-

agv_app/static/js/setting.js

@@ -26,6 +26,9 @@ createApp({
       newPointName: '',
       newPointMode: 'front',
       newPointSequence: ['front', 'back'],
+      // 点位编辑器弹窗
+      editingPoint: null,
+      pointEditor: { x: 0, y: 0, yaw: 0 },
       // 机型（姿态组）
       models: [],
       selectedModelId: null,
@@ -254,6 +257,109 @@ createApp({
       if (!angles) return '—'
       return angles.map(a => (a || 0).toFixed(1) + '°').join(' / ')
     },
+    // === 点位编辑器弹窗 ===
+    openPointEdit(ri, ci) {
+      const point = this.getPointAt(ri, ci)
+      this.editingPoint = { pointRow: ri, col: ci }
+      if (point && point.coords && point.coords.length >= 3) {
+        this.pointEditor = { x: point.coords[0], y: point.coords[1], yaw: point.coords[2] || 0 }
+      } else {
+        this.pointEditor = { x: 0, y: 0, yaw: 0 }
+      }
+    },
+    closePointEdit() {
+      this.editingPoint = null
+    },
+    getPointOwnerLabel(pointRow, col) {
+      const rows = this.missionConfig.rows || 0
+      if (pointRow === 0) {
+        return `机器行1·正面`
+      } else if (pointRow >= rows) {
+        return `机器行${rows}·背面`
+      } else {
+        return `机器行${pointRow}·背面 + 机器行${pointRow+1}·正面`
+      }
+    },
+    async loadPointFromAgv() {
+      try {
+        const res = await fetch(API + '/api/agv/position')
+        const data = await res.json()
+        if (data.ok && data.position) {
+          this.pointEditor.x = data.position.x || 0
+          this.pointEditor.y = data.position.y || 0
+          this.pointEditor.yaw = data.position.yaw || 0
+        } else {
+          alert('读取AGV位置失败')
+        }
+      } catch (e) { alert('读取AGV位置失败: ' + e.message) }
+    },
+    async savePoint() {
+      if (!this.editingPoint) return
+      const { pointRow, col } = this.editingPoint
+      const coords = [this.pointEditor.x, this.pointEditor.y, this.pointEditor.yaw]
+      const rows = this.missionConfig.rows || 0
+      // 根据点位行确定 side
+      const sides = []
+      if (pointRow === 0) {
+        sides.push('front')
+      } else if (pointRow >= rows) {
+        sides.push('back')
+      } else {
+        sides.push('back')
+        sides.push('front')
+      }
+      try {
+        for (const side of sides) {
+          const res = await fetch(API + '/api/mission/positions', {
+            method: 'POST',
+            headers: { 'Content-Type': 'application/json' },
+            body: JSON.stringify({ row: pointRow, col, side, coords, poses: [] })
+          })
+          const data = await res.json()
+          if (!data.ok) { alert(`保存失败(${side}): ` + (data.error || '')); return }
+        }
+        alert('点位已保存')
+        await this.loadMissionConfig()
+        this.closePointEdit()
+      } catch (e) { alert('保存失败: ' + e.message) }
+    },
+    async navigateToPoint() {
+      try {
+        const res = await fetch(API + '/api/navigate/to', {
+          method: 'POST',
+          headers: { 'Content-Type': 'application/json' },
+          body: JSON.stringify({
+            x: this.pointEditor.x,
+            y: this.pointEditor.y,
+            yaw: this.pointEditor.yaw
+          })
+        })
+        const data = await res.json()
+        if (!data.ok) { alert('导航失败: ' + (data.error || '')) }
+      } catch (e) { alert('导航失败: ' + e.message) }
+    },
+    async clearPoint() {
+      if (!this.editingPoint) return
+      const { pointRow, col } = this.editingPoint
+      const rows = this.missionConfig.rows || 0
+      const sides = pointRow === 0 ? ['front'] : pointRow >= rows ? ['back'] : ['front', 'back']
+      try {
+        for (const side of sides) {
+          await fetch(API + '/api/mission/positions', {
+            method: 'POST',
+            headers: { 'Content-Type': 'application/json' },
+            body: JSON.stringify({ row: pointRow, col, side, coords: [0, 0, 0], poses: [] })
+          })
+        }
+        await this.loadMissionConfig()
+        this.closePointEdit()
+      } catch (e) { alert('清空失败: ' + e.message) }
+    },
+    canClearPoint(pointRow, col) {
+      const point = this.getPointAt(pointRow, col)
+      if (!point || !point.coords) return true
+      return point.coords[0] === 0 && point.coords[1] === 0
+    },
     // === 机型管理 ===
     async loadAllModels() {
       const res = await fetch(API + '/api/models/list')
@@ -382,6 +488,7 @@ 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 || []
         }
       } catch (e) { console.error('加载任务配置失败', e) }
     },
@@ -465,6 +572,16 @@ createApp({
         this.selectMachine(m)
       }
     },
+    toggleMachine(ri, ci, event) {
+      if (event.target.checked) {
+        // 无机器 → 创建机器
+        this.createMachine(ri, ci)
+      } else {
+        // 有机器 → 删除机器
+        const m = this.getMachineAt(ri, ci)
+        if (m) this.deleteMachine(m.id)
+      }
+    },
     async createMachine(ri, ci) {
       try {
         const machineId = 'm_' + ri + '_' + ci