Update mission flow and inspection log scrolling

AGENTS.md

@@ -0,0 +1,31 @@
+# Repository Guidelines
+
+## 项目结构与模块组织
+
+本仓库是 AGV 智能巡检系统，后端、前端、ROS2 启动链路分目录维护。`agv_app/` 是 Flask 后端，包含 API、模板、静态资源与 `data/*.json` 持久化配置；`agv_app/utils/` 放置 AGV、Nav2、机械臂、二维码与任务执行逻辑。`arm_server/` 是机械臂端 TCP/摄像头服务及 systemd 配置。`scan_fixer/` 提供生产链路中的 ROS2 时间戳修正工具。`public-frontend/` 是 Next.js 平板端，源码在 `src/app`、`src/components`、`src/services`、`src/store`、`src/types`。`scripts/` 与 `Makefile` 负责本地开发、生产启动和停止流程，`docs/` 存放技术文档。
+
+## 构建、测试与开发命令
+
+- `make install`：执行 `uv sync` 并安装前端 npm 依赖。
+- `make dev`：显示本地开发启动说明。
+- `make dev-backend`：以 Mock 硬件模式启动 Flask 后端。
+- `make dev-frontend`：启动 Next.js 开发服务器。
+- `make prod`：在 AGV 上启动 ROS2、Nav2、scan fixer 与 Flask 完整生产链路。
+- `cd public-frontend && npm run build`：构建前端。
+- `cd public-frontend && npm run lint && npm run typecheck`：执行前端 lint 与 TypeScript 检查。
+
+## 编码风格与命名约定
+
+Python 目标版本为 3.10，依赖由根目录 `pyproject.toml` 和 `uv.lock` 管理。保持模块职责清晰，配置集中放在 `agv_app/config.py`，复用硬件抽象时优先放入 `agv_app/utils/`。前端使用 TypeScript、React、Next.js App Router 与 Ant Design；组件使用 PascalCase，例如 `CameraFrame.tsx`，服务和工具使用 camelCase，例如 `apiClient.ts`。新增代码应自解释命名，避免魔术值，必要注释只说明业务背景或非常规取舍。
+
+## 测试指南
+
+当前仓库未配置独立单元测试框架。提交前至少运行相关静态检查：前端改动运行 `npm run lint` 和 `npm run typecheck`，后端改动用 `make dev-backend` 做 Flask 启动与关键接口冒烟验证。涉及硬件、ROS2 或生产脚本的改动，应说明是否已在真实 AGV 或 Mock 模式验证。
+
+## 提交与 Pull Request 规范
+
+历史提交主要使用英文祈使句式，例如 `Improve camera status and production startup`、`Refactor ROS startup scripts`、`Fix shell compatibility issues in prod-backend.sh`。继续使用简短英文提交信息，避免无意义占位。PR 应包含变更摘要、验证命令、硬件/环境影响、相关 issue；前端界面变化需附截图或录屏，生产启动链路变化需列出影响的脚本和服务。
+
+## 安全与配置提示
+
+不要提交新的密钥、令牌、设备私有地址或本地日志。环境示例放在 `.env.example`，运行时覆盖优先使用环境变量，例如 `BACKEND_URL`、`MOCK_HARDWARE`、`AGV_PROJECT_DIR`。涉及 AGV、机械臂或 ROS2 生产配置时，先核对 `scripts/README.md` 中的默认路径与日志位置。

agv_app/app.py

@@ -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(goal_x, goal_y, yaw_arg, blocking=False)
-        ok = gs.navigator.navigate_to_pose(float(goal_x), float(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

@@ -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",
+    "id": "m_2_0",
-    "row": 1,
+    "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

@@ -1,6 +1,6 @@
 {
-  "rows": 2,
+  "rows": 3,
-  "cols": 5,
+  "cols": 7,
   "grid": [],
   "positions": [
     {
@@ -8,9 +8,9 @@
       "col": 0,
       "side": "front",
       "coords": [
-        0.5391402360519819,
+        0.726789462066099,
-        -1.3221212932804989,
+        0.38329959318460166,
-        -0.04968159116162075
+        0.023383889548769105
       ],
       "poses": []
     },
@@ -19,9 +19,9 @@
       "col": 1,
       "side": "front",
       "coords": [
-        1.1801154538454173,
+        1.5997282224959652,
-        -1.3641834306281595,
+        0.3969445083875386,
-        -0.0384636372066124
+        0.021611522117307245
       ],
       "poses": []
     },
@@ -30,9 +30,9 @@
       "col": 1,
       "side": "back",
       "coords": [
-        1.3273254588744863,
+        1.5365709266996668,
-        -3.5287940020200854,
+        -1.5897806027940793,
-        -3.11993523836094
+        -3.138003565212702
       ],
       "poses": []
     },
@@ -41,108 +41,9 @@
       "col": 0,
       "side": "back",
       "coords": [
-        0.6499623251724095,
+        0.7250933954217442,
-        -3.634895898964233,
+        -1.585626974855502,
-        -3.06371982741706
+        3.1407193246894285
-      ],
-      "poses": []
-    },
-    {
-      "row": 0,
-      "col": 2,
-      "side": "front",
-      "coords": [
-        1.9780660285152205,
-        -1.4118225222055494,
-        -0.03933461738640764
-      ],
-      "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,
-        3.105599537556842
-      ],
-      "poses": []
-    },
-    {
-      "row": 1,
-      "col": 4,
-      "side": "front",
-      "coords": [
-        3.595502564320599,
-        -3.5861571623928663,
-        3.105599537556842
-      ],
-      "poses": []
-    },
-    {
-      "row": 1,
-      "col": 3,
-      "side": "back",
-      "coords": [
-        2.8436692518324937,
-        -3.5087893361886504,
-        -3.0640151322957476
-      ],
-      "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": [
-        2.0238357078548397,
-        -3.519588818855445,
-        -3.0949553553741684
       ],
       "poses": []
     },
@@ -151,9 +52,9 @@
       "col": 1,
       "side": "front",
       "coords": [
-        1.3273254588744863,
+        1.5365709266996668,
-        -3.5287940020200854,
+        -1.5897806027940793,
-        -3.11993523836094
+        -3.138003565212702
       ],
       "poses": []
     },
@@ -162,9 +63,9 @@
       "col": 0,
       "side": "front",
       "coords": [
-        0.6499623251724095,
+        0.7250933954217442,
-        -3.634895898964233,
+        -1.585626974855502,
-        -3.06371982741706
+        3.1407193246894285
       ],
       "poses": []
     },
@@ -173,9 +74,9 @@
       "col": 0,
       "side": "back",
       "coords": [
-        0.39025594509020667,
+        0.695891857743624,
-        -5.593393651151741,
+        -3.6093540626907155,
-        -0.09001000079607593
+        -0.01891669546737457
       ],
       "poses": []
     },
@@ -184,9 +85,196 @@
       "col": 1,
       "side": "back",
       "coords": [
-        0.9989880876134289,
+        1.7054640840200619,
-        -5.633047903271201,
+        -3.6172190671922944,
-        -0.08518177305398167
+        0.04050928996758301
+      ],
+      "poses": []
+    },
+    {
+      "row": 0,
+      "col": 2,
+      "side": "front",
+      "coords": [
+        2.569630979384912,
+        0.39887714413011477,
+        0.013956327040945097
+      ],
+      "poses": []
+    },
+    {
+      "row": 0,
+      "col": 3,
+      "side": "front",
+      "coords": [
+        3.5131599402572933,
+        0.3616416504697895,
+        0.0177534721641621
+      ],
+      "poses": []
+    },
+    {
+      "row": 0,
+      "col": 4,
+      "side": "front",
+      "coords": [
+        4.385626456624971,
+        0.37358124345384475,
+        0.014464186351950986
+      ],
+      "poses": []
+    },
+    {
+      "row": 0,
+      "col": 5,
+      "side": "front",
+      "coords": [
+        5.286651848873122,
+        0.36270375923170595,
+        -0.02478120105661721
+      ],
+      "poses": []
+    },
+    {
+      "row": 0,
+      "col": 6,
+      "side": "front",
+      "coords": [
+        6.301663107708812,
+        0.35009837193686855,
+        0.05028809910702322
+      ],
+      "poses": []
+    },
+    {
+      "row": 1,
+      "col": 6,
+      "side": "back",
+      "coords": [
+        6.302211902696101,
+        -1.6741865723108142,
+        -3.141294889035836
+      ],
+      "poses": []
+    },
+    {
+      "row": 1,
+      "col": 6,
+      "side": "front",
+      "coords": [
+        6.302211902696101,
+        -1.6741865723108142,
+        -3.141294889035836
+      ],
+      "poses": []
+    },
+    {
+      "row": 1,
+      "col": 5,
+      "side": "back",
+      "coords": [
+        5.385423949389957,
+        -1.6569851054137088,
+        3.114584306608913
+      ],
+      "poses": []
+    },
+    {
+      "row": 1,
+      "col": 5,
+      "side": "front",
+      "coords": [
+        5.385423949389957,
+        -1.6569851054137088,
+        3.114584306608913
+      ],
+      "poses": []
+    },
+    {
+      "row": 1,
+      "col": 4,
+      "side": "back",
+      "coords": [
+        4.520056315813734,
+        -1.6370730446353792,
+        3.12134578550089
+      ],
+      "poses": []
+    },
+    {
+      "row": 1,
+      "col": 4,
+      "side": "front",
+      "coords": [
+        4.520056315813734,
+        -1.6370730446353792,
+        3.12134578550089
+      ],
+      "poses": []
+    },
+    {
+      "row": 1,
+      "col": 3,
+      "side": "back",
+      "coords": [
+        3.600184234659078,
+        -1.6299160740114962,
+        -3.127182700330921
+      ],
+      "poses": []
+    },
+    {
+      "row": 1,
+      "col": 3,
+      "side": "front",
+      "coords": [
+        3.600184234659078,
+        -1.6299160740114962,
+        -3.127182700330921
+      ],
+      "poses": []
+    },
+    {
+      "row": 1,
+      "col": 2,
+      "side": "back",
+      "coords": [
+        2.5627723519921295,
+        -1.606403204776104,
+        3.1392697865149666
+      ],
+      "poses": []
+    },
+    {
+      "row": 1,
+      "col": 2,
+      "side": "front",
+      "coords": [
+        2.5627723519921295,
+        -1.606403204776104,
+        3.1392697865149666
+      ],
+      "poses": []
+    },
+    {
+      "row": 2,
+      "col": 0,
+      "side": "front",
+      "coords": [
+        0.695891857743624,
+        -3.6093540626907155,
+        -0.01891669546737457
+      ],
+      "poses": []
+    },
+    {
+      "row": 2,
+      "col": 1,
+      "side": "front",
+      "coords": [
+        1.7054640840200619,
+        -3.6172190671922944,
+        0.04050928996758301
       ],
       "poses": []
     },
@@ -195,9 +283,20 @@
       "col": 2,
       "side": "back",
       "coords": [
-        1.7493440267548326,
+        2.49138966620064,
-        -5.7036971258959746,
+        -3.6258193640543435,
-        -0.10505541857885684
+        0.011734020269766346
+      ],
+      "poses": []
+    },
+    {
+      "row": 2,
+      "col": 2,
+      "side": "front",
+      "coords": [
+        2.49138966620064,
+        -3.6258193640543435,
+        0.011734020269766346
       ],
       "poses": []
     },
@@ -206,9 +305,20 @@
       "col": 3,
       "side": "back",
       "coords": [
-        2.407336669431407,
+        3.384299605055195,
-        -5.76958512207572,
+        -3.633059580331103,
-        -0.10251877401062247
+        0.00825489611393585
+      ],
+      "poses": []
+    },
+    {
+      "row": 2,
+      "col": 3,
+      "side": "front",
+      "coords": [
+        3.384299605055195,
+        -3.633059580331103,
+        0.00825489611393585
       ],
       "poses": []
     },
@@ -217,19 +327,129 @@
       "col": 4,
       "side": "back",
       "coords": [
-        3.132062476985721,
+        4.499614777619532,
-        -5.850166571217611,
+        -3.6568143703418405,
-        -0.09127007182804729
+        0.006128126167414207
+      ],
+      "poses": []
+    },
+    {
+      "row": 2,
+      "col": 4,
+      "side": "front",
+      "coords": [
+        4.499614777619532,
+        -3.6568143703418405,
+        0.006128126167414207
+      ],
+      "poses": []
+    },
+    {
+      "row": 2,
+      "col": 5,
+      "side": "back",
+      "coords": [
+        5.358194832629194,
+        -3.6555884207351923,
+        0.00220732555627522
+      ],
+      "poses": []
+    },
+    {
+      "row": 2,
+      "col": 5,
+      "side": "front",
+      "coords": [
+        5.358194832629194,
+        -3.6555884207351923,
+        0.00220732555627522
+      ],
+      "poses": []
+    },
+    {
+      "row": 2,
+      "col": 6,
+      "side": "back",
+      "coords": [
+        6.186931240051006,
+        -3.660069561737178,
+        -0.004740651362042846
+      ],
+      "poses": []
+    },
+    {
+      "row": 2,
+      "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,
+    -89.999795,
-    -90.079952,
+    -89.999946,
-    0.160037,
+    -0.000131,
-    -90.571318,
+    -90.00001,
-    0.093654,
+    4.1e-05,
-    22.232898
+    0.000116
   ]
 }

agv_app/data/models_config.json

@@ -9,12 +9,12 @@
         "name": "front_1",
         "photo_type": "front",
         "arm_angles": [
-          -93.586541,
+          -81.796775,
-          -184.343305,
+          -85.406752,
-          50.583239,
+          -5.803223,
-          -38.326674,
+          -109.799747,
-          -85.153333,
+          91.66639,
-          20.399989
+          2.446712
         ],
         "speed": 500,
         "description": ""
@@ -24,12 +24,12 @@
         "name": "back_1",
         "photo_type": "back",
         "arm_angles": [
-          15.860045,
+          -81.796823,
-          -161.133416,
+          -85.406717,
-          137.999016,
+          -5.803284,
-          -161.996719,
+          -109.799953,
-          168.000989,
+          91.666459,
-          15.653445
+          2.44676
         ],
         "speed": 500,
         "description": ""

agv_app/data/qr_config.json

@@ -3,12 +3,12 @@
     "id": "qr_1779278140334",
     "name": "二维码1",
     "joint_angles": [
-      -89.796645,
+      89.999979,
-      -2.013175,
+      -0.000118,
-      -87.176721,
+      -120.09949,
-      -82.49663,
+      -30,
-      -93.323403,
+      -105,
-      20.399941
+      0
     ],
     "qr_value": "BG042110276",
     "model_id": ""

agv_app/static/js/setting.js

@@ -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

@@ -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 {}

public-frontend/src/app/inspection/page.tsx

@@ -39,6 +39,7 @@ import type { ActivityItem, CameraInfo, CustomsDeclaration, InspectionIssue, Ins
 
 const { Text } = Typography;
 const { TextArea } = Input;
+const LOG_AUTO_SCROLL_THRESHOLD = 48;
 
 interface ProgressItem extends InspectionItem {
   currentInspected: number;
@@ -78,7 +79,8 @@ function InspectionContent() {
   const [operationLoading, setOperationLoading] = useState(false);
   const [messageApi, contextHolder] = message.useMessage();
   const { token } = theme.useToken();
-  const logsEndRef = useRef<HTMLDivElement>(null);
+  const logsContainerRef = useRef<HTMLDivElement>(null);
+  const [isUserNearBottom, setIsUserNearBottom] = useState(true);
 
   const refreshRuntime = async () => {
     const [missionState, currentInspection, missionLogs, nextIssues] = await Promise.all([
@@ -231,8 +233,19 @@ function InspectionContent() {
   }, [setInspection]);
 
   useEffect(() => {
-    logsEndRef.current?.scrollIntoView({ behavior: 'smooth' });
+    const container = logsContainerRef.current;
-  }, [logs]);
+    if (container && isUserNearBottom) {
+      container.scrollTop = container.scrollHeight;
+    }
+  }, [logs, isUserNearBottom]);
+
+  const handleLogsScroll = () => {
+    const container = logsContainerRef.current;
+    if (!container) return;
+
+    const distanceToBottom = container.scrollHeight - container.scrollTop - container.clientHeight;
+    setIsUserNearBottom(distanceToBottom <= LOG_AUTO_SCROLL_THRESHOLD);
+  };
 
   const calculateTotalProgress = () => {
     if (!progressData.length) return 0;
@@ -524,7 +537,7 @@ function InspectionContent() {
             style={{ flex: 3, display: 'flex', flexDirection: 'column', overflow: 'hidden' }}
             styles={{ body: { padding: 12, flex: 1, display: 'flex', flexDirection: 'column', minHeight: 0, background: token.colorFillQuaternary } }}
           >
-            <div style={{ flex: 1, overflowY: 'auto', paddingRight: 8 }}>
+            <div ref={logsContainerRef} onScroll={handleLogsScroll} style={{ flex: 1, overflowY: 'auto', paddingRight: 8 }}>
               {logs.length > 0 ? (
                 <Timeline
                   items={logs.map((item) => ({
@@ -540,7 +553,6 @@ function InspectionContent() {
               ) : (
                 <Empty image={Empty.PRESENTED_IMAGE_SIMPLE} description="暂无日志" style={{ margin: '20px 0' }} />
               )}
-              <div ref={logsEndRef} />
             </div>
           </Card>
         </Col>