Merge remote-tracking branch 'origin/shuttle_rcs' into shuttle_rcs

Junjie

2025-05-23 1b007b8d43f82cf86e3cf5f2a316f30bae51deb2

Merge remote-tracking branch 'origin/shuttle_rcs' into shuttle_rcs

 src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java

@@ -309,6 +309,12 @@
                return false;
            }

            boolean checkLocPathIsAvailable = navigateUtils.checkLocPathIsAvailable(wrkMast.getSourceLocNo(), liftSta.getLocNo());
            if(!checkLocPathIsAvailable) {
                News.taskInfo(wrkMast.getWrkNo(), "{}任务，未计算到可执行路径，等待中", wrkMast.getWrkNo());
                return false;
            }

            if (wrkMast.getShuttleNo() == null) {//没有绑定小车，进行调度
                //强制预留一台小车给入库任务
                int lev = Utils.getLev(wrkMast.getSourceLocNo());
@@ -531,6 +537,12 @@

        //小车移动至站点  501.生成移库任务 ==> 502.小车搬运中
        if (wrkMast.getWrkSts() == WrkStsType.NEW_LOC_MOVE.sts) {
            boolean checkLocPathIsAvailable = navigateUtils.checkLocPathIsAvailable(wrkMast.getSourceLocNo(), wrkMast.getLocNo());
            if(!checkLocPathIsAvailable) {
                News.taskInfo(wrkMast.getWrkNo(), "{}任务，未计算到可执行路径，等待中", wrkMast.getWrkNo());
                return false;
            }

            if (wrkMast.getShuttleNo() == null) {//没有绑定小车，进行调度
                boolean result = shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), wrkMast.getSourceLocNo());//调度小车到货物点进行取货
                News.info("{}任务，调度小车{}系统等待中", wrkMast.getWrkNo(), result ? "成功" : "失败");

 src/main/java/com/zy/common/model/MapNode.java

@@ -37,6 +37,10 @@

    private Integer bay;

    private String locSts;

    private String locNo;

    //节点被锁定时所属设备号
    private Integer lockDeviceNo;


 src/main/java/com/zy/common/utils/NavigateMapData.java

@@ -225,6 +225,9 @@
                    }
                }

                mapNode.setLocSts(locMast.getLocSts());
                mapNode.setLocNo(locMast.getLocNo());

                //更新list
                list.set(bay, mapNode);
                lists.set(row, list);

 src/main/java/com/zy/common/utils/NavigateUtils.java

@@ -426,6 +426,17 @@
        return 0D;
    }

    //检测库位路径是否可用(用于库位是否可移动检测)
    public boolean checkLocPathIsAvailable(String startLocNo, String endLocNo) {
        List<int[]> shuttlePoints = Utils.getShuttlePoints(0, Utils.getLev(startLocNo));
        //计算库位到提升机库位，路径是否可用
        List<NavigateNode> nodeList = this.calc(startLocNo, endLocNo, NavigationMapType.DFX.id, shuttlePoints, null);
        if (nodeList == null) {
            return false;
        }
        return true;
    }

    public static void main(String[] args) {
//        //计算路径
//        List<NavigateNode> calc = calc("1000901", "1800201", NavigationMapType.NONE.id, null);

 src/main/java/com/zy/core/dispatcher/ShuttleDispatchUtils.java

@@ -57,14 +57,14 @@
    /**
     * è°ƒåº¦è½¦è¾†-调度指定穿梭车
     */
    public boolean dispatchShuttle(Integer wrkNo, String locNo, Integer shuttleNo) {
    public synchronized boolean dispatchShuttle(Integer wrkNo, String locNo, Integer shuttleNo) {
        return shuttleMoveGenerate(wrkNo, locNo, shuttleNo);
    }

    /**
     * è°ƒåº¦è½¦è¾†
     */
    public boolean dispatchShuttle(Integer wrkNo, String locNo) {
    public synchronized boolean dispatchShuttle(Integer wrkNo, String locNo) {
        ArrayList<ShuttleThread> sameLev = new ArrayList<>();//相同楼层的穿梭车
        ArrayList<ShuttleThread> diffLev = new ArrayList<>();//不同楼层的穿梭车

@@ -202,7 +202,7 @@
     * å°è½¦è¿ç§»ä»»åŠ¡ç”Ÿæˆ
     */
    @Transactional
    public boolean shuttleMoveGenerate(Integer wrkNo, String locNo, Integer shuttleNo) {
    public synchronized boolean shuttleMoveGenerate(Integer wrkNo, String locNo, Integer shuttleNo) {
        Date now = new Date();
        //获取四向穿梭车线程
        ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleNo);

 src/main/java/com/zy/core/thread/impl/NyShuttleThread.java

@@ -42,6 +42,7 @@
import java.io.IOException;
import java.io.InputStreamReader;
import java.io.OutputStreamWriter;
import java.net.InetAddress;
import java.net.Socket;
import java.text.MessageFormat;
import java.util.*;
@@ -1067,12 +1068,15 @@
    @Override
    public boolean connect() {
        try {
            Socket socket = new Socket(slave.getIp(), slave.getPort());
            socket.setSoTimeout(10000);
            socket.setKeepAlive(true);
            this.socket = socket;
            log.info(MessageFormat.format("【{0}】四向穿梭车Socket链接成功 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
        } catch (IOException e) {
            InetAddress address = InetAddress.getByName(slave.getIp());
            if (address.isReachable(10000)) {
                Socket socket = new Socket(slave.getIp(), slave.getPort());
                socket.setSoTimeout(10000);
                socket.setKeepAlive(true);
                this.socket = socket;
                log.info(MessageFormat.format("【{0}】四向穿梭车Socket链接成功 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
            }
        } catch (Exception e) {
            OutputQueue.SHUTTLE.offer(MessageFormat.format("【{0}】四向穿梭车Socket链接失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
            return false;
        }
@@ -1194,7 +1198,10 @@
           writer.flush();
//            System.out.println("Sent message to server: " + JSON.toJSONString(httpCommand));
       }catch (Exception e) {
           e.printStackTrace();
//           e.printStackTrace();
//           System.out.println("socket write error");
           this.socket.close();
           this.socket = null;
       }
    }


 src/main/resources/sql/20250208165620.nb3

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 src/main/resources/sql/20250210133035.nb3

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 src/main/resources/sql/20250213165543.nb3

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 src/main/resources/sql/20250313155617.nb3

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 src/main/resources/sql/20250331102933.nb3

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 src/main/resources/sql/20250513125153.nb3

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 src/main/resources/sql/¿âλµØͼsql

New file
@@ -0,0 +1,2 @@
INSERT INTO `shuttle_rcs`.`sys_resource` (`code`, `name`, `resource_id`, `level`, `sort`, `status`) VALUES ('locMap/locMap.html', '库位地图', 40541, 2, 8, 1);
INSERT INTO `shuttle_rcs`.`sys_resource` (`code`, `name`, `resource_id`, `level`, `sort`, `status`) VALUES ('locMap#query', '查询', '', 3, 0, 1);

 src/main/webapp/views/admin/locMap/locMap.html

New file
@@ -0,0 +1,1031 @@
<!DOCTYPE html>
<html lang="en">
<head>
  <meta charset="UTF-8">
  <title>库位地图</title>
  <link rel="stylesheet" href="../../../static/css/animate.min.css">
  <link rel="stylesheet" href="../../../static/vue/element/element.css">
  <link rel="stylesheet" href="../../../static/css/console_vue.css">
  <link rel="stylesheet" href="../../../static/css/toggle-switch.css">
  <script type="text/javascript" src="../../../static/js/jquery/jquery-3.3.1.min.js"></script>
  <script type="text/javascript" src="../../../static/layui/layui.js"></script>
  <script type="text/javascript" src="../../../static/js/handlebars/handlebars-v4.5.3.js"></script>
  <script type="text/javascript" src="../../../static/js/common.js"></script>
  <script type="text/javascript" src="../../../static/vue/js/vue.min.js"></script>
  <script type="text/javascript" src="../../../static/vue/element/element.js"></script>
  <script src="../../../static/js/gsap.min.js"></script>
  <script src="../../../static/js/pixi-legacy.min.js"></script>
  <style>
    *{
      margin: 0;
      padding: 0;
    }
  </style>
</head>
<body>
<div id="app">
  <div id="pixiView">

  </div>

  <!--输出操作和FPS-->
  <div style="position: absolute;top: 20px;right: 50px;">
    <div>FPS:{{mapFps}}</div>
    <el-button @click="drawer = true">操作</el-button>
  </div>

  <el-drawer
          title="操作区域"
          :visible.sync="drawer"
          :with-header="true"
          :modal="false"
  >
    <div class="floorBtnBox" v-for="(lev,idx) in floorList">
      <el-button :style="{background:currentLev === lev ? '#7DCDFF':''}" @click="changeFloor(lev)">{{lev}}F</el-button>
    </div>
<!--    <div>-->
<!--      <el-button @click="testMove()">测试移动车</el-button>-->
<!--    </div>-->
<!--    <div style="margin-top: 10px;">-->
<!--      <el-button @click="resetMap()">重置地图</el-button>-->
<!--    </div>-->
  </el-drawer>

  <el-drawer
          title="库位详情"
          :visible.sync="drawerLocNo"
          :with-header="true"
          :modal="false"
  >
    <div v-if="drawerLocNoData!=null">
      <div style="margin: 10px;">
        <div style="margin-top: 5px;">X：{{drawerLocNoData.x}}</div>
        <div style="margin-top: 5px;">Y：{{drawerLocNoData.y}}</div>
        <div style="margin-top: 5px;">Z：{{drawerLocNoData.z}}</div>
        <div style="margin-top: 5px;">库位号：{{drawerLocNoData.locNo}}</div>
        <div style="margin-top: 5px;">库位状态：{{drawerLocNoData.locSts}}</div>
      </div>
    </div>
  </el-drawer>

  <el-drawer
          title="小车信息"
          :visible.sync="drawerShuttle"
          :with-header="true"
          :modal="false"
  >
    <div v-if="drawerShuttleData!=null">
      <div style="margin: 10px;">
        <div style="margin-top: 5px;">小车：{{drawerShuttleData.shuttleNo}}</div>
        <div style="margin-top: 5px;">工作号：{{drawerShuttleData.wrkNo}}</div>
        <div style="margin-top: 5px;">状态：{{drawerShuttleData}}</div>
      </div>
    </div>
  </el-drawer>

  <el-drawer
          title="站点信息"
          :visible.sync="drawerSta"
          :with-header="true"
          :modal="false"
  >
    <div v-if="drawerStaData!=null">
      <div style="margin: 10px;">
        <div style="margin-top: 5px;">站点：{{drawerStaData.siteId}}</div>
        <div style="margin-top: 5px;">工作号：{{drawerStaData.workNo}}</div>
        <div style="margin-top: 5px;">工作状态：{{drawerStaData.wrkSts}}</div>
        <div style="margin-top: 5px;">工作类型：{{drawerStaData.ioType}}</div>
        <div style="margin-top: 5px;">源站：{{drawerStaData.sourceStaNo}}</div>
        <div style="margin-top: 5px;">目标站：{{drawerStaData.staNo}}</div>
        <div style="margin-top: 5px;">源库位：{{drawerStaData.sourceLocNo}}</div>
        <div style="margin-top: 5px;">目标库位：{{drawerStaData.locNo}}</div>
        <div style="margin-top: 5px;">自动：{{drawerStaData.autoing}}</div>
        <div style="margin-top: 5px;">有物：{{drawerStaData.loading}}</div>
        <div style="margin-top: 5px;">能入：{{drawerStaData.canining}}</div>
        <div style="margin-top: 5px;">能出：{{drawerStaData.canouting}}</div>
        <div style="margin-top: 5px;">能出：{{drawerStaData.canouting}}</div>
      </div>
    </div>
  </el-drawer>

  <el-drawer
          title="提升机信息"
          :visible.sync="drawerLift"
          :with-header="true"
          :modal="false"
  >
    <div v-if="drawerLiftData!=null">
      <div style="margin: 10px;">
        <div style="margin-top: 5px;">提升机：{{liftList[drawerLiftData-1].liftNo}}</div>
        <div style="margin-top: 5px;">工作号：{{liftList[drawerLiftData-1].taskNo}}</div>
        <div style="margin-top: 5px;">状态：{{liftList[drawerLiftData-1]}}</div>
      </div>
    </div>
  </el-drawer>

</div>
<script>
  let width = 25;
  let height = 25;
  let pixiApp;
  let pixiStageList = [];
  let pixiShuttleMap = new Map();
  let pixiShuttleMoveAdvancePathMap = new Map();
  let pixiShuttleMoveAdvancePathList = [];
  let pixiShuttleLockPathMap = new Map();
  let pixiStaMap = new Map();
  let objectsContainer;
  let objectsContainer2;
  let objectsContainer3;
  let graphics0;
  let graphics3;
  let graphics4;
  let graphics5;
  let graphics9;
  let graphics67;
  let graphicsLock;
  let ws;

  var app = new Vue({
    el: '#app',
    data: {
      map: [],
      currentLev: 1,
      floorList: [], //当前项目楼层
      currentLevShuttleList: [],//当前楼层四向穿梭车集合
      shuttleColorList: [],//四向穿梭车颜色集合
      drawer: false,
      drawerLocNo: false,
      drawerLocNoData: null,
      drawerLocDetls: [],
      reloadMap: true,
      mapFps: 0,
      drawerShuttle: false,
      drawerShuttleData: null,
      currentLevStaList: [],//当前楼层站点list
      reloadSta: true,
      drawerSta: false,
      drawerStaData: null,
      drawerLift: false,
      drawerLiftData: null,
      liftList: [],
    },
    mounted() {
      this.init()
      this.createMap()
    },
    watch: {
      map: {
        deep: true,
        handler(val) {

        }
      },
      drawerLocNo: {
        deep: true,
        handler(val) {
          if (!val) {
            var sprite = pixiStageList[this.drawerLocNoData.x][this.drawerLocNoData.y];
            updateColor(sprite, 0xFFFFFF);//恢复颜色
          }
        }
      }
    },
    methods: {
      init(){
        let that = this
        ws = new WebSocket("ws://" + window.location.host + baseUrl + "/console/websocket");
        ws.onopen = this.webSocketOnOpen
        ws.onerror = this.webSocketOnError
        ws.onmessage = this.webSocketOnMessage
        ws.onclose = this.webSocketClose


        this.initLev()//初始化楼层信息
        setTimeout(() => {
          that.getMap(this.currentLev)
        }, 1000);

        // this.consoleInterval = setInterval(() => {
        //   this.getMap(this.currentLev) //获取实时地图数据
        //   this.getShuttleStateInfo() //获取四向穿梭车信息
        //   this.getLiftStateInfo() //获取提升机信息
        //   this.getSiteInfo() //获取输送站点数据
        //   // this.getCodeData()//获取条码
        // }, 1000)

      },
      initLev(){
        let that = this
        $.ajax({
          url: baseUrl + "/console/map/lev/list",
          headers: {
            'token': localStorage.getItem('token')
          },
          data: {},
          method: 'get',
          success: function(res) {
            if (res.code === 200) {
              that.floorList = res.data;
            } else if (res.code === 403) {
              parent.location.href = baseUrl + "/login";
            } else {
              that.$message({
                message: res.msg,
                type: 'error'
              });
            }
          }
        });
      },
      getShuttleStateInfo() {
        this.sendWs(JSON.stringify({
          "url": "/shuttle/table/shuttle/state",
          "data": {}
        }))
      },
      setShuttleStateInfo(res) {
        // å››å‘穿梭车信息表获取
        let that = this
        if (res.code == 200) {
          let currentLevShuttle = []//当前楼层小车集合
          res.data.forEach((item,idx) => {
            if (item != null && item.point != undefined && item.point != null) {
              if (item.point.z == that.currentLev) {
                currentLevShuttle.push(item);
              }
            }
          })
          that.shuttleList = res.data
          if (that.shuttleColorList.length == 0) {
            let colorList = []//随机小车颜色
            res.data.forEach((item,idx) => {
              colorList[item.shuttleNo] = that.colorRGB()
            })
            that.shuttleColorList = colorList
          }

          const result = this.findShuttleDiffList(this.currentLevShuttleList, currentLevShuttle);
          if (!result) {
            //小车存在变动，重新渲染全部小车
            pixiShuttleMap.forEach((shuttle,index) => {
              pixiApp.stage.removeChild(shuttle)
              pixiShuttleMap.delete(index)
            })

            currentLevShuttle.forEach((item,index) => {
              pixiApp.loader.load((loader, resources) => {
                // çº¹ç†åˆ›å»ºå°è½¦
                const shuttle = new PIXI.Sprite(resources.shuttle.texture);
                shuttle.width = width
                shuttle.height = height
                shuttle.x = (item.wcsPoint.y - 0) * width;//更新坐标x
                shuttle.y = (item.wcsPoint.x - 1) * height;//更新坐标y
                shuttle.updateMoveStatus = true;//动画执行完成
                shuttle.interactive = true; // å¿…须要设置才能接收事件
                shuttle.buttonMode = true; // è®©å…‰æ ‡åœ¨hover时变为手型指针
                shuttle.on('pointerdown', (e) => {
                  this.drawerShuttle = true;
                  this.drawerShuttleData = item;
                })
                pixiApp.stage.addChild(shuttle);
                pixiShuttleMap.set(item.shuttleNo, shuttle);
              })

              if (item.moveAdvancePath != null && item.moveAdvancePath.length > 0) {//存在预计路径，进行渲染
                this.addMoveAdvancePath(item.moveAdvancePath, item.shuttleNo);//添加预计路径
              }

            })
          }else {
            //小车不存在变动，渲染小车位置
            currentLevShuttle.forEach((item,index) => {
              this.updateShuttleXY(item)
            })

            const resultPath = this.findShuttlePathDiffList(JSON.parse(JSON.stringify(this.currentLevShuttleList)), JSON.parse(JSON.stringify(currentLevShuttle)));
            if (!resultPath) {
              //预计路径存在变动，渲染路径
              currentLevShuttle.forEach((item,index) => {
                //删除预计路径
                this.removeMoveAdvancePath(item.shuttleNo);
                if (item.moveAdvancePath != null && item.moveAdvancePath.length > 0) {//存在预计路径，进行渲染
                  this.addMoveAdvancePath(item.moveAdvancePath, item.shuttleNo);//添加预计路径
                }
              })
            }
          }
          that.currentLevShuttleList = currentLevShuttle;
        }
      },
      //获取地图数据
      getMap(lev) {
        this.sendWs(JSON.stringify({
          "url": "/console/map/auth",
          "data": lev
        }))
      },
      setMap(res) {
        //获取地图数据
        let data = res.data
        let tmp = []
        for (let i = 1; i < data.length - 1; i++) {
          tmp.push(data[i])
        }
        this.createMapData(tmp)
      },
      changeFloor(lev) {
        this.currentLev = lev
        this.currentLevShuttleList = []
        this.reloadMap = true
        this.reloadSta = true
        this.getMap(lev)

        //清空占用路径
        objectsContainer3.removeChildren();
        pixiShuttleLockPathMap = new Map();

        //清空预计路径
        objectsContainer2.removeChildren();
        pixiShuttleMoveAdvancePathMap = new Map();
        pixiShuttleMoveAdvancePathList = []
      },
      createMap(){
        //Create a Pixi Application
        pixiApp = new PIXI.Application({
          // width: 1500,
          // height: 800,
          backgroundColor: 0xF5F7F9FF,
          resizeTo: window
        });
        //Add the canvas that Pixi automatically created for you to the HTML document
        $("#pixiView").append(pixiApp.view)

        //加载小车资源
        pixiApp.loader.add('shuttle', '../static/images/sxcar.png');

        // ä»ŽGraphics对象创建一个纹理
        graphicsF = pixiApp.renderer.generateTexture(getContainer(1000));
        graphics0 = pixiApp.renderer.generateTexture(getContainer(0));
        graphics3 = pixiApp.renderer.generateTexture(getContainer(3));
        graphics4 = pixiApp.renderer.generateTexture(getContainer(4));
        graphics5 = pixiApp.renderer.generateTexture(getContainer(5));
        graphics9 = pixiApp.renderer.generateTexture(getContainer(9));
        graphics67 = pixiApp.renderer.generateTexture(getContainer(67));
        graphicsLock = pixiApp.renderer.generateTexture(getContainer(-999));

        // åˆ›å»ºä¸€ä¸ªå®¹å™¨æ¥ç®¡ç†å¤§æ‰¹é‡çš„显示对象
        objectsContainer = new PIXI.Container();
        pixiApp.stage.addChild(objectsContainer);

        // åˆ›å»ºä¸€ä¸ªå®¹å™¨æ¥ç®¡ç†å¤§æ‰¹é‡çš„显示对象
        objectsContainer2 = new PIXI.Container();
        pixiApp.stage.addChild(objectsContainer2);

        // åˆ›å»ºä¸€ä¸ªå®¹å™¨æ¥ç®¡ç†å¤§æ‰¹é‡çš„显示对象
        objectsContainer3 = new PIXI.Container();
        pixiApp.stage.addChild(objectsContainer3);

        //*******************拖动画布*******************
        let stageOriginalPos;
        let mouseDownPoint;
        let touchBlank = false;
        pixiApp.renderer.plugins.interaction.on(
                'pointerdown',
                (event) => {
                  const globalPos = event.data.global;
                  // è®°å½•ä¸‹stage原来的位置
                  stageOriginalPos = [pixiApp.stage.position._x, pixiApp.stage.position._y];
                  // è®°å½•ä¸‹mouse down的位置
                  mouseDownPoint = [globalPos.x, globalPos.y];
                  if (!event.target) {
                    // ç‚¹åˆ°äº†ç”»å¸ƒçš„空白位置
                    touchBlank = true;
                  }
                }
        );

        pixiApp.renderer.plugins.interaction.on(
                'pointermove',
                (event) => {
                  const globalPos = event.data.global;

                  if (touchBlank) {
                    // æ‹–拽画布
                    const dx = globalPos.x - mouseDownPoint[0];
                    const dy = globalPos.y - mouseDownPoint[1];
                    pixiApp.stage.position.set(
                            stageOriginalPos[0] + dx,
                            stageOriginalPos[1] + dy
                    );
                  }
                }
        );

        pixiApp.renderer.plugins.interaction.on(
                'pointerup',
                (event) => {
                  touchBlank = false;
                }
        );
        //*******************拖动画布*******************

        //*******************缩放画布*******************
        pixiApp.view.addEventListener('wheel', (event) => {
          event.stopPropagation();
          event.preventDefault();
          // å› ä¸ºç”»å¸ƒæ˜¯å……满视窗的，所以clientX等于mouse point在renderer上的x坐标
          const globalPos = [event.clientX, event.clientY];
          const delta = event.deltaY;
          const oldZoom = pixiApp.stage.scale.x;
          let newZoom = oldZoom * 0.999 ** delta;

          // const oldStageMatrix = app.stage.localTransform.clone();
          // const oldStagePos = oldStageMatrix.applyInverse(pointerGlobalPos);
          const oldStagePos = globalPos;
          const dx = oldStagePos[0] * oldZoom - oldStagePos[0] * newZoom;
          const dy = oldStagePos[1] * oldZoom - oldStagePos[1] * newZoom;

          pixiApp.stage.setTransform(
                  pixiApp.stage.position.x + dx,
                  pixiApp.stage.position.y + dy,
                  newZoom,
                  newZoom,
                  0,
                  0,
                  0,
                  0,
                  0
          );

        });
        //*******************缩放画布*******************

        //*******************FPS*******************
        var g_Time=0;
        pixiApp.ticker.add((delta) => {
          var timeNow = (new Date()).getTime();
          var timeDiff = timeNow - g_Time;
          g_Time = timeNow;
          var fps = 1000 / timeDiff;
          this.mapFps = parseInt(fps)
        });
        //*******************FPS*******************

      },
      createMapData(map) {
        if (this.reloadMap) {
          this.reloadMap = false
          pixiStageList = [map.length]//初始化列表
          pixiStaMap = new Map();//重置

          objectsContainer.removeChildren()
          map.forEach((item,index) => {
            pixiStageList[index] = [item.length]
            for (let idx = 0; idx < item.length; idx++) {
              let val = item[idx]
              if (val.value < 0 && (val.value != -999)) {
                continue;
              }

              let sprite = getSprite(val.value, idx * width, index * height, val, (e) => {
                if (val.value == 4) {
                  //站点
                  this.openDrawerSta(val)
                } else if (val.value == 67) {
                  //提升机
                  this.openDrawerLift(val)
                } else {
                  //库位
                  this.rightEvent(index, idx, e);
                  updateColor(sprite, 0x9900ff);
                }
              });

              if (val.value == 4) {
                // åˆ›å»ºæ–‡æœ¬å¯¹è±¡
                const style = new PIXI.TextStyle({
                  fontFamily: 'Arial',
                  fontSize: 10,
                  fill: '#000000',
                });
                const text = new PIXI.Text(val.data, style);
                text.anchor.set(0.5); // è®¾ç½®æ–‡æœ¬é”šç‚¹ä¸ºä¸­å¿ƒç‚¹
                text.position.set(sprite.width / 2, sprite.height / 2); // å°†æ–‡æœ¬ä½ç½®è®¾ç½®ä¸ºGraphics对象的中心点
                // å°†æ–‡æœ¬å¯¹è±¡æ·»åŠ åˆ°Graphics对象中
                sprite.addChild(text);
                sprite.textObj = text;
                pixiStaMap.set(parseInt(val.data), sprite);//站点数据添加到map中
              }else if (val.value == 67) {
                // åˆ›å»ºæå‡æœºæ–‡æœ¬å¯¹è±¡
                const style = new PIXI.TextStyle({
                  fontFamily: 'Arial',
                  fontSize: 10,
                  fill: '#000000',
                });
                const text = new PIXI.Text(val.data, style);
                text.anchor.set(0.5); // è®¾ç½®æ–‡æœ¬é”šç‚¹ä¸ºä¸­å¿ƒç‚¹
                text.position.set(sprite.width / 2, sprite.height / 2); // å°†æ–‡æœ¬ä½ç½®è®¾ç½®ä¸ºGraphics对象的中心点
                // å°†æ–‡æœ¬å¯¹è±¡æ·»åŠ åˆ°Graphics对象中
                sprite.addChild(text);
                sprite.textObj = text;
                pixiStaMap.set(parseInt(val.data), sprite);//站点数据添加到map中
              }

              if (val.value == -999) {
                pixiShuttleLockPathMap.set(val.locNo, sprite);
                objectsContainer3.addChild(sprite);
              }else {
                objectsContainer.addChild(sprite);
              }
              pixiStageList[index][idx] = sprite
            }
          });

          //视角居中
          let containerWidth = (pixiApp.view.width - objectsContainer.width) / 2;
          let containerHeight = (pixiApp.view.height - objectsContainer.height) / 2;
          pixiApp.stage.position.set(containerWidth, containerHeight);
        }else {
          let diff = this.findDiffList(this.map, map);
          diff.forEach((item, index) => {
            //获取old元素
            let oldSprite = pixiStageList[item.x][item.y]
            if (item.originData == -999) {
              //移除old路径元素
              objectsContainer3.removeChild(oldSprite);
            }else {
              //移除old元素
              objectsContainer.removeChild(oldSprite);
            }

            let sprite = getSprite(item.data, item.y * width, item.x * height, item, (e) => {
              this.rightEvent(item.x, item.y, e);
              updateColor(sprite, 0x9900ff);
            });

            if (item.data == -999) {
              //添加路径元素
              objectsContainer3.addChild(sprite);
            }else {
              //添加元素
              objectsContainer.addChild(sprite);
            }

            //保存新元素
            pixiStageList[item.x][item.y] = sprite
          });
        }

        this.map = map;
      },
      rightEvent(x, y, e) {
        this.drawerLocNo = true
        this.drawerLocNoData =  {x:x, y: y, z: this.currentLev, locNo: this.map[x][y].locNo, locSts: this.map[x][y].locSts};
      },
      findDiffList(arr1, arr2) {
        let diff = []
        arr1.forEach((item,index) => {
          item.forEach((val,idx) => {
            if(val.value != arr2[index][idx].value){
              diff.push({
                x: index,
                y: idx,
                data: arr2[index][idx].value,
                originData: val.value,
                locSts: val.locSts
              })
            }
          })
        })

        return diff;
      },
      findShuttleDiffList(list1, list2) {
        //检测集合1里面的小车是否在集合2中有变动
        if (list1.length == 0) {
          return false;//集合为空
        }
        if (list1.length != list2.length) {
          return false;//两个集合长度不一致
        }

        let flag = false;
        list1.forEach((item,index) => {
          for (var i = 0; i < list2.length; i++) {
            if (item.shuttleNo == list2[i].shuttleNo) {
              flag = true;
              break;
            }
          }
        });

        return flag;
      },
      findShuttlePathDiffList(list1, list2) {
        //检测集合1里面的小车预计路径是否在集合2中有变动
        if (list1.length == 0) {
          return false;//集合为空
        }
        if (list1.length != list2.length) {
          return false;//两个集合长度不一致
        }

        for (var index = 0; index < list1.length; index++) {
          let item = list1[index];
          for (var i = 0; i < list2.length; i++) {
            if (item.shuttleNo != list2[i].shuttleNo) {
              continue;//找不到小车号
            }

            if (item.moveAdvancePath == null) {
              item.moveAdvancePath = [];
            }

            if (list2[i].moveAdvancePath == null) {
              list2[i].moveAdvancePath = [];
            }

            if (!(item.moveAdvancePath.length == list2[i].moveAdvancePath.length)) {
              return false;//小车预计路径长度不一致
            }
          }
        }
        return true;
      },
      checkStaInListDiff(sta, list) {
        //检测站点是否在集合中有变动
        if (list.length == 0) {
          return false;//集合为空
        }

        let tmp = null;
        for (var i = 0; i < list.length; i++) {
          if (sta.siteId == list[i].siteId) {
            tmp = list[i];//找到相同站点
            break
          }
        }

        if (tmp == null) {
          return false;//没有找到相同站点
        }

        if (sta.siteStatus != tmp.siteStatus) {
          return false;//站点状态不相同
        }

        if (sta.workNo != tmp.workNo) {
          return false;//站点工作号不相同
        }

        return true;//无变化
      },
      webSocketOnOpen(e) {
        console.log("open");
      },
      webSocketOnError(e) {
        console.log(e);
      },
      webSocketOnMessage(e) {
        const result = JSON.parse(e.data);
        if (result.url == "/shuttle/table/shuttle/state") {
          this.setShuttleStateInfo(JSON.parse(result.data))
        }else if (result.url == "/lift/table/lift/state") {
          this.setLiftStateInfo(JSON.parse(result.data))
        }else if (result.url == "/console/latest/data/site") {
          this.setSiteInfo(JSON.parse(result.data))
        }else if (result.url == "/console/map/auth") {
          this.setMap(JSON.parse(result.data))
        }else if (result.url == "/console/barcode/output/site") {
          this.setCodeData(JSON.parse(result.data))
        }
      },
      webSocketClose(e) {
        console.log("close");
      },
      sendWs(message) {
        if (ws.readyState == WebSocket.OPEN) {
          ws.send(message)
        }
      },
      colorRGB(){
        //随机颜色
        const r = Math.floor(Math.random()*256);
        const g = Math.floor(Math.random()*256);
        const b = Math.floor(Math.random()*256);
        return `rgb(${r},${g},${b})`;
      },
      updateShuttleXY(item) {
        const shuttle = pixiShuttleMap.get(item.shuttleNo);
        if (shuttle.updateMoveStatus) {//动画执行完成才可继续执行动画
          shuttle.updateMoveStatus = false;//动画执行中
          // è®¡ç®—两点之间的距离1
          const distance = Math.sqrt(Math.pow((item.wcsPoint.x * width) - shuttle.x, 2) + Math.pow((item.wcsPoint.y * height) - shuttle.y, 2));
          gsap.killTweensOf(shuttle); // æ€æ­»æ‰€æœ‰é’ˆå¯¹".class"的动画
          gsap.to(shuttle, {
            x: (item.wcsPoint.y - 0) * width, // ç›®æ ‡ä½ç½®
            y: (item.wcsPoint.x - 1) * height, // ç›®æ ‡ä½ç½®
            duration: 0.2, // åŠ¨ç”»æŒç»­æ—¶é—´ï¼ˆç§’）
            ease: "power1.inOut", // ç¼“动类型
            onComplete: () => {
              shuttle.updateMoveStatus = true;//动画执行完成
            }
          });
        }
      },
      getSiteInfo() {
        //获取输送站点数据
        this.sendWs(JSON.stringify({
          "url": "/console/latest/data/site",
          "data": {}
        }))
      },
      setSiteInfo(res) {
        // var test = "{\"msg\":\"操作成功\",\"code\":200,\"data\":[{\"siteId\":\"300\",\"siteStatus\":\"site-auto\",\"workNo\":0},{\"siteId\":\"301\",\"siteStatus\":\"site-auto\",\"workNo\":0},{\"siteId\":\"302\",\"siteStatus\":\"site-auto\",\"workNo\":0},{\"siteId\":\"303\",\"siteStatus\":\"site-auto\",\"workNo\":0},{\"siteId\":\"304\",\"siteStatus\":\"site-auto\",\"workNo\":0},{\"siteId\":\"305\",\"siteStatus\":\"site-auto\",\"workNo\":0},{\"siteId\":\"306\",\"siteStatus\":\"site-auto\",\"workNo\":0},{\"siteId\":\"307\",\"siteStatus\":\"site-auto\",\"workNo\":0},{\"siteId\":\"308\",\"siteStatus\":\"site-auto\",\"workNo\":0},{\"siteId\":\"309\",\"siteStatus\":\"site-auto\",\"workNo\":0},{\"siteId\":\"310\",\"siteStatus\":\"site-auto\",\"workNo\":0},{\"siteId\":\"311\",\"siteStatus\":\"site-auto\",\"workNo\":0},{\"siteId\":\"312\",\"siteStatus\":\"site-auto\",\"workNo\":0},{\"siteId\":\"313\",\"siteStatus\":\"site-auto\",\"workNo\":0},{\"siteId\":\"314\",\"siteStatus\":\"site-auto\",\"workNo\":0},{\"siteId\":\"315\",\"siteStatus\":\"site-auto\",\"workNo\":0},{\"siteId\":\"316\",\"siteStatus\":\"site-auto-run\",\"workNo\":0},{\"siteId\":\"317\",\"siteStatus\":\"site-auto\",\"workNo\":0},{\"siteId\":\"318\",\"siteStatus\":\"site-auto\",\"workNo\":0},{\"siteId\":\"319\",\"siteStatus\":\"site-auto\",\"workNo\":0},{\"siteId\":\"320\",\"siteStatus\":\"site-auto\",\"workNo\":0},{\"siteId\":\"321\",\"siteStatus\":\"site-auto\",\"workNo\":0},{\"siteId\":\"322\",\"siteStatus\":\"site-auto-run\",\"workNo\":0},{\"siteId\":\"323\",\"siteStatus\":\"site-auto\",\"workNo\":0},{\"siteId\":\"324\",\"siteStatus\":\"site-auto-run\",\"workNo\":0},{\"siteId\":\"325\",\"siteStatus\":\"site-auto\",\"workNo\":0},{\"siteId\":\"326\",\"siteStatus\":\"site-auto-id\",\"workNo\":5451},{\"siteId\":\"327\",\"siteStatus\":\"site-auto\",\"workNo\":0},{\"siteId\":\"200\",\"siteStatus\":\"site-auto\",\"workNo\":0},{\"siteId\":\"328\",\"siteStatus\":\"site-auto\",\"workNo\":0},{\"siteId\":\"201\",\"siteStatus\":\"site-auto\",\"workNo\":0},{\"siteId\":\"329\",\"siteStatus\":\"site-auto\",\"workNo\":0},{\"siteId\":\"202\",\"siteStatus\":\"site-auto\",\"workNo\":0},{\"siteId\":\"330\",\"siteStatus\":\"site-auto\",\"workNo\":0},{\"siteId\":\"203\",\"siteStatus\":\"site-auto\",\"workNo\":0},{\"siteId\":\"331\",\"siteStatus\":\"site-auto\",\"workNo\":0},{\"siteId\":\"204\",\"siteStatus\":\"site-auto\",\"workNo\":0},{\"siteId\":\"332\",\"siteStatus\":\"site-auto\",\"workNo\":0},{\"siteId\":\"205\",\"siteStatus\":\"site-auto\",\"workNo\":0},{\"siteId\":\"333\",\"siteStatus\":\"site-auto\",\"workNo\":0},{\"siteId\":\"334\",\"siteStatus\":\"site-auto\",\"workNo\":0},{\"siteId\":\"335\",\"siteStatus\":\"site-auto\",\"workNo\":0},{\"siteId\":\"336\",\"siteStatus\":\"site-auto\",\"workNo\":0},{\"siteId\":\"337\",\"siteStatus\":\"site-auto\",\"workNo\":0},{\"siteId\":\"338\",\"siteStatus\":\"site-auto-run\",\"workNo\":0},{\"siteId\":\"339\",\"siteStatus\":\"site-auto-run-id\",\"workNo\":5447},{\"siteId\":\"340\",\"siteStatus\":\"site-auto\",\"workNo\":0},{\"siteId\":\"341\",\"siteStatus\":\"site-auto\",\"workNo\":0},{\"siteId\":\"342\",\"siteStatus\":\"site-auto\",\"workNo\":0},{\"siteId\":\"343\",\"siteStatus\":\"site-auto-run\",\"workNo\":0},{\"siteId\":\"344\",\"siteStatus\":\"site-auto\",\"workNo\":0},{\"siteId\":\"345\",\"siteStatus\":\"site-auto\",\"workNo\":0},{\"siteId\":\"346\",\"siteStatus\":\"site-auto\",\"workNo\":0},{\"siteId\":\"100\",\"siteStatus\":\"site-auto-run-id\",\"workNo\":8851},{\"siteId\":\"101\",\"siteStatus\":\"site-auto-run-id\",\"workNo\":8855},{\"siteId\":\"102\",\"siteStatus\":\"site-auto\",\"workNo\":0},{\"siteId\":\"103\",\"siteStatus\":\"site-auto\",\"workNo\":0},{\"siteId\":\"104\",\"siteStatus\":\"site-auto-run\",\"workNo\":0},{\"siteId\":\"105\",\"siteStatus\":\"site-auto\",\"workNo\":0}]}";
        // res = JSON.parse(test)
        //获取输送站点数据
        if (res.code === 200){
          var sites = res.data;
          if (this.reloadSta && pixiStaMap.size > 0) {
            //重新渲染所有输送站点
            this.currentLevStaList = sites;
            this.reloadSta = false;
            sites.forEach((item, index) => {
              let sta = pixiStaMap.get(parseInt(item.siteId));
              if (sta != undefined) {
                if (item.workNo > 0) {
                  sta.textObj.text = item.siteId + "(" + item.workNo + ")";
                }

                //创建遮罩层
                if (item.siteStatus == "site-auto") {
                  //自动状态，移除遮罩层
                  if (sta.statusObj != null) {
                    objectsContainer.removeChild(sta.statusObj)
                    sta.statusObj = null;
                  }
                }else if (item.siteStatus == "site-auto-run" || item.siteStatus == "site-auto-run-id") {
                  //自动有物
                  let graphics = getGraphics(0xfa51f6, width, height, sta.x, sta.y);
                  graphics.addChild(sta.textObj);//继承文字信息
                  sta.statusObj = graphics;
                  objectsContainer.addChild(graphics);
                }else if (item.siteStatus == "site-unauto") {
                  //非自动
                  let graphics = getGraphics(0xb8b8b8, width, height, sta.x, sta.y);
                  graphics.addChild(sta.textObj);//继承文字信息
                  sta.statusObj = graphics;
                  objectsContainer.addChild(graphics);
                }
              }
            });
          } else {
            //检测不相同站点进行局部更新
            this.currentLevStaList.forEach((item, index) => {
              let result = this.checkStaInListDiff(item, sites);
              if (!result) {
                //需要更新
                let sta = pixiStaMap.get(parseInt(item.siteId));
                if (item.workNo > 0) {
                  sta.textObj.text = item.siteId + "(" + item.workNo + ")";
                }else {
                  sta.textObj.text = item.siteId;
                }

                //创建遮罩层
                if (item.siteStatus == "site-auto") {
                  //自动状态，移除遮罩层
                  if (sta.statusObj != null) {
                    objectsContainer.removeChild(sta.statusObj)
                    sta.statusObj = null;
                  }
                }else if (item.siteStatus == "site-auto-run") {
                  //自动有物
                  let graphics = getGraphics(0xfa51f6, width, height, sta.x, sta.y);
                  graphics.addChild(sta.textObj);//继承文字信息
                  sta.statusObj = graphics;
                  objectsContainer.addChild(graphics);
                }else if (item.siteStatus == "site-unauto") {
                  //非自动
                  let graphics = getGraphics(0xb8b8b8, width, height, sta.x, sta.y);
                  graphics.addChild(sta.textObj);//继承文字信息
                  sta.statusObj = graphics;
                  objectsContainer.addChild(graphics);
                }
              }
            });
          }
        } else if (res.code === 403){
          parent.location.href = baseUrl+"/login";
        }  else {
          console.log(res.msg);
        }
      },
      openDrawerSta(data) {
        let that = this
        this.drawerSta = true;
        $.ajax({
          url: baseUrl + "/console/site/detail",
          headers: {
            'token': localStorage.getItem('token')
          },
          data: {
            siteId: data.data
          },
          method: 'post',
          success: function(res) {
            //解析数据
            let siteInfo = res.data;
            if (res.code == 200) {
              that.drawerStaData = siteInfo;
            }
          }
        })
      },
      openDrawerLift(data) {
        this.drawerLift = true;
        this.drawerLiftData = parseInt(data.data)
      },
      getLiftStateInfo() {
        // æå‡æœºä¿¡æ¯è¡¨èŽ·å–
        this.sendWs(JSON.stringify({
          "url": "/lift/table/lift/state",
          "data": {}
        }))
      },
      setLiftStateInfo(res) {
        // æå‡æœºä¿¡æ¯è¡¨èŽ·å–
        if (res.code == 200) {
          this.liftList = res.data
        }
      },
      addMoveAdvancePath(moveAdvancePath, shuttleNo) {//添加预计路径
        let that = this;
        moveAdvancePath.forEach((path, idx) => {
          let locNo = this.map[path.x, path.y];
          if (!pixiShuttleMoveAdvancePathMap.has(locNo)) {
            let graphics = getGraphics(0x9966ff, width, height, path.y * width, (path.x - 1) * height);
            let shuttleNos = [shuttleNo];
            // åˆ›å»ºæ–‡æœ¬å¯¹è±¡
            const style = new PIXI.TextStyle({
              fontFamily: 'Arial',
              fontSize: 10,
              fill: '#000000',
            });
            const text = new PIXI.Text(JSON.stringify(shuttleNos), style);
            text.anchor.set(0.5); // è®¾ç½®æ–‡æœ¬é”šç‚¹ä¸ºä¸­å¿ƒç‚¹
            text.position.set(graphics.width / 2, graphics.height / 2); // å°†æ–‡æœ¬ä½ç½®è®¾ç½®ä¸ºGraphics对象的中心点
            // å°†æ–‡æœ¬å¯¹è±¡æ·»åŠ åˆ°Graphics对象中
            graphics.addChild(text);
            graphics.textObj = text;
            objectsContainer2.addChild(graphics)
            pixiShuttleMoveAdvancePathMap.set(locNo, {
              path: path,
              sprite: graphics,
              textObj: text,
              shuttleNos: shuttleNos
            })

            if (pixiShuttleMoveAdvancePathList[shuttleNo] == null) {
              let locNos = new Set()
              locNos.add(locNo);
              pixiShuttleMoveAdvancePathList[shuttleNo] = locNos;
            }else {
              pixiShuttleMoveAdvancePathList[shuttleNo].add(locNo);
            }
          }else {
            let pathMap = pixiShuttleMoveAdvancePathMap.get(locNo)
            let shuttleNos = pathMap.shuttleNos;
            shuttleNos.push(shuttleNo);
            pathMap.textObj.text = JSON.stringify(shuttleNos);
            pixiShuttleMoveAdvancePathMap.set(locNo, pathMap);
            if (pixiShuttleMoveAdvancePathList[shuttleNo] == null) {
              let locNos = new Set()
              locNos.add(locNo);
              pixiShuttleMoveAdvancePathList[shuttleNo] = locNos;
            }else {
              pixiShuttleMoveAdvancePathList[shuttleNo].add(locNo);
            }
          }
        });
      },
      removeMoveAdvancePath(shuttleNo) {//删除预计路径
        let locNos = pixiShuttleMoveAdvancePathList[shuttleNo];
        if (locNos != null) {
          locNos.forEach((locNo,index) => {
            let pathMap = pixiShuttleMoveAdvancePathMap.get(locNo);
            if (pathMap != null) {
              let shuttleNos = pathMap.shuttleNos;
              let shuttleNosNew = [];
              shuttleNos.forEach((shuttle, idx) => {
                if (shuttle != shuttleNo) {
                  shuttleNosNew.push(shuttle);
                }
              });

              if (shuttleNosNew.length === 0) {
                //预计路径没有小车，直接删除路径
                objectsContainer2.removeChild(pathMap.sprite);
                pixiShuttleMoveAdvancePathMap.delete(locNo)
              }else {
                //预计路径存在其他小车，更新文字信息
                pathMap.textObj.text = JSON.stringify(shuttleNosNew);
                pathMap.shuttleNos = shuttleNosNew;
                pixiShuttleMoveAdvancePathMap.set(locNo, pathMap);
              }
            }
          })
        }
      },
    }
  })

  function getContainer(value) {
    let graphics = new PIXI.Graphics();
    if (value === 0) {
      graphics.beginFill(0x55aaff);
    } else if (value === 3) {//母轨道
      graphics.beginFill(0x00ff7f);
      graphics.visible = true;
    } else if (value === 4) {//站点
      graphics.beginFill(0xffff00);
      graphics.visible = true;
    } else if (value === 5) {//充电桩
      graphics.beginFill(0xffaa7f);
      graphics.visible = true;
    } else if (value === 9) {//轨迹
      graphics.beginFill(0xff0000);
    }else if (value === 67) {//提升机
      graphics.beginFill(0xaaffff);
    }else if (value === -999) {//路径锁定
      graphics.beginFill(0xf83333);
    }else if (value === 1000) {//满库位
      graphics.beginFill(0xf83333);
    }
    graphics.lineStyle(1, 0xffffff, 1);
    graphics.drawRect(0, 0, width, height);
    graphics.endFill();

    return graphics;
  }

  function getGraphics(color, width, height, x, y) {
    let graphics = new PIXI.Graphics();
    graphics.beginFill(color);
    graphics.lineStyle(1, 0xffffff, 1);
    graphics.drawRect(0, 0, width, height);
    graphics.position.set(x, y);
    graphics.endFill();
    return graphics;
  }

  function getSprite(value, x, y, item, pointerDownEvent) {
    let sprite;
    if (value == 0) {
      if(item.locSts == 'O') {
        sprite = new PIXI.Sprite(graphics0);
      }else if(item.locSts == 'F') {
        sprite = new PIXI.Sprite(graphicsF);
      }else {
        sprite = new PIXI.Sprite(graphics0);
      }
    } else if (value == 3) {
      sprite = new PIXI.Sprite(graphics3);
    } else if (value == 4) {
      sprite = new PIXI.Sprite(graphics4);
    } else if (value == 5) {
      sprite = new PIXI.Sprite(graphics5);
    } else if (value == 9) {
      sprite = new PIXI.Sprite(graphics9);
    } else if (value == 67) {
      sprite = new PIXI.Sprite(graphics67);
    } else if (value == -999) {
      sprite = new PIXI.Sprite(graphicsLock);
    } else {
      sprite = new PIXI.Sprite(graphics0);
    }
    sprite.position.set(x, y);
    sprite.interactive = true; // å¿…须要设置才能接收事件
    sprite.buttonMode = true; // è®©å…‰æ ‡åœ¨hover时变为手型指针

    sprite.on('pointerdown', (e) => {
      pointerDownEvent(e)
    })

    return sprite;
  }

  /**
   * æ›´æ–°é¢œè‰²
   */
  function updateColor(sprite, color) {
    // graphics.clear()
    // graphics.beginFill(color);
    // graphics.drawRect(0, 0, width, height);
    sprite.tint = color;
  }

</script>
</body>
</html>