From e2546d9e8fba1f6384efd786d1706c1d02c59904 Mon Sep 17 00:00:00 2001
From: yyy <2605810609@qq.com>
Date: Thu, 6 Mar 2025 16:17:03 +0800
Subject: [PATCH 1/3] =?UTF-8?q?=E6=A1=86=E9=80=89=E5=B0=86=E7=82=B9?=
 =?UTF-8?q?=E6=98=A0=E5=B0=84=E6=88=90=E7=9B=B4=E7=BA=BF=20=E9=BC=A0?=
 =?UTF-8?q?=E6=A0=87=E6=BB=9A=E8=BD=AE=E6=94=BE=E5=A4=A7=E7=BC=A9=E5=B0=8F?=
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Content-Transfer-Encoding: 8bit

---
 src/api/map/map.ts                            |   6 +
 .../realTimeMap/components/indexPage.vue      |  75 ++++---
 src/views/mapPage/realTimeMap/editMap.vue     | 193 +++++++++++++++---
 src/views/mapPage/realTimeMap/test.vue        | 149 ++++++++------
 4 files changed, 297 insertions(+), 126 deletions(-)

diff --git a/src/api/map/map.ts b/src/api/map/map.ts
index 7112ab98..eebd7874 100644
--- a/src/api/map/map.ts
+++ b/src/api/map/map.ts
@@ -148,3 +148,9 @@ export const getAGVPointInformation = async (macAddress) => {
     url: `/system/position-map-item/getAGVPointInformation?macAddress=` + macAddress
   })
 }
+//根据地图id获取车辆列表
+export const getListByMapId = async (mapId) => {
+  return await request.get({
+    url: `/system/robot/information/getListByMapId?mapId=` + mapId
+  })
+}
diff --git a/src/views/mapPage/realTimeMap/components/indexPage.vue b/src/views/mapPage/realTimeMap/components/indexPage.vue
index ea6c6c90..a4c87100 100644
--- a/src/views/mapPage/realTimeMap/components/indexPage.vue
+++ b/src/views/mapPage/realTimeMap/components/indexPage.vue
@@ -42,7 +42,11 @@
                       :x2="Number(item.endPointX) * radio"
                       :y2="Number(item.endPointY) * radio"
                       :stroke="item.isSelect ? '#f48924' : '#00329F'"
-                      :stroke-width="(5  / nowObject.showYamlJson.resolution / 100 * radio)>1.5?(5  / nowObject.showYamlJson.resolution / 100 * radio):1.5"
+                      :stroke-width="
+                        (5 / nowObject.showYamlJson.resolution / 100) * radio > 1.5
+                          ? (5 / nowObject.showYamlJson.resolution / 100) * radio
+                          : 1.5
+                      "
                       :marker-start="item.direction === 2 ? 'url(#double-arrow-start)' : ''"
                       marker-end="url(#single-arrow)"
                       @click="handleChooseRoute(item, index)"
@@ -51,7 +55,11 @@
                       :d="getLineMidArrowPath(item)"
                       stroke="none"
                       fill="black"
-                      :stroke-width="(5  / nowObject.showYamlJson.resolution / 100 * radio)>1.5?(5  / nowObject.showYamlJson.resolution / 100 * radio):1.5"
+                      :stroke-width="
+                        (5 / nowObject.showYamlJson.resolution / 100) * radio > 1.5
+                          ? (5 / nowObject.showYamlJson.resolution / 100) * radio
+                          : 1.5
+                      "
                       :marker-start="item.direction === 2 ? 'url(#backward-arrow)' : ''"
                       :marker-end="
                         item.direction === 2 ? 'url(#forward-arrow)' : 'url(#forward-arrow)'
@@ -62,7 +70,11 @@
                     <path
                       :d="getCurvePath(item)"
                       :stroke="item.isSelect ? '#f48924' : '#00329F'"
-                      :stroke-width="(5  / nowObject.showYamlJson.resolution / 100 * radio)>1.5?(5  / nowObject.showYamlJson.resolution / 100 * radio):1.5"
+                      :stroke-width="
+                        (5 / nowObject.showYamlJson.resolution / 100) * radio > 1.5
+                          ? (5 / nowObject.showYamlJson.resolution / 100) * radio
+                          : 1.5
+                      "
                       fill="none"
                       :marker-start="item.direction === 2 ? 'url(#backward-arrow)' : ''"
                       :marker-end="
@@ -83,9 +95,13 @@
             :key="index"
             :style="{
               left: item.realX * radio + 'px',
-              top: item.realY  * radio + 'px',
-              width: legendObj.carShow ? carWidth / nowObject.showYamlJson.resolution / 100 * radio + 'px' : '0',
-              height: legendObj.carShow ? carHeight / nowObject.showYamlJson.resolution / 100 * radio + 'px' : '0',
+              top: item.realY * radio + 'px',
+              width: legendObj.carShow
+                ? (carWidth / nowObject.showYamlJson.resolution / 100) * radio + 'px'
+                : '0',
+              height: legendObj.carShow
+                ? (carHeight / nowObject.showYamlJson.resolution / 100) * radio + 'px'
+                : '0',
               transform: 'rotate(' + radianToDegree(item.data.pose2d.yaw) + 'deg)',
               transition: 'all 0.4s linear 0s',
               zIndex: 9999
@@ -241,8 +257,8 @@
               class="indexpage-container-box-point-item-inner"
               v-if="item.type == 5"
               :style="{
-                width: item.locationWide / nowObject.showYamlJson.resolution / 100 * radio + 'px',
-                height: item.locationDeep / nowObject.showYamlJson.resolution / 100  * radio + 'px'
+                width: (item.locationWide / nowObject.showYamlJson.resolution / 100) * radio + 'px',
+                height: (item.locationDeep / nowObject.showYamlJson.resolution / 100) * radio + 'px'
               }"
             >
               <div>
@@ -262,8 +278,8 @@
               class="indexpage-container-box-point-item-inner"
               v-if="item.type == 6"
               :style="{
-                width: item.locationWide / nowObject.showYamlJson.resolution / 100  * radio + 'px',
-                height: item.locationDeep / nowObject.showYamlJson.resolution / 100  * radio + 'px'
+                width: (item.locationWide / nowObject.showYamlJson.resolution / 100) * radio + 'px',
+                height: (item.locationDeep / nowObject.showYamlJson.resolution / 100) * radio + 'px'
               }"
             >
               <div>
@@ -288,8 +304,10 @@
             >
               <div
                 :style="{
-                  width: item.locationWide / nowObject.showYamlJson.resolution / 100  * radio + 'px',
-                  height: item.locationDeep  / nowObject.showYamlJson.resolution / 100 * radio + 'px',
+                  width:
+                    (item.locationWide / nowObject.showYamlJson.resolution / 100) * radio + 'px',
+                  height:
+                    (item.locationDeep / nowObject.showYamlJson.resolution / 100) * radio + 'px',
                   background: '#000',
                   borderRadius: '50%'
                 }"
@@ -434,14 +452,20 @@ const carWidth = ref(60)
 const carHeight = ref(32)
 
 const convertActualToBrowser = (pointX, pointY) => {
-  const y1 = Number(nowObject.value.showYamlJson.origin[1]) + Number(nowObject.value.showYamlJson.height) * Number(nowObject.value.showYamlJson.resolution)
-  let x = Math.max(Number(pointX) - Number(nowObject.value.showYamlJson.origin[0]), 0)
-  let y = Math.max(y1 - Number(pointY), 0)
+  const y1 =
+    Number(nowObject.value.showYamlJson.origin[1]) +
+    Number(nowObject.value.showYamlJson.height) * Number(nowObject.value.showYamlJson.resolution)
+  let x = Math.max(Number(pointX) - Number(nowObject.value.showYamlJson.origin[0]), 0)
+  let y = Math.max(y1 - Number(pointY), 0)
 
-  return {
-    x :(x / nowObject.value.showYamlJson.resolution) - (carWidth.value / nowObject.value.showYamlJson.resolution / 100/2),
-    y: (y / nowObject.value.showYamlJson.resolution) - (carHeight.value / nowObject.value.showYamlJson.resolution / 100/2)
-  }
+  return {
+    x:
+      x / nowObject.value.showYamlJson.resolution -
+      carWidth.value / nowObject.value.showYamlJson.resolution / 100 / 2,
+    y:
+      y / nowObject.value.showYamlJson.resolution -
+      carHeight.value / nowObject.value.showYamlJson.resolution / 100 / 2
+  }
 }
 //是否可以拖拽
 const isDrag = ref(false)
@@ -650,7 +674,6 @@ const getPositionMapListFun = async (positionMapId) => {
     } else if (item.type === 7) {
     }
   })
-
 }
 const draggableElement = ref(null)
 const resetPosition = () => {
@@ -826,12 +849,12 @@ const getMapData = async (item) => {
   computedRatio()
   getMapLineList()
 }
-//偏航率斜率算旋转 
-const radianToDegree = (radian) =>{
-    // 将弧度转换为角度
-    const degree = radian * (180 / Math.PI);
-    // 返回带有单位 'deg' 的 CSS 角度值
-    return `${degree}`;
+//偏航率斜率算旋转
+const radianToDegree = (radian) => {
+  // 将弧度转换为角度
+  const degree = radian * (180 / Math.PI)
+  // 返回带有单位 'deg' 的 CSS 角度值
+  return `${degree}`
 }
 const heightVal = ref(0)
 const widthVal = ref(0)
diff --git a/src/views/mapPage/realTimeMap/editMap.vue b/src/views/mapPage/realTimeMap/editMap.vue
index 92f13c29..201a05f2 100644
--- a/src/views/mapPage/realTimeMap/editMap.vue
+++ b/src/views/mapPage/realTimeMap/editMap.vue
@@ -1,5 +1,5 @@
 <template>
-  <div class="edit-map-page">
+  <div class="edit-map-page" @wheel="handleWheel">
     <div class="top-tool">
       <div class="top-tool-list">
         <div v-for="item in state.topToolList" :key="item.switchType" class="top-tool-item">
@@ -236,7 +236,8 @@
               (item.switchType === 'next' &&
                 (toolbarSwitchType === 'createLineLibrary' ||
                   toolbarSwitchType === 'createRegion' ||
-                  toolbarSwitchType === 'drawRoute'))
+                  toolbarSwitchType === 'drawRoute' ||
+                  toolbarSwitchType === 'generateLine'))
             "
           ></div>
           <el-button
@@ -244,7 +245,8 @@
               item.switchType === 'next' &&
               (toolbarSwitchType === 'createLineLibrary' ||
                 toolbarSwitchType === 'createRegion' ||
-                toolbarSwitchType === 'drawRoute')
+                toolbarSwitchType === 'drawRoute' ||
+                toolbarSwitchType === 'generateLine')
             "
             type="danger"
             class="selection-area-btn"
@@ -1164,6 +1166,12 @@ const state = reactive({
       name: '编辑路线',
       icon: 'ep:semi-select',
       isActive: false
+    },
+    {
+      switchType: 'generateLine',
+      name: '生成直线',
+      icon: 'ep:finished',
+      isActive: false
     }
   ],
   isShowToolbar: true, //工具栏展示隐藏
@@ -1542,11 +1550,7 @@ const rotationFormSubmit = () => {
 
 //标记
 const mapMark = async () => {
-  let res = await MapApi.getRobotInformationPage({
-    pageNo: 1,
-    pageSize: 20
-  })
-  state.mapMarkCarList = res.list
+  state.mapMarkCarList = await MapApi.getListByMapId(imgBgObj.positionMapId)
 
   if (state.currentItemIndex != -1) {
     let item = state.allMapPointInfo[state.currentItemIndex]
@@ -1671,32 +1675,33 @@ const startFromPoint = (index, event) => {
 //开始框选绘制
 const startDrawSelection = (event) => {
   if (
-    toolbarSwitchType.value === 'createLineLibrary' ||
-    toolbarSwitchType.value === 'createRegion' ||
-    toolbarSwitchType.value === 'drawRoute'
-  ) {
-    const backgroundRect = mapBackgroundRef.value.getBoundingClientRect()
-
-    const x = disposeEventPoints(event).x
-    const y = disposeEventPoints(event).y
-
-    // 确保点击在背景区域内
-    if (x >= 0 && x <= backgroundRect.width && y >= 0 && y <= backgroundRect.height) {
-      state.drawSelectionAreaShow = true
-      state.drawSelectionStartPoint = { x: x, y: y }
-      state.drawSelectionAreaBox = { x: x, y: y, width: 0, height: 0 }
-    }
-
-    event.preventDefault() // 阻止默认行为（避免选中图片或文本）
+    toolbarSwitchType.value !== 'createLineLibrary' &&
+    toolbarSwitchType.value !== 'createRegion' &&
+    toolbarSwitchType.value !== 'drawRoute' &&
+    toolbarSwitchType.value !== 'generateLine'
+  )
     return
+
+  const backgroundRect = mapBackgroundRef.value.getBoundingClientRect()
+
+  const x = disposeEventPoints(event).x
+  const y = disposeEventPoints(event).y
+
+  // 确保点击在背景区域内
+  if (x >= 0 && x <= backgroundRect.width && y >= 0 && y <= backgroundRect.height) {
+    state.drawSelectionAreaShow = true
+    state.drawSelectionStartPoint = { x: x, y: y }
+    state.drawSelectionAreaBox = { x: x, y: y, width: 0, height: 0 }
   }
+  event.preventDefault() // 阻止默认行为（避免选中图片或文本）
 }
 // 更新框选区域
 const updateDrawSelection = (event) => {
   if (
     toolbarSwitchType.value === 'createLineLibrary' ||
     toolbarSwitchType.value === 'createRegion' ||
-    toolbarSwitchType.value === 'drawRoute'
+    toolbarSwitchType.value === 'drawRoute' ||
+    toolbarSwitchType.value === 'generateLine'
   ) {
     if (state.drawSelectionAreaShow) {
       const x = disposeEventPoints(event).x
@@ -1721,16 +1726,17 @@ const updateDrawSelection = (event) => {
       state.currentDrawX = x
       state.currentDrawY = y
     }
+    event.preventDefault() // 阻止默认行为（避免选中图片或文本）
+    return
   }
-  event.preventDefault() // 阻止默认行为（避免选中图片或文本）
-  return
 }
 //结束框选绘制
 const endDrawSelection = (event) => {
   if (
     toolbarSwitchType.value === 'createLineLibrary' ||
     toolbarSwitchType.value === 'createRegion' ||
-    toolbarSwitchType.value === 'drawRoute'
+    toolbarSwitchType.value === 'drawRoute' ||
+    toolbarSwitchType.value === 'generateLine'
   ) {
     state.drawSelectionAreaShow = false
     state.allDrawSelectionAreaBox.push({ ...state.drawSelectionAreaBox })
@@ -1825,7 +1831,6 @@ const endDrawSelection = (event) => {
       state.currentDrawX = 0
       state.currentDrawY = 0
     }
-
     event.preventDefault() // 阻止默认行为（避免选中图片或文本）
     return
   }
@@ -1875,6 +1880,7 @@ const clickDrawSelectionArea = () => {
     item.id
   })
 
+  //线库
   if (toolbarSwitchType.value === 'createLineLibrary') {
     //线库
     if (binLocation.length < 2) {
@@ -1911,7 +1917,7 @@ const clickDrawSelectionArea = () => {
     removeEventListener() //移除监听
     itemAreaSettingDialogRef.value.open(binLocation)
   }
-
+  //绘制直线
   if (toolbarSwitchType.value === 'drawRoute') {
     if (routeList.length !== 2) {
       message.warning('只能选择两个路径点')
@@ -1962,6 +1968,98 @@ const clickDrawSelectionArea = () => {
     state.mapRouteList.push(curve)
     addEditHistory()
   }
+  //生成直线
+  if (toolbarSwitchType.value === 'generateLine') {
+    if (routeList.length < 3) {
+      message.warning('至少框选三个点')
+      return
+    }
+    const list = mapPointsToLine(routeList)
+    const idNameMap = {}
+    list.forEach((item) => {
+      idNameMap[item.id] = item
+    })
+    // 遍历第二个数组，更新 name
+    state.allMapPointInfo.forEach((item) => {
+      if (idNameMap[item.id]) {
+        let actualPoint = disposeEventPoint(
+          idNameMap[item.id].locationX,
+          idNameMap[item.id].locationY
+        )
+        item.locationX = idNameMap[item.id].locationX
+        item.locationY = idNameMap[item.id].locationY
+        item.actualLocationX = actualPoint.actualLocationX
+        item.actualLocationY = actualPoint.actualLocationY
+      }
+    })
+    state.mapRouteList.forEach((item) => {
+      if (idNameMap[item.startingPointId]) {
+        let actualPoint = disposeEventPoint(
+          idNameMap[item.startingPointId].locationX,
+          idNameMap[item.startingPointId].locationY
+        )
+        item.startPointX = idNameMap[item.startingPointId].locationX
+        item.startPointY = idNameMap[item.startingPointId].locationY
+        item.actualStartPointX = actualPoint.actualLocationX
+        item.actualStartPointY = actualPoint.actualLocationY
+      }
+      if (idNameMap[item.endPointId]) {
+        let actualPoint = disposeEventPoint(
+          idNameMap[item.endPointId].locationX,
+          idNameMap[item.endPointId].locationY
+        )
+        item.endPointX = idNameMap[item.endPointId].locationX
+        item.endPointY = idNameMap[item.endPointId].locationY
+        item.actualEndPointX = actualPoint.actualLocationX
+        item.actualEndPointY = actualPoint.actualLocationY
+      }
+    })
+    addEditHistory()
+  }
+}
+//将一个数组中的点位 按照第一个和最后一个排成一条直线
+const mapPointsToLine = (points) => {
+  if (points.length < 2) {
+    return points
+  }
+  // 取数组的第一项和最后一项
+  const firstPoint = points[0]
+  const lastPoint = points[points.length - 1]
+
+  // 计算直线的斜率
+  const dx = lastPoint.locationX - firstPoint.locationX
+  const dy = lastPoint.locationY - firstPoint.locationY
+
+  if (dx === 0) {
+    // 垂直直线的情况
+    return points.map((point, index) => {
+      if (index === 0 || index === points.length - 1) {
+        return point
+      }
+      return {
+        ...point,
+        locationX: firstPoint.locationX,
+        locationY: point.locationY
+      }
+    })
+  }
+  const slope = dy / dx
+  // 计算直线的截距
+  const intercept = firstPoint.locationY - slope * firstPoint.locationX
+
+  // 映射其他点到直线上
+  return points.map((point, index) => {
+    if (index === 0 || index === points.length - 1) {
+      return point
+    }
+    const newY = slope * point.locationX + intercept
+    // 考虑精度问题，这里保留三位小数
+    const roundedY = parseFloat(newY.toFixed(8))
+    return {
+      ...point,
+      locationY: roundedY
+    }
+  })
 }
 //计算是不是在同一条直线的
 const isStraightLine = (binLocation) => {
@@ -2191,8 +2289,10 @@ const getMapList = async () => {
   imgBgObj.positionMapId = res.id
   imgBgObj.floor = res.floor
   imgBgObj.area = res.area
-  imgBgObj.width = yamlJson.width
-  imgBgObj.height = yamlJson.height
+  // imgBgObj.width = yamlJson.width
+  // imgBgObj.height = yamlJson.height
+  imgBgObj.width = 1423
+  imgBgObj.height = 1406
   imgBgObj.origin = yamlJson.origin
   imgBgObj.resolution = yamlJson.resolution
   // 调转换成png的接口
@@ -2489,6 +2589,33 @@ const handleKeyDown = (event) => {
   }
 }
 
+//鼠标滚轮
+const handleWheel = (event) => {
+  // 判断 Ctrl 键是否被按下
+  if (event.ctrlKey) {
+    // 阻止默认的滚动行为
+    event.preventDefault()
+
+    // 根据滚轮滚动方向调整缩放比例
+    if (event.deltaY < 0) {
+      // 向上滚动，放大
+      //放大
+      if (state.imageChangeMultiple < 4) {
+        state.imageChangeMultiple += 0.2
+      } else {
+        message.warning('不能在放大了')
+      }
+    } else {
+      //缩小
+      if (state.imageChangeMultiple > 0.2) {
+        state.imageChangeMultiple -= 0.2
+      } else {
+        message.warning('不能在缩小了')
+      }
+    }
+  }
+}
+
 const addEventListener = () => {
   window.addEventListener('keydown', handleKeyDown)
 }
diff --git a/src/views/mapPage/realTimeMap/test.vue b/src/views/mapPage/realTimeMap/test.vue
index 1aa08b6a..8f552992 100644
--- a/src/views/mapPage/realTimeMap/test.vue
+++ b/src/views/mapPage/realTimeMap/test.vue
@@ -1,79 +1,94 @@
 <template>
-  <div>
-    <ul>
-      <li v-for="(point, index) in points" :key="index">
-        点位 {{ index + 1 }}: ({{ point.x }}, {{ point.y }})
-        <button @click="movePoint(index)">移动</button>
-        <button @click="deletePoint(index)">删除</button>
-      </li>
-    </ul>
-    <button @click="addPoint">新增点位</button>
-    <button @click="undo" :disabled="historyIndex === 0">撤回</button>
-    <button @click="redo" :disabled="historyIndex === history.length - 1">重做</button>
+  <div style="width: 600px; height: 300px; background: #dbeede; position: relative">
+    <div v-for="(item, index) in points" :key="index">
+      <div
+        :style="{
+          position: 'absolute',
+          width: '10px',
+          height: '10px',
+          backgroundColor: '#000',
+          borderRadius: '50%',
+          zIndex: 999,
+          left: item.x + 'px',
+          top: item.y + 'px'
+        }"
+      ></div>
+    </div>
+  </div>
+  <div style="width: 600px; height: 300px; background: #b3dcff; position: relative">
+    <div v-for="(item, index) in mappedPoints" :key="index">
+      <div
+        :style="{
+          position: 'absolute',
+          width: '10px',
+          height: '10px',
+          backgroundColor: '#000',
+          borderRadius: '50%',
+          zIndex: 999,
+          left: item.x + 'px',
+          top: item.y + 'px'
+        }"
+      ></div>
+    </div>
   </div>
 </template>
 
 <script setup>
-import { reactive, ref } from 'vue'
+import { ref } from 'vue'
 
-// 初始化点位数据
-const points = reactive([
-  { x: 10, y: 20 },
-  { x: 30, y: 40 }
+const points = ref([
+  {
+    x: 123.567,
+    y: 178.123
+  },
+  {
+    x: 255.567,
+    y: 79.123
+  },
+  {
+    x: 382.567,
+    y: 178.123
+  },
+  {
+    x: 481.567,
+    y: 238.123
+  }
 ])
 
-// 操作历史记录
-const history = reactive([[...points]])
-// 历史记录指针
-const historyIndex = ref(0)
-
-// 新增点位方法
-const addPoint = () => {
-  const newPoint = { x: Math.random() * 100, y: Math.random() * 100 }
-  points.push(newPoint)
-  updateHistory()
-}
-
-// 移动点位方法
-const movePoint = (index) => {
-  points[index].x = Math.random() * 100
-  points[index].y = Math.random() * 100
-  updateHistory()
-}
-
-// 删除点位方法
-const deletePoint = (index) => {
-  points.splice(index, 1)
-  updateHistory()
-}
-
-// 更新历史记录
-const updateHistory = () => {
-  // 如果已经进行了撤回操作，移除撤回之后的历史记录
-  if (historyIndex.value < history.length - 1) {
-    history.splice(historyIndex.value + 1)
+const mapPointsToLine = (points) => {
+  if (points.length < 2) {
+    return points
   }
-  // 保存当前状态到历史记录
-  history.push([...points])
-  // 更新历史记录指针
-  historyIndex.value++
+  // 取数组的第一项和最后一项
+  const firstPoint = points[0]
+  const lastPoint = points[points.length - 1]
+
+  // 计算直线的斜率
+  const dx = lastPoint.x - firstPoint.x
+  const dy = lastPoint.y - firstPoint.y
+  if (dx === 0) {
+    // 垂直直线的情况
+    return points.map((point, index) => {
+      if (index === 0 || index === points.length - 1) {
+        return point
+      }
+      return { x: firstPoint.x, y: point.y }
+    })
+  }
+  const slope = dy / dx
+  // 计算直线的截距
+  const intercept = firstPoint.y - slope * firstPoint.x
+
+  // 映射其他点到直线上
+  return points.map((point, index) => {
+    if (index === 0 || index === points.length - 1) {
+      return point
+    }
+    const newY = slope * point.x + intercept
+    return { x: point.x, y: newY }
+  })
 }
 
-// 撤回操作
-const undo = () => {
-  if (historyIndex.value > 0) {
-    historyIndex.value--
-    // 恢复到上一个状态
-    points.splice(0, points.length, ...history[historyIndex.value])
-  }
-}
-
-// 重做操作
-const redo = () => {
-  if (historyIndex.value < history.length - 1) {
-    historyIndex.value++
-    // 恢复到下一个状态
-    points.splice(0, points.length, ...history[historyIndex.value])
-  }
-}
+const mappedPoints = mapPointsToLine(points.value)
+console.log(mappedPoints)
 </script>

From 5d682da70728419ae0a2c2e3f09664871b863119 Mon Sep 17 00:00:00 2001
From: yyy <2605810609@qq.com>
Date: Fri, 7 Mar 2025 15:32:26 +0800
Subject: [PATCH 2/3] =?UTF-8?q?=E5=9C=B0=E5=9B=BE=E7=BC=96=E8=BE=91?=
 =?UTF-8?q?=E5=9B=BE=E7=89=87=E5=A4=A7=E5=B0=8F?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 src/views/mapPage/realTimeMap/editMap.vue | 8 ++------
 1 file changed, 2 insertions(+), 6 deletions(-)

diff --git a/src/views/mapPage/realTimeMap/editMap.vue b/src/views/mapPage/realTimeMap/editMap.vue
index 201a05f2..cf4dd6c7 100644
--- a/src/views/mapPage/realTimeMap/editMap.vue
+++ b/src/views/mapPage/realTimeMap/editMap.vue
@@ -2289,10 +2289,8 @@ const getMapList = async () => {
   imgBgObj.positionMapId = res.id
   imgBgObj.floor = res.floor
   imgBgObj.area = res.area
-  // imgBgObj.width = yamlJson.width
-  // imgBgObj.height = yamlJson.height
-  imgBgObj.width = 1423
-  imgBgObj.height = 1406
+  imgBgObj.width = yamlJson.width
+  imgBgObj.height = yamlJson.height
   imgBgObj.origin = yamlJson.origin
   imgBgObj.resolution = yamlJson.resolution
   // 调转换成png的接口
@@ -2765,8 +2763,6 @@ onUnmounted(() => {
     //   20px 20px,
     //   20px 20px;
 
-    width: 100%;
-    height: 100%;
     background-image: repeating-linear-gradient(
         to right,
         rgba(0, 0, 0, 0.1),

From 0494d9477eecc3766f51ad24b58439a107466b40 Mon Sep 17 00:00:00 2001
From: yyy <2605810609@qq.com>
Date: Fri, 7 Mar 2025 16:07:01 +0800
Subject: [PATCH 3/3] =?UTF-8?q?=E6=96=B0=E5=BB=BA=E4=BB=BB=E5=8A=A1?=
 =?UTF-8?q?=E6=97=B6=20=E9=80=89=E6=8B=A9=E8=BD=A6=E8=BE=86=20=E6=8F=90?=
 =?UTF-8?q?=E7=A4=BA=E6=9C=BA=E5=99=A8=E4=BA=BA=E9=94=99=E8=AF=AF=E4=BF=A1?=
 =?UTF-8?q?=E6=81=AF?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .../components-tool/editNodeProperties.vue    | 39 ++++++++++++---
 src/views/mapPage/realTimeMap/editMap.vue     |  7 +++
 .../mapPage/taskManagement/createTask.vue     | 47 ++++++++++++++++---
 3 files changed, 79 insertions(+), 14 deletions(-)

diff --git a/src/views/mapPage/realTimeMap/components-tool/editNodeProperties.vue b/src/views/mapPage/realTimeMap/components-tool/editNodeProperties.vue
index 5b7ac522..b56efab9 100644
--- a/src/views/mapPage/realTimeMap/components-tool/editNodeProperties.vue
+++ b/src/views/mapPage/realTimeMap/components-tool/editNodeProperties.vue
@@ -43,7 +43,13 @@
         >
           <el-input-number v-model="form.layersNumber" :min="1" :max="3" />
         </el-form-item>
-        <el-form-item label="排序" prop="locationNumber" v-if="form.type === 2" required>
+        <el-form-item
+          label="排序"
+          prop="locationNumber"
+          v-if="form.type === 2"
+          required
+          :rules="{ required: true, message: '请输入排序', trigger: 'change' }"
+        >
           <el-input-number v-model="form.locationNumber" :min="1" :max="10000000" />
         </el-form-item>
         <el-form-item
@@ -173,7 +179,8 @@ const rules = reactive({
   locationX: [{ required: true, message: '请输入X', trigger: 'blur' }],
   locationY: [{ required: true, message: '请输入Y', trigger: 'blur' }],
   type: [{ required: true, message: '请选择类型', trigger: 'blur' }],
-  layersNumber: [{ required: true, message: '请输入层数', trigger: 'blur' }]
+  layersNumber: [{ required: true, message: '请输入层数', trigger: 'blur' }],
+  locationNumber: [{ required: true, message: '请输入排序', trigger: 'blur' }]
 })
 
 const emit = defineEmits(['submitNodeSuccess', 'addEventListener'])
@@ -274,22 +281,40 @@ const typeChange = (type) => {
     form.value.inDirection = null
     form.value.outDirection = null
     form.value.locationNumber = null
-    form.value.locationDeep = 50
-    form.value.locationWide = 50
-    form.value.locationDeepPx = 10
-    form.value.locationWidePx = 10
+    form.value.locationDeep = 40
+    form.value.locationWide = 40
+    form.value.locationDeepPx = 8
+    form.value.locationWidePx = 8
   } else if (type === 2) {
-    form.value.locationNumber = 1
+    form.value.locationNumber = null
+    if (!form.value.id) {
+      form.value.locationDeep = 150
+      form.value.locationWide = 150
+      form.value.locationDeepPx = 30
+      form.value.locationWidePx = 30
+    }
   } else if (type === 3) {
     form.value.direction = null
     form.value.inDirection = null
     form.value.outDirection = null
     form.value.locationNumber = null
+    if (!form.value.id) {
+      form.value.locationDeep = 150
+      form.value.locationWide = 150
+      form.value.locationDeepPx = 30
+      form.value.locationWidePx = 30
+    }
   } else if (type === 4) {
     form.value.direction = null
     form.value.inDirection = null
     form.value.outDirection = null
     form.value.locationNumber = null
+    if (!form.value.id) {
+      form.value.locationDeep = 150
+      form.value.locationWide = 150
+      form.value.locationDeepPx = 30
+      form.value.locationWidePx = 30
+    }
   } else if (type === 5) {
     form.value.layersNumber = null
     form.value.direction = null
diff --git a/src/views/mapPage/realTimeMap/editMap.vue b/src/views/mapPage/realTimeMap/editMap.vue
index cf4dd6c7..9c5598a5 100644
--- a/src/views/mapPage/realTimeMap/editMap.vue
+++ b/src/views/mapPage/realTimeMap/editMap.vue
@@ -1974,6 +1974,13 @@ const clickDrawSelectionArea = () => {
       message.warning('至少框选三个点')
       return
     }
+    let isHaveId = routeList.every((item) => {
+      return item.id
+    })
+    if (!isHaveId) {
+      message.warning('您选择的路径点存在未保存的')
+      return
+    }
     const list = mapPointsToLine(routeList)
     const idNameMap = {}
     list.forEach((item) => {
diff --git a/src/views/mapPage/taskManagement/createTask.vue b/src/views/mapPage/taskManagement/createTask.vue
index a9b4fe4a..0db411a0 100644
--- a/src/views/mapPage/taskManagement/createTask.vue
+++ b/src/views/mapPage/taskManagement/createTask.vue
@@ -298,7 +298,11 @@
               <el-row :gutter="24">
                 <el-col :span="12">
                   <el-form-item label="指定车辆">
-                    <el-select v-model="detailItem.robotNo" placeholder="请选择车辆">
+                    <el-select
+                      v-model="detailItem.robotNo"
+                      placeholder="请选择车辆"
+                      @change="chooseCarErrorMsg"
+                    >
                       <el-option
                         v-for="car in robotList"
                         :key="car.id"
@@ -320,7 +324,11 @@
                     :prop="`taskDetailList[${index}].robotNo`"
                     :rules="{ required: true, message: '车辆不能为空', trigger: 'change' }"
                   >
-                    <el-select v-model="detailItem.robotNo" placeholder="请选择车辆">
+                    <el-select
+                      v-model="detailItem.robotNo"
+                      placeholder="请选择车辆"
+                      @change="chooseCarErrorMsg"
+                    >
                       <el-option
                         v-for="car in robotList"
                         :key="car.id"
@@ -390,7 +398,11 @@
                     :prop="`taskDetailList[${index}].robotNo`"
                     :rules="{ required: true, message: '车辆不能为空', trigger: 'change' }"
                   >
-                    <el-select v-model="detailItem.robotNo" placeholder="请选择车辆">
+                    <el-select
+                      v-model="detailItem.robotNo"
+                      placeholder="请选择车辆"
+                      @change="chooseCarErrorMsg"
+                    >
                       <el-option
                         v-for="car in robotList"
                         :key="car.id"
@@ -501,7 +513,11 @@
                     :prop="`taskDetailList[${index}].robotNo`"
                     :rules="{ required: true, message: '车辆不能为空', trigger: 'change' }"
                   >
-                    <el-select v-model="detailItem.robotNo" placeholder="请选择车辆">
+                    <el-select
+                      v-model="detailItem.robotNo"
+                      placeholder="请选择车辆"
+                      @change="chooseCarErrorMsg"
+                    >
                       <el-option
                         v-for="car in robotList"
                         :key="car.id"
@@ -577,7 +593,11 @@
               <el-row :gutter="24">
                 <el-col :span="12">
                   <el-form-item required label="指定车辆" prop="montageTask">
-                    <el-select v-model="detailItem.robotNo" placeholder="请选择车辆">
+                    <el-select
+                      v-model="detailItem.robotNo"
+                      placeholder="请选择车辆"
+                      @change="chooseCarErrorMsg"
+                    >
                       <el-option
                         v-for="car in robotList"
                         :key="car.id"
@@ -828,10 +848,14 @@ const getCanUseRobotList = async () => {
 
 //车辆切换
 const robotNoChange = (e, detailItem) => {
-  let car = robotList.value.filter((item) => {
+  let car = robotList.value.find((item) => {
     return item.robotNo == e
   })
-  detailItem.electricity = car[0].electricity
+  detailItem.electricity = car.electricity
+
+  if (car?.errorMsg) {
+    message.warning(car.errorMsg)
+  }
 }
 
 //任务类型切换
@@ -1073,6 +1097,15 @@ const releaseTypeChange = (item) => {
   item.releaseId = undefined
 }
 
+//选择车辆
+const chooseCarErrorMsg = (e) => {
+  let carItem = robotList.value.find((item) => item.robotNo === e)
+
+  if (carItem?.errorMsg) {
+    message.warning(carItem.errorMsg)
+  }
+}
+
 //提交表单
 const formRef = ref()
 const formLoading = ref(false)