-
This commit is contained in:
ywb
+75
-9
@@ -9,7 +9,8 @@ createApp({
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missionConfig: { rows: 3, cols: 3, grid: [], machines: [] },
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selectedMachine: null,
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sequence: [],
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poseForm: { name: '', photo_type: 'front', description: '' },
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poseForm: {},
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newPoseForm: {},
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// 地图
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mapForm: { map_dir: '/home/elephant/agv_pro_ros2/src/agv_pro_navigation2/map/', map_file: 'map.yaml' },
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mapMsg: '',
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@@ -45,6 +46,7 @@ createApp({
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agvMoveInterval: null,
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agvCameraUrl: API + '/api/camera/refresh',
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agvCameraTimer: null,
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armCameraTimer: null,
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// 机型展开
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expandedModelId: null,
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showAddModelModal: false,
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@@ -61,6 +63,11 @@ createApp({
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this.refreshAngles()
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this.loadQrConfigs()
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this.nav2Timer = setInterval(this.refreshNavStatus, 3000)
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// 机械臂摄像头自动刷新（每2秒）
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this.armCameraUrl = API + '/api/camera/arm_refresh?t=' + Date.now()
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this.armCameraTimer = setInterval(() => {
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this.armCameraUrl = API + '/api/camera/arm_refresh?t=' + Date.now()
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}, 2000)
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},
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computed: {
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hasQr() {
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@@ -90,6 +97,7 @@ createApp({
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beforeUnmount() {
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Object.values(this.jogIntervals).forEach(i => clearInterval(i))
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if (this.agvCameraTimer) clearInterval(this.agvCameraTimer)
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if (this.armCameraTimer) { clearInterval(this.armCameraTimer); this.armCameraTimer = null }
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if (this.nav2Timer) clearInterval(this.nav2Timer)
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},
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methods: {
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@@ -280,30 +288,88 @@ createApp({
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await this.loadAllModels()
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},
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// === 姿态管理（属于机型）===
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async addPose(modelId) {
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const form = this.poseForm[modelId]
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if (!form) return
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async addPose(modelId, type, name) {
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if (!name) name = '姿态' + (((this.getModel(modelId)?.poses?.length) || 0) + 1)
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await fetch(API + '/api/models/poses/add', {
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method: 'POST',
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headers: { 'Content-Type': 'application/json' },
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body: JSON.stringify({
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model_id: modelId,
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name: form.name || '姿态' + ((this.getModel(modelId)?.poses?.length || 0) + 1),
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photo_type: form.photo_type,
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name: name,
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photo_type: type || 'front',
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arm_angles: this.currentAngles,
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speed: 500,
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description: form.description || ''
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description: ''
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})
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})
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await this.loadAllModels()
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form.name = ''
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form.description = ''
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const key = modelId + '_' + (type || 'front')
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if (this.newPoseForm[key] !== undefined) this.newPoseForm[key] = ''
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},
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async deletePose(modelId, poseId) {
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if (!confirm('确定删除该姿态？')) return
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await fetch(API + '/api/models/' + modelId + '/poses/' + poseId, { method: 'DELETE' })
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await this.loadAllModels()
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},
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async refreshPoseAngles(modelId, poseId) {
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if (!this.armConnected) { alert('机械臂未连接'); return }
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try {
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const res = await fetch(API + '/api/arm/get_angles')
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const data = await res.json()
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if (data.ok && data.angles) {
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const model = this.getModel(modelId)
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if (model && model.poses) {
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const pose = model.poses.find(p => p.id === poseId)
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if (pose) {
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// Update local immediately for reactive UI
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pose.arm_angles = [...data.angles]
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// Persist to backend
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await fetch(API + '/api/models/' + modelId + '/poses/' + poseId, {
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method: 'PUT',
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headers: { 'Content-Type': 'application/json' },
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body: JSON.stringify({ arm_angles: data.angles })
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})
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await this.loadAllModels()
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}
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}
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}
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} catch (e) { alert('刷新角度失败: ' + e.message) }
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},
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async applyPoseAngles(modelId, poseId) {
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const model = this.getModel(modelId)
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if (!model || !model.poses) return
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const pose = model.poses.find(p => p.id === poseId)
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if (!pose || !pose.arm_angles) { alert('无效的姿态数据'); return }
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try {
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const res = await fetch(API + '/api/arm/set_angles', {
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method: 'POST',
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headers: { 'Content-Type': 'application/json' },
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body: JSON.stringify({ angles: pose.arm_angles, speed: 50 })
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})
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const data = await res.json()
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if (data.ok) { alert('姿态已应用到机械臂') }
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else { alert('应用失败: ' + (data.error || '未知错误')) }
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} catch (e) { alert('应用姿态失败: ' + e.message) }
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},
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adjustPoseAngle(modelId, poseId, jointIdx, delta) {
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const model = this.getModel(modelId)
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if (!model || !model.poses) return
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const pose = model.poses.find(p => p.id === poseId)
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if (!pose) return
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if (!pose.arm_angles) pose.arm_angles = [0,0,0,0,0,0]
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if (!pose.arm_angles[jointIdx]) pose.arm_angles[jointIdx] = 0
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pose.arm_angles[jointIdx] = Math.round((pose.arm_angles[jointIdx] + delta) * 10) / 10
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this.setAngle(jointIdx, pose.arm_angles[jointIdx])
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},
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async updatePoseAngleAndMove(modelId, poseId, jointIdx, value) {
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const model = this.getModel(modelId)
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if (!model || !model.poses) return
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const pose = model.poses.find(p => p.id === poseId)
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if (!pose) return
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if (!pose.arm_angles) pose.arm_angles = [0,0,0,0,0,0]
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pose.arm_angles[jointIdx] = parseFloat(value) || 0
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await this.setAngle(jointIdx, pose.arm_angles[jointIdx])
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},
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getModel(id) {
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return this.models.find(m => m.id === id)
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},
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@@ -9,7 +9,8 @@ createApp({
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missionConfig: { rows: 3, cols: 3, grid: [], machines: [] },
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selectedMachine: null,
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sequence: [],
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poseForm: { name: '', photo_type: 'front', description: '' },
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poseForm: {},
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newPoseForm: {},
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// 地图
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mapForm: { map_dir: '/home/elephant/agv_pro_ros2/src/agv_pro_navigation2/map/', map_file: 'map.yaml' },
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mapMsg: '',
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@@ -45,6 +46,7 @@ createApp({
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agvMoveInterval: null,
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agvCameraUrl: API + '/api/camera/refresh',
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agvCameraTimer: null,
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armCameraTimer: null,
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// 机型展开
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expandedModelId: null,
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showAddModelModal: false,
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@@ -61,6 +63,11 @@ createApp({
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this.refreshAngles()
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this.loadQrConfigs()
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this.nav2Timer = setInterval(this.refreshNavStatus, 3000)
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// 机械臂摄像头自动刷新（每2秒）
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this.armCameraUrl = API + '/api/camera/arm_refresh?t=' + Date.now()
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this.armCameraTimer = setInterval(() => {
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this.armCameraUrl = API + '/api/camera/arm_refresh?t=' + Date.now()
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}, 2000)
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},
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computed: {
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hasQr() {
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@@ -90,6 +97,7 @@ createApp({
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beforeUnmount() {
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Object.values(this.jogIntervals).forEach(i => clearInterval(i))
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if (this.agvCameraTimer) clearInterval(this.agvCameraTimer)
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if (this.armCameraTimer) { clearInterval(this.armCameraTimer); this.armCameraTimer = null }
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if (this.nav2Timer) clearInterval(this.nav2Timer)
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},
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methods: {
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@@ -280,30 +288,88 @@ createApp({
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await this.loadAllModels()
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},
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// === 姿态管理（属于机型）===
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async addPose(modelId) {
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const form = this.poseForm[modelId]
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if (!form) return
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async addPose(modelId, type, name) {
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if (!name) name = '姿态' + (((this.getModel(modelId)?.poses?.length) || 0) + 1)
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await fetch(API + '/api/models/poses/add', {
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method: 'POST',
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headers: { 'Content-Type': 'application/json' },
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body: JSON.stringify({
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model_id: modelId,
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name: form.name || '姿态' + ((this.getModel(modelId)?.poses?.length || 0) + 1),
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photo_type: form.photo_type,
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name: name,
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photo_type: type || 'front',
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arm_angles: this.currentAngles,
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speed: 500,
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description: form.description || ''
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description: ''
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})
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})
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await this.loadAllModels()
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form.name = ''
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form.description = ''
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const key = modelId + '_' + (type || 'front')
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if (this.newPoseForm[key] !== undefined) this.newPoseForm[key] = ''
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},
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async deletePose(modelId, poseId) {
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if (!confirm('确定删除该姿态？')) return
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await fetch(API + '/api/models/' + modelId + '/poses/' + poseId, { method: 'DELETE' })
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await this.loadAllModels()
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},
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async refreshPoseAngles(modelId, poseId) {
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if (!this.armConnected) { alert('机械臂未连接'); return }
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try {
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const res = await fetch(API + '/api/arm/get_angles')
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const data = await res.json()
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if (data.ok && data.angles) {
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const model = this.getModel(modelId)
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if (model && model.poses) {
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const pose = model.poses.find(p => p.id === poseId)
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if (pose) {
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// Update local immediately for reactive UI
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pose.arm_angles = [...data.angles]
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// Persist to backend
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await fetch(API + '/api/models/' + modelId + '/poses/' + poseId, {
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method: 'PUT',
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headers: { 'Content-Type': 'application/json' },
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body: JSON.stringify({ arm_angles: data.angles })
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})
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await this.loadAllModels()
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}
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}
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}
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} catch (e) { alert('刷新角度失败: ' + e.message) }
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},
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async applyPoseAngles(modelId, poseId) {
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const model = this.getModel(modelId)
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if (!model || !model.poses) return
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const pose = model.poses.find(p => p.id === poseId)
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if (!pose || !pose.arm_angles) { alert('无效的姿态数据'); return }
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try {
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const res = await fetch(API + '/api/arm/set_angles', {
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method: 'POST',
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headers: { 'Content-Type': 'application/json' },
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body: JSON.stringify({ angles: pose.arm_angles, speed: 50 })
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})
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const data = await res.json()
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if (data.ok) { alert('姿态已应用到机械臂') }
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else { alert('应用失败: ' + (data.error || '未知错误')) }
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} catch (e) { alert('应用姿态失败: ' + e.message) }
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},
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adjustPoseAngle(modelId, poseId, jointIdx, delta) {
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const model = this.getModel(modelId)
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if (!model || !model.poses) return
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const pose = model.poses.find(p => p.id === poseId)
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if (!pose) return
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if (!pose.arm_angles) pose.arm_angles = [0,0,0,0,0,0]
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if (!pose.arm_angles[jointIdx]) pose.arm_angles[jointIdx] = 0
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pose.arm_angles[jointIdx] = Math.round((pose.arm_angles[jointIdx] + delta) * 10) / 10
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this.setAngle(jointIdx, pose.arm_angles[jointIdx])
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},
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async updatePoseAngleAndMove(modelId, poseId, jointIdx, value) {
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const model = this.getModel(modelId)
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if (!model || !model.poses) return
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const pose = model.poses.find(p => p.id === poseId)
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if (!pose) return
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if (!pose.arm_angles) pose.arm_angles = [0,0,0,0,0,0]
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pose.arm_angles[jointIdx] = parseFloat(value) || 0
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await this.setAngle(jointIdx, pose.arm_angles[jointIdx])
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},
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getModel(id) {
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return this.models.find(m => m.id === id)
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},
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@@ -4,7 +4,7 @@
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<meta charset="UTF-8">
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<meta name="viewport" content="width=device-width, initial-scale=1.0">
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<title>设置 - AGV 拍摄系统</title>
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<link rel="stylesheet" href="/static/css/style.css?v=20260520h">
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<link rel="stylesheet" href="/static/css/style.css?v=20260520i">
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</head>
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<body>
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<div id="app">
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@@ -135,7 +135,7 @@
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<!-- 正面姿态 -->
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<div style="padding:16px;background:#0f1923">
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<h4 style="margin:0 0 12px 0;color:#388e3c">🟢 正面姿态</h4>
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<div v-for="pose in m.poses.filter(p => p.photo_type === 'front')" :key="pose.id" style="background:#0f1923;padding:12px;border:1px solid #2a3441;border-radius:6px;margin-bottom:8px">
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<div v-for="pose in (m.poses || []).filter(p => p.photo_type === 'front')" :key="pose.id" style="background:#0f1923;padding:12px;border:1px solid #2a3441;border-radius:6px;margin-bottom:8px">
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<div style="display:flex;justify-content:space-between;align-items:center;margin-bottom:8px">
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<strong>{% raw %}{{ pose.name || '正面姿态' }}{% endraw %}</strong>
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<button class="btn btn-danger btn-small" @click="deletePose(m.id, pose.id)">删除</button>
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@@ -182,7 +182,7 @@
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<!-- 背面姿态 -->
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<div style="padding:16px;background:#0d1420">
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<h4 style="margin:0 0 12px 0;color:#d32f2f">🔴 背面姿态</h4>
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<div v-for="pose in m.poses.filter(p => p.photo_type === 'back')" :key="pose.id" style="background:#0f1923;padding:12px;border:1px solid #2a3441;border-radius:6px;margin-bottom:8px">
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<div v-for="pose in (m.poses || []).filter(p => p.photo_type === 'back')" :key="pose.id" style="background:#0f1923;padding:12px;border:1px solid #2a3441;border-radius:6px;margin-bottom:8px">
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<div style="display:flex;justify-content:space-between;align-items:center;margin-bottom:8px">
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<strong>{% raw %}{{ pose.name || '背面姿态' }}{% endraw %}</strong>
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<button class="btn btn-danger btn-small" @click="deletePose(m.id, pose.id)">删除</button>
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@@ -676,7 +676,7 @@
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</main>
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</div>
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<script src="/static/js/vue3.global.prod.js?v=20260520h"></script>
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<script src="/static/js/setting.js?v=20260520h"></script>
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<script src="/static/js/vue3.global.prod.js?v=20260520i"></script>
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<script src="/static/js/setting.js?v=20260520i"></script>
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</body>
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</html>
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Reference in New Issue
Block a user