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

agv_app/static/css/style.css

@@ -1043,3 +1043,36 @@ a:hover { text-decoration: underline; }
   font-size: 12px;
   color: #666;
 }
+
+/* ===== 运行页网格任务状态 ===== */
+/* 点位单元格 - 导航状态 */
+.point-cell { min-height: 52px; }
+.cell-nav-icon { font-size: 18px; text-align: center; }
+.cell-nav-label { font-size: 11px; color: #8899aa; text-align: center; margin-top: 2px; }
+.point-cell.nav-pending { background: #141e28; border-color: #2a3a4a; }
+.point-cell.nav-active { background: #1a3020; border-color: #4caf50; animation: navPulse 1.5s infinite; }
+.point-cell.nav-done { background: #152522; border-color: #2e7d32; }
+.point-cell.nav-done .cell-nav-icon { color: #4caf50; }
+.point-cell.nav-skipped { background: #141e28; border-color: #2a3a4a; opacity: 0.5; }
+@keyframes navPulse { 0%,100% { border-color: #4caf50; } 50% { border-color: #1b5e20; } }
+
+/* 机器单元格状态 */
+.machine-cell { min-height: 62px; padding: 6px 8px; display: flex; flex-direction: column; align-items: center; justify-content: center; gap: 4px; }
+.machine-label { font-size: 12px; font-weight: 600; color: #ccc; }
+.machine-steps-mini { display: flex; gap: 8px; font-size: 13px; }
+.machine-qr-mini { font-size: 10px; color: #4fc3f7; max-width: 80px; overflow: hidden; text-overflow: ellipsis; white-space: nowrap; }
+.empty-cell { color: #445566; font-size: 12px; }
+
+/* 步骤圆点 */
+.step-dot { opacity: 0.4; transition: opacity 0.3s; }
+.step-dot.dot-done { opacity: 1; }
+.step-dot.dot-scanning,
+.step-dot.dot-shooting { opacity: 0.8; animation: dotPulse 0.8s infinite; }
+@keyframes dotPulse { 0%,100% { opacity: 0.4; } 50% { opacity: 1; } }
+.step-dot.dot-manual { opacity: 0.7; }
+.step-dot.dot-skipped { opacity: 0.3; }
+
+/* 机器状态背景 */
+.machine-cell.mstatus-pending { background: #141e28; border-color: #2a3a4a; }
+.machine-cell.mstatus-active { background: #1a2535; border-color: #4fc3f7; }
+.machine-cell.mstatus-completed { background: #152522; border-color: #2e7d32; }

agv_app/static/js/running.js

@@ -2,8 +2,6 @@ const { createApp } = Vue
 const API = ''
 
 createApp({
-  delimiters: ['[[', ']]'],
-  
   data() {
     return {
       missionState: 'idle',
@@ -15,7 +13,14 @@ createApp({
       polling: null,
       logs: [],
       showQrModal: false,
+      qrSubmitting: false,
       qrValue: '',
+      // 网格任务显示
+      missionRows: 0,
+      missionCols: 0,
+      missionGrid: [],
+      pointStatus: {},
+      machineStatus: {},
       // 错误弹窗 / 单步执行
       waitingError: false,
       errorMsg: '',
@@ -68,6 +73,13 @@ createApp({
         this.progress = data.progress || 0
         if (data.tasks) this.tasks = data.tasks
 
+        // 网格数据
+        if (data.rows) this.missionRows = data.rows
+        if (data.cols) this.missionCols = data.cols
+        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
+
         // 错误弹窗
         if (data.waiting_error) {
           this.waitingError = true
@@ -84,8 +96,11 @@ createApp({
           this.waitingStep = false
         }
 
-        // QR 弹窗
+        // QR 弹窗（防止提交后重复弹出）
-        if (this.missionState === 'waiting_qr' && !this.showQrModal) {
+        if (this.missionState !== 'waiting_qr') {
+          this.qrSubmitting = false
+        }
+        if (this.missionState === 'waiting_qr' && !this.showQrModal && !this.qrSubmitting) {
           this.showQrModal = true
           this.qrValue = ''
         }
@@ -190,10 +205,12 @@ createApp({
         headers: { 'Content-Type': 'application/json' },
         body: JSON.stringify({ qr: val || ' ' })
       })
+      this.qrSubmitting = true
       this.showQrModal = false
       this.qrValue = ''
     },
     cancelQr() {
+      this.qrSubmitting = true
       this.showQrModal = false
       this.qrValue = ''
       fetch(API + '/api/mission/manual-qr', {
@@ -207,6 +224,36 @@ createApp({
     },
     onArmPreviewError(e) {
       e.target.style.display = 'none'
+    },
+    // ===== 网格任务显示方法 =====
+    getPointStatus(pr, c) {
+      return (this.pointStatus && this.pointStatus[pr + '_' + c]) || 'pending'
+    },
+    navIcon(s) {
+      const m = { pending: '⏳', active: '🔄', done: '✅', skipped: '⏭️' }
+      return m[s] || '⏳'
+    },
+    navLabel(s) {
+      const m = { pending: '等待', active: '导航中', done: '到达', skipped: '空位' }
+      return m[s] || '等待'
+    },
+    hasMachine(r, c) {
+      const key = r + '_' + c
+      const ms = this.machineStatus && this.machineStatus[key]
+      return ms && ms.has_machine
+    },
+    getMachineClass(r, c) {
+      const key = r + '_' + c
+      const ms = this.machineStatus && this.machineStatus[key]
+      if (!ms) return ''
+      const s = ms.status || 'pending'
+      return 'mstatus-' + s
+    },
+    getMachineField(r, c, field) {
+      const key = r + '_' + c
+      const ms = this.machineStatus && this.machineStatus[key]
+      if (!ms) return ''
+      return ms[field] || ''
     }
   }
 }).mount('#app')

agv_app/templates/running.html

@@ -4,7 +4,7 @@
   <meta charset="UTF-8">
   <meta name="viewport" content="width=device-width, initial-scale=1.0">
   <title>运行监控 - AGV 拍摄系统</title>
-  <link rel="stylesheet" href="/static/css/style.css?v=20260527b">
+  <link rel="stylesheet" href="/static/css/style.css?v=20260529a">
 </head>
 <body>
   <div id="app">
@@ -23,10 +23,10 @@
         <div class="running-header">
           <div class="running-status" :class="missionState">
             <span class="pulse"></span>
-            [[ missionStateText ]]
+            {% raw %}{{ missionStateText }}{% endraw %}
           </div>
           <div class="running-progress" v-if="missionState === 'running' || missionState === 'waiting_qr'">
-            <span>进度 [[ Math.round(progress) ]]%</span>
+            <span>进度 {% raw %}{{ Math.round(progress) }}{% endraw %}%</span>
             <div class="progress-bar">
               <div class="progress-fill" :style="{width: progress + '%'}"></div>
             </div>
@@ -96,50 +96,74 @@
           <div class="speed-row">
             <label class="speed-label">
               <span>🚗 AGV 移动速度</span>
-              <span class="speed-val">[[ agvSpeed.toFixed(1) ]] m/s</span>
+              <span class="speed-val">{% raw %}{{ agvSpeed.toFixed(1) }}{% endraw %} m/s</span>
             </label>
             <input type="range" class="speed-slider" min="0.1" max="1.0" step="0.1" v-model.number="agvSpeed">
           </div>
           <div class="speed-row">
             <label class="speed-label">
               <span>🦾 机械臂速度</span>
-              <span class="speed-val">[[ armSpeed ]]</span>
+              <span class="speed-val">{% raw %}{{ armSpeed }}{% endraw %}</span>
             </label>
             <input type="range" class="speed-slider" min="100" max="1000" step="50" v-model.number="armSpeed">
           </div>
         </div>
       </section>
 
-      <!-- 任务清单 -->
+      <!-- 任务清单 — 网格视图 -->
-      <section class="card" v-if="tasks.length > 0">
+      <section class="card" v-if="missionRows > 0">
-        <h2>📋 任务清单 ([[ tasks.length ]] 台机器)</h2>
+        <h2>📋 任务清单 ({% raw %}{{ missionRows }}{% endraw %}行×{% raw %}{{ missionCols }}{% endraw %}列，点位+机器网格)</h2>
-        <div class="task-grid">
+        <div class="mission-grid-wrap" style="margin-top:12px">
-          <div v-for="task in tasks" :key="task.machine_id"
+          <div class="mission-grid" :style="{ gridTemplateColumns: '90px repeat(' + missionCols + ', 105px)' }">
-               class="task-cell" :class="'task-' + task.status"
+            <!-- 表头 -->
-               :title="task.step">
+            <div class="grid-cell grid-header"></div>
-            <div class="task-pos">[[ task.label ]]</div>
+            <div v-for="c in missionCols" :key="'h'+c" class="grid-cell grid-header">第{% raw %}{{ c }}{% endraw %}列</div>
-            <div class="task-status-icon">
+
-              <span v-if="task.status === 'pending'">⏳</span>
+            <!-- 第一个点位行 (pointRow=0): 所有机器正面拍摄点 -->
-              <span v-else-if="task.status === 'active'" class="pulse-icon">🔄</span>
+            <div class="grid-cell grid-header">点位行 1</div>
-              <span v-else-if="task.status === 'completed'">✅</span>
+            <div v-for="c in missionCols" :key="'p0_'+c" class="grid-cell point-cell" :class="'nav-'+getPointStatus(0, c-1)">
-              <span v-else>❓</span>
+              <div class="cell-nav-icon">{% raw %}{{ navIcon(getPointStatus(0, c-1)) }}{% endraw %}</div>
+              <div class="cell-nav-label">{% raw %}{{ navLabel(getPointStatus(0, c-1)) }}{% endraw %}</div>
             </div>
-            <div class="task-step-text">[[ task.step ]]</div>
+
-            <div class="task-info">
+            <!-- 中间: 机器行 + 点位行 交替 -->
-              <div v-if="task.qr_value" class="task-qr">🏷 [[ task.qr_value.substring(0,8) ]]</div>
+            <template v-for="ri in missionRows" :key="'block'+ri">
-              <div class="task-photos" v-if="task.photos_front || task.photos_back">
+              <!-- 机器行 ri -->
-                📷 [[ task.photos_front ]]正 [[ task.photos_back ]]背
+              <div class="grid-cell grid-header">机器行 {% raw %}{{ ri }}{% endraw %}</div>
+              <div v-for="c in missionCols" :key="'mr'+ri+'_'+c"
+                   class="grid-cell machine-cell"
+                   :class="getMachineClass(ri-1, c-1)">
+                <template v-if="hasMachine(ri-1, c-1)">
+                  <div class="machine-label">机器{% raw %}{{ ri }}-{{ c }}{% endraw %}</div>
+                  <div class="machine-steps-mini">
+                    <span class="step-dot" :class="'dot-'+getMachineField(ri-1,c-1,'qr')" title="二维码">🔍</span>
+                    <span class="step-dot" :class="'dot-'+getMachineField(ri-1,c-1,'front')" title="正面照">📸正</span>
+                    <span class="step-dot" :class="'dot-'+getMachineField(ri-1,c-1,'back')" title="背面照">📸背</span>
+                  </div>
+                  <div v-if="getMachineField(ri-1,c-1,'qr_val')" class="machine-qr-mini">🏷 {% raw %}{{ getMachineField(ri-1,c-1,'qr_val').substring(0,6) }}{% endraw %}</div>
+                </template>
+                <div v-else class="empty-cell">空</div>
               </div>
-            </div>
+
+              <!-- 点位行 ri (pointRow=ri): 上一个机器的背面 / 下一个机器的正面 -->
+              <div class="grid-cell grid-header">点位行 {% raw %}{{ ri+1 }}{% endraw %}</div>
+              <div v-for="c in missionCols" :key="'p'+ri+'_'+c" class="grid-cell point-cell" :class="'nav-'+getPointStatus(ri, c-1)">
+                <div class="cell-nav-icon">{% raw %}{{ navIcon(getPointStatus(ri, c-1)) }}{% endraw %}</div>
+                <div class="cell-nav-label">{% raw %}{{ navLabel(getPointStatus(ri, c-1)) }}{% endraw %}</div>
+              </div>
+            </template>
           </div>
         </div>
+        <div class="grid-legend" style="margin-top:10px;font-size:12px;color:#8899aa">
+          ⏳等待  🔄执行中  ✅完成  ⏭️跳过  ⚠️手动  🔍扫码  📸拍摄
+        </div>
       </section>
 
       <!-- 实时日志 -->
       <section class="card">
         <h2>📜 任务日志</h2>
         <div class="log-box" ref="logBox">
-          <div v-for="(log, i) in logs" :key="i" class="log-line">[[ log ]]</div>
+          <div v-for="(log, i) in logs" :key="i" class="log-line">{% raw %}{{ log }}{% endraw %}</div>
           <div v-if="logs.length === 0" class="log-empty">等待任务开始...</div>
         </div>
       </section>
@@ -163,9 +187,9 @@
       <section class="card" v-if="report">
         <h2>📊 任务报告</h2>
         <div class="report-summary">
-          <div class="stat ok">✅ 完成: [[ report.completed ]]</div>
+          <div class="stat ok">✅ 完成: {% raw %}{{ report.completed }}{% endraw %}</div>
-          <div class="stat error">❌ 失败: [[ report.failed ]]</div>
+          <div class="stat error">❌ 失败: {% raw %}{{ report.failed }}{% endraw %}</div>
-          <div class="stat">总计: [[ report.total_points ]]</div>
+          <div class="stat">总计: {% raw %}{{ report.total_points }}{% endraw %}</div>
         </div>
       </section>
 
@@ -186,7 +210,7 @@
       <div class="modal-overlay" v-if="waitingError">
         <div class="modal">
           <h3>⚠️ 执行错误</h3>
-          <p>[[ errorMsg ]]</p>
+          <p>{% raw %}{{ errorMsg }}{% endraw %}</p>
           <div class="modal-actions">
             <button class="btn btn-warning" @click="skipError">跳过</button>
             <button class="btn btn-error" @click="abortError">中断</button>
@@ -198,7 +222,7 @@
       <div class="modal-overlay" v-if="waitingStep">
         <div class="modal">
           <h3>🦶 单步执行确认</h3>
-          <p>机器 [[ stepLabel ]] 执行完成，请确认结果是否正确：</p>
+          <p>机器 {% raw %}{{ stepLabel }}{% endraw %} 执行完成，请确认结果是否正确：</p>
           <div class="modal-actions">
             <button class="btn btn-success" @click="confirmStep">✅ 正确，继续</button>
             <button class="btn btn-warning" @click="retryStep">🔄 不正确，重试</button>
@@ -211,6 +235,6 @@
   </div>
 
   <script src="/static/js/vue3.global.prod.js"></script>
-  <script src="/static/js/running.js?v=20260527b"></script>
+  <script src="/static/js/running.js?v=20260529a"></script>
 </body>
 </html>

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"