From 16481996b90f94dde823ac606ea23424711bb238 Mon Sep 17 00:00:00 2001
From: lixiaolong <702156524@qq.com>
Date: Wed, 12 Aug 2026 17:57:54 +0800
Subject: [PATCH] =?UTF-8?q?feat(flow):=20=E6=B7=BB=E5=8A=A0=E5=8A=A8?=
 =?UTF-8?q?=E4=BD=9C=E9=98=9F=E5=88=97=E8=8A=82=E7=82=B9=E5=8A=9F=E8=83=BD?=
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- 新增 actionQueue 节点类型，支持在边缘端按顺序连续执行多个动作
- 实现 ActionQueueParams 组件，提供执行设置和动作步骤配置界面
- 添加 ActionQueueSingleRun 组件，支持动作队列的单节点执行
- 更新 flowResources 工具函数，完善设备绑定和资源管理逻辑
- 集成动作队列到流程编辑器，支持参数配置和设备分配
- 优化节点渲染显示，支持多设备用途的角色展示
---
 src/utils/flowResources.js                    |  59 +++-
 .../flow/components/ActionQueueSingleRun.vue  | 111 +++++++
 src/views/flow/components/ParamsDrawer.vue    |   2 +
 .../components/params/ActionQueueParams.vue   | 293 ++++++++++++++++++
 src/views/flow/config.js                      |  19 ++
 src/views/flow/index.vue                      |  44 ++-
 src/views/flow/nodes/function/actionQueue.vue |  25 ++
 src/views/flow/vue-flow/FlowNode.vue          |   4 +
 8 files changed, 537 insertions(+), 20 deletions(-)
 create mode 100644 src/views/flow/components/ActionQueueSingleRun.vue
 create mode 100644 src/views/flow/components/params/ActionQueueParams.vue
 create mode 100644 src/views/flow/nodes/function/actionQueue.vue

diff --git a/src/utils/flowResources.js b/src/utils/flowResources.js
index 9b0cb4e..a761b30 100644
--- a/src/utils/flowResources.js
+++ b/src/utils/flowResources.js
@@ -62,6 +62,7 @@ export const getResourceRoles = (graph = globalThis.lf?.getGraphData?.()) => (
 )
 
 const isRobotNode = (node) => node?.properties?.nodeType === 'EDGE'
+export const ACTION_QUEUE_ACTION = 'SYSTEM_EXECUTE_ACTION_QUEUE'
 export const actionRequiresDevice = (action) => (
   getDeviceKindForAction(action) != null || action === 'DEVICE_EXECUTE_JSON_COMMAND'
 )
@@ -139,7 +140,9 @@ export const normalizeFlowResourceSchema = (sourceGraph) => {
     }
     target.roleKey ||= defaultRole.roleKey
     target.dispatchPolicy ||= 'ONE'
-    target.deviceSlotKey ||= target.deviceBindings?.[0]?.slotKey || ''
+    const isActionQueue = properties.action === ACTION_QUEUE_ACTION
+    if (!isActionQueue) target.deviceSlotKey ||= target.deviceBindings?.[0]?.slotKey || ''
+    target.deviceBindings = Array.isArray(target.deviceBindings) ? target.deviceBindings : []
 
     const targetRole = roles.find((role) => role.roleKey === target.roleKey) || defaultRole
     const deviceParam = properties.nodeParams?.find((param) => param.name === 'deviceId')
@@ -147,11 +150,15 @@ export const normalizeFlowResourceSchema = (sourceGraph) => {
       const slot = findOrCreateLegacySlot(targetRole, node, legacySlotByIdentity, deviceParam?.input)
       if (slot) target.deviceSlotKey = slot.slotKey
     }
-    const referencedSlot = targetRole.deviceSlots.find((slot) => slot.slotKey === target.deviceSlotKey)
-    if (referencedSlot && !referencedSlot.managedBy) {
-      referencedSlot.managedBy = FLOW_NODE_RESOURCE_OWNER
-    }
-    delete target.deviceBindings
+    const referencedSlotKeys = new Set([
+      target.deviceSlotKey,
+      ...target.deviceBindings.map((binding) => binding?.slotKey),
+    ].filter(Boolean))
+    targetRole.deviceSlots.forEach((slot) => {
+      if (referencedSlotKeys.has(slot.slotKey) && !slot.managedBy) slot.managedBy = FLOW_NODE_RESOURCE_OWNER
+    })
+    if (!isActionQueue) delete target.deviceBindings
+    if (isActionQueue) delete target.deviceSlotKey
     properties.nodeParams = (properties.nodeParams || []).filter((param) => param.name !== 'deviceId')
     properties.executionTarget = target
   })
@@ -182,9 +189,11 @@ export const pruneUnusedNodeResources = (sourceGraph) => {
     const target = node.properties?.executionTarget
     if (!target?.roleKey) return
     usedRoleKeys.add(target.roleKey)
-    if (!target.deviceSlotKey) return
     if (!usedSlotsByRole.has(target.roleKey)) usedSlotsByRole.set(target.roleKey, new Set())
-    usedSlotsByRole.get(target.roleKey).add(target.deviceSlotKey)
+    if (target.deviceSlotKey) usedSlotsByRole.get(target.roleKey).add(target.deviceSlotKey)
+    ;(target.deviceBindings || []).forEach((binding) => {
+      if (binding?.slotKey) usedSlotsByRole.get(target.roleKey).add(binding.slotKey)
+    })
   })
 
   let removedSlots = 0
@@ -240,6 +249,13 @@ export const validateFlowResources = (sourceGraph) => {
     if (target.deviceSlotKey && !(role.deviceSlots || []).some((slot) => slot.slotKey === target.deviceSlotKey)) {
       errors.push({ nodeId: node.id, message: `${node.properties?.name || node.id}引用的设备用途不存在` })
     }
+    ;(target.deviceBindings || []).forEach((binding) => {
+      if (!binding?.parameterName || !binding?.slotKey) {
+        errors.push({ nodeId: node.id, message: `${node.properties?.name || node.id}存在未配置的队列设备` })
+      } else if (!(role.deviceSlots || []).some((slot) => slot.slotKey === binding.slotKey)) {
+        errors.push({ nodeId: node.id, message: `${node.properties?.name || node.id}引用的队列设备用途不存在` })
+      }
+    })
     if (nodeRequiresDevice(node)
       && !target.deviceSlotKey) {
       errors.push({ nodeId: node.id, message: `${node.properties?.name || node.id}未选择设备用途` })
@@ -290,21 +306,34 @@ export const mergeCopiedResourceRoles = (targetGraph, sourceRoles = [], copiedNo
     targetRole ||= targetRoles[0]
     target.roleKey = targetRole.roleKey
 
-    if (target.deviceSlotKey && !targetRole.deviceSlots?.some((slot) => slot.slotKey === target.deviceSlotKey)) {
-      const sourceSlot = sourceRole?.deviceSlots?.find((slot) => slot.slotKey === target.deviceSlotKey)
+    const remapSlot = (slotKey) => {
+      if (!slotKey || targetRole.deviceSlots?.some((slot) => slot.slotKey === slotKey)) return slotKey
+      const sourceSlot = sourceRole?.deviceSlots?.find((slot) => slot.slotKey === slotKey)
       const sameSlot = targetRole.deviceSlots?.find((slot) => (
         sourceSlot && slot.displayName === sourceSlot.displayName && Number(slot.deviceKind) === Number(sourceSlot.deviceKind)
       ))
-      if (sameSlot) {
-        target.deviceSlotKey = sameSlot.slotKey
-        return
-      }
+      if (sameSlot) return sameSlot.slotKey
       const newSlot = sourceSlot ? clone(sourceSlot) : createDeviceSlot(getDeviceKindForAction(node.properties?.action), targetRole.deviceSlots)
       newSlot.managedBy = FLOW_NODE_RESOURCE_OWNER
       delete newSlot.legacyDeviceId
       targetRole.deviceSlots.push(newSlot)
-      target.deviceSlotKey = newSlot.slotKey
       addedSlots += 1
+      return newSlot.slotKey
+    }
+    target.deviceSlotKey = remapSlot(target.deviceSlotKey)
+    ;(target.deviceBindings || []).forEach((binding) => {
+      binding.slotKey = remapSlot(binding.slotKey)
+    })
+    const bindingSlotByName = new Map((target.deviceBindings || []).map((binding) => (
+      [binding.parameterName, binding.slotKey]
+    )))
+    const queueStepsParam = node.properties?.nodeParams?.find((param) => param.name === 'steps')
+    if (Array.isArray(queueStepsParam?.input)) {
+      queueStepsParam.input.forEach((step) => {
+        if (bindingSlotByName.has(step?.deviceBindingKey)) {
+          step.deviceSlotKey = bindingSlotByName.get(step.deviceBindingKey)
+        }
+      })
     }
   })
 
diff --git a/src/views/flow/components/ActionQueueSingleRun.vue b/src/views/flow/components/ActionQueueSingleRun.vue
new file mode 100644
index 0000000..cc23bf8
--- /dev/null
+++ b/src/views/flow/components/ActionQueueSingleRun.vue
@@ -0,0 +1,111 @@
+<template>
+  <el-form label-position="top">
+    <el-form-item label="机器人" required>
+      <el-select v-model="robotId" filterable style="width: 100%" @change="loadDevices">
+        <el-option v-for="item in robotOptions" :key="item.value" :label="item.label" :value="item.value" />
+      </el-select>
+    </el-form-item>
+    <el-form-item label="队列总超时（毫秒）" required>
+      <el-input-number v-model="totalTimeoutMs" :min="1" :max="2147483647" style="width: 100%" />
+    </el-form-item>
+    <el-form-item label="动作标识（可选）">
+      <el-input v-model="actionId" placeholder="留空时自动生成" />
+    </el-form-item>
+    <div v-for="(step, index) in steps" :key="step.stepId || index" class="single-queue-step">
+      <div class="single-queue-step__title">步骤 {{ index + 1 }} · {{ actionName(step.type) }}</div>
+      <el-form-item v-if="deviceKind(step.type)" label="执行设备" required>
+        <el-select v-model="step.deviceId" filterable :loading="deviceLoading" style="width: 100%">
+          <el-option
+            v-for="device in devicesForStep(step)"
+            :key="device.deviceId"
+            :label="device.deviceName && device.deviceName !== device.deviceId ? `${device.deviceName} (${device.deviceId})` : device.deviceId"
+            :value="device.deviceId"
+          />
+        </el-select>
+      </el-form-item>
+      <div class="single-queue-step__params">{{ stepSummary(step) }}</div>
+    </div>
+  </el-form>
+</template>
+
+<script setup>
+import { ref, watch } from 'vue'
+import { ElMessage } from 'element-plus'
+import { getRobotDevicesByRobotId } from '@/api/inspection/robot'
+import { DEVICE_KIND } from '@/utils/robotDevice'
+
+const props = defineProps({
+  nodeParams: { type: Array, default: () => [] },
+  robotOptions: { type: Array, default: () => [] },
+  initialRobotId: { type: String, default: '' },
+})
+
+const labels = {
+  DELAY: '等待', ARM_MOVE_J: '机械臂关节运动', ARM_MOVE_L: '机械臂直线运动',
+  AGV_NAVIGATE_TO_POSE: '底盘导航到坐标', AGV_NAVIGATE_TO_STATION: '底盘导航到站点', AGV_FOLLOW_PATH: '底盘按路径导航',
+}
+const robotId = ref('')
+const actionId = ref('')
+const totalTimeoutMs = ref(60000)
+const steps = ref([])
+const devices = ref([])
+const deviceLoading = ref(false)
+const actionName = (type) => labels[type] || type
+const deviceKind = (type) => type?.startsWith('ARM_') ? DEVICE_KIND.ARM : (type?.startsWith('AGV_') ? DEVICE_KIND.AGV : null)
+const devicesForStep = (step) => devices.value.filter((device) => Number(device.deviceKind) === deviceKind(step.type))
+const stepSummary = (step) => {
+  if (step.type === 'DELAY') return `等待 ${step.params?.durationMs || 0} 毫秒`
+  if (step.type === 'AGV_NAVIGATE_TO_STATION') return `站点 ${step.params?.stationId || '-'}`
+  return JSON.stringify(step.params || {})
+}
+
+const initData = async () => {
+  const values = Object.fromEntries(props.nodeParams.map((item) => [item.name, item.input]))
+  actionId.value = values.actionId || ''
+  totalTimeoutMs.value = Number(values.totalTimeoutMs || 60000)
+  steps.value = JSON.parse(JSON.stringify(Array.isArray(values.steps) ? values.steps : []))
+  robotId.value = props.initialRobotId || ''
+  if (robotId.value) await loadDevices(robotId.value)
+}
+
+const loadDevices = async (value) => {
+  devices.value = []
+  steps.value.forEach((step) => { step.deviceId = '' })
+  if (!value) return
+  deviceLoading.value = true
+  try {
+    const response = await getRobotDevicesByRobotId(value)
+    devices.value = Array.isArray(response.data) ? response.data : []
+    steps.value.forEach((step) => {
+      const options = devicesForStep(step)
+      if (options.length) step.deviceId = options[0].deviceId
+    })
+  } finally {
+    deviceLoading.value = false
+  }
+}
+
+const validate = () => {
+  if (!robotId.value) return ElMessage.warning('请选择机器人'), false
+  if (!steps.value.length) return ElMessage.warning('动作队列不能为空'), false
+  for (let index = 0; index < steps.value.length; index += 1) {
+    const step = steps.value[index]
+    if (deviceKind(step.type) && !step.deviceId) {
+      ElMessage.warning(`步骤 ${index + 1} 没有可用的执行设备`)
+      return false
+    }
+  }
+  return true
+}
+const getPayload = () => ({ robotId: robotId.value, actionId: actionId.value, totalTimeoutMs: totalTimeoutMs.value, steps: steps.value })
+const getRobotId = () => robotId.value
+
+watch(() => [props.nodeParams, props.initialRobotId], initData, { immediate: true, deep: true })
+defineExpose({ validate, getPayload, getRobotId })
+</script>
+
+<style scoped>
+.single-queue-step { margin-bottom: 10px; padding: 12px; border: 1px solid #dfe4ec; border-radius: 8px; }
+.single-queue-step__title { margin-bottom: 10px; color: #1f2937; font-size: 13px; font-weight: 650; }
+.single-queue-step__params { overflow: hidden; color: #7a8494; font-size: 12px; line-height: 18px; text-overflow: ellipsis; white-space: nowrap; }
+</style>
diff --git a/src/views/flow/components/ParamsDrawer.vue b/src/views/flow/components/ParamsDrawer.vue
index ace2c79..5c76987 100644
--- a/src/views/flow/components/ParamsDrawer.vue
+++ b/src/views/flow/components/ParamsDrawer.vue
@@ -37,6 +37,7 @@ import SdAgentNodeParams from './params/SdAgentNodeParams.vue'
 import RecognizeNodeParams from './params/RecognizeNodeParams.vue'
 import DeviceUniversal from './params/DeviceUniversal.vue'
 import SwitchNodeParams from './params/SwitchNodeParams.vue'
+import ActionQueueParams from './params/ActionQueueParams.vue'
 
 const props = defineProps({
   drawer: Boolean,
@@ -63,6 +64,7 @@ const currentComponent = computed(() => {
   if (type === 'sdAgent') return SdAgentNodeParams
   if (type === 'recognize') return RecognizeNodeParams
   if (['deviceUniversal', 'device_universal'].includes(type)) return DeviceUniversal
+  if (type === 'actionQueue') return ActionQueueParams
   if (type === 'branch') return SwitchNodeParams
   return null
 })
diff --git a/src/views/flow/components/params/ActionQueueParams.vue b/src/views/flow/components/params/ActionQueueParams.vue
new file mode 100644
index 0000000..2a48ce9
--- /dev/null
+++ b/src/views/flow/components/params/ActionQueueParams.vue
@@ -0,0 +1,293 @@
+<template>
+  <div class="queue-editor">
+    <div class="queue-editor__heading">执行设置</div>
+    <el-form label-position="top">
+      <el-form-item label="由谁执行" required>
+        <el-select v-model="formData.executionTarget.roleKey" style="width: 100%" @change="handleRoleChange">
+          <el-option v-for="role in roles" :key="role.roleKey" :label="role.displayName" :value="role.roleKey" />
+        </el-select>
+      </el-form-item>
+      <el-form-item label="队列总超时（毫秒）" required>
+        <el-input-number v-model="formData.totalTimeoutMs" :min="1" :max="2147483647" style="width: 100%" />
+      </el-form-item>
+      <el-form-item label="动作标识（可选）">
+        <el-input v-model="formData.actionId" placeholder="留空时执行端自动生成" />
+      </el-form-item>
+    </el-form>
+
+    <div class="queue-editor__toolbar">
+      <div>
+        <div class="queue-editor__heading">动作步骤</div>
+        <div class="queue-editor__hint">步骤会在边缘端严格按顺序执行。</div>
+      </div>
+      <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">
+      <div class="queue-step__header">
+        <span>步骤 {{ index + 1 }}</span>
+        <div>
+          <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>
+      <el-form label-position="top">
+        <el-form-item label="动作" required>
+          <el-select v-model="step.type" style="width: 100%" @change="handleStepTypeChange(step)">
+            <el-option v-for="item in actionTypes" :key="item.value" :label="item.label" :value="item.value" />
+          </el-select>
+        </el-form-item>
+        <el-form-item v-if="deviceKindForType(step.type)" label="使用设备" required>
+          <el-select v-model="step.deviceSlotKey" style="width: 100%">
+            <el-option
+              v-for="slot in matchingSlots(step.type)"
+              :key="slot.slotKey"
+              :label="slot.displayName"
+              :value="slot.slotKey"
+            />
+          </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>
+        <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-option v-for="option in field.options" :key="option.value" :label="option.label" :value="option.value" />
+            </el-select>
+            <el-input-number
+              v-else-if="field.number"
+              v-model="step.params[field.key]"
+              :min="field.min"
+              :max="field.max ?? Infinity"
+              :step="field.step || 1"
+              style="width: 100%"
+            />
+            <el-input v-else v-model="step.params[field.key]" :type="field.multiline ? 'textarea' : 'text'" :rows="3" />
+          </el-form-item>
+        </template>
+      </el-form>
+    </div>
+    <el-empty v-if="!formData.steps.length" description="请添加至少一个动作步骤" :image-size="72" />
+  </div>
+</template>
+
+<script setup>
+import { reactive, ref, watch } from 'vue'
+import { ArrowDown, ArrowUp, Delete, Plus } from '@element-plus/icons-vue'
+import { ElMessage } from 'element-plus'
+import {
+  createDeviceSlot,
+  createResourceKey,
+  FLOW_NODE_RESOURCE_OWNER,
+  getResourceRoles,
+  getStartNode,
+  pruneUnusedNodeResources,
+} from '@/utils/flowResources'
+import { DEVICE_KIND } from '@/utils/robotDevice'
+
+const props = defineProps({ data: { type: Object, required: true } })
+const emit = defineEmits(['save-success', 'save-error'])
+
+const actionTypes = [
+  { value: 'DELAY', label: '等待' },
+  { value: 'ARM_MOVE_J', label: '机械臂关节运动' },
+  { value: 'ARM_MOVE_L', label: '机械臂直线运动' },
+  { value: 'AGV_NAVIGATE_TO_POSE', label: '底盘导航到坐标' },
+  { value: 'AGV_NAVIGATE_TO_STATION', label: '底盘导航到站点' },
+  { value: 'AGV_FOLLOW_PATH', label: '底盘按路径导航' },
+]
+
+const commonMotionFields = [
+  { key: 'velocity', label: '速度', number: true, min: 0, step: 0.01, required: false },
+  { key: 'acceleration', label: '加速度', number: true, min: 0, step: 0.01, required: false },
+]
+const fieldsByType = {
+  DELAY: [{ key: 'durationMs', label: '等待时长（毫秒）', number: true, min: 0 }],
+  ARM_MOVE_J: [{ key: 'positions', label: '关节位置（JSON 数组）', multiline: true }, ...commonMotionFields],
+  ARM_MOVE_L: [
+    ...['x', 'y', 'z', 'rx', 'ry', 'rz'].map((key) => ({ key, label: key.toUpperCase(), number: true })),
+    { key: 'frame', label: '坐标系', options: ['BASE', 'TOOL', 'WORLD', 'USER'].map((value) => ({ value, label: value })) },
+    ...commonMotionFields,
+  ],
+  AGV_NAVIGATE_TO_POSE: [
+    ...['x', 'y', 'theta'].map((key) => ({ key, label: key === 'theta' ? '角度' : key.toUpperCase(), number: true })),
+    { key: 'maxSpeed', label: '最大速度', number: true, min: 0, step: 0.01, required: false },
+  ],
+  AGV_NAVIGATE_TO_STATION: [
+    { key: 'stationId', label: '站点 ID' },
+    { key: 'maxSpeed', label: '最大速度', number: true, min: 0, step: 0.01, required: false },
+  ],
+  AGV_FOLLOW_PATH: [
+    { key: 'path', label: '路径段（JSON 数组）', multiline: true },
+    { key: 'maxSpeed', label: '最大速度', number: true, min: 0, step: 0.01, required: false },
+  ],
+}
+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 },
+  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 roles = ref([])
+const formData = reactive({ actionId: '', totalTimeoutMs: 60000, steps: [], executionTarget: {} })
+const fieldsForType = (type) => fieldsByType[type] || []
+const deviceKindForType = (type) => type?.startsWith('ARM_') ? DEVICE_KIND.ARM : (type?.startsWith('AGV_') ? DEVICE_KIND.AGV : null)
+const selectedRole = () => roles.value.find((role) => role.roleKey === formData.executionTarget.roleKey)
+const matchingSlots = (type) => (selectedRole()?.deviceSlots || []).filter((slot) => Number(slot.deviceKind) === deviceKindForType(type))
+
+const normalizeStep = (source = {}, index = 0) => {
+  const params = { ...(defaultParams[source.type || 'DELAY'] || {}), ...(source.params || {}) }
+  for (const key of ['positions', 'path']) {
+    if (Array.isArray(params[key])) params[key] = JSON.stringify(params[key])
+  }
+  return {
+    localKey: source.localKey || createResourceKey('queue_step'),
+    stepId: source.stepId || `step_${index + 1}`,
+    type: source.type || 'DELAY',
+    timeoutMs: Number(source.timeoutMs || 0),
+    deviceBindingKey: source.deviceBindingKey || createResourceKey('queue_device'),
+    deviceSlotKey: source.deviceSlotKey || '',
+    params,
+  }
+}
+
+const initData = () => {
+  roles.value = getResourceRoles()
+  const properties = props.data.properties || {}
+  const params = Object.fromEntries((properties.nodeParams || []).map((item) => [item.name, item.input]))
+  formData.actionId = params.actionId || ''
+  formData.totalTimeoutMs = Number(params.totalTimeoutMs || 60000)
+  formData.steps = (Array.isArray(params.steps) ? params.steps : []).map(normalizeStep)
+  formData.executionTarget = JSON.parse(JSON.stringify(properties.executionTarget || {}))
+  formData.executionTarget.roleKey ||= roles.value[0]?.roleKey || ''
+  formData.steps.forEach((step) => ensureStepSlot(step, false))
+}
+
+const persistRoles = () => {
+  const graph = lf.getGraphData()
+  const start = getStartNode(graph)
+  if (!start) return
+  lf.setProperties(start.id, { ...start.properties, resourceRoles: JSON.parse(JSON.stringify(roles.value)) })
+}
+
+const ensureStepSlot = (step, createWhenMissing = true) => {
+  const kind = deviceKindForType(step.type)
+  if (!kind) {
+    step.deviceSlotKey = ''
+    return
+  }
+  const role = selectedRole()
+  if (!role) return
+  const options = matchingSlots(step.type)
+  if (options.some((slot) => slot.slotKey === step.deviceSlotKey)) return
+  let slot = options[0]
+  if (!slot && createWhenMissing) {
+    slot = createDeviceSlot(kind, role.deviceSlots || [])
+    slot.managedBy = FLOW_NODE_RESOURCE_OWNER
+    role.deviceSlots ||= []
+    role.deviceSlots.push(slot)
+    persistRoles()
+  }
+  step.deviceSlotKey = slot?.slotKey || ''
+}
+
+const addStep = () => formData.steps.push(normalizeStep({}, formData.steps.length))
+const removeStep = (index) => formData.steps.splice(index, 1)
+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] || {}) }
+  ensureStepSlot(step)
+}
+const handleRoleChange = () => formData.steps.forEach((step) => ensureStepSlot(step))
+
+const parseJsonFields = (step) => {
+  const params = { ...step.params }
+  for (const key of ['positions', 'path']) {
+    if (typeof params[key] !== 'string') continue
+    try {
+      const parsed = JSON.parse(params[key])
+      if (!Array.isArray(parsed)) throw new Error()
+      params[key] = parsed
+    } catch {
+      throw new Error(`${fieldsForType(step.type).find((field) => field.key === key)?.label || key}格式不正确`)
+    }
+  }
+  return params
+}
+
+const validateAndSave = async () => {
+  try {
+    if (!formData.executionTarget.roleKey) throw new Error('请选择执行机器人角色')
+    if (!formData.steps.length) throw new Error('请添加至少一个动作步骤')
+    const steps = formData.steps.map((step, index) => {
+      if (!step.type) throw new Error(`步骤 ${index + 1} 未选择动作`)
+      if (deviceKindForType(step.type) && !step.deviceSlotKey) throw new Error(`步骤 ${index + 1} 未选择设备用途`)
+      const params = parseJsonFields(step)
+      fieldsForType(step.type).filter((field) => field.required !== false).forEach((field) => {
+        if (params[field.key] === '' || params[field.key] == null) throw new Error(`步骤 ${index + 1} 的${field.label}不能为空`)
+      })
+      return {
+        stepId: `step_${index + 1}`,
+        type: step.type,
+        timeoutMs: Number(step.timeoutMs || 0),
+        ...(deviceKindForType(step.type) ? {
+          deviceBindingKey: step.deviceBindingKey,
+          deviceSlotKey: step.deviceSlotKey,
+        } : {}),
+        params,
+      }
+    })
+    const executionTarget = {
+      roleKey: formData.executionTarget.roleKey,
+      dispatchPolicy: 'ONE',
+      deviceBindings: steps.filter((step) => step.deviceBindingKey).map((step) => ({
+        parameterName: step.deviceBindingKey,
+        slotKey: step.deviceSlotKey,
+      })),
+    }
+    lf.setProperties(props.data.id, {
+      ...props.data.properties,
+      executionTarget,
+      nodeParams: [
+        { name: 'actionId', type: 'input', input: formData.actionId, required: false },
+        { name: 'totalTimeoutMs', type: 'input', componentType: 'number', input: formData.totalTimeoutMs, required: true },
+        { name: 'steps', type: 'input', input: steps, required: true },
+      ],
+    })
+    const cleanup = pruneUnusedNodeResources(lf.getGraphData())
+    if (cleanup.start) {
+      lf.setProperties(cleanup.start.id, {
+        ...cleanup.start.properties,
+        resourceRoles: cleanup.start.properties.resourceRoles,
+      })
+    }
+    emit('save-success')
+  } catch (error) {
+    ElMessage.warning(error.message)
+    emit('save-error')
+  }
+}
+
+watch(() => props.data, initData, { immediate: true, deep: true })
+defineExpose({ validateAndSave })
+</script>
+
+<style scoped lang="scss">
+.queue-editor { padding-top: 16px; }
+.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-step__header { display: flex; margin-bottom: 12px; align-items: center; justify-content: space-between; color: #1f2937; font-weight: 650; }
+.queue-step__header .el-button + .el-button { margin-left: 6px; }
+.queue-editor__warning { color: var(--el-color-warning); font-size: 12px; }
+</style>
diff --git a/src/views/flow/config.js b/src/views/flow/config.js
index a75eb3d..9f47e60 100644
--- a/src/views/flow/config.js
+++ b/src/views/flow/config.js
@@ -337,6 +337,25 @@ function handler(params) {
         outputParams: [],
         outputType: 'json'
       },
+      {
+        icon: planSvg,
+        name: "动作队列",
+        type: "actionQueue",
+        desc: "在边缘端按顺序连续执行多个动作",
+        action: 'SYSTEM_EXECUTE_ACTION_QUEUE',
+        nodeType: 'EDGE',
+        nodeParams: [
+          { name: "actionId", type: "input", input: "", required: false },
+          { name: "totalTimeoutMs", type: "input", componentType: 'number', input: 60000, required: true },
+          { name: "steps", type: "input", input: [], required: true },
+        ],
+        outputParams: [
+          { name: 'actionId', type: 'string', desc: '动作队列标识' },
+          { name: 'completedSteps', type: 'number', desc: '已完成步骤数' },
+          { name: 'result', type: 'string', desc: '执行结果' },
+        ],
+        outputType: 'json'
+      },
       {
         icon: videoSvg,
         name: "机械臂",
diff --git a/src/views/flow/index.vue b/src/views/flow/index.vue
index 4753b93..7d45c71 100644
--- a/src/views/flow/index.vue
+++ b/src/views/flow/index.vue
@@ -159,7 +159,7 @@
     />
   </div>
 
-  <el-dialog v-model="visible" width="500" class="single-node-dialog" append-to-body>
+  <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">
         <h4 :id="titleId" :class="titleClass">执行{{ nodeName }}节点</h4>
@@ -175,7 +175,15 @@
       >加载站点列表</el-button>
       <span>{{ singleNodeRobotId && singleNodeDeviceId ? '加载后从站点下拉框选择' : '请先选择机器人和设备' }}</span>
     </div>
+    <ActionQueueSingleRun
+      v-if="nodeAction === 'SYSTEM_EXECUTE_ACTION_QUEUE'"
+      ref="actionQueueSingleRunRef"
+      :node-params="formData.nodeParams"
+      :robot-options="singleNodeRobotOptions"
+      :initial-robot-id="singleNodeInitialRobotId"
+    />
     <el-form
+      v-else
       :inline="true"
       :model="formData"
       :rules="rules"
@@ -264,6 +272,7 @@ import { useFlowEvents } from "./composables/useFlowEvents";
 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 { useFlowStore } from "@/store/modules/flow";
 import { emitter } from "@/utils/eventBus";
@@ -1024,6 +1033,8 @@ const singleNodeRobotCache = new Map();
 let lastSingleNodeRobotId = "";
 const stationLoading = ref(false);
 const singleNodeRobotOptions = ref([]);
+const actionQueueSingleRunRef = ref();
+const singleNodeInitialRobotId = ref("");
 const flattenSingleNodeParams = (params, parentPath = [], fields = []) => {
   (params || []).forEach((param, index) => {
     const name = String(param?.name || "").trim();
@@ -1070,9 +1081,12 @@ const singleNodeDeviceId = computed(() =>
 );
 // 在执行、关闭弹窗或切换节点前记录当前机器人选择。
 const rememberSingleNodeRobot = () => {
-  if (!activeSingleNodeId.value || !singleNodeRobotId.value) return;
-  lastSingleNodeRobotId = singleNodeRobotId.value;
-  singleNodeRobotCache.set(activeSingleNodeId.value, singleNodeRobotId.value);
+  const selectedRobotId = nodeAction.value === "SYSTEM_EXECUTE_ACTION_QUEUE"
+    ? actionQueueSingleRunRef.value?.getRobotId?.()
+    : singleNodeRobotId.value;
+  if (!activeSingleNodeId.value || !selectedRobotId) return;
+  lastSingleNodeRobotId = selectedRobotId;
+  singleNodeRobotCache.set(activeSingleNodeId.value, selectedRobotId);
 };
 
 watch(visible, (value) => {
@@ -1186,6 +1200,12 @@ const singleNodeExecution = async (e) => {
   stationLoading.value = false;
   if (effectiveNodeType === "EDGE") {
     await loadSingleNodeRobots();
+    const cachedRobotId = singleNodeRobotCache.get(activeSingleNodeId.value) || lastSingleNodeRobotId;
+    if (normalizedAction === "SYSTEM_EXECUTE_ACTION_QUEUE") {
+      formData.nodeParams = executionParams;
+      singleNodeInitialRobotId.value = cachedRobotId || "";
+      return;
+    }
     const routingParams = [
       {
         disabled: true,
@@ -1207,7 +1227,6 @@ const singleNodeExecution = async (e) => {
       });
     }
     formData.nodeParams = [...routingParams, ...executionParams];
-    const cachedRobotId = singleNodeRobotCache.get(activeSingleNodeId.value) || lastSingleNodeRobotId;
     if (cachedRobotId) {
       formData.nodeParams[0].input = cachedRobotId;
       await handleSingleNodeRobotChange(cachedRobotId);
@@ -1228,6 +1247,21 @@ const singleNodeExecution = async (e) => {
  * 执行 execute 对应的数据或交互；作用范围仅限当前组件或模块。
  */
 const execute = async () => {
+  if (nodeAction.value === "SYSTEM_EXECUTE_ACTION_QUEUE") {
+    if (!actionQueueSingleRunRef.value?.validate?.()) return;
+    rememberSingleNodeRobot();
+    singleNodeExecuting.value = true;
+    try {
+      const res = await flowAction({ action: nodeAction.value, payload: actionQueueSingleRunRef.value.getPayload() });
+      if (res.code === 200) ElMessage.success("执行成功");
+      else ElMessage.error(res.msg);
+    } catch (error) {
+      console.error("动作队列单节点执行失败:", error);
+    } finally {
+      singleNodeExecuting.value = false;
+    }
+    return;
+  }
   if (nodeAction.value === "AGV_MOVE_TO_STATION") {
     const stationParam = formData.nodeParams.find((item) => item.name === "stationId");
     const validStation = stationParam?.selectOptions?.some((item) => item.value === stationParam.input);
diff --git a/src/views/flow/nodes/function/actionQueue.vue b/src/views/flow/nodes/function/actionQueue.vue
new file mode 100644
index 0000000..c711e3b
--- /dev/null
+++ b/src/views/flow/nodes/function/actionQueue.vue
@@ -0,0 +1,25 @@
+<template>
+  <div class="action-queue-node">
+    <ServiceNode ref="serviceNodeRef" v-bind="props" @content-change="$emit('contentChange')" />
+    <div class="action-queue-node__summary">{{ stepCount }} 个步骤</div>
+  </div>
+</template>
+
+<script setup>
+import { computed, ref } from 'vue'
+import ServiceNode from '../common/serviceNode.vue'
+
+const props = defineProps({ model: Object, properties: Object })
+defineEmits(['contentChange'])
+const serviceNodeRef = ref()
+const stepCount = computed(() => {
+  const steps = props.properties?.nodeParams?.find((item) => item.name === 'steps')?.input
+  return Array.isArray(steps) ? steps.length : 0
+})
+const closePopover = () => serviceNodeRef.value?.closePopover?.()
+defineExpose({ closePopover })
+</script>
+
+<style scoped>
+.action-queue-node__summary { margin-top: 7px; color: #667085; font-size: 11px; line-height: 16px; }
+</style>
diff --git a/src/views/flow/vue-flow/FlowNode.vue b/src/views/flow/vue-flow/FlowNode.vue
index dcadb0f..df7b186 100644
--- a/src/views/flow/vue-flow/FlowNode.vue
+++ b/src/views/flow/vue-flow/FlowNode.vue
@@ -80,6 +80,7 @@ import CurrentLoopNode from "../nodes/function/currentLoop.vue";
 import SdAgentNode from "../nodes/function/sdAgent.vue";
 import RecognizeNode from "../nodes/function/recognize.vue";
 import DeviceUniversal from "../nodes/function/deviceUniversal.vue";
+import ActionQueue from "../nodes/function/actionQueue.vue";
 
 const props = defineProps({
   id: String,
@@ -106,6 +107,7 @@ const componentMap = {
   recognize: RecognizeNode,
   deviceUniversal: DeviceUniversal,
   device_universal: DeviceUniversal,
+  actionQueue: ActionQueue,
 };
 
 const flowStore = useFlowStore();
@@ -120,6 +122,8 @@ const executionLabel = computed(() => {
   const start = graph?.nodes?.find((node) => node.type === "start");
   const role = start?.properties?.resourceRoles?.find((item) => item.roleKey === roleKey);
   if (!role) return "未配置机器人角色";
+  const bindings = properties.value.executionTarget?.deviceBindings || [];
+  if (bindings.length > 1) return `${role.displayName} · ${bindings.length} 个设备用途`;
   const slotKey = properties.value.executionTarget?.deviceSlotKey
     || properties.value.executionTarget?.deviceBindings?.[0]?.slotKey;
   const slot = role.deviceSlots?.find((item) => item.slotKey === slotKey);