Merge branch 'feature/phase1'

src/apis/map/constant.ts

@@ -18,6 +18,8 @@ export enum MapPointType {
   临时避让点,
   /** 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 = 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/components/pen-groups.vue

@@ -101,6 +101,7 @@ const updateActiveKeys = () => {
     { key: '避让点', type: MapPointType.避让点 },
     { key: '临时避让点', type: MapPointType.临时避让点 },
     { key: '库区点', type: MapPointType.库区点 },
+    { key: '不可避让点', type: MapPointType.不可避让点 },
     { key: '电梯点', type: MapPointType.电梯点 },
     { key: '自动门点', type: MapPointType.自动门点 },
     { key: '充电点', type: MapPointType.充电点 },
@@ -278,6 +279,21 @@ watch(keyword, updateActiveKeys);
           </a-list>
         </a-collapse-panel>
 
+        <a-collapse-panel :header="$t('不可避让点')" key="不可避让点">
+          <a-list rowKey="id" :data-source="points.filter(({ point }) => point?.type === MapPointType.不可避让点)">
+            <template #renderItem="{ item }">
+              <a-list-item
+                class="ph-16"
+                :class="{ selected: item.id === current }"
+                style="height: 36px"
+                @click="select(item.id)"
+              >
+                <a-typography-text type="secondary">{{ item.label }}</a-typography-text>
+              </a-list-item>
+            </template>
+          </a-list>
+        </a-collapse-panel>
+
         <a-collapse-panel :header="$t('电梯点')" key="电梯点">
           <a-list rowKey="id" :data-source="points.filter(({ point }) => point?.type === MapPointType.电梯点)">
             <template #renderItem="{ item }">

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);