wcs
/
agv-summoner


			
				
					
						
						
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							<!DOCTYPE html>
<html>
	<head>
		<meta charset="utf-8">
		<title>华力机电SIMANC</title>
		<meta name="viewport" content="width=device-width, initial-scale=1,maximum-scale=1,user-scalable=no">
		<meta name="apple-mobile-web-app-capable" content="yes">
		<meta name="apple-mobile-web-app-status-bar-style" content="black">
		<!--标准mui.css-->
		<link rel="stylesheet" type="text/css" href="css/mui.min.css">
		<!--App自定义的css-->
		<link rel="stylesheet" type="text/css" href="css/app.css" />
		<link rel="stylesheet" type="text/css" href="css/iconfont.css" />
		<link rel="stylesheet" type="text/css" href="css/style.css" />
	</head>
	<body style="background: url(img/bg.png) no-repeat 0px -0px;width:99%;">
		<div id="title" style="height: 4%;text-align: center;padding-top: 10px;padding-bottom: 5px;background: url(img/title_bg.png) no-repeat 0 17px;background-size:100%;">
			<a style="color: #FFFFFF;font-size: 20px;">华力西曼克</a>
		</div>
		<div id="top" style="height: 30%;text-align: center;padding-top: 1px;background: url(img/top_bg.png) no-repeat 0 0px;background-size:100%;">
			<div class="mui-row">
				<div class="mui-col mui-col-xs-12">
					<div style="height: 10%;width: 50%;padding-top: 10px;float: left;">
						<img id="speed" src="img/speed-high.png" style="margin-left: -80px;width: 13%;">
					</div>
					<div style="height: 10%;width: 50%;padding-top: 10px;float: left;">
						<img id="battery" src="img/battery-100.png" style="margin-right: -80px;width: 23%;">
					</div>
				</div>
				<div class="mui-col mui-col-xs-12">
					<div id="tgts" style="width: 120px;height:90px;border-radius: 12px;border: 2px solid #298890;float: left;margin-left: 23px;">
						<div style="margin-left: -60px;margin-top: 15px;">
							<a style="color: #FFFFFF;font-size: 18px;">目标</a><br>
						</div>
						<div style="margin-left: -60px;margin-top: 10px;">
							<a style="color: #FFFFFF;font-size: 18px;">站点</a><br>
						</div>
						<div style="margin-left: 40px;margin-top: -40px;">
							<a id="tgtstation" style="color: #FFFFFF;font-size: 50px;"></a><br>
						</div>
					</div>
					<div id="jack" style="width: 120px;height:90px;border-radius: 12px;border: 2px solid #298890;float: right;margin-right: 20px;">
						<div style="margin-left: -60px;margin-top: 15px;">
							<a style="color: #FFFFFF;font-size: 18px;">顶升</a><br>
						</div>
						<div style="margin-left: -60px;margin-top: 10px;">
							<a style="color: #FFFFFF;font-size: 18px;">状态</a><br>
						</div>
						<div style="margin-left: 60px;margin-top: -55px;">
							<img id="liftstatus" src="img/liftstatus.png" width="60%">
						</div>
					</div>
				</div>
				<br>
				<br>
				<div style="width: 100%;height: 50px;margin-top: 100px;margin-left: 20px;">
					<div id="stop" style="width: 28%;height: 40px;line-height:40px;float: left;margin-left: 5px;background: url(img/btn4_bg.png);color: #FFFFFF;text-align: center;">停止</div>
					<div id="run" style="width: 28%;height: 40px;line-height:40px;float: left;margin-left: 5px;background: url(img/btn4_bg.png);color: #FFFFFF;text-align: center;">运行</div>
					<div id="warning" style="width: 28%;height: 40px;line-height:40px;float: left;margin-left: 5px;background: url(img/btn4_bg.png);color: #FFFFFF;text-align: center;">注意</div>
				</div>
				<div id="info" style="width: 87%;height: 30px;margin-left: 25px;color:#ccc;font-size:4px;line-height: 30px;background-color: #0b6d78;border-radius: 3px;text-align: left;padding-left: 5px;"></div>
				<div class="mui-content-padded" style="background: url(img/btlist5_bg.png) no-repeat 10px 0;margin-top: 25px;width: 100%;height: auto;">
					<div class="mui-row">
						<div class="mui-col mui-col-xs-12" id="btlist" style="padding-top:10px;min-height:285px;overflow-y:auto;max-height:285px"></div>

						<div class="mui-col mui-col-xs-12" style="text-align: center;padding-bottom: 13px;">
							<div class="mui-col mui-col-xs-3" id="gomoving">
								<button type="button" class="mui-btn mui-btn-royal mui-btn-block operation" id="moving" style="border:1px solid #4a5a6a;">移动</button>
							</div>
							<div class="mui-col mui-col-xs-3" id="gostart">
								<button type="button" class="mui-btn mui-btn-royal mui-btn-block operation" id="start" style="border:1px solid #4a5a6a;">搬运</button>
							</div>
							<div class="mui-col mui-col-xs-3">
								<button type="button" class="mui-btn mui-btn-royal mui-btn-block operation" id="cancel" style="border:1px solid #4a5a6a;">取消</button>
							</div>
						</div>
					</div>
				</div>
				<div style="height: 15px;width: 101%;background: url(img/bottom_bg.png) no-repeat -25px 0;"></div>
			</div>
		</div>
	</body>
	<script src="js/jquery.min.js"></script>
	<script src="js/mui.min.js"></script>
	<script src="js/msg.js"></script>
	<script src="js/lodash.js"></script>
	<script src="js/backbone.js"></script>
	<script src="js/rappid.min.js"></script>
	<script src="js/models/joint.shapes.smcr.js"></script>
	<script src="js/map.js"></script>
	<script src="js/models/joint.shapes.app.js"></script>
	<script type="text/javascript">
		var $btlist = $('#btlist');
		$(function() {
			//获取保存的ip、agvid、mapid等,如果没有数据，则设置为默认
			if (localStorage.getItem("ip") == "" || localStorage.getItem("ip") == null) {
				ip = "192.168.1.92:8888";
				url = "http://192.168.1.92:8888"
			} else {
				ip = localStorage.getItem("ip") + ":8888";
				url = "http://" + localStorage.getItem("ip") + ":8888";
			}
			if (localStorage.getItem("agvid") == "" || localStorage.getItem("agvid") == null) {
				agvid = 1;
			} else {
				agvid = parseInt(localStorage.getItem("agvid"))
			}
			if (localStorage.getItem("mapid") == "" || localStorage.getItem("mapid") == null) {
				mapid = "2019081410472902";
			} else {
				mapid = localStorage.getItem("mapid")
			}
			//获取按钮
			createList();

			//获取状态
			startLog();
			setInterval(function() {
				if (ws.readyState === 3) {
					startLog();
				}
			}, 1000);

			//设置操作按钮
			$("#gostart").addClass("mui-hidden");
			$("#moving").attr("disabled", true);
			$("#start").attr("disabled", true);

			//设置页面可以左滑右滑跳转页面
			var windowHeight = $(window).height(),
				$body = $("body");
			$("body").on("touchstart", function(e) {
				e.preventDefault();
				startX = e.originalEvent.changedTouches[0].pageX,
					startY = e.originalEvent.changedTouches[0].pageY;
			});
			$("body").on("touchmove", function(e) {
				e.preventDefault();
				moveEndX = e.originalEvent.changedTouches[0].pageX,
					moveEndY = e.originalEvent.changedTouches[0].pageY,
					X = moveEndX - startX,
					Y = moveEndY - startY;
				if (Math.abs(X) > Math.abs(Y) && X > 0) {
					window.location.href = "internet.html"; //right
				} else if (Math.abs(X) > Math.abs(Y) && X < 0) {
					window.location.href = "remote.html"; //left
				} else if (Math.abs(Y) > Math.abs(X) && Y > 0) {
					return //bottom
				} else if (Math.abs(Y) > Math.abs(X) && Y < 0) {
					return //top
				} else {
					return
				}
			});
		})
		//按钮点击事件
		function onSelectStation(evt) {
			var $this = $(this);
			if ($("div[id='btlist']").is(':active')) {
				$this.removeClass('active');
			} else {
				$this.addClass('active');
			}
			if ($("div[id='btlist']").find(".active").length == 1) {
				$("#moving").attr("disabled", false);
				$this.addClass('up');
				$("#start").removeAttr("disabled");
				$("#cancel").removeAttr("disabled");
			} else if ($("div[id='btlist']").find(".active").length == 2) {
				$("#gomoving").addClass("mui-hidden");
				$("#gostart").removeClass("mui-hidden");
				$this.addClass('down');
				$('#start').attr("disabled", false);
				$("#handling").removeAttr("disabled");
			}
			if ($("div[id='btlist']").find(".active").length >= 2) {
				$("button[name='stbtn']").css("pointer-events", "none")
			} else {
				$("button[name='stbtn']").css("pointer-events", "auto")
			}
		};
		//取消按钮操作
		function Reset(evt) {
			if ($("div[id='btlist']").find(".active")) {
				$("#gostart").addClass("mui-hidden");
				$("#gomoving").removeClass("mui-hidden");
				$("button[name='stbtn']").removeClass('up');
				$("button[name='stbtn']").removeClass('down');
				$("button[name='stbtn']").removeClass('active');
				$("button[name='stbtn']").css("pointer-events", "auto");
				$('#start').attr("disabled", true);
				$('#cancel').attr("disabled", true);
				$('#moving').attr("disabled", true);
			}
		}
		//移动按钮
		$("#moving").click(function() {
			let to;
			$("div[id='btlist']").find(".up").each(function(evt){
			    to = parseInt(($(this).context).id);
			});
			SendCmd(AgvId, msgTypeToStation, {"Stn":to}, function(d) {
			    console.log("AddTransTask", d);
				 Reset()
			})
		});
		//搬运按钮
		$("#start").click(function() {
			var bt_value = [];
			$("div[id='btlist']").find(".up").each(function(evt) {
				bt_value.push($(this).val());
			});
			$("div[id='btlist']").find(".down").each(function(evt) {
				bt_value.push($(this).val());
			});
			AddTransTask(AgvId, bt_value[0], bt_value[1], function(d) {
		        //console.log("AddTransTask", d);
		        Reset()
		    })
		});
		
		function AddTransTask(agvId, from, to, callback){
		    $.post(url+"/task", {
		        id:agvId,
		        from: from,
		        to: to
		    }, callback);
		};
		function SendCmd(agvId, cmd, opt, func) {
		    let param = {"t":cmd};
		    opt = _.extend(param, opt);
		    //console.log("param", opt);
		    $.post(url+"/agv/SendString/" + agvId,
		        JSON.stringify(opt),
		        func
		    );
		}
		//取消按钮
		$("#cancel").on("click", Reset);
		//填充按钮列表
		function createList() {
			$.get(url + "/map/getStations/" + mapid, function(data) {
				trs = "";
				for (i in data) {
					if (data[i].Name != "") {
						trs += '<div class="mui-col mui-col-xs-3" drag-id="' + data[i].Id + '">' +
							'<button type="button" class="mui-btn mui-btn-royal mui-btn-block" name="stbtn" id="' + data[i].Id +
							'" value="' + data[i].Id + '">' +
							data[i].Name + '</button></div>'
					}
				}
				$btlist.append(trs);
				//注册按钮点击事件
				$("button[name]").on("touchstart", onSelectStation);
			});
		}

		//新建ws连接，获取agv的状态
		let ws;
		function startLog() {
			ws = new WebSocket("ws://" + ip + "/ws/msg/" + agvid);
			ws.onmessage = function(e) {
				let result;
				let msg = JSON.parse(e.data);
				switch (msg.type) {
					case msgTypeStatus:
						// 每秒一次状态
						let stMap = JSON.parse(msg.data);
						//根据状态设置图标等
						showStatusValue(stMap);
						//当前站点按钮文字闪烁
						if (agvid == msg.id) {
							let stMap = JSON.parse(msg.data);
							$("#" + stMap.Station + "").toggleClass("text-success");
						}
						break;
						//读取设置状态，可以获得电池伏数
					case msgTypeGetCfg:
						//console.log(msg.type, msg.data);
						break;
					default:
						console.log(msg.type, msg.data);
				}
			};
		}

		//根据获取到的agv状态，设置速度、电量、站点、顶升、提示信息、运行按钮等的颜色和文字显示
		function showStatusValue(status) {
			for (let k in status) {
				let v = status[k];
				//速度显示
				if (k == "Speed") {
					if (v >= "30") { //SpeedHigh
						document.getElementById("speed").src = "img/speed-high.png";
					}
					if (v >= "20") { //SpeedMid
						document.getElementById("speed").src = "img/speed-medium.png";
					}
					if (v <= "10") { //SpeedLow
						document.getElementById("speed").src = "img/speed-low.png";
					}
				}
				//电量显示
				if (k == "BatteryVolt") {
					if (v >= "52") { //BatteryVoltFull
						document.getElementById("battery").src = "img/battery-100.png";
					}
					if ("52" < v >= "50") { //BatteryVoltHigh
						document.getElementById("battery").src = "img/battery-80.png";
					}
					if ("50" < v >= "48") { //BatteryVoltMid
						document.getElementById("battery").src = "img/battery-60.png";
					}
					if ("48" < v >= "47") { //BatteryVoltLow
						document.getElementById("battery").src = "img/battery-40.png";
					}
					if ("47" < v >= "45") { //BatteryVoltWarn
						document.getElementById("battery").src = "img/battery-20.png";
					}
					if (v <= "45") { //BatteryVoltStop
						document.getElementById("battery").src = "img/battery-0.png";
					}
				}
				//目标站点
				if (k == "TgtStation") {
					if (v == "65535") {
						$("#tgtstation").text("0");
					} else {
						$("#tgtstation").text(v);
					}
				}
				//顶升状态
				if (k == "liftstatus") {
					if (v == "1" || v == "3" || v == "5" || v == "7") {
						document.getElementById("liftstatus").src = "img/liftstatus-up.png";
					} else if (v == "0") {
						document.getElementById("liftstatus").src = "img/liftstatus.png";
					} else {
						document.getElementById("liftstatus").src = "img/liftstatus-down.png";
					}
				}
				//停止运行注意按钮及信息提示框
				if (k == "Status") {
					if (v == "1") {
						$("#info").text("未设置状态");
					}
					if (v == "2") {
						document.getElementById("run").style.backgroundImage = "url('img/btn2_bg.png')";
					}
					if (v == "3" || v == "4" || v == "9") {
						if (v == "3") {
							$("#info").text("停止状态");
						}
						if (v == "4") {
							$("#info").text("急停按钮急停状态");
						}
						if (v == "9") {
							$("#info").text("手动控制状态");
						}
						document.getElementById("stop").style.backgroundImage = "url('img/btn3_bg.png')";
					}
					if (v == "6") {
						$("#info").text("驱动器错误");
					}
					if (v == "7") {
						$("#info").text("导航错误");
					}
					if (v == "8") {
						$("#info").text("任务错误");
					}
					if (v == "11" || v == "22") {
						if (v == "11") {
							$("#info").text("遇到障碍物停止 或者 冲突区域");
						}
						if (v == "22") {
							$("#info").text("车辆遇到障碍物靠近");
						}
						document.getElementById("warning").style.backgroundImage = "url('img/btn1_bg.png')";
					}
					if (v == "12") {
						$("#info").text("防撞条紧急停止");
					}
					if (v == "15") {
						$("#info").text("电压低");
					}
					if (v == "21") {
						$("#info").text("车辆低电压运行");
					}
					if (v == "31") {
						$("#info").text("正方向磁导航脱线");
					}
					if (v == "32") {
						$("#info").text("反方向磁导航脱线");
					}
					if (v == "33") {
						$("#info").text("正方向磁导航脱线");
					}
					if (v == "34") {
						$("#info").text("反方向磁导航脱线");
					}
					if (v == "71" || v == "72" || v == "73") {
						$("#info").text("取货物时举升不为空");
					}
				}
			}
		}
	</script>
</html>