ywb
1087 lines
39 KiB
JavaScript
1087 lines
39 KiB
JavaScript
const { createApp } = Vue
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const API = ''
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const app = 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: [], positions: [] },
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// 点位编辑弹窗
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editingPoint: null, // 当前编辑的点位 {pointRow, col} — pointRow是点位行号(0~rows)
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pointEditor: { x: 0, y: 0, yaw: 0 },
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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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mapVersion: 0, // 地图点位版本号，用于强制重新渲染
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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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newModelId: null,
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newModelDesc: '',
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newModelNotes: '',
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newPoseForm: {}, // 机型配置：新建姿态的表单
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showAddModelModal: false,
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expandedModelId: null,
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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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initPoseLoading: false,
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initPoseMsg: '',
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nav2Available: false,
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navStatus: 'idle',
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navCurrentPos: null,
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agvCameraUrl: API + '/api/camera/refresh',
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agvCameraTimer: null,
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initPoseLoading: false,
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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.refreshNavStatus()
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setInterval(() => {
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if (this.nav2Available && this.navStatus === 'navigating') {
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this.refreshNavStatus()
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}
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}, 3000)
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},
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watch: {
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// 监听点位数据变化，自动刷新地图
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'missionConfig.positions'() {
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this.mapVersion++
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},
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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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},
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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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getMapX(coords) {
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if (!coords || !this.mapMeta) {
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//console.log('[getMapX] mapMeta not loaded, returning default 50');
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return 50
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}
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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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const result = Math.max(0, Math.min(100, px));
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//console.log('[getMapX]', coords, '→ px%:', result);
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return result
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},
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getMapY(coords) {
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if (!coords || !this.mapMeta) {
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//console.log('[getMapY] mapMeta not loaded, returning default 50');
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return 50
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}
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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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const result = Math.max(0, Math.min(100, 100 - py));
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//console.log('[getMapY]', coords, '→ py%:', result);
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return result
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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 || '型号_' + (this.models.length + 1),
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id: this.newModelId,
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description: this.newModelDesc || '',
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notes: this.newModelNotes || '',
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serial_prefix: this.newModelSerial || ''
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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.newModelId = null
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this.newModelDesc = ''
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this.newModelNotes = ''
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this.newModelSerial = ''
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this.showAddModelModal = false
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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, photoType, customName) {
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const form = this.poseForm[modelId]
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const type = photoType || form?.photo_type || 'front'
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const name = customName || form?.name || type + '_' + ((this.getModel(modelId)?.poses?.filter(p => p.photo_type === type).length || 0) + 1)
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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: name,
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photo_type: type,
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arm_angles: this.currentAngles && this.currentAngles.length === 6 ? this.currentAngles : [0, 0, 0, 0, 0, 0],
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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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if (form) {
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form.name = ''
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form.description = ''
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}
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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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async updatePoseAngle(modelId, poseId, jointIndex, event) {
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const value = parseFloat(event.target.value)
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if (isNaN(value)) return
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// Find the pose and update its angle
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const model = this.getModel(modelId)
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if (!model) return
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const pose = model.poses.find(p => p.id === poseId)
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if (!pose) return
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if (!pose.arm_angles) pose.arm_angles = [0, 0, 0, 0, 0, 0]
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pose.arm_angles[jointIndex] = value
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// Save to backend
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await fetch(API + '/api/models/' + modelId + '/poses/' + poseId, {
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method: 'PUT',
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headers: { 'Content-Type': 'application/json' },
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body: JSON.stringify({ arm_angles: pose.arm_angles })
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})
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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.machines = data.machines || []
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this.missionConfig.positions = data.config.positions || []
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this.mapVersion++
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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 initPose() {
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try {
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this.initPoseLoading = true
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const res = await fetch(API + '/api/mission/init_pose', { method: 'POST' })
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const data = await res.json()
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if (data.ok) {
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alert('✅ 初始位置已设为 (0, 0, 0)')
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} else {
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alert('❌ 初始化失败: ' + (data.error || '未知错误'))
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}
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} catch (e) {
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alert('❌ 初始化位置请求失败: ' + e.message)
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} finally {
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this.initPoseLoading = false
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}
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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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// ========== 点位行模型（独立于机器） ==========
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/**
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* 获取指定点位行的数据
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* @param {number} pointRow - 点位行号，范围 0 ~ missionConfig.rows
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* - pointRow=0 → 第1台机器的正面拍摄点
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* - pointRow=rows → 最后1台机器的背面拍摄点
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* - 中间 pointRow=i → 上面机器(i)的背面 + 下面机器(i+1)的正面
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* @param {number} col - 列号（0-based）
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* @returns {object|null} 点位对象 { coords: [x,y,z], ... } 或 null
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*/
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getPointAt(pointRow, col) {
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var positions = this.missionConfig.positions || []
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// 在独立 positions 数组中查找 (pointRow, col)
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for (var i = 0; i < positions.length; i++) {
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var p = positions[i]
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if (parseInt(p.row) === pointRow && parseInt(p.col) === col) {
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// 优先找 shoot，其次找 front/back
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if (p.side === 'shoot') return p
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// 再看有没有同一(row,col)的shoot
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}
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}
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// 再找同(row,col)的shoot类型
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for (var i = 0; i < positions.length; i++) {
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var p = positions[i]
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if (parseInt(p.row) === pointRow && parseInt(p.col) === col && p.side === 'shoot') {
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return p
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}
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}
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// 兼容旧数据：尝试从机器对象的 front/back 获取
|
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var machineAbove = this.getMachineAt(pointRow - 1, col) // 上面的机器
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var machineBelow = this.getMachineAt(pointRow, col) // 下面的机器
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if (pointRow === 0 && machineBelow) {
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// 第一个点位行 → 下面机器的正面
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return machineBelow.front || { coords: [0, 0, 0], poses: [] }
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}
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if (pointRow === this.missionConfig.rows && machineAbove) {
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// 最后一个点位行 → 上面机器的背面
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return machineAbove.back || { coords: [0, 0, 0], poses: [] }
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}
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// 中间点位行：优先返回上面机器的背面
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if (machineAbove && machineAbove.back) {
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return machineAbove.back
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}
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if (machineBelow && machineBelow.front) {
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return machineBelow.front
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}
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return null
|
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},
|
||
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/**
|
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* 获取点位的归属描述（用于弹窗标题）
|
||
* @param {number} pointRow - 点位行号
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* @param {number} col - 列号
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* @returns {string} 如 "第2列 · 机器2背面/机器3正面"
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*/
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getPointOwnerLabel(pointRow, col) {
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var rows = this.missionConfig.rows
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var labels = []
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if (pointRow === 0) {
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// 第一行点位：下面机器的正面
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var m = this.getMachineAt(0, col)
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if (m) labels.push('机器' + (m.row + 1) + '正面')
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} else if (pointRow === rows) {
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// 最后行点位：上面机器的背面
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var m2 = this.getMachineAt(rows - 1, col)
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if (m2) labels.push('机器' + (m2.row + 1) + '背面')
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} else {
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// 中间点位行：上面机器的背面 + 下面机器的正面
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var mAbove = this.getMachineAt(pointRow - 1, col)
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var mBelow = this.getMachineAt(pointRow, col)
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if (mAbove) labels.push('机器' + (mAbove.row + 1) + '背面')
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if (mBelow) labels.push('机器' + (mBelow.row + 1) + '正面')
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}
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||
if (labels.length === 0) return '第' + (col + 1) + '列 · 无归属'
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||
return '第' + (col + 1) + '列 · ' + labels.join('/')
|
||
},
|
||
|
||
/**
|
||
* 检查点位是否可以清空
|
||
* 只有当上下两台机器都不需要这个点位时才能清空
|
||
*/
|
||
canClearPoint(pointRow, col) {
|
||
var rows = this.missionConfig.rows
|
||
// 如果上面有机器且机器存在 → 不能清空（上面机器需要此点位拍背面）
|
||
if (pointRow > 0 && pointRow <= rows) {
|
||
var mAbove = this.getMachineAt(pointRow - 1, col)
|
||
if (mAbove) return false
|
||
}
|
||
// 如果下面有机器且机器存在 → 不能清空（下面机器需要此点位拍正面）
|
||
if (pointRow >= 0 && pointRow < rows) {
|
||
var mBelow = this.getMachineAt(pointRow, col)
|
||
if (mBelow) return false
|
||
}
|
||
return true
|
||
},
|
||
|
||
getMachineAt(ri, ci) {
|
||
if (!this.missionConfig.machines) return null
|
||
return this.missionConfig.machines.find(function(m) { return m.row === ri && m.col === ci }) || null
|
||
},
|
||
|
||
// 打开点位编辑弹窗（基于点位行号）
|
||
openPointEdit(pointRow, col) {
|
||
var existing = this.getPointAt(pointRow, col)
|
||
if (existing && existing.coords) {
|
||
this.pointEditor.x = existing.coords[0] !== undefined ? existing.coords[0] : 0
|
||
this.pointEditor.y = existing.coords[1] !== undefined ? existing.coords[1] : 0
|
||
this.pointEditor.yaw = existing.coords[2] !== undefined ? existing.coords[2] : 0
|
||
} else {
|
||
this.pointEditor.x = 0
|
||
this.pointEditor.y = 0
|
||
this.pointEditor.yaw = 0
|
||
}
|
||
this.editingPoint = { pointRow: pointRow, col: col }
|
||
},
|
||
|
||
// 关闭点位编辑弹窗
|
||
closePointEdit() {
|
||
this.editingPoint = null
|
||
},
|
||
|
||
// 从AGV读取当前坐标到点位编辑器
|
||
async loadPointFromAgv() {
|
||
if (!this.agvConnected) { alert('请先连接AGV'); return }
|
||
try {
|
||
const res = await fetch(API + '/api/agv/position')
|
||
const pos = await res.json()
|
||
if (pos.ok && pos.position && Array.isArray(pos.position)) {
|
||
this.pointEditor.x = pos.position[0] ?? 0
|
||
this.pointEditor.y = pos.position[1] ?? 0
|
||
this.pointEditor.yaw = pos.position[2] ?? 0
|
||
alert('✅ 已读取AGV位置: (' + this.pointEditor.x.toFixed(2) + ', ' + this.pointEditor.y.toFixed(2) + ', ' + this.pointEditor.yaw.toFixed(2) + ')')
|
||
} else if (pos.ok && (!pos.position || !Array.isArray(pos.position))) {
|
||
alert('⚠️ AGV 未发布位置数据，请检查 AGV 传感器是否正常')
|
||
} else {
|
||
alert('读取AGV位置失败: ' + (pos.error || '未知错误'))
|
||
}
|
||
} catch (e) { alert('读取AGV位置失败: ' + e.message) }
|
||
},
|
||
|
||
// 保存点位配置到独立 positions 数组
|
||
async savePoint() {
|
||
if (!this.editingPoint) return
|
||
var pointRow = this.editingPoint.pointRow
|
||
var col = this.editingPoint.col
|
||
var coords = [this.pointEditor.x, this.pointEditor.y, this.pointEditor.yaw]
|
||
try {
|
||
// 保存到后端独立点位表（使用 point_row 标识点位行）
|
||
var saveRes = await fetch(API + '/api/mission/positions', {
|
||
method: 'POST',
|
||
headers: { 'Content-Type': 'application/json' },
|
||
body: JSON.stringify({
|
||
row: pointRow,
|
||
col: col,
|
||
side: 'shoot', // 统一用 'shoot' 表示拍摄点位
|
||
coords: coords,
|
||
poses: []
|
||
})
|
||
})
|
||
var saveData = await saveRes.json()
|
||
if (!saveData.ok) {
|
||
alert('保存点位失败: ' + (saveData.error || '未知错误'))
|
||
return
|
||
}
|
||
|
||
// 同步更新关联机器的坐标（如果有的话）
|
||
this.syncPointToMachines(pointRow, col, coords)
|
||
|
||
await this.loadMissionConfig()
|
||
alert('✅ 点位坐标已保存: (' + coords[0].toFixed(2) + ', ' + coords[1].toFixed(2) + ', ' + coords[2].toFixed(2) + ')')
|
||
this.closePointEdit()
|
||
} catch (e) { alert('保存点位失败: ' + e.message) }
|
||
},
|
||
|
||
// 将点位坐标同步到关联的机器对象
|
||
syncPointToMachines(pointRow, col, coords) {
|
||
var rows = this.missionConfig.rows
|
||
// pointRow=0 → 同步到下面机器(0,col)的front
|
||
if (pointRow === 0) {
|
||
var m0 = this.getMachineAt(0, col)
|
||
if (m0) {
|
||
this.updateMachineSide(m0, 'front', coords)
|
||
}
|
||
return
|
||
}
|
||
// pointRow=rows → 同步到上面机器(rows-1,col)的back
|
||
if (pointRow === rows) {
|
||
var mLast = this.getMachineAt(rows - 1, col)
|
||
if (mLast) {
|
||
this.updateMachineSide(mLast, 'back', coords)
|
||
}
|
||
return
|
||
}
|
||
// 中间点位行 → 同步到上面机器的back + 下面机器的front
|
||
var mAbove = this.getMachineAt(pointRow - 1, col)
|
||
var mBelow = this.getMachineAt(pointRow, col)
|
||
if (mAbove) {
|
||
this.updateMachineSide(mAbove, 'back', coords)
|
||
}
|
||
if (mBelow) {
|
||
this.updateMachineSide(mBelow, 'front', coords)
|
||
}
|
||
},
|
||
|
||
// 更新机器某侧的坐标
|
||
async updateMachineSide(machine, side, coords) {
|
||
try {
|
||
var update = {}
|
||
update[side] = {
|
||
coords: coords,
|
||
poses: (machine[side] && machine[side].poses) ? machine[side].poses : []
|
||
}
|
||
await fetch(API + '/api/mission/machines/' + machine.id, {
|
||
method: 'PUT',
|
||
headers: { 'Content-Type': 'application/json' },
|
||
body: JSON.stringify(update)
|
||
})
|
||
} catch (e) { console.error('同步机器坐标失败', e) }
|
||
},
|
||
|
||
// 清空点位（带保护检查）
|
||
async clearPoint() {
|
||
if (!this.editingPoint) return
|
||
var pointRow = this.editingPoint.pointRow
|
||
var col = this.editingPoint.col
|
||
|
||
// 检查是否可以清空
|
||
if (!this.canClearPoint(pointRow, col)) {
|
||
var ownerLabel = this.getPointOwnerLabel(pointRow, col)
|
||
alert('⚠️ 无法清空！此点位服务于: ' + ownerLabel + '\n必须先移除相关机器才能清空此点位。')
|
||
return
|
||
}
|
||
|
||
if (!confirm('确定清空此点位坐标？')) return
|
||
|
||
try {
|
||
// 发送清空请求（坐标归零或删除记录）
|
||
await fetch(API + '/api/mission/positions', {
|
||
method: 'POST',
|
||
headers: { 'Content-Type': 'application/json' },
|
||
body: JSON.stringify({
|
||
row: pointRow,
|
||
col: col,
|
||
side: 'shoot',
|
||
coords: [0, 0, 0],
|
||
poses: []
|
||
})
|
||
})
|
||
this.pointEditor.x = 0
|
||
this.pointEditor.y = 0
|
||
this.pointEditor.yaw = 0
|
||
await this.loadMissionConfig()
|
||
} catch (e) { alert('清空点位失败: ' + e.message) }
|
||
},
|
||
|
||
onCellClick(ri, ci) {
|
||
var m = this.getMachineAt(ri, ci)
|
||
if (!m) {
|
||
// 无机器 → 创建机器记录
|
||
this.createMachine(ri, ci).then(function(ok) {
|
||
if (ok) {
|
||
var created = this.getMachineAt(ri, ci)
|
||
if (created) this.selectMachine(created)
|
||
}
|
||
}.bind(this))
|
||
} else {
|
||
// 有机器 → 切换为无机器（删除）
|
||
this.deleteMachine(m.id)
|
||
}
|
||
},
|
||
async createMachine(ri, ci) {
|
||
try {
|
||
var machineId = 'm_' + ri + '_' + ci
|
||
var res = await fetch(API + '/api/mission/machines/add', {
|
||
method: 'POST',
|
||
headers: { 'Content-Type': 'application/json' },
|
||
body: JSON.stringify({
|
||
id: machineId,
|
||
row: ri,
|
||
col: ci,
|
||
front: { coords: [0, 0, 0], poses: [] },
|
||
back: { coords: [0, 0, 0], poses: [] }
|
||
})
|
||
})
|
||
var data = await res.json()
|
||
if (!data.ok && data.error !== '该位置已有机器') {
|
||
alert('创建机器失败: ' + (data.error || '未知错误'))
|
||
return false
|
||
}
|
||
await this.loadAllMachines()
|
||
return true
|
||
} catch (e) { alert('创建机器失败: ' + e.message); return false }
|
||
},
|
||
selectMachine(machine) {
|
||
if (!machine.front) machine.front = { coords: [0, 0, 0], poses: [] }
|
||
else if (!Array.isArray(machine.front.coords)) machine.front.coords = [0, 0, 0]
|
||
if (!machine.back) machine.back = { coords: [0, 0, 0], poses: [] }
|
||
else if (!Array.isArray(machine.back.coords)) machine.back.coords = [0, 0, 0]
|
||
this.selectedMachine = machine
|
||
},
|
||
clearSelection() {
|
||
this.selectedMachine = null
|
||
},
|
||
async deleteMachine(machineId) {
|
||
if (!confirm('确定删除此机器？\n\n注意：删除后其上方/下方的点位仍可继续使用。')) return
|
||
try {
|
||
await fetch(API + '/api/mission/machines/' + machineId, { method: 'DELETE' })
|
||
this.selectedMachine = null
|
||
await this.loadAllMachines()
|
||
await this.loadMissionConfig() // 重新加载点位，确保数据同步
|
||
} catch (e) { alert('删除失败: ' + e.message) }
|
||
},
|
||
async saveMachineCoords() {
|
||
if (!this.selectedMachine) return
|
||
try {
|
||
var res = await fetch(API + '/api/mission/machines/' + this.selectedMachine.id, {
|
||
method: 'PUT',
|
||
headers: { 'Content-Type': 'application/json' },
|
||
body: JSON.stringify({
|
||
front: this.selectedMachine.front,
|
||
back: this.selectedMachine.back
|
||
})
|
||
})
|
||
if (res.ok) {
|
||
this.mapMsg = '✅ 机器坐标已保存'
|
||
setTimeout(function() { this.mapMsg = '' }.bind(this), 2000)
|
||
} else {
|
||
alert('保存失败: ' + res.status)
|
||
}
|
||
} catch (e) { alert('保存失败: ' + e.message) }
|
||
},
|
||
async readPosition(side) {
|
||
if (!this.agvConnected) { alert('AGV 未连接'); return }
|
||
try {
|
||
var res = await fetch(API + '/api/agv/position')
|
||
var data = await res.json()
|
||
if (data.ok && data.position && Array.isArray(data.position)) {
|
||
var x = data.position[0]
|
||
var y = data.position[1]
|
||
var theta = data.position[2]
|
||
if (side === 'front') {
|
||
this.selectedMachine.front.coords = [x, y, theta]
|
||
} else {
|
||
this.selectedMachine.back.coords = [x, y, theta]
|
||
}
|
||
} else if (data.ok && (!data.position || !Array.isArray(data.position))) {
|
||
alert('⚠️ AGV 未发布位置数据，请检查 AGV 传感器是否正常')
|
||
} else {
|
||
alert('读取位置失败: ' + (data.error || '未知错误'))
|
||
}
|
||
} catch (e) { alert('读取位置失败: ' + e.message) }
|
||
},
|
||
async addPoseToMachine(machineId, side) {
|
||
var name = this.poseForm.name || '姿态' + (((this.selectedMachine && this.selectedMachine[side] && this.selectedMachine[side].poses) || []).length + 1)
|
||
try {
|
||
var res = await fetch(API + '/api/mission/poses/' + machineId + '/' + side, {
|
||
method: 'POST',
|
||
headers: { 'Content-Type': 'application/json' },
|
||
body: JSON.stringify({
|
||
name: name,
|
||
arm_angles: this.currentAngles.length === 6 ? this.currentAngles : [0, 0, 0, 0, 0, 0],
|
||
speed: 500,
|
||
description: ''
|
||
})
|
||
})
|
||
var data = await res.json()
|
||
if (data.ok) {
|
||
this.poseForm.name = ''
|
||
await this.loadAllMachines()
|
||
var updated = this.getMachineAt(this.selectedMachine.row, this.selectedMachine.col)
|
||
if (updated) this.selectMachine(updated)
|
||
} else {
|
||
alert('添加姿态失败: ' + (data.error || '未知错误'))
|
||
}
|
||
} catch (e) { alert('添加姿态失败: ' + e.message) }
|
||
},
|
||
async deletePose(machineId, side, poseId) {
|
||
if (!confirm('确定删除此姿态？')) return
|
||
try {
|
||
await fetch(API + '/api/mission/poses/' + machineId + '/' + side + '/' + poseId, { method: 'DELETE' })
|
||
await this.loadAllMachines()
|
||
if (this.selectedMachine) {
|
||
var updated = this.getMachineAt(this.selectedMachine.row, this.selectedMachine.col)
|
||
if (updated) this.selectMachine(updated)
|
||
}
|
||
} catch (e) { alert('删除姿态失败: ' + e.message) }
|
||
},
|
||
async capturePosition(ri, ci, side) {
|
||
if (!this.agvConnected) { alert('请先连接AGV'); return }
|
||
var machine = this.getMachineAt(ri, ci)
|
||
if (!machine) {
|
||
try {
|
||
var machineId = 'm_' + ri + '_' + ci
|
||
var res = await fetch(API + '/api/mission/machines/add', {
|
||
method: 'POST',
|
||
headers: { 'Content-Type': 'application/json' },
|
||
body: JSON.stringify({
|
||
id: machineId,
|
||
row: ri,
|
||
col: ci,
|
||
front: { coords: [0, 0, 0], poses: [] },
|
||
back: { coords: [0, 0, 0], poses: [] }
|
||
})
|
||
})
|
||
if (!res.ok) throw new Error('创建失败')
|
||
await this.loadAllMachines()
|
||
machine = this.getMachineAt(ri, ci)
|
||
} catch (e) { alert('创建机器失败: ' + e.message); return }
|
||
}
|
||
try {
|
||
var res = await fetch(API + '/api/agv/position')
|
||
var pos = await res.json()
|
||
var x = 0, y = 0, theta = 0
|
||
if (pos.ok && pos.position && Array.isArray(pos.position)) {
|
||
x = pos.position[0] || 0
|
||
y = pos.position[1] || 0
|
||
theta = pos.position[2] || 0
|
||
} else if (pos.ok && (!pos.position || !Array.isArray(pos.position))) {
|
||
alert('⚠️ AGV 未发布位置数据，请检查 AGV 传感器是否正常')
|
||
return
|
||
} else {
|
||
alert('读取位置失败: ' + (pos.error || '未知错误'))
|
||
return
|
||
}
|
||
if (!machine) { machine = this.getMachineAt(ri, ci) }
|
||
if (!machine) { alert('机器记录不存在'); return }
|
||
if (side === 'front') { machine.front.coords = [x, y, theta] } else { machine.back.coords = [x, y, theta] }
|
||
await fetch(API + '/api/mission/machines/' + machine.id, {
|
||
method: 'PUT',
|
||
headers: { 'Content-Type': 'application/json' },
|
||
body: JSON.stringify(machine)
|
||
})
|
||
alert((side === 'front' ? '正面' : '背面') + '点位已更新: (' + x.toFixed(2) + ',' + y.toFixed(2) + ',' + theta.toFixed(2) + ')')
|
||
} catch (e) { alert('读取位置失败: ' + e.message) }
|
||
},
|
||
async refreshSequence() {
|
||
try {
|
||
var res = await fetch(API + '/api/mission/generate_sequence')
|
||
var data = await res.json()
|
||
if (data.ok) {
|
||
this.sequence = data.sequence || []
|
||
}
|
||
} catch (e) { console.error('刷新序列失败', e) }
|
||
},
|
||
// === 机械臂 ===
|
||
async refreshAngles() {
|
||
if (!this.armConnected) return
|
||
try {
|
||
var res = await fetch(API + '/api/arm/get_angles')
|
||
var data = await res.json()
|
||
if (data.ok && data.angles) {
|
||
this.currentAngles = data.angles
|
||
this.angleInputs = [...data.angles]
|
||
}
|
||
} catch (e) {}
|
||
},
|
||
async setAngle(idx, val) {
|
||
await fetch(API + '/api/arm/set_angle', {
|
||
method: 'POST',
|
||
headers: { 'Content-Type': 'application/json' },
|
||
body: JSON.stringify({ joint: 'J' + (idx + 1), angle: val })
|
||
})
|
||
},
|
||
async applyAngles() {
|
||
await fetch(API + '/api/arm/set_angles', {
|
||
method: 'POST',
|
||
headers: { 'Content-Type': 'application/json' },
|
||
body: JSON.stringify({ angles: this.angleInputs, speed: 500 })
|
||
})
|
||
},
|
||
jogStart(idx, dir) {
|
||
var joint = 'J' + (idx + 1)
|
||
fetch(API + '/api/arm/jog', {
|
||
method: 'POST',
|
||
headers: { 'Content-Type': 'application/json' },
|
||
body: JSON.stringify({ joint, direction: dir })
|
||
})
|
||
this.jogIntervals[idx] = setInterval(function() { this.refreshAngles() }.bind(this), 200)
|
||
},
|
||
jogStop(idx) {
|
||
clearInterval(this.jogIntervals[idx])
|
||
var joint = 'J' + (idx + 1)
|
||
fetch(API + '/api/arm/jog', {
|
||
method: 'POST',
|
||
headers: { 'Content-Type': 'application/json' },
|
||
body: JSON.stringify({ joint, direction: 0 })
|
||
})
|
||
setTimeout(function() { this.refreshAngles() }.bind(this), 300)
|
||
},
|
||
onPreviewError(e) {
|
||
e.target.style.display = 'none'
|
||
},
|
||
// === 姿态角度控制（机型配置 Tab） ===
|
||
async refreshPoseAngles(modelId, poseId) {
|
||
// 获取当前机械臂角度，填入姿态，保存到后端
|
||
if (!this.armConnected) {
|
||
alert('机械臂未连接')
|
||
return
|
||
}
|
||
try {
|
||
var res = await fetch(API + '/api/arm/get_angles')
|
||
var data = await res.json()
|
||
if (data.ok && data.angles) {
|
||
// Find the pose and update
|
||
var model = this.models.find(m => m.id === modelId)
|
||
if (model) {
|
||
var pose = model.poses.find(p => p.id === poseId)
|
||
if (pose) {
|
||
pose.arm_angles = [...data.angles]
|
||
// Save to backend
|
||
await fetch(API + '/api/models/' + modelId + '/poses/' + poseId, {
|
||
method: 'PUT',
|
||
headers: { 'Content-Type': 'application/json' },
|
||
body: JSON.stringify({ arm_angles: pose.arm_angles })
|
||
})
|
||
}
|
||
}
|
||
}
|
||
} catch (e) {
|
||
console.error('refreshPoseAngles error:', e)
|
||
}
|
||
},
|
||
async applyPoseAngles(modelId, poseId) {
|
||
// 调整机械臂到姿态的角度
|
||
var model = this.models.find(m => m.id === modelId)
|
||
if (model) {
|
||
var pose = model.poses.find(p => p.id === poseId)
|
||
if (pose && pose.arm_angles) {
|
||
try {
|
||
await fetch(API + '/api/arm/set_angles', {
|
||
method: 'POST',
|
||
headers: { 'Content-Type': 'application/json' },
|
||
body: JSON.stringify({ angles: pose.arm_angles, speed: 500 })
|
||
})
|
||
} catch (e) {
|
||
console.error('applyPoseAngles error:', e)
|
||
}
|
||
}
|
||
}
|
||
},
|
||
async adjustPoseAngle(modelId, poseId, jointIndex, delta) {
|
||
// 微调姿态角度，并实时调整机械臂
|
||
var model = this.models.find(m => m.id === modelId)
|
||
if (model) {
|
||
var pose = model.poses.find(p => p.id === poseId)
|
||
if (pose) {
|
||
if (!pose.arm_angles) pose.arm_angles = [0, 0, 0, 0, 0, 0]
|
||
pose.arm_angles[jointIndex] = (pose.arm_angles[jointIndex] || 0) + delta
|
||
// Save to backend
|
||
await fetch(API + '/api/models/' + modelId + '/poses/' + poseId, {
|
||
method: 'PUT',
|
||
headers: { 'Content-Type': 'application/json' },
|
||
body: JSON.stringify({ arm_angles: pose.arm_angles })
|
||
})
|
||
// Move arm
|
||
await fetch(API + '/api/arm/set_angle', {
|
||
method: 'POST',
|
||
headers: { 'Content-Type': 'application/json' },
|
||
body: JSON.stringify({ joint: 'J' + (jointIndex + 1), angle: pose.arm_angles[jointIndex] })
|
||
})
|
||
}
|
||
}
|
||
},
|
||
async updatePoseAngleAndMove(modelId, poseId, jointIndex, value) {
|
||
// 更新姿态角度（输入框），并实时调整机械臂
|
||
var model = this.models.find(m => m.id === modelId)
|
||
if (model) {
|
||
var pose = model.poses.find(p => p.id === poseId)
|
||
if (pose) {
|
||
if (!pose.arm_angles) pose.arm_angles = [0, 0, 0, 0, 0, 0]
|
||
pose.arm_angles[jointIndex] = parseFloat(value) || 0
|
||
// Save to backend
|
||
await fetch(API + '/api/models/' + modelId + '/poses/' + poseId, {
|
||
method: 'PUT',
|
||
headers: { 'Content-Type': 'application/json' },
|
||
body: JSON.stringify({ arm_angles: pose.arm_angles })
|
||
})
|
||
// Move arm
|
||
await fetch(API + '/api/arm/set_angle', {
|
||
method: 'POST',
|
||
headers: { 'Content-Type': 'application/json' },
|
||
body: JSON.stringify({ joint: 'J' + (jointIndex + 1), angle: pose.arm_angles[jointIndex] })
|
||
})
|
||
}
|
||
}
|
||
},
|
||
|
||
// === AGV 控制 ===
|
||
async refreshAgvPosition() {
|
||
if (!this.agvConnected) return
|
||
try {
|
||
var res = await fetch(API + '/api/agv/position')
|
||
var data = await res.json()
|
||
if (data.ok) {
|
||
this.agvPosition = data.position
|
||
this.agvBattery = data.battery
|
||
}
|
||
} catch (e) {}
|
||
},
|
||
agvMoveStart(dir) {
|
||
if (!this.agvConnected) return
|
||
fetch(API + '/api/agv/move', {
|
||
method: 'POST',
|
||
headers: { 'Content-Type': 'application/json' },
|
||
body: JSON.stringify({ direction: dir, speed: this.agvSpeed })
|
||
})
|
||
},
|
||
agvMoveStop() {
|
||
fetch(API + '/api/agv/move', {
|
||
method: 'POST',
|
||
headers: { 'Content-Type': 'application/json' },
|
||
body: JSON.stringify({ direction: 'stop' })
|
||
})
|
||
},
|
||
async agvStop() {
|
||
await fetch(API + '/api/agv/stop', { method: 'POST' })
|
||
},
|
||
async agvResetCollision() {
|
||
if (!this.agvConnected) {
|
||
alert('AGV 未连接')
|
||
return
|
||
}
|
||
if (!confirm('确定执行撞物体后复位？')) return
|
||
try {
|
||
var res = await fetch(API + '/api/agv/reset', { method: 'POST' })
|
||
var data = await res.json()
|
||
if (data.ok) {
|
||
alert('✅ ' + data.message)
|
||
await this.refresh()
|
||
await this.refreshAgvPosition()
|
||
} else {
|
||
alert('❌ 复位失败: ' + (data.error || '未知错误'))
|
||
}
|
||
} catch (e) {
|
||
alert('❌ 复位请求失败: ' + e.message)
|
||
}
|
||
},
|
||
|
||
// === AMCL 初始化定位 ===
|
||
async initAmclPose() {
|
||
if (!this.agvConnected) { alert('请先连接AGV'); return }
|
||
this.initPoseLoading = true
|
||
this.initPoseMsg = ''
|
||
try {
|
||
var res = await fetch(API + '/api/mission/init_pose', { method: 'POST' })
|
||
var data = await res.json()
|
||
if (data.ok) {
|
||
this.initPoseMsg = data.message || '✅ 已初始化定位'
|
||
setTimeout(() => { this.initPoseMsg = '' }, 5000)
|
||
await this.refreshNavStatus()
|
||
} else {
|
||
alert('❌ 初始化失败: ' + (data.error || '未知错误'))
|
||
}
|
||
} catch (e) {
|
||
alert('❌ 请求失败: ' + e.message)
|
||
} finally {
|
||
this.initPoseLoading = false
|
||
}
|
||
},
|
||
|
||
// === 导航到点位 ===
|
||
async navigateToPoint() {
|
||
if (!this.pointEditor.x && !this.pointEditor.y) {
|
||
alert('该点位坐标无效，请先读取或输入坐标'); return
|
||
}
|
||
if (!this.nav2Available) { alert('Nav2 不可用，请先连接AGV并初始化定位'); return }
|
||
if (!confirm(`确定导航到点位 (${this.pointEditor.x.toFixed(2)}, ${this.pointEditor.y.toFixed(2)})？`)) return
|
||
try {
|
||
var res = await fetch(API + '/api/navigate/to', {
|
||
method: 'POST',
|
||
headers: { 'Content-Type': 'application/json' },
|
||
body: JSON.stringify({ x: this.pointEditor.x, y: this.pointEditor.y })
|
||
})
|
||
var data = await res.json()
|
||
if (data.ok) {
|
||
alert('✅ 导航已启动，请观察AGV移动')
|
||
this.closePointEdit()
|
||
this.$nextTick(() => this.refreshNavStatus())
|
||
} else {
|
||
alert('❌ 导航失败: ' + (data.error || '未知错误'))
|
||
}
|
||
} catch (e) {
|
||
alert('❌ 请求失败: ' + e.message)
|
||
}
|
||
},
|
||
|
||
// === Nav2 状态刷新 ===
|
||
async refreshNavStatus() {
|
||
try {
|
||
var res = await fetch(API + '/api/navigate/status')
|
||
var data = await res.json()
|
||
this.nav2Available = data.nav2_available
|
||
this.navStatus = data.status
|
||
this.navCurrentPos = data.current_position
|
||
} catch (e) {
|
||
this.nav2Available = false
|
||
}
|
||
},
|
||
|
||
// === 取消导航 ===
|
||
async cancelNav() {
|
||
if (!this.agvConnected) return
|
||
try {
|
||
await fetch(API + '/api/navigate/cancel', { method: 'POST' })
|
||
await this.refreshNavStatus()
|
||
} catch (e) {}
|
||
},
|
||
}
|
||
})
|
||
const vm = app.mount('#app')
|
||
window.vm = vm // 暴露组件实例
|