显示机械臂摄像头图片

agv_app/app.py

@@ -1574,31 +1574,61 @@ def api_qr_read_angles(qr_id):
 
 @app.route("/api/qr/scan/<qr_id>", methods=["POST"])
 def api_qr_config_scan(qr_id):
-    """获取机械臂摄像头图像，识别二维码并保存到指定配置项"""
+    """获取机械臂摄像头图像，识别二维码并保存到指定配置项（pyzbar 优先，OpenCV 兜底）"""
     import requests
     try:
+        jpg_bytes = None
+        # 多次尝试获取清晰帧
+        for _ in range(3):
+            try:
+                r = requests.get(ARM_CAMERA_CONFIG.get("snapshot_url", ARM_CAMERA_CONFIG["url"]), timeout=8)
+                if r.status_code == 200 and r.content:
+                    jpg_bytes = r.content
+                    break
+            except:
+                pass
+            import time; time.sleep(0.3)
+
+        if jpg_bytes is None:
+            return jsonify({"ok": False, "error": "无法连接机械臂摄像头"}), 400
+
         import cv2
         import numpy as np
-        # 从机械臂摄像头 snapshot 端点拉取一帧 JPEG
-        r = requests.get(ARM_CAMERA_CONFIG.get("snapshot_url", ARM_CAMERA_CONFIG["url"]), timeout=8)
-        if r.status_code != 200 or not r.content:
-            return jsonify({"ok": False, "error": "无法连接机械臂摄像头"}), 400
-        jpg_bytes = r.content
-        # 解码为 numpy 数组并检测二维码
         nparr = np.frombuffer(jpg_bytes, np.uint8)
         frame = cv2.imdecode(nparr, cv2.IMREAD_COLOR)
         if frame is None:
             return jsonify({"ok": False, "error": "图像解码失败"}), 400
-        # 使用 OpenCV QRCodeDetector 检测
-        detector = cv2.QRCodeDetector()
-        result, _, _ = detector.detectAndDecode(frame)
-        if result and len(result.strip()) > 0:
-            result = result.strip()
+
+        result = None
+
+        # 方法1: pyzbar（识别率更高）
+        try:
+            from PIL import Image
+            from pyzbar.pyzbar import decode as pyzbar_decode
+            pil_img = Image.fromarray(cv2.cvtColor(frame, cv2.COLOR_BGR2RGB))
+            codes = pyzbar_decode(pil_img)
+            if codes and codes[0].data:
+                result = codes[0].data.decode("utf-8").strip()
+                logger.info(f"pyzbar 扫码成功: {result}")
+        except Exception as e:
+            logger.debug(f"pyzbar 扫码失败: {e}")
+
+        # 方法2: OpenCV QRCodeDetector（兜底）
+        if not result:
+            try:
+                detector = cv2.QRCodeDetector()
+                val, _, _ = detector.detectAndDecode(frame)
+                if val and len(val.strip()) > 0:
+                    result = val.strip()
+                    logger.info(f"OpenCV 扫码成功: {result}")
+            except Exception as e:
+                logger.debug(f"OpenCV 扫码失败: {e}")
+
+        if result:
             # 保存到配置项
             for entry in gs.qr_config:
                 if entry["id"] == qr_id:
                     entry["qr_value"] = result
-                    # 尝试匹配机型
                     matched_model = None
                     for model in gs.models_config:
                         prefix = model.get("serial_prefix", "")
@@ -1615,10 +1645,10 @@ def api_qr_config_scan(qr_id):
                         "model_name": matched_model["name"] if matched_model else ""
                     })
             return jsonify({"ok": False, "error": f"二维码 {qr_id} 不存在"}), 404
-        else:
-            return jsonify({"ok": False, "error": "未检测到二维码"})
+
+        return jsonify({"ok": False, "error": "未检测到二维码，请调整机械臂姿态或手动输入"})
     except Exception as ex:
-        logger.error(f"QR 扫描机械臂摄像头失败: {ex}")
+        logger.error(f"QR 扫描失败: {ex}")
         return jsonify({"ok": False, "error": f"扫描失败: {str(ex)}"}), 400