修复位置和返回问题

agv_app/app.py

@@ -894,77 +894,53 @@ def api_mission_poses_delete(machine_id, side, pose_id):
 @app.route("/api/mission/generate_sequence", methods=["GET"])
 def api_mission_generate_sequence():
     """根据网格配置和机器配置生成拍摄序列（蛇形）"""
-    rows = gs.mission_config.get("rows", 2)
-    cols = gs.mission_config.get("cols", 3)
+    rows = int(gs.mission_config.get("rows", 2))
+    cols = int(gs.mission_config.get("cols", 3))
     grid = gs.mission_config.get("grid", [])
     machines = gs.machines_config
 
+    if (not grid or all(not any(row) if isinstance(row, list) else True for row in grid)) and machines:
+        grid = [[False] * cols for _ in range(rows)]
+        for m in machines:
+            r = int(m.get("row", 0))
+            c = int(m.get("col", 0))
+            if 0 <= r < rows and 0 <= c < cols:
+                grid[r][c] = True
+
     def get_machine(row, col):
         for m in machines:
             if m.get("row") == row and m.get("col") == col:
                 return m
         return None
 
-    # 蛇形序列：行0从左到右正面→右到左背面，行1从右到左背面→左到右正面...交替
+    # 点位蛇形序列：同一点位同时有上一行背面和下一行正面时，先背面再正面。
     sequence = []
-    for r in range(rows):
-        # 检查该行是否有机器
-        has_any = any(grid[r][c] for c in range(cols)) if r < len(grid) else False
-        if not has_any:
-            continue
-        
-        if r % 2 == 0:  # 偶数行：正面从左到右，背面从右到左
-            # 正面：从左到右
-            for c in range(cols):
-                if r < len(grid) and c < len(grid[r]) and grid[r][c]:
-                    m = get_machine(r, c)
-                    if m and m.get("front"):
-                        sequence.append({
-                            "machine_id": m["id"],
-                            "row": r, "col": c,
-                            "side": "front",
-                            "row_dir": "lr",  # 正面时该行的方向
-                            "row_dir_back": "rl"  # 背面时该行的方向
-                        })
-            # 背面：从右到左
-            for c in range(cols - 1, -1, -1):
-                if r < len(grid) and c < len(grid[r]) and grid[r][c]:
-                    m = get_machine(r, c)
-                    if m and m.get("back"):
-                        sequence.append({
-                            "machine_id": m["id"],
-                            "row": r, "col": c,
-                            "side": "back",
-                            "row_dir": "lr",
-                            "row_dir_back": "rl"
-                        })
-        else:  # 奇数行：正面从右到左，背面从左到右（方向反转）
-            # 背面：从左到右（此行的背面在下一行的前面位置，但这里按用户描述：背面先行）
-            for c in range(cols):
-                if r < len(grid) and c < len(grid[r]) and grid[r][c]:
-                    m = get_machine(r, c)
-                    if m and m.get("back"):
-                        sequence.append({
-                            "machine_id": m["id"],
-                            "row": r, "col": c,
-                            "side": "back",
-                            "row_dir": "rl",
-                            "row_dir_back": "lr"
-                        })
-            # 正面：从右到左
-            for c in range(cols - 1, -1, -1):
-                if r < len(grid) and c < len(grid[r]) and grid[r][c]:
-                    m = get_machine(r, c)
-                    if m and m.get("front"):
-                        sequence.append({
-                            "machine_id": m["id"],
-                            "row": r, "col": c,
-                            "side": "front",
-                            "row_dir": "rl",
-                            "row_dir_back": "lr"
-                        })
+    for pr in range(rows + 1):
+        cols_iter = range(cols) if pr % 2 == 0 else range(cols - 1, -1, -1)
+        row_dir = "lr" if pr % 2 == 0 else "rl"
+        for c in cols_iter:
+            if pr > 0 and pr - 1 < len(grid) and c < len(grid[pr - 1]) and grid[pr - 1][c]:
+                m = get_machine(pr - 1, c)
+                if m and m.get("back"):
+                    sequence.append({
+                        "machine_id": m["id"],
+                        "row": pr - 1, "col": c,
+                        "point_row": pr,
+                        "side": "back",
+                        "row_dir": row_dir
+                    })
+            if pr < rows and pr < len(grid) and c < len(grid[pr]) and grid[pr][c]:
+                m = get_machine(pr, c)
+                if m and m.get("front"):
+                    sequence.append({
+                        "machine_id": m["id"],
+                        "row": pr, "col": c,
+                        "point_row": pr,
+                        "side": "front",
+                        "row_dir": row_dir
+                    })
 
-    return json
+    return jsonify({"ok": True, "sequence": sequence})
 
 # ========== 点位配置 API（独立于机器）==========
 @app.route("/api/mission/positions", methods=["GET"])