合并

鼠标滚轮放大缩小

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
+  })
+}

src/views/mapPage/realTimeMap/components/indexPage.vue

@@ -84,8 +84,12 @@
             :style="{
               left: item.realX * radio + 'px',
               top: item.realY * radio + 'px',
-              width: legendObj.carShow ? carWidth / nowObject.showYamlJson.resolution / 100 * radio + 'px' : '0',
+              width: legendObj.carShow
-              height: legendObj.carShow ? carHeight / nowObject.showYamlJson.resolution / 100 * radio + 'px' : '0',
+                ? (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 0.2s linear',
               zIndex: 9999
@@ -434,14 +438,20 @@ 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)
+  const y1 =
-  let x = Math.max(Number(pointX) - Number(nowObject.value.showYamlJson.origin[0]), 0)
+    Number(nowObject.value.showYamlJson.origin[1]) +
-  let y = Math.max(y1 - Number(pointY), 0)
+    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 {
+  return {
-    x :(x / nowObject.value.showYamlJson.resolution) - (carWidth.value / nowObject.value.showYamlJson.resolution / 100/2),
+    x:
-    y: (y / nowObject.value.showYamlJson.resolution) - (carHeight.value / nowObject.value.showYamlJson.resolution / 100/2)
+      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 +660,6 @@ const getPositionMapListFun = async (positionMapId) => {
     } else if (item.type === 7) {
     }
   })
-
 }
 const draggableElement = ref(null)
 const resetPosition = () => {
@@ -829,9 +838,9 @@ const getMapData = async (item) => {
 //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);
+  const degree = radian * (180 / Math.PI)
   // 返回带有单位 'deg' 的 CSS 角度值
-    return `${degree}`;
+  return `${degree}`
 }
 const heightVal = ref(0)
 const widthVal = ref(0)

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({
+  state.mapMarkCarList = await MapApi.getListByMapId(imgBgObj.positionMapId)
-    pageNo: 1,
-    pageSize: 20
-  })
-  state.mapMarkCarList = res.list
 
   if (state.currentItemIndex != -1) {
     let item = state.allMapPointInfo[state.currentItemIndex]
@@ -1671,10 +1675,13 @@ const startFromPoint = (index, event) => {
 //开始框选绘制
 const startDrawSelection = (event) => {
   if (
-    toolbarSwitchType.value === 'createLineLibrary' ||
+    toolbarSwitchType.value !== 'createLineLibrary' &&
-    toolbarSwitchType.value === 'createRegion' ||
+    toolbarSwitchType.value !== 'createRegion' &&
-    toolbarSwitchType.value === 'drawRoute'
+    toolbarSwitchType.value !== 'drawRoute' &&
-  ) {
+    toolbarSwitchType.value !== 'generateLine'
+  )
+    return
+
   const backgroundRect = mapBackgroundRef.value.getBoundingClientRect()
 
   const x = disposeEventPoints(event).x
@@ -1686,17 +1693,15 @@ const startDrawSelection = (event) => {
     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）
-    return
-  }
 }
 // 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
   }
+}
 //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.width = yamlJson.width
-  imgBgObj.height = yamlJson.height
+  // 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)
 }

src/views/mapPage/realTimeMap/test.vue

@@ -1,79 +1,94 @@
 <template>
-  <div>
+  <div style="width: 600px; height: 300px; background: #dbeede; position: relative">
-    <ul>
+    <div v-for="(item, index) in points" :key="index">
-      <li v-for="(point, index) in points" :key="index">
+      <div
-        点位 {{ index + 1 }}: ({{ point.x }}, {{ point.y }})
+        :style="{
-        <button @click="movePoint(index)">移动</button>
+          position: 'absolute',
-        <button @click="deletePoint(index)">删除</button>
+          width: '10px',
-      </li>
+          height: '10px',
-    </ul>
+          backgroundColor: '#000',
-    <button @click="addPoint">新增点位</button>
+          borderRadius: '50%',
-    <button @click="undo" :disabled="historyIndex === 0">撤回</button>
+          zIndex: 999,
-    <button @click="redo" :disabled="historyIndex === history.length - 1">重做</button>
+          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 = ref([
-const points = reactive([
+  {
-  { x: 10, y: 20 },
+    x: 123.567,
-  { x: 30, y: 40 }
+    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 mapPointsToLine = (points) => {
-const history = reactive([[...points]])
+  if (points.length < 2) {
-// 历史记录指针
+    return points
-const historyIndex = ref(0)
+  }
+  // 取数组的第一项和最后一项
+  const firstPoint = points[0]
+  const lastPoint = points[points.length - 1]
 
-// 新增点位方法
+  // 计算直线的斜率
-const addPoint = () => {
+  const dx = lastPoint.x - firstPoint.x
-  const newPoint = { x: Math.random() * 100, y: Math.random() * 100 }
+  const dy = lastPoint.y - firstPoint.y
-  points.push(newPoint)
+  if (dx === 0) {
-  updateHistory()
+    // 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 }
+  })
 }
 
-// 移动点位方法
+const mappedPoints = mapPointsToLine(points.value)
-const movePoint = (index) => {
+console.log(mappedPoints)
-  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)
-  }
-  // 保存当前状态到历史记录
-  history.push([...points])
-  // 更新历史记录指针
-  historyIndex.value++
-}
-
-// 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])
-  }
-}
 </script>