可导航

agv_app/static/js/setting.js

@@ -48,6 +48,11 @@ const app = createApp({
       agvPosition: null,
       agvSpeed: 0.5,
       agvMoveInterval: null,
+      initPoseLoading: false,
+      initPoseMsg: '',
+      nav2Available: false,
+      navStatus: 'idle',
+      navCurrentPos: null,
       agvCameraUrl: API + '/api/camera/refresh',
       agvCameraTimer: null,
       initPoseLoading: false,
@@ -56,6 +61,12 @@ const app = createApp({
   mounted() {
     this.refresh()
     this.refreshAngles()
+    this.refreshNavStatus()
+    setInterval(() => {
+      if (this.nav2Available && this.navStatus === 'navigating') {
+        this.refreshNavStatus()
+      }
+    }, 3000)
   },
   watch: {
     // 监听点位数据变化，自动刷新地图
@@ -999,6 +1010,76 @@ const app = createApp({
         alert('❌ 复位请求失败: ' + e.message)
       }
     },
+
+    // === AMCL 初始化定位 ===
+    async initAmclPose() {
+      if (!this.agvConnected) { alert('请先连接AGV'); return }
+      this.initPoseLoading = true
+      this.initPoseMsg = ''
+      try {
+        var res = await fetch(API + '/api/mission/init_pose', { method: 'POST' })
+        var data = await res.json()
+        if (data.ok) {
+          this.initPoseMsg = data.message || '✅ 已初始化定位'
+          setTimeout(() => { this.initPoseMsg = '' }, 5000)
+          await this.refreshNavStatus()
+        } else {
+          alert('❌ 初始化失败: ' + (data.error || '未知错误'))
+        }
+      } catch (e) {
+        alert('❌ 请求失败: ' + e.message)
+      } finally {
+        this.initPoseLoading = false
+      }
+    },
+
+    // === 导航到点位 ===
+    async navigateToPoint() {
+      if (!this.pointEditor.x && !this.pointEditor.y) {
+        alert('该点位坐标无效，请先读取或输入坐标'); return
+      }
+      if (!this.nav2Available) { alert('Nav2 不可用，请先连接AGV并初始化定位'); return }
+      if (!confirm(`确定导航到点位 (${this.pointEditor.x.toFixed(2)}, ${this.pointEditor.y.toFixed(2)})？`)) return
+      try {
+        var res = await fetch(API + '/api/navigate/to', {
+          method: 'POST',
+          headers: { 'Content-Type': 'application/json' },
+          body: JSON.stringify({ x: this.pointEditor.x, y: this.pointEditor.y })
+        })
+        var data = await res.json()
+        if (data.ok) {
+          alert('✅ 导航已启动，请观察AGV移动')
+          this.closePointEdit()
+          this.$nextTick(() => this.refreshNavStatus())
+        } else {
+          alert('❌ 导航失败: ' + (data.error || '未知错误'))
+        }
+      } catch (e) {
+        alert('❌ 请求失败: ' + e.message)
+      }
+    },
+
+    // === Nav2 状态刷新 ===
+    async refreshNavStatus() {
+      try {
+        var res = await fetch(API + '/api/navigate/status')
+        var data = await res.json()
+        this.nav2Available = data.nav2_available
+        this.navStatus = data.status
+        this.navCurrentPos = data.current_position
+      } catch (e) {
+        this.nav2Available = false
+      }
+    },
+
+    // === 取消导航 ===
+    async cancelNav() {
+      if (!this.agvConnected) return
+      try {
+        await fetch(API + '/api/navigate/cancel', { method: 'POST' })
+        await this.refreshNavStatus()
+      } catch (e) {}
+    },
   }
 })
 const vm = app.mount('#app')