Use uv for Python environment

.gitignore

@@ -1,5 +1,6 @@
 __pycache__/
 *.py[cod]
+.venv/
 .DS_Store
 ._*
 .AppleDouble

.python-version

@@ -0,0 +1 @@
+3.10

agv_app/requirements.txt

@@ -1,7 +0,0 @@
-flask>=2.0
-flask-cors>=3.0
-pymycobot>=4.0.0
-opencv-python>=4.5
-pyzbar>=0.1.8
-requests>=2.25
-numpy>=1.20

arm/arm_server.py

@@ -17,7 +17,9 @@ from flask import Flask, Response, jsonify
 from werkzeug.serving import make_server
 
 # 添加当前目录到路径
-sys.path.insert(0, os.path.dirname(os.path.abspath(__file__)))
+BASE_DIR = os.path.dirname(os.path.abspath(__file__))
+sys.path.insert(0, BASE_DIR)
+LOG_FILE = os.environ.get("ARM_SERVER_LOG_FILE", os.path.join(BASE_DIR, "server.log"))
 
 # 配置日志
 logging.basicConfig(
@@ -25,7 +27,7 @@ logging.basicConfig(
     format="%(asctime)s [%(levelname)s] %(name)s: %(message)s",
     handlers=[
         logging.StreamHandler(),
-        logging.FileHandler(os.path.expanduser("~/work/arm_server/server.log"))
+        logging.FileHandler(LOG_FILE)
     ]
 )
 logger = logging.getLogger("arm_server")

arm_server/arm_server.py

@@ -15,7 +15,9 @@ from flask import Flask, Response, jsonify
 from werkzeug.serving import make_server
 
 # 添加当前目录到路径
-sys.path.insert(0, os.path.dirname(os.path.abspath(__file__)))
+BASE_DIR = os.path.dirname(os.path.abspath(__file__))
+sys.path.insert(0, BASE_DIR)
+LOG_FILE = os.environ.get("ARM_SERVER_LOG_FILE", os.path.join(BASE_DIR, "server.log"))
 
 # 配置日志
 logging.basicConfig(
@@ -23,7 +25,7 @@ logging.basicConfig(
     format="%(asctime)s [%(levelname)s] %(name)s: %(message)s",
     handlers=[
         logging.StreamHandler(),
-        logging.FileHandler(os.path.expanduser("~/work/arm_server/server.log"))
+        logging.FileHandler(LOG_FILE)
     ]
 )
 logger = logging.getLogger("arm_server")

arm_server/arm_server.service

@@ -6,13 +6,14 @@ Wants=network-online.target
 [Service]
 Type=simple
 User=pi
-WorkingDirectory=/home/pi/work/arm_server
+WorkingDirectory=/home/pi/work/smart-inspection/arm_server
+Environment=PATH=/home/pi/.local/bin:/usr/local/bin:/usr/bin:/bin
 ExecStartPre=/bin/sleep 5
-ExecStart=/usr/bin/python3 /home/pi/work/arm_server/arm_server.py
+ExecStart=/usr/bin/env uv run --locked python arm_server.py
 Restart=on-failure
 RestartSec=5
-StandardOutput=append:/home/pi/work/arm_server/stdout.log
+StandardOutput=append:/home/pi/work/smart-inspection/arm_server/stdout.log
-StandardError=append:/home/pi/work/arm_server/stderr.log
+StandardError=append:/home/pi/work/smart-inspection/arm_server/stderr.log
 
 [Install]
 WantedBy=multi-user.target

arm_server/requirements.txt

@@ -1,3 +0,0 @@
-# 机械臂端依赖（最少依赖）
-# RoboFlow 已在树莓派上运行，此端仅做透传
-flask>=1.0,<2.3

arm_server/start.sh

@@ -1,12 +1,10 @@
 #!/bin/bash
 # 启动机械臂服务端
+set -e
 
-cd ~/work/arm_server
+SCRIPT_DIR="$(cd "$(dirname "$0")" && pwd)"
-PYTHON_BIN="${PYTHON_BIN:-/usr/bin/python3}"
+PROJECT_DIR="$(dirname "$SCRIPT_DIR")"
+ARM_SERVER_DIR="${ARM_SERVER_DIR:-$PROJECT_DIR/arm_server}"
 
-if ! "$PYTHON_BIN" -c "import flask" >/dev/null 2>&1; then
+cd "$ARM_SERVER_DIR"
-    echo "Flask 未安装，正在安装 requirements.txt..."
+exec uv run --locked python arm_server.py
-    "$PYTHON_BIN" -m pip install --user -r requirements.txt
-fi
-
-exec "$PYTHON_BIN" arm_server.py

docs/AGV_机械臂_技术说明文档.md

@@ -741,48 +741,49 @@ _shoot(model, side, row, col, qr_value, machine_row):
 
 **AGV (主控)**:
 - Ubuntu 22.04 (ROS2 Humble)
-- Python 3.8+
+- uv 管理的 Python 3.10 虚拟环境
 - OpenCV (cv2), Flask, requests, numpy, pyzbar, PyYAML
 - ROS2 Humble + nav2_simple_commander
+- 系统依赖：ffmpeg、libzbar0
 
 **机械臂 (Pi)**:
 - arm_server.py（TCP 服务器端口 5002）
 - arm_camera.py（MJPEG 服务器端口 5003）
 - RoboFlow（大象机器人 SDK）
+- uv 管理的 Python 3.10 虚拟环境
 
 ### 9.2 启动流程
 
 ```bash
+# === 首次部署 / 依赖同步 ===
+cd ~/work/smart-inspection
+uv sync
+
 # === 机械臂端 (Pi) ===
 # 1. 启动 arm_server (TCP 5002) + arm_camera (MJPEG 5003)
 sudo systemctl start arm_server
 
 # === AGV 端 ===
-# 2. 启动 ROS2 导航栈
+# 2. 完整启动 ROS2 导航栈 + Flask
-cd ~/agv_pro_ros2
+cd ~/work/smart-inspection
-ros2 launch agv_pro_navigation2 navigation2.launch.py
+./scripts/start_all.sh
-
-# 3. 启动 Flask
-cd ~/work/agv_app
-python3 app.py  # 监听 0.0.0.0:5000
 ```
 
 ### 9.3 部署命令
 
 ```bash
-# 本地 → AGV SCP 部署（逐个文件）
+# 本地 → AGV 部署：同步仓库根目录后，在 AGV 上执行
-scp app.py elephant@192.168.60.80:/home/elephant/work/agv_app/app.py
+cd ~/work/smart-inspection
-scp utils/mission_executor.py elephant@192.168.60.80:/home/elephant/work/agv_app/utils/mission_executor.py
+uv sync --locked
 
 # 部署后验证远程文件
-ssh elephant@192.168.60.80 "grep 'def _lookup_model' /home/elephant/work/agv_app/utils/mission_executor.py"
+ssh elephant@192.168.60.80 "grep 'def _lookup_model' /home/elephant/work/smart-inspection/agv_app/utils/mission_executor.py"
 
-# 重启 Flask（使用 expect 脚本，避免 sshpass+nohup SIGTERM 问题）
+# 重启 Flask
-# 方式一：手动 killing
+ssh elephant@192.168.60.80 'bash -s' < scripts/restart_flask.sh
-ssh elephant@192.168.60.80 "pkill -f 'python3 app.py'; sleep 1; cd /home/elephant/work/agv_app && nohup python3 app.py > /tmp/flask.log 2>&1 &"
 
 # 清空 Python 缓存（关键！修改后必须清）
-ssh elephant@192.168.60.80 "find /home/elephant/work/agv_app -name '*.pyc' -delete; find /home/elephant/work/agv_app -name '__pycache__' -type d -exec rm -rf {} +"
+ssh elephant@192.168.60.80 "find /home/elephant/work/smart-inspection/agv_app -name '*.pyc' -delete; find /home/elephant/work/smart-inspection/agv_app -name '__pycache__' -type d -exec rm -rf {} +"
 ```
 
 ### 9.4 关键运维经验
@@ -836,7 +837,6 @@ ssh elephant@192.168.60.80 "find /home/elephant/work/agv_app -name '*.pyc' -dele
 agv_app/
 ├── app.py                    # Flask 主程序 (2132行)
 ├── config.py                 # 集中配置
-├── requirements.txt          # Python 依赖
 ├── templates/
 │   ├── index.html            # AGV 控制页
 │   ├── setting.html          # 设置页（网格/机型/报关单）
@@ -869,17 +869,12 @@ agv_app/
 ## 附录 B：关键依赖
 
 ```
-flask>=2.0
+pyproject.toml                   # Python 依赖声明
-flask-cors
+uv.lock                          # 锁定版本
-pyyaml
+.python-version                  # Python 3.10
-opencv-python
+ffmpeg                           # 系统依赖，机械臂视频流
-numpy
+libzbar0                         # 系统依赖，pyzbar 动态库
-requests
+ROS2 Humble                      # 系统环境，提供 rclpy/nav2_simple_commander/geometry_msgs
-pyzbar                          # 二维码识别（优先引擎）
-Pillow                          # pyzbar 依赖
-rclpy                           # ROS2 Python 客户端
-nav2_simple_commander           # Nav2 Python API
-geometry_msgs                   # ROS2 消息类型
 ```
 
 ---

pyproject.toml

@@ -0,0 +1,21 @@
+[project]
+name = "smart-inspection"
+version = "0.1.0"
+description = "AGV 智能巡检系统与机械臂服务端"
+readme = "scripts/README.md"
+requires-python = ">=3.10,<3.11"
+dependencies = [
+    "flask>=2.0,<2.3",
+    "flask-cors>=3.0",
+    "numpy>=1.20",
+    "opencv-python>=4.5",
+    "pillow>=10.0",
+    "pymycobot>=4.0.0",
+    "pyyaml>=6.0",
+    "pyzbar>=0.1.8",
+    "requests>=2.25",
+    "werkzeug>=2.2,<3.0",
+]
+
+[tool.uv]
+package = false

scripts/README.md

@@ -13,12 +13,33 @@ scripts/
 
 ## 使用场景
 
+### 0. 初始化 Python 环境
+
+项目使用 `uv` 统一管理 Python 虚拟环境，依赖声明在仓库根目录 `pyproject.toml`，锁定版本在 `uv.lock`。
+
+```bash
+# 如系统尚未安装 uv，先安装 uv
+curl -LsSf https://astral.sh/uv/install.sh | sh
+
+# 在仓库根目录执行
+cd ~/work/smart-inspection
+uv sync
+```
+
+`uv sync` 会按 `.python-version` 创建 Python 3.10 虚拟环境到 `.venv`。ROS2 Humble 仍使用系统环境 `/opt/ros/humble`，不要把 ROS2 系统包写入 `pyproject.toml`。
+
+系统依赖仍需通过系统包管理器安装：
+
+```bash
+sudo apt install -y ffmpeg libzbar0
+```
+
 ### 1. 首次开机 / 完整重启
 ```bash
 # 在 AGV 上执行
-cd ~/work/smart-inspection/scripts
+cd ~/work/smart-inspection
-./stop_all.sh    # 先彻底清理
+./scripts/stop_all.sh    # 先彻底清理
-./start_all.sh   # 完整启动
+./scripts/start_all.sh   # 完整启动
 ```
 
 ### 2. 修改代码后快速部署
@@ -45,7 +66,8 @@ ssh elephant@192.168.60.80 'bash -s' < scripts/start_flask.sh
 
 | 变量 | 默认值 | 说明 |
 |------|--------|------|
-| `AGV_APP_DIR` | `/home/elephant/work/agv_app` | Flask 项目目录 |
+| `AGV_PROJECT_DIR` | `/home/elephant/work/smart-inspection` | 仓库根目录 |
+| `AGV_APP_DIR` | `$AGV_PROJECT_DIR/agv_app` | Flask 应用目录 |
 | `AGV_ROS2_DIR` | `/home/elephant/agv_pro_ros2` | ROS2 工作空间 |
 | `SCAN_FIXER_DIR` | `/home/elephant/work/scan_fixer` | 时间戳修正工具目录 |
 | `FIXER_SCRIPT` | `fix_scan_timestamp_v6.py` | fixer 脚本名 |
@@ -64,6 +86,8 @@ ssh elephant@192.168.60.80 'bash -s' < scripts/start_flask.sh
 机械臂 (Pi) 的启动由 systemd 托管，在 Pi 上执行：
 
 ```bash
+cd ~/work/smart-inspection
+uv sync
 sudo systemctl start arm_server     # 启动
 sudo systemctl status arm_server    # 查看状态
 sudo systemctl enable arm_server    # 开机自启

scripts/dev_start.sh

@@ -8,6 +8,7 @@ set -e
 SCRIPT_DIR="$(cd "$(dirname "$0")" && pwd)"
 PROJECT_DIR="$(dirname "$SCRIPT_DIR")"
 AGV_APP_DIR="$PROJECT_DIR/agv_app"
+AGV_ROS2_DIR="${AGV_ROS2_DIR:-/home/elephant/agv_pro_ros2}"
 
 echo "=========================================="
 echo "  本地开发模式 - 仅启动 Flask"
@@ -15,6 +16,9 @@ echo "=========================================="
 echo ""
 
 # 切换到项目目录
+source /opt/ros/humble/setup.bash 2>/dev/null || true
+source "$AGV_ROS2_DIR/install/setup.bash" 2>/dev/null || true
+
 cd "$AGV_APP_DIR"
 
 # 检查是否有运行的 Flask 进程
@@ -36,4 +40,4 @@ fi
 echo "启动 Flask (前台模式，Ctrl+C 停止)..."
 echo "访问: http://127.0.0.1:5000"
 echo ""
-exec python3 app.py
+exec uv run --locked python app.py

scripts/restart_flask.sh

@@ -2,11 +2,17 @@
 # ============================================================
 # restart_flask.sh - 语法检查 + 重启 Flask + 验证
 # 用法: ssh elephant@<AGV_IP> 'bash -s' < scripts/restart_flask.sh
-#       或在 AGV 上: cd ~/work/agv_app && ../../scripts/restart_flask.sh
+#       或在 AGV 上: cd ~/work/smart-inspection && ./scripts/restart_flask.sh
 # ============================================================
 set -e
 
-AGV_APP_DIR="${AGV_APP_DIR:-/home/elephant/work/agv_app}"
+AGV_PROJECT_DIR="${AGV_PROJECT_DIR:-/home/elephant/work/smart-inspection}"
+AGV_APP_DIR="${AGV_APP_DIR:-$AGV_PROJECT_DIR/agv_app}"
+AGV_ROS2_DIR="${AGV_ROS2_DIR:-/home/elephant/agv_pro_ros2}"
+
+source /opt/ros/humble/setup.bash 2>/dev/null || true
+source "$AGV_ROS2_DIR/install/setup.bash" 2>/dev/null || true
+
 cd "$AGV_APP_DIR"
 
 echo "=========================================="
@@ -16,7 +22,7 @@ echo ""
 
 # 1. 语法检查
 echo "[1/3] Python 语法检查..."
-python3 -m py_compile app.py
+uv run --locked python -m py_compile app.py
 if [ $? -ne 0 ]; then
     echo "❌ 语法错误，请先修复"
     exit 1
@@ -29,8 +35,9 @@ find "$AGV_APP_DIR" -name '*.pyc' -delete 2>/dev/null
 find "$AGV_APP_DIR" -name '__pycache__' -type d -exec rm -rf {} + 2>/dev/null
 
 pkill -f "python.*app.py" 2>/dev/null || true
+pkill -f "uv run .*python app.py" 2>/dev/null || true
 sleep 1
-nohup python3 app.py > /tmp/agv_flask.log 2>&1 &
+nohup uv run --locked python app.py > /tmp/agv_flask.log 2>&1 &
 FLASK_PID=$!
 echo "   Flask PID: $FLASK_PID"
 

scripts/start_all.sh

@@ -10,7 +10,8 @@
 set -e
 
 # ---- 可配置项（环境变量覆盖默认值） ----
-AGV_APP_DIR="${AGV_APP_DIR:-/home/elephant/work/agv_app}"
+AGV_PROJECT_DIR="${AGV_PROJECT_DIR:-/home/elephant/work/smart-inspection}"
+AGV_APP_DIR="${AGV_APP_DIR:-$AGV_PROJECT_DIR/agv_app}"
 AGV_ROS2_DIR="${AGV_ROS2_DIR:-/home/elephant/agv_pro_ros2}"
 SCAN_FIXER_DIR="${SCAN_FIXER_DIR:-/home/elephant/work/scan_fixer}"
 FIXER_SCRIPT="${FIXER_SCRIPT:-fix_scan_timestamp_v6.py}"
@@ -34,6 +35,7 @@ pkill -f "robot_state_publisher" 2>/dev/null || true
 pkill -f "fix_scan_timestamp" 2>/dev/null || true
 pkill -f "clock_publisher" 2>/dev/null || true
 pkill -f "python.*app.py" 2>/dev/null || true
+pkill -f "uv run .*python app.py" 2>/dev/null || true
 sleep 2
 
 # 【关键】硬杀确保干净
@@ -252,7 +254,7 @@ echo "   ✅ 精度参数已设置"
 echo "[7/8] 启动 Flask API..."
 export ROS_DOMAIN_ID=1
 cd "$AGV_APP_DIR"
-nohup python3 app.py > /tmp/agv_flask.log 2>&1 &
+nohup uv run --locked python app.py > /tmp/agv_flask.log 2>&1 &
 FLASK_PID=$!
 echo "   Flask PID: $FLASK_PID"
 sleep 4
@@ -308,7 +310,7 @@ echo "   当前文件数: $FASTRTPS_NEW (正常运行时会有一些)"
 # 8e. Flask API 测试
 echo ""
 echo "验证 Flask API..."
-FLASK_RUNNING=$(ps aux | grep "[p]ython3 app.py" | wc -l || echo 0)
+FLASK_RUNNING=$(pgrep -f "app.py" | wc -l || echo 0)
 if [ "$FLASK_RUNNING" -gt 0 ]; then
     echo "   ✅ Flask 进程运行中"
 else

scripts/start_flask.sh

@@ -3,13 +3,19 @@
 # start_flask.sh - 仅启动/重启 Flask 服务（不启动 ROS2）
 # 适用于: 修改了前端/API 代码后快速重启
 # ============================================================
-AGV_APP_DIR="${AGV_APP_DIR:-/home/elephant/work/agv_app}"
+AGV_PROJECT_DIR="${AGV_PROJECT_DIR:-/home/elephant/work/smart-inspection}"
+AGV_APP_DIR="${AGV_APP_DIR:-$AGV_PROJECT_DIR/agv_app}"
+AGV_ROS2_DIR="${AGV_ROS2_DIR:-/home/elephant/agv_pro_ros2}"
 
 pkill -f "python.*app.py" 2>/dev/null || true
+pkill -f "uv run .*python app.py" 2>/dev/null || true
 sleep 1
 
+source /opt/ros/humble/setup.bash 2>/dev/null || true
+source "$AGV_ROS2_DIR/install/setup.bash" 2>/dev/null || true
+
 cd "$AGV_APP_DIR"
-nohup python3 app.py > /tmp/agv_flask.log 2>&1 &
+nohup uv run --locked python app.py > /tmp/agv_flask.log 2>&1 &
 echo "Flask started, PID: $!"
 sleep 2
 

scripts/stop_all.sh

@@ -14,7 +14,8 @@ echo ""
 
 # ---------- 1. 软杀所有相关进程 ----------
 echo "[1/5] 软杀所有相关进程..."
-pkill -f "python3 app.py" 2>/dev/null || true
+pkill -f "python.*app.py" 2>/dev/null || true
+pkill -f "uv run .*python app.py" 2>/dev/null || true
 pkill -f "agv_pro_bringup" 2>/dev/null || true
 pkill -f "agv_pro_navigation2" 2>/dev/null || true
 pkill -f "agv_pro_node" 2>/dev/null || true

uv.lock

@@ -0,0 +1,320 @@
+version = 1
+revision = 3
+requires-python = "==3.10.*"
+
+[[package]]
+name = "certifi"
+version = "2026.6.17"
+source = { registry = "https://pypi.org/simple" }
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+]
+
+[[package]]
+name = "charset-normalizer"
+version = "3.4.7"
+source = { registry = "https://pypi.org/simple" }
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