-

agv_app/utils/arm_client.py

@@ -61,14 +61,18 @@ class ArmClient:
     def get_angles(self) -> Tuple[bool, List[float]]:
         """获取所有关节角度"""
         ok, resp = self.send_command("get_angles()")
-        if ok and resp.startswith("get_angles:["):
+        if ok:
             try:
-                # get_angles:[0.174, 0.520, ...] → list
-                nums = resp.split("[")[1].split("]")[0]
-                angles = [float(x) for x in nums.split(",")]
-                return True, angles
+                # 兼容 "get_angles:[-260.2,...]" 和 "[-260.2,...]" 两种格式
+                text = resp.split(":", 1)[-1] if ":" in resp else resp
+                text = text.strip()
+                if text.startswith("[") and text.endswith("]"):
+                    nums = text[1:-1].split(",")
+                    angles = [float(x) for x in nums]
+                    if len(angles) == 6:
+                        return True, angles
             except:
-                return False, []
+                pass
         return False, []
 
     def set_angles(self, angles: List[float], speed: int = 500) -> bool:
@@ -94,13 +98,17 @@ class ArmClient:
     def get_coords(self) -> Tuple[bool, List[float]]:
         """获取当前坐标和姿态 [x, y, z, rx, ry, rz]"""
         ok, resp = self.send_command("get_coords()")
-        if ok and "get_coords:" in resp:
+        if ok:
             try:
-                nums = resp.split("[")[1].split("]")[0]
-                coords = [float(x) for x in nums.split(",")]
-                return True, coords
+                text = resp.split(":", 1)[-1] if ":" in resp else resp
+                text = text.strip()
+                if text.startswith("[") and text.endswith("]"):
+                    nums = text[1:-1].split(",")
+                    coords = [float(x) for x in nums]
+                    if len(coords) == 6:
+                        return True, coords
             except:
-                return False, []
+                pass
         return False, []
 
     def set_coords(self, coords: List[float], speed: int = 500) -> bool:
@@ -132,19 +140,20 @@ class ArmClient:
     def state_check(self) -> bool:
         """检查机械臂状态是否正常"""
         ok, resp = self.send_command("state_check()")
-        return ok and resp == "state_check:1"
+        # 兼容 "state_check:1" 和 "1" 两种格式
+        return ok and resp.strip().lstrip("state_check:") == "1"
 
     def check_running(self) -> bool:
         """检查机械臂是否在运行"""
         ok, resp = self.send_command("check_running()")
-        return ok and resp == "check_running:1"
+        return ok and resp.strip().lstrip("check_running:") == "1"
 
     def wait_done(self, timeout: float = 30) -> bool:
         """等待上一条命令执行完成"""
         start = time.time()
         while time.time() - start < timeout:
             ok, resp = self.send_command("check_running()")
-            if ok and resp == "check_running:0":
+            if ok and resp.strip().lstrip("check_running:") == "0":
                 return True
             time.sleep(0.5)
         return False

agv_app/utils/config.py

@@ -7,8 +7,8 @@ import os
 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 = "192.168.60.177"
-ARM_HOST = "192.168.60.88"
+AGV_HOST = "192.168.60.80"
+ARM_HOST = "192.168.60.120"
 
 # ========== AGV 参数 ==========
 AGV_CONFIG = {

agv_app/utils/qr_scanner.py

@@ -29,19 +29,22 @@ class QRScanner:
     def open(self) -> bool:
         """打开摄像头"""
         try:
-            # 强制 V4L2 后端，获取标准彩色格式（与 test/server.py 一致）
+            # 强制 V4L2 后端
             self._cap = cv2.VideoCapture(self.device_index, cv2.CAP_V4L2)
-            if self._cap.isOpened():
-                logger.info(f"摄像头 {self.device_index} 已打开 (V4L2)")
-                return True
-            else:
-                # fallback: 不指定后端
+            if not self._cap.isOpened():
                 self._cap = cv2.VideoCapture(self.device_index)
-                if self._cap.isOpened():
-                    logger.info(f"摄像头 {self.device_index} 已打开 (默认后端)")
-                    return True
+
+            if not self._cap.isOpened():
                 logger.error(f"无法打开摄像头 {self.device_index}")
                 return False
+
+            # 确保 OpenCV 做 BGR 转换（部分 V4L2 后端默认不做 YUYV→BGR 转换）
+            self._cap.set(cv2.CAP_PROP_CONVERT_RGB, 1)
+            # 设置分辨率（使用默认分辨率，不强制 MJPG）
+            w = int(self._cap.get(cv2.CAP_PROP_FRAME_WIDTH))
+            h = int(self._cap.get(cv2.CAP_PROP_FRAME_HEIGHT))
+            logger.info(f"摄像头 {self.device_index} 已打开，分辨率 {w}x{h}")
+            return True
         except Exception as e:
             logger.error(f"摄像头打开失败: {e}")
             return False
@@ -51,14 +54,61 @@ class QRScanner:
             self._cap.release()
             self._cap = None
 
+    def _fix_frame(self, frame: np.ndarray) -> Optional[np.ndarray]:
+        """修复绿屏/格式错误帧，返回修复后的 BGR 帧或 None"""
+        if frame is None:
+            return None
+
+        h, w = frame.shape[:2]
+        if h < 10 or w < 10:
+            return None
+
+        ndim = len(frame.shape)
+
+        # 情况 1: 2 通道原始 YUYV → 手动转换 BGR
+        if ndim == 2:
+            frame = cv2.cvtColor(frame, cv2.COLOR_YUV2BGR_YUYV)
+            logger.debug("YUYV 2ch → BGR 转换")
+            return frame
+
+        # 情况 2: 3 通道但实际帧数据显示为 YUYV（绿屏特征：G 通道全满，B/R 近空）
+        if ndim == 3:
+            g_mean = frame[:, :, 1].mean()
+            if g_mean > 220 and frame[:, :, 0].mean() < 30 and frame[:, :, 2].mean() < 30:
+                # 典型的"Lime"绿屏 — 当做 YUYV 原始数据解码
+                logger.debug(f"检测到绿屏 (G={g_mean:.0f}, B={frame[:,:,0].mean():.0f}, R={frame[:,:,2].mean():.0f})，尝试修复")
+                try:
+                    # 把内存当做 YUYV 数据重新解析
+                    raw_bytes = frame.tobytes()
+                    # 3ch w*h 的数据量 = w*h*3 字节
+                    # YUYV 每像素 2 字节，所以一幅 YUYV 图像的总字节 = w*h*2
+                    # 我们只需要取前 w*h*2 字节作为 YUYV 数据
+                    yuyv_len = w * h * 2
+                    if len(raw_bytes) >= yuyv_len:
+                        yuyv_img = np.frombuffer(raw_bytes[:yuyv_len], dtype=np.uint8).reshape(h, w * 2, 1)
+                        frame = cv2.cvtColor(yuyv_img, cv2.COLOR_YUV2BGR_YUYV)
+                        logger.debug("绿屏修复完成")
+                        return frame
+                except Exception as e:
+                    logger.warning(f"绿屏修复失败: {e}")
+                    return None
+
+        # 情况 3: 全黑帧
+        if frame.mean() < 5:
+            logger.warning("全黑帧，丢弃")
+            return None
+
+        # 正常 BGR 帧
+        return frame
+
     def read_frame(self) -> Optional[np.ndarray]:
         """读取一帧"""
         if not self._cap or not self._cap.isOpened():
             return None
         ret, frame = self._cap.read()
-        if not ret:
+        if not ret or frame is None:
             return None
-        return frame
+        return self._fix_frame(frame)
 
     def detect_qr(self, frame: np.ndarray) -> Optional[str]:
         """从图像帧中检测二维码"""
@@ -96,4 +146,4 @@ class QRScanner:
         return self
 
     def __exit__(self, *args):
-        self.close()
+        self.close()