#

luxiaotao1123

2024-10-17 ae81dbb1364e69cc8c73462795a64cbc6316c1fc

#

 zy-acs-flow/public/model/agv/body.fbx

Binary files differ

 zy-acs-flow/public/model/agv/fork.fbx

Binary files differ

 zy-acs-flow/public/model/agv/loader.fbx

Binary files differ

 zy-acs-flow/src/map/http.js

@@ -108,7 +108,6 @@
    })
}


export const getLocGroup = async (row, bay, callback) => {
    await request.post('/map/shelf/group', {
        row: row,
@@ -127,3 +126,21 @@
        console.error(error.message);
    })
}

export const getAgvInfo = async (agvNo, callback) => {
    await request.post('/map/agv/info', {
        agvNo: agvNo,
    }, {
        headers: { 'Content-Type': 'application/x-www-form-urlencoded' }
    }).then((res) => {
        const { code, msg, data } = res.data;
        if (code === 200) {
            callback(data)
        } else {
            notify.error(msg);
        }
    }).catch((error) => {
        notify.error(error.message);
        console.error(error.message);
    })
}

 zy-acs-flow/src/map/insight/agv/AgvMain.jsx

New file
@@ -0,0 +1,134 @@
import React, { useRef, useEffect, useState } from 'react';
import { useTranslate } from 'react-admin';
import {
    Box,
    CircularProgress,
    Grid,
    Typography,
    Paper,
    Button,
    Divider,
    Stack,
} from '@mui/material';
import ShelfThree from './AgvThree';
import { getAgvInfo } from '../../http';
import { grey } from '@mui/material/colors';

let shelfThree;

const startThree = (dom) => {
    shelfThree = new ShelfThree(dom);
    shelfThree.startup();
}

const endThree = () => {
    if (shelfThree) {
        shelfThree.destroy();
        shelfThree = null;
    }
}

const renderThree = (info, curAgvNo) => {
    if (info && shelfThree) {
        shelfThree.generateMesh((loader, addObject) => {
            const promises = [];
            promises.push(new Promise((resolve) => {
                loader.load('model/agv.fbx', (mesh) => {
                    mesh.position.set(0, singleHeight * (lev - 1), 0);
                    mesh.scale.set(5, 5, 5);
                    mesh.name = item.locNo;
                    mesh.traverse((child) => {
                        if (child.isMesh) {
                            switch (child.name) {
                                case '货架':
                                    child.material.color.set(0x4680BF);
                                    break;
                                case '托盘':
                                    child.visible = item.locStsEl === 'STOCK' || item.locStsEl === 'PAKOUT';
                                    child.material.color.set(0xBEBEBE);
                                    break;
                                case '不规则':
                                    child.visible = item.locStsEl === 'STOCK' || item.locStsEl === 'PAKOUT';
                                    child.material.color.set(0xE8B67E);
                                    break;
                                default:
                                    break;
                            }
                            child.castShadow = true;
                            child.receiveShadow = true;
                        }
                    });
                    addObject(mesh);
                    resolve();
                })
            }));

            Promise.all(promises).then(() => {
                shelfThree.setNewSelectedMesh(curLocNo);
                shelfThree.rePerspective(singleHeight * info.length, 500);
            }).catch(error => {
                console.error(error);
            });
        })
    }
}

const AgvMain = (props) => {
    const { data, curAgvNo, setCurAgvNo } = props;
    const translate = useTranslate();
    const containerRef = useRef();
    const [loading, setLoading] = useState(true);
    const [info, setInfo] = useState(null);

    useEffect(() => {
        if (data) {
            getAgvInfo(data.no, (response) => {
                setInfo(response);
                setCurAgvNo(data.no);
            });
        }
    }, [data]);

    useEffect(() => {
        if (info) {
            endThree();
            setLoading(true);
            setTimeout(() => {
                startThree(containerRef.current);
                shelfThree.handleClick = (objName) => {
                    setCurAgvNo(objName);
                };
                renderThree(info, curAgvNo);
                setLoading(false);
            }, 300)
        }
        return endThree;
    }, [info]);

    return (
        <Box display="flex" height="100%">
            <Box
                position="relative"
                width="50%"
                height="100%"
                ref={containerRef}
                style={{ backgroundColor: '#7a7a7a' }}
            >
                {loading && (
                    <Box
                        position="absolute"
                        top="50%"
                        left="50%"
                        style={{ transform: 'translate(-50%, -50%)' }}
                    >
                        <CircularProgress sx={{ color: grey[50] }} />
                    </Box>
                )}
            </Box>
            <Box width="50%" height="100%" overflow="auto" pl={1}>
            </Box>
        </Box>
    );
}

export default AgvMain;

 zy-acs-flow/src/map/insight/agv/AgvThree.js

New file
@@ -0,0 +1,275 @@
import * as THREE from 'three'
import Stats from 'three/addons/libs/stats.module.js';
import { OrbitControls } from 'three/examples/jsm/controls/OrbitControls'
import TWEEN from '@tweenjs/tween.js';
import { EffectComposer } from 'three/examples/jsm/postprocessing/EffectComposer';
import { RenderPass } from 'three/examples/jsm/postprocessing/RenderPass';
import { OutlinePass } from 'three/examples/jsm/postprocessing/OutlinePass';
import { ShaderPass } from 'three/examples/jsm/postprocessing/ShaderPass';
import { FXAAShader } from 'three/examples/jsm/shaders/FXAAShader';
import { FBXLoader } from 'three/examples/jsm/loaders/FBXLoader'

const help = false;

export default class ShelfThree {

    constructor(dom) {
        this.dom = dom;

        this.objects = [];
    }

    startup = () => {
        this.scene = this.initScene();
        this.camera = this.initCamera();
        this.renderer = this.initRenderer();
        this.controls = this.initControls();
        this.stats = this.initStats();
        this.composer = this.initComposer();
        this.windowResize();
        this.initRaycaster();
        initLight(this.scene);

        this.animate();
    }

    animate = () => {
        this.animationFrame = requestAnimationFrame(this.animate);
        this.render();
        TWEEN.update();
    }

    render = () => {
        // this.renderer.render(this.scene, this.camera);
        this.composer.render(); // use special effects
        this.stats.update();
        // Rotate the scene
        this.controls.update()
        this.controls.autoRotateSpeed = 2;
    }

    getFullWidth = () => {
        return this.dom?.offsetWidth;
    }

    getFullHeight = () => {
        return this.dom?.offsetHeight;
    }

    addObject = (object) => {
        this.scene?.add(object);
        this.objects?.push(object);
    }

    initScene = () => {
        const scene = new THREE.Scene();
        // scene.background = new THREE.Color(0xf8f8f8);
        scene.background = new THREE.Color(0x7a7a7a);
        scene.fog = new THREE.Fog(scene.background, 1, 5000);
        if (help) {
            scene.add(new THREE.AxesHelper(1000));
        }
        return scene;
    }

    initCamera = () => {
        const camera = new THREE.PerspectiveCamera(70, this.getFullWidth() / this.getFullHeight(), 1, 60000);
        camera.position.set(-400, 400, 400);
        this.scene.add(camera);
        return camera;
    }

    initRenderer = () => {
        const renderer = new THREE.WebGLRenderer({ antialias: true, alpha: true });
        renderer.setClearAlpha(0);
        // renderer.useLegacyLights = false;  // 旧版光源 重要
        renderer.shadowMap.enabled = true;
        // this.renderer.shadowMap.type = THREE.BasicShadowMap;    // 最低阴影
        // renderer.toneMapping = THREE.ReinhardToneMapping;
        renderer.toneMapping = THREE.ACESFilmicToneMapping;
        renderer.setPixelRatio(window.devicePixelRatio);
        renderer.setSize(this.getFullWidth(), this.getFullHeight());
        this.dom?.appendChild(renderer.domElement);
        return renderer;
    }

    initComposer = () => {
        const composer = new EffectComposer(this.renderer);
        const renderPass = new RenderPass(this.scene, this.camera);
        composer.addPass(renderPass);
        // pixel ratio
        const pixelRatio = this.renderer.getPixelRatio();
        const newWidth = Math.floor(this.getFullWidth() * pixelRatio) || 1;
        const newHeight = Math.floor(this.getFullHeight() * pixelRatio) || 1;
        composer.setSize(newWidth, newHeight);
        // antialias
        const effectFXAA = new ShaderPass(FXAAShader);
        effectFXAA.uniforms['resolution'].value.set(1 / newWidth, 1 / newHeight);
        composer.addPass(effectFXAA);
        // outline
        this.outlinePass = new OutlinePass(new THREE.Vector2(this.getFullWidth(), this.getFullHeight()), this.scene, this.camera);
        this.outlinePass.visibleEdgeColor.set('#ffffff'); // outline color
        this.outlinePass.edgeStrength = 10; // outline weight
        composer.addPass(this.outlinePass);
        return composer;
    }

    initControls = () => {
        const controls = new OrbitControls(this.camera, this.renderer.domElement);
        // controls.enableRotate = false; // 禁用整体旋转功能
        controls.enablePan = false; // 允许平移
        controls.enableDamping = true;   // 开启阻尼
        controls.dampingFactor = 0.08; // 阻尼因子
        controls.enableZoom = true; // 允许缩放
        // controls.minDistance = 1; // 最小缩放距离
        // controls.maxDistance = 30; // 最大缩放距离
        controls.minPolarAngle = 0; // 最小俯仰角度（向下看）
        controls.minPolarAngle = Math.PI / 2.1;
        controls.maxPolarAngle = Math.PI / 2.1; // 最大俯仰角度（向上看）
        controls.rotateSpeed = 0.6; // 视角移动速度减慢
        controls.autoRotate = true; // 自动旋转

        controls.target = new THREE.Vector3(0, 250, 0)  // 屏幕中心点 平替 camera的lookAt
        return controls;
    }

    initStats = () => {
        const stats = new Stats();
        this.dom?.appendChild(stats.dom);
        if (!help) {
            stats.domElement.style.display = 'none';
        }
        return stats;
    }

    windowResize = () => {
        this.resizeHandler = () => {
            this.camera.aspect = this.getFullWidth() / this.getFullHeight();
            this.camera.updateProjectionMatrix();
            this.renderer.setSize(this.getFullWidth(), this.getFullHeight());
        };
        window.addEventListener('resize', this.resizeHandler, false);
    }

    initRaycaster = () => {
        const raycaster = new THREE.Raycaster();
        const mouse = new THREE.Vector2();
        this.handleClickEvent = (event) => {
            let x, y;
            if (event.changedTouches) {
                x = event.changedTouches[0].pageX;
                y = event.changedTouches[0].pageY;
            } else {
                x = event.clientX;
                y = event.clientY;
            }
            let rect = this.dom.getBoundingClientRect();
            mouse.x = ((x - rect.left) / rect.width) * 2 - 1;
            mouse.y = -((y - rect.top) / rect.height) * 2 + 1;
            event.preventDefault();
            raycaster.setFromCamera(mouse, this.camera);
            let intersects = raycaster.intersectObjects(this.objects, true);
            if (intersects.length === 0) {
                return;
            }
            let objName = intersects[0].object.name;
            this.objects.forEach(obj => {
                if (obj.name === objName) {
                    this.outlinePass.selectedObjects = [obj];
                }
            })
            if (objName && this.handleClick) {
                this.handleClick(objName, x, y);
            }
        }
        this.dom?.addEventListener("click", this.handleClickEvent, false);
    }

    generateMesh = (fn) => {
        const loader = new FBXLoader();
        fn(loader, this.addObject);
    }

    setNewSelectedMesh = (objName) => {
        for (const mesh of this.objects) {
            if (mesh.name === objName) {
                this.outlinePass.selectedObjects = [mesh];
                break;
            }
        }
    }

    rePerspective = (maxHeight, normalHeight) => {
        const height = Math.max(maxHeight, normalHeight)
        const cameraPosScale = 0.7;
        this.camera.position.set(
            -height * cameraPosScale,
            height * cameraPosScale,
            height * cameraPosScale
        );
        this.controls.target = new THREE.Vector3(0, maxHeight * 0.53, 0);
    }

    destroy = () => {
        cancelAnimationFrame(this.animationFrame);
        window.removeEventListener('resize', this.resizeHandler);
        if (this.scene) {
            while (this.scene.children.length > 0) {
                this.removeEntity(this.scene.children[0]);
            }
            this.scene = null;
        }
        if (this.renderer) {
            this.renderer.dispose();
            this.renderer.forceContextLoss();
            this.renderer.context = null;
            this.renderer.domElement = null;
            this.renderer = null;
        }
        if (this.composer) {
            this.composer.passes.forEach(pass => {
                if (pass.dispose) {
                    pass.dispose();
                }
            });
            this.composer = null;
        }
        if (this.controls) {
            this.controls.dispose();
            this.controls = null;
        }
        this.dom?.removeEventListener("click", this.handleClickEvent);
        this.camera = null;
        this.objects = [];
        while (this.dom?.firstChild) {
            this.dom.removeChild(this.dom.firstChild);
        }
    }

    removeEntity = (object) => {
        if (object.material) object.material.dispose();
        if (object.geometry) object.geometry.dispose();
        if (object.texture) object.texture.dispose();
        this.scene.remove(object);
    }
};

const initLight = (scene) => {
    const hemiLight = new THREE.HemisphereLight(0xffffff, 0xffffff, 6);
    hemiLight.color.setHSL(0.6, 1, 0.6);
    hemiLight.groundColor.setHSL(0.095, 1, 0.75);
    hemiLight.position.set(0, 1500, 0);
    scene.add(hemiLight);

    const dirLight = new THREE.DirectionalLight(0xffffff, 2.5);
    dirLight.color.setHSL(0.1, 1, 0.95);
    dirLight.position.set(-10, 10, 10);
    dirLight.position.multiplyScalar(30);
    scene.add(dirLight);

    const dirLight1 = new THREE.DirectionalLight(0xffffff, 2.5);
    dirLight1.color.setHSL(0.1, 1, 0.95);
    dirLight1.position.set(10, 10, -10);
    dirLight1.position.multiplyScalar(30);
    scene.add(dirLight1);
}

 zy-acs-flow/src/map/insight/agv/index.jsx

@@ -1,11 +1,54 @@

import React, { useState, useRef, useEffect } from 'react';
import { useTranslate } from "react-admin";
import { Box, Typography, Tabs, Tab, Stack, useTheme, Divider } from '@mui/material';
// import AgvMain from './AgvMain';
import JsonShow from '../../JsonShow';

const AgvInsight = (props) => {
    const { sprite } = props;
    const theme = useTheme();
    const themeMode = theme.palette.mode;
    const translate = useTranslate();

    const [activeTab, setActiveTab] = useState(0);
    const [curAgvNo, setCurAgvNo] = useState(null);

    const handleTabChange = (event, newValue) => {
        setActiveTab(newValue);
    };

    return (
        <>
            <h1>Agv</h1>
        </>
        <Box sx={{ height: '100%', display: 'flex', flexDirection: 'column' }}>
            <Tabs
                value={activeTab}
                onChange={handleTabChange}
                centered
                sx={{ mb: 0 }}
            >
                <Tab label={translate('page.map.insight.title')} />
                <Tab label={'JSON'} />
            </Tabs>

            <Divider />

            <Box flex={1} pt={2}>
                {activeTab === 0 && (
                    <>
                    </>
                    // <AgvMain
                    //     data={sprite?.data}
                    //     curAgvNo={curAgvNo}
                    //     setCurAgvNo={setCurAgvNo}
                    // />
                )}
                {activeTab === 1 && (
                    <JsonShow
                        data={sprite?.data}
                        height={550}
                    />
                )}
            </Box>
        </Box>
    )
}


 zy-acs-flow/src/map/insight/index.jsx

@@ -70,7 +70,7 @@
                                    {deviceType === DEVICE_TYPE.AGV && (
                                        <>
                                            <AgvInsight

                                                sprite={sprite}
                                            />
                                        </>
                                    )}

 zy-acs-flow/src/map/insight/shelf/ShelfMain.jsx

@@ -1,5 +1,4 @@
import React, { useRef, useEffect, useState } from 'react';
import * as THREE from 'three';
import { useTranslate } from 'react-admin';
import {
    Box,
@@ -10,13 +9,10 @@
    Button,
    Divider,
    Stack,
    Card,
    CardContent,
} from '@mui/material';
import ShelfThree from './ShelfThree';
import { getLocGroup } from '../../http';
import { grey } from '@mui/material/colors';
import { styled } from '@mui/system';

let shelfThree;

@@ -117,10 +113,6 @@
        }
        return endThree;
    }, [info]);

    useEffect(() => {
        console.log(selectedLoc);
    }, [selectedLoc])

    return (
        <Box display="flex" height="100%">

 zy-acs-manager/src/main/java/com/zy/acs/manager/manager/controller/MapController.java

@@ -17,8 +17,9 @@
import com.zy.acs.manager.core.service.floyd.FloydNavigateService;
import com.zy.acs.manager.manager.controller.param.MapDataParam;
import com.zy.acs.manager.manager.controller.param.MapParam;
import com.zy.acs.manager.manager.entity.*;
import com.zy.acs.manager.manager.controller.result.MapAgvVo;
import com.zy.acs.manager.manager.entity.Map;
import com.zy.acs.manager.manager.entity.*;
import com.zy.acs.manager.manager.enums.AgvStsType;
import com.zy.acs.manager.manager.mapper.MapMapper;
import com.zy.acs.manager.manager.service.*;
@@ -124,7 +125,17 @@
        return R.ok().add(locList);
    }


    @PostMapping("/agv/info")
    public R agvInfo(@RequestParam(required = false) String agvNo) {
        if (Cools.isEmpty(agvNo)) {
            return R.error();
        }
        Agv agv = agvService.selectByUuid(agvNo);
        AgvDetail agvDetail = agvDetailService.selectByAgvNo(agvNo);
        MapAgvVo vo = new MapAgvVo();
        vo.setAgvNo(agv.getUuid());
        return R.ok().add(vo);
    }




 zy-acs-manager/src/main/java/com/zy/acs/manager/manager/controller/result/MapAgvVo.java

New file
@@ -0,0 +1,13 @@
package com.zy.acs.manager.manager.controller.result;

import lombok.Data;

/**
 * Created by vincent on 10/17/2024
 */
@Data
public class MapAgvVo {

    private String agvNo;

}