充电和脱离

src/api/rosCar.ts

@@ -70,6 +70,26 @@ export interface RosCar {
   liftHeight?: number;
   /** 升降柱状态 */
   lift?: RosLift;
+  /** 充电点 X 坐标 */
+  dockX?: number;
+  /** 充电点 Y 坐标 */
+  dockY?: number;
+  /** 充电点朝向 */
+  dockYaw?: number;
+  /** 预对接点 X 坐标 */
+  preDockX?: number;
+  /** 预对接点 Y 坐标 */
+  preDockY?: number;
+  /** 预对接点朝向 */
+  preDockYaw?: number;
+  /** 是否开启自动回充 */
+  autoRechargeEnabled?: boolean;
+  /** 自动回充低电量阈值(%) */
+  lowBatteryThreshold?: number;
+  /** 自动回充状态文本 */
+  dockStatus?: string;
+  /** 自动回充是否进行中 */
+  dockActive?: boolean;
   /** 创建时间 */
   createTime?: string;
   /** 更新时间 */
@@ -293,3 +313,61 @@ export function updateRosCarMapUrls(data: {
     data,
   });
 }
+
+/**
+ * 小车充电点与自动回充配置更新参数
+ */
+export interface RosCarDockConfigUpdate {
+  /** 主键id */
+  id: string;
+  /** 充电点 X 坐标 */
+  dockX?: number;
+  /** 充电点 Y 坐标 */
+  dockY?: number;
+  /** 充电点朝向 */
+  dockYaw?: number;
+  /** 预对接点 X 坐标 */
+  preDockX?: number;
+  /** 预对接点 Y 坐标 */
+  preDockY?: number;
+  /** 预对接点朝向 */
+  preDockYaw?: number;
+  /** 是否开启自动回充 */
+  autoRechargeEnabled?: boolean;
+  /** 自动回充低电量阈值(%) */
+  lowBatteryThreshold?: number;
+}
+
+// 更新小车充电点与自动回充配置
+export function updateRosCarDockConfig(data: RosCarDockConfigUpdate) {
+  return request<ApiResult<null>>({
+    url: "/admin/rosCar/updateDockConfig",
+    data,
+  });
+}
+
+/**
+ * 手动触发回充结果，对应后端 com.haizhiyustc.ros.dto.RosChargingResultDTO
+ */
+export interface RosChargingResult {
+  /** 小车是否接受本次触发 */
+  accepted?: boolean;
+  /** 触发结果说明 */
+  message?: string;
+}
+
+// 手动触发小车自动回充
+export function startRosCharging(carId: string) {
+  return request<ApiResult<RosChargingResult>>({
+    url: "/admin/rosCar/startCharging",
+    params: { carId },
+  });
+}
+
+// 手动触发小车脱离充电桩
+export function undockRosCharging(carId: string) {
+  return request<ApiResult<RosChargingResult>>({
+    url: "/admin/rosCar/undockCharging",
+    params: { carId },
+  });
+}

src/views/dashboard1/index.less

@@ -2655,6 +2655,58 @@
         color: #ffd9d5;
       }
 
+      .inspection-action-btn.charging {
+        border-color: rgba(126, 255, 196, 0.32);
+        background: linear-gradient(90deg, rgba(20, 104, 82, 0.96), rgba(10, 48, 44, 0.98));
+        color: #d5ffee;
+      }
+
+      .inspection-action-btn.undock {
+        border-color: rgba(255, 205, 126, 0.32);
+        background: linear-gradient(90deg, rgba(122, 78, 18, 0.96), rgba(70, 42, 12, 0.98));
+        color: #ffeccd;
+      }
+
+      .charging-status-row {
+        display: flex;
+        align-items: center;
+        gap: 8px;
+        min-height: 20px;
+      }
+
+      .charging-status-dot {
+        width: 8px;
+        min-width: 8px;
+        height: 8px;
+        border-radius: 50%;
+        background: rgba(140, 180, 200, 0.5);
+        box-shadow: 0 0 0 3px rgba(140, 180, 200, 0.12);
+      }
+
+      .charging-status-dot.active {
+        background: #7dffb0;
+        box-shadow: 0 0 0 3px rgba(125, 255, 176, 0.18), 0 0 12px rgba(125, 255, 176, 0.6);
+        animation: charging-dot-pulse 1.4s ease-in-out infinite;
+      }
+
+      .charging-status-text {
+        color: rgba(190, 232, 248, 0.88);
+        font-size: 12px;
+        line-height: 1.5;
+        word-break: break-all;
+      }
+
+      @keyframes charging-dot-pulse {
+        0%,
+        100% {
+          opacity: 1;
+        }
+
+        50% {
+          opacity: 0.45;
+        }
+      }
+
       .inspection-action-btn:hover:not(:disabled) {
         transform: translateY(-1px);
         border-color: rgba(102, 235, 255, 0.72);

src/views/dashboard1/pages/EquipmentManagementPage.vue

@@ -4,6 +4,7 @@ import {
   getRosCarList,
   getRosInspectionTaskDetail,
   saveRosInspectionTask,
+  updateRosCarDockConfig,
   updateRosCarMapUrls,
   uploadFile,
 } from "@/api/rosCar";
@@ -19,7 +20,7 @@ type RecognitionActionCode =
   | "TUNNEL_WATER"
   | "WALL_CRACK";
 type PatrolTaskMode = "定时" | "周期" | "临时";
-type EditorMode = "select" | "normal" | "thermal" | "pump" | "waypoint";
+type EditorMode = "select" | "normal" | "thermal" | "pump" | "waypoint" | "dock" | "preDock";
 
 interface RosCarRecord {
   id?: string;
@@ -42,6 +43,14 @@ interface RosCarRecord {
   liftHeight?: number;
   mapPgmUrl?: string;
   mapYamlUrl?: string;
+  dockX?: number;
+  dockY?: number;
+  dockYaw?: number;
+  preDockX?: number;
+  preDockY?: number;
+  preDockYaw?: number;
+  autoRechargeEnabled?: boolean;
+  lowBatteryThreshold?: number;
   createTime?: string;
   updateTime?: string;
 }
@@ -67,6 +76,17 @@ interface DeviceRecord {
   infraredUrl?: string;
   mapPgmUrl?: string;
   mapYamlUrl?: string;
+  poseX?: number;
+  poseY?: number;
+  poseYaw?: number;
+  dockX?: number;
+  dockY?: number;
+  dockYaw?: number;
+  preDockX?: number;
+  preDockY?: number;
+  preDockYaw?: number;
+  autoRechargeEnabled?: boolean;
+  lowBatteryThreshold?: number;
   createdAt: string;
 }
 
@@ -190,6 +210,17 @@ interface PatrolTask {
   updatedAt: string;
 }
 
+interface DockConfigState {
+  dockX?: number;
+  dockY?: number;
+  dockYaw?: number;
+  preDockX?: number;
+  preDockY?: number;
+  preDockYaw?: number;
+  autoRechargeEnabled: boolean;
+  lowBatteryThreshold: number;
+}
+
 interface DeviceConfigState {
   maps: MapRecord[];
   activeMapId: string;
@@ -201,6 +232,7 @@ interface DeviceConfigState {
   points: PatrolPoint[];
   selectedPointIds: string[];
   plans: PatrolTask[];
+  dock: DockConfigState;
 }
 
 interface PlanFormState {
@@ -243,6 +275,8 @@ let patrolActionIdSeed = 0;
 const editorModes: Array<{ id: EditorMode; label: string }> = [
   { id: "normal", label: "新增业务点" },
   { id: "waypoint", label: "新增途经点" },
+  { id: "dock", label: "设置充电点" },
+  { id: "preDock", label: "设置预对接点" },
 ];
 
 const devices = ref<DeviceRecord[]>([]);
@@ -371,6 +405,7 @@ const rosMapImage = new Image();
 const mapImageUploading = ref(false);
 const mapConfigUploading = ref(false);
 const mapUploadMessage = ref("");
+const dockConfigMessage = ref("");
 const mapImageInputRef = ref<HTMLInputElement | null>(null);
 const mapConfigInputRef = ref<HTMLInputElement | null>(null);
 rosMapImage.onload = () => {
@@ -1126,6 +1161,20 @@ function buildDevicePlans(device: DeviceRecord): PatrolTask[] {
   ];
 }
 
+// 回充配置默认值与 charging_dock 节点保持一致：默认开启自动回充，阈值 30%
+function buildDockConfig(device: DeviceRecord): DockConfigState {
+  return {
+    dockX: device.dockX,
+    dockY: device.dockY,
+    dockYaw: device.dockYaw,
+    preDockX: device.preDockX,
+    preDockY: device.preDockY,
+    preDockYaw: device.preDockYaw,
+    autoRechargeEnabled: device.autoRechargeEnabled ?? true,
+    lowBatteryThreshold: device.lowBatteryThreshold ?? 30,
+  };
+}
+
 function buildDeviceConfig(device: DeviceRecord): DeviceConfigState {
   const maps = buildDeviceMaps(device);
   const points = buildDevicePoints();
@@ -1142,6 +1191,7 @@ function buildDeviceConfig(device: DeviceRecord): DeviceConfigState {
     points,
     selectedPointIds: [],
     plans,
+    dock: buildDockConfig(device),
   };
 }
 
@@ -1173,6 +1223,17 @@ function normalizeDeviceRecord(car: RosCarRecord, index: number): DeviceRecord {
     infraredUrl: car.cameraWebrtcUrl2 || "",
     mapPgmUrl: car.mapPgmUrl || "",
     mapYamlUrl: car.mapYamlUrl || "",
+    poseX: car.poseX,
+    poseY: car.poseY,
+    poseYaw: car.poseYaw,
+    dockX: car.dockX,
+    dockY: car.dockY,
+    dockYaw: car.dockYaw,
+    preDockX: car.preDockX,
+    preDockY: car.preDockY,
+    preDockYaw: car.preDockYaw,
+    autoRechargeEnabled: car.autoRechargeEnabled,
+    lowBatteryThreshold: car.lowBatteryThreshold,
     createdAt: car.createTime || "--",
   };
 }
@@ -1841,6 +1902,23 @@ function renderMapCanvas() {
     context.restore();
   });
 
+  drawDockMarker(
+    context,
+    rect,
+    currentConfig.value?.dock.dockX,
+    currentConfig.value?.dock.dockY,
+    "#7dffb0",
+    "充",
+  );
+  drawDockMarker(
+    context,
+    rect,
+    currentConfig.value?.dock.preDockX,
+    currentConfig.value?.dock.preDockY,
+    "#8fb4ff",
+    "预",
+  );
+
   if (selectionBox.active) {
     const left = mapFrame.left + Math.min(selectionBox.startX, selectionBox.endX) * unitX;
     const top = mapFrame.top + Math.min(selectionBox.startY, selectionBox.endY) * unitY;
@@ -2359,6 +2437,144 @@ function buildNextPlanId() {
   return `${currentConfiguredDevice.value?.id ?? "ROBOT"}-TASK${String(maxIndex + 1).padStart(2, "0")}`;
 }
 
+// 巡检点使用 0-100 百分比坐标，充电点使用 ROS 米制坐标，这里做双向换算
+function percentToRosPosition(xPercent: number, yPercent: number) {
+  const resolution = rosMapMeta.resolution || 0.05;
+  const width = rosMapMeta.width || 0;
+  const height = rosMapMeta.height || 0;
+
+  return {
+    x: (xPercent / 100) * width * resolution + rosMapMeta.origin[0],
+    y: ((100 - yPercent) / 100) * height * resolution + rosMapMeta.origin[1],
+  };
+}
+
+function rosToPercentPosition(xRos: number, yRos: number) {
+  const resolution = rosMapMeta.resolution || 0.05;
+  const width = rosMapMeta.width || 1;
+  const height = rosMapMeta.height || 1;
+
+  return {
+    x: ((xRos - rosMapMeta.origin[0]) / resolution / width) * 100,
+    y: 100 - ((yRos - rosMapMeta.origin[1]) / resolution / height) * 100,
+  };
+}
+
+function roundDockValue(value: number) {
+  return Number(value.toFixed(4));
+}
+
+// 在地图上点选充电点/预对接点，换算成 ROS 坐标后写回回充配置
+function applyMapPickToDockPose(mode: "dock" | "preDock", position: { x: number; y: number }) {
+  if (!currentConfig.value) {
+    return;
+  }
+
+  const rosPosition = percentToRosPosition(position.x, position.y);
+  const x = roundDockValue(rosPosition.x);
+  const y = roundDockValue(rosPosition.y);
+
+  if (mode === "dock") {
+    currentConfig.value.dock.dockX = x;
+    currentConfig.value.dock.dockY = y;
+    dockConfigMessage.value = `充电点已更新为 x=${x}, y=${y}，朝向可手填或使用当前位姿`;
+  } else {
+    currentConfig.value.dock.preDockX = x;
+    currentConfig.value.dock.preDockY = y;
+    dockConfigMessage.value = `预对接点已更新为 x=${x}, y=${y}，朝向可手填或使用当前位姿`;
+  }
+
+  scheduleMapCanvasRender();
+}
+
+// 用小车最近上报的当前位姿填充充电点/预对接点
+function fillDockPoseFromRobot(mode: "dock" | "preDock") {
+  if (!currentConfig.value) {
+    return;
+  }
+
+  const device = currentConfiguredDevice.value;
+  if (
+    typeof device?.poseX !== "number" ||
+    typeof device?.poseY !== "number" ||
+    typeof device?.poseYaw !== "number"
+  ) {
+    dockConfigMessage.value = "未获取到小车当前位姿，无法使用当前位姿填充";
+    return;
+  }
+
+  const x = roundDockValue(device.poseX);
+  const y = roundDockValue(device.poseY);
+  const yaw = roundDockValue(device.poseYaw);
+
+  if (mode === "dock") {
+    currentConfig.value.dock.dockX = x;
+    currentConfig.value.dock.dockY = y;
+    currentConfig.value.dock.dockYaw = yaw;
+    dockConfigMessage.value = `充电点已填入小车当前位姿 x=${x}, y=${y}, yaw=${yaw}`;
+  } else {
+    currentConfig.value.dock.preDockX = x;
+    currentConfig.value.dock.preDockY = y;
+    currentConfig.value.dock.preDockYaw = yaw;
+    dockConfigMessage.value = `预对接点已填入小车当前位姿 x=${x}, y=${y}, yaw=${yaw}`;
+  }
+
+  scheduleMapCanvasRender();
+}
+
+// 保存充电点与自动回充配置；后端保存后会同步下发给在线小车
+async function saveDockConfig() {
+  const device = currentConfiguredDevice.value;
+  const config = currentConfig.value;
+  if (!device || !config) {
+    return;
+  }
+
+  await updateRosCarDockConfig({
+    id: device.id,
+    ...config.dock,
+  });
+}
+
+// 在地图上绘制充电点/预对接点标记
+function drawDockMarker(
+  context: CanvasRenderingContext2D,
+  rect: DOMRect,
+  xRos: number | undefined,
+  yRos: number | undefined,
+  color: string,
+  label: string,
+) {
+  if (typeof xRos !== "number" || typeof yRos !== "number") {
+    return;
+  }
+
+  const percentPosition = rosToPercentPosition(xRos, yRos);
+  if (!Number.isFinite(percentPosition.x) || !Number.isFinite(percentPosition.y)) {
+    return;
+  }
+
+  const pixelPoint = percentToStagePixels(percentPosition.x, percentPosition.y, rect);
+
+  context.save();
+  context.beginPath();
+  context.arc(pixelPoint.x, pixelPoint.y, 11, 0, Math.PI * 2);
+  context.fillStyle = "rgba(5, 18, 38, 0.94)";
+  context.fill();
+  context.lineWidth = 2;
+  context.strokeStyle = color;
+  context.shadowColor = color;
+  context.shadowBlur = 12;
+  context.stroke();
+
+  context.shadowBlur = 0;
+  context.fillStyle = color;
+  context.font = '700 10px "Microsoft YaHei", sans-serif';
+  context.textAlign = "center";
+  context.fillText(label, pixelPoint.x, pixelPoint.y + 0.5);
+  context.restore();
+}
+
 function handleMapStageClick(event: MouseEvent) {
   if (suppressStageClick.value) {
     window.setTimeout(() => {
@@ -2376,6 +2592,11 @@ function handleMapStageClick(event: MouseEvent) {
     return;
   }
 
+  if (mapEditorMode.value === "dock" || mapEditorMode.value === "preDock") {
+    applyMapPickToDockPose(mapEditorMode.value, position);
+    return;
+  }
+
   const hitPoint = findHitPoint(event);
   if (hitPoint) {
     handlePointClick(hitPoint.id, event);
@@ -2562,6 +2783,7 @@ async function saveConfigDialog() {
 
   try {
     await saveCurrentMapUrls();
+    await saveDockConfig();
     await saveRosInspectionTask(
       buildInspectionTaskPayload(currentConfiguredDevice.value, currentConfig.value),
     );
@@ -3117,6 +3339,86 @@ watch(
               </div>
             </div>
 
+            <div class="config-side-card dock-config-board">
+              <div class="dock-config-head">
+                <span class="dock-config-title">充电回充配置</span>
+                <div class="dock-switch-row">
+                  <label class="dock-switch">
+                    <input v-model="currentConfig.dock.autoRechargeEnabled" type="checkbox" />
+                    <span>自动回充</span>
+                  </label>
+                  <label class="dock-threshold">
+                    <span>阈值</span>
+                    <input v-model.number="currentConfig.dock.lowBatteryThreshold" max="99" min="1" step="1"
+                      type="number" />
+                    <span>%</span>
+                  </label>
+                </div>
+              </div>
+
+              <div class="dock-pose-block">
+                <div class="dock-pose-head">
+                  <span class="dock-pose-title">充电点</span>
+                  <div class="dock-pose-actions">
+                    <button :class="{ primary: mapEditorMode === 'dock' }" class="page-action-btn ghost" type="button"
+                      @click="mapEditorMode = 'dock'">
+                      地图点选
+                    </button>
+                    <button class="page-action-btn ghost" type="button" @click="fillDockPoseFromRobot('dock')">
+                      当前位姿
+                    </button>
+                  </div>
+                </div>
+                <div class="dock-pose-grid">
+                  <label class="config-field">
+                    <span>X</span>
+                    <input v-model.number="currentConfig.dock.dockX" step="0.001" type="number" />
+                  </label>
+                  <label class="config-field">
+                    <span>Y</span>
+                    <input v-model.number="currentConfig.dock.dockY" step="0.001" type="number" />
+                  </label>
+                  <label class="config-field">
+                    <span>Yaw</span>
+                    <input v-model.number="currentConfig.dock.dockYaw" step="0.001" type="number" />
+                  </label>
+                </div>
+              </div>
+
+              <div class="dock-pose-block">
+                <div class="dock-pose-head">
+                  <span class="dock-pose-title">预对接点</span>
+                  <div class="dock-pose-actions">
+                    <button :class="{ primary: mapEditorMode === 'preDock' }" class="page-action-btn ghost" type="button"
+                      @click="mapEditorMode = 'preDock'">
+                      地图点选
+                    </button>
+                    <button class="page-action-btn ghost" type="button" @click="fillDockPoseFromRobot('preDock')">
+                      当前位姿
+                    </button>
+                  </div>
+                </div>
+                <div class="dock-pose-grid">
+                  <label class="config-field">
+                    <span>X</span>
+                    <input v-model.number="currentConfig.dock.preDockX" step="0.001" type="number" />
+                  </label>
+                  <label class="config-field">
+                    <span>Y</span>
+                    <input v-model.number="currentConfig.dock.preDockY" step="0.001" type="number" />
+                  </label>
+                  <label class="config-field">
+                    <span>Yaw</span>
+                    <input v-model.number="currentConfig.dock.preDockYaw" step="0.001" type="number" />
+                  </label>
+                </div>
+              </div>
+
+              <div v-if="dockConfigMessage" class="dock-config-message">
+                {{ dockConfigMessage }}
+              </div>
+            </div>
+
           </section>
         </div>
 
@@ -3347,7 +3649,7 @@ watch(
 }
 
 .redesigned-side-panel {
-  gap: 16px;
+  gap: 10px;
 }
 
 .panel-head.modern {
@@ -3387,6 +3689,123 @@ watch(
   padding: 16px;
 }
 
+.dock-config-board {
+  flex: 0 0 auto;
+  display: flex;
+  flex-direction: column;
+  gap: 8px;
+  padding: 10px 12px;
+}
+
+.dock-config-head {
+  display: flex;
+  align-items: center;
+  justify-content: space-between;
+  gap: 10px;
+}
+
+.dock-config-title {
+  color: #f0fbff;
+  font-size: 13px;
+  font-weight: 700;
+}
+
+.dock-switch-row {
+  display: flex;
+  align-items: center;
+  gap: 12px;
+}
+
+.dock-switch {
+  display: flex;
+  align-items: center;
+  gap: 5px;
+  color: rgba(200, 240, 255, 0.86);
+  font-size: 12px;
+  cursor: pointer;
+}
+
+.dock-switch input {
+  width: 14px;
+  height: 14px;
+  margin: 0;
+  accent-color: #4fd1ff;
+}
+
+.dock-threshold {
+  display: flex;
+  align-items: center;
+  gap: 4px;
+  color: rgba(173, 224, 246, 0.78);
+  font-size: 12px;
+}
+
+.dock-threshold input {
+  width: 54px;
+  padding: 3px 6px;
+  border: 1px solid rgba(85, 198, 255, 0.18);
+  background: rgba(8, 31, 62, 0.72);
+  color: #eefcff;
+  font-size: 12px;
+  box-sizing: border-box;
+  outline: none;
+}
+
+.dock-pose-block {
+  display: flex;
+  flex-direction: column;
+  gap: 6px;
+  padding: 8px 10px;
+  border: 1px solid rgba(85, 198, 255, 0.14);
+  background: rgba(7, 26, 50, 0.6);
+}
+
+.dock-pose-head {
+  display: flex;
+  align-items: center;
+  justify-content: space-between;
+  gap: 10px;
+}
+
+.dock-pose-title {
+  color: rgba(210, 244, 255, 0.92);
+  font-size: 12px;
+  font-weight: 700;
+}
+
+.dock-pose-actions {
+  display: flex;
+  gap: 6px;
+}
+
+.dock-pose-actions .page-action-btn {
+  padding: 2px 8px;
+  font-size: 11px;
+  line-height: 1.6;
+}
+
+.dock-pose-grid {
+  display: grid;
+  grid-template-columns: repeat(3, minmax(0, 1fr));
+  gap: 6px;
+}
+
+.dock-pose-grid .config-field {
+  gap: 3px;
+  font-size: 11px;
+}
+
+.dock-pose-grid .config-field input {
+  padding: 3px 6px;
+  font-size: 12px;
+}
+
+.dock-config-message {
+  color: rgba(150, 240, 200, 0.86);
+  font-size: 11px;
+  line-height: 1.5;
+}
+
 .panel-head {
   display: flex;
   align-items: flex-start;
@@ -4030,8 +4449,9 @@ watch(
 
 .rounds-board {
   padding: 16px;
-  flex: 1;
-  min-height: 0;
+  flex: 1 1 auto;
+  /* 新增充电回充卡片后，轮次配置不再设为 0 基准高度，避免被压缩到看不见 */
+  min-height: 300px;
   display: flex;
   flex-direction: column;
 }

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>

src/views/dashboard1/pages/小车状态WS推送协议.md

@@ -25,7 +25,9 @@
     "poseY": 6.789,
     "poseYaw": 1.57,
     "status": 1,
-    "signal": "-58dBm"
+    "signal": "-58dBm",
+    "dockStatus": "自动回充待机中",
+    "dockActive": false
   }
 }
 ```
@@ -42,6 +44,8 @@
 | `data.poseYaw`      | 否   | 当前朝向                                           |
 | `data.status`       | 否   | 小车状态：`0` 空闲，`1` 巡检，`2` 离线，`3` 充电中 |
 | `data.signal`       | 否   | 小车信号                                           |
+| `data.dockStatus`   | 否   | 自动回充状态文本，取自 `/dock_status`              |
+| `data.dockActive`   | 否   | 回充或脱离充电桩是否进行中，取自 `/auto_docking_active` 与 `/auto_undocking_active` |
 
 说明：
 
@@ -77,7 +81,9 @@
     "poseY": 6.789,
     "poseYaw": 1.57,
     "status": 1,
-    "signal": "-58dBm"
+    "signal": "-58dBm",
+    "dockStatus": "自动回充待机中",
+    "dockActive": false
   },
   "timestamp": 1782702000010
 }
@@ -86,10 +92,12 @@
 顶层字段说明：
 
 | 字段               | 说明                                                    |
-| ---------------- | ---------------------------------------- |
+| ------------------ | ------------------------------------------------------- |
 | `type`             | 固定为 `car_status`                                     |
 | `data.deviceKey`   | 小车设备标识                                            |
 | `data.liftHeight`  | 升降柱高度，单位 mm                                     |
+| `data.dockStatus`  | 自动回充状态文本；用于前端回显当前回充阶段              |
+| `data.dockActive`  | 回充或脱离充电桩是否进行中；为 `true` 时前端禁用「自动回充」「充电脱离」按钮 |
 | `timestamp`        | 后端推送时间戳，毫秒                                    |
 
 

src/views/dashboard1/pages/浏览器WS控制协议.md

@@ -165,6 +165,74 @@ uint16 height
 | `3` | 停止 | `0` |
 | `4` | 运行到指定高度 | 目标高度，单位 mm |
 
+## 充电点与回充配置
+
+ROS 包参考：`charging_dock_interfaces/srv/SetDockPose`、`charging_dock_interfaces/srv/SetDockConfig`
+
+消息类型：`dock_config`
+
+```json
+{
+  "type": "dock_config",
+  "requestId": "dock-1",
+  "data": {
+    "deviceKey": "ROBOT-001",
+    "dockX": 1.235,
+    "dockY": -0.42,
+    "dockYaw": 0.0,
+    "preDockX": 1.8,
+    "preDockY": -0.42,
+    "preDockYaw": 0.0,
+    "autoRechargeEnabled": true,
+    "lowBatteryThreshold": 30
+  }
+}
+```
+
+字段说明：
+
+| 字段 | 说明 |
+| --- | --- |
+| `dockX` / `dockY` / `dockYaw` | 充电点（对接点）位姿，`map` 坐标系，单位米 / 弧度 |
+| `preDockX` / `preDockY` / `preDockYaw` | 预对接点位姿，同上 |
+| `autoRechargeEnabled` | 是否开启低电量自动回充 |
+| `lowBatteryThreshold` | 自动回充触发的电量阈值(%) |
+
+说明：
+
+- 三组字段互相独立：ROS 端只对**同时提供完整三元组**的点位调用 `/charging_dock/set_dock_pose` 或 `/charging_dock/set_pre_dock_pose`，缺任一字段则跳过；`autoRechargeEnabled` 与 `lowBatteryThreshold` 任一缺失时跳过 `/charging_dock/set_config`。
+- 该消息由后端 `POST /admin/rosCar/updateDockConfig` 保存成功后下发，浏览器端不直接发送。
+- 小车离线时后端只落库、不下发，需要重新保存一次才能同步到车端。
+- 服务不可用时 ROS 端只记录告警，不回执失败。
+
+## 回充与脱离充电桩
+
+消息类型：`dock_start`（触发自动回充）、`dock_undock`（脱离充电桩）
+
+```json
+{
+  "type": "dock_undock",
+  "requestId": "dock-undock-1",
+  "data": {
+    "deviceKey": "ROBOT-001"
+  }
+}
+```
+
+字段说明：
+
+| 字段 | 说明 |
+| --- | --- |
+| `deviceKey` | 控制目标机器人设备标识 |
+
+说明：
+
+- 两条消息都由后端接口下发，浏览器端不直接发送：回充 `POST /admin/rosCar/startCharging`，脱离 `POST /admin/rosCar/undockCharging`，参数都是 `carId`。
+- 车端分别调用 `/charging_dock/start` 与 `/charging_dock/undock`（均为 `std_srvs/Trigger`）。
+- `accepted=true` 只代表车端已受理，机械动作在车端异步执行；执行期间 `dockActive` 为 `true`，进度由 `dockStatus` 文本回显（`/auto_docking_active`、`/auto_undocking_active` 合并上报）。
+- 脱离动作：车端切到横移模式后向左侧退出约 `undock_distance`（默认 0.30 m）离开充电面板，完成后恢复阿克曼模式。
+- 充电完成自动脱离：车端电量升到 `undock_battery_threshold`（默认 95%），且本次到桩时电量低于（阈值 - `undock_battery_start_margin`，默认 3%）时，自动触发一次脱离。
+
 ## 机器人端收到的消息
 
 设备端连接：

vite.config.ts

@@ -36,7 +36,7 @@ export default defineConfig(({ command }: ConfigEnv) => {
           rewrite: (path: string) => path.replace(/^\/api/, '')
         },
         '/ws': {
-          target: `ws://192.168.3.110:16003/`,
+          target: `ws://127.0.0.1:16003/`,
           changeOrigin: true,
           ws: true
         }