10 changed files with 514 additions and 313 deletions
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17src/assets/styles/element.scss
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0src/components/Stop/index.vue
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393src/components/check/index.vue
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318src/components/check1/index.vue
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32src/layouts/default.vue
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2src/libs/utils.ts
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3src/router/index.ts
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4src/views/container/liquidItem.vue
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2tsconfig.json
@ -0,0 +1,318 @@ |
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<script lang="ts" setup> |
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import { getSelfFinish, getSelfStatus } from '@/apis/self' |
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import { ElMessage } from 'element-plus' |
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import { socket } from 'libs/socket' |
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import { useHomeStore } from 'stores/homeStore' |
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import { useSystemStore } from 'stores/systemStore' |
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import { onMounted, onUnmounted, ref } from 'vue' |
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|
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interface SelfStatus { |
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name: string |
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isOrign: boolean |
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value: string |
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type: string |
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} |
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const emits = defineEmits(['close']) |
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const homeStore = useHomeStore() |
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const systemStore = useSystemStore() |
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|
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const loading = ref(false) |
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|
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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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onStartSelfTest() |
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}) |
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onUnmounted(() => { |
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clearInterval(patrolTimes.value) |
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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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|
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const receiveMessage = (data: Socket.cmdData) => { |
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data.commandId === currentCommandId && systemStore.pushSystemList(data) |
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} |
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|
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const onStartSelfTest = () => { |
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patrolSelfStatus() |
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} |
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const statusMap: Record<string, Record<string, string>> = { |
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doorOrigin: { |
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name: '门', |
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value: '', |
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type: 'door', |
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}, |
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shakeOrigin: { |
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name: '摇匀电机', |
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value: '', |
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type: 'shake', |
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}, |
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gantryXOrigin: { |
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name: '机械臂x轴', |
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value: 'x', |
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type: 'axis', |
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}, |
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gantryYOrigin: { |
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name: '机械臂y轴', |
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value: 'y', |
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type: 'axis', |
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}, |
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gantryZOrigin: { |
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name: '机械臂z轴', |
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value: 'z', |
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type: 'axis', |
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}, |
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dualRobotOrigin: { |
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name: '加液机械臂', |
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value: '', |
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type: 'liquid', |
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}, |
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// dualRobotJoint2Origin: { |
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// name: '机械臂02', |
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// value: 'smallArm', |
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// type: 'liquid', |
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// }, |
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capLiftingOrigin: { |
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name: '拍子电机升降', |
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value: '', |
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type: 'cap', |
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}, |
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trayLifting01Origin: { |
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name: '加热区01托盘升降', |
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value: 'heat_module_01', |
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type: 'heat', |
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}, |
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trayLifting02Origin: { |
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name: '加热区02托盘升降', |
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value: 'heat_module_02', |
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type: 'heat', |
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}, |
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trayLifting03Origin: { |
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name: '加热区03托盘升降', |
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value: 'heat_module_03', |
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type: 'heat', |
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}, |
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trayLifting04Origin: { |
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name: '加热区04托盘升降', |
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value: 'heat_module_04', |
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type: 'heat', |
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}, |
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trayLifting05Origin: { |
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name: '加热区05托盘升降', |
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value: 'heat_module_05', |
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type: 'heat', |
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}, |
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trayLifting06Origin: { |
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name: '加热区06托盘升降', |
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value: 'heat_module_06', |
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type: 'heat', |
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}, |
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} |
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|
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const patrolTimes = ref() |
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const patrolSelfStatus = () => { |
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loading.value = true |
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patrolTimes.value = setInterval(() => { |
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querySelfStatus() |
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}, 1000) |
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} |
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|
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const deviceStatusList = ref<SelfStatus[]>([]) |
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const selfStateComplete = ref(false) |
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const querySelfStatus = () => { |
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const orignStatusList = [] |
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getSelfStatus().then((res) => { |
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console.log('res', res) |
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loading.value = false |
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if (res) { |
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try { |
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const list: SelfStatus[] = [] |
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const keys = Object.keys(res) |
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keys.forEach((item) => { |
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list.push({ |
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name: statusMap[item].name, |
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isOrign: res[item], |
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value: statusMap[item].value, |
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type: statusMap[item].type, |
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}) |
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if (res[item]) { |
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orignStatusList.push(item) |
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} |
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if (orignStatusList.length === keys.length) { |
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clearInterval(patrolTimes.value) |
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selfStateComplete.value = true |
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} |
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}) |
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deviceStatusList.value = list |
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console.log('deviceStatusList', list) |
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} |
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catch (e) { |
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console.log('error', e) |
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} |
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} |
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}).catch(() => { |
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loading.value = false |
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}) |
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} |
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|
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const resetOrign = (item: SelfStatus) => { |
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if (item.type === 'door') { |
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door_origin() |
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} |
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if (item.type === 'shake') { |
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shake_origin() |
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} |
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else if (item.value === 'x' || item.value === 'y' || item.value === 'z') { |
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gantry_origin(item.value) |
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} |
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else if (item.type === 'liquid') { |
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dual_robot_origin() |
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} |
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else if (item.type === 'heat') { |
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tray_lifting_origin(item.value) |
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} |
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else if (item.type === 'cap') { |
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cap_lifting_origin() |
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} |
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} |
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|
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const shake_origin = async () => { |
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currentCommandId = Date.now().toString() |
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|
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const params = { |
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commandId: currentCommandId, |
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command: `shake_origin`, |
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params: {}, |
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} |
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await homeStore.sendControl(params) |
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} |
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|
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const door_origin = async () => { |
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currentCommandId = Date.now().toString() |
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const params = { |
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commandId: currentCommandId, |
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command: `door_origin`, |
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params: {}, |
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} |
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await homeStore.sendControl(params) |
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} |
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// 先注释 TODO |
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// const currentPumpId = ref() |
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// const onPumpChange = (value: string) => { |
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// currentPumpId.value = value |
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// } |
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// const onPumpEmpty = () => { |
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// console.log('===currentPumpId===', currentPumpId.value) |
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// } |
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|
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let currentCommandId = '' |
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const gantry_origin = async (motor: 'x' | 'y' | 'z') => { |
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currentCommandId = Date.now().toString() |
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|
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const params = { |
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commandId: currentCommandId, |
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command: `gantry_${motor}_origin`, |
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params: {}, |
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} |
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await homeStore.sendControl(params) |
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} |
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|
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const dual_robot_origin = async () => { |
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currentCommandId = Date.now().toString() |
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const params = { |
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commandId: currentCommandId, |
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command: 'dual_robot_origin', |
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params: {}, |
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} |
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await homeStore.sendControl(params) |
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} |
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|
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const cap_lifting_origin = async () => { |
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currentCommandId = Date.now().toString() |
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const params = { |
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commandId: currentCommandId, |
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command: 'cap_lifting_origin', |
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params: {}, |
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} |
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await homeStore.sendControl(params) |
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} |
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|
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const tray_lifting_origin = async (heatId: string) => { |
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currentCommandId = Date.now().toString() |
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const params = { |
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commandId: currentCommandId, |
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command: 'tray_lifting_origin', |
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params: { |
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heatId, |
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}, |
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} |
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await homeStore.sendControl(params) |
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} |
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|
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const onComplete = () => { |
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getSelfFinish().then(() => { |
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ElMessage.success('自检完成') |
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emits('close') |
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}) |
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} |
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|
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// const cancel = () => { |
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// emits('update:checking', false) |
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// visible.value = false |
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// } |
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</script> |
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|
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<template> |
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<FtDialog visible title="自检" width="50%"> |
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<div v-loading="loading" class="check-main"> |
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<!-- <div v-if="type !== 'cancel'"> --> |
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<!-- <span style="color: red">所有电机回原点后才可操作</span> --> |
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<!-- </div> --> |
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<div class="check-status"> |
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<h3>名称</h3> |
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<h3>是否在原点</h3> |
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<h3 style="text-align: center;"> |
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操作 |
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</h3> |
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</div> |
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<div v-for="(item) in deviceStatusList" :key="item.name" class="check-status"> |
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<div> |
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{{ item.name }} |
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</div> |
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<div style="margin-left: 2rem;"> |
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<el-icon v-if="!item.isOrign" style="color:red;font-size: 25px;"> |
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<CloseBold /> |
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</el-icon> |
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<el-icon v-else style="color:#25be25;font-size: 25px;"> |
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<Select /> |
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</el-icon> |
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</div> |
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<div v-if="!item.isOrign" style="text-align: center;"> |
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<ft-button type="primary" :click-handle="() => resetOrign(item)"> |
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回原点 |
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</ft-button> |
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</div> |
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</div> |
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</div> |
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<template #footer> |
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<FtButton :disabled="!selfStateComplete" :click-handle="onComplete"> |
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关闭 |
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</FtButton> |
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</template> |
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</FtDialog> |
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</template> |
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|
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<style scoped> |
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.check-main{ |
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height: 70vh; |
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overflow: auto; |
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} |
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.check-status{ |
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display: grid; |
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grid-template-columns: 2fr 1fr 1fr; |
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margin-top: 5px; |
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height: 30px; |
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} |
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</style> |
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