-

arm_server/arm_server.py

@@ -254,19 +254,7 @@ class AGVCommandServer:
     def _connect_roboflow(self):
         self.roboflow = RoboFlowClient()
         if self.roboflow.connect():
-            logger.info("RoboFlow 连接成功")
-            # 连接成功后自动上电并激活机械臂
-            time.sleep(1)
-            try:
-                resp = self.roboflow.send_recv("power_on()")
-                logger.info(f"机械臂上电: {resp}")
-            except Exception as e:
-                logger.warning(f"机械臂上电失败: {e}")
-            try:
-                resp = self.roboflow.send_recv("state_on()")
-                logger.info(f"机械臂激活: {resp}")
-            except Exception as e:
-                logger.warning(f"机械臂激活失败: {e}")
+            logger.info("RoboFlow 连接成功（上电由 power_on_arm() 完成）")
         else:
             logger.warning("RoboFlow 连接失败，服务将以 limited 模式运行")
 
@@ -342,13 +330,61 @@ class AGVCommandServer:
 
 
 # ========== 入口 ==========
+import time
+
+def power_on_arm(max_retries: int = 5) -> bool:
+    """通过 ElephantRobot 给机械臂上电并激活（带重试）"""
+    from pymycobot import ElephantRobot
+    
+    for attempt in range(1, max_retries + 1):
+        try:
+            logger.info(f"正在通过 ElephantRobot 连接 RoboFlow (尝试 {attempt}/{max_retries})...")
+            el = ElephantRobot("127.0.0.1", 5001)
+            el.start_client()
+            logger.info("ElephantRobot start_client 成功，等待2秒...")
+            time.sleep(2)
+
+            el._power_on()
+            logger.info("power_on 指令已发送，等待2秒...")
+            time.sleep(2)
+
+            el.start_robot()
+            logger.info("start_robot 指令已发送，等待5秒...")
+            time.sleep(5)
+            logger.info("✅ 机械臂上电+激活 全部完成")
+            return True
+        except Exception as e:
+            logger.warning(f"⚠️ 第 {attempt} 次尝试失败: {e}")
+            if attempt < max_retries:
+                logger.info(f"等待 3 秒后重试...")
+                time.sleep(3)
+            else:
+                logger.error(f"❌ 所有 {max_retries} 次尝试均失败，将以 limited 模式运行")
+                return False
+    return False
+
+
 def main():
     import signal
 
+    # 先通过 ElephantRobot 给机械臂上电并激活
+    power_on_arm()
+
     server = AGVCommandServer(port=5002)
 
     # 启动 Flask 视频流服务（端口 5003）
-    arm_server_http = make_server("0.0.0.0", 5003, arm_video_app, threaded=True)
+    from werkzeug.serving import make_server
+    arm_server_http = None
+    for attempt in range(5):
+        try:
+            arm_server_http = make_server("0.0.0.0", 5003, arm_video_app, threaded=True)
+            break
+        except OSError as e:
+            if attempt < 4 and "Address already in use" in str(e):
+                logger.warning(f"端口 5003 被占用（第{attempt+1}次），等待...")
+                time.sleep(3)
+            else:
+                raise
     http_thread = threading.Thread(target=arm_server_http.serve_forever, daemon=True)
     http_thread.start()
     logger.info("机械臂视频流服务已启动: http://0.0.0.0:5003")