image_font

CU/Feeding.py

@@ -29,7 +29,7 @@ from Util.util_log import log
 from Model.RobotModel import Instruction
 from EMV.EMV import RelayController
 from CU.drop import DropPositionManager
-# from Mv3D.CameraImg import CameraImg
+from Mv3D.CameraUtil import CameraUtil
 class ResetStatus(Enum):
     RNone = 0
     RStart = 1
@@ -326,7 +326,7 @@ class Feeding(QObject):
         #用于同步控制EMV相关
         self.relay_controller = relay_controller
         self.relay_controller.take_robot_signal.connect(self.take_feed_notice)
-        # self.camera_img=CameraImg()
+        self.camera_img=CameraUtil()
         # 启动传感器2线程
         # self.relay_controller._running = True
         # self.sensor2_thread = None
@@ -340,8 +340,8 @@ class Feeding(QObject):
         # self.detect_thread.join()
         if self.detect.detection:
             self.detect.detection.release()
-        # if self.camera_img:
-        #     self.camera_img.close_camera()
+        if self.camera_img:
+            self.camera_img.release()
 
     def run_detect(self):
         #图片相关线程
@@ -502,7 +502,7 @@ class Feeding(QObject):
                         time.sleep(1)  # 每秒检查一次
                
                 #第二次执行FeedStatus.FPhoto时，改变码垛点
-                # self.camera_img.save_frame_path()
+                self.camera_img.save_img()
                 self.feedConfig.feedLine.set_feeding_to_end()
                 # self.take_photo_sigal.emit()
                 self.next_position()