任务开关

agv_app/app.py

@@ -1247,6 +1247,15 @@ def api_mission_start():
     """开始执行任务（V3: M×N Grid 蛇形路径）"""
     data = request.json or {}
     single_step = bool(data.get("single_step", False))
+    # 任务步骤控制开关
+    options = {
+        "arm_init": bool(data.get("arm_init", True)),
+        "agv_move": bool(data.get("agv_move", True)),
+        "qr_scan": bool(data.get("qr_scan", True)),
+        "front_photo": bool(data.get("front_photo", True)),
+        "back_photo": bool(data.get("back_photo", True)),
+    }
+    print(f"[Mission] options: {options}")
     
     # 清除可能存在的旧实例，确保可以启动
     if hasattr(MissionExecutorV3, "_instance"):
@@ -1282,6 +1291,7 @@ def api_mission_start():
             qr_configs=gs.qr_config,
             models=models_list,
             single_step=single_step,
+            options=options,
         )
         gs.mission_report = report
         executor.disconnect_all()

agv_app/static/css/style.css

@@ -920,3 +920,71 @@ a:hover { text-decoration: underline; }
   gap: 16px;
   margin-top: 12px;
 }
+
+/* ========== 任务步骤控制开关 ========== */
+.toggle-grid {
+  display: flex;
+  flex-direction: column;
+  gap: 12px;
+}
+.toggle-item {
+  display: flex;
+  align-items: center;
+  gap: 12px;
+  padding: 10px 14px;
+  background: #0a0a0a;
+  border: 1px solid #1a1a1a;
+  border-radius: 8px;
+  transition: border-color 0.2s;
+}
+.toggle-item:hover {
+  border-color: #333;
+}
+.toggle-switch {
+  position: relative;
+  display: inline-block;
+  width: 44px;
+  height: 24px;
+  flex-shrink: 0;
+}
+.toggle-switch input {
+  opacity: 0;
+  width: 0;
+  height: 0;
+}
+.toggle-slider {
+  position: absolute;
+  cursor: pointer;
+  top: 0; left: 0; right: 0; bottom: 0;
+  background-color: #333;
+  border-radius: 24px;
+  transition: 0.3s;
+}
+.toggle-slider:before {
+  position: absolute;
+  content: "";
+  height: 18px;
+  width: 18px;
+  left: 3px;
+  bottom: 3px;
+  background-color: #888;
+  border-radius: 50%;
+  transition: 0.3s;
+}
+.toggle-switch input:checked + .toggle-slider {
+  background-color: #2e7d32;
+}
+.toggle-switch input:checked + .toggle-slider:before {
+  transform: translateX(20px);
+  background-color: #4caf50;
+}
+.toggle-label {
+  font-size: 14px;
+  font-weight: 600;
+  color: #e0e0e0;
+  min-width: 140px;
+}
+.toggle-hint {
+  font-size: 12px;
+  color: #666;
+}

agv_app/static/js/running.js

@@ -21,6 +21,12 @@ createApp({
       errorMsg: '',
       waitingStep: false,
       stepLabel: '',
+      // 任务步骤控制开关
+      armInitEnabled: true,
+      agvMoveEnabled: true,
+      qrScanEnabled: true,
+      frontPhotoEnabled: true,
+      backPhotoEnabled: true,
     }
   },
   computed: {
@@ -114,7 +120,13 @@ createApp({
       await fetch(API + '/api/mission/start', {
         method: 'POST',
         headers: { 'Content-Type': 'application/json' },
-        body: JSON.stringify({})
+        body: JSON.stringify({
+          arm_init: this.armInitEnabled,
+          agv_move: this.agvMoveEnabled,
+          qr_scan: this.qrScanEnabled,
+          front_photo: this.frontPhotoEnabled,
+          back_photo: this.backPhotoEnabled,
+        })
       })
       this.missionState = 'running'
     },

agv_app/templates/running.html

@@ -48,6 +48,54 @@
         </div>
       </section>
 
+      <!-- 任务步骤控制开关 -->
+      <section class="card">
+        <h2>🎛️ 任务步骤控制</h2>
+        <p class="hint" style="margin-bottom:12px">关闭的步骤将在本次任务中跳过</p>
+        <div class="toggle-grid">
+          <div class="toggle-item">
+            <label class="toggle-switch">
+              <input type="checkbox" v-model="armInitEnabled">
+              <span class="toggle-slider"></span>
+            </label>
+            <span class="toggle-label">🦾 机械臂位置初始化</span>
+            <span class="toggle-hint">移动到每个点位前恢复初始姿态</span>
+          </div>
+          <div class="toggle-item">
+            <label class="toggle-switch">
+              <input type="checkbox" v-model="agvMoveEnabled">
+              <span class="toggle-slider"></span>
+            </label>
+            <span class="toggle-label">🚗 AGV移动</span>
+            <span class="toggle-hint">按之字形路线移动到各点位</span>
+          </div>
+          <div class="toggle-item">
+            <label class="toggle-switch">
+              <input type="checkbox" v-model="qrScanEnabled">
+              <span class="toggle-slider"></span>
+            </label>
+            <span class="toggle-label">📷 识别二维码</span>
+            <span class="toggle-hint">调整机械臂姿态扫描二维码</span>
+          </div>
+          <div class="toggle-item">
+            <label class="toggle-switch">
+              <input type="checkbox" v-model="frontPhotoEnabled">
+              <span class="toggle-slider"></span>
+            </label>
+            <span class="toggle-label">📸 拍正面照</span>
+            <span class="toggle-hint">按机型正面姿态拍照</span>
+          </div>
+          <div class="toggle-item">
+            <label class="toggle-switch">
+              <input type="checkbox" v-model="backPhotoEnabled">
+              <span class="toggle-slider"></span>
+            </label>
+            <span class="toggle-label">📸 拍背面照</span>
+            <span class="toggle-hint">按机型背面姿态拍照</span>
+          </div>
+        </div>
+      </section>
+
       <!-- 任务清单 -->
       <section class="card" v-if="tasks.length > 0">
         <h2>📋 任务清单 ([[ tasks.length ]] 台机器)</h2>

agv_app/utils/mission_executor.py

@@ -124,10 +124,22 @@ class MissionExecutorV3:
         qr_configs: list,
         models: list,
         single_step: bool = False,
+        options: dict = None,
     ) -> dict:
         """
         执行完整拍摄任务。
 
+        Args:
+            options: 任务步骤控制开关
+                - arm_init: 是否执行机械臂位置初始化
+                - agv_move: 是否执行AGV移动
+                - qr_scan: 是否执行二维码识别
+                - front_photo: 是否执行正面拍照
+                - back_photo: 是否执行背面拍照
+        """
+        """
+        执行完整拍摄任务。
+
         Args:
             mission_config: {rows, cols, grid, positions}
             machines: [{id, row, col, front: {coords}, back: {coords}}]
@@ -187,6 +199,17 @@ class MissionExecutorV3:
                 "photos_back": 0,
             } for (r, c) in path]
 
+            # 任务步骤控制开关
+            if options is None:
+                options = {}
+            opt_arm_init = options.get("arm_init", True)
+            opt_agv_move = options.get("agv_move", True)
+            opt_qr_scan = options.get("qr_scan", True)
+            opt_front_photo = options.get("front_photo", True)
+            opt_back_photo = options.get("back_photo", True)
+            self._log(f"⚙️ 任务步骤: arm_init={opt_arm_init}, agv_move={opt_agv_move}, "
+                        f"qr_scan={opt_qr_scan}, front={opt_front_photo}, back={opt_back_photo}")
+
             # 机械臂初始姿态（AGV 移动前恢复）
             arm_initial_pose = mission_config.get("arm_initial_pose", [0.0] * 6)
             has_arm_pose = self.arm_client and any(abs(a) > 0.01 for a in arm_initial_pose)
@@ -203,10 +226,12 @@ class MissionExecutorV3:
                 rl, cl = r + 1, c + 1
 
                 # 恢复机械臂初始姿态
-                if has_arm_pose:
+                if opt_arm_init and has_arm_pose:
                     self._log("  🦾 恢复机械臂初始姿态")
                     self.arm_client.set_angles(arm_initial_pose, speed=500)
                     time.sleep(2)
+                elif not opt_arm_init:
+                    self._log("  ⏭️ 跳过机械臂位置初始化")
 
                 # 更新任务状态 → 正面开始
                 task = self._get_task(r, c)
@@ -226,20 +251,27 @@ class MissionExecutorV3:
                 self._step(f"机器 {rl}-{cl} 正面")
 
                 # 导航到正面点位
-                front_pt = self._find_point(positions, r, c, "front")
-                if front_pt and self._has_coords(front_pt):
-                    if not self._navigate(front_pt, "正面"):
-                        self._log(f"⚠️ 导航失败，尝试继续")
-                        choice = self._wait_error(f"机器 {rl}-{cl} 正面导航失败")
-                        if choice == "abort":
-                            break
+                if opt_agv_move:
+                    front_pt = self._find_point(positions, r, c, "front")
+                    if front_pt and self._has_coords(front_pt):
+                        if not self._navigate(front_pt, "正面"):
+                            self._log(f"⚠️ 导航失败，尝试继续")
+                            choice = self._wait_error(f"机器 {rl}-{cl} 正面导航失败")
+                            if choice == "abort":
+                                break
+                    else:
+                        self._log(f"⚠️ 无正面点位坐标")
                 else:
-                    self._log(f"⚠️ 无正面点位坐标")
+                    self._log("  ⏭️ 跳过AGV移动（正面）")
 
                 # 扫描二维码
-                qr_value = self._scan_qr_with_poses(qr_configs)
-                if self._stop.is_set():
-                    break
+                qr_value = None
+                if opt_qr_scan:
+                    qr_value = self._scan_qr_with_poses(qr_configs)
+                    if self._stop.is_set():
+                        break
+                else:
+                    self._log("  ⏭️ 跳过二维码识别")
 
                 # 查机型 + 更新任务步骤
                 model_name = self._lookup_model(qr_value)
@@ -250,11 +282,14 @@ class MissionExecutorV3:
                     task["step"] = "正面拍照"
 
                 # 正面拍照
-                model = self._find_model(models, model_name)
-                if model:
-                    self._shoot(model, "front", rl, cl, qr_value or "unknown")
+                if opt_front_photo:
+                    model = self._find_model(models, model_name)
+                    if model:
+                        self._shoot(model, "front", rl, cl, qr_value or "unknown")
+                    else:
+                        self._log(f"  ⚠️ 未找到机型 {model_name}")
                 else:
-                    self._log(f"  ⚠️ 未找到机型 {model_name}")
+                    self._log("  ⏭️ 跳过正面拍照")
 
                 self._progress(machine_idx, 1)
 
@@ -265,19 +300,25 @@ class MissionExecutorV3:
                 self._step(f"机器 {rl}-{cl} 背面")
 
                 # 导航到背面点位
-                back_pt = self._find_point(positions, r + 1, c, "back")
-                if back_pt and self._has_coords(back_pt):
-                    if not self._navigate(back_pt, "背面"):
-                        self._log(f"⚠️ 导航失败，尝试继续")
-                        choice = self._wait_error(f"机器 {rl}-{cl} 背面导航失败")
-                        if choice == "abort":
-                            break
+                if opt_agv_move:
+                    back_pt = self._find_point(positions, r + 1, c, "back")
+                    if back_pt and self._has_coords(back_pt):
+                        if not self._navigate(back_pt, "背面"):
+                            self._log(f"⚠️ 导航失败，尝试继续")
+                            choice = self._wait_error(f"机器 {rl}-{cl} 背面导航失败")
+                            if choice == "abort":
+                                break
+                    else:
+                        self._log(f"⚠️ 无背面点位坐标")
                 else:
-                    self._log(f"⚠️ 无背面点位坐标")
+                    self._log("  ⏭️ 跳过AGV移动（背面）")
 
                 # 背面拍照
-                if model:
-                    self._shoot(model, "back", rl, cl, qr_value or "unknown")
+                if opt_back_photo:
+                    if model:
+                        self._shoot(model, "back", rl, cl, qr_value or "unknown")
+                else:
+                    self._log("  ⏭️ 跳过背面拍照")
 
                 # 标记任务完成
                 if task:
@@ -300,10 +341,12 @@ class MissionExecutorV3:
                 machine_idx += 1
 
             # 3. 回到出发点
-            if not self._stop.is_set():
+            if not self._stop.is_set() and opt_agv_move:
                 self._step("返回出发点")
                 self._log("→ 返回 (0, 0)")
                 self._nav2_go_to_point(0, 0, 0, timeout_sec=60)
+            elif not self._stop.is_set():
+                self._log("⏭️ 跳过返回出发点")
 
             elapsed = time.time() - start_time
             return self._finish(elapsed)