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/scene.vue | 352 ++++++++++++++++++++++++++++++++++++++++++++++------------
1 files changed, 276 insertions(+), 76 deletions(-)
diff --git a/pages/map/scene.vue b/pages/map/scene.vue
index 74d3bfd..c787b5d 100644
--- a/pages/map/scene.vue
+++ b/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=" 鍥剧墖" mode="aspectFit" />
- <view class="space">娌℃湁鎵惧埌绗﹀悎鏉′欢鐨勫湴鍥�/view>
-
+ <image v-if="opType != 'extend'" class="img" src="/images/image_25.png" alt=" 鍥剧墖" mode="aspectFit" />
+ <image v-else class="img" :src="extendBase64Img" alt=" 鍥剧墖" mode="aspectFit" />
+ <view v-if="opType != 'extend'" class="space">娌℃湁鎵惧埌绗﹀悎鏉′欢鐨勫湴鍥�/view>
+ <!-- <view class="loading-view">{{mapserverIsOk?"鏋勫浘绋嬪簭鍑嗗灏辩华":"绛夊緟鏋勫浘绋嬪簭灏辩华..."}}
+ <view v-if="!mapserverIsOk" class="auto-circle"></view>:disabled="!mapserverIsOk"
+ </view> -->
<view class="text-button-group">
<a-button type="primary" class="button" @click="clickStartConstructScene">
- 寮�鏋勫缓
+ {{opType == 'extend'?"寮�鎵╁睍":'寮�鏋勫缓'}}
</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>
涓嬭浇鍦烘櫙
</a-button>
</view>
@@ -26,7 +29,7 @@
<view class="tip">璇疯緭鍏ュ満鏅悕绉�/view>
<view class="name-input">
<input ref="refInputName" :focus="true" placeholder="璇疯緭鍏ュ満鏅悕绉� :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">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�+ <!-- 璇锋搷浣滄惉杩愯溅鎵弿鍦板浘瑕嗙洊鐨勫尯鍩�-->
+ {{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">鍦烘櫙鏋勫缓瀹屾垚</view>
- <view>
- 宸叉垚鍔熸瀯寤衡�{{sceneName}}鈥�+ <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">
+ {{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">鏋勫缓瀹屾垚</a-button>
+ <a-button type="primary" class="button" v-if="mapServerPhase === 6"
+ @click="clickRecreate">{{opType == "extend"?"閲嶇幇鎵╁睍":"閲嶇幇鏋勫缓"}}</a-button>
+ <a-button type="primary" class="button" v-else :disabled=" mapServerPhase !==5 || loading"
+ @click="clickFinish">{{opType == "extend"?"鎵╁睍瀹屾垚":"鏋勫缓瀹屾垚"}}</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 "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: {
},
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, //杩斿洖灞傛暟锛�鍒欎笂涓婇〉
})
@@ -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('鎺ユ敹鍒拌鍥惧眰鐨勬暟鎹細', 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("鍔犺浇搴曞浘澶辫触")
+ const log = {
+ date,
+ method: `POST`,
+ url: "app/log/load_img",
+ param: param.msg,
+ statusCode: 100,
+ data: "鍔犺浇搴曞浘澶辫触"
+ }
+ 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: "寮�鎵弿鍦板浘"
})
+ 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, //杩斿洖灞傛暟锛�鍒欎笂涓婇〉
- })
- }
+ //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, //杩斿洖灞傛暟锛�鍒欎笂涓婇〉
+ // })
+ // }
} catch (ex) {
-
+ console.log(ex)
showModal("璇锋鏌ヨ溅杈嗚繛鎺ワ紝骞堕噸鏂板紑濮嬫瀯寤哄満鏅�, "鍦烘櫙鏋勫缓澶辫触", false, "纭畾").then((res) => {
this.opSceneType = ''
- if (this.opType != "") {
- uni.navigateBack({
- delta: 1, //杩斿洖灞傛暟锛�鍒欎笂涓婇〉
- })
- }
+
})
} finally {
this.loading = false
@@ -368,27 +503,39 @@
delta: 1, //杩斿洖灞傛暟锛�鍒欎笂涓婇〉
})
} catch (ex) {
- showModal("璇锋鏌ヨ溅杈嗚繛鎺ワ紝骞堕噸鏂板紑濮嬫瀯寤哄満鏅�, "鍦烘櫙鏋勫缓澶辫触", false, "纭畾").then((res) => {
- this.opSceneType = ''
- if (this.opType != "") {
- uni.navigateBack({
- delta: 1, //杩斿洖灞傛暟锛�鍒欎笂涓婇〉
- })
- }
- })
+ 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;
--
Gitblit v1.9.1