执行任务

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: