任务执行

agv_app/app.py

@@ -16,7 +16,7 @@ from utils.arm_client import ArmClient
 from utils.agv_controller_ros2 import AGVController
 from utils.qr_scanner import QRScanner
 from utils.image_uploader import ImageUploader
-from utils.mission_executor import MissionExecutor, TaskStatus
+from utils.mission_executor import MissionExecutorV3
 from utils.nav2_navigator import Nav2Navigator, Nav2Status
 
 # 配置日志
@@ -1241,41 +1241,39 @@ def api_agv_reset():
 # ========== 任务执行 API ==========
 @app.route("/api/mission/start", methods=["POST"])
 def api_mission_start():
-    """开始执行任务"""
+    """开始执行任务（V3: M×N Grid 蛇形路径）"""
     if gs.state == State.RUNNING:
         return jsonify({"ok": False, "error": "任务已在运行中"}), 400
 
-    data = request.json or {}
-    mission_data = {
-        "map": gs.map_config,
-        "points": gs.points_config,
-    }
-
     def run():
-        from config import AGV_CONFIG, UPLOAD_CONFIG
-        executor_config = {
+        from config import AGV_CONFIG
+        config = {
             "device": AGV_CONFIG.get("device", "/dev/agvpro_controller"),
             "baudrate": AGV_CONFIG.get("baudrate", 1000000),
             "arm": ARM_CONFIG,
-            "upload_url": UPLOAD_CONFIG["url"],
-            "upload_timeout": UPLOAD_CONFIG["timeout"],
-            "upload_retries": UPLOAD_CONFIG["max_retries"],
-            "camera_index": 0,
         }
-        executor = MissionExecutor(executor_config)
+        executor = MissionExecutorV3(config)
 
-        # 连接
-        conn_results = executor.connect_all()
-        if not conn_results.get("arm") or not conn_results.get("camera"):
-            gs.mission_report = {"error": "连接失败", "details": conn_results}
+        conn = executor.connect_all()
+        if not conn.get("agv") or not conn.get("arm"):
+            gs.mission_report = {"error": "连接失败", "details": conn}
             gs.state = State.IDLE
             return
 
         gs.state = State.RUNNING
-        report = executor.execute_mission(mission_data)
+
+        machines_list = gs.machines_config if isinstance(gs.machines_config, list) else gs.machines_config.get("machines", [])
+        models_list = gs.models_config if isinstance(gs.models_config, list) else gs.models_config.get("models", [])
+
+        report = executor.execute_mission(
+            mission_config=gs.mission_config,
+            machines=machines_list,
+            qr_configs=gs.qr_config,
+            models=models_list,
+        )
         gs.mission_report = report
         executor.disconnect_all()
-        gs.state = State.IDLE if report["failed"] == 0 else State.PAUSED
+        gs.state = State.IDLE if report.get("error") is None else State.PAUSED
 
     thread = threading.Thread(target=run, daemon=True)
     thread.start()
@@ -1284,23 +1282,62 @@ def api_mission_start():
 @app.route("/api/mission/stop", methods=["POST"])
 def api_mission_stop():
     """停止任务"""
-    if hasattr(MissionExecutor, "_instance"):
-        MissionExecutor._instance.stop()
+    if hasattr(MissionExecutorV3, "_instance") and MissionExecutorV3._instance:
+        MissionExecutorV3._instance.stop()
     gs.state = State.IDLE
     return jsonify({"ok": True})
 
 @app.route("/api/mission/pause", methods=["POST"])
 def api_mission_pause():
+    if hasattr(MissionExecutorV3, "_instance") and MissionExecutorV3._instance:
+        MissionExecutorV3._instance.pause()
     gs.state = State.PAUSED
     return jsonify({"ok": True})
 
+@app.route("/api/mission/resume", methods=["POST"])
+def api_mission_resume():
+    if hasattr(MissionExecutorV3, "_instance") and MissionExecutorV3._instance:
+        MissionExecutorV3._instance.resume()
+    gs.state = State.RUNNING
+    return jsonify({"ok": True})
+
 @app.route("/api/mission/report", methods=["GET"])
 def api_mission_report():
     return jsonify({"report": gs.mission_report})
 
 @app.route("/api/mission/state", methods=["GET"])
 def api_mission_state():
-    return jsonify({"state": gs.state})
+    """返回任务状态 + 执行器详情"""
+    result = {"state": gs.state}
+    if hasattr(MissionExecutorV3, "_instance") and MissionExecutorV3._instance:
+        ex = MissionExecutorV3._instance
+        result.update(ex.get_status())
+    else:
+        # 空闲时预生成任务列表（基于网格和机器配置）
+        mc = gs.mission_config
+        if mc:
+            result["tasks"] = MissionExecutorV3.pre_generate_tasks(mc)
+    return jsonify(result)
+
+@app.route("/api/mission/log", methods=["GET"])
+def api_mission_log():
+    """返回实时日志"""
+    if hasattr(MissionExecutorV3, "_instance") and MissionExecutorV3._instance:
+        ex = MissionExecutorV3._instance
+        return jsonify(ex.get_logs())
+    return jsonify(gs.mission_report or {"log": []})
+
+@app.route("/api/mission/manual-qr", methods=["POST"])
+def api_mission_manual_qr():
+    """手动输入二维码值"""
+    data = request.json or {}
+    qr = data.get("qr", "").strip()
+    if not qr:
+        return jsonify({"ok": False, "error": "二维码不能为空"}), 400
+    if hasattr(MissionExecutorV3, "_instance") and MissionExecutorV3._instance:
+        MissionExecutorV3._instance.set_manual_qr(qr)
+        return jsonify({"ok": True})
+    return jsonify({"ok": False, "error": "没有运行中的任务"}), 400
 
 
 # ========== 二维码配置 API ==========