From 2f45c4c38fe500cdf043f510411bccdc0b1a07b3 Mon Sep 17 00:00:00 2001 From: chuyiwen Date: Wed, 3 Sep 2025 19:50:58 +0800 Subject: [PATCH] =?UTF-8?q?=E4=BF=AE=E6=94=B9drop=EF=BC=8C=E8=8E=B7?= =?UTF-8?q?=E5=8F=96=E4=B8=A2=E5=8C=85=E8=B7=AF=E5=BE=84?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .gitignore | 1 + COM/__pycache__/COM_Robot.cpython-39.pyc | Bin 4545 -> 4566 bytes COM/__pycache__/COM_TCP.cpython-39.pyc | Bin 2322 -> 2343 bytes CU/Feeding.py | 184 ++++++--- CU/__pycache__/Catch.cpython-39.pyc | Bin 2066 -> 2087 bytes CU/__pycache__/Command.cpython-39.pyc | Bin 991 -> 1012 bytes CU/__pycache__/Detect.cpython-39.pyc | Bin 4576 -> 4597 bytes CU/__pycache__/EMV.cpython-39.pyc | Bin 1752 -> 1773 bytes CU/__pycache__/Feeding.cpython-39.pyc | Bin 20391 -> 20299 bytes CU/__pycache__/drop.cpython-39.pyc | Bin 4114 -> 6347 bytes CU/drop.ini | 374 +++++++++++++++--- CU/drop.py | 245 ++++++++---- CU/list.ini | 15 +- EMV/__pycache__/EMV.cpython-39.pyc | Bin 9524 -> 9538 bytes Model/__pycache__/FeedModel.cpython-39.pyc | Bin 3876 -> 3897 bytes Model/__pycache__/Position.cpython-39.pyc | Bin 2459 -> 2480 bytes Model/__pycache__/RobotModel.cpython-39.pyc | Bin 7361 -> 7382 bytes .../handeye_calibration.cpython-39.pyc | Bin 2562 -> 2583 bytes Util/__pycache__/util_ini.cpython-39.pyc | Bin 1875 -> 1896 bytes Util/__pycache__/util_log.cpython-39.pyc | Bin 3215 -> 3236 bytes Util/__pycache__/util_math.cpython-39.pyc | Bin 548 -> 569 bytes Util/__pycache__/util_pic.cpython-39.pyc | Bin 711 -> 732 bytes Util/__pycache__/util_time.cpython-39.pyc | Bin 4519 -> 4540 bytes __pycache__/Constant.cpython-39.pyc | Bin 4452 -> 4473 bytes __pycache__/Expection.cpython-39.pyc | Bin 628 -> 649 bytes __pycache__/MainRecources_rc.cpython-39.pyc | Bin 1630863 -> 1630884 bytes __pycache__/toggleswitch.cpython-39.pyc | Bin 1756 -> 1777 bytes __pycache__/ui_MainWin.cpython-39.pyc | Bin 68277 -> 68298 bytes log/log.log | 170 ++++++++ view/__pycache__/ResetView.cpython-39.pyc | Bin 942 -> 963 bytes .../ui_Dialog_Reset.cpython-39.pyc | Bin 2534 -> 2555 bytes 31 files changed, 812 insertions(+), 177 deletions(-) diff --git a/.gitignore b/.gitignore index e69de29..b42097e 100644 --- a/.gitignore +++ b/.gitignore @@ -0,0 +1 @@ +**/__pycache__/ \ No newline at end of file diff --git a/COM/__pycache__/COM_Robot.cpython-39.pyc b/COM/__pycache__/COM_Robot.cpython-39.pyc index 4e87f48c06edb2f3da4e4077acb04d7af7a2f860..6c514bdc53ad64ddacfbc4fba73852d14230abab 100644 GIT binary patch delta 432 zcmX@8d`+1*k(ZZ?0SIQR?Z{ZNk@pp&*;iX2*TpI(peR2pHMyiX=6T1)XLFZ6-?;h7 zj#)8|r6u{!`FSNp`8mOr#U-h^y6!Q~{=PArC73=kGDc12Vp+kcFnKe}7e@8XD_CO~ zh4g@?73l+sTdb}@LHTO^MIUk57hpR+GI*eR4D3 z1>SI=3QZ=kl|@A$vnLnx$MWicL>Y?|fK*WmSo8ybh7{N?XOLI|h)4wyX&@qCa*==z wqt@j40tSrwlP?Gu$%8D8;s%DK9uUWeI0qE50!41I7M7-#rWW~5Ruo(S0P5jy$^ZZW delta 363 zcmcbnd{CJ;k(ZZ?0SMSy8#1If^1fnJ{H3j*k)NBYpHZRjSXz?roS#=xl%Eq^SzMBu ztMBaZtG`*7=_4cKt;zB%D;O0gpJ4gIsIhr3YYd~1KG2*Z10ZpW)io%{Kd8uPvNpRC zn+8bOWOFdP6%(5oh;2T3GH0r&6^LmKB5Xi}Er_t2%*(Yw0B%l^14z(l@>wn)9(y2D zld}k9Skz=yZVg7K$$s4CjLwtWxKB$P0Yz^Kdiuw^=B5^cdH y{0&lIGh9IG6F@{Nh)4qwfs@+>bQrZKZxJwHG?@HUz=+XkvV@>4qu*pR!36*aidU!r diff --git a/COM/__pycache__/COM_TCP.cpython-39.pyc b/COM/__pycache__/COM_TCP.cpython-39.pyc index 77a6678085cb33de988a268a53c9570b952a456e..bf529ebbbac6f1b359874c5f0873cd8e297d26e7 100644 GIT binary patch delta 83 zcmbOvv|NZUk(ZZ?0SIQR?Z^=3*vPk((d?@=knds@6Ht_&m6}{q9P_+m list: + """获取动态扔包路径""" + + if self.drop_manager is None: + return [] + + path = [] + while True: + pos_model = self.drop_manager.get_next_drop_position( + self.id, + self.current_index + ) + if pos_model is None: + break + path.append(pos_model) + return path + def get_position_list(self): index_start = -1 for i in range(len(self.feed_positions)): @@ -189,20 +217,46 @@ class FeedLine: if self.feed_positions[i].status == FeedStatus.FPhoto.value: index_take = i + # 开始插入动态扔包点，按照 动态扔包中间点，扔包点，动态复位点的顺序 + for i in range(len(self.feed_positions)): + if self.feed_positions[i].status == FeedStatus.FDropBag.value: + index_drop = i + + # LineID = self.id + + # 开始插入动态扔包中间点 + + # 开始插入动态扔包点 + + # 开始插入复位中间点 + + test_path = self.get_drop_path() + self.origin_to_start = self.feed_positions[: index_start+1] self.start_to_take = self.feed_positions[index_start:index_take+1] - self.feeding_to_end = self.feed_positions[index_take:] - for i in range(len(self.feeding_to_end)): #插入动态中间点 - if self.feeding_to_end[i].status == FeedStatus.FTake.value: - befor_position_model = PositionModel() - befor_position_model.init_position(None) - after_position_model = PositionModel() - after_position_model.init_position(None) + # 将总list的drop部分，替换为动态路径 + self.feed_positions = self.feed_positions[:index_drop] + test_path + self.feeding_to_end = self.feed_positions[index_take:index_drop] + + print(self.feed_positions) + + # for i in range(len(self.feeding_to_end)): #插入动态中间点 + # if self.feeding_to_end[i].status == FeedStatus.FTake.value: + # befor_position_model = PositionModel() + # befor_position_model.init_position(None) + # after_position_model = PositionModel() + # after_position_model.init_position(None) + # + # self.feeding_to_end.insert(i, befor_position_model) + # self.feeding_to_end.insert(i+2, after_position_model) + # break + + + + + - self.feeding_to_end.insert(i, befor_position_model) - self.feeding_to_end.insert(i+2, after_position_model) - break class FeedingConfig: def __init__(self, num: int, feedLine: FeedLine, photo_locs): @@ -234,7 +288,6 @@ class Feeding(QObject): self.relay_controller = RelayController() self.sensor_thread = None self.detection_image = None - self.init_detection_image() self.pause = False self.cRis_photo = CRisOrFall() self.cRis_shake = CRisOrFall() @@ -267,8 +320,7 @@ class Feeding(QObject): self.sensor2_thread = None # --- 新增: 用于码垛模式的投料点索引 --- - self.current_drop_index = 0 - self.drop_manager = DropPositionManager("CU/drop.ini") + self.current_drop_index = 1 pass def close_feed(self): @@ -276,10 +328,6 @@ class Feeding(QObject): self.detect_thread.join() self.detect.detection.release() - def init_detection_image(self): - detection_image = cv2.imread(Constant.feed_sign_path) - self.update_detect_image.emit(detection_image) - def run_detect(self): while self.is_detected: self.detect.run() @@ -289,7 +337,7 @@ class Feeding(QObject): self.catch.run() # 获取事件坐标 real_position = Real_Position() - self.detect.position_index = 0 + real_position.init_position(self.robotClient.status_model.world_0, self.robotClient.status_model.world_1, self.robotClient.status_model.world_2, @@ -388,7 +436,6 @@ class Feeding(QObject): self.feedConfig.feedLine.origin2start_pos_index = len(self.feedConfig.feedLine.origin_to_start) - 2 self.next_position(self.is_reverse) self.log_signal.emit(logging.INFO, Constant.str_feed_photo) - self.init_detection_image() return if not Constant.Debug: @@ -399,6 +446,7 @@ class Feeding(QObject): #self.feedConfig.feedLine.set_take_position(real_position, 0)#必须设置 '''real_position''' # 一直等待传感器2信号，永不超时 + # TODO:逻辑需改变，不能用while循环 while True: sensors = self.relay_controller.get_all_device_status('sensors') sensor2_value = sensors.get(self.relay_controller.SENSOR2, False) @@ -408,10 +456,11 @@ class Feeding(QObject): else: self.log_signal.emit(logging.INFO, "⏳ 等待传感器2料包信号...") time.sleep(1) # 每秒检查一次 + self.next_position() self.log_signal.emit(logging.INFO, Constant.str_sys_runing2) - #self.feedStatus = FeedStatus.FTake + # self.feedStatus = FeedStatus.FTake elif self.feedStatus == FeedStatus.FTake: self.log_signal.emit(logging.INFO, Constant.str_feed_take) @@ -420,9 +469,11 @@ class Feeding(QObject): self.log_signal.emit(logging.ERROR, Constant.str_feed_takePhoto_fail) return if not take_position.get_position().compare(real_position, is_action=True): - self.log_signal.emit(logging.INFO, "🟡 机器人尚未到达抓料点位") + self.log_signal.emit(logging.INFO, "机器人尚未到达抓料点位") return - self.log_signal.emit(logging.INFO, "🟢 机器人已到达抓料点位") + self.log_signal.emit(logging.INFO, "机器人已到达抓料点位") + + # 执行抓取动作 #self.catch.catch_status = CatchStatus.CTake #if self.catch.catch_status == CatchStatus.CNone: @@ -435,17 +486,14 @@ class Feeding(QObject): #self.catch.catch_status = CatchStatus.CNone # 移动到下一个抓取点 # 更新丢包点: 如果需要根据放置情况调整下次抓取 - next_drop_pos = self.drop_manager.get_next_drop_position(lineid=1) - print("next_drop_pos--------",next_drop_pos) - if next_drop_pos: - self.feedConfig.feedLine.set_drop_position(next_drop_pos) - self.log_signal.emit(logging.INFO, f"已设置放置点: X={next_drop_pos.X:.2f}") - else: - self.log_signal.emit(logging.ERROR, "获取放置点失败") - return - #self.feedConfig.feedLine.set_drop_position(real_position)#我想在这里读取我的一个ini文件值里面有很多个drop点，每一次索引递增的点 + self.relay_controller.open(clamp=True) - self.next_position() + self.next_position(self.is_reverse) + + + #self.feedConfig.feedLine.set_drop_position(real_position)#我想在这里读取我的一个ini文件值里面有很多个drop点，每一次索引递增的点 + + #return #else: #self.log_signal.emit(logging.ERROR, Constant.str_feed_takePhoto_fail) @@ -457,11 +505,13 @@ class Feeding(QObject): self.next_position() - elif self.feedStatus == FeedStatus.FBroken2: + elif self.feedStatus == FeedStatus.FDropMid: if self.get_current_position().get_position().compare(real_position): self.log_signal.emit(logging.INFO, Constant.str_feed_broken) self.next_position() + else: + self.next_position() elif self.feedStatus == FeedStatus.FShake: if self.get_current_position().get_position().compare(real_position,is_action=True): @@ -524,6 +574,12 @@ class Feeding(QObject): # next_position() 会根据当前的 feed_Mid_Status (FMid_Feed) # 调用 next_Feed()。 self.next_position() + elif self.feedStatus == FeedStatus.FDropReset: + self.next_position() + + elif self.feedStatus == None: + print(self.feedStatus) + pass def run_reset(self): real_position = Real_Position() @@ -741,11 +797,14 @@ class Feeding(QObject): self.feedStatus = FeedStatus(start_pos1.status) if self.feedStatus != FeedStatus.FNone else FeedStatus.FNone self.sendTargPosition(real_position=start_pos.get_position(),speed=self.robotClient.reset_speed, move_type=MoveType.Cure, real_position1=start_pos1.get_position()) elif start_pos.lineType == LineType.WORLD.value: - if self.robotClient.status_model.getAnglePosition().is_error_angel_move(start_pos.get_position(),self.robotClient.max_angle_interval): - self.feedStatus = None - self.log_signal.emit(logging.ERROR, Constant.str_feed_angle_error) - else: - self.sendTargPosition(real_position=start_pos.get_position(),speed=self.robotClient.reset_speed,move_type=MoveType.AXIS) + self.feedStatus = FeedStatus(start_pos1.status) if self.feedStatus != FeedStatus.FNone else FeedStatus.FNone + self.sendTargPosition(real_position=start_pos.get_position(), speed=self.robotClient.reset_speed, + move_type=MoveType.AXIS) + # if self.robotClient.status_model.getAnglePosition().is_error_angel_move(start_pos.get_position(),self.robotClient.max_angle_interval): + # self.feedStatus = None + # self.log_signal.emit(logging.ERROR, Constant.str_feed_angle_error) + # else: + # self.sendTargPosition(real_position=start_pos.get_position(),speed=self.robotClient.reset_speed,move_type=MoveType.AXIS) else: self.sendTargPosition(real_position=start_pos.get_position(),speed=self.robotClient.reset_speed) pass @@ -759,13 +818,17 @@ class Feeding(QObject): self.feedStatus = FeedStatus(take_pos1.status) if self.feedStatus != FeedStatus.FNone else FeedStatus.FNone self.sendTargPosition(real_position=take_pos.get_position(), move_type=MoveType.Cure, real_position1=take_pos1.get_position(),speed=self.robotClient.feed_speed) elif take_pos.lineType == LineType.WORLD.value: - if self.robotClient.status_model.getAnglePosition().is_error_angel_move(take_pos.get_position(), - self.robotClient.max_angle_interval): - self.feedStatus = None - self.log_signal.emit(logging.ERROR, Constant.str_feed_angle_error) - else: - self.sendTargPosition(real_position=take_pos.get_position(), speed=self.robotClient.feed_speed, - move_type=MoveType.AXIS) + take_pos1 = self.feedConfig.feedLine.get_next_take_position(reverse) + self.feedStatus = FeedStatus(take_pos1.status) if self.feedStatus != FeedStatus.FNone else FeedStatus.FNone + self.sendTargPosition(real_position=take_pos.get_position(), speed=self.robotClient.feed_speed, + move_type=MoveType.AXIS) + # if self.robotClient.status_model.getAnglePosition().is_error_angel_move(take_pos.get_position(), + # self.robotClient.max_angle_interval): + # self.feedStatus = None + # self.log_signal.emit(logging.ERROR, Constant.str_feed_angle_error) + # else: + # self.sendTargPosition(real_position=take_pos.get_position(), speed=self.robotClient.feed_speed, + # move_type=MoveType.AXIS) else: self.sendTargPosition(real_position=take_pos.get_position(),speed=self.robotClient.feed_speed) @@ -779,13 +842,20 @@ class Feeding(QObject): self.feedStatus = FeedStatus(feed_pos1.status) if self.feedStatus != FeedStatus.FNone else FeedStatus.FNone self.sendTargPosition(real_position=feed_pos.get_position(), move_type=MoveType.Cure, real_position1=feed_pos1.get_position(),speed=self.robotClient.feed_speed) elif feed_pos.lineType == LineType.WORLD.value: - if self.robotClient.status_model.getAnglePosition().is_error_angel_move(feed_pos.get_position(), - self.robotClient.max_angle_interval): - self.feedStatus = None - self.log_signal.emit(logging.ERROR, Constant.str_feed_angle_error) - else: - self.sendTargPosition(real_position=feed_pos.get_position(), speed=self.robotClient.feed_speed, - move_type=MoveType.AXIS) + # 暂时不考虑世界坐标到关节坐标的转换，强行不判断接近 + feed_pos1 = self.feedConfig.feedLine.get_next_feed_position(reverse) + self.feedStatus = FeedStatus(feed_pos1.status) if self.feedStatus != FeedStatus.FNone else FeedStatus.FNone + self.sendTargPosition(real_position=feed_pos.get_position(), speed=self.robotClient.feed_speed, + move_type=MoveType.AXIS) + + # 注释掉 by chuyiwen + # if self.robotClient.status_model.getAnglePosition().is_error_angel_move(feed_pos.get_position(), + # self.robotClient.max_angle_interval): + # self.feedStatus = FeedStatus.FNone + # self.log_signal.emit(logging.ERROR, Constant.str_feed_angle_error) + # else: + # self.sendTargPosition(real_position=feed_pos.get_position(), speed=self.robotClient.feed_speed, + # move_type=MoveType.AXIS) else: # if not reverse and self.feedStatus == FeedStatus.FShake: @@ -807,6 +877,8 @@ class Feeding(QObject): return self.feedConfig.feedLine.get_current_take_position(self.is_reverse) elif self.feed_Mid_Status == FeedMidStatus.FMid_Feed: return self.feedConfig.feedLine.get_current_feed_position(self.is_reverse) + + def next_position(self,reverse=False): if self.feed_Mid_Status == FeedMidStatus.FMid_Start: self.next_start(reverse) diff --git a/CU/__pycache__/Catch.cpython-39.pyc b/CU/__pycache__/Catch.cpython-39.pyc index 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zJv(f;#r@V5GvHg)Q-i3S3Q_Rdc`&eVBQDI+v-EQ8Zw8DL#EM|)>S?3sdMLvM>gZ_{ zqQJOlqn;Fj7U2<9rBMh_as{1Nk3&KY=SegY%gRZXk<%!|u4Ag)0a|7F%UM*XNhY%l z+bTwJ?D+1V!F(QcmrUzhN3d2>?gWU?Kw+aVgjA+HCdQudY!c~DnF+=$+TyKk@|IR96BuY`rFv@-b z0UArjw3w#aG)r$CHcFL3K}ZwH!Xiv2xo~ftnBeuJQ{l0>wXdhcnYR%0K-FHpr{C_u z273pZQ6#{l{nS1t+TH!$ujnwr+tt0oBW5cXp63JAiUlMiteZbypFF#=bZmY0Z6IO& z_4mTBU$38d835=JHXx%Gc(}B*cKVs{#9TNt4_NeW!2;)eM_vFYeLL~hjCwzdSlpH8n?C<|_~~2qBd5cu$>x=MG`ujqvUDMQ_jLID8+=dq z-fsQU@`SiD!20eykG?XZtC{#Op3imIEnsicg%!lz!z1|45H1Tc4^>U8oNs;tMlK|u z*uSK`EyK|_VdPbjIXh{wml~4T?xUuknqAcVoSLh6KhXN3Xxc^i;M|A?fy>e?EoXj< O09Min;$A$>|9=1h3C)lI diff --git a/CU/drop.ini b/CU/drop.ini index 8c4e105..31e04f2 100644 --- a/CU/drop.ini +++ b/CU/drop.ini @@ -1,88 +1,374 @@ [DropLine1] id = 1 name = 50kg码垛路径 -current_index = 92 +current_index = 22 [DropLine2] id = 2 name = 35kg码垛路径 current_index = 0 +[DropMidPoint1-1] +x = 15.3 +y = -84 +z = -91.0 +u = 2.145 +v = 0 +w = 0 +id = 1 +order = 0 +lineid = 1 +status = 7 +linetype = 0 + +[DropMidPoint1-2] +x = 15.3 +y = -184 +z = -91.0 +u = 2.145 +v = 0 +w = 0 +id = 1 +order = 0 +lineid = 1 +status = 7 +linetype = 0 + +[DropMidPoint1-3] +x = 15.3 +y = -284 +z = -91.0 +u = 2.145 +v = 0 +w = 0 +id = 1 +order = 0 +lineid = 1 +status = 7 +linetype = 0 + [DropPoints1] +x = 15.3 +y = -384 +z = -91.0 +u = 2.145 +v = 0 +w = 0 +id = 1 +order = 1 +lineid = 1 +status = 9 +linetype = 0 + +[ResetPoint1-3] +x = 15.3 +y = -684 +z = -91.0 +u = 2.145 +v = 0 +w = 0 +id = 1 +order = 0 +lineid = 1 +status = 11 +linetype = 0 + +[ResetPoint1-2] +x = 15.3 +y = -584 +z = -91.0 +u = 2.145 +v = 0 +w = 0 +id = 1 +order = 0 +lineid = 1 +status = 11 +linetype = 0 + +[ResetPoint1-1] +x = 15.3 +y = -484 +z = -91.0 +u = 2.145 +v = 0 +w = 0 +id = 1 +order = 0 +lineid = 1 +status = 11 +linetype = 0 + +[DropMidPoint2-1] +x = 1379.783 +y = -403.215 +z = -200.0 +u = 18.350 +v = -0.985981 +w = -125.710434 +id = 2 +order = 0 +lineid = 1 +status = 7 +linetype = 0 + +[DropMidPoint2-2] +x = 1379.783 +y = -403.215 +z = -250.0 +u = 18.350 +v = -0.985981 +w = -125.710434 +id = 2 +order = 0 +lineid = 1 +status = 7 +linetype = 0 + +[DropMidPoint2-3] +x = 1379.783 +y = -403.215 +z = -300.0 +u = 18.350 +v = -0.985981 +w = -125.710434 +id = 2 +order = 0 +lineid = 1 +status = 7 +linetype = 0 + +[DropPoints2] x = 1379.783 y = -403.215 z = -334.279 u = 18.350 v = -0.985981 w = -125.710434 -id = 3 -order = 0 -lineid = 1 -status = 9 -linetype = 0 - -[DropPoints2] -x = 1377.858 -y = -215.07 -z = -334.278 -u = 18.349 -v = -0.985981 -w = -125.710434 -id = 3 +id = 2 order = 1 lineid = 1 status = 9 linetype = 0 -[DropPoints3] -x = 1377.870 -y = 190.876 -z = -334.276 -u = 18.347 +[ResetPoint2-3] +x = 1379.783 +y = -403.215 +z = -366.0 +u = 18.350 v = -0.985981 w = -125.710434 -id = 3 -order = 2 +id = 2 +order = 0 +lineid = 1 +status = 11 +linetype = 0 + +[ResetPoint2-2] +x = 1379.783 +y = -403.215 +z = -466.0 +u = 18.350 +v = -0.985981 +w = -125.710434 +id = 2 +order = 0 +lineid = 1 +status = 11 +linetype = 0 + +[ResetPoint2-1] +x = 1379.783 +y = -403.215 +z = -566.0 +u = 18.350 +v = -0.985981 +w = -125.710434 +id = 2 +order = 0 +lineid = 1 +status = 11 +linetype = 0 + +[DropMidPoint3-1] +x = 1379.783 +y = -403.215 +z = -500.0 +u = 18.350 +v = -0.985981 +w = -125.710434 +id = 1 +order = 0 +lineid = 1 +status = 7 +linetype = 0 +action = + +[DropMidPoint3-2] +x = 1379.783 +y = -403.215 +z = -400.0 +u = 18.350 +v = -0.985981 +w = -125.710434 +id = 1 +order = 0 +lineid = 1 +status = 7 +linetype = 0 + +[DropMidPoint3-3] +x = 1379.783 +y = -403.215 +z = -300.0 +u = 18.350 +v = -0.985981 +w = -125.710434 +id = 1 +order = 0 +lineid = 1 +status = 7 +linetype = 0 + +[DropPoints3] +x = 1379.783 +y = -403.215 +z = -334.279 +u = 18.350 +v = -0.985981 +w = -125.710434 +id = 1 +order = 1 lineid = 1 status = 9 linetype = 0 +[ResetPoint3-3] +x = 1379.783 +y = -403.215 +z = -200.0 +u = 18.350 +v = -0.985981 +w = -125.710434 +id = 1 +order = 0 +lineid = 1 +status = 11 +linetype = 0 + +[ResetPoint3-2] +x = 1379.783 +y = -403.215 +z = -100.0 +u = 18.350 +v = -0.985981 +w = -125.710434 +id = 1 +order = 0 +lineid = 1 +status = 11 +linetype = 0 + +[ResetPoint3-1] +x = 1379.783 +y = -403.215 +z = -50.0 +u = 18.350 +v = -0.985981 +w = -125.710434 +id = 1 +order = 0 +lineid = 1 +status = 11 +linetype = 0 + +[DropMidPoint4-1] +x = 1379.783 +y = -403.215 +z = -200.0 +u = 18.350 +v = -0.985981 +w = -125.710434 +id = 2 +order = 0 +lineid = 1 +status = 7 +linetype = 0 + +[DropMidPoint4-2] +x = 1379.783 +y = -403.215 +z = -250.0 +u = 18.350 +v = -0.985981 +w = -125.710434 +id = 2 +order = 0 +lineid = 1 +status = 7 +linetype = 0 + +[DropMidPoint4-3] +x = 1379.783 +y = -403.215 +z = -300.0 +u = 18.350 +v = -0.985981 +w = -125.710434 +id = 2 +order = 0 +lineid = 1 +status = 7 +linetype = 0 + [DropPoints4] -x = 1874.282 -y = -328.797 -z = -334.274 -u = 18.346 +x = 1379.783 +y = -403.215 +z = -334.279 +u = 18.350 v = -0.985981 w = -125.710434 -id = 3 -order = 3 +id = 2 +order = 1 lineid = 1 status = 9 linetype = 0 -[DropPoints5] -x = 1874.282 -y = -67.365 -z = -334.274 -u = 18.346 +[ResetPoint4-3] +x = 1379.783 +y = -403.215 +z = -366.0 +u = 18.350 v = -0.985981 w = -125.710434 -id = 3 -order = 4 +id = 2 +order = 0 lineid = 1 -status = 9 +status = 11 linetype = 0 -[DropPoints6] -x = 1874.282 -y = 330.375 -z = -334.274 -u = 18.346 +[ResetPoint4-2] +x = 1379.783 +y = -403.215 +z = -466.0 +u = 18.350 v = -0.985981 w = -125.710434 -id = 3 -order = 5 +id = 2 +order = 0 lineid = 1 -status = 9 +status = 11 linetype = 0 +[ResetPoint4-1] +x = 1379.783 +y = -403.215 +z = -566.0 +u = 18.350 +v = -0.985981 +w = -125.710434 +id = 2 +order = 0 +lineid = 1 +status = 11 +linetype = 0 diff --git a/CU/drop.py b/CU/drop.py index aebe62e..2904076 100644 --- a/CU/drop.py +++ b/CU/drop.py @@ -4,101 +4,214 @@ import configparser import os from typing import Optional from Model.Position import Real_Position +from Model.FeedModel import PositionModel + class DropPositionManager: - def __init__(self, config_path="drop.ini"): + def __init__(self, config_path="CU/drop.ini"): self.config_path = config_path self.config = configparser.ConfigParser() self._load_config() + # --- 本地缓存 --- + self._current_lineid: Optional[int] = None + self._current_point_id: Optional[int] = None + self._current_path: list = [] # 当前路径点列表 + self._current_index: int = 0 # 当前路径中的索引 + def _load_config(self): if not os.path.exists(self.config_path): raise FileNotFoundError(f"配置文件不存在: {self.config_path}") self.config.read(self.config_path, encoding='utf-8') - def _save_config(self): - with open(self.config_path, 'w', encoding='utf-8') as f: - self.config.write(f) + def get_next_drop_position(self, lineid: int, point: int) -> Optional[PositionModel]: + """ + 获取指定 lineid 和 point 的下一个路径点。 - def get_next_drop_position(self, lineid: int = 1) -> Optional[Real_Position]: - print(f"\n🔄 开始获取 lineid={lineid} 的下一个 drop 点...") + :param lineid: 路径组 ID（对应 DropLineX） + :param point: 投料点 ID（对应 DropPoints{point}） + :return: 下一个路径点，若无则返回 None + """ + # 如果 lineid 或 point 改变，重新加载路径 + if self._current_lineid != lineid or self._current_point_id != point: + self._load_point_path(lineid, point) + self._current_lineid = lineid + self._current_point_id = point + self._current_index = 0 - line_section = f"DropLine{lineid}" - print(f"🔍 查找路径 section: {line_section}") + # 返回当前索引的点 + if self._current_index < len(self._current_path): + next_point = self._current_path[self._current_index] + self._current_index += 1 + pos = next_point.get_position() + print(f"🎯 返回点: status={next_point.status}, linetype={next_point.lineType}, " + f"position=({pos.X:.3f}, {pos.Y:.3f}, {pos.Z:.3f})") + return next_point - if not self.config.has_section(line_section): - print(f"❌ 错误：配置文件中不存在 section [{line_section}]") - print(f"📊 所有 sections: {list(self.config.sections())}") - return None + # 路径结束 + print("✅ 当前点集合路径已结束") + return None - current_index = self.config.getint(line_section, "current_index", fallback=0) - print(f"📌 当前索引: {current_index} (fallback=0 如果未设置)") + def _load_point_path(self, lineid: int, point_id: int): + """加载指定 lineid 和 point_id 的完整路径""" + self._current_path = [] - points = [] - found_sections = [] - matched_sections = [] + # 检查是否存在 DropPoints{point_id} + drop_point_sec = f"DropPoints{point_id}" + if not self.config.has_section(drop_point_sec): + print(f"❌ 配置错误：不存在 {drop_point_sec}") + return + if self.config.getint(drop_point_sec, "lineid") != lineid: + print(f"❌ {drop_point_sec} 不属于 lineid={lineid}") + return + + try: + drop_pos = self._read_position_from_section(drop_point_sec) + except Exception as e: + print(f"❌ 读取 {drop_point_sec} 失败: {e}") + return + + # 1. 加载 DropMidPoint{point_id}-*（按 level 升序） + mid_points = [] for sec in self.config.sections(): - if sec.startswith("DropPoints"): - found_sections.append(sec) + if sec.startswith(f"DropMidPoint{point_id}-") and self.config.getint(sec, "lineid") == lineid: try: - file_lineid = self.config.getint(sec, "lineid") - print(f"🔍 {sec}: lineid={file_lineid}") - if file_lineid == lineid: - matched_sections.append(sec) - pos = Real_Position() - pos.X = self.config.getfloat(sec, "x") - pos.Y = self.config.getfloat(sec, "y") - pos.Z = self.config.getfloat(sec, "z") - pos.U = self.config.getfloat(sec, "u") - pos.V = self.config.getfloat(sec, "v") - pos.W = self.config.getfloat(sec, "w") - order = self.config.getint(sec, "order") - points.append((order, pos)) - print(f"✅ 匹配到点: {sec}, order={order}, 位置=({pos.X:.3f}, {pos.Y:.3f})") + level = int(sec.split('-')[1]) + pos = self._read_position_from_section(sec) + mid_points.append((level, pos)) except Exception as e: - print(f"❌ 读取 {sec} 失败: {e}") + print(f"❌ 解析 {sec} 失败: {e}") + mid_points.sort(key=lambda x: x[0]) - print(f"📁 找到 DropPoints: {found_sections}") - print(f"🟢 匹配 lineid={lineid} 的点: {matched_sections}") - print(f"📊 共收集 {len(points)} 个有效点") + # 2. 加载 ResetPoint{point_id}-*（按 level 升序） + reset_points = [] + for sec in self.config.sections(): + if sec.startswith(f"ResetPoint{point_id}-") and self.config.getint(sec, "lineid") == lineid: + try: + level = int(sec.split('-')[1]) + pos = self._read_position_from_section(sec) + reset_points.append((level, pos)) + except Exception as e: + print(f"❌ 解析 {sec} 失败: {e}") + reset_points.sort(key=lambda x: x[0]) - if not points: - print("❌ 没有可用的 drop 点！请检查：lineid 是否匹配，字段是否正确") - return None + # 3. 组装路径 + # a. DropMidPoint + for _, pos in mid_points: + model = PositionModel() + model.init_position(pos) + model.status = 7 # FMid + model.lineType = 4 # WORLD + self._current_path.append(model) - # 按 order 排序 - points.sort(key=lambda x: x[0]) - sorted_positions = [pos for _, pos in points] - count = len(sorted_positions) - actual_index = current_index % count + # b. DropPoints + main_model = PositionModel() + main_model.init_position(drop_pos) + main_model.status = 9 # FDropBag + main_model.lineType = 4 + self._current_path.append(main_model) - selected_pos = sorted_positions[actual_index] - print(f"🎯 选择第 {actual_index} 个点: X={selected_pos.X:.3f}, Y={selected_pos.Y:.3f}, Z={selected_pos.Z:.3f}") + # c. ResetPoint + for _, pos in reset_points: + model = PositionModel() + model.init_position(pos) + model.status = 11 # FReverse + model.lineType = 4 + self._current_path.append(model) - # 索引 +1 并保存回 ini - next_index = current_index + 1 - self.config.set(line_section, "current_index", str(next_index)) - self._save_config() - print(f"💾 已保存 current_index = {next_index} 到 [{line_section}]") + print(f"✅ 已加载 DropLine{lineid} 中 DropPoints{point_id} 的路径，共 {len(self._current_path)} 个点") - return selected_pos + def _read_position_from_section(self, section: str) -> Real_Position: + """从配置文件的 section 中读取位置信息""" + pos = Real_Position() + pos.X = self.config.getfloat(section, "x") + pos.Y = self.config.getfloat(section, "y") + pos.Z = self.config.getfloat(section, "z") + pos.U = self.config.getfloat(section, "u") + pos.V = self.config.getfloat(section, "v") + pos.W = self.config.getfloat(section, "w") + return pos +def _get_point_debug_info(manager, pos, model): + config = manager.config + for sec in config.sections(): + if sec.startswith("DropPoints"): + try: + x, y, z = config.getfloat(sec, "x"), config.getfloat(sec, "y"), config.getfloat(sec, "z") + if abs(x - pos.X) < 0.001 and abs(y - pos.Y) < 0.001 and abs(z - pos.Z) < 0.001: + point_id = config.getint(sec, "id") + return f"📌 DropPoints{point_id} | id={point_id}" + except: pass -# ✅ 主函数：用于测试 + elif sec.startswith("DropMidPoint"): + try: + parts = sec.split('-') + if len(parts) != 2: continue + point_id = int(''.join(filter(str.isdigit, parts[0]))) + level = int(parts[1]) + x, y, z = config.getfloat(sec, "x"), config.getfloat(sec, "y"), config.getfloat(sec, "z") + if abs(x - pos.X) < 0.001 and abs(y - pos.Y) < 0.001 and abs(z - pos.Z) < 0.001: + return f"📍 DropMidPoint{point_id}-{level} | id={point_id}, level={level}" + except: pass + + elif sec.startswith("ResetPoint"): + try: + parts = sec.split('-') + if len(parts) != 2: continue + point_id = int(''.join(filter(str.isdigit, parts[0]))) + level = int(parts[1]) + x, y, z = config.getfloat(sec, "x"), config.getfloat(sec, "y"), config.getfloat(sec, "z") + if abs(x - pos.X) < 0.001 and abs(y - pos.Y) < 0.001 and abs(z - pos.Z) < 0.001: + return f"🔙 ResetPoint{point_id}-{level} | id={point_id}, level={level}" + except: pass + return "❓ 未知点位" + +# 测试 if __name__ == "__main__": - # 创建管理器，加载 drop.ini manager = DropPositionManager("drop.ini") + lineid = 1 - # 获取第一个 drop 点（lineid=1） - pos = manager.get_next_drop_position(lineid=1) + print(f"\n🔁 测试：通过 point 参数切换路径集合\n") - if pos is not None: - print(f"\n🎉 成功返回点位: X={pos.X}, Y={pos.Y}, Z={pos.Z}, U={pos.U}, V={pos.V}, W={pos.W}") - else: - print("\n❌ get_next_drop_position 返回了 None，请根据上面的日志排查") - print("💡 常见原因：") - print(" 1. drop.ini 缺少 current_index") - print(" 2. lineid 不匹配") - print(" 3. Real_Position 属性名错误（应为大写 X/Y/Z）") - print(" 4. 文件路径不对") + # 先走 point=1 + print("=" * 60) + print("📦 开始执行 point=1 的路径") + print("=" * 60) + for i in range(10): + pos_model = manager.get_next_drop_position(lineid=lineid, point=1) + if pos_model is None: + print("🔚 point=1 路径结束") + break + pos = pos_model.get_position() + info = _get_point_debug_info(manager, pos, pos_model) + print(f" 🚀 {info}") + if pos_model.status == 9: + print(" 💥 执行【扔包】操作！") + + # 再走 point=2 + print("\n" + "=" * 60) + print("📦 开始执行 point=2 的路径") + print("=" * 60) + for i in range(10): + pos_model = manager.get_next_drop_position(lineid=lineid, point=2) + if pos_model is None: + print("🔚 point=2 路径结束") + break + pos = pos_model.get_position() + info = _get_point_debug_info(manager, pos, pos_model) + print(f" 🚀 {info}") + if pos_model.status == 9: + print(" 💥 执行【扔包】操作！") + + # 再切回 point=1 + print("\n" + "=" * 60) + print("🔄 切换回 point=1，从头开始") + print("=" * 60) + for i in range(3): + pos_model = manager.get_next_drop_position(lineid=lineid, point=1) + if pos_model is None: + break + pos = pos_model.get_position() + info = _get_point_debug_info(manager, pos, pos_model) + print(f" 🚀 {info}") \ No newline at end of file diff --git a/CU/list.ini b/CU/list.ini index 83febca..b86a215 100644 --- a/CU/list.ini +++ b/CU/list.ini @@ -1,12 +1,5 @@ [positions] -0 = -569.543396, -1299.659543, -1269.931256, -151.12764, 0.258, 0.258 -1 = -569.543396, -1299.659543, -1269.931256, -151.12764, 0.258, 0.258 -2 = -569.543396, -1299.659543, -1269.931256, -151.12764, 0.258, 0.258 -3 = -569.543396, -1299.659543, -1269.931256, -151.12764, 0.258, 0.258 -4 = -42.885, -1432.385, -300.451, -59.044, 7.258, 7.258 -5 = -42.885, -1432.385, -280.451, -59.044, 7.258, 7.258 -6 = -42.885, -1432.385, -410.451, -59.044, 7.258, 7.258 -7 = -42.885, -1432.385, -380.451, -59.044, 7.258, 7.258 -8 = -42.885, -1432.385, -340.451, -59.044, 7.258, 7.258 -9 = -42.885, -1432.385, -300.451, -59.044, 7.258, 7.258 -10 = -42.885, -1432.385, -280.451, -59.044, 7.258, 7.258 \ No newline at end of file +0 = -569.543396, -1299.659543, -1069.931256, -151.12764, 0.258, 0.258 +1 = -569.543396, -1299.659543, -1069.931256, -151.12764, 0.258, 0.258 +2 = -569.543396, -1299.659543, -1069.931256, -151.12764, 0.258, 0.258 +3 = -569.543396, -1299.659543, -1069.931256, -151.12764, 0.258, 0.258 \ No newline at end of file diff --git a/EMV/__pycache__/EMV.cpython-39.pyc b/EMV/__pycache__/EMV.cpython-39.pyc index aa84c29a552c121584360ec0dfb6baa0a9a6c406..1438e17cdfc930ddaabb23fc283ef392468a335d 100644 GIT binary patch delta 2098 zcmb7_OKcle6ox&qW5@9$8QXc=c{*vFCZ%oqOem!)ZD}DTB?T1|I(2d)tct zFHe1YDw2yt8a?#;aOn2pm5s<)U8Qc#qlMQLVq^_+lm&=Qtby3ff<%=y5@RexjI%H? z!6L+#HP2ELi?Sxx{1JIBH8YjPHf5E?Sz=R;u@=_4DaTnGYlmE@rwFaAqry5_7u>Zr z87?UUrHCr)CdQbb7-v1wp`GLe!=4tFD!{9QSEi-H_1F}lO8Qa50BQ(hFNA2A$!=!rqnC9^&z3w&$bf>q$SNfGoH+-u)O2q zmiH&c5x;s9;+C)8m8#$Su6U34(J}LW!c7mKpvQ0f2~SPTPIGffpSP{qd+Qr_KmPRI 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