Update mission flow and inspection log scrolling

- Use bash -c explicitly for command substitution with source
- Fixes 'source: not found' errors when running subshells

Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>

.env.example

@@ -0,0 +1,21 @@
+# 环境变量配置示例
+# 复制此文件为 .env 并修改需要的值
+
+# ========== 开发模式 ==========
+# 设置为 1 启用 Mock 硬件模式（本地开发，无需真实硬件）
+MOCK_HARDWARE=0
+
+# ========== 后端配置 ==========
+FLASK_PORT=5000
+
+# ========== 前端配置 ==========
+# 前端开发服务器会代理 API 请求到后端
+BACKEND_URL=http://127.0.0.1:5000
+
+# ========== 硬件配置（生产环境） ==========
+AGV_HOST=192.168.60.80
+ARM_HOST=192.168.60.120
+
+# ========== 外部 API ==========
+# TEST_MODE: true=测试环境, false=正式环境
+TEST_MODE=false

.gitignore

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

.python-version

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

AGENTS.md

@@ -0,0 +1,31 @@
+# Repository Guidelines
+
+## 项目结构与模块组织
+
+本仓库是 AGV 智能巡检系统，后端、前端、ROS2 启动链路分目录维护。`agv_app/` 是 Flask 后端，包含 API、模板、静态资源与 `data/*.json` 持久化配置；`agv_app/utils/` 放置 AGV、Nav2、机械臂、二维码与任务执行逻辑。`arm_server/` 是机械臂端 TCP/摄像头服务及 systemd 配置。`scan_fixer/` 提供生产链路中的 ROS2 时间戳修正工具。`public-frontend/` 是 Next.js 平板端，源码在 `src/app`、`src/components`、`src/services`、`src/store`、`src/types`。`scripts/` 与 `Makefile` 负责本地开发、生产启动和停止流程，`docs/` 存放技术文档。
+
+## 构建、测试与开发命令
+
+- `make install`：执行 `uv sync` 并安装前端 npm 依赖。
+- `make dev`：显示本地开发启动说明。
+- `make dev-backend`：以 Mock 硬件模式启动 Flask 后端。
+- `make dev-frontend`：启动 Next.js 开发服务器。
+- `make prod`：在 AGV 上启动 ROS2、Nav2、scan fixer 与 Flask 完整生产链路。
+- `cd public-frontend && npm run build`：构建前端。
+- `cd public-frontend && npm run lint && npm run typecheck`：执行前端 lint 与 TypeScript 检查。
+
+## 编码风格与命名约定
+
+Python 目标版本为 3.10，依赖由根目录 `pyproject.toml` 和 `uv.lock` 管理。保持模块职责清晰，配置集中放在 `agv_app/config.py`，复用硬件抽象时优先放入 `agv_app/utils/`。前端使用 TypeScript、React、Next.js App Router 与 Ant Design；组件使用 PascalCase，例如 `CameraFrame.tsx`，服务和工具使用 camelCase，例如 `apiClient.ts`。新增代码应自解释命名，避免魔术值，必要注释只说明业务背景或非常规取舍。
+
+## 测试指南
+
+当前仓库未配置独立单元测试框架。提交前至少运行相关静态检查：前端改动运行 `npm run lint` 和 `npm run typecheck`，后端改动用 `make dev-backend` 做 Flask 启动与关键接口冒烟验证。涉及硬件、ROS2 或生产脚本的改动，应说明是否已在真实 AGV 或 Mock 模式验证。
+
+## 提交与 Pull Request 规范
+
+历史提交主要使用英文祈使句式，例如 `Improve camera status and production startup`、`Refactor ROS startup scripts`、`Fix shell compatibility issues in prod-backend.sh`。继续使用简短英文提交信息，避免无意义占位。PR 应包含变更摘要、验证命令、硬件/环境影响、相关 issue；前端界面变化需附截图或录屏，生产启动链路变化需列出影响的脚本和服务。
+
+## 安全与配置提示
+
+不要提交新的密钥、令牌、设备私有地址或本地日志。环境示例放在 `.env.example`，运行时覆盖优先使用环境变量，例如 `BACKEND_URL`、`MOCK_HARDWARE`、`AGV_PROJECT_DIR`。涉及 AGV、机械臂或 ROS2 生产配置时，先核对 `scripts/README.md` 中的默认路径与日志位置。

Makefile

@@ -0,0 +1,57 @@
+.PHONY: help dev dev-backend dev-frontend stop prod install
+
+help: ## 显示帮助信息
+	@echo "=========================================="
+	@echo "  Smart Inspection DevOps"
+	@echo "=========================================="
+	@echo ""
+	@echo "本地开发命令:"
+	@echo "  make dev          显示开发模式说明"
+	@echo "  make dev-backend  启动后端 (Mock 硬件模式)"
+	@echo "  make dev-frontend 启动前端 (Next.js)"
+	@echo "  make stop         停止所有开发服务"
+	@echo ""
+	@echo "生产部署命令:"
+	@echo "  make prod         启动生产环境 (完整系统)"
+	@echo ""
+	@echo "安装命令:"
+	@echo "  make install      安装依赖"
+	@echo ""
+
+dev: ## 显示开发模式说明
+	@echo "=========================================="
+	@echo "  本地开发模式"
+	@echo "=========================================="
+	@echo ""
+	@echo "需要两个终端："
+	@echo "  终端 1: make dev-backend"
+	@echo "  终端 2: make dev-frontend"
+	@echo ""
+	@echo "或使用 tmux:"
+	@echo "  tmux new-session 'make dev-backend' \\; split-window 'make dev-frontend'"
+	@echo ""
+
+dev-backend: ## 启动后端开发服务器 (Mock 硬件模式)
+	@./scripts/dev-backend.sh
+
+dev-frontend: ## 启动前端开发服务器
+	@./scripts/dev-frontend.sh
+
+stop: ## 停止所有开发服务
+	@./scripts/stop.sh
+
+prod: ## 启动生产环境 (完整系统)
+	@echo "=========================================="
+	@echo "  生产环境启动"
+	@echo "=========================================="
+	@echo ""
+	@echo "请在 AGV 上运行此命令"
+	@echo ""
+	@./scripts/prod-backend.sh
+
+install: ## 安装依赖
+	@echo "安装 Python 依赖..."
+	@cd agv_app && uv sync
+	@echo "安装前端依赖..."
+	@cd public-frontend && npm install
+	@echo "完成"

agv_app/app.py

@@ -8,16 +8,36 @@ 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 (
-from utils.arm_client import ArmClient
+    SERVER_CONFIG, ARM_CONFIG, AGV_CONFIG, UPLOAD_CONFIG, MAP_CONFIG,
-from utils.agv_controller_ros2 import AGVController
+    ARM_CAMERA_CONFIG, CAMERA_CONFIG, DATA_DIR, State, ZHIJIAN_BASE_URL,
-from utils.qr_scanner import QRScanner
+    ZHIJIAN_AUTH_TOKEN, set_api_mode, MOCK_HARDWARE
+)
+
+# 根据 MOCK_HARDWARE 配置选择导入真实或 Mock 实现
+if MOCK_HARDWARE:
+    print("[启动] ===========================================")
+    print("[启动]   Mock 硬件模式 - 本地开发环境")
+    print("[启动] ===========================================")
+    from utils.mock_hardware import (
+        MockArmClient as ArmClient,
+        MockAGVController as AGVController,
+        MockQRScanner as QRScanner,
+        MockNav2Navigator as Nav2Navigator,
+        MockNav2Status as Nav2Status
+    )
+else:
+    from utils.arm_client import ArmClient
+    from utils.agv_controller_ros2 import AGVController
+    from utils.qr_scanner import QRScanner
+    from utils.nav2_navigator import Nav2Navigator, Nav2Status
+
 from utils.image_uploader import ImageUploader
 from utils.mission_executor import MissionExecutorV3
-from utils.nav2_navigator import Nav2Navigator, Nav2Status
 
 # 配置日志
 logging.basicConfig(
@@ -26,6 +46,15 @@ logging.basicConfig(
 )
 logger = logging.getLogger("agv_app")
 
+ORIGIN_X = 0.0
+ORIGIN_Y = 0.0
+ORIGIN_YAW = 0.0
+ORIGIN_MATCH_TOLERANCE = 1e-6
+ARM_RETURN_SPEED = 500
+ARM_INITIAL_POSE_TIMEOUT = 15.0
+ARM_INITIAL_POSE_TOLERANCE = 2.0
+ARM_INITIAL_POSE_UNSET_TOLERANCE = 0.01
+
 app = Flask(__name__, template_folder="templates", static_folder="static", static_url_path="/static")
 app.config["SECRET_KEY"] = SERVER_CONFIG["secret_key"]
 CORS(app)
@@ -53,6 +82,8 @@ 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()
 
@@ -66,6 +97,60 @@ gs = GlobalState()
 
 
 # ========== 辅助函数 ==========
+def _is_origin_goal(x: float, y: float, yaw: float = None) -> bool:
+    yaw_is_origin = yaw is None or abs(yaw - ORIGIN_YAW) <= ORIGIN_MATCH_TOLERANCE
+    return (
+        abs(x - ORIGIN_X) <= ORIGIN_MATCH_TOLERANCE
+        and abs(y - ORIGIN_Y) <= ORIGIN_MATCH_TOLERANCE
+        and yaw_is_origin
+    )
+
+
+def _normalize_arm_pose(raw_pose):
+    if not isinstance(raw_pose, list) or len(raw_pose) != 6:
+        return None
+    try:
+        return [float(angle) for angle in raw_pose]
+    except (TypeError, ValueError):
+        return None
+
+
+def _wait_arm_initial_pose(target_angles, timeout=ARM_INITIAL_POSE_TIMEOUT, tolerance=ARM_INITIAL_POSE_TOLERANCE):
+    deadline = time.time() + timeout
+    while time.time() < deadline:
+        try:
+            ok, current_angles = gs.arm_client.get_angles()
+            if ok and current_angles and len(current_angles) >= 6:
+                current_angles = [float(angle) for angle in current_angles[:6]]
+                if all(abs(current_angles[index] - target_angles[index]) <= tolerance for index in range(6)):
+                    return True
+        except Exception as e:
+            logger.warning(f"等待机械臂初始姿态失败: {e}")
+        time.sleep(0.5)
+    return False
+
+
+def _restore_arm_initial_pose_for_origin():
+    arm_initial_pose = _normalize_arm_pose(gs.mission_config.get("arm_initial_pose"))
+    if not arm_initial_pose:
+        return {"ok": True, "skipped": True, "message": "未配置有效机械臂初始姿态，跳过复原"}
+    if not any(abs(angle) > ARM_INITIAL_POSE_UNSET_TOLERANCE for angle in arm_initial_pose):
+        return {"ok": True, "skipped": True, "message": "未配置机械臂初始姿态，跳过复原"}
+    if not gs.arm_client:
+        return {"ok": False, "error": "机械臂未连接，无法先复原再回原点"}
+
+    try:
+        ok = gs.arm_client.set_angles(arm_initial_pose, ARM_RETURN_SPEED)
+        if not ok:
+            return {"ok": False, "error": "机械臂初始姿态指令发送失败，已取消回原点"}
+        if not _wait_arm_initial_pose(arm_initial_pose):
+            return {"ok": False, "error": "机械臂未在规定时间内复原，已取消回原点"}
+        return {"ok": True, "skipped": False, "message": "机械臂已复原到初始姿态"}
+    except Exception as e:
+        logger.error(f"回原点前复原机械臂失败: {e}")
+        return {"ok": False, "error": f"回原点前复原机械臂失败: {e}"}
+
+
 def get_data_path(name):
     return os.path.join(DATA_DIR, name)
 
@@ -126,12 +211,21 @@ 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
+            if MOCK_HARDWARE:
+                print("[启动] Mock 模式跳过硬件自动连接")
+                # Mock 模式下也创建实例供 API 使用
+                gs.agv_controller = AGVController()
+                gs.arm_client = ArmClient(ARM_CONFIG["host"], ARM_CONFIG["port"])
+                gs.qr_scanner = QRScanner(CAMERA_CONFIG["device_index"])
+                gs.navigator = Nav2Navigator()
+                return
+
+            # 连接 AGV（真实硬件）
             try:
-                from utils.agv_controller_ros2 import AGVController
                 gs.agv_controller = AGVController()
                 if gs.agv_controller.connect():
                     print("[启动] AGV 自动连接成功")
@@ -139,7 +233,18 @@ 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（真实硬件）
+            try:
+                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
@@ -165,25 +270,22 @@ def running_page():
 def api_status():
     """获取系统整体状态"""
     with gs.lock:
-        # 实际验证机械臂连接（尝试发送一个简单命令）
+        arm_connected = gs.arm_client.is_connected() if gs.arm_client else False
-        arm_connected = False
-        if gs.arm_client and gs.arm_client._sock:
-            try:
-                # 设置短超时尝试获取角度，验证连接是否有效
-                gs.arm_client._sock.settimeout(2)
-                ok, _ = gs.arm_client.get_angles()
-                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,
@@ -191,6 +293,8 @@ def api_status():
             "camera_opened": gs.camera_opened,
             "arm_camera_opened": gs.arm_camera_opened,
             "map_loaded": bool(gs.map_config),
+            "map": gs.map_config,
+            "has_agv_camera": gs.camera_opened,
             "points_count": len(gs.points_config),
             "models_count": len(gs.models_config),
             "mission_rows": gs.mission_config.get("rows", 0),
@@ -423,24 +527,38 @@ def api_navigate_to():
     if not gs.map_config or "map_yaml" not in gs.map_config:
         return jsonify({"ok": False, "error": "地图未加载，请先在设置中加载地图"}), 400
 
-    data = request.json
+    data = request.json or {}
     goal_x = data.get("x")
     goal_y = data.get("y")
     goal_yaw = data.get("yaw")  # 姿态参数，可选
     if goal_x is None or goal_y is None:
         return jsonify({"ok": False, "error": "缺少目标坐标 x, y"}), 400
+    try:
+        goal_x = float(goal_x)
+        goal_y = float(goal_y)
+        yaw_arg = float(goal_yaw) if goal_yaw is not None else None
+    except (TypeError, ValueError):
+        return jsonify({"ok": False, "error": "目标坐标格式错误"}), 400
 
     if not gs.agv_controller or not gs.agv_controller.is_connected():
         return jsonify({"ok": False, "error": "AGV 未连接，请先连接 AGV"}), 400
 
     try:
+        restore_message = ""
+        restore_arm = bool(data.get("restore_arm", True))
+        if restore_arm and _is_origin_goal(goal_x, goal_y, yaw_arg):
+            restore_result = _restore_arm_initial_pose_for_origin()
+            if not restore_result["ok"]:
+                return jsonify({"ok": False, "error": restore_result["error"]}), 400
+            restore_message = restore_result.get("message", "")
+
         if gs.navigator is None:
             gs.navigator = Nav2Navigator()
         # navigate_to_pose(x, y, yaw=None, timeout_sec=120, blocking=False)
-        yaw_arg = float(goal_yaw) if goal_yaw is not None else None
+        ok = gs.navigator.navigate_to_pose(goal_x, goal_y, yaw_arg, blocking=False)
-        ok = gs.navigator.navigate_to_pose(float(goal_x), float(goal_y), yaw_arg, blocking=False)
         if ok:
-            return jsonify({"ok": True, "message": "导航已启动"})
+            message = f"{restore_message}，导航已启动" if restore_message else "导航已启动"
+            return jsonify({"ok": True, "message": message})
         else:
             return jsonify({"ok": False, "error": "导航启动失败，可能是Nav2未运行或AGV未连接"}), 400
     except Exception as e:
@@ -747,11 +865,7 @@ 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）
+    # 点位数据始终保留，不随网格变更删除
-    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")
-    ]
     save_json("mission_config.json", gs.mission_config)
     return jsonify({"ok": True, "config": gs.mission_config})
 
@@ -1067,41 +1181,33 @@ def api_arm_state_off():
 @app.route("/api/camera/preview")
 def api_camera_preview():
     """MJPEG 视频流"""
-    if not gs.qr_scanner or not gs.qr_scanner._cap:
+    if not gs.qr_scanner or not gs.camera_opened:
         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
+                if _time.time() - _last_ok > 5:
-            # 编码为 JPEG
+                    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():
     """拍摄一张照片"""
-    if not gs.qr_scanner or not gs.qr_scanner._cap:
+    if not gs.qr_scanner or not gs.camera_opened:
         return jsonify({"ok": False, "error": "摄像头未打开"}), 400
     import cv2
     frame = gs.qr_scanner.read_frame()
@@ -1114,27 +1220,98 @@ 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:
+    import cv2
-        r = requests.get(ARM_CAMERA_CONFIG.get("snapshot_url", ARM_CAMERA_CONFIG["url"]), timeout=8)
+    import numpy as np
-        if r.status_code == 200 and r.content:
+    url = ARM_CAMERA_CONFIG.get("snapshot_url", ARM_CAMERA_CONFIG["url"])
-            resp = Response(r.content, mimetype="image/jpeg")
+    max_retries = 3
-            resp.headers["Cache-Control"] = "no-cache, no-store, must-revalidate, max-age=0"
+    for attempt in range(1, max_retries + 1):
-            resp.headers["Pragma"] = "no-cache"
+        try:
-            resp.headers["Expires"] = "0"
+            r = requests.get(url, timeout=8)
-            return resp
+            if r.status_code == 200 and r.content:
-        return "", 404
+                corruption = _is_corrupted_jpeg(r.content)
-    except Exception as ex:
+                if corruption > 0.5:
-        logger.info(f"arm_refresh 不可用: {ex}")
+                    logger.warning(f"arm_refresh 第{attempt}次尝试检测到花屏 (置信度{corruption:.2f})，重试...")
-        return "", 404
+                    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 +1324,23 @@ def api_arm_camera_preview():
             return "", 404
 
         def generate():
+            buf = b""
             try:
                 for chunk in upstream.iter_content(chunk_size=8192):
-                    if chunk:
+                    if not chunk:
-                        yield 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 +1369,7 @@ 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 +1432,11 @@ 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 +1445,8 @@ 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)),
+        "agv_speed": float(data.get("agv_speed", 1.0)),
-        "arm_speed": int(data.get("arm_speed", 500)),
+        "arm_speed": int(data.get("arm_speed", 1000)),
     }
     print(f"[Mission] options: {options}")
     
@@ -1436,6 +1631,18 @@ 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 +1781,61 @@ 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 = None
-        result, _, _ = detector.detectAndDecode(frame)
+
-        if result and len(result.strip()) > 0:
+        # 方法1: pyzbar（识别率更高）
-            result = result.strip()
+        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 +1852,353 @@ 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.camera_opened:
+        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": bool(gs.camera_opened),
+        "has_arm_camera": bool(gs.arm_camera_opened),
+    })
 # ========== 启动 ==========
 if __name__ == "__main__":
     logger.info("=" * 50)

agv_app/config.py

@@ -7,15 +7,20 @@ 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"
+AGV_HOST = "192.168.60.80"
-ARM_HOST = "192.168.60.88"
+ARM_HOST = "192.168.60.120"
+
+# ========== 开发模式 ==========
+# 设置为 True 时使用 Mock 硬件实现（无需真实硬件）
+# 通过环境变量 MOCK_HARDWARE=1 启用
+MOCK_HARDWARE = os.getenv("MOCK_HARDWARE", "0") == "1"
 
 # ========== AGV 参数 ==========
 AGV_CONFIG = {
     "device": "/dev/agvpro_controller",
     "baudrate": 10000000,
-    "move_speed": 0.5,
+    "move_speed": 1.0,
-    "turn_speed": 0.5,
+    "turn_speed": 1.0,
 }
 
 # ========== 机械臂 TCP 客户端 ==========
@@ -35,7 +40,7 @@ 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 +52,30 @@ 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 +103,7 @@ 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/data/machines_config.json

@@ -1,25 +1,4 @@
 [
-  {
-    "id": "m_2_0",
-    "row": 2,
-    "col": 0,
-    "front": {
-      "coords": [
-        0,
-        0,
-        0
-      ],
-      "poses": []
-    },
-    "back": {
-      "coords": [
-        0,
-        0,
-        0
-      ],
-      "poses": []
-    }
-  },
   {
     "id": "m_2_2",
     "row": 2,
@@ -167,27 +146,6 @@
       "poses": []
     }
   },
-  {
-    "id": "m_0_4",
-    "row": 0,
-    "col": 4,
-    "front": {
-      "coords": [
-        0,
-        0,
-        0
-      ],
-      "poses": []
-    },
-    "back": {
-      "coords": [
-        0,
-        0,
-        0
-      ],
-      "poses": []
-    }
-  },
   {
     "id": "m_0_5",
     "row": 0,
@@ -251,27 +209,6 @@
       "poses": []
     }
   },
-  {
-    "id": "m_2_1",
-    "row": 2,
-    "col": 1,
-    "front": {
-      "coords": [
-        0,
-        0,
-        0
-      ],
-      "poses": []
-    },
-    "back": {
-      "coords": [
-        0,
-        0,
-        0
-      ],
-      "poses": []
-    }
-  },
   {
     "id": "m_2_4",
     "row": 2,
@@ -293,27 +230,6 @@
       "poses": []
     }
   },
-  {
-    "id": "m_2_5",
-    "row": 2,
-    "col": 5,
-    "front": {
-      "coords": [
-        0,
-        0,
-        0
-      ],
-      "poses": []
-    },
-    "back": {
-      "coords": [
-        0,
-        0,
-        0
-      ],
-      "poses": []
-    }
-  },
   {
     "id": "m_0_0",
     "row": 0,
@@ -356,36 +272,6 @@
       "poses": []
     }
   },
-  {
-    "id": "m_0_1",
-    "row": 0,
-    "col": 1,
-    "front": {
-      "coords": [
-        0,
-        0,
-        0
-      ],
-      "poses": []
-    },
-    "back": {
-      "coords": [
-        0,
-        0,
-        0
-      ],
-      "poses": []
-    },
-    "qr": {
-      "coords": [
-        0,
-        0,
-        0
-      ],
-      "qr_value": "",
-      "model_id": ""
-    }
-  },
   {
     "id": "m_0_2",
     "row": 0,
@@ -416,36 +302,6 @@
       "model_id": ""
     }
   },
-  {
-    "id": "m_0_3",
-    "row": 0,
-    "col": 3,
-    "front": {
-      "coords": [
-        0,
-        0,
-        0
-      ],
-      "poses": []
-    },
-    "back": {
-      "coords": [
-        0,
-        0,
-        0
-      ],
-      "poses": []
-    },
-    "qr": {
-      "coords": [
-        0,
-        0,
-        0
-      ],
-      "qr_value": "",
-      "model_id": ""
-    }
-  },
   {
     "id": "m_1_1",
     "row": 1,
@@ -506,6 +362,126 @@
       "model_id": ""
     }
   },
+  {
+    "id": "m_1_4",
+    "row": 1,
+    "col": 4,
+    "front": {
+      "coords": [
+        0,
+        0,
+        0
+      ],
+      "poses": []
+    },
+    "back": {
+      "coords": [
+        0,
+        0,
+        0
+      ],
+      "poses": []
+    },
+    "qr": {
+      "coords": [
+        0,
+        0,
+        0
+      ],
+      "qr_value": "",
+      "model_id": ""
+    }
+  },
+  {
+    "id": "m_0_6",
+    "row": 0,
+    "col": 6,
+    "front": {
+      "coords": [
+        0,
+        0,
+        0
+      ],
+      "poses": []
+    },
+    "back": {
+      "coords": [
+        0,
+        0,
+        0
+      ],
+      "poses": []
+    },
+    "qr": {
+      "coords": [
+        0,
+        0,
+        0
+      ],
+      "qr_value": "",
+      "model_id": ""
+    }
+  },
+  {
+    "id": "m_1_6",
+    "row": 1,
+    "col": 6,
+    "front": {
+      "coords": [
+        0,
+        0,
+        0
+      ],
+      "poses": []
+    },
+    "back": {
+      "coords": [
+        0,
+        0,
+        0
+      ],
+      "poses": []
+    },
+    "qr": {
+      "coords": [
+        0,
+        0,
+        0
+      ],
+      "qr_value": "",
+      "model_id": ""
+    }
+  },
+  {
+    "id": "m_0_3",
+    "row": 0,
+    "col": 3,
+    "front": {
+      "coords": [
+        0,
+        0,
+        0
+      ],
+      "poses": []
+    },
+    "back": {
+      "coords": [
+        0,
+        0,
+        0
+      ],
+      "poses": []
+    },
+    "qr": {
+      "coords": [
+        0,
+        0,
+        0
+      ],
+      "qr_value": "",
+      "model_id": ""
+    }
+  },
   {
     "id": "m_1_3",
     "row": 1,
@@ -537,8 +513,98 @@
     }
   },
   {
-    "id": "m_1_4",
+    "id": "m_2_0",
-    "row": 1,
+    "row": 2,
+    "col": 0,
+    "front": {
+      "coords": [
+        0,
+        0,
+        0
+      ],
+      "poses": []
+    },
+    "back": {
+      "coords": [
+        0,
+        0,
+        0
+      ],
+      "poses": []
+    },
+    "qr": {
+      "coords": [
+        0,
+        0,
+        0
+      ],
+      "qr_value": "",
+      "model_id": ""
+    }
+  },
+  {
+    "id": "m_2_1",
+    "row": 2,
+    "col": 1,
+    "front": {
+      "coords": [
+        0,
+        0,
+        0
+      ],
+      "poses": []
+    },
+    "back": {
+      "coords": [
+        0,
+        0,
+        0
+      ],
+      "poses": []
+    },
+    "qr": {
+      "coords": [
+        0,
+        0,
+        0
+      ],
+      "qr_value": "",
+      "model_id": ""
+    }
+  },
+  {
+    "id": "m_0_1",
+    "row": 0,
+    "col": 1,
+    "front": {
+      "coords": [
+        0,
+        0,
+        0
+      ],
+      "poses": []
+    },
+    "back": {
+      "coords": [
+        0,
+        0,
+        0
+      ],
+      "poses": []
+    },
+    "qr": {
+      "coords": [
+        0,
+        0,
+        0
+      ],
+      "qr_value": "",
+      "model_id": ""
+    }
+  },
+  {
+    "id": "m_0_4",
+    "row": 0,
     "col": 4,
     "front": {
       "coords": [

agv_app/data/mission_config.json

@@ -1,6 +1,6 @@
 {
-  "rows": 2,
+  "rows": 3,
-  "cols": 5,
+  "cols": 7,
   "grid": [],
   "positions": [
     {
@@ -8,9 +8,9 @@
       "col": 0,
       "side": "front",
       "coords": [
-        0.5391402360519819,
+        0.726789462066099,
-        -1.3221212932804989,
+        0.38329959318460166,
-        -0.04968159116162075
+        0.023383889548769105
       ],
       "poses": []
     },
@@ -19,9 +19,9 @@
       "col": 1,
       "side": "front",
       "coords": [
-        1.1801154538454173,
+        1.5997282224959652,
-        -1.3641834306281595,
+        0.3969445083875386,
-        -0.0384636372066124
+        0.021611522117307245
       ],
       "poses": []
     },
@@ -30,9 +30,9 @@
       "col": 1,
       "side": "back",
       "coords": [
-        1.3273254588744863,
+        1.5365709266996668,
-        -3.5287940020200854,
+        -1.5897806027940793,
-        -3.11993523836094
+        -3.138003565212702
       ],
       "poses": []
     },
@@ -41,108 +41,9 @@
       "col": 0,
       "side": "back",
       "coords": [
-        0.6499623251724095,
+        0.7250933954217442,
-        -3.634895898964233,
+        -1.585626974855502,
-        -3.06371982741706
+        3.1407193246894285
-      ],
-      "poses": []
-    },
-    {
-      "row": 0,
-      "col": 2,
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-      "poses": []
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-      "poses": []
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-      "col": 4,
-      "side": "front",
-      "coords": [
-        3.595502564320599,
-        -3.5861571623928663,
-        3.105599537556842
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-      "poses": []
-    },
-    {
-      "row": 1,
-      "col": 3,
-      "side": "back",
-      "coords": [
-        2.8436692518324937,
-        -3.5087893361886504,
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-      "poses": []
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-    {
-      "row": 1,
-      "col": 3,
-      "side": "front",
-      "coords": [
-        2.8436692518324937,
-        -3.5087893361886504,
-        -3.0640151322957476
-      ],
-      "poses": []
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-    {
-      "row": 1,
-      "col": 2,
-      "side": "back",
-      "coords": [
-        2.0238357078548397,
-        -3.519588818855445,
-        -3.0949553553741684
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-      "poses": []
-    },
-    {
-      "row": 1,
-      "col": 2,
-      "side": "front",
-      "coords": [
-        2.0238357078548397,
-        -3.519588818855445,
-        -3.0949553553741684
       ],
       "poses": []
     },
@@ -151,9 +52,9 @@
       "col": 1,
       "side": "front",
       "coords": [
-        1.3273254588744863,
+        1.5365709266996668,
-        -3.5287940020200854,
+        -1.5897806027940793,
-        -3.11993523836094
+        -3.138003565212702
       ],
       "poses": []
     },
@@ -162,9 +63,9 @@
       "col": 0,
       "side": "front",
       "coords": [
-        0.6499623251724095,
+        0.7250933954217442,
-        -3.634895898964233,
+        -1.585626974855502,
-        -3.06371982741706
+        3.1407193246894285
       ],
       "poses": []
     },
@@ -173,9 +74,9 @@
       "col": 0,
       "side": "back",
       "coords": [
-        0.39025594509020667,
+        0.695891857743624,
-        -5.593393651151741,
+        -3.6093540626907155,
-        -0.09001000079607593
+        -0.01891669546737457
       ],
       "poses": []
     },
@@ -184,9 +85,196 @@
       "col": 1,
       "side": "back",
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-        0.9989880876134289,
+        1.7054640840200619,
-        -5.633047903271201,
+        -3.6172190671922944,
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+        0.04050928996758301
+      ],
+      "poses": []
+    },
+    {
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+      "col": 2,
+      "side": "front",
+      "coords": [
+        2.569630979384912,
+        0.39887714413011477,
+        0.013956327040945097
+      ],
+      "poses": []
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+    {
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+      "side": "front",
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+        3.5131599402572933,
+        0.3616416504697895,
+        0.0177534721641621
+      ],
+      "poses": []
+    },
+    {
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+      "col": 4,
+      "side": "front",
+      "coords": [
+        4.385626456624971,
+        0.37358124345384475,
+        0.014464186351950986
+      ],
+      "poses": []
+    },
+    {
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+      "col": 5,
+      "side": "front",
+      "coords": [
+        5.286651848873122,
+        0.36270375923170595,
+        -0.02478120105661721
+      ],
+      "poses": []
+    },
+    {
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+      "col": 6,
+      "side": "front",
+      "coords": [
+        6.301663107708812,
+        0.35009837193686855,
+        0.05028809910702322
+      ],
+      "poses": []
+    },
+    {
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+      "side": "back",
+      "coords": [
+        6.302211902696101,
+        -1.6741865723108142,
+        -3.141294889035836
+      ],
+      "poses": []
+    },
+    {
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+      "col": 6,
+      "side": "front",
+      "coords": [
+        6.302211902696101,
+        -1.6741865723108142,
+        -3.141294889035836
+      ],
+      "poses": []
+    },
+    {
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+      "side": "back",
+      "coords": [
+        5.385423949389957,
+        -1.6569851054137088,
+        3.114584306608913
+      ],
+      "poses": []
+    },
+    {
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+      "col": 5,
+      "side": "front",
+      "coords": [
+        5.385423949389957,
+        -1.6569851054137088,
+        3.114584306608913
+      ],
+      "poses": []
+    },
+    {
+      "row": 1,
+      "col": 4,
+      "side": "back",
+      "coords": [
+        4.520056315813734,
+        -1.6370730446353792,
+        3.12134578550089
+      ],
+      "poses": []
+    },
+    {
+      "row": 1,
+      "col": 4,
+      "side": "front",
+      "coords": [
+        4.520056315813734,
+        -1.6370730446353792,
+        3.12134578550089
+      ],
+      "poses": []
+    },
+    {
+      "row": 1,
+      "col": 3,
+      "side": "back",
+      "coords": [
+        3.600184234659078,
+        -1.6299160740114962,
+        -3.127182700330921
+      ],
+      "poses": []
+    },
+    {
+      "row": 1,
+      "col": 3,
+      "side": "front",
+      "coords": [
+        3.600184234659078,
+        -1.6299160740114962,
+        -3.127182700330921
+      ],
+      "poses": []
+    },
+    {
+      "row": 1,
+      "col": 2,
+      "side": "back",
+      "coords": [
+        2.5627723519921295,
+        -1.606403204776104,
+        3.1392697865149666
+      ],
+      "poses": []
+    },
+    {
+      "row": 1,
+      "col": 2,
+      "side": "front",
+      "coords": [
+        2.5627723519921295,
+        -1.606403204776104,
+        3.1392697865149666
+      ],
+      "poses": []
+    },
+    {
+      "row": 2,
+      "col": 0,
+      "side": "front",
+      "coords": [
+        0.695891857743624,
+        -3.6093540626907155,
+        -0.01891669546737457
+      ],
+      "poses": []
+    },
+    {
+      "row": 2,
+      "col": 1,
+      "side": "front",
+      "coords": [
+        1.7054640840200619,
+        -3.6172190671922944,
+        0.04050928996758301
       ],
       "poses": []
     },
@@ -195,9 +283,20 @@
       "col": 2,
       "side": "back",
       "coords": [
-        1.7493440267548326,
+        2.49138966620064,
-        -5.7036971258959746,
+        -3.6258193640543435,
-        -0.10505541857885684
+        0.011734020269766346
+      ],
+      "poses": []
+    },
+    {
+      "row": 2,
+      "col": 2,
+      "side": "front",
+      "coords": [
+        2.49138966620064,
+        -3.6258193640543435,
+        0.011734020269766346
       ],
       "poses": []
     },
@@ -206,9 +305,20 @@
       "col": 3,
       "side": "back",
       "coords": [
-        2.407336669431407,
+        3.384299605055195,
-        -5.76958512207572,
+        -3.633059580331103,
-        -0.10251877401062247
+        0.00825489611393585
+      ],
+      "poses": []
+    },
+    {
+      "row": 2,
+      "col": 3,
+      "side": "front",
+      "coords": [
+        3.384299605055195,
+        -3.633059580331103,
+        0.00825489611393585
       ],
       "poses": []
     },
@@ -217,19 +327,129 @@
       "col": 4,
       "side": "back",
       "coords": [
-        3.132062476985721,
+        4.499614777619532,
-        -5.850166571217611,
+        -3.6568143703418405,
-        -0.09127007182804729
+        0.006128126167414207
+      ],
+      "poses": []
+    },
+    {
+      "row": 2,
+      "col": 4,
+      "side": "front",
+      "coords": [
+        4.499614777619532,
+        -3.6568143703418405,
+        0.006128126167414207
+      ],
+      "poses": []
+    },
+    {
+      "row": 2,
+      "col": 5,
+      "side": "back",
+      "coords": [
+        5.358194832629194,
+        -3.6555884207351923,
+        0.00220732555627522
+      ],
+      "poses": []
+    },
+    {
+      "row": 2,
+      "col": 5,
+      "side": "front",
+      "coords": [
+        5.358194832629194,
+        -3.6555884207351923,
+        0.00220732555627522
+      ],
+      "poses": []
+    },
+    {
+      "row": 2,
+      "col": 6,
+      "side": "back",
+      "coords": [
+        6.186931240051006,
+        -3.660069561737178,
+        -0.004740651362042846
+      ],
+      "poses": []
+    },
+    {
+      "row": 2,
+      "col": 6,
+      "side": "front",
+      "coords": [
+        6.186931240051006,
+        -3.660069561737178,
+        -0.004740651362042846
+      ],
+      "poses": []
+    },
+    {
+      "row": 3,
+      "col": 4,
+      "side": "back",
+      "coords": [
+        4.437106056578727,
+        -5.675385129487837,
+        3.113166940596223
+      ],
+      "poses": []
+    },
+    {
+      "row": 3,
+      "col": 3,
+      "side": "back",
+      "coords": [
+        3.4577008440661285,
+        -5.703184532839961,
+        -3.109685273113602
+      ],
+      "poses": []
+    },
+    {
+      "row": 3,
+      "col": 2,
+      "side": "back",
+      "coords": [
+        2.3341924779097645,
+        -5.623728684341702,
+        -3.095440697434253
+      ],
+      "poses": []
+    },
+    {
+      "row": 3,
+      "col": 1,
+      "side": "back",
+      "coords": [
+        1.6126711501886855,
+        -5.64506932868408,
+        -3.0994397969930265
+      ],
+      "poses": []
+    },
+    {
+      "row": 3,
+      "col": 0,
+      "side": "back",
+      "coords": [
+        0.6321940488248773,
+        -5.633649464598426,
+        3.129000825841382
       ],
       "poses": []
     }
   ],
   "arm_initial_pose": [
-    -90.333323,
+    -89.999795,
-    -90.079952,
+    -89.999946,
-    0.160037,
+    -0.000131,
-    -90.571318,
+    -90.00001,
-    0.093654,
+    4.1e-05,
-    22.232898
+    0.000116
   ]
 }

agv_app/data/models_config.json

@@ -9,12 +9,12 @@
         "name": "front_1",
         "photo_type": "front",
         "arm_angles": [
-          -93.586541,
+          -81.796775,
-          -184.343305,
+          -85.406752,
-          50.583239,
+          -5.803223,
-          -38.326674,
+          -109.799747,
-          -85.153333,
+          91.66639,
-          20.399989
+          2.446712
         ],
         "speed": 500,
         "description": ""
@@ -24,12 +24,12 @@
         "name": "back_1",
         "photo_type": "back",
         "arm_angles": [
-          15.860045,
+          -81.796823,
-          -161.133416,
+          -85.406717,
-          137.999016,
+          -5.803284,
-          -161.996719,
+          -109.799953,
-          168.000989,
+          91.666459,
-          15.653445
+          2.44676
         ],
         "speed": 500,
         "description": ""

agv_app/data/qr_config.json

@@ -0,0 +1,44 @@
+[
+  {
+    "id": "qr_1779278140334",
+    "name": "二维码1",
+    "joint_angles": [
+      89.999979,
+      -0.000118,
+      -120.09949,
+      -30,
+      -105,
+      0
+    ],
+    "qr_value": "BG042110276",
+    "model_id": ""
+  },
+  {
+    "id": "qr_1779286233426",
+    "name": "左侧二维码",
+    "joint_angles": [
+      -70.967019,
+      -19.319962,
+      -67.929797,
+      -90.749908,
+      -121.735483,
+      20.399961
+    ],
+    "qr_value": "",
+    "model_id": ""
+  },
+  {
+    "id": "qr_1779954274845",
+    "name": "右侧二维码",
+    "joint_angles": [
+      -106.216678,
+      35.346758,
+      -134.01322,
+      -79.250251,
+      -84.069984,
+      21.982971
+    ],
+    "qr_value": "",
+    "model_id": ""
+  }
+]

agv_app/requirements.txt

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

agv_app/scripts/fix_scan_timestamp.py

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

agv_app/scripts/start_agv.sh

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

agv_app/start.sh

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

agv_app/start_agv.sh

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

agv_app/start_all.sh

@@ -1,338 +0,0 @@
-#!/bin/bash
-# ============================================================
-# Robot AGV 全量启动脚本 v4.0
-# 修复：
-#   - v4.0: 彻底杀死 ros2 daemon 进程 + 启动前进程数量检查
-#   - v3.0: 彻底清理 FastRTPS 共享内存文件（永久修复 DDS 通信问题）
-#   - v2.7: 添加 ROS_DOMAIN_ID 环境变量传递
-#   - v2.6: 清理 scan_fixer lock 文件防残留
-# ============================================================
-set -e
-
-AGV_APP_DIR="/home/elephant/work/agv_app"
-AGV_ROS2_DIR="/home/elephant/agv_pro_ros2"
-ROS_DOMAIN_ID_VAL=1
-
-echo "=========================================="
-echo "  Robot AGV 全量启动 v4.0"
-echo "=========================================="
-echo ""
-
-# ---------- 1. 清理旧进程 + FastRTPS 共享内存 ----------
-echo "[1/8] 清理旧进程和共享内存..."
-
-# 杀掉所有相关进程（先软杀，再硬杀确保干净）
-pkill -f "ros2 launch agv_pro_bringup" 2>/dev/null || true
-pkill -f "ros2 launch agv_pro_navigation2" 2>/dev/null || true
-pkill -f "agv_pro_node" 2>/dev/null || true
-pkill -f "lslidar_driver_node" 2>/dev/null || true
-pkill -f "component_container" 2>/dev/null || true
-pkill -f "robot_state_publisher" 2>/dev/null || true
-pkill -f "fix_scan_timestamp" 2>/dev/null || true
-pkill -f "clock_publisher" 2>/dev/null || true
-pkill -f "python.*app.py" 2>/dev/null || true
-sleep 2
-
-# 【关键】硬杀确保干净
-echo "   硬杀残留进程..."
-pkill -9 -f "agv_pro_node" 2>/dev/null || true
-pkill -9 -f "lslidar_driver_node" 2>/dev/null || true
-pkill -9 -f "component_container" 2>/dev/null || true
-pkill -9 -f "clock_publisher" 2>/dev/null || true
-pkill -9 -f "fix_scan_timestamp" 2>/dev/null || true
-pkill -9 -f "app.py" 2>/dev/null || true
-sleep 1
-
-# 【关键】杀死 ros2 daemon 进程本身（不是只 stop，而是杀进程）
-echo "   重置 ros2 daemon..."
-pkill -f "ros2-daemon" 2>/dev/null || true
-pkill -9 -f "ros2-daemon" 2>/dev/null || true
-sleep 2
-
-# 【关键】清理 FastRTPS 共享内存文件（杀进程后立即清理）
-echo "   清理 FastRTPS 共享内存文件..."
-FASTRTPS_COUNT=$(ls /dev/shm/fastrtps_* 2>/dev/null | wc -l || echo 0)
-if [ "$FASTRTPS_COUNT" -gt 0 ]; then
-    rm -rf /dev/shm/fastrtps_*
-    echo "   已清理 $FASTRTPS_COUNT 个 FastRTPS 文件"
-else
-    echo "   无 FastRTPS 文件残留"
-fi
-
-# 清理 scan_fixer 锁文件
-rm -f /tmp/scan_fixer.lock
-
-# 【关键】验证进程已全部停止
-echo "   验证进程停止..."
-PROC_COUNT=$(ps aux | grep -E 'agv_pro_node|lslidar_driver_node|component_container|fix_scan_timestamp|app.py' | grep -v grep | wc -l || echo 0)
-echo "   残留进程数: $PROC_COUNT"
-if [ "$PROC_COUNT" -gt 0 ]; then
-    echo "   ⚠️ 仍有进程残留，强制终止..."
-    pkill -9 -f "agv_pro_node" 2>/dev/null || true
-    pkill -9 -f "lslidar_driver_node" 2>/dev/null || true
-    pkill -9 -f "component_container" 2>/dev/null || true
-    pkill -9 -f "fix_scan_timestamp" 2>/dev/null || true
-    pkill -9 -f "app.py" 2>/dev/null || true
-    sleep 2
-    PROC_COUNT2=$(ps aux | grep -E 'agv_pro_node|lslidar_driver_node|component_container|fix_scan_timestamp|app.py' | grep -v grep | wc -l || echo 0)
-    echo "   清理后残留: $PROC_COUNT2"
-fi
-echo "   ✅ 清理完成"
-
-# ---------- 2. 启动 ros2 daemon ----------
-echo "[2/8] 启动 ros2 daemon..."
-source /opt/ros/humble/setup.bash 2>/dev/null || true
-
-# 再次确保没有残留共享内存（启动 daemon 前）
-rm -rf /dev/shm/fastrtps_* 2>/dev/null || true
-
-# 使用 bash -c 确保环境变量正确传递
-nohup bash -c "source /opt/ros/humble/setup.bash && export ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL && ros2 daemon start" >/dev/null 2>&1 &
-sleep 4
-
-# 验证 daemon 是否就绪（用简单的 topic list 测试）
-DAEMON_OK=0
-for i in $(seq 1 5); do
-    DAEMON_TOPICS=$(source /opt/ros/humble/setup.bash && ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL timeout 3 ros2 topic list 2>&1 | wc -l || echo 0)
-    if [ "$DAEMON_TOPICS" -gt 0 ]; then
-        DAEMON_OK=1
-        echo "   ✅ ros2 daemon 就绪"
-        break
-    fi
-    sleep 2
-done
-if [ "$DAEMON_OK" -eq 0 ]; then
-    echo "   ⚠️ ros2 daemon 可能有问题，继续尝试启动组件..."
-fi
-
-# ---------- 3. 启动 bringup (含激光雷达) ----------
-echo "[3/8] 启动 AGV Bringup..."
-source /opt/ros/humble/setup.bash 2>/dev/null || true
-
-# 【关键】启动前最后确认没有残留共享内存
-rm -rf /dev/shm/fastrtps_* 2>/dev/null || true
-
-cd "$AGV_ROS2_DIR"
-source install/setup.bash
-
-nohup bash -c "export ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL && ros2 launch agv_pro_bringup agv_pro_bringup.launch.py port_name:=/dev/agvpro_controller" > /tmp/ros2_bringup.log 2>&1 &
-BRINGUP_PID=$!
-echo "   bringup PID: $BRINGUP_PID"
-
-echo "   等待 bringup 就绪..."
-BRINGUP_OK=0
-for i in $(seq 1 20); do
-    if ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL ros2 topic list 2>/dev/null | grep -q '/odom'; then
-        echo "   ✅ bringup 已就绪 (${i}x2秒)"
-        BRINGUP_OK=1
-        break
-    fi
-    sleep 2
-done
-if [ "$BRINGUP_OK" -eq 0 ]; then
-    echo "   ⚠️ bringup 未检测到 /odom，继续启动后续组件..."
-    tail -5 /tmp/ros2_bringup.log 2>/dev/null || true
-fi
-
-# ---------- 3.5 启动系统时钟发布器 ----------
-echo "[3.5/8] 启动系统时钟发布器 (clock_publisher)..."
-
-nohup bash -c "source /opt/ros/humble/setup.bash && \
-    ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL python3 /home/elephant/work/scan_fixer/clock_publisher.py" \
-    > /tmp/clock_publisher.log 2>&1 &
-CLOCK_PID=$!
-echo "   clock_publisher PID: $CLOCK_PID"
-sleep 2
-
-# 验证 /clock 话题
-if ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL ros2 topic list 2>/dev/null | grep -q '/clock'; then
-    echo "   ✅ /clock 已上线"
-else
-    echo "   ⚠️ /clock 未上线，检查日志："
-    tail -5 /tmp/clock_publisher.log 2>/dev/null || true
-fi
-
-# ---------- 4. 启动激光时间戳修正节点 ----------
-echo "[4/8] 启动激光时间戳修正节点..."
-
-# 确保 /scan 存在
-SCAN_OK=0
-for i in $(seq 1 10); do
-    if ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL ros2 topic list 2>/dev/null | grep -q '/scan'; then
-        echo "   /scan 话题已上线"
-        SCAN_OK=1
-        break
-    fi
-    sleep 2
-done
-if [ "$SCAN_OK" -eq 0 ]; then
-    echo "   ⚠️ /scan 未上线，检查 bringup 日志"
-fi
-
-nohup bash -c "source /opt/ros/humble/setup.bash && \
-    ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL python3 /home/elephant/work/scan_fixer/fix_scan_timestamp_v6.py" \
-    > /tmp/scan_fixer.log 2>&1 &
-FIXER_PID=$!
-echo "   fix_scan_timestamp PID: $FIXER_PID"
-sleep 5
-
-# 验证 fixer 进程和 scan_corrected
-FIXER_COUNT=$(ps aux | grep -c "[f]ix_scan_timestamp" 2>/dev/null || echo 0)
-if [ "$FIXER_COUNT" -gt 1 ]; then
-    echo "   ⚠️ 发现 $FIXER_COUNT 个 fixer 进程，杀掉多余的..."
-    pkill -f "fix_scan_timestamp" 2>/dev/null || true
-pkill -f "clock_publisher" 2>/dev/null || true
-    sleep 2
-    rm -f /tmp/scan_fixer.lock
-    nohup bash -c "source /opt/ros/humble/setup.bash && \
-        ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL python3 /home/elephant/work/scan_fixer/fix_scan_timestamp_v6.py" \
-        > /tmp/scan_fixer.log 2>&1 &
-    FIXER_PID=$!
-    sleep 3
-fi
-
-if ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL ros2 topic list 2>/dev/null | grep -q '/scan_corrected'; then
-    echo "   ✅ /scan_corrected 已上线"
-else
-    echo "   ⚠️ /scan_corrected 未上线，检查日志："
-    tail -5 /tmp/scan_fixer.log 2>/dev/null || true
-fi
-
-# ---------- 5. 启动 Nav2 ----------
-echo "[5/8] 启动 Nav2 导航..."
-source /opt/ros/humble/setup.bash 2>/dev/null || true
-cd "$AGV_ROS2_DIR"
-source install/setup.bash
-
-nohup bash -c "source /opt/ros/humble/setup.bash && \
-    source /home/elephant/agv_pro_ros2/install/setup.bash && \
-    export ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL && \
-    ros2 launch agv_pro_navigation2 navigation2_active.launch.py \
-    autostart:=True" > /tmp/ros2_nav2.log 2>&1 &
-NAV2_PID=$!
-echo "   Nav2 PID: $NAV2_PID"
-sleep 12
-
-echo "   等待 Nav2 节点就绪..."
-NAV2_OK=0
-for i in $(seq 1 15); do
-    NODES=$(ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL ros2 node list 2>/dev/null | \
-        grep -cE 'lifecycle_manager_navigation|bt_navigator|controller_server' 2>/dev/null || echo 0)
-    NODES=$(echo "$NODES" | tr -d '\n' | awk '{print $1}')
-    if [ "$NODES" -ge 3 ] 2>/dev/null; then
-        echo "   ✅ Nav2 节点已就绪 ($NODES 个)"
-        NAV2_OK=1
-        break
-    fi
-    sleep 3
-done
-if [ "$NAV2_OK" -eq 0 ]; then
-    echo "   ⚠️ Nav2 节点未完全就绪，继续..."
-fi
-
-# ---------- 6. 设置精度参数 ----------
-echo "[6/8] 设置导航精度参数 (xy_goal_tolerance=0.05m)..."
-source /opt/ros/humble/setup.bash 2>/dev/null || true
-cd "$AGV_ROS2_DIR"
-source install/setup.bash
-
-for NODE in /controller_server /bt_navigator /planner_server; do
-    ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL timeout 1 ros2 param set $NODE general_goal_checker.xy_goal_tolerance 0.05 2>/dev/null || true
-    ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL timeout 1 ros2 param set $NODE general_goal_checker.yaw_goal_tolerance 0.05 2>/dev/null || true
-done
-ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL timeout 1 ros2 param set /controller_server FollowPath.xy_goal_tolerance 0.05 2>/dev/null || true
-ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL timeout 1 ros2 param set /controller_server general_goal_checker.stateful True 2>/dev/null || true
-ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL timeout 1 ros2 param set /controller_server FollowPath.stateful True 2>/dev/null || true
-echo "   ✅ 精度参数已设置"
-
-# ---------- 7. 启动 Flask ----------
-echo "[7/8] 启动 Flask API..."
-export ROS_DOMAIN_ID=1
-cd "$AGV_APP_DIR"
-nohup python3 app.py > /tmp/agv_flask.log 2>&1 &
-FLASK_PID=$!
-echo "   Flask PID: $FLASK_PID"
-sleep 4
-
-# ---------- 8. 最终全面验证 ----------
-echo ""
-echo "=========================================="
-echo "  系统全面验证"
-echo "=========================================="
-
-# 8a. 验证 ros2 topic list（核心指标）
-echo ""
-echo "验证 ros2 topic list..."
-TOPIC_COUNT=$(source /opt/ros/humble/setup.bash && ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL timeout 5 ros2 topic list 2>/dev/null | wc -l || echo 0)
-echo "   话题数量: $TOPIC_COUNT"
-if [ "$TOPIC_COUNT" -gt 10 ]; then
-    echo "   ✅ ros2 daemon 正常 (${TOPIC_COUNT} 个话题)"
-else
-    echo "   ❌ ros2 topic list 异常 (${TOPIC_COUNT} 个话题，可能 DDS 有问题)"
-    echo "   手动执行: rm -rf /dev/shm/fastrtps_* && ros2 daemon stop && ros2 daemon start"
-fi
-
-# 8b. 验证关键话题
-echo ""
-echo "验证关键话题..."
-for TOPIC in /odom /scan /cmd_vel /tf; do
-    if ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL ros2 topic list 2>/dev/null | grep -q "$TOPIC"; then
-        echo "   ✅ $TOPIC"
-    else
-        echo "   ⚠️ $TOPIC 未找到"
-    fi
-done
-
-# 8c. 验证进程数量（确保没有重复启动）
-echo ""
-echo "验证进程数量..."
-BRINGUP_PROCS=$(ps aux | grep -E 'agv_pro_node|lslidar_driver_node' | grep -v grep | wc -l || echo 0)
-echo "   AGV 核心进程: $BRINGUP_PROCS (应为 2)"
-if [ "$BRINGUP_PROCS" -eq 2 ]; then
-    echo "   ✅ 进程数量正常（无重复）"
-elif [ "$BRINGUP_PROCS" -gt 2 ]; then
-    echo "   ⚠️ 发现 $BRINGUP_PROCS 个核心进程（可能有残留），建议重启"
-else
-    echo "   ⚠️ 进程数量异常"
-fi
-
-# 8d. FastRTPS 共享内存状态
-echo ""
-echo "FastRTPS 共享内存状态:"
-FASTRTPS_NEW=$(ls /dev/shm/fastrtps_* 2>/dev/null | wc -l || echo 0)
-echo "   当前文件数: $FASTRTPS_NEW (正常运行时会有一些)"
-
-# 8e. Flask API 测试
-echo ""
-echo "验证 Flask API..."
-FLASK_RUNNING=$(ps aux | grep "[p]ython3 app.py" | wc -l || echo 0)
-if [ "$FLASK_RUNNING" -gt 0 ]; then
-    echo "   ✅ Flask 进程运行中"
-else
-    echo "   ❌ Flask 未运行"
-fi
-
-# ---------- 完成 ----------
-echo ""
-echo "=========================================="
-echo "  ✅ 启动完成"
-echo "=========================================="
-echo ""
-echo "  进程状态:"
-for PROC in "bringup:$BRINGUP_PID" "Nav2:$NAV2_PID" "fixer:$FIXER_PID" "Flask:$FLASK_PID"; do
-    NAME="${PROC%%:*}"
-    PID="${PROC##*:}"
-    STATUS=$(ps aux | grep -w "$PID" | grep -v grep | awk '{print "运行中"}' || echo '已退出')
-    echo "    $NAME : $STATUS"
-done
-echo ""
-echo "  日志文件:"
-echo "    bringup  : /tmp/ros2_bringup.log"
-echo "    Nav2     : /tmp/ros2_nav2.log"
-echo "    fixer    : /tmp/scan_fixer.log"
-echo "    Flask    : /tmp/agv_flask.log"
-echo ""
-echo "  如果仍有问题，请依次执行："
-echo "    1. ./stop_all.sh"
-echo "    2. rm -rf /dev/shm/fastrtps_*"
-echo "    3. ./start_all.sh"

agv_app/start_flask.sh

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

agv_app/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,
+      agvSpeed: 1.0,
-      armSpeed: 500,
+      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) {
+        const opened = data.arm_camera_opened
-          this.armPreviewUrl = ''
+        if (opened !== this.armCameraOpened || (opened && !this.armPreviewUrl)) {
-        } else if (!this.armPreviewUrl) {
+          this.armCameraOpened = opened
-          this.armPreviewUrl = API + '/api/camera/arm_preview'
+          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)
     },
@@ -358,8 +381,9 @@ createApp({
       } catch (e) { alert('导航失败: ' + e.message) }
     },
     async goToOrigin() {
-      if (!confirm('确认导航到原点 (0, 0, 0)?')) return
+      if (!confirm('确认先复原机械臂，再导航到原点 (0, 0, 0)?')) return
       try {
+        this.mapMsg = '正在复原机械臂并发送原点导航...'
         const res = await fetch(API + '/api/navigate/to', {
           method: 'POST',
           headers: { 'Content-Type': 'application/json' },
@@ -367,7 +391,7 @@ createApp({
         })
         const data = await res.json()
         if (data.ok) {
-          this.mapMsg = '✅ 已发送导航到原点'
+          this.mapMsg = '✅ ' + (data.message || '已发送导航到原点')
         } else {
           this.mapMsg = '❌ ' + (data.error || '导航失败')
         }
@@ -1104,10 +1128,39 @@ 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') }
+        } else {
-      } catch (e) { alert('扫描失败: ' + e.message) }
+          // 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 +1179,12 @@ 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 +1205,121 @@ 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/stop_all.sh

@@ -1,91 +0,0 @@
-#!/bin/bash
-# ============================================================
-# stop_all.sh - 关闭 AGV 拍摄系统所有相关进程
-# 版本: v2.0
-# 修复:
-#   - v2.0: 添加 FastRTPS 清理 + ros2 daemon 重置
-# ============================================================
-set -e
-
-echo "=========================================="
-echo "  Robot AGV 全量停止"
-echo "=========================================="
-echo ""
-
-# ---------- 1. 软杀所有相关进程 ----------
-echo "[1/5] 软杀所有相关进程..."
-pkill -f "python3 app.py" 2>/dev/null || true
-pkill -f "agv_pro_bringup" 2>/dev/null || true
-pkill -f "agv_pro_navigation2" 2>/dev/null || true
-pkill -f "agv_pro_node" 2>/dev/null || true
-pkill -f "lslidar_driver_node" 2>/dev/null || true
-pkill -f "component_container" 2>/dev/null || true
-pkill -f "fix_scan_timestamp" 2>/dev/null || true
-pkill -f "clock_publisher" 2>/dev/null || true
-pkill -f "robot_state_publisher" 2>/dev/null || true
-pkill -f "start_all.sh" 2>/dev/null || true
-sleep 2
-
-# ---------- 2. 硬杀确保干净 ----------
-echo "[2/5] 硬杀残留进程..."
-pkill -9 -f "app.py" 2>/dev/null || true
-pkill -9 -f "agv_pro_node" 2>/dev/null || true
-pkill -9 -f "lslidar_driver_node" 2>/dev/null || true
-pkill -9 -f "component_container" 2>/dev/null || true
-pkill -9 -f "fix_scan_timestamp" 2>/dev/null || true
-pkill -9 -f "agv_pro_bringup" 2>/dev/null || true
-pkill -9 -f "agv_pro_navigation2" 2>/dev/null || true
-sleep 1
-
-# ---------- 3. 【关键】清理 FastRTPS 共享内存 ----------
-echo "[3/5] 清理 FastRTPS 共享内存..."
-FASTRTPS_COUNT=$(ls /dev/shm/fastrtps_* 2>/dev/null | wc -l || echo 0)
-if [ "$FASTRTPS_COUNT" -gt 0 ]; then
-    rm -rf /dev/shm/fastrtps_*
-    echo "   已清理 $FASTRTPS_COUNT 个 FastRTPS 文件"
-else
-    echo "   无 FastRTPS 文件残留"
-fi
-
-# 清理 scan_fixer 锁文件
-rm -f /tmp/scan_fixer.lock
-rm -f /tmp/clock_publisher.lock
-echo "   ✅ FastRTPS 清理完成"
-
-# ---------- 4. 【关键】重置 ros2 daemon ----------
-echo "[4/5] 重置 ros2 daemon..."
-pkill -f "ros2-daemon" 2>/dev/null || true
-pkill -9 -f "ros2-daemon" 2>/dev/null || true
-sleep 2
-source /opt/ros/humble/setup.bash 2>/dev/null || true
-ros2 daemon stop 2>/dev/null || true
-echo "   ✅ ros2 daemon 已重置"
-
-# ---------- 5. 验证清理结果 ----------
-echo "[5/5] 验证清理结果..."
-PROC_COUNT=$(ps aux | grep -E 'agv_pro_node|lslidar_driver_node|component_container|fix_scan_timestamp|clock_publisher|app.py|ros2-daemon' | grep -v grep | wc -l || echo 0)
-FASTRTPS_LEFT=$(ls /dev/shm/fastrtps_* 2>/dev/null | wc -l || echo 0)
-
-echo "   残留进程数: $PROC_COUNT"
-echo "   FastRTPS 文件数: $FASTRTPS_LEFT"
-
-if [ "$PROC_COUNT" -eq 0 ] && [ "$FASTRTPS_LEFT" -eq 0 ]; then
-    echo ""
-    echo "=========================================="
-    echo "  ✅ 停止完成 - 系统已完全清理"
-    echo "=========================================="
-else
-    echo ""
-    echo "=========================================="
-    echo "  ⚠️ 停止完成 - 部分残留可能需要手动清理"
-    echo "=========================================="
-    echo ""
-    echo "  手动清理命令（如需要）:"
-    echo "    pkill -9 -f 'agv_pro_node|lslidar|component_container'"
-    echo "    pkill -9 -f 'fix_scan_timestamp|app.py'"
-    echo "    pkill -9 -f 'ros2-daemon'"
-    echo "    rm -rf /dev/shm/fastrtps_*"
-fi
-echo ""
-echo "  现在可以安全运行 ./start_all.sh"
-echo ""

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>
+            <div class="camera-label">AGV 摄像头 <button class="btn btn-small" @click="refreshAgvCamera()">刷新</button></div>
-            <img v-if="cameraOpened && !agvCameraError" :src="agvCameraSrc" class="camera-img" @error="agvCameraError=true">
+            <img v-if="cameraOpened && hasAgvCamera && !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 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>
+            <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 :src="agvPreviewUrl" @error="onAgvPreviewError" class="camera-img">
+            <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.py

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

agv_app/utils/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

@@ -51,6 +51,10 @@ class ArmClient:
             self._sock.close()
             self._sock = None
 
+    def is_connected(self) -> bool:
+        """返回当前 TCP 连接是否仍由客户端持有。"""
+        return self._sock is not None
+
     def reconnect(self) -> bool:
         self.close()
         time.sleep(1)
@@ -61,14 +65,18 @@ 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
+                # 兼容 "get_angles:[-260.2,...]" 和 "[-260.2,...]" 两种格式
-                nums = resp.split("[")[1].split("]")[0]
+                text = resp.split(":", 1)[-1] if ":" in resp else resp
-                angles = [float(x) for x in nums.split(",")]
+                text = text.strip()
-                return True, angles
+                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 +102,17 @@ 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]
+                text = resp.split(":", 1)[-1] if ":" in resp else resp
-                coords = [float(x) for x in nums.split(",")]
+                text = text.strip()
-                return True, coords
+                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 +144,20 @@ 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

@@ -1,92 +0,0 @@
-"""
-配置文件 - 所有可配置参数集中管理
-"""
-import os
-
-# 基础路径（部署后对应 ~/work/agv_app）
-BASE_DIR = os.path.dirname(os.path.abspath(__file__))
-
-# ========== 网络配置（集中管理所有 IP 地址 — 修改此处即可全局生效）==========
-AGV_HOST = "192.168.60.177"
-ARM_HOST = "192.168.60.88"
-
-# ========== AGV 参数 ==========
-AGV_CONFIG = {
-    "device": "/dev/agvpro_controller",
-    "baudrate": 10000000,
-    "move_speed": 0.5,
-    "turn_speed": 0.5,
-}
-
-# ========== 机械臂 TCP 客户端 ==========
-ARM_CONFIG = {
-    "host": ARM_HOST,
-    "port": 5002,
-    "timeout": 8,
-    "retry_times": 3,
-    "retry_interval": 1,
-}
-
-# ========== 地图 ==========
-MAP_CONFIG = {
-    "map_dir": "/home/elephant/agv_pro_ros2/src/agv_pro_navigation2/map/",
-    "map_file": "map.yaml",
-}
-
-# ========== 摄像头 ==========
-CAMERA_CONFIG = {
-    "device_index": 4,       # AGV 摄像头 video4（标准彩色摄像头，V4L2后端）
-    "backend": "v4l2",         # 使用 V4L2 后端获取标准彩色格式（640x480）
-    "qr_detect_interval": 0.5,
-    "capture_delay": 0.5,
-}
-
-# ========== 机械臂摄像头流 ==========
-ARM_CAMERA_CONFIG = {
-    "url": f"http://{ARM_HOST}:5003/api/camera/preview",
-    "snapshot_url": f"http://{ARM_HOST}:5003/api/camera/snapshot",
-}
-
-# ========== HTTP 上传 ==========
-UPLOAD_CONFIG = {
-    "url": "https://ts.zhijian168.com/prod-api/file/uploadImage",
-    "timeout": 30,
-    "max_retries": 3,
-}
-
-# ========== Flask 服务器 ==========
-SERVER_CONFIG = {
-    "host": "0.0.0.0",
-    "port": 5000,
-    "secret_key": "agv630_secret_key_2024",
-    "debug": False,
-}
-
-# ========== 任务配置存储路径 ==========
-DATA_DIR = os.path.join(BASE_DIR, "data")
-os.makedirs(DATA_DIR, exist_ok=True)
-
-# ========== 关节角度范围限制 ==========
-JOINT_LIMITS = {
-    "J1": (-180.0, 180.0),
-    "J2": (-270.0, 90.0),
-    "J3": (-150.0, 150.0),
-    "J4": (-260.0, 80.0),
-    "J5": (-168.0, 168.0),
-    "J6": (-174.0, 174.0),
-}
-
-# ========== 机械臂默认速度 ==========
-DEFAULT_ARM_SPEED = 500
-
-# ========== 状态定义 ==========
-class State:
-    SETTING = "setting"
-    RUNNING = "running"
-    PAUSED = "paused"
-    IDLE = "idle"
-
-class PhotoType:
-    FRONT = "front"
-    BACK = "back"
-    NAMEPLATE = "nameplate"

agv_app/utils/map_navigator.py

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

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.arm_speed = 1000
-        self.agv_speed = 0.5
+        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.arm_speed = int(options.get("arm_speed", 1000))
-            self.agv_speed = float(options.get("agv_speed", 0.5))
+            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）
@@ -416,6 +414,14 @@ class MissionExecutorV3:
                     model_name = self._lookup_model(qr_value)
                     self._log(f"  🏷️ 机型: {model_name}")
 
+                    if qr_value and opt_arm_init and has_arm_pose and opt_agv_move and not self._stop.is_set():
+                        self._log("  🦾 扫码完成，恢复机械臂初始姿态")
+                        try:
+                            self.arm_client.set_angles(arm_initial_pose, speed=self.arm_speed)
+                            self._wait_arm_ready(arm_initial_pose)
+                        except Exception as e:
+                            self._log(f"  ⚠️ 机械臂复位失败: {e}")
+
                     if opt_front_photo and not self._stop.is_set():
                         model = self._find_model(models, model_name)
                         if model:
@@ -644,7 +650,7 @@ class MissionExecutorV3:
             self._log("↪️ 调用设置页同款接口返回原点")
             resp = requests.post(
                 "http://127.0.0.1:5000/api/navigate/to",
-                json={"x": 0, "y": 0, "yaw": 0},
+                json={"x": 0, "y": 0, "yaw": 0, "restore_arm": False},
                 timeout=8,
             )
             data = resp.json() if resp.content else {}
@@ -721,6 +727,7 @@ 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 +744,41 @@ class MissionExecutorV3:
             time.sleep(0.5)
         return None
 
-    def _request_manual_qr(self) -> Optional[str]:
+    def _request_manual_qr(self, message: str = None) -> 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）"""
+        """暂停任务，等待手动输入（支持重新扫描）
-        self.status = MissionStatus.WAITING_QR
+        message: 自定义弹窗消息（None 则使用默认消息）"""
-        self.report["status"] = "waiting_qr"
+        while True:
-        self.report["step"] = "等待手动输入二维码"
+            self.status = MissionStatus.WAITING_QR
-        self._log("  ⌨️  弹窗等待手动输入二维码（不可跳过）...")
+            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.clear()
-        self._qr_event.wait()  # 无限等待，直到 set_manual_qr 或 stop() 触发
+            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 == 'RESCAN':
-        if self._qr_value:
+                self.status = MissionStatus.RUNNING
-            self._log(f"  ✏️ 手动输入: {self._qr_value}")
+                self.report["status"] = "running"
-            return self._qr_value
+                self._log("  🔄 用户点击重新扫描，重试...")
-        else:
+                qr = self._decode_qr_from_arm()
-            self._log(f"  ⚠️ 任务已停止")
+                if qr:
-            return None
+                    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 +787,73 @@ 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"""
+        """通过 /api/customs/printer 接口查询机型，同时更新查验计数
-        return "机器1"
+        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 +885,13 @@ 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 +915,9 @@ 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）
+            # 拍照：正面从1开始，背面接着正面数量继续编号
-            path = self._capture_arm_photo(row, col, side, pi + 1, qr_value, upload_index=self.next_upload_index)
+            upload_index = base_index + pi + 1
-            self.next_upload_index += 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 +926,12 @@ 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 +940,14 @@ 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 +960,14 @@ class MissionExecutorV3:
         """
         try:
             filename = os.path.basename(filepath)
-            headers = {
+            headers = {"Authorization": ZHIJIAN_AUTH_TOKEN}
-                "Authorization": "Bearer eyJhbGciOiJIUzUxMiJ9.eyJ1c2VyX2lkIjoxLCJ1c2VyX2tleSI6ImZhNTNkZTZiLWE3NjYtNDZmNC05MDUyLTQ2MjUzZTAyNjdmNSIsInVzZXJuYW1lIjoiYWRtaW4ifQ.lC4vKThZo4aAOLsekm2kPgaEJRqRx-YDQWKfHFqxdPNESCKy57l3eIqaKTj2ZjAMaoYAwYlMrv5M1zAOJsO_PA"
+            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 +978,33 @@ 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/mock_hardware.py

@@ -0,0 +1,382 @@
+"""
+Mock 硬件实现 - 用于本地开发环境（无真实硬件）
+
+通过环境变量 MOCK_HARDWARE=1 启用，模拟所有硬件组件的行为。
+"""
+import time
+import logging
+import numpy as np
+from typing import Tuple, List, Optional
+from enum import Enum
+
+logger = logging.getLogger(__name__)
+logger.info("[Mock] 使用 Mock 硬件实现 - 本地开发模式")
+
+
+class MockArmClient:
+    """Mock 机械臂客户端"""
+
+    def __init__(self, host: str = "127.0.0.1", port: int = 5002, timeout: float = 10):
+        self.host = host
+        self.port = port
+        self.timeout = timeout
+        self._connected = False
+        # 默认关节角度 [J1, J2, J3, J4, J5, J6]
+        self._angles = [0.0, -90.0, 90.0, 0.0, 90.0, 0.0]
+        # 默认坐标 [x, y, z, rx, ry, rz]
+        self._coords = [200.0, 0.0, 300.0, 0.0, 180.0, 0.0]
+        self._power_on = False
+        self._state_on = False
+        # Mock socket for compatibility with real ArmClient interface
+        self._sock = None
+
+    class _MockSocket:
+        """Mock socket for API compatibility"""
+        def settimeout(self, timeout):
+            pass
+
+    def connect(self) -> bool:
+        """建立连接（Mock）"""
+        logger.info(f"[Mock] 连接机械臂 {self.host}:{self.port}")
+        self._connected = True
+        self._sock = self._MockSocket()  # 创建 mock socket
+        return True
+
+    def close(self):
+        """关闭连接"""
+        self._connected = False
+        self._sock = None
+        logger.info("[Mock] 关闭机械臂连接")
+
+    def send_command(self, cmd: str) -> Tuple[bool, str]:
+        """发送命令（Mock）"""
+        if not self._connected:
+            return False, "未连接"
+        logger.debug(f"[Mock] 发送命令: {cmd}")
+        return True, "ok"
+
+    def reconnect(self) -> bool:
+        """重新连接"""
+        self.close()
+        time.sleep(0.5)
+        return self.connect()
+
+    # ========== 机械臂命令 ==========
+
+    def get_angles(self) -> Tuple[bool, List[float]]:
+        """获取所有关节角度"""
+        logger.debug(f"[Mock] 获取关节角度: {self._angles}")
+        return True, self._angles
+
+    def set_angles(self, angles: List[float], speed: int = 500) -> bool:
+        """设置所有关节角度"""
+        if len(angles) != 6:
+            return False
+        logger.info(f"[Mock] 设置关节角度: {angles}, 速度: {speed}")
+        self._angles = list(angles)
+        return True
+
+    def set_angle(self, joint: str, angle: float, speed: int = 500) -> bool:
+        """设置单个关节角度"""
+        logger.info(f"[Mock] 设置关节 {joint} 角度: {angle}, 速度: {speed}")
+        joint_map = {"J1": 0, "J2": 1, "J3": 2, "J4": 3, "J5": 4, "J6": 5}
+        idx = joint_map.get(joint)
+        if idx is not None:
+            self._angles[idx] = angle
+        return True
+
+    def jog_angle(self, joint: str, direction: int, speed: int = 500) -> bool:
+        """连续调节关节角度"""
+        logger.debug(f"[Mock] jog_angle({joint}, {direction}, {speed})")
+        return True
+
+    def get_coords(self) -> Tuple[bool, List[float]]:
+        """获取当前坐标和姿态"""
+        logger.debug(f"[Mock] 获取坐标: {self._coords}")
+        return True, self._coords
+
+    def set_coords(self, coords: List[float], speed: int = 500) -> bool:
+        """设置坐标和姿态"""
+        if len(coords) != 6:
+            return False
+        logger.info(f"[Mock] 设置坐标: {coords}, 速度: {speed}")
+        self._coords = list(coords)
+        return True
+
+    def jog_coord(self, axis: str, direction: int, speed: int = 500) -> bool:
+        """连续调节坐标轴"""
+        logger.debug(f"[Mock] jog_coord({axis}, {direction}, {speed})")
+        return True
+
+    def power_on(self) -> bool:
+        """上电"""
+        logger.info("[Mock] 机械臂上电")
+        self._power_on = True
+        return True
+
+    def state_on(self) -> bool:
+        """启用状态"""
+        logger.info("[Mock] 机械臂状态启用")
+        self._state_on = True
+        return True
+
+    def state_off(self) -> bool:
+        """禁用状态"""
+        logger.info("[Mock] 机械臂状态禁用")
+        self._state_on = False
+        return True
+
+    def state_check(self) -> bool:
+        """检查机械臂状态"""
+        return self._state_on
+
+    def check_running(self) -> bool:
+        """检查机械臂是否在运行"""
+        return False  # Mock模式下始终不在运行
+
+    def wait_done(self, timeout: float = 30) -> bool:
+        """等待上一条命令执行完成"""
+        logger.debug(f"[Mock] wait_done({timeout}s) - 立即返回")
+        return True
+
+    def task_stop(self) -> bool:
+        """停止任务"""
+        logger.info("[Mock] 停止机械臂任务")
+        return True
+
+    def __enter__(self):
+        self.connect()
+        return self
+
+    def __exit__(self, *args):
+        self.close()
+
+
+class MockAGVController:
+    """Mock AGV 控制器"""
+
+    def __init__(self, device: str = "/dev/agvpro_controller", baudrate: int = 1000000):
+        self.device = device
+        self.baudrate = baudrate
+        self._connected = False
+        self._position = [0.0, 0.0, 0.0]  # [x, y, yaw]
+        self._voltage = 48.0  # 模拟电压
+        self._moving = False
+
+    def _run_ros2_cmd(self, cmd: str, timeout: float = 5.0) -> tuple:
+        """执行 ros2 命令（Mock）"""
+        logger.debug(f"[Mock] ros2 命令: {cmd}")
+        return 0, "", ""
+
+    def connect(self) -> bool:
+        """连接 AGV（Mock）"""
+        logger.info(f"[Mock] 连接 AGV 控制器 {self.device}")
+        self._connected = True
+        return True
+
+    def is_connected(self) -> bool:
+        """检查是否已连接"""
+        return self._connected
+
+    def move_forward(self, speed: float = 1.0, duration: float = None):
+        """前进"""
+        logger.info(f"[Mock] AGV 前进，速度: {speed}, 时长: {duration}")
+        self._moving = True
+        if duration:
+            time.sleep(min(duration, 0.1))  # Mock 模式下只短暂等待
+            self.stop()
+
+    def move_backward(self, speed: float = 1.0, duration: float = None):
+        """后退"""
+        logger.info(f"[Mock] AGV 后退，速度: {speed}, 时长: {duration}")
+        if duration:
+            time.sleep(min(duration, 0.1))
+            self.stop()
+
+    def turn_left(self, speed: float = 1.0, duration: float = None):
+        """左转"""
+        logger.info(f"[Mock] AGV 左转，速度: {speed}, 时长: {duration}")
+        if duration:
+            time.sleep(min(duration, 0.1))
+            self.stop()
+
+    def turn_right(self, speed: float = 1.0, duration: float = None):
+        """右转"""
+        logger.info(f"[Mock] AGV 右转，速度: {speed}, 时长: {duration}")
+        if duration:
+            time.sleep(min(duration, 0.1))
+            self.stop()
+
+    def move_left_lateral(self, speed: float = 1.0, duration: float = None):
+        """向左横向移动"""
+        logger.info(f"[Mock] AGV 向左横向移动，速度: {speed}, 时长: {duration}")
+        if duration:
+            time.sleep(min(duration, 0.1))
+            self.stop()
+
+    def move_right_lateral(self, speed: float = 1.0, duration: float = None):
+        """向右横向移动"""
+        logger.info(f"[Mock] AGV 向右横向移动，速度: {speed}, 时长: {duration}")
+        if duration:
+            time.sleep(min(duration, 0.1))
+            self.stop()
+
+    def stop(self):
+        """停止"""
+        logger.debug("[Mock] AGV 停止")
+        self._moving = False
+
+    def get_position(self) -> Optional[List[float]]:
+        """获取 AGV 当前位置"""
+        logger.debug(f"[Mock] 获取 AGV 位置: {self._position}")
+        return self._position
+
+    def go_to_point(self, x: float, y: float, rz: float = None, speed: float = 1.0) -> bool:
+        """移动到目标点"""
+        logger.info(f"[Mock] AGV 移动到目标点: ({x}, {y}), yaw: {rz}")
+        # 模拟移动完成
+        self._position = [x, y, rz if rz is not None else self._position[2]]
+        return True
+
+    def get_battery(self) -> Optional[float]:
+        """获取电池电压"""
+        logger.debug(f"[Mock] 获取电池电压: {self._voltage}V")
+        return self._voltage
+
+    def disconnect(self):
+        """断开连接"""
+        self.stop()
+        self._connected = False
+
+    def __enter__(self):
+        self.connect()
+        return self
+
+    def __exit__(self, *args):
+        self.disconnect()
+
+
+class MockQRScanner:
+    """Mock 二维码扫描器"""
+
+    def __init__(self, device_index: int = 0, width: int = 640, height: int = 400, prefer_v4l2_ctl: bool = True):
+        self.device_index = device_index
+        self.width = width
+        self.height = height
+        self._opened = False
+        # Mock 二维码内容
+        self._mock_qr_code = "MOCK_QR_SN_12345"
+
+    def open(self) -> bool:
+        """打开摄像头（Mock）"""
+        logger.info(f"[Mock] 打开摄像头 /dev/video{self.device_index}")
+        self._opened = True
+        return True
+
+    def close(self):
+        """关闭摄像头"""
+        self._opened = False
+        logger.info("[Mock] 关闭摄像头")
+
+    def read_frame(self, timeout: float = 2.0) -> Optional[np.ndarray]:
+        """读取一帧（Mock）"""
+        if not self._opened:
+            return None
+        # 返回空白图像
+        return np.zeros((self.height, self.width, 3), dtype=np.uint8)
+
+    def detect_qr(self, frame: np.ndarray) -> Optional[str]:
+        """从图像帧中检测二维码（Mock）"""
+        # 始终返回模拟二维码
+        logger.debug(f"[Mock] 检测到二维码: {self._mock_qr_code}")
+        return self._mock_qr_code
+
+    def scan_once(self) -> Optional[str]:
+        """扫描一次（Mock）"""
+        logger.debug("[Mock] 扫描二维码...")
+        return self._mock_qr_code
+
+    def scan_with_retry(self, max_attempts: int = 5, interval: float = 0.5) -> Optional[str]:
+        """多次扫描（Mock）"""
+        logger.info(f"[Mock] scan_with_retry - 直接返回模拟二维码")
+        return self._mock_qr_code
+
+    def get_preview_frame(self) -> Optional[np.ndarray]:
+        """获取预览帧（Mock）"""
+        return self.read_frame()
+
+    def set_mock_qr_code(self, code: str):
+        """设置模拟二维码内容（仅 Mock 模式）"""
+        self._mock_qr_code = code
+        logger.info(f"[Mock] 设置模拟二维码: {code}")
+
+    def __enter__(self):
+        self.open()
+        return self
+
+    def __exit__(self, *args):
+        self.close()
+
+
+class MockNav2Status(Enum):
+    """Mock Nav2 状态"""
+    IDLE = "idle"
+    NAVIGATING = "navigating"
+    SUCCEEDED = "succeeded"
+    FAILED = "failed"
+    CANCELLED = "cancelled"
+
+
+class MockNav2Navigator:
+    """Mock Nav2 导航器"""
+
+    def __init__(self):
+        self.status = MockNav2Status.IDLE
+        self._current_pose = [0.0, 0.0, 0.0]  # [x, y, yaw]
+
+    def _get_current_pose(self) -> List[float]:
+        """获取当前位置（Mock）"""
+        return self._current_pose
+
+    def navigate_to_pose(self, x: float, y: float, yaw: float = None,
+                        timeout_sec: float = 120.0,
+                        blocking: bool = True) -> bool:
+        """导航到目标坐标（Mock）"""
+        logger.info(f"[Mock] 导航到: ({x:.3f}, {y:.3f}), yaw={yaw:.1f}°")
+        self.status = MockNav2Status.NAVIGATING
+        # 模拟导航成功
+        self._current_pose = [x, y, yaw if yaw is not None else 0.0]
+        self.status = MockNav2Status.SUCCEEDED
+        return True
+
+    def navigate_through_poses(self, poses: List[Tuple[float, float, float]],
+                              timeout_per_pose: float = 120.0,
+                              blocking: bool = True) -> bool:
+        """通过多个点位导航（Mock）"""
+        logger.info(f"[Mock] 通过 {len(poses)} 个点位导航")
+        for i, (x, y, yaw) in enumerate(poses):
+            logger.debug(f"[Mock] 点位 {i+1}: ({x}, {y}), yaw={yaw}")
+        if poses:
+            self._current_pose = list(poses[-1])
+        self.status = MockNav2Status.SUCCEEDED
+        return True
+
+    def stop(self):
+        """停止导航（Mock）"""
+        logger.info("[Mock] 停止导航")
+        self.status = MockNav2Status.IDLE
+
+    def get_status(self) -> dict:
+        """获取导航状态（Mock）"""
+        return {
+            "status": self.status.value,
+            "position": self._current_pose
+        }
+
+    def get_current_position(self) -> List[float]:
+        """获取当前位置（Mock）"""
+        return self._current_pose
+
+
+# 导出兼容别名
+Nav2Status = MockNav2Status

agv_app/utils/qr_scanner.py

@@ -1,15 +1,20 @@
 """
-二维码识别模块 - 使用 OpenCV 识别二维码获取 serialNumber
+二维码识别模块 - 使用 AGV 摄像头识别二维码获取 serialNumber
+
+优先通过 v4l2-ctl 读取 MJPG 帧，避开部分 Jetson/arm64 环境中 OpenCV
+直接读取 MJPG 花屏或解码失败的问题；v4l2-ctl 不可用时回退到 OpenCV。
 """
 import cv2
 import time
 import logging
+import os
+import subprocess
 import numpy as np
-from typing import Optional, Tuple
+from concurrent.futures import ThreadPoolExecutor, TimeoutError as FuturesTimeout
+from typing import Optional
 
 logger = logging.getLogger(__name__)
 
-# 尝试导入二维码识别库
 try:
     from pyzbar.pyzbar import decode as qr_decode
     PYZBAR_AVAILABLE = True
@@ -19,29 +24,89 @@ except ImportError:
 
 
 class QRScanner:
-    """二维码扫描器"""
+    """二维码扫描器。"""
 
-    def __init__(self, device_index: int = 0):
+    V4L2_CTL = "/usr/bin/v4l2-ctl"
+    DEFAULT_WIDTH = 640
+    DEFAULT_HEIGHT = 400
+    V4L2_STREAM_COUNT = 3
+    V4L2_READ_TIMEOUT = 5.0
+    OPENCV_READ_TIMEOUT = 2.0
+
+    def __init__(
+        self,
+        device_index: int = 0,
+        width: int = DEFAULT_WIDTH,
+        height: int = DEFAULT_HEIGHT,
+        prefer_v4l2_ctl: bool = True,
+    ):
         self.device_index = device_index
+        self.width = width
+        self.height = height
+        self.prefer_v4l2_ctl = prefer_v4l2_ctl
         self._cap: Optional[cv2.VideoCapture] = None
-        self._qr_detector = cv2.QRCodeDetector()  # OpenCV 内置二维码检测器
+        self._v4l2_ctl_ready = False
+        self._qr_detector = cv2.QRCodeDetector()
+
+    def _device_path(self) -> str:
+        return f"/dev/video{self.device_index}"
+
+    def _build_v4l2_cmd(self, stream_count: int = V4L2_STREAM_COUNT) -> list:
+        return [
+            self.V4L2_CTL,
+            "-d", self._device_path(),
+            "--set-fmt-video",
+            f"width={self.width},height={self.height},pixelformat=MJPG",
+            "--stream-mmap",
+            "--stream-to=-",
+            f"--stream-count={stream_count}",
+        ]
+
+    def _check_v4l2_ctl(self) -> bool:
+        if not self.prefer_v4l2_ctl:
+            return False
+        if not os.path.exists(self._device_path()):
+            logger.warning(f"摄像头设备 {self._device_path()} 不存在，回退到 OpenCV")
+            return False
+        try:
+            subprocess.run(
+                [self.V4L2_CTL, "--version"],
+                capture_output=True,
+                timeout=2,
+                check=False,
+            )
+            return True
+        except (FileNotFoundError, subprocess.TimeoutExpired):
+            logger.warning(f"v4l2-ctl 不可用: {self.V4L2_CTL}，回退到 OpenCV")
+            return False
 
     def open(self) -> bool:
         """打开摄像头"""
+        self.close()
+        self._v4l2_ctl_ready = self._check_v4l2_ctl()
+        if self._v4l2_ctl_ready:
+            logger.info(
+                f"摄像头 {self._device_path()} 使用 v4l2-ctl MJPG 读取，"
+                f"分辨率 {self.width}x{self.height}"
+            )
+            return True
+        return self._open_opencv_capture()
+
+    def _open_opencv_capture(self) -> bool:
         try:
-            # 强制 V4L2 后端，获取标准彩色格式（与 test/server.py 一致）
             self._cap = cv2.VideoCapture(self.device_index, cv2.CAP_V4L2)
-            if self._cap.isOpened():
+            if not 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
                 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)")
+            if not self._cap.isOpened():
-                    return True
                 logger.error(f"无法打开摄像头 {self.device_index}")
                 return False
+
+            self._cap.set(cv2.CAP_PROP_CONVERT_RGB, 1)
+            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} 使用 OpenCV 读取，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
@@ -50,27 +115,159 @@ class QRScanner:
         if self._cap:
             self._cap.release()
             self._cap = None
+        self._v4l2_ctl_ready = False
 
-    def read_frame(self) -> Optional[np.ndarray]:
+    @staticmethod
-        """读取一帧"""
+    def _extract_first_jpeg(data: bytes) -> Optional[bytes]:
+        """从 v4l2-ctl 输出流中提取第一帧完整 JPEG。"""
+        soi = data.find(b"\xff\xd8")
+        if soi == -1:
+            return None
+        eoi = data.find(b"\xff\xd9", soi + 2)
+        if eoi == -1 or eoi <= soi:
+            return None
+        return data[soi:eoi + 2]
+
+    def _read_frame_with_v4l2_ctl(self) -> Optional[np.ndarray]:
+        try:
+            proc = subprocess.run(
+                self._build_v4l2_cmd(),
+                capture_output=True,
+                timeout=self.V4L2_READ_TIMEOUT,
+                check=False,
+            )
+            jpeg_data = self._extract_first_jpeg(proc.stdout)
+            if jpeg_data is None or len(jpeg_data) < 100:
+                return None
+
+            frame = cv2.imdecode(
+                np.frombuffer(jpeg_data, dtype=np.uint8),
+                cv2.IMREAD_COLOR,
+            )
+            if frame is None:
+                return None
+
+            if frame.mean() < 3 or frame.mean() > 250:
+                return None
+            return frame
+        except subprocess.TimeoutExpired:
+            logger.warning("v4l2-ctl 读取超时")
+            return None
+        except Exception as e:
+            logger.warning(f"v4l2-ctl 读取异常: {e}")
+            return None
+
+    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_with_opencv(self, timeout: float) -> Optional[np.ndarray]:
         if not self._cap or not self._cap.isOpened():
             return None
-        ret, frame = self._cap.read()
+
-        if not ret:
+        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 read_frame(self, timeout: float = OPENCV_READ_TIMEOUT) -> Optional[np.ndarray]:
+        """读取一帧。"""
+        if self._v4l2_ctl_ready:
+            frame = self._read_frame_with_v4l2_ctl()
+            if frame is not None:
+                return frame
+            logger.debug("v4l2-ctl 未读到有效帧，尝试 OpenCV 兜底")
+            if not self._cap or not self._cap.isOpened():
+                self._open_opencv_capture()
+
+        return self._read_frame_with_opencv(timeout)
 
     def detect_qr(self, frame: np.ndarray) -> Optional[str]:
         """从图像帧中检测二维码"""
         if frame is None:
             return None
+
+        if len(frame.shape) == 2:
+            frame = cv2.cvtColor(frame, cv2.COLOR_GRAY2BGR)
+
         try:
-            # OpenCV 内置二维码检测
             data, vertices, _ = self._qr_detector.detectAndDecode(frame)
             if data and len(data) > 0:
                 return data.strip()
         except Exception as e:
-            logger.debug(f"二维码检测失败: {e}")
+            logger.debug(f"OpenCV QR 检测失败: {e}")
+
+        if PYZBAR_AVAILABLE:
+            try:
+                results = qr_decode(frame)
+                for res in results:
+                    data = res.data.decode("utf-8").strip()
+                    if data:
+                        return data
+            except Exception as e:
+                logger.debug(f"pyzbar 检测失败: {e}")
+
         return None
 
     def scan_once(self) -> Optional[str]:
@@ -81,6 +278,7 @@ class QRScanner:
     def scan_with_retry(self, max_attempts: int = 5, interval: float = 0.5) -> Optional[str]:
         """多次扫描直到成功或达到最大次数"""
         for i in range(max_attempts):
+            logger.debug(f"QR 扫描尝试 {i + 1}/{max_attempts}")
             result = self.scan_once()
             if result:
                 return result

agv_pro_ros2/param/agvpro.yaml

@@ -211,7 +211,7 @@ local_costmap:
         mark_threshold: 0
         observation_sources: scan
         scan:
-          topic: /scan_corrected_corrected
+          topic: /scan_corrected
           max_obstacle_height: 2.0
           clearing: True
           marking: True
@@ -247,7 +247,7 @@ global_costmap:
         enabled: True
         observation_sources: scan
         scan:
-          topic: /scan_corrected_corrected
+          topic: /scan_corrected
           max_obstacle_height: 2.0
           clearing: True
           marking: True

arm_server/arm_server.py

@@ -1,7 +1,7 @@
 """
 机械臂服务端 - 机械臂端主程序
 运行在 10.247.46.165 上，端口 5002 (TCP) + 5003 (视频流)
-通过 TCP Socket 接收 AGV 发来的指令，转发给 RoboFlow (630 Socket API)
+通过 TCP Socket 接收 AGV 发来的指令，转发给 RoboFlow (ElephantRobot)
 同时通过 ffmpeg 提供 HTTP 视频流
 """
 import socket
@@ -11,11 +11,15 @@ import logging
 import os
 import sys
 import subprocess
+import io
+from PIL import Image
 from flask import Flask, Response, jsonify
 from werkzeug.serving import make_server
 
 # 添加当前目录到路径
-sys.path.insert(0, os.path.dirname(os.path.abspath(__file__)))
+BASE_DIR = os.path.dirname(os.path.abspath(__file__))
+sys.path.insert(0, BASE_DIR)
+LOG_FILE = os.environ.get("ARM_SERVER_LOG_FILE", os.path.join(BASE_DIR, "server.log"))
 
 # 配置日志
 logging.basicConfig(
@@ -23,7 +27,7 @@ logging.basicConfig(
     format="%(asctime)s [%(levelname)s] %(name)s: %(message)s",
     handlers=[
         logging.StreamHandler(),
-        logging.FileHandler(os.path.expanduser("~/work/arm_server/server.log"))
+        logging.FileHandler(LOG_FILE)
     ]
 )
 logger = logging.getLogger("arm_server")
@@ -39,6 +43,19 @@ _frame_cond = threading.Condition()
 _latest_frame = None
 _latest_frame_ts = 0.0
 _stop_ffmpeg_reader = threading.Event()
+_invalid_count = 0
+_MAX_INVALID = 30
+_MAX_BUF_SIZE = 2 * 1024 * 1024
+_elephant = None
+
+
+def _validate_jpeg(data):
+    """验证 JPEG 数据是否有效。"""
+    try:
+        Image.open(io.BytesIO(data)).verify()
+        return True
+    except Exception:
+        return False
 
 
 def _stop_ffmpeg():
@@ -55,8 +72,8 @@ def _stop_ffmpeg():
 
 
 def _frame_reader():
-    """从 ffmpeg 的连续 MJPEG 输出中解析 JPEG 帧，并缓存最新一帧。"""
+    """从 ffmpeg 的连续 MJPEG 输出中解析、校验并缓存最新一帧。"""
-    global _ffmpeg_proc, _latest_frame, _latest_frame_ts
+    global _ffmpeg_proc, _latest_frame, _latest_frame_ts, _invalid_count
     buf = b""
     while not _stop_ffmpeg_reader.is_set():
         proc = _ffmpeg_proc
@@ -70,6 +87,11 @@ def _frame_reader():
             time.sleep(0.02)
             continue
         buf += chunk
+        if len(buf) > _MAX_BUF_SIZE:
+            logger.warning(f"frame buffer 超过 {_MAX_BUF_SIZE} 字节，丢弃并重启 ffmpeg")
+            buf = b""
+            _stop_ffmpeg()
+            continue
         while True:
             start = buf.find(b"\xff\xd8")
             end = buf.find(b"\xff\xd9", start + 2) if start >= 0 else -1
@@ -81,15 +103,24 @@ def _frame_reader():
                 break
             frame = buf[start:end + 2]
             buf = buf[end + 2:]
-            with _frame_cond:
+            if _validate_jpeg(frame):
-                _latest_frame = frame
+                with _frame_cond:
-                _latest_frame_ts = time.time()
+                    _latest_frame = frame
-                _frame_cond.notify_all()
+                    _latest_frame_ts = time.time()
+                    _frame_cond.notify_all()
+                _invalid_count = 0
+            else:
+                _invalid_count += 1
+                if _invalid_count >= _MAX_INVALID:
+                    logger.error(f"连续 {_MAX_INVALID} 帧无效，摄像头可能掉线，重启 ffmpeg")
+                    _stop_ffmpeg()
+                    _invalid_count = 0
+                    break
 
 
 def _ensure_ffmpeg():
     """确保 ffmpeg 进程在运行，自动重启崩溃的进程"""
-    global _ffmpeg_proc, _ffmpeg_thread
+    global _ffmpeg_proc, _ffmpeg_thread, _invalid_count
     with _ffmpeg_lock:
         if _ffmpeg_proc is not None and _ffmpeg_proc.poll() is None:
             return
@@ -98,6 +129,7 @@ def _ensure_ffmpeg():
         if _ffmpeg_proc and _ffmpeg_proc.poll() is None:
             _ffmpeg_proc.terminate()
         _stop_ffmpeg_reader.clear()
+        _invalid_count = 0
 
         logger.info(f"启动 ffmpeg 视频流 (Video{ARM_CAMERA_INDEX})")
         _ffmpeg_proc = subprocess.Popen(
@@ -105,11 +137,11 @@ def _ensure_ffmpeg():
                 "ffmpeg",
                 "-f", "v4l2",
                 "-input_format", "mjpeg",
-                "-framerate", "15",
+                "-framerate", "8",
                 "-video_size", "640x480",
                 "-i", f"/dev/video{ARM_CAMERA_INDEX}",
-                "-vf", "rotate=PI",
+                "-fflags", "nobuffer",
-                "-q:v", "8",
+                "-analyzeduration", "0",
                 "-f", "mjpeg",
                 "-"
             ],
@@ -164,17 +196,22 @@ def arm_camera_status():
     """摄像头状态"""
     global _ffmpeg_proc
     running = _ffmpeg_proc is not None and _ffmpeg_proc.poll() is None
-    return jsonify({"opened": running, "frame_age": time.time() - _latest_frame_ts if _latest_frame_ts else None})
+    return jsonify({
+        "opened": running,
+        "frame_age": time.time() - _latest_frame_ts if _latest_frame_ts else None,
+        "invalid_count": _invalid_count,
+    })
 
 
 @arm_video_app.route("/api/camera/restart", methods=["POST"])
 def arm_camera_restart():
     """重启视频流"""
-    global _latest_frame, _latest_frame_ts
+    global _latest_frame, _latest_frame_ts, _invalid_count
     _stop_ffmpeg()
     with _frame_cond:
         _latest_frame = None
         _latest_frame_ts = 0.0
+    _invalid_count = 0
     _ensure_ffmpeg()
     return jsonify({"ok": True})
 
@@ -191,84 +228,18 @@ def arm_camera_snapshot():
     logger.warning("snapshot failed: no cached frame")
     return "", 500
 
-
-# ========== RoboFlow 630 Socket API 客户端 ==========
-class RoboFlowClient:
-    """通过 Socket 连接 RoboFlow 630 机械臂控制盒"""
-
-    def __init__(self, host: str = "127.0.0.1", port: int = 5001, timeout: float = 10):
-        self.host = host
-        self.port = port
-        self.timeout = timeout
-        self._sock: socket.socket = None
-
-    def connect(self) -> bool:
-        try:
-            self._sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
-            self._sock.settimeout(self.timeout)
-            self._sock.connect((self.host, self.port))
-            logger.info(f"已连接到 RoboFlow {self.host}:{self.port}")
-            return True
-        except Exception as e:
-            logger.error(f"连接 RoboFlow 失败: {e}")
-            return False
-
-    def send_recv(self, cmd: str) -> str:
-        """发送命令并等待响应"""
-        if not self._sock:
-            raise ConnectionError("未连接到 RoboFlow")
-        try:
-            self._sock.sendall((cmd + "\n").encode("utf-8"))
-            resp = self._sock.recv(4096).decode("utf-8").strip()
-            return resp
-        except socket.timeout:
-            return "ERROR: timeout"
-        except Exception as e:
-            return f"ERROR: {e}"
-
-    def close(self):
-        if self._sock:
-            self._sock.close()
-            self._sock = None
-
-    def __enter__(self):
-        self.connect()
-        return self
-
-    def __exit__(self, *args):
-        self.close()
-
-
 # ========== TCP 服务器 - 接收 AGV 指令 ==========
 class AGVCommandServer:
-    """TCP 服务器，接收 AGV 发来的指令"""
+    """TCP 服务器，接收 AGV 发来的指令，通过 ElephantRobot 转发给 RoboFlow"""
 
-    def __init__(self, host: str = "0.0.0.0", port: int = 5002):
+    def __init__(self, elephant, host: str = "0.0.0.0", port: int = 5002):
         self.host = host
         self.port = port
         self._sock: socket.socket = None
         self._running = False
-        self.roboflow: RoboFlowClient = None
+        self._elephant = elephant
-        self._connect_roboflow()
+        if self._elephant is None:
-
+            logger.warning("ElephantRobot 实例为空，命令将返回错误")
-    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}")
-        else:
-            logger.warning("RoboFlow 连接失败，服务将以 limited 模式运行")
 
     def start(self):
         self._sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
@@ -322,10 +293,10 @@ class AGVCommandServer:
             logger.info("AGV 客户端已断开")
 
     def _execute_command(self, cmd: str) -> str:
-        if not self.roboflow or not self.roboflow._sock:
+        if self._elephant is None:
-            return f"ERROR: RoboFlow not connected"
+            return "ERROR: Robot not initialized"
         try:
-            return self.roboflow.send_recv(cmd)
+            return self._elephant.send_command(cmd)
         except Exception as e:
             return f"ERROR: {e}"
 
@@ -336,30 +307,80 @@ class AGVCommandServer:
                 self._sock.close()
             except:
                 pass
-        if self.roboflow:
-            self.roboflow.close()
         logger.info("机械臂服务端已停止")
 
 
 # ========== 入口 ==========
+def power_on_arm(max_retries: int = 5) -> bool:
+    """通过 ElephantRobot 给机械臂上电并激活（带重试）"""
+    global _elephant
+    from pymycobot import ElephantRobot
+    
+    for attempt in range(1, max_retries + 1):
+        try:
+            logger.info(f"正在通过 ElephantRobot 连接 RoboFlow (尝试 {attempt}/{max_retries})...")
+            el = ElephantRobot("127.0.0.1", 5001)
+            el.start_client()
+            logger.info("ElephantRobot start_client 成功，等待2秒...")
+            time.sleep(2)
+
+            el._power_on()
+            logger.info("power_on 指令已发送，等待2秒...")
+            time.sleep(2)
+
+            el.start_robot()
+            logger.info("start_robot 指令已发送，等待5秒...")
+            time.sleep(5)
+            logger.info("✅ 机械臂上电+激活 全部完成")
+            _elephant = el
+            return True
+        except Exception as e:
+            logger.warning(f"⚠️ 第 {attempt} 次尝试失败: {e}")
+            if attempt < max_retries:
+                logger.info(f"等待 3 秒后重试...")
+                time.sleep(3)
+            else:
+                logger.error(f"❌ 所有 {max_retries} 次尝试均失败，将以 limited 模式运行")
+                return False
+    return False
+
+
 def main():
     import signal
 
-    server = AGVCommandServer(port=5002)
+    # 先通过 ElephantRobot 给机械臂上电并激活
+    power_on_arm()
+
+    server = AGVCommandServer(_elephant, 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)
+    arm_server_http = None
+    for attempt in range(5):
+        try:
+            arm_server_http = make_server("0.0.0.0", 5003, arm_video_app, threaded=True)
+            break
+        except OSError as e:
+            if attempt < 4 and "Address already in use" in str(e):
+                logger.warning(f"端口 5003 被占用（第{attempt+1}次），等待...")
+                time.sleep(3)
+            else:
+                raise
     http_thread = threading.Thread(target=arm_server_http.serve_forever, daemon=True)
     http_thread.start()
     logger.info("机械臂视频流服务已启动: http://0.0.0.0:5003")
 
     def signal_handler(sig, frame):
         logger.info("收到停止信号...")
-        global _ffmpeg_proc
+        global _ffmpeg_proc, _elephant
         if _ffmpeg_proc:
             _ffmpeg_proc.terminate()
         server.stop()
         arm_server_http.shutdown()
+        if _elephant:
+            try:
+                _elephant.stop_client()
+            except Exception:
+                pass
         sys.exit(0)
 
     signal.signal(signal.SIGINT, signal_handler)

arm_server/arm_server.service

@@ -0,0 +1,18 @@
+[Unit]
+Description=Arm Server (TCP 5002 + Camera 5003)
+After=network-online.target
+Wants=network-online.target
+
+[Service]
+Type=simple
+User=pi
+EnvironmentFile=-/etc/default/arm_server
+ExecStartPre=/bin/sleep 5
+ExecStart=/bin/bash -lc 'export PATH="$HOME/.local/bin:/usr/local/bin:/usr/bin:/bin:$PATH"; cd "${ARM_SERVER_DIR:-$HOME/work/smart-inspection/arm_server}" && exec uv run --locked python arm_server.py'
+Restart=on-failure
+RestartSec=5
+StandardOutput=journal
+StandardError=journal
+
+[Install]
+WantedBy=multi-user.target

arm_server/requirements.txt

@@ -1,3 +0,0 @@
-# 机械臂端依赖（最少依赖）
-# RoboFlow 已在树莓派上运行，此端仅做透传
-flask>=1.0,<2.3

arm_server/start.sh

@@ -1,12 +1,10 @@
 #!/bin/bash
 # 启动机械臂服务端
+set -e
 
-cd ~/work/arm_server
+SCRIPT_DIR="$(cd "$(dirname "$0")" && pwd)"
-PYTHON_BIN="${PYTHON_BIN:-/usr/bin/python3}"
+PROJECT_DIR="$(dirname "$SCRIPT_DIR")"
+ARM_SERVER_DIR="${ARM_SERVER_DIR:-$PROJECT_DIR/arm_server}"
 
-if ! "$PYTHON_BIN" -c "import flask" >/dev/null 2>&1; then
+cd "$ARM_SERVER_DIR"
-    echo "Flask 未安装，正在安装 requirements.txt..."
+exec uv run --locked python arm_server.py
-    "$PYTHON_BIN" -m pip install --user -r requirements.txt
-fi
-
-exec "$PYTHON_BIN" arm_server.py

docs/AGV_机械臂_技术说明文档.md

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

docs/开发记录_2026-05_06.md

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

public-frontend/.eslintrc.json

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

public-frontend/.gitignore

@@ -0,0 +1,9 @@
+.next
+node_modules
+out
+dist
+.env*.local
+npm-debug.log*
+yarn-debug.log*
+yarn-error.log*
+pnpm-debug.log*

public-frontend/README.md

@@ -0,0 +1,9 @@
+# 海关智慧查验平台前端
+
+这是从 `prototype/` 复刻并重构后的真实后端接入版本。原型目录保持只读，新代码集中在当前目录。
+
+默认通过 Next.js rewrites 将 `/api/*` 与 `/photos/*` 转发到 Flask 后端 `http://127.0.0.1:5000`。如需改后端地址，可设置：
+
+```bash
+BACKEND_URL=http://后端地址:5000 npm run dev
+```

public-frontend/next.config.mjs

@@ -0,0 +1,19 @@
+/** @type {import('next').NextConfig} */
+const backendUrl = process.env.BACKEND_URL || process.env.NEXT_PUBLIC_BACKEND_URL || 'http://127.0.0.1:5000';
+
+const nextConfig = {
+  async rewrites() {
+    return [
+      {
+        source: '/api/:path*',
+        destination: `${backendUrl}/api/:path*`,
+      },
+      {
+        source: '/photos/:path*',
+        destination: `${backendUrl}/photos/:path*`,
+      },
+    ];
+  },
+};
+
+export default nextConfig;

public-frontend/package.json

@@ -0,0 +1,33 @@
+{
+  "name": "public-frontend",
+  "version": "0.1.0",
+  "private": true,
+  "scripts": {
+    "dev": "next dev",
+    "build": "next build",
+    "start": "next start",
+    "lint": "next lint",
+    "typecheck": "tsc --noEmit"
+  },
+  "dependencies": {
+    "@ant-design/icons": "^6.2.5",
+    "@ant-design/nextjs-registry": "^1.3.0",
+    "antd": "^6.4.4",
+    "dayjs": "^1.11.21",
+    "html5-qrcode": "^2.3.8",
+    "next": "14.2.35",
+    "photoswipe": "^5.4.4",
+    "react": "^18",
+    "react-dom": "^18",
+    "react-photoswipe-gallery": "^4.1.2",
+    "zustand": "^5.0.14"
+  },
+  "devDependencies": {
+    "@types/node": "^20",
+    "@types/react": "^18",
+    "@types/react-dom": "^18",
+    "eslint": "^8",
+    "eslint-config-next": "14.2.35",
+    "typescript": "^5"
+  }
+}

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

@@ -0,0 +1,243 @@
+'use client';
+
+import React, { useEffect, useMemo, useState } from 'react';
+import { Alert, Button, Card, Col, DatePicker, Form, Input, Row, Select, Space, Table, message } from 'antd';
+import type { ColumnsType } from 'antd/es/table';
+import { PlayCircleOutlined, SearchOutlined } from '@ant-design/icons';
+import { useRouter } from 'next/navigation';
+import dayjs from 'dayjs';
+import { Breadcrumb } from '@/components/Breadcrumb';
+import { StatusBadge } from '@/components/StatusBadge';
+import { BackendApi } from '@/services/backendApi';
+import { useAppStore } from '@/store/useAppStore';
+import type { CustomsDeclaration, InspectionItem } from '@/types';
+
+const { RangePicker } = DatePicker;
+
+export default function CustomsPage() {
+  const router = useRouter();
+  const [data, setData] = useState<CustomsDeclaration[]>([]);
+  const [filteredData, setFilteredData] = useState<CustomsDeclaration[]>([]);
+  const [loading, setLoading] = useState(true);
+  const [startingId, setStartingId] = useState<string | null>(null);
+  const [errorMessage, setErrorMessage] = useState('');
+  const [messageApi, contextHolder] = message.useMessage();
+  const [form] = Form.useForm();
+  const { setSelectedCustoms, setInspection } = useAppStore();
+
+  useEffect(() => {
+    let isMounted = true;
+
+    const loadCustomsList = async () => {
+      try {
+        setLoading(true);
+        setErrorMessage('');
+        const customsList = await BackendApi.getCustomsList(1, 100);
+        if (!isMounted) return;
+        setData(customsList);
+        setFilteredData(customsList);
+      } catch (error) {
+        if (!isMounted) return;
+        setErrorMessage(error instanceof Error ? error.message : '报关单列表加载失败，请稍后重试');
+      } finally {
+        if (isMounted) {
+          setLoading(false);
+        }
+      }
+    };
+
+    loadCustomsList();
+
+    return () => {
+      isMounted = false;
+    };
+  }, []);
+
+  const handleSearch = () => {
+    const values = form.getFieldsValue();
+    const keyword = values.searchText?.trim().toLowerCase() || '';
+    const status = values.statusFilter || 'all';
+    const dateRange = values.dateRange;
+
+    const nextData = data.filter((item) => {
+      const matchesStatus = status === 'all' || item.status === status;
+      const matchesKeyword = !keyword || item.customsName.toLowerCase().includes(keyword) || item.customsId.toLowerCase().includes(keyword);
+      const createdAt = dayjs(item.createdAt);
+      const matchesDateRange = !dateRange?.[0] || !dateRange?.[1] || !createdAt.isValid()
+        || (createdAt.isAfter(dateRange[0].startOf('day')) && createdAt.isBefore(dateRange[1].endOf('day')));
+
+      return matchesStatus && matchesKeyword && matchesDateRange;
+    });
+
+    setFilteredData(nextData);
+  };
+
+  const handleReset = () => {
+    form.resetFields();
+    setFilteredData(data);
+  };
+
+  const loadExpandedItems = async (record: CustomsDeclaration): Promise<CustomsDeclaration> => {
+    if (record.items.length) {
+      return record;
+    }
+    const items = await BackendApi.getCustomsMachines(record.id);
+    const nextRecord = {
+      ...record,
+      items,
+      machineCount: record.machineCount || items.reduce((sum, item) => sum + item.quantify, 0),
+    };
+    setData((current) => current.map((item) => (item.id === record.id ? nextRecord : item)));
+    setFilteredData((current) => current.map((item) => (item.id === record.id ? nextRecord : item)));
+    return nextRecord;
+  };
+
+  const handleStartInspection = async (record: CustomsDeclaration) => {
+    setStartingId(record.id);
+    try {
+      const nextRecord = await loadExpandedItems(record);
+      const inspection = await BackendApi.startCustomsInspection(nextRecord);
+      setSelectedCustoms(nextRecord);
+      setInspection(inspection);
+      messageApi.success('查验已开始');
+      router.push(`/inspection?customsId=${encodeURIComponent(nextRecord.id)}`);
+    } catch (error) {
+      messageApi.error(error instanceof Error ? error.message : '开始查验失败');
+    } finally {
+      setStartingId(null);
+    }
+  };
+
+  const itemColumns: ColumnsType<InspectionItem> = useMemo(() => [
+    { title: '料号', dataIndex: 'inventoryCode', key: 'inventoryCode' },
+    { title: '品名', dataIndex: 'inventoryName', key: 'inventoryName' },
+    { title: '规格', dataIndex: 'spec', key: 'spec' },
+    { title: '总数', dataIndex: 'quantify', key: 'quantify' },
+    { title: '已查验', dataIndex: 'inspected', key: 'inspected' },
+  ], []);
+
+  const expandedRowRender = (record: CustomsDeclaration) => (
+    <Table
+      columns={itemColumns}
+      dataSource={record.items}
+      pagination={false}
+      size="small"
+      rowKey={(item) => item.inventoryCode}
+      locale={{ emptyText: '展开后端机器列表为空，或暂未加载' }}
+    />
+  );
+
+  const columns: ColumnsType<CustomsDeclaration> = [
+    {
+      title: '报关单号',
+      dataIndex: 'customsName',
+      key: 'customsName',
+      render: (text: string) => <b>{text}</b>,
+    },
+    {
+      title: '状态',
+      dataIndex: 'status',
+      key: 'status',
+      render: (status: CustomsDeclaration['status']) => <StatusBadge status={status} />,
+    },
+    {
+      title: '机器总数',
+      dataIndex: 'machineCount',
+      key: 'machineCount',
+      render: (count: number) => (count ? `${count} 台` : '-'),
+    },
+    {
+      title: '创建时间',
+      dataIndex: 'createdAt',
+      key: 'createdAt',
+    },
+    {
+      title: '操作',
+      key: 'action',
+      render: (_, record) => (
+        <Space size="middle">
+          <Button
+            type="primary"
+            icon={<PlayCircleOutlined />}
+            loading={startingId === record.id}
+            onClick={() => handleStartInspection(record)}
+          >
+            开始查验
+          </Button>
+        </Space>
+      ),
+    },
+  ];
+
+  return (
+    <div>
+      {contextHolder}
+      <Breadcrumb />
+
+      {errorMessage && (
+        <Alert type="error" message={errorMessage} showIcon style={{ marginBottom: 16 }} />
+      )}
+
+      <Card title="筛选条件" style={{ marginBottom: 24 }}>
+        <Form form={form} layout="inline">
+          <Row gutter={24} align="middle">
+            <Col>
+              <Form.Item label="状态" name="statusFilter" initialValue="all">
+                <Select
+                  style={{ width: 120 }}
+                  options={[
+                    { value: 'all', label: '全部' },
+                    { value: 'pending', label: '待查验' },
+                    { value: 'inspecting', label: '查验中' },
+                    { value: 'released', label: '已放行' },
+                    { value: 'abnormal', label: '异常' },
+                  ]}
+                />
+              </Form.Item>
+            </Col>
+            <Col>
+              <Form.Item label="日期范围" name="dateRange">
+                <RangePicker />
+              </Form.Item>
+            </Col>
+            <Col>
+              <Form.Item name="searchText">
+                <Input
+                  placeholder="搜索报关单号..."
+                  prefix={<SearchOutlined />}
+                  onPressEnter={handleSearch}
+                  style={{ width: 250 }}
+                />
+              </Form.Item>
+            </Col>
+            <Col>
+              <Space>
+                <Button type="primary" onClick={handleSearch}>查询</Button>
+                <Button onClick={handleReset}>重置</Button>
+              </Space>
+            </Col>
+          </Row>
+        </Form>
+      </Card>
+
+      <Card title="报关单列表" styles={{ body: { padding: 0 } }}>
+        <Table
+          dataSource={filteredData}
+          loading={loading}
+          rowKey="id"
+          columns={columns}
+          expandable={{
+            expandedRowRender,
+            onExpand: (expanded, record) => {
+              if (expanded && !record.items.length) {
+                loadExpandedItems(record).catch((error) => {
+                  messageApi.error(error instanceof Error ? error.message : '机器列表加载失败');
+                });
+              }
+            },
+          }}
+        />
+      </Card>
+    </div>
+  );
+}

public-frontend/src/app/globals.css

@@ -0,0 +1,64 @@
+:root {
+  --color-border-light: #f0f0f0;
+}
+
+html,
+body {
+  max-width: 100vw;
+  height: 100vh;
+  overflow-x: hidden;
+}
+
+body {
+  color: rgba(0, 0, 0, 0.88);
+  background: #f0f2f5;
+  font-family: -apple-system, BlinkMacSystemFont, "Segoe UI", Roboto, "Helvetica Neue", Arial, sans-serif;
+  -webkit-font-smoothing: antialiased;
+  -moz-osx-font-smoothing: grayscale;
+}
+
+* {
+  box-sizing: border-box;
+  padding: 0;
+  margin: 0;
+}
+
+a {
+  color: inherit;
+  text-decoration: none;
+}
+
+.appBody {
+  height: 100vh;
+  overflow: hidden;
+}
+
+.antAppRoot {
+  height: 100%;
+}
+
+.appShell {
+  display: flex;
+  flex-direction: column;
+  height: 100vh;
+}
+
+.appMain {
+  flex: 1;
+  padding: 24px;
+  overflow-y: auto;
+  background: #f0f2f5;
+}
+
+.cameraFrameImage {
+  display: block;
+  width: 100%;
+  height: 100%;
+  object-fit: cover;
+}
+
+.scanCorner {
+  position: absolute;
+  width: 20px;
+  height: 20px;
+}

public-frontend/src/app/inspection/page.tsx

@@ -0,0 +1,582 @@
+'use client';
+
+import React, { Suspense, useEffect, useMemo, useRef, useState } from 'react';
+import {
+  Badge,
+  Button,
+  Card,
+  Col,
+  Empty,
+  Flex,
+  Input,
+  Modal,
+  Progress,
+  Row,
+  Select,
+  Space,
+  Spin,
+  Table,
+  Tag,
+  Timeline,
+  Typography,
+  message,
+  theme,
+} from 'antd';
+import type { ColumnsType } from 'antd/es/table';
+import {
+  PauseCircleFilled,
+  PauseCircleOutlined,
+  PlayCircleOutlined,
+  ReloadOutlined,
+  StopOutlined,
+} from '@ant-design/icons';
+import { useRouter, useSearchParams } from 'next/navigation';
+import { Breadcrumb } from '@/components/Breadcrumb';
+import { CameraFrame } from '@/components/CameraFrame';
+import { BackendApi } from '@/services/backendApi';
+import { useAppStore } from '@/store/useAppStore';
+import type { ActivityItem, CameraInfo, CustomsDeclaration, InspectionIssue, InspectionItem, MissionRuntimeState } from '@/types';
+
+const { Text } = Typography;
+const { TextArea } = Input;
+const LOG_AUTO_SCROLL_THRESHOLD = 48;
+
+interface ProgressItem extends InspectionItem {
+  currentInspected: number;
+}
+
+export default function InspectionPage() {
+  return (
+    <Suspense
+      fallback={
+        <Flex vertical align="center" justify="center" style={{ padding: 48, height: '100vh' }}>
+          <Spin tip="正在加载查验任务..." />
+        </Flex>
+      }
+    >
+      <InspectionContent />
+    </Suspense>
+  );
+}
+
+function InspectionContent() {
+  const router = useRouter();
+  const searchParams = useSearchParams();
+  const customsId = searchParams.get('customsId');
+  const { selectedCustoms, setSelectedCustoms, setInspection } = useAppStore();
+  const [customsList, setCustomsList] = useState<CustomsDeclaration[]>([]);
+  const [currentCustoms, setCurrentCustoms] = useState<CustomsDeclaration | null>(null);
+  const [status, setStatus] = useState<MissionRuntimeState>('idle');
+  const [logs, setLogs] = useState<ActivityItem[]>([]);
+  const [progressData, setProgressData] = useState<ProgressItem[]>([]);
+  const [issues, setIssues] = useState<InspectionIssue[]>([]);
+  const [cameras, setCameras] = useState<CameraInfo[]>([]);
+  const [currentOverviewCamera, setCurrentOverviewCamera] = useState<string>('');
+  const [isPauseModalVisible, setIsPauseModalVisible] = useState(false);
+  const [pauseReason, setPauseReason] = useState('');
+  const [loadingCustoms, setLoadingCustoms] = useState(true);
+  const [loadingList, setLoadingList] = useState(false);
+  const [operationLoading, setOperationLoading] = useState(false);
+  const [messageApi, contextHolder] = message.useMessage();
+  const { token } = theme.useToken();
+  const logsContainerRef = useRef<HTMLDivElement>(null);
+  const [isUserNearBottom, setIsUserNearBottom] = useState(true);
+
+  const refreshRuntime = async () => {
+    const [missionState, currentInspection, missionLogs, nextIssues] = await Promise.all([
+      BackendApi.getMissionState(),
+      BackendApi.getCurrentInspection().catch(() => null),
+      BackendApi.getMissionLogs().catch(() => []),
+      BackendApi.getInspectionIssues().catch(() => []),
+    ]);
+    const inspection = missionState.inspection ?? currentInspection;
+    const runtimeStatus = missionState.state === 'running' || missionState.state === 'setting'
+      ? 'running'
+      : missionState.state === 'paused'
+        ? 'paused'
+        : inspection
+          ? 'idle'
+          : 'idle';
+
+    setStatus(runtimeStatus);
+    setLogs(missionLogs);
+    setIssues(nextIssues);
+
+    if (inspection) {
+      setInspection(inspection);
+      setProgressData(inspection.items.map((item) => ({ ...item, currentInspected: item.inspected })));
+    }
+  };
+
+  useEffect(() => {
+    let isMounted = true;
+
+    const loadBaseData = async () => {
+      setLoadingList(true);
+      try {
+        const [list, cameraList] = await Promise.all([
+          BackendApi.getCustomsList(1, 100),
+          BackendApi.getCameras(),
+        ]);
+        if (!isMounted) return;
+        setCustomsList(list);
+        setCameras(cameraList);
+        const overviews = cameraList.filter((camera) => camera.category === 'overview');
+        if (overviews.length > 0) {
+          setCurrentOverviewCamera(overviews[0].id);
+        }
+      } catch (error) {
+        if (isMounted) {
+          messageApi.error(error instanceof Error ? error.message : '基础数据加载失败');
+        }
+      } finally {
+        if (isMounted) {
+          setLoadingList(false);
+        }
+      }
+    };
+
+    loadBaseData();
+
+    return () => {
+      isMounted = false;
+    };
+  }, [messageApi]);
+
+  useEffect(() => {
+    let isMounted = true;
+
+    const loadInspectionCustoms = async () => {
+      setLoadingCustoms(true);
+      try {
+        if (customsId) {
+          const cachedCustoms = selectedCustoms?.id === customsId || selectedCustoms?.customsId === customsId ? selectedCustoms : null;
+          const customs = cachedCustoms ?? await BackendApi.getCustomsById(customsId);
+
+          if (!isMounted) return;
+          setCurrentCustoms(customs);
+          setSelectedCustoms(customs);
+          if (customs) {
+            setProgressData(customs.items.map((item) => ({ ...item, currentInspected: item.inspected })));
+          }
+          return;
+        }
+
+        const currentInspection = await BackendApi.getCurrentInspection();
+        if (!isMounted) return;
+        if (currentInspection) {
+          setInspection(currentInspection);
+          setCurrentCustoms({
+            id: currentInspection.customsId,
+            customsId: currentInspection.customsId,
+            customsName: currentInspection.customsName,
+            status: 'inspecting',
+            machineCount: currentInspection.items.reduce((sum, item) => sum + item.quantify, 0),
+            createdAt: '-',
+            items: currentInspection.items,
+          });
+          setProgressData(currentInspection.items.map((item) => ({ ...item, currentInspected: item.inspected })));
+        } else {
+          setCurrentCustoms(selectedCustoms);
+        }
+      } catch {
+        if (isMounted) {
+          setCurrentCustoms(null);
+        }
+      } finally {
+        if (isMounted) {
+          setLoadingCustoms(false);
+        }
+      }
+    };
+
+    loadInspectionCustoms();
+
+    return () => {
+      isMounted = false;
+    };
+  }, [customsId, selectedCustoms, setInspection, setSelectedCustoms]);
+
+  useEffect(() => {
+    const loadRuntime = async () => {
+      const [missionState, currentInspection, missionLogs, nextIssues] = await Promise.all([
+        BackendApi.getMissionState(),
+        BackendApi.getCurrentInspection().catch(() => null),
+        BackendApi.getMissionLogs().catch(() => []),
+        BackendApi.getInspectionIssues().catch(() => []),
+      ]);
+      const inspection = missionState.inspection ?? currentInspection;
+      const runtimeStatus = missionState.state === 'running' || missionState.state === 'setting'
+        ? 'running'
+        : missionState.state === 'paused'
+          ? 'paused'
+          : inspection
+            ? 'idle'
+            : 'idle';
+
+      setStatus(runtimeStatus);
+      setLogs(missionLogs);
+      setIssues(nextIssues);
+
+      if (inspection) {
+        setInspection(inspection);
+        setProgressData(inspection.items.map((item) => ({ ...item, currentInspected: item.inspected })));
+      }
+    };
+
+    loadRuntime().catch(() => undefined);
+    const timer = window.setInterval(() => {
+      loadRuntime().catch(() => undefined);
+    }, 3000);
+
+    return () => window.clearInterval(timer);
+  }, [setInspection]);
+
+  useEffect(() => {
+    const container = logsContainerRef.current;
+    if (container && isUserNearBottom) {
+      container.scrollTop = container.scrollHeight;
+    }
+  }, [logs, isUserNearBottom]);
+
+  const handleLogsScroll = () => {
+    const container = logsContainerRef.current;
+    if (!container) return;
+
+    const distanceToBottom = container.scrollHeight - container.scrollTop - container.clientHeight;
+    setIsUserNearBottom(distanceToBottom <= LOG_AUTO_SCROLL_THRESHOLD);
+  };
+
+  const calculateTotalProgress = () => {
+    if (!progressData.length) return 0;
+    const total = progressData.reduce((sum, item) => sum + item.quantify, 0);
+    const inspected = progressData.reduce((sum, item) => sum + item.currentInspected, 0);
+    return total > 0 ? Math.round((inspected / total) * 100) : 0;
+  };
+
+  const overviewCameras = cameras.filter((camera) => camera.category === 'overview');
+  const agvCamera = cameras.find((camera) => camera.category === 'agv');
+  const operationCamera = cameras.find((camera) => camera.category === 'operation');
+  const selectedOverviewCamera = overviewCameras.find((camera) => camera.id === currentOverviewCamera) || overviewCameras[0];
+
+  const selectOptions = useMemo(() => customsList.map((item) => ({
+    value: item.id,
+    label: `${item.customsName} - ${item.status === 'pending' ? '待查验' : item.status === 'inspecting' ? '查验中' : item.status === 'released' ? '已放行' : '异常'}`,
+  })), [customsList]);
+
+  const handleStart = async () => {
+    if (!currentCustoms) {
+      messageApi.warning('请先选择报关单');
+      return;
+    }
+
+    setOperationLoading(true);
+    try {
+      const inspection = await BackendApi.startCustomsInspection(currentCustoms);
+      setInspection(inspection);
+      await BackendApi.startMission();
+      setStatus('running');
+      await refreshRuntime();
+      messageApi.success('自动化查验作业已启动');
+    } catch (error) {
+      messageApi.error(error instanceof Error ? error.message : '启动查验失败');
+    } finally {
+      setOperationLoading(false);
+    }
+  };
+
+  const confirmPause = async () => {
+    setOperationLoading(true);
+    try {
+      await BackendApi.pauseMission();
+      setStatus('paused');
+      setLogs((current) => [
+        ...current,
+        { id: `pause-${Date.now()}`, time: new Date().toLocaleTimeString(), type: 'warning', message: `查验已暂停。原因：${pauseReason || '未填写'}` },
+      ]);
+      setIsPauseModalVisible(false);
+      setPauseReason('');
+    } catch (error) {
+      messageApi.error(error instanceof Error ? error.message : '暂停查验失败');
+    } finally {
+      setOperationLoading(false);
+    }
+  };
+
+  const handleResume = async () => {
+    setOperationLoading(true);
+    try {
+      await BackendApi.resumeMission();
+      setStatus('running');
+      await refreshRuntime();
+      messageApi.success('查验已继续');
+    } catch (error) {
+      messageApi.error(error instanceof Error ? error.message : '继续查验失败');
+    } finally {
+      setOperationLoading(false);
+    }
+  };
+
+  const handleEnd = () => {
+    Modal.confirm({
+      title: '确认结束查验？',
+      content: '结束查验会停止当前自动任务并清空当前报关单查验状态。',
+      okText: '确认结束',
+      cancelText: '取消',
+      onOk: async () => {
+        setOperationLoading(true);
+        try {
+          await BackendApi.stopMission();
+          await BackendApi.endCustomsInspection();
+          setStatus('completed');
+          setInspection(null);
+          await refreshRuntime();
+          messageApi.success('查验已结束');
+        } catch (error) {
+          messageApi.error(error instanceof Error ? error.message : '结束查验失败');
+        } finally {
+          setOperationLoading(false);
+        }
+      },
+    });
+  };
+
+  const issueColumns: ColumnsType<InspectionIssue> = [
+    {
+      title: '时间',
+      dataIndex: 'time',
+      key: 'time',
+      width: 90,
+      render: (text: string) => <Text style={{ fontSize: 13 }}>{text}</Text>,
+    },
+    {
+      title: '问题描述',
+      dataIndex: 'description',
+      key: 'description',
+      render: (text: string, record) => (
+        <Space>
+          <Badge status={record.severity === 'error' ? 'error' : 'warning'} />
+          <Text style={{ fontSize: 13 }}>{text}</Text>
+        </Space>
+      ),
+    },
+    {
+      title: '状态',
+      dataIndex: 'status',
+      key: 'status',
+      width: 80,
+      render: (issueStatus: InspectionIssue['status']) => {
+        const info = {
+          pending: { color: 'red', text: '待处理' },
+          disposed: { color: 'green', text: '已处置' },
+          cancelled: { color: 'default', text: '已取消' },
+        }[issueStatus];
+        return <Tag color={info.color} style={{ margin: 0 }}>{info.text}</Tag>;
+      },
+    },
+    {
+      title: '操作',
+      key: 'action',
+      width: 120,
+      render: (_, record) => (
+        record.status === 'pending' ? (
+          <Space size="small">
+            <Button size="small" type="primary" onClick={() => setIssues((current) => current.map((issue) => issue.id === record.id ? { ...issue, status: 'disposed' } : issue))}>已处置</Button>
+            <Button size="small" onClick={() => setIssues((current) => current.map((issue) => issue.id === record.id ? { ...issue, status: 'cancelled' } : issue))}>取消</Button>
+          </Space>
+        ) : null
+      ),
+    },
+  ];
+
+  if (loadingCustoms) {
+    return (
+      <Flex vertical align="center" justify="center" style={{ padding: 48, height: '100vh' }}>
+        <Spin tip="正在加载查验任务..." />
+      </Flex>
+    );
+  }
+
+  return (
+    <div style={{ display: 'flex', flexDirection: 'column', height: 'calc(100vh - 64px)' }}>
+      {contextHolder}
+      <Flex align="center" justify="space-between" style={{ padding: '0 24px', margin: '16px 0' }}>
+        <Breadcrumb />
+        <Flex align="center" gap="large">
+          {currentCustoms && (
+            <Badge
+              status={status === 'running' ? 'processing' : status === 'idle' ? 'default' : status === 'paused' ? 'warning' : 'success'}
+              text={<Text strong>{status === 'running' ? '作业中' : status === 'idle' ? '待作业' : status === 'paused' ? '已暂停' : '已完成'}</Text>}
+            />
+          )}
+          <Select
+            showSearch
+            placeholder="搜索并选择报关单..."
+            style={{ width: 240 }}
+            loading={loadingList}
+            optionFilterProp="label"
+            options={selectOptions}
+            value={currentCustoms?.id}
+            onChange={(value) => router.push(`/inspection?customsId=${encodeURIComponent(value)}`)}
+          />
+        </Flex>
+      </Flex>
+
+      <Row gutter={24} style={{ flex: 1, minHeight: 0, margin: '0 24px 24px 24px' }}>
+        <Col span={16} style={{ display: 'flex', flexDirection: 'column', height: '100%' }}>
+          <div style={{ flex: 1, minHeight: 0, display: 'flex', gap: 16, marginBottom: 16 }}>
+            <div style={{ flex: 1, display: 'flex', flexDirection: 'column', gap: 16 }}>
+              <Card
+                size="small"
+                title={<Text strong>AGV 主视角 ({agvCamera?.name || '未知'})</Text>}
+                styles={{ body: { padding: 0, flex: 1, display: 'flex', flexDirection: 'column' } }}
+                style={{ flex: 1, display: 'flex', flexDirection: 'column', overflow: 'hidden' }}
+              >
+                <CameraFrame camera={agvCamera} active={status === 'running'} />
+              </Card>
+
+              <Card
+                size="small"
+                title={<Text strong>作业视角 ({operationCamera?.name || '未知'})</Text>}
+                styles={{ body: { padding: 0, flex: 1, display: 'flex', flexDirection: 'column' } }}
+                style={{ flex: 1, display: 'flex', flexDirection: 'column', overflow: 'hidden' }}
+              >
+                <CameraFrame camera={operationCamera} active={status === 'running'} />
+              </Card>
+            </div>
+
+            <Card
+              size="small"
+              title={
+                <Flex justify="space-between" align="center">
+                  <Text strong>监控摄像头 ({selectedOverviewCamera?.name || '未知'})</Text>
+                  <Button
+                    size="small"
+                    onClick={() => {
+                      if (overviewCameras.length > 0) {
+                        const currentIndex = overviewCameras.findIndex((camera) => camera.id === currentOverviewCamera);
+                        const nextIndex = (currentIndex + 1) % overviewCameras.length;
+                        setCurrentOverviewCamera(overviewCameras[nextIndex]?.id || currentOverviewCamera);
+                      }
+                    }}
+                  >
+                    切换
+                  </Button>
+                </Flex>
+              }
+              styles={{ body: { padding: 0, flex: 1, display: 'flex', flexDirection: 'column' } }}
+              style={{ flex: 2, display: 'flex', flexDirection: 'column', overflow: 'hidden' }}
+            >
+              <CameraFrame camera={selectedOverviewCamera} active={status === 'running'} />
+            </Card>
+          </div>
+
+          <Card size="small" style={{ flexShrink: 0 }}>
+            <Flex justify="center" gap="middle">
+              {status === 'idle' ? (
+                <Button type="primary" size="large" icon={<PlayCircleOutlined />} onClick={handleStart} loading={operationLoading} style={{ width: 140 }}>
+                  开始查验
+                </Button>
+              ) : status === 'paused' ? (
+                <Button type="primary" size="large" icon={<PlayCircleOutlined />} onClick={handleResume} loading={operationLoading} style={{ width: 140 }}>
+                  继续查验
+                </Button>
+              ) : status === 'running' ? (
+                <Button type="primary" danger size="large" icon={<PauseCircleOutlined />} onClick={() => setIsPauseModalVisible(true)} loading={operationLoading} style={{ width: 140 }}>
+                  暂停查验
+                </Button>
+              ) : null}
+              <Button size="large" icon={<ReloadOutlined />} disabled={status === 'completed'} onClick={() => refreshRuntime()}>刷新</Button>
+              <Button danger size="large" icon={<StopOutlined />} onClick={handleEnd} disabled={status === 'completed' || status === 'idle'}>结束</Button>
+            </Flex>
+          </Card>
+        </Col>
+
+        <Col span={8} style={{ display: 'flex', flexDirection: 'column', gap: 16, height: '100%' }}>
+          <Card
+            title={<Text strong>核销进度</Text>}
+            size="small"
+            style={{ flex: 4, display: 'flex', flexDirection: 'column', overflow: 'hidden' }}
+            styles={{ body: { padding: 12, flex: 1, display: 'flex', flexDirection: 'column', minHeight: 0 } }}
+          >
+            <div style={{ marginBottom: 16 }}>
+              <Progress percent={calculateTotalProgress()} status={status === 'completed' ? 'success' : 'active'} strokeWidth={10} />
+            </div>
+            <div style={{ flex: 1, overflowY: 'auto' }}>
+              {progressData.length ? progressData.map((item) => (
+                <div key={item.inventoryCode} style={{ padding: '8px 0', borderBottom: `1px solid ${token.colorBorderSecondary}` }}>
+                  <Flex justify="space-between" align="center" style={{ marginBottom: 4 }}>
+                    <Text strong style={{ fontSize: 13 }}>{item.inventoryName}</Text>
+                    <Space>
+                      <Text type="secondary" style={{ fontSize: 12 }}>{item.inventoryCode}</Text>
+                      <Badge count={`${item.currentInspected} / ${item.quantify}`} style={{ backgroundColor: item.currentInspected === item.quantify ? token.colorSuccess : token.colorPrimary }} />
+                    </Space>
+                  </Flex>
+                  <Progress percent={item.quantify > 0 ? Math.round((item.currentInspected / item.quantify) * 100) : 0} showInfo={false} size="small" />
+                </div>
+              )) : (
+                <Empty image={Empty.PRESENTED_IMAGE_SIMPLE} description="暂无核销数据" />
+              )}
+            </div>
+          </Card>
+
+          <Card
+            title={<Text strong>查验异常</Text>}
+            size="small"
+            style={{ flex: 3, display: 'flex', flexDirection: 'column', overflow: 'hidden' }}
+            styles={{ body: { padding: 0, flex: 1, display: 'flex', flexDirection: 'column', minHeight: 0 } }}
+          >
+            <div style={{ flex: 1, overflowY: 'auto' }}>
+              <Table columns={issueColumns} dataSource={issues} rowKey="id" size="small" pagination={false} sticky locale={{ emptyText: <Empty description="暂无异常" /> }} />
+            </div>
+          </Card>
+
+          <Card
+            title={<Text strong>查验日志</Text>}
+            size="small"
+            style={{ flex: 3, display: 'flex', flexDirection: 'column', overflow: 'hidden' }}
+            styles={{ body: { padding: 12, flex: 1, display: 'flex', flexDirection: 'column', minHeight: 0, background: token.colorFillQuaternary } }}
+          >
+            <div ref={logsContainerRef} onScroll={handleLogsScroll} style={{ flex: 1, overflowY: 'auto', paddingRight: 8 }}>
+              {logs.length > 0 ? (
+                <Timeline
+                  items={logs.map((item) => ({
+                    color: item.type === 'success' ? 'green' : item.type === 'warning' ? 'orange' : 'blue',
+                    children: (
+                      <Space direction="vertical" size={0}>
+                        <Text type="secondary" style={{ fontSize: 12 }}>{item.time}</Text>
+                        <Text style={{ fontSize: 13 }}>{item.message}</Text>
+                      </Space>
+                    ),
+                  }))}
+                />
+              ) : (
+                <Empty image={Empty.PRESENTED_IMAGE_SIMPLE} description="暂无日志" style={{ margin: '20px 0' }} />
+              )}
+            </div>
+          </Card>
+        </Col>
+      </Row>
+
+      <Modal
+        title="暂停查验"
+        open={isPauseModalVisible}
+        onOk={confirmPause}
+        onCancel={() => setIsPauseModalVisible(false)}
+        okText="确认暂停"
+        cancelText="取消"
+        okButtonProps={{ danger: true, loading: operationLoading }}
+      >
+        <Flex vertical gap={16} style={{ paddingTop: 16 }}>
+          <Text>请确认是否暂停当前自动查验任务？</Text>
+          <TextArea
+            rows={4}
+            placeholder="请输入暂停原因"
+            value={pauseReason}
+            onChange={(event) => setPauseReason(event.target.value)}
+          />
+        </Flex>
+      </Modal>
+    </div>
+  );
+}

public-frontend/src/app/layout.tsx

@@ -0,0 +1,49 @@
+import type { Metadata } from 'next';
+import { AntdRegistry } from '@ant-design/nextjs-registry';
+import { App, ConfigProvider } from 'antd';
+import './globals.css';
+import { TopHeader } from '@/components/TopHeader';
+
+export const metadata: Metadata = {
+  title: '海关智慧查验平台',
+  description: '海关查验系统平板端',
+};
+
+export default function RootLayout({
+  children,
+}: Readonly<{
+  children: React.ReactNode;
+}>) {
+  return (
+    <html lang="zh-CN">
+      <body className="appBody">
+        <AntdRegistry>
+          <ConfigProvider
+            theme={{
+              token: {
+                colorPrimary: '#1677ff',
+                borderRadius: 8,
+              },
+              components: {
+                Card: {
+                  borderRadiusLG: 12,
+                },
+                Statistic: {
+                  contentFontSize: 32,
+                  titleFontSize: 16,
+                },
+              },
+            }}
+          >
+            <App className="antAppRoot">
+              <div className="appShell">
+                <TopHeader />
+                <main className="appMain">{children}</main>
+              </div>
+            </App>
+          </ConfigProvider>
+        </AntdRegistry>
+      </body>
+    </html>
+  );
+}

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

@@ -0,0 +1,161 @@
+'use client';
+
+import React, { useEffect, useState } from 'react';
+import { Alert, Button, Card, Col, Empty, Flex, Image as AntImage, Row, Space, Spin, Table, Tabs, Typography } from 'antd';
+import type { ColumnsType } from 'antd/es/table';
+import { ArrowLeftOutlined } from '@ant-design/icons';
+import { useRouter } from 'next/navigation';
+import { Breadcrumb } from '@/components/Breadcrumb';
+import { StatusBadge } from '@/components/StatusBadge';
+import { BackendApi } from '@/services/backendApi';
+import type { InspectionRecord, MachineDetail, MachineImageItem } from '@/types';
+
+const { Text } = Typography;
+
+export default function MachineDetailPage({ params }: { params: { serialNumber: string } }) {
+  const router = useRouter();
+  const serialNumber = decodeURIComponent(params.serialNumber);
+  const [machine, setMachine] = useState<MachineDetail | null>(null);
+  const [loading, setLoading] = useState(true);
+  const [errorMessage, setErrorMessage] = useState('');
+
+  useEffect(() => {
+    let isMounted = true;
+
+    const loadMachineDetail = async () => {
+      try {
+        setLoading(true);
+        setErrorMessage('');
+        const data = await BackendApi.getMachineDetail(serialNumber);
+        if (!isMounted) return;
+        setMachine(data);
+      } catch (error) {
+        if (!isMounted) return;
+        setMachine(null);
+        setErrorMessage(error instanceof Error ? error.message : '机器详情加载失败，请稍后重试');
+      } finally {
+        if (isMounted) {
+          setLoading(false);
+        }
+      }
+    };
+
+    loadMachineDetail();
+
+    return () => {
+      isMounted = false;
+    };
+  }, [serialNumber]);
+
+  const renderImageGroup = (images: MachineImageItem[]) => {
+    if (!images.length) return <Empty description="暂无图片" />;
+
+    return (
+      <AntImage.PreviewGroup>
+        <Space size={[16, 16]} wrap>
+          {images.map((image) => (
+            <Flex key={image.id} vertical style={{ position: 'relative', width: 120, gap: 4 }}>
+              <div style={{ width: '100%', aspectRatio: '4/3', overflow: 'hidden', borderRadius: 8, background: '#f0f0f0' }}>
+                <AntImage
+                  src={image.url}
+                  alt={image.name}
+                  width="100%"
+                  height="100%"
+                  style={{ objectFit: 'cover' }}
+                  preview={{ src: image.url }}
+                />
+              </div>
+              <Text style={{ fontSize: 12, textAlign: 'center' }}>{image.name}</Text>
+              <Text type="secondary" style={{ fontSize: 11, textAlign: 'center' }}>{image.createdAt}</Text>
+            </Flex>
+          ))}
+        </Space>
+      </AntImage.PreviewGroup>
+    );
+  };
+
+  const recordColumns: ColumnsType<InspectionRecord> = [
+    { title: '查验时间', dataIndex: 'time', key: 'time' },
+    { title: '操作人', dataIndex: 'operator', key: 'operator' },
+    { title: '结果', dataIndex: 'result', key: 'result' },
+    { title: '备注', dataIndex: 'remark', key: 'remark' },
+  ];
+
+  if (loading) {
+    return (
+      <Flex vertical align="center" justify="center" style={{ padding: 48 }}>
+        <Spin tip="正在加载机器详情..." />
+      </Flex>
+    );
+  }
+
+  if (!machine) {
+    return (
+      <Flex vertical align="center" style={{ padding: 48 }}>
+        {errorMessage && (
+          <Alert type="error" message={errorMessage} showIcon style={{ maxWidth: 480, marginBottom: 16 }} />
+        )}
+        <Empty description="暂无机器详情" />
+        <Button type="primary" onClick={() => router.push('/machines')} style={{ marginTop: 16 }}>
+          返回机器查询
+        </Button>
+      </Flex>
+    );
+  }
+
+  const imageTabs = [
+    { key: 'incoming', label: '来料检验单', children: renderImageGroup(machine.images.incomingInspection) },
+    { key: 'startup', label: '开机测试样张', children: renderImageGroup(machine.images.startupTestSample) },
+    { key: 'production', label: '生产加工单', children: renderImageGroup(machine.images.productionOrder) },
+    { key: 'robot', label: '机器人查验拍照', children: renderImageGroup(machine.images.robotInspection) },
+  ];
+
+  return (
+    <div>
+      <Flex justify="space-between" align="center" style={{ marginBottom: 16 }}>
+        <Breadcrumb />
+        <Button icon={<ArrowLeftOutlined />} onClick={() => router.back()}>返回查询</Button>
+      </Flex>
+
+      {errorMessage && (
+        <Alert type="warning" message={errorMessage} showIcon style={{ marginBottom: 16 }} />
+      )}
+
+      <Card title="机器基本信息" style={{ marginBottom: 24 }}>
+        <Row gutter={[24, 16]}>
+          <Col span={8}>
+            <Text type="secondary">序列号：</Text> <Text strong>{machine.serialNumber}</Text>
+          </Col>
+          <Col span={8}>
+            <Text type="secondary">机器型号：</Text> <Text strong>{machine.modelName}</Text>
+          </Col>
+          <Col span={8}>
+            <Text type="secondary">所属报关单：</Text> <Button type="link" disabled={machine.customsId === '-'}>{machine.customsId}</Button>
+          </Col>
+          <Col span={8}>
+            <Text type="secondary">当前状态：</Text> <StatusBadge status={machine.status} />
+          </Col>
+          {Object.entries(machine.specs).map(([key, value]) => (
+            <Col span={8} key={key}>
+              <Text type="secondary">{key}：</Text> <Text>{value}</Text>
+            </Col>
+          ))}
+        </Row>
+      </Card>
+
+      <Card title="图片资料" style={{ marginBottom: 24 }}>
+        <Tabs items={imageTabs} />
+      </Card>
+
+      <Card title="查验记录">
+        <Table
+          dataSource={machine.inspectionRecords}
+          rowKey="id"
+          pagination={false}
+          columns={recordColumns}
+          locale={{ emptyText: <Empty description="暂无查验记录" /> }}
+        />
+      </Card>
+    </div>
+  );
+}

public-frontend/src/app/machines/page.tsx

@@ -0,0 +1,187 @@
+'use client';
+
+import React, { useEffect, useState } from 'react';
+import { Button, Card, Col, Flex, Input, Modal, Row, Space, Table, Typography, Upload, message } from 'antd';
+import type { ColumnsType } from 'antd/es/table';
+import { BarcodeOutlined, BulbOutlined, CameraOutlined, FileImageOutlined, SearchOutlined } from '@ant-design/icons';
+import { useRouter } from 'next/navigation';
+import { Breadcrumb } from '@/components/Breadcrumb';
+import type { RecentMachineQuery } from '@/types';
+
+const { Title, Text } = Typography;
+const { Dragger } = Upload;
+
+const RECENT_QUERY_STORAGE_KEY = 'recent_queries';
+
+export default function MachineQueryPage() {
+  const router = useRouter();
+  const [serialNumber, setSerialNumber] = useState('');
+  const [isScanModalVisible, setIsScanModalVisible] = useState(false);
+  const [recentQueries, setRecentQueries] = useState<RecentMachineQuery[]>([]);
+  const [messageApi, contextHolder] = message.useMessage();
+
+  useEffect(() => {
+    const saved = window.localStorage.getItem(RECENT_QUERY_STORAGE_KEY);
+    if (!saved) {
+      setRecentQueries([]);
+      return;
+    }
+
+    try {
+      setRecentQueries(JSON.parse(saved) as RecentMachineQuery[]);
+    } catch {
+      setRecentQueries([]);
+    }
+  }, []);
+
+  const saveRecentQuery = (nextSerialNumber: string) => {
+    const query: RecentMachineQuery = {
+      serialNumber: nextSerialNumber,
+      name: '待后端返回',
+      time: new Date().toLocaleString(),
+    };
+    const updated = [query, ...recentQueries.filter((item) => item.serialNumber !== nextSerialNumber)].slice(0, 10);
+    setRecentQueries(updated);
+    window.localStorage.setItem(RECENT_QUERY_STORAGE_KEY, JSON.stringify(updated));
+  };
+
+  const handleSearch = (value: string) => {
+    const nextSerialNumber = value.trim();
+    if (!nextSerialNumber) {
+      messageApi.warning('请输入序列号');
+      return;
+    }
+
+    saveRecentQuery(nextSerialNumber);
+    router.push(`/machines/${encodeURIComponent(nextSerialNumber)}`);
+  };
+
+  const columns: ColumnsType<RecentMachineQuery> = [
+    { title: '序列号', dataIndex: 'serialNumber', key: 'serialNumber' },
+    { title: '机器名称', dataIndex: 'name', key: 'name' },
+    { title: '查询时间', dataIndex: 'time', key: 'time' },
+    {
+      title: '操作',
+      key: 'action',
+      render: (_, record) => (
+        <Button type="link" onClick={() => handleSearch(record.serialNumber)}>再次查看</Button>
+      ),
+    },
+  ];
+
+  return (
+    <div>
+      {contextHolder}
+      <Breadcrumb />
+
+      <Card title="查询方式选择" style={{ marginBottom: 24 }}>
+        <Row gutter={48}>
+          <Col span={12} style={{ borderRight: '1px solid var(--color-border-light)' }}>
+            <Flex vertical align="center" gap={16} style={{ padding: '24px 0' }}>
+              <CameraOutlined style={{ fontSize: 48, color: 'var(--ant-color-primary, #1677ff)' }} />
+              <Title level={4} style={{ margin: 0 }}>扫描二维码</Title>
+              <Text type="secondary">使用平板摄像头扫描机器机身二维码</Text>
+              <Button type="primary" size="large" onClick={() => setIsScanModalVisible(true)}>打开扫码</Button>
+            </Flex>
+          </Col>
+          <Col span={12}>
+            <Flex vertical align="center" gap={16} style={{ padding: '24px 0' }}>
+              <BarcodeOutlined style={{ fontSize: 48, color: 'var(--ant-color-primary, #1677ff)' }} />
+              <Title level={4} style={{ margin: 0 }}>输入序列号</Title>
+              <Text type="secondary">输入机器序列号精确查询机器信息</Text>
+              <Space.Compact style={{ width: '80%' }}>
+                <Input
+                  placeholder="请输入序列号..."
+                  size="large"
+                  value={serialNumber}
+                  onChange={(event) => setSerialNumber(event.target.value)}
+                  onPressEnter={() => handleSearch(serialNumber)}
+                />
+                <Button type="primary" size="large" icon={<SearchOutlined />} onClick={() => handleSearch(serialNumber)}>查询</Button>
+              </Space.Compact>
+            </Flex>
+          </Col>
+        </Row>
+      </Card>
+
+      <Card title="或上传二维码照片识别" style={{ marginBottom: 24 }}>
+        <Dragger
+          accept="image/*"
+          showUploadList={false}
+          beforeUpload={() => {
+            messageApi.info('图片二维码识别后端暂未提供，请手动输入序列号');
+            return Upload.LIST_IGNORE;
+          }}
+        >
+          <p className="ant-upload-drag-icon">
+            <FileImageOutlined style={{ fontSize: 48 }} />
+          </p>
+          <p className="ant-upload-text">拖拽或点击上传二维码照片</p>
+          <p className="ant-upload-hint">当前版本保留入口，待后端提供图片识别接口后接入</p>
+        </Dragger>
+      </Card>
+
+      <Card title="最近查询记录">
+        <Table
+          dataSource={recentQueries}
+          rowKey="serialNumber"
+          pagination={false}
+          size="middle"
+          columns={columns}
+        />
+      </Card>
+
+      <Modal
+        title="扫描二维码"
+        open={isScanModalVisible}
+        onCancel={() => setIsScanModalVisible(false)}
+        footer={[
+          <Button key="manual" onClick={() => setIsScanModalVisible(false)}>
+            手动输入序列号
+          </Button>,
+          <Button key="close" type="primary" onClick={() => setIsScanModalVisible(false)}>
+            关闭
+          </Button>,
+        ]}
+        width={600}
+        centered
+      >
+        <div
+          style={{
+            position: 'relative',
+            display: 'flex',
+            height: 300,
+            alignItems: 'center',
+            justifyContent: 'center',
+            borderRadius: 8,
+            background: '#000000',
+          }}
+        >
+          <Flex vertical align="center" gap={16} style={{ color: '#ffffff', zIndex: 1 }}>
+            <CameraOutlined style={{ fontSize: 48, opacity: 0.5 }} />
+            <div>平板摄像头扫码入口占位</div>
+            <Text style={{ color: 'rgba(255,255,255,0.65)' }}>浏览器扫码与后端识别接口尚未接入</Text>
+          </Flex>
+
+          <div
+            style={{
+              position: 'absolute',
+              width: 200,
+              height: 200,
+              border: '2px solid rgba(24, 144, 255, 0.5)',
+              boxShadow: '0 0 0 9999px rgba(0, 0, 0, 0.5)',
+            }}
+          >
+            <div className="scanCorner" style={{ top: -2, left: -2, borderTop: '4px solid #1890ff', borderLeft: '4px solid #1890ff' }} />
+            <div className="scanCorner" style={{ top: -2, right: -2, borderTop: '4px solid #1890ff', borderRight: '4px solid #1890ff' }} />
+            <div className="scanCorner" style={{ bottom: -2, left: -2, borderBottom: '4px solid #1890ff', borderLeft: '4px solid #1890ff' }} />
+            <div className="scanCorner" style={{ bottom: -2, right: -2, borderBottom: '4px solid #1890ff', borderRight: '4px solid #1890ff' }} />
+          </div>
+        </div>
+        <div style={{ marginTop: 16, textAlign: 'center', color: '#666666' }}>
+          <BulbOutlined /> 可先使用序列号查询真实后端资料
+        </div>
+      </Modal>
+    </div>
+  );
+}

public-frontend/src/app/page.tsx

@@ -0,0 +1,262 @@
+'use client';
+
+import React, { useEffect, useState } from 'react';
+import { Alert, Button, Card, Col, Empty, Flex, Row, Statistic, Table, message } from 'antd';
+import type { ColumnsType } from 'antd/es/table';
+import {
+  CheckCircleOutlined,
+  ClockCircleOutlined,
+  FileTextOutlined,
+  ProfileOutlined,
+  RightOutlined,
+  ScanOutlined,
+  SearchOutlined,
+  SyncOutlined,
+  VideoCameraOutlined,
+  WarningOutlined,
+} from '@ant-design/icons';
+import { useRouter } from 'next/navigation';
+import { BackendApi } from '@/services/backendApi';
+import type { ActivityItem, CustomsDeclaration, CustomsStats } from '@/types';
+import { StatusBadge } from '@/components/StatusBadge';
+
+export default function DashboardPage() {
+  const router = useRouter();
+  const [stats, setStats] = useState<CustomsStats | null>(null);
+  const [activities, setActivities] = useState<ActivityItem[]>([]);
+  const [pendingCustoms, setPendingCustoms] = useState<CustomsDeclaration[]>([]);
+  const [errorMessage, setErrorMessage] = useState('');
+  const [messageApi, contextHolder] = message.useMessage();
+
+  useEffect(() => {
+    let isMounted = true;
+
+    const loadData = async () => {
+      try {
+        setErrorMessage('');
+        const [statsData, activityData, customsData] = await Promise.all([
+          BackendApi.getCustomsStats(),
+          BackendApi.getRecentActivities(),
+          BackendApi.getCustomsList(1, 10),
+        ]);
+
+        if (!isMounted) return;
+
+        setStats(statsData);
+        setActivities(activityData);
+        setPendingCustoms(customsData.filter((item) => item.status === 'pending' || item.status === 'inspecting'));
+      } catch (error) {
+        if (!isMounted) return;
+        setErrorMessage(error instanceof Error ? error.message : '首页数据加载失败，请稍后重试');
+      }
+    };
+
+    loadData();
+
+    return () => {
+      isMounted = false;
+    };
+  }, []);
+
+  const goToInspection = async () => {
+    try {
+      const inspection = await BackendApi.getCurrentInspection();
+      if (inspection) {
+        router.push(`/inspection?customsId=${encodeURIComponent(inspection.customsId)}`);
+        return;
+      }
+      router.push('/customs');
+    } catch {
+      router.push('/customs');
+    }
+  };
+
+  const statCards = [
+    {
+      title: '待查验',
+      value: stats?.pendingCount || 0,
+      icon: <FileTextOutlined />,
+      suffix: '份报关单',
+      contentStyle: { color: '#1890ff' },
+      onClick: () => router.push('/customs'),
+    },
+    {
+      title: '今日已放行',
+      value: stats?.releasedToday || 0,
+      icon: <CheckCircleOutlined />,
+      suffix: '份报关单',
+      contentStyle: { color: '#52c41a' },
+    },
+    {
+      title: '查验进行中',
+      value: stats?.inspectingCount || 0,
+      icon: <SyncOutlined spin />,
+      suffix: '个任务',
+      contentStyle: { color: '#faad14' },
+      onClick: goToInspection,
+    },
+    {
+      title: '异常',
+      value: stats?.abnormalCount || 0,
+      icon: <WarningOutlined />,
+      suffix: '个异常',
+      contentStyle: { color: '#ff4d4f' },
+    },
+  ];
+
+  const quickActions = [
+    { title: '扫码查询机器', desc: '使用平板摄像头扫描设备二维码', icon: <ScanOutlined />, onClick: () => router.push('/machines'), color: '#1890ff' },
+    { title: '序列号查询机器', desc: '手动输入序列号查询机器全部资料', icon: <SearchOutlined />, onClick: () => router.push('/machines'), color: '#1890ff' },
+    { title: '视频监控', desc: '查看已接入与待接入的视频画面', icon: <VideoCameraOutlined />, onClick: () => router.push('/video'), color: '#1890ff' },
+  ];
+
+  const pendingColumns: ColumnsType<CustomsDeclaration> = [
+    {
+      title: '报关单号',
+      dataIndex: 'customsName',
+      key: 'customsName',
+      render: (text: string) => <b>{text}</b>,
+    },
+    {
+      title: '机器数量',
+      dataIndex: 'machineCount',
+      key: 'machineCount',
+      render: (count: number) => (count ? `${count} 台` : '-'),
+    },
+    {
+      title: '状态',
+      dataIndex: 'status',
+      key: 'status',
+      render: (status: CustomsDeclaration['status']) => <StatusBadge status={status} />,
+    },
+  ];
+
+  return (
+    <div style={{ paddingBottom: 24 }}>
+      {contextHolder}
+      {errorMessage && (
+        <Alert
+          type="error"
+          message={errorMessage}
+          showIcon
+          style={{ marginBottom: 16 }}
+          action={<Button size="small" onClick={() => router.refresh()}>刷新</Button>}
+        />
+      )}
+
+      <Row gutter={24} style={{ marginBottom: 24 }}>
+        {statCards.map((stat) => (
+          <Col span={6} key={stat.title}>
+            <Card hoverable={Boolean(stat.onClick)} onClick={stat.onClick}>
+              <Statistic
+                title={stat.title}
+                value={stat.value}
+                suffix={stat.suffix}
+                prefix={stat.icon}
+                styles={{ content: stat.contentStyle }}
+                loading={!stats && !errorMessage}
+              />
+            </Card>
+          </Col>
+        ))}
+      </Row>
+
+      <div style={{ marginBottom: 32, marginTop: 16 }}>
+        <div style={{ fontSize: 18, marginBottom: 16, fontWeight: 600, color: '#333' }}>快捷功能板块</div>
+        <Row gutter={24}>
+          {quickActions.map((action) => (
+            <Col span={8} key={action.title}>
+              <Card
+                hoverable
+                onClick={action.onClick}
+                style={{
+                  borderRadius: 8,
+                  overflow: 'hidden',
+                  border: '1px solid #f0f0f0',
+                  boxShadow: '0 2px 8px rgba(0,0,0,0.06)',
+                }}
+                styles={{ body: { padding: 24, background: '#fff', height: '100%' } }}
+              >
+                <Flex align="center" gap={20}>
+                  <Flex
+                    align="center"
+                    justify="center"
+                    style={{
+                      width: 56,
+                      height: 56,
+                      borderRadius: 8,
+                      background: '#f0f5ff',
+                      color: action.color,
+                      fontSize: 28,
+                      flexShrink: 0,
+                    }}
+                  >
+                    {action.icon}
+                  </Flex>
+                  <Flex vertical gap={4} style={{ flex: 1 }}>
+                    <div style={{ fontWeight: 600, fontSize: 18, color: '#262626' }}>{action.title}</div>
+                    <div style={{ color: '#595959', fontSize: 13, lineHeight: 1.5 }}>{action.desc}</div>
+                  </Flex>
+                </Flex>
+              </Card>
+            </Col>
+          ))}
+        </Row>
+      </div>
+
+      <Row gutter={24}>
+        <Col span={12}>
+          <Card
+            title="最近查验动态"
+            extra={<Button type="link" icon={<RightOutlined />} onClick={() => messageApi.info('后端暂未提供完整动态列表接口')}>查看全部</Button>}
+            styles={{ body: { height: 'calc(100% - 57px)' } }}
+          >
+            {activities.length ? (
+              <Flex vertical>
+                {activities.map((item) => (
+                  <Flex
+                    key={item.id}
+                    align="center"
+                    gap={12}
+                    style={{ padding: '12px 0', borderBottom: '1px solid #f0f0f0' }}
+                  >
+                    {item.type === 'start' ? <ClockCircleOutlined style={{ fontSize: 20 }} /> :
+                      item.type === 'success' ? <CheckCircleOutlined style={{ fontSize: 20 }} /> :
+                        item.type === 'warning' ? <WarningOutlined style={{ fontSize: 20 }} /> :
+                          <ProfileOutlined style={{ fontSize: 20 }} />}
+                    <Flex vertical gap={2}>
+                      <span style={{ fontWeight: 500 }}>{item.message}</span>
+                      <span style={{ color: '#8c8c8c', fontSize: 13 }}>{item.time}</span>
+                    </Flex>
+                  </Flex>
+                ))}
+              </Flex>
+            ) : (
+              <Empty image={Empty.PRESENTED_IMAGE_SIMPLE} description="暂无后端动态" />
+            )}
+          </Card>
+        </Col>
+
+        <Col span={12}>
+          <Card
+            title="待查验报关单"
+            extra={<Button type="link" onClick={() => router.push('/customs')}>查看全部 <RightOutlined /></Button>}
+            styles={{ body: { height: 'calc(100% - 57px)' } }}
+          >
+            <Table
+              dataSource={pendingCustoms}
+              rowKey="id"
+              columns={pendingColumns}
+              pagination={false}
+              size="small"
+              onRow={() => ({
+                onClick: () => router.push('/customs'),
+                style: { cursor: 'pointer' },
+              })}
+            />
+          </Card>
+        </Col>
+      </Row>
+    </div>
+  );
+}

public-frontend/src/app/video/page.tsx

@@ -0,0 +1,113 @@
+'use client';
+
+import React, { useEffect, useState } from 'react';
+import Link from 'next/link';
+import { Alert, Badge, Breadcrumb as AntdBreadcrumb, Button, Card, Col, Empty, Flex, Row, Space, Spin, Typography, message } from 'antd';
+import { ArrowLeftOutlined, CameraOutlined, FullscreenOutlined, HomeOutlined, ReloadOutlined } from '@ant-design/icons';
+import { Breadcrumb } from '@/components/Breadcrumb';
+import { CameraFrame } from '@/components/CameraFrame';
+import { BackendApi } from '@/services/backendApi';
+import type { CameraInfo } from '@/types';
+
+const { Text } = Typography;
+
+export default function VideoPage() {
+  const [cameras, setCameras] = useState<CameraInfo[]>([]);
+  const [fullscreenCamera, setFullscreenCamera] = useState<CameraInfo | null>(null);
+  const [loading, setLoading] = useState(true);
+  const [errorMessage, setErrorMessage] = useState('');
+  const [messageApi, contextHolder] = message.useMessage();
+
+  const loadCameras = async () => {
+    try {
+      setLoading(true);
+      setErrorMessage('');
+      const cameraList = await BackendApi.getCameras();
+      setCameras(cameraList);
+    } catch (error) {
+      setErrorMessage(error instanceof Error ? error.message : '摄像头列表加载失败，请稍后重试');
+    } finally {
+      setLoading(false);
+    }
+  };
+
+  useEffect(() => {
+    loadCameras();
+  }, []);
+
+  if (fullscreenCamera) {
+    return (
+      <div>
+        {contextHolder}
+        <Flex justify="space-between" align="center" style={{ marginBottom: 16 }}>
+          <Space align="center" size="middle">
+            <Button icon={<ArrowLeftOutlined />} onClick={() => setFullscreenCamera(null)}>返回</Button>
+            <AntdBreadcrumb
+              items={[
+                { title: <Link href="/"><HomeOutlined /> 首页</Link> },
+                { title: <a href="#" onClick={(event) => { event.preventDefault(); setFullscreenCamera(null); }}>视频监控</a> },
+                { title: fullscreenCamera.name },
+              ]}
+            />
+          </Space>
+          <Button type="primary" icon={<CameraOutlined />} onClick={() => messageApi.info('截图接口暂未提供')}>截图</Button>
+        </Flex>
+
+        <Flex justify="center" align="center" style={{ height: 'calc(100vh - 180px)', marginBottom: 16 }}>
+          <div style={{ height: '100%', maxWidth: '100%', aspectRatio: '16 / 9', boxShadow: '0 8px 24px rgba(0,0,0,0.1)' }}>
+            <CameraFrame camera={fullscreenCamera} height="100%" />
+          </div>
+        </Flex>
+      </div>
+    );
+  }
+
+  return (
+    <div>
+      {contextHolder}
+      <Flex justify="space-between" align="center" style={{ marginBottom: 24 }}>
+        <Breadcrumb />
+        <Space>
+          <Button icon={<ReloadOutlined />} onClick={loadCameras}>刷新</Button>
+          <Button icon={<FullscreenOutlined />} onClick={() => messageApi.info('请选择一个在线画面进入全屏')}>全屏模式</Button>
+          <Button type="primary" icon={<CameraOutlined />} onClick={() => messageApi.info('全部截图接口暂未提供')}>全部截图</Button>
+        </Space>
+      </Flex>
+
+      {errorMessage && (
+        <Alert type="error" message={errorMessage} showIcon style={{ marginBottom: 24 }} />
+      )}
+
+      {loading ? (
+        <Flex vertical align="center" justify="center" style={{ padding: 64 }}>
+          <Spin size="large" tip="正在加载摄像头..." />
+        </Flex>
+      ) : cameras.length ? (
+        <Row gutter={[24, 24]}>
+          {cameras.map((camera) => (
+            <Col xs={24} lg={12} key={camera.id}>
+              <Card
+                hoverable={camera.status === 'online'}
+                style={{ overflow: 'hidden', borderRadius: 12, borderColor: camera.status === 'online' ? '#f0f0f0' : '#ffccc7' }}
+                styles={{ body: { padding: 0 } }}
+                onClick={() => camera.status === 'online' && setFullscreenCamera(camera)}
+              >
+                <CameraFrame camera={camera} height={300} />
+                <Flex justify="space-between" align="center" style={{ padding: '12px 20px', background: camera.status === 'online' ? '#ffffff' : '#fff1f0', borderTop: '1px solid #f0f0f0' }}>
+                  <Space size="middle">
+                    <Badge status={camera.status === 'online' ? 'processing' : 'error'} />
+                    <Text strong style={{ fontSize: 15, color: camera.status === 'online' ? 'inherit' : '#cf1322' }}>{camera.name}</Text>
+                    {camera.placeholder && <Text type="secondary" style={{ fontSize: 12 }}>占位</Text>}
+                  </Space>
+                  {camera.status === 'online' && <Button type="link" icon={<FullscreenOutlined />} size="small">全屏观看</Button>}
+                </Flex>
+              </Card>
+            </Col>
+          ))}
+        </Row>
+      ) : (
+        <Empty description="暂无摄像头数据" />
+      )}
+    </div>
+  );
+}

public-frontend/src/components/Breadcrumb.tsx

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

public-frontend/src/components/CameraFrame.tsx

@@ -0,0 +1,91 @@
+'use client';
+
+import React, { useMemo, useState } from 'react';
+import { Button, Empty, Flex, Typography } from 'antd';
+import { CaretRightOutlined, ReloadOutlined, VideoCameraOutlined } from '@ant-design/icons';
+import type { CameraInfo } from '@/types';
+
+const { Text } = Typography;
+
+interface CameraFrameProps {
+  camera?: CameraInfo;
+  active?: boolean;
+  height?: number | string;
+  aspectRatio?: string;
+}
+
+export const CameraFrame: React.FC<CameraFrameProps> = ({ camera, active = true, height, aspectRatio }) => {
+  const [reloadKey, setReloadKey] = useState(Date.now());
+  const streamUrl = useMemo(() => {
+    if (!camera?.streamUrl) {
+      return '';
+    }
+    return `${camera.streamUrl}${camera.streamUrl.includes('?') ? '&' : '?'}t=${reloadKey}`;
+  }, [camera?.streamUrl, reloadKey]);
+
+  const offline = !camera || camera.status !== 'online' || camera.placeholder;
+  const isPollingJpeg = camera?.streamUrl === '/api/camera/refresh';
+
+  return (
+    <div
+      style={{
+        position: 'relative',
+        display: 'flex',
+        flexDirection: 'column',
+        alignItems: 'center',
+        justifyContent: 'center',
+        overflow: 'hidden',
+        borderRadius: 8,
+        background: '#141414',
+        height: height || '100%',
+        width: '100%',
+        flex: 1,
+        aspectRatio,
+        boxShadow: 'inset 0 0 20px rgba(0,0,0,0.5)',
+      }}
+    >
+      {!offline && active && streamUrl ? (
+        <>
+          {/* 后端的 AGV 接口是单帧 JPEG，机械臂接口是 MJPEG；img 可同时承载两者。 */}
+          {/* eslint-disable-next-line @next/next/no-img-element */}
+          <img
+            key={camera.id}
+            className="cameraFrameImage"
+            src={streamUrl}
+            alt={camera.name}
+            onLoad={() => {
+              if (isPollingJpeg && active) {
+                window.setTimeout(() => setReloadKey(Date.now()), 1500);
+              }
+            }}
+          />
+          <div style={{ position: 'absolute', bottom: 16, left: 16, zIndex: 10, padding: '4px 10px', background: 'rgba(0,0,0,0.6)', borderRadius: 6 }}>
+            <Text style={{ color: '#ffffff', fontSize: 12 }}>{camera.name} / 实时画面</Text>
+          </div>
+        </>
+      ) : offline ? (
+        <Empty
+          image={<VideoCameraOutlined style={{ fontSize: 64, color: '#ff4d4f', opacity: 0.9 }} />}
+          imageStyle={{ height: 64, marginBottom: 16 }}
+          description={
+            <Flex vertical gap={2}>
+              <Text type="danger" strong style={{ fontSize: 16 }}>{camera?.placeholder ? '摄像头未配置' : '设备离线'}</Text>
+              <Text type="secondary" style={{ color: 'rgba(255,255,255,0.45)' }}>{camera?.location ?? '暂无视频源'}</Text>
+            </Flex>
+          }
+        >
+          {camera?.streamUrl && (
+            <Button type="primary" danger icon={<ReloadOutlined />} style={{ marginTop: 8 }} onClick={() => setReloadKey(Date.now())}>
+              重试连接
+            </Button>
+          )}
+        </Empty>
+      ) : (
+        <Flex vertical align="center" gap={16} style={{ color: '#ffffff' }}>
+          <CaretRightOutlined style={{ fontSize: 48, opacity: 0.65 }} />
+          <Text style={{ color: '#ffffff' }}>画面已暂停或未启动</Text>
+        </Flex>
+      )}
+    </div>
+  );
+};

public-frontend/src/components/StatusBadge.tsx

@@ -0,0 +1,67 @@
+import React from 'react';
+import { Tag } from 'antd';
+import {
+  CheckCircleOutlined,
+  ClockCircleOutlined,
+  CloseCircleOutlined,
+  MinusCircleOutlined,
+  PauseCircleOutlined,
+  QuestionCircleOutlined,
+  SyncOutlined,
+  WarningOutlined,
+} from '@ant-design/icons';
+
+type StatusType =
+  | 'pending'
+  | 'inspecting'
+  | 'released'
+  | 'abnormal'
+  | 'idle'
+  | 'running'
+  | 'paused'
+  | 'completed'
+  | 'online'
+  | 'offline';
+
+interface StatusBadgeProps {
+  status: StatusType;
+  type?: 'badge' | 'tag';
+}
+
+export const StatusBadge: React.FC<StatusBadgeProps> = ({ status, type = 'badge' }) => {
+  const config = (() => {
+    switch (status) {
+      case 'pending':
+        return { color: 'warning', text: '待查验', icon: <ClockCircleOutlined style={{ color: '#faad14' }} /> };
+      case 'inspecting':
+      case 'running':
+        return { color: 'processing', text: '查验中', icon: <SyncOutlined style={{ color: '#1890ff' }} /> };
+      case 'released':
+      case 'completed':
+        return { color: 'success', text: '已放行', icon: <CheckCircleOutlined style={{ color: '#52c41a' }} /> };
+      case 'abnormal':
+        return { color: 'error', text: '异常', icon: <WarningOutlined style={{ color: '#ff4d4f' }} /> };
+      case 'idle':
+        return { color: 'default', text: '空闲', icon: <MinusCircleOutlined style={{ color: '#d9d9d9' }} /> };
+      case 'paused':
+        return { color: 'warning', text: '已暂停', icon: <PauseCircleOutlined style={{ color: '#faad14' }} /> };
+      case 'online':
+        return { color: 'success', text: '在线', icon: <CheckCircleOutlined style={{ color: '#52c41a' }} /> };
+      case 'offline':
+        return { color: 'error', text: '离线', icon: <CloseCircleOutlined style={{ color: '#ff4d4f' }} /> };
+      default:
+        return { color: 'default', text: '未知', icon: <QuestionCircleOutlined style={{ color: '#d9d9d9' }} /> };
+    }
+  })();
+
+  if (type === 'tag') {
+    return <Tag color={config.color} icon={config.icon}>{config.text}</Tag>;
+  }
+
+  return (
+    <span style={{ display: 'inline-flex', alignItems: 'center', gap: 4 }}>
+      {config.icon}
+      <span>{config.text}</span>
+    </span>
+  );
+};

public-frontend/src/components/TopHeader.tsx

@@ -0,0 +1,144 @@
+'use client';
+
+import React, { useEffect, useState } from 'react';
+import { Avatar, Badge, Button, Dropdown, Layout, Menu, Space, Switch, Typography, message, theme } from 'antd';
+import {
+  BellOutlined,
+  DashboardOutlined,
+  FileTextOutlined,
+  SafetyCertificateOutlined,
+  ScanOutlined,
+  SearchOutlined,
+  SettingOutlined,
+  UserOutlined,
+  VideoCameraOutlined,
+} from '@ant-design/icons';
+import { usePathname, useRouter } from 'next/navigation';
+import { BackendApi } from '@/services/backendApi';
+import { useAppStore } from '@/store/useAppStore';
+import type { ApiMode } from '@/types';
+
+const { Header } = Layout;
+const { Text, Paragraph, Title } = Typography;
+
+export const TopHeader: React.FC = () => {
+  const pathname = usePathname();
+  const router = useRouter();
+  const { user, notifications } = useAppStore();
+  const { token } = theme.useToken();
+  const [apiMode, setApiMode] = useState<ApiMode | null>(null);
+  const [switchingMode, setSwitchingMode] = useState(false);
+  const [messageApi, contextHolder] = message.useMessage();
+
+  const unreadCount = notifications.filter((notification) => !notification.read).length;
+
+  useEffect(() => {
+    BackendApi.getApiMode()
+      .then(setApiMode)
+      .catch(() => setApiMode(null));
+  }, []);
+
+  const menuItems = [
+    { key: '/', icon: <DashboardOutlined />, label: '首页' },
+    { key: '/video', icon: <VideoCameraOutlined />, label: '视频监控' },
+    { key: '/machines', icon: <SearchOutlined />, label: '机器查询' },
+    { key: '/customs', icon: <FileTextOutlined />, label: '报关单' },
+    { key: '/inspection', icon: <ScanOutlined />, label: '远程查验' },
+  ];
+
+  const notificationMenu = {
+    items: notifications.map((notification) => ({
+      key: notification.id,
+      label: (
+        <div style={{ width: 250, padding: '4px 0', whiteSpace: 'normal' }}>
+          <Text strong={!notification.read} type={notification.read ? 'secondary' : undefined} style={{ display: 'block' }}>
+            {notification.title}
+          </Text>
+          <Paragraph style={{ marginTop: 4, marginBottom: 0, color: token.colorTextSecondary, fontSize: 12, lineHeight: 1.5 }}>
+            {notification.message}
+          </Paragraph>
+          <Text style={{ marginTop: 4, display: 'block', color: token.colorTextTertiary, fontSize: 10 }}>
+            {notification.time}
+          </Text>
+        </div>
+      ),
+    })),
+  };
+
+  const toggleApiMode = async (nextTestMode: boolean) => {
+    setSwitchingMode(true);
+    try {
+      const nextMode = await BackendApi.setApiMode(nextTestMode);
+      setApiMode(nextMode);
+      messageApi.success(`已切换至${nextMode.label}`);
+    } catch (error) {
+      messageApi.error(error instanceof Error ? error.message : '切换 API 环境失败');
+    } finally {
+      setSwitchingMode(false);
+    }
+  };
+
+  return (
+    <>
+      {contextHolder}
+      <Header
+        style={{
+          position: 'sticky',
+          top: 0,
+          zIndex: 100,
+          display: 'flex',
+          alignItems: 'center',
+          padding: '0 24px',
+          background: token.colorBgContainer,
+          boxShadow: '0 2px 8px rgba(0, 0, 0, 0.06)',
+        }}
+      >
+        <Space
+          size="middle"
+          onClick={() => router.push('/')}
+          style={{ cursor: 'pointer', marginRight: 48, display: 'flex', alignItems: 'center' }}
+        >
+          <SafetyCertificateOutlined style={{ fontSize: 24, color: token.colorPrimary }} />
+          <Title level={4} style={{ margin: 0, color: token.colorPrimary, whiteSpace: 'nowrap' }}>
+            海关智慧查验平台
+          </Title>
+        </Space>
+
+        <Menu
+          mode="horizontal"
+          selectedKeys={[pathname === '/' ? '/' : `/${pathname.split('/')[1]}`]}
+          items={menuItems}
+          onClick={({ key }) => router.push(key)}
+          style={{ flex: 1, minWidth: 0, borderBottom: 'none', lineHeight: '62px' }}
+        />
+
+        <Space size="large" style={{ marginLeft: 24, display: 'flex', alignItems: 'center' }}>
+          <Space size={8}>
+            <Text type="secondary" style={{ fontSize: 12 }}>{apiMode?.label ?? '环境'}</Text>
+            <Switch
+              size="small"
+              checked={apiMode?.testMode ?? false}
+              checkedChildren="测"
+              unCheckedChildren="正"
+              loading={switchingMode}
+              onChange={toggleApiMode}
+            />
+          </Space>
+
+          <Dropdown menu={notificationMenu} placement="bottomRight" trigger={['click']}>
+            <Badge count={unreadCount} size="small" offset={[-4, 4]}>
+              <Button type="text" shape="circle" icon={<BellOutlined style={{ fontSize: 18, color: token.colorText }} />} />
+            </Badge>
+          </Dropdown>
+
+          <Button type="text" shape="circle" icon={<SettingOutlined style={{ fontSize: 18, color: token.colorText }} />} />
+
+          <Space size="small" style={{ cursor: 'pointer', padding: '0 8px', borderRadius: token.borderRadius }}>
+            <Avatar size="small" icon={<UserOutlined />} style={{ backgroundColor: token.colorPrimary }} />
+            <Text style={{ fontSize: 14 }}>{user?.name}</Text>
+          </Space>
+        </Space>
+      </Header>
+    </>
+  );
+};

public-frontend/src/services/apiClient.ts

@@ -0,0 +1,66 @@
+type RequestOptions = RequestInit & {
+  query?: Record<string, string | number | boolean | undefined | null>;
+};
+
+export class ApiError extends Error {
+  status: number;
+  data: unknown;
+
+  constructor(message: string, status: number, data: unknown) {
+    super(message);
+    this.name = 'ApiError';
+    this.status = status;
+    this.data = data;
+  }
+}
+
+const buildUrl = (path: string, query?: RequestOptions['query']) => {
+  const url = new URL(path, typeof window === 'undefined' ? 'http://localhost' : window.location.origin);
+
+  Object.entries(query ?? {}).forEach(([key, value]) => {
+    if (value !== undefined && value !== null && value !== '') {
+      url.searchParams.set(key, String(value));
+    }
+  });
+
+  return `${url.pathname}${url.search}`;
+};
+
+const parseResponse = async (response: Response) => {
+  const contentType = response.headers.get('content-type') ?? '';
+  if (contentType.includes('application/json')) {
+    return response.json();
+  }
+
+  return response.text();
+};
+
+export async function requestJson<T>(path: string, options: RequestOptions = {}): Promise<T> {
+  const { query, headers, body, ...restOptions } = options;
+  const response = await fetch(buildUrl(path, query), {
+    ...restOptions,
+    headers: {
+      ...(body ? { 'Content-Type': 'application/json' } : {}),
+      ...headers,
+    },
+    body,
+    cache: 'no-store',
+  });
+  const data = await parseResponse(response);
+
+  if (!response.ok) {
+    const message = typeof data === 'object' && data && 'error' in data
+      ? String((data as { error: unknown }).error)
+      : `请求失败：HTTP ${response.status}`;
+    throw new ApiError(message, response.status, data);
+  }
+
+  return data as T;
+}
+
+export function postJson<T>(path: string, payload?: unknown): Promise<T> {
+  return requestJson<T>(path, {
+    method: 'POST',
+    body: payload === undefined ? undefined : JSON.stringify(payload),
+  });
+}

public-frontend/src/services/backendApi.ts

@@ -0,0 +1,280 @@
+import dayjs from 'dayjs';
+import { postJson, requestJson } from '@/services/apiClient';
+import {
+  asArray,
+  asRecord,
+  asString,
+  buildCameraList,
+  extractRows,
+  normalizeCustomsDeclaration,
+  normalizeInspection,
+  normalizeInspectionItem,
+  normalizeMachineDetail,
+  normalizeMissionRuntimeState,
+} from '@/services/normalizers';
+import type {
+  ActivityItem,
+  ApiMode,
+  CameraInfo,
+  CustomsDeclaration,
+  CustomsStats,
+  InspectionIssue,
+  InspectionState,
+  MachineDetail,
+  MissionStateResponse,
+  SystemStatus,
+} from '@/types';
+
+interface OkResponse<T> {
+  ok?: boolean;
+  data?: T;
+  error?: string;
+}
+
+const ensureOk = <T extends OkResponse<unknown>>(payload: T, fallbackMessage: string) => {
+  if (payload.ok === false) {
+    throw new Error(payload.error || fallbackMessage);
+  }
+
+  return payload;
+};
+
+export const BackendApi = {
+  async getSystemStatus(): Promise<SystemStatus> {
+    const [statusPayload, capabilitiesPayload] = await Promise.all([
+      requestJson<Record<string, unknown>>('/api/status'),
+      requestJson<Record<string, unknown>>('/api/camera/capabilities').catch((): Record<string, unknown> => ({})),
+    ]);
+
+    return {
+      state: asString(statusPayload.state, 'idle') as SystemStatus['state'],
+      agvConnected: Boolean(statusPayload.agv_connected),
+      armConnected: Boolean(statusPayload.arm_connected),
+      cameraOpened: Boolean(statusPayload.camera_opened),
+      armCameraOpened: Boolean(statusPayload.arm_camera_opened),
+      mapLoaded: Boolean(statusPayload.map_loaded),
+      pointsCount: Number(statusPayload.points_count ?? 0),
+      modelsCount: Number(statusPayload.models_count ?? 0),
+      machinesCount: Number(statusPayload.machines_count ?? 0),
+      hasAgvCamera: Boolean(statusPayload.has_agv_camera ?? capabilitiesPayload.has_agv_camera ?? statusPayload.camera_opened),
+      hasArmCamera: Boolean(statusPayload.has_arm_camera ?? capabilitiesPayload.has_arm_camera ?? statusPayload.arm_camera_opened),
+    };
+  },
+
+  async connectAll() {
+    return requestJson<{ agv: boolean; arm: boolean; camera: boolean; errors?: string[] }>('/api/system/connect', {
+      method: 'POST',
+    });
+  },
+
+  async disconnectAll() {
+    return postJson<{ ok: boolean }>('/api/system/disconnect');
+  },
+
+  async connectDevice(device: 'agv' | 'arm' | 'camera' | 'arm_camera') {
+    return postJson<{ device: string; ok: boolean; error?: string }>('/api/device/connect', { device });
+  },
+
+  async getApiMode(): Promise<ApiMode> {
+    const payload = ensureOk(await requestJson<OkResponse<unknown> & Record<string, unknown>>('/api/config/mode'), '读取 API 环境失败');
+    return {
+      testMode: Boolean(payload.test_mode),
+      baseUrl: asString(payload.base_url),
+      label: asString(payload.label, Boolean(payload.test_mode) ? '测试环境' : '正式环境'),
+    };
+  },
+
+  async setApiMode(testMode: boolean): Promise<ApiMode> {
+    const payload = ensureOk(await postJson<OkResponse<unknown> & Record<string, unknown>>('/api/config/mode', { test_mode: testMode }), '切换 API 环境失败');
+    return {
+      testMode: Boolean(payload.test_mode),
+      baseUrl: asString(payload.base_url),
+      label: asString(payload.label, testMode ? '测试环境' : '正式环境'),
+    };
+  },
+
+  async getCustomsList(pageNum = 1, pageSize = 50): Promise<CustomsDeclaration[]> {
+    const payload = ensureOk(
+      await requestJson<OkResponse<unknown> & Record<string, unknown>>('/api/customs/list', {
+        query: { pageNum, pageSize },
+      }),
+      '报关单列表加载失败',
+    );
+    const rows = extractRows(payload);
+    return rows.map(normalizeCustomsDeclaration);
+  },
+
+  async getCustomsMachines(customsId: string) {
+    const payload = ensureOk(
+      await requestJson<OkResponse<unknown> & Record<string, unknown>>('/api/customs/machines', {
+        query: { customsId },
+      }),
+      '机器列表加载失败',
+    );
+    return extractRows(payload).map(normalizeInspectionItem);
+  },
+
+  async getCustomsById(customsId: string): Promise<CustomsDeclaration | null> {
+    const list = await this.getCustomsList(1, 100);
+    const found = list.find((item) => item.customsId === customsId || item.id === customsId || item.customsName === customsId);
+    if (!found) {
+      return null;
+    }
+
+    const items = await this.getCustomsMachines(found.id).catch(() => found.items);
+    return {
+      ...found,
+      items,
+      machineCount: found.machineCount || items.reduce((sum, item) => sum + item.quantify, 0),
+    };
+  },
+
+  async startCustomsInspection(customs: Pick<CustomsDeclaration, 'id' | 'customsName'>): Promise<InspectionState> {
+    const payload = ensureOk(
+      await postJson<OkResponse<unknown> & Record<string, unknown>>('/api/customs/inspection/start', {
+        customsId: customs.id,
+        customsName: customs.customsName,
+      }),
+      '开始查验失败',
+    );
+    const inspection = normalizeInspection(payload.inspection, 'running');
+    if (!inspection) {
+      throw new Error('后端未返回查验状态');
+    }
+
+    return inspection;
+  },
+
+  async getCurrentInspection(): Promise<InspectionState | null> {
+    const payload = ensureOk(await requestJson<OkResponse<unknown> & Record<string, unknown>>('/api/customs/inspection'), '查验状态加载失败');
+    return normalizeInspection(payload.inspection, 'running');
+  },
+
+  async endCustomsInspection() {
+    return postJson<{ ok: boolean }>('/api/customs/inspection/end');
+  },
+
+  async getMissionState(): Promise<MissionStateResponse> {
+    const payload = await requestJson<Record<string, unknown>>('/api/mission/state');
+    const runtimeStatus = normalizeMissionRuntimeState(payload.state);
+    return {
+      state: asString(payload.state, 'idle') as MissionStateResponse['state'],
+      inspection: normalizeInspection(payload.inspection, runtimeStatus),
+      rows: Number(payload.rows ?? 0),
+      cols: Number(payload.cols ?? 0),
+      tasks: asArray(payload.tasks),
+      errorMsg: asString(payload.error_msg),
+      waitingStep: Boolean(payload.waiting_step),
+      waitingError: Boolean(payload.waiting_error),
+    };
+  },
+
+  async startMission() {
+    return ensureOk(await postJson<OkResponse<unknown> & Record<string, unknown>>('/api/mission/start', {}), '启动自动任务失败');
+  },
+
+  async pauseMission() {
+    return postJson<{ ok: boolean }>('/api/mission/pause');
+  },
+
+  async resumeMission() {
+    return postJson<{ ok: boolean }>('/api/mission/resume');
+  },
+
+  async stopMission() {
+    return postJson<{ ok: boolean }>('/api/mission/stop');
+  },
+
+  async getMissionLogs(): Promise<ActivityItem[]> {
+    const payload = await requestJson<Record<string, unknown>>('/api/mission/log');
+    const logItems = asArray(payload.log);
+    return logItems.slice(-80).map((item, index) => {
+      const record = asRecord(item);
+      const message = asString(record.msg ?? record.message ?? item, '系统日志');
+      const time = asString(record.time, dayjs().format('HH:mm:ss'));
+      const lowered = message.toLowerCase();
+      const type: ActivityItem['type'] = lowered.includes('error') || message.includes('失败')
+        ? 'warning'
+        : message.includes('完成') || lowered.includes('success')
+          ? 'success'
+          : 'info';
+      return {
+        id: asString(record.id, `log-${index}`),
+        time,
+        type,
+        message,
+      };
+    });
+  },
+
+  async getCameras(): Promise<CameraInfo[]> {
+    const [statusPayload, capabilitiesPayload] = await Promise.all([
+      requestJson<Record<string, unknown>>('/api/status').catch((): Record<string, unknown> => ({})),
+      requestJson<Record<string, unknown>>('/api/camera/capabilities').catch((): Record<string, unknown> => ({})),
+    ]);
+    return buildCameraList(statusPayload, capabilitiesPayload);
+  },
+
+  async getMachineDetail(serialNumber: string): Promise<MachineDetail> {
+    const payload = await requestJson<Record<string, unknown>>('/api/customs/printer', {
+      query: { serialNumber },
+    });
+    ensureOk(payload, '机器详情加载失败');
+    return normalizeMachineDetail(serialNumber, payload);
+  },
+
+  async getCustomsStats(): Promise<CustomsStats> {
+    const [customsList, inspection] = await Promise.all([
+      this.getCustomsList(1, 50),
+      this.getCurrentInspection().catch(() => null),
+    ]);
+
+    return {
+      pendingCount: customsList.filter((item) => item.status === 'pending').length,
+      releasedToday: customsList.filter((item) => item.status === 'released' && item.createdAt.startsWith(dayjs().format('YYYY-MM-DD'))).length,
+      inspectingCount: inspection ? 1 : customsList.filter((item) => item.status === 'inspecting').length,
+      abnormalCount: customsList.filter((item) => item.status === 'abnormal').length,
+    };
+  },
+
+  async getRecentActivities(): Promise<ActivityItem[]> {
+    const [logs, inspection] = await Promise.all([
+      this.getMissionLogs().catch(() => []),
+      this.getCurrentInspection().catch(() => null),
+    ]);
+
+    if (logs.length) {
+      return logs.slice(-5).reverse();
+    }
+
+    if (inspection) {
+      return [
+        {
+          id: 'current-inspection',
+          time: inspection.startedAt ? dayjs.unix(inspection.startedAt).format('HH:mm') : dayjs().format('HH:mm'),
+          type: 'start',
+          message: `${inspection.customsName || inspection.customsId} 查验中`,
+        },
+      ];
+    }
+
+    return [];
+  },
+
+  async getInspectionIssues(): Promise<InspectionIssue[]> {
+    const missionState = await this.getMissionState().catch(() => null);
+    if (missionState?.waitingError && missionState.errorMsg) {
+      return [
+        {
+          id: 'mission-error',
+          time: dayjs().format('HH:mm:ss'),
+          description: missionState.errorMsg,
+          severity: 'error',
+          status: 'pending',
+        },
+      ];
+    }
+
+    return [];
+  },
+};

public-frontend/src/services/normalizers.ts

@@ -0,0 +1,289 @@
+import dayjs from 'dayjs';
+import type {
+  CameraInfo,
+  CustomsDeclaration,
+  CustomsStatus,
+  InspectionItem,
+  InspectionState,
+  MachineDetail,
+  MachineImageItem,
+  MissionRuntimeState,
+} from '@/types';
+
+type UnknownRecord = Record<string, unknown>;
+
+export const asRecord = (value: unknown): UnknownRecord => {
+  if (value && typeof value === 'object' && !Array.isArray(value)) {
+    return value as UnknownRecord;
+  }
+
+  return {};
+};
+
+export const asArray = (value: unknown): unknown[] => {
+  if (Array.isArray(value)) {
+    return value;
+  }
+
+  return [];
+};
+
+export const asString = (value: unknown, fallback = '') => {
+  if (typeof value === 'string') {
+    return value;
+  }
+  if (typeof value === 'number' || typeof value === 'boolean') {
+    return String(value);
+  }
+
+  return fallback;
+};
+
+export const asNumber = (value: unknown, fallback = 0) => {
+  if (typeof value === 'number' && Number.isFinite(value)) {
+    return value;
+  }
+  if (typeof value === 'string' && value.trim()) {
+    const parsed = Number(value);
+    return Number.isFinite(parsed) ? parsed : fallback;
+  }
+
+  return fallback;
+};
+
+const pickString = (record: UnknownRecord, keys: string[], fallback = '') => {
+  for (const key of keys) {
+    const value = record[key];
+    if (value !== undefined && value !== null && value !== '') {
+      return asString(value, fallback);
+    }
+  }
+
+  return fallback;
+};
+
+const pickNumber = (record: UnknownRecord, keys: string[], fallback = 0) => {
+  for (const key of keys) {
+    const value = record[key];
+    if (value !== undefined && value !== null && value !== '') {
+      return asNumber(value, fallback);
+    }
+  }
+
+  return fallback;
+};
+
+const normalizeDateTime = (value: unknown) => {
+  if (!value) {
+    return '-';
+  }
+  const text = asString(value);
+  const parsed = dayjs(text);
+  return parsed.isValid() ? parsed.format('YYYY-MM-DD HH:mm') : text;
+};
+
+const normalizeStatus = (raw: unknown, hasCustomsCode = false): CustomsStatus => {
+  const status = asString(raw).toLowerCase();
+  if (['released', 'finish', 'finished', 'completed', 'done', 'pass', 'passed'].includes(status)) {
+    return 'released';
+  }
+  if (['abnormal', 'error', 'failed', 'exception'].includes(status)) {
+    return 'abnormal';
+  }
+  if (['inspecting', 'running', 'processing'].includes(status)) {
+    return 'inspecting';
+  }
+
+  return hasCustomsCode ? 'pending' : 'pending';
+};
+
+export const extractRows = (payload: unknown): unknown[] => {
+  const root = asRecord(payload);
+  const data = asRecord(root.data);
+  const nestedData = asRecord(data.data);
+
+  if (Array.isArray(payload)) return payload;
+  if (Array.isArray(root.rows)) return root.rows;
+  if (Array.isArray(root.records)) return root.records;
+  if (Array.isArray(root.data)) return root.data;
+  if (Array.isArray(data.rows)) return data.rows;
+  if (Array.isArray(data.records)) return data.records;
+  if (Array.isArray(data.data)) return data.data;
+  if (Array.isArray(nestedData.rows)) return nestedData.rows;
+  if (Array.isArray(nestedData.records)) return nestedData.records;
+
+  return [];
+};
+
+export const normalizeInspectionItem = (value: unknown): InspectionItem => {
+  const item = asRecord(value);
+  return {
+    inventoryCode: pickString(item, ['inventoryCode', 'machineCode', 'code'], '-'),
+    inventoryName: pickString(item, ['inventoryName', 'machineName', 'name', 'modelName'], '-'),
+    spec: pickString(item, ['spec', 'inventorySpecification', 'specification'], '-'),
+    quantify: pickNumber(item, ['quantify', 'quantity', 'count'], 0),
+    inspected: pickNumber(item, ['inspected', 'inspectionCount', 'checkedCount'], 0),
+  };
+};
+
+export const normalizeCustomsDeclaration = (value: unknown): CustomsDeclaration => {
+  const row = asRecord(value);
+  const customs = asRecord(row.customs);
+  const customsId = pickString(customs, ['id'], pickString(row, ['customsId', 'customs_id', 'id']));
+  const customsCode = pickString(customs, ['customsCode'], pickString(row, ['customsCode', 'orderCode', 'drawCode'], customsId || '-'));
+  const orderIds = pickString(customs, ['orderId']);
+  const machineCount = pickNumber(row, ['machineCount', 'machine_count'], orderIds ? orderIds.split(',').filter(Boolean).length : 0);
+  const rawItems = asArray(row.items);
+  const hasCustomsCode = Boolean(pickString(customs, ['customsCode'], pickString(row, ['customsCode'])));
+
+  return {
+    id: customsId || customsCode,
+    customsId: customsId || customsCode,
+    customsName: customsCode,
+    status: normalizeStatus(pickString(row, ['status', 'state']), hasCustomsCode),
+    machineCount,
+    createdAt: normalizeDateTime(pickString(row, ['createTime', 'createdAt', 'applyTime', 'updateTime'], pickString(row, ['orderCode', 'drawCode']))),
+    items: rawItems.map(normalizeInspectionItem),
+    raw: value,
+  };
+};
+
+export const normalizeInspection = (value: unknown, runtimeState: MissionRuntimeState = 'idle'): InspectionState | null => {
+  const inspection = asRecord(value);
+  const customsId = pickString(inspection, ['customsId', 'customs_id', 'id']);
+  if (!customsId && !inspection.items) {
+    return null;
+  }
+
+  return {
+    customsId,
+    customsName: pickString(inspection, ['customsName', 'customs_name', 'name'], customsId),
+    status: runtimeState,
+    items: asArray(inspection.items).map(normalizeInspectionItem),
+    startedAt: pickNumber(inspection, ['startedAt', 'started_at'], 0),
+  };
+};
+
+export const normalizeMissionRuntimeState = (state: unknown): MissionRuntimeState => {
+  const text = asString(state).toLowerCase();
+  if (text === 'running' || text === 'setting') return 'running';
+  if (text === 'paused') return 'paused';
+  if (text === 'completed') return 'completed';
+  return 'idle';
+};
+
+const normalizeImage = (value: unknown, index: number, fallbackName: string): MachineImageItem => {
+  const item = asRecord(value);
+  const url = pickString(item, ['url', 'imageUrl', 'path', 'fileUrl']);
+  return {
+    id: pickString(item, ['id'], `${fallbackName}-${index}`),
+    url,
+    thumbnailUrl: pickString(item, ['thumbnailUrl', 'thumbUrl'], url),
+    name: pickString(item, ['name', 'fileName'], `${fallbackName} ${index + 1}`),
+    createdAt: normalizeDateTime(pickString(item, ['createdAt', 'createTime', 'uploadTime'])),
+  };
+};
+
+const emptyImageGroups = () => ({
+  incomingInspection: [] as MachineImageItem[],
+  startupTestSample: [] as MachineImageItem[],
+  productionOrder: [] as MachineImageItem[],
+  robotInspection: [] as MachineImageItem[],
+});
+
+export const normalizeMachineDetail = (serialNumber: string, payload: unknown): MachineDetail => {
+  const root = asRecord(payload);
+  const printer = asRecord(root.printer ?? asRecord(root.data).printer);
+  const orderItem = asRecord(root.orderItem ?? asRecord(root.data).orderItem);
+  const inventory = asRecord(orderItem.inventory ?? printer.inventory);
+  const modelName = pickString(root, ['modelName'], pickString(inventory, ['inventoryName', 'name'], pickString(printer, ['model', 'machineModel'], '未知设备')));
+  const images = emptyImageGroups();
+  const rawImages = asRecord(root.images ?? printer.images);
+
+  images.incomingInspection = asArray(rawImages.incomingInspection).map((item, index) => normalizeImage(item, index, '来料检验单'));
+  images.startupTestSample = asArray(rawImages.startupTestSample).map((item, index) => normalizeImage(item, index, '开机测试样张'));
+  images.productionOrder = asArray(rawImages.productionOrder).map((item, index) => normalizeImage(item, index, '生产加工单'));
+  images.robotInspection = asArray(rawImages.robotInspection).map((item, index) => normalizeImage(item, index, '机器人查验拍照'));
+
+  return {
+    serialNumber,
+    modelName,
+    modelId: pickString(inventory, ['inventoryCode', 'code'], pickString(root, ['inventoryCode'], '-')),
+    customsId: pickString(orderItem, ['customsId'], '-'),
+    customsName: pickString(orderItem, ['customsName'], '-'),
+    status: 'pending',
+    specs: {
+      物料编码: pickString(inventory, ['inventoryCode', 'code'], '-'),
+      规格: pickString(inventory, ['inventorySpecification', 'specification', 'spec'], '-'),
+      序列号: pickString(printer, ['serialNumber'], serialNumber),
+    },
+    createdAt: normalizeDateTime(pickString(printer, ['createTime', 'createdAt'])),
+    images,
+    inspectionRecords: [],
+    raw: payload,
+  };
+};
+
+export const buildCameraList = (statusPayload: unknown, capabilitiesPayload: unknown): CameraInfo[] => {
+  const status = asRecord(statusPayload);
+  const capabilities = asRecord(capabilitiesPayload);
+  const hasAgvCamera = Boolean(status.has_agv_camera ?? capabilities.has_agv_camera ?? status.camera_opened);
+  const hasArmCamera = Boolean(status.has_arm_camera ?? capabilities.has_arm_camera ?? status.arm_camera_opened);
+
+  return [
+    {
+      id: 'overview-1',
+      name: '监控摄像头 1',
+      location: '查验区东侧',
+      streamUrl: '',
+      status: 'offline',
+      category: 'overview',
+      placeholder: true,
+    },
+    {
+      id: 'overview-2',
+      name: '监控摄像头 2',
+      location: '查验区南侧',
+      streamUrl: '',
+      status: 'offline',
+      category: 'overview',
+      placeholder: true,
+    },
+    {
+      id: 'overview-3',
+      name: '监控摄像头 3',
+      location: '查验区西侧',
+      streamUrl: '',
+      status: 'offline',
+      category: 'overview',
+      placeholder: true,
+    },
+    {
+      id: 'overview-4',
+      name: '监控摄像头 4',
+      location: '查验区北侧',
+      streamUrl: '',
+      status: 'offline',
+      category: 'overview',
+      placeholder: true,
+    },
+    {
+      id: 'agv-camera',
+      name: 'AGV 主摄像头',
+      location: 'AGV 前端',
+      streamUrl: '/api/camera/refresh',
+      status: hasAgvCamera && Boolean(status.camera_opened) ? 'online' : 'offline',
+      category: 'agv',
+      placeholder: !hasAgvCamera,
+    },
+    {
+      id: 'arm-camera',
+      name: '作业视角',
+      location: '机械臂',
+      streamUrl: '/api/camera/arm_preview',
+      status: hasArmCamera && Boolean(status.arm_camera_opened) ? 'online' : 'offline',
+      category: 'operation',
+      placeholder: !hasArmCamera,
+    },
+  ];
+};

public-frontend/src/store/useAppStore.ts

@@ -0,0 +1,39 @@
+'use client';
+
+import { create } from 'zustand';
+import type { CustomsDeclaration, InspectionState, Notification, User } from '@/types';
+
+interface AppState {
+  user: User | null;
+  notifications: Notification[];
+  selectedCustoms: CustomsDeclaration | null;
+  inspection: InspectionState | null;
+  setUser: (user: User | null) => void;
+  addNotification: (notification: Notification) => void;
+  markNotificationRead: (id: string) => void;
+  setSelectedCustoms: (customs: CustomsDeclaration | null) => void;
+  setInspection: (inspection: InspectionState | null) => void;
+  updateInspectionStatus: (status: InspectionState['status']) => void;
+}
+
+export const useAppStore = create<AppState>((set) => ({
+  user: { name: '张三', role: '海关查验员' },
+  notifications: [
+    { id: '1', title: '系统通知', message: '远程查验前端已连接真实后端接口', time: '当前', read: false },
+  ],
+  selectedCustoms: null,
+  inspection: null,
+
+  setUser: (user) => set({ user }),
+  addNotification: (notification) => set((state) => ({ notifications: [notification, ...state.notifications] })),
+  markNotificationRead: (id) => set((state) => ({
+    notifications: state.notifications.map((notification) => (
+      notification.id === id ? { ...notification, read: true } : notification
+    )),
+  })),
+  setSelectedCustoms: (selectedCustoms) => set({ selectedCustoms }),
+  setInspection: (inspection) => set({ inspection }),
+  updateInspectionStatus: (status) => set((state) => ({
+    inspection: state.inspection ? { ...state.inspection, status } : null,
+  })),
+}));

public-frontend/src/types/index.ts

@@ -0,0 +1,150 @@
+export interface User {
+  name: string;
+  role: string;
+}
+
+export interface Notification {
+  id: string;
+  title: string;
+  message: string;
+  time: string;
+  read: boolean;
+}
+
+export type CustomsStatus = 'pending' | 'released' | 'abnormal' | 'inspecting';
+export type MissionRuntimeState = 'idle' | 'running' | 'paused' | 'completed';
+export type DeviceStatus = 'online' | 'offline';
+
+export interface InspectionItem {
+  inventoryCode: string;
+  inventoryName: string;
+  spec: string;
+  quantify: number;
+  inspected: number;
+}
+
+export interface CustomsDeclaration {
+  id: string;
+  customsId: string;
+  customsName: string;
+  status: CustomsStatus;
+  machineCount: number;
+  createdAt: string;
+  items: InspectionItem[];
+  raw?: unknown;
+}
+
+export interface CustomsStats {
+  pendingCount: number;
+  releasedToday: number;
+  inspectingCount: number;
+  abnormalCount: number;
+}
+
+export interface ActivityItem {
+  id: string;
+  time: string;
+  type: 'start' | 'success' | 'info' | 'warning';
+  message: string;
+}
+
+export interface CameraInfo {
+  id: string;
+  name: string;
+  location: string;
+  streamUrl: string;
+  status: DeviceStatus;
+  category: 'overview' | 'agv' | 'operation';
+  placeholder?: boolean;
+}
+
+export interface InspectionIssue {
+  id: string;
+  time: string;
+  description: string;
+  severity: 'warning' | 'error';
+  status: 'pending' | 'disposed' | 'cancelled';
+  disposedAt?: string;
+  disposedBy?: string;
+}
+
+export interface InspectionState {
+  customsId: string;
+  customsName: string;
+  status: MissionRuntimeState;
+  items: InspectionItem[];
+  startedAt: number;
+}
+
+export interface MachineImageItem {
+  id: string;
+  url: string;
+  thumbnailUrl: string;
+  name: string;
+  createdAt: string;
+}
+
+export interface InspectionRecord {
+  id: string;
+  time: string;
+  operator: string;
+  result: string;
+  remark: string;
+}
+
+export interface MachineDetail {
+  serialNumber: string;
+  modelName: string;
+  modelId: string;
+  customsId: string;
+  customsName: string;
+  status: CustomsStatus;
+  specs: Record<string, string>;
+  createdAt: string;
+  images: {
+    incomingInspection: MachineImageItem[];
+    startupTestSample: MachineImageItem[];
+    productionOrder: MachineImageItem[];
+    robotInspection: MachineImageItem[];
+  };
+  inspectionRecords: InspectionRecord[];
+  raw?: unknown;
+}
+
+export interface SystemStatus {
+  state: 'idle' | 'setting' | 'running' | 'paused';
+  agvConnected: boolean;
+  armConnected: boolean;
+  cameraOpened: boolean;
+  armCameraOpened: boolean;
+  mapLoaded: boolean;
+  pointsCount: number;
+  modelsCount: number;
+  machinesCount: number;
+  hasAgvCamera: boolean;
+  hasArmCamera: boolean;
+}
+
+export interface MissionStateResponse {
+  state: 'idle' | 'setting' | 'running' | 'paused';
+  inspection: InspectionState | null;
+  rows?: number;
+  cols?: number;
+  tasks?: unknown[];
+  log?: unknown[];
+  errorMsg?: string;
+  waitingStep?: boolean;
+  waitingError?: boolean;
+}
+
+export interface ApiMode {
+  testMode: boolean;
+  baseUrl: string;
+  label: string;
+}
+
+export interface RecentMachineQuery {
+  serialNumber: string;
+  name: string;
+  time: string;
+}

public-frontend/tsconfig.json

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

pyproject.toml

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

restart_agv.sh

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

scan_fixer/clock_publisher.py

@@ -0,0 +1,68 @@
+#!/usr/bin/env python3
+"""系统时钟发布器。
+
+向 /clock 持续发布系统时间，配合 Nav2 的 use_sim_time 配置，避免 AGV
+节点、雷达节点和导航栈之间出现时间源不一致。
+"""
+import os
+import sys
+
+import rclpy
+from rclpy.node import Node
+from rosgraph_msgs.msg import Clock
+
+
+LOCKFILE = "/tmp/clock_publisher.lock"
+PUBLISH_INTERVAL_SECONDS = 0.01
+LOG_INTERVAL_COUNT = 1000
+
+
+def ensure_single_instance(lockfile: str) -> None:
+    if os.path.exists(lockfile):
+        with open(lockfile) as f:
+            old_pid = int(f.read().strip())
+        try:
+            os.kill(old_pid, 0)
+            print(f"Another clock_publisher running PID {old_pid}, exit.", file=sys.stderr)
+            sys.exit(1)
+        except (OSError, ProcessLookupError):
+            print(f"Stale lock removed (PID {old_pid} dead)", file=sys.stderr)
+
+    with open(lockfile, "w") as f:
+        f.write(str(os.getpid()))
+
+
+class SystemClockPublisher(Node):
+    def __init__(self):
+        super().__init__("system_clock_publisher")
+        self.publisher = self.create_publisher(Clock, "/clock", 10)
+        self.timer = self.create_timer(PUBLISH_INTERVAL_SECONDS, self.publish_clock)
+        self.count = 0
+        self.get_logger().info(f"Clock publisher PID={os.getpid()}, publishing at 100Hz")
+
+    def publish_clock(self):
+        message = Clock()
+        message.clock = self.get_clock().now().to_msg()
+        self.publisher.publish(message)
+        self.count += 1
+        if self.count % LOG_INTERVAL_COUNT == 0:
+            self.get_logger().info(f"Published {self.count} clock messages")
+
+
+def main():
+    ensure_single_instance(LOCKFILE)
+    rclpy.init(args=sys.argv[1:])
+    node = SystemClockPublisher()
+    try:
+        rclpy.spin(node)
+    except KeyboardInterrupt:
+        pass
+    finally:
+        node.destroy_node()
+        rclpy.shutdown()
+        if os.path.exists(LOCKFILE):
+            os.remove(LOCKFILE)
+
+
+if __name__ == "__main__":
+    main()

scan_fixer/fix_scan_timestamp_v6.py

@@ -0,0 +1,85 @@
+#!/usr/bin/env python3
+"""激光雷达时间戳动态修正器。
+
+订阅 /scan，将 LaserScan 的 header.stamp 替换为当前 ROS 时间后发布到
+/scan_corrected，保证 AMCL/Costmap 收到的雷达时间戳和 TF 时间同步。
+"""
+import os
+import sys
+
+import rclpy
+from rclpy.node import Node
+from sensor_msgs.msg import LaserScan
+
+
+LOCKFILE = "/tmp/scan_fixer.lock"
+LOG_INTERVAL_COUNT = 200
+
+
+def ensure_single_instance(lockfile: str) -> None:
+    if os.path.exists(lockfile):
+        with open(lockfile) as f:
+            old_pid = int(f.read().strip())
+        try:
+            os.kill(old_pid, 0)
+            print(f"Another fixer running PID {old_pid}, exit.", file=sys.stderr)
+            sys.exit(1)
+        except (OSError, ProcessLookupError):
+            print(f"Stale lock removed (PID {old_pid} dead)", file=sys.stderr)
+
+    with open(lockfile, "w") as f:
+        f.write(str(os.getpid()))
+
+
+def copy_scan_with_current_time(source_scan: LaserScan, node: Node) -> LaserScan:
+    corrected_scan = LaserScan()
+    corrected_scan.header.frame_id = source_scan.header.frame_id
+    corrected_scan.header.stamp = node.get_clock().now().to_msg()
+    corrected_scan.angle_min = source_scan.angle_min
+    corrected_scan.angle_max = source_scan.angle_max
+    corrected_scan.angle_increment = source_scan.angle_increment
+    corrected_scan.time_increment = source_scan.time_increment
+    corrected_scan.scan_time = source_scan.scan_time
+    corrected_scan.range_min = source_scan.range_min
+    corrected_scan.range_max = source_scan.range_max
+    corrected_scan.ranges = source_scan.ranges
+    corrected_scan.intensities = source_scan.intensities
+    return corrected_scan
+
+
+def main():
+    ensure_single_instance(LOCKFILE)
+    rclpy.init(args=sys.argv[1:])
+    node = Node("scan_timestamp_fixer")
+    publisher = node.create_publisher(LaserScan, "/scan_corrected", 10)
+    count = 0
+    first_timestamp = None
+
+    def on_scan(scan: LaserScan):
+        nonlocal count, first_timestamp
+        count += 1
+        if first_timestamp is None:
+            first_timestamp = scan.header.stamp.sec
+            node.get_logger().info(f"First /scan timestamp: {first_timestamp}")
+
+        publisher.publish(copy_scan_with_current_time(scan, node))
+        if count % LOG_INTERVAL_COUNT == 0:
+            node.get_logger().info(f"#{count} republished with current time")
+
+    node.create_subscription(LaserScan, "/scan", on_scan, 10)
+    node.get_logger().info(f"Fixer v6 PID={os.getpid()}, using current system time")
+
+    try:
+        while rclpy.ok():
+            rclpy.spin_once(node, timeout_sec=0.1)
+    except KeyboardInterrupt:
+        pass
+    finally:
+        node.destroy_node()
+        rclpy.shutdown()
+        if os.path.exists(LOCKFILE):
+            os.remove(LOCKFILE)
+
+
+if __name__ == "__main__":
+    main()

scripts/README.md

@@ -0,0 +1,104 @@
+# AGV 智能巡检系统 — 脚本说明
+
+## 目录结构
+
+```
+scripts/
+├── prod-backend.sh       ← 生产环境完整启动（ROS2 + Nav2 + Flask）
+├── stop_all.sh           ← 生产环境完整停止
+├── dev-backend.sh        ← 本地后端开发启动（Mock 硬件模式）
+├── dev-frontend.sh       ← 本地前端开发启动
+└── stop.sh               ← 停止本地开发服务
+```
+
+`scan_fixer/` 是生产启动链路的一部分：`clock_publisher.py` 发布 `/clock`，
+`fix_scan_timestamp_v6.py` 将 `/scan` 重发为 `/scan_corrected`，供 Nav2/AMCL 使用。
+
+## 使用场景
+
+### 0. 初始化 Python 环境
+
+项目使用 `uv` 统一管理 Python 虚拟环境，依赖声明在仓库根目录 `pyproject.toml`，锁定版本在 `uv.lock`。
+
+```bash
+# 如系统尚未安装 uv，先安装 uv
+curl -LsSf https://astral.sh/uv/install.sh | sh
+
+# 在仓库根目录执行
+cd ~/work/smart-inspection
+uv sync
+```
+
+`uv sync` 会按 `.python-version` 创建 Python 3.10 虚拟环境到 `.venv`。ROS2 Humble 仍使用系统环境 `/opt/ros/humble`，不要把 ROS2 系统包写入 `pyproject.toml`。
+
+系统依赖仍需通过系统包管理器安装：
+
+```bash
+sudo apt install -y ffmpeg libzbar0
+```
+
+### 1. 首次开机 / 完整重启
+```bash
+# 在 AGV 上执行
+cd ~/work/smart-inspection
+./scripts/stop_all.sh    # 先彻底清理
+./scripts/prod-backend.sh # 完整启动
+```
+
+### 2. 修改代码后重新启动生产后端
+```bash
+# 部署文件到 AGV 后
+ssh elephant@192.168.60.80 'cd ~/work/smart-inspection && ./scripts/prod-backend.sh'
+```
+
+### 3. 本地开发调试（不连硬件）
+```bash
+# 在本机执行，仅启动 Mock 后端
+./scripts/dev-backend.sh
+# 访问 http://127.0.0.1:5000
+```
+
+### 4. 本地前端开发
+```bash
+./scripts/dev-frontend.sh
+```
+
+## 环境变量
+
+所有脚本支持通过环境变量覆盖默认路径：
+
+| 变量 | 默认值 | 说明 |
+|------|--------|------|
+| `AGV_PROJECT_DIR` | `/home/elephant/work/smart-inspection` | 仓库根目录 |
+| `AGV_APP_DIR` | `$AGV_PROJECT_DIR/agv_app` | Flask 应用目录 |
+| `AGV_ROS2_DIR` | `/home/elephant/agv_pro_ros2` | ROS2 工作空间 |
+| `ROS_SETUP` | `/opt/ros/humble/setup.bash` | ROS2 环境脚本 |
+| `ROS_WORKSPACE_SETUP` | `$AGV_ROS2_DIR/install/setup.bash` | ROS2 工作空间环境脚本 |
+| `SCAN_FIXER_DIR` | `$AGV_PROJECT_DIR/scan_fixer` | 时间戳修正工具目录 |
+| `LOG_DIR` | `/tmp` | 日志目录 |
+| `FASTRTPS_SHM_DIR` | `/dev/shm` | FastRTPS 共享内存目录 |
+| `AGV_CONTROLLER_DEVICE` | `/dev/agvpro_controller` | AGV 控制器设备 |
+| `ROS_DOMAIN_ID` | `1` | ROS2 通信域 ID |
+
+## 日志位置（AGV 上）
+
+| 组件 | 日志 |
+|------|------|
+| bringup (激光雷达) | `/tmp/ros2_bringup.log` |
+| Nav2 导航 | `/tmp/ros2_nav2.log` |
+| scan fixer | `/tmp/scan_fixer.log` |
+| Flask | `/tmp/agv_flask.log` |
+
+## 机械臂端
+
+机械臂 (Pi) 的启动由 systemd 托管，在 Pi 上执行：
+
+```bash
+cd ~/work/smart-inspection
+uv sync
+sudo systemctl start arm_server     # 启动
+sudo systemctl status arm_server    # 查看状态
+sudo systemctl enable arm_server    # 开机自启
+```
+
+配置见 `arm_server/arm_server.service`。

scripts/dev-backend.sh

@@ -0,0 +1,32 @@
+#!/bin/bash
+# ============================================================
+# dev-backend.sh - 本地后端开发启动（Mock 硬件模式）
+# 用法: ./scripts/dev-backend.sh
+# 说明: 启动 Flask 后端，使用 Mock 硬件实现，无需真实硬件
+# ============================================================
+set -e
+
+SCRIPT_DIR="$(cd "$(dirname "$0")" && pwd)"
+PROJECT_DIR="$(dirname "$SCRIPT_DIR")"
+AGV_APP_DIR="$PROJECT_DIR/agv_app"
+
+echo "=========================================="
+echo "  本地开发模式 - Flask 后端 (Mock 硬件)"
+echo "=========================================="
+echo ""
+echo "  Mock 硬件模式已启用："
+echo "    - AGV 控制器: Mock"
+echo "    - 机械臂: Mock"
+echo "    - 摄像头: Mock"
+echo "    - Nav2 导航: Mock"
+echo ""
+echo "  访问: http://127.0.0.1:5000"
+echo "  Ctrl+C 停止"
+echo ""
+
+# 设置环境变量启用 Mock 模式
+export MOCK_HARDWARE=1
+export FLASK_PORT=5000
+
+cd "$AGV_APP_DIR"
+exec uv run --locked python app.py

scripts/dev-frontend.sh

@@ -0,0 +1,26 @@
+#!/bin/bash
+# ============================================================
+# dev-frontend.sh - 前端开发启动
+# 用法: ./scripts/dev-frontend.sh
+# 说明: 启动 Next.js 开发服务器，API 代理到后端
+# ============================================================
+set -e
+
+SCRIPT_DIR="$(cd "$(dirname "$0")" && pwd)"
+FRONTEND_DIR="$SCRIPT_DIR/../public-frontend"
+
+echo "=========================================="
+echo "  前端开发模式 - Next.js"
+echo "=========================================="
+echo ""
+echo "  后端 URL: ${BACKEND_URL:-http://127.0.0.1:5000}"
+echo "  访问: http://localhost:3000"
+echo "  Ctrl+C 停止"
+echo ""
+
+# 确保后端 URL 设置（默认本地）
+export BACKEND_URL=${BACKEND_URL:-http://127.0.0.1:5000}
+export NEXT_PUBLIC_BACKEND_URL=${BACKEND_URL}
+
+cd "$FRONTEND_DIR"
+exec npm run dev

scripts/prod-backend.sh

@@ -0,0 +1,259 @@
+#!/bin/bash
+# ============================================================
+# Robot AGV 全量启动脚本 v5.0
+# 修复：
+#   - v5.0: 使用公共库重构，减少代码重复
+#   - v4.0: 彻底杀死 ros2 daemon 进程 + 启动前进程数量检查
+#   - v3.0: 彻底清理 FastRTPS 共享内存文件（永久修复 DDS 通信问题）
+#   - v2.7: 添加 ROS_DOMAIN_ID 环境变量传递
+#   - v2.6: 清理 scan_fixer lock 文件防残留
+# ============================================================
+set -euo pipefail
+
+# 加载公共库
+SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+source "$SCRIPT_DIR/ros-common.sh"
+
+# ============================================================================
+# 主流程
+# ============================================================================
+
+section "Robot AGV 全量启动 v5.0"
+
+# ============================================================================
+# 1. 清理旧环境
+# ============================================================================
+step "1/8" "清理旧进程和共享内存"
+
+kill_all_soft
+kill_all_hard
+stop_ros2_daemon
+cleanup_fastrtps
+
+# 验证进程已停止
+echo "   验证进程停止..."
+PROC_COUNT=$(count_residual_processes)
+echo "   残留进程数: $PROC_COUNT"
+if [ "$PROC_COUNT" -gt 0 ]; then
+    echo "   [WARN] 仍有进程残留，再次强制终止..."
+    kill_all_hard
+    PROC_COUNT=$(count_residual_processes)
+    echo "   清理后残留: $PROC_COUNT"
+fi
+info "ok" "清理完成"
+
+# ============================================================================
+# 2. 启动 ros2 daemon
+# ============================================================================
+step "2/8" "启动 ros2 daemon"
+rm -rf "$FASTRTPS_SHM_DIR"/fastrtps_* 2>/dev/null || true
+start_ros2_daemon || true
+
+# ============================================================================
+# 3. 启动 bringup (含激光雷达)
+# ============================================================================
+step "3/8" "启动 AGV Bringup"
+cd "$AGV_ROS2_DIR"
+
+rm -rf "$FASTRTPS_SHM_DIR"/fastrtps_* 2>/dev/null || true
+
+nohup bash -c '
+    source "$1" || exit 1
+    source "$2" || exit 1
+    export ROS_DOMAIN_ID="$3"
+    cd "$4" || exit 1
+    ros2 launch agv_pro_bringup agv_pro_bringup.launch.py port_name:="$5"
+' _ "$ROS_SETUP" "$ROS_WORKSPACE_SETUP" "$ROS_DOMAIN_ID" "$AGV_ROS2_DIR" "$AGV_CONTROLLER_DEVICE" \
+    > "$BRINGUP_LOG" 2>&1 &
+BRINGUP_PID=$!
+echo "   bringup PID: $BRINGUP_PID"
+
+# 等待 /odom 话题
+wait_for_topic /odom 40 || show_log_tail "$BRINGUP_LOG"
+
+# ============================================================================
+# 4. 启动系统时钟发布器
+# ============================================================================
+step "4/8" "启动系统时钟发布器 (clock_publisher)"
+
+nohup bash -c "source \"$ROS_SETUP\" && \
+    ROS_DOMAIN_ID=$ROS_DOMAIN_ID python3 \"$SCAN_FIXER_DIR/clock_publisher.py\"" \
+    > "$CLOCK_LOG" 2>&1 &
+CLOCK_PID=$!
+echo "   clock_publisher PID: $CLOCK_PID"
+sleep 2
+
+wait_for_topic /clock 10 || show_log_tail "$CLOCK_LOG"
+
+# ============================================================================
+# 5. 启动激光时间戳修正节点
+# ============================================================================
+step "5/8" "启动激光时间戳修正节点"
+
+# 先等待 /scan 话题
+if ! wait_for_topic /scan 20; then
+    echo "   [WARN] /scan 未上线，检查 bringup 日志"
+fi
+
+nohup bash -c "source \"$ROS_SETUP\" && \
+    ROS_DOMAIN_ID=$ROS_DOMAIN_ID python3 \"$SCAN_FIXER_DIR/fix_scan_timestamp_v6.py\"" \
+    > "$SCAN_FIXER_LOG" 2>&1 &
+FIXER_PID=$!
+echo "   fix_scan_timestamp PID: $FIXER_PID"
+sleep 5
+
+# 检查是否有多个 fixer 进程
+FIXER_COUNT=$(count_matching_processes "fix_scan_timestamp")
+if [ "$FIXER_COUNT" -gt 1 ]; then
+    echo "   [WARN] 发现 $FIXER_COUNT 个 fixer 进程，重启..."
+    pkill -f "fix_scan_timestamp" 2>/dev/null || true
+    pkill -f "clock_publisher" 2>/dev/null || true
+    sleep 2
+    rm -f /tmp/scan_fixer.lock
+    nohup bash -c "source \"$ROS_SETUP\" && \
+        ROS_DOMAIN_ID=$ROS_DOMAIN_ID python3 \"$SCAN_FIXER_DIR/fix_scan_timestamp_v6.py\"" \
+        > "$SCAN_FIXER_LOG" 2>&1 &
+    FIXER_PID=$!
+    sleep 3
+fi
+
+wait_for_topic /scan_corrected 15 || show_log_tail "$SCAN_FIXER_LOG"
+
+# ============================================================================
+# 6. 启动 Nav2
+# ============================================================================
+step "6/8" "启动 Nav2 导航"
+
+nohup bash -c "source \"$ROS_SETUP\" && source \"$ROS_WORKSPACE_SETUP\" && \
+    export ROS_DOMAIN_ID=$ROS_DOMAIN_ID && \
+    ros2 launch agv_pro_navigation2 navigation2_active.launch.py autostart:=True use_rviz:=False" \
+    > "$NAV2_LOG" 2>&1 &
+NAV2_PID=$!
+echo "   Nav2 PID: $NAV2_PID"
+sleep 12
+
+echo "   等待 Nav2 节点就绪..."
+wait_for_nodes 'lifecycle_manager_navigation|bt_navigator|controller_server' 3 45 || true
+
+# ============================================================================
+# 7. 设置精度参数
+# ============================================================================
+step "7/8" "设置导航精度参数 (xy_goal_tolerance=0.05m)"
+
+for NODE in /controller_server /bt_navigator /planner_server; do
+    ros2_exec timeout 1 ros2 param set $NODE general_goal_checker.xy_goal_tolerance 0.05 2>/dev/null || true
+    ros2_exec timeout 1 ros2 param set $NODE general_goal_checker.yaw_goal_tolerance 0.05 2>/dev/null || true
+done
+ros2_exec timeout 1 ros2 param set /controller_server FollowPath.xy_goal_tolerance 0.05 2>/dev/null || true
+ros2_exec timeout 1 ros2 param set /controller_server general_goal_checker.stateful True 2>/dev/null || true
+ros2_exec timeout 1 ros2 param set /controller_server FollowPath.stateful True 2>/dev/null || true
+
+info "ok" "精度参数已设置"
+
+# ============================================================================
+# 8. 启动 Flask API
+# ============================================================================
+step "8/8" "启动 Flask API"
+
+cd "$AGV_APP_DIR"
+UV_EXECUTABLE=$(resolve_uv_bin || true)
+FLASK_PID=""
+if [ -z "$UV_EXECUTABLE" ]; then
+    echo "   [ERROR] 未找到 uv，可设置 UV_BIN=/path/to/uv"
+else
+    nohup bash -c '
+        source "$1" || exit 1
+        source "$2" || exit 1
+        export ROS_DOMAIN_ID="$3"
+        cd "$4" || exit 1
+        exec "$5" run --locked python app.py
+    ' _ "$ROS_SETUP" "$ROS_WORKSPACE_SETUP" "$ROS_DOMAIN_ID" "$AGV_APP_DIR" "$UV_EXECUTABLE" \
+        > "$FLASK_LOG" 2>&1 &
+    FLASK_PID=$!
+    echo "   Flask PID: $FLASK_PID"
+fi
+sleep 4
+
+# ============================================================================
+# 9. 最终验证
+# ============================================================================
+section "系统全面验证"
+
+# 验证话题数量
+echo ""
+echo "验证 ros2 topic list..."
+TOPIC_COUNT=$(ros2_topic_count 5)
+echo "   话题数量: $TOPIC_COUNT"
+if [ "$TOPIC_COUNT" -gt 10 ]; then
+    info "ok" "ros2 daemon 正常 (${TOPIC_COUNT} 个话题)"
+else
+    info "err" "ros2 topic list 异常 (${TOPIC_COUNT} 个话题，可能 DDS 有问题)"
+    echo "   手动执行: rm -rf \"$FASTRTPS_SHM_DIR\"/fastrtps_* && ros2 daemon stop && ros2 daemon start"
+fi
+
+# 验证关键话题
+echo ""
+echo "验证关键话题..."
+for TOPIC in /odom /scan /cmd_vel /tf /clock /scan_corrected; do
+    if topic_exists "$TOPIC"; then
+        info "ok" "$TOPIC"
+    else
+        info "warn" "$TOPIC 未找到"
+    fi
+done
+
+# 验证进程数量
+echo ""
+echo "验证进程数量..."
+BRINGUP_PROCS=$(count_matching_processes 'agv_pro_node|lslidar_driver_node')
+echo "   AGV 核心进程: $BRINGUP_PROCS (应为 2)"
+if [ "$BRINGUP_PROCS" -eq 2 ]; then
+    info "ok" "进程数量正常（无重复）"
+elif [ "$BRINGUP_PROCS" -gt 2 ]; then
+    info "warn" "发现 $BRINGUP_PROCS 个核心进程（可能有残留），建议重启"
+else
+    info "warn" "进程数量异常"
+fi
+
+# FastRTPS 共享内存状态
+echo ""
+echo "FastRTPS 共享内存状态:"
+FASTRTPS_NEW=$(count_fastrtps_files)
+echo "   当前文件数: $FASTRTPS_NEW (正常运行时会有一些)"
+
+# Flask API 状态
+echo ""
+echo "验证 Flask API..."
+if pgrep -f "app.py" >/dev/null 2>&1; then
+    info "ok" "Flask 进程运行中"
+else
+    info "err" "Flask 未运行"
+fi
+
+# ============================================================================
+# 完成
+# ============================================================================
+section "[OK] 启动完成"
+echo ""
+echo "  进程状态:"
+for proc_info in "bringup:$BRINGUP_PID" "Nav2:$NAV2_PID" "fixer:$FIXER_PID" "Flask:$FLASK_PID"; do
+    name="${proc_info%%:*}"
+    pid="${proc_info##*:}"
+    if [ -n "$pid" ] && ps -p "$pid" >/dev/null 2>&1; then
+        echo "    $name : 运行中 (PID: $pid)"
+    else
+        echo "    $name : 已退出"
+    fi
+done
+echo ""
+echo "  日志文件:"
+echo "    bringup  : $BRINGUP_LOG"
+echo "    Nav2     : $NAV2_LOG"
+echo "    fixer    : $SCAN_FIXER_LOG"
+echo "    Flask    : $FLASK_LOG"
+echo ""
+echo "  如果仍有问题，请依次执行："
+echo "    1. ./scripts/stop_all.sh"
+echo "    2. rm -rf \"$FASTRTPS_SHM_DIR\"/fastrtps_*"
+echo "    3. ./scripts/prod-backend.sh"
+echo ""

scripts/ros-common.sh

@@ -0,0 +1,358 @@
+#!/bin/bash
+# ROS AGV 公共库
+# 提供生产脚本共享的配置、清理与验证函数
+
+set -euo pipefail
+
+# ============================================================================
+# 配置（可通过环境变量覆盖）
+# ============================================================================
+readonly AGV_PROJECT_DIR="${AGV_PROJECT_DIR:-$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)}"
+readonly AGV_APP_DIR="${AGV_APP_DIR:-$AGV_PROJECT_DIR/agv_app}"
+readonly AGV_ROS2_DIR="${AGV_ROS2_DIR:-$HOME/agv_pro_ros2}"
+readonly ROS_SETUP="${ROS_SETUP:-/opt/ros/humble/setup.bash}"
+readonly ROS_WORKSPACE_SETUP="${ROS_WORKSPACE_SETUP:-$AGV_ROS2_DIR/install/setup.bash}"
+readonly SCAN_FIXER_DIR="${SCAN_FIXER_DIR:-$AGV_PROJECT_DIR/scan_fixer}"
+readonly LOG_DIR="${LOG_DIR:-/tmp}"
+readonly FASTRTPS_SHM_DIR="${FASTRTPS_SHM_DIR:-/dev/shm}"
+readonly AGV_CONTROLLER_DEVICE="${AGV_CONTROLLER_DEVICE:-/dev/agvpro_controller}"
+readonly UV_BIN="${UV_BIN:-}"
+export ROS_DOMAIN_ID="${ROS_DOMAIN_ID:-1}"
+
+# 日志文件
+readonly BRINGUP_LOG="$LOG_DIR/ros2_bringup.log"
+readonly NAV2_LOG="$LOG_DIR/ros2_nav2.log"
+readonly CLOCK_LOG="$LOG_DIR/clock_publisher.log"
+readonly SCAN_FIXER_LOG="$LOG_DIR/scan_fixer.log"
+readonly FLASK_LOG="$LOG_DIR/agv_flask.log"
+
+# ============================================================================
+# 进程管理
+# ============================================================================
+
+# ROS 相关进程列表（用于清理）
+readonly ROS_PROCESSES=(
+    "ros2 launch agv_pro_bringup"
+    "ros2 launch agv_pro_navigation2"
+    "agv_pro_node"
+    "lslidar_driver_node"
+    "component_container"
+    "robot_state_publisher"
+    "fix_scan_timestamp"
+    "clock_publisher"
+    "python.*app.py"
+    "uv run .*python app.py"
+)
+
+# 软杀所有进程
+kill_all_soft() {
+    echo "   软杀进程中..."
+    for proc in "${ROS_PROCESSES[@]}"; do
+        pkill -f "$proc" 2>/dev/null || true
+    done
+    sleep 2
+}
+
+# 硬杀所有进程
+kill_all_hard() {
+    echo "   强制终止中..."
+    for proc in "${ROS_PROCESSES[@]}"; do
+        pkill -9 -f "$proc" 2>/dev/null || true
+    done
+    sleep 1
+}
+
+# 统计匹配进程数
+count_matching_processes() {
+    local pattern=$1
+    local current_pid=$$
+    local shell_pid=$BASHPID
+    local parent_pid=$PPID
+    local count=0
+    local pid
+    local args
+
+    while read -r pid args; do
+        if [ -z "${pid:-}" ]; then
+            continue
+        fi
+        if [ "$pid" = "$current_pid" ] || [ "$pid" = "$shell_pid" ] || [ "$pid" = "$parent_pid" ]; then
+            continue
+        fi
+        if [[ "${args:-}" =~ $pattern ]]; then
+            count=$((count + 1))
+        fi
+    done < <(ps -eo pid=,args=)
+
+    echo "$count"
+}
+
+# 统计残留进程数
+count_residual_processes() {
+    count_matching_processes "agv_pro_node|lslidar_driver_node|component_container|fix_scan_timestamp|clock_publisher|app.py|ros2-daemon"
+}
+
+# ============================================================================
+# FastRTPS 清理
+# ============================================================================
+
+# 清理 FastRTPS 共享内存
+cleanup_fastrtps() {
+    local count
+    count=$(count_fastrtps_files)
+
+    if [ "$count" -gt 0 ]; then
+        rm -rf "$FASTRTPS_SHM_DIR"/fastrtps_*
+        echo "   已清理 $count 个 FastRTPS 文件"
+    else
+        echo "   无 FastRTPS 文件残留"
+    fi
+
+    # 清理锁文件
+    rm -f /tmp/scan_fixer.lock /tmp/clock_publisher.lock
+}
+
+# 统计 FastRTPS 文件数
+count_fastrtps_files() (
+    shopt -s nullglob
+    local files=("$FASTRTPS_SHM_DIR"/fastrtps_*)
+    echo "${#files[@]}"
+)
+
+# 载入 ROS2 环境后执行命令
+ros2_exec() {
+    bash -c '
+        source "$1" || exit 1
+        if [ -f "$2" ]; then
+            source "$2" || exit 1
+        fi
+        export ROS_DOMAIN_ID="$3"
+        shift 3
+        "$@"
+    ' _ "$ROS_SETUP" "$ROS_WORKSPACE_SETUP" "$ROS_DOMAIN_ID" "$@"
+}
+
+resolve_uv_bin() {
+    if [ -n "$UV_BIN" ]; then
+        if [ -x "$UV_BIN" ]; then
+            echo "$UV_BIN"
+            return 0
+        fi
+        return 1
+    fi
+
+    local candidate
+    candidate=$(command -v uv 2>/dev/null || true)
+    if [ -n "$candidate" ]; then
+        echo "$candidate"
+        return 0
+    fi
+
+    for candidate in "$HOME/.local/bin/uv" "$HOME/.cargo/bin/uv"; do
+        if [ -x "$candidate" ]; then
+            echo "$candidate"
+            return 0
+        fi
+    done
+
+    return 1
+}
+
+# ============================================================================
+# ROS2 环境操作
+# ============================================================================
+
+ros2_topic_list() {
+    ros2_exec ros2 topic list 2>/dev/null || true
+}
+
+ros2_topic_count() {
+    local topics
+    topics=$(ros2_exec timeout "${1:-5}" ros2 topic list 2>/dev/null || true)
+    if [ -z "$topics" ]; then
+        echo 0
+    else
+        printf '%s\n' "$topics" | sed '/^$/d' | wc -l
+    fi
+}
+
+topic_exists() {
+    ros2_topic_list | grep -Fxq "$1"
+}
+
+# 启动 ROS2 daemon
+start_ros2_daemon() {
+    echo "   启动 ros2 daemon..."
+    rm -rf "$FASTRTPS_SHM_DIR"/fastrtps_* 2>/dev/null || true
+
+    nohup bash -c '
+        source "$1" || exit 1
+        export ROS_DOMAIN_ID="$2"
+        ros2 daemon start
+    ' _ "$ROS_SETUP" "$ROS_DOMAIN_ID" >/dev/null 2>&1 &
+    sleep 4
+
+    # 等待 daemon 就绪
+    for _ in $(seq 1 5); do
+        if ros2_exec timeout 3 ros2 topic list &>/dev/null; then
+            echo "   [OK] ros2 daemon 已就绪"
+            return 0
+        fi
+        sleep 2
+    done
+    echo "   [WARN] ros2 daemon 可能有问题"
+    return 1
+}
+
+# 停止 ROS2 daemon
+stop_ros2_daemon() {
+    echo "   重置 ros2 daemon..."
+    pkill -f "ros2-daemon" 2>/dev/null || true
+    pkill -9 -f "ros2-daemon" 2>/dev/null || true
+    sleep 2
+
+    bash -c '
+        source "$1" || exit 0
+        export ROS_DOMAIN_ID="$2"
+        ros2 daemon stop
+    ' _ "$ROS_SETUP" "$ROS_DOMAIN_ID" 2>/dev/null || true
+    echo "   [OK] ros2 daemon 已重置"
+}
+
+# ============================================================================
+# 等待/验证函数
+# ============================================================================
+
+# 等待话题出现
+# 用法: wait_for_topic <话题名> <最大等待秒数>
+wait_for_topic() {
+    local topic=$1
+    local max_wait=${2:-30}
+    local elapsed=0
+
+    while [ "$elapsed" -lt "$max_wait" ]; do
+        if topic_exists "$topic"; then
+            echo "   [OK] $topic 已上线"
+            return 0
+        fi
+        sleep 2
+        elapsed=$((elapsed + 2))
+    done
+    echo "   [WARN] $topic 未在 $max_wait 秒内上线"
+    return 1
+}
+
+# 等待节点出现（匹配数量）
+# 用法: wait_for_nodes <节点模式> <期望数量> <最大等待秒数>
+wait_for_nodes() {
+    local pattern=$1
+    local expected=$2
+    local max_wait=${3:-30}
+    local elapsed=0
+    local count=0
+
+    while [ "$elapsed" -lt "$max_wait" ]; do
+        local nodes
+        nodes=$(ros2_exec timeout 8 ros2 node list --no-daemon --spin-time 3 2>/dev/null || true)
+        count=$(printf '%s\n' "$nodes" | grep -cE "$pattern" || true)
+        if [ "$count" -ge "$expected" ]; then
+            echo "   [OK] 已检测到 $count 个节点"
+            return 0
+        fi
+        sleep 2
+        elapsed=$((elapsed + 2))
+    done
+    echo "   [WARN] 仅检测到 $count 个节点（期望 $expected 个）"
+    return 1
+}
+
+# ============================================================================
+# 日志/输出辅助
+# ============================================================================
+
+# 打印分节标题
+section() {
+    echo ""
+    echo "=========================================="
+    echo "  $1"
+    echo "=========================================="
+}
+
+# 打印步骤
+step() {
+    echo ""
+    echo "[$1] $2"
+}
+
+# 打印带状态的信息
+info() {
+    local status=$1
+    local msg=$2
+    if [ "$status" = "ok" ]; then
+        echo "   [OK] $msg"
+    elif [ "$status" = "warn" ]; then
+        echo "   [WARN] $msg"
+    elif [ "$status" = "err" ]; then
+        echo "   [ERROR] $msg"
+    else
+        echo "   $msg"
+    fi
+}
+
+# 显示日志尾部
+show_log_tail() {
+    local log_file=$1
+    local lines=${2:-5}
+    if [ -f "$log_file" ]; then
+        echo "   --- 日志尾部 ($log_file) ---"
+        tail -"$lines" "$log_file" 2>/dev/null | sed 's/^/   /' || true
+    fi
+}
+
+# ============================================================================
+# 完整清理流程
+# ============================================================================
+
+# 执行完整清理（供 stop_all.sh 使用）
+full_cleanup() {
+    section "Robot AGV 全量停止"
+
+    step "1/5" "软杀所有相关进程"
+    kill_all_soft
+
+    step "2/5" "强制终止残留进程"
+    kill_all_hard
+
+    step "3/5" "重置 ros2 daemon"
+    stop_ros2_daemon
+
+    step "4/5" "清理 FastRTPS 共享内存"
+    cleanup_fastrtps
+
+    step "5/5" "验证清理结果"
+    local proc_count=$(count_residual_processes)
+    local fastrtps_left=$(count_fastrtps_files)
+
+    echo "   残留进程数: $proc_count"
+    echo "   FastRTPS 文件数: $fastrtps_left"
+
+    if [ "$proc_count" -eq 0 ] && [ "$fastrtps_left" -eq 0 ]; then
+        section "[OK] 停止完成 - 系统已完全清理"
+    else
+        section "[WARN] 停止完成 - 部分残留可能需要手动清理"
+        echo ""
+        echo "  手动清理命令（如需要）:"
+        echo "    pkill -9 -f 'agv_pro_node|lslidar|component_container'"
+        echo "    pkill -9 -f 'fix_scan_timestamp|app.py'"
+        echo "    pkill -9 -f 'ros2-daemon'"
+        echo "    rm -rf \"$FASTRTPS_SHM_DIR\"/fastrtps_*"
+    fi
+    echo ""
+    echo "  现在可以安全运行 ./scripts/prod-backend.sh"
+    echo ""
+}
+
+# ============================================================================
+# 初始化（确保目录存在）
+# ============================================================================
+mkdir -p "$LOG_DIR"

scripts/stop.sh

@@ -0,0 +1,34 @@
+#!/bin/bash
+# ============================================================
+# stop.sh - 停止开发服务
+# 用法: ./scripts/stop.sh
+# 说明: 停止 Flask 和 Next.js 开发服务器
+# ============================================================
+set -e
+
+echo "=========================================="
+echo "  停止开发服务"
+echo "=========================================="
+echo ""
+
+# 停止 Flask
+if pgrep -f "python.*app.py" > /dev/null 2>&1; then
+    echo "停止 Flask..."
+    pkill -f "python.*app.py" || true
+    pkill -f "uv run .*python app.py" || true
+    echo "  ✓ Flask 已停止"
+else
+    echo "  - Flask 未运行"
+fi
+
+# 停止 Next.js
+if pgrep -f "next dev" > /dev/null 2>&1; then
+    echo "停止 Next.js..."
+    pkill -f "next dev" || true
+    echo "  ✓ Next.js 已停止"
+else
+    echo "  - Next.js 未运行"
+fi
+
+echo ""
+echo "完成"

scripts/stop_all.sh

@@ -0,0 +1,16 @@
+#!/bin/bash
+# ============================================================
+# stop_all.sh - 关闭 AGV 拍摄系统所有相关进程
+# 版本: v3.0
+# 修复:
+#   - v3.0: 使用公共库重构，减少代码重复
+#   - v2.0: 添加 FastRTPS 清理 + ros2 daemon 重置
+# ============================================================
+set -euo pipefail
+
+# 加载公共库
+SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+source "$SCRIPT_DIR/ros-common.sh"
+
+# 执行完整清理
+full_cleanup

shared/config.json

@@ -1,23 +0,0 @@
-{
-  "agv": {
-    "ip": "192.168.60.177",
-    "ssh_user": "elephant",
-    "ssh_password": "Elephant",
-    "map_file": "map.yaml",
-    "map_dir": "/home/elephant"
-  },
-  "arm": {
-    "ip": "192.168.60.88",
-    "ssh_user": "pi",
-    "ssh_password": "elephant",
-    "socket_port": 5001,
-    "roboflow_host": "127.0.0.1",
-    "roboflow_port": 5001
-  },
-  "app": {
-    "upload_url": "https://ts.timeddd.com/prod-api/file/uploadImage",
-    "agv_control_port": 5000,
-    "arm_server_port": 5002,
-    "secret_key": "agv630_secret_key_2024"
-  }
-}

start_agv.sh

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

uv.lock

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