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This commit is contained in:
ywb
2026-06-08 11:42:41 +08:00
parent 696bf2ef6e
commit a4f4be4c8e
8 changed files with 141 additions and 52 deletions
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agv_app/app.py
+28 -6
View File
@@ -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}")
agv_app/config.py
+3 -3
View File
@@ -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/static/js/running.js
+15 -7
View File
@@ -33,8 +33,8 @@ createApp({
frontPhotoEnabled: true,
backPhotoEnabled: true,
// 速度控制
agvSpeed: 0.5,
armSpeed: 500,
agvSpeed: 1.0,
armSpeed: 1000,
}
},
computed: {
@@ -63,10 +63,10 @@ createApp({
try {
const res = await fetch(API + '/api/status')
const data = await res.json()
if (!this.armCameraOpened) {
this.armPreviewUrl = ''
} else if (!this.armPreviewUrl) {
this.armPreviewUrl = API + '/api/camera/arm_preview'
const opened = data.arm_camera_opened
if (opened !== this.armCameraOpened || (opened && !this.armPreviewUrl)) {
this.armCameraOpened = opened
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
+1 -1
View File
@@ -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
+7 -7
View File
@@ -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
+3 -3
View File
@@ -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
+33 -10
View File
@@ -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 ====================
@@ -239,7 +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.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):
arm_server/arm_server.py
+49 -13
View File
@@ -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）
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")