-

agv_app/static/js/setting.js

@@ -9,7 +9,8 @@ createApp({
       missionConfig: { rows: 3, cols: 3, grid: [], machines: [] },
       selectedMachine: null,
       sequence: [],
-      poseForm: { name: '', photo_type: 'front', description: '' },
+      poseForm: {},
+      newPoseForm: {},
       // 地图
       mapForm: { map_dir: '/home/elephant/agv_pro_ros2/src/agv_pro_navigation2/map/', map_file: 'map.yaml' },
       mapMsg: '',
@@ -45,6 +46,7 @@ createApp({
       agvMoveInterval: null,
       agvCameraUrl: API + '/api/camera/refresh',
       agvCameraTimer: null,
+      armCameraTimer: null,
       // 机型展开
       expandedModelId: null,
       showAddModelModal: false,
@@ -61,6 +63,11 @@ createApp({
     this.refreshAngles()
     this.loadQrConfigs()
     this.nav2Timer = setInterval(this.refreshNavStatus, 3000)
+    // 机械臂摄像头自动刷新（每2秒）
+    this.armCameraUrl = API + '/api/camera/arm_refresh?t=' + Date.now()
+    this.armCameraTimer = setInterval(() => {
+      this.armCameraUrl = API + '/api/camera/arm_refresh?t=' + Date.now()
+    }, 2000)
   },
   computed: {
     hasQr() {
@@ -90,6 +97,7 @@ createApp({
   beforeUnmount() {
     Object.values(this.jogIntervals).forEach(i => clearInterval(i))
     if (this.agvCameraTimer) clearInterval(this.agvCameraTimer)
+    if (this.armCameraTimer) { clearInterval(this.armCameraTimer); this.armCameraTimer = null }
     if (this.nav2Timer) clearInterval(this.nav2Timer)
   },
   methods: {
@@ -280,30 +288,88 @@ createApp({
       await this.loadAllModels()
     },
     // === 姿态管理（属于机型）===
-    async addPose(modelId) {
-      const form = this.poseForm[modelId]
-      if (!form) return
+    async addPose(modelId, type, name) {
+      if (!name) name = '姿态' + (((this.getModel(modelId)?.poses?.length) || 0) + 1)
       await fetch(API + '/api/models/poses/add', {
         method: 'POST',
         headers: { 'Content-Type': 'application/json' },
         body: JSON.stringify({
           model_id: modelId,
-          name: form.name || '姿态' + ((this.getModel(modelId)?.poses?.length || 0) + 1),
-          photo_type: form.photo_type,
+          name: name,
+          photo_type: type || 'front',
           arm_angles: this.currentAngles,
           speed: 500,
-          description: form.description || ''
+          description: ''
         })
       })
       await this.loadAllModels()
-      form.name = ''
-      form.description = ''
+      const key = modelId + '_' + (type || 'front')
+      if (this.newPoseForm[key] !== undefined) this.newPoseForm[key] = ''
     },
     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 refreshPoseAngles(modelId, poseId) {
+      if (!this.armConnected) { alert('机械臂未连接'); return }
+      try {
+        const res = await fetch(API + '/api/arm/get_angles')
+        const data = await res.json()
+        if (data.ok && data.angles) {
+          const model = this.getModel(modelId)
+          if (model && model.poses) {
+            const pose = model.poses.find(p => p.id === poseId)
+            if (pose) {
+              // Update local immediately for reactive UI
+              pose.arm_angles = [...data.angles]
+              // Persist to backend
+              await fetch(API + '/api/models/' + modelId + '/poses/' + poseId, {
+                method: 'PUT',
+                headers: { 'Content-Type': 'application/json' },
+                body: JSON.stringify({ arm_angles: data.angles })
+              })
+              await this.loadAllModels()
+            }
+          }
+        }
+      } catch (e) { alert('刷新角度失败: ' + e.message) }
+    },
+    async applyPoseAngles(modelId, poseId) {
+      const model = this.getModel(modelId)
+      if (!model || !model.poses) return
+      const pose = model.poses.find(p => p.id === poseId)
+      if (!pose || !pose.arm_angles) { alert('无效的姿态数据'); return }
+      try {
+        const res = await fetch(API + '/api/arm/set_angles', {
+          method: 'POST',
+          headers: { 'Content-Type': 'application/json' },
+          body: JSON.stringify({ angles: pose.arm_angles, speed: 50 })
+        })
+        const data = await res.json()
+        if (data.ok) { alert('姿态已应用到机械臂') }
+        else { alert('应用失败: ' + (data.error || '未知错误')) }
+      } catch (e) { alert('应用姿态失败: ' + e.message) }
+    },
+    adjustPoseAngle(modelId, poseId, jointIdx, delta) {
+      const model = this.getModel(modelId)
+      if (!model || !model.poses) 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]
+      if (!pose.arm_angles[jointIdx]) pose.arm_angles[jointIdx] = 0
+      pose.arm_angles[jointIdx] = Math.round((pose.arm_angles[jointIdx] + delta) * 10) / 10
+      this.setAngle(jointIdx, pose.arm_angles[jointIdx])
+    },
+    async updatePoseAngleAndMove(modelId, poseId, jointIdx, value) {
+      const model = this.getModel(modelId)
+      if (!model || !model.poses) 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[jointIdx] = parseFloat(value) || 0
+      await this.setAngle(jointIdx, pose.arm_angles[jointIdx])
+    },
     getModel(id) {
       return this.models.find(m => m.id === id)
     },