ywb
439 lines
15 KiB
JavaScript
439 lines
15 KiB
JavaScript
const { createApp } = Vue
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const API = ''
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createApp({
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data() {
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return {
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tab: 'map',
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// 任务配置
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missionConfig: { rows: 3, cols: 3, grid: [], machines: [] },
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selectedMachine: null,
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// 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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// 点位
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points: [],
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newPointName: '',
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newPointMode: 'front',
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newPointSequence: ['front', 'back'],
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// 机型（姿态组）
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models: [],
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selectedModelId: null,
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newModelName: '',
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newModelSerial: '',
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poseForm: {},
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// 机械臂
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armConnected: false,
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currentAngles: [],
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angleInputs: [],
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previewUrl: API + '/api/camera/preview',
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jogIntervals: {},
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// AGV
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cameraOpened: false,
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agvConnected: false,
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agvBattery: null,
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agvPosition: null,
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agvSpeed: 0.5,
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agvMoveInterval: null,
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agvCameraUrl: API + '/api/camera/refresh',
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agvCameraTimer: null,
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}
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},
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mounted() {
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this.refresh()
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this.refreshAngles()
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},
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watch: {
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tab(val) {
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if (val === 'agv') {
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this.agvCameraTimer = setInterval(() => {
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this.agvCameraUrl = API + '/api/camera/refresh?t=' + Date.now()
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}, 1000)
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} else {
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if (this.agvCameraTimer) {
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clearInterval(this.agvCameraTimer)
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this.agvCameraTimer = null
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}
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}
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}
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},
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beforeUnmount() {
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Object.values(this.jogIntervals).forEach(i => clearInterval(i))
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if (this.agvCameraTimer) clearInterval(this.agvCameraTimer)
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},
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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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// 如果地图已加载，自动获取地图图像和元数据
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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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},
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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) return 50
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const [x, y, yaw] = coords
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const { resolution, origin, width } = this.mapMeta
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const px = (x - origin[0]) / (resolution * width) * 100
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return Math.max(0, Math.min(100, px))
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},
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getMapY(coords) {
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if (!coords || !this.mapMeta) return 50
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const [x, y, yaw] = coords
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const { resolution, origin, height } = this.mapMeta
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const py = (y - origin[1]) / (resolution * height) * 100
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return Math.max(0, Math.min(100, 100 - py))
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},
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async saveMap() {
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await fetch(API + '/api/map/save', {
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method: 'POST',
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headers: { 'Content-Type': 'application/json' },
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body: JSON.stringify(this.mapForm)
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})
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this.mapMsg = '✅ 地图配置已保存'
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},
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// === 点位 ===
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async loadAllPoints() {
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const res = await fetch(API + '/api/points/list')
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const data = await res.json()
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this.points = data.points || []
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},
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async addPoint() {
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const res = await fetch(API + '/api/points/add', {
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method: 'POST',
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headers: { 'Content-Type': 'application/json' },
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body: JSON.stringify({
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name: this.newPointName || 'point_' + (this.points.length + 1),
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photo_mode: this.newPointMode,
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sequence: this.newPointSequence
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})
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})
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const data = await res.json()
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if (data.ok) {
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await this.loadAllPoints()
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this.newPointName = ''
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}
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},
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async deletePoint(id) {
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if (!confirm('确定删除该点位?')) return
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await fetch(API + '/api/points/delete/' + id, { method: 'DELETE' })
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await this.loadAllPoints()
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},
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async saveAllPoints() {
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await fetch(API + '/api/points/save', {
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method: 'POST',
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headers: { 'Content-Type': 'application/json' },
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body: JSON.stringify({ points: this.points })
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})
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alert('点位已保存')
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},
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getPoint(id) {
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return this.points.find(p => p.id === id)
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},
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formatAngles(angles) {
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if (!angles) return '—'
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return angles.map(a => (a || 0).toFixed(1) + '°').join(' / ')
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},
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// === 机型管理 ===
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async loadAllModels() {
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const res = await fetch(API + '/api/models/list')
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const data = await res.json()
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this.models = data.models || []
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// 初始化 poseForm
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this.models.forEach(m => {
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if (!this.poseForm[m.id]) {
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this.poseForm[m.id] = { name: '', photo_type: 'front', description: '' }
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}
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})
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},
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async addModel() {
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const res = await fetch(API + '/api/models/add', {
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method: 'POST',
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headers: { 'Content-Type': 'application/json' },
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body: JSON.stringify({
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name: this.newModelName || 'model_' + (this.models.length + 1),
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serial_prefix: this.newModelSerial,
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description: ''
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})
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})
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const data = await res.json()
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if (data.ok) {
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await this.loadAllModels()
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this.newModelName = ''
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this.newModelSerial = ''
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}
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},
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async deleteModel(modelId) {
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if (!confirm('确定删除该机型？其下所有姿态将被删除！')) return
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await fetch(API + '/api/models/delete/' + modelId, { method: 'DELETE' })
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await this.loadAllModels()
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},
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// === 姿态管理（属于机型）===
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async addPose(modelId) {
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const form = this.poseForm[modelId]
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if (!form) return
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await fetch(API + '/api/models/poses/add', {
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method: 'POST',
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headers: { 'Content-Type': 'application/json' },
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body: JSON.stringify({
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model_id: modelId,
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name: form.name || '姿态' + ((this.getModel(modelId)?.poses?.length || 0) + 1),
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photo_type: form.photo_type,
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arm_angles: this.currentAngles,
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speed: 500,
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description: form.description || ''
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})
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})
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await this.loadAllModels()
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form.name = ''
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form.description = ''
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},
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async deletePose(modelId, poseId) {
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if (!confirm('确定删除该姿态？')) return
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await fetch(API + '/api/models/' + modelId + '/poses/' + poseId, { method: 'DELETE' })
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await this.loadAllModels()
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},
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getModel(id) {
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return this.models.find(m => m.id === id)
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},
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// === 机械臂 ===
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clearSelection() { this.selectedMachine = null },
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async saveMachineCoords() {
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if (!this.selectedMachine) return
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try {
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const res = await fetch(API + '/api/mission/machines/' + this.selectedMachine.id, {
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method: 'PATCH',
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headers: { 'Content-Type': 'application/json' },
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body: JSON.stringify({
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front: this.selectedMachine.front,
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back: this.selectedMachine.back
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})
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})
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if (res.ok) {
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this.mapMsg = '✅ 机器坐标已保存'
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setTimeout(() => this.mapMsg = '', 2000)
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} else {
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alert('保存失败: ' + res.status)
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}
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} catch (e) { alert('保存失败: ' + e.message) }
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},
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selectMachine(machine) {
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// 确保 front/back 永远有 coords 数组，避免 v-model 赋值失败
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if (!machine.front) machine.front = { coords: [0, 0, 0], poses: [] }
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else if (!Array.isArray(machine.front.coords)) machine.front.coords = [0, 0, 0]
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if (!machine.back) machine.back = { coords: [0, 0, 0], poses: [] }
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else if (!Array.isArray(machine.back.coords)) machine.back.coords = [0, 0, 0]
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this.selectedMachine = machine
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console.log('selectedMachine:', machine)
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},
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onCellClick(ri, ci) {
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let m = this.getMachineAt(ri, ci)
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if (!m) {
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// 自动创建机器记录
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this.createMachine(ri, ci).then(() => {
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m = this.getMachineAt(ri, ci)
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if (m) this.selectMachine(m)
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})
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} else {
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this.selectMachine(m)
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}
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},
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async createMachine(ri, ci) {
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try {
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const res = await fetch(API + '/api/mission/machines', {
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method: 'POST',
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headers: { 'Content-Type': 'application/json' },
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body: JSON.stringify({ row: ri, col: ci, front: { coords: [0, 0, 0], poses: [] }, back: { coords: [0, 0, 0], poses: [] } })
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})
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await this.loadAllMachines()
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return res.ok
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} catch (e) { alert('创建机器失败: ' + e.message); return false }
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},
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async loadAllMachines() {
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try {
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const res = await fetch(API + '/api/mission/machines')
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const data = await res.json()
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this.missionConfig.machines = data.machines || []
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} catch (e) { console.error('加载机器列表失败', e) }
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},
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getMachineAt(ri, ci) {
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if (!this.missionConfig.machines) return null
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return this.missionConfig.machines.find(m => m.row === ri && m.col === ci) || null
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},
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getPositionAt(ri, ci) {
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if (!this.missionConfig.machines) return null
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const machine = this.getMachineAt(ri, ci)
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if (!machine) return null
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if (ri === 0) return machine.front
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const prevMachine = this.getMachineAt(ri - 1, ci)
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return prevMachine ? prevMachine.back : machine.front
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},
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async refreshAngles() {
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if (!this.armConnected) return
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try {
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const res = await fetch(API + '/api/arm/get_angles')
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const data = await res.json()
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if (data.ok && data.angles) {
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this.currentAngles = data.angles
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this.angleInputs = [...data.angles]
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}
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} catch (e) {}
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},
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async setAngle(idx, val) {
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await fetch(API + '/api/arm/set_angle', {
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method: 'POST',
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headers: { 'Content-Type': 'application/json' },
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body: JSON.stringify({ joint: 'J' + (idx + 1), angle: val })
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})
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},
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async applyAngles() {
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await fetch(API + '/api/arm/set_angles', {
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method: 'POST',
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headers: { 'Content-Type': 'application/json' },
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body: JSON.stringify({ angles: this.angleInputs, speed: 500 })
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})
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},
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jogStart(idx, dir) {
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const joint = 'J' + (idx + 1)
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fetch(API + '/api/arm/jog', {
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method: 'POST',
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headers: { 'Content-Type': 'application/json' },
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body: JSON.stringify({ joint, direction: dir })
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})
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this.jogIntervals[idx] = setInterval(() => this.refreshAngles(), 200)
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},
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jogStop(idx) {
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clearInterval(this.jogIntervals[idx])
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const joint = 'J' + (idx + 1)
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fetch(API + '/api/arm/jog', {
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method: 'POST',
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headers: { 'Content-Type': 'application/json' },
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body: JSON.stringify({ joint, direction: 0 })
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})
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setTimeout(() => this.refreshAngles(), 300)
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},
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onPreviewError(e) {
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e.target.style.display = 'none'
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},
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// === AGV 控制 ===
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async refreshAgvPosition() {
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if (!this.agvConnected) return
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try {
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const res = await fetch(API + '/api/agv/position')
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const data = await res.json()
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if (data.ok) {
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this.agvPosition = data.position
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this.agvBattery = data.battery
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}
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} catch (e) {}
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},
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agvMoveStart(dir) {
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if (!this.agvConnected) return
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fetch(API + '/api/agv/move', {
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method: 'POST',
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headers: { 'Content-Type': 'application/json' },
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body: JSON.stringify({ direction: dir, speed: this.agvSpeed })
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})
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},
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agvMoveStop() {
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fetch(API + '/api/agv/move', {
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method: 'POST',
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headers: { 'Content-Type': 'application/json' },
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body: JSON.stringify({ direction: 'stop' })
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})
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},
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async agvStop() {
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await fetch(API + '/api/agv/stop', { method: 'POST' })
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},
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async agvResetCollision() {
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if (!this.agvConnected) {
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alert('AGV 未连接')
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return
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}
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if (!confirm('确定执行撞物体后复位？')) return
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try {
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const res = await fetch(API + '/api/agv/reset', { method: 'POST' })
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const data = await res.json()
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if (data.ok) {
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alert('✅ ' + data.message)
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await this.refresh()
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await this.refreshAgvPosition()
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} else {
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alert('❌ 复位失败: ' + (data.error || '未知错误'))
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}
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} catch (e) {
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alert('❌ 复位请求失败: ' + e.message)
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}
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},
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async capturePosition(ri, ci, side) {
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if (!this.agvConnected) { alert('请先连接AGV'); return }
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let machine = this.getMachineAt(ri, ci)
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if (!machine) {
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try {
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const res = await fetch(API + '/api/mission/machines', {
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method: 'POST',
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headers: { 'Content-Type': 'application/json' },
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body: JSON.stringify({ row: ri, col: ci, front: { coords: [0, 0, 0], poses: [] }, back: { coords: [0, 0, 0], poses: [] } })
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})
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if (!res.ok) throw new Error('创建失败')
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await this.loadAllMachines()
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machine = this.getMachineAt(ri, ci)
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} catch (e) { alert('创建机器失败: ' + e.message); return }
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}
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try {
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const res = await fetch(API + '/api/agv/position')
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const pos = await res.json()
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let x = 0, y = 0, theta = 0
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if (pos.position && Array.isArray(pos.position)) { x = pos.position[0]||0; y = pos.position[1]||0; theta = pos.position[2]||0 }
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if (!machine) { machine = this.getMachineAt(ri, ci) }
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if (!machine) { alert('机器记录不存在'); return }
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if (side === 'front') { machine.front.coords = [x, y, theta] } else { machine.back.coords = [x, y, theta] }
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await fetch(API + '/api/mission/machines/' + machine.id, {
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method: 'PUT', headers: { 'Content-Type': 'application/json' }, body: JSON.stringify(machine)
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})
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alert((side==='front'?'正面':'背面')+'点位已更新: ('+x.toFixed(2)+','+y.toFixed(2)+','+theta.toFixed(2)+')')
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} catch (e) { alert('读取位置失败: '+e.message) }
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},
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}
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}).mount('#app')
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