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
+
+        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()
-        result, _, _ = detector.detectAndDecode(frame)
+                val, _, _ = detector.detectAndDecode(frame)
-        if result and len(result.strip()) > 0:
+                if val and len(val.strip()) > 0:
-            result = result.strip()
+                    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
 
 

agv_app/static/js/setting.js

@@ -57,7 +57,13 @@ createApp({
       qrScanning: false,
       qrConfigs: [],
       qrScanningId: null,
+      showQrInputDialog: false,
+      qrInputId: null,
+      qrInputValue: '',
       armCameraUrl: API + '/api/camera/arm_preview',
+      armSnapshotUrl: '',
+      showArmSnapshot: false,
+      armSnapshotLoading: false,
       newQrName: '',
       armInitialPose: [0, 0, 0, 0, 0, 0],
     }
@@ -1104,10 +1110,39 @@ createApp({
           if (data.model_name) msg += ' 匹配机型: ' + data.model_name
           else msg += ' 未匹配到机型'
           alert(msg)
-        } else { alert(data.error || '扫描失败') }
+        } else {
-      } catch (e) { alert('扫描失败: ' + e.message) }
+          // 自动扫描失败，弹出手动输入框
+          this.qrInputId = qrId
+          this.qrInputValue = ''
+          this.showQrInputDialog = true
+        }
+      } catch (e) {
+        this.qrInputId = qrId
+        this.qrInputValue = ''
+        this.showQrInputDialog = true
+      }
       this.qrScanningId = null
     },
+    async submitManualQr() {
+      if (!this.qrInputId || !this.qrInputValue.trim()) return
+      try {
+        const res = await fetch(API + '/api/qr/configs/' + this.qrInputId, {
+          method: 'PUT',
+          headers: {'Content-Type':'application/json'},
+          body: JSON.stringify({ qr_value: this.qrInputValue.trim() })
+        })
+        const data = await res.json()
+        if (data.ok) {
+          await this.loadQrConfigs()
+          alert('✅ 二维码值已保存')
+        } else {
+          alert('保存失败')
+        }
+      } catch (e) { alert('保存失败: ' + e.message) }
+      this.showQrInputDialog = false
+      this.qrInputId = null
+      this.qrInputValue = ''
+    },
     async applyQrAngles(qrId) {
       if (!this.armConnected) { alert('机械臂未连接'); return }
       const q = this.qrConfigs.find(x => x.id === qrId)
@@ -1126,6 +1161,12 @@ createApp({
     onArmPreviewError() {
       // 机械臂摄像头预览失败，静默处理
     },
+    async captureArmSnapshot() {
+      this.armSnapshotLoading = true
+      this.armSnapshotUrl = API + '/api/camera/arm_refresh?t=' + Date.now()
+      this.showArmSnapshot = true
+      setTimeout(() => { this.armSnapshotLoading = false }, 500)
+    },
     async agvResetCollision() {
       if (!this.agvConnected) {
         alert('AGV 未连接')

agv_app/templates/setting.html

@@ -433,11 +433,16 @@
           <h2>📷 二维码配置</h2>
           <p style="color:#9aa0a6;font-size:13px;margin-bottom:16px">配置机械臂姿态（6个关节角度），通过机械臂摄像头识别二维码并匹配机型。</p>
           <!-- 机械臂摄像头画面 -->
-          <div style="margin-bottom:16px">
+          <div style="margin-bottom:8px">
             <div class="camera-preview" style="max-width:640px">
               <img :src="armCameraUrl" @error="onArmPreviewError" style="width:100%;border-radius:8px">
             </div>
           </div>
+          <div style="display:flex;justify-content:flex-end;margin-bottom:16px">
+            <button class="btn btn-secondary btn-small" @click="captureArmSnapshot" :disabled="armSnapshotLoading">
+              📸 获取图片
+            </button>
+          </div>
           <div style="display:flex;justify-content:flex-end;margin-bottom:16px">
             <input type="text" v-model="newQrName" placeholder="输入名称..." style="background:#0f1923;border:1px solid #2a3441;color:#fff;padding:8px 12px;border-radius:6px;margin-right:8px;width:180px">
             <button class="btn btn-primary" @click="addQrConfig()">➕ 添加</button>
@@ -476,6 +481,7 @@
                   <button class="btn btn-secondary btn-small" @click="readQrAngles(q.id)" :disabled="!armConnected" title="读取当前机械臂关节角度">📋 加载姿态</button>
                   <button class="btn btn-primary btn-small" @click="applyQrAngles(q.id)" :disabled="!armConnected" style="margin-left:3px" title="将姿态应用到机械臂">🤖 应用姿态</button>
                   <button class="btn btn-success btn-small" @click="scanQrEntry(q.id)" :disabled="qrScanningId === q.id" style="margin-left:3px" title="扫描二维码">📷</button>
+                  <button class="btn btn-secondary btn-small" @click="qrInputId = q.id; qrInputValue = q.qr_value || ''; showQrInputDialog = true" style="margin-left:3px" title="手动输入二维码值">✏️</button>
                   <button class="btn btn-danger btn-small" @click="deleteQrConfig(q.id)" style="margin-left:3px" title="删除">🗑️</button>
                 </td>
               </tr>
@@ -582,9 +588,39 @@
         </section>
       </div>
     </main>
+
+    <!-- 手动输入二维码弹窗 -->
+    <div class="modal-overlay" v-if="showQrInputDialog">
+      <div class="modal" style="max-width:420px">
+        <h3>⌨️ 手动输入二维码</h3>
+        <p style="color:#9aa0a6;font-size:13px;margin:8px 0 16px">自动扫码未识别到二维码，请手动输入二维码内容：</p>
+        <input type="text" v-model="qrInputValue" placeholder="输入二维码内容..."
+          style="width:100%;background:#0f1923;border:1px solid #2a3441;color:#fff;padding:10px 12px;border-radius:6px;font-size:14px;box-sizing:border-box"
+          autofocus @keyup.enter="submitManualQr">
+        <div class="modal-actions" style="margin-top:16px">
+          <button class="btn btn-primary" @click="submitManualQr">确认</button>
+          <button class="btn" @click="showQrInputDialog = false; qrInputId = null; qrInputValue = ''">取消</button>
+        </div>
+      </div>
+    </div>
+
+    <!-- 机械臂截图弹窗 -->
+    <div class="modal-overlay" v-if="showArmSnapshot" @click.self="showArmSnapshot = false">
+      <div class="modal" style="max-width:800px">
+        <div style="display:flex;justify-content:space-between;align-items:center;margin-bottom:12px">
+          <h3>📸 机械臂摄像头截图</h3>
+          <button class="btn btn-small" @click="showArmSnapshot = false" style="font-size:18px;background:none;border:none;color:#9aa0a6;cursor:pointer">✕</button>
+        </div>
+        <div style="background:#000;border-radius:8px;overflow:hidden">
+          <img :src="armSnapshotUrl" style="width:100%;display:block">
+        </div>
+        <div style="margin-top:8px;text-align:center;color:#9aa0a6;font-size:12px">
+          点击弹窗外关闭
+        </div>
+      </div>
     </div>
 
   <script src="/static/js/vue3.global.prod.js?v=20260526a"></script>
-  <script src="/static/js/setting.js?v=20260529b"></script>
+  <script src="/static/js/setting.js?v=20260605a"></script>
 </body>
 </html>