@jnrs/lingshu-smart 2.2.6 → 2.2.8

package/dist/ui/models/CleaningMachine.js

@@ -0,0 +1,141 @@
+import { Box } from 'leafer';
+import { ModelAbs } from '../abstract/ModelAbs';
+import { Entrance } from '../components/Entrance';
+import { EllipseLight } from '../components/Light';
+import { Progress } from '../components/Progress';
+import { StationSlotGroup } from '../components/StationSlotGroup';
+import { createGlass } from '../factories/createGlass';
+import { NamePlate } from '../shapes/NamePlate';
+import { setCursor } from '../utils/attr';
+/**
+ * 清洗机
+ */
+export class CleaningMachine extends ModelAbs {
+    light = null;
+    progress = null;
+    entrance = null;
+    stationSlotGroup = null;
+    createUi() {
+        const { uuid, className, nameplate, stationSlotGroup, width, height, x, y, zIndex, rotation, scale, visible, editable, draggable } = this.config;
+        const stationContainer = new Box({
+            className: 'stationContainer',
+            x: this.width_05,
+            y: this.height_05,
+            width: this.width_05,
+            height: 66,
+            around: 'center',
+            children: [
+                createGlass({
+                    around: 'top-left',
+                    width: this.width_05,
+                    height: 66,
+                    cornerRadius: 33
+                })
+            ]
+        });
+        this.entrance = new Entrance({
+            x: this.width_05,
+            y: -2,
+            width,
+            height: this.width_02,
+            isIn: false,
+            isOut: false
+        }).init();
+        this.light = new EllipseLight({
+            x: this.width_05,
+            y: 30,
+            width: this.width_02,
+            height: this.width_02,
+            showShadow: true,
+            strokeWidth: 6,
+            strokeColor: '#D7DCEC'
+        }).init();
+        this.progress = new Progress({
+            x: this.width_05,
+            y: height - 50,
+            width: this.width_08,
+            height: 20,
+            progress: 0
+        }).init();
+        const main = new Box({
+            data: this.config,
+            id: uuid,
+            className,
+            x,
+            y,
+            width,
+            height,
+            zIndex,
+            rotation,
+            scale,
+            visible,
+            editable,
+            draggable,
+            origin: 'center',
+            around: 'center',
+            cornerRadius: 4,
+            fill: {
+                type: 'linear',
+                from: 'left',
+                to: 'right',
+                stops: [
+                    { offset: 0, color: '#999' },
+                    { offset: 1, color: '#555' }
+                ]
+            },
+            shadow: {
+                spread: 1,
+                blur: 4,
+                color: 'rgba(0,0,0,0.5)'
+            },
+            children: [
+                new Box({
+                    hittable: false,
+                    width,
+                    height,
+                    fill: {
+                        type: 'linear',
+                        stops: ['#ABB9DA', '#f2f2f2']
+                    },
+                    cornerRadius: 4,
+                    zIndex: -1
+                }),
+                stationContainer,
+                this.entrance.ui,
+                this.light.ui,
+                this.progress.ui
+            ]
+        });
+        if (stationSlotGroup) {
+            this.stationSlotGroup = new StationSlotGroup({
+                ...stationSlotGroup,
+                x: this.width_05,
+                y: this.height_05,
+                width: this.width_05,
+                height: 66,
+                hittable: this.config.hittable
+            }, this.config.rotation).init();
+            main.add(this.stationSlotGroup.ui);
+        }
+        if (nameplate) {
+            main.add(NamePlate({
+                title: nameplate,
+                x: this.width_05,
+                y: height - 14,
+                stroke: 'rgba(0,0,0,0.05)'
+            }));
+        }
+        setCursor(main, this.config);
+        return main;
+    }
+    operating(data) {
+        if (data.light && this.light)
+            this.light.operating(data.light);
+        if (data.progress && this.progress)
+            this.progress.operating(data.progress);
+        if (data.entrance && this.entrance)
+            this.entrance.operating(data.entrance);
+        if (data.resource && this.stationSlotGroup)
+            this.stationSlotGroup.operating(data.resource);
+    }
+}

package/dist/ui/models/DoubleJointRobot.d.ts

@@ -0,0 +1,23 @@
+/**
+ * 双关节机器人
+ */
+export declare class DoubleJointRobot extends Sprite {
+    constructor({ width, height, linkRailId, linkTrailerId, currentFixture }?: {
+        width?: number | undefined;
+        height?: number | undefined;
+        currentFixture?: string | undefined;
+    });
+    init(): void;
+    handleRotateR1(r: any): void;
+    handleRotateR2(r: any): void;
+    moveX(x: any): void;
+    handleLight(val: any): void;
+    switchFork(type?: string): void;
+    addPallet(d: any): void;
+    removeAllPallet(d: any): void;
+    addCutter(d: any): void;
+    removeAllCutter(d: any): void;
+    forkAnimationIn(): void;
+    forkAnimationOut(): void;
+    run(d: any): void;
+}

package/dist/ui/models/DoubleJointRobot.js

@@ -0,0 +1,545 @@
+/**
+ * 双关节机器人
+ */
+export class DoubleJointRobot extends Sprite {
+    constructor({ width = 90, height = 76, linkRailId, linkTrailerId, currentFixture = 'pallet' } = {}) {
+        super(...arguments);
+        this.width = width;
+        this.height = height;
+        this.linkRailId = linkRailId; // 链接轨道的id
+        this.linkTrailerId = linkTrailerId; // 绑定的随行托的id
+        this.currentFixture = currentFixture; // 当前手抓的夹具: pallet/cutter
+        this.defaultLightColor = 'rgba(255,255,255,0.2)';
+        this.init();
+        // this.handleRotateR1(90)
+        // this.handleRotateR2(90)
+    }
+    init() {
+        //设备状态灯
+        const light = {
+            tag: 'Box',
+            width: this.width,
+            height: this.height,
+            x: 0,
+            y: 0,
+            cornerRadius: 10,
+            zIndex: -1,
+            children: [
+                {
+                    className: 'statusLight',
+                    tag: 'Box',
+                    width: 30,
+                    height: 4,
+                    x: 45,
+                    y: 4,
+                    fill: this.defaultLightColor,
+                    around: 'center',
+                    cornerRadius: 4
+                },
+                {
+                    className: 'statusLight',
+                    tag: 'Box',
+                    width: 30,
+                    height: 4,
+                    x: 45,
+                    y: this.height - 4,
+                    fill: this.defaultLightColor,
+                    around: 'center',
+                    cornerRadius: 4
+                }
+            ]
+        };
+        const statusLight = new Box(light);
+        //小摆臂 - R2
+        const smallArm = new Box({
+            // animation: {
+            //   style: { rotation: 360 },
+            //   duration: 1,
+            //   loop: true,
+            //   easing: 'linear'
+            // },
+            id: 'smallArm',
+            x: 32,
+            y: 5,
+            zIndex: 1,
+            origin: {
+                x: 8,
+                y: 27.5
+            },
+            children: [
+                {
+                    tag: 'Box',
+                    width: 36,
+                    height: 16,
+                    stroke: 'rgba(0,0,0,0.1)',
+                    strokeWidth: 0.5,
+                    fill: {
+                        type: 'linear',
+                        stops: ['#FF6600', '#FFbb00', '#FF6600']
+                    },
+                    cornerRadius: [16, 0, 0, 16],
+                    children: [
+                        new Shadow({
+                            width: 36,
+                            height: 16,
+                            cornerRadius: [16, 0, 0, 16],
+                            fill: null,
+                            innerShadow: null,
+                            shadow: {
+                                x: 0,
+                                y: 0,
+                                blur: 3,
+                                color: 'rgba(0,0,0,0.5)'
+                            }
+                        })
+                    ]
+                },
+                {
+                    tag: 'Rect',
+                    width: 12,
+                    height: 12,
+                    x: 2,
+                    y: 2,
+                    fill: '#424242',
+                    cornerRadius: 16
+                },
+                {
+                    tag: 'Rect',
+                    x: 36,
+                    width: 5,
+                    height: 16,
+                    fill: '#424242',
+                    cornerRadius: [0, 16, 16, 0]
+                },
+                // 叉子
+                {
+                    id: 'fork',
+                    tag: 'Box',
+                    x: 30,
+                    y: -17,
+                    zIndex: -1,
+                    children: [
+                        {
+                            id: 'fixture',
+                            tag: 'Box',
+                            state: this.currentFixture,
+                            states: {
+                                // 托盘夹具
+                                pallet: {
+                                    width: 65,
+                                    height: 50,
+                                    cornerRadius: [15, 0, 0, 15],
+                                    strokeWidth: 4,
+                                    stroke: {
+                                        type: 'linear',
+                                        from: 'left',
+                                        to: 'right',
+                                        stops: [
+                                            { offset: 0, color: '#424242' },
+                                            { offset: 0.9, color: '#000' },
+                                            { offset: 0.9, color: 'rgba(255, 0, 0, 0)' }, //通过透明色实现叉子右边框不显示
+                                            { offset: 1, color: 'rgba(255, 0, 0, 0)' } //通过透明色实现叉子右边框不显示
+                                        ]
+                                    },
+                                    animation: {
+                                        keyframes: [
+                                            { opacity: 0, scaleX: 0 },
+                                            { opacity: 1, scaleX: 1 }
+                                        ],
+                                        duration: 0.3
+                                    }
+                                },
+                                // 刀具夹具
+                                cutter: {
+                                    tag: 'Box',
+                                    width: 40,
+                                    height: 12,
+                                    y: 19,
+                                    fill: {
+                                        type: 'linear',
+                                        from: 'left',
+                                        to: 'right',
+                                        stops: [
+                                            { offset: 0, color: '#424242' },
+                                            { offset: 0.75, color: '#666' },
+                                            { offset: 0.75, color: '#333' },
+                                            { offset: 1, color: '#333' }
+                                        ]
+                                    },
+                                    children: [
+                                        {
+                                            tag: 'Box',
+                                            width: 6,
+                                            height: 2,
+                                            x: 34,
+                                            y: 2,
+                                            fill: '#666'
+                                        },
+                                        {
+                                            tag: 'Box',
+                                            width: 6,
+                                            height: 2,
+                                            x: 34,
+                                            y: 8,
+                                            fill: '#666'
+                                        }
+                                    ]
+                                }
+                            }
+                        }
+                    ]
+                }
+            ]
+        });
+        //大摆臂 - R1
+        const bigArm = new Box({
+            // animation: {
+            //   style: { rotation: 390 },
+            //   duration: 1.7,
+            //   loop: true,
+            //   swing: true
+            // },
+            id: 'bigArm',
+            tag: 'Box',
+            width: 52,
+            height: 28,
+            x: 21,
+            y: 16,
+            cornerRadius: [15, 15, 15, 15],
+            origin: {
+                x: 14,
+                y: 14
+            },
+            fill: {
+                type: 'radial',
+                stops: [
+                    {
+                        offset: 0,
+                        color: '#FFcc00'
+                    },
+                    { offset: 1, color: '#FF6600' }
+                ]
+            },
+            children: [
+                new Shadow({
+                    width: 52,
+                    height: 28,
+                    cornerRadius: [15, 15, 15, 15],
+                    fill: null,
+                    innerShadow: null,
+                    shadow: {
+                        x: 0,
+                        y: 0,
+                        blur: 3,
+                        color: 'rgba(0,0,0,0.5)'
+                    }
+                })
+            ]
+        });
+        //二级基座
+        const secondBase = new Box({
+            id: 'secondBase',
+            tag: 'Box',
+            width: 70,
+            height: 60,
+            x: 45, //35~55
+            y: 38,
+            cornerRadius: 10,
+            around: 'center',
+            fill: {
+                type: 'radial',
+                stops: [
+                    {
+                        offset: 0.3,
+                        color: '#FFcc00'
+                    },
+                    { offset: 1, color: '#FF6600' }
+                ]
+            },
+            children: [
+                new Shadow({
+                    width: 70,
+                    height: 60,
+                    cornerRadius: 10,
+                    innerShadow: null
+                }),
+                new ScrewHole({ x: 10, y: 10, fill: '#dd6600', innerShadow: true, shadow: false }).self,
+                new ScrewHole({ x: 62, y: 10, fill: '#dd6600', innerShadow: true, shadow: false }).self,
+                new ScrewHole({ x: 62, y: 50, fill: '#dd6600', innerShadow: true, shadow: false }).self,
+                new ScrewHole({ x: 10, y: 50, fill: '#dd6600', innerShadow: true, shadow: false }).self,
+                {
+                    rotation: -this.rotation,
+                    tag: 'Box',
+                    width: 50,
+                    height: 50,
+                    around: 'center',
+                    x: 35,
+                    y: 30,
+                    fill: '#ee6600',
+                    cornerRadius: 50,
+                    strokeWidth: 1,
+                    stroke: 'rgba(255,255,255,0.65)',
+                    children: [
+                        new Shadow({
+                            width: 50,
+                            height: 50,
+                            cornerRadius: 50,
+                            shadow: null,
+                            innerShadow: [
+                                {
+                                    x: 4,
+                                    y: 2,
+                                    blur: 4,
+                                    color: 'rgba(0,0,0,0.5)'
+                                },
+                                {
+                                    x: -3,
+                                    y: -1,
+                                    blur: 3,
+                                    color: 'rgba(255, 255, 255, 0.4)'
+                                }
+                            ]
+                        })
+                    ]
+                }
+            ]
+        });
+        bigArm.add(smallArm);
+        secondBase.add(bigArm);
+        //主体
+        const self = new Group({
+            className: 'SingleBot',
+            rotation: this.rotation,
+            children: [
+                {
+                    tag: 'Rect',
+                    x: 5,
+                    y: 4,
+                    width: this.width,
+                    height: this.height,
+                    fill: {
+                        type: 'linear',
+                        from: 'left',
+                        to: 'right',
+                        stops: [
+                            { offset: 0, color: '#666' },
+                            { offset: 1, color: '#555' }
+                        ]
+                    },
+                    cornerRadius: 10,
+                    zIndex: -1
+                },
+                {
+                    tag: 'Rect',
+                    width: this.width,
+                    height: this.height,
+                    fill: '#FF9933',
+                    cornerRadius: 10,
+                    zIndex: -1
+                }
+            ]
+        });
+        self.add(secondBase);
+        self.add(statusLight);
+        //托盘坑位
+        const palletSite = new PalletSite({
+            x: 45,
+            y: 25,
+            rotation: -this.rotation,
+            width: 55,
+            height: 55,
+            zIndex: 1,
+            fill: 'rgba(255,255,255,0)',
+            showSite: false,
+            visible: this.currentFixture === 'pallet' ? 1 : 0,
+            clickable: this.clickable,
+            resData: {
+                deviceId: this.resData.id,
+                deviceType: this.resData.type,
+                targetSiteNumber: 1
+            }
+        });
+        this.childrenObj['palletSite'] = palletSite;
+        self.findOne('#fork').add(palletSite.self);
+        //刀具坑位
+        const cutterSite = new CutterSite({
+            x: 45,
+            y: 25,
+            rotation: -this.rotation,
+            width: 50,
+            height: 50,
+            zIndex: 1,
+            fill: 'rgba(255,255,255,0)',
+            showSite: false,
+            visible: this.currentFixture === 'cutter' ? 1 : 0
+        });
+        this.childrenObj['cutterSite'] = cutterSite;
+        self.findOne('#fork').add(cutterSite.self);
+        // if (this.clickable) {
+        //   self.on(PointerEvent.TAP, () => {
+        //     const { equipDetails } = useFmsVisualEditStore()
+        //     equipDetails({
+        //       id: this.resData.id,
+        //       title: this.resData.title,
+        //       nameplate: this.resData.nameplate
+        //     })
+        //   })
+        // }
+        this.initLeaferObj(self);
+    }
+    //二级基座、R1 - 移动
+    handleRotateR1(r) {
+        if (Number.isFinite(r)) {
+            let secondBaseX = Math.abs(r / 9) - 10;
+            this.self.findOne('#secondBase').animate({
+                style: {
+                    offsetX: secondBaseX
+                },
+                duration: 0.5
+            });
+            let bigArmRotate = r;
+            this.self.findOne('#bigArm').animate({
+                style: {
+                    rotation: bigArmRotate
+                },
+                duration: 0.5
+            });
+        }
+    }
+    //R2 - 移动
+    handleRotateR2(r) {
+        if (Number.isFinite(r)) {
+            this.self.findOne('#smallArm').animate({
+                style: {
+                    rotation: r
+                },
+                duration: 0.5
+            });
+        }
+    }
+    //在轨道上移动
+    moveX(x) {
+        if (Number.isFinite(x)) {
+            this.self.animate({
+                style: {
+                    x
+                },
+                duration: 0.5
+            });
+        }
+    }
+    //状态灯闪动
+    handleLight(val) {
+        const box = this.self.find('.statusLight');
+        box.forEach((element) => {
+            element.set({
+                animation: {
+                    keyframes: [{ fill: val.color }, { fill: this.defaultLightColor }, { fill: val.color }],
+                    duration: 0.5,
+                    loop: val.blink
+                }
+            });
+        });
+    }
+    //手抓切换夹具
+    switchFork(type = 'pallet') {
+        if (type === 'pallet') {
+            this.childrenObj['palletSite'].self.visible = 1;
+            this.childrenObj['cutterSite'].self.visible = 0;
+        }
+        if (type === 'cutter') {
+            this.childrenObj['cutterSite'].self.visible = 1;
+            this.childrenObj['palletSite'].self.visible = 0;
+        }
+        const fixture = this.self.findOne('#fixture');
+        fixture.state = type;
+    }
+    //添加托盘
+    addPallet(d) {
+        this.switchFork('pallet');
+        this.forkAnimationIn();
+        setTimeout(() => {
+            this.childrenObj['palletSite'].addPallet(d);
+        }, 300);
+    }
+    //移除托盘
+    removeAllPallet(d) {
+        this.forkAnimationOut();
+        setTimeout(() => {
+            this.childrenObj['palletSite'].removeAllPallet(d);
+        }, 300);
+    }
+    //添加刀具
+    addCutter(d) {
+        this.switchFork('cutter');
+        this.forkAnimationIn();
+        setTimeout(() => {
+            this.childrenObj['cutterSite'].addPallet(d);
+        }, 300);
+    }
+    //移除刀具
+    removeAllCutter(d) {
+        this.forkAnimationOut();
+        setTimeout(() => {
+            this.childrenObj['cutterSite'].removeAllPallet(d);
+        }, 300);
+    }
+    //叉子上料动画
+    forkAnimationIn() {
+        this.self.findOne('#fork').animate([
+            {
+                style: { scaleX: 1 }
+            },
+            {
+                style: { scaleX: 0.8 },
+                duration: 0.2
+            },
+            { style: { scaleX: 1.3 }, duration: 0.2 },
+            { style: { scaleX: 1 }, duration: 0.6 }
+        ], {
+            reverse: true
+        });
+    }
+    //叉子下料动画
+    forkAnimationOut() {
+        this.self.findOne('#fork').animate([
+            {
+                style: { scaleX: 1 }
+            },
+            {
+                style: { scaleX: 0.8 },
+                duration: 0.2
+            },
+            { style: { scaleX: 1.3 }, duration: 0.2 },
+            { style: { scaleX: 1 }, duration: 0.6 }
+        ], {
+            reverse: false
+        });
+    }
+    //设备运行
+    run(d) {
+        const temp = [
+            {
+                prop: 'light',
+                fn: (d) => this.handleLight(d)
+            },
+            {
+                prop: 'x',
+                fn: (x) => this.moveX(x)
+            },
+            {
+                prop: 'j1',
+                fn: (j) => this.handleRotateR1(j)
+            },
+            {
+                prop: 'j2',
+                fn: (j) => this.handleRotateR2(j)
+            }
+        ];
+        temp.forEach((tp) => {
+            if (Object.hasOwn(d, tp.prop)) {
+                tp.fn(d[tp.prop]);
+            }
+        });
+    }
+}