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"],
@@ -1241,15 +1241,7 @@ 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
+                            # 直透原始帧（不翻转）
-                            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"
                         else:
                             break
@@ -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"
+def _get_zhijian_base():
-_ZHIJIAN_AUTH = "Bearer eyJhbGciOiJIUzUxMiJ9.eyJ1c2VyX2lkIjoxLCJ1c2VyX2tleSI6ImZhNTNkZTZiLWE3NjYtNDZmNC05MDUyLTQ2MjUzZTAyNjdmNSIsInVzZXJuYW1lIjoiYWRtaW4ifQ.lC4vKThZo4aAOLsekm2kPgaEJRqRx-YDQWKfHFqxdPNESCKy57l3eIqaKTj2ZjAMaoYAwYlMrv5M1zAOJsO_PA"
+    """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
+            logger.warning(f"[customs/machines] ⚠️ 返回非200: {r.status_code}, body={r.text[:300]}")
-        data = r.json()
+            return jsonify({"ok": False, "error": "机器列表API返回非200"}), 502
-        return jsonify({"ok": True, "data": data})
+        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):

agv_app/config.py

@@ -47,9 +47,30 @@ ARM_CAMERA_CONFIG = {
     "snapshot_url": f"http://{ARM_HOST}:5003/api/camera/snapshot",
 }
 
+# ========== 外部 API 环境 ==========
+# 切换测试/正式环境只需改 TEST_MODE 一个变量
+TEST_MODE = False  # True=测试环境(192.168.60.159), False=正式环境(ts.zhijian168.com)
+PROD_BASE_URL = "https://ts.zhijian168.com"
+TEST_BASE_URL = "http://192.168.60.159:8080"
+PROD_API_PREFIX = "/prod-api"
+TEST_API_PREFIX = ""   # 测试服务器无 /prod-api 网关前缀
+ZHIJIAN_BASE_URL = TEST_BASE_URL if TEST_MODE else PROD_BASE_URL
+API_PREFIX = TEST_API_PREFIX if TEST_MODE else PROD_API_PREFIX
+ZHIJIAN_AUTH_TOKEN = "Bearer eyJhbGciOiJIUzUxMiJ9.eyJ1c2VyX2lkIjoxLCJ1c2VyX2tleSI6ImZhNTNkZTZiLWE3NjYtNDZmNC05MDUyLTQ2MjUzZTAyNjdmNSIsInVzZXJuYW1lIjoiYWRtaW4ifQ.lC4vKThZo4aAOLsekm2kPgaEJRqRx-YDQWKfHFqxdPNESCKy57l3eIqaKTj2ZjAMaoYAwYlMrv5M1zAOJsO_PA"
+
+
+def set_api_mode(test_mode):
+    """运行时切换 API 环境 — 无需重启 Flask"""
+    global TEST_MODE, ZHIJIAN_BASE_URL, API_PREFIX, UPLOAD_CONFIG
+    TEST_MODE = bool(test_mode)
+    ZHIJIAN_BASE_URL = TEST_BASE_URL if TEST_MODE else PROD_BASE_URL
+    API_PREFIX = TEST_API_PREFIX if TEST_MODE else PROD_API_PREFIX
+    UPLOAD_CONFIG["url"] = f"{ZHIJIAN_BASE_URL}{API_PREFIX}/file/uploadImage"
+
+
 # ========== HTTP 上传 ==========
 UPLOAD_CONFIG = {
-    "url": "https://ts.zhijian168.com/prod-api/file/uploadImage",
+    "url": f"{ZHIJIAN_BASE_URL}{API_PREFIX}/file/uploadImage",
     "timeout": 30,
     "max_retries": 3,
 }

agv_app/static/css/style.css

@@ -59,6 +59,49 @@ a:hover { text-decoration: underline; }
 .status-item.paused { background: #3a2a1a; color: #ff9800; }
 .status-item.idle { background: #2a2a2a; color: #9aa0a6; }
 
+/* ========== 环境切换开关 ========== */
+.env-toggle {
+  display: flex;
+  align-items: center;
+  gap: 6px;
+  cursor: pointer;
+  user-select: none;
+}
+.env-label {
+  font-size: 12px;
+  font-weight: 500;
+  min-width: 48px;
+  text-align: right;
+  transition: color 0.2s;
+}
+.env-label.test { color: #ff9800; }
+.env-label.prod { color: #4fc3f7; }
+.toggle-switch {
+  width: 40px;
+  height: 22px;
+  background: #3a3a3a;
+  border-radius: 11px;
+  position: relative;
+  transition: background 0.25s;
+  flex-shrink: 0;
+}
+.toggle-switch.active {
+  background: #ff9800;
+}
+.toggle-knob {
+  width: 18px;
+  height: 18px;
+  background: #fff;
+  border-radius: 50%;
+  position: absolute;
+  top: 2px;
+  left: 2px;
+  transition: left 0.25s;
+}
+.toggle-switch.active .toggle-knob {
+  left: 20px;
+}
+
 /* ========== 卡片 ========== */
 .card {
   background: #1a2332;
@@ -466,7 +509,7 @@ a:hover { text-decoration: underline; }
   object-fit: cover;
 }
 .camera-img.arm {
-  transform: rotate(180deg);
+  /* no flip */
 }
 
 .camera-placeholder {
@@ -1191,3 +1234,74 @@ a:hover { text-decoration: underline; }
   justify-content: center;
   padding: 16px 0 8px;
 }
+
+/* ===== 查验进度 ===== */
+.inspection-grid {
+  display: grid;
+  grid-template-columns: repeat(auto-fill, minmax(220px, 1fr));
+  gap: 10px;
+  margin-top: 8px;
+}
+.inspection-item {
+  background: rgba(26, 26, 46, 0.7);
+  border-radius: 8px;
+  padding: 12px;
+  border: 1px solid #2a2a3e;
+  transition: all 0.3s;
+}
+.inspection-item.insp-done {
+  border-color: #4caf50;
+  background: rgba(76, 175, 80, 0.08);
+}
+.inspection-item.insp-active {
+  border-color: #ff9800;
+  background: rgba(255, 152, 0, 0.08);
+}
+.insp-name {
+  font-weight: bold;
+  font-size: 14px;
+  margin-bottom: 4px;
+  color: #e0e0e0;
+}
+.insp-code {
+  font-family: monospace;
+  font-size: 12px;
+  color: #8899aa;
+  margin-bottom: 2px;
+}
+.insp-spec {
+  font-size: 11px;
+  color: #667788;
+  margin-bottom: 8px;
+}
+.insp-count {
+  font-size: 20px;
+  font-weight: bold;
+  margin-bottom: 6px;
+  display: flex;
+  align-items: baseline;
+  gap: 4px;
+}
+.insp-num {
+  color: #4fc3f7;
+}
+.insp-sep {
+  color: #667788;
+  font-size: 14px;
+}
+.insp-total {
+  color: #8899aa;
+  font-size: 14px;
+}
+.insp-bar {
+  height: 4px;
+  background: #0a0a14;
+  border-radius: 2px;
+  overflow: hidden;
+}
+.insp-fill {
+  height: 100%;
+  background: linear-gradient(90deg, #4fc3f7, #4caf50);
+  border-radius: 2px;
+  transition: width 0.5s ease;
+}

agv_app/static/js/app.js

@@ -20,7 +20,9 @@ createApp({
       agvCameraError: false,
       hasAgvCamera: false,  // AGV 车体是否有可用相机
       armCameraError: false,
-      reconnectingDevice: null
+      reconnectingDevice: null,
+      // 环境切换
+      testMode: true,
     }
   },
   computed: {
@@ -38,6 +40,7 @@ createApp({
   mounted() {
     this.refresh()
     this.refreshCameraCapabilities()
+    this.loadEnvMode()
     setInterval(this.refreshStatus, 3000)
     this.refreshCams()
     setInterval(() => this.refreshCams(), 2000)
@@ -133,6 +136,36 @@ createApp({
       } else {
         window.location.href = '/running'
       }
+    },
+    async loadEnvMode() {
+      try {
+        const res = await fetch(API + '/api/config/mode')
+        const data = await res.json()
+        if (data.ok) {
+          this.testMode = data.test_mode
         }
+      } catch (e) {
+        console.error('加载环境配置失败:', e)
+      }
+    },
+    async toggleEnvMode() {
+      const newMode = !this.testMode
+      try {
+        const res = await fetch(API + '/api/config/mode', {
+          method: 'POST',
+          headers: {'Content-Type': 'application/json'},
+          body: JSON.stringify({test_mode: newMode})
+        })
+        const data = await res.json()
+        if (data.ok) {
+          this.testMode = data.test_mode
+          alert('已切换至: ' + data.label)
+        } else {
+          alert('切换失败: ' + (data.error || '未知错误'))
+        }
+      } catch (e) {
+        alert('切换请求失败: ' + e.message)
+      }
+    },
   }
 }).mount('#app')

agv_app/static/js/running.js

@@ -28,6 +28,7 @@ createApp({
       errorMsg: '',
       waitingStep: false,
       stepLabel: '',
+      qrMessage: '所有姿态均未识别到二维码，请手动输入：',
       // 任务步骤控制开关（机械臂初始化并入AGV移动）
       agvMoveEnabled: true,
       qrScanEnabled: true,
@@ -36,6 +37,8 @@ createApp({
       // 速度控制
       agvSpeed: 1.0,
       armSpeed: 1000,
+      // 查验
+      inspection: null,
     }
   },
   computed: {
@@ -51,6 +54,14 @@ createApp({
       }
       return map[this.missionState] || '未知'
     },
+    inspectionTotal() {
+      if (!this.inspection || !this.inspection.items) return 0
+      return this.inspection.items.reduce((s, i) => s + (i.inspected || 0), 0)
+    },
+    inspectionTarget() {
+      if (!this.inspection || !this.inspection.items) return 0
+      return this.inspection.items.reduce((s, i) => s + (i.quantify || 0), 0)
+    },
   },
   mounted() {
     this.poll()
@@ -101,6 +112,7 @@ createApp({
         if (data.grid) this.missionGrid = data.grid
         if (data.point_status) this.pointStatus = data.point_status
         if (data.machine_status) this.machineStatus = data.machine_status
+        if (data.inspection) this.inspection = data.inspection
         this.armCameraOpened = data.arm_camera_opened
         if (this.armCameraOpened && !this.armPreviewUrl) {
           this.armPreviewUrl = API + '/api/camera/arm_preview'
@@ -122,6 +134,11 @@ createApp({
           this.waitingStep = false
         }
 
+        // QR 弹窗消息
+        if (data.qr_message) {
+          this.qrMessage = data.qr_message
+        }
+
         // QR 弹窗（防止提交后重复弹出）
         if (this.missionState !== 'waiting_qr') {
           this.qrSubmitting = false
@@ -129,6 +146,9 @@ createApp({
         if (this.missionState === 'waiting_qr' && !this.showQrModal && !this.qrSubmitting) {
           this.showQrModal = true
           this.qrValue = ''
+          if (!this.qrMessage) {
+            this.qrMessage = '所有姿态均未识别到二维码，请手动输入：'
+          }
         }
 
         // 完成后获取报告
@@ -156,6 +176,11 @@ createApp({
     },
     async startMission() {
       if (this.missionState !== 'idle') return
+      // 没有设置报关单时阻止启动（后端也会校验，这里提前友好提示）
+      if (!this.inspection) {
+        alert('⚠️ 请先在「设置→报关单」中选择报关单并点击「开始查验」')
+        return
+      }
       this.logs = []
       this.progress = 0
       this.report = null
@@ -186,6 +211,11 @@ createApp({
     },
     async startSingleStep() {
       if (this.missionState !== 'idle') return
+      // 没有设置报关单时阻止启动（后端会校验，这里提前友好提示）
+      if (!this.inspection) {
+        alert('⚠️ 请先在「设置→报关单」中选择报关单并点击「开始查验」')
+        return
+      }
       this.logs = []
       this.progress = 0
       this.report = null

agv_app/static/js/setting.js

@@ -82,7 +82,8 @@ createApp({
     this.refreshAngles()
     this.loadQrConfigs()
     this.nav2Timer = setInterval(this.refreshNavStatus, 3000)
-    this.armCameraUrl = API + '/api/camera/arm_preview?t=' + Date.now()
+    this.armSnapshotUrl = ""; this.armCameraUrl = API + '/api/camera/arm_preview?t=' + Date.now()
+    this.armSnapshotUrl = ""; this.armCameraUrl = API + "/api/camera/arm_preview?t=" + Date.now()
     },
   computed: {
     customsTotalPages() {
@@ -1203,12 +1204,11 @@ createApp({
         alert('❌ 复位请求失败: ' + e.message)
       }
     },
-  },
     // ===== 报关单方法 =====
     async loadCustomsList() {
       this.customsLoading = true
       try {
-      const url = API + '/api/customs/list?pageNum=' + this.customsPage + '&pageSize=' + this.customsPageSize
+        const url = API + '/api/customs/list?pageNum=' + this.customsPage + '&pageSize=' + this.customsPageSize + '&customsName=' + encodeURIComponent(this.customsName) + '&customsNo=' + encodeURIComponent(this.customsNo)
         const res = await fetch(url)
         const d = await res.json()
         if (d.ok && d.data) {
@@ -1236,17 +1236,20 @@ createApp({
       }
     },
     async selectCustomsRow(item) {
-    const id = item.id || item.customsId || item.customs_id || ''
+      // 新数据结构: { customs:{id,orderId,..}, orderCode, drawCode }
+      const id = (item.customs && item.customs.id) || item.id || item.customsId || item.customs_id || ''
       if (!id) return
       this.selectedCustomsId = id
-    this.selectedCustomsName = item.customsNo || item.customs_no || item.name || item.customsName || item.customs_name || id
+      this.selectedCustomsName = (item.customs && item.customs.customsCode) || item.orderCode || item.drawCode || id
       this.customsMachines = []
       try {
-      const res = await fetch(API + '/api/customs/machines?customsId=' + encodeURIComponent(id))
+        const url = API + '/api/customs/machines?customsId=' + encodeURIComponent(id)
+        const res = await fetch(url)
         const d = await res.json()
         if (d.ok && d.data) {
           const raw = d.data
           let machines = []
+          // customsMachines 返回格式: {"code":"0","data":[{serialNumber,inventoryName,...}]}
           if (raw.rows) { machines = raw.rows }
           else if (raw.records) { machines = raw.records }
           else if (raw.data && Array.isArray(raw.data)) { machines = raw.data }
@@ -1261,6 +1264,61 @@ createApp({
         this.customsMachines = []
       }
     },
-}
+    async startInspection(item) {
-
+      const id = (item.customs && item.customs.id) || item.id || item.customsId || item.customs_id || ''
+      const name = (item.customs && item.customs.customsCode) || item.orderCode || item.drawCode || id
+      if (!id) return
+      if (!confirm(`确定要对报关单「${name}」开始查验吗？\n点击确定后，运行页将以该报关单的机器进行查验。`)) return
+      try {
+        const res = await fetch(API + '/api/customs/inspection/start', {
+          method: 'POST',
+          headers: { 'Content-Type': 'application/json' },
+          body: JSON.stringify({ customsId: id, customsName: name })
+        })
+        const d = await res.json()
+        if (d.ok) {
+          alert(`✅ 查验已开始！\n报关单: ${name}\n机型: ${d.inspection.items.length} 种\n总数: ${d.inspection.items.reduce((s,i)=>s+i.quantify,0)} 台\n\n请前往「运行」页执行任务。`)
+          // 同时选中该报关单，显示机器列表
+          this.selectedCustomsId = id
+          this.selectedCustomsName = name
+          // 用 inspection items 填充 customsMachines 显示（聚合后）
+          this.customsMachines = d.inspection.items.map(it => ({
+            inventoryCode: it.inventoryCode,
+            inventoryName: it.inventoryName,
+            inventorySpecification: it.spec,
+            serialNumber: '',
+            quantify: it.quantify,
+            inspectionCount: it.inspected,
+          }))
+        } else {
+          alert('❌ 开始查验失败: ' + (d.error || '未知错误'))
+        }
+      } catch (e) {
+        alert('❌ 请求失败: ' + e.message)
+      }
+    },
+    async loadInspectionCounts() {
+      // 轮询查验计数，更新 customsMachines 的 inspectionCount
+      try {
+        const res = await fetch(API + '/api/customs/inspection')
+        const d = await res.json()
+        if (d.ok && d.inspection && this.customsMachines.length) {
+          for (const item of d.inspection.items) {
+            const match = this.customsMachines.find(m => m.inventoryCode === item.inventoryCode)
+            if (match) {
+              match.inspectionCount = item.inspected
+            }
+          }
+        }
+      } catch (e) {}
+    },
+  },
+  watch: {
+    tab(newVal) {
+      if (newVal === 'customs' && this.customsMachines.length > 0) {
+        // 切换到报关单 tab 时刷新查验计数
+        this.loadInspectionCounts()
+      }
+    }
+  },
 }).mount('#app')

agv_app/templates/index.html

@@ -16,7 +16,13 @@
         <a href="/setting" class="nav-link">⚙️ 设置</a>
         <a href="/running" class="nav-link">▶️ 运行</a>
       </nav>
-      <div class="status-bar">
+      <div class="status-bar" style="display:flex;align-items:center;gap:12px">
+        <label class="env-toggle" title="切换测试/正式环境">
+          <span class="env-label" :class="testMode ? 'test' : 'prod'">{% raw %}{{ testMode ? '🧪 测试' : '🏭 正式' }}{% endraw %}</span>
+          <div class="toggle-switch" @click="toggleEnvMode" :class="{active: testMode}">
+            <div class="toggle-knob"></div>
+          </div>
+        </label>
         <span class="status-item" :class="statusClass">
           {% raw %}{{ statusText }}{% endraw %}
         </span>

agv_app/templates/running.html

@@ -4,7 +4,7 @@
   <meta charset="UTF-8">
   <meta name="viewport" content="width=device-width, initial-scale=1.0">
   <title>运行监控 - AGV 拍摄系统</title>
-  <link rel="stylesheet" href="/static/css/style.css?v=20260529a">
+  <link rel="stylesheet" href="/static/css/style.css?v=20260616a">
 </head>
 <body>
   <div id="app">
@@ -48,6 +48,30 @@
         </div>
       </section>
 
+      <!-- 查验进度 -->
+      <section class="card" v-if="inspection">
+        <h2>🔍 查验进度 — {% raw %}{{ inspection.customsName }}{% endraw %}</h2>
+        <p class="hint" style="margin-bottom:12px">
+          总进度: {% raw %}{{ inspectionTotal }}{% endraw %} / {% raw %}{{ inspectionTarget }}{% endraw %} 台
+          <span v-if="inspectionTotal >= inspectionTarget && inspectionTarget > 0" style="color:#4caf50;font-weight:bold"> ✅ 已完成</span>
+        </p>
+        <div class="inspection-grid">
+          <div v-for="(item, ii) in inspection.items" :key="ii" class="inspection-item" :class="{ 'insp-done': item.inspected >= item.quantify, 'insp-active': item.inspected > 0 && item.inspected < item.quantify }">
+            <div class="insp-name">{% raw %}{{ item.inventoryName }}{% endraw %}</div>
+            <div class="insp-code">{% raw %}{{ item.inventoryCode }}{% endraw %}</div>
+            <div class="insp-spec">{% raw %}{{ item.spec }}{% endraw %}</div>
+            <div class="insp-count">
+              <span class="insp-num">{% raw %}{{ item.inspected }}{% endraw %}</span>
+              <span class="insp-sep">/</span>
+              <span class="insp-total">{% raw %}{{ item.quantify }}{% endraw %}</span>
+            </div>
+            <div class="insp-bar">
+              <div class="insp-fill" :style="{width: (item.quantify > 0 ? (item.inspected / item.quantify * 100) : 0) + '%'}"></div>
+            </div>
+          </div>
+        </div>
+      </section>
+
       <!-- 任务步骤控制开关 -->
       <section class="card">
         <h2>🎛️ 任务步骤控制</h2>
@@ -202,7 +226,7 @@
       <div class="modal-overlay" v-if="showQrModal">
         <div class="modal">
           <h3>⌨️ 手动输入二维码</h3>
-          <p>所有姿态均未识别到二维码，请手动输入：</p>
+          <p>{% raw %}{{ qrMessage }}{% endraw %}</p>
           <input type="text" v-model="qrValue" placeholder="输入二维码内容" autofocus @keyup.enter="submitQr">
           <div class="modal-actions">
             <button class="btn btn-success" @click="rescanQr" style="margin-right:auto">🔄 重新扫描</button>
@@ -241,6 +265,6 @@
   </div>
 
   <script src="/static/js/vue3.global.prod.js"></script>
-  <script src="/static/js/running.js?v=20260605b"></script>
+  <script src="/static/js/running.js?v=20260616c"></script>
 </body>
 </html>

agv_app/templates/setting.html

@@ -110,7 +110,7 @@
             <thead>
               <tr style="background:#1a2332;text-align:left">
                 <th style="padding:10px 12px;border-bottom:1px solid #2a3441;color:#9aa0a6;font-size:13px">ID</th>
-                <th style="padding:10px 12px;border-bottom:1px solid #2a3441;color:#9aa0a6;font-size:13px">机型名称</th>
+                <th style="padding:10px 12px;border-bottom:1px solid #2a3441;color:#9aa0a6;font-size:13px">机型申请时间</th>
                 <th style="padding:10px 12px;border-bottom:1px solid #2a3441;color:#9aa0a6;font-size:13px">描述</th>
                 <th style="padding:10px 12px;border-bottom:1px solid #2a3441;color:#9aa0a6;font-size:13px">备注</th>
                 <th style="padding:10px 12px;border-bottom:1px solid #2a3441;color:#9aa0a6;font-size:13px;text-align:center">操作</th>
@@ -161,7 +161,7 @@
                 <div style="margin-top:8px">
                   <div style="display:flex;gap:8px;align-items:center;flex-wrap:wrap">
                     <input type="text" v-model="newPoseForm[m.id + '_front']"
-                      placeholder="姿态名称（如：取料）"
+                      placeholder="姿态申请时间（如：取料）"
                       style="flex:1;min-width:120px;padding:6px;border:1px solid #2a3441;border-radius:4px">
                     <button class="btn btn-secondary btn-small" @click="addPose(m.id, 'front', newPoseForm[m.id + '_front'])">➕ 添加正面姿态（当前角度）</button>
                   </div>
@@ -208,7 +208,7 @@
                 <div style="margin-top:8px">
                   <div style="display:flex;gap:8px;align-items:center;flex-wrap:wrap">
                     <input type="text" v-model="newPoseForm[m.id + '_back']"
-                      placeholder="姿态名称（如：放料）"
+                      placeholder="姿态申请时间（如：放料）"
                       style="flex:1;min-width:120px;padding:6px;border:1px solid #2a3441;border-radius:4px">
                     <button class="btn btn-secondary btn-small" @click="addPose(m.id, 'back', newPoseForm[m.id + '_back'])">➕ 添加背面姿态（当前角度）</button>
                   </div>
@@ -225,7 +225,7 @@
                 <button class="btn-icon" @click="showAddModelModal = false">✕</button>
               </div>
               <div class="form-group" style="margin-bottom:12px">
-                <label>机型名称</label>
+                <label>机型申请时间</label>
                 <input type="text" v-model="newModelName" placeholder="例如：SMT-A" style="width:100%;padding:8px;border:1px solid #2a3441;border-radius:4px">
               </div>
               <div class="form-group" style="margin-bottom:12px">
@@ -445,7 +445,7 @@
             </button>
           </div>
           <div style="display:flex;justify-content:flex-end;margin-bottom:16px">
-            <input type="text" v-model="newQrName" placeholder="输入名称..." style="background:#0f1923;border:1px solid #2a3441;color:#fff;padding:8px 12px;border-radius:6px;margin-right:8px;width:180px">
+            <input type="text" v-model="newQrName" placeholder="输入申请时间..." style="background:#0f1923;border:1px solid #2a3441;color:#fff;padding:8px 12px;border-radius:6px;margin-right:8px;width:180px">
             <button class="btn btn-primary" @click="addQrConfig()">➕ 添加</button>
           </div>
           <div v-if="qrConfigs.length === 0" style="text-align:center;color:#9aa0a6;padding:40px">
@@ -454,7 +454,7 @@
           <table v-else style="width:100%;border-collapse:collapse;margin-bottom:16px">
             <thead>
               <tr style="background:#1a2332;text-align:left">
-                <th style="padding:10px 8px;border-bottom:1px solid #2a3441;color:#9aa0a6;font-size:12px">名称</th>
+                <th style="padding:10px 8px;border-bottom:1px solid #2a3441;color:#9aa0a6;font-size:12px">申请时间</th>
                 <th style="padding:10px 4px;border-bottom:1px solid #2a3441;color:#9aa0a6;font-size:12px">J1</th>
                 <th style="padding:10px 4px;border-bottom:1px solid #2a3441;color:#9aa0a6;font-size:12px">J2</th>
                 <th style="padding:10px 4px;border-bottom:1px solid #2a3441;color:#9aa0a6;font-size:12px">J3</th>
@@ -606,30 +606,33 @@
                 <tr>
                   <th style="width:60px">序号</th>
                   <th>报关单号</th>
-                  <th>名称</th>
+                  <th>申请时间</th>
                   <th>状态</th>
                   <th>机器数</th>
                   <th style="width:80px">操作</th>
                 </tr>
               </thead>
               <tbody>
-                <tr v-for="(item, idx) in customsPageData" :key="item.id || idx"
+                <tr v-for="(item, idx) in customsPageData" :key="(item.customs && item.customs.id) || item.id || idx"
                     class="clickable-row"
-                    :class="{ 'row-selected': selectedCustomsId === (item.id || item.customsId || item.customs_id) }"
+                    :class="{ 'row-selected': selectedCustomsId === ((item.customs && item.customs.id) || item.id || item.customsId || item.customs_id) }"
-                    @click="selectCustomsRow(item, idx)">
+                    @click="selectCustomsRow(item)">
                   <td>{% raw %}{{ (customsPage - 1) * customsPageSize + idx + 1 }}{% endraw %}</td>
-                  <td><strong>{% raw %}{{ item.customsNo || item.customs_no || item.id || '-' }}{% endraw %}</strong></td>
+                  <td><strong>{% raw %}{{ (item.customs && item.customs.customsCode) || item.orderCode || (item.customs && item.customs.id) || '-' }}{% endraw %}</strong></td>
-                  <td>{% raw %}{{ item.name || item.customsName || item.customs_name || '-' }}{% endraw %}</td>
+                  <td>{% raw %}{{ item.orderCode || item.drawCode || '-' }}{% endraw %}</td>
-                  <td><span class="badge" :class="'badge-' + (item.status || 'unknown')">{% raw %}{{ item.status || '未知' }}{% endraw %}</span></td>
+                  <td><span class="badge" :class="((item.customs && item.customs.customsCode) ? 'badge-success' : 'badge-pending')">{% raw %}{{ (item.customs && item.customs.customsCode) ? '已报关' : '待报关' }}{% endraw %}</span></td>
-                  <td>{% raw %}{{ item.machineCount || item.machine_count || item.machineNum || item.machine_num || '?' }}{% endraw %}</td>
+                  <td>{% raw %}{{ (item.customs && item.customs.orderId) ? item.customs.orderId.split(',').length : '?' }}{% endraw %}</td>
                   <td>
-                    <button class="btn btn-small btn-primary" @click.stop="selectCustomsRow(item, idx)">
+                    <button class="btn btn-small btn-primary" @click.stop="selectCustomsRow(item)">
                       📦 查看机器
                     </button>
+                    <button class="btn btn-small btn-success" style="margin-left:4px" @click.stop="startInspection(item)">
+                      🔍 开始查验
+                    </button>
                   </td>
                 </tr>
                 <tr v-if="!customsPageData.length && !customsLoading">
-                  <td colspan="6" style="text-align:center;color:#8899aa;padding:24px">暂无报关单数据</td>
+                  <td colspan="7" style="text-align:center;color:#8899aa;padding:24px">暂无报关单数据</td>
                 </tr>
               </tbody>
             </table>
@@ -657,21 +660,23 @@
               <thead>
                 <tr>
                   <th style="width:50px">序号</th>
-                  <th>机器编号</th>
+                  <th>物料编码</th>
-                  <th>机器名称</th>
+                  <th>物料名称</th>
-                  <th>型号</th>
+                  <th>规格</th>
-                  <th>二维码值</th>
+                  <th>序列号</th>
-                  <th>状态</th>
+                  <th>数量</th>
+                  <th>查验数量</th>
                 </tr>
               </thead>
               <tbody>
                 <tr v-for="(m, mi) in customsMachines" :key="mi">
                   <td>{% raw %}{{ mi + 1 }}{% endraw %}</td>
-                  <td><strong>{% raw %}{{ m.serialNumber || m.serial_number || m.serialNo || m.serial_no || m.machineNo || m.machine_no || m.id || '-' }}{% endraw %}</strong></td>
+                  <td><strong>{% raw %}{{ m.inventoryCode || m.machineCode || '-' }}{% endraw %}</strong></td>
-                  <td>{% raw %}{{ m.name || m.machineName || m.machine_name || m.model || '-' }}{% endraw %}</td>
+                  <td>{% raw %}{{ m.inventoryName || m.machineName || m.name || '-' }}{% endraw %}</td>
-                  <td>{% raw %}{{ m.modelName || m.model_name || m.model || '-' }}{% endraw %}</td>
+                  <td>{% raw %}{{ m.inventorySpecification || m.spec || '-' }}{% endraw %}</td>
-                  <td style="font-family:monospace;color:#4fc3f7">{% raw %}{{ m.qrValue || m.qr_value || m.qr || m.qrCode || m.qr_code || m.serialNumber || m.serial_number || '-' }}{% endraw %}</td>
+                  <td style="font-family:monospace;color:#4fc3f7">{% raw %}{{ m.serialNumber || m.serialNumbers || m.qrValue || '-' }}{% endraw %}</td>
-                  <td><span class="badge" :class="'badge-' + (m.status || 'normal')">{% raw %}{{ m.status || '正常' }}{% endraw %}</span></td>
+                  <td>{% raw %}{{ m.quantify || m.quantity || (m.quantify ? m.quantify : '?') }}{% endraw %}</td>
+                  <td><span :class="(m.inspectionCount > 0) ? 'badge badge-success' : 'badge badge-pending'">{% raw %}{{ m.inspectionCount || 0 }}{% endraw %}</span></td>
                 </tr>
               </tbody>
             </table>
@@ -697,7 +702,7 @@
     </div>
 
     <!-- 机械臂截图弹窗 -->
-    <div class="modal-overlay" v-if="showArmSnapshot" @click.self="showArmSnapshot = false">
+    <div class="modal-overlay" v-if="showArmSnapshot && armSnapshotUrl" @click.self="showArmSnapshot = false">
       <div class="modal" style="max-width:800px">
         <div style="display:flex;justify-content:space-between;align-items:center;margin-bottom:12px">
           <h3>📸 机械臂摄像头截图</h3>
@@ -713,6 +718,6 @@
     </div>
 
   <script src="/static/js/vue3.global.prod.js?v=20260526a"></script>
-  <script src="/static/js/setting.js?v=20260612a"></script>
+  <script src="/static/js/setting.js?v=20260616f"></script>
 </body>
 </html>

agv_app/utils/mission_executor.py

@@ -28,10 +28,10 @@ from utils.nav2_navigator import Nav2Navigator, Nav2Status
 logger = logging.getLogger(__name__)
 
 ROS2_SETUP_CMD = "source /opt/ros/humble/setup.bash && source ~/agv_pro_ros2/install/setup.bash"
-from config import ARM_CAMERA_CONFIG
+from config import ARM_CAMERA_CONFIG, UPLOAD_CONFIG, ZHIJIAN_AUTH_TOKEN
 ARM_CAMERA_SNAPSHOT = ARM_CAMERA_CONFIG["snapshot_url"]
 PHOTOS_DIR = "/home/elephant/photos"
-UPLOAD_URL = "https://ts.zhijian168.com/prod-api/file/uploadImage"
+# UPLOAD_CONFIG["url"] 随环境切换动态变化，每次使用时直接读取
 
 # 二维码扫描重试参数
 QR_SCAN_TIMEOUT = 5  # 单次扫描超时
@@ -719,6 +719,7 @@ class MissionExecutorV3:
             try:
                 resp = requests.get(ARM_CAMERA_SNAPSHOT, timeout=QR_SCAN_TIMEOUT)
                 if resp.status_code != 200 or not resp.content:
+                    self._log(f"  📷 arm snapshot attempt {attempt+1}: HTTP {resp.status_code}, size={len(resp.content) if resp.content else 0}")
                     continue
 
                 arr = np.frombuffer(resp.content, dtype=np.uint8)
@@ -735,12 +736,17 @@ class MissionExecutorV3:
             time.sleep(0.5)
         return None
 
-    def _request_manual_qr(self) -> Optional[str]:
+    def _request_manual_qr(self, message: str = None) -> Optional[str]:
-        """暂停任务，等待手动输入（支持重新扫描）"""
+        """暂停任务，等待手动输入（支持重新扫描）
+        message: 自定义弹窗消息（None 则使用默认消息）"""
         while True:
             self.status = MissionStatus.WAITING_QR
             self.report["status"] = "waiting_qr"
-            self.report["step"] = "等待手动输入二维码"
+            self.report["step"] = message or "等待手动输入二维码"
+            self.report["qr_message"] = message or "所有姿态均未识别到二维码，请手动输入："
+            if message:
+                self._log(f"  ⌨️  {message}")
+            else:
                 self._log("  ⌨️  弹窗等待手动输入二维码...")
 
             self._qr_event.clear()
@@ -773,8 +779,61 @@ class MissionExecutorV3:
     # ==================== 机型查询 ====================
 
     def _lookup_model(self, qr_value: Optional[str]) -> str:
-        """TODO: 后续通过 HTTP 接口查询机型"""
+        """通过 /api/customs/printer 接口查询机型，同时更新查验计数
+        如果机型不在当前报关单中，弹窗要求重新扫码/输入"""
+        if not qr_value:
             return "机器1"
+        while True:
+            if self._stop.is_set():
+                return "机器1"
+            try:
+                printer_url = f"http://127.0.0.1:5000/api/customs/printer?serialNumber={qr_value}"
+                self._log(f"  🔍 查询机型 → {printer_url}")
+                resp = requests.get(printer_url, timeout=10)
+                self._log(f"  📡 printer 响应 HTTP {resp.status_code}: {resp.text[:500]}")
+                if resp.status_code == 200:
+                    data = resp.json()
+                    if data.get("ok"):
+                        model = data.get("modelName", "机器1")
+                        inv_code = data.get("inventoryCode", "")
+                        matched = data.get("matchedItem")
+                        has_inspection = data.get("hasInspection", False)
+                        self._log(f"  📊 解析结果: modelName={model}, inventoryCode={inv_code}, hasInspection={has_inspection}, matched={'yes' if matched else 'no'}")
+                        if matched:
+                            self._log(f"  🏷️ 机型: {model} (物料:{inv_code}) — 查验 {matched['inspected']}/{matched['quantify']}")
+                            return model
+                        elif has_inspection and not matched:
+                            # 有查验但机型不在报关单中 → 弹窗
+                            self._log(f"  ⚠️ 机型「{model}」(物料:{inv_code})不在当前报关单中")
+                            new_qr = self._request_manual_qr(
+                                f"二维码「{qr_value}」对应机型「{model}」不在当前报关单中，\n请重新扫描或手动输入正确的二维码："
+                            )
+                            if new_qr is None or self._stop.is_set():
+                                return model  # 用户跳过/停止，保留原机型
+                            qr_value = new_qr
+                            continue  # 用新二维码重试
+                        else:
+                            # 无查验或匹配成功
+                            self._log(f"  🏷️ 机型: {model} (物料:{inv_code})")
+                            return model
+                    else:
+                        self._log(f"  ⚠️ printer 返回 ok=false: {data}")
+                # API 失败也弹窗
+                self._log(f"  ⚠️ 查询机型失败, HTTP {resp.status_code}")
+                new_qr = self._request_manual_qr(
+                    f"无法查询二维码「{qr_value}」对应的机型，\n请重新扫描或手动输入正确的二维码："
+                )
+                if new_qr is None or self._stop.is_set():
+                    return "机器1"
+                qr_value = new_qr
+            except Exception as e:
+                self._log(f"  ⚠️ 查询机型失败: {e}")
+                new_qr = self._request_manual_qr(
+                    f"查询机型接口异常，请重新扫描或手动输入正确的二维码："
+                )
+                if new_qr is None or self._stop.is_set():
+                    return "机器1"
+                qr_value = new_qr
 
     @staticmethod
     def _find_model(models: list, name: str) -> Optional[dict]:
@@ -852,7 +911,7 @@ class MissionExecutorV3:
         try:
             resp = requests.get(ARM_CAMERA_SNAPSHOT, timeout=10)
             if resp.status_code != 200 or not resp.content:
-                logger.error("arm snapshot 请求失败")
+                self._log(f"  📷 拍照 arm snapshot 失败: HTTP {resp.status_code}, size={len(resp.content) if resp.content else 0}")
                 return None
 
             # 生成文件名（用于上传）
@@ -861,13 +920,14 @@ class MissionExecutorV3:
 
             # 直接上传到服务器（不保存本地）
             if qr_value:
+                self._log(f"  📷 拍照成功 {len(resp.content)} bytes → {fname}")
                 self._upload_photo_bytes(fname, resp.content, qr_value, upload_index)
             else:
                 self._log("  ⚠️ 无二维码，跳过上传")
 
             return fname  # 返回文件名（用于日志）
         except Exception as e:
-            logger.error(f"拍照异常: {e}")
+            self._log(f"  ❌ 拍照异常: {e}")
             return None
 
     def _upload_photo(self, filepath: str, serial_number: str, index: int) -> bool:
@@ -880,13 +940,14 @@ class MissionExecutorV3:
         """
         try:
             filename = os.path.basename(filepath)
-            headers = {
+            headers = {"Authorization": ZHIJIAN_AUTH_TOKEN}
-                "Authorization": "Bearer eyJhbGciOiJIUzUxMiJ9.eyJ1c2VyX2lkIjoxLCJ1c2VyX2tleSI6ImZhNTNkZTZiLWE3NjYtNDZmNC05MDUyLTQ2MjUzZTAyNjdmNSIsInVzZXJuYW1lIjoiYWRtaW4ifQ.lC4vKThZo4aAOLsekm2kPgaEJRqRx-YDQWKfHFqxdPNESCKy57l3eIqaKTj2ZjAMaoYAwYlMrv5M1zAOJsO_PA"
+            upload_url = UPLOAD_CONFIG["url"]
-            }
+            self._log(f"  📤 上传请求 → {upload_url} | serialNumber={serial_number} | index={index} | file={filename}")
             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, headers=headers, timeout=30)
+                resp = requests.post(upload_url, files=files, data=data, headers=headers, timeout=30)
+                self._log(f"  📡 上传响应 HTTP {resp.status_code}: {resp.text[:300]}")
                 if resp.status_code == 200:
                     self._log(f"  ☁️ 上传成功 [{index}]: {filename}")
                     return True
@@ -907,12 +968,13 @@ class MissionExecutorV3:
             index: 上传序号（从1开始递增）
         """
         try:
-            headers = {
+            headers = {"Authorization": ZHIJIAN_AUTH_TOKEN}
-                "Authorization": "Bearer eyJhbGciOiJIUzUxMiJ9.eyJ1c2VyX2lkIjoxLCJ1c2VyX2tleSI6ImZhNTNkZTZiLWE3NjYtNDZmNC05MDUyLTQ2MjUzZTAyNjdmNSIsInVzZXJuYW1lIjoiYWRtaW4ifQ.lC4vKThZo4aAOLsekm2kPgaEJRqRx-YDQWKfHFqxdPNESCKy57l3eIqaKTj2ZjAMaoYAwYlMrv5M1zAOJsO_PA"
+            upload_url = UPLOAD_CONFIG["url"]
-            }
+            self._log(f"  📤 上传请求(内存) → {upload_url} | serialNumber={serial_number} | index={index} | file={filename}")
             files = {"file": (filename, image_data, "image/jpeg")}
             data = {"serialNumber": serial_number, "index": str(index)}
-            resp = requests.post(UPLOAD_URL, files=files, data=data, headers=headers, timeout=30)
+            resp = requests.post(upload_url, files=files, data=data, headers=headers, timeout=30)
+            self._log(f"  📡 上传响应 HTTP {resp.status_code}: {resp.text[:300]}")
             if resp.status_code == 200:
                 self._log(f"  ☁️ 上传成功 [{index}]: {filename}")
                 return True