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<script lang="ts" setup>
import { getSelfFinish, getSelfStatus } from 'apis/self'
import { requireOutTray, setIgnoreItem } from 'apis/system'
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([
['transferZOrigin', { status: '', ignoreKey: 'transferZOriginIsIgnore', name: 'z轴回原点', params: { commandId: '', command: `transfer_z_origin`, params: {} } }],
['transferXOrigin', { status: '', ignoreKey: 'transferXOriginIsIgnore', name: 'x轴回原点', params: { commandId: '', command: `transfer_x_origin`, params: {} } }],
['doorOrigin', { status: '', ignoreKey: 'doorOriginIsIgnore', name: '门电机回原点', params: { commandId: '', command: `door_origin`, params: {} } }],
['dualRobotOrigin', { status: '', ignoreKey: 'dualRobotOriginIsIgnore', name: '加液机械臂回原点', params: { commandId: '', command: `dual_robot_origin`, params: {} } }],
]))
const checkList = ref<any[]>([])
onMounted(async () => {
socket.init(receiveMessage1, 'cmd_debug')
socket.init(receiveMessage2, 'cmd_response')
socket.init(receiveMessageSelfMove, 'self_move_test')
const res = await getSelfStatus()
for (const key in res) {
const entry = checkMap.value.get(key)
if (entry) {
entry.status = res[key] ? 'success' : 'error'
}
for (const [checkKey] of checkMap.value) {
const data = checkMap.value.get(checkKey)
if (key === data?.ignoreKey) {
res[key] && (data.status = 'ignore')
}
}
}
await ElMessageBox.confirm(
'设备转运机械臂x、z, 加液机械臂, 门等需进行初始化,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 item1 = heatList.value.find(item => item.params.commandId === data.commandId)
if (item1 && data.commandId === item1.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: 'move_test',
params: {},
}
await homeStore.sendControl(params)
}
const checkTextList = ref<string[]>([])
const receiveMessageSelfMove = (data: any) => {
checkTextList.value.push(data.title)
percentage.value = data.schedule
}
const activeStep = ref(0)
const heatList = ref([
{
name: '加热区1',
status: 'success',
command: 'heat_module_01',
params: { commandId: '', command: `tray_out`, params: { heatId: 'heat_module_01' } },
},
{
name: '加热区2',
status: 'success',
command: 'heat_module_02',
params: { commandId: '', command: `tray_out`, params: { heatId: 'heat_module_02' } },
},
{
name: '加热区23',
status: 'success',
command: 'heat_module_03',
params: { commandId: '', command: `tray_out`, params: { heatId: 'heat_module_03' } },
},
{
name: '退火区',
status: 'success',
command: 'heat_module_04',
params: { commandId: '', command: `tray_out`, params: { heatId: 'heat_module_04' } },
},
])
const checkHandle1 = async () => {
const res = await requireOutTray()
res.forEach((item) => {
const heatItem = heatList.value.find(heatItem => heatItem.command === item.moduleCode)
heatItem!.status = 'error'
})
activeStep.value = 2
}
const ignore = async (item: any) => {
await setIgnoreItem({
ignoreSelfTestType: item.ignoreKey,
ignore: true,
})
item.status = 'ignore'
}
</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="item.status !== 'success'" type="primary" :click-handle="() => commandHandle(item)">
回原点
</ft-button>
<ft-button v-if="item.status !== 'ignore'" type="primary" :click-handle="() => ignore(item)">
忽略
</ft-button>
<ft-button v-if="item.status === 'ignore'" type="danger" :click-handle="() => ignore(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 in checkTextList" :key="item">
{{ item }}
</li>
</ul>
</div>
<div v-if="activeStep === 2" class="check-box">
<div v-for="item in heatList" :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>
<ft-button v-if="item.status !== 'success'" size="small" type="primary" :click-handle="() => commandHandle(item)">
移出托盘
</ft-button>
</div>
</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 && percentage === 100" type="primary" :click-handle="checkHandle1">
下一步
</FtButton>
<FtButton v-if="activeStep === 2" :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: 30vh;
overflow: auto;
}
.check-item {
width: 100%;
display: flex;
align-items: center;
margin-bottom: 10px;
.el-tag {
width: 70%;
}
.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>