test

cuiqian2004

4 天以前 2af5f043b60c1f7ac38ecccc8f5bf44743134325

 pages/map/index.vue

@@ -7,7 +7,7 @@
            <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 @click="clickBack">
@@ -25,13 +25,11 @@
            </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 ref="canvasCtx" class="fabric" id="canvasMap" :message="ctxDataStr"
                  :change:message="ctx.receiveMsg">
@@ -39,17 +37,16 @@
               <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">
@@ -61,11 +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>
@@ -85,194 +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" />
               <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" />
                        @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" />
                     <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 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，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">可随时切换主路/支路示教，
                  <!-- 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>

               <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>

@@ -281,24 +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>

@@ -307,11 +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>
@@ -319,11 +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>
@@ -347,15 +347,15 @@
                  <view class="img-button-group">
                     <view fill="none" class="button" @click.stop="clickStationDelete">
                        <text class="ico delete-outline"></text>
                        <view class="text"> 批量删除</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>
@@ -371,11 +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>
@@ -383,6 +383,44 @@

            </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>
@@ -393,18 +431,22 @@
      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,
@@ -423,12 +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 {
@@ -464,8 +510,7 @@
               y: 0,
               angle: 0
            },
            sceneInputName: "",
            showClearName: false,

            stationList: [],
            angleSvg: "/static/images/angle0.svg",
            windowWidth: 375,
@@ -477,6 +522,7 @@
            unlinked: false,
            showTeachingPathFlag: true,
            curTeachingPathFlag: false,
            curTeachingPathTime: 0,
            curMapInfo: {
               proportion: 1,
               img_proportion: 1,
@@ -490,6 +536,8 @@
            positioningAgv: false,
            isPageVisible: true,
            destroyFlag: false,


         }
      },
      computed: {
@@ -506,21 +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
@@ -608,7 +656,7 @@
               this.setData({
                  unlinked: true
               })
               showError(ex)
               showError(ex, this.translate('error'))
            }
         },

@@ -628,7 +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
            }
@@ -636,43 +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"
@@ -680,11 +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"
@@ -694,24 +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"
               }
@@ -754,31 +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) {
                        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)
                  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 = ""
                        }
                        listDataStr.push({
                           method: "teaching_finish",
                        })
                        this.ctxDataStr = JSON.stringify(listDataStr)
                        this.mapOperationType = ""
                     }
                  })
                     })
               } else {
                  this.ctxDataStr = JSON.stringify([{
                     method: "teaching_finish",
@@ -788,7 +822,7 @@
               }

            } else {
				

               const eventChannel = this.getOpenerEventChannel();
               eventChannel.emit('check_connect', !this.unlinked);
               uni.navigateBack({
@@ -819,9 +853,7 @@
            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}&opType=create`,
                     events: {
@@ -831,11 +863,11 @@
                        },
                     }
                  })
               } 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()
               }
            }
@@ -864,7 +896,7 @@
               const info = await stations(this.vehicleIp)
               return info.station_list || []
            } catch (ex) {
               showError(ex)
               showError(ex, this.translate('error'))
               return []
            }
         },
@@ -873,7 +905,7 @@
               const info = await getMapUrl(this.vehicleIp, id)
               return info
            } catch (ex) {
               showError(ex)
               showError(ex, this.translate('error'))
               return {}
            }
         },
@@ -882,11 +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
@@ -923,6 +955,7 @@
                  bgProgressPercent: 30,
                  bgLoading: infoMap.filedata ? true : false
               })

               this.stationList = stationLst
               this.teachingMode = await this.loadTeachingMode()
               this.ctxDataStr = JSON.stringify([{
@@ -979,7 +1012,7 @@
                  bgProgressPercent: 0,
                  bgLoading: false
               })
               showError(ex)
               showError(ex, this.translate('error'))
            }
         },

@@ -1022,14 +1055,16 @@

            } 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 = ""

@@ -1038,8 +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") {
@@ -1051,8 +1086,8 @@
                     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)

@@ -1143,14 +1178,18 @@
               } 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") {
               if (this.mapOperationType == "public_teaching" 
               && this.mapOperationStatus == "teaching") {
               if (this.mapOperationType == "public_teaching" &&
                  this.mapOperationStatus == "teaching") {
                  this.positioningAgv = true
               } else
                  this.positioningAgv = false
@@ -1186,6 +1225,9 @@

            this.mapOperationType = "edit_map"
         },
         clickPalletSize() {
            this.mapOperationType = "set_pallet_size"
         },
         clickExtendMap() {
            const _this = this
            uni.navigateTo({
@@ -1208,7 +1250,7 @@
            this.mapOperationStatus = ""
            this.teachingModeCur = {
               mode: "Public",
               main_road: 1,
               mode_type: 0,
            }
            this.positioningAgv = true
            this.mapOperationType = "public_teaching"
@@ -1224,13 +1266,12 @@
            this.mapOperationType = "regiona_planning"
         },
         clickRename() {
            this.sceneInputName = this.sceneId
            this.mapOperationType = 'edit_scene_name'
         },
         async loadSceneList() {
            try {

					

               const _this = this
               const res = await getAllScene(this.vehicleIp) || []
               const list = res?.sceneList || []
@@ -1241,20 +1282,7 @@
               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}`,
                  //    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
                  })
@@ -1262,33 +1290,32 @@
               }

            } catch (ex) {
               showError(ex)
            } 
               showError(ex, this.translate('error'))
            }
         },
         clickDelete() {
            const _this = this
            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) => {
				
				
            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])
                     // else {
                     //    _this.mapOperationType = ""
                     //    setTimeout(() => {
                     //       uni.navigateBack({
                     //          delta: 1, //返回层数，2则上上页
                     //       })
                     //    }, 500)

                     // }
                  } catch (ex) {
                     showError(ex)
                     showError(ex, this.translate('error'))
                  } finally {
                     uni.hideLoading()
                  }
@@ -1352,7 +1379,7 @@
                  ])
               }
            } catch (ex) {
               showError(ex)
               showError(ex, this.translate('error'))
            }
         },
         async clickPlanProhibitionRegion() {
@@ -1398,7 +1425,7 @@
                  ])
               }
            } catch (ex) {
               showError(ex)
               showError(ex, this.translate('error'))
            }
         },

@@ -1438,34 +1465,14 @@
                  }
               ])
            } 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
               }
         onFinishRenameScene(name) {

            if (name) {
               const curIndex = this.sceneList.findIndex((param) => param == this.sceneId)
               this.mapOperationType = ""
               await updateScene(this.vehicleIp, this.sceneId, name)


               this.sceneId = name
               if (curIndex > -1) {
                  this.sceneList[curIndex] = name
@@ -1473,28 +1480,10 @@
               this.setData({
                  navigationBarTitle: name
               })
               showToast("场景重命名成功！")
            } catch (ex) {
               this.mapOperationType = "edit_scene_name"
               showError(ex)
            } finally {
               uni.hideLoading()
               this.loading = false
            }

            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() {

@@ -1525,18 +1514,12 @@
                  }
               }
            })
            //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) {

            //    }
            // })
         },
         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)
@@ -1550,7 +1533,7 @@


            } catch (ex) {
               showError(ex)
               showError(ex, this.translate('error'))
            } finally {
               uni.hideLoading()
            }
@@ -1558,7 +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 ==
@@ -1573,7 +1556,7 @@
               }

            } catch (ex) {
               showError(ex)
               showError(ex, this.translate('error'))
            } finally {
               uni.hideLoading()
            }
@@ -1598,13 +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])
@@ -1625,7 +1608,7 @@
               }])

            } catch (ex) {
               showError(ex)
               showError(ex, this.translate('error'))
            } finally {
               uni.hideLoading()
            }
@@ -1673,7 +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
@@ -1682,8 +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
@@ -1724,7 +1707,7 @@
               }

            } catch (ex) {
               showError(ex)
               showError(ex, this.translate('error'))
            } finally {
               this.loading = false
            }
@@ -1742,8 +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([{
@@ -1759,6 +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([{
@@ -1772,6 +1773,8 @@
               }
            }])
         },


         clickClearStationX() {
            this.stationEdit.x = 0
            this.ctxDataStr = JSON.stringify([{
@@ -1888,14 +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)
@@ -1921,21 +1924,21 @@

               ])
            } 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: []
@@ -1973,7 +1976,7 @@
               this.ctxDataStr = JSON.stringify(list)

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

            }
         },
@@ -2015,7 +2018,7 @@
                  }
               ])
            } catch (ex) {
               showError(ex)
               showError(ex, this.translate('error'))
            }
         },
         async refreshAgvPosition() {
@@ -2038,10 +2041,19 @@
                     }
                  })
                  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 || []
@@ -2052,8 +2064,9 @@
                        const stationAdd = []
                        for (let i in publicNew) {
                           const item = publicNew[i]
                           const curIndex = publicOld.findIndex((a) => a.name == item.name)
                           console.log(curIndex, item)
                           const curIndex = publicOld.findIndex((a) => a.name == item.name && a.edge_name ==
                              item.edge_name)

                           if (curIndex < 0) {
                              publicAdd.push(item)
                              publicOld.push(item)
@@ -2090,6 +2103,10 @@
                              }
                           })
                        }
                        const listStationCtxData = await this.getRefreshStationCtxData() || []
                        if (listStationCtxData.length > 0) {
                           listCtrData.push(...listStationCtxData)
                        }
                     }
                  }

@@ -2123,7 +2140,7 @@
               }
               //setTimeout(this.refreshAgvPosition, 1000);
            } catch (ex) {
               // showError(ex).then((res) => {
               // showError(ex,this.translate('error')).then((res) => {

               // })
               showToast(ex)
@@ -2133,30 +2150,55 @@
            }

         },
         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()
            }
@@ -2166,14 +2208,14 @@
            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()
@@ -2191,7 +2233,12 @@
         },
         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 {
@@ -2210,7 +2257,7 @@


                     } catch (ex) {
                        showError(ex)
                        showError(ex, this.translate('error'))
                     } finally {
                        this.loading = false
                     }
@@ -2226,7 +2273,7 @@

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

         },
@@ -2238,40 +2285,16 @@
         },
         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(
@@ -2282,51 +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"
                     )
@@ -2339,7 +2356,7 @@

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

                  const publicList = data.Public || []
                  const curIndex = publicList.findIndex((a) => a.name == oldName)
@@ -2354,56 +2371,96 @@
                     }])

                  }

*/

               } 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: "删除示教中"
                  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()
            }
@@ -2411,15 +2468,20 @@
         async removeTeachingModeData(data) {
            try {
               uni.showLoading({
                  title: "删除示教数据中"
                  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;
         },

      }
@@ -2590,7 +2652,7 @@
            .left {
               display: flex;
               flex-direction: column;
               width: 180rpx;
               width: 240rpx;
               color: #aaa;

               .line {
@@ -2815,6 +2877,7 @@

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

               }
            }
@@ -2857,12 +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;

               }

            }
@@ -2884,6 +2949,15 @@
         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;