源码
This commit is contained in:
琉璃月光
@ -36,8 +36,9 @@ class Catch:
|
||||
if not self.is_send_take_command:
|
||||
# 本身IO
|
||||
#self.robotClient.sendIOControl(self.robotClient.con_ios[0],1)
|
||||
print('抓料成功真实抓料')
|
||||
# 网络继电器
|
||||
close(1, 0, 0) #逻辑关闭电磁阀1
|
||||
open(1, 0, 0) #逻辑关闭电磁阀1
|
||||
self.is_send_take_command = True
|
||||
|
||||
if self.catch_status == CatchStatus.CDrop:
|
||||
@ -45,7 +46,7 @@ class Catch:
|
||||
# 本身IO
|
||||
# self.robotClient.sendIOControl(self.robotClient.con_ios[0], 0)
|
||||
# 网络继电器
|
||||
open(1, 0, 0)#逻辑
|
||||
close(1, 0, 0)#逻辑
|
||||
#time.sleep(1)
|
||||
#for _ in range(self.drop_count):
|
||||
# self.robotClient.sendIOControl(self.robotClient.con_ios[1], 1, delay=self.robotClient.time_delay_put)
|
||||
@ -81,7 +82,7 @@ class Catch:
|
||||
if self.catch_status == CatchStatus.COk:
|
||||
self.shake_continue.SetReset()
|
||||
# self.robotClient.sendIOControl(self.robotClient.con_ios[1], 0,emptyList='1')
|
||||
open(1,0,0)#逻辑
|
||||
close(1,0,0)#逻辑
|
||||
#close(0, 1, 0)
|
||||
#close(0, 0, 1)
|
||||
self.is_send_take_command = False
|
||||
|
||||
223
CU/Detect.py
223
CU/Detect.py
@ -1,86 +1,137 @@
|
||||
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):
|
||||
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}")
|
||||
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
|
||||
829
CU/Feed_save.py
Normal file
829
CU/Feed_save.py
Normal file
@ -0,0 +1,829 @@
|
||||
import copy
|
||||
import logging
|
||||
import random
|
||||
import threading
|
||||
import time
|
||||
|
||||
import cv2
|
||||
import numpy as np
|
||||
from PyQt5.QtWidgets import QMessageBox
|
||||
from PySide6.QtCore import Signal, QObject
|
||||
from PySide6.QtGui import QPixmap
|
||||
|
||||
import Constant
|
||||
import Expection
|
||||
from CU.Catch import Catch, CatchStatus
|
||||
from CU.Detect import Detect, DetectStatus
|
||||
from Model.FeedModel import PositionModel
|
||||
from Model.Position import Real_Position, Detection_Position
|
||||
from enum import Enum, IntEnum
|
||||
from COM.COM_Robot import RobotClient, DetectType
|
||||
from Model.RobotModel import CMDInstructRequest, MoveType
|
||||
from Trace.handeye_calibration import getPosition
|
||||
from Trace.handeye_calibration import getxyz,getxyz1
|
||||
from Util.util_math import get_distance
|
||||
from Util.util_time import CRisOrFall
|
||||
#from Vision.camera_coordinate_dete import Detection
|
||||
from Util.util_log import log
|
||||
from Model.RobotModel import Instruction
|
||||
from EMV.EMV import RelayController
|
||||
from CU.drop import DropPositionManager
|
||||
class ResetStatus(Enum):
|
||||
RNone = 0
|
||||
RStart = 1
|
||||
RRunging = 2
|
||||
ROk =3
|
||||
|
||||
class FeedStatus(IntEnum):
|
||||
FNone = 0
|
||||
FStart = 1
|
||||
FCheck = 2
|
||||
FMid = 3
|
||||
FPhoto = 4
|
||||
FTake = 5
|
||||
FBroken1 = 6
|
||||
FBroken2 =7
|
||||
FShake = 8
|
||||
FDropBag = 9
|
||||
FFinished = 10
|
||||
FReverse = 11
|
||||
FStartReverse = 12
|
||||
|
||||
class LineType(Enum):
|
||||
Straight = 0
|
||||
CureMid = 2
|
||||
CureEnd = 3
|
||||
WORLD = 4
|
||||
|
||||
|
||||
class FeedMidStatus(Enum):
|
||||
FMid_Start = 1
|
||||
FMid_Take = 2
|
||||
FMid_Feed= 3
|
||||
|
||||
class FeedPosition:
|
||||
def __init__(self,status:FeedStatus,position:Real_Position):
|
||||
self.status = status
|
||||
self.position = position
|
||||
|
||||
class FeedLine:
|
||||
def __init__(self, id, name, feed_positions:list):
|
||||
self.feed_positions = copy.deepcopy(feed_positions)
|
||||
self.feeding2end_pos_index = 0
|
||||
self.origin2start_pos_index = 0
|
||||
self.start2take_pos_index = 0
|
||||
self.name = name
|
||||
self.id = id
|
||||
|
||||
# --- 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 = []
|
||||
|
||||
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]
|
||||
return pos
|
||||
def get_current_take_position(self,is_reverse):
|
||||
pos = self.start_to_take[ (self.start2take_pos_index+1)%len(self.start_to_take) if is_reverse else self.start2take_pos_index-1]
|
||||
return pos
|
||||
def get_current_start_position(self,is_reverse):
|
||||
pos = self.origin_to_start[(self.origin2start_pos_index+1)%len(self.origin_to_start) if is_reverse else self.origin2start_pos_index-1]
|
||||
return pos
|
||||
|
||||
def get_next_feed_position(self,reverse:bool=False):
|
||||
pos = self.feeding_to_end[self.feeding2end_pos_index]
|
||||
if reverse:
|
||||
self.feeding2end_pos_index -= 1
|
||||
if self.feeding2end_pos_index < 0:
|
||||
self.feeding2end_pos_index = len(self.feeding_to_end) - 1
|
||||
else:
|
||||
self.feeding2end_pos_index += 1
|
||||
if self.feeding2end_pos_index >= len(self.feeding_to_end):
|
||||
self.feeding2end_pos_index = 0
|
||||
return pos
|
||||
|
||||
def get_next_start_position(self,reverse:bool=False):
|
||||
pos = self.origin_to_start[self.origin2start_pos_index]
|
||||
if reverse:
|
||||
self.origin2start_pos_index -= 1
|
||||
if self.origin2start_pos_index < 0:
|
||||
self.origin2start_pos_index = len(self.origin_to_start) - 1
|
||||
else:
|
||||
self.origin2start_pos_index += 1
|
||||
if self.origin2start_pos_index >= len(self.origin_to_start):
|
||||
self.origin2start_pos_index = 0
|
||||
|
||||
return pos
|
||||
|
||||
def get_next_take_position(self,reverse:bool=False):
|
||||
pos = self.start_to_take[self.start2take_pos_index]
|
||||
if reverse:
|
||||
self.start2take_pos_index -= 1
|
||||
if self.start2take_pos_index < 0:
|
||||
self.start2take_pos_index = len(self.start_to_take) - 1
|
||||
else:
|
||||
self.start2take_pos_index += 1
|
||||
if self.start2take_pos_index >= len(self.start_to_take):
|
||||
self.start2take_pos_index = 0
|
||||
return pos
|
||||
def get_take_position(self):
|
||||
for i in range(len(self.feeding_to_end)):
|
||||
if self.feeding_to_end[i].status == FeedStatus.FTake.value:
|
||||
return self.feeding_to_end[i]
|
||||
|
||||
def set_take_position(self, position: Real_Position, dynamic_height=0):
|
||||
"""
|
||||
设置 FTake 位置，并更新其前后动态点的位置。
|
||||
:param position: 新的抓取位置
|
||||
:param dynamic_height: 动态高度调整 (如果需要)
|
||||
"""
|
||||
for i in range(len(self.feeding_to_end)):
|
||||
if self.feeding_to_end[i].status == FeedStatus.FTake.value:
|
||||
# 计算 XYZ 坐标
|
||||
# xyz = getxyz(position.X, position.Y, position.Z, position.a, position.b, position.c)
|
||||
xyz = getxyz1(position.X, position.Y, position.Z, position.a, position.b, position.c)
|
||||
# 创建 before 和 after 位置
|
||||
befor_take_position = Real_Position().init_position(xyz[0],
|
||||
xyz[1],
|
||||
xyz[2],
|
||||
position.U,
|
||||
position.V,
|
||||
position.W)
|
||||
after_take_position = Real_Position().init_position(xyz[0],
|
||||
xyz[1],
|
||||
xyz[2],
|
||||
position.U,
|
||||
position.V,
|
||||
position.W)
|
||||
# 安全检查索引
|
||||
if i > 0:
|
||||
self.feeding_to_end[i - 1].set_position(befor_take_position)
|
||||
else:
|
||||
print("Warning: No position before FTake to update.")
|
||||
self.feeding_to_end[i].set_position(position)
|
||||
if i + 1 < len(self.feeding_to_end):
|
||||
self.feeding_to_end[i + 1].set_position(after_take_position)
|
||||
else:
|
||||
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。
|
||||
:param position: 新的丢包位置
|
||||
"""
|
||||
for i in range(len(self.feeding_to_end)):
|
||||
if self.feeding_to_end[i].status == FeedStatus.FDropBag.value:
|
||||
# 直接设置当前点的位置
|
||||
self.feeding_to_end[i].set_position(position)
|
||||
print(
|
||||
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_position_list(self):
|
||||
index_start = -1
|
||||
for i in range(len(self.feed_positions)):
|
||||
if self.feed_positions[i].status == FeedStatus.FCheck.value:
|
||||
index_start = i
|
||||
break
|
||||
for i in range(len(self.feed_positions)):
|
||||
if self.feed_positions[i].status == FeedStatus.FPhoto.value:
|
||||
index_take = i
|
||||
|
||||
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)
|
||||
|
||||
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):
|
||||
self.num = num
|
||||
self.feedLine = feedLine
|
||||
self.photo_locs = [self.deal_photo_locs(p) for p in photo_locs]
|
||||
|
||||
|
||||
def deal_photo_locs(self, photo_loc):
|
||||
position_photo = Real_Position()
|
||||
position_photo.init_position(photo_loc[0], photo_loc[1], photo_loc[2], photo_loc[3], photo_loc[4], photo_loc[5])
|
||||
return position_photo
|
||||
|
||||
def get_line_info(self):
|
||||
pass
|
||||
|
||||
|
||||
class Feeding(QObject):
|
||||
need_origin_signal = Signal(str)
|
||||
take_no_photo_sigal = Signal()
|
||||
update_detect_image = Signal(np.ndarray)
|
||||
log_signal = Signal(int,str)
|
||||
def __init__(self, robotClient: RobotClient):
|
||||
super().__init__()
|
||||
self.feedConfig = None
|
||||
self.feedStatus = FeedStatus.FNone
|
||||
self.robotClient = robotClient
|
||||
# 添加 RelayController 实例
|
||||
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()
|
||||
self.feed_Mid_Status = FeedMidStatus.FMid_Start
|
||||
self.is_reverse = False
|
||||
# 复位集合
|
||||
self.run_reverse = False
|
||||
self.take_no_photo = False
|
||||
self.reset_status = ResetStatus.RNone
|
||||
self.reversed_positions = []
|
||||
self.current_position = None
|
||||
self.index=1
|
||||
self.pos_index = -1
|
||||
self.pos_near_index = -1
|
||||
self.catch = Catch(self.robotClient)
|
||||
self.detect = Detect()
|
||||
self.is_detected = True
|
||||
self.detect_thread = threading.Thread(target=self.run_detect)
|
||||
self.detect_thread.start()
|
||||
self.onekey = False
|
||||
self.debug_run_count = 0 # 初始化计数器
|
||||
self.mid_take_count = 0
|
||||
#传感器判断抓包参数
|
||||
self.sensor2_ready = False # 传感器2是否检测到料包
|
||||
self.motor_stopped_by_sensor2 = False # 是否由传感器2触发停止电机
|
||||
self.sensor_thread = None
|
||||
self.relay_controller = RelayController()
|
||||
# 启动传感器2线程
|
||||
self.relay_controller._running = True
|
||||
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")
|
||||
pass
|
||||
|
||||
def close_feed(self):
|
||||
self.is_detected = False
|
||||
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()
|
||||
time.sleep(0.02)
|
||||
|
||||
def run(self):
|
||||
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,
|
||||
self.robotClient.status_model.world_3,
|
||||
self.robotClient.status_model.world_4,
|
||||
self.robotClient.status_model.world_5)
|
||||
# real_position.init_position(0,
|
||||
# 0,
|
||||
# 0,
|
||||
# 0,
|
||||
# 0,
|
||||
# 0);
|
||||
|
||||
# img_path = f'Image/{self.index}.png'
|
||||
# img = cv2.imread(img_path)
|
||||
# self.index += 1
|
||||
# self.index = self.index % 4
|
||||
# self.detection_image = img
|
||||
|
||||
if self.feedConfig == None:
|
||||
self.feedStatus = FeedStatus.FNone
|
||||
|
||||
if self.feedConfig !=None and self.feedConfig.num == 0 and self.is_reverse and self.robotClient.origin_position.compare(real_position,is_action=True):
|
||||
self.feedStatus = FeedStatus.FNone
|
||||
self.is_reverse = False
|
||||
self.log_signal.emit(logging.INFO, Constant.str_feed_reverse)
|
||||
|
||||
if self.feedStatus == FeedStatus.FNone or self.pause:
|
||||
return
|
||||
|
||||
elif self.feedStatus == FeedStatus.FCheck:
|
||||
self.log_signal.emit(logging.INFO, Constant.str_feed_check)
|
||||
# 1, 检查是否是三列
|
||||
# 2, 检查是否有人
|
||||
# if self.safe_check_columns() and self.safe_check_person():
|
||||
# pass
|
||||
# else:
|
||||
# if self.feedConfig.num != 0:
|
||||
# self.next_target()
|
||||
# if == 原点 继续判断
|
||||
# else:
|
||||
# QMessageBox.information(None, "提示", Constant.str_feed_sae_error_msgbox)
|
||||
|
||||
if self.is_reverse:
|
||||
self.feed_Mid_Status = FeedMidStatus.FMid_Start
|
||||
else:
|
||||
self.feed_Mid_Status = FeedMidStatus.FMid_Take
|
||||
|
||||
if self.feedConfig.feedLine.start_to_take[0].get_position().compare(real_position):
|
||||
self.next_position(self.is_reverse)
|
||||
|
||||
elif self.feedStatus == FeedStatus.FStart:
|
||||
self.log_signal.emit(logging.INFO, Constant.str_feed_start)
|
||||
self.relay_controller.open(conveyor2=True)#开电机
|
||||
#self.sensor2_thread = threading.Thread(target=self.relay_controller.handle_sensor2, daemon=True)#线程2的开始，但是在那里设置结束呢
|
||||
#self.sensor2_thread.start()
|
||||
if not self.robotClient.origin_position.compare(real_position,is_action=True) and not self.is_reverse:
|
||||
# QMessageBox.information(None, "提示", Constant.str_feed_start_error) # Fuck 引起异常
|
||||
self.log_signal.emit(logging.ERROR, Constant.str_feed_start_error)
|
||||
self.need_origin_signal.emit(Constant.str_feed_start_error)
|
||||
self.feedStatus = FeedStatus.FNone
|
||||
return
|
||||
if self.is_reverse:
|
||||
self.feedStatus = FeedStatus.FNone
|
||||
self.is_reverse = False
|
||||
return
|
||||
|
||||
self.feedConfig.feedLine.get_position_list()
|
||||
self.detect.detect_status = DetectStatus.DNone
|
||||
self.feed_Mid_Status = FeedMidStatus.FMid_Start
|
||||
self.next_position(self.is_reverse)
|
||||
|
||||
elif self.feedStatus == FeedStatus.FMid:
|
||||
feed_pos = self.get_current_position(self.is_reverse)
|
||||
if feed_pos.get_position().compare(real_position):
|
||||
self.log_signal.emit(logging.INFO, Constant.str_feed_mid)
|
||||
self.next_position(self.is_reverse)
|
||||
# 增加计数器逻辑
|
||||
self.mid_take_count += 1
|
||||
# 可选：在 Debug1 模式下输出日志
|
||||
if Constant.Debug1:
|
||||
self.log_signal.emit(
|
||||
logging.INFO,
|
||||
f"[调试计数] 已进入 FMid 分支 {self.mid_take_count} 次"
|
||||
)
|
||||
#if self.feedStatus == FeedStatus.FTake:
|
||||
#self.catch.catch_status = CatchStatus.CTake
|
||||
|
||||
elif self.feedStatus == FeedStatus.FPhoto:
|
||||
if self.feedConfig.num == 0:
|
||||
self.log_signal.emit(logging.INFO, Constant.str_feed_finish)
|
||||
self.is_reverse = True
|
||||
self.feed_Mid_Status = FeedMidStatus.FMid_Take
|
||||
self.feedConfig.feedLine.start2take_pos_index = len(self.feedConfig.feedLine.start_to_take) - 2
|
||||
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:
|
||||
self.log_signal.emit(logging.INFO, Constant.str_feed_takePhoto)
|
||||
self.feed_Mid_Status = FeedMidStatus.FMid_Feed
|
||||
self.log_signal.emit(logging.INFO, Constant.str_feed_takePhoto_success)
|
||||
self.feedConfig.feedLine.set_take_position(self.detect.detect_position, 0)
|
||||
#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
|
||||
while True:
|
||||
sensors = self.relay_controller.get_all_device_status('sensors')
|
||||
sensor2_value = sensors.get(self.relay_controller.SENSOR2, False)
|
||||
if sensor2_value:
|
||||
self.log_signal.emit(logging.INFO, "✅ 传感器2检测到料包到位，开始执行抓取")
|
||||
break # ✅ 条件满足，跳出循环，继续执行下面的代码
|
||||
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
|
||||
|
||||
elif self.feedStatus == FeedStatus.FTake:
|
||||
self.log_signal.emit(logging.INFO, Constant.str_feed_take)
|
||||
take_position = self.feedConfig.feedLine.get_take_position()
|
||||
if not take_position or not take_position.get_position():
|
||||
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")
|
||||
return
|
||||
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:
|
||||
#self.catch.catch_status = CatchStatus.CTake
|
||||
#if self.catch.catch_status == CatchStatus.CTake:
|
||||
#self.log_signal.emit(logging.INFO, "正在执行抓料动作...")
|
||||
#self.catch.catch_status = CatchStatus.COk
|
||||
#if self.catch.catch_status == CatchStatus.COk:
|
||||
#self.log_signal.emit(logging.INFO, Constant.str_feed_take_success)
|
||||
#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)
|
||||
#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()
|
||||
#return
|
||||
#else:
|
||||
#self.log_signal.emit(logging.ERROR, Constant.str_feed_takePhoto_fail)
|
||||
|
||||
elif self.feedStatus == FeedStatus.FBroken1:
|
||||
|
||||
if self.get_current_position().get_position().compare(real_position):
|
||||
self.log_signal.emit(logging.INFO, Constant.str_feed_broken)
|
||||
self.next_position()
|
||||
|
||||
|
||||
elif self.feedStatus == FeedStatus.FBroken2:
|
||||
|
||||
if self.get_current_position().get_position().compare(real_position):
|
||||
self.log_signal.emit(logging.INFO, Constant.str_feed_broken)
|
||||
self.next_position()
|
||||
|
||||
elif self.feedStatus == FeedStatus.FShake:
|
||||
if self.get_current_position().get_position().compare(real_position,is_action=True):
|
||||
# TODO 震动方案
|
||||
self.log_signal.emit(logging.INFO, Constant.str_feed_shake)
|
||||
if self.catch.catch_status == CatchStatus.CNone:
|
||||
self.catch.catch_status = CatchStatus.CShake
|
||||
return
|
||||
if self.catch.catch_status == CatchStatus.CShake:
|
||||
# if self.feedConfig.feedLine.feeding_to_end[
|
||||
# self.feedConfig.feedLine.feeding2end_pos_index + 1].status != FeedStatus.FShake:
|
||||
# self.catch.catch_status = CatchStatus.COk
|
||||
# else:
|
||||
self.catch.shake_continue.SetReset()
|
||||
self.next_position()
|
||||
if self.feedStatus!=FeedStatus.FShake:
|
||||
self.catch.catch_status = CatchStatus.CNone
|
||||
return
|
||||
|
||||
elif self.feedStatus == FeedStatus.FDropBag:
|
||||
#"""*** 处理投料点 (FDropBag) 的核心逻辑 ***"""
|
||||
# 1. 确认机械臂是否已精确到达当前目标投料点
|
||||
# get_current_position() 会根据 self.feed_Mid_Status (应为 FMid_Feed)
|
||||
# 调用 feedLine.get_current_feed_position()，从 feeding_to_end 列表获取
|
||||
# 由 feeding2end_pos_index 指向的点。
|
||||
if self.get_current_position().get_position().compare(real_position, is_action=True):
|
||||
# 2. 记录日志：已到达投料点
|
||||
if not self.sensor2_ready:
|
||||
self.log_signal.emit(logging.INFO, "抓取完成，重新启动 conveyor2")
|
||||
self.relay_controller.open(conveyor2=True)
|
||||
|
||||
self.log_signal.emit(logging.INFO, Constant.str_feed_drop)
|
||||
# 3. 与 Catch 模块进行状态交互来驱动投料动作
|
||||
# a. 初始状态 (CNone): 触发投料动作
|
||||
|
||||
if self.catch.catch_status == CatchStatus.CNone:
|
||||
# 将 Catch 状态设置为 CDrop，通知 Catch 模块开始执行物理投料动作
|
||||
self.catch.catch_status = CatchStatus.CDrop
|
||||
# 立即返回，等待 Catch 模块处理
|
||||
return
|
||||
|
||||
# b. 投料进行中 (CDrop): 等待完成
|
||||
|
||||
if self.catch.catch_status == CatchStatus.CDrop:
|
||||
# 什么都不做，等待 Catch 模块完成动作并更新状态
|
||||
return
|
||||
# c. 投料完成 (COk): 处理后续逻辑并移动到下一个点
|
||||
if self.catch.catch_status == CatchStatus.COk:
|
||||
# 重置 Catch 状态，为下一次操作做准备
|
||||
self.catch.catch_status = CatchStatus.CNone
|
||||
# (后续增加) 延时: 让物料稳定
|
||||
# time.sleep(self.robotClient.time_delay_put)
|
||||
# (后续增加) 视觉确认: 拍照确认袋子已放置
|
||||
# self.detection.get_position(...)
|
||||
# self.feedConfig.feedLine.set_take_position(...)
|
||||
# 4. 更新业务逻辑：减少剩余袋数
|
||||
self.feedConfig.num = self.feedConfig.num - 1
|
||||
self.log_signal.emit(logging.INFO, f'{Constant.str_feed_feed_num}{self.feedConfig.num}')
|
||||
# 5. *** 关键步骤 ***: 移动到路径中的下一个点
|
||||
# next_position() 会根据当前的 feed_Mid_Status (FMid_Feed)
|
||||
# 调用 next_Feed()。
|
||||
self.next_position()
|
||||
|
||||
def run_reset(self):
|
||||
real_position = Real_Position()
|
||||
real_position.init_position(self.robotClient.status_model.world_0,
|
||||
self.robotClient.status_model.world_1,
|
||||
self.robotClient.status_model.world_2,
|
||||
self.robotClient.status_model.world_3,
|
||||
self.robotClient.status_model.world_4,
|
||||
self.robotClient.status_model.world_5)
|
||||
if self.reset_status == ResetStatus.RNone:
|
||||
return
|
||||
|
||||
if self.reset_status == ResetStatus.RStart:
|
||||
if self.feedConfig == None: return
|
||||
# for index in range(len(self.feedConfig.feedLine.positions)):
|
||||
# if self.feedConfig.feedLine.positions[index].status == 2:
|
||||
# start_index = index
|
||||
self.pos_index = -1
|
||||
self.pos_near_index = -1
|
||||
self.reversed_positions = []
|
||||
for index, pos_model in enumerate(self.feedConfig.feedLine.feed_positions):
|
||||
if pos_model.get_position().compare(real_position,is_action=True):
|
||||
self.pos_index = index
|
||||
break
|
||||
|
||||
if self.pos_index == -1:
|
||||
self.log_signal.emit(logging.ERROR, Constant.str_feed_return_original_position_fail)
|
||||
min_distance = 99999999
|
||||
for index, pos_model in enumerate(self.feedConfig.feedLine.feed_positions):
|
||||
if get_distance(pos_model.get_position(), real_position) < min_distance:
|
||||
min_distance = get_distance(pos_model.get_position(), real_position)
|
||||
self.pos_near_index = index
|
||||
if self.pos_near_index != -1:
|
||||
self.reversed_positions = self.feedConfig.feedLine.feed_positions[:self.pos_near_index + 1]
|
||||
else:
|
||||
return False
|
||||
else:
|
||||
self.reversed_positions = self.feedConfig.feedLine.feed_positions[:self.pos_index+1]
|
||||
self.reversed_positions = list(reversed(self.reversed_positions))
|
||||
self.reverse_index = 0
|
||||
self.send_emergency_sound()
|
||||
self.current_position = PositionModel()
|
||||
self.current_position.init_position(real_position)
|
||||
self.reset_status = ResetStatus.RRunging
|
||||
|
||||
if self.reset_status == ResetStatus.RRunging:
|
||||
if not real_position.compare(self.current_position.get_position(),is_action=True):
|
||||
return
|
||||
pos_model = self.reversed_positions[self.reverse_index]
|
||||
if pos_model.status == FeedStatus.FTake.value: # 跳过取袋节点
|
||||
pos_model = self.reversed_positions[self.reverse_index + 1]
|
||||
self.reverse_index = self.reverse_index+1
|
||||
|
||||
if pos_model.lineType == LineType.CureMid.value:
|
||||
pos_model1 = self.reversed_positions[self.reverse_index + 1]
|
||||
self.sendTargPosition(real_position=pos_model.get_position(), move_type=MoveType.Cure,
|
||||
real_position1=pos_model1.get_position(), speed=self.robotClient.reset_speed)
|
||||
self.current_position = pos_model1
|
||||
self.reverse_index = self.reverse_index + 2
|
||||
else:
|
||||
self.sendTargPosition(real_position=pos_model.get_position(), speed=self.robotClient.reset_speed)
|
||||
self.current_position = pos_model
|
||||
self.reverse_index = self.reverse_index + 1
|
||||
|
||||
if self.reverse_index == len(self.reversed_positions):
|
||||
self.reset_status = ResetStatus.ROk
|
||||
if self.reset_status == ResetStatus.ROk:
|
||||
self.reset_status = ResetStatus.RNone
|
||||
self.send_emergency_stop()
|
||||
|
||||
def return_original_position(self):
|
||||
|
||||
self.run_reverse = True
|
||||
real_position = Real_Position()
|
||||
real_position.init_position(self.robotClient.status_model.world_0,
|
||||
self.robotClient.status_model.world_1,
|
||||
self.robotClient.status_model.world_2,
|
||||
self.robotClient.status_model.world_3,
|
||||
self.robotClient.status_model.world_4,
|
||||
self.robotClient.status_model.world_5)
|
||||
if self.feedConfig == None: return
|
||||
start_index = -1
|
||||
# for index in range(len(self.feedConfig.feedLine.positions)):
|
||||
# if self.feedConfig.feedLine.positions[index].status == 2:
|
||||
# start_index = index
|
||||
pos_index = -1
|
||||
pos_near_index = -1
|
||||
reversed_positions = []
|
||||
for index, pos_model in enumerate(self.feedConfig.feedLine.feed_positions):
|
||||
if pos_model.get_position().compare(real_position):
|
||||
pos_index = index
|
||||
break
|
||||
|
||||
if pos_index == -1:
|
||||
self.log_signal.emit(logging.ERROR, Constant.str_feed_return_original_position_fail)
|
||||
min_distance = 99999999
|
||||
for index, pos_model in enumerate(self.feedConfig.feedLine.feed_positions):
|
||||
if get_distance(pos_model.get_position(), real_position)<min_distance:
|
||||
min_distance = get_distance(pos_model.get_position(), real_position)
|
||||
pos_near_index = index
|
||||
if pos_near_index != -1:
|
||||
reversed_positions = self.feedConfig.feedLine.feed_positions[:pos_near_index+1]
|
||||
else:
|
||||
return False
|
||||
else:
|
||||
reversed_positions = self.feedConfig.feedLine.feed_positions[:pos_index]
|
||||
reversed_positions = list(reversed(reversed_positions))
|
||||
self.reverse_index = 0
|
||||
self.send_emergency_sound()
|
||||
current_position = PositionModel()
|
||||
current_position.init_position(real_position)
|
||||
while self.run_reverse and self.reverse_index!=len(reversed_positions):
|
||||
if self.reverse_index!=0 and not real_position.compare(current_position.get_position()):
|
||||
continue
|
||||
#todo 缺少比对
|
||||
pos_model = reversed_positions[self.reverse_index]
|
||||
if pos_model.status == FeedStatus.FTake.value: # 跳过取袋节点
|
||||
|
||||
pos_model = reversed_positions[self.reverse_index + 1]
|
||||
# TODO take节点判断
|
||||
|
||||
if pos_model.lineType == LineType.CureMid.value:
|
||||
pos_model1 = reversed_positions[self.reverse_index + 1]
|
||||
self.sendTargPosition(real_position=pos_model.get_position(), move_type=MoveType.Cure,
|
||||
real_position1=pos_model1.get_position(),speed= self.robotClient.reset_speed)
|
||||
current_position = pos_model1
|
||||
self.reverse_index = self.reverse_index+2
|
||||
else:
|
||||
self.sendTargPosition(real_position=pos_model.get_position(),speed=self.robotClient.reset_speed)
|
||||
current_position = pos_model
|
||||
self.reverse_index = self.reverse_index + 1
|
||||
self.send_emergency_stop()
|
||||
return True
|
||||
def send_emergency_sound(self):
|
||||
self.sendIOControl(Constant.IO_EmergencyPoint, 1)
|
||||
|
||||
def send_emergency_stop(self):
|
||||
self.sendIOControl(Constant.IO_EmergencyPoint, 0)
|
||||
|
||||
def sendIOControl(self, IO_bit, IO_Status: int):
|
||||
|
||||
IO_command = CMDInstructRequest()
|
||||
io_instruction = Instruction()
|
||||
io_instruction.IO = True
|
||||
io_instruction.io_status = IO_Status
|
||||
io_instruction.point = IO_bit # {"dsID":"HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[{"oneshot":"1","action":"200","type":"0","io_status":"1","point":"15","delay":"0"}]}
|
||||
IO_command.dsID = 'HCRemoteCommand'
|
||||
IO_command.instructions.append(io_instruction)
|
||||
self.robotClient.add_sendQuene(IO_command.toString())
|
||||
self.log_signal.emit(logging.INFO, f'{Constant.str_feed_io_control}{IO_bit}，{IO_Status}')
|
||||
pass
|
||||
|
||||
def sendTargPosition1(self, real_position, move_type: MoveType = MoveType.WORLD, speed=5,real_position1=None):
|
||||
pass
|
||||
|
||||
|
||||
def sendTargPosition(self, real_position, move_type: MoveType = MoveType.WORLD, speed=5,real_position1=None):
|
||||
position_instruction = Instruction()
|
||||
position_instruction.speed = speed
|
||||
position_instruction.m0 = real_position.X
|
||||
position_instruction.m1 = real_position.Y
|
||||
position_instruction.m2 = real_position.Z
|
||||
position_instruction.m3 = real_position.U
|
||||
position_instruction.m4 = real_position.V
|
||||
position_instruction.m5 = real_position.W
|
||||
position_instruction.smooth = self.robotClient.smooth
|
||||
|
||||
position_instruction.action = move_type.value
|
||||
if position_instruction.action == 17:
|
||||
position_instruction.m0_p = real_position1.X
|
||||
position_instruction.m1_p = real_position1.Y
|
||||
position_instruction.m2_p = real_position1.Z
|
||||
position_instruction.m3_p = real_position1.U
|
||||
position_instruction.m4_p = real_position1.V
|
||||
position_instruction.m5_p = real_position1.W
|
||||
instruction_command = CMDInstructRequest()
|
||||
instruction_command.instructions.append(position_instruction)
|
||||
request_command = instruction_command.toString()
|
||||
|
||||
log_str = f'移动到位置:{ "姿势直线" if move_type==MoveType.WORLD else "姿势曲线"}：' \
|
||||
f'X:{position_instruction.m0}-' \
|
||||
f'Y:{position_instruction.m1}-' \
|
||||
f'Z:{position_instruction.m2}-' \
|
||||
f'U:{position_instruction.m3}-' \
|
||||
f'V:{position_instruction.m4}-' \
|
||||
f'W:{position_instruction.m5}'
|
||||
|
||||
|
||||
try:
|
||||
print('fuck1',log_str)
|
||||
self.log_signal.emit(logging.INFO, log_str)
|
||||
print('fuck2',log_str)
|
||||
except:
|
||||
return
|
||||
print(request_command)
|
||||
self.robotClient.add_sendQuene(request_command)
|
||||
pass
|
||||
# def get_take_position(self):
|
||||
# if Constant.Debug:
|
||||
# return self.robotClient.status_model.getRealPosition()
|
||||
# _, img, xyz, uvw, points = self.detection.get_position(Point_isVision=False, Box_isPoint=True, First_Depth=True, Iter_Max_Pixel=30,save_img_point=0, Height_reduce=30, width_reduce=30)
|
||||
# self.detection_image = img.copy()
|
||||
# if xyz ==None or uvw==None or points==None:
|
||||
# return None
|
||||
# target_position,noraml_base = getPosition(*xyz,*uvw,None,points)
|
||||
#
|
||||
# position = Real_Position().init_position(*target_position[:3],*noraml_base[:3])
|
||||
# position.Z = position.Z+200
|
||||
# return position
|
||||
def next_start(self,reverse=False):
|
||||
start_pos = self.feedConfig.feedLine.get_next_start_position(reverse)
|
||||
self.feedStatus = FeedStatus(start_pos.status) if self.feedStatus != FeedStatus.FNone else FeedStatus.FNone
|
||||
if start_pos.lineType == LineType.CureMid.value:
|
||||
start_pos1 = self.feedConfig.feedLine.get_next_start_position(reverse)
|
||||
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)
|
||||
else:
|
||||
self.sendTargPosition(real_position=start_pos.get_position(),speed=self.robotClient.reset_speed)
|
||||
pass
|
||||
|
||||
def next_take(self,reverse=False):
|
||||
|
||||
take_pos = self.feedConfig.feedLine.get_next_take_position(reverse)
|
||||
self.feedStatus = FeedStatus(take_pos.status) if self.feedStatus != FeedStatus.FNone else FeedStatus.FNone
|
||||
if take_pos.lineType == LineType.CureMid.value:
|
||||
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(), 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)
|
||||
|
||||
else:
|
||||
self.sendTargPosition(real_position=take_pos.get_position(),speed=self.robotClient.feed_speed)
|
||||
pass
|
||||
|
||||
def next_Feed(self,reverse=False):
|
||||
feed_pos = self.feedConfig.feedLine.get_next_feed_position(reverse)
|
||||
self.feedStatus = FeedStatus(feed_pos.status) if self.feedStatus != FeedStatus.FNone else FeedStatus.FNone
|
||||
if feed_pos.lineType == LineType.CureMid.value:
|
||||
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(), 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)
|
||||
|
||||
else:
|
||||
# if not reverse and self.feedStatus == FeedStatus.FShake:
|
||||
# if not reverse:
|
||||
# if self.cRis_shake.Q(self.feedStatus == FeedStatus.FShake, True):
|
||||
# pass
|
||||
# elif self.cRis_shake.Q(self.feedStatus == FeedStatus.FShake, False):
|
||||
# self.feedStatus = FeedStatus.FShake
|
||||
# self.sendTargPosition(real_position=feed_pos.get_position(),speed=self.robotClient.feed_speed)
|
||||
# return
|
||||
|
||||
|
||||
self.sendTargPosition(real_position=feed_pos.get_position(),speed=self.robotClient.feed_speed)
|
||||
|
||||
def get_current_position(self,is_reverse=False):
|
||||
if self.feed_Mid_Status == FeedMidStatus.FMid_Start:
|
||||
return self.feedConfig.feedLine.get_current_start_position(self.is_reverse)
|
||||
elif self.feed_Mid_Status == FeedMidStatus.FMid_Take:
|
||||
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)
|
||||
if Constant.Debug1:
|
||||
print('next_start')
|
||||
elif self.feed_Mid_Status == FeedMidStatus.FMid_Take:
|
||||
self.next_take(reverse)
|
||||
if Constant.Debug1:
|
||||
print('next_take')
|
||||
elif self.feed_Mid_Status == FeedMidStatus.FMid_Feed:
|
||||
self.next_Feed(reverse)
|
||||
if Constant.Debug1:
|
||||
print('next_feed')
|
||||
|
||||
def safe_check_columns(self):
|
||||
return True
|
||||
pass
|
||||
|
||||
def safe_check_person(self):
|
||||
return True
|
||||
pass
|
||||
|
||||
329
CU/Feeding.py
329
CU/Feeding.py
@ -27,6 +27,7 @@ from Util.util_time import CRisOrFall
|
||||
from Util.util_log import log
|
||||
from Model.RobotModel import Instruction
|
||||
from EMV.EMV import RelayController
|
||||
from CU.drop import DropPositionManager
|
||||
class ResetStatus(Enum):
|
||||
RNone = 0
|
||||
RStart = 1
|
||||
@ -66,17 +67,16 @@ class FeedPosition:
|
||||
self.position = position
|
||||
|
||||
class FeedLine:
|
||||
def __init__(self, id, name, feed_positions:list,drop_positons:list):
|
||||
def __init__(self, id, name, feed_positions:list):
|
||||
self.feed_positions = copy.deepcopy(feed_positions)
|
||||
self.drop_positions = copy.deepcopy(drop_positons)
|
||||
self.feeding2end_pos_index = 0
|
||||
self.origin2start_pos_index = 0
|
||||
self.start2take_pos_index = 0
|
||||
self.name = name
|
||||
self.id = id
|
||||
|
||||
# --- 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], ...]
|
||||
# --- 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 = []
|
||||
|
||||
def get_current_feed_position(self,is_reverse):
|
||||
@ -130,50 +130,41 @@ class FeedLine:
|
||||
if self.feeding_to_end[i].status == FeedStatus.FTake.value:
|
||||
return self.feeding_to_end[i]
|
||||
|
||||
def get_drop_position(self):
|
||||
for i in range(len(self.feeding_to_end)):
|
||||
if self.feeding_to_end[i].status == FeedStatus.FTake.value:
|
||||
return self.feeding_to_end[i]
|
||||
|
||||
def set_take_position(self, position: Real_Position, dynamic_height=0):
|
||||
print("[调试] 开始设置抓取位置")
|
||||
print(f"传入的 position 坐标: X={position.X}, Y={position.Y}, Z={position.Z}, "
|
||||
f"a={position.a}, b={position.b}, c={position.c}, "
|
||||
f"U={position.U}, V={position.V}, W={position.W}")
|
||||
|
||||
"""
|
||||
设置 FTake 位置，并更新其前后动态点的位置。
|
||||
:param position: 新的抓取位置
|
||||
:param dynamic_height: 动态高度调整 (如果需要)
|
||||
"""
|
||||
for i in range(len(self.feeding_to_end)):
|
||||
if self.feeding_to_end[i].status == FeedStatus.FTake.value:
|
||||
# 计算 XYZ 坐标
|
||||
# xyz = getxyz(position.X, position.Y, position.Z, position.a, position.b, position.c)
|
||||
xyz = getxyz1(position.X, position.Y, position.Z, position.a, position.b, position.c)
|
||||
|
||||
print(f"[调试] getxyz1 返回值: X={xyz[0]}, Y={xyz[1]}, Z={xyz[2]}")
|
||||
|
||||
# 创建 before 和 after 位置
|
||||
befor_take_position = Real_Position().init_position(xyz[0],
|
||||
xyz[1],
|
||||
xyz[2],
|
||||
position.U,
|
||||
position.V,
|
||||
position.W)
|
||||
print(
|
||||
f"[调试] 抓取前位置: X={befor_take_position.X}, Y={befor_take_position.Y}, Z={befor_take_position.Z}, "
|
||||
f"U={befor_take_position.U}, V={befor_take_position.V}, W={befor_take_position.W}")
|
||||
|
||||
after_take_position = Real_Position().init_position(xyz[0],
|
||||
xyz[1],
|
||||
xyz[2],
|
||||
position.U,
|
||||
position.V,
|
||||
position.W)
|
||||
print(
|
||||
f"[调试] 抓取后位置: X={after_take_position.X}, Y={after_take_position.Y}, Z={after_take_position.Z}, "
|
||||
f"U={after_take_position.U}, V={after_take_position.V}, W={after_take_position.W}")
|
||||
|
||||
self.feeding_to_end[i - 1].set_position(befor_take_position)
|
||||
self.feeding_to_end[i + 1].set_position(after_take_position)
|
||||
# 安全检查索引
|
||||
if i > 0:
|
||||
self.feeding_to_end[i - 1].set_position(befor_take_position)
|
||||
else:
|
||||
print("Warning: No position before FTake to update.")
|
||||
self.feeding_to_end[i].set_position(position)
|
||||
|
||||
print(f"[调试] 当前抓取点已设置: X={position.X}, Y={position.Y}, Z={position.Z}, "
|
||||
f"U={position.U}, V={position.V}, W={position.W}")
|
||||
print("[调试] 抓取前后位置已设置完成")
|
||||
if i + 1 < len(self.feeding_to_end):
|
||||
self.feeding_to_end[i + 1].set_position(after_take_position)
|
||||
else:
|
||||
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):
|
||||
"""
|
||||
@ -214,14 +205,11 @@ class FeedLine:
|
||||
break
|
||||
|
||||
class FeedingConfig:
|
||||
def __init__(self, num: int, feedLine: FeedLine, photo_locs, drop_positions=None):
|
||||
def __init__(self, num: int, feedLine: FeedLine, photo_locs):
|
||||
self.num = num
|
||||
self.feedLine = feedLine
|
||||
self.photo_locs = [self.deal_photo_locs(p) for p in photo_locs]
|
||||
|
||||
# --- 新增: 存储投料点列表 ---
|
||||
# 从UI界面读取 or 从txt文本读取
|
||||
self.drop_positions = [self.deal_photo_locs(p) for p in drop_positions] if drop_positions else []
|
||||
|
||||
def deal_photo_locs(self, photo_loc):
|
||||
position_photo = Real_Position()
|
||||
@ -246,7 +234,7 @@ class Feeding(QObject):
|
||||
self.relay_controller = RelayController()
|
||||
self.sensor_thread = None
|
||||
self.detection_image = None
|
||||
# self.init_detection_image()
|
||||
self.init_detection_image()
|
||||
self.pause = False
|
||||
self.cRis_photo = CRisOrFall()
|
||||
self.cRis_shake = CRisOrFall()
|
||||
@ -262,12 +250,12 @@ class Feeding(QObject):
|
||||
self.pos_index = -1
|
||||
self.pos_near_index = -1
|
||||
self.catch = Catch(self.robotClient)
|
||||
# self.detect = Detect()
|
||||
# self.is_detected = True
|
||||
# self.detect_thread = threading.Thread(target=self.run_detect)
|
||||
# self.detect_thread.start()
|
||||
self.detect = Detect()
|
||||
self.is_detected = True
|
||||
self.detect_thread = threading.Thread(target=self.run_detect)
|
||||
self.detect_thread.start()
|
||||
self.onekey = False
|
||||
# self.debug_run_count = 0 # 初始化计数器
|
||||
self.debug_run_count = 0 # 初始化计数器
|
||||
self.mid_take_count = 0
|
||||
#传感器判断抓包参数
|
||||
self.sensor2_ready = False # 传感器2是否检测到料包
|
||||
@ -280,28 +268,28 @@ class Feeding(QObject):
|
||||
|
||||
# --- 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")
|
||||
pass
|
||||
|
||||
def close_feed(self):
|
||||
pass
|
||||
# self.is_detected = False
|
||||
# self.detect_thread.join()
|
||||
# self.detect.detection.release()
|
||||
self.is_detected = False
|
||||
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 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()
|
||||
# time.sleep(0.02)
|
||||
def run_detect(self):
|
||||
while self.is_detected:
|
||||
self.detect.run()
|
||||
time.sleep(0.02)
|
||||
|
||||
def run(self):
|
||||
self.catch.run()
|
||||
# 获取事件坐标
|
||||
real_position = Real_Position()
|
||||
# self.detect.position_index = 0
|
||||
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,
|
||||
@ -324,8 +312,7 @@ class Feeding(QObject):
|
||||
if self.feedConfig == None:
|
||||
self.feedStatus = FeedStatus.FNone
|
||||
|
||||
if self.feedConfig != None and self.feedConfig.num == 0 and self.is_reverse and self.robotClient.origin_position.compare(
|
||||
real_position, is_action=True):
|
||||
if self.feedConfig !=None and self.feedConfig.num == 0 and self.is_reverse and self.robotClient.origin_position.compare(real_position,is_action=True):
|
||||
self.feedStatus = FeedStatus.FNone
|
||||
self.is_reverse = False
|
||||
self.log_signal.emit(logging.INFO, Constant.str_feed_reverse)
|
||||
@ -335,6 +322,16 @@ class Feeding(QObject):
|
||||
|
||||
elif self.feedStatus == FeedStatus.FCheck:
|
||||
self.log_signal.emit(logging.INFO, Constant.str_feed_check)
|
||||
# 1, 检查是否是三列
|
||||
# 2, 检查是否有人
|
||||
# if self.safe_check_columns() and self.safe_check_person():
|
||||
# pass
|
||||
# else:
|
||||
# if self.feedConfig.num != 0:
|
||||
# self.next_target()
|
||||
# if == 原点 继续判断
|
||||
# else:
|
||||
# QMessageBox.information(None, "提示", Constant.str_feed_sae_error_msgbox)
|
||||
|
||||
if self.is_reverse:
|
||||
self.feed_Mid_Status = FeedMidStatus.FMid_Start
|
||||
@ -361,10 +358,8 @@ class Feeding(QObject):
|
||||
return
|
||||
|
||||
self.feedConfig.feedLine.get_position_list()
|
||||
# self.detect.detect_status = DetectStatus.DNone
|
||||
self.detect.detect_status = DetectStatus.DNone
|
||||
self.feed_Mid_Status = FeedMidStatus.FMid_Start
|
||||
# --- 修改: 初始化投料点索引 ---
|
||||
self.current_drop_index = 0
|
||||
self.next_position(self.is_reverse)
|
||||
|
||||
elif self.feedStatus == FeedStatus.FMid:
|
||||
@ -380,22 +375,42 @@ class Feeding(QObject):
|
||||
logging.INFO,
|
||||
f"[调试计数] 已进入 FMid 分支 {self.mid_take_count} 次"
|
||||
)
|
||||
if self.feedStatus == FeedStatus.FTake:
|
||||
self.catch.catch_status = CatchStatus.CTake
|
||||
#if self.feedStatus == FeedStatus.FTake:
|
||||
#self.catch.catch_status = CatchStatus.CTake
|
||||
|
||||
elif self.feedStatus == FeedStatus.FPhoto:
|
||||
self.log_signal.emit(logging.INFO, "🟡 [码垛模式] 跳过拍照定位步骤")
|
||||
# 直接进入抓取状态或准备投料
|
||||
# 所以在 FPhoto 后，应该移动到抓取点
|
||||
take_position_model = self.feedConfig.feedLine.get_take_position()
|
||||
if take_position_model:
|
||||
self.log_signal.emit(logging.INFO, "[码垛模式] 准备移动到抓取点")
|
||||
self.sendTargPosition(take_position_model.get_position(), speed=self.robotClient.feed_speed)
|
||||
self.feedStatus = FeedStatus.FTake
|
||||
else:
|
||||
self.log_signal.emit(logging.ERROR, "[码垛模式] 无法获取抓取点位置！")
|
||||
self.feedStatus = FeedStatus.FNone
|
||||
return # 退出当前循环
|
||||
if self.feedConfig.num == 0:
|
||||
self.log_signal.emit(logging.INFO, Constant.str_feed_finish)
|
||||
self.is_reverse = True
|
||||
self.feed_Mid_Status = FeedMidStatus.FMid_Take
|
||||
self.feedConfig.feedLine.start2take_pos_index = len(self.feedConfig.feedLine.start_to_take) - 2
|
||||
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:
|
||||
self.log_signal.emit(logging.INFO, Constant.str_feed_takePhoto)
|
||||
self.feed_Mid_Status = FeedMidStatus.FMid_Feed
|
||||
self.log_signal.emit(logging.INFO, Constant.str_feed_takePhoto_success)
|
||||
self.feedConfig.feedLine.set_take_position(self.detect.detect_position, 0)
|
||||
#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
|
||||
while True:
|
||||
sensors = self.relay_controller.get_all_device_status('sensors')
|
||||
sensor2_value = sensors.get(self.relay_controller.SENSOR2, False)
|
||||
if sensor2_value:
|
||||
self.log_signal.emit(logging.INFO, "✅ 传感器2检测到料包到位，开始执行抓取")
|
||||
break # ✅ 条件满足，跳出循环，继续执行下面的代码
|
||||
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
|
||||
|
||||
elif self.feedStatus == FeedStatus.FTake:
|
||||
self.log_signal.emit(logging.INFO, Constant.str_feed_take)
|
||||
@ -407,49 +422,32 @@ class Feeding(QObject):
|
||||
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")
|
||||
'''real_position'''
|
||||
# 一直等待传感器2信号，永不超时
|
||||
wait_start = time.time()
|
||||
timeout = 30 # 30秒超时，可根据需要调整
|
||||
sensor2_detected = False
|
||||
while not sensor2_detected:
|
||||
if time.time() - wait_start > timeout:
|
||||
self.log_signal.emit(logging.ERROR, "⏰ FTake: 等待传感器2超时!")
|
||||
self.feedStatus = FeedStatus.FNone
|
||||
return
|
||||
sensors = self.relay_controller.get_all_device_status('sensors')
|
||||
sensor2_value = sensors.get(self.relay_controller.SENSOR2, False)
|
||||
if sensor2_value:
|
||||
self.log_signal.emit(logging.INFO, "✅ 传感器2检测到料包到位，开始执行抓取")
|
||||
sensor2_detected = True
|
||||
else:
|
||||
self.log_signal.emit(logging.INFO, "⏳ FTake: 等待传感器2料包信号...")
|
||||
time.sleep(0.2) # 每0.5秒检查一次
|
||||
# 执行抓取动作
|
||||
if self.catch.catch_status == CatchStatus.CNone:
|
||||
self.catch.catch_status = CatchStatus.CTake
|
||||
if self.catch.catch_status == CatchStatus.CTake:
|
||||
self.log_signal.emit(logging.INFO, "正在执行抓料动作...")
|
||||
self.catch.catch_status = CatchStatus.COk
|
||||
if self.catch.catch_status == CatchStatus.COk:
|
||||
self.log_signal.emit(logging.INFO, Constant.str_feed_take_success)
|
||||
if not self.sensor2_ready:
|
||||
self.log_signal.emit(logging.INFO, "抓取完成，重新启动 conveyor2")
|
||||
self.relay_controller.open(conveyor2=True)
|
||||
self.catch.catch_status = CatchStatus.CNone
|
||||
self.log_signal.emit(logging.INFO, "[码垛模式] 跳过视觉检测，准备投料")
|
||||
# 移动到第一个（或当前）投料点
|
||||
if self.feedConfig.drop_positions and len(self.feedConfig.drop_positions) > self.current_drop_index:
|
||||
first_drop_pos = self.feedConfig.drop_positions[self.current_drop_index]
|
||||
self.log_signal.emit(logging.INFO, f"[码垛模式] 移动到投料点 {self.current_drop_index}")
|
||||
self.sendTargPosition(first_drop_pos, speed=self.robotClient.feed_speed)
|
||||
self.feedStatus = FeedStatus.FDropBag
|
||||
else:
|
||||
self.log_signal.emit(logging.ERROR, "[码垛模式] 投料点列表为空或索引错误！")
|
||||
self.feedStatus = FeedStatus.FNone
|
||||
return # 退出当前循环
|
||||
#self.catch.catch_status = CatchStatus.CTake
|
||||
#if self.catch.catch_status == CatchStatus.CNone:
|
||||
#self.catch.catch_status = CatchStatus.CTake
|
||||
#if self.catch.catch_status == CatchStatus.CTake:
|
||||
#self.log_signal.emit(logging.INFO, "正在执行抓料动作...")
|
||||
#self.catch.catch_status = CatchStatus.COk
|
||||
#if self.catch.catch_status == CatchStatus.COk:
|
||||
#self.log_signal.emit(logging.INFO, Constant.str_feed_take_success)
|
||||
#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, Constant.str_feed_takePhoto_fail)
|
||||
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()
|
||||
#return
|
||||
#else:
|
||||
#self.log_signal.emit(logging.ERROR, Constant.str_feed_takePhoto_fail)
|
||||
|
||||
elif self.feedStatus == FeedStatus.FBroken1:
|
||||
|
||||
@ -483,70 +481,48 @@ class Feeding(QObject):
|
||||
return
|
||||
|
||||
elif self.feedStatus == FeedStatus.FDropBag:
|
||||
# 1. 确保配置了投料点
|
||||
if not self.feedConfig or not self.feedConfig.drop_positions:
|
||||
self.log_signal.emit(logging.ERROR, "[码垛模式] 错误：未配置投料点列表！")
|
||||
self.feedStatus = FeedStatus.FNone
|
||||
return
|
||||
#"""*** 处理投料点 (FDropBag) 的核心逻辑 ***"""
|
||||
# 1. 确认机械臂是否已精确到达当前目标投料点
|
||||
# get_current_position() 会根据 self.feed_Mid_Status (应为 FMid_Feed)
|
||||
# 调用 feedLine.get_current_feed_position()，从 feeding_to_end 列表获取
|
||||
# 由 feeding2end_pos_index 指向的点。
|
||||
if self.get_current_position().get_position().compare(real_position, is_action=True):
|
||||
# 2. 记录日志：已到达投料点
|
||||
#if not self.sensor2_ready:
|
||||
#self.log_signal.emit(logging.INFO, "抓取完成，重新启动 conveyor2")
|
||||
#self.relay_controller.open(conveyor2=True)
|
||||
|
||||
# 2. 获取当前目标投料点 (基于索引)
|
||||
if self.current_drop_index >= len(self.feedConfig.drop_positions):
|
||||
self.log_signal.emit(logging.ERROR, f"[码垛模式] 错误：投料点索引 {self.current_drop_index} 超出范围！")
|
||||
self.feedStatus = FeedStatus.FNone
|
||||
return
|
||||
self.log_signal.emit(logging.INFO, Constant.str_feed_drop)
|
||||
# 3. 与 Catch 模块进行状态交互来驱动投料动作
|
||||
# a. 初始状态 (CNone): 触发投料动作
|
||||
|
||||
target_drop_position = self.feedConfig.drop_positions[self.current_drop_index]
|
||||
self.log_signal.emit(logging.INFO, f"[码垛模式] 当前目标投料点索引: {self.current_drop_index}")
|
||||
|
||||
# 3. 检查是否到达目标投料点
|
||||
if target_drop_position.compare(real_position, is_action=True):
|
||||
self.log_signal.emit(logging.INFO, f"[码垛模式] 到达投料点 {self.current_drop_index}")
|
||||
|
||||
# 4. 执行投料动作
|
||||
if self.catch.catch_status == CatchStatus.CNone:
|
||||
# 将 Catch 状态设置为 CDrop，通知 Catch 模块开始执行物理投料动作
|
||||
self.catch.catch_status = CatchStatus.CDrop
|
||||
self.log_signal.emit(logging.INFO, "[码垛模式] 开始执行投料动作...")
|
||||
return # 等待下一周期检查 COk
|
||||
# 立即返回，等待 Catch 模块处理
|
||||
return
|
||||
|
||||
# b. 投料进行中 (CDrop): 等待完成
|
||||
|
||||
if self.catch.catch_status == CatchStatus.CDrop:
|
||||
self.log_signal.emit(logging.INFO, "[码垛模式] 投料动作进行中...")
|
||||
return # 等待抓取模块完成
|
||||
# 什么都不做，等待 Catch 模块完成动作并更新状态
|
||||
return
|
||||
# c. 投料完成 (COk): 处理后续逻辑并移动到下一个点
|
||||
if self.catch.catch_status == CatchStatus.COk:
|
||||
# 重置 Catch 状态，为下一次操作做准备
|
||||
self.catch.catch_status = CatchStatus.CNone
|
||||
self.log_signal.emit(logging.INFO, f"[码垛模式] 在投料点 {self.current_drop_index} 投料完成")
|
||||
|
||||
# 5. 更新投料计数
|
||||
self.feedConfig.num -= 1
|
||||
# (后续增加) 延时: 让物料稳定
|
||||
# time.sleep(self.robotClient.time_delay_put)
|
||||
# (后续增加) 视觉确认: 拍照确认袋子已放置
|
||||
# self.detection.get_position(...)
|
||||
# self.feedConfig.feedLine.set_take_position(...)
|
||||
# 4. 更新业务逻辑：减少剩余袋数
|
||||
self.feedConfig.num = self.feedConfig.num - 1
|
||||
self.log_signal.emit(logging.INFO, f'{Constant.str_feed_feed_num}{self.feedConfig.num}')
|
||||
|
||||
# 6. 检查是否所有投料任务完成
|
||||
if self.feedConfig.num > 0:
|
||||
# 7. 更新投料点索引 (循环)
|
||||
self.current_drop_index = (self.current_drop_index + 1) % len(self.feedConfig.drop_positions)
|
||||
self.log_signal.emit(logging.INFO, f"[码垛模式] 更新投料点索引为: {self.current_drop_index}")
|
||||
|
||||
# 8. 移动到固定的抓取点
|
||||
take_position_model = self.feedConfig.feedLine.get_take_position()
|
||||
if take_position_model:
|
||||
self.log_signal.emit(logging.INFO, f"[码垛模式] 移动到固定抓取点...")
|
||||
self.sendTargPosition(take_position_model.get_position(), speed=self.robotClient.feed_speed)
|
||||
self.feedStatus = FeedStatus.FTake # 设置状态为 FTake
|
||||
else:
|
||||
self.log_signal.emit(logging.ERROR, "[码垛模式] 无法获取抓取点位置！")
|
||||
self.feedStatus = FeedStatus.FNone
|
||||
|
||||
else:
|
||||
# 9. 所有投料完成
|
||||
self.log_signal.emit(logging.INFO, "[码垛模式] 所有投料任务完成")
|
||||
# 可以选择返回原点或进入空闲状态
|
||||
# 例如，移动到原点
|
||||
# self.sendTargPosition(self.robotClient.origin_position, speed=self.robotClient.reset_speed)
|
||||
# self.feedStatus = FeedStatus.FStartReverse # 或者自定义一个结束状态
|
||||
self.feedStatus = FeedStatus.FNone # 简单地结束
|
||||
|
||||
else:
|
||||
# 如果还没到达目标投料点，可以打印日志或等待
|
||||
# (通常机器人移动指令发出后，会自动移动到位，下次循环再检查)
|
||||
self.log_signal.emit(logging.INFO, f"[码垛模式] 正在移动到投料点 {self.current_drop_index}...")
|
||||
# 5. *** 关键步骤 ***: 移动到路径中的下一个点
|
||||
# next_position() 会根据当前的 feed_Mid_Status (FMid_Feed)
|
||||
# 调用 next_Feed()。
|
||||
self.next_position()
|
||||
|
||||
def run_reset(self):
|
||||
real_position = Real_Position()
|
||||
@ -744,7 +720,18 @@ class Feeding(QObject):
|
||||
print(request_command)
|
||||
self.robotClient.add_sendQuene(request_command)
|
||||
pass
|
||||
|
||||
# def get_take_position(self):
|
||||
# if Constant.Debug:
|
||||
# return self.robotClient.status_model.getRealPosition()
|
||||
# _, img, xyz, uvw, points = self.detection.get_position(Point_isVision=False, Box_isPoint=True, First_Depth=True, Iter_Max_Pixel=30,save_img_point=0, Height_reduce=30, width_reduce=30)
|
||||
# self.detection_image = img.copy()
|
||||
# if xyz ==None or uvw==None or points==None:
|
||||
# return None
|
||||
# target_position,noraml_base = getPosition(*xyz,*uvw,None,points)
|
||||
#
|
||||
# position = Real_Position().init_position(*target_position[:3],*noraml_base[:3])
|
||||
# position.Z = position.Z+200
|
||||
# return position
|
||||
def next_start(self,reverse=False):
|
||||
start_pos = self.feedConfig.feedLine.get_next_start_position(reverse)
|
||||
self.feedStatus = FeedStatus(start_pos.status) if self.feedStatus != FeedStatus.FNone else FeedStatus.FNone
|
||||
|
||||
860
CU/Feeding.py.bak
Normal file
860
CU/Feeding.py.bak
Normal file
@ -0,0 +1,860 @@
|
||||
import copy
|
||||
import logging
|
||||
import random
|
||||
import threading
|
||||
import time
|
||||
|
||||
import cv2
|
||||
import numpy as np
|
||||
from PyQt5.QtWidgets import QMessageBox
|
||||
from PySide6.QtCore import Signal, QObject
|
||||
from PySide6.QtGui import QPixmap
|
||||
|
||||
import Constant
|
||||
import Expection
|
||||
from CU.Catch import Catch, CatchStatus
|
||||
from CU.Detect import Detect, DetectStatus
|
||||
from Model.FeedModel import PositionModel
|
||||
from Model.Position import Real_Position, Detection_Position
|
||||
from enum import Enum, IntEnum
|
||||
from COM.COM_Robot import RobotClient, DetectType
|
||||
from Model.RobotModel import CMDInstructRequest, MoveType
|
||||
from Trace.handeye_calibration import getPosition
|
||||
from Trace.handeye_calibration import getxyz,getxyz1
|
||||
from Util.util_math import get_distance
|
||||
from Util.util_time import CRisOrFall
|
||||
#from Vision.camera_coordinate_dete import Detection
|
||||
from Util.util_log import log
|
||||
from Model.RobotModel import Instruction
|
||||
from EMV.EMV import RelayController
|
||||
from CU.drop import DropPositionManager
|
||||
class ResetStatus(Enum):
|
||||
RNone = 0
|
||||
RStart = 1
|
||||
RRunging = 2
|
||||
ROk =3
|
||||
|
||||
class FeedStatus(IntEnum):
|
||||
FNone = 0
|
||||
FStart = 1
|
||||
FCheck = 2
|
||||
FMid = 3
|
||||
FPhoto = 4
|
||||
FTake = 5
|
||||
FBroken1 = 6
|
||||
FBroken2 =7
|
||||
FShake = 8
|
||||
FDropBag = 9
|
||||
FFinished = 10
|
||||
FReverse = 11
|
||||
FStartReverse = 12
|
||||
|
||||
class LineType(Enum):
|
||||
Straight = 0
|
||||
CureMid = 2
|
||||
CureEnd = 3
|
||||
WORLD = 4
|
||||
|
||||
|
||||
class FeedMidStatus(Enum):
|
||||
FMid_Start = 1
|
||||
FMid_Take = 2
|
||||
FMid_Feed= 3
|
||||
|
||||
class FeedPosition:
|
||||
def __init__(self,status:FeedStatus,position:Real_Position):
|
||||
self.status = status
|
||||
self.position = position
|
||||
|
||||
class FeedLine:
|
||||
def __init__(self, id, name, feed_positions:list):
|
||||
self.feed_positions = copy.deepcopy(feed_positions)
|
||||
self.feeding2end_pos_index = 0
|
||||
self.origin2start_pos_index = 0
|
||||
self.start2take_pos_index = 0
|
||||
self.name = name
|
||||
self.id = id
|
||||
|
||||
# --- 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 = []
|
||||
|
||||
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]
|
||||
return pos
|
||||
def get_current_take_position(self,is_reverse):
|
||||
pos = self.start_to_take[ (self.start2take_pos_index+1)%len(self.start_to_take) if is_reverse else self.start2take_pos_index-1]
|
||||
return pos
|
||||
def get_current_start_position(self,is_reverse):
|
||||
pos = self.origin_to_start[(self.origin2start_pos_index+1)%len(self.origin_to_start) if is_reverse else self.origin2start_pos_index-1]
|
||||
return pos
|
||||
|
||||
def get_next_feed_position(self,reverse:bool=False):
|
||||
pos = self.feeding_to_end[self.feeding2end_pos_index]
|
||||
if reverse:
|
||||
self.feeding2end_pos_index -= 1
|
||||
if self.feeding2end_pos_index < 0:
|
||||
self.feeding2end_pos_index = len(self.feeding_to_end) - 1
|
||||
else:
|
||||
self.feeding2end_pos_index += 1
|
||||
if self.feeding2end_pos_index >= len(self.feeding_to_end):
|
||||
self.feeding2end_pos_index = 0
|
||||
return pos
|
||||
|
||||
def get_next_start_position(self,reverse:bool=False):
|
||||
pos = self.origin_to_start[self.origin2start_pos_index]
|
||||
if reverse:
|
||||
self.origin2start_pos_index -= 1
|
||||
if self.origin2start_pos_index < 0:
|
||||
self.origin2start_pos_index = len(self.origin_to_start) - 1
|
||||
else:
|
||||
self.origin2start_pos_index += 1
|
||||
if self.origin2start_pos_index >= len(self.origin_to_start):
|
||||
self.origin2start_pos_index = 0
|
||||
|
||||
return pos
|
||||
|
||||
def get_next_take_position(self,reverse:bool=False):
|
||||
pos = self.start_to_take[self.start2take_pos_index]
|
||||
if reverse:
|
||||
self.start2take_pos_index -= 1
|
||||
if self.start2take_pos_index < 0:
|
||||
self.start2take_pos_index = len(self.start_to_take) - 1
|
||||
else:
|
||||
self.start2take_pos_index += 1
|
||||
if self.start2take_pos_index >= len(self.start_to_take):
|
||||
self.start2take_pos_index = 0
|
||||
return pos
|
||||
def get_take_position(self):
|
||||
for i in range(len(self.feeding_to_end)):
|
||||
if self.feeding_to_end[i].status == FeedStatus.FTake.value:
|
||||
return self.feeding_to_end[i]
|
||||
|
||||
def set_take_position(self, position: Real_Position, dynamic_height=0):
|
||||
"""
|
||||
设置 FTake 位置，并更新其前后动态点的位置。
|
||||
:param position: 新的抓取位置
|
||||
:param dynamic_height: 动态高度调整 (如果需要)
|
||||
"""
|
||||
for i in range(len(self.feeding_to_end)):
|
||||
if self.feeding_to_end[i].status == FeedStatus.FTake.value:
|
||||
# 计算 XYZ 坐标
|
||||
# xyz = getxyz(position.X, position.Y, position.Z, position.a, position.b, position.c)
|
||||
xyz = getxyz1(position.X, position.Y, position.Z, position.a, position.b, position.c)
|
||||
# 创建 before 和 after 位置
|
||||
befor_take_position = Real_Position().init_position(xyz[0],
|
||||
xyz[1],
|
||||
xyz[2],
|
||||
position.U,
|
||||
position.V,
|
||||
position.W)
|
||||
after_take_position = Real_Position().init_position(xyz[0],
|
||||
xyz[1],
|
||||
xyz[2],
|
||||
position.U,
|
||||
position.V,
|
||||
position.W)
|
||||
# 安全检查索引
|
||||
if i > 0:
|
||||
self.feeding_to_end[i - 1].set_position(befor_take_position)
|
||||
else:
|
||||
print("Warning: No position before FTake to update.")
|
||||
self.feeding_to_end[i].set_position(position)
|
||||
if i + 1 < len(self.feeding_to_end):
|
||||
self.feeding_to_end[i + 1].set_position(after_take_position)
|
||||
else:
|
||||
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。
|
||||
:param position: 新的丢包位置
|
||||
"""
|
||||
for i in range(len(self.feeding_to_end)):
|
||||
if self.feeding_to_end[i].status == FeedStatus.FDropBag.value:
|
||||
# 直接设置当前点的位置
|
||||
self.feeding_to_end[i].set_position(position)
|
||||
print(
|
||||
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_position_list(self):
|
||||
index_start = -1
|
||||
for i in range(len(self.feed_positions)):
|
||||
if self.feed_positions[i].status == FeedStatus.FCheck.value:
|
||||
index_start = i
|
||||
break
|
||||
for i in range(len(self.feed_positions)):
|
||||
if self.feed_positions[i].status == FeedStatus.FPhoto.value:
|
||||
index_take = i
|
||||
|
||||
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)
|
||||
|
||||
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):
|
||||
self.num = num
|
||||
self.feedLine = feedLine
|
||||
self.photo_locs = [self.deal_photo_locs(p) for p in photo_locs]
|
||||
|
||||
|
||||
def deal_photo_locs(self, photo_loc):
|
||||
position_photo = Real_Position()
|
||||
position_photo.init_position(photo_loc[0], photo_loc[1], photo_loc[2], photo_loc[3], photo_loc[4], photo_loc[5])
|
||||
return position_photo
|
||||
|
||||
def get_line_info(self):
|
||||
pass
|
||||
|
||||
|
||||
class Feeding(QObject):
|
||||
need_origin_signal = Signal(str)
|
||||
take_no_photo_sigal = Signal()
|
||||
update_detect_image = Signal(np.ndarray)
|
||||
log_signal = Signal(int,str)
|
||||
def __init__(self, robotClient: RobotClient):
|
||||
super().__init__()
|
||||
self.feedConfig = None
|
||||
self.feedStatus = FeedStatus.FNone
|
||||
self.robotClient = robotClient
|
||||
# 添加 RelayController 实例
|
||||
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()
|
||||
self.feed_Mid_Status = FeedMidStatus.FMid_Start
|
||||
self.is_reverse = False
|
||||
# 复位集合
|
||||
self.run_reverse = False
|
||||
self.take_no_photo = False
|
||||
self.reset_status = ResetStatus.RNone
|
||||
self.reversed_positions = []
|
||||
self.current_position = None
|
||||
self.index=1
|
||||
self.pos_index = -1
|
||||
self.pos_near_index = -1
|
||||
self.catch = Catch(self.robotClient)
|
||||
self.detect = Detect()
|
||||
self.is_detected = True
|
||||
self.detect_thread = threading.Thread(target=self.run_detect)
|
||||
self.detect_thread.start()
|
||||
self.onekey = False
|
||||
self.debug_run_count = 0 # 初始化计数器
|
||||
self.mid_take_count = 0
|
||||
#传感器判断抓包参数
|
||||
self.sensor2_ready = False # 传感器2是否检测到料包
|
||||
self.motor_stopped_by_sensor2 = False # 是否由传感器2触发停止电机
|
||||
self.sensor_thread = None
|
||||
self.relay_controller = RelayController()
|
||||
# 启动传感器2线程
|
||||
self.relay_controller._running = True
|
||||
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")
|
||||
pass
|
||||
|
||||
def close_feed(self):
|
||||
self.is_detected = False
|
||||
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()
|
||||
time.sleep(0.02)
|
||||
|
||||
def run(self):
|
||||
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,
|
||||
self.robotClient.status_model.world_3,
|
||||
self.robotClient.status_model.world_4,
|
||||
self.robotClient.status_model.world_5)
|
||||
# real_position.init_position(0,
|
||||
# 0,
|
||||
# 0,
|
||||
# 0,
|
||||
# 0,
|
||||
# 0);
|
||||
|
||||
# img_path = f'Image/{self.index}.png'
|
||||
# img = cv2.imread(img_path)
|
||||
# self.index += 1
|
||||
# self.index = self.index % 4
|
||||
# self.detection_image = img
|
||||
|
||||
if self.feedConfig == None:
|
||||
self.feedStatus = FeedStatus.FNone
|
||||
|
||||
if self.feedConfig !=None and self.feedConfig.num == 0 and self.is_reverse and self.robotClient.origin_position.compare(real_position,is_action=True):
|
||||
self.feedStatus = FeedStatus.FNone
|
||||
self.is_reverse = False
|
||||
self.log_signal.emit(logging.INFO, Constant.str_feed_reverse)
|
||||
|
||||
if self.feedStatus == FeedStatus.FNone or self.pause:
|
||||
return
|
||||
|
||||
elif self.feedStatus == FeedStatus.FCheck:
|
||||
self.log_signal.emit(logging.INFO, Constant.str_feed_check)
|
||||
# 1, 检查是否是三列
|
||||
# 2, 检查是否有人
|
||||
# if self.safe_check_columns() and self.safe_check_person():
|
||||
# pass
|
||||
# else:
|
||||
# if self.feedConfig.num != 0:
|
||||
# self.next_target()
|
||||
# if == 原点 继续判断
|
||||
# else:
|
||||
# QMessageBox.information(None, "提示", Constant.str_feed_sae_error_msgbox)
|
||||
|
||||
if self.is_reverse:
|
||||
self.feed_Mid_Status = FeedMidStatus.FMid_Start
|
||||
else:
|
||||
self.feed_Mid_Status = FeedMidStatus.FMid_Take
|
||||
|
||||
if self.feedConfig.feedLine.start_to_take[0].get_position().compare(real_position):
|
||||
self.next_position(self.is_reverse)
|
||||
|
||||
elif self.feedStatus == FeedStatus.FStart:
|
||||
self.log_signal.emit(logging.INFO, Constant.str_feed_start)
|
||||
self.relay_controller.open(conveyor2=True)#开电机
|
||||
#self.sensor2_thread = threading.Thread(target=self.relay_controller.handle_sensor2, daemon=True)#线程2的开始，但是在那里设置结束呢
|
||||
#self.sensor2_thread.start()
|
||||
if not self.robotClient.origin_position.compare(real_position,is_action=True) and not self.is_reverse:
|
||||
# QMessageBox.information(None, "提示", Constant.str_feed_start_error) # Fuck 引起异常
|
||||
self.log_signal.emit(logging.ERROR, Constant.str_feed_start_error)
|
||||
self.need_origin_signal.emit(Constant.str_feed_start_error)
|
||||
self.feedStatus = FeedStatus.FNone
|
||||
return
|
||||
if self.is_reverse:
|
||||
self.feedStatus = FeedStatus.FNone
|
||||
self.is_reverse = False
|
||||
return
|
||||
|
||||
self.feedConfig.feedLine.get_position_list()
|
||||
self.detect.detect_status = DetectStatus.DNone
|
||||
self.feed_Mid_Status = FeedMidStatus.FMid_Start
|
||||
self.next_position(self.is_reverse)
|
||||
|
||||
elif self.feedStatus == FeedStatus.FMid:
|
||||
feed_pos = self.get_current_position(self.is_reverse)
|
||||
if feed_pos.get_position().compare(real_position):
|
||||
self.log_signal.emit(logging.INFO, Constant.str_feed_mid)
|
||||
self.next_position(self.is_reverse)
|
||||
# 增加计数器逻辑
|
||||
self.mid_take_count += 1
|
||||
# 可选：在 Debug1 模式下输出日志
|
||||
if Constant.Debug1:
|
||||
self.log_signal.emit(
|
||||
logging.INFO,
|
||||
f"[调试计数] 已进入 FMid 分支 {self.mid_take_count} 次"
|
||||
)
|
||||
#if self.feedStatus == FeedStatus.FTake:
|
||||
#self.catch.catch_status = CatchStatus.CTake
|
||||
|
||||
elif self.feedStatus == FeedStatus.FPhoto:
|
||||
if self.feedConfig.num == 0:
|
||||
self.log_signal.emit(logging.INFO, Constant.str_feed_finish)
|
||||
self.is_reverse = True
|
||||
self.feed_Mid_Status = FeedMidStatus.FMid_Take
|
||||
self.feedConfig.feedLine.start2take_pos_index = len(self.feedConfig.feedLine.start_to_take) - 2
|
||||
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:
|
||||
self.log_signal.emit(logging.INFO, Constant.str_feed_takePhoto)
|
||||
self.feed_Mid_Status = FeedMidStatus.FMid_Feed
|
||||
self.log_signal.emit(logging.INFO, Constant.str_feed_takePhoto_success)
|
||||
self.feedConfig.feedLine.set_take_position(self.detect.detect_position, 0)
|
||||
#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
|
||||
while True:
|
||||
sensors = self.relay_controller.get_all_device_status('sensors')
|
||||
sensor2_value = sensors.get(self.relay_controller.SENSOR2, False)
|
||||
if sensor2_value:
|
||||
self.log_signal.emit(logging.INFO, "✅ 传感器2检测到料包到位，开始执行抓取")
|
||||
#self.relay_controller.close(conveyor2=True)
|
||||
print("---------传感器2检测到料包到位，开始执行抓取,------------")
|
||||
break # ✅ 条件满足，跳出循环，继续执行下面的代码
|
||||
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
|
||||
|
||||
elif self.feedStatus == FeedStatus.FTake:
|
||||
self.log_signal.emit(logging.INFO, Constant.str_feed_take)
|
||||
take_position = self.feedConfig.feedLine.get_take_position()
|
||||
if not take_position or not take_position.get_position():
|
||||
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")
|
||||
return
|
||||
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:
|
||||
#self.catch.catch_status = CatchStatus.CTake
|
||||
#if self.catch.catch_status == CatchStatus.CTake:
|
||||
#self.log_signal.emit(logging.INFO, "正在执行抓料动作...")
|
||||
#self.catch.catch_status = CatchStatus.COk
|
||||
#if self.catch.catch_status == CatchStatus.COk:
|
||||
#self.log_signal.emit(logging.INFO, Constant.str_feed_take_success)
|
||||
#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)
|
||||
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}")
|
||||
#self.relay_controller.open(conveyor2=True)
|
||||
print(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")
|
||||
print("--------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()
|
||||
#return
|
||||
#else:
|
||||
#self.log_signal.emit(logging.ERROR, Constant.str_feed_takePhoto_fail)
|
||||
|
||||
elif self.feedStatus == FeedStatus.FBroken1:
|
||||
|
||||
if self.get_current_position().get_position().compare(real_position):
|
||||
self.log_signal.emit(logging.INFO, Constant.str_feed_broken)
|
||||
self.next_position()
|
||||
|
||||
|
||||
elif self.feedStatus == FeedStatus.FBroken2:
|
||||
|
||||
if self.get_current_position().get_position().compare(real_position):
|
||||
self.log_signal.emit(logging.INFO, Constant.str_feed_broken)
|
||||
self.next_position()
|
||||
|
||||
elif self.feedStatus == FeedStatus.FShake:
|
||||
if self.get_current_position().get_position().compare(real_position,is_action=True):
|
||||
# TODO 震动方案
|
||||
self.log_signal.emit(logging.INFO, Constant.str_feed_shake)
|
||||
if self.catch.catch_status == CatchStatus.CNone:
|
||||
self.catch.catch_status = CatchStatus.CShake
|
||||
return
|
||||
if self.catch.catch_status == CatchStatus.CShake:
|
||||
# if self.feedConfig.feedLine.feeding_to_end[
|
||||
# self.feedConfig.feedLine.feeding2end_pos_index + 1].status != FeedStatus.FShake:
|
||||
# self.catch.catch_status = CatchStatus.COk
|
||||
# else:
|
||||
self.catch.shake_continue.SetReset()
|
||||
self.next_position()
|
||||
if self.feedStatus!=FeedStatus.FShake:
|
||||
self.catch.catch_status = CatchStatus.CNone
|
||||
return
|
||||
|
||||
elif self.feedStatus == FeedStatus.FDropBag:
|
||||
#"""*** 处理投料点 (FDropBag) 的核心逻辑 ***"""
|
||||
# 1. 确认机械臂是否已精确到达当前目标投料点
|
||||
# get_current_position() 会根据 self.feed_Mid_Status (应为 FMid_Feed)
|
||||
# 调用 feedLine.get_current_feed_position()，从 feeding_to_end 列表获取
|
||||
# 由 feeding2end_pos_index 指向的点。
|
||||
if self.get_current_position().get_position().compare(real_position, is_action=True):
|
||||
# 2. 记录日志：已到达投料点
|
||||
#if not self.sensor2_ready:
|
||||
#self.log_signal.emit(logging.INFO, "抓取完成，重新启动 conveyor2")
|
||||
#self.relay_controller.open(conveyor2=True)
|
||||
|
||||
self.log_signal.emit(logging.INFO, Constant.str_feed_drop)
|
||||
# 3. 与 Catch 模块进行状态交互来驱动投料动作
|
||||
# a. 初始状态 (CNone): 触发投料动作
|
||||
|
||||
if self.catch.catch_status == CatchStatus.CNone:
|
||||
# 将 Catch 状态设置为 CDrop，通知 Catch 模块开始执行物理投料动作
|
||||
self.catch.catch_status = CatchStatus.CDrop
|
||||
# 立即返回，等待 Catch 模块处理
|
||||
return
|
||||
# b. 投料进行中 (CDrop): 等待完成
|
||||
if self.catch.catch_status == CatchStatus.CDrop:
|
||||
# 什么都不做，等待 Catch 模块完成动作并更新状态
|
||||
return
|
||||
# c. 投料完成 (COk): 处理后续逻辑并移动到下一个点
|
||||
if self.catch.catch_status == CatchStatus.COk:
|
||||
# 重置 Catch 状态，为下一次操作做准备
|
||||
self.catch.catch_status = CatchStatus.CNone
|
||||
# (后续增加) 延时: 让物料稳定
|
||||
# time.sleep(self.robotClient.time_delay_put)
|
||||
# (后续增加) 视觉确认: 拍照确认袋子已放置
|
||||
# self.detection.get_position(...)
|
||||
# self.feedConfig.feedLine.set_take_position(...)
|
||||
# 4. 更新业务逻辑：减少剩余袋数
|
||||
self.feedConfig.num = self.feedConfig.num - 1
|
||||
self.log_signal.emit(logging.INFO, f'{Constant.str_feed_feed_num}{self.feedConfig.num}')
|
||||
# 5. *** 关键步骤 ***: 移动到路径中的下一个点
|
||||
# next_position() 会根据当前的 feed_Mid_Status (FMid_Feed)
|
||||
# 调用 next_Feed()。
|
||||
self.next_position()
|
||||
|
||||
def run_reset(self):
|
||||
"""
|
||||
复位流程主函数：让机器人沿喂料路径反向移动，回到起始安全位置。
|
||||
该函数通常在设备启动、错误恢复或手动干预后调用。
|
||||
"""
|
||||
# 1. 获取机器人当前的实际物理位置
|
||||
# 从 robotClient 的状态模型中读取6个关节的世界坐标（world_0 ~ world_5）
|
||||
real_position = Real_Position()
|
||||
real_position.init_position(self.robotClient.status_model.world_0,
|
||||
self.robotClient.status_model.world_1,
|
||||
self.robotClient.status_model.world_2,
|
||||
self.robotClient.status_model.world_3,
|
||||
self.robotClient.status_model.world_4,
|
||||
self.robotClient.status_model.world_5)
|
||||
# 2. 状态检查：如果复位状态为 RNone（无任务），直接返回，不执行任何操作
|
||||
if self.reset_status == ResetStatus.RNone:
|
||||
return
|
||||
# 3. 状态一：RStart - 复位启动阶段：确定当前位置在喂料路径中的索引
|
||||
if self.reset_status == ResetStatus.RStart:
|
||||
# a. 安全检查：确保 feedConfig 配置已加载
|
||||
if self.feedConfig == None: return
|
||||
# for index in range(len(self.feedConfig.feedLine.positions)):
|
||||
# if self.feedConfig.feedLine.positions[index].status == 2:
|
||||
# start_index = index
|
||||
# b. 初始化关键变量
|
||||
self.pos_index = -1 # 用于存储与当前位置精确匹配的路径点索引
|
||||
self.pos_near_index = -1 # 用于存储距离当前位置最近的路径点索引
|
||||
self.reversed_positions = [] # 存储从当前位置到起始点的反向路径点列表
|
||||
# c. 第一步：尝试在 feed_positions 路径点中寻找与当前实际位置完全匹配的点
|
||||
for index, pos_model in enumerate(self.feedConfig.feedLine.feed_positions):
|
||||
if pos_model.get_position().compare(real_position,is_action=True):
|
||||
self.pos_index = index
|
||||
break
|
||||
# d. 如果没有找到精确匹配的点，则寻找距离最近的点
|
||||
if self.pos_index == -1:
|
||||
self.log_signal.emit(logging.ERROR, Constant.str_feed_return_original_position_fail)
|
||||
min_distance = 99999999
|
||||
for index, pos_model in enumerate(self.feedConfig.feedLine.feed_positions):
|
||||
if get_distance(pos_model.get_position(), real_position) < min_distance:
|
||||
min_distance = get_distance(pos_model.get_position(), real_position)
|
||||
self.pos_near_index = index
|
||||
# 根据最近点构建回退路径（从起点到最近点）
|
||||
if self.pos_near_index != -1:
|
||||
self.reversed_positions = self.feedConfig.feedLine.feed_positions[:self.pos_near_index + 1]
|
||||
else:
|
||||
#极端情况：没有任何点可选，复位失败
|
||||
return False
|
||||
else:
|
||||
#如果找到了精确匹配点，则从起点到该点构建回退路径
|
||||
self.reversed_positions = self.feedConfig.feedLine.feed_positions[:self.pos_index+1]
|
||||
# e. 关键步骤：反转路径，使其成为“从当前位置退回起点”的顺序
|
||||
self.reversed_positions = list(reversed(self.reversed_positions))
|
||||
self.reverse_index = 0
|
||||
# f. 触发复位警报音，提示用户设备正在复位
|
||||
self.send_emergency_sound()
|
||||
# g. 记录当前实际位置作为移动的初始参考点
|
||||
self.current_position = PositionModel()
|
||||
self.current_position.init_position(real_position)
|
||||
# h. 更新状态机：进入“正在复位”阶段
|
||||
self.reset_status = ResetStatus.RRunging
|
||||
|
||||
# 4. 状态二：RRunging - 正在复位中：逐步移动到反向路径的每一个点
|
||||
if self.reset_status == ResetStatus.RRunging:
|
||||
# a. 安全检查：只有当机器人到达上一个目标点后，才允许执行下一步
|
||||
# compare 判断当前实际位置是否与目标位置（current_position）一致
|
||||
if not real_position.compare(self.current_position.get_position(),is_action=True):
|
||||
return# 未到达目标，等待下一次调用
|
||||
# b. 获取当前要移动到的反向路径点
|
||||
pos_model = self.reversed_positions[self.reverse_index]
|
||||
# c. 特殊处理：跳过“取袋”状态的节点（FTake）
|
||||
# 在回退过程中，不需要在取袋点停留或执行动作
|
||||
if pos_model.status == FeedStatus.FTake.value: # 跳过取袋节点
|
||||
pos_model = self.reversed_positions[self.reverse_index + 1]
|
||||
self.reverse_index = self.reverse_index+1
|
||||
# d. 根据路径点类型执行不同的移动指令
|
||||
if pos_model.lineType == LineType.CureMid.value:
|
||||
#如果是圆弧中间点（CureMid），需要同时指定当前点和下一个点来规划圆弧
|
||||
pos_model1 = self.reversed_positions[self.reverse_index + 1]
|
||||
self.sendTargPosition(real_position=pos_model.get_position(), move_type=MoveType.Cure,
|
||||
real_position1=pos_model1.get_position(), speed=self.robotClient.reset_speed)
|
||||
self.current_position = pos_model1
|
||||
self.reverse_index = self.reverse_index + 2
|
||||
else:
|
||||
#普通直线或关节移动
|
||||
self.sendTargPosition(real_position=pos_model.get_position(), speed=self.robotClient.reset_speed)
|
||||
self.current_position = pos_model
|
||||
self.reverse_index = self.reverse_index + 1
|
||||
# e. 检查是否已完成所有反向路径点的移动
|
||||
if self.reverse_index == len(self.reversed_positions):
|
||||
self.reset_status = ResetStatus.ROk
|
||||
# 5. 状态三：ROk - 复位完成
|
||||
if self.reset_status == ResetStatus.ROk:
|
||||
# a. 重置状态为 RNone，表示复位任务结束
|
||||
self.reset_status = ResetStatus.RNone
|
||||
# b.发送紧急停止信号（用于关闭警报音后续可扩展复位其他外设）
|
||||
self.send_emergency_stop()
|
||||
|
||||
def return_original_position(self):
|
||||
|
||||
self.run_reverse = True
|
||||
real_position = Real_Position()
|
||||
real_position.init_position(self.robotClient.status_model.world_0,
|
||||
self.robotClient.status_model.world_1,
|
||||
self.robotClient.status_model.world_2,
|
||||
self.robotClient.status_model.world_3,
|
||||
self.robotClient.status_model.world_4,
|
||||
self.robotClient.status_model.world_5)
|
||||
if self.feedConfig == None: return
|
||||
start_index = -1
|
||||
# for index in range(len(self.feedConfig.feedLine.positions)):
|
||||
# if self.feedConfig.feedLine.positions[index].status == 2:
|
||||
# start_index = index
|
||||
pos_index = -1
|
||||
pos_near_index = -1
|
||||
reversed_positions = []
|
||||
for index, pos_model in enumerate(self.feedConfig.feedLine.feed_positions):
|
||||
if pos_model.get_position().compare(real_position):
|
||||
pos_index = index
|
||||
break
|
||||
|
||||
if pos_index == -1:
|
||||
self.log_signal.emit(logging.ERROR, Constant.str_feed_return_original_position_fail)
|
||||
min_distance = 99999999
|
||||
for index, pos_model in enumerate(self.feedConfig.feedLine.feed_positions):
|
||||
if get_distance(pos_model.get_position(), real_position)<min_distance:
|
||||
min_distance = get_distance(pos_model.get_position(), real_position)
|
||||
pos_near_index = index
|
||||
if pos_near_index != -1:
|
||||
reversed_positions = self.feedConfig.feedLine.feed_positions[:pos_near_index+1]
|
||||
else:
|
||||
return False
|
||||
else:
|
||||
reversed_positions = self.feedConfig.feedLine.feed_positions[:pos_index]
|
||||
reversed_positions = list(reversed(reversed_positions))
|
||||
self.reverse_index = 0
|
||||
self.send_emergency_sound()
|
||||
current_position = PositionModel()
|
||||
current_position.init_position(real_position)
|
||||
while self.run_reverse and self.reverse_index!=len(reversed_positions):
|
||||
if self.reverse_index!=0 and not real_position.compare(current_position.get_position()):
|
||||
continue
|
||||
#todo 缺少比对
|
||||
pos_model = reversed_positions[self.reverse_index]
|
||||
if pos_model.status == FeedStatus.FTake.value: # 跳过取袋节点
|
||||
|
||||
pos_model = reversed_positions[self.reverse_index + 1]
|
||||
# TODO take节点判断
|
||||
|
||||
if pos_model.lineType == LineType.CureMid.value:
|
||||
pos_model1 = reversed_positions[self.reverse_index + 1]
|
||||
self.sendTargPosition(real_position=pos_model.get_position(), move_type=MoveType.Cure,
|
||||
real_position1=pos_model1.get_position(),speed= self.robotClient.reset_speed)
|
||||
current_position = pos_model1
|
||||
self.reverse_index = self.reverse_index+2
|
||||
else:
|
||||
self.sendTargPosition(real_position=pos_model.get_position(),speed=self.robotClient.reset_speed)
|
||||
current_position = pos_model
|
||||
self.reverse_index = self.reverse_index + 1
|
||||
self.send_emergency_stop()
|
||||
return True
|
||||
def send_emergency_sound(self):
|
||||
self.sendIOControl(Constant.IO_EmergencyPoint, 1)
|
||||
|
||||
def send_emergency_stop(self):
|
||||
self.sendIOControl(Constant.IO_EmergencyPoint, 0)
|
||||
|
||||
def sendIOControl(self, IO_bit, IO_Status: int):
|
||||
|
||||
IO_command = CMDInstructRequest()
|
||||
io_instruction = Instruction()
|
||||
io_instruction.IO = True
|
||||
io_instruction.io_status = IO_Status
|
||||
io_instruction.point = IO_bit # {"dsID":"HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[{"oneshot":"1","action":"200","type":"0","io_status":"1","point":"15","delay":"0"}]}
|
||||
IO_command.dsID = 'HCRemoteCommand'
|
||||
IO_command.instructions.append(io_instruction)
|
||||
self.robotClient.add_sendQuene(IO_command.toString())
|
||||
self.log_signal.emit(logging.INFO, f'{Constant.str_feed_io_control}{IO_bit}，{IO_Status}')
|
||||
pass
|
||||
|
||||
def sendTargPosition1(self, real_position, move_type: MoveType = MoveType.WORLD, speed=5,real_position1=None):
|
||||
pass
|
||||
|
||||
|
||||
def sendTargPosition(self, real_position, move_type: MoveType = MoveType.WORLD, speed=5,real_position1=None):
|
||||
position_instruction = Instruction()
|
||||
position_instruction.speed = speed
|
||||
position_instruction.m0 = real_position.X
|
||||
position_instruction.m1 = real_position.Y
|
||||
position_instruction.m2 = real_position.Z
|
||||
position_instruction.m3 = real_position.U
|
||||
position_instruction.m4 = real_position.V
|
||||
position_instruction.m5 = real_position.W
|
||||
position_instruction.smooth = self.robotClient.smooth
|
||||
|
||||
position_instruction.action = move_type.value
|
||||
if position_instruction.action == 17:
|
||||
position_instruction.m0_p = real_position1.X
|
||||
position_instruction.m1_p = real_position1.Y
|
||||
position_instruction.m2_p = real_position1.Z
|
||||
position_instruction.m3_p = real_position1.U
|
||||
position_instruction.m4_p = real_position1.V
|
||||
position_instruction.m5_p = real_position1.W
|
||||
instruction_command = CMDInstructRequest()
|
||||
instruction_command.instructions.append(position_instruction)
|
||||
request_command = instruction_command.toString()
|
||||
|
||||
log_str = f'移动到位置:{ "姿势直线" if move_type==MoveType.WORLD else "姿势曲线"}：' \
|
||||
f'X:{position_instruction.m0}-' \
|
||||
f'Y:{position_instruction.m1}-' \
|
||||
f'Z:{position_instruction.m2}-' \
|
||||
f'U:{position_instruction.m3}-' \
|
||||
f'V:{position_instruction.m4}-' \
|
||||
f'W:{position_instruction.m5}'
|
||||
|
||||
|
||||
try:
|
||||
print('fuck1',log_str)
|
||||
self.log_signal.emit(logging.INFO, log_str)
|
||||
print('fuck2',log_str)
|
||||
except:
|
||||
return
|
||||
print(request_command)
|
||||
self.robotClient.add_sendQuene(request_command)
|
||||
pass
|
||||
# def get_take_position(self):
|
||||
# if Constant.Debug:
|
||||
# return self.robotClient.status_model.getRealPosition()
|
||||
# _, img, xyz, uvw, points = self.detection.get_position(Point_isVision=False, Box_isPoint=True, First_Depth=True, Iter_Max_Pixel=30,save_img_point=0, Height_reduce=30, width_reduce=30)
|
||||
# self.detection_image = img.copy()
|
||||
# if xyz ==None or uvw==None or points==None:
|
||||
# return None
|
||||
# target_position,noraml_base = getPosition(*xyz,*uvw,None,points)
|
||||
#
|
||||
# position = Real_Position().init_position(*target_position[:3],*noraml_base[:3])
|
||||
# position.Z = position.Z+200
|
||||
# return position
|
||||
def next_start(self,reverse=False):
|
||||
start_pos = self.feedConfig.feedLine.get_next_start_position(reverse)
|
||||
self.feedStatus = FeedStatus(start_pos.status) if self.feedStatus != FeedStatus.FNone else FeedStatus.FNone
|
||||
if start_pos.lineType == LineType.CureMid.value:
|
||||
start_pos1 = self.feedConfig.feedLine.get_next_start_position(reverse)
|
||||
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)
|
||||
else:
|
||||
self.sendTargPosition(real_position=start_pos.get_position(),speed=self.robotClient.reset_speed)
|
||||
pass
|
||||
|
||||
def next_take(self,reverse=False):
|
||||
|
||||
take_pos = self.feedConfig.feedLine.get_next_take_position(reverse)
|
||||
self.feedStatus = FeedStatus(take_pos.status) if self.feedStatus != FeedStatus.FNone else FeedStatus.FNone
|
||||
if take_pos.lineType == LineType.CureMid.value:
|
||||
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(), 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)
|
||||
|
||||
else:
|
||||
self.sendTargPosition(real_position=take_pos.get_position(),speed=self.robotClient.feed_speed)
|
||||
pass
|
||||
|
||||
def next_Feed(self,reverse=False):
|
||||
feed_pos = self.feedConfig.feedLine.get_next_feed_position(reverse)
|
||||
self.feedStatus = FeedStatus(feed_pos.status) if self.feedStatus != FeedStatus.FNone else FeedStatus.FNone
|
||||
if feed_pos.lineType == LineType.CureMid.value:
|
||||
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(), 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)
|
||||
|
||||
else:
|
||||
# if not reverse and self.feedStatus == FeedStatus.FShake:
|
||||
# if not reverse:
|
||||
# if self.cRis_shake.Q(self.feedStatus == FeedStatus.FShake, True):
|
||||
# pass
|
||||
# elif self.cRis_shake.Q(self.feedStatus == FeedStatus.FShake, False):
|
||||
# self.feedStatus = FeedStatus.FShake
|
||||
# self.sendTargPosition(real_position=feed_pos.get_position(),speed=self.robotClient.feed_speed)
|
||||
# return
|
||||
|
||||
|
||||
self.sendTargPosition(real_position=feed_pos.get_position(),speed=self.robotClient.feed_speed)
|
||||
|
||||
def get_current_position(self,is_reverse=False):
|
||||
if self.feed_Mid_Status == FeedMidStatus.FMid_Start:
|
||||
return self.feedConfig.feedLine.get_current_start_position(self.is_reverse)
|
||||
elif self.feed_Mid_Status == FeedMidStatus.FMid_Take:
|
||||
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)
|
||||
if Constant.Debug1:
|
||||
print('next_start')
|
||||
elif self.feed_Mid_Status == FeedMidStatus.FMid_Take:
|
||||
self.next_take(reverse)
|
||||
if Constant.Debug1:
|
||||
print('next_take')
|
||||
elif self.feed_Mid_Status == FeedMidStatus.FMid_Feed:
|
||||
self.next_Feed(reverse)
|
||||
if Constant.Debug1:
|
||||
print('next_feed')
|
||||
|
||||
def safe_check_columns(self):
|
||||
return True
|
||||
pass
|
||||
|
||||
def safe_check_person(self):
|
||||
return True
|
||||
pass
|
||||
|
||||
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
BIN
CU/__pycache__/drop.cpython-39.pyc
Normal file
BIN
CU/__pycache__/drop.cpython-39.pyc
Normal file
Binary file not shown.
88
CU/drop.ini
Normal file
88
CU/drop.ini
Normal file
@ -0,0 +1,88 @@
|
||||
[DropLine1]
|
||||
id = 1
|
||||
name = 50kg码垛路径
|
||||
current_index = 92
|
||||
|
||||
[DropLine2]
|
||||
id = 2
|
||||
name = 35kg码垛路径
|
||||
current_index = 0
|
||||
|
||||
[DropPoints1]
|
||||
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
|
||||
order = 1
|
||||
lineid = 1
|
||||
status = 9
|
||||
linetype = 0
|
||||
|
||||
[DropPoints3]
|
||||
x = 1377.870
|
||||
y = 190.876
|
||||
z = -334.276
|
||||
u = 18.347
|
||||
v = -0.985981
|
||||
w = -125.710434
|
||||
id = 3
|
||||
order = 2
|
||||
lineid = 1
|
||||
status = 9
|
||||
linetype = 0
|
||||
|
||||
[DropPoints4]
|
||||
x = 1874.282
|
||||
y = -328.797
|
||||
z = -334.274
|
||||
u = 18.346
|
||||
v = -0.985981
|
||||
w = -125.710434
|
||||
id = 3
|
||||
order = 3
|
||||
lineid = 1
|
||||
status = 9
|
||||
linetype = 0
|
||||
|
||||
[DropPoints5]
|
||||
x = 1874.282
|
||||
y = -67.365
|
||||
z = -334.274
|
||||
u = 18.346
|
||||
v = -0.985981
|
||||
w = -125.710434
|
||||
id = 3
|
||||
order = 4
|
||||
lineid = 1
|
||||
status = 9
|
||||
linetype = 0
|
||||
|
||||
[DropPoints6]
|
||||
x = 1874.282
|
||||
y = 330.375
|
||||
z = -334.274
|
||||
u = 18.346
|
||||
v = -0.985981
|
||||
w = -125.710434
|
||||
id = 3
|
||||
order = 5
|
||||
lineid = 1
|
||||
status = 9
|
||||
linetype = 0
|
||||
|
||||
62
CU/drop.ini.bak
Normal file
62
CU/drop.ini.bak
Normal file
@ -0,0 +1,62 @@
|
||||
[DropLine1]
|
||||
id = 1
|
||||
name = 50kg码垛路径
|
||||
current_index = 68
|
||||
|
||||
[DropLine2]
|
||||
id = 2
|
||||
name = 35kg码垛路径
|
||||
current_index = 0
|
||||
|
||||
[DropPoints1]
|
||||
x = 1067.078247
|
||||
y = -919.529846
|
||||
z = -189.15361
|
||||
u = -97.082031
|
||||
v = -0.985981
|
||||
w = -125.710434
|
||||
id = 3
|
||||
order = 0
|
||||
lineid = 1
|
||||
status = 9
|
||||
linetype = 0
|
||||
|
||||
[DropPoints2]
|
||||
x = -187.124695
|
||||
y = -1400.483765
|
||||
z = -839.763611
|
||||
u = -97.082031
|
||||
v = -0.985981
|
||||
w = -125.710434
|
||||
id = 3
|
||||
order = 1
|
||||
lineid = 1
|
||||
status = 9
|
||||
linetype = 0
|
||||
|
||||
[DropPoints3]
|
||||
x = 1069.078247
|
||||
y = -919.529846
|
||||
z = -500.15361
|
||||
u = -97.082031
|
||||
v = -0.985981
|
||||
w = -125.710434
|
||||
id = 3
|
||||
order = 2
|
||||
lineid = 1
|
||||
status = 9
|
||||
linetype = 0
|
||||
|
||||
[DropPoints4]
|
||||
x = -187.124695
|
||||
y = -1400.483765
|
||||
z = -839.763611
|
||||
u = -97.082031
|
||||
v = -0.985981
|
||||
w = -125.710434
|
||||
id = 3
|
||||
order = 3
|
||||
lineid = 1
|
||||
status = 9
|
||||
linetype = 0
|
||||
|
||||
104
CU/drop.py
Normal file
104
CU/drop.py
Normal file
@ -0,0 +1,104 @@
|
||||
# File: drop_position_manager.py
|
||||
|
||||
import configparser
|
||||
import os
|
||||
from typing import Optional
|
||||
from Model.Position import Real_Position
|
||||
|
||||
class DropPositionManager:
|
||||
def __init__(self, config_path="drop.ini"):
|
||||
self.config_path = config_path
|
||||
self.config = configparser.ConfigParser()
|
||||
self._load_config()
|
||||
|
||||
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 = 1) -> Optional[Real_Position]:
|
||||
print(f"\n🔄 开始获取 lineid={lineid} 的下一个 drop 点...")
|
||||
|
||||
line_section = f"DropLine{lineid}"
|
||||
print(f"🔍 查找路径 section: {line_section}")
|
||||
|
||||
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
|
||||
|
||||
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)")
|
||||
|
||||
points = []
|
||||
found_sections = []
|
||||
matched_sections = []
|
||||
|
||||
for sec in self.config.sections():
|
||||
if sec.startswith("DropPoints"):
|
||||
found_sections.append(sec)
|
||||
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})")
|
||||
except Exception as e:
|
||||
print(f"❌ 读取 {sec} 失败: {e}")
|
||||
|
||||
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")
|
||||
|
||||
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
|
||||
|
||||
# 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
|
||||
|
||||
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}")
|
||||
|
||||
# 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}]")
|
||||
|
||||
return selected_pos
|
||||
|
||||
|
||||
# ✅ 主函数：用于测试
|
||||
if __name__ == "__main__":
|
||||
# 创建管理器，加载 drop.ini
|
||||
manager = DropPositionManager("drop.ini")
|
||||
|
||||
# 获取第一个 drop 点（lineid=1）
|
||||
pos = manager.get_next_drop_position(lineid=1)
|
||||
|
||||
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")
|
||||
@ -1,8 +1,8 @@
|
||||
[positions]
|
||||
0 = -42.885, -1432.385, -415.451, -59.044, 17.258, 17.258
|
||||
1 = -42.885, -1432.385, -410.451, -59.044, 7.258, 7.258
|
||||
2 = -42.885, -1432.385, -380.451, -59.044, 7.258, 7.258
|
||||
3 = -42.885, -1432.385, -340.451, -59.044, 7.258, 7.258
|
||||
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
|
||||
|
||||
933
CU/sae.py
933
CU/sae.py
@ -1,178 +1,843 @@
|
||||
import copy
|
||||
import logging
|
||||
from types import SimpleNamespace
|
||||
import random
|
||||
import threading
|
||||
import time
|
||||
|
||||
# 模拟 Constant
|
||||
class Constant:
|
||||
str_feed_take = "[测试] 开始抓料流程"
|
||||
str_feed_take_success = "[测试] ✅ 抓料成功"
|
||||
str_feed_takePhoto_fail = "[测试] ❌ 抓料点位获取失败"
|
||||
import cv2
|
||||
import numpy as np
|
||||
from PyQt5.QtWidgets import QMessageBox
|
||||
from PySide6.QtCore import Signal, QObject
|
||||
from PySide6.QtGui import QPixmap
|
||||
|
||||
# 模拟 FeedStatus 和 CatchStatus
|
||||
class FeedStatus:
|
||||
FTake = "FTake"
|
||||
import Constant
|
||||
import Expection
|
||||
from CU.Catch import Catch, CatchStatus
|
||||
from CU.Detect import Detect, DetectStatus
|
||||
from Model.FeedModel import PositionModel
|
||||
from Model.Position import Real_Position, Detection_Position
|
||||
from enum import Enum, IntEnum
|
||||
from COM.COM_Robot import RobotClient, DetectType
|
||||
from Model.RobotModel import CMDInstructRequest, MoveType
|
||||
from Trace.handeye_calibration import getPosition
|
||||
from Trace.handeye_calibration import getxyz,getxyz1
|
||||
from Util.util_math import get_distance
|
||||
from Util.util_time import CRisOrFall
|
||||
#from Vision.camera_coordinate_dete import Detection
|
||||
from Util.util_log import log
|
||||
from Model.RobotModel import Instruction
|
||||
from EMV.EMV import RelayController
|
||||
class ResetStatus(Enum):
|
||||
RNone = 0
|
||||
RStart = 1
|
||||
RRunging = 2
|
||||
ROk =3
|
||||
|
||||
class CatchStatus:
|
||||
CNone = "CNone"
|
||||
CTake = "CTake"
|
||||
COk = "COk"
|
||||
class FeedStatus(IntEnum):
|
||||
FNone = 0
|
||||
FStart = 1
|
||||
FCheck = 2
|
||||
FMid = 3
|
||||
FPhoto = 4
|
||||
FTake = 5
|
||||
FBroken1 = 6
|
||||
FBroken2 =7
|
||||
FShake = 8
|
||||
FDropBag = 9
|
||||
FFinished = 10
|
||||
FReverse = 11
|
||||
FStartReverse = 12
|
||||
|
||||
class DetectStatus:
|
||||
DOk = "DOk"
|
||||
class LineType(Enum):
|
||||
Straight = 0
|
||||
CureMid = 2
|
||||
CureEnd = 3
|
||||
WORLD = 4
|
||||
|
||||
# 模拟 Position 类
|
||||
class Position:
|
||||
def __init__(self, x=0, y=0, z=0, a=0, b=0, c=0):
|
||||
self.X = x
|
||||
self.Y = y
|
||||
self.Z = z
|
||||
self.A = a
|
||||
self.B = b
|
||||
self.C = c
|
||||
|
||||
def get_position(self):
|
||||
return self
|
||||
class FeedMidStatus(Enum):
|
||||
FMid_Start = 1
|
||||
FMid_Take = 2
|
||||
FMid_Feed= 3
|
||||
|
||||
def compare(self, other, is_action=False):
|
||||
return (
|
||||
abs(self.X - other.X) < 0.1 and
|
||||
abs(self.Y - other.Y) < 0.1 and
|
||||
abs(self.Z - other.Z) < 0.1
|
||||
)
|
||||
class FeedPosition:
|
||||
def __init__(self,status:FeedStatus,position:Real_Position):
|
||||
self.status = status
|
||||
self.position = position
|
||||
|
||||
# 模拟 Detect 类
|
||||
class Detect:
|
||||
def __init__(self):
|
||||
self.detect_position = None
|
||||
self.position_index = 0
|
||||
self.detect_status = DetectStatus.DOk
|
||||
# 模拟配置点位（类似 list.ini）
|
||||
self.positions = {
|
||||
0: Position(100, 200, 300, 0, 0, 0),
|
||||
1: Position(150, 250, 350, 0, 0, 0),
|
||||
2: Position(200, 300, 400, 0, 0, 0),
|
||||
3: Position(100, 200, 300, 0, 0, 0),
|
||||
4: Position(150, 250, 350, 0, 0, 0),
|
||||
5: Position(200, 300, 400, 0, 0, 0),
|
||||
|
||||
}
|
||||
|
||||
def run(self):
|
||||
"""根据当前索引加载点位"""
|
||||
pos = self.positions.get(self.position_index, None)
|
||||
if pos:
|
||||
self.detect_position = pos
|
||||
return True
|
||||
else:
|
||||
print(f"[❌ 失败] 索引 {self.position_index} 没有对应点位")
|
||||
return False
|
||||
|
||||
# 模拟 FeedLine 类
|
||||
class FeedLine:
|
||||
def __init__(self):
|
||||
self.drop_position = Position()
|
||||
def __init__(self, id, name, feed_positions:list,drop_positons:list):
|
||||
self.feed_positions = copy.deepcopy(feed_positions)
|
||||
self.drop_positions = copy.deepcopy(drop_positons)
|
||||
self.feeding2end_pos_index = 0
|
||||
self.origin2start_pos_index = 0
|
||||
self.start2take_pos_index = 0
|
||||
self.name = name
|
||||
self.id = id
|
||||
|
||||
# --- 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 = []
|
||||
|
||||
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]
|
||||
return pos
|
||||
def get_current_take_position(self,is_reverse):
|
||||
pos = self.start_to_take[ (self.start2take_pos_index+1)%len(self.start_to_take) if is_reverse else self.start2take_pos_index-1]
|
||||
return pos
|
||||
def get_current_start_position(self,is_reverse):
|
||||
pos = self.origin_to_start[(self.origin2start_pos_index+1)%len(self.origin_to_start) if is_reverse else self.origin2start_pos_index-1]
|
||||
return pos
|
||||
|
||||
def get_next_feed_position(self,reverse:bool=False):
|
||||
pos = self.feeding_to_end[self.feeding2end_pos_index]
|
||||
if reverse:
|
||||
self.feeding2end_pos_index -= 1
|
||||
if self.feeding2end_pos_index < 0:
|
||||
self.feeding2end_pos_index = len(self.feeding_to_end) - 1
|
||||
else:
|
||||
self.feeding2end_pos_index += 1
|
||||
if self.feeding2end_pos_index >= len(self.feeding_to_end):
|
||||
self.feeding2end_pos_index = 0
|
||||
return pos
|
||||
|
||||
def get_next_start_position(self,reverse:bool=False):
|
||||
pos = self.origin_to_start[self.origin2start_pos_index]
|
||||
if reverse:
|
||||
self.origin2start_pos_index -= 1
|
||||
if self.origin2start_pos_index < 0:
|
||||
self.origin2start_pos_index = len(self.origin_to_start) - 1
|
||||
else:
|
||||
self.origin2start_pos_index += 1
|
||||
if self.origin2start_pos_index >= len(self.origin_to_start):
|
||||
self.origin2start_pos_index = 0
|
||||
|
||||
return pos
|
||||
|
||||
def get_next_take_position(self,reverse:bool=False):
|
||||
pos = self.start_to_take[self.start2take_pos_index]
|
||||
if reverse:
|
||||
self.start2take_pos_index -= 1
|
||||
if self.start2take_pos_index < 0:
|
||||
self.start2take_pos_index = len(self.start_to_take) - 1
|
||||
else:
|
||||
self.start2take_pos_index += 1
|
||||
if self.start2take_pos_index >= len(self.start_to_take):
|
||||
self.start2take_pos_index = 0
|
||||
return pos
|
||||
def get_take_position(self):
|
||||
return SimpleNamespace(get_position=lambda: Position(100, 200, 300))
|
||||
for i in range(len(self.feeding_to_end)):
|
||||
if self.feeding_to_end[i].status == FeedStatus.FTake.value:
|
||||
return self.feeding_to_end[i]
|
||||
|
||||
def set_drop_position(self, position):
|
||||
self.drop_position = position
|
||||
def get_drop_position(self):
|
||||
for i in range(len(self.feeding_to_end)):
|
||||
if self.feeding_to_end[i].status == FeedStatus.FTake.value:
|
||||
return self.feeding_to_end[i]
|
||||
|
||||
# 模拟 RelayController
|
||||
class RelayController:
|
||||
def get_all_device_status(self, *args):
|
||||
return {"SENSOR2": True}
|
||||
def set_take_position(self, position: Real_Position, dynamic_height=0):
|
||||
print("[调试] 开始设置抓取位置")
|
||||
print(f"传入的 position 坐标: X={position.X}, Y={position.Y}, Z={position.Z}, "
|
||||
f"a={position.a}, b={position.b}, c={position.c}, "
|
||||
f"U={position.U}, V={position.V}, W={position.W}")
|
||||
|
||||
def open(self, conveyor2=False):
|
||||
for i in range(len(self.feeding_to_end)):
|
||||
if self.feeding_to_end[i].status == FeedStatus.FTake.value:
|
||||
xyz = getxyz1(position.X, position.Y, position.Z, position.a, position.b, position.c)
|
||||
|
||||
print(f"[调试] getxyz1 返回值: X={xyz[0]}, Y={xyz[1]}, Z={xyz[2]}")
|
||||
|
||||
befor_take_position = Real_Position().init_position(xyz[0],
|
||||
xyz[1],
|
||||
xyz[2],
|
||||
position.U,
|
||||
position.V,
|
||||
position.W)
|
||||
print(
|
||||
f"[调试] 抓取前位置: X={befor_take_position.X}, Y={befor_take_position.Y}, Z={befor_take_position.Z}, "
|
||||
f"U={befor_take_position.U}, V={befor_take_position.V}, W={befor_take_position.W}")
|
||||
|
||||
after_take_position = Real_Position().init_position(xyz[0],
|
||||
xyz[1],
|
||||
xyz[2],
|
||||
position.U,
|
||||
position.V,
|
||||
position.W)
|
||||
print(
|
||||
f"[调试] 抓取后位置: X={after_take_position.X}, Y={after_take_position.Y}, Z={after_take_position.Z}, "
|
||||
f"U={after_take_position.U}, V={after_take_position.V}, W={after_take_position.W}")
|
||||
|
||||
self.feeding_to_end[i - 1].set_position(befor_take_position)
|
||||
self.feeding_to_end[i + 1].set_position(after_take_position)
|
||||
self.feeding_to_end[i].set_position(position)
|
||||
|
||||
print(f"[调试] 当前抓取点已设置: X={position.X}, Y={position.Y}, Z={position.Z}, "
|
||||
f"U={position.U}, V={position.V}, W={position.W}")
|
||||
print("[调试] 抓取前后位置已设置完成")
|
||||
|
||||
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。
|
||||
:param position: 新的丢包位置
|
||||
"""
|
||||
for i in range(len(self.feeding_to_end)):
|
||||
if self.feeding_to_end[i].status == FeedStatus.FDropBag.value:
|
||||
# 直接设置当前点的位置
|
||||
self.feeding_to_end[i].set_position(position)
|
||||
print(
|
||||
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_position_list(self):
|
||||
index_start = -1
|
||||
for i in range(len(self.feed_positions)):
|
||||
if self.feed_positions[i].status == FeedStatus.FCheck.value:
|
||||
index_start = i
|
||||
break
|
||||
for i in range(len(self.feed_positions)):
|
||||
if self.feed_positions[i].status == FeedStatus.FPhoto.value:
|
||||
index_take = i
|
||||
|
||||
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)
|
||||
|
||||
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, drop_positions=None):
|
||||
self.num = num
|
||||
self.feedLine = feedLine
|
||||
self.photo_locs = [self.deal_photo_locs(p) for p in photo_locs]
|
||||
|
||||
# --- 新增: 存储投料点列表 ---
|
||||
# 从UI界面读取 or 从txt文本读取
|
||||
self.drop_positions = [self.deal_photo_locs(p) for p in drop_positions] if drop_positions else []
|
||||
|
||||
def deal_photo_locs(self, photo_loc):
|
||||
position_photo = Real_Position()
|
||||
position_photo.init_position(photo_loc[0], photo_loc[1], photo_loc[2], photo_loc[3], photo_loc[4], photo_loc[5])
|
||||
return position_photo
|
||||
|
||||
def get_line_info(self):
|
||||
pass
|
||||
|
||||
# 模拟主类，用于测试
|
||||
class TestRunner:
|
||||
def __init__(self):
|
||||
self.feedStatus = FeedStatus.FTake
|
||||
self.catch = SimpleNamespace(catch_status=CatchStatus.CNone)
|
||||
self.detect = Detect()
|
||||
self.debug_run_count = 0
|
||||
self.sensor2_ready = True
|
||||
|
||||
class Feeding(QObject):
|
||||
need_origin_signal = Signal(str)
|
||||
take_no_photo_sigal = Signal()
|
||||
update_detect_image = Signal(np.ndarray)
|
||||
log_signal = Signal(int,str)
|
||||
def __init__(self, robotClient: RobotClient):
|
||||
super().__init__()
|
||||
self.feedConfig = None
|
||||
self.feedStatus = FeedStatus.FNone
|
||||
self.robotClient = robotClient
|
||||
# 添加 RelayController 实例
|
||||
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()
|
||||
self.feed_Mid_Status = FeedMidStatus.FMid_Start
|
||||
self.is_reverse = False
|
||||
# 复位集合
|
||||
self.run_reverse = False
|
||||
self.take_no_photo = False
|
||||
self.reset_status = ResetStatus.RNone
|
||||
self.reversed_positions = []
|
||||
self.current_position = None
|
||||
self.index=1
|
||||
self.pos_index = -1
|
||||
self.pos_near_index = -1
|
||||
self.catch = Catch(self.robotClient)
|
||||
# self.detect = Detect()
|
||||
# self.is_detected = True
|
||||
# self.detect_thread = threading.Thread(target=self.run_detect)
|
||||
# self.detect_thread.start()
|
||||
self.onekey = False
|
||||
# self.debug_run_count = 0 # 初始化计数器
|
||||
self.mid_take_count = 0
|
||||
#传感器判断抓包参数
|
||||
self.sensor2_ready = False # 传感器2是否检测到料包
|
||||
self.motor_stopped_by_sensor2 = False # 是否由传感器2触发停止电机
|
||||
self.sensor_thread = None
|
||||
self.relay_controller = RelayController()
|
||||
# 启动传感器2线程
|
||||
self.relay_controller._running = True
|
||||
self.sensor2_thread = None
|
||||
|
||||
# feedConfig 模拟
|
||||
self.feedConfig = SimpleNamespace(feedLine=FeedLine())
|
||||
# --- 新增: 用于码垛模式的投料点索引 ---
|
||||
self.current_drop_index = 0
|
||||
|
||||
# real_position 模拟
|
||||
self.real_position = Position(100, 200, 300)
|
||||
|
||||
def log_signal(self, level, msg):
|
||||
logging.log(level, msg)
|
||||
def close_feed(self):
|
||||
pass
|
||||
# self.is_detected = False
|
||||
# self.detect_thread.join()
|
||||
# self.detect.detection.release()
|
||||
|
||||
def next_position(self):
|
||||
self.log_signal(logging.INFO, "[调试] 模拟移动到下一个位置")
|
||||
# def init_detection_image(self):
|
||||
# detection_image = cv2.imread(Constant.feed_sign_path)
|
||||
# self.update_detect_image.emit(detection_image)
|
||||
|
||||
def run_test(self):
|
||||
if self.feedStatus == FeedStatus.FTake:
|
||||
self.log_signal(logging.INFO, Constant.str_feed_take)
|
||||
# def run_detect(self):
|
||||
# while self.is_detected:
|
||||
# self.detect.run()
|
||||
# time.sleep(0.02)
|
||||
|
||||
def run(self):
|
||||
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,
|
||||
self.robotClient.status_model.world_3,
|
||||
self.robotClient.status_model.world_4,
|
||||
self.robotClient.status_model.world_5)
|
||||
# real_position.init_position(0,
|
||||
# 0,
|
||||
# 0,
|
||||
# 0,
|
||||
# 0,
|
||||
# 0);
|
||||
|
||||
# img_path = f'Image/{self.index}.png'
|
||||
# img = cv2.imread(img_path)
|
||||
# self.index += 1
|
||||
# self.index = self.index % 4
|
||||
# self.detection_image = img
|
||||
|
||||
if self.feedConfig == None:
|
||||
self.feedStatus = FeedStatus.FNone
|
||||
|
||||
if self.feedConfig != None and self.feedConfig.num == 0 and self.is_reverse and self.robotClient.origin_position.compare(
|
||||
real_position, is_action=True):
|
||||
self.feedStatus = FeedStatus.FNone
|
||||
self.is_reverse = False
|
||||
self.log_signal.emit(logging.INFO, Constant.str_feed_reverse)
|
||||
|
||||
if self.feedStatus == FeedStatus.FNone or self.pause:
|
||||
return
|
||||
|
||||
elif self.feedStatus == FeedStatus.FCheck:
|
||||
self.log_signal.emit(logging.INFO, Constant.str_feed_check)
|
||||
|
||||
if self.is_reverse:
|
||||
self.feed_Mid_Status = FeedMidStatus.FMid_Start
|
||||
else:
|
||||
self.feed_Mid_Status = FeedMidStatus.FMid_Take
|
||||
|
||||
if self.feedConfig.feedLine.start_to_take[0].get_position().compare(real_position):
|
||||
self.next_position(self.is_reverse)
|
||||
|
||||
elif self.feedStatus == FeedStatus.FStart:
|
||||
self.log_signal.emit(logging.INFO, Constant.str_feed_start)
|
||||
self.relay_controller.open(conveyor2=True)#开电机
|
||||
#self.sensor2_thread = threading.Thread(target=self.relay_controller.handle_sensor2, daemon=True)#线程2的开始，但是在那里设置结束呢
|
||||
#self.sensor2_thread.start()
|
||||
if not self.robotClient.origin_position.compare(real_position,is_action=True) and not self.is_reverse:
|
||||
# QMessageBox.information(None, "提示", Constant.str_feed_start_error) # Fuck 引起异常
|
||||
self.log_signal.emit(logging.ERROR, Constant.str_feed_start_error)
|
||||
self.need_origin_signal.emit(Constant.str_feed_start_error)
|
||||
self.feedStatus = FeedStatus.FNone
|
||||
return
|
||||
if self.is_reverse:
|
||||
self.feedStatus = FeedStatus.FNone
|
||||
self.is_reverse = False
|
||||
return
|
||||
|
||||
self.feedConfig.feedLine.get_position_list()
|
||||
# self.detect.detect_status = DetectStatus.DNone
|
||||
self.feed_Mid_Status = FeedMidStatus.FMid_Start
|
||||
# --- 修改: 初始化投料点索引 ---
|
||||
self.current_drop_index = 0
|
||||
self.next_position(self.is_reverse)
|
||||
|
||||
elif self.feedStatus == FeedStatus.FMid:
|
||||
feed_pos = self.get_current_position(self.is_reverse)
|
||||
if feed_pos.get_position().compare(real_position):
|
||||
self.log_signal.emit(logging.INFO, Constant.str_feed_mid)
|
||||
self.next_position(self.is_reverse)
|
||||
# 增加计数器逻辑
|
||||
self.mid_take_count += 1
|
||||
# 可选：在 Debug1 模式下输出日志
|
||||
if Constant.Debug1:
|
||||
self.log_signal.emit(
|
||||
logging.INFO,
|
||||
f"[调试计数] 已进入 FMid 分支 {self.mid_take_count} 次"
|
||||
)
|
||||
if self.feedStatus == FeedStatus.FTake:
|
||||
self.catch.catch_status = CatchStatus.CTake
|
||||
|
||||
elif self.feedStatus == FeedStatus.FPhoto:
|
||||
self.log_signal.emit(logging.INFO, "🟡 [码垛模式] 跳过拍照定位步骤")
|
||||
# 直接进入抓取状态或准备投料
|
||||
# 所以在 FPhoto 后，应该移动到抓取点
|
||||
take_position_model = self.feedConfig.feedLine.get_take_position()
|
||||
if take_position_model:
|
||||
self.log_signal.emit(logging.INFO, "[码垛模式] 准备移动到抓取点")
|
||||
self.sendTargPosition(take_position_model.get_position(), speed=self.robotClient.feed_speed)
|
||||
self.feedStatus = FeedStatus.FTake
|
||||
else:
|
||||
self.log_signal.emit(logging.ERROR, "[码垛模式] 无法获取抓取点位置！")
|
||||
self.feedStatus = FeedStatus.FNone
|
||||
return # 退出当前循环
|
||||
|
||||
elif self.feedStatus == FeedStatus.FTake:
|
||||
self.log_signal.emit(logging.INFO, Constant.str_feed_take)
|
||||
take_position = self.feedConfig.feedLine.get_take_position()
|
||||
if not take_position or not take_position.get_position():
|
||||
self.log_signal(logging.ERROR, Constant.str_feed_takePhoto_fail)
|
||||
self.log_signal.emit(logging.ERROR, Constant.str_feed_takePhoto_fail)
|
||||
return
|
||||
|
||||
if not take_position.get_position().compare(self.real_position, is_action=True):
|
||||
self.log_signal(logging.INFO, "🟡 机器人尚未到达抓料点位")
|
||||
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")
|
||||
return
|
||||
|
||||
self.log_signal(logging.INFO, "🟢 机器人已到达抓料点位")
|
||||
|
||||
# 传感器等待逻辑（模拟已触发）
|
||||
sensors = self.relay_controller.get_all_device_status('sensors')
|
||||
sensor2_value = sensors.get("SENSOR2", False)
|
||||
if not sensor2_value:
|
||||
self.log_signal(logging.INFO, "⏳ 等待传感器2料包信号...")
|
||||
return
|
||||
|
||||
self.log_signal(logging.INFO, "✅ 传感器2检测到料包到位，开始执行抓取")
|
||||
|
||||
self.log_signal.emit(logging.INFO, "🟢 机器人已到达抓料点位")
|
||||
'''real_position'''
|
||||
# 一直等待传感器2信号，永不超时
|
||||
wait_start = time.time()
|
||||
timeout = 30 # 30秒超时，可根据需要调整
|
||||
sensor2_detected = False
|
||||
while not sensor2_detected:
|
||||
if time.time() - wait_start > timeout:
|
||||
self.log_signal.emit(logging.ERROR, "⏰ FTake: 等待传感器2超时!")
|
||||
self.feedStatus = FeedStatus.FNone
|
||||
return
|
||||
sensors = self.relay_controller.get_all_device_status('sensors')
|
||||
sensor2_value = sensors.get(self.relay_controller.SENSOR2, False)
|
||||
if sensor2_value:
|
||||
self.log_signal.emit(logging.INFO, "✅ 传感器2检测到料包到位，开始执行抓取")
|
||||
sensor2_detected = True
|
||||
else:
|
||||
self.log_signal.emit(logging.INFO, "⏳ FTake: 等待传感器2料包信号...")
|
||||
time.sleep(0.2) # 每0.5秒检查一次
|
||||
# 执行抓取动作
|
||||
if self.catch.catch_status == CatchStatus.CNone:
|
||||
self.catch.catch_status = CatchStatus.CTake
|
||||
if self.catch.catch_status == CatchStatus.CTake:
|
||||
self.log_signal(logging.INFO, "正在执行抓料动作...")
|
||||
self.log_signal.emit(logging.INFO, "正在执行抓料动作...")
|
||||
self.catch.catch_status = CatchStatus.COk
|
||||
if self.catch.catch_status == CatchStatus.COk:
|
||||
self.log_signal(logging.INFO, Constant.str_feed_take_success)
|
||||
self.log_signal.emit(logging.INFO, Constant.str_feed_take_success)
|
||||
if not self.sensor2_ready:
|
||||
self.log_signal(logging.INFO, "抓取完成，重新启动 conveyor2")
|
||||
self.log_signal.emit(logging.INFO, "抓取完成，重新启动 conveyor2")
|
||||
self.relay_controller.open(conveyor2=True)
|
||||
|
||||
self.catch.catch_status = CatchStatus.CNone
|
||||
self.detect.detect_status = DetectStatus.DOk
|
||||
self.log_signal(logging.INFO, "修改抓取点")
|
||||
print(f"[调试] 即将丢包点位索引: {self.detect.position_index}")
|
||||
# ✅ 索引递增
|
||||
self.detect.position_index += 1
|
||||
print(f"[调试] 下一个要加载的索引: {self.detect.position_index}")
|
||||
self.log_signal.emit(logging.INFO, "[码垛模式] 跳过视觉检测，准备投料")
|
||||
# 移动到第一个（或当前）投料点
|
||||
if self.feedConfig.drop_positions and len(self.feedConfig.drop_positions) > self.current_drop_index:
|
||||
first_drop_pos = self.feedConfig.drop_positions[self.current_drop_index]
|
||||
self.log_signal.emit(logging.INFO, f"[码垛模式] 移动到投料点 {self.current_drop_index}")
|
||||
self.sendTargPosition(first_drop_pos, speed=self.robotClient.feed_speed)
|
||||
self.feedStatus = FeedStatus.FDropBag
|
||||
else:
|
||||
self.log_signal.emit(logging.ERROR, "[码垛模式] 投料点列表为空或索引错误！")
|
||||
self.feedStatus = FeedStatus.FNone
|
||||
return # 退出当前循环
|
||||
else:
|
||||
self.log_signal.emit(logging.ERROR, Constant.str_feed_takePhoto_fail)
|
||||
|
||||
# ✅ 加载新点位
|
||||
if not self.detect.run():
|
||||
self.log_signal(logging.ERROR, "❌ 加载新点位失败，停止流程")
|
||||
elif self.feedStatus == FeedStatus.FBroken1:
|
||||
|
||||
if self.get_current_position().get_position().compare(real_position):
|
||||
self.log_signal.emit(logging.INFO, Constant.str_feed_broken)
|
||||
self.next_position()
|
||||
|
||||
|
||||
elif self.feedStatus == FeedStatus.FBroken2:
|
||||
|
||||
if self.get_current_position().get_position().compare(real_position):
|
||||
self.log_signal.emit(logging.INFO, Constant.str_feed_broken)
|
||||
self.next_position()
|
||||
|
||||
elif self.feedStatus == FeedStatus.FShake:
|
||||
if self.get_current_position().get_position().compare(real_position,is_action=True):
|
||||
# TODO 震动方案
|
||||
self.log_signal.emit(logging.INFO, Constant.str_feed_shake)
|
||||
if self.catch.catch_status == CatchStatus.CNone:
|
||||
self.catch.catch_status = CatchStatus.CShake
|
||||
return
|
||||
if self.catch.catch_status == CatchStatus.CShake:
|
||||
# if self.feedConfig.feedLine.feeding_to_end[
|
||||
# self.feedConfig.feedLine.feeding2end_pos_index + 1].status != FeedStatus.FShake:
|
||||
# self.catch.catch_status = CatchStatus.COk
|
||||
# else:
|
||||
self.catch.shake_continue.SetReset()
|
||||
self.next_position()
|
||||
if self.feedStatus!=FeedStatus.FShake:
|
||||
self.catch.catch_status = CatchStatus.CNone
|
||||
return
|
||||
|
||||
# ✅ 设置丢包点
|
||||
self.feedConfig.feedLine.set_drop_position(self.detect.detect_position)
|
||||
|
||||
self.debug_run_count += 1
|
||||
self.next_position()
|
||||
elif self.feedStatus == FeedStatus.FDropBag:
|
||||
# 1. 确保配置了投料点
|
||||
if not self.feedConfig or not self.feedConfig.drop_positions:
|
||||
self.log_signal.emit(logging.ERROR, "[码垛模式] 错误：未配置投料点列表！")
|
||||
self.feedStatus = FeedStatus.FNone
|
||||
return
|
||||
|
||||
# 2. 获取当前目标投料点 (基于索引)
|
||||
if self.current_drop_index >= len(self.feedConfig.drop_positions):
|
||||
self.log_signal.emit(logging.ERROR, f"[码垛模式] 错误：投料点索引 {self.current_drop_index} 超出范围！")
|
||||
self.feedStatus = FeedStatus.FNone
|
||||
return
|
||||
|
||||
target_drop_position = self.feedConfig.drop_positions[self.current_drop_index]
|
||||
self.log_signal.emit(logging.INFO, f"[码垛模式] 当前目标投料点索引: {self.current_drop_index}")
|
||||
|
||||
# 3. 检查是否到达目标投料点
|
||||
if target_drop_position.compare(real_position, is_action=True):
|
||||
self.log_signal.emit(logging.INFO, f"[码垛模式] 到达投料点 {self.current_drop_index}")
|
||||
|
||||
# 4. 执行投料动作
|
||||
if self.catch.catch_status == CatchStatus.CNone:
|
||||
self.catch.catch_status = CatchStatus.CDrop
|
||||
self.log_signal.emit(logging.INFO, "[码垛模式] 开始执行投料动作...")
|
||||
return # 等待下一周期检查 COk
|
||||
if self.catch.catch_status == CatchStatus.CDrop:
|
||||
self.log_signal.emit(logging.INFO, "[码垛模式] 投料动作进行中...")
|
||||
return # 等待抓取模块完成
|
||||
if self.catch.catch_status == CatchStatus.COk:
|
||||
self.catch.catch_status = CatchStatus.CNone
|
||||
self.log_signal.emit(logging.INFO, f"[码垛模式] 在投料点 {self.current_drop_index} 投料完成")
|
||||
|
||||
# 5. 更新投料计数
|
||||
self.feedConfig.num -= 1
|
||||
self.log_signal.emit(logging.INFO, f'{Constant.str_feed_feed_num}{self.feedConfig.num}')
|
||||
|
||||
# 6. 检查是否所有投料任务完成
|
||||
if self.feedConfig.num > 0:
|
||||
# 7. 更新投料点索引 (循环)
|
||||
self.current_drop_index = (self.current_drop_index + 1) % len(self.feedConfig.drop_positions)
|
||||
self.log_signal.emit(logging.INFO, f"[码垛模式] 更新投料点索引为: {self.current_drop_index}")
|
||||
|
||||
# 8. 移动到固定的抓取点
|
||||
take_position_model = self.feedConfig.feedLine.get_take_position()
|
||||
if take_position_model:
|
||||
self.log_signal.emit(logging.INFO, f"[码垛模式] 移动到固定抓取点...")
|
||||
self.sendTargPosition(take_position_model.get_position(), speed=self.robotClient.feed_speed)
|
||||
self.feedStatus = FeedStatus.FTake # 设置状态为 FTake
|
||||
else:
|
||||
self.log_signal.emit(logging.ERROR, "[码垛模式] 无法获取抓取点位置！")
|
||||
self.feedStatus = FeedStatus.FNone
|
||||
|
||||
else:
|
||||
# 9. 所有投料完成
|
||||
self.log_signal.emit(logging.INFO, "[码垛模式] 所有投料任务完成")
|
||||
# 可以选择返回原点或进入空闲状态
|
||||
# 例如，移动到原点
|
||||
# self.sendTargPosition(self.robotClient.origin_position, speed=self.robotClient.reset_speed)
|
||||
# self.feedStatus = FeedStatus.FStartReverse # 或者自定义一个结束状态
|
||||
self.feedStatus = FeedStatus.FNone # 简单地结束
|
||||
|
||||
else:
|
||||
self.log_signal(logging.ERROR, Constant.str_feed_takePhoto_fail)
|
||||
# 如果还没到达目标投料点，可以打印日志或等待
|
||||
# (通常机器人移动指令发出后，会自动移动到位，下次循环再检查)
|
||||
self.log_signal.emit(logging.INFO, f"[码垛模式] 正在移动到投料点 {self.current_drop_index}...")
|
||||
|
||||
# ========================
|
||||
# 主程序入口
|
||||
# ========================
|
||||
if __name__ == "__main__":
|
||||
logging.basicConfig(level=logging.INFO, format='%(asctime)s [%(levelname)s] %(message)s')
|
||||
def run_reset(self):
|
||||
real_position = Real_Position()
|
||||
real_position.init_position(self.robotClient.status_model.world_0,
|
||||
self.robotClient.status_model.world_1,
|
||||
self.robotClient.status_model.world_2,
|
||||
self.robotClient.status_model.world_3,
|
||||
self.robotClient.status_model.world_4,
|
||||
self.robotClient.status_model.world_5)
|
||||
if self.reset_status == ResetStatus.RNone:
|
||||
return
|
||||
|
||||
runner = TestRunner()
|
||||
print("🔧 开始测试索引递增和点位加载逻辑...\n")
|
||||
if self.reset_status == ResetStatus.RStart:
|
||||
if self.feedConfig == None: return
|
||||
# for index in range(len(self.feedConfig.feedLine.positions)):
|
||||
# if self.feedConfig.feedLine.positions[index].status == 2:
|
||||
# start_index = index
|
||||
self.pos_index = -1
|
||||
self.pos_near_index = -1
|
||||
self.reversed_positions = []
|
||||
for index, pos_model in enumerate(self.feedConfig.feedLine.feed_positions):
|
||||
if pos_model.get_position().compare(real_position,is_action=True):
|
||||
self.pos_index = index
|
||||
break
|
||||
|
||||
if self.pos_index == -1:
|
||||
self.log_signal.emit(logging.ERROR, Constant.str_feed_return_original_position_fail)
|
||||
min_distance = 99999999
|
||||
for index, pos_model in enumerate(self.feedConfig.feedLine.feed_positions):
|
||||
if get_distance(pos_model.get_position(), real_position) < min_distance:
|
||||
min_distance = get_distance(pos_model.get_position(), real_position)
|
||||
self.pos_near_index = index
|
||||
if self.pos_near_index != -1:
|
||||
self.reversed_positions = self.feedConfig.feedLine.feed_positions[:self.pos_near_index + 1]
|
||||
else:
|
||||
return False
|
||||
else:
|
||||
self.reversed_positions = self.feedConfig.feedLine.feed_positions[:self.pos_index+1]
|
||||
self.reversed_positions = list(reversed(self.reversed_positions))
|
||||
self.reverse_index = 0
|
||||
self.send_emergency_sound()
|
||||
self.current_position = PositionModel()
|
||||
self.current_position.init_position(real_position)
|
||||
self.reset_status = ResetStatus.RRunging
|
||||
|
||||
if self.reset_status == ResetStatus.RRunging:
|
||||
if not real_position.compare(self.current_position.get_position(),is_action=True):
|
||||
return
|
||||
pos_model = self.reversed_positions[self.reverse_index]
|
||||
if pos_model.status == FeedStatus.FTake.value: # 跳过取袋节点
|
||||
pos_model = self.reversed_positions[self.reverse_index + 1]
|
||||
self.reverse_index = self.reverse_index+1
|
||||
|
||||
if pos_model.lineType == LineType.CureMid.value:
|
||||
pos_model1 = self.reversed_positions[self.reverse_index + 1]
|
||||
self.sendTargPosition(real_position=pos_model.get_position(), move_type=MoveType.Cure,
|
||||
real_position1=pos_model1.get_position(), speed=self.robotClient.reset_speed)
|
||||
self.current_position = pos_model1
|
||||
self.reverse_index = self.reverse_index + 2
|
||||
else:
|
||||
self.sendTargPosition(real_position=pos_model.get_position(), speed=self.robotClient.reset_speed)
|
||||
self.current_position = pos_model
|
||||
self.reverse_index = self.reverse_index + 1
|
||||
|
||||
if self.reverse_index == len(self.reversed_positions):
|
||||
self.reset_status = ResetStatus.ROk
|
||||
if self.reset_status == ResetStatus.ROk:
|
||||
self.reset_status = ResetStatus.RNone
|
||||
self.send_emergency_stop()
|
||||
|
||||
def return_original_position(self):
|
||||
|
||||
self.run_reverse = True
|
||||
real_position = Real_Position()
|
||||
real_position.init_position(self.robotClient.status_model.world_0,
|
||||
self.robotClient.status_model.world_1,
|
||||
self.robotClient.status_model.world_2,
|
||||
self.robotClient.status_model.world_3,
|
||||
self.robotClient.status_model.world_4,
|
||||
self.robotClient.status_model.world_5)
|
||||
if self.feedConfig == None: return
|
||||
start_index = -1
|
||||
# for index in range(len(self.feedConfig.feedLine.positions)):
|
||||
# if self.feedConfig.feedLine.positions[index].status == 2:
|
||||
# start_index = index
|
||||
pos_index = -1
|
||||
pos_near_index = -1
|
||||
reversed_positions = []
|
||||
for index, pos_model in enumerate(self.feedConfig.feedLine.feed_positions):
|
||||
if pos_model.get_position().compare(real_position):
|
||||
pos_index = index
|
||||
break
|
||||
|
||||
if pos_index == -1:
|
||||
self.log_signal.emit(logging.ERROR, Constant.str_feed_return_original_position_fail)
|
||||
min_distance = 99999999
|
||||
for index, pos_model in enumerate(self.feedConfig.feedLine.feed_positions):
|
||||
if get_distance(pos_model.get_position(), real_position)<min_distance:
|
||||
min_distance = get_distance(pos_model.get_position(), real_position)
|
||||
pos_near_index = index
|
||||
if pos_near_index != -1:
|
||||
reversed_positions = self.feedConfig.feedLine.feed_positions[:pos_near_index+1]
|
||||
else:
|
||||
return False
|
||||
else:
|
||||
reversed_positions = self.feedConfig.feedLine.feed_positions[:pos_index]
|
||||
reversed_positions = list(reversed(reversed_positions))
|
||||
self.reverse_index = 0
|
||||
self.send_emergency_sound()
|
||||
current_position = PositionModel()
|
||||
current_position.init_position(real_position)
|
||||
while self.run_reverse and self.reverse_index!=len(reversed_positions):
|
||||
if self.reverse_index!=0 and not real_position.compare(current_position.get_position()):
|
||||
continue
|
||||
#todo 缺少比对
|
||||
pos_model = reversed_positions[self.reverse_index]
|
||||
if pos_model.status == FeedStatus.FTake.value: # 跳过取袋节点
|
||||
|
||||
pos_model = reversed_positions[self.reverse_index + 1]
|
||||
# TODO take节点判断
|
||||
|
||||
if pos_model.lineType == LineType.CureMid.value:
|
||||
pos_model1 = reversed_positions[self.reverse_index + 1]
|
||||
self.sendTargPosition(real_position=pos_model.get_position(), move_type=MoveType.Cure,
|
||||
real_position1=pos_model1.get_position(),speed= self.robotClient.reset_speed)
|
||||
current_position = pos_model1
|
||||
self.reverse_index = self.reverse_index+2
|
||||
else:
|
||||
self.sendTargPosition(real_position=pos_model.get_position(),speed=self.robotClient.reset_speed)
|
||||
current_position = pos_model
|
||||
self.reverse_index = self.reverse_index + 1
|
||||
self.send_emergency_stop()
|
||||
return True
|
||||
def send_emergency_sound(self):
|
||||
self.sendIOControl(Constant.IO_EmergencyPoint, 1)
|
||||
|
||||
def send_emergency_stop(self):
|
||||
self.sendIOControl(Constant.IO_EmergencyPoint, 0)
|
||||
|
||||
def sendIOControl(self, IO_bit, IO_Status: int):
|
||||
|
||||
IO_command = CMDInstructRequest()
|
||||
io_instruction = Instruction()
|
||||
io_instruction.IO = True
|
||||
io_instruction.io_status = IO_Status
|
||||
io_instruction.point = IO_bit # {"dsID":"HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[{"oneshot":"1","action":"200","type":"0","io_status":"1","point":"15","delay":"0"}]}
|
||||
IO_command.dsID = 'HCRemoteCommand'
|
||||
IO_command.instructions.append(io_instruction)
|
||||
self.robotClient.add_sendQuene(IO_command.toString())
|
||||
self.log_signal.emit(logging.INFO, f'{Constant.str_feed_io_control}{IO_bit}，{IO_Status}')
|
||||
pass
|
||||
|
||||
def sendTargPosition1(self, real_position, move_type: MoveType = MoveType.WORLD, speed=5,real_position1=None):
|
||||
pass
|
||||
|
||||
|
||||
def sendTargPosition(self, real_position, move_type: MoveType = MoveType.WORLD, speed=5,real_position1=None):
|
||||
position_instruction = Instruction()
|
||||
position_instruction.speed = speed
|
||||
position_instruction.m0 = real_position.X
|
||||
position_instruction.m1 = real_position.Y
|
||||
position_instruction.m2 = real_position.Z
|
||||
position_instruction.m3 = real_position.U
|
||||
position_instruction.m4 = real_position.V
|
||||
position_instruction.m5 = real_position.W
|
||||
position_instruction.smooth = self.robotClient.smooth
|
||||
|
||||
position_instruction.action = move_type.value
|
||||
if position_instruction.action == 17:
|
||||
position_instruction.m0_p = real_position1.X
|
||||
position_instruction.m1_p = real_position1.Y
|
||||
position_instruction.m2_p = real_position1.Z
|
||||
position_instruction.m3_p = real_position1.U
|
||||
position_instruction.m4_p = real_position1.V
|
||||
position_instruction.m5_p = real_position1.W
|
||||
instruction_command = CMDInstructRequest()
|
||||
instruction_command.instructions.append(position_instruction)
|
||||
request_command = instruction_command.toString()
|
||||
|
||||
log_str = f'移动到位置:{ "姿势直线" if move_type==MoveType.WORLD else "姿势曲线"}：' \
|
||||
f'X:{position_instruction.m0}-' \
|
||||
f'Y:{position_instruction.m1}-' \
|
||||
f'Z:{position_instruction.m2}-' \
|
||||
f'U:{position_instruction.m3}-' \
|
||||
f'V:{position_instruction.m4}-' \
|
||||
f'W:{position_instruction.m5}'
|
||||
|
||||
|
||||
try:
|
||||
print('fuck1',log_str)
|
||||
self.log_signal.emit(logging.INFO, log_str)
|
||||
print('fuck2',log_str)
|
||||
except:
|
||||
return
|
||||
print(request_command)
|
||||
self.robotClient.add_sendQuene(request_command)
|
||||
pass
|
||||
|
||||
def next_start(self,reverse=False):
|
||||
start_pos = self.feedConfig.feedLine.get_next_start_position(reverse)
|
||||
self.feedStatus = FeedStatus(start_pos.status) if self.feedStatus != FeedStatus.FNone else FeedStatus.FNone
|
||||
if start_pos.lineType == LineType.CureMid.value:
|
||||
start_pos1 = self.feedConfig.feedLine.get_next_start_position(reverse)
|
||||
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)
|
||||
else:
|
||||
self.sendTargPosition(real_position=start_pos.get_position(),speed=self.robotClient.reset_speed)
|
||||
pass
|
||||
|
||||
def next_take(self,reverse=False):
|
||||
|
||||
take_pos = self.feedConfig.feedLine.get_next_take_position(reverse)
|
||||
self.feedStatus = FeedStatus(take_pos.status) if self.feedStatus != FeedStatus.FNone else FeedStatus.FNone
|
||||
if take_pos.lineType == LineType.CureMid.value:
|
||||
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(), 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)
|
||||
|
||||
else:
|
||||
self.sendTargPosition(real_position=take_pos.get_position(),speed=self.robotClient.feed_speed)
|
||||
pass
|
||||
|
||||
def next_Feed(self,reverse=False):
|
||||
feed_pos = self.feedConfig.feedLine.get_next_feed_position(reverse)
|
||||
self.feedStatus = FeedStatus(feed_pos.status) if self.feedStatus != FeedStatus.FNone else FeedStatus.FNone
|
||||
if feed_pos.lineType == LineType.CureMid.value:
|
||||
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(), 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)
|
||||
|
||||
else:
|
||||
# if not reverse and self.feedStatus == FeedStatus.FShake:
|
||||
# if not reverse:
|
||||
# if self.cRis_shake.Q(self.feedStatus == FeedStatus.FShake, True):
|
||||
# pass
|
||||
# elif self.cRis_shake.Q(self.feedStatus == FeedStatus.FShake, False):
|
||||
# self.feedStatus = FeedStatus.FShake
|
||||
# self.sendTargPosition(real_position=feed_pos.get_position(),speed=self.robotClient.feed_speed)
|
||||
# return
|
||||
|
||||
|
||||
self.sendTargPosition(real_position=feed_pos.get_position(),speed=self.robotClient.feed_speed)
|
||||
|
||||
def get_current_position(self,is_reverse=False):
|
||||
if self.feed_Mid_Status == FeedMidStatus.FMid_Start:
|
||||
return self.feedConfig.feedLine.get_current_start_position(self.is_reverse)
|
||||
elif self.feed_Mid_Status == FeedMidStatus.FMid_Take:
|
||||
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)
|
||||
if Constant.Debug1:
|
||||
print('next_start')
|
||||
elif self.feed_Mid_Status == FeedMidStatus.FMid_Take:
|
||||
self.next_take(reverse)
|
||||
if Constant.Debug1:
|
||||
print('next_take')
|
||||
elif self.feed_Mid_Status == FeedMidStatus.FMid_Feed:
|
||||
self.next_Feed(reverse)
|
||||
if Constant.Debug1:
|
||||
print('next_feed')
|
||||
|
||||
def safe_check_columns(self):
|
||||
return True
|
||||
pass
|
||||
|
||||
def safe_check_person(self):
|
||||
return True
|
||||
pass
|
||||
|
||||
for i in range(5):
|
||||
print(f"\n🔄 第 {i+1} 次测试")
|
||||
runner.run_test()
|
||||
Reference in New Issue
Block a user