test

cuiqian2004

2025-10-17 68ce9382090846dc3a03a057a18a7d09f30e45e5

 pages/map/scene.vue

@@ -1,15 +1,18 @@
<template>
   <view class="pages-scene">
      <view class="map-content" v-if="opSceneType =='' ">
         <image class="img" src="/images/image 25.png" alt=" 图片" mode="aspectFit" />
         <view class="space">没有找到符合条件的地图</view>

         <image v-if="opType != 'extend'" class="img" src="/images/image_25.png" alt=" 图片" mode="aspectFit" />
         <image v-else class="img" :src="extendBase64Img" alt=" 图片" mode="aspectFit" />
         <view v-if="opType != 'extend'" class="space">没有找到符合条件的地图</view>
         <!-- <view class="loading-view">{{mapserverIsOk?"构图程序准备就绪":"等待构图程序就绪..."}}
            <view v-if="!mapserverIsOk" class="auto-circle"></view>:disabled="!mapserverIsOk" 
         </view> -->
         <view class="text-button-group">
            <a-button type="primary" class="button" @click="clickStartConstructScene">
               开始构建
               {{opType == 'extend'?"开始扩展":'开始构建'}}
            </a-button>
            <a-button type="primary" class="button" :disabled="loading && localSceneList.length == 0"
               @click="clickDownloadScene" disabled>
            <a-button v-if="opType != 'extend'" type="primary" class="button"
               :disabled="loading && localSceneList.length == 0" @click="clickDownloadScene" disabled>
               下载场景
            </a-button>
         </view>
@@ -26,7 +29,7 @@
            <view class="tip">请输入场景名称</view>
            <view class="name-input">
               <input ref="refInputName" :focus="true" placeholder="请输入场景名称" :value="sceneName"
                  @input="onInputName"></input>
                  @input="onInputName" />
               <uni-icons class="clear" color="#ccc" type="clear" size="20" v-if="showClearName"
                  @click="clickClearName"></uni-icons>
            </view>
@@ -40,7 +43,8 @@
         <view class="bottom-content" v-else-if="opSceneType =='scan'">
            <view class="tip">场景构建中</view>
            <view>
               请操作搬运车扫描地图覆盖的区域
               <!-- 请操作搬运车扫描地图覆盖的区域 -->
               {{mapCreatePhase}}
            </view>

            <view class="text-button-group">
@@ -48,13 +52,17 @@
            </view>
         </view>
         <view class="bottom-content" v-else-if="opSceneType =='finish'">
            <view class="tip">场景构建完成</view>
            <view>
               已成功构建“{{sceneName}}”
            <view class="tip"> “{{sceneName}}”{{opType == "extend"?"场景扩展结束"+"":"场景构建结束"}}</view>
            <!--    <view> 已成功构建“{{sceneName}}”</view> -->
            <view class="loading-view">
               {{mapCreatePhase}}
               <view v-if="mapServerPhase === 4" class="auto-circle"></view>
            </view>

            <view class="text-button-group">
               <a-button type="primary" class="button" :disabled="loading" @click="clickFinish">构建完成</a-button>
               <a-button type="primary" class="button" v-if="mapServerPhase === 6"
                  @click="clickRecreate">{{opType == "extend"?"重现扩展":"重现构建"}}</a-button>
               <a-button type="primary" class="button" v-else :disabled=" mapServerPhase !==5 || loading"
                  @click="clickFinish">{{opType == "extend"?"扩展完成":"构建完成"}}</a-button>
            </view>
         </view>
      </view>
@@ -78,9 +86,16 @@
      createScene,
      addMap,
      stopMap,
      delScene,
      //getAgvState,
      getMapLaserData,
      saveDBData,
      // checkMapServerIsStart,
      // startOrStopMapServer,
      // checkMapServerIsOk,
      // checkSaveMapIsOk,
      getMapServerPhase,
      getMapUrl

   } from "@/api/vehicle.js"
   export default {
@@ -101,17 +116,37 @@
            ctxDataStr: "[]",
            localSceneList: [],
            positioningAgv: true,
            robotPos: {}
            robotPos: {},
            mapServerPhase: 1,
            extendBase64Img: "",
            saveMapIsOk: false,
            destroyFlag: false,

         }
      },
      computed: {

         mapCreatePhase() {
            if (this.mapServerPhase == 1) {
               return "场景构建服务：未启动"
            } else if (this.mapServerPhase == 2) {
               return "场景构建服务：启动中"
            } else if (this.mapServerPhase == 3) {
               return "场景构建中"
            } else if (this.mapServerPhase == 4) {
               return "场景构图保存中"
            } else if (this.mapServerPhase == 5) {
               return "场景构图保存成功"
            } else if (this.mapServerPhase == 6) {
               return "场景构图保存失败"
            } else
               return this.mapServerPhase
         }
      },
      watch: {

      },
      onLoad(option) {
         console.log("scene load")
         const _this = this
         this.ip = option.ip || ""
         uni.getSystemInfo({
@@ -127,7 +162,7 @@

      },
      onUnload() {

         console.log("scene unload")
      },
      onBackPress() {

@@ -137,6 +172,7 @@
               if (res) {
                  this.opSceneType = ""
                  if (this.opType != "") {

                     uni.navigateBack({
                        delta: 1, //返回层数，2则上上页
                     })
@@ -147,11 +183,27 @@
            return true

         } else if (this.opSceneType == "finish") {
            const eventChannel = this.getOpenerEventChannel();
            eventChannel.emit('create_finish', this.sceneName);
            return false
            if (this.destroyFlag) {

               const eventChannel = this.getOpenerEventChannel();
               eventChannel.emit('create_finish', this.sceneName);
               return false
            } else {
               this.ctxDataStr = JSON.stringify([{
                  method: "destroy",
               }])
               return true
            }

         } else {
            return false
            if (this.destroyFlag)
               return false
            else {
               this.ctxDataStr = JSON.stringify([{
                  method: "destroy",
               }])
               return true
            }
         }

      },
@@ -187,9 +239,23 @@
                     this.opSceneType = "add_name"
                  }
                  if (this.opType == "extend") {
                     this.mapServerPhase = 1
                     await addMap(this.ip, this.sceneName, "extend")
                     this.checkMapServerPhase()
                     this.opSceneType = 'scan'
                  }
                  // if (this.opType == "extend") {
                  //    // const infoMap = await this.loadMapInfo(this.sceneName)
                  //    // if (infoMap.filedata) {
                  //    //    var base64Image = infoMap.filedata
                  //    //    if (base64Image.indexOf("data:image/png;base64,") < 0) {
                  //    //       base64Image = "data:image/png;base64," + infoMap.filedata
                  //    //    }
                  //    //    this.extendBase64Img = base64Image
                  //    // }

                  // }

               }

               this.refreshMapLaserData()
@@ -200,9 +266,45 @@
               showError(ex)
            }
         },
         async loadMapInfo(id) {
            try {
               const info = await getMapUrl(this.ip, id)
               return info
            } catch (ex) {

               return {}
            }
         },
         async checkMapServerPhase() {
            try {

               const res = await getMapServerPhase(this.ip)
               this.mapServerPhase = res || 1
               if(this.opSceneType === "finish")
               {
                  if (this.mapServerPhase === 5 || this.mapServerPhase === 6) {
                     this.saveMapIsOk = true
                     return
                  }
               }
               setTimeout(this.checkMapServerPhase, 1000);
            } catch (ex) {
               showToast(ex)
               setTimeout(this.checkMapServerPhase, 1000);
            }
         },

         receiveRenderData(param) {
            console.log('接收到视图层的数据：', param);
            if (param.method == "set_backgroud_progress") {

            if (param.method === "destroy_complete") {
               if (param.param) {
                  this.destroyFlag = true
                  uni.navigateBack({
                     delta: 1
                  })
               }
            } else if (param.method == "set_backgroud_progress") {
               if (param.type == "start") {
                  this.setData({
                     bgProgressPercent: 50,
@@ -224,14 +326,34 @@
                  }, 500)

               } else if (param.type == "error") {
                  console.log("set_backgroud_progress error")
                  this.setData({
                     bgProgressPercent: 0,
                     bgLoading: false
                  })
                  const now = new Date()
                  const date = `${now.getHours()}:${now.getMinutes()}:${now.getSeconds()}`
                  showToast("加载底图失败")
                  const log = {
                     date,
                     method: `POST`,
                     url: "app/log/load_img",
                     param: param.msg,
                     statusCode: 100,
                     data: "加载底图失败"
                  }
                  const listLog = session.getValue("request_log") || []
                  listLog.unshift(log)
                  session.setValue("request_log", listLog)

               }

            } else if (param.method == "cancel_positioning_agv") {
               this.positioningAgv = false
               //this.positioningAgv = false
            } else if (param.method == "show_log") {
               const listLog = session.getValue("request_log") || []
               listLog.unshift(param.data)
               session.setValue("request_log", listLog)
            }
         },

@@ -244,8 +366,20 @@
               return []
            }
         },
         clickStartConstructScene() {
            this.opSceneType = "add_name"
         async clickStartConstructScene() {
            try {
               this.mapId = ""
               if (this.opType == "extend") {
                  this.mapServerPhase = 1
                  await addMap(this.ip, this.sceneName, "extend")
                  this.checkMapServerPhase()
                  this.opSceneType = 'scan'
               } else {
                  this.opSceneType = "add_name"
               }
            } catch (ex) {
               showError(ex)
            }
         },
         async clickDownloadScene() {
            try {
@@ -292,9 +426,11 @@
               this.sceneName = name
               await createScene(this.ip, name, 1)
               await addMap(this.ip, name)
               this.checkMapServerPhase()
               uni.showLoading({
                  title: "开始扫描地图"
               })
               this.mapId = ""
               this.opSceneType = 'scan'


@@ -328,25 +464,24 @@
               uni.setNavigationBarTitle({
                  title: this.sceneName
               })
               this.saveMapIsOk = false
               await stopMap(this.ip, this.sceneName)
               if (this.opType == "extend") {
                  this.opSceneType = ""
                  const eventChannel = this.getOpenerEventChannel();
                  eventChannel.emit('create_finish', this.sceneName);
                  uni.navigateBack({
                     delta: 1, //返回层数，2则上上页
                  })
               }
               //this.mapServerPhase = 4
               //this.checkMapServerPhase();
               // if (this.opType == "extend") {
               //    this.opSceneType = ""
               //    const eventChannel = this.getOpenerEventChannel();
               //    eventChannel.emit('create_finish', this.sceneName);
               //    uni.navigateBack({
               //       delta: 1, //返回层数，2则上上页
               //    })
               // }

            } catch (ex) {

               console.log(ex)
               showModal("请检查车辆连接，并重新开始构建场景", "场景构建失败", false, "确定").then((res) => {
                  this.opSceneType = ''
                  if (this.opType != "") {
                     uni.navigateBack({
                        delta: 1, //返回层数，2则上上页
                     })
                  }

               })
            } finally {
               this.loading = false
@@ -368,27 +503,39 @@
                  delta: 1, //返回层数，2则上上页
               })
            } catch (ex) {
               showModal("请检查车辆连接，并重新开始构建场景", "场景构建失败", false, "确定").then((res) => {
                  this.opSceneType = ''
                  if (this.opType != "") {
                     uni.navigateBack({
                        delta: 1, //返回层数，2则上上页
                     })
                  }
               })
               console.log(ex)
            } finally {
               this.loading = false
               uni.hideLoading()
            }


         },
         async clickRecreate() {
            try {
               if (this.opType == "extend") {
                  this.mapServerPhase = 1
                  await addMap(this.ip, this.sceneName, "extend")
                  this.checkMapServerPhase()
                  this.opSceneType = 'scan'
               } else {
                  this.mapServerPhase = 1
                  await delScene(this.ip, this.sceneName)
                  await createScene(this.ip, this.sceneName, 1)
                  await addMap(this.ip, this.sceneName)
                  this.checkMapServerPhase()
                  this.opSceneType = 'scan'
               }
            } catch (ex) {
               console.log(ex)
            }
         },


         async loadMapLaserData() {
            try {
               const info = await getMapLaserData(this.ip, this.mapId)
               return info
            } catch (ex) {
               showError(ex)
               showToast(ex)
               return {}
            }
         },
@@ -399,57 +546,83 @@
                  const data = await this.loadMapLaserData()

                  const listCtrData = []
                  let newMap = false
                  if (data.base_map?.image_base64) {
                     this.robotPos = {}
                     newMap = true
                     const mapData = data.base_map.image_base64 //this.mapId ?"terdy": 
                     this.mapId = data.base_map.map_id

                     listCtrData.push({
                        method: "background",
                        param: {
                           proportion: 1,
                           img_proportion: 1,
                           max_x: data.base_map.width,
                           max_y: data.base_map.height,
                           max_x: data.base_map.width || 100,
                           max_y: data.base_map.height || 100,
                           min_x: 0,
                           min_y: 0,
                           img_x: data.base_map.width,
                           img_y: data.base_map.height,
                           filedata: data.base_map.image_base64
                           img_x: data.base_map.width || 100,
                           img_y: data.base_map.height || 100,
                           filedata: mapData
                        }
                     })

                     listCtrData.push({
                        method: "point_trajectory",
                        param: data.base_map.trajectoryPoints ||
                        [] //[ [[2,2],[6,2],[10,2],[14,2],[18,2],[2,6],[2,10],[2,14],[2,18],]
                     })

                  }
                  listCtrData.push({
                     method: "agv_laser",
                     param: data.robot_pose
                  })

                  listCtrData.push({
                     method: "point_cloud",
                     param: data.point_cloud
                  })
                  if (this.positioningAgv) {
                     listCtrData.push({
                        method: "move_pt_visible",
                        param: {
                           x: data.robot_pose.x,
                           y: data.robot_pose.y,
                           width:50,
                           height:50,
                        }
                     })
                  }


                  if (data.robot_pose) {
                     listCtrData.push({
                        method: "agv_laser",
                        param: data.robot_pose
                     })
                     if (newMap) {
                        listCtrData.push({
                           method: "move_pt_center",
                           param: {
                              x: data.robot_pose.x,
                              y: data.robot_pose.y,
                           }
                        })
                     } else {
                        if (this.positioningAgv) {
                           listCtrData.push({
                              method: "move_pt_visible",
                              param: {
                                 x: data.robot_pose.x,
                                 y: data.robot_pose.y,
                                 width: 50,
                                 height: 50,
                              }
                           })
                        }
                     }

                  }
                  // console.log("ctxDataStr",listCtrData.length)
                  this.ctxDataStr = JSON.stringify(listCtrData)
                  this.robotPos = {
                     x: data.robot_pose.x,
                     y: data.robot_pose.y
                  if (data.robot_pose) {
                     this.robotPos = {
                        x: data.robot_pose.x,
                        y: data.robot_pose.y
                     }
                  }
               }

               setTimeout(this.refreshMapLaserData, 1000);
            } catch (ex) {
               showError(ex).then((res) => {
                  setTimeout(this.refreshMapLaserData, 1000);
               })
               showToast(ex)
               setTimeout(this.refreshMapLaserData, 1000);
            }
         },
         async clickVehiclePosition() {
@@ -517,6 +690,7 @@
         justify-content: center;



         .text-button-group {
            display: flex;
            width: 100%;
@@ -533,6 +707,32 @@

      }

      .loading-view {
         display: flex;
         flex-direction: row;

         .auto-circle {
            margin-left: 20rpx;
            width: 50rpx;
            height: 50rpx;
            border-radius: 50%;
            border: 10rpx solid #1890FF;
            border-top-color: transparent;
            animation: drawCircle 1s infinite linear;
         }

         @keyframes drawCircle {
            0% {
               transform: rotate(0deg);
            }

            100% {
               transform: rotate(360deg);
            }
         }

      }


      .bottom {
         position: fixed;