米厂码垛修改

CU/drop.py

@@ -1,5 +1,4 @@
-# File: drop_position_manager.py
-
+from ast import mod
 import configparser
 import os
 from typing import Optional
@@ -19,11 +18,14 @@ class DropPositionManager:
         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):
+        """加载配置文件"""
         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 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。
@@ -53,7 +55,8 @@ class DropPositionManager:
         return None
 
     def _load_point_path(self, lineid: int, point_id: int):
-        """加载指定 lineid 和 point_id 的完整路径"""
+        """加载指定 lineid 和 point_id 的完整路径
+        (点集合dropmidpoint、droppoint、resetpoint)"""
         self._current_path = []
 
         # 检查是否存在 DropPoints{point_id}
@@ -99,31 +102,33 @@ class DropPositionManager:
         # 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)
+            # model = PositionModel()
+            # model.init_position(pos)
+            # model.status = 7  # FMid
+            # model.lineType = 4  # WORLD
+            self._current_path.append(pos)
 
         # 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)
+        # main_model = PositionModel()
+        # main_model.init_position(drop_pos)
+        # main_model.status = 9  # FDropBag
+        # main_model.lineType = 4
+        self._current_path.append(drop_pos)
 
         # 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)
+            # model = PositionModel()
+            # model.init_position(pos)
+            # model.status = 10  # FReverse
+            # model.lineType = 4
+            self._current_path.append(pos)
 
         print(f"✅ 已加载 DropLine{lineid} 中 DropPoints{point_id} 的路径，共 {len(self._current_path)} 个点")
 
-    def _read_position_from_section(self, section: str) -> Real_Position:
+    def _read_position_from_section(self, section: str) -> PositionModel:
         """从配置文件的 section 中读取位置信息"""
+        model = PositionModel()
+
         pos = Real_Position()
         pos.X = self.config.getfloat(section, "x")
         pos.Y = self.config.getfloat(section, "y")
@@ -131,7 +136,14 @@ class DropPositionManager:
         pos.U = self.config.getfloat(section, "u")
         pos.V = self.config.getfloat(section, "v")
         pos.W = self.config.getfloat(section, "w")
-        return pos
+        model.init_position(pos)
+        
+        model.lineType=self.config.getint(section, "linetype")
+        model.status=self.config.getint(section, "status")
+       
+        
+        return model
+
 
 def _get_point_debug_info(manager, pos, model):
     config = manager.config
@@ -169,7 +181,8 @@ def _get_point_debug_info(manager, pos, model):
 
 # 测试
 if __name__ == "__main__":
-    manager = DropPositionManager("drop.ini")
+    # manager = DropPositionManager("drop.ini")
+    manager = DropPositionManager()
     lineid = 1
 
     print(f"\n🔁 测试：通过 point 参数切换路径集合\n")