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hand-acid-web
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fix: 指令执行状态

master
guoapeng 2 days ago
parent
1cb33495ac
commit
8a9ff99f40
15 changed files with 47 additions and 1177 deletions
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  1. 255
      src/components/system/Check/index.vue
  2. 53
      src/components/systemConfig/Edit/index.vue
  3. 17
      src/layouts/default.vue
  4. 63
      src/libs/utils.ts
  5. 2
      src/main.ts
  6. 89
      src/types/debug.d.ts
  7. 12
      src/types/exit.d.ts
  8. 11
      src/types/point.d.ts
  9. 26
      src/types/task.d.ts
  10. 61
      src/views/channel/index.vue
  11. 52
      src/views/craft/index.vue
  12. 438
      src/views/debug/index.vue
  13. 2
      src/views/log/index.vue
  14. 59
      src/views/point/index.vue
  15. 84
      src/views/user/index.vue

255
src/components/system/Check/index.vue
View File

@ -1,255 +0,0 @@
<script lang="ts" setup>
import { getSelfFinish } from 'apis/self'
import { ElMessageBox } from 'element-plus'
import { socket } from 'libs/socket'
import { useHomeStore } from 'stores/homeStore'
import { useSystemStore } from 'stores/systemStore'
import { onMounted, ref } from 'vue'
const emits = defineEmits(['close'])
const homeStore = useHomeStore()
const systemStore = useSystemStore()
const checkMap = ref(new Map([
['zOrigin', { status: '', ignoreKey: 'zOriginIsIgnore', name: 'Z轴回原点', params: { commandId: '', command: `check_z_origin`, params: {} } }],
['xyOrigin', { status: '', ignoreKey: 'xyOriginIsIgnore', name: '机械臂回原点', params: { commandId: '', command: `check_xy_origin`, params: {} } }],
['titrationOrigin', { status: '', ignoreKey: 'titrationOriginIsIgnore', name: '滴定电机回原点', params: { commandId: '', command: `check_titration_motor_origin`, params: {} } }],
['shakeOrigin', { status: '', ignoreKey: 'shakeOriginIsIgnore', name: '摇匀电机回原点', params: { commandId: '', command: `check_shake_motor_origin`, params: {} } }],
['stirOrigin', { status: '', ignoreKey: 'stirOriginIsIgnore', name: '磁子投放电机回原点', params: { commandId: '', command: `check_stir_motor_origin`, params: {} } }],
]))
const checkList = ref<any[]>([])
onMounted(async () => {
socket.init(receiveMessage1, 'cmd_debug')
socket.init(receiveMessage2, 'cmd_response')
socket.init(receiveMessageSelfMove, 'self_move_test')
await ElMessageBox.confirm(
'设备转运机械臂、滴定电机、摇匀电机、磁子投放电机，请确认机械臂行进路径无杂物',
'提示',
{
confirmButtonText: '确认',
showClose: false,
showCancelButton: false,
closeOnClickModal: false,
closeOnPressEscape: false,
type: 'warning',
customClass: 'init-message',
},
)
const keys = [...checkMap.value.keys()]
for (let i = 0; i < keys.length; i++) {
checkList.value.push(checkMap.value.get(keys[i]))
}
})
let currentCommandId = ''
const receiveMessage1 = (data: Socket.cmdData) => {
data.commandId === currentCommandId && systemStore.pushSystemList(data)
}
const receiveMessage2 = (data: Socket.cmdData) => {
data.commandId === currentCommandId && systemStore.pushSystemList(data)
const item = checkList.value.find(item => item.params.commandId === data.commandId)
if (item && data.commandId === item.params.commandId && ['success', 'error'].includes(data.status)) {
item.status = data.status
}
}
const commandHandle = async (data: any) => {
data.params.commandId = currentCommandId = Date.now().toString()
await homeStore.sendControl(data!.params)
}
const onConfirm = async () => {
await getSelfFinish(true)
emits('close')
}
const percentage = ref(0)
const checkHandle = async () => {
activeStep.value = 1
await ElMessageBox.confirm(
'设备即将开始自检',
'提示',
{
confirmButtonText: '确认',
showClose: false,
showCancelButton: false,
closeOnClickModal: false,
closeOnPressEscape: false,
type: 'warning',
customClass: 'init-message',
},
)
currentCommandId = Date.now().toString()
const params = {
commandId: currentCommandId,
command: 'check_move_test',
params: {},
}
await homeStore.sendControl(params)
}
const checkTextList = ref<{ title: string, type: 'success' | 'error' }[]>([])
const selfAgain = ref(true)
const receiveMessageSelfMove = (data: any) => {
checkTextList.value.push(data)
percentage.value = data.schedule
if (data.type === 'error') {
selfAgain.value = true
}
}
const activeStep = ref(0)
const checkAgain = async () => {
selfAgain.value = false
checkTextList.value = []
percentage.value = 0
currentCommandId = Date.now().toString()
const params = {
commandId: currentCommandId,
command: 'check_move_test',
params: {},
}
await homeStore.sendControl(params)
selfAgain.value = true
}
</script>
<template>
<FtDialog visible title="设备初始化" width="60%">
<!-- <el-steps style="max-width: 600px" :active="activeStep" finish-status="success">
<el-step title="初始化" />
<el-step title="自检" />
<el-step title="设备状态" />
</el-steps> -->
<div v-if="activeStep === 0" 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>
<el-icon v-else-if="item.status === 'ignore'">
<More />
</el-icon>
<ft-button v-if="!['ignore', 'success'].includes(item.status)" type="primary" size="small" :click-handle="() => commandHandle(item)">
回原点
</ft-button>
<!-- <ft-button v-if="!['ignore', 'success'].includes(item.status) && item.name === '门电机回原点'" size="small" type="primary" :click-handle="() => ignore(item)">
忽略
</ft-button>
<ft-button v-if="item.status === 'ignore' && item.name === '门电机回原点'" size="small" type="danger" :click-handle="() => ignoreFalse(item)">
取消忽略
</ft-button> -->
</div>
</div>
<div v-if="activeStep === 1" class="check-box">
<div class="progress-box">
<p>自检进度: </p>
<el-progress
:stroke-width="20"
:percentage="percentage"
/>
</div>
<ul>
<li v-for="(item, index) in checkTextList" :key="index">
<span :style="{ color: item.type === 'success' ? '#14A656' : '#DF1515' }">{{ item.title }}</span>
</li>
</ul>
</div>
<template #footer>
<div style="height: 40px">
<FtButton v-if="activeStep === 0 && checkList.every(item => ['success', 'ignore'].includes(item.status))" type="primary" :click-handle="checkHandle">
下一步
</FtButton>
<FtButton v-if="activeStep === 1 && selfAgain" type="primary" :click-handle="checkAgain">
重新自检
</FtButton>
<FtButton v-if="activeStep === 1" :click-handle="onConfirm">
关闭
</FtButton>
</div>
</template>
</FtDialog>
</template>
<style scoped>
.check-box {
height: 30vh;
ul {
li {
margin: 3px 0;
}
}
}
.progress-box {
width: 100%;
height: 40px;
display: flex;
align-items: center;
p {
margin-right: 10px;
}
span {
margin-left: 10px;
}
.el-progress {
width: 80%;
}
}
.check-main{
height: 25vh;
overflow: auto;
display: flex;
flex-direction: column;
justify-content: flex-start;
margin-top: 20px;
}
.check-item {
width: 100%;
display: flex;
align-items: center;
justify-content: center;
margin-bottom: 10px;
.el-tag {
width: 50%;
}
.el-icon {
margin: 0 10px;
font-size: 18px;
}
}
.check-status{
display: grid;
grid-template-columns: 2fr 1fr 1fr;
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;
}
.ft-button {
width:120px
}
</style>

53
src/components/systemConfig/Edit/index.vue
View File

@ -1,53 +0,0 @@
<script setup lang="ts">
import { updateConfig } from 'apis/system'
import { FtMessage } from 'libs/message'
import { inject, ref } from 'vue'
const emits = defineEmits(['ok', 'cancel'])
const data = inject('currentData')
const form = ref<System.SystemConfig>(data as System.SystemConfig)
const formRef = ref()
const rules = {
value: [
{ required: true, message: '请输入值', trigger: 'blur' },
],
}
const okHandle = async () => {
try {
const valid = await formRef.value.validate()
if (!valid) {
return
}
await updateConfig(form.value)
FtMessage.success('保存成功')
emits('ok')
}
catch (error) {
console.log(error)
}
}
const cancel = () => {
emits('cancel')
}
</script>
<template lang="pug">
FtDialog(visible title="编辑" width="30%" :ok-handle="okHandle" @cancel="cancel")
el-form(ref="formRef" label-width="auto" :model="form" :rules="rules" label-suffix=": ")
el-form-item(label="名称")
el-tag {{ form.name }}
el-form-item(label="code")
el-tag {{ form.code }}
el-form-item(label="值" prop="value")
ft-input(v-model="form.value" placeholder="请输入值")
</template>
<style scoped lang="stylus">
.el-tag
margin-right 5px
</style>

17
src/layouts/default.vue
View File

@ -5,13 +5,13 @@ import logoutIcon from 'assets/images/logout.svg'
import manualIcon from 'assets/images/manual.svg'
import powerIcon from 'assets/images/power.svg'
import FtDatetime from 'components/common/FTDatetime/index.vue'
import Check from 'components/system/Check/index.vue'
import Delay from 'components/system/Delay/index.vue'
import Stop from 'components/system/Stop/index.vue'
import { ElMessageBox } from 'element-plus'
import { useActivateDebug } from 'hooks/useActivateDebug'
import { FtMessage } from 'libs/message'
import { isClose, socket } from 'libs/socket'
import { cmdNameMap, formatDateTime } from 'libs/utils'
import { authRoutes } from 'router/routes'
import { useDebugStore } from 'stores/debugStore'
import { useSystemStore } from 'stores/systemStore'
@ -26,6 +26,8 @@ const router = useRouter()
onMounted(async () => {
socket.init(receiveMessage, 'alarm')
socket.init(receiveMessage1, 'warn')
socket.init(receiveMessage2, 'cmd_debug')
socket.init(receiveMessage2, 'cmd_response')
if (!systemStore.systemStatus.currentUser) {
await router.push('/login')
}
@ -36,9 +38,19 @@ onMounted(async () => {
onUnmounted(() => {
socket.unregisterCallback(receiveMessage, 'alarm')
socket.unregisterCallback(receiveMessage, 'warn')
socket.unregisterCallback(receiveMessage1, 'warn')
socket.unregisterCallback(receiveMessage2, 'cmd_debug')
socket.unregisterCallback(receiveMessage2, 'cmd_response')
})
const receiveMessage2 = (data: Socket.cmdData) => {
console.log('cmd_debug', data)
if (['start', 'success', 'fail'].includes(data.status)) {
const cmdName = cmdNameMap[data.command as keyof typeof cmdNameMap] || data.command
systemStore.insertLog({ cmdName, status: data.status as System.SystemLog['status'], time: formatDateTime() })
}
}
let flag = false
const receiveMessage1 = (data: any) => {
@ -252,7 +264,6 @@ const remoteControlState = computed(() => {
div(class="footer-right")
FtDatetime
FtStream(:visible="systemStore.streamVisible")
Check(v-if="isCheck" @close="isCheck = false")
Stop(v-if="systemStore.systemStatus.emergencyStop")
Delay(v-if="delayVisible" @ok="delayVisible = false" @close="delayVisible = false")
</template>

63
src/libs/utils.ts
View File

@ -1,63 +1,8 @@
export const cmdNameMap = {
liquid_motor_move_to: '加液电机绝对移动',
liquid_motor_origin: '加液电机回原点',
liquid_motor_stop: '加液电机停止',
liquid_motor_move_by: '加液电机相对移动',
liquid_pump_start: '加液泵开始',
liquid_pump_add: '加液',
liquid_pump_reduce: '抽液',
liquid_pump_stop: '停止加液泵',
liquid_valve_open_thin: '阀门切换到稀硝酸通道',
liquid_valve_open_thick: '阀门切换到浓硝酸通道',
liquid_valve_open_water: '阀门切换到蒸馏水通道',
liquid_valve_open_waste: '阀门切换到废液通道',
liquid_valve_open_vacant: '阀门关闭',
heater_start: '开始加热',
heater_stop: '停止加热',
fan_start: '打开风扇',
fan_stop: '关闭风扇',
x_origin: 'x轴电机回原点',
x_stop: 'x轴电机停止',
x_move_to: 'x轴电机绝对移动',
x_move_by: 'x轴电机相对移动',
z_stop: 'z轴电机停止',
z_origin: 'z轴电机回原点',
z_move_to: 'z轴电机绝对移动',
z_move_by: 'z轴电机相对移动',
liquid_add: '加液',
liquid_reduce: '抽取溶液',
clean_start: '开始清洗',
liquid_pre_fill_start: '开始预充',
liquid_pre_fill_stop: '停止预充',
dry_start: '开始烘干',
dry_stop: '停止烘干',
anneal_start: '开始退火',
anneal_stop: '停止退火',
move_to_heat_area: '移至加热区',
move_to_liquid_area: '移至加液区',
move_to_feed_area: '移至上/下料区',
transfer_z_origin: 'z轴回原点',
transfer_x_origin: 'x轴回原点',
door_origin: '门电机回原点',
dual_robot_origin: '加液机械臂回原点',
move_to_anneal_area: '移至退火位',
beep_open: '蜂鸣器开启',
beep_close: '蜂鸣器关闭',
enable_all_motor: '使能所有电机',
disable_all_motor: '失能所有电机',
stop_all_motor: '停止所有电机',
x_enable: '使能x轴电机',
x_disable: '失能x轴电机',
z_enable: '使能z轴电机',
z_disable: '失能z轴电机',
liquid_motor_enable: '使能加液臂电机',
liquid_motor_disable: '失能加液臂电机',
door_enable: '使能门电机',
door_disable: '失能门电机',
out_tray: '取出托盘',
move_test: '自检',
liquid_pre_fill_when_launch: '开机预充',
pump_rotate_start: '泵开始转动',
pump_rotate_stop: '泵停止转动',
solution_pre_fill_start: '预充',
solution_add_start: '加液',
}
export const generateColors = (count: number): string[] => {

2
src/main.ts
View File

@ -1,7 +1,7 @@
import * as ElementPlusIconsVue from '@element-plus/icons-vue'
import FtButton from 'components/common/FTButton/index.vue'
import FtChart from 'components/common/FTChart/index.vue'
import FtDatetime from 'components/common/FTDateTime/index.vue'
import FtDatetime from 'components/common/FTDatetime/index.vue'
import FtDialog from 'components/common/FTDialog/index.vue'
import FtInput from 'components/common/FTInput/index.vue'
import FtStream from 'components/common/FTStream/index.vue'

89
src/types/debug.d.ts
View File

@ -1,89 +0,0 @@
declare namespace Debug {
interface DebugStore {
formData: FormData
}
interface FormData {
heatArea: HeatArea
transferModule: TransferModule
peristalticPumpData: PeristalticPump
titrationModule: TitrationModule
lightModule: LightModule
stirMotor: StirMotor
}
interface StirMotor {
absolute: MotorData & {
motorCode: 'stir_motor_1' | 'stir_motor_2'
}
relative: MotorData & {
motorCode: 'stir_motor_1' | 'stir_motor_2'
}
}
interface TitrationModule {
absolute: MotorData & {
motorCode: 'titration_motor_1' | 'titration_motor_2'
}
relative: MotorData & {
motorCode: 'titration_motor_1' | 'titration_motor_2'
}
}
interface LightModule {
color: 'red' | 'green' | 'yellow'
}
interface HeatArea {
heatModuleCode: 'heat_module_1' | 'heat_module_2'
temperature?: number
}
interface MotorData {
distance?: number
speed?: number
times?: number
position?: number
}
interface RoboticArmMotorData {
angle?: number
speed?: number
times?: number
position?: number
}
interface PumpData {
speed?: number
distance?: number
direction?: 'forward' | 'backward'
}
interface PeristalticPump {
ceramicPump: PumpData & {
pumpCode: 'ceramic_pump_1' | 'ceramic_pump_2'
}
brushlessPump: PumpData & {
pumpCode: 'brushless_pump_1' | 'brushless_pump_2' | 'brushless_pump_3' | 'brushless_pump_4' | 'brushless_pump_5' | 'brushless_pump_6' | 'brushless_pump_7' | 'brushless_pump_8' | 'brushless_pump_9' | 'brushless_pump_10'
}
stepPump: PumpData & {
pumpCode: 'step_pump_1' | 'step_pump_2' | 'step_pump_3'
}
}
interface TransferModule {
bigMotorData: {
absolute: RoboticArmMotorData
relative: RoboticArmMotorData
}
smallMotorData: {
absolute: RoboticArmMotorData
relative: RoboticArmMotorData
}
zMotorData: {
absolute: MotorData
relative: MotorData
}
clawMotorData: MotorData
}
}

12
src/types/exit.d.ts
View File

@ -1,12 +0,0 @@
declare namespace Exit {
interface ExitModal {
openModal: () => void
}
interface Axis {
name: string
icon: string
value: 'x' | 'y' | 'z'
color: string
}
}

11
src/types/point.d.ts
View File

@ -1,11 +0,0 @@
declare namespace Point {
interface Point extends UpdateParams {
name: string
code: string
type: string
}
interface UpdateParams {
id?: number
position?: string
}
}

26
src/types/task.d.ts
View File

@ -1,26 +0,0 @@
declare namespace Task {
interface TaskAdd {
name: string
}
interface TaskQuery extends System.Page {
name: string
}
interface Task {
id: number
name: string
status: 1 | 2
isDeleted: 0 | 1
createTime: string
startTime: string
endTime: string
updateTime: string
steps: Step[]
}
interface Step {
id: number
taskId: number
stepDescription: string
createTime: string
}
}

61
src/views/channel/index.vue
View File

@ -1,61 +0,0 @@
<script setup lang="ts">
import { getSolsList } from 'apis/solution'
import { onMounted, ref } from 'vue'
import { getChannelList } from '@/apis/channel'
onMounted(async () => {
await getList()
await getSolutionList()
})
const channelList = ref<Channel.ChannelItem[]>([])
const solutionList = ref<Solution.SolutionItem[]>([])
const getList = async () => {
channelList.value = await getChannelList()
}
const getSolutionList = async () => {
solutionList.value = (await getSolsList()).list
}
</script>
<template lang="pug">
div.home-container
el-card(v-for="item in channelList" :key="item.id")
template(#header)
span {{ item.name }}
div.content-box
el-select(v-model="item.solutionId" placeholder="请选择溶液" )
el-option(v-for="item in solutionList" :key="item.id" :label="item.name" :value="item.id")
ft-button(type="primary") 确认修改
</template>
<style scoped lang="stylus">
.home-container
background transparent !important
box-shadow none !important
padding 150px 30px !important
display grid
grid-template-columns 1fr 1fr 1fr 1fr
gap 50px
.el-card
display flex
flex-direction column
border-radius 20px
:deep(.el-card__header)
background rgba(0, 65, 124, 0.05)
text-align center
padding 10px
:deep(.el-card__body)
flex 1
.content-box {
height 100%
width 100%
display flex
flex-direction column
align-items center
justify-content space-evenly
}
</style>

52
src/views/craft/index.vue
View File

@ -105,36 +105,30 @@ const delHandle = async (id: number | undefined) => {
let currentCommandId = ''
// 正转 反转
const pumpRotate = async (direction: string) => {
currentCommandId = Date.now().toString()
if (direction === 'FORWARD') {
const params = {
commandId: currentCommandId,
command: 'pump_rotate_start',
params: {
direction: 'FORWARD',
position: form.value.revolutions,
solutionId: form.value.solutionId,
concentration: form.value.concentration,
},
}
await homeStore.sendControl(params)
const valid = await formRef.value.validate()
if (!valid) {
return
}
else {
const params = {
commandId: currentCommandId,
command: 'pump_rotate_start',
params: {
direction: 'BACKWARD',
solutionId: form.value.solutionId,
concentration: form.value.concentration,
position: form.value.revolutions,
},
}
await homeStore.sendControl(params)
currentCommandId = Date.now().toString()
const params = {
commandId: currentCommandId,
command: 'pump_rotate_start',
params: {
direction,
position: form.value.revolutions,
solutionId: form.value.solutionId,
concentration: form.value.concentration,
},
}
await homeStore.sendControl(params)
}
// 停止
const pumpStop = async () => {
const valid = await formRef.value.validate()
if (!valid) {
return
}
currentCommandId = Date.now().toString()
const params = {
commandId: currentCommandId,
@ -148,6 +142,10 @@ const pumpStop = async () => {
}
// 预充
const pumpPreFill = async () => {
const valid = await formRef.value.validate()
if (!valid) {
return
}
currentCommandId = Date.now().toString()
const params = {
commandId: currentCommandId,
@ -161,6 +159,10 @@ const pumpPreFill = async () => {
}
// 加液
const pumpAddSolution = async () => {
const valid = await formRef.value.validate()
if (!valid) {
return
}
currentCommandId = Date.now().toString()
const params = {
commandId: currentCommandId,

438
src/views/debug/index.vue
View File

@ -1,438 +0,0 @@
<script lang="ts" setup>
import { socket } from 'libs/socket'
import { cmdNameMap, formatDateTime } from 'libs/utils'
import { useDebugStore } from 'stores/debugStore'
import { useSystemStore } from 'stores/systemStore'
import { onMounted, onUnmounted, ref } from 'vue'
const systemStore = useSystemStore()
const debugStore = useDebugStore()
let currentCommandId = ''
onMounted(() => {
socket.init(receiveMessage, 'cmd_debug')
socket.init(receiveMessage, 'cmd_response')
})
onUnmounted(() => {
socket.unregisterCallback(receiveMessage, 'cmd_debug')
socket.unregisterCallback(receiveMessage, 'cmd_response')
})
const receiveMessage = (data: Socket.cmdData) => {
data.commandId === currentCommandId && systemStore.pushSystemList(data)
if (['start', 'success', 'fail'].includes(data.status)) {
const cmdName = cmdNameMap[data.command as keyof typeof cmdNameMap] || data.command
systemStore.insertLog({ cmdName, status: data.status as System.SystemLog['status'], time: formatDateTime() })
}
}
const savePositionVisible = ref(false)
const commandHandle = async (command: string, params?: unknown) => {
currentCommandId = Date.now().toString()
const data = {
commandId: currentCommandId,
command,
params,
}
await debugStore.sendControl(data)
}
</script>
<template lang="pug">
div.debug-content
el-row.button-content
el-col(:span="8")
div.button-box
ft-button(type="primary", :click-handle="() => commandHandle('enable_all_motor')")
| 使能所有电机
el-col(:span="8")
div.button-box
ft-button(type="primary", :click-handle="() => commandHandle('disable_all_motor')")
| 失能所有电机
el-col(:span="8")
div.button-box
ft-button(type="primary", :click-handle="() => commandHandle('stop_all_motor')")
| 停止所有电机
el-row(:gutter="10", class="card-content")
el-col(:span="8")
el-card
template(#header)
div.card-header
span 转运模组
el-divider 机械臂-大臂
div.card-box
el-form
el-form-item(label="角度")
el-input(v-model="debugStore.formData.transferModule.bigMotorData.relative.angle", type="number", placeholder="请输入角度")
template(#append)
| °
el-form-item(label="速度")
el-input(v-model="debugStore.formData.transferModule.bigMotorData.relative.speed", type="number", placeholder="请输入速度")
template(#append)
| rpm/min
el-form-item(label="循环")
el-input(v-model="debugStore.formData.transferModule.bigMotorData.relative.times", type="number", placeholder="请输入次数")
template(#append)
| 次
el-form-item
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 })")
| 左转
ft-button(size="small", class="stop-button", :click-handle="() => commandHandle('robotic_arm_big_stop')")
| 停止
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) })")
| 右转
ft-button(type="primary", size="small", :click-handle="() => commandHandle('robotic_arm_big_origin')")
| 回原点
ft-button(size="small", type="primary", :click-handle="() => commandHandle('robotic_arm_big_enable')")
| 电机使能
ft-button(size="small", :click-handle="() => commandHandle('robotic_arm_big_disable')")
| 电机失能
el-form-item(label="角度")
el-input(v-model="debugStore.formData.transferModule.bigMotorData.absolute.angle", type="number", placeholder="请输入目标角度")
template(#append)
| °
el-form-item(label="速度")
el-input(v-model="debugStore.formData.transferModule.bigMotorData.absolute.speed", type="number", placeholder="请输入速度")
template(#append)
| rpm/min
el-form-item
ft-button(size="small", type="primary", :click-handle="() => commandHandle('robotic_arm_big_move_to', debugStore.formData.transferModule.bigMotorData.absolute)")
| 开始
ft-button(size="small", class="stop-button", :click-handle="() => commandHandle('robotic_arm_big_stop')")
| 停止
el-divider 机械臂-小臂
div.card-box
el-form
el-form-item(label="角度")
el-input(v-model="debugStore.formData.transferModule.smallMotorData.relative.angle", type="number", placeholder="请输入角度")
template(#append)
| °
el-form-item(label="速度")
el-input(v-model="debugStore.formData.transferModule.smallMotorData.relative.speed", type="number", placeholder="请输入速度")
template(#append)
| rpm/min
el-form-item(label="循环")
el-input(v-model="debugStore.formData.transferModule.smallMotorData.relative.times", type="number", placeholder="请输入次数")
template(#append)
| 次
el-form-item
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 })")
| 左转
ft-button(size="small", class="stop-button", :click-handle="() => commandHandle('robotic_arm_small_stop')")
| 停止
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) })")
| 右转
ft-button(type="primary", size="small", :click-handle="() => commandHandle('robotic_arm_small_origin')")
| 回原点
ft-button(size="small", type="primary", :click-handle="() => commandHandle('robotic_arm_small_enable')")
| 电机使能
ft-button(size="small", :click-handle="() => commandHandle('robotic_arm_small_disable')")
| 电机失能
el-form-item(label="角度")
el-input(v-model="debugStore.formData.transferModule.smallMotorData.absolute.angle", type="number", placeholder="请输入目标角度")
template(#append)
| °
el-form-item(label="速度")
el-input(v-model="debugStore.formData.transferModule.smallMotorData.absolute.speed", type="number", placeholder="请输入速度")
template(#append)
| rpm/min
el-form-item
ft-button(size="small", type="primary", :click-handle="() => commandHandle('robotic_arm_small_move_to', debugStore.formData.transferModule.smallMotorData.absolute)")
| 开始
ft-button(size="small", class="stop-button", :click-handle="() => commandHandle('robotic_arm_small_stop')")
| 停止
el-divider Z轴电机
div.card-box
el-form
el-form-item(label="距离")
el-input(v-model="debugStore.formData.transferModule.zMotorData.relative.distance", type="number", placeholder="请输入距离")
template(#append)
| mm
el-form-item(label="速度")
el-input(v-model="debugStore.formData.transferModule.zMotorData.relative.speed", type="number", placeholder="请输入速度")
template(#append)
| rpm/min
el-form-item(label="循环")
el-input(v-model="debugStore.formData.transferModule.zMotorData.relative.times", type="number", placeholder="请输入次数")
template(#append)
| 次
el-form-item
ft-button(size="small", type="primary", :click-handle="() => commandHandle('z_move_by', { ...debugStore.formData.transferModule.zMotorData.relative, distance: debugStore.formData.transferModule.zMotorData.relative.distance })")
| 前进
ft-button(size="small", class="stop-button", :click-handle="() => commandHandle('z_stop')")
| 停止
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) })")
| 后退
ft-button(type="primary", size="small", :click-handle="() => commandHandle('z_origin')")
| 回原点
ft-button(size="small", type="primary", :click-handle="() => commandHandle('z_enable')")
| 电机使能
ft-button(size="small", :click-handle="() => commandHandle('z_disable')")
| 电机失能
el-divider 夹爪电机
div.card-box
el-form
el-form-item(label="距离")
el-input(v-model="debugStore.formData.transferModule.clawMotorData.distance", type="number", placeholder="请输入距离")
template(#append)
| mm
el-form-item(label="速度")
el-input(v-model="debugStore.formData.transferModule.clawMotorData.speed", type="number", placeholder="请输入速度")
template(#append)
| rpm/min
el-form-item(label="循环")
el-input(v-model="debugStore.formData.transferModule.clawMotorData.times", type="number", placeholder="请输入次数")
template(#append)
| 次
el-form-item
ft-button(size="small", type="primary", :click-handle="() => commandHandle('claw_open', { ...debugStore.formData.transferModule.clawMotorData, distance: debugStore.formData.transferModule.clawMotorData.distance })")
| 打开
ft-button(size="small", type="primary", :click-handle="() => commandHandle('claw_open', { ...debugStore.formData.transferModule.clawMotorData, distance: -(debugStore.formData.transferModule.clawMotorData.distance ?? 0) })")
| 闭合
ft-button(size="small", type="primary", :click-handle="() => commandHandle('claw_stop', {})")
| 停止
el-col(:span="8")
el-card
template(#header)
div.card-header
span 蠕动泵
el-divider 陶瓷蠕动泵
div.card-box
el-form
el-form-item(label="距离")
el-input(v-model="debugStore.formData.peristalticPumpData.ceramicPump.distance", type="number", placeholder="请输入距离")
template(#append)
| mL
el-form-item(label="速度")
el-input(v-model="debugStore.formData.peristalticPumpData.ceramicPump.speed", type="number", placeholder="请输入速度")
template(#append)
| rpm/min
el-form-item(label="泵")
el-select(v-model="debugStore.formData.peristalticPumpData.ceramicPump.pumpCode", placeholder="请选择泵")
el-option(v-for="item in 2", :key="item", :label="`泵-${item}`", :value="`ceramic_pump_${item}`")
el-form-item
ft-button(size="small", type="primary", :click-handle="() => commandHandle('ceramic_pump_move', { ...debugStore.formData.peristalticPumpData.ceramicPump})")
| 移动
ft-button(size="small", type="primary", :click-handle="() => commandHandle('ceramic_pump_open', { ...debugStore.formData.peristalticPumpData.ceramicPump, direction: 'forward' })")
| 正转
ft-button(size="small", class="stop-button", :click-handle="() => commandHandle('ceramic_pump_close', debugStore.formData.peristalticPumpData.ceramicPump)")
| 停止
ft-button(size="small", type="primary", class="stop-button", :click-handle="() => commandHandle('ceramic_pump_open', { ...debugStore.formData.peristalticPumpData.ceramicPump, direction: 'backward' })")
| 反转
el-divider 无刷蠕动泵
div.card-box
el-form
el-form-item(label="距离")
el-input(v-model="debugStore.formData.peristalticPumpData.brushlessPump.distance", type="number", placeholder="请输入距离")
template(#append)
| mL
el-form-item(label="速度")
el-input(v-model="debugStore.formData.peristalticPumpData.brushlessPump.speed", type="number", placeholder="请输入速度")
template(#append)
| rpm/min
el-form-item(label="泵")
el-select(v-model="debugStore.formData.peristalticPumpData.brushlessPump.pumpCode", placeholder="请选择泵")
el-option(v-for="item in 10", :key="item", :label="`泵-${item}`", :value="`brushless_pump_${item}`")
el-form-item
ft-button(size="small", type="primary", :click-handle="() => commandHandle('brushless_pump_move', { ...debugStore.formData.peristalticPumpData.brushlessPump})")
| 正转
ft-button(size="small", type="primary", :click-handle="() => commandHandle('brushless_pump_open', { ...debugStore.formData.peristalticPumpData.brushlessPump, direction: 'forward' })")
| 正转
ft-button(size="small", class="stop-button", :click-handle="() => commandHandle('brushless_pump_close',{ ...debugStore.formData.peristalticPumpData.brushlessPump})")
| 停止
ft-button(size="small", type="primary", class="stop-button", :click-handle="() => commandHandle('brushless_pump_open', { ...debugStore.formData.peristalticPumpData.brushlessPump, direction: 'backward' })")
| 反转
el-divider 步进蠕动泵
div.card-box
el-form
el-form-item(label="距离")
el-input(v-model="debugStore.formData.peristalticPumpData.stepPump.distance", type="number", placeholder="请输入距离")
template(#append)
| mL
el-form-item(label="速度")
el-input(v-model="debugStore.formData.peristalticPumpData.stepPump.speed", type="number", placeholder="请输入速度")
template(#append)
| rpm/min
el-form-item(label="泵")
el-select(v-model="debugStore.formData.peristalticPumpData.stepPump.pumpCode", type="number", placeholder="请选择泵")
el-option(v-for="item in 3", :key="item", :label="`泵-${item}`", :value="`step_pump_${item}`")
el-form-item
ft-button(size="small", type="primary", :click-handle="() => commandHandle('step_pump_move', { ...debugStore.formData.peristalticPumpData.stepPump})")
| 移动
ft-button(size="small", type="primary", :click-handle="() => commandHandle('step_pump_open', { ...debugStore.formData.peristalticPumpData.stepPump, direction: 'forward' })")
| 正转
ft-button(size="small", class="stop-button", :click-handle="() => commandHandle('step_pump_close',{ ...debugStore.formData.peristalticPumpData.stepPump})")
| 停止
ft-button(size="small", type="primary", class="stop-button", :click-handle="() => commandHandle('step_pump_open', { ...debugStore.formData.peristalticPumpData.stepPump, direction: 'backward' })")
| 反转
el-card
template(#header)
div.card-header
span 滴定移动电机
div.card-box
el-form
el-form-item(label="距离")
el-input(v-model="debugStore.formData.titrationModule.relative.distance", type="number", placeholder="请输入距离")
template(#append)
| mm
el-form-item(label="速度")
el-input(v-model="debugStore.formData.titrationModule.relative.speed", type="number", placeholder="请输入速度")
template(#append)
| rpm/min
el-form-item(label="循环")
el-input(v-model="debugStore.formData.titrationModule.relative.times", type="number", placeholder="请输入次数")
template(#append)
| 次
el-form-item(label="电机")
el-select(v-model="debugStore.formData.titrationModule.relative.motorCode", placeholder="请选择电机")
el-option(v-for="item in 2", :key="item", :label="`电机${item}`", :value="`titration_motor_${item}`")
el-form-item
ft-button(size="small", type="primary", :click-handle="() => commandHandle('titration_motor_move_by', { ...debugStore.formData.titrationModule.relative, distance: debugStore.formData.titrationModule.relative.distance })")
| 相对移动
ft-button(size="small", class="stop-button", :click-handle="() => commandHandle('titration_motor_stop', { motorCode: debugStore.formData.titrationModule.relative.motorCode })")
| 停止
ft-button(size="small", type="primary", :click-handle="() => commandHandle('titration_motor_move_to', { ...debugStore.formData.titrationModule.relative, position: -(debugStore.formData.titrationModule.relative.distance ?? 0) })")
| 绝对移动
ft-button(type="primary", size="small", :click-handle="() => commandHandle('titration_motor_origin', { motorCode: debugStore.formData.titrationModule.relative.motorCode })")
| 回原点
ft-button(size="small", type="primary", :click-handle="() => commandHandle('titration_motor_enable', { motorCode: debugStore.formData.titrationModule.relative.motorCode })")
| 电机使能
ft-button(size="small", :click-handle="() => commandHandle('titration_motor_disable', { motorCode: debugStore.formData.titrationModule.relative.motorCode })")
| 电机失能
el-col(:span="8")
el-card
template(#header)
div.card-header
span 加热模组
el-divider 加热棒
div.card-box
el-form
el-form-item(label="温度")
el-input(v-model="debugStore.formData.heatArea.temperature", type="number", placeholder="请输入温度")
template(#append)
| ℃
el-form-item(label="区域")
el-select(v-model="debugStore.formData.heatArea.heatModuleCode", placeholder="请选择区域")
el-option(v-for="item in 2", :key="item", :label="`加热区${item}`", :value="`heat_module_${item}`")
el-form-item
ft-button(size="small", type="primary", :click-handle="() => commandHandle('heater_start', debugStore.formData.heatArea)")
| 开始加热
ft-button(size="small", class="stop-button", :click-handle="() => commandHandle('heater_stop', debugStore.formData.heatArea)")
| 停止加热
el-card
template(#header)
div.card-header
span 指示灯
div.card-box
el-form
el-form-item(label="颜色")
el-select(v-model="debugStore.formData.lightModule.color", placeholder="请选择颜色")
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")
el-form-item
ft-button(size="small", type="primary", :click-handle="() => commandHandle('light_open', { ...debugStore.formData.lightModule })")
| 开启
ft-button(size="small", class="stop-button", :click-handle="() => commandHandle('light_close')")
| 关闭
el-card
template(#header)
div.card-header
span 磁子搅拌电机
div.card-box
el-form
el-form-item(label="距离")
el-input(v-model="debugStore.formData.stirMotor.relative.distance", type="number", placeholder="请输入距离")
template(#append)
| mm
el-form-item(label="速度")
el-input(v-model="debugStore.formData.stirMotor.relative.speed", type="number", placeholder="请输入速度")
template(#append)
| rpm/min
el-form-item(label="循环")
el-input(v-model="debugStore.formData.stirMotor.relative.times", type="number", placeholder="请输入次数")
template(#append)
| 次
el-form-item(label="电机")
el-select(v-model="debugStore.formData.stirMotor.relative.motorCode", placeholder="请选择电机")
el-option(v-for="item in 2", :key="item", :label="`电机${item}`", :value="`stir_motor_${item}`")
el-form-item
ft-button(size="small", type="primary", :click-handle="() => commandHandle('stir_motor_move_by', { ...debugStore.formData.stirMotor.relative, distance: debugStore.formData.stirMotor.relative.distance })")
| 前进
ft-button(size="small", class="stop-button", :click-handle="() => commandHandle('stir_motor_stop', { motorCode: debugStore.formData.stirMotor.relative.motorCode })")
| 停止
ft-button(size="small", type="primary", :click-handle="() => commandHandle('stir_motor_move_by', { ...debugStore.formData.stirMotor.relative, distance: -(debugStore.formData.stirMotor.relative.distance ?? 0) })")
| 后退
ft-button(type="primary", size="small", :click-handle="() => commandHandle('stir_motor_origin', { motorCode: debugStore.formData.stirMotor.relative.motorCode })")
| 回原点
ft-button(size="small", type="primary", :click-handle="() => commandHandle('stir_motor_enable', { motorCode: debugStore.formData.stirMotor.relative.motorCode })")
| 电机使能
ft-button(size="small", :click-handle="() => commandHandle('stir_motor_disable', { motorCode: debugStore.formData.stirMotor.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>

2
src/views/log/index.vue
View File

@ -58,7 +58,7 @@ const columns = [
title: '通道',
key: 'channelCode',
render: (row: Log.LogItem) => {
return h(ElTag, {}, channelMap[row.channelCode as keyof typeof channelMap])
return h(ElTag, {}, () => channelMap[row.channelCode as keyof typeof channelMap])
},
},
{

59
src/views/point/index.vue
View File

@ -1,59 +0,0 @@
<script setup lang="ts">
import { getPointList } from 'apis/point'
import Edit from 'components/point/Edit/index.vue'
import { provide, ref, useTemplateRef } from 'vue'
const upDataVisible = ref(false)
const currentData = ref<Point.Point>()
provide('currentData', currentData)
const edit = (data: Point.Point[]) => {
currentData.value = data[0]
upDataVisible.value = true
}
const tableRef = useTemplateRef('tableRef')
const ok = () => {
tableRef.value?.initData()
cancel()
}
const cancel = () => {
upDataVisible.value = false
}
const btnList = [
{
name: '编辑',
type: 'primary',
serverUrl: 'edit',
serverCondition: 1,
},
]
const columns = [
{
type: 'selection',
},
{
title: '名称',
key: 'name',
},
{
title: '类型',
key: 'type',
},
{
title: '坐标',
key: 'position',
},
]
</script>
<template>
<div>
<FtTable ref="tableRef" :columns="columns" has-header :btn-list="btnList" :get-data-fn="getPointList" @edit="edit" />
<Edit v-if="upDataVisible" @ok="ok" @cancel="cancel" />
</div>
</template>
<style scoped lang="scss">
</style>

84
src/views/user/index.vue
View File

@ -1,84 +0,0 @@
<script setup lang="ts">
import { delUser, userList } from 'apis/user'
import Edit from 'components/user/Edit/index.vue'
import { ElMessageBox } from 'element-plus'
import { FtMessage } from 'libs/message'
import { cloneDeep } from 'lodash'
import { useSystemStore } from 'stores/systemStore'
import { useTemplateRef } from 'vue'
const systemStore = useSystemStore()
const btnList = systemStore.systemStatus.currentUser?.fixedUser === 'ENABLE'
? [
{
name: '新增',
type: 'primary',
serverUrl: 'add',
serverCondition: 0,
},
{
name: '编辑',
type: 'primary',
serverUrl: 'edit',
serverCondition: 1,
},
{
name: '删除',
type: 'danger',
serverUrl: 'del',
serverCondition: 2,
},
]
: []
const columns = [
{
type: 'selection',
selectable: (row: any) => {
return (row.fixedUser !== 'ENABLE') || row.username === systemStore.systemStatus.currentUser?.username
},
},
{
title: '账号',
key: 'username',
},
{
title: '用户名',
key: 'nickname',
},
]
const tableRef = useTemplateRef('tableRef')
const del = async (selectedRows: any) => {
const ids = selectedRows.map((item: any) => item.id)
await ElMessageBox.confirm('确定删除当前选中的行?', '消息', {
confirmButtonText: '确认',
cancelButtonText: '取消',
type: 'warning',
})
await delUser(ids)
FtMessage.success('删除成功')
tableRef.value?.initData()
}
const addVisible = ref(false)
const currentData = ref({})
const addHandle = () => {
currentData.value = {}
addVisible.value = true
}
const editHandle = (data: any) => {
currentData.value = cloneDeep(data[0])
console.log(currentData.value)
addVisible.value = true
}
</script>
<template lang="pug">
div
FtTable(ref="tableRef", has-header, has-page, :columns="columns", :btn-list="btnList", :get-data-fn="userList", @add="addHandle", @edit="editHandle", @del="del")
Edit(v-if="addVisible", :data="currentData", @ok="addVisible = false;tableRef?.initData()", @cancel="addVisible = false")
</template>
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