ss-component-new 1.3.698 → 1.3.700

package/dist/threeViewerHost-BXdZ6Wgi.js

@@ -0,0 +1,233 @@
+import { defineComponent as U, defineAsyncComponent as b, computed as I, ref as R, watch as H, createElementBlock as N, openBlock as T, createElementVNode as K, createBlock as B, createCommentVNode as V, renderSlot as u, unref as m, withCtx as d } from "vue";
+import { a0 as W, u as A, p as D, s as $ } from "./index-Bw3sTXPI.js";
+import { g as j, q as M, r as L } from "./index.vue_vue_type_style_index_0_scoped_05e3a1d8_lang-Mr9QL-WU.js";
+import { _ as G } from "./_plugin-vue_export-helper-CHgC5LLL.js";
+const re = {
+  SINGLE: "单机",
+  DOUBLE: "双机"
+}, se = {
+  ROBOT: 1,
+  PIPECOMPARSION: 2
+}, a = {
+  ROBOT_SCENE: "robot",
+  // 机器人场景
+  TRACK_PATH: "trackPath",
+  // 轨迹路径场景
+  CPMPIP_SCENE: "cpmpip",
+  // 重大专项场景
+  PREVIEW: "preview"
+  // 预览模式
+}, q = W("threeState", {
+  state: () => ({
+    data: {
+      files: [],
+      data: {}
+    }
+  }),
+  actions: {
+    setData(E) {
+      this.data = E;
+    },
+    getData() {
+      return this.data;
+    }
+  }
+});
+function z() {
+  const E = A(D), { platform: O } = $(E), y = q(D), i = ["uv", "cyd", "nc"], p = ["urdf"], n = ["obj", "stl"], P = [...i, ...p, ...n], f = (e) => {
+    if (!g())
+      throw new Error("不是三维系统");
+    y.setData(e);
+  }, _ = () => y.getData(), g = () => O.value === "three", c = (e) => j(e), h = (e) => {
+    if (!e)
+      return !1;
+    const r = c(e);
+    return P == null ? void 0 : P.includes(r);
+  }, S = (e) => {
+    if (!e)
+      return !1;
+    const r = c(e);
+    return n == null ? void 0 : n.includes(r);
+  }, v = (e) => {
+    if (!e)
+      return !1;
+    const r = c(e);
+    return i == null ? void 0 : i.includes(r);
+  }, l = (e) => {
+    if (!e)
+      return {
+        isCpt: !1,
+        isCyd: !1,
+        isUv: !1,
+        isNc: !1
+      };
+    const r = c(e), o = i == null ? void 0 : i.find((w) => w === r);
+    return {
+      isCpt: o === "cpt",
+      isCyd: o === "cyd",
+      isUv: o === "uv",
+      isNc: o === "nc"
+    };
+  }, C = (e) => {
+    if (!e)
+      return !1;
+    const r = c(e);
+    return p == null ? void 0 : p.includes(r);
+  }, k = (e) => g() && h(e), t = (e) => ({
+    url: e,
+    extension: c(e)
+  });
+  return {
+    getData: _,
+    setData: f,
+    isThreeSystem: g,
+    isUrdf: C,
+    isGeneralFile: S,
+    isTrackPathFile: v,
+    isThreeFile: h,
+    isUseBackdrop: k,
+    initTrackFileType: l,
+    getFileExtension: c,
+    getFileInfo: t,
+    getFilesInfo: (e) => {
+      const r = [];
+      for (let o = 0; o < e.length; o++) {
+        const F = e[o], w = t(F);
+        r.push(w);
+      }
+      return r;
+    }
+  };
+}
+const Y = { class: "three-platform mv-inline" }, J = { class: "top-menu" }, Q = {
+  key: 4,
+  class: "loading"
+}, X = /* @__PURE__ */ U({
+  __name: "threeViewerHost",
+  props: {
+    files: { default: () => [] },
+    threeData: {},
+    componentType: {},
+    width: { default: "100%" },
+    height: { default: "100%" }
+  },
+  setup(E) {
+    const O = b(() => import("./threeSceneView-BDyFpkq-.js")), y = b(() => import("./threePreview-CbGqCMch.js")), i = b(() => import("./threeTrackPathView-yLEUuGXc.js")), p = b(() => import("./threeSceneViewForCPMPIP-DUSufDRq.js")), n = E, P = A(D), { platName: f } = $(P), { isUrdf: _, isTrackPathFile: g } = z(), c = I(() => {
+      var t;
+      return (t = n == null ? void 0 : n.files) == null ? void 0 : t.map((s) => {
+        const { url: e, name: r } = s;
+        return {
+          url: e,
+          name: r
+        };
+      });
+    }), h = I(() => {
+      var e;
+      const t = (e = n == null ? void 0 : n.files) == null ? void 0 : e[0];
+      return (t == null ? void 0 : t.extension) || "";
+    }), S = I(() => {
+      var t, s;
+      return (s = (t = n == null ? void 0 : n.threeData) == null ? void 0 : t.data) == null ? void 0 : s.trackFileType;
+    }), v = I(() => {
+      if (n.componentType)
+        switch (n.componentType) {
+          case "robot":
+            return a.ROBOT_SCENE;
+          case "track":
+            return a.TRACK_PATH;
+          case "cpmpip":
+            return a.CPMPIP_SCENE;
+          case "preview":
+            return a.PREVIEW;
+        }
+      return (f == null ? void 0 : f.value) === M.CPMPIP && _(h.value) ? a.CPMPIP_SCENE : (f == null ? void 0 : f.value) === M.ROBOT && _(h.value) ? a.ROBOT_SCENE : g(h.value) && S.value ? a.TRACK_PATH : a.PREVIEW;
+    }), l = R([]), C = R(!1);
+    async function k(t) {
+      if (!t || !t.length) {
+        l.value = [];
+        return;
+      }
+      C.value = !0;
+      try {
+        const s = await Promise.all(t.map((e) => L(e == null ? void 0 : e.url, e == null ? void 0 : e.name)));
+        l.value = s;
+      } catch (s) {
+        console.error("文件下载时发生错误:", s), l.value = [];
+      } finally {
+        C.value = !1;
+      }
+    }
+    return H(
+      () => c.value,
+      async (t) => {
+        await k(t || []);
+      },
+      { immediate: !0, deep: !0 }
+    ), (t, s) => (T(), N("div", Y, [
+      K("div", J, [
+        u(t.$slots, "top-menu", {}, void 0, !0)
+      ]),
+      v.value === m(a).ROBOT_SCENE ? (T(), B(m(O), {
+        key: 0,
+        fileBlobs: l.value,
+        threeData: n.threeData
+      }, {
+        "button-left": d(() => [
+          u(t.$slots, "management-menu", {}, void 0, !0)
+        ]),
+        "button-right": d(() => [
+          u(t.$slots, "management-page", {}, void 0, !0)
+        ]),
+        _: 3
+      }, 8, ["fileBlobs", "threeData"])) : v.value === m(a).TRACK_PATH ? (T(), B(m(i), {
+        key: 1,
+        fileBlobs: l.value,
+        threeData: n.threeData,
+        trackFileType: S.value
+      }, {
+        "button-left": d(() => [
+          u(t.$slots, "management-menu", {}, void 0, !0)
+        ]),
+        "button-right": d(() => [
+          u(t.$slots, "management-page", {}, void 0, !0)
+        ]),
+        _: 3
+      }, 8, ["fileBlobs", "threeData", "trackFileType"])) : v.value === m(a).CPMPIP_SCENE ? (T(), B(m(p), {
+        key: 2,
+        fileBlobs: l.value,
+        threeData: n.threeData
+      }, {
+        "button-left": d(() => [
+          u(t.$slots, "management-menu", {}, void 0, !0)
+        ]),
+        "button-right": d(() => [
+          u(t.$slots, "management-page", {}, void 0, !0)
+        ]),
+        _: 3
+      }, 8, ["fileBlobs", "threeData"])) : v.value === m(a).PREVIEW ? (T(), B(m(y), {
+        key: 3,
+        fileBlobs: l.value
+      }, {
+        "button-left": d(() => [
+          u(t.$slots, "management-menu", {}, void 0, !0)
+        ]),
+        "button-right": d(() => [
+          u(t.$slots, "management-page", {}, void 0, !0)
+        ]),
+        _: 3
+      }, 8, ["fileBlobs"])) : V("", !0),
+      C.value ? (T(), N("div", Q, " 文件下载中，请稍候... ")) : V("", !0)
+    ]));
+  }
+}), Z = /* @__PURE__ */ G(X, [["__scopeId", "data-v-44d6514b"]]), oe = /* @__PURE__ */ Object.freeze(/* @__PURE__ */ Object.defineProperty({
+  __proto__: null,
+  default: Z
+}, Symbol.toStringTag, { value: "Module" }));
+export {
+  Z as T,
+  z as a,
+  re as r,
+  se as s,
+  oe as t,
+  q as u
+};

package/dist/urdfTree-C6mx4T9t.js

@@ -0,0 +1,254 @@
+import { defineComponent as I, ref as F, watch as M, onMounted as C, onUnmounted as E, createElementBlock as m, openBlock as f, Fragment as P, renderList as T, createElementVNode as d, createCommentVNode as U, toDisplayString as h, computed as L, resolveComponent as S, createVNode as A } from "vue";
+import { h as V } from "./index.vue_vue_type_style_index_0_scoped_05e3a1d8_lang-Mr9QL-WU.js";
+import { _ as b } from "./_plugin-vue_export-helper-CHgC5LLL.js";
+const D = (i, a) => {
+  if (!a)
+    return null;
+  const l = i.joints[a];
+  return l || null;
+}, ae = (i, a) => {
+  if (!a)
+    return null;
+  const l = D(i, a);
+  if (!l)
+    return null;
+  let o = null;
+  return l.traverse((u) => {
+    u instanceof V && !o && (o = u);
+  }), o;
+}, N = (i, a) => {
+  if (!a)
+    return null;
+  const l = i.links[a];
+  return l || null;
+}, ie = (i, a) => {
+  if (!a)
+    return null;
+  const l = N(i, a);
+  if (!l)
+    return null;
+  let o = null;
+  return l.traverse((u) => {
+    u instanceof V && !o && (o = u);
+  }), o;
+}, w = (i) => {
+  const a = i.joints;
+  return Object.values(a);
+}, oe = (i) => w(i).filter((o) => o.jointType !== "fixed"), ue = (i) => {
+  const a = i.links;
+  return Object.keys(a);
+}, R = { class: "panel-content" }, O = {
+  key: 0,
+  class: "joints-list"
+}, K = { class: "joint-info-row" }, B = { class: "joint-left" }, q = { class: "joint-name" }, $ = { class: "joint-range" }, z = { class: "joint-type" }, G = {
+  key: 0,
+  class: "joint-control-row"
+}, H = { class: "slider-container" }, Q = ["min", "max", "value", "onInput"], W = { class: "value-display" }, X = { class: "joint-value" }, Y = { class: "unit" }, Z = {
+  key: 1,
+  class: "empty-state"
+}, j = /* @__PURE__ */ I({
+  __name: "urdfJointPanel",
+  props: {
+    model: {}
+  },
+  setup(i, { expose: a }) {
+    const l = i, o = F([]), u = F(null), _ = (n, e = !1) => n === "revolute" ? e ? Math.PI : -Math.PI : n === "prismatic" ? e ? 1 : -1 : 0, y = (n) => {
+      if (!n || !n.joints)
+        return console.warn("URDF模型无效或不包含关节信息"), [];
+      const e = [];
+      return w(n).forEach((r) => {
+        var c, p;
+        if (r.jointType === "fixed")
+          return;
+        let t = {
+          lower: ((c = r.limit) == null ? void 0 : c.lower) ?? _(r.jointType, !1),
+          upper: ((p = r.limit) == null ? void 0 : p.upper) ?? _(r.jointType, !0)
+        };
+        r.jointType === "continuous" && (t = {
+          lower: -10 * Math.PI,
+          upper: 10 * Math.PI
+        }), e.push({
+          name: r.name,
+          type: r.jointType || "unknown",
+          limit: t,
+          currentValue: r.angle || 0,
+          urdfJoint: r
+        });
+      }), e;
+    }, v = (n, e) => {
+      var c;
+      const s = o.value.find((p) => p.name === n);
+      if (!s) return;
+      const r = parseFloat(e), t = Math.max(s.limit.lower, Math.min(s.limit.upper, r));
+      s.currentValue = t, (c = l.model) != null && c.setJointValue ? l.model.setJointValue(n, t) : s.urdfJoint.setJointValue(t);
+    }, g = () => {
+      o.value.forEach((n) => {
+        (n.type === "revolute" || n.type === "continuous" || n.type === "prismatic") && v(n.name, 0);
+      });
+    }, J = () => {
+      l.model && o.value.forEach((n) => {
+        n.urdfJoint.angle !== void 0 && n.currentValue !== n.urdfJoint.angle && (n.currentValue = n.urdfJoint.angle);
+      });
+    }, x = () => {
+      const n = () => {
+        J(), u.value = requestAnimationFrame(n);
+      };
+      n();
+    }, k = () => {
+      u.value && (cancelAnimationFrame(u.value), u.value = null);
+    };
+    return M(
+      () => l.model,
+      (n) => {
+        n ? o.value = y(n) : o.value = [];
+      },
+      { immediate: !0 }
+    ), C(() => {
+      x();
+    }), E(() => {
+      k();
+    }), a({
+      resetAllJoints: g
+    }), (n, e) => (f(), m("div", R, [
+      o.value.length > 0 ? (f(), m("div", O, [
+        (f(!0), m(P, null, T(o.value, (s) => (f(), m("div", {
+          key: s.name,
+          class: "joint-item"
+        }, [
+          d("div", K, [
+            d("div", B, [
+              d("span", q, h(s.name), 1),
+              d("span", $, " [" + h(s.limit.lower.toFixed(2)) + ", " + h(s.limit.upper.toFixed(2)) + "] ", 1)
+            ]),
+            d("span", z, h(s.type), 1)
+          ]),
+          s.type === "revolute" || s.type === "prismatic" || s.type === "continuous" ? (f(), m("div", G, [
+            d("div", H, [
+              d("input", {
+                type: "range",
+                min: s.limit.lower,
+                max: s.limit.upper,
+                step: "0.001",
+                value: s.currentValue,
+                onInput: (r) => v(s.name, r.target.value),
+                class: "joint-slider"
+              }, null, 40, Q)
+            ]),
+            d("div", W, [
+              d("span", X, h(s.currentValue ? Number(s.currentValue).toFixed(3) : "0.000"), 1),
+              d("span", Y, h(s.type === "prismatic" ? "m" : "rad"), 1)
+            ])
+          ])) : U("", !0)
+        ]))), 128))
+      ])) : (f(), m("div", Z, e[0] || (e[0] = [
+        d("p", null, "未检测到可控制的关节", -1)
+      ])))
+    ]));
+  }
+}), ce = /* @__PURE__ */ b(j, [["__scopeId", "data-v-b1467983"]]), ee = { class: "panel-content" }, te = "id", se = {
+  __name: "urdfTree",
+  props: {
+    model: Object,
+    maxExpandCount: {
+      type: Number,
+      default: 10
+    },
+    expandStrategy: {
+      type: String,
+      default: "breadth",
+      validator: (i) => ["breadth", "firstLevel"].includes(i)
+    }
+  },
+  emits: ["nodeClick"],
+  setup(i, { emit: a }) {
+    const l = i, o = a, u = F([]), _ = {
+      children: "children",
+      label: "label"
+    }, y = (e) => {
+      o("nodeClick", e);
+    }, v = (e, s = 0) => {
+      const r = [];
+      return Array.isArray(e) && (e == null ? void 0 : e.length) > 0 && e.forEach((t) => {
+        if (!(t != null && t.isMesh) && ((t == null ? void 0 : t.type) === "URDFJoint" || (t == null ? void 0 : t.type) === "URDFLink")) {
+          const c = {
+            name: t == null ? void 0 : t.name,
+            label: t == null ? void 0 : t.name,
+            show: !0,
+            level: s + 1,
+            isPenultimate: !1,
+            type: t == null ? void 0 : t.type,
+            id: t == null ? void 0 : t.id,
+            limit: (t == null ? void 0 : t.limit) ?? "",
+            children: v(t == null ? void 0 : t.children, s + 1),
+            path: t == null ? void 0 : t.name
+          };
+          r.push(c);
+        }
+      }), r;
+    }, g = (e) => e ? [{
+      name: e == null ? void 0 : e.name,
+      label: e == null ? void 0 : e.name,
+      show: !0,
+      level: 1,
+      isPenultimate: !1,
+      type: e == null ? void 0 : e.type,
+      id: e == null ? void 0 : e.id,
+      limit: (e == null ? void 0 : e.limit) ?? "",
+      children: v(e == null ? void 0 : e.children, 1) || [],
+      path: e == null ? void 0 : e.name
+    }] : [], J = (e, s) => {
+      const r = [], t = [...e];
+      for (; t.length > 0 && r.length < s; ) {
+        const c = t.shift();
+        c.children && c.children.length > 0 && (r.push(c.id), t.push(...c.children));
+      }
+      return r;
+    }, x = (e, s) => {
+      const r = [];
+      return e.forEach((t) => {
+        if (t.children && t.children.length > 0) {
+          r.push(t.id);
+          const c = t.children.filter((p) => p.children && p.children.length > 0).slice(0, s).map((p) => p.id);
+          r.push(...c);
+        }
+      }), r.slice(0, s + 1);
+    }, k = L(() => !u.value || u.value.length === 0 ? [] : l.expandStrategy === "firstLevel" ? x(u.value, l.maxExpandCount) : J(u.value, l.maxExpandCount)), n = L(() => [{
+      name: "场景",
+      label: "场景",
+      show: !0,
+      level: 1,
+      isPenultimate: !1,
+      type: "场景",
+      id: "场景",
+      children: l != null && l.model ? g(l.model) : [],
+      path: "场景"
+    }]);
+    return M(
+      n,
+      (e) => {
+        u.value = JSON.parse(JSON.stringify(e));
+      },
+      { immediate: !0 }
+    ), (e, s) => {
+      const r = S("el-tree");
+      return f(), m("div", ee, [
+        A(r, {
+          data: u.value,
+          props: _,
+          "default-expanded-keys": k.value,
+          "node-key": te,
+          onNodeClick: y
+        }, null, 8, ["data", "default-expanded-keys"])
+      ]);
+    };
+  }
+}, de = /* @__PURE__ */ b(se, [["__scopeId", "data-v-cfde50c3"]]);
+export {
+  ce as J,
+  de as U,
+  ae as a,
+  ue as b,
+  D as c,
+  ie as d,
+  oe as g
+};