加入二维码设置

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/<machine_id>", 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/<machine_id>/<side>", 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/<qr_id>", 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/<qr_id>", 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/<qr_id>/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/<qr_id>", 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/<name>")
 def photos(name):

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')

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;
+}

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
+      // QR
-      initPoseLoading: false,
+      qrScanning: false,
-      initPoseMsg: '',
+      qrConfigs: [],
-      initAmclPoseLoading: false,
+      qrScanningId: null,
-      initAmclPoseMsg: '',
+      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
+          this.nav2Available = data.nav2_available
-          // API returns "current_position", normalize to our field
+          if (data.current_pos) {
-          const cp = data.current_position || data.current_pos || null
+            this.navCurrentPos = data.current_pos
-          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')
           }
         }
       } 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')

agv_app/templates/setting.html

@@ -4,7 +4,7 @@
   <meta charset="UTF-8">
   <meta name="viewport" content="width=device-width, initial-scale=1.0">
   <title>设置 - AGV 拍摄系统</title>
-  <link rel="stylesheet" href="/static/css/style.css?v=20260519a">
+  <link rel="stylesheet" href="/static/css/style.css?v=20260520g">
 </head>
 <body>
   <div id="app">
@@ -21,6 +21,7 @@
     <div class="tabs">
       <button class="tab" :class="{active: tab === 'map'}" @click="tab = 'map'">🗺️ 地图</button>
       <button class="tab" :class="{active: tab === 'mission'}" @click="tab = 'mission'">🎯 任务配置</button>
+      <button class="tab" :class="{active: tab === 'qr'}" @click="tab = 'qr'">📷 二维码配置</button>
       <button class="tab" :class="{active: tab === 'model'}" @click="tab = 'model'">📦 机型配置</button>
       <button class="tab" :class="{active: tab === 'arm'}" @click="tab = 'arm'">🤖 机械臂</button>
       <button class="tab" :class="{active: tab === 'agv'}" @click="tab = 'agv'">🚗 AGV控制</button>
@@ -75,6 +76,13 @@
                      :style="{ left: getMapX(p.coords) + '%', top: getMapY(p.coords) + '%' }"
                      :title="p.coords ? p.coords.map(c => c.toFixed(2)).join(', ') : ''">
                 </div>
+                <!-- 二维码位置点 -->
+                <div v-for="(m, mi) in missionConfig.machines" :key="'qrdot-'+mapVersion+'-'+mi"
+                     v-if="machineHasQr(m)"
+                     class="map-dot qr-dot"
+                     :style="qrMarkerStyle(m)"
+                     :title="qrMarkerTitle(m)">
+                </div>
               </div>
             </div>
           </div>
@@ -289,12 +297,16 @@
                 <div class="grid-cell grid-header">机器行 {% raw %}{{ ri }}{% endraw %}</div>
                 <div v-for="(ci) in missionConfig.cols" :key="'m'+ri+'_'+ci"
                      class="grid-cell"
-                     :class="{ active: getMachineAt(ri-1, ci-1) }"
+                     :class="{ active: selectedMachine && selectedMachine.row === ri-1 && selectedMachine.col === ci-1 }"
                      @click="onCellClick(ri-1, ci-1)">
-                  <template v-if="getMachineAt(ri-1, ci-1)">
+                  <label class="machine-toggle" @click.stop>
-                    <div class="cell-machine">✅</div>
+                    <input type="checkbox"
-                  </template>
+                      :checked="getMachineAt(ri-1, ci-1) !== null"
-                  <span v-else class="empty-cell">⬜</span>
+                      @change="toggleMachine(ri-1, ci-1, $event)">
+                    <span class="machine-status" :class="getMachineAt(ri-1, ci-1) ? 'on' : 'off'">
+                      {% raw %}{{ getMachineAt(ri-1, ci-1) ? '有机器' : '无机器' }}{% endraw %}
+                    </span>
+                  </label>
                 </div>
 
                 <!-- 点位行 ri+1 (pointRow=ri): 上面机器的背面 / 下面机器的正面 -->
@@ -311,12 +323,16 @@
               <div class="grid-cell grid-header">机器行 {% raw %}{{ missionConfig.rows }}{% endraw %}</div>
               <div v-for="(ci) in missionConfig.cols" :key="'m'+missionConfig.rows+'_'+ci"
                    class="grid-cell"
-                   :class="{ active: getMachineAt(missionConfig.rows-1, ci-1) }"
+                   :class="{ active: selectedMachine && selectedMachine.row === missionConfig.rows-1 && selectedMachine.col === ci-1 }"
                    @click="onCellClick(missionConfig.rows-1, ci-1)">
-                <template v-if="getMachineAt(missionConfig.rows-1, ci-1)">
+                <label class="machine-toggle" @click.stop>
-                  <div class="cell-machine">✅</div>
+                  <input type="checkbox"
-                </template>
+                    :checked="getMachineAt(missionConfig.rows-1, ci-1) !== null"
-                <span v-else class="empty-cell">⬜</span>
+                    @change="toggleMachine(missionConfig.rows-1, ci-1, $event)">
+                  <span class="machine-status" :class="getMachineAt(missionConfig.rows-1, ci-1) ? 'on' : 'off'">
+                    {% raw %}{{ getMachineAt(missionConfig.rows-1, ci-1) ? '有机器' : '无机器' }}{% endraw %}
+                  </span>
+                </label>
               </div>
 
               <!-- 最后一个点位行 (pointRow=rows): 所有机器的背面拍摄点 -->
@@ -406,6 +422,39 @@
             </div>
           </div>
 
+          <!-- 二维码位置 -->
+          <div class="machine-form" style="margin-top:16px" v-if="hasQr">
+            <h3>🔍 二维码位置</h3>
+            <div class="form-row">
+              <div class="form-group">
+                <label>X 坐标</label>
+                <input type="number" step="0.01" :value="safeQrCoord(0)" @input="setQrCoord(0, Number($event.target.value))" placeholder="0.00">
+              </div>
+              <div class="form-group">
+                <label>Y 坐标</label>
+                <input type="number" step="0.01" :value="safeQrCoord(1)" @input="setQrCoord(1, Number($event.target.value))" placeholder="0.00">
+              </div>
+              <div class="form-group">
+                <label>Yaw (弧度)</label>
+                <input type="number" step="0.01" :value="safeQrCoord(2)" @input="setQrCoord(2, Number($event.target.value))" placeholder="0.00">
+              </div>
+              <div class="form-group" style="align-self:end">
+                <button class="btn btn-small btn-primary" @click="readQRPosition" :disabled="!agvConnected">📍 读取当前位置</button>
+              </div>
+            </div>
+            <!-- QR 扫描结果 -->
+            <div v-if="hasQrValue" style="margin-top:8px;padding:8px;background:#0f1923;border-radius:6px">
+              <span style="font-size:13px">📱 二维码值: <strong>{% raw %}{{ safeQr('qr_value') }}{% endraw %}</strong></span>
+              <span v-if="hasQrModelId" style="margin-left:12px;font-size:13px">🏷️ 匹配机型: <strong>{% raw %}{{ safeQrModelName() }}{% endraw %}</strong></span>
+              <span v-else style="margin-left:12px;font-size:13px;color:#ff9800">⚠️ 未匹配到机型</span>
+            </div>
+            <div class="btn-row" style="margin-top:8px">
+              <button class="btn btn-small btn-success" @click="scanQRCode(selectedMachine.id)" :disabled="!cameraOpened || qrScanning">
+                {% raw %}{{ qrScanning ? '扫描中...' : '📷 扫描二维码' }}{% endraw %}
+              </button>
+            </div>
+          </div>
+
           <div class="btn-row" style="margin-top:16px">
             <button class="btn btn-danger" @click="deleteMachine(selectedMachine.id)">🗑️ 删除此机器</button>
             <button class="btn btn-secondary" @click="saveMachineCoords">💾 保存此机器配置</button>
@@ -470,6 +519,63 @@
           </div>
         </div>
 
+
+      <!-- ========== 二维码配置 Tab ========== -->
+      <div v-if="tab === 'qr'">
+        <section class="card">
+          <h2>📷 二维码配置</h2>
+          <p style="color:#9aa0a6;font-size:13px;margin-bottom:16px">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。</p>
+          <!-- 机械臂摄像头画面 -->
+          <div style="margin-bottom:16px">
+            <div class="camera-preview" style="max-width:640px">
+              <img :src="armCameraUrl" @error="onArmPreviewError" style="width:100%;border-radius:8px">
+            </div>
+          </div>
+          <div style="display:flex;justify-content:flex-end;margin-bottom:16px">
+            <input type="text" v-model="newQrName" placeholder="输入名称..." style="background:#0f1923;border:1px solid #2a3441;color:#fff;padding:8px 12px;border-radius:6px;margin-right:8px;width:180px">
+            <button class="btn btn-primary" @click="addQrConfig()">➕ 添加</button>
+          </div>
+          <div v-if="qrConfigs.length === 0" style="text-align:center;color:#9aa0a6;padding:40px">
+            <p>暂无二维码配置，请点击上方按钮添加</p>
+          </div>
+          <table v-else style="width:100%;border-collapse:collapse;margin-bottom:16px">
+            <thead>
+              <tr style="background:#1a2332;text-align:left">
+                <th style="padding:10px 8px;border-bottom:1px solid #2a3441;color:#9aa0a6;font-size:12px">名称</th>
+                <th style="padding:10px 4px;border-bottom:1px solid #2a3441;color:#9aa0a6;font-size:12px">J1</th>
+                <th style="padding:10px 4px;border-bottom:1px solid #2a3441;color:#9aa0a6;font-size:12px">J2</th>
+                <th style="padding:10px 4px;border-bottom:1px solid #2a3441;color:#9aa0a6;font-size:12px">J3</th>
+                <th style="padding:10px 4px;border-bottom:1px solid #2a3441;color:#9aa0a6;font-size:12px">J4</th>
+                <th style="padding:10px 4px;border-bottom:1px solid #2a3441;color:#9aa0a6;font-size:12px">J5</th>
+                <th style="padding:10px 4px;border-bottom:1px solid #2a3441;color:#9aa0a6;font-size:12px">J6</th>
+                <th style="padding:10px 8px;border-bottom:1px solid #2a3441;color:#9aa0a6;font-size:12px">二维码值</th>
+                <th style="padding:10px 8px;border-bottom:1px solid #2a3441;color:#9aa0a6;font-size:12px">匹配机型</th>
+                <th style="padding:10px 8px;border-bottom:1px solid #2a3441;color:#9aa0a6;font-size:12px;text-align:center">操作</th>
+              </tr>
+            </thead>
+            <tbody>
+              <tr v-for="q in qrConfigs" :key="q.id" style="border-bottom:1px solid #1a2332">
+                <td style="padding:10px 8px">
+                  <input type="text" v-model="q.name" @change="saveQrConfig(q.id)"
+                    style="background:transparent;border:1px solid transparent;color:#fff;padding:4px 6px;width:100px;font-size:13px"
+                    @focus="$event.target.style.borderColor='#388e3c'" @blur="$event.target.style.borderColor='transparent'">
+                </td>
+                <td style="padding:10px 4px" v-for="ji in 6" :key="ji">
+                  <input type="number" step="0.1" :value="getQrAngle(q, ji - 1)" @input="updateQrAngle(q.id, ji - 1, $event.target.value)" style="width:62px;padding:3px 4px;border:1px solid #2a3441;border-radius:4px;background:#0f1923;color:#fff;font-size:12px;text-align:center">
+                </td>
+                <td style="padding:10px 8px;color:#4fc3f7;font-size:12px;max-width:120px;overflow:hidden;text-overflow:ellipsis">{% raw %}{{ q.qr_value || '—' }}{% endraw %}</td>
+                <td style="padding:10px 8px;color:#9aa0a6;font-size:12px">{% raw %}{{ getQrModelName(q.model_id) }}{% endraw %}</td>
+                <td style="padding:10px 8px;text-align:center;white-space:nowrap">
+                  <button class="btn btn-secondary btn-small" @click="readQrAngles(q.id)" :disabled="!armConnected" title="读取当前机械臂角度">📐</button>
+                  <button class="btn btn-success btn-small" @click="scanQrEntry(q.id)" :disabled="qrScanningId === q.id" style="margin-left:3px" title="扫描二维码">📷</button>
+                  <button class="btn btn-danger btn-small" @click="deleteQrConfig(q.id)" style="margin-left:3px" title="删除">🗑️</button>
+                </td>
+              </tr>
+            </tbody>
+          </table>
+        </section>
+      </div>
+
 <!-- 机械臂控制 (保持不变) -->
       <div v-if="tab === 'arm'">
         <section class="card">
@@ -569,7 +675,7 @@
     </main>
   </div>
 
-  <script src="/static/js/vue3.global.prod.js?v=20260519a"></script>
+  <script src="/static/js/vue3.global.prod.js?v=20260520g"></script>
-  <script src="/static/js/setting.js?v=20260519a"></script>
+  <script src="/static/js/setting.js?v=20260520g"></script>
 </body>
 </html>