const { createApp } = Vue
const API = ''

createApp({
  data() {
    return {
      tab: 'map',
      // 任务配置
      missionConfig: { rows: 3, cols: 3, grid: [], machines: [] },
      selectedMachine: null,
      sequence: [],
      poseForm: {},
      newPoseForm: {},
      // 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,
      mapRotation: 0,
      mapVersion: 0,
      navCurrentPos: null,
      nav2Available: false,
      // 点位
      points: [],
      newPointName: '',
      newPointMode: 'front',
      newPointSequence: ['front', 'back'],
      // 点位编辑器弹窗
      editingPoint: null,
      pointEditor: { x: 0, y: 0, yaw: 0 },
      // 机型（姿态组）
      models: [],
      selectedModelId: null,
      newModelName: '',
      newModelSerial: '',
      // 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,
      armCameraTimer: null,
      // 机型展开
      expandedModelId: null,
      showAddModelModal: false,
      // QR
      qrScanning: false,
      qrConfigs: [],
      qrScanningId: null,
      armCameraUrl: API + '/api/camera/arm_refresh',
      newQrName: '',
      armInitialPose: [0, 0, 0, 0, 0, 0],
    }
  },
  mounted() {
    this.refresh()
    this.refreshAngles()
    this.loadQrConfigs()
    this.nav2Timer = setInterval(this.refreshNavStatus, 3000)
    // 机械臂摄像头自动刷新（每2秒）
    this.armCameraUrl = API + '/api/camera/arm_refresh?t=' + Date.now()
    this.armCameraTimer = setInterval(() => {
      this.armCameraUrl = API + '/api/camera/arm_refresh?t=' + Date.now()
    }, 2000)
  },
  computed: {
    hasQr() {
      return !!(this.selectedMachine && this.selectedMachine.qr)
    },
    hasQrValue() {
      return !!(this.selectedMachine && this.selectedMachine.qr && this.selectedMachine.qr.qr_value)
    },
    hasQrModelId() {
      return !!(this.selectedMachine && this.selectedMachine.qr && this.selectedMachine.qr.model_id)
    }
  },
  watch: {
    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)
    if (this.armCameraTimer) { clearInterval(this.armCameraTimer); this.armCameraTimer = null }
    if (this.nav2Timer) clearInterval(this.nav2Timer)
  },
  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'
    },
    rotateMap(deg) {
      this.mapRotation = (this.mapRotation + deg) % 360
    },
    resetMapView() {
      this.mapRotation = 0
      this.mapVersion++
    },
    async refreshNavStatus() {
      try {
        const res = await fetch(API + '/api/navigate/status')
        if (res.ok) {
          const data = await res.json()
          this.nav2Available = data.nav2_available
          if (data.current_position) {
            this.navCurrentPos = data.current_position
          }
        }
      } catch (e) {}
    },
    async onMapClick(e) {
      if (!this.mapMeta) {
        this.mapMsg = '❌ 地图未加载'
        setTimeout(() => { this.mapMsg = '' }, 3000)
        return
      }
      if (!this.agvConnected) {
        this.mapMsg = '❌ AGV 未连接，无法导航'
        setTimeout(() => { this.mapMsg = '' }, 3000)
        return
      }
      const rect = e.target.getBoundingClientRect()
      let px = (e.clientX - rect.left) / rect.width
      let py = (e.clientY - rect.top) / rect.height
      // 逆旋转补偿：地图 CSS transform: rotate() 后，点击坐标需反向旋转
      // 使同一物理点在不同旋转角度下返回相同的世界坐标
      const rotation = (this.mapRotation || 0) * Math.PI / 180
      if (rotation !== 0) {
        const cx = px - 0.5
        const cy = py - 0.5
        const cos = Math.cos(-rotation)
        const sin = Math.sin(-rotation)
        px = cx * cos - cy * sin + 0.5
        py = cx * sin + cy * cos + 0.5
      }
      const { resolution, origin } = this.mapMeta
      const wx = origin[0] + px * resolution * this.mapMeta.width
      const wy = origin[1] + (1 - py) * resolution * this.mapMeta.height
      if (!confirm(`是否导航到该坐标？\nX: ${wx.toFixed(3)}\nY: ${wy.toFixed(3)}`)) return
      try {
        const res = await fetch(API + '/api/navigate/to', {
          method: 'POST',
          headers: { 'Content-Type': 'application/json' },
          body: JSON.stringify({ x: wx, y: wy })
        })
        const data = await res.json()
        if (data.ok) {
          this.mapMsg = '✅ 导航目标已发送'
          this.mapVersion++
        } else {
          this.mapMsg = '❌ ' + (data.error || '导航失败')
        }
      } catch (e) {
        this.mapMsg = '❌ 导航请求失败'
      }
      setTimeout(() => { this.mapMsg = '' }, 3000)
    },
    getMapX(coords) {
      if (!coords || !this.mapMeta) return 50
      const [x, y, yaw] = coords
      const { resolution, origin, width } = this.mapMeta
      const px = (x - origin[0]) / (resolution * width) * 100
      return Math.max(0, Math.min(100, px))
    },
    getMapY(coords) {
      if (!coords || !this.mapMeta) return 50
      const [x, y, yaw] = coords
      const { resolution, origin, height } = this.mapMeta
      const py = (y - origin[1]) / (resolution * height) * 100
      return Math.max(0, Math.min(100, 100 - py))
    },
    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(' / ')
    },
    // === 点位编辑器弹窗 ===
    openPointEdit(ri, ci) {
      const point = this.getPointAt(ri, ci)
      this.editingPoint = { pointRow: ri, col: ci }
      if (point && point.coords && point.coords.length >= 3) {
        this.pointEditor = { x: point.coords[0], y: point.coords[1], yaw: point.coords[2] || 0 }
      } else {
        this.pointEditor = { x: 0, y: 0, yaw: 0 }
      }
    },
    closePointEdit() {
      this.editingPoint = null
    },
    getPointOwnerLabel(pointRow, col) {
      const rows = this.missionConfig.rows || 0
      if (pointRow === 0) {
        return `机器行1·正面`
      } else if (pointRow >= rows) {
        return `机器行${rows}·背面`
      } else {
        return `机器行${pointRow}·背面 + 机器行${pointRow+1}·正面`
      }
    },
    async loadPointFromAgv() {
      try {
        const res = await fetch(API + '/api/agv/position')
        const data = await res.json()
        if (data.ok && data.position && data.position.length >= 3) {
          this.pointEditor.x = data.position[0] || 0
          this.pointEditor.y = data.position[1] || 0
          this.pointEditor.yaw = data.position[2] || 0
        } else {
          alert('读取AGV位置失败')
        }
      } catch (e) { alert('读取AGV位置失败: ' + e.message) }
    },
    async savePoint() {
      if (!this.editingPoint) return
      const { pointRow, col } = this.editingPoint
      const coords = [this.pointEditor.x, this.pointEditor.y, this.pointEditor.yaw]
      const rows = this.missionConfig.rows || 0
      // 根据点位行确定 side
      const sides = []
      if (pointRow === 0) {
        sides.push('front')
      } else if (pointRow >= rows) {
        sides.push('back')
      } else {
        sides.push('back')
        sides.push('front')
      }
      try {
        for (const side of sides) {
          const res = await fetch(API + '/api/mission/positions', {
            method: 'POST',
            headers: { 'Content-Type': 'application/json' },
            body: JSON.stringify({ row: pointRow, col, side, coords, poses: [] })
          })
          const data = await res.json()
          if (!data.ok) { alert(`保存失败(${side}): ` + (data.error || '')); return }
        }
        alert('点位已保存')
        await this.loadMissionConfig()
        this.closePointEdit()
      } catch (e) { alert('保存失败: ' + e.message) }
    },
    async navigateToPoint() {
      if (!confirm(`确认导航到该点位?\nX: ${this.pointEditor.x}  Y: ${this.pointEditor.y}  Yaw: ${this.pointEditor.yaw}`)) return
      try {
        const 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,
            yaw: this.pointEditor.yaw
          })
        })
        const data = await res.json()
        if (!data.ok) { alert('导航失败: ' + (data.error || '')) }
      } catch (e) { alert('导航失败: ' + e.message) }
    },
    async goToOrigin() {
      if (!confirm('确认导航到原点 (0, 0, 0)?')) return
      try {
        const res = await fetch(API + '/api/navigate/to', {
          method: 'POST',
          headers: { 'Content-Type': 'application/json' },
          body: JSON.stringify({ x: 0, y: 0, yaw: 0 })
        })
        const data = await res.json()
        if (data.ok) {
          this.mapMsg = '✅ 已发送导航到原点'
        } else {
          this.mapMsg = '❌ ' + (data.error || '导航失败')
        }
      } catch (e) {
        this.mapMsg = '❌ 导航请求失败: ' + e.message
      }
      setTimeout(() => { this.mapMsg = '' }, 3000)
    },
    async clearPoint() {
      if (!this.editingPoint) return
      const { pointRow, col } = this.editingPoint
      const rows = this.missionConfig.rows || 0
      const sides = pointRow === 0 ? ['front'] : pointRow >= rows ? ['back'] : ['front', 'back']
      try {
        for (const side of sides) {
          await fetch(API + '/api/mission/positions', {
            method: 'POST',
            headers: { 'Content-Type': 'application/json' },
            body: JSON.stringify({ row: pointRow, col, side, coords: [0, 0, 0], poses: [] })
          })
        }
        await this.loadMissionConfig()
        this.closePointEdit()
      } catch (e) { alert('清空失败: ' + e.message) }
    },
    canClearPoint(pointRow, col) {
      const point = this.getPointAt(pointRow, col)
      if (!point || !point.coords) return true
      return point.coords[0] === 0 && point.coords[1] === 0
    },
    // === 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 || 'model_' + (this.models.length + 1),
          serial_prefix: this.newModelSerial,
          description: ''
        })
      })
      const data = await res.json()
      if (data.ok) {
        await this.loadAllModels()
        this.newModelName = ''
        this.newModelSerial = ''
      }
    },
    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, type, name) {
      if (!name) name = '姿态' + (((this.getModel(modelId)?.poses?.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 || 'front',
          arm_angles: this.currentAngles,
          speed: 500,
          description: ''
        })
      })
      await this.loadAllModels()
      const key = modelId + '_' + (type || 'front')
      if (this.newPoseForm[key] !== undefined) this.newPoseForm[key] = ''
    },
    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 refreshPoseAngles(modelId, poseId) {
      if (!this.armConnected) { alert('机械臂未连接'); return }
      try {
        const res = await fetch(API + '/api/arm/get_angles')
        const data = await res.json()
        if (data.ok && data.angles) {
          const model = this.getModel(modelId)
          if (model && model.poses) {
            const pose = model.poses.find(p => p.id === poseId)
            if (pose) {
              // Update local immediately for reactive UI
              pose.arm_angles = [...data.angles]
              // Persist to backend
              await fetch(API + '/api/models/' + modelId + '/poses/' + poseId, {
                method: 'PUT',
                headers: { 'Content-Type': 'application/json' },
                body: JSON.stringify({ arm_angles: data.angles })
              })
              await this.loadAllModels()
            }
          }
        }
      } catch (e) { alert('刷新角度失败: ' + e.message) }
    },
    async applyPoseAngles(modelId, poseId) {
      const model = this.getModel(modelId)
      if (!model || !model.poses) return
      const pose = model.poses.find(p => p.id === poseId)
      if (!pose || !pose.arm_angles) { alert('无效的姿态数据'); return }
      try {
        const res = await fetch(API + '/api/arm/set_angles', {
          method: 'POST',
          headers: { 'Content-Type': 'application/json' },
          body: JSON.stringify({ angles: pose.arm_angles, speed: 500 })
        })
        const data = await res.json()
        if (data.ok) { alert('姿态已应用到机械臂') }
        else { alert('应用失败: ' + (data.error || '未知错误')) }
      } catch (e) { alert('应用姿态失败: ' + e.message) }
    },
    adjustPoseAngle(modelId, poseId, jointIdx, delta) {
      const model = this.getModel(modelId)
      if (!model || !model.poses) 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]
      if (!pose.arm_angles[jointIdx]) pose.arm_angles[jointIdx] = 0
      pose.arm_angles[jointIdx] = Math.round((pose.arm_angles[jointIdx] + delta) * 10) / 10
      this.setAngle(jointIdx, pose.arm_angles[jointIdx])
    },
    async updatePoseAngleAndMove(modelId, poseId, jointIdx, value) {
      const model = this.getModel(modelId)
      if (!model || !model.poses) 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[jointIdx] = parseFloat(value) || 0
      await this.setAngle(jointIdx, pose.arm_angles[jointIdx])
    },
    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.positions = data.config.positions || []
          this.armInitialPose = data.config.arm_initial_pose || [0, 0, 0, 0, 0, 0]
        }
      } 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,
            arm_initial_pose: this.armInitialPose
          })
        })
        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 saveArmInitialPose() {
      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,
            arm_initial_pose: this.armInitialPose
          })
        })
        const data = await res.json()
        if (data.ok) alert('✅ 机械臂初始姿态已保存')
        else alert('❌ 保存失败')
      } catch (e) { alert('保存失败: ' + e.message) }
    },
    async loadArmCurrentAngles() {
      if (!this.armConnected) { alert('机械臂未连接'); return }
      try {
        const res = await fetch(API + '/api/arm/get_angles')
        const data = await res.json()
        if (data.ok && data.angles) {
          this.armInitialPose = [...data.angles]
        }
      } catch (e) { alert('读取角度失败: ' + e.message) }
    },
    async applyArmInitialPose() {
      if (!this.armConnected) { alert('机械臂未连接'); return }
      if (!confirm('确认应用初始姿态到机械臂？')) return
      try {
        const res = await fetch(API + '/api/arm/set_angles', {
          method: 'POST',
          headers: { 'Content-Type': 'application/json' },
          body: JSON.stringify({ angles: this.armInitialPose, speed: 500 })
        })
        const data = await res.json()
        if (data.ok) alert('✅ 机械臂已移动到初始姿态')
        else alert('❌ 应用失败: ' + (data.error || ''))
      } catch (e) { alert('应用失败: ' + e.message) }
    },
    async loadAllMachines() {
      try {
        const res = await fetch(API + '/api/mission/machines')
        const data = await res.json()
        this.missionConfig.machines = (data.machines || []).map(m => {
          if (!m.front) m.front = { coords: [0,0,0], poses: [] }
          if (!m.back) m.back = { coords: [0,0,0], poses: [] }
          if (!m.qr) m.qr = { coords: [0,0,0], qr_value: '', model_id: '' }
          return m
        })
      } catch (e) { console.error('加载机器列表失败', e) }
    },
    getMachineAt(ri, ci) {
      if (!this.missionConfig.machines) return null
      return this.missionConfig.machines.find(m => m.row === ri && m.col === ci) || null
    },
    getPointAt(ri, ci) {
      if (!this.missionConfig.positions) return null
      return this.missionConfig.positions.find(p => p.row === ri && p.col === ci) || null
    },
    getPositionAt(ri, ci) {
      if (!this.missionConfig.machines) return null
      const machine = this.getMachineAt(ri, ci)
      if (!machine) return null
      if (ri === 0) return machine.front
      const prevMachine = this.getMachineAt(ri - 1, ci)
      return prevMachine ? prevMachine.back : machine.front
    },
    onCellClick(ri, ci) {
      const m = this.getMachineAt(ri, ci)
      if (!m) {
        // 无机器 → 创建机器记录并选中
        this.createMachine(ri, ci).then(ok => {
          if (ok) {
            const created = this.getMachineAt(ri, ci)
            if (created) this.selectMachine(created)
          }
        })
      } else {
        // 有机器 → 选中
        this.selectMachine(m)
      }
    },
    toggleMachine(ri, ci, event) {
      if (event.target.checked) {
        // 无机器 → 创建机器
        this.createMachine(ri, ci)
      } else {
        // 有机器 → 删除机器
        const m = this.getMachineAt(ri, ci)
        if (m) this.deleteMachine(m.id)
      }
    },
    async createMachine(ri, ci) {
      try {
        const machineId = 'm_' + ri + '_' + ci
        const 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: [] },
            qr: { coords: [0, 0, 0], qr_value: '', model_id: '' }
          })
        })
        const 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]
      if (!machine.qr) machine.qr = { coords: [0, 0, 0], qr_value: '', model_id: '' }
      else if (!Array.isArray(machine.qr.coords)) machine.qr.coords = [0, 0, 0]
      this.selectedMachine = machine
    },
    clearSelection() {
      this.selectedMachine = null
    },
    async deleteMachine(machineId) {
      if (!confirm('确定删除此机器？')) return
      try {
        await fetch(API + '/api/mission/machines/' + machineId, { method: 'DELETE' })
        this.selectedMachine = null
        await this.loadAllMachines()
      } catch (e) { alert('删除失败: ' + e.message) }
    },
    async saveMachineCoords() {
      if (!this.selectedMachine) return
      try {
        const 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,
            qr: this.selectedMachine.qr || { coords: [0, 0, 0], qr_value: '', model_id: '' }
          })
        })
        if (res.ok) {
          this.mapMsg = '✅ 机器坐标已保存'
          setTimeout(() => this.mapMsg = '', 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 {
        const res = await fetch(API + '/api/agv/position')
        const data = await res.json()
        if (data.ok && data.position) {
          const [x, y, theta] = data.position
          if (side === 'front') {
            this.selectedMachine.front.coords = [x, y, theta]
          } else {
            this.selectedMachine.back.coords = [x, y, theta]
          }
        } 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) {
      const name = this.poseForm.name || '姿态' + (((this.selectedMachine && this.selectedMachine[side] && this.selectedMachine[side].poses) || []).length + 1)
      try {
        const 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: ''
          })
        })
        const data = await res.json()
        if (data.ok) {
          this.poseForm.name = ''
          await this.loadAllMachines()
          // 重新选中当前机器以刷新姿态列表
          const 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) {
          const 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 }
      let machine = this.getMachineAt(ri, ci)
      if (!machine) {
        try {
          const machineId = 'm_' + ri + '_' + ci
          const 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 {
        const res = await fetch(API + '/api/agv/position')
        const pos = await res.json()
        let 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 {
          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 {
        const res = await fetch(API + '/api/mission/generate_sequence')
        const 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 {
        const res = await fetch(API + '/api/arm/get_angles')
        const 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) {
      const 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(() => this.refreshAngles(), 200)
    },
    jogStop(idx) {
      clearInterval(this.jogIntervals[idx])
      const joint = 'J' + (idx + 1)
      fetch(API + '/api/arm/jog', {
        method: 'POST',
        headers: { 'Content-Type': 'application/json' },
        body: JSON.stringify({ joint, direction: 0 })
      })
      setTimeout(() => this.refreshAngles(), 300)
    },
    onPreviewError(e) {
      e.target.style.display = 'none'
    },
    // === AGV 控制 ===
    async refreshAgvPosition() {
      if (!this.agvConnected) return
      try {
        const res = await fetch(API + '/api/agv/position')
        const 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' })
    },
    // === QR 安全访问器（避免 v-model 在 v-if 内因 Vue 编译器优化导致 undefined 报错）===
    machineHasQr(m) {
      if (!m || !m.qr || !m.qr.coords || m.qr.coords.length < 2) return false
      return m.qr.coords[0] !== 0 || m.qr.coords[1] !== 0
    },
    qrMarkerStyle(m) {
      if (!this.machineHasQr(m)) return { display: 'none' }
      return { left: this.getMapX(m.qr.coords) + '%', top: this.getMapY(m.qr.coords) + '%' }
    },
    qrMarkerTitle(m) {
      if (!m || !m.qr) return ''
      return 'QR: ' + (m.qr.qr_value || '未扫描')
    },
    safeQr(key) {
      if (!this.selectedMachine || !this.selectedMachine.qr) return ''
      return this.selectedMachine.qr[key] ?? ''
    },
    safeQrCoord(idx) {
      if (!this.selectedMachine || !this.selectedMachine.qr || !this.selectedMachine.qr.coords) return 0
      return this.selectedMachine.qr.coords[idx] !== undefined ? this.selectedMachine.qr.coords[idx] : 0
    },
    setQrCoord(idx, val) {
      if (this.selectedMachine && this.selectedMachine.qr && this.selectedMachine.qr.coords) {
        this.selectedMachine.qr.coords[idx] = val
      }
    },
    safeQrModelName() {
      if (!this.selectedMachine || !this.selectedMachine.qr || !this.selectedMachine.qr.model_id) return ''
      return this.getModelName(this.selectedMachine.qr.model_id)
    },
    // === QR 二维码 ===
    async readQRPosition() {
      if (!this.agvConnected) { alert('AGV 未连接'); return }
      try {
        const res = await fetch(API + '/api/agv/position')
        const data = await res.json()
        if (data.ok && data.position) {
          const [x, y, theta] = data.position
          if (!this.selectedMachine.qr) this.selectedMachine.qr = { coords: [0, 0, 0], qr_value: '', model_id: '' }
          this.selectedMachine.qr.coords = [x, y, theta]
        } 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 scanQRCode(machineId) {
      if (!this.cameraOpened) { alert('AGV 摄像头未打开'); return }
      this.qrScanning = true
      try {
        const res = await fetch(API + '/api/mission/qr_scan/' + machineId, { method: 'POST' })
        const data = await res.json()
        if (data.ok) {
          await this.loadAllMachines()
          const updated = this.getMachineAt(this.selectedMachine.row, this.selectedMachine.col)
          if (updated) this.selectMachine(updated)
          let msg = '✅ 扫描成功: ' + data.qr_value
          if (data.model_name) msg += ' → 匹配机型: ' + data.model_name
          else msg += ' → 未匹配到机型'
          alert(msg)
        } else {
          alert('❌ ' + (data.error || '扫描失败'))
        }
      } catch (e) { alert('扫描失败: ' + e.message) }
      this.qrScanning = false
    },
    // ========== 二维码配置（独立 Tab）==========
    async loadQrConfigs() {
      try {
        const res = await fetch(API + '/api/qr/configs')
        const data = await res.json()
        this.qrConfigs = (data.configs || []).map(c => {
          // 兼容旧版的 coords → 转为 joint_angles
          if (!c.joint_angles || !Array.isArray(c.joint_angles)) {
            c.joint_angles = [0, 0, 0, 0, 0, 0]
          }
          return c
        })
      } catch (e) { console.error('加载二维码配置失败', e) }
    },
    async addQrConfig() {
      const name = this.newQrName.trim() || ''
      try {
        const res = await fetch(API + '/api/qr/configs', {
          method: 'POST', headers: {'Content-Type':'application/json'},
          body: JSON.stringify({ name: name || undefined })
        })
        const data = await res.json()
        if (data.ok) {
          this.qrConfigs.push(data.entry)
          this.newQrName = ''
        }
      } catch (e) { alert('添加失败: ' + e.message) }
    },
    getQrAngle(q, idx) {
      if (!q || !q.joint_angles || !Array.isArray(q.joint_angles)) return 0
      return q.joint_angles[idx] !== undefined ? q.joint_angles[idx] : 0
    },
    async updateQrAngle(qrId, idx, val) {
      const q = this.qrConfigs.find(x => x.id === qrId)
      if (!q) return
      if (!q.joint_angles || !Array.isArray(q.joint_angles)) q.joint_angles = [0,0,0,0,0,0]
      q.joint_angles[idx] = parseFloat(val) || 0
      try {
        await fetch(API + '/api/qr/configs/' + qrId, {
          method: 'PUT', headers: {'Content-Type':'application/json'},
          body: JSON.stringify({ joint_angles: q.joint_angles })
        })
      } catch (e) { console.error('保存角度失败', e) }
    },
    async readQrAngles(qrId) {
      if (!this.armConnected) { alert('机械臂未连接'); return }
      try {
        const res = await fetch(API + '/api/qr/configs/' + qrId + '/read-angles', { method: 'POST' })
        const data = await res.json()
        if (data.ok) {
          const q = this.qrConfigs.find(x => x.id === qrId)
          if (q && data.joint_angles) {
            q.joint_angles = data.joint_angles
          }
        } else {
          alert('读取角度失败: ' + (data.error || '未知错误'))
        }
      } catch (e) { alert('读取角度失败: ' + e.message) }
    },
    async saveQrConfig(qrId) {
      const q = this.qrConfigs.find(x => x.id === qrId)
      if (!q) return
      try {
        const res = await fetch(API + '/api/qr/configs/' + qrId, {
          method: 'PUT', headers: {'Content-Type':'application/json'},
          body: JSON.stringify({ name: q.name })
        })
        if (!res.ok) alert('保存名称失败')
      } catch (e) { alert('保存失败: ' + e.message) }
    },
    async deleteQrConfig(qrId) {
      if (!confirm('确定删除此二维码点位？')) return
      try {
        await fetch(API + '/api/qr/configs/' + qrId, { method: 'DELETE' })
        this.qrConfigs = this.qrConfigs.filter(x => x.id !== qrId)
      } catch (e) { alert('删除失败: ' + e.message) }
    },
    getQrModelName(modelId) {
      const model = this.models.find(m => m.id === modelId)
      return model ? model.name : ''
    },
    getModelName(modelId) {
      const model = this.models.find(m => m.id === modelId)
      return model ? model.name : ''
    },
    async scanQrEntry(qrId) {
      this.qrScanningId = qrId
      try {
        const res = await fetch(API + '/api/qr/scan/' + qrId, { method: 'POST' })
        const data = await res.json()
        if (data.ok) {
          await this.loadQrConfigs()
          let msg = '扫描成功: ' + data.qr_value
          if (data.model_name) msg += ' 匹配机型: ' + data.model_name
          else msg += ' 未匹配到机型'
          alert(msg)
        } else { alert(data.error || '扫描失败') }
      } catch (e) { alert('扫描失败: ' + e.message) }
      this.qrScanningId = null
    },
    async applyQrAngles(qrId) {
      if (!this.armConnected) { alert('机械臂未连接'); return }
      const q = this.qrConfigs.find(x => x.id === qrId)
      if (!q || !q.joint_angles || !Array.isArray(q.joint_angles)) { alert('无效的姿态数据'); return }
      try {
        const res = await fetch(API + '/api/arm/set_angles', {
          method: 'POST',
          headers: {'Content-Type':'application/json'},
          body: JSON.stringify({ angles: q.joint_angles, speed: 500 })
        })
        const data = await res.json()
        if (data.ok) { alert('姿态已应用到机械臂')
        } else { alert('应用失败: ' + (data.error || '未知错误')) }
      } catch (e) { alert('应用姿态失败: ' + e.message) }
    },
    onArmPreviewError() {
      // 机械臂摄像头预览失败，静默处理
    },
    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 {
        const res = await fetch(API + '/api/agv/reset', { method: 'POST' })
        const 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)
      }
    },
  }
}).mount('#app')