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任务执行

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This commit is contained in:
ywb
2026-05-24 18:26:10 +08:00
parent d095d68433
commit 119246ade3
7 changed files with 338 additions and 24 deletions
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agv_app/app.py
+67 -4
View File
@@ -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():
agv_app/config.py
+4
View File
@@ -81,6 +81,10 @@ class State:
RUNNING = "running"
PAUSED = "paused"
IDLE = "idle"
WAITING_ERROR = "waiting_error"
WAITING_STEP = "waiting_step"
WAITING_ERROR = "waiting_error"
WAITING_STEP = "waiting_step"
class PhotoType:
FRONT = "front"
agv_app/static/js/running.js
+61 -2
View File
@@ -16,6 +16,11 @@ createApp({
logs: [],
showQrModal: false,
qrValue: '',
// 错误弹窗 / 单步执行
waitingError: false,
errorMsg: '',
waitingStep: false,
stepLabel: '',
}
},
computed: {
@@ -25,7 +30,9 @@ createApp({
running: '任务运行中',
paused: '已暂停',
completed: '已完成',
waiting_qr: '等待输入二维码'
waiting_qr: '等待输入二维码',
waiting_error: '⚠️ 执行错误',
waiting_step: '🦶 等待步骤确认',
}
return map[this.missionState] || '未知'
},
@@ -53,6 +60,22 @@ createApp({
this.progress = data.progress || 0
if (data.tasks) this.tasks = data.tasks
// 错误弹窗
if (data.waiting_error) {
this.waitingError = true
this.errorMsg = data.error_msg || '任务执行出错'
} else {
this.waitingError = false
}
// 步骤确认弹窗
if (data.waiting_step) {
this.waitingStep = true
this.stepLabel = data.step_label || ''
} else {
this.waitingStep = false
}
// QR 弹窗
if (this.missionState === 'waiting_qr' && !this.showQrModal) {
this.showQrModal = true
@@ -68,7 +91,7 @@ createApp({
} catch (e) {}
},
async pollLogs() {
if (this.missionState !== 'running' && this.missionState !== 'waiting_qr') return
if (this.missionState !== 'running' && this.missionState !== 'waiting_qr' && this.missionState !== 'waiting_error' && this.missionState !== 'waiting_step') return
try {
const res = await fetch(API + '/api/mission/log')
const data = await res.json()
@@ -91,6 +114,40 @@ createApp({
await fetch(API + '/api/mission/start', { method: 'POST' })
this.missionState = 'running'
},
async startSingleStep() {
if (this.missionState !== 'idle') return
this.logs = []
this.progress = 0
this.report = null
this.showQrModal = false
await fetch(API + '/api/mission/start', {
method: 'POST',
headers: { 'Content-Type': 'application/json' },
body: JSON.stringify({ single_step: true })
})
if (this.polling) clearInterval(this.polling)
this.poll()
},
async skipError() {
await fetch(API + '/api/mission/error-skip', { method: 'POST' })
this.waitingError = false
},
async abortError() {
await fetch(API + '/api/mission/error-abort', { method: 'POST' })
this.waitingError = false
},
async confirmStep() {
await fetch(API + '/api/mission/singlestep/confirm', { method: 'POST' })
this.waitingStep = false
},
async retryStep() {
await fetch(API + '/api/mission/singlestep/retry', { method: 'POST' })
this.waitingStep = false
},
async abortStep() {
await fetch(API + '/api/mission/singlestep/abort', { method: 'POST' })
this.waitingStep = false
},
async pauseMission() {
await fetch(API + '/api/mission/pause', { method: 'POST' })
this.missionState = 'paused'
@@ -104,6 +161,8 @@ createApp({
await fetch(API + '/api/mission/stop', { method: 'POST' })
this.missionState = 'idle'
this.showQrModal = false
this.waitingError = false
this.waitingStep = false
},
async submitQr() {
const val = this.qrValue.trim()
agv_app/static/js/setting.js
+31 -1
View File
@@ -59,6 +59,7 @@ createApp({
qrScanningId: null,
armCameraUrl: API + '/api/camera/arm_refresh',
newQrName: '',
armInitialPose: [0, 0, 0, 0, 0, 0],
}
},
mounted() {
@@ -489,6 +490,7 @@ createApp({
this.missionConfig.cols = data.config.cols || 3
this.missionConfig.grid = data.config.grid || []
this.missionConfig.positions = data.config.positions || []
this.armInitialPose = data.config.arm_initial_pose || [0, 0, 0, 0, 0, 0]
}
} catch (e) { console.error('加载任务配置失败', e) }
},
@@ -520,7 +522,8 @@ createApp({
body: JSON.stringify({
rows: this.missionConfig.rows,
cols: this.missionConfig.cols,
grid: this.missionConfig.grid
grid: this.missionConfig.grid,
arm_initial_pose: this.armInitialPose
})
})
const data = await res.json()
@@ -529,6 +532,33 @@ createApp({
}
} catch (e) { alert('保存失败: ' + e.message) }
},
async saveArmInitialPose() {
try {
const res = await fetch(API + '/api/mission/config', {
method: 'POST',
headers: { 'Content-Type': 'application/json' },
body: JSON.stringify({
rows: this.missionConfig.rows,
cols: this.missionConfig.cols,
grid: this.missionConfig.grid,
arm_initial_pose: this.armInitialPose
})
})
const data = await res.json()
if (data.ok) alert('✅ 机械臂初始姿态已保存')
else alert('❌ 保存失败')
} catch (e) { alert('保存失败: ' + e.message) }
},
async loadArmCurrentAngles() {
if (!this.armConnected) { alert('机械臂未连接'); return }
try {
const res = await fetch(API + '/api/arm/get_angles')
const data = await res.json()
if (data.ok && data.angles) {
this.armInitialPose = [...data.angles]
}
} catch (e) { alert('读取角度失败: ' + e.message) }
},
async loadAllMachines() {
try {
const res = await fetch(API + '/api/mission/machines')
agv_app/templates/running.html
+25
View File
@@ -120,6 +120,31 @@
</div>
</div>
<!-- 错误弹窗 -->
<div class="modal-overlay" v-if="waitingError">
<div class="modal">
<h3>⚠️ 执行错误</h3>
<p>[[ errorMsg ]]</p>
<div class="modal-actions">
<button class="btn btn-warning" @click="skipError">跳过</button>
<button class="btn btn-error" @click="abortError">中断</button>
</div>
</div>
</div>
<!-- 步骤确认弹窗 -->
<div class="modal-overlay" v-if="waitingStep">
<div class="modal">
<h3>🦶 单步执行确认</h3>
<p>机器 [[ stepLabel ]] 执行完成，请确认结果是否正确：</p>
<div class="modal-actions">
<button class="btn btn-success" @click="confirmStep">✅ 正确，继续</button>
<button class="btn btn-warning" @click="retryStep">🔄 不正确，重试</button>
<button class="btn btn-error" @click="abortStep">⏹️ 中断</button>
</div>
</div>
</div>
</main>
</div>
agv_app/templates/setting.html
+18
View File
@@ -348,6 +348,24 @@
</div>
</section>
<!-- 机械臂初始姿态 -->
<section class="card" style="margin-top:16px">
<h2>② 🦾 机械臂初始姿态</h2>
<p class="hint" style="margin-bottom:12px">每个机器执行前恢复的初始姿态（6个关节角度，单位：度）</p>
<div class="form-row" style="flex-wrap:wrap;gap:12px">
<div v-for="j in 6" :key="'armInit'+j" class="form-group" style="min-width:100px">
<label>J{% raw %}{{ j }}{% endraw %}</label>
<input type="number" step="0.5"
v-model.number="armInitialPose[j-1]"
style="width:100%;padding:8px;border:1px solid #2a3441;border-radius:4px">
</div>
<div class="form-group" style="align-self:end">
<button class="btn btn-primary" @click="saveArmInitialPose">💾 保存初始姿态</button>
<button class="btn btn-secondary" @click="loadArmCurrentAngles" :disabled="!armConnected" style="margin-left:6px">📋 读取当前角度</button>
</div>
</div>
</section>
<!-- 下：序列预览 -->
<section class="card" v-if="sequence && sequence.length > 0" style="margin-top:16px">
<h2>③ 🐍 蛇形拍摄序列预览</h2>
agv_app/utils/mission_executor.py
+132 -17
View File
@@ -41,6 +41,8 @@ class MissionStatus(str, Enum):
PAUSED = "paused"
COMPLETED = "completed"
WAITING_QR = "waiting_qr"
WAITING_ERROR = "waiting_error"
WAITING_STEP = "waiting_step"
class MissionExecutorV3:
@@ -70,6 +72,22 @@ class MissionExecutorV3:
self._qr_event = threading.Event()
self._qr_value: Optional[str] = None
# 错误弹窗
self._error_choice = None # "skip" or "abort"
# 单步执行
self._single_step_mode = False
self._step_choice = None # "confirm", "retry", "abort"
self._error_mode = False # True when waiting for error resolution
# 错误弹窗
self._error_choice = None # "skip" or "abort"
# 单步执行
self._single_step_mode = False
self._step_choice = None # "confirm", "retry", "abort"
self._error_mode = False # True when waiting for error resolution
# 设备
from .arm_client import ArmClient
self.arm_client = ArmClient(
@@ -104,6 +122,7 @@ class MissionExecutorV3:
machines: list,
qr_configs: list,
models: list,
single_step: bool = False,
) -> dict:
"""
执行完整拍摄任务。
@@ -167,25 +186,26 @@ class MissionExecutorV3:
"photos_back": 0,
} for (r, c) in path]
# 初始化任务列表
self.report["tasks"] = [{
"row": r, "col": c,
"machine_id": f"m_{r}_{c}",
"label": f"{r+1}-{c+1}",
"status": "pending",
"step": "等待",
"qr_value": None,
"photos_front": 0,
"photos_back": 0,
} for (r, c) in path]
# 机械臂初始姿态（AGV 移动前恢复）
arm_initial_pose = mission_config.get("arm_initial_pose", [0.0] * 6)
has_arm_pose = self.arm_client and any(abs(a) > 0.01 for a in arm_initial_pose)
# 2. 逐台执行
for idx, (r, c) in enumerate(path):
machine_idx = 0
while machine_idx < len(path):
if self._stop.is_set():
self._log("⏹️ 任务已停止")
break
self._wait_pause()
r, c = path[machine_idx]
rl, cl = r + 1, c + 1
# 恢复机械臂初始姿态
if has_arm_pose:
self._log(" 🦾 恢复机械臂初始姿态")
self.arm_client.set_angles(arm_initial_pose, speed=500)
time.sleep(2)
# 更新任务状态 → 正面开始
task = self._get_task(r, c)
@@ -196,11 +216,10 @@ class MissionExecutorV3:
machine_id = f"m_{r}_{c}"
machine = next((m for m in machines if m.get("id") == machine_id), None)
if not machine:
self._log(f"⚠️ 机器 {r+1}-{c+1} 不存在，跳过")
self._log(f"⚠️ 机器 {rl}-{cl} 不存在，跳过")
machine_idx += 1
continue
rl, cl = r + 1, c + 1 # 显示用的 1-based
# --- 正面 ---
self._log(f"📍 机器 {rl}-{cl} 进入正面点位")
self._step(f"机器 {rl}-{cl} 正面")
@@ -210,6 +229,9 @@ class MissionExecutorV3:
if front_pt and self._has_coords(front_pt):
if not self._navigate(front_pt, "正面"):
self._log(f"⚠️ 导航失败，尝试继续")
choice = self._wait_error(f"机器 {rl}-{cl} 正面导航失败")
if choice == "abort":
break
else:
self._log(f"⚠️ 无正面点位坐标")
@@ -233,7 +255,7 @@ class MissionExecutorV3:
else:
self._log(f" ⚠️ 未找到机型 {model_name}")
self._progress(idx, 1)
self._progress(machine_idx, 1)
# --- 背面 ---
if task:
@@ -246,6 +268,9 @@ class MissionExecutorV3:
if back_pt and self._has_coords(back_pt):
if not self._navigate(back_pt, "背面"):
self._log(f"⚠️ 导航失败，尝试继续")
choice = self._wait_error(f"机器 {rl}-{cl} 背面导航失败")
if choice == "abort":
break
else:
self._log(f"⚠️ 无背面点位坐标")
@@ -257,7 +282,21 @@ class MissionExecutorV3:
if task:
task["status"] = "completed"
task["step"] = "完成"
self._progress(idx, 2)
self._progress(machine_idx, 2)
# 单步执行：等待用户确认
if single_step and not self._stop.is_set():
choice = self._wait_step_confirm(rl, cl)
if choice == "abort":
break
elif choice == "retry":
if task:
task["status"] = "pending"
task["step"] = "重试开始"
self._progress(machine_idx, 0)
continue # 不递增 machine_idx，重新执行
machine_idx += 1
# 3. 回到出发点
if not self._stop.is_set():
@@ -607,6 +646,82 @@ class MissionExecutorV3:
99
)
# ==================== 错误弹窗 ====================
def _wait_error(self, msg: str) -> str:
"""阻塞等待用户选择：skip（跳过）或 abort（中断）"""
self.status = MissionStatus.WAITING_ERROR
self.report["status"] = "waiting_error"
self.report["step"] = msg
self.report["error"] = msg
self._log(f"⚠️ 错误处理: {msg}")
self._error_choice = None
self._error_mode = True
start = time.time()
while self._error_choice is None and not self._stop.is_set():
time.sleep(0.2)
if time.time() - start > 600: # 10分钟超时 → 跳过
self._error_choice = "skip"
choice = self._error_choice or "skip"
self._error_choice = None
self._error_mode = False
if choice == "abort":
self._stop.set()
self._log("⏹️ 用户选择中断")
else:
self._log("⏭️ 用户选择跳过")
# 恢复状态
self.status = MissionStatus.RUNNING if not self._single_step_mode else MissionStatus.WAITING_STEP
self.report["status"] = self.status.value
self.report["error"] = None
return choice
def set_error_choice(self, choice: str):
"""外部 API 设置错误处理选择"""
self._error_choice = choice
# ==================== 单步执行 ====================
def _wait_step_confirm(self, row_label: int, col_label: int) -> str:
"""单步执行：等待用户确认/重试/中断"""
self.status = MissionStatus.WAITING_STEP
self.report["status"] = "waiting_step"
self.report["step"] = f"机器 {row_label}-{col_label} 完成，等待确认"
self.report["current_step"] = {
"row": row_label - 1, "col": col_label - 1,
"label": f"{row_label}-{col_label}"
}
self._log(f"⏸️ 单步执行: 机器 {row_label}-{col_label} 完成，等待确认...")
self._step_choice = None
start = time.time()
while self._step_choice is None and not self._stop.is_set():
time.sleep(0.2)
if time.time() - start > 600: # 10分钟超时 → 确认
self._step_choice = "confirm"
choice = self._step_choice or "confirm"
self._step_choice = None
self.report.pop("current_step", None)
if choice == "abort":
self._stop.set()
self._log("⏹️ 用户选择中断")
elif choice == "retry":
self._log(f"🔄 用户选择重试机器 {row_label}-{col_label}")
else:
self._log(f"✅ 用户确认机器 {row_label}-{col_label}")
return choice
def set_step_choice(self, choice: str):
"""外部 API 设置单步执行选择"""
self._step_choice = choice
# ==================== Nav2 导航 ====================
# (保留原实现)