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417 lines
23 KiB
417 lines
23 KiB
<script lang="ts" setup>
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import { socket } from 'libs/socket'
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import { cmdNameMap, formatDateTime } from 'libs/utils'
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import { useDebugStore } from 'stores/debugStore'
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import { useSystemStore } from 'stores/systemStore'
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import { onMounted, onUnmounted, ref } from 'vue'
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const systemStore = useSystemStore()
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const debugStore = useDebugStore()
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let currentCommandId = ''
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onMounted(() => {
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socket.init(receiveMessage, 'cmd_debug')
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socket.init(receiveMessage, 'cmd_response')
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})
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onUnmounted(() => {
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socket.unregisterCallback(receiveMessage, 'cmd_debug')
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socket.unregisterCallback(receiveMessage, 'cmd_response')
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})
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const receiveMessage = (data: Socket.cmdData) => {
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data.commandId === currentCommandId && systemStore.pushSystemList(data)
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if (['start', 'success', 'fail'].includes(data.status)) {
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const cmdName = cmdNameMap[data.command as keyof typeof cmdNameMap] || data.command
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systemStore.insertLog({ cmdName, status: data.status as System.SystemLog['status'], time: formatDateTime() })
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}
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}
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const savePositionVisible = ref(false)
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const commandHandle = async (command: string, params?: unknown) => {
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currentCommandId = Date.now().toString()
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const data = {
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commandId: currentCommandId,
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command,
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params,
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}
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await debugStore.sendControl(data)
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}
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</script>
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<template lang="pug">
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div.debug-content
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el-row.button-content
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el-col(:span="8")
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div.button-box
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ft-button(type="primary", :click-handle="() => commandHandle('enable_all_motor')")
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| 使能所有电机
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el-col(:span="8")
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div.button-box
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ft-button(type="primary", :click-handle="() => commandHandle('disable_all_motor')")
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| 失能所有电机
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el-col(:span="8")
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div.button-box
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ft-button(type="primary", :click-handle="() => commandHandle('stop_all_motor')")
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| 停止所有电机
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el-row(:gutter="10", class="card-content")
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el-col(:span="8")
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el-card
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template(#header)
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div.card-header
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span 转运模组
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el-divider 机械臂-大臂
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div.card-box
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el-form
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el-form-item(label="角度")
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el-input(v-model="debugStore.formData.transferModule.bigMotorData.relative.angle", type="number", placeholder="请输入角度")
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template(#append)
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| °
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el-form-item(label="速度")
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el-input(v-model="debugStore.formData.transferModule.bigMotorData.relative.speed", type="number", placeholder="请输入速度")
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template(#append)
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| rpm/min
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el-form-item(label="循环")
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el-input(v-model="debugStore.formData.transferModule.bigMotorData.relative.times", type="number", placeholder="请输入次数")
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template(#append)
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| 次
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el-form-item
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ft-button(size="small", type="primary", :click-handle="() => commandHandle('robotic_arm_big_move_by', { ...debugStore.formData.transferModule.bigMotorData.relative, angle: debugStore.formData.transferModule.bigMotorData.relative.angle })")
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| 右转
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ft-button(size="small", class="stop-button", :click-handle="() => commandHandle('robotic_arm_big_stop')")
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| 停止
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ft-button(size="small", type="primary", :click-handle="() => commandHandle('robotic_arm_big_move_by', { ...debugStore.formData.transferModule.bigMotorData.relative, angle: -(debugStore.formData.transferModule.bigMotorData.relative.angle ?? 0) })")
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| 左转
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ft-button(type="primary", size="small", :click-handle="() => commandHandle('robotic_arm_big_origin')")
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| 回原点
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ft-button(size="small", type="primary", :click-handle="() => commandHandle('robotic_arm_big_enable')")
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| 电机使能
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ft-button(size="small", :click-handle="() => commandHandle('robotic_arm_big_disable')")
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| 电机失能
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el-form-item(label="角度")
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el-input(v-model="debugStore.formData.transferModule.bigMotorData.absolute.angle", type="number", placeholder="请输入目标角度")
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template(#append)
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| °
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el-form-item(label="速度")
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el-input(v-model="debugStore.formData.transferModule.bigMotorData.absolute.speed", type="number", placeholder="请输入速度")
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template(#append)
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| rpm/min
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el-form-item
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ft-button(size="small", type="primary", :click-handle="() => commandHandle('robotic_arm_big_move_to', debugStore.formData.transferModule.bigMotorData.absolute)")
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| 开始
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ft-button(size="small", class="stop-button", :click-handle="() => commandHandle('robotic_arm_big_stop')")
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| 停止
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el-divider 机械臂-小臂
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div.card-box
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el-form
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el-form-item(label="角度")
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el-input(v-model="debugStore.formData.transferModule.smallMotorData.relative.angle", type="number", placeholder="请输入角度")
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template(#append)
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| °
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el-form-item(label="速度")
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el-input(v-model="debugStore.formData.transferModule.smallMotorData.relative.speed", type="number", placeholder="请输入速度")
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template(#append)
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| rpm/min
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el-form-item(label="循环")
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el-input(v-model="debugStore.formData.transferModule.smallMotorData.relative.times", type="number", placeholder="请输入次数")
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template(#append)
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| 次
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el-form-item
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ft-button(size="small", type="primary", :click-handle="() => commandHandle('robotic_arm_small_move_by', { ...debugStore.formData.transferModule.smallMotorData.relative, distance: debugStore.formData.transferModule.smallMotorData.relative.angle })")
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| 前进
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ft-button(size="small", class="stop-button", :click-handle="() => commandHandle('robotic_arm_small_stop')")
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| 停止
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ft-button(size="small", type="primary", :click-handle="() => commandHandle('robotic_arm_small_move_by', { ...debugStore.formData.transferModule.smallMotorData.relative, distance: -(debugStore.formData.transferModule.smallMotorData.relative.angle ?? 0) })")
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| 后退
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ft-button(type="primary", size="small", :click-handle="() => commandHandle('robotic_arm_small_origin')")
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| 回原点
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ft-button(size="small", type="primary", :click-handle="() => commandHandle('robotic_arm_small_enable')")
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| 电机使能
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ft-button(size="small", :click-handle="() => commandHandle('robotic_arm_small_disable')")
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| 电机失能
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el-divider Z轴电机
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div.card-box
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el-form
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el-form-item(label="距离")
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el-input(v-model="debugStore.formData.transferModule.zMotorData.relative.distance", type="number", placeholder="请输入距离")
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template(#append)
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| mm
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el-form-item(label="速度")
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el-input(v-model="debugStore.formData.transferModule.zMotorData.relative.speed", type="number", placeholder="请输入速度")
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template(#append)
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| rpm/min
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el-form-item(label="循环")
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el-input(v-model="debugStore.formData.transferModule.zMotorData.relative.times", type="number", placeholder="请输入次数")
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template(#append)
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| 次
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el-form-item
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ft-button(size="small", type="primary", :click-handle="() => commandHandle('z_move_by', { ...debugStore.formData.transferModule.zMotorData.relative, distance: debugStore.formData.transferModule.zMotorData.relative.distance })")
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| 前进
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ft-button(size="small", class="stop-button", :click-handle="() => commandHandle('z_stop')")
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| 停止
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ft-button(size="small", type="primary", :click-handle="() => commandHandle('z_move_by', { ...debugStore.formData.transferModule.zMotorData.relative, distance: -(debugStore.formData.transferModule.zMotorData.relative.distance ?? 0) })")
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| 后退
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ft-button(type="primary", size="small", :click-handle="() => commandHandle('z_origin')")
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| 回原点
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ft-button(size="small", type="primary", :click-handle="() => commandHandle('z_enable')")
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| 电机使能
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ft-button(size="small", :click-handle="() => commandHandle('z_disable')")
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| 电机失能
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el-divider 夹爪电机
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div.card-box
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el-form
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el-form-item(label="距离")
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el-input(v-model="debugStore.formData.transferModule.clawMotorData.distance", type="number", placeholder="请输入距离")
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template(#append)
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| mm
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el-form-item(label="速度")
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el-input(v-model="debugStore.formData.transferModule.clawMotorData.speed", type="number", placeholder="请输入速度")
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template(#append)
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| rpm/min
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el-form-item(label="循环")
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el-input(v-model="debugStore.formData.transferModule.clawMotorData.times", type="number", placeholder="请输入次数")
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template(#append)
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| 次
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el-form-item
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ft-button(size="small", type="primary", :click-handle="() => commandHandle('claw_open', { ...debugStore.formData.transferModule.clawMotorData, distance: debugStore.formData.transferModule.clawMotorData.distance })")
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| 打开
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ft-button(size="small", type="primary", :click-handle="() => commandHandle('claw_close', { ...debugStore.formData.transferModule.clawMotorData, distance: -(debugStore.formData.transferModule.clawMotorData.distance ?? 0) })")
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| 闭合
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el-col(:span="8")
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el-card
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template(#header)
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div.card-header
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span 蠕动泵
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el-divider 陶瓷蠕动泵
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div.card-box
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el-form
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el-form-item(label="容量")
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el-input(v-model="debugStore.formData.peristalticPumpData.ceramicPump.volume", type="number", placeholder="请输入容量")
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template(#append)
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| mL
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el-form-item(label="速度")
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el-input(v-model="debugStore.formData.peristalticPumpData.ceramicPump.speed", type="number", placeholder="请输入速度")
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template(#append)
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| rpm/min
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el-form-item(label="泵")
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el-select(v-model="debugStore.formData.peristalticPumpData.ceramicPump.pumpCode", placeholder="请选择泵")
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el-option(v-for="item in 2", :key="item", :label="`泵-${item}`", :value="`ceramic_pump_${item}`")
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el-form-item
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ft-button(size="small", type="primary", :click-handle="() => commandHandle('ceramic_pump_open', { ...debugStore.formData.peristalticPumpData.ceramicPump, direction: 'forward' })")
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| 正转
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ft-button(size="small", class="stop-button", :click-handle="() => commandHandle('ceramic_pump_close')")
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| 停止
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ft-button(size="small", type="primary", class="stop-button", :click-handle="() => commandHandle('ceramic_pump_open', { ...debugStore.formData.peristalticPumpData.ceramicPump, direction: 'backward' })")
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| 反转
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el-divider 无刷蠕动泵
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div.card-box
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el-form
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el-form-item(label="容量")
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el-input(v-model="debugStore.formData.peristalticPumpData.brushlessPump.volume", type="number", placeholder="请输入容量")
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template(#append)
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| mL
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el-form-item(label="速度")
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el-input(v-model="debugStore.formData.peristalticPumpData.brushlessPump.speed", type="number", placeholder="请输入速度")
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template(#append)
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| rpm/min
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el-form-item(label="泵")
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el-select(v-model="debugStore.formData.peristalticPumpData.brushlessPump.pumpCode", placeholder="请选择泵")
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el-option(v-for="item in 10", :key="item", :label="`泵-${item}`", :value="`brushless_pump_${item}`")
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el-form-item
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ft-button(size="small", type="primary", :click-handle="() => commandHandle('brushless_pump_open', { ...debugStore.formData.peristalticPumpData.brushlessPump, direction: 'forward' })")
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| 正转
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ft-button(size="small", class="stop-button", :click-handle="() => commandHandle('brushless_pump_close')")
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| 停止
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ft-button(size="small", type="primary", class="stop-button", :click-handle="() => commandHandle('brushless_pump_open', { ...debugStore.formData.peristalticPumpData.brushlessPump, direction: 'backward' })")
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| 反转
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el-divider 步进蠕动泵
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div.card-box
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el-form
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el-form-item(label="容量")
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el-input(v-model="debugStore.formData.peristalticPumpData.stepPump.volume", type="number", placeholder="请输入容量")
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template(#append)
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| mL
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el-form-item(label="速度")
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el-input(v-model="debugStore.formData.peristalticPumpData.stepPump.speed", type="number", placeholder="请输入速度")
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template(#append)
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| rpm/min
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el-form-item(label="泵")
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el-select(v-model="debugStore.formData.peristalticPumpData.stepPump.pumpCode", type="number", placeholder="请选择泵")
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el-option(v-for="item in 3", :key="item", :label="`泵-${item}`", :value="`step_pump_${item}`")
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el-form-item
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ft-button(size="small", type="primary", :click-handle="() => commandHandle('brushless_pump_open', { ...debugStore.formData.peristalticPumpData.stepPump, direction: 'forward' })")
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| 正转
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ft-button(size="small", class="stop-button", :click-handle="() => commandHandle('brushless_pump_close')")
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| 停止
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ft-button(size="small", type="primary", class="stop-button", :click-handle="() => commandHandle('brushless_pump_open', { ...debugStore.formData.peristalticPumpData.stepPump, direction: 'backward' })")
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| 反转
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el-card
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template(#header)
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div.card-header
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span 滴定移动电机
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div.card-box
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el-form
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el-form-item(label="距离")
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el-input(v-model="debugStore.formData.titrationModule.relative.distance", type="number", placeholder="请输入距离")
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template(#append)
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| mm
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el-form-item(label="速度")
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el-input(v-model="debugStore.formData.titrationModule.relative.speed", type="number", placeholder="请输入速度")
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template(#append)
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| rpm/min
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el-form-item(label="循环")
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el-input(v-model="debugStore.formData.titrationModule.relative.times", type="number", placeholder="请输入次数")
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template(#append)
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| 次
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el-form-item(label="电机")
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el-select(v-model="debugStore.formData.titrationModule.relative.motorCode", placeholder="请选择电机")
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el-option(v-for="item in 2", :key="item", :label="`电机${item}`", :value="`titration_motor_${item}`")
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el-form-item
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ft-button(size="small", type="primary", :click-handle="() => commandHandle('titration_motor_move_by', { ...debugStore.formData.titrationModule.relative, distance: debugStore.formData.titrationModule.relative.distance })")
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| 前进
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ft-button(size="small", class="stop-button", :click-handle="() => commandHandle('titration_motor_stop', { motorCode: debugStore.formData.titrationModule.relative.motorCode })")
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| 停止
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ft-button(size="small", type="primary", :click-handle="() => commandHandle('z_move_by', { ...debugStore.formData.titrationModule.relative, distance: -(debugStore.formData.titrationModule.relative.distance ?? 0) })")
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| 后退
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ft-button(type="primary", size="small", :click-handle="() => commandHandle('titration_motor_origin', { motorCode: debugStore.formData.titrationModule.relative.motorCode })")
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| 回原点
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ft-button(size="small", type="primary", :click-handle="() => commandHandle('z_enable', { motorCode: debugStore.formData.titrationModule.relative.motorCode })")
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| 电机使能
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ft-button(size="small", :click-handle="() => commandHandle('z_disable', { motorCode: debugStore.formData.titrationModule.relative.motorCode })")
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| 电机失能
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el-col(:span="8")
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el-card
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template(#header)
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div.card-header
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span 加热模组
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el-divider 加热棒
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div.card-box
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el-form
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el-form-item(label="温度")
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el-input(v-model="debugStore.formData.heatArea.temperature", type="number", placeholder="请输入温度")
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template(#append)
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| ℃
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el-form-item(label="区域")
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el-select(v-model="debugStore.formData.heatArea.heatModuleCode", placeholder="请选择区域")
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el-option(v-for="item in 2", :key="item", :label="`加热区${item}`", :value="`heat_module_${item}`")
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el-form-item
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ft-button(size="small", type="primary", :click-handle="() => commandHandle('heater_start', debugStore.formData.heatArea)")
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| 开始加热
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ft-button(size="small", class="stop-button", :click-handle="() => commandHandle('heater_stop', debugStore.formData.heatArea)")
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| 停止加热
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el-card
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template(#header)
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div.card-header
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span 指示灯
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div.card-box
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el-form
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el-form-item(label="颜色")
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el-select(v-model="debugStore.formData.lightModule.color", placeholder="请选择颜色")
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el-option(v-for="item in [{ value: 'red', label: '红色' }, { value: 'yellow', label: '黄色' }, { value: 'green', label: '绿色' }]", :key="item.value", :label="item.label", :value="item.value")
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el-form-item
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ft-button(size="small", type="primary", :click-handle="() => commandHandle('door_open', { ...debugStore.formData.door })")
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| 开启
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ft-button(size="small", class="stop-button", :click-handle="() => commandHandle('door_stop')")
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| 关闭
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el-card
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template(#header)
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div.card-header
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span 磁子搅拌电机
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div.card-box
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el-form
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el-form-item(label="距离")
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el-input(v-model="debugStore.formData.magnetStirMotor.relative.distance", type="number", placeholder="请输入距离")
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template(#append)
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| mm
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el-form-item(label="速度")
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el-input(v-model="debugStore.formData.magnetStirMotor.relative.speed", type="number", placeholder="请输入速度")
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template(#append)
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| rpm/min
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el-form-item(label="循环")
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el-input(v-model="debugStore.formData.magnetStirMotor.relative.times", type="number", placeholder="请输入次数")
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template(#append)
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| 次
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el-form-item(label="电机")
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el-select(v-model="debugStore.formData.magnetStirMotor.relative.motorCode", placeholder="请选择电机")
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el-option(v-for="item in 2", :key="item", :label="`电机${item}`", :value="`magnet_stir_motor_${item}`")
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el-form-item
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ft-button(size="small", type="primary", :click-handle="() => commandHandle('magnet_stir_motor_move_by', { ...debugStore.formData.magnetStirMotor.relative, distance: debugStore.formData.magnetStirMotor.relative.distance })")
|
|
| 前进
|
|
ft-button(size="small", class="stop-button", :click-handle="() => commandHandle('magnet_stir_motor_stop', { motorCode: debugStore.formData.magnetStirMotor.relative.motorCode })")
|
|
| 停止
|
|
ft-button(size="small", type="primary", :click-handle="() => commandHandle('magnet_stir_motor_move_by', { ...debugStore.formData.magnetStirMotor.relative, distance: -(debugStore.formData.magnetStirMotor.relative.distance ?? 0) })")
|
|
| 后退
|
|
ft-button(type="primary", size="small", :click-handle="() => commandHandle('magnet_stir_motor_origin', { motorCode: debugStore.formData.magnetStirMotor.relative.motorCode })")
|
|
| 回原点
|
|
ft-button(size="small", type="primary", :click-handle="() => commandHandle('magnet_stir_motor_enable', { motorCode: debugStore.formData.magnetStirMotor.relative.motorCode })")
|
|
| 电机使能
|
|
ft-button(size="small", :click-handle="() => commandHandle('magnet_stir_motor_disable', { motorCode: debugStore.formData.magnetStirMotor.relative.motorCode })")
|
|
| 电机失能
|
|
el-divider 磁子投放
|
|
ft-button(size="small", type="primary", :click-handle="() => commandHandle('magnet_open')")
|
|
| 打开磁子投放开关
|
|
ft-button(size="small", :click-handle="() => commandHandle('magnet_close')")
|
|
| 关闭磁子投放开关
|
|
SavePosition(v-if="savePositionVisible", @ok="savePositionVisible = false", @cancel="savePositionVisible = false")
|
|
</template>
|
|
|
|
<style lang="stylus" scoped>
|
|
.debug-content
|
|
overflow hidden
|
|
max-height 100%
|
|
.button-content
|
|
height 40px
|
|
.card-content
|
|
height calc(100% - 40px)
|
|
overflow auto
|
|
|
|
.el-card
|
|
margin-bottom 10px
|
|
|
|
:deep(.el-card__header)
|
|
padding 5px 10px
|
|
background rgba(0, 0, 0, 0.03)
|
|
|
|
.el-input, .el-select
|
|
width 100%
|
|
|
|
.el-form-item
|
|
margin-bottom 10px
|
|
margin-right 0
|
|
|
|
.card-header
|
|
display flex
|
|
align-items center
|
|
justify-content space-between
|
|
|
|
.select-label
|
|
margin-right 10px
|
|
|
|
:deep(.el-card__body)
|
|
padding 10px 5px
|
|
|
|
.el-form-item__content
|
|
.ft-button
|
|
margin-bottom 10px
|
|
|
|
.button-box
|
|
display flex
|
|
justify-content center
|
|
|
|
:deep(.el-form-item).button-center
|
|
.el-form-item__content
|
|
width 100%
|
|
display flex
|
|
justify-content center
|
|
|
|
.stop-button
|
|
margin-right 8px
|
|
font-weight 900
|
|
margin-left 3px
|
|
|
|
.el-divider
|
|
margin 15px 0
|
|
</style>
|