From a59fec47a26e6bd3866338c6c8365e4ba574193c Mon Sep 17 00:00:00 2001
From: guoapeng <GuoAnPeng@163.com>
Date: Thu, 22 May 2025 18:01:15 +0800
Subject: [PATCH] =?UTF-8?q?fix:=E8=87=AA=E6=A3=80=E9=87=8D=E6=9E=84?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 src/assets/styles/element.scss     |  17 ++
 src/components/Stop/index.vue      |  28 +++
 src/components/check/index.vue     | 393 ++++++++++++-------------------------
 src/components/check1/index.vue    | 318 ++++++++++++++++++++++++++++++
 src/components/home/Stop/index.vue |  28 ---
 src/layouts/default.vue            |  32 +--
 src/libs/utils.ts                  |   2 +-
 src/router/index.ts                |   3 +
 src/views/container/liquidItem.vue |   4 +-
 tsconfig.json                      |   2 +-
 10 files changed, 514 insertions(+), 313 deletions(-)
 create mode 100644 src/components/Stop/index.vue
 create mode 100644 src/components/check1/index.vue
 delete mode 100644 src/components/home/Stop/index.vue

diff --git a/src/assets/styles/element.scss b/src/assets/styles/element.scss
index bd7bee3..f1b5357 100644
--- a/src/assets/styles/element.scss
+++ b/src/assets/styles/element.scss
@@ -41,4 +41,21 @@
   .el-icon {
     margin: 0;
   }
+}
+
+.init-message {
+  .el-message-box__content {
+    .el-message-box__container {
+      align-items: flex-start;
+      ul {
+        padding-left: 10px;
+        font-size: 15px;
+        li {
+          font-weight: 700;
+          color: #FE0A0A;
+        }
+      }
+    }
+  }
+
 }
\ No newline at end of file
diff --git a/src/components/Stop/index.vue b/src/components/Stop/index.vue
new file mode 100644
index 0000000..b8cdc12
--- /dev/null
+++ b/src/components/Stop/index.vue
@@ -0,0 +1,28 @@
+<script setup lang="ts">
+
+</script>
+
+<template>
+  <Teleport to="body">
+    <div class="mask-box">
+      设备急停中
+    </div>
+  </Teleport>
+</template>
+
+<style scoped lang="scss">
+.mask-box {
+  position: absolute;
+  width: 100%;
+  height: 100%;
+  background: rgba(0, 0, 0, 0.7);
+  display: flex;
+  justify-content: center;
+  align-items: center;
+  color: var(--el-color-danger);
+  font-size: 50px;
+  z-index: 10000;
+  top: 0;
+  left: 0;
+}
+</style>
diff --git a/src/components/check/index.vue b/src/components/check/index.vue
index 7419b3c..f8dcaf0 100644
--- a/src/components/check/index.vue
+++ b/src/components/check/index.vue
@@ -1,313 +1,156 @@
 <script lang="ts" setup>
-import { getSelfFinish, getSelfStatus } from '@/apis/self'
-import { ElMessage } from 'element-plus'
+import { getSelfFinish, getSelfStatus } from 'apis/self'
 import { socket } from 'libs/socket'
 import { useHomeStore } from 'stores/homeStore'
 import { useSystemStore } from 'stores/systemStore'
-import { onMounted, onUnmounted, ref } from 'vue'
+import { onMounted, ref } from 'vue'
 
-interface SelfStatus {
-  name: string
-  isOrign: boolean
-  value: string
-  type: string
-}
 const emits = defineEmits(['close'])
 const homeStore = useHomeStore()
 const systemStore = useSystemStore()
 
-const loading = ref(false)
-
-onMounted(() => {
-  socket.init(receiveMessage, 'cmd_debug')
-  socket.init(receiveMessage, 'cmd_response')
-  onStartSelfTest()
-})
-onUnmounted(() => {
-  clearInterval(patrolTimes.value)
-  socket.unregisterCallback(receiveMessage, 'cmd_debug')
-  socket.unregisterCallback(receiveMessage, 'cmd_response')
-})
-
-const receiveMessage = (data: Socket.cmdData) => {
-  data.commandId === currentCommandId && systemStore.pushSystemList(data)
-}
-
-const onStartSelfTest = () => {
-  patrolSelfStatus()
-}
-const statusMap: Record<string, Record<string, string>> = {
-  doorOrigin: {
-    name: '门',
-    value: '',
-    type: 'door',
-  },
-  shakeOrigin: {
-    name: '摇匀电机',
-    value: '',
-    type: 'shake',
-  },
-  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: 'z',
-    type: 'axis',
-  },
-  dualRobotOrigin: {
-    name: '加液机械臂',
-    value: '',
-    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_02',
-    type: 'heat',
-  },
-  trayLifting03Origin: {
-    name: '加热区03托盘升降',
-    value: 'heat_module_03',
-    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 patrolTimes = ref()
-const patrolSelfStatus = () => {
-  loading.value = true
-  patrolTimes.value = setInterval(() => {
-    querySelfStatus()
-  }, 1000)
-}
-
-const deviceStatusList = ref<SelfStatus[]>([])
-const selfStateComplete = ref(false)
-const querySelfStatus = () => {
-  const orignStatusList = []
-  getSelfStatus().then((res) => {
-    console.log('res', res)
-    loading.value = false
-    if (res) {
-      try {
-        const list: SelfStatus[] = []
-        const keys = Object.keys(res)
-        keys.forEach((item) => {
-          list.push({
-            name: statusMap[item].name,
-            isOrign: res[item],
-            value: statusMap[item].value,
-            type: statusMap[item].type,
-          })
-          if (res[item]) {
-            orignStatusList.push(item)
-          }
-          if (orignStatusList.length === keys.length) {
-            clearInterval(patrolTimes.value)
-            selfStateComplete.value = true
-          }
-        })
-        deviceStatusList.value = list
-        console.log('deviceStatusList', list)
-      }
-      catch (e) {
-        console.log('error', e)
-      }
+const checkMap = ref(new Map([
+  ['gantryZOrigin', { status: '', name: '龙门架z轴回原点', params: { commandId: '', command: `gantry_z_origin`, params: {} } }],
+  ['gantryXOrigin', { status: '', name: '龙门架x轴回原点', params: { commandId: '', command: `gantry_x_origin`, params: {} } }],
+  ['gantryYOrigin', { status: '', name: '龙门架y轴回原点', params: { commandId: '', command: `gantry_y_origin`, params: {} } }],
+  ['trayLifting01Origin', { status: '', name: 'A-1托盘升降电机回原点', params: { commandId: '', command: `tray_lifting_origin`, params: { heatId: 'heat_module_01' } } }],
+  ['trayLifting02Origin', { status: '', name: 'A-2托盘升降电机回原点', params: { commandId: '', command: `tray_lifting_origin`, params: { heatId: 'heat_module_02' } } }],
+  ['trayLifting03Origin', { status: '', name: 'A-3托盘升降电机回原点', params: { commandId: '', command: `tray_lifting_origin`, params: { heatId: 'heat_module_03' } } }],
+  ['trayLifting04Origin', { status: '', name: 'A-4托盘升降电机回原点', params: { commandId: '', command: `tray_lifting_origin`, params: { heatId: 'heat_module_04' } } }],
+  ['trayLifting05Origin', { status: '', name: 'A-5托盘升降电机回原点', params: { commandId: '', command: `tray_lifting_origin`, params: { heatId: 'heat_module_05' } } }],
+  ['trayLifting06Origin', { status: '', name: 'A-6托盘升降电机回原点', params: { commandId: '', command: `tray_lifting_origin`, params: { heatId: 'heat_module_06' } } }],
+  ['capLiftingOrigin', { status: '', name: '拍子升降电机回原点', params: { commandId: '', command: `cap_lifting_origin` } }],
+  ['doorOrigin', { status: '', name: '门电机回原点', params: { commandId: '', command: `door_origin`, params: {} } }],
+  ['shakeOrigin', { status: '', name: '摇匀电机回原点', params: { commandId: '', command: `shake_origin`, params: {} } }],
+  ['dualRobotOrigin', { status: '', name: '加液机械臂回原点', params: { commandId: '', command: `dual_robot_origin`, params: {} } }],
+]))
+
+onMounted(async () => {
+  socket.init(receiveMessage1, 'cmd_debug')
+  socket.init(receiveMessage2, 'cmd_response')
+  const res = await getSelfStatus()
+  for (const key in res) {
+    const entry = checkMap.value.get(key)
+    if (entry) {
+      entry.status = res[key] ? 'success' : ''
     }
-  }).catch(() => {
-    loading.value = false
-  })
-}
-
-const resetOrign = (item: SelfStatus) => {
-  if (item.type === 'door') {
-    door_origin()
-  }
-  if (item.type === 'shake') {
-    shake_origin()
-  }
-  else if (item.value === 'x' || item.value === 'y' || item.value === 'z') {
-    gantry_origin(item.value)
-  }
-  else if (item.type === 'liquid') {
-    dual_robot_origin()
   }
-  else if (item.type === 'heat') {
-    tray_lifting_origin(item.value)
-  }
-  else if (item.type === 'cap') {
-    cap_lifting_origin()
-  }
-}
+  console.log(checkMap)
+  await getCheckItem()
+})
 
-const shake_origin = async () => {
-  currentCommandId = Date.now().toString()
+let currentCommandId = ''
 
-  const params = {
-    commandId: currentCommandId,
-    command: `shake_origin`,
-    params: {},
-  }
-  await homeStore.sendControl(params)
+const receiveMessage1 = (data: Socket.cmdData) => {
+  data.commandId === currentCommandId && systemStore.pushSystemList(data)
 }
-
-const door_origin = async () => {
-  currentCommandId = Date.now().toString()
-
-  const params = {
-    commandId: currentCommandId,
-    command: `door_origin`,
-    params: {},
+const receiveMessage2 = (data: Socket.cmdData) => {
+  data.commandId === currentCommandId && systemStore.pushSystemList(data)
+  const item = checkList.value.find(item => item.params.commandId === currentCommandId)
+  if (data.commandId === item.params.commandId && ['success', 'error'].includes(data.status)) {
+    item.status = data.status
   }
-  await homeStore.sendControl(params)
 }
 
-// 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 checkList = ref<any[]>([])
 
-  const params = {
-    commandId: currentCommandId,
-    command: `gantry_${motor}_origin`,
-    params: {},
+const getCheckItem = async () => {
+  console.log('checkList', checkList.value.length)
+  const keys = [...checkMap.value.keys()]
+  if (!keys.length) {
+    return
   }
-  await homeStore.sendControl(params)
-}
-
-const dual_robot_origin = async () => {
-  currentCommandId = Date.now().toString()
-  const params = {
-    commandId: currentCommandId,
-    command: 'dual_robot_origin',
-    params: {},
+  const value = checkMap.value.get(keys[0])
+  if (value?.params) {
+    value.params.commandId = currentCommandId = Date.now().toString()
   }
-  await homeStore.sendControl(params)
-}
 
-const cap_lifting_origin = async () => {
-  currentCommandId = Date.now().toString()
-  const params = {
-    commandId: currentCommandId,
-    command: 'cap_lifting_origin',
-    params: {},
+  const index = checkList.value.push(value)
+  if (value?.status !== 'success') {
+    await homeStore.sendControl(value!.params)
   }
-  await homeStore.sendControl(params)
+
+  const poll = setInterval(async () => {
+    if (['success', 'error'].includes(checkList.value[index - 1].status)) {
+      checkMap.value.delete(keys[0])
+      await getCheckItem()
+      clearInterval(poll)
+    }
+  }, 500)
 }
 
-const tray_lifting_origin = async (heatId: string) => {
-  currentCommandId = Date.now().toString()
-  const params = {
-    commandId: currentCommandId,
-    command: 'tray_lifting_origin',
-    params: {
-      heatId,
-    },
+const alginHandle = async () => {
+  let index = 0
+  const algin = async (item: any) => {
+    if (!item) {
+      return
+    }
+    if (item.status !== 'success') {
+      item.params.commandId = currentCommandId = Date.now().toString()
+      item.status = ''
+      await homeStore.sendControl(item.params)
+      const poll = setInterval(async () => {
+        if (['success', 'error'].includes(item.status)) {
+          await algin(checkList.value[index++])
+          clearInterval(poll)
+        }
+      }, 1000)
+    }
   }
-  await homeStore.sendControl(params)
+  await algin(checkList.value[index])
 }
 
-const onComplete = () => {
-  getSelfFinish().then(() => {
-    ElMessage.success('自检完成')
-    emits('close')
-  })
+const onConfirm = async () => {
+  await getSelfFinish()
+  emits('close')
 }
-
-// const cancel = () => {
-//   emits('update:checking', false)
-//   visible.value = false
-// }
 </script>
 
 <template>
-  <FtDialog visible title="自检" width="50%">
-    <div v-loading="loading" class="check-main">
-      <!--      <div v-if="type !== 'cancel'"> -->
-      <!--        <span style="color: red">所有电机回原点后才可操作</span> -->
-      <!--      </div> -->
-      <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 v-if="!item.isOrign" style="text-align: center;">
-          <ft-button type="primary" :click-handle="() => resetOrign(item)">
-            回原点
-          </ft-button>
-        </div>
+  <FtDialog visible title="设备初始化" width="40%">
+    <div class="check-main">
+      <div v-for="item in checkList" :key="item.name" class="check-item">
+        <el-tag>{{ item.name }}</el-tag>
+        <el-icon v-if="item.status === 'success'" color="#26D574">
+          <CircleCheckFilled />
+        </el-icon>
+        <el-icon v-else-if="item.status === 'error'" color="#FE0A0A">
+          <CircleCloseFilled />
+        </el-icon>
+        <el-icon v-else-if="item.status === ''" class="el-icon--loading">
+          <Loading />
+        </el-icon>
       </div>
     </div>
     <template #footer>
-      <FtButton :disabled="!selfStateComplete" :click-handle="onComplete">
-        关闭
-      </FtButton>
+      <div style="height: 40px">
+        <FtButton v-if="checkList.length === 13 && checkList.every(item => item.status !== 'success')" type="primary" :click-handle="alginHandle">
+          重试
+        </FtButton>
+        <FtButton v-if="checkList.length === 13 && checkList.every(item => item.status === 'success')" :click-handle="onConfirm">
+          关闭
+        </FtButton>
+      </div>
     </template>
   </FtDialog>
 </template>
 
 <style scoped>
 .check-main{
-  max-height: 70vh;
+  height: 60vh;
   overflow: auto;
+  .check-item {
+    display: flex;
+    align-items: center;
+    margin-bottom: 10px;
+    .el-tag {
+      flex: 1;
+    }
+    .el-icon {
+      margin: 0 10px;
+      font-size: 18px;
+    }
+  }
 }
 .check-status{
   display: grid;
@@ -315,4 +158,16 @@ const onComplete = () => {
   margin-top: 5px;
   height: 30px;
 }
+@keyframes spin {
+  0% {
+    transform: rotate(0deg);
+  }
+  100% {
+    transform: rotate(360deg);
+  }
+}
+
+.el-icon.el-icon--loading {
+  animation: spin 1s linear infinite;
+}
 </style>
diff --git a/src/components/check1/index.vue b/src/components/check1/index.vue
new file mode 100644
index 0000000..2855fd7
--- /dev/null
+++ b/src/components/check1/index.vue
@@ -0,0 +1,318 @@
+<script lang="ts" setup>
+import { getSelfFinish, getSelfStatus } from '@/apis/self'
+import { ElMessage } from 'element-plus'
+import { socket } from 'libs/socket'
+import { useHomeStore } from 'stores/homeStore'
+import { useSystemStore } from 'stores/systemStore'
+import { onMounted, onUnmounted, ref } from 'vue'
+
+interface SelfStatus {
+  name: string
+  isOrign: boolean
+  value: string
+  type: string
+}
+const emits = defineEmits(['close'])
+const homeStore = useHomeStore()
+const systemStore = useSystemStore()
+
+const loading = ref(false)
+
+onMounted(() => {
+  socket.init(receiveMessage, 'cmd_debug')
+  socket.init(receiveMessage, 'cmd_response')
+  onStartSelfTest()
+})
+onUnmounted(() => {
+  clearInterval(patrolTimes.value)
+  socket.unregisterCallback(receiveMessage, 'cmd_debug')
+  socket.unregisterCallback(receiveMessage, 'cmd_response')
+})
+
+const receiveMessage = (data: Socket.cmdData) => {
+  data.commandId === currentCommandId && systemStore.pushSystemList(data)
+}
+
+const onStartSelfTest = () => {
+  patrolSelfStatus()
+}
+const statusMap: Record<string, Record<string, string>> = {
+  doorOrigin: {
+    name: '门',
+    value: '',
+    type: 'door',
+  },
+  shakeOrigin: {
+    name: '摇匀电机',
+    value: '',
+    type: 'shake',
+  },
+  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: 'z',
+    type: 'axis',
+  },
+  dualRobotOrigin: {
+    name: '加液机械臂',
+    value: '',
+    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_02',
+    type: 'heat',
+  },
+  trayLifting03Origin: {
+    name: '加热区03托盘升降',
+    value: 'heat_module_03',
+    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 patrolTimes = ref()
+const patrolSelfStatus = () => {
+  loading.value = true
+  patrolTimes.value = setInterval(() => {
+    querySelfStatus()
+  }, 1000)
+}
+
+const deviceStatusList = ref<SelfStatus[]>([])
+const selfStateComplete = ref(false)
+const querySelfStatus = () => {
+  const orignStatusList = []
+  getSelfStatus().then((res) => {
+    console.log('res', res)
+    loading.value = false
+    if (res) {
+      try {
+        const list: SelfStatus[] = []
+        const keys = Object.keys(res)
+        keys.forEach((item) => {
+          list.push({
+            name: statusMap[item].name,
+            isOrign: res[item],
+            value: statusMap[item].value,
+            type: statusMap[item].type,
+          })
+          if (res[item]) {
+            orignStatusList.push(item)
+          }
+          if (orignStatusList.length === keys.length) {
+            clearInterval(patrolTimes.value)
+            selfStateComplete.value = true
+          }
+        })
+        deviceStatusList.value = list
+        console.log('deviceStatusList', list)
+      }
+      catch (e) {
+        console.log('error', e)
+      }
+    }
+  }).catch(() => {
+    loading.value = false
+  })
+}
+
+const resetOrign = (item: SelfStatus) => {
+  if (item.type === 'door') {
+    door_origin()
+  }
+  if (item.type === 'shake') {
+    shake_origin()
+  }
+  else if (item.value === 'x' || item.value === 'y' || item.value === 'z') {
+    gantry_origin(item.value)
+  }
+  else if (item.type === 'liquid') {
+    dual_robot_origin()
+  }
+  else if (item.type === 'heat') {
+    tray_lifting_origin(item.value)
+  }
+  else if (item.type === 'cap') {
+    cap_lifting_origin()
+  }
+}
+
+const shake_origin = async () => {
+  currentCommandId = Date.now().toString()
+
+  const params = {
+    commandId: currentCommandId,
+    command: `shake_origin`,
+    params: {},
+  }
+  await homeStore.sendControl(params)
+}
+
+const door_origin = async () => {
+  currentCommandId = Date.now().toString()
+
+  const params = {
+    commandId: currentCommandId,
+    command: `door_origin`,
+    params: {},
+  }
+  await homeStore.sendControl(params)
+}
+
+// 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_${motor}_origin`,
+    params: {},
+  }
+  await homeStore.sendControl(params)
+}
+
+const dual_robot_origin = async () => {
+  currentCommandId = Date.now().toString()
+  const params = {
+    commandId: currentCommandId,
+    command: 'dual_robot_origin',
+    params: {},
+  }
+  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 onComplete = () => {
+  getSelfFinish().then(() => {
+    ElMessage.success('自检完成')
+    emits('close')
+  })
+}
+
+// const cancel = () => {
+//   emits('update:checking', false)
+//   visible.value = false
+// }
+</script>
+
+<template>
+  <FtDialog visible title="自检" width="50%">
+    <div v-loading="loading" class="check-main">
+      <!--      <div v-if="type !== 'cancel'"> -->
+      <!--        <span style="color: red">所有电机回原点后才可操作</span> -->
+      <!--      </div> -->
+      <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 v-if="!item.isOrign" style="text-align: center;">
+          <ft-button type="primary" :click-handle="() => resetOrign(item)">
+            回原点
+          </ft-button>
+        </div>
+      </div>
+    </div>
+    <template #footer>
+      <FtButton :disabled="!selfStateComplete" :click-handle="onComplete">
+        关闭
+      </FtButton>
+    </template>
+  </FtDialog>
+</template>
+
+<style scoped>
+.check-main{
+  height: 70vh;
+  overflow: auto;
+}
+.check-status{
+  display: grid;
+  grid-template-columns: 2fr 1fr 1fr;
+  margin-top: 5px;
+  height: 30px;
+}
+</style>
diff --git a/src/components/home/Stop/index.vue b/src/components/home/Stop/index.vue
deleted file mode 100644
index b8cdc12..0000000
--- a/src/components/home/Stop/index.vue
+++ /dev/null
@@ -1,28 +0,0 @@
-<script setup lang="ts">
-
-</script>
-
-<template>
-  <Teleport to="body">
-    <div class="mask-box">
-      设备急停中
-    </div>
-  </Teleport>
-</template>
-
-<style scoped lang="scss">
-.mask-box {
-  position: absolute;
-  width: 100%;
-  height: 100%;
-  background: rgba(0, 0, 0, 0.7);
-  display: flex;
-  justify-content: center;
-  align-items: center;
-  color: var(--el-color-danger);
-  font-size: 50px;
-  z-index: 10000;
-  top: 0;
-  left: 0;
-}
-</style>
diff --git a/src/layouts/default.vue b/src/layouts/default.vue
index 4354c11..0d1f8a2 100644
--- a/src/layouts/default.vue
+++ b/src/layouts/default.vue
@@ -1,7 +1,7 @@
 <script setup lang="ts">
 import logoutIcon from 'assets/images/logout.svg'
 import Check from 'components/check/index.vue'
-import Stop from 'components/home/Stop/index.vue'
+import Stop from 'components/Stop/index.vue'
 import { ElMessageBox } from 'element-plus'
 import { useActivateDebug } from 'hooks/useActivateDebug'
 import { isClose } from 'libs/socket'
@@ -24,17 +24,25 @@ const timeInterval = setInterval(() => {
 
 onMounted(async () => {
   if (!systemStore.systemStatus.selfTest && systemStore.systemStatus.currentUser?.username !== 'test') {
-    ElMessageBox.confirm('设备转运机械臂x、y、z需进行初始化，请确认机械臂行进路径是否有杂物，夹爪是否正在夹取物品', '提示', {
-      confirmButtonText: '是',
-      cancelButtonText: '否',
-      showClose: false,
-      closeOnClickModal: false,
-      type: 'warning',
-    }).then(() => {
-
-    }).catch(() => {
-
-    })
+    await ElMessageBox.confirm(
+      '<p>即将对设备进行初始化, 请确保以下内容: </p>'
+      + '<ul>'
+      + '<li>1. 设备内部无杂物</li>'
+      + '<li>2. 夹爪没有夹取物品</li>'
+      + '<li>3. 加液区无试管架<li>'
+      + '</ul> ',
+      '提示',
+      {
+        confirmButtonText: '确认',
+        showClose: false,
+        dangerouslyUseHTMLString: true,
+        showCancelButton: false,
+        closeOnClickModal: false,
+        type: 'warning',
+        customClass: 'init-message',
+      },
+    )
+    isCheck.value = true
   }
 })
 
diff --git a/src/libs/utils.ts b/src/libs/utils.ts
index eb4fff8..01254a0 100644
--- a/src/libs/utils.ts
+++ b/src/libs/utils.ts
@@ -44,7 +44,7 @@ export const cmdNameMap = {
   tray_down: '降下托盘',
   shake_start: '开始摇匀',
   shake_stop: '停止摇匀',
-  dual_robot_joint_origin: '加液机械臂回原点',
+  dual_robot_origin: '加液机械臂回原点',
   gantry_x_origin: '机械臂x轴回原点',
   gantry_y_origin: '机械臂y轴回原点',
   gantry_z_origin: '机械臂z轴回原点',
diff --git a/src/router/index.ts b/src/router/index.ts
index e49beea..0910af8 100644
--- a/src/router/index.ts
+++ b/src/router/index.ts
@@ -12,6 +12,9 @@ const router = createRouter({
 router.beforeEach((to: RouteLocationNormalized, from: RouteLocationNormalized, next: NavigationGuardNext) => {
   const systemStore = useSystemStore()
   if (getToken() && systemStore.systemStatus.currentUser?.username) {
+    if (to.name === 'login') {
+      next({ name: from.name })
+    }
     next()
   }
   else {
diff --git a/src/views/container/liquidItem.vue b/src/views/container/liquidItem.vue
index d65224d..eb761c3 100644
--- a/src/views/container/liquidItem.vue
+++ b/src/views/container/liquidItem.vue
@@ -30,9 +30,9 @@ const solutionInfo = ref(props.solutionItem)
 const solutionStyle = computed(() => {
   const difference = solutionInfo.value.capacityUsed / solutionInfo.value.capacityTotal
   const process = 100 - (difference * 100)
-  const color = difference > 0.4 ? '#26D574' : difference > 10 ? '#EE8223' : '#FE0A0A'
+  // const color = difference > 0.4 ? '#26D574' : difference > 10 ? '#EE8223' : '#FE0A0A'
   return {
-    '-webkit-mask': `linear-gradient(to bottom, transparent ${process}%, #EEEFF8 ${process + 0.1}%, ${color})`,
+    '-webkit-mask': `linear-gradient(to bottom, transparent ${process}%, #EEEFF8 ${process + 0.1}%)`,
   }
 })
 const onInputBlur = () => {
diff --git a/tsconfig.json b/tsconfig.json
index 5d6b883..423bda0 100644
--- a/tsconfig.json
+++ b/tsconfig.json
@@ -32,7 +32,7 @@
     "skipLibCheck": true
   },
   "types": ["vite/client", "jest", "node", "element-plus/global.d.ts", "lodash"],
-  "include": ["src/**/*.ts", "src/**/*.d.ts", "src/**/*.tsx", "src/**/*.vue", "src/**/**/*.vue"],
+  "include": ["src/**/*.ts", "src/**/*.d.ts", "src/**/*.tsx", "src/**/*.vue", "src/**/**/*.vue", "components/**/*.vue"],
   "exclude": [
   ]
 }