From 68ce9382090846dc3a03a057a18a7d09f30e45e5 Mon Sep 17 00:00:00 2001
From: cuiqian2004 <cuiqian2004@163.com>
Date: 星期五, 17 十月 2025 17:39:03 +0800
Subject: [PATCH] test
---
pages/map/js/ctx.js | 219 ++++++++++++------------------
pages/map/scene.vue | 46 ++++-
pages/map/index.vue | 132 +++++++++++++-----
manifest.json | 4
4 files changed, 222 insertions(+), 179 deletions(-)
diff --git a/manifest.json b/manifest.json
index 9cad931..6e2ede5 100644
--- a/manifest.json
+++ b/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鐗规湁鐩稿叧 */
"app-plus" : {
diff --git a/pages/map/index.vue b/pages/map/index.vue
index 1c35489..7c03354 100644
--- a/pages/map/index.vue
+++ b/pages/map/index.vue
@@ -394,31 +394,31 @@
<uni-popup-dialog type="info" cancelText="鍙栨秷" confirmText="纭畾" title="绀烘暀鏇存柊"
@confirm="dialogTeachingUpdateConfirm" @close="dialogTeachingUpdateClose">
- <view>
-
- <radio-group @change="radioTeachinMainRoadChange">
- <label class="radio">
- <radio :value="1" :checked="selectTeachingMode.main_road == 1" />涓昏矾
- </label>
- <label class="radio">
- <radio :value="0" :checked="selectTeachingMode.main_road != 1" />鏀矾
- </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" />涓昏矾
+ </label>
+ <label class="radio">
+ <radio :value="0" :checked="selectTeachingMode.main_road != 1" />鏀矾
+ </label>
+ </radio-group>
+ </view>
+ <view class="popup-content-item">
+ <radio-group @change="radioTeachinBidirectionChange">
+ <label class="radio">
+ <radio :value="1" :checked="selectTeachingMode.bidirection == 1" />鍙屽悜
+ </label>
+ <label class="radio">
+ <radio :value="0" :checked="selectTeachingMode.bidirection != 1" />鍗曞悜
+ </label>
+ </radio-group>
+
+ </view>
</view>
- <view>
- <radio-group @change="radioTeachinBidirectionChange">
- <label class="radio">
- <radio :value="1" :checked="selectTeachingMode.bidirection == 1" />鍙屽悜
- </label>
- <label class="radio">
- <radio :value="0" :checked="selectTeachingMode.bidirection != 1" />鍗曞悜
- </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("閫夋嫨褰撳墠绀烘暀璺嚎绫诲瀷?", "绀烘暀缁撴潫", true, "鍙屽悜璺嚎",
"鍗曞悜璺嚎").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("宸插皢绀烘暀鍒囨崲鎴愬弻鍚戞ā寮�)
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: "鍒犻櫎绀烘暀涓�
})
- 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: "鍒犻櫎绀烘暀鏁版嵁涓�
})
- await deleteSplitTeachingData(this.vehicleIp, data.edge_name, data.name)
- //await delTeachingModeData(this.vehicleIp, data)
+ await delTeachingModeData(this.vehicleIp, data)
showToast("鍒犻櫎绀烘暀鎴愬姛")
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;
diff --git a/pages/map/js/ctx.js b/pages/map/js/ctx.js
index 7479ccf..aeca5a2 100644
--- a/pages/map/js/ctx.js
+++ b/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} ${pt2.y}`
- // // 璁＄畻鍚勮搴﹀拰瀵瑰簲鐨凱2,P3鍧愭爣
- // let angle = (Math.atan2(fromY - toY, fromX - toX) * 180) / Math.PI,
- // angle1 = ((angle + theta) * Math.PI) / 180,
- // angle2 = ((angle - theta) * Math.PI) / 180,
- // topX = headlen * Math.cos(angle1),
- // topY = headlen * Math.sin(angle1),
- // botX = headlen * Math.cos(angle2),
- // botY = headlen * Math.sin(angle2);
- // let arrowX = fromX - topX,
- // arrowY = fromY - topY;
- // arrowX = toX + topX;
- // arrowY = toY + topY;
- // path2 += " L " + arrowX + " " + arrowY;
- // arrowX = toX + botX;
- // arrowY = toY + botY;
- // path2 += " M " + arrowX + " " + arrowY;
- // path2 += " L " + toX + " " + toY;
- // }
- // } else {
- // path2 += ` L${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} ${pt2.y}`
-
- // // 璁＄畻鍚勮搴﹀拰瀵瑰簲鐨凱2,P3鍧愭爣
- // let angle = (Math.atan2(fromY - toY, fromX - toX) * 180) / Math.PI,
- // angle1 = ((angle + theta) * Math.PI) / 180,
- // angle2 = ((angle - theta) * Math.PI) / 180,
- // topX = headlen * Math.cos(angle1),
- // topY = headlen * Math.sin(angle1),
- // botX = headlen * Math.cos(angle2),
- // botY = headlen * Math.sin(angle2);
- // let arrowX = fromX - topX,
- // arrowY = fromY - topY;
- // arrowX = toX + topX;
- // arrowY = toY + topY;
- // path2 += " L " + arrowX + " " + arrowY;
- // arrowX = toX + botX;
- // arrowY = toY + botY;
- // path2 += " M " + arrowX + " " + arrowY;
- // path2 += " L " + toX + " " + toY;
- // }
- // // console.log(`绠ご L${pt2.x} ${pt2.y}`)
- // } else {
- // // console.log(`鐐�L${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()
diff --git a/pages/map/scene.vue b/pages/map/scene.vue
index aa7af12..c787b5d 100644
--- a/pages/map/scene.vue
+++ b/pages/map/scene.vue
@@ -44,7 +44,7 @@
<view class="tip">鍦烘櫙鏋勫缓涓�/view>
<view>
<!-- 璇锋搷浣滄惉杩愯溅鎵弿鍦板浘瑕嗙洊鐨勫尯鍩�-->
- {{mapServerPhase=== 1 ?"鍦烘櫙鏋勫缓鏈嶅姟锛氭湭鍚姩":mapServerPhase===2 ?"鍦烘櫙鏋勫缓鏈嶅姟锛氬惎鍔ㄤ腑":mapServerPhase===3 ?"鍦烘櫙鏋勫缓涓�:mapServerPhase}}
+ {{mapCreatePhase}}
</view>
<view class="text-button-group">
@@ -55,7 +55,7 @@
<view class="tip"> 鈥渰{sceneName}}鈥漿{opType == "extend"?"鍦烘櫙鎵╁睍缁撴潫"+"":"鍦烘櫙鏋勫缓缁撴潫"}}</view>
<!-- <view> 宸叉垚鍔熸瀯寤衡�{{sceneName}}鈥�/view> -->
<view class="loading-view">
- 鏋勫浘鐘舵�锛歿{mapServerPhase===5?"淇濆瓨鎴愬姛":mapServerPhase===4?"淇濆瓨涓�:mapServerPhase===6?"淇濆瓨澶辫触":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 "鍦烘櫙鏋勫缓鏈嶅姟锛氭湭鍚姩"
+ } else if (this.mapServerPhase == 2) {
+ return "鍦烘櫙鏋勫缓鏈嶅姟锛氬惎鍔ㄤ腑"
+ } else if (this.mapServerPhase == 3) {
+ return "鍦烘櫙鏋勫缓涓�
+ } else if (this.mapServerPhase == 4) {
+ return "鍦烘櫙鏋勫浘淇濆瓨涓�
+ } else if (this.mapServerPhase == 5) {
+ return "鍦烘櫙鏋勫浘淇濆瓨鎴愬姛"
+ } else if (this.mapServerPhase == 6) {
+ return "鍦烘櫙鏋勫浘淇濆瓨澶辫触"
+ } 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)
--
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