-

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():

agv_app/config.py

@@ -8,7 +8,7 @@ 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 = "192.168.50.90"
+ARM_HOST = "192.168.50.91"
 
 # ========== AGV 参数 ==========
 AGV_CONFIG = {

agv_app/static/js/setting.js

@@ -858,12 +858,24 @@ createApp({
       })
     },
     async applyAngles(angles = null) {
-      const targetAngles = angles || this.angleInputs
+      const targetAngles = Array.isArray(angles) ? angles : this.angleInputs
-      await fetch(API + '/api/arm/set_angles', {
+      if (!Array.isArray(targetAngles) || targetAngles.length !== 6) {
+        alert('角度数据无效，请先刷新角度')
+        return false
+      }
+      const res = await fetch(API + '/api/arm/set_angles', {
         method: 'POST',
         headers: { 'Content-Type': 'application/json' },
         body: JSON.stringify({ angles: targetAngles, speed: 500 })
       })
+      const data = await res.json()
+      if (!data.ok) {
+        alert('应用角度失败: ' + (data.error || '机械臂未响应'))
+        return false
+      }
+      this.angleInputs = [...targetAngles]
+      setTimeout(() => this.refreshAngles(), 2000)
+      return true
     },
     async mirrorAngles() {
       // 镜像角度：只取反 J1，其它不变
@@ -872,7 +884,8 @@ createApp({
       
       // 应用到机械臂
       try {
-        await this.applyAngles(mirrored)
+        const ok = await this.applyAngles(mirrored)
+        if (!ok) return
         this.angleInputs = mirrored  // 只有在成功后才更新显示
         alert('✅ 角度已镜像并应用（仅 J1 取反）')
       } catch (e) {

agv_app/templates/setting.html

@@ -509,7 +509,7 @@
               </div>
               <div class="btn-row">
                 <button class="btn btn-primary" @click="refreshAngles">🔄 刷新角度</button>
-                <button class="btn btn-secondary" @click="applyAngles">✅ 应用角度</button>
+                <button class="btn btn-secondary" @click="applyAngles()">✅ 应用角度</button>
                 <button class="btn btn-warning" @click="mirrorAngles">🔄 镜像角度</button>
               </div>
             </div>

agv_app/utils/config.py

@@ -8,7 +8,7 @@ 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 = "192.168.50.90"
+ARM_HOST = "192.168.50.91"
 
 # ========== AGV 参数 ==========
 AGV_CONFIG = {

arm_server/requirements.txt

@@ -1,3 +1,3 @@
 # 机械臂端依赖（最少依赖）
 # RoboFlow 已在树莓派上运行，此端仅做透传
-flask>=2.0
+flask>=1.0,<2.3

arm_server/start.sh

@@ -2,4 +2,11 @@
 # 启动机械臂服务端
 
 cd ~/work/arm_server
-python3 arm_server.py
+PYTHON_BIN="${PYTHON_BIN:-/usr/bin/python3}"
+
+if ! "$PYTHON_BIN" -c "import flask" >/dev/null 2>&1; then
+    echo "Flask 未安装，正在安装 requirements.txt..."
+    "$PYTHON_BIN" -m pip install --user -r requirements.txt
+fi
+
+exec "$PYTHON_BIN" arm_server.py