init

agv_app/utils/config.py

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+"""
+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"