codex整理结果

agv_app/app.py

@@ -1208,35 +1208,16 @@ def api_agv_stop():
 
 @app.route("/api/agv/reset", methods=["POST"])
 def api_agv_reset():
-    """撞物体后复位 - 停止运动并尝试重新上电"""
+    """撞物体后复位 - 停止运动并重新检查 ROS2 连接"""
     import time
     if not gs.agv_controller:
         return jsonify({"ok": False, "error": "AGV 控制器未初始化"}), 400
     try:
-        # 1. 先停止运动
         gs.agv_controller.stop()
         time.sleep(0.5)
-        
-        # 2. 检查 AGV 对象是否存在
-        agv = gs.agv_controller._agv
-        if not agv:
-            return jsonify({"ok": False, "error": "AGV 未连接，请重新连接"}), 400
-        
-        # 3. 检查电源状态
-        power_on = agv.is_power_on()
-        if not power_on:
-            # 撞物体后可能自动断电保护，尝试重新上电
-            agv.power_on()
-            time.sleep(2)
-            power_on = agv.is_power_on()
-            if power_on:
-                gs.agv_controller._connected = True
-                return jsonify({"ok": True, "message": "复位成功，已重新上电"})
-            else:
-                return jsonify({"ok": False, "error": "上电失败，请检查 AGV 状态"}), 500
-        else:
-            # 电源正常，只需要停止
-            return jsonify({"ok": True, "message": "复位成功，AGV 已停止"})
+        if gs.agv_controller.connect():
+            return jsonify({"ok": True, "message": "复位成功，AGV 已停止并重新连接"})
+        return jsonify({"ok": False, "error": "AGV 已停止，但 ROS2 连接检查失败"}), 500
     except Exception as e:
         return jsonify({"ok": False, "error": str(e)}), 500
 
@@ -1259,13 +1240,10 @@ def api_mission_start():
     }
     print(f"[Mission] options: {options}")
     
-    # 清除可能存在的旧实例，确保可以启动
-    if hasattr(MissionExecutorV3, "_instance"):
-        MissionExecutorV3._instance = None
-    gs.state = State.IDLE
-    
-    if hasattr(MissionExecutorV3, "_instance") and MissionExecutorV3._instance:
+    existing = getattr(MissionExecutorV3, "_instance", None)
+    if existing and existing.report.get("status") not in ("idle", "completed"):
         return jsonify({"ok": False, "error": "任务已在运行中"}), 400
+    MissionExecutorV3._instance = None
 
     def run(single_step):
         from config import AGV_CONFIG
@@ -1276,28 +1254,30 @@ def api_mission_start():
         }
         executor = MissionExecutorV3(config)
 
-        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
+        try:
+            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
+            gs.state = State.RUNNING
 
-        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", [])
+            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,
-            single_step=single_step,
-            options=options,
-        )
-        gs.mission_report = report
-        executor.disconnect_all()
-        gs.state = State.IDLE if report.get("error") is None else State.PAUSED
+            report = executor.execute_mission(
+                mission_config=gs.mission_config,
+                machines=machines_list,
+                qr_configs=gs.qr_config,
+                models=models_list,
+                single_step=single_step,
+                options=options,
+            )
+            gs.mission_report = report
+            gs.state = State.IDLE if report.get("error") is None else State.PAUSED
+        finally:
+            executor.disconnect_all()
 
     thread = threading.Thread(target=run, args=(single_step,), daemon=True)
     thread.start()