From 9715101faf2fa230a4f1a1345339f2c19c52a1e0 Mon Sep 17 00:00:00 2001
From: lixiaolong <702156524@qq.com>
Date: Tue, 4 Aug 2026 10:54:53 +0800
Subject: [PATCH] =?UTF-8?q?feat(flow):=20=E6=B7=BB=E5=8A=A0=E6=9C=BA?=
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- 在BasicNodeParams.vue中为ARM_MOVE_TO_J操作添加按钮显示逻辑
- 从设备API导入getArmJointState方法用于获取机械臂关节状态
- 实现ARM_MOVE_TO_J操作的表单验证和位置获取逻辑
- 在config.js中添加booleanOptions选项配置
- 添加机械臂关节运动节点配置，包括参数定义和属性设置
---
 src/api/device/flow.js                        | 10 ++++++-
 .../components/params/BasicNodeParams.vue     | 30 +++++++++++++++++--
 src/views/flow/config.js                      | 23 ++++++++++++++
 3 files changed, 59 insertions(+), 4 deletions(-)

diff --git a/src/api/device/flow.js b/src/api/device/flow.js
index 5985597..4886120 100644
--- a/src/api/device/flow.js
+++ b/src/api/device/flow.js
@@ -76,4 +76,12 @@ export function getAgvStatus(params) {
         method: 'get',
         params: params
     })
-}
\ No newline at end of file
+}
+
+export function getArmJointState(params) {
+    return request({
+        url: '/api/arm/getJointState',
+        method: 'get',
+        params: params
+    })
+}
diff --git a/src/views/flow/components/params/BasicNodeParams.vue b/src/views/flow/components/params/BasicNodeParams.vue
index cbdc827..f4174bb 100644
--- a/src/views/flow/components/params/BasicNodeParams.vue
+++ b/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', 'ARM_MOVE_TO_POINT'].includes(props.data.properties.action)" size="small" @click="openRobotForm(props.data.properties.action)">获取位置</el-button>
+                <el-button type="primary" v-if="['AGV_MOVE_TO_POINT', 'ARM_MOVE_TO_POINT', 'ARM_MOVE_TO_J'].includes(props.data.properties.action)" size="small" @click="openRobotForm(props.data.properties.action)">获取位置</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">
@@ -106,7 +106,7 @@ import { Plus, Minus } from '@element-plus/icons-vue'
 import FormItemRecursive from '../FormItemRecursive.vue'
 import { getInput } from '@/utils/flow'
 import { useQuote } from './useQuote.js'
-import { getArmStatus, getAgvStatus } from '@/api/device/flow'
+import { getArmStatus, getArmJointState, getAgvStatus } from '@/api/device/flow'
 import { de } from 'element-plus/es/locale/index.mjs'
 
 const props = defineProps({
@@ -298,6 +298,30 @@ const submitRobotForm = () => {
                 }
             }
         })
+    } else if (robotFormAction.value === 'ARM_MOVE_TO_J') {
+        robotFormRef.value.validate(async (valid) => {
+            if (valid) {
+                try {
+                    const response = await getArmJointState({
+                        deviceId: robotForm.deviceId,
+                        terminalId: robotForm.terminalId
+                    })
+                    if (response && response.data) {
+                        const target = response.data.position || response.data.positions
+                        if (!Array.isArray(target) || target.length === 0) {
+                            throw new Error('机械臂未返回有效的关节位置')
+                        }
+                        dialogVisible.value = false
+                        const targetParam = formData.nodeParams.find(param => param.name === 'target')
+                        const deviceParam = formData.nodeParams.find(param => param.name === 'deviceId')
+                        if (targetParam) targetParam.input = JSON.stringify(target)
+                        if (deviceParam) deviceParam.input = robotForm.deviceId
+                    }
+                } catch (error) {
+                    console.error('获取机械臂关节位置失败:', error)
+                }
+            }
+        })
     }
 }
 
@@ -383,4 +407,4 @@ defineExpose({ validateAndSave })
         cursor: pointer;
     }
 }
-</style>
\ No newline at end of file
+</style>
diff --git a/src/views/flow/config.js b/src/views/flow/config.js
index a82eafe..3684e9a 100644
--- a/src/views/flow/config.js
+++ b/src/views/flow/config.js
@@ -37,6 +37,11 @@ const audioOptions = () => {
   }]
 }
 
+const booleanOptions = () => [
+  { value: false, label: '否' },
+  { value: true, label: '是' }
+]
+
 const httpMethodOptions = () => {
   return [{
     value: 'POST',
@@ -360,6 +365,24 @@ function handler(params) {
         ],
         outputType: 'json'
       },
+      {
+        icon: videoSvg,
+        name: "机械臂关节运动",
+        type: "serviceNode",
+        desc: "通过关节空间插值运动到目标关节位置",
+        action: 'ARM_MOVE_TO_J',
+        nodeType: 'EDGE',
+        nodeParams: [
+          { name: "deviceId", type: "input", input: "", disabled: true },
+          { name: "target", type: "input", input: "[0, 0, 0, 0, 0, 0]", disabled: true },
+          { name: "velocity", type: "input", componentType: 'number', max: 5, step: 0.1, input: 0.5, disabled: true },
+          { name: "acceleration", type: "input", componentType: 'number', max: 5, step: 0.1, input: 1, disabled: true },
+          { name: "blendRadius", type: "input", componentType: 'number', max: 5, step: 0.01, input: 0, required: false, disabled: true },
+          { name: "jointVelocityLimits", type: "input", input: "", required: false, disabled: true },
+          { name: "asynchronous", type: "input", input: false, componentType: 'select', selectOptions: booleanOptions(), required: false, disabled: true }
+        ],
+        outputType: 'json'
+      },
       {
         icon: cameraSvg,
         name: "开始监听报警事件",