From 6dfa2be64e200ccdf00319c8bff5f9bb9f5784b5 Mon Sep 17 00:00:00 2001 From: zhanghao <774378400@qq.com> Date: Mon, 29 Jun 2026 16:56:12 +0800 Subject: [PATCH] =?UTF-8?q?feat:=20=E5=BC=80=E5=8F=91=E7=A7=BB=E5=8A=A8AGV?= =?UTF-8?q?=E8=8A=82=E7=82=B9?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- package.json | 4 +- src/views/flow/components/ParamsDrawer.vue | 4 - src/views/flow/config.js | 16 ++++ .../cockpit/components/UrdfView.vue | 88 +------------------ 4 files changed, 22 insertions(+), 90 deletions(-) diff --git a/package.json b/package.json index c97dfe2..0525e84 100644 --- a/package.json +++ b/package.json @@ -1,7 +1,7 @@ { - "name": "CMVR-IOT-UI", + "name": "changan-inspection", "version": "3.8.8", - "description": "CMVR-IOT平台管理系统前端UI框架", + "description": "长安巡检项目", "author": "CMVR", "license": "MIT", "type": "module", diff --git a/src/views/flow/components/ParamsDrawer.vue b/src/views/flow/components/ParamsDrawer.vue index 5502a5f..e1066f2 100644 --- a/src/views/flow/components/ParamsDrawer.vue +++ b/src/views/flow/components/ParamsDrawer.vue @@ -1186,10 +1186,6 @@ - diff --git a/src/views/flow/config.js b/src/views/flow/config.js index 68d89d4..80b24bf 100644 --- a/src/views/flow/config.js +++ b/src/views/flow/config.js @@ -363,12 +363,28 @@ function handler(params) { { collapseTitle: "机器人", nodeList: [ + { + icon: videoSvg, + name: "AGV控制", + type: "serviceNode", + desc: "控制机器人的底盘", + action: 'AGV_MOVE_TO_POINT', + nodeType: 'EDGE', + nodeParams: [ + { name: "deviceId", type: "input", input: "", disabled: true }, + { name: "x", type: "input", input: "", disabled: true }, + { name: "y", type: "input", input: "", disabled: true }, + { name: "theta", type: "input", input: "", disabled: true }, + ], + outputType: 'json' + }, { icon: videoSvg, name: "机械臂", type: "serviceNode", desc: "控制机器人的手臂", action: 'ALM', + nodeType: 'EDGE', nodeParams: [ { name: "deviceId", type: "input", input: "", disabled: true } ], diff --git a/src/views/inspection/cockpit/components/UrdfView.vue b/src/views/inspection/cockpit/components/UrdfView.vue index 2a23c77..ddb1530 100644 --- a/src/views/inspection/cockpit/components/UrdfView.vue +++ b/src/views/inspection/cockpit/components/UrdfView.vue @@ -34,89 +34,13 @@ let scene, camera, renderer, controls; const animationId = ref(null); const jointControls = reactive([]); - -// ============ 工具函数 ============ -const cleanMeshPath = (path) => { - if (!path) return ''; - path = path.replace(/^file:\/\//, ''); - path = path.replace(/^package:\/\/[^/]+\//, ''); - const findMatch = path.match(/\$\(find\s+([^)]+)\)/); - if (findMatch) path = path.replace(/\$\(find\s+[^)]+\)/, ''); - path = path.replace(/\\/g, '/').replace(/^\/+/, ''); - return path; -}; - -const parseXYZ = (str) => { - if (!str) return { x: 0, y: 0, z: 0 }; - const [x, y, z] = str.trim().split(/\s+/).map(Number); - return { x: x || 0, y: y || 0, z: z || 0 }; -}; - -const parseRPY = (str) => { - if (!str) return { roll: 0, pitch: 0, yaw: 0 }; - const [r, p, y] = str.trim().split(/\s+/).map(Number); - return { roll: r || 0, pitch: p || 0, yaw: y || 0 }; -}; - -// ★ 正确转换 RPY → 四元数（URDF 固定轴 XYZ = Three.js 局部轴 ZYX） -const rpyToQuaternion = (rpy) => { - const euler = new THREE.Euler(rpy.roll, rpy.pitch, rpy.yaw, 'ZYX'); - return new THREE.Quaternion().setFromEuler(euler); -}; - -// ============ STL 加载 ============ -const loadSTLWithRetry = (url, group, visualPos, visualQuat) => { - return new Promise((resolve) => { - const loader = new STLLoader(); - const loadMesh = (attemptUrl) => { - loader.load( - attemptUrl, - (geometry) => { - geometry.computeVertexNormals(); - const material = new THREE.MeshStandardMaterial({ - color: props.modelColor, - roughness: 0.4, - metalness: 0.3, - }); - const mesh = new THREE.Mesh(geometry, material); - mesh.position.set(visualPos.x, visualPos.y, visualPos.z); - mesh.quaternion.copy(visualQuat); // 使用四元数 - mesh.castShadow = true; - mesh.receiveShadow = true; - while (group.children.length > 0) { - const child = group.children[0]; - if (child.isMesh) { - child.geometry?.dispose(); - child.material?.dispose(); - } - group.remove(child); - } - group.add(mesh); - resolve(mesh); - }, - undefined, - (error) => { - console.warn(`加载STL失败: ${attemptUrl}`, error); - if (!attemptUrl.startsWith('/') && !attemptUrl.startsWith('http')) { - loadMesh('/' + attemptUrl); - } else { - resolve(null); - } - } - ); - }; - loadMesh(url); - }); -}; - - // ============ 场景初始化 ============ const initScene = () => { const container = viewerContainer.value; const width = container.clientWidth || 800; const height = container.clientHeight || 600; scene = new THREE.Scene(); - scene.background = new THREE.Color(0x1a1a2e); + scene.background = new THREE.Color('#000d2e'); camera = new THREE.PerspectiveCamera(45, width / height, 0.1, 1000); camera.position.set(2, 2, 3); renderer = new THREE.WebGLRenderer({ antialias: true, alpha: true }); @@ -145,9 +69,9 @@ const initScene = () => { const rim = new THREE.DirectionalLight(0xffffff, 0.3); rim.position.set(0, -5, 5); scene.add(rim); - const grid = new THREE.GridHelper(3, 20, 0x444466, 0x333355); - grid.position.y = -0.5; - scene.add(grid); + // const grid = new THREE.GridHelper(3, 20, 0x444466, 0x333355); + // grid.position.y = -0.5; + // scene.add(grid); }; @@ -174,7 +98,6 @@ const updateJoint = (jointName, angle) => { if (control) control.value = angle; }; - const resetJoints = () => { for (const joint of jointControls) { joint.value = 0; @@ -225,7 +148,6 @@ const loadRobot = async () => { const robot = model.threeObject; // 这就是 URDFRobot - // 将机器人添加到场景 scene.add(robot); // ⚠️ 注意：是 robot.scene，不是 robot robot.rotation.x = -Math.PI / 2; @@ -246,8 +168,6 @@ const loadRobot = async () => { console.error('未知的 joints 结构:', robot.joints); } - - // 填充关节控制列表 for (const [name, joint] of jointEntries) { if (joint._jointType === 'fixed') continue;