机型配置

2026-05-14 22:53:06 +08:00
parent fdb88b21a1
commit e14ee07a84
4 changed files with 334 additions and 54 deletions
@@ -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