任务执行

agv_app/app.py

@@ -53,6 +53,7 @@ class GlobalState:
         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.error_msg = ""               # 错误弹窗消息（waiting_error 状态时）
         self.lock = threading.Lock()
 
     def reset(self):
@@ -736,14 +737,16 @@ def api_mission_config_get():
 
 @app.route("/api/mission/config", methods=["POST"])
 def api_mission_config_set():
-    """"设置任务配置（网格尺寸+空位矩阵）"""
+    """"设置任务配置（网格尺寸+空位矩阵+机械臂初始姿态）"""
     data = request.json
     rows = data.get("rows", 2)
     cols = data.get("cols", 3)
     grid = data.get("grid", [])
+    arm_initial_pose = data.get("arm_initial_pose", [0.0] * 6)
     gs.mission_config["rows"] = rows
     gs.mission_config["cols"] = cols
     gs.mission_config["grid"] = grid
+    gs.mission_config["arm_initial_pose"] = arm_initial_pose
     # 清除超出网格边界的 positions（只保留 front/back 且 row<rows, col<cols）
     gs.mission_config["positions"] = [
         p for p in gs.mission_config.get("positions", [])
@@ -1242,6 +1245,9 @@ def api_agv_reset():
 @app.route("/api/mission/start", methods=["POST"])
 def api_mission_start():
     """开始执行任务（V3: M×N Grid 蛇形路径）"""
+    data = request.json or {}
+    single_step = bool(data.get("single_step", False))
+    
     # 清除可能存在的旧实例，确保可以启动
     if hasattr(MissionExecutorV3, "_instance"):
         MissionExecutorV3._instance = None
@@ -1250,7 +1256,7 @@ def api_mission_start():
     if hasattr(MissionExecutorV3, "_instance") and MissionExecutorV3._instance:
         return jsonify({"ok": False, "error": "任务已在运行中"}), 400
 
-    def run():
+    def run(single_step):
         from config import AGV_CONFIG
         config = {
             "device": AGV_CONFIG.get("device", "/dev/agvpro_controller"),
@@ -1275,14 +1281,15 @@ def api_mission_start():
             machines=machines_list,
             qr_configs=gs.qr_config,
             models=models_list,
+            single_step=single_step,
         )
         gs.mission_report = report
         executor.disconnect_all()
         gs.state = State.IDLE if report.get("error") is None else State.PAUSED
 
-    thread = threading.Thread(target=run, daemon=True)
+    thread = threading.Thread(target=run, args=(single_step,), daemon=True)
     thread.start()
-    return jsonify({"ok": True, "message": "任务已启动"})
+    return jsonify({"ok": True, "single_step": single_step})
 
 @app.route("/api/mission/stop", methods=["POST"])
 def api_mission_stop():
@@ -1373,6 +1380,18 @@ def api_mission_state():
     except Exception:
         result["tasks"] = []
 
+    # 错误弹窗状态
+    if hasattr(MissionExecutorV3, "_instance") and MissionExecutorV3._instance:
+        ex = MissionExecutorV3._instance
+        st = ex.get_status()
+        result["error_msg"] = st.get("error", "")
+        result["waiting_step"] = (st.get("status") == "waiting_step")
+        result["waiting_error"] = (st.get("status") == "waiting_error")
+    else:
+        result["error_msg"] = ""
+        result["waiting_step"] = False
+        result["waiting_error"] = False
+
     return jsonify(result)
 
 @app.route("/api/mission/log", methods=["GET"])
@@ -1396,6 +1415,50 @@ def api_mission_manual_qr():
     return jsonify({"ok": False, "error": "没有运行中的任务"}), 400
 
 
+# ========== 错误弹窗 API ==========
+@app.route("/api/mission/error-skip", methods=["POST"])
+def api_mission_error_skip():
+    """用户选择：跳过当前错误"""
+    if hasattr(MissionExecutorV3, "_instance") and MissionExecutorV3._instance:
+        MissionExecutorV3._instance.set_error_choice("skip")
+        return jsonify({"ok": True, "choice": "skip"})
+    return jsonify({"ok": False, "error": "没有运行中的任务"}), 400
+
+@app.route("/api/mission/error-abort", methods=["POST"])
+def api_mission_error_abort():
+    """用户选择：中断任务"""
+    if hasattr(MissionExecutorV3, "_instance") and MissionExecutorV3._instance:
+        MissionExecutorV3._instance.set_error_choice("abort")
+        return jsonify({"ok": True, "choice": "abort"})
+    return jsonify({"ok": False, "error": "没有运行中的任务"}), 400
+
+
+# ========== 单步执行 API ==========
+@app.route("/api/mission/singlestep/confirm", methods=["POST"])
+def api_mission_singlestep_confirm():
+    """单步执行：确认当前步骤正确，继续"""
+    if hasattr(MissionExecutorV3, "_instance") and MissionExecutorV3._instance:
+        MissionExecutorV3._instance.set_step_choice("confirm")
+        return jsonify({"ok": True, "choice": "confirm"})
+    return jsonify({"ok": False, "error": "没有运行中的任务"}), 400
+
+@app.route("/api/mission/singlestep/retry", methods=["POST"])
+def api_mission_singlestep_retry():
+    """单步执行：重试当前步骤"""
+    if hasattr(MissionExecutorV3, "_instance") and MissionExecutorV3._instance:
+        MissionExecutorV3._instance.set_step_choice("retry")
+        return jsonify({"ok": True, "choice": "retry"})
+    return jsonify({"ok": False, "error": "没有运行中的任务"}), 400
+
+@app.route("/api/mission/singlestep/abort", methods=["POST"])
+def api_mission_singlestep_abort():
+    """单步执行：中断任务"""
+    if hasattr(MissionExecutorV3, "_instance") and MissionExecutorV3._instance:
+        MissionExecutorV3._instance.set_step_choice("abort")
+        return jsonify({"ok": True, "choice": "abort"})
+    return jsonify({"ok": False, "error": "没有运行中的任务"}), 400
+
+
 # ========== 二维码配置 API ==========
 @app.route("/api/qr/configs", methods=["GET"])
 def api_qr_configs_get():