src/api/device/flow.js

@@ -76,12 +76,4 @@ export function getAgvStatus(params) {
         method: 'get',
         params: params
     })
-}
+}
-
-export function getArmJointState(params) {
-    return request({
-        url: '/api/arm/getJointState',
-        method: 'get',
-        params: params
-    })
-}

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

@@ -11,7 +11,7 @@
                 </el-button>
             </template>
             <div class="form__container">
-                <el-button type="primary" v-if="['AGV_MOVE_TO_POINT', 'ARM_MOVE_TO_POINT', 'ARM_MOVE_TO_J'].includes(props.data.properties.action)" size="small" @click="openRobotForm(props.data.properties.action)">获取位置</el-button>
+                <el-button type="primary" v-if="['AGV_MOVE_TO_POINT', 'ARM_MOVE_TO_POINT'].includes(props.data.properties.action)" size="small" @click="openRobotForm(props.data.properties.action)">获取位置</el-button>
                 <el-form :inline="true" :model="formData" :rules="rules" ref="dynamicFormRef" label-position="top"
                     label-width="auto">
                     <div v-for="(property, index) in formData.nodeParams" :key="index">
@@ -106,7 +106,7 @@ import { Plus, Minus } from '@element-plus/icons-vue'
 import FormItemRecursive from '../FormItemRecursive.vue'
 import { getInput } from '@/utils/flow'
 import { useQuote } from './useQuote.js'
-import { getArmStatus, getArmJointState, getAgvStatus } from '@/api/device/flow'
+import { getArmStatus, getAgvStatus } from '@/api/device/flow'
 import { de } from 'element-plus/es/locale/index.mjs'
 
 const props = defineProps({
@@ -298,30 +298,6 @@ const submitRobotForm = () => {
                 }
             }
         })
-    } else if (robotFormAction.value === 'ARM_MOVE_TO_J') {
-        robotFormRef.value.validate(async (valid) => {
-            if (valid) {
-                try {
-                    const response = await getArmJointState({
-                        deviceId: robotForm.deviceId,
-                        terminalId: robotForm.terminalId
-                    })
-                    if (response && response.data) {
-                        const target = response.data.position || response.data.positions
-                        if (!Array.isArray(target) || target.length === 0) {
-                            throw new Error('机械臂未返回有效的关节位置')
-                        }
-                        dialogVisible.value = false
-                        const targetParam = formData.nodeParams.find(param => param.name === 'target')
-                        const deviceParam = formData.nodeParams.find(param => param.name === 'deviceId')
-                        if (targetParam) targetParam.input = JSON.stringify(target)
-                        if (deviceParam) deviceParam.input = robotForm.deviceId
-                    }
-                } catch (error) {
-                    console.error('获取机械臂关节位置失败:', error)
-                }
-            }
-        })
     }
 }
 
@@ -407,4 +383,4 @@ defineExpose({ validateAndSave })
         cursor: pointer;
     }
 }
-</style>
+</style>

src/views/flow/config.js

@@ -37,11 +37,6 @@ const audioOptions = () => {
   }]
 }
 
-const booleanOptions = () => [
-  { value: false, label: '否' },
-  { value: true, label: '是' }
-]
-
 const httpMethodOptions = () => {
   return [{
     value: 'POST',
@@ -365,24 +360,6 @@ function handler(params) {
         ],
         outputType: 'json'
       },
-      {
-        icon: videoSvg,
-        name: "机械臂关节运动",
-        type: "serviceNode",
-        desc: "通过关节空间插值运动到目标关节位置",
-        action: 'ARM_MOVE_TO_J',
-        nodeType: 'EDGE',
-        nodeParams: [
-          { name: "deviceId", type: "input", input: "", disabled: true },
-          { name: "target", type: "input", input: "[0, 0, 0, 0, 0, 0]", disabled: true },
-          { name: "velocity", type: "input", componentType: 'number', max: 5, step: 0.1, input: 0.5, disabled: true },
-          { name: "acceleration", type: "input", componentType: 'number', max: 5, step: 0.1, input: 1, disabled: true },
-          { name: "blendRadius", type: "input", componentType: 'number', max: 5, step: 0.01, input: 0, required: false, disabled: true },
-          { name: "jointVelocityLimits", type: "input", input: "", required: false, disabled: true },
-          { name: "asynchronous", type: "input", input: false, componentType: 'select', selectOptions: booleanOptions(), required: false, disabled: true }
-        ],
-        outputType: 'json'
-      },
       {
         icon: cameraSvg,
         name: "开始监听报警事件",