fix: 更新开发环境token，优化机器人图元批量更新逻辑
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@ -4,5 +4,5 @@ ENV_WEBSOCKET_BASE=/ws
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ENV_STORAGE_WEBSOCKET_BASE=/vwedWs
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# 开发环境token配置 - 可以手动设置或从另一个项目获取后填入
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ENV_DEV_TOKEN=eyJ0eXAiOiJKV1QiLCJhbGciOiJIUzI1NiJ9.eyJleHAiOjE3NjE2NzY1NDksInVzZXJuYW1lIjoiYWRtaW4ifQ.q0SIqem1KTUfPm9wgjAG8YG6UmYiIcs_QV6AEJVmr8U
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ENV_DEV_TOKEN=eyJ0eXAiOiJKV1QiLCJhbGciOiJIUzI1NiJ9.eyJleHAiOjE3NjE5MTYzNTIsInVzZXJuYW1lIjoiYWRtaW4ifQ.UEDfpkrB6y1xuNQt5AEKAnAyeEb4HKI8VC0hDXm4r9E
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ENV_DEV_TENANT_ID=1000
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@ -1,4 +1,3 @@
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import { LockState } from '@meta2d/core';
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import { message } from 'ant-design-vue';
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import { type Ref, ref, type ShallowRef, shallowRef } from 'vue';
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@ -6,6 +5,7 @@ import { type RobotRealtimeInfo } from '../apis/robot';
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import type { EditorService } from '../services/editor.service';
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import { useViewState } from '../services/useViewState';
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import ws from '../services/ws';
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import { useRobotRenderer } from './useRobotRenderer';
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// Define the structure of WebSocket messages for playback
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type PlaybackMessage = {
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@ -14,10 +14,6 @@ type PlaybackMessage = {
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data: any;
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};
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type PlaybackSceneData = {
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json: string;
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totalDuration: number;
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};
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// Hook's return type definition
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// Hook's return type definition
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@ -60,6 +56,7 @@ export function usePlaybackWebSocket(
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let hasReceivedAmrData = false; // 新增：用于确保 onFirstAmrData 只调用一次的标志
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const { calculateCenterPoint, jumpToPosition } = useViewState();
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const { batchUpdateRobots } = useRobotRenderer(editorService);
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const locateCenter = () => {
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if (editorService.value) {
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@ -174,85 +171,6 @@ export function usePlaybackWebSocket(
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console.warn(`播放速度控制 (${speed}x) 尚未实现`);
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};
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const batchUpdateRobots = (updates: Array<{ id: string; data: RobotRealtimeInfo }>) => {
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const editor = editorService.value;
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if (!editor || updates.length === 0) return;
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const allPenUpdates: any[] = [];
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updates.forEach(({ id, data }) => {
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const robotExists = editor.checkRobotById(id);
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if (robotExists) {
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const { x, y, angle, active, path: points, isWaring, isFault, isCharging, isCarrying, canOrder, ...rest } =
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data;
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// 1. 更新机器人缓存的业务数据 (与实时模式对齐)
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editor.updateRobot(id, {
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...rest,
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isCharging: (isCharging as any) ?? 0,
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isCarrying: (isCarrying as any) ?? 0,
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canOrder: false as any,
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});
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// 2. 准备图元更新负载对象
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const penUpdatePayload: any = { id };
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const robotState: any = {};
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// 2.1 路径处理 (如果数据中包含)
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if (points?.length) {
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const cx = x || 37;
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const cy = y || 37;
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robotState.path = points.map((p) => ({ x: p.x - cx, y: p.y - cy }));
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}
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// 2.2 合并其他机器人状态
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if (active !== undefined) robotState.active = active||true;
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if (isWaring !== undefined) robotState.isWaring = isWaring;
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if (isFault !== undefined) robotState.isFault = isFault;
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if (isCharging !== undefined) robotState.isCharging = isCharging;
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if (isCarrying !== undefined) robotState.isCarrying = isCarrying;
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if (canOrder !== undefined) robotState.canOrder = canOrder;
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if (Object.keys(robotState).length > 0) {
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penUpdatePayload.robot = robotState;
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}
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// 2.3 合并位置、可见性和角度
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if (x != null && y != null) {
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penUpdatePayload.x = x - 60;
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penUpdatePayload.y = y - 60;
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penUpdatePayload.visible = true; // [核心修复] 明确设置 visible 为 true
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penUpdatePayload.locked = LockState.None;
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}
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if (angle != null) {
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penUpdatePayload.rotate = -angle + 180;
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}
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// 仅当有实际更新时才推入数组
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if (Object.keys(penUpdatePayload).length > 1) {
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allPenUpdates.push(penUpdatePayload);
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}
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}
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});
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// 4. 批量更新所有图元
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if (allPenUpdates.length > 0) {
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allPenUpdates.forEach((update) => {
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editor.setValue(update, { render: false, history: false, doEvent: false });
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});
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// 5. [时序问题修复] 在所有图元属性更新后，再统一更新状态覆盖图标
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// 这样可以确保 updateRobotStatusOverlay 读取到最新的 visible: true 状态
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allPenUpdates.forEach((update) => {
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const { id, x, y, rotate } = update;
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const newPositionForOverlay = x !== undefined && y !== undefined ? { x, y, rotate } : undefined;
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editor.updateRobotStatusOverlay?.(id, false, newPositionForOverlay);
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});
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}
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// 5. 统一渲染
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editor.render();
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};
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const renderLoop = () => {
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try {
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105
src/hooks/useRobotRenderer.ts
Normal file
105
src/hooks/useRobotRenderer.ts
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@ -0,0 +1,105 @@
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import { LockState } from '@meta2d/core';
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import { isNil } from 'lodash-es';
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import type { ShallowRef } from 'vue';
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import type { RobotRealtimeInfo } from '../apis/robot';
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import type { EditorService } from '../services/editor.service';
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/**
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* 封装了实时模式与回放模式下通用的机器人图元批量更新与渲染逻辑
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* @param editorService - 编辑器服务的 shallowRef 引用
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* @returns 包含 batchUpdateRobots 方法的对象
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*/
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export function useRobotRenderer(editorService: ShallowRef<EditorService | undefined>) {
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/**
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* 批量更新机器人数据，减少渲染调用次数
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* @param updates 需要更新的机器人数据数组
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*/
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const batchUpdateRobots = (updates: Array<{ id: string; data: RobotRealtimeInfo }>) => {
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const editor = editorService.value;
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if (!editor || updates.length === 0) return;
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// 用于收集所有图元（pen）的更新数据
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const allPenUpdates: any[] = [];
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updates.forEach(({ id, data }) => {
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const {
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x,
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y,
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active,
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angle,
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path: points,
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isWaring,
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isFault,
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isCharging = 0,
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isCarrying = 0,
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canOrder,
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...rest
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} = data;
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// 1. 更新机器人缓存的业务数据
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editor.updateRobot(id, {
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...rest,
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isCharging: isCharging as any,
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isCarrying: isCarrying as any,
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canOrder: canOrder as any,
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});
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// 2. 准备图元（pen）的更新负载对象，将多个更新合并
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const penUpdatePayload: any = { id };
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const robotState: any = {};
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// 2.1 处理路径并将其放入 robotState
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if (points?.length) {
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const cx = x ?? 37;
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const cy = y ?? 37;
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robotState.path = points.map((p) => ({ x: p.x - cx, y: p.y - cy }));
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}
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// 2.2 合并其他机器人状态
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if (active !== undefined) robotState.active = active;
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if (isWaring !== undefined) robotState.isWaring = isWaring;
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if (isFault !== undefined) robotState.isFault = isFault;
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if (isCharging !== undefined) robotState.isCharging = isCharging;
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if (isCarrying !== undefined) robotState.isCarrying = isCarrying;
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if (canOrder !== undefined) robotState.canOrder = canOrder;
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if (Object.keys(robotState).length > 0) {
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penUpdatePayload.robot = robotState;
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}
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// 2.3 合并位置、可见性和角度
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if (!isNil(x) && !isNil(y)) {
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penUpdatePayload.x = x - 60;
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penUpdatePayload.y = y - 60;
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penUpdatePayload.visible = true;
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penUpdatePayload.locked = LockState.None;
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}
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if (angle != null) {
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penUpdatePayload.rotate = -angle + 180;
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}
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if (Object.keys(penUpdatePayload).length > 1) {
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allPenUpdates.push(penUpdatePayload);
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}
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const newPositionForOverlay =
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penUpdatePayload.x !== undefined && penUpdatePayload.y !== undefined
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? { x: penUpdatePayload.x, y: penUpdatePayload.y, rotate: penUpdatePayload.rotate }
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: undefined;
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editor.updateRobotStatusOverlay?.(id, false, newPositionForOverlay);
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});
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if (allPenUpdates.length > 0) {
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allPenUpdates.forEach((update) => {
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editor.setValue(update, { render: false, history: false, doEvent: false });
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});
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}
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editor.render();
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};
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return {
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batchUpdateRobots,
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};
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}
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@ -16,6 +16,7 @@ import FollowViewNotification from '../components/follow-view-notification.vue';
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import PlaybackController from '../components/PlaybackController.vue';
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import RobotLabels from '../components/robot-labels.vue';
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import { usePlaybackWebSocket } from '../hooks/usePlaybackWebSocket';
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import { useRobotRenderer } from '../hooks/useRobotRenderer';
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import { autoDoorSimulationService, type AutoDoorWebSocketData } from '../services/auto-door-simulation.service';
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import {
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type ContextMenuState,
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@ -111,6 +112,7 @@ const playback = usePlaybackWebSocket(editor, async () => {
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// [关键修复] 只有在收到第一帧机器人数据后才初始化机器人图元
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await editor.value?.initRobots();
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});
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const { batchUpdateRobots: batchUpdateRobotsRenderer } = useRobotRenderer(editor);
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watch(mode, async (newMode) => {
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if (newMode === 'live') {
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@ -276,110 +278,6 @@ const monitorScene = async () => {
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// 用于存储 requestAnimationFrame 的 ID，方便在组件卸载或 WebSocket 关闭时取消动画循环。
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let animationFrameId: number;
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/**
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* 批量更新机器人数据，减少渲染调用次数
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* @param updates 需要更新的机器人数据数组
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*/
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const batchUpdateRobots = (updates: Array<{ id: string; data: RobotRealtimeInfo }>) => {
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console.log('[实时模式] batchUpdateRobots 被调用，更新数量:', updates.length);
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if (!editor.value || updates.length === 0) return;
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// 用于收集所有图元（pen）的更新数据
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const allPenUpdates: any[] = [];
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updates.forEach(({ id, data }) => {
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const {
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x,
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y,
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active,
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angle,
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path: points,
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isWaring,
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isFault,
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isCharging = 0,
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isCarrying = 0,
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canOrder,
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...rest
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} = data;
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// 1. 更新机器人缓存的业务数据
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console.log('[实时模式] 更新机器人业务数据:', id, { x, y, active, angle });
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editor.value?.updateRobot(id, {
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...rest,
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isCharging: isCharging as any,
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isCarrying: isCarrying as any,
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canOrder: canOrder as any,
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});
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// 2. 准备图元（pen）的更新负载对象，将多个更新合并
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const penUpdatePayload: any = { id };
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const robotState: any = {};
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// 2.1 处理路径并将其放入 robotState
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// 处理路径坐标转换，参考refreshRobot方法的逻辑
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if (points?.length && !isMonitorMode.value) {
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// 新路径：相对于机器人中心的坐标
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const cx = x || 37; // 机器人中心X坐标，默认37
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const cy = y || 37; // 机器人中心Y坐标，默认37
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robotState.path = points.map((p) => ({ x: p.x - cx, y: p.y - cy }));
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}
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// 2.2 合并其他机器人状态
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if (active !== undefined) robotState.active = active;
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if (isWaring !== undefined) robotState.isWaring = isWaring;
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if (isFault !== undefined) robotState.isFault = isFault;
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if (isCharging !== undefined) robotState.isCharging = isCharging;
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if (isCarrying !== undefined) robotState.isCarrying = isCarrying;
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if (canOrder !== undefined) robotState.canOrder = canOrder;
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// 将合并后的状态赋给 payload
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if (Object.keys(robotState).length > 0) {
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penUpdatePayload.robot = robotState;
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}
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// 2.3 合并位置、可见性和角度
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if (!isNil(x) && !isNil(y)) {
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penUpdatePayload.x = x - 60;
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penUpdatePayload.y = y - 60;
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penUpdatePayload.visible = true;
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penUpdatePayload.locked = LockState.None;
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console.log('[实时模式] 设置机器人可见性:', id, { x: x - 60, y: y - 60, visible: true });
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}
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if (angle != null) {
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penUpdatePayload.rotate = -angle + 180;
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}
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// 只有当有实际更新时才推入数组
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if (Object.keys(penUpdatePayload).length > 1) {
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allPenUpdates.push(penUpdatePayload);
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}
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// 3. 更新状态覆盖图标 (此API调用如果不能合并，则保留在循环内)
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// 使用刚刚为机器人计算出的新位置来更新覆盖物，以确保同步
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const newPositionForOverlay =
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penUpdatePayload.x !== undefined && penUpdatePayload.y !== undefined
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? { x: penUpdatePayload.x, y: penUpdatePayload.y, rotate: penUpdatePayload.rotate }
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: undefined;
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editor.value?.updateRobotStatusOverlay?.(id, false, newPositionForOverlay);
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});
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// 4. 使用Meta2D的批量更新方法一次性提交所有更改
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if (allPenUpdates.length > 0) {
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allPenUpdates.forEach((update) => {
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editor.value?.setValue(update, { render: false, history: false, doEvent: false });
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});
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}
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// 5. 批量更新完成后，统一渲染一次
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/*
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为了让机器人在地图上最基本地被绘制出来并能够移动，后台推送的 WebSocket 数据最少需要 id, x, y 这 3
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个字段。
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为了达到一个功能上比较完整的视觉效果（带光圈、能旋转），则最少需要 id, x, y, angle, active 这 5
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个字段。
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*/
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editor.value?.render();
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};
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/**
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* 渲染循环函数。
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@ -411,7 +309,7 @@ const monitorScene = async () => {
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// 批量更新机器人，减少渲染调用次数
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if (updates.length > 0) {
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batchUpdateRobots(updates);
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batchUpdateRobotsRenderer(updates);
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}
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// 处理缓冲的自动门点数据
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