ywb
114 lines
3.4 KiB
Python
114 lines
3.4 KiB
Python
"""
|
||
配置文件 - 所有可配置参数集中管理
|
||
"""
|
||
import os
|
||
|
||
# 基础路径（部署后对应 ~/work/agv_app）
|
||
BASE_DIR = os.path.dirname(os.path.abspath(__file__))
|
||
|
||
# ========== 网络配置（集中管理所有 IP 地址 — 修改此处即可全局生效）==========
|
||
AGV_HOST = "192.168.60.80"
|
||
ARM_HOST = "192.168.60.120"
|
||
|
||
# ========== AGV 参数 ==========
|
||
AGV_CONFIG = {
|
||
"device": "/dev/agvpro_controller",
|
||
"baudrate": 10000000,
|
||
"move_speed": 1.0,
|
||
"turn_speed": 1.0,
|
||
}
|
||
|
||
# ========== 机械臂 TCP 客户端 ==========
|
||
ARM_CONFIG = {
|
||
"host": ARM_HOST,
|
||
"port": 5002,
|
||
"timeout": 8,
|
||
"retry_times": 3,
|
||
"retry_interval": 1,
|
||
}
|
||
|
||
# ========== 地图 ==========
|
||
MAP_CONFIG = {
|
||
"map_dir": "/home/elephant/agv_pro_ros2/src/agv_pro_navigation2/map/",
|
||
"map_file": "map.yaml",
|
||
}
|
||
|
||
# ========== 摄像头 ==========
|
||
CAMERA_CONFIG = {
|
||
"device_index": 4, # AGV 摄像头 video4（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,
|
||
}
|
||
|
||
# ========== 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",
|
||
}
|
||
|
||
# ========== 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": f"{ZHIJIAN_BASE_URL}{API_PREFIX}/file/uploadImage",
|
||
"timeout": 30,
|
||
"max_retries": 3,
|
||
}
|
||
|
||
# ========== Flask 服务器 ==========
|
||
SERVER_CONFIG = {
|
||
"host": "0.0.0.0",
|
||
"port": 5000,
|
||
"secret_key": "agv630_secret_key_2024",
|
||
"debug": False,
|
||
}
|
||
|
||
# ========== 任务配置存储路径 ==========
|
||
DATA_DIR = os.path.join(BASE_DIR, "data")
|
||
os.makedirs(DATA_DIR, exist_ok=True)
|
||
|
||
# ========== 关节角度范围限制 ==========
|
||
JOINT_LIMITS = {
|
||
"J1": (-180.0, 180.0),
|
||
"J2": (-270.0, 90.0),
|
||
"J3": (-150.0, 150.0),
|
||
"J4": (-260.0, 80.0),
|
||
"J5": (-168.0, 168.0),
|
||
"J6": (-174.0, 174.0),
|
||
}
|
||
|
||
# ========== 机械臂默认速度 ==========
|
||
DEFAULT_ARM_SPEED = 1000
|
||
|
||
# ========== 状态定义 ==========
|
||
class State:
|
||
SETTING = "setting"
|
||
RUNNING = "running"
|
||
PAUSED = "paused"
|
||
IDLE = "idle"
|
||
|
||
class PhotoType:
|
||
FRONT = "front"
|
||
BACK = "back"
|
||
NAMEPLATE = "nameplate"
|