src/api/device/arm.js

@@ -16,3 +16,11 @@ export function status(data) {
         data: data
     })
 }
+
+export function clearFault(params) {
+    return request({
+        url: '/api/arm/clearFault',
+        method: 'get',
+        params
+    })
+}

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

@@ -1,8 +1,33 @@
 <script setup>
-import { reactive, toRefs, onUnmounted, ref, onMounted } from "vue";
+import { computed, reactive, toRefs, onUnmounted, ref, onMounted } from "vue";
+import { useRoute } from "vue-router";
+import { CircleClose } from "@element-plus/icons-vue";
+import { ElMessage } from "element-plus";
+import { clearFault as clearArmFault } from "@/api/device/arm";
 import UrdfViewer from "./components/UrdfViewer.vue";
 import JointControl from "./components/JointControl.vue";
 
+const route = useRoute();
+const robotId = computed(() => String(route.query.robotId || ""));
+const deviceId = computed(() => String(route.query.deviceId || ""));
+const clearingFault = ref(false);
+
+const handleClearFault = async () => {
+  if (!robotId.value || !deviceId.value) {
+    ElMessage.warning("缺少机器人或机械臂设备信息");
+    return;
+  }
+  clearingFault.value = true;
+  try {
+    await clearArmFault({ robotId: robotId.value, deviceId: deviceId.value });
+    ElMessage.success("机械臂故障状态已清除");
+  } catch (error) {
+    console.error("清除机械臂故障失败:", error);
+  } finally {
+    clearingFault.value = false;
+  }
+};
+
 const data = reactive({
   form: {
     x: 11,
@@ -160,6 +185,15 @@ onUnmounted(() => {
           >零位姿态</el-button
         >
         <el-button @click="handleResets('init')">初始位置</el-button>
+        <el-button
+          type="danger"
+          plain
+          :loading="clearingFault"
+          :disabled="!robotId || !deviceId"
+          @click="handleClearFault"
+        >
+          <el-icon><CircleClose /></el-icon>清除故障
+        </el-button>
       </div>
       <div class="pose-info flex align-center">
         <div class="pose-item">X: {{ form.x.toFixed(6) }} m</div>

src/views/flow/components/TaskExecutionLog.vue

@@ -17,8 +17,12 @@
             </span>
           </div>
           <div class="task-log__analysis-grid">
+            <div v-if="analysisOf(log).targetLabel" class="task-log__analysis-field">
+              <span>目标声音</span>
+              <strong>{{ analysisOf(log).targetLabel }}</strong>
+            </div>
             <div v-if="analysisOf(log).label" class="task-log__analysis-field">
-              <span>识别结果</span>
+              <span>{{ analysisOf(log).isAudio ? '实际声音' : '识别结果' }}</span>
               <strong>{{ analysisOf(log).label }}</strong>
             </div>
             <div v-if="analysisOf(log).matchLabel" class="task-log__analysis-field">
@@ -144,10 +148,11 @@ const analysisOf = (log) => {
     'analysisStatus', 'analysisType', 'profileCode', 'analysisModel', 'analysisTimingMs',
     'mediaUrl', 'audioUrl', 'videoUrl', 'imageUrl', 'label', 'labelName', 'matched',
     'confidence', 'passed', 'summary', 'conclusion', 'events', '_executionContext',
+    'expectedLabel', 'expectedLabelName', 'decisionReason',
   ].forEach((key) => delete detailSource[key])
   const hasDetails = Object.keys(detailSource).length > 0
   const result = {
-    title: isAudio ? '声音分析' : '视频分析',
+    title: isAudio ? '声音类型检测' : '视频分析',
     statusLabel,
     tagType: status === 'FAILED' || status === 'ERROR' || passed === false
       ? 'danger'
@@ -157,10 +162,12 @@ const analysisOf = (log) => {
       : output.analysisModel?.name || '',
     timingMs: Number.isFinite(Number(output.analysisTimingMs)) ? Number(output.analysisTimingMs) : null,
     label: output.labelName || output.label || '',
-    matchLabel: matched === true ? '匹配' : matched === false ? '未匹配' : '',
+    targetLabel: output.expectedLabelName || output.expectedLabel || '',
+    matchLabel: isAudio ? '' : matched === true ? '匹配' : matched === false ? '未匹配' : '',
     confidence,
     passedLabel: passed === true ? '通过' : passed === false ? '未通过' : '',
-    summary: output.summary || output.conclusion || '',
+    summary: output.decisionReason || output.summary || output.conclusion || '',
+    isAudio,
     events: Array.isArray(output.events)
       ? output.events.slice(0, 20).map((event) => typeof event === 'string' ? event : JSON.stringify(event))
       : [],

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

@@ -29,6 +29,26 @@
         <div class="field-hint">场景决定识别标签、判断阈值和分析要求。</div>
       </el-form-item>
 
+      <el-form-item v-if="!isVideo" label="目标声音类型" prop="expectedLabel">
+        <el-select
+          v-model="formData.expectedLabel"
+          filterable
+          allow-create
+          default-first-option
+          placeholder="请选择目标声音类型"
+          style="width: 100%"
+          @change="handleExpectedLabelChange"
+        >
+          <el-option
+            v-for="item in soundTypeOptions"
+            :key="item.value"
+            :label="item.label"
+            :value="item.value"
+          />
+        </el-select>
+        <div class="field-hint">只有实际声音与目标类型一致时才通过；新增类型可直接输入编码或名称。</div>
+      </el-form-item>
+
       <el-form-item :label="mediaLabel" prop="mediaMode">
         <el-segmented v-model="formData.mediaMode" :options="mediaModes" />
       </el-form-item>
@@ -126,6 +146,8 @@ const analysisPresets = {
 }
 const formData = reactive({
   profileCode: '',
+  expectedLabel: '',
+  expectedLabelName: '',
   mediaMode: 'quote',
   mediaQuote: [],
   mediaQuoteType: 'output',
@@ -136,10 +158,10 @@ const formData = reactive({
 })
 
 const isVideo = computed(() => props.data?.properties?.action === 'VIDEO_ANALYZE')
-const title = computed(() => isVideo.value ? '视频智能分析' : '声音事件识别')
+const title = computed(() => isVideo.value ? '视频智能分析' : '声音类型检测')
 const description = computed(() => isVideo.value
   ? '对录像抽帧并按所选场景生成结构化分析结果。'
-  : '将录音与场景中的多类参考声音比较，低于阈值时返回“其他声音”。')
+  : '判断录音是否属于指定的目标声音类型，并输出通过或不通过。')
 const mediaLabel = computed(() => isVideo.value ? '视频来源' : '音频来源')
 const mediaName = computed(() => isVideo.value ? 'videoUrl' : 'audioUrl')
 const mediaModes = [
@@ -151,6 +173,13 @@ const analysisModes = [
   { label: '均衡', value: 'AUTO' },
   { label: '精确', value: 'ACCURATE' },
 ]
+const soundTypeOptions = [
+  { label: '开机', value: 'POWER_ON' },
+  { label: '关机', value: 'POWER_OFF' },
+  { label: '设防', value: 'ARMED' },
+  { label: '解防', value: 'DISARMED' },
+  { label: '鸣笛寻车', value: 'FIND_VEHICLE_HORN' },
+]
 const modeDescriptions = {
   FAST: '使用轻量模型直接判断，适合动作明显、批量执行的场景。',
   AUTO: '先快速判断，低置信度时自动切换精确分析。',
@@ -163,7 +192,7 @@ const isTuned = computed(() => {
 })
 const profileOptions = computed(() => isVideo.value
   ? [{ label: '爱玛测试视频分析', value: 'aima.power_video.v1' }]
-  : [{ label: '爱玛车辆声音事件识别', value: 'aima.power_state.v1' }])
+  : [{ label: '爱玛车辆声音类型检测', value: 'aima.power_state.v1' }])
 const outputSummary = computed(() => isVideo.value
   ? [
       { name: 'passed', desc: '是否通过' },
@@ -176,15 +205,23 @@ const outputSummary = computed(() => isVideo.value
       { name: 'fallback', desc: '是否切换到精确分析' },
     ]
   : [
-      { name: 'label', desc: '场景分类编码，未匹配时为 UNKNOWN' },
+      { name: 'passed', desc: '是否检测到目标声音' },
-      { name: 'labelName', desc: '结果名称' },
+      { name: 'expectedLabelName', desc: '目标声音类型' },
-      { name: 'matched', desc: '是否达到匹配阈值' },
+      { name: 'labelName', desc: '实际声音类型' },
+      { name: 'matched', desc: '是否识别到已知声音' },
       { name: 'confidence', desc: '最高匹配度' },
+      { name: 'decisionReason', desc: '检测结论' },
       { name: 'scores', desc: '各分类匹配度' },
     ])
 
 const rules = {
   profileCode: [{ required: true, message: '请选择或输入分析场景', trigger: 'change' }],
+  expectedLabel: [{
+    validator: (_, value) => isVideo.value || String(value || '').trim()
+      ? Promise.resolve()
+      : Promise.reject(new Error('请选择目标声音类型')),
+    trigger: 'change',
+  }],
   mediaQuote: [{
     validator: (_, value) => formData.mediaMode !== 'quote' || (Array.isArray(value) && value.length)
       ? Promise.resolve()
@@ -211,6 +248,11 @@ const restorePreset = () => {
 
 const handleAnalysisModeChange = () => restorePreset()
 
+const handleExpectedLabelChange = (value) => {
+  const option = soundTypeOptions.find(item => item.value === value)
+  formData.expectedLabelName = option?.label || String(value || '').trim()
+}
+
 const parseStoredTuning = (value) => {
   if (value && typeof value === 'object' && !Array.isArray(value)) return value
   if (typeof value !== 'string' || !value.trim()) return {}
@@ -251,11 +293,18 @@ const handleQuoteChange = () => {
 const initData = () => {
   const params = props.data?.properties?.nodeParams || []
   const profile = params.find(item => item.name === 'profileCode')
+  const expectedLabel = params.find(item => item.name === 'expectedLabel')
+  const expectedLabelName = params.find(item => item.name === 'expectedLabelName')
   const media = params.find(item => item.name === mediaName.value)
   const instruction = params.find(item => item.name === 'instruction')
   const analysisMode = params.find(item => item.name === 'analysisMode')
   const analysisTuning = params.find(item => item.name === 'analysisTuning')
   formData.profileCode = profile?.input || profileOptions.value[0]?.value || ''
+  formData.expectedLabel = expectedLabel?.input || ''
+  formData.expectedLabelName = expectedLabelName?.input || ''
+  if (formData.expectedLabel && !formData.expectedLabelName) {
+    handleExpectedLabelChange(formData.expectedLabel)
+  }
   formData.mediaMode = media?.type === 'input' ? 'input' : 'quote'
   formData.mediaQuote = Array.isArray(media?.quote) ? [...media.quote] : []
   formData.mediaQuoteType = media?.quoteType || 'output'
@@ -292,6 +341,26 @@ const validateAndSave = async () => {
         disabled: true,
       },
     ]
+    if (!isVideo.value) {
+      nodeParams.splice(1, 0,
+        {
+          name: 'expectedLabel',
+          type: 'input',
+          input: formData.expectedLabel.trim(),
+          required: true,
+          disabled: true,
+          componentType: 'select',
+          selectOptions: soundTypeOptions,
+        },
+        {
+          name: 'expectedLabelName',
+          type: 'input',
+          input: formData.expectedLabelName.trim() || formData.expectedLabel.trim(),
+          required: false,
+          disabled: true,
+        },
+      )
+    }
     if (isVideo.value) {
       nodeParams.push({
         name: 'instruction',

src/views/flow/config.js

@@ -516,21 +516,27 @@ function handler(params) {
     nodeList: [
       {
         icon: microphoneSvg,
-        name: "声音事件识别",
+        name: "声音类型检测",
         type: "mediaAnalysis",
-        desc: "将录音与分析场景中的多类参考声音进行匹配",
+        desc: "判断录音是否属于指定的声音类型",
         action: "AUDIO_EVENT_CLASSIFY",
         nodeType: "LLM",
         nodeParams: [
           { name: "profileCode", type: "input", input: "aima.power_state.v1", required: true, disabled: true },
+          { name: "expectedLabel", type: "input", input: "", required: true, disabled: true },
+          { name: "expectedLabelName", type: "input", input: "", required: false, disabled: true },
           { name: "audioUrl", type: "quote", input: "", quote: "", required: true, disabled: true },
         ],
         outputType: "json",
         outputParams: [
-          { name: "label", type: "string", desc: "场景分类编码，未匹配时为UNKNOWN", disabled: true },
+          { name: "passed", type: "boolean", desc: "是否检测到目标声音", disabled: true },
-          { name: "labelName", type: "string", desc: "分类名称", disabled: true },
+          { name: "expectedLabel", type: "string", desc: "目标声音类型编码", disabled: true },
-          { name: "matched", type: "boolean", desc: "是否达到匹配阈值", disabled: true },
+          { name: "expectedLabelName", type: "string", desc: "目标声音类型名称", disabled: true },
+          { name: "label", type: "string", desc: "实际声音类型编码，未匹配时为UNKNOWN", disabled: true },
+          { name: "labelName", type: "string", desc: "实际声音类型名称", disabled: true },
+          { name: "matched", type: "boolean", desc: "是否识别到已知声音", disabled: true },
           { name: "confidence", type: "number", desc: "最高匹配度", disabled: true },
+          { name: "decisionReason", type: "string", desc: "检测结论", disabled: true },
           { name: "scores", type: "object", desc: "各分类匹配度", children: [], disabled: true },
         ],
       },

src/views/flow/index.vue

@@ -21,6 +21,15 @@
             <el-button v-if="hasRunResult" @click="clearRun">
               <el-icon><Delete /></el-icon>清除结果
             </el-button>
+            <el-button
+              type="warning"
+              plain
+              :loading="recoverSafetyLoading"
+              :disabled="flowState === 'testRunning'"
+              @click="openRecoverSafetyDialog"
+            >
+              <el-icon><Warning /></el-icon>清除错误状态
+            </el-button>
             <el-button :type="groupSelectionPending ? 'primary' : 'default'" @click="group">
               <el-icon><CollectionTag /></el-icon>{{ groupSelectionPending ? "取消分组" : "分组" }}
             </el-button>
@@ -163,6 +172,39 @@
     />
   </div>
 
+  <el-dialog v-model="recoverSafetyDialogVisible" title="清除错误状态" width="480" append-to-body>
+    <el-form label-position="top">
+      <el-form-item label="机器人">
+        <el-select
+          v-model="recoverSafetyRobotIds"
+          multiple
+          filterable
+          collapse-tags
+          collapse-tags-tooltip
+          :loading="recoverRobotLoading"
+          placeholder="请选择需要恢复的在线机器人"
+          style="width: 100%"
+        >
+          <el-option
+            v-for="item in recoverRobotOptions"
+            :key="item.value"
+            :label="item.label"
+            :value="item.value"
+          />
+        </el-select>
+      </el-form-item>
+    </el-form>
+    <template #footer>
+      <el-button @click="recoverSafetyDialogVisible = false">取消</el-button>
+      <el-button
+        type="warning"
+        :loading="recoverSafetyLoading"
+        :disabled="recoverSafetyRobotIds.length === 0"
+        @click="confirmRecoverSafetyState"
+      >确认清除</el-button>
+    </template>
+  </el-dialog>
+
   <el-dialog v-model="visible" :width="nodeAction === 'SYSTEM_EXECUTE_ACTION_QUEUE' ? '620' : '500'" class="single-node-dialog" append-to-body>
     <template #header="{ close, titleId, titleClass }">
       <div class="my-header">
@@ -279,7 +321,7 @@ import TestRun from "./components/TestRun.vue";
 import ParamsDrawer from "./components/ParamsDrawer.vue";
 import Aside from "./components/Aside.vue";
 import ActionQueueSingleRun from "./components/ActionQueueSingleRun.vue";
-import { ElMessage } from "element-plus";
+import { ElMessage, ElMessageBox } from "element-plus";
 import { useFlowStore } from "@/store/modules/flow";
 import { emitter } from "@/utils/eventBus";
 import { convertToTree } from "@/utils/flow";
@@ -308,6 +350,7 @@ import {
 } from "@/api/flow/flow";
 import { getDetect } from "@/api/test/detect";
 import { getRobotList, getRobotDevicesByRobotId } from '@/api/inspection/robot'
+import { recoverSafetyState } from '@/api/device/system'
 import { getDeviceKindForAction, toDeviceOptions } from '@/utils/robotDevice'
 import {
   CircleClose,
@@ -321,6 +364,7 @@ import {
   Upload,
   VideoPause,
   VideoPlay,
+  Warning,
 } from "@element-plus/icons-vue";
 
 const flowContainerRef = ref(null);
@@ -333,6 +377,76 @@ const queueDropTargetId = ref("");
 const { onFlowEvent } = useFlowEvents();
 window.lf = lf;
 
+const recoverSafetyDialogVisible = ref(false);
+const recoverRobotLoading = ref(false);
+const recoverSafetyLoading = ref(false);
+const recoverRobotOptions = ref([]);
+const recoverSafetyRobotIds = ref([]);
+
+const openRecoverSafetyDialog = async () => {
+  recoverSafetyDialogVisible.value = true;
+  recoverRobotLoading.value = true;
+  try {
+    const response = await getRobotList({ pageNum: 1, pageSize: 1000, connectStatus: '1' });
+    recoverRobotOptions.value = (response.rows || []).filter((robot) => robot.robotId).map((robot) => ({
+      value: robot.robotId,
+      label: `${robot.robotName || robot.robotId} (${robot.robotId})`,
+    }));
+    recoverSafetyRobotIds.value = recoverSafetyRobotIds.value.filter((robotId) => (
+      recoverRobotOptions.value.some((option) => option.value === robotId)
+    ));
+    if (!recoverSafetyRobotIds.value.length && recoverRobotOptions.value.length === 1) {
+      recoverSafetyRobotIds.value = [recoverRobotOptions.value[0].value];
+    }
+  } catch (error) {
+    console.error("加载在线机器人失败:", error);
+    recoverRobotOptions.value = [];
+  } finally {
+    recoverRobotLoading.value = false;
+  }
+};
+
+const confirmRecoverSafetyState = async () => {
+  if (!recoverSafetyRobotIds.value.length) {
+    ElMessage.warning("请选择需要恢复的机器人");
+    return;
+  }
+  try {
+    await ElMessageBox.confirm(
+      `将清除 ${recoverSafetyRobotIds.value.length} 台机器人的可恢复错误状态，确认继续？`,
+      "安全状态确认",
+      { type: "warning", confirmButtonText: "确认清除", cancelButtonText: "取消" },
+    );
+  } catch {
+    return;
+  }
+  recoverSafetyLoading.value = true;
+  const robotIds = [...recoverSafetyRobotIds.value];
+  try {
+    const results = await Promise.allSettled(robotIds.map((robotId) => recoverSafetyState({
+      robotId,
+      reason: "工作流设计器手动清除错误状态",
+      timeoutMs: 15000,
+    })));
+    const failedRobotIds = results.flatMap((result, index) => (
+      result.status === "rejected" ? [robotIds[index]] : []
+    ));
+    if (!failedRobotIds.length) {
+      ElMessage.success(`已清除 ${robotIds.length} 台机器人的可恢复错误状态`);
+      recoverSafetyDialogVisible.value = false;
+      recoverSafetyRobotIds.value = [];
+    } else {
+      const successCount = robotIds.length - failedRobotIds.length;
+      recoverSafetyRobotIds.value = failedRobotIds;
+      ElMessage.error(successCount
+        ? `${successCount} 台成功，${failedRobotIds.length} 台失败，请重试失败项`
+        : "清除错误状态失败，请检查机器人状态");
+    }
+  } finally {
+    recoverSafetyLoading.value = false;
+  }
+};
+
 const defaultEdgeOptions = {
   type: "flow-edge",
   animated: true,