Merge branch 'feature/phase1'

src/apis/map/constant.ts

@@ -19,7 +19,7 @@ export enum MapPointType {
   /** 库区点 - 仓储作业区域 */
   库区点,
   /** 不可避让点 - 机器人不可避让的点位 */
-  不可避让点,
+  不可避让点 = 7,
   /** 密集库区点 - 密集库区点位 */
   // 密集库区点,
 

src/assets/themes/editor-dark.json

@@ -8,7 +8,8 @@
     "fill-2": "#69C6F5",
     "fill-3": "#E48B1D",
     "fill-4": "#E48B1D",
-    "fill-5": "#a72b69"
+    "fill-5": "#a72b69",
+    "fill-6": "#E63A3A"
   },
   "point-l": {
     "stroke": "#595959",

src/assets/themes/editor-light.json

@@ -8,7 +8,8 @@
     "fill-2": "#69C6F5",
     "fill-3": "#E48B1D",
     "fill-4": "#E48B1D",
-    "fill-5": "#a72b69"
+    "fill-5": "#a72b69",
+    "fill-6": "#E63A3A"
   },
   "point-l": {
     "stroke": "#595959",

src/pages/movement-supervision.vue

@@ -129,9 +129,11 @@ const monitorScene = async () => {
       const robotState: any = {};
 
       // 2.1 处理路径并将其放入 robotState
-      if (points?.length) {
-        const cx = x || 37;
-        const cy = y || 37;
+      // 处理路径坐标转换，参考refreshRobot方法的逻辑
+      if (points?.length && !isMonitorMode.value) {
+        // 新路径：相对于机器人中心的坐标
+        const cx = x || 37; // 机器人中心X坐标，默认37
+        const cy = y || 37; // 机器人中心Y坐标，默认37
         robotState.path = points.map((p) => ({ x: p.x - cx, y: p.y - cy }));
       }
 

src/services/editor.service.ts

@@ -2103,7 +2103,8 @@ function drawPoint(ctx: CanvasRenderingContext2D, pen: MapPen): void {
     case MapPointType.等待点:
     case MapPointType.避让点:
     case MapPointType.临时避让点:
-    case MapPointType.库区点: {
+    case MapPointType.库区点:
+    case MapPointType.不可避让点: {
       ctx.beginPath();
       ctx.moveTo(x + w / 2 - r, y + r);
       ctx.arcTo(x + w / 2, y, x + w - r, y + h / 2 - r, r);