QT-CART

QT-Server/dashboard.py

@@ -0,0 +1,62 @@
+from fastapi import APIRouter
+from pydantic import BaseModel
+from datetime import datetime
+
+router = APIRouter(
+    prefix="/dashboard",
+    tags=["Dashboard"]
+)
+
+bot_state = {
+    "status": "OFFLINE",
+    "last_updated": datetime.now(),
+    "battery": 0.0,
+    "speed": 0.0
+}
+
+BOT_TIMEOUT_SEC = 5  # 5초간 보고 없으면 오프라인
+
+class BotReport(BaseModel):
+    status: str
+    battery: float = 0.0
+    speed: float = 0.0
+
+class BotConnectionInfo(BaseModel):
+    bot_status: str
+    battery: float
+    speed: float
+    last_update: str
+
+# 로봇 -> 서버
+@router.post("/bot/report")
+def report_bot_status(report: BotReport):
+    global bot_state
+    bot_state["status"] = report.status
+    bot_state["last_updated"] = datetime.now()
+    bot_state["battery"] = report.battery
+    bot_state["speed"] = report.speed
+    return {"msg": "status report received"}
+
+# 서버 -> 프론트엔드
+@router.get("/bot/check", response_model=BotConnectionInfo)
+def check_bot_connection():
+    global bot_state
+    
+    elapsed = (datetime.now() - bot_state["last_updated"]).total_seconds()
+    
+    current_status = bot_state["status"]
+    if elapsed > BOT_TIMEOUT_SEC:
+        current_status = "OFFLINE"
+        bot_state["speed"] = 0.0
+    
+    return {
+        "bot_status": current_status,
+        "battery": bot_state["battery"],
+        "speed": bot_state["speed"],
+        "last_update": bot_state["last_updated"].strftime("%H:%M:%S")
+    }
+
+# 서버 연결 확인
+@router.get("/health")
+def health_check():
+    return {"status": "ok", "time": datetime.now().isoformat()}

QT-Server/database.py

@@ -0,0 +1,20 @@
+from sqlalchemy import create_engine
+from sqlalchemy.ext.declarative import declarative_base
+from sqlalchemy.orm import sessionmaker
+
+SQLALCHEMY_DATABASE_URL = "sqlite:///./shopping_cart.db"
+
+engine = create_engine(
+    SQLALCHEMY_DATABASE_URL, connect_args={"check_same_thread": False}
+)
+
+SessionLocal = sessionmaker(autocommit=False, autoflush=False, bind=engine)
+
+Base = declarative_base()
+
+def get_db():
+    db = SessionLocal()
+    try:
+        yield db
+    finally:
+        db.close()

QT-Server/hx711.py

@@ -0,0 +1,74 @@
+import lgpio
+import time
+
+
+class HX711:
+    def __init__(self, dout, pd_sck, gain=128):
+        self.DOUT = dout
+        self.PD_SCK = pd_sck
+
+        self.chip = lgpio.gpiochip_open(0)
+
+        lgpio.gpio_claim_input(self.chip, self.DOUT)
+        lgpio.gpio_claim_output(self.chip, self.PD_SCK)
+
+        self.GAIN = 1 if gain == 128 else 3 if gain == 64 else 2
+
+        self.OFFSET = 0
+        self.REFERENCE_UNIT = 1
+
+        self.set_gain(gain)
+
+    def is_ready(self):
+        return lgpio.gpio_read(self.chip, self.DOUT) == 0
+
+    def set_gain(self, gain):
+        if gain == 128:
+            self.GAIN = 1
+        elif gain == 64:
+            self.GAIN = 3
+        elif gain == 32:
+            self.GAIN = 2
+
+        self.read_raw()
+
+    def read_raw(self):
+        while not self.is_ready():
+            pass
+
+        data = 0
+        for _ in range(24):
+            lgpio.gpio_write(self.chip, self.PD_SCK, 1)
+            data = (data << 1) | lgpio.gpio_read(self.chip, self.DOUT)
+            lgpio.gpio_write(self.chip, self.PD_SCK, 0)
+
+        for _ in range(self.GAIN):
+            lgpio.gpio_write(self.chip, self.PD_SCK, 1)
+            lgpio.gpio_write(self.chip, self.PD_SCK, 0)
+
+        if data & 0x800000:
+            data -= 0x1000000
+
+        return data
+
+    def set_offset(self, offset):
+        self.OFFSET = offset
+
+    def set_reference_unit(self, value):
+        self.REFERENCE_UNIT = value
+
+    def get_value(self, times=5):
+        return sum(self.read_raw() for _ in range(times)) / times
+
+    def get_weight(self, times=5):
+        value = self.get_value(times) - self.OFFSET
+        return value / self.REFERENCE_UNIT
+
+    def power_down(self):
+        lgpio.gpio_write(self.chip, self.PD_SCK, 0)
+        lgpio.gpio_write(self.chip, self.PD_SCK, 1)
+        time.sleep(0.0001)
+
+    def power_up(self):
+        lgpio.gpio_write(self.chip, self.PD_SCK, 0)
+        time.sleep(0.0001)

QT-Server/hx711_calib.json

@@ -0,0 +1,4 @@
+{
+    "offset": 449326.96,
+    "scale": 311.0220000000001
+}

QT-Server/hx711_calib.py

@@ -0,0 +1,38 @@
+from hx711 import HX711
+import time, json
+
+DT_PIN = 5
+SCK_PIN = 6
+
+hx = HX711(DT_PIN, SCK_PIN)
+
+print("HX711 보정 시작")
+time.sleep(2)
+
+# 1) 빈 상태
+print("1️⃣ 아무것도 안 올리고 기다리세요...")
+N = 30
+empty = sum(hx.get_value(5) for _ in range(N)) / N
+print("OFFSET =", empty)
+
+known = float(input("2️⃣ 기준 무게(g): "))
+
+print("3️⃣ 기준 무게 올리고 기다리세요...")
+
+raw = sum(hx.get_value(5) for _ in range(N)) / N
+
+scale = (raw - empty) / known
+
+print("\n보정 완료")
+print("offset =", empty)
+print("scale  =", scale)
+
+calib = {
+    "offset": empty,
+    "scale": scale
+}
+
+with open("hx711_calib.json", "w") as f:
+    json.dump(calib, f, indent=4)
+
+print("✔ hx711_calib.json 저장 완료")

QT-Server/hx711_read.py

@@ -0,0 +1,23 @@
+from hx711 import HX711
+import json, time
+
+DT_PIN = 5
+SCK_PIN = 6
+
+with open("hx711_calib.json") as f:
+    calib = json.load(f)
+
+OFFSET = calib["offset"]
+SCALE  = calib["scale"]
+
+hx = HX711(DT_PIN, SCK_PIN)
+
+hx.set_offset(OFFSET)
+hx.set_reference_unit(SCALE)
+
+print(" 무게 측정 시작")
+
+while True:
+    weight = hx.get_weight(10)
+    print(f"무게: {weight:.1f} g")
+    time.sleep(0.5)

QT-Server/main.py

@@ -0,0 +1,200 @@
+import uvicorn
+from fastapi import FastAPI, Depends, HTTPException
+from fastapi.staticfiles import StaticFiles
+from fastapi.responses import FileResponse 
+from sqlalchemy.orm import Session
+from typing import List
+from datetime import datetime
+import models, database
+import dashboard
+import logging
+from read_weight import read_cart_weight
+
+CART_ITEMS = []
+EXPECTED_WEIGHT = 0.0
+
+app = FastAPI()
+models.Base.metadata.create_all(bind=database.engine)
+
+# 대시보드 라우터 등록
+app.include_router(dashboard.router)
+app.mount("/static", StaticFiles(directory="static"), name="static")
+
+def get_db():
+    db = database.SessionLocal()
+    try: yield db
+    finally: db.close()
+
+# 무게 검증 로직 
+def is_movable(expected, real):
+    if expected <= 0: return True
+    diff_ratio = abs(real - expected) / expected
+    return diff_ratio <= 0.2
+
+# 페이지 라우팅
+@app.get("/dashboard")
+async def dashboard_view(): return FileResponse("templates/dashboard.html")
+
+@app.get("/inventory")
+async def inventory_view(): return FileResponse("templates/inventory.html")
+
+# 카트 무게 기준값 설정
+@app.post("/cart/tare")
+def tare_cart():
+    global EXPECTED_WEIGHT
+    EXPECTED_WEIGHT = read_cart_weight()
+    return {"expected_weight": EXPECTED_WEIGHT}
+
+@app.get("/items", response_model=List[models.ItemSchema])
+def read_all_items(db: Session = Depends(get_db)):
+    return db.query(models.Item).all()
+
+# 상품 추가 
+@app.post("/cart/add/{item_id}")
+def add_item(item_id: int, db: Session = Depends(get_db)):
+    global EXPECTED_WEIGHT, CART_ITEMS
+
+    item = db.query(models.Item).filter(models.Item.id == item_id).first()
+    if not item:
+        raise HTTPException(404, "Item not found")
+
+    CART_ITEMS.append({
+        "id": item.id,
+        "name": item.name,
+        "price": item.price,
+        "weight": item.weight
+    })
+
+    EXPECTED_WEIGHT += item.weight
+
+    real = read_cart_weight()
+    movable = is_movable(EXPECTED_WEIGHT, real)
+
+    return {
+        "action": "add",
+        "id": item.id,         
+        "item": item.name,
+        "price": item.price,    
+        "expected_weight": EXPECTED_WEIGHT,
+        "real_weight": real,
+        "diff": abs(real - EXPECTED_WEIGHT),
+        "movable": movable
+    }
+
+# 상품 제거
+@app.post("/cart/remove/{item_id}")
+def remove_item(item_id: int):
+    global EXPECTED_WEIGHT, CART_ITEMS
+
+    for i, item in enumerate(CART_ITEMS):
+        if item["id"] == item_id:
+            removed = CART_ITEMS.pop(i)
+            EXPECTED_WEIGHT -= removed["weight"]
+            break
+    else:
+        raise HTTPException(404, "Item not in cart")
+
+    EXPECTED_WEIGHT = max(EXPECTED_WEIGHT, 0)
+
+    real = read_cart_weight()
+    movable = is_movable(EXPECTED_WEIGHT, real)
+
+    return {
+        "action": "remove",
+        "id": removed["id"],       
+        "item": removed["name"],
+        "price": removed["price"], 
+        "expected_weight": EXPECTED_WEIGHT,
+        "real_weight": real,
+        "movable": movable
+    }
+
+# 장바구니 조회
+@app.get("/cart")
+def get_cart():
+    total_price = sum(item["price"] for item in CART_ITEMS)
+
+    return {
+        "items": CART_ITEMS,
+        "total_count": len(CART_ITEMS),
+        "total_price": total_price,
+        "expected_weight": EXPECTED_WEIGHT
+    }
+
+# 무게 체크
+@app.get("/cart/check_weight")
+def check_cart():
+    real = read_cart_weight()
+    movable = is_movable(EXPECTED_WEIGHT, real)
+
+    return {
+        "expected_weight": EXPECTED_WEIGHT,
+        "real_weight": real,
+        "diff": abs(real - EXPECTED_WEIGHT),
+        "movable": movable
+    }
+
+# 대시보드 상태 조회
+@app.get("/cart/status")
+def get_cart_status_for_dashboard():
+    global EXPECTED_WEIGHT, CART_ITEMS
+    
+    real = read_cart_weight()
+    movable = is_movable(EXPECTED_WEIGHT, real)
+    
+    system_status = "NORMAL" if movable else "WARNING_WEIGHT_MISMATCH"
+    
+    return {
+        "real_weight": real,
+        "expected_weight": EXPECTED_WEIGHT,
+        "cart_items": CART_ITEMS,
+        "total_price": sum(item["price"] for item in CART_ITEMS),
+        "total_count": len(CART_ITEMS),
+        "system_status": system_status,
+        "movable": movable
+    }
+
+# 결제
+@app.post("/cart/pay")
+def pay_cart(db: Session = Depends(get_db)):
+    global CART_ITEMS, EXPECTED_WEIGHT
+    
+    if not CART_ITEMS:
+        raise HTTPException(status_code=400, detail="장바구니가 비어있습니다.")
+
+    total_price = sum(item["price"] for item in CART_ITEMS)
+
+    new_pay = models.Pay(
+        total_price=total_price,
+        created_at=datetime.now()
+    )
+    db.add(new_pay)
+    db.commit()
+
+    reset_cart() 
+
+    return {"msg": "결제 완료", "amount": total_price}
+
+# 결제 내역 조회 
+@app.get("/payments", response_model=List[models.PaySchema])
+def get_payment_history(db: Session = Depends(get_db)):
+    return db.query(models.Pay).order_by(models.Pay.created_at.desc()).all()
+
+# 카트 초기화
+@app.post("/cart/reset")
+def reset_cart():
+    global EXPECTED_WEIGHT, CART_ITEMS
+    EXPECTED_WEIGHT = 0.0
+    CART_ITEMS.clear()
+    return {"ok": True}
+
+# 로그 필터
+class EndpointFilter(logging.Filter):
+    def filter(self, record: logging.LogRecord) -> bool:
+        msg = record.getMessage()
+        return all(x not in msg for x in ["/bot/check", "/bot/report", "/cart/status"])
+
+logging.getLogger("uvicorn.access").addFilter(EndpointFilter())
+
+if __name__ == "__main__":
+    uvicorn.run(app, host="0.0.0.0", port=8000)

QT-Server/models.py

@@ -0,0 +1,74 @@
+from sqlalchemy import Column, Integer, String, Float, DateTime
+from database import Base
+from pydantic import BaseModel
+from datetime import datetime
+
+# 상품 테이블
+class Item(Base):
+    __tablename__ = "items"
+
+    id = Column(Integer, primary_key=True, index=True)
+    name = Column(String, index=True)
+    price = Column(Float)
+    stock = Column(Integer)
+    weight = Column(Float)       # 무게 로직용
+    expiry_date = Column(String) # 대시보드 유통기한 관리용
+
+# 결제 내역 테이블 
+class Pay(Base):
+    __tablename__ = "payments"
+
+    id = Column(Integer, primary_key=True, index=True)
+    total_price = Column(Float)
+    created_at = Column(DateTime, default=datetime.now)
+
+# 상품 생성 요청 
+class ItemCreate(BaseModel):
+    name: str
+    price: float
+    stock: int
+    weight: float
+    expiry_date: str 
+
+# 상품 조회 응답 
+class ItemSchema(BaseModel):
+    id: int
+    name: str
+    price: float
+    stock: int
+    weight: float
+    expiry_date: str 
+    
+    class Config:
+        from_attributes = True
+
+# 결제 내역 응답 (대시보드 차트용)
+class PaySchema(BaseModel):
+    id: int
+    total_price: float
+    created_at: datetime
+    
+    class Config:
+        from_attributes = True
+
+class CartScanResponse(BaseModel):
+    item: ItemSchema
+    cart_weight: float
+    expected_weight: float
+    weight_ok: bool
+    diff: float
+    
+    allowed: float
+
+# 무게 검증 응답 
+class CartScanResponse(BaseModel):
+    item: ItemSchema        # 스캔된 상품 정보
+    cart_weight: float      # 현재 실제 무게
+    expected_weight: float  # 예상 무게
+    weight_ok: bool         # 무게 일치 여부
+    diff: float             # 오차
+    allowed: float          # 허용 오차 범위
+
+# 무게 포함 아이템 정보 
+class ItemWithWeight(ItemSchema):
+    cart_weight: float

QT-Server/read_weight.py

@@ -0,0 +1,33 @@
+from hx711 import HX711
+import json, time, threading
+
+# --- 보정값 로드 ---
+with open("hx711_calib.json", "r") as f:
+    calib = json.load(f)
+
+OFFSET = calib["offset"]
+SCALE  = calib["scale"]
+
+hx = HX711(5, 6)
+
+hx_lock = threading.Lock()
+
+def read_cart_weight():
+    """현재 카트 무게(g)를 반환"""
+    with hx_lock:
+        # 여러 번 평균 내서 노이즈 줄이기
+        samples = 10
+        total = 0
+
+        for _ in range(samples):
+            total += hx.read_raw()
+            time.sleep(0.02)
+
+        raw = total / samples
+        weight = (raw - OFFSET) / SCALE
+
+        # 음수/미세값 보호
+        if weight < 0:
+            weight = 0
+
+        return round(weight, 2)

QT-Server/requirements.txt

@@ -0,0 +1,4 @@
+fastapi
+uvicorn[standard]
+SQLAlchemy
+pydantic

QT-Server/ros_controller.py

@@ -0,0 +1,310 @@
+import rclpy
+from rclpy.node import Node
+from rclpy.action import ActionClient
+from geometry_msgs.msg import TwistStamped, PoseWithCovarianceStamped 
+from nav2_msgs.action import NavigateToPose
+from sensor_msgs.msg import BatteryState
+from nav_msgs.msg import Odometry
+from rclpy.qos import QoSProfile, ReliabilityPolicy, DurabilityPolicy, HistoryPolicy
+
+import socket
+import time
+import math
+import requests
+import threading
+from collections import deque
+
+UDP_PORT_UWB = 44444
+UDP_PORT_QT = 55555
+BUFFER_SIZE = 1024
+SERVER_IP = "192.168.123.43"
+API_REPORT_URL = f"http://{SERVER_IP}:8000/dashboard/bot/report"
+API_WEIGHT_URL = f"http://{SERVER_IP}:8000/cart/check_weight"
+
+TAG_HEIGHT = 1.85
+ANCHOR_Z = 2.37
+H_DIFF = abs(ANCHOR_Z - TAG_HEIGHT)
+
+# 고정 오프셋 보정값 
+FIXED_OFFSETS = {0: -7.00, 1: -7.00, 2: -7.50}
+# 앵커 절대 좌표 
+ANCHORS_POS = {
+    0: {'x': 0.00, 'y': 0.00},
+    1: {'x': 6.00, 'y': 0.00},
+    2: {'x': 3.00, 'y': 15.00}
+}
+MIN_UPDATE_DIST = 1.2
+NAV_UPDATE_INTERVAL = 2.0
+
+class IntegratedRosController(Node):
+    def __init__(self):
+        super().__init__('integrated_ros_controller_node')
+
+        amcl_qos = QoSProfile(
+            depth=1,  
+            reliability=ReliabilityPolicy.RELIABLE,       
+            durability=DurabilityPolicy.TRANSIENT_LOCAL,  
+            history=HistoryPolicy.KEEP_LAST               
+        )
+
+        self.cmd_vel_pub = self.create_publisher(TwistStamped, '/cmd_vel', 10)
+        self.battery_sub = self.create_subscription(BatteryState, '/battery_state', self.battery_callback, 10)
+        self.odom_sub = self.create_subscription(Odometry, '/odom', self.odom_callback, 10)
+        self.amcl_sub = self.create_subscription(
+            PoseWithCovarianceStamped, 
+            '/amcl_pose', 
+            self.amcl_callback, 
+            amcl_qos 
+        )
+
+        self.nav_to_pose_client = ActionClient(self, NavigateToPose, 'navigate_to_pose')
+
+        self.sock_uwb = self.create_udp_socket(UDP_PORT_UWB)
+        self.sock_qt = self.create_udp_socket(UDP_PORT_QT)
+
+        self.current_mode = 0
+        self.battery_level = 0.0
+        self.current_speed = 0.0
+        self.qt_addr = None
+
+        self.robot_x = 0.0  
+        self.robot_y = 0.0
+        self.human_x = 0.0  
+        self.human_y = 0.0
+
+        self.x_his = deque(maxlen=15)
+        self.y_his = deque(maxlen=5)
+        self.uwb_dists = [0.0, 0.0, 0.0]
+        self.uwb_last_update = [0.0, 0.0, 0.0]
+
+        self.nav_goal_handle = None
+        self.last_goal_time = 0.0
+        self.last_target_pos = [0.0, 0.0]
+        
+        self.is_weight_ok = True  
+        self.last_weight_check_time = 0.0
+        self.weight_check_interval = 3.0 
+
+        self.get_logger().info("Waiting for Nav2 Server...")
+        if not self.nav_to_pose_client.wait_for_server(timeout_sec=5.0):
+            self.get_logger().warn("Nav2 Server not ready yet.")
+
+        self.create_timer(0.05, self.control_loop)
+        self.create_timer(1.0, self.send_bot_status)
+
+        self.get_logger().info("ROS Controller Started")
+
+    def create_udp_socket(self, port):
+        sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+        sock.bind(('0.0.0.0', port))
+        sock.setblocking(False)
+        return sock
+
+    # 무게 체크 
+    def trigger_async_weight_check(self):
+        def _check():
+            try:
+                response = requests.get(API_WEIGHT_URL, timeout=0.5) 
+                if response.status_code == 200:
+                    data = response.json()
+                    movable = data.get("movable", True)
+                    self.is_weight_ok = movable 
+                    
+                    if not movable:
+                        self.send_udp_to_qt("ERROR:WEIGHT_MISMATCH")
+            except: pass 
+            
+        threading.Thread(target=_check, daemon=True).start()
+
+    def send_udp_to_qt(self, message):
+        if self.qt_addr:
+            try: self.sock_qt.sendto(message.encode(), self.qt_addr)
+            except: pass
+
+    def battery_callback(self, msg):
+        self.battery_level = int(msg.percentage) if msg.percentage >= 0 else 0.0
+
+    def odom_callback(self, msg):
+        self.current_speed = msg.twist.twist.linear.x
+
+    def amcl_callback(self, msg):
+        self.robot_x = msg.pose.pose.position.x
+        self.robot_y = msg.pose.pose.position.y
+
+    # 로봇 상태 전송
+    def send_bot_status(self):
+        def _post():
+            try:
+                payload = {
+                    "status": "ONLINE",
+                    "mode": self.current_mode,
+                    "battery": round(self.battery_level, 1),
+                    "speed": round(self.current_speed, 2),
+                    "x": self.robot_x,      
+                    "y": self.robot_y,      
+                    "human_x": self.human_x, 
+                    "human_y": self.human_y 
+                }
+                requests.post(API_REPORT_URL, json=payload, timeout=2.0)
+            except: pass
+        
+        # 스레드 비동기 전송 후 종료 
+        threading.Thread(target=_post, daemon=True).start()
+
+    # 삼변측량 함수 
+    def calculate_trilateration(self, distances):
+        try:
+            x1, y1, r1 = ANCHORS_POS[0]['x'], ANCHORS_POS[0]['y'], distances[0]
+            x2, y2, r2 = ANCHORS_POS[1]['x'], ANCHORS_POS[1]['y'], distances[1]
+            x3, y3, r3 = ANCHORS_POS[2]['x'], ANCHORS_POS[2]['y'], distances[2]
+            A, B = 2*(x2-x1), 2*(y2-y1)
+            C = r1**2 - r2**2 - x1**2 + x2**2 - y1**2 + y2**2
+            D, E = 2*(x3-x2), 2*(y3-y2)
+            F = r2**2 - r3**2 - x2**2 + x3**2 - y2**2 + y3**2
+            den = (A * E) - (B * D)
+            if abs(den) < 0.0001: return None
+            return ((C * E) - (B * F)) / den, ((A * F) - (C * D)) / den
+        except: return None
+
+    def transform_to_map(self, ux, uy):
+        mx = 3.25 + (ux * -0.9725)
+        my = -7.35 + (uy * 0.5966)
+        return mx, my
+
+    # UWB 데이터 수신
+    def receive_uwb_data(self):
+        try:
+            for _ in range(10): 
+                data, _ = self.sock_uwb.recvfrom(BUFFER_SIZE)
+                msg = data.decode('utf-8').strip()
+                idx = -1
+                if msg.startswith("A1:"): idx = 0
+                elif msg.startswith("A2:"): idx = 1
+                elif msg.startswith("A3:"): idx = 2
+                
+                if idx != -1:
+                    raw_val = float(msg.split(":")[1])
+                    corrected_dist = raw_val - FIXED_OFFSETS[idx]
+                    h_dist = math.sqrt(corrected_dist**2 - H_DIFF**2) if corrected_dist > H_DIFF else 0.1
+                    self.uwb_dists[idx] = h_dist
+                    self.uwb_last_update[idx] = time.time()
+        except BlockingIOError: pass
+        except: pass
+
+    def receive_qt_command(self):
+        try:
+            while True: 
+                data, addr = self.sock_qt.recvfrom(BUFFER_SIZE)
+                self.qt_addr = addr 
+                text = data.decode('utf-8').strip()
+                if text.startswith("MODE:"): self.change_mode(int(text.split(":")[1]))
+                elif text.startswith("GOAL:"):
+                    if self.current_mode != 2: self.change_mode(2)
+                    p = text.split(":")[1].split(",")
+                    self.start_navigation(float(p[0]), float(p[1]))
+                elif text.startswith("STOP"): self.change_mode(0)
+        except BlockingIOError: pass
+        except: pass
+
+    def control_loop(self):
+        self.receive_uwb_data()
+        self.receive_qt_command()
+        
+        now = time.time()
+
+        if now - self.last_weight_check_time > self.weight_check_interval:
+            self.trigger_async_weight_check()
+            self.last_weight_check_time = now
+
+        if all(now - self.uwb_last_update[i] < 1.0 for i in range(3)):
+            pos = self.calculate_trilateration(self.uwb_dists)
+            if pos:
+                raw_x = max(0, min(pos[0], 6.0))
+                raw_y = max(0, min(pos[1], 15.0))
+                self.x_his.append(raw_x)
+                self.y_his.append(raw_y)
+                avg_x = sum(self.x_his) / len(self.x_his)
+                avg_y = sum(self.y_his) / len(self.y_his)
+                
+                final_uwb_x = (avg_x / 6.0) * (3.80 - 0.10) + 0.10
+                final_uwb_y = avg_y
+                
+                mx, my = self.transform_to_map(final_uwb_x, final_uwb_y)
+                self.human_x = mx
+                self.human_y = my
+
+                if self.current_mode == 1:
+                    dist_diff = math.sqrt((mx - self.last_target_pos[0])**2 + (my - self.last_target_pos[1])**2)
+                    
+                    if self.is_weight_ok:
+                        if (now - self.last_goal_time > NAV_UPDATE_INTERVAL) and (dist_diff > MIN_UPDATE_DIST):
+                            self.get_logger().info(f"Target Moved -> Goal: ({mx:.2f}, {my:.2f})")
+                            self.start_navigation(mx, my)
+                            self.last_goal_time = now
+                            self.last_target_pos = [mx, my]
+        
+        if self.current_mode == 0:
+            if self.nav_goal_handle: self.cancel_navigation()
+            self.stop_robot()
+
+    def change_mode(self, new_mode):
+        if self.current_mode == new_mode: return
+        self.get_logger().info(f"Mode Switching: {self.current_mode} -> {new_mode}")
+        self.cancel_navigation()
+        self.stop_robot()
+        self.current_mode = new_mode
+        self.last_target_pos = [0.0, 0.0]
+        self.trigger_async_weight_check()
+
+    # 네비게이션 실행
+    def start_navigation(self, x, y):
+        if not self.is_weight_ok: return
+
+        if not self.nav_to_pose_client.server_is_ready():
+            self.get_logger().error("Nav2 Server not ready!")
+            return
+
+        goal_msg = NavigateToPose.Goal()
+        goal_msg.pose.header.frame_id = 'map'
+        goal_msg.pose.header.stamp = self.get_clock().now().to_msg()
+        goal_msg.pose.pose.position.x = x
+        goal_msg.pose.pose.position.y = y
+        goal_msg.pose.pose.orientation.w = 1.0  
+        self._send_goal_future = self.nav_to_pose_client.send_goal_async(goal_msg)
+        self._send_goal_future.add_done_callback(self.goal_response_callback)
+
+    def goal_response_callback(self, future):
+        handle = future.result()
+        if handle.accepted:
+            self.nav_goal_handle = handle
+            self._get_result_future = handle.get_result_async()
+            self._get_result_future.add_done_callback(self.get_result_callback)
+
+    def get_result_callback(self, future):
+        result = future.result()
+        if result.status == 4:
+            self.send_udp_to_qt("STATUS:ARRIVED")
+        self.nav_goal_handle = None 
+
+    def cancel_navigation(self):
+        if self.nav_goal_handle:
+            self.nav_goal_handle.cancel_goal_async()
+            self.nav_goal_handle = None
+
+    def stop_robot(self):
+        msg = TwistStamped()
+        msg.header.stamp = self.get_clock().now().to_msg()
+        msg.header.frame_id = 'base_link'
+        self.cmd_vel_pub.publish(msg)
+
+def main():
+    rclpy.init()
+    node = IntegratedRosController()
+    try: rclpy.spin(node)
+    except KeyboardInterrupt: pass
+    finally:
+        node.destroy_node()
+        rclpy.shutdown()
+
+if __name__ == '__main__':
+    main()

QT-Server/static/css/dashboard.css

@@ -0,0 +1,253 @@
+body {
+    background-color: #0f172a;
+    color: #f1f5f9;
+    font-family: 'Pretendard', -apple-system, BlinkMacSystemFont, system-ui, sans-serif;
+    margin: 0;
+    padding: 0;
+    height: 100vh;
+    display: flex;
+    flex-direction: column;
+    overflow: hidden;
+}
+
+/* 헤더 스타일 */
+header {
+    background-color: #1e293b;
+    border-bottom: 1px solid #334155;
+    padding: 0 30px;
+    height: 60px;
+    display: flex;
+    align-items: center;
+    justify-content: space-between;
+    flex-shrink: 0;
+}
+
+.logo { font-weight: 800; font-size: 1.3rem; margin-right: 40px; color: #fff; }
+
+nav { display: flex; gap: 10px; flex: 1; }
+
+.nav-btn {
+    text-decoration: none;
+    color: #94a3b8;
+    font-weight: 600;
+    padding: 8px 16px;
+    border-radius: 8px;
+    transition: all 0.2s;
+    font-size: 0.9rem;
+}
+.nav-btn:hover { background-color: #334155; color: #fff; }
+.nav-btn.active { background-color: #3b82f6; color: #fff; box-shadow: 0 0 10px rgba(59, 130, 246, 0.3); }
+
+/* 상단 상태 배지 */
+.status-group { display: flex; gap: 10px; }
+.status-badge {
+    font-size: 0.8rem;
+    padding: 4px 12px;
+    border-radius: 99px;
+    background-color: #334155;
+    color: #94a3b8;
+    font-weight: 700;
+    display: flex; align-items: center; gap: 6px; border: 1px solid #475569;
+}
+.dot { width: 6px; height: 6px; border-radius: 50%; background-color: #94a3b8; }
+.status-badge.on { background-color: #064e3b; color: #34d399; border-color: #059669; }
+.status-badge.on .dot { background-color: #34d399; box-shadow: 0 0 4px #34d399; }
+.status-badge.off { background-color: #450a0a; color: #f87171; border-color: #b91c1c; }
+.status-badge.off .dot { background-color: #f87171; box-shadow: 0 0 4px #f87171; }
+
+/* --- 메인 레이아웃  --- */
+main {
+    padding: 20px;
+    max-width: 100%;    
+    margin: 0 auto;
+    width: 100%;
+    box-sizing: border-box;
+    flex: 1;
+    overflow-y: hidden;
+    display: flex;
+    flex-direction: column;
+    gap: 20px;
+}
+
+/* 상단 카트 요약 그리드 */
+.cart-select-grid {
+    display: grid;
+    grid-template-columns: repeat(4, 1fr);
+    gap: 15px;
+    flex-shrink: 0; 
+}
+
+.cart-summary-card {
+    background-color: #1e293b;
+    border: 2px solid #334155;
+    border-radius: 12px;
+    padding: 15px;
+    cursor: pointer;
+    transition: all 0.2s ease;
+    display: flex;
+    flex-direction: column;
+    gap: 10px;
+    position: relative;
+}
+
+.cart-summary-card:hover { transform: translateY(-2px); border-color: #64748b; }
+
+.cart-summary-card.selected {
+    border-color: #3b82f6;
+    background-color: #1e293b;
+    box-shadow: 0 0 15px rgba(59, 130, 246, 0.2);
+}
+
+.summary-header { display: flex; justify-content: space-between; align-items: center; }
+.summary-name { font-weight: 700; color: #fff; font-size: 1rem; }
+.summary-status-dot { width: 8px; height: 8px; border-radius: 50%; background-color: #475569; }
+.summary-status-dot.online { background-color: #10b981; box-shadow: 0 0 5px #10b981; }
+.summary-status-dot.warning { background-color: #e45d0f; box-shadow: 0 0 5px #e45d0f; }
+.summary-status-dot.offline { background-color: #fa0303; box-shadow: 0 0 5px #e45d0f;}
+
+.summary-row { display: flex; justify-content: space-between; font-size: 0.85rem; color: #94a3b8; }
+.summary-val { color: #f1f5f9; font-weight: 600; }
+
+/* 하단 상세 패널 */
+.cart-panel {
+    flex: 1; 
+    background-color: #1e293b;
+    border-radius: 12px;
+    box-shadow: 0 4px 6px rgba(0,0,0,0.2);
+    border: 2px solid #334155;
+    overflow: hidden;
+    display: flex;
+    flex-direction: column;
+    min-height: 0; 
+}
+
+.panel-header {
+    background-color: #0f172a;
+    padding: 15px 25px;
+    display: flex;
+    justify-content: space-between;
+    align-items: center;
+    border-bottom: 1px solid #334155;
+    flex-shrink: 0;
+}
+.cart-info { display: flex; align-items: center; gap: 10px; }
+.cart-icon { font-size: 1.5rem; }
+.cart-name { font-size: 1.2rem; font-weight: 800; color: #fff; }
+.panel-status { font-weight: 700; font-size: 0.95rem; color: #64748b; }
+
+/* --- 패널 내부 비율 (4:6) --- */
+.panel-body {
+    display: flex;
+    flex: 1; 
+    overflow: hidden; 
+    flex-direction: row; 
+}
+
+/* 왼쪽 영역 (정보) */
+.panel-left {
+    flex: 4; 
+    display: flex;
+    flex-direction: column;
+    border-right: 1px solid #334155;
+    min-width: 320px; 
+    overflow-y: auto; 
+}
+
+/* 오른쪽 영역 (지도) */
+.panel-right {
+    flex: 6; 
+    background-color: #0f172a;
+    display: flex;
+    flex-direction: column;
+    padding: 20px;
+    min-width: 0;
+}
+
+/* 센서 그리드 */
+.sensor-grid {
+    padding: 25px;
+    display: grid;
+    grid-template-columns: 1fr 1fr;
+    grid-template-rows: 1fr 1fr;
+    gap: 15px;
+    border-bottom: 1px solid #334155;
+    flex-shrink: 0;
+}
+.data-box {
+    background-color: #28364d;
+    padding: 20px;
+    border-radius: 12px;
+    text-align: center;
+    box-shadow: 0 2px 5px rgba(0,0,0,0.1);
+    display: flex; flex-direction: column; justify-content: center;
+}
+.data-label { font-size: 0.9rem; color: #94a3b8; margin-bottom: 5px; font-weight: 600; }
+.data-value { font-size: 1.8rem; font-weight: 800; color: #fff; }
+.unit { font-size: 0.9rem; color: #64748b; font-weight: 500; margin-left: 3px; }
+
+.val-normal { color: #38bdf8; }
+.val-warning { color: #f87171; }
+.val-success { color: #34d399; }
+.val-offline { color: #64748b; }
+
+/* 아이템 리스트 */
+.items-section { 
+    padding: 25px; 
+    background-color: #1e293b; 
+    flex: 1; 
+    display: flex; 
+    flex-direction: column; 
+}
+.items-header { display: flex; justify-content: space-between; align-items: center; margin-bottom: 15px; }
+.items-title { font-size: 1.1rem; font-weight: 700; color: #e2e8f0; }
+.items-summary { font-size: 0.95rem; color: #94a3b8; font-weight: 600; }
+.total-price { color: #34d399; font-weight: 800; font-size: 1.1rem; margin-left: 8px; }
+
+.table-scroll-box {
+    flex: 1; overflow-y: auto; 
+    border: 1px solid #334155; border-radius: 8px;
+    background-color: #1e293b;
+    min-height: 150px; 
+}
+.table-scroll-box::-webkit-scrollbar { width: 8px; }
+.table-scroll-box::-webkit-scrollbar-track { background: #1e293b; }
+.table-scroll-box::-webkit-scrollbar-thumb { background: #475569; border-radius: 4px; }
+
+.items-table { width: 100%; border-collapse: collapse; font-size: 0.95rem; }
+.items-table th {
+    text-align: left; color: #94a3b8; padding: 12px 20px; background-color: #0f172a;
+    position: sticky; top: 0; z-index: 1; border-bottom: 1px solid #334155; font-size: 0.85rem; font-weight: 700;
+}
+.items-table td { padding: 12px 20px; border-bottom: 1px solid #334155; color: #f1f5f9; }
+.items-table tr:hover td { background-color: #334155; }
+
+/* 지도 헤더 */
+.map-header {
+    display: flex;
+    justify-content: space-between;
+    align-items: center;
+    margin-bottom: 15px;
+    flex-shrink: 0;
+}
+.map-title { font-size: 1.1rem; font-weight: 700; color: #e2e8f0; }
+.map-coords { font-family: monospace; color: #34d399; font-size: 0.9rem; }
+
+/* 캔버스 컨테이너 */
+.canvas-container {
+    flex: 1;
+    background-color: #020617; 
+    border: 1px solid #334155;
+    border-radius: 8px;
+    position: relative;
+    overflow: hidden;
+    display: flex;
+    justify-content: center;
+    align-items: center;
+}
+
+canvas {
+    background-color: transparent;
+    width: 100%;
+    height: 100%;
+    object-fit: contain; 
+}

QT-Server/static/css/inventory.css

@@ -0,0 +1,130 @@
+/* --- 다크 모드 기본 스타일 --- */
+body { 
+    background-color: #0f172a; 
+    color: #f1f5f9; 
+    font-family: 'Pretendard', sans-serif; 
+    margin: 0; 
+    padding: 0; 
+    height: 100vh; 
+    display: flex; 
+    flex-direction: column; 
+    overflow: hidden; 
+}
+
+/* --- 헤더 --- */
+header { 
+    background-color: #1e293b; 
+    color: #fff; 
+    border-bottom: 1px solid #334155; 
+    padding: 0 30px; 
+    height: 60px; 
+    display: flex; 
+    align-items: center; 
+    justify-content: space-between; 
+    flex-shrink: 0; 
+}
+.logo { font-weight: 800; font-size: 1.3rem; margin-right: 40px; }
+
+nav { display: flex; gap: 10px; flex: 1; }
+.nav-btn { text-decoration: none; color: #94a3b8; font-weight: 600; padding: 8px 16px; border-radius: 8px; transition: all 0.2s; font-size: 0.9rem; }
+.nav-btn:hover { background-color: #334155; color: #fff; }
+.nav-btn.active { background-color: #3b82f6; color: #fff; box-shadow: 0 0 10px rgba(59, 130, 246, 0.3); }
+
+.container { display: flex; flex-direction: column; flex: 1; min-height: 0; padding: 20px; gap: 20px; box-sizing: border-box; }
+
+/* 다크 모드 섹션 스타일 */
+.inventory-section { 
+    flex: 1; 
+    background: #1e293b; 
+    border-radius: 12px; 
+    box-shadow: 0 4px 6px rgba(0,0,0,0.2); 
+    display: flex; 
+    flex-direction: column; 
+    overflow: hidden; 
+    border: 1px solid #334155; 
+}
+
+.section-header { 
+    padding: 15px 20px; 
+    border-bottom: 1px solid #334155; 
+    display: flex; 
+    justify-content: space-between; 
+    align-items: center; 
+    font-weight: 700; 
+    font-size: 1.1rem; 
+    color: #e2e8f0; 
+    background-color: #0f172a; 
+}
+
+.table-wrapper { flex: 1; overflow-y: auto; }
+
+/* 다크 모드 테이블 */
+table { width: 100%; border-collapse: collapse; font-size: 0.95rem; }
+th { 
+    position: sticky; top: 0; 
+    background-color: #0f172a; 
+    color: #94a3b8; 
+    padding: 12px 20px; 
+    text-align: left; 
+    border-bottom: 2px solid #334155; 
+    font-size: 0.85rem; 
+    font-weight: 700; 
+    z-index: 10; 
+}
+td { 
+    padding: 12px 20px; 
+    border-bottom: 1px solid #334155; 
+    color: #f1f5f9; 
+    vertical-align: middle; 
+}
+tr:hover td { background-color: #334155; }
+
+.sortable { cursor: pointer; user-select: none; transition: color 0.2s; }
+.sortable:hover { color: #3b82f6; background-color: #1e293b; }
+
+/* 다크 모드 배지 스타일 */
+.badge { padding: 4px 10px; border-radius: 6px; font-size: 0.8rem; font-weight: 700; display: inline-block; min-width: 80px; text-align: center; }
+
+.expiry-expired { background-color: #450a0a; color: #f87171; border: 1px solid #b91c1c; } /* 만료 */
+.expiry-warning { background-color: #422006; color: #fbbf24; border: 1px solid #b45309; } /* 임박 */
+.expiry-good { background-color: #064e3b; color: #34d399; border: 1px solid #059669; }    /* 안전 */
+
+.stock-badge { padding: 4px 10px; border-radius: 6px; font-size: 0.8rem; font-weight: 700; display: inline-block; text-align: center; }
+.stock-low { background-color: #450a0a; color: #f87171; border: 1px solid #b91c1c; }
+.stock-normal { background-color: #334155; color: #94a3b8; border: 1px solid #475569; }
+
+/* 매출 섹션 */
+.sales-section { flex: 1; display: flex; gap: 20px; min-height: 0; }
+.kpi-container { display: flex; flex-direction: column; gap: 15px; width: 250px; flex-shrink: 0; }
+
+.kpi-card { 
+    background: #1e293b; 
+    border-radius: 12px; 
+    padding: 20px; 
+    border: 1px solid #334155; 
+    box-shadow: 0 4px 6px rgba(0,0,0,0.2); 
+    flex: 1; 
+    display: flex; 
+    flex-direction: column; 
+    justify-content: center; 
+}
+.kpi-title { font-size: 0.9rem; color: #94a3b8; margin-bottom: 5px; font-weight: 600; }
+.kpi-value { font-size: 1.8rem; font-weight: 800; color: #fff; }
+.kpi-icon { font-size: 2rem; margin-bottom: 10px; }
+
+.chart-container { 
+    flex: 1; 
+    background: #1e293b; 
+    border-radius: 12px; 
+    border: 1px solid #334155; 
+    box-shadow: 0 4px 6px rgba(0,0,0,0.2); 
+    padding: 20px; 
+    position: relative; 
+    display: flex; 
+    flex-direction: column; 
+}
+
+::-webkit-scrollbar { width: 8px; }
+::-webkit-scrollbar-track { background: #0f172a; }
+::-webkit-scrollbar-thumb { background: #475569; border-radius: 4px; }
+::-webkit-scrollbar-thumb:hover { background: #64748b; }

QT-Server/static/js/dashboard.js

@@ -0,0 +1,341 @@
+let currentCartId = 1;
+
+const mapImg = new Image();
+mapImg.src = "/static/map601.png"; 
+
+const MAP_BOUNDS = {
+    LEFT_X: -0.67,  
+    RIGHT_X: 3.34,
+    TOP_Y: 1.66,
+    BOTTOM_Y: -7.4
+};
+
+const allCartsData = {
+    1: { id: 1, name: "QTCART 1호차", isOnline: false, battery: 0, speed: 0, weight: 0, expected: 0, items: [], status: "OFFLINE", x: 0.0, y: 0.0, human_x: 0.0, human_y: 0.0 },
+    2: { id: 2, name: "QTCART 2호차", isOnline: true, battery: 92, speed: 50, weight: 710, expected: 700, items: generateMockItems(3), status: "ONLINE", x: 1.5, y: 1.0 },
+    3: { id: 3, name: "QTCART 3호차", isOnline: true, battery: 34, speed: 0, weight: 0, expected: 0, items: [], status: "ONLINE", x: -0.67, y: 1.66 },
+    4: { id: 4, name: "QTCART 4호차", isOnline: true, battery: 65, speed: 0, weight: 0, expected: 0, items: [], status: "ONLINE", x: 3.34, y: -7.4 }
+};
+
+function generateMockItems(count) {
+    const mockDb = [
+        {name: "코카콜라 500ml", price: 2000, weight: 500},
+        {name: "포카칩 오리지널", price: 1500, weight: 100},
+        {name: "제주 삼다수 2L", price: 1000, weight: 2000},
+        {name: "신라면 멀티팩", price: 4500, weight: 600}
+    ];
+    let items = [];
+    for(let i=0; i<count; i++) {
+        const rand = mockDb[Math.floor(Math.random() * mockDb.length)];
+        items.push({...rand, id: 100+i});
+    }
+    return items;
+}
+
+// 주기적으로 데이터 갱신
+async function updateDashboard() {
+    const apiBadge = document.getElementById('apiBadge');
+
+    try {
+        // 로봇 상태 조회
+        const botRes = await fetch('/dashboard/bot/check');
+        const botData = await botRes.json();
+        
+        // 카트 상태 조회 
+        let cartData = null;
+        try { 
+            const cRes = await fetch('/cart/status'); 
+            if(cRes.ok) cartData = await cRes.json(); 
+        } catch(e) {}
+
+        apiBadge.className = 'status-badge on';
+        apiBadge.innerHTML = '<span class="dot"></span> 서버 연결됨';
+
+        const c1 = allCartsData[1]; 
+
+        if(botData.bot_status === 'ONLINE') {
+            c1.isOnline = true;
+            c1.status = "ONLINE";
+            
+            const batVal = parseFloat(botData.battery);
+            c1.battery = isNaN(batVal) ? 0 : Math.round(batVal); 
+            
+            c1.speed = Math.abs(Math.round(botData.speed * 100));
+
+            // 좌표 업데이트 
+            c1.x = botData.x !== undefined ? botData.x : 0.0;
+            c1.y = botData.y !== undefined ? botData.y : 0.0;
+            c1.human_x = botData.human_x !== undefined ? botData.human_x : 0.0;
+            c1.human_y = botData.human_y !== undefined ? botData.human_y : 0.0;
+            
+            // 카트 데이터 업데이트
+            if(cartData) {
+                c1.weight = cartData.real_weight;
+                c1.expected = cartData.expected_weight;
+                c1.items = cartData.cart_items || [];
+                
+                if(cartData.system_status === "WARNING_WEIGHT_MISMATCH") {
+                    c1.status = "WARNING";
+                } else {
+                    c1.status = "ONLINE";
+                }
+            }
+        } else {
+            c1.isOnline = false;
+            c1.status = "OFFLINE";
+            c1.speed = 0;
+        }
+
+    } catch (err) {
+        apiBadge.className = 'status-badge off';
+        apiBadge.innerHTML = '<span class="dot"></span> 서버 끊김';
+        
+        allCartsData[1].isOnline = false;
+        allCartsData[1].status = "OFFLINE";
+    }
+
+    updateMockData(2);
+    updateMockData(3); 
+    updateMockData(4); 
+
+    renderGrid();        
+    renderDetailPanel(); 
+    drawMap();           
+}
+
+function updateMockData(id) {
+    const c = allCartsData[id];
+    if(!c.isOnline) return;
+    if(Math.random() > 0.98) c.battery = Math.max(0, c.battery - 1);
+    if(Math.random() > 0.7) c.speed = Math.floor(Math.random() * 80);
+    c.x += (Math.random() - 0.5) * 0.1;
+    c.y += (Math.random() - 0.5) * 0.1;
+}
+
+function renderGrid() {
+    const grid = document.getElementById('cartGrid');
+    grid.innerHTML = '';
+
+    for(let i=1; i<=4; i++) {
+        const data = allCartsData[i];
+        const isSelected = (i === currentCartId) ? 'selected' : '';
+        let dotClass = 'offline';
+        let statusColor = '#64748b'; 
+
+        if(data.isOnline) {
+            if(data.status === 'WARNING') {
+                dotClass = 'warning'; 
+                statusColor = '#fbbf24'; 
+            } else {
+                dotClass = 'online';
+                statusColor = '#34d399'; 
+            }
+        }
+        
+        const speedDisplay = data.isOnline ? `${data.speed} cm/s` : '--';
+
+        const html = `
+        <div class="cart-summary-card ${isSelected}" onclick="selectCart(${i})">
+            <div class="summary-header">
+                <div class="summary-name">${data.name}</div>
+                <div class="summary-status-dot ${dotClass}" style="${dotClass === 'warning' ? 'background-color:#f97316; box-shadow:0 0 5px #f97316;' : ''}"></div>
+            </div>
+            <div class="summary-row" style="margin-top:5px;">
+                <span>배터리</span>
+                <span class="summary-val" style="color:${statusColor}">${data.isOnline ? data.battery+'%' : '-'}</span>
+            </div>
+            <div class="summary-row">
+                <span>현재 속도</span> <span class="summary-val">${speedDisplay}</span> </div>
+        </div>`;
+        grid.innerHTML += html;
+    }
+}
+
+function renderDetailPanel() {
+    const data = allCartsData[currentCartId];
+    const statusText = document.getElementById('detailStatusText');
+    const panel = document.getElementById('detailPanel'); 
+
+    document.getElementById('detailName').innerText = data.name;
+
+    if(data.isOnline) {
+        if(data.status === 'WARNING') {
+            statusText.innerText = '● 무게 불일치 경고';
+            statusText.style.color = '#fbbf24';
+            panel.style.borderColor = '#fbbf24';
+        } else {
+            statusText.innerText = '● 온라인';
+            statusText.style.color = '#34d399';
+            panel.style.borderColor = '#334155'; 
+        }
+    } else {
+        statusText.innerText = '● 오프라인';
+        statusText.style.color = '#f87171';
+        panel.style.borderColor = '#ef4444';
+    }
+
+    const elReal = document.getElementById('detailReal');
+    const elExp = document.getElementById('detailExpected');
+    const elBat = document.getElementById('detailBattery');
+    const elSpd = document.getElementById('detailSpeed');
+
+    if(data.isOnline) {
+        elReal.innerText = typeof data.weight === 'number' ? data.weight.toFixed(1) : data.weight;
+        elExp.innerText = typeof data.expected === 'number' ? data.expected.toFixed(1) : data.expected;
+        elBat.innerText = data.battery;
+        elSpd.innerText = data.speed;
+
+        elBat.parentElement.className = data.battery < 20 ? "data-value val-warning" : "data-value val-success";
+        if(data.status === 'WARNING') elReal.parentElement.className = "data-value val-warning";
+        else elReal.parentElement.className = "data-value val-normal";
+    } else {
+        elReal.innerText = '--';
+        elExp.innerText = '--';
+        elBat.innerText = '--';
+        elSpd.innerText = '--';
+        elReal.parentElement.className = "data-value val-offline";
+        elBat.parentElement.className = "data-value val-offline";
+    }
+
+    const tbody = document.getElementById('detailListBody');
+    const countEl = document.getElementById('detailCount');
+    const priceEl = document.getElementById('detailPrice');
+    
+    if(!data.isOnline || data.items.length === 0) {
+        tbody.innerHTML = '<tr><td colspan="4" style="text-align: center; color: #64748b; padding: 30px;">데이터 없음</td></tr>';
+        countEl.innerText = '0';
+        priceEl.innerText = '0원';
+    } else {
+        const agg = {};
+        let totalP = 0;
+        let totalC = 0;
+        data.items.forEach(item => {
+            if(agg[item.name]) agg[item.name].qty++;
+            else agg[item.name] = {...item, qty: 1};
+            totalP += item.price;
+            totalC++;
+        });
+        let html = '';
+        Object.values(agg).forEach(item => {
+            html += `<tr>
+                <td style="font-weight:600;">${item.name}</td>
+                <td style="text-align: right;">${item.price.toLocaleString()}원</td>
+                <td style="text-align: right;">${item.weight}g</td>
+                <td style="text-align: right; font-weight: bold; color: #38bdf8;">${item.qty}</td>
+            </tr>`;
+        });
+        tbody.innerHTML = html;
+        countEl.innerText = totalC;
+        priceEl.innerText = totalP.toLocaleString() + '원';
+    }
+}
+
+function drawMap() {
+    const canvas = document.getElementById('robotMap');
+    if(!canvas) return; 
+
+    const ctx = canvas.getContext('2d');
+    const data = allCartsData[currentCartId];
+
+    const container = canvas.parentElement;
+    if(canvas.width !== container.clientWidth || canvas.height !== container.clientHeight) {
+        canvas.width = container.clientWidth;
+        canvas.height = container.clientHeight;
+    }
+    const cvsW = canvas.width;
+    const cvsH = canvas.height;
+    ctx.clearRect(0, 0, cvsW, cvsH);
+
+    // 이미지 로딩 체크
+    if (!mapImg.complete || mapImg.naturalWidth === 0) {
+        ctx.fillStyle = '#94a3b8';
+        ctx.font = '14px sans-serif';
+        ctx.fillText("Loading Map...", 20, 30);
+        return; 
+    }
+
+    const imgW = mapImg.naturalWidth;
+    const imgH = mapImg.naturalHeight;
+    const imgRatio = imgW / imgH;
+    const cvsRatio = cvsW / cvsH;
+
+    let drawW, drawH, drawX, drawY;
+
+    if (cvsRatio > imgRatio) {
+        drawH = cvsH;
+        drawW = cvsH * imgRatio;
+        drawX = (cvsW - drawW) / 2;
+        drawY = 0;
+    } else {
+        drawW = cvsW;
+        drawH = cvsW / imgRatio;
+        drawX = 0;
+        drawY = (cvsH - drawH) / 2;
+    }
+    ctx.drawImage(mapImg, drawX, drawY, drawW, drawH);
+    
+    const toPixel = (rosX, rosY) => {
+        const xRange = MAP_BOUNDS.RIGHT_X - MAP_BOUNDS.LEFT_X; 
+        let ratioX = (rosX - MAP_BOUNDS.LEFT_X) / xRange;
+        
+        const yRange = MAP_BOUNDS.BOTTOM_Y - MAP_BOUNDS.TOP_Y; 
+        let ratioY = (rosY - MAP_BOUNDS.TOP_Y) / yRange;
+
+        let finalX = drawX + (ratioX * drawW);
+        let finalY = drawY + (ratioY * drawH);
+        return { x: finalX, y: finalY };
+    };
+
+    if (data.isOnline) {
+        console.log(`Robot(${data.x}, ${data.y})`);
+
+        const botPos = toPixel(data.x, data.y);
+        
+        ctx.beginPath();
+        ctx.arc(botPos.x, botPos.y, 6, 0, Math.PI * 2);
+        
+        let color = (currentCartId === 1) ? '#ef4444' : (data.status === 'WARNING' ? '#fbbf24' : '#34d399');
+        ctx.fillStyle = color;
+        ctx.fill();
+        
+        ctx.strokeStyle = '#ffffff';
+        ctx.lineWidth = 2;
+        ctx.stroke();
+
+        ctx.fillStyle = '#ffffff';
+        ctx.font = 'bold 12px sans-serif';
+        ctx.fillText("BOT", botPos.x + 10, botPos.y + 4);
+
+        if (currentCartId === 1) {
+            const humanPos = toPixel(data.human_x, data.human_y);
+
+            ctx.beginPath();
+            ctx.arc(humanPos.x, humanPos.y, 6, 0, Math.PI * 2);
+            ctx.fillStyle = '#3b82f6'; 
+            ctx.fill();
+            
+            ctx.strokeStyle = '#ffffff';
+            ctx.stroke();
+
+            ctx.fillStyle = '#3b82f6'; 
+            ctx.fillText("ME", humanPos.x + 10, humanPos.y + 4);
+        }
+
+        const coordEl = document.getElementById('mapCoords');
+        if(coordEl) coordEl.innerText = `Robot: (${data.x.toFixed(2)}, ${data.y.toFixed(2)})`;
+    } else {
+        const coordEl = document.getElementById('mapCoords');
+        if(coordEl) coordEl.innerText = "OFFLINE";
+    }
+}
+
+function selectCart(id) {
+    currentCartId = id;
+    renderGrid();       
+    renderDetailPanel(); 
+    drawMap();           
+}
+
+// 1초마다 갱신
+setInterval(updateDashboard, 1000);
+updateDashboard();

QT-Server/static/js/inventory.js

@@ -0,0 +1,151 @@
+let currentItems = [];
+
+function refreshAll() {
+    fetchInventory();
+    fetchSalesStats();
+}
+
+async function fetchInventory() {
+    try {
+        const res = await fetch('/items');
+        if (res.ok) {
+            currentItems = await res.json();
+            renderTable('expiry'); 
+        }
+    } catch (e) { console.error(e); }
+}
+
+function renderTable(sortKey) {
+    const tbody = document.getElementById('inventoryBody');
+    
+    if (sortKey === 'expiry') {
+        currentItems.sort((a, b) => new Date(a.expiry_date) - new Date(b.expiry_date));
+    } else if (sortKey === 'stock') {
+        currentItems.sort((a, b) => a.stock - b.stock);
+    }
+
+    const today = new Date();
+    today.setHours(0,0,0,0);
+
+    let html = currentItems.map(item => {
+        const expiryDate = new Date(item.expiry_date);
+        const diffTime = expiryDate - today;
+        const diffDays = Math.ceil(diffTime / (1000 * 60 * 60 * 24)); 
+
+        let dateClass = 'expiry-good';
+        let dateText = `D-${diffDays}`;
+
+        if (diffDays < 0) {
+            dateClass = 'expiry-expired';
+            dateText = '만료됨';
+        } else if (diffDays === 0) {
+            dateClass = 'expiry-warning';
+            dateText = '오늘 만료';
+        } else if (diffDays <= 3) { 
+            dateClass = 'expiry-warning';
+            dateText = `${diffDays}일 남음`;
+        }
+
+        let stockHtml = '';
+        if (item.stock === 0) {
+            stockHtml = `<span class="stock-badge stock-low">부족 (${item.stock})</span>`;
+        } else {
+            stockHtml = `<span class="stock-badge stock-normal">${item.stock}개</span>`;
+        }
+
+        return `<tr>
+            <td style="color:#94a3b8;">#${item.id}</td>
+            <td style="font-weight: bold;">${item.name}</td>
+            <td>${item.price.toLocaleString()}원</td>
+            <td>
+                <span class="badge ${dateClass}">${item.expiry_date} (${dateText})</span>
+            </td>
+            <td>${stockHtml}</td>
+        </tr>`;
+    }).join('');
+    
+    tbody.innerHTML = html || '<tr><td colspan="5" style="text-align:center; padding:30px; color:#64748b;">등록된 상품이 없습니다.</td></tr>';
+}
+
+let myChart = null;
+
+// ----- 결제 정보 -----
+async function fetchSalesStats() {
+    try {
+        const res = await fetch('/payments');
+        if (!res.ok) return;
+        const payments = await res.json();
+
+        const today = new Date();
+        const thirtyDaysAgo = new Date();
+        thirtyDaysAgo.setDate(today.getDate() - 30);
+
+        let monthTotal = 0;
+        let monthCount = 0;
+        const dailySales = {};
+
+        for (let i = 0; i < 30; i++) {
+            const d = new Date();
+            d.setDate(today.getDate() - i);
+            dailySales[d.toISOString().split('T')[0]] = 0;
+        }
+
+        payments.forEach(pay => {
+            const payDate = new Date(pay.created_at);
+            if (payDate >= thirtyDaysAgo) {
+                monthTotal += pay.total_price;
+                monthCount += 1;
+                const dateStr = pay.created_at.split('T')[0];
+                if (dailySales[dateStr] !== undefined) dailySales[dateStr] += pay.total_price;
+            }
+        });
+
+        document.getElementById('monthTotal').innerText = monthTotal.toLocaleString() + '원';
+        document.getElementById('monthCount').innerText = monthCount + '건';
+        updateChart(dailySales);
+
+    } catch (e) { console.error(e); }
+}
+
+function updateChart(dailyData) {
+    const sortedDates = Object.keys(dailyData).sort();
+    const dataValues = sortedDates.map(date => dailyData[date]);
+    const labels = sortedDates.map(date => date.slice(5)); 
+
+    const ctx = document.getElementById('salesChart').getContext('2d');
+    if (myChart) myChart.destroy(); 
+
+    myChart = new Chart(ctx, {
+        type: 'line',
+        data: {
+            labels: labels,
+            datasets: [{
+                label: '매출 (원)',
+                data: dataValues,
+                borderColor: '#8b5cf6',
+                backgroundColor: 'rgba(139, 92, 246, 0.2)', 
+                borderWidth: 2,
+                fill: true,
+                tension: 0.3
+            }]
+        },
+        options: {
+            responsive: true,
+            maintainAspectRatio: false,
+            plugins: { legend: { display: false } },
+            scales: {
+                y: { 
+                    beginAtZero: true, 
+                    grid: { borderDash: [5, 5], color: '#334155' }, 
+                    ticks: { color: '#94a3b8' } 
+                },
+                x: { 
+                    grid: { display: false },
+                    ticks: { color: '#94a3b8' } 
+                }
+            }
+        }
+    });
+}
+
+refreshAll();

QT-Server/templates/dashboard.html

@@ -0,0 +1,98 @@
+<!DOCTYPE html>
+<html lang="ko">
+<head>
+    <meta charset="UTF-8">
+    <meta name="viewport" content="width=device-width, initial-scale=1.0">
+    <title>QTCART 관제 시스템</title>
+    <link rel="stylesheet" href="/static/css/dashboard.css">
+</head>
+<body>
+    <header>
+        <div class="logo">🛒 QT-CART</div>
+        <nav>
+            <a href="/dashboard" class="nav-btn active">관제 모니터링</a>
+            <a href="/inventory" class="nav-btn">통합 관리</a>
+        </nav>
+        <div class="status-group">
+            <div id="apiBadge" class="status-badge off"><span class="dot"></span> 서버 연결</div>
+        </div>
+    </header>
+
+    <main>
+        <div class="cart-select-grid" id="cartGrid">
+            </div>
+
+        <div id="detailPanel" class="cart-panel">
+            <div class="panel-header">
+                <div class="cart-info">
+                    <div class="cart-icon">🛒</div>
+                    <div class="cart-name" id="detailName">QTCART 1호차</div>
+                </div>
+                <div id="detailStatusText" class="panel-status">● 데이터 로딩중</div>
+            </div>
+
+            <div class="panel-body">
+                
+                <div class="panel-left">
+                    <div class="sensor-grid">
+                        <div class="data-box">
+                            <div class="data-label">배터리 잔량</div>
+                            <div class="data-value"><span id="detailBattery">--</span><span class="unit">%</span></div>
+                        </div>
+                        <div class="data-box">
+                            <div class="data-label">현재 속도</div>
+                            <div class="data-value"><span id="detailSpeed">--</span><span class="unit">cm/s</span></div>
+                        </div>
+                        <div class="data-box">
+                            <div class="data-label">기대 무게</div>
+                            <div class="data-value" style="color:#fbbf24;"><span id="detailExpected">0</span><span class="unit">g</span></div>
+                        </div>
+                        <div class="data-box">
+                            <div class="data-label">실제 무게</div>
+                            <div class="data-value"><span id="detailReal">--</span><span class="unit">g</span></div>
+                        </div>
+                    </div>
+
+                    <div class="items-section">
+                        <div class="items-header">
+                            <div class="items-title">📦 담긴 상품 목록</div>
+                            <div class="items-summary">
+                                총 <span id="detailCount">0</span>개 
+                                <span class="total-price" id="detailPrice">0원</span>
+                            </div>
+                        </div>
+                        <div class="table-scroll-box">
+                            <table class="items-table">
+                                <thead>
+                                    <tr>
+                                        <th>상품명</th>
+                                        <th style="text-align: right;">단가</th>
+                                        <th style="text-align: right;">무게</th>
+                                        <th style="text-align: right;">수량</th>
+                                    </tr>
+                                </thead>
+                                <tbody id="detailListBody">
+                                    <tr><td colspan="4" style="text-align: center; color: #64748b; padding: 30px;">데이터 없음</td></tr>
+                                </tbody>
+                            </table>
+                        </div>
+                    </div>
+                </div>
+
+                <div class="panel-right">
+                    <div class="map-header">
+                        <div class="map-title">🗺️ 실시간 위치</div>
+                        <div class="map-coords" id="mapCoords">X: 0.0, Y: 0.0</div>
+                    </div>
+                    <div class="canvas-container">
+                        <canvas id="robotMap" width="500" height="400"></canvas>
+                    </div>
+                </div>
+
+            </div> 
+        </div>
+    </main>
+
+    <script src="/static/js/dashboard.js"></script>
+</body>
+</html>

QT-Server/templates/inventory.html

@@ -0,0 +1,66 @@
+<!DOCTYPE html>
+<html lang="ko">
+<head>
+    <meta charset="UTF-8">
+    <meta name="viewport" content="width=device-width, initial-scale=1.0">
+    <title>QTCART 통합 관리</title>
+    <script src="https://cdn.jsdelivr.net/npm/chart.js"></script>
+    <link rel="stylesheet" href="/static/css/inventory.css">
+</head>
+<body>
+    <header>
+        <div class="logo">🛒 QT-CART</div>
+        <nav>
+            <a href="/dashboard" class="nav-btn">관제 모니터링</a>
+            <a href="/inventory" class="nav-btn active">통합 관리</a>
+        </nav>
+    </header>
+
+    <div class="container">
+        <div class="inventory-section">
+            <div class="section-header">
+                📦 재고 및 유통기한 관리
+                <button onclick="refreshAll()" style="background:none; border:none; color:#3b82f6; cursor:pointer; font-weight:600;">🔄 새로고침</button>
+            </div>
+            <div class="table-wrapper">
+                <table>
+                    <thead>
+                        <tr>
+                            <th width="10%">ID</th>
+                            <th width="30%">상품명</th>
+                            <th width="20%">가격</th>
+                            <th width="25%" class="sortable" onclick="renderTable('expiry')">유통기한 ▼</th>
+                            <th width="15%" class="sortable" onclick="renderTable('stock')">재고량 ▼</th>
+                        </tr>
+                    </thead>
+                    <tbody id="inventoryBody"></tbody>
+                </table>
+            </div>
+        </div>
+
+        <div class="sales-section">
+            <div class="kpi-container">
+                <div class="kpi-card">
+                    <div class="kpi-icon">💰</div>
+                    <div class="kpi-title">이번 달 총 매출</div>
+                    <div class="kpi-value" id="monthTotal">0원</div>
+                </div>
+                <div class="kpi-card">
+                    <div class="kpi-icon">🧾</div>
+                    <div class="kpi-title">이번 달 거래 수</div>
+                    <div class="kpi-value" id="monthCount">0건</div>
+                </div>
+            </div>
+
+            <div class="chart-container">
+                <div style="font-weight:700; color:#e2e8f0; margin-bottom:10px;">📉 최근 30일 매출 추이</div>
+                <div style="flex:1; position: relative;">
+                    <canvas id="salesChart"></canvas>
+                </div>
+            </div>
+        </div>
+    </div>
+
+    <script src="/static/js/inventory.js"></script>
+</body>
+</html>