修改运行时显示

agv_app/utils/mission_executor.py

@@ -219,6 +219,27 @@ class MissionExecutorV3:
                             "photos_back": 0,
                         })
 
+            # 初始化点位状态和机器状态（实时推送给前端）
+            self.report["point_status"] = {}
+            for _pr in range(rows + 1):
+                for _c in range(cols):
+                    pk = f"{_pr}_{_c}"
+                    has_f = _pr < rows and MissionExecutorV3._has_machine(grid, _pr, _c)
+                    has_b = _pr > 0 and MissionExecutorV3._has_machine(grid, _pr - 1, _c)
+                    self.report["point_status"][pk] = "pending" if (has_f or has_b) else "skipped"
+
+            self.report["machine_status"] = {}
+            for _r in range(rows):
+                for _c in range(cols):
+                    if MissionExecutorV3._has_machine(grid, _r, _c):
+                        self.report["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",
+                        }
+
             self._log(f"📍 点位蛇形路径: {len(path)} 个点位, {total_machines} 台机器")
 
             # 任务步骤控制开关
@@ -300,12 +321,19 @@ class MissionExecutorV3:
                     except Exception as e:
                         self._log(f"  ⚠️ 机械臂初始化失败: {e}")
 
+                # 更新点位状态：开始导航
+                pk = f"{pr}_{c}"
+                if pk in self.report.get("point_status", {}):
+                    self.report["point_status"][pk] = "active"
+
                 # 导航到该点位的坐标
+                nav_ok = False
                 if opt_agv_move:
                     # 找该点位的任意有效坐标（正面/背面坐标相同）
                     pos = MissionExecutorV3._find_any_position(positions, pr, c)
                     if pos and MissionExecutorV3._has_coords(pos):
-                        if not self._navigate(pos, f"点位({pr},{c})"):
+                        nav_ok = self._navigate(pos, f"点位({pr},{c})")
+                        if not nav_ok:
                             self._log(f"⚠️ 导航失败，尝试继续")
                             choice = self._wait_error(f"点位({pr},{c})导航失败")
                             if choice == "abort":
@@ -314,11 +342,21 @@ class MissionExecutorV3:
                         self._log(f"⚠️ 点位({pr},{c})无有效坐标")
                 else:
                     self._log("  ⏭️ 跳过AGV移动")
+                    nav_ok = True  # 无移动视为到达
+
+                # 更新点位状态：到达
+                if pk in self.report.get("point_status", {}):
+                    self.report["point_status"][pk] = "done"
 
                 # --- 正面操作（机器 pr,c 的正面） ---
                 qr_value = None
                 if has_front and not self._stop.is_set():
                     self._wait_pause()
+                    # 更新机器状态：正面开始
+                    mk = f"{pr}_{c}"
+                    if mk in self.report.get("machine_status", {}):
+                        self.report["machine_status"][mk]["status"] = "active"
+                        self.report["machine_status"][mk]["step"] = "正面扫码"
                     if opt_qr_scan:
                         qr_value = self._scan_qr_with_poses(qr_configs)
                         if self._stop.is_set():
@@ -326,6 +364,12 @@ class MissionExecutorV3:
                     else:
                         self._log("  ⏭️ 跳过二维码识别（正面）")
                     qr_cache[(pr, c)] = qr_value
+                    # 更新机器状态：扫码完成
+                    mk2 = f"{pr}_{c}"
+                    if mk2 in self.report.get("machine_status", {}):
+                        self.report["machine_status"][mk2]["qr"] = "done" if qr_value else "skipped"
+                        self.report["machine_status"][mk2]["qr_val"] = qr_value
+                        self.report["machine_status"][mk2]["step"] = "正面拍照"
 
                     task = self._get_task(pr, c)
                     if task and qr_value:
@@ -345,11 +389,20 @@ class MissionExecutorV3:
                     else:
                         self._log("  ⏭️ 跳过正面拍照")
                     completed_actions += 1
+                    # 更新机器状态：正面拍照完成
+                    mk3 = f"{pr}_{c}"
+                    if mk3 in self.report.get("machine_status", {}):
+                        self.report["machine_status"][mk3]["front"] = "done" if opt_front_photo else "skipped"
+                        self.report["machine_status"][mk3]["front_cnt"] = self.report["machine_status"][mk3].get("front_cnt", 0) + 1
 
                 # --- 背面操作（机器 pr-1,c 的背面） ---
                 if has_back and not self._stop.is_set():
                     self._wait_pause()
                     back_qr = qr_cache.get((pr - 1, c), "unknown")
+                    # 更新机器状态：背面开始
+                    mk_b = f"{pr-1}_{c}"
+                    if mk_b in self.report.get("machine_status", {}):
+                        self.report["machine_status"][mk_b]["step"] = "背面拍照"
 
                     task = self._get_task(pr - 1, c)
                     if task:
@@ -367,6 +420,13 @@ class MissionExecutorV3:
                     else:
                         self._log("  ⏭️ 跳过背面拍照")
                     completed_actions += 1
+                    # 更新机器状态：背面完成
+                    mk_b2 = f"{pr-1}_{c}"
+                    if mk_b2 in self.report.get("machine_status", {}):
+                        self.report["machine_status"][mk_b2]["back"] = "done" if opt_back_photo else "skipped"
+                        self.report["machine_status"][mk_b2]["back_cnt"] = self.report["machine_status"][mk_b2].get("back_cnt", 0) + 1
+                        self.report["machine_status"][mk_b2]["status"] = "completed"
+                        self.report["machine_status"][mk_b2]["step"] = "完成"
                     if task:
                         task["status"] = "completed"
                         task["step"] = "完成"