加入二维码设置
This commit is contained in:
ywb
@@ -735,3 +735,42 @@ a:hover { text-decoration: underline; }
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0%, 100% { transform: scale(1); opacity: 1; }
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50% { transform: scale(1.3); opacity: 0.7; }
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}
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/* 二维码位置点 */
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.qr-dot {
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width: 12px !important;
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height: 12px !important;
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background: #ff9800 !important;
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border: 2px solid #fff !important;
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border-radius: 3px !important;
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box-shadow: 0 0 8px #ff9800, 0 0 14px #ff980088 !important;
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animation: qr-pulse 2s ease-in-out infinite !important;
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z-index: 10 !important;
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}
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@keyframes qr-pulse {
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0%, 100% { transform: scale(1); opacity: 1; }
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50% { transform: scale(1.2); opacity: 0.6; }
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}
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/* 机器行：有机/无机器 切换 */
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.machine-toggle {
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display: flex;
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align-items: center;
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gap: 6px;
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cursor: pointer;
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user-select: none;
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}
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.machine-toggle input[type="checkbox"] {
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accent-color: #4caf50;
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width: 16px;
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height: 16px;
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cursor: pointer;
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}
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.machine-status.on {
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color: #4caf50;
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font-size: 12px;
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}
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.machine-status.off {
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color: #666;
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font-size: 12px;
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}
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+206
-309
@@ -11,7 +11,7 @@ createApp({
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sequence: [],
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poseForm: { name: '', photo_type: 'front', description: '' },
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// 地图
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mapForm: { map_dir: '/home/elephant/agv_pro_ros2/install/agv_pro_navigation2/share/agv_pro_navigation2/map/', map_file: 'map.yaml' },
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mapForm: { map_dir: '/home/elephant/agv_pro_ros2/src/agv_pro_navigation2/map/', map_file: 'map.yaml' },
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mapMsg: '',
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mapLoaded: false,
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mapImageUrl: '',
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@@ -22,8 +22,6 @@ createApp({
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nav2Available: false,
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// 点位
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points: [],
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editingPoint: null, // 当前编辑的点位 {pointRow, col}
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pointEditor: { x: 0, y: 0, yaw: 0 },
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newPointName: '',
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newPointMode: 'front',
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newPointSequence: ['front', 'back'],
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@@ -47,18 +45,31 @@ createApp({
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agvMoveInterval: null,
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agvCameraUrl: API + '/api/camera/refresh',
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agvCameraTimer: null,
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// 初始化定位
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initPoseLoading: false,
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initPoseMsg: '',
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initAmclPoseLoading: false,
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initAmclPoseMsg: '',
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// QR
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qrScanning: false,
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qrConfigs: [],
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qrScanningId: null,
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armCameraUrl: API + '/api/camera/arm_refresh',
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newQrName: '',
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}
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},
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mounted() {
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this.refresh()
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this.refreshAngles()
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this.loadQrConfigs()
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this.nav2Timer = setInterval(this.refreshNavStatus, 3000)
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},
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computed: {
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hasQr() {
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return !!(this.selectedMachine && this.selectedMachine.qr)
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},
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hasQrValue() {
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return !!(this.selectedMachine && this.selectedMachine.qr && this.selectedMachine.qr.qr_value)
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},
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hasQrModelId() {
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return !!(this.selectedMachine && this.selectedMachine.qr && this.selectedMachine.qr.model_id)
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}
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},
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watch: {
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tab(val) {
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if (val === 'agv') {
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@@ -135,12 +146,9 @@ createApp({
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const res = await fetch(API + '/api/navigate/status')
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if (res.ok) {
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const data = await res.json()
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this.nav2Available = data.nav2_available || false
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// API returns "current_position", normalize to our field
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const cp = data.current_position || data.current_pos || null
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if (cp) {
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this.navCurrentPos = cp
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console.log('[Setting] nav2:', data.nav2_available, 'cp:', cp.map(function(x){return x.toFixed(2)}), 'mapLoaded:', this.mapLoaded, 'mapMeta:', this.mapMeta ? 'ok' : 'null')
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this.nav2Available = data.nav2_available
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if (data.current_pos) {
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this.navCurrentPos = data.current_pos
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}
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}
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} catch (e) {}
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@@ -153,8 +161,6 @@ createApp({
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const { resolution, origin } = this.mapMeta
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const wx = origin[0] + px * resolution * this.mapMeta.width
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const wy = origin[1] + (1 - py) * resolution * this.mapMeta.height
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// 确认框
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if (!confirm(`确定导航到坐标 (${wx.toFixed(2)}, ${wy.toFixed(2)}) 吗？`)) return
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try {
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const res = await fetch(API + '/api/navigate/to', {
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method: 'POST',
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@@ -307,8 +313,6 @@ createApp({
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this.missionConfig.rows = data.config.rows || 3
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this.missionConfig.cols = data.config.cols || 3
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this.missionConfig.grid = data.config.grid || []
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this.missionConfig.positions = data.config.positions || []
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this.missionConfig.machines = data.config.machines || []
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}
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} catch (e) { console.error('加载任务配置失败', e) }
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},
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@@ -353,13 +357,22 @@ createApp({
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try {
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const res = await fetch(API + '/api/mission/machines')
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const data = await res.json()
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this.missionConfig.machines = data.machines || []
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this.missionConfig.machines = (data.machines || []).map(m => {
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if (!m.front) m.front = { coords: [0,0,0], poses: [] }
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if (!m.back) m.back = { coords: [0,0,0], poses: [] }
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if (!m.qr) m.qr = { coords: [0,0,0], qr_value: '', model_id: '' }
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return m
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})
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} catch (e) { console.error('加载机器列表失败', e) }
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},
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getMachineAt(ri, ci) {
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if (!this.missionConfig.machines) return null
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return this.missionConfig.machines.find(m => m.row === ri && m.col === ci) || null
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},
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getPointAt(ri, ci) {
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if (!this.missionConfig.positions) return null
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return this.missionConfig.positions.find(p => p.row === ri && p.col === ci) || null
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},
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getPositionAt(ri, ci) {
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if (!this.missionConfig.machines) return null
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const machine = this.getMachineAt(ri, ci)
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@@ -394,7 +407,8 @@ createApp({
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row: ri,
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col: ci,
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front: { coords: [0, 0, 0], poses: [] },
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back: { coords: [0, 0, 0], poses: [] }
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back: { coords: [0, 0, 0], poses: [] },
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qr: { coords: [0, 0, 0], qr_value: '', model_id: '' }
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})
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})
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const data = await res.json()
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@@ -411,6 +425,8 @@ createApp({
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else if (!Array.isArray(machine.front.coords)) machine.front.coords = [0, 0, 0]
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if (!machine.back) machine.back = { coords: [0, 0, 0], poses: [] }
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else if (!Array.isArray(machine.back.coords)) machine.back.coords = [0, 0, 0]
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if (!machine.qr) machine.qr = { coords: [0, 0, 0], qr_value: '', model_id: '' }
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else if (!Array.isArray(machine.qr.coords)) machine.qr.coords = [0, 0, 0]
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this.selectedMachine = machine
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},
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clearSelection() {
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@@ -432,7 +448,8 @@ createApp({
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headers: { 'Content-Type': 'application/json' },
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body: JSON.stringify({
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front: this.selectedMachine.front,
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back: this.selectedMachine.back
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back: this.selectedMachine.back,
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qr: this.selectedMachine.qr || { coords: [0, 0, 0], qr_value: '', model_id: '' }
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})
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})
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if (res.ok) {
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@@ -628,6 +645,174 @@ createApp({
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async agvStop() {
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await fetch(API + '/api/agv/stop', { method: 'POST' })
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},
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// === 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）===
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machineHasQr(m) {
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if (!m || !m.qr || !m.qr.coords || m.qr.coords.length < 2) return false
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return m.qr.coords[0] !== 0 || m.qr.coords[1] !== 0
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},
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qrMarkerStyle(m) {
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if (!this.machineHasQr(m)) return { display: 'none' }
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return { left: this.getMapX(m.qr.coords) + '%', top: this.getMapY(m.qr.coords) + '%' }
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},
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qrMarkerTitle(m) {
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if (!m || !m.qr) return ''
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return 'QR: ' + (m.qr.qr_value || '未扫描')
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},
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safeQr(key) {
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if (!this.selectedMachine || !this.selectedMachine.qr) return ''
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return this.selectedMachine.qr[key] ?? ''
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},
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safeQrCoord(idx) {
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if (!this.selectedMachine || !this.selectedMachine.qr || !this.selectedMachine.qr.coords) return 0
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return this.selectedMachine.qr.coords[idx] !== undefined ? this.selectedMachine.qr.coords[idx] : 0
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},
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setQrCoord(idx, val) {
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if (this.selectedMachine && this.selectedMachine.qr && this.selectedMachine.qr.coords) {
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this.selectedMachine.qr.coords[idx] = val
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}
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},
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safeQrModelName() {
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if (!this.selectedMachine || !this.selectedMachine.qr || !this.selectedMachine.qr.model_id) return ''
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return this.getModelName(this.selectedMachine.qr.model_id)
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},
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// === QR 二维码 ===
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async readQRPosition() {
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if (!this.agvConnected) { alert('AGV 未连接'); return }
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try {
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const res = await fetch(API + '/api/agv/position')
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const data = await res.json()
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if (data.ok && data.position) {
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const [x, y, theta] = data.position
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if (!this.selectedMachine.qr) this.selectedMachine.qr = { coords: [0, 0, 0], qr_value: '', model_id: '' }
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this.selectedMachine.qr.coords = [x, y, theta]
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} else {
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alert('读取位置失败: ' + (data.error || '未知错误'))
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}
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} catch (e) { alert('读取位置失败: ' + e.message) }
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},
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async scanQRCode(machineId) {
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if (!this.cameraOpened) { alert('AGV 摄像头未打开'); return }
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this.qrScanning = true
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try {
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const res = await fetch(API + '/api/mission/qr_scan/' + machineId, { method: 'POST' })
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const data = await res.json()
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if (data.ok) {
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await this.loadAllMachines()
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const updated = this.getMachineAt(this.selectedMachine.row, this.selectedMachine.col)
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if (updated) this.selectMachine(updated)
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let msg = '✅ 扫描成功: ' + data.qr_value
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if (data.model_name) msg += ' → 匹配机型: ' + data.model_name
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else msg += ' → 未匹配到机型'
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alert(msg)
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} else {
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alert('❌ ' + (data.error || '扫描失败'))
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}
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} catch (e) { alert('扫描失败: ' + e.message) }
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this.qrScanning = false
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},
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// ========== 二维码配置（独立 Tab）==========
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async loadQrConfigs() {
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try {
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const res = await fetch(API + '/api/qr/configs')
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const data = await res.json()
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this.qrConfigs = (data.configs || []).map(c => {
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// 兼容旧版的 coords → 转为 joint_angles
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if (!c.joint_angles || !Array.isArray(c.joint_angles)) {
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c.joint_angles = [0, 0, 0, 0, 0, 0]
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}
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return c
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})
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} catch (e) { console.error('加载二维码配置失败', e) }
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},
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async addQrConfig() {
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const name = this.newQrName.trim() || ''
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try {
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const res = await fetch(API + '/api/qr/configs', {
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method: 'POST', headers: {'Content-Type':'application/json'},
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body: JSON.stringify({ name: name || undefined })
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})
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const data = await res.json()
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if (data.ok) {
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this.qrConfigs.push(data.entry)
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this.newQrName = ''
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}
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} catch (e) { alert('添加失败: ' + e.message) }
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},
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getQrAngle(q, idx) {
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if (!q || !q.joint_angles || !Array.isArray(q.joint_angles)) return 0
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return q.joint_angles[idx] !== undefined ? q.joint_angles[idx] : 0
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},
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async updateQrAngle(qrId, idx, val) {
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const q = this.qrConfigs.find(x => x.id === qrId)
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if (!q) return
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if (!q.joint_angles || !Array.isArray(q.joint_angles)) q.joint_angles = [0,0,0,0,0,0]
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q.joint_angles[idx] = parseFloat(val) || 0
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try {
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await fetch(API + '/api/qr/configs/' + qrId, {
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method: 'PUT', headers: {'Content-Type':'application/json'},
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body: JSON.stringify({ joint_angles: q.joint_angles })
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})
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} catch (e) { console.error('保存角度失败', e) }
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},
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async readQrAngles(qrId) {
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if (!this.armConnected) { alert('机械臂未连接'); return }
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try {
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const res = await fetch(API + '/api/qr/configs/' + qrId + '/read-angles', { method: 'POST' })
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const data = await res.json()
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if (data.ok) {
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const q = this.qrConfigs.find(x => x.id === qrId)
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if (q && data.joint_angles) {
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q.joint_angles = data.joint_angles
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}
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} else {
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alert('读取角度失败: ' + (data.error || '未知错误'))
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}
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} catch (e) { alert('读取角度失败: ' + e.message) }
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},
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async saveQrConfig(qrId) {
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const q = this.qrConfigs.find(x => x.id === qrId)
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if (!q) return
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try {
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const res = await fetch(API + '/api/qr/configs/' + qrId, {
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method: 'PUT', headers: {'Content-Type':'application/json'},
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body: JSON.stringify({ name: q.name })
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})
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if (!res.ok) alert('保存名称失败')
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} catch (e) { alert('保存失败: ' + e.message) }
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},
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async deleteQrConfig(qrId) {
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if (!confirm('确定删除此二维码点位？')) return
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try {
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await fetch(API + '/api/qr/configs/' + qrId, { method: 'DELETE' })
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this.qrConfigs = this.qrConfigs.filter(x => x.id !== qrId)
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} catch (e) { alert('删除失败: ' + e.message) }
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},
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getQrModelName(modelId) {
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const model = this.models.find(m => m.id === modelId)
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return model ? model.name : ''
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},
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getModelName(modelId) {
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const model = this.models.find(m => m.id === modelId)
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return model ? model.name : ''
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},
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async scanQrEntry(qrId) {
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this.qrScanningId = qrId
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try {
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const res = await fetch(API + '/api/qr/scan/' + qrId, { method: 'POST' })
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const data = await res.json()
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if (data.ok) {
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await this.loadQrConfigs()
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let msg = '扫描成功: ' + data.qr_value
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if (data.model_name) msg += ' 匹配机型: ' + data.model_name
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else msg += ' 未匹配到机型'
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alert(msg)
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} else { alert(data.error || '扫描失败') }
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} catch (e) { alert('扫描失败: ' + e.message) }
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this.qrScanningId = null
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},
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onArmPreviewError() {
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// 机械臂摄像头预览失败，静默处理
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},
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async agvResetCollision() {
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if (!this.agvConnected) {
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alert('AGV 未连接')
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@@ -648,293 +833,5 @@ createApp({
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alert('❌ 复位请求失败: ' + e.message)
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}
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},
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async initPose() {
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if (!this.agvConnected) { alert('AGV 未连接'); return }
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if (!confirm('确定要将 AMCL 初始位置设为 (0,0,0) 吗？这会重置定位。')) return
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this.initPoseLoading = true
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this.initPoseMsg = ''
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try {
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const res = await fetch(API + '/api/mission/init_pose', { method: 'POST' })
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const data = await res.json()
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if (data.ok) {
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this.initPoseMsg = '✅ ' + (data.message || '初始化成功')
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} else {
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this.initPoseMsg = '❌ ' + (data.error || '初始化失败')
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}
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} catch (e) {
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this.initPoseMsg = '❌ 请求失败: ' + e.message
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}
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this.initPoseLoading = false
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setTimeout(() => { this.initPoseMsg = '' }, 5000)
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},
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async initAmclPose() {
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if (!this.agvConnected) { alert('AGV 未连接'); return }
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if (!confirm('确定要将 AMCL 初始位置设为 (0,0,0) 吗？这会重置定位。')) return
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this.initAmclPoseLoading = true
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this.initAmclPoseMsg = ''
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try {
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const res = await fetch(API + '/api/mission/init_pose', { method: 'POST' })
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const data = await res.json()
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if (data.ok) {
|
||||
this.initAmclPoseMsg = '✅ ' + (data.message || '初始化成功')
|
||||
} else {
|
||||
this.initAmclPoseMsg = '❌ ' + (data.error || '初始化失败')
|
||||
}
|
||||
} catch (e) {
|
||||
this.initAmclPoseMsg = '❌ 请求失败: ' + e.message
|
||||
}
|
||||
this.initAmclPoseLoading = false
|
||||
setTimeout(() => { this.initAmclPoseMsg = '' }, 5000)
|
||||
},
|
||||
|
||||
getPointAt(pointRow, col) {
|
||||
var positions = this.missionConfig.positions || []
|
||||
// 在独立 positions 数组中查找 (pointRow, col)
|
||||
for (var i = 0; i < positions.length; i++) {
|
||||
var p = positions[i]
|
||||
if (parseInt(p.row) === pointRow && parseInt(p.col) === col) {
|
||||
// 优先找 shoot，其次找 front/back
|
||||
if (p.side === 'shoot') return p
|
||||
// 再看有没有同一(row,col)的shoot
|
||||
}
|
||||
}
|
||||
// 再找同(row,col)的shoot类型
|
||||
for (var i = 0; i < positions.length; i++) {
|
||||
var p = positions[i]
|
||||
if (parseInt(p.row) === pointRow && parseInt(p.col) === col && p.side === 'shoot') {
|
||||
return p
|
||||
}
|
||||
}
|
||||
// 兼容旧数据：尝试从机器对象的 front/back 获取
|
||||
var machineAbove = this.getMachineAt(pointRow - 1, col) // 上面的机器
|
||||
var machineBelow = this.getMachineAt(pointRow, col) // 下面的机器
|
||||
if (pointRow === 0 && machineBelow) {
|
||||
// 第一个点位行 → 下面机器的正面
|
||||
return machineBelow.front || { coords: [0, 0, 0], poses: [] }
|
||||
}
|
||||
if (pointRow === this.missionConfig.rows && machineAbove) {
|
||||
// 最后一个点位行 → 上面机器的背面
|
||||
return machineAbove.back || { coords: [0, 0, 0], poses: [] }
|
||||
}
|
||||
// 中间点位行：优先返回上面机器的背面
|
||||
if (machineAbove && machineAbove.back) {
|
||||
return machineAbove.back
|
||||
}
|
||||
if (machineBelow && machineBelow.front) {
|
||||
return machineBelow.front
|
||||
}
|
||||
return null
|
||||
},
|
||||
|
||||
// 点位归属标签
|
||||
getPointOwnerLabel(pointRow, col) {
|
||||
var rows = this.missionConfig.rows
|
||||
var labels = []
|
||||
if (pointRow === 0) {
|
||||
var m = this.getMachineAt(0, col)
|
||||
if (m) labels.push('机器' + (m.row + 1) + '正面')
|
||||
} else if (pointRow === rows) {
|
||||
var m2 = this.getMachineAt(rows - 1, col)
|
||||
if (m2) labels.push('机器' + (m2.row + 1) + '背面')
|
||||
} else {
|
||||
var mAbove = this.getMachineAt(pointRow - 1, col)
|
||||
var mBelow = this.getMachineAt(pointRow, col)
|
||||
if (mAbove) labels.push('机器' + (mAbove.row + 1) + '背面')
|
||||
if (mBelow) labels.push('机器' + (mBelow.row + 1) + '正面')
|
||||
}
|
||||
if (labels.length === 0) return '第' + (col + 1) + '列 · 无归属'
|
||||
return '第' + (col + 1) + '列 · ' + labels.join('/')
|
||||
},
|
||||
|
||||
canClearPoint(pointRow, col) {
|
||||
var rows = this.missionConfig.rows
|
||||
if (pointRow > 0 && pointRow <= rows) {
|
||||
var mAbove = this.getMachineAt(pointRow - 1, col)
|
||||
if (mAbove) return false
|
||||
}
|
||||
if (pointRow >= 0 && pointRow < rows) {
|
||||
var mBelow = this.getMachineAt(pointRow, col)
|
||||
if (mBelow) return false
|
||||
}
|
||||
return true
|
||||
},
|
||||
|
||||
openPointEdit(pointRow, col) {
|
||||
var existing = this.getPointAt(pointRow, col)
|
||||
if (existing && existing.coords) {
|
||||
this.pointEditor.x = existing.coords[0] !== undefined ? existing.coords[0] : 0
|
||||
this.pointEditor.y = existing.coords[1] !== undefined ? existing.coords[1] : 0
|
||||
this.pointEditor.yaw = existing.coords[2] !== undefined ? existing.coords[2] : 0
|
||||
} else {
|
||||
this.pointEditor.x = 0
|
||||
this.pointEditor.y = 0
|
||||
this.pointEditor.yaw = 0
|
||||
}
|
||||
this.editingPoint = { pointRow: pointRow, col: col }
|
||||
},
|
||||
|
||||
closePointEdit() {
|
||||
this.editingPoint = null
|
||||
},
|
||||
|
||||
async loadPointFromAgv() {
|
||||
if (!this.agvConnected) { alert('请先连接AGV'); return }
|
||||
try {
|
||||
const res = await fetch(API + '/api/agv/position')
|
||||
const pos = await res.json()
|
||||
if (pos.ok && pos.position && Array.isArray(pos.position)) {
|
||||
this.pointEditor.x = pos.position[0] ?? 0
|
||||
this.pointEditor.y = pos.position[1] ?? 0
|
||||
this.pointEditor.yaw = pos.position[2] ?? 0
|
||||
alert('✅ 已读取AGV位置: (' + this.pointEditor.x.toFixed(2) + ', ' + this.pointEditor.y.toFixed(2) + ', ' + this.pointEditor.yaw.toFixed(2) + ')')
|
||||
} else if (pos.ok && (!pos.position || !Array.isArray(pos.position))) {
|
||||
alert('⚠️ AGV 未发布位置数据，请检查 AGV 传感器是否正常')
|
||||
} else {
|
||||
alert('读取AGV位置失败: ' + (pos.error || '未知错误'))
|
||||
}
|
||||
} catch (e) { alert('读取AGV位置失败: ' + e.message) }
|
||||
},
|
||||
|
||||
async savePoint() {
|
||||
if (!this.editingPoint) return
|
||||
var pointRow = this.editingPoint.pointRow
|
||||
var col = this.editingPoint.col
|
||||
var coords = [this.pointEditor.x, this.pointEditor.y, this.pointEditor.yaw]
|
||||
try {
|
||||
var saveRes = await fetch(API + '/api/mission/positions', {
|
||||
method: 'POST',
|
||||
headers: { 'Content-Type': 'application/json' },
|
||||
body: JSON.stringify({
|
||||
row: pointRow, col: col, side: 'shoot', coords: coords, poses: []
|
||||
})
|
||||
})
|
||||
var saveData = await saveRes.json()
|
||||
if (!saveData.ok) { alert('保存点位失败: ' + (saveData.error || '未知错误')); return }
|
||||
this.syncPointToMachines(pointRow, col, coords)
|
||||
await this.loadMissionConfig()
|
||||
alert('✅ 点位坐标已保存: (' + coords[0].toFixed(2) + ', ' + coords[1].toFixed(2) + ', ' + coords[2].toFixed(2) + ')')
|
||||
this.closePointEdit()
|
||||
} catch (e) { alert('保存点位失败: ' + e.message) }
|
||||
},
|
||||
|
||||
syncPointToMachines(pointRow, col, coords) {
|
||||
var rows = this.missionConfig.rows
|
||||
if (pointRow === 0) {
|
||||
var m0 = this.getMachineAt(0, col)
|
||||
if (m0) this.updateMachineSide(m0, 'front', coords)
|
||||
return
|
||||
}
|
||||
if (pointRow === rows) {
|
||||
var mLast = this.getMachineAt(rows - 1, col)
|
||||
if (mLast) this.updateMachineSide(mLast, 'back', coords)
|
||||
return
|
||||
}
|
||||
var mAbove = this.getMachineAt(pointRow - 1, col)
|
||||
var mBelow = this.getMachineAt(pointRow, col)
|
||||
if (mAbove) this.updateMachineSide(mAbove, 'back', coords)
|
||||
if (mBelow) this.updateMachineSide(mBelow, 'front', coords)
|
||||
},
|
||||
|
||||
async updateMachineSide(machine, side, coords) {
|
||||
try {
|
||||
var update = {}
|
||||
update[side] = { coords: coords, poses: (machine[side] && machine[side].poses) ? machine[side].poses : [] }
|
||||
await fetch(API + '/api/mission/machines/' + machine.id, {
|
||||
method: 'PUT', headers: { 'Content-Type': 'application/json' },
|
||||
body: JSON.stringify(update)
|
||||
})
|
||||
} catch (e) { console.error('同步机器坐标失败', e) }
|
||||
},
|
||||
|
||||
async clearPoint() {
|
||||
if (!this.editingPoint) return
|
||||
var pointRow = this.editingPoint.pointRow
|
||||
var col = this.editingPoint.col
|
||||
if (!this.canClearPoint(pointRow, col)) {
|
||||
var ownerLabel = this.getPointOwnerLabel(pointRow, col)
|
||||
alert('⚠️ 无法清空！此点位服务于: ' + ownerLabel + '\n必须先移除相关机器才能清空此点位。')
|
||||
return
|
||||
}
|
||||
if (!confirm('确定清空此点位坐标？')) return
|
||||
try {
|
||||
await fetch(API + '/api/mission/positions/' + pointRow + '/' + col, { method: 'DELETE' })
|
||||
await this.loadMissionConfig()
|
||||
alert('✅ 点位已清空')
|
||||
this.closePointEdit()
|
||||
} catch (e) { alert('清空点位失败: ' + e.message) }
|
||||
},
|
||||
|
||||
async navigateToPoint() {
|
||||
if (!this.editingPoint || !this.pointEditor) return
|
||||
var coords = [this.pointEditor.x, this.pointEditor.y, this.pointEditor.yaw]
|
||||
if (!confirm('确定导航到点位 (' + coords[0].toFixed(2) + ', ' + coords[1].toFixed(2) + ') 吗？')) return
|
||||
try {
|
||||
var res = await fetch(API + '/api/navigate/to', {
|
||||
method: 'POST', headers: { 'Content-Type': 'application/json' },
|
||||
body: JSON.stringify({ x: coords[0], y: coords[1], yaw: coords[2] })
|
||||
})
|
||||
var data = await res.json()
|
||||
if (data.ok) {
|
||||
alert('✅ 导航已启动')
|
||||
} else {
|
||||
alert('❌ ' + (data.error || '导航启动失败'))
|
||||
}
|
||||
} catch (e) { alert('导航请求失败: ' + e.message) }
|
||||
},
|
||||
|
||||
async refreshPoseAngles(modelId, poseId) {
|
||||
if (!this.armConnected) { alert('机械臂未连接'); return }
|
||||
try {
|
||||
var res = await fetch(API + '/api/arm/get_angles')
|
||||
var data = await res.json()
|
||||
if (data.ok && data.angles) {
|
||||
var model = this.models.find(m => m.id === modelId)
|
||||
if (model) {
|
||||
var pose = model.poses.find(p => p.id === poseId)
|
||||
if (pose) {
|
||||
pose.arm_angles = [...data.angles]
|
||||
await fetch(API + '/api/models/' + modelId + '/poses/' + poseId, {
|
||||
method: 'PUT', headers: { 'Content-Type': 'application/json' },
|
||||
body: JSON.stringify({ arm_angles: pose.arm_angles })
|
||||
})
|
||||
}
|
||||
}
|
||||
}
|
||||
} catch (e) { console.error('refreshPoseAngles error:', e) }
|
||||
},
|
||||
|
||||
async applyPoseAngles(modelId, poseId) {
|
||||
var model = this.models.find(m => m.id === modelId)
|
||||
if (model) {
|
||||
var pose = model.poses.find(p => p.id === poseId)
|
||||
if (pose && pose.arm_angles) {
|
||||
try {
|
||||
await fetch(API + '/api/arm/set_angles', {
|
||||
method: 'POST', headers: { 'Content-Type': 'application/json' },
|
||||
body: JSON.stringify({ angles: pose.arm_angles, speed: 500 })
|
||||
})
|
||||
} catch (e) { console.error('applyPoseAngles error:', e) }
|
||||
}
|
||||
}
|
||||
},
|
||||
|
||||
async adjustPoseAngle(modelId, poseId, jointIndex, delta) {
|
||||
var model = this.models.find(m => m.id === modelId)
|
||||
if (model) {
|
||||
var pose = model.poses.find(p => p.id === poseId)
|
||||
if (pose) {
|
||||
if (!pose.arm_angles) pose.arm_angles = [0, 0, 0, 0, 0, 0]
|
||||
pose.arm_angles[jointIndex] = (pose.arm_angles[jointIndex] || 0) + delta
|
||||
await fetch(API + '/api/models/' + modelId + '/poses/' + poseId, {
|
||||
method: 'PUT', headers: { 'Content-Type': 'application/json' },
|
||||
body: JSON.stringify({ arm_angles: pose.arm_angles })
|
||||
})
|
||||
await fetch(API + '/api/arm/set_angle', {
|
||||
method: 'POST', headers: { 'Content-Type': 'application/json' },
|
||||
body: JSON.stringify({ joint: 'J' + (jointIndex + 1), angle: pose.arm_angles[jointIndex] })
|
||||
})
|
||||
}
|
||||
}
|
||||
},
|
||||
}
|
||||
}).mount('#app')
|
||||
|
||||
Reference in New Issue
Block a user