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" />
		<style>
			.mui-btn-block {
				margin-bottom: 0;
			}
			.mui-content-padded {
				margin: 2px;
			}
			.mui-col {
				display: inline-block;
				padding: 2px;
			}
			滚动条样式
			::-webkit-scrollbar {
				width: 0;
				background-color: #F5F5F5;
			}
			.mui-btn-royal {
				background-color: rgba(141, 157, 199, 0.5);
				border: 1px solid rgba(141, 157, 199, 0.5)
			}
			.active {
				background-color: #d4d4d4;
				color: white;
			}
			.up {
				background: #0087c5 url(img/top.svg) no-repeat 50% 10%;
			}
			.down {
				background: #0087c5 url(img/bottom.svg) no-repeat 50% 10%;
			}
			.text-success {
				color: #27c24c
			}
			.mui-col-xs-3 {
				width: 24%;
			}
		</style>
	</head>
	<body style="background: url(img/bg.png) no-repeat 0px 0px">
		<div class="mui-content" style="background: #2e3342;background-color: rgba(255,255,255,0)">
			<div class="mui-content-padded">
				<div class="mui-row">
					<div class="mui-col mui-col-xs-12">
						<span id="agvstatus" style="position: fixed;">·</span>
						<div id="title" style="text-align: center;padding-bottom: 5px;background: url(img/title_bg.png) no-repeat 0 7px;background-size:100%;">
							<a style="color: #FFFFFF;font-size: 20px;">华力西曼克</a>
						</div>
					</div>
					<div class="mui-col mui-col-xs-12" style="height: 245px;text-align: center;background: url(img/top_bg.png) no-repeat 0 0;background-size:100%;">
						<div class="mui-col mui-col-xs-12" style="padding-top: 10px;height: 30px;">
							<div style=" width: 50%;float: left;">
								<img id="speed" src="" style="margin-left: -80px;width: 13%;">
							</div>
							<div style=" width: 50%;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: -35px;">
									<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: 50px;margin-top: -53px;">
									<img id="liftstatus" src="img/liftstatus.png" width="60%">
								</div>
							</div>
						</div>
						<div class="mui-col mui-col-xs-12" style="height: 40px;padding-left: 15px;">
							<div id="stop" style="width: 30%;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: 30%;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: 30%;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 class="mui-col mui-col-xs-12">
							<div id="info" style="width: 89%;height: 35px;margin-left: 19px;color:#fff;font-size:15px;line-height: 30px;background-color: #0b6d78;border-radius: 3px;text-align: center;padding-left: 5px;"></div>
						</div>
					</div>
					<div class="mui-col mui-col-xs-12" style="background: url(img/btlist6_bg.png) no-repeat 10px 0;margin-top: 5px;">
						<div id="btlist" style="padding:5px 0 0 15px;min-height:190px;overflow-y:auto;max-height:190px">
						</div>
					</div>
					<div class="mui-col mui-col-xs-12" style="text-align: center;margin: 22px 0 0 0;">
						<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 class="mui-col mui-col-xs-12" style="padding: 0;border-bottom:0px solid #525663;">
						<div style="height: 25px;background: url(img/bottom_bg.png) no-repeat 0 10px;"></div>
					</div>
				</div>
			</div>
		</div>
	</body>
	<script src="js/jquery.min.js"></script>
	<script src="js/msg.js"></script>
	<script src="js/Sortable.min.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 = "192.168.0.200:8888";
				url = "http://192.168.0.200:8888"
			} 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 = "2020032608412704";
			} else {
				mapid = localStorage.getItem("mapid")
			}
			//IDARR = localStorage.getItem(mapid+agvid+"_id_arr");
			//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);
			$('#cancel').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 = "settings.html"; //right
				} else {
					//window.location.href = "tasklist.html"; //left
					return
				}
			});
			//设置拖拽排序
			// Sortable.create(document.getElementById('btlist'), {
			// 	animation: 150, //动画参数
			// 	// dropBubble:true,
			// 	onUpdate: function(evt){ //拖拽完毕之后发生该事件
			// 		var id_arr=[]
			// 		for(var i=0, len=evt.from.children.length; i<len; i++){
			// 			id_arr+=','+ evt.from.children[i].getAttribute('drag-id');
			// 		}
			// 		id_arr=id_arr.substr(1);
			// 		//然后请求后台ajax 这样就完成了拖拽排序
			// 		id_arr = id_arr.split(','); //["1", "4", "3", "2", "1", "11", "12"]
			// 		localStorage.setItem(mapid+agvid+'_id_arr',JSON.stringify(id_arr));
			// 	}
			// });	
		})
		//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 = "";
				var IDARR = ["100","101","102","103","104","105","106","107"]
				if(IDARR == "" ||IDARR == null){
					for (i in data) {
						if (data[i].Name != "" && data[i].Name != "rect") {
							var ids = data[i].Id - (agvid * 100)
							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="' + ids +
								'" value="' + ids + '">' +
								data[i].Name + '</button></div>'
						}
					}
				}else{
					//id_arr = JSON.parse(IDARR);//["4","5","2","999","7","1","6","8","3"]
					id_arr = IDARR;
					for(x in id_arr){
						for (i in data) {
							if((data[i].Id == id_arr[x]) && (data[i].Name !="") && (data[i].Name != "rect")){
								var ids = data[i].Id - (agvid * 100)
								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="' + ids +
									'" value="' + ids + '">' +
									data[i].Name + '</button></div>'
							}
						}
					}
				}
				$btlist.append(trs);
				//注册按钮点击事件click touchstart
				$("button[name]").on("click", 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);
							$("#agvstatus").toggleClass("text-success");
							$(".mui-btn").removeClass("text-success");
							$("#" + stMap.Station + "").addClass("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];
				//电量显示
				if (k == "BatteryVolt") {
					if (v >= 5200) { //BatteryVoltFull
						document.getElementById("battery").src = "img/battery-100.png";
					}
					if (5000 <= v && v < 5200) { //BatteryVoltHigh
						document.getElementById("battery").src = "img/battery-80.png";
					}
					if (4800 <= v && v < 5000) { //BatteryVoltMid
						document.getElementById("battery").src = "img/battery-60.png";
					}
					if (4700 <= v && v < 4800) { //BatteryVoltLow
						document.getElementById("battery").src = "img/battery-40.png";
					}
					if (4500 <= v && v < 4700) { //BatteryVoltWarn
						document.getElementById("battery").src = "img/battery-20.png";
					}
					if (v <= 4500) { //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 {
						if (status.Status == "1") {
							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") {
					document.getElementById("speed").src = "";
					if (v == 0) {
						$("#info").text("未设置");
					}
					if (v == 1) {
						$("#info").text("就绪");
					}
					if (v == 2) {
						$("#info").text("运行");
						document.getElementById("speed").src = "img/speed-high.png";
						document.getElementById("run").style.backgroundImage = "url('img/btn2_bg.png')";
					} else {
						document.getElementById("run").style.backgroundImage = "url('img/btn4_bg.png')";
					}
					if (v == 3 || v == 4 ||(v == 5)) {
						if (v == 3) {
							$("#info").text("停止");
						}
						if (v == 4) {
							$("#info").text("急停");
						}
						if (v == 5) {
							$("#info").text("刹车");
						}
						document.getElementById("stop").style.backgroundImage = "url('img/btn3_bg.png')";
					} else {
						document.getElementById("stop").style.backgroundImage = "url('img/btn4_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 == 9) {
						document.getElementById("speed").src = "img/speed-medium.png";
						$("#info").text("手动控制");
					}
					if (v == 11 || v == 22) {
						if (v == 11) {
							document.getElementById("speed").src = "img/speed-medium.png";
							$("#info").text("前方障碍");
						}
						if (v == 22) {
							document.getElementById("speed").src = "img/speed-medium.png";
							$("#info").text("障碍减速");
						}
						document.getElementById("warning").style.backgroundImage = "url('img/btn1_bg.png')";
					} else {
						document.getElementById("warning").style.backgroundImage = "url('img/btn4_bg.png')";
					}
					if (v == 12) {
						$("#info").text("防撞停止");
					}
					if (v == 15) {
						$("#info").text("低电压停止");
					}
					if (v == 21) {
						$("#info").text("低电压运行");
					}
					if (v == 31) {
						$("#info").text("前磁导脱线");
					}
					if (v == 32) {
						$("#info").text("反磁导脱线");
					}
					if (v == 33) {
						$("#info").text("左磁导脱线");
					}
					if (v == 34) {
						$("#info").text("右磁导脱线");
					}
					if (v == 71) {
						$("#info").text("取货失败1");
					}
					if (v == 72) {
						$("#info").text("取货失败2");
					}
					if (v == 73) {
						$("#info").text("放货失败");
					}
				}
			}
			if (status.Status == "9" && status.FWlkRpm != "0") {
				document.getElementById("run").style.backgroundImage = "url('img/btn2_bg.png')";
				document.getElementById("stop").style.backgroundImage = "url('img/btn4_bg.png')";
			}
			if (status.Status == "9" && status.FWlkRpm == "0") {
				document.getElementById("run").style.backgroundImage = "url('img/btn4_bg.png')";
				document.getElementById("stop").style.backgroundImage = "url('img/btn3_bg.png')";
			}
		};
	</script>
</html>