From e14ee07a84ac26106c728b3697a2049c9fbdf722 Mon Sep 17 00:00:00 2001
From: ywb <347742090@qq.com>
Date: Thu, 14 May 2026 22:53:06 +0800
Subject: [PATCH] =?UTF-8?q?=E6=9C=BA=E5=9E=8B=E9=85=8D=E7=BD=AE?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 agv_app/data/machines_config.json | 252 +++++++++++++++++++++++++-----
 agv_app/data/mission_config.json  |   4 +-
 agv_app/static/js/setting.js      |  97 ++++++++++++
 agv_app/templates/setting.html    |  35 +++--
 4 files changed, 334 insertions(+), 54 deletions(-)

diff --git a/agv_app/data/machines_config.json b/agv_app/data/machines_config.json
index bb03c17..39e6ce9 100644
--- a/agv_app/data/machines_config.json
+++ b/agv_app/data/machines_config.json
@@ -209,48 +209,6 @@
       "poses": []
     }
   },
-  {
-    "id": "m_3_4",
-    "row": 3,
-    "col": 4,
-    "front": {
-      "coords": [
-        0,
-        0,
-        0
-      ],
-      "poses": []
-    },
-    "back": {
-      "coords": [
-        0,
-        0,
-        0
-      ],
-      "poses": []
-    }
-  },
-  {
-    "id": "m_3_3",
-    "row": 3,
-    "col": 3,
-    "front": {
-      "coords": [
-        0,
-        0,
-        0
-      ],
-      "poses": []
-    },
-    "back": {
-      "coords": [
-        0,
-        0,
-        0
-      ],
-      "poses": []
-    }
-  },
   {
     "id": "m_0_1",
     "row": 0,
@@ -334,5 +292,215 @@
       ],
       "poses": []
     }
+  },
+  {
+    "id": "m_0_3",
+    "row": 0,
+    "col": 3,
+    "front": {
+      "coords": [
+        0,
+        0,
+        0
+      ],
+      "poses": []
+    },
+    "back": {
+      "coords": [
+        0,
+        0,
+        0
+      ],
+      "poses": []
+    }
+  },
+  {
+    "id": "m_0_4",
+    "row": 0,
+    "col": 4,
+    "front": {
+      "coords": [
+        0,
+        0,
+        0
+      ],
+      "poses": []
+    },
+    "back": {
+      "coords": [
+        0,
+        0,
+        0
+      ],
+      "poses": []
+    }
+  },
+  {
+    "id": "m_0_5",
+    "row": 0,
+    "col": 5,
+    "front": {
+      "coords": [
+        0,
+        0,
+        0
+      ],
+      "poses": []
+    },
+    "back": {
+      "coords": [
+        0,
+        0,
+        0
+      ],
+      "poses": []
+    }
+  },
+  {
+    "id": "m_1_3",
+    "row": 1,
+    "col": 3,
+    "front": {
+      "coords": [
+        0,
+        0,
+        0
+      ],
+      "poses": []
+    },
+    "back": {
+      "coords": [
+        0,
+        0,
+        0
+      ],
+      "poses": []
+    }
+  },
+  {
+    "id": "m_1_5",
+    "row": 1,
+    "col": 5,
+    "front": {
+      "coords": [
+        0,
+        0,
+        0
+      ],
+      "poses": []
+    },
+    "back": {
+      "coords": [
+        0,
+        0,
+        0
+      ],
+      "poses": []
+    }
+  },
+  {
+    "id": "m_1_4",
+    "row": 1,
+    "col": 4,
+    "front": {
+      "coords": [
+        0,
+        0,
+        0
+      ],
+      "poses": []
+    },
+    "back": {
+      "coords": [
+        0,
+        0,
+        0
+      ],
+      "poses": []
+    }
+  },
+  {
+    "id": "m_2_3",
+    "row": 2,
+    "col": 3,
+    "front": {
+      "coords": [
+        0,
+        0,
+        0
+      ],
+      "poses": []
+    },
+    "back": {
+      "coords": [
+        0,
+        0,
+        0
+      ],
+      "poses": []
+    }
+  },
+  {
+    "id": "m_2_1",
+    "row": 2,
+    "col": 1,
+    "front": {
+      "coords": [
+        0,
+        0,
+        0
+      ],
+      "poses": []
+    },
+    "back": {
+      "coords": [
+        0,
+        0,
+        0
+      ],
+      "poses": []
+    }
+  },
+  {
+    "id": "m_2_4",
+    "row": 2,
+    "col": 4,
+    "front": {
+      "coords": [
+        0,
+        0,
+        0
+      ],
+      "poses": []
+    },
+    "back": {
+      "coords": [
+        0,
+        0,
+        0
+      ],
+      "poses": []
+    }
+  },
+  {
+    "id": "m_2_5",
+    "row": 2,
+    "col": 5,
+    "front": {
+      "coords": [
+        0,
+        0,
+        0
+      ],
+      "poses": []
+    },
+    "back": {
+      "coords": [
+        0,
+        0,
+        0
+      ],
+      "poses": []
+    }
   }
 ]
\ No newline at end of file
diff --git a/agv_app/data/mission_config.json b/agv_app/data/mission_config.json
index 1e1f374..fe42feb 100644
--- a/agv_app/data/mission_config.json
+++ b/agv_app/data/mission_config.json
@@ -1,6 +1,6 @@
 {
-  "rows": 2,
-  "cols": 2,
+  "rows": 4,
+  "cols": 6,
   "grid": [],
   "positions": [
     {
diff --git a/agv_app/static/js/setting.js b/agv_app/static/js/setting.js
index d401e53..8ff514b 100644
--- a/agv_app/static/js/setting.js
+++ b/agv_app/static/js/setting.js
@@ -29,6 +29,7 @@ const app = createApp({
       models: [],
       selectedModelId: null,
       newModelName: '',
+      newModelId: null,
       newModelDesc: '',
       newModelNotes: '',
       newPoseForm: {},  // 机型配置：新建姿态的表单
@@ -211,6 +212,7 @@ const app = createApp({
         headers: { 'Content-Type': 'application/json' },
         body: JSON.stringify({
           name: this.newModelName || '型号_' + (this.models.length + 1),
+          id: this.newModelId,
           description: this.newModelDesc || '',
           notes: this.newModelNotes || '',
           serial_prefix: this.newModelSerial || ''
@@ -831,6 +833,101 @@ const app = createApp({
     onPreviewError(e) {
       e.target.style.display = 'none'
     },
+    // === 姿态角度控制（机型配置 Tab） ===
+    async refreshPoseAngles(modelId, poseId) {
+      // 获取当前机械臂角度，填入姿态，保存到后端
+      if (!this.armConnected) {
+        alert('机械臂未连接')
+        return
+      }
+      try {
+        var res = await fetch(API + '/api/arm/get_angles')
+        var data = await res.json()
+        if (data.ok && data.angles) {
+          // Find the pose and update
+          var model = this.models.find(m => m.id === modelId)
+          if (model) {
+            var pose = model.poses.find(p => p.id === poseId)
+            if (pose) {
+              pose.arm_angles = [...data.angles]
+              // Save to backend
+              await fetch(API + '/api/models/' + modelId + '/poses/' + poseId, {
+                method: 'PUT',
+                headers: { 'Content-Type': 'application/json' },
+                body: JSON.stringify({ arm_angles: pose.arm_angles })
+              })
+            }
+          }
+        }
+      } catch (e) {
+        console.error('refreshPoseAngles error:', e)
+      }
+    },
+    async applyPoseAngles(modelId, poseId) {
+      // 调整机械臂到姿态的角度
+      var model = this.models.find(m => m.id === modelId)
+      if (model) {
+        var pose = model.poses.find(p => p.id === poseId)
+        if (pose && pose.arm_angles) {
+          try {
+            await fetch(API + '/api/arm/set_angles', {
+              method: 'POST',
+              headers: { 'Content-Type': 'application/json' },
+              body: JSON.stringify({ angles: pose.arm_angles, speed: 500 })
+            })
+          } catch (e) {
+            console.error('applyPoseAngles error:', e)
+          }
+        }
+      }
+    },
+    async adjustPoseAngle(modelId, poseId, jointIndex, delta) {
+      // 微调姿态角度，并实时调整机械臂
+      var model = this.models.find(m => m.id === modelId)
+      if (model) {
+        var pose = model.poses.find(p => p.id === poseId)
+        if (pose) {
+          if (!pose.arm_angles) pose.arm_angles = [0, 0, 0, 0, 0, 0]
+          pose.arm_angles[jointIndex] = (pose.arm_angles[jointIndex] || 0) + delta
+          // Save to backend
+          await fetch(API + '/api/models/' + modelId + '/poses/' + poseId, {
+            method: 'PUT',
+            headers: { 'Content-Type': 'application/json' },
+            body: JSON.stringify({ arm_angles: pose.arm_angles })
+          })
+          // Move arm
+          await fetch(API + '/api/arm/set_angle', {
+            method: 'POST',
+            headers: { 'Content-Type': 'application/json' },
+            body: JSON.stringify({ joint: 'J' + (jointIndex + 1), angle: pose.arm_angles[jointIndex] })
+          })
+        }
+      }
+    },
+    async updatePoseAngleAndMove(modelId, poseId, jointIndex, value) {
+      // 更新姿态角度（输入框），并实时调整机械臂
+      var model = this.models.find(m => m.id === modelId)
+      if (model) {
+        var pose = model.poses.find(p => p.id === poseId)
+        if (pose) {
+          if (!pose.arm_angles) pose.arm_angles = [0, 0, 0, 0, 0, 0]
+          pose.arm_angles[jointIndex] = parseFloat(value) || 0
+          // Save to backend
+          await fetch(API + '/api/models/' + modelId + '/poses/' + poseId, {
+            method: 'PUT',
+            headers: { 'Content-Type': 'application/json' },
+            body: JSON.stringify({ arm_angles: pose.arm_angles })
+          })
+          // Move arm
+          await fetch(API + '/api/arm/set_angle', {
+            method: 'POST',
+            headers: { 'Content-Type': 'application/json' },
+            body: JSON.stringify({ joint: 'J' + (jointIndex + 1), angle: pose.arm_angles[jointIndex] })
+          })
+        }
+      }
+    },
+
     // === AGV 控制 ===
     async refreshAgvPosition() {
       if (!this.agvConnected) return
diff --git a/agv_app/templates/setting.html b/agv_app/templates/setting.html
index d6dfded..0dc61d5 100644
--- a/agv_app/templates/setting.html
+++ b/agv_app/templates/setting.html
@@ -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=20260514l">
+  <link rel="stylesheet" href="/static/css/style.css?v=20260514m">
 </head>
 <body>
   <div id="app">
@@ -78,6 +78,10 @@
                 <label>机型名称</label>
                 <input type="text" v-model="newModelName" placeholder="例如：SMT-A" style="width:100%;padding:8px;border:1px solid #2a3441;border-radius:4px">
               </div>
+            <div class="form-group" style="flex:1">
+                <label>机型ID（数值）</label>
+                <input type="number" v-model.number="newModelId" placeholder="例如：100" style="width:100%;padding:8px;border:1px solid #2a3441;border-radius:4px">
+              </div>
             </div>
             <div class="form-row">
               <div class="form-group" style="flex:1">
@@ -121,14 +125,20 @@
                     <button class="btn btn-danger btn-small" @click="deletePose(m.id, pose.id)">删除</button>
                   </div>
                   <div style="display:flex;gap:8px;flex-wrap:wrap">
-                    <div v-for="j in 6" :key="j" style="display:flex;align-items:center;gap:4px">
+<div v-for="j in 6" :key="j" style="display:flex;align-items:center;gap:4px">
                       <span style="font-size:12px;color:#9aa0a6">J{% raw %}{ j }{% endraw %}</span>
-                      <input type="number" step="0.1"
+                      <button class="btn btn-small" @click="adjustPoseAngle(m.id, pose.id, j-1, -0.5)" style="width:24px;height:24px;padding:0;font-size:12px">-</button>
+                      <input type="number" step="0.5"
                         :value="pose.arm_angles && pose.arm_angles[j-1] !== undefined ? pose.arm_angles[j-1] : 0"
-                        @change="updatePoseAngle(m.id, pose.id, j-1, $event.target.value)"
+                        @change="updatePoseAngleAndMove(m.id, pose.id, j-1, $event.target.value)"
                         style="width:70px;padding:4px;border:1px solid #2a3441;border-radius:4px">
+                      <button class="btn btn-small" @click="adjustPoseAngle(m.id, pose.id, j-1, 0.5)" style="width:24px;height:24px;padding:0;font-size:12px">+</button>
                       <span style="font-size:11px;color:#999">°</span>
                     </div>
+                  <div style="margin-top:8px;display:flex;gap:8px">
+                    <button class="btn btn-secondary btn-small" @click="refreshPoseAngles(m.id, pose.id)">🔄 刷新角度</button>
+                    <button class="btn btn-primary btn-small" @click="applyPoseAngles(m.id, pose.id)">✅ 应用角度</button>
+                  </div>
                   </div>
                 </div>
                 <!-- 添加正面姿态 -->
@@ -163,14 +173,20 @@
                     <button class="btn btn-danger btn-small" @click="deletePose(m.id, pose.id)">删除</button>
                   </div>
                   <div style="display:flex;gap:8px;flex-wrap:wrap">
-                    <div v-for="j in 6" :key="j" style="display:flex;align-items:center;gap:4px">
+<div v-for="j in 6" :key="j" style="display:flex;align-items:center;gap:4px">
                       <span style="font-size:12px;color:#9aa0a6">J{% raw %}{ j }{% endraw %}</span>
-                      <input type="number" step="0.1"
+                      <button class="btn btn-small" @click="adjustPoseAngle(m.id, pose.id, j-1, -0.5)" style="width:24px;height:24px;padding:0;font-size:12px">-</button>
+                      <input type="number" step="0.5"
                         :value="pose.arm_angles && pose.arm_angles[j-1] !== undefined ? pose.arm_angles[j-1] : 0"
-                        @change="updatePoseAngle(m.id, pose.id, j-1, $event.target.value)"
+                        @change="updatePoseAngleAndMove(m.id, pose.id, j-1, $event.target.value)"
                         style="width:70px;padding:4px;border:1px solid #2a3441;border-radius:4px">
+                      <button class="btn btn-small" @click="adjustPoseAngle(m.id, pose.id, j-1, 0.5)" style="width:24px;height:24px;padding:0;font-size:12px">+</button>
                       <span style="font-size:11px;color:#999">°</span>
                     </div>
+                  <div style="margin-top:8px;display:flex;gap:8px">
+                    <button class="btn btn-secondary btn-small" @click="refreshPoseAngles(m.id, pose.id)">🔄 刷新角度</button>
+                    <button class="btn btn-primary btn-small" @click="applyPoseAngles(m.id, pose.id)">✅ 应用角度</button>
+                  </div>
                   </div>
                 </div>
                 <!-- 添加背面姿态 -->
@@ -438,7 +454,6 @@
                     <input type="number" v-model.number="angleInputs[j-1]" step="0.5" @change="setAngle(j-1, angleInputs[j-1])">
                     <button @mousedown="jogStart(j-1, 1)" @mouseup="jogStop(j-1)" @mouseleave="jogStop(j-1)">▶</button>
                   </div>
-                </div>
               </div>
               <div class="btn-row">
                 <button class="btn btn-primary" @click="refreshAngles">🔄 刷新角度</button>
@@ -505,7 +520,7 @@
     </main>
   </div>
 
-  <script src="/static/js/vue3.global.prod.js?v=20260514l"></script>
-  <script src="/static/js/setting.js?v=20260514l"></script>
+  <script src="/static/js/vue3.global.prod.js?v=20260514m"></script>
+  <script src="/static/js/setting.js?v=20260514m"></script>
 </body>
 </html>