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Update mission flow and inspection log scrolling

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This commit is contained in:
FaulknerWu
2026-06-22 16:13:38 +08:00
parent 7dadcb8bcc
commit d45a72c6a6
9 changed files with 732 additions and 317 deletions
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agv_app/app.py
+81 -4
View File
@@ -46,6 +46,15 @@ logging.basicConfig(
)
logger = logging.getLogger("agv_app")
ORIGIN_X = 0.0
ORIGIN_Y = 0.0
ORIGIN_YAW = 0.0
ORIGIN_MATCH_TOLERANCE = 1e-6
ARM_RETURN_SPEED = 500
ARM_INITIAL_POSE_TIMEOUT = 15.0
ARM_INITIAL_POSE_TOLERANCE = 2.0
ARM_INITIAL_POSE_UNSET_TOLERANCE = 0.01
app = Flask(__name__, template_folder="templates", static_folder="static", static_url_path="/static")
app.config["SECRET_KEY"] = SERVER_CONFIG["secret_key"]
CORS(app)
@@ -88,6 +97,60 @@ gs = GlobalState()
# ========== 辅助函数 ==========
def _is_origin_goal(x: float, y: float, yaw: float = None) -> bool:
yaw_is_origin = yaw is None or abs(yaw - ORIGIN_YAW) <= ORIGIN_MATCH_TOLERANCE
return (
abs(x - ORIGIN_X) <= ORIGIN_MATCH_TOLERANCE
and abs(y - ORIGIN_Y) <= ORIGIN_MATCH_TOLERANCE
and yaw_is_origin
)
def _normalize_arm_pose(raw_pose):
if not isinstance(raw_pose, list) or len(raw_pose) != 6:
return None
try:
return [float(angle) for angle in raw_pose]
except (TypeError, ValueError):
return None
def _wait_arm_initial_pose(target_angles, timeout=ARM_INITIAL_POSE_TIMEOUT, tolerance=ARM_INITIAL_POSE_TOLERANCE):
deadline = time.time() + timeout
while time.time() < deadline:
try:
ok, current_angles = gs.arm_client.get_angles()
if ok and current_angles and len(current_angles) >= 6:
current_angles = [float(angle) for angle in current_angles[:6]]
if all(abs(current_angles[index] - target_angles[index]) <= tolerance for index in range(6)):
return True
except Exception as e:
logger.warning(f"等待机械臂初始姿态失败: {e}")
time.sleep(0.5)
return False
def _restore_arm_initial_pose_for_origin():
arm_initial_pose = _normalize_arm_pose(gs.mission_config.get("arm_initial_pose"))
if not arm_initial_pose:
return {"ok": True, "skipped": True, "message": "未配置有效机械臂初始姿态，跳过复原"}
if not any(abs(angle) > ARM_INITIAL_POSE_UNSET_TOLERANCE for angle in arm_initial_pose):
return {"ok": True, "skipped": True, "message": "未配置机械臂初始姿态，跳过复原"}
if not gs.arm_client:
return {"ok": False, "error": "机械臂未连接，无法先复原再回原点"}
try:
ok = gs.arm_client.set_angles(arm_initial_pose, ARM_RETURN_SPEED)
if not ok:
return {"ok": False, "error": "机械臂初始姿态指令发送失败，已取消回原点"}
if not _wait_arm_initial_pose(arm_initial_pose):
return {"ok": False, "error": "机械臂未在规定时间内复原，已取消回原点"}
return {"ok": True, "skipped": False, "message": "机械臂已复原到初始姿态"}
except Exception as e:
logger.error(f"回原点前复原机械臂失败: {e}")
return {"ok": False, "error": f"回原点前复原机械臂失败: {e}"}
def get_data_path(name):
return os.path.join(DATA_DIR, name)
@@ -464,24 +527,38 @@ def api_navigate_to():
if not gs.map_config or "map_yaml" not in gs.map_config:
return jsonify({"ok": False, "error": "地图未加载，请先在设置中加载地图"}), 400
data = request.json
data = request.json or {}
goal_x = data.get("x")
goal_y = data.get("y")
goal_yaw = data.get("yaw") # 姿态参数，可选
if goal_x is None or goal_y is None:
return jsonify({"ok": False, "error": "缺少目标坐标 x, y"}), 400
try:
goal_x = float(goal_x)
goal_y = float(goal_y)
yaw_arg = float(goal_yaw) if goal_yaw is not None else None
except (TypeError, ValueError):
return jsonify({"ok": False, "error": "目标坐标格式错误"}), 400
if not gs.agv_controller or not gs.agv_controller.is_connected():
return jsonify({"ok": False, "error": "AGV 未连接，请先连接 AGV"}), 400
try:
restore_message = ""
restore_arm = bool(data.get("restore_arm", True))
if restore_arm and _is_origin_goal(goal_x, goal_y, yaw_arg):
restore_result = _restore_arm_initial_pose_for_origin()
if not restore_result["ok"]:
return jsonify({"ok": False, "error": restore_result["error"]}), 400
restore_message = restore_result.get("message", "")
if gs.navigator is None:
gs.navigator = Nav2Navigator()
# navigate_to_pose(x, y, yaw=None, timeout_sec=120, blocking=False)
yaw_arg = float(goal_yaw) if goal_yaw is not None else None
ok = gs.navigator.navigate_to_pose(float(goal_x), float(goal_y), yaw_arg, blocking=False)
ok = gs.navigator.navigate_to_pose(goal_x, goal_y, yaw_arg, blocking=False)
if ok:
return jsonify({"ok": True, "message": "导航已启动"})
message = f"{restore_message}，导航已启动" if restore_message else "导航已启动"
return jsonify({"ok": True, "message": message})
else:
return jsonify({"ok": False, "error": "导航启动失败，可能是Nav2未运行或AGV未连接"}), 400
except Exception as e:
agv_app/data/machines_config.json
+212 -146
View File
@@ -1,25 +1,4 @@
[
{
"id": "m_2_0",
"row": 2,
"col": 0,
"front": {
"coords": [
0,
0,
0
],
"poses": []
},
"back": {
"coords": [
0,
0,
0
],
"poses": []
}
},
{
"id": "m_2_2",
"row": 2,
@@ -167,27 +146,6 @@
"poses": []
}
},
{
"id": "m_0_4",
"row": 0,
"col": 4,
"front": {
"coords": [
0,
0,
0
],
"poses": []
},
"back": {
"coords": [
0,
0,
0
],
"poses": []
}
},
{
"id": "m_0_5",
"row": 0,
@@ -251,27 +209,6 @@
"poses": []
}
},
{
"id": "m_2_1",
"row": 2,
"col": 1,
"front": {
"coords": [
0,
0,
0
],
"poses": []
},
"back": {
"coords": [
0,
0,
0
],
"poses": []
}
},
{
"id": "m_2_4",
"row": 2,
@@ -293,27 +230,6 @@
"poses": []
}
},
{
"id": "m_2_5",
"row": 2,
"col": 5,
"front": {
"coords": [
0,
0,
0
],
"poses": []
},
"back": {
"coords": [
0,
0,
0
],
"poses": []
}
},
{
"id": "m_0_0",
"row": 0,
@@ -356,36 +272,6 @@
"poses": []
}
},
{
"id": "m_0_1",
"row": 0,
"col": 1,
"front": {
"coords": [
0,
0,
0
],
"poses": []
},
"back": {
"coords": [
0,
0,
0
],
"poses": []
},
"qr": {
"coords": [
0,
0,
0
],
"qr_value": "",
"model_id": ""
}
},
{
"id": "m_0_2",
"row": 0,
@@ -416,36 +302,6 @@
"model_id": ""
}
},
{
"id": "m_0_3",
"row": 0,
"col": 3,
"front": {
"coords": [
0,
0,
0
],
"poses": []
},
"back": {
"coords": [
0,
0,
0
],
"poses": []
},
"qr": {
"coords": [
0,
0,
0
],
"qr_value": "",
"model_id": ""
}
},
{
"id": "m_1_1",
"row": 1,
@@ -506,6 +362,126 @@
"model_id": ""
}
},
{
"id": "m_1_4",
"row": 1,
"col": 4,
"front": {
"coords": [
0,
0,
0
],
"poses": []
},
"back": {
"coords": [
0,
0,
0
],
"poses": []
},
"qr": {
"coords": [
0,
0,
0
],
"qr_value": "",
"model_id": ""
}
},
{
"id": "m_0_6",
"row": 0,
"col": 6,
"front": {
"coords": [
0,
0,
0
],
"poses": []
},
"back": {
"coords": [
0,
0,
0
],
"poses": []
},
"qr": {
"coords": [
0,
0,
0
],
"qr_value": "",
"model_id": ""
}
},
{
"id": "m_1_6",
"row": 1,
"col": 6,
"front": {
"coords": [
0,
0,
0
],
"poses": []
},
"back": {
"coords": [
0,
0,
0
],
"poses": []
},
"qr": {
"coords": [
0,
0,
0
],
"qr_value": "",
"model_id": ""
}
},
{
"id": "m_0_3",
"row": 0,
"col": 3,
"front": {
"coords": [
0,
0,
0
],
"poses": []
},
"back": {
"coords": [
0,
0,
0
],
"poses": []
},
"qr": {
"coords": [
0,
0,
0
],
"qr_value": "",
"model_id": ""
}
},
{
"id": "m_1_3",
"row": 1,
@@ -537,8 +513,98 @@
}
},
{
"id": "m_1_4",
"row": 1,
"id": "m_2_0",
"row": 2,
"col": 0,
"front": {
"coords": [
0,
0,
0
],
"poses": []
},
"back": {
"coords": [
0,
0,
0
],
"poses": []
},
"qr": {
"coords": [
0,
0,
0
],
"qr_value": "",
"model_id": ""
}
},
{
"id": "m_2_1",
"row": 2,
"col": 1,
"front": {
"coords": [
0,
0,
0
],
"poses": []
},
"back": {
"coords": [
0,
0,
0
],
"poses": []
},
"qr": {
"coords": [
0,
0,
0
],
"qr_value": "",
"model_id": ""
}
},
{
"id": "m_0_1",
"row": 0,
"col": 1,
"front": {
"coords": [
0,
0,
0
],
"poses": []
},
"back": {
"coords": [
0,
0,
0
],
"poses": []
},
"qr": {
"coords": [
0,
0,
0
],
"qr_value": "",
"model_id": ""
}
},
{
"id": "m_0_4",
"row": 0,
"col": 4,
"front": {
"coords": [
agv_app/data/mission_config.json
+360 -140
View File
@@ -1,6 +1,6 @@
{
"rows": 2,
"cols": 5,
"rows": 3,
"cols": 7,
"grid": [],
"positions": [
{
@@ -8,9 +8,9 @@
"col": 0,
"side": "front",
"coords": [
0.5391402360519819,
-1.3221212932804989,
-0.04968159116162075
0.726789462066099,
0.38329959318460166,
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],
"poses": []
},
@@ -19,9 +19,9 @@
"col": 1,
"side": "front",
"coords": [
1.1801154538454173,
-1.3641834306281595,
-0.0384636372066124
1.5997282224959652,
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],
"poses": []
},
@@ -30,9 +30,9 @@
"col": 1,
"side": "back",
"coords": [
1.3273254588744863,
-3.5287940020200854,
-3.11993523836094
1.5365709266996668,
-1.5897806027940793,
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],
"poses": []
},
@@ -41,108 +41,9 @@
"col": 0,
"side": "back",
"coords": [
0.6499623251724095,
-3.634895898964233,
-3.06371982741706
],
"poses": []
},
{
"row": 0,
"col": 2,
"side": "front",
"coords": [
1.9780660285152205,
-1.4118225222055494,
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],
"poses": []
},
{
"row": 0,
"col": 3,
"side": "front",
"coords": [
2.783104887196572,
-1.4531680360293173,
-0.005407493209801511
],
"poses": []
},
{
"row": 0,
"col": 4,
"side": "front",
"coords": [
3.4135017183966694,
-1.463517938299615,
-0.0022379727318056074
],
"poses": []
},
{
"row": 1,
"col": 4,
"side": "back",
"coords": [
3.595502564320599,
-3.5861571623928663,
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],
"poses": []
},
{
"row": 1,
"col": 4,
"side": "front",
"coords": [
3.595502564320599,
-3.5861571623928663,
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],
"poses": []
},
{
"row": 1,
"col": 3,
"side": "back",
"coords": [
2.8436692518324937,
-3.5087893361886504,
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],
"poses": []
},
{
"row": 1,
"col": 3,
"side": "front",
"coords": [
2.8436692518324937,
-3.5087893361886504,
-3.0640151322957476
],
"poses": []
},
{
"row": 1,
"col": 2,
"side": "back",
"coords": [
2.0238357078548397,
-3.519588818855445,
-3.0949553553741684
],
"poses": []
},
{
"row": 1,
"col": 2,
"side": "front",
"coords": [
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],
"poses": []
},
@@ -151,9 +52,9 @@
"col": 1,
"side": "front",
"coords": [
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],
"poses": []
},
@@ -162,9 +63,9 @@
"col": 0,
"side": "front",
"coords": [
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],
"poses": []
},
@@ -173,9 +74,9 @@
"col": 0,
"side": "back",
"coords": [
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],
"poses": []
},
@@ -184,9 +85,196 @@
"col": 1,
"side": "back",
"coords": [
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],
"poses": []
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{
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"side": "front",
"coords": [
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],
"poses": []
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{
"row": 0,
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"side": "front",
"coords": [
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],
"poses": []
},
{
"row": 0,
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"side": "front",
"coords": [
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],
"poses": []
},
{
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"side": "front",
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],
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{
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"side": "front",
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],
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{
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"side": "back",
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],
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],
"poses": []
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"side": "back",
"coords": [
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],
"poses": []
},
{
"row": 1,
"col": 3,
"side": "front",
"coords": [
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],
"poses": []
},
{
"row": 1,
"col": 2,
"side": "back",
"coords": [
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-1.606403204776104,
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],
"poses": []
},
{
"row": 1,
"col": 2,
"side": "front",
"coords": [
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-1.606403204776104,
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],
"poses": []
},
{
"row": 2,
"col": 0,
"side": "front",
"coords": [
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],
"poses": []
},
{
"row": 2,
"col": 1,
"side": "front",
"coords": [
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-3.6172190671922944,
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],
"poses": []
},
@@ -195,9 +283,20 @@
"col": 2,
"side": "back",
"coords": [
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-5.7036971258959746,
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],
"poses": []
},
{
"row": 2,
"col": 2,
"side": "front",
"coords": [
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],
"poses": []
},
@@ -206,9 +305,20 @@
"col": 3,
"side": "back",
"coords": [
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],
"poses": []
},
{
"row": 2,
"col": 3,
"side": "front",
"coords": [
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],
"poses": []
},
@@ -217,19 +327,129 @@
"col": 4,
"side": "back",
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"side": "front",
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],
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],
"poses": []
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"side": "front",
"coords": [
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],
"poses": []
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],
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"col": 6,
"side": "front",
"coords": [
6.186931240051006,
-3.660069561737178,
-0.004740651362042846
],
"poses": []
},
{
"row": 3,
"col": 4,
"side": "back",
"coords": [
4.437106056578727,
-5.675385129487837,
3.113166940596223
],
"poses": []
},
{
"row": 3,
"col": 3,
"side": "back",
"coords": [
3.4577008440661285,
-5.703184532839961,
-3.109685273113602
],
"poses": []
},
{
"row": 3,
"col": 2,
"side": "back",
"coords": [
2.3341924779097645,
-5.623728684341702,
-3.095440697434253
],
"poses": []
},
{
"row": 3,
"col": 1,
"side": "back",
"coords": [
1.6126711501886855,
-5.64506932868408,
-3.0994397969930265
],
"poses": []
},
{
"row": 3,
"col": 0,
"side": "back",
"coords": [
0.6321940488248773,
-5.633649464598426,
3.129000825841382
],
"poses": []
}
],
"arm_initial_pose": [
-90.333323,
-90.079952,
0.160037,
-90.571318,
0.093654,
22.232898
-89.999795,
-89.999946,
-0.000131,
-90.00001,
4.1e-05,
0.000116
]
}
agv_app/data/models_config.json
+12 -12
View File
@@ -9,12 +9,12 @@
"name": "front_1",
"photo_type": "front",
"arm_angles": [
-93.586541,
-184.343305,
50.583239,
-38.326674,
-85.153333,
20.399989
-81.796775,
-85.406752,
-5.803223,
-109.799747,
91.66639,
2.446712
],
"speed": 500,
"description": ""
@@ -24,12 +24,12 @@
"name": "back_1",
"photo_type": "back",
"arm_angles": [
15.860045,
-161.133416,
137.999016,
-161.996719,
168.000989,
15.653445
-81.796823,
-85.406717,
-5.803284,
-109.799953,
91.666459,
2.44676
],
"speed": 500,
"description": ""
agv_app/data/qr_config.json
+6 -6
View File
@@ -3,12 +3,12 @@
"id": "qr_1779278140334",
"name": "二维码1",
"joint_angles": [
-89.796645,
-2.013175,
-87.176721,
-82.49663,
-93.323403,
20.399941
89.999979,
-0.000118,
-120.09949,
-30,
-105,
0
],
"qr_value": "BG042110276",
"model_id": ""
agv_app/static/js/setting.js
+3 -2
View File
@@ -381,8 +381,9 @@ createApp({
} catch (e) { alert('导航失败: ' + e.message) }
},
async goToOrigin() {
if (!confirm('确认导航到原点 (0, 0, 0)?')) return
if (!confirm('确认先复原机械臂，再导航到原点 (0, 0, 0)?')) return
try {
this.mapMsg = '正在复原机械臂并发送原点导航...'
const res = await fetch(API + '/api/navigate/to', {
method: 'POST',
headers: { 'Content-Type': 'application/json' },
@@ -390,7 +391,7 @@ createApp({
})
const data = await res.json()
if (data.ok) {
this.mapMsg = '✅ 已发送导航到原点'
this.mapMsg = '✅ ' + (data.message || '已发送导航到原点')
} else {
this.mapMsg = '❌ ' + (data.error || '导航失败')
}
agv_app/utils/mission_executor.py
+10 -2
View File
@@ -414,6 +414,14 @@ class MissionExecutorV3:
model_name = self._lookup_model(qr_value)
self._log(f" 🏷️ 机型: {model_name}")
if qr_value and opt_arm_init and has_arm_pose and opt_agv_move and not self._stop.is_set():
self._log(" 🦾 扫码完成，恢复机械臂初始姿态")
try:
self.arm_client.set_angles(arm_initial_pose, speed=self.arm_speed)
self._wait_arm_ready(arm_initial_pose)
except Exception as e:
self._log(f" ⚠️ 机械臂复位失败: {e}")
if opt_front_photo and not self._stop.is_set():
model = self._find_model(models, model_name)
if model:
@@ -642,7 +650,7 @@ class MissionExecutorV3:
self._log("↪️ 调用设置页同款接口返回原点")
resp = requests.post(
"http://127.0.0.1:5000/api/navigate/to",
json={"x": 0, "y": 0, "yaw": 0},
json={"x": 0, "y": 0, "yaw": 0, "restore_arm": False},
timeout=8,
)
data = resp.json() if resp.content else {}
@@ -676,7 +684,7 @@ class MissionExecutorV3:
return False
def _scan_qr_with_poses(self, qr_configs: list, machine_row: int = 0) -> Optional[str]:
"""用二维码配置中的姿态依次尝试，逐一调整姿态+等2秒+扫码，全部失败才弹框
machine_row: 机器所在行，奇数行(1,3,5)时关节角度需取反
"""
if not qr_configs: