From 6a5fce819fb505af54dce8d77c40eb1fc662c7d8 Mon Sep 17 00:00:00 2001
From: ywb <347742090@qq.com>
Date: Sun, 17 May 2026 09:24:34 +0800
Subject: [PATCH] =?UTF-8?q?feat:=20map=20rotation=20with=20overlay=20fix?=
 =?UTF-8?q?=20=E2=80=94=20rotate=20only=20img,=20keep=20overlay=20with=20p?=
 =?UTF-8?q?oints=20+=20nav=20click?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 agv_app/setting.html | 26 +++++++++++++-----------
 agv_app/setting.js   | 47 ++++++++++++++++++++++++++++++++++++++++++++
 2 files changed, 61 insertions(+), 12 deletions(-)

diff --git a/agv_app/setting.html b/agv_app/setting.html
index 0bdd838..0e19716 100644
--- a/agv_app/setting.html
+++ b/agv_app/setting.html
@@ -53,21 +53,23 @@
               <span style="font-size:12px;color:#888">旋转:</span>
               <button class="btn btn-secondary" style="padding:4px 10px;font-size:12px" @click="rotateMap(-90)">↶ 90°</button>
               <button class="btn btn-secondary" style="padding:4px 10px;font-size:12px" @click="rotateMap(90)">↷ 90°</button>
-              <button class="btn btn-secondary" style="padding:4px 10px;font-size:12px" @click="mapRotation = 0">重置</button>
+              <button class="btn btn-secondary" style="padding:4px 10px;font-size:12px" @click="resetMapView">重置</button>
             </div>
           </div>
           <div class="map-container" style="position:relative;background:#111;border-radius:8px;overflow:hidden">
-            <!-- 地图旋转 wrapper -->
-            <div :style="{ transform: 'rotate(' + mapRotation + 'deg)', transition: 'transform 0.3s ease' }">
-              <img :src="mapImageUrl" @error="onMapError" style="width:100%;display:block">
-              <!-- 地图覆盖层：显示点位坐标 -->
-              <div class="map-overlay">
-                <!-- 点位坐标点 -->
-                <div v-for="(p, pi) in missionConfig.positions" :key="'pdot-'+pi"
-                     class="map-dot point-dot"
-                     :style="{ left: getMapX(p.coords) + '%', top: getMapY(p.coords) + '%' }"
-                     :title="p.coords ? p.coords.map(c => c.toFixed(2)).join(', ') : ''">
-                </div>
+            <img :src="mapImageUrl" @error="onMapError" @click="onMapClick" style="width:100%;display:block;cursor:crosshair" title="点击地图导航到该位置">
+            <div class="map-overlay">
+              <!-- AGV 实时位置 -->
+              <div v-if="navCurrentPos && nav2Available"
+                   class="map-dot agv-dot"
+                   :style="{ left: getMapX(navCurrentPos) + '%', top: getMapY(navCurrentPos) + '%' }"
+                   title="AGV 当前位置">
+              </div>
+              <!-- 点位坐标点 -->
+              <div v-for="(p, pi) in missionConfig.positions" :key="'pdot-'+mapVersion+'-'+pi"
+                   class="map-dot point-dot"
+                   :style="{ left: getMapX(p.coords) + '%', top: getMapY(p.coords) + '%' }"
+                   :title="p.coords ? p.coords.map(c => c.toFixed(2)).join(', ') : ''">
               </div>
             </div>
           </div>
diff --git a/agv_app/setting.js b/agv_app/setting.js
index 6908f49..e20f9de 100644
--- a/agv_app/setting.js
+++ b/agv_app/setting.js
@@ -17,6 +17,9 @@ createApp({
       mapImageUrl: '',
       mapMeta: null,
       mapRotation: 0,
+      mapVersion: 0,
+      navCurrentPos: null,
+      nav2Available: false,
       // 点位
       points: [],
       newPointName: '',
@@ -47,6 +50,7 @@ createApp({
   mounted() {
     this.refresh()
     this.refreshAngles()
+    this.nav2Timer = setInterval(this.refreshNavStatus, 3000)
   },
   watch: {
     tab(val) {
@@ -65,6 +69,7 @@ createApp({
   beforeUnmount() {
     Object.values(this.jogIntervals).forEach(i => clearInterval(i))
     if (this.agvCameraTimer) clearInterval(this.agvCameraTimer)
+    if (this.nav2Timer) clearInterval(this.nav2Timer)
   },
   methods: {
     async refresh() {
@@ -114,6 +119,48 @@ createApp({
     rotateMap(deg) {
       this.mapRotation = (this.mapRotation + deg) % 360
     },
+    resetMapView() {
+      this.mapRotation = 0
+      this.mapVersion++
+    },
+    async refreshNavStatus() {
+      try {
+        const res = await fetch(API + '/api/navigate/status')
+        if (res.ok) {
+          const data = await res.json()
+          this.nav2Available = data.nav2_available
+          if (data.current_pos) {
+            this.navCurrentPos = data.current_pos
+          }
+        }
+      } catch (e) {}
+    },
+    async onMapClick(e) {
+      if (!this.mapMeta || !this.agvConnected) return
+      const rect = e.target.getBoundingClientRect()
+      const px = (e.clientX - rect.left) / rect.width
+      const py = (e.clientY - rect.top) / rect.height
+      const { resolution, origin } = this.mapMeta
+      const wx = origin[0] + px * resolution * this.mapMeta.width
+      const wy = origin[1] + (1 - py) * resolution * this.mapMeta.height
+      try {
+        const res = await fetch(API + '/api/navigate/to', {
+          method: 'POST',
+          headers: { 'Content-Type': 'application/json' },
+          body: JSON.stringify({ x: wx, y: wy })
+        })
+        const data = await res.json()
+        if (data.ok) {
+          this.mapMsg = '✅ 导航目标已发送'
+          this.mapVersion++
+        } else {
+          this.mapMsg = '❌ ' + (data.error || '导航失败')
+        }
+      } catch (e) {
+        this.mapMsg = '❌ 导航请求失败'
+      }
+      setTimeout(() => { this.mapMsg = '' }, 3000)
+    },
     getMapX(coords) {
       if (!coords || !this.mapMeta) return 50
       const [x, y, yaw] = coords