ywb
941 lines
34 KiB
JavaScript
941 lines
34 KiB
JavaScript
const { createApp } = Vue
|
||
const API = ''
|
||
|
||
createApp({
|
||
data() {
|
||
return {
|
||
tab: 'map',
|
||
// 任务配置
|
||
missionConfig: { rows: 3, cols: 3, grid: [], machines: [] },
|
||
selectedMachine: null,
|
||
sequence: [],
|
||
poseForm: { name: '', photo_type: 'front', description: '' },
|
||
// 地图
|
||
mapForm: { map_dir: '/home/elephant/agv_pro_ros2/install/agv_pro_navigation2/share/agv_pro_navigation2/map/', map_file: 'map.yaml' },
|
||
mapMsg: '',
|
||
mapLoaded: false,
|
||
mapImageUrl: '',
|
||
mapMeta: null,
|
||
mapRotation: 0,
|
||
mapVersion: 0,
|
||
navCurrentPos: null,
|
||
nav2Available: false,
|
||
// 点位
|
||
points: [],
|
||
editingPoint: null, // 当前编辑的点位 {pointRow, col}
|
||
pointEditor: { x: 0, y: 0, yaw: 0 },
|
||
newPointName: '',
|
||
newPointMode: 'front',
|
||
newPointSequence: ['front', 'back'],
|
||
// 机型（姿态组）
|
||
models: [],
|
||
selectedModelId: null,
|
||
newModelName: '',
|
||
newModelSerial: '',
|
||
// 机械臂
|
||
armConnected: false,
|
||
currentAngles: [],
|
||
angleInputs: [],
|
||
previewUrl: API + '/api/camera/preview',
|
||
jogIntervals: {},
|
||
// AGV
|
||
cameraOpened: false,
|
||
agvConnected: false,
|
||
agvBattery: null,
|
||
agvPosition: null,
|
||
agvSpeed: 0.5,
|
||
agvMoveInterval: null,
|
||
agvCameraUrl: API + '/api/camera/refresh',
|
||
agvCameraTimer: null,
|
||
// 初始化定位
|
||
initPoseLoading: false,
|
||
initPoseMsg: '',
|
||
initAmclPoseLoading: false,
|
||
initAmclPoseMsg: '',
|
||
}
|
||
},
|
||
mounted() {
|
||
this.refresh()
|
||
this.refreshAngles()
|
||
this.nav2Timer = setInterval(this.refreshNavStatus, 3000)
|
||
},
|
||
watch: {
|
||
tab(val) {
|
||
if (val === 'agv') {
|
||
this.agvCameraTimer = setInterval(() => {
|
||
this.agvCameraUrl = API + '/api/camera/refresh?t=' + Date.now()
|
||
}, 1000)
|
||
} else {
|
||
if (this.agvCameraTimer) {
|
||
clearInterval(this.agvCameraTimer)
|
||
this.agvCameraTimer = null
|
||
}
|
||
}
|
||
}
|
||
},
|
||
beforeUnmount() {
|
||
Object.values(this.jogIntervals).forEach(i => clearInterval(i))
|
||
if (this.agvCameraTimer) clearInterval(this.agvCameraTimer)
|
||
if (this.nav2Timer) clearInterval(this.nav2Timer)
|
||
},
|
||
methods: {
|
||
async refresh() {
|
||
try {
|
||
const res = await fetch(API + '/api/status')
|
||
const data = await res.json()
|
||
this.agvConnected = data.agv_connected
|
||
this.armConnected = data.arm_connected
|
||
this.cameraOpened = data.camera_opened
|
||
this.mapLoaded = data.map_loaded
|
||
if (data.map_loaded) {
|
||
this.mapImageUrl = API + '/api/map/image?t=' + Date.now()
|
||
try {
|
||
const metaRes = await fetch(API + '/api/map/meta')
|
||
const meta = await metaRes.json()
|
||
if (meta.ok) this.mapMeta = meta
|
||
} catch (e) {}
|
||
}
|
||
} catch (e) {}
|
||
await this.loadAllPoints()
|
||
await this.loadAllModels()
|
||
await this.loadAllMachines()
|
||
await this.loadMissionConfig()
|
||
},
|
||
// === 地图 ===
|
||
async loadMap() {
|
||
const res = await fetch(API + '/api/map/load', {
|
||
method: 'POST',
|
||
headers: { 'Content-Type': 'application/json' },
|
||
body: JSON.stringify(this.mapForm)
|
||
})
|
||
const data = await res.json()
|
||
this.mapMsg = data.ok ? '✅ 地图加载成功' : '❌ ' + (data.error || '加载失败')
|
||
this.mapLoaded = data.ok
|
||
if (data.ok) {
|
||
this.mapImageUrl = API + '/api/map/image?t=' + Date.now()
|
||
try {
|
||
const metaRes = await fetch(API + '/api/map/meta')
|
||
const meta = await metaRes.json()
|
||
if (meta.ok) this.mapMeta = meta
|
||
} catch (e) {}
|
||
}
|
||
},
|
||
onMapError() {
|
||
this.mapMsg = '❌ 地图图像加载失败'
|
||
},
|
||
rotateMap(deg) {
|
||
this.mapRotation = (this.mapRotation + deg) % 360
|
||
},
|
||
resetMapView() {
|
||
this.mapRotation = 0
|
||
this.mapVersion++
|
||
},
|
||
async refreshNavStatus() {
|
||
try {
|
||
const res = await fetch(API + '/api/navigate/status')
|
||
if (res.ok) {
|
||
const data = await res.json()
|
||
this.nav2Available = data.nav2_available || false
|
||
// API returns "current_position", normalize to our field
|
||
const cp = data.current_position || data.current_pos || null
|
||
if (cp) {
|
||
this.navCurrentPos = cp
|
||
console.log('[Setting] nav2:', data.nav2_available, 'cp:', cp.map(function(x){return x.toFixed(2)}), 'mapLoaded:', this.mapLoaded, 'mapMeta:', this.mapMeta ? 'ok' : 'null')
|
||
}
|
||
}
|
||
} catch (e) {}
|
||
},
|
||
async onMapClick(e) {
|
||
if (!this.mapMeta || !this.agvConnected) return
|
||
const rect = e.target.getBoundingClientRect()
|
||
const px = (e.clientX - rect.left) / rect.width
|
||
const py = (e.clientY - rect.top) / rect.height
|
||
const { resolution, origin } = this.mapMeta
|
||
const wx = origin[0] + px * resolution * this.mapMeta.width
|
||
const wy = origin[1] + (1 - py) * resolution * this.mapMeta.height
|
||
// 确认框
|
||
if (!confirm(`确定导航到坐标 (${wx.toFixed(2)}, ${wy.toFixed(2)}) 吗？`)) return
|
||
try {
|
||
const res = await fetch(API + '/api/navigate/to', {
|
||
method: 'POST',
|
||
headers: { 'Content-Type': 'application/json' },
|
||
body: JSON.stringify({ x: wx, y: wy })
|
||
})
|
||
const data = await res.json()
|
||
if (data.ok) {
|
||
this.mapMsg = '✅ 导航目标已发送'
|
||
this.mapVersion++
|
||
} else {
|
||
this.mapMsg = '❌ ' + (data.error || '导航失败')
|
||
}
|
||
} catch (e) {
|
||
this.mapMsg = '❌ 导航请求失败'
|
||
}
|
||
setTimeout(() => { this.mapMsg = '' }, 3000)
|
||
},
|
||
getMapX(coords) {
|
||
if (!coords || !this.mapMeta) return 50
|
||
const [x, y, yaw] = coords
|
||
const { resolution, origin, width } = this.mapMeta
|
||
const px = (x - origin[0]) / (resolution * width) * 100
|
||
return Math.max(0, Math.min(100, px))
|
||
},
|
||
getMapY(coords) {
|
||
if (!coords || !this.mapMeta) return 50
|
||
const [x, y, yaw] = coords
|
||
const { resolution, origin, height } = this.mapMeta
|
||
const py = (y - origin[1]) / (resolution * height) * 100
|
||
return Math.max(0, Math.min(100, 100 - py))
|
||
},
|
||
async saveMap() {
|
||
await fetch(API + '/api/map/save', {
|
||
method: 'POST',
|
||
headers: { 'Content-Type': 'application/json' },
|
||
body: JSON.stringify(this.mapForm)
|
||
})
|
||
this.mapMsg = '✅ 地图配置已保存'
|
||
},
|
||
// === 点位 ===
|
||
async loadAllPoints() {
|
||
const res = await fetch(API + '/api/points/list')
|
||
const data = await res.json()
|
||
this.points = data.points || []
|
||
},
|
||
async addPoint() {
|
||
const res = await fetch(API + '/api/points/add', {
|
||
method: 'POST',
|
||
headers: { 'Content-Type': 'application/json' },
|
||
body: JSON.stringify({
|
||
name: this.newPointName || 'point_' + (this.points.length + 1),
|
||
photo_mode: this.newPointMode,
|
||
sequence: this.newPointSequence
|
||
})
|
||
})
|
||
const data = await res.json()
|
||
if (data.ok) {
|
||
await this.loadAllPoints()
|
||
this.newPointName = ''
|
||
}
|
||
},
|
||
async deletePoint(id) {
|
||
if (!confirm('确定删除该点位?')) return
|
||
await fetch(API + '/api/points/delete/' + id, { method: 'DELETE' })
|
||
await this.loadAllPoints()
|
||
},
|
||
async saveAllPoints() {
|
||
await fetch(API + '/api/points/save', {
|
||
method: 'POST',
|
||
headers: { 'Content-Type': 'application/json' },
|
||
body: JSON.stringify({ points: this.points })
|
||
})
|
||
alert('点位已保存')
|
||
},
|
||
getPoint(id) {
|
||
return this.points.find(p => p.id === id)
|
||
},
|
||
formatAngles(angles) {
|
||
if (!angles) return '—'
|
||
return angles.map(a => (a || 0).toFixed(1) + '°').join(' / ')
|
||
},
|
||
// === 机型管理 ===
|
||
async loadAllModels() {
|
||
const res = await fetch(API + '/api/models/list')
|
||
const data = await res.json()
|
||
this.models = data.models || []
|
||
this.models.forEach(m => {
|
||
if (!this.poseForm[m.id]) {
|
||
this.poseForm[m.id] = { name: '', photo_type: 'front', description: '' }
|
||
}
|
||
})
|
||
},
|
||
async addModel() {
|
||
const res = await fetch(API + '/api/models/add', {
|
||
method: 'POST',
|
||
headers: { 'Content-Type': 'application/json' },
|
||
body: JSON.stringify({
|
||
name: this.newModelName || 'model_' + (this.models.length + 1),
|
||
serial_prefix: this.newModelSerial,
|
||
description: ''
|
||
})
|
||
})
|
||
const data = await res.json()
|
||
if (data.ok) {
|
||
await this.loadAllModels()
|
||
this.newModelName = ''
|
||
this.newModelSerial = ''
|
||
}
|
||
},
|
||
async deleteModel(modelId) {
|
||
if (!confirm('确定删除该机型？其下所有姿态将被删除！')) return
|
||
await fetch(API + '/api/models/delete/' + modelId, { method: 'DELETE' })
|
||
await this.loadAllModels()
|
||
},
|
||
// === 姿态管理（属于机型）===
|
||
async addPose(modelId) {
|
||
const form = this.poseForm[modelId]
|
||
if (!form) return
|
||
await fetch(API + '/api/models/poses/add', {
|
||
method: 'POST',
|
||
headers: { 'Content-Type': 'application/json' },
|
||
body: JSON.stringify({
|
||
model_id: modelId,
|
||
name: form.name || '姿态' + ((this.getModel(modelId)?.poses?.length || 0) + 1),
|
||
photo_type: form.photo_type,
|
||
arm_angles: this.currentAngles,
|
||
speed: 500,
|
||
description: form.description || ''
|
||
})
|
||
})
|
||
await this.loadAllModels()
|
||
form.name = ''
|
||
form.description = ''
|
||
},
|
||
async deletePose(modelId, poseId) {
|
||
if (!confirm('确定删除该姿态？')) return
|
||
await fetch(API + '/api/models/' + modelId + '/poses/' + poseId, { method: 'DELETE' })
|
||
await this.loadAllModels()
|
||
},
|
||
getModel(id) {
|
||
return this.models.find(m => m.id === id)
|
||
},
|
||
// === 任务配置 ===
|
||
async loadMissionConfig() {
|
||
try {
|
||
const res = await fetch(API + '/api/mission/config')
|
||
const data = await res.json()
|
||
if (data.ok && data.config) {
|
||
this.missionConfig.rows = data.config.rows || 3
|
||
this.missionConfig.cols = data.config.cols || 3
|
||
this.missionConfig.grid = data.config.grid || []
|
||
this.missionConfig.positions = data.config.positions || []
|
||
this.missionConfig.machines = data.config.machines || []
|
||
}
|
||
} catch (e) { console.error('加载任务配置失败', e) }
|
||
},
|
||
async generateGrid() {
|
||
try {
|
||
const res = await fetch(API + '/api/mission/config', {
|
||
method: 'POST',
|
||
headers: { 'Content-Type': 'application/json' },
|
||
body: JSON.stringify({
|
||
rows: this.missionConfig.rows,
|
||
cols: this.missionConfig.cols,
|
||
grid: []
|
||
})
|
||
})
|
||
const data = await res.json()
|
||
if (data.ok) {
|
||
this.missionConfig.grid = data.config.grid || []
|
||
alert('✅ 网格已生成 (' + this.missionConfig.rows + '×' + this.missionConfig.cols + ')')
|
||
} else {
|
||
alert('❌ 网格生成失败')
|
||
}
|
||
} catch (e) { alert('请求失败: ' + e.message) }
|
||
},
|
||
async saveMissionConfig() {
|
||
try {
|
||
const res = await fetch(API + '/api/mission/config', {
|
||
method: 'POST',
|
||
headers: { 'Content-Type': 'application/json' },
|
||
body: JSON.stringify({
|
||
rows: this.missionConfig.rows,
|
||
cols: this.missionConfig.cols,
|
||
grid: this.missionConfig.grid
|
||
})
|
||
})
|
||
const data = await res.json()
|
||
if (data.ok) {
|
||
alert('✅ 网格配置已保存')
|
||
}
|
||
} catch (e) { alert('保存失败: ' + e.message) }
|
||
},
|
||
async loadAllMachines() {
|
||
try {
|
||
const res = await fetch(API + '/api/mission/machines')
|
||
const data = await res.json()
|
||
this.missionConfig.machines = data.machines || []
|
||
} catch (e) { console.error('加载机器列表失败', e) }
|
||
},
|
||
getMachineAt(ri, ci) {
|
||
if (!this.missionConfig.machines) return null
|
||
return this.missionConfig.machines.find(m => m.row === ri && m.col === ci) || null
|
||
},
|
||
getPositionAt(ri, ci) {
|
||
if (!this.missionConfig.machines) return null
|
||
const machine = this.getMachineAt(ri, ci)
|
||
if (!machine) return null
|
||
if (ri === 0) return machine.front
|
||
const prevMachine = this.getMachineAt(ri - 1, ci)
|
||
return prevMachine ? prevMachine.back : machine.front
|
||
},
|
||
onCellClick(ri, ci) {
|
||
const m = this.getMachineAt(ri, ci)
|
||
if (!m) {
|
||
// 无机器 → 创建机器记录并选中
|
||
this.createMachine(ri, ci).then(ok => {
|
||
if (ok) {
|
||
const created = this.getMachineAt(ri, ci)
|
||
if (created) this.selectMachine(created)
|
||
}
|
||
})
|
||
} else {
|
||
// 有机器 → 选中
|
||
this.selectMachine(m)
|
||
}
|
||
},
|
||
async createMachine(ri, ci) {
|
||
try {
|
||
const machineId = 'm_' + ri + '_' + ci
|
||
const res = await fetch(API + '/api/mission/machines/add', {
|
||
method: 'POST',
|
||
headers: { 'Content-Type': 'application/json' },
|
||
body: JSON.stringify({
|
||
id: machineId,
|
||
row: ri,
|
||
col: ci,
|
||
front: { coords: [0, 0, 0], poses: [] },
|
||
back: { coords: [0, 0, 0], poses: [] }
|
||
})
|
||
})
|
||
const data = await res.json()
|
||
if (!data.ok && data.error !== '该位置已有机器') {
|
||
alert('创建机器失败: ' + (data.error || '未知错误'))
|
||
return false
|
||
}
|
||
await this.loadAllMachines()
|
||
return true
|
||
} catch (e) { alert('创建机器失败: ' + e.message); return false }
|
||
},
|
||
selectMachine(machine) {
|
||
if (!machine.front) machine.front = { coords: [0, 0, 0], poses: [] }
|
||
else if (!Array.isArray(machine.front.coords)) machine.front.coords = [0, 0, 0]
|
||
if (!machine.back) machine.back = { coords: [0, 0, 0], poses: [] }
|
||
else if (!Array.isArray(machine.back.coords)) machine.back.coords = [0, 0, 0]
|
||
this.selectedMachine = machine
|
||
},
|
||
clearSelection() {
|
||
this.selectedMachine = null
|
||
},
|
||
async deleteMachine(machineId) {
|
||
if (!confirm('确定删除此机器？')) return
|
||
try {
|
||
await fetch(API + '/api/mission/machines/' + machineId, { method: 'DELETE' })
|
||
this.selectedMachine = null
|
||
await this.loadAllMachines()
|
||
} catch (e) { alert('删除失败: ' + e.message) }
|
||
},
|
||
async saveMachineCoords() {
|
||
if (!this.selectedMachine) return
|
||
try {
|
||
const res = await fetch(API + '/api/mission/machines/' + this.selectedMachine.id, {
|
||
method: 'PUT',
|
||
headers: { 'Content-Type': 'application/json' },
|
||
body: JSON.stringify({
|
||
front: this.selectedMachine.front,
|
||
back: this.selectedMachine.back
|
||
})
|
||
})
|
||
if (res.ok) {
|
||
this.mapMsg = '✅ 机器坐标已保存'
|
||
setTimeout(() => this.mapMsg = '', 2000)
|
||
} else {
|
||
alert('保存失败: ' + res.status)
|
||
}
|
||
} catch (e) { alert('保存失败: ' + e.message) }
|
||
},
|
||
async readPosition(side) {
|
||
if (!this.agvConnected) { alert('AGV 未连接'); return }
|
||
try {
|
||
const res = await fetch(API + '/api/agv/position')
|
||
const data = await res.json()
|
||
if (data.ok && data.position) {
|
||
const [x, y, theta] = data.position
|
||
if (side === 'front') {
|
||
this.selectedMachine.front.coords = [x, y, theta]
|
||
} else {
|
||
this.selectedMachine.back.coords = [x, y, theta]
|
||
}
|
||
} else {
|
||
alert('读取位置失败: ' + (data.error || '未知错误'))
|
||
}
|
||
} catch (e) { alert('读取位置失败: ' + e.message) }
|
||
},
|
||
async addPoseToMachine(machineId, side) {
|
||
const name = this.poseForm.name || '姿态' + (((this.selectedMachine && this.selectedMachine[side] && this.selectedMachine[side].poses) || []).length + 1)
|
||
try {
|
||
const res = await fetch(API + '/api/mission/poses/' + machineId + '/' + side, {
|
||
method: 'POST',
|
||
headers: { 'Content-Type': 'application/json' },
|
||
body: JSON.stringify({
|
||
name: name,
|
||
arm_angles: this.currentAngles.length === 6 ? this.currentAngles : [0, 0, 0, 0, 0, 0],
|
||
speed: 500,
|
||
description: ''
|
||
})
|
||
})
|
||
const data = await res.json()
|
||
if (data.ok) {
|
||
this.poseForm.name = ''
|
||
await this.loadAllMachines()
|
||
// 重新选中当前机器以刷新姿态列表
|
||
const updated = this.getMachineAt(this.selectedMachine.row, this.selectedMachine.col)
|
||
if (updated) this.selectMachine(updated)
|
||
} else {
|
||
alert('添加姿态失败: ' + (data.error || '未知错误'))
|
||
}
|
||
} catch (e) { alert('添加姿态失败: ' + e.message) }
|
||
},
|
||
async deletePose(machineId, side, poseId) {
|
||
if (!confirm('确定删除此姿态？')) return
|
||
try {
|
||
await fetch(API + '/api/mission/poses/' + machineId + '/' + side + '/' + poseId, { method: 'DELETE' })
|
||
await this.loadAllMachines()
|
||
if (this.selectedMachine) {
|
||
const updated = this.getMachineAt(this.selectedMachine.row, this.selectedMachine.col)
|
||
if (updated) this.selectMachine(updated)
|
||
}
|
||
} catch (e) { alert('删除姿态失败: ' + e.message) }
|
||
},
|
||
async capturePosition(ri, ci, side) {
|
||
if (!this.agvConnected) { alert('请先连接AGV'); return }
|
||
let machine = this.getMachineAt(ri, ci)
|
||
if (!machine) {
|
||
try {
|
||
const machineId = 'm_' + ri + '_' + ci
|
||
const res = await fetch(API + '/api/mission/machines/add', {
|
||
method: 'POST',
|
||
headers: { 'Content-Type': 'application/json' },
|
||
body: JSON.stringify({
|
||
id: machineId,
|
||
row: ri,
|
||
col: ci,
|
||
front: { coords: [0, 0, 0], poses: [] },
|
||
back: { coords: [0, 0, 0], poses: [] }
|
||
})
|
||
})
|
||
if (!res.ok) throw new Error('创建失败')
|
||
await this.loadAllMachines()
|
||
machine = this.getMachineAt(ri, ci)
|
||
} catch (e) { alert('创建机器失败: ' + e.message); return }
|
||
}
|
||
try {
|
||
const res = await fetch(API + '/api/agv/position')
|
||
const pos = await res.json()
|
||
let x = 0, y = 0, theta = 0
|
||
if (pos.ok && pos.position && Array.isArray(pos.position)) {
|
||
x = pos.position[0] || 0
|
||
y = pos.position[1] || 0
|
||
theta = pos.position[2] || 0
|
||
} else {
|
||
alert('读取位置失败: ' + (pos.error || '未知错误'))
|
||
return
|
||
}
|
||
if (!machine) { machine = this.getMachineAt(ri, ci) }
|
||
if (!machine) { alert('机器记录不存在'); return }
|
||
if (side === 'front') { machine.front.coords = [x, y, theta] } else { machine.back.coords = [x, y, theta] }
|
||
await fetch(API + '/api/mission/machines/' + machine.id, {
|
||
method: 'PUT',
|
||
headers: { 'Content-Type': 'application/json' },
|
||
body: JSON.stringify(machine)
|
||
})
|
||
alert((side === 'front' ? '正面' : '背面') + '点位已更新: (' + x.toFixed(2) + ',' + y.toFixed(2) + ',' + theta.toFixed(2) + ')')
|
||
} catch (e) { alert('读取位置失败: ' + e.message) }
|
||
},
|
||
async refreshSequence() {
|
||
try {
|
||
const res = await fetch(API + '/api/mission/generate_sequence')
|
||
const data = await res.json()
|
||
if (data.ok) {
|
||
this.sequence = data.sequence || []
|
||
}
|
||
} catch (e) { console.error('刷新序列失败', e) }
|
||
},
|
||
// === 机械臂 ===
|
||
async refreshAngles() {
|
||
if (!this.armConnected) return
|
||
try {
|
||
const res = await fetch(API + '/api/arm/get_angles')
|
||
const data = await res.json()
|
||
if (data.ok && data.angles) {
|
||
this.currentAngles = data.angles
|
||
this.angleInputs = [...data.angles]
|
||
}
|
||
} catch (e) {}
|
||
},
|
||
async setAngle(idx, val) {
|
||
await fetch(API + '/api/arm/set_angle', {
|
||
method: 'POST',
|
||
headers: { 'Content-Type': 'application/json' },
|
||
body: JSON.stringify({ joint: 'J' + (idx + 1), angle: val })
|
||
})
|
||
},
|
||
async applyAngles() {
|
||
await fetch(API + '/api/arm/set_angles', {
|
||
method: 'POST',
|
||
headers: { 'Content-Type': 'application/json' },
|
||
body: JSON.stringify({ angles: this.angleInputs, speed: 500 })
|
||
})
|
||
},
|
||
jogStart(idx, dir) {
|
||
const joint = 'J' + (idx + 1)
|
||
fetch(API + '/api/arm/jog', {
|
||
method: 'POST',
|
||
headers: { 'Content-Type': 'application/json' },
|
||
body: JSON.stringify({ joint, direction: dir })
|
||
})
|
||
this.jogIntervals[idx] = setInterval(() => this.refreshAngles(), 200)
|
||
},
|
||
jogStop(idx) {
|
||
clearInterval(this.jogIntervals[idx])
|
||
const joint = 'J' + (idx + 1)
|
||
fetch(API + '/api/arm/jog', {
|
||
method: 'POST',
|
||
headers: { 'Content-Type': 'application/json' },
|
||
body: JSON.stringify({ joint, direction: 0 })
|
||
})
|
||
setTimeout(() => this.refreshAngles(), 300)
|
||
},
|
||
onPreviewError(e) {
|
||
e.target.style.display = 'none'
|
||
},
|
||
// === AGV 控制 ===
|
||
async refreshAgvPosition() {
|
||
if (!this.agvConnected) return
|
||
try {
|
||
const res = await fetch(API + '/api/agv/position')
|
||
const data = await res.json()
|
||
if (data.ok) {
|
||
this.agvPosition = data.position
|
||
this.agvBattery = data.battery
|
||
}
|
||
} catch (e) {}
|
||
},
|
||
agvMoveStart(dir) {
|
||
if (!this.agvConnected) return
|
||
fetch(API + '/api/agv/move', {
|
||
method: 'POST',
|
||
headers: { 'Content-Type': 'application/json' },
|
||
body: JSON.stringify({ direction: dir, speed: this.agvSpeed })
|
||
})
|
||
},
|
||
agvMoveStop() {
|
||
fetch(API + '/api/agv/move', {
|
||
method: 'POST',
|
||
headers: { 'Content-Type': 'application/json' },
|
||
body: JSON.stringify({ direction: 'stop' })
|
||
})
|
||
},
|
||
async agvStop() {
|
||
await fetch(API + '/api/agv/stop', { method: 'POST' })
|
||
},
|
||
async agvResetCollision() {
|
||
if (!this.agvConnected) {
|
||
alert('AGV 未连接')
|
||
return
|
||
}
|
||
if (!confirm('确定执行撞物体后复位？')) return
|
||
try {
|
||
const res = await fetch(API + '/api/agv/reset', { method: 'POST' })
|
||
const data = await res.json()
|
||
if (data.ok) {
|
||
alert('✅ ' + data.message)
|
||
await this.refresh()
|
||
await this.refreshAgvPosition()
|
||
} else {
|
||
alert('❌ 复位失败: ' + (data.error || '未知错误'))
|
||
}
|
||
} catch (e) {
|
||
alert('❌ 复位请求失败: ' + e.message)
|
||
}
|
||
},
|
||
async initPose() {
|
||
if (!this.agvConnected) { alert('AGV 未连接'); return }
|
||
if (!confirm('确定要将 AMCL 初始位置设为 (0,0,0) 吗？这会重置定位。')) return
|
||
this.initPoseLoading = true
|
||
this.initPoseMsg = ''
|
||
try {
|
||
const res = await fetch(API + '/api/mission/init_pose', { method: 'POST' })
|
||
const data = await res.json()
|
||
if (data.ok) {
|
||
this.initPoseMsg = '✅ ' + (data.message || '初始化成功')
|
||
} else {
|
||
this.initPoseMsg = '❌ ' + (data.error || '初始化失败')
|
||
}
|
||
} catch (e) {
|
||
this.initPoseMsg = '❌ 请求失败: ' + e.message
|
||
}
|
||
this.initPoseLoading = false
|
||
setTimeout(() => { this.initPoseMsg = '' }, 5000)
|
||
},
|
||
async initAmclPose() {
|
||
if (!this.agvConnected) { alert('AGV 未连接'); return }
|
||
if (!confirm('确定要将 AMCL 初始位置设为 (0,0,0) 吗？这会重置定位。')) return
|
||
this.initAmclPoseLoading = true
|
||
this.initAmclPoseMsg = ''
|
||
try {
|
||
const res = await fetch(API + '/api/mission/init_pose', { method: 'POST' })
|
||
const data = await res.json()
|
||
if (data.ok) {
|
||
this.initAmclPoseMsg = '✅ ' + (data.message || '初始化成功')
|
||
} else {
|
||
this.initAmclPoseMsg = '❌ ' + (data.error || '初始化失败')
|
||
}
|
||
} catch (e) {
|
||
this.initAmclPoseMsg = '❌ 请求失败: ' + e.message
|
||
}
|
||
this.initAmclPoseLoading = false
|
||
setTimeout(() => { this.initAmclPoseMsg = '' }, 5000)
|
||
},
|
||
|
||
getPointAt(pointRow, col) {
|
||
var positions = this.missionConfig.positions || []
|
||
// 在独立 positions 数组中查找 (pointRow, col)
|
||
for (var i = 0; i < positions.length; i++) {
|
||
var p = positions[i]
|
||
if (parseInt(p.row) === pointRow && parseInt(p.col) === col) {
|
||
// 优先找 shoot，其次找 front/back
|
||
if (p.side === 'shoot') return p
|
||
// 再看有没有同一(row,col)的shoot
|
||
}
|
||
}
|
||
// 再找同(row,col)的shoot类型
|
||
for (var i = 0; i < positions.length; i++) {
|
||
var p = positions[i]
|
||
if (parseInt(p.row) === pointRow && parseInt(p.col) === col && p.side === 'shoot') {
|
||
return p
|
||
}
|
||
}
|
||
// 兼容旧数据：尝试从机器对象的 front/back 获取
|
||
var machineAbove = this.getMachineAt(pointRow - 1, col) // 上面的机器
|
||
var machineBelow = this.getMachineAt(pointRow, col) // 下面的机器
|
||
if (pointRow === 0 && machineBelow) {
|
||
// 第一个点位行 → 下面机器的正面
|
||
return machineBelow.front || { coords: [0, 0, 0], poses: [] }
|
||
}
|
||
if (pointRow === this.missionConfig.rows && machineAbove) {
|
||
// 最后一个点位行 → 上面机器的背面
|
||
return machineAbove.back || { coords: [0, 0, 0], poses: [] }
|
||
}
|
||
// 中间点位行：优先返回上面机器的背面
|
||
if (machineAbove && machineAbove.back) {
|
||
return machineAbove.back
|
||
}
|
||
if (machineBelow && machineBelow.front) {
|
||
return machineBelow.front
|
||
}
|
||
return null
|
||
},
|
||
|
||
// 点位归属标签
|
||
getPointOwnerLabel(pointRow, col) {
|
||
var rows = this.missionConfig.rows
|
||
var labels = []
|
||
if (pointRow === 0) {
|
||
var m = this.getMachineAt(0, col)
|
||
if (m) labels.push('机器' + (m.row + 1) + '正面')
|
||
} else if (pointRow === rows) {
|
||
var m2 = this.getMachineAt(rows - 1, col)
|
||
if (m2) labels.push('机器' + (m2.row + 1) + '背面')
|
||
} else {
|
||
var mAbove = this.getMachineAt(pointRow - 1, col)
|
||
var mBelow = this.getMachineAt(pointRow, col)
|
||
if (mAbove) labels.push('机器' + (mAbove.row + 1) + '背面')
|
||
if (mBelow) labels.push('机器' + (mBelow.row + 1) + '正面')
|
||
}
|
||
if (labels.length === 0) return '第' + (col + 1) + '列 · 无归属'
|
||
return '第' + (col + 1) + '列 · ' + labels.join('/')
|
||
},
|
||
|
||
canClearPoint(pointRow, col) {
|
||
var rows = this.missionConfig.rows
|
||
if (pointRow > 0 && pointRow <= rows) {
|
||
var mAbove = this.getMachineAt(pointRow - 1, col)
|
||
if (mAbove) return false
|
||
}
|
||
if (pointRow >= 0 && pointRow < rows) {
|
||
var mBelow = this.getMachineAt(pointRow, col)
|
||
if (mBelow) return false
|
||
}
|
||
return true
|
||
},
|
||
|
||
openPointEdit(pointRow, col) {
|
||
var existing = this.getPointAt(pointRow, col)
|
||
if (existing && existing.coords) {
|
||
this.pointEditor.x = existing.coords[0] !== undefined ? existing.coords[0] : 0
|
||
this.pointEditor.y = existing.coords[1] !== undefined ? existing.coords[1] : 0
|
||
this.pointEditor.yaw = existing.coords[2] !== undefined ? existing.coords[2] : 0
|
||
} else {
|
||
this.pointEditor.x = 0
|
||
this.pointEditor.y = 0
|
||
this.pointEditor.yaw = 0
|
||
}
|
||
this.editingPoint = { pointRow: pointRow, col: col }
|
||
},
|
||
|
||
closePointEdit() {
|
||
this.editingPoint = null
|
||
},
|
||
|
||
async loadPointFromAgv() {
|
||
if (!this.agvConnected) { alert('请先连接AGV'); return }
|
||
try {
|
||
const res = await fetch(API + '/api/agv/position')
|
||
const pos = await res.json()
|
||
if (pos.ok && pos.position && Array.isArray(pos.position)) {
|
||
this.pointEditor.x = pos.position[0] ?? 0
|
||
this.pointEditor.y = pos.position[1] ?? 0
|
||
this.pointEditor.yaw = pos.position[2] ?? 0
|
||
alert('✅ 已读取AGV位置: (' + this.pointEditor.x.toFixed(2) + ', ' + this.pointEditor.y.toFixed(2) + ', ' + this.pointEditor.yaw.toFixed(2) + ')')
|
||
} else if (pos.ok && (!pos.position || !Array.isArray(pos.position))) {
|
||
alert('⚠️ AGV 未发布位置数据，请检查 AGV 传感器是否正常')
|
||
} else {
|
||
alert('读取AGV位置失败: ' + (pos.error || '未知错误'))
|
||
}
|
||
} catch (e) { alert('读取AGV位置失败: ' + e.message) }
|
||
},
|
||
|
||
async savePoint() {
|
||
if (!this.editingPoint) return
|
||
var pointRow = this.editingPoint.pointRow
|
||
var col = this.editingPoint.col
|
||
var coords = [this.pointEditor.x, this.pointEditor.y, this.pointEditor.yaw]
|
||
try {
|
||
var saveRes = await fetch(API + '/api/mission/positions', {
|
||
method: 'POST',
|
||
headers: { 'Content-Type': 'application/json' },
|
||
body: JSON.stringify({
|
||
row: pointRow, col: col, side: 'shoot', coords: coords, poses: []
|
||
})
|
||
})
|
||
var saveData = await saveRes.json()
|
||
if (!saveData.ok) { alert('保存点位失败: ' + (saveData.error || '未知错误')); return }
|
||
this.syncPointToMachines(pointRow, col, coords)
|
||
await this.loadMissionConfig()
|
||
alert('✅ 点位坐标已保存: (' + coords[0].toFixed(2) + ', ' + coords[1].toFixed(2) + ', ' + coords[2].toFixed(2) + ')')
|
||
this.closePointEdit()
|
||
} catch (e) { alert('保存点位失败: ' + e.message) }
|
||
},
|
||
|
||
syncPointToMachines(pointRow, col, coords) {
|
||
var rows = this.missionConfig.rows
|
||
if (pointRow === 0) {
|
||
var m0 = this.getMachineAt(0, col)
|
||
if (m0) this.updateMachineSide(m0, 'front', coords)
|
||
return
|
||
}
|
||
if (pointRow === rows) {
|
||
var mLast = this.getMachineAt(rows - 1, col)
|
||
if (mLast) this.updateMachineSide(mLast, 'back', coords)
|
||
return
|
||
}
|
||
var mAbove = this.getMachineAt(pointRow - 1, col)
|
||
var mBelow = this.getMachineAt(pointRow, col)
|
||
if (mAbove) this.updateMachineSide(mAbove, 'back', coords)
|
||
if (mBelow) this.updateMachineSide(mBelow, 'front', coords)
|
||
},
|
||
|
||
async updateMachineSide(machine, side, coords) {
|
||
try {
|
||
var update = {}
|
||
update[side] = { coords: coords, poses: (machine[side] && machine[side].poses) ? machine[side].poses : [] }
|
||
await fetch(API + '/api/mission/machines/' + machine.id, {
|
||
method: 'PUT', headers: { 'Content-Type': 'application/json' },
|
||
body: JSON.stringify(update)
|
||
})
|
||
} catch (e) { console.error('同步机器坐标失败', e) }
|
||
},
|
||
|
||
async clearPoint() {
|
||
if (!this.editingPoint) return
|
||
var pointRow = this.editingPoint.pointRow
|
||
var col = this.editingPoint.col
|
||
if (!this.canClearPoint(pointRow, col)) {
|
||
var ownerLabel = this.getPointOwnerLabel(pointRow, col)
|
||
alert('⚠️ 无法清空！此点位服务于: ' + ownerLabel + '\n必须先移除相关机器才能清空此点位。')
|
||
return
|
||
}
|
||
if (!confirm('确定清空此点位坐标？')) return
|
||
try {
|
||
await fetch(API + '/api/mission/positions/' + pointRow + '/' + col, { method: 'DELETE' })
|
||
await this.loadMissionConfig()
|
||
alert('✅ 点位已清空')
|
||
this.closePointEdit()
|
||
} catch (e) { alert('清空点位失败: ' + e.message) }
|
||
},
|
||
|
||
async navigateToPoint() {
|
||
if (!this.editingPoint || !this.pointEditor) return
|
||
var coords = [this.pointEditor.x, this.pointEditor.y, this.pointEditor.yaw]
|
||
if (!confirm('确定导航到点位 (' + coords[0].toFixed(2) + ', ' + coords[1].toFixed(2) + ') 吗？')) return
|
||
try {
|
||
var res = await fetch(API + '/api/navigate/to', {
|
||
method: 'POST', headers: { 'Content-Type': 'application/json' },
|
||
body: JSON.stringify({ x: coords[0], y: coords[1], yaw: coords[2] })
|
||
})
|
||
var data = await res.json()
|
||
if (data.ok) {
|
||
alert('✅ 导航已启动')
|
||
} else {
|
||
alert('❌ ' + (data.error || '导航启动失败'))
|
||
}
|
||
} catch (e) { alert('导航请求失败: ' + e.message) }
|
||
},
|
||
|
||
async refreshPoseAngles(modelId, poseId) {
|
||
if (!this.armConnected) { alert('机械臂未连接'); return }
|
||
try {
|
||
var res = await fetch(API + '/api/arm/get_angles')
|
||
var data = await res.json()
|
||
if (data.ok && data.angles) {
|
||
var model = this.models.find(m => m.id === modelId)
|
||
if (model) {
|
||
var pose = model.poses.find(p => p.id === poseId)
|
||
if (pose) {
|
||
pose.arm_angles = [...data.angles]
|
||
await fetch(API + '/api/models/' + modelId + '/poses/' + poseId, {
|
||
method: 'PUT', headers: { 'Content-Type': 'application/json' },
|
||
body: JSON.stringify({ arm_angles: pose.arm_angles })
|
||
})
|
||
}
|
||
}
|
||
}
|
||
} catch (e) { console.error('refreshPoseAngles error:', e) }
|
||
},
|
||
|
||
async applyPoseAngles(modelId, poseId) {
|
||
var model = this.models.find(m => m.id === modelId)
|
||
if (model) {
|
||
var pose = model.poses.find(p => p.id === poseId)
|
||
if (pose && pose.arm_angles) {
|
||
try {
|
||
await fetch(API + '/api/arm/set_angles', {
|
||
method: 'POST', headers: { 'Content-Type': 'application/json' },
|
||
body: JSON.stringify({ angles: pose.arm_angles, speed: 500 })
|
||
})
|
||
} catch (e) { console.error('applyPoseAngles error:', e) }
|
||
}
|
||
}
|
||
},
|
||
|
||
async adjustPoseAngle(modelId, poseId, jointIndex, delta) {
|
||
var model = this.models.find(m => m.id === modelId)
|
||
if (model) {
|
||
var pose = model.poses.find(p => p.id === poseId)
|
||
if (pose) {
|
||
if (!pose.arm_angles) pose.arm_angles = [0, 0, 0, 0, 0, 0]
|
||
pose.arm_angles[jointIndex] = (pose.arm_angles[jointIndex] || 0) + delta
|
||
await fetch(API + '/api/models/' + modelId + '/poses/' + poseId, {
|
||
method: 'PUT', headers: { 'Content-Type': 'application/json' },
|
||
body: JSON.stringify({ arm_angles: pose.arm_angles })
|
||
})
|
||
await fetch(API + '/api/arm/set_angle', {
|
||
method: 'POST', headers: { 'Content-Type': 'application/json' },
|
||
body: JSON.stringify({ joint: 'J' + (jointIndex + 1), angle: pose.arm_angles[jointIndex] })
|
||
})
|
||
}
|
||
}
|
||
},
|
||
}
|
||
}).mount('#app')
|