From 9b8e2e233ae91b04f4ae694402d4d9f25c7bfd0c Mon Sep 17 00:00:00 2001
From: ywb <347742090@qq.com>
Date: Tue, 26 May 2026 18:23:21 +0800
Subject: [PATCH] =?UTF-8?q?=E7=82=B9=E5=87=BB=E2=80=9C=E8=AE=BE=E7=BD=AE?=
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---
 agv_app/app.py                    |  4 ++--
 agv_app/config.py                 |  6 +++---
 agv_app/static/js/setting.js      | 33 +++++++++++++++++++++++++++++++
 agv_app/templates/setting.html    |  6 ++++--
 agv_app/utils/config.py           |  4 ++--
 agv_app/utils/mission_executor.py |  2 +-
 6 files changed, 45 insertions(+), 10 deletions(-)

diff --git a/agv_app/app.py b/agv_app/app.py
index a8728fd..7b4b2a3 100644
--- a/agv_app/app.py
+++ b/agv_app/app.py
@@ -747,10 +747,10 @@ def api_mission_config_set():
     gs.mission_config["cols"] = cols
     gs.mission_config["grid"] = grid
     gs.mission_config["arm_initial_pose"] = arm_initial_pose
-    # 清除超出网格边界的 positions（只保留 front/back 且 row<rows, col<cols）
+    # 清除超出网格边界的 positions（只保留 front/back 且 row<=rows, col<cols）
     gs.mission_config["positions"] = [
         p for p in gs.mission_config.get("positions", [])
-        if p.get("row", 0) < rows and p.get("col", 0) < cols and p.get("side") in ("front", "back")
+        if p.get("row", 0) <= rows and p.get("col", 0) < cols and p.get("side") in ("front", "back")
     ]
     save_json("mission_config.json", gs.mission_config)
     return jsonify({"ok": True, "config": gs.mission_config})
diff --git a/agv_app/config.py b/agv_app/config.py
index 52b6cd0..67a1c71 100644
--- a/agv_app/config.py
+++ b/agv_app/config.py
@@ -16,7 +16,7 @@ AGV_CONFIG = {
 
 # ========== 机械臂 TCP 客户端 ==========
 ARM_CONFIG = {
-    "host": "192.168.50.74",
+    "host": "192.168.50.89",
     "port": 5002,
     "timeout": 8,
     "retry_times": 3,
@@ -39,8 +39,8 @@ CAMERA_CONFIG = {
 
 # ========== 机械臂摄像头流 ==========
 ARM_CAMERA_CONFIG = {
-    "url": "http://192.168.50.74:5003/api/camera/preview",
-    "snapshot_url": "http://192.168.50.74:5003/api/camera/snapshot",
+    "url": "http://192.168.50.89:5003/api/camera/preview",
+    "snapshot_url": "http://192.168.50.89:5003/api/camera/snapshot",
 }
 
 # ========== HTTP 上传 ==========
diff --git a/agv_app/static/js/setting.js b/agv_app/static/js/setting.js
index 8aa06c7..19395ed 100644
--- a/agv_app/static/js/setting.js
+++ b/agv_app/static/js/setting.js
@@ -361,6 +361,25 @@ createApp({
         if (!data.ok) { alert('导航失败: ' + (data.error || '')) }
       } catch (e) { alert('导航失败: ' + e.message) }
     },
+    async goToOrigin() {
+      if (!confirm('确认导航到原点 (0, 0, 0)?')) return
+      try {
+        const res = await fetch(API + '/api/navigate/to', {
+          method: 'POST',
+          headers: { 'Content-Type': 'application/json' },
+          body: JSON.stringify({ x: 0, y: 0, yaw: 0 })
+        })
+        const data = await res.json()
+        if (data.ok) {
+          this.mapMsg = '✅ 已发送导航到原点'
+        } else {
+          this.mapMsg = '❌ ' + (data.error || '导航失败')
+        }
+      } catch (e) {
+        this.mapMsg = '❌ 导航请求失败: ' + e.message
+      }
+      setTimeout(() => { this.mapMsg = '' }, 3000)
+    },
     async clearPoint() {
       if (!this.editingPoint) return
       const { pointRow, col } = this.editingPoint
@@ -581,6 +600,20 @@ createApp({
         }
       } catch (e) { alert('读取角度失败: ' + e.message) }
     },
+    async applyArmInitialPose() {
+      if (!this.armConnected) { alert('机械臂未连接'); return }
+      if (!confirm('确认应用初始姿态到机械臂？')) return
+      try {
+        const res = await fetch(API + '/api/arm/set_angles', {
+          method: 'POST',
+          headers: { 'Content-Type': 'application/json' },
+          body: JSON.stringify({ angles: this.armInitialPose, speed: 500 })
+        })
+        const data = await res.json()
+        if (data.ok) alert('✅ 机械臂已移动到初始姿态')
+        else alert('❌ 应用失败: ' + (data.error || ''))
+      } catch (e) { alert('应用失败: ' + e.message) }
+    },
     async loadAllMachines() {
       try {
         const res = await fetch(API + '/api/mission/machines')
diff --git a/agv_app/templates/setting.html b/agv_app/templates/setting.html
index 907f3f5..58e1d21 100644
--- a/agv_app/templates/setting.html
+++ b/agv_app/templates/setting.html
@@ -12,7 +12,7 @@
       <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="/setting" class="nav-link active">⚙️ 设置</a>
         <a href="/running" class="nav-link">▶️ 运行</a>
       </nav>
     </header>
@@ -268,6 +268,7 @@
               <button class="btn btn-primary" @click="generateGrid">🔲 生成网格</button>
               <button class="btn btn-secondary" @click="saveMissionConfig">💾 保存网格</button>
               <button class="btn btn-warning" @click="initPose" :disabled="initPoseLoading">📍 初始化位置</button>
+              <button class="btn btn-primary" @click="goToOrigin">🏠 回到原点</button>
             </div>
           </div>
 
@@ -362,6 +363,7 @@
             <div class="form-group" style="align-self:end">
               <button class="btn btn-primary" @click="saveArmInitialPose">💾 保存初始姿态</button>
               <button class="btn btn-secondary" @click="loadArmCurrentAngles" :disabled="!armConnected" style="margin-left:6px">📋 读取当前角度</button>
+              <button class="btn btn-primary" @click="applyArmInitialPose" :disabled="!armConnected" style="margin-left:6px">🎯 应用当前姿态</button>
             </div>
           </div>
         </section>
@@ -582,6 +584,6 @@
   </div>
 
   <script src="/static/js/vue3.global.prod.js?v=20260526a"></script>
-  <script src="/static/js/setting.js?v=20260526d"></script>
+  <script src="/static/js/setting.js?v=20260526f"></script>
 </body>
 </html>
diff --git a/agv_app/utils/config.py b/agv_app/utils/config.py
index 631f823..505e1b7 100644
--- a/agv_app/utils/config.py
+++ b/agv_app/utils/config.py
@@ -16,7 +16,7 @@ AGV_CONFIG = {
 
 # ========== 机械臂 TCP 客户端 ==========
 ARM_CONFIG = {
-    "host": "192.168.50.74",
+    "host": "192.168.50.89",
     "port": 5002,
     "timeout": 8,
     "retry_times": 3,
@@ -39,7 +39,7 @@ CAMERA_CONFIG = {
 
 # ========== 机械臂摄像头流 ==========
 ARM_CAMERA_CONFIG = {
-    "url": "http://192.168.50.74:5003/api/camera/preview",
+    "url": "http://192.168.50.89:5003/api/camera/preview",
 }
 
 # ========== HTTP 上传 ==========
diff --git a/agv_app/utils/mission_executor.py b/agv_app/utils/mission_executor.py
index 1c410fa..6e3c99a 100644
--- a/agv_app/utils/mission_executor.py
+++ b/agv_app/utils/mission_executor.py
@@ -26,7 +26,7 @@ import numpy as np
 logger = logging.getLogger(__name__)
 
 ROS2_SETUP_CMD = "source /opt/ros/humble/setup.bash && source ~/agv_pro_ros2/install/setup.bash"
-ARM_CAMERA_SNAPSHOT = "http://192.168.50.74:5003/api/camera/snapshot"
+ARM_CAMERA_SNAPSHOT = "http://192.168.50.89:5003/api/camera/snapshot"
 PHOTOS_DIR = "/home/elephant/photos"
 
 # 二维码扫描重试参数