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 = gs.arm_client.is_connected() if gs.arm_client else False
-        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
 
         # 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_agv_camera": bool(gs.camera_opened),
-        "has_arm_camera": True,
+        "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()

public-frontend/src/components/CameraFrame.tsx

@@ -49,7 +49,7 @@ export const CameraFrame: React.FC<CameraFrameProps> = ({ camera, active = true,
           {/* 后端的 AGV 接口是单帧 JPEG，机械臂接口是 MJPEG；img 可同时承载两者。 */}
           {/* eslint-disable-next-line @next/next/no-img-element */}
           <img
-            key={isPollingJpeg ? reloadKey : camera.id}
+            key={camera.id}
             className="cameraFrameImage"
             src={streamUrl}
             alt={camera.name}

scripts/prod-backend.sh

@@ -46,7 +46,6 @@ info "ok" "清理完成"
 # 2. 启动 ros2 daemon
 # ============================================================================
 step "2/8" "启动 ros2 daemon"
-source "$ROS_SETUP" 2>/dev/null || true
 rm -rf "$FASTRTPS_SHM_DIR"/fastrtps_* 2>/dev/null || true
 start_ros2_daemon || true
 
@@ -55,12 +54,16 @@ start_ros2_daemon || true
 # ============================================================================
 step "3/8" "启动 AGV Bringup"
 cd "$AGV_ROS2_DIR"
-source "$ROS_WORKSPACE_SETUP"
 
 rm -rf "$FASTRTPS_SHM_DIR"/fastrtps_* 2>/dev/null || true
 
-nohup bash -c "export ROS_DOMAIN_ID=$ROS_DOMAIN_ID && \
+nohup bash -c '
-    ros2 launch agv_pro_bringup agv_pro_bringup.launch.py port_name:=$AGV_CONTROLLER_DEVICE" \
+    source "$1" || exit 1
+    source "$2" || exit 1
+    export ROS_DOMAIN_ID="$3"
+    cd "$4" || exit 1
+    ros2 launch agv_pro_bringup agv_pro_bringup.launch.py port_name:="$5"
+' _ "$ROS_SETUP" "$ROS_WORKSPACE_SETUP" "$ROS_DOMAIN_ID" "$AGV_ROS2_DIR" "$AGV_CONTROLLER_DEVICE" \
     > "$BRINGUP_LOG" 2>&1 &
 BRINGUP_PID=$!
 echo "   bringup PID: $BRINGUP_PID"
@@ -123,7 +126,7 @@ step "6/8" "启动 Nav2 导航"
 
 nohup bash -c "source \"$ROS_SETUP\" && source \"$ROS_WORKSPACE_SETUP\" && \
     export ROS_DOMAIN_ID=$ROS_DOMAIN_ID && \
-    ros2 launch agv_pro_navigation2 navigation2_active.launch.py autostart:=True" \
+    ros2 launch agv_pro_navigation2 navigation2_active.launch.py autostart:=True use_rviz:=False" \
     > "$NAV2_LOG" 2>&1 &
 NAV2_PID=$!
 echo "   Nav2 PID: $NAV2_PID"
@@ -153,9 +156,22 @@ info "ok" "精度参数已设置"
 step "8/8" "启动 Flask API"
 
 cd "$AGV_APP_DIR"
-nohup uv run --locked python app.py > "$FLASK_LOG" 2>&1 &
+UV_EXECUTABLE=$(resolve_uv_bin || true)
-FLASK_PID=$!
+FLASK_PID=""
-echo "   Flask PID: $FLASK_PID"
+if [ -z "$UV_EXECUTABLE" ]; then
+    echo "   [ERROR] 未找到 uv，可设置 UV_BIN=/path/to/uv"
+else
+    nohup bash -c '
+        source "$1" || exit 1
+        source "$2" || exit 1
+        export ROS_DOMAIN_ID="$3"
+        cd "$4" || exit 1
+        exec "$5" run --locked python app.py
+    ' _ "$ROS_SETUP" "$ROS_WORKSPACE_SETUP" "$ROS_DOMAIN_ID" "$AGV_APP_DIR" "$UV_EXECUTABLE" \
+        > "$FLASK_LOG" 2>&1 &
+    FLASK_PID=$!
+    echo "   Flask PID: $FLASK_PID"
+fi
 sleep 4
 
 # ============================================================================
@@ -223,7 +239,7 @@ echo "  进程状态:"
 for proc_info in "bringup:$BRINGUP_PID" "Nav2:$NAV2_PID" "fixer:$FIXER_PID" "Flask:$FLASK_PID"; do
     name="${proc_info%%:*}"
     pid="${proc_info##*:}"
-    if ps aux | grep -w "$pid" | grep -v grep >/dev/null 2>&1; then
+    if [ -n "$pid" ] && ps -p "$pid" >/dev/null 2>&1; then
         echo "    $name : 运行中 (PID: $pid)"
     else
         echo "    $name : 已退出"

scripts/ros-common.sh

@@ -16,6 +16,7 @@ readonly SCAN_FIXER_DIR="${SCAN_FIXER_DIR:-$AGV_PROJECT_DIR/scan_fixer}"
 readonly LOG_DIR="${LOG_DIR:-/tmp}"
 readonly FASTRTPS_SHM_DIR="${FASTRTPS_SHM_DIR:-/dev/shm}"
 readonly AGV_CONTROLLER_DEVICE="${AGV_CONTROLLER_DEVICE:-/dev/agvpro_controller}"
+readonly UV_BIN="${UV_BIN:-}"
 export ROS_DOMAIN_ID="${ROS_DOMAIN_ID:-1}"
 
 # 日志文件
@@ -131,6 +132,32 @@ ros2_exec() {
     ' _ "$ROS_SETUP" "$ROS_WORKSPACE_SETUP" "$ROS_DOMAIN_ID" "$@"
 }
 
+resolve_uv_bin() {
+    if [ -n "$UV_BIN" ]; then
+        if [ -x "$UV_BIN" ]; then
+            echo "$UV_BIN"
+            return 0
+        fi
+        return 1
+    fi
+
+    local candidate
+    candidate=$(command -v uv 2>/dev/null || true)
+    if [ -n "$candidate" ]; then
+        echo "$candidate"
+        return 0
+    fi
+
+    for candidate in "$HOME/.local/bin/uv" "$HOME/.cargo/bin/uv"; do
+        if [ -x "$candidate" ]; then
+            echo "$candidate"
+            return 0
+        fi
+    done
+
+    return 1
+}
+
 # ============================================================================
 # ROS2 环境操作
 # ============================================================================
@@ -184,8 +211,11 @@ stop_ros2_daemon() {
     pkill -9 -f "ros2-daemon" 2>/dev/null || true
     sleep 2
 
-    source "$ROS_SETUP" 2>/dev/null || true
+    bash -c '
-    ros2 daemon stop 2>/dev/null || true
+        source "$1" || exit 0
+        export ROS_DOMAIN_ID="$2"
+        ros2 daemon stop
+    ' _ "$ROS_SETUP" "$ROS_DOMAIN_ID" 2>/dev/null || true
     echo "   [OK] ros2 daemon 已重置"
 }
 
@@ -223,7 +253,7 @@ wait_for_nodes() {
 
     while [ "$elapsed" -lt "$max_wait" ]; do
         local nodes
-        nodes=$(ros2_exec ros2 node list 2>/dev/null || true)
+        nodes=$(ros2_exec timeout 8 ros2 node list --no-daemon --spin-time 3 2>/dev/null || true)
         count=$(printf '%s\n' "$nodes" | grep -cE "$pattern" || true)
         if [ "$count" -ge "$expected" ]; then
             echo "   [OK] 已检测到 $count 个节点"