充电和脱离

src/views/dashboard1/pages/IntegratedCenterPage.vue

@@ -11,7 +11,10 @@ import {
   getCurrentRosInspection,
   getRosCarList,
   getRosInspectionTaskDetail,
+  startRosCharging,
   stopDispatchRosInspectionTask,
+  undockRosCharging,
+  type RosChargingResult,
 } from "@/api/rosCar";
 import { getToken } from "@/utils/auth";
 import { parseRosMapYaml } from "@/utils/rosMapYaml";
@@ -42,6 +45,8 @@ interface RosCarRecord {
   cameraWebrtcUrl2?: string;
   liftHeight?: number;
   liftDeviceStatusDescription?: string;
+  dockStatus?: string;
+  dockActive?: boolean;
 }
 
 interface RosCarListResult {
@@ -69,6 +74,8 @@ interface CarStatusPushData {
   mapYamlUrl?: string;
   status?: number;
   signal?: string;
+  dockStatus?: string;
+  dockActive?: boolean;
 }
 
 interface CarVelocityPushData {
@@ -115,6 +122,8 @@ interface DeviceItem {
   mapYamlUrl: string;
   whiteLightUrl: string;
   infraredUrl: string;
+  dockStatus?: string;
+  dockActive?: boolean;
 }
 
 interface ProjectItem {
@@ -195,6 +204,11 @@ interface RosDispatchResultResponse {
   msg?: string;
 }
 
+interface RosChargingResultResponse {
+  data?: RosChargingResult;
+  msg?: string;
+}
+
 interface AlertItem {
   id: string;
   title: string;
@@ -286,6 +300,8 @@ function normalizeDeviceRecord(car: RosCarRecord, index: number): DeviceItem {
     mapYamlUrl: car.mapYamlUrl || "",
     whiteLightUrl: car.cameraWebrtcUrl || "",
     infraredUrl: car.cameraWebrtcUrl2 || "",
+    dockStatus: car.dockStatus,
+    dockActive: car.dockActive ?? false,
   };
 }
 
@@ -494,6 +510,8 @@ const inspectionTaskId = ref("");
 const currentInspection = ref<RosInspectionRecord | null>(null);
 const inspectionLoading = ref(false);
 const inspectionActionLoading = ref(false);
+const chargingActionLoading = ref(false);
+const undockingActionLoading = ref(false);
 const lastDispatchTime = ref("");
 const alertLoading = ref(false);
 const alertError = ref("");
@@ -614,6 +632,27 @@ const currentScenario = computed(() => navScenario);
 const hasRobotPose = computed(
   () => typeof currentRobot.value.poseX === "number" && typeof currentRobot.value.poseY === "number",
 );
+// 回充状态文案：由 charging_dock 节点的 /dock_status 上报，未上报时给出中性提示
+const chargingStatusText = computed(() => {
+  const device = currentRobot.value;
+
+  if (device.dockActive) {
+    return device.dockStatus || "自动回充进行中";
+  }
+  return device.dockStatus || "回充状态未上报";
+});
+const chargingButtonText = computed(() => {
+  if (currentRobot.value.dockActive) {
+    return "回充中...";
+  }
+  return chargingActionLoading.value ? "处理中..." : "自动回充";
+});
+const undockingButtonText = computed(() => {
+  if (currentRobot.value.dockActive) {
+    return "处理中...";
+  }
+  return undockingActionLoading.value ? "处理中..." : "充电脱离";
+});
 
 // 将 ROS 米制坐标转换成地图图片像素坐标，路线和机器人定位共用同一套转换
 function rosPoseToMapPoint(poseX: number, poseY: number, poseYaw = 0): RobotMapPoint | null {
@@ -861,6 +900,74 @@ function confirmStopInspection() {
   showConfirmDialog("停止巡检", "确认停止当前巡检任务吗？", () => runInspectionAction("stop"));
 }
 
+// 手动触发一次自动回充；需要小车在线且车端已启动回充节点
+async function runStartCharging() {
+  const carId = currentRobot.value.carId;
+
+  if (!carId) {
+    window.$message.warning("未获取到小车ID，请先在设备管理中确认小车已保存");
+    return;
+  }
+
+  chargingActionLoading.value = true;
+
+  try {
+    const response = (await startRosCharging(carId)) as RosChargingResultResponse;
+    const accepted = response.data?.accepted ?? false;
+    const message = response.data?.message
+      || response.msg
+      || (accepted ? "已触发自动回充" : "触发自动回充失败");
+
+    if (accepted) {
+      window.$message.success(message);
+    } else {
+      window.$message.warning(message);
+    }
+  } catch (error) {
+    console.error(error);
+  } finally {
+    chargingActionLoading.value = false;
+  }
+}
+
+function confirmStartCharging() {
+  showConfirmDialog("自动回充", "确认让小车执行自动回充吗？", () => runStartCharging());
+}
+
+// 手动触发一次脱离充电桩；用于充电完成后手动让小车离开充电桩
+async function runUndockCharging() {
+  const carId = currentRobot.value.carId;
+
+  if (!carId) {
+    window.$message.warning("未获取到小车ID，请先在设备管理中确认小车已保存");
+    return;
+  }
+
+  undockingActionLoading.value = true;
+
+  try {
+    const response = (await undockRosCharging(carId)) as RosChargingResultResponse;
+    const accepted = response.data?.accepted ?? false;
+    const message = response.data?.message
+      || response.msg
+      || (accepted ? "已触发脱离充电桩" : "触发脱离充电桩失败");
+
+    if (accepted) {
+      window.$message.success(message);
+    } else {
+      window.$message.warning(message);
+    }
+  } catch (error) {
+    console.error(error);
+  } finally {
+    undockingActionLoading.value = false;
+  }
+}
+
+function confirmUndockCharging() {
+  showConfirmDialog("充电脱离", "确认让小车脱离充电桩吗？", () => runUndockCharging());
+}
+
 // 切换设备时将当前设备已有升降柱高度回显到目标高度输入框
 function syncLiftTargetFromDevice(device?: DeviceItem) {
   if (!device || device.liftHeight === "--") {
@@ -921,6 +1028,8 @@ function applyCarStatusPush(data: CarStatusPushData) {
     poseYaw: typeof data.poseYaw === "number" ? data.poseYaw : currentDevice.poseYaw,
     mapPgmUrl: data.mapPgmUrl || currentDevice.mapPgmUrl,
     mapYamlUrl: data.mapYamlUrl || currentDevice.mapYamlUrl,
+    dockStatus: typeof data.dockStatus === "string" ? data.dockStatus : currentDevice.dockStatus,
+    dockActive: typeof data.dockActive === "boolean" ? data.dockActive : currentDevice.dockActive,
   };
 
   projectDevices.value[0].devices.splice(deviceIndex, 1, nextDevice);
@@ -1868,6 +1977,26 @@ function getStatusClass(status: DeviceItem["status"]) {
             >
               {{ inspectionActionLoading ? "处理中..." : "下发巡检" }}
             </button>
+            <div class="charging-status-row">
+              <span :class="['charging-status-dot', { active: currentRobot.dockActive }]"></span>
+              <span class="charging-status-text">{{ chargingStatusText }}</span>
+            </div>
+            <button
+              class="inspection-action-btn charging"
+              type="button"
+              :disabled="chargingActionLoading || currentRobot.dockActive"
+              @click="confirmStartCharging"
+            >
+              {{ chargingButtonText }}
+            </button>
+            <button
+              class="inspection-action-btn undock"
+              type="button"
+              :disabled="undockingActionLoading || currentRobot.dockActive"
+              @click="confirmUndockCharging"
+            >
+              {{ undockingButtonText }}
+            </button>
           </div>
         </div>
       </div>