FaulknerWu/smart-inspection
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Improve camera status and production startup

Browse Source
This commit is contained in:
FaulknerWu
2026-06-22 13:54:07 +08:00
parent 55f646053d
commit 7dadcb8bcc
5 changed files with 72 additions and 30 deletions
Download Patch File Download Diff File Expand all files Collapse all files
agv_app/app.py
+8 -16
View File
@@ -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
+4
View File
@@ -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)
public-frontend/src/components/CameraFrame.tsx
+1 -1
View File
@@ -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
+25 -9
View File
@@ -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 && \
ros2 launch agv_pro_bringup agv_pro_bringup.launch.py port_name:=$AGV_CONTROLLER_DEVICE" \
nohup bash -c '
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 > "$FLASK_LOG" 2>&1 &
FLASK_PID=$!
echo " Flask PID: $FLASK_PID"
UV_EXECUTABLE=$(resolve_uv_bin || true)
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 " $name : 已退出"
scripts/ros-common.sh
+33 -3
View File
@@ -16,6 +16,7 @@ readonly SCAN_FIXER_DIR="${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
ros2 daemon stop 2>/dev/null || true
bash -c '
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"