ywb
9b8e2e233a
任务配置->机械臂初始姿态 加入“应用当前姿态”按钮。点击，把机械臂调整为该姿态。 任务配置->网格配置 本来点位行3已经设置好了数据，但现在没有了。 机械臂的IP地址换到了192.168.50.89
1124 lines
41 KiB
JavaScript
1124 lines
41 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: {},
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newPoseForm: {},
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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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// 点位编辑器弹窗
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editingPoint: null,
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pointEditor: { x: 0, y: 0, yaw: 0 },
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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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armCameraTimer: null,
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// 机型展开
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expandedModelId: null,
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showAddModelModal: false,
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// QR
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qrScanning: false,
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qrConfigs: [],
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qrScanningId: null,
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armCameraUrl: API + '/api/camera/arm_refresh',
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newQrName: '',
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armInitialPose: [0, 0, 0, 0, 0, 0],
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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.loadQrConfigs()
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this.nav2Timer = setInterval(this.refreshNavStatus, 3000)
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// 机械臂摄像头自动刷新（每2秒）
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this.armCameraUrl = API + '/api/camera/arm_refresh?t=' + Date.now()
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this.armCameraTimer = setInterval(() => {
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this.armCameraUrl = API + '/api/camera/arm_refresh?t=' + Date.now()
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}, 2000)
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},
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computed: {
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hasQr() {
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return !!(this.selectedMachine && this.selectedMachine.qr)
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},
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hasQrValue() {
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return !!(this.selectedMachine && this.selectedMachine.qr && this.selectedMachine.qr.qr_value)
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},
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hasQrModelId() {
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return !!(this.selectedMachine && this.selectedMachine.qr && this.selectedMachine.qr.model_id)
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}
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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.armCameraTimer) { clearInterval(this.armCameraTimer); this.armCameraTimer = null }
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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
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if (data.current_position) {
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this.navCurrentPos = data.current_position
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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) {
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this.mapMsg = '❌ 地图未加载'
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setTimeout(() => { this.mapMsg = '' }, 3000)
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return
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}
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if (!this.agvConnected) {
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this.mapMsg = '❌ AGV 未连接，无法导航'
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setTimeout(() => { this.mapMsg = '' }, 3000)
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return
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}
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const rect = e.target.getBoundingClientRect()
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let px = (e.clientX - rect.left) / rect.width
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let py = (e.clientY - rect.top) / rect.height
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// 逆旋转补偿：地图 CSS transform: rotate() 后，点击坐标需反向旋转
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// 使同一物理点在不同旋转角度下返回相同的世界坐标
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const rotation = (this.mapRotation || 0) * Math.PI / 180
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if (rotation !== 0) {
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const cx = px - 0.5
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const cy = py - 0.5
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const cos = Math.cos(-rotation)
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const sin = Math.sin(-rotation)
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px = cx * cos - cy * sin + 0.5
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py = cx * sin + cy * cos + 0.5
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}
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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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if (!confirm(`是否导航到该坐标？\nX: ${wx.toFixed(3)}\nY: ${wy.toFixed(3)}`)) return
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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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// === 点位编辑器弹窗 ===
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openPointEdit(ri, ci) {
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const point = this.getPointAt(ri, ci)
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this.editingPoint = { pointRow: ri, col: ci }
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if (point && point.coords && point.coords.length >= 3) {
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this.pointEditor = { x: point.coords[0], y: point.coords[1], yaw: point.coords[2] || 0 }
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} else {
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this.pointEditor = { x: 0, y: 0, yaw: 0 }
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}
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},
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closePointEdit() {
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this.editingPoint = null
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},
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getPointOwnerLabel(pointRow, col) {
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const rows = this.missionConfig.rows || 0
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if (pointRow === 0) {
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return `机器行1·正面`
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} else if (pointRow >= rows) {
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return `机器行${rows}·背面`
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} else {
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return `机器行${pointRow}·背面 + 机器行${pointRow+1}·正面`
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}
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},
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async loadPointFromAgv() {
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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 && data.position.length >= 3) {
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this.pointEditor.x = data.position[0] || 0
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this.pointEditor.y = data.position[1] || 0
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this.pointEditor.yaw = data.position[2] || 0
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} else {
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alert('读取AGV位置失败')
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}
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} catch (e) { alert('读取AGV位置失败: ' + e.message) }
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},
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async savePoint() {
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if (!this.editingPoint) return
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const { pointRow, col } = this.editingPoint
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const coords = [this.pointEditor.x, this.pointEditor.y, this.pointEditor.yaw]
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const rows = this.missionConfig.rows || 0
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// 根据点位行确定 side
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const sides = []
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if (pointRow === 0) {
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sides.push('front')
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} else if (pointRow >= rows) {
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sides.push('back')
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} else {
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sides.push('back')
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sides.push('front')
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}
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try {
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for (const side of sides) {
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const res = await fetch(API + '/api/mission/positions', {
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method: 'POST',
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headers: { 'Content-Type': 'application/json' },
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body: JSON.stringify({ row: pointRow, col, side, coords, poses: [] })
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})
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const data = await res.json()
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if (!data.ok) { alert(`保存失败(${side}): ` + (data.error || '')); return }
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}
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alert('点位已保存')
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await this.loadMissionConfig()
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this.closePointEdit()
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} catch (e) { alert('保存失败: ' + e.message) }
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},
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async navigateToPoint() {
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if (!confirm(`确认导航到该点位?\nX: ${this.pointEditor.x} Y: ${this.pointEditor.y} Yaw: ${this.pointEditor.yaw}`)) return
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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({
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x: this.pointEditor.x,
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y: this.pointEditor.y,
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yaw: this.pointEditor.yaw
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})
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})
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const data = await res.json()
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if (!data.ok) { alert('导航失败: ' + (data.error || '')) }
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} catch (e) { alert('导航失败: ' + e.message) }
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},
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async goToOrigin() {
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if (!confirm('确认导航到原点 (0, 0, 0)?')) return
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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: 0, y: 0, yaw: 0 })
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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 = '✅ 已发送导航到原点'
|
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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: ' + e.message
|
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}
|
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setTimeout(() => { this.mapMsg = '' }, 3000)
|
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},
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async clearPoint() {
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if (!this.editingPoint) return
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const { pointRow, col } = this.editingPoint
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const rows = this.missionConfig.rows || 0
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const sides = pointRow === 0 ? ['front'] : pointRow >= rows ? ['back'] : ['front', 'back']
|
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try {
|
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for (const side of sides) {
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await fetch(API + '/api/mission/positions', {
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method: 'POST',
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headers: { 'Content-Type': 'application/json' },
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body: JSON.stringify({ row: pointRow, col, side, coords: [0, 0, 0], poses: [] })
|
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})
|
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}
|
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await this.loadMissionConfig()
|
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this.closePointEdit()
|
||
} catch (e) { alert('清空失败: ' + e.message) }
|
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},
|
||
canClearPoint(pointRow, col) {
|
||
const point = this.getPointAt(pointRow, col)
|
||
if (!point || !point.coords) return true
|
||
return point.coords[0] === 0 && point.coords[1] === 0
|
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},
|
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// === 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 = ''
|
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}
|
||
},
|
||
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')
|