加入二维码设置

agv_app/setting.js

@@ -45,13 +45,31 @@ createApp({
       agvMoveInterval: null,
       agvCameraUrl: API + '/api/camera/refresh',
       agvCameraTimer: null,
+      // QR
+      qrScanning: false,
+      qrConfigs: [],
+      qrScanningId: null,
+      armCameraUrl: API + '/api/camera/arm_refresh',
+      newQrName: '',
     }
   },
   mounted() {
     this.refresh()
     this.refreshAngles()
+    this.loadQrConfigs()
     this.nav2Timer = setInterval(this.refreshNavStatus, 3000)
   },
+  computed: {
+    hasQr() {
+      return !!(this.selectedMachine && this.selectedMachine.qr)
+    },
+    hasQrValue() {
+      return !!(this.selectedMachine && this.selectedMachine.qr && this.selectedMachine.qr.qr_value)
+    },
+    hasQrModelId() {
+      return !!(this.selectedMachine && this.selectedMachine.qr && this.selectedMachine.qr.model_id)
+    }
+  },
   watch: {
     tab(val) {
       if (val === 'agv') {
@@ -339,13 +357,22 @@ createApp({
       try {
         const res = await fetch(API + '/api/mission/machines')
         const data = await res.json()
-        this.missionConfig.machines = data.machines || []
+        this.missionConfig.machines = (data.machines || []).map(m => {
+          if (!m.front) m.front = { coords: [0,0,0], poses: [] }
+          if (!m.back) m.back = { coords: [0,0,0], poses: [] }
+          if (!m.qr) m.qr = { coords: [0,0,0], qr_value: '', model_id: '' }
+          return m
+        })
       } catch (e) { console.error('加载机器列表失败', e) }
     },
     getMachineAt(ri, ci) {
       if (!this.missionConfig.machines) return null
       return this.missionConfig.machines.find(m => m.row === ri && m.col === ci) || null
     },
+    getPointAt(ri, ci) {
+      if (!this.missionConfig.positions) return null
+      return this.missionConfig.positions.find(p => p.row === ri && p.col === ci) || null
+    },
     getPositionAt(ri, ci) {
       if (!this.missionConfig.machines) return null
       const machine = this.getMachineAt(ri, ci)
@@ -380,7 +407,8 @@ createApp({
             row: ri,
             col: ci,
             front: { coords: [0, 0, 0], poses: [] },
-            back: { coords: [0, 0, 0], poses: [] }
+            back: { coords: [0, 0, 0], poses: [] },
+            qr: { coords: [0, 0, 0], qr_value: '', model_id: '' }
           })
         })
         const data = await res.json()
@@ -397,6 +425,8 @@ createApp({
       else if (!Array.isArray(machine.front.coords)) machine.front.coords = [0, 0, 0]
       if (!machine.back) machine.back = { coords: [0, 0, 0], poses: [] }
       else if (!Array.isArray(machine.back.coords)) machine.back.coords = [0, 0, 0]
+      if (!machine.qr) machine.qr = { coords: [0, 0, 0], qr_value: '', model_id: '' }
+      else if (!Array.isArray(machine.qr.coords)) machine.qr.coords = [0, 0, 0]
       this.selectedMachine = machine
     },
     clearSelection() {
@@ -418,7 +448,8 @@ createApp({
           headers: { 'Content-Type': 'application/json' },
           body: JSON.stringify({
             front: this.selectedMachine.front,
-            back: this.selectedMachine.back
+            back: this.selectedMachine.back,
+            qr: this.selectedMachine.qr || { coords: [0, 0, 0], qr_value: '', model_id: '' }
           })
         })
         if (res.ok) {
@@ -614,6 +645,174 @@ createApp({
     async agvStop() {
       await fetch(API + '/api/agv/stop', { method: 'POST' })
     },
+    // === QR 安全访问器（避免 v-model 在 v-if 内因 Vue 编译器优化导致 undefined 报错）===
+    machineHasQr(m) {
+      if (!m || !m.qr || !m.qr.coords || m.qr.coords.length < 2) return false
+      return m.qr.coords[0] !== 0 || m.qr.coords[1] !== 0
+    },
+    qrMarkerStyle(m) {
+      if (!this.machineHasQr(m)) return { display: 'none' }
+      return { left: this.getMapX(m.qr.coords) + '%', top: this.getMapY(m.qr.coords) + '%' }
+    },
+    qrMarkerTitle(m) {
+      if (!m || !m.qr) return ''
+      return 'QR: ' + (m.qr.qr_value || '未扫描')
+    },
+    safeQr(key) {
+      if (!this.selectedMachine || !this.selectedMachine.qr) return ''
+      return this.selectedMachine.qr[key] ?? ''
+    },
+    safeQrCoord(idx) {
+      if (!this.selectedMachine || !this.selectedMachine.qr || !this.selectedMachine.qr.coords) return 0
+      return this.selectedMachine.qr.coords[idx] !== undefined ? this.selectedMachine.qr.coords[idx] : 0
+    },
+    setQrCoord(idx, val) {
+      if (this.selectedMachine && this.selectedMachine.qr && this.selectedMachine.qr.coords) {
+        this.selectedMachine.qr.coords[idx] = val
+      }
+    },
+    safeQrModelName() {
+      if (!this.selectedMachine || !this.selectedMachine.qr || !this.selectedMachine.qr.model_id) return ''
+      return this.getModelName(this.selectedMachine.qr.model_id)
+    },
+    // === QR 二维码 ===
+    async readQRPosition() {
+      if (!this.agvConnected) { alert('AGV 未连接'); return }
+      try {
+        const res = await fetch(API + '/api/agv/position')
+        const data = await res.json()
+        if (data.ok && data.position) {
+          const [x, y, theta] = data.position
+          if (!this.selectedMachine.qr) this.selectedMachine.qr = { coords: [0, 0, 0], qr_value: '', model_id: '' }
+          this.selectedMachine.qr.coords = [x, y, theta]
+        } else {
+          alert('读取位置失败: ' + (data.error || '未知错误'))
+        }
+      } catch (e) { alert('读取位置失败: ' + e.message) }
+    },
+    async scanQRCode(machineId) {
+      if (!this.cameraOpened) { alert('AGV 摄像头未打开'); return }
+      this.qrScanning = true
+      try {
+        const res = await fetch(API + '/api/mission/qr_scan/' + machineId, { method: 'POST' })
+        const data = await res.json()
+        if (data.ok) {
+          await this.loadAllMachines()
+          const updated = this.getMachineAt(this.selectedMachine.row, this.selectedMachine.col)
+          if (updated) this.selectMachine(updated)
+          let msg = '✅ 扫描成功: ' + data.qr_value
+          if (data.model_name) msg += ' → 匹配机型: ' + data.model_name
+          else msg += ' → 未匹配到机型'
+          alert(msg)
+        } else {
+          alert('❌ ' + (data.error || '扫描失败'))
+        }
+      } catch (e) { alert('扫描失败: ' + e.message) }
+      this.qrScanning = false
+    },
+    // ========== 二维码配置（独立 Tab）==========
+    async loadQrConfigs() {
+      try {
+        const res = await fetch(API + '/api/qr/configs')
+        const data = await res.json()
+        this.qrConfigs = (data.configs || []).map(c => {
+          // 兼容旧版的 coords → 转为 joint_angles
+          if (!c.joint_angles || !Array.isArray(c.joint_angles)) {
+            c.joint_angles = [0, 0, 0, 0, 0, 0]
+          }
+          return c
+        })
+      } catch (e) { console.error('加载二维码配置失败', e) }
+    },
+    async addQrConfig() {
+      const name = this.newQrName.trim() || ''
+      try {
+        const res = await fetch(API + '/api/qr/configs', {
+          method: 'POST', headers: {'Content-Type':'application/json'},
+          body: JSON.stringify({ name: name || undefined })
+        })
+        const data = await res.json()
+        if (data.ok) {
+          this.qrConfigs.push(data.entry)
+          this.newQrName = ''
+        }
+      } catch (e) { alert('添加失败: ' + e.message) }
+    },
+    getQrAngle(q, idx) {
+      if (!q || !q.joint_angles || !Array.isArray(q.joint_angles)) return 0
+      return q.joint_angles[idx] !== undefined ? q.joint_angles[idx] : 0
+    },
+    async updateQrAngle(qrId, idx, val) {
+      const q = this.qrConfigs.find(x => x.id === qrId)
+      if (!q) return
+      if (!q.joint_angles || !Array.isArray(q.joint_angles)) q.joint_angles = [0,0,0,0,0,0]
+      q.joint_angles[idx] = parseFloat(val) || 0
+      try {
+        await fetch(API + '/api/qr/configs/' + qrId, {
+          method: 'PUT', headers: {'Content-Type':'application/json'},
+          body: JSON.stringify({ joint_angles: q.joint_angles })
+        })
+      } catch (e) { console.error('保存角度失败', e) }
+    },
+    async readQrAngles(qrId) {
+      if (!this.armConnected) { alert('机械臂未连接'); return }
+      try {
+        const res = await fetch(API + '/api/qr/configs/' + qrId + '/read-angles', { method: 'POST' })
+        const data = await res.json()
+        if (data.ok) {
+          const q = this.qrConfigs.find(x => x.id === qrId)
+          if (q && data.joint_angles) {
+            q.joint_angles = data.joint_angles
+          }
+        } else {
+          alert('读取角度失败: ' + (data.error || '未知错误'))
+        }
+      } catch (e) { alert('读取角度失败: ' + e.message) }
+    },
+    async saveQrConfig(qrId) {
+      const q = this.qrConfigs.find(x => x.id === qrId)
+      if (!q) return
+      try {
+        const res = await fetch(API + '/api/qr/configs/' + qrId, {
+          method: 'PUT', headers: {'Content-Type':'application/json'},
+          body: JSON.stringify({ name: q.name })
+        })
+        if (!res.ok) alert('保存名称失败')
+      } catch (e) { alert('保存失败: ' + e.message) }
+    },
+    async deleteQrConfig(qrId) {
+      if (!confirm('确定删除此二维码点位？')) return
+      try {
+        await fetch(API + '/api/qr/configs/' + qrId, { method: 'DELETE' })
+        this.qrConfigs = this.qrConfigs.filter(x => x.id !== qrId)
+      } catch (e) { alert('删除失败: ' + e.message) }
+    },
+    getQrModelName(modelId) {
+      const model = this.models.find(m => m.id === modelId)
+      return model ? model.name : ''
+    },
+    getModelName(modelId) {
+      const model = this.models.find(m => m.id === modelId)
+      return model ? model.name : ''
+    },
+    async scanQrEntry(qrId) {
+      this.qrScanningId = qrId
+      try {
+        const res = await fetch(API + '/api/qr/scan/' + qrId, { method: 'POST' })
+        const data = await res.json()
+        if (data.ok) {
+          await this.loadQrConfigs()
+          let msg = '扫描成功: ' + data.qr_value
+          if (data.model_name) msg += ' 匹配机型: ' + data.model_name
+          else msg += ' 未匹配到机型'
+          alert(msg)
+        } else { alert(data.error || '扫描失败') }
+      } catch (e) { alert('扫描失败: ' + e.message) }
+      this.qrScanningId = null
+    },
+    onArmPreviewError() {
+      // 机械臂摄像头预览失败，静默处理
+    },
     async agvResetCollision() {
       if (!this.agvConnected) {
         alert('AGV 未连接')