Merge branch 'dev' of http://192.168.1.100:18088/smart_bench/cmvr-iot-ui into dev

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

@@ -3,7 +3,7 @@
     <el-row type="flex" class="height-full">
       <el-col :span="4" class="control-panel" style="border-right: 10px solid rgb(40, 50, 60);">
         <div class="controls">
-          <el-form :model="form" label-width="80px">
+          <el-form :model="form">
             <el-form-item label="深度图像">
               <el-switch v-model="form.stereoModule"></el-switch>
             </el-form-item>
@@ -17,21 +17,25 @@
         <div v-if="form.stereoModule && form.rgbCamera" class="stream-container">
           <div class="stream-item">
             <div class="stream-wrapper">
-              <img ref="depthImage" width="640" height="480" alt="Depth Image" />
+              <video ref="depthVideo" width="640" height="480" autoplay muted playsinline></video>
+              <video ref="depthVideoBuffer" width="640" height="480" autoplay muted playsinline style="display: none;"></video>
             </div>
           </div>
           <div class="stream-item">
             <div class="stream-wrapper">
-              <img ref="colorImage" width="640" height="480" alt="Color Image" />
+              <video ref="colorVideo" width="640" height="480" autoplay muted playsinline></video>
+              <video ref="colorVideoBuffer" width="640" height="480" autoplay muted playsinline style="display: none;"></video>
             </div>
           </div>
         </div>
         <div v-else class="single-stream-container">
           <div v-if="form.stereoModule" class="stream-wrapper">
-            <img ref="depthImage" width="640" height="480" alt="Depth Image" />
+            <video ref="depthVideo" width="640" height="480" autoplay muted playsinline></video>
+            <video ref="depthVideoBuffer" width="640" height="480" autoplay muted playsinline style="display: none;"></video>
           </div>
           <div v-if="form.rgbCamera" class="stream-wrapper">
-            <img ref="colorImage" width="640" height="480" alt="Color Image" />
+            <video ref="colorVideo" width="640" height="480" autoplay muted playsinline></video>
+            <video ref="colorVideoBuffer" width="640" height="480" autoplay muted playsinline style="display: none;"></video>
           </div>
         </div>
       </el-col>
@@ -46,6 +50,7 @@
 import { inject, reactive, toRefs, watch, onMounted, onUnmounted, ref, nextTick } from 'vue';
 import { getRegister } from "@/api/device/register";
 import { useRoute } from "vue-router";
+import { debounce } from 'lodash'; // 引入 lodash 的防抖函数
 
 const socket = inject('ws');
 const route = useRoute();
@@ -53,46 +58,49 @@ const data = reactive({
   form: {
     stereoModule: false,
     rgbCamera: false,
-    
   },
   terminalId: null,
   cameraId: null,
   type: 'camera',
-  callbacks: {}
+  callbacks: {},
 });
 const { form } = toRefs(data);
-const depthImage = ref(null);
+const depthVideo = ref(null);
-const colorImage = ref(null);
+const depthVideoBuffer = ref(null);
+const colorVideo = ref(null);
+const colorVideoBuffer = ref(null);
 const blobUrls = ref([]);
 const frameData = reactive({
   getRGBImageStream: { count: 0, lastTime: 0 },
-  getDepthImageStream: { count: 0, lastTime: 0 }
+  getDepthImageStream: { count: 0, lastTime: 0 },
 });
 
-function renderImage(imageRef, data, channel, imageType) {
+function renderVideo(mainRef, bufferRef, data, channel, imageType) {
-  const image = imageRef.value; // 动态获取最新 ref
+  const mainVideo = mainRef.value;
-  if (!image) {
+  const bufferVideo = bufferRef.value;
-    console.error(`图像元素未找到 (${imageType}): 通道: ${channel}`);
+  if (!mainVideo || !bufferVideo) {
+    console.error(`视频元素未找到 (${imageType}): 通道: ${channel}`);
     return;
   }
+
   const start = performance.now();
   try {
     if (typeof data === 'string') {
-      if (data.startsWith('blob:')) {
+      const newSrc = data.startsWith('blob:') ? data : `data:video/mp4;base64,${data}`;
-        if (image.src && image.src.startsWith('blob:')) {
+      
-          URL.revokeObjectURL(image.src);
+      // 先加载到缓冲视频元素
-          blobUrls.value = blobUrls.value.filter(url => url !== image.src);
+      bufferVideo.src = newSrc;
+      bufferVideo.onloadeddata = () => {
+        // 缓冲视频加载完成后，切换到主视频
+        if (mainVideo.src && mainVideo.src.startsWith('blob:')) {
+          URL.revokeObjectURL(mainVideo.src);
+          blobUrls.value = blobUrls.value.filter(url => url !== mainVideo.src);
         }
-        image.src = data;
+        mainVideo.src = bufferVideo.src;
-        blobUrls.value.push(data);
+        blobUrls.value.push(newSrc);
-      } else {
+        bufferVideo.src = ''; // 清空缓冲视频源
-        if (image.src && image.src.startsWith('blob:')) {
+      };
-          URL.revokeObjectURL(image.src);
+
-          blobUrls.value = blobUrls.value.filter(url => url !== image.src);
-        }
-        image.src = `data:image/jpeg;base64,${data}`;
-      }
-      console.log(`更新 image.src (${imageType}): ${image.src.substring(0, 50)}, 通道: ${channel}`);
       frameData[imageType].count++;
       const currentTime = performance.now();
       if (frameData[imageType].lastTime && currentTime - frameData[imageType].lastTime >= 1000) {
@@ -103,23 +111,23 @@ function renderImage(imageRef, data, channel, imageType) {
       } else if (!frameData[imageType].lastTime) {
         frameData[imageType].lastTime = currentTime;
       }
-      console.log(`图像渲染耗时 (${imageType}): ${performance.now() - start}ms, 通道: ${channel}`);
+      console.log(`视频渲染耗时 (${imageType}): ${performance.now() - start}ms, 通道: ${channel}`);
       if (performance.memory) {
         console.log('当前内存使用:', {
           usedJSHeapSize: (performance.memory.usedJSHeapSize / 1024 / 1024).toFixed(2) + ' MB',
-          totalJSHeapSize: (performance.memory.totalJSHeapSize / 1024 / 1024).toFixed(2) + ' MB'
+          totalJSHeapSize: (performance.memory.totalJSHeapSize / 1024 / 1024).toFixed(2) + ' MB',
         });
       }
     } else {
       console.error(`未知 payload 类型 (${imageType}):`, typeof data, '通道:', channel);
     }
   } catch (err) {
-    console.error(`图像渲染失败 (${imageType}):`, err, '通道:', channel);
+    console.error(`视频渲染失败 (${imageType}):`, err, '通道:', channel);
-    console.error('payload 数据:', data);
   }
 }
 
-const sunbcribe = async (sub, terminalId, method) => {
+// 防抖订阅函数
+const subscribeDebounced = debounce(async (sub, terminalId, method) => {
   if (!socket || !terminalId || !data.cameraId) {
     console.warn(`订阅失败: socket=${!!socket}, terminalId=${terminalId}, cameraId=${data.cameraId}, method=${method}`);
     return;
@@ -129,14 +137,15 @@ const sunbcribe = async (sub, terminalId, method) => {
   socket.send({
     type: 'channel_subscription',
     action: sub ? 'subscribe' : 'unsubscribe',
-    channel
+    channel,
   });
 
   if (sub) {
     await nextTick();
-    const imageRef = method === 'getRGBImageStream' ? colorImage : depthImage;
+    const mainRef = method === 'getRGBImageStream' ? colorVideo : depthVideo;
-    if (!imageRef.value) {
+    const bufferRef = method === 'getRGBImageStream' ? colorVideoBuffer : depthVideoBuffer;
-      console.error(`图像元素未找到: ${method}, 通道: ${channel}`);
+    if (!mainRef.value || !bufferRef.value) {
+      console.error(`视频元素未找到: ${method}, 通道: ${channel}`);
       return;
     }
 
@@ -147,11 +156,12 @@ const sunbcribe = async (sub, terminalId, method) => {
     }
 
     const callback = (data) => {
-      if(!(data == '500')) {
+      if (data !== '500') {
-        requestAnimationFrame(() => renderImage(imageRef, data, channel, method));
+        requestAnimationFrame(() => renderVideo(mainRef, bufferRef, data, channel, method));
       } else {
-        sunbcribe(false, terminalId, method)
+        // 错误处理：取消订阅后重新订阅
-        sunbcribe(true, terminalId, method)
+        subscribeDebounced(false, terminalId, method);
+        subscribeDebounced(true, terminalId, method);
       }
     };
     socket.on(channel, callback);
@@ -164,36 +174,19 @@ const sunbcribe = async (sub, terminalId, method) => {
       console.log('清理回调:', channel);
     }
   }
-};
+}, 300); // 300ms 防抖延迟
-
-// 监听 ref 变化，重新订阅
-watch(depthImage, async (newVal, oldVal) => {
-  if (newVal !== oldVal && data.form.stereoModule && data.terminalId && data.cameraId) {
-    console.log('depthImage ref 变化，重新订阅 stereoModule');
-    await sunbcribe(false, data.terminalId, 'getDepthImageStream');
-    await sunbcribe(true, data.terminalId, 'getDepthImageStream');
-  }
-});
-
-watch(colorImage, async (newVal, oldVal) => {
-  if (newVal !== oldVal && data.form.rgbCamera && data.terminalId && data.cameraId) {
-    console.log('colorImage ref 变化，重新订阅 rgbCamera');
-    await sunbcribe(false, data.terminalId, 'getRGBImageStream');
-    await sunbcribe(true, data.terminalId, 'getRGBImageStream');
-  }
-});
-
 
+// 监听开关变化
 watch(() => data.form.stereoModule, async (newVal) => {
   if (!data.terminalId || !data.cameraId) return;
   await nextTick();
-  await sunbcribe(newVal, data.terminalId, 'getDepthImageStream');
+  subscribeDebounced(newVal, data.terminalId, 'getDepthImageStream');
 });
 
 watch(() => data.form.rgbCamera, async (newVal) => {
   if (!data.terminalId || !data.cameraId) return;
   await nextTick();
-  await sunbcribe(newVal, data.terminalId, 'getRGBImageStream');
+  subscribeDebounced(newVal, data.terminalId, 'getRGBImageStream');
 });
 
 onMounted(() => {
@@ -205,9 +198,11 @@ onMounted(() => {
 
 onUnmounted(() => {
   if (socket && data.terminalId && data.cameraId) {
-    socket.off(`edgeCameraServiceImpl/getRGBImageStream/${data.terminalId}/${data.cameraId}`);
+    const channels = [
-    socket.off(`edgeCameraServiceImpl/getDepthImageStream//${data.terminalId}/${data.cameraId}`);
+      `edgeCameraServiceImpl/getRGBImageStream/${data.terminalId}/${data.cameraId}`,
-    Object.keys(data.callbacks).forEach(channel => {
+      `edgeCameraServiceImpl/getDepthImageStream/${data.terminalId}/${data.cameraId}`,
+    ];
+    channels.forEach(channel => {
       socket.off(channel, data.callbacks[channel]);
       console.log('卸载时清理回调:', channel);
     });
@@ -223,13 +218,10 @@ onUnmounted(() => {
   display: flex;
   flex-direction: column;
   flex: 1;
-  // height: calc(100vh - 124px);
   background-color: #000;
-
   .height-full {
     height: 100%;
   }
-
   .control-panel {
     padding: 10px;
     .controls {
@@ -242,20 +234,17 @@ onUnmounted(() => {
       }
     }
   }
-
   .video-panel {
     display: flex;
     flex-direction: column;
     flex-grow: 1;
     overflow: hidden;
-
     .single-stream-container {
       display: flex;
       flex-direction: column;
       justify-content: center;
       align-items: center;
       flex-grow: 1;
-
       .stream-wrapper {
         width: 100%;
         height: 100%;
@@ -263,27 +252,25 @@ onUnmounted(() => {
         justify-content: center;
         align-items: center;
         overflow: hidden;
-
+        position: relative;
-        img {
+        video {
           width: auto;
           height: 100%;
           object-fit: contain;
+          transition: opacity 0.1s ease-in-out; /* 平滑过渡 */
         }
       }
     }
-
     .stream-container {
       display: flex;
       flex-direction: column;
       flex-grow: 1;
-
       .stream-item {
         flex: 1;
         display: flex;
         flex-direction: column;
         justify-content: center;
         align-items: center;
-
         .stream-wrapper {
           width: 100%;
           height: 100%;
@@ -291,11 +278,12 @@ onUnmounted(() => {
           justify-content: center;
           align-items: center;
           overflow: hidden;
-
+          position: relative;
-          img {
+          video {
             width: auto;
             height: 100%;
             object-fit: contain;
+            transition: opacity 0.1s ease-in-out; /* 平滑过渡 */
           }
         }
       }

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

@@ -60,8 +60,8 @@ const handleUpdateBottomSeriesData = ({ maxData, avgData }) => {
 <style scoped>
 .container {
   display: flex;
+  flex: 1;
   width: 100%;
-  height: calc(100vh - 125px);
   background-color: #fff;
   border-radius: 20px;
 }

src/views/device/register/index.vue

@@ -371,11 +371,6 @@ function handleControl(row) {
     path: fullPath,
   }); // 使用路由跳转
   // intoControlPage(`/${row.deviceModel}`, `${row.id}`)
-  console.log('route', route)
-  const { name } = route
-  if (name) {
-    useTagsViewStore().addView(route)
-  }
 }
 
 function handleChange(row) {

src/views/device/robot/index.vue

@@ -0,0 +1,533 @@
+<template>
+  <div id="robot-interface" class="robot-container">
+    <div class="tree-panel" :style="{ width: isTreeCollapsed ? '0px' : '240px' }">
+      <el-tree v-if="!isTreeCollapsed" :data="treeData" :props="treeProps" :default-expanded-keys="['robot-node-config']" @node-click="handleNodeClick" />
+    </div>
+    <div class="robot-panel">
+      <div id="robot-bg" ref="robotBg" :style="{ backgroundImage: `url(${robotImage})` }">
+        <div
+          v-for="area in adjustedAreas"
+          :key="area.id"
+          class="clickable-area"
+          :style="{
+            position: 'absolute',
+            top: area.y + 'px',
+            left: area.x + 'px',
+            width: area.width + 'px',
+            height: area.height + 'px'
+          }"
+          @click="openPopup(area)"
+        >
+          <span class="clickable-text">{{ area.label }}</span>
+        </div>
+      </div>
+      <div class="toggle-button" @click="isTreeCollapsed = !isTreeCollapsed">
+        {{ isTreeCollapsed ? '>' : '<' }}
+      </div>
+    </div>
+    <div
+      v-for="(popup, index) in popups"
+      :key="popup.id"
+      class="popup"
+      :style="{
+        position: 'absolute',
+        top: popup.top,
+        left: popup.left,
+        zIndex: popup.zIndex,
+        width: popup.width + 'px',
+        height: popup.height + 'px'
+      }"
+      :class="{ resizing: isResizing[index], dragging: isDragging && dragIndex === index }"
+    >
+      <div class="drag-handle" @mousedown="startDragging($event, index)">
+        <span class="popup-title">{{ popup.id.replace(/-/g, ' ').replace(/\b\w/g, l => l.toUpperCase()) }}</span>
+        <div class="popup-controls">
+          <span class="control-icon" @click="minimizePopup(index)">⧓</span>
+          <span class="control-icon" @click="maximizePopup(index)">□</span>
+          <span class="control-icon close-icon" @click="closePopup(index)">×</span>
+        </div>
+      </div>
+      <component :is="popup.component" v-bind="popup.props" />
+      <!-- 边缘拖动区域 -->
+      <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($event, index, 'left')"></div>
+      <div class="resize-edge right" @mousedown="startResizing($event, index, 'right')"></div>
+      <!-- 角落拖动区域 -->
+      <div class="resize-corner top-left" @mousedown="startResizing($event, index, 'top-left')"></div>
+      <div class="resize-corner top-right" @mousedown="startResizing($event, index, 'top-right')"></div>
+      <div class="resize-corner bottom-left" @mousedown="startResizing($event, index, 'bottom-left')"></div>
+      <div class="resize-corner bottom-right" @mousedown="startResizing($event, index, 'bottom-right')"></div>
+    </div>
+  </div>
+</template>
+
+<script setup>
+import { ref, onMounted, computed, onUnmounted, watch } from 'vue';
+import HandControl from '../register/components/DexHand/index.vue';
+import CameraView from '../register/components/Camera/index.vue';
+import MusicPlayer from '../register/components/Speaker/index.vue';
+import image from '@/assets/images/robot.png';
+
+// 组件映射
+const componentsMap = {
+  HandControl,
+  CameraView,
+  MusicPlayer
+};
+
+const robotImage = image;
+const robotBg = ref(null);
+const isTreeCollapsed = ref(false); // 控制树形控件收起/展开
+
+const popups = ref([]);
+const isDragging = ref(false);
+const isResizing = ref([]);
+const currentZIndex = ref(2000); // 提高初始 z-index
+const dragIndex = ref(null); // 跟踪当前拖动的索引
+
+const resizeStart = ref({ index: null, startX: 0, startY: 0, originalWidth: 0, originalHeight: 0, originalTop: 0, originalLeft: 0, edge: '' });
+
+// 树数据
+const treeData = ref([
+  {
+    id: 'robot-node-config', // 添加唯一 ID 用于默认展开
+    label: '机器人节点配置',
+    children: [
+      {
+        id: 'node-1',
+        label: '节点1',
+        children: [{ id: 'node-1-1', label: '子节点1-1' }, { id: 'node-1-2', label: '子节点1-2' }]
+      },
+      {
+        id: 'node-2',
+        label: '节点2',
+        children: [{ id: 'node-2-1', label: '子节点2-1' }, { id: 'node-2-2', label: '子节点2-2' }]
+      },
+    ]
+  }
+]);
+
+const treeProps = {
+  children: 'children',
+  label: 'label'
+};
+
+const handleNodeClick = (data) => {
+  console.log('点击节点', data.label);
+};
+
+// 原始坐标和尺寸（基于图片真实尺寸），添加 label 用于显示文字
+const originalAreas = ref([
+  { id: 'hand-left', x: 50, y: 200, width: 50, height: 100, component: HandControl, label: '左手' },
+  { id: 'hand-right', x: 400, y: 200, width: 50, height: 100, component: HandControl, label: '右手' },
+  { id: 'camera', x: 225, y: 100, width: 50, height: 50, component: CameraView, label: '摄像头' },
+  { id: 'mouth', x: 225, y: 300, width: 50, height: 50, component: MusicPlayer, label: '扬声器' }
+]);
+
+const imageDimensions = ref({ width: 0, height: 0 });
+
+const adjustedAreas = computed(() => {
+  if (!imageDimensions.value.width || !imageDimensions.value.height || !robotBg.value) return [];
+  const containerWidth = robotBg.value.parentElement.offsetWidth - 40 - (isTreeCollapsed.value ? 0 : 240); // 减去外层 padding 和 tree-panel 宽度
+  console.log(containerWidth)
+  const containerHeight = robotBg.value.parentElement.offsetHeight - 40; // 减去外层 padding
+  const scaleX = containerWidth / imageDimensions.value.width;
+  const scaleY = containerHeight / imageDimensions.value.height;
+  const scale = Math.min(scaleX, scaleY); // 取最小缩放比例以适配
+  const offsetX = (containerWidth - (imageDimensions.value.width * scale)) / 2;
+  const offsetY = (containerHeight - (imageDimensions.value.height * scale)) / 2;
+
+  return originalAreas.value.map(area => ({
+    ...area,
+    x: (area.x * scale) + offsetX,
+    y: (area.y * scale) + offsetY,
+    width: area.width * scale,
+    height: area.height * scale
+  }));
+});
+
+const openPopup = (area) => {
+  // 检查是否已存在相同 id 的窗口
+  const existingPopup = popups.value.find(p => p.id === area.id);
+  if (existingPopup) {
+    console.log('Popup with id', area.id, 'is already open');
+    return; // 如果已打开，阻止重复打开
+  }
+  const popup = { 
+    id: area.id, 
+    component: area.component, // 使用组件引用
+    top: area.y + 'px', 
+    left: area.x + 'px', 
+    zIndex: currentZIndex.value++,
+    width: 640, // 默认宽度
+    height: 480, // 默认高度
+    originalWidth: 640, // 初始化原始宽度
+    originalHeight: 480, // 初始化原始高度
+    originalTop: area.y + 'px', // 初始化原始顶部位置
+    originalLeft: area.x + 'px', // 初始化原始左侧位置
+    isMaximized: false,
+    props: { terminalId: 'your-terminal-id', cameraId: 'your-camera-id' } // 替换为实际值
+  };
+  popups.value.push(popup);
+  isResizing.value.push(false);
+  console.log('Opened popup with id', area.id, 'initial size:', popup.width, 'x', popup.height, 'position:', popup.top, popup.left);
+};
+
+const closePopup = (index) => {
+  popups.value.splice(index, 1);
+  isResizing.value.splice(index, 1);
+  console.log('Closed popup at index', index);
+};
+
+const minimizePopup = (index) => {
+  const popup = popups.value[index];
+  if (popup.isMaximized) {
+    popup.width = popup.originalWidth; // 恢复到原始宽度
+    popup.height = popup.originalHeight; // 恢复到原始高度
+    popup.top = popup.originalTop; // 恢复到原始顶部位置
+    popup.left = popup.originalLeft; // 恢复到原始左侧位置
+    popup.isMaximized = false;
+    console.log('Minimized popup', popup.id, 'to size:', popup.width, 'x', popup.height, 'position:', popup.top, popup.left);
+  }
+};
+
+const maximizePopup = (index) => {
+  const popup = popups.value[index];
+  if (!popup.isMaximized) {
+    popup.originalWidth = popup.width; // 保存当前宽度作为原始宽度
+    popup.originalHeight = popup.height; // 保存当前高度作为原始高度
+    popup.originalTop = popup.top; // 保存当前顶部位置
+    popup.originalLeft = popup.left; // 保存当前左侧位置
+    popup.width = window.innerWidth; // 全屏宽度
+    popup.height = window.innerHeight; // 全屏高度
+    popup.top = '0px'; // 从顶部开始
+    popup.left = '0px'; // 从左侧开始
+    popup.isMaximized = true;
+    console.log('Maximized popup', popup.id, 'to size:', popup.width, 'x', popup.height, 'position:', popup.top, popup.left);
+  }
+};
+
+const startDragging = (e, index) => {
+  isDragging.value = true;
+  dragIndex.value = index;
+  const popup = popups.value[index];
+  popup.startX = e.pageX - parseInt(popup.left);
+  popup.startY = e.pageY - parseInt(popup.top);
+  popup.zIndex = currentZIndex.value++;
+  document.addEventListener('mousemove', dragHandler);
+  document.addEventListener('mouseup', stopDragging);
+  console.log('Start dragging', index, 'ClientY:', e.clientY, 'Handle height:', e.currentTarget.offsetHeight);
+};
+
+const dragHandler = (e) => {
+  if (isDragging.value && dragIndex.value !== null) {
+    requestAnimationFrame(() => {
+      const popup = popups.value[dragIndex.value];
+      const newTop = Math.max(0, e.pageY - popup.startY); // 限制顶部不小于 0
+      const newLeft = e.pageX - popup.startX; // 左侧无限制
+      popup.top = `${newTop}px`;
+      popup.left = `${newLeft}px`;
+      console.log('Dragging', dragIndex.value, 'New position:', popup.left, popup.top);
+    });
+  }
+};
+
+const stopDragging = () => {
+  isDragging.value = false;
+  dragIndex.value = null;
+  document.removeEventListener('mousemove', dragHandler);
+  document.removeEventListener('mouseup', stopDragging);
+};
+
+const startResizing = (e, index, edge) => {
+  const popup = popups.value[index];
+  resizeStart.value = {
+    index,
+    startX: e.pageX,
+    startY: e.pageY,
+    originalWidth: popup.width,
+    originalHeight: popup.height,
+    originalTop: parseInt(popup.top) || 0,
+    originalLeft: parseInt(popup.left) || 0,
+    edge
+  };
+  isResizing.value[index] = true;
+  document.addEventListener('mousemove', handleResize);
+  document.addEventListener('mouseup', stopResizingGlobal);
+  console.log('Start resizing', edge);
+};
+
+const handleResize = (e) => {
+  if (resizeStart.value.index !== null) {
+    const index = resizeStart.value.index;
+    const popup = popups.value[index];
+    const diffX = e.pageX - resizeStart.value.startX;
+    const diffY = e.pageY - resizeStart.value.startY;
+    const minWidth = 200;
+    const minHeight = 150;
+
+    switch (resizeStart.value.edge) {
+      case 'top':
+        const newHeight = Math.max(minHeight, resizeStart.value.originalHeight - diffY);
+        popup.height = newHeight;
+        popup.top = `${Math.max(0, resizeStart.value.originalTop + (resizeStart.value.originalHeight - newHeight))}px`; // 限制顶部
+        console.log('Resizing top', 'newHeight:', newHeight, 'newTop:', popup.top);
+        break;
+      case 'bottom':
+        popup.height = Math.max(minHeight, resizeStart.value.originalHeight + diffY);
+        console.log('Resizing bottom', 'newHeight:', popup.height);
+        break;
+      case 'left':
+        const newWidth = Math.max(minWidth, resizeStart.value.originalWidth - diffX);
+        popup.width = newWidth;
+        popup.left = `${resizeStart.value.originalLeft + (resizeStart.value.originalWidth - newWidth)}px`;
+        console.log('Resizing left', 'newWidth:', newWidth, 'newLeft:', popup.left);
+        break;
+      case 'right':
+        popup.width = Math.max(minWidth, resizeStart.value.originalWidth + diffX);
+        console.log('Resizing right', 'newWidth:', popup.width);
+        break;
+      case 'top-left':
+        const newWidthTL = Math.max(minWidth, resizeStart.value.originalWidth - diffX);
+        const newHeightTL = Math.max(minHeight, resizeStart.value.originalHeight - diffY);
+        popup.width = newWidthTL;
+        popup.height = newHeightTL;
+        popup.left = `${resizeStart.value.originalLeft + (resizeStart.value.originalWidth - newWidthTL)}px`;
+        popup.top = `${Math.max(0, resizeStart.value.originalTop + (resizeStart.value.originalHeight - newHeightTL))}px`; // 限制顶部
+        console.log('Resizing top-left', 'newWidth:', newWidthTL, 'newHeight:', newHeightTL, 'newTop:', popup.top);
+        break;
+      case 'top-right':
+        const newWidthTR = Math.max(minWidth, resizeStart.value.originalWidth + diffX);
+        const newHeightTR = Math.max(minHeight, resizeStart.value.originalHeight - diffY);
+        popup.width = newWidthTR;
+        popup.height = newHeightTR;
+        popup.top = `${Math.max(0, resizeStart.value.originalTop + (resizeStart.value.originalHeight - newHeightTR))}px`; // 限制顶部
+        console.log('Resizing top-right', 'newWidth:', newWidthTR, 'newHeight:', newHeightTR, 'newTop:', popup.top);
+        break;
+      case 'bottom-left':
+        const newWidthBL = Math.max(minWidth, resizeStart.value.originalWidth - diffX);
+        const newHeightBL = Math.max(minHeight, resizeStart.value.originalHeight + diffY);
+        popup.width = newWidthBL;
+        popup.height = newHeightBL;
+        popup.left = `${resizeStart.value.originalLeft + (resizeStart.value.originalWidth - newWidthBL)}px`;
+        console.log('Resizing bottom-left', 'newWidth:', newWidthBL, 'newHeight:', newHeightBL, 'newLeft:', popup.left);
+        break;
+      case 'bottom-right':
+        popup.width = Math.max(minWidth, resizeStart.value.originalWidth + diffX);
+        popup.height = Math.max(minHeight, resizeStart.value.originalHeight + diffY);
+        console.log('Resizing bottom-right', 'newWidth:', popup.width, 'newHeight:', popup.height);
+        break;
+    }
+  }
+};
+
+const stopResizingGlobal = () => {
+  if (resizeStart.value.index !== null) {
+    isResizing.value[resizeStart.value.index] = false;
+    resizeStart.value = { index: null, startX: 0, startY: 0, originalWidth: 0, originalHeight: 0, originalTop: 0, originalLeft: 0, edge: '' };
+    document.removeEventListener('mousemove', handleResize);
+    document.removeEventListener('mouseup', stopResizingGlobal);
+  }
+};
+
+onMounted(() => {
+  const img = new Image();
+  img.src = robotImage;
+  img.onload = () => {
+    imageDimensions.value = { width: img.width, height: img.height };
+    if (robotBg.value) {
+      watch(() => [robotBg.value.parentElement.offsetWidth, robotBg.value.parentElement.offsetHeight, isTreeCollapsed.value], ([newWidth, newHeight]) => {
+        const containerWidth = newWidth - 40 - (isTreeCollapsed.value ? 0 : 240); // 减去外层 padding 和 tree-panel 宽度
+        const containerHeight = newHeight - 40; // 减去外层 padding
+        const scale = Math.min(containerWidth / img.width, containerHeight / img.height);
+        robotBg.value.style.minWidth = `${img.width * scale}px`;
+        robotBg.value.style.minHeight = `${img.height * scale}px`;
+      }, { immediate: true });
+    }
+  };
+});
+
+onUnmounted(() => {
+  document.removeEventListener('mousemove', handleResize);
+  document.removeEventListener('mouseup', stopResizingGlobal);
+});
+</script>
+
+<style scoped>
+.robot-container {
+  width: 100%;
+  position: relative;
+  display: flex; /* 保持与外层一致 */
+  overflow: hidden; /* 防止遮挡弹窗 */
+  padding: 0; /* 外层已处理 padding */
+  background-color: #fff;
+  border-radius: 10px;
+}
+
+.tree-panel {
+  flex-shrink: 0; /* 防止收缩 */
+  /* padding: 10px; */
+  border-right: 1px solid #ddd;
+  overflow-y: auto; /* 垂直滚动 */
+  height: auto; /* 动态高度 */
+  transition: width 0.3s ease; /* 平滑过渡 */
+  
+}
+.tree-panel:deep(.el-tree) {
+    padding: 10px !important;
+  }
+.robot-panel {
+  flex-grow: 1; /* 填满剩余空间 */
+  display: flex;
+  justify-content: center; /* 水平居中 */
+  align-items: center; /* 垂直居中 */
+  overflow: hidden;
+  padding: 0 20px; /* 补偿外层 padding */
+  position: relative; /* 确保按钮定位 */
+}
+
+#robot-bg {
+  background-size: contain;
+  background-repeat: no-repeat;
+  background-position: center;
+  min-width: 0; /* 防止收缩 */
+  min-height: 0; /* 防止收缩 */
+}
+
+.toggle-button {
+  position: absolute;
+  left: 20px; /* 贴近左边边 */
+  top: 10px; /* 顶部留点间距 */
+  width: 40px;
+  height: 40px;
+  display: flex;
+  align-items: center;
+  justify-content: center;
+  cursor: pointer;
+  font-size: 24px;
+  background-color: #e0e0e0;
+  border-radius: 4px;
+  z-index: 2001; /* 确保高于其他元素 */
+}
+
+.toggle-button:hover {
+  background-color: #d0d0d0;
+}
+
+.clickable-area {
+  cursor: pointer;
+  position: relative;
+}
+
+.clickable-text {
+  position: absolute;
+  top: 50%;
+  left: 50%;
+  transform: translate(-50%, -50%);
+  color: #fff;
+  text-shadow: 0 0 5px #000;
+  animation: blink 1.5s infinite;
+}
+
+@keyframes blink {
+  0% { opacity: 1; }
+  50% { opacity: 0; }
+  100% { opacity: 1; }
+}
+
+.popup {
+  display: flex;
+  flex-direction: column;
+  background: white;
+  user-select: none;
+  overflow: auto;
+  box-sizing: border-box;
+  transition: width 0.2s, height 0.2s, top 0.2s, left 0.2s; /* 平滑过渡 */
+}
+
+.popup.dragging {
+  transition: none; /* 拖动时禁用过渡 */
+  opacity: 0.8;
+}
+
+.drag-handle {
+  height: 30px; /* 增加高度以容纳按钮 */
+  background: #e0e0e0; /* 背景色 */
+  cursor: move; /* 拖动光标 */
+  position: relative;
+  z-index: 1;
+  display: flex;
+  align-items: center;
+  justify-content: center; /* 标题居中 */
+}
+
+.popup-title {
+  font-size: 16px;
+  font-weight: bold;
+  color: #333;
+  white-space: nowrap;
+  overflow: hidden;
+  text-overflow: ellipsis;
+  position: absolute;
+  left: 10px;
+  right: 60px; /* 留出按钮空间 */
+  text-align: center; /* 居中文本 */
+}
+
+.popup-controls {
+  position: absolute;
+  right: 5px;
+  display: flex;
+  gap: 5px;
+}
+
+.control-icon {
+  cursor: pointer;
+  font-size: 18px; /* 放大按钮 */
+  padding: 4px 8px; /* 增加内边距 */
+  background: #f0f0f0;
+  border-radius: 4px;
+}
+
+.control-icon:hover {
+  background: #d0d0d0;
+}
+
+.close-icon {
+  color: #ff4444;
+}
+
+.close-icon:hover {
+  background: #ff6666;
+}
+
+/* 边缘拖动区域 */
+.resize-edge {
+  position: absolute;
+  background: transparent;
+  z-index: 2; /* 提高拖动区域优先级 */
+}
+
+.top { top: 0; left: 0; right: 0; height: 10px; cursor: ns-resize; } /* 增加高度以覆盖 drag-handle */
+.bottom { bottom: 0; left: 0; right: 0; height: 5px; cursor: ns-resize; }
+.left { top: 0; bottom: 0; left: 0; width: 5px; cursor: ew-resize; }
+.right { top: 0; bottom: 0; right: 0; width: 5px; cursor: ew-resize; }
+
+/* 角落拖动区域 */
+.resize-corner {
+  position: absolute;
+  width: 10px;
+  height: 10px;
+  background: rgba(0, 0, 0, 0.1);
+}
+
+.top-left { top: 0; left: 0; cursor: nwse-resize; }
+.top-right { top: 0; right: 0; cursor: nesw-resize; }
+.bottom-left { bottom: 0; left: 0; cursor: nesw-resize; }
+.bottom-right { bottom: 0; right: 0; cursor: nwse-resize; }
+
+.popup.resizing {
+  transition: none; /* 缩放时禁用过渡 */
+}
+</style>