lixiaolong
311c8c5082
- 在AGV导航动作中添加blockedTimeoutMs参数配置，默认值为60000毫秒 - 实现图像分析多种模式：智能分析、描述找图、精确找图 - 增加图像分析异步执行开关功能 - 添加图像分析匹配结果相关输出参数：匹配分数、坐标、中心点等 - 完善图像分析参数验证和错误处理逻辑 - 在任务执行日志中增加失败原因显示功能 - 优化图像分析界面组件的交互和表单验证规则
599 lines
24 KiB
Vue
599 lines
24 KiB
Vue
<!--
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* 文件说明：通用节点参数面板，配置输入输出及机器人动作调试。
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* 作用范围：仅服务于流程设计器模块。
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-->
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<template>
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<RobotExecutionTarget
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v-if="isRobotNode"
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:data="props.data"
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v-model="formData.executionTarget"
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/>
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<el-collapse v-model="activeNames">
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<!-- 输入参数 -->
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<el-collapse-item name="1" icon-position="left">
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<template #title>
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输入参数
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<el-button :circle="true" size="small" @click="(e) => addFormItem(e, 'nodeParams')" class="addFormItem">
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<el-icon :size="14">
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<Plus />
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</el-icon>
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</el-button>
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</template>
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<div class="form__container">
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<el-button type="primary" v-if="hasDeviceDebugAction" size="small" @click="openRobotForm(props.data.properties.action)">{{ robotActionButtonText }}</el-button>
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<el-form :inline="true" :model="formData" :rules="rules" ref="dynamicFormRef" label-position="top"
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label-width="auto">
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<div v-for="(property, index) in formData.nodeParams" :key="index">
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<el-row>
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<el-form-item :label="index === 0 ? '参数名' : ''" :prop="`nodeParams.${index}.name`"
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:rules="[{ required: true, message: '请输入参数名', trigger: 'blur' }]">
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<el-input :disabled="property?.disabled || false" class="param-name"
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v-model="property.name" placeholder="请输入" clearable />
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</el-form-item>
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<el-form-item :label="index === 0 ? '参数值' : ''" :prop="`nodeParams.${index}.type`">
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<el-select v-model="property.type" class="param-type" :disabled="property?.forceSelect || false" @change="handleTypeChange(index, formData, property.type)">
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<el-option label="引用" value="quote" />
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<el-option label="输入" value="input" />
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</el-select>
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<el-form-item v-if="property.type === 'input'"
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:rules="testRule(property)"
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:prop="`nodeParams.${index}.input`">
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<el-input-number class="param-value" v-if="property.componentType === 'number'"
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v-model="property.input" :min="property.min ?? 0" :max="property.max || Infinity"
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:controls="property?.controls || true" :step-strictly="true" :step="property.step || 1" placeholder="请输入" clearable />
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<el-select v-model="property.input" class="param-value"
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v-else-if="property.componentType === 'select'">
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<el-option v-for="item in property.selectOptions" :key="item.value"
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:label="item.label" :value="item.value" />
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</el-select>
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<el-input class="param-value" v-else v-model="property.input" placeholder="请输入"
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clearable />
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</el-form-item>
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<el-form-item v-if="property.type === 'quote'"
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:rules="[{ required: true, message: '请选择参数值', trigger: 'blur' }]"
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:prop="`nodeParams.${index}.quote`">
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<el-cascader :ref="(el) => { if (el) cascaderRefs[index] = el }"
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v-model="property.quote" :checkStrictly="true" :options="quoteOptions"
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placeholder="请选择"
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@visible-change="(visible) => visibleChange(visible, index, property.quote)"
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@change="(value) => cascaderChange(value, index, formData, 'nodeParams')" />
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</el-form-item>
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</el-form-item>
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<el-button :icon="Minus" circle size="small" :disabled="property?.disabled || false"
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@click="handleDelete(index)" class="deleteBtn" />
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</el-row>
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</div>
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</el-form>
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</div>
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</el-collapse-item>
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<!-- 输出参数 -->
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<el-collapse-item name="2" icon-position="left">
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<template #title>
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输出参数
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<el-button :circle="true" size="small" @click="(e) => addFormItem(e, 'outputParams')"
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class="addFormItem">
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<el-icon :size="14">
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<Plus />
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</el-icon>
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</el-button>
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</template>
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<div class="form__container">
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<el-form :inline="true" :model="formData" label-position="top" label-width="auto" :rules="outputRules"
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ref="outputFormRef">
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<FormItemRecursive formType="output" :current-list="formData.outputParams" prop-path="outputParams"
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:depth="0" :is-first-level="true" :endDepth="2" :parent-path="[]"
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@delete-item="(path) => deleteTopLevelItem(path, 'outputParams')" />
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</el-form>
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</div>
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</el-collapse-item>
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</el-collapse>
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<el-dialog
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v-model="dialogVisible"
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:title="robotDialogTitle"
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width="460"
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>
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<div class="robot-device-tip">设备来自机器人最近一次在线上报，单个匹配设备会自动锁定。</div>
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<el-form ref="robotFormRef" :model="robotForm" :rules="robotFormRules" label-width="90px">
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<el-form-item label="机器人" prop="robotId">
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<el-select v-model="robotForm.robotId" filterable placeholder="请选择在线机器人"
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style="width: 100%" @change="loadRobotDevices">
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<el-option v-for="item in robotOptions" :key="item.value"
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:label="item.label" :value="item.value" />
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</el-select>
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</el-form-item>
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<el-form-item label="执行设备" prop="deviceId">
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<el-select v-model="robotForm.deviceId" filterable :loading="deviceLoading"
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:disabled="deviceOptions.length === 1" placeholder="请先选择机器人" style="width: 100%">
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<el-option v-for="item in deviceOptions" :key="item.value"
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:label="item.label" :value="item.value" />
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</el-select>
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<div v-if="deviceOptions.length === 1" class="device-auto-hint">已自动匹配并锁定</div>
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</el-form-item>
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</el-form>
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<template #footer>
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<el-button @click="dialogVisible = false">取消</el-button>
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<el-button type="primary" :loading="stationListLoading" @click="submitRobotForm">确认</el-button>
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</template>
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</el-dialog>
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</template>
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<script setup>
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import { computed, ref, reactive, watch, nextTick } from 'vue'
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import { Plus, Minus } from '@element-plus/icons-vue'
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import FormItemRecursive from '../FormItemRecursive.vue'
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import RobotExecutionTarget from './RobotExecutionTarget.vue'
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import { getInput } from '@/utils/flow'
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import { useQuote } from './useQuote.js'
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import { getArmStatus, getArmJointState, getAgvStatus, getAgvStations } from '@/api/flow/flow'
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import { getRobotList, getRobotDevicesByRobotId } from '@/api/inspection/robot'
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import { ElMessage } from 'element-plus'
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import { getDeviceKindForAction, toDeviceOptions } from '@/utils/robotDevice'
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import { actionRequiresDevice } from '@/utils/flowResources'
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const props = defineProps({
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data: Object
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})
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const emit = defineEmits(['save-success', 'save-error'])
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const formData = reactive({
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nodeParams: [],
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outputParams: [],
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executionTarget: {}
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})
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const rules = reactive({})
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const outputRules = reactive({})
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const dynamicFormRef = ref()
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const outputFormRef = ref()
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const activeNames = ref(['1', '2'])
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// 使用共享的 quote 逻辑
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const { quoteOptions, cascaderRefs, handleTypeChange, cascaderChange, visibleChange } = useQuote(props.data.id)
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// 添加表单项
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/**
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* 新增 addFormItem 对应的数据或交互；作用范围仅限当前组件或模块。
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* @param {*} e 触发操作的浏览器事件
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* @param {*} type 目标类型
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*/
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const addFormItem = (e, type) => {
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e.stopPropagation()
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const obj = {
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name: '',
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type: type === 'nodeParams' ? 'input' : 'string',
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required: false,
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children: [],
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input: ''
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}
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if (!formData[type]) formData[type] = []
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formData[type].push(obj)
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}
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// 删除输入参数（非递归）
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/**
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* 处理 handleDelete 对应的数据或交互；作用范围仅限当前组件或模块。
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* @param {*} index 目标项索引
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*/
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const handleDelete = (index) => {
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formData.nodeParams.splice(index, 1)
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}
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// 删除顶层输出参数（递归删除通过 FormItemRecursive 的 emit 处理）
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/**
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* 删除 deleteTopLevelItem 对应的数据或交互；作用范围仅限当前组件或模块。
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* @param {*} fullPath 字段完整路径
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* @param {*} propPath 字段校验路径
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*/
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const deleteTopLevelItem = (fullPath, propPath) => {
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let currentLevel = formData[propPath]
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for (let i = 0; i < fullPath.length - 1; i++) {
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currentLevel = currentLevel[fullPath[i]].children
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}
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const lastIndex = fullPath[fullPath.length - 1]
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currentLevel.splice(lastIndex, 1)
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}
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// 初始化数据
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/**
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* 初始化 initData 对应的数据或交互；作用范围仅限当前组件或模块。
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*/
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const initData = () => {
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const nodeParams = JSON.parse(JSON.stringify(props.data.properties.nodeParams || []))
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const outputParams = JSON.parse(JSON.stringify(props.data.properties.outputParams || []))
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formData.nodeParams = nodeParams;
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formData.outputParams = outputParams;
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formData.executionTarget = JSON.parse(JSON.stringify(props.data.properties.executionTarget || {}));
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}
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watch(
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() => props.data,
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() => {
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initData()
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},
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{ immediate: true, deep: true }
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)
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// 保存验证
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/**
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* 校验 validateAndSave 对应的数据或交互；作用范围仅限当前组件或模块。
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*/
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const validateAndSave = async () => {
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let inputValid = true
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let outputValid = true
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if (dynamicFormRef.value) {
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await dynamicFormRef.value.validate((valid) => { if (!valid) inputValid = false })
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}
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if (outputFormRef.value) {
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await outputFormRef.value.validate((valid) => { if (!valid) outputValid = false })
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}
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if (isRobotNode.value && !formData.executionTarget.roleKey) inputValid = false
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if (isRobotNode.value
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&& actionRequiresDevice(props.data.properties.action)
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&& !formData.executionTarget.deviceSlotKey) {
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inputValid = false
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ElMessage.warning('请选择该节点使用的设备用途')
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}
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// 非机器人节点不应携带机器人执行目标，避免后端将空对象误判为无效角色引用。
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const properties = {
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...props.data.properties,
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...formData
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}
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if (!isRobotNode.value) delete properties.executionTarget
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lf.setProperties(props.data.id, properties)
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if (inputValid && outputValid) {
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emit('save-success')
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} else {
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emit('save-error')
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}
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}
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const dialogVisible = ref(false)
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const robotFormRef = ref(null)
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const robotFormRules = reactive({
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robotId: [{ required: true, message: '请选择机器人', trigger: 'change' }],
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deviceId: [{ required: true, message: '设备ID不能为空', trigger: 'blur' }]
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})
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const robotForm = reactive({
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deviceId: '',
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robotId: ''
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})
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const robotOptions = ref([])
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const deviceOptions = ref([])
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const deviceLoading = ref(false)
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/**
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* 加载 loadRobotOptions 对应的数据或交互；作用范围仅限当前组件或模块。
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*/
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const loadRobotOptions = async () => {
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const response = await getRobotList({ pageNum: 1, pageSize: 1000, connectStatus: '1' })
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robotOptions.value = (response.rows || []).map(robot => ({
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value: robot.robotId,
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label: `${robot.robotName || robot.robotId} (${robot.robotId})`
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}))
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}
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/**
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* 加载 loadRobotDevices 对应的数据或交互；作用范围仅限当前组件或模块。
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* @param {*} robotId 机器人 ID
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*/
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const loadRobotDevices = async (robotId) => {
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robotForm.deviceId = ''
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deviceOptions.value = []
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if (!robotId) return
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deviceLoading.value = true
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try {
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const response = await getRobotDevicesByRobotId(robotId, {
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deviceKind: getDeviceKindForAction(robotFormAction.value)
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})
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const devices = Array.isArray(response.data) ? response.data : []
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deviceOptions.value = toDeviceOptions(devices)
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if (devices.length > 0) robotForm.deviceId = devices[0].deviceId
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if (devices.length === 0) ElMessage.warning('当前机器人没有匹配的在线设备')
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} finally {
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deviceLoading.value = false
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}
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}
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/**
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* 测试 testRule 对应的数据或交互；作用范围仅限当前组件或模块。
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* @param {*} property 参数属性
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*/
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const testRule = (property) => {
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if (property?.name === 'stationId' && props.data.properties.action === 'AGV_MOVE_TO_STATION') {
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return [
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{ required: true, message: '请从站点列表中选择站点', trigger: 'change' },
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{ validator: () => {
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const selectedFromList = property.selectOptions?.some(option => option.value === property.input)
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if (selectedFromList) return Promise.resolve()
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return Promise.reject(new Error('请重新加载并选择站点'))
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}, trigger: 'change' }
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]
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}
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if (property?.name === 'acceleration') {
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return [
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{ required: true, message: '请输入参数值', trigger: 'blur' },
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{ validator: () => {
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if (formData.nodeParams.find(param => param.name === 'acceleration')?.input > formData.nodeParams.find(param => param.name === 'velocity')?.input) {
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return Promise.resolve()
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} else {
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return Promise.reject(new Error('加速度必须大于速度'))
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}
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}, trigger: 'change' }
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]
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}
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if (property?.name === 'velocity') {
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return [
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{ required: true, message: '请输入参数值', trigger: 'blur' },
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{ validator: () => {
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if (formData.nodeParams.find(param => param.name === 'acceleration')?.input > formData.nodeParams.find(param => param.name === 'velocity')?.input) {
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return Promise.resolve()
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} else {
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return Promise.reject(new Error('加速度必须大于速度'))
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}
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}, trigger: 'change' }
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]
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}
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return [{ required: property?.required ?? true, message: '请输入参数值', trigger: 'blur' }]
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}
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const robotFormAction = ref()
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const stationListLoading = ref(false)
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const POSITION_ACTIONS = ['AGV_MOVE_TO_POINT', 'ARM_MOVE_TO_POINT', 'ARM_MOVE_TO_J']
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const isRobotNode = computed(() => props.data.properties?.nodeType === 'EDGE')
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const hasDeviceDebugAction = computed(() => (
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POSITION_ACTIONS.includes(props.data.properties.action)
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|| props.data.properties.action === 'AGV_MOVE_TO_STATION'
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))
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const robotActionButtonText = computed(() => {
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if (props.data.properties.action === 'AGV_MOVE_TO_STATION') return '选择机器人并加载站点'
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if (POSITION_ACTIONS.includes(props.data.properties.action)) return '选择机器人并获取位置'
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return '选择机器人设备'
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})
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const robotDialogTitle = computed(() => {
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if (robotFormAction.value === 'AGV_MOVE_TO_STATION') return '选择AGV并加载站点'
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if (POSITION_ACTIONS.includes(robotFormAction.value)) return '选择机器人并读取当前位置'
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return '选择机器人设备'
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})
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/**
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* 处理 submitRobotForm 对应的数据或交互；作用范围仅限当前组件或模块。
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*/
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const submitRobotForm = () => {
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if (robotFormAction.value === 'AGV_MOVE_TO_POINT') {
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robotFormRef.value.validate(async (valid) => {
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if (valid) {
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try {
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const response = await getAgvStatus({ deviceId: robotForm.deviceId, robotId: robotForm.robotId })
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if (response && response.data) {
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dialogVisible.value = false
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const { x, y, theta } = response.data.pose
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const testMap = {
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x: x,
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y: y,
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theta: theta
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}
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// 将获取到的位置信息设置到 formData 中
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formData.nodeParams.forEach(param => {
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if (testMap.hasOwnProperty(param.name)) {
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param.input = testMap[param.name]
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}
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})
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}
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} catch (error) {
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console.error('获取位置信息失败:', error)
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}
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}
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})
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} else if (robotFormAction.value === 'AGV_MOVE_TO_STATION') {
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robotFormRef.value.validate(async (valid) => {
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if (valid) {
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stationListLoading.value = true
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try {
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const response = await getAgvStations({
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deviceId: robotForm.deviceId,
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robotId: robotForm.robotId
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})
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const stationOptions = toStationOptions(response?.data)
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if (stationOptions.length === 0) {
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throw new Error('AGV未返回可用站点')
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}
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const stationParam = formData.nodeParams.find(param => param.name === 'stationId')
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if (stationParam) {
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stationParam.selectOptions = stationOptions
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if (!stationOptions.some(item => item.value === stationParam.input)) {
|
||
stationParam.input = ''
|
||
}
|
||
}
|
||
dialogVisible.value = false
|
||
ElMessage.success(`已加载${stationOptions.length}个AGV站点`)
|
||
} catch (error) {
|
||
console.error('加载AGV站点列表失败:', error)
|
||
ElMessage.error(error?.message || '加载AGV站点列表失败')
|
||
} finally {
|
||
stationListLoading.value = false
|
||
}
|
||
}
|
||
})
|
||
} else if (robotFormAction.value === 'ARM_MOVE_TO_POINT') {
|
||
robotFormRef.value.validate(async (valid) => {
|
||
if (valid) {
|
||
try {
|
||
const response = await getArmStatus({ deviceId: robotForm.deviceId, robotId: robotForm.robotId })
|
||
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,
|
||
}
|
||
// 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)
|
||
}
|
||
}
|
||
})
|
||
} else if (robotFormAction.value === 'ARM_MOVE_TO_J') {
|
||
robotFormRef.value.validate(async (valid) => {
|
||
if (valid) {
|
||
try {
|
||
const response = await getArmJointState({
|
||
deviceId: robotForm.deviceId,
|
||
robotId: robotForm.robotId
|
||
})
|
||
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')
|
||
if (targetParam) targetParam.input = JSON.stringify(target)
|
||
}
|
||
} catch (error) {
|
||
console.error('获取机械臂关节位置失败:', error)
|
||
}
|
||
}
|
||
})
|
||
}
|
||
}
|
||
|
||
/**
|
||
* 处理 toStationOptions 对应的数据或交互；作用范围仅限当前组件或模块。
|
||
* @param {*} stations 站点集合
|
||
*/
|
||
const toStationOptions = (stations) => (Array.isArray(stations) ? stations : [])
|
||
.filter(station => station?.id !== undefined && station?.id !== null && String(station.id).trim())
|
||
.map(station => {
|
||
const id = String(station.id).trim()
|
||
const description = station.description ? String(station.description).trim() : ''
|
||
return {
|
||
value: id,
|
||
label: description ? `${id} - ${description}` : id
|
||
}
|
||
})
|
||
|
||
/**
|
||
* 打开 openRobotForm 对应的数据或交互；作用范围仅限当前组件或模块。
|
||
* @param {*} action 节点动作类型
|
||
*/
|
||
const openRobotForm = async (action) => {
|
||
dialogVisible.value = true
|
||
robotFormAction.value = action
|
||
robotForm.deviceId = ''
|
||
await loadRobotOptions()
|
||
if (robotForm.robotId) await loadRobotDevices(robotForm.robotId)
|
||
}
|
||
|
||
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;
|
||
}
|
||
}
|
||
|
||
.robot-device-tip {
|
||
margin: -4px 0 18px;
|
||
padding: 10px 12px;
|
||
border-left: 3px solid var(--el-color-primary);
|
||
background: var(--el-fill-color-light);
|
||
color: var(--el-text-color-regular);
|
||
font-size: 13px;
|
||
line-height: 20px;
|
||
}
|
||
|
||
.device-auto-hint {
|
||
color: var(--el-color-success);
|
||
font-size: 12px;
|
||
}
|
||
</style>
|