feat: scene -> standard
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scene.md
Normal file
46
scene.md
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@ -0,0 +1,46 @@
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# 标准地图数据结构
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```typescript
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interface StandardScene {
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robotGroups?: Array<RobotGroup>; // 机器人组信息
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robots?: Array<RobotInfo>; // 机器人信息
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points?: Array<StandardScenePoint>; // 标准点位信息
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routes?: Array<StandardSceneRoute>; // 标准线路信息
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areas?: Array<StandardSceneArea>; // 标准区域信息
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blocks?: Array<[number, number]>; // 障碍点集合
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}
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interface StandardScenePoint {
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id: string;
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name: string;
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x: number;
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y: number;
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type: number; // 点位类型
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robots?: Array<string>; // 绑定机器人id集合
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actions?: Array<string>; // 绑定动作点id集合
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config?: object; // 其它属性配置（可按需增加）
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properties?: unknown; // 附加数据（前端不做任何处理）
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}
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interface StandardSceneRoute {
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id: string;
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connect: [string, string]; // 连接点位id
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type: 'line' | 'bezier2' | 'bezier3'; // 线路类型
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pass?: number; // 可通行类型
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c1?: { x?: number; y?: number }; // 控制点1
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c2?: { x?: number; y?: number }; // 控制点2
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config?: object; // 其它属性配置（可按需增加）
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properties?: unknown; // 附加数据（前端不做任何处理）
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}
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interface StandardSceneArea {
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id: string;
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name: string;
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x: number;
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y: number;
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w: number;
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h: number;
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type: number; // 区域类型
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points?: Array<string>; // 绑定点位id集合
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routes?: Array<string>; // 绑定线路id集合
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config?: object; // 其它属性配置（可按需增加）
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properties?: unknown; // 附加数据（前端不做任何处理）
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}
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```
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@ -14,8 +14,6 @@ export enum MapPointType {
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停靠点,
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动作点,
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禁行点,
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障碍点 = 99,
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}
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export const MAP_POINT_TYPES = Object.freeze(
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<[string, MapPointType][]>Object.entries(MapPointType).filter(([, v]) => typeof v === 'number'),
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@ -25,6 +23,7 @@ export const MAP_POINT_TYPES = Object.freeze(
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//#region 线路
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export enum MapRouteType {
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直线 = 'line',
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二阶贝塞尔曲线 = 'bezier2',
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三阶贝塞尔曲线 = 'bezier3',
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}
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export const MAP_ROUTE_TYPE = invert(MapRouteType);
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@ -13,6 +13,8 @@ export interface MapPen extends Pen {
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attrs?: Record<string, unknown>; // 额外属性
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activeAttrs?: Array<string>; // 已激活的额外属性
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properties?: unknown; // 第三方附加参数
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}
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//#region 点位
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@ -30,8 +32,8 @@ export interface MapRouteInfo {
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type: MapRouteType; // 线路类型
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direction?: -1 | 1; // 方向
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pass?: MapRoutePassType; // 可通行类型
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c1?: Point; // 控制点A
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c2?: Point; // 控制点B
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c1?: Point; // 控制点1
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c2?: Point; // 控制点2
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}
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//#endregion
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@ -9,11 +9,58 @@ export interface SceneDetail extends SceneInfo {
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json?: string; // 场景JSON
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}
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export interface GroupSceneDetail extends SceneDetail {
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group: RobotGroup;
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robots?: Array<RobotInfo>;
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group: RobotGroup; // 机器人组信息
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robots?: Array<RobotInfo>; // 机器人信息
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}
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export interface SceneData extends Meta2dData {
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robots?: Array<RobotInfo>;
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robotGroups?: Array<RobotGroup>;
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robotGroups?: Array<RobotGroup>; // 机器人组信息
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robots?: Array<RobotInfo>; // 机器人信息
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}
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export interface StandardScene {
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robotGroups?: Array<RobotGroup>; // 机器人组信息
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robots?: Array<RobotInfo>; // 机器人信息
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points?: Array<StandardScenePoint>; // 标准点位信息
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routes?: Array<StandardSceneRoute>; // 标准线路信息
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areas?: Array<StandardSceneArea>; // 标准区域信息
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blocks?: Array<[number, number]>; // 障碍点集合
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}
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export interface StandardScenePoint {
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id: string;
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name: string;
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desc?: string; // 描述
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x: number;
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y: number;
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type: number; // 点位类型
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robots?: Array<string>; // 绑定机器人id集合
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actions?: Array<string>; // 绑定动作点id集合
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config?: object; // 其它属性配置（可按需增加）
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properties?: unknown; // 附加数据（前端不做任何处理）
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}
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export interface StandardSceneRoute {
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id: string;
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desc?: string; // 描述
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from: string; // 起点点位id
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to: string; // 终点点位id
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type: 'line' | 'bezier2' | 'bezier3'; // 线路类型
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pass?: number; // 可通行类型
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c1?: { x?: number; y?: number }; // 控制点1
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c2?: { x?: number; y?: number }; // 控制点2
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config?: object; // 其它属性配置（可按需增加）
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properties?: unknown; // 附加数据（前端不做任何处理）
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}
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export interface StandardSceneArea {
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id: string;
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name: string;
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desc?: string; // 描述
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x: number;
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y: number;
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w: number;
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h: number;
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type: number; // 区域类型
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points?: Array<string>; // 绑定点位id集合
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routes?: Array<string>; // 绑定线路id集合
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config?: object; // 其它属性配置（可按需增加）
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properties?: unknown; // 附加数据（前端不做任何处理）
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}
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@ -92,71 +92,73 @@ const route = computed<MapRouteInfo | null>(() => {
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</a-col>
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</a-row>
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<template v-if="MapRouteType.三阶贝塞尔曲线 === route.type">
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<a-row align="middle" :gutter="8">
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<a-col flex="auto">
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<a-typography-text>{{ $t('控制点1') }}:</a-typography-text>
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</a-col>
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<a-col flex="none">
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<a-space :size="8">
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<a-typography-text code>X:</a-typography-text>
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<a-input-number
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style="width: 80px"
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:placeholder="$t('请输入')"
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:precision="0"
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:controls="false"
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:value="route?.c1?.x.toFixed()"
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@change="editor.updateRoute(id, { c1: { x: +$event, y: route?.c1?.y ?? 0 } })"
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/>
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</a-space>
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</a-col>
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<a-col flex="none">
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<a-space :size="8">
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<a-typography-text code>Y:</a-typography-text>
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<a-input-number
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style="width: 80px"
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:placeholder="$t('请输入')"
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:precision="0"
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:controls="false"
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:value="route?.c1?.y.toFixed()"
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@change="editor.updateRoute(id, { c1: { x: route?.c1?.x ?? 0, y: +$event } })"
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/>
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</a-space>
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</a-col>
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</a-row>
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<a-row
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v-if="[MapRouteType.二阶贝塞尔曲线, MapRouteType.三阶贝塞尔曲线].includes(route.type)"
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align="middle"
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:gutter="8"
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>
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<a-col flex="auto">
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<a-typography-text>{{ $t('控制点1') }}:</a-typography-text>
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</a-col>
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<a-col flex="none">
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<a-space :size="8">
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<a-typography-text code>X:</a-typography-text>
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<a-input-number
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style="width: 80px"
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:placeholder="$t('请输入')"
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:precision="0"
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:controls="false"
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:value="route?.c1?.x.toFixed()"
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@change="editor.updateRoute(id, { c1: { x: +$event, y: route?.c1?.y ?? 0 } })"
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/>
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</a-space>
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</a-col>
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<a-col flex="none">
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<a-space :size="8">
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<a-typography-text code>Y:</a-typography-text>
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<a-input-number
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style="width: 80px"
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:placeholder="$t('请输入')"
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:precision="0"
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:controls="false"
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:value="route?.c1?.y.toFixed()"
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@change="editor.updateRoute(id, { c1: { x: route?.c1?.x ?? 0, y: +$event } })"
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/>
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</a-space>
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</a-col>
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</a-row>
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<a-row align="middle" :gutter="8">
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<a-col flex="auto">
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<a-typography-text>{{ $t('控制点2') }}:</a-typography-text>
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</a-col>
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<a-col flex="none">
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<a-space :size="8">
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<a-typography-text code>X:</a-typography-text>
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<a-input-number
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style="width: 80px"
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:placeholder="$t('请输入')"
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:precision="0"
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:controls="false"
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:value="route?.c2?.x.toFixed()"
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@change="editor.updateRoute(id, { c2: { x: +$event, y: route?.c2?.y ?? 0 } })"
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/>
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</a-space>
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</a-col>
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<a-col flex="none">
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<a-space :size="8">
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<a-typography-text code>Y:</a-typography-text>
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<a-input-number
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style="width: 80px"
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:placeholder="$t('请输入')"
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:precision="0"
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:controls="false"
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:value="route?.c2?.y.toFixed()"
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@change="editor.updateRoute(id, { c2: { x: route?.c2?.x ?? 0, y: +$event } })"
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/>
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</a-space>
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</a-col>
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</a-row>
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</template>
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<a-row v-if="MapRouteType.三阶贝塞尔曲线 === route.type" align="middle" :gutter="8">
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<a-col flex="auto">
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<a-typography-text>{{ $t('控制点2') }}:</a-typography-text>
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</a-col>
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<a-col flex="none">
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<a-space :size="8">
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<a-typography-text code>X:</a-typography-text>
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<a-input-number
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style="width: 80px"
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:placeholder="$t('请输入')"
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:precision="0"
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:controls="false"
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:value="route?.c2?.x.toFixed()"
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@change="editor.updateRoute(id, { c2: { x: +$event, y: route?.c2?.y ?? 0 } })"
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/>
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</a-space>
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</a-col>
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<a-col flex="none">
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<a-space :size="8">
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<a-typography-text code>Y:</a-typography-text>
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<a-input-number
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style="width: 80px"
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:placeholder="$t('请输入')"
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:precision="0"
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:controls="false"
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:value="route?.c2?.y.toFixed()"
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@change="editor.updateRoute(id, { c2: { x: route?.c2?.x ?? 0, y: +$event } })"
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/>
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</a-space>
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</a-col>
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</a-row>
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</a-flex>
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<a-empty v-else :image="sTheme.empty" />
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</a-card>
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@ -12,15 +12,23 @@ import {
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type Point,
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} from '@api/map';
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import type { RobotGroup, RobotInfo } from '@api/robot';
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import type { GroupSceneDetail, SceneData } from '@api/scene';
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import type {
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GroupSceneDetail,
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SceneData,
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StandardScene,
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StandardSceneArea,
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StandardScenePoint,
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StandardSceneRoute,
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} from '@api/scene';
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import sTheme from '@core/theme.service';
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import { CanvasLayer, LockState, Meta2d, type Meta2dStore, type Pen, s8 } from '@meta2d/core';
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import { useObservable } from '@vueuse/rxjs';
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import { clone, get, isNil, isString, pick, remove, some } from 'lodash-es';
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import { clone, get, isEmpty, isNil, isString, pick, remove, some } from 'lodash-es';
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import { BehaviorSubject, debounceTime, filter, map, Subject, switchMap } from 'rxjs';
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import { reactive, watch } from 'vue';
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export class EditorService extends Meta2d {
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//#region 场景文件
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public async load(map?: string, editable = false, detail?: Partial<GroupSceneDetail>): Promise<void> {
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let data = map ? JSON.parse(map) : undefined;
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if (!isNil(detail)) {
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@ -32,22 +40,101 @@ export class EditorService extends Meta2d {
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this.setState(editable);
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}
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public save(): string {
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const data = this.data();
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data.pens.forEach((pen: MapPen) => {
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remove(pen.point?.robots ?? [], (v) => !this.#robotMap.has(v));
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remove(pen.point?.actions ?? [], (v) => this.getPenById(v)?.point?.type !== MapPointType.动作点);
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remove(pen.area?.points ?? [], (v) => {
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const { point } = this.getPenById(v) ?? {};
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if (isNil(point)) return true;
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if (point.type === MapPointType.禁行点) return true;
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if (pen.area?.type === MapAreaType.库区 && point.type !== MapPointType.动作点) return true;
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return false;
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});
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remove(pen.area?.routes ?? [], (v) => isNil(this.getPenById(v)));
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});
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return JSON.stringify(data);
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const scene: StandardScene = {
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robotGroups: this.robotGroups.value,
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robots: this.robots,
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points: this.points.value.map((v) => this.#mapScenePoint(v)).filter((v) => !isNil(v)),
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routes: this.routes.value.map((v) => this.#mapSceneRoute(v)).filter((v) => !isNil(v)),
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areas: this.areas.value.map((v) => this.#mapSceneArea(v)).filter((v) => !isNil(v)),
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blocks: [],
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};
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return JSON.stringify(scene);
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}
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#mapScenePoint(pen?: MapPen): StandardScenePoint | null {
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if (!pen?.id || isEmpty(pen?.point)) return null;
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const { id, x = 0, y = 0, label, desc, properties } = pen;
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const { type, robots, actions } = pen.point;
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const point: StandardScenePoint = {
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id: id,
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name: label || id,
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desc,
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x,
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y,
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type,
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config: {},
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properties,
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};
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if ([MapPointType.充电点, MapPointType.停靠点].includes(type)) {
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point.robots = robots?.filter((v) => this.#robotMap.has(v));
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}
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if (MapPointType.等待点 === type) {
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point.actions = actions?.filter((v) => this.getPenById(v)?.point?.type === MapPointType.动作点);
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}
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return point;
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}
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#mapSceneRoute(pen?: MapPen): StandardSceneRoute | null {
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if (!pen?.id || pen.anchors?.length !== 2 || isEmpty(pen?.route)) return null;
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const { id, anchors, desc, properties } = pen;
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const { type, direction = 1, pass, c1, c2 } = pen.route;
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const [p1, p2] = anchors.map((v) => v.connectTo!);
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const route: StandardSceneRoute = {
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id: id,
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desc,
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from: direction < 0 ? p2 : p1,
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to: direction < 0 ? p1 : p2,
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type,
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pass,
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config: {},
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properties,
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};
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switch (type) {
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case MapRouteType.二阶贝塞尔曲线:
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route.c1 = c1;
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break;
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case MapRouteType.三阶贝塞尔曲线:
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route.c1 = direction < 0 ? c2 : c1;
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route.c2 = direction < 0 ? c1 : c2;
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break;
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default:
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break;
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}
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return route;
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}
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#mapSceneArea(pen: MapPen): StandardSceneArea | null {
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if (!pen.id || isEmpty(pen.area)) return null;
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const { id, x = 0, y = 0, width = 0, height = 0, label, desc, properties } = pen;
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const { type, points, routes } = pen.area;
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const area: StandardSceneArea = {
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id,
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name: label || id,
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desc,
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x,
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y,
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w: width,
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h: height,
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type,
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config: {},
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properties,
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};
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if (MapAreaType.库区 === type) {
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area.points = points?.filter((v) => this.getPenById(v)?.point?.type === MapPointType.动作点);
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}
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if ([MapAreaType.互斥区, MapAreaType.非互斥区].includes(type)) {
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area.points = points?.filter((v) => {
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const { point } = this.getPenById(v) ?? {};
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if (isNil(point)) return false;
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if (point.type === MapPointType.禁行点) return false;
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return true;
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});
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}
|
||||
if (MapAreaType.互斥区 === type) {
|
||||
area.routes = routes?.filter((v) => !isEmpty(this.getPenById(v)?.area));
|
||||
}
|
||||
return area;
|
||||
}
|
||||
//#endregion
|
||||
|
||||
public setState(editable?: boolean): void {
|
||||
this.lock(editable ? LockState.None : LockState.DisableEdit);
|
||||
}
|
||||
@ -458,6 +545,7 @@ export class EditorService extends Meta2d {
|
||||
this.register({ line: () => new Path2D() });
|
||||
this.registerCanvasDraw({ point: drawPoint, line: drawLine, area: drawArea });
|
||||
this.registerAnchors({ point: anchorPoint });
|
||||
this.addDrawLineFn('bezier2', lineBezier2);
|
||||
this.addDrawLineFn('bezier3', lineBezier3);
|
||||
}
|
||||
}
|
||||
@ -545,7 +633,7 @@ function drawLine(ctx: CanvasRenderingContext2D, pen: MapPen): void {
|
||||
const { x: x2 = 0, y: y2 = 0 } = p2 ?? {};
|
||||
const { type, direction = 1, pass = 0, c1, c2 } = pen.route ?? {};
|
||||
const { x: dx1 = x2 - x1, y: dy1 = 0 } = c1 ?? {};
|
||||
const { x: dx2 = 0, y: dy2 = y2 - y1 } = c2 ?? {};
|
||||
const { x: dx2 = 0, y: dy2 = y1 - y2 } = c2 ?? {};
|
||||
|
||||
ctx.save();
|
||||
ctx.beginPath();
|
||||
@ -555,10 +643,15 @@ function drawLine(ctx: CanvasRenderingContext2D, pen: MapPen): void {
|
||||
case MapRouteType.直线:
|
||||
ctx.lineTo(x2, y2);
|
||||
break;
|
||||
case MapRouteType.二阶贝塞尔曲线:
|
||||
ctx.quadraticCurveTo(x1 + dx1, y1 + dy1, x2, y2);
|
||||
p1.next = { x: x1 + (2 / 3) * dx1, y: y1 + (2 / 3) * dy1 };
|
||||
p2.prev = { x: x2 / 3 + (2 / 3) * (x1 + dx1), y: y2 / 3 + (2 / 3) * (y1 + dy1) };
|
||||
break;
|
||||
case MapRouteType.三阶贝塞尔曲线:
|
||||
ctx.bezierCurveTo(x1 + dx1, y1 + dy1, x2 - dx2, y2 - dy2, x2, y2);
|
||||
ctx.bezierCurveTo(x1 + dx1, y1 + dy1, x2 + dx2, y2 + dy2, x2, y2);
|
||||
p1.next = { x: x1 + dx1, y: y1 + dy1 };
|
||||
p2.prev = { x: x2 - dx2, y: y2 - dy2 };
|
||||
p2.prev = { x: x2 + dx2, y: y2 + dy2 };
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
@ -573,8 +666,10 @@ function drawLine(ctx: CanvasRenderingContext2D, pen: MapPen): void {
|
||||
switch (type) {
|
||||
case MapRouteType.直线:
|
||||
return Math.atan2(y2 - y1, x2 - x1);
|
||||
case MapRouteType.二阶贝塞尔曲线:
|
||||
return direction < 0 ? Math.atan2(dy1, dx1) : Math.atan2(y2 - y1 - dy1, x2 - x1 - dx1);
|
||||
case MapRouteType.三阶贝塞尔曲线:
|
||||
return direction < 0 ? Math.atan2(dy1, dx1) : Math.atan2(dy2, dx2);
|
||||
return direction < 0 ? Math.atan2(dy1, dx1) : Math.atan2(-dy2, -dx2);
|
||||
default:
|
||||
return 0;
|
||||
}
|
||||
@ -592,6 +687,16 @@ function drawLine(ctx: CanvasRenderingContext2D, pen: MapPen): void {
|
||||
ctx.setTransform(1, 0, 0, 1, 0, 0);
|
||||
ctx.restore();
|
||||
}
|
||||
function lineBezier2(_: Meta2dStore, pen: MapPen): void {
|
||||
if (pen.calculative?.worldAnchors?.length !== 2) return;
|
||||
const { c1 } = pen.route ?? {};
|
||||
const [p1, p2] = pen.calculative?.worldAnchors ?? [];
|
||||
const { x: x1 = 0, y: y1 = 0 } = p1 ?? {};
|
||||
const { x: x2 = 0, y: y2 = 0 } = p2 ?? {};
|
||||
const { x: dx = x2 - x1, y: dy = 0 } = c1 ?? {};
|
||||
pen.calculative.worldAnchors[0].next = { x: x1 + (2 / 3) * dx, y: y1 + (2 / 3) * dy };
|
||||
pen.calculative.worldAnchors[1].prev = { x: x2 / 3 + (2 / 3) * (x1 + dx), y: y2 / 3 + (2 / 3) * (y1 + dy) };
|
||||
}
|
||||
function lineBezier3(_: Meta2dStore, pen: MapPen): void {
|
||||
if (pen.calculative?.worldAnchors?.length !== 2) return;
|
||||
const { c1, c2 } = pen.route ?? {};
|
||||
@ -599,9 +704,9 @@ function lineBezier3(_: Meta2dStore, pen: MapPen): void {
|
||||
const { x: x1 = 0, y: y1 = 0 } = p1 ?? {};
|
||||
const { x: x2 = 0, y: y2 = 0 } = p2 ?? {};
|
||||
const { x: dx1 = x2 - x1, y: dy1 = 0 } = c1 ?? {};
|
||||
const { x: dx2 = 0, y: dy2 = y2 - y1 } = c2 ?? {};
|
||||
const { x: dx2 = 0, y: dy2 = y1 - y2 } = c2 ?? {};
|
||||
pen.calculative.worldAnchors[0].next = { x: x1 + dx1, y: y1 + dy1 };
|
||||
pen.calculative.worldAnchors[1].prev = { x: x2 - dx2, y: y2 - dy2 };
|
||||
pen.calculative.worldAnchors[1].prev = { x: x2 + dx2, y: y2 + dy2 };
|
||||
}
|
||||
|
||||
function drawArea(ctx: CanvasRenderingContext2D, pen: MapPen): void {
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user