-

agv_app/app.py

@@ -1010,13 +1010,20 @@ def api_arm_get_angles():
 @app.route("/api/arm/set_angles", methods=["POST"])
 def api_arm_set_angles():
     """设置关节角度"""
-    data = request.json
+    data = request.json or {}
     angles = data.get("angles", [])
     speed = data.get("speed", 500)
+    if not isinstance(angles, list) or len(angles) != 6:
+        return jsonify({"ok": False, "error": "角度数据必须包含 6 个关节值"}), 400
+    try:
+        angles = [float(a) for a in angles]
+        speed = int(speed)
+    except (TypeError, ValueError):
+        return jsonify({"ok": False, "error": "角度或速度格式错误"}), 400
     if not gs.arm_client:
         return jsonify({"ok": False, "error": "未连接机械臂"}), 400
     ok = gs.arm_client.set_angles(angles, speed)
-    return jsonify({"ok": ok})
+    return jsonify({"ok": ok, "error": None if ok else "机械臂执行失败"})
 
 @app.route("/api/arm/set_angle", methods=["POST"])
 def api_arm_set_angle():