ywb
87 lines
2.0 KiB
Python
87 lines
2.0 KiB
Python
"""
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配置文件 - 所有可配置参数集中管理
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"""
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import os
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# 基础路径（部署后对应 ~/work/agv_app）
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BASE_DIR = os.path.dirname(os.path.abspath(__file__))
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# ========== AGV 参数 ==========
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AGV_CONFIG = {
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"device": "/dev/agvpro_controller",
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"baudrate": 10000000,
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"move_speed": 0.5,
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"turn_speed": 0.5,
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}
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# ========== 机械臂 TCP 客户端 ==========
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ARM_CONFIG = {
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"host": "192.168.50.74",
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"port": 5002,
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"timeout": 8,
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"retry_times": 3,
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"retry_interval": 1,
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}
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# ========== 地图 ==========
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MAP_CONFIG = {
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"map_dir": "/home/elephant/agv_pro_ros2/src/agv_pro_navigation2/map/",
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"map_file": "map.yaml",
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}
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# ========== 摄像头 ==========
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CAMERA_CONFIG = {
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"device_index": 4, # AGV 摄像头 video4（标准彩色摄像头，V4L2后端）
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"backend": "v4l2", # 使用 V4L2 后端获取标准彩色格式（640x480）
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"qr_detect_interval": 0.5,
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"capture_delay": 0.5,
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}
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# ========== 机械臂摄像头流 ==========
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ARM_CAMERA_CONFIG = {
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"url": "http://192.168.50.74:5003/api/camera/preview",
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}
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# ========== HTTP 上传 ==========
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UPLOAD_CONFIG = {
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"url": "https://ts.zhijian168.com/prod-api/file/uploadImage",
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"timeout": 30,
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"max_retries": 3,
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}
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# ========== Flask 服务器 ==========
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SERVER_CONFIG = {
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"host": "0.0.0.0",
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"port": 5000,
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"secret_key": "agv630_secret_key_2024",
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"debug": False,
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}
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# ========== 任务配置存储路径 ==========
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DATA_DIR = os.path.join(BASE_DIR, "data")
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os.makedirs(DATA_DIR, exist_ok=True)
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# ========== 关节角度范围限制 ==========
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JOINT_LIMITS = {
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"J1": (-180.0, 180.0),
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"J2": (-270.0, 90.0),
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"J3": (-150.0, 150.0),
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"J4": (-260.0, 80.0),
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"J5": (-168.0, 168.0),
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"J6": (-174.0, 174.0),
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}
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# ========== 机械臂默认速度 ==========
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DEFAULT_ARM_SPEED = 500
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# ========== 状态定义 ==========
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class State:
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SETTING = "setting"
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RUNNING = "running"
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PAUSED = "paused"
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IDLE = "idle"
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class PhotoType:
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FRONT = "front"
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BACK = "back"
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NAMEPLATE = "nameplate" |