新增 WMS 搬运规则与任务管理
支持搬运规则维护、候选预览、任务生成、预占、下发、取消和完成，并完善仓储管理前端交互。
This commit is contained in:
ArtoriasWu
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{
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"models": [
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{
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"id": "英招",
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"name": "英招",
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"file": "英招.glb",
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"root": "lux_root",
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"config": "英招.json"
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}
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]
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}
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{
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"version": 2,
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"description": "analyze 仅生成组件骨架；类型与动作请在查看器按组件配置后导出。",
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"model": {
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"id": "英招",
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"file": "英招.glb",
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"root": "lux_root"
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},
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"baseline": {
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"组件1": {
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"glbNode": "主体",
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"type": "static",
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"motion": null,
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"hasMesh": true
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},
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"组件2": {
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"glbNode": "主体.001",
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"type": "static",
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"motion": null,
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"hasMesh": true
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},
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"组件3": {
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"glbNode": "light_1",
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"type": "light",
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"motion": {
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"role": "light",
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"kind": "emissive"
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},
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"hasMesh": true,
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"light": {
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"color": "#00ff55",
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"effect": "solid",
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"intensity": 100
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}
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},
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"组件4": {
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"glbNode": "light_2",
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"type": "static",
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"motion": null,
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"hasMesh": true
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},
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"组件5": {
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"glbNode": "light_3",
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"type": "light",
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"motion": {
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"role": "light",
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"kind": "emissive"
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},
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"hasMesh": true,
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"light": {
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"color": "#00ff55",
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"effect": "solid",
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"intensity": 100
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}
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},
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"组件6": {
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"glbNode": "light_4",
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"type": "static",
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"motion": null,
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"hasMesh": true
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},
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"组件7": {
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"glbNode": "light_5",
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"type": "light",
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"motion": {
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"role": "light",
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"kind": "emissive"
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},
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"hasMesh": true,
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"light": {
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"color": "#00ff55",
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"effect": "solid",
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"intensity": 100
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}
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},
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"组件8": {
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"glbNode": "underrideTugger_differWheel",
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"type": "wheel",
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"motion": {
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"role": "wheel",
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"kind": "rotate",
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"axis": "y"
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},
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"hasMesh": true,
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"action": {
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"wheelSpeedFactor": 1,
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"wheelSteerAngleDeg": 0
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}
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},
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"组件9": {
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"glbNode": "underrideTugger_lifter",
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"type": "actuator",
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"motion": {
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"role": "lift",
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"kind": "translate",
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"axis": "y"
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},
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"hasMesh": true,
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"action": {
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"liftStart": -0.05,
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"liftEnd": -0.05
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}
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},
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"组件10": {
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"glbNode": "前座",
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"type": "static",
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"motion": null,
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"hasMesh": true
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},
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"组件11": {
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"glbNode": "前座2",
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"type": "static",
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"motion": null,
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"hasMesh": true
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},
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"组件12": {
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"glbNode": "前座3",
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"type": "static",
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"motion": null,
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"hasMesh": true
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},
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"组件13": {
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"glbNode": "前座3.001",
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"type": "static",
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"motion": null,
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"hasMesh": true
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},
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"组件14": {
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"glbNode": "启动页2",
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"type": "static",
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"motion": null,
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"hasMesh": true
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},
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"组件15": {
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"glbNode": "平面",
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"type": "static",
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"motion": null,
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"hasMesh": true
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},
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"组件16": {
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"glbNode": "平面.001",
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"type": "static",
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"motion": null,
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"hasMesh": true
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},
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"组件17": {
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"glbNode": "柱体.001",
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"type": "wheel",
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"motion": {
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"role": "wheel",
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"kind": "rotate",
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"axis": "z"
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},
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"hasMesh": true,
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"action": {
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"wheelSpeedFactor": 1,
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"wheelSteerAngleDeg": 0
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}
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},
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"组件18": {
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"glbNode": "柱体.003",
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"type": "wheel",
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"motion": {
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"role": "wheel",
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"kind": "rotate",
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"axis": "z"
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},
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"hasMesh": true,
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"action": {
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"wheelSpeedFactor": 1,
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"wheelSteerAngleDeg": 0
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}
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},
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"组件19": {
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"glbNode": "雷达",
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"type": "static",
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"motion": null,
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"hasMesh": true
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}
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},
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"groups": {},
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"actions": {
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"zuozhuan": {
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"label": "左转",
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"uiClass": "mode-running",
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"parameters": {
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"defaultWheelSpeed": 0.6,
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"wheelSpinMultiplier": 3,
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"liftOffsets": [
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0,
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0.05,
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0.1,
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0.15
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],
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"cameraScanAmplitudeDeg": 15,
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"cameraScanHz": 0.8,
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"liftTweenDuration": 1.2,
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"wheelSteerTweenDuration": 0.8,
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"liftMotionFactorFull": 1000,
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"liftPreviewHz": 0.35,
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"motionPreviewHz": 0.4,
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"motionPreviewAmplitudeDeg": 18,
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"actionDraftPreviewSec": 0
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},
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"components": {
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"组件3": {
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"type": "light",
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"motion": {
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"role": "light",
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"kind": "emissive"
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},
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"light": {
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"color": "#00ff55",
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"effect": "blink",
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"intensity": 100,
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"hz": 4,
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"intensityOn": 100,
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"intensityOff": 0
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}
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},
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"组件18": {
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"type": "wheel",
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"action": {
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"wheelSpeedFactor": 1,
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"wheelSteerAngleDeg": 30
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}
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},
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"组件17": {
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"type": "wheel",
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"action": {
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"wheelSpeedFactor": 1,
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"wheelSteerAngleDeg": 30
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}
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},
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"组件5": {
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"type": "light",
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"motion": {
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"role": "light",
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"kind": "emissive"
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},
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"light": {
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"color": "#00ff55",
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"effect": "blink",
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"intensity": 100,
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"hz": 4,
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"intensityOn": 100,
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"intensityOff": 0
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}
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}
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}
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},
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"jusheng": {
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"label": "举升",
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"uiClass": "mode-lift",
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"parameters": {
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"defaultWheelSpeed": 0.6,
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"wheelSpinMultiplier": 3,
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"liftOffsets": [
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0,
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0.05,
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0.1,
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0.15
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],
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"cameraScanAmplitudeDeg": 15,
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"cameraScanHz": 0.8,
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"liftTweenDuration": 1.2,
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"wheelSteerTweenDuration": 0.8,
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"liftMotionFactorFull": 1000,
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"liftPreviewHz": 0.35,
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"motionPreviewHz": 0.4,
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"motionPreviewAmplitudeDeg": 18,
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"actionDraftPreviewSec": 0
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},
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"components": {
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"组件9": {
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"type": "actuator",
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"motion": {
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"role": "lift",
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"kind": "translate",
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"axis": "y"
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},
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"action": {
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"liftStart": -0.05,
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"liftEnd": 0.05
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}
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}
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}
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}
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}
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}
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# -*- coding: utf-8 -*-
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"""
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扫描 agv/*.glb 中的网格节点，生成最小化 JSON 配置骨架。
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- 组件显示名为：组件1、组件2、组件3 …（不沿用 Blender 原始节点名）
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- 每个组件仅生成默认骨架（static / 无 motion）；不识别灯光、轮子等类型
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- 灯光/轮子等专用字段请在查看器中改类型后保存，或由你手写 JSON
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- 不生成 actions；基准在 baseline，动作在查看器按组件配置
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用法:
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python analyze_agv.py
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python analyze_agv.py 英招
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"""
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from __future__ import annotations
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import json
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import sys
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from pathlib import Path
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from typing import Any
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from pygltflib import GLTF2
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ROOT = Path(__file__).resolve().parent
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AGV_DIR = ROOT / "agv"
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def component_label(index_1based: int) -> str:
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return f"组件{index_1based}"
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def _detect_glb_root(glb_path: Path) -> str:
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try:
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g = GLTF2().load(str(glb_path))
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if g.scenes and g.scenes[0].nodes:
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idx = g.scenes[0].nodes[0]
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if 0 <= idx < len(g.nodes) and g.nodes[idx].name:
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return g.nodes[idx].name
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except Exception:
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pass
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return "SceneRoot"
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def update_manifest() -> Path:
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AGV_DIR.mkdir(parents=True, exist_ok=True)
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models = []
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for path in sorted(AGV_DIR.glob("*.glb")):
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cfg = path.with_suffix(".json")
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models.append(
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{
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"id": path.stem,
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"name": path.stem.replace("_", " "),
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"file": path.name,
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"root": _detect_glb_root(path),
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"config": cfg.name if cfg.exists() else None,
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}
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)
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manifest = AGV_DIR / "manifest.json"
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manifest.write_text(json.dumps({"models": models}, ensure_ascii=False, indent=2), encoding="utf-8")
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return manifest
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def list_mesh_nodes(glb_path: Path, root_name: str) -> list[dict[str, Any]]:
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"""列出除根节点外的所有命名节点（含无 mesh 的空节点，便于完整对应）。"""
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g = GLTF2().load(str(glb_path))
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out = []
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for node in g.nodes:
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if not node.name or node.name == root_name:
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continue
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out.append({"name": node.name, "hasMesh": node.mesh is not None})
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return out
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def analyze_glb(glb_path: Path, model_id: str | None = None) -> dict[str, Any]:
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model_id = model_id or glb_path.stem
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root = _detect_glb_root(glb_path)
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# 仅含实际网格的节点，避免把空集合/根分组也算成组件
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nodes = [n for n in list_mesh_nodes(glb_path, root) if n["hasMesh"]]
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components: dict[str, Any] = {}
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for i, n in enumerate(nodes, start=1):
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label = component_label(i)
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components[label] = {
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"glbNode": (n["name"] or "").replace("\u00a0", " ").strip(),
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"type": "static",
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"motion": None,
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"hasMesh": n["hasMesh"],
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}
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return {
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"version": 2,
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"description": "analyze 仅生成组件骨架；类型与动作请在查看器按组件配置后导出。",
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"model": {"id": model_id, "file": glb_path.name, "root": root},
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"baseline": components,
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"groups": {},
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"actions": {},
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}
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def write_config(glb_path: Path, model_id: str | None = None) -> Path:
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cfg = analyze_glb(glb_path, model_id)
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out = Path(AGV_DIR) / f"{cfg['model']['id']}.json"
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out.write_text(json.dumps(cfg, ensure_ascii=False, indent=2), encoding="utf-8")
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return out
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def analyze_all() -> list[Path]:
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written = []
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for glb in sorted(Path(AGV_DIR).glob("*.glb")):
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written.append(write_config(glb))
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update_manifest()
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return written
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def main(argv: list[str]) -> None:
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if len(argv) > 1:
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arg = argv[1]
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path = Path(arg)
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if not path.is_absolute():
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path = Path(AGV_DIR) / (arg if arg.endswith(".glb") else f"{arg}.glb")
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if not path.exists():
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print(f"文件不存在: {path}")
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sys.exit(1)
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out = write_config(path)
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update_manifest()
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print(f"已生成: {out}")
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data = json.loads(out.read_text(encoding="utf-8"))
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print(f" 共 {len(data.get('baseline', data.get('components', {})))} 个基准组件（组件1 …）")
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print(" actions: 空（动作在查看器按组件配置）")
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return
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paths = analyze_all()
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print(f"已分析 {len(paths)} 个模型:")
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for p in paths:
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data = json.loads(p.read_text(encoding="utf-8"))
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bl = data.get("baseline", data.get("components", {}))
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print(f" {p.name}: {len(bl)} 个基准组件, actions={len(data.get('actions', data.get('states', {})))} 个")
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if __name__ == "__main__":
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main(sys.argv)
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@@ -0,0 +1,283 @@
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# AGV 数字孪生 GLB 导出规范
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> **文档版本**：1.1
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> **适用对象**：负责 AGV 三维建模与 GLB 导出的同事
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> **对接系统**：Web 查看器（Three.js）、PanguCanvas 桌面播放器
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> **交付范围**：仅需交付 GLB 模型文件；JSON 配置由程序同事在收到 GLB 后生成与维护
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||||
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||||
---
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||||
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## 1. 背景与目标
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||||
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||||
我们使用 **GLB 模型** 驱动 AGV 数字孪生（轮子旋转/转向、举升、灯光、动作切换等）；配套的 JSON 配置由程序侧根据 GLB 自动生成，**无需建模同事参与**。
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||||
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||||
当前部分模型在导出时未统一层级与坐标，导致程序在运行时不得不：
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||||
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||||
- 猜测轮子旋转轴与轴心位置
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- 动态插入临时空节点
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- 做复杂的世界坐标 ↔ 本地坐标换算
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- 兼容混乱的节点命名（中文、`.001` 后缀、空格等）
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||||
|
||||
**本规范的目标**：把几何与运动语义在 Blender 导出阶段写进 GLB，程序侧只做「查节点 + 改 transform / 材质」，降低联调成本、减少 bug。
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||||
|
||||
---
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||||
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||||
## 2. 交付物清单
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||||
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||||
每款 AGV **只需交付一个文件**：
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||||
|
||||
| 文件 | 说明 |
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||||
|------|------|
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||||
| `{车型名}.glb` | 按本规范导出的模型 |
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||||
|
||||
可选（联调时有助于排查问题）：Blender 源文件（`.blend`）、各可动件行程与轴方向的简要说明。
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||||
|
||||
导出前请自检（见第 10 节）。收到 GLB 后，程序同事会负责生成配置、绑定动作并完成验证。
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||||
|
||||
---
|
||||
|
||||
## 3. 场景层级（必须遵守）
|
||||
|
||||
请在 Blender 中按以下结构组织，**导出前建好空物体（Empty）层级**
|
||||
|
||||
```
|
||||
agv_root ← 唯一根节点（程序侧 root 固定为 "agv_root"）
|
||||
├── body/ ← 静态车体
|
||||
│ └── chassis
|
||||
├── wheels/
|
||||
│ ├── wheel_fl/ ← 左前舵轮（命名按实际车型调整）
|
||||
│ │ ├── steer ← 转向节点：绕本地 Y 轴旋转
|
||||
│ │ │ └── spin ← 滚转节点：绕本地 X 轴旋转
|
||||
│ │ │ └── mesh ← 轮子网格
|
||||
│ ├── wheel_fr/
|
||||
│ └── ...
|
||||
├── actuators/
|
||||
│ └── lift_fork/ ← 举升机构：沿本地 Y 轴平移
|
||||
│ └── mesh
|
||||
├── lights/ ← 可选分组，非必须
|
||||
│ ├── light_status_l/
|
||||
│ └── light_status_r/
|
||||
└── sensors/
|
||||
└── lidar_top/
|
||||
```
|
||||
|
||||
### 3.1 根节点
|
||||
|
||||
- **名称固定为 `agv_root`**（不要用 `lux_root`、`Scene`、`StealthAGV` 等）
|
||||
- 原点建议：车辆地面接触面几何中心，或后轴中心；**Y = 0 贴地**
|
||||
- 车头朝向建议统一为 **+Z**（见第 4 节）
|
||||
|
||||
### 3.2 轮子层级（最重要）
|
||||
|
||||
每个可动轮子必须包含三层空物体：
|
||||
|
||||
| 节点 | 作用 | 程序操作 |
|
||||
|------|------|----------|
|
||||
| `wheel_xxx` | 轮子总成，固定在父级 | 程序按节点名绑定 |
|
||||
| `steer` | 转向 | `rotation.y`（或约定的转向轴） |
|
||||
| `spin` | 滚转 | `rotation.x`（所有轮子统一） |
|
||||
| `mesh` | 视觉网格 | 不直接改 transform |
|
||||
|
||||
**所有轮子的滚转轴统一为 spin 节点的本地 X 轴，转向轴统一为 steer 节点的本地 Y 轴。**
|
||||
麦轮、舵轮等特殊情况也用独立命名的 wheel 节点表达，不要在不同轮子上使用不同旋转轴约定。
|
||||
|
||||
### 3.3 举升 / 执行机构
|
||||
|
||||
- 举升件放在 `actuators/` 下
|
||||
- **收回位置 = 本地 Y = 0**（相对 actuators 父节点或 lift 节点自身约定）
|
||||
- **完全伸出位置 = 本地 Y = 行程米数**（如 0.15 m = 15 cm）
|
||||
- 行程以 **米** 为单位，与 Blender 中 1 单位 = 1 米 保持一致（程序侧会据此配置）
|
||||
|
||||
### 3.4 灯光
|
||||
|
||||
- 每个需独立控制的指示灯单独 **命名节点**（如 `light_status_l`），程序按节点名绑定
|
||||
- 节点下可有 mesh，材质 **可与其他部件共用**；程序运行时会 clone，无需刻意拆材质
|
||||
- 材质使用 PBR，支持 **Emission** 即可（亮灭由程序改 emissive 控制）
|
||||
- 不必强制放在 `lights/` 分组下，但名称建议带 `light_` 前缀便于识别
|
||||
|
||||
### 3.5 静态件
|
||||
|
||||
- 不参与动作的零件合并进 `body/chassis`，减少零散节点
|
||||
- 仅保留需要单独隐藏、透明或换色的零件为独立节点
|
||||
|
||||
---
|
||||
|
||||
## 4. 坐标系与单位
|
||||
|
||||
| 项目 | 要求 |
|
||||
|------|------|
|
||||
| 坐标系 | **Y 轴向上**（glTF 标准），**右手系** |
|
||||
| 单位 | **1 Blender 单位 = 1 米** |
|
||||
| 朝向 | 车头 **+Z**，左右 **±X**，上下 **Y**（全项目统一） |
|
||||
| Transform | 导出前对每个可动节点 **Apply All Transforms**（Ctrl+A），scale 应为 `(1, 1, 1)` |
|
||||
| 全局旋转 | **不要在模型根节点上留 ±90° 的「纠正旋转」**；朝向在 Blender 里摆好再导出 |
|
||||
|
||||
> 说明：若导出时未 Apply Transform 或 scale ≠ 1，程序侧举升、轮子会出现位移异常或「部件飞出视野」。
|
||||
|
||||
---
|
||||
|
||||
## 5. 命名规范
|
||||
|
||||
### 5.1 必须
|
||||
|
||||
- 仅使用 **ASCII 英文字母、数字、下划线**
|
||||
- 使用 **snake_case**：`wheel_fl`、`lift_fork`、`light_status_l`
|
||||
- 按角色加前缀：
|
||||
|
||||
| 前缀 | 用途 | 示例 |
|
||||
|------|------|------|
|
||||
| `body_` / 放在 body/ 下 | 静态车体 | `body/chassis` |
|
||||
| `wheel_` | 轮子 | `wheel_fl`, `wheel_rl` |
|
||||
| `lift_` / 放在 actuators/ 下 | 举升 | `lift_fork` |
|
||||
| `light_` | 指示灯 | `light_status_l` |
|
||||
| `sensor_` | 传感器 | `sensor_lidar_top` |
|
||||
|
||||
### 5.2 禁止
|
||||
|
||||
- 中文节点名（如 `前座`、`雷达`、`柱体`）
|
||||
- Blender 自动后缀（如 `主体.001`、`平面.003`）
|
||||
- 空格、全角字符、不可见字符（含 NBSP）
|
||||
- 无语义的编号（如仅有 `light_1`、`light_2` 而不说明用途）
|
||||
- 多个不相关含义的节点重名
|
||||
|
||||
### 5.3 推荐命名示例（舵轮 AGV）
|
||||
|
||||
```
|
||||
agv_root
|
||||
body/chassis
|
||||
wheels/wheel_fl/steer/spin/mesh
|
||||
wheels/wheel_fr/steer/spin/mesh
|
||||
wheels/wheel_rl/spin/mesh ← 从动轮可无 steer 层，spin 下挂 mesh
|
||||
actuators/lift_fork/mesh
|
||||
lights/light_status_l
|
||||
lights/light_status_r
|
||||
sensors/lidar_top
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 6. 材质要求
|
||||
|
||||
| 项目 | 要求 |
|
||||
|------|------|
|
||||
| 材质类型 | **PBR Principled BSDF** → 导出为 glTF Standard Material |
|
||||
| 车体 | 正常 albedo / roughness / metalness，贴图嵌入 GLB |
|
||||
| 指示灯 | PBR 材质，支持 Emission；可与车体共用材质 |
|
||||
| 材质实例 | 无特殊要求；程序侧会对需动画的部件 clone 材质 |
|
||||
| 法线 | 导出时包含 Normals；有贴图时包含 Tangents |
|
||||
|
||||
---
|
||||
|
||||
## 7. Blender 导出设置
|
||||
|
||||
**File → Export → glTF 2.0 (.glb/.gltf)**
|
||||
|
||||
| 选项 | 设置 |
|
||||
|------|------|
|
||||
| Format | **glTF Binary (.glb)** |
|
||||
| Include | Selected Objects **关闭**（导出整场景） |
|
||||
| Transform | **+Y Up** |
|
||||
| Geometry | 勾选 Apply Modifiers、UVs、Normals；有 normal map 时勾选 Tangents |
|
||||
| Material | Export 开启 |
|
||||
| Compression | 开发联调阶段 **关闭 Draco**（上线可按体积需求再开） |
|
||||
| 层级 | **保持层级**，不要勾选 Flatten / 合并为单 mesh |
|
||||
|
||||
导出后请确认文件大小合理，并用 glTF 查看器预览，确认模型显示正常。
|
||||
|
||||
---
|
||||
|
||||
## 8. 节点命名与程序侧映射（供参考，无需建模同事配置）
|
||||
|
||||
程序会根据 GLB 节点名自动绑定逻辑组件。**请按第 5 节规范命名**，便于程序识别；以下类型说明仅供理解命名意图，JSON 配置由程序同事完成。
|
||||
|
||||
### 8.1 组件类型（程序侧配置）
|
||||
|
||||
| type | 用途 | motion.role |
|
||||
|------|------|-------------|
|
||||
| `static` / `body` | 静态件 | 无 |
|
||||
| `wheel` | 轮子 | `wheel` |
|
||||
| `actuator` | 举升等 | `lift` |
|
||||
| `light` | 指示灯 | `light` |
|
||||
| `sensor` | 传感器（可选动画） | `lidar` / `camera` 等 |
|
||||
|
||||
### 8.2 命名与用途对照
|
||||
|
||||
| 节点示例 | 程序侧用途 | 建模侧要求 |
|
||||
|----------|------------|------------|
|
||||
| `wheel_fl` | 轮子旋转/转向 | 含 `steer` → `spin` → `mesh` 层级 |
|
||||
| `lift_fork` | 举升平移 | 收回 Y=0，伸出 Y=行程（米） |
|
||||
| `light_status_l` | 指示灯 emissive | 单独命名节点，材质支持 Emission |
|
||||
| `body/chassis` | 静态车体 | 不参与 transform 动画 |
|
||||
|
||||
---
|
||||
|
||||
## 9. 常见问题对照（旧模型 vs 规范）
|
||||
|
||||
以现有「英招」模型为例，以下做法请避免：
|
||||
|
||||
| 现状问题 | 规范做法 |
|
||||
|----------|----------|
|
||||
| 根节点名 `lux_root` | 改为 `agv_root` |
|
||||
| 节点 `柱体.003`、`主体.001` | 语义命名如 `wheel_rl` |
|
||||
| 同车型轮子 axis 有的 y、有的 z | 统一预置 spin/steer，axis 统一 x/y |
|
||||
| 6 个 light 节点对应 3 盏灯 | 合并为 3 个 `light_*` 节点 |
|
||||
| 19 个零散 static 组件 | 合并 body，仅保留可动件独立节点 |
|
||||
| 举升行程不清晰或为负值 | 在 Blender 摆好 0 ~ 行程（米），并附简要说明 |
|
||||
|
||||
---
|
||||
|
||||
## 10. 导出前自检清单
|
||||
|
||||
请在交付前逐项确认：
|
||||
|
||||
- [ ] 根节点名为 `agv_root`，Y=0 贴地，车头朝 +Z
|
||||
- [ ] 所有可动节点已 **Apply All Transforms**，scale = (1,1,1)
|
||||
- [ ] 每个舵轮含 `steer` → `spin` → `mesh` 层级
|
||||
- [ ] 所有轮子滚转轴为 spin 的 **本地 X**，转向轴为 steer 的 **本地 Y**
|
||||
- [ ] 举升行程在 Blender 中以米制摆好（如收回 0 m、伸出 0.15 m）
|
||||
- [ ] 节点名全部为 ASCII snake_case，无中文、无 `.001` 后缀
|
||||
- [ ] 需独立控制的指示灯有单独命名节点（`light_*`）
|
||||
- [ ] 静态件已合并到 body，无多余零散 mesh
|
||||
- [ ] glTF 导出：+Y Up、保留层级、Apply Modifiers
|
||||
- [ ] 用任意 glTF 查看器预览 GLB，确认无错位、无缩放异常
|
||||
|
||||
---
|
||||
|
||||
## 11. 联调流程
|
||||
|
||||
**建模同事：**
|
||||
|
||||
1. 按本规范完成 Blender 场景
|
||||
2. 导出 `{车型名}.glb` 并交付给程序同事
|
||||
3. （建议）一并提供 `.blend` 源文件及可动件行程说明
|
||||
|
||||
**程序同事（建模同事无需参与）：**
|
||||
|
||||
1. 将 GLB 放入项目 `agv/` 目录
|
||||
2. 生成 JSON 配置、绑定动作并在查看器 / PanguCanvas 中验证
|
||||
|
||||
如有疑问，请提供：**Blender 源文件 + GLB + 各可动件行程与轴方向说明**，便于对照排查。
|
||||
|
||||
---
|
||||
|
||||
## 12. 附录：层级示意图
|
||||
|
||||
```
|
||||
agv_root (原点贴地, 车头 +Z)
|
||||
│
|
||||
┌─────────────────┼─────────────────┐
|
||||
│ │ │
|
||||
body/ wheels/ actuators/
|
||||
│ │ │
|
||||
chassis wheel_fl lift_fork
|
||||
│ │
|
||||
steer ── spin mesh
|
||||
│ │
|
||||
spin mesh
|
||||
│
|
||||
mesh
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
*文档维护：数字孪生开发组 · 如有规范变更请同步更新本文档版本号*
|
||||
@@ -0,0 +1,151 @@
|
||||
# AGV 播放 API
|
||||
|
||||
> 版本 1 · `http://127.0.0.1:8765`（先 `python serve.py`，并保持 `play.html` 打开）
|
||||
> 集成步骤与代码示例见 [接入教程.md](./接入教程.md)。
|
||||
|
||||
对外仅 **2 个 HTTP 接口**、**3 个动作**。
|
||||
|
||||
---
|
||||
|
||||
## 接口
|
||||
|
||||
| 方法 | 路径 | 用途 |
|
||||
|------|------|------|
|
||||
| `GET` | `/api/catalog` | 查有哪些车、每辆车有哪些动作 |
|
||||
| `POST` | `/api/agv` | 控制播放（`playAction` / `stopAction` / `clearActions`） |
|
||||
|
||||
---
|
||||
|
||||
## 协议
|
||||
|
||||
**POST 请求体：**
|
||||
|
||||
```json
|
||||
{
|
||||
"version": 1,
|
||||
"method": "playAction",
|
||||
"params": {
|
||||
"modelId": "英招",
|
||||
"actionId": "dongzuo1"
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
| 字段 | 说明 |
|
||||
|------|------|
|
||||
| `version` | 固定 `1` |
|
||||
| `method` | `playAction` · `stopAction` · `clearActions` |
|
||||
| `params.modelId` | **必填**，车辆 ID |
|
||||
| `params.actionId` | `playAction` / `stopAction` 必填 |
|
||||
|
||||
**响应：**
|
||||
|
||||
```json
|
||||
{
|
||||
"version": 1,
|
||||
"ok": true,
|
||||
"data": {
|
||||
"dispatched": true,
|
||||
"subscribers": 1,
|
||||
"modelId": "英招",
|
||||
"activeActions": ["dongzuo1"]
|
||||
},
|
||||
"error": null
|
||||
}
|
||||
```
|
||||
|
||||
`subscribers: 0` 表示播放页未打开，命令已缓存，打开 `play.html` 后自动执行。
|
||||
|
||||
---
|
||||
|
||||
## 1. GET /api/catalog — 查目录
|
||||
|
||||
```
|
||||
GET http://127.0.0.1:8765/api/catalog
|
||||
```
|
||||
|
||||
响应 `data.vehicles` 示例：
|
||||
|
||||
```json
|
||||
[
|
||||
{
|
||||
"modelId": "英招",
|
||||
"name": "英招",
|
||||
"actions": [
|
||||
{ "id": "dongzuo1", "label": "动作1" }
|
||||
]
|
||||
}
|
||||
]
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 2. POST /api/agv — 控制播放
|
||||
|
||||
须先打开：`http://127.0.0.1:8765/viewer/play.html`
|
||||
|
||||
### playAction — 开启动作（自动切车）
|
||||
|
||||
```json
|
||||
{
|
||||
"version": 1,
|
||||
"method": "playAction",
|
||||
"params": {
|
||||
"modelId": "英招",
|
||||
"actionId": "dongzuo1"
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
### stopAction — 关闭指定动作
|
||||
|
||||
```json
|
||||
{
|
||||
"version": 1,
|
||||
"method": "stopAction",
|
||||
"params": {
|
||||
"modelId": "英招",
|
||||
"actionId": "dongzuo1"
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
### clearActions — 关闭该车全部动作
|
||||
|
||||
```json
|
||||
{
|
||||
"version": 1,
|
||||
"method": "clearActions",
|
||||
"params": {
|
||||
"modelId": "英招"
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 联调流程
|
||||
|
||||
```
|
||||
GET /api/catalog → 取 modelId、actionId
|
||||
↓
|
||||
POST playAction → 播放页执行
|
||||
↓
|
||||
POST stopAction / clearActions → 停止
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 常见问题
|
||||
|
||||
| 现象 | 处理 |
|
||||
|------|------|
|
||||
| 页面打不开 | 只保留一个 `python serve.py` 进程 |
|
||||
| Postman 卡住 | 重启 `serve.py` |
|
||||
| `subscribers: 0` | 先打开 `play.html` |
|
||||
| `params.modelId 必填` | 三个动作都要带 `modelId` |
|
||||
| `UNKNOWN_METHOD` | POST 只能用上述 3 个 method；查目录用 GET |
|
||||
|
||||
---
|
||||
|
||||
*数字孪生开发组*
|
||||
@@ -0,0 +1,368 @@
|
||||
# AGV GLB 接入教程
|
||||
|
||||
> 面向 MES、数字孪生大屏、调度平台等外部系统的集成指南。
|
||||
> API 协议细节见 [AGV播放API.md](./AGV播放API.md)。
|
||||
|
||||
---
|
||||
|
||||
## 架构
|
||||
|
||||
```
|
||||
┌─────────────────┐ HTTP POST/GET ┌──────────────┐ SSE 推送 ┌─────────────────┐
|
||||
│ 你的业务系统 │ ──────────────────────▶│ serve.py │ ───────────────▶│ play.html │
|
||||
│ (任意语言) │ /api/catalog │ :8765 │ /api/agv/events│ (3D 播放页) │
|
||||
│ │ /api/agv │ │ │ │
|
||||
└─────────────────┘ └──────────────┘ └─────────────────┘
|
||||
```
|
||||
|
||||
| 组件 | 职责 |
|
||||
|------|------|
|
||||
| **业务系统** | 调用 HTTP 接口，无需了解 Three.js |
|
||||
| **serve.py** | 协议校验、命令缓存与转发 |
|
||||
| **play.html** | 3D 渲染；须保持打开才会执行动作 |
|
||||
|
||||
播放页未打开时，命令会**缓存**；打开 `play.html` 后自动同步执行。
|
||||
|
||||
---
|
||||
|
||||
## 快速开始
|
||||
|
||||
### 1. 启动服务
|
||||
|
||||
**Windows（推荐）：** 双击项目根目录 `start.bat`
|
||||
|
||||
```powershell
|
||||
# 或命令行
|
||||
.\start.ps1
|
||||
```
|
||||
|
||||
**手动启动：**
|
||||
|
||||
```bash
|
||||
python serve.py
|
||||
# 默认端口 8765；可通过环境变量 PORT 修改
|
||||
```
|
||||
|
||||
首次部署且需使用 `analyze_agv.py` 扫描 GLB 时：
|
||||
|
||||
```powershell
|
||||
.\start.ps1 -Setup
|
||||
```
|
||||
|
||||
### 2. 打开播放页
|
||||
|
||||
服务启动后，在浏览器中保持以下页面打开：
|
||||
|
||||
```
|
||||
http://127.0.0.1:8765/viewer/play.html
|
||||
```
|
||||
|
||||
配置页（编辑动作，非播放必需）：
|
||||
|
||||
```
|
||||
http://127.0.0.1:8765/viewer/index.html
|
||||
```
|
||||
|
||||
### 3. 验证连通
|
||||
|
||||
```bash
|
||||
curl http://127.0.0.1:8765/api/catalog
|
||||
```
|
||||
|
||||
返回 `ok: true` 且 `data.vehicles` 非空即表示服务正常。
|
||||
|
||||
### 4. 发送第一条播放命令
|
||||
|
||||
```bash
|
||||
curl -X POST http://127.0.0.1:8765/api/agv \
|
||||
-H "Content-Type: application/json" \
|
||||
-d "{\"version\":1,\"method\":\"playAction\",\"params\":{\"modelId\":\"英招\",\"actionId\":\"zuozhuan\"}}"
|
||||
```
|
||||
|
||||
响应中 `data.subscribers >= 1` 表示播放页在线；为 `0` 时命令已缓存，打开播放页后会自动执行。
|
||||
|
||||
---
|
||||
|
||||
## 依赖说明
|
||||
|
||||
| 用途 | 要求 |
|
||||
|------|------|
|
||||
| 运行服务 + 播放 | Python 3.10+（标准库即可） |
|
||||
| 前端 Three.js | CDN 加载，**无需 npm install** |
|
||||
| GLB 扫描工具 | 可选，运行 `.\start.ps1 -Setup` 安装 |
|
||||
|
||||
---
|
||||
|
||||
## 接入方式
|
||||
|
||||
### 方式 A：HTTP API（推荐）
|
||||
|
||||
业务系统直接请求 `serve.py` 提供的 REST 接口，适合 Python、Java、C#、Node.js 等任意语言。
|
||||
|
||||
### 方式 B：iframe 嵌入（适合前端大屏）
|
||||
|
||||
将 `play.html` 嵌入 iframe，通过 `postMessage` 或 `AgvPlaybackApi` 控制，协议字段与 HTTP 一致。
|
||||
|
||||
---
|
||||
|
||||
## 标准流程
|
||||
|
||||
```
|
||||
① 启动 serve.py
|
||||
↓
|
||||
② 打开 play.html（可全屏或 iframe 嵌入大屏）
|
||||
↓
|
||||
③ GET /api/catalog → 获取 modelId、actionId
|
||||
↓
|
||||
④ POST /api/agv → playAction / stopAction / clearActions
|
||||
↓
|
||||
⑤ 检查 data.subscribers >= 1
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## HTTP API
|
||||
|
||||
**Base URL：** `http://127.0.0.1:8765`
|
||||
**协议版本：** `version: 1`
|
||||
**Content-Type：** `application/json`
|
||||
|
||||
### GET /api/catalog — 查询目录
|
||||
|
||||
接入前先调用，获取可用的 `modelId` 与 `actionId`。
|
||||
|
||||
```
|
||||
GET http://127.0.0.1:8765/api/catalog
|
||||
```
|
||||
|
||||
响应示例：
|
||||
|
||||
```json
|
||||
{
|
||||
"version": 1,
|
||||
"ok": true,
|
||||
"data": {
|
||||
"vehicles": [
|
||||
{
|
||||
"modelId": "英招",
|
||||
"name": "英招",
|
||||
"actions": [
|
||||
{ "id": "zuozhuan", "label": "左转" }
|
||||
]
|
||||
}
|
||||
]
|
||||
},
|
||||
"error": null
|
||||
}
|
||||
```
|
||||
|
||||
### POST /api/agv — 控制播放
|
||||
|
||||
| method | 说明 | params |
|
||||
|--------|------|--------|
|
||||
| `playAction` | 播放动作，自动切换车辆 | `modelId` + `actionId` 必填 |
|
||||
| `stopAction` | 停止指定动作 | `modelId` + `actionId` 必填 |
|
||||
| `clearActions` | 停止该车全部动作 | 仅 `modelId` 必填 |
|
||||
|
||||
**playAction 示例：**
|
||||
|
||||
```json
|
||||
{
|
||||
"version": 1,
|
||||
"method": "playAction",
|
||||
"params": {
|
||||
"modelId": "英招",
|
||||
"actionId": "zuozhuan"
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
**成功响应：**
|
||||
|
||||
```json
|
||||
{
|
||||
"version": 1,
|
||||
"ok": true,
|
||||
"data": {
|
||||
"dispatched": true,
|
||||
"subscribers": 1,
|
||||
"modelId": "英招",
|
||||
"activeActions": ["zuozhuan"]
|
||||
},
|
||||
"error": null
|
||||
}
|
||||
```
|
||||
|
||||
**失败响应：**
|
||||
|
||||
```json
|
||||
{
|
||||
"version": 1,
|
||||
"ok": false,
|
||||
"data": null,
|
||||
"error": {
|
||||
"code": "INVALID_REQUEST",
|
||||
"message": "params.modelId 必填"
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
| 响应字段 | 含义 |
|
||||
|----------|------|
|
||||
| `subscribers` | 当前连接的播放页数量；`0` = 无播放页，命令已缓存 |
|
||||
| `activeActions` | 当前正在播放的动作 ID 列表 |
|
||||
| `dispatched` | 命令是否已成功写入总线 |
|
||||
|
||||
更多请求/响应示例见 [AGV播放API.md](./AGV播放API.md)。
|
||||
|
||||
---
|
||||
|
||||
## 代码示例
|
||||
|
||||
### Python
|
||||
|
||||
```python
|
||||
import requests
|
||||
|
||||
BASE = "http://127.0.0.1:8765"
|
||||
|
||||
def get_catalog():
|
||||
r = requests.get(f"{BASE}/api/catalog", timeout=5)
|
||||
r.raise_for_status()
|
||||
return r.json()["data"]["vehicles"]
|
||||
|
||||
def play_action(model_id: str, action_id: str):
|
||||
payload = {
|
||||
"version": 1,
|
||||
"method": "playAction",
|
||||
"params": {"modelId": model_id, "actionId": action_id},
|
||||
}
|
||||
r = requests.post(f"{BASE}/api/agv", json=payload, timeout=5)
|
||||
r.raise_for_status()
|
||||
data = r.json()
|
||||
if not data["ok"]:
|
||||
raise RuntimeError(data["error"]["message"])
|
||||
if data["data"]["subscribers"] == 0:
|
||||
print("警告: 播放页未打开，命令已缓存")
|
||||
return data
|
||||
|
||||
vehicles = get_catalog()
|
||||
vehicle = vehicles[0]
|
||||
action_id = vehicle["actions"][0]["id"]
|
||||
play_action(vehicle["modelId"], action_id)
|
||||
```
|
||||
|
||||
### JavaScript
|
||||
|
||||
```javascript
|
||||
const BASE = "http://127.0.0.1:8765";
|
||||
|
||||
async function getCatalog() {
|
||||
const res = await fetch(`${BASE}/api/catalog`);
|
||||
const json = await res.json();
|
||||
return json.data.vehicles;
|
||||
}
|
||||
|
||||
async function playAction(modelId, actionId) {
|
||||
const res = await fetch(`${BASE}/api/agv`, {
|
||||
method: "POST",
|
||||
headers: { "Content-Type": "application/json" },
|
||||
body: JSON.stringify({
|
||||
version: 1,
|
||||
method: "playAction",
|
||||
params: { modelId, actionId },
|
||||
}),
|
||||
});
|
||||
const json = await res.json();
|
||||
if (!json.ok) throw new Error(json.error.message);
|
||||
return json;
|
||||
}
|
||||
```
|
||||
|
||||
### iframe 嵌入
|
||||
|
||||
```html
|
||||
<iframe
|
||||
id="agv-player"
|
||||
src="http://127.0.0.1:8765/viewer/play.html"
|
||||
style="width:100%;height:100%;border:none"
|
||||
></iframe>
|
||||
|
||||
<script>
|
||||
const iframe = document.getElementById("agv-player");
|
||||
|
||||
// postMessage（协议与 HTTP 一致）
|
||||
iframe.contentWindow.postMessage(
|
||||
{
|
||||
version: 1,
|
||||
id: "req-1",
|
||||
method: "playAction",
|
||||
params: { modelId: "英招", actionId: "zuozhuan" },
|
||||
},
|
||||
"*"
|
||||
);
|
||||
|
||||
window.addEventListener("message", (e) => {
|
||||
if (e.data?.id === "req-1") console.log("播放结果:", e.data);
|
||||
});
|
||||
|
||||
// 同源时可直接调用 AgvPlaybackApi
|
||||
iframe.onload = async () => {
|
||||
const api = iframe.contentWindow.AgvPlaybackApi;
|
||||
await api.request({
|
||||
version: 1,
|
||||
method: "playAction",
|
||||
params: { modelId: "英招", actionId: "zuozhuan" },
|
||||
});
|
||||
};
|
||||
</script>
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 业务映射建议
|
||||
|
||||
| 业务事件 | API 调用 |
|
||||
|----------|----------|
|
||||
| AGV 开始某动作 | `playAction` + 对应 `actionId` |
|
||||
| AGV 停止当前动作 | `stopAction` + 对应 `actionId` |
|
||||
| AGV 复位 / 全部停止 | `clearActions` |
|
||||
| 切换 AGV 型号 | `playAction` 带新的 `modelId`（自动切车） |
|
||||
|
||||
建议启动时拉一次 catalog，将业务编码（如 `"TURN_LEFT"`）映射到 `actionId`，避免硬编码。
|
||||
|
||||
---
|
||||
|
||||
## 生产部署
|
||||
|
||||
1. **播放页常开**：大屏或工控机全屏打开 `play.html`，或用 iframe 嵌入业务页面
|
||||
2. **单实例**：同一端口只运行一个 `serve.py`
|
||||
3. **自定义端口**：`PORT=9000 python serve.py` 或 `.\start.ps1 -Port 9000`
|
||||
4. **健康检查**：定期 `GET /api/catalog` 确认服务存活
|
||||
5. **新增车辆**：将 GLB + JSON 放入 `agv/`，更新 `agv/manifest.json`，重启服务后 catalog 自动更新
|
||||
|
||||
---
|
||||
|
||||
## 常见问题
|
||||
|
||||
| 现象 | 处理 |
|
||||
|------|------|
|
||||
| `subscribers: 0` | 先打开 `play.html` |
|
||||
| 页面打不开 | 只保留一个 `serve.py` 进程 |
|
||||
| Postman 卡住 | 重启 `serve.py` |
|
||||
| `params.modelId 必填` | 三个 method 都要带 `modelId` |
|
||||
| `UNKNOWN_METHOD` | POST 只能用 3 个 method；查目录用 GET |
|
||||
| `动作不存在` | 先调 catalog 核对 `actionId` |
|
||||
|
||||
---
|
||||
|
||||
## 相关文档
|
||||
|
||||
| 文档 | 说明 |
|
||||
|------|------|
|
||||
| [AGV播放API.md](./AGV播放API.md) | HTTP 协议与请求/响应格式 |
|
||||
| [AGV_GLB导出规范.md](./AGV_GLB导出规范.md) | GLB 模型导出与配置规范 |
|
||||
|
||||
---
|
||||
|
||||
*数字孪生开发组*
|
||||
@@ -0,0 +1,12 @@
|
||||
{
|
||||
"name": "agv_glb",
|
||||
"version": "1.0.0",
|
||||
"description": "",
|
||||
"main": "index.js",
|
||||
"scripts": {
|
||||
"test": "echo \"Error: no test specified\" && exit 1"
|
||||
},
|
||||
"keywords": [],
|
||||
"author": "",
|
||||
"license": "ISC"
|
||||
}
|
||||
@@ -0,0 +1,182 @@
|
||||
# -*- coding: utf-8 -*-
|
||||
"""播放命令总线：HTTP 写入期望状态，播放页通过 SSE 订阅并执行。"""
|
||||
from __future__ import annotations
|
||||
|
||||
import queue
|
||||
import threading
|
||||
import time
|
||||
from typing import Any
|
||||
|
||||
REMOTE_METHODS = frozenset({"playAction", "stopAction", "clearActions"})
|
||||
|
||||
|
||||
def _as_string(v: Any) -> str:
|
||||
return v.strip() if isinstance(v, str) else ""
|
||||
|
||||
|
||||
def _as_string_list(v: Any) -> list[str]:
|
||||
if isinstance(v, list):
|
||||
return [_as_string(x) for x in v if _as_string(x)]
|
||||
if isinstance(v, str):
|
||||
return [s for s in v.replace("+", ",").split(",") if s.strip()]
|
||||
return []
|
||||
|
||||
|
||||
class PlaybackHub:
|
||||
def __init__(self) -> None:
|
||||
self._lock = threading.Lock()
|
||||
self._revision = 0
|
||||
self._state: dict[str, Any] = {"modelId": None, "activeActions": []}
|
||||
self._subscribers: list[queue.Queue] = []
|
||||
|
||||
def _snapshot_locked(self) -> dict[str, Any]:
|
||||
return {
|
||||
"modelId": self._state.get("modelId"),
|
||||
"activeActions": list(self._state.get("activeActions") or []),
|
||||
"revision": self._revision,
|
||||
"updatedAt": self._state.get("updatedAt"),
|
||||
}
|
||||
|
||||
def get_state(self) -> dict[str, Any]:
|
||||
with self._lock:
|
||||
return self._snapshot_locked()
|
||||
|
||||
def subscriber_count(self) -> int:
|
||||
with self._lock:
|
||||
return len(self._subscribers)
|
||||
|
||||
def subscribe(self) -> queue.Queue:
|
||||
q: queue.Queue = queue.Queue(maxsize=128)
|
||||
with self._lock:
|
||||
self._subscribers.append(q)
|
||||
return q
|
||||
|
||||
def unsubscribe(self, q: queue.Queue) -> None:
|
||||
with self._lock:
|
||||
if q in self._subscribers:
|
||||
self._subscribers.remove(q)
|
||||
|
||||
def _bump_locked(self) -> int:
|
||||
self._revision += 1
|
||||
self._state["updatedAt"] = time.time()
|
||||
return self._revision
|
||||
|
||||
def _broadcast_locked(self, message: dict[str, Any]) -> None:
|
||||
dead: list[queue.Queue] = []
|
||||
for sub in self._subscribers:
|
||||
try:
|
||||
sub.put_nowait(message)
|
||||
except queue.Full:
|
||||
dead.append(sub)
|
||||
for sub in dead:
|
||||
if sub in self._subscribers:
|
||||
self._subscribers.remove(sub)
|
||||
|
||||
def _set_model(self, model_id: str) -> None:
|
||||
if self._state.get("modelId") != model_id:
|
||||
self._state["activeActions"] = []
|
||||
self._state["modelId"] = model_id
|
||||
|
||||
def _require_model(self, params: dict[str, Any]) -> str:
|
||||
model_id = _as_string(params.get("modelId") or params.get("model"))
|
||||
if not model_id:
|
||||
raise ValueError("params.modelId 必填")
|
||||
self._set_model(model_id)
|
||||
return model_id
|
||||
|
||||
def _apply(self, method: str, params: dict[str, Any]) -> dict[str, Any]:
|
||||
params = params if isinstance(params, dict) else {}
|
||||
|
||||
if method == "playAction":
|
||||
model_id = self._require_model(params)
|
||||
active = list(self._state.get("activeActions") or [])
|
||||
ids = _as_string_list(params.get("actionIds") or params.get("actions"))
|
||||
if not ids:
|
||||
one = _as_string(params.get("actionId") or params.get("action"))
|
||||
if one:
|
||||
ids = [one]
|
||||
if not ids:
|
||||
raise ValueError("params.actionId 必填")
|
||||
for action_id in ids:
|
||||
if action_id not in active:
|
||||
active.append(action_id)
|
||||
self._state["activeActions"] = active
|
||||
return {"modelId": model_id, "played": ids, "activeActions": active}
|
||||
|
||||
if method == "stopAction":
|
||||
model_id = self._require_model(params)
|
||||
active = list(self._state.get("activeActions") or [])
|
||||
ids = _as_string_list(params.get("actionIds") or params.get("actions"))
|
||||
if not ids:
|
||||
one = _as_string(params.get("actionId") or params.get("action"))
|
||||
if one:
|
||||
ids = [one]
|
||||
if not ids:
|
||||
raise ValueError("params.actionId 必填")
|
||||
active = [a for a in active if a not in ids]
|
||||
self._state["activeActions"] = active
|
||||
return {"modelId": model_id, "stopped": ids, "activeActions": active}
|
||||
|
||||
if method == "clearActions":
|
||||
model_id = self._require_model(params)
|
||||
self._state["activeActions"] = []
|
||||
return {"modelId": model_id, "activeActions": []}
|
||||
|
||||
raise ValueError(f"不支持的 method: {method}")
|
||||
|
||||
def _emit_locked(self, method: str, params: dict[str, Any], req_id: Any, source_client_id: str | None) -> dict[str, Any]:
|
||||
data = self._apply(method, params)
|
||||
revision = self._bump_locked()
|
||||
state = self._snapshot_locked()
|
||||
self._broadcast_locked(
|
||||
{
|
||||
"version": 1,
|
||||
"id": req_id,
|
||||
"revision": revision,
|
||||
"method": method,
|
||||
"params": params,
|
||||
"state": state,
|
||||
"sourceClientId": source_client_id,
|
||||
}
|
||||
)
|
||||
return {
|
||||
"dispatched": True,
|
||||
"subscribers": len(self._subscribers),
|
||||
"revision": revision,
|
||||
"state": state,
|
||||
**data,
|
||||
}
|
||||
|
||||
def dispatch(self, method: str, params: dict[str, Any] | None, req_id: Any = None) -> dict[str, Any]:
|
||||
if method not in REMOTE_METHODS:
|
||||
raise ValueError(f"method「{method}」不可远程调度")
|
||||
with self._lock:
|
||||
return self._emit_locked(method, params or {}, req_id, None)
|
||||
|
||||
def report_from_client(
|
||||
self,
|
||||
client_id: str,
|
||||
model_id: str | None,
|
||||
active_actions: list[str] | None,
|
||||
) -> dict[str, Any]:
|
||||
with self._lock:
|
||||
if model_id:
|
||||
self._state["modelId"] = model_id
|
||||
if active_actions is not None:
|
||||
self._state["activeActions"] = list(active_actions)
|
||||
revision = self._bump_locked()
|
||||
state = self._snapshot_locked()
|
||||
self._broadcast_locked(
|
||||
{
|
||||
"version": 1,
|
||||
"revision": revision,
|
||||
"method": "syncState",
|
||||
"params": {},
|
||||
"state": state,
|
||||
"sourceClientId": client_id,
|
||||
}
|
||||
)
|
||||
return {"revision": revision, "state": state, "subscribers": len(self._subscribers)}
|
||||
|
||||
|
||||
HUB = PlaybackHub()
|
||||
@@ -0,0 +1,3 @@
|
||||
numpy>=1.24.0
|
||||
trimesh>=4.0.0
|
||||
pygltflib>=1.16.0
|
||||
@@ -0,0 +1,379 @@
|
||||
# -*- coding: utf-8 -*-
|
||||
"""本地预览：UTF-8 静态资源 + 配置落盘 API。用法: python serve.py"""
|
||||
from __future__ import annotations
|
||||
|
||||
import http.server
|
||||
import json
|
||||
import os
|
||||
import queue
|
||||
import sys
|
||||
from pathlib import Path
|
||||
|
||||
from playback_hub import HUB
|
||||
|
||||
ROOT = Path(__file__).resolve().parent
|
||||
AGV_DIR = (ROOT / "agv").resolve()
|
||||
PORT = int(os.environ.get("PORT", "8765"))
|
||||
|
||||
UTF8_TYPES = {
|
||||
".html": "text/html; charset=utf-8",
|
||||
".js": "text/javascript; charset=utf-8",
|
||||
".json": "application/json; charset=utf-8",
|
||||
".css": "text/css; charset=utf-8",
|
||||
".svg": "image/svg+xml; charset=utf-8",
|
||||
}
|
||||
|
||||
|
||||
class Handler(http.server.SimpleHTTPRequestHandler):
|
||||
def __init__(self, *args, **kwargs):
|
||||
super().__init__(*args, directory=str(ROOT), **kwargs)
|
||||
|
||||
def end_headers(self):
|
||||
ext = Path(self.path.split("?", 1)[0]).suffix.lower()
|
||||
if ext in UTF8_TYPES:
|
||||
self.send_header("Content-Type", UTF8_TYPES[ext])
|
||||
if ext in {".html", ".js", ".json", ".css"}:
|
||||
self.send_header("Cache-Control", "no-store, must-revalidate")
|
||||
super().end_headers()
|
||||
|
||||
def do_OPTIONS(self):
|
||||
path = self.path.split("?", 1)[0]
|
||||
if path.startswith("/api/"):
|
||||
self.send_response(204)
|
||||
self._cors_headers()
|
||||
self.end_headers()
|
||||
return
|
||||
self.send_error(404, "Not Found")
|
||||
|
||||
def do_GET(self):
|
||||
path = self.path.split("?", 1)[0]
|
||||
if path == "/api/catalog":
|
||||
self._json_response(200, self._build_catalog_response())
|
||||
return
|
||||
if path == "/api/agv/state":
|
||||
state = HUB.get_state()
|
||||
self._json_response(
|
||||
200,
|
||||
{
|
||||
"version": 1,
|
||||
"ok": True,
|
||||
"data": {**state, "subscribers": HUB.subscriber_count()},
|
||||
"error": None,
|
||||
},
|
||||
)
|
||||
return
|
||||
if path == "/api/agv/events":
|
||||
self._agv_events_sse()
|
||||
return
|
||||
super().do_GET()
|
||||
|
||||
def do_POST(self):
|
||||
path = self.path.split("?", 1)[0]
|
||||
if path == "/api/save-config":
|
||||
self._save_config()
|
||||
return
|
||||
if path == "/api/agv":
|
||||
self._agv_api()
|
||||
return
|
||||
if path == "/api/agv/report":
|
||||
self._agv_report()
|
||||
return
|
||||
self.send_error(404, "Not Found")
|
||||
|
||||
def _save_config(self):
|
||||
try:
|
||||
length = int(self.headers.get("Content-Length", 0))
|
||||
raw = self.rfile.read(length).decode("utf-8")
|
||||
payload = json.loads(raw)
|
||||
filename = payload["file"]
|
||||
config = payload["config"]
|
||||
except (KeyError, json.JSONDecodeError, UnicodeDecodeError) as e:
|
||||
self._json_response(400, {"ok": False, "error": f"请求体无效: {e}"})
|
||||
return
|
||||
|
||||
if not isinstance(filename, str) or not filename.endswith(".json"):
|
||||
self._json_response(400, {"ok": False, "error": "仅允许保存 agv/*.json"})
|
||||
return
|
||||
if "/" in filename or "\\" in filename or ".." in filename:
|
||||
self._json_response(400, {"ok": False, "error": "非法文件名"})
|
||||
return
|
||||
|
||||
target = (AGV_DIR / filename).resolve()
|
||||
if not str(target).startswith(str(AGV_DIR)):
|
||||
self._json_response(403, {"ok": False, "error": "路径越界"})
|
||||
return
|
||||
|
||||
try:
|
||||
AGV_DIR.mkdir(parents=True, exist_ok=True)
|
||||
text = json.dumps(config, ensure_ascii=False, indent=2) + "\n"
|
||||
target.write_text(text, encoding="utf-8")
|
||||
except OSError as e:
|
||||
self._json_response(500, {"ok": False, "error": str(e)})
|
||||
return
|
||||
|
||||
self._json_response(200, {"ok": True, "file": filename, "path": str(target.relative_to(ROOT))})
|
||||
|
||||
def _read_manifest_models(self) -> list[dict]:
|
||||
manifest_path = AGV_DIR / "manifest.json"
|
||||
if not manifest_path.exists():
|
||||
return []
|
||||
try:
|
||||
data = json.loads(manifest_path.read_text(encoding="utf-8"))
|
||||
except (OSError, json.JSONDecodeError):
|
||||
return []
|
||||
models = data.get("models")
|
||||
return models if isinstance(models, list) else []
|
||||
|
||||
def _map_actions(self, cfg: dict) -> list[dict]:
|
||||
actions = cfg.get("actions") or {}
|
||||
if not isinstance(actions, dict):
|
||||
return []
|
||||
out = []
|
||||
for action_id, act in actions.items():
|
||||
if not isinstance(act, dict):
|
||||
continue
|
||||
out.append(
|
||||
{
|
||||
"id": action_id,
|
||||
"label": act.get("label") or action_id,
|
||||
"uiClass": act.get("uiClass") or "mode-idle",
|
||||
}
|
||||
)
|
||||
return out
|
||||
|
||||
def _build_catalog_response(self) -> dict:
|
||||
vehicles = []
|
||||
for m in self._read_manifest_models():
|
||||
if not isinstance(m, dict):
|
||||
continue
|
||||
model_id = m.get("id") or ""
|
||||
cfg_file = m.get("config") or (f"{model_id}.json" if model_id else "")
|
||||
item = {
|
||||
"modelId": model_id,
|
||||
"name": m.get("name") or model_id,
|
||||
"file": m.get("file"),
|
||||
"config": cfg_file,
|
||||
"root": m.get("root"),
|
||||
"actions": [],
|
||||
"configError": None,
|
||||
}
|
||||
if not cfg_file:
|
||||
item["configError"] = "缺少 config 字段"
|
||||
vehicles.append(item)
|
||||
continue
|
||||
cfg_path = (AGV_DIR / cfg_file).resolve()
|
||||
if not str(cfg_path).startswith(str(AGV_DIR)) or not cfg_path.exists():
|
||||
item["configError"] = f"缺少配置 {cfg_file}"
|
||||
vehicles.append(item)
|
||||
continue
|
||||
try:
|
||||
cfg = json.loads(cfg_path.read_text(encoding="utf-8"))
|
||||
item["actions"] = self._map_actions(cfg)
|
||||
item["root"] = m.get("root") or (cfg.get("model") or {}).get("root") or item["root"]
|
||||
except (OSError, json.JSONDecodeError) as e:
|
||||
item["configError"] = str(e)
|
||||
vehicles.append(item)
|
||||
return {"version": 1, "ok": True, "data": {"vehicles": vehicles}, "error": None}
|
||||
|
||||
def _agv_api(self):
|
||||
try:
|
||||
length = int(self.headers.get("Content-Length", 0))
|
||||
raw = self.rfile.read(length).decode("utf-8")
|
||||
payload = json.loads(raw)
|
||||
except (json.JSONDecodeError, UnicodeDecodeError) as e:
|
||||
self._json_response(400, {"version": 1, "ok": False, "data": None, "error": {"code": "INVALID_REQUEST", "message": str(e)}})
|
||||
return
|
||||
|
||||
req_id = payload.get("id")
|
||||
version = payload.get("version")
|
||||
method = (payload.get("method") or "").strip()
|
||||
if version != 1:
|
||||
self._json_response(400, {"version": 1, "id": req_id, "ok": False, "data": None, "error": {"code": "INVALID_REQUEST", "message": "version 须为 1"}})
|
||||
return
|
||||
if not method:
|
||||
self._json_response(400, {"version": 1, "id": req_id, "ok": False, "data": None, "error": {"code": "INVALID_REQUEST", "message": "缺少 method"}})
|
||||
return
|
||||
|
||||
if method not in {"playAction", "stopAction", "clearActions"}:
|
||||
self._json_response(
|
||||
400,
|
||||
{
|
||||
"version": 1,
|
||||
"id": req_id,
|
||||
"ok": False,
|
||||
"data": None,
|
||||
"error": {
|
||||
"code": "UNKNOWN_METHOD",
|
||||
"message": "POST /api/agv 仅支持 playAction、stopAction、clearActions；查询请用 GET /api/catalog",
|
||||
},
|
||||
},
|
||||
)
|
||||
return
|
||||
|
||||
try:
|
||||
params = payload.get("params") or {}
|
||||
self._validate_remote(method, params)
|
||||
data = HUB.dispatch(method, params, req_id)
|
||||
hint = None
|
||||
if data.get("subscribers", 0) == 0:
|
||||
hint = "无播放页在线，命令已缓存；打开 play.html 后将自动同步"
|
||||
self._json_response(
|
||||
200,
|
||||
{
|
||||
"version": 1,
|
||||
"id": req_id,
|
||||
"ok": True,
|
||||
"data": data,
|
||||
"hint": hint,
|
||||
"error": None,
|
||||
},
|
||||
)
|
||||
except ValueError as e:
|
||||
self._json_response(
|
||||
400,
|
||||
{
|
||||
"version": 1,
|
||||
"id": req_id,
|
||||
"ok": False,
|
||||
"data": None,
|
||||
"error": {"code": "INVALID_REQUEST", "message": str(e)},
|
||||
},
|
||||
)
|
||||
|
||||
def _find_model(self, model_id: str) -> dict | None:
|
||||
for m in self._read_manifest_models():
|
||||
if isinstance(m, dict) and m.get("id") == model_id:
|
||||
return m
|
||||
return None
|
||||
|
||||
def _load_model_config(self, model_id: str) -> tuple[dict | None, str | None]:
|
||||
entry = self._find_model(model_id)
|
||||
if not entry:
|
||||
return None, f"模型不存在: {model_id}"
|
||||
cfg_file = entry.get("config") or f"{model_id}.json"
|
||||
cfg_path = (AGV_DIR / cfg_file).resolve()
|
||||
if not str(cfg_path).startswith(str(AGV_DIR)) or not cfg_path.exists():
|
||||
return None, f"缺少配置 {cfg_file}"
|
||||
try:
|
||||
return json.loads(cfg_path.read_text(encoding="utf-8")), None
|
||||
except (OSError, json.JSONDecodeError) as e:
|
||||
return None, str(e)
|
||||
|
||||
@staticmethod
|
||||
def _pick_action_ids(params: dict) -> list[str]:
|
||||
ids = params.get("actionIds") or params.get("actions")
|
||||
if isinstance(ids, list):
|
||||
return [str(x).strip() for x in ids if str(x).strip()]
|
||||
if isinstance(ids, str):
|
||||
return [s.strip() for s in ids.replace("+", ",").split(",") if s.strip()]
|
||||
one = params.get("actionId") or params.get("action")
|
||||
return [str(one).strip()] if one else []
|
||||
|
||||
def _validate_remote(self, method: str, params: dict) -> None:
|
||||
model_id = (params.get("modelId") or params.get("model") or "").strip()
|
||||
if not model_id:
|
||||
raise ValueError("params.modelId 必填")
|
||||
if not self._find_model(model_id):
|
||||
raise ValueError(f"模型不存在: {model_id}")
|
||||
|
||||
if method == "clearActions":
|
||||
return
|
||||
|
||||
cfg, err = self._load_model_config(model_id)
|
||||
if err:
|
||||
raise ValueError(err)
|
||||
if method in {"playAction", "stopAction"}:
|
||||
action_ids = self._pick_action_ids(params)
|
||||
if not action_ids:
|
||||
raise ValueError("params.actionId 必填")
|
||||
known = set((cfg.get("actions") or {}).keys())
|
||||
for action_id in action_ids:
|
||||
if action_id not in known:
|
||||
raise ValueError(f"动作不存在: {action_id}（模型 {model_id}）")
|
||||
|
||||
def _agv_report(self):
|
||||
try:
|
||||
length = int(self.headers.get("Content-Length", 0))
|
||||
raw = self.rfile.read(length).decode("utf-8")
|
||||
payload = json.loads(raw)
|
||||
except (json.JSONDecodeError, UnicodeDecodeError) as e:
|
||||
self._json_response(400, {"ok": False, "error": str(e)})
|
||||
return
|
||||
|
||||
client_id = str(payload.get("clientId") or "").strip()
|
||||
if not client_id:
|
||||
self._json_response(400, {"ok": False, "error": "clientId 必填"})
|
||||
return
|
||||
|
||||
model_id = payload.get("modelId")
|
||||
if isinstance(model_id, str):
|
||||
model_id = model_id.strip() or None
|
||||
active = payload.get("activeActions")
|
||||
if active is not None and not isinstance(active, list):
|
||||
self._json_response(400, {"ok": False, "error": "activeActions 须为数组"})
|
||||
return
|
||||
|
||||
data = HUB.report_from_client(client_id, model_id, active)
|
||||
self._json_response(200, {"ok": True, "data": data})
|
||||
|
||||
def _cors_headers(self):
|
||||
self.send_header("Access-Control-Allow-Origin", "*")
|
||||
self.send_header("Access-Control-Allow-Methods", "GET, POST, OPTIONS")
|
||||
self.send_header("Access-Control-Allow-Headers", "Content-Type")
|
||||
|
||||
def _sse_write(self, payload: dict):
|
||||
line = f"data: {json.dumps(payload, ensure_ascii=False)}\n\n"
|
||||
self.wfile.write(line.encode("utf-8"))
|
||||
self.wfile.flush()
|
||||
|
||||
def _agv_events_sse(self):
|
||||
self.send_response(200)
|
||||
self.send_header("Content-Type", "text/event-stream; charset=utf-8")
|
||||
self.send_header("Cache-Control", "no-cache")
|
||||
self.send_header("Connection", "keep-alive")
|
||||
self._cors_headers()
|
||||
self.end_headers()
|
||||
|
||||
sub = HUB.subscribe()
|
||||
try:
|
||||
state = HUB.get_state()
|
||||
self._sse_write({"type": "connected", "revision": state.get("revision", 0), "state": state})
|
||||
while True:
|
||||
try:
|
||||
msg = sub.get(timeout=15)
|
||||
self._sse_write(msg)
|
||||
except queue.Empty:
|
||||
self._sse_write({"type": "ping"})
|
||||
except (BrokenPipeError, ConnectionResetError, OSError):
|
||||
pass
|
||||
finally:
|
||||
HUB.unsubscribe(sub)
|
||||
|
||||
def _json_response(self, code: int, data: dict):
|
||||
body = json.dumps(data, ensure_ascii=False).encode("utf-8")
|
||||
self.send_response(code)
|
||||
self.send_header("Content-Type", "application/json; charset=utf-8")
|
||||
self.send_header("Content-Length", str(len(body)))
|
||||
self._cors_headers()
|
||||
self.end_headers()
|
||||
self.wfile.write(body)
|
||||
|
||||
def log_message(self, fmt, *args):
|
||||
sys.stderr.write("%s - %s\n" % (self.address_string(), fmt % args))
|
||||
|
||||
|
||||
def main():
|
||||
os.chdir(ROOT)
|
||||
with http.server.ThreadingHTTPServer(("", PORT), Handler) as httpd:
|
||||
print(f"Serving {ROOT}")
|
||||
print(f"配置页: http://127.0.0.1:{PORT}/viewer/index.html")
|
||||
print(f"播放页: http://127.0.0.1:{PORT}/viewer/play.html")
|
||||
print(f"远程API: GET /api/catalog | POST /api/agv (playAction / stopAction / clearActions)")
|
||||
try:
|
||||
httpd.serve_forever()
|
||||
except KeyboardInterrupt:
|
||||
print("\n已停止服务")
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
@@ -0,0 +1,8 @@
|
||||
@echo off
|
||||
chcp 65001 >nul 2>&1
|
||||
cd /d "%~dp0"
|
||||
powershell -NoProfile -ExecutionPolicy Bypass -File "%~dp0start.ps1" %*
|
||||
if errorlevel 1 (
|
||||
echo.
|
||||
pause
|
||||
)
|
||||
@@ -0,0 +1,143 @@
|
||||
# AGV GLB 一键启动
|
||||
# 用法:
|
||||
# .\start.ps1 启动服务并打开播放页
|
||||
# .\start.ps1 -Setup 首次部署：创建 .venv 并安装 requirements.txt
|
||||
# .\start.ps1 -NoBrowser 仅启动服务，不打开浏览器
|
||||
param(
|
||||
[switch]$Setup,
|
||||
[switch]$NoBrowser,
|
||||
[int]$Port = 8765
|
||||
)
|
||||
|
||||
$ErrorActionPreference = "Stop"
|
||||
|
||||
$Root = Split-Path -Parent $MyInvocation.MyCommand.Path
|
||||
Set-Location $Root
|
||||
|
||||
function Write-Step([string]$Msg) {
|
||||
Write-Host ('>> ' + $Msg) -ForegroundColor Cyan
|
||||
}
|
||||
|
||||
function Find-Python {
|
||||
foreach ($cmd in @('py -3', 'python3', 'python')) {
|
||||
try {
|
||||
$ver = Invoke-Expression ($cmd + ' --version 2>&1') | Out-String
|
||||
if ($ver -match 'Python (\d+)\.(\d+)') {
|
||||
$major = [int]$Matches[1]
|
||||
$minor = [int]$Matches[2]
|
||||
if ($major -gt 3 -or ($major -eq 3 -and $minor -ge 10)) {
|
||||
return @{ Cmd = $cmd; Version = ($major.ToString() + '.' + $minor.ToString()) }
|
||||
}
|
||||
}
|
||||
} catch { }
|
||||
}
|
||||
return $null
|
||||
}
|
||||
|
||||
function Get-VenvPython {
|
||||
$winPy = Join-Path $Root '.venv\Scripts\python.exe'
|
||||
if (Test-Path $winPy) { return $winPy }
|
||||
$unixPy = Join-Path $Root '.venv/bin/python'
|
||||
if (Test-Path $unixPy) { return $unixPy }
|
||||
return $null
|
||||
}
|
||||
|
||||
function Test-PortInUse([int]$P) {
|
||||
try {
|
||||
$conn = Get-NetTCPConnection -LocalPort $P -State Listen -ErrorAction SilentlyContinue
|
||||
return [bool]$conn
|
||||
} catch {
|
||||
$out = netstat -ano | Select-String (':' + $P + '\s+.*LISTENING')
|
||||
return [bool]$out
|
||||
}
|
||||
}
|
||||
|
||||
function Wait-ServerReady([string]$BaseUrl, [int]$TimeoutSec = 30) {
|
||||
$deadline = (Get-Date).AddSeconds($TimeoutSec)
|
||||
while ((Get-Date) -lt $deadline) {
|
||||
try {
|
||||
$resp = Invoke-WebRequest -Uri ($BaseUrl + '/api/catalog') -UseBasicParsing -TimeoutSec 2
|
||||
if ($resp.StatusCode -eq 200) { return $true }
|
||||
} catch {
|
||||
Start-Sleep -Milliseconds 400
|
||||
}
|
||||
}
|
||||
return $false
|
||||
}
|
||||
|
||||
Write-Host ''
|
||||
Write-Host ' AGV GLB 本地服务' -ForegroundColor Green
|
||||
Write-Host '==================' -ForegroundColor Green
|
||||
Write-Host ''
|
||||
|
||||
$pyInfo = Find-Python
|
||||
if (-not $pyInfo) {
|
||||
Write-Host '错误: 未找到 Python 3.10+，请从 https://www.python.org/downloads/ 安装' -ForegroundColor Red
|
||||
exit 1
|
||||
}
|
||||
Write-Step ('Python ' + $pyInfo.Version + ' (' + $pyInfo.Cmd + ')')
|
||||
|
||||
$venvPy = Get-VenvPython
|
||||
if ($Setup) {
|
||||
Write-Step '创建虚拟环境 .venv ...'
|
||||
if (-not $venvPy) {
|
||||
Invoke-Expression ($pyInfo.Cmd + ' -m venv .venv')
|
||||
$venvPy = Get-VenvPython
|
||||
if (-not $venvPy) {
|
||||
Write-Host '错误: 虚拟环境创建失败' -ForegroundColor Red
|
||||
exit 1
|
||||
}
|
||||
}
|
||||
Write-Step '安装 Python 依赖 (analyze_agv.py 等工具需要) ...'
|
||||
& $venvPy -m pip install --upgrade pip
|
||||
& $venvPy -m pip install -r requirements.txt
|
||||
Write-Host '依赖安装完成。' -ForegroundColor Green
|
||||
}
|
||||
|
||||
if ($venvPy) {
|
||||
Write-Step '使用虚拟环境: .venv'
|
||||
} else {
|
||||
Write-Step '使用系统 Python（serve.py 无需额外依赖）'
|
||||
Write-Host '提示: 运行 .\start.ps1 -Setup 可安装 analyze_agv.py 所需依赖' -ForegroundColor DarkYellow
|
||||
}
|
||||
|
||||
$baseUrl = 'http://127.0.0.1:' + $Port
|
||||
|
||||
if (Test-PortInUse $Port) {
|
||||
Write-Host ('警告: 端口 ' + $Port + ' 已被占用。若 serve.py 已在运行，可直接访问:') -ForegroundColor Yellow
|
||||
Write-Host (' 播放页: ' + $baseUrl + '/viewer/play.html') -ForegroundColor White
|
||||
Write-Host (' 配置页: ' + $baseUrl + '/viewer/index.html') -ForegroundColor White
|
||||
if (-not $NoBrowser) {
|
||||
Start-Process ($baseUrl + '/viewer/play.html')
|
||||
}
|
||||
exit 0
|
||||
}
|
||||
|
||||
$env:PORT = $Port.ToString()
|
||||
|
||||
Write-Step ('启动 serve.py，端口 ' + $Port + ' ...')
|
||||
if ($venvPy) {
|
||||
$proc = Start-Process -FilePath $venvPy -ArgumentList 'serve.py' -WorkingDirectory $Root -PassThru -WindowStyle Normal
|
||||
} else {
|
||||
$arg = '/k ' + $pyInfo.Cmd + ' serve.py'
|
||||
$proc = Start-Process -FilePath 'cmd.exe' -ArgumentList $arg -WorkingDirectory $Root -PassThru -WindowStyle Normal
|
||||
}
|
||||
|
||||
Write-Step '等待服务就绪 ...'
|
||||
if (-not (Wait-ServerReady $baseUrl)) {
|
||||
Write-Host '错误: 服务 30 秒内未响应，请查看 serve.py 窗口中的报错。' -ForegroundColor Red
|
||||
exit 1
|
||||
}
|
||||
|
||||
Write-Host ''
|
||||
Write-Host ('服务已启动 (PID ' + $proc.Id + ')') -ForegroundColor Green
|
||||
Write-Host (' 播放页: ' + $baseUrl + '/viewer/play.html') -ForegroundColor White
|
||||
Write-Host (' 配置页: ' + $baseUrl + '/viewer/index.html') -ForegroundColor White
|
||||
Write-Host (' API: GET ' + $baseUrl + '/api/catalog | POST ' + $baseUrl + '/api/agv') -ForegroundColor White
|
||||
Write-Host ''
|
||||
Write-Host ('关闭服务: 在 serve.py 窗口按 Ctrl+C，或结束 PID ' + $proc.Id) -ForegroundColor DarkGray
|
||||
Write-Host ''
|
||||
|
||||
if (-not $NoBrowser) {
|
||||
Start-Process ($baseUrl + '/viewer/play.html')
|
||||
}
|
||||
@@ -0,0 +1,140 @@
|
||||
#!/usr/bin/env bash
|
||||
# AGV GLB 一键启动（Linux / macOS）
|
||||
# 用法:
|
||||
# ./start.sh 启动服务并打开播放页
|
||||
# ./start.sh --setup 首次部署：创建 .venv 并安装 requirements.txt
|
||||
# ./start.sh --no-browser 仅启动服务
|
||||
set -euo pipefail
|
||||
|
||||
ROOT="$(cd "$(dirname "$0")" && pwd)"
|
||||
cd "$ROOT"
|
||||
|
||||
SETUP=0
|
||||
NO_BROWSER=0
|
||||
PORT="${PORT:-8765}"
|
||||
|
||||
for arg in "$@"; do
|
||||
case "$arg" in
|
||||
--setup) SETUP=1 ;;
|
||||
--no-browser) NO_BROWSER=1 ;;
|
||||
-h|--help)
|
||||
echo "用法: ./start.sh [--setup] [--no-browser]"
|
||||
exit 0
|
||||
;;
|
||||
esac
|
||||
done
|
||||
|
||||
step() { printf '>> %s\n' "$1"; }
|
||||
|
||||
find_python() {
|
||||
for cmd in python3 python py; do
|
||||
if command -v "$cmd" >/dev/null 2>&1; then
|
||||
ver=$("$cmd" -c 'import sys; print(f"{sys.version_info.major}.{sys.version_info.minor}")' 2>/dev/null || true)
|
||||
major=${ver%%.*}
|
||||
minor=${ver#*.}
|
||||
if [ "$major" -gt 3 ] 2>/dev/null || { [ "$major" -eq 3 ] && [ "$minor" -ge 10 ]; }; then
|
||||
echo "$cmd"
|
||||
return 0
|
||||
fi
|
||||
fi
|
||||
done
|
||||
return 1
|
||||
}
|
||||
|
||||
venv_python() {
|
||||
if [ -x "$ROOT/.venv/bin/python" ]; then
|
||||
echo "$ROOT/.venv/bin/python"
|
||||
fi
|
||||
}
|
||||
|
||||
port_in_use() {
|
||||
if command -v ss >/dev/null 2>&1; then
|
||||
ss -ltn 2>/dev/null | grep -q ":${PORT} "
|
||||
elif command -v lsof >/dev/null 2>&1; then
|
||||
lsof -iTCP:"$PORT" -sTCP:LISTEN >/dev/null 2>&1
|
||||
else
|
||||
return 1
|
||||
fi
|
||||
}
|
||||
|
||||
wait_ready() {
|
||||
local url="http://127.0.0.1:${PORT}/api/catalog"
|
||||
for _ in $(seq 1 75); do
|
||||
if curl -sf "$url" >/dev/null 2>&1; then
|
||||
return 0
|
||||
fi
|
||||
sleep 0.4
|
||||
done
|
||||
return 1
|
||||
}
|
||||
|
||||
open_browser() {
|
||||
local url="http://127.0.0.1:${PORT}/viewer/play.html"
|
||||
if command -v xdg-open >/dev/null 2>&1; then xdg-open "$url"
|
||||
elif command -v open >/dev/null 2>&1; then open "$url"
|
||||
fi
|
||||
}
|
||||
|
||||
echo ""
|
||||
echo " AGV GLB 本地服务"
|
||||
echo "=================="
|
||||
echo ""
|
||||
|
||||
PY=$(find_python) || { echo "错误: 未找到 Python 3.10+"; exit 1; }
|
||||
step "Python $($PY --version 2>&1 | awk '{print $2}') ($PY)"
|
||||
|
||||
VENV_PY=$(venv_python || true)
|
||||
|
||||
if [ "$SETUP" -eq 1 ]; then
|
||||
step "创建虚拟环境 .venv ..."
|
||||
if [ ! -x "$ROOT/.venv/bin/python" ]; then
|
||||
"$PY" -m venv .venv
|
||||
fi
|
||||
VENV_PY="$ROOT/.venv/bin/python"
|
||||
step "安装 Python 依赖 ..."
|
||||
"$VENV_PY" -m pip install --upgrade pip
|
||||
"$VENV_PY" -m pip install -r requirements.txt
|
||||
echo "依赖安装完成。"
|
||||
fi
|
||||
|
||||
RUN_PY="${VENV_PY:-$PY}"
|
||||
if [ -n "$VENV_PY" ]; then
|
||||
step "使用虚拟环境: .venv"
|
||||
else
|
||||
step "使用系统 Python（serve.py 无需额外依赖）"
|
||||
echo "提示: 运行 ./start.sh --setup 可安装 analyze_agv.py 所需依赖"
|
||||
fi
|
||||
|
||||
BASE="http://127.0.0.1:${PORT}"
|
||||
if port_in_use; then
|
||||
echo "警告: 端口 ${PORT} 已被占用。"
|
||||
echo " 播放页: ${BASE}/viewer/play.html"
|
||||
echo " 配置页: ${BASE}/viewer/index.html"
|
||||
[ "$NO_BROWSER" -eq 0 ] && open_browser
|
||||
exit 0
|
||||
fi
|
||||
|
||||
step "启动 serve.py (端口 ${PORT}) ..."
|
||||
export PORT
|
||||
"$RUN_PY" serve.py &
|
||||
SRV_PID=$!
|
||||
|
||||
step "等待服务就绪 ..."
|
||||
if ! wait_ready; then
|
||||
echo "错误: 服务在 30 秒内未响应。"
|
||||
kill "$SRV_PID" 2>/dev/null || true
|
||||
exit 1
|
||||
fi
|
||||
|
||||
echo ""
|
||||
echo "服务已启动 (PID ${SRV_PID})"
|
||||
echo " 播放页: ${BASE}/viewer/play.html"
|
||||
echo " 配置页: ${BASE}/viewer/index.html"
|
||||
echo " API: GET ${BASE}/api/catalog | POST ${BASE}/api/agv"
|
||||
echo ""
|
||||
echo "关闭服务: kill ${SRV_PID} 或 Ctrl+C"
|
||||
echo ""
|
||||
|
||||
[ "$NO_BROWSER" -eq 0 ] && open_browser
|
||||
|
||||
wait "$SRV_PID"
|
||||
@@ -0,0 +1,227 @@
|
||||
/**
|
||||
* AGV 播放页外部 API：标准化请求/响应格式。
|
||||
*
|
||||
* 嵌入 iframe 时父页面：
|
||||
* await iframe.contentWindow.AgvPlaybackApi.getCatalog()
|
||||
* await iframe.contentWindow.AgvPlaybackApi.request({ version: 1, method: "playAction", params: { modelId: "英招", actionId: "dongzuo1" } })
|
||||
*
|
||||
* 跨窗口 postMessage（父 → 播放页）：
|
||||
* iframe.contentWindow.postMessage({ version: 1, method: "playAction", params: { modelId: "英招", actionId: "dongzuo1" }, id: "req-1" }, "*")
|
||||
* 播放页回复：{ version: 1, id: "req-1", ok: true, data: { ... } }
|
||||
*/
|
||||
|
||||
export const API_VERSION = 1;
|
||||
|
||||
export const METHODS = {
|
||||
PLAY_ACTION: "playAction",
|
||||
STOP_ACTION: "stopAction",
|
||||
CLEAR_ACTIONS: "clearActions",
|
||||
};
|
||||
|
||||
const ALLOWED_METHODS = new Set(Object.values(METHODS));
|
||||
|
||||
const ERROR = {
|
||||
INVALID_REQUEST: "INVALID_REQUEST",
|
||||
UNKNOWN_METHOD: "UNKNOWN_METHOD",
|
||||
INTERNAL_ERROR: "INTERNAL_ERROR",
|
||||
};
|
||||
|
||||
function isPlainObject(v) {
|
||||
return v != null && typeof v === "object" && !Array.isArray(v);
|
||||
}
|
||||
|
||||
function asString(v) {
|
||||
return typeof v === "string" ? v.trim() : "";
|
||||
}
|
||||
|
||||
function asStringList(v) {
|
||||
if (Array.isArray(v)) return v.map(asString).filter(Boolean);
|
||||
if (typeof v === "string") return v.split(/[,+\s]+/).map((s) => s.trim()).filter(Boolean);
|
||||
return [];
|
||||
}
|
||||
|
||||
async function ensureModel(controller, params) {
|
||||
const modelId = asString(params.modelId ?? params.model);
|
||||
if (!modelId) return { ok: false, error: { code: ERROR.INVALID_REQUEST, message: "params.modelId 必填" } };
|
||||
const cur = controller.getState();
|
||||
if (cur.modelId === modelId && cur.ready) return { ok: true };
|
||||
await controller.loadModel(modelId);
|
||||
return { ok: true };
|
||||
}
|
||||
|
||||
/** @typedef {{ version: number, id?: string, method: string, params?: object }} AgvApiRequest */
|
||||
/** @typedef {{ version: number, id?: string, ok: boolean, data?: object|null, error?: { code: string, message: string }|null }} AgvApiResponse */
|
||||
|
||||
/**
|
||||
* 校验并规范化入站请求。
|
||||
* @param {unknown} raw
|
||||
* @returns {{ ok: true, request: AgvApiRequest } | { ok: false, error: { code: string, message: string } } }
|
||||
*/
|
||||
export function parseRequest(raw) {
|
||||
if (!isPlainObject(raw)) {
|
||||
return { ok: false, error: { code: ERROR.INVALID_REQUEST, message: "请求体须为 JSON 对象" } };
|
||||
}
|
||||
const version = Number(raw.version);
|
||||
if (version !== API_VERSION) {
|
||||
return { ok: false, error: { code: ERROR.INVALID_REQUEST, message: `不支持的 version，当前为 ${API_VERSION}` } };
|
||||
}
|
||||
const method = asString(raw.method);
|
||||
if (!method) {
|
||||
return { ok: false, error: { code: ERROR.INVALID_REQUEST, message: "缺少 method" } };
|
||||
}
|
||||
if (!ALLOWED_METHODS.has(method)) {
|
||||
return { ok: false, error: { code: ERROR.UNKNOWN_METHOD, message: "仅支持 playAction、stopAction、clearActions" } };
|
||||
}
|
||||
const params = isPlainObject(raw.params) ? raw.params : {};
|
||||
const id = raw.id != null ? String(raw.id) : undefined;
|
||||
return { ok: true, request: { version, method, params, id } };
|
||||
}
|
||||
|
||||
/**
|
||||
* @param {string|undefined} id
|
||||
* @param {boolean} ok
|
||||
* @param {object|null} [data]
|
||||
* @param {{ code: string, message: string }|null} [error]
|
||||
* @returns {AgvApiResponse}
|
||||
*/
|
||||
export function formatResponse(id, ok, data = null, error = null) {
|
||||
return { version: API_VERSION, id, ok, data, error };
|
||||
}
|
||||
|
||||
/**
|
||||
* @param {object} controller
|
||||
* @param {{ onStateChange?: (state: object) => void, allowedOrigins?: string[]|null }} [options]
|
||||
*/
|
||||
export function createPlaybackApi(controller, options = {}) {
|
||||
const allowedOrigins = options.allowedOrigins ?? null;
|
||||
let messageBound = false;
|
||||
|
||||
function emitState() {
|
||||
try {
|
||||
const state = controller.getState();
|
||||
options.onStateChange?.(state);
|
||||
dispatchEvent(new CustomEvent("agv-playback", { detail: { type: "state", state } }));
|
||||
} catch (_) { /* ignore */ }
|
||||
}
|
||||
|
||||
async function dispatch(req) {
|
||||
const { method, params = {} } = req;
|
||||
try {
|
||||
switch (method) {
|
||||
case METHODS.PLAY_ACTION: {
|
||||
const ensured = await ensureModel(controller, params);
|
||||
if (!ensured.ok) return formatResponse(req.id, false, null, ensured.error);
|
||||
const ids = asStringList(params.actionIds ?? params.actions).length
|
||||
? asStringList(params.actionIds ?? params.actions)
|
||||
: [asString(params.actionId ?? params.action)];
|
||||
const played = [];
|
||||
for (const id of ids) {
|
||||
if (!id) continue;
|
||||
const r = controller.playAction(id);
|
||||
if (!r.ok) return formatResponse(req.id, false, null, r.error);
|
||||
played.push(id);
|
||||
}
|
||||
if (!played.length) {
|
||||
return formatResponse(req.id, false, null, { code: ERROR.INVALID_REQUEST, message: "params.actionId 必填" });
|
||||
}
|
||||
emitState();
|
||||
return formatResponse(req.id, true, {
|
||||
modelId: controller.getState().modelId,
|
||||
activeActions: controller.getState().activeActions,
|
||||
played,
|
||||
});
|
||||
}
|
||||
case METHODS.STOP_ACTION: {
|
||||
const ensured = await ensureModel(controller, params);
|
||||
if (!ensured.ok) return formatResponse(req.id, false, null, ensured.error);
|
||||
const ids = asStringList(params.actionIds ?? params.actions).length
|
||||
? asStringList(params.actionIds ?? params.actions)
|
||||
: [asString(params.actionId ?? params.action)];
|
||||
const stopped = [];
|
||||
for (const id of ids) {
|
||||
if (!id) continue;
|
||||
const r = controller.stopAction(id);
|
||||
if (!r.ok) return formatResponse(req.id, false, null, r.error);
|
||||
stopped.push(id);
|
||||
}
|
||||
if (!stopped.length) {
|
||||
return formatResponse(req.id, false, null, { code: ERROR.INVALID_REQUEST, message: "params.actionId 必填" });
|
||||
}
|
||||
emitState();
|
||||
return formatResponse(req.id, true, {
|
||||
modelId: controller.getState().modelId,
|
||||
activeActions: controller.getState().activeActions,
|
||||
stopped,
|
||||
});
|
||||
}
|
||||
case METHODS.CLEAR_ACTIONS: {
|
||||
const ensured = await ensureModel(controller, params);
|
||||
if (!ensured.ok) return formatResponse(req.id, false, null, ensured.error);
|
||||
controller.clearActions();
|
||||
emitState();
|
||||
return formatResponse(req.id, true, { modelId: controller.getState().modelId, activeActions: [] });
|
||||
}
|
||||
default:
|
||||
return formatResponse(req.id, false, null, { code: ERROR.UNKNOWN_METHOD, message: "仅支持 playAction、stopAction、clearActions" });
|
||||
}
|
||||
} catch (e) {
|
||||
return formatResponse(req.id, false, null, {
|
||||
code: ERROR.INTERNAL_ERROR,
|
||||
message: e?.message || String(e),
|
||||
});
|
||||
}
|
||||
}
|
||||
|
||||
function isOriginAllowed(origin) {
|
||||
if (!allowedOrigins || allowedOrigins.includes("*")) return true;
|
||||
return allowedOrigins.includes(origin);
|
||||
}
|
||||
|
||||
function onMessage(event) {
|
||||
if (!isOriginAllowed(event.origin)) return;
|
||||
const parsed = parseRequest(event.data);
|
||||
if (!parsed.ok) {
|
||||
const res = formatResponse(undefined, false, null, parsed.error);
|
||||
event.source?.postMessage?.(res, event.origin);
|
||||
return;
|
||||
}
|
||||
if (!parsed.request.method) return;
|
||||
Promise.resolve(dispatch(parsed.request)).then((res) => {
|
||||
if (event.source && typeof event.source.postMessage === "function") {
|
||||
event.source.postMessage(res, event.origin);
|
||||
}
|
||||
});
|
||||
}
|
||||
|
||||
function attach(target = window) {
|
||||
const api = {
|
||||
version: API_VERSION,
|
||||
METHODS,
|
||||
request: (raw) => {
|
||||
const parsed = parseRequest({ version: API_VERSION, ...raw });
|
||||
if (!parsed.ok) return Promise.resolve(formatResponse(raw?.id, false, null, parsed.error));
|
||||
return Promise.resolve(dispatch(parsed.request));
|
||||
},
|
||||
getCatalog: () => fetch("/api/catalog").then((r) => r.json()),
|
||||
getState: () => controller.getState(),
|
||||
parseRequest,
|
||||
formatResponse,
|
||||
};
|
||||
target.AgvPlaybackApi = api;
|
||||
if (!messageBound) {
|
||||
addEventListener("message", onMessage);
|
||||
messageBound = true;
|
||||
}
|
||||
return api;
|
||||
}
|
||||
|
||||
function detach() {
|
||||
if (messageBound) {
|
||||
removeEventListener("message", onMessage);
|
||||
messageBound = false;
|
||||
}
|
||||
delete window.AgvPlaybackApi;
|
||||
}
|
||||
|
||||
return { attach, detach, dispatch, parseRequest, formatResponse };
|
||||
}
|
||||
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,932 @@
|
||||
<!DOCTYPE html>
|
||||
<html lang="zh-CN">
|
||||
|
||||
<head>
|
||||
<meta charset="UTF-8" />
|
||||
<meta http-equiv="Content-Type" content="text/html; charset=UTF-8" />
|
||||
<meta name="viewport" content="width=device-width, initial-scale=1.0" />
|
||||
<title>AGV 配置</title>
|
||||
<style>
|
||||
:root {
|
||||
--bg: #0d1117;
|
||||
--panel: #161b22;
|
||||
--panel2: #1f2633;
|
||||
--card: #1b2230;
|
||||
--primary: #3b82f6;
|
||||
--primary-hover: #2563eb;
|
||||
--success: #10b981;
|
||||
--warning: #f59e0b;
|
||||
--danger: #ef4444;
|
||||
--border: #30363d;
|
||||
--text: #e6edf3;
|
||||
--text-muted: #8b949e;
|
||||
--text-dim: #6e7681;
|
||||
--inspector-w: 360px;
|
||||
}
|
||||
|
||||
* {
|
||||
box-sizing: border-box;
|
||||
margin: 0;
|
||||
padding: 0;
|
||||
}
|
||||
|
||||
body {
|
||||
font-family: "Segoe UI", "Microsoft YaHei", system-ui, sans-serif;
|
||||
background: var(--bg);
|
||||
color: var(--text);
|
||||
height: 100vh;
|
||||
overflow: hidden;
|
||||
}
|
||||
|
||||
#app {
|
||||
display: grid;
|
||||
grid-template-rows: auto 1fr auto;
|
||||
height: 100vh;
|
||||
min-height: 0;
|
||||
}
|
||||
|
||||
/* ── Top bar ── */
|
||||
#topbar {
|
||||
display: flex;
|
||||
align-items: center;
|
||||
gap: 12px;
|
||||
padding: 8px 12px;
|
||||
background: var(--panel);
|
||||
border-bottom: 1px solid var(--border);
|
||||
flex-shrink: 0;
|
||||
}
|
||||
|
||||
.agv-info {
|
||||
flex: 1;
|
||||
min-width: 0;
|
||||
}
|
||||
|
||||
#agvInfoName {
|
||||
font-size: 15px;
|
||||
font-weight: 600;
|
||||
letter-spacing: 0.02em;
|
||||
white-space: nowrap;
|
||||
overflow: hidden;
|
||||
text-overflow: ellipsis;
|
||||
}
|
||||
|
||||
.agv-stats {
|
||||
display: flex;
|
||||
gap: 12px;
|
||||
margin-top: 2px;
|
||||
font-size: 11px;
|
||||
color: var(--text-muted);
|
||||
}
|
||||
|
||||
.agv-stats span::before {
|
||||
content: "";
|
||||
display: inline-block;
|
||||
width: 6px;
|
||||
height: 6px;
|
||||
border-radius: 50%;
|
||||
background: var(--primary);
|
||||
margin-right: 5px;
|
||||
vertical-align: middle;
|
||||
}
|
||||
|
||||
.agv-stats span:nth-child(2)::before {
|
||||
background: var(--success);
|
||||
}
|
||||
|
||||
.agv-stats span:nth-child(3)::before {
|
||||
background: var(--warning);
|
||||
}
|
||||
|
||||
.topbar-actions {
|
||||
display: flex;
|
||||
align-items: center;
|
||||
gap: 8px;
|
||||
flex-shrink: 0;
|
||||
}
|
||||
|
||||
#agvModel {
|
||||
background: var(--panel2);
|
||||
color: var(--text);
|
||||
border: 1px solid var(--border);
|
||||
border-radius: 6px;
|
||||
padding: 5px 8px;
|
||||
font-size: 12px;
|
||||
min-width: 120px;
|
||||
}
|
||||
|
||||
.topbar-link {
|
||||
font-size: 11px;
|
||||
color: var(--primary);
|
||||
text-decoration: none;
|
||||
white-space: nowrap;
|
||||
padding: 5px 8px;
|
||||
border: 1px solid var(--border);
|
||||
border-radius: 6px;
|
||||
}
|
||||
|
||||
.topbar-link:hover {
|
||||
background: var(--panel2);
|
||||
}
|
||||
|
||||
#syncBaseline {
|
||||
padding: 5px 14px;
|
||||
border: none;
|
||||
border-radius: 6px;
|
||||
background: var(--primary);
|
||||
color: #fff;
|
||||
font-size: 12px;
|
||||
cursor: pointer;
|
||||
white-space: nowrap;
|
||||
}
|
||||
|
||||
#syncBaseline:hover {
|
||||
background: var(--primary-hover);
|
||||
}
|
||||
|
||||
/* ── Main layout ── */
|
||||
#layout {
|
||||
display: grid;
|
||||
grid-template-columns: minmax(0, 1fr) var(--inspector-w);
|
||||
min-height: 0;
|
||||
overflow: hidden;
|
||||
}
|
||||
|
||||
#canvas-wrap {
|
||||
position: relative;
|
||||
min-width: 0;
|
||||
min-height: 0;
|
||||
background: #080b10;
|
||||
border-right: 1px solid var(--border);
|
||||
}
|
||||
|
||||
#canvas-wrap::after {
|
||||
content: "点击选中 · 红X 绿Y 蓝Z";
|
||||
position: absolute;
|
||||
bottom: 8px;
|
||||
left: 10px;
|
||||
z-index: 2;
|
||||
font-size: 10px;
|
||||
color: var(--text-dim);
|
||||
pointer-events: none;
|
||||
}
|
||||
|
||||
#canvas-wrap canvas {
|
||||
display: block;
|
||||
width: 100%;
|
||||
height: 100%;
|
||||
}
|
||||
|
||||
/* ── Inspector ── */
|
||||
#inspector {
|
||||
display: flex;
|
||||
flex-direction: column;
|
||||
min-width: 0;
|
||||
min-height: 0;
|
||||
background: var(--panel);
|
||||
overflow: hidden;
|
||||
}
|
||||
|
||||
.tabs {
|
||||
display: flex;
|
||||
flex-shrink: 0;
|
||||
border-bottom: 1px solid var(--border);
|
||||
background: var(--panel);
|
||||
}
|
||||
|
||||
.tab {
|
||||
flex: 1;
|
||||
padding: 9px 0;
|
||||
border: none;
|
||||
background: transparent;
|
||||
color: var(--text-muted);
|
||||
font-size: 12px;
|
||||
cursor: pointer;
|
||||
border-bottom: 2px solid transparent;
|
||||
transition: color 0.15s;
|
||||
}
|
||||
|
||||
.tab:hover {
|
||||
color: var(--text);
|
||||
background: var(--panel2);
|
||||
}
|
||||
|
||||
.tab.active {
|
||||
color: var(--text);
|
||||
font-weight: 600;
|
||||
border-bottom-color: var(--primary);
|
||||
}
|
||||
|
||||
.tab-panel {
|
||||
flex: 1;
|
||||
overflow-y: auto;
|
||||
overflow-x: hidden;
|
||||
padding: 10px;
|
||||
scrollbar-gutter: stable;
|
||||
}
|
||||
|
||||
/* ── Form elements ── */
|
||||
label {
|
||||
display: flex;
|
||||
align-items: center;
|
||||
justify-content: space-between;
|
||||
font-size: 11px;
|
||||
margin-bottom: 5px;
|
||||
gap: 8px;
|
||||
color: var(--text-muted);
|
||||
}
|
||||
|
||||
label span {
|
||||
flex-shrink: 0;
|
||||
}
|
||||
|
||||
select,
|
||||
input[type="text"],
|
||||
input[type="number"],
|
||||
input[type="search"] {
|
||||
flex: 1;
|
||||
max-width: 62%;
|
||||
background: var(--bg);
|
||||
color: var(--text);
|
||||
border: 1px solid var(--border);
|
||||
border-radius: 5px;
|
||||
padding: 4px 7px;
|
||||
font-size: 12px;
|
||||
}
|
||||
|
||||
input[type="color"] {
|
||||
flex: none;
|
||||
width: 38px;
|
||||
height: 24px;
|
||||
max-width: 38px;
|
||||
padding: 1px;
|
||||
background: var(--bg);
|
||||
border: 1px solid var(--border);
|
||||
border-radius: 5px;
|
||||
cursor: pointer;
|
||||
}
|
||||
|
||||
input[type="checkbox"] {
|
||||
accent-color: var(--primary);
|
||||
}
|
||||
|
||||
button {
|
||||
width: 100%;
|
||||
padding: 6px 10px;
|
||||
border: none;
|
||||
border-radius: 6px;
|
||||
background: var(--primary);
|
||||
color: #fff;
|
||||
cursor: pointer;
|
||||
font-size: 12px;
|
||||
margin-top: 6px;
|
||||
}
|
||||
|
||||
button:hover {
|
||||
background: var(--primary-hover);
|
||||
}
|
||||
|
||||
button.secondary {
|
||||
background: var(--panel2);
|
||||
border: 1px solid var(--border);
|
||||
color: var(--text);
|
||||
}
|
||||
|
||||
button.secondary:hover {
|
||||
background: var(--card);
|
||||
}
|
||||
|
||||
button.primary-green {
|
||||
background: #166534;
|
||||
}
|
||||
|
||||
button.primary-green:hover {
|
||||
background: #15803d;
|
||||
}
|
||||
|
||||
.hidden {
|
||||
display: none !important;
|
||||
}
|
||||
|
||||
.hint {
|
||||
color: var(--text-dim);
|
||||
font-size: 10px;
|
||||
line-height: 1.4;
|
||||
margin: 2px 0 6px;
|
||||
}
|
||||
|
||||
.ok {
|
||||
color: var(--success);
|
||||
}
|
||||
|
||||
.err {
|
||||
color: var(--danger);
|
||||
}
|
||||
|
||||
/* ── Setting groups ── */
|
||||
.setting-group {
|
||||
background: var(--panel2);
|
||||
border: 1px solid var(--border);
|
||||
border-radius: 8px;
|
||||
padding: 10px;
|
||||
margin-bottom: 8px;
|
||||
}
|
||||
|
||||
.setting-group-title {
|
||||
font-size: 10px;
|
||||
font-weight: 600;
|
||||
letter-spacing: 0.06em;
|
||||
text-transform: uppercase;
|
||||
color: var(--text-dim);
|
||||
margin-bottom: 8px;
|
||||
padding-bottom: 6px;
|
||||
border-bottom: 1px solid var(--border);
|
||||
}
|
||||
|
||||
/* ── Component cards ── */
|
||||
.component-scroll {
|
||||
max-height: 160px;
|
||||
overflow-y: auto;
|
||||
display: flex;
|
||||
flex-direction: column;
|
||||
gap: 4px;
|
||||
margin-bottom: 8px;
|
||||
}
|
||||
|
||||
.component-card {
|
||||
display: flex;
|
||||
align-items: center;
|
||||
gap: 8px;
|
||||
padding: 8px 10px;
|
||||
border-radius: 7px;
|
||||
background: var(--card);
|
||||
cursor: pointer;
|
||||
border: 1px solid var(--border);
|
||||
transition: border-color 0.12s, box-shadow 0.12s;
|
||||
}
|
||||
|
||||
.component-card:hover {
|
||||
border-color: #484f58;
|
||||
background: #222b3a;
|
||||
}
|
||||
|
||||
.component-card.active {
|
||||
border-color: var(--primary);
|
||||
box-shadow: 0 0 0 1px var(--primary);
|
||||
background: #1a2744;
|
||||
}
|
||||
|
||||
.component-card.in-draft {
|
||||
border-color: #1d4ed8;
|
||||
opacity: 0.85;
|
||||
}
|
||||
|
||||
.component-card.compact {
|
||||
padding: 6px 8px;
|
||||
}
|
||||
|
||||
.component-card-icon {
|
||||
font-size: 14px;
|
||||
width: 22px;
|
||||
text-align: center;
|
||||
flex-shrink: 0;
|
||||
color: var(--text-muted);
|
||||
}
|
||||
|
||||
.component-card-body {
|
||||
min-width: 0;
|
||||
flex: 1;
|
||||
}
|
||||
|
||||
.component-card-name {
|
||||
font-size: 12px;
|
||||
font-weight: 500;
|
||||
white-space: nowrap;
|
||||
overflow: hidden;
|
||||
text-overflow: ellipsis;
|
||||
}
|
||||
|
||||
.component-card-type {
|
||||
font-size: 10px;
|
||||
color: var(--text-dim);
|
||||
margin-top: 1px;
|
||||
white-space: nowrap;
|
||||
overflow: hidden;
|
||||
text-overflow: ellipsis;
|
||||
}
|
||||
|
||||
.comp-meta {
|
||||
font-size: 10px;
|
||||
color: var(--text-muted);
|
||||
margin-bottom: 6px;
|
||||
word-break: break-all;
|
||||
line-height: 1.45;
|
||||
}
|
||||
|
||||
.comp-meta strong {
|
||||
color: var(--text);
|
||||
}
|
||||
|
||||
.comp-meta code {
|
||||
font-size: 10px;
|
||||
color: #79c0ff;
|
||||
}
|
||||
|
||||
/* ── Workflow steps ── */
|
||||
.workflow-step {
|
||||
margin-bottom: 10px;
|
||||
}
|
||||
|
||||
.workflow-step-title {
|
||||
font-size: 10px;
|
||||
font-weight: 600;
|
||||
color: var(--primary);
|
||||
margin-bottom: 6px;
|
||||
display: flex;
|
||||
align-items: center;
|
||||
gap: 6px;
|
||||
}
|
||||
|
||||
.workflow-step-title::before {
|
||||
content: attr(data-step);
|
||||
display: inline-flex;
|
||||
align-items: center;
|
||||
justify-content: center;
|
||||
width: 16px;
|
||||
height: 16px;
|
||||
border-radius: 50%;
|
||||
background: var(--primary);
|
||||
color: #fff;
|
||||
font-size: 9px;
|
||||
flex-shrink: 0;
|
||||
}
|
||||
|
||||
.row-btns {
|
||||
display: flex;
|
||||
gap: 6px;
|
||||
margin-top: 4px;
|
||||
}
|
||||
|
||||
.row-btns button {
|
||||
flex: 1;
|
||||
margin-top: 0;
|
||||
}
|
||||
|
||||
/* ── Action cards ── */
|
||||
#actionList {
|
||||
display: flex;
|
||||
flex-direction: column;
|
||||
gap: 5px;
|
||||
}
|
||||
|
||||
.action-card {
|
||||
display: flex;
|
||||
align-items: center;
|
||||
gap: 8px;
|
||||
padding: 9px 10px;
|
||||
border-radius: 7px;
|
||||
background: var(--card);
|
||||
border: 1px solid var(--border);
|
||||
cursor: pointer;
|
||||
transition: border-color 0.12s;
|
||||
}
|
||||
|
||||
.action-card:hover {
|
||||
border-color: #484f58;
|
||||
}
|
||||
|
||||
.action-card.active {
|
||||
border-color: var(--success);
|
||||
box-shadow: 0 0 0 1px var(--success);
|
||||
}
|
||||
|
||||
.action-card-body {
|
||||
flex: 1;
|
||||
min-width: 0;
|
||||
}
|
||||
|
||||
.action-card-title {
|
||||
font-size: 12px;
|
||||
font-weight: 500;
|
||||
}
|
||||
|
||||
.action-card-meta {
|
||||
font-size: 10px;
|
||||
color: var(--text-dim);
|
||||
margin-top: 1px;
|
||||
}
|
||||
|
||||
.action-card-del {
|
||||
width: 24px;
|
||||
height: 24px;
|
||||
flex-shrink: 0;
|
||||
margin: 0;
|
||||
padding: 0;
|
||||
background: transparent;
|
||||
border: 1px solid var(--border);
|
||||
border-radius: 5px;
|
||||
color: var(--danger);
|
||||
font-size: 14px;
|
||||
line-height: 1;
|
||||
cursor: pointer;
|
||||
}
|
||||
|
||||
.action-card-del:hover {
|
||||
background: #3d1515;
|
||||
border-color: var(--danger);
|
||||
}
|
||||
|
||||
.action-comp-chip {
|
||||
display: flex;
|
||||
align-items: center;
|
||||
gap: 6px;
|
||||
padding: 6px 8px;
|
||||
border-radius: 6px;
|
||||
background: var(--card);
|
||||
border: 1px solid var(--border);
|
||||
cursor: pointer;
|
||||
}
|
||||
|
||||
.action-comp-chip.active {
|
||||
border-color: var(--success);
|
||||
box-shadow: 0 0 0 1px var(--success);
|
||||
}
|
||||
|
||||
.action-comp-chip .chip-del {
|
||||
margin-left: auto;
|
||||
border: none;
|
||||
background: transparent;
|
||||
color: var(--danger);
|
||||
cursor: pointer;
|
||||
font-size: 13px;
|
||||
padding: 0 2px;
|
||||
}
|
||||
|
||||
/* ── Status bar ── */
|
||||
#statusbar {
|
||||
padding: 4px 12px;
|
||||
font-size: 10px;
|
||||
color: var(--text-dim);
|
||||
background: var(--panel);
|
||||
border-top: 1px solid var(--border);
|
||||
flex-shrink: 0;
|
||||
white-space: nowrap;
|
||||
overflow: hidden;
|
||||
text-overflow: ellipsis;
|
||||
}
|
||||
|
||||
/* ── Toast ── */
|
||||
#toast-container {
|
||||
position: fixed;
|
||||
bottom: 28px;
|
||||
left: 12px;
|
||||
z-index: 9999;
|
||||
display: flex;
|
||||
flex-direction: column-reverse;
|
||||
align-items: flex-start;
|
||||
gap: 8px;
|
||||
pointer-events: none;
|
||||
max-width: min(360px, calc(100vw - var(--inspector-w) - 24px));
|
||||
}
|
||||
|
||||
.toast {
|
||||
display: flex;
|
||||
align-items: flex-start;
|
||||
gap: 8px;
|
||||
padding: 10px 14px;
|
||||
border-radius: 8px;
|
||||
background: var(--panel2);
|
||||
border: 1px solid var(--border);
|
||||
box-shadow: 0 8px 24px rgba(0, 0, 0, 0.4);
|
||||
font-size: 12px;
|
||||
max-width: 320px;
|
||||
opacity: 0;
|
||||
transform: translateY(8px);
|
||||
transition: opacity 0.25s, transform 0.25s;
|
||||
}
|
||||
|
||||
.toast.show {
|
||||
opacity: 1;
|
||||
transform: translateY(0);
|
||||
}
|
||||
|
||||
.toast-ok {
|
||||
border-left: 3px solid var(--success);
|
||||
}
|
||||
|
||||
.toast-warn {
|
||||
border-left: 3px solid var(--warning);
|
||||
}
|
||||
|
||||
.toast-err {
|
||||
border-left: 3px solid var(--danger);
|
||||
}
|
||||
|
||||
.toast-icon {
|
||||
font-weight: 700;
|
||||
flex-shrink: 0;
|
||||
}
|
||||
|
||||
.toast-ok .toast-icon {
|
||||
color: var(--success);
|
||||
}
|
||||
|
||||
.toast-warn .toast-icon {
|
||||
color: var(--warning);
|
||||
}
|
||||
|
||||
@media (max-width: 900px) {
|
||||
#layout {
|
||||
grid-template-columns: 1fr;
|
||||
grid-template-rows: 1fr var(--inspector-w);
|
||||
}
|
||||
|
||||
#canvas-wrap {
|
||||
border-right: none;
|
||||
border-bottom: 1px solid var(--border);
|
||||
}
|
||||
|
||||
#toast-container {
|
||||
max-width: calc(100vw - 24px);
|
||||
}
|
||||
}
|
||||
</style>
|
||||
</head>
|
||||
|
||||
<body>
|
||||
<div id="app">
|
||||
<header id="topbar">
|
||||
<div class="agv-info">
|
||||
<div id="agvInfoName">—</div>
|
||||
<div class="agv-stats">
|
||||
<span id="statComponents">组件 0</span>
|
||||
<span id="statActions">动作 0</span>
|
||||
<span id="statLights">灯光 0</span>
|
||||
</div>
|
||||
</div>
|
||||
<div class="topbar-actions">
|
||||
<select id="agvModel">
|
||||
<option value="">加载列表...</option>
|
||||
</select>
|
||||
<a class="topbar-link" href="./play.html">播放</a>
|
||||
<button type="button" id="syncBaseline">保存配置</button>
|
||||
</div>
|
||||
</header>
|
||||
|
||||
<div id="layout">
|
||||
<div id="canvas-wrap"></div>
|
||||
|
||||
<aside id="inspector">
|
||||
<div class="tabs">
|
||||
<button type="button" id="tabBaseline" class="tab active">基础配置</button>
|
||||
<button type="button" id="tabActions" class="tab">动作配置</button>
|
||||
</div>
|
||||
|
||||
<div id="tabPanelBaseline" class="tab-panel">
|
||||
<input type="search" id="componentFilter" placeholder="筛选组件 / GLB 节点 / 车壳"
|
||||
style="width:100%;max-width:100%;margin-bottom:8px;" />
|
||||
<div id="componentList" class="component-scroll"></div>
|
||||
<p id="compMeta" class="comp-meta">—</p>
|
||||
|
||||
<div class="setting-group">
|
||||
<div class="setting-group-title">组件类型</div>
|
||||
<label><span>类型</span>
|
||||
<select id="componentType">
|
||||
<option value="static">静态件</option>
|
||||
<option value="body">车体结构</option>
|
||||
<option value="light">灯光</option>
|
||||
<option value="wheel">轮子</option>
|
||||
<option value="actuator">可动机构</option>
|
||||
<option value="sensor">传感器</option>
|
||||
<option value="safety">安全件</option>
|
||||
</select>
|
||||
</label>
|
||||
</div>
|
||||
|
||||
<div class="setting-group" id="actionPanel">
|
||||
<div class="setting-group-title">参数配置</div>
|
||||
<div id="panelStatic" class="hint">静态件无动作参数，仅参与装配</div>
|
||||
<div id="panelLight" class="hidden">
|
||||
<label><span>颜色</span> <input id="compLightColor" type="color" value="#00ff55" /></label>
|
||||
<label><span>光效</span>
|
||||
<select id="compLightEffect">
|
||||
<option value="solid">常亮</option>
|
||||
<option value="breath">呼吸</option>
|
||||
<option value="blink">闪烁</option>
|
||||
<option value="strobe">爆闪</option>
|
||||
<option value="flow_forward">前向流光</option>
|
||||
<option value="flow_backward">反向流光</option>
|
||||
<option value="blink_segment">分段闪</option>
|
||||
</select>
|
||||
</label>
|
||||
<label><span>亮度</span> <input id="compLightIntensity" type="number" step="any" value="100" /></label>
|
||||
<label id="compLightHzRow" class="hidden"><span>频率 Hz</span> <input id="compLightHz" type="number"
|
||||
step="any" value="4" /></label>
|
||||
<label id="compLightPeriodRow" class="hidden"><span>周期 s</span> <input id="compLightPeriod" type="number"
|
||||
step="any" value="2" /></label>
|
||||
</div>
|
||||
<div id="panelWheel" class="hidden">
|
||||
<label><span>旋转轴</span>
|
||||
<select id="wheelAxis">
|
||||
<option value="x">X</option>
|
||||
<option value="y">Y</option>
|
||||
<option value="z">Z</option>
|
||||
</select>
|
||||
</label>
|
||||
<label><span>转速倍率</span> <input id="wheelSpeedFactor" type="number" step="any" value="1" /></label>
|
||||
<label><span>转向角 (°)</span> <input id="wheelSteerAngleDeg" type="number" step="any" value="0" /></label>
|
||||
</div>
|
||||
<div id="panelMotion" class="hidden">
|
||||
<label><span>机构角色</span>
|
||||
<select id="componentMotionRole">
|
||||
<option value="lift">顶升</option>
|
||||
<option value="lidar">雷达</option>
|
||||
<option value="camera">相机</option>
|
||||
</select>
|
||||
</label>
|
||||
<label><span>运动方式</span>
|
||||
<select id="componentMotionKind">
|
||||
<option value="translate">平移</option>
|
||||
<option value="rotate">旋转</option>
|
||||
</select>
|
||||
</label>
|
||||
<label><span>轴向</span>
|
||||
<select id="componentMotionAxis">
|
||||
<option value="y">Y</option>
|
||||
<option value="x">X</option>
|
||||
<option value="z">Z</option>
|
||||
</select>
|
||||
</label>
|
||||
<label id="liftStartRow" class="hidden"><span>起始 (m)</span> <input id="liftStart" type="number" step="any"
|
||||
value="0" /></label>
|
||||
<label id="liftEndRow" class="hidden"><span>终止 (m)</span> <input id="liftEnd" type="number" step="any"
|
||||
value="0.15" /></label>
|
||||
</div>
|
||||
<div id="panelCamera" class="hidden">
|
||||
<label><span>扫描摆动</span> <input type="checkbox" id="actionCamScan" checked /></label>
|
||||
<label><span>LED 呼吸</span> <input type="checkbox" id="actionCamLedBreath" checked /></label>
|
||||
<label><span>LED 颜色</span> <input id="actionCamLedColor" type="color" value="#00afff" /></label>
|
||||
</div>
|
||||
<div id="panelEmergency" class="hidden">
|
||||
<label><span>颜色</span> <input id="actionEmerColor" type="color" value="#ff0000" /></label>
|
||||
<label><span>效果</span>
|
||||
<select id="actionEmerEffect">
|
||||
<option value="blink">闪烁</option>
|
||||
<option value="strobe">爆闪</option>
|
||||
<option value="solid">常亮</option>
|
||||
<option value="off">熄灭</option>
|
||||
</select>
|
||||
</label>
|
||||
<label><span>频率 Hz</span> <input id="actionEmerHz" type="number" step="any" value="4" /></label>
|
||||
</div>
|
||||
</div>
|
||||
<button type="button" id="applyComponent" class="primary-green">保存到基准</button>
|
||||
</div>
|
||||
|
||||
<div id="tabPanelActions" class="tab-panel hidden">
|
||||
<div class="workflow-step">
|
||||
<div class="workflow-step-title" data-step="1">选择组件</div>
|
||||
<div id="actionCompPickList" class="component-scroll" style="max-height:120px;"></div>
|
||||
<div class="row-btns">
|
||||
<button type="button" id="addAllActionComp" class="secondary">全部加入</button>
|
||||
</div>
|
||||
<p class="hint">点击组件加入动作 · 已选 <span id="actionSelectedCount">0</span> 个</p>
|
||||
<div id="actionSelectedList" class="component-scroll" style="max-height:80px;min-height:32px;"></div>
|
||||
</div>
|
||||
|
||||
<div class="workflow-step">
|
||||
<div class="workflow-step-title" data-step="2">配置参数</div>
|
||||
<div id="actionCfgBox" class="setting-group hidden">
|
||||
<div class="setting-group-title" id="actionCfgTitle">—</div>
|
||||
<label><span>类型</span>
|
||||
<select id="actComponentType">
|
||||
<option value="static">静态件</option>
|
||||
<option value="body">车体结构</option>
|
||||
<option value="light">灯光</option>
|
||||
<option value="wheel">轮子</option>
|
||||
<option value="actuator">可动机构</option>
|
||||
<option value="sensor">传感器</option>
|
||||
<option value="safety">安全件</option>
|
||||
</select>
|
||||
</label>
|
||||
<div id="actPanelStatic" class="hidden">
|
||||
<label><span>透明度</span> <input id="actOpacity" type="number" min="0" max="1" step="0.05"
|
||||
value="0.25" /></label>
|
||||
<button type="button" id="applyOpacityToAll" class="secondary">应用到全部静态件</button>
|
||||
</div>
|
||||
<div id="actPanelLight" class="hidden">
|
||||
<label><span>颜色</span> <input id="actLightColor" type="color" value="#00ff55" /></label>
|
||||
<label><span>光效</span>
|
||||
<select id="actLightEffect">
|
||||
<option value="solid">常亮</option>
|
||||
<option value="breath">呼吸</option>
|
||||
<option value="blink">闪烁</option>
|
||||
<option value="strobe">爆闪</option>
|
||||
<option value="flow_forward">前向流光</option>
|
||||
<option value="flow_backward">反向流光</option>
|
||||
<option value="blink_segment">分段闪</option>
|
||||
</select>
|
||||
</label>
|
||||
<label><span>亮度</span> <input id="actLightIntensity" type="number" step="any" value="100" /></label>
|
||||
<label id="actLightHzRow" class="hidden"><span>频率 Hz</span> <input id="actLightHz" type="number"
|
||||
step="any" value="4" /></label>
|
||||
<label id="actLightPeriodRow" class="hidden"><span>周期 s</span> <input id="actLightPeriod" type="number"
|
||||
step="any" value="2" /></label>
|
||||
</div>
|
||||
<div id="actPanelWheel" class="hidden">
|
||||
<p class="hint">自转轴：<span id="actWheelAxisHint">—</span> · 红X 绿Y 蓝Z</p>
|
||||
<label><span>转速倍率</span> <input id="actWheelSpeedFactor" type="number" step="any" value="1" /></label>
|
||||
<label><span>转向角 (°)</span> <input id="actWheelSteerAngleDeg" type="number" step="any"
|
||||
value="0" /></label>
|
||||
</div>
|
||||
<div id="actPanelMotion" class="hidden">
|
||||
<label><span>机构角色</span>
|
||||
<select id="actMotionRole">
|
||||
<option value="lift">顶升</option>
|
||||
<option value="lidar">雷达</option>
|
||||
<option value="camera">相机</option>
|
||||
</select>
|
||||
</label>
|
||||
<label><span>运动方式</span>
|
||||
<select id="actMotionKind">
|
||||
<option value="translate">平移</option>
|
||||
<option value="rotate">旋转</option>
|
||||
</select>
|
||||
</label>
|
||||
<label><span>轴向</span>
|
||||
<select id="actMotionAxis">
|
||||
<option value="y">Y</option>
|
||||
<option value="x">X</option>
|
||||
<option value="z">Z</option>
|
||||
</select>
|
||||
</label>
|
||||
<label id="actLiftStartRow" class="hidden"><span>起始 (m)</span> <input id="actLiftStart" type="number"
|
||||
step="any" value="0" /></label>
|
||||
<label id="actLiftEndRow" class="hidden"><span>终止 (m)</span> <input id="actLiftEnd" type="number"
|
||||
step="any" value="0.15" /></label>
|
||||
</div>
|
||||
<div id="actPanelCamera" class="hidden">
|
||||
<label><span>扫描摆动</span> <input type="checkbox" id="actCamScan" checked /></label>
|
||||
<label><span>LED 呼吸</span> <input type="checkbox" id="actCamLedBreath" checked /></label>
|
||||
<label><span>LED 颜色</span> <input id="actCamLedColor" type="color" value="#00afff" /></label>
|
||||
</div>
|
||||
<div id="actPanelEmergency" class="hidden">
|
||||
<label><span>颜色</span> <input id="actEmerColor" type="color" value="#ff0000" /></label>
|
||||
<label><span>效果</span>
|
||||
<select id="actEmerEffect">
|
||||
<option value="blink">闪烁</option>
|
||||
<option value="strobe">爆闪</option>
|
||||
<option value="solid">常亮</option>
|
||||
<option value="off">熄灭</option>
|
||||
</select>
|
||||
</label>
|
||||
<label><span>频率 Hz</span> <input id="actEmerHz" type="number" step="any" value="4" /></label>
|
||||
</div>
|
||||
<button type="button" id="saveActionDraftComp" class="primary-green">保存该组件</button>
|
||||
</div>
|
||||
<p id="actionCfgPlaceholder" class="hint">请先在步骤 1 选择组件</p>
|
||||
</div>
|
||||
|
||||
<div class="workflow-step">
|
||||
<div class="workflow-step-title" data-step="3">保存动作</div>
|
||||
<label><span>显示名称</span>
|
||||
<input type="text" id="actionLabel" lang="zh-CN" autocomplete="off" spellcheck="false"
|
||||
placeholder="左转、举升" />
|
||||
</label>
|
||||
<div class="row-btns">
|
||||
<button type="button" id="saveAsAction">保存动作</button>
|
||||
<button type="button" id="clearActionDraft" class="secondary">清空</button>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div class="setting-group" style="margin-top:4px;">
|
||||
<div class="setting-group-title">已定义动作</div>
|
||||
<div id="actionList"></div>
|
||||
</div>
|
||||
</div>
|
||||
</aside>
|
||||
</div>
|
||||
|
||||
<footer id="statusbar">
|
||||
<div id="status">就绪</div>
|
||||
</footer>
|
||||
</div>
|
||||
|
||||
<div id="toast-container"></div>
|
||||
|
||||
<!-- hidden compat elements -->
|
||||
<select id="actionCompPick" class="hidden" aria-hidden="true">
|
||||
<option value=""></option>
|
||||
</select>
|
||||
<button type="button" id="addActionComp" class="hidden" aria-hidden="true"></button>
|
||||
|
||||
<script type="importmap">
|
||||
{ "imports": {
|
||||
"three": "https://cdn.jsdelivr.net/npm/three@0.170.0/build/three.module.js",
|
||||
"three/addons/": "https://cdn.jsdelivr.net/npm/three@0.170.0/examples/jsm/",
|
||||
"pinyin-pro": "https://cdn.jsdelivr.net/npm/pinyin-pro@3.26.0/dist/index.mjs"
|
||||
}}
|
||||
</script>
|
||||
<script type="module" src="./app.js"></script>
|
||||
</body>
|
||||
|
||||
</html>
|
||||
@@ -0,0 +1,194 @@
|
||||
<!DOCTYPE html>
|
||||
<html lang="zh-CN">
|
||||
|
||||
<head>
|
||||
<meta charset="UTF-8" />
|
||||
<meta name="viewport" content="width=device-width, initial-scale=1.0" />
|
||||
<title>AGV 动作播放</title>
|
||||
<style>
|
||||
* {
|
||||
box-sizing: border-box;
|
||||
margin: 0;
|
||||
padding: 0;
|
||||
}
|
||||
|
||||
body {
|
||||
font-family: "Segoe UI", "Microsoft YaHei", system-ui, sans-serif;
|
||||
background: #0f1117;
|
||||
color: #e8eaed;
|
||||
overflow: hidden;
|
||||
}
|
||||
|
||||
#canvas-wrap {
|
||||
width: 100vw;
|
||||
height: 100vh;
|
||||
}
|
||||
|
||||
#panel {
|
||||
position: fixed;
|
||||
top: 16px;
|
||||
left: 16px;
|
||||
width: 280px;
|
||||
max-height: calc(100vh - 32px);
|
||||
overflow-y: auto;
|
||||
background: rgba(22, 26, 36, 0.94);
|
||||
border: 1px solid #2a3142;
|
||||
border-radius: 12px;
|
||||
padding: 14px;
|
||||
backdrop-filter: blur(8px);
|
||||
z-index: 10;
|
||||
}
|
||||
|
||||
h1 {
|
||||
font-size: 15px;
|
||||
margin-bottom: 4px;
|
||||
}
|
||||
|
||||
.sub {
|
||||
font-size: 11px;
|
||||
color: #8b95a8;
|
||||
margin-bottom: 10px;
|
||||
line-height: 1.4;
|
||||
}
|
||||
|
||||
.sub a {
|
||||
color: #8eb4ff;
|
||||
}
|
||||
|
||||
label {
|
||||
display: flex;
|
||||
align-items: center;
|
||||
justify-content: space-between;
|
||||
font-size: 12px;
|
||||
margin-bottom: 8px;
|
||||
gap: 8px;
|
||||
}
|
||||
|
||||
select {
|
||||
flex: 1;
|
||||
background: #1a1f2b;
|
||||
color: #e8eaed;
|
||||
border: 1px solid #2a3142;
|
||||
border-radius: 6px;
|
||||
padding: 5px 8px;
|
||||
font-size: 12px;
|
||||
}
|
||||
|
||||
button {
|
||||
width: 100%;
|
||||
padding: 8px;
|
||||
border: none;
|
||||
border-radius: 8px;
|
||||
background: #2a3142;
|
||||
color: #fff;
|
||||
cursor: pointer;
|
||||
font-size: 12px;
|
||||
margin-top: 4px;
|
||||
}
|
||||
|
||||
button:hover {
|
||||
background: #3a4558;
|
||||
}
|
||||
|
||||
button.active {
|
||||
box-shadow: 0 0 0 1px #5dd39e;
|
||||
}
|
||||
|
||||
.mode-running {
|
||||
background: #1a3d28;
|
||||
}
|
||||
|
||||
.mode-lift {
|
||||
background: #3d3520;
|
||||
}
|
||||
|
||||
.mode-fault {
|
||||
background: #3d1a1a;
|
||||
}
|
||||
|
||||
.mode-idle {
|
||||
background: #1a3348;
|
||||
}
|
||||
|
||||
.tags {
|
||||
display: flex;
|
||||
flex-wrap: wrap;
|
||||
gap: 6px;
|
||||
margin-top: 8px;
|
||||
}
|
||||
|
||||
.tags button {
|
||||
width: auto;
|
||||
flex: 1 1 calc(50% - 6px);
|
||||
min-width: 72px;
|
||||
margin-top: 0;
|
||||
}
|
||||
|
||||
#activeTag {
|
||||
color: #c5d0e0;
|
||||
font-size: 12px;
|
||||
margin: 8px 0 4px;
|
||||
min-height: 18px;
|
||||
}
|
||||
|
||||
#remoteStatus {
|
||||
font-size: 11px;
|
||||
margin-top: 8px;
|
||||
line-height: 1.4;
|
||||
color: #8b95a8;
|
||||
}
|
||||
|
||||
#remoteStatus.ok {
|
||||
color: #5dd39e;
|
||||
}
|
||||
|
||||
#remoteStatus.warn {
|
||||
color: #e8c468;
|
||||
}
|
||||
|
||||
#remoteStatus.err {
|
||||
color: #f07178;
|
||||
}
|
||||
|
||||
#status {
|
||||
font-size: 11px;
|
||||
color: #7d899e;
|
||||
margin-top: 10px;
|
||||
line-height: 1.5;
|
||||
}
|
||||
|
||||
.ok {
|
||||
color: #5dd39e;
|
||||
}
|
||||
|
||||
.err {
|
||||
color: #f07178;
|
||||
}
|
||||
</style>
|
||||
</head>
|
||||
|
||||
<body>
|
||||
<div id="canvas-wrap"></div>
|
||||
<div id="panel">
|
||||
<h1>AGV 动作播放</h1>
|
||||
<p class="sub">外部通过 <code>GET /api/catalog</code> 与 <code>POST /api/agv</code> 控制。<a href="./index.html">去配置页</a>
|
||||
</p>
|
||||
<label><span>模型</span><select id="modelSelect">
|
||||
<option>加载中...</option>
|
||||
</select></label>
|
||||
<button type="button" id="clearAll">全部关闭</button>
|
||||
<p id="activeTag">已开启：无</p>
|
||||
<div id="actionTags" class="tags"></div>
|
||||
<div id="remoteStatus">远程：连接中…</div>
|
||||
<div id="status">加载中...</div>
|
||||
</div>
|
||||
<script type="importmap">
|
||||
{ "imports": {
|
||||
"three": "https://cdn.jsdelivr.net/npm/three@0.170.0/build/three.module.js",
|
||||
"three/addons/": "https://cdn.jsdelivr.net/npm/three@0.170.0/examples/jsm/"
|
||||
}}
|
||||
</script>
|
||||
<script type="module" src="./player.js"></script>
|
||||
</body>
|
||||
|
||||
</html>
|
||||
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,239 @@
|
||||
/**
|
||||
* 远程播放桥接：SSE 订阅 + 命令队列 + 本地状态回传。
|
||||
*/
|
||||
import { API_VERSION } from "./api.js";
|
||||
|
||||
const API_ROOT = "/api/agv";
|
||||
const REMOTE_METHODS = new Set(["playAction", "stopAction", "clearActions"]);
|
||||
const CLIENT_ID = globalThis.crypto?.randomUUID?.() || `client-${Date.now()}`;
|
||||
|
||||
export function connectRemotePlayback(playbackApi, { onStatus } = {}) {
|
||||
let lastRevision = 0;
|
||||
let connected = false;
|
||||
let es = null;
|
||||
const queue = [];
|
||||
let draining = false;
|
||||
let applyingRemote = 0;
|
||||
|
||||
function setStatus(text, kind = "idle") {
|
||||
onStatus?.({ text, kind, connected, revision: lastRevision });
|
||||
}
|
||||
|
||||
function shouldSkipEcho(msg) {
|
||||
return msg?.sourceClientId && msg.sourceClientId === CLIENT_ID;
|
||||
}
|
||||
|
||||
async function waitUntilReady(maxMs = 20000) {
|
||||
const start = Date.now();
|
||||
while (Date.now() - start < maxMs) {
|
||||
if (playbackApi.getState?.().ready) return true;
|
||||
await new Promise((r) => setTimeout(r, 150));
|
||||
}
|
||||
return playbackApi.getState?.().ready;
|
||||
}
|
||||
|
||||
async function withRemoteApply(fn) {
|
||||
applyingRemote += 1;
|
||||
try {
|
||||
return await fn();
|
||||
} finally {
|
||||
applyingRemote -= 1;
|
||||
}
|
||||
}
|
||||
|
||||
async function ensureModel(modelId) {
|
||||
if (!modelId) return true;
|
||||
const cur = playbackApi.getState?.() || {};
|
||||
if (cur.modelId === modelId && cur.ready) return true;
|
||||
const res = await playbackApi.request({
|
||||
version: API_VERSION,
|
||||
method: "clearActions",
|
||||
params: { modelId },
|
||||
});
|
||||
if (!res.ok) {
|
||||
setStatus(`远程加载失败: ${res.error?.message || "unknown"}`, "error");
|
||||
return false;
|
||||
}
|
||||
return waitUntilReady();
|
||||
}
|
||||
|
||||
async function applySnapshot(state) {
|
||||
if (!state) return false;
|
||||
const revision = Number(state.revision) || 0;
|
||||
if (revision <= lastRevision) return true;
|
||||
|
||||
return withRemoteApply(async () => {
|
||||
const modelId = state.modelId;
|
||||
const desired = state.activeActions || [];
|
||||
|
||||
if (!(await ensureModel(modelId))) return false;
|
||||
|
||||
const cur = playbackApi.getState?.() || {};
|
||||
const current = new Set(cur.activeActions || []);
|
||||
const want = new Set(desired);
|
||||
|
||||
for (const id of current) {
|
||||
if (!want.has(id)) {
|
||||
const res = await playbackApi.request({
|
||||
version: API_VERSION,
|
||||
method: "stopAction",
|
||||
params: { modelId: cur.modelId || modelId, actionId: id },
|
||||
});
|
||||
if (!res.ok) {
|
||||
setStatus(`远程动作同步失败: ${res.error?.message || "unknown"}`, "error");
|
||||
return false;
|
||||
}
|
||||
}
|
||||
}
|
||||
for (const id of want) {
|
||||
if (!current.has(id)) {
|
||||
const res = await playbackApi.request({
|
||||
version: API_VERSION,
|
||||
method: "playAction",
|
||||
params: { modelId: cur.modelId || modelId, actionId: id },
|
||||
});
|
||||
if (!res.ok) {
|
||||
setStatus(`远程动作同步失败: ${res.error?.message || "unknown"}`, "error");
|
||||
return false;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
lastRevision = revision;
|
||||
return true;
|
||||
});
|
||||
}
|
||||
|
||||
async function runCommand(msg) {
|
||||
if (msg.type === "connected") {
|
||||
connected = true;
|
||||
setStatus("远程已连接", "ok");
|
||||
if (msg.state) await applySnapshot(msg.state);
|
||||
return;
|
||||
}
|
||||
if (msg.type === "ping") return;
|
||||
if (!msg.method) return;
|
||||
|
||||
const revision = Number(msg.revision) || 0;
|
||||
if (revision && revision <= lastRevision) return;
|
||||
|
||||
if (shouldSkipEcho(msg)) {
|
||||
if (revision) lastRevision = Math.max(lastRevision, revision);
|
||||
return;
|
||||
}
|
||||
|
||||
if (msg.method === "syncState") {
|
||||
await applySnapshot(msg.state);
|
||||
return;
|
||||
}
|
||||
|
||||
if (!REMOTE_METHODS.has(msg.method)) return;
|
||||
|
||||
await withRemoteApply(async () => {
|
||||
const p = msg.params || {};
|
||||
if (!(await ensureModel(p.modelId || p.model))) return;
|
||||
await waitUntilReady();
|
||||
|
||||
const res = await playbackApi.request({
|
||||
version: API_VERSION,
|
||||
id: msg.id,
|
||||
method: msg.method,
|
||||
params: p,
|
||||
});
|
||||
if (!res.ok) {
|
||||
setStatus(`远程命令失败: ${res.error?.message || "unknown"}`, "error");
|
||||
return;
|
||||
}
|
||||
if (revision) lastRevision = Math.max(lastRevision, revision);
|
||||
});
|
||||
}
|
||||
|
||||
function enqueue(msg) {
|
||||
queue.push(msg);
|
||||
drain();
|
||||
}
|
||||
|
||||
async function drain() {
|
||||
if (draining) return;
|
||||
draining = true;
|
||||
while (queue.length) {
|
||||
const msg = queue.shift();
|
||||
try {
|
||||
await runCommand(msg);
|
||||
} catch (e) {
|
||||
console.warn("[remote-bridge]", e);
|
||||
setStatus(`远程执行异常: ${e.message}`, "error");
|
||||
}
|
||||
}
|
||||
draining = false;
|
||||
}
|
||||
|
||||
function connectSse() {
|
||||
if (es) es.close();
|
||||
es = new EventSource(`${API_ROOT}/events`);
|
||||
es.onmessage = (ev) => {
|
||||
try {
|
||||
enqueue(JSON.parse(ev.data));
|
||||
} catch (e) {
|
||||
console.warn("[remote-bridge] bad event", e);
|
||||
}
|
||||
};
|
||||
es.onerror = () => {
|
||||
connected = false;
|
||||
setStatus("远程连接断开，自动重连…", "warn");
|
||||
};
|
||||
}
|
||||
|
||||
async function fetchServerState() {
|
||||
const res = await fetch(`${API_ROOT}/state?t=${Date.now()}`);
|
||||
const body = await res.json();
|
||||
return body.ok ? body.data : null;
|
||||
}
|
||||
|
||||
async function syncFromServer() {
|
||||
try {
|
||||
const state = await fetchServerState();
|
||||
if (!state || (state.revision || 0) <= 0) return state;
|
||||
await applySnapshot(state);
|
||||
return state;
|
||||
} catch (e) {
|
||||
setStatus("远程状态同步失败", "warn");
|
||||
return null;
|
||||
}
|
||||
}
|
||||
|
||||
let reportTimer = null;
|
||||
function reportLocalState() {
|
||||
if (applyingRemote > 0) return;
|
||||
clearTimeout(reportTimer);
|
||||
reportTimer = setTimeout(async () => {
|
||||
const s = playbackApi.getState?.();
|
||||
if (!s?.ready || applyingRemote > 0) return;
|
||||
try {
|
||||
await fetch(`${API_ROOT}/report`, {
|
||||
method: "POST",
|
||||
headers: { "Content-Type": "application/json" },
|
||||
body: JSON.stringify({
|
||||
clientId: CLIENT_ID,
|
||||
modelId: s.modelId,
|
||||
activeActions: s.activeActions,
|
||||
}),
|
||||
});
|
||||
} catch (_) { /* ignore */ }
|
||||
}, 250);
|
||||
}
|
||||
|
||||
connectSse();
|
||||
setStatus("等待远程连接…", "idle");
|
||||
|
||||
return {
|
||||
clientId: CLIENT_ID,
|
||||
fetchServerState,
|
||||
syncFromServer,
|
||||
reportLocalState,
|
||||
close: () => {
|
||||
clearTimeout(reportTimer);
|
||||
es?.close();
|
||||
},
|
||||
};
|
||||
}
|
||||
Reference in New Issue
Block a user