-

agv_app/utils/config.py

@@ -6,6 +6,10 @@ import os
 # 基础路径（部署后对应 ~/work/agv_app）
 BASE_DIR = os.path.dirname(os.path.abspath(__file__))
 
+# ========== 网络配置（集中管理所有 IP 地址 — 修改此处即可全局生效）==========
+AGV_HOST = "192.168.50.93"
+ARM_HOST = "192.168.50.90"
+
 # ========== AGV 参数 ==========
 AGV_CONFIG = {
     "device": "/dev/agvpro_controller",
@@ -16,7 +20,7 @@ AGV_CONFIG = {
 
 # ========== 机械臂 TCP 客户端 ==========
 ARM_CONFIG = {
-    "host": "192.168.50.89",
+    "host": ARM_HOST,
     "port": 5002,
     "timeout": 8,
     "retry_times": 3,
@@ -39,7 +43,8 @@ CAMERA_CONFIG = {
 
 # ========== 机械臂摄像头流 ==========
 ARM_CAMERA_CONFIG = {
-    "url": "http://192.168.50.89:5003/api/camera/preview",
+    "url": f"http://{ARM_HOST}:5003/api/camera/preview",
+    "snapshot_url": f"http://{ARM_HOST}:5003/api/camera/snapshot",
 }
 
 # ========== HTTP 上传 ==========

agv_app/utils/mission_executor.py

@@ -26,7 +26,8 @@ import numpy as np
 logger = logging.getLogger(__name__)
 
 ROS2_SETUP_CMD = "source /opt/ros/humble/setup.bash && source ~/agv_pro_ros2/install/setup.bash"
-ARM_CAMERA_SNAPSHOT = "http://192.168.50.89:5003/api/camera/snapshot"
+from config import ARM_CAMERA_CONFIG
+ARM_CAMERA_SNAPSHOT = ARM_CAMERA_CONFIG["snapshot_url"]
 PHOTOS_DIR = "/home/elephant/photos"
 
 # 二维码扫描重试参数