-

agv_app/app.py

@@ -53,6 +53,7 @@ class GlobalState:
         self.machines_config = []        # 机器配置（每台机器的正面/背面点位+姿态）
         self.qr_config = []               # 二维码配置（独立点位列表）
         self.navigator = None              # Nav2Navigator 实例
+        self.current_customs = None        # 当前设定的报关单信息
         self.error_msg = ""               # 错误弹窗消息（waiting_error 状态时）
         self.lock = threading.Lock()
 
@@ -188,9 +189,6 @@ def api_status():
                 arm_connected = ok
             except:
                 arm_connected = False
-                # 连接已断开，清理 socket
-                if gs.arm_client:
-                    gs.arm_client._sock = None
 
         # 实际验证 AGV 连接
         agv_connected = False
@@ -1088,33 +1086,25 @@ def api_camera_preview():
     if not gs.qr_scanner or not gs.qr_scanner._cap:
         return "camera not opened", 400
 
+    import time as _time
     def gen():
+        _last_ok = _time.time()
         while True:
             frame = gs.qr_scanner.read_frame()
             if frame is None:
-                break
-            # 编码为 JPEG
+                if _time.time() - _last_ok > 5:
+                    break
+                _time.sleep(0.05)
+                continue
             import cv2
             ret, buf = cv2.imencode(".jpg", frame)
             if ret:
+                _last_ok = _time.time()
                 yield (b"--frame\r\nContent-Type: image/jpeg\r\n\r\n" +
                        buf.tobytes() + b"\r\n")
 
     return Response(gen(), mimetype="multipart/x-mixed-replace; boundary=frame")
 
-@app.route("/api/camera/refresh")
-def api_camera_refresh():
-    """AGV 摄像头单帧 JPEG（polling 模式）"""
-    if not gs.qr_scanner or not gs.qr_scanner._cap:
-        return "camera not opened", 400
-    import cv2
-    frame = gs.qr_scanner.read_frame()
-    if frame is None:
-        return "", 400
-    ret, buf = cv2.imencode(".jpg", frame)
-    if ret:
-        return Response(buf.tobytes(), mimetype="image/jpeg")
-    return "encode failed", 500
 
 @app.route("/api/camera/capture")
 def api_camera_capture():
@@ -1132,28 +1122,101 @@ def api_camera_capture():
     cv2.imwrite(photo_path, frame)
     return jsonify({"ok": True, "path": photo_path})
 
+
+def _is_corrupted_jpeg(jpeg_bytes: bytes) -> float:
+    """检测 JPEG 是否为花屏帧。返回 0~1 的置信度 (1=确定花屏)。"""
+    try:
+        import cv2
+        import numpy as np
+        arr = np.frombuffer(jpeg_bytes, dtype=np.uint8)
+        img = cv2.imdecode(arr, cv2.IMREAD_COLOR)
+        if img is None:
+            return 1.0
+        h, w = img.shape[:2]
+        if h < 10 or w < 10:
+            return 1.0
+
+        hsv = cv2.cvtColor(img, cv2.COLOR_BGR2HSV)
+
+        # 绿色条纹检测：HSV 中绿色 H=40~80
+        green_mask = cv2.inRange(hsv, (40, 30, 40), (80, 255, 255))
+        green_ratio = cv2.countNonZero(green_mask) / (h * w)
+
+        # 紫色/品红条纹
+        purple_mask = cv2.inRange(hsv, (130, 30, 40), (170, 255, 255))
+        purple_ratio = cv2.countNonZero(purple_mask) / (h * w)
+
+        if green_ratio > 0.80 or purple_ratio > 0.80:
+            return 0.95
+
+        gray = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
+        row_stds = np.std(gray, axis=1)
+        col_stds = np.std(gray, axis=0)
+
+        row_std_of_stds = float(np.std(row_stds))
+        col_std_of_stds = float(np.std(col_stds))
+
+        if row_std_of_stds > 70 and col_std_of_stds > 30:
+            return 0.85
+
+        unique_colors = len(np.unique(img.reshape(-1, 3), axis=0))
+        if unique_colors < 200:
+            return 0.75
+
+        return 0.0
+    except ImportError:
+        return 0.0
+    except Exception:
+        return 0.0
+
+
 @app.route("/api/camera/arm_refresh")
 def api_arm_camera_refresh():
-    """从机械臂拉一张 JPEG（请求 snapshot 端点，简单 HTTP GET）"""
+    """从机械臂拉一张 JPEG，翻转后返回（机械臂摄像头物理倒装）。"""
     import requests
-    try:
-        r = requests.get(ARM_CAMERA_CONFIG.get("snapshot_url", ARM_CAMERA_CONFIG["url"]), timeout=8)
-        if r.status_code == 200 and r.content:
-            resp = Response(r.content, mimetype="image/jpeg")
-            resp.headers["Cache-Control"] = "no-cache, no-store, must-revalidate, max-age=0"
-            resp.headers["Pragma"] = "no-cache"
-            resp.headers["Expires"] = "0"
-            return resp
-        return "", 404
-    except Exception as ex:
-        logger.info(f"arm_refresh 不可用: {ex}")
-        return "", 404
+    import cv2
+    import numpy as np
+    url = ARM_CAMERA_CONFIG.get("snapshot_url", ARM_CAMERA_CONFIG["url"])
+    max_retries = 3
+    for attempt in range(1, max_retries + 1):
+        try:
+            r = requests.get(url, timeout=8)
+            if r.status_code == 200 and r.content:
+                corruption = _is_corrupted_jpeg(r.content)
+                if corruption > 0.5:
+                    logger.warning(f"arm_refresh 第{attempt}次尝试检测到花屏 (置信度{corruption:.2f})，重试...")
+                    time.sleep(0.3)
+                    continue
+                # 解码 → 上下翻转 → 编码
+                img = cv2.imdecode(np.frombuffer(r.content, dtype=np.uint8), cv2.IMREAD_COLOR)
+                if img is not None:
+                    img = cv2.flip(img, 0)  # 0 = 上下翻转
+                    ret, jpg = cv2.imencode(".jpg", img, [cv2.IMWRITE_JPEG_QUALITY, 85])
+                    if ret:
+                        resp = Response(jpg.tobytes(), mimetype="image/jpeg")
+                        resp.headers["Cache-Control"] = "no-cache, no-store, must-revalidate, max-age=0"
+                        resp.headers["Pragma"] = "no-cache"
+                        resp.headers["Expires"] = "0"
+                        return resp
+                resp = Response(r.content, mimetype="image/jpeg")
+                resp.headers["Cache-Control"] = "no-cache, no-store, must-revalidate, max-age=0"
+                resp.headers["Pragma"] = "no-cache"
+                resp.headers["Expires"] = "0"
+                return resp
+            return "", 404
+        except Exception as ex:
+            logger.info(f"arm_refresh 尝试{attempt}/{max_retries} 失败: {ex}")
+            time.sleep(0.5)
+    logger.warning(f"arm_refresh 在 {max_retries} 次尝试后仍失败")
+    return "", 404
 
 
 @app.route("/api/camera/arm_preview")
 def api_arm_camera_preview():
-    """代理机械臂 MJPEG 视频流，供页面连续预览。"""
+    """代理机械臂 MJPEG 视频流，逐帧上下翻转后返回。"""
     import requests
+    import cv2
+    import numpy as np
     try:
         upstream = requests.get(
             ARM_CAMERA_CONFIG["url"],
@@ -1165,10 +1228,31 @@ def api_arm_camera_preview():
             return "", 404
 
         def generate():
+            buf = b""
             try:
                 for chunk in upstream.iter_content(chunk_size=8192):
-                    if chunk:
-                        yield chunk
+                    if not chunk:
+                        continue
+                    buf += chunk
+                    # 查找 MJPEG 帧边界
+                    while True:
+                        start = buf.find(b"\xff\xd8")
+                        end = buf.find(b"\xff\xd9")
+                        if start != -1 and end != -1 and end > start:
+                            jpg_data = buf[start:end+2]
+                            buf = buf[end+2:]
+                            # 解码 → 上下翻转 → 编码
+                            img = cv2.imdecode(np.frombuffer(jpg_data, dtype=np.uint8), cv2.IMREAD_COLOR)
+                            if img is not None:
+                                img = cv2.flip(img, 0)
+                                ret, flipped_jpg = cv2.imencode(".jpg", img, [cv2.IMWRITE_JPEG_QUALITY, 85])
+                                if ret:
+                                    yield b"--frame\r\nContent-Type: image/jpeg\r\n\r\n" + flipped_jpg.tobytes() + b"\r\n"
+                            else:
+                                # 解码失败，直透原始帧（不应发生）
+                                yield b"--frame\r\nContent-Type: image/jpeg\r\n\r\n" + jpg_data + b"\r\n"
+                        else:
+                            break
             finally:
                 upstream.close()
 
@@ -1670,12 +1754,105 @@ def api_qr_config_scan(qr_id):
         return jsonify({"ok": False, "error": f"扫描失败: {str(ex)}"}), 400
 
 
+
+# ========== 报关单接口（代理外部 API） ==========
+
+_ZHIJIAN_BASE = "https://ts.zhijian168.com/prod-api/zhijian/integration"
+_ZHIJIAN_AUTH = "Bearer eyJhbGciOiJIUzUxMiJ9.eyJ1c2VyX2lkIjoxLCJ1c2VyX2tleSI6ImZhNTNkZTZiLWE3NjYtNDZmNC05MDUyLTQ2MjUzZTAyNjdmNSIsInVzZXJuYW1lIjoiYWRtaW4ifQ.lC4vKThZo4aAOLsekm2kPgaEJRqRx-YDQWKfHFqxdPNESCKy57l3eIqaKTj2ZjAMaoYAwYlMrv5M1zAOJsO_PA"
+
+
+@app.route("/api/customs/list")
+def api_customs_list():
+    """获取报关单列表（代理外部 API）"""
+    import requests
+    page = request.args.get("pageNum", 1)
+    size = request.args.get("pageSize", 50)
+    url = f"{_ZHIJIAN_BASE}/customsListPage?pageNum={page}&pageSize={size}"
+    try:
+        r = requests.get(url, headers={"Authorization": _ZHIJIAN_AUTH}, timeout=15)
+        if r.status_code != 200:
+            return jsonify({"ok": False, "error": f"报关单API返回 {r.status_code}"}), 502
+        data = r.json()
+        return jsonify({"ok": True, "data": data})
+    except Exception as e:
+        logger.error(f"获取报关单列表失败: {e}")
+        return jsonify({"ok": False, "error": str(e)}), 502
+
+
+@app.route("/api/customs/machines")
+def api_customs_machines():
+    """根据报关单 ID 获取机器列表（代理外部 API）
+    查询参数: customsId=xxx
+    """
+    import requests
+    customs_id = request.args.get("customsId", "")
+    if not customs_id:
+        return jsonify({"ok": False, "error": "缺少 customsId 参数"}), 400
+    url = f"{_ZHIJIAN_BASE}/customsMachines?customsId={customs_id}"
+    try:
+        r = requests.get(url, headers={"Authorization": _ZHIJIAN_AUTH}, timeout=15)
+        if r.status_code != 200:
+            return jsonify({"ok": False, "error": f"机器列表API返回 {r.status_code}"}), 502
+        data = r.json()
+        return jsonify({"ok": True, "data": data})
+    except Exception as e:
+        logger.error(f"获取报关单机器列表失败: {e}")
+        return jsonify({"ok": False, "error": str(e)}), 502
+
+
+@app.route("/api/customs/selected", methods=["POST"])
+def api_customs_selected():
+    """任务开始前设定当前报关单（存储当前任务对应的报关单信息）"""
+    data = request.json or {}
+    gs.current_customs = {
+        "id": data.get("id", ""),
+        "name": data.get("name", ""),
+        "machine_ids": data.get("machine_ids", []),
+    }
+    logger.info(f"设定报关单: {gs.current_customs['name']} ({len(gs.current_customs['machine_ids'])} 台机器)")
+    return jsonify({"ok": True, "customs": gs.current_customs})
+
+
+@app.route("/api/customs/selected", methods=["GET"])
+def api_customs_selected_get():
+    """获取当前设定的报关单信息"""
+    c = gs.current_customs or {"id": "", "name": "未选择", "machine_ids": []}
+    return jsonify({"ok": True, "customs": c})
+
+
 # ========== 静态资源 ==========
 @app.route("/photos/<name>")
 def photos(name):
     return send_from_directory(os.path.join(DATA_DIR, "photos"), name)
 
 
+@app.route("/api/camera/refresh")
+def api_camera_refresh():
+    """AGV 摄像头单帧 JPEG（polling 模式）"""
+    if not gs.qr_scanner:
+        return jsonify({"error": "scanner not initialized"}), 400
+    if not gs.qr_scanner._cap or not gs.qr_scanner._cap.isOpened():
+        return jsonify({"error": "camera not opened"}), 400
+    import cv2
+    frame = gs.qr_scanner.read_frame()
+    if frame is None:
+        return jsonify({"error": "read frame failed"}), 400
+    # 检查是否为全黑/无内容的帧（Orbbec 深度/IR 帧可能无内容）
+    if frame.mean() < 5:
+        return jsonify({"error": "camera sensor not ready"}), 400
+    ret, buf = cv2.imencode(".jpg", frame)
+    if ret:
+        return Response(buf.tobytes(), mimetype="image/jpeg")
+    return jsonify({"error": "encode failed"}), 500
+
+
+@app.route("/api/camera/capabilities")
+def api_camera_capabilities():
+    """返回摄像头能力信息，前端据此决定如何展示"""
+    return jsonify({
+        "has_agv_camera": False,  # Orbbec 深度相机不提供可用的彩色画面
+        "has_arm_camera": True,
+    })
 # ========== 启动 ==========
 if __name__ == "__main__":
     logger.info("=" * 50)
@@ -1702,3 +1879,4 @@ if __name__ == "__main__":
         debug=SERVER_CONFIG["debug"],
         threaded=True
     )
+