-

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
+                if _time.time() - _last_ok > 5:
-            # 编码为 JPEG
+                    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:
+    import cv2
-        r = requests.get(ARM_CAMERA_CONFIG.get("snapshot_url", ARM_CAMERA_CONFIG["url"]), timeout=8)
+    import numpy as np
-        if r.status_code == 200 and r.content:
+    url = ARM_CAMERA_CONFIG.get("snapshot_url", ARM_CAMERA_CONFIG["url"])
-            resp = Response(r.content, mimetype="image/jpeg")
+    max_retries = 3
-            resp.headers["Cache-Control"] = "no-cache, no-store, must-revalidate, max-age=0"
+    for attempt in range(1, max_retries + 1):
-            resp.headers["Pragma"] = "no-cache"
+        try:
-            resp.headers["Expires"] = "0"
+            r = requests.get(url, timeout=8)
-            return resp
+            if r.status_code == 200 and r.content:
-        return "", 404
+                corruption = _is_corrupted_jpeg(r.content)
-    except Exception as ex:
+                if corruption > 0.5:
-        logger.info(f"arm_refresh 不可用: {ex}")
+                    logger.warning(f"arm_refresh 第{attempt}次尝试检测到花屏 (置信度{corruption:.2f})，重试...")
-        return "", 404
+                    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:
+                    if not chunk:
-                        yield 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
     )
+

agv_app/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"
+AGV_HOST = "192.168.60.80"
-ARM_HOST = "192.168.60.88"
+ARM_HOST = "192.168.60.120"
 
 # ========== AGV 参数 ==========
 AGV_CONFIG = {
@@ -35,7 +35,7 @@ MAP_CONFIG = {
 
 # ========== 摄像头 ==========
 CAMERA_CONFIG = {
-    "device_index": 4,       # AGV 摄像头 video4（标准彩色摄像头，V4L2后端）
+    "device_index": 3,       # AGV 摄像头 video3（Orbbec Gemini 彩色流，V4L2后端）
     "backend": "v4l2",         # 使用 V4L2 后端获取标准彩色格式（640x480）
     "qr_detect_interval": 0.5,
     "capture_delay": 0.5,

agv_app/static/css/style.css

@@ -465,6 +465,10 @@ a:hover { text-decoration: underline; }
   aspect-ratio: 4/3;
   object-fit: cover;
 }
+.camera-img.arm {
+  transform: rotate(180deg);
+}
+
 .camera-placeholder {
   width: 100%;
   aspect-ratio: 4/3;
@@ -1076,3 +1080,114 @@ a:hover { text-decoration: underline; }
 .machine-cell.mstatus-pending { background: #141e28; border-color: #2a3a4a; }
 .machine-cell.mstatus-active { background: #1a2535; border-color: #4fc3f7; }
 .machine-cell.mstatus-completed { background: #152522; border-color: #2e7d32; }
+
+/* ===== 报关单选择 ===== */
+.customs-panel {
+  display: flex;
+  flex-direction: column;
+  gap: 4px;
+}
+.customs-row {
+  display: flex;
+  align-items: center;
+  gap: 8px;
+}
+.customs-select {
+  flex: 1;
+  max-width: 400px;
+  padding: 10px 12px;
+  background: #1a2535;
+  border: 1px solid #2a3a4a;
+  border-radius: 8px;
+  color: #e0e0e0;
+  font-size: 14px;
+  outline: none;
+}
+.customs-select:focus {
+  border-color: #4fc3f7;
+}
+.customs-select:disabled {
+  opacity: 0.5;
+  cursor: not-allowed;
+}
+.customs-select option {
+  background: #1a2535;
+  color: #e0e0e0;
+}
+.customs-select:disabled option {
+  opacity: 1;
+}
+.customs-info {
+  font-size: 13px;
+  color: #8899aa;
+}
+.customs-badge {
+  font-size: 13px;
+}
+.customs-actions {
+  display: flex;
+  align-items: center;
+  gap: 4px;
+}
+
+/* ===== 数据表格 ===== */
+.table-wrapper {
+  overflow-x: auto;
+  margin-top: 8px;
+}
+.data-table {
+  width: 100%;
+  border-collapse: collapse;
+  font-size: 13px;
+}
+.data-table th {
+  text-align: left;
+  padding: 10px 12px;
+  background: #0f1923;
+  color: #8899aa;
+  font-weight: 500;
+  border-bottom: 1px solid #2a3a4a;
+  white-space: nowrap;
+}
+.data-table td {
+  padding: 10px 12px;
+  border-bottom: 1px solid #1a2a3a;
+  color: #ccc;
+}
+.data-table tbody tr:hover {
+  background: #1a2a3a;
+}
+.clickable-row {
+  cursor: pointer;
+  transition: background 0.15s;
+}
+.clickable-row:hover {
+  background: #1a2535 !important;
+}
+.row-selected {
+  background: #142a3a !important;
+  border-left: 3px solid #4fc3f7;
+}
+
+/* ===== Badge 状态标签 ===== */
+.badge {
+  display: inline-block;
+  padding: 2px 8px;
+  border-radius: 4px;
+  font-size: 11px;
+  font-weight: 500;
+}
+.badge-unknown { background: #2a3441; color: #8899aa; }
+.badge-normal { background: #1a3a2a; color: #4caf50; }
+.badge-active { background: #1a3050; color: #4fc3f7; }
+.badge-finished { background: #1a3a2a; color: #4caf50; }
+.badge-waiting { background: #3a3020; color: #ffc107; }
+.badge-error { background: #3a1a1a; color: #f44336; }
+
+/* ===== 分页控件 ===== */
+.pagination {
+  display: flex;
+  align-items: center;
+  justify-content: center;
+  padding: 16px 0 8px;
+}

agv_app/static/js/app.js

@@ -18,6 +18,7 @@ createApp({
       agvCameraSrc: '/api/camera/refresh?t=' + Date.now(),
       armCameraSrc: '/api/camera/arm_preview?t=' + Date.now(),
       agvCameraError: false,
+      hasAgvCamera: false,  // AGV 车体是否有可用相机
       armCameraError: false,
       reconnectingDevice: null
     }
@@ -36,6 +37,7 @@ createApp({
   },
   mounted() {
     this.refresh()
+    this.refreshCameraCapabilities()
     setInterval(this.refreshStatus, 3000)
     this.refreshCams()
     setInterval(() => this.refreshCams(), 2000)
@@ -47,6 +49,17 @@ createApp({
         this.armCameraSrc = '/api/camera/arm_preview?t=' + Date.now()
       }
     },
+    async refreshCameraCapabilities() {
+      try {
+        const res = await fetch(API + '/api/camera/capabilities')
+        const data = await res.json()
+        this.hasAgvCamera = data.has_agv_camera
+      } catch (e) { this.hasAgvCamera = false }
+    },
+    refreshAgvCamera() {
+      this.agvCameraSrc = '/api/camera/refresh?t=' + Date.now()
+      this.agvCameraError = false
+    },
     async refresh() {
       await this.refreshStatus()
       await this.loadPoints()
@@ -58,6 +71,10 @@ createApp({
         this.agvConnected = data.agv_connected
         this.armConnected = data.arm_connected
         this.cameraOpened = data.camera_opened
+        // 尝试从后端获取摄像头能力，若无字段则保持默认 false
+        if (data.has_agv_camera !== undefined) {
+          this.hasAgvCamera = data.has_agv_camera
+        }
         this.armCameraOpened = data.arm_camera_opened
         this.mapLoaded = data.map_loaded
         this.currentState = data.state || 'idle'

agv_app/static/js/running.js

@@ -9,6 +9,7 @@ createApp({
       tasks: [],
       report: null,
       armCameraOpened: false,
+      hasAgvCamera: false,
       agvPreviewUrl: API + '/api/camera/preview',
       armPreviewUrl: '',
       polling: null,
@@ -70,6 +71,13 @@ createApp({
         }
       } catch (e) {}
     },
+    async checkAgvCameraCapabilities() {
+      try {
+        const res = await fetch(API + '/api/camera/capabilities')
+        const data = await res.json()
+        this.hasAgvCamera = data.has_agv_camera
+      } catch (e) { this.hasAgvCamera = false }
+    },
     poll() {
       this.refresh()
       this.pollLogs()

agv_app/static/js/setting.js

@@ -66,6 +66,15 @@ createApp({
       armSnapshotLoading: false,
       newQrName: '',
       armInitialPose: [0, 0, 0, 0, 0, 0],
+      // 报关单
+      customsList: [],
+      customsLoading: false,
+      customsPage: 1,
+      customsPageSize: 15,
+      customsTotal: 0,
+      selectedCustomsId: '',
+      selectedCustomsName: '',
+      customsMachines: [],
     }
   },
   mounted() {
@@ -76,6 +85,13 @@ createApp({
     this.armCameraUrl = API + '/api/camera/arm_preview?t=' + Date.now()
   },
   computed: {
+    customsTotalPages() {
+      return Math.max(1, Math.ceil(this.customsTotal / this.customsPageSize))
+    },
+    customsPageData() {
+      // 前端显示 pagination data — 但我们在 API 后端做分页，所以这里只是引用
+      return this.customsList
+    },
     hasQr() {
       return !!(this.selectedMachine && this.selectedMachine.qr)
     },
@@ -1187,5 +1203,64 @@ createApp({
         alert('❌ 复位请求失败: ' + e.message)
       }
     },
-  }
+  },
+  // ===== 报关单方法 =====
+  async loadCustomsList() {
+    this.customsLoading = true
+    try {
+      const url = API + '/api/customs/list?pageNum=' + this.customsPage + '&pageSize=' + this.customsPageSize
+      const res = await fetch(url)
+      const d = await res.json()
+      if (d.ok && d.data) {
+        const raw = d.data
+        let list = []
+        let total = 0
+        if (raw.rows) { list = raw.rows; total = raw.total || list.length }
+        else if (raw.records) { list = raw.records; total = raw.total || list.length }
+        else if (Array.isArray(raw)) { list = raw; total = list.length }
+        else if (raw.data && raw.data.rows) { list = raw.data.rows; total = raw.data.total || list.length }
+        else if (raw.data && raw.data.records) { list = raw.data.records; total = raw.data.total || list.length }
+        else if (raw.data && Array.isArray(raw.data)) { list = raw.data; total = list.length }
+        this.customsList = list
+        this.customsTotal = total || list.length
+      } else {
+        this.customsList = []
+        this.customsTotal = 0
+      }
+    } catch (e) {
+      console.error('加载报关单列表失败', e)
+      this.customsList = []
+      this.customsTotal = 0
+    } finally {
+      this.customsLoading = false
+    }
+  },
+  async selectCustomsRow(item) {
+    const id = item.id || item.customsId || item.customs_id || ''
+    if (!id) return
+    this.selectedCustomsId = id
+    this.selectedCustomsName = item.customsNo || item.customs_no || item.name || item.customsName || item.customs_name || id
+    this.customsMachines = []
+    try {
+      const res = await fetch(API + '/api/customs/machines?customsId=' + encodeURIComponent(id))
+      const d = await res.json()
+      if (d.ok && d.data) {
+        const raw = d.data
+        let machines = []
+        if (raw.rows) { machines = raw.rows }
+        else if (raw.records) { machines = raw.records }
+        else if (raw.data && Array.isArray(raw.data)) { machines = raw.data }
+        else if (Array.isArray(raw)) { machines = raw }
+        else if (Array.isArray(raw.data)) { machines = raw.data }
+        this.customsMachines = machines
+      } else {
+        this.customsMachines = []
+      }
+    } catch (e) {
+      console.error('加载机器列表失败', e)
+      this.customsMachines = []
+    }
+  },
+}
+
 }).mount('#app')

agv_app/templates/index.html

@@ -93,9 +93,10 @@
         <h2>📷 摄像头预览</h2>
         <div class="camera-row">
           <div class="camera-box">
-            <div class="camera-label">AGV 摄像头 <button class="btn btn-small" @click="agvCameraSrc='/api/camera/refresh?t='+Date.now(); agvCameraError=false">刷新</button></div>
+            <div class="camera-label">AGV 摄像头 <button class="btn btn-small" @click="refreshAgvCamera()">刷新</button></div>
-            <img v-if="cameraOpened && !agvCameraError" :src="agvCameraSrc" class="camera-img" @error="agvCameraError=true">
+            <img v-if="cameraOpened && hasAgvCamera && !agvCameraError" :src="agvCameraSrc" class="camera-img" @error="agvCameraError=true">
-            <div v-if="cameraOpened && agvCameraError" class="camera-placeholder">AGV 摄像头异常</div>
+            <div v-if="cameraOpened && agvCameraError && hasAgvCamera" class="camera-placeholder">AGV 摄像头异常</div>
+            <div v-if="cameraOpened && !hasAgvCamera" class="camera-placeholder">AGV 无可用彩色摄像头</div>
             <div v-else-if="!cameraOpened" class="camera-placeholder">未打开（先点击连接设备）</div>
           </div>
           <div class="camera-box">

agv_app/templates/running.html

@@ -173,8 +173,9 @@
         <h2>📷 摄像头预览</h2>
         <div class="camera-dual">
           <div class="camera-box">
-            <div class="camera-label">🎥 AGV 摄像头</div>
+            <div class="camera-label">🎥 AGV 摄像头 <span v-if="!hasAgvCamera" style="font-size:0.8em;color:#999">(不可用)</span></div>
-            <img :src="agvPreviewUrl" @error="onAgvPreviewError" class="camera-img">
+            <img v-if="hasAgvCamera" :src="agvPreviewUrl" @error="onAgvPreviewError" class="camera-img">
+            <div v-else class="camera-placeholder">AGV 无可用彩色摄像头</div>
           </div>
           <div class="camera-box" v-if="armCameraOpened">
             <div class="camera-label">🦾 机械臂摄像头</div>

agv_app/templates/setting.html

@@ -4,7 +4,7 @@
   <meta charset="UTF-8">
   <meta name="viewport" content="width=device-width, initial-scale=1.0">
   <title>设置 - AGV 拍摄系统</title>
-  <link rel="stylesheet" href="/static/css/style.css?v=20260529b">
+  <link rel="stylesheet" href="/static/css/style.css?v=20260612b">
 </head>
 <body>
   <div id="app">
@@ -25,6 +25,7 @@
       <button class="tab" :class="{active: tab === 'model'}" @click="tab = 'model'">📦 机型配置</button>
       <button class="tab" :class="{active: tab === 'arm'}" @click="tab = 'arm'">🤖 机械臂</button>
       <button class="tab" :class="{active: tab === 'agv'}" @click="tab = 'agv'">🚗 AGV控制</button>
+      <button class="tab" :class="{active: tab === 'customs'}" @click="tab = 'customs'">📋 报关单</button>
     </div>
 
     <main class="container">
@@ -435,7 +436,7 @@
           <!-- 机械臂摄像头画面 -->
           <div style="margin-bottom:8px">
             <div class="camera-preview" style="max-width:640px">
-              <img :src="armCameraUrl" @error="onArmPreviewError" style="width:100%;border-radius:8px">
+              <img :src="armCameraUrl" @error="onArmPreviewError" class="camera-img arm">
             </div>
           </div>
           <div style="display:flex;justify-content:flex-end;margin-bottom:16px">
@@ -499,7 +500,7 @@
           </div>
           <div v-else>
             <div class="camera-preview">
-              <img :src="armCameraUrl" @error="onArmPreviewError">
+              <img :src="armCameraUrl" @error="onArmPreviewError" class="camera-img arm">
             </div>
             <div class="joints-panel">
               <h3>关节角度控制</h3>
@@ -587,6 +588,97 @@
           </div>
         </section>
       </div>
+      <!-- ========== 报关单 Tab ========== -->
+      <div v-if="tab === 'customs'">
+        <section class="card">
+          <div style="display:flex;justify-content:space-between;align-items:center">
+            <h2>📋 报关单列表</h2>
+            <button class="btn btn-secondary" @click="loadCustomsList" :disabled="customsLoading">
+              <span v-if="customsLoading">⏳</span><span v-else>🔄</span> 刷新
+            </button>
+          </div>
+          <p class="hint" style="margin-bottom:12px">选择报关单查看其中的机器列表，点击报关单 ID 展开机器信息</p>
+
+          <!-- 分页表格 -->
+          <div class="table-wrapper">
+            <table class="data-table">
+              <thead>
+                <tr>
+                  <th style="width:60px">序号</th>
+                  <th>报关单号</th>
+                  <th>名称</th>
+                  <th>状态</th>
+                  <th>机器数</th>
+                  <th style="width:80px">操作</th>
+                </tr>
+              </thead>
+              <tbody>
+                <tr v-for="(item, idx) in customsPageData" :key="item.id || idx"
+                    class="clickable-row"
+                    :class="{ 'row-selected': selectedCustomsId === (item.id || item.customsId || item.customs_id) }"
+                    @click="selectCustomsRow(item, idx)">
+                  <td>{% raw %}{{ (customsPage - 1) * customsPageSize + idx + 1 }}{% endraw %}</td>
+                  <td><strong>{% raw %}{{ item.customsNo || item.customs_no || item.id || '-' }}{% endraw %}</strong></td>
+                  <td>{% raw %}{{ item.name || item.customsName || item.customs_name || '-' }}{% endraw %}</td>
+                  <td><span class="badge" :class="'badge-' + (item.status || 'unknown')">{% raw %}{{ item.status || '未知' }}{% endraw %}</span></td>
+                  <td>{% raw %}{{ item.machineCount || item.machine_count || item.machineNum || item.machine_num || '?' }}{% endraw %}</td>
+                  <td>
+                    <button class="btn btn-small btn-primary" @click.stop="selectCustomsRow(item, idx)">
+                      📦 查看机器
+                    </button>
+                  </td>
+                </tr>
+                <tr v-if="!customsPageData.length && !customsLoading">
+                  <td colspan="6" style="text-align:center;color:#8899aa;padding:24px">暂无报关单数据</td>
+                </tr>
+              </tbody>
+            </table>
+          </div>
+
+          <!-- 分页控件 -->
+          <div class="pagination" v-if="customsTotal > customsPageSize">
+            <button class="btn btn-small" :disabled="customsPage <= 1" @click="customsPage = customsPage - 1; loadCustomsList()">‹ 上一页</button>
+            <span style="margin:0 12px;color:#9aa0a6;font-size:13px">
+              第 {% raw %}{{ customsPage }}{% endraw %} / {% raw %}{{ customsTotalPages }}{% endraw %} 页（共 {% raw %}{{ customsTotal }}{% endraw %} 条）
+            </span>
+            <button class="btn btn-small" :disabled="customsPage >= customsTotalPages" @click="customsPage = customsPage + 1; loadCustomsList()">下一页 ›</button>
+          </div>
+        </section>
+
+        <!-- 机器列表（点击报关单行时展开） -->
+        <section class="card" v-if="customsMachines.length">
+          <div style="display:flex;justify-content:space-between;align-items:center">
+            <h2>📦 机器列表</h2>
+            <span style="color:#9aa0a6;font-size:13px">报关单: <strong style="color:#e0e0e0">{% raw %}{{ selectedCustomsName }}{% endraw %}</strong></span>
+          </div>
+          <p class="hint" style="margin-bottom:12px">共 <strong>{% raw %}{{ customsMachines.length }}{% endraw %}</strong> 台机器</p>
+          <div class="table-wrapper">
+            <table class="data-table">
+              <thead>
+                <tr>
+                  <th style="width:50px">序号</th>
+                  <th>机器编号</th>
+                  <th>机器名称</th>
+                  <th>型号</th>
+                  <th>二维码值</th>
+                  <th>状态</th>
+                </tr>
+              </thead>
+              <tbody>
+                <tr v-for="(m, mi) in customsMachines" :key="mi">
+                  <td>{% raw %}{{ mi + 1 }}{% endraw %}</td>
+                  <td><strong>{% raw %}{{ m.serialNumber || m.serial_number || m.serialNo || m.serial_no || m.machineNo || m.machine_no || m.id || '-' }}{% endraw %}</strong></td>
+                  <td>{% raw %}{{ m.name || m.machineName || m.machine_name || m.model || '-' }}{% endraw %}</td>
+                  <td>{% raw %}{{ m.modelName || m.model_name || m.model || '-' }}{% endraw %}</td>
+                  <td style="font-family:monospace;color:#4fc3f7">{% raw %}{{ m.qrValue || m.qr_value || m.qr || m.qrCode || m.qr_code || m.serialNumber || m.serial_number || '-' }}{% endraw %}</td>
+                  <td><span class="badge" :class="'badge-' + (m.status || 'normal')">{% raw %}{{ m.status || '正常' }}{% endraw %}</span></td>
+                </tr>
+              </tbody>
+            </table>
+          </div>
+        </section>
+      </div>
+
     </main>
 
     <!-- 手动输入二维码弹窗 -->
@@ -621,6 +713,6 @@
     </div>
 
   <script src="/static/js/vue3.global.prod.js?v=20260526a"></script>
-  <script src="/static/js/setting.js?v=20260605a"></script>
+  <script src="/static/js/setting.js?v=20260612a"></script>
 </body>
 </html>

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
+                # 兼容 "get_angles:[-260.2,...]" 和 "[-260.2,...]" 两种格式
-                nums = resp.split("[")[1].split("]")[0]
+                text = resp.split(":", 1)[-1] if ":" in resp else resp
-                angles = [float(x) for x in nums.split(",")]
+                text = text.strip()
-                return True, angles
+                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]
+                text = resp.split(":", 1)[-1] if ":" in resp else resp
-                coords = [float(x) for x in nums.split(",")]
+                text = text.strip()
-                return True, coords
+                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"
+AGV_HOST = "192.168.60.80"
-ARM_HOST = "192.168.60.88"
+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():
+            if not 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
                 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)")
+            if not self._cap.isOpened():
-                    return True
                 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()

arm_server/arm_server.py

@@ -105,11 +105,11 @@ def _ensure_ffmpeg():
                 "ffmpeg",
                 "-f", "v4l2",
                 "-input_format", "mjpeg",
-                "-framerate", "15",
+                "-framerate", "12",
-                "-video_size", "640x480",
+                "-video_size", "1280x720",
                 "-i", f"/dev/video{ARM_CAMERA_INDEX}",
                 "-vf", "rotate=PI",
-                "-q:v", "8",
+                "-q:v", "4",
                 "-f", "mjpeg",
                 "-"
             ],

shared/config.json

@@ -1,13 +1,13 @@
 {
   "agv": {
-    "ip": "192.168.60.177",
+    "ip": "192.168.60.80",
     "ssh_user": "elephant",
     "ssh_password": "Elephant",
     "map_file": "map.yaml",
     "map_dir": "/home/elephant"
   },
   "arm": {
-    "ip": "192.168.60.88",
+    "ip": "192.168.60.120",
     "ssh_user": "pi",
     "ssh_password": "elephant",
     "socket_port": 5001,