WonderfulDemo/entry/src/main/ets/view/RobotSetView.ets

import CommonConstants from '../common/constants/CommonConstants'
import RobotInfo from '../model/RobotInfo'
import RobotSelfCheck from '../model/RobotSelfCheck'
import RobotSelfCheckModel from '../model/database/RobotSelfCheckModel'
import StorageInfo from '../model/StorageInfo'
import TimeUtil from '../common/util/TimeUtil'
import router from '@ohos.router'
import { RobotPreviewComp } from '../common/component/RobotPreviewComp'
import StorageConfig from '../viewmodel/StorageConfig'
import JGRequest from '../common/util/request/Request'
import StorageModel from '../model/database/StorageModel'
import StorageSpace from '../model/StorageSpace'
import StorageSpaceModel from '../model/database/StorageSpaceModel'

@Component
export struct RobotSetView {
  @State list: Resource[] =  [$r('app.media.car_preview'),$r('app.media.car_preview'),$r('app.media.car_preview')]
  @State selectRobot : number = 1
  @State robots: RobotInfo[] = CommonConstants.ROBOTS
  @State storages: StorageInfo[] = []

  @State robotX: number = 0
  @State robotY: number = 0
  @State robotStorage: StorageInfo = new StorageInfo()
  // 视频播放
  @State videoSrc: Resource = $rawfile('robot.mp4')
  videoController: VideoController = new VideoController()

  async aboutToAppear() {
    if (this.robots && this.robots[this.selectRobot] && this.robots[this.selectRobot].x) {
      this.robotX = this.robots[this.selectRobot].x
    }
    if (this.robots && this.robots[this.selectRobot] && this.robots[this.selectRobot].y) {
      this.robotY = this.robots[this.selectRobot].y
    }


    // 查询本地数据库，没有则从后台获取
    this.storages = await StorageModel.getStorageList()

    if (!this.storages || this.storages.length <= 0) {
      // 查询后台数据库的线边库
      let config: StorageConfig = await JGRequest.get("/api/v1/wms/position/houseConfigInfo/" + 1, {})
      if (!config) {
        return
      }
      let storage = {storageName: config.houseName, xSize: config.xNum, ySize: config.yNum, defaultLayer: config.layer} as StorageInfo
      this.storages.push(storage)
      let storageId = await StorageModel.addStorage(config.houseName, config.xNum, config.yNum, config.layer)
      storage.id = storageId
      if (config.xNum && config.xNum > 0 && config.yNum && config.yNum > 0) {
        for (let y = 1; y <= config.yNum; y++) {
          for (let x = 1; x <= config.xNum; x++) {
            let space: StorageSpace = {storageId: storageId, x: x, y: y, enableState: 1, storageType: '', capacity: config.layer, canWay: 1, canPark: 0}
            await StorageSpaceModel.addStorageSpace(space)
          }
        }
      }
    }

    for (const storage of this.storages) {
      if (this.robots && this.robots[this.selectRobot] && this.robots[this.selectRobot].storageId && this.robots[this.selectRobot].storageId === storage.id) {
        this.robotStorage = storage
      }
    }
  }


  // 编辑机器人编码的弹窗控制器
  editCodeController: CustomDialogController = new CustomDialogController({
    builder: EditCodeDialog({
      currentRobot: this.robots && this.robots[this.selectRobot] ? this.robots[this.selectRobot] : null,
      selectRobot : this.selectRobot,
      robots: this.robots
    }),
    autoCancel: true,
    alignment: DialogAlignment.Center,
    // gridCount: 3,
    customStyle: true,
  })
  // 编辑机器人所属仓库的弹窗控制器
  editStorageController: CustomDialogController = new CustomDialogController({
    builder: EditStorageDialog({
      selectRobot : this.selectRobot,
      robotStorage : this.robotStorage,
      robots: this.robots,
      storages: this.storages,
    }),
    autoCancel: true,
    alignment: DialogAlignment.Center,
    // gridCount: 3,
    customStyle: true,
  })
  // 编辑机器人朝向弹窗控制器
  editTowardController: CustomDialogController = new CustomDialogController({
    builder: RobotTowardDialog({
      currentRobot: this.robots && this.robots[this.selectRobot] ? this.robots[this.selectRobot] : null,
      selectRobot : this.selectRobot,
      robots: this.robots
    }),
    autoCancel: true,
    alignment: DialogAlignment.Center,
    // gridCount: 3,
    customStyle: true,
  })
  // 编辑机器人坐标的弹窗控制器
  editCoordController: CustomDialogController = new CustomDialogController({
    builder: EditCoordinateDialog({
      x: this.robotX,
      y: this.robotY,
      xSize: this.robotStorage ? this.robotStorage.xSize : 0,
      ySize: this.robotStorage ? this.robotStorage.ySize : 0,
      confirm: ()=> {
        if (this.robots && this.robots[this.selectRobot]) {
          let robot = Object.assign({}, this.robots[this.selectRobot]);
          robot.x = this.robotX
          robot.y = this.robotY
          this.robots[this.selectRobot] = robot
        }
      }
    }),
    autoCancel: true,
    alignment: DialogAlignment.Center,
    // gridCount: 3,
    customStyle: true,
  })
  // 编辑机器人自检的弹窗控制器
  selfCheckController: CustomDialogController = new CustomDialogController({
    builder: SelfCheckDialog({
      currentRobot: this.robots && this.robots[this.selectRobot] ? this.robots[this.selectRobot] : null,
    }),
    autoCancel: true,
    alignment: DialogAlignment.Center,
    // gridCount: 3,
    customStyle: true,
  })

  build() {
    Column() {
      // 机器人预览图片和当前机器人状态
      Row() {
        RobotPreviewComp({
          list: $list,
          selectRobot: $selectRobot,
          robots: $robots,
          robotX: $robotX,
          robotY: $robotY,
          robotStorage: $robotStorage,
          storages: $storages,
        })

        .width($r('app.float.robot_image_list_size'))
        Blank()
        Row() {
          Image($r('app.media.battery_level'))
            .width($r('app.float.card_image_size'))
            .height($r('app.float.card_image_size'))
          Text('98%')
            .fontSize($r('app.float.robot_state_font_size'))
            .fontWeight(FontWeight.Medium)
            .fontColor($r('app.color.general_font_color'))
            .opacity($r('app.float.general_font_opacity'))
        }
        .width('10%')
        .justifyContent(FlexAlign.SpaceEvenly)
        Row() {
          Image($r('app.media.coordinate'))
            .width($r('app.float.card_image_size'))
            .height($r('app.float.card_image_size'))
          Text('x:' + (this.robots && this.robots[this.selectRobot] && this.robots[this.selectRobot].x ? this.robots[this.selectRobot].x : ' ') + 'y:' + (this.robots && this.robots[this.selectRobot] && this.robots[this.selectRobot].y ? this.robots[this.selectRobot].y : ' '))
            .fontSize($r('app.float.robot_state_font_size'))
            .fontWeight(FontWeight.Medium)
            .fontColor($r('app.color.general_font_color'))
            .opacity($r('app.float.general_font_opacity'))
        }
        .width('10%')
        .justifyContent(FlexAlign.SpaceEvenly)
        Row() {
          Image($r('app.media.robot_auto_mode'))
            .width($r('app.float.card_image_size'))
            .height($r('app.float.card_image_size'))
          Text('自动模式')
            .fontSize($r('app.float.robot_state_font_size'))
            .fontWeight(FontWeight.Medium)
            .fontColor($r('app.color.general_font_color'))
            .opacity($r('app.float.general_font_opacity'))
        }
        .width('10%')
        .justifyContent(FlexAlign.SpaceEvenly)
      }
      .width('100%')
      .height('8%')
      // 机器人3D播放
      Row() {
        Video({
          src: this.videoSrc,
          // previewUri: this.previewUri,
          currentProgressRate: PlaybackSpeed.Speed_Forward_1_00_X,
          controller: this.videoController
        })
          .width('100%')
          .height('100%')
          .autoPlay(true)
          .controls(false)
          .loop(true)
          .backgroundImage($r('app.media.set_robot_unity_background'))
          .backgroundImageSize({ width:'100%', height:'100%'})
        // Image($r('app.media.robot_set_demo'))
        //   .objectFit(ImageFit.Contain)
      }
      .width('100%')
      .height('56%')
      .justifyContent(FlexAlign.Center)
      // .backgroundImage($r('app.media.set_robot_unity_background'))
      // .backgroundImageSize(ImageSize.Auto)

      // 机器人信息展示
      Row() {
        this.displayCard({cardName:'机器人', displayInfo: (this.robots && this.robots[this.selectRobot] ? this.robots[this.selectRobot].robotCode : ''), clickEvent: ()=>{
          this.editCodeController.open()
        }})
        this.displayCard({cardName:'所属仓库', displayInfo: (this.robotStorage && this.robotStorage.storageName ? this.robotStorage.storageName : ''), clickEvent: ()=>{
          this.editStorageController.open()
        }})
        this.displayCard({cardName:'机器人朝向', displayInfo: this.robots && this.robots[this.selectRobot] ? (this.robots[this.selectRobot].robotToward === 1 ? '+x轴方向' : (this.robots[this.selectRobot].robotToward === 2 ? '-x轴方向' : (this.robots[this.selectRobot].robotToward === 3 ? '+y轴方向' : '-y轴方向'))) : '', clickEvent: ()=>{
          this.editTowardController.open()
        }})
      }
      .width('100%')
      .height('18%')
      .justifyContent(FlexAlign.SpaceBetween)
      Row() {
        this.displayCard({cardName: '当前点位', displayInfo: ('x:' + (this.robots && this.robots[this.selectRobot] && this.robots[this.selectRobot].x ? this.robots[this.selectRobot].x : ' ') + 'y:' + (this.robots && this.robots[this.selectRobot] && this.robots[this.selectRobot].y ? this.robots[this.selectRobot].y : ' ')), clickEvent: ()=>{
          this.editCoordController.open()
        }})
        this.displayCard({cardName: '自检', displayInfo: '上次自检：' + (this.robots && this.robots[this.selectRobot] ? this.robots[this.selectRobot].lastSelfCheck : ''), clickEvent: ()=>{
          this.selfCheckController.open()
        }})
        Column() {
          Row() {
            Text('调试')
              .height('30%')
              .fontSize($r('app.float.card_title_font_size'))
              .fontColor($r('app.color.general_font_color'))
              .opacity($r('app.float.general_font_opacity'))
          }
          .alignItems(VerticalAlign.Center)
          .justifyContent(FlexAlign.Start)
          .padding({left: '6.6%', right: '4.5%'})
          .width('100%')
          .onClick(()=>{
            router.pushUrl({
              url:'pages/RobotDebug'
            })
          })
        }
        .height('90%')
        .width('32%')
        .justifyContent(FlexAlign.Center)
        .borderRadius($r('app.float.general_border_radius'))
        .backgroundColor($r('app.color.general_card_background_color'))
      }
      .width('100%')
      .height('18%')
      .justifyContent(FlexAlign.SpaceBetween)
    }
    .width('100%')
    .width('100%')
  }

  @Builder
  displayCard($$: { cardName: string, displayInfo: string , clickEvent?: Function}) {
    Column() {
      Row() {
        Text($$.cardName)
          .height('30%')
          .fontSize($r('app.float.card_title_font_size'))
          .fontColor($r('app.color.general_font_color'))
          .fontWeight(FontWeight.Medium)
          .opacity($r('app.float.general_font_opacity'))
      }
      .alignItems(VerticalAlign.Center)
      .justifyContent(FlexAlign.Start)
      .padding({left: '6.6%', right: '4.5%'})
      .width('100%')
      Row() {
        Text($$.displayInfo)
          .fontSize($r('app.float.card_info_font_size'))
          .fontColor($r('app.color.general_font_color'))
          .fontWeight(FontWeight.Regular)
          .opacity($r('app.float.card_font_default_opacity'))
      }
      .alignItems(VerticalAlign.Center)
      .justifyContent(FlexAlign.Start)
      .padding({left: '6.6%', right: '4.5%'})
      .width('100%')
      Row() {
        Image($r('app.media.subscript'))
          .height($r('app.float.card_subscript_size'))
          .width($r('app.float.card_subscript_size'))
      }
      .alignItems(VerticalAlign.Center)
      .justifyContent(FlexAlign.End)
      .padding({right: '4.5%'})
      .width('100%')
    }
    .height('90%')
    .width('32%')
    .justifyContent(FlexAlign.Center)
    .borderRadius($r('app.float.general_border_radius'))
    .backgroundColor($r('app.color.general_card_background_color'))
    .onClick(()=>{
      try {
        $$.clickEvent()
      } catch (err) {
        console.log('testTag', '---------err' + JSON.stringify(err))
      }
    })
  }
}

// 编辑机器人编码弹窗
@CustomDialog
struct EditCodeDialog {
  robotCode: string = ''
  private currentRobot: RobotInfo
  selectRobot : number
  @Link robots: RobotInfo[]
  controller?: CustomDialogController
  cancel: () => void = () => {}
  confirm: () => void = () => {}

  aboutToAppear() {
    if (this.currentRobot && this.currentRobot.robotCode) {
      this.robotCode = this.currentRobot.robotCode
    }
  }

  build() {
    Column() {
      Row() {
        Text('机器人')
          .fontSize($r('app.float.title_font_size'))
          .fontWeight(FontWeight.Medium)
          .fontColor($r('app.color.general_font_color'))
          .opacity($r('app.float.general_font_opacity'))
      }
      .height('25%')
      .alignItems(VerticalAlign.Center)

      Row() {
        TextInput({placeholder: '请输入机器人编号' })
          .placeholderColor($r('app.color.text_input_placeholder_font_color'))
          .placeholderFont({size: $r('app.float.robot_set_font_size'), weight: FontWeight.Regular})
          .fontSize($r('app.float.robot_set_font_size'))
          .fontWeight(FontWeight.Regular)
          .fontColor($r('app.color.general_font_color'))
          .borderRadius($r('app.float.robot_set_radius'))
          .backgroundColor($r('app.color.general_font_white_color'))
          .onChange((value: string) => {
            this.robotCode = value
          })
      }
      .height('25%')
      .width('80%')
      .justifyContent(FlexAlign.SpaceAround)
      .alignItems(VerticalAlign.Center)
      Blank()
      Row() {
        Button('取消')
          .fontSize($r('app.float.robot_set_font_size'))
          .fontWeight(FontWeight.Medium)
          .fontColor($r('app.color.robot_set_card_blue'))
          .width('32%')
          .height('50%')
          .borderRadius($r('app.float.robot_set_radius'))
          .backgroundColor($r('app.color.robot_set_coord_card_grey'))
          .onClick(() => {
            this.controller.close()
            this.cancel()
          })
        Row()
          .width('2.5%')
        Button('确认')
          .fontSize($r('app.float.robot_set_font_size'))
          .fontWeight(FontWeight.Medium)
          .fontColor($r('app.color.general_font_white_color'))
          .width('32%')
          .height('50%')
          .borderRadius($r('app.float.robot_set_radius'))
          .backgroundColor($r('app.color.robot_set_card_blue'))
          .onClick(() => {
            if (this.controller != undefined) {
              this.controller.close()
              let robot = Object.assign({}, this.robots[this.selectRobot]);
              robot.robotCode = this.robotCode
              this.robots[this.selectRobot] = robot
              console.log('testTag', '---------'+JSON.stringify(robot))
            }
          })
      }
      .justifyContent(FlexAlign.Center)
      .alignItems(VerticalAlign.Center)
      .height('40%')
      .width('100%')
    }
    .width('48%')
    .height('37%')
    .backgroundColor($r('app.color.page_general_background'))
    .justifyContent(FlexAlign.SpaceEvenly)
    .borderRadius($r('app.float.general_border_radius'))
  }
}

// 编辑机器人所属仓库弹窗
@CustomDialog
struct EditStorageDialog {
  selectRobot : number
  @Link robotStorage: StorageInfo
  @Link robots: RobotInfo[]
  storages: StorageInfo[]
  controller?: CustomDialogController
  cancel: () => void = () => { }
  confirm: () => void = () => { }

  build() {
    Column() {
      Row() {
        Text('所属仓储')
          .fontSize($r('app.float.title_font_size'))
          .fontWeight(FontWeight.Medium)
          .fontColor($r('app.color.general_font_color'))
          .opacity($r('app.float.general_font_opacity'))
      }
      .height('15%')
      .alignItems(VerticalAlign.Center)

      List({ space: 20, initialIndex: 0 }) {
        ForEach(this.storages, (item: StorageInfo) => {
          ListItem() {
            Text(item.storageName)
              .fontSize($r('app.float.robot_set_font_size'))
              .fontWeight(FontWeight.Medium)
              .fontColor(this.robotStorage && item.id === this.robotStorage.id ? $r('app.color.general_font_white_color') : $r('app.color.general_font_color'))
              .textAlign(TextAlign.Center)
              .width('71%')
              .height('12.5%')
              .borderRadius($r('app.float.general_border_radius'))
              .backgroundColor(this.robotStorage && item.id === this.robotStorage.id ? $r('app.color.robot_set_card_blue') : $r('app.color.robot_set_card_white'))
              .onClick(()=>{
                let robot = Object.assign({}, this.robots[this.selectRobot]);
                robot.storageId = item.id
                this.robots[this.selectRobot] = robot
                this.robotStorage = item
                this.controller.close()
              })
          }
        })
      }
      .listDirection(Axis.Vertical) // 排列方向
      // .edgeEffect(EdgeEffect.Spring) // 滑动到边缘无效果
      .height('80%')
      .width('100%')
      .alignListItem(ListItemAlign.Center)
    }
    .width('48%')
    .height('74%')
    .backgroundColor($r('app.color.page_general_background'))
    .justifyContent(FlexAlign.SpaceEvenly)
    .borderRadius($r('app.float.general_border_radius'))
  }
}

// 编辑坐标弹窗
@CustomDialog
struct EditCoordinateDialog {
  @Link private x : number
  @Link private y : number
  @State private xSize : number = 0
  @State private ySize : number = 0
  private xList : string[] = []
  private yList : string[] = []
  controller?: CustomDialogController
  cancel: () => void = () => {}
  confirm: () => void = () => {}

  aboutToAppear() {
    if (this.xSize > 0) {
      for (let index = 1; index <= this.xSize; index++) {
        this.xList.push(index.toString())
      }
    } else {
      this.xList.push('0')
    }
    if (this.ySize > 0) {
      for (let index = 1; index <= this.ySize; index++) {
        this.yList.push(index.toString())
      }
    } else {
      this.yList.push('0')
    }
  }

  build() {
    Column() {
      Row() {
        Text('当前点位')
          .fontSize($r('app.float.title_font_size'))
          .fontWeight(FontWeight.Medium)
          .fontColor($r('app.color.general_font_color'))
          .opacity($r('app.float.general_font_opacity'))
      }
      .height('16%')
      .alignItems(VerticalAlign.Center)

      Row() {
        Text('X轴')
          .fontSize($r('app.float.robot_set_font_size'))
          .fontWeight(FontWeight.Medium)
          .fontColor($r('app.color.general_font_color'))
          .opacity($r('app.float.general_font_opacity'))
        Text('Y轴')
          .fontSize($r('app.float.robot_set_font_size'))
          .fontWeight(FontWeight.Medium)
          .fontColor($r('app.color.general_font_color'))
          .opacity($r('app.float.general_font_opacity'))
      }
      .height('8%')
      .width('80%')
      .justifyContent(FlexAlign.SpaceAround)
      .alignItems(VerticalAlign.Center)
      Row() {
        TextPicker({ range: this.xList, selected: this.x && this.x > 0 ? this.x - 1 : 0})
          .onChange((value: string, index: number) => {
            this.x = Number.parseInt(value)
            console.info('textTag', 'Picker item changed, value: ' + value + ', index: ' + index)
          })
          .width('40%')
          .height('100%')
          .backgroundColor($r('app.color.bottom_bar_background'))
          .borderImage({source:$r('app.media.text_picker_frame'), fill: true})
        TextPicker({ range: this.yList, selected: this.y && this.y > 0 ? this.y - 1 : 0})
          .onChange((value: string, index: number) => {
            this.y = Number.parseInt(value)
            console.info('textTag', 'Picker item changed, value: ' + value + ', index: ' + index)
          })
          .width('40%')
          .height('100%')
          .backgroundColor($r('app.color.bottom_bar_background'))
          .borderImage({source:$r('app.media.text_picker_frame'), fill: true})
      }
      .height('52%')
      .width('100%')
      .justifyContent(FlexAlign.Center)

      Row() {
        Button('取消')
          .fontSize($r('app.float.robot_set_font_size'))
          .fontWeight(FontWeight.Medium)
          .fontColor($r('app.color.robot_set_card_blue'))
          .width('32%')
          .height('50%')
          .borderRadius($r('app.float.robot_set_radius'))
          .backgroundColor($r('app.color.robot_set_coord_card_grey'))
          .onClick(() => {
            this.controller.close()
            this.cancel()
          })
        Row()
          .width('2.5%')
        Button('确认')
          .fontSize($r('app.float.robot_set_font_size'))
          .fontWeight(FontWeight.Medium)
          .fontColor($r('app.color.general_font_white_color'))
          .width('32%')
          .height('50%')
          .borderRadius($r('app.float.robot_set_radius'))
          .backgroundColor($r('app.color.robot_set_card_blue'))
          .onClick(() => {
            if (this.controller != undefined) {
              this.controller.close()
              this.confirm()
            }
          })
      }
      .justifyContent(FlexAlign.Center)
      .height('24%')
      .width('100%')
    }
    .width('48%')
    .height('62%')
    .backgroundColor($r('app.color.page_general_background'))
    .justifyContent(FlexAlign.SpaceEvenly)
    .borderRadius($r('app.float.general_border_radius'))
  }
}

// 自检弹窗
@CustomDialog
struct SelfCheckDialog {
  private currentRobot: RobotInfo
  controller?: CustomDialogController
  @State checkList: RobotSelfCheck[] = []
  cancel: () => void = () => { }
  confirm: () => void = () => { }

  aboutToAppear() {
    console.log('testTag', '-----------自检弹窗' + JSON.stringify(this.currentRobot))
    if (this.currentRobot && this.currentRobot.id) {
      RobotSelfCheckModel.getListByRobotId(this.currentRobot.id).then(checks => {
        this.checkList = checks
      })
    }
  }

  build() {
    Column() {
      Row() {
        Text('自检')
          .fontSize($r('app.float.title_font_size'))
          .fontWeight(FontWeight.Medium)
          .fontColor($r('app.color.general_font_color'))
          .opacity($r('app.float.general_font_opacity'))
      }
      .height('15%')
      .alignItems(VerticalAlign.Center)

      List() {
        ForEach(this.checkList, (item: RobotSelfCheck)=>{
          ListItem(){
            Row(){
              Text(item.checkName + (item.checkStatus ? (item.checkStatus === 1 ? '正常' : '故障'): ''))
                .fontSize($r('app.float.set_card_font_size'))
                .fontWeight(FontWeight.Medium)
                .fontColor(item.checkStatus && item.checkStatus === 2 ? $r('app.color.robot_set_coord_card_red') : $r('app.color.general_font_color'))
                .opacity($r('app.float.general_font_opacity'))
              Text(item.checkTime)
                .fontSize($r('app.float.set_card_font_size'))
                .fontWeight(FontWeight.Medium)
                .fontColor($r('app.color.general_font_color'))
                .opacity($r('app.float.card_font_default_opacity'))
            }
            .width('100%')
            .padding({left: '3%', right: '3%'})
            .justifyContent(FlexAlign.SpaceBetween)
          }
        })
      }
      .height('65%')
      .width('95%')
      .alignListItem(ListItemAlign.Center)
      .borderRadius($r('app.float.general_border_radius'))
      .borderColor($r('app.color.general_border_color'))
      .borderWidth($r('app.float.general_border_width'))

      Row() {
        Button('取消')
          .fontSize($r('app.float.robot_set_font_size'))
          .fontWeight(FontWeight.Medium)
          .fontColor($r('app.color.robot_set_card_blue'))
          .width('32%')
          .height('50%')
          .borderRadius($r('app.float.robot_set_radius'))
          .backgroundColor($r('app.color.robot_set_coord_card_grey'))
          .onClick(() => {
            this.controller.close()
            this.cancel()
          })
        Row()
          .width('2.5%')
        Button('开始自检')
          .fontSize($r('app.float.robot_set_font_size'))
          .fontWeight(FontWeight.Medium)
          .fontColor($r('app.color.general_font_white_color'))
          .width('32%')
          .height('50%')
          .borderRadius($r('app.float.robot_set_radius'))
          .backgroundColor($r('app.color.robot_set_card_blue'))
          .onClick(() => {
            //   todo 调用硬件接口
            let currentTime: string = TimeUtil.getCurrentTime()
            RobotSelfCheckModel.addRobotSelfCheck(this.currentRobot.id, '自检开始', currentTime)
            let check = {id:0, robotId: this.currentRobot.id, checkName: '自检开始', checkTime: currentTime}
            this.checkList = []
            this.checkList.push(check)
            console.log('testTag', '------'+JSON.stringify(check))
            // 休眠
            let fun = () => console.log('time out');
            let sleep1= (time)=> new Promise((resolve)=>{
              setTimeout(()=>{
                currentTime = TimeUtil.getCurrentTime()
                RobotSelfCheckModel.addRobotSelfCheck(this.currentRobot.id, '检查车轮电机', currentTime).then(id =>{
                  RobotSelfCheckModel.updateStatus(id, 1, '')
                })
                let check2 = {id:0, robotId: this.currentRobot.id, checkName: '检查车轮电机', checkTime: currentTime, checkStatus: 1}
                this.checkList.push(check2)

                let sleep2= (time)=> new Promise((resolve)=>{
                  currentTime = TimeUtil.getCurrentTime()
                  setTimeout(()=>{
                    RobotSelfCheckModel.addRobotSelfCheck(this.currentRobot.id, '自检完成', currentTime)
                    this.controller.close()
                  },time)
                })
                sleep2(500).then(fun);
              },time)
            })
            sleep1(1000).then(fun);
          })
      }
      .justifyContent(FlexAlign.Center)
      .alignItems(VerticalAlign.Center)
      .height('20%')
      .width('100%')
    }
    .width('48%')
    .height('74%')
    .backgroundColor($r('app.color.page_general_background'))
    .justifyContent(FlexAlign.SpaceEvenly)
    .borderRadius($r('app.float.general_border_radius'))
  }
}

// 编辑机器人朝向弹窗
@CustomDialog
struct RobotTowardDialog {
  @State robotToward: number = 0
  private currentRobot: RobotInfo
  selectRobot : number
  @Link robots: RobotInfo[]
  controller?: CustomDialogController
  cancel: () => void = () => {}
  confirm: () => void = () => {}
  aboutToAppear(){
    if (this.currentRobot && this.currentRobot.robotToward) {
      this.robotToward = this.currentRobot.robotToward
    }
  }

  build() {
    Column() {
      Row() {
        Text('机器人朝向')
          .fontSize($r('app.float.title_font_size'))
          .fontWeight(FontWeight.Medium)
          .fontColor($r('app.color.general_font_color'))
          .opacity($r('app.float.general_font_opacity'))
      }
      .height('10%')
      .alignItems(VerticalAlign.Bottom)

      Row() {
        Text(this.currentRobot && this.currentRobot.robotCode ? this.currentRobot.robotCode : '')
          .fontSize($r('app.float.card_info_font_size'))
          .fontWeight(FontWeight.Medium)
          .fontColor($r('app.color.general_font_color'))
          .opacity($r('app.float.card_font_default_opacity'))
      }
      .height('5%')
      .width('100%')
      .justifyContent(FlexAlign.SpaceEvenly)
      Row() {
        if (this.robotToward === 1) {
          Image($r('app.media.robot_toward_x_forward'))
            .objectFit(ImageFit.Contain)
        } else if (this.robotToward === 2){
          Image($r('app.media.robot_toward_x_negative'))
            .objectFit(ImageFit.Contain)
        } else if (this.robotToward === 3){
          Image($r('app.media.robot_toward_y_forward'))
            .objectFit(ImageFit.Contain)
        } else if (this.robotToward === 4){
          Image($r('app.media.robot_toward_y_negative'))
            .objectFit(ImageFit.Auto)
        }
      }
      .height('65%')
      .width('100%')
      Row() {
        this.setTowardCard(1, '+X轴')
        this.setTowardCard(2, '-X轴')
        this.setTowardCard(3, '+Y轴')
        this.setTowardCard(4, '-Y轴')
      }
      .height('10%')
      .width('88%')
      .borderRadius($r('app.float.general_border_radius'))
      .backgroundColor($r('app.color.robot_toward_set_card_background'))
    }
    .width('48%')
    .height('74%')
    .backgroundColor($r('app.color.page_general_background'))
    .borderRadius($r('app.float.general_border_radius'))
  }

  @Builder setTowardCard(index: number, name: string) {
    Row() {
      Stack() {
        if (this.robotToward === index) {
          Text()
            .backgroundColor($r('app.color.general_card_background_color'))
            .width('100%')
            .height('100%')
            .borderRadius($r('app.float.general_border_radius'))
        }
        Text(name)
          .fontSize($r('app.float.set_card_font_size'))
          .fontColor($r('app.color.general_font_color'))
          .opacity(this.robotToward === index ? $r('app.float.card_font_select_opacity') : $r('app.float.card_font_default_opacity'))
      }
      .width('100%')
      .height('100%')
    }
    .width('25%')
    .onClick(()=>{
      this.robotToward = index
      console.log('testTag', '--------------' + index)
      if (this.currentRobot) {
        this.currentRobot.robotToward = index
        let robot = Object.assign({}, this.robots[this.selectRobot]);
        robot.robotToward = this.robotToward
        this.robots[this.selectRobot] = robot
      }
    })
  }
}