From 671351aa894fafcd29d5cad9053b947ca816200d Mon Sep 17 00:00:00 2001
From: ywb <347742090@qq.com>
Date: Fri, 5 Jun 2026 09:11:40 +0800
Subject: [PATCH] -

---
 agv_app/utils/config.py  |  4 ++--
 arm_server/arm_server.py | 12 ++++++++++++
 shared/config.json       |  4 ++--
 3 files changed, 16 insertions(+), 4 deletions(-)

diff --git a/agv_app/utils/config.py b/agv_app/utils/config.py
index 7aad0e2..dac5698 100644
--- a/agv_app/utils/config.py
+++ b/agv_app/utils/config.py
@@ -7,8 +7,8 @@ import os
 BASE_DIR = os.path.dirname(os.path.abspath(__file__))
 
 # ========== 网络配置（集中管理所有 IP 地址 — 修改此处即可全局生效）==========
-AGV_HOST = "192.168.50.93"
-ARM_HOST = "192.168.50.91"
+AGV_HOST = "192.168.60.177"
+ARM_HOST = "192.168.60.88"
 
 # ========== AGV 参数 ==========
 AGV_CONFIG = {
diff --git a/arm_server/arm_server.py b/arm_server/arm_server.py
index f74214c..e236ae4 100644
--- a/arm_server/arm_server.py
+++ b/arm_server/arm_server.py
@@ -255,6 +255,18 @@ class AGVCommandServer:
         self.roboflow = RoboFlowClient()
         if self.roboflow.connect():
             logger.info("RoboFlow 连接成功")
+            # 连接成功后自动上电并激活机械臂
+            time.sleep(1)
+            try:
+                resp = self.roboflow.send_recv("power_on()")
+                logger.info(f"机械臂上电: {resp}")
+            except Exception as e:
+                logger.warning(f"机械臂上电失败: {e}")
+            try:
+                resp = self.roboflow.send_recv("state_on()")
+                logger.info(f"机械臂激活: {resp}")
+            except Exception as e:
+                logger.warning(f"机械臂激活失败: {e}")
         else:
             logger.warning("RoboFlow 连接失败，服务将以 limited 模式运行")
 
diff --git a/shared/config.json b/shared/config.json
index 737f5b8..00f123a 100644
--- a/shared/config.json
+++ b/shared/config.json
@@ -1,13 +1,13 @@
 {
   "agv": {
-    "ip": "192.168.50.93",
+    "ip": "192.168.60.177",
     "ssh_user": "elephant",
     "ssh_password": "Elephant",
     "map_file": "map.yaml",
     "map_dir": "/home/elephant"
   },
   "arm": {
-    "ip": "192.168.50.91",
+    "ip": "192.168.60.88",
     "ssh_user": "pi",
     "ssh_password": "elephant",
     "socket_port": 5001,