ywb
259 lines
7.8 KiB
JavaScript
259 lines
7.8 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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missionState: 'idle',
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progress: 0,
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tasks: [],
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report: null,
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agvPreviewUrl: API + '/api/camera/preview',
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armPreviewUrl: API + '/api/camera/arm_refresh',
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polling: null,
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logs: [],
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showQrModal: false,
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qrSubmitting: false,
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qrValue: '',
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// 网格任务显示
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missionRows: 0,
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missionCols: 0,
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missionGrid: [],
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pointStatus: {},
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machineStatus: {},
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// 错误弹窗 / 单步执行
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waitingError: false,
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errorMsg: '',
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waitingStep: false,
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stepLabel: '',
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// 任务步骤控制开关（机械臂初始化并入AGV移动）
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agvMoveEnabled: true,
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qrScanEnabled: true,
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frontPhotoEnabled: true,
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backPhotoEnabled: true,
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// 速度控制
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agvSpeed: 0.5,
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armSpeed: 500,
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}
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},
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computed: {
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missionStateText() {
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const map = {
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idle: '空闲',
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running: '任务运行中',
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paused: '已暂停',
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completed: '已完成',
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waiting_qr: '等待输入二维码',
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waiting_error: '⚠️ 执行错误',
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waiting_step: '🦶 等待步骤确认',
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}
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return map[this.missionState] || '未知'
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},
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},
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mounted() {
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this.poll()
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},
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beforeUnmount() {
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if (this.polling) clearInterval(this.polling)
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},
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methods: {
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poll() {
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this.refresh()
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this.pollLogs()
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this.polling = setInterval(() => {
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this.refresh()
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this.pollLogs()
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}, 2000)
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},
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async refresh() {
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try {
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const res = await fetch(API + '/api/mission/state')
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const data = await res.json()
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this.missionState = data.status || 'idle'
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this.progress = data.progress || 0
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if (data.tasks) this.tasks = data.tasks
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// 网格数据
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if (data.rows) this.missionRows = data.rows
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if (data.cols) this.missionCols = data.cols
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if (data.grid) this.missionGrid = data.grid
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if (data.point_status) this.pointStatus = data.point_status
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if (data.machine_status) this.machineStatus = data.machine_status
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// 错误弹窗
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if (data.waiting_error) {
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this.waitingError = true
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this.errorMsg = data.error_msg || '任务执行出错'
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} else {
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this.waitingError = false
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}
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// 步骤确认弹窗
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if (data.waiting_step) {
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this.waitingStep = true
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this.stepLabel = data.step_label || ''
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} else {
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this.waitingStep = false
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}
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// QR 弹窗（防止提交后重复弹出）
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if (this.missionState !== 'waiting_qr') {
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this.qrSubmitting = false
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}
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if (this.missionState === 'waiting_qr' && !this.showQrModal && !this.qrSubmitting) {
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this.showQrModal = true
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this.qrValue = ''
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}
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// 完成后获取报告
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if (this.missionState === 'idle' && this.tasks.length > 0) {
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const reportRes = await fetch(API + '/api/mission/report')
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const reportData = await reportRes.json()
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this.report = reportData.report
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}
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} catch (e) {}
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},
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async pollLogs() {
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if (this.missionState !== 'running' && this.missionState !== 'waiting_qr' && this.missionState !== 'waiting_error' && this.missionState !== 'waiting_step') return
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try {
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const res = await fetch(API + '/api/mission/log')
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const data = await res.json()
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if (data.log) this.logs = data.log
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if (data.progress != null) this.progress = data.progress
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if (data.tasks) this.tasks = data.tasks
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// 自动滚到底
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this.$nextTick(() => {
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const box = this.$refs.logBox
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if (box) box.scrollTop = box.scrollHeight
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})
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} catch (e) {}
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},
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async startMission() {
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if (this.missionState !== 'idle') return
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this.logs = []
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this.progress = 0
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this.report = null
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this.showQrModal = false
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await fetch(API + '/api/mission/start', {
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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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agv_move: this.agvMoveEnabled,
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qr_scan: this.qrScanEnabled,
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front_photo: this.frontPhotoEnabled,
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back_photo: this.backPhotoEnabled,
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agv_speed: this.agvSpeed,
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arm_speed: this.armSpeed,
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})
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})
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this.missionState = 'running'
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},
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async startSingleStep() {
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if (this.missionState !== 'idle') return
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this.logs = []
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this.progress = 0
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this.report = null
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this.showQrModal = false
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await fetch(API + '/api/mission/start', {
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method: 'POST',
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headers: { 'Content-Type': 'application/json' },
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body: JSON.stringify({ single_step: true })
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})
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if (this.polling) clearInterval(this.polling)
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this.poll()
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},
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async skipError() {
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await fetch(API + '/api/mission/error-skip', { method: 'POST' })
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this.waitingError = false
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},
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async abortError() {
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await fetch(API + '/api/mission/error-abort', { method: 'POST' })
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this.waitingError = false
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},
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async confirmStep() {
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await fetch(API + '/api/mission/singlestep/confirm', { method: 'POST' })
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this.waitingStep = false
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},
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async retryStep() {
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await fetch(API + '/api/mission/singlestep/retry', { method: 'POST' })
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this.waitingStep = false
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},
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async abortStep() {
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await fetch(API + '/api/mission/singlestep/abort', { method: 'POST' })
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this.waitingStep = false
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},
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async pauseMission() {
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await fetch(API + '/api/mission/pause', { method: 'POST' })
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this.missionState = 'paused'
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},
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async resumeMission() {
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await fetch(API + '/api/mission/resume', { method: 'POST' })
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this.missionState = 'running'
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this.showQrModal = false
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},
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async stopMission() {
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await fetch(API + '/api/mission/stop', { method: 'POST' })
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this.missionState = 'idle'
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this.showQrModal = false
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this.waitingError = false
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this.waitingStep = false
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},
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async submitQr() {
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const val = this.qrValue.trim()
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await fetch(API + '/api/mission/manual-qr', {
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method: 'POST',
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headers: { 'Content-Type': 'application/json' },
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body: JSON.stringify({ qr: val || ' ' })
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})
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this.qrSubmitting = true
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this.showQrModal = false
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this.qrValue = ''
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},
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cancelQr() {
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this.qrSubmitting = true
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this.showQrModal = false
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this.qrValue = ''
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fetch(API + '/api/mission/manual-qr', {
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method: 'POST',
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headers: { 'Content-Type': 'application/json' },
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body: JSON.stringify({ qr: 'SKIP' })
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})
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},
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onAgvPreviewError(e) {
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e.target.style.display = 'none'
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},
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onArmPreviewError(e) {
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e.target.style.display = 'none'
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},
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// ===== 网格任务显示方法 =====
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getPointStatus(pr, c) {
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return (this.pointStatus && this.pointStatus[pr + '_' + c]) || 'pending'
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},
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navIcon(s) {
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const m = { pending: '⏳', active: '🔄', done: '✅', skipped: '⏭️' }
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return m[s] || '⏳'
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},
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navLabel(s) {
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const m = { pending: '等待', active: '导航中', done: '到达', skipped: '空位' }
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return m[s] || '等待'
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},
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hasMachine(r, c) {
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const key = r + '_' + c
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const ms = this.machineStatus && this.machineStatus[key]
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return ms && ms.has_machine
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},
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getMachineClass(r, c) {
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const key = r + '_' + c
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const ms = this.machineStatus && this.machineStatus[key]
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if (!ms) return ''
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const s = ms.status || 'pending'
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return 'mstatus-' + s
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},
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getMachineField(r, c, field) {
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const key = r + '_' + c
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const ms = this.machineStatus && this.machineStatus[key]
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if (!ms) return ''
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return ms[field] || ''
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}
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}
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}).mount('#app') |