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

@@ -23,15 +23,22 @@
       <el-button type="primary" plain @click="addStep"><el-icon><Plus /></el-icon>添加步骤</el-button>
     </div>
 
-    <div v-for="(step, index) in formData.steps" :key="step.localKey" class="queue-step">
+    <el-collapse v-model="activeStepKeys" class="queue-steps">
+      <el-collapse-item v-for="(step, index) in formData.steps" :key="step.localKey" :name="step.localKey">
+        <template #title>
           <div class="queue-step__header">
+            <div class="queue-step__title">
               <span>步骤 {{ index + 1 }}</span>
-        <div>
+              <span class="queue-step__action">{{ actionLabel(step.type) }}</span>
+            </div>
+            <div class="queue-step__actions" @click.stop>
               <el-button :icon="ArrowUp" circle size="small" :disabled="index === 0" title="上移" @click="moveStep(index, -1)" />
               <el-button :icon="ArrowDown" circle size="small" :disabled="index === formData.steps.length - 1" title="下移" @click="moveStep(index, 1)" />
               <el-button :icon="Delete" circle size="small" type="danger" plain title="删除" @click="removeStep(index)" />
             </div>
           </div>
+        </template>
+        <div class="queue-step">
           <el-form label-position="top">
             <el-form-item label="动作" required>
               <el-select v-model="step.type" style="width: 100%" @change="handleStepTypeChange(step)">
@@ -49,12 +56,25 @@
               </el-select>
               <div v-if="!matchingSlots(step.type).length" class="queue-editor__warning">当前角色没有对应设备用途。</div>
             </el-form-item>
+            <div v-if="stepHelperLabel(step.type)" class="queue-step__helper">
+              <el-button type="primary" plain :icon="Location" @click="openStepHelper(step)">
+                {{ stepHelperLabel(step.type) }}
+              </el-button>
+            </div>
             <el-form-item label="步骤超时（毫秒）">
               <el-input-number v-model="step.timeoutMs" :min="0" :max="2147483647" style="width: 100%" />
             </el-form-item>
             <template v-for="field in fieldsForType(step.type)" :key="field.key">
               <el-form-item :label="field.label" :required="field.required !== false">
-            <el-select v-if="field.options" v-model="step.params[field.key]" style="width: 100%">
+                <el-select
+                  v-if="field.key === 'stationId' && step.stationOptions?.length"
+                  v-model="step.params[field.key]"
+                  filterable
+                  style="width: 100%"
+                >
+                  <el-option v-for="option in step.stationOptions" :key="option.value" :label="option.label" :value="option.value" />
+                </el-select>
+                <el-select v-else-if="field.options" v-model="step.params[field.key]" style="width: 100%">
                   <el-option v-for="option in field.options" :key="option.value" :label="option.label" :value="option.value" />
                 </el-select>
                 <el-input-number
@@ -70,14 +90,38 @@
             </template>
           </el-form>
         </div>
+      </el-collapse-item>
+    </el-collapse>
     <el-empty v-if="!formData.steps.length" description="请添加至少一个动作步骤" :image-size="72" />
+
+    <el-dialog v-model="helperDialogVisible" :title="stepHelperLabel(helperStep?.type)" width="460" append-to-body>
+      <div class="queue-helper__tip">在线设备仅用于读取参数，不会写入流程定义。</div>
+      <el-form label-position="top">
+        <el-form-item label="机器人" required>
+          <el-select v-model="helperForm.robotId" filterable style="width: 100%" @change="loadHelperDevices">
+            <el-option v-for="item in helperRobotOptions" :key="item.value" :label="item.label" :value="item.value" />
+          </el-select>
+        </el-form-item>
+        <el-form-item label="执行设备" required>
+          <el-select v-model="helperForm.deviceId" filterable :loading="helperDeviceLoading" style="width: 100%">
+            <el-option v-for="item in helperDeviceOptions" :key="item.value" :label="item.label" :value="item.value" />
+          </el-select>
+        </el-form-item>
+      </el-form>
+      <template #footer>
+        <el-button @click="helperDialogVisible = false">取消</el-button>
+        <el-button type="primary" :loading="helperSubmitting" @click="applyStepHelper">确认读取</el-button>
+      </template>
+    </el-dialog>
   </div>
 </template>
 
 <script setup>
 import { reactive, ref, watch } from 'vue'
-import { ArrowDown, ArrowUp, Delete, Plus } from '@element-plus/icons-vue'
+import { ArrowDown, ArrowUp, Delete, Location, Plus } from '@element-plus/icons-vue'
 import { ElMessage } from 'element-plus'
+import { getAgvStations, getAgvStatus, getArmJointState, getArmStatus } from '@/api/flow/flow'
+import { getRobotDevicesByRobotId, getRobotList } from '@/api/inspection/robot'
 import {
   createDeviceSlot,
   createResourceKey,
@@ -86,7 +130,7 @@ import {
   getStartNode,
   pruneUnusedNodeResources,
 } from '@/utils/flowResources'
-import { DEVICE_KIND } from '@/utils/robotDevice'
+import { DEVICE_KIND, toDeviceOptions } from '@/utils/robotDevice'
 
 const props = defineProps({ data: { type: Object, required: true } })
 const emit = defineEmits(['save-success', 'save-error'])
@@ -128,16 +172,39 @@ const fieldsByType = {
 const defaultParams = {
   DELAY: { durationMs: 1000 },
   ARM_MOVE_J: { positions: '[0, 0, 0, 0, 0, 0]', velocity: 0.1, acceleration: 0.2 },
-  ARM_MOVE_L: { x: 0, y: 0, z: 0, rx: 0, ry: 0, rz: 0, frame: 'BASE', velocity: 0.1, acceleration: 0.2 },
+  ARM_MOVE_L: { x: 0, y: 0, z: 0, rx: 0, ry: 0, rz: 0, frame: 'BASE', velocity: 2.1, acceleration: 2.2 },
   AGV_NAVIGATE_TO_POSE: { x: 0, y: 0, theta: 0, maxSpeed: 0.5 },
   AGV_NAVIGATE_TO_STATION: { stationId: '', maxSpeed: 0.5 },
   AGV_FOLLOW_PATH: { path: '[]', maxSpeed: 0.5 },
 }
+const defaultTimeoutByType = {
+  DELAY: 5000,
+  ARM_MOVE_J: 10000,
+  ARM_MOVE_L: 3000,
+  AGV_NAVIGATE_TO_POSE: 60000,
+  AGV_NAVIGATE_TO_STATION: 60000,
+  AGV_FOLLOW_PATH: 120000,
+}
 
 const roles = ref([])
 const formData = reactive({ actionId: '', totalTimeoutMs: 60000, steps: [], executionTarget: {} })
+const activeStepKeys = ref([])
+const helperDialogVisible = ref(false)
+const helperStep = ref(null)
+const helperRobotOptions = ref([])
+const helperDeviceOptions = ref([])
+const helperDeviceLoading = ref(false)
+const helperSubmitting = ref(false)
+const helperForm = reactive({ robotId: '', deviceId: '' })
 const fieldsForType = (type) => fieldsByType[type] || []
+const actionLabel = (type) => actionTypes.find((item) => item.value === type)?.label || '未选择动作'
 const deviceKindForType = (type) => type?.startsWith('ARM_') ? DEVICE_KIND.ARM : (type?.startsWith('AGV_') ? DEVICE_KIND.AGV : null)
+const stepHelperLabel = (type) => ({
+  ARM_MOVE_J: '读取当前关节位置',
+  ARM_MOVE_L: '读取当前末端位姿',
+  AGV_NAVIGATE_TO_POSE: '读取底盘当前位置',
+  AGV_NAVIGATE_TO_STATION: '加载底盘站点',
+}[type] || '')
 const selectedRole = () => roles.value.find((role) => role.roleKey === formData.executionTarget.roleKey)
 const matchingSlots = (type) => (selectedRole()?.deviceSlots || []).filter((slot) => Number(slot.deviceKind) === deviceKindForType(type))
 
@@ -150,9 +217,12 @@ const normalizeStep = (source = {}, index = 0) => {
     localKey: source.localKey || createResourceKey('queue_step'),
     stepId: source.stepId || `step_${index + 1}`,
     type: source.type || 'DELAY',
-    timeoutMs: Number(source.timeoutMs || 0),
+    timeoutMs: source.timeoutMs === undefined || source.timeoutMs === null
+      ? defaultTimeoutByType[source.type || 'DELAY']
+      : Number(source.timeoutMs),
     deviceBindingKey: source.deviceBindingKey || createResourceKey('queue_device'),
     deviceSlotKey: source.deviceSlotKey || '',
+    stationOptions: [],
     params,
   }
 }
@@ -167,6 +237,7 @@ const initData = () => {
   formData.executionTarget = JSON.parse(JSON.stringify(properties.executionTarget || {}))
   formData.executionTarget.roleKey ||= roles.value[0]?.roleKey || ''
   formData.steps.forEach((step) => ensureStepSlot(step, false))
+  activeStepKeys.value = []
 }
 
 const persistRoles = () => {
@@ -197,18 +268,121 @@ const ensureStepSlot = (step, createWhenMissing = true) => {
   step.deviceSlotKey = slot?.slotKey || ''
 }
 
-const addStep = () => formData.steps.push(normalizeStep({}, formData.steps.length))
+const addStep = () => {
-const removeStep = (index) => formData.steps.splice(index, 1)
+  const step = normalizeStep({}, formData.steps.length)
+  formData.steps.push(step)
+  activeStepKeys.value = [...activeStepKeys.value, step.localKey]
+}
+const removeStep = (index) => {
+  const [removed] = formData.steps.splice(index, 1)
+  activeStepKeys.value = activeStepKeys.value.filter((key) => key !== removed?.localKey)
+}
 const moveStep = (index, offset) => {
   const [step] = formData.steps.splice(index, 1)
   formData.steps.splice(index + offset, 0, step)
 }
 const handleStepTypeChange = (step) => {
   step.params = { ...(defaultParams[step.type] || {}) }
+  step.timeoutMs = defaultTimeoutByType[step.type] || 0
+  step.stationOptions = []
   ensureStepSlot(step)
 }
 const handleRoleChange = () => formData.steps.forEach((step) => ensureStepSlot(step))
 
+const loadHelperRobots = async () => {
+  const response = await getRobotList({ pageNum: 1, pageSize: 1000, connectStatus: '1' })
+  helperRobotOptions.value = (response.rows || []).map((robot) => ({
+    value: robot.robotId,
+    label: `${robot.robotName || robot.robotId} (${robot.robotId})`,
+  }))
+}
+
+const loadHelperDevices = async (robotId) => {
+  helperForm.deviceId = ''
+  helperDeviceOptions.value = []
+  if (!robotId || !helperStep.value) return
+  helperDeviceLoading.value = true
+  try {
+    const response = await getRobotDevicesByRobotId(robotId, {
+      deviceKind: deviceKindForType(helperStep.value.type),
+    })
+    const devices = Array.isArray(response.data) ? response.data : []
+    helperDeviceOptions.value = toDeviceOptions(devices)
+    if (devices.length) helperForm.deviceId = devices[0].deviceId
+    else ElMessage.warning('当前机器人没有匹配的在线设备')
+  } finally {
+    helperDeviceLoading.value = false
+  }
+}
+
+const openStepHelper = async (step) => {
+  helperStep.value = step
+  helperForm.deviceId = ''
+  helperDialogVisible.value = true
+  try {
+    await loadHelperRobots()
+    if (helperForm.robotId && helperRobotOptions.value.some((item) => item.value === helperForm.robotId)) {
+      await loadHelperDevices(helperForm.robotId)
+    }
+  } catch (error) {
+    console.error('加载机器人设备失败:', error)
+    ElMessage.error('加载机器人设备失败')
+  }
+}
+
+const stationOptions = (stations) => (Array.isArray(stations) ? stations : [])
+  .filter((station) => station?.id !== undefined && station?.id !== null && String(station.id).trim())
+  .map((station) => {
+    const value = String(station.id).trim()
+    const description = String(station.description || '').trim()
+    return { value, label: description ? `${value} - ${description}` : value }
+  })
+
+const applyStepHelper = async () => {
+  const step = helperStep.value
+  if (!helperForm.robotId || !helperForm.deviceId) {
+    ElMessage.warning('请选择机器人和执行设备')
+    return
+  }
+  helperSubmitting.value = true
+  try {
+    const target = { robotId: helperForm.robotId, deviceId: helperForm.deviceId }
+    if (step.type === 'ARM_MOVE_J') {
+      const response = await getArmJointState(target)
+      const positions = response?.data?.position || response?.data?.positions
+      if (!Array.isArray(positions) || !positions.length) throw new Error('机械臂未返回有效的关节位置')
+      step.params.positions = JSON.stringify(positions)
+    } else if (step.type === 'ARM_MOVE_L') {
+      const response = await getArmStatus(target)
+      const pose = response?.data
+      if (!pose) throw new Error('机械臂未返回当前末端位姿')
+      ;['x', 'y', 'z', 'rx', 'ry', 'rz'].forEach((key) => {
+        if (pose[key] !== undefined && pose[key] !== null) step.params[key] = Number(pose[key])
+      })
+    } else if (step.type === 'AGV_NAVIGATE_TO_POSE') {
+      const response = await getAgvStatus(target)
+      const pose = response?.data?.pose
+      if (!pose) throw new Error('底盘未返回当前位置')
+      ;['x', 'y', 'theta'].forEach((key) => {
+        if (pose[key] !== undefined && pose[key] !== null) step.params[key] = Number(pose[key])
+      })
+    } else if (step.type === 'AGV_NAVIGATE_TO_STATION') {
+      const response = await getAgvStations(target)
+      const options = stationOptions(response?.data)
+      if (!options.length) throw new Error('底盘未返回可用站点')
+      step.stationOptions = options
+      if (!options.some((option) => option.value === step.params.stationId)) step.params.stationId = ''
+      ElMessage.success(`已加载${options.length}个站点`)
+    }
+    helperDialogVisible.value = false
+  } catch (error) {
+    console.error('读取动作参数失败:', error)
+    ElMessage.error(error?.message || '读取动作参数失败')
+  } finally {
+    helperSubmitting.value = false
+  }
+}
+
 const parseJsonFields = (step) => {
   const params = { ...step.params }
   for (const key of ['positions', 'path']) {
@@ -286,8 +460,18 @@ defineExpose({ validateAndSave })
 .queue-editor__heading { color: #344054; font-size: 14px; font-weight: 650; }
 .queue-editor__hint { margin-top: 3px; color: #7a8494; font-size: 12px; }
 .queue-editor__toolbar { display: flex; margin: 14px 0 12px; align-items: center; justify-content: space-between; }
-.queue-step { margin-bottom: 12px; padding: 14px; border: 1px solid #dfe4ec; border-radius: 8px; background: #fff; }
+.queue-steps { border-top: 0; }
-.queue-step__header { display: flex; margin-bottom: 12px; align-items: center; justify-content: space-between; color: #1f2937; font-weight: 650; }
+.queue-steps :deep(.el-collapse-item) { margin-bottom: 10px; border: 1px solid #dfe4ec; border-radius: 8px; overflow: hidden; }
-.queue-step__header .el-button + .el-button { margin-left: 6px; }
+.queue-steps :deep(.el-collapse-item__header) { height: 54px; padding: 0 12px; border-bottom: 0; }
+.queue-steps :deep(.el-collapse-item__wrap) { border-top: 1px solid #edf0f4; border-bottom: 0; }
+.queue-steps :deep(.el-collapse-item__content) { padding-bottom: 0; }
+.queue-step { padding: 14px; background: #fff; }
+.queue-step__header { display: flex; width: 100%; min-width: 0; align-items: center; justify-content: space-between; color: #1f2937; font-weight: 650; }
+.queue-step__title { display: flex; min-width: 0; align-items: center; gap: 10px; }
+.queue-step__action { overflow: hidden; color: #667085; font-size: 12px; font-weight: 400; text-overflow: ellipsis; white-space: nowrap; }
+.queue-step__actions { display: flex; flex: 0 0 auto; margin-right: 8px; align-items: center; }
+.queue-step__actions .el-button + .el-button { margin-left: 6px; }
+.queue-step__helper { margin: -2px 0 16px; }
 .queue-editor__warning { color: var(--el-color-warning); font-size: 12px; }
+.queue-helper__tip { margin: -4px 0 16px; padding: 9px 12px; border-left: 3px solid var(--el-color-primary); background: var(--el-fill-color-light); color: #667085; font-size: 12px; line-height: 18px; }
 </style>

src/views/inspection/runTask/index.vue

@@ -211,6 +211,11 @@ const rules = reactive({
 const taskList = ref([]);
 const runTaskList = ref([]);
 
+const normalizeTaskStatus = (tasks = []) => tasks.map(item => ({
+    ...item,
+    status: String(item.status),
+}))
+
 const getTaskData = () => {
     getTaskList({
         pageNum: 1,
@@ -259,8 +264,9 @@ const getList = () => {
         statusList: ['1', '3', '5'],
     }).then((res) => {
         if (res.code === 200) {
-            runTaskList.value = res.rows;
+            const tasks = normalizeTaskStatus(res.rows)
-            runingTaskList.value = res.rows.filter(item => item.status !== '5')
+            runTaskList.value = tasks;
+            runingTaskList.value = tasks.filter(item => item.status !== '5')
             for (let i = 0; i < runTaskList.value.length; i++) {
                 getPointByTaskId(runTaskList.value[i].taskId)
                 getTaskLogList(runTaskList.value[i].id)
@@ -324,7 +330,7 @@ const queryParams = reactive({
  * @param task 
  */
 const startTask = async (task) => {
-    if (task.status === '3') {
+    if (String(task.status) === '3') {
         let res = await resumeRunTask(task.id);
         if (res.code === 200) {
             ElMessage.success("任务已恢复");
@@ -436,7 +442,7 @@ const getHistoryList = () => {
         pageSize: queryParams.pageSize,
     }).then((res) => {
         if (res.code === 200) {
-            tableDataList.value = res.rows;
+            tableDataList.value = normalizeTaskStatus(res.rows);
             total.value = res.total;
         }
         loading.value = false;

src/views/intelligenceTest/runningTask/index.vue

@@ -233,6 +233,11 @@ const phoneList = ref([]);
 
 const runTaskList = ref([]);
 
+const normalizeTaskStatus = (tasks = []) => tasks.map(item => ({
+    ...item,
+    status: String(item.status),
+}))
+
 const getTaskData = () => {
     getTaskList({
         pageNum: 1,
@@ -301,8 +306,9 @@ const getList = () => {
         statusList: ['1', '3', '5'],
     }).then((res) => {
         if (res.code === 200) {
-            runTaskList.value = res.rows;
+            const tasks = normalizeTaskStatus(res.rows)
-            runingTaskList.value = res.rows.filter(item => item.status !== '5')
+            runTaskList.value = tasks;
+            runingTaskList.value = tasks.filter(item => item.status !== '5')
             for (let i = 0; i < runTaskList.value.length; i++) {
                 getCaseByTaskId(runTaskList.value[i].taskId)
                 getTaskLogList(runTaskList.value[i].id)
@@ -366,7 +372,7 @@ const queryParams = reactive({
  * @param task 
  */
 const startTask = async (task) => {
-    if (task.status === '3') {
+    if (String(task.status) === '3') {
         let res = await resumeTaskinstance(task.id);
         if (res.code === 200) {
             ElMessage.success("任务已恢复");
@@ -477,7 +483,7 @@ const getHistoryList = () => {
         pageSize: queryParams.pageSize,
     }).then((res) => {
         if (res.code === 200) {
-            tableDataList.value = res.rows;
+            tableDataList.value = normalizeTaskStatus(res.rows);
             total.value = res.total;
         }
         loading.value = false;