From decfc44e898a46b0c71cb6553ff532fd2c01218e Mon Sep 17 00:00:00 2001
From: ywb <347742090@qq.com>
Date: Thu, 4 Jun 2026 16:15:16 +0800
Subject: [PATCH] -
---
agv_app/app.py | 17 +++++++++++++----
agv_app/config.py | 4 ++--
agv_app/static/js/running.js | 18 +++++++++++++++++-
agv_app/templates/running.html | 6 +++++-
agv_app/utils/mission_executor.py | 3 +--
shared/config.json | 4 ++--
6 files changed, 40 insertions(+), 12 deletions(-)
diff --git a/agv_app/app.py b/agv_app/app.py
index 91ff396..f1a4afa 100644
--- a/agv_app/app.py
+++ b/agv_app/app.py
@@ -1128,7 +1128,7 @@ def api_arm_camera_refresh():
return resp
return "", 404
except Exception as ex:
- logger.error(f"arm_refresh 失败: {ex}")
+ logger.info(f"arm_refresh 不可用: {ex}")
return "", 404
@@ -1160,7 +1160,7 @@ def api_arm_camera_preview():
headers={"Cache-Control": "no-cache, no-store, must-revalidate, max-age=0"},
)
except Exception as ex:
- logger.error(f"arm_preview 失败: {ex}")
+ logger.info(f"arm_preview 不可用: {ex}")
return "", 404
@@ -1271,8 +1271,14 @@ def api_mission_start():
try:
conn = executor.connect_all()
- if not conn.get("agv") or not conn.get("arm"):
- gs.mission_report = {"error": "连接失败", "details": conn}
+ # 当所有机械臂相关步骤都关闭时，机械臂连接为可选
+ need_arm = options.get("qr_scan", True) or options.get("front_photo", True) or options.get("back_photo", True)
+ if not conn.get("agv"):
+ gs.mission_report = {"error": "AGV 连接失败", "details": conn}
+ gs.state = State.IDLE
+ return
+ if need_arm and not conn.get("arm"):
+ gs.mission_report = {"error": "机械臂连接失败，请先连接机械臂", "details": conn}
gs.state = State.IDLE
return
@@ -1409,6 +1415,9 @@ def api_mission_state():
result["machine_status"] = {}
result["tasks"] = []
+ # 机械臂摄像头状态
+ result["arm_camera_opened"] = gs.arm_camera_opened
+
# 错误弹窗状态和实时网格状态
if hasattr(MissionExecutorV3, "_instance") and MissionExecutorV3._instance:
ex = MissionExecutorV3._instance
diff --git a/agv_app/config.py b/agv_app/config.py
index 7aad0e2..dac5698 100644
--- a/agv_app/config.py
+++ b/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 = "192.168.50.93"
-ARM_HOST = "192.168.50.91"
+AGV_HOST = "192.168.60.177"
+ARM_HOST = "192.168.60.88"
# ========== AGV 参数 ==========
AGV_CONFIG = {
diff --git a/agv_app/static/js/running.js b/agv_app/static/js/running.js
index a9251db..713b62d 100644
--- a/agv_app/static/js/running.js
+++ b/agv_app/static/js/running.js
@@ -8,8 +8,9 @@ createApp({
progress: 0,
tasks: [],
report: null,
+ armCameraOpened: false,
agvPreviewUrl: API + '/api/camera/preview',
- armPreviewUrl: API + '/api/camera/arm_preview',
+ armPreviewUrl: '',
polling: null,
logs: [],
showQrModal: false,
@@ -52,15 +53,28 @@ createApp({
},
mounted() {
this.poll()
+ this.checkArmCamera()
},
beforeUnmount() {
if (this.polling) clearInterval(this.polling)
},
methods: {
+ async checkArmCamera() {
+ try {
+ const res = await fetch(API + '/api/status')
+ const data = await res.json()
+ if (!this.armCameraOpened) {
+ this.armPreviewUrl = ''
+ } else if (!this.armPreviewUrl) {
+ this.armPreviewUrl = API + '/api/camera/arm_preview'
+ }
+ } catch (e) {}
+ },
poll() {
this.refresh()
this.pollLogs()
this.polling = setInterval(() => {
+ this.checkArmCamera()
this.refresh()
this.pollLogs()
}, 2000)
@@ -79,6 +93,7 @@ createApp({
if (data.grid) this.missionGrid = data.grid
if (data.point_status) this.pointStatus = data.point_status
if (data.machine_status) this.machineStatus = data.machine_status
+ this.armCameraOpened = data.arm_camera_opened
// 错误弹窗
if (data.waiting_error) {
@@ -139,6 +154,7 @@ createApp({
method: 'POST',
headers: { 'Content-Type': 'application/json' },
body: JSON.stringify({
+ arm_init: this.qrScanEnabled || this.frontPhotoEnabled || this.backPhotoEnabled,
agv_move: this.agvMoveEnabled,
qr_scan: this.qrScanEnabled,
front_photo: this.frontPhotoEnabled,
diff --git a/agv_app/templates/running.html b/agv_app/templates/running.html
index 56e2644..29a200c 100644
--- a/agv_app/templates/running.html
+++ b/agv_app/templates/running.html
@@ -176,10 +176,14 @@
🎥 AGV 摄像头
![]()
-
+
🦾 机械臂摄像头
![]()
+
+
🦾 机械臂摄像头
+
未连接（机械臂未就绪）
+