-

agv_app/static/js/running.js

@@ -134,7 +134,8 @@ createApp({
       this.progress = 0
       this.report = null
       this.showQrModal = false
-      await fetch(API + '/api/mission/start', {
+      try {
+        const res = await fetch(API + '/api/mission/start', {
           method: 'POST',
           headers: { 'Content-Type': 'application/json' },
           body: JSON.stringify({
@@ -146,7 +147,15 @@ createApp({
             arm_speed: this.armSpeed,
           })
         })
+        const data = await res.json()
+        if (!data.ok) {
+          alert('❌ 启动失败: ' + (data.error || '未知错误'))
+          return
+        }
         this.missionState = 'running'
+      } catch (e) {
+        alert('❌ 启动请求失败: ' + e.message)
+      }
     },
     async startSingleStep() {
       if (this.missionState !== 'idle') return

agv_app/utils/mission_executor.py

@@ -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]:
+    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"""
+        """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):
+    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"""
+        """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)
+        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: