修改drop，获取丢包路径

.gitignore

@@ -0,0 +1 @@
+**/__pycache__/

CU/Feeding.py

@@ -42,12 +42,13 @@ class FeedStatus(IntEnum):
     FPhoto = 4
     FTake = 5
     FBroken1 = 6
-    FBroken2 =7
+    FDropMid = 7 # 暂时替换为扔包中间点
     FShake = 8
     FDropBag = 9
-    FFinished = 10
+    FDropReset = 10
-    FReverse = 11
+    FFinished = 11
-    FStartReverse = 12
+    FReverse = 12
+    FStartReverse = 13
 
 class LineType(Enum):
     Straight = 0
@@ -60,6 +61,7 @@ class FeedMidStatus(Enum):
     FMid_Start = 1
     FMid_Take = 2
     FMid_Feed= 3
+    FMid_Reverse = 4
 
 class FeedPosition:
     def __init__(self,status:FeedStatus,position:Real_Position):
@@ -74,10 +76,18 @@ class FeedLine:
         self.start2take_pos_index = 0
         self.name = name
         self.id = id
+        self.drop_manager = DropPositionManager("CU/drop.ini")
 
     # --- 新增：用于存储从 ini 文件读取的多个投料点坐标 ---
     # 这个列表将在加载 ini 时填充 [[x1,y1,z1,u1,v1,w1], [x2,y2,z2,u2,v2,w2], ...]
         self.drop_point_list = []
+        self.current_index = 1
+
+    def get_current_index(self):
+        return self.current_index
+
+    def set_current_index(self, index):
+        self.current_index = index
 
     def get_current_feed_position(self,is_reverse):
         pos = self.feeding_to_end[ (self.feeding2end_pos_index+1)%len(self.feeding_to_end) if is_reverse else self.feeding2end_pos_index-1]
@@ -166,6 +176,7 @@ class FeedLine:
                     print("Warning: No position after FTake to update.")
                 break  # 抓料点暂时就一个
 
+
     def set_drop_position(self, position: Real_Position):
         """
         设置 FDropBag 位置，只设置当前点，不处理前后点。
@@ -179,6 +190,23 @@ class FeedLine:
                     f"✅ FDropBag 位置已更新: ({position.X}, {position.Y}, {position.Z}, {position.U}, {position.V}, {position.W})")
                 break  # 假设只有一个丢包点
 
+    def get_drop_path(self) -> 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
+        # 将总list的drop部分，替换为动态路径
-            if self.feeding_to_end[i].status == FeedStatus.FTake.value:
+        self.feed_positions = self.feed_positions[:index_drop] + test_path
-                befor_position_model = PositionModel()
+        self.feeding_to_end = self.feed_positions[index_take:index_drop]
-                befor_position_model.init_position(None)
+
-                after_position_model = PositionModel()
+        print(self.feed_positions)
-                after_position_model.init_position(None)
+
+        # 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.current_drop_index = 1
-        self.drop_manager = DropPositionManager("CU/drop.ini")
         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 = FeedStatus(start_pos1.status) if self.feedStatus != FeedStatus.FNone else FeedStatus.FNone
-                self.feedStatus = None
+            self.sendTargPosition(real_position=start_pos.get_position(), speed=self.robotClient.reset_speed,
-                self.log_signal.emit(logging.ERROR, Constant.str_feed_angle_error)
+                                  move_type=MoveType.AXIS)
-            else:
+            # if self.robotClient.status_model.getAnglePosition().is_error_angel_move(start_pos.get_position(),self.robotClient.max_angle_interval):
-                self.sendTargPosition(real_position=start_pos.get_position(),speed=self.robotClient.reset_speed,move_type=MoveType.AXIS)
+            #     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(),
+            take_pos1 = self.feedConfig.feedLine.get_next_take_position(reverse)
-                                                                                    self.robotClient.max_angle_interval):
+            self.feedStatus = FeedStatus(take_pos1.status) if self.feedStatus != FeedStatus.FNone else FeedStatus.FNone
-                self.feedStatus = None
+            self.sendTargPosition(real_position=take_pos.get_position(), speed=self.robotClient.feed_speed,
-                self.log_signal.emit(logging.ERROR, Constant.str_feed_angle_error)
+                                  move_type=MoveType.AXIS)
-            else:
+            # if self.robotClient.status_model.getAnglePosition().is_error_angel_move(take_pos.get_position(),
-                self.sendTargPosition(real_position=take_pos.get_position(), speed=self.robotClient.feed_speed,
+            #                                                                         self.robotClient.max_angle_interval):
-                                      move_type=MoveType.AXIS)
+            #     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(),
+            # 暂时不考虑世界坐标到关节坐标的转换，强行不判断接近
-                                                                                    self.robotClient.max_angle_interval):
+            feed_pos1 = self.feedConfig.feedLine.get_next_feed_position(reverse)
-                self.feedStatus = None
+            self.feedStatus = FeedStatus(feed_pos1.status) if self.feedStatus != FeedStatus.FNone else FeedStatus.FNone
-                self.log_signal.emit(logging.ERROR, Constant.str_feed_angle_error)
+            self.sendTargPosition(real_position=feed_pos.get_position(), speed=self.robotClient.feed_speed,
-            else:
+                                  move_type=MoveType.AXIS)
-                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)

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
+id = 2
-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
 order = 1
 lineid = 1
 status = 9
 linetype = 0
 
-[DropPoints3]
+[ResetPoint2-3]
-x = 1377.870
+x = 1379.783
-y = 190.876
+y = -403.215
-z = -334.276
+z = -366.0
-u = 18.347
+u = 18.350
 v = -0.985981
 w = -125.710434
-id = 3
+id = 2
-order = 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
+x = 1379.783
-y = -328.797
+y = -403.215
-z = -334.274
+z = -334.279
-u = 18.346
+u = 18.350
 v = -0.985981
 w = -125.710434
-id = 3
+id = 2
-order = 3
+order = 1
 lineid = 1
 status = 9
 linetype = 0
 
-[DropPoints5]
+[ResetPoint4-3]
-x = 1874.282
+x = 1379.783
-y = -67.365
+y = -403.215
-z = -334.274
+z = -366.0
-u = 18.346
+u = 18.350
 v = -0.985981
 w = -125.710434
-id = 3
+id = 2
-order = 4
+order = 0
 lineid = 1
-status = 9
+status = 11
 linetype = 0
 
-[DropPoints6]
+[ResetPoint4-2]
-x = 1874.282
+x = 1379.783
-y = 330.375
+y = -403.215
-z = -334.274
+z = -466.0
-u = 18.346
+u = 18.350
 v = -0.985981
 w = -125.710434
-id = 3
+id = 2
-order = 5
+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

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):
+    def get_next_drop_position(self, lineid: int, point: int) -> Optional[PositionModel]:
-        with open(self.config_path, 'w', encoding='utf-8') as f:
+        """
-            self.config.write(f)
+        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]:
+        :param lineid: 路径组 ID（对应 DropLineX）
-        print(f"\n🔄 开始获取 lineid={lineid} 的下一个 drop 点...")
+        :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}"
+        # 返回当前索引的点
-        print(f"🔍 查找路径 section: {line_section}")
+        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):
+        # 路径结束
-            print(f"❌ 错误：配置文件中不存在 section [{line_section}]")
+        print("✅ 当前点集合路径已结束")
-            print(f"📊 所有 sections: {list(self.config.sections())}")
+        return None
-            return None
 
-        current_index = self.config.getint(line_section, "current_index", fallback=0)
+    def _load_point_path(self, lineid: int, point_id: int):
-        print(f"📌 当前索引: {current_index} (fallback=0 如果未设置)")
+        """加载指定 lineid 和 point_id 的完整路径"""
+        self._current_path = []
 
-        points = []
+        # 检查是否存在 DropPoints{point_id}
-        found_sections = []
+        drop_point_sec = f"DropPoints{point_id}"
-        matched_sections = []
+        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"):
+            if sec.startswith(f"DropMidPoint{point_id}-") and self.config.getint(sec, "lineid") == lineid:
-                found_sections.append(sec)
                 try:
-                    file_lineid = self.config.getint(sec, "lineid")
+                    level = int(sec.split('-')[1])
-                    print(f"🔍 {sec}: lineid={file_lineid}")
+                    pos = self._read_position_from_section(sec)
-                    if file_lineid == lineid:
+                    mid_points.append((level, pos))
-                        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})")
                 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}")
+        # 2. 加载 ResetPoint{point_id}-*（按 level 升序）
-        print(f"🟢 匹配 lineid={lineid} 的点: {matched_sections}")
+        reset_points = []
-        print(f"📊 共收集 {len(points)} 个有效点")
+        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:
+        # 3. 组装路径
-            print("❌ 没有可用的 drop 点！请检查：lineid 是否匹配，字段是否正确")
+        # a. DropMidPoint
-            return None
+        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
+        # b. DropPoints
-        points.sort(key=lambda x: x[0])
+        main_model = PositionModel()
-        sorted_positions = [pos for _, pos in points]
+        main_model.init_position(drop_pos)
-        count = len(sorted_positions)
+        main_model.status = 9  # FDropBag
-        actual_index = current_index % count
+        main_model.lineType = 4
+        self._current_path.append(main_model)
 
-        selected_pos = sorted_positions[actual_index]
+        # c. ResetPoint
-        print(f"🎯 选择第 {actual_index} 个点: X={selected_pos.X:.3f}, Y={selected_pos.Y:.3f}, Z={selected_pos.Z:.3f}")
+        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
+        print(f"✅ 已加载 DropLine{lineid} 中 DropPoints{point_id} 的路径，共 {len(self._current_path)} 个点")
-        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}]")
 
-        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）
+    print(f"\n🔁 测试：通过 point 参数切换路径集合\n")
-    pos = manager.get_next_drop_position(lineid=1)
 
-    if pos is not None:
+    # 先走 point=1
-        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}")
+    print("=" * 60)
-    else:
+    print("📦 开始执行 point=1 的路径")
-        print("\n❌ get_next_drop_position 返回了 None，请根据上面的日志排查")
+    print("=" * 60)
-        print("💡 常见原因：")
+    for i in range(10):
-        print("   1. drop.ini 缺少 current_index")
+        pos_model = manager.get_next_drop_position(lineid=lineid, point=1)
-        print("   2. lineid 不匹配")
+        if pos_model is None:
-        print("   3. Real_Position 属性名错误（应为大写 X/Y/Z）")
+            print("🔚 point=1 路径结束")
-        print("   4. 文件路径不对")
+            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}")

CU/list.ini

@@ -1,12 +1,5 @@
 [positions]
-0 = -569.543396, -1299.659543, -1269.931256, -151.12764, 0.258, 0.258
+0 = -569.543396, -1299.659543, -1069.931256, -151.12764, 0.258, 0.258
-1 = -569.543396, -1299.659543, -1269.931256, -151.12764, 0.258, 0.258
+1 = -569.543396, -1299.659543, -1069.931256, -151.12764, 0.258, 0.258
-2 = -569.543396, -1299.659543, -1269.931256, -151.12764, 0.258, 0.258
+2 = -569.543396, -1299.659543, -1069.931256, -151.12764, 0.258, 0.258
-3 = -569.543396, -1299.659543, -1269.931256, -151.12764, 0.258, 0.258
+3 = -569.543396, -1299.659543, -1069.931256, -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

log/log.log

@@ -9807,3 +9807,173 @@
 2025-08-15 12:55:24 - ERROR - 无回复
 2025-08-15 12:55:34 - ERROR - 无回复
 2025-08-15 12:55:45 - ERROR - 无回复
+2025-09-03 19:35:41 - INFO - <20><><EFBFBD><EFBFBD>ϵͳ
+2025-09-03 19:35:46 - INFO - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["switchTool","2"]}
+2025-09-03 19:35:46 - INFO - <20>л<EFBFBD><D0BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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+2025-09-03 19:35:47 - INFO - <20>л<EFBFBD><D0BB><EFBFBD><EFBFBD>Զ<EFBFBD><D4B6><EFBFBD><EFBFBD><EFBFBD>״̬
+2025-09-03 19:35:48 - ERROR - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>42
+2025-09-03 19:35:48 - ERROR - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>42
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+2025-09-03 19:35:52 - ERROR - <20><>¼<EFBFBD><C2BC><EFBFBD><EFBFBD>ʧ<EFBFBD><CAA7>
+2025-09-03 19:35:52 - ERROR - 'str' object has no attribute 'release'
+2025-09-03 19:36:47 - INFO - <20><><EFBFBD><EFBFBD>ϵͳ
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+2025-09-03 19:36:48 - ERROR - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>42
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+2025-09-03 19:36:48 - ERROR - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>42
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+2025-09-03 19:37:16 - ERROR - 'str' object has no attribute 'release'