任务执行

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')