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 || []