From deab8f583ba664b1b996322c7c16cdf926eca38e Mon Sep 17 00:00:00 2001 From: zhanghao <774378400@qq.com> Date: Fri, 26 Jun 2026 10:51:01 +0800 Subject: [PATCH] first commit --- .dockerignore | 27 + .env | 1 + .gitignore | 24 + .vscode/extensions.json | 3 + Dockerfile | 27 + README.md | 5 + auto-imports.d.ts | 90 + components.d.ts | 41 + docker-compose.yml | 17 + index.html | 13 + package.json | 38 + pnpm-lock.yaml | 4756 +++++++++++++++++++++++ public/bot.svg | 54 + public/favicon.svg | 1 + public/icons.svg | 24 + server/index.js | 249 ++ server/proto/cmvr/api/agv_command.proto | 906 +++++ server/proto/cmvr/api/agv_service.proto | 74 + server/proto/cmvr/api/common.proto | 43 + src/App.vue | 12 + src/api/agv.js | 35 + src/assets/hero.png | Bin 0 -> 13057 bytes src/assets/icons/locate-fixed.svg | 9 + src/assets/icons/vite.svg | 1 + src/assets/icons/zoom-in.svg | 7 + src/assets/icons/zoom-out.svg | 6 + src/assets/vite.svg | 1 + src/assets/vue.svg | 1 + src/main.js | 16 + src/router/index.js | 22 + src/stores/robot.js | 41 + src/style.css | 9 + src/styles/vars.scss | 42 + src/views/Home.vue | 189 + src/views/MechanicalArm.vue | 385 ++ src/views/chassis/Chassis.vue | 556 +++ src/views/chassis/MapCanvas.vue | 491 +++ src/views/chassis/canvasUtils.js | 614 +++ vite.config.js | 48 + 39 files changed, 8878 insertions(+) create mode 100644 .dockerignore create mode 100644 .env create mode 100644 .gitignore create mode 100644 .vscode/extensions.json create mode 100644 Dockerfile create mode 100644 README.md create mode 100644 auto-imports.d.ts create mode 100644 components.d.ts create mode 100644 docker-compose.yml create mode 100644 index.html create mode 100644 package.json create mode 100644 pnpm-lock.yaml create mode 100644 public/bot.svg create mode 100644 public/favicon.svg create mode 100644 public/icons.svg create mode 100644 server/index.js create mode 100644 server/proto/cmvr/api/agv_command.proto create mode 100644 server/proto/cmvr/api/agv_service.proto create mode 100644 server/proto/cmvr/api/common.proto create mode 100644 src/App.vue create mode 100644 src/api/agv.js create mode 100644 src/assets/hero.png create mode 100644 src/assets/icons/locate-fixed.svg create mode 100644 src/assets/icons/vite.svg create mode 100644 src/assets/icons/zoom-in.svg create mode 100644 src/assets/icons/zoom-out.svg create mode 100644 src/assets/vite.svg create mode 100644 src/assets/vue.svg create mode 100644 src/main.js create mode 100644 src/router/index.js create mode 100644 src/stores/robot.js create mode 100644 src/style.css create mode 100644 src/styles/vars.scss create mode 100644 src/views/Home.vue create mode 100644 src/views/MechanicalArm.vue create mode 100644 src/views/chassis/Chassis.vue create mode 100644 src/views/chassis/MapCanvas.vue create mode 100644 src/views/chassis/canvasUtils.js create mode 100644 vite.config.js diff --git a/.dockerignore b/.dockerignore new file mode 100644 index 0000000..133f6c4 --- /dev/null +++ b/.dockerignore @@ -0,0 +1,27 @@ +# pnpm 相关(缓存、依赖目录) +node_modules/ +.pnpm-store/ +pnpm-lock.yaml.bak +pnpm-debug.log + +# 构建产物 +dist/ + +# 环境配置(本地开发用,不放入镜像) +.env +.env.local +.env.development +.env.test + +# 版本控制和编辑器文件 +.git/ +.gitignore +.vscode/ +.idea/ + +# 其他无关文件 +*.md +Dockerfile +docker-compose.yml +logs/ +temp/ diff --git a/.env b/.env new file mode 100644 index 0000000..ce1e441 --- /dev/null +++ b/.env @@ -0,0 +1 @@ +VITE_DEVICE_ID = 'agv_src2200' \ No newline at end of file diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..a547bf3 --- /dev/null +++ b/.gitignore @@ -0,0 +1,24 @@ +# Logs +logs +*.log +npm-debug.log* +yarn-debug.log* +yarn-error.log* +pnpm-debug.log* +lerna-debug.log* + +node_modules +dist +dist-ssr +*.local + +# Editor directories and files +.vscode/* +!.vscode/extensions.json +.idea +.DS_Store +*.suo +*.ntvs* +*.njsproj +*.sln +*.sw? diff --git a/.vscode/extensions.json b/.vscode/extensions.json new file mode 100644 index 0000000..a7cea0b --- /dev/null +++ b/.vscode/extensions.json @@ -0,0 +1,3 @@ +{ + "recommendations": ["Vue.volar"] +} diff --git a/Dockerfile b/Dockerfile new file mode 100644 index 0000000..f21ae67 --- /dev/null +++ b/Dockerfile @@ -0,0 +1,27 @@ +# 使用 Node 基础镜像 +FROM node:18-alpine AS builder + +WORKDIR /app +COPY package*.json pnpm-lock.yaml ./ +RUN npm install -g pnpm && pnpm install --frozen-lockfile + +# 复制源码并构建 +COPY . . +RUN pnpm run build + +# 生产阶段:只复制必要文件 +FROM node:18-alpine + +WORKDIR /app +COPY --from=builder /app/dist ./dist +COPY --from=builder /app/server ./server +COPY --from=builder /app/package*.json ./ +COPY --from=builder /app/pnpm-lock.yaml ./ +RUN npm install -g pnpm && pnpm install --prod --frozen-lockfile + +# 暴露端口(与 Express 监听端口一致) +EXPOSE 3000 + +# 启动 Express 服务(使用 pnpm start 或 node server/index.js) +CMD ["pnpm", "start"] +# 或直接 CMD ["node", "server/index.js"] \ No newline at end of file diff --git a/README.md b/README.md new file mode 100644 index 0000000..1511959 --- /dev/null +++ b/README.md @@ -0,0 +1,5 @@ +# Vue 3 + Vite + +This template should help get you started developing with Vue 3 in Vite. The template uses Vue 3 ` + + diff --git a/package.json b/package.json new file mode 100644 index 0000000..b620ff6 --- /dev/null +++ b/package.json @@ -0,0 +1,38 @@ +{ + "name": "inspection-host-computer", + "private": true, + "version": "0.0.0", + "type": "module", + "scripts": { + "dev": "concurrently \"npm run dev:server\" \"npm run dev:client\"", + "dev:client": "vite", + "dev:server": "node server/index.js", + "start": "node server/index.js", + "build": "vite build", + "preview": "vite preview" + }, + "dependencies": { + "@element-plus/icons-vue": "^2.3.2", + "@grpc/grpc-js": "^1.14.4", + "@grpc/proto-loader": "^0.8.1", + "concurrently": "^10.0.3", + "cors": "^2.8.6", + "element-plus": "^2.14.2", + "express": "^5.2.1", + "fast-glob": "^3.3.3", + "pinia": "^3.0.4", + "pinia-plugin-persistedstate": "^4.7.1", + "vue": "^3.5.38", + "vue-router": "^5.1.0" + }, + "devDependencies": { + "@vitejs/plugin-vue": "^6.0.7", + "sass": "^1.101.0", + "unplugin-auto-import": "^21.0.0", + 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get-caller-file: 2.0.5 + string-width: 7.2.0 + y18n: 5.0.8 + yargs-parser: 22.0.0 diff --git a/public/bot.svg b/public/bot.svg new file mode 100644 index 0000000..808cb7b --- /dev/null +++ b/public/bot.svg @@ -0,0 +1,54 @@ + + + + + + + + + \ No newline at end of file diff --git a/public/favicon.svg b/public/favicon.svg new file mode 100644 index 0000000..6893eb1 --- /dev/null +++ b/public/favicon.svg @@ -0,0 +1 @@ + \ No newline at end of file diff --git a/public/icons.svg b/public/icons.svg new file mode 100644 index 0000000..e952219 --- /dev/null +++ b/public/icons.svg @@ -0,0 +1,24 @@ + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/server/index.js b/server/index.js new file mode 100644 index 0000000..fd2c192 --- /dev/null +++ b/server/index.js @@ -0,0 +1,249 @@ +// server/index.js +import express from 'express' +import cors from 'cors' +import grpc from '@grpc/grpc-js' +import protoLoader from '@grpc/proto-loader' +import path from 'path' +import { fileURLToPath } from 'url' + +const __filename = fileURLToPath(import.meta.url) +const __dirname = path.dirname(__filename) + +const app = express() +app.use(express.static(path.join(__dirname, '../dist'))); +app.use(cors()) +app.use(express.json()) + +// ========== 加载 Proto ========== +const PROTO_ROOT = path.resolve(__dirname, './proto') // 指向 server/proto/ +const PROTO_ENTRY = path.join(PROTO_ROOT, 'cmvr/api/agv_service.proto') + +const packageDefinition = protoLoader.loadSync( + PROTO_ENTRY, + { + includeDirs: [PROTO_ROOT , path.join(PROTO_ROOT, 'cmvr/api')], // 关键:让加载器从 PROTO_ROOT 查找 import + keepCase: true, + longs: String, + enums: String, + defaults: true, + oneofs: true + } +) + +const cmvrProto = grpc.loadPackageDefinition(packageDefinition).cmvr.api + +const createGrpcClient = (address) => { + const grpcClient = new cmvrProto.AgvService( + address, + grpc.credentials.createInsecure() + ) + return grpcClient +} + +// 获取机器人当前地图名称 +app.post('/api/agv/getCurrentMapName', async (req, res) => { + const request = { + header: { + device_id: req.body.device_id || 'agv_src1100' + } + }; + + const grpcClient = createGrpcClient(req.body.ip) + + const resp = await new Promise((resolve, reject) => { + grpcClient.getMapStatus(request, (err, res) => { + if (err) { + resolve({ + code: 500, + data: `grpc服务端错误` + }); + } else { + resolve({ + code: 200, + data: res.status + }); + } + }); + }) + + if (resp.code === 200) { + res.json(resp) + } else { + res.status(500).json({ error: 'grpc服务端错误' }) + } +}) + +// 获取机器人当前地图名称 +app.post('/api/agv/getCurrentMap', async (req, res) => { + const grpcClient = createGrpcClient(req.body.ip) + const request = { + header: { + device_id: req.body.device_id || 'agv_src1100' + }, + data: { + map_name: req.body.mapName + } + }; + + const resp = await new Promise((resolve, reject) => { + grpcClient.RobotConfigDownloadMap(request, (err, res) => { + if (err) { + resolve({ + code: 500, + data: `grpc服务端错误` + }); + } else { + resolve({ + code: 200, + data: res.status + }); + } + }); + }) + + if (resp.code === 200) { + res.json(resp) + } else { + res.status(500).json({ error: 'grpc服务端错误' }) + } +}) + +app.post('/api/agv/getRobotState', async (req, res) => { + const request = { + header: { + device_id: req.body.device_id || 'agv_src1100' + } + }; + + const grpcClient = createGrpcClient(req.body.ip) + + const response = await new Promise((resolve, reject) => { + grpcClient.GetRobotLocation(request, (err, res) => { + if (err) { + resolve({ + code: 500, + data: `grpc服务端错误` + }); + } else { + resolve({ + code: 200, + data: res.status + }); + } + }) + }) + const resp = await new Promise((resolve, reject) => { + grpcClient.GetBatteryStatus(request, (err, res) => { + if (err) { + resolve({ + code: 500, + data: `grpc服务端错误` + }); + } else { + resolve({ + code: 200, + data: res.status + }); + } + }); + }) + + if (response.code === 200 && resp.code ===200) { + res.json({ + code: 200, + data: { + x: response.data.x, + y: response.data.y, + angle: response.data.angle, + confidence: response.data.confidence, + batteryLevel: resp.data.battery_level, + batteryTemp: resp.data.battery_temp, + charging: resp.data.charging, + voltage: resp.data.voltage + } + }) + } else { + res.status(500).json({ error: 'grpc服务端错误' }) + } +}) + +app.post('/api/agv/moveRobot', async (req, res) => { + const grpcClient = createGrpcClient(req.body.ip) + const request = { + header: { + device_id: req.body.device_id || 'agv_src1100' + }, + data: { + vx: req.body.vx, + vy: req.body.vy, + w: req.body.w, + duration: req.body.duration + } + }; + + const resp = await new Promise((resolve, reject) => { + grpcClient.RobotMotionControl(request, (err, res) => { + if (err) { + resolve({ + code: 500, + data: `grpc服务端错误` + }); + } else { + resolve({ + code: 200, + data: res.status + }); + } + }); + }) + + if (resp.code === 200) { + res.json({ + code: 200, + data: resp + }) + } else { + res.status(500).json({ error: 'grpc服务端错误' }) + } +}) + +app.post('/api/agv/stopRobot', async (req, res) => { + const grpcClient = createGrpcClient(req.body.ip) + const request = { + header: { + device_id: req.body.device_id || 'agv_src1100' + } + }; + + const resp = await new Promise((resolve, reject) => { + grpcClient.RobotControlStop(request, (err, res) => { + if (err) { + resolve({ + code: 500, + data: `grpc服务端错误` + }); + } else { + resolve({ + code: 200, + data: res.status + }); + } + }); + }) + + if (resp.code === 200) { + res.json({ + code: 200, + data: resp + }) + } else { + res.status(500).json({ error: 'grpc服务端错误' }) + } +}) + +// ========== 启动 ========== +const PORT = 3000 + +app.listen(PORT, () => { + console.log(`gRPC 桥接服务已启动: http://localhost:${PORT}`) +}) \ No newline at end of file diff --git a/server/proto/cmvr/api/agv_command.proto b/server/proto/cmvr/api/agv_command.proto new file mode 100644 index 0000000..cf609cd --- /dev/null +++ b/server/proto/cmvr/api/agv_command.proto @@ -0,0 +1,906 @@ +/** + * @file agv_command.proto + * @brief AGV 控制相关的 Protobuf 消息定义。 + * 涵盖仙工智能(Seer)SRC 系列控制器的主要 API 命令, + * 包括状态查询、电池、位置、地图管理、控制权、运动控制、导航任务等。 + * @note 所有命令均遵循仙工协议帧格式,通过 gRPC 服务(AgvService)对外暴露。 + */ + +syntax = "proto3"; + +import "cmvr/api/common.proto"; + +package cmvr.api; + +// ============================================================================ +// 1. 基本信息查询(命令码 1000, 0x03E8) +// ============================================================================ + +/** + * @brief AGV 基本信息响应结构。 + * @note 对应仙工 API 1000(0x03E8)的响应体,包含设备标识、软硬件版本、网络状态等。 + */ +message AgvStatusInfo { + optional string id = 1; ///< AGV 设备唯一 ID + optional string vehicle_id = 2; ///< 车辆编号(如 "agv_001") + optional string version = 3; ///< 软件版本号 + optional string model = 4; ///< 车型型号(如 "SRC-1100") + optional string dsp_version = 5; ///< DSP 固件版本 + optional string current_ip = 6; ///< 当前 IP 地址 + optional string mac = 7; ///< MAC 地址 + optional int32 rssi = 8; ///< Wi-Fi 信号强度(0~100) + optional int32 ret_code = 9; ///< 返回码,0 表示成功 + optional string err_msg = 10; ///< 错误信息(失败时填充) +} + +/** + * @brief 获取 AGV 状态命令(请求/反馈)。 + * @note 请求携带设备 ID(header.device_id),反馈返回 AgvStatusInfo。 + */ +message GetAgvStatusInfoCommand { + message Request { + CommandHeader.Request header = 1; ///< 公共请求头,包含 device_id + } + + message Feedback { + CommandHeader.Feedback header = 1; ///< 公共响应头(success/error_message/timestamp) + AgvStatusInfo status = 2; ///< AGV 状态信息 + } +} + + +// ============================================================================ +// 2. 电池状态查询(命令码 1007, 0x03EF) +// ============================================================================ + +/** + * @brief 电池状态响应结构。 + * @note 对应仙工 API 1007(0x03EF),支持简单/全量两种模式。 + */ +message AgvBatteryStatus { + optional double battery_level = 1; ///< 电池电量(0~1,对应 0%~100%) + optional double battery_temp = 2; ///< 电池温度(摄氏度) + optional bool charging = 3; ///< 是否正在充电 + optional double voltage = 4; ///< 当前电压(V) + optional double current = 5; ///< 当前电流(A) + optional double max_charge_voltage = 6; ///< 最大充电电压(-1 表示不支持) + optional double max_charge_current = 7; ///< 最大充电电流(-1 表示不支持) + optional bool manual_charge = 8; ///< 是否连接手动充电器(仅 SRC-2000) + optional bool auto_charge = 9; ///< 是否连接自动充电桩(仅 SRC-2000) + optional int32 battery_cycle = 10; ///< 电池循环次数(从 BMS 读取,可能不准) + optional string battery_user_data = 11; ///< 电池用户自定义数据 + optional string extra = 12; ///< 扩展字段(预留) + optional int32 ret_code = 13; ///< 返回码,0 表示成功 + optional string create_on = 14; ///< 数据创建时间戳(ISO 8601) + optional string err_msg = 15; ///< 错误信息 +} + +/** + * @brief 电池状态请求数据。 + */ +message RobotStatusBatteryRequestData { + optional bool simple = 1; ///< true=仅关键数据,false=全量数据(默认 false) +} + +/** + * @brief 电池状态查询命令。 + */ +message RobotStatusBatteryCommand { + message Request { + CommandHeader.Request header = 1; ///< 公共请求头 + RobotStatusBatteryRequestData data = 2; ///< 请求参数 + } + message Feedback { + CommandHeader.Feedback header = 1; ///< 公共响应头 + AgvBatteryStatus status = 2; ///< 电池状态信息 + } +} + + +// ============================================================================ +// 3. 机器人位置查询(命令码 1004, 0x03EC) +// ============================================================================ + +/** + * @brief 机器人位置响应结构。 + * @note 对应仙工 API 1004(0x03EC),返回世界坐标系下的位姿。 + */ +message AgvRobotLocation { + optional double x = 1; ///< X 坐标(米) + optional double y = 2; ///< Y 坐标(米) + optional double angle = 3; ///< 朝向角(弧度),逆时针为正 + optional double confidence = 4; ///< 定位置信度(0~1) + optional string current_station = 5; ///< 当前所在站点 ID(若在站点上) + optional string last_station = 6; ///< 上一个经过的站点 ID + optional int32 loc_method = 7; ///< 定位方式(0=自然轮廓, 1=反光柱, 2=二维码, 3=里程计...) + optional int32 ret_code = 8; ///< 返回码,0 表示成功 + optional string create_on = 9; ///< 时间戳 + optional string err_msg = 10; ///< 错误信息 +} + +/** + * @brief 位置查询命令(无请求数据)。 + */ +message RobotStatusLocCommand { + message Request { + CommandHeader.Request header = 1; ///< 公共请求头 + } + message Feedback { + CommandHeader.Feedback header = 1; ///< 公共响应头 + AgvRobotLocation status = 2; ///< 位置信息 + } +} + + +// ============================================================================ +// 4. 地图下载(命令码 4011, 0x0FAB) +// ============================================================================ + +/** + * @brief 地图下载请求数据。 + */ +message RobotConfigDownloadMapRequestData { + optional string map_name = 1; ///< 要下载的地图名称(必填) +} + +/** + * @brief 地图下载响应结果。 + */ +message AgvDownloadMapResult { + optional int32 ret_code = 1; ///< 返回码,0 表示成功 + optional string create_on = 2; ///< 时间戳 + optional string err_msg = 3; ///< 错误信息 + optional string map_content = 4; ///< 地图 JSON 文件内容(成功时填充) +} + +/** + * @brief 地图下载命令。 + */ +message RobotConfigDownloadMapCommand { + message Request { + CommandHeader.Request header = 1; + RobotConfigDownloadMapRequestData data = 2; + } + message Feedback { + CommandHeader.Feedback header = 1; + AgvDownloadMapResult status = 2; + } +} + + +// ============================================================================ +// 5. 地图状态查询(命令码 1300, 0x0514) +// ============================================================================ + +/** + * @brief 单个地图文件信息。 + */ +message MapFileInfo { + optional string name = 1; ///< 文件名 + optional string modified = 2; ///< 最后修改时间 + optional int64 size = 3; ///< 文件大小(字节) +} + +/** + * @brief 地图状态响应结构。 + * @note 对应仙工 API 1300(0x0514),返回当前地图及所有地图列表。 + */ +message AgvMapStatus { + optional string current_map = 1; ///< 当前加载的地图名称 + optional string current_map_md5 = 2; ///< 当前地图的 MD5 校验值 + repeated string maps = 3; ///< 所有地图名称列表 + repeated MapFileInfo map_files_info = 4; ///< 每个地图文件的详细信息 + optional int32 ret_code = 5; ///< 返回码,0 表示成功 + optional string create_on = 6; ///< 时间戳 + optional string err_msg = 7; ///< 错误信息 +} + +/** + * @brief 地图状态查询命令(无请求数据)。 + */ +message RobotStatusMapCommand { + message Request { + CommandHeader.Request header = 1; + } + message Feedback { + CommandHeader.Feedback header = 1; + AgvMapStatus status = 2; + } +} + + +// ============================================================================ +// 6. 上传地图(命令码 4010, 0x0FAA) +// ============================================================================ + +/** + * @brief 上传地图请求数据。 + */ +message RobotConfigUploadMapRequestData { + optional string map_content = 1; ///< 完整的地图 JSON 字符串(必填) +} + +/** + * @brief 上传地图响应结果。 + */ +message AgvUploadMapResult { + optional int32 ret_code = 1; ///< 返回码,0 表示成功 + optional string create_on = 2; ///< 时间戳 + optional string err_msg = 3; ///< 错误信息 +} + +/** + * @brief 上传地图命令。 + */ +message RobotConfigUploadMapCommand { + message Request { + CommandHeader.Request header = 1; + RobotConfigUploadMapRequestData data = 2; + } + message Feedback { + CommandHeader.Feedback header = 1; + AgvUploadMapResult status = 2; + } +} + + +// ============================================================================ +// 7. 抢占控制权(命令码 4005, 0x0FA5) +// ============================================================================ + +/** + * @brief 抢占控制权请求数据。 + */ +message RobotConfigLockRequestData { + optional string nick_name = 1; ///< 抢占者昵称/标识(必填) +} + +/** + * @brief 抢占控制权响应结果。 + */ +message AgvLockResult { + optional int32 ret_code = 1; ///< 返回码,0 表示成功 + optional string create_on = 2; ///< 时间戳 + optional string err_msg = 3; ///< 错误信息 +} + +/** + * @brief 抢占控制权命令。 + */ +message RobotConfigLockCommand { + message Request { + CommandHeader.Request header = 1; + RobotConfigLockRequestData data = 2; + } + message Feedback { + CommandHeader.Feedback header = 1; + AgvLockResult status = 2; + } +} + + +// ============================================================================ +// 8. 查询当前控制权所有者(命令码 1060, 0x0424) +// ============================================================================ + +/** + * @brief 当前控制权所有者响应结构。 + * @note 对应仙工 API 1060(0x0424)。 + */ +message AgvCurrentLockStatus { + optional bool locked = 1; ///< 是否被锁定(有持有者) + optional string ip = 2; ///< 持有者 IP 地址 + optional int32 port = 3; ///< 持有者端口 + optional uint32 type = 4; ///< 持有者类型(0=default, 2=roboshop, 0xDD=srd) + optional string nick_name = 5; ///< 持有者昵称 + optional int64 time_t = 6; ///< 锁定时间戳(Unix 秒) + optional string desc = 7; ///< 描述信息 + optional int32 ret_code = 8; ///< 返回码,0 表示成功 + optional string create_on = 9; ///< 时间戳 + optional string err_msg = 10; ///< 错误信息 +} + +/** + * @brief 查询控制权命令(无请求数据)。 + */ +message RobotStatusCurrentLockCommand { + message Request { + CommandHeader.Request header = 1; + } + message Feedback { + CommandHeader.Feedback header = 1; + AgvCurrentLockStatus status = 2; + } +} + + +// ============================================================================ +// 9. 开环速度运动控制(命令码 2010, 0x07DA) +// ============================================================================ + +/** + * @brief 开环速度运动控制请求数据。 + * @note 命令码 2010(0x07DA)。下发后会强制取消当前自动导航任务。 + * 多舵轮设备仅 vx/vy/w 生效;steer/real_steer 仅单舵轮设备有效。 + * duration = -1 表示持续运行直到下一次指令。 + */ +message RobotMotionControlRequestData { + optional double vx = 1; ///< X 方向线速度(m/s) + optional double vy = 2; ///< Y 方向线速度(m/s) + optional double w = 3; ///< 角速度(rad/s),逆时针为正 + optional double steer = 4; ///< 舵轮转向角(单舵轮,单位 rad) + optional double real_steer = 5; ///< 实际舵轮角度(单舵轮,优先级高于 steer) + optional int64 duration = 6; ///< 持续时间(ms),-1 表示一直运行 +} + +/** + * @brief 开环运动控制响应结果。 + */ +message RobotMotionControlResult { + optional int32 ret_code = 1; ///< 返回码,0 表示成功 + optional string create_on = 2; ///< 时间戳 + optional string err_msg = 3; ///< 错误信息 +} + +/** + * @brief 开环运动控制命令。 + */ +message RobotMotionControlCommand { + message Request { + CommandHeader.Request header = 1; + RobotMotionControlRequestData data = 2; + } + message Feedback { + CommandHeader.Feedback header = 1; + RobotMotionControlResult status = 2; + } +} + + +// ============================================================================ +// 10. 切换载入地图(命令码 2022, 0x07E6) +// ============================================================================ + +/** + * @brief 切换地图请求数据。 + * @note 命令码 2022(0x07E6)。目标地图必须已存在于机器人中。 + */ +message RobotLoadMapRequestData { + optional string map_name = 1; ///< 目标地图名称(必填,仅字母数字-_) +} + +/** + * @brief 切换地图响应结果。 + */ +message RobotLoadMapResult { + optional int32 ret_code = 1; ///< 返回码,0 表示成功 + optional string create_on = 2; ///< 时间戳 + optional string err_msg = 3; ///< 错误信息 +} + +/** + * @brief 切换地图命令。 + */ +message RobotLoadMapCommand { + message Request { + CommandHeader.Request header = 1; + RobotLoadMapRequestData data = 2; + } + message Feedback { + CommandHeader.Feedback header = 1; + RobotLoadMapResult status = 2; + } +} + + +// ============================================================================ +// 11. 查询地图载入状态(命令码 1022, 0x03FE) +// ============================================================================ + +/** + * @brief 地图载入状态响应。 + * @note 命令码 1022(0x03FE)。loadmap_status: 0=失败, 1=成功, 2=载入中。 + * 载入中(2)时禁止执行重定位操作。 + */ +message RobotQueryLoadMapStatusResult { + optional int32 loadmap_status = 1; ///< 0=失败, 1=成功, 2=载入中 + optional int32 ret_code = 2; ///< 返回码,0 表示成功 + optional string create_on = 3; ///< 时间戳 + optional string err_msg = 4; ///< 错误信息 +} + +/** + * @brief 查询地图载入状态命令(无请求数据)。 + */ +message RobotQueryLoadMapStatusCommand { + message Request { + CommandHeader.Request header = 1; + } + message Feedback { + CommandHeader.Feedback header = 1; + RobotQueryLoadMapStatusResult status = 2; + } +} + + +// ============================================================================ +// 12. 查询站点列表(命令码 1301, 0x0515) +// ============================================================================ + +/** + * @brief 单个站点信息。 + */ +message StationItem { + optional string id = 1; ///< 站点唯一 ID + optional string type = 2; ///< 站点类型(如 "LocationMark", "ChargePoint") + optional double x = 3; ///< X 坐标(米) + optional double y = 4; ///< Y 坐标(米) + optional double r = 5; ///< 朝向角(弧度) + optional string desc = 6; ///< 描述信息 + optional string executor = 7; ///< 执行器信息 + optional string prepoint = 8; ///< 前置点 ID + optional string recfile = 9; ///< 识别文件路径 + optional bool spin = 10; ///< 是否允许自旋 + optional bool use_down_pgv = 11; ///< 是否使用下视 PGV +} + +/** + * @brief 站点列表响应结果。 + */ +message QueryStationListResult { + repeated StationItem stations = 1; ///< 站点列表 + optional int32 ret_code = 2; ///< 返回码,0 表示成功 + optional string create_on = 3; ///< 时间戳 + optional string err_msg = 4; ///< 错误信息 +} + +/** + * @brief 查询站点列表命令(无请求数据)。 + */ +message QueryStationListCommand { + message Request { + CommandHeader.Request header = 1; + } + message Feedback { + CommandHeader.Feedback header = 1; + QueryStationListResult status = 2; + } +} + + +// ============================================================================ +// 13. 指定路径导航(命令码 3066, 0x0BFA) +// ============================================================================ + +/** + * @brief 单段导航任务单元。 + * @note 用于 3066 命令的 move_task_list 数组。 + * source_id 和 id 之间必须有直接路径,不可跳点。 + */ +message MoveTaskItem { + optional string task_id = 1; ///< 任务唯一 ID(必填) + optional string source_id = 2; ///< 起始站点 ID(必填) + optional string id = 3; ///< 目标站点 ID(必填) + optional string operation = 4; ///< 到达后执行的动作(如 "JackLoad") + optional double jack_height = 5; ///< 顶升高度(米) +} + +/** + * @brief 指定路径导航请求数据。 + */ +message RobotGoTargetListRequestData { + repeated MoveTaskItem move_task_list = 1; ///< 导航任务序列(顺序执行) +} + +/** + * @brief 指定路径导航响应结果。 + * @note ret_code=0 仅表示指令被接收,不表示执行完成。 + */ +message RobotGoTargetListResult { + optional int32 ret_code = 1; ///< 返回码,0 表示成功接收 + optional string create_on = 2; ///< 时间戳 + optional string err_msg = 3; ///< 错误信息 +} + +/** + * @brief 指定路径导航命令。 + */ +message RobotGoTargetListCommand { + message Request { + CommandHeader.Request header = 1; + RobotGoTargetListRequestData data = 2; + } + message Feedback { + CommandHeader.Feedback header = 1; + RobotGoTargetListResult status = 2; + } +} + + +// ============================================================================ +// 14. 查询当前实时导航状态(命令码 1020, 0x03FC) +// ============================================================================ + +/** + * @brief 1020 命令请求数据。 + */ +message RobotStatusTaskReqData { + optional bool simple = 1; ///< true=仅返回 task_status,false=全量 +} + +/** + * @brief 导航任务中的料箱信息。 + */ +message NavContainerItem { + optional string container_name = 1; ///< 料箱名称 + optional string desc = 2; ///< 描述 + optional string goods_id = 3; ///< 绑定的货物 ID + optional bool has_goods = 4; ///< 是否已绑定货物 +} + +/** + * @brief 1020 命令响应数据。 + */ +message RobotStatusTaskResData { + optional int32 task_status = 1; ///< 0=NONE, 1=WAITING, 2=RUNNING, 3=SUSPENDED, 4=COMPLETED, 5=FAILED, 6=CANCELED + optional int32 task_type = 2; ///< 0=无, 1=自由导航到坐标, 2=自由导航到站点, 3=路径导航到站点, 7=平动转动 + optional string target_id = 3; ///< 目标站点 ID(task_type 为 2/3 时) + repeated double target_point = 4; ///< 目标坐标 [x, y, r](task_type 为 1 时) + repeated string finished_path = 5; ///< 已经过的站点列表 + repeated string unfinished_path = 6; ///< 尚未经过的站点列表 + optional string move_status_info = 7; ///< 附加信息(如错误描述) + repeated NavContainerItem containers = 8; ///< 料箱信息 + optional int32 ret_code = 9; ///< 返回码,0 表示成功 + optional string create_on = 10; ///< 时间戳 + optional string err_msg = 11; ///< 错误信息 +} + +/** + * @brief 查询当前导航状态命令。 + */ +message RobotStatusTaskCurrentCommand { + message Request { + CommandHeader.Request header = 1; + RobotStatusTaskReqData data = 2; + } + message Feedback { + CommandHeader.Feedback header = 1; + RobotStatusTaskResData data = 2; + } +} + + +// ============================================================================ +// 15. 批量查询任务状态(命令码 1110, 0x0456) +// ============================================================================ + +/** + * @brief 1110 命令请求数据。 + */ +message QueryTaskStatusPackageReqData { + repeated string task_ids = 1; ///< 要查询的任务 ID 列表;为空则查所有未完成 + 最近一条完成 +} + +/** + * @brief 单条任务状态项。 + */ +message SingleTaskStatusItem { + optional string task_id = 1; ///< 任务 ID + optional int32 status = 2; ///< 状态码(同 task_status) + optional int32 type = 3; ///< 任务类型(同 task_type) +} + +/** + * @brief 任务状态包(包含最近完成和所有未完成的任务)。 + */ +message TaskStatusPackage { + optional string closest_target = 1; ///< 最近站点 ID + optional string source_name = 2; ///< 起点站点名称 + optional string target_name = 3; ///< 终点站点名称 + optional double percentage = 4; ///< 任务进度百分比(0~100) + optional double distance = 5; ///< 剩余距离(米) + optional string info = 6; ///< 附加信息 + repeated SingleTaskStatusItem task_status_list = 7; ///< 所有任务状态列表 +} + +/** + * @brief 1110 命令响应数据。 + */ +message QueryTaskStatusPackageResData { + optional TaskStatusPackage task_status_package = 1; ///< 任务状态包 + optional int32 ret_code = 2; ///< 返回码,0 表示成功 + optional string create_on = 3; ///< 时间戳 + optional string err_msg = 4; ///< 错误信息 +} + +/** + * @brief 批量查询任务状态命令。 + */ +message RobotStatusTaskPackageCommand { + message Request { + CommandHeader.Request header = 1; + QueryTaskStatusPackageReqData data = 2; + } + message Feedback { + CommandHeader.Feedback header = 1; + QueryTaskStatusPackageResData data = 2; + } +} + + +// ============================================================================ +// 16. 单点站点自动规划导航(命令码 3051, 0x0BEB) +// ============================================================================ + +/** + * @brief DI(数字输入)点位。 + */ +message DIItem { + int32 id = 1; ///< DI 编号 + bool status = 2; ///< 状态(true=高电平, false=低电平) +} + +/** + * @brief DO(数字输出)点位。 + */ +message DOItem { + int32 id = 1; ///< DO 编号 + bool status = 2; ///< 状态(true=高电平, false=低电平) +} + +/** + * @brief 音频播放参数。 + */ +message SoundArgs { + optional string name = 1; ///< 音频文件名 + optional int32 loop = 2; ///< 循环次数(0=播放一次, 1=循环) + optional int32 stop = 3; ///< 1=停止播放 +} + +/** + * @brief WaitDI 动作参数。 + */ +message WaitDIArgs { + repeated DIItem DI = 1; ///< 需要等待的 DI 条件列表 + optional double timeout = 2; ///< 超时时间(秒),0 表示无限等待 +} + +/** + * @brief SetDO 动作参数。 + */ +message SetDOArgs { + repeated DOItem do_list = 1; ///< 要设置的 DO 列表 +} + +/** + * @brief PGV(二维码)二次定位参数。 + */ +message PgvParam { + optional bool use_pgv = 1; ///< 是否使用上视 PGV + optional bool use_down_pgv = 2; ///< 是否使用下视 PGV + optional double pgv_adjust_dist = 3; ///< 最大调整半径(米) + optional double pgv_adjust_cx = 4; ///< 二维码坐标系 X 偏移(米) + optional double pgv_adjust_cy = 5; ///< 二维码坐标系 Y 偏移(米) + optional double pgv_x_adjust = 6; ///< 仅调整 X 方向误差(米) +} + +/** + * @brief 自由导航目标点(坐标 + 朝向)。 + */ +message FreeGoPoint { + double x = 1; ///< X 坐标(米) + double y = 2; ///< Y 坐标(米) + double theta = 3; ///< 朝向角(弧度) +} + +/** + * @brief 脚本自定义参数。 + */ +message ScriptArgs { + map str_kv = 1; ///< 字符串键值对 + map num_kv = 2; ///< 数字键值对 + repeated DOItem do_list = 3; ///< DO 列表 + repeated DIItem di_list = 4; ///< DI 列表 +} + +/** + * @brief 3051 命令请求数据(单点站点自动规划导航)。 + * @warning 严禁用于多车调度场景,仅限单车测试/验证。 + * 下发此任务会取消当前正在执行的任务(不排队)。 + * 成功下发后会自动清除指定的 warning/error 报错码。 + * 自由导航(freego)仅支持双轮差速底盘。 + */ +message RobotGoTargetReqData { + // -------- 必填字段 -------- + string source_id = 1; ///< 起始站点 ID("SELF_POSITION" 表示当前位置) + string id = 2; ///< 目标站点 ID("SELF_POSITION" 表示原地执行 operation) + optional string task_id = 3; ///< 任务 ID(建议提供) + + // -------- 运动通用参数 -------- + optional double angle = 4; ///< 目标点朝向角(弧度) + optional string method = 5; ///< "forward"(正走)或 "backward"(倒走) + optional double max_speed = 6; ///< 最大线速度(m/s),0 使用默认 + optional double max_wspeed = 7; ///< 最大角速度(rad/s) + optional double max_acc = 8; ///< 最大加速度(m/s²) + optional double max_wacc = 9; ///< 最大角加速度(rad/s²) + optional int64 duration = 10; ///< 到达后等待时间(毫秒) + optional int32 orientation = 11; ///< 全向车保持的角度(暂不使用) + optional bool spin = 12; ///< 是否随动(托盘旋转) + optional int64 delay = 13; ///< 延迟结束导航状态(毫秒),缺省 0 + optional int32 start_rot_dir = 14; ///< 起步旋转方向:-1=顺时针, 0=就近, 1=逆时针 + optional int32 end_rot_dir = 15; ///< 到点旋转方向:-1=顺时针, 0=就近, 1=逆时针 + optional double reach_dist = 16; ///< 到点位置精度(米) + optional double reach_angle = 17; ///< 到点角度精度(弧度) + optional string skill_name = 18; ///< 技能名称:"Action" 或 "GotoSpecifiedPose" + + // -------- PGV -------- + optional PgvParam pgv = 19; ///< 二次定位参数 + + // -------- 设备动作 -------- + optional string operation = 20; ///< 操作类型(JackLoad/ForkUnload/RollerLoad/HookLoad/WaitDI/SetDO/sound/Script 等) + optional double jack_height = 21; ///< 顶升高度(米) + optional double start_height = 22; ///< 货叉起步前举升高度(米) + optional double end_height = 23; ///< 货叉到点后举升高度(米) + optional double fork_mid_height = 24; ///< 货叉行走过程中举升高度(米) + optional double fork_dist = 25; ///< 货叉前移距离(米) + optional string direction = 26; ///< 方向:"left"/"right"/"front"/"back" + optional bool recognize = 27; ///< 是否启用视觉识别 + optional string recfile = 28; ///< 识别文件路径(如 "shelf/s0002.shelf") + + // -------- 音频 -------- + optional SoundArgs sounds_args = 29; ///< 音频参数 + + // -------- WaitDI / SetDO -------- + optional WaitDIArgs wait_di_args = 30; ///< WaitDI 参数 + optional SetDOArgs set_do_args = 31; ///< SetDO 参数 + + // -------- 脚本 -------- + optional string script_name = 32; ///< 脚本文件名 + optional ScriptArgs script_args = 33; ///< 脚本参数 + optional int32 script_stage = 34; ///< 执行阶段:0=导航前, 1=导航中, 2=导航后, 3=脚本控制导航 + + // -------- 原地旋转(GoByOdometer) -------- + optional double move_angle = 35; ///< 旋转角度(弧度) + optional double speed_w = 36; ///< 旋转角速度(rad/s) + optional int32 loc_mode = 37; ///< 定位模式:1=激光定位, 0=里程定位 + + // -------- 自由导航(仅双轮差速) -------- + optional FreeGoPoint freego = 38; ///< 自由导航目标(若提供则忽略 id 字段) +} + +/** + * @brief 3051 命令响应数据。 + */ +message RobotGoTargetResData { + optional int32 ret_code = 1; ///< 返回码,0 表示成功接收 + optional string create_on = 2; ///< 时间戳 + optional string err_msg = 3; ///< 错误信息 +} + +/** + * @brief 单点导航命令。 + */ +message RobotGoTargetCommand { + message Request { + CommandHeader.Request header = 1; + RobotGoTargetReqData data = 2; + } + message Feedback { + CommandHeader.Feedback header = 1; + RobotGoTargetResData data = 2; + } +} + + +// ============================================================================ +// 17. 停止开环运动(命令码 2000, 0x07D0) +// ============================================================================ + +/** + * @brief 停止开环运动请求数据(无业务字段)。 + * @note 命令码 2000(0x07D0)。下发零速度指令,终止当前持续运动。 + */ +message RobotControlStopRequestData +{ +} + +/** + * @brief 停止开环运动响应结果。 + */ +message RobotControlStopResult +{ + optional int32 ret_code = 1; ///< 返回码,0 表示成功 + optional string create_on = 2; ///< 时间戳 + optional string err_msg = 3; ///< 错误信息 +} + +/** + * @brief 停止开环运动命令。 + */ +message RobotControlStopCommand +{ + message Request + { + CommandHeader.Request header = 1; + RobotControlStopRequestData data = 2; + } + message Feedback + { + CommandHeader.Feedback header = 1; + RobotControlStopResult status = 2; + } +} + + +// ============================================================================ +// 18. 暂停/继续/取消导航任务(命令码 3001/3002/3003) +// ============================================================================ + +/** + * @brief 暂停当前导航任务(命令码 3001, 0x0BB9)。 + * @note 请求无业务数据。 + */ +message RobotTaskPauseCommand { + message Request { + CommandHeader.Request header = 1; + // 无 data 字段 + } + message Feedback { + CommandHeader.Feedback header = 1; + /** + * @brief 暂停结果。 + */ + message Result { + optional int32 ret_code = 1; ///< 返回码,0 表示成功 + optional string create_on = 2; ///< 时间戳 + optional string err_msg = 3; ///< 错误信息 + } + Result status = 2; + } +} + +/** + * @brief 继续当前导航任务(命令码 3002, 0x0BBA)。 + * @note 请求无业务数据。 + */ +message RobotTaskResumeCommand { + message Request { + CommandHeader.Request header = 1; + // 无 data 字段 + } + message Feedback { + CommandHeader.Feedback header = 1; + /** + * @brief 继续结果。 + */ + message Result { + optional int32 ret_code = 1; ///< 返回码,0 表示成功 + optional string create_on = 2; ///< 时间戳 + optional string err_msg = 3; ///< 错误信息 + } + Result status = 2; + } +} + +/** + * @brief 取消当前导航任务(命令码 3003, 0x0BBB)。 + * @note 请求无业务数据。 + */ +message RobotTaskCancelCommand { + message Request { + CommandHeader.Request header = 1; + // 无 data 字段 + } + message Feedback { + CommandHeader.Feedback header = 1; + /** + * @brief 取消结果。 + */ + message Result { + optional int32 ret_code = 1; ///< 返回码,0 表示成功 + optional string create_on = 2; ///< 时间戳 + optional string err_msg = 3; ///< 错误信息 + } + Result status = 2; + } +} \ No newline at end of file diff --git a/server/proto/cmvr/api/agv_service.proto b/server/proto/cmvr/api/agv_service.proto new file mode 100644 index 0000000..f914197 --- /dev/null +++ b/server/proto/cmvr/api/agv_service.proto @@ -0,0 +1,74 @@ +/** + * @file agv_service.proto + * @brief 定义AGV服务的gRPC接口,聚合所有AGV相关命令。 + * 服务端实现类为 gRPCAGVServiceImpl。 + */ +syntax = "proto3"; + +import "cmvr/api/agv_command.proto"; + +package cmvr.api; + +service AgvService { + // 基本控制 + rpc GetStatusInfo(GetAgvStatusInfoCommand.Request) returns (GetAgvStatusInfoCommand.Feedback); + + rpc GetBatteryStatus(RobotStatusBatteryCommand.Request) returns (RobotStatusBatteryCommand.Feedback); + + rpc GetRobotLocation(RobotStatusLocCommand.Request) returns (RobotStatusLocCommand.Feedback); + + rpc RobotConfigDownloadMap(RobotConfigDownloadMapCommand.Request) returns (RobotConfigDownloadMapCommand.Feedback); + + + rpc GetMapStatus(RobotStatusMapCommand.Request) returns (RobotStatusMapCommand.Feedback); + + + rpc RobotConfigUploadMap(RobotConfigUploadMapCommand.Request) returns (RobotConfigUploadMapCommand.Feedback); + + // 抢占机器人控制权 + rpc RobotConfigLock(RobotConfigLockCommand.Request) returns (RobotConfigLockCommand.Feedback); + + // 查询当前控制权所有者 + rpc GetCurrentLockStatus(RobotStatusCurrentLockCommand.Request) returns (RobotStatusCurrentLockCommand.Feedback); + + // 开环速度运动控制 + rpc RobotMotionControl(RobotMotionControlCommand.Request) returns (RobotMotionControlCommand.Feedback); + + // 切换载入地图 命令码2022 + rpc RobotLoadMap(RobotLoadMapCommand.Request) returns (RobotLoadMapCommand.Feedback); + + + // 查询地图载入状态 命令码1022 + rpc QueryLoadMapStatus(RobotQueryLoadMapStatusCommand.Request) returns (RobotQueryLoadMapStatusCommand.Feedback); + + + // 查询当前地图站点列表 命令码1301 + rpc QueryStationList(QueryStationListCommand.Request) returns (QueryStationListCommand.Feedback); + + + // 指定路径导航 命令码3066 + rpc RobotGoTargetList(RobotGoTargetListCommand.Request) returns (RobotGoTargetListCommand.Feedback); + + // 查询当前导航状态 1020 robot_status_task_req + // 1020 查询当前实时导航 robot_status_task_req + rpc RobotStatusTaskCurrent(RobotStatusTaskCurrentCommand.Request) returns (RobotStatusTaskCurrentCommand.Feedback); + + // 批量查询任务状态 1110 robot_status_task_status_package_req + rpc RobotStatusTaskPackage(RobotStatusTaskPackageCommand.Request) returns (RobotStatusTaskPackageCommand.Feedback); + + + // 3051 单点站点自动规划导航 robot_task_gotarget_req 0x0BEB + rpc RobotGoTarget(RobotGoTargetCommand.Request) returns (RobotGoTargetCommand.Feedback); + + + + // 0x07D0 停止开环运动 + rpc RobotControlStop(RobotControlStopCommand.Request) returns (RobotControlStopCommand.Feedback); + + // 暂停当前导航任务 命令码 3001 (0x0BB9) + rpc RobotTaskPause(RobotTaskPauseCommand.Request) returns (RobotTaskPauseCommand.Feedback); + // 继续当前导航任务 命令码 3002 (0x0BBA) + rpc RobotTaskResume(RobotTaskResumeCommand.Request) returns (RobotTaskResumeCommand.Feedback); + // 取消当前导航任务 命令码 3003 (0x0BBB) + rpc RobotTaskCancel(RobotTaskCancelCommand.Request) returns (RobotTaskCancelCommand.Feedback); +} \ No newline at end of file diff --git a/server/proto/cmvr/api/common.proto b/server/proto/cmvr/api/common.proto new file mode 100644 index 0000000..accb936 --- /dev/null +++ b/server/proto/cmvr/api/common.proto @@ -0,0 +1,43 @@ +syntax = "proto3"; + +package cmvr.api; + +import "google/protobuf/timestamp.proto"; + +message DeviceLifecycle { + enum Lifecycle { + STATE_INIT = 0; + STATE_READY = 1; + STATE_RUNNING = 2; + STATE_ERROR = 3; + STATE_ESTOP = 4; + STATE_STOP = 5; + } + Lifecycle state = 1; +} + +message CommandHeader { + message Request { + string device_id = 1; // 目标设备名称 + google.protobuf.Timestamp timestamp = 2; // 请求时间 + } + + message Feedback { + bool success = 1; // 是否成功 + string error_message = 2; // 错误信息(成功时为空) + google.protobuf.Timestamp timestamp = 3; // 回复时间 + } +} + +message ConfigParam { + + string param_name = 1; + + oneof param_value { + int32 int_value = 2; // 整数类型 + double double_value = 3; // 浮点数类型 + string string_value = 4; // 字符串类型 + bool bool_value = 5; // 布尔类型 + bytes bytes_value = 6; // 二进制数据类型 + } +} diff --git a/src/App.vue b/src/App.vue new file mode 100644 index 0000000..ad7faf7 --- /dev/null +++ b/src/App.vue @@ -0,0 +1,12 @@ + + + + + \ No newline at end of file diff --git a/src/api/agv.js b/src/api/agv.js new file mode 100644 index 0000000..1d0111c --- /dev/null +++ b/src/api/agv.js @@ -0,0 +1,35 @@ +const fetchFn = async (url, params = {}, method = 'GET', headers = { 'Content-Type': 'application/json' }) => { + const res = await fetch(url, { + method: method, + headers: headers, + body: JSON.stringify(params) + }) + + const data = await res.json() + return data +} + +/** + * 机器人前往目标站点 + * @param {Object} params + * @param {string} [params.deviceId] - 设备ID,默认 agv_src1100 + */ +export function getCurrentMapName(params) { + return fetchFn('/api/agv/getCurrentMapName', params, 'POST') +} + +export function getCurrentMap(params) { + return fetchFn('/api/agv/getCurrentMap', params, 'POST') +} + +export function getRobotState(params) { + return fetchFn('/api/agv/getRobotState', params, 'POST') +} + +export function moveRobot(params) { + return fetchFn('/api/agv/moveRobot', params, 'POST') +} + +export function stopRobot(params) { + return fetchFn('/api/agv/stopRobot', params, 'POST') +} \ No newline at end of file diff --git a/src/assets/hero.png b/src/assets/hero.png new file mode 100644 index 0000000000000000000000000000000000000000..02251f4b956c55af2d76fd0788124d7eee2b45eb GIT binary patch literal 13057 zcmV+cGycqpP)V|)f$;Qooc7=_G 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a/src/assets/icons/vite.svg b/src/assets/icons/vite.svg new file mode 100644 index 0000000..5101b67 --- /dev/null +++ b/src/assets/icons/vite.svg @@ -0,0 +1 @@ +Vite diff --git a/src/assets/icons/zoom-in.svg b/src/assets/icons/zoom-in.svg new file mode 100644 index 0000000..ffa20bd --- /dev/null +++ b/src/assets/icons/zoom-in.svg @@ -0,0 +1,7 @@ + + + + + + + diff --git a/src/assets/icons/zoom-out.svg b/src/assets/icons/zoom-out.svg new file mode 100644 index 0000000..451be83 --- /dev/null +++ b/src/assets/icons/zoom-out.svg @@ -0,0 +1,6 @@ + + + + + + diff --git a/src/assets/vite.svg b/src/assets/vite.svg new file mode 100644 index 0000000..5101b67 --- /dev/null +++ b/src/assets/vite.svg @@ -0,0 +1 @@ +Vite diff --git a/src/assets/vue.svg b/src/assets/vue.svg new file mode 100644 index 0000000..770e9d3 --- /dev/null +++ b/src/assets/vue.svg @@ -0,0 +1 @@ + \ No newline at end of file diff --git a/src/main.js b/src/main.js new file mode 100644 index 0000000..1c845fc --- /dev/null +++ b/src/main.js @@ -0,0 +1,16 @@ +import { createApp } from 'vue' +import './style.css' +import App from './App.vue' +import router from '@/router' +import { createPinia } from 'pinia' +import piniaPluginPersistedstate from 'pinia-plugin-persistedstate' + +// 创建pinia实例 +const pinia = createPinia() +// 持久化插件 +pinia.use(piniaPluginPersistedstate) + +createApp(App) +.use(pinia) +.use(router) +.mount('#app') diff --git a/src/router/index.js b/src/router/index.js new file mode 100644 index 0000000..ab3a095 --- /dev/null +++ b/src/router/index.js @@ -0,0 +1,22 @@ +import { createRouter, createWebHistory } from 'vue-router' +// 页面组件 +import Home from '@/views/Home.vue' + +const routes = [ + { + path: '/', + redirect: '/home' + }, + { + path: '/home', + name: 'Home', + component: Home + }, +] + +const router = createRouter({ + history: createWebHistory(import.meta.env.BASE_URL), + routes +}) + +export default router \ No newline at end of file diff --git a/src/stores/robot.js b/src/stores/robot.js new file mode 100644 index 0000000..ca78500 --- /dev/null +++ b/src/stores/robot.js @@ -0,0 +1,41 @@ +import { defineStore } from 'pinia' + +// 唯一id:robot +export const useRobotStore = defineStore('robot', { + state: () => ({ + ip: '192.168.0.100:50052', + position: { x: 0, y: 0, angle: 0 }, + battery: 100, + status: 'idle' + }), + getters: { + // 获取机器人坐标 + getPos(state) { + return `X:${state.position.x} Y:${state.position.y}` + }, + isLowPower(state) { + return state.battery < 20 + } + }, + actions: { + setIp(str) { + this.ip = str + }, + // 更新机器人位置 + setPosition(x, y, angle) { + this.position.x = x + this.position.y = y + this.position.angle = angle + }, + // 修改状态 + setStatus(val) { + this.status = val + }, + // 重置仓库 + resetRobot() { + this.$reset() + } + }, + // 开启本地存储 + persist: true +}) \ No newline at end of file diff --git a/src/style.css b/src/style.css new file mode 100644 index 0000000..84a4633 --- /dev/null +++ b/src/style.css @@ -0,0 +1,9 @@ +* { + padding: 0; + margin: 0; +} + +html,body, #app { + width: 100%; + height: 100%; +} \ No newline at end of file diff --git a/src/styles/vars.scss b/src/styles/vars.scss new file mode 100644 index 0000000..f38d2a7 --- /dev/null +++ b/src/styles/vars.scss @@ -0,0 +1,42 @@ +// 全局自定义变量 +$primary: #409eff; + +$text: #c0cfdf; +$text-dim: #475a72; +$text-bright:#e8f0f8; +$text-gray: #666; + +$bg-deep: #060a12; +$bg-body: #0a0f1a; +$bg-card: #0f1628; +$bg-card-hi: #141d32; +$border: rgba(0,195,255,0.08); +$border-hi: rgba(0,195,255,0.22); +$accent: #00c3ff; +$accent-dim: rgba(0,195,255,0.14); +$danger: #ff2d55; +$success: #00e676; + +$font-h: 'Rajdhani', sans-serif; +$font-b: 'Noto Sans SC', 'PingFang SC', sans-serif; +$font-m: 'JetBrains Mono', monospace; +$radius: 10px; +$topbar-bg: #1e2a3a; +$topbar-text: #a8b2c7; +$transition: 0.25s ease; +$shadow: 0 2px 12px rgba(0, 0, 0, 0.06); +$text-secondary: #606266; +$border-light: #f0f2f5; +$text-primary: #2c3e50; +$text-muted: #909399; +$radius-sm: 6px; +$primary-dark: #337ecc; +$border-color: #e4e7ed; + + +// 自定义混合 +@mixin flex-center { + display: flex; + align-items: center; + justify-content: center; +} \ No newline at end of file diff --git a/src/views/Home.vue b/src/views/Home.vue new file mode 100644 index 0000000..fab2c4c --- /dev/null +++ b/src/views/Home.vue @@ -0,0 +1,189 @@ + + + + \ No newline at end of file diff --git a/src/views/MechanicalArm.vue b/src/views/MechanicalArm.vue new file mode 100644 index 0000000..be53861 --- /dev/null +++ b/src/views/MechanicalArm.vue @@ -0,0 +1,385 @@ + + + + + \ No newline at end of file diff --git a/src/views/chassis/Chassis.vue b/src/views/chassis/Chassis.vue new file mode 100644 index 0000000..1d6c032 --- /dev/null +++ b/src/views/chassis/Chassis.vue @@ -0,0 +1,556 @@ + + + + + \ No newline at end of file diff --git a/src/views/chassis/MapCanvas.vue b/src/views/chassis/MapCanvas.vue new file mode 100644 index 0000000..861f11f --- /dev/null +++ b/src/views/chassis/MapCanvas.vue @@ -0,0 +1,491 @@ + + + + + \ No newline at end of file diff --git a/src/views/chassis/canvasUtils.js b/src/views/chassis/canvasUtils.js new file mode 100644 index 0000000..b85e588 --- /dev/null +++ b/src/views/chassis/canvasUtils.js @@ -0,0 +1,614 @@ +/** + * 6位十六进制颜色字符串转为 CSS rgba 字符串 + * @param {string} hex - 如 "#ff6e40" + * @param {number} alpha - 透明度 0~1 + * @returns {string} CSS rgba 字符串 + */ +function hexToCssRgba(hexString, alpha) { + const r = parseInt(hexString.slice(1, 3), 16); // 提取 R 分量 + const g = parseInt(hexString.slice(3, 5), 16); // 提取 G 分量 + const b = parseInt(hexString.slice(5, 7), 16); // 提取 B 分量 + return `rgba(${r},${g},${b},${alpha})`; +} + +/** + * 将世界坐标转换为 Canvas 屏幕像素坐标 + * 注意:世界坐标 Y 轴向上,Canvas Y 轴向下,因此需要翻转 + * @param {number} worldX - 世界坐标 X(米) + * @param {number} worldY - 世界坐标 Y(米) + * @returns {{x: number, y: number}} Canvas 上的屏幕像素坐标 + */ +export const worldToScreen = (worldX, worldY, dataStore) => { + const store = dataStore ; + const camera = store.camera + const screenX = (worldX - camera.centerX) * camera.pixelsPerMeter + store.canvasWidthPx / 2; // 水平偏移 + 居中 + const screenY = -(worldY - camera.centerY) * camera.pixelsPerMeter + store.canvasHeightPx / 2; // 垂直翻转 + 居中 + return { x: screenX, y: screenY }; +}; + +/** + * 将 Canvas 屏幕像素坐标反算为世界坐标 + * 与 worldToScreen 互为逆运算 + * @param {number} screenX - Canvas 像素 X + * @param {number} screenY - Canvas 像素 Y + * @returns {{x: number, y: number}} 世界坐标(米) + */ +export const screenToWorld = (screenX, screenY, dataStore) => { + const store = dataStore ; + const camera = store.camera; + const worldX = (screenX - store.canvasWidthPx / 2) / camera.pixelsPerMeter + camera.centerX; // 水平反算 + const worldY = -(screenY - store.canvasHeightPx / 2) / camera.pixelsPerMeter + camera.centerY; // 垂直反算(带翻转) + return { x: worldX, y: worldY }; +}; + + +/** + * 0xAARRGGBB 整数颜色解码为 {r, g, b, a} 对象 + * @param {number} argbInt - 32位 ARGB 整数,如 0xCCFF0040 + * @returns {{r:number, g:number, b:number, a:number}|null} RGBA 分量 (0~255),无效输入返回 null + */ +export const decodeArgbInteger = (argbInt) => { + if (typeof argbInt !== 'number') return null; // 非数字类型直接返回 + return { + a: (argbInt >>> 24) & 0xFF, // 高8位:Alpha 透明度 + r: (argbInt >>> 16) & 0xFF, // 次高8位:Red + g: (argbInt >>> 8) & 0xFF, // 次低8位:Green + b: argbInt & 0xFF, // 低8位:Blue + }; +} + +/** + * 将 decodeArgbInteger 的结果转为 CSS rgba() 字符串 + * @param {{r,g,b,a}} colorObj - RGBA 分量对象 + * @param {number} [alphaOverride] - 可选,覆盖 alpha 值(0~1) + * @returns {string|null} CSS rgba 字符串,如 "rgba(255,0,64,0.3)" + */ +export const toCssRgba = (colorObj, alphaOverride) => { + if (!colorObj) return null; // 空对象返回 null + const alpha = alphaOverride !== undefined // 如果提供了覆盖值 + ? alphaOverride // 使用覆盖值 + : colorObj.a / 255; // 否则将 0~255 映射到 0~1 + return `rgba(${colorObj.r},${colorObj.g},${colorObj.b},${alpha})`; +} + +/** + * 栅格底图绘制函数 + * 将预渲染的离屏 Canvas 图像绘制到主 Canvas 上,并根据当前地图范围进行缩放和平移 + * @param {*} canvasCtx + * @param {*} map + * @param {*} gridOffscreen + */ +export const drawGrid = (canvasCtx, map, dataStore) => { + const store = dataStore ; + const topLeftScreen = worldToScreen(map.originX, map.maxY, store); // 图像左上角(世界坐标→屏幕) + const bottomRightScreen = worldToScreen(map.maxX, map.originY, store); // 图像右下角(世界坐标→屏幕) + canvasCtx.imageSmoothingEnabled = false; // 关闭抗锯齿(保持像素清晰) + canvasCtx.drawImage( + store.gridOffscreen, // 离屏 Canvas 图像源 + topLeftScreen.x, topLeftScreen.y, // 目标左上角 + bottomRightScreen.x - topLeftScreen.x, // 目标宽度 + bottomRightScreen.y - topLeftScreen.y // 目标高度 + ); +} + +/** + * 网格辅助线(每1米一条) + * @param {*} canvasCtx + * @param {*} canvasWidthPx + * @param {*} canvasHeightPx + */ +export const drawGridlines = (canvasCtx, dataStore) => { + // 计算当前可视范围的世界坐标 + const store = dataStore ; + const viewTopLeft = screenToWorld(0, 0, store); // 视口左上角世界坐标 + const viewBottomRight = screenToWorld(store.canvasWidthPx, store.canvasHeightPx, store); // 视口右下角世界坐标 + const viewMinX = Math.floor(Math.min(viewTopLeft.x, viewBottomRight.x)); // 可视X最小整数 + const viewMaxX = Math.ceil(Math.max(viewTopLeft.x, viewBottomRight.x)); // 可视X最大整数 + const viewMinY = Math.floor(Math.min(viewTopLeft.y, viewBottomRight.y)); // 可视Y最小整数 + const viewMaxY = Math.ceil(Math.max(viewTopLeft.y, viewBottomRight.y)); // 可视Y最大整数 + + // 绘制1米间隔的浅色网格线 + canvasCtx.strokeStyle = 'rgba(30,50,80,0.25)'; // 淡蓝灰色 + canvasCtx.lineWidth = 0.5; // 细线 + canvasCtx.beginPath(); + for (let worldX = viewMinX; worldX <= viewMaxX; worldX++) { // 逐列绘制垂直线 + const screenPos = worldToScreen(worldX, 0, store); + canvasCtx.moveTo(screenPos.x, 0); // 从画布顶部 + canvasCtx.lineTo(screenPos.x, store.canvasHeightPx); // 到画布底部 + } + for (let worldY = viewMinY; worldY <= viewMaxY; worldY++) { // 逐行绘制水平线 + const screenPos = worldToScreen(0, worldY, store); + canvasCtx.moveTo(0, screenPos.y); // 从画布左边 + canvasCtx.lineTo(store.canvasWidthPx, screenPos.y); // 到画布右边 + } + canvasCtx.stroke(); +} + +/** + * 绘制高级区域列表 + * @param {*} canvasCtx + * @param {*} map + * @param {*} dataStore + */ +export const drawAdvancedAreaList = (canvasCtx, map, dataStore) => { + const store = dataStore ; + for (let areaIndex = 0; areaIndex < map.advancedAreas.length; areaIndex++) { + const area = map.advancedAreas[areaIndex]; // 当前区域 + const vertices = area.posGroup || []; // 多边形顶点数组 + if (vertices.length < 3) continue; // 少于3个顶点无法构成多边形,跳过 + + // ── 颜色:优先使用 attribute 中的 ARGB 整数,否则用默认品红色 ── + let fillColorCss = 'rgba(224,64,251,0.12)'; // 默认填充(品红半透明) + let strokeColorCss = 'rgba(224,64,251,0.5)'; // 默认描边(品红较不透明) + if (area.attribute) { + const brushColor = decodeArgbInteger(area.attribute.colorBrush); // 解码填充色 + const penColor = decodeArgbInteger(area.attribute.colorPen); // 解码描边色 + if (brushColor) { + // 使用原始 alpha 值的一半作为填充透明度,最小 0.06 + fillColorCss = toCssRgba(brushColor, Math.max(0.06, (brushColor.a / 255) * 0.5)); + } + if (penColor) { + strokeColorCss = toCssRgba(penColor, 0.6); // 描边60%不透明 + } + } + + // ── 绘制多边形 ── + canvasCtx.fillStyle = fillColorCss; // 设置填充色 + canvasCtx.strokeStyle = strokeColorCss; // 设置描边色 + canvasCtx.lineWidth = 1.2; // 描边宽度 + canvasCtx.beginPath(); + const firstVertexScreen = worldToScreen(vertices[0].x, vertices[0].y, store); // 第一个顶点的屏幕位置 + canvasCtx.moveTo(firstVertexScreen.x, firstVertexScreen.y); // 移动到起点 + for (let i = 1; i < vertices.length; i++) { // 依次连接后续顶点 + const vertexScreen = worldToScreen(vertices[i].x, vertices[i].y, store); + canvasCtx.lineTo(vertexScreen.x, vertexScreen.y); + } + canvasCtx.closePath(); // 闭合路径 + canvasCtx.fill(); // 填充 + canvasCtx.stroke(); // 描边 + + // ── 在多边形质心处绘制区域名称标签 ── + let centroidWorldX = 0, centroidWorldY = 0; // 质心世界坐标 + for (const v of vertices) { centroidWorldX += v.x; centroidWorldY += v.y; } // 累加顶点坐标 + centroidWorldX /= vertices.length; // 求平均得到质心 X + centroidWorldY /= vertices.length; // 求平均得到质心 Y + const centroidScreen = worldToScreen(centroidWorldX, centroidWorldY, store); + canvasCtx.font = '500 8px "JetBrains Mono"'; // 标签字体 + canvasCtx.fillStyle = strokeColorCss; // 与描边同色 + canvasCtx.textAlign = 'center'; // 居中对齐 + canvasCtx.fillText(area.instanceName || '', centroidScreen.x, centroidScreen.y + 3); // 绘制文字 + } +}; + +/** + * 绘制高级线列表 + * @param {*} canvasCtx + * @param {*} map + */ +export const drawAdvancedLineList = (canvasCtx, map, dataStore) => { + const store = dataStore ; + for (let advLineIndex = 0; advLineIndex < map.advancedLines.length; advLineIndex++) { + const advLine = map.advancedLines[advLineIndex]; // 当前高级线 + const lineData = advLine.line; // 内部的 line 对象 + if (!lineData || !lineData.startPos || !lineData.endPos) continue; // 缺少端点则跳过 + + const startScreen = worldToScreen(lineData.startPos.x, lineData.startPos.y, store); + const endScreen = worldToScreen(lineData.endPos.x, lineData.endPos.y, store); + + // ── 根据 className 决定颜色和线型 ── + let lineColorHex = '#ff6e40'; // 默认橙色 + let lineDashPattern = []; // 默认实线(无虚线) + const classNameLower = (advLine.className || '').toLowerCase(); + if (classNameLower.includes('forbidden')) { // 禁行线 → 红色虚线 + lineColorHex = '#ff1744'; + lineDashPattern = [8, 4]; // 虚线模式:8px实 4px空 + } else if (classNameLower.includes('virtual')) { // 虚拟线 → 橙色虚线 + lineColorHex = '#ffab40'; + lineDashPattern = [4, 4]; + } + + // 绘制高级线 + canvasCtx.save(); + canvasCtx.shadowColor = lineColorHex; // 辉光色与线条同色 + canvasCtx.shadowBlur = 4; // 辉光半径 + canvasCtx.strokeStyle = lineColorHex; // 线条颜色 + canvasCtx.lineWidth = 2.5; // 线宽(比基础线粗) + canvasCtx.setLineDash(lineDashPattern); // 设置虚线模式 + canvasCtx.globalAlpha = 0.8; // 80%不透明 + canvasCtx.beginPath(); + canvasCtx.moveTo(startScreen.x, startScreen.y); + canvasCtx.lineTo(endScreen.x, endScreen.y); + canvasCtx.stroke(); + canvasCtx.setLineDash([]); // 恢复实线 + canvasCtx.restore(); + + // 在中点绘制名称标签 + // const midpointScreenX = (startScreen.x + endScreen.x) / 2; + // const midpointScreenY = (startScreen.y + endScreen.y) / 2; + // canvasCtx.font = '500 8px "JetBrains Mono"'; + // canvasCtx.fillStyle = hexToCssRgba(lineColorHex, 0.55); // 55%不透明的文字 + // canvasCtx.textAlign = 'center'; + // canvasCtx.fillText(advLine.instanceName || advLine.className || '', midpointScreenX, midpointScreenY - 6); + } +}; + +/** + * 绘制基础直线列表 + * @param {*} canvasCtx + * @param {*} map + * @param {*} dataStore + */ +export const drawNormalLines = (canvasCtx, map, dataStore) => { + const store = dataStore ; + for (let lineIndex = 0; lineIndex < map.normalLines.length; lineIndex++) { + const line = map.normalLines[lineIndex]; // 当前直线 + const startScreen = worldToScreen(line.startPos.x, line.startPos.y, store); // 起点屏幕位置 + const endScreen = worldToScreen(line.endPos.x, line.endPos.y, store); // 终点屏幕位置 + + // 绘制发光直线 + canvasCtx.save(); + canvasCtx.shadowColor = '#00e5ff'; // 阴影颜色(产生辉光) + canvasCtx.shadowBlur = 5; // 辉光扩散半径 + canvasCtx.strokeStyle = '#00e5ff'; // 线条颜色:青色 + canvasCtx.lineWidth = 2; // 线宽 + canvasCtx.globalAlpha = 0.8; // 80%不透明 + canvasCtx.beginPath(); + canvasCtx.moveTo(startScreen.x, startScreen.y); // 从起点 + canvasCtx.lineTo(endScreen.x, endScreen.y); // 到终点 + canvasCtx.stroke(); + canvasCtx.restore(); + + // 在中点绘制方向箭头 + const midpointX = (startScreen.x + endScreen.x) / 2; // 中点X + const midpointY = (startScreen.y + endScreen.y) / 2; // 中点Y + const arrowAngle = Math.atan2(endScreen.y - startScreen.y, endScreen.x - startScreen.x); // 线段方向角 + const arrowLength = 5; // 箭头长度 + canvasCtx.fillStyle = 'rgba(0,229,255,0.6)'; // 箭头填充色 + canvasCtx.beginPath(); + canvasCtx.moveTo(midpointX + Math.cos(arrowAngle) * arrowLength, midpointY + Math.sin(arrowAngle) * arrowLength); // 箭头尖端 + canvasCtx.lineTo(midpointX + Math.cos(arrowAngle + 2.5) * 4, midpointY + Math.sin(arrowAngle + 2.5) * 4); // 左翼 + canvasCtx.lineTo(midpointX + Math.cos(arrowAngle - 2.5) * 4, midpointY + Math.sin(arrowAngle - 2.5) * 4); // 右翼 + canvasCtx.closePath(); + canvasCtx.fill(); + } +}; + +/** + * 绘制高级曲线列表 + * @param {*} canvasCtx + * @param {*} map + * @param {*} dataStore + */ +export const drawAdvancedCurveList = (canvasCtx, map, dataStore) => { + const store = dataStore ; + for (let curveIndex = 0; curveIndex < map.advancedCurves.length; curveIndex++) { + const curve = map.advancedCurves[curveIndex]; // 当前曲线 + + // 提取起点和终点的 pos(注意:startPos/endPos 是 {instanceName, pos:{x,y}} 结构) + const startPoint = curve.startPos?.pos; // 起点世界坐标 + const endPoint = curve.endPos?.pos; // 终点世界坐标 + const controlPoint1 = curve.controlPos1; // 第一控制点(直接 {x,y}) + const controlPoint2 = curve.controlPos2; // 第二控制点(直接 {x,y}) + if (!startPoint || !endPoint) continue; // 缺少端点则跳过 + + // 转换为屏幕坐标 + const startScreen = worldToScreen(startPoint.x, startPoint.y, store); + const endScreen = worldToScreen(endPoint.x, endPoint.y, store); + const cp1Screen = controlPoint1 ? worldToScreen(controlPoint1.x, controlPoint1.y, store) : null; // 可能不存在 + const cp2Screen = controlPoint2 ? worldToScreen(controlPoint2.x, controlPoint2.y, store) : null; + + // ── 绘制贝塞尔曲线(虚线)── + canvasCtx.save(); + canvasCtx.shadowColor = '#76ff03'; // 酸绿色辉光 + canvasCtx.shadowBlur = 5; + canvasCtx.strokeStyle = '#76ff03'; // 酸绿色线条 + canvasCtx.lineWidth = 2; + canvasCtx.setLineDash([8, 5]); // 虚线模式 + canvasCtx.globalAlpha = 0.85; + canvasCtx.beginPath(); + canvasCtx.moveTo(startScreen.x, startScreen.y); // 起点 + if (cp1Screen && cp2Screen) { + // 有2个控制点 → 三次贝塞尔 (cubic bezier) + canvasCtx.bezierCurveTo(cp1Screen.x, cp1Screen.y, cp2Screen.x, cp2Screen.y, endScreen.x, endScreen.y); + } else if (cp1Screen) { + // 仅1个控制点 → 二次贝塞尔 (quadratic bezier) + canvasCtx.quadraticCurveTo(cp1Screen.x, cp1Screen.y, endScreen.x, endScreen.y); + } else { + // 无控制点 → 直线 + canvasCtx.lineTo(endScreen.x, endScreen.y); + } + canvasCtx.stroke(); + canvasCtx.setLineDash([]); // 恢复实线 + canvasCtx.restore(); + + // ── 在 t=0.5 处绘制方向箭头 ── + if (cp1Screen && cp2Screen) { + const t = 0.5; // 参数 t = 0.5(曲线中点) + const oneMinusT = 0.5; // 1-t = 0.5 + // 三次贝塞尔公式计算中点坐标 + const arrowX = oneMinusT ** 3 * startScreen.x + 3 * oneMinusT ** 2 * t * cp1Screen.x + 3 * oneMinusT * t ** 2 * cp2Screen.x + t ** 3 * endScreen.x; + const arrowY = oneMinusT ** 3 * startScreen.y + 3 * oneMinusT ** 2 * t * cp1Screen.y + 3 * oneMinusT * t ** 2 * cp2Screen.y + t ** 3 * endScreen.y; + // 三次贝塞尔的一阶导数(切线方向) + const tangentX = 3 * oneMinusT ** 2 * (cp1Screen.x - startScreen.x) + 6 * oneMinusT * t * (cp2Screen.x - cp1Screen.x) + 3 * t ** 2 * (endScreen.x - cp2Screen.x); + const tangentY = 3 * oneMinusT ** 2 * (cp1Screen.y - startScreen.y) + 6 * oneMinusT * t * (cp2Screen.y - cp1Screen.y) + 3 * t ** 2 * (endScreen.y - cp2Screen.y); + const tangentAngle = Math.atan2(tangentY, tangentX); // 切线角度 + + // 绘制箭头 + canvasCtx.fillStyle = 'rgba(118,255,3,0.7)'; + canvasCtx.beginPath(); + canvasCtx.moveTo(arrowX + Math.cos(tangentAngle) * 5, arrowY + Math.sin(tangentAngle) * 5); + canvasCtx.lineTo(arrowX + Math.cos(tangentAngle + 2.5) * 4, arrowY + Math.sin(tangentAngle + 2.5) * 4); + canvasCtx.lineTo(arrowX + Math.cos(tangentAngle - 2.5) * 4, arrowY + Math.sin(tangentAngle - 2.5) * 4); + canvasCtx.closePath(); + canvasCtx.fill(); + + // 绘制控制点小圆(辅助调试用) + canvasCtx.fillStyle = 'rgba(118,255,3,0.25)'; // 浅绿色半透明 + for (const controlScreen of [cp1Screen, cp2Screen]) { + canvasCtx.beginPath(); + canvasCtx.arc(controlScreen.x, controlScreen.y, 2.5, 0, Math.PI * 2); // 半径2.5px的小圆 + canvasCtx.fill(); + } + } + + // ── 曲线名称标签 ── + // canvasCtx.font = '500 7px "JetBrains Mono"'; + // canvasCtx.fillStyle = 'rgba(118,255,3,0.5)'; + // canvasCtx.textAlign = 'center'; + // const labelScreenY = Math.min(startScreen.y, endScreen.y) - 8; // 标签放在最高点上方 + // canvasCtx.fillText(curve.instanceName || '', (startScreen.x + endScreen.x) / 2, labelScreenY); + } +}; + +/** + * 绘制高级点列表 + * @param {*} canvasCtx + * @param {*} map + * @param {*} dataStore + */ +export const drawAdvancedPointList = (canvasCtx, map, dataStore) => { + const store = dataStore ; + for (let pointIndex = 0; pointIndex < map.advancedPoints.length; pointIndex++) { + const advPoint = map.advancedPoints[pointIndex]; // 当前高级点 + const pointScreen = worldToScreen(advPoint.pos.x, advPoint.pos.y, store); // 屏幕位置 + + // 判断是否被鼠标悬停 + const isHovered = store.hoveredElement && + store.hoveredElement.kind === 'point' && + store.hoveredElement.index === pointIndex; + + // ── 根据 className 决定颜色 ── + let pointColorHex = '#ffd600'; // 默认琥珀色 + const classNameLower = (advPoint.className || '').toLowerCase(); + if (classNameLower.includes('landmark') || classNameLower.includes('land')) { + pointColorHex = '#ffd600'; // LandMark → 琥珀色 + } else if (classNameLower.includes('charge')) { + pointColorHex = '#22c55e'; // 充电点 → 绿色 + } else if (classNameLower.includes('load')) { + pointColorHex = '#3b82f6'; // 装载点 → 蓝色 + } else if (classNameLower.includes('work') || classNameLower.includes('process')) { + pointColorHex = '#a855f7'; // 工位 → 紫色 + } else if (classNameLower.includes('station')) { + pointColorHex = '#00e5ff'; // 站点 → 青色 + } + + // ── 绘制菱形标记 ── + const diamondRadius = isHovered ? 8 : 5; // 悬停时放大 + const pulseAlpha = isHovered ? Math.sin(store.animationTimeSeconds * 5) * 0.2 + 0.8 : 1; // 悬停时脉冲闪烁 + + canvasCtx.save(); + canvasCtx.globalAlpha = pulseAlpha; // 应用透明度 + canvasCtx.shadowColor = pointColorHex; // 辉光颜色 + canvasCtx.shadowBlur = isHovered ? 18 : 8; // 悬停时增强辉光 + + // 绘制旋转45度的正方形(菱形) + canvasCtx.fillStyle = pointColorHex; + canvasCtx.beginPath(); + canvasCtx.moveTo(pointScreen.x, pointScreen.y - diamondRadius); // 上顶点 + canvasCtx.lineTo(pointScreen.x + diamondRadius * 0.7, pointScreen.y); // 右顶点 + canvasCtx.lineTo(pointScreen.x, pointScreen.y + diamondRadius); // 下顶点 + canvasCtx.lineTo(pointScreen.x - diamondRadius * 0.7, pointScreen.y); // 左顶点 + canvasCtx.closePath(); + canvasCtx.fill(); + + // 中心白色小圆点(指示精确位置) + canvasCtx.shadowBlur = 0; + canvasCtx.fillStyle = '#fff'; + canvasCtx.globalAlpha = 0.9; + canvasCtx.beginPath(); + canvasCtx.arc(pointScreen.x, pointScreen.y, 1.8, 0, Math.PI * 2); // 半径1.8px + canvasCtx.fill(); + canvasCtx.restore(); + + // ── 方向箭头(基于 dir 字段,弧度)── + if (advPoint.dir !== undefined && advPoint.dir !== null) { + // dir 可能是字符串(smap 样例中为 "-1.5759999999999958")或数字 + const dirRadians = typeof advPoint.dir === 'string' ? parseFloat(advPoint.dir) : advPoint.dir; + if (!isNaN(dirRadians)) { // 有效方向角 + const arrowLengthPx = 12; // 箭头长度(屏幕像素) + canvasCtx.strokeStyle = hexToCssRgba(pointColorHex, 0.5); // 半透明的线条 + canvasCtx.lineWidth = 1; + canvasCtx.beginPath(); + canvasCtx.moveTo(pointScreen.x, pointScreen.y); // 从点中心出发 + // 注意:世界坐标 Y 向上,但 atan2 使用的 dir 是标准数学角,屏幕 Y 翻转后取负 + canvasCtx.lineTo( + pointScreen.x + Math.cos(dirRadians) * arrowLengthPx, + pointScreen.y - Math.sin(dirRadians) * arrowLengthPx // Y 翻转 + ); + canvasCtx.stroke(); + } + } + + // ── 名称标签 ── + canvasCtx.font = '500 7px "JetBrains Mono"'; + canvasCtx.fillStyle = hexToCssRgba(pointColorHex, 0.7); + canvasCtx.textAlign = 'center'; + canvasCtx.fillText(advPoint.instanceName || '', pointScreen.x, pointScreen.y - diamondRadius - 4); + } +} + +/** + * 绘制地图边界 + * @param {*} canvasCtx + * @param {*} map + * @param {*} dataStore + */ +export const drawMapBoundary = (canvasCtx, map, dataStore) => { + const store = dataStore ; + const boundaryTopLeft = worldToScreen(map.originX, map.maxY, store); // 边界左上角屏幕位置 + const boundaryBottomRight = worldToScreen(map.maxX, map.originY, store); // 边界右下角屏幕位置 + canvasCtx.strokeStyle = 'rgba(0,229,160,0.1)'; // 极淡的青绿色 + canvasCtx.lineWidth = 1; + canvasCtx.setLineDash([5, 4]); // 虚线 + canvasCtx.strokeRect( + boundaryTopLeft.x, boundaryTopLeft.y, + boundaryBottomRight.x - boundaryTopLeft.x, + boundaryBottomRight.y - boundaryTopLeft.y + ); + canvasCtx.setLineDash([]); // 恢复实线 +}; + +/** + * 从 normalPosList 构建占据栅格图像 + * + * 原理:normalPosList 中每个点标记一个自由通行格子。 + * 未出现在列表中的格子 = 障碍物(墙壁) + * 墙壁格子如果紧邻自由格子,则标记为"墙壁边缘",渲染高亮 + * + * @param {Object} parsedMap - parseSmapJson 的输出 + * @param {boolean} showEdgeGlow - 是否计算墙壁边缘高亮效果 + * @returns {HTMLCanvasElement} 离屏 Canvas 元素,包含渲染好的栅格图像 + */ +export const buildOccupancyGridImage = (parsedMap, showEdgeGlow) => { + const gridW = parsedMap.gridWidth; // 栅格宽度(像素) + const gridH = parsedMap.gridHeight; // 栅格高度(像素) + const originX = parsedMap.originX; // 世界坐标原点 X + const originY = parsedMap.originY; // 世界坐标原点 Y + const resolution = parsedMap.resolution; // 分辨率 + + // ── 第一步:遍历 normalPosList,标记自由空间 ── + const occupancyGrid = new Uint8Array(gridW * gridH); // 0=墙壁, 1=自由空间 + for (const freeSpacePoint of parsedMap.normalPositions) { + // 将世界坐标转换为栅格像素坐标 + const gridColX = Math.floor((freeSpacePoint.x - originX) / resolution); // 列号(从左到右) + const pixelRowFromBottom = Math.floor((freeSpacePoint.y - originY) / resolution); // 行号(从下到上,世界坐标系) + const imageRowY = gridH - 1 - pixelRowFromBottom; // 翻转为图像行号(从上到下) + // 安全边界检查后标记为自由空间 + if (gridColX >= 0 && gridColX < gridW && imageRowY >= 0 && imageRowY < gridH) { + occupancyGrid[imageRowY * gridW + gridColX] = 1; // 标记该格为自由 + } + } + + // ── 第二步:遍历每个格子,按类型着色 ── + const offscreenCanvas = document.createElement('canvas'); // 创建离屏 Canvas + offscreenCanvas.width = gridW; // 设置尺寸 + offscreenCanvas.height = gridH; + const offscreenCtx = offscreenCanvas.getContext('2d'); // 获取上下文 + const imageData = offscreenCtx.createImageData(gridW, gridH);// 创建 ImageData + const pixelData = imageData.data; // 像素数据数组 (RGBA 扁平排列) + + // 定义三种颜色 + const FREE_SPACE_R = 10, FREE_SPACE_G = 16, FREE_SPACE_B = 30; // 自由空间:深蓝黑 + const WALL_INTERIOR_R = 22, WALL_INTERIOR_G = 36, WALL_INTERIOR_B = 64; // 墙壁内部:深蓝 + const WALL_EDGE_R = 45, WALL_EDGE_G = 130, WALL_EDGE_B = 255; // 墙壁边缘:亮蓝 + + for (let rowY = 0; rowY < gridH; rowY++) { // 逐行扫描 + for (let colX = 0; colX < gridW; colX++) { // 逐列扫描 + const gridIndex = rowY * gridW + colX; // 一维数组索引 + const pixelOffset = gridIndex << 2; // RGBA 偏移(×4) + + if (occupancyGrid[gridIndex] === 1) { + // ── 自由空间 ── + pixelData[pixelOffset] = FREE_SPACE_R; // R + pixelData[pixelOffset + 1] = FREE_SPACE_G; // G + pixelData[pixelOffset + 2] = FREE_SPACE_B; // B + pixelData[pixelOffset + 3] = 255; // A(不透明) + } else { + // ── 障物(墙壁)── 判断是否为边缘 + let isAdjacentToFreeSpace = false; // 是否紧邻自由空间 + if (showEdgeGlow) { // 仅在启用边缘效果时检测 + if (rowY > 0 && occupancyGrid[(rowY - 1) * gridW + colX] === 1) isAdjacentToFreeSpace = true; // 上方 + else if (rowY < gridH - 1 && occupancyGrid[(rowY + 1) * gridW + colX] === 1) isAdjacentToFreeSpace = true; // 下方 + else if (colX > 0 && occupancyGrid[rowY * gridW + colX - 1] === 1) isAdjacentToFreeSpace = true; // 左方 + else if (colX < gridW - 1 && occupancyGrid[rowY * gridW + colX + 1] === 1) isAdjacentToFreeSpace = true; // 右方 + } + if (isAdjacentToFreeSpace) { + // 墙壁边缘:亮蓝色 + pixelData[pixelOffset] = WALL_EDGE_R; + pixelData[pixelOffset + 1] = WALL_EDGE_G; + pixelData[pixelOffset + 2] = WALL_EDGE_B; + pixelData[pixelOffset + 3] = 255; + } else { + // 墙壁内部:深蓝色 + pixelData[pixelOffset] = WALL_INTERIOR_R; + pixelData[pixelOffset + 1] = WALL_INTERIOR_G; + pixelData[pixelOffset + 2] = WALL_INTERIOR_B; + pixelData[pixelOffset + 3] = 255; + } + } + } + } + + // 将 ImageData 绘制到离屏 Canvas 上 + offscreenCtx.putImageData(imageData, 0, 0); + return offscreenCanvas; +} + +export class MobileRobot { + constructor(id, name, x, y, angleRad = 0, color= "#00D4FF", imageUrl = null) { + this.id = id; + this.name = name; + this.x = x; // 世界坐标X (米) + this.y = y; // 世界坐标Y (米) + this.angle = angleRad; // 朝向弧度 + this.imageUrl = imageUrl || '/bot.svg'; + // 预加载图片 (可选) + this.imgElement = null; + if (this.imageUrl) { + this.init(color, this.imageUrl) + } + } + + async init(color, imageUrl) { + const response = await fetch(imageUrl); + let svgText = await response.text(); + // 替换颜色 + svgText = svgText.replace(/currentColor/g, color); + svgText = svgText.replace(/stroke="[^"]*"/g, `stroke="${color}"`); + // 创建Blob URL + const blob = new Blob([svgText], { type: 'image/svg+xml' }); + const url = URL.createObjectURL(blob); + this.imgElement = new Image(); + this.imgElement.src = url; + } + // 命中检测: 检查世界坐标是否在机器人区域内 (半径0.35米) + hitTest(worldX, worldY, pixelsPerMeter){ + const dx = worldX - this.x; + const dy = worldY - this.y; + const distance = Math.hypot(dx, dy); + const hitRadius = 0.35; // 米 + return distance < hitRadius; + } + + // 绘制到canvas上下文 (屏幕坐标) + draw(ctx, screenX, screenY, scale = 1) { + const size = 24; // 绘制大小px + if (this.imgElement && this.imgElement.complete) { + ctx.save(); + ctx.translate(screenX, screenY); + ctx.rotate(-this.angle); // canvas Y向下, 角度翻转适配 + ctx.drawImage(this.imgElement, -size / 2, -size / 2, size, size); + ctx.restore(); + } + // 名字标签 + ctx.font = '12px "JetBrains Mono"'; + ctx.fillStyle = '#a0c0f0'; + ctx.shadowBlur = 0; + ctx.fillText(this.name, screenX, screenY - 20); + } + + // 更新位置 + setPosition(x, y) { this.x = x; this.y = y; } + setAngle(rad) { this.angle = rad; } +} + diff --git a/vite.config.js b/vite.config.js new file mode 100644 index 0000000..1a533b6 --- /dev/null +++ b/vite.config.js @@ -0,0 +1,48 @@ +import { defineConfig } from 'vite' +import vue from '@vitejs/plugin-vue' +import AutoImport from 'unplugin-auto-import/vite' +import Components from 'unplugin-vue-components/vite' +import { ElementPlusResolver } from 'unplugin-vue-components/resolvers' +import path from 'path' + +// https://vite.dev/config/ +export default defineConfig({ + resolve: { + alias: { + '@': path.resolve(__dirname, 'src') + } + }, + plugins: [ + vue(), + AutoImport({ + imports: ['vue', 'vue-router', 'pinia'], + resolvers: [ElementPlusResolver()], + dts: true + }), + Components({ + resolvers: [ + ElementPlusResolver({ + importStyle: 'sass' // 使用scss源码,支持自定义主题变量 + }) + ], + dts: true + }), + ], + server: { + port: 5173, + proxy: { + '/api': { + target: 'http://localhost:3001', + changeOrigin: true + } + } + }, + css: { + preprocessorOptions: { + scss: { + // 全局注入scss变量/混合,所有页面直接使用无需手动import + additionalData: `@use "@/styles/vars.scss" as *;` + } + } + } +})