梯控系统

注意：

• 梯控机器人地图定位成功
• 梯控机器人必须建立巡线
• 梯控机器人必须处于巡线的点位之上
• 梯控机器人的地图不能使用复制的地图，会造成点位ID，楼层冲突，无法到达

导航乘梯

组件名称： NavigationElevatorComponent

组件描述： 导航乘梯组件，用于控制机器人前往指定位置点。

使用示例：

//DeliveryScreen类文件
import DeliveryElevatorViewModel from './DeliveryElevatorViewModel';
public constructor(props: BaseComponentProps) {
    super(props);
    let viewModel =  new DeliveryElevatorViewModel(props);
    this.setViewModel(viewModel);
    let voice = new DeliveryVoice(viewModel);
    this.setVoice(voice);
}
public render() {
    return (
        <>
            <NavigationElevatorComponent
                param={this.viewModel.getNavigationElevatorParams()}
                onStatusUpdate={this.viewModel.handleNaviStatus}
                onFinish={this.viewModel.handleNaviFinish}
            />
        </>
    );
}

//DeliveryElevatorViewModel文件
/**
*获取导航参数
*/
import { NavigationElevatorParam, } from 'orionos-eve-core';
public getNavigationElevatorParams(): NavigationElevatorParam {
    return new NavigationElevatorParam (
        floorIndex + '', //floorIndex 楼层序号，手动设置固定值
        poseName //poseName地点名称，手动设置固定值
    );
}
/**
*导航状态处理
*@param event
*/
public handleNaviStatus = (event?: ComponentEvent): boolean => {
    console.log(TAG, 'On navigation status update : ' + JSON.stringify(event));
    if (!(event && event.status)) {
        return false;
    }
    let subType = this.getEventSubType(event);
    switch (event.status) {
        case 32730022:
            this.reportInvalidEvent(DeliveryInvalidEvent.EVENT_TYPE_AVOID_START, subType);
            return true;
        case 32730001:
            // DanceOperation.playLightEffect(LIGHT_EFFECT_TYPE.LIGHT_EFFECT_NAVI_BREATH);
            this.state.setState(State.CRUISING);
            return true;
        case 32730002:
            if (settingStore.getIsOpenDemoSwitch) {
                return true;
            }
            //梯控导航，不处理传统的避障超时
            //this.handleAvoidingEvent(event, subType);
            return true;
        case 32730011:
            if (settingStore.getIsOpenDemoSwitch) {
                return true;
            }
            this.handleAvoidStartEvent();
            return true;
        case 32730003:
            if (settingStore.getIsOpenDemoSwitch) {
                return true;
            }
            this.handleAvoidEndEvent(event, subType);
            return true;
        case -32620015:
            this.waitInPlace();
            return true;
        case 32730004:
            this.handleObstaclesEvent(event, subType);
            return true;
        case 32750004:
            //进电梯，到达电梯门
            this.handleArriveElevatorDoor();
            return true;
        case 32750005:
            //进电梯，到达电梯中心，开始转向
            this.handleArriveElevatorCenterAndStartTurn();
            return  true;
        case 32750023:
            //进电梯，到达电梯中心，转向完成
            return true;
        case 32750009:
            //出电梯，离开电梯门
            this.handleExitElevatorDoor();
            return true;
        case 32750008:
            //出电梯，离开电梯中心
            this.handleLeaveElevatorCenter();
            return true;
        case 32750003:
            //进电梯，从电梯口去电梯中心
            this.handleEnterElevator();
            return true;
        default:
            return false;
} };
/**
*导航结束事件处理
*@param event
*/
public handleNaviFinish = (event?: ComponentEvent): boolean => {
    console.log(TAG, 'On navigation finish : ' + JSON.stringify(event));
    if (!(event && event.status)) {
        return false;
    }
    // DanceOperation.playLightEffect(LIGHT_EFFECT_TYPE.LIGHT_EFFECT_BLUE_LIGHT);
    let subType = this.getEventSubType(event);
    switch (event.status) {
        case 32610007:
            this.handleNaviArrivedEvent(event);
            return true;
        case -32620015:
            this.handleNaviArrivedEvent(event, false);
            return true;
        case -32610004:
        case -32620007:
        case -32620008: //navigation moving time out
        case 32610009:
        case -32620006:
        case -32660015: //enter elevator failed
            this.reportInvalidEvent(DeliveryInvalidEvent.EVENT_TYPE_DESTINATION_UNREACHABLE, subType);
            this.waitInPlace();
            return true;
        case -32620009:
            this.reportInvalidEvent(DeliveryInvalidEvent.EVENT_TYPE_DESTINATION_UNREACHABLE,
            subType, I18n.t('ttsNavigationGlobalPathFailedPleaseEditMap'));
            this.showNaviError(subType);
            return true;
        case -32620014:
        case -32600001:
        case -32600002:
            this.showNaviError(subType);
            return true;
        case -32620002:
            this.reportInvalidEvent(DeliveryInvalidEvent.EVENT_TYPE_OUT_MAP, subType, I18n.t('ttsNavigationOutMap'));
            this.showNaviError(subType, true);
            return true;
        case -32620001:
            this.handleNotEstimateEvent(subType);
            return true;
        case -32620029:
            this.reportInvalidEvent(DeliveryInvalidEvent.EVENT_TYPE_MULTI_ROBOT_WAIT_TIMEOUT, subType, I18n.t('nav_waitTimeout_tts'));
            this.showNaviError(subType, false, true);
            return true;
        case -32650006:
            this.reportInvalidEvent(DeliveryInvalidEvent.EVENT_TYPE_MULTI_ROBOT_ERROR, subType, I18n.t('nav_multiRobotError_tts'));
            this.showNaviError(subType, false, false, true);
            return true;
        case -32620030:
            this.handleRobotWheelError(subType);
            return true;
        case -32660021:
            //梯控多楼层导航，地图错误
            this.showNaviError(NavErrorConst.NAVI_ERROR_ELEVATOR_MAP_RONG);
            return true;
        default:
            this.showNaviError(subType);
            return false;
} };
private getEventSubType(event: ComponentEvent) {
    let eventSubType = 0;
    if (event.extraData) {
        let extraData = JSON.parse(event.extraData);
        let code = extraData.code;
        console.log(TAG, ' onStatusUpdate code: ' + code);
        if (code) {
            eventSubType = code;
        }
    }
    return eventSubType;
}

属性：

• param：组件参数，类型为NavigationElevatorParam
• onStatusUpdate：组件状态回调
• onFinish：组件执行结束回调

参数说明：

• floorIndex：楼层，必填项，不能为空，否则会抛出崩溃异常
• poseName：地点名称

状态说明：

通过ComponentEvent.status获取到状态码：

• 32730022：报告非法事件，常量定义ComponentStatusConst.STATUS_NAVIGATION_AVOID_IMMEDIATELY
• 32730001：开始导航，常量定义ComponentStatusConst.STATUS_START_NAVIGATION
• 32730002：梯控导航，不处理传统的避障超时，常量定义ComponentStatusConst.STATUS_NAVIGATION_AVOID
• 32730011：处理避障开始事件，常量定义ComponentStatusConst.STATUS_NAVIGATION_AVOID_START
• 32730003：处理避障结束事件，常量定义ComponentStatusConst.STATUS_NAVIGATION_AVOID_END
• -32620015：原地停留，常量定义ComponentErrorConst.ERROR_NAVIGATION_ALREADY_IN_DESTINATION
• 32730004：处理避停状态，常量定义ComponentStatusConst.STATUS_OBSTACLES_AVOID
• 32750004：进电梯，到达电梯门
• 32750005：进电梯，到达电梯中心，开始转向
• 32750023：进电梯，到达电梯中心，转向完成
• 32750009：出电梯，离开电梯门
• 32750008：出电梯，离开电梯中心
• 32750003：进电梯，从电梯口去电梯中心

结果说明：

通过ComponentEvent.status获取到结果码：

• 32610007：到达事件处理，常量定义 ComponentResultConst.RESULT_NAVIGATION_ARRIVED
• -32620015：已在目标位置点，常量定义ComponentErrorConst.ERROR_NAVIGATION_ALREADY_IN_DESTINATION
• -32610004：位置点名称无效，常量定义 ComponentErrorConst.ERROR_PARAMS_PLACE_NAME_INVALID
• -32620007：目标点不存在，常量定义 ComponentErrorConst.ERROR_DESTINATION_NOT_EXIST
• -32620008：目标点移动超时，常量定义 ComponentErrorConst.ERROR_DESTINATION_CAN_NOT_ARRIVE
• 32610009：底盘启动导航任务失败，常量定义 ComponentResultConst.RESULT_NAVIGATION_FAILURE
• -32620006：避让超时，常量定义 ComponentErrorConst.ERROR_REQUEST_RES_BUSYComponentErrorConst.ERROR_NAVIGATION_AVOID_TIMEOUT
• -32660015：进入电梯失败
• -32620009：全局路径规划失败，常量定义 ComponentErrorConst.ERROR_NAVIGATION_GLOBAL_PATH_FAILED
• -32620014：尝试重定位失败，常量定义 ComponentErrorConst.ERROR_NAVIGATION_RESET_ESTIMATE_FAIL
• -32600001：请求结果繁忙，常量定义 ComponentErrorConst.ERROR_REQUEST_RES_BUSY
• -32600002：请求结果失败，常量定义 ComponentErrorConst.ERROR_REQUEST_RES_FAILED
• -32620002：超出地图范围，常量定义 ComponentErrorConst.ERROR_NAVIGATION_OUT_MAP
• -32620001：没有定位，常量定义 ComponentErrorConst.ERROR_NOT_ESTIMATE
• -32620029: 多机器人等待超时，常量定义ComponentErrorConst.ERROR_MULTI_ROBOT_WAITING_TIMEOUT
• -32650006：多模式错误，常量定义ComponentErrorConst.ERROR_MULTIPLE_MODE_ERROR
• -32620030: 轮子过流，常量定义ComponentErrorConst.ERROR_WHEEL_OVER_CURRENT_RUN_OUT
• -32660021：梯控多楼层导航，地图错误

注意：开发中请使用常量定义进行结果及状态判断，以上出现的返回码在后续版本中有可能会发生变更

最低版本： 2.33.0

适用平台：

充电乘梯

组件名称： ChargeElevatorComponent

组件描述： 乘梯充电组件，用于控制机器人前往不同楼层充电。

使用示例：

//ChargeProvider类文件
import {ChargeStartComponent,ChargeElevatorComponent,ChargeElevatorParam} from 'orionos-eve-core';
@observer
export class ChargeProvider<Props extends BaseComponentProps> extends BaseComponent<BaseComponentProps, ChargeViewModel, ChargeVoice> {
        private chargeElevatorParam: ChargeElevatorParam;
        private chargeComponentRef: RefObject<
        ChargeStartComponent
    > = React.createRef();
        public constructor(props: any) {
                super(props, false);
                console.log(TAG, 'constructor prop is ' + JSON.stringify(props));
                this.viewModel = new ChargeViewModel(props);
                let voice = new ChargeVoice(this.viewModel);
                this.setViewModel(this.viewModel);
                this.setVoice(voice);
                this.chargeStartParam = new ChargeStartParam(
                        undefined,
                        undefined,
                        undefined
                );
                this.chargeElevatorParam = new ChargeElevatorParam(
                        undefined,
                        undefined,
                        undefined
                );
        }
        public render() {
                return (
                    <>
                            <ChargeElevatorComponent
                                    ref={this.chargeComponentRef}
                                    param={this.chargeElevatorParam}
                                    onStatusUpdate={
                                            this.viewModel && this.viewModel.onStatusUpdate
                                    }
                                    onFinish={
                                            this.viewModel && this.viewModel.onChargeFinish
                                    }
                            />
                    <>
                );
        }
}

//ChargeViewModel文件
public onStatusUpdate = (event?: ComponentEvent): boolean => {
        console.log(TAG, 'onStatusUpdate', event);
        if (event) {
                switch (event.status) {
                        case 32730001
                                DanceOperation.playLightEffect(
                                        LIGHT_EFFECT_TYPE.LIGHT_EFFECT_NAVI_BREATH
                                );
                                break;
                        default:
                                break;
                }
        }
        return false;
};
public onChargeFinish = (event?: ComponentEvent): boolean => {
        console.log(TAG, ' onChargeFinish', event);
        DanceOperation.playLightEffect(
            LIGHT_EFFECT_TYPE.LIGHT_EFFECT_BLUE_LIGHT
        );
        if (event && event.status) {
                switch (event.status) {
                        case 32610001:
                                console.log(TAG, 'Charge success');
                                chargeStore.setIsChargeEnable(false);
                                this.toMain();
                                break;
                        case -32620001:
                                console.log(TAG, 'charge ERROR_NOT_ESTIMATE');
                                Broadcast.sendBroadcast('action_reposition', {
                                        repositionVision: true
                                });
                                break;
                        case -32620023:
                        case -32600007:
                        case -32600008:
                        case -32600009:
                                console.log(TAG, 'Charge fail. retry Without Forward...');
                                chargeStore.setIsChargeEnable(false);
                                chargeStore.setIsChargeEnable(true);
                                break;
                        default:
                                console.log(TAG, 'Charge error', event.status);
                                chargeStore.setIsChargeEnable(false);
                                this.retryCharge();
                                break;
                }
        }
        return true;
    };

属性：

• ref:  RefObject<ChargeStartComponent> = React.createRef();
• param：组件参数，new ChargeElevatorParam(undefined, undefined, undefined);
• onStatusUpdate：组件状态回调
• onFinish：组件执行结束回调

状态说明：

通过ComponentEvent.status获取到状态码：

• 32730001：开始导航，常量定义ComponentStatusConst.STATUS_START_NAVIGATION

结果说明：

通过ComponentEvent.status获取到结果码：

• 32610001：充电成功，常量定义 ComponentResultConst.RESULT_SUCCESS
• -32620001：没有定位，常量定义ComponentErrorConst.ERROR_NOT_ESTIMATE
• -32620023：充电位置不能到达，常量定义 ComponentErrorConst.ERROR_CHARGE_POINT_CAN_NOT_ARRIVE
• -32600007：导航超时，常量定义 ComponentErrorConst.ERROR_CHARGE_START_NAVI_TIMEOUT
• -32600008：充电开始解析错误，常量定义 ComponentErrorConst.ERROR_CHARGE_START_PARSE_IN_LOCATION
• -32600009：尝试充电未移动，常量定义 ComponentErrorConst.ERROR_CHARGE_START_NOT_MOVE

注意：开发中请使用常量定义进行结果及状态判断，以上出现的返回码在后续版本中有可能会发生变更

最低版本： 2.33.0

适用平台：

获取多楼层点位

组件名称： getMultiFloorConfigAndPose

组件描述： 获取多楼层点位列表。

使用示例：

console.log(TAG, 'getElevatorPlaceList()');
let action = new CommandListener();
action.addListener(CommandListener.EVENT_RESULT, (msg: any) => {
        console.log(TAG, 'getElevatorPlaceList data : ' + JSON.stringify(msg));
        if (msg && typeof msg !== 'undefined') {
                if (msg) {
                        let code = msg.result;
                        let placeList = msg.message;
                        if(code === 1 && placeList){
                                this.processElevatorFloorData(placeList);
                        }
                }
        } else {
                console.log(TAG, 'current ElevatorPlaceList is not exits');
        }
});
RobotApi.getMultiFloorConfigAndCommonPose(action.getId());
//数据结构示例：
[
    {
        "availableElevators": [ //该地图使用的电梯名称
            "1梯",
            "2梯"
        ],
        "floorId": 26, //数据主键ID，自增长
        "floorIndex": 1, //楼层id，lora发送给梯控时使用的楼层id
        "floorState": 1, //楼层类型，主楼层 默认的配送楼层，默认值0，主楼层1
        "floorAlias": "1层",  //楼层名称
        "mapId": "b6fc75006f443c61bc32cdffa66a395c", //地图ID
        "mapName": "地图名1", //地图名称
        "poseList": [//站点列表
            {
                "name": "接待点"
            },
            {
                "name": "会议室"
            },
            {
                "name": "办公室"
            }
        ]
    },
    {
        "availableElevators": [
            "1梯",
            "2梯"
        ],
        "floorId": 27,
        "floorIndex": 2,
        "floorState": 0,
        "floorAlias": "2层",
        "mapId": "b6fc75006f443c61bc32cdffa66a395d",
        "mapName": "地图名2",
        "poseList": [
            {
                "name": "接待点"
            },
            {
                "name": "会议室"
            },
            {
                "name": "办公室"
            }
        ]
    }
]

注意：开发中请使用常量定义进行结果及状态判断，以上出现的返回码在后续版本中有可能会发生变更

最低版本： 2.33.0

适用平台：

梯控导航