test

cuiqian2004

2025-10-17 68ce9382090846dc3a03a057a18a7d09f30e45e5

test

 manifest.json

@@ -2,8 +2,8 @@
    "name" : "ES-GO",
    "appid" : "__UNI__C988375",
    "description" : "",
    "versionName" : "1.3.6",
    "versionCode" : 136,
    "versionName" : "1.3.9",
    "versionCode" : 139,
    "transformPx" : false,
    /* 5+App特有相关 */
    "app-plus" : {

 pages/map/index.vue

@@ -394,31 +394,31 @@
                <uni-popup-dialog type="info" cancelText="取消" confirmText="确定" title="示教更新"
                    @confirm="dialogTeachingUpdateConfirm" @close="dialogTeachingUpdateClose">

                    <view>

                        <radio-group @change="radioTeachinMainRoadChange">
                            <label class="radio">
                                <radio :value="1" :checked="selectTeachingMode.main_road == 1" />主路
                            </label>
                            <label class="radio">
                                <radio :value="0" :checked="selectTeachingMode.main_road != 1" />支路
                            </label>
                        </radio-group>
                    <view class="popup-dialog-content">
                        <view class="popup-content-item">
                            <radio-group @change="radioTeachinMainRoadChange">
                                <label class="radio">
                                    <radio :value="1" :checked="selectTeachingMode.main_road == 1" />主路
                                </label>
                                <label class="radio">
                                    <radio :value="0" :checked="selectTeachingMode.main_road != 1" />支路
                                </label>
                            </radio-group>


                        </view>
                        <view class="popup-content-item">
                            <radio-group @change="radioTeachinBidirectionChange">
                                <label class="radio">
                                    <radio :value="1" :checked="selectTeachingMode.bidirection == 1" />双向
                                </label>
                                <label class="radio">
                                    <radio :value="0" :checked="selectTeachingMode.bidirection != 1" />单向
                                </label>
                            </radio-group>

                        </view>
                    </view>
                    <view>
                        <radio-group @change="radioTeachinBidirectionChange">
                            <label class="radio">
                                <radio :value="1" :checked="selectTeachingMode.bidirection == 1" />双向
                            </label>
                            <label class="radio">
                                <radio :value="0" :checked="selectTeachingMode.bidirection != 1" />单向
                            </label>
                        </radio-group>

                    </view>

                </uni-popup-dialog>
            </uni-popup>

@@ -520,6 +520,7 @@
                unlinked: false,
                showTeachingPathFlag: true,
                curTeachingPathFlag: false,
                curTeachingPathTime: 0,
                curMapInfo: {
                    proportion: 1,
                    img_proportion: 1,
@@ -803,9 +804,7 @@
                                if (this.mapOperationStatus == 'end' || this.mapOperationStatus ==
                                    'save') {
                                    try {
                                        //    await delTeachingMode(this.vehicleIp, [this.teachingModeCur])
                                        await deleteSplitTeachingData(this.vehicleIp, this.teachingModeCur
                                            .edge_name, this.teachingModeCur.name)
                                        await delTeachingMode(this.vehicleIp, [this.teachingModeCur])

                                        listDataStr.push({
                                            method: "remove_teaching_path",
@@ -1193,8 +1192,9 @@
                            name: param.data?.name || "",
                            point: param.point,
                            main_road: param.data?.main_road || 0,
                            bidirection: param.data?.name || 0,
                            bidirection: param.data?.bidirection || 0,
                        }
                        console.log(this.selectTeachingMode.main_road, this.selectTeachingMode)
                    }
                    this.$refs.refPopupOperateTeaching.open("bottom")
                } else if (param.method == "cancel_positioning_agv") {
@@ -2087,10 +2087,19 @@
                            }
                        })
                        if (list.length > 0) {
                            this.curTeachingPathTime += 1
                            this.curTeachingPathFlag = true
                            if (this.curTeachingPathTime % 5 == 0) {
                                const listStationCtxData = await this.getRefreshStationCtxData() || []
                                if (listStationCtxData.length > 0) {
                                    listCtrData.push(...listStationCtxData)
                                }
                            }
                        } else {
                            if (this.curTeachingPathFlag) {
                                this.curTeachingPathFlag = false
                                this.curTeachingPathTime = 0

                                const teaching = await this.loadTeachingMode()

                                const publicOld = this.teachingMode.Public || []
@@ -2101,8 +2110,8 @@
                                const stationAdd = []
                                for (let i in publicNew) {
                                    const item = publicNew[i]
                                    const curIndex = publicOld.findIndex((a) => a.name == item.name)
                                    console.log(curIndex, item)
                                    const curIndex = publicOld.findIndex((a) => a.name == item.name && a.edge_name == item.edge_name )
									
                                    if (curIndex < 0) {
                                        publicAdd.push(item)
                                        publicOld.push(item)
@@ -2138,6 +2147,10 @@
                                            show: this.showTeachingPathFlag
                                        }
                                    })
                                }
                                const listStationCtxData = await this.getRefreshStationCtxData() || []
                                if (listStationCtxData.length > 0) {
                                    listCtrData.push(...listStationCtxData)
                                }
                            }
                        }
@@ -2182,7 +2195,45 @@
                }

            },
            async getRefreshStationCtxData() {
                try {
                    const listCtrData = []
                    const listOld = this.stationList
                    const listId = listOld.map((a) => a.stationID)
                    const stationLst = await this.loadStations()
                    const listNew = stationLst.filter((a) => {
                        return !listId.includes(a.stationID)
                    })
                    // console.log(listId.length,listNew.length,stationLst.length)
                    // console.log(listId)
                    if (listId.length + listNew.length > stationLst.length) {
                        const listId2 = stationLst.map((a) => a.stationID)

                        const listRemove = listOld.filter((a) => {
                            return !listId2.includes(a.stationID)
                        })
                        if (listRemove.length > 0) {
                            listCtrData.push({
                                method: "remove_station",
                                param: listRemove
                            })
                            this.stationList = stationLst
                        }
                    }
                    if (listNew.length > 0) {
                        listCtrData.push({
                            method: "add_station",
                            param: listNew
                        })
                        this.stationList = stationLst
                    }
                    return listCtrData
                } catch (ex) {

                    showToast(ex)
                    return []
                }
            },
            askTeachingBiDirection(teachingMode) {
                showModal("选择当前示教路线类型?", "示教结束", true, "双向路线",
                    "单向路线").then((res) => {
@@ -2245,9 +2296,7 @@
                        if (res) {
                            try {
                                this.loading = true
                                //await delTeachingMode(_this.vehicleIp, [_this.teachingModeCur])
                                await deleteSplitTeachingData(_this.vehicleIp, _this.teachingModeCur.edge_name,
                                    _this.teachingModeCur.name)
                                await delTeachingMode(_this.vehicleIp, [_this.teachingModeCur])
                                _this.mapOperationStatus = ""
                                const listDataStr = []
                                listDataStr.push({
@@ -2378,7 +2427,8 @@
                        this.teachingModeCur.teaching_flag = 1
                        this.teachingModeCur.mode = "Public"
                        this.teachingModeCur.name = ""
                        const res = await teachingModeFlag(this.vehicleIp, this.teachingModeCur)
                        const res = await teachingModeFlag(this.vehicleIp, this
                            .teachingModeCur)
                        if (val == 1)
                            showToast("已将示教切换成双向模式")
                        else if (val == 2)
@@ -2445,7 +2495,7 @@
                //         param: this.selectTeachingMode,
                //     }])
            },
            radioTeachinMainRoadChange(e) {
            radioTeachinMainRoadChange(evt) {
                this.selectTeachingMode.main_road = evt.detail.value
            },
            radioTeachinBidirectionChange(evt) {
@@ -2483,7 +2533,8 @@
                    uni.showLoading({
                        title: "删除示教中"
                    })
                    await deleteSplitTeachingData(this.vehicleIp, item.edge_name, item.name)
                    await deleteSplitTeachingData(this.vehicleIp, item
                        .edge_name, item.name)
                    //await delTeachingMode(this.vehicleIp, [item])
                    this.ctxDataStr =
                        JSON.stringify(
@@ -2504,8 +2555,7 @@
                    uni.showLoading({
                        title: "删除示教数据中"
                    })
                    await deleteSplitTeachingData(this.vehicleIp, data.edge_name, data.name)
                    //await delTeachingModeData(this.vehicleIp, data)
                    await delTeachingModeData(this.vehicleIp, data)
                    showToast("删除示教成功")
                    this.reloadTeachingMode()
                } catch (ex) {
@@ -2950,6 +3000,7 @@
                        height: 32px;
                        line-height: 32px;
                        text-align: center;
                        box-shadow: 0px 2px 8px 0px #0000000C;
                    }

                    .switch-button-checked {
@@ -2978,6 +3029,15 @@
            background-color: transparent;
        }

        .popup-dialog-content {
            display: flex;
            flex-direction: column;

            .popup-content-item {
                padding: 10rpx;
            }
        }

        .popup-content-menu {
            margin-top: 140rpx;
            margin-left: 225rpx;

 pages/map/js/ctx.js

@@ -1268,6 +1268,7 @@
            }
        },
        clearObjects() {
			
            if (!this.canvas) return;
            this.canvas.discardActiveObject()
            const objects = this.canvas.getObjects()
@@ -1283,6 +1284,8 @@
            this.objEditing = null;
            this.editObject = null;
            this.drawingObj = null;
            this.objAgvLaser = null
            this.objAgvLaserLine = null
            if (this.pressObjTimer) {
                clearTimeout(this.pressObjTimer);
                this.pressObjTimer = null;
@@ -2063,9 +2066,6 @@
                }
            })
            let path2 = ""
            const theta = 20;
            let headlen = 10;
            var main_road = teachingData.main_road || 0

            const len = pos_list.length
            let fromX = 0,
@@ -2079,33 +2079,7 @@
                    y: this.getYOnImg(pt.y)
                }
                if (index > 0) {
                    // if ((index % 50 == 0 || index == len - 1 || index % 50 == 1)) {
                    //     if (index % 50 == 0 || index == len - 1) {
                    //         toX = pt2.x
                    //         toY = pt2.y
                    //         path2 += ` L${pt2.x} ${pt2.y}`

                    //         // 计算各角度和对应的P2,P3坐标
                    //         let angle = (Math.atan2(fromY - toY, fromX - toX) * 180) / Math.PI,
                    //             angle1 = ((angle + theta) * Math.PI) / 180,
                    //             angle2 = ((angle - theta) * Math.PI) / 180,
                    //             topX = headlen * Math.cos(angle1),
                    //             topY = headlen * Math.sin(angle1),
                    //             botX = headlen * Math.cos(angle2),
                    //             botY = headlen * Math.sin(angle2);
                    //         let arrowX = fromX - topX,
                    //             arrowY = fromY - topY;
                    //         arrowX = toX + topX;
                    //         arrowY = toY + topY;
                    //         path2 += " L " + arrowX + " " + arrowY;
                    //         arrowX = toX + botX;
                    //         arrowY = toY + botY;
                    //         path2 += " M " + arrowX + " " + arrowY;
                    //         path2 += " L " + toX + " " + toY;
                    //     }
                    // } else {
                    //     path2 += ` L${pt2.x} ${pt2.y}`
                    // }
                    path2 += ` L${pt2.x} ${pt2.y}`
                } else {
                    path2 = `M${pt2.x} ${pt2.y}`
@@ -2116,9 +2090,7 @@
            let strokeWidth = 5
            let stroke = "#69C0FF"

            // if (main_road == 1) {
            //     stroke = "#69C0FF"
            // }

            const objPath = new fabric.Path(
                path2, {
                    id: "current_teaching",
@@ -2154,7 +2126,7 @@

            const theta = 20;
            let headlen = 10;
            var main_road = teachingData.main_road || 0
            var main_road = teachingData.main_road 

            const len = pos_list.length
            let fromX = 0,
@@ -2170,79 +2142,12 @@
                    y: this.getYOnImg(pt.y)
                }
                if (index > 0) {
                    // if ((type == "public_teaching") && (index % 50 == 0 || index == len - 1 || index % 50 == 1)) {
                    //     if (index % 50 == 1 || index == len - 1) {
                    //         if (teachingData.bidirection == 1 && index < len - 1) { //- 1
                    //             toY = fromY
                    //             toX = fromX
                    //             fromX = pt2.x
                    //             fromY = pt2.y
                    //             let angle = (Math.atan2(fromY - toY, fromX - toX) * 180) / Math.PI,
                    //                 angle1 = ((angle + theta) * Math.PI) / 180,
                    //                 angle2 = ((angle - theta) * Math.PI) / 180,
                    //                 topX = headlen * Math.cos(angle1),
                    //                 topY = headlen * Math.sin(angle1),
                    //                 botX = headlen * Math.cos(angle2),
                    //                 botY = headlen * Math.sin(angle2);
                    //             let arrowX = fromX - topX,
                    //                 arrowY = fromY - topY;
                    //             arrowX = toX + topX;
                    //             arrowY = toY + topY;
                    //             let path3 = " L " + arrowX + " " + arrowY;
                    //             arrowX = toX + botX;
                    //             arrowY = toY + botY;
                    //             path3 += " M " + arrowX + " " + arrowY;
                    //             path3 += " L " + toX + " " + toY;

                    //             path2 += path3
                    //             fromY = toY
                    //             fromX = toX
                    //         }
                    //     }
                    //     if (index % 50 == 0 || index == len - 1) {
                    //         toX = pt2.x
                    //         toY = pt2.y
                    //         // if (fromX == toX && fromY == toY) {
                    //         //     if (index - 2 >= 0) {
                    //         //         const pt3 = pos_list[index - 2]
                    //         //         fromX = this.getXOnImg(pt3.x),
                    //         //             fromY = this.getYOnImg(pt3.y)
                    //         //     } else {
                    //         //         continue;
                    //         //     }
                    //         // }
                    //         path2 += ` L${pt2.x} ${pt2.y}`

                    //         // 计算各角度和对应的P2,P3坐标
                    //         let angle = (Math.atan2(fromY - toY, fromX - toX) * 180) / Math.PI,
                    //             angle1 = ((angle + theta) * Math.PI) / 180,
                    //             angle2 = ((angle - theta) * Math.PI) / 180,
                    //             topX = headlen * Math.cos(angle1),
                    //             topY = headlen * Math.sin(angle1),
                    //             botX = headlen * Math.cos(angle2),
                    //             botY = headlen * Math.sin(angle2);
                    //         let arrowX = fromX - topX,
                    //             arrowY = fromY - topY;
                    //         arrowX = toX + topX;
                    //         arrowY = toY + topY;
                    //         path2 += " L " + arrowX + " " + arrowY;
                    //         arrowX = toX + botX;
                    //         arrowY = toY + botY;
                    //         path2 += " M " + arrowX + " " + arrowY;
                    //         path2 += " L " + toX + " " + toY;
                    //     }
                    //     //    console.log(`箭头 L${pt2.x} ${pt2.y}`)
                    // } else {
                    //     //    console.log(`点 L${pt2.x} ${pt2.y} ${index} == ${len-1}`)
                    //     path2 += ` L${pt2.x} ${pt2.y}`
                    // }
					
                    path2 += ` L${pt2.x} ${pt2.y}`
                } else {
                    if (pt.main_road)
                    if (main_road === undefined)
                        main_road = pt.main_road
                    // if (main_road == 1) {
                    //     headlen = 15
                    // }
				
                    path2 = `M${pt2.x} ${pt2.y}`
                }
                fromX = pt2.x
@@ -2271,6 +2176,7 @@
                    }
                }
            }
            teachingData.main_road = main_road
            let list = this.canvas.getObjects() || []
            list = list.filter((a) => a.eleType == "station_teaching" || a.eleType == "public_teaching")
            let lenTeaching = list.length
@@ -2360,7 +2266,7 @@
            let id = ""
            if (teachingMode.mode == "Public") {
                eleType = "public_teaching"
                id = `public_teaching_${teachingMode.name}`
                id = `public_teaching_${teachingMode.name}_${teachingMode.edge_name}`
            } else if (teachingMode.mode == "Stations") {
                eleType = "station_teaching"
                id = `station_teaching_${teachingMode.src_dst}`
@@ -3083,48 +2989,97 @@
                x: this.getXOnImg(param.x),
                y: this.getYOnImg(param.y)
            }
            if (this.objAgvLaser) {
                this.objAgvLaser.set({stroke: "#00ff00",    rx: 2,
                ry:2})
            }
            let ellipse = new fabric.Ellipse({
                id: "agv_laser",
                eleType: "agv_laser",
                left: pt.x,
                top: pt.y,
                rx: 2,
                ry: 2,
                stroke: "#00aa00",
                rx: 3,
                ry: 3,
                stroke: "#ff0000",
                strokeWidth: 1,
                fill: "#00aa00",
                fill: "#00ff00",
                originX: "center",
                originY: "center",
                selectable: false,
                hasControls: true,
                lockRotation: true,
                lockScalingX: true,
                lockScalingY: true,
                lockMovementX: true,
                lockMovementY: true,
                hasControls: false,

            });
            this.canvas.add(ellipse)
            const offX = 20 * Math.cos(angle)
            const offY = 20 * Math.sin(angle)

            if (this.objAgvLaser) {
                this.canvas.remove(this.objAgvLaser)
            this.objAgvLaser = ellipse
            if (this.objAgvLaserLine) {
                this.canvas.remove(this.objAgvLaserLine)
            }
            const line = new fabric.Line([pt.x, pt.y, pt.x + offX,
                pt.y + offY
            ], {
                id: "agv_laser_angle",
                eleType: "agv_laser_angle",
                stroke: "#00aa00",
                stroke: "#00ff00",
                strokeWidth: 1,
                lockRotation: true,
                lockScalingX: true,
                lockScalingY: true,
                lockMovementX: true,
                lockMovementY: true,
                selectable: false,
                hasControls: false,
            });
            this.objAgvLaser = line
			
            this.objAgvLaserLine = line
            this.canvas.add(line)
        },
        addTrajectoryPoint(list) {
            const objs = []

            let right = 0
            let bottom = 0
            let left = this.mapInfo.img_x
            let top = this.mapInfo.img_y
            for (let i in list) {
                const pt = list[i]
                const pt2 = {
                    x: this.getXOnImg(pt[0]),
                    y: this.getYOnImg(pt[1])
                }
                let ellipse = new fabric.Ellipse({
                    left: pt2.x,
                    top: pt2.y,
                    rx: 2,
                    ry: 2,
                    stroke: "#00ff00",
                    strokeWidth: 1,
                    fill: "#00ff00",
                    originX: "center",
                    originY: "center",
                });
				
                objs.push(ellipse)
                if (left > pt2.x-2) {
                    left = pt2.x-2
                }
                if (top > pt2.y-2) {
                    top = pt2.y-2
                }
                if (right < pt2.x + 2) {
                    right = pt2.x + 2
                }
                if (bottom < pt2.y + 2) {
                    bottom = pt2.y + 2
                }
            }
            const groupObj = new fabric.Group(objs, {
                id: `trajectory_point_group`,
                eleType: "trajectory_point_group",
                left,
                top,
                width: right - left,
                height: bottom - top,
                selectable: false,
                hasControls: true,
            })
            this.canvas.add(groupObj)
        },
        updateLaserPoint(param) {

@@ -3166,7 +3121,7 @@
                    top: pt2.y,
                    width: 1,
                    height: 1,
                    fill: "#F5222D",
                    fill: "#ff00ff",
                    originX: "left",
                    originY: "top",
                    // selectable: false,
@@ -3600,7 +3555,7 @@
                        const show = item.param?.show || false
                        for (let i2 in teachingPathList) {
                            const teachingPath = teachingPathList[i2]
                            const id = `public_teaching_${teachingPath.name}`
                            const id = `public_teaching_${teachingPath.name}_${teachingPath.edge_name}`
                            const obj = await this.addTeachingPath(teachingPath, id, "public_teaching",
                                show)
                            obj.set({
@@ -3631,7 +3586,7 @@
                        let list = _this.canvas.getObjects() || []
                        if (item.param.mode == "Public") {
                            list = list.filter((a) => a.eleType == "public_teaching")
                            const id = `public_teaching_${item.param.name}`
                            const id = `public_teaching_${item.param.name}_${item.param.edge_name}`
                            const curIndex = list.findIndex((a) => a.id == id)

                            if (curIndex > -1) {
@@ -3656,7 +3611,7 @@
                    } else if (item.method == "update_teaching") {
                        let list = _this.canvas.getObjects() || []
                        list = list.filter((a) => a.eleType == "public_teaching")
                        const id = `public_teaching_${item.param.name}`
                        const id = `public_teaching_${item.param.name}_${item.param.edge_name}`
                        const curIndex = list.findIndex((a) => a.id == id)
                        if (curIndex > -1) {
                            const obj = list[curIndex]
@@ -3679,7 +3634,10 @@
                                }
                            }

                            obj.set({strokeWidth,stroke})
                            obj.set({
                                strokeWidth,
                                stroke
                            })

                        }
                    } else if (item.method == "set_selectable") {
@@ -3756,7 +3714,10 @@
                        this.updateAgvLaser(item.param || {})
                    } else if (item.method == "point_cloud") {
                        this.updateLaserPoint(item.param || {})
                    } else if (item.method == "point_trajectory") {
                        this.addTrajectoryPoint(item.param || [])
                    }

                }
                if (_this.canvas)
                    _this.canvas.renderAll()

 pages/map/scene.vue

@@ -44,7 +44,7 @@
                <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 -->
                    {{mapServerPhase=== 1  ?"场景构建服务：未启动":mapServerPhase===2 ?"场景构建服务：启动中":mapServerPhase===3  ?"场景构建中":mapServerPhase}}
                    {{mapCreatePhase}}
                </view>

                <view class="text-button-group">
@@ -55,7 +55,7 @@
                <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">
                    构图状态：{{mapServerPhase===5?"保存成功":mapServerPhase===4?"保存中":mapServerPhase===6?"保存失败":mapServerPhase}}
                    {{mapCreatePhase}}
                    <view v-if="mapServerPhase === 4" class="auto-circle"></view>
                </view>
                <view class="text-button-group">
@@ -125,7 +125,22 @@
            }
        },
        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: {

@@ -265,12 +280,12 @@

                    const res = await getMapServerPhase(this.ip)
                    this.mapServerPhase = res || 1
                    if (this.mapServerPhase === 3) {
                        return
                    }
                    if (this.mapServerPhase === 5 || this.mapServerPhase === 6) {
                        this.saveMapIsOk = true
                        return
                    if(this.opSceneType === "finish")
                    {
                        if (this.mapServerPhase === 5 || this.mapServerPhase === 6) {
                            this.saveMapIsOk = true
                            return
                        }
                    }
                    setTimeout(this.checkMapServerPhase, 1000);
                } catch (ex) {
@@ -451,8 +466,8 @@
                    })
                    this.saveMapIsOk = false
                    await stopMap(this.ip, this.sceneName)
                    this.mapServerPhase = 4
                    this.checkMapServerPhase();
                    //this.mapServerPhase = 4
                    //this.checkMapServerPhase();
                    // if (this.opType == "extend") {
                    //     this.opSceneType = ""
                    //     const eventChannel = this.getOpenerEventChannel();
@@ -552,7 +567,11 @@
                                    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],]
                            })

                        }

@@ -560,6 +579,8 @@
                            method: "point_cloud",
                            param: data.point_cloud
                        })


                        if (data.robot_pose) {
                            listCtrData.push({
                                method: "agv_laser",
@@ -586,6 +607,7 @@
                                    })
                                }
                            }

                        }
                        // console.log("ctxDataStr",listCtrData.length)
                        this.ctxDataStr = JSON.stringify(listCtrData)