const { createApp } = Vue
const API = ''

const app = createApp({
  data() {
    return {
      tab: 'map',
      // 任务配置
      missionConfig: { rows: 3, cols: 3, grid: [], machines: [], positions: [] },
      // 点位编辑弹窗
      editingPoint: null,   // 当前编辑的点位 {pointRow, col} — pointRow是点位行号(0~rows)
      pointEditor: { x: 0, y: 0, yaw: 0 },
      selectedMachine: null,
      sequence: [],
      poseForm: { name: '', photo_type: 'front', description: '' },
      // 地图
      mapForm: { map_dir: '/home/elephant/agv_pro_ros2/src/agv_pro_navigation2/map/', map_file: 'map.yaml' },
      mapMsg: '',
      mapLoaded: false,
      mapImageUrl: '',
      mapMeta: null,
      mapVersion: 0,  // 地图点位版本号，用于强制重新渲染
      // 点位
      points: [],
      newPointName: '',
      newPointMode: 'front',
      newPointSequence: ['front', 'back'],
      // 机型（姿态组）
      models: [],
      selectedModelId: null,
      newModelName: '',
      newModelId: null,
      newModelDesc: '',
      newModelNotes: '',
      newPoseForm: {},  // 机型配置：新建姿态的表单
      showAddModelModal: false,
      expandedModelId: null,
      // 机械臂
      armConnected: false,
      currentAngles: [],
      angleInputs: [],
      previewUrl: API + '/api/camera/preview',
      jogIntervals: {},
      // AGV
      cameraOpened: false,
      agvConnected: false,
      agvBattery: null,
      agvPosition: null,
      agvSpeed: 0.5,
      agvMoveInterval: null,
      agvCameraUrl: API + '/api/camera/refresh',
      agvCameraTimer: null,
    }
  },
  mounted() {
    this.refresh()
    this.refreshAngles()
  },
  watch: {
    // 监听点位数据变化，自动刷新地图
    'missionConfig.positions'() {
      this.mapVersion++
    },
    tab(val) {
      if (val === 'agv') {
        this.agvCameraTimer = setInterval(() => {
          this.agvCameraUrl = API + '/api/camera/refresh?t=' + Date.now()
        }, 1000)
      } else {
        if (this.agvCameraTimer) {
          clearInterval(this.agvCameraTimer)
          this.agvCameraTimer = null
        }
      }
    }
  },
  beforeUnmount() {
    Object.values(this.jogIntervals).forEach(i => clearInterval(i))
    if (this.agvCameraTimer) clearInterval(this.agvCameraTimer)
  },
  methods: {
    async refresh() {
      try {
        const res = await fetch(API + '/api/status')
        const data = await res.json()
        this.agvConnected = data.agv_connected
        this.armConnected = data.arm_connected
        this.cameraOpened = data.camera_opened
        this.mapLoaded = data.map_loaded
        if (data.map_loaded) {
          this.mapImageUrl = API + '/api/map/image?t=' + Date.now()
          try {
            const metaRes = await fetch(API + '/api/map/meta')
            const meta = await metaRes.json()
            if (meta.ok) this.mapMeta = meta
          } catch (e) {}
        }
      } catch (e) {}
      await this.loadAllPoints()
      await this.loadAllModels()
      await this.loadAllMachines()
      await this.loadMissionConfig()
    },
    // === 地图 ===
    async loadMap() {
      const res = await fetch(API + '/api/map/load', {
        method: 'POST',
        headers: { 'Content-Type': 'application/json' },
        body: JSON.stringify(this.mapForm)
      })
      const data = await res.json()
      this.mapMsg = data.ok ? '✅ 地图加载成功' : '❌ ' + (data.error || '加载失败')
      this.mapLoaded = data.ok
      if (data.ok) {
        this.mapImageUrl = API + '/api/map/image?t=' + Date.now()
        try {
          const metaRes = await fetch(API + '/api/map/meta')
          const meta = await metaRes.json()
          if (meta.ok) this.mapMeta = meta
        } catch (e) {}
      }
    },
    onMapError() {
      this.mapMsg = '❌ 地图图像加载失败'
    },
    getMapX(coords) {
      if (!coords || !this.mapMeta) {
        //console.log('[getMapX] mapMeta not loaded, returning default 50');
        return 50
      }
      const [x, y, yaw] = coords
      const { resolution, origin, width } = this.mapMeta
      const px = (x - origin[0]) / (resolution * width) * 100
      const result = Math.max(0, Math.min(100, px));
      //console.log('[getMapX]', coords, '→ px%:', result);
      return result
    },
    getMapY(coords) {
      if (!coords || !this.mapMeta) {
        //console.log('[getMapY] mapMeta not loaded, returning default 50');
        return 50
      }
      const [x, y, yaw] = coords
      const { resolution, origin, height } = this.mapMeta
      const py = (y - origin[1]) / (resolution * height) * 100
      const result = Math.max(0, Math.min(100, 100 - py));
      //console.log('[getMapY]', coords, '→ py%:', result);
      return result
    },
    async saveMap() {
      await fetch(API + '/api/map/save', {
        method: 'POST',
        headers: { 'Content-Type': 'application/json' },
        body: JSON.stringify(this.mapForm)
      })
      this.mapMsg = '✅ 地图配置已保存'
    },
    // === 点位 ===
    async loadAllPoints() {
      const res = await fetch(API + '/api/points/list')
      const data = await res.json()
      this.points = data.points || []
    },
    async addPoint() {
      const res = await fetch(API + '/api/points/add', {
        method: 'POST',
        headers: { 'Content-Type': 'application/json' },
        body: JSON.stringify({
          name: this.newPointName || 'point_' + (this.points.length + 1),
          photo_mode: this.newPointMode,
          sequence: this.newPointSequence
        })
      })
      const data = await res.json()
      if (data.ok) {
        await this.loadAllPoints()
        this.newPointName = ''
      }
    },
    async deletePoint(id) {
      if (!confirm('确定删除该点位?')) return
      await fetch(API + '/api/points/delete/' + id, { method: 'DELETE' })
      await this.loadAllPoints()
    },
    async saveAllPoints() {
      await fetch(API + '/api/points/save', {
        method: 'POST',
        headers: { 'Content-Type': 'application/json' },
        body: JSON.stringify({ points: this.points })
      })
      alert('点位已保存')
    },
    getPoint(id) {
      return this.points.find(p => p.id === id)
    },
    formatAngles(angles) {
      if (!angles) return '—'
      return angles.map(a => (a || 0).toFixed(1) + '°').join(' / ')
    },
    // === 机型管理 ===
    async loadAllModels() {
      const res = await fetch(API + '/api/models/list')
      const data = await res.json()
      this.models = data.models || []
      this.models.forEach(m => {
        if (!this.poseForm[m.id]) {
          this.poseForm[m.id] = { name: '', photo_type: 'front', description: '' }
        }
      })
    },
    async addModel() {
      const res = await fetch(API + '/api/models/add', {
        method: 'POST',
        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 || ''
        })
      })
      const data = await res.json()
      if (data.ok) {
        await this.loadAllModels()
        this.newModelName = ''
        this.newModelId = null
        this.newModelDesc = ''
        this.newModelNotes = ''
        this.newModelSerial = ''
        this.showAddModelModal = false
      }
    },
    async deleteModel(modelId) {
      if (!confirm('确定删除该机型？其下所有姿态将被删除！')) return
      await fetch(API + '/api/models/delete/' + modelId, { method: 'DELETE' })
      await this.loadAllModels()
    },
    // === 姿态管理（属于机型）===
    async addPose(modelId, photoType, customName) {
      const form = this.poseForm[modelId]
      const type = photoType || form?.photo_type || 'front'
      const name = customName || form?.name || type + '_' + ((this.getModel(modelId)?.poses?.filter(p => p.photo_type === type).length || 0) + 1)
      await fetch(API + '/api/models/poses/add', {
        method: 'POST',
        headers: { 'Content-Type': 'application/json' },
        body: JSON.stringify({
          model_id: modelId,
          name: name,
          photo_type: type,
          arm_angles: this.currentAngles && this.currentAngles.length === 6 ? this.currentAngles : [0, 0, 0, 0, 0, 0],
          speed: 500,
          description: form?.description || ''
        })
      })
      await this.loadAllModels()
      if (form) {
        form.name = ''
        form.description = ''
      }
    },
    async deletePose(modelId, poseId) {
      if (!confirm('确定删除该姿态？')) return
      await fetch(API + '/api/models/' + modelId + '/poses/' + poseId, { method: 'DELETE' })
      await this.loadAllModels()
    },
    async updatePoseAngle(modelId, poseId, jointIndex, event) {
      const value = parseFloat(event.target.value)
      if (isNaN(value)) return
      // Find the pose and update its angle
      const model = this.getModel(modelId)
      if (!model) return
      const pose = model.poses.find(p => p.id === poseId)
      if (!pose) return
      if (!pose.arm_angles) pose.arm_angles = [0, 0, 0, 0, 0, 0]
      pose.arm_angles[jointIndex] = value
      // 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 })
      })
    },
    getModel(id) {
      return this.models.find(m => m.id === id)
    },
    // === 任务配置 ===
    async loadMissionConfig() {
      try {
        const res = await fetch(API + '/api/mission/config')
        const data = await res.json()
        if (data.ok && data.config) {
          this.missionConfig.rows = data.config.rows || 3
          this.missionConfig.cols = data.config.cols || 3
          this.missionConfig.grid = data.config.grid || []
          this.missionConfig.machines = data.machines || []
          this.missionConfig.positions = data.config.positions || []
          this.mapVersion++
        }
      } catch (e) { console.error('加载任务配置失败', e) }
    },
    async generateGrid() {
      try {
        const res = await fetch(API + '/api/mission/config', {
          method: 'POST',
          headers: { 'Content-Type': 'application/json' },
          body: JSON.stringify({
            rows: this.missionConfig.rows,
            cols: this.missionConfig.cols,
            grid: []
          })
        })
        const data = await res.json()
        if (data.ok) {
          this.missionConfig.grid = data.config.grid || []
          alert('✅ 网格已生成 (' + this.missionConfig.rows + '×' + this.missionConfig.cols + ')')
        } else {
          alert('❌ 网格生成失败')
        }
      } catch (e) { alert('请求失败: ' + e.message) }
    },
    async saveMissionConfig() {
      try {
        const res = await fetch(API + '/api/mission/config', {
          method: 'POST',
          headers: { 'Content-Type': 'application/json' },
          body: JSON.stringify({
            rows: this.missionConfig.rows,
            cols: this.missionConfig.cols,
            grid: this.missionConfig.grid
          })
        })
        const data = await res.json()
        if (data.ok) {
          alert('✅ 网格配置已保存')
        }
      } catch (e) { alert('保存失败: ' + e.message) }
    },
    async loadAllMachines() {
      try {
        const res = await fetch(API + '/api/mission/machines')
        const data = await res.json()
        this.missionConfig.machines = data.machines || []
      } catch (e) { console.error('加载机器列表失败', e) }
    },

    // ========== 点位行模型（独立于机器） ==========

    /**
     * 获取指定点位行的数据
     * @param {number} pointRow - 点位行号，范围 0 ~ missionConfig.rows
     *   - pointRow=0 → 第1台机器的正面拍摄点
     *   - pointRow=rows → 最后1台机器的背面拍摄点
     *   - 中间 pointRow=i → 上面机器(i)的背面 + 下面机器(i+1)的正面
     * @param {number} col - 列号（0-based）
     * @returns {object|null} 点位对象 { coords: [x,y,z], ... } 或 null
     */
    getPointAt(pointRow, col) {
      var positions = this.missionConfig.positions || []
      // 在独立 positions 数组中查找 (pointRow, col)
      for (var i = 0; i < positions.length; i++) {
        var p = positions[i]
        if (parseInt(p.row) === pointRow && parseInt(p.col) === col) {
          // 优先找 shoot，其次找 front/back
          if (p.side === 'shoot') return p
          // 再看有没有同一(row,col)的shoot
        }
      }
      // 再找同(row,col)的shoot类型
      for (var i = 0; i < positions.length; i++) {
        var p = positions[i]
        if (parseInt(p.row) === pointRow && parseInt(p.col) === col && p.side === 'shoot') {
          return p
        }
      }
      // 兼容旧数据：尝试从机器对象的 front/back 获取
      var machineAbove = this.getMachineAt(pointRow - 1, col)  // 上面的机器
      var machineBelow = this.getMachineAt(pointRow, col)       // 下面的机器
      if (pointRow === 0 && machineBelow) {
        // 第一个点位行 → 下面机器的正面
        return machineBelow.front || { coords: [0, 0, 0], poses: [] }
      }
      if (pointRow === this.missionConfig.rows && machineAbove) {
        // 最后一个点位行 → 上面机器的背面
        return machineAbove.back || { coords: [0, 0, 0], poses: [] }
      }
      // 中间点位行：优先返回上面机器的背面
      if (machineAbove && machineAbove.back) {
        return machineAbove.back
      }
      if (machineBelow && machineBelow.front) {
        return machineBelow.front
      }
      return null
    },

    /**
     * 获取点位的归属描述（用于弹窗标题）
     * @param {number} pointRow - 点位行号
     * @param {number} col - 列号
     * @returns {string} 如 "第2列 · 机器2背面/机器3正面"
     */
    getPointOwnerLabel(pointRow, col) {
      var rows = this.missionConfig.rows
      var labels = []
      if (pointRow === 0) {
        // 第一行点位：下面机器的正面
        var m = this.getMachineAt(0, col)
        if (m) labels.push('机器' + (m.row + 1) + '正面')
      } else if (pointRow === rows) {
        // 最后行点位：上面机器的背面
        var m2 = this.getMachineAt(rows - 1, col)
        if (m2) labels.push('机器' + (m2.row + 1) + '背面')
      } else {
        // 中间点位行：上面机器的背面 + 下面机器的正面
        var mAbove = this.getMachineAt(pointRow - 1, col)
        var mBelow = this.getMachineAt(pointRow, col)
        if (mAbove) labels.push('机器' + (mAbove.row + 1) + '背面')
        if (mBelow) labels.push('机器' + (mBelow.row + 1) + '正面')
      }
      if (labels.length === 0) return '第' + (col + 1) + '列 · 无归属'
      return '第' + (col + 1) + '列 · ' + labels.join('/')
    },

    /**
     * 检查点位是否可以清空
     * 只有当上下两台机器都不需要这个点位时才能清空
     */
    canClearPoint(pointRow, col) {
      var rows = this.missionConfig.rows
      // 如果上面有机器且机器存在 → 不能清空（上面机器需要此点位拍背面）
      if (pointRow > 0 && pointRow <= rows) {
        var mAbove = this.getMachineAt(pointRow - 1, col)
        if (mAbove) return false
      }
      // 如果下面有机器且机器存在 → 不能清空（下面机器需要此点位拍正面）
      if (pointRow >= 0 && pointRow < rows) {
        var mBelow = this.getMachineAt(pointRow, col)
        if (mBelow) return false
      }
      return true
    },

    getMachineAt(ri, ci) {
      if (!this.missionConfig.machines) return null
      return this.missionConfig.machines.find(function(m) { return m.row === ri && m.col === ci }) || null
    },

    // 打开点位编辑弹窗（基于点位行号）
    openPointEdit(pointRow, col) {
      var existing = this.getPointAt(pointRow, col)
      if (existing && existing.coords) {
        this.pointEditor.x = existing.coords[0] !== undefined ? existing.coords[0] : 0
        this.pointEditor.y = existing.coords[1] !== undefined ? existing.coords[1] : 0
        this.pointEditor.yaw = existing.coords[2] !== undefined ? existing.coords[2] : 0
      } else {
        this.pointEditor.x = 0
        this.pointEditor.y = 0
        this.pointEditor.yaw = 0
      }
      this.editingPoint = { pointRow: pointRow, col: col }
    },

    // 关闭点位编辑弹窗
    closePointEdit() {
      this.editingPoint = null
    },

    // 从AGV读取当前坐标到点位编辑器
    async loadPointFromAgv() {
      if (!this.agvConnected) { alert('请先连接AGV'); return }
      try {
        const res = await fetch(API + '/api/agv/position')
        const pos = await res.json()
        if (pos.ok && pos.position && Array.isArray(pos.position)) {
          this.pointEditor.x = pos.position[0] ?? 0
          this.pointEditor.y = pos.position[1] ?? 0
          this.pointEditor.yaw = pos.position[2] ?? 0
          alert('✅ 已读取AGV位置: (' + this.pointEditor.x.toFixed(2) + ', ' + this.pointEditor.y.toFixed(2) + ', ' + this.pointEditor.yaw.toFixed(2) + ')')
        } else if (pos.ok && (!pos.position || !Array.isArray(pos.position))) {
          alert('⚠️ AGV 未发布位置数据，请检查 AGV 传感器是否正常')
        } else {
          alert('读取AGV位置失败: ' + (pos.error || '未知错误'))
        }
      } catch (e) { alert('读取AGV位置失败: ' + e.message) }
    },

    // 保存点位配置到独立 positions 数组
    async savePoint() {
      if (!this.editingPoint) return
      var pointRow = this.editingPoint.pointRow
      var col = this.editingPoint.col
      var coords = [this.pointEditor.x, this.pointEditor.y, this.pointEditor.yaw]
      try {
        // 保存到后端独立点位表（使用 point_row 标识点位行）
        var saveRes = await fetch(API + '/api/mission/positions', {
          method: 'POST',
          headers: { 'Content-Type': 'application/json' },
          body: JSON.stringify({
            row: pointRow,
            col: col,
            side: 'shoot',   // 统一用 'shoot' 表示拍摄点位
            coords: coords,
            poses: []
          })
        })
        var saveData = await saveRes.json()
        if (!saveData.ok) {
          alert('保存点位失败: ' + (saveData.error || '未知错误'))
          return
        }

        // 同步更新关联机器的坐标（如果有的话）
        this.syncPointToMachines(pointRow, col, coords)

        await this.loadMissionConfig()
 alert('✅ 点位坐标已保存: (' + coords[0].toFixed(2) + ', ' + coords[1].toFixed(2) + ', ' + coords[2].toFixed(2) + ')')
        this.closePointEdit()
      } catch (e) { alert('保存点位失败: ' + e.message) }
    },

    // 将点位坐标同步到关联的机器对象
    syncPointToMachines(pointRow, col, coords) {
      var rows = this.missionConfig.rows
      // pointRow=0 → 同步到下面机器(0,col)的front
      if (pointRow === 0) {
        var m0 = this.getMachineAt(0, col)
        if (m0) {
          this.updateMachineSide(m0, 'front', coords)
        }
        return
      }
      // pointRow=rows → 同步到上面机器(rows-1,col)的back
      if (pointRow === rows) {
        var mLast = this.getMachineAt(rows - 1, col)
        if (mLast) {
          this.updateMachineSide(mLast, 'back', coords)
        }
        return
      }
      // 中间点位行 → 同步到上面机器的back + 下面机器的front
      var mAbove = this.getMachineAt(pointRow - 1, col)
      var mBelow = this.getMachineAt(pointRow, col)
      if (mAbove) {
        this.updateMachineSide(mAbove, 'back', coords)
      }
      if (mBelow) {
        this.updateMachineSide(mBelow, 'front', coords)
      }
    },

    // 更新机器某侧的坐标
    async updateMachineSide(machine, side, coords) {
      try {
        var update = {}
        update[side] = {
          coords: coords,
          poses: (machine[side] && machine[side].poses) ? machine[side].poses : []
        }
        await fetch(API + '/api/mission/machines/' + machine.id, {
          method: 'PUT',
          headers: { 'Content-Type': 'application/json' },
          body: JSON.stringify(update)
        })
      } catch (e) { console.error('同步机器坐标失败', e) }
    },

    // 清空点位（带保护检查）
    async clearPoint() {
      if (!this.editingPoint) return
      var pointRow = this.editingPoint.pointRow
      var col = this.editingPoint.col

      // 检查是否可以清空
      if (!this.canClearPoint(pointRow, col)) {
        var ownerLabel = this.getPointOwnerLabel(pointRow, col)
        alert('⚠️ 无法清空！此点位服务于: ' + ownerLabel + '\n必须先移除相关机器才能清空此点位。')
        return
      }

      if (!confirm('确定清空此点位坐标？')) return

      try {
        // 发送清空请求（坐标归零或删除记录）
        await fetch(API + '/api/mission/positions', {
          method: 'POST',
          headers: { 'Content-Type': 'application/json' },
          body: JSON.stringify({
            row: pointRow,
            col: col,
            side: 'shoot',
            coords: [0, 0, 0],
            poses: []
          })
        })
        this.pointEditor.x = 0
        this.pointEditor.y = 0
        this.pointEditor.yaw = 0
        await this.loadMissionConfig()
      } catch (e) { alert('清空点位失败: ' + e.message) }
    },

    onCellClick(ri, ci) {
      var m = this.getMachineAt(ri, ci)
      if (!m) {
        // 无机器 → 创建机器记录
        this.createMachine(ri, ci).then(function(ok) {
          if (ok) {
            var created = this.getMachineAt(ri, ci)
            if (created) this.selectMachine(created)
          }
        }.bind(this))
      } else {
        // 有机器 → 切换为无机器（删除）
        this.deleteMachine(m.id)
      }
    },
    async createMachine(ri, ci) {
      try {
        var machineId = 'm_' + ri + '_' + ci
        var res = await fetch(API + '/api/mission/machines/add', {
          method: 'POST',
          headers: { 'Content-Type': 'application/json' },
          body: JSON.stringify({
            id: machineId,
            row: ri,
            col: ci,
            front: { coords: [0, 0, 0], poses: [] },
            back: { coords: [0, 0, 0], poses: [] }
          })
        })
        var data = await res.json()
        if (!data.ok && data.error !== '该位置已有机器') {
          alert('创建机器失败: ' + (data.error || '未知错误'))
          return false
        }
        await this.loadAllMachines()
        return true
      } catch (e) { alert('创建机器失败: ' + e.message); return false }
    },
    selectMachine(machine) {
      if (!machine.front) machine.front = { coords: [0, 0, 0], poses: [] }
      else if (!Array.isArray(machine.front.coords)) machine.front.coords = [0, 0, 0]
      if (!machine.back) machine.back = { coords: [0, 0, 0], poses: [] }
      else if (!Array.isArray(machine.back.coords)) machine.back.coords = [0, 0, 0]
      this.selectedMachine = machine
    },
    clearSelection() {
      this.selectedMachine = null
    },
    async deleteMachine(machineId) {
      if (!confirm('确定删除此机器？\n\n注意：删除后其上方/下方的点位仍可继续使用。')) return
      try {
        await fetch(API + '/api/mission/machines/' + machineId, { method: 'DELETE' })
        this.selectedMachine = null
        await this.loadAllMachines()
        await this.loadMissionConfig()  // 重新加载点位，确保数据同步
      } catch (e) { alert('删除失败: ' + e.message) }
    },
    async saveMachineCoords() {
      if (!this.selectedMachine) return
      try {
        var res = await fetch(API + '/api/mission/machines/' + this.selectedMachine.id, {
          method: 'PUT',
          headers: { 'Content-Type': 'application/json' },
          body: JSON.stringify({
            front: this.selectedMachine.front,
            back: this.selectedMachine.back
          })
        })
        if (res.ok) {
          this.mapMsg = '✅ 机器坐标已保存'
          setTimeout(function() { this.mapMsg = '' }.bind(this), 2000)
        } else {
          alert('保存失败: ' + res.status)
        }
      } catch (e) { alert('保存失败: ' + e.message) }
    },
    async readPosition(side) {
      if (!this.agvConnected) { alert('AGV 未连接'); return }
      try {
        var res = await fetch(API + '/api/agv/position')
        var data = await res.json()
        if (data.ok && data.position && Array.isArray(data.position)) {
          var x = data.position[0]
          var y = data.position[1]
          var theta = data.position[2]
          if (side === 'front') {
            this.selectedMachine.front.coords = [x, y, theta]
          } else {
            this.selectedMachine.back.coords = [x, y, theta]
          }
        } else if (data.ok && (!data.position || !Array.isArray(data.position))) {
          alert('⚠️ AGV 未发布位置数据，请检查 AGV 传感器是否正常')
        } else {
          alert('读取位置失败: ' + (data.error || '未知错误'))
        }
      } catch (e) { alert('读取位置失败: ' + e.message) }
    },
    async addPoseToMachine(machineId, side) {
      var name = this.poseForm.name || '姿态' + (((this.selectedMachine && this.selectedMachine[side] && this.selectedMachine[side].poses) || []).length + 1)
      try {
        var res = await fetch(API + '/api/mission/poses/' + machineId + '/' + side, {
          method: 'POST',
          headers: { 'Content-Type': 'application/json' },
          body: JSON.stringify({
            name: name,
            arm_angles: this.currentAngles.length === 6 ? this.currentAngles : [0, 0, 0, 0, 0, 0],
            speed: 500,
            description: ''
          })
        })
        var data = await res.json()
        if (data.ok) {
          this.poseForm.name = ''
          await this.loadAllMachines()
          var updated = this.getMachineAt(this.selectedMachine.row, this.selectedMachine.col)
          if (updated) this.selectMachine(updated)
        } else {
          alert('添加姿态失败: ' + (data.error || '未知错误'))
        }
      } catch (e) { alert('添加姿态失败: ' + e.message) }
    },
    async deletePose(machineId, side, poseId) {
      if (!confirm('确定删除此姿态？')) return
      try {
        await fetch(API + '/api/mission/poses/' + machineId + '/' + side + '/' + poseId, { method: 'DELETE' })
        await this.loadAllMachines()
        if (this.selectedMachine) {
          var updated = this.getMachineAt(this.selectedMachine.row, this.selectedMachine.col)
          if (updated) this.selectMachine(updated)
        }
      } catch (e) { alert('删除姿态失败: ' + e.message) }
    },
    async capturePosition(ri, ci, side) {
      if (!this.agvConnected) { alert('请先连接AGV'); return }
      var machine = this.getMachineAt(ri, ci)
      if (!machine) {
        try {
          var machineId = 'm_' + ri + '_' + ci
          var res = await fetch(API + '/api/mission/machines/add', {
            method: 'POST',
            headers: { 'Content-Type': 'application/json' },
            body: JSON.stringify({
              id: machineId,
              row: ri,
              col: ci,
              front: { coords: [0, 0, 0], poses: [] },
              back: { coords: [0, 0, 0], poses: [] }
            })
          })
          if (!res.ok) throw new Error('创建失败')
          await this.loadAllMachines()
          machine = this.getMachineAt(ri, ci)
        } catch (e) { alert('创建机器失败: ' + e.message); return }
      }
      try {
        var res = await fetch(API + '/api/agv/position')
        var pos = await res.json()
        var x = 0, y = 0, theta = 0
        if (pos.ok && pos.position && Array.isArray(pos.position)) {
          x = pos.position[0] || 0
          y = pos.position[1] || 0
          theta = pos.position[2] || 0
        } else if (pos.ok && (!pos.position || !Array.isArray(pos.position))) {
          alert('⚠️ AGV 未发布位置数据，请检查 AGV 传感器是否正常')
          return
        } else {
          alert('读取位置失败: ' + (pos.error || '未知错误'))
          return
        }
        if (!machine) { machine = this.getMachineAt(ri, ci) }
        if (!machine) { alert('机器记录不存在'); return }
        if (side === 'front') { machine.front.coords = [x, y, theta] } else { machine.back.coords = [x, y, theta] }
        await fetch(API + '/api/mission/machines/' + machine.id, {
          method: 'PUT',
          headers: { 'Content-Type': 'application/json' },
          body: JSON.stringify(machine)
        })
        alert((side === 'front' ? '正面' : '背面') + '点位已更新: (' + x.toFixed(2) + ',' + y.toFixed(2) + ',' + theta.toFixed(2) + ')')
      } catch (e) { alert('读取位置失败: ' + e.message) }
    },
    async refreshSequence() {
      try {
        var res = await fetch(API + '/api/mission/generate_sequence')
        var data = await res.json()
        if (data.ok) {
          this.sequence = data.sequence || []
        }
      } catch (e) { console.error('刷新序列失败', e) }
    },
    // === 机械臂 ===
    async refreshAngles() {
      if (!this.armConnected) return
      try {
        var res = await fetch(API + '/api/arm/get_angles')
        var data = await res.json()
        if (data.ok && data.angles) {
          this.currentAngles = data.angles
          this.angleInputs = [...data.angles]
        }
      } catch (e) {}
    },
    async setAngle(idx, val) {
      await fetch(API + '/api/arm/set_angle', {
        method: 'POST',
        headers: { 'Content-Type': 'application/json' },
        body: JSON.stringify({ joint: 'J' + (idx + 1), angle: val })
      })
    },
    async applyAngles() {
      await fetch(API + '/api/arm/set_angles', {
        method: 'POST',
        headers: { 'Content-Type': 'application/json' },
        body: JSON.stringify({ angles: this.angleInputs, speed: 500 })
      })
    },
    jogStart(idx, dir) {
      var joint = 'J' + (idx + 1)
      fetch(API + '/api/arm/jog', {
        method: 'POST',
        headers: { 'Content-Type': 'application/json' },
        body: JSON.stringify({ joint, direction: dir })
      })
      this.jogIntervals[idx] = setInterval(function() { this.refreshAngles() }.bind(this), 200)
    },
    jogStop(idx) {
      clearInterval(this.jogIntervals[idx])
      var joint = 'J' + (idx + 1)
      fetch(API + '/api/arm/jog', {
        method: 'POST',
        headers: { 'Content-Type': 'application/json' },
        body: JSON.stringify({ joint, direction: 0 })
      })
      setTimeout(function() { this.refreshAngles() }.bind(this), 300)
    },
    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
      try {
        var res = await fetch(API + '/api/agv/position')
        var data = await res.json()
        if (data.ok) {
          this.agvPosition = data.position
          this.agvBattery = data.battery
        }
      } catch (e) {}
    },
    agvMoveStart(dir) {
      if (!this.agvConnected) return
      fetch(API + '/api/agv/move', {
        method: 'POST',
        headers: { 'Content-Type': 'application/json' },
        body: JSON.stringify({ direction: dir, speed: this.agvSpeed })
      })
    },
    agvMoveStop() {
      fetch(API + '/api/agv/move', {
        method: 'POST',
        headers: { 'Content-Type': 'application/json' },
        body: JSON.stringify({ direction: 'stop' })
      })
    },
    async agvStop() {
      await fetch(API + '/api/agv/stop', { method: 'POST' })
    },
    async agvResetCollision() {
      if (!this.agvConnected) {
        alert('AGV 未连接')
        return
      }
      if (!confirm('确定执行撞物体后复位？')) return
      try {
        var res = await fetch(API + '/api/agv/reset', { method: 'POST' })
        var data = await res.json()
        if (data.ok) {
          alert('✅ ' + data.message)
          await this.refresh()
          await this.refreshAgvPosition()
        } else {
          alert('❌ 复位失败: ' + (data.error || '未知错误'))
        }
      } catch (e) {
        alert('❌ 复位请求失败: ' + e.message)
      }
    },
  }
})
const vm = app.mount('#app')
window.vm = vm  // 暴露组件实例