-

agv_app/static/js/setting.js

@@ -858,12 +858,24 @@ createApp({
       })
     },
     async applyAngles(angles = null) {
-      const targetAngles = angles || this.angleInputs
-      await fetch(API + '/api/arm/set_angles', {
+      const targetAngles = Array.isArray(angles) ? angles : this.angleInputs
+      if (!Array.isArray(targetAngles) || targetAngles.length !== 6) {
+        alert('角度数据无效，请先刷新角度')
+        return false
+      }
+      const res = await fetch(API + '/api/arm/set_angles', {
         method: 'POST',
         headers: { 'Content-Type': 'application/json' },
         body: JSON.stringify({ angles: targetAngles, speed: 500 })
       })
+      const data = await res.json()
+      if (!data.ok) {
+        alert('应用角度失败: ' + (data.error || '机械臂未响应'))
+        return false
+      }
+      this.angleInputs = [...targetAngles]
+      setTimeout(() => this.refreshAngles(), 2000)
+      return true
     },
     async mirrorAngles() {
       // 镜像角度：只取反 J1，其它不变
@@ -872,7 +884,8 @@ createApp({
       
       // 应用到机械臂
       try {
-        await this.applyAngles(mirrored)
+        const ok = await this.applyAngles(mirrored)
+        if (!ok) return
         this.angleInputs = mirrored  // 只有在成功后才更新显示
         alert('✅ 角度已镜像并应用（仅 J1 取反）')
       } catch (e) {