262 lines
11 KiB
JavaScript
262 lines
11 KiB
JavaScript
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import { getDeviceKindForAction } from '@/utils/robotDevice'
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export const FLOW_SCHEMA_VERSION = 2
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export const DEFAULT_ROLE_KEY = 'default_executor'
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const DEVICE_KIND_META = Object.freeze({
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1: { key: 'agv', name: '移动底盘' },
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2: { key: 'arm', name: '机械臂' },
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4: { key: 'bio_head', name: '仿生头' },
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5: { key: 'camera', name: '摄像头' },
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9: { key: 'microphone', name: '麦克风' },
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12: { key: 'robot', name: '机器人本体' },
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13: { key: 'speaker', name: '扬声器' },
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})
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const clone = (value) => JSON.parse(JSON.stringify(value ?? null))
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const normalizedText = (value) => String(value || '').trim()
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export const createResourceKey = (prefix) => {
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const random = globalThis.crypto?.randomUUID?.().replace(/-/g, '').slice(0, 10)
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|| `${Date.now()}${Math.random().toString(16).slice(2, 8)}`
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return `${prefix}_${random}`
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}
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export const createDefaultRobotRole = (legacyRobotId = '') => ({
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roleKey: DEFAULT_ROLE_KEY,
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resourceType: 'ROBOT',
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displayName: '执行机器人',
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required: true,
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quantity: { min: 1, max: 1 },
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deviceSlots: [],
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...(legacyRobotId ? { legacyRobotId } : {}),
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})
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export const createDeviceSlot = (deviceKind, existingSlots = [], displayName = '') => {
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const meta = DEVICE_KIND_META[Number(deviceKind)] || { key: 'device', name: '执行设备' }
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const usedKeys = new Set(existingSlots.map((slot) => slot.slotKey))
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let index = 1
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let slotKey = meta.key
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while (usedKeys.has(slotKey)) slotKey = `${meta.key}_${++index}`
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const sameKindCount = existingSlots.filter((slot) => Number(slot.deviceKind) === Number(deviceKind)).length
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return {
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slotKey,
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displayName: displayName || `${meta.name}${sameKindCount ? sameKindCount + 1 : ''}`,
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deviceKind: deviceKind == null ? null : Number(deviceKind),
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required: true,
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allowReuse: false,
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}
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}
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export const getStartNode = (graph = globalThis.lf?.getGraphData?.()) => (
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graph?.nodes?.find((node) => node.type === 'start')
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)
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export const getResourceRoles = (graph = globalThis.lf?.getGraphData?.()) => (
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clone(getStartNode(graph)?.properties?.resourceRoles || []) || []
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)
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const isRobotNode = (node) => node?.properties?.nodeType === 'EDGE'
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export const actionRequiresDevice = (action) => (
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getDeviceKindForAction(action) != null || action === 'DEVICE_EXECUTE_JSON_COMMAND'
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)
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export const nodeRequiresDevice = (node) => actionRequiresDevice(node?.properties?.action)
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const resolveLegacyRobotId = (startProperties) => (
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startProperties?.inputParams?.find((item) => item.name === 'robotId')?.input
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|| startProperties?.robotId
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|| ''
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)
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const findOrCreateLegacySlot = (role, node, legacySlotByIdentity, legacyDeviceId = '') => {
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const kind = getDeviceKindForAction(node.properties?.action)
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const normalizedDeviceId = normalizedText(legacyDeviceId)
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const identity = `${role.roleKey}:${kind ?? 'any'}:${normalizedDeviceId || 'default'}`
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if (legacySlotByIdentity.has(identity)) return legacySlotByIdentity.get(identity)
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const slot = createDeviceSlot(kind, role.deviceSlots)
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if (normalizedDeviceId) slot.legacyDeviceId = normalizedDeviceId
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role.deviceSlots.push(slot)
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legacySlotByIdentity.set(identity, slot)
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return slot
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}
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/**
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* Loads old graphs as Schema V2 without mutating the source object. Physical IDs are
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* retained only as migration hints and are consumed by the trial-run assignment form.
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*/
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export const normalizeFlowResourceSchema = (sourceGraph) => {
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const graph = clone(sourceGraph || { nodes: [], edges: [] })
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const start = getStartNode(graph)
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if (!start) return graph
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const startProperties = start.properties || (start.properties = {})
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const legacyRobotId = resolveLegacyRobotId(startProperties)
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const roles = Array.isArray(startProperties.resourceRoles) && startProperties.resourceRoles.length
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? startProperties.resourceRoles
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: [createDefaultRobotRole(legacyRobotId)]
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roles.forEach((role, index) => {
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role.roleKey ||= index === 0 ? DEFAULT_ROLE_KEY : createResourceKey('robot_role')
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role.resourceType = 'ROBOT'
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role.displayName ||= `机器人角色${index + 1}`
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role.required = role.required !== false
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role.quantity ||= { min: 1, max: 1 }
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role.deviceSlots = Array.isArray(role.deviceSlots) ? role.deviceSlots : []
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})
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startProperties.schemaVersion = FLOW_SCHEMA_VERSION
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startProperties.resourceRoles = roles
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startProperties.inputParams = (startProperties.inputParams || []).filter((item) => item.name !== 'robotId')
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const defaultRole = roles[0]
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const legacySlotByIdentity = new Map()
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roles.forEach((role) => role.deviceSlots.forEach((slot) => {
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const identity = `${role.roleKey}:${slot.deviceKind ?? 'any'}:${slot.legacyDeviceId || 'default'}`
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legacySlotByIdentity.set(identity, slot)
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}))
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graph.nodes.forEach((node) => {
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if (!isRobotNode(node)) return
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const properties = node.properties || (node.properties = {})
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const target = properties.executionTarget || {
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roleKey: defaultRole.roleKey,
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dispatchPolicy: 'ONE',
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}
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target.roleKey ||= defaultRole.roleKey
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target.dispatchPolicy ||= 'ONE'
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target.deviceSlotKey ||= target.deviceBindings?.[0]?.slotKey || ''
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const targetRole = roles.find((role) => role.roleKey === target.roleKey) || defaultRole
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const deviceParam = properties.nodeParams?.find((param) => param.name === 'deviceId')
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if (nodeRequiresDevice(node) && !target.deviceSlotKey) {
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const slot = findOrCreateLegacySlot(targetRole, node, legacySlotByIdentity, deviceParam?.input)
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if (slot) target.deviceSlotKey = slot.slotKey
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}
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delete target.deviceBindings
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properties.nodeParams = (properties.nodeParams || []).filter((param) => param.name !== 'deviceId')
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properties.executionTarget = target
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})
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return graph
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}
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export const ensureNodeExecutionResources = (sourceGraph, nodeId) => {
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const graph = normalizeFlowResourceSchema(sourceGraph)
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const node = graph.nodes.find((item) => item.id === nodeId)
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return { graph, node, start: getStartNode(graph) }
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}
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export const validateFlowResources = (sourceGraph) => {
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const graph = normalizeFlowResourceSchema(sourceGraph)
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const roles = getResourceRoles(graph)
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const errors = []
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const roleKeys = new Set()
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roles.forEach((role) => {
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if (!normalizedText(role.displayName)) errors.push({ nodeId: getStartNode(graph)?.id, message: '机器人角色名称不能为空' })
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if (roleKeys.has(role.roleKey)) errors.push({ nodeId: getStartNode(graph)?.id, message: `机器人角色标识重复：${role.roleKey}` })
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roleKeys.add(role.roleKey)
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const slotKeys = new Set()
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;(role.deviceSlots || []).forEach((slot) => {
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if (!normalizedText(slot.displayName)) errors.push({ nodeId: getStartNode(graph)?.id, message: `${role.displayName}存在未命名的设备用途` })
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if (slotKeys.has(slot.slotKey)) errors.push({ nodeId: getStartNode(graph)?.id, message: `${role.displayName}的设备用途标识重复` })
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slotKeys.add(slot.slotKey)
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})
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})
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graph.nodes.filter(isRobotNode).forEach((node) => {
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const target = node.properties?.executionTarget
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const role = roles.find((item) => item.roleKey === target?.roleKey)
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if (!role) {
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errors.push({ nodeId: node.id, message: `${node.properties?.name || node.id}未选择有效的机器人角色` })
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return
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}
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if (target.deviceSlotKey && !(role.deviceSlots || []).some((slot) => slot.slotKey === target.deviceSlotKey)) {
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errors.push({ nodeId: node.id, message: `${node.properties?.name || node.id}引用的设备用途不存在` })
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}
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if (nodeRequiresDevice(node)
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&& !target.deviceSlotKey) {
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errors.push({ nodeId: node.id, message: `${node.properties?.name || node.id}未选择设备用途` })
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}
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})
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return { graph, errors }
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}
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export const sanitizeFlowResourceDefinition = (sourceGraph) => {
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const graph = normalizeFlowResourceSchema(sourceGraph)
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const start = getStartNode(graph)
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;(start?.properties?.resourceRoles || []).forEach((role) => {
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delete role.legacyRobotId
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;(role.deviceSlots || []).forEach((slot) => delete slot.legacyDeviceId)
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})
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graph.nodes.filter(isRobotNode).forEach((node) => {
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node.properties.nodeParams = (node.properties?.nodeParams || []).filter((param) => param.name !== 'deviceId')
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})
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return graph
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}
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export const mergeCopiedResourceRoles = (targetGraph, sourceRoles = [], copiedNodes = []) => {
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const graph = normalizeFlowResourceSchema(targetGraph)
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const start = getStartNode(graph)
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const targetRoles = start.properties.resourceRoles
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let addedRoles = 0
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let addedSlots = 0
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copiedNodes.filter(isRobotNode).forEach((node) => {
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const target = node.properties?.executionTarget
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if (!target?.roleKey) return
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const sourceRole = sourceRoles.find((role) => role.roleKey === target.roleKey)
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let targetRole = targetRoles.find((role) => role.roleKey === target.roleKey)
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|| targetRoles.find((role) => sourceRole && role.displayName === sourceRole.displayName)
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if (!targetRole && sourceRole) {
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targetRole = clone(sourceRole)
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delete targetRole.legacyRobotId
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;(targetRole.deviceSlots || []).forEach((slot) => delete slot.legacyDeviceId)
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targetRoles.push(targetRole)
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addedRoles += 1
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addedSlots += targetRole.deviceSlots?.length || 0
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}
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targetRole ||= targetRoles[0]
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target.roleKey = targetRole.roleKey
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if (target.deviceSlotKey && !targetRole.deviceSlots?.some((slot) => slot.slotKey === target.deviceSlotKey)) {
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const sourceSlot = sourceRole?.deviceSlots?.find((slot) => slot.slotKey === target.deviceSlotKey)
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const sameSlot = targetRole.deviceSlots?.find((slot) => (
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sourceSlot && slot.displayName === sourceSlot.displayName && Number(slot.deviceKind) === Number(sourceSlot.deviceKind)
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))
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if (sameSlot) {
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target.deviceSlotKey = sameSlot.slotKey
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return
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}
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const newSlot = sourceSlot ? clone(sourceSlot) : createDeviceSlot(getDeviceKindForAction(node.properties?.action), targetRole.deviceSlots)
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delete newSlot.legacyDeviceId
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targetRole.deviceSlots.push(newSlot)
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target.deviceSlotKey = newSlot.slotKey
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addedSlots += 1
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}
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})
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return { graph, start, addedRoles, addedSlots }
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}
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export const getDeviceKindName = (deviceKind) => DEVICE_KIND_META[Number(deviceKind)]?.name || '任意设备'
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export const mergeResourceRoleDefinitions = (roleGroups = []) => {
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const merged = []
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roleGroups.flat().forEach((sourceRole) => {
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let role = merged.find((item) => item.roleKey === sourceRole.roleKey)
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if (!role) {
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merged.push(clone(sourceRole))
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return
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}
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;(sourceRole.deviceSlots || []).forEach((sourceSlot) => {
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if (!role.deviceSlots.some((slot) => slot.slotKey === sourceSlot.slotKey)) {
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role.deviceSlots.push(clone(sourceSlot))
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}
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})
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})
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return merged
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}
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