init

agv_app/static/js/app.js

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+const { createApp } = Vue
+
+const API = ''
+
+createApp({
+  delimiters: ['[[', ']]'],
+  
+  data() {
+    return {
+      connecting: false,
+      agvConnected: false,
+      armConnected: false,
+      cameraOpened: false,
+      armCameraOpened: false,
+      mapLoaded: false,
+      mapConfig: {},
+      pointsCount: 0,
+      currentState: 'idle',
+      // 摄像头轮询
+      agvCameraSrc: '/api/camera/refresh?t=' + Date.now(),
+      armCameraSrc: '/api/camera/arm_refresh?t=' + Date.now(),
+      agvCameraError: false,
+      armCameraError: false,
+      reconnectingDevice: null
+    }
+  },
+  computed: {
+    allReady() {
+      return this.agvConnected && this.armConnected && this.cameraOpened && this.mapLoaded
+    },
+    statusClass() {
+      return this.currentState
+    },
+    statusText() {
+      const map = { idle: '空闲', setting: '设置模式', running: '运行中', paused: '已暂停' }
+      return map[this.currentState] || '未知'
+    }
+  },
+  mounted() {
+    this.refresh()
+    setInterval(this.refreshStatus, 3000)
+    this.refreshCams()
+    setInterval(() => this.refreshCams(), 2000)
+  },
+  methods: {
+    refreshCams() {
+      this.agvCameraSrc = '/api/camera/refresh?t=' + Date.now()
+      this.armCameraSrc = '/api/camera/arm_refresh?t=' + Date.now()
+    },
+    async refresh() {
+      await this.refreshStatus()
+      await this.loadPoints()
+    },
+    async refreshStatus() {
+      try {
+        const res = await fetch(API + '/api/status')
+        const data = await res.json()
+        this.agvConnected = data.agv_connected
+        this.armConnected = data.arm_connected
+        this.cameraOpened = data.camera_opened
+        this.armCameraOpened = data.arm_camera_opened
+        this.mapLoaded = data.map_loaded
+        this.currentState = data.state || 'idle'
+        if (data.map_loaded && data.map) {
+          this.mapConfig = data.map
+        }
+      } catch (e) {
+        console.error(e)
+      }
+    },
+    async loadPoints() {
+      try {
+        const res = await fetch(API + '/api/points/list')
+        const data = await res.json()
+        this.pointsCount = data.points ? data.points.length : 0
+      } catch (e) {}
+    },
+    async connectAll() {
+      this.connecting = true
+      try {
+        const res = await fetch(API + '/api/system/connect', { method: 'POST' })
+        const data = await res.json()
+        if (data.errors && data.errors.length) {
+          alert('部分连接失败:\n' + data.errors.join('\n'))
+        }
+        await this.refreshStatus()
+      } finally {
+        this.connecting = false
+      }
+    },
+    async disconnectAll() {
+      await fetch(API + '/api/system/disconnect', { method: 'POST' })
+      await this.refreshStatus()
+    },
+    async connectDevice(device) {
+      if (this.connecting) return
+      this.reconnectingDevice = device
+      try {
+        const res = await fetch(API + '/api/device/connect', {
+          method: 'POST',
+          headers: {'Content-Type': 'application/json'},
+          body: JSON.stringify({device})
+        })
+        const data = await res.json()
+        if (!data.ok && data.error) {
+          alert(data.device + ' 重连失败: ' + data.error)
+        }
+        await this.refreshStatus()
+      } finally {
+        this.reconnectingDevice = null
+      }
+    },
+    async goRunning() {
+      if (!this.allReady) {
+        alert('请先连接所有设备并加载地图')
+      } else {
+        window.location.href = '/running'
+      }
+    }
+  }
+}).mount('#app')

agv_app/static/js/running.js

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+const { createApp } = Vue
+const API = ''
+
+createApp({
+  delimiters: ['[[', ']]'],
+  
+  data() {
+    return {
+      missionState: 'idle',
+      currentPoint: 0,
+      totalPoints: 0,
+      report: null,
+      previewUrl: API + '/api/camera/preview',
+      polling: null
+    }
+  },
+  computed: {
+    missionStateText() {
+      const map = { idle: '空闲', running: '任务运行中', paused: '已暂停', completed: '已完成' }
+      return map[this.missionState] || '未知'
+    },
+    progressPercent() {
+      if (!this.totalPoints) return 0
+      return Math.round((this.currentPoint / this.totalPoints) * 100)
+    }
+  },
+  mounted() {
+    this.poll()
+  },
+  beforeUnmount() {
+    if (this.polling) clearInterval(this.polling)
+  },
+  methods: {
+    poll() {
+      this.refresh()
+      this.polling = setInterval(this.refresh, 2000)
+    },
+    async refresh() {
+      try {
+        const res = await fetch(API + '/api/mission/state')
+        const data = await res.json()
+        this.missionState = data.state || 'idle'
+
+        if (this.missionState === 'running') {
+          const reportRes = await fetch(API + '/api/mission/report')
+          const reportData = await reportRes.json()
+          if (reportData.report) {
+            this.totalPoints = reportData.report.total_points || 0
+            this.currentPoint = reportData.report.details?.length || 0
+            this.report = reportData.report
+          }
+        } else if (this.missionState === 'idle') {
+          const reportRes = await fetch(API + '/api/mission/report')
+          const reportData = await reportRes.json()
+          if (reportData.report) {
+            this.report = reportData.report
+            this.totalPoints = reportData.report.total_points || 0
+            this.currentPoint = reportData.report.details?.length || 0
+          }
+        }
+      } catch (e) {}
+    },
+    async startMission() {
+      if (this.missionState !== 'idle') return
+      await fetch(API + '/api/mission/start', { method: 'POST' })
+      this.missionState = 'running'
+    },
+    async pauseMission() {
+      await fetch(API + '/api/mission/pause', { method: 'POST' })
+      this.missionState = 'paused'
+    },
+    async stopMission() {
+      await fetch(API + '/api/mission/stop', { method: 'POST' })
+      this.missionState = 'idle'
+    },
+    onPreviewError(e) {
+      e.target.style.display = 'none'
+    }
+  }
+}).mount('#app')

agv_app/static/js/setting.js

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+const { createApp } = Vue
+const API = ''
+
+const app = createApp({
+  data() {
+    return {
+      tab: 'map',
+      // 任务配置
+      missionConfig: { rows: 3, cols: 3, grid: [], machines: [], positions: [] },
+      // 点位编辑弹窗
+      editingPoint: null,   // 当前编辑的点位 {pointRow, col} — pointRow是点位行号(0~rows)
+      pointEditor: { x: 0, y: 0, yaw: 0 },
+      selectedMachine: null,
+      sequence: [],
+      poseForm: { name: '', photo_type: 'front', description: '' },
+      // 地图
+      mapForm: { map_dir: '/home/elephant/agv_pro_ros2/src/agv_pro_navigation2/map/', map_file: 'map.yaml' },
+      mapMsg: '',
+      mapLoaded: false,
+      mapImageUrl: '',
+      mapMeta: null,
+      mapVersion: 0,  // 地图点位版本号，用于强制重新渲染
+      // 点位
+      points: [],
+      newPointName: '',
+      newPointMode: 'front',
+      newPointSequence: ['front', 'back'],
+      // 机型（姿态组）
+      models: [],
+      selectedModelId: null,
+      newModelName: '',
+      newModelDesc: '',
+      newModelNotes: '',
+      newPoseForm: {},  // 机型配置：新建姿态的表单
+      // 机械臂
+      armConnected: false,
+      currentAngles: [],
+      angleInputs: [],
+      previewUrl: API + '/api/camera/preview',
+      jogIntervals: {},
+      // AGV
+      cameraOpened: false,
+      agvConnected: false,
+      agvBattery: null,
+      agvPosition: null,
+      agvSpeed: 0.5,
+      agvMoveInterval: null,
+      agvCameraUrl: API + '/api/camera/refresh',
+      agvCameraTimer: null,
+    }
+  },
+  mounted() {
+    this.refresh()
+    this.refreshAngles()
+  },
+  watch: {
+    // 监听点位数据变化，自动刷新地图
+    'missionConfig.positions'() {
+      this.mapVersion++
+    },
+    tab(val) {
+      if (val === 'agv') {
+        this.agvCameraTimer = setInterval(() => {
+          this.agvCameraUrl = API + '/api/camera/refresh?t=' + Date.now()
+        }, 1000)
+      } else {
+        if (this.agvCameraTimer) {
+          clearInterval(this.agvCameraTimer)
+          this.agvCameraTimer = null
+        }
+      }
+    }
+  },
+  beforeUnmount() {
+    Object.values(this.jogIntervals).forEach(i => clearInterval(i))
+    if (this.agvCameraTimer) clearInterval(this.agvCameraTimer)
+  },
+  methods: {
+    async refresh() {
+      try {
+        const res = await fetch(API + '/api/status')
+        const data = await res.json()
+        this.agvConnected = data.agv_connected
+        this.armConnected = data.arm_connected
+        this.cameraOpened = data.camera_opened
+        this.mapLoaded = data.map_loaded
+        if (data.map_loaded) {
+          this.mapImageUrl = API + '/api/map/image?t=' + Date.now()
+          try {
+            const metaRes = await fetch(API + '/api/map/meta')
+            const meta = await metaRes.json()
+            if (meta.ok) this.mapMeta = meta
+          } catch (e) {}
+        }
+      } catch (e) {}
+      await this.loadAllPoints()
+      await this.loadAllModels()
+      await this.loadAllMachines()
+      await this.loadMissionConfig()
+    },
+    // === 地图 ===
+    async loadMap() {
+      const res = await fetch(API + '/api/map/load', {
+        method: 'POST',
+        headers: { 'Content-Type': 'application/json' },
+        body: JSON.stringify(this.mapForm)
+      })
+      const data = await res.json()
+      this.mapMsg = data.ok ? '✅ 地图加载成功' : '❌ ' + (data.error || '加载失败')
+      this.mapLoaded = data.ok
+      if (data.ok) {
+        this.mapImageUrl = API + '/api/map/image?t=' + Date.now()
+        try {
+          const metaRes = await fetch(API + '/api/map/meta')
+          const meta = await metaRes.json()
+          if (meta.ok) this.mapMeta = meta
+        } catch (e) {}
+      }
+    },
+    onMapError() {
+      this.mapMsg = '❌ 地图图像加载失败'
+    },
+    getMapX(coords) {
+      if (!coords || !this.mapMeta) {
+        console.log('[getMapX] mapMeta not loaded, returning default 50');
+        return 50
+      }
+      const [x, y, yaw] = coords
+      const { resolution, origin, width } = this.mapMeta
+      const px = (x - origin[0]) / (resolution * width) * 100
+      const result = Math.max(0, Math.min(100, px));
+      console.log('[getMapX]', coords, '→ px%:', result);
+      return result
+    },
+    getMapY(coords) {
+      if (!coords || !this.mapMeta) {
+        console.log('[getMapY] mapMeta not loaded, returning default 50');
+        return 50
+      }
+      const [x, y, yaw] = coords
+      const { resolution, origin, height } = this.mapMeta
+      const py = (y - origin[1]) / (resolution * height) * 100
+      const result = Math.max(0, Math.min(100, 100 - py));
+      console.log('[getMapY]', coords, '→ py%:', result);
+      return result
+    },
+    async saveMap() {
+      await fetch(API + '/api/map/save', {
+        method: 'POST',
+        headers: { 'Content-Type': 'application/json' },
+        body: JSON.stringify(this.mapForm)
+      })
+      this.mapMsg = '✅ 地图配置已保存'
+    },
+    // === 点位 ===
+    async loadAllPoints() {
+      const res = await fetch(API + '/api/points/list')
+      const data = await res.json()
+      this.points = data.points || []
+    },
+    async addPoint() {
+      const res = await fetch(API + '/api/points/add', {
+        method: 'POST',
+        headers: { 'Content-Type': 'application/json' },
+        body: JSON.stringify({
+          name: this.newPointName || 'point_' + (this.points.length + 1),
+          photo_mode: this.newPointMode,
+          sequence: this.newPointSequence
+        })
+      })
+      const data = await res.json()
+      if (data.ok) {
+        await this.loadAllPoints()
+        this.newPointName = ''
+      }
+    },
+    async deletePoint(id) {
+      if (!confirm('确定删除该点位?')) return
+      await fetch(API + '/api/points/delete/' + id, { method: 'DELETE' })
+      await this.loadAllPoints()
+    },
+    async saveAllPoints() {
+      await fetch(API + '/api/points/save', {
+        method: 'POST',
+        headers: { 'Content-Type': 'application/json' },
+        body: JSON.stringify({ points: this.points })
+      })
+      alert('点位已保存')
+    },
+    getPoint(id) {
+      return this.points.find(p => p.id === id)
+    },
+    formatAngles(angles) {
+      if (!angles) return '—'
+      return angles.map(a => (a || 0).toFixed(1) + '°').join(' / ')
+    },
+    // === 机型管理 ===
+    async loadAllModels() {
+      const res = await fetch(API + '/api/models/list')
+      const data = await res.json()
+      this.models = data.models || []
+      this.models.forEach(m => {
+        if (!this.poseForm[m.id]) {
+          this.poseForm[m.id] = { name: '', photo_type: 'front', description: '' }
+        }
+      })
+    },
+    async addModel() {
+      const res = await fetch(API + '/api/models/add', {
+        method: 'POST',
+        headers: { 'Content-Type': 'application/json' },
+        body: JSON.stringify({
+          name: this.newModelName || '型号_' + (this.models.length + 1),
+          description: this.newModelDesc || '',
+          notes: this.newModelNotes || '',
+          serial_prefix: this.newModelSerial || ''
+        })
+      })
+      const data = await res.json()
+      if (data.ok) {
+        await this.loadAllModels()
+        this.newModelName = ''
+        this.newModelDesc = ''
+        this.newModelNotes = ''
+        this.newModelSerial = ''
+      }
+    },
+    async deleteModel(modelId) {
+      if (!confirm('确定删除该机型？其下所有姿态将被删除！')) return
+      await fetch(API + '/api/models/delete/' + modelId, { method: 'DELETE' })
+      await this.loadAllModels()
+    },
+    // === 姿态管理（属于机型）===
+    async addPose(modelId, photoType, customName) {
+      const form = this.poseForm[modelId]
+      const type = photoType || form?.photo_type || 'front'
+      const name = customName || form?.name || type + '_' + ((this.getModel(modelId)?.poses?.filter(p => p.photo_type === type).length || 0) + 1)
+      await fetch(API + '/api/models/poses/add', {
+        method: 'POST',
+        headers: { 'Content-Type': 'application/json' },
+        body: JSON.stringify({
+          model_id: modelId,
+          name: name,
+          photo_type: type,
+          arm_angles: this.currentAngles && this.currentAngles.length === 6 ? this.currentAngles : [0, 0, 0, 0, 0, 0],
+          speed: 500,
+          description: form?.description || ''
+        })
+      })
+      await this.loadAllModels()
+      if (form) {
+        form.name = ''
+        form.description = ''
+      }
+    },
+    async deletePose(modelId, poseId) {
+      if (!confirm('确定删除该姿态？')) return
+      await fetch(API + '/api/models/' + modelId + '/poses/' + poseId, { method: 'DELETE' })
+      await this.loadAllModels()
+    },
+    async updatePoseAngle(modelId, poseId, jointIndex, event) {
+      const value = parseFloat(event.target.value)
+      if (isNaN(value)) return
+      // Find the pose and update its angle
+      const model = this.getModel(modelId)
+      if (!model) return
+      const pose = model.poses.find(p => p.id === poseId)
+      if (!pose) return
+      if (!pose.arm_angles) pose.arm_angles = [0, 0, 0, 0, 0, 0]
+      pose.arm_angles[jointIndex] = value
+      // Save to backend
+      await fetch(API + '/api/models/' + modelId + '/poses/' + poseId, {
+        method: 'PUT',
+        headers: { 'Content-Type': 'application/json' },
+        body: JSON.stringify({ arm_angles: pose.arm_angles })
+      })
+    },
+    getModel(id) {
+      return this.models.find(m => m.id === id)
+    },
+    // === 任务配置 ===
+    async loadMissionConfig() {
+      try {
+        const res = await fetch(API + '/api/mission/config')
+        const data = await res.json()
+        if (data.ok && data.config) {
+          this.missionConfig.rows = data.config.rows || 3
+          this.missionConfig.cols = data.config.cols || 3
+          this.missionConfig.grid = data.config.grid || []
+          this.missionConfig.machines = data.machines || []
+          this.missionConfig.positions = data.config.positions || []
+          this.mapVersion++
+        }
+      } catch (e) { console.error('加载任务配置失败', e) }
+    },
+    async generateGrid() {
+      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: []
+          })
+        })
+        const data = await res.json()
+        if (data.ok) {
+          this.missionConfig.grid = data.config.grid || []
+          alert('✅ 网格已生成 (' + this.missionConfig.rows + '×' + this.missionConfig.cols + ')')
+        } else {
+          alert('❌ 网格生成失败')
+        }
+      } catch (e) { alert('请求失败: ' + e.message) }
+    },
+    async saveMissionConfig() {
+      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
+          })
+        })
+        const data = await res.json()
+        if (data.ok) {
+          alert('✅ 网格配置已保存')
+        }
+      } catch (e) { alert('保存失败: ' + e.message) }
+    },
+    async loadAllMachines() {
+      try {
+        const res = await fetch(API + '/api/mission/machines')
+        const data = await res.json()
+        this.missionConfig.machines = data.machines || []
+      } catch (e) { console.error('加载机器列表失败', e) }
+    },
+
+    // ========== 点位行模型（独立于机器） ==========
+
+    /**
+     * 获取指定点位行的数据
+     * @param {number} pointRow - 点位行号，范围 0 ~ missionConfig.rows
+     *   - pointRow=0 → 第1台机器的正面拍摄点
+     *   - pointRow=rows → 最后1台机器的背面拍摄点
+     *   - 中间 pointRow=i → 上面机器(i)的背面 + 下面机器(i+1)的正面
+     * @param {number} col - 列号（0-based）
+     * @returns {object|null} 点位对象 { coords: [x,y,z], ... } 或 null
+     */
+    getPointAt(pointRow, col) {
+      var positions = this.missionConfig.positions || []
+      // 在独立 positions 数组中查找 (pointRow, col)
+      for (var i = 0; i < positions.length; i++) {
+        var p = positions[i]
+        if (parseInt(p.row) === pointRow && parseInt(p.col) === col) {
+          // 优先找 shoot，其次找 front/back
+          if (p.side === 'shoot') return p
+          // 再看有没有同一(row,col)的shoot
+        }
+      }
+      // 再找同(row,col)的shoot类型
+      for (var i = 0; i < positions.length; i++) {
+        var p = positions[i]
+        if (parseInt(p.row) === pointRow && parseInt(p.col) === col && p.side === 'shoot') {
+          return p
+        }
+      }
+      // 兼容旧数据：尝试从机器对象的 front/back 获取
+      var machineAbove = this.getMachineAt(pointRow - 1, col)  // 上面的机器
+      var machineBelow = this.getMachineAt(pointRow, col)       // 下面的机器
+      if (pointRow === 0 && machineBelow) {
+        // 第一个点位行 → 下面机器的正面
+        return machineBelow.front || { coords: [0, 0, 0], poses: [] }
+      }
+      if (pointRow === this.missionConfig.rows && machineAbove) {
+        // 最后一个点位行 → 上面机器的背面
+        return machineAbove.back || { coords: [0, 0, 0], poses: [] }
+      }
+      // 中间点位行：优先返回上面机器的背面
+      if (machineAbove && machineAbove.back) {
+        return machineAbove.back
+      }
+      if (machineBelow && machineBelow.front) {
+        return machineBelow.front
+      }
+      return null
+    },
+
+    /**
+     * 获取点位的归属描述（用于弹窗标题）
+     * @param {number} pointRow - 点位行号
+     * @param {number} col - 列号
+     * @returns {string} 如 "第2列 · 机器2背面/机器3正面"
+     */
+    getPointOwnerLabel(pointRow, col) {
+      var rows = this.missionConfig.rows
+      var labels = []
+      if (pointRow === 0) {
+        // 第一行点位：下面机器的正面
+        var m = this.getMachineAt(0, col)
+        if (m) labels.push('机器' + (m.row + 1) + '正面')
+      } else if (pointRow === rows) {
+        // 最后行点位：上面机器的背面
+        var m2 = this.getMachineAt(rows - 1, col)
+        if (m2) labels.push('机器' + (m2.row + 1) + '背面')
+      } else {
+        // 中间点位行：上面机器的背面 + 下面机器的正面
+        var mAbove = this.getMachineAt(pointRow - 1, col)
+        var mBelow = this.getMachineAt(pointRow, col)
+        if (mAbove) labels.push('机器' + (mAbove.row + 1) + '背面')
+        if (mBelow) labels.push('机器' + (mBelow.row + 1) + '正面')
+      }
+      if (labels.length === 0) return '第' + (col + 1) + '列 · 无归属'
+      return '第' + (col + 1) + '列 · ' + labels.join('/')
+    },
+
+    /**
+     * 检查点位是否可以清空
+     * 只有当上下两台机器都不需要这个点位时才能清空
+     */
+    canClearPoint(pointRow, col) {
+      var rows = this.missionConfig.rows
+      // 如果上面有机器且机器存在 → 不能清空（上面机器需要此点位拍背面）
+      if (pointRow > 0 && pointRow <= rows) {
+        var mAbove = this.getMachineAt(pointRow - 1, col)
+        if (mAbove) return false
+      }
+      // 如果下面有机器且机器存在 → 不能清空（下面机器需要此点位拍正面）
+      if (pointRow >= 0 && pointRow < rows) {
+        var mBelow = this.getMachineAt(pointRow, col)
+        if (mBelow) return false
+      }
+      return true
+    },
+
+    getMachineAt(ri, ci) {
+      if (!this.missionConfig.machines) return null
+      return this.missionConfig.machines.find(function(m) { return m.row === ri && m.col === ci }) || null
+    },
+
+    // 打开点位编辑弹窗（基于点位行号）
+    openPointEdit(pointRow, col) {
+      var existing = this.getPointAt(pointRow, col)
+      if (existing && existing.coords) {
+        this.pointEditor.x = existing.coords[0] !== undefined ? existing.coords[0] : 0
+        this.pointEditor.y = existing.coords[1] !== undefined ? existing.coords[1] : 0
+        this.pointEditor.yaw = existing.coords[2] !== undefined ? existing.coords[2] : 0
+      } else {
+        this.pointEditor.x = 0
+        this.pointEditor.y = 0
+        this.pointEditor.yaw = 0
+      }
+      this.editingPoint = { pointRow: pointRow, col: col }
+    },
+
+    // 关闭点位编辑弹窗
+    closePointEdit() {
+      this.editingPoint = null
+    },
+
+    // 从AGV读取当前坐标到点位编辑器
+    async loadPointFromAgv() {
+      if (!this.agvConnected) { alert('请先连接AGV'); return }
+      try {
+        const res = await fetch(API + '/api/agv/position')
+        const pos = await res.json()
+        if (pos.ok && pos.position && Array.isArray(pos.position)) {
+          this.pointEditor.x = pos.position[0] ?? 0
+          this.pointEditor.y = pos.position[1] ?? 0
+          this.pointEditor.yaw = pos.position[2] ?? 0
+          alert('✅ 已读取AGV位置: (' + this.pointEditor.x.toFixed(2) + ', ' + this.pointEditor.y.toFixed(2) + ', ' + this.pointEditor.yaw.toFixed(2) + ')')
+        } else if (pos.ok && (!pos.position || !Array.isArray(pos.position))) {
+          alert('⚠️ AGV 未发布位置数据，请检查 AGV 传感器是否正常')
+        } else {
+          alert('读取AGV位置失败: ' + (pos.error || '未知错误'))
+        }
+      } catch (e) { alert('读取AGV位置失败: ' + e.message) }
+    },
+
+    // 保存点位配置到独立 positions 数组
+    async savePoint() {
+      if (!this.editingPoint) return
+      var pointRow = this.editingPoint.pointRow
+      var col = this.editingPoint.col
+      var coords = [this.pointEditor.x, this.pointEditor.y, this.pointEditor.yaw]
+      try {
+        // 保存到后端独立点位表（使用 point_row 标识点位行）
+        var saveRes = await fetch(API + '/api/mission/positions', {
+          method: 'POST',
+          headers: { 'Content-Type': 'application/json' },
+          body: JSON.stringify({
+            row: pointRow,
+            col: col,
+            side: 'shoot',   // 统一用 'shoot' 表示拍摄点位
+            coords: coords,
+            poses: []
+          })
+        })
+        var saveData = await saveRes.json()
+        if (!saveData.ok) {
+          alert('保存点位失败: ' + (saveData.error || '未知错误'))
+          return
+        }
+
+        // 同步更新关联机器的坐标（如果有的话）
+        this.syncPointToMachines(pointRow, col, coords)
+
+        await this.loadMissionConfig()
+ alert('✅ 点位坐标已保存: (' + coords[0].toFixed(2) + ', ' + coords[1].toFixed(2) + ', ' + coords[2].toFixed(2) + ')')
+        this.closePointEdit()
+      } catch (e) { alert('保存点位失败: ' + e.message) }
+    },
+
+    // 将点位坐标同步到关联的机器对象
+    syncPointToMachines(pointRow, col, coords) {
+      var rows = this.missionConfig.rows
+      // pointRow=0 → 同步到下面机器(0,col)的front
+      if (pointRow === 0) {
+        var m0 = this.getMachineAt(0, col)
+        if (m0) {
+          this.updateMachineSide(m0, 'front', coords)
+        }
+        return
+      }
+      // pointRow=rows → 同步到上面机器(rows-1,col)的back
+      if (pointRow === rows) {
+        var mLast = this.getMachineAt(rows - 1, col)
+        if (mLast) {
+          this.updateMachineSide(mLast, 'back', coords)
+        }
+        return
+      }
+      // 中间点位行 → 同步到上面机器的back + 下面机器的front
+      var mAbove = this.getMachineAt(pointRow - 1, col)
+      var mBelow = this.getMachineAt(pointRow, col)
+      if (mAbove) {
+        this.updateMachineSide(mAbove, 'back', coords)
+      }
+      if (mBelow) {
+        this.updateMachineSide(mBelow, 'front', coords)
+      }
+    },
+
+    // 更新机器某侧的坐标
+    async updateMachineSide(machine, side, coords) {
+      try {
+        var update = {}
+        update[side] = {
+          coords: coords,
+          poses: (machine[side] && machine[side].poses) ? machine[side].poses : []
+        }
+        await fetch(API + '/api/mission/machines/' + machine.id, {
+          method: 'PUT',
+          headers: { 'Content-Type': 'application/json' },
+          body: JSON.stringify(update)
+        })
+      } catch (e) { console.error('同步机器坐标失败', e) }
+    },
+
+    // 清空点位（带保护检查）
+    async clearPoint() {
+      if (!this.editingPoint) return
+      var pointRow = this.editingPoint.pointRow
+      var col = this.editingPoint.col
+
+      // 检查是否可以清空
+      if (!this.canClearPoint(pointRow, col)) {
+        var ownerLabel = this.getPointOwnerLabel(pointRow, col)
+        alert('⚠️ 无法清空！此点位服务于: ' + ownerLabel + '\n必须先移除相关机器才能清空此点位。')
+        return
+      }
+
+      if (!confirm('确定清空此点位坐标？')) return
+
+      try {
+        // 发送清空请求（坐标归零或删除记录）
+        await fetch(API + '/api/mission/positions', {
+          method: 'POST',
+          headers: { 'Content-Type': 'application/json' },
+          body: JSON.stringify({
+            row: pointRow,
+            col: col,
+            side: 'shoot',
+            coords: [0, 0, 0],
+            poses: []
+          })
+        })
+        this.pointEditor.x = 0
+        this.pointEditor.y = 0
+        this.pointEditor.yaw = 0
+        await this.loadMissionConfig()
+      } catch (e) { alert('清空点位失败: ' + e.message) }
+    },
+
+    onCellClick(ri, ci) {
+      var m = this.getMachineAt(ri, ci)
+      if (!m) {
+        // 无机器 → 创建机器记录
+        this.createMachine(ri, ci).then(function(ok) {
+          if (ok) {
+            var created = this.getMachineAt(ri, ci)
+            if (created) this.selectMachine(created)
+          }
+        }.bind(this))
+      } else {
+        // 有机器 → 切换为无机器（删除）
+        this.deleteMachine(m.id)
+      }
+    },
+    async createMachine(ri, ci) {
+      try {
+        var machineId = 'm_' + ri + '_' + ci
+        var res = await fetch(API + '/api/mission/machines/add', {
+          method: 'POST',
+          headers: { 'Content-Type': 'application/json' },
+          body: JSON.stringify({
+            id: machineId,
+            row: ri,
+            col: ci,
+            front: { coords: [0, 0, 0], poses: [] },
+            back: { coords: [0, 0, 0], poses: [] }
+          })
+        })
+        var data = await res.json()
+        if (!data.ok && data.error !== '该位置已有机器') {
+          alert('创建机器失败: ' + (data.error || '未知错误'))
+          return false
+        }
+        await this.loadAllMachines()
+        return true
+      } catch (e) { alert('创建机器失败: ' + e.message); return false }
+    },
+    selectMachine(machine) {
+      if (!machine.front) machine.front = { coords: [0, 0, 0], poses: [] }
+      else if (!Array.isArray(machine.front.coords)) machine.front.coords = [0, 0, 0]
+      if (!machine.back) machine.back = { coords: [0, 0, 0], poses: [] }
+      else if (!Array.isArray(machine.back.coords)) machine.back.coords = [0, 0, 0]
+      this.selectedMachine = machine
+    },
+    clearSelection() {
+      this.selectedMachine = null
+    },
+    async deleteMachine(machineId) {
+      if (!confirm('确定删除此机器？\n\n注意：删除后其上方/下方的点位仍可继续使用。')) return
+      try {
+        await fetch(API + '/api/mission/machines/' + machineId, { method: 'DELETE' })
+        this.selectedMachine = null
+        await this.loadAllMachines()
+        await this.loadMissionConfig()  // 重新加载点位，确保数据同步
+      } catch (e) { alert('删除失败: ' + e.message) }
+    },
+    async saveMachineCoords() {
+      if (!this.selectedMachine) return
+      try {
+        var res = await fetch(API + '/api/mission/machines/' + this.selectedMachine.id, {
+          method: 'PUT',
+          headers: { 'Content-Type': 'application/json' },
+          body: JSON.stringify({
+            front: this.selectedMachine.front,
+            back: this.selectedMachine.back
+          })
+        })
+        if (res.ok) {
+          this.mapMsg = '✅ 机器坐标已保存'
+          setTimeout(function() { this.mapMsg = '' }.bind(this), 2000)
+        } else {
+          alert('保存失败: ' + res.status)
+        }
+      } catch (e) { alert('保存失败: ' + e.message) }
+    },
+    async readPosition(side) {
+      if (!this.agvConnected) { alert('AGV 未连接'); return }
+      try {
+        var res = await fetch(API + '/api/agv/position')
+        var data = await res.json()
+        if (data.ok && data.position && Array.isArray(data.position)) {
+          var x = data.position[0]
+          var y = data.position[1]
+          var theta = data.position[2]
+          if (side === 'front') {
+            this.selectedMachine.front.coords = [x, y, theta]
+          } else {
+            this.selectedMachine.back.coords = [x, y, theta]
+          }
+        } else if (data.ok && (!data.position || !Array.isArray(data.position))) {
+          alert('⚠️ AGV 未发布位置数据，请检查 AGV 传感器是否正常')
+        } else {
+          alert('读取位置失败: ' + (data.error || '未知错误'))
+        }
+      } catch (e) { alert('读取位置失败: ' + e.message) }
+    },
+    async addPoseToMachine(machineId, side) {
+      var name = this.poseForm.name || '姿态' + (((this.selectedMachine && this.selectedMachine[side] && this.selectedMachine[side].poses) || []).length + 1)
+      try {
+        var res = await fetch(API + '/api/mission/poses/' + machineId + '/' + side, {
+          method: 'POST',
+          headers: { 'Content-Type': 'application/json' },
+          body: JSON.stringify({
+            name: name,
+            arm_angles: this.currentAngles.length === 6 ? this.currentAngles : [0, 0, 0, 0, 0, 0],
+            speed: 500,
+            description: ''
+          })
+        })
+        var data = await res.json()
+        if (data.ok) {
+          this.poseForm.name = ''
+          await this.loadAllMachines()
+          var updated = this.getMachineAt(this.selectedMachine.row, this.selectedMachine.col)
+          if (updated) this.selectMachine(updated)
+        } else {
+          alert('添加姿态失败: ' + (data.error || '未知错误'))
+        }
+      } catch (e) { alert('添加姿态失败: ' + e.message) }
+    },
+    async deletePose(machineId, side, poseId) {
+      if (!confirm('确定删除此姿态？')) return
+      try {
+        await fetch(API + '/api/mission/poses/' + machineId + '/' + side + '/' + poseId, { method: 'DELETE' })
+        await this.loadAllMachines()
+        if (this.selectedMachine) {
+          var updated = this.getMachineAt(this.selectedMachine.row, this.selectedMachine.col)
+          if (updated) this.selectMachine(updated)
+        }
+      } catch (e) { alert('删除姿态失败: ' + e.message) }
+    },
+    async capturePosition(ri, ci, side) {
+      if (!this.agvConnected) { alert('请先连接AGV'); return }
+      var machine = this.getMachineAt(ri, ci)
+      if (!machine) {
+        try {
+          var machineId = 'm_' + ri + '_' + ci
+          var res = await fetch(API + '/api/mission/machines/add', {
+            method: 'POST',
+            headers: { 'Content-Type': 'application/json' },
+            body: JSON.stringify({
+              id: machineId,
+              row: ri,
+              col: ci,
+              front: { coords: [0, 0, 0], poses: [] },
+              back: { coords: [0, 0, 0], poses: [] }
+            })
+          })
+          if (!res.ok) throw new Error('创建失败')
+          await this.loadAllMachines()
+          machine = this.getMachineAt(ri, ci)
+        } catch (e) { alert('创建机器失败: ' + e.message); return }
+      }
+      try {
+        var res = await fetch(API + '/api/agv/position')
+        var pos = await res.json()
+        var x = 0, y = 0, theta = 0
+        if (pos.ok && pos.position && Array.isArray(pos.position)) {
+          x = pos.position[0] || 0
+          y = pos.position[1] || 0
+          theta = pos.position[2] || 0
+        } else if (pos.ok && (!pos.position || !Array.isArray(pos.position))) {
+          alert('⚠️ AGV 未发布位置数据，请检查 AGV 传感器是否正常')
+          return
+        } else {
+          alert('读取位置失败: ' + (pos.error || '未知错误'))
+          return
+        }
+        if (!machine) { machine = this.getMachineAt(ri, ci) }
+        if (!machine) { alert('机器记录不存在'); return }
+        if (side === 'front') { machine.front.coords = [x, y, theta] } else { machine.back.coords = [x, y, theta] }
+        await fetch(API + '/api/mission/machines/' + machine.id, {
+          method: 'PUT',
+          headers: { 'Content-Type': 'application/json' },
+          body: JSON.stringify(machine)
+        })
+        alert((side === 'front' ? '正面' : '背面') + '点位已更新: (' + x.toFixed(2) + ',' + y.toFixed(2) + ',' + theta.toFixed(2) + ')')
+      } catch (e) { alert('读取位置失败: ' + e.message) }
+    },
+    async refreshSequence() {
+      try {
+        var res = await fetch(API + '/api/mission/generate_sequence')
+        var data = await res.json()
+        if (data.ok) {
+          this.sequence = data.sequence || []
+        }
+      } catch (e) { console.error('刷新序列失败', e) }
+    },
+    // === 机械臂 ===
+    async refreshAngles() {
+      if (!this.armConnected) return
+      try {
+        var res = await fetch(API + '/api/arm/get_angles')
+        var data = await res.json()
+        if (data.ok && data.angles) {
+          this.currentAngles = data.angles
+          this.angleInputs = [...data.angles]
+        }
+      } catch (e) {}
+    },
+    async setAngle(idx, val) {
+      await fetch(API + '/api/arm/set_angle', {
+        method: 'POST',
+        headers: { 'Content-Type': 'application/json' },
+        body: JSON.stringify({ joint: 'J' + (idx + 1), angle: val })
+      })
+    },
+    async applyAngles() {
+      await fetch(API + '/api/arm/set_angles', {
+        method: 'POST',
+        headers: { 'Content-Type': 'application/json' },
+        body: JSON.stringify({ angles: this.angleInputs, speed: 500 })
+      })
+    },
+    jogStart(idx, dir) {
+      var joint = 'J' + (idx + 1)
+      fetch(API + '/api/arm/jog', {
+        method: 'POST',
+        headers: { 'Content-Type': 'application/json' },
+        body: JSON.stringify({ joint, direction: dir })
+      })
+      this.jogIntervals[idx] = setInterval(function() { this.refreshAngles() }.bind(this), 200)
+    },
+    jogStop(idx) {
+      clearInterval(this.jogIntervals[idx])
+      var joint = 'J' + (idx + 1)
+      fetch(API + '/api/arm/jog', {
+        method: 'POST',
+        headers: { 'Content-Type': 'application/json' },
+        body: JSON.stringify({ joint, direction: 0 })
+      })
+      setTimeout(function() { this.refreshAngles() }.bind(this), 300)
+    },
+    onPreviewError(e) {
+      e.target.style.display = 'none'
+    },
+    // === AGV 控制 ===
+    async refreshAgvPosition() {
+      if (!this.agvConnected) return
+      try {
+        var res = await fetch(API + '/api/agv/position')
+        var data = await res.json()
+        if (data.ok) {
+          this.agvPosition = data.position
+          this.agvBattery = data.battery
+        }
+      } catch (e) {}
+    },
+    agvMoveStart(dir) {
+      if (!this.agvConnected) return
+      fetch(API + '/api/agv/move', {
+        method: 'POST',
+        headers: { 'Content-Type': 'application/json' },
+        body: JSON.stringify({ direction: dir, speed: this.agvSpeed })
+      })
+    },
+    agvMoveStop() {
+      fetch(API + '/api/agv/move', {
+        method: 'POST',
+        headers: { 'Content-Type': 'application/json' },
+        body: JSON.stringify({ direction: 'stop' })
+      })
+    },
+    async agvStop() {
+      await fetch(API + '/api/agv/stop', { method: 'POST' })
+    },
+    async agvResetCollision() {
+      if (!this.agvConnected) {
+        alert('AGV 未连接')
+        return
+      }
+      if (!confirm('确定执行撞物体后复位？')) return
+      try {
+        var res = await fetch(API + '/api/agv/reset', { method: 'POST' })
+        var data = await res.json()
+        if (data.ok) {
+          alert('✅ ' + data.message)
+          await this.refresh()
+          await this.refreshAgvPosition()
+        } else {
+          alert('❌ 复位失败: ' + (data.error || '未知错误'))
+        }
+      } catch (e) {
+        alert('❌ 复位请求失败: ' + e.message)
+      }
+    },
+  }
+})
+const vm = app.mount('#app')
+window.vm = vm  // 暴露组件实例