-

agv_app/app.py

@@ -8,10 +8,11 @@ import time
 import logging
 import threading
 import subprocess
+import requests
 from flask import Flask, render_template, jsonify, request, Response, send_from_directory
 from flask_cors import CORS
 
-from config import SERVER_CONFIG, ARM_CONFIG, AGV_CONFIG, UPLOAD_CONFIG, MAP_CONFIG, ARM_CAMERA_CONFIG, CAMERA_CONFIG, DATA_DIR, State
+from config import SERVER_CONFIG, ARM_CONFIG, AGV_CONFIG, UPLOAD_CONFIG, MAP_CONFIG, ARM_CAMERA_CONFIG, CAMERA_CONFIG, DATA_DIR, State, ZHIJIAN_BASE_URL, ZHIJIAN_AUTH_TOKEN, set_api_mode
 from utils.arm_client import ArmClient
 from utils.agv_controller_ros2 import AGVController
 from utils.qr_scanner import QRScanner
@@ -53,6 +54,8 @@ class GlobalState:
         self.machines_config = []        # 机器配置（每台机器的正面/背面点位+姿态）
         self.qr_config = []               # 二维码配置（独立点位列表）
         self.navigator = None              # Nav2Navigator 实例
+        self.current_customs = None        # 当前设定的报关单信息
+        self.inspection = None             # 查验状态 {customs_id, customs_name, items: [{inventoryCode, inventoryName, spec, quantify, inspected}]}
         self.error_msg = ""               # 错误弹窗消息（waiting_error 状态时）
         self.lock = threading.Lock()
 
@@ -126,10 +129,11 @@ try:
     # Flask 2.3+ 方式
     with app.app_context():
         load_persisted_config()
-        # 启动时自动重连 AGV（异步，不阻塞 Flask 启动）
+        # 启动时自动连接所有设备（异步，不阻塞 Flask 启动）
         import threading
-        def _auto_reconnect():
+        def _auto_connect_all():
             time.sleep(2)  # 等待 Flask 完全就绪
+            # 连接 AGV
             try:
                 from utils.agv_controller_ros2 import AGVController
                 gs.agv_controller = AGVController()
@@ -139,7 +143,19 @@ try:
                     print("[启动] AGV 自动连接失败，请手动连接")
             except Exception as e:
                 print(f"[启动] AGV 自动连接异常: {e}")
-        threading.Thread(target=_auto_reconnect, daemon=True).start()
+            # 连接机械臂
+            try:
+                from utils.arm_client import ArmClient
+                gs.arm_client = ArmClient(ARM_CONFIG["host"], ARM_CONFIG["port"])
+                if gs.arm_client.connect():
+                    gs.arm_client.power_on()
+                    gs.arm_client.state_on()
+                    print("[启动] 机械臂自动连接成功")
+                else:
+                    print("[启动] 机械臂自动连接失败，请手动连接")
+            except Exception as e:
+                print(f"[启动] 机械臂自动连接异常: {e}")
+        threading.Thread(target=_auto_connect_all, daemon=True).start()
 except:
     # 兼容旧版 Flask
     @app.before_first_request
@@ -175,15 +191,21 @@ def api_status():
                 arm_connected = ok
             except:
                 arm_connected = False
-                # 连接已断开，清理 socket
-                if gs.arm_client:
-                    gs.arm_client._sock = None
 
         # 实际验证 AGV 连接
         agv_connected = False
         if gs.agv_controller:
             agv_connected = gs.agv_controller.is_connected()
 
+        # 实时检测机械臂摄像头是否可用
+        try:
+            import requests as _armcam_req
+            _r = _armcam_req.get(ARM_CAMERA_CONFIG["url"], stream=True, timeout=3)
+            gs.arm_camera_opened = (_r.status_code == 200)
+            _r.close()
+        except:
+            gs.arm_camera_opened = False
+
         return jsonify({
             "state": gs.state,
             "agv_connected": agv_connected,
@@ -747,11 +769,7 @@ def api_mission_config_set():
     gs.mission_config["cols"] = cols
     gs.mission_config["grid"] = grid
     gs.mission_config["arm_initial_pose"] = arm_initial_pose
-    # 清除超出网格边界的 positions（只保留 front/back 且 row<=rows, col<cols）
-    gs.mission_config["positions"] = [
-        p for p in gs.mission_config.get("positions", [])
-        if p.get("row", 0) <= rows and p.get("col", 0) < cols and p.get("side") in ("front", "back")
-    ]
+    # 点位数据始终保留，不随网格变更删除
     save_json("mission_config.json", gs.mission_config)
     return jsonify({"ok": True, "config": gs.mission_config})
 
@@ -1070,33 +1088,25 @@ def api_camera_preview():
     if not gs.qr_scanner or not gs.qr_scanner._cap:
         return "camera not opened", 400
 
+    import time as _time
     def gen():
+        _last_ok = _time.time()
         while True:
             frame = gs.qr_scanner.read_frame()
             if frame is None:
-                break
-            # 编码为 JPEG
+                if _time.time() - _last_ok > 5:
+                    break
+                _time.sleep(0.05)
+                continue
             import cv2
             ret, buf = cv2.imencode(".jpg", frame)
             if ret:
+                _last_ok = _time.time()
                 yield (b"--frame\r\nContent-Type: image/jpeg\r\n\r\n" +
                        buf.tobytes() + b"\r\n")
 
     return Response(gen(), mimetype="multipart/x-mixed-replace; boundary=frame")
 
-@app.route("/api/camera/refresh")
-def api_camera_refresh():
-    """AGV 摄像头单帧 JPEG（polling 模式）"""
-    if not gs.qr_scanner or not gs.qr_scanner._cap:
-        return "camera not opened", 400
-    import cv2
-    frame = gs.qr_scanner.read_frame()
-    if frame is None:
-        return "", 400
-    ret, buf = cv2.imencode(".jpg", frame)
-    if ret:
-        return Response(buf.tobytes(), mimetype="image/jpeg")
-    return "encode failed", 500
 
 @app.route("/api/camera/capture")
 def api_camera_capture():
@@ -1114,27 +1124,98 @@ def api_camera_capture():
     cv2.imwrite(photo_path, frame)
     return jsonify({"ok": True, "path": photo_path})
 
+
+def _is_corrupted_jpeg(jpeg_bytes: bytes) -> float:
+    """检测 JPEG 是否为花屏帧。返回 0~1 的置信度 (1=确定花屏)。"""
+    try:
+        import cv2
+        import numpy as np
+        arr = np.frombuffer(jpeg_bytes, dtype=np.uint8)
+        img = cv2.imdecode(arr, cv2.IMREAD_COLOR)
+        if img is None:
+            return 1.0
+        h, w = img.shape[:2]
+        if h < 10 or w < 10:
+            return 1.0
+
+        hsv = cv2.cvtColor(img, cv2.COLOR_BGR2HSV)
+
+        # 绿色条纹检测：HSV 中绿色 H=40~80
+        green_mask = cv2.inRange(hsv, (40, 30, 40), (80, 255, 255))
+        green_ratio = cv2.countNonZero(green_mask) / (h * w)
+
+        # 紫色/品红条纹
+        purple_mask = cv2.inRange(hsv, (130, 30, 40), (170, 255, 255))
+        purple_ratio = cv2.countNonZero(purple_mask) / (h * w)
+
+        if green_ratio > 0.80 or purple_ratio > 0.80:
+            return 0.95
+
+        gray = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
+        row_stds = np.std(gray, axis=1)
+        col_stds = np.std(gray, axis=0)
+
+        row_std_of_stds = float(np.std(row_stds))
+        col_std_of_stds = float(np.std(col_stds))
+
+        if row_std_of_stds > 70 and col_std_of_stds > 30:
+            return 0.85
+
+        unique_colors = len(np.unique(img.reshape(-1, 3), axis=0))
+        if unique_colors < 200:
+            return 0.75
+
+        return 0.0
+    except ImportError:
+        return 0.0
+    except Exception:
+        return 0.0
+
+
 @app.route("/api/camera/arm_refresh")
 def api_arm_camera_refresh():
-    """从机械臂拉一张 JPEG（请求 snapshot 端点，简单 HTTP GET）"""
+    """从机械臂拉一张 JPEG，翻转后返回（机械臂摄像头物理倒装）。"""
     import requests
-    try:
-        r = requests.get(ARM_CAMERA_CONFIG.get("snapshot_url", ARM_CAMERA_CONFIG["url"]), timeout=8)
-        if r.status_code == 200 and r.content:
-            resp = Response(r.content, mimetype="image/jpeg")
-            resp.headers["Cache-Control"] = "no-cache, no-store, must-revalidate, max-age=0"
-            resp.headers["Pragma"] = "no-cache"
-            resp.headers["Expires"] = "0"
-            return resp
-        return "", 404
-    except Exception as ex:
-        logger.info(f"arm_refresh 不可用: {ex}")
-        return "", 404
+    import cv2
+    import numpy as np
+    url = ARM_CAMERA_CONFIG.get("snapshot_url", ARM_CAMERA_CONFIG["url"])
+    max_retries = 3
+    for attempt in range(1, max_retries + 1):
+        try:
+            r = requests.get(url, timeout=8)
+            if r.status_code == 200 and r.content:
+                corruption = _is_corrupted_jpeg(r.content)
+                if corruption > 0.5:
+                    logger.warning(f"arm_refresh 第{attempt}次尝试检测到花屏 (置信度{corruption:.2f})，重试...")
+                    time.sleep(0.3)
+                    continue
+                # 解码 → 上下翻转 → 编码
+                img = cv2.imdecode(np.frombuffer(r.content, dtype=np.uint8), cv2.IMREAD_COLOR)
+                if img is not None:
+                    img = cv2.flip(img, 0)  # 0 = 上下翻转
+                    ret, jpg = cv2.imencode(".jpg", img, [cv2.IMWRITE_JPEG_QUALITY, 85])
+                    if ret:
+                        resp = Response(jpg.tobytes(), mimetype="image/jpeg")
+                        resp.headers["Cache-Control"] = "no-cache, no-store, must-revalidate, max-age=0"
+                        resp.headers["Pragma"] = "no-cache"
+                        resp.headers["Expires"] = "0"
+                        return resp
+                resp = Response(r.content, mimetype="image/jpeg")
+                resp.headers["Cache-Control"] = "no-cache, no-store, must-revalidate, max-age=0"
+                resp.headers["Pragma"] = "no-cache"
+                resp.headers["Expires"] = "0"
+                return resp
+            return "", 404
+        except Exception as ex:
+            logger.info(f"arm_refresh 尝试{attempt}/{max_retries} 失败: {ex}")
+            time.sleep(0.5)
+    logger.warning(f"arm_refresh 在 {max_retries} 次尝试后仍失败")
+    return "", 404
 
 
 @app.route("/api/camera/arm_preview")
 def api_arm_camera_preview():
-    """代理机械臂 MJPEG 视频流，供页面连续预览。"""
+    """代理机械臂 MJPEG 视频流，直透返回（不翻转）。"""
     import requests
     try:
         upstream = requests.get(
@@ -1147,10 +1228,23 @@ def api_arm_camera_preview():
             return "", 404
 
         def generate():
+            buf = b""
             try:
                 for chunk in upstream.iter_content(chunk_size=8192):
-                    if chunk:
-                        yield chunk
+                    if not chunk:
+                        continue
+                    buf += chunk
+                    # 查找 MJPEG 帧边界
+                    while True:
+                        start = buf.find(b"\xff\xd8")
+                        end = buf.find(b"\xff\xd9")
+                        if start != -1 and end != -1 and end > start:
+                            jpg_data = buf[start:end+2]
+                            buf = buf[end+2:]
+                            # 直透原始帧（不翻转）
+                            yield b"--frame\r\nContent-Type: image/jpeg\r\n\r\n" + jpg_data + b"\r\n"
+                        else:
+                            break
             finally:
                 upstream.close()
 
@@ -1179,7 +1273,7 @@ def api_agv_move():
     """控制 AGV 移动（前进/后退/左转/右转/停止）"""
     data = request.json
     direction = data.get("direction", "stop")  # forward / backward / left / right / stop
-    speed = data.get("speed", AGV_CONFIG.get("move_speed", 0.5))
+    speed = data.get("speed", AGV_CONFIG.get("move_speed", 1.0))
     if not gs.agv_controller or not gs.agv_controller.is_connected():
         return jsonify({"ok": False, "error": "AGV 未连接"}), 400
     try:
@@ -1242,6 +1336,11 @@ def api_agv_reset():
 def api_mission_start():
     """开始执行任务（V3: M×N Grid 蛇形路径）"""
     data = request.json or {}
+
+    # 必须先设置报关单（开始查验）
+    if not gs.inspection:
+        return jsonify({"ok": False, "error": "请先在「设置→报关单」中选择报关单并点击「开始查验」"}), 400
+
     single_step = bool(data.get("single_step", False))
     # 任务步骤控制开关
     options = {
@@ -1250,8 +1349,8 @@ def api_mission_start():
         "qr_scan": bool(data.get("qr_scan", True)),
         "front_photo": bool(data.get("front_photo", True)),
         "back_photo": bool(data.get("back_photo", True)),
-        "agv_speed": float(data.get("agv_speed", 0.5)),
-        "arm_speed": int(data.get("arm_speed", 500)),
+        "agv_speed": float(data.get("agv_speed", 1.0)),
+        "arm_speed": int(data.get("arm_speed", 1000)),
     }
     print(f"[Mission] options: {options}")
     
@@ -1436,6 +1535,18 @@ def api_mission_state():
         result["waiting_step"] = False
         result["waiting_error"] = False
 
+    # 查验状态
+    result["inspection"] = gs.inspection
+
+    # QR 输入弹窗消息
+    if hasattr(MissionExecutorV3, "_instance") and MissionExecutorV3._instance:
+        rpt = MissionExecutorV3._instance.report
+        result["qr_message"] = rpt.get("qr_message", "")
+        result["step_label"] = rpt.get("step_label", "")
+    else:
+        result["qr_message"] = ""
+        result["step_label"] = ""
+
     return jsonify(result)
 
 @app.route("/api/mission/log", methods=["GET"])
@@ -1574,31 +1685,61 @@ def api_qr_read_angles(qr_id):
 
 @app.route("/api/qr/scan/<qr_id>", methods=["POST"])
 def api_qr_config_scan(qr_id):
-    """获取机械臂摄像头图像，识别二维码并保存到指定配置项"""
+    """获取机械臂摄像头图像，识别二维码并保存到指定配置项（pyzbar 优先，OpenCV 兜底）"""
     import requests
     try:
+        jpg_bytes = None
+        # 多次尝试获取清晰帧
+        for _ in range(3):
+            try:
+                r = requests.get(ARM_CAMERA_CONFIG.get("snapshot_url", ARM_CAMERA_CONFIG["url"]), timeout=8)
+                if r.status_code == 200 and r.content:
+                    jpg_bytes = r.content
+                    break
+            except:
+                pass
+            import time; time.sleep(0.3)
+
+        if jpg_bytes is None:
+            return jsonify({"ok": False, "error": "无法连接机械臂摄像头"}), 400
+
         import cv2
         import numpy as np
-        # 从机械臂摄像头 snapshot 端点拉取一帧 JPEG
-        r = requests.get(ARM_CAMERA_CONFIG.get("snapshot_url", ARM_CAMERA_CONFIG["url"]), timeout=8)
-        if r.status_code != 200 or not r.content:
-            return jsonify({"ok": False, "error": "无法连接机械臂摄像头"}), 400
-        jpg_bytes = r.content
-        # 解码为 numpy 数组并检测二维码
         nparr = np.frombuffer(jpg_bytes, np.uint8)
         frame = cv2.imdecode(nparr, cv2.IMREAD_COLOR)
         if frame is None:
             return jsonify({"ok": False, "error": "图像解码失败"}), 400
-        # 使用 OpenCV QRCodeDetector 检测
-        detector = cv2.QRCodeDetector()
-        result, _, _ = detector.detectAndDecode(frame)
-        if result and len(result.strip()) > 0:
-            result = result.strip()
+
+        result = None
+
+        # 方法1: pyzbar（识别率更高）
+        try:
+            from PIL import Image
+            from pyzbar.pyzbar import decode as pyzbar_decode
+            pil_img = Image.fromarray(cv2.cvtColor(frame, cv2.COLOR_BGR2RGB))
+            codes = pyzbar_decode(pil_img)
+            if codes and codes[0].data:
+                result = codes[0].data.decode("utf-8").strip()
+                logger.info(f"pyzbar 扫码成功: {result}")
+        except Exception as e:
+            logger.debug(f"pyzbar 扫码失败: {e}")
+
+        # 方法2: OpenCV QRCodeDetector（兜底）
+        if not result:
+            try:
+                detector = cv2.QRCodeDetector()
+                val, _, _ = detector.detectAndDecode(frame)
+                if val and len(val.strip()) > 0:
+                    result = val.strip()
+                    logger.info(f"OpenCV 扫码成功: {result}")
+            except Exception as e:
+                logger.debug(f"OpenCV 扫码失败: {e}")
+
+        if result:
             # 保存到配置项
             for entry in gs.qr_config:
                 if entry["id"] == qr_id:
                     entry["qr_value"] = result
-                    # 尝试匹配机型
                     matched_model = None
                     for model in gs.models_config:
                         prefix = model.get("serial_prefix", "")
@@ -1615,19 +1756,353 @@ def api_qr_config_scan(qr_id):
                         "model_name": matched_model["name"] if matched_model else ""
                     })
             return jsonify({"ok": False, "error": f"二维码 {qr_id} 不存在"}), 404
-        else:
-            return jsonify({"ok": False, "error": "未检测到二维码"})
+
+        return jsonify({"ok": False, "error": "未检测到二维码，请调整机械臂姿态或手动输入"})
     except Exception as ex:
-        logger.error(f"QR 扫描机械臂摄像头失败: {ex}")
+        logger.error(f"QR 扫描失败: {ex}")
         return jsonify({"ok": False, "error": f"扫描失败: {str(ex)}"}), 400
 
 
+
+# ========== 环境切换 API ==========
+
+@app.route("/api/config/mode", methods=["GET"])
+def api_config_mode_get():
+    """获取当前 API 环境模式"""
+    import config
+    return jsonify({
+        "ok": True,
+        "test_mode": config.TEST_MODE,
+        "base_url": config.ZHIJIAN_BASE_URL,
+        "label": "测试环境" if config.TEST_MODE else "正式环境"
+    })
+
+
+@app.route("/api/config/mode", methods=["POST"])
+def api_config_mode_set():
+    """切换 API 环境"""
+    body = request.get_json(silent=True) or {}
+    test_mode = body.get("test_mode", True)
+    set_api_mode(test_mode)
+    import config
+    logger.info(f"API 环境已切换为: {'测试' if test_mode else '正式'} → {config.ZHIJIAN_BASE_URL}")
+    return jsonify({
+        "ok": True,
+        "test_mode": config.TEST_MODE,
+        "base_url": config.ZHIJIAN_BASE_URL,
+        "label": "测试环境" if config.TEST_MODE else "正式环境"
+    })
+
+
+# ========== 报关单接口（代理外部 API） ==========
+
+def _get_zhijian_base():
+    """动态获取报关单 API base，跟随环境切换"""
+    import config
+    base = f"{config.ZHIJIAN_BASE_URL}{config.API_PREFIX}/zhijian/integration"
+    return base
+
+_ZHIJIAN_AUTH = ZHIJIAN_AUTH_TOKEN
+
+
+@app.route("/api/customs/list")
+def api_customs_list():
+    """获取报关单列表（代理外部 API）"""
+    import requests
+    page = request.args.get("pageNum", 1)
+    size = request.args.get("pageSize", 50)
+    url = f"{_get_zhijian_base()}/customsListPage?pageNum={page}&pageSize={size}"
+    logger.info(f"[customs/list] 🔍 请求 → {url}")
+    try:
+        r = requests.get(url, headers={"Authorization": _ZHIJIAN_AUTH}, timeout=15)
+        logger.info(f"[customs/list] 📡 响应 HTTP {r.status_code}, body长度={len(r.text)}")
+        if r.status_code != 200:
+            logger.warning(f"[customs/list] ⚠️ 返回非200: {r.status_code}")
+            return jsonify({"ok": False, "error": f"报关单API返回 {r.status_code}"}), 502
+        data = r.json()
+        # 兼容不同返回格式：裸数组 / {data:{rows:[...]}} / {rows:[...]}
+        if isinstance(data, list):
+            rows = data
+        elif isinstance(data, dict):
+            rows = data.get("data", {}).get("rows", []) or data.get("rows", [])
+        else:
+            rows = []
+        logger.info(f"[customs/list] ✅ 获取到 {len(rows)} 条报关单")
+        return jsonify({"ok": True, "data": {"rows": rows}})
+    except Exception as e:
+        logger.error(f"[customs/list] ❌ 失败: {e}")
+        return jsonify({"ok": False, "error": str(e)}), 502
+
+
+@app.route("/api/customs/machines")
+def api_customs_machines():
+    """根据报关单 ID 获取机器列表（代理外部 API）
+    数据源：cjt_customs_item 表 → Java customsMachines 接口
+    """
+    import requests
+    customs_id = request.args.get("customsId", "")
+    logger.info(f"[customs/machines] 📥 customsId={customs_id}")
+    if not customs_id:
+        logger.warning("[customs/machines] ⚠️ 缺少 customsId")
+        return jsonify({"ok": False, "error": "缺少 customsId 参数"}), 400
+
+    try:
+        url = f"{_get_zhijian_base()}/customsMachines?customsId={customs_id}"
+        logger.info(f"[customs/machines] 🔍 请求 → {url}")
+        r = requests.get(url, headers={"Authorization": _ZHIJIAN_AUTH}, timeout=15)
+        logger.info(f"[customs/machines] 📡 响应 HTTP {r.status_code}, body长度={len(r.text)}")
+        if r.status_code != 200:
+            logger.warning(f"[customs/machines] ⚠️ 返回非200: {r.status_code}, body={r.text[:300]}")
+            return jsonify({"ok": False, "error": "机器列表API返回非200"}), 502
+        result = r.json()
+        machines = result.get("data") or []
+        logger.info(f"[customs/machines] ✅ 获取到 {len(machines)} 条机器记录")
+        return jsonify({"ok": True, "data": result})
+    except Exception as e:
+        logger.error(f"[customs/machines] ❌ 失败: {e}")
+        return jsonify({"ok": False, "error": str(e)}), 502
+
+
+@app.route("/api/customs/selected", methods=["POST"])
+def api_customs_selected():
+    """任务开始前设定当前报关单（存储当前任务对应的报关单信息）"""
+    data = request.json or {}
+    gs.current_customs = {
+        "id": data.get("id", ""),
+        "name": data.get("name", ""),
+        "machine_ids": data.get("machine_ids", []),
+    }
+    logger.info(f"设定报关单: {gs.current_customs['name']} ({len(gs.current_customs['machine_ids'])} 台机器)")
+    return jsonify({"ok": True, "customs": gs.current_customs})
+
+
+@app.route("/api/customs/selected", methods=["GET"])
+def api_customs_selected_get():
+    """获取当前设定的报关单信息"""
+    c = gs.current_customs or {"id": "", "name": "未选择", "machine_ids": []}
+    return jsonify({"ok": True, "customs": c})
+
+
+# ========== 查验 API ==========
+@app.route("/api/customs/inspection/start", methods=["POST"])
+def api_customs_inspection_start():
+    """开始查验：加载报关单机器列表，初始化查验计数"""
+    data = request.json or {}
+    customs_id = data.get("customsId", "")
+    if not customs_id:
+        return jsonify({"ok": False, "error": "缺少 customsId"}), 400
+
+    # 获取报关单机器列表
+    try:
+        machines_url = f"{_get_zhijian_base()}/customsMachines?customsId={customs_id}"
+        logger.info(f"[inspection/start] 🔍 获取机器列表 → {machines_url}")
+        r = requests.get(
+            machines_url,
+            headers={"Authorization": _ZHIJIAN_AUTH},
+            timeout=15
+        )
+        logger.info(f"[inspection/start] 📡 机器列表响应 HTTP {r.status_code}, body长度={len(r.text)}")
+        if r.status_code != 200:
+            logger.warning(f"[inspection/start] ⚠️ 返回非200: {r.status_code}, body={r.text[:300]}")
+            return jsonify({"ok": False, "error": f"接口返回 {r.status_code}"}), 502
+        j = r.json()
+        machines = j.get("data") or []
+        logger.info(f"[inspection/start] ✅ 获取到 {len(machines)} 条机器记录")
+    except Exception as e:
+        logger.error(f"[inspection/start] ❌ 获取机器列表失败: {e}")
+        return jsonify({"ok": False, "error": str(e)}), 502
+
+    # 按 inventoryCode 聚合（同一物料可能有多条序列号记录）
+    items_dict = {}
+    for m in machines:
+        code = m.get("inventoryCode") or m.get("machineCode") or "unknown"
+        if code not in items_dict:
+            items_dict[code] = {
+                "inventoryCode": code,
+                "inventoryName": m.get("inventoryName") or m.get("machineName") or "-",
+                "spec": m.get("inventorySpecification") or m.get("spec") or "-",
+                "quantify": 0,
+                "inspected": 0,
+            }
+        # 累计数量（quantify 字段可能来自 customsMachines 的返回值）
+        q = m.get("quantify", 0)
+        if q:
+            items_dict[code]["quantify"] += int(float(q))
+
+    # 如果 quantify 全部为 0，用机器条目数作为数量
+    for item in items_dict.values():
+        if item["quantify"] == 0:
+            item["quantify"] = sum(1 for m in machines if (m.get("inventoryCode") or "") == item["inventoryCode"])
+
+    logger.info(f"[inspection/start] 📊 聚合结果: {len(items_dict)} 种机型, total {sum(i['quantify'] for i in items_dict.values())} 台")
+
+    # 获取报关单名称
+    customs_name = data.get("customsName") or customs_id
+    try:
+        list_url = f"{_get_zhijian_base()}/customsListPage?pageNum=1&pageSize=100"
+        logger.info(f"[inspection/start] 🔍 获取报关单名称 → {list_url}")
+        r2 = requests.get(
+            list_url,
+            headers={"Authorization": _ZHIJIAN_AUTH},
+            timeout=15
+        )
+        if r2.status_code == 200:
+            j2 = r2.json()
+            for row in j2.get("rows", []):
+                c = row.get("customs", {})
+                if str(c.get("id", "")) == str(customs_id):
+                    customs_name = c.get("customsCode") or row.get("orderCode") or customs_name
+                    break
+    except:
+        pass
+
+    gs.inspection = {
+        "customsId": customs_id,
+        "customsName": customs_name,
+        "items": list(items_dict.values()),
+        "startedAt": time.time(),
+    }
+    logger.info(f"开始查验: {customs_name} ({len(gs.inspection['items'])} 种机型，共 {sum(i['quantify'] for i in gs.inspection['items'])} 台)")
+    return jsonify({"ok": True, "inspection": gs.inspection})
+
+
+@app.route("/api/customs/inspection", methods=["GET"])
+def api_customs_inspection():
+    """获取当前查验状态"""
+    return jsonify({"ok": True, "inspection": gs.inspection})
+
+
+@app.route("/api/customs/inspection/end", methods=["POST"])
+def api_customs_inspection_end():
+    """结束查验"""
+    gs.inspection = None
+    return jsonify({"ok": True})
+
+
+@app.route("/api/customs/printer", methods=["GET"])
+def api_customs_printer():
+    """代理 /zhijian/profile/printer 查询，同时更新查验计数
+    GET ?serialNumber=xxx
+    """
+    sn = request.args.get("serialNumber", "").strip()
+    logger.info(f"[printer] 📥 收到查询请求 serialNumber={sn}")
+    if not sn:
+        logger.warning("[printer] ⚠️ 缺少 serialNumber 参数")
+        return jsonify({"ok": False, "error": "缺少 serialNumber"}), 400
+
+    # 调用 Java profile/printer 接口
+    api_base = _get_zhijian_base().rstrip("/")
+    profile_url = f"{api_base[:api_base.rfind('/')]}/profile/printer?serialNumber={sn}"
+    logger.info(f"[printer] 🔍 请求 Java → {profile_url}")
+    try:
+        r = requests.get(profile_url, headers={"Authorization": _ZHIJIAN_AUTH}, timeout=15)
+        logger.info(f"[printer] 📡 Java响应 HTTP {r.status_code}: {r.text[:500]}")
+        if r.status_code != 200:
+            logger.warning(f"[printer] ⚠️ Java返回非200: {r.status_code}")
+            return jsonify({"ok": False, "error": f"profile/printer 返回 {r.status_code}"}), 502
+        j = r.json()
+    except Exception as e:
+        logger.error(f"[printer] ❌ 查询 Java printer 失败: {e}")
+        return jsonify({"ok": False, "error": str(e)}), 502
+
+    data = j.get("data", j)
+    printer = data.get("printer")
+    order_item = data.get("orderItem")
+    logger.info(f"[printer] 📊 Java返回解析: printer={'yes' if printer else 'no'}, orderItem={'yes' if order_item else 'no'}")
+
+    result = {
+        "ok": True,
+        "printer": printer,
+        "orderItem": order_item,
+        "modelName": "机器1",  # 默认
+        "inventoryCode": None,
+        "matchedItem": None,
+        "hasInspection": gs.inspection is not None,
+    }
+
+    # 提取 inventory 信息（优先级: orderItem.inventory > printer.inventory > printer.model/machineModel）
+    if order_item and order_item.get("inventory"):
+        inv = order_item["inventory"]
+        result["modelName"] = inv.get("inventoryName") or inv.get("name") or "机器1"
+        result["inventoryCode"] = inv.get("inventoryCode") or inv.get("code")
+        logger.info(f"[printer] 🏷️ 从 orderItem.inventory 提取: modelName={result['modelName']}, inventoryCode={result['inventoryCode']}")
+    elif printer and printer.get("inventory"):
+        inv = printer["inventory"]
+        result["modelName"] = inv.get("inventoryName") or inv.get("name") or "机器1"
+        result["inventoryCode"] = inv.get("inventoryCode") or inv.get("code")
+        logger.info(f"[printer] 🏷️ 从 printer.inventory 提取: modelName={result['modelName']}, inventoryCode={result['inventoryCode']}")
+    elif printer:
+        result["modelName"] = printer.get("model") or printer.get("machineModel") or "机器1"
+        logger.info(f"[printer] 🏷️ 从 printer.model/machineModel 提取: modelName={result['modelName']}")
+    else:
+        logger.warning(f"[printer] ⚠️ printer 和 orderItem 均为空，回退 modelName=机器1")
+
+    # 更新查验计数（先检查是否超量，超量时不增加计数）
+    if gs.inspection and result["inventoryCode"]:
+        for item in gs.inspection["items"]:
+            if item["inventoryCode"] == result["inventoryCode"]:
+                # 先返回当前值（未+1），让调用方判断是否超量
+                result["matchedItem"] = item
+                # 只有未超量时才真正+1
+                if item["inspected"] < item["quantify"]:
+                    item["inspected"] += 1
+                    logger.info(f"[printer] ✅ 查验计数更新: {item['inventoryName']} → {item['inspected']}/{item['quantify']}")
+                else:
+                    logger.warning(f"[printer] ⚠️ 超量不计数: {item['inventoryName']} 已达 {item['inspected']}/{item['quantify']}")
+                break
+        else:
+            logger.warning(f"[printer] ⚠️ inventoryCode={result['inventoryCode']} 不在查验清单中")
+    logger.info(f"[printer] 📤 返回结果: modelName={result['modelName']}, inventoryCode={result['inventoryCode']}, hasInspection={result['hasInspection']}, matched={'yes' if result['matchedItem'] else 'no'}")
+    return jsonify(result)
+
+
+@app.route("/api/customs/inspection/update", methods=["POST"])
+def api_customs_inspection_update():
+    """直接更新查验计数（由执行器调用）"""
+    data = request.json or {}
+    code = data.get("inventoryCode", "")
+    if not gs.inspection or not code:
+        return jsonify({"ok": False})
+    for item in gs.inspection["items"]:
+        if item["inventoryCode"] == code:
+            item["inspected"] += 1
+            return jsonify({"ok": True, "item": item})
+    return jsonify({"ok": False, "error": "未匹配"})
+
+
 # ========== 静态资源 ==========
 @app.route("/photos/<name>")
 def photos(name):
     return send_from_directory(os.path.join(DATA_DIR, "photos"), name)
 
 
+@app.route("/api/camera/refresh")
+def api_camera_refresh():
+    """AGV 摄像头单帧 JPEG（polling 模式）"""
+    if not gs.qr_scanner:
+        return jsonify({"error": "scanner not initialized"}), 400
+    if not gs.qr_scanner._cap or not gs.qr_scanner._cap.isOpened():
+        return jsonify({"error": "camera not opened"}), 400
+    import cv2
+    frame = gs.qr_scanner.read_frame()
+    if frame is None:
+        return jsonify({"error": "read frame failed"}), 400
+    # 检查是否为全黑/无内容的帧（Orbbec 深度/IR 帧可能无内容）
+    if frame.mean() < 5:
+        return jsonify({"error": "camera sensor not ready"}), 400
+    ret, buf = cv2.imencode(".jpg", frame)
+    if ret:
+        return Response(buf.tobytes(), mimetype="image/jpeg")
+    return jsonify({"error": "encode failed"}), 500
+
+
+@app.route("/api/camera/capabilities")
+def api_camera_capabilities():
+    """返回摄像头能力信息，前端据此决定如何展示"""
+    return jsonify({
+        "has_agv_camera": False,  # Orbbec 深度相机不提供可用的彩色画面
+        "has_arm_camera": True,
+    })
 # ========== 启动 ==========
 if __name__ == "__main__":
     logger.info("=" * 50)
@@ -1654,3 +2129,4 @@ if __name__ == "__main__":
         debug=SERVER_CONFIG["debug"],
         threaded=True
     )
+

agv_app/config.py

@@ -7,15 +7,15 @@ import os
 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 = "192.168.60.177"
-ARM_HOST = "192.168.60.88"
+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": 0.5,
-    "turn_speed": 0.5,
+    "move_speed": 1.0,
+    "turn_speed": 1.0,
 }
 
 # ========== 机械臂 TCP 客户端 ==========
@@ -35,7 +35,7 @@ MAP_CONFIG = {
 
 # ========== 摄像头 ==========
 CAMERA_CONFIG = {
-    "device_index": 4,       # AGV 摄像头 video4（标准彩色摄像头，V4L2后端）
+    "device_index": 4,       # AGV 摄像头 video4（Orbbec Gemini 彩色流，YUYV 640x480）
     "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,
@@ -47,9 +47,30 @@ ARM_CAMERA_CONFIG = {
     "snapshot_url": f"http://{ARM_HOST}:5003/api/camera/snapshot",
 }
 
+# ========== 外部 API 环境 ==========
+# 切换测试/正式环境只需改 TEST_MODE 一个变量
+TEST_MODE = False  # True=测试环境(192.168.60.159), False=正式环境(ts.zhijian168.com)
+PROD_BASE_URL = "https://ts.zhijian168.com"
+TEST_BASE_URL = "http://192.168.60.159:8080"
+PROD_API_PREFIX = "/prod-api"
+TEST_API_PREFIX = ""   # 测试服务器无 /prod-api 网关前缀
+ZHIJIAN_BASE_URL = TEST_BASE_URL if TEST_MODE else PROD_BASE_URL
+API_PREFIX = TEST_API_PREFIX if TEST_MODE else PROD_API_PREFIX
+ZHIJIAN_AUTH_TOKEN = "Bearer eyJhbGciOiJIUzUxMiJ9.eyJ1c2VyX2lkIjoxLCJ1c2VyX2tleSI6ImZhNTNkZTZiLWE3NjYtNDZmNC05MDUyLTQ2MjUzZTAyNjdmNSIsInVzZXJuYW1lIjoiYWRtaW4ifQ.lC4vKThZo4aAOLsekm2kPgaEJRqRx-YDQWKfHFqxdPNESCKy57l3eIqaKTj2ZjAMaoYAwYlMrv5M1zAOJsO_PA"
+
+
+def set_api_mode(test_mode):
+    """运行时切换 API 环境 — 无需重启 Flask"""
+    global TEST_MODE, ZHIJIAN_BASE_URL, API_PREFIX, UPLOAD_CONFIG
+    TEST_MODE = bool(test_mode)
+    ZHIJIAN_BASE_URL = TEST_BASE_URL if TEST_MODE else PROD_BASE_URL
+    API_PREFIX = TEST_API_PREFIX if TEST_MODE else PROD_API_PREFIX
+    UPLOAD_CONFIG["url"] = f"{ZHIJIAN_BASE_URL}{API_PREFIX}/file/uploadImage"
+
+
 # ========== HTTP 上传 ==========
 UPLOAD_CONFIG = {
-    "url": "https://ts.zhijian168.com/prod-api/file/uploadImage",
+    "url": f"{ZHIJIAN_BASE_URL}{API_PREFIX}/file/uploadImage",
     "timeout": 30,
     "max_retries": 3,
 }
@@ -77,7 +98,7 @@ JOINT_LIMITS = {
 }
 
 # ========== 机械臂默认速度 ==========
-DEFAULT_ARM_SPEED = 500
+DEFAULT_ARM_SPEED = 1000
 
 # ========== 状态定义 ==========
 class State:

agv_app/static/css/style.css

@@ -59,6 +59,49 @@ a:hover { text-decoration: underline; }
 .status-item.paused { background: #3a2a1a; color: #ff9800; }
 .status-item.idle { background: #2a2a2a; color: #9aa0a6; }
 
+/* ========== 环境切换开关 ========== */
+.env-toggle {
+  display: flex;
+  align-items: center;
+  gap: 6px;
+  cursor: pointer;
+  user-select: none;
+}
+.env-label {
+  font-size: 12px;
+  font-weight: 500;
+  min-width: 48px;
+  text-align: right;
+  transition: color 0.2s;
+}
+.env-label.test { color: #ff9800; }
+.env-label.prod { color: #4fc3f7; }
+.toggle-switch {
+  width: 40px;
+  height: 22px;
+  background: #3a3a3a;
+  border-radius: 11px;
+  position: relative;
+  transition: background 0.25s;
+  flex-shrink: 0;
+}
+.toggle-switch.active {
+  background: #ff9800;
+}
+.toggle-knob {
+  width: 18px;
+  height: 18px;
+  background: #fff;
+  border-radius: 50%;
+  position: absolute;
+  top: 2px;
+  left: 2px;
+  transition: left 0.25s;
+}
+.toggle-switch.active .toggle-knob {
+  left: 20px;
+}
+
 /* ========== 卡片 ========== */
 .card {
   background: #1a2332;
@@ -465,6 +508,10 @@ a:hover { text-decoration: underline; }
   aspect-ratio: 4/3;
   object-fit: cover;
 }
+.camera-img.arm {
+  /* no flip */
+}
+
 .camera-placeholder {
   width: 100%;
   aspect-ratio: 4/3;
@@ -1057,10 +1104,10 @@ a:hover { text-decoration: underline; }
 @keyframes navPulse { 0%,100% { border-color: #4caf50; } 50% { border-color: #1b5e20; } }
 
 /* 机器单元格状态 */
-.machine-cell { min-height: 62px; padding: 6px 8px; display: flex; flex-direction: column; align-items: center; justify-content: center; gap: 4px; }
+.machine-cell { min-height: 62px; padding: 6px 8px; display: flex; flex-direction: column; align-items: center; justify-content: center; gap: 4px; overflow: hidden; }
 .machine-label { font-size: 12px; font-weight: 600; color: #ccc; }
 .machine-steps-mini { display: flex; gap: 8px; font-size: 13px; }
-.machine-qr-mini { font-size: 10px; color: #4fc3f7; max-width: 80px; overflow: hidden; text-overflow: ellipsis; white-space: nowrap; }
+.machine-qr-mini { font-size: 10px; color: #4fc3f7; max-width: 100%; overflow: hidden; text-overflow: ellipsis; white-space: nowrap; }
 .empty-cell { color: #445566; font-size: 12px; }
 
 /* 步骤圆点 */
@@ -1076,3 +1123,185 @@ a:hover { text-decoration: underline; }
 .machine-cell.mstatus-pending { background: #141e28; border-color: #2a3a4a; }
 .machine-cell.mstatus-active { background: #1a2535; border-color: #4fc3f7; }
 .machine-cell.mstatus-completed { background: #152522; border-color: #2e7d32; }
+
+/* ===== 报关单选择 ===== */
+.customs-panel {
+  display: flex;
+  flex-direction: column;
+  gap: 4px;
+}
+.customs-row {
+  display: flex;
+  align-items: center;
+  gap: 8px;
+}
+.customs-select {
+  flex: 1;
+  max-width: 400px;
+  padding: 10px 12px;
+  background: #1a2535;
+  border: 1px solid #2a3a4a;
+  border-radius: 8px;
+  color: #e0e0e0;
+  font-size: 14px;
+  outline: none;
+}
+.customs-select:focus {
+  border-color: #4fc3f7;
+}
+.customs-select:disabled {
+  opacity: 0.5;
+  cursor: not-allowed;
+}
+.customs-select option {
+  background: #1a2535;
+  color: #e0e0e0;
+}
+.customs-select:disabled option {
+  opacity: 1;
+}
+.customs-info {
+  font-size: 13px;
+  color: #8899aa;
+}
+.customs-badge {
+  font-size: 13px;
+}
+.customs-actions {
+  display: flex;
+  align-items: center;
+  gap: 4px;
+}
+
+/* ===== 数据表格 ===== */
+.table-wrapper {
+  overflow-x: auto;
+  margin-top: 8px;
+}
+.data-table {
+  width: 100%;
+  border-collapse: collapse;
+  font-size: 13px;
+}
+.data-table th {
+  text-align: left;
+  padding: 10px 12px;
+  background: #0f1923;
+  color: #8899aa;
+  font-weight: 500;
+  border-bottom: 1px solid #2a3a4a;
+  white-space: nowrap;
+}
+.data-table td {
+  padding: 10px 12px;
+  border-bottom: 1px solid #1a2a3a;
+  color: #ccc;
+}
+.data-table tbody tr:hover {
+  background: #1a2a3a;
+}
+.clickable-row {
+  cursor: pointer;
+  transition: background 0.15s;
+}
+.clickable-row:hover {
+  background: #1a2535 !important;
+}
+.row-selected {
+  background: #142a3a !important;
+  border-left: 3px solid #4fc3f7;
+}
+
+/* ===== Badge 状态标签 ===== */
+.badge {
+  display: inline-block;
+  padding: 2px 8px;
+  border-radius: 4px;
+  font-size: 11px;
+  font-weight: 500;
+}
+.badge-unknown { background: #2a3441; color: #8899aa; }
+.badge-normal { background: #1a3a2a; color: #4caf50; }
+.badge-active { background: #1a3050; color: #4fc3f7; }
+.badge-finished { background: #1a3a2a; color: #4caf50; }
+.badge-waiting { background: #3a3020; color: #ffc107; }
+.badge-error { background: #3a1a1a; color: #f44336; }
+
+/* ===== 分页控件 ===== */
+.pagination {
+  display: flex;
+  align-items: center;
+  justify-content: center;
+  padding: 16px 0 8px;
+}
+
+/* ===== 查验进度 ===== */
+.inspection-grid {
+  display: grid;
+  grid-template-columns: repeat(auto-fill, minmax(220px, 1fr));
+  gap: 10px;
+  margin-top: 8px;
+}
+.inspection-item {
+  background: rgba(26, 26, 46, 0.7);
+  border-radius: 8px;
+  padding: 12px;
+  border: 1px solid #2a2a3e;
+  transition: all 0.3s;
+}
+.inspection-item.insp-done {
+  border-color: #4caf50;
+  background: rgba(76, 175, 80, 0.08);
+}
+.inspection-item.insp-active {
+  border-color: #ff9800;
+  background: rgba(255, 152, 0, 0.08);
+}
+.insp-name {
+  font-weight: bold;
+  font-size: 14px;
+  margin-bottom: 4px;
+  color: #e0e0e0;
+}
+.insp-code {
+  font-family: monospace;
+  font-size: 12px;
+  color: #8899aa;
+  margin-bottom: 2px;
+}
+.insp-spec {
+  font-size: 11px;
+  color: #667788;
+  margin-bottom: 8px;
+}
+.insp-count {
+  font-size: 20px;
+  font-weight: bold;
+  margin-bottom: 6px;
+  display: flex;
+  align-items: baseline;
+  gap: 4px;
+}
+.insp-num {
+  color: #4fc3f7;
+}
+.insp-sep {
+  color: #667788;
+  font-size: 14px;
+}
+.insp-total {
+  color: #8899aa;
+  font-size: 14px;
+}
+.insp-bar {
+  height: 4px;
+  background: #0a0a14;
+  border-radius: 2px;
+  overflow: hidden;
+}
+.insp-fill {
+  height: 100%;
+  background: linear-gradient(90deg, #4fc3f7, #4caf50);
+  border-radius: 2px;
+  transition: width 0.5s ease;
+}

agv_app/static/js/app.js

@@ -18,8 +18,11 @@ createApp({
       agvCameraSrc: '/api/camera/refresh?t=' + Date.now(),
       armCameraSrc: '/api/camera/arm_preview?t=' + Date.now(),
       agvCameraError: false,
+      hasAgvCamera: false,  // AGV 车体是否有可用相机
       armCameraError: false,
-      reconnectingDevice: null
+      reconnectingDevice: null,
+      // 环境切换
+      testMode: true,
     }
   },
   computed: {
@@ -36,6 +39,8 @@ createApp({
   },
   mounted() {
     this.refresh()
+    this.refreshCameraCapabilities()
+    this.loadEnvMode()
     setInterval(this.refreshStatus, 3000)
     this.refreshCams()
     setInterval(() => this.refreshCams(), 2000)
@@ -47,6 +52,17 @@ createApp({
         this.armCameraSrc = '/api/camera/arm_preview?t=' + Date.now()
       }
     },
+    async refreshCameraCapabilities() {
+      try {
+        const res = await fetch(API + '/api/camera/capabilities')
+        const data = await res.json()
+        this.hasAgvCamera = data.has_agv_camera
+      } catch (e) { this.hasAgvCamera = false }
+    },
+    refreshAgvCamera() {
+      this.agvCameraSrc = '/api/camera/refresh?t=' + Date.now()
+      this.agvCameraError = false
+    },
     async refresh() {
       await this.refreshStatus()
       await this.loadPoints()
@@ -58,6 +74,10 @@ createApp({
         this.agvConnected = data.agv_connected
         this.armConnected = data.arm_connected
         this.cameraOpened = data.camera_opened
+        // 尝试从后端获取摄像头能力，若无字段则保持默认 false
+        if (data.has_agv_camera !== undefined) {
+          this.hasAgvCamera = data.has_agv_camera
+        }
         this.armCameraOpened = data.arm_camera_opened
         this.mapLoaded = data.map_loaded
         this.currentState = data.state || 'idle'
@@ -116,6 +136,36 @@ createApp({
       } else {
         window.location.href = '/running'
       }
-    }
+    },
+    async loadEnvMode() {
+      try {
+        const res = await fetch(API + '/api/config/mode')
+        const data = await res.json()
+        if (data.ok) {
+          this.testMode = data.test_mode
+        }
+      } catch (e) {
+        console.error('加载环境配置失败:', e)
+      }
+    },
+    async toggleEnvMode() {
+      const newMode = !this.testMode
+      try {
+        const res = await fetch(API + '/api/config/mode', {
+          method: 'POST',
+          headers: {'Content-Type': 'application/json'},
+          body: JSON.stringify({test_mode: newMode})
+        })
+        const data = await res.json()
+        if (data.ok) {
+          this.testMode = data.test_mode
+          alert('已切换至: ' + data.label)
+        } else {
+          alert('切换失败: ' + (data.error || '未知错误'))
+        }
+      } catch (e) {
+        alert('切换请求失败: ' + e.message)
+      }
+    },
   }
 }).mount('#app')

agv_app/static/js/running.js

@@ -9,6 +9,7 @@ createApp({
       tasks: [],
       report: null,
       armCameraOpened: false,
+      hasAgvCamera: false,
       agvPreviewUrl: API + '/api/camera/preview',
       armPreviewUrl: '',
       polling: null,
@@ -27,14 +28,17 @@ createApp({
       errorMsg: '',
       waitingStep: false,
       stepLabel: '',
+      qrMessage: '所有姿态均未识别到二维码，请手动输入：',
       // 任务步骤控制开关（机械臂初始化并入AGV移动）
       agvMoveEnabled: true,
       qrScanEnabled: true,
       frontPhotoEnabled: true,
       backPhotoEnabled: true,
       // 速度控制
-      agvSpeed: 0.5,
-      armSpeed: 500,
+      agvSpeed: 1.0,
+      armSpeed: 1000,
+      // 查验
+      inspection: null,
     }
   },
   computed: {
@@ -50,6 +54,14 @@ createApp({
       }
       return map[this.missionState] || '未知'
     },
+    inspectionTotal() {
+      if (!this.inspection || !this.inspection.items) return 0
+      return this.inspection.items.reduce((s, i) => s + (i.inspected || 0), 0)
+    },
+    inspectionTarget() {
+      if (!this.inspection || !this.inspection.items) return 0
+      return this.inspection.items.reduce((s, i) => s + (i.quantify || 0), 0)
+    },
   },
   mounted() {
     this.poll()
@@ -63,13 +75,20 @@ createApp({
       try {
         const res = await fetch(API + '/api/status')
         const data = await res.json()
-        if (!this.armCameraOpened) {
-          this.armPreviewUrl = ''
-        } else if (!this.armPreviewUrl) {
-          this.armPreviewUrl = API + '/api/camera/arm_preview'
+        const opened = data.arm_camera_opened
+        if (opened !== this.armCameraOpened || (opened && !this.armPreviewUrl)) {
+          this.armCameraOpened = opened
+          this.armPreviewUrl = opened ? API + '/api/camera/arm_preview' : ''
         }
       } catch (e) {}
     },
+    async checkAgvCameraCapabilities() {
+      try {
+        const res = await fetch(API + '/api/camera/capabilities')
+        const data = await res.json()
+        this.hasAgvCamera = data.has_agv_camera
+      } catch (e) { this.hasAgvCamera = false }
+    },
     poll() {
       this.refresh()
       this.pollLogs()
@@ -93,7 +112,11 @@ createApp({
         if (data.grid) this.missionGrid = data.grid
         if (data.point_status) this.pointStatus = data.point_status
         if (data.machine_status) this.machineStatus = data.machine_status
+        if (data.inspection) this.inspection = data.inspection
         this.armCameraOpened = data.arm_camera_opened
+        if (this.armCameraOpened && !this.armPreviewUrl) {
+          this.armPreviewUrl = API + '/api/camera/arm_preview'
+        }
 
         // 错误弹窗
         if (data.waiting_error) {
@@ -111,6 +134,11 @@ createApp({
           this.waitingStep = false
         }
 
+        // QR 弹窗消息
+        if (data.qr_message) {
+          this.qrMessage = data.qr_message
+        }
+
         // QR 弹窗（防止提交后重复弹出）
         if (this.missionState !== 'waiting_qr') {
           this.qrSubmitting = false
@@ -118,6 +146,9 @@ createApp({
         if (this.missionState === 'waiting_qr' && !this.showQrModal && !this.qrSubmitting) {
           this.showQrModal = true
           this.qrValue = ''
+          if (!this.qrMessage) {
+            this.qrMessage = '所有姿态均未识别到二维码，请手动输入：'
+          }
         }
 
         // 完成后获取报告
@@ -145,6 +176,11 @@ createApp({
     },
     async startMission() {
       if (this.missionState !== 'idle') return
+      // 没有设置报关单时阻止启动（后端也会校验，这里提前友好提示）
+      if (!this.inspection) {
+        alert('⚠️ 请先在「设置→报关单」中选择报关单并点击「开始查验」')
+        return
+      }
       this.logs = []
       this.progress = 0
       this.report = null
@@ -175,6 +211,11 @@ createApp({
     },
     async startSingleStep() {
       if (this.missionState !== 'idle') return
+      // 没有设置报关单时阻止启动（后端会校验，这里提前友好提示）
+      if (!this.inspection) {
+        alert('⚠️ 请先在「设置→报关单」中选择报关单并点击「开始查验」')
+        return
+      }
       this.logs = []
       this.progress = 0
       this.report = null
@@ -244,11 +285,28 @@ createApp({
         body: JSON.stringify({ qr: 'SKIP' })
       })
     },
+    async rescanQr() {
+      this.showQrModal = false
+      this.qrValue = ''
+      this.qrSubmitting = true
+      await fetch(API + '/api/mission/manual-qr', {
+        method: 'POST',
+        headers: { 'Content-Type': 'application/json' },
+        body: JSON.stringify({ qr: 'RESCAN' })
+      })
+      // 4秒后允许弹窗重新出现（后端重试扫码约3秒）
+      setTimeout(() => { this.qrSubmitting = false }, 4000)
+    },
     onAgvPreviewError(e) {
       e.target.style.display = 'none'
     },
     onArmPreviewError(e) {
-      e.target.style.display = 'none'
+      // 重新加载：加时间戳避免缓存
+      const url = this.armPreviewUrl
+      if (url) {
+        const sep = url.includes('?') ? '&' : '?'
+        this.armPreviewUrl = url + sep + '_t=' + Date.now()
+      }
     },
     // ===== 网格任务显示方法 =====
     getPointStatus(pr, c) {

agv_app/static/js/setting.js

@@ -45,7 +45,7 @@ createApp({
       agvConnected: false,
       agvBattery: null,
       agvPosition: null,
-      agvSpeed: 0.5,
+      agvSpeed: 1.0,
       agvMoveInterval: null,
       agvCameraUrl: API + '/api/camera/refresh',
       agvCameraTimer: null,
@@ -57,9 +57,24 @@ createApp({
       qrScanning: false,
       qrConfigs: [],
       qrScanningId: null,
+      showQrInputDialog: false,
+      qrInputId: null,
+      qrInputValue: '',
       armCameraUrl: API + '/api/camera/arm_preview',
+      armSnapshotUrl: '',
+      showArmSnapshot: false,
+      armSnapshotLoading: false,
       newQrName: '',
       armInitialPose: [0, 0, 0, 0, 0, 0],
+      // 报关单
+      customsList: [],
+      customsLoading: false,
+      customsPage: 1,
+      customsPageSize: 15,
+      customsTotal: 0,
+      selectedCustomsId: '',
+      selectedCustomsName: '',
+      customsMachines: [],
     }
   },
   mounted() {
@@ -67,9 +82,17 @@ createApp({
     this.refreshAngles()
     this.loadQrConfigs()
     this.nav2Timer = setInterval(this.refreshNavStatus, 3000)
-    this.armCameraUrl = API + '/api/camera/arm_preview?t=' + Date.now()
-  },
+    this.armSnapshotUrl = ""; this.armCameraUrl = API + '/api/camera/arm_preview?t=' + Date.now()
+    this.armSnapshotUrl = ""; this.armCameraUrl = API + "/api/camera/arm_preview?t=" + Date.now()
+    },
   computed: {
+    customsTotalPages() {
+      return Math.max(1, Math.ceil(this.customsTotal / this.customsPageSize))
+    },
+    customsPageData() {
+      // 前端显示 pagination data — 但我们在 API 后端做分页，所以这里只是引用
+      return this.customsList
+    },
     hasQr() {
       return !!(this.selectedMachine && this.selectedMachine.qr)
     },
@@ -1104,10 +1127,39 @@ createApp({
           if (data.model_name) msg += ' 匹配机型: ' + data.model_name
           else msg += ' 未匹配到机型'
           alert(msg)
-        } else { alert(data.error || '扫描失败') }
-      } catch (e) { alert('扫描失败: ' + e.message) }
+        } else {
+          // 自动扫描失败，弹出手动输入框
+          this.qrInputId = qrId
+          this.qrInputValue = ''
+          this.showQrInputDialog = true
+        }
+      } catch (e) {
+        this.qrInputId = qrId
+        this.qrInputValue = ''
+        this.showQrInputDialog = true
+      }
       this.qrScanningId = null
     },
+    async submitManualQr() {
+      if (!this.qrInputId || !this.qrInputValue.trim()) return
+      try {
+        const res = await fetch(API + '/api/qr/configs/' + this.qrInputId, {
+          method: 'PUT',
+          headers: {'Content-Type':'application/json'},
+          body: JSON.stringify({ qr_value: this.qrInputValue.trim() })
+        })
+        const data = await res.json()
+        if (data.ok) {
+          await this.loadQrConfigs()
+          alert('✅ 二维码值已保存')
+        } else {
+          alert('保存失败')
+        }
+      } catch (e) { alert('保存失败: ' + e.message) }
+      this.showQrInputDialog = false
+      this.qrInputId = null
+      this.qrInputValue = ''
+    },
     async applyQrAngles(qrId) {
       if (!this.armConnected) { alert('机械臂未连接'); return }
       const q = this.qrConfigs.find(x => x.id === qrId)
@@ -1126,6 +1178,12 @@ createApp({
     onArmPreviewError() {
       // 机械臂摄像头预览失败，静默处理
     },
+    async captureArmSnapshot() {
+      this.armSnapshotLoading = true
+      this.armSnapshotUrl = API + '/api/camera/arm_refresh?t=' + Date.now()
+      this.showArmSnapshot = true
+      setTimeout(() => { this.armSnapshotLoading = false }, 500)
+    },
     async agvResetCollision() {
       if (!this.agvConnected) {
         alert('AGV 未连接')
@@ -1146,5 +1204,121 @@ createApp({
         alert('❌ 复位请求失败: ' + e.message)
       }
     },
-  }
+    // ===== 报关单方法 =====
+    async loadCustomsList() {
+      this.customsLoading = true
+      try {
+        const url = API + '/api/customs/list?pageNum=' + this.customsPage + '&pageSize=' + this.customsPageSize + '&customsName=' + encodeURIComponent(this.customsName) + '&customsNo=' + encodeURIComponent(this.customsNo)
+        const res = await fetch(url)
+        const d = await res.json()
+        if (d.ok && d.data) {
+          const raw = d.data
+          let list = []
+          let total = 0
+          if (raw.rows) { list = raw.rows; total = raw.total || list.length }
+          else if (raw.records) { list = raw.records; total = raw.total || list.length }
+          else if (Array.isArray(raw)) { list = raw; total = list.length }
+          else if (raw.data && raw.data.rows) { list = raw.data.rows; total = raw.data.total || list.length }
+          else if (raw.data && raw.data.records) { list = raw.data.records; total = raw.data.total || list.length }
+          else if (raw.data && Array.isArray(raw.data)) { list = raw.data; total = list.length }
+          this.customsList = list
+          this.customsTotal = total || list.length
+        } else {
+          this.customsList = []
+          this.customsTotal = 0
+        }
+      } catch (e) {
+        console.error('加载报关单列表失败', e)
+        this.customsList = []
+        this.customsTotal = 0
+      } finally {
+        this.customsLoading = false
+      }
+    },
+    async selectCustomsRow(item) {
+      // 新数据结构: { customs:{id,orderId,..}, orderCode, drawCode }
+      const id = (item.customs && item.customs.id) || item.id || item.customsId || item.customs_id || ''
+      if (!id) return
+      this.selectedCustomsId = id
+      this.selectedCustomsName = (item.customs && item.customs.customsCode) || item.orderCode || item.drawCode || id
+      this.customsMachines = []
+      try {
+        const url = API + '/api/customs/machines?customsId=' + encodeURIComponent(id)
+        const res = await fetch(url)
+        const d = await res.json()
+        if (d.ok && d.data) {
+          const raw = d.data
+          let machines = []
+          // customsMachines 返回格式: {"code":"0","data":[{serialNumber,inventoryName,...}]}
+          if (raw.rows) { machines = raw.rows }
+          else if (raw.records) { machines = raw.records }
+          else if (raw.data && Array.isArray(raw.data)) { machines = raw.data }
+          else if (Array.isArray(raw)) { machines = raw }
+          else if (Array.isArray(raw.data)) { machines = raw.data }
+          this.customsMachines = machines
+        } else {
+          this.customsMachines = []
+        }
+      } catch (e) {
+        console.error('加载机器列表失败', e)
+        this.customsMachines = []
+      }
+    },
+    async startInspection(item) {
+      const id = (item.customs && item.customs.id) || item.id || item.customsId || item.customs_id || ''
+      const name = (item.customs && item.customs.customsCode) || item.orderCode || item.drawCode || id
+      if (!id) return
+      if (!confirm(`确定要对报关单「${name}」开始查验吗？\n点击确定后，运行页将以该报关单的机器进行查验。`)) return
+      try {
+        const res = await fetch(API + '/api/customs/inspection/start', {
+          method: 'POST',
+          headers: { 'Content-Type': 'application/json' },
+          body: JSON.stringify({ customsId: id, customsName: name })
+        })
+        const d = await res.json()
+        if (d.ok) {
+          alert(`✅ 查验已开始！\n报关单: ${name}\n机型: ${d.inspection.items.length} 种\n总数: ${d.inspection.items.reduce((s,i)=>s+i.quantify,0)} 台\n\n请前往「运行」页执行任务。`)
+          // 同时选中该报关单，显示机器列表
+          this.selectedCustomsId = id
+          this.selectedCustomsName = name
+          // 用 inspection items 填充 customsMachines 显示（聚合后）
+          this.customsMachines = d.inspection.items.map(it => ({
+            inventoryCode: it.inventoryCode,
+            inventoryName: it.inventoryName,
+            inventorySpecification: it.spec,
+            serialNumber: '',
+            quantify: it.quantify,
+            inspectionCount: it.inspected,
+          }))
+        } else {
+          alert('❌ 开始查验失败: ' + (d.error || '未知错误'))
+        }
+      } catch (e) {
+        alert('❌ 请求失败: ' + e.message)
+      }
+    },
+    async loadInspectionCounts() {
+      // 轮询查验计数，更新 customsMachines 的 inspectionCount
+      try {
+        const res = await fetch(API + '/api/customs/inspection')
+        const d = await res.json()
+        if (d.ok && d.inspection && this.customsMachines.length) {
+          for (const item of d.inspection.items) {
+            const match = this.customsMachines.find(m => m.inventoryCode === item.inventoryCode)
+            if (match) {
+              match.inspectionCount = item.inspected
+            }
+          }
+        }
+      } catch (e) {}
+    },
+  },
+  watch: {
+    tab(newVal) {
+      if (newVal === 'customs' && this.customsMachines.length > 0) {
+        // 切换到报关单 tab 时刷新查验计数
+        this.loadInspectionCounts()
+      }
+    }
+  },
 }).mount('#app')

agv_app/templates/index.html

@@ -16,7 +16,13 @@
         <a href="/setting" class="nav-link">⚙️ 设置</a>
         <a href="/running" class="nav-link">▶️ 运行</a>
       </nav>
-      <div class="status-bar">
+      <div class="status-bar" style="display:flex;align-items:center;gap:12px">
+        <label class="env-toggle" title="切换测试/正式环境">
+          <span class="env-label" :class="testMode ? 'test' : 'prod'">{% raw %}{{ testMode ? '🧪 测试' : '🏭 正式' }}{% endraw %}</span>
+          <div class="toggle-switch" @click="toggleEnvMode" :class="{active: testMode}">
+            <div class="toggle-knob"></div>
+          </div>
+        </label>
         <span class="status-item" :class="statusClass">
           {% raw %}{{ statusText }}{% endraw %}
         </span>
@@ -93,9 +99,10 @@
         <h2>📷 摄像头预览</h2>
         <div class="camera-row">
           <div class="camera-box">
-            <div class="camera-label">AGV 摄像头 <button class="btn btn-small" @click="agvCameraSrc='/api/camera/refresh?t='+Date.now(); agvCameraError=false">刷新</button></div>
-            <img v-if="cameraOpened && !agvCameraError" :src="agvCameraSrc" class="camera-img" @error="agvCameraError=true">
-            <div v-if="cameraOpened && agvCameraError" class="camera-placeholder">AGV 摄像头异常</div>
+            <div class="camera-label">AGV 摄像头 <button class="btn btn-small" @click="refreshAgvCamera()">刷新</button></div>
+            <img v-if="cameraOpened && hasAgvCamera && !agvCameraError" :src="agvCameraSrc" class="camera-img" @error="agvCameraError=true">
+            <div v-if="cameraOpened && agvCameraError && hasAgvCamera" class="camera-placeholder">AGV 摄像头异常</div>
+            <div v-if="cameraOpened && !hasAgvCamera" class="camera-placeholder">AGV 无可用彩色摄像头</div>
             <div v-else-if="!cameraOpened" class="camera-placeholder">未打开（先点击连接设备）</div>
           </div>
           <div class="camera-box">

agv_app/templates/running.html

@@ -4,7 +4,7 @@
   <meta charset="UTF-8">
   <meta name="viewport" content="width=device-width, initial-scale=1.0">
   <title>运行监控 - AGV 拍摄系统</title>
-  <link rel="stylesheet" href="/static/css/style.css?v=20260529a">
+  <link rel="stylesheet" href="/static/css/style.css?v=20260616a">
 </head>
 <body>
   <div id="app">
@@ -48,6 +48,30 @@
         </div>
       </section>
 
+      <!-- 查验进度 -->
+      <section class="card" v-if="inspection">
+        <h2>🔍 查验进度 — {% raw %}{{ inspection.customsName }}{% endraw %}</h2>
+        <p class="hint" style="margin-bottom:12px">
+          总进度: {% raw %}{{ inspectionTotal }}{% endraw %} / {% raw %}{{ inspectionTarget }}{% endraw %} 台
+          <span v-if="inspectionTotal >= inspectionTarget && inspectionTarget > 0" style="color:#4caf50;font-weight:bold"> ✅ 已完成</span>
+        </p>
+        <div class="inspection-grid">
+          <div v-for="(item, ii) in inspection.items" :key="ii" class="inspection-item" :class="{ 'insp-done': item.inspected >= item.quantify, 'insp-active': item.inspected > 0 && item.inspected < item.quantify }">
+            <div class="insp-name">{% raw %}{{ item.inventoryName }}{% endraw %}</div>
+            <div class="insp-code">{% raw %}{{ item.inventoryCode }}{% endraw %}</div>
+            <div class="insp-spec">{% raw %}{{ item.spec }}{% endraw %}</div>
+            <div class="insp-count">
+              <span class="insp-num">{% raw %}{{ item.inspected }}{% endraw %}</span>
+              <span class="insp-sep">/</span>
+              <span class="insp-total">{% raw %}{{ item.quantify }}{% endraw %}</span>
+            </div>
+            <div class="insp-bar">
+              <div class="insp-fill" :style="{width: (item.quantify > 0 ? (item.inspected / item.quantify * 100) : 0) + '%'}"></div>
+            </div>
+          </div>
+        </div>
+      </section>
+
       <!-- 任务步骤控制开关 -->
       <section class="card">
         <h2>🎛️ 任务步骤控制</h2>
@@ -140,7 +164,7 @@
                     <span class="step-dot" :class="'dot-'+getMachineField(ri-1,c-1,'front')" title="正面照">📸正</span>
                     <span class="step-dot" :class="'dot-'+getMachineField(ri-1,c-1,'back')" title="背面照">📸背</span>
                   </div>
-                  <div v-if="getMachineField(ri-1,c-1,'qr_val')" class="machine-qr-mini">🏷 {% raw %}{{ getMachineField(ri-1,c-1,'qr_val').substring(0,6) }}{% endraw %}</div>
+                  <div v-if="getMachineField(ri-1,c-1,'qr_val')" class="machine-qr-mini">🏷 {% raw %}{{ getMachineField(ri-1,c-1,'qr_val') }}{% endraw %}</div>
                 </template>
                 <div v-else class="empty-cell">空</div>
               </div>
@@ -173,8 +197,9 @@
         <h2>📷 摄像头预览</h2>
         <div class="camera-dual">
           <div class="camera-box">
-            <div class="camera-label">🎥 AGV 摄像头</div>
-            <img :src="agvPreviewUrl" @error="onAgvPreviewError" class="camera-img">
+            <div class="camera-label">🎥 AGV 摄像头 <span v-if="!hasAgvCamera" style="font-size:0.8em;color:#999">(不可用)</span></div>
+            <img v-if="hasAgvCamera" :src="agvPreviewUrl" @error="onAgvPreviewError" class="camera-img">
+            <div v-else class="camera-placeholder">AGV 无可用彩色摄像头</div>
           </div>
           <div class="camera-box" v-if="armCameraOpened">
             <div class="camera-label">🦾 机械臂摄像头</div>
@@ -201,9 +226,10 @@
       <div class="modal-overlay" v-if="showQrModal">
         <div class="modal">
           <h3>⌨️ 手动输入二维码</h3>
-          <p>所有姿态均未识别到二维码，请手动输入：</p>
+          <p>{% raw %}{{ qrMessage }}{% endraw %}</p>
           <input type="text" v-model="qrValue" placeholder="输入二维码内容" autofocus @keyup.enter="submitQr">
           <div class="modal-actions">
+            <button class="btn btn-success" @click="rescanQr" style="margin-right:auto">🔄 重新扫描</button>
             <button class="btn btn-primary" @click="submitQr">确认</button>
             <button class="btn" @click="cancelQr">跳过</button>
           </div>
@@ -239,6 +265,6 @@
   </div>
 
   <script src="/static/js/vue3.global.prod.js"></script>
-  <script src="/static/js/running.js?v=20260529a"></script>
+  <script src="/static/js/running.js?v=20260616c"></script>
 </body>
 </html>

agv_app/templates/setting.html

@@ -4,7 +4,7 @@
   <meta charset="UTF-8">
   <meta name="viewport" content="width=device-width, initial-scale=1.0">
   <title>设置 - AGV 拍摄系统</title>
-  <link rel="stylesheet" href="/static/css/style.css?v=20260529b">
+  <link rel="stylesheet" href="/static/css/style.css?v=20260612b">
 </head>
 <body>
   <div id="app">
@@ -25,6 +25,7 @@
       <button class="tab" :class="{active: tab === 'model'}" @click="tab = 'model'">📦 机型配置</button>
       <button class="tab" :class="{active: tab === 'arm'}" @click="tab = 'arm'">🤖 机械臂</button>
       <button class="tab" :class="{active: tab === 'agv'}" @click="tab = 'agv'">🚗 AGV控制</button>
+      <button class="tab" :class="{active: tab === 'customs'}" @click="tab = 'customs'">📋 报关单</button>
     </div>
 
     <main class="container">
@@ -109,7 +110,7 @@
             <thead>
               <tr style="background:#1a2332;text-align:left">
                 <th style="padding:10px 12px;border-bottom:1px solid #2a3441;color:#9aa0a6;font-size:13px">ID</th>
-                <th style="padding:10px 12px;border-bottom:1px solid #2a3441;color:#9aa0a6;font-size:13px">机型名称</th>
+                <th style="padding:10px 12px;border-bottom:1px solid #2a3441;color:#9aa0a6;font-size:13px">机型申请时间</th>
                 <th style="padding:10px 12px;border-bottom:1px solid #2a3441;color:#9aa0a6;font-size:13px">描述</th>
                 <th style="padding:10px 12px;border-bottom:1px solid #2a3441;color:#9aa0a6;font-size:13px">备注</th>
                 <th style="padding:10px 12px;border-bottom:1px solid #2a3441;color:#9aa0a6;font-size:13px;text-align:center">操作</th>
@@ -160,7 +161,7 @@
                 <div style="margin-top:8px">
                   <div style="display:flex;gap:8px;align-items:center;flex-wrap:wrap">
                     <input type="text" v-model="newPoseForm[m.id + '_front']"
-                      placeholder="姿态名称（如：取料）"
+                      placeholder="姿态申请时间（如：取料）"
                       style="flex:1;min-width:120px;padding:6px;border:1px solid #2a3441;border-radius:4px">
                     <button class="btn btn-secondary btn-small" @click="addPose(m.id, 'front', newPoseForm[m.id + '_front'])">➕ 添加正面姿态（当前角度）</button>
                   </div>
@@ -207,7 +208,7 @@
                 <div style="margin-top:8px">
                   <div style="display:flex;gap:8px;align-items:center;flex-wrap:wrap">
                     <input type="text" v-model="newPoseForm[m.id + '_back']"
-                      placeholder="姿态名称（如：放料）"
+                      placeholder="姿态申请时间（如：放料）"
                       style="flex:1;min-width:120px;padding:6px;border:1px solid #2a3441;border-radius:4px">
                     <button class="btn btn-secondary btn-small" @click="addPose(m.id, 'back', newPoseForm[m.id + '_back'])">➕ 添加背面姿态（当前角度）</button>
                   </div>
@@ -224,7 +225,7 @@
                 <button class="btn-icon" @click="showAddModelModal = false">✕</button>
               </div>
               <div class="form-group" style="margin-bottom:12px">
-                <label>机型名称</label>
+                <label>机型申请时间</label>
                 <input type="text" v-model="newModelName" placeholder="例如：SMT-A" style="width:100%;padding:8px;border:1px solid #2a3441;border-radius:4px">
               </div>
               <div class="form-group" style="margin-bottom:12px">
@@ -433,13 +434,18 @@
           <h2>📷 二维码配置</h2>
           <p style="color:#9aa0a6;font-size:13px;margin-bottom:16px">配置机械臂姿态（6个关节角度），通过机械臂摄像头识别二维码并匹配机型。</p>
           <!-- 机械臂摄像头画面 -->
-          <div style="margin-bottom:16px">
+          <div style="margin-bottom:8px">
             <div class="camera-preview" style="max-width:640px">
-              <img :src="armCameraUrl" @error="onArmPreviewError" style="width:100%;border-radius:8px">
+              <img :src="armCameraUrl" @error="onArmPreviewError" class="camera-img arm">
             </div>
           </div>
           <div style="display:flex;justify-content:flex-end;margin-bottom:16px">
-            <input type="text" v-model="newQrName" placeholder="输入名称..." style="background:#0f1923;border:1px solid #2a3441;color:#fff;padding:8px 12px;border-radius:6px;margin-right:8px;width:180px">
+            <button class="btn btn-secondary btn-small" @click="captureArmSnapshot" :disabled="armSnapshotLoading">
+              📸 获取图片
+            </button>
+          </div>
+          <div style="display:flex;justify-content:flex-end;margin-bottom:16px">
+            <input type="text" v-model="newQrName" placeholder="输入申请时间..." style="background:#0f1923;border:1px solid #2a3441;color:#fff;padding:8px 12px;border-radius:6px;margin-right:8px;width:180px">
             <button class="btn btn-primary" @click="addQrConfig()">➕ 添加</button>
           </div>
           <div v-if="qrConfigs.length === 0" style="text-align:center;color:#9aa0a6;padding:40px">
@@ -448,7 +454,7 @@
           <table v-else style="width:100%;border-collapse:collapse;margin-bottom:16px">
             <thead>
               <tr style="background:#1a2332;text-align:left">
-                <th style="padding:10px 8px;border-bottom:1px solid #2a3441;color:#9aa0a6;font-size:12px">名称</th>
+                <th style="padding:10px 8px;border-bottom:1px solid #2a3441;color:#9aa0a6;font-size:12px">申请时间</th>
                 <th style="padding:10px 4px;border-bottom:1px solid #2a3441;color:#9aa0a6;font-size:12px">J1</th>
                 <th style="padding:10px 4px;border-bottom:1px solid #2a3441;color:#9aa0a6;font-size:12px">J2</th>
                 <th style="padding:10px 4px;border-bottom:1px solid #2a3441;color:#9aa0a6;font-size:12px">J3</th>
@@ -476,6 +482,7 @@
                   <button class="btn btn-secondary btn-small" @click="readQrAngles(q.id)" :disabled="!armConnected" title="读取当前机械臂关节角度">📋 加载姿态</button>
                   <button class="btn btn-primary btn-small" @click="applyQrAngles(q.id)" :disabled="!armConnected" style="margin-left:3px" title="将姿态应用到机械臂">🤖 应用姿态</button>
                   <button class="btn btn-success btn-small" @click="scanQrEntry(q.id)" :disabled="qrScanningId === q.id" style="margin-left:3px" title="扫描二维码">📷</button>
+                  <button class="btn btn-secondary btn-small" @click="qrInputId = q.id; qrInputValue = q.qr_value || ''; showQrInputDialog = true" style="margin-left:3px" title="手动输入二维码值">✏️</button>
                   <button class="btn btn-danger btn-small" @click="deleteQrConfig(q.id)" style="margin-left:3px" title="删除">🗑️</button>
                 </td>
               </tr>
@@ -493,7 +500,7 @@
           </div>
           <div v-else>
             <div class="camera-preview">
-              <img :src="armCameraUrl" @error="onArmPreviewError">
+              <img :src="armCameraUrl" @error="onArmPreviewError" class="camera-img arm">
             </div>
             <div class="joints-panel">
               <h3>关节角度控制</h3>
@@ -581,10 +588,136 @@
           </div>
         </section>
       </div>
+      <!-- ========== 报关单 Tab ========== -->
+      <div v-if="tab === 'customs'">
+        <section class="card">
+          <div style="display:flex;justify-content:space-between;align-items:center">
+            <h2>📋 报关单列表</h2>
+            <button class="btn btn-secondary" @click="loadCustomsList" :disabled="customsLoading">
+              <span v-if="customsLoading">⏳</span><span v-else>🔄</span> 刷新
+            </button>
+          </div>
+          <p class="hint" style="margin-bottom:12px">选择报关单查看其中的机器列表，点击报关单 ID 展开机器信息</p>
+
+          <!-- 分页表格 -->
+          <div class="table-wrapper">
+            <table class="data-table">
+              <thead>
+                <tr>
+                  <th style="width:60px">序号</th>
+                  <th>报关单号</th>
+                  <th>申请时间</th>
+                  <th>状态</th>
+                  <th>机器数</th>
+                  <th style="width:80px">操作</th>
+                </tr>
+              </thead>
+              <tbody>
+                <tr v-for="(item, idx) in customsPageData" :key="(item.customs && item.customs.id) || item.id || idx"
+                    class="clickable-row"
+                    :class="{ 'row-selected': selectedCustomsId === ((item.customs && item.customs.id) || item.id || item.customsId || item.customs_id) }"
+                    @click="selectCustomsRow(item)">
+                  <td>{% raw %}{{ (customsPage - 1) * customsPageSize + idx + 1 }}{% endraw %}</td>
+                  <td><strong>{% raw %}{{ (item.customs && item.customs.customsCode) || item.orderCode || (item.customs && item.customs.id) || '-' }}{% endraw %}</strong></td>
+                  <td>{% raw %}{{ item.orderCode || item.drawCode || '-' }}{% endraw %}</td>
+                  <td><span class="badge" :class="((item.customs && item.customs.customsCode) ? 'badge-success' : 'badge-pending')">{% raw %}{{ (item.customs && item.customs.customsCode) ? '已报关' : '待报关' }}{% endraw %}</span></td>
+                  <td>{% raw %}{{ (item.customs && item.customs.orderId) ? item.customs.orderId.split(',').length : '?' }}{% endraw %}</td>
+                  <td>
+                    <button class="btn btn-small btn-primary" @click.stop="selectCustomsRow(item)">
+                      📦 查看机器
+                    </button>
+                    <button class="btn btn-small btn-success" style="margin-left:4px" @click.stop="startInspection(item)">
+                      🔍 开始查验
+                    </button>
+                  </td>
+                </tr>
+                <tr v-if="!customsPageData.length && !customsLoading">
+                  <td colspan="7" style="text-align:center;color:#8899aa;padding:24px">暂无报关单数据</td>
+                </tr>
+              </tbody>
+            </table>
+          </div>
+
+          <!-- 分页控件 -->
+          <div class="pagination" v-if="customsTotal > customsPageSize">
+            <button class="btn btn-small" :disabled="customsPage <= 1" @click="customsPage = customsPage - 1; loadCustomsList()">‹ 上一页</button>
+            <span style="margin:0 12px;color:#9aa0a6;font-size:13px">
+              第 {% raw %}{{ customsPage }}{% endraw %} / {% raw %}{{ customsTotalPages }}{% endraw %} 页（共 {% raw %}{{ customsTotal }}{% endraw %} 条）
+            </span>
+            <button class="btn btn-small" :disabled="customsPage >= customsTotalPages" @click="customsPage = customsPage + 1; loadCustomsList()">下一页 ›</button>
+          </div>
+        </section>
+
+        <!-- 机器列表（点击报关单行时展开） -->
+        <section class="card" v-if="customsMachines.length">
+          <div style="display:flex;justify-content:space-between;align-items:center">
+            <h2>📦 机器列表</h2>
+            <span style="color:#9aa0a6;font-size:13px">报关单: <strong style="color:#e0e0e0">{% raw %}{{ selectedCustomsName }}{% endraw %}</strong></span>
+          </div>
+          <p class="hint" style="margin-bottom:12px">共 <strong>{% raw %}{{ customsMachines.length }}{% endraw %}</strong> 台机器</p>
+          <div class="table-wrapper">
+            <table class="data-table">
+              <thead>
+                <tr>
+                  <th style="width:50px">序号</th>
+                  <th>物料编码</th>
+                  <th>物料名称</th>
+                  <th>规格</th>
+                  <th>序列号</th>
+                  <th>数量</th>
+                  <th>查验数量</th>
+                </tr>
+              </thead>
+              <tbody>
+                <tr v-for="(m, mi) in customsMachines" :key="mi">
+                  <td>{% raw %}{{ mi + 1 }}{% endraw %}</td>
+                  <td><strong>{% raw %}{{ m.inventoryCode || m.machineCode || '-' }}{% endraw %}</strong></td>
+                  <td>{% raw %}{{ m.inventoryName || m.machineName || m.name || '-' }}{% endraw %}</td>
+                  <td>{% raw %}{{ m.inventorySpecification || m.spec || '-' }}{% endraw %}</td>
+                  <td style="font-family:monospace;color:#4fc3f7">{% raw %}{{ m.serialNumber || m.serialNumbers || m.qrValue || '-' }}{% endraw %}</td>
+                  <td>{% raw %}{{ m.quantify || m.quantity || (m.quantify ? m.quantify : '?') }}{% endraw %}</td>
+                  <td><span :class="(m.inspectionCount > 0) ? 'badge badge-success' : 'badge badge-pending'">{% raw %}{{ m.inspectionCount || 0 }}{% endraw %}</span></td>
+                </tr>
+              </tbody>
+            </table>
+          </div>
+        </section>
+      </div>
+
     </main>
-  </div>
+
+    <!-- 手动输入二维码弹窗 -->
+    <div class="modal-overlay" v-if="showQrInputDialog">
+      <div class="modal" style="max-width:420px">
+        <h3>⌨️ 手动输入二维码</h3>
+        <p style="color:#9aa0a6;font-size:13px;margin:8px 0 16px">自动扫码未识别到二维码，请手动输入二维码内容：</p>
+        <input type="text" v-model="qrInputValue" placeholder="输入二维码内容..."
+          style="width:100%;background:#0f1923;border:1px solid #2a3441;color:#fff;padding:10px 12px;border-radius:6px;font-size:14px;box-sizing:border-box"
+          autofocus @keyup.enter="submitManualQr">
+        <div class="modal-actions" style="margin-top:16px">
+          <button class="btn btn-primary" @click="submitManualQr">确认</button>
+          <button class="btn" @click="showQrInputDialog = false; qrInputId = null; qrInputValue = ''">取消</button>
+        </div>
+      </div>
+    </div>
+
+    <!-- 机械臂截图弹窗 -->
+    <div class="modal-overlay" v-if="showArmSnapshot && armSnapshotUrl" @click.self="showArmSnapshot = false">
+      <div class="modal" style="max-width:800px">
+        <div style="display:flex;justify-content:space-between;align-items:center;margin-bottom:12px">
+          <h3>📸 机械臂摄像头截图</h3>
+          <button class="btn btn-small" @click="showArmSnapshot = false" style="font-size:18px;background:none;border:none;color:#9aa0a6;cursor:pointer">✕</button>
+        </div>
+        <div style="background:#000;border-radius:8px;overflow:hidden">
+          <img :src="armSnapshotUrl" style="width:100%;display:block">
+        </div>
+        <div style="margin-top:8px;text-align:center;color:#9aa0a6;font-size:12px">
+          点击弹窗外关闭
+        </div>
+      </div>
+    </div>
 
   <script src="/static/js/vue3.global.prod.js?v=20260526a"></script>
-  <script src="/static/js/setting.js?v=20260529b"></script>
+  <script src="/static/js/setting.js?v=20260616f"></script>
 </body>
 </html>

agv_app/utils/agv_controller_ros2.py

@@ -76,7 +76,7 @@ class AGVController:
         if rc != 0:
             logger.warning(f"发布 cmd_vel 失败: {err}")
 
-    def move_forward(self, speed: float = 0.5, duration: float = None):
+    def move_forward(self, speed: float = 1.0, duration: float = None):
         """前进"""
         if not self.is_connected():
             return
@@ -85,7 +85,7 @@ class AGVController:
             time.sleep(duration)
             self.stop()
 
-    def move_backward(self, speed: float = 0.5, duration: float = None):
+    def move_backward(self, speed: float = 1.0, duration: float = None):
         """后退"""
         if not self.is_connected():
             return
@@ -94,7 +94,7 @@ class AGVController:
             time.sleep(duration)
             self.stop()
 
-    def turn_left(self, speed: float = 0.5, duration: float = None):
+    def turn_left(self, speed: float = 1.0, duration: float = None):
         """左转"""
         if not self.is_connected():
             return
@@ -103,7 +103,7 @@ class AGVController:
             time.sleep(duration)
             self.stop()
 
-    def turn_right(self, speed: float = 0.5, duration: float = None):
+    def turn_right(self, speed: float = 1.0, duration: float = None):
         """右转"""
         if not self.is_connected():
             return
@@ -112,7 +112,7 @@ class AGVController:
             time.sleep(duration)
             self.stop()
 
-    def move_left_lateral(self, speed: float = 0.5, duration: float = None):
+    def move_left_lateral(self, speed: float = 1.0, duration: float = None):
         """向左横向移动"""
         if not self.is_connected():
             return
@@ -121,7 +121,7 @@ class AGVController:
             time.sleep(duration)
             self.stop()
 
-    def move_right_lateral(self, speed: float = 0.5, duration: float = None):
+    def move_right_lateral(self, speed: float = 1.0, duration: float = None):
         """向右横向移动"""
         if not self.is_connected():
             return
@@ -176,7 +176,7 @@ class AGVController:
             return self._position
         return None
 
-    def go_to_point(self, x: float, y: float, rz: float = None, speed: float = 0.5) -> bool:
+    def go_to_point(self, x: float, y: float, rz: float = None, speed: float = 1.0) -> bool:
         """移动到目标点（需要 ROS2 导航栈）"""
         logger.warning("go_to_point 需要 ROS2 Nav2 支持，当前仅记录目标")
         return True

agv_app/utils/arm_client.py

@@ -61,14 +61,18 @@ class ArmClient:
     def get_angles(self) -> Tuple[bool, List[float]]:
         """获取所有关节角度"""
         ok, resp = self.send_command("get_angles()")
-        if ok and resp.startswith("get_angles:["):
+        if ok:
             try:
-                # get_angles:[0.174, 0.520, ...] → list
-                nums = resp.split("[")[1].split("]")[0]
-                angles = [float(x) for x in nums.split(",")]
-                return True, angles
+                # 兼容 "get_angles:[-260.2,...]" 和 "[-260.2,...]" 两种格式
+                text = resp.split(":", 1)[-1] if ":" in resp else resp
+                text = text.strip()
+                if text.startswith("[") and text.endswith("]"):
+                    nums = text[1:-1].split(",")
+                    angles = [float(x) for x in nums]
+                    if len(angles) == 6:
+                        return True, angles
             except:
-                return False, []
+                pass
         return False, []
 
     def set_angles(self, angles: List[float], speed: int = 500) -> bool:
@@ -94,13 +98,17 @@ class ArmClient:
     def get_coords(self) -> Tuple[bool, List[float]]:
         """获取当前坐标和姿态 [x, y, z, rx, ry, rz]"""
         ok, resp = self.send_command("get_coords()")
-        if ok and "get_coords:" in resp:
+        if ok:
             try:
-                nums = resp.split("[")[1].split("]")[0]
-                coords = [float(x) for x in nums.split(",")]
-                return True, coords
+                text = resp.split(":", 1)[-1] if ":" in resp else resp
+                text = text.strip()
+                if text.startswith("[") and text.endswith("]"):
+                    nums = text[1:-1].split(",")
+                    coords = [float(x) for x in nums]
+                    if len(coords) == 6:
+                        return True, coords
             except:
-                return False, []
+                pass
         return False, []
 
     def set_coords(self, coords: List[float], speed: int = 500) -> bool:
@@ -132,19 +140,20 @@ class ArmClient:
     def state_check(self) -> bool:
         """检查机械臂状态是否正常"""
         ok, resp = self.send_command("state_check()")
-        return ok and resp == "state_check:1"
+        # 兼容 "state_check:1" 和 "1" 两种格式
+        return ok and resp.strip().lstrip("state_check:") == "1"
 
     def check_running(self) -> bool:
         """检查机械臂是否在运行"""
         ok, resp = self.send_command("check_running()")
-        return ok and resp == "check_running:1"
+        return ok and resp.strip().lstrip("check_running:") == "1"
 
     def wait_done(self, timeout: float = 30) -> bool:
         """等待上一条命令执行完成"""
         start = time.time()
         while time.time() - start < timeout:
             ok, resp = self.send_command("check_running()")
-            if ok and resp == "check_running:0":
+            if ok and resp.strip().lstrip("check_running:") == "0":
                 return True
             time.sleep(0.5)
         return False

agv_app/utils/config.py

@@ -7,15 +7,15 @@ import os
 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 = "192.168.60.177"
-ARM_HOST = "192.168.60.88"
+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": 0.5,
-    "turn_speed": 0.5,
+    "move_speed": 1.0,
+    "turn_speed": 1.0,
 }
 
 # ========== 机械臂 TCP 客户端 ==========
@@ -77,7 +77,7 @@ JOINT_LIMITS = {
 }
 
 # ========== 机械臂默认速度 ==========
-DEFAULT_ARM_SPEED = 500
+DEFAULT_ARM_SPEED = 1000
 
 # ========== 状态定义 ==========
 class State:

agv_app/utils/mission_executor.py

@@ -28,10 +28,10 @@ from utils.nav2_navigator import Nav2Navigator, Nav2Status
 logger = logging.getLogger(__name__)
 
 ROS2_SETUP_CMD = "source /opt/ros/humble/setup.bash && source ~/agv_pro_ros2/install/setup.bash"
-from config import ARM_CAMERA_CONFIG
+from config import ARM_CAMERA_CONFIG, UPLOAD_CONFIG, ZHIJIAN_AUTH_TOKEN
 ARM_CAMERA_SNAPSHOT = ARM_CAMERA_CONFIG["snapshot_url"]
 PHOTOS_DIR = "/home/elephant/photos"
-UPLOAD_URL = "https://ts.zhijian168.com/prod-api/file/uploadImage"
+# UPLOAD_CONFIG["url"] 随环境切换动态变化，每次使用时直接读取
 
 # 二维码扫描重试参数
 QR_SCAN_TIMEOUT = 5  # 单次扫描超时
@@ -101,11 +101,10 @@ class MissionExecutorV3:
         self._nav = Nav2Navigator()
 
         # 速度控制（默认值，可在 execute_mission 时覆写）
-        self.arm_speed = 500
-        self.agv_speed = 0.5
+        self.arm_speed = 1000
+        self.agv_speed = 1.0
 
         # 照片上传序号计数器（连续递增，从1开始）
-        self.next_upload_index = 1
 
     # ==================== 连接 ====================
 
@@ -239,7 +238,6 @@ class MissionExecutorV3:
             self._log(f"📍 点位蛇形路径: {len(path)} 个点位, {total_machines} 台机器")
 
             # 重置照片上传序号（每次任务开始时重置，从1开始）
-            self.next_upload_index = 1
     
             # 任务步骤控制开关
             if options is None:
@@ -258,8 +256,8 @@ class MissionExecutorV3:
             has_arm_pose = self.arm_client and any(abs(a) > 0.01 for a in arm_initial_pose)
 
             # 速度控制（从前端传入）
-            self.arm_speed = int(options.get("arm_speed", 500))
-            self.agv_speed = float(options.get("agv_speed", 0.5))
+            self.arm_speed = int(options.get("arm_speed", 1000))
+            self.agv_speed = float(options.get("agv_speed", 1.0))
             self._log(f"🚀 AGV速度={self.agv_speed:.1f}m/s, 机械臂速度={self.arm_speed}")
 
             # 设置 Nav2 导航速度（仅在任务开始时设一次）
@@ -721,6 +719,7 @@ class MissionExecutorV3:
             try:
                 resp = requests.get(ARM_CAMERA_SNAPSHOT, timeout=QR_SCAN_TIMEOUT)
                 if resp.status_code != 200 or not resp.content:
+                    self._log(f"  📷 arm snapshot attempt {attempt+1}: HTTP {resp.status_code}, size={len(resp.content) if resp.content else 0}")
                     continue
 
                 arr = np.frombuffer(resp.content, dtype=np.uint8)
@@ -737,23 +736,41 @@ class MissionExecutorV3:
             time.sleep(0.5)
         return None
 
-    def _request_manual_qr(self) -> Optional[str]:
-        """暂停任务，等待手动输入（不超时，必须输入才能继续；stop 时解除）"""
-        self.status = MissionStatus.WAITING_QR
-        self.report["status"] = "waiting_qr"
-        self.report["step"] = "等待手动输入二维码"
-        self._log("  ⌨️  弹窗等待手动输入二维码（不可跳过）...")
+    def _request_manual_qr(self, message: str = None) -> Optional[str]:
+        """暂停任务，等待手动输入（支持重新扫描）
+        message: 自定义弹窗消息（None 则使用默认消息）"""
+        while True:
+            self.status = MissionStatus.WAITING_QR
+            self.report["status"] = "waiting_qr"
+            self.report["step"] = message or "等待手动输入二维码"
+            self.report["qr_message"] = message or "所有姿态均未识别到二维码，请手动输入："
+            if message:
+                self._log(f"  ⌨️  {message}")
+            else:
+                self._log("  ⌨️  弹窗等待手动输入二维码...")
 
-        self._qr_event.clear()
-        self._qr_event.wait()  # 无限等待，直到 set_manual_qr 或 stop() 触发
-        self.status = MissionStatus.RUNNING
-        self.report["status"] = "running"
-        if self._qr_value:
-            self._log(f"  ✏️ 手动输入: {self._qr_value}")
-            return self._qr_value
-        else:
-            self._log(f"  ⚠️ 任务已停止")
-            return None
+            self._qr_event.clear()
+            self._qr_event.wait()  # 无限等待，直到 set_manual_qr 或 stop() 触发
+
+            if self._qr_value == 'RESCAN':
+                self.status = MissionStatus.RUNNING
+                self.report["status"] = "running"
+                self._log("  🔄 用户点击重新扫描，重试...")
+                qr = self._decode_qr_from_arm()
+                if qr:
+                    self._log(f"  ✅ 重新扫描成功: {qr}")
+                    return qr
+                self._log("  ❌ 重新扫描仍未识别到二维码")
+                continue  # 继续弹窗
+
+            self.status = MissionStatus.RUNNING
+            self.report["status"] = "running"
+            if self._qr_value:
+                self._log(f"  ✏️ 手动输入: {self._qr_value}")
+                return self._qr_value
+            else:
+                self._log(f"  ⚠️ 任务已停止")
+                return None
 
     def set_manual_qr(self, value: str):
         self._qr_value = value.strip()
@@ -762,8 +779,73 @@ class MissionExecutorV3:
     # ==================== 机型查询 ====================
 
     def _lookup_model(self, qr_value: Optional[str]) -> str:
-        """TODO: 后续通过 HTTP 接口查询机型"""
-        return "机器1"
+        """通过 /api/customs/printer 接口查询机型，同时更新查验计数
+        如果机型不在当前报关单中/超量/查询失败，均弹窗要求重新扫码/输入（不可跳过）"""
+        if not qr_value:
+            return "机器1"
+        while True:
+            if self._stop.is_set():
+                return "机器1"
+            try:
+                printer_url = f"http://127.0.0.1:5000/api/customs/printer?serialNumber={qr_value}"
+                self._log(f"  🔍 查询机型 → {printer_url}")
+                resp = requests.get(printer_url, timeout=10)
+                self._log(f"  📡 printer 响应 HTTP {resp.status_code}: {resp.text[:500]}")
+                if resp.status_code == 200:
+                    data = resp.json()
+                    if data.get("ok"):
+                        model = data.get("modelName", "机器1")
+                        inv_code = data.get("inventoryCode", "")
+                        matched = data.get("matchedItem")
+                        has_inspection = data.get("hasInspection", False)
+                        self._log(f"  📊 解析结果: modelName={model}, inventoryCode={inv_code}, hasInspection={has_inspection}, matched={'yes' if matched else 'no'}")
+                        if matched:
+                            inspected = matched.get('inspected', 0)
+                            quantify = matched.get('quantify', 0)
+                            # 超量检查：已查验数量超过报关单数量
+                            if inspected >= quantify:
+                                self._log(f"  ⚠️ 机型「{model}」已查验 {inspected} 台，超过报关单数量 {quantify} 台")
+                                new_qr = self._request_manual_qr(
+                                    f"机型「{model}」在报关单中只需查验 {quantify} 台，\n当前已扫到第 {inspected + 1} 台，请重新扫描或手动输入正确的二维码："
+                                )
+                                if self._stop.is_set():
+                                    return model
+                                qr_value = new_qr
+                                continue
+                            self._log(f"  🏷️ 机型: {model} (物料:{inv_code}) — 查验 {inspected}/{quantify}")
+                            return model
+                        elif has_inspection and not matched:
+                            # 有查验但机型不在报关单中 → 弹窗（不可跳过）
+                            self._log(f"  ⚠️ 机型「{model}」(物料:{inv_code})不在当前报关单中")
+                            new_qr = self._request_manual_qr(
+                                f"二维码「{qr_value}」对应机型「{model}」不在当前报关单中，\n请重新扫描或手动输入正确的二维码："
+                            )
+                            if self._stop.is_set():
+                                return model
+                            qr_value = new_qr
+                            continue
+                        else:
+                            # 无查验或匹配成功
+                            self._log(f"  🏷️ 机型: {model} (物料:{inv_code})")
+                            return model
+                    else:
+                        self._log(f"  ⚠️ printer 返回 ok=false: {data}")
+                # API 失败 / ok=false / 无数据 → 弹窗（不可跳过）
+                self._log(f"  ⚠️ 查询机型失败, HTTP {resp.status_code}")
+                new_qr = self._request_manual_qr(
+                    f"无法查询二维码「{qr_value}」对应的机型信息，\n请重新扫描或手动输入正确的二维码："
+                )
+                if self._stop.is_set():
+                    return "机器1"
+                qr_value = new_qr
+            except Exception as e:
+                self._log(f"  ⚠️ 查询机型失败: {e}")
+                new_qr = self._request_manual_qr(
+                    f"查询机型接口异常，请重新扫描或手动输入正确的二维码："
+                )
+                if self._stop.is_set():
+                    return "机器1"
+                qr_value = new_qr
 
     @staticmethod
     def _find_model(models: list, name: str) -> Optional[dict]:
@@ -795,6 +877,13 @@ class MissionExecutorV3:
             self._log(f"  ⚠️ 机型无{side_label}姿态配置")
             return
 
+        # 计算起始 upload_index：背面时接在正面照片之后
+        if side == "back":
+            front_poses = [p for p in all_poses if p.get("photo_type") == "front"]
+            base_index = len(front_poses)
+        else:
+            base_index = 0
+
         self._log(f"  📷 {side_label}拍照 ({len(poses)} 个姿态)")
         for pi, pose in enumerate(poses):
             if self._stop.is_set():
@@ -818,9 +907,9 @@ class MissionExecutorV3:
                 self.arm_client.set_angles(angles, speed=self.arm_speed)
                 self._wait_arm_ready(angles)
 
-            # 拍照（upload_index 连续递增）
-            path = self._capture_arm_photo(row, col, side, pi + 1, qr_value, upload_index=self.next_upload_index)
-            self.next_upload_index += 1
+            # 拍照：正面从1开始，背面接着正面数量继续编号
+            upload_index = base_index + pi + 1
+            path = self._capture_arm_photo(row, col, side, pi + 1, qr_value, upload_index=upload_index)
             if path:
                 self._log(f"  💾 {os.path.basename(path)}")
 
@@ -829,12 +918,12 @@ class MissionExecutorV3:
                            upload_index: int = 0) -> Optional[str]:
         """从机械臂摄像头拍照，直接上传到服务器（不保存本地）
         
-        upload_index: 从1开始，先正面后背面，由调用方维护
+        upload_index: 每台机器独立，从0开始
         """
         try:
             resp = requests.get(ARM_CAMERA_SNAPSHOT, timeout=10)
             if resp.status_code != 200 or not resp.content:
-                logger.error("arm snapshot 请求失败")
+                self._log(f"  📷 拍照 arm snapshot 失败: HTTP {resp.status_code}, size={len(resp.content) if resp.content else 0}")
                 return None
 
             # 生成文件名（用于上传）
@@ -843,13 +932,14 @@ class MissionExecutorV3:
 
             # 直接上传到服务器（不保存本地）
             if qr_value:
+                self._log(f"  📷 拍照成功 {len(resp.content)} bytes → {fname}")
                 self._upload_photo_bytes(fname, resp.content, qr_value, upload_index)
             else:
                 self._log("  ⚠️ 无二维码，跳过上传")
 
             return fname  # 返回文件名（用于日志）
         except Exception as e:
-            logger.error(f"拍照异常: {e}")
+            self._log(f"  ❌ 拍照异常: {e}")
             return None
 
     def _upload_photo(self, filepath: str, serial_number: str, index: int) -> bool:
@@ -862,13 +952,14 @@ class MissionExecutorV3:
         """
         try:
             filename = os.path.basename(filepath)
-            headers = {
-                "Authorization": "Bearer eyJhbGciOiJIUzUxMiJ9.eyJ1c2VyX2lkIjoxLCJ1c2VyX2tleSI6ImZhNTNkZTZiLWE3NjYtNDZmNC05MDUyLTQ2MjUzZTAyNjdmNSIsInVzZXJuYW1lIjoiYWRtaW4ifQ.lC4vKThZo4aAOLsekm2kPgaEJRqRx-YDQWKfHFqxdPNESCKy57l3eIqaKTj2ZjAMaoYAwYlMrv5M1zAOJsO_PA"
-            }
+            headers = {"Authorization": ZHIJIAN_AUTH_TOKEN}
+            upload_url = UPLOAD_CONFIG["url"]
+            self._log(f"  📤 上传请求 → {upload_url} | serialNumber={serial_number} | index={index} | file={filename}")
             with open(filepath, "rb") as f:
                 files = {"file": (filename, f, "image/jpeg")}
                 data = {"serialNumber": serial_number, "index": str(index)}
-                resp = requests.post(UPLOAD_URL, files=files, data=data, headers=headers, timeout=30)
+                resp = requests.post(upload_url, files=files, data=data, headers=headers, timeout=30)
+                self._log(f"  📡 上传响应 HTTP {resp.status_code}: {resp.text[:300]}")
                 if resp.status_code == 200:
                     self._log(f"  ☁️ 上传成功 [{index}]: {filename}")
                     return True
@@ -879,6 +970,33 @@ class MissionExecutorV3:
             self._log(f"  ❌ 上传异常 [{index}]: {e}")
             return False
 
+    def _upload_photo_bytes(self, filename: str, image_data: bytes, serial_number: str, index: int) -> bool:
+        """上传照片 bytes 到远程服务器（不保存本地文件）
+        
+        Args:
+            filename: 文件名（用于服务器存储）
+            image_data: 图片二进制数据
+            serial_number: 二维码/序列号
+            index: 上传序号（从1开始递增）
+        """
+        try:
+            headers = {"Authorization": ZHIJIAN_AUTH_TOKEN}
+            upload_url = UPLOAD_CONFIG["url"]
+            self._log(f"  📤 上传请求(内存) → {upload_url} | serialNumber={serial_number} | index={index} | file={filename}")
+            files = {"file": (filename, image_data, "image/jpeg")}
+            data = {"serialNumber": serial_number, "index": str(index)}
+            resp = requests.post(upload_url, files=files, data=data, headers=headers, timeout=30)
+            self._log(f"  📡 上传响应 HTTP {resp.status_code}: {resp.text[:300]}")
+            if resp.status_code == 200:
+                self._log(f"  ☁️ 上传成功 [{index}]: {filename}")
+                return True
+            else:
+                self._log(f"  ⚠️ 上传失败 [{index}] HTTP {resp.status_code}: {resp.text[:200]}")
+                return False
+        except Exception as e:
+            self._log(f"  ❌ 上传异常 [{index}]: {e}")
+            return False
+
     # ==================== 控制 ====================
 
     def _wait_pause(self):

agv_app/utils/qr_scanner.py

@@ -29,19 +29,22 @@ class QRScanner:
     def open(self) -> bool:
         """打开摄像头"""
         try:
-            # 强制 V4L2 后端，获取标准彩色格式（与 test/server.py 一致）
+            # 强制 V4L2 后端
             self._cap = cv2.VideoCapture(self.device_index, cv2.CAP_V4L2)
-            if self._cap.isOpened():
-                logger.info(f"摄像头 {self.device_index} 已打开 (V4L2)")
-                return True
-            else:
-                # fallback: 不指定后端
+            if not self._cap.isOpened():
                 self._cap = cv2.VideoCapture(self.device_index)
-                if self._cap.isOpened():
-                    logger.info(f"摄像头 {self.device_index} 已打开 (默认后端)")
-                    return True
+
+            if not self._cap.isOpened():
                 logger.error(f"无法打开摄像头 {self.device_index}")
                 return False
+
+            # 确保 OpenCV 做 BGR 转换（部分 V4L2 后端默认不做 YUYV→BGR 转换）
+            self._cap.set(cv2.CAP_PROP_CONVERT_RGB, 1)
+            # 设置分辨率（使用默认分辨率，不强制 MJPG）
+            w = int(self._cap.get(cv2.CAP_PROP_FRAME_WIDTH))
+            h = int(self._cap.get(cv2.CAP_PROP_FRAME_HEIGHT))
+            logger.info(f"摄像头 {self.device_index} 已打开，分辨率 {w}x{h}")
+            return True
         except Exception as e:
             logger.error(f"摄像头打开失败: {e}")
             return False
@@ -51,14 +54,82 @@ class QRScanner:
             self._cap.release()
             self._cap = None
 
-    def read_frame(self) -> Optional[np.ndarray]:
-        """读取一帧"""
+    def _fix_frame(self, frame: np.ndarray) -> Optional[np.ndarray]:
+        """修复绿屏/格式错误帧，返回修复后的 BGR 帧或 None"""
+        if frame is None:
+            return None
+
+        h, w = frame.shape[:2]
+        if h < 10 or w < 10:
+            return None
+
+        ndim = len(frame.shape)
+
+        # 情况 1: 2 通道原始 YUYV → 手动转换 BGR
+        if ndim == 2:
+            frame = cv2.cvtColor(frame, cv2.COLOR_YUV2BGR_YUYV)
+            logger.debug("YUYV 2ch → BGR 转换")
+            return frame
+
+        # 情况 2: 3 通道但实际帧数据显示为 YUYV（绿屏特征：G 通道全满，B/R 近空）
+        if ndim == 3:
+            g_mean = frame[:, :, 1].mean()
+            if g_mean > 80 and frame[:, :, 0].mean() < 30 and frame[:, :, 2].mean() < 30:
+                # 典型的"Lime"绿屏 — 当做 YUYV 原始数据解码
+                logger.debug(f"检测到绿屏 (G={g_mean:.0f}, B={frame[:,:,0].mean():.0f}, R={frame[:,:,2].mean():.0f})，尝试修复")
+                try:
+                    # 把内存当做 YUYV 数据重新解析
+                    raw_bytes = frame.tobytes()
+                    # 3ch w*h 的数据量 = w*h*3 字节
+                    # YUYV 每像素 2 字节，所以一幅 YUYV 图像的总字节 = w*h*2
+                    # 我们只需要取前 w*h*2 字节作为 YUYV 数据
+                    yuyv_len = w * h * 2
+                    if len(raw_bytes) >= yuyv_len:
+                        yuyv_img = np.frombuffer(raw_bytes[:yuyv_len], dtype=np.uint8).reshape(h, w, 2)
+                        frame = cv2.cvtColor(yuyv_img, cv2.COLOR_YUV2BGR_YUYV)
+                        logger.debug("绿屏修复完成")
+                        return frame
+                except Exception as e:
+                    logger.warning(f"绿屏修复失败: {e}")
+                    return None
+
+        # 情况 3: 全黑帧
+        if frame.mean() < 5:
+            logger.warning("全黑帧，丢弃")
+            return None
+
+        # 正常 BGR 帧
+        return frame
+
+    def read_frame(self, timeout: float = 2.0) -> Optional[np.ndarray]:
+        """读取一帧（带超时保护，避免 V4L2 select() 永久阻塞）"""
         if not self._cap or not self._cap.isOpened():
             return None
-        ret, frame = self._cap.read()
-        if not ret:
+
+        from concurrent.futures import ThreadPoolExecutor, TimeoutError as FuturesTimeout
+
+        pool = ThreadPoolExecutor(max_workers=1)
+        try:
+            fut = pool.submit(self._cap.read)
+            ret, frame = fut.result(timeout=timeout)
+            if not ret or frame is None:
+                return None
+            return self._fix_frame(frame)
+        except FuturesTimeout:
+            logger.warning(f"摄像头 read_frame 超时 ({timeout}s)，尝试重建 _cap")
+            self.close()
+            self.open()
+            # 重建后重试一次
+            if self._cap and self._cap.isOpened():
+                ret, frame = self._cap.read()
+                if ret and frame is not None:
+                    return self._fix_frame(frame)
             return None
-        return frame
+        except Exception as e:
+            logger.error(f"read_frame 异常: {e}")
+            return None
+        finally:
+            pool.shutdown(wait=False)
 
     def detect_qr(self, frame: np.ndarray) -> Optional[str]:
         """从图像帧中检测二维码"""

arm_server/arm_server.py

@@ -105,11 +105,11 @@ def _ensure_ffmpeg():
                 "ffmpeg",
                 "-f", "v4l2",
                 "-input_format", "mjpeg",
-                "-framerate", "15",
-                "-video_size", "640x480",
+                "-framerate", "12",
+                "-video_size", "1280x720",
                 "-i", f"/dev/video{ARM_CAMERA_INDEX}",
                 "-vf", "rotate=PI",
-                "-q:v", "8",
+                "-q:v", "4",
                 "-f", "mjpeg",
                 "-"
             ],
@@ -254,19 +254,7 @@ class AGVCommandServer:
     def _connect_roboflow(self):
         self.roboflow = RoboFlowClient()
         if self.roboflow.connect():
-            logger.info("RoboFlow 连接成功")
-            # 连接成功后自动上电并激活机械臂
-            time.sleep(1)
-            try:
-                resp = self.roboflow.send_recv("power_on()")
-                logger.info(f"机械臂上电: {resp}")
-            except Exception as e:
-                logger.warning(f"机械臂上电失败: {e}")
-            try:
-                resp = self.roboflow.send_recv("state_on()")
-                logger.info(f"机械臂激活: {resp}")
-            except Exception as e:
-                logger.warning(f"机械臂激活失败: {e}")
+            logger.info("RoboFlow 连接成功（上电由 power_on_arm() 完成）")
         else:
             logger.warning("RoboFlow 连接失败，服务将以 limited 模式运行")
 
@@ -342,13 +330,61 @@ class AGVCommandServer:
 
 
 # ========== 入口 ==========
+import time
+
+def power_on_arm(max_retries: int = 5) -> bool:
+    """通过 ElephantRobot 给机械臂上电并激活（带重试）"""
+    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")
+            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()
+
     server = AGVCommandServer(port=5002)
 
     # 启动 Flask 视频流服务（端口 5003）
-    arm_server_http = make_server("0.0.0.0", 5003, arm_video_app, threaded=True)
+    from werkzeug.serving import make_server
+    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")

shared/config.json

@@ -1,13 +1,13 @@
 {
   "agv": {
-    "ip": "192.168.60.177",
+    "ip": "192.168.60.80",
     "ssh_user": "elephant",
     "ssh_password": "Elephant",
     "map_file": "map.yaml",
     "map_dir": "/home/elephant"
   },
   "arm": {
-    "ip": "192.168.60.88",
+    "ip": "192.168.60.120",
     "ssh_user": "pi",
     "ssh_password": "elephant",
     "socket_port": 5001,