可基本执行任务

agv_app/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,
@@ -56,6 +59,7 @@ createApp({
       qrScanningId: null,
       armCameraUrl: API + '/api/camera/arm_refresh',
       newQrName: '',
+      armInitialPose: [0, 0, 0, 0, 0, 0],
     }
   },
   mounted() {
@@ -158,20 +162,41 @@ createApp({
         if (res.ok) {
           const data = await res.json()
           this.nav2Available = data.nav2_available
-          if (data.current_pos) {
-            this.navCurrentPos = data.current_pos
+          if (data.current_position) {
+            this.navCurrentPos = data.current_position
           }
         }
       } catch (e) {}
     },
     async onMapClick(e) {
-      if (!this.mapMeta || !this.agvConnected) return
+      if (!this.mapMeta) {
+        this.mapMsg = '❌ 地图未加载'
+        setTimeout(() => { this.mapMsg = '' }, 3000)
+        return
+      }
+      if (!this.agvConnected) {
+        this.mapMsg = '❌ AGV 未连接，无法导航'
+        setTimeout(() => { this.mapMsg = '' }, 3000)
+        return
+      }
       const rect = e.target.getBoundingClientRect()
-      const px = (e.clientX - rect.left) / rect.width
-      const py = (e.clientY - rect.top) / rect.height
+      let px = (e.clientX - rect.left) / rect.width
+      let py = (e.clientY - rect.top) / rect.height
+      // 逆旋转补偿：地图 CSS transform: rotate() 后，点击坐标需反向旋转
+      // 使同一物理点在不同旋转角度下返回相同的世界坐标
+      const rotation = (this.mapRotation || 0) * Math.PI / 180
+      if (rotation !== 0) {
+        const cx = px - 0.5
+        const cy = py - 0.5
+        const cos = Math.cos(-rotation)
+        const sin = Math.sin(-rotation)
+        px = cx * cos - cy * sin + 0.5
+        py = cx * sin + cy * cos + 0.5
+      }
       const { resolution, origin } = this.mapMeta
       const wx = origin[0] + px * resolution * this.mapMeta.width
       const wy = origin[1] + (1 - py) * resolution * this.mapMeta.height
+      if (!confirm(`是否导航到该坐标？\nX: ${wx.toFixed(3)}\nY: ${wy.toFixed(3)}`)) return
       try {
         const res = await fetch(API + '/api/navigate/to', {
           method: 'POST',
@@ -254,6 +279,129 @@ createApp({
       if (!angles) return '—'
       return angles.map(a => (a || 0).toFixed(1) + '°').join(' / ')
     },
+    // === 点位编辑器弹窗 ===
+    openPointEdit(ri, ci) {
+      const point = this.getPointAt(ri, ci)
+      this.editingPoint = { pointRow: ri, col: ci }
+      if (point && point.coords && point.coords.length >= 3) {
+        this.pointEditor = { x: point.coords[0], y: point.coords[1], yaw: point.coords[2] || 0 }
+      } else {
+        this.pointEditor = { x: 0, y: 0, yaw: 0 }
+      }
+    },
+    closePointEdit() {
+      this.editingPoint = null
+    },
+    getPointOwnerLabel(pointRow, col) {
+      const rows = this.missionConfig.rows || 0
+      if (pointRow === 0) {
+        return `机器行1·正面`
+      } else if (pointRow >= rows) {
+        return `机器行${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 && data.position.length >= 3) {
+          this.pointEditor.x = data.position[0] || 0
+          this.pointEditor.y = data.position[1] || 0
+          this.pointEditor.yaw = data.position[2] || 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() {
+      if (!confirm(`确认导航到该点位?\nX: ${this.pointEditor.x}  Y: ${this.pointEditor.y}  Yaw: ${this.pointEditor.yaw}`)) return
+      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 goToOrigin() {
+      if (!confirm('确认导航到原点 (0, 0, 0)?')) return
+      try {
+        const res = await fetch(API + '/api/navigate/to', {
+          method: 'POST',
+          headers: { 'Content-Type': 'application/json' },
+          body: JSON.stringify({ x: 0, y: 0, yaw: 0 })
+        })
+        const data = await res.json()
+        if (data.ok) {
+          this.mapMsg = '✅ 已发送导航到原点'
+        } else {
+          this.mapMsg = '❌ ' + (data.error || '导航失败')
+        }
+      } catch (e) {
+        this.mapMsg = '❌ 导航请求失败: ' + e.message
+      }
+      setTimeout(() => { this.mapMsg = '' }, 3000)
+    },
+    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')
@@ -344,7 +492,7 @@ createApp({
         const res = await fetch(API + '/api/arm/set_angles', {
           method: 'POST',
           headers: { 'Content-Type': 'application/json' },
-          body: JSON.stringify({ angles: pose.arm_angles, speed: 50 })
+          body: JSON.stringify({ angles: pose.arm_angles, speed: 500 })
         })
         const data = await res.json()
         if (data.ok) { alert('姿态已应用到机械臂') }
@@ -382,6 +530,8 @@ 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.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) }
     },
@@ -413,7 +563,8 @@ 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()
@@ -422,6 +573,47 @@ 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 applyArmInitialPose() {
+      if (!this.armConnected) { alert('机械臂未连接'); return }
+      if (!confirm('确认应用初始姿态到机械臂？')) return
+      try {
+        const res = await fetch(API + '/api/arm/set_angles', {
+          method: 'POST',
+          headers: { 'Content-Type': 'application/json' },
+          body: JSON.stringify({ angles: this.armInitialPose, speed: 30 })
+        })
+        const data = await res.json()
+        if (data.ok) alert('✅ 机械臂已移动到初始姿态')
+        else alert('❌ 应用失败: ' + (data.error || ''))
+      } catch (e) { alert('应用失败: ' + e.message) }
+    },
     async loadAllMachines() {
       try {
         const res = await fetch(API + '/api/mission/machines')
@@ -465,6 +657,16 @@ 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
@@ -887,7 +1089,7 @@ createApp({
         const res = await fetch(API + '/api/arm/set_angles', {
           method: 'POST',
           headers: {'Content-Type':'application/json'},
-          body: JSON.stringify({ angles: q.joint_angles, speed: 50 })
+          body: JSON.stringify({ angles: q.joint_angles, speed: 500 })
         })
         const data = await res.json()
         if (data.ok) { alert('姿态已应用到机械臂')