From 9fb730ea5c7dbc57870c63767ba699b93425c6b0 Mon Sep 17 00:00:00 2001
From: LiLongLong <13717757313@163.com>
Date: Mon, 12 May 2025 00:41:07 +0800
Subject: [PATCH] =?UTF-8?q?=E6=B7=BB=E5=8A=A0=E8=AE=BE=E5=A4=87=E5=88=9D?=
 =?UTF-8?q?=E5=A7=8B=E5=8C=96?=
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---
 src/apis/self.ts               |   3 +
 src/components/check/index.vue | 264 +++++++++++++++++++++++++++++++++++++++++
 src/components/exit/index.vue  |  80 ++++---------
 src/views/craft/index.vue      |   9 +-
 src/views/ore/index.vue        |  14 +--
 src/views/solution/index.vue   |  12 +-
 src/views/user/index.vue       |  12 +-
 7 files changed, 298 insertions(+), 96 deletions(-)
 create mode 100644 src/apis/self.ts
 create mode 100644 src/components/check/index.vue

diff --git a/src/apis/self.ts b/src/apis/self.ts
new file mode 100644
index 0000000..e0f7196
--- /dev/null
+++ b/src/apis/self.ts
@@ -0,0 +1,3 @@
+import http from 'libs/http'
+
+export const getSelfStatus = (): Promise<Record<string, boolean>> => http.get('/self-test/status')
diff --git a/src/components/check/index.vue b/src/components/check/index.vue
new file mode 100644
index 0000000..2e77d27
--- /dev/null
+++ b/src/components/check/index.vue
@@ -0,0 +1,264 @@
+<script lang="ts" setup>
+import { getContainerList } from '@/apis/container'
+import { getSelfStatus } from '@/apis/self'
+import { useHomeStore } from 'stores/homeStore'
+import { onMounted, ref, watch } from 'vue'
+
+interface SelfStatus {
+  name: string
+  isOrign: boolean
+  value: string
+  type: string
+}
+const props = defineProps({
+  checking: Boolean,
+})
+const emits = defineEmits(['update:checking'])
+const homeStore = useHomeStore()
+const visible = ref(props.checking)
+const chemicalList = ref<Container.ContainerItem[]>([])
+watch(() => props.checking, (newVal) => {
+  visible.value = newVal
+})
+onMounted(() => {
+  querySelfStatus()
+  queryContainerList()
+})
+const statusMap: Record<string, Record<string, string>> = {
+  gantryXOrigin: {
+    name: '机械臂x轴',
+    value: 'x',
+    type: 'axis',
+  },
+  gantryYOrigin: {
+    name: '机械臂y轴',
+    value: 'y',
+    type: 'axis',
+  },
+  gantryZOrigin: {
+    name: '机械臂z轴',
+    value: 'y',
+    type: 'axis',
+  },
+  dualRobotJoint1Origin: {
+    name: '机械臂01',
+    value: 'largeArm',
+    type: 'liquid',
+  },
+  dualRobotJoint2Origin: {
+    name: '机械臂02',
+    value: 'smallArm',
+    type: 'liquid',
+  },
+  capLiftingOrigin: {
+    name: '拍子电机升降',
+    value: '',
+    type: 'cap',
+  },
+  trayLifting01Origin: {
+    name: '加热区01托盘升降',
+    value: 'heat_module_01',
+    type: 'heat',
+  },
+  trayLifting02Origin: {
+    name: '加热区02托盘升降',
+    value: 'heat_module_01',
+    type: 'heat',
+  },
+  trayLifting03Origin: {
+    name: '加热区03托盘升降',
+    value: 'heat_module_01',
+    type: 'heat',
+  },
+  trayLifting04Origin: {
+    name: '加热区04托盘升降',
+    value: 'heat_module_04',
+    type: 'heat',
+  },
+  trayLifting05Origin: {
+    name: '加热区05托盘升降',
+    value: 'heat_module_05',
+    type: 'heat',
+  },
+  trayLifting06Origin: {
+    name: '加热区06托盘升降',
+    value: 'heat_module_06',
+    type: 'heat',
+  },
+}
+const deviceStatusList = ref<SelfStatus[]>([])
+const querySelfStatus = () => {
+  getSelfStatus().then((res) => {
+    if (res) {
+      const list: SelfStatus[] = []
+      Object.keys(res).forEach((item) => {
+        list.push({
+          name: statusMap[item].name,
+          isOrign: res[item],
+          value: statusMap[item].value,
+          type: statusMap[item].type,
+        })
+      })
+      deviceStatusList.value = list
+    }
+  })
+}
+// const pumpId = ref()
+const queryContainerList = () => {
+  getContainerList().then((res) => {
+    if (res) {
+      const list: Container.ContainerItem[] = res
+      const solutionList: Container.ContainerItem[] = []
+      list.forEach((item, index) => {
+        // 只有8种，不会多也不会少, 多的不要
+        if (index < 8) {
+          solutionList.push({
+            ...item,
+            solutionName: `加液泵_0${index + 1}`,
+          })
+        }
+      })
+      chemicalList.value = solutionList
+    }
+  })
+}
+
+const resetOrign = (item: SelfStatus) => {
+  if (item.value === 'x' || item.value === 'y' || item.value === 'z') {
+    gantry_origin(item.value)
+  }
+  else if (item.type === 'liquied') {
+    dual_robot_joint_origin(item.value)
+  }
+  else if (item.type === 'heat') {
+    tray_lifting_origin(item.value)
+  }
+  else if (item.type === 'cap') {
+    cap_lifting_origin()
+  }
+}
+
+// 先注释 TODO
+// const currentPumpId = ref()
+// const onPumpChange = (value: string) => {
+//   currentPumpId.value = value
+// }
+// const onPumpEmpty = () => {
+//   console.log('===currentPumpId===', currentPumpId.value)
+// }
+
+let currentCommandId = ''
+const gantry_origin = async (motor: 'x' | 'y' | 'z') => {
+  currentCommandId = Date.now().toString()
+
+  const params = {
+    commandId: currentCommandId,
+    command: 'gantry_origin',
+    params: {
+      [motor]: true,
+    },
+  }
+  await homeStore.sendControl(params)
+}
+
+const dual_robot_joint_origin = async (arm: string) => {
+  currentCommandId = Date.now().toString()
+  const params = {
+    commandId: currentCommandId,
+    command: 'dual_robot_joint_origin',
+    params: {
+      target: [arm],
+    },
+  }
+  await homeStore.sendControl(params)
+}
+
+const cap_lifting_origin = async () => {
+  currentCommandId = Date.now().toString()
+  const params = {
+    commandId: currentCommandId,
+    command: 'cap_lifting_origin',
+    params: {},
+  }
+  await homeStore.sendControl(params)
+}
+
+const tray_lifting_origin = async (heatId: string) => {
+  currentCommandId = Date.now().toString()
+  const params = {
+    commandId: currentCommandId,
+    command: 'tray_lifting_origin',
+    params: {
+      heatId,
+    },
+  }
+  await homeStore.sendControl(params)
+}
+
+const cancel = () => {
+  emits('update:checking', false)
+  visible.value = false
+}
+</script>
+
+<template>
+  <FtDialog v-model="visible" title="设备初始化" width="50%">
+    <div class="check-main">
+      <div class="check-status">
+        <h3>名称</h3>
+        <h3>是否在原点</h3>
+        <h3 style="text-align: center;">
+          操作
+        </h3>
+      </div>
+      <div v-for="(item) in deviceStatusList" :key="item.name" class="check-status">
+        <div>
+          {{ item.name }}
+        </div>
+        <div style="margin-left: 2rem;">
+          <el-icon v-if="!item.isOrign" style="color:red;font-size: 25px;">
+            <CloseBold />
+          </el-icon>
+          <el-icon v-else style="color:#25be25;font-size: 25px;">
+            <Select />
+          </el-icon>
+        </div>
+        <div style="text-align: center;">
+          <el-link type="primary" @click="resetOrign(item)">
+            回原点
+          </el-link>
+        </div>
+      </div>
+      <!-- <div class="check-status">
+        <div>
+          加液泵：
+          <el-select v-model="pumpId" size="small" style="width:10rem" @change="onPumpChange">
+            <el-option v-for="item in chemicalList" :key="item.solutionId" :label="item.solutionName" :value="item.pumpId" />
+          </el-select>
+        </div>
+        <div></div>
+        <div style="text-align: center;">
+          <el-link type="primary" @click="onPumpEmpty()">
+            排空
+          </el-link>
+        </div>
+      </div> -->
+    </div>
+    <template #footer>
+      <FtButton @click="cancel">
+        取消
+      </FtButton>
+    </template>
+  </FtDialog>
+</template>
+
+<style scoped>
+.check-main{
+  height: 60vh;
+}
+.check-status{
+  display: grid;
+  grid-template-columns: 2fr 1fr 1fr;
+  margin-top: 5px;
+}
+</style>
diff --git a/src/components/exit/index.vue b/src/components/exit/index.vue
index f0dfed2..6a9bfd1 100644
--- a/src/components/exit/index.vue
+++ b/src/components/exit/index.vue
@@ -1,51 +1,23 @@
 <script lang="ts" setup>
+import deviceSvg from '@/assets/images/init-device.svg'
 import CancelSvg from '@/assets/images/user-cancel.svg'
 import LogoutSvg from '@/assets/images/user-logout.svg'
-import x_Svg from '@/assets/images/x.svg'
-import y_Svg from '@/assets/images/y.svg'
-import z_Svg from '@/assets/images/z.svg'
 import { logout } from 'apis/login'
+import Check from 'components/check/index.vue'
 import { delToken } from 'libs/token'
-import { useDebugStore } from 'stores/debugStore'
 import { ref } from 'vue'
 import { useRouter } from 'vue-router'
 
 const isLoading = ref(false)
 const router = useRouter()
-const debugStore = useDebugStore()
-const axisList = ref<Exit.Axis[]>([{
-  name: 'X',
-  icon: x_Svg,
-  value: 'x',
-  color: 'rgb(252 137 60)',
-}, {
-  name: 'Y',
-  icon: y_Svg,
-  value: 'y',
-  color: 'rgb(105 165 253)',
-}, {
-  name: 'Z',
-  icon: z_Svg,
-  value: 'z',
-  color: 'rgb(136 121 254)',
-}])
-
 const openModal = () => {
   isLoading.value = true
 }
 
-let currentCommandId = ''
-const onInitAxis = async (motor: 'x' | 'y' | 'z') => {
-  currentCommandId = Date.now().toString()
-  const params = {
-    commandId: currentCommandId,
-    command: 'debug_transportation_arm_reset',
-    params: {
-      dim: [motor],
-    },
-  }
-  await debugStore.sendControl(params)
-  isLoading.value = false
+const checking = ref(false)
+const onInitDevice = async () => {
+  checking.value = true
+  onCancel()
 }
 
 const onLogout = () => {
@@ -57,6 +29,7 @@ const onLogout = () => {
 const onCancel = () => {
   isLoading.value = false
 }
+
 defineExpose({
   openModal,
 })
@@ -64,31 +37,28 @@ defineExpose({
 
 <template>
   <div v-if="isLoading" class="loading-overlay">
-    <div>
-      <div class="init-axis">
-        <div v-for="axis in axisList" :key="axis.value" class="loading-content" @click="onInitAxis(axis.value)">
-          <img :src="axis.icon" alt="Icon" width="80">
-          <div style="color: #ececec;">
-            初始化<span :style="{ color: axis.color, padding: '10px' }">{{ axis.name }}</span>轴
-          </div>
-        </div>
+    <div class="loading-content" @click="onInitDevice()">
+      <img :src="deviceSvg" alt="Icon" width="80">
+      <div style="color: rgb(243 168 74);">
+        设备初始化
       </div>
-      <div class="init-logout">
-        <div class="loading-content" @click="onLogout">
-          <img :src="LogoutSvg" alt="Icon" width="80">
-          <div style="color: #9358df;">
-            注销用户
-          </div>
-        </div>
-        <div class="loading-content" @click="onCancel">
-          <img :src="CancelSvg" alt="Icon" width="80">
-          <div style="color: #ea8864;">
-            取消
-          </div>
-        </div>
+    </div>
+    <div class="loading-content" @click="onLogout">
+      <img :src="LogoutSvg" alt="Icon" width="80">
+      <div style="color: #9358df;">
+        注销用户
+      </div>
+    </div>
+    <div class="loading-content" @click="onCancel">
+      <img :src="CancelSvg" alt="Icon" width="80">
+      <div style="color: #ea8864;">
+        取消
       </div>
     </div>
   </div>
+  <div v-if="checking">
+    <Check v-model:checking="checking" />
+  </div>
 </template>
 
 <style scoped lang="scss">
diff --git a/src/views/craft/index.vue b/src/views/craft/index.vue
index 9682fd4..045b9ca 100644
--- a/src/views/craft/index.vue
+++ b/src/views/craft/index.vue
@@ -177,19 +177,14 @@ const returnOre = () => {
     </main>
     <AddCraftDialog ref="addCraftRef" @ok="queryCrafList" />
     <!-- 执行工艺，选择加热区 -->
-    <el-dialog v-model="heatVisible" title="执行工艺" width="30vw">
+    <FtDialog v-model="heatVisible" title="添加矿石" width="30%" :ok-handle="onStart" @cancel="heatVisible = false">
       <div style="display: flex; justify-content: center;align-items: center;">
         <label>选择加热区：</label>
         <el-select v-model="heatId" style="width:200px" size="small">
           <el-option v-for="el in heatList" :key="el.id" :label="`${el.name}`" :value="el.id" />
         </el-select>
       </div>
-      <div style="display: flex; justify-content: center;align-items: center; height:100px">
-        <FtButton type="primary" @click="onStart">
-          开始执行
-        </FtButton>
-      </div>
-    </el-dialog>
+    </FtDialog>
     <CraftStatus ref="craftStatusRef" />
     <div class="return-ore">
       <FtButton @click="returnOre">
diff --git a/src/views/ore/index.vue b/src/views/ore/index.vue
index cfeef11..bb02e86 100644
--- a/src/views/ore/index.vue
+++ b/src/views/ore/index.vue
@@ -88,7 +88,7 @@ const onConfirm = () => {
     ...oreForm.value,
   }
   let apiFn = null
-  if (oreForm.value.id) {
+  if (oreForm.value && oreForm.value.id) {
     params.id = oreForm.value.id
     apiFn = editOre
   }
@@ -165,21 +165,11 @@ const onShowCraft = () => {
       </el-table>
       <!-- <FtTable :columns="columns" has-header :btn-list="btnList" :get-data-fn="queryOresList" /> -->
     </div>
-    <FtDialog v-model="visible" title="添加矿石" width="30%">
+    <FtDialog v-model="visible" title="添加矿石" width="30%" :ok-handle="onConfirm" @cancel="closeDialog">
       <div class="add-content">
         <label>矿石名称：</label>
         <span><el-input v-model="name" placeholder="矿石名称" style="width:200px" /></span>
       </div>
-      <template #footer>
-        <div class="footer">
-          <FtButton @click="closeDialog">
-            取消
-          </FtButton>
-          <FtButton type="primary" :loading="loading" :click-handle="onConfirm">
-            确定
-          </FtButton>
-        </div>
-      </template>
     </FtDialog>
   </div>
 </template>
diff --git a/src/views/solution/index.vue b/src/views/solution/index.vue
index 1715b6b..204229b 100644
--- a/src/views/solution/index.vue
+++ b/src/views/solution/index.vue
@@ -125,21 +125,11 @@ const closeDialog = () => {
         <el-table-column prop="updateTime" label="更新时间" />
       </el-table>
     </div>
-    <FtDialog v-model="visible" title="添加溶液" width="30%">
+    <FtDialog v-model="visible" title="添加溶液" width="30%" :ok-handle="onConfirm" @cancel="closeDialog">
       <div class="add-content">
         <label>溶液名称：</label>
         <span><el-input v-model="name" placeholder="溶液名称" style="width:200px" /></span>
       </div>
-      <template #footer>
-        <div class="footer">
-          <FtButton @click="closeDialog">
-            取消
-          </FtButton>
-          <FtButton type="primary" :click-handle="onConfirm">
-            确定
-          </FtButton>
-        </div>
-      </template>
     </FtDialog>
   </div>
 </template>
diff --git a/src/views/user/index.vue b/src/views/user/index.vue
index 17214d1..ad4a0a6 100644
--- a/src/views/user/index.vue
+++ b/src/views/user/index.vue
@@ -154,7 +154,7 @@ const doSave = () => {
         <el-table-column prop="updateTime" label="更新时间" />
       </el-table>
     </div>
-    <FtDialog v-model="visible" title="添加用户" width="30%">
+    <FtDialog v-model="visible" title="添加用户" width="30%" :ok-handle="() => { onConfirm(userFormRef) }" @cancel="closeDialog">
       <div>
         <el-form ref="userFormRef" :model="userForm" label-width="auto" style="max-width: 600px">
           <el-form-item
@@ -210,16 +210,6 @@ const doSave = () => {
           </el-form-item>
         </el-form>
       </div>
-      <template #footer>
-        <div class="footer">
-          <FtButton @click="closeDialog">
-            取消
-          </FtButton>
-          <FtButton type="primary" :click-handle="() => { onConfirm(userFormRef) }">
-            确定
-          </FtButton>
-        </div>
-      </template>
     </FtDialog>
   </div>
 </template>