-

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"):
+            # 当所有机械臂相关步骤都关闭时，机械臂连接为可选
-                gs.mission_report = {"error": "连接失败", "details": conn}
+            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

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"
+AGV_HOST = "192.168.60.177"
-ARM_HOST = "192.168.50.91"
+ARM_HOST = "192.168.60.88"
 
 # ========== AGV 参数 ==========
 AGV_CONFIG = {

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,

agv_app/templates/running.html

@@ -176,10 +176,14 @@
             <div class="camera-label">🎥 AGV 摄像头</div>
             <img :src="agvPreviewUrl" @error="onAgvPreviewError" class="camera-img">
           </div>
-          <div class="camera-box">
+          <div class="camera-box" v-if="armCameraOpened">
             <div class="camera-label">🦾 机械臂摄像头</div>
             <img :src="armPreviewUrl" @error="onArmPreviewError" class="camera-img">
           </div>
+          <div class="camera-box" v-else>
+            <div class="camera-label">🦾 机械臂摄像头</div>
+            <div class="camera-placeholder">未连接（机械臂未就绪）</div>
+          </div>
         </div>
       </section>
 

agv_app/utils/mission_executor.py

@@ -246,8 +246,7 @@ class MissionExecutorV3:
                 options = {}
             opt_arm_init = options.get("arm_init", True)
             opt_agv_move = options.get("agv_move", True)
-            if opt_agv_move:
+            # 不强制开启arm_init，允许AGV-only模式（无机械臂）
-                opt_arm_init = True
             opt_qr_scan = options.get("qr_scan", True)
             opt_front_photo = options.get("front_photo", True)
             opt_back_photo = options.get("back_photo", True)

shared/config.json

@@ -1,13 +1,13 @@
 {
   "agv": {
-    "ip": "10.247.46.236",
+    "ip": "192.168.50.93",
     "ssh_user": "elephant",
     "ssh_password": "Elephant",
     "map_file": "map.yaml",
     "map_dir": "/home/elephant"
   },
   "arm": {
-    "ip": "10.247.46.165",
+    "ip": "192.168.50.91",
     "ssh_user": "pi",
     "ssh_password": "elephant",
     "socket_port": 5001,