-

2026-05-20 21:20:34 +08:00
parent 084faad1b2
commit a5be69bfaa
3 changed files with 42 additions and 5 deletions
@@ -45,6 +45,9 @@ createApp({
      agvMoveInterval: null,
      agvCameraUrl: API + '/api/camera/refresh',
      agvCameraTimer: null,
+      // 机型展开
+      expandedModelId: null,
+      showAddModelModal: false,
      // QR
      qrScanning: false,
      qrConfigs: [],
@@ -810,6 +813,21 @@ createApp({
      } catch (e) { alert('扫描失败: ' + e.message) }
      this.qrScanningId = null
    },
+    async applyQrAngles(qrId) {
+      if (!this.armConnected) { alert('机械臂未连接'); return }
+      const q = this.qrConfigs.find(x => x.id === qrId)
+      if (!q || !q.joint_angles || !Array.isArray(q.joint_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: q.joint_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) }
+    },
    onArmPreviewError() {
      // 机械臂摄像头预览失败，静默处理
    },
@@ -45,6 +45,9 @@ createApp({
      agvMoveInterval: null,
      agvCameraUrl: API + '/api/camera/refresh',
      agvCameraTimer: null,
+      // 机型展开
+      expandedModelId: null,
+      showAddModelModal: false,
      // QR
      qrScanning: false,
      qrConfigs: [],
@@ -810,6 +813,21 @@ createApp({
      } catch (e) { alert('扫描失败: ' + e.message) }
      this.qrScanningId = null
    },
+    async applyQrAngles(qrId) {
+      if (!this.armConnected) { alert('机械臂未连接'); return }
+      const q = this.qrConfigs.find(x => x.id === qrId)
+      if (!q || !q.joint_angles || !Array.isArray(q.joint_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: q.joint_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) }
+    },
    onArmPreviewError() {
      // 机械臂摄像头预览失败，静默处理
    },
@@ -4,7 +4,7 @@
  <meta charset="UTF-8">
  <meta name="viewport" content="width=device-width, initial-scale=1.0">
  <title>设置 - AGV 拍摄系统</title>
-  <link rel="stylesheet" href="/static/css/style.css?v=20260520g">
+  <link rel="stylesheet" href="/static/css/style.css?v=20260520h">
 </head>
 <body>
  <div id="app">
@@ -566,7 +566,8 @@
                <td style="padding:10px 8px;color:#4fc3f7;font-size:12px;max-width:120px;overflow:hidden;text-overflow:ellipsis">{% raw %}{{ q.qr_value || '—' }}{% endraw %}</td>
                <td style="padding:10px 8px;color:#9aa0a6;font-size:12px">{% raw %}{{ getQrModelName(q.model_id) }}{% endraw %}</td>
                <td style="padding:10px 8px;text-align:center;white-space:nowrap">
-                  <button class="btn btn-secondary btn-small" @click="readQrAngles(q.id)" :disabled="!armConnected" title="读取当前机械臂角度">📐</button>
+                  <button class="btn btn-secondary btn-small" @click="readQrAngles(q.id)" :disabled="!armConnected" title="读取当前机械臂关节角度">📋 加载姿态</button>
+                  <button class="btn btn-primary btn-small" @click="applyQrAngles(q.id)" :disabled="!armConnected" style="margin-left:3px" title="将姿态应用到机械臂">🤖 应用姿态</button>
                  <button class="btn btn-success btn-small" @click="scanQrEntry(q.id)" :disabled="qrScanningId === q.id" style="margin-left:3px" title="扫描二维码">📷</button>
                  <button class="btn btn-danger btn-small" @click="deleteQrConfig(q.id)" style="margin-left:3px" title="删除">🗑️</button>
                </td>
@@ -585,7 +586,7 @@
          </div>
          <div v-else>
            <div class="camera-preview">
-              <img :src="previewUrl" @error="onPreviewError">
+              <img :src="armCameraUrl" @error="onArmPreviewError">
            </div>
            <div class="joints-panel">
              <h3>关节角度控制</h3>
@@ -675,7 +676,7 @@
    </main>
  </div>

-  <script src="/static/js/vue3.global.prod.js?v=20260520g"></script>
-  <script src="/static/js/setting.js?v=20260520g"></script>
+  <script src="/static/js/vue3.global.prod.js?v=20260520h"></script>
+  <script src="/static/js/setting.js?v=20260520h"></script>
 </body>
 </html>