-

agv_app/data/models_config.json

@@ -19,21 +19,6 @@
         "speed": 500,
         "description": ""
       },
-      {
-        "id": "pose_1778767312",
-        "name": "front_2",
-        "photo_type": "front",
-        "arm_angles": [
-          15.859743,
-          -6.800197,
-          -147.249916,
-          -19.826791,
-          168.001057,
-          22.816756
-        ],
-        "speed": 500,
-        "description": ""
-      },
       {
         "id": "pose_1778767323",
         "name": "back_1",
@@ -48,47 +33,9 @@
         ],
         "speed": 500,
         "description": ""
-      },
-      {
-        "id": "pose_1778767325",
-        "name": "back_2",
-        "photo_type": "back",
-        "arm_angles": [
-          7.443329,
-          -135.71653,
-          110.665327,
-          -161.996788,
-          168.000941,
-          15.653383
-        ],
-        "speed": 500,
-        "description": ""
-      },
-      {
-        "id": "pose_1779955047",
-        "name": "font_3",
-        "photo_type": "front",
-        "arm_angles": [
-          15.860004,
-          -161.133368,
-          137.998968,
-          -161.996761,
-          168.00114,
-          15.65326
-        ],
-        "speed": 500,
-        "description": ""
       }
     ],
     "description": "",
     "notes": ""
-  },
-  {
-    "id": "m_1779286436",
-    "name": "m2",
-    "serial_prefix": "",
-    "poses": [],
-    "description": "",
-    "notes": ""
   }
 ]

agv_app/utils/mission_executor.py

@@ -462,11 +462,23 @@ class MissionExecutorV3:
 
                 pi += 1
 
-            # 3. 回到出发点
+            # 3. 回到出发点（必须成功返回才算结束）
             if not self._stop.is_set() and opt_agv_move:
                 self._step("返回出发点")
-                self._log("→ 返回 (0, 0)")
-                self._nav2_go_to_point(0, 0, 0, timeout_sec=60)
+                max_retry = 3
+                for attempt in range(1, max_retry + 1):
+                    self._log(f"→ 返回 (0, 0) (尝试 {attempt}/{max_retry})")
+                    ok = self._nav2_go_to_point(0, 0, 0, timeout_sec=180)
+                    if ok:
+                        self._log("✅ 已返回出发点")
+                        break
+                    else:
+                        self._log(f"⚠️ 返回失败 (尝试 {attempt}/{max_retry})")
+                        if attempt < max_retry:
+                            self._log("⏳ 等待 3 秒后重试...")
+                            time.sleep(3)
+                else:
+                    self._log("❌ 返回出发点失败（已达最大重试次数），任务标记为异常")
             elif not self._stop.is_set():
                 self._log("⏭️ 跳过返回出发点")
 
@@ -642,10 +654,10 @@ class MissionExecutorV3:
         if not qr_configs:
             self._log(f"  ⚠️ 无二维码配置")
             return self._request_manual_qr()
-        # 判断是否需要反转关节角度
-        invert = (machine_row % 2 == 1)
-        if invert:
-            self._log(f"  🔄 扫码：AGV朝向相反，关节角度取反")
+        # 判断是否需要镜像关节角度（AGV 朝向相反时，只镜像 J1）
+        mirror = (machine_row % 2 == 1)
+        if mirror:
+            self._log(f"  🔄 扫码：AGV朝向相反，关节角度镜像（仅 J1 取反）")
         self._log(f"  🔍 尝试 {len(qr_configs)} 个二维码姿态...")
         for i, qc in enumerate(qr_configs):
             if self._stop.is_set():
@@ -654,11 +666,12 @@ class MissionExecutorV3:
             angles = qc.get("joint_angles", [])
             if not angles or len(angles) < 6:
                 continue
-            # 需要时反转关节角度
-            if invert:
-                angles = [-a for a in angles]
+            # 需要时镜像关节角度（只取反 J1）
+            if mirror:
+                angles = angles.copy()  # 避免修改原数据
+                angles[0] = -angles[0]
             name = qc.get("name", f"姿态{i+1}")
-            self._log(f"  [{i+1}/{len(qr_configs)}] {name}{' (反转)' if invert else ''}")
+            self._log(f"  [{i+1}/{len(qr_configs)}] {name}{'(镜像)' if mirror else ''}")
             # 调整机械臂姿态
             if self.arm_client:
                 self.arm_client.set_angles(angles, speed=self.arm_speed)
@@ -740,12 +753,14 @@ class MissionExecutorV3:
         蛇形路径下，AGV 朝向在奇数行(1,3,5)时与出发时相反，
         此时机器的正面/背面朝向与标定相反，需要把所有关节角度取反
         """
-        # 判断是否需要反转关节角度（AGV 朝向与出发时相反）
-        invert = (machine_row % 2 == 1)  # 机器行是奇数(1,3,5...)时，AGV从对面来，需反转
+        # 判断是否需要镜像关节角度（AGV 朝向与出发时相反，仅镜像 J1）
+        mirror = (machine_row % 2 == 1)  # 机器行是奇数(1,3,5...)时，AGV从对面来，需镜像
         side_label = "正面" if side == "front" else "背面"
-        if invert:
-            self._log(f"  🔄 {side_label}拍摄：AGV朝向相反，关节角度取反")
-        poses = model.get("poses", []) if side == "front" else model.get("poses_back", [])
+        if mirror:
+            self._log(f"  🔄 {side_label}拍摄：AGV朝向相反，关节角度镜像（仅 J1 取反）")
+        # 修复：统一从 poses 中按 photo_type 过滤
+        all_poses = model.get("poses", [])
+        poses = [p for p in all_poses if p.get("photo_type") == side]
         if not poses:
             self._log(f"  ⚠️ 机型无{side_label}姿态配置")
             return
@@ -761,11 +776,12 @@ class MissionExecutorV3:
                 self._log(f"  跳过 {pose.get('name', f'姿态{pi+1}')}: 无效角度")
                 continue
 
-            # 需要时对所有关节角度取反
-            if invert:
-                angles = [-a for a in angles]
+            # 需要时镜像关节角度（仅取反 J1）
+            if mirror:
+                angles = angles.copy()  # 避免修改原数据
+                angles[0] = -angles[0]
             name = pose.get("name", f"{side_label}-{pi+1}")
-            self._log(f"  🎯 {name}{' (反转)' if invert else ''}")
+            self._log(f"  🎯 {name}{'(镜像)' if mirror else ''}")
 
             # 调整机械臂
             if self.arm_client: