任务执行

agv_app/static/js/running.js

@@ -16,6 +16,11 @@ createApp({
       logs: [],
       showQrModal: false,
       qrValue: '',
+      // 错误弹窗 / 单步执行
+      waitingError: false,
+      errorMsg: '',
+      waitingStep: false,
+      stepLabel: '',
     }
   },
   computed: {
@@ -25,7 +30,9 @@ createApp({
         running: '任务运行中',
         paused: '已暂停',
         completed: '已完成',
-        waiting_qr: '等待输入二维码'
+        waiting_qr: '等待输入二维码',
+        waiting_error: '⚠️ 执行错误',
+        waiting_step: '🦶 等待步骤确认',
       }
       return map[this.missionState] || '未知'
     },
@@ -53,6 +60,22 @@ createApp({
         this.progress = data.progress || 0
         if (data.tasks) this.tasks = data.tasks
 
+        // 错误弹窗
+        if (data.waiting_error) {
+          this.waitingError = true
+          this.errorMsg = data.error_msg || '任务执行出错'
+        } else {
+          this.waitingError = false
+        }
+
+        // 步骤确认弹窗
+        if (data.waiting_step) {
+          this.waitingStep = true
+          this.stepLabel = data.step_label || ''
+        } else {
+          this.waitingStep = false
+        }
+
         // QR 弹窗
         if (this.missionState === 'waiting_qr' && !this.showQrModal) {
           this.showQrModal = true
@@ -68,7 +91,7 @@ createApp({
       } catch (e) {}
     },
     async pollLogs() {
-      if (this.missionState !== 'running' && this.missionState !== 'waiting_qr') return
+      if (this.missionState !== 'running' && this.missionState !== 'waiting_qr' && this.missionState !== 'waiting_error' && this.missionState !== 'waiting_step') return
       try {
         const res = await fetch(API + '/api/mission/log')
         const data = await res.json()
@@ -91,6 +114,40 @@ createApp({
       await fetch(API + '/api/mission/start', { method: 'POST' })
       this.missionState = 'running'
     },
+    async startSingleStep() {
+      if (this.missionState !== 'idle') return
+      this.logs = []
+      this.progress = 0
+      this.report = null
+      this.showQrModal = false
+      await fetch(API + '/api/mission/start', {
+        method: 'POST',
+        headers: { 'Content-Type': 'application/json' },
+        body: JSON.stringify({ single_step: true })
+      })
+      if (this.polling) clearInterval(this.polling)
+      this.poll()
+    },
+    async skipError() {
+      await fetch(API + '/api/mission/error-skip', { method: 'POST' })
+      this.waitingError = false
+    },
+    async abortError() {
+      await fetch(API + '/api/mission/error-abort', { method: 'POST' })
+      this.waitingError = false
+    },
+    async confirmStep() {
+      await fetch(API + '/api/mission/singlestep/confirm', { method: 'POST' })
+      this.waitingStep = false
+    },
+    async retryStep() {
+      await fetch(API + '/api/mission/singlestep/retry', { method: 'POST' })
+      this.waitingStep = false
+    },
+    async abortStep() {
+      await fetch(API + '/api/mission/singlestep/abort', { method: 'POST' })
+      this.waitingStep = false
+    },
     async pauseMission() {
       await fetch(API + '/api/mission/pause', { method: 'POST' })
       this.missionState = 'paused'
@@ -104,6 +161,8 @@ createApp({
       await fetch(API + '/api/mission/stop', { method: 'POST' })
       this.missionState = 'idle'
       this.showQrModal = false
+      this.waitingError = false
+      this.waitingStep = false
     },
     async submitQr() {
       const val = this.qrValue.trim()

agv_app/static/js/setting.js

@@ -59,6 +59,7 @@ createApp({
       qrScanningId: null,
       armCameraUrl: API + '/api/camera/arm_refresh',
       newQrName: '',
+      armInitialPose: [0, 0, 0, 0, 0, 0],
     }
   },
   mounted() {
@@ -489,6 +490,7 @@ createApp({
           this.missionConfig.cols = data.config.cols || 3
           this.missionConfig.grid = data.config.grid || []
           this.missionConfig.positions = data.config.positions || []
+          this.armInitialPose = data.config.arm_initial_pose || [0, 0, 0, 0, 0, 0]
         }
       } catch (e) { console.error('加载任务配置失败', e) }
     },
@@ -520,7 +522,8 @@ createApp({
           body: JSON.stringify({
             rows: this.missionConfig.rows,
             cols: this.missionConfig.cols,
-            grid: this.missionConfig.grid
+            grid: this.missionConfig.grid,
+            arm_initial_pose: this.armInitialPose
           })
         })
         const data = await res.json()
@@ -529,6 +532,33 @@ createApp({
         }
       } catch (e) { alert('保存失败: ' + e.message) }
     },
+    async saveArmInitialPose() {
+      try {
+        const res = await fetch(API + '/api/mission/config', {
+          method: 'POST',
+          headers: { 'Content-Type': 'application/json' },
+          body: JSON.stringify({
+            rows: this.missionConfig.rows,
+            cols: this.missionConfig.cols,
+            grid: this.missionConfig.grid,
+            arm_initial_pose: this.armInitialPose
+          })
+        })
+        const data = await res.json()
+        if (data.ok) alert('✅ 机械臂初始姿态已保存')
+        else alert('❌ 保存失败')
+      } catch (e) { alert('保存失败: ' + e.message) }
+    },
+    async loadArmCurrentAngles() {
+      if (!this.armConnected) { alert('机械臂未连接'); return }
+      try {
+        const res = await fetch(API + '/api/arm/get_angles')
+        const data = await res.json()
+        if (data.ok && data.angles) {
+          this.armInitialPose = [...data.angles]
+        }
+      } catch (e) { alert('读取角度失败: ' + e.message) }
+    },
     async loadAllMachines() {
       try {
         const res = await fetch(API + '/api/mission/machines')