-

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)),
+        "agv_speed": float(data.get("agv_speed", 1.0)),
-        "arm_speed": int(data.get("arm_speed", 500)),
+        "arm_speed": int(data.get("arm_speed", 1000)),
     }
     print(f"[Mission] options: {options}")
     

agv_app/config.py

@@ -14,8 +14,8 @@ ARM_HOST = "192.168.60.88"
 AGV_CONFIG = {
     "device": "/dev/agvpro_controller",
     "baudrate": 10000000,
-    "move_speed": 0.5,
+    "move_speed": 1.0,
-    "turn_speed": 0.5,
+    "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/static/js/running.js

@@ -33,8 +33,8 @@ createApp({
       frontPhotoEnabled: true,
       backPhotoEnabled: true,
       // 速度控制
-      agvSpeed: 0.5,
+      agvSpeed: 1.0,
-      armSpeed: 500,
+      armSpeed: 1000,
     }
   },
   computed: {
@@ -63,10 +63,10 @@ createApp({
       try {
         const res = await fetch(API + '/api/status')
         const data = await res.json()
-        if (!this.armCameraOpened) {
+        const opened = data.arm_camera_opened
-          this.armPreviewUrl = ''
+        if (opened !== this.armCameraOpened || (opened && !this.armPreviewUrl)) {
-        } else if (!this.armPreviewUrl) {
+          this.armCameraOpened = opened
-          this.armPreviewUrl = API + '/api/camera/arm_preview'
+          this.armPreviewUrl = opened ? API + '/api/camera/arm_preview' : ''
         }
       } catch (e) {}
     },
@@ -94,6 +94,9 @@ createApp({
         if (data.point_status) this.pointStatus = data.point_status
         if (data.machine_status) this.machineStatus = data.machine_status
         this.armCameraOpened = data.arm_camera_opened
+        if (this.armCameraOpened && !this.armPreviewUrl) {
+          this.armPreviewUrl = API + '/api/camera/arm_preview'
+        }
 
         // 错误弹窗
         if (data.waiting_error) {
@@ -260,7 +263,12 @@ createApp({
       e.target.style.display = 'none'
     },
     onArmPreviewError(e) {
-      e.target.style.display = 'none'
+      // 重新加载：加时间戳避免缓存
+      const url = this.armPreviewUrl
+      if (url) {
+        const sep = url.includes('?') ? '&' : '?'
+        this.armPreviewUrl = url + sep + '_t=' + Date.now()
+      }
     },
     // ===== 网格任务显示方法 =====
     getPointStatus(pr, c) {

agv_app/static/js/setting.js

@@ -45,7 +45,7 @@ createApp({
       agvConnected: false,
       agvBattery: null,
       agvPosition: null,
-      agvSpeed: 0.5,
+      agvSpeed: 1.0,
       agvMoveInterval: null,
       agvCameraUrl: API + '/api/camera/refresh',
       agvCameraTimer: null,

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,
+    "move_speed": 1.0,
-    "turn_speed": 0.5,
+    "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.arm_speed = 1000
-        self.agv_speed = 0.5
+        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 ====================
 
@@ -239,7 +238,6 @@ 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:
@@ -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.arm_speed = int(options.get("arm_speed", 1000))
-            self.agv_speed = float(options.get("agv_speed", 0.5))
+            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）
+            # 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=self.next_upload_index)
+            path = self._capture_arm_photo(row, col, side, pi + 1, qr_value, upload_index=pi + 1)
-            self.next_upload_index += 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):

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")
+            logger.info("RoboFlow 连接成功（上电由 power_on_arm() 完成）")
-            # 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}")
         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）
+    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")