修改运行时显示

agv_app/app.py

@@ -1376,6 +1376,23 @@ def api_mission_state():
                     if r < len(grid) and c < len(grid[r]) and grid[r][c]:
                         path.append((r, c))
 
+        # 网格级别任务数据
+        result["rows"] = rows
+        result["cols"] = cols
+        result["grid"] = grid
+        result["point_status"] = {f"{pr}_{c}": "pending" for pr in range(rows+1) for c in range(cols)}
+        result["machine_status"] = {}
+        for r in range(rows):
+            for c in range(cols):
+                if r < len(grid) and c < len(grid[r]) and grid[r][c]:
+                    result["machine_status"][f"{r}_{c}"] = {
+                        "has_machine": True,
+                        "qr": "pending", "qr_val": None,
+                        "front": "pending", "front_cnt": 0,
+                        "back": "pending", "back_cnt": 0,
+                        "status": "pending", "step": "等待",
+                    }
+        # 保留旧的 tasks 列表（兼容）
         tlist = []
         for (r, c) in path:
             tlist.append({
@@ -1390,15 +1407,26 @@ def api_mission_state():
             })
         result["tasks"] = tlist
     except Exception:
+        result["rows"] = 1
+        result["cols"] = 1
+        result["grid"] = []
+        result["point_status"] = {}
+        result["machine_status"] = {}
         result["tasks"] = []
 
-    # 错误弹窗状态
+    # 错误弹窗状态和实时网格状态
     if hasattr(MissionExecutorV3, "_instance") and MissionExecutorV3._instance:
         ex = MissionExecutorV3._instance
         st = ex.get_status()
         result["error_msg"] = st.get("error", "")
         result["waiting_step"] = (st.get("status") == "waiting_step")
         result["waiting_error"] = (st.get("status") == "waiting_error")
+        # 从 executor.report 读取实时点/机器状态
+        rpt = ex.report
+        if rpt.get("point_status"):
+            result["point_status"] = rpt["point_status"]
+        if rpt.get("machine_status"):
+            result["machine_status"] = rpt["machine_status"]
     else:
         result["error_msg"] = ""
         result["waiting_step"] = False