一键标定、样式修改

src/config/getData.js

@@ -54,4 +54,20 @@ export const backIoStatus = (type) => post('vehicle/setForkLegsObstacles?backIoS
 // 获取当前配置的休息点
 export const getReturnStation = () => get('station/getReturnStation', {})
 // 配置车辆返回点
-export const updateReturnStation = (id) => post('station/updateReturnStation?station_id=' + id, {})
+export const updateReturnStation = (id) => post('station/updateReturnStation?station_id=' + id, {})
+
+// 一键标定内容
+export const getCalibrationConfigInfo = () => get('calibration/getCalibrationConfigInfo', {})
+// 一键标定深度相机
+export const calibrationDepthcamera = (id) => post('calibration/calibrationDepthcamera?location=' + id, {})
+// 一键标定激光接口
+export const calibrationLaser = (id, cmd) => post('calibration/calibrationLaser', {
+  location: id,
+  cmd: cmd
+})
+// 开始标定顶部相机
+export const startCalibrationCamera = (id) => post('calibration/startCalibrationCamera?location=' + id, {})
+// 结束标定顶部相机接口
+export const endCalibrationCamera = (id, params) => post('calibration/endCalibrationCamera?location=' + id + '&params=' + params, {})
+// 根据task_id查询对应的标定结果
+export const getCalibrationByTaskId = (id) => get('calibration/getCalibrationByTaskId?task_id=' + id, {})

src/config/mork.js

@@ -891,4 +891,89 @@ export const apiLogs = () => {
         }
     ]
     return res
+}
+
+export const getCalibrationConfigInfo = () => {
+    let res = {
+        message: 'ok',
+        data: {
+            depthcamera: [
+                {
+                    zh_name: '顶部前',
+                    en_name: 'Top front',
+                    location: '9'
+                },
+                {
+                    zh_name: '右前',
+                    en_name: 'Right front',
+                    location: '9'
+                }
+            ],
+            Laser: [
+                {
+                    zh_name: '顶部前',
+                    en_name: 'Top front',
+                    location: '9'
+                },
+                {
+                    zh_name: '右前',
+                    en_name: 'Right front',
+                    location: '9'
+                }
+            ],
+            camera: [
+                {
+                    zh_name: '右前',
+                    en_name: 'Right front',
+                    location: '9'
+                }
+            ]
+        }
+    }
+    return res
+}
+
+export const calibrationDepthcamera = () => {
+    let res = {
+        "message": "操作成功!",
+        "data": {
+            "task_id": "20260107173429562"
+        }
+    }
+    return res
+}
+export const calibrationLaser = () => {
+    let res = {
+        "message": "操作成功!",
+        "data": {
+            "task_id": "20260107173429562"
+        }
+    }
+    return res
+}
+export const startCalibrationCamera = () => {
+    let res = {
+        "message": "操作成功!",
+        "data": {
+            "task_id": "20260107173429562"
+        }
+    }
+    return res
+}
+export const endCalibrationCamera = () => {
+    let res = {
+        "message": "操作成功!",
+        "data": {
+            "task_id": "20260107173429562"
+        }
+    }
+    return res
+}
+
+export const getCalibrationByTaskId = () => {
+    let res = {
+        "message": "操作成功!",
+        "data": "1"
+    }
+    return res
 }

src/i18n/langs/en.js

@@ -143,5 +143,20 @@ module.exports = {
   settings: 'Settings',
   entertaskchainname: 'Please enter the task chain name',
   taskchainnotempty: 'The task chain name cannot be empty',
-  taskchainname: 'Task Chain Name'
+  taskchainname: 'Task Chain Name',
+  depthcamera: 'Depth Camera',
+  horizontalandheightcalibration: 'Horizontal and Height Calibration',
+  laser: 'Laser',
+  calibrationorientation: 'Calibration Orientation',
+  calibrationposition: 'Calibration Position',
+  topviewcamera: 'Top - view Camera',
+  startcalibration: 'Start Calibration',
+  endcalibration: 'End Calibration',
+  ceilingheight: 'Ceiling Height',
+  collectingdata: 'Collecting Data',
+  calibrationtimeoutpleasereoperate: 'Calibration Timeout. Please Re - operate',
+  calibrationsuccessful: 'Calibration Successful',
+  calibrationfailed: 'Calibration Failed',
+  calibrationresultabnormal: 'Calibration Result Abnormal',
+  calibrationprogramabnormal: 'Calibration Program Abnormal'
 }

src/i18n/langs/zh.js

@@ -143,5 +143,20 @@ module.exports = {
   settings: '设置',
   entertaskchainname: '请输入任务链名称',
   taskchainnotempty: '任务链名称不能为空',
-  taskchainname: '任务链名称'
+  taskchainname: '任务链名称',
+  depthcamera: '深度相机',
+  horizontalandheightcalibration: '水平和高度标定',
+  laser: '激光',
+  calibrationorientation: '标定朝向',
+  calibrationposition: '标定位置',
+  topviewcamera: '顶视相机',
+  startcalibration: '开始标定',
+  endcalibration: '结束标定',
+  ceilingheight: '天花板高度',
+  collectingdata: '采集数据中',
+  calibrationtimeoutpleasereoperate: '标定超时，请重新操作',
+  calibrationsuccessful: '标定成功',
+  calibrationfailed: '标定失败',
+  calibrationresultabnormal: '标定结果异常',
+  calibrationprogramabnormal: '标定程序异常'
 }

src/pages/modules/calibration/index.vue

@@ -0,0 +1,412 @@
+<template>
+  <div class="page_container" :class="{'enClass': $i18n.locale === 'en-us'}">
+    <div v-if="depthcamera.length" class="feat-item-wrap">
+      <div class="feat-title">{{$t('depthcamera')}}</div>
+      <el-row type="flex" justify="space-between">
+        <el-col class="feat-item" v-for="(e, i) in depthcamera" :key="i">
+          <div v-if="$i18n.locale === 'en-us'" class="feat-name">{{ e.en_name }}&nbsp;{{$t('depthcamera')}}</div>
+          <div v-else class="feat-name">{{ e.zh_name }}{{$t('depthcamera')}}</div>
+          <el-row type="flex" justify="start">
+            <el-button type="success" :disabled="disabled1" @click="_calibrationDepthcamera(e.location)">{{ $t('horizontalandheightcalibration') }}</el-button>
+          </el-row>
+        </el-col>
+      </el-row>
+    </div>
+    <div v-if="Laser.length" class="feat-item-wrap">
+      <div class="feat-title">{{ $t('laser') }}</div>
+      <el-row type="flex" justify="space-between">
+        <el-col class="feat-item" v-for="(e, i) in Laser" :key="i">
+          <div v-if="$i18n.locale === 'en-us'" class="feat-name">{{ e.en_name }}&nbsp;{{ $t('laser') }}</div>
+          <div v-else class="feat-name">{{ e.zh_name }}{{ $t('laser') }}</div>
+          <el-row type="flex" justify="start">
+            <el-button type="success" :disabled="disabled2 && cmd === 1802" @click="_calibrationLaser(e.location, 1802)">{{ $t('calibrationorientation') }}</el-button>
+            <el-button type="success" :disabled="disabled3 && cmd === 1803" @click="_calibrationLaser(e.location, 1803)">{{ $t('calibrationposition') }}</el-button>
+          </el-row>
+        </el-col>
+      </el-row>
+    </div>
+    <div v-if="camera.length" class="feat-item-wrap">
+      <div class="feat-title">{{ $t('topviewcamera') }}</div>
+      <el-row type="flex" justify="space-between">
+        <el-col class="relative feat-item" v-for="(e, i) in camera" :key="i">
+          <div v-if="$i18n.locale === 'en-us'" class="feat-name feat-name1">{{ e.en_name }}&nbsp;{{ $t('topviewcamera') }}</div>
+          <div v-else class="feat-name">{{ e.zh_name }}{{ $t('topviewcamera') }}</div>
+          <el-row type="flex" justify="start">
+            <el-button type="success" :disabled="disabled4" @click="_startCalibrationCamera(e.location)">{{ $t('startcalibration') }}</el-button>
+            <el-button type="success" :disabled="disabled5" @click="_endCalibrationCamera(e.location, size)">{{$t('endcalibration')}}</el-button>
+          </el-row>
+          <div class="absolute size-wrap">
+            <span class="txt1">{{ $t('ceilingheight') }}</span>
+            <el-input class="h-input" type="number" size="mini" v-model="size"></el-input>
+            <span class="txt2">m</span>
+          </div>
+        </el-col>
+      </el-row>
+    </div>
+    <div v-if="dialogVisible" class="progress-mask" style="z-index: 2003;">
+      <div class="progress-container">
+        <div class="progress_tip">
+          {{ $t('collectingdata') }}
+          <span class="dots">
+            <span class="dot dot1">.</span>
+            <span class="dot dot2">.</span>
+            <span class="dot dot3">.</span>
+            <span class="dot dot4">.</span>
+          </span>
+        </div>
+      </div>
+    </div>
+  </div>
+</template>
+
+<script>
+import { getCalibrationConfigInfo, calibrationDepthcamera, calibrationLaser, startCalibrationCamera, endCalibrationCamera, getCalibrationByTaskId } from '@/config/mork.js'
+export default {
+  name: 'calibration-index',
+  data () {
+    return {
+      depthcamera: [],
+      Laser: [],
+      camera: [],
+      size: 5,
+      disabled1: false,
+      disabled2: false,
+      disabled3: false,
+      disabled4: false,
+      disabled5: true,
+      cmd: null,
+      taskId: null,
+      timer: null,
+      isPolling: false,
+      dialogVisible: false
+    }
+  },
+  mounted () {
+    this._getCalibrationConfigInfo()
+  },
+  beforeDestroy() {
+    this._clearTimer()
+  },
+  methods: {
+    _clearTimer() {
+      this.isPolling = false
+      if (this.timer) {
+        clearInterval(this.timer)
+        this.timer = null
+      }
+    },
+    async _pollTaskStatus(type) {
+      if (!this.taskId) return
+      this._clearTimer()
+
+      this.isPolling = true
+
+      this.timer = setInterval(async () => {
+        if (!this.isPolling) return
+
+        try {
+          const res = await getCalibrationByTaskId(this.taskId)
+          if (!this.isPolling) return
+
+          if (res && res.data) {
+            const status = res.data
+            this._handleTaskStatus(status, type)
+          }
+        } catch (e) {
+          console.error('轮询任务状态失败:', e)
+        }
+      }, 1000)
+
+      setTimeout(() => {
+        if (this.isPolling) {
+          this.isPolling = false
+          this._clearTimer()
+          this.dialogVisible = false
+          this.$message.warning(this.$t('calibrationtimeoutpleasereoperate'))
+          if (type === 'end') {
+            this.disabled4 = true
+            this.disabled5 = false
+          }
+        }
+      }, 60000)
+    },
+    _handleTaskStatus(status, type) {
+      if (!this.isPolling) return
+
+      switch(status.toString()) {
+        case '0': // 标定成功
+          this.isPolling = false
+          this._clearTimer()
+          this.dialogVisible = false
+          this.$message.success(this.$t('calibrationsuccessful'))
+          if (type === 'end') {
+            this.disabled4 = false
+            this.disabled5 = true
+          }
+          break
+        case '1': // 采集数据中
+          this.dialogVisible = true
+          break
+        case '2': // 标定失败
+          this.isPolling = false  
+          this._clearTimer()
+          this.dialogVisible = false
+          this.$message.error(this.$t('calibrationfailed'))
+          if (type === 'end') {
+            this.disabled4 = true
+            this.disabled5 = false
+          }
+          break
+        case '3': // 结果异常
+          this.isPolling = false
+          this._clearTimer()
+          this.dialogVisible = false
+          this.$message.error(this.$t('calibrationresultabnormal'))
+          if (type === 'end') {
+            this.disabled4 = true
+            this.disabled5 = false
+          }
+          break
+        case '999': // 标定程序异常
+          this.isPolling = false
+          this._clearTimer()
+          this.dialogVisible = false
+          this.$message.error(this.$t('calibrationprogramabnormal'))
+          if (type === 'end') {
+            this.disabled4 = true
+            this.disabled5 = false
+          }
+          break
+        default:
+          console.warn('未知状态码:', status)
+      }
+    },
+    async _getCalibrationConfigInfo () {
+      try {
+        let res = await getCalibrationConfigInfo()
+        if (res && res.data) {
+          this.depthcamera = [...res.data.depthcamera]
+          this.Laser = [...res.data.Laser]
+          this.camera = [...res.data.camera]
+        }
+      } catch (e) {
+        this.depthcamera = []
+        this.Laser = []
+        this.camera = []
+        this.$message.error(e)
+      }
+    },
+    async _calibrationDepthcamera (lock) {
+      this.disabled1 = true
+      try {
+        this.loading = this.$loading({
+          lock: true,
+          spinner: 'el-icon-loading',
+          background: 'rgba(0, 0, 0, 0.6)'
+        })
+        let res = await calibrationDepthcamera(lock)
+        if (res) {
+          this.taskId = res.data.task_id
+          this._pollTaskStatus()
+        }
+        this.loading.close()
+        this.disabled1 = false
+      } catch (e) {
+        this.$message.error(e)
+        this.loading.close()
+        this.disabled1 = false
+      }
+    },
+    async _calibrationLaser (lock, cmd) {
+      this.disabled2 = true
+      this.disabled3 = true
+      this.cmd = cmd
+      try {
+        this.loading = this.$loading({
+          lock: true,
+          spinner: 'el-icon-loading',
+          background: 'rgba(0, 0, 0, 0.6)'
+        })
+        let res = await calibrationLaser(lock, cmd)
+        if (res) {
+          this.taskId = res.data.task_id
+          this._pollTaskStatus()
+        }
+        this.loading.close()
+        this.disabled2 = false
+        this.disabled3 = false
+      } catch (e) {
+        this.$message.error(e)
+        this.loading.close()
+        this.disabled2 = false
+        this.disabled3 = false
+      }
+    },
+    async _startCalibrationCamera (lock) {
+      this.disabled4 = true
+      try {
+        this.loading = this.$loading({
+          lock: true,
+          spinner: 'el-icon-loading',
+          background: 'rgba(0, 0, 0, 0.6)'
+        })
+        let res = await startCalibrationCamera(lock)
+        if (res) {
+          this.$message(res.message)
+        }
+        this.loading.close()
+        this.disabled5 = false
+      } catch (e) {
+        this.$message.error(e)
+        this.loading.close()
+        this.disabled4 = false
+      }
+    },
+    async _endCalibrationCamera (lock, size) {
+      this.disabled5 = true
+      try {
+        this.loading = this.$loading({
+          lock: true,
+          spinner: 'el-icon-loading',
+          background: 'rgba(0, 0, 0, 0.6)'
+        })
+        let res = await endCalibrationCamera(lock, size)
+        if (res) {
+          this.taskId = res.data.task_id
+          this._pollTaskStatus('end')
+        }
+        this.loading.close()
+      } catch (e) {
+        this.$message.error(e)
+        this.loading.close()
+        this.disabled5 = false
+      }
+    }
+  }
+}
+</script>
+
+<style lang="stylus" scoped>
+.page_container
+  padding: 0.1rem;
+  overflow-y auto
+.feat-item-wrap
+  padding-bottom 0.34rem
+  border-bottom 1px solid #8a8a8a
+  +.feat-item-wrap
+    margin-top .3rem
+  &:last-child
+    border-bottom 0
+.feat-title
+  font-size .25rem
+  color #fff
+  margin-bottom .2rem
+.feat-item
+  width 48.6%
+  padding .16rem .2rem
+  border-radius .15rem
+  background-color rgba(38,49,76,0.7)
+.feat-name
+  font-size .18rem
+  line-height .2rem
+  color #fff
+  margin-bottom .2rem
+.size-wrap
+  top .1rem
+  right .1rem
+.txt1
+  font-size .16rem
+  line-height .4rem
+  color #fff
+.txt2
+  font-size .16rem
+  line-height .4rem
+  color #fff
+  margin-left .1rem
+.h-input
+  width 1rem
+  line-height: 0.36rem;
+  height: 0.36rem;
+  margin-left .1rem
+  /deep/ .el-input__inner
+    line-height: 0.36rem;
+    height: 0.36rem;
+    background: rgba(230, 230, 230, 10%);
+    border-color: #fff;
+    border-radius: 0.05rem;
+.el-button
+  padding 0.09rem 0.1rem
+.progress-mask {
+  position: fixed;
+  top: 0;
+  left: 0;
+  right: 0;
+  bottom: 0;
+  background-color: rgba(0, 0, 0, 0.6); /* 半透明黑色遮罩 */
+  z-index: 9999; /* 确保在最上层 */
+  display: flex;
+  justify-content: center;
+  align-items: center;
+}
+.progress-container {
+  background-color: #fff;
+  padding: 30px 40px;
+  border-radius: 8px;
+  text-align: center;
+  box-shadow: 0 2px 12px rgba(0, 0, 0, 0.1);
+}
+.progress_tip {
+  font-size: .2rem
+  line-height: .34rem
+  color: #000
+  font-weight: 700
+}
+.el-button
+  height .4rem
+  line-height 1
+.el-button--success {
+  color: #FFF;
+  background-color: #67C23A;
+  border-color: #67C23A;
+}
+.el-button--success.is-disabled, .el-button--success.is-disabled:active, .el-button--success.is-disabled:focus, .el-button--success.is-disabled:hover {
+  color: #FFF;
+  background-color: #b3e19d;
+  border-color: #b3e19d;
+}
+.dots
+  display: inline-block;
+
+.dot
+  opacity: 0;
+  animation: dotFade 1.5s infinite;
+
+.dot1
+  animation-delay: 0.1s;
+
+.dot2
+  animation-delay: 0.2s;
+
+.dot3
+  animation-delay: 0.3s;
+
+.dot4
+  animation-delay: 0.4s;
+
+@keyframes dotFade
+  0%
+    opacity: 0;
+  20%
+    opacity: 1;
+  40%
+    opacity: 1;
+  60%
+    opacity: 1;
+  80%
+    opacity: 1;
+  100%
+    opacity: 0;
+.enClass
+  .feat-name1
+    width 50%
+</style>

src/pages/modules/home.vue

@@ -2,7 +2,7 @@
   <el-row type="flex" class="navs_wraper" justify="start" align="middle">
     <el-col class="nav_item" v-for="(e, i) in visibleNav" :key="i" :class="'nav_item_' + (i + 1)">
       <div class="nav_item_i" @click="toPage(e)">
-        <div class="nav_icon"></div>
+        <div class="nav_icon"><img :src="require('@/images/new/' + e.icon + '.png')" alt=""></div>
         <p>{{ e[$langPre.computedProp('title')] }}</p>
       </div>
     </el-col>
@@ -22,10 +22,11 @@ export default {
     ...mapGetters(['userRole']),
     nav () {
       return [
-        { title: '操作', zh_title: '操作', en_title: 'Operate', router: '/index/device', isVisible: true },
-        { title: '建图', zh_title: '建图', en_title: 'Map - building', router: '/index/building', isVisible: this.userRole === 1 },
-        { title: '地图', zh_title: '地图', en_title: 'Map', router: '/index/map', isVisible: true },
-        { title: '重定位', zh_title: '重定位', en_title: 'Relocate', router: '/index/relocation', isVisible: true }
+        { title: '操作', zh_title: '操作', en_title: 'Operate', router: '/index/device', icon: 'RF1', isVisible: true },
+        { title: '建图', zh_title: '建图', en_title: 'Map - building', router: '/index/building', icon: 'RF2', isVisible: this.userRole === 1 },
+        { title: '地图', zh_title: '地图', en_title: 'Map', router: '/index/map', icon: 'RF3', isVisible: true },
+        { title: '重定位', zh_title: '重定位', en_title: 'Relocate', router: '/index/relocation', icon: 'RF4', isVisible: true },
+        { title: '一键标定', zh_title: '一键标定', en_title: 'One - Click Calibration', router: '/index/calibration', icon: 'RF7', isVisible: true }
       ]
     },
     visibleNav () {
@@ -92,26 +93,37 @@ export default {
     line-height 1
     color #F6F9FE
     font-family 'YouSheBiaoTiHei'
+    text-align center
     background linear-gradient(180deg, rgba(255,255,255,1) 0%, rgba(49,190,255,0.9) 0%, rgba(239,252,254,1) 40%)
     -webkit-background-clip: text
     -webkit-text-fill-color: transparent
 .nav_icon
+  position relative
   width 35%
   padding-top 35%
   border-radius 50%
   margin-bottom 3%
+  img
+    position absolute
+    width 70%
+    top 50%
+    left 50%
+    transform translate(-50%, -50%)
 .nav_item_1
   .nav_icon
-    background #217872 center center / 70% auto url(../../images/new/RF1.png) no-repeat
+    background linear-gradient(90deg, rgba(130, 234, 143, 60%), rgba(0, 185, 81, 80%))
 .nav_item_2
   .nav_icon
-    background #80732F center center / 70% auto url(../../images/new/RF2.png) no-repeat
+    background linear-gradient(90deg, rgba(255, 212, 153, 60%), rgba(255, 144, 25, 80%))
 .nav_item_3
   .nav_icon
-    background #00a9ff center center / 70% auto url(../../images/new/RF3.png) no-repeat
+    background linear-gradient(90deg, rgba(120, 173, 255, 60%), rgba(52, 92, 248, 80%))
 .nav_item_4
   .nav_icon
-    background #80372D center center / 70% auto url(../../images/new/RF4.png) no-repeat
+    background linear-gradient(90deg, rgba(255, 125, 119, 60%), rgba(255, 84, 47, 80%))
+.nav_item_5
+  .nav_icon
+    background linear-gradient(90deg, rgba(206, 149, 255, 60%), rgba(124, 47, 255, 80%))
 .enClass
   .nav_item_i
     p

src/pages/shells/index.vue

@@ -288,10 +288,11 @@ export default {
   background linear-gradient(0deg, #E64F29, rgba(230, 79, 41, 0.5))
   border-color rgba(230, 79, 41, 0.7)
 .state-item
-  _wh(1rem, .3rem)
+  height .3rem
   _font(.18rem,.3rem,#fff,,center)
   font-family 'Adobe Heiti Std'
   margin-right .08rem
+  padding 0 .06rem
   background center / 100% 100% url(../../images/new/state-item_bg.png) no-repeat
   box-shadow inset 0px 0px 3px 2px rgb(149, 221, 253, 70%)
   overflow hidden
@@ -340,11 +341,12 @@ export default {
   white-space nowrap
   background-color rgba(253, 246, 236, .4)
 .scroll-text
-  display inline-block
-  text-align center
+  display flex
+  align-items center
+  justify-content center
   animation none
 .icon-warning
-  font-size .18rem
+  font-size .24rem
   color #e6bb3c
   margin-right .05rem
 .error-tips-t

src/router/index.js

@@ -8,6 +8,7 @@ const Warning = r => require.ensure([], () => r(require('../pages/modules/warn/i
 const Building = r => require.ensure([], () => r(require('../pages/modules/build/index.vue')), 'Building')
 const Map = r => require.ensure([], () => r(require('../pages/modules/map/index.vue')), 'Map')
 const Relocation = r => require.ensure([], () => r(require('../pages/modules/relocation.vue')), 'Relocation')
+const Calibration = r => require.ensure([], () => r(require('../pages/modules/calibration/index.vue')), 'Calibration')
 const Login = r => require.ensure([], () => r(require('../pages/modules/login/index.vue')), 'login')
 const IndexHub = r => require.ensure([], () => r(require('../pages/modules/hub/index.vue')), 'IndexHub')
 const Upload = r => require.ensure([], () => r(require('../pages/modules/hub/upload.vue')), 'Upload')
@@ -41,6 +42,9 @@ const router = new VueRouter({
       }, {
         path: 'relocation',
         component: Relocation
+      }, {
+        path: 'calibration',
+        component: Calibration
       }]
     },
     {