feat: 增加机器人扬声器和麦克风音量的控制

feat: 调整机械臂最大速度
2026-07-22 14:33:02 +08:00 · 2026-07-21 10:05:05 +08:00
6 changed files with 216 additions and 20 deletions
--- a/.env.development
+++ b/.env.development
@ -12,5 +12,8 @@ VITE_WS_URL = ws://192.168.0.222:13080/ws

 # explanation
 VITE_INSPECTION_TYPE = "inspection"
-VITE_INSPECTION_ARM_DEVICEID = "huayan_arm"
-VITE_INSPECTION_AGV_DEVICEID = "huayan_arm"
+VITE_INSPECTION_ARM_DEVICE_ID = "huayan_arm"
+VITE_INSPECTION_AGV_DEVICE_ID = "src1100"
+VITE_AUDIO_SERVER_URL = "ws://192.168.0.222:13080/ws/audio"
+VITE_SPEAKER_DEVICE_ID = "spk1"
+VITE_MIC_DEVICE_ID = "mic1"
--- a/src/api/inspection/cockpit.js
+++ b/src/api/inspection/cockpit.js
@ -54,4 +54,44 @@ export function speedJApi(data) {
        method: 'post',
        data: data
    })
+}
+
+export function clearFault(params) {
+    return request({
+        url: '/api/arm/clearFault',
+        method: 'get',
+        params: params
+    })
+}
+
+export function getMicVolume(params) {
+    return request({
+        url: '/api/Microphone/volume',
+        method: 'get',
+        params: params
+    })
+}
+
+export function setMicVolume(data) {
+    return request({
+        url: '/api/Microphone/volume',
+        method: 'post',
+        data: data
+    })
+}
+
+export function getSpeakerVolume(params) {
+    return request({
+        url: '/api/Speaker/volume',
+        method: 'get',
+        params: params
+    })
+}
+
+export function setSpeakerVolume(data) {
+    return request({
+        url: '/api/Speaker/volume',
+        method: 'post',
+        data: data
+    })
 }
--- a/src/views/flow/components/params/BasicNodeParams.vue
+++ b/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', 'ALM'].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">
--- a/src/views/inspection/cockpit/components/ManualTakeover/RoboticArm.vue
+++ b/src/views/inspection/cockpit/components/ManualTakeover/RoboticArm.vue
@ -135,8 +135,8 @@

        <div class="speed-container">
          <div class="label">速度：</div>
-          <el-slider v-model="speed" :min="0.1" :step="0.1" :max="4" />
-          <div class="proportion">{{( speed / 4 * 100).toFixed(0) }} %</div>
+          <el-slider v-model="speed" :min="0.01" :step="0.01" :max="1" />
+          <div class="proportion">{{( speed / 1 * 100).toFixed(0) }} %</div>
        </div>
    </div>
 </template>
@ -174,7 +174,7 @@ const errorNum = ref(0)
 const getPose = async (robot) => {
    try {
        const res = await getPoseApi({
-            deviceId: import.meta.env.VITE_INSPECTION_ARM_DEVICEID,
+            deviceId: import.meta.env.VITE_INSPECTION_ARM_DEVICE_ID,
            terminalId: robot.terminalId
        })
        if (res.code === 200) {
@ -249,7 +249,7 @@ const move = async (axis, direction) => {
    }

    speedLApi({
-        deviceId: import.meta.env.VITE_INSPECTION_ARM_DEVICEID,
+        deviceId: import.meta.env.VITE_INSPECTION_ARM_DEVICE_ID,
        terminalId: props.robot.terminalId,
        duration: 60,
        acceleration: speed.value + 0.1,
@ -262,7 +262,7 @@ const move = async (axis, direction) => {
 */
 const stop = async () => {
    await stopMotionApi({
-        deviceId: import.meta.env.VITE_INSPECTION_ARM_DEVICEID,
+        deviceId: import.meta.env.VITE_INSPECTION_ARM_DEVICE_ID,
        terminalId: props.robot.terminalId
    })
 }
--- a/src/views/inspection/cockpit/components/ManualTakeover/VoiceConversation.vue
+++ b/src/views/inspection/cockpit/components/ManualTakeover/VoiceConversation.vue
@ -52,6 +52,34 @@
        </el-button>
      </div>

+      <div class="robot-volume">
+        <span class="robot-volume__label">机器人麦克风音量</span>
+        <el-slider
+          v-model="microphoneVolume"
+          class="robot-volume__slider"
+          :min="0"
+          :max="100"
+          :disabled="isMicrophoneVolumeLoading"
+          :show-tooltip="true"
+          @change="updateMicrophoneVolume"
+        />
+        <span class="robot-volume__value">{{ microphoneVolume }}%</span>
+      </div>
+
+      <div class="robot-volume">
+        <span class="robot-volume__label">机器人扬声器音量</span>
+        <el-slider
+          v-model="speakerVolume"
+          class="robot-volume__slider"
+          :min="0"
+          :max="100"
+          :disabled="isSpeakerVolumeLoading"
+          :show-tooltip="true"
+          @change="updateSpeakerVolume"
+        />
+        <span class="robot-volume__value">{{ speakerVolume }}%</span>
+      </div>
+
      <section class="status-card">
        <div class="status-copy">
          <p>当前状态：<strong>{{ statusMeta.label }}</strong></p>
@ -72,12 +100,13 @@
 <script setup>
 import { computed, onBeforeUnmount, ref } from 'vue'
 import { ElMessage, ElNotification } from 'element-plus'
+import { setMicVolume, getMicVolume, setSpeakerVolume, getSpeakerVolume } from '@/api/inspection/cockpit' 

 // WebSocket 只承载控制 JSON 和二进制 PCM，不再使用 WebRTC、SDP 或 ICE。
-const AUDIO_SERVER_URL = 'ws://192.168.1.222:13080/ws/audio'
+const AUDIO_SERVER_URL = import.meta.env.VITE_AUDIO_SERVER_URL
 const TERMINAL_ID = 'c2f8a06826baf03843925c1a2a13bcfd'
-const DEVICE_ID = '1234'
-const OPERATOR_ID = 'user001'
+const speakerDeviceId = import.meta.env.VITE_SPEAKER_DEVICE_ID
+const micDeviceId = import.meta.env.VITE_MIC_DEVICE_ID

 // 后端约定的 PCM 格式：S16LE、48kHz、单声道、10ms。
 const PCM_SAMPLE_RATE = 48000
@ -296,8 +325,8 @@ function connectAudioServer(sessionToken) {
      sendControlMessage({
        type: 'join',
        terminalId: TERMINAL_ID,
-        deviceId: DEVICE_ID,
-        operatorId: OPERATOR_ID
+        speakerDeviceId: speakerDeviceId,
+        micDeviceId: micDeviceId
      })
    }

@ -613,6 +642,96 @@ function endCall() {
  ElMessage.success('通话已结束')
 }

+const microphoneVolume = ref(50)
+const speakerVolume = ref(50)
+const isMicrophoneVolumeLoading = ref(false)
+const isSpeakerVolumeLoading = ref(false)
+let confirmedMicrophoneVolume = 50
+let confirmedSpeakerVolume = 50
+
+async function updateMicrophoneVolume(volume) {
+  const previousVolume = confirmedMicrophoneVolume
+  isMicrophoneVolumeLoading.value = true
+  try {
+    const response = await setMicVolume({
+      deviceId: micDeviceId,
+      terminalId: TERMINAL_ID,
+      volume: Math.round(volume)
+    })
+    if (response.code !== 200) throw new Error(response.message || '设置机器人音量失败')
+    microphoneVolume.value = volume
+    confirmedMicrophoneVolume = volume
+    ElMessage.success(`机器人麦克风音量已设置为 ${volume}%`)
+  } catch (error) {
+    microphoneVolume.value = previousVolume
+    ElMessage.error(error.message || '设置机器人音量失败')
+  } finally {
+    isMicrophoneVolumeLoading.value = false
+  }
+}
+
+async function updateSpeakerVolume(volume) {
+  const previousVolume = confirmedSpeakerVolume
+  isSpeakerVolumeLoading.value = true
+  try {
+    const response = await setSpeakerVolume({
+      deviceId: speakerDeviceId,
+      terminalId: TERMINAL_ID,
+      volume: Math.round(volume)
+    })
+    if (response.code !== 200) throw new Error(response.message || '设置扬声器音量失败')
+    speakerVolume.value = volume
+    confirmedSpeakerVolume = volume
+    ElMessage.success(`机器人扬声器音量已设置为 ${volume}%`)
+  } catch (error) {
+    speakerVolume.value = previousVolume
+    ElMessage.error(error.message || '设置扬声器音量失败')
+  } finally {
+    isSpeakerVolumeLoading.value = false
+  }
+}
+
+async function loadMicrophoneVolume({ silent = false } = {}) {
+  isMicrophoneVolumeLoading.value = true
+  try {
+    const response = await getMicVolume({
+      deviceId: micDeviceId,
+      terminalId: TERMINAL_ID
+    })
+    if (response.code !== 200) throw new Error(response.message || '获取机器人音量失败')
+    const volume = Math.max(0, Math.min(100, Number(response.data) || 0))
+    microphoneVolume.value = volume
+    confirmedMicrophoneVolume = volume
+  } catch (error) {
+    if (!silent) ElMessage.error(error.message || '获取机器人音量失败')
+  } finally {
+    isMicrophoneVolumeLoading.value = false
+  }
+}
+
+async function loadSpeakerVolume({ silent = false } = {}) {
+  isSpeakerVolumeLoading.value = true
+  try {
+    const response = await getSpeakerVolume({
+      deviceId: speakerDeviceId,
+      terminalId: TERMINAL_ID
+    })
+    if (response.code !== 200) throw new Error(response.message || '获取扬声器音量失败')
+    const volume = Math.max(0, Math.min(100, Number(response.data) || 0))
+    speakerVolume.value = volume
+    confirmedSpeakerVolume = volume
+  } catch (error) {
+    if (!silent) ElMessage.error(error.message || '获取扬声器音量失败')
+  } finally {
+    isSpeakerVolumeLoading.value = false
+  }
+}
+
+onMounted(() => {
+  loadMicrophoneVolume()
+  loadSpeakerVolume()
+})
+
 // 离开页面时释放麦克风、AudioWorklet 和 WebSocket。
 onBeforeUnmount(cleanupResources)
 </script>
@ -843,6 +962,30 @@ $panel-border: rgb(112 192 255 / 24%);
    :deep(.el-button + .el-button) { margin-left: 0; }
  }

+  .robot-volume {
+    display: grid;
+    grid-template-columns: auto minmax(120px, 210px) 42px;
+    align-items: center;
+    gap: 12px;
+    width: min(100%, 430px);
+    margin-top: 10px;
+    color: #badeff;;
+    font-size: 11px;
+
+    &__label { white-space: nowrap; }
+    &__value { color: #fff; text-align: right; font-variant-numeric: tabular-nums; }
+
+    :deep(.el-slider__runway) { background-color: #dff7ff; }
+    :deep(.el-slider__bar) { background: linear-gradient(90deg, #46c8ff,  #936cff); }
+    :deep(.el-slider__button) {
+      width: 14px;
+      height: 14px;
+      border-color: #46c8ff;
+      background: #dff7ff;
+      box-shadow: 0 0 10px rgb(70 200 255 / 65%);
+    }
+  }
+
  :deep(.call-button) {
    width: 178px;
    height: 34px;
--- a/src/views/inspection/cockpit/components/ManualTakeover/index.vue
+++ b/src/views/inspection/cockpit/components/ManualTakeover/index.vue
@ -82,8 +82,8 @@
                        </div>
                        <div class="speed-container">
                            <div class="label">速度：</div>
-                            <el-slider v-model="jointSpeed" :min="0.1" :step="0.1" :max="9" />
-                            <div class="proportion">{{( jointSpeed / 9 * 100).toFixed(0) }} %</div>
+                            <el-slider v-model="jointSpeed" :min="0.01" :step="0.01" :max="1" />
+                            <div class="proportion">{{( jointSpeed / 1 * 100).toFixed(0) }} %</div>
                        </div>
                    </div>
                </div>
@ -119,7 +119,7 @@ import UrdfViewer from './UrdfView.vue'
 import DirectionControl from './DirectionControl.vue'
 import RoboticArm from "./RoboticArm.vue";
 import { getRobotList } from '@/api/inspection/robot'
-import { getJointStateApi, moveJApi, torqueOnApi, speedJApi, stopMotionApi } from '@/api/inspection/cockpit'
+import { getJointStateApi, moveJApi, torqueOnApi, speedJApi, stopMotionApi, clearFault } from '@/api/inspection/cockpit'
 import { Remove, CirclePlus } from '@element-plus/icons-vue'
 import VoiceConversation from "./VoiceConversation.vue";
 import IPlayer from "@/components/IPlayer/index.vue";
@ -178,8 +178,14 @@ const handlerController = (value) => {
    if (value === 2) {
        // 开启机械臂使能
        torqueOnApi({
-            deviceId: import.meta.env.VITE_INSPECTION_ARM_DEVICEID,
+            deviceId: import.meta.env.VITE_INSPECTION_ARM_DEVICE_ID,
            terminalId: activeBotData.value.terminalId
+        }).catch(error => {
+            console.error('开启机械臂使能失败:', error)
+            clearFault({
+                deviceId: import.meta.env.VITE_INSPECTION_ARM_DEVICE_ID,
+                terminalId: activeBotData.value.terminalId
+            })
        })
        jointControls.value = urdfViewerRef.value.jointControls
        if (animationId.value) {
@ -188,6 +194,10 @@ const handlerController = (value) => {
        animationId.value = setInterval(() => {
            getJointState(activeBotData.value)
        }, 100)
+    } else {
+        if (animationId.value) {
+            clearInterval(animationId.value)
+        }
    }
 }

@ -209,7 +219,7 @@ const errCount = ref(0)
 const getJointState = async (robot) => {
    try {
        const res = await getJointStateApi({
-            deviceId: import.meta.env.VITE_INSPECTION_ARM_DEVICEID,
+            deviceId: import.meta.env.VITE_INSPECTION_ARM_DEVICE_ID,
            terminalId: robot.terminalId
        })
        if (res.code === 200) {
@ -246,7 +256,7 @@ const updateJoint = async (jointName, _dir) => {
    const index = jointControls.value.findIndex(joint => joint.name === jointName)
    velocities[index] = jointSpeed.value * (_dir === '+' ? 1 : -1)
    const res = await speedJApi({
-        deviceId: import.meta.env.VITE_INSPECTION_ARM_DEVICEID,
+        deviceId: import.meta.env.VITE_INSPECTION_ARM_DEVICE_ID,
        terminalId: activeBotData.value.terminalId,
        acceleration: jointSpeed.value + 0.1,
        duration: 60,
@ -259,7 +269,7 @@ const updateJoint = async (jointName, _dir) => {
 */
 const stop = async () => {
    await stopMotionApi({
-        deviceId: import.meta.env.VITE_INSPECTION_ARM_DEVICEID,
+        deviceId: import.meta.env.VITE_INSPECTION_ARM_DEVICE_ID,
        terminalId: activeBotData.value.terminalId
    })
 }
Author	SHA1	Message	Date
zhanghao	43ca0b0122	feat: 增加机器人扬声器和麦克风音量的控制	2026-07-22 14:33:02 +08:00
zhanghao	b1186e5922	feat: 调整机械臂最大速度	2026-07-21 10:05:05 +08:00