From 001ac86310d22c1b30de040c7d2f1f6a631ad717 Mon Sep 17 00:00:00 2001
From: lixiaolong <702156524@qq.com>
Date: Thu, 20 Nov 2025 16:04:46 +0800
Subject: [PATCH] =?UTF-8?q?feat:=E4=BF=AE=E6=94=B9=E6=9C=BA=E6=A2=B0?=
 =?UTF-8?q?=E8=87=82?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 src/api/device/arm.js                         |  18 +
 src/assets/images/arm.png                     | Bin 0 -> 34989 bytes
 .../components/MechanicalArm/index.vue        | 318 +++++++++---------
 3 files changed, 182 insertions(+), 154 deletions(-)
 create mode 100644 src/api/device/arm.js
 create mode 100644 src/assets/images/arm.png

diff --git a/src/api/device/arm.js b/src/api/device/arm.js
new file mode 100644
index 0000000..00e859c
--- /dev/null
+++ b/src/api/device/arm.js
@@ -0,0 +1,18 @@
+import request from '@/utils/request'
+// 移动机械臂
+export function moveJ(data) {
+    return request({
+        url: '/api/humanoid/moveJ',
+        method: 'post',
+        data: data
+    })
+}
+
+// 获取机械臂状态
+export function status(data) {
+    return request({
+        url: '/api/humanoid/status',
+        method: 'post',
+        data: data
+    })
+}
\ No newline at end of file
diff --git a/src/assets/images/arm.png b/src/assets/images/arm.png
new file mode 100644
index 0000000000000000000000000000000000000000..6b38d40a398c34cde7349efbdb4e32e18d08eff8
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HcmV?d00001

diff --git a/src/views/device/register/components/MechanicalArm/index.vue b/src/views/device/register/components/MechanicalArm/index.vue
index e10e4a2..f0acf05 100644
--- a/src/views/device/register/components/MechanicalArm/index.vue
+++ b/src/views/device/register/components/MechanicalArm/index.vue
@@ -1,10 +1,14 @@
 <script setup>
-import { reactive, toRefs, onMounted, onUnmounted, watch, computed } from "vue";
+import { reactive, toRefs, onMounted, onUnmounted, watch, computed, ref } from "vue";
 import { useRoute } from "vue-router";
 import dayjs from "dayjs";
-import { deviceTeach, deviceUpdateProfile } from "@/api/device/register.js";
+import { deviceTeach } from "@/api/device/register.js";
 import { formatNumber } from "@/views/device/register/components/index.js";
 import { convertNumbersToStringAndRemoveNulls } from "@/utils/fn.js";
+import {
+  moveJ,
+  status
+} from '@/api/device/arm';
 
 const data = reactive({
   form: {
@@ -18,6 +22,7 @@ const data = reactive({
     joint4: 0.000012,
     joint5: 0.000012,
     joint6: 0.000012,
+    joint7: 0.000012,
     x: 11,
     y: 11,
     z: 11,
@@ -51,10 +56,33 @@ const data = reactive({
   ],
   time: dayjs().format("YYYY-MM-DD HH:mm:ss"),
 });
-
+const terminalId = ref('25449ff3fcc7b27da5f69462c5efcec2');
+const deviceId = ref('spk1');
 const { form, time, zeroPos, initPos, armList } = toRefs(data);
-
 const route = useRoute();
+const coordinateSystem = ref(null); // 用于获取容器元素
+const buttonPositions = ref([]); // 存储按钮的动态位置
+
+// 调整后的原始坐标（基于默认图片尺寸 1025x817px）
+const initialPositions = [
+  { target: "z_plus", x: 500, y: 80, label: "Z+" },
+  { target: "rz_plus", x: 675, y: 124, label: "RZ+" },
+  { target: "x_plus", x: 796, y: 245, label: "X+" },
+  { target: "ry_plus", x: 840, y: 410, label: "RY+" },
+  { target: "y_minus", x: 796, y: 570, label: "Y-" },
+  { target: "ry_minus", x: 675, y: 696, label: "RY-" },
+  { target: "z_minus", x: 500, y: 745, label: "Z-" },
+  { target: "rx_minus", x: 345, y: 696, label: "RX-" },
+  { target: "x_minus", x: 206, y: 570, label: "X-" },
+  { target: "rx_plus", x: 180, y: 410, label: "RX+" },
+  { target: "y_plus", x: 204, y: 245, label: "Y+" },
+  { target: "rz_minus", x: 345, y: 124, label: "RZ-" },
+];
+
+// 默认图片尺寸
+const ORIGINAL_IMAGE_WIDTH = 1025;
+const ORIGINAL_IMAGE_HEIGHT = 817;
+
 let timer = null;
 
 onUnmounted(() => {
@@ -74,8 +102,46 @@ const getDeviceInfo = () => {
   });
 };
 
+const updateButtonPositions = () => {
+  if (coordinateSystem.value) {
+    const { width, height } = coordinateSystem.value.getBoundingClientRect();
+    // 计算图片的实际显示尺寸（考虑 background-size: contain）
+    const imageAspectRatio = ORIGINAL_IMAGE_WIDTH / ORIGINAL_IMAGE_HEIGHT; // 1025 / 817 ≈ 1.255
+    const containerAspectRatio = width / height;
+
+    let imageWidth, imageHeight, offsetX, offsetY;
+    if (containerAspectRatio > imageAspectRatio) {
+      // 容器较宽，高度限制图片大小，上下有留白
+      imageHeight = height;
+      imageWidth = height * imageAspectRatio;
+      offsetX = (width - imageWidth) / 2; // 水平居中
+      offsetY = 0; // 顶部对齐
+    } else {
+      // 容器较窄，宽度限制图片大小，左右有留白
+      imageWidth = width;
+      imageHeight = width / imageAspectRatio;
+      offsetX = 0; // 左对齐
+      offsetY = (height - imageHeight) / 2; // 垂直居中
+    }
+
+    // 计算缩放比例（基于图片实际显示尺寸）
+    const scaleX = imageWidth / ORIGINAL_IMAGE_WIDTH;
+    const scaleY = imageHeight / ORIGINAL_IMAGE_HEIGHT;
+
+    // 更新按钮位置
+    buttonPositions.value = initialPositions.map((pos) => ({
+      ...pos,
+      left: pos.x * scaleX + offsetX, // 按比例缩放 x 坐标并加上水平偏移
+      top: pos.y * scaleY + offsetY, // 按比例缩放 y 坐标并加上垂直偏移
+    }));
+  }
+};
+
 onMounted(() => {
   getDeviceInfo();
+  // 初始计算按钮位置
+  updateButtonPositions();
+  // 添加按钮事件监听
   const posControls = document.querySelectorAll(".pos-btn");
   posControls.forEach((item) => {
     item.addEventListener('click', (e) => {
@@ -86,13 +152,59 @@ onMounted(() => {
       form.value[pos] += delta * (data.speed / 100);
     });
   });
+  // 监听窗口大小变化，更新按钮位置
+  window.addEventListener('resize', updateButtonPositions);
+});
+
+onUnmounted(() => {
+  window.removeEventListener('resize', updateButtonPositions);
 });
 
 watch(() => JSON.parse(JSON.stringify(form.value)), (newData) => {
   const dataToSend = convertNumbersToStringAndRemoveNulls(newData);
-  deviceUpdateProfile({ idDeDeviceRegistration: devId.value, ...dataToSend }).then((res) => {
-    console.log(res);
-  });
+  moveJ({
+        "deviceId": deviceId.value,
+        "terminalId": terminalId.value,
+        "acc": 0.8,
+        "vel": 0.8,
+        "cmds": [
+          {
+            "jointName": "R_SHOULDER_P",
+            "rad": dataToSend.joint1,
+            "vel": 1.0
+          },
+          {
+            "jointName": "R_SHOULDER_R",
+            "rad": dataToSend.joint2,
+            "vel": 1.0
+          },
+          {
+            "jointName": "R_SHOULDER_Y",
+            "rad": dataToSend.joint3,
+            "vel": 1.0
+          },
+          {
+            "jointName": "R_ELBOW_R",
+            "rad": dataToSend.joint4,
+            "vel": 1.0
+          },
+          {
+            "jointName": "R_WRIST_P",
+            "rad": dataToSend.joint5,
+            "vel": 1.0
+          },
+          {
+            "jointName": "R_WRIST_Y",
+            "rad": dataToSend.joint6,
+            "vel": 1.0
+          },
+          {
+            "jointName": "R_WRIST_R",
+            "rad": dataToSend.joint7,
+            "vel": 1.0
+          }
+        ]
+      })
 });
 
 const devId = computed(() => {
@@ -131,88 +243,21 @@ const handleResets = (type) => {
       </div>
     </div>
     <div class="bottom flex">
-      <div class="left card" style="flex: 1;">
+      <div class="left card" style="flex: 1; position: relative;">
         <div class="title">姿态与位置控制</div>
-        <div class="control-buttons">
-          <div class="axis-controls flex">
-            <div class="axis-group">
-              <span>X: {{ form.x.toFixed(6) }} m</span>
-              <button class="pos-btn" data-target="x_minus">-</button>
-              <button class="pos-btn" data-target="x_plus">+</button>
-            </div>
-            <div class="axis-group">
-              <span>Y: {{ form.y.toFixed(6) }} m</span>
-              <button class="pos-btn" data-target="y_minus">-</button>
-              <button class="pos-btn" data-target="y_plus">+</button>
-            </div>
-            <div class="axis-group">
-              <span>Z: {{ form.z.toFixed(6) }} m</span>
-              <button class="pos-btn" data-target="z_minus">-</button>
-              <button class="pos-btn" data-target="z_plus">+</button>
-            </div>
-            <div class="axis-group">
-              <span>RX: {{ form.rx.toFixed(6) }} deg</span>
-              <button class="pos-btn rotation" data-target="rx_minus">
-                <svg t="1747126605366" class="turn-up" viewBox="0 0 1024 1024" version="1.1" xmlns="http://www.w3.org/2000/svg" p-id="1461" width="20" height="20">
-                  <path d="M311.432533 448.170667H163.84L510.293333 3.413333 856.746667 448.170667h-147.592534L760.832 1006.933333H259.754667z" fill="#4076ff" p-id="1462"></path>
-                </svg>
-              </button>
-              <button class="pos-btn rotation" data-target="rx_plus">
-                <svg t="1747126605366" class="turn-bottom" viewBox="0 0 1024 1024" version="1.1" xmlns="http://www.w3.org/2000/svg" p-id="1461" width="20" height="20">
-                  <path d="M311.432533 448.170667H163.84L510.293333 3.413333 856.746667 448.170667h-147.592534L760.832 1006.933333H259.754667z" fill="#4076ff" p-id="1462"></path>
-                </svg>
-              </button>
-            </div>
-            <div class="axis-group">
-              <span>RY: {{ form.ry.toFixed(6) }} deg</span>
-              <button class="pos-btn rotation" data-target="ry_minus">
-                <svg t="1747126605366" class="turn-left" viewBox="0 0 1024 1024" version="1.1" xmlns="http://www.w3.org/2000/svg" p-id="1461" width="20" height="20">
-                  <path d="M311.432533 448.170667H163.84L510.293333 3.413333 856.746667 448.170667h-147.592534L760.832 1006.933333H259.754667z" fill="#4076ff" p-id="1462"></path>
-                </svg>
-              </button>
-              <button class="pos-btn rotation" data-target="ry_plus">
-                <svg t="1747126605366" class="turn-right" viewBox="0 0 1024 1024" version="1.1" xmlns="http://www.w3.org/2000/svg" p-id="1461" width="20" height="20">
-                  <path d="M311.432533 448.170667H163.84L510.293333 3.413333 856.746667 448.170667h-147.592534L760.832 1006.933333H259.754667z" fill="#4076ff" p-id="1462"></path>
-                </svg>
-              </button>
-            </div>
-            <div class="axis-group">
-              <span>RZ: {{ form.rz.toFixed(6) }} deg</span>
-              <button class="pos-btn rotation" data-target="rz_minus">
-                <svg t="1747126605366" class="turn-lb" viewBox="0 0 1024 1024" version="1.1" xmlns="http://www.w3.org/2000/svg" p-id="1461" width="20" height="20">
-                  <path d="M311.432533 448.170667H163.84L510.293333 3.413333 856.746667 448.170667h-147.592534L760.832 1006.933333H259.754667z" fill="#4076ff" p-id="1462"></path>
-                </svg>
-              </button>
-              <button class="pos-btn rotation" data-target="rz_plus">
-                <svg t="1747126605366" class="turn-rb" viewBox="0 0 1024 1024" version="1.1" xmlns="http://www.w3.org/2000/svg" p-id="1461" width="20" height="20">
-                  <path d="M311.432533 448.170667H163.84L510.293333 3.413333 856.746667 448.170667h-147.592534L760.832 1006.933333H259.754667z" fill="#4076ff" p-id="1462"></path>
-                </svg>
-              </button>
-            </div>
+        <div class="coordinate-system" ref="coordinateSystem">
+          <div class="control-buttons">
+            <button
+              v-for="(pos, index) in buttonPositions"
+              :key="index"
+              class="pos-btn"
+              :data-target="pos.target"
+              :style="{ left: `${pos.left}px`, top: `${pos.top}px` }"
+            >
+              {{ pos.label }}
+            </button>
           </div>
         </div>
-        <div class="coordinate-system">
-          <svg width="400" height="400" viewBox="0 0 400 400" class="coordinate-svg">
-            <!-- X axis (positive) -->
-            <line x1="200" y1="200" x2="350" y2="200" stroke="#f00" stroke-width="4" />
-            <text x="360" y="205" fill="#f00">X</text>
-            <!-- X axis (negative) -->
-            <line x1="200" y1="200" x2="50" y2="200" stroke="#f00" stroke-width="4" />
-            <text x="40" y="205" fill="#f00">-X</text>
-            <!-- Y axis (positive) -->
-            <line x1="200" y1="200" x2="200" y2="50" stroke="#0f0" stroke-width="4" />
-            <text x="195" y="40" fill="#0f0">Y</text>
-            <!-- Y axis (negative) -->
-            <line x1="200" y1="200" x2="200" y2="350" stroke="#0f0" stroke-width="4" />
-            <text x="195" y="360" fill="#0f0">-Y</text>
-            <!-- Z axis (positive) -->
-            <line x1="200" y1="200" x2="300" y2="100" stroke="#00f" stroke-width="4" />
-            <text x="305" y="95" fill="#00f">Z</text>
-            <!-- Z axis (negative) -->
-            <line x1="200" y1="200" x2="100" y2="300" stroke="#00f" stroke-width="4" />
-            <text x="95" y="305" fill="#00f">-Z</text>
-          </svg>
-        </div>
       </div>
       <div class="right card" style="flex: 1;">
         <div class="title">关节控制 (deg)</div>
@@ -241,6 +286,10 @@ const handleResets = (type) => {
             <span>关节6</span>
             <el-input-number v-model="form.joint6" :step="form.jointStep" :precision="6" />
           </div>
+          <div class="input-item">
+            <span>关节7</span>
+            <el-input-number v-model="form.joint7" :step="form.jointStep" :precision="6" />
+          </div>
           <div class="input-item">
             <span>关节步进</span>
             <el-input-number v-model="form.jointStep" :step="0.1" :precision="1" />
@@ -305,81 +354,42 @@ const handleResets = (type) => {
     .left {
       display: flex;
       flex-direction: column;
-
-      .control-buttons {
-        margin-bottom: 20px;
-
-        .axis-controls {
-          justify-content: space-around;
-          flex-wrap: wrap;
-          gap: 10px;
-
-          .axis-group {
-            display: flex;
-            align-items: center;
-            gap: 5px;
-            min-width: 150px;
-
-            span {
-              width: 80px;
-              text-align: center;
-              user-select: none;
-            }
-
-            button {
-              width: 30px;
-              height: 30px;
-              background: #4076ff;
-              color: white;
-              border: none;
-              cursor: pointer;
-              font-size: 16px;
-              border-radius: 4px;
-              display: flex;
-              align-items: center;
-              justify-content: center;
-            }
-
-            .rotation svg {
-              transform-origin: center;
-            }
-
-            .turn-up {
-              transform: rotate(0deg);
-            }
-
-            .turn-bottom {
-              transform: rotate(180deg);
-            }
-
-            .turn-left {
-              transform: rotate(-90deg);
-            }
-
-            .turn-right {
-              transform: rotate(90deg);
-            }
-
-            .turn-lb {
-              transform: rotate(-135deg);
-            }
-
-            .turn-rb {
-              transform: rotate(135deg);
-            }
-          }
-        }
-      }
+      position: relative;
 
       .coordinate-system {
         flex: 1;
         display: flex;
         justify-content: center;
         align-items: center;
+        position: relative;
+        background-color: #FFF;
+        background-image: url('@/assets/images/arm.png');
+        background-size: contain;
+        background-position: center;
+        background-repeat: no-repeat;
 
-        .coordinate-svg {
-          background: #f5f7fa;
-          border-radius: 4px;
+        .control-buttons {
+          position: absolute;
+          width: 100%;
+          height: 100%;
+          top: 0;
+          left: 0;
+
+          .pos-btn {
+            position: absolute;
+            width: 40px;
+            height: 40px;
+            background: #4076ff;
+            color: white;
+            border: none;
+            cursor: pointer;
+            font-size: 16px;
+            border-radius: 4px;
+            display: flex;
+            align-items: center;
+            justify-content: center;
+            transform: translate(-50%, -50%); /* 按钮中心对齐坐标 */
+          }
         }
       }
     }