和算法联调显示规划路径 并且 显示实时路径成功

src/components/devices/RobotTaskPage.tsx

@@ -1,4 +1,4 @@
-import React, { useState, useEffect, useRef, useMemo } from 'react';
+import React, { useState, useEffect, useRef, useMemo } from 'react';
 import {
 	Row, Col, Card, Button, Space, Table, Tag, Typography, Progress, Badge,
 	Tabs, Input, Switch, Divider, Tooltip, Timeline, Select, message, DatePicker,
@@ -146,9 +146,7 @@ export default function RobotTaskPage() {
 		setExecute(false);
 		setShowVideo(false); // 任务完成关闭视频
 		utils.message.success(t('devices.fixed2TaskSuspended2Fixed2CompletedFixed2'));
-		//if (controllerRef.current) {
-		//	controllerRef.current.destroy?.();
-		//}
+
 		setClearNavLine(clearNavLine + 1);
 		setSelectedRobotForExecute(null);
 		setSelectedRouteForExecute(null);
@@ -157,6 +155,7 @@ export default function RobotTaskPage() {
 		fetchTaskPoolList();
 
 
+
 	}
 	const handleFinishEdPoint = (point) => {
 		setArrivedPoint(point);
@@ -252,6 +251,9 @@ export default function RobotTaskPage() {
 		controller.onLocationInfoUpdate = setRobotRealtimePosition;
 		controller.onIsFinished = handleFinish;
 		controller.handleArrivedPoint = handleFinishEdPoint;
+		controller.onRoutePost = setPoints;
+
+
 
 		controller.init();
 
@@ -284,6 +286,7 @@ export default function RobotTaskPage() {
 		const runningTask = taskPoolList.find(item => ['EXECUTING', 'PAUSE'].includes(item.taskStaus));
 
 		if (!runningTask) return;
+		fetchRouteDetail(runningTask?.id);
 
 		// 找到对应的设备
 		const targetDevice = devices.find(d => d.serialNumber === runningTask.deviceId);
@@ -391,43 +394,14 @@ export default function RobotTaskPage() {
 		}
 	};
 	useEffect(() => {
-		if (!selectedPathWork?.id) {
+		//console.log('获取任务列表', selectedPathWork?.id);
+		if (!selectedRobotForExecute?.id || !execute) {
 			setPoints([]);
 			return;
 		}
 
-		// 调用接口获取路线详情
-		const fetchRouteDetail = async () => {
-			try {
-				const res = await getTaskPath({ taskId: selectedPathWork.id })
-				//const res = await getSingleRouteList({ id: selectedPathWork.id });
-				if (res?.code === 200 && res?.data) {
-					let pathPoints = [];
 
-					try {
-						// 尝试解析 JSON
-						pathPoints = res.data || [];
-					} catch (err) {
-						console.error('解析路线数据失败：', err);
-					}
-
-					if (pathPoints.length === 0) {
-						utils.message.warning(t('devices.route2'));
-					}
-
-					setPoints(pathPoints);
-
-				} else {
-					setPoints([]);
-				}
-			} catch (err) {
-				console.error('获取路线详情失败：', err);
-				setPoints([]);
-			}
-		};
-
-		fetchRouteDetail();
-	}, [selectedPathWork]);
+	}, [selectedRobotForExecute?.id]);
 
 	// 监听任务池列表变化，自动加载第一个任务的路径
 	useEffect(() => {
@@ -436,6 +410,41 @@ export default function RobotTaskPage() {
 
 		}
 	}, [taskPoolList]);
+	// 调用接口获取路线详情
+	const fetchRouteDetail = async (id) => {
+		console.log(id, "获取正在执行任务的id")
+		try {
+			const params = {
+				taskId: id,
+			}
+
+			const res = await getTaskPath(params)
+			//const res = await getSingleRouteList({ id: selectedPathWork.id });
+			if (res?.code === 200 && res?.data) {
+				let pathPoints = [];
+
+				try {
+					// 尝试解析 JSON
+					pathPoints = res.data || [];
+				} catch (err) {
+					console.error('解析路线数据失败：', err);
+				}
+
+				if (pathPoints.length === 0) {
+					utils.message.warning(t('devices.route2'));
+				}
+
+				setPoints(pathPoints);
+
+			} else {
+				setPoints([]);
+			}
+		} catch (err) {
+			console.error('获取路线详情失败：', err);
+			setPoints([]);
+		}
+	};
+
 
 
 
@@ -665,6 +674,8 @@ export default function RobotTaskPage() {
 				setSelectedRobotForExecute(null);
 				setSelectedRouteForExecute(null);
 
+
+
 			} else {
 				utils.message.error(t('devices.taskCancelFail'));
 			}
@@ -1169,7 +1180,7 @@ export default function RobotTaskPage() {
 								focusLocation={focusLocation}
 								realtimePosition={realtimePosition}
 								realtimeType="robot"
-								from="device-control"
+								from="deviceStatus"
 								drawRealTime={execute}
 								finishPoint={arrivedPoint}
 								ifClearNavLine={clearNavLine}

src/components/devices/deviceController.js

@@ -40,6 +40,7 @@ export default class DeviceController {
 		this.onHasControlRightChange = null;
 		this.onRequestControlStatusChange = null;
 		this.onPermissionRequest = null;
+		this.onRoutePost = null;
 		this.onIsFinished = null;
 		this.handleArrivedPoint = null;
 
@@ -358,6 +359,14 @@ export default class DeviceController {
 				});
 				break;
 
+			case 'route_post':
+				console.log('route post:', msg);
+				if (msg.deviceId) {
+					this.onRoutePost?.(msg.data);
+				}
+
+				break;
+
 			default:
 				break;
 		}