-

agv_app/app.py

@@ -126,10 +126,11 @@ try:
     # Flask 2.3+ 方式
     with app.app_context():
         load_persisted_config()
-        # 启动时自动重连 AGV（异步，不阻塞 Flask 启动）
+        # 启动时自动连接所有设备（异步，不阻塞 Flask 启动）
         import threading
-        def _auto_reconnect():
+        def _auto_connect_all():
             time.sleep(2)  # 等待 Flask 完全就绪
+            # 连接 AGV
             try:
                 from utils.agv_controller_ros2 import AGVController
                 gs.agv_controller = AGVController()
@@ -139,7 +140,19 @@ try:
                     print("[启动] AGV 自动连接失败，请手动连接")
             except Exception as e:
                 print(f"[启动] AGV 自动连接异常: {e}")
-        threading.Thread(target=_auto_reconnect, daemon=True).start()
+            # 连接机械臂
+            try:
+                from utils.arm_client import ArmClient
+                gs.arm_client = ArmClient(ARM_CONFIG["host"], ARM_CONFIG["port"])
+                if gs.arm_client.connect():
+                    gs.arm_client.power_on()
+                    gs.arm_client.state_on()
+                    print("[启动] 机械臂自动连接成功")
+                else:
+                    print("[启动] 机械臂自动连接失败，请手动连接")
+            except Exception as e:
+                print(f"[启动] 机械臂自动连接异常: {e}")
+        threading.Thread(target=_auto_connect_all, daemon=True).start()
 except:
     # 兼容旧版 Flask
     @app.before_first_request
@@ -184,6 +197,15 @@ def api_status():
         if gs.agv_controller:
             agv_connected = gs.agv_controller.is_connected()
 
+        # 实时检测机械臂摄像头是否可用
+        try:
+            import requests as _armcam_req
+            _r = _armcam_req.get(ARM_CAMERA_CONFIG["url"], stream=True, timeout=3)
+            gs.arm_camera_opened = (_r.status_code == 200)
+            _r.close()
+        except:
+            gs.arm_camera_opened = False
+
         return jsonify({
             "state": gs.state,
             "agv_connected": agv_connected,
@@ -1179,7 +1201,7 @@ 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))
+    speed = data.get("speed", AGV_CONFIG.get("move_speed", 1.0))
     if not gs.agv_controller or not gs.agv_controller.is_connected():
         return jsonify({"ok": False, "error": "AGV 未连接"}), 400
     try:
@@ -1250,8 +1272,8 @@ def api_mission_start():
         "qr_scan": bool(data.get("qr_scan", True)),
         "front_photo": bool(data.get("front_photo", True)),
         "back_photo": bool(data.get("back_photo", True)),
-        "agv_speed": float(data.get("agv_speed", 0.5)),
-        "arm_speed": int(data.get("arm_speed", 500)),
+        "agv_speed": float(data.get("agv_speed", 1.0)),
+        "arm_speed": int(data.get("arm_speed", 1000)),
     }
     print(f"[Mission] options: {options}")