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: { name: '', photo_type: 'front', description: '' },
      // 地图
      mapForm: { map_dir: '/home/elephant/agv_pro_ros2/install/agv_pro_navigation2/share/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: [],
      editingPoint: null,   // 当前编辑的点位 {pointRow, col}
      pointEditor: { x: 0, y: 0, yaw: 0 },
      newPointName: '',
      newPointMode: 'front',
      newPointSequence: ['front', 'back'],
      // 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,
      // 初始化定位
      initPoseLoading: false,
      initPoseMsg: '',
      initAmclPoseLoading: false,
      initAmclPoseMsg: '',
    }
  },
  mounted() {
    this.refresh()
    this.refreshAngles()
    this.nav2Timer = setInterval(this.refreshNavStatus, 3000)
  },
  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.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 || false
          // API returns "current_position", normalize to our field
          const cp = data.current_position || data.current_pos || null
          if (cp) {
            this.navCurrentPos = cp
            console.log('[Setting] nav2:', data.nav2_available, 'cp:', cp.map(function(x){return x.toFixed(2)}), 'mapLoaded:', this.mapLoaded, 'mapMeta:', this.mapMeta ? 'ok' : 'null')
          }
        }
      } catch (e) {}
    },
    async onMapClick(e) {
      if (!this.mapMeta || !this.agvConnected) return
      const rect = e.target.getBoundingClientRect()
      const px = (e.clientX - rect.left) / rect.width
      const py = (e.clientY - rect.top) / rect.height
      const { resolution, origin } = this.mapMeta
      const wx = origin[0] + px * resolution * this.mapMeta.width
      const wy = origin[1] + (1 - py) * resolution * this.mapMeta.height
      // 确认框
      if (!confirm(`确定导航到坐标 (${wx.toFixed(2)}, ${wy.toFixed(2)}) 吗？`)) 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(' / ')
    },
    // === 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) {
      const form = this.poseForm[modelId]
      if (!form) return
      await fetch(API + '/api/models/poses/add', {
        method: 'POST',
        headers: { 'Content-Type': 'application/json' },
        body: JSON.stringify({
          model_id: modelId,
          name: form.name || '姿态' + ((this.getModel(modelId)?.poses?.length || 0) + 1),
          photo_type: form.photo_type,
          arm_angles: this.currentAngles,
          speed: 500,
          description: form.description || ''
        })
      })
      await this.loadAllModels()
      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()
    },
    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.missionConfig.machines = data.config.machines || []
        }
      } 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) }
    },
    getMachineAt(ri, ci) {
      if (!this.missionConfig.machines) return null
      return this.missionConfig.machines.find(m => m.row === ri && m.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)
      }
    },
    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: [] }
          })
        })
        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]
      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
          })
        })
        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' })
    },
    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)
      }
    },
    async initPose() {
      if (!this.agvConnected) { alert('AGV 未连接'); return }
      if (!confirm('确定要将 AMCL 初始位置设为 (0,0,0) 吗？这会重置定位。')) return
      this.initPoseLoading = true
      this.initPoseMsg = ''
      try {
        const res = await fetch(API + '/api/mission/init_pose', { method: 'POST' })
        const data = await res.json()
        if (data.ok) {
          this.initPoseMsg = '✅ ' + (data.message || '初始化成功')
        } else {
          this.initPoseMsg = '❌ ' + (data.error || '初始化失败')
        }
      } catch (e) {
        this.initPoseMsg = '❌ 请求失败: ' + e.message
      }
      this.initPoseLoading = false
      setTimeout(() => { this.initPoseMsg = '' }, 5000)
    },
    async initAmclPose() {
      if (!this.agvConnected) { alert('AGV 未连接'); return }
      if (!confirm('确定要将 AMCL 初始位置设为 (0,0,0) 吗？这会重置定位。')) return
      this.initAmclPoseLoading = true
      this.initAmclPoseMsg = ''
      try {
        const res = await fetch(API + '/api/mission/init_pose', { method: 'POST' })
        const data = await res.json()
        if (data.ok) {
          this.initAmclPoseMsg = '✅ ' + (data.message || '初始化成功')
        } else {
          this.initAmclPoseMsg = '❌ ' + (data.error || '初始化失败')
        }
      } catch (e) {
        this.initAmclPoseMsg = '❌ 请求失败: ' + e.message
      }
      this.initAmclPoseLoading = false
      setTimeout(() => { this.initAmclPoseMsg = '' }, 5000)
    },

    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
    },

    // 点位归属标签
    getPointOwnerLabel(pointRow, col) {
      var rows = this.missionConfig.rows
      var labels = []
      if (pointRow === 0) {
        var m = this.getMachineAt(0, col)
        if (m) labels.push('机器' + (m.row + 1) + '正面')
      } else if (pointRow === rows) {
        var m2 = this.getMachineAt(rows - 1, col)
        if (m2) labels.push('机器' + (m2.row + 1) + '背面')
      } else {
        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('/')
    },

    canClearPoint(pointRow, col) {
      var rows = this.missionConfig.rows
      if (pointRow > 0 && pointRow <= rows) {
        var mAbove = this.getMachineAt(pointRow - 1, col)
        if (mAbove) return false
      }
      if (pointRow >= 0 && pointRow < rows) {
        var mBelow = this.getMachineAt(pointRow, col)
        if (mBelow) return false
      }
      return true
    },

    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 }
    },

    closePointEdit() {
      this.editingPoint = null
    },

    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) }
    },

    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 {
        var saveRes = await fetch(API + '/api/mission/positions', {
          method: 'POST',
          headers: { 'Content-Type': 'application/json' },
          body: JSON.stringify({
            row: pointRow, col: col, side: 'shoot', 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 }
        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) }
    },

    syncPointToMachines(pointRow, col, coords) {
      var rows = this.missionConfig.rows
      if (pointRow === 0) {
        var m0 = this.getMachineAt(0, col)
        if (m0) this.updateMachineSide(m0, 'front', coords)
        return
      }
      if (pointRow === rows) {
        var mLast = this.getMachineAt(rows - 1, col)
        if (mLast) this.updateMachineSide(mLast, 'back', coords)
        return
      }
      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)
    },

    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) }
    },

    async clearPoint() {
      if (!this.editingPoint) return
      var pointRow = this.editingPoint.pointRow
      var col = this.editingPoint.col
      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 {
        await fetch(API + '/api/mission/positions/' + pointRow + '/' + col, { method: 'DELETE' })
        await this.loadMissionConfig()
        alert('✅ 点位已清空')
        this.closePointEdit()
      } catch (e) { alert('清空点位失败: ' + e.message) }
    },

    async navigateToPoint() {
      if (!this.editingPoint || !this.pointEditor) return
      var coords = [this.pointEditor.x, this.pointEditor.y, this.pointEditor.yaw]
      if (!confirm('确定导航到点位 (' + coords[0].toFixed(2) + ', ' + coords[1].toFixed(2) + ') 吗？')) return
      try {
        var res = await fetch(API + '/api/navigate/to', {
          method: 'POST', headers: { 'Content-Type': 'application/json' },
          body: JSON.stringify({ x: coords[0], y: coords[1], yaw: coords[2] })
        })
        var data = await res.json()
        if (data.ok) {
          alert('✅ 导航已启动')
        } else {
          alert('❌ ' + (data.error || '导航启动失败'))
        }
      } catch (e) { alert('导航请求失败: ' + e.message) }
    },

    async refreshPoseAngles(modelId, poseId) {
      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) {
          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]
              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) {
      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) {
      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
          await fetch(API + '/api/models/' + modelId + '/poses/' + poseId, {
            method: 'PUT', headers: { 'Content-Type': 'application/json' },
            body: JSON.stringify({ arm_angles: pose.arm_angles })
          })
          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] })
          })
        }
      }
    },
  }
}).mount('#app')