feat: 开发移动AGV节点

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",

src/views/flow/components/ParamsDrawer.vue

@@ -1186,10 +1186,6 @@
         </el-collapse>
       </el-form>
     </div>
-    <!-- <template #footer>
-      <el-button  @click="cancel">取消</el-button>
-      <el-button type="primary" @click="confirm">保存</el-button>
-    </template> -->
   </el-drawer>
 </template>
 

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 }
         ],

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);
+  // const grid = new THREE.GridHelper(3, 20, 0x444466, 0x333355);
-  grid.position.y = -0.5;
+  // grid.position.y = -0.5;
-  scene.add(grid);
+  // 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;