照片上传

agv_app/utils/mission_executor.py

@@ -31,11 +31,12 @@ ROS2_SETUP_CMD = "source /opt/ros/humble/setup.bash && source ~/agv_pro_ros2/ins
 from config import ARM_CAMERA_CONFIG
 ARM_CAMERA_SNAPSHOT = ARM_CAMERA_CONFIG["snapshot_url"]
 PHOTOS_DIR = "/home/elephant/photos"
+UPLOAD_URL = "https://ts.zhijian168.com/prod-api/file/uploadImage"
 
 # 二维码扫描重试参数
 QR_SCAN_TIMEOUT = 5  # 单次扫描超时
 QR_POSE_WAIT = 1.5   # 调整姿态后等待时间
-MANUAL_QR_TIMEOUT = 300  # 5分钟超时
+MANUAL_QR_TIMEOUT = 300  # 5分钟超时（现已改为无限等待，stop 时解除）
 
 
 class MissionStatus(str, Enum):
@@ -111,6 +112,9 @@ class MissionExecutorV3:
         self.arm_speed = 500
         self.agv_speed = 0.5
 
+        # 照片上传序号计数器（连续递增，从1开始）
+        self.next_upload_index = 1
+
     # ==================== 连接 ====================
 
     def connect_all(self) -> Dict[str, bool]:
@@ -242,6 +246,9 @@ class MissionExecutorV3:
 
             self._log(f"📍 点位蛇形路径: {len(path)} 个点位, {total_machines} 台机器")
 
+            # 重置照片上传序号（每次任务开始时重置，从1开始）
+            self.next_upload_index = 1
+
             # 任务步骤控制开关
             if options is None:
                 options = {}
@@ -688,22 +695,21 @@ class MissionExecutorV3:
         return None
 
     def _request_manual_qr(self) -> Optional[str]:
-        """暂停任务，等待手动输入"""
+        """暂停任务，等待手动输入（不超时，必须输入才能继续；stop 时解除）"""
         self.status = MissionStatus.WAITING_QR
         self.report["status"] = "waiting_qr"
         self.report["step"] = "等待手动输入二维码"
-        self._log("  ⌨️  弹窗等待手动输入二维码...")
+        self._log("  ⌨️  弹窗等待手动输入二维码（不可跳过）...")
 
         self._qr_event.clear()
-        if self._qr_event.wait(timeout=MANUAL_QR_TIMEOUT):
+        self._qr_event.wait()  # 无限等待，直到 set_manual_qr 或 stop() 触发
         self.status = MissionStatus.RUNNING
         self.report["status"] = "running"
+        if self._qr_value:
             self._log(f"  ✏️ 手动输入: {self._qr_value}")
             return self._qr_value
         else:
-            self.status = MissionStatus.RUNNING
+            self._log(f"  ⚠️ 任务已停止")
-            self.report["status"] = "running"
-            self._log(f"  ⚠️ 等待超时（{MANUAL_QR_TIMEOUT}s），跳过")
             return None
 
     def set_manual_qr(self, value: str):
@@ -766,14 +772,19 @@ class MissionExecutorV3:
                 self.arm_client.set_angles(angles, speed=self.arm_speed)
                 self._wait_arm_ready(angles)
 
-            # 拍照
+            # 拍照（upload_index 连续递增）
-            path = self._capture_arm_photo(row, col, side, pi + 1, qr_value)
+            path = self._capture_arm_photo(row, col, side, pi + 1, qr_value, upload_index=self.next_upload_index)
+            self.next_upload_index += 1
             if path:
                 self._log(f"  💾 {os.path.basename(path)}")
 
     def _capture_arm_photo(self, row: int, col: int, side: str,
-                           pose_idx: int, qr_value: str) -> Optional[str]:
+                           pose_idx: int, qr_value: str,
-        """从机械臂摄像头拍照存本地"""
+                           upload_index: int = 0) -> Optional[str]:
+        """从机械臂摄像头拍照存本地，然后上传到服务器
+        
+        upload_index: 从1开始，先正面后背面，由调用方维护
+        """
         try:
             resp = requests.get(ARM_CAMERA_SNAPSHOT, timeout=10)
             if resp.status_code != 200 or not resp.content:
@@ -786,11 +797,43 @@ class MissionExecutorV3:
             fpath = os.path.join(PHOTOS_DIR, fname)
             with open(fpath, "wb") as f:
                 f.write(resp.content)
+            self._log(f"  💾 本地保存: {os.path.basename(fpath)}")
+
+            # 上传到服务器
+            if qr_value:
+                self._upload_photo(fpath, qr_value, upload_index)
+            else:
+                self._log("  ⚠️ 无二维码，跳过上传")
+
             return fpath
         except Exception as e:
             logger.error(f"拍照异常: {e}")
             return None
 
+    def _upload_photo(self, filepath: str, serial_number: str, index: int) -> bool:
+        """上传照片到远程服务器
+        
+        Args:
+            filepath: 本地文件路径
+            serial_number: 二维码/序列号
+            index: 1=正面, 2=背面
+        """
+        try:
+            filename = os.path.basename(filepath)
+            with open(filepath, "rb") as f:
+                files = {"file": (filename, f, "image/jpeg")}
+                data = {"serialNumber": serial_number, "index": str(index)}
+                resp = requests.post(UPLOAD_URL, files=files, data=data, timeout=30)
+                if resp.status_code == 200:
+                    self._log(f"  ☁️ 上传成功 [{index}]: {filename}")
+                    return True
+                else:
+                    self._log(f"  ⚠️ 上传失败 [{index}] HTTP {resp.status_code}: {resp.text[:200]}")
+                    return False
+        except Exception as e:
+            self._log(f"  ❌ 上传异常 [{index}]: {e}")
+            return False
+
     # ==================== 控制 ====================
 
     def _wait_pause(self):