Add customs tablet frontend prototype

.gitignore

@@ -0,0 +1,208 @@
+# ==============================
+# Python
+# ==============================
+__pycache__/
+*.py[cod]
+*$py.class
+*.so
+.Python
+build/
+develop-eggs/
+dist/
+downloads/
+eggs/
+.eggs/
+lib/
+lib64/
+parts/
+sdist/
+var/
+wheels/
+pip-wheel-metadata/
+share/python-wheels/
+*.egg-info/
+.installed.cfg
+*.egg
+MANIFEST
+
+# Virtual environments
+.venv/
+venv/
+ENV/
+env/
+.virtualenv/
+.virtenv/
+
+# uv package manager
+uv-cache/
+
+# Python testing
+.pytest_cache/
+.coverage
+.coverage.*
+htmlcov/
+*.cover
+.hypothesis/
+.pytest_cache/
+
+# ==============================
+# Node.js / npm
+# ==============================
+node_modules/
+npm-debug.log*
+yarn-debug.log*
+yarn-error.log*
+pnpm-debug.log*
+lerna-debug.log*
+
+# ==============================
+# Next.js (Frontend)
+# ==============================
+.next/
+out/
+build/
+dist/
+.vercel/
+*.tsbuildinfo
+next-env.d.ts
+
+# ==============================
+# IDEs & Editors
+# ==============================
+# VSCode
+.vscode/*
+!.vscode/settings.json
+!.vscode/tasks.json
+!.vscode/launch.json
+!.vscode/extensions.json
+
+# JetBrains IDEs (IntelliJ, PyCharm, WebStorm, etc.)
+.idea/
+*.iml
+*.ipr
+*.iws
+.idea_modules/
+
+# Vim/Neovim
+*.swp
+*.swo
+*~
+.netrwhist
+
+# Emacs
+*~
+\#*\#
+.\#*
+*.elc
+
+# Sublime Text
+*.sublime-project
+*.sublime-workspace
+
+# ==============================
+# macOS
+# ==============================
+.DS_Store
+._*
+.AppleDouble
+.LSOverride
+.AppleDB
+.AppleDesktop
+Network Trash Folder
+Temporary Items
+.apdisk
+
+# ==============================
+# Windows
+# ==============================
+Thumbs.db
+Thumbs.db:encryptable
+ehthumbs.db
+ehthumbs_vista.db
+*.stackdump
+[Dd]esktop.ini
+$RECYCLE.BIN/
+*.lnk
+*.cab
+*.msi
+*.msix
+*.msm
+*.msp
+*.lnk
+
+# ==============================
+# Linux
+# ==============================
+*~
+.fuse_hidden*
+.directory
+.Trash-*
+.nfs*
+
+# ==============================
+# Local runtime & temporary files
+# ==============================
+*.log
+*.log.*
+*.pid
+*.seed
+*.pid.lock
+timeout
+*.tmp
+*.temp
+*.cache
+*.bak
+*.bak.*
+*.bak2
+*.swp
+*.swo
+
+# ==============================
+# Application specific
+# ==============================
+# Database
+*.db
+*.sqlite
+*.sqlite3
+*.db-shm
+*.db-wal
+
+# Environment files
+.env
+.env.*
+!.env.example
+!.env.local.example
+*.local
+
+# ==============================
+# ROS2 / Robotics
+# ==============================
+install/
+log/
+build/
+*/install/
+*/log/
+*/build/
+*.bag
+*.bag.active
+
+# ==============================
+# Misc
+# ==============================
+# Sensitive data (adjust patterns as needed)
+*.pem
+*.key
+*.crt
+*.secret
+secrets/
+
+# Large binary files (adjust as needed)
+*.tar
+*.tar.gz
+*.zip
+*.rar
+*.7z
+
+# Generated documentation
+docs/_build/
+site/

.python-version

@@ -0,0 +1 @@
+3.10

agv_app/data/qr_config.json

@@ -0,0 +1,44 @@
+[
+  {
+    "id": "qr_1779278140334",
+    "name": "二维码1",
+    "joint_angles": [
+      -89.796645,
+      -2.013175,
+      -87.176721,
+      -82.49663,
+      -93.323403,
+      20.399941
+    ],
+    "qr_value": "BG042110276",
+    "model_id": ""
+  },
+  {
+    "id": "qr_1779286233426",
+    "name": "左侧二维码",
+    "joint_angles": [
+      -70.967019,
+      -19.319962,
+      -67.929797,
+      -90.749908,
+      -121.735483,
+      20.399961
+    ],
+    "qr_value": "",
+    "model_id": ""
+  },
+  {
+    "id": "qr_1779954274845",
+    "name": "右侧二维码",
+    "joint_angles": [
+      -106.216678,
+      35.346758,
+      -134.01322,
+      -79.250251,
+      -84.069984,
+      21.982971
+    ],
+    "qr_value": "",
+    "model_id": ""
+  }
+]

agv_app/requirements.txt

@@ -1,7 +0,0 @@
-flask>=2.0
-flask-cors>=3.0
-pymycobot>=4.0.0
-opencv-python>=4.5
-pyzbar>=0.1.8
-requests>=2.25
-numpy>=1.20

agv_app/scripts/fix_scan_timestamp.py

@@ -1,67 +0,0 @@
-#!/usr/bin/env python3
-"""修复激光雷达时间戳偏移的修正器 v5"""
-import os, sys, rclpy
-from rclpy.node import Node
-from sensor_msgs.msg import LaserScan
-from builtin_interfaces.msg import Time
-
-LOCKFILE = "/tmp/scan_fixer.lock"
-
-if os.path.exists(LOCKFILE):
-    with open(LOCKFILE) as f:
-        old_pid = int(f.read().strip())
-    try:
-        os.kill(old_pid, 0)
-        print(f"Another fixer running PID {old_pid}, exit.", file=sys.stderr)
-        sys.exit(1)
-    except (OSError, ProcessLookupError):
-        print(f"Stale lock removed (PID {old_pid} dead)", file=sys.stderr)
-
-with open(LOCKFILE, "w") as f:
-    f.write(str(os.getpid()))
-
-def main():
-    rclpy.init(args=sys.argv[1:])
-    node = Node('scan_timestamp_fixer')
-    offset = 2.0
-    pub = node.create_publisher(LaserScan, '/scan_corrected', 10)
-    count = [0]
-
-    def cb(msg: LaserScan):
-        count[0] += 1
-        s, ns = msg.header.stamp.sec, msg.header.stamp.nanosec
-        s2 = s - int(offset)
-        ns2 = ns - int((offset % 1) * 1e9)
-        if ns2 < 0:
-            ns2 += 1000000000
-            s2 -= 1
-        out = LaserScan()
-        out.header.frame_id = msg.header.frame_id
-        out.header.stamp = Time(sec=s2, nanosec=ns2)
-        out.angle_min = msg.angle_min
-        out.angle_max = msg.angle_max
-        out.angle_increment = msg.angle_increment
-        out.time_increment = msg.time_increment
-        out.scan_time = msg.scan_time
-        out.range_min = msg.range_min
-        out.range_max = msg.range_max
-        out.ranges = msg.ranges
-        out.intensities = msg.intensities
-        pub.publish(out)
-        if count[0] % 200 == 0:
-            node.get_logger().info(f'#{count[0]} /scan={s} -> /scan_corrected={s2}')
-
-    node.create_subscription(LaserScan, '/scan', cb, 10)
-    node.get_logger().info(f'Fixer PID={os.getpid()}, offset={offset}s')
-
-    try:
-        while rclpy.ok():
-            rclpy.spin_once(node, timeout_sec=0.5)
-    finally:
-        node.destroy_node()
-        rclpy.shutdown()
-        if os.path.exists(LOCKFILE):
-            os.unlink(LOCKFILE)
-
-if __name__ == '__main__':
-    main()

agv_app/scripts/start_agv.sh

@@ -1,17 +0,0 @@
-#!/bin/bash
-source /opt/ros/humble/setup.bash
-source /home/elephant/agv_pro_ros2/install/setup.bash
-export ROS_DOMAIN_ID=1
-cd /home/elephant/agv_pro_ros2
-nohup ros2 daemon start >/dev/null 2>&1 &
-sleep 5
-nohup ros2 launch agv_pro_bringup agv_pro_bringup.launch.py port_name:=/dev/agvpro_controller > /tmp/ros2_bringup.log 2>&1 &
-sleep 8
-nohup python3 /home/elephant/work/scan_fixer/fix_scan_timestamp.py > /tmp/scan_fixer.log 2>&1 &
-sleep 5
-nohup ros2 launch agv_pro_navigation2 navigation2_active.launch.py autostart:=True > /tmp/ros2_nav2.log 2>&1 &
-sleep 15
-cd /home/elephant/work/agv_app && nohup python3 app.py > /tmp/agv_flask.log 2>&1 &
-sleep 5
-echo "ALL_STARTED"
-ps aux | grep -E 'lslidar|agv_pro_node|nav2_container|scan_timestamp_fixer|ros2-daemon|app.py' | grep -v grep

agv_app/start.sh

@@ -1,5 +0,0 @@
-#!/bin/bash
-# 启动 AGV 拍摄系统
-
-cd ~/work/agv_app
-python3 app.py

agv_app/start_agv.sh

@@ -1,17 +0,0 @@
-#!/bin/bash
-source /opt/ros/humble/setup.bash
-source /home/elephant/agv_pro_ros2/install/setup.bash
-export ROS_DOMAIN_ID=1
-cd /home/elephant/agv_pro_ros2
-nohup ros2 daemon start >/dev/null 2>&1 &
-sleep 5
-nohup ros2 launch agv_pro_bringup agv_pro_bringup.launch.py port_name:=/dev/agvpro_controller > /tmp/ros2_bringup.log 2>&1 &
-sleep 8
-nohup python3 /home/elephant/work/scan_fixer/fix_scan_timestamp.py > /tmp/scan_fixer.log 2>&1 &
-sleep 5
-nohup ros2 launch agv_pro_navigation2 navigation2_active.launch.py autostart:=True > /tmp/ros2_nav2.log 2>&1 &
-sleep 15
-cd /home/elephant/work/agv_app && nohup python3 app.py > /tmp/agv_flask.log 2>&1 &
-sleep 5
-echo "ALL_STARTED"
-ps aux | grep -E 'lslidar|agv_pro_node|nav2_container|scan_timestamp_fixer|ros2-daemon|app.py' | grep -v grep

agv_app/start_flask.sh

@@ -1,9 +0,0 @@
-#!/bin/bash
-# Flask 启动脚本 - 杀掉旧进程并重启
-
-pkill -f "python.*app.py" 2>/dev/null
-sleep 1
-
-cd /home/elephant/work/agv_app
-nohup python3 app.py > /tmp/agv_flask.log 2>&1 &
-echo "Flask started, PID: $!"

agv_app/utils/agv_controller.py

@@ -1,161 +0,0 @@
-"""
-AGV 导航控制模块 - 通过 pymycobot 控制 AGV 运动
-"""
-import time
-import logging
-from typing import Tuple, Optional, List
-
-logger = logging.getLogger(__name__)
-
-# 尝试导入 pymycobot
-try:
-    from pymycobot import MyAGVPro
-    MYCOBOT_AVAILABLE = True
-except ImportError:
-    MYCOBOT_AVAILABLE = False
-    logger.warning("pymycobot 未安装，AGV 控制功能不可用")
-
-
-class AGVController:
-    """AGV 运动控制"""
-
-    def __init__(self, device: str = "/dev/agvpro_controller", baudrate: int = 1000000):
-        self.device = device
-        self.baudrate = baudrate
-        self._agv: Optional[MyAGVPro] = None
-        self._connected = False
-
-    def connect(self) -> bool:
-        """连接 AGV"""
-        if not MYCOBOT_AVAILABLE:
-            logger.error("pymycobot 不可用")
-            return False
-        try:
-            self._agv = MyAGVPro(self.device, self.baudrate, debug=False)
-            # 检查是否上电
-            if self._agv.is_power_on():
-                self._connected = True
-                logger.info("AGV 连接成功")
-                return True
-            else:
-                logger.warning("AGV 未上电，尝试上电...")
-                self._agv.power_on()
-                time.sleep(2)
-                if self._agv.is_power_on():
-                    self._connected = True
-                    return True
-                return False
-        except Exception as e:
-            logger.error(f"AGV 连接失败: {e}")
-            return False
-
-    def is_connected(self) -> bool:
-        return self._connected and self._agv is not None
-
-    def move_forward(self, speed: float = 0.5, duration: float = None):
-        """前进"""
-        if not self.is_connected():
-            return
-        self._agv.move_forward(speed)
-        if duration:
-            time.sleep(duration)
-            self.stop()
-
-    def move_backward(self, speed: float = 0.5, duration: float = None):
-        """后退"""
-        if not self.is_connected():
-            return
-        self._agv.move_backward(speed)
-        if duration:
-            time.sleep(duration)
-            self.stop()
-
-    def turn_left(self, speed: float = 0.5, duration: float = None):
-        """左转"""
-        if not self.is_connected():
-            return
-        self._agv.turn_left(speed)
-        if duration:
-            time.sleep(duration)
-            self.stop()
-
-    def turn_right(self, speed: float = 0.5, duration: float = None):
-        """右转"""
-        if not self.is_connected():
-            return
-        self._agv.turn_right(speed)
-        if duration:
-            time.sleep(duration)
-            self.stop()
-
-    def move_left_lateral(self, speed: float = 0.5, duration: float = None):
-        """向左横向移动"""
-        if not self.is_connected():
-            return
-        self._agv.move_left_lateral(speed)
-        if duration:
-            time.sleep(duration)
-            self.stop()
-
-    def move_right_lateral(self, speed: float = 0.5, duration: float = None):
-        """向右横向移动"""
-        if not self.is_connected():
-            return
-        self._agv.move_right_lateral(speed)
-        if duration:
-            time.sleep(duration)
-            self.stop()
-
-    def stop(self):
-        """停止"""
-        if self.is_connected():
-            self._agv.stop()
-
-    def get_position(self) -> Optional[List[float]]:
-        """获取 AGV 当前位置 [x, y, rz]"""
-        if not self.is_connected():
-            return None
-        try:
-            # 启用自动报告以获取位置
-            self._agv.set_auto_report_state(1)
-            time.sleep(0.5)
-            msg = self._agv.get_auto_report_message()
-            if msg and len(msg) >= 3:
-                return [msg[0], msg[1], msg[2]]
-        except Exception as e:
-            logger.error(f"获取 AGV 位置失败: {e}")
-        return None
-
-    def go_to_point(self, x: float, y: float, rz: float = None, speed: float = 0.5) -> bool:
-        """移动到目标点（简单的方向控制实现）"""
-        # 注意：AGV Pro 的 pymycobot 没有直接 goto API
-        # 需要 ROS2 SLAM 导航支持，此处提供基础运动接口
-        # 实际导航需要结合地图和路径规划
-        logger.warning("go_to_point 需要 ROS2 导航支持，当前仅记录目标")
-        return True
-
-    def get_battery(self) -> Optional[float]:
-        """获取电池电压"""
-        if not self.is_connected():
-            return None
-        try:
-            self._agv.set_auto_report_state(1)
-            msg = self._agv.get_auto_report_message()
-            if msg and len(msg) > 5:
-                return msg[5]  # 电池电压
-        except:
-            pass
-        return None
-
-    def disconnect(self):
-        if self._agv:
-            self.stop()
-            self._agv = None
-            self._connected = False
-
-    def __enter__(self):
-        self.connect()
-        return self
-
-    def __exit__(self, *args):
-        self.disconnect()

agv_app/utils/config.py

@@ -1,92 +0,0 @@
-"""
-配置文件 - 所有可配置参数集中管理
-"""
-import os
-
-# 基础路径（部署后对应 ~/work/agv_app）
-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 = "192.168.60.80"
-ARM_HOST = "192.168.60.120"
-
-# ========== AGV 参数 ==========
-AGV_CONFIG = {
-    "device": "/dev/agvpro_controller",
-    "baudrate": 10000000,
-    "move_speed": 1.0,
-    "turn_speed": 1.0,
-}
-
-# ========== 机械臂 TCP 客户端 ==========
-ARM_CONFIG = {
-    "host": ARM_HOST,
-    "port": 5002,
-    "timeout": 8,
-    "retry_times": 3,
-    "retry_interval": 1,
-}
-
-# ========== 地图 ==========
-MAP_CONFIG = {
-    "map_dir": "/home/elephant/agv_pro_ros2/src/agv_pro_navigation2/map/",
-    "map_file": "map.yaml",
-}
-
-# ========== 摄像头 ==========
-CAMERA_CONFIG = {
-    "device_index": 4,       # AGV 摄像头 video4（标准彩色摄像头，V4L2后端）
-    "backend": "v4l2",         # 使用 V4L2 后端获取标准彩色格式（640x480）
-    "qr_detect_interval": 0.5,
-    "capture_delay": 0.5,
-}
-
-# ========== 机械臂摄像头流 ==========
-ARM_CAMERA_CONFIG = {
-    "url": f"http://{ARM_HOST}:5003/api/camera/preview",
-    "snapshot_url": f"http://{ARM_HOST}:5003/api/camera/snapshot",
-}
-
-# ========== HTTP 上传 ==========
-UPLOAD_CONFIG = {
-    "url": "https://ts.zhijian168.com/prod-api/file/uploadImage",
-    "timeout": 30,
-    "max_retries": 3,
-}
-
-# ========== Flask 服务器 ==========
-SERVER_CONFIG = {
-    "host": "0.0.0.0",
-    "port": 5000,
-    "secret_key": "agv630_secret_key_2024",
-    "debug": False,
-}
-
-# ========== 任务配置存储路径 ==========
-DATA_DIR = os.path.join(BASE_DIR, "data")
-os.makedirs(DATA_DIR, exist_ok=True)
-
-# ========== 关节角度范围限制 ==========
-JOINT_LIMITS = {
-    "J1": (-180.0, 180.0),
-    "J2": (-270.0, 90.0),
-    "J3": (-150.0, 150.0),
-    "J4": (-260.0, 80.0),
-    "J5": (-168.0, 168.0),
-    "J6": (-174.0, 174.0),
-}
-
-# ========== 机械臂默认速度 ==========
-DEFAULT_ARM_SPEED = 1000
-
-# ========== 状态定义 ==========
-class State:
-    SETTING = "setting"
-    RUNNING = "running"
-    PAUSED = "paused"
-    IDLE = "idle"
-
-class PhotoType:
-    FRONT = "front"
-    BACK = "back"
-    NAMEPLATE = "nameplate"

agv_app/utils/map_navigator.py

@@ -1,663 +0,0 @@
-"""
-地图导航模块 - A* 路径规划 + Pure Pursuit 路径跟踪
-在已知地图上规划路径，控制 AGV 自动导航到目标坐标
-
-依赖：numpy, cv2, Pillow（均已安装在 AGV 上）
-不依赖：激光雷达、SLAM、Nav2
-"""
-
-import os
-import math
-import heapq
-import time
-import logging
-import threading
-import subprocess
-import numpy as np
-import cv2
-import yaml
-from typing import List, Tuple, Optional, Dict
-from enum import Enum
-
-logger = logging.getLogger(__name__)
-
-# ROS2 环境设置（与 agv_controller_ros2.py 保持一致）
-ROS2_SETUP_CMD = "export ROS_DOMAIN_ID=1 && source /opt/ros/humble/setup.bash && source ~/agv_pro_ros2/install/setup.bash"
-
-
-# ========== 坐标转换 ==========
-
-class CoordTransformer:
-    """地图世界坐标 ↔ 栅格坐标 双向转换"""
-
-    def __init__(self, resolution: float, origin: List[float], width: int, height: int):
-        """
-        Args:
-            resolution: 地图分辨率（米/像素）
-            origin: [x, y, yaw] 地图原点在世界坐标系中的位置
-            width: 地图宽度（像素）
-            height: 地图高度（像素）
-        """
-        self.resolution = resolution
-        self.origin = origin  # [ox, oy, oyaw]
-        self.width = width
-        self.height = height
-
-    def world_to_grid(self, wx: float, wy: float) -> Tuple[int, int]:
-        """世界坐标 → 栅格坐标 [col, row]"""
-        col = int((wx - self.origin[0]) / self.resolution)
-        row = int((wy - self.origin[1]) / self.resolution)
-        # ROS 地图 row=0 对应图像最上方（y 最大值），需要翻转
-        row = self.height - 1 - row
-        return (col, row)
-
-    def grid_to_world(self, col: int, row: int) -> Tuple[float, float]:
-        """栅格坐标 [col, row] → 世界坐标 [x, y]"""
-        # 翻转 row
-        actual_row = self.height - 1 - row
-        wx = col * self.resolution + self.origin[0]
-        wy = actual_row * self.resolution + self.origin[1]
-        return (wx, wy)
-
-    def world_to_grid_center(self, wx: float, wy: float) -> Tuple[float, float]:
-        """世界坐标 → 栅格中心的世界坐标（对齐到栅格）"""
-        col, row = self.world_to_grid(wx, wy)
-        return self.grid_to_world(col, row)
-
-
-# ========== A* 路径规划 ==========
-
-class AStarPlanner:
-    """A* 路径规划器，在栅格地图上规划最短路径"""
-
-    # 8方向移动：右、左、下、上、右下、右上、左下、左上
-    DIRECTIONS = [
-        (1, 0), (-1, 0), (0, 1), (0, -1),
-        (1, 1), (1, -1), (-1, 1), (-1, -1)
-    ]
-    # 对角线移动的代价乘数（sqrt(2)）
-    DIR_COSTS = [1.0, 1.0, 1.0, 1.0, 1.414, 1.414, 1.414, 1.414]
-
-    def __init__(self, occupancy_grid: np.ndarray, inflation_radius: int = 3):
-        """
-        Args:
-            occupancy_grid: 栅格地图，0=空闲，255=障碍物
-            inflation_radius: 障碍物膨胀半径（像素），AGV 有一定体积不能贴墙走
-        """
-        self.grid = occupancy_grid
-        self.height, self.width = occupancy_grid.shape
-        self.inflated = self._inflate(inflation_radius)
-
-    def _inflate(self, radius: int) -> np.ndarray:
-        """膨胀障碍物区域"""
-        if radius <= 0:
-            return self.grid.copy()
-        kernel = cv2.getStructuringElement(cv2.MORPH_ELLIPSE, (2 * radius + 1, 2 * radius + 1))
-        inflated = cv2.dilate(self.grid, kernel, iterations=1)
-        # 确保二值化
-        inflated = np.where(inflated > 50, 255, 0).astype(np.uint8)
-        return inflated
-
-    def plan(self, start: Tuple[int, int], goal: Tuple[int, int]) -> Optional[List[Tuple[int, int]]]:
-        """
-        A* 路径规划
-
-        Args:
-            start: 起点栅格坐标 (col, row)
-            goal: 终点栅格坐标 (col, row)
-
-        Returns:
-            路径点列表 [(col, row), ...]，包含起点和终点；无法规划时返回 None
-        """
-        # 边界检查
-        if not self._is_valid(start) or not self._is_valid(goal):
-            logger.warning(f"起点或终点无效: start={start}, goal={goal}")
-            # 尝试找最近的可行点
-            start = self._find_nearest_free(start)
-            goal = self._find_nearest_free(goal)
-            if start is None or goal is None:
-                logger.error("无法找到有效的起点或终点")
-                return None
-
-        # 检查终点是否被障碍物包围
-        if self.inflated[goal[1], goal[0]] > 50:
-            goal = self._find_nearest_free(goal)
-
-        if goal is None:
-            logger.error("终点周围无可行区域")
-            return None
-
-        # A* 算法
-        open_set = []
-        heapq.heappush(open_set, (0.0, start))
-        came_from = {}
-        g_score = {start: 0.0}
-        closed_set = set()
-
-        while open_set:
-            _, current = heapq.heappop(open_set)
-
-            if current in closed_set:
-                continue
-            closed_set.add(current)
-
-            if current == goal:
-                # 回溯路径
-                path = []
-                while current in came_from:
-                    path.append(current)
-                    current = came_from[current]
-                path.append(start)
-                path.reverse()
-                return path
-
-            for i, (dx, dy) in enumerate(self.DIRECTIONS):
-                neighbor = (current[0] + dx, current[1] + dy)
-
-                if neighbor in closed_set:
-                    continue
-
-                if not self._is_valid(neighbor):
-                    continue
-
-                if self.inflated[neighbor[1], neighbor[0]] > 50:
-                    continue
-
-                move_cost = self.DIR_COSTS[i]
-                tentative_g = g_score[current] + move_cost
-
-                if tentative_g < g_score.get(neighbor, float('inf')):
-                    came_from[neighbor] = current
-                    g_score[neighbor] = tentative_g
-                    f_score = tentative_g + self._heuristic(neighbor, goal)
-                    heapq.heappush(open_set, (f_score, neighbor))
-
-        logger.warning("A* 无法找到路径")
-        return None
-
-    def _heuristic(self, a: Tuple[int, int], b: Tuple[int, int]) -> float:
-        """对角线距离启发式"""
-        dx = abs(a[0] - b[0])
-        dy = abs(a[1] - b[1])
-        return max(dx, dy) + (1.414 - 1) * min(dx, dy)
-
-    def _is_valid(self, pos: Tuple[int, int]) -> bool:
-        return 0 <= pos[0] < self.width and 0 <= pos[1] < self.height
-
-    def _find_nearest_free(self, pos: Tuple[int, int], max_dist: int = 10) -> Optional[Tuple[int, int]]:
-        """在 pos 附近找最近的可行点"""
-        for r in range(1, max_dist + 1):
-            for dx in range(-r, r + 1):
-                for dy in range(-r, r + 1):
-                    n = (pos[0] + dx, pos[1] + dy)
-                    if self._is_valid(n) and self.inflated[n[1], n[0]] == 0:
-                        return n
-        return None
-
-
-# ========== 路径平滑 ==========
-
-def smooth_path(grid: np.ndarray, path: List[Tuple[int, int]],
-                weight_data: float = 0.3, weight_smooth: float = 0.5,
-                tolerance: float = 1e-5, max_iter: int = 500) -> List[Tuple[int, int]]:
-    """
-    路径平滑（梯度下降法）
-    在障碍物约束下让路径更平滑，减少不必要的转向
-    """
-    if len(path) <= 2:
-        return path
-
-    height, width = grid.shape
-    new_path = [list(p) for p in path]
-
-    for iteration in range(max_iter):
-        change = 0.0
-        for i in range(1, len(new_path) - 1):
-            for j in range(2):
-                old_val = new_path[i][j]
-                # 数据项：趋向原始路径点
-                data_gradient = weight_data * (path[i][j] - new_path[i][j])
-                # 平滑项：趋向邻居中点
-                smooth_gradient = weight_smooth * (
-                    new_path[i - 1][j] + new_path[i + 1][j] - 2 * new_path[i][j]
-                )
-                new_path[i][j] += data_gradient + smooth_gradient
-
-                # 边界约束
-                new_path[i][0] = max(0, min(width - 1, new_path[i][0]))
-                new_path[i][1] = max(0, min(height - 1, new_path[i][1]))
-
-                # 障碍物约束
-                col, row = int(round(new_path[i][0])), int(round(new_path[i][1]))
-                if 0 <= col < width and 0 <= row < height:
-                    if grid[row, col] > 50:
-                        new_path[i][j] = old_val  # 回退
-
-                change += abs(new_path[i][j] - old_val)
-
-        if change < tolerance:
-            break
-
-    return [(int(round(p[0])), int(round(p[1]))) for p in new_path]
-
-
-# ========== 路径降采样 ==========
-
-def downsample_path(path: List[Tuple[int, int]], min_dist: int = 3) -> List[Tuple[int, int]]:
-    """降采样路径，移除过近的点，减少 cmd_vel 发布频率"""
-    if len(path) <= 2:
-        return path
-
-    result = [path[0]]
-    for p in path[1:]:
-        last = result[-1]
-        dist = math.hypot(p[0] - last[0], p[1] - last[1])
-        if dist >= min_dist:
-            result.append(p)
-    # 确保终点包含在内
-    if result[-1] != path[-1]:
-        result.append(path[-1])
-    return result
-
-
-# ========== Pure Pursuit 控制器 ==========
-
-class PurePursuitController:
-    """Pure Pursuit 路径跟踪控制器"""
-
-    def __init__(self, lookahead_distance: float = 0.3,
-                 max_linear_speed: float = 0.4,
-                 max_angular_speed: float = 0.8,
-                 goal_tolerance: float = 0.15,
-                 slow_down_distance: float = 0.5):
-        """
-        Args:
-            lookahead_distance: 前视距离（米），越大转弯越平缓
-            max_linear_speed: 最大线速度 (m/s)
-            max_angular_speed: 最大角速度 (rad/s)
-            goal_tolerance: 到达目标容差（米）
-            slow_down_distance: 开始减速的距离（米）
-        """
-        self.lookahead_distance = lookahead_distance
-        self.max_linear_speed = max_linear_speed
-        self.max_angular_speed = max_angular_speed
-        self.goal_tolerance = goal_tolerance
-        self.slow_down_distance = slow_down_distance
-        self.transformer: Optional[CoordTransformer] = None
-
-    def set_transformer(self, transformer: CoordTransformer):
-        self.transformer = transformer
-
-    def compute(self, current_pos: Tuple[float, float, float],
-                path_world: List[Tuple[float, float]]) -> Tuple[float, float, bool]:
-        """
-        计算控制量
-
-        Args:
-            current_pos: (x, y, yaw) 当前世界坐标
-            path_world: 路径点列表 [(x, y), ...] 世界坐标
-
-        Returns:
-            (linear_x, angular_z, reached) 线速度、角速度、是否到达
-        """
-        if not path_world:
-            return (0.0, 0.0, True)
-
-        x, y, yaw = current_pos
-
-        # 检查是否到达终点
-        goal = path_world[-1]
-        dist_to_goal = math.hypot(goal[0] - x, goal[1] - y)
-        if dist_to_goal < self.goal_tolerance:
-            return (0.0, 0.0, True)
-
-        # 找前视点（lookahead point）
-        lookahead_point = self._find_lookahead_point(x, y, path_world)
-
-        if lookahead_point is None:
-            # 已经越过最后一个点
-            return (0.0, 0.0, True)
-
-        lx, ly = lookahead_point
-
-        # 转换到机器人坐标系
-        dx = lx - x
-        dy = ly - y
-
-        # 旋转到机器人坐标系（x 轴朝前）
-        local_x = dx * math.cos(yaw) + dy * math.sin(yaw)
-        local_y = -dx * math.sin(yaw) + dy * math.cos(yaw)
-
-        # 弧长 = 角度 * 半径 → curvature = 2 * ly / L^2
-        L = math.hypot(local_x, local_y)
-        if L < 1e-6:
-            return (0.0, 0.0, True)
-
-        curvature = 2.0 * local_y / (L * L)
-        angular_z = curvature * self.max_linear_speed
-
-        # 根据距离调整速度
-        linear_x = self.max_linear_speed
-        if dist_to_goal < self.slow_down_distance:
-            ratio = max(0.15, dist_to_goal / self.slow_down_distance)
-            linear_x *= ratio
-
-        # 限制角速度
-        angular_z = max(-self.max_angular_speed, min(self.max_angular_speed, angular_z))
-
-        # 如果角度偏差太大，先原位转弯
-        angle_to_goal = math.atan2(ly - y, lx - x) - yaw
-        angle_to_goal = math.atan2(math.sin(angle_to_goal), math.cos(angle_to_goal))
-
-        if abs(angle_to_goal) > math.pi / 3:
-            # 角度偏差 > 60°，先原位转弯
-            linear_x = 0.0
-            angular_z = max(-self.max_angular_speed, min(self.max_angular_speed, angle_to_goal * 1.5))
-
-        return (linear_x, angular_z, False)
-
-    def _find_lookahead_point(self, x: float, y: float,
-                              path: List[Tuple[float, float]]) -> Optional[Tuple[float, float]]:
-        """沿路径找到前视距离处的点"""
-        for i in range(len(path) - 1, -1, -1):
-            dist = math.hypot(path[i][0] - x, path[i][1] - y)
-            if dist >= self.lookahead_distance:
-                return path[i]
-        # 如果所有点都在前视距离内，返回终点
-        return path[-1] if path else None
-
-
-# ========== 导航器（核心模块） ==========
-
-class NavStatus(Enum):
-    IDLE = "idle"
-    PLANNING = "planning"
-    NAVIGATING = "navigating"
-    REACHED = "reached"
-    FAILED = "failed"
-    CANCELLED = "cancelled"
-
-
-class MapNavigator:
-    """地图导航器 — 整合路径规划与路径跟踪"""
-
-    def __init__(self, map_yaml_path: str):
-        """
-        Args:
-            map_yaml_path: map.yaml 文件的绝对路径
-        """
-        self.map_yaml_path = map_yaml_path
-        self.transformer: Optional[CoordTransformer] = None
-        self.planner: Optional[AStarPlanner] = None
-        self.controller = PurePursuitController()
-        self.controller.set_transformer(self.transformer)
-
-        # 导航状态
-        self.status = NavStatus.IDLE
-        self._nav_thread: Optional[threading.Thread] = None
-        self._cancel_event = threading.Event()
-
-        # 当前路径（世界坐标）
-        self.path_world: List[Tuple[float, float]] = []
-        self.current_position = [0.0, 0.0, 0.0]  # [x, y, yaw]
-
-        # 加载地图
-        self._load_map()
-
-    def _load_map(self):
-        """加载地图 PGM + YAML"""
-        with open(self.map_yaml_path, 'r') as f:
-            meta = yaml.safe_load(f)
-
-        map_dir = os.path.dirname(self.map_yaml_path)
-        pgm_path = os.path.join(map_dir, meta['image'])
-
-        # 读取 PGM 灰度图
-        img = cv2.imread(pgm_path, cv2.IMREAD_GRAYSCALE)
-        if img is None:
-            raise FileNotFoundError(f"无法读取地图文件: {pgm_path}")
-
-        # ROS 地图：0=占用（障碍物），254=空闲，205=未知
-        # 转为二值：空闲=0，障碍物=255
-        self.occupancy = np.where(img <= 50, 255, 0).astype(np.uint8)
-        # 未知区域（205 附近）也视为障碍物
-        self.occupancy = np.where((img > 50) & (img < 250), 255, self.occupancy)
-
-        resolution = meta['resolution']
-        origin = meta.get('origin', [0, 0, 0])
-        height, width = img.shape
-
-        self.transformer = CoordTransformer(resolution, origin, width, height)
-        self.planner = AStarPlanner(self.occupancy, inflation_radius=3)
-        self.controller.set_transformer(self.transformer)
-
-        self._map_meta = meta
-        logger.info(f"地图加载完成: {width}x{height}, 分辨率 {resolution}m, 原点 {origin}")
-
-    def get_odom(self) -> List[float]:
-        """从 /odom 话题获取当前位置 [x, y, yaw]"""
-        try:
-            cmd = f"timeout 5 ros2 topic echo /odom --once 2>/dev/null"
-            full_cmd = f"bash -c '{ROS2_SETUP_CMD} && {cmd}'"
-            result = subprocess.run(
-                full_cmd, shell=True, capture_output=True, text=True, timeout=6
-            )
-            if result.returncode == 0 and result.stdout:
-                yaml_str = result.stdout.split('---')[0]
-                data = yaml.safe_load(yaml_str)
-                if data:
-                    pos = data.get("pose", {}).get("pose", {}).get("position", {})
-                    x, y = pos.get("x", 0.0), pos.get("y", 0.0)
-                    orient = data.get("pose", {}).get("pose", {}).get("orientation", {})
-                    qz, qw = orient.get("z", 0.0), orient.get("w", 1.0)
-                    yaw = math.atan2(2.0 * qw * qz, 1.0 - 2.0 * qz * qz)
-                    self.current_position = [x, y, yaw]
-                    return self.current_position
-        except Exception as e:
-            logger.debug(f"获取 odom 失败: {e}")
-        return self.current_position
-
-    def _publish_cmd_vel(self, linear_x: float, angular_z: float):
-        """发布速度命令到 /cmd_vel"""
-        msg = (
-            f'{{"linear": {{"x": {linear_x:.4f}, "y": 0.0, "z": 0.0}}, '
-            f'"angular": {{"x": 0.0, "y": 0.0, "z": {angular_z:.4f}}}}}'
-        )
-        full_cmd = f"bash -c '{ROS2_SETUP_CMD} && ros2 topic pub /cmd_vel geometry_msgs/msg/Twist \"{msg}\" --once'"
-        try:
-            subprocess.run(full_cmd, shell=True, capture_output=True, text=True, timeout=3)
-        except subprocess.TimeoutExpired:
-            logger.warning("发布 cmd_vel 超时")
-
-    def _stop_cmd_vel(self):
-        """发布停止命令"""
-        self._publish_cmd_vel(0.0, 0.0)
-
-    def plan_path(self, goal_x: float, goal_y: float,
-                  start_x: float = None, start_y: float = None) -> bool:
-        """
-        规划路径（不执行导航）
-
-        Args:
-            goal_x, goal_y: 目标世界坐标（米）
-            start_x, start_y: 起点世界坐标（米），默认使用当前 odom
-
-        Returns:
-            是否规划成功
-        """
-        if self.transformer is None:
-            logger.error("地图未加载")
-            return False
-
-        # 获取起点
-        if start_x is None or start_y is None:
-            pos = self.get_odom()
-            start_x, start_y = pos[0], pos[1]
-
-        # 坐标转换
-        start_grid = self.transformer.world_to_grid(start_x, start_y)
-        goal_grid = self.transformer.world_to_grid(goal_x, goal_y)
-
-        logger.info(f"规划路径: 起点(世界){start_x:.2f},{start_y:.2f} → (栅格){start_grid}")
-        logger.info(f"          终点(世界){goal_x:.2f},{goal_y:.2f} → (栅格){goal_grid}")
-
-        # A* 规划
-        path_grid = self.planner.plan(start_grid, goal_grid)
-        if path_grid is None:
-            logger.warning("路径规划失败")
-            return False
-
-        # 路径平滑
-        path_grid = smooth_path(self.planner.inflated, path_grid)
-
-        # 降采样
-        path_grid = downsample_path(path_grid, min_dist=2)
-
-        # 转换为世界坐标
-        self.path_world = [self.transformer.grid_to_world(c, r) for c, r in path_grid]
-
-        logger.info(f"路径规划成功: {len(self.path_world)} 个路径点")
-        return True
-
-    def navigate_to(self, goal_x: float, goal_y, blocking: bool = False) -> bool:
-        """
-        导航到目标点
-
-        Args:
-            goal_x, goal_y: 目标世界坐标（米）
-            blocking: 是否阻塞等待导航完成
-
-        Returns:
-            非阻塞模式下返回 True（表示已启动），阻塞模式下返回是否到达
-        """
-        if self.status == NavStatus.NAVIGATING:
-            logger.warning("导航正在进行中，请先停止当前导航")
-            return False
-
-        # 规划路径
-        if not self.plan_path(goal_x, goal_y):
-            self.status = NavStatus.FAILED
-            return False
-
-        # 启动导航线程
-        self._cancel_event.clear()
-        self.status = NavStatus.NAVIGATING
-        self._nav_thread = threading.Thread(
-            target=self._navigate_thread,
-            args=(goal_x, goal_y),
-            daemon=True
-        )
-        self._nav_thread.start()
-
-        if blocking:
-            self._nav_thread.join()
-            return self.status == NavStatus.REACHED
-
-        return True
-
-    def _navigate_thread(self, goal_x: float, goal_y: float):
-        """导航线程"""
-        logger.info(f"开始导航 → 目标 ({goal_x:.2f}, {goal_y:.2f})")
-
-        try:
-            # 转弯朝向第一个路径点
-            self._initial_turn()
-
-            # 跟踪路径
-            last_cmd_time = time.time()
-            cmd_interval = 0.2  # cmd_vel 发布间隔（秒）
-
-            while not self._cancel_event.is_set():
-                pos = self.get_odom()
-                x, y, yaw = pos
-
-                linear_x, angular_z, reached = self.controller.compute(
-                    (x, y, yaw), self.path_world
-                )
-
-                if reached:
-                    self._stop_cmd_vel()
-                    self.status = NavStatus.REACHED
-                    logger.info("✅ 已到达目标点")
-                    return
-
-                # 控制发布频率
-                now = time.time()
-                if now - last_cmd_time >= cmd_interval:
-                    self._publish_cmd_vel(linear_x, angular_z)
-                    last_cmd_time = now
-
-                time.sleep(0.05)  # 50ms 控制循环
-
-            # 被取消
-            self._stop_cmd_vel()
-            self.status = NavStatus.CANCELLED
-            logger.info("导航已取消")
-
-        except Exception as e:
-            self._stop_cmd_vel()
-            self.status = NavStatus.FAILED
-            logger.error(f"导航异常: {e}")
-
-    def _initial_turn(self):
-        """导航开始前，先原地转向朝向第一个路径点"""
-        if len(self.path_world) < 2:
-            return
-
-        pos = self.get_odom()
-        x, y, yaw = pos
-        target = self.path_world[1]  # 第一个路径点是当前位置，取第二个
-
-        angle_to_target = math.atan2(target[1] - y, target[0] - x) - yaw
-        angle_to_target = math.atan2(math.sin(angle_to_target), math.cos(angle_to_target))
-
-        if abs(angle_to_target) < 0.1:  # < 6°，不需要转弯
-            return
-
-        logger.info(f"初始转向: {math.degrees(angle_to_target):.1f}°")
-
-        # 分段旋转（避免一步到位导致超调）
-        steps = max(3, int(abs(angle_to_target) / 0.2))
-        step_angle = angle_to_target / steps
-        step_time = abs(step_angle) / self.controller.max_angular_speed + 0.1
-
-        for _ in range(steps):
-            if self._cancel_event.is_set():
-                return
-            angular = max(-self.controller.max_angular_speed,
-                          min(self.controller.max_angular_speed, step_angle * 2))
-            self._publish_cmd_vel(0.0, angular)
-            time.sleep(step_time)
-
-        self._stop_cmd_vel()
-        time.sleep(0.2)  # 稳定后继续
-
-    def stop(self):
-        """停止当前导航"""
-        if self.status == NavStatus.NAVIGATING:
-            self._cancel_event.set()
-            self._stop_cmd_vel()
-            if self._nav_thread and self._nav_thread.is_alive():
-                self._nav_thread.join(timeout=3)
-            self.status = NavStatus.CANCELLED
-
-    def get_status(self) -> dict:
-        """获取导航状态"""
-        pos = self.get_odom()
-        return {
-            "status": self.status.value,
-            "current_position": pos,
-            "path_length": len(self.path_world),
-            "path": self.path_world if self.status in (NavStatus.NAVIGATING, NavStatus.REACHED) else []
-        }
-
-    def get_path_preview(self, goal_x: float, goal_y: float) -> Optional[List[Tuple[float, float]]]:
-        """
-        预览路径（仅规划不执行），用于前端可视化
-
-        Returns:
-            世界坐标路径列表，或 None（规划失败）
-        """
-        if self.plan_path(goal_x, goal_y):
-            return self.path_world
-        return None

arm/arm_server.py

@@ -0,0 +1,408 @@
+"""
+机械臂服务端 - 机械臂端主程序
+运行在 10.247.46.165 上，端口 5002 (TCP) + 5003 (视频流)
+通过 TCP Socket 接收 AGV 发来的指令，转发给 RoboFlow (ElephantRobot)
+同时通过 ffmpeg 提供 HTTP 视频流
+"""
+import socket
+import threading
+import time
+import logging
+import os
+import sys
+import subprocess
+import io
+from PIL import Image
+from flask import Flask, Response, jsonify
+from werkzeug.serving import make_server
+
+# 添加当前目录到路径
+BASE_DIR = os.path.dirname(os.path.abspath(__file__))
+sys.path.insert(0, BASE_DIR)
+LOG_FILE = os.environ.get("ARM_SERVER_LOG_FILE", os.path.join(BASE_DIR, "server.log"))
+
+# 配置日志
+logging.basicConfig(
+    level=logging.INFO,
+    format="%(asctime)s [%(levelname)s] %(name)s: %(message)s",
+    handlers=[
+        logging.StreamHandler(),
+        logging.FileHandler(LOG_FILE)
+    ]
+)
+logger = logging.getLogger("arm_server")
+
+# ========== Flask HTTP 服务器 - 视频流 (ffmpeg) ==========
+arm_video_app = Flask(__name__)
+
+ARM_CAMERA_INDEX = 0   # 机械臂端摄像头设备号
+_ffmpeg_proc = None
+_ffmpeg_thread = None
+_ffmpeg_lock = threading.Lock()
+_frame_cond = threading.Condition()
+_latest_frame = None
+_latest_frame_ts = 0.0
+_stop_ffmpeg_reader = threading.Event()
+_invalid_count = 0          # 连续无效帧计数
+_MAX_INVALID = 30            # 连续 30 帧无效 → 重启 ffmpeg
+_MAX_BUF_SIZE = 2 * 1024 * 1024  # 2MB buffer 上限
+
+
+def _validate_jpeg(data):
+    """验证 JPEG 数据是否有效，返回 True/False"""
+    try:
+        Image.open(io.BytesIO(data)).verify()
+        return True
+    except Exception:
+        return False
+
+
+def _stop_ffmpeg():
+    """停止 ffmpeg 采集进程和读帧线程。"""
+    global _ffmpeg_proc
+    _stop_ffmpeg_reader.set()
+    if _ffmpeg_proc and _ffmpeg_proc.poll() is None:
+        _ffmpeg_proc.terminate()
+        try:
+            _ffmpeg_proc.wait(timeout=2)
+        except subprocess.TimeoutExpired:
+            _ffmpeg_proc.kill()
+    _ffmpeg_proc = None
+
+
+def _frame_reader():
+    """从 ffmpeg 的连续 MJPEG 输出中解析 JPEG 帧，校验有效性并缓存最新一帧。
+    
+    当摄像头 USB 掉线重连时，ffmpeg 会从失效 fd 读取垃圾数据，
+    产生假 JPEG 帧（花屏）。这里通过 PIL 校验帧有效性，
+    连续无效帧过多时自动重启 ffmpeg 恢复。
+    """
+    global _ffmpeg_proc, _latest_frame, _latest_frame_ts, _invalid_count
+    buf = b""
+    while not _stop_ffmpeg_reader.is_set():
+        proc = _ffmpeg_proc
+        if proc is None or proc.poll() is not None or proc.stdout is None:
+            time.sleep(0.1)
+            continue
+        chunk = proc.stdout.read(8192)
+        if not chunk:
+            if proc.poll() is not None:
+                break
+            time.sleep(0.02)
+            continue
+        buf += chunk
+        # 防止垃圾数据撑爆内存
+        if len(buf) > _MAX_BUF_SIZE:
+            logger.warning(f"frame buffer 超过 {_MAX_BUF_SIZE} 字节，丢弃并重启 ffmpeg")
+            buf = b""
+            _stop_ffmpeg()
+            continue
+        while True:
+            start = buf.find(b"\xff\xd8")
+            end = buf.find(b"\xff\xd9", start + 2) if start >= 0 else -1
+            if start < 0:
+                buf = buf[-2:]
+                break
+            if end < 0:
+                buf = buf[start:]
+                break
+            frame = buf[start:end + 2]
+            buf = buf[end + 2:]
+            # JPEG 校验：摄像头掉线时帧数据会损坏
+            if _validate_jpeg(frame):
+                with _frame_cond:
+                    _latest_frame = frame
+                    _latest_frame_ts = time.time()
+                    _frame_cond.notify_all()
+                _invalid_count = 0
+            else:
+                _invalid_count += 1
+                if _invalid_count >= _MAX_INVALID:
+                    logger.error(f"连续 {_MAX_INVALID} 帧无效，摄像头可能掉线，重启 ffmpeg")
+                    _stop_ffmpeg()
+                    _invalid_count = 0
+                    break  # 跳出循环让 _ensure_ffmpeg 重建
+
+
+def _ensure_ffmpeg():
+    """确保 ffmpeg 进程在运行，自动重启崩溃的进程"""
+    global _ffmpeg_proc, _ffmpeg_thread, _invalid_count
+    with _ffmpeg_lock:
+        if _ffmpeg_proc is not None and _ffmpeg_proc.poll() is None:
+            return
+
+        _stop_ffmpeg_reader.set()
+        if _ffmpeg_proc and _ffmpeg_proc.poll() is None:
+            _ffmpeg_proc.terminate()
+        _stop_ffmpeg_reader.clear()
+        _invalid_count = 0  # 重置错误计数
+
+        logger.info(f"启动 ffmpeg 视频流 (Video{ARM_CAMERA_INDEX})")
+        _ffmpeg_proc = subprocess.Popen(
+            [
+                "ffmpeg",
+                "-f", "v4l2",
+                "-input_format", "mjpeg",
+                "-framerate", "8",
+                "-video_size", "640x480",
+                "-i", f"/dev/video{ARM_CAMERA_INDEX}",
+                "-fflags", "nobuffer",
+                
+                "-analyzeduration", "0",
+                "-f", "mjpeg",
+                "-"
+            ],
+            stdout=subprocess.PIPE,
+            stderr=subprocess.DEVNULL,
+        )
+        _ffmpeg_thread = threading.Thread(target=_frame_reader, daemon=True)
+        _ffmpeg_thread.start()
+
+
+def _get_latest_frame(timeout: float = 3.0):
+    """返回缓存的最新 JPEG 帧；必要时等待首帧。"""
+    _ensure_ffmpeg()
+    deadline = time.time() + timeout
+    with _frame_cond:
+        while _latest_frame is None and time.time() < deadline:
+            _frame_cond.wait(timeout=0.2)
+        return _latest_frame
+
+
+@arm_video_app.route("/api/camera/preview")
+def arm_camera_preview():
+    """机械臂摄像头 MJPEG 流，共用后台 ffmpeg 采集进程。"""
+    _ensure_ffmpeg()
+
+    def generate():
+        last_ts = 0.0
+        try:
+            while True:
+                frame = _get_latest_frame(timeout=3.0)
+                if frame is None:
+                    logger.warning("等待摄像头帧超时，重启 ffmpeg")
+                    _stop_ffmpeg()
+                    continue
+                with _frame_cond:
+                    if _latest_frame_ts <= last_ts:
+                        _frame_cond.wait(timeout=1.0)
+                    frame = _latest_frame
+                    last_ts = _latest_frame_ts
+                if frame:
+                    yield (b"--frame\r\nContent-Type: image/jpeg\r\n\r\n" + frame + b"\r\n")
+        except Exception as e:
+            logger.error(f"视频流异常: {e}")
+        finally:
+            logger.info("视频流连接关闭")
+
+    return Response(generate(), mimetype="multipart/x-mixed-replace; boundary=frame")
+
+
+@arm_video_app.route("/api/camera/status")
+def arm_camera_status():
+    """摄像头状态"""
+    global _ffmpeg_proc
+    running = _ffmpeg_proc is not None and _ffmpeg_proc.poll() is None
+    return jsonify({
+        "opened": running,
+        "frame_age": time.time() - _latest_frame_ts if _latest_frame_ts else None,
+        "invalid_count": _invalid_count
+    })
+
+
+@arm_video_app.route("/api/camera/restart", methods=["POST"])
+def arm_camera_restart():
+    """重启视频流"""
+    global _latest_frame, _latest_frame_ts, _invalid_count
+    _stop_ffmpeg()
+    with _frame_cond:
+        _latest_frame = None
+        _latest_frame_ts = 0.0
+    _invalid_count = 0
+    _ensure_ffmpeg()
+    return jsonify({"ok": True})
+
+@arm_video_app.route("/api/camera/snapshot")
+def arm_camera_snapshot():
+    """机械臂摄像头单帧 JPEG，从常驻视频流缓存读取最新帧。"""
+    frame = _get_latest_frame(timeout=3.0)
+    if frame:
+        r = Response(frame, mimetype="image/jpeg")
+        r.headers["Cache-Control"] = "no-cache, no-store, must-revalidate, max-age=0"
+        r.headers["Pragma"] = "no-cache"
+        r.headers["Expires"] = "0"
+        return r
+    logger.warning("snapshot failed: no cached frame")
+    return "", 500
+
+
+# ========== TCP 服务器 - 接收 AGV 指令 ==========
+class AGVCommandServer:
+    """TCP 服务器，接收 AGV 发来的指令，通过 ElephantRobot 转发给 RoboFlow"""
+
+    def __init__(self, elephant, host: str = "0.0.0.0", port: int = 5002):
+        self.host = host
+        self.port = port
+        self._sock: socket.socket = None
+        self._running = False
+        # 直接从外部注入已激活的 ElephantRobot 实例
+        if elephant is None:
+            logger.warning("ElephantRobot 实例为空，命令将返回错误")
+        self._el = elephant
+
+    def start(self):
+        self._sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+        self._sock.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
+        self._sock.bind((self.host, self.port))
+        self._sock.listen(5)
+        self._running = True
+        logger.info(f"=" * 50)
+        logger.info(f"机械臂服务端已启动，监听 {self.host}:{self.port}")
+        logger.info(f"等待 AGV 连接...")
+        logger.info(f"=" * 50)
+
+        while self._running:
+            try:
+                self._sock.settimeout(1.0)
+                try:
+                    client_sock, addr = self._sock.accept()
+                    logger.info(f"AGV 已连接: {addr}")
+                    threading.Thread(target=self._handle_client, args=(client_sock,), daemon=True).start()
+                except socket.timeout:
+                    continue
+            except Exception as e:
+                if self._running:
+                    logger.error(f"服务器异常: {e}")
+                break
+
+    def _handle_client(self, client_sock: socket.socket):
+        try:
+            client_sock.settimeout(30)
+            buffer = ""
+            while self._running:
+                try:
+                    data = client_sock.recv(4096)
+                    if not data:
+                        break
+                    buffer += data.decode("utf-8")
+                    while "\n" in buffer:
+                        line, buffer = buffer.split("\n", 1)
+                        line = line.strip()
+                        if not line:
+                            continue
+                        response = self._execute_command(line)
+                        client_sock.sendall((response + "\n").encode("utf-8"))
+                        logger.info(f"CMD: {line} → {response}")
+                except socket.timeout:
+                    continue
+        except Exception as e:
+            logger.error(f"客户端处理异常: {e}")
+        finally:
+            client_sock.close()
+            logger.info("AGV 客户端已断开")
+
+    def _execute_command(self, cmd: str) -> str:
+        """通过 ElephantRobot.send_command 转发给 RoboFlow"""
+        if self._el is None:
+            return "ERROR: Robot not initialized"
+        try:
+            return self._el.send_command(cmd)
+        except Exception as e:
+            return f"ERROR: {e}"
+
+    def stop(self):
+        self._running = False
+        if self._sock:
+            try:
+                self._sock.close()
+            except:
+                pass
+        logger.info("机械臂服务端已停止")
+
+
+# ========== 入口 ==========
+_elephant = None   # 全局 ElephantRobot 实例
+
+def power_on_arm(max_retries: int = 5) -> bool:
+    """通过 ElephantRobot 给机械臂上电并激活（带重试），返回 ElephantRobot 实例"""
+    global _elephant
+    from pymycobot import ElephantRobot
+
+    for attempt in range(1, max_retries + 1):
+        try:
+            logger.info(f"正在通过 ElephantRobot 连接 RoboFlow (尝试 {attempt}/{max_retries})...")
+            el = ElephantRobot("127.0.0.1", 5001)
+            el.start_client()
+            logger.info("ElephantRobot start_client 成功，等待2秒...")
+            time.sleep(2)
+
+            el._power_on()
+            logger.info("power_on 指令已发送，等待2秒...")
+            time.sleep(2)
+
+            el.start_robot()
+            logger.info("start_robot 指令已发送，等待5秒...")
+            time.sleep(5)
+            logger.info("✅ 机械臂上电+激活 全部完成")
+
+            # 保存到全局，确保后续复用
+            _elephant = el
+            return True
+        except Exception as e:
+            logger.warning(f"⚠️ 第 {attempt} 次尝试失败: {e}")
+            if attempt < max_retries:
+                logger.info(f"等待 3 秒后重试...")
+                time.sleep(3)
+            else:
+                logger.error(f"❌ 所有 {max_retries} 次尝试均失败，将以 limited 模式运行")
+                return False
+    return False
+
+
+def main():
+    import signal
+
+    # 先通过 ElephantRobot 给机械臂上电并激活
+    power_on_arm()
+
+    # 将全局 _elephant 传给指令服务器
+    server = AGVCommandServer(_elephant, port=5002)
+
+    # 启动 Flask 视频流服务（端口 5003）
+    arm_server_http = None
+    for attempt in range(5):
+        try:
+            arm_server_http = make_server("0.0.0.0", 5003, arm_video_app, threaded=True)
+            break
+        except OSError as e:
+            if attempt < 4 and "Address already in use" in str(e):
+                logger.warning(f"端口 5003 被占用（第{attempt+1}次），等待...")
+                time.sleep(3)
+            else:
+                raise
+    http_thread = threading.Thread(target=arm_server_http.serve_forever, daemon=True)
+    http_thread.start()
+    logger.info("机械臂视频流服务已启动: http://0.0.0.0:5003")
+
+    def signal_handler(sig, frame):
+        logger.info("收到停止信号...")
+        global _ffmpeg_proc, _elephant
+        if _ffmpeg_proc:
+            _ffmpeg_proc.terminate()
+        server.stop()
+        arm_server_http.shutdown()
+        if _elephant:
+            try:
+                _elephant.stop_client()
+            except:
+                pass
+        sys.exit(0)
+
+    signal.signal(signal.SIGINT, signal_handler)
+    signal.signal(signal.SIGTERM, signal_handler)
+
+    server.start()
+
+
+if __name__ == "__main__":
+    main()

arm_server/arm_server.py

@@ -15,7 +15,9 @@ from flask import Flask, Response, jsonify
 from werkzeug.serving import make_server
 
 # 添加当前目录到路径
-sys.path.insert(0, os.path.dirname(os.path.abspath(__file__)))
+BASE_DIR = os.path.dirname(os.path.abspath(__file__))
+sys.path.insert(0, BASE_DIR)
+LOG_FILE = os.environ.get("ARM_SERVER_LOG_FILE", os.path.join(BASE_DIR, "server.log"))
 
 # 配置日志
 logging.basicConfig(
@@ -23,7 +25,7 @@ logging.basicConfig(
     format="%(asctime)s [%(levelname)s] %(name)s: %(message)s",
     handlers=[
         logging.StreamHandler(),
-        logging.FileHandler(os.path.expanduser("~/work/arm_server/server.log"))
+        logging.FileHandler(LOG_FILE)
     ]
 )
 logger = logging.getLogger("arm_server")

arm_server/arm_server.service

@@ -0,0 +1,19 @@
+[Unit]
+Description=Arm Server (TCP 5002 + Camera 5003)
+After=network-online.target
+Wants=network-online.target
+
+[Service]
+Type=simple
+User=pi
+WorkingDirectory=/home/pi/work/smart-inspection/arm_server
+Environment=PATH=/home/pi/.local/bin:/usr/local/bin:/usr/bin:/bin
+ExecStartPre=/bin/sleep 5
+ExecStart=/usr/bin/env uv run --locked python arm_server.py
+Restart=on-failure
+RestartSec=5
+StandardOutput=append:/home/pi/work/smart-inspection/arm_server/stdout.log
+StandardError=append:/home/pi/work/smart-inspection/arm_server/stderr.log
+
+[Install]
+WantedBy=multi-user.target

arm_server/requirements.txt

@@ -1,3 +0,0 @@
-# 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>=1.0,<2.3

arm_server/start.sh

@@ -1,12 +1,10 @@
 #!/bin/bash
 # 启动机械臂服务端
+set -e
 
-cd ~/work/arm_server
-PYTHON_BIN="${PYTHON_BIN:-/usr/bin/python3}"
+SCRIPT_DIR="$(cd "$(dirname "$0")" && pwd)"
+PROJECT_DIR="$(dirname "$SCRIPT_DIR")"
+ARM_SERVER_DIR="${ARM_SERVER_DIR:-$PROJECT_DIR/arm_server}"
 
-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 "$PYTHON_BIN" arm_server.py
+cd "$ARM_SERVER_DIR"
+exec uv run --locked python arm_server.py

customs-tablet-frontend/.eslintrc.json

@@ -0,0 +1,3 @@
+{
+  "extends": ["next/core-web-vitals", "next/typescript"]
+}

customs-tablet-frontend/.gitignore

@@ -0,0 +1,36 @@
+# See https://help.github.com/articles/ignoring-files/ for more about ignoring files.
+
+# dependencies
+/node_modules
+/.pnp
+.pnp.js
+.yarn/install-state.gz
+
+# testing
+/coverage
+
+# next.js
+/.next/
+/out/
+
+# production
+/build
+
+# misc
+.DS_Store
+*.pem
+
+# debug
+npm-debug.log*
+yarn-debug.log*
+yarn-error.log*
+
+# local env files
+.env*.local
+
+# vercel
+.vercel
+
+# typescript
+*.tsbuildinfo
+next-env.d.ts

customs-tablet-frontend/README.md

@@ -0,0 +1,36 @@
+This is a [Next.js](https://nextjs.org) project bootstrapped with [`create-next-app`](https://nextjs.org/docs/app/api-reference/cli/create-next-app).
+
+## Getting Started
+
+First, run the development server:
+
+```bash
+npm run dev
+# or
+yarn dev
+# or
+pnpm dev
+# or
+bun dev
+```
+
+Open [http://localhost:3000](http://localhost:3000) with your browser to see the result.
+
+You can start editing the page by modifying `app/page.tsx`. The page auto-updates as you edit the file.
+
+This project uses [`next/font`](https://nextjs.org/docs/app/building-your-application/optimizing/fonts) to automatically optimize and load [Geist](https://vercel.com/font), a new font family for Vercel.
+
+## Learn More
+
+To learn more about Next.js, take a look at the following resources:
+
+- [Next.js Documentation](https://nextjs.org/docs) - learn about Next.js features and API.
+- [Learn Next.js](https://nextjs.org/learn) - an interactive Next.js tutorial.
+
+You can check out [the Next.js GitHub repository](https://github.com/vercel/next.js) - your feedback and contributions are welcome!
+
+## Deploy on Vercel
+
+The easiest way to deploy your Next.js app is to use the [Vercel Platform](https://vercel.com/new?utm_medium=default-template&filter=next.js&utm_source=create-next-app&utm_campaign=create-next-app-readme) from the creators of Next.js.
+
+Check out our [Next.js deployment documentation](https://nextjs.org/docs/app/building-your-application/deploying) for more details.

customs-tablet-frontend/next.config.mjs

@@ -0,0 +1,4 @@
+/** @type {import('next').NextConfig} */
+const nextConfig = {};
+
+export default nextConfig;

customs-tablet-frontend/package.json

@@ -0,0 +1,32 @@
+{
+  "name": "customs-tablet-frontend",
+  "version": "0.1.0",
+  "private": true,
+  "scripts": {
+    "dev": "next dev",
+    "build": "next build",
+    "start": "next start",
+    "lint": "next lint"
+  },
+  "dependencies": {
+    "@ant-design/icons": "^6.2.5",
+    "@ant-design/nextjs-registry": "^1.3.0",
+    "antd": "^6.4.4",
+    "dayjs": "^1.11.21",
+    "html5-qrcode": "^2.3.8",
+    "next": "14.2.35",
+    "photoswipe": "^5.4.4",
+    "react": "^18",
+    "react-dom": "^18",
+    "react-photoswipe-gallery": "^4.1.2",
+    "zustand": "^5.0.14"
+  },
+  "devDependencies": {
+    "@types/node": "^20",
+    "@types/react": "^18",
+    "@types/react-dom": "^18",
+    "eslint": "^8",
+    "eslint-config-next": "14.2.35",
+    "typescript": "^5"
+  }
+}

customs-tablet-frontend/src/app/customs/page.tsx

@@ -0,0 +1,175 @@
+'use client';
+
+import React, { useEffect, useState } from 'react';
+import { Alert, Card, Table, Form, Button, DatePicker, Select, Space, Row, Col, Input } from 'antd';
+import { SearchOutlined, PlayCircleOutlined } from '@ant-design/icons';
+import { useRouter } from 'next/navigation';
+import { Breadcrumb } from '../../components/Breadcrumb';
+import { MockApi } from '../../services/mockApi';
+import { CustomsDeclaration } from '../../types';
+import { StatusBadge } from '../../components/StatusBadge';
+import { useAppStore } from '../../store/useAppStore';
+
+const { RangePicker } = DatePicker;
+
+export default function CustomsPage() {
+  const router = useRouter();
+  const [data, setData] = useState<CustomsDeclaration[]>([]);
+  const [filteredData, setFilteredData] = useState<CustomsDeclaration[]>([]);
+  const [loading, setLoading] = useState(true);
+  const [errorMessage, setErrorMessage] = useState('');
+  const { setSelectedCustoms } = useAppStore();
+
+  useEffect(() => {
+    let isMounted = true;
+
+    const loadCustomsList = async () => {
+      try {
+        setLoading(true);
+        setErrorMessage('');
+        const res = await MockApi.getCustomsList();
+        if (!isMounted) return;
+        setData(res);
+        setFilteredData(res);
+      } catch {
+        if (!isMounted) return;
+        setErrorMessage('报关单列表加载失败，请稍后重试');
+      } finally {
+        if (isMounted) {
+          setLoading(false);
+        }
+      }
+    };
+
+    loadCustomsList();
+
+    return () => {
+      isMounted = false;
+    };
+  }, []);
+
+  const handleStartInspection = (record: CustomsDeclaration) => {
+    setSelectedCustoms(record);
+    router.push(`/inspection?customsId=${encodeURIComponent(record.customsId)}`);
+  };
+
+  const [form] = Form.useForm();
+
+  const handleSearch = () => {
+    const values = form.getFieldsValue();
+    const keyword = values.searchText?.trim().toLowerCase() || '';
+    const status = values.statusFilter || 'all';
+    const dateRange = values.dateRange;
+
+    const nextData = data.filter(item => {
+      const matchesStatus = status === 'all' || item.status === status;
+      const matchesKeyword = !keyword || item.customsId.toLowerCase().includes(keyword);
+      const createdAt = new Date(item.createdAt);
+      const matchesDateRange = !dateRange?.[0] || !dateRange?.[1]
+        || (createdAt >= dateRange[0].startOf('day').toDate() && createdAt <= dateRange[1].endOf('day').toDate());
+
+      return matchesStatus && matchesKeyword && matchesDateRange;
+    });
+
+    setFilteredData(nextData);
+  };
+
+  const handleReset = () => {
+    form.resetFields();
+    setFilteredData(data);
+  };
+
+  const expandedRowRender = (record: CustomsDeclaration) => {
+    const columns = [
+      { title: '料号', dataIndex: 'inventoryCode', key: 'inventoryCode' },
+      { title: '品名', dataIndex: 'inventoryName', key: 'inventoryName' },
+      { title: '规格', dataIndex: 'spec', key: 'spec' },
+      { title: '总数', dataIndex: 'quantify', key: 'quantify' },
+      { title: '已查验', dataIndex: 'inspected', key: 'inspected' },
+    ];
+    return <Table columns={columns} dataSource={record.items} pagination={false} size="small" rowKey="inventoryCode" />;
+  };
+
+  return (
+    <div>
+      <Breadcrumb />
+
+      {errorMessage && (
+        <Alert
+          type="error"
+          message={errorMessage}
+          showIcon
+          style={{ marginBottom: 16 }}
+        />
+      )}
+
+      <Card title="筛选条件" style={{ marginBottom: 24 }}>
+        <Form form={form} layout="inline">
+          <Row gutter={24} align="middle">
+            <Col>
+              <Form.Item label="状态" name="statusFilter" initialValue="all">
+                <Select style={{ width: 120 }}>
+                  <Select.Option value="all">全部</Select.Option>
+                  <Select.Option value="pending">待查验</Select.Option>
+                  <Select.Option value="inspecting">查验中</Select.Option>
+                  <Select.Option value="released">已放行</Select.Option>
+                  <Select.Option value="abnormal">异常</Select.Option>
+                </Select>
+              </Form.Item>
+            </Col>
+            <Col>
+              <Form.Item label="日期范围" name="dateRange">
+                <RangePicker />
+              </Form.Item>
+            </Col>
+            <Col>
+              <Form.Item name="searchText">
+                <Input
+                  placeholder="搜索报关单号..."
+                  prefix={<SearchOutlined />}
+                  onPressEnter={handleSearch}
+                  style={{ width: 250 }}
+                />
+              </Form.Item>
+            </Col>
+            <Col>
+              <Space>
+                <Button type="primary" onClick={handleSearch}>查询</Button>
+                <Button onClick={handleReset}>重置</Button>
+              </Space>
+            </Col>
+          </Row>
+        </Form>
+      </Card>
+
+      <Card title="报关单列表" styles={{ body: { padding: 0 } }}>
+        <Table
+          dataSource={filteredData}
+          loading={loading}
+          rowKey="id"
+          expandable={{ expandedRowRender }}
+        >
+          <Table.Column title="报关单号" dataIndex="customsId" key="customsId" render={(text: string) => <b>{text}</b>} />
+          <Table.Column title="状态" dataIndex="status" key="status" render={(status: string) => <StatusBadge status={status as 'pending' | 'inspecting' | 'released' | 'abnormal'} />} />
+          <Table.Column title="机器总数" dataIndex="machineCount" key="machineCount" render={(count: number) => `${count} 台`} />
+          <Table.Column title="创建时间" dataIndex="createdAt" key="createdAt" />
+          <Table.Column
+            title="操作"
+            key="action"
+            render={(_, record: CustomsDeclaration) => (
+              <Space size="middle">
+                {record.status === 'pending' || record.status === 'inspecting' ? (
+                  <Button type="primary" icon={<PlayCircleOutlined />} onClick={() => handleStartInspection(record)}>
+                    开始查验
+                  </Button>
+                ) : (
+                  <Button type="link">查看详情</Button>
+                )}
+              </Space>
+            )}
+          />
+        </Table>
+      </Card>
+    </div>
+  );
+}

customs-tablet-frontend/src/app/globals.css

@@ -0,0 +1,52 @@
+/* Ant Design 自带主题 Token，移除不必要的自定义变量 */
+:root {
+  --color-border-light: #f0f0f0;
+}
+
+html,
+body {
+  max-width: 100vw;
+  height: 100vh;
+  overflow-x: hidden;
+}
+
+body {
+  color: rgba(0, 0, 0, 0.88);
+  background: #f0f2f5;
+  font-family: -apple-system, BlinkMacSystemFont, 'Segoe UI', Roboto, 'Helvetica Neue', Arial, sans-serif;
+  -webkit-font-smoothing: antialiased;
+  -moz-osx-font-smoothing: grayscale;
+}
+
+* {
+  box-sizing: border-box;
+  padding: 0;
+  margin: 0;
+}
+
+a {
+  color: inherit;
+  text-decoration: none;
+}
+
+.appBody {
+  height: 100vh;
+  overflow: hidden;
+}
+
+.antAppRoot {
+  height: 100%;
+}
+
+.appShell {
+  display: flex;
+  flex-direction: column;
+  height: 100vh;
+}
+
+.appMain {
+  flex: 1;
+  padding: 24px;
+  overflow-y: auto;
+  background: #f0f2f5;
+}

customs-tablet-frontend/src/app/inspection/page.tsx

@@ -0,0 +1,412 @@
+'use client';
+
+import React, { Suspense, useEffect, useState, useRef } from 'react';
+import { Alert, Row, Col, Card, Button, Progress, List, Typography, Space, Modal, Input, Empty, Badge, Spin, Flex, Select, Segmented, theme, Divider, Timeline } from 'antd';
+import {
+  PlayCircleOutlined,
+  PauseCircleOutlined,
+  StopOutlined,
+  ReloadOutlined,
+  CaretRightOutlined,
+  PauseCircleFilled,
+  VideoCameraOutlined
+} from '@ant-design/icons';
+import { Breadcrumb } from '../../components/Breadcrumb';
+import { MockApi } from '../../services/mockApi';
+import { CustomsDeclaration, InspectionItem } from '../../types';
+import { useAppStore } from '../../store/useAppStore';
+import { useRouter, useSearchParams } from 'next/navigation';
+
+const { Text } = Typography;
+const { TextArea } = Input;
+type InspectionStatus = 'idle' | 'running' | 'paused' | 'completed';
+
+interface ProgressItem extends InspectionItem {
+  currentInspected: number;
+}
+
+export default function InspectionPage() {
+  return (
+    <Suspense fallback={
+      <Flex vertical align="center" justify="center" style={{ padding: 48, height: '100vh' }}>
+        <Spin tip="正在加载查验任务..." />
+      </Flex>
+    }>
+      <InspectionContent />
+    </Suspense>
+  );
+}
+
+function InspectionContent() {
+  const router = useRouter();
+  const searchParams = useSearchParams();
+  const customsId = searchParams.get('customsId');
+  const { selectedCustoms, setSelectedCustoms } = useAppStore();
+  const [currentCustoms, setCurrentCustoms] = useState<CustomsDeclaration | null>(null);
+  const [loadingCustoms, setLoadingCustoms] = useState(true);
+  const [errorMessage, setErrorMessage] = useState('');
+  const [status, setStatus] = useState<InspectionStatus>('idle');
+  const [logs, setLogs] = useState<{time: string, msg: string, type: 'info'|'warning'|'success'}[]>([]);
+  const [progressData, setProgressData] = useState<ProgressItem[]>([]);
+  const [isPauseModalVisible, setIsPauseModalVisible] = useState(false);
+  const [pauseReason, setPauseReason] = useState('');
+  const [customsList, setCustomsList] = useState<CustomsDeclaration[]>([]);
+  const [loadingList, setLoadingList] = useState(false);
+  const [currentView, setCurrentView] = useState<string>('摄像头1');
+
+  const { token } = theme.useToken();
+  const logsEndRef = useRef<HTMLDivElement>(null);
+
+  useEffect(() => {
+    setLoadingList(true);
+    MockApi.getCustomsList().then(list => {
+      setCustomsList(list);
+      setLoadingList(false);
+    });
+  }, []);
+
+  useEffect(() => {
+    let isMounted = true;
+
+    const loadInspectionCustoms = async () => {
+      setLoadingCustoms(true);
+      setErrorMessage('');
+
+      try {
+        if (customsId) {
+          const cachedCustoms = selectedCustoms?.customsId === customsId ? selectedCustoms : null;
+          const customs = cachedCustoms ?? await MockApi.getCustomsById(customsId);
+
+          if (!isMounted) return;
+
+          if (!customs) {
+            setCurrentCustoms(null);
+            setErrorMessage(`未找到报关单 ${customsId}`);
+            return;
+          }
+
+          setCurrentCustoms(customs);
+          setSelectedCustoms(customs);
+          return;
+        }
+
+        setCurrentCustoms(selectedCustoms);
+      } catch {
+        if (!isMounted) return;
+        setCurrentCustoms(null);
+        setErrorMessage('查验任务加载失败，请稍后重试');
+      } finally {
+        if (isMounted) {
+          setLoadingCustoms(false);
+        }
+      }
+    };
+
+    loadInspectionCustoms();
+
+    return () => {
+      isMounted = false;
+    };
+  }, [customsId, selectedCustoms, setSelectedCustoms]);
+
+  useEffect(() => {
+    if (!currentCustoms) {
+      setProgressData([]);
+      setStatus('idle');
+      return;
+    }
+
+    setProgressData(currentCustoms.items.map(item => ({
+      ...item,
+      currentInspected: item.inspected
+    })));
+    setStatus(currentCustoms.status === 'inspecting' ? 'running' : 'idle');
+    setLogs([]);
+  }, [currentCustoms]);
+
+  // 模拟查验过程
+  useEffect(() => {
+    let timer: NodeJS.Timeout;
+    if (status === 'running') {
+      timer = setInterval(() => {
+        setProgressData(prev => {
+          let allDone = true;
+          const next = prev.map(item => {
+            if (item.currentInspected < item.quantify) {
+              allDone = false;
+              // 随机增加进度
+              if (Math.random() > 0.5) {
+                const newInspected = Math.min(item.currentInspected + 1, item.quantify);
+                if (newInspected > item.currentInspected) {
+                  addLog(`料号 ${item.inventoryCode} (${item.inventoryName}) 核销 +1`, 'info');
+                }
+                return { ...item, currentInspected: newInspected };
+              }
+            }
+            return item;
+          });
+          
+          if (allDone) {
+            setStatus('completed');
+            addLog('全部机器核销完成', 'success');
+          }
+          return next;
+        });
+      }, 3000); // 每 3 秒更新一次模拟数据
+    }
+    return () => clearInterval(timer);
+  }, [status]);
+
+  // 自动滚动到最新日志
+  useEffect(() => {
+    if (logsEndRef.current) {
+      logsEndRef.current.scrollIntoView({ behavior: 'smooth' });
+    }
+  }, [logs]);
+
+  const addLog = (msg: string, type: 'info'|'warning'|'success' = 'info') => {
+    setLogs(prev => [...prev, { time: new Date().toLocaleTimeString(), msg, type }]);
+  };
+
+  const handleStart = () => {
+    setStatus('running');
+    addLog('开始自动化查验作业', 'info');
+  };
+
+  const handlePause = () => {
+    setIsPauseModalVisible(true);
+  };
+
+  const confirmPause = () => {
+    setStatus('paused');
+    addLog(`查验已暂停。原因：${pauseReason || '未填写'}`, 'warning');
+    setIsPauseModalVisible(false);
+    setPauseReason('');
+  };
+
+  const handleEnd = () => {
+    Modal.confirm({
+      title: '确认结束查验？',
+      content: '结束查验后无法继续当前任务。',
+      onOk: () => {
+        setStatus('completed');
+        addLog('用户手动结束查验', 'success');
+      }
+    });
+  };
+
+  const calculateTotalProgress = () => {
+    if (!progressData.length) return 0;
+    const total = progressData.reduce((acc, curr) => acc + curr.quantify, 0);
+    const inspected = progressData.reduce((acc, curr) => acc + curr.currentInspected, 0);
+    return Math.round((inspected / total) * 100);
+  };
+
+  if (loadingCustoms) {
+    return (
+      <Flex vertical align="center" justify="center" style={{ padding: 48, height: '100vh' }}>
+        <Spin tip="正在加载查验任务..." />
+      </Flex>
+    );
+  }
+
+  return (
+    <div style={{ display: 'flex', flexDirection: 'column', height: 'calc(100vh - 64px)' }}>
+      <Breadcrumb />
+
+      <Row gutter={24} style={{ flex: 1, minHeight: 0, margin: '0 24px 24px 24px' }}>
+        {/* 左侧：AGV 及监控画面 */}
+        <Col span={14}>
+          <Card
+            title={
+              <Flex justify="space-between" align="center">
+                <Space>
+                  <VideoCameraOutlined style={{ color: token.colorPrimary }} />
+                  <span>AGV 实时画面</span>
+                </Space>
+                <Space>
+                  <Badge status="processing" text="设备在线" />
+                </Space>
+              </Flex>
+            }
+            styles={{ body: { padding: 0, display: 'flex', flexDirection: 'column', flex: 1 } }}
+            style={{ height: '100%', display: 'flex', flexDirection: 'column', borderRadius: token.borderRadiusLG, overflow: 'hidden' }}
+            bordered={false}
+          >
+            <div
+              style={{
+                position: 'relative',
+                display: 'flex',
+                flex: 1,
+                alignItems: 'center',
+                justifyContent: 'center',
+                background: '#000000'
+              }}
+            >
+              {status === 'running' ? (
+                <Flex vertical align="center" gap={16} style={{ color: '#ffffff' }}>
+                  <CaretRightOutlined style={{ fontSize: 48, color: token.colorPrimary, opacity: 0.8 }} />
+                  <Text style={{ color: '#fff' }}>正在接收实时流...</Text>
+                  <div style={{ padding: '8px 16px', border: `1px dashed ${token.colorPrimary}`, borderRadius: token.borderRadius }}>
+                    <span style={{ color: token.colorPrimary }}>AI 识别分析中</span>
+                  </div>
+                </Flex>
+              ) : (
+                <Flex vertical align="center" gap={16} style={{ color: token.colorTextDescription }}>
+                  <PauseCircleFilled style={{ fontSize: 48 }} />
+                  <Text type="secondary">画面已暂停或未启动</Text>
+                </Flex>
+              )}
+            </div>
+
+            <div style={{ padding: '16px 24px', borderTop: `1px solid ${token.colorBorderSecondary}`, background: token.colorFillAlter }}>
+              <Flex align="center" gap="middle">
+                <Text strong>视角切换:</Text>
+                <Segmented
+                  options={['摄像头1', '摄像头2', '摄像头3', '摄像头4', '摄像头5']}
+                  value={currentView}
+                  onChange={setCurrentView}
+                />
+              </Flex>
+            </div>
+          </Card>
+        </Col>
+
+        {/* 右侧：查验控制面板 */}
+        <Col span={10}>
+          <Card
+            title={
+              <Flex justify="space-between" align="center">
+                <span>查验任务</span>
+                <Select
+                  showSearch
+                  placeholder="搜索并选择报关单..."
+                  style={{ width: 240 }}
+                  loading={loadingList}
+                  optionFilterProp="label"
+                  filterOption={(input, option) =>
+                    (option?.label as string ?? '').toLowerCase().includes(input.toLowerCase())
+                  }
+                  options={customsList.map(item => ({
+                    value: item.customsId,
+                    label: `${item.customsId} - ${item.status === 'pending' ? '待查验' : item.status === 'inspecting' ? '查验中' : '已放行'}`
+                  }))}
+                  value={currentCustoms?.customsId || undefined}
+                  onChange={(value) => {
+                    router.push(`/inspection?customsId=${value}`);
+                  }}
+                />
+              </Flex>
+            }
+            styles={{ body: { overflow: 'hidden', padding: '24px', display: 'flex', flexDirection: 'column', flex: 1 } }}
+            style={{ height: '100%', display: 'flex', flexDirection: 'column', borderRadius: token.borderRadiusLG }}
+            bordered={false}
+          >
+            {!currentCustoms ? (
+              <Flex vertical align="center" justify="center" style={{ flex: 1 }}>
+                {errorMessage && (
+                  <Alert
+                    type="error"
+                    message={errorMessage}
+                    showIcon
+                    style={{ marginBottom: 24, width: '100%' }}
+                  />
+                )}
+                <Empty description="请在右上角选择要查验的报关单" />
+              </Flex>
+            ) : (
+              <>
+                <Flex justify="center" gap="middle" style={{ marginBottom: 32 }}>
+                  {status === 'idle' || status === 'paused' ? (
+                    <Button type="primary" size="large" icon={<PlayCircleOutlined />} onClick={handleStart} style={{ width: 140 }}>
+                      {status === 'idle' ? '开始查验' : '继续查验'}
+                    </Button>
+                  ) : status === 'running' ? (
+                    <Button type="primary" danger size="large" icon={<PauseCircleOutlined />} onClick={handlePause} style={{ width: 140 }}>
+                      暂停查验
+                    </Button>
+                  ) : null}
+                  <Button size="large" icon={<ReloadOutlined />} disabled={status === 'completed'}>重置</Button>
+                  <Button danger size="large" icon={<StopOutlined />} onClick={handleEnd} disabled={status === 'completed' || status === 'idle'}>结束</Button>
+                </Flex>
+
+                <Divider titlePlacement="start" plain style={{ margin: '0 0 16px 0' }}><Text strong>当前核销进度</Text></Divider>
+                <div style={{ marginBottom: 16, padding: '0 8px' }}>
+                  <Progress percent={calculateTotalProgress()} status={status === 'completed' ? 'success' : 'active'} strokeWidth={10} />
+                </div>
+
+                <div style={{ flex: '0 1 35%', marginBottom: 24, overflowY: 'auto', paddingRight: 8 }}>
+                  <List
+                    size="small"
+                    dataSource={progressData}
+                    renderItem={item => (
+                      <List.Item style={{ padding: '12px 8px', borderBottom: `1px solid ${token.colorBorderSecondary}` }}>
+                        <div style={{ width: '100%' }}>
+                          <Flex justify="space-between" align="center" style={{ marginBottom: 8 }}>
+                            <Text strong>{item.inventoryName}</Text>
+                            <Space>
+                              <Text type="secondary" style={{ fontSize: 13 }}>{item.inventoryCode}</Text>
+                              <Badge count={`${item.currentInspected} / ${item.quantify}`} style={{ backgroundColor: item.currentInspected === item.quantify ? token.colorSuccess : token.colorPrimary }} />
+                            </Space>
+                          </Flex>
+                          <Progress percent={Math.round((item.currentInspected / item.quantify) * 100)} showInfo={false} size="small" />
+                        </div>
+                      </List.Item>
+                    )}
+                  />
+                </div>
+
+                <Divider titlePlacement="start" plain style={{ margin: '0 0 16px 0' }}><Text strong>查验日志</Text></Divider>
+                <div style={{
+                  flex: 1,
+                  overflowY: 'auto',
+                  border: `1px solid ${token.colorBorderSecondary}`,
+                  borderRadius: token.borderRadiusLG,
+                  background: token.colorFillQuaternary,
+                  padding: 16
+                }}>
+                  {logs.length > 0 ? (
+                    <Timeline
+                      items={logs.map((item) => ({
+                        color: item.type === 'success' ? 'green' : item.type === 'warning' ? 'orange' : 'blue',
+                        children: (
+                          <Space direction="vertical" size={0}>
+                            <Text type="secondary" style={{ fontSize: 12 }}>{item.time}</Text>
+                            <Text>{item.msg}</Text>
+                          </Space>
+                        ),
+                      }))}
+                    />
+                  ) : (
+                    <Empty image={Empty.PRESENTED_IMAGE_SIMPLE} description="暂无日志" style={{ margin: '20px 0' }} />
+                  )}
+                  <div ref={logsEndRef} />
+                </div>
+              </>
+            )}
+          </Card>
+        </Col>
+      </Row>
+
+      <Modal
+        title="暂停查验"
+        open={isPauseModalVisible}
+        onOk={confirmPause}
+        onCancel={() => setIsPauseModalVisible(false)}
+        okText="确认暂停"
+        cancelText="取消"
+        okButtonProps={{ danger: true }}
+      >
+        <Flex vertical gap={16} style={{ paddingTop: 16 }}>
+          <Text>请确认是否暂停当前自动查验任务？</Text>
+          <TextArea
+            rows={4}
+            placeholder="请输入暂停原因（可选）..."
+            value={pauseReason}
+            onChange={e => setPauseReason(e.target.value)}
+          />
+        </Flex>
+      </Modal>
+    </div>
+  );
+}

customs-tablet-frontend/src/app/layout.tsx

@@ -0,0 +1,54 @@
+import type { Metadata } from "next";
+import { Inter } from "next/font/google";
+import "./globals.css";
+import { AntdRegistry } from '@ant-design/nextjs-registry';
+import { ConfigProvider, App } from 'antd';
+import { TopHeader } from '../components/TopHeader';
+
+const inter = Inter({ subsets: ["latin"] });
+
+export const metadata: Metadata = {
+  title: "海关平板前端系统",
+  description: "海关查验系统平板端原型",
+};
+
+export default function RootLayout({
+  children,
+}: Readonly<{
+  children: React.ReactNode;
+}>) {
+  return (
+    <html lang="zh-CN">
+      <body className={`${inter.className} appBody`}>
+        <AntdRegistry>
+          <ConfigProvider
+            theme={{
+              token: {
+                colorPrimary: '#1677ff',
+                borderRadius: 8,
+              },
+              components: {
+                Card: {
+                  borderRadiusLG: 12,
+                },
+                Statistic: {
+                  contentFontSize: 32,
+                  titleFontSize: 16,
+                }
+              }
+            }}
+          >
+            <App className="antAppRoot">
+              <div className="appShell">
+                <TopHeader />
+                <main className="appMain">
+                  {children}
+                </main>
+              </div>
+            </App>
+          </ConfigProvider>
+        </AntdRegistry>
+      </body>
+    </html>
+  );
+}

customs-tablet-frontend/src/app/machines/[serialNumber]/page.tsx

@@ -0,0 +1,167 @@
+'use client';
+
+import React, { useEffect, useState } from 'react';
+import { Alert, Card, Row, Col, Typography, Space, Button, Tabs, Table, Image as AntImage, Empty, Spin, Flex } from 'antd';
+import { ArrowLeftOutlined } from '@ant-design/icons';
+import { useRouter } from 'next/navigation';
+import { Breadcrumb } from '../../../components/Breadcrumb';
+import { MockApi } from '../../../services/mockApi';
+import { MachineDetail, ImageItem } from '../../../types';
+import { StatusBadge } from '../../../components/StatusBadge';
+
+const { Text } = Typography;
+
+export default function MachineDetailPage({ params }: { params: { serialNumber: string } }) {
+  const router = useRouter();
+  const [machine, setMachine] = useState<MachineDetail | null>(null);
+  const [loading, setLoading] = useState(true);
+  const [errorMessage, setErrorMessage] = useState('');
+
+  useEffect(() => {
+    let isMounted = true;
+
+    const loadMachineDetail = async () => {
+      try {
+        setLoading(true);
+        setErrorMessage('');
+        const data = await MockApi.getMachineDetail(params.serialNumber);
+        if (!isMounted) return;
+        setMachine(data);
+      } catch {
+        if (!isMounted) return;
+        setMachine(null);
+        setErrorMessage('机器详情加载失败，请稍后重试');
+      } finally {
+        if (isMounted) {
+          setLoading(false);
+        }
+      }
+    };
+
+    loadMachineDetail();
+
+    return () => {
+      isMounted = false;
+    };
+  }, [params.serialNumber]);
+
+  if (loading) {
+    return (
+      <Flex vertical align="center" justify="center" style={{ padding: 48 }}>
+        <Spin tip="正在加载机器详情..." />
+      </Flex>
+    );
+  }
+
+  if (!machine) {
+    return (
+      <Flex vertical align="center" style={{ padding: 48 }}>
+        {errorMessage && (
+          <Alert
+            type="error"
+            message={errorMessage}
+            showIcon
+            style={{ maxWidth: 480, marginBottom: 16 }}
+          />
+        )}
+        <Empty description="暂无机器详情" />
+        <Button type="primary" onClick={() => router.push('/machines')} style={{ marginTop: 16 }}>
+          返回机器查询
+        </Button>
+      </Flex>
+    );
+  }
+
+  const renderImageGroup = (images: ImageItem[]) => {
+    if (!images || images.length === 0) return <Empty description="暂无图片" />;
+
+    return (
+      <AntImage.PreviewGroup>
+        <Space size={[16, 16]} wrap>
+          {images.map((img) => (
+            <Flex
+              key={img.id}
+              vertical
+              style={{
+                position: 'relative',
+                width: 120,
+                gap: 4
+              }}
+            >
+              <div style={{ width: '100%', aspectRatio: '4/3', overflow: 'hidden', borderRadius: 8, background: '#f0f0f0' }}>
+                <AntImage
+                  src={img.url}
+                  alt={img.name}
+                  width="100%"
+                  height="100%"
+                  style={{ objectFit: 'cover' }}
+                  preview={{
+                    src: img.url,
+                  }}
+                />
+              </div>
+              <Text style={{ fontSize: 12, textAlign: 'center' }}>{img.name}</Text>
+              <Text type="secondary" style={{ fontSize: 11, textAlign: 'center' }}>{img.createdAt}</Text>
+            </Flex>
+          ))}
+        </Space>
+      </AntImage.PreviewGroup>
+    );
+  };
+
+  const imageTabs = [
+    { key: 'incoming', label: '来料检验单', children: renderImageGroup(machine.images.incomingInspection) },
+    { key: 'startup', label: '开机测试样张', children: renderImageGroup(machine.images.startupTestSample) },
+    { key: 'production', label: '生产加工单', children: renderImageGroup(machine.images.productionOrder) },
+    { key: 'robot', label: '机器人查验拍照', children: renderImageGroup(machine.images.robotInspection) },
+  ];
+
+  return (
+    <div>
+      <Flex justify="space-between" align="center" style={{ marginBottom: 16 }}>
+        <Breadcrumb />
+        <Button icon={<ArrowLeftOutlined />} onClick={() => router.back()}>返回查询</Button>
+      </Flex>
+
+      <Card title="机器基本信息" style={{ marginBottom: 24 }}>
+        <Row gutter={[24, 16]}>
+          <Col span={8}>
+            <Text type="secondary">序列号：</Text> <Text strong>{machine.serialNumber}</Text>
+          </Col>
+          <Col span={8}>
+            <Text type="secondary">机器型号：</Text> <Text strong>{machine.modelName}</Text>
+          </Col>
+          <Col span={8}>
+            <Text type="secondary">所属报关单：</Text> <Button type="link">{machine.customsId}</Button>
+          </Col>
+          <Col span={8}>
+            <Text type="secondary">当前状态：</Text> <StatusBadge status={machine.status} />
+          </Col>
+          {Object.entries(machine.specs).map(([key, value]) => (
+            <Col span={8} key={key}>
+              <Text type="secondary">{key}：</Text> <Text>{value}</Text>
+            </Col>
+          ))}
+        </Row>
+      </Card>
+
+      <Card title="图片资料" style={{ marginBottom: 24 }}>
+        <Tabs items={imageTabs} />
+      </Card>
+
+      <Card title="查验记录">
+        <Table
+          dataSource={machine.inspectionRecords}
+          rowKey="id"
+          pagination={false}
+          locale={{ emptyText: <Empty description="暂无查验记录" /> }}
+        >
+          <Table.Column title="查验时间" dataIndex="time" />
+          <Table.Column title="操作人" dataIndex="operator" />
+          <Table.Column title="结果" dataIndex="result" />
+          <Table.Column title="备注" dataIndex="remark" />
+        </Table>
+      </Card>
+    </div>
+  );
+}

customs-tablet-frontend/src/app/machines/page.tsx

@@ -0,0 +1,175 @@
+'use client';
+
+import React, { useState, useEffect } from 'react';
+import { Card, Row, Col, Input, Button, Table, Typography, Space, Modal, Upload, Flex } from 'antd';
+import { CameraOutlined, BarcodeOutlined, FileImageOutlined, SearchOutlined, BulbOutlined } from '@ant-design/icons';
+import { useRouter } from 'next/navigation';
+import { Breadcrumb } from '../../components/Breadcrumb';
+
+const { Title, Text } = Typography;
+
+export default function MachineQueryPage() {
+  const router = useRouter();
+  const [serialNumber, setSerialNumber] = useState('');
+  const [isScanModalVisible, setIsScanModalVisible] = useState(false);
+  const [recentQueries, setRecentQueries] = useState<{serialNumber: string, name: string, time: string}[]>([]);
+
+  useEffect(() => {
+    // Load recent queries from localStorage or mock
+    const saved = localStorage.getItem('recent_queries');
+    if (saved) {
+      setRecentQueries(JSON.parse(saved));
+    } else {
+      setRecentQueries([
+        { serialNumber: 'BG042110276', name: '打印机型号A', time: '06-19 14:30' },
+        { serialNumber: 'BG042110285', name: '扫描仪型号B', time: '06-19 10:15' }
+      ]);
+    }
+  }, []);
+
+  const handleSearch = (sn: string) => {
+    if (!sn) return;
+    
+    // Save to recent queries
+    const newQuery = { serialNumber: sn, name: '未知设备 (模拟)', time: new Date().toLocaleString() };
+    const updated = [newQuery, ...recentQueries.filter(q => q.serialNumber !== sn)].slice(0, 10);
+    setRecentQueries(updated);
+    localStorage.setItem('recent_queries', JSON.stringify(updated));
+
+    router.push(`/machines/${sn}`);
+  };
+
+  return (
+    <div>
+      <Breadcrumb />
+      
+      <Card title="查询方式选择" style={{ marginBottom: 24 }}>
+        <Row gutter={48}>
+          <Col span={12} style={{ borderRight: '1px solid var(--color-border-light)' }}>
+            <Flex vertical align="center" gap={16} style={{ padding: '24px 0' }}>
+              <CameraOutlined style={{ fontSize: 48, color: 'var(--color-primary)' }} />
+              <Title level={4} style={{ margin: 0 }}>扫描二维码</Title>
+              <Text type="secondary">使用平板摄像头扫描机器机身二维码</Text>
+              <Button type="primary" size="large" onClick={() => setIsScanModalVisible(true)}>打开扫码</Button>
+            </Flex>
+          </Col>
+          <Col span={12}>
+            <Flex vertical align="center" gap={16} style={{ padding: '24px 0' }}>
+              <BarcodeOutlined style={{ fontSize: 48, color: 'var(--color-primary)' }} />
+              <Title level={4} style={{ margin: 0 }}>输入序列号</Title>
+              <Text type="secondary">输入机器序列号精确查询机器信息</Text>
+              <Space.Compact style={{ width: '80%' }}>
+                <Input
+                  placeholder="请输入序列号..."
+                  size="large"
+                  value={serialNumber}
+                  onChange={(e) => setSerialNumber(e.target.value)}
+                  onPressEnter={() => handleSearch(serialNumber)}
+                />
+                <Button type="primary" size="large" icon={<SearchOutlined />} onClick={() => handleSearch(serialNumber)}>查询</Button>
+              </Space.Compact>
+            </Flex>
+          </Col>
+        </Row>
+      </Card>
+
+      <Card title="或上传二维码照片识别" style={{ marginBottom: 24 }}>
+        <Upload.Dragger
+          accept="image/*"
+          showUploadList={false}
+          customRequest={({ onSuccess }) => {
+            setTimeout(() => {
+              onSuccess?.('ok');
+              handleSearch('BG042110276'); // 模拟识别成功
+            }, 1000);
+          }}
+        >
+          <p className="ant-upload-drag-icon">
+            <FileImageOutlined style={{ fontSize: 48 }} />
+          </p>
+          <p className="ant-upload-text">拖拽或点击上传二维码照片</p>
+          <p className="ant-upload-hint">支持 JPG / PNG / BMP，自动识别二维码内容</p>
+        </Upload.Dragger>
+      </Card>
+
+      <Card title="最近查询记录">
+        <Table
+          dataSource={recentQueries}
+          rowKey="serialNumber"
+          pagination={false}
+          size="middle"
+        >
+          <Table.Column title="序列号" dataIndex="serialNumber" />
+          <Table.Column title="机器名称" dataIndex="name" />
+          <Table.Column title="查询时间" dataIndex="time" />
+          <Table.Column
+            title="操作"
+            render={(_, record: {serialNumber: string}) => (
+              <Button type="link" onClick={() => handleSearch(record.serialNumber)}>再次查看</Button>
+            )}
+          />
+        </Table>
+      </Card>
+
+      <Modal
+        title="扫描二维码"
+        open={isScanModalVisible}
+        onCancel={() => setIsScanModalVisible(false)}
+        footer={[
+          <Button key="manual" onClick={() => setIsScanModalVisible(false)}>
+            手动输入序列号
+          </Button>,
+          <Button key="close" type="primary" onClick={() => setIsScanModalVisible(false)}>
+            关闭
+          </Button>
+        ]}
+        width={600}
+        centered
+      >
+        <div
+          style={{
+            position: 'relative',
+            display: 'flex',
+            height: 300,
+            alignItems: 'center',
+            justifyContent: 'center',
+            borderRadius: 8,
+            background: '#000000'
+          }}
+        >
+          <Flex vertical align="center" gap={16} style={{ color: '#ffffff', zIndex: 1 }}>
+            <CameraOutlined style={{ fontSize: 48, opacity: 0.5 }} />
+            <div>平板摄像头实时画面模拟</div>
+            <Button
+              onClick={() => {
+                setIsScanModalVisible(false);
+                handleSearch('BG042110276');
+              }}
+            >
+              模拟扫码成功 (BG042110276)
+            </Button>
+          </Flex>
+
+          {/* 模拟扫码框 */}
+          <div
+            style={{
+              position: 'absolute',
+              width: 200,
+              height: 200,
+              border: '2px solid rgba(24, 144, 255, 0.5)',
+              boxShadow: '0 0 0 9999px rgba(0, 0, 0, 0.5)'
+            }}
+          >
+            <div style={{ position: 'absolute', top: -2, left: -2, width: 20, height: 20, borderTop: '4px solid #1890ff', borderLeft: '4px solid #1890ff' }}></div>
+            <div style={{ position: 'absolute', top: -2, right: -2, width: 20, height: 20, borderTop: '4px solid #1890ff', borderRight: '4px solid #1890ff' }}></div>
+            <div style={{ position: 'absolute', bottom: -2, left: -2, width: 20, height: 20, borderBottom: '4px solid #1890ff', borderLeft: '4px solid #1890ff' }}></div>
+            <div style={{ position: 'absolute', bottom: -2, right: -2, width: 20, height: 20, borderBottom: '4px solid #1890ff', borderRight: '4px solid #1890ff' }}></div>
+          </div>
+        </div>
+        <div style={{ marginTop: 16, textAlign: 'center', color: '#666666' }}>
+          <BulbOutlined /> 将二维码对准框内，自动识别
+        </div>
+      </Modal>
+    </div>
+  );
+}

customs-tablet-frontend/src/app/page.tsx

@@ -0,0 +1,227 @@
+'use client';
+
+import React, { useEffect, useState } from 'react';
+import { Alert, Card, Row, Col, List, Button, Table, Statistic, Flex } from 'antd';
+import {
+  FileTextOutlined,
+  CheckCircleOutlined,
+  SyncOutlined,
+  WarningOutlined,
+  ScanOutlined,
+  SearchOutlined,
+  VideoCameraOutlined,
+  RightOutlined,
+  ClockCircleOutlined,
+  ProfileOutlined
+} from '@ant-design/icons';
+import { useRouter } from 'next/navigation';
+import { MockApi } from '../services/mockApi';
+import { CustomsStats, ActivityItem, CustomsDeclaration } from '../types';
+import { StatusBadge } from '../components/StatusBadge';
+
+export default function DashboardPage() {
+  const router = useRouter();
+  const [stats, setStats] = useState<CustomsStats | null>(null);
+  const [activities, setActivities] = useState<ActivityItem[]>([]);
+  const [pendingCustoms, setPendingCustoms] = useState<CustomsDeclaration[]>([]);
+  const [errorMessage, setErrorMessage] = useState('');
+
+  useEffect(() => {
+    let isMounted = true;
+
+    const loadData = async () => {
+      try {
+        setErrorMessage('');
+        const [statsData, actData, customsData] = await Promise.all([
+          MockApi.getCustomsStats(),
+          MockApi.getRecentActivities(),
+          MockApi.getPendingCustoms()
+        ]);
+
+        if (!isMounted) return;
+
+        setStats(statsData);
+        setActivities(actData);
+        setPendingCustoms(customsData);
+      } catch {
+        if (!isMounted) return;
+        setErrorMessage('首页数据加载失败，请稍后重试');
+      }
+    };
+
+    loadData();
+
+    return () => {
+      isMounted = false;
+    };
+  }, []);
+
+  const inspectingCustoms = pendingCustoms.find(item => item.status === 'inspecting');
+  const goToInspection = () => {
+    if (inspectingCustoms) {
+      router.push(`/inspection?customsId=${encodeURIComponent(inspectingCustoms.customsId)}`);
+      return;
+    }
+
+    router.push('/customs');
+  };
+
+  const statCards = [
+    {
+      title: '待查验',
+      value: stats?.pendingCount || 0,
+      icon: <FileTextOutlined />,
+      suffix: '份报关单',
+      valueStyle: { color: '#1890ff' },
+      onClick: () => router.push('/customs')
+    },
+    {
+      title: '今日已放行',
+      value: stats?.releasedToday || 0,
+      icon: <CheckCircleOutlined />,
+      suffix: '份报关单',
+      valueStyle: { color: '#52c41a' }
+    },
+    {
+      title: '查验进行中',
+      value: stats?.inspectingCount || 0,
+      icon: <SyncOutlined spin />,
+      suffix: '个任务',
+      valueStyle: { color: '#faad14' },
+      onClick: goToInspection
+    },
+    {
+      title: '异常',
+      value: stats?.abnormalCount || 0,
+      icon: <WarningOutlined />,
+      suffix: '个异常',
+      valueStyle: { color: '#ff4d4f' }
+    },
+  ];
+
+  const quickActions = [
+    { title: '扫码查询机器', desc: '使用平板摄像头扫描设备二维码', icon: <ScanOutlined />, onClick: () => router.push('/machines') },
+    { title: '序列号查询机器', desc: '手动输入序列号查询机器全部资料', icon: <SearchOutlined />, onClick: () => router.push('/machines') },
+    { title: '视频监控', desc: '查看厂房实时监控画面', icon: <VideoCameraOutlined />, onClick: () => router.push('/video') },
+  ];
+
+  return (
+    <div style={{ paddingBottom: 24 }}>
+      {errorMessage && (
+        <Alert
+          type="error"
+          message={errorMessage}
+          showIcon
+          style={{ marginBottom: 16 }}
+        />
+      )}
+
+      {/* 统计卡片区域 */}
+      <Row gutter={24} style={{ marginBottom: 24 }}>
+        {statCards.map((stat, idx) => (
+          <Col span={6} key={idx}>
+            <Card hoverable={!!stat.onClick} onClick={stat.onClick}>
+              <Statistic
+                title={stat.title}
+                value={stat.value}
+                suffix={stat.suffix}
+                prefix={stat.icon}
+                valueStyle={stat.valueStyle}
+                loading={!stats}
+              />
+            </Card>
+          </Col>
+        ))}
+      </Row>
+
+      {/* 快捷操作区域 */}
+      <Row gutter={24} style={{ marginBottom: 24 }}>
+        {quickActions.map((action, idx) => (
+          <Col span={8} key={idx}>
+            <Card
+              hoverable
+              onClick={action.onClick}
+              styles={{ body: { background: 'linear-gradient(135deg, #f6f8fc 0%, #eef2f9 100%)' } }}
+            >
+              <Flex align="center" gap={16}>
+                <Flex
+                  align="center"
+                  justify="center"
+                  style={{
+                    width: 56,
+                    height: 56,
+                    borderRadius: '50%',
+                    background: '#fff',
+                    boxShadow: '0 4px 12px rgba(24, 144, 255, 0.1)',
+                    color: '#1890ff',
+                    fontSize: 24
+                  }}
+                >
+                  {action.icon}
+                </Flex>
+                <Flex vertical>
+                  <div style={{ fontWeight: 600, fontSize: 18 }}>{action.title}</div>
+                  <div style={{ color: 'var(--color-text-secondary)', fontSize: 14 }}>{action.desc}</div>
+                </Flex>
+              </Flex>
+            </Card>
+          </Col>
+        ))}
+      </Row>
+
+      <Row gutter={24}>
+        {/* 最近查验动态 */}
+        <Col span={12}>
+          <Card
+            title="最近查验动态"
+            extra={<Button type="link" icon={<RightOutlined />}>查看全部</Button>}
+            styles={{ body: { height: 'calc(100% - 57px)' } }}
+          >
+            <List
+              itemLayout="horizontal"
+              dataSource={activities}
+              renderItem={(item) => (
+                <List.Item>
+                  <List.Item.Meta
+                    avatar={
+                      item.type === 'start' ? <ClockCircleOutlined style={{ fontSize: 20 }} /> :
+                      item.type === 'success' ? <CheckCircleOutlined style={{ fontSize: 20 }} /> :
+                      item.type === 'warning' ? <WarningOutlined style={{ fontSize: 20 }} /> :
+                      <ProfileOutlined style={{ fontSize: 20 }} />
+                    }
+                    title={<span style={{ fontWeight: 500 }}>{item.message}</span>}
+                    description={item.time}
+                  />
+                </List.Item>
+              )}
+            />
+          </Card>
+        </Col>
+
+        {/* 待查验报关单 */}
+        <Col span={12}>
+          <Card
+            title="待查验报关单"
+            extra={<Button type="link" onClick={() => router.push('/customs')}>查看全部 <RightOutlined /></Button>}
+            styles={{ body: { height: 'calc(100% - 57px)' } }}
+          >
+            <Table
+              dataSource={pendingCustoms}
+              rowKey="id"
+              pagination={false}
+              size="small"
+              onRow={() => ({
+                onClick: () => router.push('/customs'),
+                style: { cursor: 'pointer' }
+              })}
+            >
+              <Table.Column title="报关单号" dataIndex="customsId" key="customsId" render={(text) => <b>{text}</b>} />
+              <Table.Column title="机器数量" dataIndex="machineCount" key="machineCount" render={(count) => `${count} 台`} />
+              <Table.Column title="状态" dataIndex="status" key="status" render={(status: string) => <StatusBadge status={status as 'pending' | 'inspecting' | 'released' | 'abnormal'} />} />
+            </Table>
+          </Card>
+        </Col>
+      </Row>
+    </div>
+  );
+}

customs-tablet-frontend/src/app/video/page.tsx

@@ -0,0 +1,166 @@
+'use client';
+
+import React, { useEffect, useState } from 'react';
+import { Alert, Card, Row, Col, Button, Typography, Space, Spin, Flex, Breadcrumb as AntdBreadcrumb, Badge, Empty } from 'antd';
+import { FullscreenOutlined, ReloadOutlined, CameraOutlined, ArrowLeftOutlined, CaretRightOutlined, HomeOutlined, VideoCameraOutlined } from '@ant-design/icons';
+import { Breadcrumb } from '../../components/Breadcrumb';
+import Link from 'next/link';
+import { MockApi } from '../../services/mockApi';
+import { CameraInfo } from '../../types';
+
+const { Text } = Typography;
+
+export default function VideoPage() {
+  const [cameras, setCameras] = useState<CameraInfo[]>([]);
+  const [fullscreenCamera, setFullscreenCamera] = useState<CameraInfo | null>(null);
+  const [loading, setLoading] = useState(true);
+  const [errorMessage, setErrorMessage] = useState('');
+
+  useEffect(() => {
+    let isMounted = true;
+
+    const loadCameras = async () => {
+      try {
+        setLoading(true);
+        setErrorMessage('');
+        const cameraList = await MockApi.getCameraList();
+        if (!isMounted) return;
+        setCameras(cameraList);
+      } catch {
+        if (!isMounted) return;
+        setErrorMessage('摄像头列表加载失败，请稍后重试');
+      } finally {
+        if (isMounted) {
+          setLoading(false);
+        }
+      }
+    };
+
+    loadCameras();
+
+    return () => {
+      isMounted = false;
+    };
+  }, []);
+
+  // 模拟的视频播放器组件
+  const MockVideoPlayer = ({ camera, height, aspectRatio }: { camera: CameraInfo, height?: number | string, aspectRatio?: string }) => (
+    <div style={{ position: 'relative', display: 'flex', flexDirection: 'column', alignItems: 'center', justifyContent: 'center', overflow: 'hidden', borderRadius: 8, background: '#141414', height, aspectRatio, boxShadow: 'inset 0 0 20px rgba(0,0,0,0.5)' }}>
+      {camera.status === 'online' ? (
+        <>
+          {/* 居中播放按钮 */}
+          <Button 
+            type="text" 
+            shape="circle" 
+            icon={<CaretRightOutlined style={{ fontSize: 40, color: 'white' }} />} 
+            style={{ width: 80, height: 80, backgroundColor: 'rgba(255, 255, 255, 0.15)', backdropFilter: 'blur(4px)', border: '1px solid rgba(255,255,255,0.2)' }} 
+          />
+          
+          {/* 底部状态标识 */}
+          <div style={{ position: 'absolute', bottom: 16, left: 16, zIndex: 10, padding: '4px 10px', background: 'rgba(0,0,0,0.6)', borderRadius: 6, backdropFilter: 'blur(4px)' }}>
+            <Badge status="success" text={<Text style={{ color: 'white', fontSize: 12 }}>在线 / 实时画面模拟</Text>} />
+          </div>
+        </>
+      ) : (
+        <Empty
+          image={<VideoCameraOutlined style={{ fontSize: 64, color: '#ff4d4f', opacity: 0.9 }} />}
+          imageStyle={{ height: 64, marginBottom: 16 }}
+          description={
+            <Space direction="vertical" size={2}>
+              <Text type="danger" strong style={{ fontSize: 16 }}>设备离线</Text>
+              <Text type="secondary" style={{ color: 'rgba(255,255,255,0.45)' }}>无法连接到视频流</Text>
+            </Space>
+          }
+        >
+          <Button
+            type="primary"
+            danger
+            icon={<ReloadOutlined />}
+            style={{ marginTop: 8 }}
+            onClick={(e) => {
+              e.stopPropagation();
+              // 模拟重连
+            }}
+          >
+            重试连接
+          </Button>
+        </Empty>
+      )}
+    </div>
+  );
+
+  if (fullscreenCamera) {
+    return (
+      <div>
+        <Flex justify="space-between" align="center" style={{ marginBottom: 16 }}>
+          <Space align="center" size="middle">
+            <Button icon={<ArrowLeftOutlined />} onClick={() => setFullscreenCamera(null)}>返回</Button>
+            <AntdBreadcrumb
+              items={[
+                { title: <Link href="/"><HomeOutlined /> 首页</Link> },
+                { title: <a href="#" onClick={(e) => { e.preventDefault(); setFullscreenCamera(null); }}>视频监控</a> },
+                { title: fullscreenCamera.name }
+              ]}
+            />
+          </Space>
+          <Button type="primary" icon={<CameraOutlined />}>截图</Button>
+        </Flex>
+
+        <Flex justify="center" align="center" style={{ height: 'calc(100vh - 180px)', marginBottom: 16 }}>
+          <div style={{ height: '100%', maxWidth: '100%', aspectRatio: '16 / 9', boxShadow: '0 8px 24px rgba(0,0,0,0.1)' }}>
+            <MockVideoPlayer camera={fullscreenCamera} height="100%" />
+          </div>
+        </Flex>
+      </div>
+    );
+  }
+
+  return (
+    <div>
+      <Flex justify="space-between" align="center" style={{ marginBottom: 24 }}>
+        <Breadcrumb />
+        <Space>
+          <Button icon={<FullscreenOutlined />}>全屏模式</Button>
+          <Button type="primary" icon={<CameraOutlined />}>全部截图</Button>
+        </Space>
+      </Flex>
+
+      {errorMessage && (
+        <Alert
+          type="error"
+          message={errorMessage}
+          showIcon
+          style={{ marginBottom: 24 }}
+        />
+      )}
+
+      {loading && (
+        <Flex vertical align="center" justify="center" style={{ padding: 64 }}>
+          <Spin size="large" tip="正在加载摄像头..." />
+        </Flex>
+      )}
+
+      <Row gutter={[24, 24]}>
+        {cameras.map((camera) => (
+          <Col xs={24} lg={12} key={camera.id}>
+            <Card
+              hoverable={camera.status === 'online'}
+              style={{ overflow: 'hidden', borderRadius: 12, borderColor: camera.status === 'online' ? '#f0f0f0' : '#ffccc7' }}
+              styles={{ body: { padding: 0 } }}
+              onClick={() => camera.status === 'online' && setFullscreenCamera(camera)}
+            >
+              <MockVideoPlayer camera={camera} height={300} />
+              <Flex justify="space-between" align="center" style={{ padding: '12px 20px', background: camera.status === 'online' ? '#ffffff' : '#fff1f0', borderTop: '1px solid #f0f0f0' }}>
+                <Space size="middle">
+                  <Badge status={camera.status === 'online' ? 'processing' : 'error'} />
+                  <Text strong style={{ fontSize: 15, color: camera.status === 'online' ? 'inherit' : '#cf1322' }}>{camera.name}</Text>
+                </Space>
+                {camera.status === 'online' && <Button type="link" icon={<FullscreenOutlined />} size="small">全屏观看</Button>}
+              </Flex>
+            </Card>
+          </Col>
+        ))}
+      </Row>
+    </div>
+  );
+}

customs-tablet-frontend/src/components/Breadcrumb.tsx

@@ -0,0 +1,50 @@
+'use client';
+
+import React from 'react';
+import { Breadcrumb as AntdBreadcrumb } from 'antd';
+import { HomeOutlined } from '@ant-design/icons';
+import { usePathname } from 'next/navigation';
+import Link from 'next/link';
+
+const breadcrumbNameMap: Record<string, string> = {
+  '/video': '视频监控',
+  '/machines': '机器查询',
+  '/customs': '报关单管理',
+  '/inspection': '远程查验',
+};
+
+export const Breadcrumb: React.FC = () => {
+  const pathname = usePathname();
+  const pathSnippets = pathname.split('/').filter(i => i);
+
+  const extraBreadcrumbItems = pathSnippets.map((_, index) => {
+    const url = `/${pathSnippets.slice(0, index + 1).join('/')}`;
+    const isLast = index === pathSnippets.length - 1;
+    let name = breadcrumbNameMap[url] || pathSnippets[index];
+
+    if (!breadcrumbNameMap[url] && pathSnippets[index - 1] === 'machines') {
+      name = '机器详情';
+    } else if (!breadcrumbNameMap[url] && pathSnippets[index - 1] === 'customs') {
+      name = '报关单详情';
+    }
+
+    return {
+      key: url,
+      title: isLast ? name : <Link href={url}>{name}</Link>,
+    };
+  });
+
+  const breadcrumbItems = [
+    {
+      key: 'home',
+      title: <Link href="/"><HomeOutlined /> 首页</Link>,
+    },
+    ...extraBreadcrumbItems,
+  ];
+
+  return (
+    <div style={{ marginBottom: 16 }}>
+      <AntdBreadcrumb items={breadcrumbItems} />
+    </div>
+  );
+};

customs-tablet-frontend/src/components/StatusBadge.tsx

@@ -0,0 +1,58 @@
+import React from 'react';
+import { Tag } from 'antd';
+import { 
+  ClockCircleOutlined, 
+  SyncOutlined, 
+  CheckCircleOutlined, 
+  WarningOutlined, 
+  MinusCircleOutlined, 
+  PauseCircleOutlined, 
+  CloseCircleOutlined, 
+  QuestionCircleOutlined 
+} from '@ant-design/icons';
+
+type StatusType = 'pending' | 'inspecting' | 'released' | 'abnormal' | 'idle' | 'running' | 'paused' | 'completed' | 'online' | 'offline';
+
+interface StatusBadgeProps {
+  status: StatusType;
+  type?: 'badge' | 'tag';
+}
+
+export const StatusBadge: React.FC<StatusBadgeProps> = ({ status, type = 'badge' }) => {
+  const getStatusConfig = () => {
+    switch (status) {
+      case 'pending':
+        return { color: 'warning', text: '待查验', icon: <ClockCircleOutlined style={{ color: '#faad14' }} /> };
+      case 'inspecting':
+      case 'running':
+        return { color: 'processing', text: '查验中', icon: <SyncOutlined style={{ color: '#1890ff' }} /> };
+      case 'released':
+      case 'completed':
+        return { color: 'success', text: '已放行', icon: <CheckCircleOutlined style={{ color: '#52c41a' }} /> };
+      case 'abnormal':
+        return { color: 'error', text: '异常', icon: <WarningOutlined style={{ color: '#ff4d4f' }} /> };
+      case 'idle':
+        return { color: 'default', text: '空闲', icon: <MinusCircleOutlined style={{ color: '#d9d9d9' }} /> };
+      case 'paused':
+        return { color: 'warning', text: '已暂停', icon: <PauseCircleOutlined style={{ color: '#faad14' }} /> };
+      case 'online':
+        return { color: 'success', text: '在线', icon: <CheckCircleOutlined style={{ color: '#52c41a' }} /> };
+      case 'offline':
+        return { color: 'error', text: '离线', icon: <CloseCircleOutlined style={{ color: '#ff4d4f' }} /> };
+      default:
+        return { color: 'default', text: '未知', icon: <QuestionCircleOutlined style={{ color: '#d9d9d9' }} /> };
+    }
+  };
+
+  const config = getStatusConfig();
+
+  if (type === 'tag') {
+    return <Tag color={config.color} icon={config.icon}>{config.text}</Tag>;
+  }
+
+  return (
+    <span style={{ display: 'inline-flex', alignItems: 'center', gap: 4 }}>
+      {config.icon} <span>{config.text}</span>
+    </span>
+  );
+};

customs-tablet-frontend/src/components/TopHeader.tsx

@@ -0,0 +1,108 @@
+'use client';
+
+import React from 'react';
+import { Layout, Menu, Badge, Avatar, Button, Dropdown, Space, Typography, theme } from 'antd';
+import { 
+  BellOutlined, 
+  SettingOutlined, 
+  UserOutlined,
+  DashboardOutlined,
+  VideoCameraOutlined,
+  SearchOutlined,
+  FileTextOutlined,
+  ScanOutlined,
+  SafetyCertificateOutlined
+} from '@ant-design/icons';
+import { usePathname, useRouter } from 'next/navigation';
+import { useAppStore } from '../store/useAppStore';
+
+const { Header } = Layout;
+
+export const TopHeader: React.FC = () => {
+  const pathname = usePathname();
+  const router = useRouter();
+  const { user, notifications } = useAppStore();
+  const { token } = theme.useToken();
+  
+  const unreadCount = notifications.filter(n => !n.read).length;
+
+  const menuItems = [
+    { key: '/', icon: <DashboardOutlined />, label: '首页' },
+    { key: '/video', icon: <VideoCameraOutlined />, label: '视频监控' },
+    { key: '/machines', icon: <SearchOutlined />, label: '机器查询' },
+    { key: '/customs', icon: <FileTextOutlined />, label: '报关单' },
+    { key: '/inspection', icon: <ScanOutlined />, label: '远程查验' },
+  ];
+
+  const handleMenuClick = (e: { key: string }) => {
+    router.push(e.key);
+  };
+
+  const notificationMenu = {
+    items: notifications.map(n => ({
+      key: n.id,
+      label: (
+        <div style={{ width: 250, padding: '4px 0', whiteSpace: 'normal' }}>
+          <Typography.Text strong={!n.read} type={n.read ? 'secondary' : undefined} style={{ display: 'block' }}>
+            {n.title}
+          </Typography.Text>
+          <Typography.Paragraph 
+            style={{ marginTop: 4, marginBottom: 0, color: token.colorTextSecondary, fontSize: 12, lineHeight: 1.5 }}
+          >
+            {n.message}
+          </Typography.Paragraph>
+          <Typography.Text style={{ marginTop: 4, display: 'block', color: token.colorTextTertiary, fontSize: 10 }}>
+            {n.time}
+          </Typography.Text>
+        </div>
+      )
+    }))
+  };
+
+  return (
+    <Header style={{ 
+      position: 'sticky', 
+      top: 0, 
+      zIndex: 100, 
+      display: 'flex', 
+      alignItems: 'center', 
+      padding: '0 24px', 
+      background: token.colorBgContainer, 
+      boxShadow: '0 2px 8px rgba(0, 0, 0, 0.06)' 
+    }}>
+      <Space 
+        size="middle" 
+        onClick={() => router.push('/')} 
+        style={{ cursor: 'pointer', marginRight: 48, display: 'flex', alignItems: 'center' }}
+      >
+        <SafetyCertificateOutlined style={{ fontSize: 24, color: token.colorPrimary }} />
+        <Typography.Title level={4} style={{ margin: 0, color: token.colorPrimary, whiteSpace: 'nowrap' }}>
+          海关智慧查验平台
+        </Typography.Title>
+      </Space>
+
+      <Menu
+        mode="horizontal"
+        selectedKeys={[pathname === '/' ? '/' : `/${pathname.split('/')[1]}`]}
+        items={menuItems}
+        onClick={handleMenuClick}
+        style={{ flex: 1, minWidth: 0, borderBottom: 'none', lineHeight: '62px' }}
+      />
+
+      <Space size="large" style={{ marginLeft: 24, display: 'flex', alignItems: 'center' }}>
+        <Dropdown menu={notificationMenu} placement="bottomRight" trigger={['click']}>
+          <Badge count={unreadCount} size="small" offset={[-4, 4]}>
+            <Button type="text" shape="circle" icon={<BellOutlined style={{ fontSize: 18, color: token.colorText }} />} />
+          </Badge>
+        </Dropdown>
+        
+        <Button type="text" shape="circle" icon={<SettingOutlined style={{ fontSize: 18, color: token.colorText }} />} />
+        
+        <Space size="small" style={{ cursor: 'pointer', padding: '0 8px', borderRadius: token.borderRadius, transition: 'background 0.3s' }} className="user-entry">
+          <Avatar size="small" icon={<UserOutlined />} style={{ backgroundColor: token.colorPrimary }} />
+          <Typography.Text style={{ fontSize: 14 }}>{user?.name}</Typography.Text>
+        </Space>
+      </Space>
+    </Header>
+  );
+};

customs-tablet-frontend/src/services/mockApi.ts

@@ -0,0 +1,122 @@
+import { 
+  CustomsStats, 
+  ActivityItem, 
+  CustomsDeclaration, 
+  CameraInfo, 
+  MachineDetail 
+} from '../types';
+
+const customsDeclarations: CustomsDeclaration[] = [
+  { 
+    id: '1', customsId: 'CD20260619001', status: 'pending', machineCount: 5, createdAt: '2026-06-19 14:00',
+    items: [
+      { inventoryCode: 'P001', inventoryName: '打印机型号A', spec: 'A4', quantify: 3, inspected: 0 },
+      { inventoryCode: 'S001', inventoryName: '扫描仪型号B', spec: 'A3', quantify: 2, inspected: 0 }
+    ]
+  },
+  { 
+    id: '2', customsId: 'CD20260619003', status: 'inspecting', machineCount: 8, createdAt: '2026-06-19 13:00',
+    items: [
+      { inventoryCode: 'P002', inventoryName: '打印机型号C', spec: 'A4', quantify: 8, inspected: 2 }
+    ]
+  },
+  { 
+    id: '3', customsId: 'CD20260618004', status: 'released', machineCount: 10, createdAt: '2026-06-18 10:00',
+    items: [
+      { inventoryCode: 'M001', inventoryName: '显示器型号A', spec: '27寸', quantify: 10, inspected: 10 }
+    ]
+  },
+];
+
+// 模拟真实接口耗时，便于原型验证加载和错误状态。
+const delay = (ms: number) => new Promise(resolve => setTimeout(resolve, ms));
+
+export const MockApi = {
+  getCustomsStats: async (): Promise<CustomsStats> => {
+    await delay(300);
+    return {
+      pendingCount: 12,
+      releasedToday: 28,
+      inspectingCount: 1,
+      abnormalCount: 0
+    };
+  },
+
+  getRecentActivities: async (): Promise<ActivityItem[]> => {
+    await delay(300);
+    return [
+      { id: '1', time: '14:30', type: 'start', message: 'CD20260619003 开始查验' },
+      { id: '2', time: '14:15', type: 'success', message: 'CD20260619002 查验完成/放行' },
+      { id: '3', time: '14:00', type: 'info', message: '新增报关单 CD20260618005' },
+      { id: '4', time: '13:45', type: 'warning', message: 'CD20260618001 查验异常暂停' },
+      { id: '5', time: '13:20', type: 'success', message: 'CD20260618004 查验完成/放行' },
+    ];
+  },
+
+  getPendingCustoms: async (): Promise<CustomsDeclaration[]> => {
+    await delay(400);
+    return [
+      { id: '1', customsId: 'CD20260619001', status: 'pending', machineCount: 5, createdAt: '2026-06-19 14:00', items: [] },
+      { id: '2', customsId: 'CD20260619003', status: 'inspecting', machineCount: 8, createdAt: '2026-06-19 13:00', items: [] },
+      { id: '3', customsId: 'CD20260619004', status: 'pending', machineCount: 3, createdAt: '2026-06-19 12:00', items: [] },
+      { id: '4', customsId: 'CD20260618005', status: 'pending', machineCount: 6, createdAt: '2026-06-18 16:00', items: [] },
+    ];
+  },
+
+  getCustomsList: async (): Promise<CustomsDeclaration[]> => {
+    await delay(500);
+    return customsDeclarations;
+  },
+
+  getCustomsById: async (customsId: string): Promise<CustomsDeclaration | null> => {
+    await delay(300);
+    return customsDeclarations.find(item => item.customsId === customsId) ?? null;
+  },
+
+  getCameraList: async (): Promise<CameraInfo[]> => {
+    await delay(300);
+    return [
+      { id: '1', name: '摄像头 1', location: '入料口', streamUrl: '', status: 'online' },
+      { id: '2', name: '摄像头 2', location: '生产线 A', streamUrl: '', status: 'online' },
+      { id: '3', name: '摄像头 3', location: '生产线 B', streamUrl: '', status: 'online' },
+      { id: '4', name: '摄像头 4', location: '出库区', streamUrl: '', status: 'offline' },
+      { id: '5', name: '摄像头 5', location: 'AGV 作业区', streamUrl: '', status: 'online' },
+    ];
+  },
+
+  getMachineDetail: async (serialNumber: string): Promise<MachineDetail> => {
+    await delay(400);
+    return {
+      serialNumber: serialNumber,
+      modelName: '打印机型号A',
+      modelId: 'MDL-A4-001',
+      customsId: 'CD20260619001',
+      customsName: '某科技公司进口设备批次',
+      status: 'pending',
+      specs: {
+        '尺寸': '480×320×260mm',
+        '重量': '12.5kg',
+        '产地': '中国 / 深圳',
+        '入库日期': '2026-06-15'
+      },
+      createdAt: '2026-06-15 10:00',
+      images: {
+        incomingInspection: [
+          { id: 'i1', url: 'https://picsum.photos/800/600?1', thumbnailUrl: 'https://picsum.photos/200/150?1', name: '来料检验单 第1页', createdAt: '2026-06-10' },
+          { id: 'i2', url: 'https://picsum.photos/800/600?2', thumbnailUrl: 'https://picsum.photos/200/150?2', name: '来料检验单 第2页', createdAt: '2026-06-10' }
+        ],
+        startupTestSample: [
+          { id: 'i3', url: 'https://picsum.photos/800/600?3', thumbnailUrl: 'https://picsum.photos/200/150?3', name: '开机测试样张', createdAt: '2026-06-12' }
+        ],
+        productionOrder: [
+          { id: 'i4', url: 'https://picsum.photos/800/600?4', thumbnailUrl: 'https://picsum.photos/200/150?4', name: '生产加工单', createdAt: '2026-06-12' }
+        ],
+        robotInspection: [
+          { id: 'i5', url: 'https://picsum.photos/800/600?5', thumbnailUrl: 'https://picsum.photos/200/150?5', name: '正面照', createdAt: '2026-06-19' },
+          { id: 'i6', url: 'https://picsum.photos/800/600?6', thumbnailUrl: 'https://picsum.photos/200/150?6', name: '背面照', createdAt: '2026-06-19' }
+        ]
+      },
+      inspectionRecords: []
+    };
+  }
+};

customs-tablet-frontend/src/store/useAppStore.ts

@@ -0,0 +1,48 @@
+import { create } from 'zustand';
+import { User, Notification, CustomsDeclaration, InspectionState } from '../types';
+
+interface AppState {
+  user: User | null;
+  notifications: Notification[];
+  selectedCustoms: CustomsDeclaration | null;
+  inspection: InspectionState | null;
+  
+  // Actions
+  setUser: (user: User | null) => void;
+  addNotification: (notification: Notification) => void;
+  markNotificationRead: (id: string) => void;
+  setSelectedCustoms: (customs: CustomsDeclaration | null) => void;
+  setInspection: (inspection: InspectionState | null) => void;
+  updateInspectionStatus: (status: InspectionState['status']) => void;
+}
+
+export const useAppStore = create<AppState>((set) => ({
+  user: { name: '张三', role: '海关查验员' },
+  notifications: [
+    { id: '1', title: '异常告警', message: '入料口摄像头离线', time: '14:30', read: false },
+    { id: '2', title: '查验完成', message: '报关单 CD20260619002 查验完成', time: '14:15', read: false },
+    { id: '3', title: '系统通知', message: '新增 5 份待查验报关单', time: '14:00', read: true }
+  ],
+  selectedCustoms: null,
+  inspection: null,
+
+  setUser: (user) => set({ user }),
+  
+  addNotification: (notification) => set((state) => ({ 
+    notifications: [notification, ...state.notifications] 
+  })),
+  
+  markNotificationRead: (id) => set((state) => ({
+    notifications: state.notifications.map(n => 
+      n.id === id ? { ...n, read: true } : n
+    )
+  })),
+  
+  setSelectedCustoms: (selectedCustoms) => set({ selectedCustoms }),
+  
+  setInspection: (inspection) => set({ inspection }),
+  
+  updateInspectionStatus: (status) => set((state) => ({
+    inspection: state.inspection ? { ...state.inspection, status } : null
+  })),
+}));

customs-tablet-frontend/src/types/index.ts

@@ -0,0 +1,99 @@
+export interface User {
+  name: string;
+  role: string;
+}
+
+export interface Notification {
+  id: string;
+  title: string;
+  message: string;
+  time: string;
+  read: boolean;
+}
+
+export interface MachineDetail {
+  serialNumber: string;
+  modelName: string;
+  modelId: string;
+  customsId: string;
+  customsName: string;
+  status: 'pending' | 'inspecting' | 'released' | 'abnormal';
+  specs: Record<string, string>;
+  createdAt: string;
+  images: {
+    incomingInspection: ImageItem[];
+    startupTestSample: ImageItem[];
+    productionOrder: ImageItem[];
+    robotInspection: ImageItem[];
+  };
+  inspectionRecords: InspectionRecord[];
+}
+
+export interface ImageItem {
+  id: string;
+  url: string;
+  thumbnailUrl: string;
+  name: string;
+  createdAt: string;
+}
+
+export interface InspectionRecord {
+  id: string;
+  time: string;
+  operator: string;
+  result: string;
+  remark: string;
+}
+
+export interface CustomsStats {
+  pendingCount: number;
+  releasedToday: number;
+  inspectingCount: number;
+  abnormalCount: number;
+}
+
+export interface CameraInfo {
+  id: string;
+  name: string;
+  location: string;
+  streamUrl: string;
+  status: 'online' | 'offline';
+  snapshot?: string;
+}
+
+export interface CustomsDeclaration {
+  id: string;
+  customsId: string;
+  status: 'pending' | 'released' | 'abnormal' | 'inspecting';
+  machineCount: number;
+  createdAt: string;
+  items: InspectionItem[];
+}
+
+export interface InspectionState {
+  customsId: string;
+  customsName: string;
+  status: 'idle' | 'running' | 'paused' | 'completed';
+  items: InspectionItem[];
+  startedAt: number;
+  currentMachine?: {
+    machineId: string;
+    serialNumber: string;
+    step: string;
+  };
+}
+
+export interface InspectionItem {
+  inventoryCode: string;
+  inventoryName: string;
+  spec: string;
+  quantify: number;
+  inspected: number;
+}
+
+export interface ActivityItem {
+  id: string;
+  time: string;
+  type: 'start' | 'success' | 'info' | 'warning';
+  message: string;
+}

customs-tablet-frontend/tsconfig.json

@@ -0,0 +1,26 @@
+{
+  "compilerOptions": {
+    "lib": ["dom", "dom.iterable", "esnext"],
+    "allowJs": true,
+    "skipLibCheck": true,
+    "strict": true,
+    "noEmit": true,
+    "esModuleInterop": true,
+    "module": "esnext",
+    "moduleResolution": "bundler",
+    "resolveJsonModule": true,
+    "isolatedModules": true,
+    "jsx": "preserve",
+    "incremental": true,
+    "plugins": [
+      {
+        "name": "next"
+      }
+    ],
+    "paths": {
+      "@/*": ["./src/*"]
+    }
+  },
+  "include": ["next-env.d.ts", "**/*.ts", "**/*.tsx", ".next/types/**/*.ts"],
+  "exclude": ["node_modules"]
+}

docs/AGV_机械臂_技术说明文档.md

@@ -0,0 +1,882 @@
+# AGV + 机械臂 移动拍摄平台 — 技术说明文档
+
+> **版本**: V3.0 | **更新时间**: 2026-06-17 | **作者**: 自动生成
+
+---
+
+## 目录
+
+1. [项目概述](#1-项目概述)
+2. [系统架构](#2-系统架构)
+3. [硬件环境与网络拓扑](#3-硬件环境与网络拓扑)
+4. [核心模块详解](#4-核心模块详解)
+5. [通信协议](#5-通信协议)
+6. [完整 API 接口文档](#6-完整-api-接口文档)
+7. [任务执行流程](#7-任务执行流程)
+8. [数据配置格式](#8-数据配置格式)
+9. [部署与运维](#9-部署与运维)
+10. [关键决策与约束](#10-关键决策与约束)
+
+---
+
+## 1. 项目概述
+
+### 1.1 业务目标
+
+自动巡检拍摄系统：AGV（Automated Guided Vehicle）搭载大象机器人 630 六轴机械臂 + Orbbec Gemini 深度相机，按 M×N 网格布局自动导航到每台待检机器前，识别机器二维码→匹配机型→按预设姿态拍摄正面/背面照片→上传至后端管理系统。
+
+### 1.2 核心能力
+
+| 能力 | 说明 |
+|------|------|
+| **自主导航** | 基于 ROS2 Humble + Nav2 导航栈，读取预建地图，精确导航至每个目标坐标 |
+| **多姿态拍摄** | 每台机器支持自定义正/背面多姿态（机械臂6关节角度预设） |
+| **二维码识别** | 机械臂摄像头（倒装）+ 双引擎识别（pyzbar + OpenCV QRCodeDetector）|
+| **蛇形路径** | M×N 网格蛇形路径优化，相邻路径点高效串联，避免无效往返 |
+| **报关单查验** | 集成外部报关系统，按报关单机器清单逐台核对，自动统计查验进度 |
+| **照片上传** | 拍摄后即时上传至 Java 后端文件服务，附带 serialNumber + index |
+| **双摄像头** | AGV Orbbec 深度相机 + 机械臂 USB 摄像头，物理翻转纠正 + 花屏自动检测 |
+| **单步执行/错误处理** | 支持单步调试模式、错误弹窗中断/跳过 |
+
+### 1.3 技术栈
+
+| 层级 | 技术 |
+|------|------|
+| **后端** | Python 3 + Flask 2.x（端口 5000） |
+| **前端** | Vue 3（CDN）+ 原生 JS + HTML/CSS |
+| **机器人控制** | ROS2 Humble + nav2_simple_commander |
+| **机械臂** | RoboFlow 630 → TCP Socket（arm_server）|
+| **导航** | Nav2 (Behavior Tree) + AMCL 定位 |
+| **部署** | SSH + expect 脚本远程重启 |
+
+---
+
+## 2. 系统架构
+
+### 2.1 整体架构图
+
+```
+┌────────────────────────────────────────────────────────────────┐
+│                        AGV (Ubuntu 22.04)                       │
+│                                                                  │
+│  ┌──────────────────────────────────────────────────────────┐  │
+│  │                   Flask Web 服务 (:5000)                   │  │
+│  │                                                              │  │
+│  │  ┌──────────┐  ┌──────────┐  ┌───────────────┐           │  │
+│  │  │ 控制面板  │  │  设置页   │  │  任务运行页    │           │  │
+│  │  │ index    │  │ setting  │  │  running      │           │  │
+│  │  └──────────┘  └──────────┘  └───────────────┘           │  │
+│  │                                                              │  │
+│  │  ┌──────────────────────────────────────────────────────┐  │  │
+│  │  │               GlobalState (全局状态)                    │  │  │
+│  │  │  state / arm_client / agv_controller / qr_scanner    │  │  │
+│  │  └──────────────────────────────────────────────────────┘  │  │
+│  │                                                              │  │
+│  │  ┌─────────────────┐  ┌──────────────────────────────┐    │  │
+│  │  │  98 个 API 端点   │  │  MissionExecutorV3 任务核    │    │  │
+│  │  │  RESTful JSON   │  │  M×N 网格 + 蛇形路径          │    │  │
+│  │  └─────────────────┘  └──────────────────────────────┘    │  │
+│  └──────────────────────────────────────────────────────────┘  │
+│                                                                  │
+│  ┌─────────────┐  ┌─────────────┐  ┌──────────────────────┐  │
+│  │ AGVController │  │  ArmClient  │  │   Nav2Navigator      │  │
+│  │ (ROS2/cmd_vel)│  │ TCP Socket  │  │ BasicNavigator API │  │
+│  └──────┬──────┘  └──────┬──────┘  └──────────┬───────────┘  │
+│         │                │                      │               │
+│  ┌──────┴──────┐  ┌─────┴──────────┐  ┌───────┴──────────┐  │
+│  │ ROS2 Topics │  │ arm_server (:5002)│ │ Nav2 Action Srv │  │
+│  │ /cmd_vel    │  │ RoboFlow 630     │  │ /amcl_pose      │  │
+│  │ /odom       │  │                  │  │ /navigate_to_pose│  │
+│  └─────────────┘  └─────────────────┘  └──────────────────┘  │
+└────────────────────────────────────────────────────────────────┘
+         │                        │
+         ▼                        ▼
+┌──────────────┐    ┌──────────────────────────────────┐
+│ 机械臂 (Pi)   │    │      外部服务 (Java 后端)          │
+│ arm_server.py │    │  zhijian168.com / 192.168.60.159  │
+│ :5002 TCP    │    │  customsListPage / customsMachines│
+│ :5003 Camera │    │  profile/printer / file/uploadImage│
+└──────────────┘    └──────────────────────────────────┘
+```
+
+### 2.2 核心文件清单
+
+| 文件 | 行数 | 职责 |
+|------|------|------|
+| `app.py` | 2132 | Flask 主程序，98 个 API 端点，GlobalState 全局状态管理 |
+| `config.py` | 114 | 集中配置（IP、端口、API密钥、环境切换） |
+| `utils/mission_executor.py` | 1198 | 任务执行器 V3：蛇形路径、导航、QR扫描、拍照、上传 |
+| `utils/agv_controller_ros2.py` | 216 | AGV 运动控制（ROS2 topic 发布 cmd_vel） |
+| `utils/arm_client.py` | 170 | 机械臂 TCP 客户端（set_angles/jog/power_on） |
+| `utils/nav2_navigator.py` | 350 | Nav2 导航器（BasicNavigator API + /amcl_pose 位置） |
+| `utils/qr_scanner.py` | 170 | 二维码扫描（V4L2 + 绿屏修复 + 双引擎识别） |
+| `utils/image_uploader.py` | 76 | 照片 HTTP 上传（multipart/form-data） |
+| `templates/index.html` | - | AGV 控制页面（实时控制 + 双摄像头预览） |
+| `templates/setting.html` | - | 配置页面（网格/机型/点位/报关单） |
+| `templates/running.html` | - | 任务运行页（进度 + QR弹窗 + 查验状态） |
+| `static/js/app.js` | - | 控制页交互逻辑 |
+| `static/js/setting.js` | - | 设置页交互逻辑 |
+| `static/js/running.js` | - | 运行页交互逻辑 + SSE 实时推送 |
+
+---
+
+## 3. 硬件环境与网络拓扑
+
+### 3.1 设备清单
+
+| 设备 | 角色 | IP 地址 | SSH 凭证 | 关键软件 |
+|------|------|---------|----------|----------|
+| **AGV** | 主控 + 运动平台 | `192.168.60.80` | `elephant` / `Elephant` | ROS2 Humble, Nav2, Flask |
+| **机械臂 Pi** | 机械臂 + 摄像头 | `192.168.60.120` | `pi` / `elephant` | arm_server.py, RoboFlow, ffmpeg |
+| **Java 测试服务器** | 报关单/上传后端 | `192.168.60.159:8080` | - | Spring Boot |
+| **生产服务器** | 正式环境 | `ts.zhijian168.com` | - | HTTPS + Nginx |
+
+### 3.2 AGV 硬件映射
+
+| 设备 | Linux 路径 | 用途 |
+|------|-----------|------|
+| AGV 控制器 | `/dev/ttyCH341USB0` | AGV 底盘串口控制 |
+| 雷达 | `/dev/ttyACM0` | LiDAR 传感器 |
+| Orbbec Gemini | `/dev/video4` | 深度相机（彩色流 YUYV 640×480） |
+
+### 3.3 网络参数
+
+| 参数 | 值 | 说明 |
+|------|-----|------|
+| Flask 监听 | `0.0.0.0:5000` | AGV Web 服务 |
+| 机械臂 TCP | `5002` | arm_server 控制端口 |
+| 机械臂摄像头 | `5003` | arm_server MJPEG 流 |
+| ROS_DOMAIN_ID | `1` | DDS 发现域（Flask/Nav2/AGV 节点统一） |
+| AGV 串口波特率 | `1000000` | 底盘通信 |
+
+---
+
+## 4. 核心模块详解
+
+### 4.1 GlobalState — 全局状态管理
+
+```python
+class GlobalState:
+    state: str              # "idle" | "setting" | "running" | "paused"
+    arm_client: ArmClient   # 机械臂 TCP 客户端实例
+    agv_controller: AGVController  # ROS2 AGV 控制器
+    qr_scanner: QRScanner   # AGV 摄像头二维码扫描器
+    navigator: Nav2Navigator # 导航实例
+    mission_config: dict    # {rows, cols, grid[][], positions[{row,col,side,coords,poses}]}
+    machines_config: list   # [{id, row, col, front:{coords,poses}, back:{coords,poses}}]
+    models_config: list     # [{id, name, poses:[{id,name,photo_type,arm_angles,speed}]}]
+    qr_config: list         # [{id, name, joint_angles, qr_value, model_id}]
+    inspection: dict        # 查验状态 {customsId, customsName, items:[{inventoryCode,quantify,inspected}]}
+    current_customs: dict   # 当前报关单 {id, name, machine_ids}
+```
+
+**状态转换图**：
+```
+  IDLE ──connect_all──▶ SETTING ──start_mission──▶ RUNNING
+    ▲                      ▲                          │
+    │                      │                    ┌─────┼─────┐
+    │                      │                    ▼     ▼     ▼
+    └──disconnect── PAUSED ◀── error/stop ── COMPLETED
+```
+
+### 4.2 MissionExecutorV3 — 任务执行器核心
+
+#### 类结构
+
+```
+MissionExecutorV3
+├── 连接管理: connect_all() / disconnect_all()
+├── 主流程: execute_mission(mission_config, machines, models, options)
+│   ├── 蛇形路径: _build_snake_path(rows, cols, grid) → 路径列表
+│   ├── 导航: _navigate(point, label) → Nav2Navigator
+│   ├── QR 扫描: _scan_qr_with_poses(qr_configs, machine_row)
+│   │   ├── _decode_qr_from_arm() → pyzbar/OpenCV
+│   │   └── _request_manual_qr(message) → 用户手动输入
+│   ├── 机型查询: _lookup_model(qr_value) → 报关单API查询
+│   ├── 拍照: _shoot(model, side, row, col, qr_value, machine_row)
+│   │   ├── _capture_arm_photo() → 机械臂摄像头
+│   │   └── _upload_photo_bytes() → HTTP上传
+│   └── 返回原点: _return_to_origin()
+├── 控制: pause() / resume() / stop()
+├── 单步执行: set_step_choice("confirm"|"retry"|"abort")
+└── 错误处理: set_error_choice("skip"|"abort")
+```
+
+#### 蛇形路径算法
+
+```
+假设 2行 × 5列，有机器位置: (0,0)(0,1)(0,2)(0,3)(0,4)(1,0)(1,1)(1,2)(1,3)(1,4)
+
+蛇形路径（按点位行 pr 遍历）:
+  pr=0 (1排正面): (0,0)→(0,1)→(0,2)→(0,3)→(0,4)   [左→右]
+  pr=1 (1排背面 + 2排正面): (1,4)→(1,3)→(1,2)→(1,1)→(1,0)  [右→左]
+  pr=2 (2排背面): (2,0)→(2,1)→(2,2)→(2,3)→(2,4)   [左→右]
+
+PR 为奇数时列序反向。
+
+同一点位同时服务上一行背面和下一行正面时，先执行背面，再执行正面。
+镜像规则：机器行号为奇数时，所有 J1 关节角度取反（镜像）。仅 J1 取反！
+```
+
+#### 任务步骤控制开关
+
+前端执行任务时可选择性开启/关闭步骤：
+
+| 开关 | 字段 | 默认 | 说明 |
+|------|------|------|------|
+| 机械臂初始化 | `arm_init` | true | 每个点位移到后恢复默认姿态 |
+| AGV 移动 | `agv_move` | true | 导航到目标坐标 |
+| 二维码识别 | `qr_scan` | true | 扫描机器二维码 |
+| 正面拍照 | `front_photo` | true | 正面姿态组拍摄 |
+| 背面拍照 | `back_photo` | true | 背面姿态组拍摄 |
+| AGV 速度 | `agv_speed` | 1.0 | m/s |
+| 机械臂速度 | `arm_speed` | 1000 | RoboFlow 速度参数 |
+
+### 4.3 AGVController — ROS2 运动控制
+
+```python
+class AGVController:
+    def connect()        # 检查 /odom topic 是否存在
+    def is_connected()   # 连接状态
+    def move_forward()   # 前进 (linear.x > 0)
+    def move_backward()  # 后退 (linear.x < 0)
+    def turn_left()      # 左转 (angular.z > 0)
+    def turn_right()     # 右转 (angular.z < 0)
+    def move_left_lateral()  # 左横移 (linear.y > 0)
+    def move_right_lateral() # 右横移 (linear.y < 0)
+    def stop()           # 停止 (全 0)
+    def get_position()   # 从 /odom 获取位置 [x, y, yaw]
+    def get_battery()    # 获取电压
+```
+
+**原理**: 通过 `subprocess` 执行 `ros2 topic pub /cmd_vel geometry_msgs/msg/Twist` 发布速度指令。`--once` 参数发布一次后退出，底层 AGV 驱动收到后会持续执行直到收到下一条指令（或发送零值停止）。
+
+**ROS 环境**: `source /opt/ros/humble/setup.bash && source ~/agv_pro_ros2/install/setup.bash && export ROS_DOMAIN_ID=1`
+
+### 4.4 ArmClient — 机械臂 TCP 客户端
+
+```python
+class ArmClient:
+    def connect()            # TCP 连接到 arm_server:5002
+    def send_command(cmd)    # 发送文本命令，接收响应
+    def get_angles()         # → [J1..J6] 当前关节角度
+    def set_angles(angles, speed) # 设置全部 6 关节角度
+    def set_angle(joint, angle, speed) # 设置单个关节
+    def jog_angle(joint, direction, speed) # 连续调节（-1/0/1）
+    def get_coords()         # → [x, y, z, rx, ry, rz]
+    def power_on() / state_on() / state_off()  # 上电控制
+    def state_check() / check_running()  # 状态查询
+    def wait_done(timeout)   # 等待命令执行完成
+    def task_stop()          # 紧急停止
+```
+
+**通信协议**: 文本行协议（`\n` 分隔）。
+- **请求**: `command_name(param1,param2,...)\n`
+- **响应**: `command_name:result` 或 `ok`
+
+**关节范围** (机械臂 630):
+| 关节 | 范围 |
+|------|------|
+| J1 | ±180° |
+| J2 | ±90° |
+| J3 | ±90° |
+| J4 | ±180° |
+| J5 | ±90° |
+| J6 | ±180° |
+
+### 4.5 Nav2Navigator — 自主导航
+
+```python
+class Nav2Navigator:
+    def navigate_to_pose(x, y, yaw, timeout_sec, blocking)
+        # 使用 BasicNavigator.goToPose() 发送导航目标
+        # 子线程中轮询 isTaskComplete()，超时自动取消
+    def navigate_through_poses(poses, timeout_per_pose, blocking)
+        # 多路径点连续导航
+    def stop()           # 取消当前导航
+    def get_status()     # {status, current_position, nav2_available}
+    def get_current_position()  # 从 /amcl_pose topic 获取 [x,y,yaw]
+```
+
+**工作原理**:
+1. 使用 `nav2_simple_commander.BasicNavigator`（官方 Python API）
+2. 在子线程中初始化 `rclpy`，构造 `PoseStamped` 消息并调用 `goToPose()`
+3. 轮询 `isTaskComplete()` 查看导航是否完成
+4. 超时时调用 `cancelTask()` 取消
+5. 位置反馈从 `/amcl_pose`（AMCL 定位结果）而非 `/odom`（里程计）获取，避免累积漂移
+
+**返回原点机制**: `_return_to_origin()` 导航到 `(0, 0)`，超时 180 秒，最多重试 3 次。
+
+### 4.6 QRScanner — 二维码识别
+
+```python
+class QRScanner:
+    def open()           # 打开摄像头（V4L2，device_index=4）
+    def read_frame()     # 读取一帧（带超时保护）
+    def detect_qr(frame) # 双引擎：pyzbar > OpenCV QRCodeDetector
+    def scan_once()      # 单次扫描
+    def scan_with_retry(max_attempts, interval)  # 多次重试
+```
+
+**双引擎策略**:
+1. **pyzbar**（优先）: 识别率更高，支持多种条码格式
+2. **OpenCV QRCodeDetector**（兜底）: pyzbar 失败时启用
+
+**绿屏/花屏修复**: `_fix_frame()` 方法检测 YUYV 格式未转换导致的绿屏（G 通道全满），自动做 `COLOR_YUV2BGR_YUYV` 转换。全黑帧直接丢弃。
+
+### 4.7 ImageUploader — 照片上传
+
+```python
+class ImageUploader:
+    def upload(image_path, serial_number, photo_index, photo_type)
+    def upload_batch(image_paths, serial_number, start_index)
+```
+
+**上传协议**:
+- **方法**: HTTP POST（multipart/form-data）
+- **URL**: `{ZHIJIAN_BASE_URL}{API_PREFIX}/file/uploadImage`
+  - 正式: `https://ts.zhijian168.com/prod-api/file/uploadImage`
+  - 测试: `http://192.168.60.159:8080/file/uploadImage`
+- **字段**: `file` (MultipartFile), `serialNumber` (String), `index` (Integer)
+- **认证**: `Authorization: Bearer <JWT Token>`
+- **重试**: 最多 3 次，间隔 2 秒
+
+---
+
+## 5. 通信协议
+
+### 5.1 Flask ↔ 前端
+
+- **协议**: HTTP RESTful JSON
+- **端口**: `5000`
+- **格式**: `{"ok": bool, ...data}`
+
+### 5.2 Flask ↔ AGV (ROS2)
+
+```bash
+# 发布速度指令
+ros2 topic pub /cmd_vel geometry_msgs/msg/Twist "{linear: {x: 1.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 0.0}}" --once
+
+# 获取位置 (AMCL)
+ros2 topic echo /amcl_pose --once
+```
+
+### 5.3 Flask ↔ 机械臂 (TCP)
+
+```
+请求:  set_angles(-90.33,-90.08,0.16,-90.57,0.09,22.23,1000)\n
+响应:  set_angles:ok
+
+请求:  get_angles()\n
+响应:  get_angles:[-90.33,-90.08,0.16,-90.57,0.09,22.23]
+```
+
+### 5.4 Flask ↔ Java 后端
+
+| 接口 | 方法 | URL 路径 | 说明 |
+|------|------|---------|------|
+| 报关单列表 | GET | `/zhijian/integration/customsListPage` | ?pageNum=&pageSize= |
+| 机器列表 | GET | `/zhijian/integration/customsMachines` | ?customsId= |
+| 机型查询 | GET | `/zhijian/profile/printer` | ?serialNumber= |
+| 文件上传 | POST | `/file/uploadImage` | multipart/form-data |
+
+**认证**: 所有请求携带 `Authorization: Bearer <token>` 头。
+
+---
+
+## 6. 完整 API 接口文档
+
+### 6.1 系统状态 API
+
+| 路由 | 方法 | 说明 | 参数 |
+|------|------|------|------|
+| `/api/status` | GET | 全局状态（连接/地图/任务统计） | - |
+| `/api/system/connect` | POST | 一次性连接所有设备 | - |
+| `/api/system/disconnect` | POST | 断开所有设备 | - |
+| `/api/device/connect` | POST | 连接单个设备 | `{"device":"agv\|arm\|camera\|arm_camera"}` |
+
+### 6.2 AGV 控制 API
+
+| 路由 | 方法 | 说明 | 参数 |
+|------|------|------|------|
+| `/api/agv/move` | POST | 控制移动 | `{"direction":"forward\|backward\|left\|right\|left_lateral\|right_lateral\|stop","speed":1.0}` |
+| `/api/agv/position` | GET | 获取位置+电量 | - |
+| `/api/agv/stop` | POST | 紧急停止 | - |
+| `/api/agv/reset` | POST | 撞物体后复位 | - |
+
+### 6.3 机械臂控制 API
+
+| 路由 | 方法 | 说明 | 参数 |
+|------|------|------|------|
+| `/api/arm/get_angles` | GET | 获取当前6关节角度 | - |
+| `/api/arm/set_angles` | POST | 设置全部关节 | `{"angles":[],"speed":1000}` |
+| `/api/arm/set_angle` | POST | 设置单个关节 | `{"joint":"J1","angle":90,"speed":500}` |
+| `/api/arm/jog` | POST | 连续调节关节 | `{"joint":"J1","direction":1\|-1\|0,"speed":500}` |
+| `/api/arm/get_coords` | GET | 获取末端坐标 | - |
+| `/api/arm/power_on` | POST | 上电 | - |
+| `/api/arm/state_on` | POST | 激活 | - |
+| `/api/arm/state_off` | POST | 去激活 | - |
+| `/api/arm/state_check` | GET | 检查状态 | - |
+
+### 6.4 摄像头 API
+
+| 路由 | 方法 | 说明 | 参数 |
+|------|------|------|------|
+| `/api/camera/preview` | GET | AGV 摄像头 MJPEG 流 | - |
+| `/api/camera/refresh` | GET | AGV 摄像头单帧 JPEG | - |
+| `/api/camera/capture` | GET | 拍摄一张照片保存本地 | - |
+| `/api/camera/arm_refresh` | GET | 机械臂摄像头单帧（翻转+花屏检测） | - |
+| `/api/camera/arm_preview` | GET | 机械臂摄像头 MJPEG 代理流 | - |
+| `/api/camera/qr_scan` | GET | AGV 摄像头扫码一次 | - |
+| `/api/camera/capabilities` | GET | 摄像头能力信息 | - |
+
+### 6.5 地图导航 API
+
+| 路由 | 方法 | 说明 | 参数 |
+|------|------|------|------|
+| `/api/map/load` | POST | 加载地图文件 | `{"map_dir":"...","map_file":"map.yaml"}` |
+| `/api/map/save` | POST | 保存地图配置 | `{"map_dir":"...","map_file":"map.yaml"}` |
+| `/api/map/image` | GET | 获取地图 PNG 图像 | - |
+| `/api/map/meta` | GET | 获取地图元数据（分辨率/原点/尺寸） | - |
+| `/api/navigate/to` | POST | 导航到目标坐标 | `{"x":1.0,"y":2.0,"yaw":0.0}` |
+| `/api/navigate/stop` | POST | 停止导航 | - |
+| `/api/navigate/cancel` | POST | 取消导航 | - |
+| `/api/navigate/status` | GET | 获取导航状态 | - |
+| `/api/navigate/path` | POST | 预览路径（Nav2 不可用） | `{"x":1.0,"y":2.0}` |
+
+### 6.6 任务执行 API
+
+| 路由 | 方法 | 说明 | 参数 |
+|------|------|------|------|
+| `/api/mission/start` | POST | 开始执行任务 | `{"single_step":false,"arm_init":true,"agv_move":true,"qr_scan":true,"front_photo":true,"back_photo":true,"agv_speed":1.0,"arm_speed":1000}` |
+| `/api/mission/stop` | POST | 停止任务 | - |
+| `/api/mission/pause` | POST | 暂停任务 | - |
+| `/api/mission/resume` | POST | 恢复任务 | - |
+| `/api/mission/report` | GET | 获取执行报告 | - |
+| `/api/mission/state` | GET | 任务实时状态（步骤/进度/查验/QR消息） | - |
+| `/api/mission/log` | GET | 实时日志 | - |
+| `/api/mission/manual-qr` | POST | 手动输入二维码（弹窗提交） | `{"qr":"BG042110276"}` |
+| `/api/mission/error-skip` | POST | 错误弹窗：跳过 | - |
+| `/api/mission/error-abort` | POST | 错误弹窗：中断 | - |
+| `/api/mission/singlestep/confirm` | POST | 单步确认 | - |
+| `/api/mission/singlestep/retry` | POST | 单步重试 | - |
+| `/api/mission/singlestep/abort` | POST | 单步中断 | - |
+
+### 6.7 任务配置 API
+
+| 路由 | 方法 | 说明 | 参数 |
+|------|------|------|------|
+| `/api/mission/config` | GET | 获取网格配置+空位矩阵 | - |
+| `/api/mission/config` | POST | 设置网格配置 | `{"rows":2,"cols":5,"grid":[[],...],"arm_initial_pose":[]}` |
+| `/api/mission/position` | GET | 获取 AGV 当前位置（设置点位用） | - |
+| `/api/mission/init_pose` | POST | 将 AMCL 初始位置设为 (0,0,0) | - |
+| `/api/mission/positions` | GET | 获取所有点位坐标 | - |
+| `/api/mission/positions` | POST | 保存/更新单点位 | `{"row":0,"col":0,"side":"front","coords":[],"poses":[]}` |
+| `/api/mission/machines` | GET | 获取所有机器配置 | - |
+| `/api/mission/machines` | POST | 批量保存机器配置 | `{"machines":[...]}` |
+| `/api/mission/machines/add` | POST | 添加单台机器 | `{"row":0,"col":0,"front":{},"back":{}}` |
+| `/api/mission/machines/<id>` | PUT | 更新机器配置 | |
+| `/api/mission/machines/<id>` | DELETE | 删除机器配置 | |
+| `/api/mission/poses/<id>/<side>` | GET | 获取机器指定侧姿态 | - |
+| `/api/mission/poses/<id>/<side>` | POST | 添加姿态到机器 | `{"arm_angles":[],"speed":500}` |
+| `/api/mission/poses/<id>/<side>/<pid>` | DELETE | 删除姿态 | - |
+| `/api/mission/qr_scan/<id>` | POST | AGV 摄像头扫码关联机器 | - |
+| `/api/mission/generate_sequence` | GET | 生成蛇形拍摄序列预览 | - |
+
+### 6.8 机型配置 API
+
+| 路由 | 方法 | 说明 | 参数 |
+|------|------|------|------|
+| `/api/models/list` | GET | 获取所有机型 | - |
+| `/api/models/add` | POST | 添加机型 | `{"name":"机型1","serial_prefix":"BG"}` |
+| `/api/models/<id>` | POST | 更新机型 | - |
+| `/api/models/<id>` | DELETE | 删除机型 | - |
+| `/api/models/poses/add` | POST | 添加姿态到机型 | `{"model_id":"xxx","name":"正1","photo_type":"front","arm_angles":[]}` |
+| `/api/models/<id>/poses` | GET | 获取机型姿态列表 | - |
+| `/api/models/<id>/poses/<pid>` | PUT | 更新姿态 | - |
+| `/api/models/<id>/poses/<pid>` | DELETE | 删除姿态 | - |
+
+### 6.9 二维码配置 API
+
+| 路由 | 方法 | 说明 | 参数 |
+|------|------|------|------|
+| `/api/qr/configs` | GET | 获取所有二维码配置 | - |
+| `/api/qr/configs` | POST | 添加二维码配置 | `{"name":"二维码1","joint_angles":[]}` |
+| `/api/qr/configs/<id>` | PUT | 更新二维码配置 | - |
+| `/api/qr/configs/<id>` | DELETE | 删除二维码配置 | - |
+| `/api/qr/configs/<id>/read-angles` | POST | 读取当前臂角度写入配置 | - |
+| `/api/qr/scan/<id>` | POST | 机械臂摄像头扫码保存 | - |
+
+### 6.10 报关单与查验 API
+
+| 路由 | 方法 | 说明 | 参数 |
+|------|------|------|------|
+| `/api/customs/list` | GET | 报关单列表（代理） | `?pageNum=1&pageSize=50` |
+| `/api/customs/machines` | GET | 报关单机器列表（代理） | `?customsId=xxx` |
+| `/api/customs/selected` | POST | 设定当前报关单 | `{"id":"xxx","name":"xxx","machine_ids":[]}` |
+| `/api/customs/selected` | GET | 获取当前报关单 | - |
+| `/api/customs/printer` | GET | 查询机型+更新查验计数 | `?serialNumber=xxx` |
+| `/api/customs/inspection/start` | POST | 开始查验 | `{"customsId":"xxx"}` |
+| `/api/customs/inspection` | GET | 获取查验状态 | - |
+| `/api/customs/inspection/end` | POST | 结束查验 | - |
+| `/api/customs/inspection/update` | POST | 直接更新计数 | `{"inventoryCode":"xxx"}` |
+
+### 6.11 环境切换 API
+
+| 路由 | 方法 | 说明 | 参数 |
+|------|------|------|------|
+| `/api/config/mode` | GET | 获取当前环境 | - |
+| `/api/config/mode` | POST | 切换测试/正式环境 | `{"test_mode":true}` |
+
+**环境差异**:
+| 项目 | 测试环境 | 正式环境 |
+|------|---------|---------|
+| Base URL | `http://192.168.60.159:8080` | `https://ts.zhijian168.com` |
+| API 前缀 | 空 | `/prod-api` |
+| 上传地址 | `http://192.168.60.159:8080/file/uploadImage` | `https://ts.zhijian168.com/prod-api/file/uploadImage` |
+
+---
+
+## 7. 任务执行流程
+
+### 7.1 完整生命周期
+
+```
+[1] 前端设置页配置
+    ├── 加载地图 → 设置 M×N 网格尺寸（rows/cols）
+    ├── 标注空位（Machine Toggle 切换每个单元格有/无机器）
+    ├── 逐点位标定坐标（AGV 开到机器前→读取位置→保存）
+    ├── 配置二维码扫描角度（机械臂对准二维码位置）
+    ├── 配置机型姿态组（正/背面，每面多角度）
+    └── 连接设备（AGV/机械臂/摄像头）
+
+[2] 报关单查验
+    ├── 选择报关单 → 开始查验
+    └── 系统按 inventoryCode 聚合统计各机型待查验数量
+
+[3] 启动任务
+    ├── POST /api/mission/start（可选单步模式+步骤开关）
+    └── MissionExecutorV3.execute_mission() 在新线程中运行
+
+[4] 逐点位蛇形执行
+    For each 点位 (pr, c) in 蛇形路径:
+    ├── [可选] 恢复机械臂初始姿态
+    ├── [可选] 导航到该点位坐标
+    │       └── Nav2Navigator.navigate_to_pose() → BasicNavigator.goToPose()
+    │
+    ├── 背面操作（如果 pr>0 且 (pr-1,c) 有机器）
+    │   ├── 切换到 QR 扫描姿态（可选）
+    │   ├── 扫描二维码 → 查机型 → [可选] 拍照
+    │   └── 上传照片 + 更新查验计数
+    │
+    └── 正面操作（如果 pr<rows 且 (pr,c) 有机器）
+        ├── 切换到 QR 扫描姿态
+        ├── _scan_qr_with_poses(qr_configs):
+        │   ├── 逐姿态尝试扫描（pyzbar + OpenCV）
+        │   ├── 失败 → 弹窗 _request_manual_qr()
+        │   └── 机型不在报关单 → 弹窗重新输入（不可跳过）
+        │
+        ├── _lookup_model(qr_value):
+        │   ├── 请求 /api/customs/printer?serialNumber=xxx
+        │   ├── 超量检查（inspected >= quantify）
+        │   └── 返回机型名称
+        │
+        └── _shoot(model, "front"):
+            ├── 逐姿态设置关节角度 + 等待就位
+            ├── _capture_arm_photo() → 机械臂摄像头拍照
+            ├── _upload_photo_bytes() → HTTP上传
+            └── 更新查验计数
+
+[5] 任务完成
+    ├── _return_to_origin() → 导航回 (0,0)
+    └── 生成执行报告
+```
+
+### 7.2 QR 扫描流程详解
+
+```
+_scan_qr_with_poses(qr_configs, machine_row):
+    1. 逐 QR 配置尝试
+       ├── set_angles(qr_config.joint_angles) → 机械臂移到扫码位
+       ├── _wait_arm_ready() → 等待到位（容差 2°）
+       └── _decode_qr_from_arm():
+           ├── HTTP GET 机械臂摄像头单帧
+           ├── 花屏检测 (_is_corrupted_jpeg)
+           ├── pyzbar.decode() → 识别成功
+           └── OpenCV QRCodeDetector → 兜底
+
+    2. 如果识别失败:
+       ├── 报错日志 + 弹窗 _request_manual_qr()
+       └── 强制用户扫描/输入（不可跳过，仅任务停止可退出）
+
+    3. 如果机型不在报关单 (_lookup_model 返回 matched=null):
+       ├── 弹窗 _request_manual_qr() 强制重新输入
+       └── 循环直到匹配或任务停止
+
+    4. 如果已查验数量 ≥ 报关单数量 (_lookup_model 检测超量):
+       ├── 弹窗 _request_manual_qr() 强制重新输入
+       └── 循环直到不超量或任务停止
+```
+
+### 7.3 拍照流程详解
+
+```
+_shoot(model, side, row, col, qr_value, machine_row):
+    1. 过滤姿态: 只取 photo_type == side 的姿态
+    2. 镜像规则: machine_row % 2 == 1 → J1 = -J1
+    3. 逐姿态执行:
+       ├── set_angles(pose.arm_angles, speed)
+       ├── _wait_arm_ready() → 等待姿态稳定
+       ├── _capture_arm_photo():
+       │   ├── HTTP GET 机械臂摄像头 JPG
+       │   ├── 花屏检测
+       │   └── 保存到 /home/elephant/photos/
+       └── _upload_photo_bytes():
+           ├── POST multipart/form-data
+           ├── serialNumber = qr_value
+           ├── index = next_upload_index（全局递增，从1开始）
+           └── 重试3次
+    4. 日志: "拍照完成 (机型=Mxx, 面=正面, 位置=r-c)"
+```
+
+### 7.4 错误处理
+
+| 场景 | 触发条件 | 处理方式 |
+|------|---------|---------|
+| 导航失败 | Nav2 超时/返回 failed | 错误弹窗（跳过/中断） |
+| QR 识别失败 | 所有姿态尝试均未识别 | 手动输入弹窗（不能跳过） |
+| 机型不在报关单 | printer 返回空 matchedItem | 手动输入弹窗（不能跳过） |
+| 查验超量 | inspected >= quantify | 手动输入弹窗（不能跳过） |
+| 拍照失败 | HTTP 请求/文件损坏 | 记录日志，继续下一张 |
+| 上传失败 | HTTP 超时/401/非200 | 重试3次，记录日志 |
+| 机械臂超时 | _wait_arm_ready 15秒超时 | 记录实际偏差，继续执行 |
+
+---
+
+## 8. 数据配置格式
+
+### 8.1 任务网格配置 (mission_config.json)
+
+```json
+{
+  "rows": 2,
+  "cols": 5,
+  "grid": [[true, true, true, true, true],
+           [true, true, true, true, true]],
+  "positions": [
+    {"row": 0, "col": 0, "side": "front", "coords": [0.54, -1.32, -0.05], "poses": []},
+    {"row": 1, "col": 0, "side": "back",  "coords": [0.65, -3.63, -3.06], "poses": []}
+  ],
+  "arm_initial_pose": [-90.33, -90.08, 0.16, -90.57, 0.09, 22.23]
+}
+```
+
+- `grid[r][c]` = `true` 表示该位置有机器
+- `positions` 中 `row=pr` 表示点位行（非机器行），机器行 `mr = pr` (正面) 或 `mr = pr-1` (背面)
+- `coords = [x, y, yaw]` 地图坐标和朝向
+
+### 8.2 机器配置 (machines_config.json)
+
+```json
+[{
+  "id": "m_0_0",
+  "row": 0, "col": 0,
+  "front": {
+    "coords": [0.54, -1.32, -0.05],
+    "poses": [{"id":"pose_xxx","name":"正1","arm_angles":[...],"speed":500}]
+  },
+  "back": {
+    "coords": [0.65, -3.63, -3.06],
+    "poses": [{"id":"pose_xxx","name":"背1","arm_angles":[...],"speed":500}]
+  }
+}]
+```
+
+### 8.3 机型配置 (models_config.json)
+
+```json
+[{
+  "id": "m_1778767289",
+  "name": "MXM465N",
+  "serial_prefix": "BG",
+  "poses": [
+    {
+      "id": "pose_xxx1",
+      "name": "正面姿态1",
+      "photo_type": "front",
+      "arm_angles": [-93.59, -184.34, 50.58, -38.33, -85.15, 20.40],
+      "speed": 500
+    },
+    {
+      "id": "pose_xxx2",
+      "name": "背面姿态1",
+      "photo_type": "back",
+      "arm_angles": [15.86, -161.13, 138.0, -162.0, 168.0, 15.65],
+      "speed": 500
+    }
+  ]
+}]
+```
+
+- `photo_type`: `"front"` / `"back"` / `"nameplate"`
+- `arm_angles`: `[J1, J2, J3, J4, J5, J6]` 单位为度
+
+### 8.4 二维码扫描姿态 (qr_config.json)
+
+```json
+[{
+  "id": "qr_001",
+  "name": "正面扫码位",
+  "joint_angles": [-89.80, -2.01, -87.18, -82.50, -93.32, 20.40],
+  "qr_value": "",
+  "model_id": ""
+}]
+```
+
+---
+
+## 9. 部署与运维
+
+### 9.1 环境要求
+
+**AGV (主控)**:
+- Ubuntu 22.04 (ROS2 Humble)
+- uv 管理的 Python 3.10 虚拟环境
+- OpenCV (cv2), Flask, requests, numpy, pyzbar, PyYAML
+- ROS2 Humble + nav2_simple_commander
+- 系统依赖：ffmpeg、libzbar0
+
+**机械臂 (Pi)**:
+- arm_server.py（TCP 服务器端口 5002）
+- arm_camera.py（MJPEG 服务器端口 5003）
+- RoboFlow（大象机器人 SDK）
+- uv 管理的 Python 3.10 虚拟环境
+
+### 9.2 启动流程
+
+```bash
+# === 首次部署 / 依赖同步 ===
+cd ~/work/smart-inspection
+uv sync
+
+# === 机械臂端 (Pi) ===
+# 1. 启动 arm_server (TCP 5002) + arm_camera (MJPEG 5003)
+sudo systemctl start arm_server
+
+# === AGV 端 ===
+# 2. 完整启动 ROS2 导航栈 + Flask
+cd ~/work/smart-inspection
+./scripts/start_all.sh
+```
+
+### 9.3 部署命令
+
+```bash
+# 本地 → AGV 部署：同步仓库根目录后，在 AGV 上执行
+cd ~/work/smart-inspection
+uv sync --locked
+
+# 部署后验证远程文件
+ssh elephant@192.168.60.80 "grep 'def _lookup_model' /home/elephant/work/smart-inspection/agv_app/utils/mission_executor.py"
+
+# 重启 Flask
+ssh elephant@192.168.60.80 'bash -s' < scripts/restart_flask.sh
+
+# 清空 Python 缓存（关键！修改后必须清）
+ssh elephant@192.168.60.80 "find /home/elephant/work/smart-inspection/agv_app -name '*.pyc' -delete; find /home/elephant/work/smart-inspection/agv_app -name '__pycache__' -type d -exec rm -rf {} +"
+```
+
+### 9.4 关键运维经验
+
+| 问题 | 根因 | 解决方案 |
+|------|------|---------|
+| Flask 模板/JS 不生效 | 模板缓存 | 重启 Flask 服务 |
+| Python 修改不生效 | `__pycache__` 缓存 | 删除所有 .pyc 和 __pycache__ |
+| V4L2 摄像头无响应 | 设备独占 | kill 残留进程后重开 |
+| ROS2 节点互相不可见 | ROS_DOMAIN_ID 不一致 | 统一设为 1 |
+| 导航 DDS 发现失败 | FastRTPS 共享内存残留 | `rm -f /dev/shm/fastrtps_*` |
+| 机械臂摄像头花屏 | USB 掉线致 ffmpeg 读失效 fd | arm_server 添加 JPEG 校验+自动重连 |
+| Flask SIGTERM 被杀 | sshpass+nohup 触发 | 用 expect 脚本重启 |
+| 照片上传 405 | 缺少 `/prod-api` 前缀 | config.py 动态拼接 API_PREFIX |
+
+---
+
+## 10. 关键决策与约束
+
+### 10.1 架构决策
+
+| 决策 | 原因 |
+|------|------|
+| **agv_controller 用 ROS2 CLI 而非 rclpy** | 避免 rclpy 初始化与 Flask 多线程冲突 |
+| **Nav2 用 BasicNavigator API 而非 subprocess** | 原生 API 更可靠（subprocess 的 stdin pipe 有 Humble bug） |
+| **机械臂用 TCP Socket 而非 pymycobot** | pymycobot 存在死锁问题 |
+| **位置源用 /amcl_pose 而非 /odom** | /odom 累积漂移，/amcl_pose 有地图校正 |
+| **Vue 用 `{% raw %}` 包裹** | Jinja2 与 Vue 3 `{{}}` 冲突 |
+| **单例 MissionExecutorV3** | 一个任务实例全局可见，方便停止 |
+| **蛇形路径镜像只取反 J1** | 用户要求：同一边只需镜像 J1 关节 |
+| **QR 弹窗不可跳过** | 业务约束：机型不在报关单/超量必须人工介入 |
+| **上传序号全局递增** | 连续编号便于后端核对 |
+| **环境切换无需重启** | 运行时动态修改 config 变量 + 代理 URL |
+
+### 10.2 已知约束
+
+| 约束 | 影响 |
+|------|------|
+| **摄像头 device_index=4** | 固定的 Orbbec Gemini 设备号，不可修改 |
+| **V4L2 设备独占** | 同时只能一个进程打开 /dev/video4 |
+| **ROS 时钟漂移 ~5.5min** | 需检查 AGV 的 RTC/NTP 同步 |
+| **机械臂精度 ±1.5°** | _wait_arm_ready 容差 2° 可能过严 |
+| **AGV 重启自动切正式环境** | 无持久化配置方案 |
+| **报关单数据依赖外部 API** | API 格式不稳定（裸数组 vs 包装对象） |
+
+---
+
+## 附录 A：目录结构
+
+```
+agv_app/
+├── app.py                    # Flask 主程序 (2132行)
+├── config.py                 # 集中配置
+├── templates/
+│   ├── index.html            # AGV 控制页
+│   ├── setting.html          # 设置页（网格/机型/报关单）
+│   └── running.html          # 任务运行页
+├── static/
+│   ├── css/style.css         # 样式（深色主题）
+│   └── js/
+│       ├── app.js            # 控制页逻辑
+│       ├── setting.js        # 设置页逻辑
+│       ├── running.js        # 运行页逻辑
+│       └── vue3.global.prod.js  # Vue 3 CDN
+├── data/
+│   ├── mission_config.json   # 网格尺寸+点位坐标
+│   ├── machines_config.json  # 机器配置（正/背面）
+│   ├── models_config.json    # 机型配置（姿态组）
+│   ├── qr_config.json        # 二维码扫描姿态
+│   └── map_config.json       # 地图配置
+├── utils/
+│   ├── mission_executor.py   # 任务执行器 V3 (1198行)
+│   ├── agv_controller_ros2.py # AGV 运动控制 (216行)
+│   ├── arm_client.py         # 机械臂客户端 (170行)
+│   ├── nav2_navigator.py     # Nav2 导航器 (350行)
+│   ├── qr_scanner.py         # 二维码扫描 (170行)
+│   └── image_uploader.py     # 图片上传 (76行)
+```
+
+启动脚本位于仓库顶层 `scripts/`。LiDAR 时间戳修复脚本部署在 AGV 的
+`/home/elephant/work/scan_fixer/`，由 `scripts/start_all.sh` 调用。
+
+## 附录 B：关键依赖
+
+```
+pyproject.toml                   # Python 依赖声明
+uv.lock                          # 锁定版本
+.python-version                  # Python 3.10
+ffmpeg                           # 系统依赖，机械臂视频流
+libzbar0                         # 系统依赖，pyzbar 动态库
+ROS2 Humble                      # 系统环境，提供 rclpy/nav2_simple_commander/geometry_msgs
+```
+
+---
+
+> **文档维护**: 本文档随代码同步更新。关键变更请记录到 `memory/YYYY-MM-DD.md`。

docs/开发记录_2026-05_06.md

@@ -0,0 +1,151 @@
+# AGV + 机械臂 移动拍摄平台 — 开发记录
+
+> 汇总 2026年5-6月期间的所有修复记录和任务总结
+
+---
+
+## 一、running.html 显示修复 + 任务执行状态实时更新 (2026-05-29 13:10)
+
+### 目标
+修复运行页面两个 bug：
+1. 模板中 `{{ }}` 显示为原始文本（Vue 未挂载）
+2. 任务执行过程中状态不更新（始终显示"⏳等待"）
+
+### 根因分析
+
+**问题1：`{{ }}` 原文显示**
+- `running.js` 写有 `delimiters: ['[[', ']]']`，但 **Vue 3 已移除此选项**（被静默忽略）
+- Vue 3 只认 `{{ }}`，但模板中混用了 `[[ ]]` 和 `{% raw %}{{ }}{% endraw %}`
+- 残留的裸 `[[ ]]`（log、report、errorMsg 等）未被 Jinja2 处理，Vue 也因 delimiters 冲突不解析
+- **修复**：删除 `delimiters` 行 → 全部改用 `{% raw %}{{ }}{% endraw %}` 包裹 Vue 表达式
+
+**问题2：状态不更新**
+- `api_mission_state()` 每次都从文件初始化 `point_status`/`machine_status` 为全 `"pending"`
+- `mission_executor.py` 完全没有跟踪 `point_status` 和 `machine_status`
+- **修复**：executor 添加状态跟踪 + app.py 从 executor.report 读取实时状态
+
+### 修改的文件
+
+| 文件 | 改动 |
+|------|------|
+| `running.js` | 删除 `delimiters: ['[[', ']]']` |
+| `running.html` | 全部 `[[ ]]` → `{% raw %}{{ }}{% endraw %}`（14处） |
+| `app.py` | `api_mission_state()` 从 `ex.report` 读取 `point_status`/`machine_status` |
+| `mission_executor.py` | 初始化+实时更新 `point_status`（pending/active/done/skipped）和 `machine_status`（pending/active/completed） |
+
+### 关键设计
+
+**point_status 状态流转：**
+- `pending` → `active`（开始导航到点位） → `done`（到达） → `skipped`（空位永不更新）
+
+**machine_status 状态流转：**
+- 初始化全 `pending`
+- 正面扫码开始：`status=active, step=正面扫码`
+- 扫码完成：`qr=done/skipped, qr_val=xxx, step=正面拍照`
+- 正面拍照完成：`front=done/skipped, front_cnt++`
+- 背面拍照开始：`step=背面拍照`
+- 背面拍照完成：`back=done/skipped, back_cnt++, status=completed, step=完成`
+
+### 部署状态
+- 所有4个文件已通过 scp 部署到 `192.168.50.93`
+- Flask 已重启（PID 3664）
+- API 验证通过：`point_status` 和 `machine_status` 正常返回
+- 本地文件已同步回 workspace
+
+---
+
+## 二、AGV 蛇形路径关节反转逻辑 (2026-05-29 13:49)
+
+### 需求理解
+
+蛇形路径行走时，AGV 在不同行到达点位时朝向相反：
+- 偶数行(0,2,4...)点位 → AGV 从出发方向来 → 正面/背面朝向 = 标定朝向 → **不反转**
+- 奇数行(1,3,5...)点位 → AGV 从对面来 → 正面/背面朝向 = 标定朝向的反面 → **反转所有关节角度**
+
+### 修复内容
+
+修改 `mission_executor.py`：
+
+**1. `_shoot()` 新增 `machine_row` 参数**
+```python
+def _shoot(self, model, side, row, col, qr_value, machine_row=0):
+    invert = (machine_row % 2 == 1)  # 奇数行=反转
+    if invert:
+        angles = [-a for a in angles]  # 6个关节全部取反
+```
+调用处传入 `machine_row`（正面=pr，背面=pr-1）
+
+**2. `_scan_qr_with_poses()` 新增 `machine_row` 参数**
+```python
+def _scan_qr_with_poses(self, qr_configs, machine_row=0):
+    invert = (machine_row % 2 == 1)
+    if invert:
+        angles = [-a for a in angles]  # 二维码扫描时也反转
+```
+
+**3. 调用处传递 `machine_row`**
+- `_scan_qr_with_poses(qr_configs, machine_row=pr)` — 正面扫码
+- `_shoot(model, "front", ..., pr)` — 正面拍照
+- `_shoot(model, "back", ..., pr-1)` — 背面拍照
+
+### 部署状态
+- Flask PID 20577，AGV IP 192.168.50.93
+- 已通过语法检查 ✅ 已部署 ✅
+
+---
+
+## 三、修复删除机器姿态 404 错误 (2026-05-29)
+
+### 问题描述
+删除机器姿态时出现 404 错误：
+```
+/api/mission/poses/m_1778767289/pose_1778767312/undefined
+```
+URL 末尾出现 `undefined`，说明 `poseId` 参数丢失。
+
+### 根因分析
+JS 中存在两个同名方法 `deletePose`：
+1. **机型姿态** (L457): `deletePose(modelId, poseId)` → 调用 `/api/models/...`
+2. **机器姿态** (L776): `deletePose(machineId, side, poseId)` → 调用 `/api/mission/poses/...`
+
+Vue 方法重载机制导致参数错位，`poseId` 变成 `undefined`。
+
+### 修复方案
+将机器姿态方法重命名为 `deleteMachinePose`，避免命名冲突。
+
+### 修改文件
+- `static/js/setting.js` L776: `deletePose` → `deleteMachinePose`
+
+### 部署
+- setting.js 已部署到 AGV
+- setting.html 已部署到 AGV（版本号更新）
+- 浏览器需刷新缓存 (Ctrl+F5)
+
+### 待确认
+- 模板中是否有调用 `deleteMachinePose` 的地方需同步修改
+
+---
+
+## 四、技术说明文档生成 (2026-06-17)
+
+### 任务
+为 AGV + 机械臂移动拍摄平台项目生成详细的技术说明文档
+
+### 产出
+- **文件**: `AGV_机械臂_技术说明文档.md` (888行, 39.5KB)
+- **内容覆盖**:
+  1. 项目概述（业务目标、核心能力、技术栈）
+  2. 系统架构（架构图、核心文件清单）
+  3. 硬件环境与网络拓扑（设备清单、参数）
+  4. 核心模块详解（GlobalState、MissionExecutorV3、AGVController、ArmClient、Nav2Navigator、QRScanner、ImageUploader）
+  5. 通信协议（Flask↔前端、ROS2、TCP Socket、Java后端）
+  6. 完整API接口文档（11个分组、98个端点）
+  7. 任务执行流程（生命周期、QR扫描流程、拍照流程、错误处理）
+  8. 数据配置格式（4种JSON schema）
+  9. 部署与运维（启动流程、部署命令、常见问题）
+  10. 关键决策与约束（10项架构决策 + 6项已知约束）
+
+### 数据来源
+- 逐文件阅读了全部7个Python源文件（共~4312行代码）
+- 读取了4个数据配置文件
+- 结合记忆条目中的经验教训和已知问题

pyproject.toml

@@ -0,0 +1,21 @@
+[project]
+name = "smart-inspection"
+version = "0.1.0"
+description = "AGV 智能巡检系统与机械臂服务端"
+readme = "scripts/README.md"
+requires-python = ">=3.10,<3.11"
+dependencies = [
+    "flask>=2.0,<2.3",
+    "flask-cors>=3.0",
+    "numpy>=1.20",
+    "opencv-python>=4.5",
+    "pillow>=10.0",
+    "pymycobot>=4.0.0",
+    "pyyaml>=6.0",
+    "pyzbar>=0.1.8",
+    "requests>=2.25",
+    "werkzeug>=2.2,<3.0",
+]
+
+[tool.uv]
+package = false

restart_agv.sh

@@ -1,31 +0,0 @@
-#!/bin/bash
-cd /home/elephant/work/agv_app
-
-# 语法检查
-python3 -m py_compile app.py
-if [ $? -ne 0 ]; then
-    echo "Syntax error!"
-    exit 1
-fi
-
-# 重启服务
-pkill -f "python.*app.py" 2>/dev/null
-sleep 1
-nohup python3 app.py > app.log 2>&1 &
-sleep 3
-
-# 验证
-if ss -tlnp | grep 5000; then
-    echo "✓ 端口5000 正常"
-    # 测试机械臂单帧
-    result=$(curl -s --max-time 5 http://127.0.0.1:5000/api/camera/arm_refresh | head -c 4)
-    echo -n "arm_refresh: "
-    if [ "$result" = "$(echo -en '\xff\xd8\xff\xe0')" ]; then
-        echo "JPEG OK ✓"
-    else
-        echo "返回: $(echo $result | xxd | head -1)"
-    fi
-else
-    echo "✗ 启动失败"
-    tail -10 app.log
-fi

scripts/README.md

@@ -0,0 +1,96 @@
+# AGV 智能巡检系统 — 脚本说明
+
+## 目录结构
+
+```
+scripts/
+├── start_all.sh          ← 生产环境完整启动（ROS2 + Nav2 + Flask）
+├── stop_all.sh           ← 生产环境完整停止
+├── start_flask.sh        ← 仅重启 Flask（修改代码后快速部署）
+├── restart_flask.sh      ← 语法检查 + 清缓存 + 重启 Flask + 验证
+└── dev_start.sh          ← 本地开发用（前台运行，不启动 ROS2）
+```
+
+## 使用场景
+
+### 0. 初始化 Python 环境
+
+项目使用 `uv` 统一管理 Python 虚拟环境，依赖声明在仓库根目录 `pyproject.toml`，锁定版本在 `uv.lock`。
+
+```bash
+# 如系统尚未安装 uv，先安装 uv
+curl -LsSf https://astral.sh/uv/install.sh | sh
+
+# 在仓库根目录执行
+cd ~/work/smart-inspection
+uv sync
+```
+
+`uv sync` 会按 `.python-version` 创建 Python 3.10 虚拟环境到 `.venv`。ROS2 Humble 仍使用系统环境 `/opt/ros/humble`，不要把 ROS2 系统包写入 `pyproject.toml`。
+
+系统依赖仍需通过系统包管理器安装：
+
+```bash
+sudo apt install -y ffmpeg libzbar0
+```
+
+### 1. 首次开机 / 完整重启
+```bash
+# 在 AGV 上执行
+cd ~/work/smart-inspection
+./scripts/stop_all.sh    # 先彻底清理
+./scripts/start_all.sh   # 完整启动
+```
+
+### 2. 修改代码后快速部署
+```bash
+# 部署文件到 AGV 后
+ssh elephant@192.168.60.80 'bash -s' < scripts/restart_flask.sh
+```
+
+### 3. 本地开发调试（不连硬件）
+```bash
+# 在本机执行，仅启动 Flask
+./scripts/dev_start.sh
+# 访问 http://127.0.0.1:5000
+```
+
+### 4. 远程轻量重启（ROS2 已运行）
+```bash
+ssh elephant@192.168.60.80 'bash -s' < scripts/start_flask.sh
+```
+
+## 环境变量
+
+所有脚本支持通过环境变量覆盖默认路径：
+
+| 变量 | 默认值 | 说明 |
+|------|--------|------|
+| `AGV_PROJECT_DIR` | `/home/elephant/work/smart-inspection` | 仓库根目录 |
+| `AGV_APP_DIR` | `$AGV_PROJECT_DIR/agv_app` | Flask 应用目录 |
+| `AGV_ROS2_DIR` | `/home/elephant/agv_pro_ros2` | ROS2 工作空间 |
+| `SCAN_FIXER_DIR` | `/home/elephant/work/scan_fixer` | 时间戳修正工具目录 |
+| `FIXER_SCRIPT` | `fix_scan_timestamp_v6.py` | fixer 脚本名 |
+
+## 日志位置（AGV 上）
+
+| 组件 | 日志 |
+|------|------|
+| bringup (激光雷达) | `/tmp/ros2_bringup.log` |
+| Nav2 导航 | `/tmp/ros2_nav2.log` |
+| scan fixer | `/tmp/scan_fixer.log` |
+| Flask | `/tmp/agv_flask.log` |
+
+## 机械臂端
+
+机械臂 (Pi) 的启动由 systemd 托管，在 Pi 上执行：
+
+```bash
+cd ~/work/smart-inspection
+uv sync
+sudo systemctl start arm_server     # 启动
+sudo systemctl status arm_server    # 查看状态
+sudo systemctl enable arm_server    # 开机自启
+```
+
+配置见 `arm_server/arm_server.service`。

scripts/dev_start.sh

@@ -0,0 +1,43 @@
+#!/bin/bash
+# ============================================================
+# dev_start.sh - 本地开发环境启动（不启动 ROS2/机械臂硬件）
+# 用法: ./scripts/dev_start.sh
+# ============================================================
+set -e
+
+SCRIPT_DIR="$(cd "$(dirname "$0")" && pwd)"
+PROJECT_DIR="$(dirname "$SCRIPT_DIR")"
+AGV_APP_DIR="$PROJECT_DIR/agv_app"
+AGV_ROS2_DIR="${AGV_ROS2_DIR:-/home/elephant/agv_pro_ros2}"
+
+echo "=========================================="
+echo "  本地开发模式 - 仅启动 Flask"
+echo "=========================================="
+echo ""
+
+# 切换到项目目录
+source /opt/ros/humble/setup.bash 2>/dev/null || true
+source "$AGV_ROS2_DIR/install/setup.bash" 2>/dev/null || true
+
+cd "$AGV_APP_DIR"
+
+# 检查是否有运行的 Flask 进程
+FLASK_PID=$(pgrep -f "python.*app.py" 2>/dev/null || true)
+if [ -n "$FLASK_PID" ]; then
+    echo "Flask 已在运行 (PID: $FLASK_PID)"
+    read -p "是否重启? [y/N] " -n 1 -r
+    echo
+    if [[ $REPLY =~ ^[Yy]$ ]]; then
+        kill "$FLASK_PID" 2>/dev/null
+        sleep 1
+    else
+        echo "保持现有进程，退出"
+        exit 0
+    fi
+fi
+
+# 使用前台模式运行（方便看日志和 Ctrl+C 停止）
+echo "启动 Flask (前台模式，Ctrl+C 停止)..."
+echo "访问: http://127.0.0.1:5000"
+echo ""
+exec uv run --locked python app.py

scripts/restart_flask.sh

@@ -0,0 +1,65 @@
+#!/bin/bash
+# ============================================================
+# restart_flask.sh - 语法检查 + 重启 Flask + 验证
+# 用法: ssh elephant@<AGV_IP> 'bash -s' < scripts/restart_flask.sh
+#       或在 AGV 上: cd ~/work/smart-inspection && ./scripts/restart_flask.sh
+# ============================================================
+set -e
+
+AGV_PROJECT_DIR="${AGV_PROJECT_DIR:-/home/elephant/work/smart-inspection}"
+AGV_APP_DIR="${AGV_APP_DIR:-$AGV_PROJECT_DIR/agv_app}"
+AGV_ROS2_DIR="${AGV_ROS2_DIR:-/home/elephant/agv_pro_ros2}"
+
+source /opt/ros/humble/setup.bash 2>/dev/null || true
+source "$AGV_ROS2_DIR/install/setup.bash" 2>/dev/null || true
+
+cd "$AGV_APP_DIR"
+
+echo "=========================================="
+echo "  重启 Flask 服务"
+echo "=========================================="
+echo ""
+
+# 1. 语法检查
+echo "[1/3] Python 语法检查..."
+uv run --locked python -m py_compile app.py
+if [ $? -ne 0 ]; then
+    echo "❌ 语法错误，请先修复"
+    exit 1
+fi
+echo "   ✅ 语法检查通过"
+
+# 2. 清缓存 + 重启
+echo "[2/3] 清理缓存并重启..."
+find "$AGV_APP_DIR" -name '*.pyc' -delete 2>/dev/null
+find "$AGV_APP_DIR" -name '__pycache__' -type d -exec rm -rf {} + 2>/dev/null
+
+pkill -f "python.*app.py" 2>/dev/null || true
+pkill -f "uv run .*python app.py" 2>/dev/null || true
+sleep 1
+nohup uv run --locked python app.py > /tmp/agv_flask.log 2>&1 &
+FLASK_PID=$!
+echo "   Flask PID: $FLASK_PID"
+
+# 3. 验证
+echo "[3/3] 验证服务..."
+sleep 3
+if ss -tlnp 2>/dev/null | grep -q 5000 || netstat -tlnp 2>/dev/null | grep -q 5000; then
+    echo "   ✅ 端口 5000 正常监听"
+    # 测试机械臂摄像头单帧
+    result=$(curl -s --max-time 5 http://127.0.0.1:5000/api/camera/arm_refresh 2>/dev/null | head -c 4)
+    if [ "$result" = "$(echo -en '\xff\xd8\xff\xe0')" ]; then
+        echo "   ✅ arm_refresh 返回 JPEG"
+    else
+        echo "   ⚠️ arm_refresh 返回异常（机械臂可能未连接）"
+    fi
+else
+    echo "   ❌ 端口 5000 未监听，查看日志:"
+    tail -10 /tmp/agv_flask.log
+    exit 1
+fi
+
+echo ""
+echo "=========================================="
+echo "  ✅ 重启完成"
+echo "=========================================="

scripts/start_all.sh

@@ -9,8 +9,12 @@
 # ============================================================
 set -e
 
-AGV_APP_DIR="/home/elephant/work/agv_app"
-AGV_ROS2_DIR="/home/elephant/agv_pro_ros2"
+# ---- 可配置项（环境变量覆盖默认值） ----
+AGV_PROJECT_DIR="${AGV_PROJECT_DIR:-/home/elephant/work/smart-inspection}"
+AGV_APP_DIR="${AGV_APP_DIR:-$AGV_PROJECT_DIR/agv_app}"
+AGV_ROS2_DIR="${AGV_ROS2_DIR:-/home/elephant/agv_pro_ros2}"
+SCAN_FIXER_DIR="${SCAN_FIXER_DIR:-/home/elephant/work/scan_fixer}"
+FIXER_SCRIPT="${FIXER_SCRIPT:-fix_scan_timestamp_v6.py}"
 ROS_DOMAIN_ID_VAL=1
 
 echo "=========================================="
@@ -31,6 +35,7 @@ pkill -f "robot_state_publisher" 2>/dev/null || true
 pkill -f "fix_scan_timestamp" 2>/dev/null || true
 pkill -f "clock_publisher" 2>/dev/null || true
 pkill -f "python.*app.py" 2>/dev/null || true
+pkill -f "uv run .*python app.py" 2>/dev/null || true
 sleep 2
 
 # 【关键】硬杀确保干净
@@ -138,7 +143,7 @@ fi
 echo "[3.5/8] 启动系统时钟发布器 (clock_publisher)..."
 
 nohup bash -c "source /opt/ros/humble/setup.bash && \
-    ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL python3 /home/elephant/work/scan_fixer/clock_publisher.py" \
+    ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL python3 $SCAN_FIXER_DIR/clock_publisher.py" \
     > /tmp/clock_publisher.log 2>&1 &
 CLOCK_PID=$!
 echo "   clock_publisher PID: $CLOCK_PID"
@@ -170,7 +175,7 @@ if [ "$SCAN_OK" -eq 0 ]; then
 fi
 
 nohup bash -c "source /opt/ros/humble/setup.bash && \
-    ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL python3 /home/elephant/work/scan_fixer/fix_scan_timestamp_v6.py" \
+    ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL python3 $SCAN_FIXER_DIR/$FIXER_SCRIPT" \
     > /tmp/scan_fixer.log 2>&1 &
 FIXER_PID=$!
 echo "   fix_scan_timestamp PID: $FIXER_PID"
@@ -185,7 +190,7 @@ pkill -f "clock_publisher" 2>/dev/null || true
     sleep 2
     rm -f /tmp/scan_fixer.lock
     nohup bash -c "source /opt/ros/humble/setup.bash && \
-        ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL python3 /home/elephant/work/scan_fixer/fix_scan_timestamp_v6.py" \
+        ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL python3 $SCAN_FIXER_DIR/$FIXER_SCRIPT" \
         > /tmp/scan_fixer.log 2>&1 &
     FIXER_PID=$!
     sleep 3
@@ -249,7 +254,7 @@ echo "   ✅ 精度参数已设置"
 echo "[7/8] 启动 Flask API..."
 export ROS_DOMAIN_ID=1
 cd "$AGV_APP_DIR"
-nohup python3 app.py > /tmp/agv_flask.log 2>&1 &
+nohup uv run --locked python app.py > /tmp/agv_flask.log 2>&1 &
 FLASK_PID=$!
 echo "   Flask PID: $FLASK_PID"
 sleep 4
@@ -305,7 +310,7 @@ echo "   当前文件数: $FASTRTPS_NEW (正常运行时会有一些)"
 # 8e. Flask API 测试
 echo ""
 echo "验证 Flask API..."
-FLASK_RUNNING=$(ps aux | grep "[p]ython3 app.py" | wc -l || echo 0)
+FLASK_RUNNING=$(pgrep -f "app.py" | wc -l || echo 0)
 if [ "$FLASK_RUNNING" -gt 0 ]; then
     echo "   ✅ Flask 进程运行中"
 else

scripts/start_flask.sh

@@ -0,0 +1,26 @@
+#!/bin/bash
+# ============================================================
+# start_flask.sh - 仅启动/重启 Flask 服务（不启动 ROS2）
+# 适用于: 修改了前端/API 代码后快速重启
+# ============================================================
+AGV_PROJECT_DIR="${AGV_PROJECT_DIR:-/home/elephant/work/smart-inspection}"
+AGV_APP_DIR="${AGV_APP_DIR:-$AGV_PROJECT_DIR/agv_app}"
+AGV_ROS2_DIR="${AGV_ROS2_DIR:-/home/elephant/agv_pro_ros2}"
+
+pkill -f "python.*app.py" 2>/dev/null || true
+pkill -f "uv run .*python app.py" 2>/dev/null || true
+sleep 1
+
+source /opt/ros/humble/setup.bash 2>/dev/null || true
+source "$AGV_ROS2_DIR/install/setup.bash" 2>/dev/null || true
+
+cd "$AGV_APP_DIR"
+nohup uv run --locked python app.py > /tmp/agv_flask.log 2>&1 &
+echo "Flask started, PID: $!"
+sleep 2
+
+if ss -tlnp 2>/dev/null | grep -q 5000 || netstat -tlnp 2>/dev/null | grep -q 5000; then
+    echo "✅ 端口 5000 正常"
+else
+    echo "⚠️ 端口 5000 未监听，检查 /tmp/agv_flask.log"
+fi

scripts/stop_all.sh

@@ -14,7 +14,8 @@ echo ""
 
 # ---------- 1. 软杀所有相关进程 ----------
 echo "[1/5] 软杀所有相关进程..."
-pkill -f "python3 app.py" 2>/dev/null || true
+pkill -f "python.*app.py" 2>/dev/null || true
+pkill -f "uv run .*python app.py" 2>/dev/null || true
 pkill -f "agv_pro_bringup" 2>/dev/null || true
 pkill -f "agv_pro_navigation2" 2>/dev/null || true
 pkill -f "agv_pro_node" 2>/dev/null || true

shared/config.json

@@ -1,23 +0,0 @@
-{
-  "agv": {
-    "ip": "192.168.60.80",
-    "ssh_user": "elephant",
-    "ssh_password": "Elephant",
-    "map_file": "map.yaml",
-    "map_dir": "/home/elephant"
-  },
-  "arm": {
-    "ip": "192.168.60.120",
-    "ssh_user": "pi",
-    "ssh_password": "elephant",
-    "socket_port": 5001,
-    "roboflow_host": "127.0.0.1",
-    "roboflow_port": 5001
-  },
-  "app": {
-    "upload_url": "https://ts.timeddd.com/prod-api/file/uploadImage",
-    "agv_control_port": 5000,
-    "arm_server_port": 5002,
-    "secret_key": "agv630_secret_key_2024"
-  }
-}

start_agv.sh

@@ -1,24 +0,0 @@
-#!/bin/bash
-# AGV 服务启动脚本
-cd /home/elephant/work/agv_app
-
-# 确保没有旧进程
-pkill -f "python.*app.py" 2>/dev/null
-sleep 1
-
-# 启动服务
-nohup python3 app.py > app.log 2>&1 &
-PID=$!
-echo "Started PID=$PID"
-
-sleep 3
-
-# 验证
-if ss -tlnp | grep 5000; then
-    echo "✓ 端口 5000 监听正常"
-    curl -s http://127.0.0.1:5000/api/mission/state
-    echo ""
-else
-    echo "✗ 端口 5000 未监听，检查日志："
-    cat app.log
-fi

uv.lock

@@ -0,0 +1,320 @@
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