From 084faad1b2e375ee9f11db73ef60e036eb9e94c4 Mon Sep 17 00:00:00 2001 From: ywb <347742090@qq.com> Date: Wed, 20 May 2026 20:02:31 +0800 Subject: [PATCH] =?UTF-8?q?=E5=8A=A0=E5=85=A5=E4=BA=8C=E7=BB=B4=E7=A0=81?= =?UTF-8?q?=E8=AE=BE=E7=BD=AE?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- agv_app/app.py | 172 +++++++++++ agv_app/setting.js | 205 ++++++++++++- agv_app/static/css/style.css | 39 +++ agv_app/static/js/setting.js | 515 +++++++++++++-------------------- agv_app/templates/setting.html | 132 ++++++++- 5 files changed, 738 insertions(+), 325 deletions(-) diff --git a/agv_app/app.py b/agv_app/app.py index c4a7881..f06983d 100644 --- a/agv_app/app.py +++ b/agv_app/app.py @@ -51,6 +51,7 @@ class GlobalState: "positions": [] # 独立点位配置 [{row, col, side, coords, poses}] } self.machines_config = [] # 机器配置（每台机器的正面/背面点位+姿态） + self.qr_config = [] # 二维码配置（独立点位列表） self.navigator = None # Nav2Navigator 实例 self.lock = threading.Lock() @@ -112,6 +113,12 @@ def load_persisted_config(): gs.machines_config = machines_cfg print(f"[启动] 加载机器配置: {len(machines_cfg)} 台机器") + # 加载二维码配置 + qr_cfg = load_json("qr_config.json", []) + if qr_cfg: + gs.qr_config = qr_cfg + print(f"[启动] 加载二维码配置: {len(qr_cfg)} 个点位") + # 在 Flask 2.3+ 使用 @app.before_serving，兼容旧版用 before_first_request try: from flask import has_app_context @@ -783,6 +790,7 @@ def api_mission_machine_add(): "col": data.get("col", 0), "front": data.get("front", {"coords": [0, 0, 0], "poses": []}), "back": data.get("back", {"coords": [0, 0, 0], "poses": []}), + "qr": data.get("qr", {"coords": [0, 0, 0], "qr_value": "", "model_id": ""}), } gs.machines_config.append(machine) save_json("machines_config.json", gs.machines_config) @@ -807,6 +815,39 @@ def api_mission_machine_delete(machine_id): save_json("machines_config.json", gs.machines_config) return jsonify({"ok": True}) +@app.route("/api/mission/qr_scan/", methods=["POST"]) +def api_mission_qr_scan(machine_id): + """扫描二维码并关联到机器""" + if not gs.qr_scanner or not gs.qr_scanner._cap: + return jsonify({"ok": False, "error": "AGV 摄像头未打开"}), 400 + result = gs.qr_scanner.scan_once() + if result: + # 在 machines_config 和 mission_config 中查找机器 + for i, m in enumerate(gs.machines_config): + if m["id"] == machine_id: + if "qr" not in m: + m["qr"] = {"coords": [0, 0, 0], "qr_value": "", "model_id": ""} + m["qr"]["qr_value"] = result + # 尝试匹配机型（通过 serial_prefix） + matched_model = None + for model in gs.models_config: + prefix = model.get("serial_prefix", "") + if prefix and result.startswith(prefix): + matched_model = model + break + if matched_model: + m["qr"]["model_id"] = matched_model["id"] + save_json("machines_config.json", gs.machines_config) + return jsonify({ + "ok": True, + "qr_value": result, + "model_id": m["qr"].get("model_id", ""), + "model_name": matched_model["name"] if matched_model else "" + }) + return jsonify({"ok": False, "error": f"机器 {machine_id} 不存在"}), 404 + return jsonify({"ok": False, "error": "未检测到二维码"}) + + @app.route("/api/mission/poses//", methods=["GET"]) def api_mission_poses_get(machine_id, side): """获取机器指定侧的姿态列表（side: front | back）""" @@ -1272,6 +1313,137 @@ def api_mission_state(): return jsonify({"state": gs.state}) +# ========== 二维码配置 API ========== +@app.route("/api/qr/configs", methods=["GET"]) +def api_qr_configs_get(): + """获取所有二维码配置""" + return jsonify({"ok": True, "configs": gs.qr_config}) + + +@app.route("/api/qr/configs", methods=["POST"]) +def api_qr_configs_add(): + """添加二维码配置""" + data = request.json or {} + new_entry = { + "id": "qr_" + str(int(time.time() * 1000)), + "name": data.get("name", f"二维码{len(gs.qr_config) + 1}"), + "joint_angles": data.get("joint_angles", [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]), + "qr_value": "", + "model_id": "", + } + gs.qr_config.append(new_entry) + save_json("qr_config.json", gs.qr_config) + return jsonify({"ok": True, "entry": new_entry}) + + +@app.route("/api/qr/configs/", methods=["PUT"]) +def api_qr_configs_update(qr_id): + """更新二维码配置""" + data = request.json or {} + for entry in gs.qr_config: + if entry["id"] == qr_id: + if "name" in data: + entry["name"] = data["name"] + if "joint_angles" in data: + entry["joint_angles"] = data["joint_angles"] + if "qr_value" in data: + entry["qr_value"] = data["qr_value"] + if "model_id" in data: + entry["model_id"] = data["model_id"] + save_json("qr_config.json", gs.qr_config) + return jsonify({"ok": True, "entry": entry}) + return jsonify({"ok": False, "error": f"二维码 {qr_id} 不存在"}), 404 + + +@app.route("/api/qr/configs/", methods=["DELETE"]) +def api_qr_configs_delete(qr_id): + """删除二维码配置""" + for i, entry in enumerate(gs.qr_config): + if entry["id"] == qr_id: + gs.qr_config.pop(i) + save_json("qr_config.json", gs.qr_config) + return jsonify({"ok": True}) + return jsonify({"ok": False, "error": f"二维码 {qr_id} 不存在"}), 404 + + +@app.route("/api/qr/configs//read-angles", methods=["POST"]) +def api_qr_read_angles(qr_id): + """读取机械臂当前关节角度并保存到指定二维码配置""" + if not gs.arm_client: + return jsonify({"ok": False, "error": "机械臂未连接"}), 400 + ok, angles = gs.arm_client.get_angles() + if not ok or not angles: + return jsonify({"ok": False, "error": "无法读取机械臂角度"}), 400 + for entry in gs.qr_config: + if entry["id"] == qr_id: + entry["joint_angles"] = list(angles) + save_json("qr_config.json", gs.qr_config) + return jsonify({"ok": True, "joint_angles": entry["joint_angles"]}) + return jsonify({"ok": False, "error": f"二维码 {qr_id} 不存在"}), 404 + + +@app.route("/api/qr/scan/", methods=["POST"]) +def api_qr_config_scan(qr_id): + """获取机械臂摄像头图像，识别二维码并保存到指定配置项""" + import requests + try: + import cv2 + import numpy as np + # 从机械臂摄像头拉取一帧 JPEG + r = requests.get(ARM_CAMERA_CONFIG["url"], stream=True, timeout=5) + if r.status_code != 200: + return jsonify({"ok": False, "error": "无法连接机械臂摄像头"}), 400 + data = b"" + for chunk in r.iter_content(chunk_size=4096): + data += chunk + s = data.find(b"\xff\xd8") + e = data.find(b"\xff\xd9", s + 2) if s >= 0 else -1 + if s >= 0 and e > s: + r.close() + jpg_bytes = data[s:e+2] + # 解码为 numpy 数组并检测二维码 + nparr = np.frombuffer(jpg_bytes, np.uint8) + frame = cv2.imdecode(nparr, cv2.IMREAD_COLOR) + if frame is None: + return jsonify({"ok": False, "error": "图像解码失败"}), 400 + # 使用 OpenCV QRCodeDetector 检测 + detector = cv2.QRCodeDetector() + result, _, _ = detector.detectAndDecode(frame) + if result and len(result.strip()) > 0: + result = result.strip() + # 保存到配置项 + for entry in gs.qr_config: + if entry["id"] == qr_id: + entry["qr_value"] = result + # 尝试匹配机型 + matched_model = None + for model in gs.models_config: + prefix = model.get("serial_prefix", "") + if prefix and result.startswith(prefix): + matched_model = model + break + if matched_model: + entry["model_id"] = matched_model["id"] + save_json("qr_config.json", gs.qr_config) + return jsonify({ + "ok": True, + "qr_value": result, + "model_id": entry.get("model_id", ""), + "model_name": matched_model["name"] if matched_model else "" + }) + return jsonify({"ok": False, "error": f"二维码 {qr_id} 不存在"}), 404 + else: + return jsonify({"ok": False, "error": "未检测到二维码"}) + if len(data) > 1024 * 1024: + r.close() + return jsonify({"ok": False, "error": "摄像头数据流异常"}), 400 + r.close() + return jsonify({"ok": False, "error": "未收到完整图像帧"}), 400 + except Exception as ex: + logger.error(f"QR 扫描机械臂摄像头失败: {ex}") + return jsonify({"ok": False, "error": f"扫描失败: {str(ex)}"}), 400 + + # ========== 静态资源 ========== @app.route("/photos/") def photos(name): diff --git a/agv_app/setting.js b/agv_app/setting.js index e20f9de..076270c 100644 --- a/agv_app/setting.js +++ b/agv_app/setting.js @@ -45,13 +45,31 @@ createApp({ agvMoveInterval: null, agvCameraUrl: API + '/api/camera/refresh', agvCameraTimer: null, + // QR + qrScanning: false, + qrConfigs: [], + qrScanningId: null, + armCameraUrl: API + '/api/camera/arm_refresh', + newQrName: '', } }, mounted() { this.refresh() this.refreshAngles() + this.loadQrConfigs() this.nav2Timer = setInterval(this.refreshNavStatus, 3000) }, + computed: { + hasQr() { + return !!(this.selectedMachine && this.selectedMachine.qr) + }, + hasQrValue() { + return !!(this.selectedMachine && this.selectedMachine.qr && this.selectedMachine.qr.qr_value) + }, + hasQrModelId() { + return !!(this.selectedMachine && this.selectedMachine.qr && this.selectedMachine.qr.model_id) + } + }, watch: { tab(val) { if (val === 'agv') { @@ -339,13 +357,22 @@ createApp({ try { const res = await fetch(API + '/api/mission/machines') const data = await res.json() - this.missionConfig.machines = data.machines || [] + this.missionConfig.machines = (data.machines || []).map(m => { + if (!m.front) m.front = { coords: [0,0,0], poses: [] } + if (!m.back) m.back = { coords: [0,0,0], poses: [] } + if (!m.qr) m.qr = { coords: [0,0,0], qr_value: '', model_id: '' } + return m + }) } catch (e) { console.error('加载机器列表失败', e) } }, getMachineAt(ri, ci) { if (!this.missionConfig.machines) return null return this.missionConfig.machines.find(m => m.row === ri && m.col === ci) || null }, + getPointAt(ri, ci) { + if (!this.missionConfig.positions) return null + return this.missionConfig.positions.find(p => p.row === ri && p.col === ci) || null + }, getPositionAt(ri, ci) { if (!this.missionConfig.machines) return null const machine = this.getMachineAt(ri, ci) @@ -380,7 +407,8 @@ createApp({ row: ri, col: ci, front: { coords: [0, 0, 0], poses: [] }, - back: { coords: [0, 0, 0], poses: [] } + back: { coords: [0, 0, 0], poses: [] }, + qr: { coords: [0, 0, 0], qr_value: '', model_id: '' } }) }) const data = await res.json() @@ -397,6 +425,8 @@ createApp({ else if (!Array.isArray(machine.front.coords)) machine.front.coords = [0, 0, 0] if (!machine.back) machine.back = { coords: [0, 0, 0], poses: [] } else if (!Array.isArray(machine.back.coords)) machine.back.coords = [0, 0, 0] + if (!machine.qr) machine.qr = { coords: [0, 0, 0], qr_value: '', model_id: '' } + else if (!Array.isArray(machine.qr.coords)) machine.qr.coords = [0, 0, 0] this.selectedMachine = machine }, clearSelection() { @@ -418,7 +448,8 @@ createApp({ headers: { 'Content-Type': 'application/json' }, body: JSON.stringify({ front: this.selectedMachine.front, - back: this.selectedMachine.back + back: this.selectedMachine.back, + qr: this.selectedMachine.qr || { coords: [0, 0, 0], qr_value: '', model_id: '' } }) }) if (res.ok) { @@ -614,6 +645,174 @@ createApp({ async agvStop() { await fetch(API + '/api/agv/stop', { method: 'POST' }) }, + // === QR 安全访问器（避免 v-model 在 v-if 内因 Vue 编译器优化导致 undefined 报错）=== + machineHasQr(m) { + if (!m || !m.qr || !m.qr.coords || m.qr.coords.length < 2) return false + return m.qr.coords[0] !== 0 || m.qr.coords[1] !== 0 + }, + qrMarkerStyle(m) { + if (!this.machineHasQr(m)) return { display: 'none' } + return { left: this.getMapX(m.qr.coords) + '%', top: this.getMapY(m.qr.coords) + '%' } + }, + qrMarkerTitle(m) { + if (!m || !m.qr) return '' + return 'QR: ' + (m.qr.qr_value || '未扫描') + }, + safeQr(key) { + if (!this.selectedMachine || !this.selectedMachine.qr) return '' + return this.selectedMachine.qr[key] ?? '' + }, + safeQrCoord(idx) { + if (!this.selectedMachine || !this.selectedMachine.qr || !this.selectedMachine.qr.coords) return 0 + return this.selectedMachine.qr.coords[idx] !== undefined ? this.selectedMachine.qr.coords[idx] : 0 + }, + setQrCoord(idx, val) { + if (this.selectedMachine && this.selectedMachine.qr && this.selectedMachine.qr.coords) { + this.selectedMachine.qr.coords[idx] = val + } + }, + safeQrModelName() { + if (!this.selectedMachine || !this.selectedMachine.qr || !this.selectedMachine.qr.model_id) return '' + return this.getModelName(this.selectedMachine.qr.model_id) + }, + // === QR 二维码 === + async readQRPosition() { + if (!this.agvConnected) { alert('AGV 未连接'); return } + try { + const res = await fetch(API + '/api/agv/position') + const data = await res.json() + if (data.ok && data.position) { + const [x, y, theta] = data.position + if (!this.selectedMachine.qr) this.selectedMachine.qr = { coords: [0, 0, 0], qr_value: '', model_id: '' } + this.selectedMachine.qr.coords = [x, y, theta] + } else { + alert('读取位置失败: ' + (data.error || '未知错误')) + } + } catch (e) { alert('读取位置失败: ' + e.message) } + }, + async scanQRCode(machineId) { + if (!this.cameraOpened) { alert('AGV 摄像头未打开'); return } + this.qrScanning = true + try { + const res = await fetch(API + '/api/mission/qr_scan/' + machineId, { method: 'POST' }) + const data = await res.json() + if (data.ok) { + await this.loadAllMachines() + const updated = this.getMachineAt(this.selectedMachine.row, this.selectedMachine.col) + if (updated) this.selectMachine(updated) + let msg = '✅ 扫描成功: ' + data.qr_value + if (data.model_name) msg += ' → 匹配机型: ' + data.model_name + else msg += ' → 未匹配到机型' + alert(msg) + } else { + alert('❌ ' + (data.error || '扫描失败')) + } + } catch (e) { alert('扫描失败: ' + e.message) } + this.qrScanning = false + }, + // ========== 二维码配置（独立 Tab）========== + async loadQrConfigs() { + try { + const res = await fetch(API + '/api/qr/configs') + const data = await res.json() + this.qrConfigs = (data.configs || []).map(c => { + // 兼容旧版的 coords → 转为 joint_angles + if (!c.joint_angles || !Array.isArray(c.joint_angles)) { + c.joint_angles = [0, 0, 0, 0, 0, 0] + } + return c + }) + } catch (e) { console.error('加载二维码配置失败', e) } + }, + async addQrConfig() { + const name = this.newQrName.trim() || '' + try { + const res = await fetch(API + '/api/qr/configs', { + method: 'POST', headers: {'Content-Type':'application/json'}, + body: JSON.stringify({ name: name || undefined }) + }) + const data = await res.json() + if (data.ok) { + this.qrConfigs.push(data.entry) + this.newQrName = '' + } + } catch (e) { alert('添加失败: ' + e.message) } + }, + getQrAngle(q, idx) { + if (!q || !q.joint_angles || !Array.isArray(q.joint_angles)) return 0 + return q.joint_angles[idx] !== undefined ? q.joint_angles[idx] : 0 + }, + async updateQrAngle(qrId, idx, val) { + const q = this.qrConfigs.find(x => x.id === qrId) + if (!q) return + if (!q.joint_angles || !Array.isArray(q.joint_angles)) q.joint_angles = [0,0,0,0,0,0] + q.joint_angles[idx] = parseFloat(val) || 0 + try { + await fetch(API + '/api/qr/configs/' + qrId, { + method: 'PUT', headers: {'Content-Type':'application/json'}, + body: JSON.stringify({ joint_angles: q.joint_angles }) + }) + } catch (e) { console.error('保存角度失败', e) } + }, + async readQrAngles(qrId) { + if (!this.armConnected) { alert('机械臂未连接'); return } + try { + const res = await fetch(API + '/api/qr/configs/' + qrId + '/read-angles', { method: 'POST' }) + const data = await res.json() + if (data.ok) { + const q = this.qrConfigs.find(x => x.id === qrId) + if (q && data.joint_angles) { + q.joint_angles = data.joint_angles + } + } else { + alert('读取角度失败: ' + (data.error || '未知错误')) + } + } catch (e) { alert('读取角度失败: ' + e.message) } + }, + async saveQrConfig(qrId) { + const q = this.qrConfigs.find(x => x.id === qrId) + if (!q) return + try { + const res = await fetch(API + '/api/qr/configs/' + qrId, { + method: 'PUT', headers: {'Content-Type':'application/json'}, + body: JSON.stringify({ name: q.name }) + }) + if (!res.ok) alert('保存名称失败') + } catch (e) { alert('保存失败: ' + e.message) } + }, + async deleteQrConfig(qrId) { + if (!confirm('确定删除此二维码点位？')) return + try { + await fetch(API + '/api/qr/configs/' + qrId, { method: 'DELETE' }) + this.qrConfigs = this.qrConfigs.filter(x => x.id !== qrId) + } catch (e) { alert('删除失败: ' + e.message) } + }, + getQrModelName(modelId) { + const model = this.models.find(m => m.id === modelId) + return model ? model.name : '' + }, + getModelName(modelId) { + const model = this.models.find(m => m.id === modelId) + return model ? model.name : '' + }, + async scanQrEntry(qrId) { + this.qrScanningId = qrId + try { + const res = await fetch(API + '/api/qr/scan/' + qrId, { method: 'POST' }) + const data = await res.json() + if (data.ok) { + await this.loadQrConfigs() + let msg = '扫描成功: ' + data.qr_value + if (data.model_name) msg += ' 匹配机型: ' + data.model_name + else msg += ' 未匹配到机型' + alert(msg) + } else { alert(data.error || '扫描失败') } + } catch (e) { alert('扫描失败: ' + e.message) } + this.qrScanningId = null + }, + onArmPreviewError() { + // 机械臂摄像头预览失败，静默处理 + }, async agvResetCollision() { if (!this.agvConnected) { alert('AGV 未连接') diff --git a/agv_app/static/css/style.css b/agv_app/static/css/style.css index 3eb5073..8126dc0 100644 --- a/agv_app/static/css/style.css +++ b/agv_app/static/css/style.css @@ -735,3 +735,42 @@ a:hover { text-decoration: underline; } 0%, 100% { transform: scale(1); opacity: 1; } 50% { transform: scale(1.3); opacity: 0.7; } } + +/* 二维码位置点 */ +.qr-dot { + width: 12px !important; + height: 12px !important; + background: #ff9800 !important; + border: 2px solid #fff !important; + border-radius: 3px !important; + box-shadow: 0 0 8px #ff9800, 0 0 14px #ff980088 !important; + animation: qr-pulse 2s ease-in-out infinite !important; + z-index: 10 !important; +} +@keyframes qr-pulse { + 0%, 100% { transform: scale(1); opacity: 1; } + 50% { transform: scale(1.2); opacity: 0.6; } +} + +/* 机器行：有机/无机器 切换 */ +.machine-toggle { + display: flex; + align-items: center; + gap: 6px; + cursor: pointer; + user-select: none; +} +.machine-toggle input[type="checkbox"] { + accent-color: #4caf50; + width: 16px; + height: 16px; + cursor: pointer; +} +.machine-status.on { + color: #4caf50; + font-size: 12px; +} +.machine-status.off { + color: #666; + font-size: 12px; +} diff --git a/agv_app/static/js/setting.js b/agv_app/static/js/setting.js index e8d568c..076270c 100644 --- a/agv_app/static/js/setting.js +++ b/agv_app/static/js/setting.js @@ -11,7 +11,7 @@ createApp({ sequence: [], poseForm: { name: '', photo_type: 'front', description: '' }, // 地图 - mapForm: { map_dir: '/home/elephant/agv_pro_ros2/install/agv_pro_navigation2/share/agv_pro_navigation2/map/', map_file: 'map.yaml' }, + mapForm: { map_dir: '/home/elephant/agv_pro_ros2/src/agv_pro_navigation2/map/', map_file: 'map.yaml' }, mapMsg: '', mapLoaded: false, mapImageUrl: '', @@ -22,8 +22,6 @@ createApp({ nav2Available: false, // 点位 points: [], - editingPoint: null, // 当前编辑的点位 {pointRow, col} - pointEditor: { x: 0, y: 0, yaw: 0 }, newPointName: '', newPointMode: 'front', newPointSequence: ['front', 'back'], @@ -47,18 +45,31 @@ createApp({ agvMoveInterval: null, agvCameraUrl: API + '/api/camera/refresh', agvCameraTimer: null, - // 初始化定位 - initPoseLoading: false, - initPoseMsg: '', - initAmclPoseLoading: false, - initAmclPoseMsg: '', + // QR + qrScanning: false, + qrConfigs: [], + qrScanningId: null, + armCameraUrl: API + '/api/camera/arm_refresh', + newQrName: '', } }, mounted() { this.refresh() this.refreshAngles() + this.loadQrConfigs() this.nav2Timer = setInterval(this.refreshNavStatus, 3000) }, + computed: { + hasQr() { + return !!(this.selectedMachine && this.selectedMachine.qr) + }, + hasQrValue() { + return !!(this.selectedMachine && this.selectedMachine.qr && this.selectedMachine.qr.qr_value) + }, + hasQrModelId() { + return !!(this.selectedMachine && this.selectedMachine.qr && this.selectedMachine.qr.model_id) + } + }, watch: { tab(val) { if (val === 'agv') { @@ -135,12 +146,9 @@ createApp({ const res = await fetch(API + '/api/navigate/status') if (res.ok) { const data = await res.json() - this.nav2Available = data.nav2_available || false - // API returns "current_position", normalize to our field - const cp = data.current_position || data.current_pos || null - if (cp) { - this.navCurrentPos = cp - console.log('[Setting] nav2:', data.nav2_available, 'cp:', cp.map(function(x){return x.toFixed(2)}), 'mapLoaded:', this.mapLoaded, 'mapMeta:', this.mapMeta ? 'ok' : 'null') + this.nav2Available = data.nav2_available + if (data.current_pos) { + this.navCurrentPos = data.current_pos } } } catch (e) {} @@ -153,8 +161,6 @@ createApp({ const { resolution, origin } = this.mapMeta const wx = origin[0] + px * resolution * this.mapMeta.width const wy = origin[1] + (1 - py) * resolution * this.mapMeta.height - // 确认框 - if (!confirm(`确定导航到坐标 (${wx.toFixed(2)}, ${wy.toFixed(2)}) 吗？`)) return try { const res = await fetch(API + '/api/navigate/to', { method: 'POST', @@ -307,8 +313,6 @@ createApp({ this.missionConfig.rows = data.config.rows || 3 this.missionConfig.cols = data.config.cols || 3 this.missionConfig.grid = data.config.grid || [] - this.missionConfig.positions = data.config.positions || [] - this.missionConfig.machines = data.config.machines || [] } } catch (e) { console.error('加载任务配置失败', e) } }, @@ -353,13 +357,22 @@ createApp({ try { const res = await fetch(API + '/api/mission/machines') const data = await res.json() - this.missionConfig.machines = data.machines || [] + this.missionConfig.machines = (data.machines || []).map(m => { + if (!m.front) m.front = { coords: [0,0,0], poses: [] } + if (!m.back) m.back = { coords: [0,0,0], poses: [] } + if (!m.qr) m.qr = { coords: [0,0,0], qr_value: '', model_id: '' } + return m + }) } catch (e) { console.error('加载机器列表失败', e) } }, getMachineAt(ri, ci) { if (!this.missionConfig.machines) return null return this.missionConfig.machines.find(m => m.row === ri && m.col === ci) || null }, + getPointAt(ri, ci) { + if (!this.missionConfig.positions) return null + return this.missionConfig.positions.find(p => p.row === ri && p.col === ci) || null + }, getPositionAt(ri, ci) { if (!this.missionConfig.machines) return null const machine = this.getMachineAt(ri, ci) @@ -394,7 +407,8 @@ createApp({ row: ri, col: ci, front: { coords: [0, 0, 0], poses: [] }, - back: { coords: [0, 0, 0], poses: [] } + back: { coords: [0, 0, 0], poses: [] }, + qr: { coords: [0, 0, 0], qr_value: '', model_id: '' } }) }) const data = await res.json() @@ -411,6 +425,8 @@ createApp({ else if (!Array.isArray(machine.front.coords)) machine.front.coords = [0, 0, 0] if (!machine.back) machine.back = { coords: [0, 0, 0], poses: [] } else if (!Array.isArray(machine.back.coords)) machine.back.coords = [0, 0, 0] + if (!machine.qr) machine.qr = { coords: [0, 0, 0], qr_value: '', model_id: '' } + else if (!Array.isArray(machine.qr.coords)) machine.qr.coords = [0, 0, 0] this.selectedMachine = machine }, clearSelection() { @@ -432,7 +448,8 @@ createApp({ headers: { 'Content-Type': 'application/json' }, body: JSON.stringify({ front: this.selectedMachine.front, - back: this.selectedMachine.back + back: this.selectedMachine.back, + qr: this.selectedMachine.qr || { coords: [0, 0, 0], qr_value: '', model_id: '' } }) }) if (res.ok) { @@ -628,6 +645,174 @@ createApp({ async agvStop() { await fetch(API + '/api/agv/stop', { method: 'POST' }) }, + // === QR 安全访问器（避免 v-model 在 v-if 内因 Vue 编译器优化导致 undefined 报错）=== + machineHasQr(m) { + if (!m || !m.qr || !m.qr.coords || m.qr.coords.length < 2) return false + return m.qr.coords[0] !== 0 || m.qr.coords[1] !== 0 + }, + qrMarkerStyle(m) { + if (!this.machineHasQr(m)) return { display: 'none' } + return { left: this.getMapX(m.qr.coords) + '%', top: this.getMapY(m.qr.coords) + '%' } + }, + qrMarkerTitle(m) { + if (!m || !m.qr) return '' + return 'QR: ' + (m.qr.qr_value || '未扫描') + }, + safeQr(key) { + if (!this.selectedMachine || !this.selectedMachine.qr) return '' + return this.selectedMachine.qr[key] ?? '' + }, + safeQrCoord(idx) { + if (!this.selectedMachine || !this.selectedMachine.qr || !this.selectedMachine.qr.coords) return 0 + return this.selectedMachine.qr.coords[idx] !== undefined ? this.selectedMachine.qr.coords[idx] : 0 + }, + setQrCoord(idx, val) { + if (this.selectedMachine && this.selectedMachine.qr && this.selectedMachine.qr.coords) { + this.selectedMachine.qr.coords[idx] = val + } + }, + safeQrModelName() { + if (!this.selectedMachine || !this.selectedMachine.qr || !this.selectedMachine.qr.model_id) return '' + return this.getModelName(this.selectedMachine.qr.model_id) + }, + // === QR 二维码 === + async readQRPosition() { + if (!this.agvConnected) { alert('AGV 未连接'); return } + try { + const res = await fetch(API + '/api/agv/position') + const data = await res.json() + if (data.ok && data.position) { + const [x, y, theta] = data.position + if (!this.selectedMachine.qr) this.selectedMachine.qr = { coords: [0, 0, 0], qr_value: '', model_id: '' } + this.selectedMachine.qr.coords = [x, y, theta] + } else { + alert('读取位置失败: ' + (data.error || '未知错误')) + } + } catch (e) { alert('读取位置失败: ' + e.message) } + }, + async scanQRCode(machineId) { + if (!this.cameraOpened) { alert('AGV 摄像头未打开'); return } + this.qrScanning = true + try { + const res = await fetch(API + '/api/mission/qr_scan/' + machineId, { method: 'POST' }) + const data = await res.json() + if (data.ok) { + await this.loadAllMachines() + const updated = this.getMachineAt(this.selectedMachine.row, this.selectedMachine.col) + if (updated) this.selectMachine(updated) + let msg = '✅ 扫描成功: ' + data.qr_value + if (data.model_name) msg += ' → 匹配机型: ' + data.model_name + else msg += ' → 未匹配到机型' + alert(msg) + } else { + alert('❌ ' + (data.error || '扫描失败')) + } + } catch (e) { alert('扫描失败: ' + e.message) } + this.qrScanning = false + }, + // ========== 二维码配置（独立 Tab）========== + async loadQrConfigs() { + try { + const res = await fetch(API + '/api/qr/configs') + const data = await res.json() + this.qrConfigs = (data.configs || []).map(c => { + // 兼容旧版的 coords → 转为 joint_angles + if (!c.joint_angles || !Array.isArray(c.joint_angles)) { + c.joint_angles = [0, 0, 0, 0, 0, 0] + } + return c + }) + } catch (e) { console.error('加载二维码配置失败', e) } + }, + async addQrConfig() { + const name = this.newQrName.trim() || '' + try { + const res = await fetch(API + '/api/qr/configs', { + method: 'POST', headers: {'Content-Type':'application/json'}, + body: JSON.stringify({ name: name || undefined }) + }) + const data = await res.json() + if (data.ok) { + this.qrConfigs.push(data.entry) + this.newQrName = '' + } + } catch (e) { alert('添加失败: ' + e.message) } + }, + getQrAngle(q, idx) { + if (!q || !q.joint_angles || !Array.isArray(q.joint_angles)) return 0 + return q.joint_angles[idx] !== undefined ? q.joint_angles[idx] : 0 + }, + async updateQrAngle(qrId, idx, val) { + const q = this.qrConfigs.find(x => x.id === qrId) + if (!q) return + if (!q.joint_angles || !Array.isArray(q.joint_angles)) q.joint_angles = [0,0,0,0,0,0] + q.joint_angles[idx] = parseFloat(val) || 0 + try { + await fetch(API + '/api/qr/configs/' + qrId, { + method: 'PUT', headers: {'Content-Type':'application/json'}, + body: JSON.stringify({ joint_angles: q.joint_angles }) + }) + } catch (e) { console.error('保存角度失败', e) } + }, + async readQrAngles(qrId) { + if (!this.armConnected) { alert('机械臂未连接'); return } + try { + const res = await fetch(API + '/api/qr/configs/' + qrId + '/read-angles', { method: 'POST' }) + const data = await res.json() + if (data.ok) { + const q = this.qrConfigs.find(x => x.id === qrId) + if (q && data.joint_angles) { + q.joint_angles = data.joint_angles + } + } else { + alert('读取角度失败: ' + (data.error || '未知错误')) + } + } catch (e) { alert('读取角度失败: ' + e.message) } + }, + async saveQrConfig(qrId) { + const q = this.qrConfigs.find(x => x.id === qrId) + if (!q) return + try { + const res = await fetch(API + '/api/qr/configs/' + qrId, { + method: 'PUT', headers: {'Content-Type':'application/json'}, + body: JSON.stringify({ name: q.name }) + }) + if (!res.ok) alert('保存名称失败') + } catch (e) { alert('保存失败: ' + e.message) } + }, + async deleteQrConfig(qrId) { + if (!confirm('确定删除此二维码点位？')) return + try { + await fetch(API + '/api/qr/configs/' + qrId, { method: 'DELETE' }) + this.qrConfigs = this.qrConfigs.filter(x => x.id !== qrId) + } catch (e) { alert('删除失败: ' + e.message) } + }, + getQrModelName(modelId) { + const model = this.models.find(m => m.id === modelId) + return model ? model.name : '' + }, + getModelName(modelId) { + const model = this.models.find(m => m.id === modelId) + return model ? model.name : '' + }, + async scanQrEntry(qrId) { + this.qrScanningId = qrId + try { + const res = await fetch(API + '/api/qr/scan/' + qrId, { method: 'POST' }) + const data = await res.json() + if (data.ok) { + await this.loadQrConfigs() + let msg = '扫描成功: ' + data.qr_value + if (data.model_name) msg += ' 匹配机型: ' + data.model_name + else msg += ' 未匹配到机型' + alert(msg) + } else { alert(data.error || '扫描失败') } + } catch (e) { alert('扫描失败: ' + e.message) } + this.qrScanningId = null + }, + onArmPreviewError() { + // 机械臂摄像头预览失败，静默处理 + }, async agvResetCollision() { if (!this.agvConnected) { alert('AGV 未连接') @@ -648,293 +833,5 @@ createApp({ alert('❌ 复位请求失败: ' + e.message) } }, - async initPose() { - if (!this.agvConnected) { alert('AGV 未连接'); return } - if (!confirm('确定要将 AMCL 初始位置设为 (0,0,0) 吗？这会重置定位。')) return - this.initPoseLoading = true - this.initPoseMsg = '' - try { - const res = await fetch(API + '/api/mission/init_pose', { method: 'POST' }) - const data = await res.json() - if (data.ok) { - this.initPoseMsg = '✅ ' + (data.message || '初始化成功') - } else { - this.initPoseMsg = '❌ ' + (data.error || '初始化失败') - } - } catch (e) { - this.initPoseMsg = '❌ 请求失败: ' + e.message - } - this.initPoseLoading = false - setTimeout(() => { this.initPoseMsg = '' }, 5000) - }, - async initAmclPose() { - if (!this.agvConnected) { alert('AGV 未连接'); return } - if (!confirm('确定要将 AMCL 初始位置设为 (0,0,0) 吗？这会重置定位。')) return - this.initAmclPoseLoading = true - this.initAmclPoseMsg = '' - try { - const res = await fetch(API + '/api/mission/init_pose', { method: 'POST' }) - const data = await res.json() - if (data.ok) { - this.initAmclPoseMsg = '✅ ' + (data.message || '初始化成功') - } else { - this.initAmclPoseMsg = '❌ ' + (data.error || '初始化失败') - } - } catch (e) { - this.initAmclPoseMsg = '❌ 请求失败: ' + e.message - } - this.initAmclPoseLoading = false - setTimeout(() => { this.initAmclPoseMsg = '' }, 5000) - }, - - getPointAt(pointRow, col) { - var positions = this.missionConfig.positions || [] - // 在独立 positions 数组中查找 (pointRow, col) - for (var i = 0; i < positions.length; i++) { - var p = positions[i] - if (parseInt(p.row) === pointRow && parseInt(p.col) === col) { - // 优先找 shoot，其次找 front/back - if (p.side === 'shoot') return p - // 再看有没有同一(row,col)的shoot - } - } - // 再找同(row,col)的shoot类型 - for (var i = 0; i < positions.length; i++) { - var p = positions[i] - if (parseInt(p.row) === pointRow && parseInt(p.col) === col && p.side === 'shoot') { - return p - } - } - // 兼容旧数据：尝试从机器对象的 front/back 获取 - var machineAbove = this.getMachineAt(pointRow - 1, col) // 上面的机器 - var machineBelow = this.getMachineAt(pointRow, col) // 下面的机器 - if (pointRow === 0 && machineBelow) { - // 第一个点位行 → 下面机器的正面 - return machineBelow.front || { coords: [0, 0, 0], poses: [] } - } - if (pointRow === this.missionConfig.rows && machineAbove) { - // 最后一个点位行 → 上面机器的背面 - return machineAbove.back || { coords: [0, 0, 0], poses: [] } - } - // 中间点位行：优先返回上面机器的背面 - if (machineAbove && machineAbove.back) { - return machineAbove.back - } - if (machineBelow && machineBelow.front) { - return machineBelow.front - } - return null - }, - - // 点位归属标签 - getPointOwnerLabel(pointRow, col) { - var rows = this.missionConfig.rows - var labels = [] - if (pointRow === 0) { - var m = this.getMachineAt(0, col) - if (m) labels.push('机器' + (m.row + 1) + '正面') - } else if (pointRow === rows) { - var m2 = this.getMachineAt(rows - 1, col) - if (m2) labels.push('机器' + (m2.row + 1) + '背面') - } else { - var mAbove = this.getMachineAt(pointRow - 1, col) - var mBelow = this.getMachineAt(pointRow, col) - if (mAbove) labels.push('机器' + (mAbove.row + 1) + '背面') - if (mBelow) labels.push('机器' + (mBelow.row + 1) + '正面') - } - if (labels.length === 0) return '第' + (col + 1) + '列 · 无归属' - return '第' + (col + 1) + '列 · ' + labels.join('/') - }, - - canClearPoint(pointRow, col) { - var rows = this.missionConfig.rows - if (pointRow > 0 && pointRow <= rows) { - var mAbove = this.getMachineAt(pointRow - 1, col) - if (mAbove) return false - } - if (pointRow >= 0 && pointRow < rows) { - var mBelow = this.getMachineAt(pointRow, col) - if (mBelow) return false - } - return true - }, - - openPointEdit(pointRow, col) { - var existing = this.getPointAt(pointRow, col) - if (existing && existing.coords) { - this.pointEditor.x = existing.coords[0] !== undefined ? existing.coords[0] : 0 - this.pointEditor.y = existing.coords[1] !== undefined ? existing.coords[1] : 0 - this.pointEditor.yaw = existing.coords[2] !== undefined ? existing.coords[2] : 0 - } else { - this.pointEditor.x = 0 - this.pointEditor.y = 0 - this.pointEditor.yaw = 0 - } - this.editingPoint = { pointRow: pointRow, col: col } - }, - - closePointEdit() { - this.editingPoint = null - }, - - async loadPointFromAgv() { - if (!this.agvConnected) { alert('请先连接AGV'); return } - try { - const res = await fetch(API + '/api/agv/position') - const pos = await res.json() - if (pos.ok && pos.position && Array.isArray(pos.position)) { - this.pointEditor.x = pos.position[0] ?? 0 - this.pointEditor.y = pos.position[1] ?? 0 - this.pointEditor.yaw = pos.position[2] ?? 0 - alert('✅ 已读取AGV位置: (' + this.pointEditor.x.toFixed(2) + ', ' + this.pointEditor.y.toFixed(2) + ', ' + this.pointEditor.yaw.toFixed(2) + ')') - } else if (pos.ok && (!pos.position || !Array.isArray(pos.position))) { - alert('⚠️ AGV 未发布位置数据，请检查 AGV 传感器是否正常') - } else { - alert('读取AGV位置失败: ' + (pos.error || '未知错误')) - } - } catch (e) { alert('读取AGV位置失败: ' + e.message) } - }, - - async savePoint() { - if (!this.editingPoint) return - var pointRow = this.editingPoint.pointRow - var col = this.editingPoint.col - var coords = [this.pointEditor.x, this.pointEditor.y, this.pointEditor.yaw] - try { - var saveRes = await fetch(API + '/api/mission/positions', { - method: 'POST', - headers: { 'Content-Type': 'application/json' }, - body: JSON.stringify({ - row: pointRow, col: col, side: 'shoot', coords: coords, poses: [] - }) - }) - var saveData = await saveRes.json() - if (!saveData.ok) { alert('保存点位失败: ' + (saveData.error || '未知错误')); return } - this.syncPointToMachines(pointRow, col, coords) - await this.loadMissionConfig() - alert('✅ 点位坐标已保存: (' + coords[0].toFixed(2) + ', ' + coords[1].toFixed(2) + ', ' + coords[2].toFixed(2) + ')') - this.closePointEdit() - } catch (e) { alert('保存点位失败: ' + e.message) } - }, - - syncPointToMachines(pointRow, col, coords) { - var rows = this.missionConfig.rows - if (pointRow === 0) { - var m0 = this.getMachineAt(0, col) - if (m0) this.updateMachineSide(m0, 'front', coords) - return - } - if (pointRow === rows) { - var mLast = this.getMachineAt(rows - 1, col) - if (mLast) this.updateMachineSide(mLast, 'back', coords) - return - } - var mAbove = this.getMachineAt(pointRow - 1, col) - var mBelow = this.getMachineAt(pointRow, col) - if (mAbove) this.updateMachineSide(mAbove, 'back', coords) - if (mBelow) this.updateMachineSide(mBelow, 'front', coords) - }, - - async updateMachineSide(machine, side, coords) { - try { - var update = {} - update[side] = { coords: coords, poses: (machine[side] && machine[side].poses) ? machine[side].poses : [] } - await fetch(API + '/api/mission/machines/' + machine.id, { - method: 'PUT', headers: { 'Content-Type': 'application/json' }, - body: JSON.stringify(update) - }) - } catch (e) { console.error('同步机器坐标失败', e) } - }, - - async clearPoint() { - if (!this.editingPoint) return - var pointRow = this.editingPoint.pointRow - var col = this.editingPoint.col - if (!this.canClearPoint(pointRow, col)) { - var ownerLabel = this.getPointOwnerLabel(pointRow, col) - alert('⚠️ 无法清空！此点位服务于: ' + ownerLabel + '\n必须先移除相关机器才能清空此点位。') - return - } - if (!confirm('确定清空此点位坐标？')) return - try { - await fetch(API + '/api/mission/positions/' + pointRow + '/' + col, { method: 'DELETE' }) - await this.loadMissionConfig() - alert('✅ 点位已清空') - this.closePointEdit() - } catch (e) { alert('清空点位失败: ' + e.message) } - }, - - async navigateToPoint() { - if (!this.editingPoint || !this.pointEditor) return - var coords = [this.pointEditor.x, this.pointEditor.y, this.pointEditor.yaw] - if (!confirm('确定导航到点位 (' + coords[0].toFixed(2) + ', ' + coords[1].toFixed(2) + ') 吗？')) return - try { - var res = await fetch(API + '/api/navigate/to', { - method: 'POST', headers: { 'Content-Type': 'application/json' }, - body: JSON.stringify({ x: coords[0], y: coords[1], yaw: coords[2] }) - }) - var data = await res.json() - if (data.ok) { - alert('✅ 导航已启动') - } else { - alert('❌ ' + (data.error || '导航启动失败')) - } - } catch (e) { alert('导航请求失败: ' + e.message) } - }, - - async refreshPoseAngles(modelId, poseId) { - if (!this.armConnected) { alert('机械臂未连接'); return } - try { - var res = await fetch(API + '/api/arm/get_angles') - var data = await res.json() - if (data.ok && data.angles) { - var model = this.models.find(m => m.id === modelId) - if (model) { - var pose = model.poses.find(p => p.id === poseId) - if (pose) { - pose.arm_angles = [...data.angles] - await fetch(API + '/api/models/' + modelId + '/poses/' + poseId, { - method: 'PUT', headers: { 'Content-Type': 'application/json' }, - body: JSON.stringify({ arm_angles: pose.arm_angles }) - }) - } - } - } - } catch (e) { console.error('refreshPoseAngles error:', e) } - }, - - async applyPoseAngles(modelId, poseId) { - var model = this.models.find(m => m.id === modelId) - if (model) { - var pose = model.poses.find(p => p.id === poseId) - if (pose && pose.arm_angles) { - try { - await fetch(API + '/api/arm/set_angles', { - method: 'POST', headers: { 'Content-Type': 'application/json' }, - body: JSON.stringify({ angles: pose.arm_angles, speed: 500 }) - }) - } catch (e) { console.error('applyPoseAngles error:', e) } - } - } - }, - - async adjustPoseAngle(modelId, poseId, jointIndex, delta) { - var model = this.models.find(m => m.id === modelId) - if (model) { - var pose = model.poses.find(p => p.id === poseId) - if (pose) { - if (!pose.arm_angles) pose.arm_angles = [0, 0, 0, 0, 0, 0] - pose.arm_angles[jointIndex] = (pose.arm_angles[jointIndex] || 0) + delta - await fetch(API + '/api/models/' + modelId + '/poses/' + poseId, { - method: 'PUT', headers: { 'Content-Type': 'application/json' }, - body: JSON.stringify({ arm_angles: pose.arm_angles }) - }) - await fetch(API + '/api/arm/set_angle', { - method: 'POST', headers: { 'Content-Type': 'application/json' }, - body: JSON.stringify({ joint: 'J' + (jointIndex + 1), angle: pose.arm_angles[jointIndex] }) - }) - } - } - }, } }).mount('#app') diff --git a/agv_app/templates/setting.html b/agv_app/templates/setting.html index 076386b..23e4d30 100644 --- a/agv_app/templates/setting.html +++ b/agv_app/templates/setting.html @@ -4,7 +4,7 @@ 设置 - AGV 拍摄系统 - +
@@ -21,6 +21,7 @@
+ @@ -75,6 +76,13 @@ :style="{ left: getMapX(p.coords) + '%', top: getMapY(p.coords) + '%' }" :title="p.coords ? p.coords.map(c => c.toFixed(2)).join(', ') : ''">
+ +
+
@@ -289,12 +297,16 @@
机器行 {% raw %}{{ ri }}{% endraw %}
- - ⬜ +
@@ -311,12 +323,16 @@
机器行 {% raw %}{{ missionConfig.rows }}{% endraw %}
- - ⬜ +
@@ -406,6 +422,39 @@ + +
+

🔍 二维码位置

+
+
+ + +
+
+ + +
+
+ + +
+
+ +
+
+ +
+ 📱 二维码值: {% raw %}{{ safeQr('qr_value') }}{% endraw %} + 🏷️ 匹配机型: {% raw %}{{ safeQrModelName() }}{% endraw %} + ⚠️ 未匹配到机型 +
+
+ +
+
+
@@ -470,6 +519,63 @@
+ + +
+
+

📷 二维码配置

+

配置机械臂姿态（6个关节角度），通过机械臂摄像头识别二维码并匹配机型。

+ +
+
+ +
+
+
+ + +
+
+

暂无二维码配置，请点击上方按钮添加

+
+ + + + + + + + + + + + + + + + + + + + + + + + +
名称J1J2J3J4J5J6二维码值匹配机型操作
+ + + + {% raw %}{{ q.qr_value || '—' }}{% endraw %}{% raw %}{{ getQrModelName(q.model_id) }}{% endraw %} + + + +
+
+
+
@@ -569,7 +675,7 @@
- - + +