~cyy/diniu.git - Gitblit

			@@ -7,47 +7,46 @@
			<view class="uni-navbar-container-inner">
			<text class="uni-nav-bar-text">{{navigationBarTitle }}</text>
			<image class="icon" v-if="sceneList.length > 1 && !mapOperationType" src="/images/Vector.svg"
			alt="SVG 图片" @click="clickShowMenu" />
			alt="SVG" @click="clickShowMenu" />
			</view>
			<template v-slot:left>
			<view>
			<uni-icons type="left" size="24" @click="clickBack"></uni-icons>
			<view @click="clickBack">
			<uni-icons type="left" size="24"></uni-icons>
			</view>

			</template>
			<template v-slot:right>
			<!-- <template v-slot:right>
			<view v-if="sceneList.length > 0 && !mapOperationType">
			<a @click="clickMore">
			<uni-icons class="uni-panel-bar-icon" type="more-filled" size="24"></uni-icons>
			</a>
			</view>

			</template>
			</template> -->
			</uni-nav-bar>
			<view class="no-content" v-if="unlinked">
			<image class="img" src="/images/image 25.png" alt=" 图片" mode="aspectFit" />
			<view class="title">车辆连接失败</view>
			<view class="space">请检查你的网络设置或重新加载</view>
			<image class="img" src="/images/image_25.png" alt=" picture" mode="aspectFit" />
			<view class="title">{{translate('failed_vehicle_connection')}}</view>
			<view class="space">{{translate('check_network_or_reload')}}</view>
			</view>
			<!-- <SceneCreateInfo v-else-if="mapOperationType =='scene_create'" class="map-content" :ip="vehicleIp"
			v-model:opSceneType="opSceneType" @create-ok="onCreateSceneOk"></SceneCreateInfo> -->
			<view class="map-content" v-show="mapOperationType !='scene_create'">
			<view class="map-content">
			<view class="content">
			<view class="fabric" :message="ctxDataStr" :change:message="ctx.receiveMsg" id="canvasMap"></view>
			<view ref="canvasCtx" class="fabric" id="canvasMap" :message="ctxDataStr"
			:change:message="ctx.receiveMsg">
			</view>
			<view class="loading-overlay" v-if="bgLoading">
			<view class="loading-content">
			<view class="loading-spinner"></view>
			<text>加载中... {{ bgProgressPercent }}%</text>
			<text>{{translate('loading')}}... {{ bgProgressPercent }}%</text>
			</view>
			</view>
			<view class="position-site" v-if="mapOperationStatus =='pos' " @click="clickPositionStation">
			<text class="ico my-location-rounded"></text>

			获取搬运车位置和朝向
			{{translate('obtain_positon_and_orientation_of_vehicle')}}
			</view>
			<view class="position" v-else @click="clickVehiclePosition">
			<text class="ico my-location-rounded"></text>
			<!-- <image class="img" src="/images/material-symbols_my-location-rounded.svg" alt="SVG 图片" /> -->
			<!-- <image class="img" src="/images/material-symbols_my-location-rounded.svg" alt="SVG picture" /> -->
			</view>
			<view v-if="this.mapOperationType ==''" class="teaching-path-show"
			:class="showTeachingPathFlag?'selected':''" @click="clickShowTeachingPath">
			@@ -59,11 +58,11 @@
			v-if="mapOperationType =='edit_station'">

			<view class=" left">
			<view class="line">站点名称：
			<view class="line">{{translate('station_name')}}：
			</view>
			<view class="line"> 坐标(x,y)：
			<view class="line"> {{translate('coordinates')}}(x,y)：
			</view>
			<view class="line">朝向：
			<view class="line">{{translate('angle')}}：
			</view>

			</view>
			@@ -83,194 +82,193 @@
			</view>
			</view>
			<view class="bottom">
			<view class="bottom-content" v-if="mapOperationType =='edit_scene_name'">
			<view class="tip">请输入场景名称</view>
			<view class="name-input">
			<input ref="refInputName" :focus="true" placeholder="请输入场景名称" :value="sceneInputName"
			@input="onInputName"></input>
			<uni-icons class="clear" color="#ccc" type="clear" size="20" v-if="sceneInputName"
			@click="clickClearName"></uni-icons>
			</view>
			<view class="text-button-group">
			<a-button type="primary" class="button" :disabled="loading \|\| sceneInputName.trim() == ''"
			@click="clickNameOK">确认</a-button>
			<a-button type="ghost" class="button" :disabled="loading" @click="clickNameCancel">取消</a-button>
			</view>
			</view>
			<SceneRenameInfo class="bottom-content" :ip="vehicleIp" :sceneName="sceneId"
			v-if="mapOperationType =='edit_scene_name'" @finish="onFinishRenameScene" />
			<PalletSizeInfo class="bottom-content" v-else-if="mapOperationType =='set_pallet_size'" :ip="vehicleIp">
			</PalletSizeInfo>

			<template
			v-else-if="mapOperationType =='teaching_add_station' \|\| mapOperationType =='add_station' \|\| mapOperationType =='edit_station'">
			<view class="bottom-content" v-if="mapOperationStatus =='pos' ">
			<view class="tip">调节位置</view>
			<view class="tip">{{translate("adjust_position")}}</view>
			<view class="row-group">
			<view class="coordinate">
			<text class="name">横坐标:</text>
			<text class="name">{{translate("x_axis")}}:</text>
			<input ref="refInputX" class="number-input" type="number" :value="stationEdit.x"
			@input="onInputStationX" :maxlength="4"></input>
			@blur="onInputStationX" :maxlength="8" />
			<uni-icons class="clear" color="#ccc" type="clear" size="20"
			v-if="stationEdit.x && stationEdit.x!='0'" @click="clickClearStationX"></uni-icons>
			</view>
			<view class="coordinate">
			<text class="name">竖坐标:</text>
			<input ref="refInputX" class="number-input" type="number" :value="stationEdit.y"
			@input="onInputStationY" :maxlength="4"></input>
			<text class="name">{{translate("y_axis")}}:</text>
			<input ref="refInputY" class="number-input" type="number" :value="stationEdit.y"
			@blur="onInputStationY" :maxlength="8" />
			<uni-icons class="clear" color="#ccc" type="clear" size="20"
			v-if="stationEdit.y&& stationEdit.y!='0'" @click="clickClearStationY"></uni-icons>
			</view>
			</view>

			<view class="tip">调节朝向</view>
			<view class="tip">{{translate('adjust_orientation')}}</view>
			<view class="angle-group">
			<image class="img-angle" :src="angleSvg" alt="SVG 图片" />
			<image class="img-angle-pos" src="/images/Frame 153.svg" alt="SVG 图片"
			<image class="img-angle" :src="angleSvg" alt="SVG picture" />
			<image class="img-angle-pos" src="/images/Frame_153.svg" alt="SVG picture"
			@touchstart="handleAngleTouchStart" @touchmove="handleAngleTouchMove" />
			</view>
			</view>
			<view class="bottom-content" v-else>
			<view class="tip">请输入站点名称</view>
			<view class="tip">{{translate("input_station_name")}}</view>
			<view class="name-input">
			<input ref="refInputName" :focus="true" placeholder="输入站点名称" :value="stationEdit.name"
			@input="onInputStationName"></input>
			<input ref="refInputName" :focus="true" :placeholder="translate('input_station_name')"
			:value="stationEdit.name" @input="onInputStationName" />
			<uni-icons class="clear" color="#ccc" type="clear" size="20" v-if="stationEdit.name"
			@click="clickClearStationName"></uni-icons>
			</view>
			<view class="text-button-group">
			<a-button class="button" :disabled="loading" @click="clickStationNameCancel">取消</a-button>
			<a-button class="button" :disabled="loading"
			@click="clickStationNameCancel">{{translate('cancel')}}</a-button>
			<a-button type="primary" class="button" :disabled="loading \|\| stationEdit.name.trim() == ''"
			@click="clickStationNameOK">确定</a-button>
			@click="clickStationNameOK">{{translate('confirm')}}</a-button>
			</view>
			</view>

			</template>

			<view class="bottom-content" v-else-if="mapOperationType =='regiona_planning'">
			<view class="img-button-group">
			<view fill="none" class="button" @click="clickManualPlan">
			<text class="ico conversion-path"></text>
			<view class="text">人工规划</view>
			<view class="text">{{translate('manual_plan')}}</view>
			</view>

			<view type="text" class="button " @click="clickVehicleTrajectoryPlan">
			<text class="ico conversion-path"></text>
			<view class="text ">车辆轨迹规划</view>
			<view class="text ">{{translate('vehicle_trajectory_plan')}}</view>
			</view>
			</view>
			</view>
			<view class="bottom-content" v-else-if="mapOperationType =='vehicle_trajectory_planning'">
			<template v-if="mapOperationStatus=='feasible_region' \|\| mapOperationStatus=='prohibition_region'">
			<view class="tip">区域规划</view>
			<view>可按住各端点调整虚拟墙位置，按【+】按钮可添加顶点，区域需为闭合图形</view>
			<view class="tip">{{translate("regiona_plan")}}</view>
			<view>{{translate("endpoint_adjust_position_to_closed_shape")}}</view>
			</template>
			<view class="img-button-group" v-else>
			<view fill="none" class="button" @click="clickPlanFeasibleRegion">
			<!-- <text class="ico conversion-path"></text> -->
			<uni-icons class="img" type="checkmarkempty" size="36" color="#1890FF"></uni-icons>
			<view class="text">可行区</view>
			<view class="text">{{translate("feasible_region")}}</view>
			</view>

			<view type="text" class="button " @click="clickPlanProhibitionRegion">
			<text class="ico placeholder-bold"></text>
			<view class="text ">禁行区</view>
			<view class="text ">{{translate("prohibition_region")}}</view>
			</view>
			</view>
			</view>

			<view class="bottom-content" v-else-if="mapOperationType =='manual_planning'">
			<template v-if="mapOperationStatus=='feasible_region' \|\| mapOperationStatus=='prohibition_region'">
			<view class="tip">区域规划</view>
			<view>可按住各端点调整虚拟墙位置，按【+】按钮可添加顶点，区域需为闭合图形</view>
			<view class="tip">{{translate("regiona_plan")}}</view>
			<view>{{translate("endpoint_adjust_position_to_closed_shape")}}</view>
			</template>
			<template v-else-if="mapOperationStatus=='virtual_wall'">
			<view class="tip">区域规划</view>
			<view>可按住两端点调整虚拟墙位置</view>
			<view class="tip">{{translate("regiona_plan")}}</view>
			<view>{{translate("endpoint_adjust_virtual_wall_position")}}</view>

			</template>
			<view class="img-button-group" v-else>
			<view fill="none" class="button" @click="clickPlanFeasibleRegion">
			<!-- <text class="ico conversion-path"></text> -->
			<uni-icons class="img" type="checkmarkempty" size="36" color="#1890FF"></uni-icons>
			<view class="text">可行区</view>
			<view class="text">{{translate("feasible_region")}}</view>
			</view>

			<view type="text" class="button " @click="clickPlanProhibitionRegion">
			<text class="ico placeholder-bold"></text>

			<view class="text ">禁行区</view>
			<view class="text ">{{translate("prohibition_region")}}</view>
			</view>
			<view type="text" class="button " @click="clickPlanVirtualWall">
			<text class="dashed-line"></text>
			<view class="text ">虚拟墙</view>
			<view class="text ">{{translate("virtual_wall")}}</view>
			</view>
			</view>


			</view>
			<view class="bottom-content" v-else-if="mapOperationType =='scene_create'"></view>

			<template v-else-if="mapOperationType =='public_teaching' ">
			<view class="bottom-content" v-if="mapOperationStatus =='teaching'">
			<view class="tip">路径记录中...</view>
			<view class="tip">{{translate("in_path_record")}}...</view>
			<view v-if="mapOperationType =='public_teaching'">
			<view>正在记录搬运车行进路径，可随时切换主路/支路示教，完成后点按钮以结束示教。在示教过程中可以添加站点。</view>
			<view class="switch-type">
			<!-- 主路/支路 -->
			<view>{{translate("recording_path_of_vehicle_can_add_station")}}</view>
			<view class="switch-type">{{translate("any_time_switch_teaching_modes")}}
			<view class="switch-button-group">
			<view class="switch-button"
			:class="teachingModeCur.main_road ==1?'switch-button-checked':''"
			@click="onTeachingModeMainRoad(1)">主路示教</view>
			:class="teachingModeCur.mode_type ==0?'switch-button-checked':''"
			@click="onTeachingModeType(0)">{{translate("default")}}</view>
			<view class="switch-button "
			:class="teachingModeCur.main_road ==0?'switch-button-checked':''"
			@click="onTeachingModeMainRoad(0)">支路示教</view>
			:class="teachingModeCur.mode_type ==1?'switch-button-checked':''"
			@click="onTeachingModeType(1)">{{translate("bidirectional")}}</view>
			<view class="switch-button "
			:class="teachingModeCur.mode_type ==2?'switch-button-checked':''"
			@click="onTeachingModeType(2)">{{translate("intelligent")}}</view>
			</view>
			</view>
			</view>

			<view v-else>
			正在记录搬运车行进路径，完成后点按钮以结束示教
			{{translate("recording_path_of_vehicle_click_btn_to_finish")}}
			</view>
			<view class="text-button-group">
			<a-button v-if="mapOperationType =='public_teaching'" type="ghost" class="button"
			@click="clickAddStation">添加站点</a-button>
			<a-button type="primary" class="button" @click="clickTeachingEnd">结束记录</a-button>
			@click="clickAddStation">{{translate("add_station")}}</a-button>
			<a-button type="primary" class="button" @click="clickTeachingEnd">{{translate("end_teaching")}}</a-button>
			</view>
			</view>
			<view class="bottom-content" v-else-if="mapOperationStatus =='end'">
			<view class="tip">路径记录完成</view>
			<view class="tip">{{translate("path_recording_completed")}}</view>
			<view>
			要将该段路径保存为示教路径吗？
			{{translate("ask_save_this_path")}}
			</view>
			<view class="text-button-group">
			<a-button type="primary" class="button" :disabled="loading"
			@click="clickTeachingSave">保存为示教路径</a-button>
			@click="clickTeachingSave">{{translate("save_as_teaching_path")}}</a-button>
			<a-button type="ghost" class="button" :disabled="loading"
			@click="clickTeachingReset">重新记录</a-button>
			@click="clickTeachingReset">{{translate("re_record")}}</a-button>
			</view>
			</view>
			<view class="bottom-content" v-else-if="mapOperationStatus =='save'">
			<view class="tip">示教完成</view>
			<view class="tip">{{translate("teaching_completed")}}</view>
			<view>
			已将路径保存为示教路径
			{{translate("path_saved_as_teaching_path")}}
			</view>
			<view class="text-button-group">
			<a-button type="primary" class="button" :disabled="loading"
			@click="clickTeachingFinish">完成</a-button>
			@click="clickTeachingFinish">{{translate("complete")}}</a-button>
			</view>
			</view>
			<view class="bottom-content" v-else>
			<view class="tip">即将开始公共示教</view>
			<view class="tip">{{translate("public_teaching_to_begin")}}</view>
			<view>
			请选择要进行主路还是支路示教，点【开始记录】后将记录搬运车的行进路线作为公共示教路线。开始记录后可随时切换主路/支路示教。
			{{translate("public_teaching_start_tip_select_teaching_mode")}}
			</view>
			<view class="text-button-group">
			<view class="switch-type">
			<view class="switch-button-group">
			<view class="switch-button"
			:class="teachingModeCur.main_road ==1?'switch-button-checked':''"
			@click="onTeachingModeMainRoad(1)">主路示教</view>
			:class="teachingModeCur.mode_type ==0?'switch-button-checked':''"
			@click="onTeachingModeType(0)">{{translate("default")}}</view>
			<view class="switch-button "
			:class="teachingModeCur.main_road ==0?'switch-button-checked':''"
			@click="onTeachingModeMainRoad(0)">支路示教</view>
			:class="teachingModeCur.mode_type ==1?'switch-button-checked':''"
			@click="onTeachingModeType(1)">{{translate("bidirectional")}}</view>
			<view class="switch-button "
			:class="teachingModeCur.mode_type ==2?'switch-button-checked':''"
			@click="onTeachingModeType(2)">{{translate("intelligent")}}</view>
			</view>
			</view>
			<a-button type="primary" class="button" :disabled="loading"
			@click="clickTeachingStart">开始记录</a-button>
			@click="clickTeachingStart">{{translate("start_teaching")}}</a-button>
			</view>
			</view>

			@@ -279,24 +277,28 @@
			<view class="img-button-group">
			<view fill="none" class="button" @click="clickRename">
			<text class="ico rename"></text>
			<view class="text">重命名</view>
			<view class="text">{{translate("rename")}}</view>
			</view>

			<view type="text" class="button " @click="clickRegionaPlan">
			<!-- <view type="text" class="button " @click="clickRegionaPlan">
			<text class="ico zone"></text>
			<view class="text">区域规划</view>
			<view class="text">{{translate("regiona_plan")}}</view>
			</view> -->
			<view type="text" class="button " @click="clickPalletSize">
			<text class="ico dimensions"></text>
			<view class="text">{{translate('pallet_size')}}</view>
			</view>
			<view fill="none" class="button" @click="clickExtendMap">
			<text class="ico expand"></text>
			<view class="text">扩展地图</view>
			<view class="text">{{translate("extend_map")}}</view>
			</view>
			<!-- <view type="text" class="button" @click="clickMapEdit">
			<text class="ico edit-line"></text>
			<view class="text"> 编辑地图</view>
			</view> -->
			<view type="text" class="button" @click="clickDelete">
			<text class="ico delete-outline"></text>
			<view class="text">删除场景</view>
			<text class="ico red delete-outline"></text>
			<view class="text">{{translate('delete_scene')}}</view>
			</view>
			</view>

			@@ -305,11 +307,11 @@
			<view class="img-button-group">
			<view fill="none" class="button" @click="clickMapStation">
			<text class="ico location1"></text>
			<view class="text">添加站点</view>
			<view class="text">{{translate("add_station")}}</view>
			</view>
			<view fill="none" class="button" @click="clickTeaching">
			<text class="ico teach"></text>
			<view class="text">路径示教</view>
			<view class="text">{{translate("path_teaching")}}</view>
			</view>
			<!-- <view type="text" class="button " @click="clickRegionaPlan">
			<text class="ico layer"></text>
			@@ -317,11 +319,11 @@
			</view> -->
			<view type="text" class="button" @click="clickMapEdit">
			<text class="ico edit-line"></text>
			<view class="text"> 编辑地图</view>
			<view class="text"> {{translate("edit_map")}}</view>
			</view>
			<view type="text" class="button" @click="clickMapTask">
			<text class="ico task-list"></text>
			<view class="text">任务设置</view>
			<view class="text">{{translate("task_set")}}</view>
			</view>
			</view>
			</view>
			@@ -345,15 +347,15 @@
			<view class="img-button-group">
			<view fill="none" class="button" @click.stop="clickStationDelete">
			<text class="ico delete-outline"></text>
			<view class="text"> 删除站点</view>
			<view class="text"> {{translate("batch_delete")}}</view>
			</view>
			<view type="text" class="button" @click.stop="clickStationPostion">
			<text class="ico edit-line"></text>
			<view class="text">调整位置朝向</view>
			<view class="text">{{translate("adjust_position")}}</view>
			</view>
			<view type="text" class="button" @click.stop="clickStationRename">
			<text class="ico rename"></text>
			<view class="text">重命名</view>
			<view class="text">{{translate("rename")}}</view>

			</view>
			</view>
			@@ -369,11 +371,11 @@

			<view fill="none" class="button" @click.stop="clickTeachingEdit">
			<text class="ico edit-line"></text>
			<view class="text">编辑</view>
			<view class="text">{{translate('edit_path')}}</view>
			</view>
			<view fill="none" class="button" @click.stop="clickTeachingDelete">
			<text class="ico red delete-outline "></text>
			<view class="text">删除</view>
			<view class="text">{{translate('delete_path')}}</view>
			</view>

			</view>
			@@ -381,27 +383,70 @@

			</view>
			</uni-popup>
			<uni-popup ref="refPopupTeachingUpdate" type="dialog">
			<uni-popup-dialog type="info" :cancelText="translate('cancel')" :confirmText="translate('ok')"
			:title="translate('teaching_update')" @confirm="dialogTeachingUpdateConfirm"
			@close="dialogTeachingUpdateClose">

			<view class="popup-dialog-content">
			<view class="popup-content-item">
			<radio-group @change="radioTeachinMainRoadChange">
			<label class="radio">
			<radio :value="1" :checked="selectTeachingMode.main_road == 1" />
			{{translate("main_road")}}
			</label>
			<label class="radio">
			<radio :value="0" :checked="selectTeachingMode.main_road != 1" />
			{{translate("branch_road")}}
			</label>
			</radio-group>


			</view>
			<view class="popup-content-item">
			<radio-group @change="radioTeachinBidirectionChange">
			<label class="radio">
			<radio :value="1" :checked="selectTeachingMode.bidirection == 1" />
			{{translate("bidirectional")}}
			</label>
			<label class="radio">
			<radio :value="0" :checked="selectTeachingMode.bidirection != 1" />
			{{translate("unidirectional")}}
			</label>
			</radio-group>

			</view>
			</view>
			</uni-popup-dialog>
			</uni-popup>



			</view>
			</view>
			</template>
			<script src="./js/ctx.js" module="ctx" lang="renderjs"></script>


			<script>
			import {
			ref
			} from "vue";
			import {
			Base64
			} from '@/comm/Base64.js';
			import {
			showToast,
			showModal,
			session,
			showError,
			showInfo
			showInfo,

			} from "@/comm/utils.js"
			// import OIFabric from "@/components/oi-fabric/index.vue"
			import {
			Button
			} from 'antd-mobile-vue-next'
			import SceneCreateInfo from './infos/scene-create.vue'

			import PalletSizeInfo from './infos/pallet-size.vue'
			import SceneRenameInfo from './infos/scene-rename.vue'

			import {
			getAllScene,
			@@ -420,12 +465,16 @@
			delTeachingMode,
			delTeachingModeData,
			checkAgvLocationDistanceError,
			splitTeachingMode,
			updateSplitTeachingData,
			deleteSplitTeachingData
			} from "@/api/vehicle.js"
			export default {
			name: "PagesMap",
			components: {
			'a-button': Button,
			SceneCreateInfo
			PalletSizeInfo,
			SceneRenameInfo
			},
			data() {
			return {
			@@ -440,6 +489,7 @@
			list: []
			},
			sceneList: [],

			ctxDataStr: "[]",
			mapOperationType: "",
			mapOperationStatus: "",
			@@ -460,8 +510,7 @@
			y: 0,
			angle: 0
			},
			sceneInputName: "",
			showClearName: false,

			stationList: [],
			angleSvg: "/static/images/angle0.svg",
			windowWidth: 375,
			@@ -471,7 +520,9 @@
			wallList: [],
			regionList: [],
			unlinked: false,
			showTeachingPathFlag: false,
			showTeachingPathFlag: true,
			curTeachingPathFlag: false,
			curTeachingPathTime: 0,
			curMapInfo: {
			proportion: 1,
			img_proportion: 1,
			@@ -482,7 +533,11 @@
			img_x: 1,
			img_y: 1
			},
			positioningAgv: false
			positioningAgv: false,
			isPageVisible: true,
			destroyFlag: false,


			}
			},
			computed: {
			@@ -499,21 +554,21 @@
			},
			watch: {
			mapOperationType(val) {
			let name = this.sceneId \|\| "地图"
			let name = this.sceneId \|\| this.translate("map")
			if (val == "add_station" \|\| val == "teaching_add_station") {
			name = "添加站点"
			name = this.translate("add_station")
			} else if (val == "edit_station") {
			name = "编辑站点"
			} else if (val == "scene_create") {
			name = "构建场景"
			name = this.translate("edit_station")
			} else if (val == "edit_map") {
			name = "编辑地图"
			name = this.translate("edit_map")
			} else if (val == "manual_planning") {
			name = "人工规划"
			name = this.translate("manual_plan")
			} else if (val == "vehicle_trajectory_planning") {
			name = "车辆轨迹规划"
			name = this.translate("vehicle_trajectory_plan")
			} else if (val == "public_teaching") {
			name = "路径示教"
			name = this.translate("path_teaching")
			} else if (val == "set_pallet_size") {
			name = this.translate("pallet_size")
			}
			this.setData({
			navigationBarTitle: name
			@@ -539,10 +594,29 @@
			},
			onHide() {
			this.isPageVisible = false

			},
			onUnload() {
			async onUnload() {

			this.isPageVisible = false

			console.log("onUnload")


			},
			onBackPress() {
			this.isPageVisible = false
			if (this.destroyFlag)
			return false
			else {
			this.ctxDataStr = JSON.stringify([{
			method: "destroy",
			}])
			return true
			}

			},

			methods: {
			setData(obj) {
			let that = this;
			@@ -572,17 +646,25 @@
			this.mapOperationType = ''
			const scene = this.sceneList[0]
			this.changeMap(scene)
			} else {
			uni.navigateBack({
			delta: 1, //返回层数，2则上上页
			})
			}
			this.refreshAgvPosition()
			} catch (ex) {
			this.setData({
			unlinked: true
			})
			showError(ex)
			showError(ex, this.translate('error'))
			}
			},

			clickShowMenu() {
			// const list = [...this.sceneList]
			// for(let i =0; i < 20;i++){
			// list.push("test" + i)
			// }
			this.menuPopup = {
			type: "scene",
			list: this.sceneList,
			@@ -594,7 +676,9 @@
			clickMore() {
			this.menuPopup = {
			type: "menu",
			list: ["构建场景", "地图扩展", "重命名", "删除"],
			list: [this.translate("build_scene"), this.translate("extend_map"), this.translate("rename"), this
			.translate("delete")
			],
			left: 450,
			top: 140
			}
			@@ -602,43 +686,7 @@
			},

			async clickBack() {
			if (this.mapOperationType == "scene_create") {
			if (this.opSceneType == "scan") {
			showModal("已构建场景将会被删除", "是否中断场景构建？").then((res) => {
			if (res) {
			if (this.sceneList.length == 0) {
			const eventChannel = this.getOpenerEventChannel();
			eventChannel.emit('check_connect', !this.unlinked);
			uni.navigateBack({
			delta: 1
			})
			} else {
			this.opSceneType = ""
			this.mapOperationType = ""
			}

			}
			})
			} else {
			if (this.opSceneType != "") {
			await this.loadSceneList()
			if (this.sceneList.length == 0) {

			const eventChannel = this.getOpenerEventChannel();
			eventChannel.emit('check_connect', !this.unlinked);
			uni.navigateBack({
			delta: 1
			})
			}
			} else {
			const eventChannel = this.getOpenerEventChannel();
			eventChannel.emit('check_connect', !this.unlinked);
			uni.navigateBack({
			delta: 1
			})
			}
			}
			} else if (this.mapOperationType == "edit_map") {
			if (this.mapOperationType == "edit_map") {
			this.mapOperationType = ""
			} else if (this.mapOperationType == "regiona_planning") {
			this.mapOperationType = "edit_map"
			@@ -646,11 +694,18 @@
			if (this.mapOperationStatus == "feasible_region" \|\| this.mapOperationStatus ==
			"prohibition_region") {

			showModal("正在进行区域规划。", "是否要退出区域规划？").then((res) => {
			if (res) {
			this.mapOperationStatus = ""
			}
			})
			showModal({
			title: this.translate("ask_exit_regional_planning"),
			content: `${this.translate('regional_planning')}`,
			confirmText: this.translate('yes'),
			cancelText: this.translate("no"),

			})
			.then((res) => {
			if (res) {
			this.mapOperationStatus = ""
			}
			})

			} else {
			this.mapOperationType = "regiona_planning"
			@@ -660,24 +715,30 @@
			if (this.mapOperationStatus == "virtual_wall" \|\|
			this.mapOperationStatus == "feasible_region" \|\|
			this.mapOperationStatus == "prohibition_region") {
			showModal("正在进行区域规划。", "是否要退出区域规划？").then((res) => {
			if (res) {
			if (this.mapOperationStatus == "virtual_wall") {
			this.ctxDataStr = JSON.stringify([{
			method: "remove_wall",
			param: [this.wallEdit]
			}])
			this.wallEdit = {}
			} else {
			this.ctxDataStr = JSON.stringify([{
			method: "remove_region",
			param: [this.regionEdit]
			}])
			this.regionEdit = {}
			showModal({
			title: this.translate("ask_exit_regional_planning"),
			content: `${this.translate('regional_planning')}`,
			confirmText: this.translate('yes'),
			cancelText: this.translate("no"),
			})
			.then((res) => {
			if (res) {
			if (this.mapOperationStatus == "virtual_wall") {
			this.ctxDataStr = JSON.stringify([{
			method: "remove_wall",
			param: [this.wallEdit]
			}])
			this.wallEdit = {}
			} else {
			this.ctxDataStr = JSON.stringify([{
			method: "remove_region",
			param: [this.regionEdit]
			}])
			this.regionEdit = {}
			}
			this.mapOperationStatus = ""
			}
			this.mapOperationStatus = ""
			}
			})
			})
			} else {
			this.mapOperationType = "regiona_planning"
			}
			@@ -720,24 +781,38 @@

			if (this.mapOperationStatus) {

			showModal("已记录的路径将会被删除。", "是否要退出示教？").then(async (res) => {
			if (res) {
			if (this.mapOperationStatus == 'end' \|\| this.mapOperationStatus ==
			'save') {
			try {
			await delTeachingMode(this.vehicleIp, [this.teachingModeCur])
			} catch (ex) {
			showError(ex)
			showModal({
			title: this.translate("ask_exit_teaching"),
			content: `${this.translate('recorded_path_will_be_deleted')}`,
			confirmText: this.translate('yes'),
			cancelText: this.translate("no"),
			})
			.then(async (res) => {
			if (res) {
			const listDataStr = []
			if (this.mapOperationStatus == 'end' \|\| this.mapOperationStatus ==
			'save') {
			try {
			await delTeachingMode(this.vehicleIp, [this.teachingModeCur])

			listDataStr.push({
			method: "remove_teaching_path",
			param: {
			name: this.teachingModeCur.name,
			mode: "Public"
			},
			})
			} catch (ex) {
			showError(ex, this.translate('error'))
			}
			}

			listDataStr.push({
			method: "teaching_finish",
			})
			this.ctxDataStr = JSON.stringify(listDataStr)
			this.mapOperationType = ""
			}
			this.ctxDataStr = JSON.stringify([{
			method: "teaching_finish",
			}])

			this.mapOperationType = ""
			}
			})
			})
			} else {
			this.ctxDataStr = JSON.stringify([{
			method: "teaching_finish",
			@@ -747,11 +822,7 @@
			}

			} else {
			// const eventChannel = this.getOpenerEventChannel();
			// eventChannel.emit('udapte_station', this.unlinked);
			// uni.navigateBack({
			// delta: 1
			// })

			const eventChannel = this.getOpenerEventChannel();
			eventChannel.emit('check_connect', !this.unlinked);
			uni.navigateBack({
			@@ -782,11 +853,9 @@
			if (type == "scene") {
			this.changeMap(item)
			} else if (type == "menu") {
			if (item == "构建场景") {
			// this.mapOperationType = 'scene_create'
			// this.opSceneType = 'add_name'
			if (item == this.translate("build_scene")) {
			uni.navigateTo({
			url: `/pages/map/scene?ip=${this.vehicleIp}`,
			url: `/pages/map/scene?ip=${_this.vehicleIp}&opType=create`,
			events: {
			// 为指定事件添加一个监听器，获取被打开页面传送到当前页面的数据
			create_finish: function(data) {
			@@ -794,23 +863,21 @@
			},
			}
			})
			} else if (item == "地图扩展") {
			} else if (item == this.translate("extend_map")) {
			this.clickExtendMap()
			} else if (item == "重命名") {
			} else if (item == this.translate('rename')) {
			this.clickRename()
			} else if (item == "删除") {
			} else if (item == this.translate('delete')) {
			this.clickDelete()
			}
			}


			},
			async loadAgvState() {
			try {
			const info = await getAgvState(this.vehicleIp)
			return info
			} catch (ex) {
			showError(ex)
			showToast(ex)
			return {}
			}
			},
			@@ -819,7 +886,7 @@
			const paths = await getCurrentTeachingData(this.vehicleIp) \|\| []
			return paths
			} catch (ex) {
			showError(ex)
			showToast(ex)
			return []
			}
			},
			@@ -829,7 +896,7 @@
			const info = await stations(this.vehicleIp)
			return info.station_list \|\| []
			} catch (ex) {
			showError(ex)
			showError(ex, this.translate('error'))
			return []
			}
			},
			@@ -838,7 +905,7 @@
			const info = await getMapUrl(this.vehicleIp, id)
			return info
			} catch (ex) {
			showError(ex)
			showError(ex, this.translate('error'))
			return {}
			}
			},
			@@ -847,11 +914,11 @@
			this.mapShowAgv = false
			this.setData({
			sceneId: id,
			navigationBarTitle: id \|\| "地图"
			navigationBarTitle: id \|\| this.translate("map")
			})
			try {
			uni.showLoading({
			title: "切换场景中"
			title: this.translate("switching_scene")
			})
			this.setData({
			unlinked: false
			@@ -884,11 +951,11 @@
			img_x: parseInt(infoMap.img_x) \|\| 1,
			img_y: parseInt(infoMap.img_y) \|\| 1
			}
			// getApp().globalData.curScene = infoMap
			this.setData({
			bgProgressPercent: 30,
			bgLoading: infoMap.filedata ? true : false
			})

			this.stationList = stationLst
			this.teachingMode = await this.loadTeachingMode()
			this.ctxDataStr = JSON.stringify([{
			@@ -909,13 +976,25 @@
			param: stationLst
			},
			{
			method: "show_teaching_path",
			param: {
			show: this.showTeachingPathFlag
			}
			},
			{
			method: "public_teaching_path",
			param: this.teachingMode.Public \|\| []
			param: {
			list: this.teachingMode.Public \|\| [],
			show: this.showTeachingPathFlag
			}

			},
			{
			method: "station_teaching_path",
			param: this.teachingMode.Stations \|\| []
			param: {
			list: this.teachingMode.Stations \|\| [],
			show: this.showTeachingPathFlag
			}

			},
			{
			@@ -933,13 +1012,20 @@
			bgProgressPercent: 0,
			bgLoading: false
			})
			showError(ex)
			showError(ex, this.translate('error'))
			}
			},

			receiveRenderData(param) {
			console.log('接收到视图层的数据：', param);
			if (param.method == "set_backgroud_progress") {
			if (param.method === "destroy_complete") {
			if (param.param) {
			this.destroyFlag = true
			uni.navigateBack({
			delta: 1
			})
			}
			} else if (param.method == "set_backgroud_progress") {
			if (param.type == "start") {
			this.setData({
			bgProgressPercent: 50,
			@@ -969,12 +1055,17 @@

			} else if (param.method == "edit_station") {
			this.stationEdit = param.station
			this.stationEdit.x = Math.round(Number(param.station.x \|\| 0) * 1000) / 1000
			this.stationEdit.y = Math.round(Number(param.station.y \|\| 0) * 1000) / 1000
			this.stationViewPos = {
			x: param.view?.x \|\| 0,
			y: param.view?.y \|\| 0,
			x: Math.round(Number(param.view?.x \|\| 0) * 1000) / 1000,
			y: Math.round(Number(param.view?.y \|\| 0) * 1000) / 1000,
			width: param.view?.width \|\| 0,
			height: param.view?.height \|\| 0,
			}
			const angle = this.getStantardAngle(this.stationEdit.angle * 180 / Math.PI)

			this.angleSvg = `/static/images/angle${angle}.svg`
			this.mapOperationType = ""

			this.$refs.refPopupOperateStation.open("bottom")
			@@ -982,8 +1073,8 @@
			} else if (param.method == "update_station") {
			this.stationEdit.stationID = param.station?.stationID
			this.stationEdit.angle = param.station.angle
			this.stationEdit.x = param.station.x
			this.stationEdit.y = param.station.y
			this.stationEdit.x = Math.round(Number(param.station.x \|\| 0) * 1000) / 1000
			this.stationEdit.y = Math.round(Number(param.station.y \|\| 0) * 1000) / 1000
			this.stationViewPos.x = param.view?.x \|\| 0
			this.stationViewPos.y = param.view?.y \|\| 0
			} else if (param.method == "edit_finish") {
			@@ -995,12 +1086,15 @@
			this.stationEdit.stationID = param.data?.stationID
			this.stationEdit.name = param.data?.name
			this.stationEdit.angle = param.data?.angle
			this.stationEdit.x = param.data?.x
			this.stationEdit.y = param.data?.y
			this.stationEdit.x = Math.round(Number(param.data?.x \|\| 0) * 1000) / 1000
			this.stationEdit.y = Math.round(Number(param.data?.y \|\| 0) * 1000) / 1000

			const angle = this.getStantardAngle(this.stationEdit.angle * 180 / Math.PI)

			this.angleSvg = `/static/images/angle${angle}.svg`
			if (this.mapOperationType == "teaching_add_station") {
			this.positioningAgv = true
			}
			this.clickStationPositonOk()
			} else if (param.type == "edit_teaching") {
			// console.log(param.type,JSON.stringify(param.data))
			@@ -1048,7 +1142,7 @@
			this.stationEdit.stationID = ""
			this.mapOperationType = "public_teaching"
			this.mapOperationStatus = "teaching"

			this.positioningAgv = true
			} else if (this.mapOperationType == "edit_station") {
			this.mapOperationType = ""
			this.mapOperationStatus = ""
			@@ -1070,12 +1164,10 @@
			param: true
			}])
			}

			}
			} else if (param.method == "select_teaching_path") {
			console.log("point", param.point)
			if (param.type == "station") {

			this.selectTeachingMode = {
			mode: "Stations",
			name: param.data?.name \|\| "",
			@@ -1086,21 +1178,26 @@
			} else if (param.type == "public") {
			this.selectTeachingMode = {
			mode: "Public",
			edge_name: param.data?.edge_name \|\| "",
			name: param.data?.name \|\| "",
			point: param.point
			point: param.point,
			main_road: param.data?.main_road \|\| 0,
			bidirection: param.data?.bidirection \|\| 0,
			}
			console.log(this.selectTeachingMode.main_road, this.selectTeachingMode)
			}

			this.$refs.refPopupOperateTeaching.open("bottom")
			} else if (param.method == "cancel_positioning_agv") {
			this.positioningAgv = false
			if (this.mapOperationType == "public_teaching" &&
			this.mapOperationStatus == "teaching") {
			this.positioningAgv = true
			} else
			this.positioningAgv = false
			} else if (param.method == "show_log") {
			const listLog = session.getValue("request_log") \|\| []
			listLog.unshift(param.data)
			session.setValue("request_log", listLog)
			}


			},
			clickMapStation() {
			this.stationEdit = {
			@@ -1128,7 +1225,11 @@

			this.mapOperationType = "edit_map"
			},
			clickPalletSize() {
			this.mapOperationType = "set_pallet_size"
			},
			clickExtendMap() {
			const _this = this
			uni.navigateTo({
			url: `/pages/map/scene?ip=${this.vehicleIp}&opType=extend&sceneId=${this.sceneId}`,
			events: {
			@@ -1149,7 +1250,7 @@
			this.mapOperationStatus = ""
			this.teachingModeCur = {
			mode: "Public",
			main_road: 1,
			mode_type: 0,
			}
			this.positioningAgv = true
			this.mapOperationType = "public_teaching"
			@@ -1165,14 +1266,12 @@
			this.mapOperationType = "regiona_planning"
			},
			clickRename() {
			this.sceneInputName = this.sceneId
			this.mapOperationType = 'edit_scene_name'
			},
			async loadSceneList() {
			try {
			uni.showLoading({
			title: "加载场景中"
			})


			const _this = this
			const res = await getAllScene(this.vehicleIp) \|\| []
			const list = res?.sceneList \|\| []
			@@ -1183,43 +1282,40 @@
			this.sceneList = list
			if (list.length === 0) {
			this.opSceneType = ''
			// this.mapOperationType = 'scene_create'
			// this.setData({
			// sceneId: "",
			// navigationBarTitle: "地图"
			// })
			uni.navigateTo({
			url: `/pages/map/scene?ip=${this.vehicleIp}&opType=create`,
			events: {
			// 为指定事件添加一个监听器，获取被打开页面传送到当前页面的数据
			create_finish: function(data) {
			_this.onCreateSceneOk(data)
			},
			}

			uni.navigateBack({
			delta: 1, //返回层数，2则上上页
			})
			return
			}

			} catch (ex) {
			showError(ex)
			} finally {
			uni.hideLoading()
			showError(ex, this.translate('error'))
			}
			},
			clickDelete() {
			showModal(`删除场景[${this.sceneId}]会把场景对应的地图任务信息都会删除，是否确认删除？`, "删除场景").then(async (res) => {
			const _this = this


			showModal({
			title: this.translate("ask_deleting_scene"),
			content: `${this.translate('delete_scene_will_be_deleted_map_and_tasks')}`,
			confirmText: this.translate('yes'),
			cancelText: this.translate("no"),
			}).then(async (res) => {
			if (res) {
			try {
			uni.showLoading({
			title: "删除场景中"
			title: this.translate("deleting_scene")
			})
			this.mapShowAgv = false
			await delScene(this.vehicleIp, this.sceneId)
			await this.loadSceneList()
			if (this.sceneList.length > 0)
			this.changeMap(this.sceneList[0])

			} catch (ex) {
			showError(ex)
			showError(ex, this.translate('error'))
			} finally {
			uni.hideLoading()
			}
			@@ -1283,7 +1379,7 @@
			])
			}
			} catch (ex) {
			showError(ex)
			showError(ex, this.translate('error'))
			}
			},
			async clickPlanProhibitionRegion() {
			@@ -1329,7 +1425,7 @@
			])
			}
			} catch (ex) {
			showError(ex)
			showError(ex, this.translate('error'))
			}
			},

			@@ -1369,54 +1465,25 @@
			}
			])
			} catch (ex) {
			showError(ex)
			showError(ex, this.translate('error'))
			}

			},
			clickNameCancel() {
			this.mapOperationType = ''
			},
			async clickNameOK() {
			try {
			uni.showLoading({
			title: "更新场景名称"
			})
			this.loading = true
			const name = this.sceneInputName.trim()
			if (!name) {
			showToast("场景名称不能为空！")
			return
			}
			console.log(name, this.sceneId)
			if (name == this.sceneId) {
			showToast("场景名称未变化！")
			return
			}
			this.mapOperationType = ""
			await updateScene(this.vehicleIp, this.sceneId, name)
			onFinishRenameScene(name) {

			if (name) {
			const curIndex = this.sceneList.findIndex((param) => param == this.sceneId)
			this.sceneId = name
			showToast("场景重命名成功！")
			} catch (ex) {
			this.mapOperationType = "edit_scene_name"
			showError(ex)
			} finally {
			uni.hideLoading()
			this.loading = false
			if (curIndex > -1) {
			this.sceneList[curIndex] = name
			}
			this.setData({
			navigationBarTitle: name
			})
			}

			this.mapOperationType = ""
			},

			clickClearName() {
			this.showClearName = false
			this.sceneInputName = ""
			},
			onInputName(event) {
			this.sceneInputName = event.detail.value.trim();
			if (this.sceneInputName)
			this.showClearName = true
			else
			this.showClearName = false
			},

			closePopuBtn() {

			@@ -1427,18 +1494,32 @@
			this.mapOperationType = ""
			},
			clickStationDelete() {
			this.stationDelete(this.stationEdit)
			// const _this = this
			// showModal("该站点已绑定任务，删除站点后绑定的任务会停止并删除", "是否确认删除？").then((res) => {
			// if (res) {
			const _this = this
			uni.navigateTo({
			url: `/pages/station/delete?ip=${ this.vehicleIp}`,
			events: {
			// 为指定事件添加一个监听器，获取被打开页面传送到当前页面的数据
			delete_finish: function(data) {
			console.log(data)
			const list = data.map((a) => {
			return {
			stationID: a
			}

			// }
			// })
			})
			_this.ctxDataStr = JSON.stringify([{
			method: "remove_station",
			param: list
			}])
			}
			}
			})

			},
			async stationAdd(item) {
			try {
			uni.showLoading({
			title: "正在新建站点"
			title: this.translate("creating_station")
			})
			await addStation(this.vehicleIp, item)
			await updateStation(this.vehicleIp, item)
			@@ -1452,7 +1533,7 @@


			} catch (ex) {
			showError(ex)
			showError(ex, this.translate('error'))
			} finally {
			uni.hideLoading()
			}
			@@ -1460,7 +1541,7 @@
			async stationUpdate(item) {
			try {
			uni.showLoading({
			title: "正在更新站点"
			title: this.translate("updating_station")
			})
			await updateStation(this.vehicleIp, item)
			const curIndex = this.stationList.findIndex((a) => a.stationID ==
			@@ -1475,7 +1556,7 @@
			}

			} catch (ex) {
			showError(ex)
			showError(ex, this.translate('error'))
			} finally {
			uni.hideLoading()
			}
			@@ -1500,13 +1581,13 @@
			}])
			this.mapOperationType = ''
			} catch (ex) {
			showError(ex)
			showError(ex, this.translate('error'))
			}
			},
			async stationDelete(item) {
			try {
			uni.showLoading({
			title: "正在删除站点"
			title: this.translate("deleting_station")
			})
			this.$refs.refPopupOperateStation.close()
			await delStation(this.vehicleIp, [item.stationID])
			@@ -1527,7 +1608,7 @@
			}])

			} catch (ex) {
			showError(ex)
			showError(ex, this.translate('error'))
			} finally {
			uni.hideLoading()
			}
			@@ -1575,7 +1656,7 @@

			const name = this.stationEdit.name.trim()
			if (!name) {
			showToast("站点名称还未输入")
			showToast(this.translate("input_station_name"))
			return
			}
			this.loading = true
			@@ -1584,8 +1665,8 @@
			this.stationEdit = {
			stationID: this.getMaxStationNo + 1,
			name: name,
			x: agv.x \|\| 0,
			y: agv.y \|\| 0,
			x: Math.round(Number(agv.x \|\| 0) * 1000) / 1000,
			y: Math.round(Number(agv.y \|\| 0) * 1000) / 1000,
			angle: agv.angle \|\| 0,
			}
			const angle = this.getStantardAngle(this
			@@ -1626,7 +1707,7 @@
			}

			} catch (ex) {
			showError(ex)
			showError(ex, this.translate('error'))
			} finally {
			this.loading = false
			}
			@@ -1644,8 +1725,22 @@
			else
			this.showClearName = false
			},
			validateNumber(input) {
			// 常用正则模式
			const patterns = {
			integer: /^-?\d+$/, // 整数，包括负数 [citation:6]
			positiveInt: /^[1-9]\d*$/, // 正整数 [citation:7]
			decimal: /^-?\d*\.?\d+$/, // 小数 (支持像 ".1" 这样的格式)
			decimalFixed: /^-?\d*\.?\d{0,3}$/, // 最多两位小数 [citation:5][citation:8]
			};
			// 选择需要的模式进行测试，例如使用 decimal
			return patterns.decimalFixed.test(input);
			},
			onInputStationX(event) {
			console.log(event)
			if (!this.validateNumber(event.detail.value)) {
			showToast(this.translate("input_content_only_numbers_and_signs_and_decimal"))
			return
			}
			this.stationEdit.x = Number(event.detail.value);
			console.log(this.stationEdit.x)
			this.ctxDataStr = JSON.stringify([{
			@@ -1661,6 +1756,10 @@
			},

			onInputStationY(event) {
			if (!this.validateNumber(event.detail.value)) {
			showToast(this.translate("input_content_only_numbers_and_signs_and_decimal"))
			return
			}
			this.stationEdit.y = Number(event.detail.value);
			console.log(this.stationEdit.y)
			this.ctxDataStr = JSON.stringify([{
			@@ -1674,6 +1773,8 @@
			}
			}])
			},


			clickClearStationX() {
			this.stationEdit.x = 0
			this.ctxDataStr = JSON.stringify([{
			@@ -1726,10 +1827,8 @@
			return resAngle

			},

			touchAngleChange(e) {
			let angle = 0

			const ptX = e.touches[0].clientX

			const offX = ptX // ptX - e.target.offsetLeft
			@@ -1792,14 +1891,14 @@
			}
			}])
			} catch (ex) {
			showError(ex)
			showError(ex, this.translate('error'))
			}
			},
			async clickPositionStation() {
			try {
			const infoAgv = await this.loadAgvState()
			this.stationEdit.x = infoAgv.x
			this.stationEdit.y = infoAgv.y
			this.stationEdit.x = Math.round(Number(infoAgv.x) * 1000) / 1000;
			this.stationEdit.y = Math.round(Number(infoAgv.y) * 1000) / 1000;
			this.stationEdit.angle = infoAgv.angle
			const angle = this.getStantardAngle(this
			.stationEdit.angle * 180 / Math.PI)
			@@ -1825,50 +1924,59 @@

			])
			} catch (ex) {
			showError(ex)
			showError(ex, this.translate('error'))
			}
			},
			async loadTeachingMode() {
			try {
			const {
			data
			} = await getTeachingMode(this.vehicleIp)
			} = await splitTeachingMode(this.vehicleIp)
			return data \|\| {
			Public: [],
			Stations: []
			}

			} catch (ex) {
			showError(ex)
			showError(ex, this.translate('error'))
			return {
			Public: [],
			Stations: []
			}
			}
			},
			async reloadTeachingMode() {
			async reloadTeachingMode(finish) {
			try {
			this.teachingMode = await this.loadTeachingMode()
			this.ctxDataStr = JSON.stringify([{

			const list = [{
			method: "clear_teaching_path",
			},
			{
			method: "public_teaching_path",
			param: this.teachingMode.Public \|\| []
			param: {
			list: this.teachingMode.Public \|\| [],
			show: this.showTeachingPathFlag
			}
			},
			{
			method: "station_teaching_path",
			param: this.teachingMode.Stations \|\| []
			}, {
			method: "show_teaching_path",
			param: {
			list: this.teachingMode.Stations \|\| [],
			show: this.showTeachingPathFlag
			}
			}
			])

			]
			if (finish) {
			list.push({
			method: "teaching_finish",
			})
			}
			this.ctxDataStr = JSON.stringify(list)

			} catch (ex) {
			showError(ex)
			showError(ex, this.translate('error'))

			}
			},
			@@ -1910,7 +2018,7 @@
			}
			])
			} catch (ex) {
			showError(ex)
			showError(ex, this.translate('error'))
			}
			},
			async refreshAgvPosition() {
			@@ -1921,85 +2029,193 @@
			method: "update_agv_state",
			param: agv
			}]
			// if (this.mapOperationType === "public_teaching" && this.mapOperationStatus ===
			// "teaching") {
			const list = await this.loadCurrentTeachingData()

			if (this.mapOperationType === "public_teaching" && this.mapOperationStatus ===
			"teaching") {
			const list = await this.loadCurrentTeachingData()
			listCtrData.push({
			method: "update_current_teaching",
			param: {
			main_road: this.teachingModeCur.main_road,
			pos_list: list
			listCtrData.push({
			method: "update_current_teaching",
			param: {
			main_road: 1, //this.teachingModeCur.main_road,
			pos_list: list
			}
			})
			if (list.length > 0) {
			this.curTeachingPathTime += 1
			this.curTeachingPathFlag = true
			if (this.curTeachingPathTime % 5 == 0) {
			const listStationCtxData = await this.getRefreshStationCtxData() \|\| []
			if (listStationCtxData.length > 0) {
			listCtrData.push(...listStationCtxData)
			}
			})
			}
			} else {
			if (this.curTeachingPathFlag) {
			this.curTeachingPathFlag = false
			this.curTeachingPathTime = 0

			const teaching = await this.loadTeachingMode()

			const publicOld = this.teachingMode.Public \|\| []
			const stationOld = this.teachingMode.Stations \|\| []
			const publicNew = teaching.Public \|\| []
			const stationNew = teaching.Stations \|\| []
			const publicAdd = []
			const stationAdd = []
			for (let i in publicNew) {
			const item = publicNew[i]
			const curIndex = publicOld.findIndex((a) => a.name == item.name && a.edge_name ==
			item.edge_name)

			if (curIndex < 0) {
			publicAdd.push(item)
			publicOld.push(item)
			}

			}
			for (let i in stationNew) {
			const item = stationNew[i]
			const curIndex = stationOld.findIndex((a) => a.name == item.name)
			if (curIndex < 0) {
			stationAdd.push(item)
			stationOld.push(item)
			}

			}
			this.teachingMode.Public = publicOld
			this.teachingMode.Stations = stationOld

			if (publicAdd.length > 0) {
			listCtrData.push({
			method: "public_teaching_path",
			param: {
			list: publicAdd,
			show: this.showTeachingPathFlag
			}
			})
			}
			if (stationAdd.length > 0) {
			listCtrData.push({
			method: "station_teaching_path",
			param: {
			list: stationAdd,
			show: this.showTeachingPathFlag
			}
			})
			}
			const listStationCtxData = await this.getRefreshStationCtxData() \|\| []
			if (listStationCtxData.length > 0) {
			listCtrData.push(...listStationCtxData)
			}
			}
			}

			// }

			if (this.positioningAgv) {
			listCtrData.push({
			method: "move_pt_visible",
			param: {
			x: agv.x,
			y: agv.y,
			width:80,
			height:80,
			}
			})
			if (this.curTeachingPathFlag) {
			listCtrData.push({
			method: "move_pt_center",
			param: {
			x: agv.x,
			y: agv.y,
			}
			})

			} else {
			listCtrData.push({
			method: "move_pt_visible",
			param: {
			x: agv.x,
			y: agv.y,
			width: 80,
			height: 80,
			}
			})

			}
			}

			this.ctxDataStr = JSON.stringify(listCtrData)
			}
			setTimeout(this.refreshAgvPosition, 1000);
			//setTimeout(this.refreshAgvPosition, 1000);
			} catch (ex) {
			showError(ex).then((res) => {
			setTimeout(this.refreshAgvPosition, 1000);
			})
			// showError(ex,this.translate('error')).then((res) => {

			// })
			showToast(ex)
			} finally {
			// 无论成功失败，1 秒后再来

			setTimeout(this.refreshAgvPosition, 1000);
			}

			},
			async getRefreshStationCtxData() {
			try {
			const listCtrData = []
			const listOld = this.stationList
			const listId = listOld.map((a) => a.stationID)
			const stationLst = await this.loadStations()
			const listNew = stationLst.filter((a) => {
			return !listId.includes(a.stationID)
			})
			// console.log(listId.length,listNew.length,stationLst.length)
			// console.log(listId)
			if (listId.length + listNew.length > stationLst.length) {
			const listId2 = stationLst.map((a) => a.stationID)

			askTeachingBiDirection(teachingMode) {
			showModal("选择当前示教路线类型?", "示教结束", true, "双向路线",
			"单向路线").then((res) => {
			if (res) {
			teachingMode.bidirection = "1"
			} else {
			teachingMode.bidirection = "0"
			const listRemove = listOld.filter((a) => {
			return !listId2.includes(a.stationID)
			})
			if (listRemove.length > 0) {
			listCtrData.push({
			method: "remove_station",
			param: listRemove
			})
			this.stationList = stationLst
			}
			}
			teachingMode.teaching_flag = 0
			this.finishTeaching(teachingMode)
			})
			if (listNew.length > 0) {
			listCtrData.push({
			method: "add_station",
			param: listNew
			})
			this.stationList = stationLst
			}
			return listCtrData
			} catch (ex) {

			showToast(ex)
			return []
			}
			},
			async finishTeaching(teachingMode) {
			try {
			uni.showLoading({
			title: "示教结束"
			title: this.translate("teaching_end")
			})
			await teachingModeFlag(this.vehicleIp, teachingMode)

			this.mapOperationStatus = "end"
			} catch (ex) {
			showError(ex)
			showError(ex, this.translate('error'))
			} finally {
			uni.hideLoading()
			}
			},

			async clickTeachingStart() {

			const _this = this
			try {
			uni.showLoading({
			title: "示教开始"
			title: this.translate("teaching_start")
			})
			this.loading = false
			this.mapOperationStatus = "teaching"
			await _this.teachingStart("Public")

			} catch (ex) {
			showError(ex)
			showError(ex, this.translate('error'))
			} finally {
			this.loading = false
			uni.hideLoading()
			@@ -2017,23 +2233,37 @@
			},
			clickTeachingReset() {
			const _this = this
			showModal("已记录的路径将会被删除。", "是否要重新记录？")
			showModal({
			title: this.translate("ask_re_recording"),
			content: `${this.translate('recorded_path_will_be_deleted')}`,
			confirmText: this.translate('yes'),
			cancelText: this.translate("no"),
			})
			.then(async (res) => {
			if (res) {
			try {
			this.loading = true
			await delTeachingMode(_this.vehicleIp, [_this.teachingModeCur])
			_this.mapOperationStatus = ""
			const listDataStr = []
			listDataStr.push({
			method: "remove_teaching_path",
			param: {
			name: _this.teachingModeCur.name,
			mode: "Public"
			},
			})
			_this.ctxDataStr = JSON.stringify(listDataStr)


			} catch (ex) {
			showError(ex)
			showError(ex, this.translate('error'))
			} finally {
			this.loading = false
			}
			} else {

			_this.mapOperationStatus =
			"save"
			_this.mapOperationStatus = "save"

			}
			})
			@@ -2043,54 +2273,28 @@

			this.mapOperationStatus = "save"
			try {} catch (ex) {
			showError(ex)
			showError(ex, this.translate('error'))
			}

			},
			clickTeachingFinish() {
			this.mapOperationType = ""
			this.ctxDataStr = JSON.stringify([{
			method: "teaching_finish",
			}])
			this.reloadTeachingMode()

			//this.reloadTeachingMode(true)

			},
			async teachingStart(mode) {
			try {
			/*if (mode == "Stations") {
			const res = await checkAgvLocationDistanceError(this.vehicleIp, this.startStationID)
			if (res?.error) {
			this.calibratioStationType = "start"
			this.$refs.refPopupCalibration.open()
			} else {
			// const name =
			// `${ this.stationName(this.startStationID)}_${ this.stationName(this.endStationID)}`

			this.teachingModeCur = {
			mode: "Stations",
			src_dst: `${this.startStationID}_${this.endStationID}`,
			name: "",
			teaching_flag: 1,
			}
			this.ctxDataStr = JSON.stringify([{
			method: "set_selectable",
			param: false,
			}])
			const res2 = await teachingModeFlag(this.vehicleIp, this.teachingModeCur)
			if (res2?.name)
			this.teachingModeCur.name = res2.name
			}
			} else {*/

			const main_road = this
			const mode_type = this
			.teachingModeCur
			.main_road
			.mode_type
			this.teachingModeCur = {
			mode: "Public",
			src_dst: ``,
			name: "",
			teaching_flag: 1,
			main_road
			mode_type
			}
			const res2 =
			await teachingModeFlag(
			@@ -2101,51 +2305,45 @@
			}

			} catch (ex) {
			showError(ex)
			showError(ex, this.translate('error'))
			}

			},
			async teachingEnd(mode) {
			try {
			this.loading = true
			// if (mode == "Stations") {
			// const res = await checkAgvLocationDistanceError(this.vehicleIp, this.endStationID)
			// if (res.error) {
			// this.calibratioStationType = "end"
			// this.$refs.refPopupCalibration.open()
			// } else {
			// this.askTeachingBiDirection(this.teachingModeCur)
			// }
			// } else {
			// this.askTeachingBiDirection(this.teachingModeCur)
			// }
			this.askTeachingBiDirection(
			this
			.teachingModeCur
			)
			this.teachingModeCur.teaching_flag = 0
			await this.finishTeaching(this.teachingModeCur)
			} catch (ex) {
			showError(ex)
			showError(ex, this.translate('error'))
			} finally {
			this.loading = false
			}

			},
			async onTeachingModeMainRoad(val) {
			async onTeachingModeType(val) {
			try {
			if (this.mapOperationStatus) {

			if (this.teachingModeCur.main_road == val) {
			if (this.teachingModeCur.mode_type == val) {
			return
			}
			this.teachingModeCur.teaching_flag = 0
			const oldName = this.teachingModeCur.name
			await teachingModeFlag(this.vehicleIp, this.teachingModeCur)
			this.teachingModeCur.main_road = val
			this.teachingModeCur.mode_type = val
			this.teachingModeCur.teaching_flag = 1
			this.teachingModeCur.mode = "Public"
			this.teachingModeCur.name = ""
			const res = await teachingModeFlag(this.vehicleIp, this.teachingModeCur)
			if (val == 0)
			const res = await teachingModeFlag(this.vehicleIp, this
			.teachingModeCur)
			if (val == 1)
			showToast(this.translate("teaching_switched_bidirectional_mode"))
			else if (val == 2)
			showToast(this.translate("teaching_switched_intelligent_mode"))
			else
			showToast(this.translate("teaching_switched_default_mode"))
			/*if (val == 0)
			showToast(
			"已将该路段路径保存为主路示教路线"
			)
			@@ -2155,72 +2353,114 @@
			)
			if (res?.name)
			this.teachingModeCur.name = res.name

			const {
			data
			} = await getTeachingMode(this.vehicleIp)

			const publicList = data.Public \|\| []
			const curIndex = publicList.findIndex((a)=>a.name == oldName)

			if(curIndex > -1)
			{
			this.ctxDataStr = JSON.stringify([{
			method: "public_teaching_path",
			param: [publicList[curIndex]]
			} ])

			}



			const {
			data
			} = await splitTeachingMode(this.vehicleIp)

			const publicList = data.Public \|\| []
			const curIndex = publicList.findIndex((a) => a.name == oldName)

			if (curIndex > -1) {
			this.ctxDataStr = JSON.stringify([{
			method: "public_teaching_path",
			param: {
			list: [publicList[curIndex]],
			show: true
			}
			}])

			}
			*/

			} else {
			this.teachingModeCur
			.main_road =
			val
			this.teachingModeCur.mode_type = val
			}

			} catch (ex) {
			showError(ex)
			showError(ex, this.translate('error'))
			}
			},
			clickTeachingDelete() {
			this.$refs
			.refPopupOperateTeaching
			.close()
			this.removeTeachingMode(
			this
			.selectTeachingMode
			)
			const _this = this
			showModal({
			title: this.translate("ask_deleting_teaching"),
			content: `${this.translate('deleted_teaching_cannot_recovered')}`,
			confirmText: this.translate('delete'),
			cancelText: this.translate("cancel"),

			})
			.then((res) => {
			if (res) {
			_this.removeTeachingMode(_this.selectTeachingMode)
			}
			})
			},

			clickTeachingEdit() {
			this.$refs
			.refPopupOperateTeaching
			.close()
			this.mapOperationType =
			"edit_teaching"
			this.ctxDataStr = JSON
			.stringify([{
			method: "edit_teaching",
			param: this.selectTeachingMode,
			}])
			this.$refs.refPopupOperateTeaching.close()
			this.$refs.refPopupTeachingUpdate.open("")

			// this.mapOperationType =
			// "edit_teaching"
			// this.ctxDataStr = JSON
			// .stringify([{
			// method: "edit_teaching",
			// param: this.selectTeachingMode,
			// }])
			},
			radioTeachinMainRoadChange(evt) {
			this.selectTeachingMode.main_road = evt.detail.value
			},
			radioTeachinBidirectionChange(evt) {
			this.selectTeachingMode.bidirection = evt.detail.value
			},
			async dialogTeachingUpdateConfirm() {
			try {
			uni.showLoading({
			title: this.translate("teaching_updating")
			})
			const item = this.selectTeachingMode
			await updateSplitTeachingData(this.vehicleIp, item)
			this.ctxDataStr =
			JSON.stringify(
			[{
			method: "update_teaching",
			param: item,
			}])
			this.selectTeachingMode = {}
			showToast(this.translate("teaching_update_success"))
			} catch (ex) {
			showError(ex, this.translate('error'))
			} finally {
			uni.hideLoading()
			}
			},
			dialogTeachingUpdateClose() {
			this.$refs.refPopupTeachingUpdate.close()

			},

			async removeTeachingMode(item) {
			try {
			uni.showLoading({
			title: "删除场景中"
			title: this.translate("teaching_deleting")
			})
			await delTeachingMode(this.vehicleIp, [item])
			await deleteSplitTeachingData(this.vehicleIp, item
			.edge_name, item.name)
			//await delTeachingMode(this.vehicleIp, [item])
			this.ctxDataStr =
			JSON.stringify(
			[{
			method: "remove_teaching_path",
			param: item,
			}])
			showToast(this.translate("teaching_delete_success"))
			} catch (ex) {
			showError(
			ex)
			showError(ex, this.translate('error'))
			} finally {
			uni.hideLoading()
			}
			@@ -2228,15 +2468,20 @@
			async removeTeachingModeData(data) {
			try {
			uni.showLoading({
			title: "删除场景数据中"
			title: this.translate("teaching_data_deleting")
			})
			await delTeachingModeData(this.vehicleIp, data)
			showToast(this.translate("teaching_delete_success"))
			this.reloadTeachingMode()
			} catch (ex) {
			showError(ex)
			showError(ex, this.translate('error'))
			} finally {
			uni.hideLoading()
			}
			},
			translate(t) {
			if (typeof this.$t == "function") return this.$t(`page.${t}`)
			else return t;
			},

			}
			@@ -2407,7 +2652,7 @@
			.left {
			display: flex;
			flex-direction: column;
			width: 180rpx;
			width: 240rpx;
			color: #aaa;

			.line {
			@@ -2632,6 +2877,7 @@

			.text {
			margin: auto;
			white-space: nowrap;

			}
			}
			@@ -2674,12 +2920,14 @@
			height: 32px;
			line-height: 32px;
			text-align: center;
			box-shadow: 0px 2px 8px 0px #0000000C;
			}

			.switch-button-checked {
			box-shadow: 0px 2px 8px 0px #0000000C;
			background-color: #fff;
			color: #262626;
			color: #1890FF;

			}

			}
			@@ -2701,10 +2949,21 @@
			background-color: transparent;
			}

			.popup-dialog-content {
			display: flex;
			flex-direction: column;

			.popup-content-item {
			padding: 10rpx;
			}
			}

			.popup-content-menu {
			margin-top: 140rpx;
			margin-left: 225rpx;
			width: 300rpx;
			max-height: 50vh;
			overflow: auto;
			align-items: center;
			justify-content: center;
			flex-direction: column;