任务执行

agv_app/templates/running.html

@@ -120,6 +120,31 @@
         </div>
       </div>
 
+      <!-- 错误弹窗 -->
+      <div class="modal-overlay" v-if="waitingError">
+        <div class="modal">
+          <h3>⚠️ 执行错误</h3>
+          <p>[[ errorMsg ]]</p>
+          <div class="modal-actions">
+            <button class="btn btn-warning" @click="skipError">跳过</button>
+            <button class="btn btn-error" @click="abortError">中断</button>
+          </div>
+        </div>
+      </div>
+
+      <!-- 步骤确认弹窗 -->
+      <div class="modal-overlay" v-if="waitingStep">
+        <div class="modal">
+          <h3>🦶 单步执行确认</h3>
+          <p>机器 [[ stepLabel ]] 执行完成，请确认结果是否正确：</p>
+          <div class="modal-actions">
+            <button class="btn btn-success" @click="confirmStep">✅ 正确，继续</button>
+            <button class="btn btn-warning" @click="retryStep">🔄 不正确，重试</button>
+            <button class="btn btn-error" @click="abortStep">⏹️ 中断</button>
+          </div>
+        </div>
+      </div>
+
     </main>
   </div>
 

agv_app/templates/setting.html

@@ -348,6 +348,24 @@
           </div>
         </section>
 
+        <!-- 机械臂初始姿态 -->
+        <section class="card" style="margin-top:16px">
+          <h2>② 🦾 机械臂初始姿态</h2>
+          <p class="hint" style="margin-bottom:12px">每个机器执行前恢复的初始姿态（6个关节角度，单位：度）</p>
+          <div class="form-row" style="flex-wrap:wrap;gap:12px">
+            <div v-for="j in 6" :key="'armInit'+j" class="form-group" style="min-width:100px">
+              <label>J{% raw %}{{ j }}{% endraw %}</label>
+              <input type="number" step="0.5"
+                v-model.number="armInitialPose[j-1]"
+                style="width:100%;padding:8px;border:1px solid #2a3441;border-radius:4px">
+            </div>
+            <div class="form-group" style="align-self:end">
+              <button class="btn btn-primary" @click="saveArmInitialPose">💾 保存初始姿态</button>
+              <button class="btn btn-secondary" @click="loadArmCurrentAngles" :disabled="!armConnected" style="margin-left:6px">📋 读取当前角度</button>
+            </div>
+          </div>
+        </section>
+
         <!-- 下：序列预览 -->
         <section class="card" v-if="sequence && sequence.length > 0" style="margin-top:16px">
           <h2>③ 🐍 蛇形拍摄序列预览</h2>