查验

agv_app/app.py

@@ -8,10 +8,11 @@ import time
 import logging
 import threading
 import subprocess
+import requests
 from flask import Flask, render_template, jsonify, request, Response, send_from_directory
 from flask_cors import CORS
 
-from config import SERVER_CONFIG, ARM_CONFIG, AGV_CONFIG, UPLOAD_CONFIG, MAP_CONFIG, ARM_CAMERA_CONFIG, CAMERA_CONFIG, DATA_DIR, State
+from config import SERVER_CONFIG, ARM_CONFIG, AGV_CONFIG, UPLOAD_CONFIG, MAP_CONFIG, ARM_CAMERA_CONFIG, CAMERA_CONFIG, DATA_DIR, State, ZHIJIAN_BASE_URL, ZHIJIAN_AUTH_TOKEN, set_api_mode
 from utils.arm_client import ArmClient
 from utils.agv_controller_ros2 import AGVController
 from utils.qr_scanner import QRScanner
@@ -54,6 +55,7 @@ class GlobalState:
         self.qr_config = []               # 二维码配置（独立点位列表）
         self.navigator = None              # Nav2Navigator 实例
         self.current_customs = None        # 当前设定的报关单信息
+        self.inspection = None             # 查验状态 {customs_id, customs_name, items: [{inventoryCode, inventoryName, spec, quantify, inspected}]}
         self.error_msg = ""               # 错误弹窗消息（waiting_error 状态时）
         self.lock = threading.Lock()
 
@@ -1213,10 +1215,8 @@ def api_arm_camera_refresh():
 
 @app.route("/api/camera/arm_preview")
 def api_arm_camera_preview():
-    """代理机械臂 MJPEG 视频流，逐帧上下翻转后返回。"""
+    """代理机械臂 MJPEG 视频流，直透返回（不翻转）。"""
     import requests
-    import cv2
-    import numpy as np
     try:
         upstream = requests.get(
             ARM_CAMERA_CONFIG["url"],
@@ -1241,16 +1241,8 @@ def api_arm_camera_preview():
                         if start != -1 and end != -1 and end > start:
                             jpg_data = buf[start:end+2]
                             buf = buf[end+2:]
-                            # 解码 → 上下翻转 → 编码
-                            img = cv2.imdecode(np.frombuffer(jpg_data, dtype=np.uint8), cv2.IMREAD_COLOR)
-                            if img is not None:
-                                img = cv2.flip(img, 0)
-                                ret, flipped_jpg = cv2.imencode(".jpg", img, [cv2.IMWRITE_JPEG_QUALITY, 85])
-                                if ret:
-                                    yield b"--frame\r\nContent-Type: image/jpeg\r\n\r\n" + flipped_jpg.tobytes() + b"\r\n"
-                            else:
-                                # 解码失败，直透原始帧（不应发生）
-                                yield b"--frame\r\nContent-Type: image/jpeg\r\n\r\n" + jpg_data + b"\r\n"
+                            # 直透原始帧（不翻转）
+                            yield b"--frame\r\nContent-Type: image/jpeg\r\n\r\n" + jpg_data + b"\r\n"
                         else:
                             break
             finally:
@@ -1344,6 +1336,11 @@ def api_agv_reset():
 def api_mission_start():
     """开始执行任务（V3: M×N Grid 蛇形路径）"""
     data = request.json or {}
+
+    # 必须先设置报关单（开始查验）
+    if not gs.inspection:
+        return jsonify({"ok": False, "error": "请先在「设置→报关单」中选择报关单并点击「开始查验」"}), 400
+
     single_step = bool(data.get("single_step", False))
     # 任务步骤控制开关
     options = {
@@ -1538,6 +1535,18 @@ def api_mission_state():
         result["waiting_step"] = False
         result["waiting_error"] = False
 
+    # 查验状态
+    result["inspection"] = gs.inspection
+
+    # QR 输入弹窗消息
+    if hasattr(MissionExecutorV3, "_instance") and MissionExecutorV3._instance:
+        rpt = MissionExecutorV3._instance.report
+        result["qr_message"] = rpt.get("qr_message", "")
+        result["step_label"] = rpt.get("step_label", "")
+    else:
+        result["qr_message"] = ""
+        result["step_label"] = ""
+
     return jsonify(result)
 
 @app.route("/api/mission/log", methods=["GET"])
@@ -1755,10 +1764,45 @@ def api_qr_config_scan(qr_id):
 
 
 
+# ========== 环境切换 API ==========
+
+@app.route("/api/config/mode", methods=["GET"])
+def api_config_mode_get():
+    """获取当前 API 环境模式"""
+    import config
+    return jsonify({
+        "ok": True,
+        "test_mode": config.TEST_MODE,
+        "base_url": config.ZHIJIAN_BASE_URL,
+        "label": "测试环境" if config.TEST_MODE else "正式环境"
+    })
+
+
+@app.route("/api/config/mode", methods=["POST"])
+def api_config_mode_set():
+    """切换 API 环境"""
+    body = request.get_json(silent=True) or {}
+    test_mode = body.get("test_mode", True)
+    set_api_mode(test_mode)
+    import config
+    logger.info(f"API 环境已切换为: {'测试' if test_mode else '正式'} → {config.ZHIJIAN_BASE_URL}")
+    return jsonify({
+        "ok": True,
+        "test_mode": config.TEST_MODE,
+        "base_url": config.ZHIJIAN_BASE_URL,
+        "label": "测试环境" if config.TEST_MODE else "正式环境"
+    })
+
+
 # ========== 报关单接口（代理外部 API） ==========
 
-_ZHIJIAN_BASE = "https://ts.zhijian168.com/prod-api/zhijian/integration"
-_ZHIJIAN_AUTH = "Bearer eyJhbGciOiJIUzUxMiJ9.eyJ1c2VyX2lkIjoxLCJ1c2VyX2tleSI6ImZhNTNkZTZiLWE3NjYtNDZmNC05MDUyLTQ2MjUzZTAyNjdmNSIsInVzZXJuYW1lIjoiYWRtaW4ifQ.lC4vKThZo4aAOLsekm2kPgaEJRqRx-YDQWKfHFqxdPNESCKy57l3eIqaKTj2ZjAMaoYAwYlMrv5M1zAOJsO_PA"
+def _get_zhijian_base():
+    """动态获取报关单 API base，跟随环境切换"""
+    import config
+    base = f"{config.ZHIJIAN_BASE_URL}{config.API_PREFIX}/zhijian/integration"
+    return base
+
+_ZHIJIAN_AUTH = ZHIJIAN_AUTH_TOKEN
 
 
 @app.route("/api/customs/list")
@@ -1767,36 +1811,49 @@ def api_customs_list():
     import requests
     page = request.args.get("pageNum", 1)
     size = request.args.get("pageSize", 50)
-    url = f"{_ZHIJIAN_BASE}/customsListPage?pageNum={page}&pageSize={size}"
+    url = f"{_get_zhijian_base()}/customsListPage?pageNum={page}&pageSize={size}"
+    logger.info(f"[customs/list] 🔍 请求 → {url}")
     try:
         r = requests.get(url, headers={"Authorization": _ZHIJIAN_AUTH}, timeout=15)
+        logger.info(f"[customs/list] 📡 响应 HTTP {r.status_code}, body长度={len(r.text)}")
         if r.status_code != 200:
+            logger.warning(f"[customs/list] ⚠️ 返回非200: {r.status_code}")
             return jsonify({"ok": False, "error": f"报关单API返回 {r.status_code}"}), 502
         data = r.json()
+        rows = data.get("rows", [])
+        logger.info(f"[customs/list] ✅ 获取到 {len(rows)} 条报关单")
         return jsonify({"ok": True, "data": data})
     except Exception as e:
-        logger.error(f"获取报关单列表失败: {e}")
+        logger.error(f"[customs/list] ❌ 失败: {e}")
         return jsonify({"ok": False, "error": str(e)}), 502
 
 
 @app.route("/api/customs/machines")
 def api_customs_machines():
     """根据报关单 ID 获取机器列表（代理外部 API）
-    查询参数: customsId=xxx
+    数据源：cjt_customs_item 表 → Java customsMachines 接口
     """
     import requests
     customs_id = request.args.get("customsId", "")
+    logger.info(f"[customs/machines] 📥 customsId={customs_id}")
     if not customs_id:
+        logger.warning("[customs/machines] ⚠️ 缺少 customsId")
         return jsonify({"ok": False, "error": "缺少 customsId 参数"}), 400
-    url = f"{_ZHIJIAN_BASE}/customsMachines?customsId={customs_id}"
+
     try:
+        url = f"{_get_zhijian_base()}/customsMachines?customsId={customs_id}"
+        logger.info(f"[customs/machines] 🔍 请求 → {url}")
         r = requests.get(url, headers={"Authorization": _ZHIJIAN_AUTH}, timeout=15)
+        logger.info(f"[customs/machines] 📡 响应 HTTP {r.status_code}, body长度={len(r.text)}")
         if r.status_code != 200:
-            return jsonify({"ok": False, "error": f"机器列表API返回 {r.status_code}"}), 502
-        data = r.json()
-        return jsonify({"ok": True, "data": data})
+            logger.warning(f"[customs/machines] ⚠️ 返回非200: {r.status_code}, body={r.text[:300]}")
+            return jsonify({"ok": False, "error": "机器列表API返回非200"}), 502
+        result = r.json()
+        machines = result.get("data") or []
+        logger.info(f"[customs/machines] ✅ 获取到 {len(machines)} 条机器记录")
+        return jsonify({"ok": True, "data": result})
     except Exception as e:
-        logger.error(f"获取报关单机器列表失败: {e}")
+        logger.error(f"[customs/machines] ❌ 失败: {e}")
         return jsonify({"ok": False, "error": str(e)}), 502
 
 
@@ -1820,6 +1877,188 @@ def api_customs_selected_get():
     return jsonify({"ok": True, "customs": c})
 
 
+# ========== 查验 API ==========
+@app.route("/api/customs/inspection/start", methods=["POST"])
+def api_customs_inspection_start():
+    """开始查验：加载报关单机器列表，初始化查验计数"""
+    data = request.json or {}
+    customs_id = data.get("customsId", "")
+    if not customs_id:
+        return jsonify({"ok": False, "error": "缺少 customsId"}), 400
+
+    # 获取报关单机器列表
+    try:
+        machines_url = f"{_get_zhijian_base()}/customsMachines?customsId={customs_id}"
+        logger.info(f"[inspection/start] 🔍 获取机器列表 → {machines_url}")
+        r = requests.get(
+            machines_url,
+            headers={"Authorization": _ZHIJIAN_AUTH},
+            timeout=15
+        )
+        logger.info(f"[inspection/start] 📡 机器列表响应 HTTP {r.status_code}, body长度={len(r.text)}")
+        if r.status_code != 200:
+            logger.warning(f"[inspection/start] ⚠️ 返回非200: {r.status_code}, body={r.text[:300]}")
+            return jsonify({"ok": False, "error": f"接口返回 {r.status_code}"}), 502
+        j = r.json()
+        machines = j.get("data") or []
+        logger.info(f"[inspection/start] ✅ 获取到 {len(machines)} 条机器记录")
+    except Exception as e:
+        logger.error(f"[inspection/start] ❌ 获取机器列表失败: {e}")
+        return jsonify({"ok": False, "error": str(e)}), 502
+
+    # 按 inventoryCode 聚合（同一物料可能有多条序列号记录）
+    items_dict = {}
+    for m in machines:
+        code = m.get("inventoryCode") or m.get("machineCode") or "unknown"
+        if code not in items_dict:
+            items_dict[code] = {
+                "inventoryCode": code,
+                "inventoryName": m.get("inventoryName") or m.get("machineName") or "-",
+                "spec": m.get("inventorySpecification") or m.get("spec") or "-",
+                "quantify": 0,
+                "inspected": 0,
+            }
+        # 累计数量（quantify 字段可能来自 customsMachines 的返回值）
+        q = m.get("quantify", 0)
+        if q:
+            items_dict[code]["quantify"] += int(float(q))
+
+    # 如果 quantify 全部为 0，用机器条目数作为数量
+    for item in items_dict.values():
+        if item["quantify"] == 0:
+            item["quantify"] = sum(1 for m in machines if (m.get("inventoryCode") or "") == item["inventoryCode"])
+
+    logger.info(f"[inspection/start] 📊 聚合结果: {len(items_dict)} 种机型, total {sum(i['quantify'] for i in items_dict.values())} 台")
+
+    # 获取报关单名称
+    customs_name = data.get("customsName") or customs_id
+    try:
+        list_url = f"{_get_zhijian_base()}/customsListPage?pageNum=1&pageSize=100"
+        logger.info(f"[inspection/start] 🔍 获取报关单名称 → {list_url}")
+        r2 = requests.get(
+            list_url,
+            headers={"Authorization": _ZHIJIAN_AUTH},
+            timeout=15
+        )
+        if r2.status_code == 200:
+            j2 = r2.json()
+            for row in j2.get("rows", []):
+                c = row.get("customs", {})
+                if str(c.get("id", "")) == str(customs_id):
+                    customs_name = c.get("customsCode") or row.get("orderCode") or customs_name
+                    break
+    except:
+        pass
+
+    gs.inspection = {
+        "customsId": customs_id,
+        "customsName": customs_name,
+        "items": list(items_dict.values()),
+        "startedAt": time.time(),
+    }
+    logger.info(f"开始查验: {customs_name} ({len(gs.inspection['items'])} 种机型，共 {sum(i['quantify'] for i in gs.inspection['items'])} 台)")
+    return jsonify({"ok": True, "inspection": gs.inspection})
+
+
+@app.route("/api/customs/inspection", methods=["GET"])
+def api_customs_inspection():
+    """获取当前查验状态"""
+    return jsonify({"ok": True, "inspection": gs.inspection})
+
+
+@app.route("/api/customs/inspection/end", methods=["POST"])
+def api_customs_inspection_end():
+    """结束查验"""
+    gs.inspection = None
+    return jsonify({"ok": True})
+
+
+@app.route("/api/customs/printer", methods=["GET"])
+def api_customs_printer():
+    """代理 /zhijian/profile/printer 查询，同时更新查验计数
+    GET ?serialNumber=xxx
+    """
+    sn = request.args.get("serialNumber", "").strip()
+    logger.info(f"[printer] 📥 收到查询请求 serialNumber={sn}")
+    if not sn:
+        logger.warning("[printer] ⚠️ 缺少 serialNumber 参数")
+        return jsonify({"ok": False, "error": "缺少 serialNumber"}), 400
+
+    # 调用 Java profile/printer 接口
+    api_base = _get_zhijian_base().rstrip("/")
+    profile_url = f"{api_base[:api_base.rfind('/')]}/profile/printer?serialNumber={sn}"
+    logger.info(f"[printer] 🔍 请求 Java → {profile_url}")
+    try:
+        r = requests.get(profile_url, headers={"Authorization": _ZHIJIAN_AUTH}, timeout=15)
+        logger.info(f"[printer] 📡 Java响应 HTTP {r.status_code}: {r.text[:500]}")
+        if r.status_code != 200:
+            logger.warning(f"[printer] ⚠️ Java返回非200: {r.status_code}")
+            return jsonify({"ok": False, "error": f"profile/printer 返回 {r.status_code}"}), 502
+        j = r.json()
+    except Exception as e:
+        logger.error(f"[printer] ❌ 查询 Java printer 失败: {e}")
+        return jsonify({"ok": False, "error": str(e)}), 502
+
+    data = j.get("data", j)
+    printer = data.get("printer")
+    order_item = data.get("orderItem")
+    logger.info(f"[printer] 📊 Java返回解析: printer={'yes' if printer else 'no'}, orderItem={'yes' if order_item else 'no'}")
+
+    result = {
+        "ok": True,
+        "printer": printer,
+        "orderItem": order_item,
+        "modelName": "机器1",  # 默认
+        "inventoryCode": None,
+        "matchedItem": None,
+        "hasInspection": gs.inspection is not None,
+    }
+
+    # 提取 inventory 信息（优先级: orderItem.inventory > printer.inventory > printer.model/machineModel）
+    if order_item and order_item.get("inventory"):
+        inv = order_item["inventory"]
+        result["modelName"] = inv.get("inventoryName") or inv.get("name") or "机器1"
+        result["inventoryCode"] = inv.get("inventoryCode") or inv.get("code")
+        logger.info(f"[printer] 🏷️ 从 orderItem.inventory 提取: modelName={result['modelName']}, inventoryCode={result['inventoryCode']}")
+    elif printer and printer.get("inventory"):
+        inv = printer["inventory"]
+        result["modelName"] = inv.get("inventoryName") or inv.get("name") or "机器1"
+        result["inventoryCode"] = inv.get("inventoryCode") or inv.get("code")
+        logger.info(f"[printer] 🏷️ 从 printer.inventory 提取: modelName={result['modelName']}, inventoryCode={result['inventoryCode']}")
+    elif printer:
+        result["modelName"] = printer.get("model") or printer.get("machineModel") or "机器1"
+        logger.info(f"[printer] 🏷️ 从 printer.model/machineModel 提取: modelName={result['modelName']}")
+    else:
+        logger.warning(f"[printer] ⚠️ printer 和 orderItem 均为空，回退 modelName=机器1")
+
+    # 更新查验计数
+    if gs.inspection and result["inventoryCode"]:
+        for item in gs.inspection["items"]:
+            if item["inventoryCode"] == result["inventoryCode"]:
+                item["inspected"] += 1
+                result["matchedItem"] = item
+                logger.info(f"[printer] ✅ 查验计数更新: {item['inventoryName']} → {item['inspected']}/{item['quantify']}")
+                break
+        else:
+            logger.warning(f"[printer] ⚠️ inventoryCode={result['inventoryCode']} 不在查验清单中")
+    logger.info(f"[printer] 📤 返回结果: modelName={result['modelName']}, inventoryCode={result['inventoryCode']}, hasInspection={result['hasInspection']}, matched={'yes' if result['matchedItem'] else 'no'}")
+    return jsonify(result)
+
+
+@app.route("/api/customs/inspection/update", methods=["POST"])
+def api_customs_inspection_update():
+    """直接更新查验计数（由执行器调用）"""
+    data = request.json or {}
+    code = data.get("inventoryCode", "")
+    if not gs.inspection or not code:
+        return jsonify({"ok": False})
+    for item in gs.inspection["items"]:
+        if item["inventoryCode"] == code:
+            item["inspected"] += 1
+            return jsonify({"ok": True, "item": item})
+    return jsonify({"ok": False, "error": "未匹配"})
+
+
 # ========== 静态资源 ==========
 @app.route("/photos/<name>")
 def photos(name):