AutoControlSystem-G/CU/Detect.py

from enum import Enum

import numpy as np
from PySide6.QtCore import Signal
import Constant
from Model.Position import Real_Position
from Trace.handeye_calibration import getPosition
#from Vision.camera_coordinate_dete import Detection
import configparser
import os

class DetectStatus(Enum):
    DNone = 0
    DDetect = 1
    DOk = 2

class miDetect:
    update_detect_image = Signal(np.ndarray)
    def __init__(self):
        self.detection = Detection(alignmentType='depth2color')
        self.detect_status = DetectStatus.DNone
        self.detect_position = None
    def run(self):
        if self.detect_status == DetectStatus.DNone:
            return
        if self.detect_status == DetectStatus.DDetect:
            if Constant.Debug:
                self.detect_status = DetectStatus.DOk
                return
            _, img, xyz, uvw, points = self.detection.get_position(Point_isVision=False, Box_isPoint=True,
                                                                   First_Depth=True, Iter_Max_Pixel=30,
                                                                   save_img_point=1, Height_reduce=30, width_reduce=30)
            self.detection_image = img.copy()
            if xyz == None or uvw == None or points == None:
                self.detect_position = None
                self.detect_status = DetectStatus.DOk
                return
            target_position, noraml_base = getPosition(*xyz, *uvw, None, points)
            position = Real_Position().init_position(*target_position[:3], *noraml_base[:3])
            # position.Z = position.Z
            position.a = uvw[0]
            position.b = uvw[1]
            position.c = uvw[2]
            self.detect_position = position
            self.detect_status = DetectStatus.DOk
        if self.detect_status == DetectStatus.DOk:
            return

class Detect:
    update_detect_image = Signal(np.ndarray)

    def __init__(self):
        self.detection = ""
        self.detect_status = DetectStatus.DOk
        self.detect_position = None
        self.position_index = 0  # 默认读取索引为 0 的点位

    def run(self):
        #print( f"[调试] 当前丢包点位索引: {self.position_index}")
        if self.detect_status == DetectStatus.DOk:
            self.detect_position = None
            config = configparser.ConfigParser()
            config_file = os.path.join(os.path.dirname(__file__), 'list.ini') #配置文件地址
            if not os.path.exists(config_file):
                print("配置文件 list.ini 不存在")
                return
            config.read(config_file)
            if not config.has_section('positions'):
                print("配置文件中没有 [positions] 段")
                return
            if not config.has_option('positions', str(self.position_index)):
                print(f"没有索引为 {self.position_index} 的点位")
                return
            try:
                # 读取配置项
                data = config.get('positions', str(self.position_index)).strip().split(',')
                if len(data) != 6:
                    raise ValueError(f"点位数据格式错误（应为6个值）: {data}")
                x, y, z, a, b, c = map(float, data)
                # 初始化坐标
                self.detect_position = Real_Position()
                self.detect_position.init_position(x, y, z, a, b, c)
                #print(f"成功加载点位索引 {self.position_index}: ({x}, {y}, {z}, {a}, {b}, {c})")

            except Exception as e:
                print(f"读取点位时出错: {e}")

class Detect1:
    update_detect_image = Signal(np.ndarray)

    def __init__(self):
        self.detection = ""
        self.detect_status = DetectStatus.DOk
        self.detect_position = None
        self.position_index = 0  # 默认读取索引为 0 的点位

    def run(self):
        print(f"[调试] 当前丢包点位索引: {self.position_index}")
        if self.detect_status == DetectStatus.DNone:
            return
        if self.detect_status != DetectStatus.DOk:
            print("检测状态不允许运行")
            return False
        if self.detect_status == DetectStatus.DOk:
            self.detect_position = None  # 重置上一次结果
            config = configparser.ConfigParser()
            config_file = os.path.join(os.path.dirname(__file__), 'list.ini')
            if not os.path.exists(config_file):
                print("❌ 配置文件 list.ini 不存在")
                return False
            try:
                config.read(config_file, encoding='utf-8')
            except Exception as e:
                print(f"❌ 读取配置文件失败: {e}")
                return False
            if not config.has_section('positions'):
                print("❌ 配置文件中没有 [positions] 段")
                return False
            if not config.has_option('positions', str(self.position_index)):
                print(f"❌ 没有索引为 {self.position_index} 的点位")
                return False
            try:
                data = config.get('positions', str(self.position_index)).strip().split(',')
                if len(data) != 6:
                    raise ValueError(f"点位数据格式错误（应为6个值）: {data}")
                x, y, z, a, b, c = map(float, data)
                self.detect_position = Real_Position()
                self.detect_position.init_position(x, y, z, a, b, c)

                print(f"✅ 成功加载点位索引 {self.position_index}: X{x} Y{y} Z{z} A{a} B{b} C{c}")
                return True  # ✅ 成功返回 True
            except ValueError as ve:
                print(f"❌ 数据转换错误: {ve}")
                return False
            except Exception as e:
                print(f"❌ 未知错误: {e}")
                return False