From 17ecdc9b9c37a80af5a3b77a22014933f0dae73d Mon Sep 17 00:00:00 2001
From: sige <sige@sige.com>
Date: Sat, 23 Mar 2024 17:54:38 +0800
Subject: [PATCH] ~

---
 src/web/src/App.vue                              |   1 +
 src/web/src/pages/engineering/Common.vue         |  10 ++
 src/web/src/pages/engineering/HeatingPlate.vue   |   7 +-
 src/web/src/pages/engineering/LiquidArm.vue      |   3 +-
 src/web/src/pages/engineering/LiquidPlate.vue    |   2 +-
 src/web/src/pages/engineering/Page.vue           |   9 ++
 src/web/src/pages/engineering/TransClip.vue      |   1 +
 src/web/src/pages/engineering/TransLeftRight.vue |   9 +-
 src/web/src/pages/engineering/TransTube.vue      | 135 +++++++++++++++++++----
 src/web/src/pages/engineering/TransUpDown.vue    |   3 +
 10 files changed, 155 insertions(+), 25 deletions(-)

diff --git a/src/web/src/App.vue b/src/web/src/App.vue
index ed0ec04..8775136 100644
--- a/src/web/src/App.vue
+++ b/src/web/src/App.vue
@@ -20,6 +20,7 @@ onMounted(mounted);
 
 // mounted
 function mounted() {
+    debugger;
     document.title = "全自动石墨消解仪";
     let accessToken = window.localStorage.getItem('accessToken');
     accessToken = accessToken ? accessToken : null;
diff --git a/src/web/src/pages/engineering/Common.vue b/src/web/src/pages/engineering/Common.vue
index 41e55d2..6a8e455 100644
--- a/src/web/src/pages/engineering/Common.vue
+++ b/src/web/src/pages/engineering/Common.vue
@@ -7,6 +7,9 @@
         </a-col>
         <a-col :span="12" class="text-right">
           <div class="inline-block mr-1 bg-white p-1 rounded">
+            <a-button @click="actionLogout">退出</a-button>
+          </div>
+          <div class="inline-block mr-1 bg-white p-1 rounded">
             <a-button class="mr-1" @click="actionDoorOpen">开门</a-button>
             <a-button class="mr-1" @click="actionDoorClose">关门</a-button>
             <a-button @click="actionReset">设备复位</a-button>
@@ -56,6 +59,9 @@
 <script setup>
 import { actuatorExecuteAction, ioUpdate, ioGetValue } from './Engineering.js';
 import { ref } from 'vue';
+import { useAppStore } from '@/stores/AppStore';
+/** @var {AppStore} */
+const appStore = useAppStore();
 /** @var {Boolean} */
 const isLightGreenOn = ref(false);
 /** @var {Boolean} */
@@ -178,4 +184,8 @@ async function actionDoorOpen() {
 async function actionDoorClose() {
     await actuatorExecuteAction('DoorMotor','MoveToIO', [1,1]);
 }
+
+function actionLogout() {
+    appStore.setAccessToken(null);
+}
 </script>
\ No newline at end of file
diff --git a/src/web/src/pages/engineering/HeatingPlate.vue b/src/web/src/pages/engineering/HeatingPlate.vue
index 81f9d70..dfbc8e2 100644
--- a/src/web/src/pages/engineering/HeatingPlate.vue
+++ b/src/web/src/pages/engineering/HeatingPlate.vue
@@ -8,12 +8,17 @@
       <a-row class="my-3">
         <a-col :span="6" class="leading-8">移动至</a-col>
         <a-col :span="10">
-          <a-select v-model:value="moveDestName" class="w-full">
+          <a-select v-model:value="moveDestName" class="w-full" :dropdownMatchSelectWidth="false">
             <a-select-option value="HeatPlateSlot.0">试管架01</a-select-option>
             <a-select-option value="HeatPlateSlot.1">试管架02</a-select-option>
             <a-select-option value="HeatPlateSlot.2">试管架03</a-select-option>
             <a-select-option value="HeatPlateSlot.3">试管架04</a-select-option>
             <a-select-option value="HeatPlateSlot.4">试管架05</a-select-option>
+            <a-select-option value="HeatPlateErrorSlotTube.0">异常试管01</a-select-option>
+            <a-select-option value="HeatPlateErrorSlotTube.1">异常试管02</a-select-option>
+            <a-select-option value="HeatPlateErrorSlotTube.2">异常试管03</a-select-option>
+            <a-select-option value="HeatPlateErrorSlotTube.3">异常试管04</a-select-option>
+            <a-select-option value="HeatPlateErrorSlotTube.4">异常试管05</a-select-option>
           </a-select>
         </a-col>
         <a-col :span="8" class="text-right"><a-button class="ml-1" @click="actionMoveToName">执行</a-button></a-col>
diff --git a/src/web/src/pages/engineering/LiquidArm.vue b/src/web/src/pages/engineering/LiquidArm.vue
index d4a1a50..853f43e 100644
--- a/src/web/src/pages/engineering/LiquidArm.vue
+++ b/src/web/src/pages/engineering/LiquidArm.vue
@@ -8,9 +8,10 @@
     <a-row class="my-3">
         <a-col :span="6" class="leading-8">移动至</a-col>
         <a-col :span="10">
-        <a-select v-model:value="moveDestName" class="w-full">
+        <a-select v-model:value="moveDestName" class="w-full" :dropdownMatchSelectWidth="false">
             <a-select-option value="LiquidArmPumpGroupOut">外圈加液</a-select-option>
             <a-select-option value="LiquidArmPumpGroupIn">内圈加液</a-select-option>
+            <a-select-option value="LiquidArmTubeRackPickUp">试管架拾取</a-select-option>
         </a-select>
         </a-col>
         <a-col :span="8" class="text-right"><a-button class="ml-1" @click="actionMoveToName">执行</a-button></a-col>
diff --git a/src/web/src/pages/engineering/LiquidPlate.vue b/src/web/src/pages/engineering/LiquidPlate.vue
index daf4dd2..d26401a 100644
--- a/src/web/src/pages/engineering/LiquidPlate.vue
+++ b/src/web/src/pages/engineering/LiquidPlate.vue
@@ -8,7 +8,7 @@
       <a-row class="my-3">
         <a-col :span="6" class="leading-8">移动至</a-col>
         <a-col :span="10">
-          <a-select v-model:value="moveDestName" class="w-full">
+          <a-select v-model:value="moveDestName" class="w-full" :dropdownMatchSelectWidth="false">
             <a-select-option value="LiquidPlatePlaceTubeRack">放置试管架</a-select-option>
             <a-select-option value="LiquidPlateSlotPumpOutGroup.0">外圈组00</a-select-option>
             <a-select-option value="LiquidPlateSlotPumpOutGroup.1">外圈组01</a-select-option>
diff --git a/src/web/src/pages/engineering/Page.vue b/src/web/src/pages/engineering/Page.vue
index 4c4d4ef..efe9c9e 100644
--- a/src/web/src/pages/engineering/Page.vue
+++ b/src/web/src/pages/engineering/Page.vue
@@ -45,4 +45,13 @@ import TransClip from './TransClip.vue';
 import TransTubeRack from './TransTubeRack.vue';
 import TransTube from './TransTube.vue';
 import LogViewer from './LogViewer.vue';
+import { onErrorCaptured } from 'vue';
+import { Modal } from 'ant-design-vue';
+
+onErrorCaptured((error, vm, info) => {
+    Modal.error({
+        title: '错误',
+        content: error.message,
+    });
+});
 </script>
\ No newline at end of file
diff --git a/src/web/src/pages/engineering/TransClip.vue b/src/web/src/pages/engineering/TransClip.vue
index ff51c3e..e79e4c5 100644
--- a/src/web/src/pages/engineering/TransClip.vue
+++ b/src/web/src/pages/engineering/TransClip.vue
@@ -10,6 +10,7 @@
           <a-select v-model:value="moveDestName" class="w-full">
               <a-select-option value="TransClipServoOpen">打开</a-select-option>
               <a-select-option value="TransClipServoClose">关闭</a-select-option>
+              <a-select-option value="TransClipServoTubeClip">夹紧试管</a-select-option>
           </a-select>
         </a-col>
         <a-col :span="8" class="text-right"><a-button class="ml-1" @click="actionMoveToName">执行</a-button></a-col>
diff --git a/src/web/src/pages/engineering/TransLeftRight.vue b/src/web/src/pages/engineering/TransLeftRight.vue
index 6c01227..261e956 100644
--- a/src/web/src/pages/engineering/TransLeftRight.vue
+++ b/src/web/src/pages/engineering/TransLeftRight.vue
@@ -12,7 +12,14 @@
             <a-select-option value="TransLrMotorStandby">待机</a-select-option>
             <a-select-option value="TransLrMotorHeatPlateSlot">试管架加热盘拾取</a-select-option>
             <a-select-option value="TransLrMotorLiquid">试管架加液盘拾取</a-select-option>
-            <!-- <a-select-option value="TransLrMotorTubeOffset.0">试管00加热盘拾取</a-select-option>
+            <a-select-option value="TransLrMotorHeatingPlateTube.0">试管00加热盘拾取</a-select-option>
+            <a-select-option value="TransLrMotorHeatingPlateTube.1">试管01加热盘拾取</a-select-option>
+            <a-select-option value="TransLrMotorHeatingPlateTube.2">试管02加热盘拾取</a-select-option>
+            <a-select-option value="TransLrMotorHeatingPlateTube.3">试管03加热盘拾取</a-select-option>
+            <a-select-option value="TransLrMotorHeatingPlateTube.4">试管04加热盘拾取</a-select-option>
+
+            <a-select-option value="TransLrMotorLiquidPlateTube.0">试管00加液盘拾取</a-select-option>
+            <!-- 
             <a-select-option value="TransLrMotorTubeOffset.1">试管01加热盘拾取</a-select-option>
             <a-select-option value="TransLrMotorTubeOffset.2">试管02加热盘拾取</a-select-option>
             <a-select-option value="TransLrMotorTubeOffset.3">试管03加热盘拾取</a-select-option>
diff --git a/src/web/src/pages/engineering/TransTube.vue b/src/web/src/pages/engineering/TransTube.vue
index f26ffe6..9b5177c 100644
--- a/src/web/src/pages/engineering/TransTube.vue
+++ b/src/web/src/pages/engineering/TransTube.vue
@@ -43,15 +43,101 @@ const liquidTubeIndex = ref(null);
 const heatTubeIndex = ref(null);
 /** @var {Number} */
 const errorSlotIndex = ref(4);
+// liquid plate point map
+const liquidPlatePointMap = {
+    'LiquidPlateTubePoint.0' : 0,
+    'LiquidPlateTubePoint.1' : 0,
+    'LiquidPlateTubePoint.2' : 0,
+    'LiquidPlateTubePoint.3' : 0,
+    'LiquidPlateTubePoint.4' : 0,
+    'LiquidPlateTubePoint.5' : 0,
+    'LiquidPlateTubePoint.6' : 0,
+    'LiquidPlateTubePoint.7' : 0,
+    'LiquidPlateTubePoint.8' : 0,
+    'LiquidPlateTubePoint.9' : 0,
+    'LiquidPlateTubePoint.10' : 0,
+    'LiquidPlateTubePoint.11' : 0,
+    'LiquidPlateTubePoint.12' : 0,
+    'LiquidPlateTubePoint.13' : 0,
+    'LiquidPlateTubePoint.14' : 0,
+    'LiquidPlateTubePoint.15' : 0,
+};
+// heating plate point map
+const heatingPlateOffsetMap = {
+    'HeatPlateTubeOffset.0' : 0,
+    'HeatPlateTubeOffset.1' : 0,
+    'HeatPlateTubeOffset.2' : 0,
+    'HeatPlateTubeOffset.3' : 0,
+    'HeatPlateTubeOffset.4' : 0,
+    'HeatPlateTubeOffset.5' : 0,
+    'HeatPlateTubeOffset.6' : 0,
+    'HeatPlateTubeOffset.7' : 0,
+    'HeatPlateTubeOffset.8' : 0,
+    'HeatPlateTubeOffset.9' : 0,
+    'HeatPlateTubeOffset.10' : 0,
+    'HeatPlateTubeOffset.11' : 0,
+    'HeatPlateTubeOffset.12' : 0,
+    'HeatPlateTubeOffset.13' : 0,
+    'HeatPlateTubeOffset.14' : 0,
+    'HeatPlateTubeOffset.15' : 0,
+};
+ 
+const transLrHeatPlateTubePointMap = {
+    'TransLrMotorHeatPlateTube.0' : 0,
+    'TransLrMotorHeatPlateTube.1' : 0,
+    'TransLrMotorHeatPlateTube.2' : 0,
+    'TransLrMotorHeatPlateTube.3' : 0,
+    'TransLrMotorHeatPlateTube.4' : 0,
+    'TransLrMotorHeatPlateTube.5' : 0,
+    'TransLrMotorHeatPlateTube.6' : 0,
+    'TransLrMotorHeatPlateTube.7' : 0,
+    'TransLrMotorHeatPlateTube.8' : 0,
+    'TransLrMotorHeatPlateTube.9' : 0,
+    'TransLrMotorHeatPlateTube.10' : 0,
+    'TransLrMotorHeatPlateTube.11' : 0,
+    'TransLrMotorHeatPlateTube.12' : 0,
+    'TransLrMotorHeatPlateTube.13' : 0,
+    'TransLrMotorHeatPlateTube.14' : 0,
+    'TransLrMotorHeatPlateTube.15' : 0,
+};
+
+const transLrLiquidPlageTubePointMap = {
+    'TransLrMotorLiquidPlateTube.0' : 0,
+    'TransLrMotorLiquidPlateTube.1' : 0,
+    'TransLrMotorLiquidPlateTube.2' : 0,
+    'TransLrMotorLiquidPlateTube.3' : 0,
+    'TransLrMotorLiquidPlateTube.4' : 0,
+    'TransLrMotorLiquidPlateTube.5' : 0,
+    'TransLrMotorLiquidPlateTube.6' : 0,
+    'TransLrMotorLiquidPlateTube.7' : 0,
+    'TransLrMotorLiquidPlateTube.8' : 0,
+    'TransLrMotorLiquidPlateTube.9' : 0,
+    'TransLrMotorLiquidPlateTube.10' : 0,
+    'TransLrMotorLiquidPlateTube.11' : 0,
+    'TransLrMotorLiquidPlateTube.12' : 0,
+    'TransLrMotorLiquidPlateTube.13' : 0,
+    'TransLrMotorLiquidPlateTube.14' : 0,
+    'TransLrMotorLiquidPlateTube.15' : 0,
+};
+
+
+const heatingPlateMiddleMap = {
+    'HeatPlateSlot.0' : 0,
+    'HeatPlateSlot.1' : 0,
+    'HeatPlateSlot.2' : 0,
+    'HeatPlateSlot.3' : 0,
+    'HeatPlateSlot.4' : 0,
+};
 
 // 移动至加液区域
 async function actionMoveToLiquidPlate() {
     let index = liquidTubeIndex.value;
     let errSlotIndex = errorSlotIndex.value;
 
-    // - 加热转盘移至取试管架位置
-    await actuatorExecuteAction('HeatingPlateMotor','MoveToName',[`HeatPlateSlot.${errSlotIndex}`]);
-
+    // - 加热转盘移至取试管位置
+    let pos = heatingPlateMiddleMap[`HeatPlateSlot.${errSlotIndex}`] + heatingPlateOffsetMap[`HeatPlateTubeOffset.${index}`];
+    await actuatorExecuteAction('HeatingPlateMotor','MoveToPosition',[pos]);
+  
     // - 打开盖子
     await actuatorExecuteAction(`HeatingPlateMotorSlotCover_${index}`, 'MoveToName', ['HeatPlateSlotCoverOpen']);
 
@@ -61,29 +147,32 @@ async function actionMoveToLiquidPlate() {
     // - 搬运夹爪打开
     await actuatorExecuteAction('TransferClipServeMotor','MoveToName',['TransClipServoOpenFromTube']);
 
-    // - 搬运左右移至取试管架位置
-    await actuatorExecuteAction('TransferArmLRMotor','MoveToName',['TransLrMotorHeatPlateSlot']);
+    // - 搬运左右移至取试管位置
+    pos = transLrPointMap[`TransLrMotorHeatPlateTube.${index}`];
+    await actuatorExecuteAction('TransferArmLRMotor','MoveToPosition',[pos]);
     
-    // - 搬运上下移至取试管架位置
-    await actuatorExecuteAction('TransferArmUDMotor','MoveToName',['TransUdMotorHeatPlateDepth']);
+    // - 搬运上下移至取试管位置
+    await actuatorExecuteAction('TransferArmUDMotor','MoveToPosition',[0]);
 
     // - 搬运夹爪关闭
-    await actuatorExecuteAction('TransferClipServeMotor','MoveToName',['TransClipServoRackClip']);
+    await actuatorExecuteAction('TransferClipServeMotor','MoveToPosition',[0]);
 
     // - 搬运上下移至顶部
     await actuatorExecuteAction('TransferArmUDMotor','MoveToName',['TransUdMotorTop']);
 
-    // - 搬运左右移至加液试管架位置
-    await actuatorExecuteAction('TransferArmLRMotor','MoveToName',['TransLrMotorLiquid']);
+    // - 搬运左右移至加液试管位置
+    pos = transLrLiquidPlageTubePointMap[`TransLrMotorLiquidPlateTube.${index}`];
+    await actuatorExecuteAction('TransferArmLRMotor','MoveToPosition',[pos]);
 
     // - 加液盘转动到试管架放置位置
-    await actuatorExecuteAction('LiquidPlateMotor','MoveToName',[`LiquidPlatePlaceTubeRack`]);
+    pos = liquidPlatePointMap[`LiquidPlateTubePoint.${index}`];
+    await actuatorExecuteAction('LiquidPlateMotor','MoveToPosition',[pos]);
 
     // - 搬运上下移至放置试管架位置
-    await actuatorExecuteAction('TransferArmUDMotor','MoveToName',['TransUdMotorLiquidDepth']);
+    await actuatorExecuteAction('TransferArmUDMotor','MoveToPosition',[0]);
 
     // - 搬运夹爪关闭
-    await actuatorExecuteAction('TransferClipServeMotor','MoveToName',['TransClipServoOpenFromTube']);
+    await actuatorExecuteAction('TransferClipServeMotor','MoveToPosition',[0]);
 
     // - 搬运上下移至顶部
     await actuatorExecuteAction('TransferArmUDMotor','MoveToName',['TransUdMotorTop']);
@@ -100,14 +189,16 @@ async function actionMoveToHeatingPlate() {
     let index = heatTubeIndex.value;
     let errSlotIndex = errorSlotIndex.value;
 
-    // - 加热转盘移至取试管架位置
+    // - 加热转盘移至取试管位置
+    let pos = heatingPlateMiddleMap[`HeatPlateSlot.${index}`] + heatingPlateOffsetMap[`HeatPlateTubeOffset.${errSlotIndex}`];
     await actuatorExecuteAction('HeatingPlateMotor','MoveToName',[`HeatPlateSlot.${errSlotIndex}`]);
 
     // - 打开盖子
     await actuatorExecuteAction(`HeatingPlateMotorSlotCover_${index}`, 'MoveToName', ['HeatPlateSlotCoverOpen']);
 
-    // - 加液盘转动到试管架放置位置
-    await actuatorExecuteAction('LiquidPlateMotor','MoveToName',[`LiquidPlatePlaceTubeRack`]);
+    // - 加液盘转动到试管放置位置
+    pos = liquidPlatePointMap[`LiquidPlateTubePoint.${index}`];
+    await actuatorExecuteAction('LiquidPlateMotor','MoveToName',[pos]);
 
     // - 搬运上下移至顶部
     await actuatorExecuteAction('TransferArmUDMotor','MoveToName',['TransUdMotorTop']);
@@ -115,11 +206,12 @@ async function actionMoveToHeatingPlate() {
     // - 搬运夹爪关闭
     await actuatorExecuteAction('TransferClipServeMotor','MoveToName',['TransClipServoClose']);
 
-    // - 搬运左右移至加液试管架位置
-    await actuatorExecuteAction('TransferArmLRMotor','MoveToName',['TransLrMotorLiquid']);
+    // - 搬运左右移至加液试管位置
+    pos = transLrLiquidPlageTubePointMap[`TransLrMotorLiquidPlateTube.${index}`];
+    await actuatorExecuteAction('TransferArmLRMotor','MoveToName',[pos]);
 
     // - 搬运上下移至放置试管架位置
-    await actuatorExecuteAction('TransferArmUDMotor','MoveToName',['TransUdMotorLiquidDepth']);
+    await actuatorExecuteAction('TransferArmUDMotor','MoveToName',[0]);
 
     // - 搬运夹爪打开
     await actuatorExecuteAction('TransferClipServeMotor','MoveToName',['TransClipServoRackClip']);
@@ -128,10 +220,11 @@ async function actionMoveToHeatingPlate() {
     await actuatorExecuteAction('TransferArmUDMotor','MoveToName',['TransUdMotorTop']);
 
     // - 搬运左右移至取试管架位置
-    await actuatorExecuteAction('TransferArmLRMotor','MoveToName',['TransLrMotorHeatPlateSlot']);
+    pos = transLrHeatPlateTubePointMap[`TransLrMotorHeatPlateTube.${index}`];
+    await actuatorExecuteAction('TransferArmLRMotor','MoveToName',[pos]);
     
     // - 搬运上下移至取试管架位置
-    await actuatorExecuteAction('TransferArmUDMotor','MoveToName',['TransUdMotorHeatPlateDepth']);
+    await actuatorExecuteAction('TransferArmUDMotor','MoveToName',[0]);
 
     // - 搬运夹爪关闭
     await actuatorExecuteAction('TransferClipServeMotor','MoveToName',['TransClipServoClose']);
diff --git a/src/web/src/pages/engineering/TransUpDown.vue b/src/web/src/pages/engineering/TransUpDown.vue
index c6ebd4d..fd17db8 100644
--- a/src/web/src/pages/engineering/TransUpDown.vue
+++ b/src/web/src/pages/engineering/TransUpDown.vue
@@ -14,6 +14,9 @@
           <a-select-option value="TransUdMotorHeatPlateDepth">试管架加热盘拾取</a-select-option>
           <a-select-option value="TransUdMotorLiquidDepth">试管架加液盘拾取</a-select-option>
           <a-select-option value="TransUdMotorTubeClip">试管加热盘拾取</a-select-option>
+          <a-select-option value="TransUdMotorHeatingPlateTubeClipPrepare">试管加热盘拾取准备</a-select-option>
+          <a-select-option value="TransUnMotorLiquidPlateTubeClip">试管加液盘拾取</a-select-option>
+
         </a-select>
         </a-col>
         <a-col :span="8" class="text-right"><a-button class="ml-1" @click="actionMoveToName">执行</a-button></a-col>