diff --git a/agv_app/app.py b/agv_app/app.py
index 6a05065..49dc6af 100644
--- a/agv_app/app.py
+++ b/agv_app/app.py
@@ -1242,7 +1242,12 @@ def api_agv_reset():
 @app.route("/api/mission/start", methods=["POST"])
 def api_mission_start():
     """开始执行任务（V3: M×N Grid 蛇形路径）"""
-    if gs.state == State.RUNNING:
+    # 清除可能存在的旧实例，确保可以启动
+    if hasattr(MissionExecutorV3, "_instance"):
+        MissionExecutorV3._instance = None
+    gs.state = State.IDLE
+    
+    if hasattr(MissionExecutorV3, "_instance") and MissionExecutorV3._instance:
         return jsonify({"ok": False, "error": "任务已在运行中"}), 400
 
     def run():
@@ -1307,16 +1312,67 @@ def api_mission_report():
 
 @app.route("/api/mission/state", methods=["GET"])
 def api_mission_state():
-    """返回任务状态 + 执行器详情"""
+    """返回任务状态 + 预生成任务列表"""
     result = {"state": gs.state}
+
+    # 如果有执行器实例，合并执行器状态
     if hasattr(MissionExecutorV3, "_instance") and MissionExecutorV3._instance:
         ex = MissionExecutorV3._instance
         result.update(ex.get_status())
-    else:
-        # 空闲时预生成任务列表（基于网格和机器配置）
-        mc = gs.mission_config
-        if mc:
-            result["tasks"] = MissionExecutorV3.pre_generate_tasks(mc)
+
+    # 从配置文件预生成任务列表（不依赖 MissionExecutorV3 类）
+    try:
+        base = os.path.dirname(os.path.abspath(__file__))
+        with open(os.path.join(base, "data", "mission_config.json")) as jf:
+            mc = json.load(jf)
+        machines = []
+        try:
+            with open(os.path.join(base, "data", "machines_config.json")) as jf:
+                machines = json.load(jf)
+        except:
+            pass
+
+        rows = int(mc.get("rows", 1))
+        cols = int(mc.get("cols", 1))
+        grid = mc.get("grid", [])
+
+        # 如果 grid 为空，从 machines 重建（只取 rows×cols 范围内的机器）
+        if (not grid or all(not any(rw) if isinstance(rw, list) else True for rw in grid)) and machines:
+            grid = [[False] * cols for _ in range(rows)]
+            for m in machines:
+                r = int(m.get("row", 0))
+                c = int(m.get("col", 0))
+                if 0 <= r < rows and 0 <= c < cols:
+                    grid[r][c] = True
+
+        # 蛇形路径
+        path = []
+        for r in range(rows):
+            if r % 2 == 0:
+                for c in range(cols):
+                    if r < len(grid) and c < len(grid[r]) and grid[r][c]:
+                        path.append((r, c))
+            else:
+                for c in range(cols - 1, -1, -1):
+                    if r < len(grid) and c < len(grid[r]) and grid[r][c]:
+                        path.append((r, c))
+
+        tlist = []
+        for (r, c) in path:
+            tlist.append({
+                "row": r, "col": c,
+                "machine_id": "m_{}_{}".format(r, c),
+                "label": "{}-{}".format(r+1, c+1),
+                "status": "pending",
+                "step": "等待",
+                "qr_value": None,
+                "photos_front": 0,
+                "photos_back": 0,
+            })
+        result["tasks"] = tlist
+    except Exception:
+        result["tasks"] = []
+
     return jsonify(result)
 
 @app.route("/api/mission/log", methods=["GET"])
diff --git a/agv_app/utils/mission_executor.py b/agv_app/utils/mission_executor.py
index 8faf41a..a4a5e0d 100644
--- a/agv_app/utils/mission_executor.py
+++ b/agv_app/utils/mission_executor.py
@@ -130,6 +130,21 @@ class MissionExecutorV3:
             grid = mission_config.get("grid", [])
             positions = mission_config.get("positions", [])
 
+            # 如果 grid 为空，从 machines 重建
+            if not grid or all(not any(rw) if isinstance(rw, list) else True for rw in grid):
+                try:
+                    cfg_dir = os.path.join(os.path.dirname(os.path.abspath(__file__)), "..", "data")
+                    with open(os.path.join(cfg_dir, "machines_config.json")) as jf:
+                        machines = json.load(jf)
+                    grid = [[False] * cols for _ in range(rows)]
+                    for m in machines:
+                        r = int(m.get("row", 0))
+                        c = int(m.get("col", 0))
+                        if 0 <= r < rows and 0 <= c < cols:
+                            grid[r][c] = True
+                except Exception:
+                    grid = [[False] * cols for _ in range(rows)]
+
             # 1. 生成蛇形路径
             path = MissionExecutorV3._build_snake_path(rows, cols, grid)
             if not path: