else if (data.type === 'error') {
                    const err = new Error(data.error.message);
                    err.name = data.error.name;
                    err.stack = data.error.stack;
                    reject(err);
                  }
                }
              };

              port.addEventListener('message', responseHandler);
            });
          };
        }
      });
    }
  });
};

// 创建代理对象
const tools = new Proxy({}, toolProxyHandler);

self.onmessage = function(__initMessage) {
  if (__initMessage.data.type === 'init') {
    // 设置通信端口
    self.port = __initMessage.data.port;
    self.port.onmessage = function(event) {
      const { type, callId, result, error } = event.data;

      if (!self.pendingCalls || !self.pendingCalls[callId]) return;

      const { resolve, reject } = self.pendingCalls[callId];
      delete self.pendingCalls[callId];

      if (type === 'result') {
        resolve(result);
      } else if (type === 'error') {
        const err = new Error(error.message);
        err.name = error.name;
        err.stack = error.stack;
        reject(err);
      }
    };
    self.port.start();

    // 解构代理工具
    const { LCC, RCS } = tools;

    try {
      (async function() {
        // ---------------------custom script start---------------------[
${jsCode}
        // ]---------------------custom script end---------------------
      })().then(() => {
        self.postMessage({ type: 'completed' })
      }).catch(error => {
        // 捕获异步错误
        self.postMessage({
          type: 'error',
          error: {
            name: error.name,
            message: error.message,
            stack: error.stack
          }
        })
      })
    } catch (error) {
      // 捕获脚本错误
      self.postMessage({
        type: 'error',
        error: {
          name: error.name,
          message: error.message,
          stack: error.stack
        }
      })
    } finally {
      // 确保关闭 worker
      self.close()
    }
  }
}
      `
      // console.log(wrappedContent)

      const blob = new Blob([wrappedContent], { type: 'application/javascript' })
      const blobUrl = URL.createObjectURL(blob)
      const worker = new Worker(blobUrl)

      // 创建代理并初始化 Worker
      const port = this.toolProxyManager.createToolProxyForWorker(worker)

      // 存储 Worker 引用并更新状态
      this.scriptWorkers.set(script, worker)
      script.worker = markRaw(worker)
      script.isRunning = true
      URL.revokeObjectURL(blobUrl)  // 清理不再需要的 Blob URL


      // 设置 Worker 事件监听器
      worker.onmessage = (e) => this.handleWorkerMessage(script, e)
      worker.onerror = (e) => this.handleWorkerError(script, e)
      worker.onmessageerror = (e) => this.handleMessageError(script, e)

      console.log(`[ScriptRunner] 创建 Worker 并启动脚本 "${script.name}"`)

      worker.postMessage({
        type: 'init',
        port: port
      }, [port])

      console.log(`[ScriptRunner] 初始化消息已发送给 Worker`)

    } catch (error) {
      console.error(`启动脚本 "${script.name}" 失败:`, error)
      script.isRunning = false
    }
  }

  /**
   * 停止脚本
   */
  stopScript(script: CustomScript) {
    this.cleanupScript(script, '手动停止')
  }

  /**
   * 处理来自 Worker 的消息
   */
  private handleWorkerMessage(script: CustomScript, event: MessageEvent): void {
    const { data } = event

    if (data?.type === 'call') {
      // 处理来自 Worker 的工具调用请求
      this.toolProxyManager.handleWorkerCall(script.worker, event)
      return
    }

    if (data?.type === 'completed') {
      // 脚本自然完成
      console.log(`脚本 "${script.name}" 执行完成`)
      this.cleanupScript(script, '执行完成')
      return
    }

    if (data?.type === 'error') {
      // 脚本内部错误
      const error = new Error(data.error.message)
      error.name = data.error.name
      error.stack = data.error.stack

      console.error(`[${script.name}] 执行错误:`, error)
      this.cleanupScript(script, '执行错误')
      return
    }

    // 常规消息处理
    console.log(`[${script.name}] 收到消息:`, data)
    debugger
  }

  /**
   * 处理 Worker 错误
   */
  private handleWorkerError(script: CustomScript, event: ErrorEvent): void {
    console.error(`[${script.name}] 发生错误:`, event.message, `@${event.filename}:${event.lineno}`)
    this.cleanupScript(script, '运行时错误')
  }

  /**
   * 处理消息错误
   */
  private handleMessageError(script: CustomScript, event: MessageEvent): void {
    console.error(`[${script.name}] 消息解析错误:`, event)
    this.cleanupScript(script, '消息错误')
  }

  /**
   * 清理脚本资源
   */
  private cleanupScript(script: CustomScript, reason: string): void {
    if (!script.isRunning || !script.worker) return

    try {
      // 清理代理管理器中的资源
      this.toolProxyManager.cleanupWorker(script.worker)

      // 终止 Worker
      script.worker.terminate()
      this.scriptWorkers.delete(script)
      script.worker = undefined
      script.isRunning = false
      console.log(`脚本 "${script.name}" 已停止 (原因: ${reason})`)
    } catch (error) {
      console.error(`清理脚本 "${script.name}" 资源失败:`, error)
    }
  }
}