-

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