-

agv_app/utils/agv_controller_ros2.py

@@ -76,7 +76,7 @@ class AGVController:
         if rc != 0:
             logger.warning(f"发布 cmd_vel 失败: {err}")
 
-    def move_forward(self, speed: float = 0.5, duration: float = None):
+    def move_forward(self, speed: float = 1.0, duration: float = None):
         """前进"""
         if not self.is_connected():
             return
@@ -85,7 +85,7 @@ class AGVController:
             time.sleep(duration)
             self.stop()
 
-    def move_backward(self, speed: float = 0.5, duration: float = None):
+    def move_backward(self, speed: float = 1.0, duration: float = None):
         """后退"""
         if not self.is_connected():
             return
@@ -94,7 +94,7 @@ class AGVController:
             time.sleep(duration)
             self.stop()
 
-    def turn_left(self, speed: float = 0.5, duration: float = None):
+    def turn_left(self, speed: float = 1.0, duration: float = None):
         """左转"""
         if not self.is_connected():
             return
@@ -103,7 +103,7 @@ class AGVController:
             time.sleep(duration)
             self.stop()
 
-    def turn_right(self, speed: float = 0.5, duration: float = None):
+    def turn_right(self, speed: float = 1.0, duration: float = None):
         """右转"""
         if not self.is_connected():
             return
@@ -112,7 +112,7 @@ class AGVController:
             time.sleep(duration)
             self.stop()
 
-    def move_left_lateral(self, speed: float = 0.5, duration: float = None):
+    def move_left_lateral(self, speed: float = 1.0, duration: float = None):
         """向左横向移动"""
         if not self.is_connected():
             return
@@ -121,7 +121,7 @@ class AGVController:
             time.sleep(duration)
             self.stop()
 
-    def move_right_lateral(self, speed: float = 0.5, duration: float = None):
+    def move_right_lateral(self, speed: float = 1.0, duration: float = None):
         """向右横向移动"""
         if not self.is_connected():
             return
@@ -176,7 +176,7 @@ class AGVController:
             return self._position
         return None
 
-    def go_to_point(self, x: float, y: float, rz: float = None, speed: float = 0.5) -> bool:
+    def go_to_point(self, x: float, y: float, rz: float = None, speed: float = 1.0) -> bool:
         """移动到目标点（需要 ROS2 导航栈）"""
         logger.warning("go_to_point 需要 ROS2 Nav2 支持，当前仅记录目标")
         return True

agv_app/utils/config.py

@@ -14,8 +14,8 @@ ARM_HOST = "192.168.60.88"
 AGV_CONFIG = {
     "device": "/dev/agvpro_controller",
     "baudrate": 10000000,
-    "move_speed": 0.5,
-    "turn_speed": 0.5,
+    "move_speed": 1.0,
+    "turn_speed": 1.0,
 }
 
 # ========== 机械臂 TCP 客户端 ==========
@@ -77,7 +77,7 @@ JOINT_LIMITS = {
 }
 
 # ========== 机械臂默认速度 ==========
-DEFAULT_ARM_SPEED = 500
+DEFAULT_ARM_SPEED = 1000
 
 # ========== 状态定义 ==========
 class State:

agv_app/utils/mission_executor.py

@@ -101,11 +101,10 @@ class MissionExecutorV3:
         self._nav = Nav2Navigator()
 
         # 速度控制（默认值，可在 execute_mission 时覆写）
-        self.arm_speed = 500
-        self.agv_speed = 0.5
+        self.arm_speed = 1000
+        self.agv_speed = 1.0
 
         # 照片上传序号计数器（连续递增，从1开始）
-        self.next_upload_index = 1
 
     # ==================== 连接 ====================
 
@@ -239,8 +238,7 @@ class MissionExecutorV3:
             self._log(f"📍 点位蛇形路径: {len(path)} 个点位, {total_machines} 台机器")
 
             # 重置照片上传序号（每次任务开始时重置，从1开始）
-            self.next_upload_index = 1
-
+    
             # 任务步骤控制开关
             if options is None:
                 options = {}
@@ -258,8 +256,8 @@ class MissionExecutorV3:
             has_arm_pose = self.arm_client and any(abs(a) > 0.01 for a in arm_initial_pose)
 
             # 速度控制（从前端传入）
-            self.arm_speed = int(options.get("arm_speed", 500))
-            self.agv_speed = float(options.get("agv_speed", 0.5))
+            self.arm_speed = int(options.get("arm_speed", 1000))
+            self.agv_speed = float(options.get("agv_speed", 1.0))
             self._log(f"🚀 AGV速度={self.agv_speed:.1f}m/s, 机械臂速度={self.arm_speed}")
 
             # 设置 Nav2 导航速度（仅在任务开始时设一次）
@@ -831,9 +829,8 @@ class MissionExecutorV3:
                 self.arm_client.set_angles(angles, speed=self.arm_speed)
                 self._wait_arm_ready(angles)
 
-            # 拍照（upload_index 连续递增）
-            path = self._capture_arm_photo(row, col, side, pi + 1, qr_value, upload_index=self.next_upload_index)
-            self.next_upload_index += 1
+            # 拍照（每台机器独立从0开始编号）
+            path = self._capture_arm_photo(row, col, side, pi + 1, qr_value, upload_index=pi + 1)
             if path:
                 self._log(f"  💾 {os.path.basename(path)}")
 
@@ -842,7 +839,7 @@ class MissionExecutorV3:
                            upload_index: int = 0) -> Optional[str]:
         """从机械臂摄像头拍照，直接上传到服务器（不保存本地）
         
-        upload_index: 从1开始，先正面后背面，由调用方维护
+        upload_index: 每台机器独立，从0开始
         """
         try:
             resp = requests.get(ARM_CAMERA_SNAPSHOT, timeout=10)
@@ -892,6 +889,32 @@ class MissionExecutorV3:
             self._log(f"  ❌ 上传异常 [{index}]: {e}")
             return False
 
+    def _upload_photo_bytes(self, filename: str, image_data: bytes, serial_number: str, index: int) -> bool:
+        """上传照片 bytes 到远程服务器（不保存本地文件）
+        
+        Args:
+            filename: 文件名（用于服务器存储）
+            image_data: 图片二进制数据
+            serial_number: 二维码/序列号
+            index: 上传序号（从1开始递增）
+        """
+        try:
+            headers = {
+                "Authorization": "Bearer eyJhbGciOiJIUzUxMiJ9.eyJ1c2VyX2lkIjoxLCJ1c2VyX2tleSI6ImZhNTNkZTZiLWE3NjYtNDZmNC05MDUyLTQ2MjUzZTAyNjdmNSIsInVzZXJuYW1lIjoiYWRtaW4ifQ.lC4vKThZo4aAOLsekm2kPgaEJRqRx-YDQWKfHFqxdPNESCKy57l3eIqaKTj2ZjAMaoYAwYlMrv5M1zAOJsO_PA"
+            }
+            files = {"file": (filename, image_data, "image/jpeg")}
+            data = {"serialNumber": serial_number, "index": str(index)}
+            resp = requests.post(UPLOAD_URL, files=files, data=data, headers=headers, timeout=30)
+            if resp.status_code == 200:
+                self._log(f"  ☁️ 上传成功 [{index}]: {filename}")
+                return True
+            else:
+                self._log(f"  ⚠️ 上传失败 [{index}] HTTP {resp.status_code}: {resp.text[:200]}")
+                return False
+        except Exception as e:
+            self._log(f"  ❌ 上传异常 [{index}]: {e}")
+            return False
+
     # ==================== 控制 ====================
 
     def _wait_pause(self):