Improve camera status and production startup

agv_app/app.py

@@ -207,16 +207,7 @@ def running_page():
 def api_status():
     """获取系统整体状态"""
     with gs.lock:
-        # 实际验证机械臂连接（尝试发送一个简单命令）
-        arm_connected = False
-        if gs.arm_client and gs.arm_client._sock:
-            try:
-                # 设置短超时尝试获取角度，验证连接是否有效
-                gs.arm_client._sock.settimeout(2)
-                ok, _ = gs.arm_client.get_angles()
-                arm_connected = ok
-            except:
-                arm_connected = False
+        arm_connected = gs.arm_client.is_connected() if gs.arm_client else False
 
         # 实际验证 AGV 连接
         agv_connected = False
@@ -239,6 +230,8 @@ def api_status():
             "camera_opened": gs.camera_opened,
             "arm_camera_opened": gs.arm_camera_opened,
             "map_loaded": bool(gs.map_config),
+            "map": gs.map_config,
+            "has_agv_camera": gs.camera_opened,
             "points_count": len(gs.points_config),
             "models_count": len(gs.models_config),
             "mission_rows": gs.mission_config.get("rows", 0),
@@ -1111,7 +1104,7 @@ def api_arm_state_off():
 @app.route("/api/camera/preview")
 def api_camera_preview():
     """MJPEG 视频流"""
-    if not gs.qr_scanner or not gs.qr_scanner._cap:
+    if not gs.qr_scanner or not gs.camera_opened:
         return "camera not opened", 400
 
     import time as _time
@@ -1137,7 +1130,7 @@ def api_camera_preview():
 @app.route("/api/camera/capture")
 def api_camera_capture():
     """拍摄一张照片"""
-    if not gs.qr_scanner or not gs.qr_scanner._cap:
+    if not gs.qr_scanner or not gs.camera_opened:
         return jsonify({"ok": False, "error": "摄像头未打开"}), 400
     import cv2
     frame = gs.qr_scanner.read_frame()
@@ -2107,7 +2100,7 @@ def api_camera_refresh():
     """AGV 摄像头单帧 JPEG（polling 模式）"""
     if not gs.qr_scanner:
         return jsonify({"error": "scanner not initialized"}), 400
-    if not gs.qr_scanner._cap or not gs.qr_scanner._cap.isOpened():
+    if not gs.camera_opened:
         return jsonify({"error": "camera not opened"}), 400
     import cv2
     frame = gs.qr_scanner.read_frame()
@@ -2126,8 +2119,8 @@ def api_camera_refresh():
 def api_camera_capabilities():
     """返回摄像头能力信息，前端据此决定如何展示"""
     return jsonify({
-        "has_agv_camera": False,  # Orbbec 深度相机不提供可用的彩色画面
-        "has_arm_camera": True,
+        "has_agv_camera": bool(gs.camera_opened),
+        "has_arm_camera": bool(gs.arm_camera_opened),
     })
 # ========== 启动 ==========
 if __name__ == "__main__":
@@ -2155,4 +2148,3 @@ if __name__ == "__main__":
         debug=SERVER_CONFIG["debug"],
         threaded=True
     )
-

agv_app/utils/arm_client.py

@@ -51,6 +51,10 @@ class ArmClient:
             self._sock.close()
             self._sock = None
 
+    def is_connected(self) -> bool:
+        """返回当前 TCP 连接是否仍由客户端持有。"""
+        return self._sock is not None
+
     def reconnect(self) -> bool:
         self.close()
         time.sleep(1)
@@ -167,4 +171,4 @@ class ArmClient:
         return self
 
     def __exit__(self, *args):
-        self.close()
+        self.close()