Merge branch 'master' of https://git.haizhiyustc.com/robot/robot_manager

src/utils/rosMapYaml.ts

@@ -0,0 +1,114 @@
+export interface ParsedRosMapYaml {
+  image?: string;
+  resolution: number | null;
+  origin: [number, number, number] | null;
+}
+
+function stripInlineComment(value: string) {
+  let quote: string | null = null;
+
+  for (let index = 0; index < value.length; index += 1) {
+    const char = value[index];
+    const previousChar = value[index - 1];
+
+    if ((char === "'" || char === "\"") && previousChar !== "\\") {
+      quote = quote === char ? null : quote || char;
+    }
+
+    if (char === "#" && !quote) {
+      return value.slice(0, index).trim();
+    }
+  }
+
+  return value.trim();
+}
+
+function unquoteYamlString(value: string) {
+  const trimmedValue = stripInlineComment(value);
+
+  return trimmedValue.replace(/^['"]|['"]$/g, "");
+}
+
+function readScalarValue(content: string, key: string) {
+  const match = content.match(new RegExp(`^\\s*${key}\\s*:\\s*(.*?)\\s*$`, "m"));
+
+  return match ? stripInlineComment(match[1]) : "";
+}
+
+function parseFiniteNumber(value: string) {
+  const parsedValue = Number(stripInlineComment(value));
+
+  return Number.isFinite(parsedValue) ? parsedValue : null;
+}
+
+function parseInlineOrigin(content: string) {
+  const originValue = content.match(/^\s*origin\s*:\s*\[([^\]]+)\]\s*(?:#.*)?$/m)?.[1];
+
+  if (!originValue) {
+    return null;
+  }
+
+  const values = originValue
+    .split(",")
+    .map((value) => parseFiniteNumber(value.trim()))
+    .slice(0, 3);
+
+  return values.length === 3 && values.every((value) => value !== null)
+    ? values as [number, number, number]
+    : null;
+}
+
+function parseBlockOrigin(content: string) {
+  const lines = content.split(/\r?\n/);
+  const values: number[] = [];
+
+  for (let index = 0; index < lines.length; index += 1) {
+    const originLine = lines[index].match(/^(\s*)origin\s*:\s*(?:#.*)?$/);
+
+    if (!originLine) {
+      continue;
+    }
+
+    const originIndent = originLine[1].length;
+
+    for (let nextIndex = index + 1; nextIndex < lines.length; nextIndex += 1) {
+      const line = lines[nextIndex];
+
+      if (!line.trim() || /^\s*#/.test(line)) {
+        continue;
+      }
+
+      const lineIndent = line.match(/^\s*/)?.[0].length ?? 0;
+      if (lineIndent <= originIndent) {
+        break;
+      }
+
+      const itemValue = line.match(/^\s*-\s*(.*?)\s*$/)?.[1];
+      const parsedValue = itemValue ? parseFiniteNumber(itemValue) : null;
+
+      if (parsedValue === null) {
+        break;
+      }
+
+      values.push(parsedValue);
+
+      if (values.length === 3) {
+        return values as [number, number, number];
+      }
+    }
+  }
+
+  return null;
+}
+
+export function parseRosMapYaml(content: string): ParsedRosMapYaml {
+  const imageValue = readScalarValue(content, "image");
+  const resolution = parseFiniteNumber(readScalarValue(content, "resolution"));
+  const origin = parseInlineOrigin(content) || parseBlockOrigin(content);
+
+  return {
+    image: imageValue ? unquoteYamlString(imageValue) : undefined,
+    resolution: resolution && resolution > 0 ? resolution : null,
+    origin,
+  };
+}

src/views/dashboard1/pages/EquipmentManagementPage.vue

@@ -7,6 +7,7 @@ import {
   updateRosCarMapUrls,
   uploadFile,
 } from "@/api/rosCar";
+import { parseRosMapYaml } from "@/utils/rosMapYaml";
 
 type DeviceStatus = "空闲" | "巡检" | "离线" | "充电中";
 type PatrolPointType = "业务点" | "途经点";
@@ -436,27 +437,6 @@ function loadRosMapPreview(previewUrl: string, imageName: string) {
   scheduleMapCanvasRender();
 }
 
-// 解析 ROS YAML 配置中的 image、resolution 和 origin 字段
-function parseRosMapYaml(content: string) {
-  const image = content.match(/^\s*image\s*:\s*(.+?)\s*$/m)?.[1]?.replace(/^['"]|['"]$/g, "");
-  const resolution = Number(content.match(/^\s*resolution\s*:\s*([^\s#]+)\s*$/m)?.[1]);
-  const originValue = content.match(/^\s*origin\s*:\s*\[([^\]]+)\]\s*$/m)?.[1];
-  const origin = originValue
-    ?.split(",")
-    .map((value) => Number(value.trim()))
-    .slice(0, 3);
-
-  return {
-    image,
-    resolution: Number.isFinite(resolution) && resolution > 0
-      ? resolution
-      : null,
-    origin: origin?.length === 3 && origin.every((value) => Number.isFinite(value))
-      ? origin as [number, number, number]
-      : null,
-  };
-}
-
 function readFileAsArrayBuffer(file: File) {
   return new Promise<ArrayBuffer>((resolve, reject) => {
     const reader = new FileReader();

src/views/dashboard1/pages/IntegratedCenterPage.vue

@@ -14,6 +14,7 @@ import {
   stopDispatchRosInspectionTask,
 } from "@/api/rosCar";
 import { getToken } from "@/utils/auth";
+import { parseRosMapYaml } from "@/utils/rosMapYaml";
 import { BASE_URL } from "@/utils/request";
 import { getRecentAlertPhoto } from "../shared/alertPhotos";
 
@@ -376,23 +377,6 @@ function buildFileAccessUrl(fileUrl: string) {
   return `${BASE_URL}${fileUrl.startsWith("/") ? fileUrl : `/${fileUrl}`}`;
 }
 
-// 解析 ROS 地图 YAML 中的分辨率和原点，供真实坐标映射使用
-function parseRosMapYaml(content: string): RosMapMeta {
-  const resolution = Number(content.match(/^\s*resolution\s*:\s*([^\s#]+)\s*$/m)?.[1]);
-  const originValue = content.match(/^\s*origin\s*:\s*\[([^\]]+)\]\s*$/m)?.[1];
-  const origin = originValue
-    ?.split(",")
-    .map((value) => Number(value.trim()))
-    .slice(0, 3);
-
-  return {
-    resolution: Number.isFinite(resolution) && resolution > 0 ? resolution : 0.05,
-    origin: origin?.length === 3 && origin.every((value) => Number.isFinite(value))
-      ? origin as [number, number, number]
-      : [0, 0, 0],
-  };
-}
-
 function readPgmToken(bytes: Uint8Array, cursor: { index: number }) {
   while (cursor.index < bytes.length) {
     const code = bytes[cursor.index];
@@ -737,7 +721,11 @@ async function loadRobotMap(device: DeviceItem) {
     }
 
     const styledMap = buildStyledPgmMap(await pgmResponse.arrayBuffer());
-    const meta = parseRosMapYaml(await yamlResponse.text());
+    const parsedMeta = parseRosMapYaml(await yamlResponse.text());
+    const meta: RosMapMeta = {
+      resolution: parsedMeta.resolution ?? 0.05,
+      origin: parsedMeta.origin ?? [0, 0, 0],
+    };
 
     rosMap.value = {
       ...meta,