ywb
683 lines
24 KiB
JavaScript
683 lines
24 KiB
JavaScript
const { createApp } = Vue
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const API = ''
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createApp({
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data() {
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return {
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tab: 'map',
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// 任务配置
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missionConfig: { rows: 3, cols: 3, grid: [], machines: [] },
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selectedMachine: null,
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sequence: [],
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poseForm: { name: '', photo_type: 'front', description: '' },
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// 地图
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mapForm: { map_dir: '/home/elephant/agv_pro_ros2/src/agv_pro_navigation2/map/', map_file: 'map.yaml' },
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mapMsg: '',
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mapLoaded: false,
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mapImageUrl: '',
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mapMeta: null,
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mapRotation: 0,
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mapVersion: 0,
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navCurrentPos: null,
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nav2Available: false,
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// 点位
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points: [],
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newPointName: '',
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newPointMode: 'front',
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newPointSequence: ['front', 'back'],
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// 机型（姿态组）
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models: [],
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selectedModelId: null,
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newModelName: '',
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newModelSerial: '',
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// 机械臂
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armConnected: false,
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currentAngles: [],
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angleInputs: [],
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previewUrl: API + '/api/camera/preview',
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jogIntervals: {},
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// AGV
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cameraOpened: false,
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agvConnected: false,
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agvBattery: null,
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agvPosition: null,
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agvSpeed: 0.5,
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agvMoveInterval: null,
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agvCameraUrl: API + '/api/camera/refresh',
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agvCameraTimer: null,
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}
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},
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mounted() {
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this.refresh()
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this.refreshAngles()
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this.nav2Timer = setInterval(this.refreshNavStatus, 3000)
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},
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watch: {
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tab(val) {
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if (val === 'agv') {
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this.agvCameraTimer = setInterval(() => {
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this.agvCameraUrl = API + '/api/camera/refresh?t=' + Date.now()
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}, 1000)
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} else {
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if (this.agvCameraTimer) {
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clearInterval(this.agvCameraTimer)
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this.agvCameraTimer = null
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}
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}
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}
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},
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beforeUnmount() {
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Object.values(this.jogIntervals).forEach(i => clearInterval(i))
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if (this.agvCameraTimer) clearInterval(this.agvCameraTimer)
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if (this.nav2Timer) clearInterval(this.nav2Timer)
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},
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methods: {
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async refresh() {
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try {
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const res = await fetch(API + '/api/status')
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const data = await res.json()
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this.agvConnected = data.agv_connected
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this.armConnected = data.arm_connected
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this.cameraOpened = data.camera_opened
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this.mapLoaded = data.map_loaded
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if (data.map_loaded) {
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this.mapImageUrl = API + '/api/map/image?t=' + Date.now()
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try {
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const metaRes = await fetch(API + '/api/map/meta')
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const meta = await metaRes.json()
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if (meta.ok) this.mapMeta = meta
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} catch (e) {}
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}
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} catch (e) {}
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await this.loadAllPoints()
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await this.loadAllModels()
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await this.loadAllMachines()
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await this.loadMissionConfig()
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},
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// === 地图 ===
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async loadMap() {
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const res = await fetch(API + '/api/map/load', {
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method: 'POST',
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headers: { 'Content-Type': 'application/json' },
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body: JSON.stringify(this.mapForm)
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})
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const data = await res.json()
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this.mapMsg = data.ok ? '✅ 地图加载成功' : '❌ ' + (data.error || '加载失败')
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this.mapLoaded = data.ok
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if (data.ok) {
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this.mapImageUrl = API + '/api/map/image?t=' + Date.now()
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try {
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const metaRes = await fetch(API + '/api/map/meta')
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const meta = await metaRes.json()
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if (meta.ok) this.mapMeta = meta
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} catch (e) {}
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}
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},
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onMapError() {
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this.mapMsg = '❌ 地图图像加载失败'
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},
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rotateMap(deg) {
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this.mapRotation = (this.mapRotation + deg) % 360
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},
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resetMapView() {
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this.mapRotation = 0
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this.mapVersion++
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},
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async refreshNavStatus() {
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try {
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const res = await fetch(API + '/api/navigate/status')
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if (res.ok) {
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const data = await res.json()
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this.nav2Available = data.nav2_available || false
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// API returns "current_position", normalize to our field
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const cp = data.current_position || data.current_pos || null
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if (cp) {
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this.navCurrentPos = cp
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console.log('[Setting] nav2:', data.nav2_available, 'cp:', cp.map(function(x){return x.toFixed(2)}), 'mapLoaded:', this.mapLoaded, 'mapMeta:', this.mapMeta ? 'ok' : 'null')
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}
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}
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} catch (e) {}
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},
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async onMapClick(e) {
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if (!this.mapMeta || !this.agvConnected) return
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const rect = e.target.getBoundingClientRect()
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const px = (e.clientX - rect.left) / rect.width
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const py = (e.clientY - rect.top) / rect.height
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const { resolution, origin } = this.mapMeta
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const wx = origin[0] + px * resolution * this.mapMeta.width
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const wy = origin[1] + (1 - py) * resolution * this.mapMeta.height
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try {
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const res = await fetch(API + '/api/navigate/to', {
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method: 'POST',
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headers: { 'Content-Type': 'application/json' },
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body: JSON.stringify({ x: wx, y: wy })
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})
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const data = await res.json()
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if (data.ok) {
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this.mapMsg = '✅ 导航目标已发送'
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this.mapVersion++
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} else {
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this.mapMsg = '❌ ' + (data.error || '导航失败')
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}
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} catch (e) {
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this.mapMsg = '❌ 导航请求失败'
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}
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setTimeout(() => { this.mapMsg = '' }, 3000)
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},
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getMapX(coords) {
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if (!coords || !this.mapMeta) return 50
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const [x, y, yaw] = coords
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const { resolution, origin, width } = this.mapMeta
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const px = (x - origin[0]) / (resolution * width) * 100
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return Math.max(0, Math.min(100, px))
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},
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getMapY(coords) {
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if (!coords || !this.mapMeta) return 50
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const [x, y, yaw] = coords
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const { resolution, origin, height } = this.mapMeta
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const py = (y - origin[1]) / (resolution * height) * 100
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return Math.max(0, Math.min(100, 100 - py))
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},
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async saveMap() {
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await fetch(API + '/api/map/save', {
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method: 'POST',
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headers: { 'Content-Type': 'application/json' },
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body: JSON.stringify(this.mapForm)
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})
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this.mapMsg = '✅ 地图配置已保存'
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},
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// === 点位 ===
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async loadAllPoints() {
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const res = await fetch(API + '/api/points/list')
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const data = await res.json()
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this.points = data.points || []
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},
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async addPoint() {
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const res = await fetch(API + '/api/points/add', {
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method: 'POST',
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headers: { 'Content-Type': 'application/json' },
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body: JSON.stringify({
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name: this.newPointName || 'point_' + (this.points.length + 1),
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photo_mode: this.newPointMode,
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sequence: this.newPointSequence
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})
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})
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const data = await res.json()
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if (data.ok) {
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await this.loadAllPoints()
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this.newPointName = ''
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}
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},
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async deletePoint(id) {
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if (!confirm('确定删除该点位?')) return
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await fetch(API + '/api/points/delete/' + id, { method: 'DELETE' })
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await this.loadAllPoints()
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},
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async saveAllPoints() {
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await fetch(API + '/api/points/save', {
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method: 'POST',
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headers: { 'Content-Type': 'application/json' },
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body: JSON.stringify({ points: this.points })
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})
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alert('点位已保存')
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},
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getPoint(id) {
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return this.points.find(p => p.id === id)
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},
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formatAngles(angles) {
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if (!angles) return '—'
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return angles.map(a => (a || 0).toFixed(1) + '°').join(' / ')
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},
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// === 机型管理 ===
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async loadAllModels() {
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const res = await fetch(API + '/api/models/list')
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const data = await res.json()
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this.models = data.models || []
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this.models.forEach(m => {
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if (!this.poseForm[m.id]) {
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this.poseForm[m.id] = { name: '', photo_type: 'front', description: '' }
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}
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})
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},
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async addModel() {
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const res = await fetch(API + '/api/models/add', {
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method: 'POST',
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headers: { 'Content-Type': 'application/json' },
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body: JSON.stringify({
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name: this.newModelName || 'model_' + (this.models.length + 1),
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serial_prefix: this.newModelSerial,
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description: ''
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})
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})
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const data = await res.json()
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if (data.ok) {
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await this.loadAllModels()
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this.newModelName = ''
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this.newModelSerial = ''
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}
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},
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async deleteModel(modelId) {
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if (!confirm('确定删除该机型？其下所有姿态将被删除！')) return
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await fetch(API + '/api/models/delete/' + modelId, { method: 'DELETE' })
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await this.loadAllModels()
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},
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// === 姿态管理（属于机型）===
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async addPose(modelId) {
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const form = this.poseForm[modelId]
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if (!form) return
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await fetch(API + '/api/models/poses/add', {
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method: 'POST',
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headers: { 'Content-Type': 'application/json' },
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body: JSON.stringify({
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model_id: modelId,
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name: form.name || '姿态' + ((this.getModel(modelId)?.poses?.length || 0) + 1),
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photo_type: form.photo_type,
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arm_angles: this.currentAngles,
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speed: 500,
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description: form.description || ''
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})
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})
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await this.loadAllModels()
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form.name = ''
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form.description = ''
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},
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async deletePose(modelId, poseId) {
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if (!confirm('确定删除该姿态？')) return
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await fetch(API + '/api/models/' + modelId + '/poses/' + poseId, { method: 'DELETE' })
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await this.loadAllModels()
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},
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getModel(id) {
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return this.models.find(m => m.id === id)
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},
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// === 任务配置 ===
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async loadMissionConfig() {
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try {
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const res = await fetch(API + '/api/mission/config')
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const data = await res.json()
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if (data.ok && data.config) {
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this.missionConfig.rows = data.config.rows || 3
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this.missionConfig.cols = data.config.cols || 3
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this.missionConfig.grid = data.config.grid || []
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this.missionConfig.positions = data.config.positions || []
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this.missionConfig.machines = data.config.machines || []
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}
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} catch (e) { console.error('加载任务配置失败', e) }
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},
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async generateGrid() {
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try {
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const res = await fetch(API + '/api/mission/config', {
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method: 'POST',
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headers: { 'Content-Type': 'application/json' },
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body: JSON.stringify({
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rows: this.missionConfig.rows,
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cols: this.missionConfig.cols,
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grid: []
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})
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})
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const data = await res.json()
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if (data.ok) {
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this.missionConfig.grid = data.config.grid || []
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alert('✅ 网格已生成 (' + this.missionConfig.rows + '×' + this.missionConfig.cols + ')')
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} else {
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alert('❌ 网格生成失败')
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}
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} catch (e) { alert('请求失败: ' + e.message) }
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},
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async saveMissionConfig() {
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try {
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const res = await fetch(API + '/api/mission/config', {
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method: 'POST',
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headers: { 'Content-Type': 'application/json' },
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body: JSON.stringify({
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rows: this.missionConfig.rows,
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cols: this.missionConfig.cols,
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grid: this.missionConfig.grid
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})
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})
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const data = await res.json()
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if (data.ok) {
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alert('✅ 网格配置已保存')
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}
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} catch (e) { alert('保存失败: ' + e.message) }
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},
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async loadAllMachines() {
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try {
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const res = await fetch(API + '/api/mission/machines')
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const data = await res.json()
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this.missionConfig.machines = data.machines || []
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} catch (e) { console.error('加载机器列表失败', e) }
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},
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getMachineAt(ri, ci) {
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if (!this.missionConfig.machines) return null
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return this.missionConfig.machines.find(m => m.row === ri && m.col === ci) || null
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},
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getPositionAt(ri, ci) {
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if (!this.missionConfig.machines) return null
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const machine = this.getMachineAt(ri, ci)
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if (!machine) return null
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if (ri === 0) return machine.front
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const prevMachine = this.getMachineAt(ri - 1, ci)
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return prevMachine ? prevMachine.back : machine.front
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},
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onCellClick(ri, ci) {
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const m = this.getMachineAt(ri, ci)
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if (!m) {
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// 无机器 → 创建机器记录并选中
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this.createMachine(ri, ci).then(ok => {
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if (ok) {
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const created = this.getMachineAt(ri, ci)
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if (created) this.selectMachine(created)
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}
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})
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} else {
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// 有机器 → 选中
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this.selectMachine(m)
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}
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},
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async createMachine(ri, ci) {
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try {
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const machineId = 'm_' + ri + '_' + ci
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const res = await fetch(API + '/api/mission/machines/add', {
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method: 'POST',
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headers: { 'Content-Type': 'application/json' },
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body: JSON.stringify({
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id: machineId,
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row: ri,
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col: ci,
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front: { coords: [0, 0, 0], poses: [] },
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back: { coords: [0, 0, 0], poses: [] }
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})
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})
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const data = await res.json()
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if (!data.ok && data.error !== '该位置已有机器') {
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alert('创建机器失败: ' + (data.error || '未知错误'))
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return false
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}
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await this.loadAllMachines()
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return true
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} catch (e) { alert('创建机器失败: ' + e.message); return false }
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},
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selectMachine(machine) {
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if (!machine.front) machine.front = { coords: [0, 0, 0], poses: [] }
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else if (!Array.isArray(machine.front.coords)) machine.front.coords = [0, 0, 0]
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if (!machine.back) machine.back = { coords: [0, 0, 0], poses: [] }
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else if (!Array.isArray(machine.back.coords)) machine.back.coords = [0, 0, 0]
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this.selectedMachine = machine
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},
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clearSelection() {
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this.selectedMachine = null
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},
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async deleteMachine(machineId) {
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if (!confirm('确定删除此机器？')) return
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try {
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await fetch(API + '/api/mission/machines/' + machineId, { method: 'DELETE' })
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this.selectedMachine = null
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await this.loadAllMachines()
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} catch (e) { alert('删除失败: ' + e.message) }
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},
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async saveMachineCoords() {
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if (!this.selectedMachine) return
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try {
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const res = await fetch(API + '/api/mission/machines/' + this.selectedMachine.id, {
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method: 'PUT',
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headers: { 'Content-Type': 'application/json' },
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body: JSON.stringify({
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front: this.selectedMachine.front,
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back: this.selectedMachine.back
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})
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})
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if (res.ok) {
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this.mapMsg = '✅ 机器坐标已保存'
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setTimeout(() => this.mapMsg = '', 2000)
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} else {
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alert('保存失败: ' + res.status)
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}
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} catch (e) { alert('保存失败: ' + e.message) }
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},
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async readPosition(side) {
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if (!this.agvConnected) { alert('AGV 未连接'); return }
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try {
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const res = await fetch(API + '/api/agv/position')
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const data = await res.json()
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if (data.ok && data.position) {
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const [x, y, theta] = data.position
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if (side === 'front') {
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this.selectedMachine.front.coords = [x, y, theta]
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} else {
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this.selectedMachine.back.coords = [x, y, theta]
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}
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} else {
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alert('读取位置失败: ' + (data.error || '未知错误'))
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}
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} catch (e) { alert('读取位置失败: ' + e.message) }
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},
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async addPoseToMachine(machineId, side) {
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const name = this.poseForm.name || '姿态' + (((this.selectedMachine && this.selectedMachine[side] && this.selectedMachine[side].poses) || []).length + 1)
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try {
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const res = await fetch(API + '/api/mission/poses/' + machineId + '/' + side, {
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method: 'POST',
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headers: { 'Content-Type': 'application/json' },
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body: JSON.stringify({
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name: name,
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arm_angles: this.currentAngles.length === 6 ? this.currentAngles : [0, 0, 0, 0, 0, 0],
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speed: 500,
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description: ''
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})
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})
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const data = await res.json()
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if (data.ok) {
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this.poseForm.name = ''
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await this.loadAllMachines()
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// 重新选中当前机器以刷新姿态列表
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const updated = this.getMachineAt(this.selectedMachine.row, this.selectedMachine.col)
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if (updated) this.selectMachine(updated)
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||
} 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)
|
||
}
|
||
},
|
||
|
||
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
|
||
}
|
||
}
|
||
}).mount('#app')
|