feat: 调整流程节点

.env.development

@@ -7,8 +7,8 @@ VITE_APP_ENV = 'development'
 # 招商车研物联网平台/开发环境
 VITE_APP_BASE_API = '/dev-api'
 
-VITE_API_URL = http://192.168.28.10:13080
-VITE_WS_URL = ws://192.168.0.201:13080/ws
+VITE_API_URL = http://192.168.1.101:13080
+VITE_WS_URL = ws://192.168.1.101:13080/ws
 
 # explanation
 VITE_INSPECTION_TYPE = "inspection"

package.json

@@ -61,5 +61,6 @@
     "vite-plugin-compression": "0.5.1",
     "vite-plugin-monaco-editor": "^1.1.0",
     "vite-plugin-svg-icons": "2.0.1"
-  }
+  },
+  "packageManager": "pnpm@9.15.9+sha512.68046141893c66fad01c079231128e9afb89ef87e2691d69e4d40eee228988295fd4682181bae55b58418c3a253bde65a505ec7c5f9403ece5cc3cd37dcf2531"
 }

src/adapters/URDFAdapter.js

@@ -0,0 +1,461 @@
+/**
+ * URDF Adapter
+ * Converts urdf-loaders result to unified model
+ */
+import * as THREE from 'three';
+import { UnifiedRobotModel, Link, Joint, JointLimits, VisualGeometry, CollisionGeometry, InertialProperties } from '../models/UnifiedRobotModel.js';
+
+export class URDFAdapter {
+    /**
+     * Convert urdf-loaders robot object to unified model
+     * @param {THREE.Group} robot - Robot object returned by urdf-loaders
+     * @param {string} urdfXML - Original URDF XML content (optional, for extracting inertial data)
+     * @returns {UnifiedRobotModel}
+     */
+    static convert(robot, urdfXML = null) {
+        const model = new UnifiedRobotModel();
+        model.name = robot.name || 'robot';
+        model.threeObject = robot;
+
+        // Mark model type as URDF
+        if (!robot.userData) robot.userData = {};
+        robot.userData.type = 'urdf';
+
+        if (!robot.links || !robot.joints) {
+            console.warn('URDF model missing links or joints information');
+            return model;
+        }
+
+        // If XML provided, parse inertial data
+        let inertialData = {};
+        if (urdfXML) {
+            inertialData = this.parseInertialFromXML(urdfXML);
+        }
+
+        // Convert links
+        Object.values(robot.links).forEach(urdfLink => {
+            const link = this.convertLink(urdfLink);
+
+            // If urdf-loader didn't parse inertial, get from XML
+            if (!link.inertial && inertialData[urdfLink.name]) {
+                link.inertial = inertialData[urdfLink.name];
+            }
+
+            model.addLink(link);
+        });
+
+        // Convert joints
+        Object.values(robot.joints).forEach(urdfJoint => {
+            const joint = this.convertJoint(urdfJoint);
+            model.addJoint(joint);
+        });
+
+        // If XML provided, supplement effort and velocity from XML (urdf-loaders may not have parsed)
+        if (urdfXML) {
+            this.supplementJointLimitsFromXML(model, urdfXML);
+        }
+
+        // Find root link (link that is not a child of any joint)
+        const allChildren = new Set(
+            Array.from(model.joints.values()).map(j => j.child).filter(c => c)
+        );
+        const rootLinks = Array.from(model.links.keys()).filter(
+            name => !allChildren.has(name)
+        );
+        if (rootLinks.length > 0) {
+            model.rootLink = rootLinks[0];
+        }
+
+        // Enhance materials for better lighting (MuJoCo style)
+        this.enhanceMaterials(robot);
+
+        return model;
+    }
+
+    /**
+     * Enhance materials for better lighting (MuJoCo style)
+     * Applies consistent shininess and specular properties to all materials
+     * Directly modifies materials in place to ensure changes persist
+     */
+    static enhanceMaterials(robotObject) {
+        robotObject.traverse((child) => {
+            if (child.isMesh && child.material) {
+                // Handle material arrays
+                if (Array.isArray(child.material)) {
+                    child.material = child.material.map(mat => {
+                        return this.enhanceSingleMaterial(mat);
+                    });
+                } else {
+                    child.material = this.enhanceSingleMaterial(child.material);
+                }
+            }
+        });
+    }
+
+    /**
+     * Enhance a single material with better lighting properties
+     * Returns enhanced material (may be cloned or modified in place)
+     * Saves original properties for lighting toggle
+     */
+    static enhanceSingleMaterial(material) {
+        if (material.isMeshPhongMaterial || material.isMeshStandardMaterial) {
+            // Save original properties if not already saved (for lighting toggle)
+            if (material.userData.originalShininess === undefined) {
+                material.userData.originalShininess = material.shininess !== undefined ? material.shininess : 30;
+                // IMPORTANT: Save original color to preserve URDF material colors
+                if (!material.userData.originalColor && material.color) {
+                    material.userData.originalColor = material.color.clone();
+                }
+                // Save original specular - if material had no specular, save null
+                if (!material.specular) {
+                    material.userData.originalSpecular = null;
+                } else if (material.specular.isColor) {
+                    const spec = material.specular;
+                    if (spec.r < 0.1 && spec.g < 0.1 && spec.b < 0.1) {
+                        material.userData.originalSpecular = null; // Likely default
+                    } else {
+                        material.userData.originalSpecular = spec.clone();
+                    }
+                } else if (typeof material.specular === 'number') {
+                    if (material.specular === 0x111111 || material.specular < 0x111111) {
+                        material.userData.originalSpecular = null;
+                    } else {
+                        material.userData.originalSpecular = new THREE.Color(material.specular);
+                    }
+                } else {
+                    material.userData.originalSpecular = null;
+                }
+            }
+
+            // IMPORTANT: Preserve original color from URDF material definitions
+            // Do not modify material.color - urdf-loaders already sets the correct color
+
+            // Apply enhanced lighting (default enabled)
+            // Increase shininess for better highlights
+            if (material.shininess === undefined || material.shininess < 50) {
+                material.shininess = 50;
+            }
+
+            // Enhance specular reflection - ensure it's a Color object with proper values
+            if (!material.specular) {
+                material.specular = new THREE.Color(0.3, 0.3, 0.3);
+            } else if (material.specular.isColor) {
+                // If it's already a Color object, update values
+                if (material.specular.r < 0.2 || material.specular.g < 0.2 || material.specular.b < 0.2) {
+                    material.specular.setRGB(0.3, 0.3, 0.3);
+                }
+            } else if (typeof material.specular === 'number') {
+                // Convert number to Color object
+                if (material.specular < 0x333333) {
+                    material.specular = new THREE.Color(0.3, 0.3, 0.3);
+                } else {
+                    // Convert hex to Color
+                    material.specular = new THREE.Color(material.specular);
+                    if (material.specular.r < 0.2) {
+                        material.specular.setRGB(0.3, 0.3, 0.3);
+                    }
+                }
+            }
+
+            // Mark material as needing update
+            material.needsUpdate = true;
+            return material;
+        } else if (material.type === 'MeshBasicMaterial') {
+            // Convert MeshBasicMaterial to MeshPhongMaterial
+            const oldMaterial = material;
+            const envMap = typeof window !== 'undefined' && window.app?.sceneManager?.environmentManager?.getEnvironmentMap();
+            const newMaterial = new THREE.MeshPhongMaterial({
+                color: oldMaterial.color,
+                map: oldMaterial.map,
+                transparent: oldMaterial.transparent,
+                opacity: oldMaterial.opacity,
+                side: oldMaterial.side,
+                shininess: 50,
+                specular: new THREE.Color(0.3, 0.3, 0.3),
+                envMap: envMap || null,
+                reflectivity: envMap ? 0.3 : 0
+            });
+            // Save original properties for lighting toggle
+            newMaterial.userData.originalShininess = 30;
+            newMaterial.userData.originalSpecular = null; // MeshBasicMaterial had no specular
+            return newMaterial;
+        }
+
+        return material;
+    }
+
+    static convertLink(urdfLink) {
+        const link = new Link(urdfLink.name);
+        link.threeObject = urdfLink;
+
+        // Convert inertial properties
+        if (urdfLink.inertial) {
+            link.inertial = this.convertInertial(urdfLink.inertial);
+        }
+
+        // Note: urdf-loaders has already converted visual and collision to Three.js objects
+        // We mainly extract metadata, actual meshes are in threeObject
+
+        return link;
+    }
+
+    static convertJoint(urdfJoint) {
+        // URDF joint object has jointType property (not type)
+        const jointType = urdfJoint.jointType || urdfJoint.type || 'fixed';
+        const joint = new Joint(urdfJoint.name, jointType);
+
+        // Extract parent name (urdf-loader returns Three.js object reference)
+        joint.parent = urdfJoint.parent?.name || null;
+
+        // child may not be in urdfJoint.child, but in Three.js children array
+        // In Three.js scene graph, Joint is parent node, Child Link is Joint's child node
+        if (urdfJoint.child && urdfJoint.child.name) {
+            joint.child = urdfJoint.child.name;
+        } else if (urdfJoint.children && urdfJoint.children.length > 0) {
+            // Find Link object from children array
+            const childLink = urdfJoint.children.find(child =>
+                child.isURDFLink || child.type === 'URDFLink'
+            );
+            if (childLink) {
+                joint.child = childLink.name;
+            }
+        }
+
+        joint.threeObject = urdfJoint;
+
+        // Convert origin
+        if (urdfJoint.origin) {
+            joint.origin = {
+                xyz: urdfJoint.origin.xyz || [0, 0, 0],
+                rpy: urdfJoint.origin.rpy || [0, 0, 0]
+            };
+        }
+
+        // Convert axis
+        if (urdfJoint.axis) {
+            joint.axis = { xyz: urdfJoint.axis.xyz || [0, 0, 1] };
+        }
+
+        // Convert limits
+        if (urdfJoint.limit) {
+            joint.limits = this.convertLimits(urdfJoint.limit);
+        }
+
+        // Get current value
+        if (urdfJoint.angle !== undefined) {
+            joint.currentValue = urdfJoint.angle;
+        } else if (urdfJoint.jointValue !== undefined) {
+            joint.currentValue = urdfJoint.jointValue;
+        }
+
+        return joint;
+    }
+
+    static convertLimits(limit) {
+        const limits = new JointLimits();
+        if (limit.lower !== undefined) limits.lower = limit.lower;
+        if (limit.upper !== undefined) limits.upper = limit.upper;
+        if (limit.effort !== undefined) limits.effort = limit.effort;
+        if (limit.velocity !== undefined) limits.velocity = limit.velocity;
+        return limits;
+    }
+
+    /**
+     * Supplement joint effort and velocity information from URDF XML
+     * (because urdf-loaders may not have parsed these attributes)
+     */
+    static supplementJointLimitsFromXML(model, urdfXML) {
+        try {
+            const parser = new DOMParser();
+            const doc = parser.parseFromString(urdfXML, 'text/xml');
+
+            const jointElements = doc.querySelectorAll('joint');
+            jointElements.forEach(jointEl => {
+                const jointName = jointEl.getAttribute('name');
+                const joint = model.joints.get(jointName);
+
+                if (joint) {
+                    const limitEl = jointEl.querySelector('limit');
+                    if (limitEl) {
+                        if (!joint.limits) {
+                            joint.limits = new JointLimits();
+                        }
+
+                        // Read effort and velocity
+                        const effort = limitEl.getAttribute('effort');
+                        const velocity = limitEl.getAttribute('velocity');
+
+                        if (effort !== null) {
+                            joint.limits.effort = parseFloat(effort);
+                        }
+                        if (velocity !== null) {
+                            joint.limits.velocity = parseFloat(velocity);
+                        }
+
+                        // Also ensure lower and upper are correctly set
+                        const lower = limitEl.getAttribute('lower');
+                        const upper = limitEl.getAttribute('upper');
+                        if (lower !== null) {
+                            joint.limits.lower = parseFloat(lower);
+                        }
+                        if (upper !== null) {
+                            joint.limits.upper = parseFloat(upper);
+                        }
+                    }
+                }
+            });
+        } catch (error) {
+            console.error('Failed to supplement joint limit information from XML:', error);
+        }
+    }
+
+    static convertInertial(inertial) {
+        const props = new InertialProperties();
+        if (inertial.mass !== undefined) props.mass = inertial.mass;
+        if (inertial.origin) {
+            props.origin = {
+                xyz: inertial.origin.xyz || [0, 0, 0],
+                rpy: inertial.origin.rpy || [0, 0, 0]
+            };
+        }
+        if (inertial.ixx !== undefined) props.ixx = inertial.ixx;
+        if (inertial.iyy !== undefined) props.iyy = inertial.iyy;
+        if (inertial.izz !== undefined) props.izz = inertial.izz;
+        if (inertial.ixy !== undefined) props.ixy = inertial.ixy;
+        if (inertial.ixz !== undefined) props.ixz = inertial.ixz;
+        if (inertial.iyz !== undefined) props.iyz = inertial.iyz;
+        return props;
+    }
+
+    /**
+     * Parse inertial data from URDF XML
+     * @param {string} xmlContent - URDF XML content
+     * @returns {Object} Mapping from link names to inertial data
+     */
+    static parseInertialFromXML(xmlContent) {
+        const inertialData = {};
+
+        try {
+            const parser = new DOMParser();
+            const xmlDoc = parser.parseFromString(xmlContent, 'text/xml');
+
+            // Get all link elements
+            const links = xmlDoc.getElementsByTagName('link');
+
+            for (let i = 0; i < links.length; i++) {
+                const linkElement = links[i];
+                const linkName = linkElement.getAttribute('name');
+
+                // Find inertial element
+                const inertialElement = linkElement.getElementsByTagName('inertial')[0];
+                if (!inertialElement) continue;
+
+                const inertial = new InertialProperties();
+
+                // Parse mass
+                const massElement = inertialElement.getElementsByTagName('mass')[0];
+                if (massElement) {
+                    inertial.mass = parseFloat(massElement.getAttribute('value'));
+                }
+
+                // Parse origin
+                const originElement = inertialElement.getElementsByTagName('origin')[0];
+                if (originElement) {
+                    const xyz = originElement.getAttribute('xyz');
+                    const rpy = originElement.getAttribute('rpy');
+                    inertial.origin = {
+                        xyz: xyz ? xyz.split(' ').map(parseFloat) : [0, 0, 0],
+                        rpy: rpy ? rpy.split(' ').map(parseFloat) : [0, 0, 0]
+                    };
+                } else {
+                    inertial.origin = { xyz: [0, 0, 0], rpy: [0, 0, 0] };
+                }
+
+                // Parse inertia
+                const inertiaElement = inertialElement.getElementsByTagName('inertia')[0];
+                if (inertiaElement) {
+                    inertial.ixx = parseFloat(inertiaElement.getAttribute('ixx')) || 0;
+                    inertial.iyy = parseFloat(inertiaElement.getAttribute('iyy')) || 0;
+                    inertial.izz = parseFloat(inertiaElement.getAttribute('izz')) || 0;
+                    inertial.ixy = parseFloat(inertiaElement.getAttribute('ixy')) || 0;
+                    inertial.ixz = parseFloat(inertiaElement.getAttribute('ixz')) || 0;
+                    inertial.iyz = parseFloat(inertiaElement.getAttribute('iyz')) || 0;
+                }
+
+                inertialData[linkName] = inertial;
+            }
+        } catch (error) {
+            console.error('Failed to parse URDF XML inertial data:', error);
+        }
+
+        return inertialData;
+    }
+
+    /**
+     * Set joint angle (using urdf-loaders' setJointValue method)
+     * Reference URDFClasses.js setJointValue implementation
+     */
+    static setJointAngle(joint, angle, ignoreLimits = false) {
+        joint.currentValue = angle;
+
+        // URDF format: use urdf-loader's setJointValue method
+        if (joint.threeObject) {
+            // If ignoring limits, temporarily modify URDF joint object's limit values
+            let originalLimits = null;
+            if (ignoreLimits && joint.threeObject.limit) {
+                originalLimits = {
+                    lower: joint.threeObject.limit.lower,
+                    upper: joint.threeObject.limit.upper
+                };
+                joint.threeObject.limit.lower = -Math.PI * 2;
+                joint.threeObject.limit.upper = Math.PI * 2;
+            }
+
+            // Prefer setJointValue method (urdf-loader's standard method)
+            if (typeof joint.threeObject.setJointValue === 'function') {
+                joint.threeObject.setJointValue(angle);
+
+                // Restore original limits
+                if (originalLimits && joint.threeObject.limit) {
+                    joint.threeObject.limit.lower = originalLimits.lower;
+                    joint.threeObject.limit.upper = originalLimits.upper;
+                }
+                return;
+            } else if (typeof joint.threeObject.setAngle === 'function') {
+                joint.threeObject.setAngle(angle);
+
+                // Restore original limits
+                if (originalLimits && joint.threeObject.limit) {
+                    joint.threeObject.limit.lower = originalLimits.lower;
+                    joint.threeObject.limit.upper = originalLimits.upper;
+                }
+                return;
+            }
+
+            // Restore original limits (if none of the above methods executed)
+            if (originalLimits && joint.threeObject.limit) {
+                joint.threeObject.limit.lower = originalLimits.lower;
+                joint.threeObject.limit.upper = originalLimits.upper;
+            }
+
+            // If none available, manually set rotation
+            // Note: For URDF, we usually shouldn't reach here, as urdf-loader should provide setJointValue
+            console.warn(`Joint ${joint.name} has no setJointValue or setAngle method, attempting manual setup`);
+            if (joint.type === 'revolute' || joint.type === 'continuous') {
+                const axis = joint.axis ? new THREE.Vector3(...joint.axis.xyz).normalize() : new THREE.Vector3(0, 0, 1);
+                // Note: joint.threeObject may not be a Three.js object, cannot directly set rotation
+                if (joint.threeObject.rotation) {
+                    joint.threeObject.rotation.setFromAxisAngle(axis, angle);
+                }
+            } else if (joint.type === 'prismatic') {
+                const axis = joint.axis ? new THREE.Vector3(...joint.axis.xyz).normalize() : new THREE.Vector3(1, 0, 0);
+                if (joint.threeObject.position) {
+                    joint.threeObject.position.copy(axis.multiplyScalar(angle));
+                }
+            }
+        } else {
+            console.warn(`Joint ${joint.name} has no threeObject`);
+        }
+    }
+}
+

src/adapters/XacroAdapter.js

@@ -0,0 +1,614 @@
+/**
+ * Xacro Adapter
+ *
+ * Parses ROS Xacro files and converts them to URDF format using xacro-parser.
+ *
+ * Supported Features:
+ * - Property definitions and substitutions (xacro:property)
+ * - Macro definitions with parameters (xacro:macro)
+ * - Conditional blocks (xacro:if, xacro:unless)
+ * - File inclusions (xacro:include) with package:// and relative paths
+ * - Python-style boolean constants (True/False)
+ * - Arithmetic expressions and property evaluation
+ *
+ * Compatibility:
+ * - ROS Jade and later (inOrder=true, requirePrefix=true, localProperties=true)
+ * - Automatically injects True/False constants for compatibility with ROS xacro files
+ *
+ * Usage:
+ * - Upload all related xacro files (main file and included files)
+ * - The adapter automatically resolves file inclusions from the uploaded file map
+ * - Mesh files are resolved using package:// paths or relative paths
+ */
+import { XacroParser } from 'xacro-parser';
+import { URDFAdapter } from './URDFAdapter.js';
+
+export class XacroAdapter {
+    /**
+     * Parse xacro content and convert to unified model
+     * @param {string} xacroContent - Xacro file content
+     * @param {string} fileName - Xacro file name (for working path)
+     * @param {Map} fileMap - File map (path -> File object)
+     * @param {File} file - Original file object (optional)
+     * @returns {Promise<UnifiedRobotModel>}
+     */
+    static async parse(xacroContent, fileName, fileMap = null, file = null) {
+        try {
+            // Create xacro parser
+            const parser = new XacroParser();
+
+            // Configure parser for ROS Jade and later (default settings)
+            parser.inOrder = true;
+            parser.requirePrefix = true;
+            parser.localProperties = true;
+
+            // Set working path (directory where xacro file is located)
+            const workingPath = fileName.includes('/')
+                ? fileName.substring(0, fileName.lastIndexOf('/') + 1)
+                : '';
+            parser.workingPath = workingPath;
+
+            // Inject Python-style boolean constants as xacro properties
+            // Some xacro files use True/False (capitalized) in conditions
+            xacroContent = this.injectBooleanConstants(xacroContent);
+
+            // Extract and set xacro arguments with their default values
+            // Also add common ROS arguments that might be used without definition
+            const xacroArgs = this.extractXacroArguments(xacroContent);
+
+            // Add common ROS arguments with sensible defaults if not already defined
+            if (!xacroArgs.hasOwnProperty('DEBUG')) {
+                xacroArgs.DEBUG = 'false';
+            }
+            if (!xacroArgs.hasOwnProperty('SELF_COLLIDE')) {
+                xacroArgs.SELF_COLLIDE = 'false';
+            }
+
+            parser.arguments = xacroArgs;
+
+            // If fileMap provided, setup custom file loader
+            if (fileMap) {
+                parser.getFileContents = async (path) => {
+                    return await this.loadFileFromMap(path, fileMap, workingPath);
+                };
+            }
+
+            // Parse xacro to URDF XML
+            const urdfXML = await parser.parse(xacroContent);
+
+            // Convert XMLDocument to string
+            const serializer = new XMLSerializer();
+            let urdfString = serializer.serializeToString(urdfXML);
+
+            // Clean up the XML string - remove empty xmlns attributes that might cause issues
+            urdfString = urdfString.replace(/\sxmlns=""/g, '');
+
+            // Re-parse the URDF string with DOMParser to create a clean XMLDocument
+            // This removes any xacro-specific nodes that urdf-loader might not handle
+            const domParser = new DOMParser();
+            const cleanUrdfXML = domParser.parseFromString(urdfString, 'text/xml');
+
+            // Check for parsing errors
+            const parseError = cleanUrdfXML.querySelector('parsererror');
+            if (parseError) {
+                console.error('[XacroAdapter] XML parsing error:', parseError.textContent);
+                throw new Error('Generated URDF has invalid XML: ' + parseError.textContent);
+            }
+
+            // Remove problematic elements that urdf-loader might not handle well
+            // Remove gazebo elements (plugins, sensors, etc.)
+            const gazeboElements = cleanUrdfXML.querySelectorAll('gazebo');
+            gazeboElements.forEach(el => el.parentNode?.removeChild(el));
+
+            // Remove transmission elements (these are for Gazebo/ROS control)
+            const transmissionElements = cleanUrdfXML.querySelectorAll('transmission');
+            transmissionElements.forEach(el => el.parentNode?.removeChild(el));
+
+            // Remove visual/collision elements with empty geometry tags
+            this.removeEmptyGeometry(cleanUrdfXML);
+
+            // Clean up empty text nodes and comments that might cause issues
+            this.cleanXMLNodes(cleanUrdfXML.documentElement);
+
+            // Convert the clean XMLDocument back to string for URDFLoader
+            const finalUrdfString = serializer.serializeToString(cleanUrdfXML);
+
+            // Now use existing URDF loading infrastructure
+            // Import URDFLoader dynamically
+            const urdfModule = await import('urdf-loader');
+            const URDFLoader = urdfModule.URDFLoader || urdfModule.default || urdfModule;
+
+            return new Promise((resolve, reject) => {
+                const loader = new URDFLoader();
+                loader.parseCollision = true;
+
+                // Extract directory where URDF file is located
+                const urdfDir = workingPath;
+
+                // If file map provided, setup resource loader (same as URDF loading)
+                if (fileMap) {
+                    // Parse URDF content, find all used package names
+                    const packages = this.extractPackagesFromURDF(finalUrdfString);
+
+                    // Build package map
+                    const packageMap = {};
+                    packages.forEach(pkg => {
+                        packageMap[pkg] = pkg;
+                    });
+                    packageMap[''] = '';
+
+                    loader.packages = packageMap;
+
+                    // Set URL Modifier (same as URDF loading)
+                    const urlModifier = (url) => {
+                        // Handle blob URLs
+                        if (url.startsWith('blob:')) {
+                            const blobMatch = url.match(/^blob:https?:\/\/[^\/]+\/(.+)$/);
+                            if (blobMatch && blobMatch[1]) {
+                                const fileName = blobMatch[1];
+                                if (/\.(jpg|jpeg|png|gif|bmp|tga|tiff|webp|dae|stl|obj|gltf|glb)$/i.test(fileName)) {
+                                    url = fileName;
+                                } else {
+                                    return url;
+                                }
+                            } else {
+                                return url;
+                            }
+                        }
+
+                        const isTextureFile = /\.(jpg|jpeg|png|gif|bmp|tga|tiff|webp)$/i.test(url);
+                        const isMeshFile = /\.(dae|stl|obj|gltf|glb)$/i.test(url);
+
+                        let meshPath = url;
+
+                        // Remove http:// or https:// prefix
+                        if (meshPath.startsWith('http://') || meshPath.startsWith('https://')) {
+                            try {
+                                const urlObj = new URL(meshPath);
+                                meshPath = urlObj.pathname;
+                                if (meshPath.startsWith('/')) {
+                                    meshPath = meshPath.substring(1);
+                                }
+                            } catch (e) {
+                                // Invalid URL, use as-is
+                            }
+                        }
+
+                        // Remove package:// prefix
+                        if (meshPath.startsWith('package://')) {
+                            meshPath = meshPath.replace(/^package:\/\//, '');
+                            const parts = meshPath.split('/');
+                            if (parts.length > 1) {
+                                meshPath = parts.slice(1).join('/');
+                            }
+                        }
+
+                        // Remove leading ./
+                        meshPath = meshPath.replace(/^\.\//, '');
+
+                        // Handle relative paths
+                        let normalizedPath = meshPath;
+                        if (meshPath.includes('../')) {
+                            const parts = meshPath.split('/');
+                            const resolvedParts = [];
+                            for (const part of parts) {
+                                if (part === '..') {
+                                    resolvedParts.pop();
+                                } else if (part !== '.' && part !== '') {
+                                    resolvedParts.push(part);
+                                }
+                            }
+                            normalizedPath = resolvedParts.join('/');
+                        }
+
+                        // Build full path
+                        const fullPath = urdfDir + normalizedPath;
+                        const altPath = urdfDir + meshPath;
+
+                        // Find file in fileMap
+                        let matchedFile = fileMap.get(fullPath);
+
+                        if (!matchedFile && altPath !== fullPath) {
+                            matchedFile = fileMap.get(altPath);
+                        }
+
+                        if (!matchedFile) {
+                            matchedFile = fileMap.get(normalizedPath);
+                        }
+
+                        if (!matchedFile) {
+                            matchedFile = fileMap.get(meshPath);
+                        }
+
+                        if (!matchedFile) {
+                            const targetFileName = normalizedPath.split('/').pop() || meshPath.split('/').pop();
+                            for (const [key, file] of fileMap.entries()) {
+                                const keyFileName = key.split('/').pop();
+                                if (keyFileName === targetFileName) {
+                                    matchedFile = file;
+                                    break;
+                                }
+                            }
+                        }
+
+                        if (matchedFile) {
+                            const bloburl = URL.createObjectURL(matchedFile);
+                            return bloburl;
+                        }
+
+                        return url;
+                    };
+
+                    loader.manager.setURLModifier(urlModifier);
+
+                    // Custom loadMeshCb (same as URDF loading)
+                    const originalLoadMeshCb = loader.loadMeshCb || loader.defaultMeshLoader.bind(loader);
+                    loader.loadMeshCb = (path, manager, done) => {
+                        this.findFileInMapByPath(path, fileMap, urdfDir).then(file => {
+                            if (file) {
+                                const ext = (file.name || path).toLowerCase().split('.').pop();
+                                this.loadMeshFileAsync(file, ext, manager).then(meshObject => {
+                                    if (meshObject) {
+                                        done(meshObject, null);
+                                    } else {
+                                        done(null, new Error(`Failed to load mesh file: ${path}`));
+                                    }
+                                }).catch(err => {
+                                    console.error(`Failed to load mesh: ${path}`, err);
+                                    done(null, err);
+                                });
+                            } else {
+                                originalLoadMeshCb(path, manager, done);
+                            }
+                        }).catch(error => {
+                            console.error(`Failed to find file: ${path}`, error);
+                            originalLoadMeshCb(path, manager, done);
+                        });
+                    };
+                }
+
+                // Create temporary URL for URDF content
+                const blob = new Blob([finalUrdfString], { type: 'text/xml' });
+                const url = URL.createObjectURL(blob);
+
+                loader.load(url, (robot) => {
+                    URL.revokeObjectURL(url);
+
+                    // Convert to unified model using URDFAdapter
+                    try {
+                        const model = URDFAdapter.convert(robot, finalUrdfString);
+                        resolve(model);
+                    } catch (error) {
+                        console.error('[XacroAdapter] URDF conversion error:', error);
+                        reject(new Error('URDF conversion failed: ' + error.message));
+                    }
+                }, undefined, (error) => {
+                    URL.revokeObjectURL(url);
+                    console.error('[XacroAdapter] URDF loading error:', error);
+                    reject(new Error('URDF loading failed: ' + (error.message || error)));
+                });
+            });
+        } catch (error) {
+            console.error('[XacroAdapter] Xacro parsing error:', error);
+            throw new Error('Xacro parsing failed: ' + error.message);
+        }
+    }
+
+    /**
+     * Load file from fileMap for xacro includes
+     * @param {string} path - File path
+     * @param {Map} fileMap - File map
+     * @param {string} workingPath - Working directory
+     * @returns {Promise<string>}
+     */
+    static async loadFileFromMap(path, fileMap, workingPath) {
+        // Clean path - remove leading slash if present
+        let cleanPath = path;
+        if (cleanPath.startsWith('/')) {
+            cleanPath = cleanPath.substring(1);
+        }
+
+        // Remove leading ./
+        cleanPath = cleanPath.replace(/^\.\//, '');
+
+        // Try different path combinations
+        const possiblePaths = [
+            cleanPath,
+            workingPath + cleanPath,
+            path,
+            workingPath + path.replace(/^\/+/, ''),
+            // Also try without the first directory component
+            cleanPath.includes('/') ? cleanPath.substring(cleanPath.indexOf('/') + 1) : cleanPath,
+        ];
+
+        // Try each path
+        for (const tryPath of possiblePaths) {
+            const file = fileMap.get(tryPath);
+            if (file) {
+                const content = await file.text();
+                return content;
+            }
+        }
+
+        // Try filename only match
+        const fileName = cleanPath.split('/').pop();
+        for (const [key, file] of fileMap.entries()) {
+            const keyFileName = key.split('/').pop();
+            if (keyFileName === fileName) {
+                const content = await file.text();
+                return content;
+            }
+        }
+
+        console.error('[XacroAdapter] Cannot find included file:', path);
+        throw new Error(`Cannot find included file: ${path}`);
+    }
+
+    /**
+     * Remove visual/collision elements with empty geometry tags
+     * xacro-parser may not fully expand conditional geometry (xacro:if)
+     * We'll just remove these empty visual elements rather than try to fix them
+     * @param {XMLDocument} xmlDoc - XML document to clean
+     */
+    static removeEmptyGeometry(xmlDoc) {
+        // Find all geometry elements
+        const geometryElements = xmlDoc.querySelectorAll('geometry');
+
+        geometryElements.forEach(geom => {
+            // Check if geometry is empty (no child elements)
+            if (!geom.children || geom.children.length === 0) {
+                // Find the parent visual or collision element
+                let parent = geom.parentNode;
+                if (parent) {
+                    const grandParent = parent.parentNode;
+                    if (grandParent) {
+                        if (parent.nodeName === 'visual' || parent.nodeName === 'collision') {
+                            // Remove empty visual/collision elements
+                            grandParent.removeChild(parent);
+                        }
+                    }
+                }
+            }
+        });
+    }
+
+    /**
+     * Recursively clean XML nodes - remove empty text nodes and comments
+     * @param {Element} element - Element to clean
+     */
+    static cleanXMLNodes(element) {
+        if (!element || !element.childNodes) return;
+
+        const nodesToRemove = [];
+
+        // Collect nodes to remove
+        for (let i = 0; i < element.childNodes.length; i++) {
+            const node = element.childNodes[i];
+
+            // Remove comments
+            if (node.nodeType === Node.COMMENT_NODE) {
+                nodesToRemove.push(node);
+            }
+            // Remove empty or whitespace-only text nodes
+            else if (node.nodeType === Node.TEXT_NODE) {
+                if (!node.nodeValue || node.nodeValue.trim() === '') {
+                    nodesToRemove.push(node);
+                }
+            }
+            // Recursively clean element nodes
+            else if (node.nodeType === Node.ELEMENT_NODE) {
+                this.cleanXMLNodes(node);
+            }
+        }
+
+        // Remove collected nodes
+        nodesToRemove.forEach(node => {
+            element.removeChild(node);
+        });
+    }
+
+    /**
+     * Extract package names from URDF content
+     * @param {string} urdfContent - URDF content
+     * @returns {Set<string>}
+     */
+    static extractPackagesFromURDF(urdfContent) {
+        const packages = new Set();
+        const packageRegex = /package:\/\/([^\/]+)/g;
+        let match;
+        while ((match = packageRegex.exec(urdfContent)) !== null) {
+            packages.add(match[1]);
+        }
+        return packages;
+    }
+
+    /**
+     * Find file in fileMap by path
+     * @param {string} path - File path
+     * @param {Map} fileMap - File map
+     * @param {string} urdfDir - URDF directory
+     * @returns {Promise<File|null>}
+     */
+    static async findFileInMapByPath(path, fileMap, urdfDir) {
+        let meshPath = path;
+
+        // Remove blob: prefix
+        meshPath = meshPath.replace(/^blob:[^\/]+\//, '');
+
+        // Remove package:// prefix
+        if (meshPath.startsWith('package://')) {
+            meshPath = meshPath.replace(/^package:\/\//, '');
+            const parts = meshPath.split('/');
+            if (parts.length > 1) {
+                meshPath = parts.slice(1).join('/');
+            }
+        }
+
+        // Remove leading ./
+        meshPath = meshPath.replace(/^\.\//, '');
+
+        // Build full path
+        const fullPath = urdfDir + meshPath;
+
+        // Try full path
+        let file = fileMap.get(fullPath);
+        if (file) return file;
+
+        // Try path without directory
+        file = fileMap.get(meshPath);
+        if (file) return file;
+
+        // Try filename match
+        const targetFileName = meshPath.split('/').pop();
+        for (const [key, f] of fileMap.entries()) {
+            const keyFileName = key.split('/').pop();
+            if (keyFileName === targetFileName) {
+                return f;
+            }
+        }
+
+        return null;
+    }
+
+    /**
+     * Load mesh file asynchronously
+     * @param {File} file - File object
+     * @param {string} ext - File extension
+     * @param {THREE.LoadingManager} manager - Loading manager
+     * @returns {Promise<THREE.Object3D>}
+     */
+    static async loadMeshFileAsync(file, ext, manager) {
+        const THREE = await import('three');
+        const blobUrl = URL.createObjectURL(file);
+
+        try {
+            let meshObject = null;
+
+            switch (ext) {
+                case 'stl': {
+                    const { STLLoader } = await import('three/examples/jsm/loaders/STLLoader.js');
+                    const stlLoader = new STLLoader(manager);
+                    const stlGeometry = await new Promise((resolve, reject) => {
+                        stlLoader.load(blobUrl, resolve, undefined, reject);
+                    });
+                    const stlMaterial = new THREE.MeshPhongMaterial();
+                    meshObject = new THREE.Mesh(stlGeometry, stlMaterial);
+                    break;
+                }
+
+                case 'dae': {
+                    const { ColladaLoader } = await import('three/examples/jsm/loaders/ColladaLoader.js');
+                    const colladaLoader = new ColladaLoader(manager);
+                    const colladaModel = await new Promise((resolve, reject) => {
+                        colladaLoader.load(blobUrl, resolve, undefined, reject);
+                    });
+                    meshObject = colladaModel.scene;
+
+                    // Remove lights
+                    if (meshObject && meshObject.traverse) {
+                        const lightsToRemove = [];
+                        meshObject.traverse(child => {
+                            if (child.isLight) {
+                                lightsToRemove.push(child);
+                            }
+                        });
+                        lightsToRemove.forEach(light => {
+                            if (light.parent) {
+                                light.parent.remove(light);
+                            }
+                        });
+                    }
+                    break;
+                }
+
+                case 'obj': {
+                    const { OBJLoader } = await import('three/examples/jsm/loaders/OBJLoader.js');
+                    const objLoader = new OBJLoader(manager);
+                    meshObject = await new Promise((resolve, reject) => {
+                        objLoader.load(blobUrl, resolve, undefined, reject);
+                    });
+                    break;
+                }
+
+                case 'gltf':
+                case 'glb': {
+                    const { GLTFLoader } = await import('three/examples/jsm/loaders/GLTFLoader.js');
+                    const gltfLoader = new GLTFLoader(manager);
+                    const gltfModel = await new Promise((resolve, reject) => {
+                        gltfLoader.load(blobUrl, resolve, undefined, reject);
+                    });
+                    meshObject = gltfModel.scene;
+                    break;
+                }
+
+                default:
+                    console.warn(`Unsupported file format: ${ext}`);
+                    URL.revokeObjectURL(blobUrl);
+                    return null;
+            }
+
+            URL.revokeObjectURL(blobUrl);
+            return meshObject;
+        } catch (error) {
+            URL.revokeObjectURL(blobUrl);
+            console.error(`Failed to load mesh file: ${file.name}`, error);
+            throw error;
+        }
+    }
+
+    /**
+     * Inject Python-style boolean constants (True/False) into xacro content
+     * Some xacro files use capitalized True/False in conditional expressions
+     * The parameters are passed as strings ("True", "False") but compared to constants
+     * We define the constants to match the string values for comparison to work
+     * @param {string} xacroContent - Original xacro content
+     * @returns {string} - Modified xacro content with boolean constants defined
+     */
+    static injectBooleanConstants(xacroContent) {
+        // Find the robot tag opening
+        const robotTagMatch = xacroContent.match(/(<robot[^>]*>)/);
+        if (!robotTagMatch) {
+            return xacroContent;
+        }
+
+        // Define True/False as string properties for comparison
+        // When mirror_dae="True" is passed, it becomes the string "True"
+        // We want ${mirror_dae == True} to work, so True must also be "True"
+        const booleanProperties = `
+    <!-- Injected by XacroAdapter: Python-style boolean constants -->
+    <xacro:property name="True" value="True"/>
+    <xacro:property name="False" value="False"/>
+`;
+
+        const insertPosition = robotTagMatch.index + robotTagMatch[0].length;
+        return xacroContent.substring(0, insertPosition) +
+               booleanProperties +
+               xacroContent.substring(insertPosition);
+    }
+
+    /**
+     * Extract xacro arguments and their default values from xacro content
+     * Xacro files can define arguments using <xacro:arg name="..." default="..."/>
+     * These need to be provided to the parser via parser.arguments
+     * @param {string} xacroContent - Xacro file content
+     * @returns {Object} - Object with argument names as keys and default values
+     */
+    static extractXacroArguments(xacroContent) {
+        const args = {};
+
+        // Match <xacro:arg name="NAME" default="VALUE"/>
+        // Also match <arg name="NAME" default="VALUE"/> (without xacro: prefix)
+        const argPattern = /<(?:xacro:)?arg\s+name=["']([^"']+)["'](?:\s+default=["']([^"']*)["'])?/g;
+
+        let match;
+        while ((match = argPattern.exec(xacroContent)) !== null) {
+            const argName = match[1];
+            const defaultValue = match[2] || 'false'; // Default to 'false' if no default specified
+            args[argName] = defaultValue;
+        }
+
+        return args;
+    }
+}
+
+

src/views/flow/components/NodeTitle.vue

@@ -174,7 +174,6 @@ onMounted(() => {
 })
 
 onUnmounted(() => {
-  console.log(34566)
   emitter.off("deleteNode");
 })
 </script>

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

@@ -0,0 +1,348 @@
+<template>
+    <el-collapse v-model="activeNames">
+        <!-- 输入参数 -->
+        <el-collapse-item name="1" icon-position="left">
+            <template #title>
+                输入参数
+                <el-button :circle="true" size="small" @click="(e) => addFormItem(e, 'nodeParams')" class="addFormItem">
+                    <el-icon :size="14">
+                        <Plus />
+                    </el-icon>
+                </el-button>
+            </template>
+            <div class="form__container">
+                <el-button type="primary" v-if="['AGV_MOVE_TO_POINT', 'ALM'].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">
+                        <el-row>
+                            <el-form-item :label="index === 0 ? '参数名' : ''" :prop="`nodeParams.${index}.name`"
+                                :rules="[{ required: true, message: '请输入参数名', trigger: 'blur' }]">
+                                <el-input :disabled="property?.disabled || false" class="param-name"
+                                    v-model="property.name" placeholder="请输入" clearable />
+                            </el-form-item>
+                            <el-form-item :label="index === 0 ? '参数值' : ''" :prop="`nodeParams.${index}.type`">
+                                <el-select v-model="property.type" class="param-type" @change="handleTypeChange(index, formData, property.type)">
+                                    <el-option label="引用" value="quote" />
+                                    <el-option label="输入" value="input" />
+                                </el-select>
+                                <el-form-item v-if="property.type === 'input'"
+                                    :rules="testRule(property)"
+                                    :prop="`nodeParams.${index}.input`">
+                                    <el-input-number class="param-value" v-if="property.componentType === 'number'"
+                                        v-model="property.input" :min="0" :max="property.max || Infinity"
+                                        :controls="property?.controls || true" :step-strictly="true" :step="property.step || 1" placeholder="请输入" clearable />
+                                    <el-select v-model="property.input" class="param-value"
+                                        v-else-if="property.componentType === 'select'">
+                                        <el-option v-for="item in property.selectOptions" :key="item.value"
+                                            :label="item.label" :value="item.value" />
+                                    </el-select>
+                                    <el-input class="param-value" v-else v-model="property.input" placeholder="请输入"
+                                        clearable />
+                                </el-form-item>
+                                <el-form-item v-if="property.type === 'quote'"
+                                    :rules="[{ required: true, message: '请选择参数值', trigger: 'blur' }]"
+                                    :prop="`nodeParams.${index}.quote`">
+                                    <el-cascader :ref="(el) => { if (el) cascaderRefs[index] = el }"
+                                        v-model="property.quote" :checkStrictly="true" :options="quoteOptions"
+                                        placeholder="请选择"
+                                        @visible-change="(visible) => visibleChange(visible, index, property.quote)"
+                                        @change="(value) => cascaderChange(value, index, formData, 'nodeParams')" />
+                                </el-form-item>
+                            </el-form-item>
+                            <el-button :icon="Minus" circle size="small" :disabled="property?.disabled || false"
+                                @click="handleDelete(index)" class="deleteBtn" />
+                        </el-row>
+                    </div>
+                </el-form>
+            </div>
+        </el-collapse-item>
+
+        <!-- 输出参数 -->
+        <el-collapse-item name="2" icon-position="left">
+            <template #title>
+                输出参数
+                <el-button :circle="true" size="small" @click="(e) => addFormItem(e, 'outputParams')"
+                    class="addFormItem">
+                    <el-icon :size="14">
+                        <Plus />
+                    </el-icon>
+                </el-button>
+            </template>
+            <div class="form__container">
+                <el-form :inline="true" :model="formData" label-position="top" label-width="auto" :rules="outputRules"
+                    ref="outputFormRef">
+                    <FormItemRecursive formType="output" :current-list="formData.outputParams" prop-path="outputParams"
+                        :depth="0" :is-first-level="true" :endDepth="2" :parent-path="[]"
+                        @delete-item="(path) => deleteTopLevelItem(path, 'outputParams')" />
+                </el-form>
+            </div>
+        </el-collapse-item>
+    </el-collapse>
+
+     <el-dialog
+        v-model="dialogVisible"
+        title="获取位置信息"
+        width="360"
+    >
+        <el-form ref="robotFormRef" :model="robotForm" :rules="robotFormRules"  label-width="auto">
+            <el-form-item label="终端ID" prop="terminalId">
+                <el-input v-model="robotForm.terminalId" />
+            </el-form-item>
+            <el-form-item label="设备ID" prop="deviceId">
+                <el-input v-model="robotForm.deviceId" />
+            </el-form-item>
+        </el-form>
+        <template #footer>
+            <el-button @click="dialogVisible = false">取消</el-button>
+            <el-button type="primary" @click="submitRobotForm">确认</el-button>
+        </template>
+    </el-dialog>
+</template>
+
+<script setup>
+import { ref, reactive, watch, nextTick } from 'vue'
+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 } from '@/api/device/flow'
+import { de } from 'element-plus/es/locale/index.mjs'
+
+const props = defineProps({
+    data: Object
+})
+
+const emit = defineEmits(['save-success', 'save-error'])
+
+const formData = reactive({
+    nodeParams: [],
+    outputParams: []
+})
+
+const rules = reactive({})
+const outputRules = reactive({})
+const dynamicFormRef = ref()
+const outputFormRef = ref()
+const activeNames = ref(['1', '2'])
+
+// 使用共享的 quote 逻辑
+const { quoteOptions, cascaderRefs, handleTypeChange, cascaderChange, visibleChange } = useQuote(props.data.id)
+
+// 添加表单项
+const addFormItem = (e, type) => {
+    e.stopPropagation()
+    const obj = {
+        name: '',
+        type: type === 'nodeParams' ? 'input' : 'string',
+        required: false,
+        children: [],
+        input: ''
+    }
+    if (!formData[type]) formData[type] = []
+    formData[type].push(obj)
+}
+
+// 删除输入参数（非递归）
+const handleDelete = (index) => {
+    formData.nodeParams.splice(index, 1)
+}
+
+// 删除顶层输出参数（递归删除通过 FormItemRecursive 的 emit 处理）
+const deleteTopLevelItem = (fullPath, propPath) => {
+    let currentLevel = formData[propPath]
+    for (let i = 0; i < fullPath.length - 1; i++) {
+        currentLevel = currentLevel[fullPath[i]].children
+    }
+    const lastIndex = fullPath[fullPath.length - 1]
+    currentLevel.splice(lastIndex, 1)
+}
+
+// 初始化数据
+const initData = () => {
+    const nodeParams = JSON.parse(JSON.stringify(props.data.properties.nodeParams || []))
+    const outputParams = JSON.parse(JSON.stringify(props.data.properties.outputParams || []))
+    formData.nodeParams = nodeParams;
+    formData.outputParams = outputParams;
+}
+
+watch(
+    () => props.data,
+    () => {
+        initData()
+    },
+    { immediate: true, deep: true }
+)
+
+// 保存验证
+const validateAndSave = async () => {
+    let inputValid = true
+    let outputValid = true
+    if (dynamicFormRef.value) {
+        await dynamicFormRef.value.validate((valid) => { if (!valid) inputValid = false })
+    }
+    if (outputFormRef.value) {
+        await outputFormRef.value.validate((valid) => { if (!valid) outputValid = false })
+    }
+
+    // 保存到 lf
+    lf.setProperties(props.data.id, {
+        ...props.data.properties,
+        ...formData
+    })
+
+    if (inputValid && outputValid) {
+        emit('save-success')
+    } else {
+        emit('save-error')
+    }
+}
+
+const dialogVisible = ref(false)
+const robotFormRef = ref(null)
+const robotFormRules = reactive({
+    terminalId: [{ required: true, message: '终端ID不能为空', trigger: 'blur' }],
+    deviceId: [{ required: true, message: '设备ID不能为空', trigger: 'blur' }]
+})
+const robotForm = reactive({
+    deviceId: '',
+    terminalId: ''
+})
+
+const testRule = (property) => {
+    if (property?.name === 'acceleration') {
+        return [
+            { required: true, message: '请输入参数值', trigger: 'blur' },
+            { validator: () => {
+                if (formData.nodeParams.find(param => param.name === 'acceleration')?.input > formData.nodeParams.find(param => param.name === 'velocity')?.input) {
+                    return Promise.resolve()
+                } else {
+                    return Promise.reject(new Error('加速度必须大于速度'))
+                }
+            }, trigger: 'blur' }
+        ]
+
+    }
+    return [{ required: property?.required ?? true, message: '请输入参数值', trigger: 'blur' }]
+}
+
+const robotFormAction = ref()
+
+const submitRobotForm = () => {
+    if (robotFormAction.value === 'AGV_MOVE_TO_POINT') {
+        
+    } else if (robotFormAction.value === 'ALM') {
+        robotFormRef.value.validate(async (valid) => {
+            if (valid) {
+                try {
+                    const response = await getArmStatus({ deviceId: robotForm.deviceId, terminalId: robotForm.terminalId })
+                    if (response && response.data) {
+                        dialogVisible.value = false
+                        const { x, y, z, rx, ry, rz } = response.data
+                        const testMap = {
+                            x: x,
+                            y: y,
+                            z: z,
+                            rx: rx,
+                            ry: ry,
+                            rz: rz,
+                            deviceId: robotForm.deviceId
+                        }
+                        // 将获取到的位置信息设置到 formData 中
+                        formData.nodeParams.forEach(param => {
+                            if (testMap.hasOwnProperty(param.name)) {
+                                param.input = testMap[param.name]
+                            }
+                        })
+                    }
+                } catch (error) {
+                    console.error('获取位置信息失败:', error)
+                }
+            }
+        })
+    }
+}
+
+const openRobotForm = (action) => {
+    dialogVisible.value = true
+    robotFormAction.value = action
+}
+
+defineExpose({ validateAndSave })
+</script>
+
+<style lang="scss" scoped>
+.form__container {
+    margin: 12px 0;
+
+    :deep(.el-row) {
+        align-items: end;
+
+        .el-form-item {
+            margin-right: 12px;
+        }
+
+        .param-name {
+            width: 160px;
+        }
+
+        .param-type {
+            width: 80px;
+        }
+
+        .param-value {
+            width: 160px;
+        }
+
+    }
+
+
+
+    .sub-properties {
+        margin-left: 10px;
+
+        .zw {
+            margin-left: 15px;
+
+            &::before {
+                content: "";
+                position: absolute;
+                left: 0;
+                top: -4px;
+                width: 10px;
+                border-left: 1px solid gray;
+                border-bottom: 1px solid gray;
+                border-bottom-left-radius: 4px;
+                background-color: transparent;
+                height: 24px;
+            }
+        }
+    }
+
+    .gSon-properties {
+        margin-left: 10px;
+
+        .zw {
+            margin-left: 15px;
+
+            &::before {
+                content: "";
+                position: absolute;
+                left: 0;
+                top: -4px;
+                width: 10px;
+                border-left: 1px solid gray;
+                border-bottom: 1px solid gray;
+                border-bottom-left-radius: 4px;
+                background-color: transparent;
+                height: 24px;
+            }
+        }
+    }
+
+    .deleteBtn {
+        margin-bottom: 22px;
+        cursor: pointer;
+    }
+}
+</style>

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

@@ -0,0 +1,463 @@
+<template>
+  <el-collapse v-model="activeNames">
+    <el-collapse v-model="activeNames">
+        <el-collapse-item name="1" icon-position="left">
+          <template #title>
+            输入参数
+            <el-tooltip
+              class="box-item"
+              effect="dark"
+              content="这里输入的变量可以被下方的代码引用。"
+              placement="top"
+            >
+              <el-icon class="header-icon" style="margin-left: 6px">
+                <info-filled />
+              </el-icon>
+            </el-tooltip>
+          </template>
+          <div class="form__container">
+            <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">
+                <el-row v-if="property.name !== 'code'">
+                  <el-form-item
+                    :label="index === 0 ? '参数名' : ''"
+                    :prop="`nodeParams.${index}.name`"
+                    :rules="[
+                      { required: true, message: '请输入参数名', trigger: 'blur' },
+                    ]"
+                  >
+                    <el-input
+                      :disabled="property?.disabled || false"
+                      class="param-name"
+                      v-model="property.name"
+                      placeholder="请输入"
+                      clearable
+                    />
+                  </el-form-item>
+                  <el-form-item
+                    :label="index === 0 ? '参数值' : ''"
+                    :prop="`nodeParams.${index}.type`"
+                  >
+                    <el-select
+                      v-model="property.type"
+                      class="param-type"
+                      @change="handleTypeChange(index)"
+                    >
+                      <el-option label="引用" value="quote" />
+                      <el-option label="输入" value="input" />
+                    </el-select>
+                    <el-form-item
+                      v-if="property.type === 'input'"
+                      :rules="[
+                        {
+                          required: property?.required ?? true,
+                          message: '请输入参数值',
+                          trigger: 'blur',
+                        },
+                      ]"
+                      :prop="`nodeParams.${index}.input`"
+                    >
+                      <el-input-number
+                        class="param-value"
+                        v-if="property.componentType === 'number'"
+                        v-model="property.input"
+                        :min="0"
+                        :max="property.max || Infinity"
+                        :controls="false"
+                        :step-strictly="true"
+                        placeholder="请输入"
+                        clearable
+                      />
+                      <el-select
+                        v-model="property.input"
+                        class="param-value"
+                        v-else-if="property.componentType === 'select'"
+                      >
+                        <el-option
+                          v-for="item in property.selectOptions"
+                          :key="item.value"
+                          :label="item.label"
+                          :value="item.value"
+                        />
+                      </el-select>
+                      <el-input
+                        class="param-value"
+                        v-else
+                        v-model="property.input"
+                        placeholder="请输入"
+                        clearable
+                      />
+                    </el-form-item>
+                    <el-form-item
+                      v-if="property.type === 'quote'"
+                      :rules="[
+                        {
+                          required: true,
+                          message: '请选择参数值',
+                          trigger: 'blur',
+                        },
+                      ]"
+                      :prop="`nodeParams.${index}.quote`"
+                    >
+                      <el-cascader
+                        :ref="
+                          (el) => {
+                            if (el) cascaderRefs[index] = el;
+                          }
+                        "
+                        v-model="property.quote"
+                        :checkStrictly="true"
+                        :options="quoteOptions"
+                        placeholder="请选择"
+                        @visible-change="
+                          (visible) => visibleChange(visible, index, property.quote)
+                        "
+                        @change="(value) => cascaderChange(value, index)"
+                      />
+                    </el-form-item>
+                  </el-form-item>
+                  <el-button
+                    :icon="Minus"
+                    circle
+                    size="small"
+                    @click="handleDelete(index)"
+                    :disabled="property?.disabled || false"
+                    class="deleteBtn"
+                  />
+                </el-row>
+              </div>
+            </el-form>
+          </div>
+        </el-collapse-item>
+        <el-collapse-item title="代码" name="2" icon-position="left">
+          <div class="code__container">
+            <div ref="codeRef" style="width: 100%; height: 100%"></div>
+          </div>
+        </el-collapse-item>
+        <el-collapse-item name="3" icon-position="left">
+          <template #title>
+            输出参数
+            <el-tooltip
+              class="box-item"
+              effect="dark"
+              content="这里定义的输出变量可以被后续节点引用。"
+              placement="top"
+            >
+              <el-icon class="header-icon" style="margin-left: 6px">
+                <info-filled />
+              </el-icon>
+            </el-tooltip>
+            <el-button
+              :circle="true"
+              size="small"
+              @click="(e) => addFormItem(e, 'outputParams')"
+              class="addFormItem"
+            >
+              <el-icon :size="14"><Plus /></el-icon>
+            </el-button>
+          </template>
+          <div class="form__container">
+            <el-form
+              :inline="true"
+              :model="formData"
+              label-position="top"
+              label-width="auto"
+              :rules="outputRules"
+              ref="outputFormRef"
+            >
+              <FormItemRecursive
+                formType="output"
+                :current-list="formData.outputParams"
+                prop-path="outputParams"
+                :depth="0"
+                :is-first-level="true"
+                :endDepth="2"
+                :parent-path="[]"
+                @delete-item="(path) => deleteTopLevelItem(path, 'outputParams')"
+              />
+            </el-form>
+          </div>
+        </el-collapse-item>
+      </el-collapse>
+  </el-collapse>
+</template>
+
+<script setup>
+import { ref, reactive, watch, nextTick, onBeforeUnmount, onMounted } from 'vue'
+import { Plus, Minus } from '@element-plus/icons-vue'
+import FormItemRecursive from '../FormItemRecursive.vue'
+import * as monaco from 'monaco-editor';
+import { getInput } from '@/utils/flow'
+import { useQuote } from './useQuote.js'
+
+const props = defineProps({
+  data: Object
+})
+
+const emit = defineEmits(['save-success', 'save-error'])
+
+const formData = reactive({
+  nodeParams: [],
+  outputParams: []
+})
+
+const codeRef = ref()
+let editorInstance
+
+function hasErrors() {
+  const model = editorInstance.getModel();
+  if (!model) return false;
+  
+  // 获取当前模型的所有标记
+  const markers = monaco.editor.getModelMarkers({ resource: model.uri });
+  // 检查是否存在错误级别标记
+  return markers.some(marker => marker.severity === monaco.MarkerSeverity.Error);
+}
+const initEditor = (type) => {
+  monaco.languages.typescript.javascriptDefaults.setCompilerOptions({
+    target: monaco.languages.typescript.ScriptTarget.ES2020,
+    allowNonTsExtensions: true,          // 允许非 ts 扩展名（.js）
+    checkJs: true,                       // 对 .js 文件进行类型检查
+    strict: true,                        // 启用所有严格检查
+    noImplicitAny: false,                  // 禁止隐式 any
+    noUnusedLocals: true,                 // 未使用的局部变量报错（可选）
+    noUnusedParameters: true,              // 未使用的参数报错（可选）
+  });
+
+  // 确保语义验证开启（默认就是开启的，但可以显式设置）
+  monaco.languages.typescript.javascriptDefaults.setDiagnosticsOptions({
+      noSemanticValidation: false,          // 开启语义检查
+      noSyntaxValidation: false,             // 开启语法检查
+  });
+
+  editorInstance = monaco.editor.create(codeRef.value, {
+    value: ['{}'].join('\n'),
+    language: type === 'code' ? 'javascript' : 'json',
+    fontSize: 14,
+    lineNumbers: 'on',
+    roundedSelection: true,
+    scrollBeyondLastLine: false,
+    formatOnPaste: true,
+    formatOnType: true,
+    quickSuggestions: true,
+        suggestOnTriggerCharacters: true,
+        // 自动完成
+        suggest: {
+            showWords: true,
+            showFunctions: true,
+            showVariables: true,
+            showClasses: true,
+            showModules: true,
+        },
+  });
+}
+
+// 设置代码值
+const setValue = (value) => {
+  if (editorInstance) {
+    editorInstance.setValue(value)
+  }
+}
+
+// 销毁编辑器
+const disposeEditor = () => {
+  if (editorInstance) {
+    editorInstance.dispose()
+    editorInstance = null
+  }
+}
+
+const rules = reactive({})
+const outputRules = reactive({})
+const dynamicFormRef = ref()
+const outputFormRef = ref()
+const activeNames = ref(['1', '2'])
+
+// 使用共享的 quote 逻辑
+const { quoteOptions, cascaderRefs, handleTypeChange, cascaderChange, visibleChange } = useQuote(props.data.id)
+
+// 添加表单项
+const addFormItem = (e, type) => {
+  e.stopPropagation()
+  const obj = {
+    name: '',
+    type: type === 'nodeParams' ? 'input' : 'string',
+    required: false,
+    children: [],
+    input: ''
+  }
+  if (!formData[type]) formData[type] = []
+  formData[type].push(obj)
+}
+
+// 删除输入参数（非递归）
+const handleDelete = (index) => {
+  formData.nodeParams.splice(index, 1)
+}
+
+// 删除顶层输出参数（递归删除通过 FormItemRecursive 的 emit 处理）
+const deleteTopLevelItem = (fullPath, propPath) => {
+  let currentLevel = formData[propPath]
+  for (let i = 0; i < fullPath.length - 1; i++) {
+    currentLevel = currentLevel[fullPath[i]].children
+  }
+  const lastIndex = fullPath[fullPath.length - 1]
+  currentLevel.splice(lastIndex, 1)
+}
+
+// 初始化数据
+const initData = () => {
+    const nodeParams = JSON.parse(JSON.stringify(props.data.properties.nodeParams || []))
+    const outputParams = JSON.parse(JSON.stringify(props.data.properties.outputParams || []))
+    formData.nodeParams = nodeParams;
+    formData.outputParams = outputParams;
+    const codeParams = props.data.properties.nodeParams.find(item => item.name === 'code')
+    if (codeParams) {
+    setTimeout(() => {
+        if (editorInstance) {
+            setValue(codeParams.input)
+        }
+    }, 100)
+    }
+}
+
+// 保存验证
+const validateAndSave = async () => {
+    const targetObj = formData.nodeParams.find(item => item.name === 'code');
+    if (targetObj) {
+        // 存在：修改该对象的 input 属性
+        targetObj.input = editorInstance.getValue();
+    } else {
+        formData.nodeParams.push(
+            { name: "code", type: "input", input: editorInstance.getValue() }
+        )
+    }
+
+    let inputValid = true
+    let outputValid = true
+    if (dynamicFormRef.value) {
+        await dynamicFormRef.value.validate((valid) => { if (!valid) inputValid = false })
+    }
+    if (outputFormRef.value) {
+        await outputFormRef.value.validate((valid) => { if (!valid) outputValid = false })
+    }
+
+    // 保存到 lf
+    lf.setProperties(props.data.id, {
+        ...props.data.properties,
+        ...formData
+    })
+
+    if (hasErrors()) {
+        emit('save-error')
+        return
+    }
+
+    if (inputValid && outputValid) {
+        emit('save-success')
+    } else {
+        emit('save-error')
+    }
+}
+
+onMounted(() => {
+  nextTick(() => {
+    initEditor('code')
+    initData()
+  })
+})
+
+defineExpose({ validateAndSave })
+
+onBeforeUnmount(() => {
+  disposeEditor()
+})
+</script>
+
+<style lang="scss" scoped>
+.form__container {
+  margin: 12px 0;
+
+  :deep(.el-row) {
+    align-items: end;
+
+    .el-form-item {
+      margin-right: 12px;
+    }
+    
+    .param-name {
+      width: 160px;
+    }
+
+    .param-type {
+      width: 80px;
+    }
+
+    .param-value {
+      width: 160px;
+    }
+
+  }
+
+
+
+  .sub-properties {
+    margin-left: 10px;
+    .zw {
+      margin-left: 15px;
+      &::before {
+        content: "";
+        position: absolute;
+        left: 0;
+        top: -4px;
+        width: 10px;
+        border-left: 1px solid gray;
+        border-bottom: 1px solid gray;
+        border-bottom-left-radius: 4px;
+        background-color: transparent;
+        height: 24px;
+      }
+    }
+  }
+
+  .gSon-properties {
+    margin-left: 10px;
+    .zw {
+      margin-left: 15px;
+      &::before {
+        content: "";
+        position: absolute;
+        left: 0;
+        top: -4px;
+        width: 10px;
+        border-left: 1px solid gray;
+        border-bottom: 1px solid gray;
+        border-bottom-left-radius: 4px;
+        background-color: transparent;
+        height: 24px;
+      }
+    }
+  }
+
+  .deleteBtn {
+    margin-bottom: 22px;
+    cursor: pointer;
+  }
+}
+
+.code__container {
+  display: flex;
+  position: relative;
+  text-align: initial;
+  width: 100%;
+  height: 300px;
+  margin: 12px 0;
+}
+</style>

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

@@ -0,0 +1,654 @@
+<template>
+    <el-form :inline="true" :model="httpNodeData" :rules="rules" class="http-form" ref="dynamicFormRef"
+        label-position="top" label-width="auto">
+        <el-collapse v-model="activeNames">
+            <el-collapse-item name="1" icon-position="left">
+                <template #title>
+                    请求配置
+                    <el-tooltip class="box-item" effect="dark" content="支持HTTP/HTTPS协议" placement="top">
+                        <el-icon class="header-icon" style="margin-left: 6px">
+                            <info-filled />
+                        </el-icon>
+                    </el-tooltip>
+                </template>
+                <div class="form__container">
+                    <div v-for="(property, index) in httpNodeData.config" :key="index">
+                        <el-row>
+                            <el-form-item :label="index === 0 ? '参数名' : ''" :prop="`config.${index}.name`" :rules="[
+                                { required: true, message: '请输入参数名', trigger: 'blur' },
+                            ]">
+                                <el-input :disabled="true" class="param-name" v-model="property.name" placeholder="请输入"
+                                    clearable />
+                            </el-form-item>
+                            <el-form-item :label="index === 0 ? '参数值' : ''" :prop="`config.${index}.input`">
+                                <el-select v-model="property.type" class="param-type" @change="handleTypeChange(index)">
+                                    <el-option label="引用" value="quote" />
+                                    <el-option label="输入" value="input" />
+                                </el-select>
+                                <el-form-item v-if="property.type === 'input'" :rules="[
+                                    {
+                                        required: property?.required ?? true,
+                                        message: '请输入参数值',
+                                        trigger: 'blur',
+                                    },
+                                ]" :prop="`config.${index}.input`">
+                                    <el-input-number class="param-value" v-if="property.componentType === 'number'"
+                                        v-model="property.input" :min="0" :max="property.max || Infinity"
+                                        :controls="false" :step-strictly="true" placeholder="请输入" clearable />
+                                    <el-select v-model="property.input" class="param-value"
+                                        v-else-if="property.componentType === 'select'">
+                                        <el-option v-for="item in property.selectOptions" :key="item.value"
+                                            :label="item.label" :value="item.value" />
+                                    </el-select>
+                                    <el-input class="param-value" v-else v-model="property.input" placeholder="请输入"
+                                        clearable />
+                                </el-form-item>
+                                <el-form-item v-if="property.type === 'quote'" :rules="[
+                                    {
+                                        required: true,
+                                        message: '请选择参数值',
+                                        trigger: 'blur',
+                                    },
+                                ]" :prop="`config.${index}.quote`">
+                                    <el-cascader :ref="(el) => {
+                                            if (el) cascaderRefs[index] = el;
+                                        }
+                                        " v-model="property.quote" :checkStrictly="true" :options="quoteOptions" placeholder="请选择"
+                                        @visible-change="
+                                            (visible) => visibleChange(visible, index, property.quote)
+                                        " @change="(value) => cascaderChange(value, index)" />
+                                </el-form-item>
+                            </el-form-item>
+                        </el-row>
+                    </div>
+                </div>
+            </el-collapse-item>
+            <el-collapse-item name="2" icon-position="left">
+                <template #title>
+                    Header配置
+                    <el-button :circle="true" size="small" @click="(e) => addHttpNodeFormItem(e, 'headers')"
+                        class="addFormItem">
+                        <el-icon :size="14">
+                            <Plus />
+                        </el-icon>
+                    </el-button>
+                </template>
+                <div class="form__container">
+                    <div v-for="(property, index) in httpNodeData.headers" :key="index">
+                        <el-row>
+                            <el-form-item :label="index === 0 ? '参数名' : ''"
+                                :prop="httpNodeData.headers.length > index ? `headers.${index}.name` : undefined"
+                                :rules="[
+                                    { required: true, message: '请输入参数名', trigger: 'blur' },
+                                ]">
+                                <el-input class="param-name" v-model="property.name" placeholder="请输入" clearable />
+                            </el-form-item>
+                            <el-form-item :label="index === 0 ? '参数值' : ''"
+                                :prop="httpNodeData.headers.length > index ? `headers.${index}.input` : undefined">
+                                <el-select v-model="property.type" class="param-type" @change="handleTypeChange(index)">
+                                    <el-option label="引用" value="quote" />
+                                    <el-option label="输入" value="input" />
+                                </el-select>
+                                <el-form-item v-if="property.type === 'input'" :rules="[
+                                    {
+                                        required: property?.required ?? true,
+                                        message: '请输入参数值',
+                                        trigger: 'blur',
+                                    },
+                                ]" :prop="`headers.${index}.input`">
+                                    <el-input-number class="param-value" v-if="property.componentType === 'number'"
+                                        v-model="property.input" :min="0" :max="property.max || Infinity"
+                                        :controls="false" :step-strictly="true" placeholder="请输入" clearable />
+                                    <el-select v-model="property.input" class="param-value"
+                                        v-else-if="property.componentType === 'select'">
+                                        <el-option v-for="item in property.selectOptions" :key="item.value"
+                                            :label="item.label" :value="item.value" />
+                                    </el-select>
+                                    <el-input class="param-value" v-else v-model="property.input" placeholder="请输入"
+                                        clearable />
+                                </el-form-item>
+                                <el-form-item v-if="property.type === 'quote'" :rules="[
+                                    {
+                                        required: true,
+                                        message: '请选择参数值',
+                                        trigger: 'blur',
+                                    },
+                                ]" :prop="`headers.${index}.quote`">
+                                    <el-cascader :ref="(el) => {
+                                            if (el) cascaderRefs[index] = el;
+                                        }
+                                        " v-model="property.quote" :checkStrictly="true" :options="quoteOptions" placeholder="请选择"
+                                        @visible-change="
+                                            (visible) => visibleChange(visible, index, property.quote)
+                                        " @change="(value) => cascaderChange(value, index)" />
+                                </el-form-item>
+                            </el-form-item>
+                            <el-button :icon="Minus" circle size="small" @click="handleHttpNodeDelete('headers', index)"
+                                class="deleteBtn" />
+                        </el-row>
+                    </div>
+                </div>
+            </el-collapse-item>
+            <el-collapse-item name="3" icon-position="left">
+                <template #title>
+                    Param配置
+                    <el-button :circle="true" size="small" @click="(e) => addHttpNodeFormItem(e, 'params')"
+                        class="addFormItem">
+                        <el-icon :size="14">
+                            <Plus />
+                        </el-icon>
+                    </el-button>
+                </template>
+                <div class="form__container">
+                    <div v-for="(property, index) in httpNodeData.params" :key="index">
+                        <el-row>
+                            <el-form-item :label="index === 0 ? '参数名' : ''"
+                                :prop="httpNodeData.params.length > index ? `params.${index}.name` : undefined" :rules="[
+                                    { required: true, message: '请输入参数名123', trigger: 'blur' },
+                                ]">
+                                <el-input class="param-name" v-model="property.name" placeholder="请输入" clearable />
+                            </el-form-item>
+                            <el-form-item :label="index === 0 ? '参数值' : ''"
+                                :prop="httpNodeData.params.length > index ? `params.${index}.input` : undefined">
+                                <el-select v-model="property.type" class="param-type" @change="handleTypeChange(index)">
+                                    <el-option label="引用" value="quote" />
+                                    <el-option label="输入" value="input" />
+                                </el-select>
+                                <el-form-item v-if="property.type === 'input'" :rules="[
+                                    {
+                                        required: property?.required ?? true,
+                                        message: '请输入参数值',
+                                        trigger: 'blur',
+                                    },
+                                ]" :prop="httpNodeData.params.length > index ? `params.${index}.input` : undefined">
+                                    <el-input-number class="param-value" v-if="property.componentType === 'number'"
+                                        v-model="property.input" :min="0" :max="property.max || Infinity"
+                                        :controls="false" :step-strictly="true" placeholder="请输入" clearable />
+                                    <el-select v-model="property.input" class="param-value"
+                                        v-else-if="property.componentType === 'select'">
+                                        <el-option v-for="item in property.selectOptions" :key="item.value"
+                                            :label="item.label" :value="item.value" />
+                                    </el-select>
+                                    <el-input class="param-value" v-else v-model="property.input" placeholder="请输入"
+                                        clearable />
+                                </el-form-item>
+                                <el-form-item v-if="property.type === 'quote'" :rules="[
+                                    {
+                                        required: true,
+                                        message: '请选择参数值',
+                                        trigger: 'blur',
+                                    },
+                                ]" :prop="`params.${index}.quote`">
+                                    <el-cascader :ref="(el) => {
+                                            if (el) cascaderRefs[index] = el;
+                                        }
+                                        " v-model="property.quote" :checkStrictly="true" :options="quoteOptions" placeholder="请选择"
+                                        @visible-change="
+                                            (visible) => visibleChange(visible, index, property.quote)
+                                        " @change="(value) => cascaderChange(value, index)" />
+                                </el-form-item>
+                            </el-form-item>
+                            <el-button :icon="Minus" circle size="small" @click="handleHttpNodeDelete('params', index)"
+                                class="deleteBtn" />
+                        </el-row>
+                    </div>
+                </div>
+            </el-collapse-item>
+            <el-collapse-item name="4" title="Body配置" icon-position="left">
+                <template #title>
+                Body配置
+                <el-button
+                    :circle="true"
+                    size="small"
+                    @click="(e) => addHttpNodeFormItem(e, 'body')"
+                    class="addFormItem"
+                    v-if="httpNodeData?.body?.type === 'form-data'"
+                >
+                    <el-icon :size="14"><Plus /></el-icon>
+                </el-button>
+                </template>
+                <div class="form__container">
+                <el-select v-model="httpNodeData.body.type">
+                    <el-option label="JSON" value="json" />
+                    <el-option label="form-data" value="form-data" />
+                </el-select>
+                <div class="code__container" v-show="httpNodeData?.body?.type === 'json'">
+                    <div ref="codeRef" style="width: 100%; height: 100%"></div>
+                </div>
+                <div class="test" v-if="httpNodeData?.body?.type === 'form-data'">
+                    <div v-for="(property, index) in httpNodeData.body.formData" :key="index">
+                    <el-row>
+                        <el-form-item
+                        :label="index === 0 ? '参数名' : ''"
+                        :prop="`body.formData.${index}.name`"
+                        :rules="[
+                            { required: true, message: '请输入参数名', trigger: 'blur' },
+                        ]"
+                        >
+                        <el-input
+                            class="param-name"
+                            v-model="property.name"
+                            placeholder="请输入"
+                            clearable
+                        />
+                        </el-form-item>
+                        <el-form-item
+                        :label="index === 0 ? '参数值' : ''"
+                        :prop="`body.formData.${index}.input`"
+                        >
+                        <el-select
+                            v-model="property.type"
+                            class="param-type"
+                            @change="handleTypeChange(index, 'httpBody')"
+                        >
+                            <el-option label="引用" value="quote" />
+                            <el-option label="输入" value="input" />
+                        </el-select>
+                        <el-form-item
+                            v-if="property.type === 'input'"
+                            :rules="[
+                            {
+                                required: property?.required ?? true,
+                                message: '请输入参数值',
+                                trigger: 'blur',
+                            },
+                            ]"
+                            :prop="`body.formData.${index}.input`"
+                        >
+                            <el-input-number
+                            class="param-value"
+                            v-if="property.componentType === 'number'"
+                            v-model="property.input"
+                            :min="0"
+                            :max="property.max || Infinity"
+                            :controls="false"
+                            :step-strictly="true"
+                            placeholder="请输入"
+                            clearable
+                            />
+                            <el-select
+                            v-model="property.input"
+                            class="param-value"
+                            v-else-if="property.componentType === 'select'"
+                            >
+                            <el-option
+                                v-for="item in property.selectOptions"
+                                :key="item.value"
+                                :label="item.label"
+                                :value="item.value"
+                            />
+                            </el-select>
+                            <el-input
+                            class="param-value"
+                            v-else
+                            v-model="property.input"
+                            placeholder="请输入"
+                            clearable
+                            />
+                        </el-form-item>
+                        <el-form-item
+                            v-if="property.type === 'quote'"
+                            :rules="[
+                            {
+                                required: true,
+                                message: '请选择参数值',
+                                trigger: 'blur',
+                            },
+                            ]"
+                            :prop="`body.formData.${index}.quote`"
+                        >
+                            <el-cascader
+                            :ref="
+                                (el) => {
+                                if (el) cascaderRefs[index] = el;
+                                }
+                            "
+                            v-model="property.quote"
+                            :checkStrictly="true"
+                            :options="quoteOptions"
+                            placeholder="请选择"
+                            @visible-change="
+                                (visible) => visibleChange(visible, index, property.quote, 'httpBody')
+                            "
+                            @change="(value) => cascaderChange(value, index, 'httpBody')"
+                            />
+                        </el-form-item>
+                        </el-form-item>
+                        <el-button
+                        :icon="Minus"
+                        circle
+                        size="small"
+                        @click="handleHttpNodeDelete('body', index)"
+                        class="deleteBtn"
+                    />
+                    </el-row>
+                    </div>
+                </div>
+                </div>
+          </el-collapse-item>
+        </el-collapse>
+    </el-form>
+</template>
+
+<script setup>
+import { ref, reactive, watch, nextTick, onMounted, onBeforeUnmount } from 'vue'
+import { Plus, Minus } from '@element-plus/icons-vue'
+import FormItemRecursive from '../FormItemRecursive.vue'
+import * as monaco from 'monaco-editor';
+import { getInput, transformHttpNodeData } from '@/utils/flow'
+import { useQuote } from './useQuote.js'
+
+const props = defineProps({
+    data: Object
+})
+
+const emit = defineEmits(['save-success', 'save-error'])
+
+const formData = reactive({
+    nodeParams: [],
+    outputParams: []
+})
+
+const codeRef = ref()
+let editorInstance
+
+function hasErrors() {
+  const model = editorInstance.getModel();
+  if (!model) return false;
+  
+  // 获取当前模型的所有标记
+  const markers = monaco.editor.getModelMarkers({ resource: model.uri });
+  // 检查是否存在错误级别标记
+  return markers.some(marker => marker.severity === monaco.MarkerSeverity.Error);
+}
+
+const initEditor = (type) => {
+  monaco.languages.typescript.javascriptDefaults.setCompilerOptions({
+    target: monaco.languages.typescript.ScriptTarget.ES2020,
+    allowNonTsExtensions: true,          // 允许非 ts 扩展名（.js）
+    checkJs: true,                       // 对 .js 文件进行类型检查
+    strict: true,                        // 启用所有严格检查
+    noImplicitAny: false,                  // 禁止隐式 any
+    noUnusedLocals: true,                 // 未使用的局部变量报错（可选）
+    noUnusedParameters: true,              // 未使用的参数报错（可选）
+  });
+
+  // 确保语义验证开启（默认就是开启的，但可以显式设置）
+  monaco.languages.typescript.javascriptDefaults.setDiagnosticsOptions({
+      noSemanticValidation: false,          // 开启语义检查
+      noSyntaxValidation: false,             // 开启语法检查
+  });
+
+  editorInstance = monaco.editor.create(codeRef.value, {
+    value: ['{}'].join('\n'),
+    language: 'json',
+    fontSize: 14,
+    lineNumbers: 'on',
+    roundedSelection: true,
+    scrollBeyondLastLine: false,
+    formatOnPaste: true,
+    formatOnType: true,
+    quickSuggestions: true,
+        suggestOnTriggerCharacters: true,
+        // 自动完成
+        suggest: {
+            showWords: true,
+            showFunctions: true,
+            showVariables: true,
+            showClasses: true,
+            showModules: true,
+        },
+  });
+}
+
+// 设置代码值
+const setValue = (value) => {
+  if (editorInstance) {
+    editorInstance.setValue(value)
+  }
+}
+
+// 销毁编辑器
+const disposeEditor = () => {
+  if (editorInstance) {
+    editorInstance.dispose()
+    editorInstance = null
+  }
+}
+
+const rules = reactive({})
+const dynamicFormRef = ref()
+const activeNames = ref(['1', '2', '3', '4'])
+
+// 使用共享的 quote 逻辑
+const { quoteOptions, cascaderRefs, handleTypeChange, cascaderChange, visibleChange } = useQuote(props.data.id)
+
+// 添加表单项
+const addFormItem = (e, type) => {
+    e.stopPropagation()
+    const obj = {
+        name: '',
+        type: type === 'nodeParams' ? 'input' : 'string',
+        required: false,
+        children: [],
+        input: ''
+    }
+    if (!formData[type]) formData[type] = []
+    formData[type].push(obj)
+}
+
+// 删除输入参数（非递归）
+const handleDelete = (index) => {
+    formData.nodeParams.splice(index, 1)
+}
+
+// 删除顶层输出参数（递归删除通过 FormItemRecursive 的 emit 处理）
+const deleteTopLevelItem = (fullPath, propPath) => {
+    let currentLevel = formData[propPath]
+    for (let i = 0; i < fullPath.length - 1; i++) {
+        currentLevel = currentLevel[fullPath[i]].children
+    }
+    const lastIndex = fullPath[fullPath.length - 1]
+    currentLevel.splice(lastIndex, 1)
+}
+
+// HTTP 节点数据
+const httpNodeData = ref({
+    body: {
+        bodyType: 'json',
+        json: '{}',
+        formData: []
+    }
+});
+
+const addHttpNodeFormItem = (e, type) => {
+  e.stopPropagation();
+  if (type === 'body') {
+    if (!httpNodeData.value.body.formData) {
+      httpNodeData.value.body.formData = [];
+    }
+    httpNodeData.value.body.formData.push({ name: "", type: "input", input: ""});
+  } else {
+    if (!httpNodeData.value[type]) {
+      httpNodeData.value[type] = [];
+    }
+    httpNodeData.value[type].push({ name: "", type: "input", input: ""});
+  }
+};
+
+const handleHttpNodeDelete = (type, index) => {
+  if (type === 'body') {
+    httpNodeData.value.body.formData.splice(index, 1);
+  } else {
+    httpNodeData.value[type].splice(index, 1);
+  }
+};
+
+// 初始化数据
+const initData = () => {
+    const nodeParams = JSON.parse(JSON.stringify(props.data.properties.nodeParams || []))
+    const transformedData = transformHttpNodeData(nodeParams);
+
+    httpNodeData.value = transformedData;
+    if (httpNodeData.value.body.type === 'json') {
+        nextTick(() => {
+        initEditor('http');
+      });
+        setTimeout(() => {
+            if (editorInstance) {
+                setValue(httpNodeData.value.body.json || '{}')
+            }
+        }, 200)
+    }
+}
+
+// 保存验证
+const validateAndSave = async () => {
+    let inputValid = true
+    if (dynamicFormRef.value) {
+        await dynamicFormRef.value.validate((valid) => { if (!valid) inputValid = false })
+    }
+
+
+    const nodeParams = []
+    nodeParams.push({ name: "config", type: "input", input: "", children: httpNodeData.value.config, disabled: true, required: true })
+    if (httpNodeData.value?.headers?.length > 0) {
+    nodeParams.push({ name: "headers", type: "input", input: "", children: httpNodeData.value.headers, disabled: true, required: true })
+    }
+    if (httpNodeData.value?.params?.length > 0) {
+    nodeParams.push({ name: "params", type: "input", input: "", children: httpNodeData.value.params, disabled: true, required: true })
+    }
+    
+    const bodyObj = { 
+    name: "body", type: "input", input: "", children: [
+        { name: 'bodyType', type: "input", input: httpNodeData.value.body.type, disabled: true },
+        { name: 'json', type: "input", input: httpNodeData.value.body.type === 'json' ? editorInstance.getValue() : '' },
+        { name: 'formData', type: "input", input: "", children: httpNodeData.value.body.formData }
+    ]
+    }
+    nodeParams.push(bodyObj)
+
+    // 保存到 lf
+    lf.setProperties(props.data.id, {
+        ...props.data.properties,
+        nodeParams
+    })
+
+    if (httpNodeData.value.body.type === 'json') {
+        if (hasErrors()) {
+            emit('save-error')
+            return
+        }
+    }
+
+    if (inputValid) {
+        emit('save-success')
+    } else {
+        emit('save-error')
+    }
+}
+
+
+onMounted(() => {
+  nextTick(() => {
+    initData()
+  })
+})
+
+defineExpose({ validateAndSave })
+
+onBeforeUnmount(() => {
+  disposeEditor()
+})
+</script>
+
+<style lang="scss" scoped>
+.http-form {
+  width: 100%;
+
+  .el-collapse {
+    width: 100%;
+  }
+}
+
+.form__container {
+    margin: 12px 0;
+
+    :deep(.el-row) {
+        align-items: end;
+
+        .el-form-item {
+            margin-right: 12px;
+        }
+
+        .param-name {
+            width: 160px;
+        }
+
+        .param-type {
+            width: 80px;
+        }
+
+        .param-value {
+            width: 160px;
+        }
+
+    }
+
+    .sub-properties {
+        margin-left: 10px;
+
+        .zw {
+            margin-left: 15px;
+
+            &::before {
+                content: "";
+                position: absolute;
+                left: 0;
+                top: -4px;
+                width: 10px;
+                border-left: 1px solid gray;
+                border-bottom: 1px solid gray;
+                border-bottom-left-radius: 4px;
+                background-color: transparent;
+                height: 24px;
+            }
+        }
+    }
+
+    .gSon-properties {
+        margin-left: 10px;
+
+        .zw {
+            margin-left: 15px;
+
+            &::before {
+                content: "";
+                position: absolute;
+                left: 0;
+                top: -4px;
+                width: 10px;
+                border-left: 1px solid gray;
+                border-bottom: 1px solid gray;
+                border-bottom-left-radius: 4px;
+                background-color: transparent;
+                height: 24px;
+            }
+        }
+    }
+
+    .deleteBtn {
+        margin-bottom: 22px;
+        cursor: pointer;
+    }
+}
+
+.code__container {
+  display: flex;
+  position: relative;
+  text-align: initial;
+  width: 100%;
+  height: 300px;
+  margin: 12px 0;
+}
+</style>

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

@@ -0,0 +1,359 @@
+<template>
+  <el-form :inline="true" :model="sdAgentNodeData" :rules="rules" ref="dynamicFormRef" class="http-form"
+    label-position="top" label-width="auto">
+    <el-collapse v-model="activeNames">
+      <el-collapse-item name="1" title="请求配置" icon-position="left">
+        <div class="form__container">
+          <div v-for="(property, index) in sdAgentNodeData.config" :key="index">
+            <el-row>
+              <el-form-item :label="index === 0 ? '参数名' : ''" :prop="`config.${index}.name`" :rules="[
+                { required: true, message: '请输入参数名', trigger: 'blur' },
+              ]">
+                <el-input :disabled="true" class="param-name" v-model="property.name" placeholder="请输入" clearable />
+              </el-form-item>
+              <el-form-item :label="index === 0 ? '参数值' : ''" :prop="`config.${index}.input`">
+                <el-select v-model="property.type" class="param-type" @change="handleTypeChange(index)">
+                  <el-option label="引用" value="quote" />
+                  <el-option label="输入" value="input" />
+                </el-select>
+                <el-form-item v-if="property.type === 'input'" :rules="[
+                  {
+                    required: property?.required ?? true,
+                    message: '请输入参数值',
+                    trigger: 'blur',
+                  },
+                ]" :prop="`config.${index}.input`">
+                  <el-input-number class="param-value" v-if="property.componentType === 'number'"
+                    v-model="property.input" :min="0" :max="property.max || Infinity" :controls="false"
+                    :step-strictly="true" placeholder="请输入" clearable />
+                  <el-select v-model="property.input" class="param-value"
+                    v-else-if="property.componentType === 'select'">
+                    <el-option v-for="item in property.selectOptions" :key="item.value" :label="item.label"
+                      :value="item.value" />
+                  </el-select>
+                  <el-input class="param-value" v-else v-model="property.input" placeholder="请输入" clearable />
+                </el-form-item>
+                <el-form-item v-if="property.type === 'quote'" :rules="[
+                  {
+                    required: true,
+                    message: '请选择参数值',
+                    trigger: 'blur',
+                  },
+                ]" :prop="`config.${index}.quote`">
+                  <el-cascader :ref="(el) => {
+                    if (el) cascaderRefs[index] = el;
+                  }
+                    " v-model="property.quote" :checkStrictly="true" :options="quoteOptions" placeholder="请选择"
+                    @visible-change="
+                      (visible) => visibleChange(visible, index, property.quote)
+                    " @change="(value) => cascaderChange(value, index, 'sdAgentConfig')" />
+                </el-form-item>
+              </el-form-item>
+            </el-row>
+          </div>
+          <el-row>
+            <span style="margin-right: 24px">是否调用TTS接口</span>
+            <el-switch size="small" v-model="sdAgentNodeData.invokeTts" @change="handleTtsChange" />
+          </el-row>
+          <div v-if="sdAgentNodeData.invokeTts">
+            <div style="margin: 10px 0">TTS参数设置</div>
+            <div v-for="(property, index) in sdAgentNodeData.tts" :key="index">
+              <el-row>
+                <el-form-item :label="index === 0 ? '参数名' : ''" :prop="`tts.${index}.name`" :rules="[
+                  { required: true, message: '请输入参数名', trigger: 'blur' },
+                ]">
+                  <el-input :disabled="true" class="param-name" v-model="property.name" placeholder="请输入" clearable />
+                </el-form-item>
+                <el-form-item :label="index === 0 ? '参数值' : ''" :prop="`tts.${index}.input`">
+                  <el-select v-model="property.type" class="param-type" @change="handleTypeChange(index)">
+                    <el-option label="引用" value="quote" />
+                    <el-option label="输入" value="input" />
+                  </el-select>
+                  <el-form-item v-if="property.type === 'input'" :rules="[
+                    {
+                      required: property?.required ?? true,
+                      message: '请输入参数值',
+                      trigger: 'blur',
+                    },
+                  ]" :prop="`tts.${index}.input`">
+                    <el-input-number class="param-value" v-if="property.componentType === 'number'"
+                      v-model="property.input" :min="0" :max="property.max || Infinity" :controls="false"
+                      :step-strictly="true" placeholder="请输入" clearable />
+                    <el-select v-model="property.input" class="param-value"
+                      v-else-if="property.componentType === 'select'">
+                      <el-option v-for="item in property.selectOptions" :key="item.value" :label="item.label"
+                        :value="item.value" />
+                    </el-select>
+                    <el-input class="param-value" v-else v-model="property.input" placeholder="请输入" clearable />
+                  </el-form-item>
+                  <el-form-item v-if="property.type === 'quote'" :rules="[
+                    {
+                      required: true,
+                      message: '请选择参数值',
+                      trigger: 'blur',
+                    },
+                  ]" :prop="`tts.${index}.quote`">
+                    <el-cascader :ref="(el) => {
+                      if (el) cascaderRefs[index] = el;
+                    }
+                      " v-model="property.quote" :checkStrictly="true" :options="quoteOptions" placeholder="请选择"
+                      @visible-change="
+                        (visible) => visibleChange(visible, index, property.quote)
+                      " @change="(value) => cascaderChange(value, index, 'sdAgentTts')" />
+                  </el-form-item>
+                </el-form-item>
+              </el-row>
+            </div>
+          </div>
+        </div>
+      </el-collapse-item>
+      <el-collapse-item name="3" icon-position="left">
+        <template #title>
+          输出参数
+          <el-tooltip class="box-item" effect="dark" content="这里定义的输出变量可以被后续节点引用。" placement="top">
+            <el-icon class="header-icon" style="margin-left: 6px">
+              <info-filled />
+            </el-icon>
+          </el-tooltip>
+          <el-button :circle="true" size="small" @click="(e) => addSdAgentItem(e)" class="addFormItem">
+            <el-icon :size="14">
+              <Plus />
+            </el-icon>
+          </el-button>
+        </template>
+        <div class="form__container">
+          <el-form :inline="true" :model="sdAgentNodeData" label-position="top" label-width="auto" :rules="outputRules"
+            ref="outputFormRef">
+            <FormItemRecursive formType="output" :current-list="sdAgentNodeData.outputParams" prop-path="outputParams"
+              :depth="0" :is-first-level="true" :endDepth="2" :parent-path="[]"
+              @delete-item="(path) => deleteSdAgentItem(path, 'outputParams')" />
+          </el-form>
+        </div>
+      </el-collapse-item>
+    </el-collapse>
+  </el-form>
+</template>
+
+<script setup>
+import { ref, reactive, watch, nextTick } from 'vue'
+import { Plus, Minus } from '@element-plus/icons-vue'
+import FormItemRecursive from '../FormItemRecursive.vue'
+import { getInput, transformSdAgentNodeData } from '@/utils/flow'
+import { useQuote } from './useQuote.js'
+
+const props = defineProps({
+  data: Object
+})
+
+const emit = defineEmits(['save-success', 'save-error'])
+
+const formData = reactive({
+  nodeParams: [],
+  outputParams: []
+})
+
+const rules = reactive({})
+const outputRules = reactive({})
+const dynamicFormRef = ref()
+const outputFormRef = ref()
+const activeNames = ref(['1', '2'])
+
+// 使用共享的 quote 逻辑
+const { quoteOptions, cascaderRefs, handleTypeChange, cascaderChange, visibleChange } = useQuote(props.data.id)
+
+// 添加表单项
+const addFormItem = (e, type) => {
+  e.stopPropagation()
+  const obj = {
+    name: '',
+    type: type === 'nodeParams' ? 'input' : 'string',
+    required: false,
+    children: [],
+    input: ''
+  }
+  if (!formData[type]) formData[type] = []
+  formData[type].push(obj)
+}
+
+// 商道智能体
+const sdAgentNodeData = ref({})
+
+const voiceOptions = () => {
+  return [{
+    value: 'x4_xiaoyan',
+    label: 'x4_xiaoyan'
+  }]
+}
+
+const handleTtsChange = (val) => {
+  if (val) {
+    sdAgentNodeData.value.tts = []
+    if (!sdAgentNodeData.value.tts || sdAgentNodeData.value.tts.length === 0) {
+      sdAgentNodeData.value.tts = [
+        { name: 'url', type: "input", input: "", disabled: true },
+        { name: 'text', type: "input", input: "", disabled: true },
+        { name: 'speed', type: "input", input: "", max: 100, disabled: true },
+        { name: 'voice', type: "input", input: "", componentType: 'select', selectOptions: voiceOptions(), disabled: true },
+        { name: 'volume', type: "input", input: "", componentType: 'number', max: 100, disabled: true }
+      ]
+    }
+  }
+}
+
+const addSdAgentItem = (e) => {
+  e.stopPropagation();
+  sdAgentNodeData.value.outputParams.push({ name: "", type: "string", input: "" });
+}
+
+const deleteSdAgentItem = (fullPath, propPath) => {
+  // 从顶层数据开始查找
+  let currentLevel = sdAgentNodeData.value[propPath];
+
+  // 遍历路径（除最后一个索引，因为最后一个是要删除的项）
+  for (let i = 0; i < fullPath.length - 1; i++) {
+    const index = fullPath[i];
+    // 进入下一层级
+    currentLevel = currentLevel[index].children;
+  }
+
+  // 最后一个索引是当前层级要删除的项
+  const lastIndex = fullPath[fullPath.length - 1];
+  currentLevel.splice(lastIndex, 1);
+}
+
+// 初始化数据
+const initData = () => {
+  const nodeParams = JSON.parse(JSON.stringify(props.data.properties.nodeParams || []))
+  const outputParams = JSON.parse(JSON.stringify(props.data.properties.outputParams || []))
+  const transformedData = transformSdAgentNodeData(nodeParams);
+  sdAgentNodeData.value = {
+    ...transformedData,
+    outputParams
+  };
+}
+
+watch(
+  () => props.data,
+  () => {
+    initData()
+  },
+  { immediate: true, deep: true }
+)
+
+// 保存验证
+const validateAndSave = async () => {
+  let inputValid = true
+  let outputValid = true
+  if (dynamicFormRef.value) {
+    await dynamicFormRef.value.validate((valid) => { if (!valid) inputValid = false })
+  }
+  if (outputFormRef.value) {
+    await outputFormRef.value.validate((valid) => { if (!valid) outputValid = false })
+  }
+
+  const nodeParams = []
+  nodeParams.push({ name: "config", type: "input", input: "", children: sdAgentNodeData.value.config, required: true })
+  nodeParams.push({ name: "invokeTts", type: "input", input: sdAgentNodeData.value.invokeTts })
+  if (sdAgentNodeData.value.invokeTts) {
+    nodeParams.push({ name: "tts", type: "input", input: "", children: sdAgentNodeData.value.tts })
+  }
+  lf.setProperties(props.data.id, {
+    ...props.data.properties,
+    nodeParams,
+    outputParams: sdAgentNodeData.value.outputParams
+  });
+
+
+  if (inputValid && outputValid) {
+    emit('save-success')
+  } else {
+    emit('save-error')
+  }
+}
+
+defineExpose({ validateAndSave })
+</script>
+
+<style lang="scss" scoped>
+.http-form {
+  width: 100%;
+
+  .el-collapse {
+    width: 100%;
+  }
+}
+
+.form__container {
+  margin: 12px 0;
+
+  :deep(.el-row) {
+    align-items: end;
+
+    .el-form-item {
+      margin-right: 12px;
+    }
+
+    .param-name {
+      width: 160px;
+    }
+
+    .param-type {
+      width: 80px;
+    }
+
+    .param-value {
+      width: 160px;
+    }
+
+  }
+
+
+
+  .sub-properties {
+    margin-left: 10px;
+
+    .zw {
+      margin-left: 15px;
+
+      &::before {
+        content: "";
+        position: absolute;
+        left: 0;
+        top: -4px;
+        width: 10px;
+        border-left: 1px solid gray;
+        border-bottom: 1px solid gray;
+        border-bottom-left-radius: 4px;
+        background-color: transparent;
+        height: 24px;
+      }
+    }
+  }
+
+  .gSon-properties {
+    margin-left: 10px;
+
+    .zw {
+      margin-left: 15px;
+
+      &::before {
+        content: "";
+        position: absolute;
+        left: 0;
+        top: -4px;
+        width: 10px;
+        border-left: 1px solid gray;
+        border-bottom: 1px solid gray;
+        border-bottom-left-radius: 4px;
+        background-color: transparent;
+        height: 24px;
+      }
+    }
+  }
+
+  .deleteBtn {
+    margin-bottom: 22px;
+    cursor: pointer;
+  }
+}
+</style>

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

@@ -0,0 +1,183 @@
+<template>
+    <el-collapse v-model="activeNames">
+        <el-collapse-item name="1" icon-position="left">
+            <template #title>
+                输入参数
+                <el-button :circle="true" size="small" @click="(e) => addFormItem(e, 'inputParams')" class="addFormItem">
+                    <el-icon :size="14">
+                        <Plus />
+                    </el-icon>
+                </el-button>
+            </template>
+            <el-form :inline="true" :model="formData" :rules="rules" ref="dynamicFormRef" label-position="top"
+                label-width="auto">
+                <FormItemRecursive formType="input" :current-list="formData.inputParams" prop-path="inputParams"
+                    :depth="0" :is-first-level="true" :endDepth="2" :parent-path="[]"
+                    @delete-item="(path) => deleteTopLevelItem(path, 'inputParams')" />
+            </el-form>
+        </el-collapse-item>
+    </el-collapse>
+</template>
+
+<script setup>
+import { ref, reactive, watch, nextTick } from 'vue'
+import { Plus, Minus } from '@element-plus/icons-vue'
+import FormItemRecursive from '../FormItemRecursive.vue'
+import { getInput } from '@/utils/flow'
+import { useQuote } from './useQuote.js'
+
+const props = defineProps({
+    data: Object
+})
+
+const emit = defineEmits(['save-success', 'save-error'])
+
+const formData = reactive({
+    inputParams: [],
+})
+
+const rules = reactive({})
+const dynamicFormRef = ref()
+
+const activeNames = ref(['1', '2'])
+
+// 添加表单项
+const addFormItem = (e, type) => {
+    e.stopPropagation()
+    const obj = {
+        name: '',
+        type: type === 'nodeParams' ? 'input' : 'string',
+        required: false,
+        children: [],
+        input: ''
+    }
+    if (!formData[type]) formData[type] = []
+    formData[type].push(obj)
+}
+
+// 删除输入参数（非递归）
+const handleDelete = (index) => {
+    formData.nodeParams.splice(index, 1)
+}
+
+// 删除顶层输出参数（递归删除通过 FormItemRecursive 的 emit 处理）
+const deleteTopLevelItem = (fullPath, propPath) => {
+    let currentLevel = formData[propPath]
+    for (let i = 0; i < fullPath.length - 1; i++) {
+        currentLevel = currentLevel[fullPath[i]].children
+    }
+    const lastIndex = fullPath[fullPath.length - 1]
+    currentLevel.splice(lastIndex, 1)
+}
+
+// 初始化数据
+const initData = () => {
+    const inputParams = JSON.parse(JSON.stringify(props.data.properties.inputParams || []))
+    formData.inputParams = inputParams;
+}
+
+watch(
+    () => props.data,
+    () => {
+        initData()
+    },
+    { immediate: true, deep: true }
+)
+
+// 保存验证
+const validateAndSave = async () => {
+    let inputValid = true
+    if (dynamicFormRef.value) {
+        await dynamicFormRef.value.validate((valid) => { if (!valid) inputValid = false })
+    }
+
+    // 保存到 lf
+    lf.setProperties(props.data.id, {
+        ...props.data.properties,
+        ...formData
+    })
+    if (inputValid) {
+        emit('save-success')
+    } else {
+        emit('save-error')
+    }
+}
+
+defineExpose({ validateAndSave })
+</script>
+
+<style lang="scss" scoped>
+.form__container {
+    margin: 12px 0;
+
+    :deep(.el-row) {
+        align-items: end;
+
+        .el-form-item {
+            margin-right: 12px;
+        }
+
+        .param-name {
+            width: 160px;
+        }
+
+        .param-type {
+            width: 80px;
+        }
+
+        .param-value {
+            width: 160px;
+        }
+
+    }
+
+
+
+    .sub-properties {
+        margin-left: 10px;
+
+        .zw {
+            margin-left: 15px;
+
+            &::before {
+                content: "";
+                position: absolute;
+                left: 0;
+                top: -4px;
+                width: 10px;
+                border-left: 1px solid gray;
+                border-bottom: 1px solid gray;
+                border-bottom-left-radius: 4px;
+                background-color: transparent;
+                height: 24px;
+            }
+        }
+    }
+
+    .gSon-properties {
+        margin-left: 10px;
+
+        .zw {
+            margin-left: 15px;
+
+            &::before {
+                content: "";
+                position: absolute;
+                left: 0;
+                top: -4px;
+                width: 10px;
+                border-left: 1px solid gray;
+                border-bottom: 1px solid gray;
+                border-bottom-left-radius: 4px;
+                background-color: transparent;
+                height: 24px;
+            }
+        }
+    }
+
+    .deleteBtn {
+        margin-bottom: 22px;
+        cursor: pointer;
+    }
+}
+</style>

src/views/flow/components/params/useQuote.js

@@ -0,0 +1,53 @@
+import { ref } from 'vue'
+import { getInput } from '@/utils/flow'
+
+export function useQuote(nodeId) {
+  const quoteOptions = ref([])
+  const cascaderRefs = ref([])
+
+  const handleTypeChange = (index, formData, type = 'default') => {
+    // 根据节点类型处理不同数据源
+    // 这里简化为通用逻辑，具体实现需根据实际数据结构调整
+    if (formData.nodeParams[index].type === 'input') {
+      formData.nodeParams[index].quote = ''
+    } else {
+      formData.nodeParams[index].input = ''
+      const option = getInput(nodeId)
+      if (option) quoteOptions.value = option
+    }
+  }
+
+  const cascaderChange = (value, index, formData, field = 'nodeParams') => {
+    const selectedOptions = cascaderRefs.value[index]?.getCheckedNodes(true)
+    if (selectedOptions && selectedOptions.length) {
+      formData[field][index].quote = value
+      formData[field][index].quoteType = selectedOptions[0].data.type
+    }
+  }
+
+  const visibleChange = (visible, index, currentQuote, formData, field = 'nodeParams') => {
+    if (visible) {
+      const option = getInput(nodeId)
+      if (option) {
+        quoteOptions.value = option
+        const currentValue = [...currentQuote]
+        if (cascaderRefs.value[index] && currentValue.length > 0) {
+          setTimeout(() => {
+            formData[field][index].quote = []
+            setTimeout(() => {
+              formData[field][index].quote = currentValue
+            }, 0)
+          }, 0)
+        }
+      }
+    }
+  }
+
+  return {
+    quoteOptions,
+    cascaderRefs,
+    handleTypeChange,
+    cascaderChange,
+    visibleChange
+  }
+}

src/views/flow/config.js

@@ -307,7 +307,7 @@ export const collapseList = [
           ], disabled: true, required: true },
           { name: "body", type: "input", input: "", children: [
             { name: 'bodyType', type: "input", input: "json", disabled: true },
-            { name: 'json', type: "input", input: '{}' },
+            { name: 'json', type: "input", input: '{"a": 123}' },
             { name: 'formData', type: "input", input: "", children: []}
           ], required: true },
         ],
@@ -363,14 +363,38 @@ function handler(params) {
   {
     collapseTitle: "机器人",
     nodeList: [
+      {
+        icon: videoSvg,
+        name: "AGV控制",
+        type: "serviceNode",
+        desc: "控制机器人的底盘",
+        action: 'AGV_MOVE_TO_POINT',
+        nodeType: 'EDGE',
+        nodeParams: [
+          { name: "deviceId", type: "input", input: "", disabled: true },
+          { name: "x", type: "input", input: "", disabled: true },
+          { name: "y", type: "input", input: "", disabled: true },
+          { name: "theta", type: "input", input: "", disabled: true },
+        ],
+        outputType: 'json'
+      },
       {
         icon: videoSvg,
         name: "机械臂",
         type: "serviceNode",
         desc: "控制机器人的手臂",
         action: 'ALM',
+        nodeType: 'EDGE',
         nodeParams: [
-          { name: "deviceId", type: "input", input: "", disabled: true }
+          { name: "deviceId", type: "input", input: "", disabled: true },
+          { name: "x", type: "input", input: "", disabled: true },
+          { name: "y", type: "input", input: "", disabled: true },
+          { name: "z", type: "input", input: "", disabled: true },
+          { name: "rx", type: "input", input: "", disabled: true },
+          { name: "ry", type: "input", input: "", disabled: true },
+          { name: "rz", type: "input", input: "", disabled: true },
+          { name: "velocity", type: "input", componentType: 'number', max: 5, step: 0.1, input: 0, disabled: true },
+          { name: "acceleration", type: "input", componentType: 'number', max: 5, step: 0.1, input: 0, disabled: true },
         ],
         outputType: 'json'
       },

src/views/flow/nodes/common/serviceNode.vue

@@ -54,7 +54,7 @@ import NodeTitle from "../../components/NodeTitle.vue";
 import NodeState from "../../components/NodeState.vue";
 import "vue3-json-viewer/dist/index.css";
 import { emitter } from "@/utils/eventBus";
-import IPlayer from "@/views/device/register/components/LogicFlow/IPlayer/index.vue";
+import IPlayer from "@/components/IPlayer/index.vue";
 
 const props = defineProps({
   model: Object,

src/views/flow/nodes/function/codeNode.vue

@@ -50,7 +50,7 @@ import { ref, onMounted, onUnmounted } from "vue";
 import NodeTitle from "../../components/NodeTitle.vue";
 import NodeState from "../../components/NodeState.vue";
 import { emitter } from "@/utils/eventBus";
-import IPlayer from "@/views/device/register/components/LogicFlow/IPlayer/index.vue";
+import IPlayer from "@/components/IPlayer/index.vue";
 
 const props = defineProps({
   model: Object,

src/views/flow/nodes/function/currentLoop.vue

@@ -37,7 +37,7 @@ import NodeTitle from "../../components/NodeTitle.vue";
 import NodeState from "../../components/NodeState.vue";
 import "vue3-json-viewer/dist/index.css";
 import { emitter } from "@/utils/eventBus";
-import IPlayer from "@/views/device/register/components/LogicFlow/IPlayer/index.vue";
+import IPlayer from "@/components/IPlayer/index.vue";
 
 const props = defineProps({
   model: Object,

src/views/flow/nodes/function/httpNode.vue

@@ -53,7 +53,7 @@ import NodeTitle from "../../components/NodeTitle.vue";
 import NodeState from "../../components/NodeState.vue";
 import "vue3-json-viewer/dist/index.css";
 import { emitter } from "@/utils/eventBus";
-import IPlayer from "@/views/device/register/components/LogicFlow/IPlayer/index.vue";
+import IPlayer from "@/components/IPlayer/index.vue";
 
 const props = defineProps({
   model: Object,

src/views/flow/nodes/function/sdAgent.vue

@@ -37,7 +37,7 @@ import NodeTitle from "../../components/NodeTitle.vue";
 import NodeState from "../../components/NodeState.vue";
 import "vue3-json-viewer/dist/index.css";
 import { emitter } from "@/utils/eventBus";
-import IPlayer from "@/views/device/register/components/LogicFlow/IPlayer/index.vue";
+import IPlayer from "@/components/IPlayer/index.vue";
 
 const props = defineProps({
   model: Object,

src/views/flow/nodes/function/sleep.vue

@@ -38,7 +38,7 @@ import NodeTitle from "../../components/NodeTitle.vue";
 import NodeState from "../../components/NodeState.vue";
 import "vue3-json-viewer/dist/index.css";
 import { emitter } from "@/utils/eventBus";
-import IPlayer from "@/views/device/register/components/LogicFlow/IPlayer/index.vue";
+import IPlayer from "@/components/IPlayer/index.vue";
 
 const props = defineProps({
   model: Object,

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

@@ -146,7 +146,14 @@
         </div>
         <div class="video-container">
             <div v-if="activeMode === 'auto' || activeController === 1" class="map-container">地图</div>
-            <div v-if="activeMode === 'artificial' && activeController === 2" class="model-container">机械臂模型</div>
+            <div v-if="activeMode === 'artificial' && activeController === 2" class="model-container">
+                <UrdfViewer
+                ref="viewerRef"
+      base-path="/inspection/elfin10/"
+      model-color="#cbcbcb"
+      :show-controls="true"
+                />
+            </div>
             <div v-if="activeMode === 'artificial' && activeController === 3" class="monitor-container">监控</div>
         </div>
         <div class="right-container">
@@ -160,6 +167,7 @@
 </template>
 <script setup>
 import SvgIcon from "@/components/SvgIcon";
+import UrdfViewer from './UrdfView.vue'
 
 const activeBot = ref(0)
 const changeBot = (index) => {
@@ -191,6 +199,13 @@ const handlerArm = (value) => {
     }
 }
 
+function onLoaded(robot) {
+  console.log('已加载关节:', Object.keys(robot.joints))
+}
+function onError(err) {
+  console.error('加载失败:', err)
+}
+
 </script>
 
 <style lang="scss" scoped>

src/views/inspection/cockpit/components/MapCanvas.vue

@@ -9,7 +9,7 @@
 </template>
 
 <script setup>
-import { onMounted, onUnmounted } from 'vue';
+import { onMounted, onUnmounted, watch } from 'vue';
 
 import {
     worldToScreen,
@@ -25,8 +25,17 @@ import {
     buildOccupancyGridImage,
     MobileRobot
 } from '../canvasUtils';
-
+import { getMapJson } from '@/api/inspection/robot'
 import { useInspectionStore } from "@/store/modules/inspection";
+import { ElMessage } from 'element-plus';
+
+const props = defineProps({
+    robotList: {
+        type: Array,
+        default: () => []
+    }
+})
+
 const inspectionStore = useInspectionStore();
 
 
@@ -339,32 +348,35 @@ const centerCanvasView = () => {
     inspectionStore.camera.centerY = (map.originY + map.maxY) / 2;
 }
 
-const loadSourceMap = async (url) => {
-    const response = await fetch(url);
-    if (!response.ok) throw new Error(`加载失败：${response.status}`);
-    return response.text();
+const loadSourceMap = async () => {
+    const res = await getMapJson({
+        robotId: props.robotList[0].id,
+        mapName: props.robotList[0].robotMapName
+    });
+    if (res.code === 200) {
+        try {
+            const rawJsonObject = JSON.parse(res.data);        // 解析 JSON
+            const parsedMap = parseSmapJson(rawJsonObject);        // 转换为内部结构
+            await loadMapIntoApplication(parsedMap);                     // 加载到应用
+        } catch (parseError) {
+            ElMessage.error('Parse error: ' + parseError.message);                 // 显示错误信息
+        }
+    }
 };
 
 /**
- * 加载 smap JSON 文件
+ * 
+ * @param id 机器人编号
+ * @param name 机器人名称
+ * @param angleRad 角度
+ * @param color 颜色
  */
-const loadUserFile = async () => {
-    try {
-        const fileTextContent = await loadSourceMap('/3.smap');
-        const rawJsonObject = JSON.parse(fileTextContent);        // 解析 JSON
-        const parsedMap = parseSmapJson(rawJsonObject);        // 转换为内部结构
-        await loadMapIntoApplication(parsedMap);                     // 加载到应用
-    } catch (parseError) {
-        alert('Parse error: ' + parseError.message);                 // 显示错误信息
-    }
-}
-
-const addRobot = (id, name, angleRad, color) => {
+const addRobot = (id, name,x, y, angleRad, color) => {
     const map = applicationState.parsedMap;
     // 放置于地图中央附近
-    const centerX = (map.originX + map.maxX) / 2;
-    const centerY = (map.originY + map.maxY) / 2;
-    const robot = new MobileRobot(id, name, centerX + (Math.random() - 0.5) * 10, centerY + (Math.random() - 0.5) * 10, angleRad, color);
+    // const centerX = (map.originX + map.maxX) / 2;
+    // const centerY = (map.originY + map.maxY) / 2;
+    const robot = new MobileRobot(id, name, x, y, angleRad, color);
     applicationState.robots.push(robot);
 }
 
@@ -376,19 +388,26 @@ const moveRobot = (robot, dx, dy, dtheta = 0) => {
 
 onMounted(() => {
     init()
-    // 启动渲染循环
-    loadUserFile()
-    requestAnimationFrame(renderFrame);
-    window.addEventListener('resize', resizeCanvasToContainer);    // 监听窗口大小变化
-    resizeCanvasToContainer();                                     // 初始调用一次
-    setTimeout(() => {
-        bindEvent()
-        addRobot(1, '巡检机器人#1', 0, '#00D4FF')
-        addRobot(2, '巡检机器人#2', 0, '#FFB300')
-        addRobot(3, '巡检机器人#3', 0, '#00FF88')
-    }, 300)
 })
 
+watch(() => props.robotList,
+    (newVal) => {
+        if (props.robotList.length > 0) {
+            loadSourceMap()
+            requestAnimationFrame(renderFrame);
+            window.addEventListener('resize', resizeCanvasToContainer);    // 监听窗口大小变化
+            resizeCanvasToContainer();                                     // 初始调用一次
+            setTimeout(() => {
+                bindEvent()
+                props.robotList.forEach(item => {
+                    const [x, y, angle] = item.currentPosition.split(',')
+                    addRobot(item.id, item.robotName, x, y, angle, '#00D4FF')
+                })
+            }, 300)
+        }
+    }
+)
+
 defineExpose({
     zoomCanvas,
     centerCanvasView

src/views/inspection/cockpit/components/MapOverview.vue

@@ -3,28 +3,28 @@
         <div class="left-container">
             <div class="robot-container">
                 <div class="robot-state">机器人状态</div>
-                <div class="robot-info" v-for="item, index in 2">
+                <div class="robot-info" v-for="item, index in robotList">
                     <div class="title-box">
                         <div><SvgIcon name="bot" :color="index === 0 ? '#00D4FF' : '#FFB300'" /></div>
-                        <div class="title">巡检机器人#{{ index }}</div>
-                        <div class="state" :class="robotState">在线</div>
+                        <div class="title">{{ item.robotName }}</div>
+                        <div class="state online">{{ robotStatus[item.status] }}</div>
                     </div>
                     <div class="info-box">
                         <div class="item-box">
                             <div class="item-title">编号</div>
-                            <div class="item-detail">RB-2024-001</div>
+                            <div class="item-detail">{{ item.robotCode }}</div>
                         </div>
                         <div class="item-box">
                             <div class="item-title">当前任务</div>
-                            <div class="item-detail">厂区A-定时巡检</div>
+                            <div class="item-detail">{{ getRunningTaskByRobotId(item.id) }}</div>
                         </div>
                         <div class="item-box">
                             <div class="item-title">电量</div>
-                            <div class="item-detail">78%</div>
+                            <div class="item-detail">{{ item.batteryLevel }}%</div>
                         </div>
                         <div class="item-box">
-                            <div class="item-title">速度</div>
-                            <div class="item-detail">0.8m/s</div>
+                            <div class="item-title">IP端口</div>
+                            <div class="item-detail">{{ `${item.ipAddress}: ${item.port}` }}</div>
                         </div>
                     </div>
                 </div>
@@ -32,11 +32,11 @@
             <div class="split-line"></div>
             <div class="task-container">
                 <div class="container-title">当前任务</div>
-                <div class="task-box" v-for="item, index in 2">
-                    <div class="title">巡检机器人#{{ index }}</div>
+                <div class="task-box" v-for="item, index in taskList">
+                    <div class="title">{{ item.taskName }}</div>
                     <div class="task-info">
-                        <div>执行中</div>
-                        <div>厂区A定时巡检</div>
+                        <div>{{ taskStatus[item.status] }}</div>
+                        <div>{{ item.remark }}</div>
                     </div>
                 </div>
             </div>
@@ -61,7 +61,7 @@
             </div>
 
             <div class="map-box">
-                <MapCanvas ref="mapCanvasRef" />
+                <MapCanvas :robotList="robotList" ref="mapCanvasRef" />
             </div>
         </div>
         <div class="right-container">
@@ -84,10 +84,66 @@
 import SvgIcon from "@/components/SvgIcon";
 import MapCanvas from "./MapCanvas.vue";
 import { onMounted, onUnmounted } from "vue";
+import { getRobotList } from '@/api/inspection/robot'
+import { getRunTaskList } from '@/api/inspection/runTask'
 
 console.log('sss', import.meta.env.VITE_INSPECTION_TYPE)
 
-const robotState = ref('online')
+const robotList = ref([])
+const robotStatus = {
+    "0": "在线",
+    "1": "离线",
+    "2": "充电中",
+    "3": "巡检中"
+}
+const getRobot = async () => {
+    let robotType
+    if (import.meta.env.VITE_INSPECTION_TYPE = 'inspection') {
+        robotType = '2'
+    } else {
+        robotType = '1'
+    }
+
+    const res = await getRobotList({
+        robotType
+    })
+
+    if (res.code === 200) {
+        robotList.value = res.rows
+    }
+}
+
+const taskList = ref([])
+const taskStatus = {
+    "0": "已完成",
+    "1": "执行中",
+    "2": "失败",
+    "3": "已暂停",
+    "4": "已终止",
+    "5": "未执行"
+}
+const getRunningTask = async () => {
+    let taskType
+    if (import.meta.env.VITE_INSPECTION_TYPE = 'inspection') {
+        taskType = '1'
+    } else {
+        taskType = '2'
+    }
+    const res = await getRunTaskList({
+        taskType
+    })
+    if (res.code === 200) {
+        taskList.value = res.rows
+    }
+}
+
+const getRunningTaskByRobotId = (robotId) => {
+    const task = taskList.value.find(item => item.robotId === robotId)
+    if (task) {
+        return task.taskName
+    }
+    return '暂无'
+}
 
 const mapCanvasRef = ref(null)
 
@@ -102,6 +158,11 @@ const centerCanvasView = () => {
         mapCanvasRef.value.centerCanvasView();
     }
 }
+
+onMounted(() => {
+    getRobot()
+    getRunningTask()
+})
 </script>
 
 <style lang="scss">

src/views/inspection/cockpit/components/UrdfView.vue

@@ -0,0 +1,588 @@
+<template>
+  <div class="elfin-viewer">
+    <div ref="viewerContainer" class="viewer-container">
+      <!-- Three.js 渲染 -->
+    </div>
+    
+    <div v-if="isLoading" class="loading-overlay">
+      <div class="spinner"></div>
+      <p>正在加载机器人模型...</p>
+      <p class="loading-detail">{{ loadingMessage }}</p>
+    </div>
+
+    <div class="control-panel" v-if="!isLoading && jointControls.length > 0">
+      <h4>关节控制</h4>
+      <div class="joint-list">
+        <div v-for="joint in jointControls" :key="joint.name" class="joint-item">
+          <label :for="joint.name">{{ joint.displayName }}</label>
+          <input
+            type="range"
+            :id="joint.name"
+            :min="joint.min"
+            :max="joint.max"
+            :step="0.01"
+            v-model.number="joint.value"
+            @input="updateJoint(joint.name, joint.value)"
+          />
+          <span class="angle">{{ (joint.value * 180 / Math.PI).toFixed(1) }}°</span>
+        </div>
+      </div>
+      <button @click="resetJoints" class="reset-btn">重置关节</button>
+    </div>
+  </div>
+</template>
+
+<script setup>
+import { ref, onMounted, onBeforeUnmount, nextTick, reactive } from 'vue';
+import * as THREE from 'three';
+import { OrbitControls } from 'three/examples/jsm/controls/OrbitControls.js';
+import { STLLoader } from 'three/examples/jsm/loaders/STLLoader.js';
+
+const props = defineProps({
+  basePath: { type: String, default: '/inspection/elfin10' },
+  modelColor: { type: String, default: '#cbcbcb' },
+  showControls: { type: Boolean, default: true }
+});
+
+const viewerContainer = ref(null);
+const isLoading = ref(true);
+const loadingMessage = ref('初始化...');
+
+let scene, camera, renderer, controls;
+let robotGroup = null;
+const jointMap = new Map();
+const animationId = ref(null);
+const jointControls = reactive([]);
+
+// ============ XACRO 解析器 ============
+class XacroParser {
+  constructor() {
+    this.variables = new Map();
+    this.macros = new Map();
+    this.includes = [];
+    this.robotXml = null;
+  }
+  parse(xacroContent) {
+    const parser = new DOMParser();
+    const xmlDoc = parser.parseFromString(xacroContent, 'text/xml');
+    const properties = xmlDoc.getElementsByTagName('xacro:property');
+    for (const prop of properties) {
+      const name = prop.getAttribute('name');
+      const value = prop.getAttribute('value');
+      if (name && value) this.variables.set(name, this.evaluateExpression(value));
+    }
+    const includes = xmlDoc.getElementsByTagName('xacro:include');
+    for (const inc of includes) {
+      const filename = inc.getAttribute('filename');
+      if (filename) this.includes.push(filename);
+    }
+    const macros = xmlDoc.getElementsByTagName('xacro:macro');
+    for (const macro of macros) {
+      const name = macro.getAttribute('name');
+      const params = macro.getAttribute('params') || '';
+      if (name) {
+        this.macros.set(name, {
+          params: params.split(/\s+/).filter(p => p),
+          content: macro.innerHTML
+        });
+      }
+    }
+    this.robotXml = this.processRobotXml(xmlDoc);
+    return this.robotXml;
+  }
+  processRobotXml(xmlDoc) {
+    const doc = xmlDoc.cloneNode(true);
+    const allElements = Array.from(doc.getElementsByTagName('*'));
+    for (const elem of allElements) {
+      if (elem.tagName.toLowerCase().startsWith('xacro:')) {
+        elem.parentNode?.removeChild(elem);
+      }
+    }
+    const remaining = Array.from(doc.getElementsByTagName('*'));
+    for (const elem of remaining) {
+      for (const attr of elem.attributes) {
+        if (attr.value?.includes('${')) attr.value = this.replaceVariables(attr.value);
+      }
+      if (elem.textContent?.includes('${')) elem.textContent = this.replaceVariables(elem.textContent);
+    }
+    return doc;
+  }
+  replaceVariables(text) {
+    return text.replace(/\$\{([^}]+)\}/g, (match, expr) => this.evaluateExpression(expr));
+  }
+  evaluateExpression(expr) {
+    expr = expr.trim();
+    if (!expr) return '0';
+    try {
+      for (const [key, value] of this.variables) {
+        if (key.length === 0) continue;
+        const regex = new RegExp('\\b' + this.escapeRegex(key) + '\\b', 'g');
+        expr = expr.replace(regex, '(' + value + ')');
+      }
+      expr = expr.replace(/\bPI\b/g, '(' + Math.PI + ')');
+      expr = expr.replace(/\bpi\b/g, '(' + Math.PI + ')');
+      const sanitized = expr.replace(/\s+/g, '');
+      if (/^[\d+\-*/().eE]+$/.test(sanitized)) {
+        const result = Function('"use strict"; return (' + sanitized + ')')();
+        if (typeof result === 'number' && isFinite(result)) return result.toString();
+      }
+      console.warn('表达式求值失败，返回原值:', expr);
+      return expr;
+    } catch (e) {
+      console.warn('表达式求值异常:', expr, e);
+      return expr;
+    }
+  }
+  escapeRegex(str) {
+    return str.replace(/[.*+?^${}()|[\]\\]/g, '\\$&');
+  }
+  getRobotXml() { return this.robotXml; }
+  getIncludes() { return this.includes; }
+}
+
+// ============ 工具函数 ============
+const cleanMeshPath = (path) => {
+  if (!path) return '';
+  path = path.replace(/^file:\/\//, '');
+  path = path.replace(/^package:\/\/[^/]+\//, '');
+  const findMatch = path.match(/\$\(find\s+([^)]+)\)/);
+  if (findMatch) path = path.replace(/\$\(find\s+[^)]+\)/, '');
+  path = path.replace(/\\/g, '/').replace(/^\/+/, '');
+  return path;
+};
+
+const parseXYZ = (str) => {
+  if (!str) return { x: 0, y: 0, z: 0 };
+  const [x, y, z] = str.trim().split(/\s+/).map(Number);
+  return { x: x || 0, y: y || 0, z: z || 0 };
+};
+
+const parseRPY = (str) => {
+  if (!str) return { roll: 0, pitch: 0, yaw: 0 };
+  const [r, p, y] = str.trim().split(/\s+/).map(Number);
+  return { roll: r || 0, pitch: p || 0, yaw: y || 0 };
+};
+
+// ★ 正确转换 RPY → 四元数（URDF 固定轴 XYZ = Three.js 局部轴 ZYX）
+const rpyToQuaternion = (rpy) => {
+  const euler = new THREE.Euler(rpy.roll, rpy.pitch, rpy.yaw, 'ZYX');
+  return new THREE.Quaternion().setFromEuler(euler);
+};
+
+// ============ STL 加载 ============
+const loadSTLWithRetry = (url, group, visualPos, visualQuat) => {
+  return new Promise((resolve) => {
+    const loader = new STLLoader();
+    const loadMesh = (attemptUrl) => {
+      loader.load(
+        attemptUrl,
+        (geometry) => {
+          geometry.computeVertexNormals();
+          const material = new THREE.MeshStandardMaterial({
+            color: props.modelColor,
+            roughness: 0.4,
+            metalness: 0.3,
+          });
+          const mesh = new THREE.Mesh(geometry, material);
+          mesh.position.set(visualPos.x, visualPos.y, visualPos.z);
+          mesh.quaternion.copy(visualQuat);          // 使用四元数
+          mesh.castShadow = true;
+          mesh.receiveShadow = true;
+          while (group.children.length > 0) {
+            const child = group.children[0];
+            if (child.isMesh) {
+              child.geometry?.dispose();
+              child.material?.dispose();
+            }
+            group.remove(child);
+          }
+          group.add(mesh);
+          resolve(mesh);
+        },
+        undefined,
+        (error) => {
+          console.warn(`加载STL失败: ${attemptUrl}`, error);
+          if (!attemptUrl.startsWith('/') && !attemptUrl.startsWith('http')) {
+            loadMesh('/' + attemptUrl);
+          } else {
+            resolve(null);
+          }
+        }
+      );
+    };
+    loadMesh(url);
+  });
+};
+
+// ============ URDF 解析与构建（严格修复） ============
+const parseAndBuildRobot = async (urdfDoc) => {
+  const links = urdfDoc.getElementsByTagName('link');
+  const jointsRaw = urdfDoc.getElementsByTagName('joint');
+  const joints = sortJointsTopologically(jointsRaw, links);
+  const linkGroupMap = new Map();
+  const mainGroup = new THREE.Group();
+  mainGroup.name = 'robot';
+
+  loadingMessage.value = '创建链接结构...';
+  for (const link of links) {
+    const name = link.getAttribute('name');
+    const group = new THREE.Group();
+    group.name = name;
+    const visual = link.getElementsByTagName('visual')[0];
+    if (visual) {
+      const origin = visual.getElementsByTagName('origin')[0];
+      const geometry = visual.getElementsByTagName('geometry')[0];
+      const meshTag = geometry?.getElementsByTagName('mesh')[0];
+      if (meshTag) {
+        let meshPath = cleanMeshPath(meshTag.getAttribute('filename'));
+        let visualPos = { x: 0, y: 0, z: 0 };
+        let visualQuat = new THREE.Quaternion();
+        if (origin) {
+          const rawXyz = parseXYZ(origin.getAttribute('xyz') || '0 0 0');
+          const rawRpy = parseRPY(origin.getAttribute('rpy') || '0 0 0');
+          visualPos = rawXyz;
+          visualQuat = rpyToQuaternion(rawRpy);      // ★ 使用正确顺序
+        }
+        group.userData = {
+          meshPath: `${props.basePath}${meshPath}`,
+          visualPos,
+          visualQuat
+        };
+      }
+    }
+    linkGroupMap.set(name, group);
+    mainGroup.add(group);
+  }
+
+  loadingMessage.value = '加载3D模型文件...';
+  const loadPromises = [];
+  for (const [name, group] of linkGroupMap) {
+    if (group.userData.meshPath) {
+      loadPromises.push(
+        loadSTLWithRetry(group.userData.meshPath, group, group.userData.visualPos, group.userData.visualQuat)
+      );
+    }
+  }
+  await Promise.allSettled(loadPromises);
+
+  loadingMessage.value = '构建关节结构...';
+  const jointDataList = [];
+  for (const joint of joints) {
+    const type = joint.getAttribute('type');
+    const name = joint.getAttribute('name');
+    const parent = joint.getElementsByTagName('parent')[0]?.getAttribute('link');
+    const child = joint.getElementsByTagName('child')[0]?.getAttribute('link');
+    const origin = joint.getElementsByTagName('origin')[0];
+    let xyz = { x: 0, y: 0, z: 0 };
+    let rpy = { roll: 0, pitch: 0, yaw: 0 };
+    if (origin) {
+      xyz = parseXYZ(origin.getAttribute('xyz') || '0 0 0');
+      rpy = parseRPY(origin.getAttribute('rpy') || '0 0 0');
+    }
+    const axis = joint.getElementsByTagName('axis')[0];
+    const axisVec = parseXYZ(axis?.getAttribute('xyz') || '0 0 1');
+    const limit = joint.getElementsByTagName('limit')[0];
+    const min = limit ? parseFloat(limit.getAttribute('lower')) : -Math.PI;
+    const max = limit ? parseFloat(limit.getAttribute('upper')) : Math.PI;
+    jointDataList.push({
+      name, type, parent, child, xyz, rpy,
+      axis: new THREE.Vector3(axisVec.x, axisVec.y, axisVec.z),
+      min, max
+    });
+  }
+
+  // 构建层级（Euler 顺序 ZYX）
+  for (const jointData of jointDataList) {
+    const { name, type, parent, child, xyz, rpy, axis, min, max } = jointData;
+    const parentGroup = linkGroupMap.get(parent);
+    const childGroup = linkGroupMap.get(child);
+    if (!parentGroup || !childGroup) {
+      console.warn(`关节 ${name} 的父或子链接不存在`);
+      continue;
+    }
+
+    if (mainGroup.children.includes(childGroup)) mainGroup.remove(childGroup);
+    if (parentGroup.children.includes(childGroup)) parentGroup.remove(childGroup);
+
+    if (type === 'revolute' || type === 'continuous') {
+      const varGroup = new THREE.Group();
+      varGroup.name = name + '_var';
+
+      const originGroup = new THREE.Group();
+      originGroup.name = name + '_origin';
+      originGroup.position.set(xyz.x, xyz.y, xyz.z);
+      // ★ 使用正确顺序
+      const euler = new THREE.Euler(rpy.roll, rpy.pitch, rpy.yaw, 'ZYX');
+      originGroup.quaternion.setFromEuler(euler);
+
+      originGroup.add(childGroup);
+      varGroup.add(originGroup);
+      jointMap.set(name, {
+        name,
+        group: varGroup,
+        axis: axis.clone().normalize(),      // 仍为 Z-up 轴，稍后在 loadRobot 中统一变换
+        min, max,
+        value: 0,
+        displayName: name.replace(/_/g, ' ').replace('elfin ', '')
+      });
+      parentGroup.add(varGroup);
+    } else {
+      // 固定关节
+      childGroup.position.set(xyz.x, xyz.y, xyz.z);
+      const euler = new THREE.Euler(rpy.roll, rpy.pitch, rpy.yaw, 'ZYX');
+      childGroup.quaternion.setFromEuler(euler);
+      parentGroup.add(childGroup);
+    }
+  }
+
+  return mainGroup;
+};
+
+// ============ 拓扑排序 ============
+const sortJointsTopologically = (joints, links) => {
+  const childToJoint = new Map();
+  const allLinkNames = new Set();
+  for (const link of links) allLinkNames.add(link.getAttribute('name'));
+  const jointArray = Array.from(joints);
+  for (const joint of jointArray) {
+    const child = joint.getElementsByTagName('child')[0]?.getAttribute('link');
+    if (child) childToJoint.set(child, joint);
+  }
+  const childLinks = new Set(childToJoint.keys());
+  const rootLinks = [...allLinkNames].filter(name => !childLinks.has(name));
+  const sorted = [];
+  const queue = [...rootLinks];
+  const visited = new Set();
+  while (queue.length > 0) {
+    const linkName = queue.shift();
+    for (const joint of jointArray) {
+      const parent = joint.getElementsByTagName('parent')[0]?.getAttribute('link');
+      const child = joint.getElementsByTagName('child')[0]?.getAttribute('link');
+      if (parent === linkName && !visited.has(joint.getAttribute('name'))) {
+        visited.add(joint.getAttribute('name'));
+        sorted.push(joint);
+        if (child) queue.push(child);
+      }
+    }
+  }
+  for (const joint of jointArray) {
+    if (!visited.has(joint.getAttribute('name'))) sorted.push(joint);
+  }
+  return sorted;
+};
+
+// ============ 场景初始化 ============
+const initScene = () => {
+  const container = viewerContainer.value;
+  const width = container.clientWidth || 800;
+  const height = container.clientHeight || 600;
+  scene = new THREE.Scene();
+  scene.background = new THREE.Color(0x1a1a2e);
+  camera = new THREE.PerspectiveCamera(45, width / height, 0.1, 1000);
+  camera.position.set(2, 2, 3);
+  renderer = new THREE.WebGLRenderer({ antialias: true, alpha: true });
+  renderer.setSize(width, height);
+  renderer.setPixelRatio(Math.min(window.devicePixelRatio, 2));
+  renderer.shadowMap.enabled = true;
+  renderer.shadowMap.type = THREE.PCFSoftShadowMap;
+  renderer.toneMapping = THREE.ACESFilmicToneMapping;
+  renderer.toneMappingExposure = 1.2;
+  container.appendChild(renderer.domElement);
+  controls = new OrbitControls(camera, renderer.domElement);
+  controls.enableDamping = true;
+  controls.dampingFactor = 0.1;
+  controls.target.set(0, 0.5, 0);
+  controls.update();
+
+  const ambient = new THREE.AmbientLight(0x404060, 0.6);
+  scene.add(ambient);
+  const main = new THREE.DirectionalLight(0xffffff, 1.0);
+  main.position.set(5, 10, 7);
+  main.castShadow = true;
+  scene.add(main);
+  const fill = new THREE.DirectionalLight(0x8888ff, 0.4);
+  fill.position.set(-5, 0, 5);
+  scene.add(fill);
+  const rim = new THREE.DirectionalLight(0xffffff, 0.3);
+  rim.position.set(0, -5, 5);
+  scene.add(rim);
+  const grid = new THREE.GridHelper(3, 20, 0x444466, 0x333355);
+  grid.position.y = -0.5;
+  scene.add(grid);
+};
+
+// ============ 关节控制（无需修改） ============
+const updateJoint = (jointName, angle) => {
+  const joint = jointMap.get(jointName);
+  if (!joint) return;
+  const clampedAngle = Math.max(joint.min, Math.min(joint.max, angle));
+  joint.value = clampedAngle;
+
+  joint.group.quaternion.identity();
+  const axis = joint.axis.clone().normalize();
+  joint.group.quaternion.setFromAxisAngle(axis, clampedAngle); // 正负根据实际情况调整
+
+  const control = jointControls.find(j => j.name === jointName);
+  if (control) control.value = clampedAngle;
+};
+
+const resetJoints = () => {
+  for (const joint of jointControls) updateJoint(joint.name, 0);
+};
+
+// ============ 加载机器人（轴变换加入） ============
+const loadRobot = async () => {
+  try {
+    isLoading.value = true;
+    loadingMessage.value = '加载XACRO文件...';
+    const xacroUrl = `${props.basePath}elfin10.urdf.xacro`;
+    const response = await fetch(xacroUrl);
+    if (!response.ok) throw new Error(`HTTP ${response.status}`);
+    const xacroContent = await response.text();
+    loadingMessage.value = '解析XACRO...';
+    const parser = new XacroParser();
+    const robotDoc = parser.parse(xacroContent);
+    loadingMessage.value = '构建机器人模型...';
+    robotGroup = await parseAndBuildRobot(robotDoc);
+    if (robotGroup) {
+      scene.add(robotGroup);
+      // ★ 全局旋转：Z-up → Y-up
+      robotGroup.rotation.x = -Math.PI / 2;
+
+      // ★ 关键：将所有关节轴从 Z-up 坐标系变换到 Y-up 坐标系
+      const globalQuat = new THREE.Quaternion().setFromEuler(
+        new THREE.Euler(-Math.PI / 2, 0, 0, 'XYZ')
+      );
+      const globalQuat1 = new THREE.Quaternion().setFromEuler(
+        new THREE.Euler(-Math.PI / 2, 0, 0, 'ZXY')
+      );
+      for (const joint of jointMap.values()) {
+        if (['joint2', 'joint6'].includes(joint.displayName)) {
+            joint.axis.applyQuaternion(globalQuat).normalize();
+        }
+        if (['joint3', 'joint4', 'joint5'].includes(joint.displayName)) {
+            joint.axis.applyQuaternion(globalQuat1).normalize();
+        }
+      }
+
+      jointControls.length = 0;
+      for (const [name, joint] of jointMap) {
+        jointControls.push({
+          name,
+          displayName: joint.displayName,
+          value: 0,
+          min: joint.min,
+          max: joint.max
+        });
+      }
+      fitCamera();
+    }
+    isLoading.value = false;
+    loadingMessage.value = '加载完成';
+  } catch (error) {
+    console.error('加载机器人失败:', error);
+    isLoading.value = false;
+    loadingMessage.value = `加载失败: ${error.message}`;
+  }
+};
+
+const fitCamera = () => {
+  if (!robotGroup) return;
+  const box = new THREE.Box3().setFromObject(robotGroup);
+  const center = box.getCenter(new THREE.Vector3());
+  const size = box.getSize(new THREE.Vector3());
+  const maxDim = Math.max(size.x, size.y, size.z);
+  if (maxDim === 0) return;
+  const distance = maxDim / (2 * Math.tan((camera.fov * Math.PI) / 360));
+  const direction = new THREE.Vector3(1, 1, 1).normalize();
+  camera.position.copy(center).add(direction.multiplyScalar(distance * 1.5));
+  controls.target.copy(center);
+  controls.update();
+};
+
+// ============ 动画循环 ============
+const animate = () => {
+  animationId.value = requestAnimationFrame(animate);
+  controls?.update();
+  renderer?.render(scene, camera);
+};
+
+// ============ 生命周期 ============
+onMounted(async () => {
+  await nextTick();
+  initScene();
+  await loadRobot();
+  animate();
+  window.addEventListener('resize', onResize);
+});
+
+onBeforeUnmount(() => {
+  if (animationId.value) cancelAnimationFrame(animationId.value);
+  window.removeEventListener('resize', onResize);
+  renderer?.dispose();
+  controls?.dispose();
+});
+
+const onResize = () => {
+  const container = viewerContainer.value;
+  if (!container || !camera || !renderer) return;
+  const width = container.clientWidth;
+  const height = container.clientHeight;
+  camera.aspect = width / height;
+  camera.updateProjectionMatrix();
+  renderer.setSize(width, height);
+};
+
+defineExpose({ updateJoint, resetJoints, jointControls, jointMap });
+</script>
+
+<style scoped>
+.elfin-viewer {
+  width: 100%;
+  height: 100%;
+  position: relative;
+  overflow: hidden;
+  background: #0d0d1a;
+}
+.viewer-container {
+  width: 100%;
+  height: 100%;
+}
+.viewer-container canvas {
+  display: block;
+  width: 100% !important;
+  height: 100% !important;
+}
+.control-panel {
+  position: absolute;
+  top: 20px;
+  right: 20px;
+  background: rgba(20, 20, 40, 0.85);
+  padding: 15px;
+  border-radius: 8px;
+  color: #ccc;
+  max-height: 80%;
+  overflow-y: auto;
+}
+.joint-item {
+  display: flex;
+  align-items: center;
+  gap: 8px;
+  margin-bottom: 10px;
+}
+.joint-item label {
+  width: 120px;
+  font-size: 0.9em;
+}
+.joint-item input[type=range] {
+  flex: 1;
+}
+.angle {
+  width: 50px;
+  text-align: right;
+}
+.reset-btn {
+  margin-top: 10px;
+  width: 100%;
+}
+</style>

src/views/inspection/runTask/index.vue

@@ -128,6 +128,9 @@
                             :value="robot.id" />
                     </el-select>
                 </el-form-item>
+                <el-form-item label="备注" prop="remark">
+                    <el-input type="textarea" v-model="form.remark" />
+                </el-form-item>
             </el-form>
             <template #footer>
                 <div class="dialog-footer">
@@ -442,6 +445,7 @@ const subscribeDebounced = debounce(async (sub) => {
                     delete taskRunningInfo.value[data.taskInstanceId]
                     delete taskLogList.value[data.taskInstanceId]
                     getList()
+                    getHistoryList()
                 }
             } else {
                 // 错误处理：取消订阅后重新订阅

vite.config.js

@@ -49,8 +49,8 @@ export default defineConfig(({mode, command}) => {
                 '/dev-api': {
                     //李小龙 http://192.168.0.201:13080
                     // dev http://10.148.20.34:13080
-                    // target: VITE_API_URL,
-                    target: command === 'build' ? VITE_API_URL : 'http://192.168.0.201:13080',
+                    target: VITE_API_URL,
+                    // target: command === 'build' ? VITE_API_URL : 'http://192.168.0.201:13080',
                     changeOrigin: true,
                     rewrite: (p) => p.replace(/^\/dev-api/, '')
                 }