commit 94c1043f4d2de46b6e63fa7fd8277555e26a06e3
Author: ywb <347742090@qq.com>
Date:   Thu May 14 21:43:35 2026 +0800

    init

diff --git a/.DS_Store b/.DS_Store
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Binary files /dev/null and b/.DS_Store differ
diff --git a/agv_app/__init__.py b/agv_app/__init__.py
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+++ b/agv_app/__init__.py
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+from .app import app
+
+__all__ = ["app"]
diff --git a/agv_app/app.py b/agv_app/app.py
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+++ b/agv_app/app.py
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+"""
+AGV 拍摄系统 - Flask 主程序
+运行在 AGV 上，端口 5000
+"""
+import os
+import json
+import time
+import logging
+import threading
+import subprocess
+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 utils.arm_client import ArmClient
+from utils.agv_controller_ros2 import AGVController
+from utils.qr_scanner import QRScanner
+from utils.image_uploader import ImageUploader
+from utils.mission_executor import MissionExecutor, TaskStatus
+from utils.map_navigator import MapNavigator, NavStatus
+
+# 配置日志
+logging.basicConfig(
+    level=logging.INFO,
+    format="%(asctime)s [%(levelname)s] %(name)s: %(message)s"
+)
+logger = logging.getLogger("agv_app")
+
+app = Flask(__name__, template_folder="templates", static_folder="static", static_url_path="/static")
+app.config["SECRET_KEY"] = SERVER_CONFIG["secret_key"]
+CORS(app)
+
+# ========== 全局状态 ==========
+class GlobalState:
+    def __init__(self):
+        self.state = State.IDLE          # setting / running / paused / idle
+        self.mission_data = None         # 当前任务配置
+        self.mission_report = None       # 任务执行报告
+        self.arm_client = None           # ArmClient 实例
+        self.agv_controller = None      # AGVController 实例
+        self.qr_scanner = None           # QRScanner 实例
+        self.camera_opened = False
+        self.arm_camera_opened = False
+        self.map_config = {}             # 地图配置
+        self.points_config = []          # 点位配置
+        self.models_config = []          # 机型配置（姿态）
+        self.mission_config = {          # 任务配置（M×N网格）
+            "rows": 2,
+            "cols": 3,
+            "grid": [],                   # M×N 布尔矩阵
+            "positions": []               # 独立点位配置 [{row, col, side, coords, poses}]
+        }
+        self.machines_config = []        # 机器配置（每台机器的正面/背面点位+姿态）
+        self.navigator = None              # MapNavigator 实例
+        self.lock = threading.Lock()
+
+    def reset(self):
+        with self.lock:
+            self.state = State.IDLE
+            self.mission_data = None
+            self.mission_report = None
+
+gs = GlobalState()
+
+
+# ========== 辅助函数 ==========
+def get_data_path(name):
+    return os.path.join(DATA_DIR, name)
+
+def save_json(name, data):
+    with open(get_data_path(name), "w", encoding="utf-8") as f:
+        json.dump(data, f, ensure_ascii=False, indent=2)
+
+def load_json(name, default=None):
+    path = get_data_path(name)
+    if os.path.exists(path):
+        with open(path, "r", encoding="utf-8") as f:
+            return json.load(f)
+    return default if default is not None else {}
+
+
+# ========== 启动时加载持久化配置 ==========
+def load_persisted_config():
+    """Flask 启动时加载已保存的配置"""
+    # 加载地图配置
+    map_cfg = load_json("map_config.json")
+    if map_cfg and "map_yaml" in map_cfg:
+        gs.map_config = map_cfg
+        print(f"[启动] 加载地图配置: {map_cfg['map_yaml']}")
+    
+    # 加载点位配置
+    points_cfg = load_json("points_config.json", [])
+    if points_cfg:
+        gs.points_config = points_cfg
+        print(f"[启动] 加载点位配置: {len(points_cfg)} 个点位")
+
+    # 加载机型配置（姿态）
+    models_cfg = load_json("models_config.json", [])
+    if models_cfg:
+        gs.models_config = models_cfg
+        print(f"[启动] 加载机型配置: {len(models_cfg)} 个机型")
+
+    # 加载任务配置（网格尺寸）
+    mission_cfg = load_json("mission_config.json", {})
+    if mission_cfg:
+        gs.mission_config = mission_cfg
+        print(f"[启动] 加载任务配置: {mission_cfg.get('rows', 0)}行×{mission_cfg.get('cols', 0)}列")
+
+    # 加载机器配置（正面/背面点位+姿态）
+    machines_cfg = load_json("machines_config.json", [])
+    if machines_cfg:
+        gs.machines_config = machines_cfg
+        print(f"[启动] 加载机器配置: {len(machines_cfg)} 台机器")
+
+# 在 Flask 2.3+ 使用 @app.before_serving，兼容旧版用 before_first_request
+try:
+    from flask import has_app_context
+    # Flask 2.3+ 方式
+    with app.app_context():
+        load_persisted_config()
+except:
+    # 兼容旧版 Flask
+    @app.before_first_request
+    def startup_load():
+        load_persisted_config()
+
+# ========== 页面路由 ==========
+@app.route("/")
+def index():
+    return render_template("index.html")
+
+@app.route("/setting")
+def setting_page():
+    return render_template("setting.html")
+
+@app.route("/running")
+def running_page():
+    return render_template("running.html")
+
+
+# ========== 系统状态 API ==========
+@app.route("/api/status")
+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
+                # 连接已断开，清理 socket
+                if gs.arm_client:
+                    gs.arm_client._sock = None
+
+        # 实际验证 AGV 连接
+        agv_connected = False
+        if gs.agv_controller:
+            agv_connected = gs.agv_controller.is_connected()
+
+        return jsonify({
+            "state": gs.state,
+            "agv_connected": agv_connected,
+            "arm_connected": arm_connected,
+            "camera_opened": gs.camera_opened,
+            "arm_camera_opened": gs.arm_camera_opened,
+            "map_loaded": bool(gs.map_config),
+            "points_count": len(gs.points_config),
+            "models_count": len(gs.models_config),
+            "mission_rows": gs.mission_config.get("rows", 0),
+            "mission_cols": gs.mission_config.get("cols", 0),
+            "machines_count": len(gs.machines_config)
+        })
+
+@app.route("/api/system/connect", methods=["POST"])
+def api_connect():
+    """连接 AGV 和机械臂"""
+    results = {"agv": False, "arm": False, "camera": False, "errors": []}
+
+    # 连接 AGV
+    try:
+        gs.agv_controller = AGVController()
+        results["agv"] = gs.agv_controller.connect()
+    except Exception as e:
+        results["errors"].append(f"AGV: {e}")
+
+    # 连接机械臂
+    try:
+        gs.arm_client = ArmClient(ARM_CONFIG["host"], ARM_CONFIG["port"])
+        results["arm"] = gs.arm_client.connect()
+        if results["arm"]:
+            # 尝试上电并激活
+            gs.arm_client.power_on()
+            time.sleep(0.5)
+            gs.arm_client.state_on()
+    except Exception as e:
+        results["errors"].append(f"机械臂: {e}")
+
+    # 打开摄像头
+    try:
+        gs.qr_scanner = QRScanner(CAMERA_CONFIG["device_index"])
+        results["camera"] = gs.qr_scanner.open()
+        gs.camera_opened = results["camera"]
+    except Exception as e:
+        results["errors"].append(f"摄像头: {e}")
+
+    # 检查机械臂摄像头
+    try:
+        import requests as _req
+        r2 = _req.get(ARM_CAMERA_CONFIG["url"], stream=True, timeout=3)
+        gs.arm_camera_opened = (r2.status_code == 200)
+        r2.close()
+    except:
+        gs.arm_camera_opened = False
+
+    all_ok = results["agv"] and results["arm"] and results["camera"]
+    with gs.lock:
+        if all_ok:
+            gs.state = State.SETTING
+        else:
+            gs.state = State.IDLE
+
+    return jsonify(results)
+
+@app.route("/api/system/disconnect", methods=["POST"])
+def api_disconnect():
+    """断开所有连接"""
+    if gs.arm_client:
+        gs.arm_client.close()
+        gs.arm_client = None
+    if gs.agv_controller:
+        gs.agv_controller.disconnect()
+        gs.agv_controller = None
+    if gs.qr_scanner:
+        gs.qr_scanner.close()
+        gs.qr_scanner = None
+    gs.camera_opened = False
+    gs.state = State.IDLE
+    return jsonify({"ok": True})
+
+@app.route("/api/device/connect", methods=["POST"])
+def api_device_connect():
+    """连接单个设备，device: agv | arm | camera | arm_camera"""
+    data = request.json or {}
+    device = data.get("device", "")
+    result = {"device": device, "ok": False, "error": ""}
+
+    done_event = threading.Event()
+    res_holder = {}
+
+    def _do_connect():
+        try:
+            if device == "agv":
+                gs.agv_controller = AGVController()
+                res_holder["ok"] = gs.agv_controller.connect()
+                if not res_holder["ok"]:
+                    res_holder["error"] = "AGV 连接失败，请检查网络或 ROS2"
+            elif device == "arm":
+                gs.arm_client = ArmClient(ARM_CONFIG["host"], ARM_CONFIG["port"])
+                res_holder["ok"] = gs.arm_client.connect()
+                if res_holder["ok"]:
+                    gs.arm_client.power_on()
+                    time.sleep(0.3)
+                    gs.arm_client.state_on()
+                else:
+                    res_holder["error"] = "机械臂连接失败"
+            elif device == "camera":
+                gs.qr_scanner = QRScanner(CAMERA_CONFIG["device_index"])
+                res_holder["ok"] = gs.qr_scanner.open()
+                gs.camera_opened = res_holder["ok"]
+                if not res_holder["ok"]:
+                    res_holder["error"] = "AGV 摄像头打开失败"
+            elif device == "arm_camera":
+                import requests as _req
+                r = _req.get(ARM_CAMERA_CONFIG["url"], stream=True, timeout=5)
+                res_holder["ok"] = (r.status_code == 200)
+                r.close()
+                gs.arm_camera_opened = res_holder["ok"]
+                if not res_holder["ok"]:
+                    res_holder["error"] = "机械臂摄像头无响应"
+            else:
+                res_holder["error"] = f"未知设备: {device}"
+        except Exception as e:
+            res_holder["error"] = str(e)
+        finally:
+            done_event.set()
+
+    t = threading.Thread(target=_do_connect)
+    t.daemon = True
+    t.start()
+    # 最多等 10 秒，超时则返回失败
+    if not done_event.wait(10):
+        result["ok"] = False
+        result["error"] = "连接超时（10秒），设备无响应"
+    else:
+        result["ok"] = res_holder.get("ok", False)
+        result["error"] = res_holder.get("error", "")
+
+    return jsonify(result)
+
+
+# ========== 地图配置 API ==========
+@app.route("/api/map/load", methods=["POST"])
+def api_map_load():
+    """加载地图文件"""
+    data = request.json
+    map_dir = data.get("map_dir", MAP_CONFIG["map_dir"])
+    map_file = data.get("map_file", MAP_CONFIG["map_file"])
+    map_yaml = os.path.join(map_dir, map_file)
+
+    if not os.path.exists(map_yaml):
+        return jsonify({"ok": False, "error": f"地图文件不存在: {map_yaml}"}), 400
+
+    gs.map_config = {"map_dir": map_dir, "map_file": map_file, "map_yaml": map_yaml}
+    save_json("map_config.json", gs.map_config)
+    return jsonify({"ok": True, "map": gs.map_config})
+
+@app.route("/api/map/save", methods=["POST"])
+def api_map_save():
+    """保存地图配置"""
+    data = request.json
+    gs.map_config = data
+    save_json("map_config.json", data)
+    return jsonify({"ok": True})
+
+@app.route("/api/map/image")
+def api_map_image():
+    """返回地图图像(PNG)"""
+    if not gs.map_config or "map_yaml" not in gs.map_config:
+        return jsonify({"error": "地图未加载"}), 404
+    
+    map_yaml = gs.map_config["map_yaml"]
+    map_dir = os.path.dirname(map_yaml)
+    
+    # 解析 YAML 获取 PGM 文件名
+    try:
+        import yaml
+        with open(map_yaml, 'r') as f:
+            meta = yaml.safe_load(f)
+        pgm_file = meta.get('image', 'map.pgm')
+        pgm_path = os.path.join(map_dir, pgm_file)
+        
+        if not os.path.exists(pgm_path):
+            return jsonify({"error": f"PGM 文件不存在: {pgm_path}"}), 404
+        
+        # 读取 PGM 并转换为 PNG
+        import cv2
+        img = cv2.imread(pgm_path, cv2.IMREAD_GRAYSCALE)
+        if img is None:
+            return jsonify({"error": "无法读取 PGM 文件"}), 500
+        
+        # 反转颜色（PGM 中 0=占用，255=空闲，ROS 地图显示习惯）
+        img = 255 - img
+        
+        # 编码为 PNG
+        _, buf = cv2.imencode('.png', img)
+        return Response(buf.tobytes(), mimetype='image/png')
+    except Exception as e:
+        return jsonify({"error": str(e)}), 500
+
+@app.route("/api/map/meta")
+def api_map_meta():
+    """返回地图元数据（分辨率、原点、尺寸）"""
+    if not gs.map_config or "map_yaml" not in gs.map_config:
+        return jsonify({"ok": False, "error": "地图未加载"}), 404
+    
+    map_yaml = gs.map_config["map_yaml"]
+    map_dir = os.path.dirname(map_yaml)
+    
+    try:
+        import yaml
+        with open(map_yaml, 'r') as f:
+            meta = yaml.safe_load(f)
+        pgm_file = meta.get('image', 'map.pgm')
+        pgm_path = os.path.join(map_dir, pgm_file)
+        
+        import cv2
+        img = cv2.imread(pgm_path, cv2.IMREAD_GRAYSCALE)
+        height, width = img.shape if img is not None else (0, 0)
+        
+        return jsonify({
+            "ok": True,
+            "resolution": meta.get('resolution', 0.05),
+            "origin": meta.get('origin', [0, 0, 0]),
+            "width": width,
+            "height": height
+        })
+    except Exception as e:
+        return jsonify({"ok": False, "error": str(e)}), 500
+
+
+# ========== 地图导航 API ==========
+
+@app.route("/api/navigate/to", methods=["POST"])
+def api_navigate_to():
+    """导航到目标坐标"""
+    if not gs.map_config or "map_yaml" not in gs.map_config:
+        return jsonify({"ok": False, "error": "地图未加载，请先在设置中加载地图"}), 400
+
+    data = request.json
+    goal_x = data.get("x")
+    goal_y = data.get("y")
+    if goal_x is None or goal_y is None:
+        return jsonify({"ok": False, "error": "缺少目标坐标 x, y"}), 400
+
+    if not gs.agv_controller or not gs.agv_controller.is_connected():
+        return jsonify({"ok": False, "error": "AGV 未连接，请先连接 AGV"}), 400
+
+    try:
+        if gs.navigator is None:
+            gs.navigator = MapNavigator(gs.map_config["map_yaml"])
+        ok = gs.navigator.navigate_to(float(goal_x), float(goal_y))
+        if ok:
+            return jsonify({"ok": True, "message": "导航已启动"})
+        else:
+            return jsonify({"ok": False, "error": "路径规划失败或导航正在进行中"}), 400
+    except Exception as e:
+        logger.error(f"导航失败: {e}")
+        return jsonify({"ok": False, "error": str(e)}), 500
+
+
+@app.route("/api/navigate/stop", methods=["POST"])
+def api_navigate_stop():
+    """停止导航"""
+    if gs.navigator:
+        gs.navigator.stop()
+        return jsonify({"ok": True, "message": "导航已停止"})
+    return jsonify({"ok": False, "error": "导航器未初始化"}), 400
+
+
+@app.route("/api/navigate/status", methods=["GET"])
+def api_navigate_status():
+    """获取导航状态"""
+    if gs.navigator:
+        return jsonify(gs.navigator.get_status())
+    return jsonify({"status": "idle", "current_position": [0, 0, 0], "path_length": 0, "path": []})
+
+
+@app.route("/api/navigate/path", methods=["POST"])
+def api_navigate_path():
+    """预览路径（仅规划不执行）"""
+    if not gs.map_config or "map_yaml" not in gs.map_config:
+        return jsonify({"ok": False, "error": "地图未加载"}), 400
+
+    data = request.json
+    goal_x = data.get("x")
+    goal_y = data.get("y")
+    if goal_x is None or goal_y is None:
+        return jsonify({"ok": False, "error": "缺少目标坐标 x, y"}), 400
+
+    try:
+        if gs.navigator is None:
+            gs.navigator = MapNavigator(gs.map_config["map_yaml"])
+        path = gs.navigator.get_path_preview(float(goal_x), float(goal_y))
+        if path is not None:
+            return jsonify({"ok": True, "path": path, "length": len(path)})
+        else:
+            return jsonify({"ok": False, "error": "路径规划失败，目标点不可达"}), 400
+    except Exception as e:
+        logger.error(f"路径预览失败: {e}")
+        return jsonify({"ok": False, "error": str(e)}), 500
+
+
+# ========== 点位配置 API ==========
+@app.route("/api/points/list", methods=["GET"])
+def api_points_list():
+    """获取所有点位"""
+    return jsonify({"points": gs.points_config})
+
+@app.route("/api/points/add", methods=["POST"])
+def api_points_add():
+    """添加点位（从当前位置）"""
+    data = request.json
+    point_name = data.get("name", f"point_{len(gs.points_config) + 1}")
+
+    # 获取 AGV 当前位置
+    position = None
+    if gs.agv_controller and gs.agv_controller.is_connected():
+        position = gs.agv_controller.get_position()
+
+    point = {
+        "id": f"p_{int(time.time())}",
+        "name": point_name,
+        "coords": position or [0.0, 0.0, 0.0],  # [x, y, yaw]
+        "photo_mode": data.get("photo_mode", "front"),  # front / back / both
+        "sequence": data.get("sequence", ["front", "back"]),  # both 时的执行顺序
+    }
+    gs.points_config.append(point)
+    save_json("points_config.json", gs.points_config)
+    return jsonify({"ok": True, "point": point})
+
+@app.route("/api/points/update/<point_id>", methods=["POST"])
+def api_points_update(point_id):
+    """更新点位"""
+    data = request.json
+    for i, p in enumerate(gs.points_config):
+        if p["id"] == point_id:
+            gs.points_config[i].update(data)
+            save_json("points_config.json", gs.points_config)
+            return jsonify({"ok": True})
+    return jsonify({"ok": False, "error": "点位不存在"}), 404
+
+@app.route("/api/points/delete/<point_id>", methods=["DELETE"])
+def api_points_delete(point_id):
+    """删除点位"""
+    gs.points_config = [p for p in gs.points_config if p["id"] != point_id]
+    save_json("points_config.json", gs.points_config)
+    return jsonify({"ok": True})
+
+@app.route("/api/points/save", methods=["POST"])
+def api_points_save():
+    """保存点位配置"""
+    data = request.json
+    gs.points_config = data.get("points", [])
+    save_json("points_config.json", gs.points_config)
+    return jsonify({"ok": True, "count": len(gs.points_config)})
+
+@app.route("/api/points/load", methods=["GET"])
+def api_points_load():
+    """加载已保存的点位配置"""
+    loaded = load_json("points_config.json", [])
+    if loaded:
+        gs.points_config = loaded
+    return jsonify({"ok": True, "points": loaded or []})
+
+
+# ========== 机型（姿态组）API ==========
+@app.route("/api/models/list", methods=["GET"])
+def api_models_list():
+    """获取所有机型"""
+    return jsonify({"models": gs.models_config})
+
+@app.route("/api/models/add", methods=["POST"])
+def api_models_add():
+    """添加机型"""
+    data = request.json
+    model_name = data.get("name", f"model_{len(gs.models_config) + 1}")
+    model = {
+        "id": f"m_{int(time.time())}",
+        "name": model_name,
+        "serial_prefix": data.get("serial_prefix", ""),  # 二维码型号前缀
+        "poses": [],  # 姿态列表
+        "description": data.get("description", ""),
+        "notes": data.get("notes", ""),  # 备注
+    }
+    gs.models_config.append(model)
+    save_json("models_config.json", gs.models_config)
+    return jsonify({"ok": True, "model": model})
+
+@app.route("/api/models/update/<model_id>", methods=["POST"])
+def api_models_update(model_id):
+    """更新机型"""
+    data = request.json
+    for i, m in enumerate(gs.models_config):
+        if m["id"] == model_id:
+            gs.models_config[i].update(data)
+            save_json("models_config.json", gs.models_config)
+            return jsonify({"ok": True})
+    return jsonify({"ok": False, "error": "机型不存在"}), 404
+
+@app.route("/api/models/delete/<model_id>", methods=["DELETE"])
+def api_models_delete(model_id):
+    """删除机型"""
+    gs.models_config = [m for m in gs.models_config if m["id"] != model_id]
+    save_json("models_config.json", gs.models_config)
+    return jsonify({"ok": True})
+
+@app.route("/api/models/poses/add", methods=["POST"])
+def api_poses_add():
+    """添加姿态到机型（需指定 model_id）"""
+    data = request.json
+    model_id = data.get("model_id")
+    if not model_id:
+        return jsonify({"ok": False, "error": "缺少 model_id"}), 400
+    for m in gs.models_config:
+        if m["id"] == model_id:
+            pose = {
+                "id": f"pose_{int(time.time())}",
+                "name": data.get("name", f"姿态{len(m['poses']) + 1}"),
+                "photo_type": data.get("photo_type", "front"),  # front / back / nameplate
+                "arm_angles": data.get("arm_angles", [0.0]*6),
+                "speed": data.get("speed", 500),
+                "description": data.get("description", ""),
+            }
+            m["poses"].append(pose)
+            save_json("models_config.json", gs.models_config)
+            return jsonify({"ok": True, "pose": pose})
+    return jsonify({"ok": False, "error": "机型不存在"}), 404
+
+@app.route("/api/models/<model_id>/poses", methods=["GET"])
+def api_model_poses_get(model_id):
+    """获取机型的姿态列表"""
+    for m in gs.models_config:
+        if m["id"] == model_id:
+            return jsonify({"poses": m.get("poses", [])})
+    return jsonify({"poses": []})
+
+@app.route("/api/models/<model_id>/poses/<pose_id>", methods=["PUT"])
+def api_model_poses_update(model_id, pose_id):
+    """更新姿态"""
+    data = request.json
+    for m in gs.models_config:
+        if m["id"] == model_id:
+            for i, pose in enumerate(m.get("poses", [])):
+                if pose["id"] == pose_id:
+                    m["poses"][i].update(data)
+                    save_json("models_config.json", gs.models_config)
+                    return jsonify({"ok": True})
+    return jsonify({"ok": False}), 404
+
+@app.route("/api/models/<model_id>/poses/<pose_id>", methods=["DELETE"])
+def api_model_poses_delete(model_id, pose_id):
+    """删除姿态"""
+    for m in gs.models_config:
+        if m["id"] == model_id:
+            m["poses"] = [p for p in m.get("poses", []) if p["id"] != pose_id]
+            save_json("models_config.json", gs.models_config)
+            return jsonify({"ok": True})
+    return jsonify({"ok": False}), 404
+
+
+# ========== 任务配置 API（M×N 网格）==========
+@app.route("/api/mission/position", methods=["GET"])
+def api_mission_position():
+    """读取 AGV 当前坐标（供设置点位时使用）"""
+    if not gs.agv_controller or not gs.agv_controller.is_connected():
+        return jsonify({"ok": False, "error": "AGV 未连接"}), 400
+    pos = gs.agv_controller.get_position()
+    if not pos:
+        return jsonify({"ok": False, "error": "AGV 未发布位置数据（/odom 无数据），请检查 AGV 传感器是否正常"}), 400
+    battery = gs.agv_controller.get_battery()
+    return jsonify({"ok": True, "position": pos, "battery": battery})
+
+
+@app.route("/api/mission/config", methods=["GET"])
+def api_mission_config_get():
+    """获取任务配置（网格尺寸和空位矩阵）"""
+    return jsonify({"ok": True, "config": gs.mission_config, "machines": gs.machines_config})
+
+@app.route("/api/mission/config", methods=["POST"])
+def api_mission_config_set():
+    """"设置任务配置（网格尺寸+空位矩阵）"""
+    data = request.json
+    rows = data.get("rows", 2)
+    cols = data.get("cols", 3)
+    grid = data.get("grid", [])
+    gs.mission_config["rows"] = rows
+    gs.mission_config["cols"] = cols
+    gs.mission_config["grid"] = grid
+    save_json("mission_config.json", gs.mission_config)
+    return jsonify({"ok": True, "config": gs.mission_config})
+
+
+@app.route("/api/mission/machines", methods=["GET"])
+def api_mission_machines_list():
+    """获取所有机器配置"""
+    return jsonify({"ok": True, "machines": gs.machines_config})
+
+@app.route("/api/mission/machines/<machine_id>", methods=["GET"])
+def api_mission_machine_get(machine_id):
+    """获取单台机器配置"""
+    for m in gs.machines_config:
+        if m["id"] == machine_id:
+            return jsonify({"ok": True, "machine": m})
+    return jsonify({"ok": False, "error": "机器不存在"}), 404
+
+@app.route("/api/mission/machines", methods=["POST"])
+def api_mission_machines_save():
+    """"批量保存/更新机器配置"""
+    data = request.json
+    machines = data.get("machines", [])
+    gs.machines_config = machines
+    save_json("machines_config.json", gs.machines_config)
+    return jsonify({"ok": True, "count": len(gs.machines_config)})
+
+@app.route("/api/mission/machines/add", methods=["POST"])
+def api_mission_machine_add():
+    """添加单台机器配置"""
+    data = request.json
+    machine_id = data.get("id", f"m_{data.get('row', 0)}_{data.get('col', 0)}")
+    # 检查是否已存在
+    for m in gs.machines_config:
+        if m["id"] == machine_id or (m.get("row") == data.get("row") and m.get("col") == data.get("col")):
+            return jsonify({"ok": False, "error": "该位置已有机器"}), 400
+    machine = {
+        "id": machine_id,
+        "row": data.get("row", 0),
+        "col": data.get("col", 0),
+        "front": data.get("front", {"coords": [0, 0, 0], "poses": []}),
+        "back": data.get("back", {"coords": [0, 0, 0], "poses": []}),
+    }
+    gs.machines_config.append(machine)
+    save_json("machines_config.json", gs.machines_config)
+    return jsonify({"ok": True, "machine": machine})
+
+@app.route("/api/mission/machines/<machine_id>", methods=["PUT"])
+def api_mission_machine_update(machine_id):
+    """更新单台机器配置（正面/背面点位+姿态）"""
+    data = request.json
+    for i, m in enumerate(gs.machines_config):
+        if m["id"] == machine_id:
+            gs.machines_config[i].update(data)
+            save_json("machines_config.json", gs.machines_config)
+            return jsonify({"ok": True})
+    return jsonify({"ok": False, "error": "机器不存在"}), 404
+
+
+@app.route("/api/mission/machines/<machine_id>", methods=["DELETE"])
+def api_mission_machine_delete(machine_id):
+    """删除单台机器配置"""
+    gs.machines_config = [m for m in gs.machines_config if m["id"] != machine_id]
+    save_json("machines_config.json", gs.machines_config)
+    return jsonify({"ok": True})
+
+@app.route("/api/mission/poses/<machine_id>/<side>", methods=["GET"])
+def api_mission_poses_get(machine_id, side):
+    """获取机器指定侧的姿态列表（side: front | back）"""
+    for m in gs.machines_config:
+        if m["id"] == machine_id:
+            return jsonify({"ok": True, "poses": m.get(side, {}).get("poses", [])})
+    return jsonify({"ok": False, "poses": []}), 404
+
+@app.route("/api/mission/poses/<machine_id>/<side>", methods=["POST"])
+def api_mission_poses_add(machine_id, side):
+    """添加姿态到机器指定侧（side: front | back）"""
+    data = request.json
+    for m in gs.machines_config:
+        if m["id"] == machine_id:
+            if side not in m:
+                return jsonify({"ok": False, "error": f"机器无此侧: {side}"}), 400
+            pose = {
+                "id": f"pose_{int(time.time())}",
+                "name": data.get("name", f"姿态"),
+                "arm_angles": data.get("arm_angles", [0.0]*6),
+                "speed": data.get("speed", 500),
+                "description": data.get("description", ""),
+            }
+            m[side]["poses"].append(pose)
+            save_json("machines_config.json", gs.machines_config)
+            return jsonify({"ok": True, "pose": pose})
+    return jsonify({"ok": False, "error": "机器不存在"}), 404
+
+@app.route("/api/mission/poses/<machine_id>/<side>/<pose_id>", methods=["DELETE"])
+def api_mission_poses_delete(machine_id, side, pose_id):
+    """删除机器指定侧的姿态"""
+    for m in gs.machines_config:
+        if m["id"] == machine_id:
+            if side not in m:
+                return jsonify({"ok": False}), 404
+            m[side]["poses"] = [p for p in m[side]["poses"] if p["id"] != pose_id]
+            save_json("machines_config.json", gs.machines_config)
+            return jsonify({"ok": True})
+    return jsonify({"ok": False}), 404
+
+@app.route("/api/mission/generate_sequence", methods=["GET"])
+def api_mission_generate_sequence():
+    """根据网格配置和机器配置生成拍摄序列（蛇形）"""
+    rows = gs.mission_config.get("rows", 2)
+    cols = gs.mission_config.get("cols", 3)
+    grid = gs.mission_config.get("grid", [])
+    machines = gs.machines_config
+
+    def get_machine(row, col):
+        for m in machines:
+            if m.get("row") == row and m.get("col") == col:
+                return m
+        return None
+
+    # 蛇形序列：行0从左到右正面→右到左背面，行1从右到左背面→左到右正面...交替
+    sequence = []
+    for r in range(rows):
+        # 检查该行是否有机器
+        has_any = any(grid[r][c] for c in range(cols)) if r < len(grid) else False
+        if not has_any:
+            continue
+        
+        if r % 2 == 0:  # 偶数行：正面从左到右，背面从右到左
+            # 正面：从左到右
+            for c in range(cols):
+                if r < len(grid) and c < len(grid[r]) and grid[r][c]:
+                    m = get_machine(r, c)
+                    if m and m.get("front"):
+                        sequence.append({
+                            "machine_id": m["id"],
+                            "row": r, "col": c,
+                            "side": "front",
+                            "row_dir": "lr",  # 正面时该行的方向
+                            "row_dir_back": "rl"  # 背面时该行的方向
+                        })
+            # 背面：从右到左
+            for c in range(cols - 1, -1, -1):
+                if r < len(grid) and c < len(grid[r]) and grid[r][c]:
+                    m = get_machine(r, c)
+                    if m and m.get("back"):
+                        sequence.append({
+                            "machine_id": m["id"],
+                            "row": r, "col": c,
+                            "side": "back",
+                            "row_dir": "lr",
+                            "row_dir_back": "rl"
+                        })
+        else:  # 奇数行：正面从右到左，背面从左到右（方向反转）
+            # 背面：从左到右（此行的背面在下一行的前面位置，但这里按用户描述：背面先行）
+            for c in range(cols):
+                if r < len(grid) and c < len(grid[r]) and grid[r][c]:
+                    m = get_machine(r, c)
+                    if m and m.get("back"):
+                        sequence.append({
+                            "machine_id": m["id"],
+                            "row": r, "col": c,
+                            "side": "back",
+                            "row_dir": "rl",
+                            "row_dir_back": "lr"
+                        })
+            # 正面：从右到左
+            for c in range(cols - 1, -1, -1):
+                if r < len(grid) and c < len(grid[r]) and grid[r][c]:
+                    m = get_machine(r, c)
+                    if m and m.get("front"):
+                        sequence.append({
+                            "machine_id": m["id"],
+                            "row": r, "col": c,
+                            "side": "front",
+                            "row_dir": "rl",
+                            "row_dir_back": "lr"
+                        })
+
+    return json
+
+# ========== 点位配置 API（独立于机器）==========
+@app.route("/api/mission/positions", methods=["GET"])
+def api_mission_positions_list():
+    """获取所有点位配置"""
+    positions = gs.mission_config.get("positions", [])
+    return jsonify({"ok": True, "positions": positions})
+
+@app.route("/api/mission/positions", methods=["POST"])
+def api_mission_positions_save():
+    """保存点位配置（单个点位：创建或更新）"""
+    data = request.json
+    row = int(data.get("row", 0))
+    col = int(data.get("col", 0))
+    side = data.get("side", "front")  # "front" | "back"
+    coords = data.get("coords", [0, 0, 0])
+    poses = data.get("poses", [])
+
+    positions = gs.mission_config.setdefault("positions", [])
+    # 查找是否已有该点位
+    key = (row, col, side)
+    for i, p in enumerate(positions):
+        if int(p.get("row", 0)) == row and int(p.get("col", 0)) == col and p.get("side") == side:
+            positions[i] = {"row": row, "col": col, "side": side, "coords": coords, "poses": poses}
+            save_json("mission_config.json", gs.mission_config)
+            return jsonify({"ok": True, "position": positions[i]})
+    positions.append({"row": row, "col": col, "side": side, "coords": coords, "poses": poses})
+    save_json("mission_config.json", gs.mission_config)
+    return jsonify({"ok": True, "position": positions[-1]})
+
+
+
+
+# ========== 机械臂控制 API ==========
+@app.route("/api/arm/get_angles", methods=["GET"])
+def api_arm_get_angles():
+    """获取当前关节角度"""
+    if not gs.arm_client:
+        return jsonify({"ok": False, "error": "未连接机械臂"}), 400
+    ok, angles = gs.arm_client.get_angles()
+    return jsonify({"ok": ok, "angles": angles})
+
+@app.route("/api/arm/set_angles", methods=["POST"])
+def api_arm_set_angles():
+    """设置关节角度"""
+    data = request.json
+    angles = data.get("angles", [])
+    speed = data.get("speed", 500)
+    if not gs.arm_client:
+        return jsonify({"ok": False, "error": "未连接机械臂"}), 400
+    ok = gs.arm_client.set_angles(angles, speed)
+    return jsonify({"ok": ok})
+
+@app.route("/api/arm/set_angle", methods=["POST"])
+def api_arm_set_angle():
+    """设置单个关节角度"""
+    data = request.json
+    joint = data.get("joint", "J1")
+    angle = data.get("angle", 0.0)
+    speed = data.get("speed", 500)
+    if not gs.arm_client:
+        return jsonify({"ok": False}), 400
+    ok = gs.arm_client.set_angle(joint, angle, speed)
+    return jsonify({"ok": ok})
+
+@app.route("/api/arm/jog", methods=["POST"])
+def api_arm_jog():
+    """连续调节关节（用于方向键）"""
+    data = request.json
+    joint = data.get("joint", "J1")
+    direction = data.get("direction", 0)  # -1 / 0 / 1
+    speed = data.get("speed", 500)
+    if not gs.arm_client:
+        return jsonify({"ok": False}), 400
+    ok = gs.arm_client.jog_angle(joint, direction, speed)
+    return jsonify({"ok": ok})
+
+@app.route("/api/arm/get_coords", methods=["GET"])
+def api_arm_get_coords():
+    """获取当前坐标"""
+    if not gs.arm_client:
+        return jsonify({"ok": False}), 400
+    ok, coords = gs.arm_client.get_coords()
+    return jsonify({"ok": ok, "coords": coords})
+
+@app.route("/api/arm/state_check", methods=["GET"])
+def api_arm_state_check():
+    """检查机械臂状态"""
+    if not gs.arm_client:
+        return jsonify({"ok": False}), 400
+    ok = gs.arm_client.state_check()
+    return jsonify({"ok": ok, "running": not ok})
+
+@app.route("/api/arm/power_on", methods=["POST"])
+def api_arm_power_on():
+    if not gs.arm_client:
+        return jsonify({"ok": False}), 400
+    ok = gs.arm_client.power_on()
+    return jsonify({"ok": ok})
+
+@app.route("/api/arm/state_on", methods=["POST"])
+def api_arm_state_on():
+    if not gs.arm_client:
+        return jsonify({"ok": False}), 400
+    ok = gs.arm_client.state_on()
+    return jsonify({"ok": ok})
+
+@app.route("/api/arm/state_off", methods=["POST"])
+def api_arm_state_off():
+    if not gs.arm_client:
+        return jsonify({"ok": False}), 400
+    ok = gs.arm_client.state_off()
+    return jsonify({"ok": ok})
+
+
+# ========== 摄像头预览 API ==========
+@app.route("/api/camera/preview")
+def api_camera_preview():
+    """MJPEG 视频流"""
+    if not gs.qr_scanner or not gs.qr_scanner._cap:
+        return "camera not opened", 400
+
+    def gen():
+        while True:
+            frame = gs.qr_scanner.read_frame()
+            if frame is None:
+                break
+            # 编码为 JPEG
+            import cv2
+            ret, buf = cv2.imencode(".jpg", frame)
+            if ret:
+                yield (b"--frame\r\nContent-Type: image/jpeg\r\n\r\n" +
+                       buf.tobytes() + b"\r\n")
+
+    return Response(gen(), mimetype="multipart/x-mixed-replace; boundary=frame")
+
+@app.route("/api/camera/refresh")
+def api_camera_refresh():
+    """AGV 摄像头单帧 JPEG（polling 模式）"""
+    if not gs.qr_scanner or not gs.qr_scanner._cap:
+        return "camera not opened", 400
+    import cv2
+    frame = gs.qr_scanner.read_frame()
+    if frame is None:
+        return "", 400
+    ret, buf = cv2.imencode(".jpg", frame)
+    if ret:
+        return Response(buf.tobytes(), mimetype="image/jpeg")
+    return "encode failed", 500
+
+@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:
+        return jsonify({"ok": False, "error": "摄像头未打开"}), 400
+    import cv2
+    frame = gs.qr_scanner.read_frame()
+    if frame is None:
+        return jsonify({"ok": False, "error": "读取帧失败"}), 400
+
+    photo_dir = os.path.join(DATA_DIR, "photos")
+    os.makedirs(photo_dir, exist_ok=True)
+    photo_path = os.path.join(photo_dir, f"capture_{int(time.time())}.jpg")
+    cv2.imwrite(photo_path, frame)
+    return jsonify({"ok": True, "path": photo_path})
+
+@app.route("/api/camera/arm_refresh")
+def api_arm_camera_refresh():
+    """从机械臂拉一张 JPEG（流式读第一个完整帧，超时则降级）"""
+    import requests
+    try:
+        r = requests.get(ARM_CAMERA_CONFIG["url"], stream=True, timeout=5)
+        if r.status_code != 200:
+            return "", 404
+        data = b""
+        for chunk in r.iter_content(chunk_size=4096):
+            data += chunk
+            # 在累积数据中找 JPEG 完整帧
+            s = data.find(b"\xff\xd8")
+            e = data.find(b"\xff\xd9", s + 2) if s >= 0 else -1
+            if s >= 0 and e > s:
+                r.close()
+                return Response(data[s:e+2], mimetype="image/jpeg")
+            # 数据太长还没找到 JPEG 也直接返回（可能是空流）
+            if len(data) > 1024 * 1024:
+                r.close()
+                return "", 404
+        r.close()
+        return "", 404
+    except Exception as ex:
+        logger.error(f"arm_refresh 失败: {ex}")
+        return "", 404
+
+
+@app.route("/api/camera/qr_scan", methods=["GET"])
+def api_qr_scan():
+    """扫描一次二维码"""
+    if not gs.qr_scanner:
+        return jsonify({"ok": False}), 400
+    result = gs.qr_scanner.scan_once()
+    return jsonify({"ok": bool(result), "data": result})
+
+
+# ========== AGV 移动控制 API ==========
+@app.route("/api/agv/move", methods=["POST"])
+def api_agv_move():
+    """控制 AGV 移动（前进/后退/左转/右转/停止）"""
+    data = request.json
+    direction = data.get("direction", "stop")  # forward / backward / left / right / stop
+    speed = data.get("speed", AGV_CONFIG.get("move_speed", 0.5))
+    if not gs.agv_controller or not gs.agv_controller.is_connected():
+        return jsonify({"ok": False, "error": "AGV 未连接"}), 400
+    try:
+        if direction == "forward":
+            gs.agv_controller.move_forward(speed)
+        elif direction == "backward":
+            gs.agv_controller.move_backward(speed)
+        elif direction == "left":
+            gs.agv_controller.turn_left(speed)
+        elif direction == "right":
+            gs.agv_controller.turn_right(speed)
+        elif direction == "left_lateral":
+            gs.agv_controller.move_left_lateral(speed)
+        elif direction == "right_lateral":
+            gs.agv_controller.move_right_lateral(speed)
+        elif direction == "stop":
+            gs.agv_controller.stop()
+        else:
+            return jsonify({"ok": False, "error": "未知方向"}), 400
+        return jsonify({"ok": True})
+    except Exception as e:
+        return jsonify({"ok": False, "error": str(e)}), 500
+
+@app.route("/api/agv/position", methods=["GET"])
+def api_agv_position():
+    """获取 AGV 当前位置"""
+    if not gs.agv_controller or not gs.agv_controller.is_connected():
+        return jsonify({"ok": False, "error": "AGV 未连接"}), 400
+    pos = gs.agv_controller.get_position()
+    if not pos:
+        return jsonify({"ok": False, "error": "AGV 未发布位置数据（/odom 无数据），请检查 AGV 传感器是否正常"}), 400
+    battery = gs.agv_controller.get_battery()
+    return jsonify({"ok": True, "position": pos, "battery": battery})
+
+@app.route("/api/agv/stop", methods=["POST"])
+def api_agv_stop():
+    """立即停止 AGV"""
+    if gs.agv_controller:
+        gs.agv_controller.stop()
+    return jsonify({"ok": True})
+
+@app.route("/api/agv/reset", methods=["POST"])
+def api_agv_reset():
+    """撞物体后复位 - 停止运动并尝试重新上电"""
+    import time
+    if not gs.agv_controller:
+        return jsonify({"ok": False, "error": "AGV 控制器未初始化"}), 400
+    try:
+        # 1. 先停止运动
+        gs.agv_controller.stop()
+        time.sleep(0.5)
+        
+        # 2. 检查 AGV 对象是否存在
+        agv = gs.agv_controller._agv
+        if not agv:
+            return jsonify({"ok": False, "error": "AGV 未连接，请重新连接"}), 400
+        
+        # 3. 检查电源状态
+        power_on = agv.is_power_on()
+        if not power_on:
+            # 撞物体后可能自动断电保护，尝试重新上电
+            agv.power_on()
+            time.sleep(2)
+            power_on = agv.is_power_on()
+            if power_on:
+                gs.agv_controller._connected = True
+                return jsonify({"ok": True, "message": "复位成功，已重新上电"})
+            else:
+                return jsonify({"ok": False, "error": "上电失败，请检查 AGV 状态"}), 500
+        else:
+            # 电源正常，只需要停止
+            return jsonify({"ok": True, "message": "复位成功，AGV 已停止"})
+    except Exception as e:
+        return jsonify({"ok": False, "error": str(e)}), 500
+
+
+# ========== 任务执行 API ==========
+@app.route("/api/mission/start", methods=["POST"])
+def api_mission_start():
+    """开始执行任务"""
+    if gs.state == State.RUNNING:
+        return jsonify({"ok": False, "error": "任务已在运行中"}), 400
+
+    data = request.json or {}
+    mission_data = {
+        "map": gs.map_config,
+        "points": gs.points_config,
+    }
+
+    def run():
+        from config import AGV_CONFIG, UPLOAD_CONFIG
+        executor_config = {
+            "device": AGV_CONFIG.get("device", "/dev/agvpro_controller"),
+            "baudrate": AGV_CONFIG.get("baudrate", 1000000),
+            "arm": ARM_CONFIG,
+            "upload_url": UPLOAD_CONFIG["url"],
+            "upload_timeout": UPLOAD_CONFIG["timeout"],
+            "upload_retries": UPLOAD_CONFIG["max_retries"],
+            "camera_index": 0,
+        }
+        executor = MissionExecutor(executor_config)
+
+        # 连接
+        conn_results = executor.connect_all()
+        if not conn_results.get("arm") or not conn_results.get("camera"):
+            gs.mission_report = {"error": "连接失败", "details": conn_results}
+            gs.state = State.IDLE
+            return
+
+        gs.state = State.RUNNING
+        report = executor.execute_mission(mission_data)
+        gs.mission_report = report
+        executor.disconnect_all()
+        gs.state = State.IDLE if report["failed"] == 0 else State.PAUSED
+
+    thread = threading.Thread(target=run, daemon=True)
+    thread.start()
+    return jsonify({"ok": True, "message": "任务已启动"})
+
+@app.route("/api/mission/stop", methods=["POST"])
+def api_mission_stop():
+    """停止任务"""
+    if hasattr(MissionExecutor, "_instance"):
+        MissionExecutor._instance.stop()
+    gs.state = State.IDLE
+    return jsonify({"ok": True})
+
+@app.route("/api/mission/pause", methods=["POST"])
+def api_mission_pause():
+    gs.state = State.PAUSED
+    return jsonify({"ok": True})
+
+@app.route("/api/mission/report", methods=["GET"])
+def api_mission_report():
+    return jsonify({"report": gs.mission_report})
+
+@app.route("/api/mission/state", methods=["GET"])
+def api_mission_state():
+    return jsonify({"state": gs.state})
+
+
+# ========== 静态资源 ==========
+@app.route("/photos/<name>")
+def photos(name):
+    return send_from_directory(os.path.join(DATA_DIR, "photos"), name)
+
+
+# ========== 启动 ==========
+if __name__ == "__main__":
+    logger.info("=" * 50)
+    logger.info("AGV 拍摄系统启动")
+    logger.info(f"监听 {SERVER_CONFIG['host']}:{SERVER_CONFIG['port']}")
+    logger.info("=" * 50)
+    # 启动时自动初始化 AGV 摄像头
+    gs.qr_scanner = QRScanner(CAMERA_CONFIG["device_index"])
+    gs.camera_opened = gs.qr_scanner.open()
+    logger.info(f"AGV 摄像头初始化: {'成功' if gs.camera_opened else '失败'}")
+    app.run(
+        host=SERVER_CONFIG["host"],
+        port=SERVER_CONFIG["port"],
+        debug=SERVER_CONFIG["debug"],
+        threaded=True
+    )
diff --git a/agv_app/config.py b/agv_app/config.py
new file mode 100644
index 0000000..85b01b5
--- /dev/null
+++ b/agv_app/config.py
@@ -0,0 +1,87 @@
+"""
+配置文件 - 所有可配置参数集中管理
+"""
+import os
+
+# 基础路径（部署后对应 ~/work/agv_app）
+BASE_DIR = os.path.dirname(os.path.abspath(__file__))
+
+# ========== AGV 参数 ==========
+AGV_CONFIG = {
+    "device": "/dev/agvpro_controller",
+    "baudrate": 10000000,
+    "move_speed": 0.5,
+    "turn_speed": 0.5,
+}
+
+# ========== 机械臂 TCP 客户端 ==========
+ARM_CONFIG = {
+    "host": "192.168.110.164",
+    "port": 5002,
+    "timeout": 8,
+    "retry_times": 3,
+    "retry_interval": 1,
+}
+
+# ========== 地图 ==========
+MAP_CONFIG = {
+    "map_dir": "/home/elephant/agv_pro_ros2/src/agv_pro_navigation2/map/",
+    "map_file": "map.yaml",
+}
+
+# ========== 摄像头 ==========
+CAMERA_CONFIG = {
+    "device_index": 4,       # AGV 摄像头 video4（标准彩色摄像头，V4L2后端）
+    "backend": "v4l2",         # 使用 V4L2 后端获取标准彩色格式（640x480）
+    "qr_detect_interval": 0.5,
+    "capture_delay": 0.5,
+}
+
+# ========== 机械臂摄像头流 ==========
+ARM_CAMERA_CONFIG = {
+    "url": "http://192.168.110.164:5003/api/camera/preview",
+}
+
+# ========== HTTP 上传 ==========
+UPLOAD_CONFIG = {
+    "url": "https://ts.zhijian168.com/prod-api/file/uploadImage",
+    "timeout": 30,
+    "max_retries": 3,
+}
+
+# ========== Flask 服务器 ==========
+SERVER_CONFIG = {
+    "host": "0.0.0.0",
+    "port": 5000,
+    "secret_key": "agv630_secret_key_2024",
+    "debug": False,
+}
+
+# ========== 任务配置存储路径 ==========
+DATA_DIR = os.path.join(BASE_DIR, "data")
+os.makedirs(DATA_DIR, exist_ok=True)
+
+# ========== 关节角度范围限制 ==========
+JOINT_LIMITS = {
+    "J1": (-180.0, 180.0),
+    "J2": (-270.0, 90.0),
+    "J3": (-150.0, 150.0),
+    "J4": (-260.0, 80.0),
+    "J5": (-168.0, 168.0),
+    "J6": (-174.0, 174.0),
+}
+
+# ========== 机械臂默认速度 ==========
+DEFAULT_ARM_SPEED = 500
+
+# ========== 状态定义 ==========
+class State:
+    SETTING = "setting"
+    RUNNING = "running"
+    PAUSED = "paused"
+    IDLE = "idle"
+
+class PhotoType:
+    FRONT = "front"
+    BACK = "back"
+    NAMEPLATE = "nameplate"
\ No newline at end of file
diff --git a/agv_app/data/machines_config.json b/agv_app/data/machines_config.json
new file mode 100644
index 0000000..bdb5f16
--- /dev/null
+++ b/agv_app/data/machines_config.json
@@ -0,0 +1,296 @@
+[
+  {
+    "id": "m_0_2",
+    "row": 0,
+    "col": 2,
+    "front": {
+      "coords": [
+        1.2421705407118802,
+        0.0025490140048510445,
+        0.00150923641
+      ],
+      "poses": []
+    },
+    "back": {
+      "coords": [
+        0,
+        0,
+        0
+      ],
+      "poses": []
+    }
+  },
+  {
+    "id": "m_1_2",
+    "row": 1,
+    "col": 2,
+    "front": {
+      "coords": [
+        0,
+        0,
+        0
+      ],
+      "poses": []
+    },
+    "back": {
+      "coords": [
+        0,
+        0,
+        0
+      ],
+      "poses": []
+    }
+  },
+  {
+    "id": "m_2_0",
+    "row": 2,
+    "col": 0,
+    "front": {
+      "coords": [
+        0,
+        0,
+        0
+      ],
+      "poses": []
+    },
+    "back": {
+      "coords": [
+        0,
+        0,
+        0
+      ],
+      "poses": []
+    }
+  },
+  {
+    "id": "m_2_2",
+    "row": 2,
+    "col": 2,
+    "front": {
+      "coords": [
+        0,
+        0,
+        0
+      ],
+      "poses": []
+    },
+    "back": {
+      "coords": [
+        0,
+        0,
+        0
+      ],
+      "poses": []
+    }
+  },
+  {
+    "id": "m_3_0",
+    "row": 3,
+    "col": 0,
+    "front": {
+      "coords": [
+        0,
+        0,
+        0
+      ],
+      "poses": []
+    },
+    "back": {
+      "coords": [
+        0,
+        0,
+        0
+      ],
+      "poses": []
+    }
+  },
+  {
+    "id": "m_3_2",
+    "row": 3,
+    "col": 2,
+    "front": {
+      "coords": [
+        0,
+        0,
+        0
+      ],
+      "poses": []
+    },
+    "back": {
+      "coords": [
+        0,
+        0,
+        0
+      ],
+      "poses": []
+    }
+  },
+  {
+    "id": "m_3_1",
+    "row": 3,
+    "col": 1,
+    "front": {
+      "coords": [
+        0,
+        0,
+        0
+      ],
+      "poses": []
+    },
+    "back": {
+      "coords": [
+        0,
+        0,
+        0
+      ],
+      "poses": []
+    }
+  },
+  {
+    "id": "m_4_4",
+    "row": 4,
+    "col": 4,
+    "front": {
+      "coords": [
+        0,
+        0,
+        0
+      ],
+      "poses": []
+    },
+    "back": {
+      "coords": [
+        0,
+        0,
+        0
+      ],
+      "poses": []
+    }
+  },
+  {
+    "id": "m_4_1",
+    "row": 4,
+    "col": 1,
+    "front": {
+      "coords": [
+        0,
+        0,
+        0
+      ],
+      "poses": []
+    },
+    "back": {
+      "coords": [
+        0,
+        0,
+        0
+      ],
+      "poses": []
+    }
+  },
+  {
+    "id": "m_4_0",
+    "row": 4,
+    "col": 0,
+    "front": {
+      "coords": [
+        0,
+        0,
+        0
+      ],
+      "poses": []
+    },
+    "back": {
+      "coords": [
+        0,
+        0,
+        0
+      ],
+      "poses": []
+    }
+  },
+  {
+    "id": "m_3_4",
+    "row": 3,
+    "col": 4,
+    "front": {
+      "coords": [
+        0,
+        0,
+        0
+      ],
+      "poses": []
+    },
+    "back": {
+      "coords": [
+        0,
+        0,
+        0
+      ],
+      "poses": []
+    }
+  },
+  {
+    "id": "m_3_3",
+    "row": 3,
+    "col": 3,
+    "front": {
+      "coords": [
+        0,
+        0,
+        0
+      ],
+      "poses": []
+    },
+    "back": {
+      "coords": [
+        0,
+        0,
+        0
+      ],
+      "poses": []
+    }
+  },
+  {
+    "id": "m_0_1",
+    "row": 0,
+    "col": 1,
+    "front": {
+      "coords": [
+        0,
+        0,
+        0
+      ],
+      "poses": []
+    },
+    "back": {
+      "coords": [
+        0,
+        0,
+        0
+      ],
+      "poses": []
+    }
+  },
+  {
+    "id": "m_0_0",
+    "row": 0,
+    "col": 0,
+    "front": {
+      "coords": [
+        0,
+        0,
+        0
+      ],
+      "poses": []
+    },
+    "back": {
+      "coords": [
+        0,
+        0,
+        0
+      ],
+      "poses": []
+    }
+  }
+]
\ No newline at end of file
diff --git a/agv_app/data/map_config.json b/agv_app/data/map_config.json
new file mode 100644
index 0000000..7ccc11d
--- /dev/null
+++ b/agv_app/data/map_config.json
@@ -0,0 +1,5 @@
+{
+  "map_dir": "/home/elephant/agv_pro_ros2/src/agv_pro_navigation2/map/",
+  "map_file": "map.yaml",
+  "map_yaml": "/home/elephant/agv_pro_ros2/src/agv_pro_navigation2/map/map.yaml"
+}
\ No newline at end of file
diff --git a/agv_app/data/mission_config.json b/agv_app/data/mission_config.json
new file mode 100644
index 0000000..1e1f374
--- /dev/null
+++ b/agv_app/data/mission_config.json
@@ -0,0 +1,128 @@
+{
+  "rows": 2,
+  "cols": 2,
+  "grid": [],
+  "positions": [
+    {
+      "row": 0,
+      "col": 0,
+      "side": "front",
+      "coords": [
+        0.616485726055098,
+        -0.002587517923224651,
+        -0.003483980050000001
+      ],
+      "poses": []
+    },
+    {
+      "row": 3,
+      "col": 1,
+      "side": "back",
+      "coords": [
+        0,
+        0,
+        0
+      ],
+      "poses": []
+    },
+    {
+      "row": 1,
+      "col": 1,
+      "side": "front",
+      "coords": [
+        -0.27906358987415997,
+        0.00411087876725537,
+        -0.00749475593
+      ],
+      "poses": []
+    },
+    {
+      "row": 0,
+      "col": 1,
+      "side": "front",
+      "coords": [
+        0.616485726055098,
+        -0.002587517923224651,
+        -0.003483980050000001
+      ],
+      "poses": []
+    },
+    {
+      "row": 0,
+      "col": 2,
+      "side": "front",
+      "coords": [
+        -0.27906358987415997,
+        0.00411087876725537,
+        -0.00749475593
+      ],
+      "poses": []
+    },
+    {
+      "row": 2,
+      "col": 1,
+      "side": "shoot",
+      "coords": [
+        -1.898244121263206,
+        -0.014324627152337432,
+        0.004533442980000002
+      ],
+      "poses": []
+    },
+    {
+      "row": 2,
+      "col": 0,
+      "side": "shoot",
+      "coords": [
+        -0.9528404539697249,
+        -0.01004755255507813,
+        0.005515614170000002
+      ],
+      "poses": []
+    },
+    {
+      "row": 0,
+      "col": 1,
+      "side": "shoot",
+      "coords": [
+        -0.9528404539697249,
+        -0.01004755255507813,
+        0.005515614170000002
+      ],
+      "poses": []
+    },
+    {
+      "row": 1,
+      "col": 1,
+      "side": "shoot",
+      "coords": [
+        -0.9528404539697249,
+        -0.01004755255507813,
+        0.005515614170000002
+      ],
+      "poses": []
+    },
+    {
+      "row": 0,
+      "col": 0,
+      "side": "shoot",
+      "coords": [
+        0,
+        0,
+        0
+      ],
+      "poses": []
+    },
+    {
+      "row": 1,
+      "col": 0,
+      "side": "shoot",
+      "coords": [
+        0,
+        0,
+        0
+      ],
+      "poses": []
+    }
+  ]
+}
\ No newline at end of file
diff --git a/agv_app/data/points_config.json b/agv_app/data/points_config.json
new file mode 100644
index 0000000..ac9106e
--- /dev/null
+++ b/agv_app/data/points_config.json
@@ -0,0 +1,55 @@
+[
+  {
+    "coords": [
+      -0.2489133152442747,
+      -0.9566827357283122,
+      1.3165501267
+    ],
+    "id": "p_1778482526",
+    "name": "point_1",
+    "photo_mode": "front",
+    "poses": [
+      {
+        "arm_angles": [],
+        "id": "pose_1778483465",
+        "name": "姿态1",
+        "photo_type": "front",
+        "speed": 500
+      }
+    ],
+    "sequence": [
+      "front",
+      "back"
+    ]
+  },
+  {
+    "coords": [
+      -0.13938025759948866,
+      -0.5310313938681763,
+      1.3225773811300001
+    ],
+    "id": "p_1778482605",
+    "name": "point_2",
+    "photo_mode": "front",
+    "poses": [],
+    "sequence": [
+      "front",
+      "back"
+    ]
+  },
+  {
+    "coords": [
+      -0.5498454634407133,
+      0.4294772846745445,
+      2.083953415929999
+    ],
+    "id": "p_1778483433",
+    "name": "point_3",
+    "photo_mode": "front",
+    "poses": [],
+    "sequence": [
+      "front",
+      "back"
+    ]
+  }
+]
\ No newline at end of file
diff --git a/agv_app/requirements.txt b/agv_app/requirements.txt
new file mode 100644
index 0000000..a0b4d27
--- /dev/null
+++ b/agv_app/requirements.txt
@@ -0,0 +1,7 @@
+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
diff --git a/agv_app/setting.html b/agv_app/setting.html
new file mode 100644
index 0000000..1ed76f2
--- /dev/null
+++ b/agv_app/setting.html
@@ -0,0 +1,385 @@
+<!DOCTYPE html>
+<html lang="zh-CN">
+<head>
+  <meta charset="UTF-8">
+  <meta name="viewport" content="width=device-width, initial-scale=1.0">
+  <title>设置 - AGV 拍摄系统</title>
+  <link rel="stylesheet" href="/static/css/style.css?v=20260514a">
+</head>
+<body>
+  <div id="app">
+    <header class="topbar">
+      <div class="logo">⚙️ 系统设置</div>
+      <nav class="nav">
+        <a href="/" class="nav-link">🏠 首页</a>
+        <href="/setting" class="nav-link active">⚙️ 设置</a>
+        <a href="/running" class="nav-link">▶️ 运行</a>
+      </nav>
+    </header>
+
+    <!-- Tabs -->
+    <div class="tabs">
+      <button class="tab" :class="{active: tab === 'map'}" @click="tab = 'map'">🗺️ 地图</button>
+      <button class="tab" :class="{active: tab === 'mission'}" @click="tab = 'mission'">🎯 任务配置</button>
+      <button class="tab" :class="{active: tab === 'arm'}" @click="tab = 'arm'">🤖 机械臂</button>
+      <button class="tab" :class="{active: tab === 'agv'}" @click="tab = 'agv'">🚗 AGV控制</button>
+    </div>
+
+    <main class="container">
+      <!-- 地图配置 (保持不变) -->
+      <div v-if="tab === 'map'">
+        <section class="card">
+          <h2>地图配置</h2>
+          <div class="form-row">
+            <div class="form-group">
+              <label>地图目录</label>
+              <input type="text" v-model="mapForm.map_dir" placeholder="/home/elephant/...">
+            </div>
+            <div class="form-group">
+              <label>地图文件</label>
+              <input type="text" v-model="mapForm.map_file" placeholder="map.yaml">
+            </div>
+            <div class="form-group" style="align-self:end">
+              <button class="btn btn-primary" @click="loadMap">📂 加载地图</button>
+              <button class="btn btn-secondary" @click="saveMap" style="margin-left:6px">💾 保存</button>
+            </div>
+          </div>
+          <p v-if="mapMsg" class="hint">{% raw %}{{ mapMsg }}{% endraw %}</p>
+        </section>
+        <section class="card" v-if="mapLoaded" style="margin-top:16px">
+          <h2>地图可视化</h2>
+          <div class="map-container" style="position:relative;background:#111;border-radius:8px;overflow:hidden">
+            <img :src="mapImageUrl" @error="onMapError" style="width:100%;display:block">
+            <!-- 地图覆盖层：显示点位坐标 -->
+            <div class="map-overlay">
+              <!-- 点位坐标点 -->
+              <div v-for="(p, pi) in missionConfig.positions" :key="'pdot-'+pi"
+                   class="map-dot point-dot"
+                   :style="{ left: getMapX(p.coords) + '%', top: getMapY(p.coords) + '%' }"
+                   :title="p.coords ? p.coords.map(c => c.toFixed(2)).join(', ') : ''">
+              </div>
+            </div>
+          </div>
+        </section>
+      </div>
+
+      <!-- ========== 任务配置 Tab ========== -->
+      <div v-if="tab === 'mission'">
+
+        <!-- 上：网格配置 -->
+        <section class="card">
+          <h2>① 网格配置 (M×N)</h2>
+          <div class="form-row">
+            <div class="form-group">
+              <label>行数 M</label>
+              <input type="number" v-model.number="missionConfig.rows" min="1" max="20" placeholder="3">
+            </div>
+            <div class="form-group">
+              <label>列数 N</label>
+              <input type="number" v-model.number="missionConfig.cols" min="1" max="20" placeholder="4">
+            </div>
+            <div class="form-group" style="align-self:end">
+              <button class="btn btn-primary" @click="generateGrid">🔲 生成网格</button>
+              <button class="btn btn-secondary" @click="saveMissionConfig" style="margin-left:6px">💾 保存网格</button>
+            </div>
+          </div>
+
+          <!-- 网格可视化 - 点位行独立于机器，始终可配置 -->
+          <div v-if="missionConfig.rows > 0" class="mission-grid-wrap" style="margin-top:12px">
+            <div class="mission-grid" :style="{ gridTemplateColumns: '90px repeat(' + missionConfig.cols + ', 100px)' }">
+              <!-- 表头: 列号 -->
+              <div class="grid-cell grid-header"></div>
+              <div v-for="c in missionConfig.cols" :key="'h'+c" class="grid-cell grid-header">第{% raw %}{{ c }}{% endraw %}列</div>
+
+              <!-- 循环渲染: 点位行(0) → 机器行(1) → 点位行(1) → 机器行(2) → ... → 点位行(rows) -->
+              <!-- pointRow 从 0 到 rows（共 rows+1 个点位行）-->
+              <!-- machineRow 从 1 到 rows（共 rows 个机器行）-->
+
+              <!-- 第一个点位行 (pointRow=0): 所有机器的正面拍摄点 -->
+              <div class="grid-cell grid-header">点位行 1</div>
+              <div v-for="(ci) in missionConfig.cols" :key="'p0_'+ci"
+                   class="grid-cell point-cell"
+                   @click="openPointEdit(0, ci-1)">
+                <span class="point-coords">{% raw %}{{ getPointAt(0, ci-1)?.coords?.[0]?.toFixed(1) || '-' }},{{ getPointAt(0, ci-1)?.coords?.[1]?.toFixed(1) || '-' }}{% endraw %}</span>
+                <button class="btn-icon-small" title="配置坐标" @click.stop="openPointEdit(0, ci-1)">+</button>
+              </div>
+
+              <!-- 中间循环: 机器行 ri + 点位行 ri (ri from 1 to rows-1) -->
+              <template v-for="ri in (missionConfig.rows - 1)" :key="'mr'+ri">
+                <!-- 机器行 ri -->
+                <div class="grid-cell grid-header">机器行 {% raw %}{{ ri }}{% endraw %}</div>
+                <div v-for="(ci) in missionConfig.cols" :key="'m'+ri+'_'+ci"
+                     class="grid-cell"
+                     :class="{ active: getMachineAt(ri-1, ci-1) }"
+                     @click="onCellClick(ri-1, ci-1)">
+                  <template v-if="getMachineAt(ri-1, ci-1)">
+                    <div class="cell-machine">✅</div>
+                  </template>
+                  <span v-else class="empty-cell">⬜</span>
+                </div>
+
+                <!-- 点位行 ri+1 (pointRow=ri): 上面机器的背面 / 下面机器的正面 -->
+                <div class="grid-cell grid-header">点位行 {% raw %}{{ ri+1 }}{% endraw %}</div>
+                <div v-for="(ci) in missionConfig.cols" :key="'p'+(ri)+'_'+ci"
+                     class="grid-cell point-cell"
+                     @click="openPointEdit(ri, ci-1)">
+                  <span class="point-coords">{% raw %}{{ getPointAt(ri, ci-1)?.coords?.[0]?.toFixed(1) || '-' }},{{ getPointAt(ri, ci-1)?.coords?.[1]?.toFixed(1) || '-' }}{% endraw %}</span>
+                  <button class="btn-icon-small" title="配置坐标" @click.stop="openPointEdit(ri, ci-1)">+</button>
+                </div>
+              </template>
+
+              <!-- 最后一个机器行 (机器行 rows) -->
+              <div class="grid-cell grid-header">机器行 {% raw %}{{ missionConfig.rows }}{% endraw %}</div>
+              <div v-for="(ci) in missionConfig.cols" :key="'m'+missionConfig.rows+'_'+ci"
+                   class="grid-cell"
+                   :class="{ active: getMachineAt(missionConfig.rows-1, ci-1) }"
+                   @click="onCellClick(missionConfig.rows-1, ci-1)">
+                <template v-if="getMachineAt(missionConfig.rows-1, ci-1)">
+                  <div class="cell-machine">✅</div>
+                </template>
+                <span v-else class="empty-cell">⬜</span>
+              </div>
+
+              <!-- 最后一个点位行 (pointRow=rows): 所有机器的背面拍摄点 -->
+              <div class="grid-cell grid-header">点位行 {% raw %}{{ missionConfig.rows+1 }}{% endraw %}</div>
+              <div v-for="(ci) in missionConfig.cols" :key="'p'+missionConfig.rows+'_'+ci"
+                   class="grid-cell point-cell"
+                   @click="openPointEdit(missionConfig.rows, ci-1)">
+                <span class="point-coords">{% raw %}{{ getPointAt(missionConfig.rows, ci-1)?.coords?.[0]?.toFixed(1) || '-' }},{{ getPointAt(missionConfig.rows, ci-1)?.coords?.[1]?.toFixed(1) || '-' }}{% endraw %}</span>
+                <button class="btn-icon-small" title="配置坐标" @click.stop="openPointEdit(missionConfig.rows, ci-1)">+</button>
+              </div>
+            </div>
+            <p class="hint" style="margin-top:8px">点击「点位行」配置拍摄坐标；点击「机器行」切换有无机器<br>中间点位同时服务于上下两台机器（上机器背面 / 下机器正面），删除机器不影响点位配置</p>
+          </div>
+        </section>
+
+        <!-- 中：选中机器的配置 -->
+        <section class="card" v-if="selectedMachine && selectedMachine.front && selectedMachine.back" style="margin-top:16px">
+          <h2>② 点位配置 — 第{% raw %}{{ selectedMachine.row+1 }}{% endraw %}行 第{% raw %}{{ selectedMachine.col+1 }}{% endraw %}列 <button class="btn btn-small" @click="clearSelection()">← 返回</button></h2>
+
+          <!-- 正面点位 -->
+          <div class="machine-form">
+            <h3>📷 正面点位</h3>
+            <div class="form-row">
+              <div class="form-group">
+                <label>X 坐标</label>
+                <input type="number" step="0.01" v-model.number="selectedMachine.front.coords[0]" placeholder="0.00">
+              </div>
+              <div class="form-group">
+                <label>Y 坐标</label>
+                <input type="number" step="0.01" v-model.number="selectedMachine.front.coords[1]" placeholder="0.00">
+              </div>
+              <div class="form-group">
+                <label>Yaw (弧度)</label>
+                <input type="number" step="0.01" v-model.number="selectedMachine.front.coords[2]" placeholder="0.00">
+              </div>
+              <div class="form-group" style="align-self:end">
+                <button class="btn btn-small btn-primary" @click="readPosition('front')" :disabled="!agvConnected">📍 读取当前位置</button>
+              </div>
+            </div>
+            <!-- 正面姿态列表 -->
+            <div v-if="selectedMachine.front.poses && selectedMachine.front.poses.length > 0" class="pose-list">
+              <h4>正面姿态 ({% raw %}{{ selectedMachine.front.poses.length }}{% endraw %} 个)</h4>
+              <div v-for="pose in selectedMachine.front.poses" :key="pose.id" class="pose-item">
+                <span class="pose-name">{% raw %}{{ pose.name }}{% endraw %}</span>
+                <span class="pose-angles" v-if="pose.arm_angles">角度: {% raw %}{{ formatAngles(pose.arm_angles) }}{% endraw %}</span>
+                <button class="btn-icon" @click="deletePose(selectedMachine.id, 'front', pose.id)">🗑️</button>
+              </div>
+            </div>
+            <div class="pose-add">
+              <input type="text" v-model="poseForm.name" placeholder="姿态名称（如：正面全景）">
+              <button class="btn btn-small btn-success" @click="addPoseToMachine(selectedMachine.id, 'front')">➕ 添加姿态</button>
+            </div>
+          </div>
+
+          <!-- 背面点位 -->
+          <div class="machine-form" style="margin-top:16px">
+            <h3>📷 背面点位</h3>
+            <div class="form-row">
+              <div class="form-group">
+                <label>X 坐标</label>
+                <input type="number" step="0.01" v-model.number="selectedMachine.back.coords[0]" placeholder="0.00">
+              </div>
+              <div class="form-group">
+                <label>Y 坐标</label>
+                <input type="number" step="0.01" v-model.number="selectedMachine.back.coords[1]" placeholder="0.00">
+              </div>
+              <div class="form-group">
+                <label>Yaw (弧度)</label>
+                <input type="number" step="0.01" v-model.number="selectedMachine.back.coords[2]" placeholder="0.00">
+              </div>
+              <div class="form-group" style="align-self:end">
+                <button class="btn btn-small btn-primary" @click="readPosition('back')" :disabled="!agvConnected">📍 读取当前位置</button>
+              </div>
+            </div>
+            <!-- 背面姿态列表 -->
+            <div v-if="selectedMachine.back.poses && selectedMachine.back.poses.length > 0" class="pose-list">
+              <h4>背面姿态 ({% raw %}{{ selectedMachine.back.poses.length }}{% endraw %} 个)</h4>
+              <div v-for="pose in selectedMachine.back.poses" :key="pose.id" class="pose-item">
+                <span class="pose-name">{% raw %}{{ pose.name }}{% endraw %}</span>
+                <span class="pose-angles" v-if="pose.arm_angles">角度: {% raw %}{{ formatAngles(pose.arm_angles) }}{% endraw %}</span>
+                <button class="btn-icon" @click="deletePose(selectedMachine.id, 'back', pose.id)">🗑️</button>
+              </div>
+            </div>
+            <div class="pose-add">
+              <input type="text" v-model="poseForm.name" placeholder="姿态名称（如：背面细节）">
+              <button class="btn btn-small btn-success" @click="addPoseToMachine(selectedMachine.id, 'back')">➕ 添加姿态</button>
+            </div>
+          </div>
+
+          <div class="btn-row" style="margin-top:16px">
+            <button class="btn btn-danger" @click="deleteMachine(selectedMachine.id)">🗑️ 删除此机器</button>
+            <button class="btn btn-secondary" @click="saveMachineCoords">💾 保存此机器配置</button>
+          </div>
+        </section>
+
+        <!-- 下：序列预览 -->
+        <section class="card" v-if="sequence && sequence.length > 0" style="margin-top:16px">
+          <h2>③ 🐍 蛇形拍摄序列预览</h2>
+          <div class="sequence-preview">
+            <div v-for="(step, idx) in sequence" :key="idx" class="sequence-step">
+              <span class="step-index">{% raw %}{{ idx+1 }}{% endraw %}</span>
+              <span class="step-info">
+                第{% raw %}{{ step.row+1 }}{% endraw %}行 第{% raw %}{{ step.col+1 }}{% endraw %}列
+                <span class="step-side" :class="step.side">{% raw %}{{ step.side === 'front' ? '正面' : '背面' }}{% endraw %}</span>
+              </span>
+            </div>
+          </div>
+          <div class="btn-row" style="margin-top:12px">
+            <button class="btn btn-secondary" @click="refreshSequence">🔄 刷新序列</button>
+          </div>
+        </section>
+      </div>
+
+
+        <!-- 点位编辑弹窗（基于独立点位行模型） -->
+        <div v-if="editingPoint" class="modal-overlay" @click.self="closePointEdit">
+          <div class="modal-box" style="min-width:460px">
+            <div style="display:flex;align-items:center;justify-content:space-between;margin-bottom:14px">
+              <h3 style="margin:0">📍 点位配置 — {% raw %}{{ getPointOwnerLabel(editingPoint.pointRow, editingPoint.col) }}{% endraw %}</h3>
+              <button class="btn-icon" @click="closePointEdit">✕</button>
+            </div>
+            <div style="margin-bottom:14px">
+              <div class="form-row">
+                <div class="form-group">
+                  <label>X</label>
+                  <input type="number" step="0.01" v-model.number="pointEditor.x" placeholder="0.00">
+                </div>
+                <div class="form-group">
+                  <label>Y</label>
+                  <input type="number" step="0.01" v-model.number="pointEditor.y" placeholder="0.00">
+                </div>
+                <div class="form-group">
+                  <label>Yaw (rad)</label>
+                  <input type="number" step="0.01" v-model.number="pointEditor.yaw" placeholder="0.00">
+                </div>
+              </div>
+              <div class="hint" style="margin-top:4px">
+                当前: ({% raw %}{{ pointEditor.x.toFixed(2) }}{% endraw %}, {% raw %}{{ pointEditor.y.toFixed(2) }}{% endraw %}, {% raw %}{{ pointEditor.yaw.toFixed(2) }}{% endraw %})
+              </div>
+              <div class="hint" style="margin-top:6px;font-size:12px;color:#888">
+                💡 此点位服务于: {% raw %}{{ getPointOwnerLabel(editingPoint.pointRow, editingPoint.col).split('·')[1] || '无' }}{% endraw %}
+              </div>
+            </div>
+            <div class="btn-row">
+              <button class="btn btn-primary" @click="loadPointFromAgv" :disabled="!agvConnected">📍 从AGV读取</button>
+              <button class="btn btn-success" @click="savePoint">💾 保存</button>
+              <button class="btn btn-warning" @click="clearPoint" :disabled="canClearPoint(editingPoint.pointRow, editingPoint.col)">🗑️ 清空</button>
+              <button class="btn btn-secondary" @click="closePointEdit">取消</button>
+            </div>
+          </div>
+        </div>
+
+<!-- 机械臂控制 (保持不变) -->
+      <div v-if="tab === 'arm'">
+        <section class="card">
+          <h2>🤖 机械臂控制</h2>
+          <div v-if="!armConnected" class="alert alert-error">
+            ⚠️ 机械臂未连接，请先在首页连接设备
+          </div>
+          <div v-else>
+            <div class="camera-preview">
+              <img :src="previewUrl" @error="onPreviewError">
+            </div>
+            <div class="joints-panel">
+              <h3>关节角度控制</h3>
+              <div class="joint-grid">
+                <div v-for="j in 6" :key="j" class="joint-control">
+                  <label>J{% raw %}{{ j }}{% endraw %}</label>
+                  <div class="joint-value">{% raw %}{{ currentAngles[j-1] ? currentAngles[j-1].toFixed(1) : '—' }}{% endraw %}°</div>
+                  <div class="joint-buttons">
+                    <button @mousedown="jogStart(j-1, -1)" @mouseup="jogStop(j-1)" @mouseleave="jogStop(j-1)">◀</button>
+                    <input type="number" v-model.number="angleInputs[j-1]" step="0.5" @change="setAngle(j-1, angleInputs[j-1])">
+                    <button @mousedown="jogStart(j-1, 1)" @mouseup="jogStop(j-1)" @mouseleave="jogStop(j-1)">▶</button>
+                  </div>
+                </div>
+              </div>
+              <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>
+              </div>
+            </div>
+          </div>
+        </section>
+      </div>
+
+      <!-- AGV 移动控制 (保持不变) -->
+      <div v-if="tab === 'agv'">
+        <section class="card">
+          <h2>🚗 AGV 移动控制</h2>
+          <div v-if="!agvConnected" class="alert alert-error">
+            ⚠️ AGV 未连接，请先在首页连接设备
+          </div>
+          <div v-else>
+            <div v-show="cameraOpened" class="camera-preview" style="margin-bottom:16px">
+              <img :src="agvCameraUrl" style="width:100%;max-width:480px;aspect-ratio:16/9;object-fit:cover;border-radius:8px" @error="agvCameraUrl=''">
+            </div>
+            <div class="agv-status-bar">
+              <span>🔋 电压: <strong>{% raw %}{{ agvBattery !== null ? agvBattery + 'V' : '—' }}{% endraw %}</strong></span>
+              <span v-if="agvPosition">📍 位置: <strong>X={% raw %}{{ agvPosition[0] ? agvPosition[0].toFixed(2) : '?' }}{% endraw %} Y={% raw %}{{ agvPosition[1] ? agvPosition[1].toFixed(2) : '?' }}{% endraw %}</strong></span>
+              <button class="btn btn-small" @click="refreshAgvPosition">🔄 刷新</button>
+            </div>
+            <div class="agv-control-panel">
+              <div class="agv-dir-row">
+                <div class="agv-dir-placeholder"></div>
+                <button class="agv-btn agv-btn-up" @mousedown="agvMoveStart('forward')" @mouseup="agvMoveStop" @mouseleave="agvMoveStop">⬆️ 前进</button>
+                <div class="agv-dir-placeholder"></div>
+              </div>
+              <div class="agv-dir-row">
+                <button class="agv-btn agv-btn-left" @mousedown="agvMoveStart('left')" @mouseup="agvMoveStop" @mouseleave="agvMoveStop">↺ 左转</button>
+                <button class="agv-btn agv-btn-stop" @click="agvStop">🛑</button>
+                <button class="agv-btn agv-btn-right" @mousedown="agvMoveStart('right')" @mouseup="agvMoveStop" @mouseleave="agvMoveStop">↻ 右转</button>
+              </div>
+              <div class="agv-dir-row">
+                <div class="agv-dir-placeholder"></div>
+                <button class="agv-btn agv-btn-down" @mousedown="agvMoveStart('backward')" @mouseup="agvMoveStop" @mouseleave="agvMoveStop">⬇️ 后退</button>
+                <div class="agv-dir-placeholder"></div>
+              </div>
+            </div>
+            <div class="agv-lateral-row">
+              <button class="agv-btn agv-btn-lateral" @mousedown="agvMoveStart('left_lateral')" @mouseup="agvMoveStop" @mouseleave="agvMoveStop">⬅️ 向左平移</button>
+              <button class="agv-btn agv-btn-lateral" @mousedown="agvMoveStart('right_lateral')" @mouseup="agvMoveStop" @mouseleave="agvMoveStop">向右平移 ➡️</button>
+            </div>
+            <div class="form-row" style="margin-top:16px; max-width:400px">
+              <div class="form-group">
+                <label>移动速度</label>
+                <div class="speed-control">
+                  <input type="range" v-model.number="agvSpeed" min="0.1" max="1.0" step="0.1" style="flex:1">
+                  <span class="speed-value">{% raw %}{{ (agvSpeed * 100).toFixed(0) }}{% endraw %}%</span>
+                </div>
+              </div>
+            </div>
+            <div class="btn-row" style="margin-top:12px">
+              <button class="btn btn-danger" @click="agvResetCollision">🔄 撞物体后复位</button>
+              <button class="btn btn-secondary" @click="agvStop">🛑 立即停止</button>
+            </div>
+          </div>
+        </section>
+      </div>
+    </main>
+  </div>
+
+  <script src="/static/js/vue3.global.prod.js?v=20260513b"></script>
+  <script src="/static/js/setting.js?v=20260514g"></script>
+</body>
+</html>
diff --git a/agv_app/setting.js b/agv_app/setting.js
new file mode 100644
index 0000000..4bc8c6d
--- /dev/null
+++ b/agv_app/setting.js
@@ -0,0 +1,587 @@
+const { createApp } = Vue
+const API = ''
+
+createApp({
+  data() {
+    return {
+      tab: 'map',
+      // 任务配置
+      missionConfig: { rows: 3, cols: 3, grid: [], machines: [] },
+      selectedMachine: null,
+      sequence: [],
+      poseForm: { name: '', photo_type: 'front', description: '' },
+      // 地图
+      mapForm: { map_dir: '/home/elephant/agv_pro_ros2/src/agv_pro_navigation2/map/', map_file: 'map.yaml' },
+      mapMsg: '',
+      mapLoaded: false,
+      mapImageUrl: '',
+      mapMeta: null,
+      // 点位
+      points: [],
+      newPointName: '',
+      newPointMode: 'front',
+      newPointSequence: ['front', 'back'],
+      // 机型（姿态组）
+      models: [],
+      selectedModelId: null,
+      newModelName: '',
+      newModelSerial: '',
+      // 机械臂
+      armConnected: false,
+      currentAngles: [],
+      angleInputs: [],
+      previewUrl: API + '/api/camera/preview',
+      jogIntervals: {},
+      // AGV
+      cameraOpened: false,
+      agvConnected: false,
+      agvBattery: null,
+      agvPosition: null,
+      agvSpeed: 0.5,
+      agvMoveInterval: null,
+      agvCameraUrl: API + '/api/camera/refresh',
+      agvCameraTimer: null,
+    }
+  },
+  mounted() {
+    this.refresh()
+    this.refreshAngles()
+  },
+  watch: {
+    tab(val) {
+      if (val === 'agv') {
+        this.agvCameraTimer = setInterval(() => {
+          this.agvCameraUrl = API + '/api/camera/refresh?t=' + Date.now()
+        }, 1000)
+      } else {
+        if (this.agvCameraTimer) {
+          clearInterval(this.agvCameraTimer)
+          this.agvCameraTimer = null
+        }
+      }
+    }
+  },
+  beforeUnmount() {
+    Object.values(this.jogIntervals).forEach(i => clearInterval(i))
+    if (this.agvCameraTimer) clearInterval(this.agvCameraTimer)
+  },
+  methods: {
+    async refresh() {
+      try {
+        const res = await fetch(API + '/api/status')
+        const data = await res.json()
+        this.agvConnected = data.agv_connected
+        this.armConnected = data.arm_connected
+        this.cameraOpened = data.camera_opened
+        this.mapLoaded = data.map_loaded
+        if (data.map_loaded) {
+          this.mapImageUrl = API + '/api/map/image?t=' + Date.now()
+          try {
+            const metaRes = await fetch(API + '/api/map/meta')
+            const meta = await metaRes.json()
+            if (meta.ok) this.mapMeta = meta
+          } catch (e) {}
+        }
+      } catch (e) {}
+      await this.loadAllPoints()
+      await this.loadAllModels()
+      await this.loadAllMachines()
+      await this.loadMissionConfig()
+    },
+    // === 地图 ===
+    async loadMap() {
+      const res = await fetch(API + '/api/map/load', {
+        method: 'POST',
+        headers: { 'Content-Type': 'application/json' },
+        body: JSON.stringify(this.mapForm)
+      })
+      const data = await res.json()
+      this.mapMsg = data.ok ? '✅ 地图加载成功' : '❌ ' + (data.error || '加载失败')
+      this.mapLoaded = data.ok
+      if (data.ok) {
+        this.mapImageUrl = API + '/api/map/image?t=' + Date.now()
+        try {
+          const metaRes = await fetch(API + '/api/map/meta')
+          const meta = await metaRes.json()
+          if (meta.ok) this.mapMeta = meta
+        } catch (e) {}
+      }
+    },
+    onMapError() {
+      this.mapMsg = '❌ 地图图像加载失败'
+    },
+    getMapX(coords) {
+      if (!coords || !this.mapMeta) return 50
+      const [x, y, yaw] = coords
+      const { resolution, origin, width } = this.mapMeta
+      const px = (x - origin[0]) / (resolution * width) * 100
+      return Math.max(0, Math.min(100, px))
+    },
+    getMapY(coords) {
+      if (!coords || !this.mapMeta) return 50
+      const [x, y, yaw] = coords
+      const { resolution, origin, height } = this.mapMeta
+      const py = (y - origin[1]) / (resolution * height) * 100
+      return Math.max(0, Math.min(100, 100 - py))
+    },
+    async saveMap() {
+      await fetch(API + '/api/map/save', {
+        method: 'POST',
+        headers: { 'Content-Type': 'application/json' },
+        body: JSON.stringify(this.mapForm)
+      })
+      this.mapMsg = '✅ 地图配置已保存'
+    },
+    // === 点位 ===
+    async loadAllPoints() {
+      const res = await fetch(API + '/api/points/list')
+      const data = await res.json()
+      this.points = data.points || []
+    },
+    async addPoint() {
+      const res = await fetch(API + '/api/points/add', {
+        method: 'POST',
+        headers: { 'Content-Type': 'application/json' },
+        body: JSON.stringify({
+          name: this.newPointName || 'point_' + (this.points.length + 1),
+          photo_mode: this.newPointMode,
+          sequence: this.newPointSequence
+        })
+      })
+      const data = await res.json()
+      if (data.ok) {
+        await this.loadAllPoints()
+        this.newPointName = ''
+      }
+    },
+    async deletePoint(id) {
+      if (!confirm('确定删除该点位?')) return
+      await fetch(API + '/api/points/delete/' + id, { method: 'DELETE' })
+      await this.loadAllPoints()
+    },
+    async saveAllPoints() {
+      await fetch(API + '/api/points/save', {
+        method: 'POST',
+        headers: { 'Content-Type': 'application/json' },
+        body: JSON.stringify({ points: this.points })
+      })
+      alert('点位已保存')
+    },
+    getPoint(id) {
+      return this.points.find(p => p.id === id)
+    },
+    formatAngles(angles) {
+      if (!angles) return '—'
+      return angles.map(a => (a || 0).toFixed(1) + '°').join(' / ')
+    },
+    // === 机型管理 ===
+    async loadAllModels() {
+      const res = await fetch(API + '/api/models/list')
+      const data = await res.json()
+      this.models = data.models || []
+      this.models.forEach(m => {
+        if (!this.poseForm[m.id]) {
+          this.poseForm[m.id] = { name: '', photo_type: 'front', description: '' }
+        }
+      })
+    },
+    async addModel() {
+      const res = await fetch(API + '/api/models/add', {
+        method: 'POST',
+        headers: { 'Content-Type': 'application/json' },
+        body: JSON.stringify({
+          name: this.newModelName || 'model_' + (this.models.length + 1),
+          serial_prefix: this.newModelSerial,
+          description: ''
+        })
+      })
+      const data = await res.json()
+      if (data.ok) {
+        await this.loadAllModels()
+        this.newModelName = ''
+        this.newModelSerial = ''
+      }
+    },
+    async deleteModel(modelId) {
+      if (!confirm('确定删除该机型？其下所有姿态将被删除！')) return
+      await fetch(API + '/api/models/delete/' + modelId, { method: 'DELETE' })
+      await this.loadAllModels()
+    },
+    // === 姿态管理（属于机型）===
+    async addPose(modelId) {
+      const form = this.poseForm[modelId]
+      if (!form) return
+      await fetch(API + '/api/models/poses/add', {
+        method: 'POST',
+        headers: { 'Content-Type': 'application/json' },
+        body: JSON.stringify({
+          model_id: modelId,
+          name: form.name || '姿态' + ((this.getModel(modelId)?.poses?.length || 0) + 1),
+          photo_type: form.photo_type,
+          arm_angles: this.currentAngles,
+          speed: 500,
+          description: form.description || ''
+        })
+      })
+      await this.loadAllModels()
+      form.name = ''
+      form.description = ''
+    },
+    async deletePose(modelId, poseId) {
+      if (!confirm('确定删除该姿态？')) return
+      await fetch(API + '/api/models/' + modelId + '/poses/' + poseId, { method: 'DELETE' })
+      await this.loadAllModels()
+    },
+    getModel(id) {
+      return this.models.find(m => m.id === id)
+    },
+    // === 任务配置 ===
+    async loadMissionConfig() {
+      try {
+        const res = await fetch(API + '/api/mission/config')
+        const data = await res.json()
+        if (data.ok && data.config) {
+          this.missionConfig.rows = data.config.rows || 3
+          this.missionConfig.cols = data.config.cols || 3
+          this.missionConfig.grid = data.config.grid || []
+        }
+      } catch (e) { console.error('加载任务配置失败', e) }
+    },
+    async generateGrid() {
+      try {
+        const res = await fetch(API + '/api/mission/config', {
+          method: 'POST',
+          headers: { 'Content-Type': 'application/json' },
+          body: JSON.stringify({
+            rows: this.missionConfig.rows,
+            cols: this.missionConfig.cols,
+            grid: []
+          })
+        })
+        const data = await res.json()
+        if (data.ok) {
+          this.missionConfig.grid = data.config.grid || []
+          alert('✅ 网格已生成 (' + this.missionConfig.rows + '×' + this.missionConfig.cols + ')')
+        } else {
+          alert('❌ 网格生成失败')
+        }
+      } catch (e) { alert('请求失败: ' + e.message) }
+    },
+    async saveMissionConfig() {
+      try {
+        const res = await fetch(API + '/api/mission/config', {
+          method: 'POST',
+          headers: { 'Content-Type': 'application/json' },
+          body: JSON.stringify({
+            rows: this.missionConfig.rows,
+            cols: this.missionConfig.cols,
+            grid: this.missionConfig.grid
+          })
+        })
+        const data = await res.json()
+        if (data.ok) {
+          alert('✅ 网格配置已保存')
+        }
+      } catch (e) { alert('保存失败: ' + e.message) }
+    },
+    async loadAllMachines() {
+      try {
+        const res = await fetch(API + '/api/mission/machines')
+        const data = await res.json()
+        this.missionConfig.machines = data.machines || []
+      } catch (e) { console.error('加载机器列表失败', e) }
+    },
+    getMachineAt(ri, ci) {
+      if (!this.missionConfig.machines) return null
+      return this.missionConfig.machines.find(m => m.row === ri && m.col === ci) || null
+    },
+    getPositionAt(ri, ci) {
+      if (!this.missionConfig.machines) return null
+      const machine = this.getMachineAt(ri, ci)
+      if (!machine) return null
+      if (ri === 0) return machine.front
+      const prevMachine = this.getMachineAt(ri - 1, ci)
+      return prevMachine ? prevMachine.back : machine.front
+    },
+    onCellClick(ri, ci) {
+      const m = this.getMachineAt(ri, ci)
+      if (!m) {
+        // 无机器 → 创建机器记录并选中
+        this.createMachine(ri, ci).then(ok => {
+          if (ok) {
+            const created = this.getMachineAt(ri, ci)
+            if (created) this.selectMachine(created)
+          }
+        })
+      } else {
+        // 有机器 → 选中
+        this.selectMachine(m)
+      }
+    },
+    async createMachine(ri, ci) {
+      try {
+        const machineId = 'm_' + ri + '_' + ci
+        const res = await fetch(API + '/api/mission/machines/add', {
+          method: 'POST',
+          headers: { 'Content-Type': 'application/json' },
+          body: JSON.stringify({
+            id: machineId,
+            row: ri,
+            col: ci,
+            front: { coords: [0, 0, 0], poses: [] },
+            back: { coords: [0, 0, 0], poses: [] }
+          })
+        })
+        const data = await res.json()
+        if (!data.ok && data.error !== '该位置已有机器') {
+          alert('创建机器失败: ' + (data.error || '未知错误'))
+          return false
+        }
+        await this.loadAllMachines()
+        return true
+      } catch (e) { alert('创建机器失败: ' + e.message); return false }
+    },
+    selectMachine(machine) {
+      if (!machine.front) machine.front = { coords: [0, 0, 0], poses: [] }
+      else if (!Array.isArray(machine.front.coords)) machine.front.coords = [0, 0, 0]
+      if (!machine.back) machine.back = { coords: [0, 0, 0], poses: [] }
+      else if (!Array.isArray(machine.back.coords)) machine.back.coords = [0, 0, 0]
+      this.selectedMachine = machine
+    },
+    clearSelection() {
+      this.selectedMachine = null
+    },
+    async deleteMachine(machineId) {
+      if (!confirm('确定删除此机器？')) return
+      try {
+        await fetch(API + '/api/mission/machines/' + machineId, { method: 'DELETE' })
+        this.selectedMachine = null
+        await this.loadAllMachines()
+      } catch (e) { alert('删除失败: ' + e.message) }
+    },
+    async saveMachineCoords() {
+      if (!this.selectedMachine) return
+      try {
+        const res = await fetch(API + '/api/mission/machines/' + this.selectedMachine.id, {
+          method: 'PUT',
+          headers: { 'Content-Type': 'application/json' },
+          body: JSON.stringify({
+            front: this.selectedMachine.front,
+            back: this.selectedMachine.back
+          })
+        })
+        if (res.ok) {
+          this.mapMsg = '✅ 机器坐标已保存'
+          setTimeout(() => this.mapMsg = '', 2000)
+        } else {
+          alert('保存失败: ' + res.status)
+        }
+      } catch (e) { alert('保存失败: ' + e.message) }
+    },
+    async readPosition(side) {
+      if (!this.agvConnected) { alert('AGV 未连接'); return }
+      try {
+        const res = await fetch(API + '/api/agv/position')
+        const data = await res.json()
+        if (data.ok && data.position) {
+          const [x, y, theta] = data.position
+          if (side === 'front') {
+            this.selectedMachine.front.coords = [x, y, theta]
+          } else {
+            this.selectedMachine.back.coords = [x, y, theta]
+          }
+        } else {
+          alert('读取位置失败: ' + (data.error || '未知错误'))
+        }
+      } catch (e) { alert('读取位置失败: ' + e.message) }
+    },
+    async addPoseToMachine(machineId, side) {
+      const name = this.poseForm.name || '姿态' + (((this.selectedMachine && this.selectedMachine[side] && this.selectedMachine[side].poses) || []).length + 1)
+      try {
+        const res = await fetch(API + '/api/mission/poses/' + machineId + '/' + side, {
+          method: 'POST',
+          headers: { 'Content-Type': 'application/json' },
+          body: JSON.stringify({
+            name: name,
+            arm_angles: this.currentAngles.length === 6 ? this.currentAngles : [0, 0, 0, 0, 0, 0],
+            speed: 500,
+            description: ''
+          })
+        })
+        const data = await res.json()
+        if (data.ok) {
+          this.poseForm.name = ''
+          await this.loadAllMachines()
+          // 重新选中当前机器以刷新姿态列表
+          const updated = this.getMachineAt(this.selectedMachine.row, this.selectedMachine.col)
+          if (updated) this.selectMachine(updated)
+        } else {
+          alert('添加姿态失败: ' + (data.error || '未知错误'))
+        }
+      } catch (e) { alert('添加姿态失败: ' + e.message) }
+    },
+    async deletePose(machineId, side, poseId) {
+      if (!confirm('确定删除此姿态？')) return
+      try {
+        await fetch(API + '/api/mission/poses/' + machineId + '/' + side + '/' + poseId, { method: 'DELETE' })
+        await this.loadAllMachines()
+        if (this.selectedMachine) {
+          const updated = this.getMachineAt(this.selectedMachine.row, this.selectedMachine.col)
+          if (updated) this.selectMachine(updated)
+        }
+      } catch (e) { alert('删除姿态失败: ' + e.message) }
+    },
+    async capturePosition(ri, ci, side) {
+      if (!this.agvConnected) { alert('请先连接AGV'); return }
+      let machine = this.getMachineAt(ri, ci)
+      if (!machine) {
+        try {
+          const machineId = 'm_' + ri + '_' + ci
+          const res = await fetch(API + '/api/mission/machines/add', {
+            method: 'POST',
+            headers: { 'Content-Type': 'application/json' },
+            body: JSON.stringify({
+              id: machineId,
+              row: ri,
+              col: ci,
+              front: { coords: [0, 0, 0], poses: [] },
+              back: { coords: [0, 0, 0], poses: [] }
+            })
+          })
+          if (!res.ok) throw new Error('创建失败')
+          await this.loadAllMachines()
+          machine = this.getMachineAt(ri, ci)
+        } catch (e) { alert('创建机器失败: ' + e.message); return }
+      }
+      try {
+        const res = await fetch(API + '/api/agv/position')
+        const pos = await res.json()
+        let x = 0, y = 0, theta = 0
+        if (pos.ok && pos.position && Array.isArray(pos.position)) {
+          x = pos.position[0] || 0
+          y = pos.position[1] || 0
+          theta = pos.position[2] || 0
+        } else {
+          alert('读取位置失败: ' + (pos.error || '未知错误'))
+          return
+        }
+        if (!machine) { machine = this.getMachineAt(ri, ci) }
+        if (!machine) { alert('机器记录不存在'); return }
+        if (side === 'front') { machine.front.coords = [x, y, theta] } else { machine.back.coords = [x, y, theta] }
+        await fetch(API + '/api/mission/machines/' + machine.id, {
+          method: 'PUT',
+          headers: { 'Content-Type': 'application/json' },
+          body: JSON.stringify(machine)
+        })
+        alert((side === 'front' ? '正面' : '背面') + '点位已更新: (' + x.toFixed(2) + ',' + y.toFixed(2) + ',' + theta.toFixed(2) + ')')
+      } catch (e) { alert('读取位置失败: ' + e.message) }
+    },
+    async refreshSequence() {
+      try {
+        const res = await fetch(API + '/api/mission/generate_sequence')
+        const data = await res.json()
+        if (data.ok) {
+          this.sequence = data.sequence || []
+        }
+      } catch (e) { console.error('刷新序列失败', e) }
+    },
+    // === 机械臂 ===
+    async refreshAngles() {
+      if (!this.armConnected) return
+      try {
+        const res = await fetch(API + '/api/arm/get_angles')
+        const data = await res.json()
+        if (data.ok && data.angles) {
+          this.currentAngles = data.angles
+          this.angleInputs = [...data.angles]
+        }
+      } catch (e) {}
+    },
+    async setAngle(idx, val) {
+      await fetch(API + '/api/arm/set_angle', {
+        method: 'POST',
+        headers: { 'Content-Type': 'application/json' },
+        body: JSON.stringify({ joint: 'J' + (idx + 1), angle: val })
+      })
+    },
+    async applyAngles() {
+      await fetch(API + '/api/arm/set_angles', {
+        method: 'POST',
+        headers: { 'Content-Type': 'application/json' },
+        body: JSON.stringify({ angles: this.angleInputs, speed: 500 })
+      })
+    },
+    jogStart(idx, dir) {
+      const joint = 'J' + (idx + 1)
+      fetch(API + '/api/arm/jog', {
+        method: 'POST',
+        headers: { 'Content-Type': 'application/json' },
+        body: JSON.stringify({ joint, direction: dir })
+      })
+      this.jogIntervals[idx] = setInterval(() => this.refreshAngles(), 200)
+    },
+    jogStop(idx) {
+      clearInterval(this.jogIntervals[idx])
+      const joint = 'J' + (idx + 1)
+      fetch(API + '/api/arm/jog', {
+        method: 'POST',
+        headers: { 'Content-Type': 'application/json' },
+        body: JSON.stringify({ joint, direction: 0 })
+      })
+      setTimeout(() => this.refreshAngles(), 300)
+    },
+    onPreviewError(e) {
+      e.target.style.display = 'none'
+    },
+    // === AGV 控制 ===
+    async refreshAgvPosition() {
+      if (!this.agvConnected) return
+      try {
+        const res = await fetch(API + '/api/agv/position')
+        const data = await res.json()
+        if (data.ok) {
+          this.agvPosition = data.position
+          this.agvBattery = data.battery
+        }
+      } catch (e) {}
+    },
+    agvMoveStart(dir) {
+      if (!this.agvConnected) return
+      fetch(API + '/api/agv/move', {
+        method: 'POST',
+        headers: { 'Content-Type': 'application/json' },
+        body: JSON.stringify({ direction: dir, speed: this.agvSpeed })
+      })
+    },
+    agvMoveStop() {
+      fetch(API + '/api/agv/move', {
+        method: 'POST',
+        headers: { 'Content-Type': 'application/json' },
+        body: JSON.stringify({ direction: 'stop' })
+      })
+    },
+    async agvStop() {
+      await fetch(API + '/api/agv/stop', { method: 'POST' })
+    },
+    async agvResetCollision() {
+      if (!this.agvConnected) {
+        alert('AGV 未连接')
+        return
+      }
+      if (!confirm('确定执行撞物体后复位？')) return
+      try {
+        const res = await fetch(API + '/api/agv/reset', { method: 'POST' })
+        const data = await res.json()
+        if (data.ok) {
+          alert('✅ ' + data.message)
+          await this.refresh()
+          await this.refreshAgvPosition()
+        } else {
+          alert('❌ 复位失败: ' + (data.error || '未知错误'))
+        }
+      } catch (e) {
+        alert('❌ 复位请求失败: ' + e.message)
+      }
+    },
+  }
+}).mount('#app')
diff --git a/agv_app/start.sh b/agv_app/start.sh
new file mode 100644
index 0000000..ad9d646
--- /dev/null
+++ b/agv_app/start.sh
@@ -0,0 +1,5 @@
+#!/bin/bash
+# 启动 AGV 拍摄系统
+
+cd ~/work/agv_app
+python3 app.py
diff --git a/agv_app/start_all.sh b/agv_app/start_all.sh
new file mode 100755
index 0000000..9ee8f09
--- /dev/null
+++ b/agv_app/start_all.sh
@@ -0,0 +1,46 @@
+#!/bin/bash
+# AGV 拍摄系统完整启动脚本 - ROS2 + Flask
+# 使用方法: ./start_all.sh
+
+echo "=== 停止旧进程 ==="
+pkill -f "ros2 launch agv_pro_bringup" 2>/dev/null
+pkill -f "python.*app.py" 2>/dev/null
+sleep 2
+
+echo "=== 启动 ROS2 Bringup ==="
+# Source ROS2 环境
+source /opt/ros/humble/setup.bash
+cd /home/elephant/agv_pro_ros2
+source install/setup.bash
+
+# 启动 ROS2 bringup (后台运行)
+nohup ros2 launch agv_pro_bringup agv_pro_bringup.launch.py port_name:=/dev/agvpro_controller > /tmp/ros2_bringup.log 2>&1 &
+ROS2_PID=$!
+echo "ROS2 bringup started, PID: $ROS2_PID"
+
+# 等待 ROS2 初始化 (AGV节点需要连接串口)
+echo "等待 ROS2 初始化..."
+sleep 5
+
+# 检查 ROS2 节点是否启动
+if source /opt/ros/humble/setup.bash && source ~/agv_pro_ros2/install/setup.bash && ros2 node list 2>/dev/null | grep -q agv_pro_node; then
+    echo "✅ ROS2 AGV 节点已启动"
+else
+    echo "⚠️ ROS2 节点启动可能失败，请检查日志: /tmp/ros2_bringup.log"
+fi
+
+echo "=== 启动 Flask ==="
+cd /home/elephant/work/agv_app
+nohup python3 app.py > /tmp/agv_flask.log 2>&1 &
+FLASK_PID=$!
+echo "Flask started, PID: $FLASK_PID"
+
+sleep 2
+echo ""
+echo "=== 启动完成 ==="
+echo "ROS2 log: /tmp/ros2_bringup.log"
+echo "Flask log: /tmp/agv_flask.log"
+echo ""
+echo "检查状态:"
+echo "  ros2 node list"
+echo "  curl http://localhost:5000/api/status"
diff --git a/agv_app/start_flask.sh b/agv_app/start_flask.sh
new file mode 100755
index 0000000..8e50f0b
--- /dev/null
+++ b/agv_app/start_flask.sh
@@ -0,0 +1,9 @@
+#!/bin/bash
+# Flask 启动脚本 - 杀掉旧进程并重启
+
+pkill -f "python.*app.py" 2>/dev/null
+sleep 1
+
+cd /home/elephant/work/agv_app
+nohup python3 app.py > /tmp/agv_flask.log 2>&1 &
+echo "Flask started, PID: $!"
diff --git a/agv_app/static/css/style.css b/agv_app/static/css/style.css
new file mode 100644
index 0000000..af9e83a
--- /dev/null
+++ b/agv_app/static/css/style.css
@@ -0,0 +1,722 @@
+/* ========== 全局样式 ========== */
+* { box-sizing: border-box; margin: 0; padding: 0; }
+
+body {
+  font-family: -apple-system, "PingFang SC", "Microsoft YaHei", sans-serif;
+  background: #0f1923;
+  color: #e8eaed;
+  font-size: 14px;
+  min-height: 100vh;
+}
+
+a { color: #4fc3f7; text-decoration: none; }
+a:hover { text-decoration: underline; }
+
+.container {
+  max-width: 1200px;
+  margin: 0 auto;
+  padding: 20px 16px;
+  display: grid;
+  grid-template-columns: 1fr 1fr;
+  gap: 16px;
+}
+
+/* ========== 顶部栏 ========== */
+.topbar {
+  background: #1a2332;
+  border-bottom: 1px solid #2a3441;
+  padding: 0 20px;
+  display: flex;
+  align-items: center;
+  height: 56px;
+  gap: 32px;
+  position: sticky;
+  top: 0;
+  z-index: 100;
+}
+
+.logo { font-size: 18px; font-weight: bold; color: #4fc3f7; }
+
+.nav { display: flex; gap: 4px; }
+.nav-link {
+  padding: 8px 16px;
+  border-radius: 6px;
+  color: #9aa0a6;
+  transition: all 0.2s;
+}
+.nav-link:hover { background: #2a3441; color: #e8eaed; text-decoration: none; }
+.nav-link.active { background: #263238; color: #4fc3f7; }
+
+.status-bar { margin-left: auto; display: flex; gap: 12px; }
+.status-item {
+  padding: 4px 12px;
+  border-radius: 12px;
+  font-size: 12px;
+  font-weight: bold;
+}
+.status-item.setting { background: #1b3a2f; color: #4caf50; }
+.status-item.running { background: #2a2a1b; color: #ffeb3b; }
+.status-item.paused { background: #3a2a1a; color: #ff9800; }
+.status-item.idle { background: #2a2a2a; color: #9aa0a6; }
+
+/* ========== 卡片 ========== */
+.card {
+  background: #1a2332;
+  border-radius: 12px;
+  padding: 20px;
+  border: 1px solid #2a3441;
+}
+.card h2 { font-size: 16px; margin-bottom: 16px; color: #4fc3f7; }
+
+/* ========== 状态卡片 ========== */
+.grid-3 { display: grid; grid-template-columns: repeat(3, 1fr); gap: 12px; margin-bottom: 16px; }
+.status-card {
+  background: #0f1923;
+  border-radius: 8px;
+  padding: 16px;
+  text-align: center;
+  border: 1px solid #2a3441;
+}
+.status-card.ok { border-color: #2e7d32; background: #0d1f14; }
+.status-card.error { border-color: #c62828; background: #1f0d0d; }
+.status-icon { font-size: 24px; margin-bottom: 8px; }
+.status-label { font-size: 12px; color: #9aa0a6; margin-bottom: 4px; }
+.status-value { font-size: 14px; font-weight: bold; }
+
+/* ========== 按钮 ========== */
+.btn {
+  padding: 8px 16px;
+  border-radius: 6px;
+  border: none;
+  cursor: pointer;
+  font-size: 14px;
+  transition: all 0.2s;
+  background: #263238;
+  color: #e8eaed;
+  font-family: inherit;
+}
+.btn:hover:not(:disabled) { background: #37474f; }
+.btn:disabled { opacity: 0.5; cursor: not-allowed; }
+
+.btn-primary { background: #0277bd; color: #fff; }
+.btn-primary:hover:not(:disabled) { background: #0288d1; }
+.btn-secondary { background: #37474f; }
+.btn-danger { background: #d32f2f; color: #fff; }
+.btn-danger:hover:not(:disabled) { background: #f44336; }
+.btn-success { background: #2e7d32; color: #fff; }
+.btn-success:hover:not(:disabled) { background: #388e3c; }
+.btn-warning { background: #e65100; color: #fff; }
+.btn-error { background: #c62828; color: #fff; }
+.btn-large { padding: 12px 24px; font-size: 16px; }
+.btn-small { padding: 4px 10px; font-size: 12px; }
+.btn-icon { background: none; border: none; cursor: pointer; font-size: 14px; padding: 4px; }
+.btn-row { display: flex; gap: 8px; margin-top: 12px; flex-wrap: wrap; }
+
+/* ========== 表单 ========== */
+.form-group { margin-bottom: 12px; }
+.form-group label { display: block; font-size: 12px; color: #9aa0a6; margin-bottom: 4px; }
+.form-group input,
+.form-group select {
+  width: 100%;
+  padding: 8px 12px;
+  background: #0f1923;
+  border: 1px solid #2a3441;
+  border-radius: 6px;
+  color: #e8eaed;
+  font-size: 14px;
+  font-family: inherit;
+}
+.form-group input:focus,
+.form-group select:focus { outline: none; border-color: #4fc3f7; }
+.form-row { display: grid; grid-template-columns: 1fr 1fr; gap: 12px; }
+
+/* ========== Tabs ========== */
+.tabs {
+  background: #1a2332;
+  border-bottom: 1px solid #2a3441;
+  padding: 0 20px;
+  display: flex;
+  gap: 4px;
+}
+.tab {
+  padding: 12px 20px;
+  background: none;
+  border: none;
+  color: #9aa0a6;
+  cursor: pointer;
+  font-size: 14px;
+  border-bottom: 2px solid transparent;
+  font-family: inherit;
+}
+.tab.active { color: #4fc3f7; border-bottom-color: #4fc3f7; }
+.tab:hover { color: #e8eaed; }
+
+/* ========== 摄像头预览 ========== */
+.camera-preview {
+  width: 100%;
+  max-width: 480px;
+  border-radius: 8px;
+  overflow: hidden;
+  margin: 0 auto 16px;
+  background: #000;
+}
+.camera-preview img,
+.camera-full img {
+  width: 100%;
+  display: block;
+  aspect-ratio: 16/9;
+  object-fit: cover;
+}
+.camera-full {
+  width: 100%;
+  border-radius: 8px;
+  overflow: hidden;
+  background: #000;
+}
+
+/* ========== 关节控制 ========== */
+.joints-panel { margin-top: 16px; }
+.joints-panel h3 { margin-bottom: 12px; font-size: 14px; }
+.joint-grid { display: grid; grid-template-columns: repeat(3, 1fr); gap: 12px; }
+.joint-control {
+  background: #0f1923;
+  border-radius: 8px;
+  padding: 12px;
+  text-align: center;
+  border: 1px solid #2a3441;
+}
+.joint-control label { font-size: 12px; color: #4fc3f7; font-weight: bold; }
+.joint-value { font-size: 18px; font-weight: bold; color: #fff; margin: 4px 0; }
+.joint-buttons { display: flex; align-items: center; gap: 4px; justify-content: center; }
+.joint-buttons button {
+  width: 32px;
+  height: 32px;
+  border-radius: 4px;
+  border: 1px solid #2a3441;
+  background: #263238;
+  color: #e8eaed;
+  cursor: pointer;
+  font-size: 14px;
+}
+.joint-buttons input {
+  width: 60px;
+  padding: 4px;
+  text-align: center;
+  background: #0f1923;
+  border: 1px solid #2a3441;
+  border-radius: 4px;
+  color: #e8eaed;
+  font-size: 12px;
+}
+
+/* ========== 点位列表 ========== */
+.point-item {
+  background: #0f1923;
+  border: 1px solid #2a3441;
+  border-radius: 8px;
+  padding: 12px;
+  margin-bottom: 12px;
+}
+.point-header { display: flex; align-items: center; gap: 8px; margin-bottom: 8px; }
+.point-name { font-weight: bold; font-size: 15px; }
+.point-coords { font-size: 12px; color: #9aa0a6; margin-bottom: 8px; }
+.badge {
+  padding: 2px 8px;
+  border-radius: 10px;
+  font-size: 11px;
+  background: #263238;
+  color: #4fc3f7;
+}
+.pose-list { margin-top: 8px; }
+.pose-item {
+  display: flex;
+  align-items: center;
+  gap: 8px;
+  padding: 6px 0;
+  border-bottom: 1px solid #2a3441;
+  font-size: 13px;
+}
+.angles { color: #9aa0a6; font-size: 11px; font-family: monospace; }
+.pose-add {
+  display: flex;
+  gap: 8px;
+  align-items: center;
+  margin-top: 8px;
+}
+.pose-add input { flex: 1; padding: 6px 10px; background: #1a2332; border: 1px solid #2a3441; border-radius: 4px; color: #e8eaed; font-size: 13px; }
+.pose-add select { padding: 6px; background: #1a2332; border: 1px solid #2a3441; border-radius: 4px; color: #e8eaed; }
+
+.empty-hint { color: #9aa0a6; text-align: center; padding: 20px; }
+.hint { font-size: 12px; color: #9aa0a6; margin-top: 8px; }
+.alert { padding: 12px 16px; border-radius: 8px; margin-bottom: 12px; }
+.alert-error { background: #1f0d0d; border: 1px solid #c62828; color: #ef5350; }
+.checkbox-group { display: flex; gap: 16px; }
+.checkbox-group label { display: flex; align-items: center; gap: 6px; cursor: pointer; color: #e8eaed; }
+
+/* ========== 运行页面 ========== */
+.running-header { display: flex; align-items: center; gap: 20px; margin-bottom: 16px; }
+.running-status {
+  font-size: 18px;
+  font-weight: bold;
+  display: flex;
+  align-items: center;
+  gap: 8px;
+}
+.running-status.idle { color: #9aa0a6; }
+.running-status.running { color: #4caf50; }
+.running-status.paused { color: #ff9800; }
+.pulse {
+  width: 10px;
+  height: 10px;
+  border-radius: 50%;
+  background: currentColor;
+  animation: pulse 1.5s infinite;
+}
+@keyframes pulse {
+  0%, 100% { opacity: 1; transform: scale(1); }
+  50% { opacity: 0.5; transform: scale(0.8); }
+}
+.running-progress { flex: 1; display: flex; align-items: center; gap: 12px; }
+.progress-bar { flex: 1; height: 8px; background: #2a3441; border-radius: 4px; overflow: hidden; }
+.progress-fill { height: 100%; background: #4fc3f7; border-radius: 4px; transition: width 0.3s; }
+
+/* ========== 报告 ========== */
+.report-summary { display: flex; gap: 16px; margin-bottom: 16px; }
+.stat { padding: 8px 16px; border-radius: 8px; background: #0f1923; border: 1px solid #2a3441; }
+.stat.ok { border-color: #2e7d32; color: #4caf50; }
+.stat.error { border-color: #c62828; color: #ef5350; }
+.report-item { padding: 8px 12px; background: #0f1923; border-radius: 6px; margin-bottom: 8px; border: 1px solid #2a3441; }
+.report-point { display: flex; align-items: center; gap: 8px; font-weight: bold; }
+.report-status { font-size: 16px; }
+.report-pose { font-size: 12px; color: #9aa0a6; padding-left: 24px; margin-top: 4px; }
+
+/* ========== 响应式 ========== */
+@media (max-width: 768px) {
+  .container { grid-template-columns: 1fr; }
+  .grid-3 { grid-template-columns: 1fr; }
+  .form-row { grid-template-columns: 1fr; }
+  .joint-grid { grid-template-columns: repeat(2, 1fr); }
+  .form-row { grid-template-columns: 1fr; }
+}
+
+/* AGV 移动控制面板 */
+.agv-status-bar {
+  display: flex;
+  gap: 16px;
+  align-items: center;
+  padding: 10px 14px;
+  background: #0f1923;
+  border-radius: 8px;
+  margin-bottom: 16px;
+  font-size: 13px;
+  color: #9aa0a6;
+  flex-wrap: wrap;
+}
+.agv-status-bar strong { color: #e8eaed; }
+
+.agv-control-panel {
+  display: flex;
+  flex-direction: column;
+  align-items: center;
+  gap: 6px;
+  max-width: 280px;
+  margin: 0 auto;
+}
+.agv-dir-row {
+  display: grid;
+  grid-template-columns: 80px 80px 80px;
+  gap: 6px;
+  width: 100%;
+}
+.agv-dir-placeholder { width: 80px; height: 44px; }
+.agv-btn {
+  height: 44px;
+  border-radius: 8px;
+  border: 1px solid #2a3441;
+  background: #263238;
+  color: #e8eaed;
+  cursor: pointer;
+  font-size: 13px;
+  font-family: inherit;
+  transition: background 0.15s;
+  display: flex;
+  align-items: center;
+  justify-content: center;
+  gap: 4px;
+  user-select: none;
+}
+.agv-btn:active, .agv-btn:focus { outline: none; }
+.agv-btn-up { background: #1b3a2f; border-color: #2e7d32; color: #4caf50; }
+.agv-btn-down { background: #3a1b1b; border-color: #7d2e2e; color: #f44336; }
+.agv-btn-left { background: #1b2d3a; border-color: #1565c0; color: #42a5f5; }
+.agv-btn-right { background: #2d2a1b; border-color: #7d6e2e; color: #ffc107; }
+.agv-btn-stop { background: #37474f; border-color: #546e7a; }
+.agv-btn-up:active { background: #1e4d38; }
+.agv-btn-down:active { background: #4d2020; }
+.agv-btn-left:active { background: #1e3a4d; }
+.agv-btn-right:active { background: #3d3820; }
+.agv-btn-stop:active { background: #455a64; }
+.agv-btn-lateral {
+  background: #2d1b4a;
+  border-color: #7c4dff;
+  color: #b388ff;
+  font-size: 13px;
+  min-width: 120px;
+}
+.agv-btn-lateral:active { background: #3d2560; }
+.agv-lateral-row {
+  display: flex;
+  gap: 12px;
+  justify-content: center;
+  margin-top: 8px;
+  max-width: 280px;
+  width: 100%;
+}
+
+.speed-control {
+  display: flex;
+  align-items: center;
+  gap: 10px;
+}
+.speed-value {
+  min-width: 44px;
+  text-align: right;
+  font-weight: bold;
+  color: #4fc3f7;
+}
+
+/* 双摄像头预览布局 */
+.camera-row {
+  display: grid;
+  grid-template-columns: 1fr 1fr;
+  gap: 16px;
+  margin-top: 12px;
+}
+.camera-box {
+  background: #111;
+  border-radius: 8px;
+  overflow: hidden;
+}
+.camera-label {
+  padding: 8px 12px;
+  font-size: 13px;
+  color: #aaa;
+  background: #1a1a1a;
+  border-bottom: 1px solid #333;
+}
+.camera-img {
+  width: 100%;
+  display: block;
+  aspect-ratio: 4/3;
+  object-fit: cover;
+}
+.camera-placeholder {
+  width: 100%;
+  aspect-ratio: 4/3;
+  display: flex;
+  align-items: center;
+  justify-content: center;
+  color: #666;
+  font-size: 14px;
+}
+/* ========== 地图标记 ========== */
+.map-marker {
+  position: absolute;
+  transform: translate(-50%, -100%);
+  font-size: 20px;
+  cursor: pointer;
+  filter: drop-shadow(0 2px 4px rgba(0,0,0,0.5));
+  z-index: 10;
+}
+.map-marker:hover {
+  transform: translate(-50%, -100%) scale(1.2);
+}
+
+/* ========== 任务配置 M×N 网格 ========== */
+.mission-grid-wrap {
+  margin-top: 12px;
+  overflow-x: auto;
+}
+.mission-grid {
+  display: grid;
+  gap: 4px;
+  grid-template-columns: 80px repeat(var(--cols,4), 90px);
+}
+.grid-cell {
+  min-width: 80px;
+  min-height: 48px;
+  display: flex;
+  align-items: center;
+  justify-content: center;
+  border-radius: 6px;
+  font-size: 12px;
+  cursor: pointer;
+  border: 1px solid #2a3441;
+  background: #0f1923;
+  transition: background 0.15s, border-color 0.15s;
+}
+.grid-cell.active {
+  background: #1b3a2f;
+  border-color: #2e7d32;
+  color: #4caf50;
+}
+.grid-cell.active:hover {
+  background: #234;
+}
+.grid-cell.selected {
+  border-color: #4fc3f7 !important;
+  box-shadow: 0 0 0 2px #4fc3f7;
+}
+.grid-header {
+  background: transparent;
+  border-color: transparent;
+  cursor: default;
+  font-weight: bold;
+  color: #9aa0a6;
+  font-size: 12px;
+}
+
+/* 机器配置表单 */
+.machine-form {
+  background: #0f1923;
+  border: 1px solid #2a3441;
+  border-radius: 8px;
+  padding: 16px;
+  margin-top: 12px;
+}
+.machine-form h3 {
+  font-size: 14px;
+  color: #4fc3f7;
+  margin-bottom: 10px;
+}
+.machine-form h4 {
+  font-size: 13px;
+  color: #9aa0a6;
+  margin: 8px 0 6px;
+}
+
+/* 姿态列表 */
+.pose-list {
+  margin-top: 8px;
+}
+.pose-item {
+  display: flex;
+  align-items: center;
+  gap: 8px;
+  padding: 6px 0;
+  border-bottom: 1px solid #2a3441;
+  font-size: 13px;
+}
+.pose-name {
+  font-weight: bold;
+  min-width: 80px;
+}
+.pose-angles {
+  color: #9aa0a6;
+  font-size: 11px;
+  font-family: monospace;
+  flex: 1;
+}
+.pose-add {
+  display: flex;
+  gap: 8px;
+  align-items: center;
+  margin-top: 8px;
+}
+.pose-add input {
+  flex: 1;
+  padding: 6px 10px;
+  background: #1a2332;
+  border: 1px solid #2a3441;
+  border-radius: 4px;
+  color: #e8eaed;
+  font-size: 13px;
+}
+
+/* 蛇形序列预览 */
+.sequence-preview {
+  display: flex;
+  flex-direction: column;
+  gap: 4px;
+  max-height: 320px;
+  overflow-y: auto;
+}
+.sequence-step {
+  display: flex;
+  align-items: center;
+  gap: 10px;
+  padding: 6px 12px;
+  background: #0f1923;
+  border-radius: 6px;
+  border: 1px solid #2a3441;
+  font-size: 13px;
+}
+.step-index {
+  background: #263238;
+  color: #4fc3f7;
+  border-radius: 10px;
+  min-width: 28px;
+  height: 22px;
+  display: flex;
+  align-items: center;
+  justify-content: center;
+  font-size: 11px;
+  font-weight: bold;
+}
+.step-info {
+  flex: 1;
+}
+.step-side {
+  padding: 2px 8px;
+  border-radius: 8px;
+  font-size: 11px;
+  font-weight: bold;
+}
+.step-side:contains('正面') {
+  background: #1b3a2f;
+  color: #4caf50;
+}
+.step-side:contains('背面') {
+  background: #3a1b2f;
+  color: #ce93d8;
+}
+
+/* 网格单元格点位配置 */
+.cell-machine {
+  font-size: 11px;
+  font-weight: bold;
+  color: #2c3e50;
+}
+.cell-points {
+  margin-top: 2px;
+  font-size: 9px;
+}
+.point-row {
+  display: flex;
+  align-items: center;
+  gap: 2px;
+  padding: 1px 2px;
+  background: #f8f9fa;
+  border-radius: 3px;
+  cursor: pointer;
+  margin: 1px 0;
+}
+.point-row:hover {
+  background: #e9ecef;
+}
+.point-label {
+  color: #666;
+  min-width: 24px;
+}
+.point-coords {
+  color: #0366d6;
+  font-family: monospace;
+  font-size: 8px;
+  flex: 1;
+}
+.btn-icon-small {
+  background: none;
+  border: none;
+  cursor: pointer;
+  font-size: 10px;
+  padding: 1px 3px;
+  border-radius: 3px;
+}
+.btn-icon-small:hover {
+  background: #ddd;
+}
+
+/* ========== 任务配置 弹窗 + 网格增强样式 ========== */
+
+/* 弹窗遮罩 */
+.modal-overlay {
+  position: fixed;
+  inset: 0;
+  background: rgba(0,0,0,0.65);
+  display: flex;
+  align-items: center;
+  justify-content: center;
+  z-index: 1000;
+}
+.modal-box {
+  background: #1a1f2e;
+  border: 1px solid #2a3a50;
+  border-radius: 12px;
+  padding: 20px 24px;
+  min-width: 380px;
+  max-width: 500px;
+  box-shadow: 0 8px 32px rgba(0,0,0,0.5);
+}
+.modal-box h3 { margin: 0 0 8px; color: #e0e6f0; font-size: 16px; }
+
+/* 点位行单元格 */
+.point-cell { cursor: pointer; flex-direction: column; gap: 2px; }
+.point-cell:hover { border-color: #4fc3f7; background: #162030; }
+.point-cell.point-filled { background: #0d2535; border-color: #1565c0; }
+.point-coords { font-size: 10px; color: #64b5f6; font-family: monospace; }
+.point-empty { font-size: 10px; color: #455a64; }
+
+/* 机器行单元格 */
+.machine-cell { cursor: pointer; }
+.machine-cell:hover { border-color: #4caf50; background: #1b3a2f; }
+.machine-cell.active { background: #1b3a2f; border-color: #2e7d32; color: #4caf50; }
+.machine-icon { font-size: 18px; }
+.machine-empty { font-size: 16px; color: #455a64; }
+/* ========== 任务配置 弹窗 + 网格增强样式 ========== */
+
+/* 弹窗遮罩 */
+.modal-overlay {
+  position: fixed;
+  inset: 0;
+  background: rgba(0,0,0,0.65);
+  display: flex;
+  align-items: center;
+  justify-content: center;
+  z-index: 1000;
+}
+.modal-box {
+  background: #1a1f2e;
+  border: 1px solid #2a3a50;
+  border-radius: 12px;
+  padding: 20px 24px;
+  min-width: 380px;
+  max-width: 500px;
+  box-shadow: 0 8px 32px rgba(0,0,0,0.5);
+}
+.modal-box h3 { margin: 0 0 8px; color: #e0e6f0; font-size: 16px; }
+
+/* 点位行单元格 */
+.point-cell { cursor: pointer; flex-direction: column; gap: 2px; }
+.point-cell:hover { border-color: #4fc3f7; background: #162030; }
+.point-cell.point-filled { background: #0d2535; border-color: #1565c0; }
+.point-coords { font-size: 10px; color: #64b5f6; font-family: monospace; }
+.point-empty { font-size: 10px; color: #455a64; }
+
+/* 机器行单元格 */
+.machine-cell { cursor: pointer; }
+.machine-cell:hover { border-color: #4caf50; background: #1b3a2f; }
+.machine-cell.active { background: #1b3a2f; border-color: #2e7d32; color: #4caf50; }
+.machine-icon { font-size: 18px; }
+.machine-empty { font-size: 16px; color: #455a64; }
+/* 点位编辑弹窗 */
+.modal-overlay .modal-box { min-width: 420px; }
+.modal-overlay .form-row { gap: 8px; }
+.modal-overlay .btn-row { gap: 8px; flex-wrap: wrap; }
+
+/* 地图坐标点覆盖层 */
+.map-container { position: relative; }
+.map-overlay {
+  position: absolute; top: 0; left: 0; right: 0; bottom: 0;
+  pointer-events: none; z-index: 10;
+}
+.map-dot {
+  position: absolute;
+  transform: translate(-50%, -50%);
+}
+.point-dot {
+  width: 10px; height: 10px;
+  background: #f39c12;
+  border-radius: 50%;
+  border: 2px solid #fff;
+  box-shadow: 0 0 6px rgba(243,156,18,0.9);
+}
diff --git a/agv_app/static/js/app.js b/agv_app/static/js/app.js
new file mode 100644
index 0000000..8cc7260
--- /dev/null
+++ b/agv_app/static/js/app.js
@@ -0,0 +1,121 @@
+const { createApp } = Vue
+
+const API = ''
+
+createApp({
+  delimiters: ['[[', ']]'],
+  
+  data() {
+    return {
+      connecting: false,
+      agvConnected: false,
+      armConnected: false,
+      cameraOpened: false,
+      armCameraOpened: false,
+      mapLoaded: false,
+      mapConfig: {},
+      pointsCount: 0,
+      currentState: 'idle',
+      // 摄像头轮询
+      agvCameraSrc: '/api/camera/refresh?t=' + Date.now(),
+      armCameraSrc: '/api/camera/arm_refresh?t=' + Date.now(),
+      agvCameraError: false,
+      armCameraError: false,
+      reconnectingDevice: null
+    }
+  },
+  computed: {
+    allReady() {
+      return this.agvConnected && this.armConnected && this.cameraOpened && this.mapLoaded
+    },
+    statusClass() {
+      return this.currentState
+    },
+    statusText() {
+      const map = { idle: '空闲', setting: '设置模式', running: '运行中', paused: '已暂停' }
+      return map[this.currentState] || '未知'
+    }
+  },
+  mounted() {
+    this.refresh()
+    setInterval(this.refreshStatus, 3000)
+    this.refreshCams()
+    setInterval(() => this.refreshCams(), 2000)
+  },
+  methods: {
+    refreshCams() {
+      this.agvCameraSrc = '/api/camera/refresh?t=' + Date.now()
+      this.armCameraSrc = '/api/camera/arm_refresh?t=' + Date.now()
+    },
+    async refresh() {
+      await this.refreshStatus()
+      await this.loadPoints()
+    },
+    async refreshStatus() {
+      try {
+        const res = await fetch(API + '/api/status')
+        const data = await res.json()
+        this.agvConnected = data.agv_connected
+        this.armConnected = data.arm_connected
+        this.cameraOpened = data.camera_opened
+        this.armCameraOpened = data.arm_camera_opened
+        this.mapLoaded = data.map_loaded
+        this.currentState = data.state || 'idle'
+        if (data.map_loaded && data.map) {
+          this.mapConfig = data.map
+        }
+      } catch (e) {
+        console.error(e)
+      }
+    },
+    async loadPoints() {
+      try {
+        const res = await fetch(API + '/api/points/list')
+        const data = await res.json()
+        this.pointsCount = data.points ? data.points.length : 0
+      } catch (e) {}
+    },
+    async connectAll() {
+      this.connecting = true
+      try {
+        const res = await fetch(API + '/api/system/connect', { method: 'POST' })
+        const data = await res.json()
+        if (data.errors && data.errors.length) {
+          alert('部分连接失败:\n' + data.errors.join('\n'))
+        }
+        await this.refreshStatus()
+      } finally {
+        this.connecting = false
+      }
+    },
+    async disconnectAll() {
+      await fetch(API + '/api/system/disconnect', { method: 'POST' })
+      await this.refreshStatus()
+    },
+    async connectDevice(device) {
+      if (this.connecting) return
+      this.reconnectingDevice = device
+      try {
+        const res = await fetch(API + '/api/device/connect', {
+          method: 'POST',
+          headers: {'Content-Type': 'application/json'},
+          body: JSON.stringify({device})
+        })
+        const data = await res.json()
+        if (!data.ok && data.error) {
+          alert(data.device + ' 重连失败: ' + data.error)
+        }
+        await this.refreshStatus()
+      } finally {
+        this.reconnectingDevice = null
+      }
+    },
+    async goRunning() {
+      if (!this.allReady) {
+        alert('请先连接所有设备并加载地图')
+      } else {
+        window.location.href = '/running'
+      }
+    }
+  }
+}).mount('#app')
diff --git a/agv_app/static/js/running.js b/agv_app/static/js/running.js
new file mode 100644
index 0000000..bcb3e9a
--- /dev/null
+++ b/agv_app/static/js/running.js
@@ -0,0 +1,80 @@
+const { createApp } = Vue
+const API = ''
+
+createApp({
+  delimiters: ['[[', ']]'],
+  
+  data() {
+    return {
+      missionState: 'idle',
+      currentPoint: 0,
+      totalPoints: 0,
+      report: null,
+      previewUrl: API + '/api/camera/preview',
+      polling: null
+    }
+  },
+  computed: {
+    missionStateText() {
+      const map = { idle: '空闲', running: '任务运行中', paused: '已暂停', completed: '已完成' }
+      return map[this.missionState] || '未知'
+    },
+    progressPercent() {
+      if (!this.totalPoints) return 0
+      return Math.round((this.currentPoint / this.totalPoints) * 100)
+    }
+  },
+  mounted() {
+    this.poll()
+  },
+  beforeUnmount() {
+    if (this.polling) clearInterval(this.polling)
+  },
+  methods: {
+    poll() {
+      this.refresh()
+      this.polling = setInterval(this.refresh, 2000)
+    },
+    async refresh() {
+      try {
+        const res = await fetch(API + '/api/mission/state')
+        const data = await res.json()
+        this.missionState = data.state || 'idle'
+
+        if (this.missionState === 'running') {
+          const reportRes = await fetch(API + '/api/mission/report')
+          const reportData = await reportRes.json()
+          if (reportData.report) {
+            this.totalPoints = reportData.report.total_points || 0
+            this.currentPoint = reportData.report.details?.length || 0
+            this.report = reportData.report
+          }
+        } else if (this.missionState === 'idle') {
+          const reportRes = await fetch(API + '/api/mission/report')
+          const reportData = await reportRes.json()
+          if (reportData.report) {
+            this.report = reportData.report
+            this.totalPoints = reportData.report.total_points || 0
+            this.currentPoint = reportData.report.details?.length || 0
+          }
+        }
+      } catch (e) {}
+    },
+    async startMission() {
+      if (this.missionState !== 'idle') return
+      await fetch(API + '/api/mission/start', { method: 'POST' })
+      this.missionState = 'running'
+    },
+    async pauseMission() {
+      await fetch(API + '/api/mission/pause', { method: 'POST' })
+      this.missionState = 'paused'
+    },
+    async stopMission() {
+      await fetch(API + '/api/mission/stop', { method: 'POST' })
+      this.missionState = 'idle'
+    },
+    onPreviewError(e) {
+      e.target.style.display = 'none'
+    }
+  }
+}).mount('#app')
diff --git a/agv_app/static/js/setting.js b/agv_app/static/js/setting.js
new file mode 100644
index 0000000..d401e53
--- /dev/null
+++ b/agv_app/static/js/setting.js
@@ -0,0 +1,887 @@
+const { createApp } = Vue
+const API = ''
+
+const app = createApp({
+  data() {
+    return {
+      tab: 'map',
+      // 任务配置
+      missionConfig: { rows: 3, cols: 3, grid: [], machines: [], positions: [] },
+      // 点位编辑弹窗
+      editingPoint: null,   // 当前编辑的点位 {pointRow, col} — pointRow是点位行号(0~rows)
+      pointEditor: { x: 0, y: 0, yaw: 0 },
+      selectedMachine: null,
+      sequence: [],
+      poseForm: { name: '', photo_type: 'front', description: '' },
+      // 地图
+      mapForm: { map_dir: '/home/elephant/agv_pro_ros2/src/agv_pro_navigation2/map/', map_file: 'map.yaml' },
+      mapMsg: '',
+      mapLoaded: false,
+      mapImageUrl: '',
+      mapMeta: null,
+      mapVersion: 0,  // 地图点位版本号，用于强制重新渲染
+      // 点位
+      points: [],
+      newPointName: '',
+      newPointMode: 'front',
+      newPointSequence: ['front', 'back'],
+      // 机型（姿态组）
+      models: [],
+      selectedModelId: null,
+      newModelName: '',
+      newModelDesc: '',
+      newModelNotes: '',
+      newPoseForm: {},  // 机型配置：新建姿态的表单
+      // 机械臂
+      armConnected: false,
+      currentAngles: [],
+      angleInputs: [],
+      previewUrl: API + '/api/camera/preview',
+      jogIntervals: {},
+      // AGV
+      cameraOpened: false,
+      agvConnected: false,
+      agvBattery: null,
+      agvPosition: null,
+      agvSpeed: 0.5,
+      agvMoveInterval: null,
+      agvCameraUrl: API + '/api/camera/refresh',
+      agvCameraTimer: null,
+    }
+  },
+  mounted() {
+    this.refresh()
+    this.refreshAngles()
+  },
+  watch: {
+    // 监听点位数据变化，自动刷新地图
+    'missionConfig.positions'() {
+      this.mapVersion++
+    },
+    tab(val) {
+      if (val === 'agv') {
+        this.agvCameraTimer = setInterval(() => {
+          this.agvCameraUrl = API + '/api/camera/refresh?t=' + Date.now()
+        }, 1000)
+      } else {
+        if (this.agvCameraTimer) {
+          clearInterval(this.agvCameraTimer)
+          this.agvCameraTimer = null
+        }
+      }
+    }
+  },
+  beforeUnmount() {
+    Object.values(this.jogIntervals).forEach(i => clearInterval(i))
+    if (this.agvCameraTimer) clearInterval(this.agvCameraTimer)
+  },
+  methods: {
+    async refresh() {
+      try {
+        const res = await fetch(API + '/api/status')
+        const data = await res.json()
+        this.agvConnected = data.agv_connected
+        this.armConnected = data.arm_connected
+        this.cameraOpened = data.camera_opened
+        this.mapLoaded = data.map_loaded
+        if (data.map_loaded) {
+          this.mapImageUrl = API + '/api/map/image?t=' + Date.now()
+          try {
+            const metaRes = await fetch(API + '/api/map/meta')
+            const meta = await metaRes.json()
+            if (meta.ok) this.mapMeta = meta
+          } catch (e) {}
+        }
+      } catch (e) {}
+      await this.loadAllPoints()
+      await this.loadAllModels()
+      await this.loadAllMachines()
+      await this.loadMissionConfig()
+    },
+    // === 地图 ===
+    async loadMap() {
+      const res = await fetch(API + '/api/map/load', {
+        method: 'POST',
+        headers: { 'Content-Type': 'application/json' },
+        body: JSON.stringify(this.mapForm)
+      })
+      const data = await res.json()
+      this.mapMsg = data.ok ? '✅ 地图加载成功' : '❌ ' + (data.error || '加载失败')
+      this.mapLoaded = data.ok
+      if (data.ok) {
+        this.mapImageUrl = API + '/api/map/image?t=' + Date.now()
+        try {
+          const metaRes = await fetch(API + '/api/map/meta')
+          const meta = await metaRes.json()
+          if (meta.ok) this.mapMeta = meta
+        } catch (e) {}
+      }
+    },
+    onMapError() {
+      this.mapMsg = '❌ 地图图像加载失败'
+    },
+    getMapX(coords) {
+      if (!coords || !this.mapMeta) {
+        console.log('[getMapX] mapMeta not loaded, returning default 50');
+        return 50
+      }
+      const [x, y, yaw] = coords
+      const { resolution, origin, width } = this.mapMeta
+      const px = (x - origin[0]) / (resolution * width) * 100
+      const result = Math.max(0, Math.min(100, px));
+      console.log('[getMapX]', coords, '→ px%:', result);
+      return result
+    },
+    getMapY(coords) {
+      if (!coords || !this.mapMeta) {
+        console.log('[getMapY] mapMeta not loaded, returning default 50');
+        return 50
+      }
+      const [x, y, yaw] = coords
+      const { resolution, origin, height } = this.mapMeta
+      const py = (y - origin[1]) / (resolution * height) * 100
+      const result = Math.max(0, Math.min(100, 100 - py));
+      console.log('[getMapY]', coords, '→ py%:', result);
+      return result
+    },
+    async saveMap() {
+      await fetch(API + '/api/map/save', {
+        method: 'POST',
+        headers: { 'Content-Type': 'application/json' },
+        body: JSON.stringify(this.mapForm)
+      })
+      this.mapMsg = '✅ 地图配置已保存'
+    },
+    // === 点位 ===
+    async loadAllPoints() {
+      const res = await fetch(API + '/api/points/list')
+      const data = await res.json()
+      this.points = data.points || []
+    },
+    async addPoint() {
+      const res = await fetch(API + '/api/points/add', {
+        method: 'POST',
+        headers: { 'Content-Type': 'application/json' },
+        body: JSON.stringify({
+          name: this.newPointName || 'point_' + (this.points.length + 1),
+          photo_mode: this.newPointMode,
+          sequence: this.newPointSequence
+        })
+      })
+      const data = await res.json()
+      if (data.ok) {
+        await this.loadAllPoints()
+        this.newPointName = ''
+      }
+    },
+    async deletePoint(id) {
+      if (!confirm('确定删除该点位?')) return
+      await fetch(API + '/api/points/delete/' + id, { method: 'DELETE' })
+      await this.loadAllPoints()
+    },
+    async saveAllPoints() {
+      await fetch(API + '/api/points/save', {
+        method: 'POST',
+        headers: { 'Content-Type': 'application/json' },
+        body: JSON.stringify({ points: this.points })
+      })
+      alert('点位已保存')
+    },
+    getPoint(id) {
+      return this.points.find(p => p.id === id)
+    },
+    formatAngles(angles) {
+      if (!angles) return '—'
+      return angles.map(a => (a || 0).toFixed(1) + '°').join(' / ')
+    },
+    // === 机型管理 ===
+    async loadAllModels() {
+      const res = await fetch(API + '/api/models/list')
+      const data = await res.json()
+      this.models = data.models || []
+      this.models.forEach(m => {
+        if (!this.poseForm[m.id]) {
+          this.poseForm[m.id] = { name: '', photo_type: 'front', description: '' }
+        }
+      })
+    },
+    async addModel() {
+      const res = await fetch(API + '/api/models/add', {
+        method: 'POST',
+        headers: { 'Content-Type': 'application/json' },
+        body: JSON.stringify({
+          name: this.newModelName || '型号_' + (this.models.length + 1),
+          description: this.newModelDesc || '',
+          notes: this.newModelNotes || '',
+          serial_prefix: this.newModelSerial || ''
+        })
+      })
+      const data = await res.json()
+      if (data.ok) {
+        await this.loadAllModels()
+        this.newModelName = ''
+        this.newModelDesc = ''
+        this.newModelNotes = ''
+        this.newModelSerial = ''
+      }
+    },
+    async deleteModel(modelId) {
+      if (!confirm('确定删除该机型？其下所有姿态将被删除！')) return
+      await fetch(API + '/api/models/delete/' + modelId, { method: 'DELETE' })
+      await this.loadAllModels()
+    },
+    // === 姿态管理（属于机型）===
+    async addPose(modelId, photoType, customName) {
+      const form = this.poseForm[modelId]
+      const type = photoType || form?.photo_type || 'front'
+      const name = customName || form?.name || type + '_' + ((this.getModel(modelId)?.poses?.filter(p => p.photo_type === type).length || 0) + 1)
+      await fetch(API + '/api/models/poses/add', {
+        method: 'POST',
+        headers: { 'Content-Type': 'application/json' },
+        body: JSON.stringify({
+          model_id: modelId,
+          name: name,
+          photo_type: type,
+          arm_angles: this.currentAngles && this.currentAngles.length === 6 ? this.currentAngles : [0, 0, 0, 0, 0, 0],
+          speed: 500,
+          description: form?.description || ''
+        })
+      })
+      await this.loadAllModels()
+      if (form) {
+        form.name = ''
+        form.description = ''
+      }
+    },
+    async deletePose(modelId, poseId) {
+      if (!confirm('确定删除该姿态？')) return
+      await fetch(API + '/api/models/' + modelId + '/poses/' + poseId, { method: 'DELETE' })
+      await this.loadAllModels()
+    },
+    async updatePoseAngle(modelId, poseId, jointIndex, event) {
+      const value = parseFloat(event.target.value)
+      if (isNaN(value)) return
+      // Find the pose and update its angle
+      const model = this.getModel(modelId)
+      if (!model) return
+      const pose = model.poses.find(p => p.id === poseId)
+      if (!pose) return
+      if (!pose.arm_angles) pose.arm_angles = [0, 0, 0, 0, 0, 0]
+      pose.arm_angles[jointIndex] = value
+      // Save to backend
+      await fetch(API + '/api/models/' + modelId + '/poses/' + poseId, {
+        method: 'PUT',
+        headers: { 'Content-Type': 'application/json' },
+        body: JSON.stringify({ arm_angles: pose.arm_angles })
+      })
+    },
+    getModel(id) {
+      return this.models.find(m => m.id === id)
+    },
+    // === 任务配置 ===
+    async loadMissionConfig() {
+      try {
+        const res = await fetch(API + '/api/mission/config')
+        const data = await res.json()
+        if (data.ok && data.config) {
+          this.missionConfig.rows = data.config.rows || 3
+          this.missionConfig.cols = data.config.cols || 3
+          this.missionConfig.grid = data.config.grid || []
+          this.missionConfig.machines = data.machines || []
+          this.missionConfig.positions = data.config.positions || []
+          this.mapVersion++
+        }
+      } catch (e) { console.error('加载任务配置失败', e) }
+    },
+    async generateGrid() {
+      try {
+        const res = await fetch(API + '/api/mission/config', {
+          method: 'POST',
+          headers: { 'Content-Type': 'application/json' },
+          body: JSON.stringify({
+            rows: this.missionConfig.rows,
+            cols: this.missionConfig.cols,
+            grid: []
+          })
+        })
+        const data = await res.json()
+        if (data.ok) {
+          this.missionConfig.grid = data.config.grid || []
+          alert('✅ 网格已生成 (' + this.missionConfig.rows + '×' + this.missionConfig.cols + ')')
+        } else {
+          alert('❌ 网格生成失败')
+        }
+      } catch (e) { alert('请求失败: ' + e.message) }
+    },
+    async saveMissionConfig() {
+      try {
+        const res = await fetch(API + '/api/mission/config', {
+          method: 'POST',
+          headers: { 'Content-Type': 'application/json' },
+          body: JSON.stringify({
+            rows: this.missionConfig.rows,
+            cols: this.missionConfig.cols,
+            grid: this.missionConfig.grid
+          })
+        })
+        const data = await res.json()
+        if (data.ok) {
+          alert('✅ 网格配置已保存')
+        }
+      } catch (e) { alert('保存失败: ' + e.message) }
+    },
+    async loadAllMachines() {
+      try {
+        const res = await fetch(API + '/api/mission/machines')
+        const data = await res.json()
+        this.missionConfig.machines = data.machines || []
+      } catch (e) { console.error('加载机器列表失败', e) }
+    },
+
+    // ========== 点位行模型（独立于机器） ==========
+
+    /**
+     * 获取指定点位行的数据
+     * @param {number} pointRow - 点位行号，范围 0 ~ missionConfig.rows
+     *   - pointRow=0 → 第1台机器的正面拍摄点
+     *   - pointRow=rows → 最后1台机器的背面拍摄点
+     *   - 中间 pointRow=i → 上面机器(i)的背面 + 下面机器(i+1)的正面
+     * @param {number} col - 列号（0-based）
+     * @returns {object|null} 点位对象 { coords: [x,y,z], ... } 或 null
+     */
+    getPointAt(pointRow, col) {
+      var positions = this.missionConfig.positions || []
+      // 在独立 positions 数组中查找 (pointRow, col)
+      for (var i = 0; i < positions.length; i++) {
+        var p = positions[i]
+        if (parseInt(p.row) === pointRow && parseInt(p.col) === col) {
+          // 优先找 shoot，其次找 front/back
+          if (p.side === 'shoot') return p
+          // 再看有没有同一(row,col)的shoot
+        }
+      }
+      // 再找同(row,col)的shoot类型
+      for (var i = 0; i < positions.length; i++) {
+        var p = positions[i]
+        if (parseInt(p.row) === pointRow && parseInt(p.col) === col && p.side === 'shoot') {
+          return p
+        }
+      }
+      // 兼容旧数据：尝试从机器对象的 front/back 获取
+      var machineAbove = this.getMachineAt(pointRow - 1, col)  // 上面的机器
+      var machineBelow = this.getMachineAt(pointRow, col)       // 下面的机器
+      if (pointRow === 0 && machineBelow) {
+        // 第一个点位行 → 下面机器的正面
+        return machineBelow.front || { coords: [0, 0, 0], poses: [] }
+      }
+      if (pointRow === this.missionConfig.rows && machineAbove) {
+        // 最后一个点位行 → 上面机器的背面
+        return machineAbove.back || { coords: [0, 0, 0], poses: [] }
+      }
+      // 中间点位行：优先返回上面机器的背面
+      if (machineAbove && machineAbove.back) {
+        return machineAbove.back
+      }
+      if (machineBelow && machineBelow.front) {
+        return machineBelow.front
+      }
+      return null
+    },
+
+    /**
+     * 获取点位的归属描述（用于弹窗标题）
+     * @param {number} pointRow - 点位行号
+     * @param {number} col - 列号
+     * @returns {string} 如 "第2列 · 机器2背面/机器3正面"
+     */
+    getPointOwnerLabel(pointRow, col) {
+      var rows = this.missionConfig.rows
+      var labels = []
+      if (pointRow === 0) {
+        // 第一行点位：下面机器的正面
+        var m = this.getMachineAt(0, col)
+        if (m) labels.push('机器' + (m.row + 1) + '正面')
+      } else if (pointRow === rows) {
+        // 最后行点位：上面机器的背面
+        var m2 = this.getMachineAt(rows - 1, col)
+        if (m2) labels.push('机器' + (m2.row + 1) + '背面')
+      } else {
+        // 中间点位行：上面机器的背面 + 下面机器的正面
+        var mAbove = this.getMachineAt(pointRow - 1, col)
+        var mBelow = this.getMachineAt(pointRow, col)
+        if (mAbove) labels.push('机器' + (mAbove.row + 1) + '背面')
+        if (mBelow) labels.push('机器' + (mBelow.row + 1) + '正面')
+      }
+      if (labels.length === 0) return '第' + (col + 1) + '列 · 无归属'
+      return '第' + (col + 1) + '列 · ' + labels.join('/')
+    },
+
+    /**
+     * 检查点位是否可以清空
+     * 只有当上下两台机器都不需要这个点位时才能清空
+     */
+    canClearPoint(pointRow, col) {
+      var rows = this.missionConfig.rows
+      // 如果上面有机器且机器存在 → 不能清空（上面机器需要此点位拍背面）
+      if (pointRow > 0 && pointRow <= rows) {
+        var mAbove = this.getMachineAt(pointRow - 1, col)
+        if (mAbove) return false
+      }
+      // 如果下面有机器且机器存在 → 不能清空（下面机器需要此点位拍正面）
+      if (pointRow >= 0 && pointRow < rows) {
+        var mBelow = this.getMachineAt(pointRow, col)
+        if (mBelow) return false
+      }
+      return true
+    },
+
+    getMachineAt(ri, ci) {
+      if (!this.missionConfig.machines) return null
+      return this.missionConfig.machines.find(function(m) { return m.row === ri && m.col === ci }) || null
+    },
+
+    // 打开点位编辑弹窗（基于点位行号）
+    openPointEdit(pointRow, col) {
+      var existing = this.getPointAt(pointRow, col)
+      if (existing && existing.coords) {
+        this.pointEditor.x = existing.coords[0] !== undefined ? existing.coords[0] : 0
+        this.pointEditor.y = existing.coords[1] !== undefined ? existing.coords[1] : 0
+        this.pointEditor.yaw = existing.coords[2] !== undefined ? existing.coords[2] : 0
+      } else {
+        this.pointEditor.x = 0
+        this.pointEditor.y = 0
+        this.pointEditor.yaw = 0
+      }
+      this.editingPoint = { pointRow: pointRow, col: col }
+    },
+
+    // 关闭点位编辑弹窗
+    closePointEdit() {
+      this.editingPoint = null
+    },
+
+    // 从AGV读取当前坐标到点位编辑器
+    async loadPointFromAgv() {
+      if (!this.agvConnected) { alert('请先连接AGV'); return }
+      try {
+        const res = await fetch(API + '/api/agv/position')
+        const pos = await res.json()
+        if (pos.ok && pos.position && Array.isArray(pos.position)) {
+          this.pointEditor.x = pos.position[0] ?? 0
+          this.pointEditor.y = pos.position[1] ?? 0
+          this.pointEditor.yaw = pos.position[2] ?? 0
+          alert('✅ 已读取AGV位置: (' + this.pointEditor.x.toFixed(2) + ', ' + this.pointEditor.y.toFixed(2) + ', ' + this.pointEditor.yaw.toFixed(2) + ')')
+        } else if (pos.ok && (!pos.position || !Array.isArray(pos.position))) {
+          alert('⚠️ AGV 未发布位置数据，请检查 AGV 传感器是否正常')
+        } else {
+          alert('读取AGV位置失败: ' + (pos.error || '未知错误'))
+        }
+      } catch (e) { alert('读取AGV位置失败: ' + e.message) }
+    },
+
+    // 保存点位配置到独立 positions 数组
+    async savePoint() {
+      if (!this.editingPoint) return
+      var pointRow = this.editingPoint.pointRow
+      var col = this.editingPoint.col
+      var coords = [this.pointEditor.x, this.pointEditor.y, this.pointEditor.yaw]
+      try {
+        // 保存到后端独立点位表（使用 point_row 标识点位行）
+        var saveRes = await fetch(API + '/api/mission/positions', {
+          method: 'POST',
+          headers: { 'Content-Type': 'application/json' },
+          body: JSON.stringify({
+            row: pointRow,
+            col: col,
+            side: 'shoot',   // 统一用 'shoot' 表示拍摄点位
+            coords: coords,
+            poses: []
+          })
+        })
+        var saveData = await saveRes.json()
+        if (!saveData.ok) {
+          alert('保存点位失败: ' + (saveData.error || '未知错误'))
+          return
+        }
+
+        // 同步更新关联机器的坐标（如果有的话）
+        this.syncPointToMachines(pointRow, col, coords)
+
+        await this.loadMissionConfig()
+ alert('✅ 点位坐标已保存: (' + coords[0].toFixed(2) + ', ' + coords[1].toFixed(2) + ', ' + coords[2].toFixed(2) + ')')
+        this.closePointEdit()
+      } catch (e) { alert('保存点位失败: ' + e.message) }
+    },
+
+    // 将点位坐标同步到关联的机器对象
+    syncPointToMachines(pointRow, col, coords) {
+      var rows = this.missionConfig.rows
+      // pointRow=0 → 同步到下面机器(0,col)的front
+      if (pointRow === 0) {
+        var m0 = this.getMachineAt(0, col)
+        if (m0) {
+          this.updateMachineSide(m0, 'front', coords)
+        }
+        return
+      }
+      // pointRow=rows → 同步到上面机器(rows-1,col)的back
+      if (pointRow === rows) {
+        var mLast = this.getMachineAt(rows - 1, col)
+        if (mLast) {
+          this.updateMachineSide(mLast, 'back', coords)
+        }
+        return
+      }
+      // 中间点位行 → 同步到上面机器的back + 下面机器的front
+      var mAbove = this.getMachineAt(pointRow - 1, col)
+      var mBelow = this.getMachineAt(pointRow, col)
+      if (mAbove) {
+        this.updateMachineSide(mAbove, 'back', coords)
+      }
+      if (mBelow) {
+        this.updateMachineSide(mBelow, 'front', coords)
+      }
+    },
+
+    // 更新机器某侧的坐标
+    async updateMachineSide(machine, side, coords) {
+      try {
+        var update = {}
+        update[side] = {
+          coords: coords,
+          poses: (machine[side] && machine[side].poses) ? machine[side].poses : []
+        }
+        await fetch(API + '/api/mission/machines/' + machine.id, {
+          method: 'PUT',
+          headers: { 'Content-Type': 'application/json' },
+          body: JSON.stringify(update)
+        })
+      } catch (e) { console.error('同步机器坐标失败', e) }
+    },
+
+    // 清空点位（带保护检查）
+    async clearPoint() {
+      if (!this.editingPoint) return
+      var pointRow = this.editingPoint.pointRow
+      var col = this.editingPoint.col
+
+      // 检查是否可以清空
+      if (!this.canClearPoint(pointRow, col)) {
+        var ownerLabel = this.getPointOwnerLabel(pointRow, col)
+        alert('⚠️ 无法清空！此点位服务于: ' + ownerLabel + '\n必须先移除相关机器才能清空此点位。')
+        return
+      }
+
+      if (!confirm('确定清空此点位坐标？')) return
+
+      try {
+        // 发送清空请求（坐标归零或删除记录）
+        await fetch(API + '/api/mission/positions', {
+          method: 'POST',
+          headers: { 'Content-Type': 'application/json' },
+          body: JSON.stringify({
+            row: pointRow,
+            col: col,
+            side: 'shoot',
+            coords: [0, 0, 0],
+            poses: []
+          })
+        })
+        this.pointEditor.x = 0
+        this.pointEditor.y = 0
+        this.pointEditor.yaw = 0
+        await this.loadMissionConfig()
+      } catch (e) { alert('清空点位失败: ' + e.message) }
+    },
+
+    onCellClick(ri, ci) {
+      var m = this.getMachineAt(ri, ci)
+      if (!m) {
+        // 无机器 → 创建机器记录
+        this.createMachine(ri, ci).then(function(ok) {
+          if (ok) {
+            var created = this.getMachineAt(ri, ci)
+            if (created) this.selectMachine(created)
+          }
+        }.bind(this))
+      } else {
+        // 有机器 → 切换为无机器（删除）
+        this.deleteMachine(m.id)
+      }
+    },
+    async createMachine(ri, ci) {
+      try {
+        var machineId = 'm_' + ri + '_' + ci
+        var res = await fetch(API + '/api/mission/machines/add', {
+          method: 'POST',
+          headers: { 'Content-Type': 'application/json' },
+          body: JSON.stringify({
+            id: machineId,
+            row: ri,
+            col: ci,
+            front: { coords: [0, 0, 0], poses: [] },
+            back: { coords: [0, 0, 0], poses: [] }
+          })
+        })
+        var data = await res.json()
+        if (!data.ok && data.error !== '该位置已有机器') {
+          alert('创建机器失败: ' + (data.error || '未知错误'))
+          return false
+        }
+        await this.loadAllMachines()
+        return true
+      } catch (e) { alert('创建机器失败: ' + e.message); return false }
+    },
+    selectMachine(machine) {
+      if (!machine.front) machine.front = { coords: [0, 0, 0], poses: [] }
+      else if (!Array.isArray(machine.front.coords)) machine.front.coords = [0, 0, 0]
+      if (!machine.back) machine.back = { coords: [0, 0, 0], poses: [] }
+      else if (!Array.isArray(machine.back.coords)) machine.back.coords = [0, 0, 0]
+      this.selectedMachine = machine
+    },
+    clearSelection() {
+      this.selectedMachine = null
+    },
+    async deleteMachine(machineId) {
+      if (!confirm('确定删除此机器？\n\n注意：删除后其上方/下方的点位仍可继续使用。')) return
+      try {
+        await fetch(API + '/api/mission/machines/' + machineId, { method: 'DELETE' })
+        this.selectedMachine = null
+        await this.loadAllMachines()
+        await this.loadMissionConfig()  // 重新加载点位，确保数据同步
+      } catch (e) { alert('删除失败: ' + e.message) }
+    },
+    async saveMachineCoords() {
+      if (!this.selectedMachine) return
+      try {
+        var res = await fetch(API + '/api/mission/machines/' + this.selectedMachine.id, {
+          method: 'PUT',
+          headers: { 'Content-Type': 'application/json' },
+          body: JSON.stringify({
+            front: this.selectedMachine.front,
+            back: this.selectedMachine.back
+          })
+        })
+        if (res.ok) {
+          this.mapMsg = '✅ 机器坐标已保存'
+          setTimeout(function() { this.mapMsg = '' }.bind(this), 2000)
+        } else {
+          alert('保存失败: ' + res.status)
+        }
+      } catch (e) { alert('保存失败: ' + e.message) }
+    },
+    async readPosition(side) {
+      if (!this.agvConnected) { alert('AGV 未连接'); return }
+      try {
+        var res = await fetch(API + '/api/agv/position')
+        var data = await res.json()
+        if (data.ok && data.position && Array.isArray(data.position)) {
+          var x = data.position[0]
+          var y = data.position[1]
+          var theta = data.position[2]
+          if (side === 'front') {
+            this.selectedMachine.front.coords = [x, y, theta]
+          } else {
+            this.selectedMachine.back.coords = [x, y, theta]
+          }
+        } else if (data.ok && (!data.position || !Array.isArray(data.position))) {
+          alert('⚠️ AGV 未发布位置数据，请检查 AGV 传感器是否正常')
+        } else {
+          alert('读取位置失败: ' + (data.error || '未知错误'))
+        }
+      } catch (e) { alert('读取位置失败: ' + e.message) }
+    },
+    async addPoseToMachine(machineId, side) {
+      var name = this.poseForm.name || '姿态' + (((this.selectedMachine && this.selectedMachine[side] && this.selectedMachine[side].poses) || []).length + 1)
+      try {
+        var res = await fetch(API + '/api/mission/poses/' + machineId + '/' + side, {
+          method: 'POST',
+          headers: { 'Content-Type': 'application/json' },
+          body: JSON.stringify({
+            name: name,
+            arm_angles: this.currentAngles.length === 6 ? this.currentAngles : [0, 0, 0, 0, 0, 0],
+            speed: 500,
+            description: ''
+          })
+        })
+        var data = await res.json()
+        if (data.ok) {
+          this.poseForm.name = ''
+          await this.loadAllMachines()
+          var updated = this.getMachineAt(this.selectedMachine.row, this.selectedMachine.col)
+          if (updated) this.selectMachine(updated)
+        } else {
+          alert('添加姿态失败: ' + (data.error || '未知错误'))
+        }
+      } catch (e) { alert('添加姿态失败: ' + e.message) }
+    },
+    async deletePose(machineId, side, poseId) {
+      if (!confirm('确定删除此姿态？')) return
+      try {
+        await fetch(API + '/api/mission/poses/' + machineId + '/' + side + '/' + poseId, { method: 'DELETE' })
+        await this.loadAllMachines()
+        if (this.selectedMachine) {
+          var updated = this.getMachineAt(this.selectedMachine.row, this.selectedMachine.col)
+          if (updated) this.selectMachine(updated)
+        }
+      } catch (e) { alert('删除姿态失败: ' + e.message) }
+    },
+    async capturePosition(ri, ci, side) {
+      if (!this.agvConnected) { alert('请先连接AGV'); return }
+      var machine = this.getMachineAt(ri, ci)
+      if (!machine) {
+        try {
+          var machineId = 'm_' + ri + '_' + ci
+          var res = await fetch(API + '/api/mission/machines/add', {
+            method: 'POST',
+            headers: { 'Content-Type': 'application/json' },
+            body: JSON.stringify({
+              id: machineId,
+              row: ri,
+              col: ci,
+              front: { coords: [0, 0, 0], poses: [] },
+              back: { coords: [0, 0, 0], poses: [] }
+            })
+          })
+          if (!res.ok) throw new Error('创建失败')
+          await this.loadAllMachines()
+          machine = this.getMachineAt(ri, ci)
+        } catch (e) { alert('创建机器失败: ' + e.message); return }
+      }
+      try {
+        var res = await fetch(API + '/api/agv/position')
+        var pos = await res.json()
+        var x = 0, y = 0, theta = 0
+        if (pos.ok && pos.position && Array.isArray(pos.position)) {
+          x = pos.position[0] || 0
+          y = pos.position[1] || 0
+          theta = pos.position[2] || 0
+        } else if (pos.ok && (!pos.position || !Array.isArray(pos.position))) {
+          alert('⚠️ AGV 未发布位置数据，请检查 AGV 传感器是否正常')
+          return
+        } else {
+          alert('读取位置失败: ' + (pos.error || '未知错误'))
+          return
+        }
+        if (!machine) { machine = this.getMachineAt(ri, ci) }
+        if (!machine) { alert('机器记录不存在'); return }
+        if (side === 'front') { machine.front.coords = [x, y, theta] } else { machine.back.coords = [x, y, theta] }
+        await fetch(API + '/api/mission/machines/' + machine.id, {
+          method: 'PUT',
+          headers: { 'Content-Type': 'application/json' },
+          body: JSON.stringify(machine)
+        })
+        alert((side === 'front' ? '正面' : '背面') + '点位已更新: (' + x.toFixed(2) + ',' + y.toFixed(2) + ',' + theta.toFixed(2) + ')')
+      } catch (e) { alert('读取位置失败: ' + e.message) }
+    },
+    async refreshSequence() {
+      try {
+        var res = await fetch(API + '/api/mission/generate_sequence')
+        var data = await res.json()
+        if (data.ok) {
+          this.sequence = data.sequence || []
+        }
+      } catch (e) { console.error('刷新序列失败', e) }
+    },
+    // === 机械臂 ===
+    async refreshAngles() {
+      if (!this.armConnected) return
+      try {
+        var res = await fetch(API + '/api/arm/get_angles')
+        var data = await res.json()
+        if (data.ok && data.angles) {
+          this.currentAngles = data.angles
+          this.angleInputs = [...data.angles]
+        }
+      } catch (e) {}
+    },
+    async setAngle(idx, val) {
+      await fetch(API + '/api/arm/set_angle', {
+        method: 'POST',
+        headers: { 'Content-Type': 'application/json' },
+        body: JSON.stringify({ joint: 'J' + (idx + 1), angle: val })
+      })
+    },
+    async applyAngles() {
+      await fetch(API + '/api/arm/set_angles', {
+        method: 'POST',
+        headers: { 'Content-Type': 'application/json' },
+        body: JSON.stringify({ angles: this.angleInputs, speed: 500 })
+      })
+    },
+    jogStart(idx, dir) {
+      var joint = 'J' + (idx + 1)
+      fetch(API + '/api/arm/jog', {
+        method: 'POST',
+        headers: { 'Content-Type': 'application/json' },
+        body: JSON.stringify({ joint, direction: dir })
+      })
+      this.jogIntervals[idx] = setInterval(function() { this.refreshAngles() }.bind(this), 200)
+    },
+    jogStop(idx) {
+      clearInterval(this.jogIntervals[idx])
+      var joint = 'J' + (idx + 1)
+      fetch(API + '/api/arm/jog', {
+        method: 'POST',
+        headers: { 'Content-Type': 'application/json' },
+        body: JSON.stringify({ joint, direction: 0 })
+      })
+      setTimeout(function() { this.refreshAngles() }.bind(this), 300)
+    },
+    onPreviewError(e) {
+      e.target.style.display = 'none'
+    },
+    // === AGV 控制 ===
+    async refreshAgvPosition() {
+      if (!this.agvConnected) return
+      try {
+        var res = await fetch(API + '/api/agv/position')
+        var data = await res.json()
+        if (data.ok) {
+          this.agvPosition = data.position
+          this.agvBattery = data.battery
+        }
+      } catch (e) {}
+    },
+    agvMoveStart(dir) {
+      if (!this.agvConnected) return
+      fetch(API + '/api/agv/move', {
+        method: 'POST',
+        headers: { 'Content-Type': 'application/json' },
+        body: JSON.stringify({ direction: dir, speed: this.agvSpeed })
+      })
+    },
+    agvMoveStop() {
+      fetch(API + '/api/agv/move', {
+        method: 'POST',
+        headers: { 'Content-Type': 'application/json' },
+        body: JSON.stringify({ direction: 'stop' })
+      })
+    },
+    async agvStop() {
+      await fetch(API + '/api/agv/stop', { method: 'POST' })
+    },
+    async agvResetCollision() {
+      if (!this.agvConnected) {
+        alert('AGV 未连接')
+        return
+      }
+      if (!confirm('确定执行撞物体后复位？')) return
+      try {
+        var res = await fetch(API + '/api/agv/reset', { method: 'POST' })
+        var data = await res.json()
+        if (data.ok) {
+          alert('✅ ' + data.message)
+          await this.refresh()
+          await this.refreshAgvPosition()
+        } else {
+          alert('❌ 复位失败: ' + (data.error || '未知错误'))
+        }
+      } catch (e) {
+        alert('❌ 复位请求失败: ' + e.message)
+      }
+    },
+  }
+})
+const vm = app.mount('#app')
+window.vm = vm  // 暴露组件实例
diff --git a/agv_app/static/js/vue3.global.prod.js b/agv_app/static/js/vue3.global.prod.js
new file mode 100644
index 0000000..43f0ad2
--- /dev/null
+++ b/agv_app/static/js/vue3.global.prod.js
@@ -0,0 +1,13 @@
+/**
+* vue v3.5.33
+* (c) 2018-present Yuxi (Evan) You and Vue contributors
+* @license MIT
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diff --git a/agv_app/style.css b/agv_app/style.css
new file mode 100644
index 0000000..3ee0cd7
--- /dev/null
+++ b/agv_app/style.css
@@ -0,0 +1,722 @@
+/* ========== 全局样式 ========== */
+* { box-sizing: border-box; margin: 0; padding: 0; }
+
+body {
+  font-family: -apple-system, "PingFang SC", "Microsoft YaHei", sans-serif;
+  background: #0f1923;
+  color: #e8eaed;
+  font-size: 14px;
+  min-height: 100vh;
+}
+
+a { color: #4fc3f7; text-decoration: none; }
+a:hover { text-decoration: underline; }
+
+.container {
+  max-width: 1200px;
+  margin: 0 auto;
+  padding: 20px 16px;
+  display: grid;
+  grid-template-columns: 1fr 1fr;
+  gap: 16px;
+}
+
+/* ========== 顶部栏 ========== */
+.topbar {
+  background: #1a2332;
+  border-bottom: 1px solid #2a3441;
+  padding: 0 20px;
+  display: flex;
+  align-items: center;
+  height: 56px;
+  gap: 32px;
+  position: sticky;
+  top: 0;
+  z-index: 100;
+}
+
+.logo { font-size: 18px; font-weight: bold; color: #4fc3f7; }
+
+.nav { display: flex; gap: 4px; }
+.nav-link {
+  padding: 8px 16px;
+  border-radius: 6px;
+  color: #9aa0a6;
+  transition: all 0.2s;
+}
+.nav-link:hover { background: #2a3441; color: #e8eaed; text-decoration: none; }
+.nav-link.active { background: #263238; color: #4fc3f7; }
+
+.status-bar { margin-left: auto; display: flex; gap: 12px; }
+.status-item {
+  padding: 4px 12px;
+  border-radius: 12px;
+  font-size: 12px;
+  font-weight: bold;
+}
+.status-item.setting { background: #1b3a2f; color: #4caf50; }
+.status-item.running { background: #2a2a1b; color: #ffeb3b; }
+.status-item.paused { background: #3a2a1a; color: #ff9800; }
+.status-item.idle { background: #2a2a2a; color: #9aa0a6; }
+
+/* ========== 卡片 ========== */
+.card {
+  background: #1a2332;
+  border-radius: 12px;
+  padding: 20px;
+  border: 1px solid #2a3441;
+}
+.card h2 { font-size: 16px; margin-bottom: 16px; color: #4fc3f7; }
+
+/* ========== 状态卡片 ========== */
+.grid-3 { display: grid; grid-template-columns: repeat(3, 1fr); gap: 12px; margin-bottom: 16px; }
+.status-card {
+  background: #0f1923;
+  border-radius: 8px;
+  padding: 16px;
+  text-align: center;
+  border: 1px solid #2a3441;
+}
+.status-card.ok { border-color: #2e7d32; background: #0d1f14; }
+.status-card.error { border-color: #c62828; background: #1f0d0d; }
+.status-icon { font-size: 24px; margin-bottom: 8px; }
+.status-label { font-size: 12px; color: #9aa0a6; margin-bottom: 4px; }
+.status-value { font-size: 14px; font-weight: bold; }
+
+/* ========== 按钮 ========== */
+.btn {
+  padding: 8px 16px;
+  border-radius: 6px;
+  border: none;
+  cursor: pointer;
+  font-size: 14px;
+  transition: all 0.2s;
+  background: #263238;
+  color: #e8eaed;
+  font-family: inherit;
+}
+.btn:hover:not(:disabled) { background: #37474f; }
+.btn:disabled { opacity: 0.5; cursor: not-allowed; }
+
+.btn-primary { background: #0277bd; color: #fff; }
+.btn-primary:hover:not(:disabled) { background: #0288d1; }
+.btn-secondary { background: #37474f; }
+.btn-danger { background: #d32f2f; color: #fff; }
+.btn-danger:hover:not(:disabled) { background: #f44336; }
+.btn-success { background: #2e7d32; color: #fff; }
+.btn-success:hover:not(:disabled) { background: #388e3c; }
+.btn-warning { background: #e65100; color: #fff; }
+.btn-error { background: #c62828; color: #fff; }
+.btn-large { padding: 12px 24px; font-size: 16px; }
+.btn-small { padding: 4px 10px; font-size: 12px; }
+.btn-icon { background: none; border: none; cursor: pointer; font-size: 14px; padding: 4px; }
+.btn-row { display: flex; gap: 8px; margin-top: 12px; flex-wrap: wrap; }
+
+/* ========== 表单 ========== */
+.form-group { margin-bottom: 12px; }
+.form-group label { display: block; font-size: 12px; color: #9aa0a6; margin-bottom: 4px; }
+.form-group input,
+.form-group select {
+  width: 100%;
+  padding: 8px 12px;
+  background: #0f1923;
+  border: 1px solid #2a3441;
+  border-radius: 6px;
+  color: #e8eaed;
+  font-size: 14px;
+  font-family: inherit;
+}
+.form-group input:focus,
+.form-group select:focus { outline: none; border-color: #4fc3f7; }
+.form-row { display: grid; grid-template-columns: 1fr 1fr; gap: 12px; }
+
+/* ========== Tabs ========== */
+.tabs {
+  background: #1a2332;
+  border-bottom: 1px solid #2a3441;
+  padding: 0 20px;
+  display: flex;
+  gap: 4px;
+}
+.tab {
+  padding: 12px 20px;
+  background: none;
+  border: none;
+  color: #9aa0a6;
+  cursor: pointer;
+  font-size: 14px;
+  border-bottom: 2px solid transparent;
+  font-family: inherit;
+}
+.tab.active { color: #4fc3f7; border-bottom-color: #4fc3f7; }
+.tab:hover { color: #e8eaed; }
+
+/* ========== 摄像头预览 ========== */
+.camera-preview {
+  width: 100%;
+  max-width: 480px;
+  border-radius: 8px;
+  overflow: hidden;
+  margin: 0 auto 16px;
+  background: #000;
+}
+.camera-preview img,
+.camera-full img {
+  width: 100%;
+  display: block;
+  aspect-ratio: 16/9;
+  object-fit: cover;
+}
+.camera-full {
+  width: 100%;
+  border-radius: 8px;
+  overflow: hidden;
+  background: #000;
+}
+
+/* ========== 关节控制 ========== */
+.joints-panel { margin-top: 16px; }
+.joints-panel h3 { margin-bottom: 12px; font-size: 14px; }
+.joint-grid { display: grid; grid-template-columns: repeat(3, 1fr); gap: 12px; }
+.joint-control {
+  background: #0f1923;
+  border-radius: 8px;
+  padding: 12px;
+  text-align: center;
+  border: 1px solid #2a3441;
+}
+.joint-control label { font-size: 12px; color: #4fc3f7; font-weight: bold; }
+.joint-value { font-size: 18px; font-weight: bold; color: #fff; margin: 4px 0; }
+.joint-buttons { display: flex; align-items: center; gap: 4px; justify-content: center; }
+.joint-buttons button {
+  width: 32px;
+  height: 32px;
+  border-radius: 4px;
+  border: 1px solid #2a3441;
+  background: #263238;
+  color: #e8eaed;
+  cursor: pointer;
+  font-size: 14px;
+}
+.joint-buttons input {
+  width: 60px;
+  padding: 4px;
+  text-align: center;
+  background: #0f1923;
+  border: 1px solid #2a3441;
+  border-radius: 4px;
+  color: #e8eaed;
+  font-size: 12px;
+}
+
+/* ========== 点位列表 ========== */
+.point-item {
+  background: #0f1923;
+  border: 1px solid #2a3441;
+  border-radius: 8px;
+  padding: 12px;
+  margin-bottom: 12px;
+}
+.point-header { display: flex; align-items: center; gap: 8px; margin-bottom: 8px; }
+.point-name { font-weight: bold; font-size: 15px; }
+.point-coords { font-size: 12px; color: #9aa0a6; margin-bottom: 8px; }
+.badge {
+  padding: 2px 8px;
+  border-radius: 10px;
+  font-size: 11px;
+  background: #263238;
+  color: #4fc3f7;
+}
+.pose-list { margin-top: 8px; }
+.pose-item {
+  display: flex;
+  align-items: center;
+  gap: 8px;
+  padding: 6px 0;
+  border-bottom: 1px solid #2a3441;
+  font-size: 13px;
+}
+.angles { color: #9aa0a6; font-size: 11px; font-family: monospace; }
+.pose-add {
+  display: flex;
+  gap: 8px;
+  align-items: center;
+  margin-top: 8px;
+}
+.pose-add input { flex: 1; padding: 6px 10px; background: #1a2332; border: 1px solid #2a3441; border-radius: 4px; color: #e8eaed; font-size: 13px; }
+.pose-add select { padding: 6px; background: #1a2332; border: 1px solid #2a3441; border-radius: 4px; color: #e8eaed; }
+
+.empty-hint { color: #9aa0a6; text-align: center; padding: 20px; }
+.hint { font-size: 12px; color: #9aa0a6; margin-top: 8px; }
+.alert { padding: 12px 16px; border-radius: 8px; margin-bottom: 12px; }
+.alert-error { background: #1f0d0d; border: 1px solid #c62828; color: #ef5350; }
+.checkbox-group { display: flex; gap: 16px; }
+.checkbox-group label { display: flex; align-items: center; gap: 6px; cursor: pointer; color: #e8eaed; }
+
+/* ========== 运行页面 ========== */
+.running-header { display: flex; align-items: center; gap: 20px; margin-bottom: 16px; }
+.running-status {
+  font-size: 18px;
+  font-weight: bold;
+  display: flex;
+  align-items: center;
+  gap: 8px;
+}
+.running-status.idle { color: #9aa0a6; }
+.running-status.running { color: #4caf50; }
+.running-status.paused { color: #ff9800; }
+.pulse {
+  width: 10px;
+  height: 10px;
+  border-radius: 50%;
+  background: currentColor;
+  animation: pulse 1.5s infinite;
+}
+@keyframes pulse {
+  0%, 100% { opacity: 1; transform: scale(1); }
+  50% { opacity: 0.5; transform: scale(0.8); }
+}
+.running-progress { flex: 1; display: flex; align-items: center; gap: 12px; }
+.progress-bar { flex: 1; height: 8px; background: #2a3441; border-radius: 4px; overflow: hidden; }
+.progress-fill { height: 100%; background: #4fc3f7; border-radius: 4px; transition: width 0.3s; }
+
+/* ========== 报告 ========== */
+.report-summary { display: flex; gap: 16px; margin-bottom: 16px; }
+.stat { padding: 8px 16px; border-radius: 8px; background: #0f1923; border: 1px solid #2a3441; }
+.stat.ok { border-color: #2e7d32; color: #4caf50; }
+.stat.error { border-color: #c62828; color: #ef5350; }
+.report-item { padding: 8px 12px; background: #0f1923; border-radius: 6px; margin-bottom: 8px; border: 1px solid #2a3441; }
+.report-point { display: flex; align-items: center; gap: 8px; font-weight: bold; }
+.report-status { font-size: 16px; }
+.report-pose { font-size: 12px; color: #9aa0a6; padding-left: 24px; margin-top: 4px; }
+
+/* ========== 响应式 ========== */
+@media (max-width: 768px) {
+  .container { grid-template-columns: 1fr; }
+  .grid-3 { grid-template-columns: 1fr; }
+  .form-row { grid-template-columns: 1fr; }
+  .joint-grid { grid-template-columns: repeat(2, 1fr); }
+  .form-row { grid-template-columns: 1fr; }
+}
+
+/* AGV 移动控制面板 */
+.agv-status-bar {
+  display: flex;
+  gap: 16px;
+  align-items: center;
+  padding: 10px 14px;
+  background: #0f1923;
+  border-radius: 8px;
+  margin-bottom: 16px;
+  font-size: 13px;
+  color: #9aa0a6;
+  flex-wrap: wrap;
+}
+.agv-status-bar strong { color: #e8eaed; }
+
+.agv-control-panel {
+  display: flex;
+  flex-direction: column;
+  align-items: center;
+  gap: 6px;
+  max-width: 280px;
+  margin: 0 auto;
+}
+.agv-dir-row {
+  display: grid;
+  grid-template-columns: 80px 80px 80px;
+  gap: 6px;
+  width: 100%;
+}
+.agv-dir-placeholder { width: 80px; height: 44px; }
+.agv-btn {
+  height: 44px;
+  border-radius: 8px;
+  border: 1px solid #2a3441;
+  background: #263238;
+  color: #e8eaed;
+  cursor: pointer;
+  font-size: 13px;
+  font-family: inherit;
+  transition: background 0.15s;
+  display: flex;
+  align-items: center;
+  justify-content: center;
+  gap: 4px;
+  user-select: none;
+}
+.agv-btn:active, .agv-btn:focus { outline: none; }
+.agv-btn-up { background: #1b3a2f; border-color: #2e7d32; color: #4caf50; }
+.agv-btn-down { background: #3a1b1b; border-color: #7d2e2e; color: #f44336; }
+.agv-btn-left { background: #1b2d3a; border-color: #1565c0; color: #42a5f5; }
+.agv-btn-right { background: #2d2a1b; border-color: #7d6e2e; color: #ffc107; }
+.agv-btn-stop { background: #37474f; border-color: #546e7a; }
+.agv-btn-up:active { background: #1e4d38; }
+.agv-btn-down:active { background: #4d2020; }
+.agv-btn-left:active { background: #1e3a4d; }
+.agv-btn-right:active { background: #3d3820; }
+.agv-btn-stop:active { background: #455a64; }
+.agv-btn-lateral {
+  background: #2d1b4a;
+  border-color: #7c4dff;
+  color: #b388ff;
+  font-size: 13px;
+  min-width: 120px;
+}
+.agv-btn-lateral:active { background: #3d2560; }
+.agv-lateral-row {
+  display: flex;
+  gap: 12px;
+  justify-content: center;
+  margin-top: 8px;
+  max-width: 280px;
+  width: 100%;
+}
+
+.speed-control {
+  display: flex;
+  align-items: center;
+  gap: 10px;
+}
+.speed-value {
+  min-width: 44px;
+  text-align: right;
+  font-weight: bold;
+  color: #4fc3f7;
+}
+
+/* 双摄像头预览布局 */
+.camera-row {
+  display: grid;
+  grid-template-columns: 1fr 1fr;
+  gap: 16px;
+  margin-top: 12px;
+}
+.camera-box {
+  background: #111;
+  border-radius: 8px;
+  overflow: hidden;
+}
+.camera-label {
+  padding: 8px 12px;
+  font-size: 13px;
+  color: #aaa;
+  background: #1a1a1a;
+  border-bottom: 1px solid #333;
+}
+.camera-img {
+  width: 100%;
+  display: block;
+  aspect-ratio: 4/3;
+  object-fit: cover;
+}
+.camera-placeholder {
+  width: 100%;
+  aspect-ratio: 4/3;
+  display: flex;
+  align-items: center;
+  justify-content: center;
+  color: #666;
+  font-size: 14px;
+}
+/* ========== 地图标记 ========== */
+.map-marker {
+  position: absolute;
+  transform: translate(-50%, -100%);
+  font-size: 20px;
+  cursor: pointer;
+  filter: drop-shadow(0 2px 4px rgba(0,0,0,0.5));
+  z-index: 10;
+}
+.map-marker:hover {
+  transform: translate(-50%, -100%) scale(1.2);
+}
+
+/* ========== 任务配置 M×N 网格 ========== */
+.mission-grid-wrap {
+  margin-top: 12px;
+  overflow-x: auto;
+}
+.mission-grid {
+  display: grid;
+  gap: 4px;
+  grid-template-columns: 80px repeat(var(--cols,4), 90px);
+}
+.grid-cell {
+  min-width: 80px;
+  min-height: 48px;
+  display: flex;
+  align-items: center;
+  justify-content: center;
+  border-radius: 6px;
+  font-size: 12px;
+  cursor: pointer;
+  border: 1px solid #2a3441;
+  background: #0f1923;
+  transition: background 0.15s, border-color 0.15s;
+}
+.grid-cell.active {
+  background: #1b3a2f;
+  border-color: #2e7d32;
+  color: #4caf50;
+}
+.grid-cell.active:hover {
+  background: #234;
+}
+.grid-cell.selected {
+  border-color: #4fc3f7 !important;
+  box-shadow: 0 0 0 2px #4fc3f7;
+}
+.grid-header {
+  background: transparent;
+  border-color: transparent;
+  cursor: default;
+  font-weight: bold;
+  color: #9aa0a6;
+  font-size: 12px;
+}
+
+/* 机器配置表单 */
+.machine-form {
+  background: #0f1923;
+  border: 1px solid #2a3441;
+  border-radius: 8px;
+  padding: 16px;
+  margin-top: 12px;
+}
+.machine-form h3 {
+  font-size: 14px;
+  color: #4fc3f7;
+  margin-bottom: 10px;
+}
+.machine-form h4 {
+  font-size: 13px;
+  color: #9aa0a6;
+  margin: 8px 0 6px;
+}
+
+/* 姿态列表 */
+.pose-list {
+  margin-top: 8px;
+}
+.pose-item {
+  display: flex;
+  align-items: center;
+  gap: 8px;
+  padding: 6px 0;
+  border-bottom: 1px solid #2a3441;
+  font-size: 13px;
+}
+.pose-name {
+  font-weight: bold;
+  min-width: 80px;
+}
+.pose-angles {
+  color: #9aa0a6;
+  font-size: 11px;
+  font-family: monospace;
+  flex: 1;
+}
+.pose-add {
+  display: flex;
+  gap: 8px;
+  align-items: center;
+  margin-top: 8px;
+}
+.pose-add input {
+  flex: 1;
+  padding: 6px 10px;
+  background: #1a2332;
+  border: 1px solid #2a3441;
+  border-radius: 4px;
+  color: #e8eaed;
+  font-size: 13px;
+}
+
+/* 蛇形序列预览 */
+.sequence-preview {
+  display: flex;
+  flex-direction: column;
+  gap: 4px;
+  max-height: 320px;
+  overflow-y: auto;
+}
+.sequence-step {
+  display: flex;
+  align-items: center;
+  gap: 10px;
+  padding: 6px 12px;
+  background: #0f1923;
+  border-radius: 6px;
+  border: 1px solid #2a3441;
+  font-size: 13px;
+}
+.step-index {
+  background: #263238;
+  color: #4fc3f7;
+  border-radius: 10px;
+  min-width: 28px;
+  height: 22px;
+  display: flex;
+  align-items: center;
+  justify-content: center;
+  font-size: 11px;
+  font-weight: bold;
+}
+.step-info {
+  flex: 1;
+}
+.step-side {
+  padding: 2px 8px;
+  border-radius: 8px;
+  font-size: 11px;
+  font-weight: bold;
+}
+.step-side:contains('正面') {
+  background: #1b3a2f;
+  color: #4caf50;
+}
+.step-side:contains('背面') {
+  background: #3a1b2f;
+  color: #ce93d8;
+}
+
+/* 网格单元格点位配置 */
+.cell-machine {
+  font-size: 11px;
+  font-weight: bold;
+  color: #2c3e50;
+}
+.cell-points {
+  margin-top: 2px;
+  font-size: 9px;
+}
+.point-row {
+  display: flex;
+  align-items: center;
+  gap: 2px;
+  padding: 1px 2px;
+  background: #f8f9fa;
+  border-radius: 3px;
+  cursor: pointer;
+  margin: 1px 0;
+}
+.point-row:hover {
+  background: #e9ecef;
+}
+.point-label {
+  color: #666;
+  min-width: 24px;
+}
+.point-coords {
+  color: #0366d6;
+  font-family: monospace;
+  font-size: 8px;
+  flex: 1;
+}
+.btn-icon-small {
+  background: none;
+  border: none;
+  cursor: pointer;
+  font-size: 10px;
+  padding: 1px 3px;
+  border-radius: 3px;
+}
+.btn-icon-small:hover {
+  background: #ddd;
+}
+
+/* ========== 任务配置 弹窗 + 网格增强样式 ========== */
+
+/* 弹窗遮罩 */
+.modal-overlay {
+  position: fixed;
+  inset: 0;
+  background: rgba(0,0,0,0.65);
+  display: flex;
+  align-items: center;
+  justify-content: center;
+  z-index: 1000;
+}
+.modal-box {
+  background: #1a1f2e;
+  border: 1px solid #2a3a50;
+  border-radius: 12px;
+  padding: 20px 24px;
+  min-width: 380px;
+  max-width: 500px;
+  box-shadow: 0 8px 32px rgba(0,0,0,0.5);
+}
+.modal-box h3 { margin: 0 0 8px; color: #e0e6f0; font-size: 16px; }
+
+/* 点位行单元格 */
+.point-cell { cursor: pointer; flex-direction: column; gap: 2px; }
+.point-cell:hover { border-color: #4fc3f7; background: #162030; }
+.point-cell.point-filled { background: #0d2535; border-color: #1565c0; }
+.point-coords { font-size: 10px; color: #64b5f6; font-family: monospace; }
+.point-empty { font-size: 10px; color: #455a64; }
+
+/* 机器行单元格 */
+.machine-cell { cursor: pointer; }
+.machine-cell:hover { border-color: #4caf50; background: #1b3a2f; }
+.machine-cell.active { background: #1b3a2f; border-color: #2e7d32; color: #4caf50; }
+.machine-icon { font-size: 18px; }
+.machine-empty { font-size: 16px; color: #455a64; }
+/* ========== 任务配置 弹窗 + 网格增强样式 ========== */
+
+/* 弹窗遮罩 */
+.modal-overlay {
+  position: fixed;
+  inset: 0;
+  background: rgba(0,0,0,0.65);
+  display: flex;
+  align-items: center;
+  justify-content: center;
+  z-index: 1000;
+}
+.modal-box {
+  background: #1a1f2e;
+  border: 1px solid #2a3a50;
+  border-radius: 12px;
+  padding: 20px 24px;
+  min-width: 380px;
+  max-width: 500px;
+  box-shadow: 0 8px 32px rgba(0,0,0,0.5);
+}
+.modal-box h3 { margin: 0 0 8px; color: #e0e6f0; font-size: 16px; }
+
+/* 点位行单元格 */
+.point-cell { cursor: pointer; flex-direction: column; gap: 2px; }
+.point-cell:hover { border-color: #4fc3f7; background: #162030; }
+.point-cell.point-filled { background: #0d2535; border-color: #1565c0; }
+.point-coords { font-size: 10px; color: #64b5f6; font-family: monospace; }
+.point-empty { font-size: 10px; color: #455a64; }
+
+/* 机器行单元格 */
+.machine-cell { cursor: pointer; }
+.machine-cell:hover { border-color: #4caf50; background: #1b3a2f; }
+.machine-cell.active { background: #1b3a2f; border-color: #2e7d32; color: #4caf50; }
+.machine-icon { font-size: 18px; }
+.machine-empty { font-size: 16px; color: #455a64; }
+/* 点位编辑弹窗 */
+.modal-overlay .modal-box { min-width: 420px; }
+.modal-overlay .form-row { gap: 8px; }
+.modal-overlay .btn-row { gap: 8px; flex-wrap: wrap; }
+
+/* 地图坐标点覆盖层 */
+.map-container { position: relative; }
+.map-overlay {
+  position: absolute; top: 0; left: 0; right: 0; bottom: 0;
+  pointer-events: none;
+}
+.map-dot {
+  position: absolute;
+  transform: translate(-50%, -50%);
+}
+.point-dot {
+  width: 10px; height: 10px;
+  background: #f39c12;
+  border-radius: 50%;
+  border: 2px solid #fff;
+  box-shadow: 0 0 6px rgba(243,156,18,0.9);
+}
diff --git a/agv_app/templates/index.html b/agv_app/templates/index.html
new file mode 100644
index 0000000..c32b73b
--- /dev/null
+++ b/agv_app/templates/index.html
@@ -0,0 +1,148 @@
+<!DOCTYPE html>
+<html lang="zh-CN">
+<head>
+  <meta charset="UTF-8">
+  <meta name="viewport" content="width=device-width, initial-scale=1.0">
+  <title>AGV 拍摄系统</title>
+  <link rel="stylesheet" href="/static/css/style.css">
+</head>
+<body>
+  <div id="app">
+    <!-- 顶部导航 -->
+    <header class="topbar">
+      <div class="logo">🤖 AGV 拍摄系统</div>
+      <nav class="nav">
+        <a href="/" class="nav-link active">🏠 首页</a>
+        <a href="/setting" class="nav-link">⚙️ 设置</a>
+        <a href="/running" class="nav-link">▶️ 运行</a>
+      </nav>
+      <div class="status-bar">
+        <span class="status-item" :class="statusClass">
+          [[ statusText ]]
+        </span>
+      </div>
+    </header>
+
+    <!-- 主内容 -->
+    <main class="container">
+      <!-- 系统状态卡片 -->
+      <section class="card">
+        <h2>📡 系统连接状态</h2>
+        <div class="grid-3">
+          <div class="status-card" :class="agvConnected ? 'ok' : 'error'"
+               @click="connectDevice('agv')" style="cursor:pointer">
+            <div class="status-icon">
+              <span v-if="reconnectingDevice==='agv'">⏳</span>
+              <span v-else>[[ agvConnected ? '✅' : '❌' ]]</span>
+            </div>
+            <div class="status-label">AGV</div>
+            <div class="status-value">
+              <span v-if="reconnectingDevice==='agv'">重连中...</span>
+              <span v-else>[[ agvConnected ? '已连接' : '未连接' ]](点击重连)</span>
+            </div>
+          </div>
+          <div class="status-card" :class="armConnected ? 'ok' : 'error'"
+               @click="connectDevice('arm')" style="cursor:pointer">
+            <div class="status-icon">
+              <span v-if="reconnectingDevice==='arm'">⏳</span>
+              <span v-else>[[ armConnected ? '✅' : '❌' ]]</span>
+            </div>
+            <div class="status-label">机械臂</div>
+            <div class="status-value">
+              <span v-if="reconnectingDevice==='arm'">重连中...</span>
+              <span v-else>[[ armConnected ? '已连接' : '未连接' ]](点击重连)</span>
+            </div>
+          </div>
+          <div class="status-card" :class="cameraOpened ? 'ok' : 'error'"
+               @click="connectDevice('camera')" style="cursor:pointer">
+            <div class="status-icon">
+              <span v-if="reconnectingDevice==='camera'">⏳</span>
+              <span v-else>[[ cameraOpened ? '✅' : '❌' ]]</span>
+            </div>
+            <div class="status-label">AGV摄像头</div>
+            <div class="status-value">
+              <span v-if="reconnectingDevice==='camera'">重连中...</span>
+              <span v-else>[[ cameraOpened ? '已打开' : '未打开' ]](点击重连)</span>
+            </div>
+          </div>
+          <div class="status-card" :class="armCameraOpened ? 'ok' : 'error'"
+               @click="connectDevice('arm_camera')" style="cursor:pointer">
+            <div class="status-icon">
+              <span v-if="reconnectingDevice==='arm_camera'">⏳</span>
+              <span v-else>[[ armCameraOpened ? '✅' : '❌' ]]</span>
+            </div>
+            <div class="status-label">机械臂摄像头</div>
+            <div class="status-value">
+              <span v-if="reconnectingDevice==='arm_camera'">重连中...</span>
+              <span v-else>[[ armCameraOpened ? '已打开' : '未打开' ]](点击重连)</span>
+            </div>
+          </div>
+        </div>
+        <div class="btn-row">
+          <button class="btn btn-primary" @click="connectAll" :disabled="connecting">
+            [[ connecting ? '连接中...' : '🔗 连接全部设备' ]]
+          </button>
+          <button class="btn btn-secondary" @click="disconnectAll" :disabled="!agvConnected && !armConnected && !cameraOpened">
+            断开连接
+          </button>
+        </div>
+      </section>
+
+      <!-- 双摄像头预览 -->
+      <section class="card">
+        <h2>📷 摄像头预览</h2>
+        <div class="camera-row">
+          <div class="camera-box">
+            <div class="camera-label">AGV 摄像头 <button class="btn btn-small" @click="agvCameraSrc='/api/camera/refresh?t='+Date.now(); agvCameraError=false">刷新</button></div>
+            <img v-if="cameraOpened && !agvCameraError" :src="agvCameraSrc" class="camera-img" @error="agvCameraError=true">
+            <div v-if="cameraOpened && agvCameraError" class="camera-placeholder">AGV 摄像头异常</div>
+            <div v-else-if="!cameraOpened" class="camera-placeholder">未打开（先点击连接设备）</div>
+          </div>
+          <div class="camera-box">
+            <div class="camera-label">机械臂摄像头 <button class="btn btn-small" @click="armCameraSrc='/api/camera/arm_refresh?t='+Date.now(); armCameraError=false">刷新</button></div>
+            <img v-if="armConnected && !armCameraError" :src="armCameraSrc" class="camera-img" @error="armCameraError=true">
+            <div v-if="armConnected && armCameraError" class="camera-placeholder">机械臂摄像头异常</div>
+            <div v-else-if="!armConnected" class="camera-placeholder">未连接</div>
+          </div>
+        </div>
+      </section>
+
+      <!-- 地图信息 -->
+      <section class="card">
+        <h2>🗺️ 地图信息</h2>
+        <div v-if="mapLoaded">
+          <p>地图目录: <code>[[ mapConfig.map_dir ]]</code></p>
+          <p>地图文件: <code>[[ mapConfig.map_file ]]</code></p>
+        </div>
+        <div v-else>
+          <p class="hint">尚未加载地图，请前往 <a href="/setting">设置页面</a> 配置地图</p>
+        </div>
+      </section>
+
+      <!-- 点位概览 -->
+      <section class="card">
+        <h2>📍 点位概览</h2>
+        <p>已配置 <strong>[[ pointsCount ]]</strong> 个拍摄点位</p>
+        <div class="btn-row">
+          <a href="/setting" class="btn btn-primary">前往设置点位 →</a>
+        </div>
+      </section>
+
+      <!-- 快捷入口 -->
+      <section class="card">
+        <h2>🚀 快捷入口</h2>
+        <div class="btn-row">
+          <a href="/setting" class="btn btn-large btn-primary">进入设置模式 ⚙️</a>
+          <a href="/running" class="btn btn-large btn-success" :class="{disabled: !allReady}" @click.prevent="checkReady">
+            开始运行 ▶️
+          </a>
+        </div>
+        <p v-if="!allReady" class="hint">请先连接所有设备并加载地图</p>
+      </section>
+    </main>
+  </div>
+
+  <script src="/static/js/vue3.global.prod.js"></script>
+  <script src="/static/js/app.js"></script>
+</body>
+</html>
diff --git a/agv_app/templates/running.html b/agv_app/templates/running.html
new file mode 100644
index 0000000..9294256
--- /dev/null
+++ b/agv_app/templates/running.html
@@ -0,0 +1,82 @@
+<!DOCTYPE html>
+<html lang="zh-CN">
+<head>
+  <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">
+</head>
+<body>
+  <div id="app">
+    <header class="topbar">
+      <div class="logo">▶️ 任务运行</div>
+      <nav class="nav">
+        <a href="/" class="nav-link">🏠 首页</a>
+        <a href="/setting" class="nav-link">⚙️ 设置</a>
+        <a href="/running" class="nav-link active">▶️ 运行</a>
+      </nav>
+    </header>
+
+    <main class="container">
+      <!-- 状态概览 -->
+      <section class="card">
+        <div class="running-header">
+          <div class="running-status" :class="missionState">
+            <span class="pulse"></span>
+            [[ missionStateText ]]
+          </div>
+          <div class="running-progress" v-if="missionState === 'running'">
+            <span>点位 [[ currentPoint + 1 ]] / [[ totalPoints ]]</span>
+            <div class="progress-bar">
+              <div class="progress-fill" :style="{width: progressPercent + '%'}"></div>
+            </div>
+          </div>
+        </div>
+        <div class="btn-row">
+          <button class="btn btn-success btn-large" @click="startMission" :disabled="missionState !== 'idle'">
+            ▶️ 开始任务
+          </button>
+          <button class="btn btn-warning btn-large" @click="pauseMission" :disabled="missionState !== 'running'">
+            ⏸️ 暂停
+          </button>
+          <button class="btn btn-error btn-large" @click="stopMission" :disabled="missionState === 'idle'">
+            ⏹️ 停止
+          </button>
+        </div>
+      </section>
+
+      <!-- 实时预览 -->
+      <section class="card">
+        <h2>📷 摄像头预览</h2>
+        <div class="camera-full">
+          <img :src="previewUrl" @error="onPreviewError">
+        </div>
+      </section>
+
+      <!-- 任务报告 -->
+      <section class="card" v-if="report">
+        <h2>📋 任务报告</h2>
+        <div class="report-summary">
+          <div class="stat ok">✅ 完成: [[ report.completed ]]</div>
+          <div class="stat error">❌ 失败: [[ report.failed ]]</div>
+          <div class="stat">总计: [[ report.total_points ]]</div>
+        </div>
+        <div class="report-details">
+          <div v-for="(detail, i) in report.details" :key="i" class="report-item">
+            <div class="report-point">
+              <span class="report-status" :class="detail.status">[[ detail.status === 'completed' ? '✅' : '❌' ]]</span>
+              [[ detail.point_name ]]
+            </div>
+            <div v-for="(pose, pi) in detail.poses" :key="pi" class="report-pose">
+              [[ pose.photo_type ]] - [[ pose.status ]]
+            </div>
+          </div>
+        </div>
+      </section>
+    </main>
+  </div>
+
+  <script src="/static/js/vue3.global.prod.js"></script>
+  <script src="/static/js/running.js"></script>
+</body>
+</html>
diff --git a/agv_app/templates/setting.html b/agv_app/templates/setting.html
new file mode 100644
index 0000000..a14e794
--- /dev/null
+++ b/agv_app/templates/setting.html
@@ -0,0 +1,507 @@
+<!DOCTYPE html>
+<html lang="zh-CN">
+<head>
+  <meta charset="UTF-8">
+  <meta name="viewport" content="width=device-width, initial-scale=1.0">
+  <title>设置 - AGV 拍摄系统</title>
+  <link rel="stylesheet" href="/static/css/style.css?v=20260514e">
+</head>
+<body>
+  <div id="app">
+    <header class="topbar">
+      <div class="logo">⚙️ 系统设置</div>
+      <nav class="nav">
+        <a href="/" class="nav-link">🏠 首页</a>
+        <href="/setting" class="nav-link active">⚙️ 设置</a>
+        <a href="/running" class="nav-link">▶️ 运行</a>
+      </nav>
+    </header>
+
+    <!-- Tabs -->
+    <div class="tabs">
+      <button class="tab" :class="{active: tab === 'map'}" @click="tab = 'map'">🗺️ 地图</button>
+      <button class="tab" :class="{active: tab === \'model\'}" @click="tab = \'model\'">📦 机型配置</button>
+      <button class="tab" :class="{active: tab === 'mission'}" @click="tab = 'mission'">🎯 任务配置</button>
+      <button class="tab" :class="{active: tab === 'arm'}" @click="tab = 'arm'">🤖 机械臂</button>
+      <button class="tab" :class="{active: tab === 'agv'}" @click="tab = 'agv'">🚗 AGV控制</button>
+    </div>
+
+    <main class="container">
+      <!-- 地图配置 (保持不变) -->
+      <div v-if="tab === 'map'">
+        <section class="card">
+          <h2>地图配置</h2>
+          <div class="form-row">
+            <div class="form-group">
+              <label>地图目录</label>
+              <input type="text" v-model="mapForm.map_dir" placeholder="/home/elephant/...">
+            </div>
+            <div class="form-group">
+              <label>地图文件</label>
+              <input type="text" v-model="mapForm.map_file" placeholder="map.yaml">
+            </div>
+            <div class="form-group" style="align-self:end">
+              <button class="btn btn-primary" @click="loadMap">📂 加载地图</button>
+              <button class="btn btn-secondary" @click="saveMap" style="margin-left:6px">💾 保存</button>
+            </div>
+          </div>
+          <p v-if="mapMsg" class="hint">{% raw %}{{ mapMsg }}{% endraw %}</p>
+        </section>
+        <section class="card" v-if="mapLoaded" style="margin-top:16px">
+          <h2>地图可视化</h2>
+          <div class="map-container" style="position:relative;background:#111;border-radius:8px;overflow:hidden">
+            <img :src="mapImageUrl" @error="onMapError" style="width:100%;display:block">
+            <!-- 地图覆盖层：显示点位坐标 -->
+            <div class="map-overlay">
+              <!-- 点位坐标点 -->
+              <div v-for="(p, pi) in missionConfig.positions" :key="'pdot-'+mapVersion+'-'+pi"
+                   class="map-dot point-dot"
+                   :style="{ left: getMapX(p.coords) + '%', top: getMapY(p.coords) + '%' }"
+                   :title="p.coords ? p.coords.map(c => c.toFixed(2)).join(', ') : ''">
+              </div>
+            </div>
+          </div>
+        </section>
+      </div>
+
+            <!-- ========== 机型配置 Tab ========== -->
+      <div v-if="tab === 'model'">
+        <section class="card">
+          <h2>📦 机型配置</h2>
+          
+          <!-- 添加新机型 -->
+          <div class="form-section" style="background:#f5f5f5;padding:16px;border-radius:8px;margin-bottom:20px">
+            <h3 style="margin-top:0">添加新机型</h3>
+            <div class="form-row">
+              <div class="form-group" style="flex:1">
+                <label>机型名称</label>
+                <input type="text" v-model="newModelName" placeholder="例如：SMT-A" style="width:100%;padding:8px;border:1px solid #ddd;border-radius:4px">
+              </div>
+            </div>
+            <div class="form-row">
+              <div class="form-group" style="flex:1">
+                <label>描述</label>
+                <input type="text" v-model="newModelDesc" placeholder="描述信息" style="width:100%;padding:8px;border:1px solid #ddd;border-radius:4px">
+              </div>
+              <div class="form-group" style="flex:1">
+                <label>备注</label>
+                <input type="text" v-model="newModelNotes" placeholder="备注信息" style="width:100%;padding:8px;border:1px solid #ddd;border-radius:4px">
+              </div>
+            </div>
+            <button class="btn btn-primary" @click="addModel" style="margin-top:8px">➕ 添加机型</button>
+          </div>
+          
+          <!-- 机型列表 -->
+          <div v-if="models.length === 0" style="text-align:center;color:#888;padding:40px">
+            <p>暂无机型配置，请添加新机型</p>
+          </div>
+          
+          <div v-else>
+            <div v-for="m in models" :key="m.id" style="border:1px solid #ddd;border-radius:8px;margin-bottom:20px;overflow:hidden">
+              <!-- 机型头部 -->
+              <div style="background:#e8f4e8;padding:12px 16px;display:flex;justify-content:space-between;align-items:center">
+                <div>
+                  <strong style="font-size:16px">{{ m.name }}</strong>
+                  <span style="margin-left:12px;color:#666;font-size:13px">ID: {{ m.id }}</span>
+                  <span v-if="m.description" style="margin-left:12px;color:#888;font-size:13px">{{ m.description }}</span>
+                  <span v-if="m.notes" style="margin-left:12px;color:#aaa;font-size:13px">【{{ m.notes }}】</span>
+                </div>
+                <div style="display:flex;gap:8px">
+                  <button class="btn btn-danger btn-small" @click="deleteModel(m.id)">🗑️ 删除机型</button>
+                </div>
+              </div>
+              
+              <!-- 姿态配置 -->
+              <div style="padding:16px">
+                <!-- 正面姿态 -->
+                <div style="margin-bottom:20px">
+                  <h4 style="margin:0 0 12px 0;color:#1976d2">🔵 正面姿态</h4>
+                  <div v-for="pose in m.poses.filter(p => p.photo_type === 'front')" :key="pose.id" style="background:#f8f8f8;padding:12px;border-radius:6px;margin-bottom:8px">
+                    <div style="display:flex;justify-content:space-between;align-items:center;margin-bottom:8px">
+                      <strong>{{ pose.name or '正面姿态' }}</strong>
+                      <button class="btn btn-danger btn-small" @click="deletePose(m.id, pose.id)">删除</button>
+                    </div>
+                    <div style="display:flex;gap:8px;flex-wrap:wrap">
+                      <div v-for="j in 6" :key="j" style="display:flex;align-items:center;gap:4px">
+                        <span style="font-size:12px;color:#666">J{{j}}</span>
+                        <input type="number" step="0.1" 
+                          :value="pose.arm_angles && pose.arm_angles[j-1] !== undefined ? pose.arm_angles[j-1] : 0"
+                          @change="updatePoseAngle(m.id, pose.id, j-1, )"
+                          style="width:70px;padding:4px;border:1px solid #ddd;border-radius:4px">
+                        <span style="font-size:11px;color:#999">°</span>
+                      </div>
+                    </div>
+                  </div>
+                  <!-- 添加正面姿态 -->
+                  <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）" 
+                        style="flex:1;min-width:120px;padding:6px;border:1px solid #ddd;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>
+                    <div style="margin-top:6px;font-size:12px;color:#888">
+                      当前机械臂角度: 
+                      <span v-if="currentAngles.length">
+                        J1={{ currentAngles[0]?.toFixed(1) }}° J2={{ currentAngles[1]?.toFixed(1) }}° J3={{ currentAngles[2]?.toFixed(1) }}° J4={{ currentAngles[3]?.toFixed(1) }}° J5={{ currentAngles[4]?.toFixed(1) }}° J6={{ currentAngles[5]?.toFixed(1) }}°
+                      </span>
+                      <span v-else>（未连接机械臂）</span>
+                    </div>
+                  </div>
+                </div>
+                
+                <!-- 背面姿态 -->
+                <div>
+                  <h4 style="margin:0 0 12px 0;color:#d32f2f">🔴 背面姿态</h4>
+                  <div v-for="pose in m.poses.filter(p => p.photo_type === 'back')" :key="pose.id" style="background:#fff0f0;padding:12px;border-radius:6px;margin-bottom:8px">
+                    <div style="display:flex;justify-content:space-between;align-items:center;margin-bottom:8px">
+                      <strong>{{ pose.name or '背面姿态' }}</strong>
+                      <button class="btn btn-danger btn-small" @click="deletePose(m.id, pose.id)">删除</button>
+                    </div>
+                    <div style="display:flex;gap:8px;flex-wrap:wrap">
+                      <div v-for="j in 6" :key="j" style="display:flex;align-items:center;gap:4px">
+                        <span style="font-size:12px;color:#666">J{{j}}</span>
+                        <input type="number" step="0.1" 
+                          :value="pose.arm_angles && pose.arm_angles[j-1] !== undefined ? pose.arm_angles[j-1] : 0"
+                          @change="updatePoseAngle(m.id, pose.id, j-1, )"
+                          style="width:70px;padding:4px;border:1px solid #ddd;border-radius:4px">
+                        <span style="font-size:11px;color:#999">°</span>
+                      </div>
+                    </div>
+                  </div>
+                  <!-- 添加背面姿态 -->
+                  <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）" 
+                        style="flex:1;min-width:120px;padding:6px;border:1px solid #ddd;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>
+                  </div>
+                </div>
+              </div>
+            </div>
+          </div>
+        </section>
+      </div>
+
+<!-- ========== 任务配置 Tab ========== -->
+      <div v-if="tab === 'mission'">
+
+        <!-- 上：网格配置 -->
+        <section class="card">
+          <h2>① 网格配置 (M×N)</h2>
+          <div class="form-row">
+            <div class="form-group">
+              <label>行数 M</label>
+              <input type="number" v-model.number="missionConfig.rows" min="1" max="20" placeholder="3">
+            </div>
+            <div class="form-group">
+              <label>列数 N</label>
+              <input type="number" v-model.number="missionConfig.cols" min="1" max="20" placeholder="4">
+            </div>
+            <div class="form-group" style="align-self:end">
+              <button class="btn btn-primary" @click="generateGrid">🔲 生成网格</button>
+              <button class="btn btn-secondary" @click="saveMissionConfig" style="margin-left:6px">💾 保存网格</button>
+            </div>
+          </div>
+
+          <!-- 网格可视化 - 点位行独立于机器，始终可配置 -->
+          <div v-if="missionConfig.rows > 0" class="mission-grid-wrap" style="margin-top:12px">
+            <div class="mission-grid" :style="{ gridTemplateColumns: '90px repeat(' + missionConfig.cols + ', 100px)' }">
+              <!-- 表头: 列号 -->
+              <div class="grid-cell grid-header"></div>
+              <div v-for="c in missionConfig.cols" :key="'h'+c" class="grid-cell grid-header">第{% raw %}{{ c }}{% endraw %}列</div>
+
+              <!-- 循环渲染: 点位行(0) → 机器行(1) → 点位行(1) → 机器行(2) → ... → 点位行(rows) -->
+              <!-- pointRow 从 0 到 rows（共 rows+1 个点位行）-->
+              <!-- machineRow 从 1 到 rows（共 rows 个机器行）-->
+
+              <!-- 第一个点位行 (pointRow=0): 所有机器的正面拍摄点 -->
+              <div class="grid-cell grid-header">点位行 1</div>
+              <div v-for="(ci) in missionConfig.cols" :key="'p0_'+ci"
+                   class="grid-cell point-cell"
+                   @click="openPointEdit(0, ci-1)">
+                <span class="point-coords">{% raw %}{{ getPointAt(0, ci-1)?.coords?.[0]?.toFixed(1) || '-' }},{{ getPointAt(0, ci-1)?.coords?.[1]?.toFixed(1) || '-' }}{% endraw %}</span>
+                <button class="btn-icon-small" title="配置坐标" @click.stop="openPointEdit(0, ci-1)">+</button>
+              </div>
+
+              <!-- 中间循环: 机器行 ri + 点位行 ri (ri from 1 to rows-1) -->
+              <template v-for="ri in (missionConfig.rows - 1)" :key="'mr'+ri">
+                <!-- 机器行 ri -->
+                <div class="grid-cell grid-header">机器行 {% raw %}{{ ri }}{% endraw %}</div>
+                <div v-for="(ci) in missionConfig.cols" :key="'m'+ri+'_'+ci"
+                     class="grid-cell"
+                     :class="{ active: getMachineAt(ri-1, ci-1) }"
+                     @click="onCellClick(ri-1, ci-1)">
+                  <template v-if="getMachineAt(ri-1, ci-1)">
+                    <div class="cell-machine">✅</div>
+                  </template>
+                  <span v-else class="empty-cell">⬜</span>
+                </div>
+
+                <!-- 点位行 ri+1 (pointRow=ri): 上面机器的背面 / 下面机器的正面 -->
+                <div class="grid-cell grid-header">点位行 {% raw %}{{ ri+1 }}{% endraw %}</div>
+                <div v-for="(ci) in missionConfig.cols" :key="'p'+(ri)+'_'+ci"
+                     class="grid-cell point-cell"
+                     @click="openPointEdit(ri, ci-1)">
+                  <span class="point-coords">{% raw %}{{ getPointAt(ri, ci-1)?.coords?.[0]?.toFixed(1) || '-' }},{{ getPointAt(ri, ci-1)?.coords?.[1]?.toFixed(1) || '-' }}{% endraw %}</span>
+                  <button class="btn-icon-small" title="配置坐标" @click.stop="openPointEdit(ri, ci-1)">+</button>
+                </div>
+              </template>
+
+              <!-- 最后一个机器行 (机器行 rows) -->
+              <div class="grid-cell grid-header">机器行 {% raw %}{{ missionConfig.rows }}{% endraw %}</div>
+              <div v-for="(ci) in missionConfig.cols" :key="'m'+missionConfig.rows+'_'+ci"
+                   class="grid-cell"
+                   :class="{ active: getMachineAt(missionConfig.rows-1, ci-1) }"
+                   @click="onCellClick(missionConfig.rows-1, ci-1)">
+                <template v-if="getMachineAt(missionConfig.rows-1, ci-1)">
+                  <div class="cell-machine">✅</div>
+                </template>
+                <span v-else class="empty-cell">⬜</span>
+              </div>
+
+              <!-- 最后一个点位行 (pointRow=rows): 所有机器的背面拍摄点 -->
+              <div class="grid-cell grid-header">点位行 {% raw %}{{ missionConfig.rows+1 }}{% endraw %}</div>
+              <div v-for="(ci) in missionConfig.cols" :key="'p'+missionConfig.rows+'_'+ci"
+                   class="grid-cell point-cell"
+                   @click="openPointEdit(missionConfig.rows, ci-1)">
+                <span class="point-coords">{% raw %}{{ getPointAt(missionConfig.rows, ci-1)?.coords?.[0]?.toFixed(1) || '-' }},{{ getPointAt(missionConfig.rows, ci-1)?.coords?.[1]?.toFixed(1) || '-' }}{% endraw %}</span>
+                <button class="btn-icon-small" title="配置坐标" @click.stop="openPointEdit(missionConfig.rows, ci-1)">+</button>
+              </div>
+            </div>
+            <p class="hint" style="margin-top:8px">点击「点位行」配置拍摄坐标；点击「机器行」切换有无机器<br>中间点位同时服务于上下两台机器（上机器背面 / 下机器正面），删除机器不影响点位配置</p>
+          </div>
+        </section>
+
+        <!-- 中：选中机器的配置 -->
+        <section class="card" v-if="selectedMachine && selectedMachine.front && selectedMachine.back" style="margin-top:16px">
+          <h2>② 点位配置 — 第{% raw %}{{ selectedMachine.row+1 }}{% endraw %}行 第{% raw %}{{ selectedMachine.col+1 }}{% endraw %}列 <button class="btn btn-small" @click="clearSelection()">← 返回</button></h2>
+
+          <!-- 正面点位 -->
+          <div class="machine-form">
+            <h3>📷 正面点位</h3>
+            <div class="form-row">
+              <div class="form-group">
+                <label>X 坐标</label>
+                <input type="number" step="0.01" v-model.number="selectedMachine.front.coords[0]" placeholder="0.00">
+              </div>
+              <div class="form-group">
+                <label>Y 坐标</label>
+                <input type="number" step="0.01" v-model.number="selectedMachine.front.coords[1]" placeholder="0.00">
+              </div>
+              <div class="form-group">
+                <label>Yaw (弧度)</label>
+                <input type="number" step="0.01" v-model.number="selectedMachine.front.coords[2]" placeholder="0.00">
+              </div>
+              <div class="form-group" style="align-self:end">
+                <button class="btn btn-small btn-primary" @click="readPosition('front')" :disabled="!agvConnected">📍 读取当前位置</button>
+              </div>
+            </div>
+            <!-- 正面姿态列表 -->
+            <div v-if="selectedMachine.front.poses && selectedMachine.front.poses.length > 0" class="pose-list">
+              <h4>正面姿态 ({% raw %}{{ selectedMachine.front.poses.length }}{% endraw %} 个)</h4>
+              <div v-for="pose in selectedMachine.front.poses" :key="pose.id" class="pose-item">
+                <span class="pose-name">{% raw %}{{ pose.name }}{% endraw %}</span>
+                <span class="pose-angles" v-if="pose.arm_angles">角度: {% raw %}{{ formatAngles(pose.arm_angles) }}{% endraw %}</span>
+                <button class="btn-icon" @click="deletePose(selectedMachine.id, 'front', pose.id)">🗑️</button>
+              </div>
+            </div>
+            <div class="pose-add">
+              <input type="text" v-model="poseForm.name" placeholder="姿态名称（如：正面全景）">
+              <button class="btn btn-small btn-success" @click="addPoseToMachine(selectedMachine.id, 'front')">➕ 添加姿态</button>
+            </div>
+          </div>
+
+          <!-- 背面点位 -->
+          <div class="machine-form" style="margin-top:16px">
+            <h3>📷 背面点位</h3>
+            <div class="form-row">
+              <div class="form-group">
+                <label>X 坐标</label>
+                <input type="number" step="0.01" v-model.number="selectedMachine.back.coords[0]" placeholder="0.00">
+              </div>
+              <div class="form-group">
+                <label>Y 坐标</label>
+                <input type="number" step="0.01" v-model.number="selectedMachine.back.coords[1]" placeholder="0.00">
+              </div>
+              <div class="form-group">
+                <label>Yaw (弧度)</label>
+                <input type="number" step="0.01" v-model.number="selectedMachine.back.coords[2]" placeholder="0.00">
+              </div>
+              <div class="form-group" style="align-self:end">
+                <button class="btn btn-small btn-primary" @click="readPosition('back')" :disabled="!agvConnected">📍 读取当前位置</button>
+              </div>
+            </div>
+            <!-- 背面姿态列表 -->
+            <div v-if="selectedMachine.back.poses && selectedMachine.back.poses.length > 0" class="pose-list">
+              <h4>背面姿态 ({% raw %}{{ selectedMachine.back.poses.length }}{% endraw %} 个)</h4>
+              <div v-for="pose in selectedMachine.back.poses" :key="pose.id" class="pose-item">
+                <span class="pose-name">{% raw %}{{ pose.name }}{% endraw %}</span>
+                <span class="pose-angles" v-if="pose.arm_angles">角度: {% raw %}{{ formatAngles(pose.arm_angles) }}{% endraw %}</span>
+                <button class="btn-icon" @click="deletePose(selectedMachine.id, 'back', pose.id)">🗑️</button>
+              </div>
+            </div>
+            <div class="pose-add">
+              <input type="text" v-model="poseForm.name" placeholder="姿态名称（如：背面细节）">
+              <button class="btn btn-small btn-success" @click="addPoseToMachine(selectedMachine.id, 'back')">➕ 添加姿态</button>
+            </div>
+          </div>
+
+          <div class="btn-row" style="margin-top:16px">
+            <button class="btn btn-danger" @click="deleteMachine(selectedMachine.id)">🗑️ 删除此机器</button>
+            <button class="btn btn-secondary" @click="saveMachineCoords">💾 保存此机器配置</button>
+          </div>
+        </section>
+
+        <!-- 下：序列预览 -->
+        <section class="card" v-if="sequence && sequence.length > 0" style="margin-top:16px">
+          <h2>③ 🐍 蛇形拍摄序列预览</h2>
+          <div class="sequence-preview">
+            <div v-for="(step, idx) in sequence" :key="idx" class="sequence-step">
+              <span class="step-index">{% raw %}{{ idx+1 }}{% endraw %}</span>
+              <span class="step-info">
+                第{% raw %}{{ step.row+1 }}{% endraw %}行 第{% raw %}{{ step.col+1 }}{% endraw %}列
+                <span class="step-side" :class="step.side">{% raw %}{{ step.side === 'front' ? '正面' : '背面' }}{% endraw %}</span>
+              </span>
+            </div>
+          </div>
+          <div class="btn-row" style="margin-top:12px">
+            <button class="btn btn-secondary" @click="refreshSequence">🔄 刷新序列</button>
+          </div>
+        </section>
+      </div>
+
+
+        <!-- 点位编辑弹窗（基于独立点位行模型） -->
+        <div v-if="editingPoint" class="modal-overlay" @click.self="closePointEdit">
+          <div class="modal-box" style="min-width:460px">
+            <div style="display:flex;align-items:center;justify-content:space-between;margin-bottom:14px">
+              <h3 style="margin:0">📍 点位配置 — {% raw %}{{ getPointOwnerLabel(editingPoint.pointRow, editingPoint.col) }}{% endraw %}</h3>
+              <button class="btn-icon" @click="closePointEdit">✕</button>
+            </div>
+            <div style="margin-bottom:14px">
+              <div class="form-row">
+                <div class="form-group">
+                  <label>X</label>
+                  <input type="number" step="0.01" v-model.number="pointEditor.x" placeholder="0.00">
+                </div>
+                <div class="form-group">
+                  <label>Y</label>
+                  <input type="number" step="0.01" v-model.number="pointEditor.y" placeholder="0.00">
+                </div>
+                <div class="form-group">
+                  <label>Yaw (rad)</label>
+                  <input type="number" step="0.01" v-model.number="pointEditor.yaw" placeholder="0.00">
+                </div>
+              </div>
+              <div class="hint" style="margin-top:4px">
+                当前: ({% raw %}{{ pointEditor.x.toFixed(2) }}{% endraw %}, {% raw %}{{ pointEditor.y.toFixed(2) }}{% endraw %}, {% raw %}{{ pointEditor.yaw.toFixed(2) }}{% endraw %})
+              </div>
+              <div class="hint" style="margin-top:6px;font-size:12px;color:#888">
+                💡 此点位服务于: {% raw %}{{ getPointOwnerLabel(editingPoint.pointRow, editingPoint.col).split('·')[1] || '无' }}{% endraw %}
+              </div>
+            </div>
+            <div class="btn-row">
+              <button class="btn btn-primary" @click="loadPointFromAgv" :disabled="!agvConnected">📍 从AGV读取</button>
+              <button class="btn btn-success" @click="savePoint">💾 保存</button>
+              <button class="btn btn-warning" @click="clearPoint" :disabled="canClearPoint(editingPoint.pointRow, editingPoint.col)">🗑️ 清空</button>
+              <button class="btn btn-secondary" @click="closePointEdit">取消</button>
+            </div>
+          </div>
+        </div>
+
+<!-- 机械臂控制 (保持不变) -->
+      <div v-if="tab === 'arm'">
+        <section class="card">
+          <h2>🤖 机械臂控制</h2>
+          <div v-if="!armConnected" class="alert alert-error">
+            ⚠️ 机械臂未连接，请先在首页连接设备
+          </div>
+          <div v-else>
+            <div class="camera-preview">
+              <img :src="previewUrl" @error="onPreviewError">
+            </div>
+            <div class="joints-panel">
+              <h3>关节角度控制</h3>
+              <div class="joint-grid">
+                <div v-for="j in 6" :key="j" class="joint-control">
+                  <label>J{% raw %}{{ j }}{% endraw %}</label>
+                  <div class="joint-value">{% raw %}{{ currentAngles[j-1] ? currentAngles[j-1].toFixed(1) : '—' }}{% endraw %}°</div>
+                  <div class="joint-buttons">
+                    <button @mousedown="jogStart(j-1, -1)" @mouseup="jogStop(j-1)" @mouseleave="jogStop(j-1)">◀</button>
+                    <input type="number" v-model.number="angleInputs[j-1]" step="0.5" @change="setAngle(j-1, angleInputs[j-1])">
+                    <button @mousedown="jogStart(j-1, 1)" @mouseup="jogStop(j-1)" @mouseleave="jogStop(j-1)">▶</button>
+                  </div>
+                </div>
+              </div>
+              <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>
+              </div>
+            </div>
+          </div>
+        </section>
+      </div>
+
+      <!-- AGV 移动控制 (保持不变) -->
+      <div v-if="tab === 'agv'">
+        <section class="card">
+          <h2>🚗 AGV 移动控制</h2>
+          <div v-if="!agvConnected" class="alert alert-error">
+            ⚠️ AGV 未连接，请先在首页连接设备
+          </div>
+          <div v-else>
+            <div v-show="cameraOpened" class="camera-preview" style="margin-bottom:16px">
+              <img :src="agvCameraUrl" style="width:100%;max-width:480px;aspect-ratio:16/9;object-fit:cover;border-radius:8px" @error="agvCameraUrl=''">
+            </div>
+            <div class="agv-status-bar">
+              <span>🔋 电压: <strong>{% raw %}{{ agvBattery !== null ? agvBattery + 'V' : '—' }}{% endraw %}</strong></span>
+              <span v-if="agvPosition">📍 位置: <strong>X={% raw %}{{ agvPosition[0] ? agvPosition[0].toFixed(2) : '?' }}{% endraw %} Y={% raw %}{{ agvPosition[1] ? agvPosition[1].toFixed(2) : '?' }}{% endraw %}</strong></span>
+              <button class="btn btn-small" @click="refreshAgvPosition">🔄 刷新</button>
+            </div>
+            <div class="agv-control-panel">
+              <div class="agv-dir-row">
+                <div class="agv-dir-placeholder"></div>
+                <button class="agv-btn agv-btn-up" @mousedown="agvMoveStart('forward')" @mouseup="agvMoveStop" @mouseleave="agvMoveStop">⬆️ 前进</button>
+                <div class="agv-dir-placeholder"></div>
+              </div>
+              <div class="agv-dir-row">
+                <button class="agv-btn agv-btn-left" @mousedown="agvMoveStart('left')" @mouseup="agvMoveStop" @mouseleave="agvMoveStop">↺ 左转</button>
+                <button class="agv-btn agv-btn-stop" @click="agvStop">🛑</button>
+                <button class="agv-btn agv-btn-right" @mousedown="agvMoveStart('right')" @mouseup="agvMoveStop" @mouseleave="agvMoveStop">↻ 右转</button>
+              </div>
+              <div class="agv-dir-row">
+                <div class="agv-dir-placeholder"></div>
+                <button class="agv-btn agv-btn-down" @mousedown="agvMoveStart('backward')" @mouseup="agvMoveStop" @mouseleave="agvMoveStop">⬇️ 后退</button>
+                <div class="agv-dir-placeholder"></div>
+              </div>
+            </div>
+            <div class="agv-lateral-row">
+              <button class="agv-btn agv-btn-lateral" @mousedown="agvMoveStart('left_lateral')" @mouseup="agvMoveStop" @mouseleave="agvMoveStop">⬅️ 向左平移</button>
+              <button class="agv-btn agv-btn-lateral" @mousedown="agvMoveStart('right_lateral')" @mouseup="agvMoveStop" @mouseleave="agvMoveStop">向右平移 ➡️</button>
+            </div>
+            <div class="form-row" style="margin-top:16px; max-width:400px">
+              <div class="form-group">
+                <label>移动速度</label>
+                <div class="speed-control">
+                  <input type="range" v-model.number="agvSpeed" min="0.1" max="1.0" step="0.1" style="flex:1">
+                  <span class="speed-value">{% raw %}{{ (agvSpeed * 100).toFixed(0) }}{% endraw %}%</span>
+                </div>
+              </div>
+            </div>
+            <div class="btn-row" style="margin-top:12px">
+              <button class="btn btn-danger" @click="agvResetCollision">🔄 撞物体后复位</button>
+              <button class="btn btn-secondary" @click="agvStop">🛑 立即停止</button>
+            </div>
+          </div>
+        </section>
+      </div>
+    </main>
+  </div>
+
+  <script src="/static/js/vue3.global.prod.js?v=20260513b"></script>
+  <script src="/static/js/setting.js?v=20260514k"></script>
+</body>
+</html>
diff --git a/agv_app/templates/setting.js b/agv_app/templates/setting.js
new file mode 100644
index 0000000..217f9e8
--- /dev/null
+++ b/agv_app/templates/setting.js
@@ -0,0 +1,438 @@
+const { createApp } = Vue
+const API = ''
+
+createApp({
+  data() {
+    return {
+      tab: 'map',
+      // 任务配置
+      missionConfig: { rows: 3, cols: 3, grid: [], machines: [] },
+      selectedMachine: null,
+      // 地图
+      mapForm: { map_dir: '/home/elephant/agv_pro_ros2/src/agv_pro_navigation2/map/', map_file: 'map.yaml' },
+      mapMsg: '',
+      mapLoaded: false,
+      mapImageUrl: '',
+      mapMeta: null,
+      // 点位
+      points: [],
+      newPointName: '',
+      newPointMode: 'front',
+      newPointSequence: ['front', 'back'],
+      // 机型（姿态组）
+      models: [],
+      selectedModelId: null,
+      newModelName: '',
+      newModelSerial: '',
+      poseForm: {},
+      // 机械臂
+      armConnected: false,
+      currentAngles: [],
+      angleInputs: [],
+      previewUrl: API + '/api/camera/preview',
+      jogIntervals: {},
+      // AGV
+      cameraOpened: false,
+      agvConnected: false,
+      agvBattery: null,
+      agvPosition: null,
+      agvSpeed: 0.5,
+      agvMoveInterval: null,
+      agvCameraUrl: API + '/api/camera/refresh',
+      agvCameraTimer: null,
+    }
+  },
+  mounted() {
+    this.refresh()
+    this.refreshAngles()
+  },
+  watch: {
+    tab(val) {
+      if (val === 'agv') {
+        this.agvCameraTimer = setInterval(() => {
+          this.agvCameraUrl = API + '/api/camera/refresh?t=' + Date.now()
+        }, 1000)
+      } else {
+        if (this.agvCameraTimer) {
+          clearInterval(this.agvCameraTimer)
+          this.agvCameraTimer = null
+        }
+      }
+    }
+  },
+  beforeUnmount() {
+    Object.values(this.jogIntervals).forEach(i => clearInterval(i))
+    if (this.agvCameraTimer) clearInterval(this.agvCameraTimer)
+  },
+  methods: {
+    async refresh() {
+      try {
+        const res = await fetch(API + '/api/status')
+        const data = await res.json()
+        this.agvConnected = data.agv_connected
+        this.armConnected = data.arm_connected
+        this.cameraOpened = data.camera_opened
+        this.mapLoaded = data.map_loaded
+        // 如果地图已加载，自动获取地图图像和元数据
+        if (data.map_loaded) {
+          this.mapImageUrl = API + '/api/map/image?t=' + Date.now()
+          try {
+            const metaRes = await fetch(API + '/api/map/meta')
+            const meta = await metaRes.json()
+            if (meta.ok) this.mapMeta = meta
+          } catch (e) {}
+        }
+      } catch (e) {}
+      await this.loadAllPoints()
+      await this.loadAllModels()
+    },
+    // === 地图 ===
+    async loadMap() {
+      const res = await fetch(API + '/api/map/load', {
+        method: 'POST',
+        headers: { 'Content-Type': 'application/json' },
+        body: JSON.stringify(this.mapForm)
+      })
+      const data = await res.json()
+      this.mapMsg = data.ok ? '✅ 地图加载成功' : '❌ ' + (data.error || '加载失败')
+      this.mapLoaded = data.ok
+      if (data.ok) {
+        this.mapImageUrl = API + '/api/map/image?t=' + Date.now()
+        try {
+          const metaRes = await fetch(API + '/api/map/meta')
+          const meta = await metaRes.json()
+          if (meta.ok) this.mapMeta = meta
+        } catch (e) {}
+      }
+    },
+    onMapError() {
+      this.mapMsg = '❌ 地图图像加载失败'
+    },
+    getMapX(coords) {
+      if (!coords || !this.mapMeta) return 50
+      const [x, y, yaw] = coords
+      const { resolution, origin, width } = this.mapMeta
+      const px = (x - origin[0]) / (resolution * width) * 100
+      return Math.max(0, Math.min(100, px))
+    },
+    getMapY(coords) {
+      if (!coords || !this.mapMeta) return 50
+      const [x, y, yaw] = coords
+      const { resolution, origin, height } = this.mapMeta
+      const py = (y - origin[1]) / (resolution * height) * 100
+      return Math.max(0, Math.min(100, 100 - py))
+    },
+    async saveMap() {
+      await fetch(API + '/api/map/save', {
+        method: 'POST',
+        headers: { 'Content-Type': 'application/json' },
+        body: JSON.stringify(this.mapForm)
+      })
+      this.mapMsg = '✅ 地图配置已保存'
+    },
+    // === 点位 ===
+    async loadAllPoints() {
+      const res = await fetch(API + '/api/points/list')
+      const data = await res.json()
+      this.points = data.points || []
+    },
+    async addPoint() {
+      const res = await fetch(API + '/api/points/add', {
+        method: 'POST',
+        headers: { 'Content-Type': 'application/json' },
+        body: JSON.stringify({
+          name: this.newPointName || 'point_' + (this.points.length + 1),
+          photo_mode: this.newPointMode,
+          sequence: this.newPointSequence
+        })
+      })
+      const data = await res.json()
+      if (data.ok) {
+        await this.loadAllPoints()
+        this.newPointName = ''
+      }
+    },
+    async deletePoint(id) {
+      if (!confirm('确定删除该点位?')) return
+      await fetch(API + '/api/points/delete/' + id, { method: 'DELETE' })
+      await this.loadAllPoints()
+    },
+    async saveAllPoints() {
+      await fetch(API + '/api/points/save', {
+        method: 'POST',
+        headers: { 'Content-Type': 'application/json' },
+        body: JSON.stringify({ points: this.points })
+      })
+      alert('点位已保存')
+    },
+    getPoint(id) {
+      return this.points.find(p => p.id === id)
+    },
+    formatAngles(angles) {
+      if (!angles) return '—'
+      return angles.map(a => (a || 0).toFixed(1) + '°').join(' / ')
+    },
+    // === 机型管理 ===
+    async loadAllModels() {
+      const res = await fetch(API + '/api/models/list')
+      const data = await res.json()
+      this.models = data.models || []
+      // 初始化 poseForm
+      this.models.forEach(m => {
+        if (!this.poseForm[m.id]) {
+          this.poseForm[m.id] = { name: '', photo_type: 'front', description: '' }
+        }
+      })
+    },
+    async addModel() {
+      const res = await fetch(API + '/api/models/add', {
+        method: 'POST',
+        headers: { 'Content-Type': 'application/json' },
+        body: JSON.stringify({
+          name: this.newModelName || 'model_' + (this.models.length + 1),
+          serial_prefix: this.newModelSerial,
+          description: ''
+        })
+      })
+      const data = await res.json()
+      if (data.ok) {
+        await this.loadAllModels()
+        this.newModelName = ''
+        this.newModelSerial = ''
+      }
+    },
+    async deleteModel(modelId) {
+      if (!confirm('确定删除该机型？其下所有姿态将被删除！')) return
+      await fetch(API + '/api/models/delete/' + modelId, { method: 'DELETE' })
+      await this.loadAllModels()
+    },
+    // === 姿态管理（属于机型）===
+    async addPose(modelId) {
+      const form = this.poseForm[modelId]
+      if (!form) return
+      await fetch(API + '/api/models/poses/add', {
+        method: 'POST',
+        headers: { 'Content-Type': 'application/json' },
+        body: JSON.stringify({
+          model_id: modelId,
+          name: form.name || '姿态' + ((this.getModel(modelId)?.poses?.length || 0) + 1),
+          photo_type: form.photo_type,
+          arm_angles: this.currentAngles,
+          speed: 500,
+          description: form.description || ''
+        })
+      })
+      await this.loadAllModels()
+      form.name = ''
+      form.description = ''
+    },
+    async deletePose(modelId, poseId) {
+      if (!confirm('确定删除该姿态？')) return
+      await fetch(API + '/api/models/' + modelId + '/poses/' + poseId, { method: 'DELETE' })
+      await this.loadAllModels()
+    },
+    getModel(id) {
+      return this.models.find(m => m.id === id)
+    },
+    // === 机械臂 ===
+
+    clearSelection() { this.selectedMachine = null },
+    async saveMachineCoords() {
+      if (!this.selectedMachine) return
+      try {
+        const res = await fetch(API + '/api/mission/machines/' + this.selectedMachine.id, {
+          method: 'PATCH',
+          headers: { 'Content-Type': 'application/json' },
+          body: JSON.stringify({
+            front: this.selectedMachine.front,
+            back: this.selectedMachine.back
+          })
+        })
+        if (res.ok) {
+          this.mapMsg = '✅ 机器坐标已保存'
+          setTimeout(() => this.mapMsg = '', 2000)
+        } else {
+          alert('保存失败: ' + res.status)
+        }
+      } catch (e) { alert('保存失败: ' + e.message) }
+    },
+    selectMachine(machine) {
+      // 确保 front/back 永远有 coords 数组，避免 v-model 赋值失败
+      if (!machine.front) machine.front = { coords: [0, 0, 0], poses: [] }
+      else if (!Array.isArray(machine.front.coords)) machine.front.coords = [0, 0, 0]
+      if (!machine.back) machine.back = { coords: [0, 0, 0], poses: [] }
+      else if (!Array.isArray(machine.back.coords)) machine.back.coords = [0, 0, 0]
+      this.selectedMachine = machine
+      console.log('selectedMachine:', machine)
+    },
+    onCellClick(ri, ci) {
+      let m = this.getMachineAt(ri, ci)
+      if (!m) {
+        // 自动创建机器记录
+        this.createMachine(ri, ci).then(() => {
+          m = this.getMachineAt(ri, ci)
+          if (m) this.selectMachine(m)
+        })
+      } else {
+        this.selectMachine(m)
+      }
+    },
+    async createMachine(ri, ci) {
+      try {
+        const res = await fetch(API + '/api/mission/machines', {
+          method: 'POST',
+          headers: { 'Content-Type': 'application/json' },
+          body: JSON.stringify({ row: ri, col: ci, front: { coords: [0, 0, 0], poses: [] }, back: { coords: [0, 0, 0], poses: [] } })
+        })
+        await this.loadAllMachines()
+        return res.ok
+      } catch (e) { alert('创建机器失败: ' + e.message); return false }
+    },
+
+    async loadAllMachines() {
+      try {
+        const res = await fetch(API + '/api/mission/machines')
+        const data = await res.json()
+        this.missionConfig.machines = data.machines || []
+      } catch (e) { console.error('加载机器列表失败', e) }
+    },
+    getMachineAt(ri, ci) {
+      if (!this.missionConfig.machines) return null
+      return this.missionConfig.machines.find(m => m.row === ri && m.col === ci) || null
+    },
+    getPositionAt(ri, ci) {
+      if (!this.missionConfig.machines) return null
+      const machine = this.getMachineAt(ri, ci)
+      if (!machine) return null
+      if (ri === 0) return machine.front
+      const prevMachine = this.getMachineAt(ri - 1, ci)
+      return prevMachine ? prevMachine.back : machine.front
+    },
+    async refreshAngles() {
+      if (!this.armConnected) return
+      try {
+        const res = await fetch(API + '/api/arm/get_angles')
+        const data = await res.json()
+        if (data.ok && data.angles) {
+          this.currentAngles = data.angles
+          this.angleInputs = [...data.angles]
+        }
+      } catch (e) {}
+    },
+    async setAngle(idx, val) {
+      await fetch(API + '/api/arm/set_angle', {
+        method: 'POST',
+        headers: { 'Content-Type': 'application/json' },
+        body: JSON.stringify({ joint: 'J' + (idx + 1), angle: val })
+      })
+    },
+    async applyAngles() {
+      await fetch(API + '/api/arm/set_angles', {
+        method: 'POST',
+        headers: { 'Content-Type': 'application/json' },
+        body: JSON.stringify({ angles: this.angleInputs, speed: 500 })
+      })
+    },
+    jogStart(idx, dir) {
+      const joint = 'J' + (idx + 1)
+      fetch(API + '/api/arm/jog', {
+        method: 'POST',
+        headers: { 'Content-Type': 'application/json' },
+        body: JSON.stringify({ joint, direction: dir })
+      })
+      this.jogIntervals[idx] = setInterval(() => this.refreshAngles(), 200)
+    },
+    jogStop(idx) {
+      clearInterval(this.jogIntervals[idx])
+      const joint = 'J' + (idx + 1)
+      fetch(API + '/api/arm/jog', {
+        method: 'POST',
+        headers: { 'Content-Type': 'application/json' },
+        body: JSON.stringify({ joint, direction: 0 })
+      })
+      setTimeout(() => this.refreshAngles(), 300)
+    },
+    onPreviewError(e) {
+      e.target.style.display = 'none'
+    },
+    // === AGV 控制 ===
+    async refreshAgvPosition() {
+      if (!this.agvConnected) return
+      try {
+        const res = await fetch(API + '/api/agv/position')
+        const data = await res.json()
+        if (data.ok) {
+          this.agvPosition = data.position
+          this.agvBattery = data.battery
+        }
+      } catch (e) {}
+    },
+    agvMoveStart(dir) {
+      if (!this.agvConnected) return
+      fetch(API + '/api/agv/move', {
+        method: 'POST',
+        headers: { 'Content-Type': 'application/json' },
+        body: JSON.stringify({ direction: dir, speed: this.agvSpeed })
+      })
+    },
+    agvMoveStop() {
+      fetch(API + '/api/agv/move', {
+        method: 'POST',
+        headers: { 'Content-Type': 'application/json' },
+        body: JSON.stringify({ direction: 'stop' })
+      })
+    },
+    async agvStop() {
+      await fetch(API + '/api/agv/stop', { method: 'POST' })
+    },
+    async agvResetCollision() {
+      if (!this.agvConnected) {
+        alert('AGV 未连接')
+        return
+      }
+      if (!confirm('确定执行撞物体后复位？')) return
+      try {
+        const res = await fetch(API + '/api/agv/reset', { method: 'POST' })
+        const data = await res.json()
+        if (data.ok) {
+          alert('✅ ' + data.message)
+          await this.refresh()
+          await this.refreshAgvPosition()
+        } else {
+          alert('❌ 复位失败: ' + (data.error || '未知错误'))
+        }
+      } catch (e) {
+        alert('❌ 复位请求失败: ' + e.message)
+      }
+    },
+    async capturePosition(ri, ci, side) {
+      if (!this.agvConnected) { alert('请先连接AGV'); return }
+      let machine = this.getMachineAt(ri, ci)
+      if (!machine) {
+        try {
+          const res = await fetch(API + '/api/mission/machines', {
+            method: 'POST',
+            headers: { 'Content-Type': 'application/json' },
+            body: JSON.stringify({ row: ri, col: ci, front: { coords: [0, 0, 0], poses: [] }, back: { coords: [0, 0, 0], poses: [] } })
+          })
+          if (!res.ok) throw new Error('创建失败')
+          await this.loadAllMachines()
+          machine = this.getMachineAt(ri, ci)
+        } catch (e) { alert('创建机器失败: ' + e.message); return }
+      }
+      try {
+        const res = await fetch(API + '/api/agv/position')
+        const pos = await res.json()
+        let x = 0, y = 0, theta = 0
+        if (pos.position && Array.isArray(pos.position)) { x = pos.position[0]||0; y = pos.position[1]||0; theta = pos.position[2]||0 }
+        if (!machine) { machine = this.getMachineAt(ri, ci) }
+        if (!machine) { alert('机器记录不存在'); return }
+        if (side === 'front') { machine.front.coords = [x, y, theta] } else { machine.back.coords = [x, y, theta] }
+        await fetch(API + '/api/mission/machines/' + machine.id, {
+          method: 'PUT', headers: { 'Content-Type': 'application/json' }, body: JSON.stringify(machine)
+        })
+        alert((side==='front'?'正面':'背面')+'点位已更新: ('+x.toFixed(2)+','+y.toFixed(2)+','+theta.toFixed(2)+')')
+      } catch (e) { alert('读取位置失败: '+e.message) }
+    },
+  }
+}).mount('#app')
diff --git a/agv_app/utils/__init__.py b/agv_app/utils/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/agv_app/utils/agv_controller.py b/agv_app/utils/agv_controller.py
new file mode 100644
index 0000000..8ce8d23
--- /dev/null
+++ b/agv_app/utils/agv_controller.py
@@ -0,0 +1,161 @@
+"""
+AGV 导航控制模块 - 通过 pymycobot 控制 AGV 运动
+"""
+import time
+import logging
+from typing import Tuple, Optional, List
+
+logger = logging.getLogger(__name__)
+
+# 尝试导入 pymycobot
+try:
+    from pymycobot import MyAGVPro
+    MYCOBOT_AVAILABLE = True
+except ImportError:
+    MYCOBOT_AVAILABLE = False
+    logger.warning("pymycobot 未安装，AGV 控制功能不可用")
+
+
+class AGVController:
+    """AGV 运动控制"""
+
+    def __init__(self, device: str = "/dev/agvpro_controller", baudrate: int = 1000000):
+        self.device = device
+        self.baudrate = baudrate
+        self._agv: Optional[MyAGVPro] = None
+        self._connected = False
+
+    def connect(self) -> bool:
+        """连接 AGV"""
+        if not MYCOBOT_AVAILABLE:
+            logger.error("pymycobot 不可用")
+            return False
+        try:
+            self._agv = MyAGVPro(self.device, self.baudrate, debug=False)
+            # 检查是否上电
+            if self._agv.is_power_on():
+                self._connected = True
+                logger.info("AGV 连接成功")
+                return True
+            else:
+                logger.warning("AGV 未上电，尝试上电...")
+                self._agv.power_on()
+                time.sleep(2)
+                if self._agv.is_power_on():
+                    self._connected = True
+                    return True
+                return False
+        except Exception as e:
+            logger.error(f"AGV 连接失败: {e}")
+            return False
+
+    def is_connected(self) -> bool:
+        return self._connected and self._agv is not None
+
+    def move_forward(self, speed: float = 0.5, duration: float = None):
+        """前进"""
+        if not self.is_connected():
+            return
+        self._agv.move_forward(speed)
+        if duration:
+            time.sleep(duration)
+            self.stop()
+
+    def move_backward(self, speed: float = 0.5, duration: float = None):
+        """后退"""
+        if not self.is_connected():
+            return
+        self._agv.move_backward(speed)
+        if duration:
+            time.sleep(duration)
+            self.stop()
+
+    def turn_left(self, speed: float = 0.5, duration: float = None):
+        """左转"""
+        if not self.is_connected():
+            return
+        self._agv.turn_left(speed)
+        if duration:
+            time.sleep(duration)
+            self.stop()
+
+    def turn_right(self, speed: float = 0.5, duration: float = None):
+        """右转"""
+        if not self.is_connected():
+            return
+        self._agv.turn_right(speed)
+        if duration:
+            time.sleep(duration)
+            self.stop()
+
+    def move_left_lateral(self, speed: float = 0.5, duration: float = None):
+        """向左横向移动"""
+        if not self.is_connected():
+            return
+        self._agv.move_left_lateral(speed)
+        if duration:
+            time.sleep(duration)
+            self.stop()
+
+    def move_right_lateral(self, speed: float = 0.5, duration: float = None):
+        """向右横向移动"""
+        if not self.is_connected():
+            return
+        self._agv.move_right_lateral(speed)
+        if duration:
+            time.sleep(duration)
+            self.stop()
+
+    def stop(self):
+        """停止"""
+        if self.is_connected():
+            self._agv.stop()
+
+    def get_position(self) -> Optional[List[float]]:
+        """获取 AGV 当前位置 [x, y, rz]"""
+        if not self.is_connected():
+            return None
+        try:
+            # 启用自动报告以获取位置
+            self._agv.set_auto_report_state(1)
+            time.sleep(0.5)
+            msg = self._agv.get_auto_report_message()
+            if msg and len(msg) >= 3:
+                return [msg[0], msg[1], msg[2]]
+        except Exception as e:
+            logger.error(f"获取 AGV 位置失败: {e}")
+        return None
+
+    def go_to_point(self, x: float, y: float, rz: float = None, speed: float = 0.5) -> bool:
+        """移动到目标点（简单的方向控制实现）"""
+        # 注意：AGV Pro 的 pymycobot 没有直接 goto API
+        # 需要 ROS2 SLAM 导航支持，此处提供基础运动接口
+        # 实际导航需要结合地图和路径规划
+        logger.warning("go_to_point 需要 ROS2 导航支持，当前仅记录目标")
+        return True
+
+    def get_battery(self) -> Optional[float]:
+        """获取电池电压"""
+        if not self.is_connected():
+            return None
+        try:
+            self._agv.set_auto_report_state(1)
+            msg = self._agv.get_auto_report_message()
+            if msg and len(msg) > 5:
+                return msg[5]  # 电池电压
+        except:
+            pass
+        return None
+
+    def disconnect(self):
+        if self._agv:
+            self.stop()
+            self._agv = None
+            self._connected = False
+
+    def __enter__(self):
+        self.connect()
+        return self
+
+    def __exit__(self, *args):
+        self.disconnect()
\ No newline at end of file
diff --git a/agv_app/utils/agv_controller_ros2.py b/agv_app/utils/agv_controller_ros2.py
new file mode 100644
index 0000000..e2ea2c4
--- /dev/null
+++ b/agv_app/utils/agv_controller_ros2.py
@@ -0,0 +1,236 @@
+"""
+AGV 导航控制模块 - 通过 ROS2 控制 AGV 运动
+使用 ros2 CLI 命令进行通信，避免 rclpy 导入问题
+"""
+import time
+import subprocess
+import json
+import logging
+import math
+from typing import Tuple, Optional, List
+
+logger = logging.getLogger(__name__)
+
+# ROS2 环境设置
+ROS2_SETUP_CMD = "export ROS_DOMAIN_ID=1 && source ~/agv_pro_ros2/install/setup.bash"
+
+
+class AGVController:
+    """AGV 运动控制 - ROS2 版本"""
+
+    def __init__(self, device: str = "/dev/agvpro_controller", baudrate: int = 1000000):
+        self.device = device
+        self.baudrate = baudrate
+        self._connected = False
+        self._position = [0.0, 0.0, 0.0]  # [x, y, yaw]
+        self._voltage = 0.0
+        self._ros2_available = False
+
+    def _run_ros2_cmd(self, cmd: str, timeout: float = 5.0) -> tuple:
+        """执行 ros2 命令"""
+        full_cmd = f"bash -c '{ROS2_SETUP_CMD} && {cmd}'"
+        try:
+            result = subprocess.run(
+                full_cmd,
+                shell=True,
+                capture_output=True,
+                text=True,
+                timeout=timeout
+            )
+            return result.returncode, result.stdout.strip(), result.stderr.strip()
+        except subprocess.TimeoutExpired:
+            return -1, "", "Timeout"
+        except Exception as e:
+            return -1, "", str(e)
+
+    def connect(self) -> bool:
+        """连接 AGV - 检查 ROS2 节点和 topic"""
+        try:
+            # 检查 agv_pro_node 是否运行
+            rc, out, err = self._run_ros2_cmd("ros2 node list")
+            if rc != 0:
+                logger.error(f"ROS2 节点列表获取失败: {err}")
+                return False
+
+            if "/agv_pro_node" not in out:
+                logger.error("agv_pro_node 未运行")
+                return False
+
+            # 检查 /odom topic
+            rc, out, err = self._run_ros2_cmd("ros2 topic list")
+            if "/odom" not in out:
+                logger.error("/odom topic 不存在")
+                return False
+
+            # 尝试获取一次位置数据
+            rc, out, err = self._run_ros2_cmd(
+                "timeout 5 ros2 topic echo /odom 2>timeout 10 ros2 topic echo /odom --once 2>/dev/null1 | head -1",
+                timeout=6
+            )
+
+            if rc == 0 and out:
+                self._connected = True
+                self._ros2_available = True
+                logger.info("AGV ROS2 连接成功")
+                return True
+            else:
+                # /odom 可能暂时没数据，但节点存在也算连接成功
+                self._connected = True
+                self._ros2_available = True
+                logger.info("AGV ROS2 连接成功 (节点存在，等待 odom 数据)")
+                return True
+
+        except Exception as e:
+            logger.error(f"AGV 连接失败: {e}")
+            return False
+
+    def is_connected(self) -> bool:
+        return self._connected
+
+    def _publish_cmd_vel(self, linear_x: float = 0.0, linear_y: float = 0.0, angular_z: float = 0.0):
+        """发布速度命令到 /cmd_vel"""
+        # 直接执行，避免引号嵌套问题
+        msg = f'{{"linear": {{"x": {linear_x}, "y": {linear_y}, "z": 0.0}}, "angular": {{"x": 0.0, "y": 0.0, "z": {angular_z}}}}}'
+        full_cmd = f"bash -c '{ROS2_SETUP_CMD} && ros2 topic pub /cmd_vel geometry_msgs/msg/Twist \"{msg}\" --once'"
+        try:
+            result = subprocess.run(
+                full_cmd,
+                shell=True,
+                capture_output=True,
+                text=True,
+                timeout=5
+            )
+            if result.returncode != 0:
+                logger.warning(f"发布 cmd_vel 失败: {result.stderr.strip()}")
+        except subprocess.TimeoutExpired:
+            logger.warning("发布 cmd_vel 超时")
+        except Exception as e:
+            logger.warning(f"发布 cmd_vel 失败: {e}")
+
+    def move_forward(self, speed: float = 0.5, duration: float = None):
+        """前进"""
+        if not self.is_connected():
+            return
+        self._publish_cmd_vel(linear_x=speed)
+        if duration:
+            time.sleep(duration)
+            self.stop()
+
+    def move_backward(self, speed: float = 0.5, duration: float = None):
+        """后退"""
+        if not self.is_connected():
+            return
+        self._publish_cmd_vel(linear_x=-speed)
+        if duration:
+            time.sleep(duration)
+            self.stop()
+
+    def turn_left(self, speed: float = 0.5, duration: float = None):
+        """左转"""
+        if not self.is_connected():
+            return
+        self._publish_cmd_vel(angular_z=speed)
+        if duration:
+            time.sleep(duration)
+            self.stop()
+
+    def turn_right(self, speed: float = 0.5, duration: float = None):
+        """右转"""
+        if not self.is_connected():
+            return
+        self._publish_cmd_vel(angular_z=-speed)
+        if duration:
+            time.sleep(duration)
+            self.stop()
+
+    def move_left_lateral(self, speed: float = 0.5, duration: float = None):
+        """向左横向移动"""
+        if not self.is_connected():
+            return
+        self._publish_cmd_vel(linear_y=speed)
+        if duration:
+            time.sleep(duration)
+            self.stop()
+
+    def move_right_lateral(self, speed: float = 0.5, duration: float = None):
+        """向右横向移动"""
+        if not self.is_connected():
+            return
+        self._publish_cmd_vel(linear_y=-speed)
+        if duration:
+            time.sleep(duration)
+            self.stop()
+
+    def stop(self):
+        """停止"""
+        if self.is_connected():
+            self._publish_cmd_vel(0, 0, 0)
+
+    def get_position(self) -> Optional[List[float]]:
+        """获取 AGV 当前位置 [x, y, yaw]"""
+        if not self.is_connected():
+            return None
+        try:
+            # 从 /odom topic 获取位置
+            rc, out, err = self._run_ros2_cmd(
+                "timeout 5 ros2 topic echo /odom 2>timeout 10 ros2 topic echo /odom --once 2>/dev/null1 | head -1",
+                timeout=6
+            )
+            if rc == 0 and out:
+                # 解析 odom 消息 (YAML 格式)
+                # ros2 topic echo 输出可能含多个 --- 分隔的文档，只取第一个
+                import yaml
+                yaml_str = out.split('---')[0]
+                data = yaml.safe_load(yaml_str)
+                if data:
+                    pos = data.get("pose", {}).get("pose", {}).get("position", {})
+                    x = pos.get("x", 0.0)
+                    y = pos.get("y", 0.0)
+                    # 从四元数计算 yaw
+                    orient = data.get("pose", {}).get("pose", {}).get("orientation", {})
+                    qz = orient.get("z", 0.0)
+                    qw = orient.get("w", 1.0)
+                    yaw = math.atan2(2.0 * qw * qz, 1.0 - 2.0 * qz * qz)
+                    self._position = [x, y, yaw]
+                    return self._position
+        except Exception as e:
+            logger.debug(f"获取位置失败: {e}")
+        return None
+
+    def go_to_point(self, x: float, y: float, rz: float = None, speed: float = 0.5) -> bool:
+        """移动到目标点（需要 ROS2 导航栈）"""
+        logger.warning("go_to_point 需要 ROS2 Nav2 支持，当前仅记录目标")
+        return True
+
+    def get_battery(self) -> Optional[float]:
+        """获取电池电压"""
+        if not self.is_connected():
+            return None
+        try:
+            # 从 /voltage topic 获取电压
+            rc, out, err = self._run_ros2_cmd(
+                "timeout 5 ros2 topic echo /voltage 2>timeout 10 ros2 topic echo /voltage --once 2>/dev/null1 | head -1",
+                timeout=6
+            )
+            if rc == 0 and out:
+                # 解析电压消息（ros2 topic echo 可能输出多文档 YAML）
+                import yaml
+                yaml_str = out.split('---')[0]
+                data = yaml.safe_load(yaml_str)
+                if data:
+                    self._voltage = data.get("data", 0.0)
+                    return self._voltage
+        except Exception as e:
+            logger.debug(f"获取电压失败: {e}")
+        return None
+
+    def disconnect(self):
+        self.stop()
+        self._connected = False
+
+    def __enter__(self):
+        self.connect()
+        return self
+
+    def __exit__(self, *args):
+        self.disconnect()
diff --git a/agv_app/utils/arm_client.py b/agv_app/utils/arm_client.py
new file mode 100644
index 0000000..e58ed5f
--- /dev/null
+++ b/agv_app/utils/arm_client.py
@@ -0,0 +1,161 @@
+"""
+机械臂通信客户端 - 通过 TCP 连接机械臂端 TCP 服务器
+服务器再转发给 RoboFlow (630 Socket API)
+"""
+import socket
+import time
+import logging
+from typing import List, Optional, Tuple
+
+logger = logging.getLogger(__name__)
+
+
+class ArmClient:
+    """TCP 客户端，连接机械臂端的 arm_server"""
+
+    def __init__(self, host: str, port: int, timeout: float = 10):
+        self.host = host
+        self.port = port
+        self.timeout = timeout
+        self._sock: Optional[socket.socket] = None
+
+    def connect(self) -> bool:
+        """建立 TCP 连接"""
+        try:
+            self._sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+            self._sock.settimeout(self.timeout)
+            self._sock.connect((self.host, self.port))
+            logger.info(f"已连接到机械臂 {self.host}:{self.port}")
+            return True
+        except Exception as e:
+            logger.error(f"连接机械臂失败: {e}")
+            return False
+
+    def send_command(self, cmd: str) -> Tuple[bool, str]:
+        """发送命令并接收响应"""
+        if not self._sock:
+            return False, "未连接"
+        try:
+            # 发送命令（自动加换行）
+            self._sock.sendall((cmd + "\n").encode("utf-8"))
+            # 接收响应
+            resp = self._sock.recv(1024).decode("utf-8").strip()
+            return True, resp
+        except socket.timeout:
+            return False, "命令超时"
+        except Exception as e:
+            return False, str(e)
+
+    def close(self):
+        if self._sock:
+            self._sock.close()
+            self._sock = None
+
+    def reconnect(self) -> bool:
+        self.close()
+        time.sleep(1)
+        return self.connect()
+
+    # ========== 封装机械臂命令 ==========
+
+    def get_angles(self) -> Tuple[bool, List[float]]:
+        """获取所有关节角度"""
+        ok, resp = self.send_command("get_angles()")
+        if ok and resp.startswith("get_angles:["):
+            try:
+                # get_angles:[0.174, 0.520, ...] → list
+                nums = resp.split("[")[1].split("]")[0]
+                angles = [float(x) for x in nums.split(",")]
+                return True, angles
+            except:
+                return False, []
+        return False, []
+
+    def set_angles(self, angles: List[float], speed: int = 500) -> bool:
+        """设置所有关节角度"""
+        if len(angles) != 6:
+            return False
+        cmd = f"set_angles({angles[0]:.2f},{angles[1]:.2f},{angles[2]:.2f},{angles[3]:.2f},{angles[4]:.2f},{angles[5]:.2f},{speed})"
+        ok, resp = self.send_command(cmd)
+        return ok and "ok" in resp
+
+    def set_angle(self, joint: str, angle: float, speed: int = 500) -> bool:
+        """设置单个关节角度"""
+        cmd = f"set_angle({joint},{angle:.2f},{speed})"
+        ok, resp = self.send_command(cmd)
+        return ok and "ok" in resp
+
+    def jog_angle(self, joint: str, direction: int, speed: int = 500) -> bool:
+        """连续调节关节角度（direction: -1负方向/0停止/1正方向）"""
+        cmd = f"jog_angle({joint},{direction},{speed})"
+        ok, resp = self.send_command(cmd)
+        return ok
+
+    def get_coords(self) -> Tuple[bool, List[float]]:
+        """获取当前坐标和姿态 [x, y, z, rx, ry, rz]"""
+        ok, resp = self.send_command("get_coords()")
+        if ok and "get_coords:" in resp:
+            try:
+                nums = resp.split("[")[1].split("]")[0]
+                coords = [float(x) for x in nums.split(",")]
+                return True, coords
+            except:
+                return False, []
+        return False, []
+
+    def set_coords(self, coords: List[float], speed: int = 500) -> bool:
+        """设置坐标和姿态"""
+        if len(coords) != 6:
+            return False
+        cmd = f"set_coords({coords[0]:.2f},{coords[1]:.2f},{coords[2]:.2f},{coords[3]:.2f},{coords[4]:.2f},{coords[5]:.2f},{speed})"
+        ok, resp = self.send_command(cmd)
+        return ok and "ok" in resp
+
+    def jog_coord(self, axis: str, direction: int, speed: int = 500) -> bool:
+        """连续调节坐标轴"""
+        cmd = f"jog_coord({axis},{direction},{speed})"
+        ok, resp = self.send_command(cmd)
+        return ok
+
+    def power_on(self) -> bool:
+        ok, _ = self.send_command("power_on()")
+        return ok
+
+    def state_on(self) -> bool:
+        ok, _ = self.send_command("state_on()")
+        return ok
+
+    def state_off(self) -> bool:
+        ok, _ = self.send_command("state_off()")
+        return ok
+
+    def state_check(self) -> bool:
+        """检查机械臂状态是否正常"""
+        ok, resp = self.send_command("state_check()")
+        return ok and resp == "state_check:1"
+
+    def check_running(self) -> bool:
+        """检查机械臂是否在运行"""
+        ok, resp = self.send_command("check_running()")
+        return ok and resp == "check_running:1"
+
+    def wait_done(self, timeout: float = 30) -> bool:
+        """等待上一条命令执行完成"""
+        start = time.time()
+        while time.time() - start < timeout:
+            ok, resp = self.send_command("check_running()")
+            if ok and resp == "check_running:0":
+                return True
+            time.sleep(0.5)
+        return False
+
+    def task_stop(self) -> bool:
+        ok, _ = self.send_command("task_stop()")
+        return ok
+
+    def __enter__(self):
+        self.connect()
+        return self
+
+    def __exit__(self, *args):
+        self.close()
\ No newline at end of file
diff --git a/agv_app/utils/config.py b/agv_app/utils/config.py
new file mode 100644
index 0000000..85b01b5
--- /dev/null
+++ b/agv_app/utils/config.py
@@ -0,0 +1,87 @@
+"""
+配置文件 - 所有可配置参数集中管理
+"""
+import os
+
+# 基础路径（部署后对应 ~/work/agv_app）
+BASE_DIR = os.path.dirname(os.path.abspath(__file__))
+
+# ========== AGV 参数 ==========
+AGV_CONFIG = {
+    "device": "/dev/agvpro_controller",
+    "baudrate": 10000000,
+    "move_speed": 0.5,
+    "turn_speed": 0.5,
+}
+
+# ========== 机械臂 TCP 客户端 ==========
+ARM_CONFIG = {
+    "host": "192.168.110.164",
+    "port": 5002,
+    "timeout": 8,
+    "retry_times": 3,
+    "retry_interval": 1,
+}
+
+# ========== 地图 ==========
+MAP_CONFIG = {
+    "map_dir": "/home/elephant/agv_pro_ros2/src/agv_pro_navigation2/map/",
+    "map_file": "map.yaml",
+}
+
+# ========== 摄像头 ==========
+CAMERA_CONFIG = {
+    "device_index": 4,       # AGV 摄像头 video4（标准彩色摄像头，V4L2后端）
+    "backend": "v4l2",         # 使用 V4L2 后端获取标准彩色格式（640x480）
+    "qr_detect_interval": 0.5,
+    "capture_delay": 0.5,
+}
+
+# ========== 机械臂摄像头流 ==========
+ARM_CAMERA_CONFIG = {
+    "url": "http://192.168.110.164:5003/api/camera/preview",
+}
+
+# ========== HTTP 上传 ==========
+UPLOAD_CONFIG = {
+    "url": "https://ts.zhijian168.com/prod-api/file/uploadImage",
+    "timeout": 30,
+    "max_retries": 3,
+}
+
+# ========== Flask 服务器 ==========
+SERVER_CONFIG = {
+    "host": "0.0.0.0",
+    "port": 5000,
+    "secret_key": "agv630_secret_key_2024",
+    "debug": False,
+}
+
+# ========== 任务配置存储路径 ==========
+DATA_DIR = os.path.join(BASE_DIR, "data")
+os.makedirs(DATA_DIR, exist_ok=True)
+
+# ========== 关节角度范围限制 ==========
+JOINT_LIMITS = {
+    "J1": (-180.0, 180.0),
+    "J2": (-270.0, 90.0),
+    "J3": (-150.0, 150.0),
+    "J4": (-260.0, 80.0),
+    "J5": (-168.0, 168.0),
+    "J6": (-174.0, 174.0),
+}
+
+# ========== 机械臂默认速度 ==========
+DEFAULT_ARM_SPEED = 500
+
+# ========== 状态定义 ==========
+class State:
+    SETTING = "setting"
+    RUNNING = "running"
+    PAUSED = "paused"
+    IDLE = "idle"
+
+class PhotoType:
+    FRONT = "front"
+    BACK = "back"
+    NAMEPLATE = "nameplate"
\ No newline at end of file
diff --git a/agv_app/utils/image_uploader.py b/agv_app/utils/image_uploader.py
new file mode 100644
index 0000000..39e8bf2
--- /dev/null
+++ b/agv_app/utils/image_uploader.py
@@ -0,0 +1,76 @@
+"""
+HTTP 上传模块 - 将图片上传到指定服务器
+"""
+import os
+import time
+import logging
+import requests
+from typing import Optional
+import uuid
+
+logger = logging.getLogger(__name__)
+
+
+class ImageUploader:
+    """图片上传器"""
+
+    def __init__(self, upload_url: str, timeout: int = 30, max_retries: int = 3):
+        self.upload_url = upload_url
+        self.timeout = timeout
+        self.max_retries = max_retries
+
+    def upload(self, image_path: str, serial_number: str, photo_index: int,
+               photo_type: str = "front") -> Optional[str]:
+        """
+        上传单张图片
+        返回: 服务器返回的消息（成功时），失败返回 None
+        """
+        if not os.path.exists(image_path):
+            logger.error(f"图片文件不存在: {image_path}")
+            return None
+
+        for attempt in range(self.max_retries):
+            try:
+                with open(image_path, "rb") as f:
+                    files = {"file": (os.path.basename(image_path), f, "image/jpeg")}
+                    data = {
+                        "serialNumber": serial_number,
+                        "index": photo_index
+                    }
+                    resp = requests.post(
+                        self.upload_url,
+                        files=files,
+                        data=data,
+                        timeout=self.timeout
+                    )
+
+                if resp.status_code == 200:
+                    logger.info(f"图片上传成功: {serialNumber} #{photo_index} ({photo_type})")
+                    try:
+                        return resp.json().get("msg", "success")
+                    except:
+                        return resp.text
+                else:
+                    logger.warning(f"上传失败 [{resp.status_code}]: {resp.text[:100]}")
+
+            except requests.exceptions.RequestException as e:
+                logger.warning(f"上传异常 (尝试 {attempt+1}/{self.max_retries}): {e}")
+                if attempt < self.max_retries - 1:
+                    time.sleep(2)
+
+        logger.error(f"图片上传最终失败: {image_path}")
+        return None
+
+    def upload_batch(self, image_paths: list, serial_number: str,
+                     start_index: int = 0) -> dict:
+        """批量上传图片"""
+        results = []
+        for i, path in enumerate(image_paths):
+            result = self.upload(path, serial_number, start_index + i)
+            results.append({
+                "index": start_index + i,
+                "path": path,
+                "success": result is not None,
+                "msg": result
+            })
+        return results
\ No newline at end of file
diff --git a/agv_app/utils/map_navigator.py b/agv_app/utils/map_navigator.py
new file mode 100644
index 0000000..cc266aa
--- /dev/null
+++ b/agv_app/utils/map_navigator.py
@@ -0,0 +1,663 @@
+"""
+地图导航模块 - A* 路径规划 + Pure Pursuit 路径跟踪
+在已知地图上规划路径，控制 AGV 自动导航到目标坐标
+
+依赖：numpy, cv2, Pillow（均已安装在 AGV 上）
+不依赖：激光雷达、SLAM、Nav2
+"""
+
+import os
+import math
+import heapq
+import time
+import logging
+import threading
+import subprocess
+import numpy as np
+import cv2
+import yaml
+from typing import List, Tuple, Optional, Dict
+from enum import Enum
+
+logger = logging.getLogger(__name__)
+
+# ROS2 环境设置（与 agv_controller_ros2.py 保持一致）
+ROS2_SETUP_CMD = "export ROS_DOMAIN_ID=0 && source ~/agv_pro_ros2/install/setup.bash"
+
+
+# ========== 坐标转换 ==========
+
+class CoordTransformer:
+    """地图世界坐标 ↔ 栅格坐标 双向转换"""
+
+    def __init__(self, resolution: float, origin: List[float], width: int, height: int):
+        """
+        Args:
+            resolution: 地图分辨率（米/像素）
+            origin: [x, y, yaw] 地图原点在世界坐标系中的位置
+            width: 地图宽度（像素）
+            height: 地图高度（像素）
+        """
+        self.resolution = resolution
+        self.origin = origin  # [ox, oy, oyaw]
+        self.width = width
+        self.height = height
+
+    def world_to_grid(self, wx: float, wy: float) -> Tuple[int, int]:
+        """世界坐标 → 栅格坐标 [col, row]"""
+        col = int((wx - self.origin[0]) / self.resolution)
+        row = int((wy - self.origin[1]) / self.resolution)
+        # ROS 地图 row=0 对应图像最上方（y 最大值），需要翻转
+        row = self.height - 1 - row
+        return (col, row)
+
+    def grid_to_world(self, col: int, row: int) -> Tuple[float, float]:
+        """栅格坐标 [col, row] → 世界坐标 [x, y]"""
+        # 翻转 row
+        actual_row = self.height - 1 - row
+        wx = col * self.resolution + self.origin[0]
+        wy = actual_row * self.resolution + self.origin[1]
+        return (wx, wy)
+
+    def world_to_grid_center(self, wx: float, wy: float) -> Tuple[float, float]:
+        """世界坐标 → 栅格中心的世界坐标（对齐到栅格）"""
+        col, row = self.world_to_grid(wx, wy)
+        return self.grid_to_world(col, row)
+
+
+# ========== A* 路径规划 ==========
+
+class AStarPlanner:
+    """A* 路径规划器，在栅格地图上规划最短路径"""
+
+    # 8方向移动：右、左、下、上、右下、右上、左下、左上
+    DIRECTIONS = [
+        (1, 0), (-1, 0), (0, 1), (0, -1),
+        (1, 1), (1, -1), (-1, 1), (-1, -1)
+    ]
+    # 对角线移动的代价乘数（sqrt(2)）
+    DIR_COSTS = [1.0, 1.0, 1.0, 1.0, 1.414, 1.414, 1.414, 1.414]
+
+    def __init__(self, occupancy_grid: np.ndarray, inflation_radius: int = 3):
+        """
+        Args:
+            occupancy_grid: 栅格地图，0=空闲，255=障碍物
+            inflation_radius: 障碍物膨胀半径（像素），AGV 有一定体积不能贴墙走
+        """
+        self.grid = occupancy_grid
+        self.height, self.width = occupancy_grid.shape
+        self.inflated = self._inflate(inflation_radius)
+
+    def _inflate(self, radius: int) -> np.ndarray:
+        """膨胀障碍物区域"""
+        if radius <= 0:
+            return self.grid.copy()
+        kernel = cv2.getStructuringElement(cv2.MORPH_ELLIPSE, (2 * radius + 1, 2 * radius + 1))
+        inflated = cv2.dilate(self.grid, kernel, iterations=1)
+        # 确保二值化
+        inflated = np.where(inflated > 50, 255, 0).astype(np.uint8)
+        return inflated
+
+    def plan(self, start: Tuple[int, int], goal: Tuple[int, int]) -> Optional[List[Tuple[int, int]]]:
+        """
+        A* 路径规划
+
+        Args:
+            start: 起点栅格坐标 (col, row)
+            goal: 终点栅格坐标 (col, row)
+
+        Returns:
+            路径点列表 [(col, row), ...]，包含起点和终点；无法规划时返回 None
+        """
+        # 边界检查
+        if not self._is_valid(start) or not self._is_valid(goal):
+            logger.warning(f"起点或终点无效: start={start}, goal={goal}")
+            # 尝试找最近的可行点
+            start = self._find_nearest_free(start)
+            goal = self._find_nearest_free(goal)
+            if start is None or goal is None:
+                logger.error("无法找到有效的起点或终点")
+                return None
+
+        # 检查终点是否被障碍物包围
+        if self.inflated[goal[1], goal[0]] > 50:
+            goal = self._find_nearest_free(goal)
+
+        if goal is None:
+            logger.error("终点周围无可行区域")
+            return None
+
+        # A* 算法
+        open_set = []
+        heapq.heappush(open_set, (0.0, start))
+        came_from = {}
+        g_score = {start: 0.0}
+        closed_set = set()
+
+        while open_set:
+            _, current = heapq.heappop(open_set)
+
+            if current in closed_set:
+                continue
+            closed_set.add(current)
+
+            if current == goal:
+                # 回溯路径
+                path = []
+                while current in came_from:
+                    path.append(current)
+                    current = came_from[current]
+                path.append(start)
+                path.reverse()
+                return path
+
+            for i, (dx, dy) in enumerate(self.DIRECTIONS):
+                neighbor = (current[0] + dx, current[1] + dy)
+
+                if neighbor in closed_set:
+                    continue
+
+                if not self._is_valid(neighbor):
+                    continue
+
+                if self.inflated[neighbor[1], neighbor[0]] > 50:
+                    continue
+
+                move_cost = self.DIR_COSTS[i]
+                tentative_g = g_score[current] + move_cost
+
+                if tentative_g < g_score.get(neighbor, float('inf')):
+                    came_from[neighbor] = current
+                    g_score[neighbor] = tentative_g
+                    f_score = tentative_g + self._heuristic(neighbor, goal)
+                    heapq.heappush(open_set, (f_score, neighbor))
+
+        logger.warning("A* 无法找到路径")
+        return None
+
+    def _heuristic(self, a: Tuple[int, int], b: Tuple[int, int]) -> float:
+        """对角线距离启发式"""
+        dx = abs(a[0] - b[0])
+        dy = abs(a[1] - b[1])
+        return max(dx, dy) + (1.414 - 1) * min(dx, dy)
+
+    def _is_valid(self, pos: Tuple[int, int]) -> bool:
+        return 0 <= pos[0] < self.width and 0 <= pos[1] < self.height
+
+    def _find_nearest_free(self, pos: Tuple[int, int], max_dist: int = 10) -> Optional[Tuple[int, int]]:
+        """在 pos 附近找最近的可行点"""
+        for r in range(1, max_dist + 1):
+            for dx in range(-r, r + 1):
+                for dy in range(-r, r + 1):
+                    n = (pos[0] + dx, pos[1] + dy)
+                    if self._is_valid(n) and self.inflated[n[1], n[0]] == 0:
+                        return n
+        return None
+
+
+# ========== 路径平滑 ==========
+
+def smooth_path(grid: np.ndarray, path: List[Tuple[int, int]],
+                weight_data: float = 0.3, weight_smooth: float = 0.5,
+                tolerance: float = 1e-5, max_iter: int = 500) -> List[Tuple[int, int]]:
+    """
+    路径平滑（梯度下降法）
+    在障碍物约束下让路径更平滑，减少不必要的转向
+    """
+    if len(path) <= 2:
+        return path
+
+    height, width = grid.shape
+    new_path = [list(p) for p in path]
+
+    for iteration in range(max_iter):
+        change = 0.0
+        for i in range(1, len(new_path) - 1):
+            for j in range(2):
+                old_val = new_path[i][j]
+                # 数据项：趋向原始路径点
+                data_gradient = weight_data * (path[i][j] - new_path[i][j])
+                # 平滑项：趋向邻居中点
+                smooth_gradient = weight_smooth * (
+                    new_path[i - 1][j] + new_path[i + 1][j] - 2 * new_path[i][j]
+                )
+                new_path[i][j] += data_gradient + smooth_gradient
+
+                # 边界约束
+                new_path[i][0] = max(0, min(width - 1, new_path[i][0]))
+                new_path[i][1] = max(0, min(height - 1, new_path[i][1]))
+
+                # 障碍物约束
+                col, row = int(round(new_path[i][0])), int(round(new_path[i][1]))
+                if 0 <= col < width and 0 <= row < height:
+                    if grid[row, col] > 50:
+                        new_path[i][j] = old_val  # 回退
+
+                change += abs(new_path[i][j] - old_val)
+
+        if change < tolerance:
+            break
+
+    return [(int(round(p[0])), int(round(p[1]))) for p in new_path]
+
+
+# ========== 路径降采样 ==========
+
+def downsample_path(path: List[Tuple[int, int]], min_dist: int = 3) -> List[Tuple[int, int]]:
+    """降采样路径，移除过近的点，减少 cmd_vel 发布频率"""
+    if len(path) <= 2:
+        return path
+
+    result = [path[0]]
+    for p in path[1:]:
+        last = result[-1]
+        dist = math.hypot(p[0] - last[0], p[1] - last[1])
+        if dist >= min_dist:
+            result.append(p)
+    # 确保终点包含在内
+    if result[-1] != path[-1]:
+        result.append(path[-1])
+    return result
+
+
+# ========== Pure Pursuit 控制器 ==========
+
+class PurePursuitController:
+    """Pure Pursuit 路径跟踪控制器"""
+
+    def __init__(self, lookahead_distance: float = 0.3,
+                 max_linear_speed: float = 0.4,
+                 max_angular_speed: float = 0.8,
+                 goal_tolerance: float = 0.15,
+                 slow_down_distance: float = 0.5):
+        """
+        Args:
+            lookahead_distance: 前视距离（米），越大转弯越平缓
+            max_linear_speed: 最大线速度 (m/s)
+            max_angular_speed: 最大角速度 (rad/s)
+            goal_tolerance: 到达目标容差（米）
+            slow_down_distance: 开始减速的距离（米）
+        """
+        self.lookahead_distance = lookahead_distance
+        self.max_linear_speed = max_linear_speed
+        self.max_angular_speed = max_angular_speed
+        self.goal_tolerance = goal_tolerance
+        self.slow_down_distance = slow_down_distance
+        self.transformer: Optional[CoordTransformer] = None
+
+    def set_transformer(self, transformer: CoordTransformer):
+        self.transformer = transformer
+
+    def compute(self, current_pos: Tuple[float, float, float],
+                path_world: List[Tuple[float, float]]) -> Tuple[float, float, bool]:
+        """
+        计算控制量
+
+        Args:
+            current_pos: (x, y, yaw) 当前世界坐标
+            path_world: 路径点列表 [(x, y), ...] 世界坐标
+
+        Returns:
+            (linear_x, angular_z, reached) 线速度、角速度、是否到达
+        """
+        if not path_world:
+            return (0.0, 0.0, True)
+
+        x, y, yaw = current_pos
+
+        # 检查是否到达终点
+        goal = path_world[-1]
+        dist_to_goal = math.hypot(goal[0] - x, goal[1] - y)
+        if dist_to_goal < self.goal_tolerance:
+            return (0.0, 0.0, True)
+
+        # 找前视点（lookahead point）
+        lookahead_point = self._find_lookahead_point(x, y, path_world)
+
+        if lookahead_point is None:
+            # 已经越过最后一个点
+            return (0.0, 0.0, True)
+
+        lx, ly = lookahead_point
+
+        # 转换到机器人坐标系
+        dx = lx - x
+        dy = ly - y
+
+        # 旋转到机器人坐标系（x 轴朝前）
+        local_x = dx * math.cos(yaw) + dy * math.sin(yaw)
+        local_y = -dx * math.sin(yaw) + dy * math.cos(yaw)
+
+        # 弧长 = 角度 * 半径 → curvature = 2 * ly / L^2
+        L = math.hypot(local_x, local_y)
+        if L < 1e-6:
+            return (0.0, 0.0, True)
+
+        curvature = 2.0 * local_y / (L * L)
+        angular_z = curvature * self.max_linear_speed
+
+        # 根据距离调整速度
+        linear_x = self.max_linear_speed
+        if dist_to_goal < self.slow_down_distance:
+            ratio = max(0.15, dist_to_goal / self.slow_down_distance)
+            linear_x *= ratio
+
+        # 限制角速度
+        angular_z = max(-self.max_angular_speed, min(self.max_angular_speed, angular_z))
+
+        # 如果角度偏差太大，先原位转弯
+        angle_to_goal = math.atan2(ly - y, lx - x) - yaw
+        angle_to_goal = math.atan2(math.sin(angle_to_goal), math.cos(angle_to_goal))
+
+        if abs(angle_to_goal) > math.pi / 3:
+            # 角度偏差 > 60°，先原位转弯
+            linear_x = 0.0
+            angular_z = max(-self.max_angular_speed, min(self.max_angular_speed, angle_to_goal * 1.5))
+
+        return (linear_x, angular_z, False)
+
+    def _find_lookahead_point(self, x: float, y: float,
+                              path: List[Tuple[float, float]]) -> Optional[Tuple[float, float]]:
+        """沿路径找到前视距离处的点"""
+        for i in range(len(path) - 1, -1, -1):
+            dist = math.hypot(path[i][0] - x, path[i][1] - y)
+            if dist >= self.lookahead_distance:
+                return path[i]
+        # 如果所有点都在前视距离内，返回终点
+        return path[-1] if path else None
+
+
+# ========== 导航器（核心模块） ==========
+
+class NavStatus(Enum):
+    IDLE = "idle"
+    PLANNING = "planning"
+    NAVIGATING = "navigating"
+    REACHED = "reached"
+    FAILED = "failed"
+    CANCELLED = "cancelled"
+
+
+class MapNavigator:
+    """地图导航器 — 整合路径规划与路径跟踪"""
+
+    def __init__(self, map_yaml_path: str):
+        """
+        Args:
+            map_yaml_path: map.yaml 文件的绝对路径
+        """
+        self.map_yaml_path = map_yaml_path
+        self.transformer: Optional[CoordTransformer] = None
+        self.planner: Optional[AStarPlanner] = None
+        self.controller = PurePursuitController()
+        self.controller.set_transformer(self.transformer)
+
+        # 导航状态
+        self.status = NavStatus.IDLE
+        self._nav_thread: Optional[threading.Thread] = None
+        self._cancel_event = threading.Event()
+
+        # 当前路径（世界坐标）
+        self.path_world: List[Tuple[float, float]] = []
+        self.current_position = [0.0, 0.0, 0.0]  # [x, y, yaw]
+
+        # 加载地图
+        self._load_map()
+
+    def _load_map(self):
+        """加载地图 PGM + YAML"""
+        with open(self.map_yaml_path, 'r') as f:
+            meta = yaml.safe_load(f)
+
+        map_dir = os.path.dirname(self.map_yaml_path)
+        pgm_path = os.path.join(map_dir, meta['image'])
+
+        # 读取 PGM 灰度图
+        img = cv2.imread(pgm_path, cv2.IMREAD_GRAYSCALE)
+        if img is None:
+            raise FileNotFoundError(f"无法读取地图文件: {pgm_path}")
+
+        # ROS 地图：0=占用（障碍物），254=空闲，205=未知
+        # 转为二值：空闲=0，障碍物=255
+        self.occupancy = np.where(img <= 50, 255, 0).astype(np.uint8)
+        # 未知区域（205 附近）也视为障碍物
+        self.occupancy = np.where((img > 50) & (img < 250), 255, self.occupancy)
+
+        resolution = meta['resolution']
+        origin = meta.get('origin', [0, 0, 0])
+        height, width = img.shape
+
+        self.transformer = CoordTransformer(resolution, origin, width, height)
+        self.planner = AStarPlanner(self.occupancy, inflation_radius=3)
+        self.controller.set_transformer(self.transformer)
+
+        self._map_meta = meta
+        logger.info(f"地图加载完成: {width}x{height}, 分辨率 {resolution}m, 原点 {origin}")
+
+    def get_odom(self) -> List[float]:
+        """从 /odom 话题获取当前位置 [x, y, yaw]"""
+        try:
+            cmd = f"timeout 5 ros2 topic echo /odom --once 2>/dev/null"
+            full_cmd = f"bash -c '{ROS2_SETUP_CMD} && {cmd}'"
+            result = subprocess.run(
+                full_cmd, shell=True, capture_output=True, text=True, timeout=6
+            )
+            if result.returncode == 0 and result.stdout:
+                yaml_str = result.stdout.split('---')[0]
+                data = yaml.safe_load(yaml_str)
+                if data:
+                    pos = data.get("pose", {}).get("pose", {}).get("position", {})
+                    x, y = pos.get("x", 0.0), pos.get("y", 0.0)
+                    orient = data.get("pose", {}).get("pose", {}).get("orientation", {})
+                    qz, qw = orient.get("z", 0.0), orient.get("w", 1.0)
+                    yaw = math.atan2(2.0 * qw * qz, 1.0 - 2.0 * qz * qz)
+                    self.current_position = [x, y, yaw]
+                    return self.current_position
+        except Exception as e:
+            logger.debug(f"获取 odom 失败: {e}")
+        return self.current_position
+
+    def _publish_cmd_vel(self, linear_x: float, angular_z: float):
+        """发布速度命令到 /cmd_vel"""
+        msg = (
+            f'{{"linear": {{"x": {linear_x:.4f}, "y": 0.0, "z": 0.0}}, '
+            f'"angular": {{"x": 0.0, "y": 0.0, "z": {angular_z:.4f}}}}}'
+        )
+        full_cmd = f"bash -c '{ROS2_SETUP_CMD} && ros2 topic pub /cmd_vel geometry_msgs/msg/Twist \"{msg}\" --once'"
+        try:
+            subprocess.run(full_cmd, shell=True, capture_output=True, text=True, timeout=3)
+        except subprocess.TimeoutExpired:
+            logger.warning("发布 cmd_vel 超时")
+
+    def _stop_cmd_vel(self):
+        """发布停止命令"""
+        self._publish_cmd_vel(0.0, 0.0)
+
+    def plan_path(self, goal_x: float, goal_y: float,
+                  start_x: float = None, start_y: float = None) -> bool:
+        """
+        规划路径（不执行导航）
+
+        Args:
+            goal_x, goal_y: 目标世界坐标（米）
+            start_x, start_y: 起点世界坐标（米），默认使用当前 odom
+
+        Returns:
+            是否规划成功
+        """
+        if self.transformer is None:
+            logger.error("地图未加载")
+            return False
+
+        # 获取起点
+        if start_x is None or start_y is None:
+            pos = self.get_odom()
+            start_x, start_y = pos[0], pos[1]
+
+        # 坐标转换
+        start_grid = self.transformer.world_to_grid(start_x, start_y)
+        goal_grid = self.transformer.world_to_grid(goal_x, goal_y)
+
+        logger.info(f"规划路径: 起点(世界){start_x:.2f},{start_y:.2f} → (栅格){start_grid}")
+        logger.info(f"          终点(世界){goal_x:.2f},{goal_y:.2f} → (栅格){goal_grid}")
+
+        # A* 规划
+        path_grid = self.planner.plan(start_grid, goal_grid)
+        if path_grid is None:
+            logger.warning("路径规划失败")
+            return False
+
+        # 路径平滑
+        path_grid = smooth_path(self.planner.inflated, path_grid)
+
+        # 降采样
+        path_grid = downsample_path(path_grid, min_dist=2)
+
+        # 转换为世界坐标
+        self.path_world = [self.transformer.grid_to_world(c, r) for c, r in path_grid]
+
+        logger.info(f"路径规划成功: {len(self.path_world)} 个路径点")
+        return True
+
+    def navigate_to(self, goal_x: float, goal_y, blocking: bool = False) -> bool:
+        """
+        导航到目标点
+
+        Args:
+            goal_x, goal_y: 目标世界坐标（米）
+            blocking: 是否阻塞等待导航完成
+
+        Returns:
+            非阻塞模式下返回 True（表示已启动），阻塞模式下返回是否到达
+        """
+        if self.status == NavStatus.NAVIGATING:
+            logger.warning("导航正在进行中，请先停止当前导航")
+            return False
+
+        # 规划路径
+        if not self.plan_path(goal_x, goal_y):
+            self.status = NavStatus.FAILED
+            return False
+
+        # 启动导航线程
+        self._cancel_event.clear()
+        self.status = NavStatus.NAVIGATING
+        self._nav_thread = threading.Thread(
+            target=self._navigate_thread,
+            args=(goal_x, goal_y),
+            daemon=True
+        )
+        self._nav_thread.start()
+
+        if blocking:
+            self._nav_thread.join()
+            return self.status == NavStatus.REACHED
+
+        return True
+
+    def _navigate_thread(self, goal_x: float, goal_y: float):
+        """导航线程"""
+        logger.info(f"开始导航 → 目标 ({goal_x:.2f}, {goal_y:.2f})")
+
+        try:
+            # 转弯朝向第一个路径点
+            self._initial_turn()
+
+            # 跟踪路径
+            last_cmd_time = time.time()
+            cmd_interval = 0.2  # cmd_vel 发布间隔（秒）
+
+            while not self._cancel_event.is_set():
+                pos = self.get_odom()
+                x, y, yaw = pos
+
+                linear_x, angular_z, reached = self.controller.compute(
+                    (x, y, yaw), self.path_world
+                )
+
+                if reached:
+                    self._stop_cmd_vel()
+                    self.status = NavStatus.REACHED
+                    logger.info("✅ 已到达目标点")
+                    return
+
+                # 控制发布频率
+                now = time.time()
+                if now - last_cmd_time >= cmd_interval:
+                    self._publish_cmd_vel(linear_x, angular_z)
+                    last_cmd_time = now
+
+                time.sleep(0.05)  # 50ms 控制循环
+
+            # 被取消
+            self._stop_cmd_vel()
+            self.status = NavStatus.CANCELLED
+            logger.info("导航已取消")
+
+        except Exception as e:
+            self._stop_cmd_vel()
+            self.status = NavStatus.FAILED
+            logger.error(f"导航异常: {e}")
+
+    def _initial_turn(self):
+        """导航开始前，先原地转向朝向第一个路径点"""
+        if len(self.path_world) < 2:
+            return
+
+        pos = self.get_odom()
+        x, y, yaw = pos
+        target = self.path_world[1]  # 第一个路径点是当前位置，取第二个
+
+        angle_to_target = math.atan2(target[1] - y, target[0] - x) - yaw
+        angle_to_target = math.atan2(math.sin(angle_to_target), math.cos(angle_to_target))
+
+        if abs(angle_to_target) < 0.1:  # < 6°，不需要转弯
+            return
+
+        logger.info(f"初始转向: {math.degrees(angle_to_target):.1f}°")
+
+        # 分段旋转（避免一步到位导致超调）
+        steps = max(3, int(abs(angle_to_target) / 0.2))
+        step_angle = angle_to_target / steps
+        step_time = abs(step_angle) / self.controller.max_angular_speed + 0.1
+
+        for _ in range(steps):
+            if self._cancel_event.is_set():
+                return
+            angular = max(-self.controller.max_angular_speed,
+                          min(self.controller.max_angular_speed, step_angle * 2))
+            self._publish_cmd_vel(0.0, angular)
+            time.sleep(step_time)
+
+        self._stop_cmd_vel()
+        time.sleep(0.2)  # 稳定后继续
+
+    def stop(self):
+        """停止当前导航"""
+        if self.status == NavStatus.NAVIGATING:
+            self._cancel_event.set()
+            self._stop_cmd_vel()
+            if self._nav_thread and self._nav_thread.is_alive():
+                self._nav_thread.join(timeout=3)
+            self.status = NavStatus.CANCELLED
+
+    def get_status(self) -> dict:
+        """获取导航状态"""
+        pos = self.get_odom()
+        return {
+            "status": self.status.value,
+            "current_position": pos,
+            "path_length": len(self.path_world),
+            "path": self.path_world if self.status in (NavStatus.NAVIGATING, NavStatus.REACHED) else []
+        }
+
+    def get_path_preview(self, goal_x: float, goal_y: float) -> Optional[List[Tuple[float, float]]]:
+        """
+        预览路径（仅规划不执行），用于前端可视化
+
+        Returns:
+            世界坐标路径列表，或 None（规划失败）
+        """
+        if self.plan_path(goal_x, goal_y):
+            return self.path_world
+        return None
diff --git a/agv_app/utils/mission_executor.py b/agv_app/utils/mission_executor.py
new file mode 100644
index 0000000..182e407
--- /dev/null
+++ b/agv_app/utils/mission_executor.py
@@ -0,0 +1,231 @@
+"""
+任务调度器 - 管理拍摄任务的执行
+"""
+import os
+import json
+import time
+import logging
+from typing import List, Dict, Optional
+from enum import Enum
+
+from .arm_client import ArmClient
+from .agv_controller import AGVController
+from .qr_scanner import QRScanner
+from .image_uploader import ImageUploader
+
+logger = logging.getLogger(__name__)
+
+
+class TaskStatus(Enum):
+    PENDING = "pending"
+    RUNNING = "running"
+    COMPLETED = "completed"
+    FAILED = "failed"
+    PAUSED = "paused"
+
+
+class MissionExecutor:
+    """任务执行器 - 负责按顺序执行点位拍摄任务"""
+
+    def __init__(self, config: dict):
+        self.config = config
+        self.status = TaskStatus.PENDING
+        self.current_point_index = 0
+        self.current_pose_index = 0
+        self.snapshot_serial_map = {}  # {point_id: serial_number} 缓存已扫描的 serialNumber
+
+        # 初始化各模块
+        self.agv = AGVController(
+            device=config.get("device", "/dev/agvpro_controller"),
+            baudrate=config.get("baudrate", 1000000)
+        )
+        self.arm_client: Optional[ArmClient] = None
+        self.uploader = ImageUploader(
+            upload_url=config["upload_url"],
+            timeout=config.get("upload_timeout", 30),
+            max_retries=config.get("upload_retries", 3)
+        )
+        self.qr_scanner = QRScanner(device_index=config.get("camera_index", 0))
+
+    # ========== 连接管理 ==========
+
+    def connect_all(self) -> Dict[str, bool]:
+        """连接 AGV、机械臂、摄像头"""
+        results = {}
+
+        # 连接 AGV
+        results["agv"] = self.agv.connect()
+
+        # 连接机械臂（通过 TCP）
+        arm_cfg = self.config["arm"]
+        self.arm_client = ArmClient(arm_cfg["host"], arm_cfg["port"])
+        results["arm"] = self.arm_client.connect()
+
+        # 打开摄像头
+        results["camera"] = self.qr_scanner.open()
+
+        return results
+
+    def disconnect_all(self):
+        """断开所有连接"""
+        if self.arm_client:
+            self.arm_client.close()
+        self.agv.disconnect()
+        self.qr_scanner.close()
+
+    # ========== 任务执行 ==========
+
+    def execute_mission(self, mission_data: dict) -> dict:
+        """
+        执行一个完整任务（一个地图的所有点位）
+        mission_data: 包含点位列表的完整任务配置
+        返回执行报告
+        """
+        self.status = TaskStatus.RUNNING
+        report = {
+            "total_points": len(mission_data.get("points", [])),
+            "completed": 0,
+            "failed": 0,
+            "details": []
+        }
+
+        points = mission_data.get("points", [])
+        for i, point in enumerate(points):
+            self.current_point_index = i
+            try:
+                result = self._execute_point(point)
+                report["details"].append(result)
+                if result["status"] == "completed":
+                    report["completed"] += 1
+                else:
+                    report["failed"] += 1
+            except Exception as e:
+                logger.error(f"点位 {i} 执行异常: {e}")
+                report["failed"] += 1
+                report["details"].append({
+                    "point_index": i,
+                    "point_name": point.get("name", f"point_{i}"),
+                    "status": "failed",
+                    "error": str(e)
+                })
+
+        self.status = TaskStatus.COMPLETED if report["failed"] == 0 else TaskStatus.PAUSED
+        return report
+
+    def _execute_point(self, point: dict) -> dict:
+        """执行单个点位的拍摄"""
+        point_name = point.get("name", "unknown")
+        logger.info(f"开始执行点位: {point_name}")
+
+        result = {
+            "point_name": point_name,
+            "poses": []
+        }
+
+        # 1. AGV 移动到点位
+        coords = point.get("coords", {})
+        x, y = coords.get("x", 0), coords.get("y", 0)
+        logger.info(f"AGV 移动到 ({x}, {y})")
+        # TODO: 调用导航移动到目标点
+        time.sleep(1)  # 模拟移动
+
+        # 2. 执行该点位的所有姿态
+        poses = point.get("poses", [])
+        for j, pose in enumerate(poses):
+            self.current_pose_index = j
+            pose_result = self._execute_pose(point, pose, j)
+            result["poses"].append(pose_result)
+
+            # 如果是"两者都要"类型，需要按顺序执行两台机器
+            if pose.get("type") == "both":
+                # 执行顺序由 pose.sequence 配置
+                sequence = pose.get("sequence", ["front_first"])
+                for step in sequence:
+                    if step == "front":
+                        self._capture_and_upload(point, pose, "front", j)
+                    elif step == "back":
+                        self._capture_and_upload(point, pose, "back", j)
+            else:
+                photo_type = pose.get("photo_type", "front")
+                self._capture_and_upload(point, pose, photo_type, j)
+
+        result["status"] = "completed"
+        return result
+
+    def _execute_pose(self, point: dict, pose: dict, pose_idx: int) -> dict:
+        """执行单个姿态的拍摄"""
+        photo_type = pose.get("photo_type", "front")
+        camera_source = pose.get("camera", "agv")  # agv 或 arm
+
+        # 如果需要机械臂运动
+        arm_angles = pose.get("arm_angles", None)
+        if arm_angles and self.arm_client:
+            self.arm_client.set_angles(arm_angles, speed=pose.get("speed", 500))
+            time.sleep(1)  # 等待运动到位
+
+        return {
+            "pose_index": pose_idx,
+            "photo_type": photo_type,
+            "arm_angles": arm_angles,
+            "status": "ready"
+        }
+
+    def _capture_and_upload(self, point: dict, pose: dict, photo_type: str, pose_idx: int):
+        """拍摄并上传"""
+        point_id = point.get("id", str(point))
+
+        # 确定 serialNumber
+        if photo_type == "front":
+            # 正面：从二维码获取 serialNumber
+            serial = self.qr_scanner.scan_with_retry(max_attempts=5, interval=0.5)
+            if not serial:
+                logger.warning(f"点位 {point.get('name')} 正面拍摄未扫描到二维码，跳过")
+                return
+            self.snapshot_serial_map[point_id] = serial
+        else:
+            # 背面：使用缓存的 serialNumber
+            serial = self.snapshot_serial_map.get(point_id)
+            if not serial:
+                logger.warning(f"点位 {point.get('name')} 背面拍摄但无缓存 serialNumber")
+                return
+
+        # 拍摄图片（AGV 端摄像头）
+        frame = self.qr_scanner.read_frame()
+        if frame is None:
+            logger.error("摄像头读取失败")
+            return
+
+        # 保存图片
+        photo_dir = os.path.join(os.path.dirname(__file__), "..", "photos")
+        os.makedirs(photo_dir, exist_ok=True)
+        photo_path = os.path.join(photo_dir, f"{serial}_{photo_type}_{int(time.time())}.jpg")
+        import cv2
+        cv2.imwrite(photo_path, frame)
+
+        # 上传
+        self.uploader.upload(photo_path, serial, pose_idx, photo_type)
+        logger.info(f"上传完成: {serial} {photo_type}")
+
+    # ========== 状态查询 ==========
+
+    def get_status(self) -> dict:
+        return {
+            "task_status": self.status.value,
+            "current_point": self.current_point_index,
+            "current_pose": self.current_pose_index,
+            "agv_connected": self.agv.is_connected(),
+            "arm_connected": self.arm_client is not None,
+            "camera_opened": self.qr_scanner._cap is not None and self.qr_scanner._cap.isOpened()
+        }
+
+    def pause(self):
+        self.status = TaskStatus.PAUSED
+
+    def resume(self):
+        self.status = TaskStatus.RUNNING
+
+    def stop(self):
+        if self.arm_client:
+            self.arm_client.task_stop()
+        self.agv.stop()
+        self.status = TaskStatus.PENDING
\ No newline at end of file
diff --git a/agv_app/utils/qr_scanner.py b/agv_app/utils/qr_scanner.py
new file mode 100644
index 0000000..402f8d5
--- /dev/null
+++ b/agv_app/utils/qr_scanner.py
@@ -0,0 +1,99 @@
+"""
+二维码识别模块 - 使用 OpenCV 识别二维码获取 serialNumber
+"""
+import cv2
+import time
+import logging
+import numpy as np
+from typing import Optional, Tuple
+
+logger = logging.getLogger(__name__)
+
+# 尝试导入二维码识别库
+try:
+    from pyzbar.pyzbar import decode as qr_decode
+    PYZBAR_AVAILABLE = True
+except ImportError:
+    PYZBAR_AVAILABLE = False
+    logger.warning("pyzbar 未安装，尝试用 OpenCV 内置 QRCodeDetector")
+
+
+class QRScanner:
+    """二维码扫描器"""
+
+    def __init__(self, device_index: int = 0):
+        self.device_index = device_index
+        self._cap: Optional[cv2.VideoCapture] = None
+        self._qr_detector = cv2.QRCodeDetector()  # OpenCV 内置二维码检测器
+
+    def open(self) -> bool:
+        """打开摄像头"""
+        try:
+            # 强制 V4L2 后端，获取标准彩色格式（与 test/server.py 一致）
+            self._cap = cv2.VideoCapture(self.device_index, cv2.CAP_V4L2)
+            if self._cap.isOpened():
+                logger.info(f"摄像头 {self.device_index} 已打开 (V4L2)")
+                return True
+            else:
+                # fallback: 不指定后端
+                self._cap = cv2.VideoCapture(self.device_index)
+                if self._cap.isOpened():
+                    logger.info(f"摄像头 {self.device_index} 已打开 (默认后端)")
+                    return True
+                logger.error(f"无法打开摄像头 {self.device_index}")
+                return False
+        except Exception as e:
+            logger.error(f"摄像头打开失败: {e}")
+            return False
+
+    def close(self):
+        if self._cap:
+            self._cap.release()
+            self._cap = None
+
+    def read_frame(self) -> Optional[np.ndarray]:
+        """读取一帧"""
+        if not self._cap or not self._cap.isOpened():
+            return None
+        ret, frame = self._cap.read()
+        if not ret:
+            return None
+        return frame
+
+    def detect_qr(self, frame: np.ndarray) -> Optional[str]:
+        """从图像帧中检测二维码"""
+        if frame is None:
+            return None
+        try:
+            # OpenCV 内置二维码检测
+            data, vertices, _ = self._qr_detector.detectAndDecode(frame)
+            if data and len(data) > 0:
+                return data.strip()
+        except Exception as e:
+            logger.debug(f"二维码检测失败: {e}")
+        return None
+
+    def scan_once(self) -> Optional[str]:
+        """扫描一次（读取一帧并检测）"""
+        frame = self.read_frame()
+        return self.detect_qr(frame)
+
+    def scan_with_retry(self, max_attempts: int = 5, interval: float = 0.5) -> Optional[str]:
+        """多次扫描直到成功或达到最大次数"""
+        for i in range(max_attempts):
+            result = self.scan_once()
+            if result:
+                return result
+            time.sleep(interval)
+        return None
+
+    def get_preview_frame(self) -> Optional[np.ndarray]:
+        """获取预览帧（用于界面显示）"""
+        return self.read_frame()
+
+    def __enter__(self):
+        self.open()
+        return self
+
+    def __exit__(self, *args):
+        self.close()
\ No newline at end of file
diff --git a/arm_server/__init__.py b/arm_server/__init__.py
new file mode 100644
index 0000000..ec8f415
--- /dev/null
+++ b/arm_server/__init__.py
@@ -0,0 +1 @@
+# 机械臂服务端
diff --git a/arm_server/arm_server.py b/arm_server/arm_server.py
new file mode 100644
index 0000000..596c977
--- /dev/null
+++ b/arm_server/arm_server.py
@@ -0,0 +1,263 @@
+"""
+机械臂服务端 - 机械臂端主程序
+运行在 10.247.46.165 上，端口 5002 (TCP) + 5003 (视频流)
+通过 TCP Socket 接收 AGV 发来的指令，转发给 RoboFlow (630 Socket API)
+同时通过 ffmpeg 提供 HTTP 视频流
+"""
+import socket
+import threading
+import time
+import logging
+import os
+import sys
+import subprocess
+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__)))
+
+# 配置日志
+logging.basicConfig(
+    level=logging.INFO,
+    format="%(asctime)s [%(levelname)s] %(name)s: %(message)s",
+    handlers=[
+        logging.StreamHandler(),
+        logging.FileHandler(os.path.expanduser("~/work/arm_server/server.log"))
+    ]
+)
+logger = logging.getLogger("arm_server")
+
+# ========== Flask HTTP 服务器 - 视频流 (ffmpeg) ==========
+arm_video_app = Flask(__name__)
+
+ARM_CAMERA_INDEX = 0   # 机械臂端摄像头设备号
+_ffmpeg_proc = None
+
+
+@arm_video_app.route("/api/camera/preview")
+def arm_camera_preview():
+    """机械臂摄像头 MJPEG 流 (ffmpeg)"""
+    global _ffmpeg_proc
+
+    def generate():
+        global _ffmpeg_proc
+        # 启动 ffmpeg 进程（如果尚未运行）
+        if _ffmpeg_proc is None or _ffmpeg_proc.poll() is not None:
+            logger.info(f"启动 ffmpeg 视频流 (Video{ARM_CAMERA_INDEX})")
+            _ffmpeg_proc = subprocess.Popen(
+                [
+                    "ffmpeg",
+                    "-f", "v4l2",
+                    "-input_format", "mjpeg",
+                    "-i", f"/dev/video{ARM_CAMERA_INDEX}",
+                    "-vf", "rotate=PI",
+                    "-q:v", "8",
+                    "-f", "mjpeg",
+                    "-"
+                ],
+                stdout=subprocess.PIPE,
+                stderr=subprocess.DEVNULL,
+            )
+            time.sleep(0.5)  # 等待 ffmpeg 初始化
+
+        try:
+            while True:
+                if _ffmpeg_proc is None or _ffmpeg_proc.poll() is not None:
+                    break
+                jpeg = _ffmpeg_proc.stdout.read(65536)
+                if not jpeg:
+                    break
+                yield (b"--frame\r\nContent-Type: image/jpeg\r\n\r\n" + jpeg + b"\r\n")
+        except Exception as e:
+            logger.error(f"视频流异常: {e}")
+        finally:
+            logger.info("视频流连接关闭")
+
+    return Response(generate(), mimetype="multipart/x-mixed-replace; boundary=frame")
+
+
+@arm_video_app.route("/api/camera/status")
+def arm_camera_status():
+    """摄像头状态"""
+    global _ffmpeg_proc
+    running = _ffmpeg_proc is not None and _ffmpeg_proc.poll() is None
+    return jsonify({"opened": running})
+
+
+@arm_video_app.route("/api/camera/restart", methods=["POST"])
+def arm_camera_restart():
+    """重启视频流"""
+    global _ffmpeg_proc
+    if _ffmpeg_proc:
+        _ffmpeg_proc.terminate()
+        _ffmpeg_proc = None
+    return jsonify({"ok": True})
+
+
+# ========== RoboFlow 630 Socket API 客户端 ==========
+class RoboFlowClient:
+    """通过 Socket 连接 RoboFlow 630 机械臂控制盒"""
+
+    def __init__(self, host: str = "127.0.0.1", port: int = 5001, timeout: float = 10):
+        self.host = host
+        self.port = port
+        self.timeout = timeout
+        self._sock: socket.socket = None
+
+    def connect(self) -> bool:
+        try:
+            self._sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+            self._sock.settimeout(self.timeout)
+            self._sock.connect((self.host, self.port))
+            logger.info(f"已连接到 RoboFlow {self.host}:{self.port}")
+            return True
+        except Exception as e:
+            logger.error(f"连接 RoboFlow 失败: {e}")
+            return False
+
+    def send_recv(self, cmd: str) -> str:
+        """发送命令并等待响应"""
+        if not self._sock:
+            raise ConnectionError("未连接到 RoboFlow")
+        try:
+            self._sock.sendall((cmd + "\n").encode("utf-8"))
+            resp = self._sock.recv(4096).decode("utf-8").strip()
+            return resp
+        except socket.timeout:
+            return "ERROR: timeout"
+        except Exception as e:
+            return f"ERROR: {e}"
+
+    def close(self):
+        if self._sock:
+            self._sock.close()
+            self._sock = None
+
+    def __enter__(self):
+        self.connect()
+        return self
+
+    def __exit__(self, *args):
+        self.close()
+
+
+# ========== TCP 服务器 - 接收 AGV 指令 ==========
+class AGVCommandServer:
+    """TCP 服务器，接收 AGV 发来的指令"""
+
+    def __init__(self, host: str = "0.0.0.0", port: int = 5002):
+        self.host = host
+        self.port = port
+        self._sock: socket.socket = None
+        self._running = False
+        self.roboflow: RoboFlowClient = None
+        self._connect_roboflow()
+
+    def _connect_roboflow(self):
+        self.roboflow = RoboFlowClient()
+        if self.roboflow.connect():
+            logger.info("RoboFlow 连接成功")
+        else:
+            logger.warning("RoboFlow 连接失败，服务将以 limited 模式运行")
+
+    def start(self):
+        self._sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+        self._sock.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
+        self._sock.bind((self.host, self.port))
+        self._sock.listen(5)
+        self._running = True
+        logger.info(f"=" * 50)
+        logger.info(f"机械臂服务端已启动，监听 {self.host}:{self.port}")
+        logger.info(f"等待 AGV 连接...")
+        logger.info(f"=" * 50)
+
+        while self._running:
+            try:
+                self._sock.settimeout(1.0)
+                try:
+                    client_sock, addr = self._sock.accept()
+                    logger.info(f"AGV 已连接: {addr}")
+                    threading.Thread(target=self._handle_client, args=(client_sock,), daemon=True).start()
+                except socket.timeout:
+                    continue
+            except Exception as e:
+                if self._running:
+                    logger.error(f"服务器异常: {e}")
+                break
+
+    def _handle_client(self, client_sock: socket.socket):
+        try:
+            client_sock.settimeout(30)
+            buffer = ""
+            while self._running:
+                try:
+                    data = client_sock.recv(4096)
+                    if not data:
+                        break
+                    buffer += data.decode("utf-8")
+                    while "\n" in buffer:
+                        line, buffer = buffer.split("\n", 1)
+                        line = line.strip()
+                        if not line:
+                            continue
+                        response = self._execute_command(line)
+                        client_sock.sendall((response + "\n").encode("utf-8"))
+                        logger.info(f"CMD: {line} → {response}")
+                except socket.timeout:
+                    continue
+        except Exception as e:
+            logger.error(f"客户端处理异常: {e}")
+        finally:
+            client_sock.close()
+            logger.info("AGV 客户端已断开")
+
+    def _execute_command(self, cmd: str) -> str:
+        if not self.roboflow or not self.roboflow._sock:
+            return f"ERROR: RoboFlow not connected"
+        try:
+            return self.roboflow.send_recv(cmd)
+        except Exception as e:
+            return f"ERROR: {e}"
+
+    def stop(self):
+        self._running = False
+        if self._sock:
+            try:
+                self._sock.close()
+            except:
+                pass
+        if self.roboflow:
+            self.roboflow.close()
+        logger.info("机械臂服务端已停止")
+
+
+# ========== 入口 ==========
+def main():
+    import signal
+
+    server = AGVCommandServer(port=5002)
+
+    # 启动 Flask 视频流服务（端口 5003）
+    arm_server_http = make_server("0.0.0.0", 5003, arm_video_app, threaded=True)
+    http_thread = threading.Thread(target=arm_server_http.serve_forever, daemon=True)
+    http_thread.start()
+    logger.info("机械臂视频流服务已启动: http://0.0.0.0:5003")
+
+    def signal_handler(sig, frame):
+        logger.info("收到停止信号...")
+        global _ffmpeg_proc
+        if _ffmpeg_proc:
+            _ffmpeg_proc.terminate()
+        server.stop()
+        arm_server_http.shutdown()
+        sys.exit(0)
+
+    signal.signal(signal.SIGINT, signal_handler)
+    signal.signal(signal.SIGTERM, signal_handler)
+
+    server.start()
+
+
+if __name__ == "__main__":
+    main()
diff --git a/arm_server/requirements.txt b/arm_server/requirements.txt
new file mode 100644
index 0000000..d1e2182
--- /dev/null
+++ b/arm_server/requirements.txt
@@ -0,0 +1,3 @@
+# 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>=2.0
diff --git a/arm_server/start.sh b/arm_server/start.sh
new file mode 100644
index 0000000..b360d00
--- /dev/null
+++ b/arm_server/start.sh
@@ -0,0 +1,5 @@
+#!/bin/bash
+# 启动机械臂服务端
+
+cd ~/work/arm_server
+python3 arm_server.py
diff --git a/restart_agv.sh b/restart_agv.sh
new file mode 100644
index 0000000..f694b36
--- /dev/null
+++ b/restart_agv.sh
@@ -0,0 +1,31 @@
+#!/bin/bash
+cd /home/elephant/work/agv_app
+
+# 语法检查
+python3 -m py_compile app.py
+if [ $? -ne 0 ]; then
+    echo "Syntax error!"
+    exit 1
+fi
+
+# 重启服务
+pkill -f "python.*app.py" 2>/dev/null
+sleep 1
+nohup python3 app.py > app.log 2>&1 &
+sleep 3
+
+# 验证
+if ss -tlnp | grep 5000; then
+    echo "✓ 端口5000 正常"
+    # 测试机械臂单帧
+    result=$(curl -s --max-time 5 http://127.0.0.1:5000/api/camera/arm_refresh | head -c 4)
+    echo -n "arm_refresh: "
+    if [ "$result" = "$(echo -en '\xff\xd8\xff\xe0')" ]; then
+        echo "JPEG OK ✓"
+    else
+        echo "返回: $(echo $result | xxd | head -1)"
+    fi
+else
+    echo "✗ 启动失败"
+    tail -10 app.log
+fi
\ No newline at end of file
diff --git a/shared/config.json b/shared/config.json
new file mode 100644
index 0000000..3f58c59
--- /dev/null
+++ b/shared/config.json
@@ -0,0 +1,23 @@
+{
+  "agv": {
+    "ip": "10.247.46.236",
+    "ssh_user": "elephant",
+    "ssh_password": "Elephant",
+    "map_file": "map.yaml",
+    "map_dir": "/home/elephant"
+  },
+  "arm": {
+    "ip": "10.247.46.165",
+    "ssh_user": "pi",
+    "ssh_password": "elephant",
+    "socket_port": 5001,
+    "roboflow_host": "127.0.0.1",
+    "roboflow_port": 5001
+  },
+  "app": {
+    "upload_url": "https://ts.timeddd.com/prod-api/file/uploadImage",
+    "agv_control_port": 5000,
+    "arm_server_port": 5002,
+    "secret_key": "agv630_secret_key_2024"
+  }
+}
\ No newline at end of file
diff --git a/start_agv.sh b/start_agv.sh
new file mode 100644
index 0000000..7e825a4
--- /dev/null
+++ b/start_agv.sh
@@ -0,0 +1,24 @@
+#!/bin/bash
+# AGV 服务启动脚本
+cd /home/elephant/work/agv_app
+
+# 确保没有旧进程
+pkill -f "python.*app.py" 2>/dev/null
+sleep 1
+
+# 启动服务
+nohup python3 app.py > app.log 2>&1 &
+PID=$!
+echo "Started PID=$PID"
+
+sleep 3
+
+# 验证
+if ss -tlnp | grep 5000; then
+    echo "✓ 端口 5000 监听正常"
+    curl -s http://127.0.0.1:5000/api/mission/state
+    echo ""
+else
+    echo "✗ 端口 5000 未监听，检查日志："
+    cat app.log
+fi
\ No newline at end of file