初始化位置

agv_app/static/js/setting.js

@@ -45,6 +45,11 @@ createApp({
       agvMoveInterval: null,
       agvCameraUrl: API + '/api/camera/refresh',
       agvCameraTimer: null,
+      // 初始化定位
+      initPoseLoading: false,
+      initPoseMsg: '',
+      initAmclPoseLoading: false,
+      initAmclPoseMsg: '',
     }
   },
   mounted() {
@@ -146,6 +151,8 @@ createApp({
       const { resolution, origin } = this.mapMeta
       const wx = origin[0] + px * resolution * this.mapMeta.width
       const wy = origin[1] + (1 - py) * resolution * this.mapMeta.height
+      // 确认框
+      if (!confirm(`确定导航到坐标 (${wx.toFixed(2)}, ${wy.toFixed(2)}) 吗？`)) return
       try {
         const res = await fetch(API + '/api/navigate/to', {
           method: 'POST',
@@ -639,6 +646,44 @@ createApp({
         alert('❌ 复位请求失败: ' + e.message)
       }
     },
+    async initPose() {
+      if (!this.agvConnected) { alert('AGV 未连接'); return }
+      if (!confirm('确定要将 AMCL 初始位置设为 (0,0,0) 吗？这会重置定位。')) return
+      this.initPoseLoading = true
+      this.initPoseMsg = ''
+      try {
+        const res = await fetch(API + '/api/mission/init_pose', { method: 'POST' })
+        const data = await res.json()
+        if (data.ok) {
+          this.initPoseMsg = '✅ ' + (data.message || '初始化成功')
+        } else {
+          this.initPoseMsg = '❌ ' + (data.error || '初始化失败')
+        }
+      } catch (e) {
+        this.initPoseMsg = '❌ 请求失败: ' + e.message
+      }
+      this.initPoseLoading = false
+      setTimeout(() => { this.initPoseMsg = '' }, 5000)
+    },
+    async initAmclPose() {
+      if (!this.agvConnected) { alert('AGV 未连接'); return }
+      if (!confirm('确定要将 AMCL 初始位置设为 (0,0,0) 吗？这会重置定位。')) return
+      this.initAmclPoseLoading = true
+      this.initAmclPoseMsg = ''
+      try {
+        const res = await fetch(API + '/api/mission/init_pose', { method: 'POST' })
+        const data = await res.json()
+        if (data.ok) {
+          this.initAmclPoseMsg = '✅ ' + (data.message || '初始化成功')
+        } else {
+          this.initAmclPoseMsg = '❌ ' + (data.error || '初始化失败')
+        }
+      } catch (e) {
+        this.initAmclPoseMsg = '❌ 请求失败: ' + e.message
+      }
+      this.initAmclPoseLoading = false
+      setTimeout(() => { this.initAmclPoseMsg = '' }, 5000)
+    },
 
     getPointAt(pointRow, col) {
       var positions = this.missionConfig.positions || []

agv_app/templates/setting.html

@@ -48,22 +48,33 @@
           <p v-if="mapMsg" class="hint">{% raw %}{{ mapMsg }}{% endraw %}</p>
         </section>
         <section class="card" v-if="mapLoaded" style="margin-top:16px">
-          <h2>地图可视化</h2>
+          <div style="display:flex;align-items:center;justify-content:space-between">
+            <h2>地图可视化</h2>
+            <div style="display:flex;gap:8px;align-items:center">
+              <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="resetMapView">重置</button>
+            </div>
+          </div>
           <div class="map-container" style="position:relative;background:#111;border-radius:8px;overflow:hidden">
-            <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">
-            <!-- 地图覆盖层：显示点位坐标 -->
-            <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(', ') : ''">
+            <!-- 地图旋转 wrapper -->
+            <div :style="{ transform: 'rotate(' + mapRotation + 'deg)', transition: 'transform 0.3s ease' }">
+              <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">
+              <!-- 地图覆盖层：显示点位坐标 -->
+              <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>
           </div>