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zhmes-agecal
Commit fc64ceb4 authored by wanghao's avatar wanghao
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1 上料支持 手动 和 自动

parent 1e2e8666
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Showing with 1628 additions and 10 deletions
zhmes-agecal-admin/src/main/java/com/zehong/web/controller/equipment/RobotArmCommandController.java
View file @ fc64ceb4
......@@ -89,6 +89,14 @@ public class RobotArmCommandController extends BaseController
return AjaxResult.success("发送成功");
}
/**
* 发送指令
*/
@PostMapping("/addManualCommand")
public AjaxResult addManualCommand(@RequestBody RobotArmCommand robotArmCommand) {
return toAjax(robotArmCommandService.addManualCommand(robotArmCommand));
}
/**
* 新增机械臂指令
*/
......
zhmes-agecal-system/src/main/java/com/zehong/system/service/IRobotArmCommandService.java
View file @ fc64ceb4
......@@ -43,6 +43,14 @@ public interface IRobotArmCommandService
*/
public int insertRobotArmCommand(RobotArmCommand robotArmCommand);
/**
* 新增机械臂指令-手动模式
*
* @param robotArmCommand 机械臂指令
* @return 结果
*/
public int addManualCommand(RobotArmCommand robotArmCommand);
public void powerOnCommand(Long commandId);
/**
......
zhmes-agecal-system/src/main/java/com/zehong/system/service/impl/RobotArmCommandServiceImpl.java
View file @ fc64ceb4
......@@ -446,6 +446,56 @@ public class RobotArmCommandServiceImpl implements IRobotArmCommandService
return robotArmCommandMapper.insertRobotArmCommand(robotArmCommand);
}
@Override
@Transactional
public int addManualCommand(RobotArmCommand robotArmCommand) {
robotArmCommand.setCreateTime(DateUtils.getNowDate());
if(StringUtils.isBlank(robotArmCommand.getTrayCode()) || StringUtils.isBlank(robotArmCommand.getStoreyCode())) {
throw new RuntimeException("托盘编号和层编号不能为空");
}
TTrayInfo tTrayInfo = tTrayInfoMapper.selectTTrayInfoByCode(robotArmCommand.getTrayCode());
if(tTrayInfo == null) {
throw new RuntimeException("托盘不存在");
}
// 看看 此托盘绑定了数据了吗？
int i1 = palletDeviceBindingMapper.countByTrayId(tTrayInfo.getfTrayId());
if(i1 == 0) {
throw new RuntimeException("托盘未绑定设备");
}
// 20251104 上料 不需要看托盘状态了
// 20251210 上料 又需要看托盘状态了
if(!"4".equals(tTrayInfo.getfStatus())) {
throw new RuntimeException("托盘状态异常，请联系管理员");
}
TStoreyInfo tStoreyInfo = storeyInfoMapper.selectTStoreyInfoByCode(robotArmCommand.getStoreyCode());
if(tStoreyInfo == null) {
throw new RuntimeException("层不存在");
}
robotArmCommand.setStatus("1");
robotArmCommand.setStoreyCode(tStoreyInfo.getfStoreyCode());
robotArmCommand.setCommand(tStoreyInfo.getFeedingCommand());
tTrayInfo.setfStoreyCode(tStoreyInfo.getfStoreyCode());
tTrayInfo.setfBindingTime(new Date());
tTrayInfoMapper.updateTTrayInfo(tTrayInfo);
tStoreyInfo.setfStatus("1");
storeyInfoMapper.updateStatusByCode(tStoreyInfo);
// 20260108 新加的把绑定层编号设置到实时数据上
palletDeviceBindingMapper.updateStoreCodeByTrayId(tTrayInfo.getfTrayId(), tStoreyInfo.getfStoreyCode());
int i = robotArmCommandMapper.insertRobotArmCommand(robotArmCommand);
notifyCommandsUpdate();
return i;
}
/**
* 新增机械臂指令
*
......
zhmes-agecal-web/src/api/robotArm/robotArmCommand.js
View file @ fc64ceb4
......@@ -26,6 +26,14 @@ export function addCommand(data) {
})
}
export function addManualCommand(data) {
return request({
url: '/robotArm/command/addManualCommand',
method: 'post',
data: data
})
}
// 新增机械臂指令
export function insertBlankingRobotArmCommand(data) {
return request({
......
zhmes-agecal-web/src/views/screen/components/ManualAutoSwitchRoboticArm.vue 0 → 100644
View file @ fc64ceb4
<template>
<div class="robotic-arm-panel">
<!-- 标题区域 -->
<div class="panel-title">
<!-- 左侧标题+状态指示灯组合 -->
<div class="title-with-status">
<div class="title-left">
<div class="title-text">机械臂</div>
<div class="title-line"></div>
</div>
<!-- 状态指示灯：紧挨着标题文字右侧 -->
<div class="status-indicator">
<div class="status-light" :class="statusClass"></div>
<div class="status-text">{{ statusText }}</div>
</div>
</div>
<!-- 上料按钮 -->
<div class="title-right">
<button class="add-button" @click="openAddModeDialog">
<i class="el-icon-plus"></i> 上料
</button>
<button class="home-button" @click="handleHome">
<i class="el-icon-refresh"></i> 回零
</button>
<button class="stop-button" @click="handleStop">
<i class="el-icon-circle-close"></i> 停止
</button>
</div>
</div>
<!-- 上料模式选择对话框 -->
<div class="dialog-mask" v-if="showModeDialog" @click.self="closeModeDialog">
<div class="dialog-container mode-dialog">
<div class="dialog-header">选择上料模式</div>
<div class="dialog-body">
<div class="dialog-content">
<div class="mode-selection">
<div class="mode-option" @click="selectMode('auto')">
<div class="mode-icon">
<i class="el-icon-video-play"></i>
</div>
<div class="mode-title">自动模式</div>
<div class="mode-desc">系统自动分配位置</div>
</div>
<div class="mode-option" @click="selectMode('manual')">
<div class="mode-icon">
<i class="el-icon-s-operation"></i>
</div>
<div class="mode-title">手动模式</div>
<div class="mode-desc">手动指定层编号</div>
</div>
</div>
</div>
</div>
<div class="dialog-footer">
<button class="cancel-button" @click="closeModeDialog">取消</button>
</div>
</div>
</div>
<!-- 自动模式上料对话框 -->
<div class="dialog-mask" v-if="showAutoAddDialog" @click.self="closeAutoDialog">
<div class="dialog-container">
<div class="dialog-header">自动上料</div>
<div class="dialog-body">
<div class="dialog-content">
<div class="scan-prompt">请扫描托盘二维码</div>
<div class="mode-indicator">自动模式 - 系统自动分配位置</div>
<div class="scan-input">
<input
type="text"
v-model="trayCode"
placeholder="手动输入或扫码"
ref="trayInput"
@keyup.enter="confirmAutoAdd"
>
</div>
</div>
</div>
<div class="dialog-footer">
<button class="cancel-button" @click="closeAutoDialog">取消</button>
<button class="confirm-button" @click="confirmAutoAdd">确定</button>
</div>
</div>
</div>
<!-- 手动模式上料对话框 -->
<div class="dialog-mask" v-if="showManualAddDialog" @click.self="closeManualDialog">
<div class="dialog-container">
<div class="dialog-header">手动上料</div>
<div class="dialog-body">
<div class="dialog-content">
<div class="scan-prompt">请输入上料信息</div>
<div class="mode-indicator">手动模式 - 需要指定层编号</div>
<div class="manual-inputs">
<div class="input-group">
<label for="trayCode">托盘编号:</label>
<input
id="trayCode"
type="text"
v-model="manualTrayCode"
placeholder="输入托盘编号"
ref="manualTrayInput"
>
</div>
<div class="input-group">
<label for="storeyCode">层编号:</label>
<input
id="storeyCode"
type="text"
v-model="storeyCode"
placeholder="输入层编号(如: A01, B02)"
>
</div>
</div>
</div>
</div>
<div class="dialog-footer">
<button class="cancel-button" @click="closeManualDialog">取消</button>
<button class="confirm-button" @click="confirmManualAdd">确定</button>
</div>
</div>
</div>
<!-- 主内容区：指令区+机械臂 -->
<div class="main-content">
<!-- 左侧：待上料指令 -->
<div class="loading-command">
<div class="command-title">待上料指令</div>
<div class="command-list">
<div
v-for="(cmd, index) in loadingCommands"
:key="index"
class="command-item"
:class="getCommandStatusClass(cmd.status)"
@click="handleCommandClick(cmd)"
>
<div class="cmd-info">
<div class="cmd-tray">托盘: {{ cmd.trayCode }}</div>
<div class="cmd-position">位置: {{ cmd.position }}</div>
<div class="cmd-status">状态: {{ getStatusText(cmd.status) }}</div>
</div>
</div>
</div>
</div>
<!-- 中间：机械臂主体 -->
<div class="arm-center-wrapper">
<!-- 优先级控制区域 -->
<div class="priority-control">
<div class="priority-display">{{ priorityDisplayText }}</div>
<button class="priority-toggle-btn" @click="togglePriority">
点击切换
</button>
</div>
<div class="robotic-arm-container">
<div class="robotic-arm">
<!-- 机械臂各部件 -->
<div class="arm-base">
<div class="base-top"></div>
<div class="base-bottom"></div>
</div>
<div class="arm-joint joint-1">
<div class="joint-body"></div>
</div>
<div class="arm-segment segment-1">
<div class="segment-body"></div>
</div>
<div class="arm-joint joint-2">
<div class="joint-body"></div>
</div>
<div class="arm-segment segment-2">
<div class="segment-body"></div>
</div>
<div class="arm-gripper">
<div class="gripper-left"></div>
<div class="gripper-right"></div>
</div>
</div>
</div>
</div>
<!-- 右侧：待下料指令 -->
<div class="unloading-command">
<div class="command-title">待下料指令</div>
<div class="command-list">
<div
v-for="(cmd, index) in unloadingCommands"
:key="index"
class="command-item"
:class="getCommandStatusClass(cmd.status)"
@click="handleCommandClick(cmd)"
>
<div class="cmd-info">
<div class="cmd-tray">托盘: {{ cmd.trayCode }}</div>
<div class="cmd-position">位置: {{ cmd.position }}</div>
<div class="cmd-status">状态: {{ getStatusText(cmd.status) }}</div>
</div>
</div>
</div>
</div>
</div>
<!-- 上电对话框 -->
<div class="dialog-mask" v-if="showPowerOnDialog" @click.self="closePowerOnDialog">
<div class="dialog-container">
<div class="dialog-header">上电操作</div>
<div class="dialog-body">
<div class="dialog-content">
<div class="scan-prompt">确认对以下托盘执行上电操作？</div>
<div class="power-on-info">
<div><span class="label">托盘编号:</span> {{ selectedCommand.trayCode }}</div>
<div><span class="label">位置:</span> {{ selectedCommand.position }}</div>
</div>
</div>
</div>
<div class="dialog-footer">
<button class="cancel-button" @click="closePowerOnDialog">取消</button>
<button class="confirm-button" @click="confirmPowerOn">确认上电</button>
</div>
</div>
</div>
<!-- 确认执行完成对话框 -->
<div class="dialog-mask" v-if="showSureCompleteDialog" @click.self="closePowerOnDialog">
<div class="dialog-container">
<div class="dialog-header">确认执行完成</div>
<div class="dialog-body">
<div class="dialog-content">
<div class="scan-prompt">确认此条指令执行完成？</div>
<div class="power-on-info">
<div><span class="label">托盘编号:</span> {{ selectedCommand.trayCode }}</div>
<div><span class="label">位置:</span> {{ selectedCommand.position }}</div>
</div>
</div>
</div>
<div class="dialog-footer">
<button class="cancel-button" @click="closeSureCompleteDialog">取消</button>
<button class="confirm-button" @click="confirmSureComplete">确认完成</button>
</div>
</div>
</div>
</div>
</template>
<script>
import {addCommand, powerOnCommand, sendHomeCommand, sendStopCommand, sureCompletedCommand, updateInstructionExecutionPriority, addManualCommand} from "@/api/robotArm/robotArmCommand"
export default {
name: 'RoboticArm',
data() {
return {
status: 'idle', // idle, running, error
// 对话框状态
showModeDialog: false,
showAutoAddDialog: false,
showManualAddDialog: false,
// 自动模式数据
trayCode: '',
// 手动模式数据
manualTrayCode: '',
storeyCode: '',
trayType: '0', // 0: 上料托盘, 1: 下料托盘
loadingCommands: [],
unloadingCommands: [],
websocket: null,
reconnectInterval: null,
showPowerOnDialog: false,
showSureCompleteDialog: false,
selectedCommand: null,
priority: 'loading' // loading: 上料优先, unloading: 下料优先
};
},
computed: {
statusClass() {
return {
'idle': this.status === 'idle',
'running': this.status === 'running',
'error': this.status === 'error',
'unknown': this.status === 'unknown'
};
},
statusText() {
return {
'idle': '空闲中',
'running': '运行中',
'error': '故障',
'unknown': '未知'
}[this.status];
},
priorityDisplayText() {
return this.priority === 'loading' ? '上料优先中' : '下料优先中';
},
priorityToggleText() {
return this.priority === 'loading' ? '下料优先' : '上料优先';
}
},
mounted() {
this.initWebSocket();
},
beforeDestroy() {
this.disconnectWebSocket();
},
watch: {
showAutoAddDialog(val) {
if (val) {
this.$nextTick(() => {
this.$refs.trayInput.focus();
});
} else {
this.trayCode = '';
}
},
showManualAddDialog(val) {
if (val) {
this.$nextTick(() => {
this.$refs.manualTrayInput.focus();
});
} else {
this.manualTrayCode = '';
this.storeyCode = '';
this.trayType = '0';
}
}
},
methods: {
// 打开上料模式选择对话框
openAddModeDialog() {
this.showModeDialog = true;
},
// 关闭模式选择对话框
closeModeDialog() {
this.showModeDialog = false;
},
// 选择模式
selectMode(mode) {
this.showModeDialog = false;
if (mode === 'auto') {
this.showAutoAddDialog = true;
} else {
this.showManualAddDialog = true;
}
},
// 关闭自动模式对话框
closeAutoDialog() {
this.showAutoAddDialog = false;
this.trayCode = '';
},
// 关闭手动模式对话框
closeManualDialog() {
this.showManualAddDialog = false;
this.manualTrayCode = '';
this.storeyCode = '';
this.trayType = '0';
},
// 确认自动模式上料
confirmAutoAdd() {
if (!this.trayCode.trim()) {
this.$message.warning('请输入托盘编号');
return;
}
const robotArmCommand = {
trayCode: this.trayCode,
storeyCode: '待分配位置',
type: '0'
};
addCommand(robotArmCommand).then(res => {
if(res.code === 200) {
this.$message.success("添加成功");
this.closeAutoDialog();
} else {
this.$message.error("添加失败");
}
}).catch(err => {
this.$message.error("添加失败");
});
},
// 确认手动模式上料
confirmManualAdd() {
if (!this.manualTrayCode.trim()) {
this.$message.warning('请输入托盘编号');
return;
}
if (!this.storeyCode.trim()) {
this.$message.warning('请输入层编号');
return;
}
const robotArmCommand = {
trayCode: this.manualTrayCode,
storeyCode: this.storeyCode
};
addManualCommand(robotArmCommand).then(res => {
if(res.code === 200) {
this.$message.success("手动添加成功");
this.closeManualDialog();
}
})
},
initWebSocket() {
// 从环境变量获取基础URL，默认使用Nginx代理地址
const backendUrl = process.env.VUE_APP_API_BASE_URL || 'http://192.168.0.100:8087';
// 根据需要切换不同的WebSocket端点
const wsPath = '/agecal/ws-robot-arm'; // 或 '/agecal/ws-aging-cabinet'
// 替换协议并添加完整路径
const wsUrl = backendUrl.replace('http', 'ws') + wsPath;
try {
this.websocket = new WebSocket(wsUrl);
this.websocket.onopen = () => {
console.log('机械臂指令WebSocket连接成功');
this.status = 'idle';
this.sendWebSocketMessage({ type: 'request', commands: ['loading', 'unloading'] });
};
this.websocket.onmessage = (event) => {
try {
const message = JSON.parse(event.data);
if (message.type === 'loading') {
this.loadingCommands = message.data.map(cmd => ({
robotArmCommandId: cmd.robotArmCommandId,
trayCode: cmd.trayCode,
position: cmd.storeyCode,
status: cmd.status || '0' // 默认待执行状态
}));
}
else if (message.type === 'unloading') {
this.unloadingCommands = message.data.map(cmd => ({
robotArmCommandId: cmd.robotArmCommandId,
trayCode: cmd.trayCode,
position: cmd.storeyCode,
status: cmd.status || '0' // 默认待执行状态
}));
}
// 新增：处理状态更新消息
else if (message.type === 'status') {
this.status = message.data; // 更新机械臂状态
}
} catch (e) {
console.error('解析WebSocket消息失败:', e);
}
};
this.websocket.onerror = (error) => {
console.error('WebSocket错误:', error);
this.status = 'error';
this.scheduleReconnect();
};
this.websocket.onclose = () => {
console.log('WebSocket连接关闭');
this.scheduleReconnect();
};
} catch (e) {
console.error('创建WebSocket失败:', e);
this.scheduleReconnect();
}
},
sendWebSocketMessage(message) {
if (this.websocket && this.websocket.readyState === WebSocket.OPEN) {
this.websocket.send(JSON.stringify(message));
}
},
scheduleReconnect() {
if (this.reconnectInterval) clearInterval(this.reconnectInterval);
this.reconnectInterval = setInterval(() => {
if (!this.websocket || this.websocket.readyState !== WebSocket.OPEN) {
console.log('尝试重新连接WebSocket...');
this.disconnectWebSocket();
this.initWebSocket();
}
}, 5000);
},
disconnectWebSocket() {
if (this.websocket) {
try {
this.websocket.close();
} catch (e) {
console.error('关闭WebSocket时出错:', e);
}
}
if (this.reconnectInterval) {
clearInterval(this.reconnectInterval);
this.reconnectInterval = null;
}
this.websocket = null;
},
// 回零
handleHome() {
sendHomeCommand().then( response => {
this.$message.success("已发送");
})
},
// 停止
handleStop() {
sendStopCommand().then( response => {
this.$message.success("已发送");
})
},
// 更新状态文本映射
getStatusText(status) {
const statusMap = {
'0': '待分配位置',
'1': '待执行',
'2': '执行中',
'3': '未上电',
'4': '执行结束'
};
return statusMap[status] || '未知状态';
},
// 更新状态样式类映射
getCommandStatusClass(status) {
return {
'status-0': status == '0', // 待分配位置
'status-1': status == '1', // 待执行
'status-2': status == '2', // 执行中
'status-3': status == '3', // 未上电
'status-4': status == '4' // 执行结束
};
},
handleCommandClick(cmd) {
// 只有未上电状态的指令才可点击
if (cmd.status === '3') {
this.selectedCommand = cmd;
this.showPowerOnDialog = true;
} else if(cmd.status === '2') {
this.selectedCommand = cmd;
this.showSureCompleteDialog = true;
}
},
closeSureCompleteDialog() {
this.showSureCompleteDialog = false;
this.selectedCommand = null;
},
closePowerOnDialog() {
this.showPowerOnDialog = false;
this.selectedCommand = null;
},
confirmSureComplete() {
if (!this.selectedCommand) return;
sureCompletedCommand(this.selectedCommand.robotArmCommandId).then(res => {
if(res.code === 200) {
this.$message.success("确认完成成功");
this.closeSureCompleteDialog();
} else {
this.$message.error("确认完成失败");
}
}).catch(err => {
this.$message.error("确认完成失败");
})
},
confirmPowerOn() {
if (!this.selectedCommand) return;
powerOnCommand(this.selectedCommand.robotArmCommandId).then(res => {
if(res.code === 200) {
this.$message.success("上电操作成功");
this.closePowerOnDialog();
} else {
this.$message.error("上电操作失败");
}
}).catch(err => {
this.$message.error("上电操作失败");
});
},
// 切换优先级
togglePriority() {
this.priority = this.priority === 'loading' ? 'unloading' : 'loading';
updateInstructionExecutionPriority(this.priority).then(res => {
if(res.code === 200) {
this.$message.success("优先级设置成功");
} else {
this.$message.error("优先级设置失败");
}
})
// 这里可以添加发送优先级设置到后端的逻辑
console.log(`优先级已切换为: ${this.priorityDisplayText} : this.priority:${this.priority}` );
},
// 消息提示方法
msgSuccess(msg) {
this.$message.success(msg);
},
msgError(msg) {
this.$message.error(msg);
}
}
};
</script>
<style scoped>
/* 标题区域样式 */
.panel-title {
position: absolute;
top: 20px;
left: 20px;
right: 20px;
z-index: 20;
display: flex;
align-items: center;
justify-content: space-between; /* 标题组合居左，按钮居右 */
margin-bottom: 25px;
padding-bottom: 15px;
border-bottom: 1px solid rgba(64, 158, 255, 0.3);
}
/* 标题+状态指示灯组合容器：水平排列 */
.title-with-status {
display: flex;
align-items: center; /* 垂直居中对齐 */
gap: 5px; /* 标题与状态指示灯之间的间距 */
}
.title-left {
display: flex;
flex-direction: column;
}
.title-text {
font-size: 20px;
font-weight: bold;
color: #ffffff;
letter-spacing: 1px;
text-shadow: 0 0 10px rgba(64, 158, 255, 0.5);
}
.title-line {
height: 3px;
width: 70px;
background: linear-gradient(to right, #409EFF, transparent);
margin-top: 8px;
border-radius: 2px;
}
/* 状态指示灯：紧挨着标题文字右侧 */
.status-indicator {
display: flex;
align-items: center;
padding: 6px 12px;
background: rgba(0, 30, 60, 0.4);
border-radius: 20px;
border: 1px solid rgba(64, 158, 255, 0.3);
margin: 0; /* 清除原有margin */
}
.status-light {
width: 12px;
height: 12px;
border-radius: 50%;
margin-right: 8px;
box-shadow: 0 0 6px currentColor;
}
.status-light.idle {
background-color: #64ffaa;
color: #64ffaa;
}
.status-light.running {
background-color: #409EFF;
color: #409EFF;
animation: pulse 1.5s infinite;
}
.status-light.error {
background-color: #ff4d4f;
color: #ff4d4f;
animation: blink 1s infinite;
}
/* 添加未知状态样式 */
.status-light.unknown {
background-color: #a0a0a0;
color: #a0a0a0;
animation: blink-gray 1s infinite;
}
@keyframes blink-gray {
0%, 100% { opacity: 0.6; }
50% { opacity: 1; }
}
.status-text {
font-size: 14px;
font-weight: bold;
color: #64c8ff;
}
.title-right {
display: flex;
align-items: center;
}
/* 回零按钮样式 */
.home-button {
background: linear-gradient(to right, #67C23A, #85ce61);
color: white;
border: none;
padding: 8px 16px;
border-radius: 4px;
cursor: pointer;
font-size: 14px;
font-weight: bold;
display: flex;
align-items: center;
box-shadow: 0 2px 6px rgba(0, 0, 0, 0.3);
transition: all 0.3s;
margin-left: 10px; /* 与其他按钮保持间距 */
}
.home-button:hover {
background: linear-gradient(to right, #85ce61, #67C23A);
transform: translateY(-2px);
box-shadow: 0 4px 8px rgba(0, 0, 0, 0.4);
}
.home-button i {
margin-right: 5px;
}
/* 停止按钮样式 */
.stop-button {
background: linear-gradient(to right, #F56C6C, #f78989);
color: white;
border: none;
padding: 8px 16px;
border-radius: 4px;
cursor: pointer;
font-size: 14px;
font-weight: bold;
display: flex;
align-items: center;
box-shadow: 0 2px 6px rgba(0, 0, 0, 0.3);
transition: all 0.3s;
margin-left: 10px; /* 与其他按钮保持间距 */
}
.stop-button:hover {
background: linear-gradient(to right, #f78989, #F56C6C);
transform: translateY(-2px);
box-shadow: 0 4px 8px rgba(0, 0, 0, 0.4);
}
.stop-button i {
margin-right: 5px;
}
.add-button {
background: linear-gradient(to right, #409EFF, #64c8ff);
color: white;
border: none;
padding: 8px 16px;
border-radius: 4px;
cursor: pointer;
font-size: 14px;
font-weight: bold;
display: flex;
align-items: center;
box-shadow: 0 2px 6px rgba(0, 0, 0, 0.3);
transition: all 0.3s;
}
.add-button:hover {
background: linear-gradient(to right, #64c8ff, #409EFF);
transform: translateY(-2px);
box-shadow: 0 4px 8px rgba(0, 0, 0, 0.4);
}
.add-button i {
margin-right: 5px;
}
/* 模式选择对话框样式 */
.mode-dialog {
width: 450px;
}
.mode-selection {
display: flex;
gap: 20px;
margin-top: 10px;
}
.mode-option {
flex: 1;
background: rgba(0, 40, 80, 0.3);
border: 1px solid rgba(64, 158, 255, 0.3);
border-radius: 8px;
padding: 20px;
text-align: center;
cursor: pointer;
transition: all 0.3s;
}
.mode-option:hover {
background: rgba(0, 60, 120, 0.4);
border-color: rgba(64, 158, 255, 0.6);
transform: translateY(-3px);
box-shadow: 0 5px 15px rgba(0, 0, 0, 0.2);
}
.mode-icon {
font-size: 32px;
color: #64c8ff;
margin-bottom: 10px;
}
.mode-title {
font-size: 16px;
font-weight: bold;
color: #ffffff;
margin-bottom: 5px;
}
.mode-desc {
font-size: 12px;
color: #a0d2ff;
}
/* 对话框样式 */
.dialog-mask {
position: fixed;
top: 0;
left: 0;
right: 0;
bottom: 0;
background-color: rgba(0, 0, 0, 0.6);
display: flex;
align-items: center;
justify-content: center;
z-index: 1000;
}
.dialog-container {
width: 400px;
background: linear-gradient(145deg, #1a2a3a, #0f1c2a);
border-radius: 10px;
border: 1px solid rgba(64, 158, 255, 0.4);
box-shadow: 0 5px 20px rgba(0, 0, 0, 0.7);
overflow: hidden;
}
.dialog-header {
padding: 16px 20px;
background: rgba(0, 30, 60, 0.8);
border-bottom: 1px solid rgba(64, 158, 255, 0.3);
font-size: 18px;
font-weight: bold;
color: #64c8ff;
text-align: center;
}
.dialog-body {
padding: 30px 20px;
}
.dialog-content {
text-align: center;
}
.scan-prompt {
font-size: 18px;
color: #a0d2ff;
margin-bottom: 10px;
}
.mode-indicator {
font-size: 14px;
color: #409EFF;
margin-bottom: 20px;
padding: 5px 10px;
background: rgba(64, 158, 255, 0.1);
border-radius: 4px;
display: inline-block;
}
.scan-input input {
width: 100%;
padding: 12px 15px;
background: rgba(0, 20, 40, 0.6);
border: 1px solid rgba(64, 158, 255, 0.5);
border-radius: 6px;
color: white;
font-size: 16px;
outline: none;
transition: all 0.3s;
}
.scan-input input:focus {
border-color: #409EFF;
box-shadow: 0 0 10px rgba(64, 158, 255, 0.5);
}
/* 手动模式输入框组样式 */
.manual-inputs {
margin-top: 20px;
}
.input-group {
margin-bottom: 15px;
text-align: left;
}
.input-group label {
display: block;
color: #a0d2ff;
margin-bottom: 5px;
font-size: 14px;
}
.input-group input,
.input-group select {
width: 100%;
padding: 10px 15px;
background: rgba(0, 20, 40, 0.6);
border: 1px solid rgba(64, 158, 255, 0.5);
border-radius: 6px;
color: white;
font-size: 14px;
outline: none;
transition: all 0.3s;
box-sizing: border-box;
}
.input-group input:focus,
.input-group select:focus {
border-color: #409EFF;
box-shadow: 0 0 10px rgba(64, 158, 255, 0.5);
}
.input-group select option {
background: #1a2a3a;
color: white;
}
.dialog-footer {
padding: 15px 20px;
display: flex;
justify-content: flex-end;
background: rgba(0, 20, 40, 0.5);
border-top: 1px solid rgba(64, 158, 255, 0.3);
}
.cancel-button, .confirm-button {
padding: 8px 20px;
border-radius: 4px;
font-size: 14px;
font-weight: bold;
cursor: pointer;
transition: all 0.3s;
margin-left: 10px;
}
.cancel-button {
background: rgba(100, 100, 100, 0.4);
color: #a0d2ff;
border: 1px solid rgba(100, 150, 255, 0.3);
}
.cancel-button:hover {
background: rgba(120, 120, 120, 0.5);
border-color: rgba(100, 150, 255, 0.5);
}
.confirm-button {
background: linear-gradient(to right, #409EFF, #64c8ff);
color: white;
border: none;
}
.confirm-button:hover {
background: linear-gradient(to right, #64c8ff, #409EFF);
transform: translateY(-2px);
box-shadow: 0 4px 8px rgba(0, 0, 0, 0.3);
}
/* 外层容器 */
.robotic-arm-panel {
width: 100%;
height: 100%;
min-height: 100%;
background: rgba(10, 20, 40, 0.85);
border-radius: 12px;
padding: 20px;
display: flex;
flex-direction: column;
border: 1px solid rgba(64, 158, 255, 0.3);
box-shadow: 0 0 20px rgba(0, 50, 120, 0.3);
box-sizing: border-box;
overflow: hidden;
position: relative;
}
/* 主内容区 */
.main-content {
display: flex;
flex: 1;
gap: 15px;
min-height: 0;
overflow: hidden;
margin-top: 60px; /* 为标题区域留出空间 */
}
.arm-center-wrapper {
flex: 1;
min-width: 0;
display: flex;
flex-direction: column;
justify-content: flex-start;
align-items: center;
padding: 10px 0;
}
/* 优先级控制区域样式 */
.priority-control {
display: flex;
flex-direction: column;
align-items: center;
margin-bottom: 20px;
padding: 12px 20px;
min-width: 200px;
}
.priority-display {
font-size: 16px;
font-weight: bold;
color: #64c8ff;
margin-bottom: 8px;
text-align: center;
}
.priority-toggle-btn {
background: linear-gradient(to right, #409EFF, #64c8ff);
color: white;
border: none;
padding: 6px 16px;
border-radius: 4px;
cursor: pointer;
font-size: 14px;
font-weight: bold;
transition: all 0.3s;
box-shadow: 0 2px 6px rgba(0, 0, 0, 0.3);
}
.priority-toggle-btn:hover {
background: linear-gradient(to right, #64c8ff, #409EFF);
transform: translateY(-2px);
box-shadow: 0 4px 8px rgba(0, 0, 0, 0.4);
}
.robotic-arm-container {
width: 100%;
height: 100%;
display: flex;
justify-content: center;
align-items: center;
min-height: 300px;
}
.robotic-arm {
position: relative;
width: 200px;
height: 330px;
transform: scale(0.9);
}
/* 指令区域 */
.loading-command, .unloading-command {
width: 160px;
min-width: 160px;
background: rgba(0, 30, 60, 0.4);
border-radius: 8px;
padding: 12px;
border: 1px solid rgba(64, 158, 255, 0.3);
display: flex;
flex-direction: column;
height: 100%;
box-sizing: border-box;
}
.command-title {
font-size: 15px;
font-weight: bold;
color: #64c8ff;
margin-bottom: 12px;
padding-bottom: 6px;
border-bottom: 1px solid rgba(100, 180, 255, 0.2);
}
.command-list {
flex: 1;
overflow-y: auto;
min-height: 0;
}
.command-list::-webkit-scrollbar {
width: 6px;
}
.command-list::-webkit-scrollbar-thumb {
background: rgba(64, 158, 255, 0.5);
border-radius: 3px;
}
.command-item {
padding: 8px;
margin-bottom: 8px;
background: rgba(0, 40, 80, 0.3);
border-radius: 6px;
transition: all 0.3s;
border: 1px solid transparent;
}
.command-item:hover {
border-color: rgba(100, 200, 255, 0.5);
transform: translateY(-2px);
box-shadow: 0 4px 8px rgba(0, 0, 0, 0.2);
}
.cmd-info {
width: 100%;
font-size: 13px;
}
.cmd-tray, .cmd-position {
margin-bottom: 4px;
color: #a0d2ff;
display: flex;
justify-content: space-between;
}
/* 机械臂各部件样式 */
.arm-base {
position: absolute;
bottom: 0;
left: 50%;
transform: translateX(-50%);
width: 80px;
height: 20px;
z-index: 10;
}
.base-top {
width: 100%;
height: 10px;
background: #3a506b;
border-radius: 5px 5px 0 0;
box-shadow: 0 0 10px rgba(0, 0, 0, 0.5);
}
.base-bottom {
width: 120%;
margin-left: -10%;
height: 10px;
background: #2c3e50;
border-radius: 0 0 8px 8px;
}
.arm-joint {
position: absolute;
width: 40px;
height: 40px;
border-radius: 50%;
background: linear-gradient(145deg, #1e2a3a, #2c3e50);
box-shadow: 0 0 10px rgba(0, 0, 0, 0.5);
display: flex;
justify-content: center;
align-items: center;
z-index: 9;
}
.joint-body {
width: 30px;
height: 30px;
border-radius: 50%;
background: #3a506b;
border: 2px solid #409EFF;
}
.joint-1 {
bottom: 20px;
left: 50%;
transform: translateX(-50%);
animation: rotateJoint1 8s infinite linear;
}
.arm-segment {
position: absolute;
background: #3a506b;
border: 1px solid rgba(64, 158, 255, 0.5);
box-shadow: 0 0 10px rgba(0, 0, 0, 0.3);
transform-origin: top center;
}
.segment-body {
height: 100%;
background: linear-gradient(to right, #2c3e50, #3a506b, #2c3e50);
border-left: 1px solid rgba(100, 200, 255, 0.3);
border-right: 1px solid rgba(100, 200, 255, 0.3);
}
.segment-1 {
width: 20px;
height: 120px;
bottom: 60px;
left: 50%;
transform: translateX(-50%);
z-index: 8;
animation: moveSegment1 8s infinite ease-in-out;
}
.joint-2 {
bottom: 180px;
left: 50%;
transform: translateX(-50%);
animation: rotateJoint2 8s infinite linear reverse;
}
.segment-2 {
width: 15px;
height: 100px;
bottom: 220px;
left: 50%;
transform: translateX(-50%);
z-index: 7;
animation: moveSegment2 8s infinite ease-in-out;
}
.arm-gripper {
position: absolute;
bottom: 320px;
left: 50%;
transform: translateX(-50%);
width: 40px;
height: 30px;
display: flex;
justify-content: space-between;
z-index: 6;
animation: moveGripper 8s infinite ease-in-out;
}
.gripper-left, .gripper-right {
width: 10px;
height: 30px;
background: #3a506b;
border: 1px solid rgba(64, 158, 255, 0.5);
border-radius: 5px;
}
.gripper-left {
transform: rotate(-15deg);
}
.gripper-right {
transform: rotate(15deg);
}
/* 动画效果 */
@keyframes rotateJoint1 {
0%, 100% { transform: translateX(-50%) rotate(0deg); }
25% { transform: translateX(-50%) rotate(45deg); }
50% { transform: translateX(-50%) rotate(0deg); }
75% { transform: translateX(-50%) rotate(-45deg); }
}
@keyframes rotateJoint2 {
0%, 100% { transform: translateX(-50%) rotate(0deg); }
25% { transform: translateX(-50%) rotate(30deg); }
50% { transform: translateX(-50%) rotate(0deg); }
75% { transform: translateX(-50%) rotate(-30deg); }
}
@keyframes moveSegment1 {
0%, 100% { height: 120px; }
50% { height: 140px; }
}
@keyframes moveSegment2 {
0%, 100% { height: 100px; }
50% { height: 80px; }
}
@keyframes moveGripper {
0%, 100% { transform: translateX(-50%); }
25% { transform: translateX(-60%); }
75% { transform: translateX(-40%); }
}
@keyframes pulse {
0% { opacity: 0.6; }
50% { opacity: 1; }
100% { opacity: 0.6; }
}
@keyframes blink {
0%, 100% { opacity: 1; }
50% { opacity: 0.3; }
}
/* 响应式调整 */
@media (max-width: 800px) {
.main-content {
flex-direction: column;
align-items: center;
gap: 15px;
overflow-y: auto;
}
.arm-center-wrapper {
width: 100%;
min-height: 350px;
order: -1; /* 在移动设备上将机械臂区域放在最上面 */
}
.loading-command, .unloading-command {
width: 90%;
max-width: 300px;
height: auto;
min-height: 200px;
}
/* 标题区域响应式调整 */
.title-with-status {
flex-direction: column; /* 小屏幕下标题和状态指示灯垂直排列 */
align-items: flex-start;
gap: 8px;
}
.title-text {
font-size: 20px;
}
.panel-title {
flex-wrap: wrap;
}
.title-right {
margin-top: 10px;
order: 3;
}
/* 模式选择对话框响应式 */
.mode-dialog {
width: 90%;
}
.mode-selection {
flex-direction: column;
}
}
@media (max-width: 500px) {
.robotic-arm {
transform: scale(0.8);
}
.command-title {
font-size: 14px;
}
.cmd-info {
font-size: 12px;
}
.title-text {
font-size: 18px;
}
.title-line {
width: 80px;
}
.dialog-container {
width: 90%;
}
/* 小屏幕下优先级控制区域调整 */
.priority-control {
padding: 8px 15px;
min-width: 180px;
}
.priority-display {
font-size: 14px;
}
.priority-toggle-btn {
padding: 5px 12px;
font-size: 12px;
}
}
@media (max-width: 300px) {
.robotic-arm {
transform: scale(0.7);
}
.loading-command, .unloading-command {
width: 100%;
min-width: auto;
}
}
/* 指令状态样式 */
.command-item.status-0 {
/* 待分配位置：紫蓝色调 */
background: rgba(50, 50, 100, 0.3);
border: 1px solid rgba(160, 160, 255, 0.5);
}
.command-item.status-1 {
/* 待执行：天蓝色调（保留原待执行样式基础） */
background: rgba(0, 40, 80, 0.3);
border: 1px solid rgba(100, 200, 255, 0.5);
}
.command-item.status-2 {
/* 执行中：青绿色调，带动态效果 */
background: rgba(0, 80, 40, 0.3);
border: 1px solid rgba(100, 255, 170, 0.5);
animation: pulse-green 1.5s infinite; /* 保持原执行中动画 */
}
.command-item.status-3 {
/* 未上电：红色调，带提醒效果 */
background: rgba(80, 0, 0, 0.3);
border: 1px solid rgba(255, 100, 100, 0.5);
cursor: pointer;
animation: blink-red 1s infinite; /* 保持原未上电动画 */
}
.command-item.status-4 {
/* 执行结束：灰色调，无动态效果 */
background: rgba(60, 60, 60, 0.3);
border: 1px solid rgba(180, 180, 180, 0.5);
}
/* 状态文本颜色 */
.status-0 .cmd-status {
color: #a0a0ff; /* 待分配位置文本色 */
}
.status-1 .cmd-status {
color: #64c8ff; /* 待执行文本色 */
}
.status-2 .cmd-status {
color: #64ffaa; /* 执行中文本色 */
}
.status-3 .cmd-status {
color: #ff6464; /* 未上电文本色 */
}
.status-4 .cmd-status {
color: #a0a0a0; /* 执行结束文本色 */
}
/* 状态文本样式 */
.cmd-status {
font-size: 12px;
margin-top: 4px;
font-weight: bold;
}
.status-executing .cmd-status {
color: #64ffaa;
}
.status-poweroff .cmd-status {
color: #ff6464;
}
.status-completed .cmd-status {
color: #a0a0a0;
}
/* 上电对话框样式 */
.power-on-info {
background: rgba(0, 20, 40, 0.4);
padding: 15px;
border-radius: 6px;
margin-top: 15px;
text-align: left;
}
.power-on-info div {
margin-bottom: 10px;
}
.power-on-info .label {
display: inline-block;
width: 80px;
color: #64c8ff;
font-weight: bold;
}
/* 新增动画 */
@keyframes pulse-green {
0% { opacity: 0.8; box-shadow: 0 0 5px rgba(100, 255, 180, 0.5); }
50% { opacity: 1; box-shadow: 0 0 15px rgba(100, 255, 180, 0.8); }
100% { opacity: 0.8; box-shadow: 0 0 5px rgba(100, 255, 180, 0.5); }
}
@keyframes blink-red {
0%, 100% { opacity: 0.8; }
50% { opacity: 0.5; }
}
/* 响应式调整 */
@media (max-width: 500px) {
.cmd-status {
font-size: 11px;
}
}
</style>
zhmes-agecal-web/src/views/screen/index.vue
View file @ fc64ceb4
......@@ -65,7 +65,7 @@ import RealTimeData from './components/RealTimeData'
import TrayBinding from "@/views/screen/components/TrayBinding";
import TrayInformation from "@/views/screen/components/TrayInformation";
import RoboticArm from './components/RoboticArm.vue';
import RoboticArm from './components/ManualAutoSwitchRoboticArm.vue';
export default {
components: {
AgingCabinetBoard,
......
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