feat: agv移动

.env.development

@@ -7,8 +7,8 @@ VITE_APP_ENV = 'development'
 # 招商车研物联网平台/开发环境
 VITE_APP_BASE_API = '/dev-api'
 
-VITE_API_URL = http://192.168.1.222:13080
-VITE_WS_URL = ws://192.168.1.222:13080/ws
+VITE_API_URL = http://192.168.0.222:13080
+VITE_WS_URL = ws://192.168.0.222:13080/ws
 
 # explanation
 VITE_INSPECTION_TYPE = "inspection"

src/api/inspection/robot.js

@@ -55,3 +55,53 @@ export function getMapJson(params) {
         params
     })
 }
+
+/**
+ * 获取机器人位置
+ * @param {*} robotId 
+ * @returns 
+ */
+export function getRobotLocation(robotId) {
+    return request({
+        url: `/inspection/robot/${robotId}/location`,
+        method: 'get'
+    })
+}
+
+/**
+ * 获取机器人状态
+ * @param {*} robotId 
+ * @returns 
+ */
+export function getRobotStatus(robotId) {
+    return request({
+        url: `/inspection/robot/{robotId}/sync-status`,
+        method: 'get'
+    })
+}
+
+/**
+ * 机器人运动控制
+ * @param {*} data 
+ * @returns 
+ */
+export function moveRobot(data) {
+    return request({
+        url: '/api/agv/setVelocity',
+        method: 'post',
+        data: data
+    })
+}
+
+/**
+ * 机器人停止运动
+ * @param {*} data 
+ * @returns 
+ */
+export function stopRobot(data) {
+    return request({
+        url: '/api/agv/stopVelocityControl',
+        method: 'get',
+        data: data
+    })
+}

src/views/inspection/cockpit/components/ManualTakeover/DirectionControl.vue

@@ -62,6 +62,14 @@
 
 </template>
 <script setup>
+import {  moveRobot, stopRobot } from '@/api/inspection/robot.js'
+
+const props = defineProps({
+    robot: {
+        type: Object,
+        default: () => ({})
+    }
+})
 
 const maxSpeed = ref(0.6)
 const rotationAngle = ref(0)
@@ -79,8 +87,7 @@ function formatVal(p) {
 const moveRobotData = ref({
     vx: 0,
     vy: 0,
-    w: 0,
-    duration: -1
+    vz: 0
 })
 
 /* long-press stubs */
@@ -94,21 +101,21 @@ const onPress = async (_dir) => {
     } else {
         moveRobotData.value.vy = -maxSpeed.value
     }
-    moveRobotData.value.w = rotationAngle.value
-    // const res = await moveRobot({
-    //     ip: robotStore.ip,
-    //     deviceId: VITE_DEVICE_ID,
-    //     ...moveRobotData.value
-    // })
+    moveRobotData.value.vz = rotationAngle.value
+    const res = await moveRobot({
+        terminalId: props.robot.terminalId,
+        deviceId: props.robot.robotCode,
+        ...moveRobotData.value 
+    })
 }
 
 function onRelease() {
     moveRobotData.value.vx = 0;
     moveRobotData.value.vy = 0;
-    // stopRobot({
-    //     ip: robotStore.ip,
-    //     deviceId: VITE_DEVICE_ID
-    // })
+    stopRobot({
+        terminalId: props.robot.terminalId,
+        deviceId: props.robot.robotCode,
+    })
 }
 </script>
 <style lang="scss" scoped>

src/views/inspection/cockpit/components/ManualTakeover/index.vue

@@ -38,7 +38,7 @@
                     <el-radio :value="3">相机</el-radio>
                 </el-radio-group>
                 <div class="controller-panel">人工控制面板</div>
-                <DirectionControl v-if="activeController === 1" />
+                <DirectionControl v-if="activeController === 1" :robot="activeBotData" />
                 <div v-if="activeController === 2" class="robotic-arm-controller-container">
                     <el-radio-group v-model="activeRoboticArm" size="small">
                         <el-radio :value="1">末端控制</el-radio>
@@ -91,7 +91,9 @@
 
         </div>
         <div class="video-container">
-            <div v-if="activeMode === 'auto' || activeController === 1" class="map-container">地图</div>
+            <div v-if="activeMode === 'auto' || activeController === 1" class="map-container">
+                <MapCanvas :robotList="robotList" ref="mapCanvasRef" />
+            </div>
             <div v-if="activeMode === 'artificial' && activeController === 2" class="model-container">
                 <UrdfViewer ref="urdfViewerRef" base-path="/inspection/elfin10/" />
             </div>