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ywb
2026-05-29 15:09:34 +08:00
parent f64068475f
commit a009fe9bb5
3 changed files with 53 additions and 23 deletions
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agv_app/utils/mission_executor.py
+32 -11
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@@ -358,7 +358,7 @@ class MissionExecutorV3:
self.report["machine_status"][mk]["status"] = "active"
self.report["machine_status"][mk]["step"] = "正面扫码"
if opt_qr_scan:
qr_value = self._scan_qr_with_poses(qr_configs)
qr_value = self._scan_qr_with_poses(qr_configs, machine_row=pr)
if self._stop.is_set():
break
else:
@@ -371,6 +371,7 @@ class MissionExecutorV3:
self.report["machine_status"][mk2]["qr_val"] = qr_value
self.report["machine_status"][mk2]["step"] = "正面拍照"
task = self._get_task(pr, c)
if task and qr_value:
task["qr_value"] = qr_value
@@ -383,7 +384,7 @@ class MissionExecutorV3:
if opt_front_photo and not self._stop.is_set():
model = self._find_model(models, model_name)
if model:
self._shoot(model, "front", rl_front, cl_front, qr_value or "unknown")
self._shoot(model, "front", rl_front, cl_front, qr_value or "unknown", pr)
else:
self._log(f" ⚠️ 未找到机型 {model_name}")
else:
@@ -414,7 +415,7 @@ class MissionExecutorV3:
if opt_back_photo and not self._stop.is_set():
model = self._find_model(models, model_name)
if model:
self._shoot(model, "back", rl_back, cl_back, back_qr)
self._shoot(model, "back", rl_back, cl_back, back_qr, pr - 1)
else:
self._log(f" ⚠️ 未找到机型 {model_name}")
else:
@@ -626,11 +627,18 @@ class MissionExecutorV3:
time.sleep(0.5)
self._log(f" ⚠️ 机械臂稳定等待超时 (target={target_angles})")
return False
def _scan_qr_with_poses(self, qr_configs: list) -> Optional[str]:
"""用二维码配置中的姿态依次尝试，逐一调整姿态+等2秒+扫码，全部失败才弹框"""
def _scan_qr_with_poses(self, qr_configs: list, machine_row: int = 0) -> Optional[str]:
"""用二维码配置中的姿态依次尝试，逐一调整姿态+等2秒+扫码，全部失败才弹框
machine_row: 机器所在行，奇数行(1,3,5)时关节角度需取反
"""
if not qr_configs:
self._log(f" ⚠️ 无二维码配置")
return self._request_manual_qr()
# 判断是否需要反转关节角度
invert = (machine_row % 2 == 1)
if invert:
self._log(f" 🔄 扫码：AGV朝向相反，关节角度取反")
self._log(f" 🔍 尝试 {len(qr_configs)} 个二维码姿态...")
for i, qc in enumerate(qr_configs):
if self._stop.is_set():
@@ -639,8 +647,11 @@ class MissionExecutorV3:
angles = qc.get("joint_angles", [])
if not angles or len(angles) < 6:
continue
# 需要时反转关节角度
if invert:
angles = [-a for a in angles]
name = qc.get("name", f"姿态{i+1}")
self._log(f" [{i+1}/{len(qr_configs)}] {name}")
self._log(f" [{i+1}/{len(qr_configs)}] {name}{' (反转)' if invert else ''}")
# 调整机械臂姿态
if self.arm_client:
self.arm_client.set_angles(angles, speed=self.arm_speed)
@@ -716,11 +727,18 @@ class MissionExecutorV3:
# ==================== 姿态拍照 ====================
def _shoot(self, model: dict, side: str, row: int, col: int, qr_value: str):
"""按机型配置的所有姿态依次拍照"""
# 更新任务照片计数
task = self._get_task(row - 1, col - 1)
def _shoot(self, model: dict, side: str, row: int, col: int, qr_value: str, machine_row: int = 0):
"""按机型配置的所有姿态依次拍照
machine_row: 当前操作的机器所在行，用于判断是否需要关节反转
蛇形路径下，AGV 朝向在奇数行(1,3,5)时与出发时相反，
此时机器的正面/背面朝向与标定相反，需要把所有关节角度取反
"""
# 判断是否需要反转关节角度（AGV 朝向与出发时相反）
invert = (machine_row % 2 == 1) # 机器行是奇数(1,3,5...)时，AGV从对面来，需反转
side_label = "正面" if side == "front" else "背面"
if invert:
self._log(f" 🔄 {side_label}拍摄：AGV朝向相反，关节角度取反")
poses = model.get("poses", []) if side == "front" else model.get("poses_back", [])
if not poses:
self._log(f" ⚠️ 机型无{side_label}姿态配置")
@@ -737,8 +755,11 @@ class MissionExecutorV3:
self._log(f" 跳过 {pose.get('name', f'姿态{pi+1}')}: 无效角度")
continue
# 需要时对所有关节角度取反
if invert:
angles = [-a for a in angles]
name = pose.get("name", f"{side_label}-{pi+1}")
self._log(f" 🎯 {name}")
self._log(f" 🎯 {name}{' (反转)' if invert else ''}")
# 调整机械臂
if self.arm_client: