From 886f1fd41d63df5b723d8a07abde4212df2bd81b Mon Sep 17 00:00:00 2001
From: caill <815519168@qq.com>
Date: Wed, 27 Aug 2025 15:33:09 +0800
Subject: [PATCH] no message

---
 src/pages/modules/building.vue |   2 +-
 src/pages/modules/gl-map-2.vue | 553 +++++++++++++++++++++++++++++++++
 src/pages/shells/index.vue     |   8 +-
 3 files changed, 559 insertions(+), 4 deletions(-)
 create mode 100644 src/pages/modules/gl-map-2.vue

diff --git a/src/pages/modules/building.vue b/src/pages/modules/building.vue
index 4fbfe15..d9f734c 100644
--- a/src/pages/modules/building.vue
+++ b/src/pages/modules/building.vue
@@ -48,7 +48,7 @@
 </template>
 
 <script>
-import GlMap from './gl-map-1.vue'
+import GlMap from './gl-map-2.vue'
 import { driver } from 'driver.js'
 import 'driver.js/dist/driver.css'
 import { startMapping, stopMapping, getMappingStatus, setStation, oneClickDeployment, abandonMapping } from '../../config/getData.js'
diff --git a/src/pages/modules/gl-map-2.vue b/src/pages/modules/gl-map-2.vue
new file mode 100644
index 0000000..86381b8
--- /dev/null
+++ b/src/pages/modules/gl-map-2.vue
@@ -0,0 +1,553 @@
+<template>
+  <div class="point-cloud-map">
+    <div ref="canvasContainer" class="canvas-container"></div>
+    <!-- 定位按钮 -->
+    <el-button icon="el-icon-location" size="mini" class="locate-button" @click="locateCarToCenter">
+    </el-button>
+    <div v-if="isLoading" class="loading-indicator">
+      <i class="fa fa-circle-o-notch fa-spin"></i> {{ $t('Loading') }}
+    </div>
+  </div>
+</template>
+
+<script>
+import * as THREE from 'three'
+import { OrbitControls } from 'three/examples/jsm/controls/OrbitControls'
+import { mapGetters } from 'vuex'
+// import { points } from '../../config/point.js'
+// import { points1 } from '../../config/point1.js'
+// import { points2 } from '../../config/point2.js'
+
+// 常量定义
+const UPDATE_INTERVAL = 800
+const DEFAULT_VIEW_SIZE = 20
+const BOUND_MARGIN = 0.1
+const MIN_ZOOM_RATIO = 0.5
+const MAX_ZOOM_RATIO = 3
+
+export default {
+  name: 'PointCloudMap',
+  data() {
+    return {
+      // Three.js核心对象
+      scene: null,
+      camera: null,
+      renderer: null,
+      controls: null,
+      
+      // 点云相关
+      pointCloudGeometry: null,
+      pointCloudMaterial: null,
+      pointCloudMesh: null,
+      allPoints: [],
+      pointCount: 0,
+      pointScale: 1.0,
+      
+      // 小车相关
+      vehicleImage: require('../../images/new/agv.png'),
+      carMesh: null,
+      carTexture: null,
+      
+      // WebSocket相关
+      socket: null,
+      isLoading: true,
+      reconnectTimer: null,
+      
+      // 动画与性能
+      viewSize: DEFAULT_VIEW_SIZE,
+      animationId: null,
+      lastUpdateTime: 0,
+      updateInterval: UPDATE_INTERVAL,
+      
+      // 点云边界
+      pointBounds: {
+        minX: Infinity,
+        maxX: -Infinity,
+        minY: Infinity,
+        maxY: -Infinity
+      },
+      
+      isDestroyed: false,
+      baseViewSize: 0,
+      // 画布尺寸（正方形）
+      canvasSize: {
+        width: 0,
+        height: 0
+      }
+    }
+  },
+  computed: {
+    ...mapGetters(['serverUrl', 'userRole', 'carPosition']),
+  },
+  watch: {
+    carPosition: {
+      handler(newVal) {
+        this.updateCarPosition(newVal)
+      },
+      deep: true
+    }
+  },
+  mounted() {
+    this.initializeComponent()
+  },
+  beforeDestroy() {
+    this.cleanup()
+  },
+  methods: {   
+    initializeComponent() {
+      // 设置画布为正方形（仅初始化时设置一次）
+      this.setCanvasSizeAsSquare()
+      this.initThreeJs()
+      this.initControls()
+      this.initPointCloud()
+      this.initCar()
+      this.startAnimationLoop()
+      // 核心修改：移除窗口大小变化监听，不做响应式调整
+    },
+    
+    /**
+     * 设置画布为正方形（宽高等于容器初始宽度）
+     */
+    setCanvasSizeAsSquare() {
+      const container = this.$refs.canvasContainer
+      // 获取容器初始宽度
+      const containerWidth = container.clientWidth
+      // 设置宽高相等（正方形），仅初始化时计算一次
+      this.canvasSize.width = containerWidth
+      this.canvasSize.height = containerWidth
+    },
+    
+    initThreeJs() {
+      const container = this.$refs.canvasContainer
+      const aspect = this.canvasSize.width / this.canvasSize.height // 正方形画布，aspect=1
+      
+      this.scene = new THREE.Scene()
+      
+      this.camera = new THREE.OrthographicCamera(
+        -this.viewSize * aspect / 2,
+        this.viewSize * aspect / 2,
+        this.viewSize / 2,
+        -this.viewSize / 2,
+        0.1,
+        1000
+      )
+      this.camera.position.z = 100
+      
+      this.renderer = new THREE.WebGLRenderer({ 
+        antialias: true,
+        alpha: true,
+        transparent: true
+      })
+      // 使用初始化时计算的正方形尺寸
+      this.renderer.setSize(this.canvasSize.width, this.canvasSize.height)
+      this.renderer.setPixelRatio(Math.min(window.devicePixelRatio, 2))
+      this.renderer.setClearAlpha(0)
+      container.appendChild(this.renderer.domElement)
+    },
+    
+    initControls() {
+      this.controls = new OrbitControls(this.camera, this.renderer.domElement)
+      this.controls.enableRotate = false
+      this.controls.enableZoom = true
+      this.controls.enablePan = true
+      this.controls.screenSpacePanning = true
+      this.controls.touchZoomSpeed = 1
+      this.controls.panSpeed = 1
+      this.controls.touches = {
+        ONE: THREE.TOUCH.PAN,
+        TWO: THREE.TOUCH.DOLLY_PAN
+      }
+
+      this.controls.addEventListener('error', (event) => {
+        console.error('OrbitControls error:', event)
+      })
+    },
+    
+    initPointCloud() {
+      this.pointCloudGeometry = new THREE.BufferGeometry()
+      this.pointCloudMaterial = new THREE.PointsMaterial({
+        color: 0xFFFFFF,
+        size: 1,
+        sizeAttenuation: true,
+        transparent: true,
+        opacity: 1
+      })
+      this.pointCloudMesh = new THREE.Points(
+        this.pointCloudGeometry, 
+        this.pointCloudMaterial
+      )
+      this.scene.add(this.pointCloudMesh)
+      this.allPoints = []
+    },
+    
+    initCar() {
+      const loader = new THREE.TextureLoader()
+      this.carTexture = loader.load(this.vehicleImage, (texture) => {
+        const material = new THREE.SpriteMaterial({
+          map: texture,
+          transparent: true,
+          opacity: 1,
+          depthWrite: false
+        })
+
+        this.carMesh = new THREE.Sprite(material)
+        this.scene.add(this.carMesh)
+
+        this.calculateCarSize()
+
+        if (this.carPosition) {
+          this.updateCarPosition(this.carPosition)
+          // 初始时将小车定位到中心
+          this.locateCarToCenter()
+        }
+      }, undefined, (error) => {
+        console.error('小车图片加载失败:', error)
+      })
+    },
+
+    calculateCarSize() {
+      if (!this.carMesh) return
+      
+      // 基于初始化的正方形画布计算小车尺寸（不再更新）
+      const spriteSizeX = (50 / this.canvasSize.width) * this.viewSize * (this.canvasSize.width / this.canvasSize.height)
+      const spriteSizeY = (50 / this.canvasSize.height) * this.viewSize
+      
+      this.carMesh.scale.set(spriteSizeX, spriteSizeY, 1)
+    },
+    
+    updateCarPosition(position) {
+      if (this.carMesh && position) {
+        this.carMesh.position.x = position.x * this.pointScale
+        this.carMesh.position.y = position.y * this.pointScale
+        this.carMesh.position.z = 1
+        this.carMesh.rotation.z = position.angle
+      }
+    },
+    
+    /**
+     * 定位按钮点击事件 - 将小车置于视窗中心
+     */
+    locateCarToCenter() {
+      if (!this.carMesh || !this.carPosition || !this.controls) return
+      
+      // 计算小车在世界坐标系中的位置
+      const carWorldX = this.carPosition.x * this.pointScale
+      const carWorldY = this.carPosition.y * this.pointScale
+      
+      // 将相机和控制器目标设置为小车位置，实现居中
+      this.controls.target.set(carWorldX, carWorldY, 0)
+      this.camera.position.set(carWorldX, carWorldY, 100)
+      this.controls.update() // 立即更新控制器状态
+    },
+    
+    initWebSocket() {
+      if (this.reconnectTimer) clearTimeout(this.reconnectTimer)
+      const protocol = this.serverUrl.startsWith('https') ? 'wss' : 'ws'
+      const wsHost = this.serverUrl.replace(/^https?:\/\//, '')
+      this.socket = new WebSocket(`${protocol}://${wsHost}/webSocket/PointCloudData/${this.userRole}`)
+      
+      this.socket.onopen = () => {
+        console.log('WebSocket连接已建立')
+        this.isLoading = false
+      }
+      
+      this.socket.onmessage = (event) => {
+        if (this.isDestroyed) return
+        try {
+          const now = Date.now()
+          if (now - this.lastUpdateTime < this.updateInterval) {
+            return
+          }
+          this.lastUpdateTime = now
+          if (this.reconnectTimer) clearTimeout(this.reconnectTimer)
+          const pointData = JSON.parse(event.data)
+          this.updatePointCloud(pointData.data)
+        } catch (error) {
+          console.error('解析点云数据失败:', error)
+        }
+      }
+      
+      this.socket.onclose = (event) => {
+        console.log('WebSocket连接已关闭，代码:', event.code)
+        this.isLoading = true
+        this.reconnectTimer = setTimeout(() => this.initWebSocket(), 3000)
+      }
+      
+      this.socket.onerror = (error) => {
+        if (this.reconnectTimer) clearTimeout(this.reconnectTimer)
+        console.error('WebSocket错误:', error)
+        this.isLoading = true
+      }
+    },
+
+    closeWebSocket() {
+      if (this.reconnectTimer) clearTimeout(this.reconnectTimer)
+      if (this.socket) {
+        this.socket.onopen = null
+        this.socket.onmessage = null
+        this.socket.onclose = null
+        this.socket.onerror = null
+        this.socket.close(1000, '组件销毁')
+        this.socket = null
+      }
+      this.allPoints = []
+    },
+
+    init() {
+      this.initWebSocket()
+      // this.isLoading = false
+      // const pointData = points.data
+      // this.updatePointCloud(pointData);
+      // setTimeout(() => {
+      //   const arr = points1.data
+      //   this.updatePointCloud(arr);
+      // }, 1000)
+      // setTimeout(() => {
+      //   const arr = points2.data
+      //   this.updatePointCloud(arr);
+      // }, 2000)
+    },
+    
+    updatePointCloud(points) {
+      if (!Array.isArray(points) || points.length === 0) return
+
+      const existingPoints = new Set(this.allPoints.map(p => `${p.x},${p.y}`))
+      const newUniquePoints = points.filter(point => {
+        const key = `${point.x},${point.y}`
+        return !existingPoints.has(key)
+      })
+
+      if (newUniquePoints.length === 0) return
+      
+      this.allPoints = [...this.allPoints, ...newUniquePoints]
+      this.pointCount = this.allPoints.length
+
+      this.updatePointBounds(newUniquePoints)
+      
+      this.updatePointCloudGeometry(newUniquePoints)
+    },
+    
+    updatePointBounds(newPoints) {
+      for (const point of newPoints) {
+        const scaledX = (point.x || 0) * this.pointScale
+        const scaledY = (point.y || 0) * this.pointScale
+        
+        if (scaledX < this.pointBounds.minX) this.pointBounds.minX = scaledX
+        if (scaledX > this.pointBounds.maxX) this.pointBounds.maxX = scaledX
+        if (scaledY < this.pointBounds.minY) this.pointBounds.minY = scaledY
+        if (scaledY > this.pointBounds.maxY) this.pointBounds.maxY = scaledY
+      }
+      
+      // 仅在首次加载点云时自动适配
+      if (this.pointCount === newPoints.length) {
+        this.adjustCameraByBounds()
+      }
+    },
+    
+    updatePointCloudGeometry(newUniquePoints) {
+      const positionAttribute = this.pointCloudGeometry.getAttribute('position')
+      let positions
+      const newPointsCount = newUniquePoints.length
+
+      if (!positionAttribute) {
+        positions = new Float32Array(this.pointCount * 3)
+        this.pointCloudGeometry.setAttribute(
+          'position',
+          new THREE.BufferAttribute(positions, 3)
+        )
+      } else {
+        positions = positionAttribute.array
+        const newLength = this.pointCount * 3
+        if (newLength > positions.length) {
+          const newPositions = new Float32Array(Math.ceil(newLength * 1.2))
+          newPositions.set(positions)
+          positions = newPositions
+          this.pointCloudGeometry.setAttribute(
+            'position',
+            new THREE.BufferAttribute(positions, 3)
+          )
+        }
+      }
+
+      const startIndex = (this.pointCount - newPointsCount) * 3
+      for (let i = 0; i < newPointsCount; i++) {
+        const point = newUniquePoints[i]
+        const index = startIndex + i * 3
+        positions[index] = (point.x || 0) * this.pointScale
+        positions[index + 1] = (point.y || 0) * this.pointScale
+        positions[index + 2] = 0
+      }
+
+      this.pointCloudGeometry.getAttribute('position').needsUpdate = true
+    },
+
+    adjustCameraByBounds() {
+      const aspect = this.canvasSize.width / this.canvasSize.height
+
+      const pointRangeX = this.pointBounds.maxX - this.pointBounds.minX
+      const pointRangeY = this.pointBounds.maxY - this.pointBounds.minY
+
+      let baseViewSize = DEFAULT_VIEW_SIZE
+      if (this.allPoints.length > 0 && !(pointRangeX === 0 && pointRangeY === 0)) {
+        const requiredViewSizeX = pointRangeX * (1 + BOUND_MARGIN)
+        const requiredViewSizeY = pointRangeY * (1 + BOUND_MARGIN)
+        baseViewSize = Math.max(requiredViewSizeX / aspect, requiredViewSizeY)
+      }
+      this.baseViewSize = baseViewSize
+
+      this.viewSize = baseViewSize
+      this.camera.left = -this.viewSize * aspect / 2
+      this.camera.right = this.viewSize * aspect / 2
+      this.camera.top = this.viewSize / 2
+      this.camera.bottom = -this.viewSize / 2
+      this.camera.updateProjectionMatrix()
+
+      // 初始时将小车定位到中心
+      this.locateCarToCenter()
+
+      if (this.controls) {
+        this.controls.minZoom = MIN_ZOOM_RATIO
+        this.controls.maxZoom = MAX_ZOOM_RATIO
+        this.controls.minDistance = 50
+        this.controls.maxDistance = 200
+        this.controls.zoomToCursor = false
+      }
+
+      this.calculateCarSize()
+    },
+    
+    // 核心修改：移除响应式调整逻辑，不再处理窗口大小变化
+    // handleResize() { ... },
+
+    startAnimationLoop() {
+      const animate = () => {
+        this.animationId = requestAnimationFrame(animate)
+        if (this.controls) {
+          this.controls.update()
+        }
+        this.renderer.render(this.scene, this.camera)
+      }
+      animate()
+    },
+    
+    cleanup() {
+      this.isDestroyed = true
+      
+      this.closeWebSocket()
+      
+      if (this.animationId) {
+        cancelAnimationFrame(this.animationId)
+        this.animationId = null
+      }
+      
+      if (this.controls) {
+        this.controls.dispose()
+        this.controls = null
+      }
+      
+      if (this.scene) {
+        if (this.pointCloudMesh) {
+          this.scene.remove(this.pointCloudMesh)
+        }
+        if (this.carMesh) {
+          this.scene.remove(this.carMesh)
+        }
+        this.scene.clear()
+        this.scene = null
+      }
+      
+      if (this.renderer) {
+        const container = this.$refs.canvasContainer
+        if (container && this.renderer.domElement) {
+          container.removeChild(this.renderer.domElement)
+        }
+        this.renderer.dispose()
+        this.renderer.forceContextLoss()
+        this.renderer = null
+      }
+      
+      if (this.pointCloudGeometry) {
+        this.pointCloudGeometry.dispose()
+        this.pointCloudGeometry = null
+      }
+      
+      if (this.pointCloudMaterial) {
+        this.pointCloudMaterial.map = null
+        this.pointCloudMaterial.dispose()
+        this.pointCloudMaterial = null
+      }
+      
+      if (this.carTexture) {
+        this.carTexture.dispose()
+        this.carTexture = null
+      }
+      
+      // 移除窗口大小变化监听
+      window.removeEventListener('resize', this.handleResize)
+      
+      this.camera = null
+      this.carMesh = null
+      this.pointCloudMesh = null
+    }
+  }
+}
+</script>
+
+<style lang="stylus" scoped>
+.point-cloud-map
+  position relative
+  width 100%
+  height 100%
+  background-color rgba(4, 33, 58, 70%)
+  box-shadow inset 1px 1px 7px 2px #4d9bcd
+  overflow hidden
+
+.canvas-container
+  display: flex;
+  align-items: center;
+  justify-content: center;
+  width: 100%
+  height: 100%
+  position: relative
+  z-index: 0
+
+// 定位按钮样式
+.locate-button
+  position: absolute
+  bottom: 20px
+  right: 20px
+  width: 40px
+  height: 40px
+  border-radius: 50%
+  background-color: rgba(255, 255, 255, 0.8)
+  border: none
+  color: #333
+  font-size: 18px
+  cursor: pointer
+  display: flex
+  align-items: center
+  justify-content: center
+  box-shadow: 0 2px 10px rgba(0, 0, 0, 0.2)
+  z-index: 100
+  transition: all 0.2s ease
+  &:hover
+    background-color: white
+    transform: scale(1.05)
+  &:active
+    transform: scale(0.95)
+
+.loading-indicator
+  position: absolute
+  top: 50%
+  left: 50%
+  transform: translate(-50%, -50%)
+  background-color: rgba(255, 255, 255, 0.8)
+  padding: .01rem .02rem
+  border-radius: 4px
+  box-shadow: 0 2px 10px rgba(0, 0, 0, 0.1)
+  font-size: .12rem
+  color: #333
+  z-index: 100
+  display: flex
+  align-items: center
+</style>
diff --git a/src/pages/shells/index.vue b/src/pages/shells/index.vue
index 719e2dc..8573248 100644
--- a/src/pages/shells/index.vue
+++ b/src/pages/shells/index.vue
@@ -6,7 +6,7 @@
       </el-col>
       <el-col :span="20">
         <el-row type="flex" justify="end" align="middle">
-          <div class="warn_image" :class="['warn_image_1', 'warn_image_2'][Number(topInfo.error_category) - 1]" @click="$router.push('/index/warning')"></div>
+          <div class="warn_image" :class="['warn_image_0', 'warn_image_1', 'warn_image_2'][topInfo.anomalyLevel]" @click="$router.push('/index/warning')"></div>
           <div v-if="JSON.stringify(topInfo) !== '{}'" class="state-item">{{ topInfo.isManual ? $t('ManualMode') : $t('AutomaticMode')}}</div>
           <div v-if="JSON.stringify(topInfo) !== '{}'" class="state-item">{{ topInfo.state }}</div>
           <div v-if="JSON.stringify(topInfo) !== '{}'" class="relative elec-qty-wrap" :class="{'elec-wraning': topInfo.batteryPower <= 40}">
@@ -82,7 +82,7 @@ export default {
         y: -0.001812, // 车辆y坐标
         task_seq: '点位1-点位2-顶顶位3-point layout location-顶地方的方法顶顶顶点位3',
         task_point: '点位2',
-        error_category: 2,
+        anomalyLevel: 1,
         errorData: [
           {
             "error_id": "1",
@@ -393,7 +393,9 @@ export default {
 .warn_image
   _wh(.36rem, .32rem)
   margin 0 .08rem 0 0
-  background center / 100% auto url(../../images/new/warn_green.png) no-repeat
+  background center / 100% auto no-repeat
+.warn_image_0
+  background-image url(../../images/new/warn_green.png)
 .warn_image_1
   background-image url(../../images/new/warn_yellow.png)
 .warn_image_2