From 8035cf29e2814e99ef704d483fc7b1e792c3132e Mon Sep 17 00:00:00 2001
From: ywb <347742090@qq.com>
Date: Fri, 29 May 2026 20:21:46 +0800
Subject: [PATCH] -

---
 agv_app/static/js/setting.js      | 42 +++++++++++++++++++++++++++++--
 agv_app/templates/setting.html    |  1 +
 agv_app/utils/mission_executor.py | 19 +++++++-------
 3 files changed, 50 insertions(+), 12 deletions(-)

diff --git a/agv_app/static/js/setting.js b/agv_app/static/js/setting.js
index 0e96518..9c9d43b 100644
--- a/agv_app/static/js/setting.js
+++ b/agv_app/static/js/setting.js
@@ -857,13 +857,51 @@ createApp({
         body: JSON.stringify({ joint: 'J' + (idx + 1), angle: val })
       })
     },
-    async applyAngles() {
+    async applyAngles(angles = null) {
+      const targetAngles = angles || this.angleInputs
       await fetch(API + '/api/arm/set_angles', {
         method: 'POST',
         headers: { 'Content-Type': 'application/json' },
-        body: JSON.stringify({ angles: this.angleInputs, speed: 500 })
+        body: JSON.stringify({ angles: targetAngles, speed: 500 })
       })
     },
+    },
+    async invertAngles() {
+      // 每个角度取反：10 → -10, -10 → 10
+      const inverted = this.angleInputs.map(a => -a)
+      
+      // 🔍 角度范围检查（myCobot 630 限位）
+      const limits = [
+        [-180, 180],  // J1
+        [-90, 90],     // J2
+        [-90, 90],     // J3
+        [-180, 180],   // J4
+        [-90, 90],     // J5
+        [-180, 180]    // J6
+      ]
+      const outOfRange = []
+      for (let i = 0; i < 6; i++) {
+        if (inverted[i] < limits[i][0] || inverted[i] > limits[i][1]) {
+          outOfRange.push('J' + (i+1) + '=' + inverted[i].toFixed(1) + '° (范围: ' + limits[i][0] + '~' + limits[i][1] + '°)')
+        }
+      }
+      if (outOfRange.length > 0) {
+        alert('⚠️ 角度超出范围:\n' + outOfRange.join('\n'))
+        return  // 不执行反转
+      }
+      
+      // 应用到机械臂
+      try {
+        await this.applyAngles(inverted)
+        this.angleInputs = inverted  // 只有在成功后才更新显示
+        alert('✅ 角度已反转并应用')
+      } catch (e) {
+        alert('❌ 应用失败: ' + e.message)
+      }
+      
+      // 等待2秒让机械臂到位，然后刷新显示
+      setTimeout(() => this.refreshAngles(), 2000)
+    },
     jogStart(idx, dir) {
       const joint = 'J' + (idx + 1)
       fetch(API + '/api/arm/jog', {
diff --git a/agv_app/templates/setting.html b/agv_app/templates/setting.html
index 7118c93..d0a0430 100644
--- a/agv_app/templates/setting.html
+++ b/agv_app/templates/setting.html
@@ -510,6 +510,7 @@
               <div class="btn-row">
                 <button class="btn btn-primary" @click="refreshAngles">🔄 刷新角度</button>
                 <button class="btn btn-secondary" @click="applyAngles">✅ 应用角度</button>
+                <button class="btn btn-warning" @click="invertAngles">🔄 反转角度</button>
               </div>
             </div>
           </div>
diff --git a/agv_app/utils/mission_executor.py b/agv_app/utils/mission_executor.py
index c1b1d3d..824b904 100644
--- a/agv_app/utils/mission_executor.py
+++ b/agv_app/utils/mission_executor.py
@@ -781,7 +781,7 @@ class MissionExecutorV3:
     def _capture_arm_photo(self, row: int, col: int, side: str,
                            pose_idx: int, qr_value: str,
                            upload_index: int = 0) -> Optional[str]:
-        """从机械臂摄像头拍照存本地，然后上传到服务器
+        """从机械臂摄像头拍照，直接上传到服务器（不保存本地）
         
         upload_index: 从1开始，先正面后背面，由调用方维护
         """
@@ -791,21 +791,17 @@ class MissionExecutorV3:
                 logger.error("arm snapshot 请求失败")
                 return None
 
-            os.makedirs(PHOTOS_DIR, exist_ok=True)
+            # 生成文件名（用于上传）
             ts = time.strftime("%Y%m%d_%H%M%S")
             fname = f"{ts}_r{row}c{col}_{side}_p{pose_idx}_{qr_value[:20]}.jpg"
-            fpath = os.path.join(PHOTOS_DIR, fname)
-            with open(fpath, "wb") as f:
-                f.write(resp.content)
-            self._log(f"  💾 本地保存: {os.path.basename(fpath)}")
 
-            # 上传到服务器
+            # 直接上传到服务器（不保存本地）
             if qr_value:
-                self._upload_photo(fpath, qr_value, upload_index)
+                self._upload_photo_bytes(fname, resp.content, qr_value, upload_index)
             else:
                 self._log("  ⚠️ 无二维码，跳过上传")
 
-            return fpath
+            return fname  # 返回文件名（用于日志）
         except Exception as e:
             logger.error(f"拍照异常: {e}")
             return None
@@ -820,10 +816,13 @@ class MissionExecutorV3:
         """
         try:
             filename = os.path.basename(filepath)
+            headers = {
+                "Authorization": "Bearer eyJhbGciOiJIUzUxMiJ9.eyJ1c2VyX2lkIjoxLCJ1c2VyX2tleSI6ImZhNTNkZTZiLWE3NjYtNDZmNC05MDUyLTQ2MjUzZTAyNjdmNSIsInVzZXJuYW1lIjoiYWRtaW4ifQ.lC4vKThZo4aAOLsekm2kPgaEJRqRx-YDQWKfHFqxdPNESCKy57l3eIqaKTj2ZjAMaoYAwYlMrv5M1zAOJsO_PA"
+            }
             with open(filepath, "rb") as f:
                 files = {"file": (filename, f, "image/jpeg")}
                 data = {"serialNumber": serial_number, "index": str(index)}
-                resp = requests.post(UPLOAD_URL, files=files, data=data, timeout=30)
+                resp = requests.post(UPLOAD_URL, files=files, data=data, headers=headers, timeout=30)
                 if resp.status_code == 200:
                     self._log(f"  ☁️ 上传成功 [{index}]: {filename}")
                     return True