加入二维码设置

agv_app/static/js/setting.js

@@ -11,7 +11,7 @@ createApp({
       sequence: [],
       poseForm: { name: '', photo_type: 'front', description: '' },
       // 地图
-      mapForm: { map_dir: '/home/elephant/agv_pro_ros2/install/agv_pro_navigation2/share/agv_pro_navigation2/map/', map_file: 'map.yaml' },
+      mapForm: { map_dir: '/home/elephant/agv_pro_ros2/src/agv_pro_navigation2/map/', map_file: 'map.yaml' },
       mapMsg: '',
       mapLoaded: false,
       mapImageUrl: '',
@@ -22,8 +22,6 @@ createApp({
       nav2Available: false,
       // 点位
       points: [],
-      editingPoint: null,   // 当前编辑的点位 {pointRow, col}
-      pointEditor: { x: 0, y: 0, yaw: 0 },
       newPointName: '',
       newPointMode: 'front',
       newPointSequence: ['front', 'back'],
@@ -47,18 +45,31 @@ createApp({
       agvMoveInterval: null,
       agvCameraUrl: API + '/api/camera/refresh',
       agvCameraTimer: null,
-      // 初始化定位
-      initPoseLoading: false,
-      initPoseMsg: '',
-      initAmclPoseLoading: false,
-      initAmclPoseMsg: '',
+      // 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') {
@@ -135,12 +146,9 @@ createApp({
         const res = await fetch(API + '/api/navigate/status')
         if (res.ok) {
           const data = await res.json()
-          this.nav2Available = data.nav2_available || false
-          // API returns "current_position", normalize to our field
-          const cp = data.current_position || data.current_pos || null
-          if (cp) {
-            this.navCurrentPos = cp
-            console.log('[Setting] nav2:', data.nav2_available, 'cp:', cp.map(function(x){return x.toFixed(2)}), 'mapLoaded:', this.mapLoaded, 'mapMeta:', this.mapMeta ? 'ok' : 'null')
+          this.nav2Available = data.nav2_available
+          if (data.current_pos) {
+            this.navCurrentPos = data.current_pos
           }
         }
       } catch (e) {}
@@ -153,8 +161,6 @@ createApp({
       const { resolution, origin } = this.mapMeta
       const wx = origin[0] + px * resolution * this.mapMeta.width
       const wy = origin[1] + (1 - py) * resolution * this.mapMeta.height
-      // 确认框
-      if (!confirm(`确定导航到坐标 (${wx.toFixed(2)}, ${wy.toFixed(2)}) 吗？`)) return
       try {
         const res = await fetch(API + '/api/navigate/to', {
           method: 'POST',
@@ -307,8 +313,6 @@ createApp({
           this.missionConfig.rows = data.config.rows || 3
           this.missionConfig.cols = data.config.cols || 3
           this.missionConfig.grid = data.config.grid || []
-          this.missionConfig.positions = data.config.positions || []
-          this.missionConfig.machines = data.config.machines || []
         }
       } catch (e) { console.error('加载任务配置失败', e) }
     },
@@ -353,13 +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)
@@ -394,7 +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()
@@ -411,6 +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() {
@@ -432,7 +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) {
@@ -628,6 +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')
@@ -648,293 +833,5 @@ createApp({
         alert('❌ 复位请求失败: ' + e.message)
       }
     },
-    async initPose() {
-      if (!this.agvConnected) { alert('AGV 未连接'); return }
-      if (!confirm('确定要将 AMCL 初始位置设为 (0,0,0) 吗？这会重置定位。')) return
-      this.initPoseLoading = true
-      this.initPoseMsg = ''
-      try {
-        const res = await fetch(API + '/api/mission/init_pose', { method: 'POST' })
-        const data = await res.json()
-        if (data.ok) {
-          this.initPoseMsg = '✅ ' + (data.message || '初始化成功')
-        } else {
-          this.initPoseMsg = '❌ ' + (data.error || '初始化失败')
-        }
-      } catch (e) {
-        this.initPoseMsg = '❌ 请求失败: ' + e.message
-      }
-      this.initPoseLoading = false
-      setTimeout(() => { this.initPoseMsg = '' }, 5000)
-    },
-    async initAmclPose() {
-      if (!this.agvConnected) { alert('AGV 未连接'); return }
-      if (!confirm('确定要将 AMCL 初始位置设为 (0,0,0) 吗？这会重置定位。')) return
-      this.initAmclPoseLoading = true
-      this.initAmclPoseMsg = ''
-      try {
-        const res = await fetch(API + '/api/mission/init_pose', { method: 'POST' })
-        const data = await res.json()
-        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')