feat(flow): 优化机器人设备绑定功能

- 将terminalId替换为robotId以统一机器人标识
- 实现机器人设备动态加载和选择功能
- 添加设备类型过滤和状态显示
- 重构设备注册页面为机器人设备管理界面
- 优化API调用参数传递方式
- 添加设备自动匹配和锁定机制

src/api/device/camera.js

@@ -1,9 +1,9 @@
 import request from '@/utils/request'
 
-export function getRgbStreamUrl(terminalId, deviceId) {
+export function getRgbStreamUrl(robotId, deviceId) {
   return request({
     url: '/api/edge/camera/rgb-stream-url',
     method: 'get',
-    params: { terminalId, deviceId }
+    params: { robotId, deviceId }
   })
 }

src/api/inspection/robot.js

@@ -38,6 +38,18 @@ export function getRobotDevices(id) {
     })
 }
 
+export function getRobotDevicesByRobotId(robotId, params = {}) {
+    return request({
+        url: '/inspection/robot/devices',
+        method: 'get',
+        params: {
+            robotId,
+            onlineOnly: true,
+            ...params
+        }
+    })
+}
+
 /**
  * 获取机器人地图
  * @param {*} robotId 

src/store/modules/flow.js

@@ -2,20 +2,11 @@ import { defineStore } from 'pinia'
 
 export const useFlowStore = defineStore('flow', {
     state: () => ({
-        disableForm: false,
+        disableForm: false
-        deviceList: []
     }),
     actions: {
         updateDisableForm(value) {
           this.disableForm = value
-        },
-
-        async getDeviceList() {
-            const data =  await new Promise((resolve, reject) => {
-                resolve( ['cam1', 'cam2', 'cam3', 'cam4'])
-            })
-            this.deviceList = data
-            return data
         }
     }
 }

src/views/device/register/components/Camera/index.vue

@@ -47,7 +47,7 @@ const props = defineProps({
     type: String,
     default: null,
   },
-  initialTerminalId: {
+  initialRobotId: {
     type: String,
     default: null,
   },
@@ -60,7 +60,7 @@ const data = reactive({
     stereoModule: false,
     rgbCamera: false,
   },
-  terminalId: null,
+  robotId: null,
   cameraId: null,
   type: 'camera',
   callbacks: {},
@@ -95,7 +95,7 @@ function getVideoRef(method) {
 }
 
 async function startDirectRgbStream() {
-  if (!data.terminalId || !data.cameraId || !colorVideo.value) return;
+  if (!data.robotId || !data.cameraId || !colorVideo.value) return;
   rgbStreamAbortController?.abort();
   rgbStreamAbortController = null;
   const generation = ++rgbStreamGeneration;
@@ -103,7 +103,7 @@ async function startDirectRgbStream() {
   rgbStreamRetryTimer = null;
   streamStatus.getRGBImageStream = 'connecting';
   try {
-    const response = await getRgbStreamUrl(data.terminalId, data.cameraId);
+    const response = await getRgbStreamUrl(data.robotId, data.cameraId);
     if (generation !== rgbStreamGeneration || !data.form.rgbCamera) return;
     const relativeUrl = response.data;
     const baseUrl = import.meta.env.VITE_APP_BASE_API.replace(/\/$/, '');
@@ -342,11 +342,11 @@ function destroyMediaPlayer(method) {
 }
 
 function channelFor(method) {
-  return `edgeCameraServiceImpl/${method}/${data.terminalId}/${data.cameraId}`;
+  return `edgeCameraServiceImpl/${method}/${data.robotId}/${data.cameraId}`;
 }
 
 async function setSubscription(enabled, method, force = false) {
-  if (!socket || !data.terminalId || !data.cameraId) return;
+  if (!socket || !data.robotId || !data.cameraId) return;
   await nextTick();
   const channel = channelFor(method);
 
@@ -401,7 +401,7 @@ function scheduleRestart(method) {
 }
 
 function handleSocketOpen() {
-  if (data.form.stereoModule && data.terminalId && data.cameraId) {
+  if (data.form.stereoModule && data.robotId && data.cameraId) {
     destroyMediaPlayer('getDepthImageStream');
     setSubscription(true, 'getDepthImageStream', true);
   }
@@ -418,12 +418,12 @@ socket?.on('open', handleSocketOpen);
 socket?.on('close', handleSocketClose);
 
 watch(() => data.form.stereoModule, async (newVal) => {
-  if (!data.terminalId || !data.cameraId) return;
+  if (!data.robotId || !data.cameraId) return;
   await setSubscription(newVal, 'getDepthImageStream');
 });
 
 watch(() => data.form.rgbCamera, async (newVal) => {
-  if (!data.terminalId || !data.cameraId) return;
+  if (!data.robotId || !data.cameraId) return;
   if (newVal) {
     await nextTick();
     await startDirectRgbStream();
@@ -436,10 +436,19 @@ watch(
   () => props.initialDeviceId || route.path.split('/')[3],
   async (deviceId) => {
     if (!deviceId) return;
+    const queryRobotId = props.initialRobotId || route.query.robotId;
+    const queryDeviceId = props.initialDeviceId || route.query.deviceId;
+    if (queryRobotId && queryDeviceId) {
+      data.cameraId = String(queryDeviceId);
+      data.robotId = String(queryRobotId);
+      if (data.form.stereoModule) await setSubscription(true, 'getDepthImageStream');
+      if (data.form.rgbCamera) await startDirectRgbStream();
+      return;
+    }
     try {
       const response = await getRegister(deviceId);
       data.cameraId = response.data.deviceCode;
-      data.terminalId = props.initialTerminalId || response.data.idDeDeviceTerminalConfig;
+      data.robotId = props.initialRobotId || response.data.idDeDeviceTerminalConfig;
       if (data.form.stereoModule) await setSubscription(true, 'getDepthImageStream');
       if (data.form.rgbCamera) await startDirectRgbStream();
     } catch (error) {
@@ -455,7 +464,7 @@ onUnmounted(() => {
   stopDirectRgbStream();
   ['getDepthImageStream'].forEach(method => {
     clearTimeout(retryTimers.get(method));
-    if (data.terminalId && data.cameraId) {
+    if (data.robotId && data.cameraId) {
       const channel = channelFor(method);
       socket?.send({ type: 'channel_subscription', action: 'unsubscribe', channel });
       if (data.callbacks[channel]) socket.off(channel, data.callbacks[channel]);

src/views/device/register/components/DexHand/LeftBottomHand.vue

@@ -17,7 +17,7 @@ import { inject } from 'vue';
 const emit = defineEmits(['update:bottomSeriesData']);
 const socket = inject('ws');
 const handCanvas = ref(null);
-const terminalId = ref(''); // 待您修改
+const robotId = ref(''); // 待您修改
 const deviceId = ref(''); // 待您修改
 const frameData = ref({ count: 0, lastTime: 0 });
 const isHandSeries = ref(false);
@@ -29,7 +29,7 @@ const props = defineProps({
     type: String,
     default: null,
   },
-  initialTerminalId: { // 示例 prop，用于从弹窗接收 terminalId
+  initialRobotId: { // 示例 prop，用于从弹窗接收 robotId
     type: String,
     default: null,
   },
@@ -37,7 +37,7 @@ const props = defineProps({
 
 // 2. 使用 watchEffect 来响应 props 和路由的变化
 watchEffect(() => {
-  terminalId.value = props.initialTerminalId;
+  robotId.value = props.initialRobotId;
   deviceId.value = props.initialDeviceId;
 });
 
@@ -225,11 +225,11 @@ const sensorMap = [
 
 // WebSocket 订阅
 const subscribeSensorData = async (sub) => {
-  if (!socket || !terminalId.value || !deviceId.value) {
+  if (!socket || !robotId.value || !deviceId.value) {
-    console.warn(`订阅失败: socket=${!!socket}, terminalId=${terminalId.value}, deviceId=${deviceId.value}`);
+    console.warn(`订阅失败: socket=${!!socket}, robotId=${robotId.value}, deviceId=${deviceId.value}`);
     return;
   }
-  const channel = `edgeDexHandServiceImpl/getSensorDataStream/${terminalId.value}/${deviceId.value}`;
+  const channel = `edgeDexHandServiceImpl/getSensorDataStream/${robotId.value}/${deviceId.value}`;
   console.log(sub ? '订阅' : '取消订阅', channel);
   socket.send({
     type: 'channel_subscription',

src/views/device/register/components/DexHand/LeftTopHand.vue

@@ -35,7 +35,7 @@ const handImage = ref(null);
 const containerRef = ref(null); // 新增：引用父容器
 const defaultHandImageInfo = { width: 891, height: 981 };
 const imageAspectRatio = defaultHandImageInfo.width / defaultHandImageInfo.height;
-const terminalId = ref('');
+const robotId = ref('');
 const deviceId = ref(''); 
 // 1. 定义 props
 const props = defineProps({
@@ -43,7 +43,7 @@ const props = defineProps({
     type: String,
     default: null,
   },
-  initialTerminalId: { // 示例 prop，用于从弹窗接收 terminalId
+  initialRobotId: { // 示例 prop，用于从弹窗接收 robotId
     type: String,
     default: null,
   },
@@ -51,9 +51,9 @@ const props = defineProps({
 
 // 2. 使用 watchEffect 来响应 props 和路由的变化
 watchEffect(() => {
-  terminalId.value = props.initialTerminalId;
+  robotId.value = props.initialRobotId;
   deviceId.value = props.initialDeviceId;
-  console.log(deviceId.value, terminalId.value,props)
+  console.log(deviceId.value, robotId.value,props)
 });
 
 const sliders = ref([
@@ -66,9 +66,9 @@ const sliders = ref([
 ]);
 
 function updateSeriesData(value, i) {
-  console.log(deviceId.value, terminalId.value)
+  console.log(deviceId.value, robotId.value)
   loading.value = true;
-  setDexHandAngle({ deviceId: deviceId.value, terminalId: terminalId.value, value: value / 100, id: i }).then(() => {
+  setDexHandAngle({ deviceId: deviceId.value, robotId: robotId.value, value: value / 100, id: i }).then(() => {
     loading.value = false;
     updateToSeriesData();
   }).catch(() => {
@@ -131,7 +131,7 @@ const updateSliderPositions = () => {
 };
 
 const updateToSeriesData = () => {
-  status({ deviceId: deviceId.value, terminalId: terminalId.value }).then((res) => {
+  status({ deviceId: deviceId.value, robotId: robotId.value }).then((res) => {
     const newTopSeriesData = res.data.handsList.map(item => item.force);
     emit('update:topSeriesData', newTopSeriesData);
   });

src/views/device/register/components/DexHand/index.vue

@@ -4,11 +4,11 @@
     <div class="left-panel">
       <div class="hand-container">
         <!-- 确保这里使用的是 index.vue 中响应式的 deviceId ref -->
-        <LeftTopHand :initialDeviceId="deviceId" :initialTerminalId="terminalId" @update:topSeriesData="handleUpdateTopSeriesData" />
+        <LeftTopHand :initialDeviceId="deviceId" :initialRobotId="robotId" @update:topSeriesData="handleUpdateTopSeriesData" />
       </div>
       <div class="hand-container">
-        <!-- 确保这里使用的是 index.vue 中响应式的 terminalId ref -->
+        <!-- 确保这里使用的是 index.vue 中响应式的 robotId ref -->
-        <LeftBottomHand :initialDeviceId="deviceId" :initialTerminalId="terminalId" @update:bottomSeriesData="handleUpdateBottomSeriesData" />
+        <LeftBottomHand :initialDeviceId="deviceId" :initialRobotId="robotId" @update:bottomSeriesData="handleUpdateBottomSeriesData" />
       </div>
     </div>
     <div class="right-panel">
@@ -34,7 +34,7 @@ const props = defineProps({
     type: String,
     default: null,
   },
-  initialTerminalId: {
+  initialRobotId: {
     type: String,
     default: null,
   },
@@ -62,7 +62,7 @@ const avgData = ref({
 
 // 声明组件内部使用的响应式变量
 const deviceId = ref("");
-const terminalId = ref("");
+const robotId = ref("");
 
 const handleUpdateTopSeriesData = (newData) => {
   topSeriesData.value = newData;
@@ -77,19 +77,24 @@ const handleUpdateBottomSeriesData = ({ maxData: newMaxData, avgData: newAvgData
 const route = useRoute();
 // 统一处理获取 register 数据的方法
 const fetchRegisterData = (currentDeviceId) => {
+  if (route.query.robotId && route.query.deviceId) {
+    robotId.value = String(route.query.robotId);
+    deviceId.value = String(route.query.deviceId);
+    return;
+  }
   if (currentDeviceId) {
     getRegister(currentDeviceId).then(res => {
       deviceId.value = res.data.deviceCode; // 再次更新，确保与 API 返回一致
-      terminalId.value = res.data.idDeDeviceTerminalConfig;
+      robotId.value = res.data.idDeDeviceTerminalConfig;
     }).catch(error => {
       console.error("Error fetching register:", error);
-      // 可以根据需要重置 deviceId 和 terminalId
+      // 可以根据需要重置 deviceId 和 robotId
       deviceId.value = "";
-      terminalId.value = "";
+      robotId.value = "";
     });
   } else {
-    // 如果 deviceId 为空，可以考虑重置 terminalId
+    // 如果 deviceId 为空，可以考虑重置 robotId
-    terminalId.value = "";
+    robotId.value = "";
   }
 };
 
@@ -107,6 +112,11 @@ watch(() => props.initialDeviceId, (newVal) => {
 // 注意：这里假设 route.path.split("/")[3] 是cameraId
 // 如果你的路由结构不同，请调整这里的逻辑
 watch(() => route.path, (newPath) => {
+  if (route.query.robotId && route.query.deviceId) {
+    robotId.value = String(route.query.robotId);
+    deviceId.value = String(route.query.deviceId);
+    return;
+  }
   const routeDeviceId = newPath.split("/")[3];
   if (!deviceId.value && routeDeviceId) { // 只有当 deviceId 尚未从 props 或其他地方设置时才从路由获取
     deviceId.value = routeDeviceId;
@@ -115,10 +125,10 @@ watch(() => route.path, (newPath) => {
 }, { immediate: true }); // immediate: true 确保在组件挂载时也检查路由
 
 
-// 如果需要 initialTerminalId prop 也影响 terminalId ref，可以添加一个 watch
+// 如果需要 initialRobotId prop 也影响 robotId ref，可以添加一个 watch
-watch(() => props.initialTerminalId, (newVal) => {
+watch(() => props.initialRobotId, (newVal) => {
   if (newVal) {
-    terminalId.value = newVal;
+    robotId.value = newVal;
   }
 }, { immediate: true });
 </script>

src/views/device/register/components/Head/index.vue

@@ -80,10 +80,12 @@
 
 <script setup>
 import { ref } from 'vue';
+import { useRoute } from 'vue-router';
 // import { setServo } from '@/api/device/head'; // 假设接口
 
-const terminalId = ref('25449ff3fcc7b27da5f69462c5efcec2');
+const route = useRoute();
-const deviceId = ref('head1');
+const robotId = ref(String(route.query.robotId || ''));
+const deviceId = ref(String(route.query.deviceId || ''));
 
 const servo1 = ref(0.5); // 当前 Yaw
 const servo2 = ref(0.5); // 当前 Pitch
@@ -151,7 +153,7 @@ const applyPitchFromPresets = () => {
 const sendServoValues = async () => {
   try {
     // await setServo({
-    //   terminalId: terminalId.value,
+    //   robotId: robotId.value,
     //   deviceId: deviceId.value,
     //   servo1: servo1.value,
     //   servo2: servo2.value,

src/views/device/register/components/Microphone/index.vue

@@ -66,7 +66,7 @@
   </div>
 </template>
 <script setup>
-import { ref } from "vue";
+import { onMounted, ref } from "vue";
 import { Microphone, VideoPause, Mute, Mic, VideoPlay } from "@element-plus/icons-vue";
 import {
   startMicrophoneApi,
@@ -77,19 +77,27 @@ import {
 } from '@/api/device/microphone'
 import { useRoute } from 'vue-router'
 import { ElMessage } from "element-plus";
+import { getRobotDevicesByRobotId } from '@/api/inspection/robot'
 
 const route = useRoute()
 
 
-const terminalId = route.query.terminalId
+const robotId = route.query.robotId
 const deviceId = route.query.deviceId
 
 const recordStatus = ref('end');
 const isRecording = ref(false)
 const list = []
 const audiosList = ref([])
-const speaker = ref('spk1')
+const speaker = ref('')
-const speakerOptions = ref(['spk1'])
+const speakerOptions = ref([])
+
+onMounted(async () => {
+  if (!robotId) return
+  const response = await getRobotDevicesByRobotId(String(robotId), { deviceKind: 13 })
+  speakerOptions.value = (response.data || []).map(item => item.deviceId)
+  speaker.value = speakerOptions.value[0] || ''
+})
 
 /**
  * 开始录音
@@ -98,13 +106,13 @@ const startRecording = async () => {
   const fileName = new Date().getTime() + '.wav'
   isRecording.value = true
   const res = await startMicrophoneApi({
-    terminalId,
+    robotId,
     deviceId,
-    filePath: `/home/share/record/audios/${terminalId}_${deviceId}_${fileName}`
+    filePath: `/home/share/record/audios/${robotId}_${deviceId}_${fileName}`
   })
   if (res.code === 200) {
     recordStatus.value = 'recording'
-    list.push(`${terminalId}_${deviceId}_${fileName}`)
+    list.push(`${robotId}_${deviceId}_${fileName}`)
   }
 };
 
@@ -113,7 +121,7 @@ const startRecording = async () => {
  */
 const pauseRecording = async () => {
   const res = await pauseMicrophoneApi({
-    terminalId,
+    robotId,
     deviceId
   })
   if (res.code === 200) {
@@ -126,7 +134,7 @@ const pauseRecording = async () => {
  */
 const recoverRecording = async () => {
   const res = await resumeMicrophoneApi({
-    terminalId,
+    robotId,
     deviceId
   })
   if (res.code === 200) {
@@ -139,7 +147,7 @@ const recoverRecording = async () => {
  */
 const stopRecording = async () => {
   const res = await stopMicrophoneApi({
-    terminalId,
+    robotId,
     deviceId
   })
   if (res.code === 200) {
@@ -154,7 +162,7 @@ const stopRecording = async () => {
  */
 const handlePlay = async (audioPath) => {
   const res = await playSpeaker({
-    terminalId,
+    robotId,
     deviceId: speaker.value,
     audioPath: `/home/share/record/audios/${audioPath}`
   })

src/views/device/register/components/Speaker/index.vue

@@ -52,6 +52,7 @@
 
 <script setup>
 import { ref, onMounted, onUnmounted } from 'vue';
+import { useRoute } from 'vue-router';
 import {
   pause,
   play,
@@ -73,11 +74,12 @@ const currentIndex = ref(0);
 const isPlaying = ref(false);
 const volume = ref(0);
 
-const terminalId = ref('25449ff3fcc7b27da5f69462c5efcec2');
+const route = useRoute();
-const deviceId = ref('spk1');
+const robotId = ref(String(route.query.robotId || ''));
+const deviceId = ref(String(route.query.deviceId || ''));
 
 const getCommonParams = () => ({
-  terminalId: terminalId.value,
+  robotId: robotId.value,
   deviceId: deviceId.value
 });
 

src/views/device/register/index.vue

@@ -1,414 +1,184 @@
 <template>
-  <div class="app-container">
+  <div class="app-container robot-device-page">
-  <div ref="topContainerRef">
+    <section class="page-heading">
-    <TableSearch
+      <div>
-        :queryParams="queryParams"
+        <h2>机器人设备</h2>
-        :showSearch="showSearch"
+        <p>设备由机器人在线上报，切换机器人后自动刷新。</p>
-        label-width="80px"
+      </div>
-        queryRef="queryRef"
+      <div class="robot-selector">
-        @refresh="resetQuery"
+        <span>当前机器人</span>
-        @search="handleQuery"
+        <el-select v-model="selectedRobotId" filterable placeholder="请选择机器人"
-    >
+          :loading="robotLoading" @change="loadDevices">
-      <template #one>
+          <el-option v-for="robot in robotOptions" :key="robot.value"
-        <el-col :lg="6" :md="12" :sm="24" :xl="6" :xs="24" :xxl="6">
+            :label="robot.label" :value="robot.value" />
-          <el-form-item label="设备编号" prop="deviceCode">
+        </el-select>
-            <el-input
+        <el-button :icon="Refresh" circle title="刷新设备" :loading="loading" @click="loadDevices" />
-                v-model="queryParams.deviceCode"
+      </div>
-                clearable
+    </section>
-                placeholder="请输入设备编号"
-                style="width:100%"
-                @keyup.enter="handleQuery"
-            />
-          </el-form-item>
-        </el-col>
-        <el-col :lg="6" :md="12" :sm="24" :xl="6" :xs="24" :xxl="6">
-          <el-form-item label="设备名称" prop="deviceName">
-            <el-input
-                v-model="queryParams.deviceName"
-                clearable
-                placeholder="请输入设备名称"
-                style="width:100%"
-                @keyup.enter="handleQuery"
-            />
-          </el-form-item>
-        </el-col>
-        <el-col :lg="6" :md="12" :sm="24" :xl="6" :xs="24" :xxl="6">
-          <el-form-item label="设备类型" prop="deviceModel">
-            <el-select
-                v-model="queryParams.deviceModel"
-                placeholder="请输入设备类型"
-            >
-              <el-option
-                  v-for="item in controlModuleList"
-                  :key="item.value"
-                  :label="item.label"
-                  :value="item.value"
-              />
-            </el-select>
-          </el-form-item>
-        </el-col>
-      </template>
-    </TableSearch>
 
-    <el-row :gutter="10" class="mb8">
+    <section class="status-strip">
-      <el-col :span="1.5">
+      <div><strong>{{ devices.length }}</strong><span>设备总数</span></div>
-        <el-button
+      <div><strong class="online">{{ onlineCount }}</strong><span>在线设备</span></div>
-            v-hasPermi="['device:register:add']"
+      <div><strong class="fault">{{ faultCount }}</strong><span>故障设备</span></div>
-            icon="Plus"
+      <div class="filters">
-            plain
+        <el-input v-model="keyword" clearable :prefix-icon="Search" placeholder="搜索名称或设备 ID" />
-            type="primary"
+        <el-select v-model="deviceKind" clearable placeholder="全部类型">
-            @click="handleAdd"
+          <el-option v-for="item in deviceKinds" :key="item.value"
-        >新增
+            :label="item.label" :value="item.value" />
-        </el-button>
+        </el-select>
-      </el-col>
+      </div>
-      <el-col :span="1.5">
+    </section>
-        <el-button
-            v-hasPermi="['device:register:edit']"
-            :disabled="single"
-            icon="Edit"
-            plain
-            type="success"
-            @click="handleUpdate"
-        >修改
-        </el-button>
-      </el-col>
-      <el-col :span="1.5">
-        <el-button
-            v-hasPermi="['device:register:remove']"
-            :disabled="multiple"
-            icon="Delete"
-            plain
-            type="danger"
-            @click="handleDelete"
-        >删除
-        </el-button>
-      </el-col>
-      <!--      <el-col :span="1.5">-->
-      <!--        <el-button-->
-      <!--            type="warning"-->
-      <!--            plain-->
-      <!--            icon="Download"-->
-      <!--            @click="handleExport"-->
-      <!--            v-hasPermi="['device:register:export']"-->
-      <!--        >导出-->
-      <!--        </el-button>-->
-      <!--      </el-col>-->
-      <right-toolbar v-model:showSearch="showSearch" @queryTable="getList"></right-toolbar>
-    </el-row>
-  </div>
 
-  <div :style="containerHeight">
+    <el-table v-loading="loading" :data="filteredDevices" height="calc(100vh - 285px)"
-    <el-table height="100%" v-loading="loading" :data="registerList" @selection-change="handleSelectionChange">
+      empty-text="当前机器人尚未上报设备">
-      <el-table-column align="center" type="selection" width="55" />
+      <el-table-column label="设备" min-width="220">
-      <el-table-column align="center" label="id" prop="id" show-overflow-tooltip/>
+        <template #default="{ row }">
-      <el-table-column align="center" label="设备终端配置id" prop="idDeDeviceTerminalConfig" show-overflow-tooltip
+          <div class="device-name">
-                       width="120"/>
+            <span class="device-icon"><el-icon><Cpu /></el-icon></span>
-      <el-table-column align="center" label="设备编号" prop="deviceCode" show-overflow-tooltip/>
+            <div><b>{{ row.deviceName || row.deviceId }}</b><small>{{ row.deviceId }}</small></div>
-      <el-table-column align="center" label="设备名称" prop="deviceName" show-overflow-tooltip/>
+          </div>
-      <!--      <el-table-column label="设备规格" align="center" prop="deviceSpec"/>-->
-      <el-table-column align="center" label="设备类型" prop="deviceModel">
-        <template #default="scope">
-          {{ controlModuleList.find(item => item.value === scope.row.deviceModel)?.label }}
         </template>
       </el-table-column>
-      <!--      <el-table-column label="设备厂家" align="center" prop="factory"/>-->
+      <el-table-column label="类型" width="130">
-      <!--      <el-table-column label="设备图片" align="center" prop="images"/>-->
+        <template #default="{ row }">{{ kindLabel(row.deviceKind, row.typeName) }}</template>
-      <!--      <el-table-column show-overflow-tooltip label="备注" align="center" prop="remake"/>-->
+      </el-table-column>
-      <el-table-column align="center" label="设备状态" prop="status">
+      <el-table-column label="运行状态" width="120" align="center">
-        <template #default="scope">
+        <template #default="{ row }">
-          <el-switch
+          <el-tag :type="row.onlineStatus === '1' ? 'success' : 'info'" effect="light">
-              v-model="scope.row.status"
+            {{ row.onlineStatus === '1' ? '在线' : '离线' }}
-              active-text="启用"
+          </el-tag>
-              active-value="0"
-              inactive-text="停用"
-              inactive-value="1"
-              inline-prompt
-              @change="handleChange(scope.row)"
-          />
         </template>
       </el-table-column>
-
+      <el-table-column label="健康状态" width="120" align="center">
-      <el-table-column align="center" class-name="small-padding fixed-width" label="操作" width="200">
+        <template #default="{ row }">
-        <template #default="scope">
+          <el-tag :type="isFault(row) ? 'danger' : 'success'" effect="plain">
-          <el-button v-hasPermi="['device:register:edit']" icon="Edit" link type="primary"
+            {{ isFault(row) ? '故障' : '正常' }}
-                     @click="handleUpdate(scope.row)">修改
+          </el-tag>
-          </el-button>
+        </template>
-          <el-button v-hasPermi="['device:register:deploy']" icon="Cpu" link type="primary"
+      </el-table-column>
-                     @click="handleControl(scope.row)">示教
+      <el-table-column prop="errorMessage" label="状态信息" min-width="180" show-overflow-tooltip>
-          </el-button>
+        <template #default="{ row }">{{ row.errorMessage || '运行正常' }}</template>
-          <el-button v-hasPermi="['device:register:remove']" icon="Delete" link type="primary"
+      </el-table-column>
-                     @click="handleDelete(scope.row)">删除
+      <el-table-column prop="lastSeenTime" label="最后上报" width="180" />
-          </el-button>
+      <el-table-column label="操作" width="100" fixed="right" align="center">
+        <template #default="{ row }">
+          <el-button v-if="controlRoute(row.deviceKind)" link type="primary"
+            :disabled="row.onlineStatus !== '1'" @click="openControl(row)">示教</el-button>
+          <span v-else class="muted">-</span>
         </template>
       </el-table-column>
     </el-table>
-
-    <pagination
-        v-show="total>0"
-        v-model:limit="queryParams.pageSize"
-        v-model:page="queryParams.pageNum"
-        :total="total"
-        @pagination="getList"
-    />
-    </div>
-
-    <!-- 添加或修改设备注册对话框 -->
-    <el-dialog v-model="open" :title="title" append-to-body width="500px">
-      <el-form ref="registerRef" :model="form" :rules="rules" label-width="110px">
-        <el-form-item label="设备终端配置id" prop="idDeDeviceTerminalConfig">
-          <el-input v-model="form.idDeDeviceTerminalConfig" 
-                    placeholder="请输入设备终端配置id"/>
-          <!-- <el-input v-model="form.idDeDeviceTerminalConfig" :disabled="form.idDeDeviceTerminalConfig!== ''"
-                    placeholder="请输入设备终端配置id"/> -->
-        </el-form-item>
-        <el-form-item label="设备编号" prop="deviceCode">
-          <el-input v-model="form.deviceCode"  placeholder="请输入设备编号"/>
-          <!-- <el-input v-model="form.deviceCode" :disabled="form.deviceCode!== ''" placeholder="请输入设备编号"/> -->
-        </el-form-item>
-        <el-form-item label="设备名称" prop="deviceName">
-          <el-input v-model="form.deviceName" placeholder="请输入设备名称"/>
-        </el-form-item>
-        <!--        <el-form-item label="设备规格" prop="deviceSpec">-->
-        <!--          <el-input v-model="form.deviceSpec" placeholder="请输入设备规格"/>-->
-        <!--        </el-form-item>-->
-
-        <el-form-item label="设备类型" prop="deviceModel">
-          <el-select
-              v-model="form.deviceModel"
-              placeholder="请输入设备类型"
-          >
-            <el-option
-                v-for="item in controlModuleList"
-                :key="item.value"
-                :label="item.label"
-                :value="item.value"
-            />
-          </el-select>
-        </el-form-item>
-        <el-form-item label="所属分组">
-          <el-select v-model="form.groupId" placeholder="请选择所属分组">
-            <el-option v-for="group in groupList" :key="group.value" :label="group.label"
-                       :value="group.value"></el-option>
-          </el-select>
-        </el-form-item>
-        <!--        <el-form-item label="设备厂家" prop="factory">-->
-        <!--          <el-input v-model="form.factory" placeholder="请输入设备厂家"/>-->
-        <!--        </el-form-item>-->
-        <!--        <el-form-item label="设备图片" prop="images">-->
-        <!--          <el-input v-model="form.images" placeholder="请输入设备图片"/>-->
-        <!--        </el-form-item>-->
-        <!--        <el-form-item label="备注" prop="remake">-->
-        <!--          <el-input :rows="2"-->
-        <!--                    type="textarea" v-model="form.remake" placeholder="请输入备注"/>-->
-        <!--        </el-form-item>-->
-      </el-form>
-      <template #footer>
-        <div class="dialog-footer">
-          <el-button type="primary" @click="submitForm">确 定</el-button>
-          <el-button @click="cancel">取 消</el-button>
-        </div>
-      </template>
-    </el-dialog>
   </div>
 </template>
 
-<script name="Register" setup>
+<script setup>
-import {addRegister, delRegister, getRegister, listRegister, updateRegister} from "@/api/device/register"
+import { computed, onMounted, ref } from 'vue'
-import TableSearch from "@/components/TableSearch/index.vue"
+import { useRouter } from 'vue-router'
-import {useRouter} from "vue-router"
+import { Cpu, Refresh, Search } from '@element-plus/icons-vue'
-import {intoControlPage} from "@/views/device/register/components/index.js";
+import { getRobotList, getRobotDevicesByRobotId } from '@/api/inspection/robot'
-import {controlModuleList} from "@/enum/index.js";
-import {listGroup} from "@/api/system/group.js";
-import useTagsViewStore from '@/store/modules/tagsView'
-
-import { useContainerHeight } from "@/hooks/tableHeight";
-
-const topContainerRef = ref();
-const containerHeight = useContainerHeight(topContainerRef);
 
 const router = useRouter()
+const robotLoading = ref(false)
+const loading = ref(false)
+const selectedRobotId = ref('')
+const robotOptions = ref([])
+const devices = ref([])
+const keyword = ref('')
+const deviceKind = ref()
 
+const deviceKinds = [
+  { value: 1, label: '移动底盘' }, { value: 2, label: '机械臂' },
+  { value: 3, label: '电池' }, { value: 4, label: '仿生头' },
+  { value: 5, label: '摄像头' }, { value: 6, label: 'CAN 总线' },
+  { value: 7, label: '灵巧手' }, { value: 8, label: '夹爪' },
+  { value: 9, label: '麦克风' }, { value: 10, label: '电机' },
+  { value: 11, label: '电机系统' }, { value: 12, label: '机器人控制器' },
+  { value: 13, label: '扬声器' }
+]
 
-const {proxy} = getCurrentInstance()
+const kindLabel = (kind, fallback) => deviceKinds.find(item => item.value === kind)?.label || fallback || '未知设备'
-
+const isFault = (device) => device.hasError === '1' || Number(device.healthStatus) === 3
-const registerList = ref([])
+const onlineCount = computed(() => devices.value.filter(item => item.onlineStatus === '1').length)
-const open = ref(false)
+const faultCount = computed(() => devices.value.filter(isFault).length)
-const loading = ref(true)
+const filteredDevices = computed(() => {
-const showSearch = ref(true)
+  const search = keyword.value.trim().toLowerCase()
-const ids = ref([])
+  return devices.value.filter(item => {
-const single = ref(true)
+    const matchesKind = deviceKind.value == null || item.deviceKind === deviceKind.value
-const multiple = ref(true)
+    const matchesSearch = !search || `${item.deviceName || ''} ${item.deviceId || ''}`.toLowerCase().includes(search)
-const total = ref(0)
+    return matchesKind && matchesSearch
-const title = ref("")
+  })
-
-const data = reactive({
-  form: {},
-  queryParams: {
-    pageNum: 1,
-    pageSize: 10,
-    deviceCode: null,
-    deviceName: null,
-    deviceSpec: null,
-    deviceModel: null,
-    factory: null,
-    status: null
-  },
-  rules: {}
 })
 
-const {queryParams, form, rules} = toRefs(data)
+const loadRobots = async () => {
-
+  robotLoading.value = true
-/** 查询设备注册列表 */
+  try {
-function getList() {
+    const response = await getRobotList({ pageNum: 1, pageSize: 1000 })
-  loading.value = true
+    robotOptions.value = (response.rows || []).map(robot => ({
-  listRegister(queryParams.value).then(response => {
+      value: robot.robotId,
-    registerList.value = response.rows
+      label: `${robot.robotName || robot.robotId} (${robot.robotId})`,
-    total.value = response.total
+      online: robot.connectStatus === '1'
-    loading.value = false
+    })).filter(item => item.value)
-  })
+    const preferred = robotOptions.value.find(item => item.online) || robotOptions.value[0]
-}
+    selectedRobotId.value = preferred?.value || ''
-
+  } finally {
-// 取消按钮
+    robotLoading.value = false
-function cancel() {
-  open.value = false
-  reset()
-}
-
-// 表单重置
-function reset() {
-  form.value = {
-    // id: null,
-    // createBy: null,
-    // createTime: null,
-    // updateBy: null,
-    // updateTime: null,
-    // remake: null,
-    // idDeDeviceTerminalConfig: null,
-    // deviceCode: null,
-    // deviceName: null,
-    // deviceSpec: null,
-    // deviceModel: null,
-    // factory: null,
-    // images: null,
-    // status: null
   }
-  proxy.resetForm("registerRef")
 }
 
-/** 搜索按钮操作 */
+const loadDevices = async () => {
-function handleQuery() {
+  devices.value = []
-  queryParams.value.pageNum = 1
+  if (!selectedRobotId.value) return
-  getList()
+  loading.value = true
+  try {
+    const response = await getRobotDevicesByRobotId(selectedRobotId.value, { onlineOnly: false })
+    devices.value = Array.isArray(response.data) ? response.data : []
+  } finally {
+    loading.value = false
+  }
 }
 
-/** 重置按钮操作 */
+const controlRoute = (kind) => ({
-function resetQuery() {
+  2: 'mechanical_arm', 4: 'head', 5: 'camera', 7: 'hand', 9: 'microphone', 13: 'speaker'
-  proxy.resetForm("queryRef")
+})[kind]
-  handleQuery()
-}
 
-// 多选框选中数据
+const openControl = (device) => {
-function handleSelectionChange(selection) {
-  ids.value = selection.map(item => item.id)
-  single.value = selection.length != 1
-  multiple.value = !selection.length
-}
-
-/** 新增按钮操作 */
-function handleAdd() {
-  reset()
-  open.value = true
-  title.value = "添加设备注册"
-}
-
-/** 修改按钮操作 */
-function handleUpdate(row) {
-  reset()
-  const _id = row.id || ids.value
-  getRegister(_id).then(response => {
-    form.value = response.data
-    open.value = true
-    title.value = "修改设备注册"
-  })
-}
-
-/** 提交按钮 */
-function submitForm() {
-  proxy.$refs["registerRef"].validate(valid => {
-    if (valid) {
-      if (form.value.id != null) {
-        updateRegister(form.value).then(response => {
-          proxy.$modal.msgSuccess("修改成功")
-          open.value = false
-          getList()
-        })
-      } else {
-        addRegister(form.value).then(response => {
-          proxy.$modal.msgSuccess("新增成功")
-          open.value = false
-          getList()
-        })
-      }
-    }
-  })
-}
-
-/** 删除按钮操作 */
-function handleDelete(row) {
-  const _ids = row.id || ids.value
-  proxy.$modal.confirm('是否确认删除设备注册编号为"' + _ids + '"的数据项？').then(function () {
-    return delRegister(_ids)
-  }).then(() => {
-    getList()
-    proxy.$modal.msgSuccess("删除成功")
-  }).catch(() => {
-  })
-}
-
-/** 导出按钮操作 */
-function handleExport() {
-  proxy.download('device/register/export', {
-    ...queryParams.value
-  }, `register_${new Date().getTime()}.xlsx`)
-}
-
-
-/** 控制按钮操作 */
-function handleControl(row) {
-  const fullPath = `${row.deviceModel}/${row.id}`; // 构造路由路径
   router.push({
-    path: fullPath,
+    path: `/device/${controlRoute(device.deviceKind)}/${device.id}`,
-    query: {
+    query: { robotId: selectedRobotId.value, deviceId: device.deviceId }
-      terminalId: row.idDeDeviceTerminalConfig,
-      deviceId: row.deviceCode
-    }
-  }); // 使用路由跳转
-  // intoControlPage(`/${row.deviceModel}`, `${row.id}`)
-}
-
-function handleChange(row) {
-  updateRegister({status: row.status, id: row.id}).then(response => {
-    proxy.$modal.msgSuccess("修改成功")
-    getList()
   })
 }
 
-getList()
+onMounted(async () => {
-
+  await loadRobots()
-
+  await loadDevices()
-const groupList = ref([])
+})
-
-/** 获取系统分组列表(默认传1查询检测项列表) */
-function handleGetSystemGroup(row) {
-  listGroup({type: 3}).then(response => {
-    groupList.value = response.rows?.map((item) => {
-      return {
-        label: item.groupName,
-        value: String(item.groupId)
-      }
-    })
-  })
-}
-
-handleGetSystemGroup()
 </script>
+
+<style lang="scss" scoped>
+.robot-device-page { min-height: 100%; background: #f5f7fa; }
+.page-heading { display: flex; align-items: center; justify-content: space-between; gap: 24px; padding: 4px 0 20px; }
+.page-heading h2 { margin: 0 0 5px; color: #1f2937; font-size: 22px; letter-spacing: 0; }
+.page-heading p { margin: 0; color: #8492a6; font-size: 13px; }
+.robot-selector { display: flex; align-items: center; gap: 10px; color: #606266; font-size: 13px; }
+.robot-selector .el-select { width: 330px; }
+.status-strip { display: flex; align-items: center; gap: 34px; margin-bottom: 14px; padding: 14px 18px; border: 1px solid #e4e7ed; border-radius: 6px; background: #fff; }
+.status-strip > div:not(.filters) { display: grid; min-width: 74px; }
+.status-strip strong { color: #303133; font-size: 24px; line-height: 28px; }
+.status-strip strong.online { color: #16a34a; }
+.status-strip strong.fault { color: #dc2626; }
+.status-strip span { color: #909399; font-size: 12px; }
+.filters { display: flex; flex: 1; justify-content: flex-end; gap: 10px; }
+.filters .el-input { width: 240px; }
+.filters .el-select { width: 150px; }
+.device-name { display: flex; align-items: center; gap: 12px; }
+.device-icon { display: grid; width: 34px; height: 34px; place-items: center; border-radius: 6px; background: #ecf5ff; color: #409eff; }
+.device-name div { display: grid; min-width: 0; }
+.device-name b { color: #303133; font-weight: 600; }
+.device-name small { overflow: hidden; color: #909399; text-overflow: ellipsis; }
+.muted { color: #c0c4cc; }
+@media (max-width: 900px) {
+  .page-heading, .status-strip { align-items: stretch; flex-direction: column; }
+  .robot-selector, .filters { justify-content: flex-start; flex-wrap: wrap; }
+  .robot-selector .el-select, .filters .el-input { width: 100%; }
+}
+</style>

src/views/device/robotManger/index.vue

@@ -61,7 +61,7 @@
           <span class="control-icon close-icon" @click="closePopup(index)">×</span>
         </div>
       </div>
-      <component :is="popup.component" v-bind="popup.props" :initialDeviceId = "popup.deviceId" :initialTerminalId = "popup.configId" />
+      <component :is="popup.component" v-bind="popup.props" :initialDeviceId = "popup.deviceId" :initialRobotId = "popup.configId" />
       <div class="resize-edge top" @mousedown="startResizing($event, index, 'top')"></div>
       <div class="resize-edge bottom" @mousedown="startResizing($event, index, 'bottom')"></div>
       <div class="resize-edge left" @mousedown="startResizing($event, index, 'left')"></div>
@@ -398,7 +398,7 @@ const openPopup = (area) => {
     originalTop: `${area.y}px`,
     originalLeft: `${area.x + leftOffset}px`,
     isMaximized: false,
-    props: { terminalId: 'your-terminal-id', cameraId: 'your-camera-id' } // 示例props
+    props: { robotId: area.robotId || '', cameraId: area.deviceId || '' }
   };
   popups.value.push(popup);
   isResizing.value.push(false);

src/views/flow/components/TestRun.vue

@@ -11,6 +11,18 @@
         :rules="rules"
         label-width="auto"
     >
+        <div class="binding-panel" :class="{ 'binding-panel--warning': bindingSummary.missing > 0 }">
+            <div class="binding-panel__title">
+                <span class="binding-panel__dot"></span>
+                机器人设备自动匹配
+            </div>
+            <div class="binding-panel__text" v-if="bindingLoading">正在读取机器人在线设备...</div>
+            <div class="binding-panel__text" v-else-if="bindingSummary.robotId">
+                已匹配 {{ bindingSummary.matched }} 个设备节点
+                <span v-if="bindingSummary.missing">，{{ bindingSummary.missing }} 个节点暂无匹配设备</span>
+            </div>
+            <div class="binding-panel__text" v-else>选择机器人后，将按节点类型自动填充该机器人上报的在线设备。</div>
+        </div>
         <el-table
             :data="tableData"
             style="width: 100%; margin-bottom: 20px"
@@ -30,10 +42,10 @@
             </el-table-column>
             <el-table-column prop="value" label="入参值">
                 <template #default="{ row, column, $index }">
-                    <el-form-item v-if="row.name === 'terminalId' || row.name === 'robotId'" label="" :prop="`tableData${row.propPath}value`" :rules="row.required ? [{ required: true, message: '请选择执行机器人', trigger: 'change' }] : []">
+                    <el-form-item v-if="row.name === 'robotId'" label="" :prop="`tableData${row.propPath}value`" :rules="row.required ? [{ required: true, message: '请选择执行机器人', trigger: 'change' }] : []">
-                        <el-select v-model="row.value" style="width: 200px">
+                        <el-select v-model="row.value" filterable style="width: 100%" @change="handleRobotChange">
                             <el-option
-                                v-for="item in terminalIdOptions"
+                                v-for="item in robotIdOptions"
                                 :key="item.value"
                                 :label="item.label"
                                 :value="item.value"
@@ -55,7 +67,7 @@
     </el-form>
         <template #footer>
              <el-button @click="handleClose">关闭</el-button>
-            <el-button type="primary" @click="confirm">确定</el-button>
+            <el-button type="primary" :loading="bindingLoading" :disabled="bindingLoading" @click="confirm">确定</el-button>
         </template>
     </el-drawer>
 </template>
@@ -66,7 +78,8 @@ import { getStartNodeFormData, formatTableData } from '@/utils/flow'
 import { flowExecuteTrial } from '@/api/flow/flow'
 import { emitter } from '@/utils/eventBus';
 import { ElMessage } from 'element-plus';
-import { getRobotList } from '@/api/inspection/robot'
+import { getRobotList, getRobotDevicesByRobotId } from '@/api/inspection/robot'
+import { getDeviceKindForAction, toDeviceOptions } from '@/utils/robotDevice'
 
 const props = defineProps({
     drawer: Boolean,
@@ -76,6 +89,8 @@ const props = defineProps({
 const ruleFormRef = ref()
 const rules = ref({});
 const tableData = ref([])
+const bindingLoading = ref(false)
+const bindingSummary = ref({ robotId: '', matched: 0, missing: 0 })
 
 const emits = defineEmits(['close', 'changeState'])
 
@@ -89,7 +104,8 @@ watch(() => props.drawer,
         if (newVal) {
             const data = getStartNodeFormData()
             tableData.value = data
-            handleGetTerminalGroup()
+            bindingSummary.value = { robotId: '', matched: 0, missing: 0 }
+            loadRobotOptions()
         }
     }
 )
@@ -104,11 +120,11 @@ const confirm = () => {
         })
 
         const flowData = JSON.stringify(lf.getGraphData())
-        const { terminalId, robotId, ...runParams } = formData
+        const { robotId, ...runParams } = formData
         const res = await flowExecuteTrial({
             flowData,
             itemId: props.flowId,
-            robotId: robotId || terminalId,
+            robotId,
             runParams
         })
         if (res.code === 200) {
@@ -123,13 +139,69 @@ const confirm = () => {
     .catch(() => {})
 }
 
-const terminalIdOptions = ref([])
+const robotIdOptions = ref([])
 
-/** 获取设备终端列表 */
+const handleRobotChange = async (robotId) => {
-const handleGetTerminalGroup = async (row) => {
+    bindingSummary.value = { robotId: robotId || '', matched: 0, missing: 0 }
+    if (!robotId) return
+    bindingLoading.value = true
+    try {
+        const response = await getRobotDevicesByRobotId(robotId)
+        const devices = Array.isArray(response.data) ? response.data : []
+        let matched = 0
+        let missing = 0
+        const missingNodes = []
+        const { nodes } = lf.getGraphData()
+
+        nodes.forEach((node) => {
+            if (node.properties?.nodeType !== 'EDGE') return
+            const nodeParams = JSON.parse(JSON.stringify(node.properties.nodeParams || []))
+            const robotParam = nodeParams.find(param => param.name === 'robotId')
+            if (robotParam) robotParam.input = robotId
+
+            const deviceParam = nodeParams.find(param => param.name === 'deviceId')
+            if (!deviceParam) {
+                if (robotParam) lf.setProperties(node.id, { ...node.properties, nodeParams })
+                return
+            }
+
+            const kind = getDeviceKindForAction(node.properties.action)
+            const candidates = kind
+                ? devices.filter(device => Number(device.deviceKind) === kind)
+                : devices
+            deviceParam.input = candidates[0]?.deviceId || ''
+            deviceParam.componentType = 'select'
+            deviceParam.selectOptions = toDeviceOptions(candidates)
+            deviceParam.deviceLocked = candidates.length === 1
+            lf.setProperties(node.id, { ...node.properties, nodeParams })
+
+            if (candidates.length > 0) matched += 1
+            else {
+                missing += 1
+                missingNodes.push(node.properties.name || node.id)
+            }
+        })
+
+        bindingSummary.value = { robotId, matched, missing }
+        if (missingNodes.length) {
+            ElMessage.warning(`以下节点没有匹配的在线设备：${missingNodes.join('、')}`)
+        } else if (matched > 0) {
+            ElMessage.success(`已自动匹配 ${matched} 个设备节点`)
+        }
+    } catch (error) {
+        bindingSummary.value = { robotId, matched: 0, missing: 0 }
+        console.error('自动匹配机器人设备失败:', error)
+        ElMessage.error('读取机器人设备失败')
+    } finally {
+        bindingLoading.value = false
+    }
+}
+
+/** 获取在线机器人列表 */
+const loadRobotOptions = async () => {
     const res = await getRobotList({ pageNum: 1, pageSize: 1000, connectStatus: '1' })
     if (res.code === 200) {
-        terminalIdOptions.value = res.rows?.map((item) => {
+        robotIdOptions.value = res.rows?.map((item) => {
             return {
                 label: `${item.robotName || item.robotId} (${item.robotId})`,
                 value: item.robotId
@@ -139,3 +211,40 @@ const handleGetTerminalGroup = async (row) => {
 }
 
 </script>
+
+<style lang="scss" scoped>
+.binding-panel {
+    margin-bottom: 16px;
+    padding: 12px 14px;
+    border: 1px solid #d7e5f7;
+    border-radius: 6px;
+    background: #f5f9ff;
+}
+
+.binding-panel--warning {
+    border-color: #f3d19e;
+    background: #fdf6ec;
+}
+
+.binding-panel__title {
+    display: flex;
+    align-items: center;
+    gap: 8px;
+    color: #24364b;
+    font-weight: 600;
+}
+
+.binding-panel__dot {
+    width: 8px;
+    height: 8px;
+    border-radius: 50%;
+    background: #409eff;
+}
+
+.binding-panel__text {
+    margin-top: 6px;
+    color: #64748b;
+    font-size: 13px;
+    line-height: 20px;
+}
+</style>

src/views/flow/components/params/BasicNodeParams.vue

@@ -11,7 +11,7 @@
                 </el-button>
             </template>
             <div class="form__container">
-                <el-button type="primary" v-if="['AGV_MOVE_TO_POINT', 'AGV_MOVE_TO_STATION', 'ARM_MOVE_TO_POINT', 'ARM_MOVE_TO_J'].includes(props.data.properties.action)" size="small" @click="openRobotForm(props.data.properties.action)">{{ robotActionButtonText }}</el-button>
+                <el-button type="primary" v-if="hasBindableDevice" size="small" @click="openRobotForm(props.data.properties.action)">{{ robotActionButtonText }}</el-button>
                 <el-form :inline="true" :model="formData" :rules="rules" ref="dynamicFormRef" label-position="top"
                     label-width="auto">
                     <div v-for="(property, index) in formData.nodeParams" :key="index">
@@ -82,15 +82,25 @@
 
      <el-dialog
         v-model="dialogVisible"
-        :title="robotFormAction === 'AGV_MOVE_TO_STATION' ? '加载AGV站点列表' : '获取位置信息'"
+        :title="robotDialogTitle"
-        width="360"
+        width="460"
     >
-        <el-form ref="robotFormRef" :model="robotForm" :rules="robotFormRules"  label-width="auto">
+        <div class="robot-device-tip">设备来自机器人最近一次在线上报，单个匹配设备会自动锁定。</div>
-            <el-form-item label="终端ID" prop="terminalId">
+        <el-form ref="robotFormRef" :model="robotForm" :rules="robotFormRules" label-width="90px">
-                <el-input v-model="robotForm.terminalId" />
+            <el-form-item label="机器人" prop="robotId">
+                <el-select v-model="robotForm.robotId" filterable placeholder="请选择在线机器人"
+                    style="width: 100%" @change="loadRobotDevices">
+                    <el-option v-for="item in robotOptions" :key="item.value"
+                        :label="item.label" :value="item.value" />
+                </el-select>
             </el-form-item>
-            <el-form-item label="设备ID" prop="deviceId">
+            <el-form-item label="执行设备" prop="deviceId">
-                <el-input v-model="robotForm.deviceId" />
+                <el-select v-model="robotForm.deviceId" filterable :loading="deviceLoading"
+                    :disabled="deviceOptions.length === 1" placeholder="请先选择机器人" style="width: 100%">
+                    <el-option v-for="item in deviceOptions" :key="item.value"
+                        :label="item.label" :value="item.value" />
+                </el-select>
+                <div v-if="deviceOptions.length === 1" class="device-auto-hint">已自动匹配并锁定</div>
             </el-form-item>
         </el-form>
         <template #footer>
@@ -107,7 +117,9 @@ import FormItemRecursive from '../FormItemRecursive.vue'
 import { getInput } from '@/utils/flow'
 import { useQuote } from './useQuote.js'
 import { getArmStatus, getArmJointState, getAgvStatus, getAgvStations } from '@/api/flow/flow'
+import { getRobotList, getRobotDevicesByRobotId } from '@/api/inspection/robot'
 import { ElMessage } from 'element-plus'
+import { getDeviceKindForAction, toDeviceOptions } from '@/utils/robotDevice'
 
 const props = defineProps({
     data: Object
@@ -201,13 +213,42 @@ const validateAndSave = async () => {
 const dialogVisible = ref(false)
 const robotFormRef = ref(null)
 const robotFormRules = reactive({
-    terminalId: [{ required: true, message: '终端ID不能为空', trigger: 'blur' }],
+    robotId: [{ required: true, message: '请选择机器人', trigger: 'change' }],
     deviceId: [{ required: true, message: '设备ID不能为空', trigger: 'blur' }]
 })
 const robotForm = reactive({
     deviceId: '',
-    terminalId: ''
+    robotId: ''
 })
+const robotOptions = ref([])
+const deviceOptions = ref([])
+const deviceLoading = ref(false)
+
+const loadRobotOptions = async () => {
+    const response = await getRobotList({ pageNum: 1, pageSize: 1000, connectStatus: '1' })
+    robotOptions.value = (response.rows || []).map(robot => ({
+        value: robot.robotId,
+        label: `${robot.robotName || robot.robotId} (${robot.robotId})`
+    }))
+}
+
+const loadRobotDevices = async (robotId) => {
+    robotForm.deviceId = ''
+    deviceOptions.value = []
+    if (!robotId) return
+    deviceLoading.value = true
+    try {
+        const response = await getRobotDevicesByRobotId(robotId, {
+            deviceKind: getDeviceKindForAction(robotFormAction.value)
+        })
+        const devices = Array.isArray(response.data) ? response.data : []
+        deviceOptions.value = toDeviceOptions(devices)
+        if (devices.length > 0) robotForm.deviceId = devices[0].deviceId
+        if (devices.length === 0) ElMessage.warning('当前机器人没有匹配的在线设备')
+    } finally {
+        deviceLoading.value = false
+    }
+}
 
 const testRule = (property) => {
     if (property?.name === 'stationId' && props.data.properties.action === 'AGV_MOVE_TO_STATION') {
@@ -254,16 +295,28 @@ const testRule = (property) => {
 
 const robotFormAction = ref()
 const stationListLoading = ref(false)
-const robotActionButtonText = computed(() =>
+const POSITION_ACTIONS = ['AGV_MOVE_TO_POINT', 'ARM_MOVE_TO_POINT', 'ARM_MOVE_TO_J']
-    props.data.properties.action === 'AGV_MOVE_TO_STATION' ? '加载站点列表' : '获取位置'
+const hasBindableDevice = computed(() =>
+    formData.nodeParams.some(param => param.name === 'deviceId')
+    && Boolean(getDeviceKindForAction(props.data.properties.action))
 )
+const robotActionButtonText = computed(() => {
+    if (props.data.properties.action === 'AGV_MOVE_TO_STATION') return '选择机器人并加载站点'
+    if (POSITION_ACTIONS.includes(props.data.properties.action)) return '选择机器人并获取位置'
+    return '选择机器人设备'
+})
+const robotDialogTitle = computed(() => {
+    if (robotFormAction.value === 'AGV_MOVE_TO_STATION') return '选择AGV并加载站点'
+    if (POSITION_ACTIONS.includes(robotFormAction.value)) return '选择机器人并读取当前位置'
+    return '选择机器人设备'
+})
 
 const submitRobotForm = () => {
     if (robotFormAction.value === 'AGV_MOVE_TO_POINT') {
         robotFormRef.value.validate(async (valid) => {
             if (valid) {
                 try {
-                    const response = await getAgvStatus({ deviceId: robotForm.deviceId, terminalId: robotForm.terminalId })
+                    const response = await getAgvStatus({ deviceId: robotForm.deviceId, robotId: robotForm.robotId })
                     if (response && response.data) {
                         dialogVisible.value = false
                         const { x, y, theta } = response.data.pose
@@ -292,7 +345,7 @@ const submitRobotForm = () => {
                 try {
                     const response = await getAgvStations({
                         deviceId: robotForm.deviceId,
-                        terminalId: robotForm.terminalId
+                        robotId: robotForm.robotId
                     })
                     const stationOptions = toStationOptions(response?.data)
                     if (stationOptions.length === 0) {
@@ -322,7 +375,7 @@ const submitRobotForm = () => {
         robotFormRef.value.validate(async (valid) => {
             if (valid) {
                 try {
-                    const response = await getArmStatus({ deviceId: robotForm.deviceId, terminalId: robotForm.terminalId })
+                    const response = await getArmStatus({ deviceId: robotForm.deviceId, robotId: robotForm.robotId })
                     if (response && response.data) {
                         dialogVisible.value = false
                         const { x, y, z, rx, ry, rz } = response.data
@@ -353,7 +406,7 @@ const submitRobotForm = () => {
                 try {
                     const response = await getArmJointState({
                         deviceId: robotForm.deviceId,
-                        terminalId: robotForm.terminalId
+                        robotId: robotForm.robotId
                     })
                     if (response && response.data) {
                         const target = response.data.position || response.data.positions
@@ -371,6 +424,19 @@ const submitRobotForm = () => {
                 }
             }
         })
+    } else {
+        robotFormRef.value.validate((valid) => {
+            if (!valid) return
+            const deviceParam = formData.nodeParams.find(param => param.name === 'deviceId')
+            if (deviceParam) {
+                deviceParam.input = robotForm.deviceId
+                deviceParam.componentType = 'select'
+                deviceParam.selectOptions = [...deviceOptions.value]
+                deviceParam.deviceLocked = deviceOptions.value.length === 1
+            }
+            dialogVisible.value = false
+            ElMessage.success('机器人设备已匹配')
+        })
     }
 }
 
@@ -385,9 +451,13 @@ const toStationOptions = (stations) => (Array.isArray(stations) ? stations : [])
         }
     })
 
-const openRobotForm = (action) => {
+const openRobotForm = async (action) => {
     dialogVisible.value = true
     robotFormAction.value = action
+    const currentDeviceId = formData.nodeParams.find(param => param.name === 'deviceId')?.input || ''
+    robotForm.deviceId = currentDeviceId
+    await loadRobotOptions()
+    if (robotForm.robotId) await loadRobotDevices(robotForm.robotId)
 }
 
 defineExpose({ validateAndSave })
@@ -467,4 +537,19 @@ defineExpose({ validateAndSave })
         cursor: pointer;
     }
 }
+
+.robot-device-tip {
+    margin: -4px 0 18px;
+    padding: 10px 12px;
+    border-left: 3px solid var(--el-color-primary);
+    background: var(--el-fill-color-light);
+    color: var(--el-text-color-regular);
+    font-size: 13px;
+    line-height: 20px;
+}
+
+.device-auto-hint {
+    color: var(--el-color-success);
+    font-size: 12px;
+}
 </style>

src/views/flow/config.js

@@ -14,29 +14,6 @@ import audioSvg from './icon/audio.svg'
 import touchSvg from './icon/touch.svg'
 import expressionSvg from './icon/expression.svg'
 
-const deviceOptions =  () => {
-  return [{
-    value: 'cam1',
-    label: 'cam1'
-  }, {
-    value: 'cam2',
-    label: 'cam2'
-  }, {
-    value: 'cam3',
-    label: 'cam3' 
-  }, {
-    value: 'cam4',
-    label: 'cam4'
-  }]
-}
-
-const audioOptions = () => {
-  return [{
-    value: 'spk1',
-    label: 'spk1'
-  }]
-}
-
 const booleanOptions = () => [
   { value: false, label: '否' },
   { value: true, label: '是' }
@@ -119,7 +96,7 @@ export const collapseList = [
         action: 'CAMERA_START',
         nodeType: 'EDGE',
         nodeParams: [
-          { name: "deviceId", type: "input", input: "", componentType: 'select', selectOptions: deviceOptions(), disabled: true }
+          { name: "deviceId", type: "input", input: "", componentType: 'select', selectOptions: [], disabled: true }
         ],
         outputParams: [],
         outputType: 'json'
@@ -132,7 +109,7 @@ export const collapseList = [
         action: 'CAMERA_GETRGBIMAGE',
         nodeType: 'EDGE',
         nodeParams: [
-          { name: "deviceId", type: "input", input: "", componentType: 'select', selectOptions: deviceOptions(), disabled: true }
+          { name: "deviceId", type: "input", input: "", componentType: 'select', selectOptions: [], disabled: true }
         ],
         outputType: 'img',
         outputParams: [{ name: 'imageUrl', type: 'array<string>', desc: '图片地址数组', children: [], disabled: true }]
@@ -145,7 +122,7 @@ export const collapseList = [
         action: 'CAMERA_STOP',
         nodeType: 'EDGE',
         nodeParams: [
-          { name: "deviceId", type: "input", input: "", componentType: 'select', selectOptions: deviceOptions(), disabled: true }
+          { name: "deviceId", type: "input", input: "", componentType: 'select', selectOptions: [], disabled: true }
         ],
         outputParams: [],
         outputType: 'json'
@@ -163,7 +140,7 @@ export const collapseList = [
         action: 'CAMERA_RECORDING_START',
         nodeType: 'EDGE',
         nodeParams: [
-          { name: "deviceId", type: "input", input: "", componentType: 'select', selectOptions: deviceOptions(), disabled: true }
+          { name: "deviceId", type: "input", input: "", componentType: 'select', selectOptions: [], disabled: true }
         ],
         outputParams: [],
         outputType: 'json'
@@ -176,7 +153,7 @@ export const collapseList = [
         action: 'CAMERA_RECORDING_STOP',
         nodeType: 'EDGE',
         nodeParams: [
-          { name: "deviceId", type: "input", input: "", componentType: 'select', selectOptions: deviceOptions(), disabled: true }
+          { name: "deviceId", type: "input", input: "", componentType: 'select', selectOptions: [], disabled: true }
         ],
         outputType: 'video',
         outputParams: [{ name: 'videoUrl', type: 'array<string>', children: [], desc: '视频播放地址数组', disabled: true}]
@@ -400,7 +377,7 @@ function handler(params) {
         action: 'INSPECTION_ALERT_LISTEN_START',
         nodeType: 'EDGE',
         nodeParams: [
-          { name: "terminalId", type: "input", input: "", disabled: true },
+          { name: "robotId", type: "input", input: "", disabled: true },
           { name: "eventTypes", type: "input", input: "", componentType: 'select', selectOptions: inspectionEventTypes(), disabled: true }
         ],
         outputParams: [],
@@ -414,7 +391,7 @@ function handler(params) {
         action: 'INSPECTION_ALERT_LISTEN_STOP',
         nodeType: 'EDGE',
         nodeParams: [
-          { name: "terminalId", type: "input", input: "", disabled: true },
+          { name: "robotId", type: "input", input: "", disabled: true },
           { name: "eventTypes", type: "input", input: "", componentType: 'select', selectOptions: inspectionEventTypes(), disabled: true }
         ],
         outputParams: [],
@@ -465,7 +442,7 @@ function handler(params) {
         action: 'MICROPHONE_START',
         nodeType: 'EDGE',
         nodeParams: [
-          { name: "deviceId", type: "input", input: "", componentType: 'select', selectOptions: audioOptions(), disabled: true }
+          { name: "deviceId", type: "input", input: "", componentType: 'select', selectOptions: [], disabled: true }
         ],
         outputType: 'json'
       },
@@ -477,7 +454,7 @@ function handler(params) {
         action: 'MICROPHONE_STOP',
         nodeType: 'EDGE',
         nodeParams: [
-          { name: "deviceId", type: "input", input: "", componentType: 'select', selectOptions: audioOptions(), disabled: true }
+          { name: "deviceId", type: "input", input: "", componentType: 'select', selectOptions: [], disabled: true }
         ],
         outputType: 'json'
       },
@@ -488,7 +465,7 @@ function handler(params) {
         desc: "用于播放音频的节点",
         action: 'SPEAKER_PLAYAUDIO',
         nodeParams: [
-          { name: "deviceId", type: "input", input: "", componentType: 'select', selectOptions: audioOptions(), disabled: true }
+          { name: "deviceId", type: "input", input: "", componentType: 'select', selectOptions: [], disabled: true }
         ],
         outputType: 'json'
       },

src/views/flow/index.vue

@@ -155,7 +155,7 @@
     />
   </div>
 
-  <el-dialog v-model="visible" width="500" append-to-body>
+  <el-dialog v-model="visible" width="640" class="single-node-dialog" append-to-body>
     <template #header="{ close, titleId, titleClass }">
       <div class="my-header">
         <h4 :id="titleId" :class="titleClass">执行{{ nodeName }}节点</h4>
@@ -181,8 +181,9 @@
       :disabled="flowStore.disableForm"
     >
       <div v-for="(property, index) in formData.nodeParams" :key="index">
-        <el-row>
+        <el-row class="single-node-param-row">
           <el-form-item
+            class="single-node-param-name"
             :label="index === 0 ? '参数名' : ''"
             :prop="`nodeParams.${index}.name`"
             :rules="[{ required: true, message: '请输入参数名', trigger: 'blur' }]"
@@ -195,6 +196,7 @@
             />
           </el-form-item>
           <el-form-item
+            class="single-node-param-value"
             :label="index === 0 ? '参数值' : ''"
             :prop="`nodeParams.${index}.input`"
             :rules="[{ required: true, message: '请输入参数值', trigger: 'blur' }]"
@@ -212,6 +214,8 @@
             <el-select
               v-model="property.input"
               v-else-if="property.componentType === 'select'"
+              :disabled="property.deviceLocked"
+              @change="property.name === 'robotId' && handleSingleNodeRobotChange(property.input)"
             >
               <el-option
                 v-for="item in property.selectOptions"
@@ -225,9 +229,13 @@
               v-model="property.input"
               autosize
               type="textarea"
+              resize="none"
               placeholder="请输入"
               clearable
             />
+            <div v-if="property.name === 'deviceId' && property.deviceLocked" class="device-lock-hint">
+              已自动匹配当前机器人设备
+            </div>
           </el-form-item>
         </el-row>
       </div>
@@ -269,7 +277,8 @@ import {
   getAgvStations,
 } from "@/api/flow/flow";
 import { getDetect } from "@/api/test/detect";
-import { getRobotList } from '@/api/inspection/robot'
+import { getRobotList, getRobotDevicesByRobotId } from '@/api/inspection/robot'
+import { getDeviceKindForAction, toDeviceOptions } from '@/utils/robotDevice'
 import {
   CircleClose,
   CollectionTag,
@@ -447,7 +456,6 @@ const handleEdgeClick = ({ event, edge }) => {
 const handlePaneClick = () => lf.clearSelectElements();
 
 const flowStore = useFlowStore();
-flowStore.getDeviceList();
 
 const isOpen = ref(false);
 const stateMap = {
@@ -899,6 +907,37 @@ const singleNodeDeviceId = computed(() =>
   formData.nodeParams.find((item) => item.name === "deviceId")?.input
 );
 
+const handleSingleNodeRobotChange = async (robotId) => {
+  const deviceParam = formData.nodeParams.find((item) => item.name === "deviceId");
+  if (!deviceParam) return;
+  deviceParam.input = "";
+  deviceParam.deviceLocked = false;
+  deviceParam.componentType = "select";
+  deviceParam.selectOptions = [];
+  const stationParam = formData.nodeParams.find((item) => item.name === "stationId");
+  if (stationParam) {
+    stationParam.input = "";
+    stationParam.selectOptions = [];
+  }
+  if (!robotId) return;
+  try {
+    const deviceKind = getDeviceKindForAction(nodeAction.value);
+    const response = await getRobotDevicesByRobotId(robotId,
+      deviceKind ? { deviceKind } : {});
+    const devices = Array.isArray(response.data) ? response.data : [];
+    deviceParam.selectOptions = toDeviceOptions(devices);
+    if (devices.length > 0) {
+      deviceParam.input = devices[0].deviceId;
+      deviceParam.deviceLocked = devices.length === 1;
+    } else {
+      ElMessage.warning("当前机器人没有匹配的在线设备");
+    }
+  } catch (error) {
+    console.error("加载机器人设备失败:", error);
+    ElMessage.error("加载机器人设备失败");
+  }
+};
+
 const stationOptions = (stations) => (Array.isArray(stations) ? stations : [])
   .filter((station) => station?.id !== undefined && station?.id !== null && String(station.id).trim())
   .map((station) => {
@@ -977,7 +1016,7 @@ const execute = async () => {
     const correctSource = stationParam?.stationRobotId === singleNodeRobotId.value
       && stationParam?.stationDeviceId === singleNodeDeviceId.value;
     if (!validStation || !correctSource) {
-      ElMessage.warning("请按当前终端和设备重新加载并选择站点");
+      ElMessage.warning("请按当前机器人和设备重新加载并选择站点");
       return;
     }
   }
@@ -1182,6 +1221,32 @@ onUnmounted(() => {
 <style lang="scss" scoped>
 $flow-canvas-cursor: url("data:image/svg+xml,%3Csvg%20xmlns=%27http://www.w3.org/2000/svg%27%20width=%2724%27%20height=%2724%27%20viewBox=%270%200%2024%2024%27%3E%3Cpath%20d=%27M4%202.5v16l4.2-4%203.1%207.1%203.4-1.5-3.1-7.1h5.8z%27%20fill=%27%23fff%27%20stroke=%27%231f2937%27%20stroke-width=%271.8%27%20stroke-linejoin=%27round%27/%3E%3C/svg%3E") 4 3, default;
 
+.single-node-param-row {
+  display: grid;
+  grid-template-columns: 190px minmax(0, 1fr);
+  gap: 16px;
+  align-items: start;
+}
+
+.single-node-param-name,
+.single-node-param-value {
+  width: 100%;
+  margin-right: 0;
+  margin-bottom: 16px;
+
+  :deep(.el-form-item__content),
+  :deep(.el-input),
+  :deep(.el-input-number),
+  :deep(.el-select) {
+    width: 100%;
+  }
+}
+
+.single-node-param-value :deep(.el-textarea__inner) {
+  min-height: 32px !important;
+  line-height: 20px;
+}
+
 .single-node-station-tools {
   display: flex;
   align-items: center;
@@ -1195,6 +1260,14 @@ $flow-canvas-cursor: url("data:image/svg+xml,%3Csvg%20xmlns=%27http://www.w3.org
   font-size: 13px;
 }
 
+.device-lock-hint {
+  width: 100%;
+  margin-top: 6px;
+  color: var(--el-color-success);
+  font-size: 12px;
+  line-height: 18px;
+}
+
 .page {
   width: 100%;
   height: 100%;

src/views/inspection/cockpit/components/ManualTakeover/DirectionControl.vue

@@ -68,6 +68,10 @@ const props = defineProps({
     robot: {
         type: Object,
         default: () => ({})
+    },
+    deviceId: {
+        type: String,
+        default: ''
     }
 })
 
@@ -103,8 +107,8 @@ const onPress = async (_dir) => {
     }
     moveRobotData.value.vz = rotationAngle.value
     const res = await moveRobot({
-        terminalId: props.robot.terminalId,
+        robotId: props.robot.robotId,
-        deviceId: props.robot.robotCode,
+        deviceId: props.deviceId,
         ...moveRobotData.value 
     })
 }
@@ -113,8 +117,8 @@ function onRelease() {
     moveRobotData.value.vx = 0;
     moveRobotData.value.vy = 0;
     stopRobot({
-        terminalId: props.robot.terminalId,
+        robotId: props.robot.robotId,
-        deviceId: props.robot.robotCode,
+        deviceId: props.deviceId,
     })
 }
 </script>

src/views/inspection/cockpit/components/ManualTakeover/RoboticArm.vue

@@ -150,6 +150,10 @@ const props = defineProps({
         type: Object,
         default: () => ({})
     },
+    deviceId: {
+        type: String,
+        default: ''
+    },
     type: {
         type: String,
         default: 'end'
@@ -174,8 +178,8 @@ const errorNum = ref(0)
 const getPose = async (robot) => {
     try {
         const res = await getPoseApi({
-            deviceId: import.meta.env.VITE_INSPECTION_ARM_DEVICE_ID,
+            deviceId: props.deviceId,
-            terminalId: robot.terminalId
+            robotId: robot.robotId
         })
         if (res.code === 200) {
             const { x, y, z, rx, ry, rz } = res.data
@@ -249,8 +253,8 @@ const move = async (axis, direction) => {
     }
 
     speedLApi({
-        deviceId: import.meta.env.VITE_INSPECTION_ARM_DEVICE_ID,
+        deviceId: props.deviceId,
-        terminalId: props.robot.terminalId,
+        robotId: props.robot.robotId,
         duration: 60,
         acceleration: speed.value + 0.1,
         ...speedData
@@ -262,14 +266,14 @@ const move = async (axis, direction) => {
  */
 const stop = async () => {
     await stopMotionApi({
-        deviceId: import.meta.env.VITE_INSPECTION_ARM_DEVICE_ID,
+        deviceId: props.deviceId,
-        terminalId: props.robot.terminalId
+        robotId: props.robot.robotId
     })
 }
 
 const timer = ref(null)
 watch(() => props.robot, (newRobot) => {
-    if (newRobot && newRobot.terminalId) {
+    if (newRobot && newRobot.robotId) {
         if (timer.value) {
             clearInterval(timer.value)
         }

src/views/inspection/cockpit/components/ManualTakeover/VoiceConversation.vue

@@ -102,11 +102,14 @@ import { computed, onBeforeUnmount, ref } from 'vue'
 import { ElMessage, ElNotification } from 'element-plus'
 import { setMicVolume, getMicVolume, setSpeakerVolume, getSpeakerVolume } from '@/api/inspection/cockpit' 
 
+const props = defineProps({
+  robotId: { type: String, default: '' },
+  speakerDeviceId: { type: String, default: '' },
+  microphoneDeviceId: { type: String, default: '' }
+})
+
 // WebSocket 只承载控制 JSON 和二进制 PCM，不再使用 WebRTC、SDP 或 ICE。
 const AUDIO_SERVER_URL = import.meta.env.VITE_AUDIO_SERVER_URL
-const TERMINAL_ID = 'c2f8a06826baf03843925c1a2a13bcfd'
-const speakerDeviceId = import.meta.env.VITE_SPEAKER_DEVICE_ID
-const micDeviceId = import.meta.env.VITE_MIC_DEVICE_ID
 
 // 后端约定的 PCM 格式：S16LE、48kHz、单声道、10ms。
 const PCM_SAMPLE_RATE = 48000
@@ -324,9 +327,9 @@ function connectAudioServer(sessionToken) {
     socket.onopen = () => {
       sendControlMessage({
         type: 'join',
-        terminalId: TERMINAL_ID,
+        robotId: props.robotId,
-        speakerDeviceId: speakerDeviceId,
+        speakerDeviceId: props.speakerDeviceId,
-        micDeviceId: micDeviceId
+        micDeviceId: props.microphoneDeviceId
       })
     }
 
@@ -519,6 +522,10 @@ async function setupAudioPipeline(stream) {
  */
 async function startCall() {
   if (isCalling.value || isStarting.value || webSocket.value) return
+  if (!props.robotId || !props.speakerDeviceId || !props.microphoneDeviceId) {
+    ElMessage.warning('当前机器人缺少在线麦克风或扬声器')
+    return
+  }
 
   const sessionToken = ++callSessionId
   isStarting.value = true
@@ -654,8 +661,8 @@ async function updateMicrophoneVolume(volume) {
   isMicrophoneVolumeLoading.value = true
   try {
     const response = await setMicVolume({
-      deviceId: micDeviceId,
+      deviceId: props.microphoneDeviceId,
-      terminalId: TERMINAL_ID,
+      robotId: props.robotId,
       volume: Math.round(volume)
     })
     if (response.code !== 200) throw new Error(response.message || '设置机器人音量失败')
@@ -675,8 +682,8 @@ async function updateSpeakerVolume(volume) {
   isSpeakerVolumeLoading.value = true
   try {
     const response = await setSpeakerVolume({
-      deviceId: speakerDeviceId,
+      deviceId: props.speakerDeviceId,
-      terminalId: TERMINAL_ID,
+      robotId: props.robotId,
       volume: Math.round(volume)
     })
     if (response.code !== 200) throw new Error(response.message || '设置扬声器音量失败')
@@ -695,8 +702,8 @@ async function loadMicrophoneVolume({ silent = false } = {}) {
   isMicrophoneVolumeLoading.value = true
   try {
     const response = await getMicVolume({
-      deviceId: micDeviceId,
+      deviceId: props.microphoneDeviceId,
-      terminalId: TERMINAL_ID
+      robotId: props.robotId
     })
     if (response.code !== 200) throw new Error(response.message || '获取机器人音量失败')
     const volume = Math.max(0, Math.min(100, Number(response.data) || 0))
@@ -713,8 +720,8 @@ async function loadSpeakerVolume({ silent = false } = {}) {
   isSpeakerVolumeLoading.value = true
   try {
     const response = await getSpeakerVolume({
-      deviceId: speakerDeviceId,
+      deviceId: props.speakerDeviceId,
-      terminalId: TERMINAL_ID
+      robotId: props.robotId
     })
     if (response.code !== 200) throw new Error(response.message || '获取扬声器音量失败')
     const volume = Math.max(0, Math.min(100, Number(response.data) || 0))

src/views/inspection/cockpit/components/ManualTakeover/index.vue

@@ -38,7 +38,14 @@
                     <el-radio :value="3">相机</el-radio>
                 </el-radio-group>
                 <div class="controller-panel">人工控制面板</div>
-                <DirectionControl v-if="activeController === 1" :robot="activeBotData" />
+                <div class="device-binding">
+                    <span>设备随机器人自动切换</span>
+                    <el-tag size="small" :type="activeDeviceId ? 'success' : 'danger'">
+                        {{ activeDeviceId || '无匹配在线设备' }}
+                    </el-tag>
+                </div>
+                <DirectionControl v-if="activeController === 1" :robot="activeBotData"
+                    :device-id="deviceByKind(1)" />
                 <div v-if="activeController === 2" class="robotic-arm-controller-container">
                     <el-radio-group v-model="activeRoboticArm" size="small">
                         <el-radio :value="1">末端控制</el-radio>
@@ -47,6 +54,7 @@
                     </el-radio-group>
 
                     <RoboticArm :type="activeRoboticArm === 1 ? 'end' : 'posture'" :robot="activeBotData"
+                        :device-id="deviceByKind(2)"
                         v-if="[1, 3].includes(activeRoboticArm)" />
 
                     <div class="control-panel" v-if="activeRoboticArm === 2">
@@ -107,24 +115,36 @@
             <div class="split-line"></div>
             <div class="container-title">语音对话</div>
             <div class="voice-container">
-                <VoiceConversation />
+                <VoiceConversation :robot-id="activeBotData.robotId"
+                    :microphone-device-id="deviceByKind(9)" :speaker-device-id="deviceByKind(13)" />
             </div>
         </div>
     </div>
 </template>
 <script setup>
-import { onMounted, nextTick } from "vue";
+import { computed, onMounted, nextTick } from "vue";
+import { ElMessage } from 'element-plus'
 import SvgIcon from "@/components/SvgIcon";
 import UrdfViewer from '../UrdfView.vue'
 import DirectionControl from './DirectionControl.vue'
 import RoboticArm from "./RoboticArm.vue";
-import { getRobotList } from '@/api/inspection/robot'
+import { getRobotList, getRobotDevicesByRobotId } from '@/api/inspection/robot'
 import { getJointStateApi, moveJApi, torqueOnApi, speedJApi, stopMotionApi, clearFault } from '@/api/inspection/cockpit'
 import { Remove, CirclePlus } from '@element-plus/icons-vue'
 import VoiceConversation from "./VoiceConversation.vue";
 import IPlayer from "@/components/IPlayer/index.vue";
 
 const robotList = ref([])
+const robotDevices = ref([])
+const deviceByKind = (kind) => robotDevices.value.find(device => device.deviceKind === kind)?.deviceId || ''
+const activeDeviceId = computed(() => deviceByKind(activeController.value === 2 ? 2 : activeController.value === 3 ? 5 : 1))
+
+const loadRobotDevices = async (robotId) => {
+    robotDevices.value = []
+    if (!robotId) return
+    const response = await getRobotDevicesByRobotId(robotId)
+    robotDevices.value = Array.isArray(response.data) ? response.data : []
+}
 
 const fetchRobotList = async () => {
     try {
@@ -134,6 +154,7 @@ const fetchRobotList = async () => {
         if (res.code === 200) {
             robotList.value = res.rows
             activeBotData.value = robotList.value[0] || {}
+            await loadRobotDevices(activeBotData.value.robotId)
         } else {
             console.error('获取机器人列表失败:', res.message)
         }
@@ -151,9 +172,10 @@ const robotStatus = {
 
 const activeBot = ref(0)
 const activeBotData = ref({})
-const changeBot = (index) => {
+const changeBot = async (index) => {
     activeBot.value = index
     activeBotData.value = robotList.value[activeBot.value] || {}
+    await loadRobotDevices(activeBotData.value.robotId)
 }
 
 const colorList = ['#00D4FF', '#FFB300', '#00FF88', '#fff']
@@ -176,15 +198,19 @@ const animationId = ref(null)
 
 const handlerController = (value) => {
     if (value === 2) {
+        if (!deviceByKind(2)) {
+            ElMessage.warning('当前机器人没有在线机械臂')
+            return
+        }
         // 开启机械臂使能
         torqueOnApi({
-            deviceId: import.meta.env.VITE_INSPECTION_ARM_DEVICE_ID,
+            deviceId: deviceByKind(2),
-            terminalId: activeBotData.value.terminalId
+            robotId: activeBotData.value.robotId
         }).catch(error => {
             console.error('开启机械臂使能失败:', error)
             clearFault({
-                deviceId: import.meta.env.VITE_INSPECTION_ARM_DEVICE_ID,
+                deviceId: deviceByKind(2),
-                terminalId: activeBotData.value.terminalId
+                robotId: activeBotData.value.robotId
             })
         })
         jointControls.value = urdfViewerRef.value.jointControls
@@ -219,8 +245,8 @@ const errCount = ref(0)
 const getJointState = async (robot) => {
     try {
         const res = await getJointStateApi({
-            deviceId: import.meta.env.VITE_INSPECTION_ARM_DEVICE_ID,
+            deviceId: deviceByKind(2),
-            terminalId: robot.terminalId
+            robotId: robot.robotId
         })
         if (res.code === 200) {
             setTimeout(() => {
@@ -256,8 +282,8 @@ const updateJoint = async (jointName, _dir) => {
     const index = jointControls.value.findIndex(joint => joint.name === jointName)
     velocities[index] = jointSpeed.value * (_dir === '+' ? 1 : -1)
     const res = await speedJApi({
-        deviceId: import.meta.env.VITE_INSPECTION_ARM_DEVICE_ID,
+        deviceId: deviceByKind(2),
-        terminalId: activeBotData.value.terminalId,
+        robotId: activeBotData.value.robotId,
         acceleration: jointSpeed.value + 0.1,
         duration: 60,
         velocities: velocities
@@ -269,8 +295,8 @@ const updateJoint = async (jointName, _dir) => {
  */
 const stop = async () => {
     await stopMotionApi({
-        deviceId: import.meta.env.VITE_INSPECTION_ARM_DEVICE_ID,
+        deviceId: deviceByKind(2),
-        terminalId: activeBotData.value.terminalId
+        robotId: activeBotData.value.robotId
     })
 }
 
@@ -481,6 +507,16 @@ onUnmounted(() => {
     }
 }
 
+.device-binding {
+    display: flex;
+    align-items: center;
+    justify-content: space-between;
+    gap: 10px;
+    margin: 10px 0 14px;
+    color: #64748b;
+    font-size: 12px;
+}
+
 .control-panel {
     margin-top: 12px;
     background: #0F1E38;

src/views/is/project/evaluate/Run.vue

@@ -10,7 +10,7 @@
     <el-form-item label="执行机器人" prop="formData.robotId" :rules="[{ required: true, message: '请选择在线机器人', trigger: 'change' }]">
         <el-select v-model="formData.robotId" style="width: 260px" placeholder="请选择在线机器人">
             <el-option
-                v-for="item in terminalIdOptions"
+                v-for="item in robotIdOptions"
                 :key="item.value"
                 :label="item.label"
                 :value="item.value"
@@ -94,13 +94,13 @@ const formData = ref({
     tableData: []
 })
 
-const terminalIdOptions = ref([]);
+const robotIdOptions = ref([]);
 
 /** 获取设备终端列表 */
 const handleGetTerminalGroup = async (row) => {
   const res = await getRobotList({ pageNum: 1, pageSize: 1000, connectStatus: '1' });
   if (res.code === 200) {
-    terminalIdOptions.value = res.rows?.map((item) => {
+    robotIdOptions.value = res.rows?.map((item) => {
       return {
         label: `${item.robotName || item.robotId} (${item.robotId})`,
         value: item.robotId,

src/views/test/configs/Run.vue

@@ -10,7 +10,7 @@
     <el-form-item label="执行机器人" prop="formData.robotId" :rules="[{ required: true, message: '请选择在线机器人', trigger: 'change' }]">
         <el-select v-model="formData.robotId" style="width: 260px" placeholder="请选择在线机器人">
             <el-option
-                v-for="item in terminalIdOptions"
+                v-for="item in robotIdOptions"
                 :key="item.value"
                 :label="item.label"
                 :value="item.value"
@@ -142,13 +142,13 @@ const confirm = () => {
     });
 };
 
-const terminalIdOptions = ref([]);
+const robotIdOptions = ref([]);
 
 /** 获取设备终端列表 */
 const handleGetTerminalGroup = async (row) => {
   const res = await getRobotList({ pageNum: 1, pageSize: 1000, connectStatus: '1' });
   if (res.code === 200) {
-    terminalIdOptions.value = res.rows?.map((item) => {
+    robotIdOptions.value = res.rows?.map((item) => {
       return {
         label: `${item.robotName || item.robotId} (${item.robotId})`,
         value: item.robotId,

src/views/test/configs/index.vue

@@ -605,7 +605,7 @@ const handleTaskExecute = (formEl) => {
   }
   const data = Object.assign(
     {},
-    { runParams: { terminalId: selectedTerminal.value } },
+    { runParams: { robotId: selectedTerminal.value } },
     { taskId: currentRow.value.id }
   );
   // taskExecute(data).then((res) => {

src/views/vi/testProject/evaluate/Run.vue

@@ -10,7 +10,7 @@
     <el-form-item label="执行机器人" prop="formData.robotId" :rules="[{ required: true, message: '请选择在线机器人', trigger: 'change' }]">
         <el-select v-model="formData.robotId" style="width: 260px" placeholder="请选择在线机器人">
             <el-option
-                v-for="item in terminalIdOptions"
+                v-for="item in robotIdOptions"
                 :key="item.value"
                 :label="item.label"
                 :value="item.value"
@@ -92,13 +92,13 @@ const formData = ref({
     tableData: []
 })
 
-const terminalIdOptions = ref([]);
+const robotIdOptions = ref([]);
 
 /** 获取设备终端列表 */
 const handleGetTerminalGroup = async (row) => {
   const res = await getRobotList({ pageNum: 1, pageSize: 1000, connectStatus: '1' });
   if (res.code === 200) {
-    terminalIdOptions.value = res.rows?.map((item) => {
+    robotIdOptions.value = res.rows?.map((item) => {
       return {
         label: `${item.robotName || item.robotId} (${item.robotId})`,
         value: item.robotId,