Merge remote-tracking branch 'remotes/origin/bugfix/ui_sensor_reset' into feature/weight_show

.gitignore

@@ -1,64 +1,276 @@
-# Python
+# ---> Qt
-**/__pycache__/
+# C++ objects and libs
+*.slo
+*.lo
+*.o
+*.a
+*.la
+*.lai
+*.so
+*.so.*
+*.dll
+*.dylib
+
+# Qt-es
+object_script.*.Release
+object_script.*.Debug
+*_plugin_import.cpp
+/.qmake.cache
+/.qmake.stash
+*.pro.user
+*.pro.user.*
+*.qbs.user
+*.qbs.user.*
+*.moc
+moc_*.cpp
+moc_*.h
+qrc_*.cpp
+ui_*.h
+*.qmlc
+*.jsc
+Makefile*
+*build-*
+*.qm
+*.prl
+
+# Qt unit tests
+target_wrapper.*
+
+# QtCreator
+*.autosave
+
+# QtCreator Qml
+*.qmlproject.user
+*.qmlproject.user.*
+
+# QtCreator CMake
+CMakeLists.txt.user*
+
+# QtCreator 4.8< compilation database
+compile_commands.json
+
+# QtCreator local machine specific files for imported projects
+*creator.user*
+
+*_qmlcache.qrc
+
+# ---> Python
+# Byte-compiled / optimized / DLL files
+__pycache__/
 *.py[cod]
 *$py.class
 
+# C extensions
+*.so
 
-# IDEs and editors
+# Distribution / packaging
-.idea/
+.Python
+build/
+develop-eggs/
+dist/
+downloads/
+eggs/
+.eggs/
+lib/
+lib64/
+parts/
+sdist/
+var/
+wheels/
+share/python-wheels/
+*.egg-info/
+.installed.cfg
+*.egg
+MANIFEST
+
+# PyInstaller
+#  Usually these files are written by a python script from a template
+#  before PyInstaller builds the exe, so as to inject date/other infos into it.
+*.manifest
+*.spec
+
+# Installer logs
+pip-log.txt
+pip-delete-this-directory.txt
+
+# Unit test / coverage reports
+htmlcov/
+.tox/
+.nox/
+.coverage
+.coverage.*
+.cache
+nosetests.xml
+coverage.xml
+*.cover
+*.py,cover
+.hypothesis/
+.pytest_cache/
+cover/
+
+# Translations
+*.mo
+*.pot
+
+# Django stuff:
+*.log
+local_settings.py
+db.sqlite3
+db.sqlite3-journal
+
+# Flask stuff:
+instance/
+.webassets-cache
+
+# Scrapy stuff:
+.scrapy
+
+# Sphinx documentation
+docs/_build/
+
+# PyBuilder
+.pybuilder/
+target/
+
+# Jupyter Notebook
+.ipynb_checkpoints
+
+# IPython
+profile_default/
+ipython_config.py
+
+# pyenv
+#   For a library or package, you might want to ignore these files since the code is
+#   intended to run in multiple environments; otherwise, check them in:
+# .python-version
+
+# pipenv
+#   According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control.
+#   However, in case of collaboration, if having platform-specific dependencies or dependencies
+#   having no cross-platform support, pipenv may install dependencies that don't work, or not
+#   install all needed dependencies.
+#Pipfile.lock
+
+# UV
+#   Similar to Pipfile.lock, it is generally recommended to include uv.lock in version control.
+#   This is especially recommended for binary packages to ensure reproducibility, and is more
+#   commonly ignored for libraries.
+#uv.lock
+
+# poetry
+#   Similar to Pipfile.lock, it is generally recommended to include poetry.lock in version control.
+#   This is especially recommended for binary packages to ensure reproducibility, and is more
+#   commonly ignored for libraries.
+#   https://python-poetry.org/docs/basic-usage/#commit-your-poetrylock-file-to-version-control
+#poetry.lock
+
+# pdm
+#   Similar to Pipfile.lock, it is generally recommended to include pdm.lock in version control.
+#pdm.lock
+#   pdm stores project-wide configurations in .pdm.toml, but it is recommended to not include it
+#   in version control.
+#   https://pdm.fming.dev/latest/usage/project/#working-with-version-control
+.pdm.toml
+.pdm-python
+.pdm-build/
+
+# PEP 582; used by e.g. github.com/David-OConnor/pyflow and github.com/pdm-project/pdm
+__pypackages__/
+
+# Celery stuff
+celerybeat-schedule
+celerybeat.pid
+
+# SageMath parsed files
+*.sage.py
+
+# Environments
+.env
+.venv
+env/
+venv/
+ENV/
+env.bak/
+venv.bak/
+
+# Spyder project settings
+.spyderproject
+.spyproject
+
+# Rope project settings
+.ropeproject
+
+# mkdocs documentation
+/site
+
+# mypy
+.mypy_cache/
+.dmypy.json
+dmypy.json
+
+# Pyre type checker
+.pyre/
+
+# pytype static type analyzer
+.pytype/
+
+# Cython debug symbols
+cython_debug/
+
+# PyCharm
+#  JetBrains specific template is maintained in a separate JetBrains.gitignore that can
+#  be found at https://github.com/github/gitignore/blob/main/Global/JetBrains.gitignore
+#  and can be added to the global gitignore or merged into this file.  For a more nuclear
+#  option (not recommended) you can uncomment the following to ignore the entire idea folder.
+#.idea/
+
+# Ruff stuff:
+.ruff_cache/
+
+# PyPI configuration file
+.pypirc
+
+# 忽略.vscode文件夹
 .vscode/
-*.suo
+.VSCodeCounter
-# *.ntvs*
-# *.njsproj
-# # *.sln
-# *.sw?
 
-# OS generated files
+# 忽略工作区文件
-# .DS_Store
+*.code-workspace
-# .DS_Store?
+.DS_Store
-# ._*
-# .Spotlight-V100
-# .Trashes
-# ehthumbs.db
-# Thumbs.db
 
-# Logs
+# 忽略 .idea
+.idea/
+
+# 忽略python缓存文件
+*/__pycache__
+*.py[cod]
+
+# 忽略日志文件
 log/
 *.log
-*.log.*
 
+# 忽略测试文件
+test.py
 
-# Temporary files
+# 忽略配置文件
-# *.tmp
+config.json
-# *.temp
-# .cache/
 
-# Test coverage
+# 忽略下载文件夹
-# .coverage
+download/
-# .coverage.*
-# coverage.xml
 
-# Debug
+# 忽略构建文件夹
-# *.pyc
+build/
-# *.pyd
+dist/
-# *.so
+PyQt_Fluent_Widgets.egg-info/
-# *.dll
+PySide6_Fluent_Widgets.egg-info/
-# *.exe
+PyQt6_Fluent_Widgets.egg-info/
-
+PySide2_Fluent_Widgets.egg-info/
-# Runtime data
+/COM/__pycache__
-# pids
+/__pycache__
-# *.pid
+/CU/__pycache__
-# *.seed
+/EMV/__pycache__
-# *.pid.lock
+/Model/__pycache__
-
+/Trace/__pycache__
-# Project specific
+/Util/__pycache__
-# test.py
+/view/__pycache__
-# test2.py
+/log/log.log
-# test3.py
-# test6.py
-# TEST3.py
-# workflow_test.py
-# MvFGSdkLog/
-# MvSDKLog/
-# Trace/com_pose.txt
-# Trace/com_pose2.txt

Seting.ini

@@ -47,6 +47,7 @@ photo_v5 = 0.0
 photo_w5 = 1.0
 linecount = 2
 remain_linename = 1
+remain_dropweight_kg = 50
 remain_count = 18
 maduo_count = 30
 io_take_addr = 8

log/log.log.2024-12-14

@@ -0,0 +1,40 @@
+2024-12-14 16:10:42 - INFO - <20><><EFBFBD><EFBFBD>ϵͳ
+2024-12-14 16:11:15 - ERROR - <20>޻ظ<DEBB>
+2024-12-14 16:14:02 - INFO - <20>ƶ<EFBFBD><C6B6><EFBFBD>λ<EFBFBD><CEBB>:<3A><><EFBFBD><EFBFBD>·<EFBFBD><C2B7><EFBFBD><EFBFBD>m0:1.0-m2:0.0-m3:0.0-m4:0.0-m5:0.0-m6:0.0
+2024-12-14 16:14:06 - ERROR - <20>޻ظ<DEBB>
+2024-12-14 16:14:10 - INFO - <20><><EFBFBD><EFBFBD>Ͷ<EFBFBD>ϴ<EFBFBD><CFB4><EFBFBD>:1 
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+2024-12-14 16:14:11 - INFO - <20>л<EFBFBD><D0BB><EFBFBD><EFBFBD>Զ<EFBFBD><D4B6><EFBFBD><EFBFBD><EFBFBD>״̬
+2024-12-14 16:14:12 - INFO - <20><>һ<EFBFBD><D2BB>ȷ<EFBFBD><C8B7><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+2024-12-14 16:14:12 - INFO - <20><>Ӧ<EFBFBD><D3A6>1:Ͷ<>Ͽ<EFBFBD>ʼ
+2024-12-14 16:14:12 - INFO - <20><><EFBFBD><EFBFBD>IO<49><4F><EFBFBD><EFBFBD>: 3<><33>1
+2024-12-14 16:14:14 - ERROR - <20>޻ظ<DEBB>
+2024-12-14 16:14:17 - INFO - <20><><EFBFBD><EFBFBD>IO<49><4F><EFBFBD><EFBFBD>: 3<><33>0
+2024-12-14 16:14:17 - INFO - Ͷ<>Ͽ<EFBFBD>ʼ
+2024-12-14 16:14:21 - ERROR - <20>޻ظ<DEBB>
+2024-12-14 16:21:15 - INFO - <20>˳<EFBFBD>ϵͳ
+2024-12-14 16:21:15 - ERROR - <20>޻ظ<DEBB>
+2024-12-14 16:21:15 - ERROR - model
+2024-12-14 16:21:27 - INFO - <20><><EFBFBD><EFBFBD>ϵͳ
+2024-12-14 16:21:59 - ERROR - <20>޻ظ<DEBB>
+2024-12-14 16:37:33 - INFO - <20>л<EFBFBD><D0BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+2024-12-14 16:37:33 - INFO - <20>л<EFBFBD><D0BB><EFBFBD><EFBFBD>Զ<EFBFBD><D4B6><EFBFBD><EFBFBD><EFBFBD>״̬
+2024-12-14 16:37:34 - INFO - <20><>һ<EFBFBD><D2BB>ȷ<EFBFBD><C8B7><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+2024-12-14 16:37:34 - INFO - <20><>Ӧ<EFBFBD><D3A6>1:Ͷ<>Ͽ<EFBFBD>ʼ
+2024-12-14 16:37:34 - INFO - <20><><EFBFBD><EFBFBD>IO<49><4F><EFBFBD><EFBFBD>: 3<><33>1
+2024-12-14 16:37:38 - ERROR - <20>޻ظ<DEBB>
+2024-12-14 16:37:39 - INFO - <20><><EFBFBD><EFBFBD>Ͷ<EFBFBD>ϴ<EFBFBD><CFB4><EFBFBD>:10 
+2024-12-14 16:37:39 - INFO - <20>л<EFBFBD><D0BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+2024-12-14 16:37:39 - INFO - <20>л<EFBFBD><D0BB><EFBFBD><EFBFBD>Զ<EFBFBD><D4B6><EFBFBD><EFBFBD><EFBFBD>״̬
+2024-12-14 16:37:39 - INFO - <20><><EFBFBD><EFBFBD>IO<49><4F><EFBFBD><EFBFBD>: 3<><33>0
+2024-12-14 16:37:39 - INFO - Ͷ<>Ͽ<EFBFBD>ʼ
+2024-12-14 16:37:46 - ERROR - <20>޻ظ<DEBB>
+2024-12-14 16:39:27 - INFO - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+2024-12-14 16:39:27 - INFO - Ͷ<><CDB6>ֹͣ
+2024-12-14 16:39:28 - INFO - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+2024-12-14 16:39:28 - INFO - Ͷ<><CDB6>ֹͣ
+2024-12-14 16:39:30 - INFO - Ͷ<><CDB6><EFBFBD><EFBFBD>ͣ
+2024-12-14 16:39:30 - ERROR - <20>޻ظ<DEBB>
+2024-12-14 16:39:30 - INFO - Ͷ<><CDB6><EFBFBD><EFBFBD>ͣ
+2024-12-14 16:39:38 - ERROR - <20>޻ظ<DEBB>
+2024-12-14 16:41:47 - INFO - <20>û<EFBFBD><C3BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD>˳<EFBFBD><CBB3><EFBFBD><EFBFBD><EFBFBD>

log/log.logbak

@@ -0,0 +1,804 @@
+2025-08-12 10:22:17 - INFO - 进入系统
+2025-08-12 10:22:25 - INFO - 第一层确认生产
+2025-08-12 10:22:25 - INFO - 反应釜1:投料开始
+2025-08-12 10:22:25 - INFO - 发送命令{"dsID":"HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"200","type":"0","io_status":"1","point":"2","delay":"0"}]}
+2025-08-12 10:22:25 - INFO - 发送IO控制: 2，1
+2025-08-12 10:22:30 - INFO - 第一层确认生产
+2025-08-12 10:22:30 - INFO - 反应釜1:投料开始
+2025-08-12 10:22:30 - INFO - 发送命令{"dsID":"HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"200","type":"0","io_status":"0","point":"2","delay":"0"}]}
+2025-08-12 10:22:30 - INFO - 发送IO控制: 2，0
+2025-08-12 10:22:30 - INFO - 投料开始
+2025-08-12 10:22:31 - INFO - 移动到位置:姿势直线：X:-828.689758-Y:-1146.968872-Z:-77.084404-U:-90.137154-V:0.0-W:-0.0
+2025-08-12 10:22:31 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-828.689758","m1":"-1146.968872","m2":"-77.084404","m3":"-90.137154","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
+2025-08-12 10:22:31 - ERROR - 启动传感器线程失败: log_message() missing 1 required positional argument: 'message'
+2025-08-12 10:22:32 - INFO - 投料开始
+2025-08-12 10:22:33 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-828.689758","m1":"-1146.968872","m2":"-77.084404","m3":"-90.137154","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
+2025-08-12 10:22:33 - INFO - 移动到位置:姿势直线：X:-828.689758-Y:-1146.968872-Z:-77.084404-U:-90.137154-V:0.0-W:-0.0
+2025-08-12 10:22:33 - INFO - 移动到中位位置
+2025-08-12 10:22:33 - INFO - 移动到位置:姿势直线：X:-828.689758-Y:-1146.968872-Z:-77.084404-U:-90.137154-V:0.0-W:-0.0
+2025-08-12 10:22:33 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-828.689758","m1":"-1146.968872","m2":"-77.084404","m3":"-90.137154","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
+2025-08-12 10:22:33 - INFO - [调试计数] 已进入 FMid 分支 1 次
+2025-08-12 10:22:33 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-828.689758","m1":"-1146.968872","m2":"-77.084404","m3":"-90.137154","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
+2025-08-12 10:22:33 - INFO - 检测是否安全投料
+2025-08-12 10:22:33 - INFO - 移动到位置:姿势直线：X:-828.689758-Y:-1146.968872-Z:-77.084404-U:-90.137154-V:0.0-W:-0.0
+2025-08-12 10:22:33 - INFO - 检测是否安全投料
+2025-08-12 10:22:34 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-828.689758","m1":"-1146.968872","m2":"-77.084404","m3":"-90.137154","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
+2025-08-12 10:22:34 - INFO - 移动到位置:姿势直线：X:-828.689758-Y:-1146.968872-Z:-77.084404-U:-90.137154-V:0.0-W:-0.0
+2025-08-12 10:22:34 - INFO - 拍照
+2025-08-12 10:22:34 - INFO - 识别图像成功
+2025-08-12 10:22:34 - INFO - ⏳ 等待传感器2料包信号...
+2025-08-12 10:22:34 - INFO - ⏳ 等待传感器2料包信号...
+2025-08-12 10:22:35 - INFO - ⏳ 等待传感器2料包信号...
+2025-08-12 10:22:36 - INFO - ⏳ 等待传感器2料包信号...
+2025-08-12 10:22:37 - INFO - ⏳ 等待传感器2料包信号...
+2025-08-12 10:22:38 - INFO - ⏳ 等待传感器2料包信号...
+2025-08-12 10:22:39 - INFO - ⏳ 等待传感器2料包信号...
+2025-08-12 10:22:40 - INFO - ⏳ 等待传感器2料包信号...
+2025-08-12 10:22:41 - INFO - 清除报警
+2025-08-12 10:22:41 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[]}
+2025-08-12 10:22:41 - INFO - 投料停止
+2025-08-12 10:22:41 - INFO - ⏳ 等待传感器2料包信号...
+2025-08-12 10:22:42 - INFO - ✅ 传感器2检测到料包到位，开始执行抓取
+2025-08-12 10:22:43 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-828.689758","m1":"-1146.968872","m2":"-77.084404","m3":"-90.137154","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
+2025-08-12 10:22:43 - INFO - 移动到位置:姿势直线：X:-828.689758-Y:-1146.968872-Z:-77.084404-U:-90.137154-V:0.0-W:-0.0
+2025-08-12 10:22:43 - INFO - 执行完成FPhoto
+2025-08-12 10:22:43 - INFO - 拍照
+2025-08-12 10:22:43 - INFO - 识别图像成功
+2025-08-12 10:22:43 - INFO - ✅ 传感器2检测到料包到位，开始执行抓取
+2025-08-12 10:22:43 - INFO - 移动到位置:姿势直线：X:-569.528625-Y:-1299.985718-Z:-413.431213-U:-151.127274-V:0.0-W:-0.0
+2025-08-12 10:22:43 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-569.528625","m1":"-1299.985718","m2":"-413.431213","m3":"-151.127274","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
+2025-08-12 10:22:43 - INFO - 执行完成FPhoto
+2025-08-12 10:22:44 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-569.531006","m1":"-1299.971069","m2":"-825.315613","m3":"-151.126694","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
+2025-08-12 10:22:44 - INFO - 移动到中位位置
+2025-08-12 10:22:44 - INFO - 移动到位置:姿势直线：X:-569.531006-Y:-1299.971069-Z:-825.315613-U:-151.126694-V:0.0-W:-0.0
+2025-08-12 10:22:44 - INFO - [调试计数] 已进入 FMid 分支 2 次
+2025-08-12 10:22:47 - INFO - 移动到中位位置
+2025-08-12 10:22:47 - INFO - 移动到位置:姿势直线：X:-569.543396-Y:-1299.659543-Z:-1269.931256-U:-151.12764-V:0.258-W:0.258
+2025-08-12 10:22:47 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-569.543396","m1":"-1299.659543","m2":"-1269.931256","m3":"-151.12764","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
+2025-08-12 10:22:47 - INFO - [调试计数] 已进入 FMid 分支 3 次
+2025-08-12 10:22:49 - INFO - 移动到中位位置
+2025-08-12 10:22:49 - INFO - 移动到位置:姿势直线：X:-569.543396-Y:-1299.659543-Z:-1269.931256-U:-151.12764-V:0.258-W:0.258
+2025-08-12 10:22:49 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-569.543396","m1":"-1299.659543","m2":"-1269.931256","m3":"-151.12764","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
+2025-08-12 10:22:49 - INFO - [调试计数] 已进入 FMid 分支 4 次
+2025-08-12 10:22:50 - INFO - str_feed_take移动到抓料位置
+2025-08-12 10:22:50 - INFO - 🟡 机器人尚未到达抓料点位
+2025-08-12 10:22:50 - INFO - str_feed_take移动到抓料位置
+2025-08-12 10:22:50 - INFO - 🟡 机器人尚未到达抓料点位
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+2025-08-12 10:23:10 - INFO - ⏳ 等待传感器2料包信号...
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+2025-08-12 10:23:48 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-569.522156","m1":"-1299.988647","m2":"-413.430023","m3":"-151.126541","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
+2025-08-12 10:23:48 - INFO - 移动到位置:姿势直线：X:-569.522156-Y:-1299.988647-Z:-413.430023-U:-151.126541-V:0.0-W:-0.0
+2025-08-12 10:23:48 - INFO - [调试计数] 已进入 FMid 分支 13 次
+2025-08-12 10:23:48 - INFO - 移动到中位位置
+2025-08-12 10:23:48 - INFO - 移动到位置:姿势直线：X:1143.22937-Y:-822.204346-Z:-84.250801-U:-73.561378-V:0.0-W:-0.0
+2025-08-12 10:23:48 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1143.22937","m1":"-822.204346","m2":"-84.250801","m3":"-73.561378","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
+2025-08-12 10:23:48 - INFO - [调试计数] 已进入 FMid 分支 14 次
+2025-08-12 10:23:56 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"890.821655","m1":"-313.300446","m2":"-691.557617","m3":"-63.248192","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
+2025-08-12 10:23:56 - INFO - 移动到中位位置
+2025-08-12 10:23:56 - INFO - 移动到位置:姿势直线：X:890.821655-Y:-313.300446-Z:-691.557617-U:-63.248192-V:0.0-W:-0.0
+2025-08-12 10:23:56 - INFO - [调试计数] 已进入 FMid 分支 15 次
+2025-08-12 10:24:00 - INFO - 移动到破袋位置
+2025-08-12 10:24:00 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-828.689758","m1":"-1146.968872","m2":"-77.084404","m3":"-90.137154","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
+2025-08-12 10:24:00 - INFO - 移动到位置:姿势直线：X:-828.689758-Y:-1146.968872-Z:-77.084404-U:-90.137154-V:0.0-W:-0.0
+2025-08-12 10:24:00 - INFO - 拍照
+2025-08-12 10:24:00 - INFO - 识别图像成功
+2025-08-12 10:24:01 - INFO - ⏳ 等待传感器2料包信号...
+2025-08-12 10:24:01 - INFO - ⏳ 等待传感器2料包信号...
+2025-08-12 10:24:02 - INFO - ⏳ 等待传感器2料包信号...
+2025-08-12 10:24:03 - INFO - ⏳ 等待传感器2料包信号...
+2025-08-12 10:24:04 - INFO - ⏳ 等待传感器2料包信号...
+2025-08-12 10:24:05 - INFO - ⏳ 等待传感器2料包信号...
+2025-08-12 10:24:06 - INFO - ⏳ 等待传感器2料包信号...
+2025-08-12 10:24:07 - INFO - ⏳ 等待传感器2料包信号...
+2025-08-12 10:24:08 - INFO - ⏳ 等待传感器2料包信号...
+2025-08-12 10:24:10 - INFO - ⏳ 等待传感器2料包信号...
+2025-08-12 10:24:11 - INFO - ⏳ 等待传感器2料包信号...
+2025-08-12 10:24:12 - INFO - ⏳ 等待传感器2料包信号...
+2025-08-12 10:24:13 - INFO - ⏳ 等待传感器2料包信号...
+2025-08-12 10:24:14 - INFO - ⏳ 等待传感器2料包信号...
+2025-08-12 10:24:15 - INFO - ⏳ 等待传感器2料包信号...
+2025-08-12 10:24:16 - INFO - ⏳ 等待传感器2料包信号...
+2025-08-12 10:24:17 - INFO - ⏳ 等待传感器2料包信号...
+2025-08-12 10:24:18 - INFO - ⏳ 等待传感器2料包信号...
+2025-08-12 10:24:19 - INFO - ⏳ 等待传感器2料包信号...
+2025-08-12 10:24:20 - INFO - ⏳ 等待传感器2料包信号...
+2025-08-12 10:24:21 - INFO - ⏳ 等待传感器2料包信号...
+2025-08-12 10:24:22 - INFO - ⏳ 等待传感器2料包信号...
+2025-08-12 10:24:23 - INFO - ⏳ 等待传感器2料包信号...
+2025-08-12 10:24:23 - ERROR - 'str' object has no attribute 'release'
+2025-08-12 10:24:24 - INFO - ⏳ 等待传感器2料包信号...
+2025-08-12 10:24:25 - INFO - ⏳ 等待传感器2料包信号...
+2025-08-12 10:24:26 - INFO - ⏳ 等待传感器2料包信号...
+2025-08-12 10:24:26 - ERROR - 'str' object has no attribute 'release'
+2025-08-12 10:24:27 - INFO - ⏳ 等待传感器2料包信号...
+2025-08-12 10:24:28 - INFO - ⏳ 等待传感器2料包信号...
+2025-08-12 10:24:29 - ERROR - 'str' object has no attribute 'release'
+2025-08-12 10:24:29 - INFO - ⏳ 等待传感器2料包信号...
+2025-08-12 10:24:30 - INFO - ⏳ 等待传感器2料包信号...
+2025-08-12 10:24:31 - ERROR - 'str' object has no attribute 'release'
+2025-08-12 10:24:31 - INFO - ⏳ 等待传感器2料包信号...
+2025-08-12 10:24:32 - INFO - ⏳ 等待传感器2料包信号...
+2025-08-12 10:24:33 - ERROR - 'str' object has no attribute 'release'
+2025-08-12 10:30:07 - INFO - 进入系统
+2025-08-12 10:30:12 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["switchTool","2"]}
+2025-08-12 10:30:12 - INFO - 切换到工具坐标
+2025-08-12 10:30:12 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["startButton","1"]}
+2025-08-12 10:30:12 - INFO - 切换到自动运行状态
+2025-08-12 10:30:13 - ERROR - 发生报警：42
+2025-08-12 10:30:13 - ERROR - 发生报警：42
+2025-08-12 10:30:13 - ERROR - 发生报警：42
+2025-08-12 10:30:13 - ERROR - 发生报警：42
+2025-08-12 10:30:14 - ERROR - 发生报警：42
+2025-08-12 10:30:14 - ERROR - 发生报警：42
+2025-08-12 10:30:14 - INFO - 第一层确认生产
+2025-08-12 10:30:14 - INFO - 反应釜1:投料开始
+2025-08-12 10:30:14 - INFO - 发送命令{"dsID":"HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"200","type":"0","io_status":"1","point":"2","delay":"0"}]}
+2025-08-12 10:30:14 - INFO - 发送IO控制: 2，1
+2025-08-12 10:30:14 - ERROR - 发生报警：42
+2025-08-12 10:30:15 - ERROR - 发生报警：42
+2025-08-12 10:30:15 - ERROR - 发生报警：42
+2025-08-12 10:30:15 - ERROR - 发生报警：42
+2025-08-12 10:30:15 - ERROR - 发生报警：42
+2025-08-12 10:30:15 - ERROR - 发生报警：42
+2025-08-12 10:30:15 - ERROR - 发生报警：42
+2025-08-12 10:30:15 - ERROR - 发生报警：42
+2025-08-12 10:30:16 - ERROR - 发生报警：42
+2025-08-12 10:30:16 - ERROR - 发生报警：42
+2025-08-12 10:30:16 - ERROR - 发生报警：42
+2025-08-12 10:30:16 - ERROR - 发生报警：42
+2025-08-12 10:30:16 - ERROR - 发生报警：42
+2025-08-12 10:30:17 - ERROR - 发生报警：42
+2025-08-12 10:30:17 - ERROR - 发生报警：42
+2025-08-12 10:30:17 - ERROR - 发生报警：42
+2025-08-12 10:30:17 - ERROR - 发生报警：42
+2025-08-12 10:30:17 - ERROR - 发生报警：42
+2025-08-12 10:30:18 - ERROR - 发生报警：42
+2025-08-12 10:30:18 - ERROR - 发生报警：42
+2025-08-12 10:30:18 - ERROR - 发生报警：42
+2025-08-12 10:30:18 - ERROR - 发生报警：42
+2025-08-12 10:30:18 - ERROR - 发生报警：42
+2025-08-12 10:30:19 - ERROR - 发生报警：42
+2025-08-12 10:30:19 - ERROR - 发生报警：42
+2025-08-12 10:30:19 - ERROR - 发生报警：42
+2025-08-12 10:30:19 - INFO - 发送命令{"dsID":"HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"200","type":"0","io_status":"0","point":"2","delay":"0"}]}
+2025-08-12 10:30:19 - INFO - 发送IO控制: 2，0
+2025-08-12 10:30:19 - ERROR - 发生报警：42
+2025-08-12 10:30:19 - INFO - 清除报警
+2025-08-12 10:30:20 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[]}
+2025-08-12 10:30:20 - INFO - 投料停止
+2025-08-12 10:30:20 - ERROR - 发生报警：42
+2025-08-12 10:30:20 - ERROR - 发生报警：42
+2025-08-12 10:30:20 - ERROR - 发生报警：42
+2025-08-12 10:30:20 - ERROR - 发生报警：42
+2025-08-12 10:30:20 - ERROR - 发生报警：42
+2025-08-12 10:30:20 - ERROR - 发生报警：42
+2025-08-12 10:30:21 - ERROR - 发生报警：42
+2025-08-12 10:30:21 - ERROR - 发生报警：42
+2025-08-12 10:30:21 - ERROR - 发生报警：42
+2025-08-12 10:30:21 - ERROR - 发生报警：42
+2025-08-12 10:30:22 - ERROR - 发生报警：42
+2025-08-12 10:30:22 - ERROR - 发生报警：42
+2025-08-12 10:30:22 - ERROR - 发生报警：42
+2025-08-12 10:30:22 - ERROR - 发生报警：42
+2025-08-12 10:30:24 - INFO - 清除报警
+2025-08-12 10:30:24 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[]}
+2025-08-12 10:30:24 - INFO - 投料停止
+2025-08-12 10:30:27 - INFO - 清除报警
+2025-08-12 10:30:27 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[]}
+2025-08-12 10:30:27 - INFO - 开始复位
+2025-08-12 10:30:27 - INFO - 发送命令{"dsID":"HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"200","type":"0","io_status":"1","point":"2","delay":"0"}]}
+2025-08-12 10:30:28 - ERROR - 机械臂未按照实际路线点移动，未能寻找到适配路径点位
+2025-08-12 10:30:28 - INFO - 发送IO控制: 2，1
+2025-08-12 10:30:28 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-569.522156","m1":"-1299.988647","m2":"-413.430023","m3":"-151.126541","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
+2025-08-12 10:30:28 - INFO - 移动到位置:姿势直线：X:-569.522156-Y:-1299.988647-Z:-413.430023-U:-151.126541-V:0.0-W:-0.0
+2025-08-12 10:30:34 - INFO - 移动到位置:姿势直线：X:-569.524475-Y:-1299.973877-Z:-825.314453-U:-151.126846-V:0.0-W:-0.0
+2025-08-12 10:30:35 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-569.524475","m1":"-1299.973877","m2":"-825.314453","m3":"-151.126846","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
+2025-08-12 10:30:38 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-569.531006","m1":"-1299.971069","m2":"-825.315613","m3":"-151.126694","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
+2025-08-12 10:30:38 - INFO - 移动到位置:姿势直线：X:-569.531006-Y:-1299.971069-Z:-825.315613-U:-151.126694-V:0.0-W:-0.0
+2025-08-12 10:30:38 - INFO - 移动到位置:姿势直线：X:-569.528625-Y:-1299.985718-Z:-413.431213-U:-151.127274-V:0.0-W:-0.0
+2025-08-12 10:30:39 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-569.528625","m1":"-1299.985718","m2":"-413.431213","m3":"-151.127274","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
+2025-08-12 10:30:42 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-828.689758","m1":"-1146.968872","m2":"-77.084404","m3":"-90.137154","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
+2025-08-12 10:30:42 - INFO - 移动到位置:姿势直线：X:-828.689758-Y:-1146.968872-Z:-77.084404-U:-90.137154-V:0.0-W:-0.0
+2025-08-12 10:30:47 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-828.689758","m1":"-1146.968872","m2":"-77.084404","m3":"-90.137154","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
+2025-08-12 10:30:47 - INFO - 移动到位置:姿势直线：X:-828.689758-Y:-1146.968872-Z:-77.084404-U:-90.137154-V:0.0-W:-0.0
+2025-08-12 10:30:47 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-828.689758","m1":"-1146.968872","m2":"-77.084404","m3":"-90.137154","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
+2025-08-12 10:30:47 - INFO - 移动到位置:姿势直线：X:-828.689758-Y:-1146.968872-Z:-77.084404-U:-90.137154-V:0.0-W:-0.0
+2025-08-12 10:30:47 - INFO - 移动到位置:姿势直线：X:-828.689758-Y:-1146.968872-Z:-77.084404-U:-90.137154-V:0.0-W:-0.0
+2025-08-12 10:30:48 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-828.689758","m1":"-1146.968872","m2":"-77.084404","m3":"-90.137154","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
+2025-08-12 10:30:48 - INFO - 发送命令{"dsID":"HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"200","type":"0","io_status":"0","point":"2","delay":"0"}]}
+2025-08-12 10:30:48 - INFO - 发送IO控制: 2，0
+2025-08-12 10:30:57 - INFO - 投料暂停
+2025-08-12 10:30:57 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["actionPause","1"]}
+2025-08-12 10:30:58 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["actionPause","0"]}
+2025-08-12 10:30:58 - INFO - 投料继续
+2025-08-12 10:30:58 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["startButton","1"]}
+2025-08-12 10:30:58 - INFO - 切换到自动运行状态
+2025-08-12 10:30:58 - ERROR - 启动传感器线程失败: log_message() missing 1 required positional argument: 'message'
+2025-08-12 10:30:58 - INFO - 投料开始
+2025-08-12 10:30:59 - INFO - 移动到位置:姿势直线：X:-828.689758-Y:-1146.968872-Z:-77.084404-U:-90.137154-V:0.0-W:-0.0
+2025-08-12 10:30:59 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-828.689758","m1":"-1146.968872","m2":"-77.084404","m3":"-90.137154","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
+2025-08-12 10:30:59 - INFO - 投料开始
+2025-08-12 10:31:00 - INFO - 移动到位置:姿势直线：X:-828.689758-Y:-1146.968872-Z:-77.084404-U:-90.137154-V:0.0-W:-0.0
+2025-08-12 10:31:01 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-828.689758","m1":"-1146.968872","m2":"-77.084404","m3":"-90.137154","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
+2025-08-12 10:31:01 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-828.689758","m1":"-1146.968872","m2":"-77.084404","m3":"-90.137154","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
+2025-08-12 10:31:01 - INFO - 移动到中位位置
+2025-08-12 10:31:01 - INFO - 移动到位置:姿势直线：X:-828.689758-Y:-1146.968872-Z:-77.084404-U:-90.137154-V:0.0-W:-0.0
+2025-08-12 10:31:01 - INFO - [调试计数] 已进入 FMid 分支 1 次
+2025-08-12 10:31:01 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-828.689758","m1":"-1146.968872","m2":"-77.084404","m3":"-90.137154","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
+2025-08-12 10:31:01 - INFO - 检测是否安全投料
+2025-08-12 10:31:01 - INFO - 移动到位置:姿势直线：X:-828.689758-Y:-1146.968872-Z:-77.084404-U:-90.137154-V:0.0-W:-0.0
+2025-08-12 10:31:01 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-828.689758","m1":"-1146.968872","m2":"-77.084404","m3":"-90.137154","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
+2025-08-12 10:31:02 - INFO - 检测是否安全投料
+2025-08-12 10:31:02 - INFO - 移动到位置:姿势直线：X:-828.689758-Y:-1146.968872-Z:-77.084404-U:-90.137154-V:0.0-W:-0.0
+2025-08-12 10:31:02 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-828.689758","m1":"-1146.968872","m2":"-77.084404","m3":"-90.137154","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
+2025-08-12 10:31:02 - INFO - 投料结束
+2025-08-12 10:31:02 - INFO - 移动到位置:姿势直线：X:-828.689758-Y:-1146.968872-Z:-77.084404-U:-90.137154-V:0.0-W:-0.0
+2025-08-12 10:31:02 - INFO - 移动到拍照位置
+2025-08-12 10:31:02 - INFO - 复位成功
+2025-08-12 10:31:02 - ERROR - 关闭传感器线程异常: log_message() missing 1 required positional argument: 'message'
+2025-08-12 10:31:04 - INFO - 第一层确认生产
+2025-08-12 10:31:04 - INFO - 反应釜1:投料开始
+2025-08-12 10:31:04 - INFO - 发送命令{"dsID":"HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"200","type":"0","io_status":"1","point":"2","delay":"0"}]}
+2025-08-12 10:31:05 - INFO - 发送IO控制: 2，1
+2025-08-12 10:31:09 - INFO - 发送命令{"dsID":"HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"200","type":"0","io_status":"0","point":"2","delay":"0"}]}
+2025-08-12 10:31:10 - INFO - 发送IO控制: 2，0
+2025-08-12 10:31:10 - INFO - 投料开始
+2025-08-12 10:31:11 - INFO - 移动到位置:姿势直线：X:-828.689758-Y:-1146.968872-Z:-77.084404-U:-90.137154-V:0.0-W:-0.0
+2025-08-12 10:31:11 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-828.689758","m1":"-1146.968872","m2":"-77.084404","m3":"-90.137154","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
+2025-08-12 10:31:11 - ERROR - 启动传感器线程失败: log_message() missing 1 required positional argument: 'message'
+2025-08-12 10:31:11 - INFO - 投料开始
+2025-08-12 10:31:12 - INFO - 移动到位置:姿势直线：X:-828.689758-Y:-1146.968872-Z:-77.084404-U:-90.137154-V:0.0-W:-0.0
+2025-08-12 10:31:12 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-828.689758","m1":"-1146.968872","m2":"-77.084404","m3":"-90.137154","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
+2025-08-12 10:31:12 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-828.689758","m1":"-1146.968872","m2":"-77.084404","m3":"-90.137154","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
+2025-08-12 10:31:12 - INFO - 移动到中位位置
+2025-08-12 10:31:12 - INFO - 移动到位置:姿势直线：X:-828.689758-Y:-1146.968872-Z:-77.084404-U:-90.137154-V:0.0-W:-0.0
+2025-08-12 10:31:12 - INFO - [调试计数] 已进入 FMid 分支 2 次
+2025-08-12 10:31:13 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-828.689758","m1":"-1146.968872","m2":"-77.084404","m3":"-90.137154","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
+2025-08-12 10:31:13 - INFO - 检测是否安全投料
+2025-08-12 10:31:13 - INFO - 移动到位置:姿势直线：X:-828.689758-Y:-1146.968872-Z:-77.084404-U:-90.137154-V:0.0-W:-0.0
+2025-08-12 10:31:13 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-828.689758","m1":"-1146.968872","m2":"-77.084404","m3":"-90.137154","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
+2025-08-12 10:31:13 - INFO - 检测是否安全投料
+2025-08-12 10:31:13 - INFO - 移动到位置:姿势直线：X:-828.689758-Y:-1146.968872-Z:-77.084404-U:-90.137154-V:0.0-W:-0.0
+2025-08-12 10:31:13 - INFO - 拍照
+2025-08-12 10:31:13 - INFO - 识别图像成功
+2025-08-12 10:31:13 - INFO - ⏳ 等待传感器2料包信号...
+2025-08-12 10:31:13 - INFO - ⏳ 等待传感器2料包信号...
+2025-08-12 10:31:14 - INFO - ⏳ 等待传感器2料包信号...
+2025-08-12 10:31:16 - INFO - ✅ 传感器2检测到料包到位，开始执行抓取
+2025-08-12 10:31:16 - INFO - 移动到位置:姿势直线：X:-828.689758-Y:-1146.968872-Z:-77.084404-U:-90.137154-V:0.0-W:-0.0
+2025-08-12 10:31:16 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-828.689758","m1":"-1146.968872","m2":"-77.084404","m3":"-90.137154","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
+2025-08-12 10:31:16 - INFO - 执行完成FPhoto
+2025-08-12 10:31:16 - INFO - 拍照
+2025-08-12 10:31:16 - INFO - 识别图像成功
+2025-08-12 10:31:16 - INFO - ✅ 传感器2检测到料包到位，开始执行抓取
+2025-08-12 10:31:16 - INFO - 移动到位置:姿势直线：X:-569.528625-Y:-1299.985718-Z:-413.431213-U:-151.127274-V:0.0-W:-0.0
+2025-08-12 10:31:16 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-569.528625","m1":"-1299.985718","m2":"-413.431213","m3":"-151.127274","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
+2025-08-12 10:31:17 - INFO - 执行完成FPhoto
+2025-08-12 10:31:17 - INFO - 移动到中位位置
+2025-08-12 10:31:17 - INFO - 移动到位置:姿势直线：X:-569.531006-Y:-1299.971069-Z:-825.315613-U:-151.126694-V:0.0-W:-0.0
+2025-08-12 10:31:17 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-569.531006","m1":"-1299.971069","m2":"-825.315613","m3":"-151.126694","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
+2025-08-12 10:31:17 - INFO - [调试计数] 已进入 FMid 分支 3 次
+2025-08-12 10:31:20 - INFO - 移动到中位位置
+2025-08-12 10:31:20 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-569.543396","m1":"-1299.659543","m2":"-1269.931256","m3":"-151.12764","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
+2025-08-12 10:31:20 - INFO - 移动到位置:姿势直线：X:-569.543396-Y:-1299.659543-Z:-1269.931256-U:-151.12764-V:0.258-W:0.258
+2025-08-12 10:31:20 - INFO - [调试计数] 已进入 FMid 分支 4 次
+2025-08-12 10:31:22 - INFO - 移动到中位位置
+2025-08-12 10:31:22 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-569.543396","m1":"-1299.659543","m2":"-1269.931256","m3":"-151.12764","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
+2025-08-12 10:31:22 - INFO - 移动到位置:姿势直线：X:-569.543396-Y:-1299.659543-Z:-1269.931256-U:-151.12764-V:0.258-W:0.258
+2025-08-12 10:31:23 - INFO - [调试计数] 已进入 FMid 分支 5 次
+2025-08-12 10:31:23 - INFO - str_feed_take移动到抓料位置
+2025-08-12 10:31:23 - INFO - 🟡 机器人尚未到达抓料点位
+2025-08-12 10:31:23 - INFO - str_feed_take移动到抓料位置
+2025-08-12 10:31:23 - INFO - 🟡 机器人尚未到达抓料点位
+2025-08-12 10:31:23 - INFO - str_feed_take移动到抓料位置
+2025-08-12 10:31:23 - INFO - 🟡 机器人尚未到达抓料点位
+2025-08-12 10:31:23 - INFO - str_feed_take移动到抓料位置
+2025-08-12 10:31:23 - INFO - 🟡 机器人尚未到达抓料点位
+2025-08-12 10:31:23 - INFO - str_feed_take移动到抓料位置
+2025-08-12 10:31:24 - INFO - 🟡 机器人尚未到达抓料点位
+2025-08-12 10:31:24 - INFO - str_feed_take移动到抓料位置
+2025-08-12 10:31:24 - INFO - 🟡 机器人尚未到达抓料点位
+2025-08-12 10:31:24 - INFO - str_feed_take移动到抓料位置
+2025-08-12 10:31:24 - INFO - 🟡 机器人尚未到达抓料点位
+2025-08-12 10:31:24 - INFO - str_feed_take移动到抓料位置
+2025-08-12 10:31:24 - INFO - 🟡 机器人尚未到达抓料点位
+2025-08-12 10:31:24 - INFO - str_feed_take移动到抓料位置
+2025-08-12 10:31:24 - INFO - 🟡 机器人尚未到达抓料点位
+2025-08-12 10:31:25 - INFO - str_feed_take移动到抓料位置
+2025-08-12 10:31:25 - INFO - 🟡 机器人尚未到达抓料点位
+2025-08-12 10:31:25 - INFO - str_feed_take移动到抓料位置
+2025-08-12 10:31:25 - INFO - 🟡 机器人尚未到达抓料点位
+2025-08-12 10:31:25 - INFO - str_feed_take移动到抓料位置
+2025-08-12 10:31:25 - INFO - 🟡 机器人尚未到达抓料点位
+2025-08-12 10:31:25 - INFO - str_feed_take移动到抓料位置
+2025-08-12 10:31:25 - INFO - 🟡 机器人尚未到达抓料点位
+2025-08-12 10:31:25 - INFO - str_feed_take移动到抓料位置
+2025-08-12 10:31:26 - INFO - 🟡 机器人尚未到达抓料点位
+2025-08-12 10:31:26 - INFO - str_feed_take移动到抓料位置
+2025-08-12 10:31:26 - INFO - 🟡 机器人尚未到达抓料点位
+2025-08-12 10:31:26 - INFO - str_feed_take移动到抓料位置
+2025-08-12 10:31:26 - INFO - 🟡 机器人尚未到达抓料点位
+2025-08-12 10:31:26 - INFO - str_feed_take移动到抓料位置
+2025-08-12 10:31:26 - INFO - 🟡 机器人尚未到达抓料点位
+2025-08-12 10:31:26 - INFO - str_feed_take移动到抓料位置
+2025-08-12 10:31:26 - INFO - 🟡 机器人尚未到达抓料点位
+2025-08-12 10:31:26 - INFO - str_feed_take移动到抓料位置
+2025-08-12 10:31:27 - INFO - 🟡 机器人尚未到达抓料点位
+2025-08-12 10:31:27 - INFO - str_feed_take移动到抓料位置
+2025-08-12 10:31:27 - INFO - 🟡 机器人尚未到达抓料点位
+2025-08-12 10:31:27 - INFO - str_feed_take移动到抓料位置
+2025-08-12 10:31:27 - INFO - 🟡 机器人尚未到达抓料点位
+2025-08-12 10:31:27 - INFO - str_feed_take移动到抓料位置
+2025-08-12 10:31:27 - INFO - 🟡 机器人尚未到达抓料点位
+2025-08-12 10:31:27 - INFO - str_feed_take移动到抓料位置
+2025-08-12 10:31:27 - INFO - 🟡 机器人尚未到达抓料点位
+2025-08-12 10:31:28 - INFO - str_feed_take移动到抓料位置
+2025-08-12 10:31:28 - INFO - 🟡 机器人尚未到达抓料点位
+2025-08-12 10:31:28 - INFO - str_feed_take移动到抓料位置
+2025-08-12 10:31:28 - INFO - 🟡 机器人尚未到达抓料点位
+2025-08-12 10:31:28 - INFO - str_feed_take移动到抓料位置
+2025-08-12 10:31:28 - INFO - 🟡 机器人尚未到达抓料点位
+2025-08-12 10:31:28 - INFO - str_feed_take移动到抓料位置
+2025-08-12 10:31:28 - INFO - 🟡 机器人尚未到达抓料点位
+2025-08-12 10:31:28 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-569.543396","m1":"-1299.659543","m2":"-1269.931256","m3":"-151.12764","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
+2025-08-12 10:31:29 - INFO - str_feed_take移动到抓料位置
+2025-08-12 10:31:29 - INFO - 🟢 机器人已到达抓料点位
+2025-08-12 10:31:29 - INFO - 已设置放置点: X=-187.12
+2025-08-12 10:31:29 - INFO - 移动到位置:姿势直线：X:-569.543396-Y:-1299.659543-Z:-1269.931256-U:-151.12764-V:0.258-W:0.258
+2025-08-12 10:31:29 - INFO - 移动到中位位置
+2025-08-12 10:31:29 - INFO - 移动到位置:姿势直线：X:-569.524475-Y:-1299.973877-Z:-825.314453-U:-151.126846-V:0.0-W:-0.0
+2025-08-12 10:31:29 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-569.524475","m1":"-1299.973877","m2":"-825.314453","m3":"-151.126846","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
+2025-08-12 10:31:29 - INFO - [调试计数] 已进入 FMid 分支 6 次
+2025-08-12 10:31:29 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-569.522156","m1":"-1299.988647","m2":"-413.430023","m3":"-151.126541","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
+2025-08-12 10:31:29 - INFO - 移动到中位位置
+2025-08-12 10:31:30 - INFO - 移动到位置:姿势直线：X:-569.522156-Y:-1299.988647-Z:-413.430023-U:-151.126541-V:0.0-W:-0.0
+2025-08-12 10:31:30 - INFO - [调试计数] 已进入 FMid 分支 7 次
+2025-08-12 10:31:30 - INFO - 移动到中位位置
+2025-08-12 10:31:30 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1143.22937","m1":"-822.204346","m2":"-84.250801","m3":"-73.561378","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
+2025-08-12 10:31:30 - INFO - 移动到位置:姿势直线：X:1143.22937-Y:-822.204346-Z:-84.250801-U:-73.561378-V:0.0-W:-0.0
+2025-08-12 10:31:30 - INFO - [调试计数] 已进入 FMid 分支 8 次
+2025-08-12 10:31:38 - INFO - 移动到中位位置
+2025-08-12 10:31:38 - INFO - 移动到位置:姿势直线：X:890.821655-Y:-313.300446-Z:-691.557617-U:-63.248192-V:0.0-W:-0.0
+2025-08-12 10:31:38 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"890.821655","m1":"-313.300446","m2":"-691.557617","m3":"-63.248192","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
+2025-08-12 10:31:38 - INFO - [调试计数] 已进入 FMid 分支 9 次
+2025-08-12 10:31:42 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-828.689758","m1":"-1146.968872","m2":"-77.084404","m3":"-90.137154","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
+2025-08-12 10:31:42 - INFO - 移动到破袋位置
+2025-08-12 10:31:42 - INFO - 移动到位置:姿势直线：X:-828.689758-Y:-1146.968872-Z:-77.084404-U:-90.137154-V:0.0-W:-0.0
+2025-08-12 10:31:42 - INFO - 拍照
+2025-08-12 10:31:42 - INFO - 识别图像成功
+2025-08-12 10:31:42 - INFO - ⏳ 等待传感器2料包信号...
+2025-08-12 10:31:43 - INFO - ⏳ 等待传感器2料包信号...
+2025-08-12 10:31:44 - INFO - ⏳ 等待传感器2料包信号...
+2025-08-12 10:31:45 - INFO - ⏳ 等待传感器2料包信号...
+2025-08-12 10:31:46 - INFO - ⏳ 等待传感器2料包信号...
+2025-08-12 10:31:47 - INFO - ⏳ 等待传感器2料包信号...
+2025-08-12 10:31:48 - INFO - ⏳ 等待传感器2料包信号...
+2025-08-12 10:31:49 - INFO - ⏳ 等待传感器2料包信号...
+2025-08-12 10:31:50 - INFO - ⏳ 等待传感器2料包信号...
+2025-08-12 10:31:51 - INFO - ⏳ 等待传感器2料包信号...
+2025-08-12 10:31:52 - INFO - ⏳ 等待传感器2料包信号...
+2025-08-12 10:31:53 - INFO - ⏳ 等待传感器2料包信号...
+2025-08-12 10:31:54 - INFO - ⏳ 等待传感器2料包信号...
+2025-08-12 10:31:55 - INFO - ⏳ 等待传感器2料包信号...
+2025-08-12 10:31:57 - INFO - ⏳ 等待传感器2料包信号...
+2025-08-12 10:31:58 - INFO - ⏳ 等待传感器2料包信号...
+2025-08-12 10:31:59 - INFO - ⏳ 等待传感器2料包信号...
+2025-08-12 10:32:00 - INFO - ⏳ 等待传感器2料包信号...
+2025-08-12 10:32:01 - INFO - ⏳ 等待传感器2料包信号...
+2025-08-12 10:32:02 - INFO - ✅ 传感器2检测到料包到位，开始执行抓取
+2025-08-12 10:32:02 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-569.528625","m1":"-1299.985718","m2":"-413.431213","m3":"-151.127274","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
+2025-08-12 10:32:02 - INFO - 移动到位置:姿势直线：X:-569.528625-Y:-1299.985718-Z:-413.431213-U:-151.127274-V:0.0-W:-0.0
+2025-08-12 10:32:02 - INFO - 执行完成FPhoto
+2025-08-12 10:32:02 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-569.531006","m1":"-1299.971069","m2":"-825.315613","m3":"-151.126694","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
+2025-08-12 10:32:02 - INFO - 移动到中位位置
+2025-08-12 10:32:02 - INFO - 移动到位置:姿势直线：X:-569.531006-Y:-1299.971069-Z:-825.315613-U:-151.126694-V:0.0-W:-0.0
+2025-08-12 10:32:03 - INFO - [调试计数] 已进入 FMid 分支 10 次
+2025-08-12 10:32:06 - INFO - 移动到中位位置
+2025-08-12 10:32:06 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-569.543396","m1":"-1299.659543","m2":"-1269.931256","m3":"-151.12764","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
+2025-08-12 10:32:06 - INFO - 移动到位置:姿势直线：X:-569.543396-Y:-1299.659543-Z:-1269.931256-U:-151.12764-V:0.258-W:0.258
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+2025-08-12 10:32:28 - INFO - 拍照
+2025-08-12 10:32:28 - INFO - 识别图像成功
+2025-08-12 10:32:28 - INFO - ⏳ 等待传感器2料包信号...
+2025-08-12 10:32:29 - INFO - ⏳ 等待传感器2料包信号...
+2025-08-12 10:32:30 - INFO - ⏳ 等待传感器2料包信号...
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+2025-08-12 10:32:33 - INFO - ⏳ 等待传感器2料包信号...
+2025-08-12 10:32:34 - INFO - ⏳ 等待传感器2料包信号...
+2025-08-12 10:32:35 - INFO - ⏳ 等待传感器2料包信号...
+2025-08-12 10:32:36 - INFO - ⏳ 等待传感器2料包信号...
+2025-08-12 10:32:37 - INFO - ⏳ 等待传感器2料包信号...
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+2025-08-12 10:32:44 - INFO - ⏳ 等待传感器2料包信号...
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+2025-08-12 10:32:58 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-569.524475","m1":"-1299.973877","m2":"-825.314453","m3":"-151.126846","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
+2025-08-12 10:32:59 - INFO - 移动到中位位置
+2025-08-12 10:32:59 - INFO - 移动到位置:姿势直线：X:-569.524475-Y:-1299.973877-Z:-825.314453-U:-151.126846-V:0.0-W:-0.0
+2025-08-12 10:32:59 - INFO - [调试计数] 已进入 FMid 分支 20 次
+2025-08-12 10:32:59 - INFO - 移动到中位位置
+2025-08-12 10:32:59 - INFO - 移动到位置:姿势直线：X:-569.522156-Y:-1299.988647-Z:-413.430023-U:-151.126541-V:0.0-W:-0.0
+2025-08-12 10:32:59 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-569.522156","m1":"-1299.988647","m2":"-413.430023","m3":"-151.126541","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
+2025-08-12 10:32:59 - INFO - [调试计数] 已进入 FMid 分支 21 次
+2025-08-12 10:32:59 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1143.22937","m1":"-822.204346","m2":"-84.250801","m3":"-73.561378","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
+2025-08-12 10:32:59 - INFO - 移动到中位位置
+2025-08-12 10:33:00 - INFO - 移动到位置:姿势直线：X:1143.22937-Y:-822.204346-Z:-84.250801-U:-73.561378-V:0.0-W:-0.0
+2025-08-12 10:33:00 - INFO - [调试计数] 已进入 FMid 分支 22 次
+2025-08-12 10:33:07 - INFO - 移动到中位位置
+2025-08-12 10:33:07 - INFO - 移动到位置:姿势直线：X:890.821655-Y:-313.300446-Z:-691.557617-U:-63.248192-V:0.0-W:-0.0
+2025-08-12 10:33:07 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"890.821655","m1":"-313.300446","m2":"-691.557617","m3":"-63.248192","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
+2025-08-12 10:33:08 - INFO - [调试计数] 已进入 FMid 分支 23 次
+2025-08-12 10:33:11 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-828.689758","m1":"-1146.968872","m2":"-77.084404","m3":"-90.137154","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
+2025-08-12 10:33:12 - INFO - 移动到破袋位置
+2025-08-12 10:33:12 - INFO - 移动到位置:姿势直线：X:-828.689758-Y:-1146.968872-Z:-77.084404-U:-90.137154-V:0.0-W:-0.0
+2025-08-12 10:33:12 - INFO - 拍照
+2025-08-12 10:33:12 - INFO - 识别图像成功
+2025-08-12 10:33:12 - INFO - ⏳ 等待传感器2料包信号...
+2025-08-12 10:33:13 - INFO - ⏳ 等待传感器2料包信号...
+2025-08-12 10:33:14 - INFO - ⏳ 等待传感器2料包信号...
+2025-08-12 10:33:15 - INFO - ⏳ 等待传感器2料包信号...
+2025-08-12 10:33:16 - INFO - ⏳ 等待传感器2料包信号...
+2025-08-12 10:33:17 - INFO - ⏳ 等待传感器2料包信号...
+2025-08-12 10:33:18 - INFO - ⏳ 等待传感器2料包信号...
+2025-08-12 10:33:19 - INFO - ⏳ 等待传感器2料包信号...
+2025-08-12 10:33:20 - INFO - ⏳ 等待传感器2料包信号...
+2025-08-12 10:33:21 - INFO - ⏳ 等待传感器2料包信号...
+2025-08-12 10:33:22 - INFO - ⏳ 等待传感器2料包信号...
+2025-08-12 10:33:23 - INFO - ⏳ 等待传感器2料包信号...
+2025-08-12 10:33:24 - INFO - ⏳ 等待传感器2料包信号...
+2025-08-12 10:33:25 - INFO - ⏳ 等待传感器2料包信号...
+2025-08-12 10:33:26 - INFO - ⏳ 等待传感器2料包信号...
+2025-08-12 10:33:27 - INFO - ⏳ 等待传感器2料包信号...
+2025-08-12 10:33:28 - INFO - ⏳ 等待传感器2料包信号...
+2025-08-12 10:33:29 - INFO - ⏳ 等待传感器2料包信号...
+2025-08-12 10:33:30 - INFO - ⏳ 等待传感器2料包信号...
+2025-08-12 10:33:31 - INFO - ⏳ 等待传感器2料包信号...
+2025-08-12 10:33:32 - INFO - ⏳ 等待传感器2料包信号...
+2025-08-12 10:33:33 - INFO - ⏳ 等待传感器2料包信号...
+2025-08-12 10:33:35 - INFO - ⏳ 等待传感器2料包信号...
+2025-08-12 10:33:36 - INFO - ⏳ 等待传感器2料包信号...
+2025-08-12 10:33:37 - INFO - ⏳ 等待传感器2料包信号...
+2025-08-12 10:33:38 - INFO - ⏳ 等待传感器2料包信号...
+2025-08-12 10:33:39 - ERROR - 'str' object has no attribute 'release'
+2025-08-12 10:33:41 - ERROR - Feeding运行异常: Internal C++ object (Feeding) already deleted.
+2025-08-12 10:33:41 - ERROR - Feeding运行异常: Internal C++ object (Feeding) already deleted.
+2025-08-12 10:33:41 - ERROR - Feeding运行异常: Internal C++ object (Feeding) already deleted.

main.py

@@ -48,6 +48,7 @@ from ui_MainWin import Ui_MainWindow
 from view.ResetView import StopDialog
 from EMV.EMV import RelayController
 from CU.drop import DropPositionManager
+import re
 
 
 class MainWindow(QMainWindow, Ui_MainWindow):
@@ -764,6 +765,7 @@ class MainWindow(QMainWindow, Ui_MainWindow):
         
         self.last_time = time.time()
         self.remain_lineName = self.configReader.get('Robot_Feed', 'remain_lineName')
+        self.remain_drop_weight = self.configReader.get("Robot_Feed", "remain_dropweight_kg")  # 9/29 投料重量, 单位kg
         self.remain_Count = int(self.configReader.get('Robot_Feed', 'remain_Count'))
         self.maduo_Count = int(self.configReader.get('Robot_Feed', 'maduo_Count'))
         self.label_remain_num.setText(str(self.remain_Count))
@@ -803,8 +805,10 @@ class MainWindow(QMainWindow, Ui_MainWindow):
         if line_model:
             self.feedLine_dict[f'{Constant.dropLine_set_section}-35'] = line_model
 
-        self.updateUI_Select_Line()
+        # self.updateUI_Select_Line()
-        pass
+        # 9/29 初始化线名选择框 和 重量选择框
+        self.updateui_select_line_by_feedLine_ini()
+        self.updateui_select_dropweight_by_drop_ini()
 
     def init_robot_info(self):
         j1_min = int(self.configReader.get('Robot_Feed', 'j1_min'))
@@ -1491,6 +1495,90 @@ class MainWindow(QMainWindow, Ui_MainWindow):
         self.comboBox_lineIndex.clear()
         for key, value in self.feedLine_dict.items():
             self.comboBox_lineIndex.addItem(value.name, key)
+
+    # 9/29: 只需要加载FeedLine.ini中的name 作为comboBox_lineIndex的选项
+    def updateui_select_line_by_feedLine_ini(self):
+        self.comboBox_lineIndex.clear()
+        configReader = configparser.ConfigParser()
+        configReader.read(Constant.feedLine_set_file, encoding="utf-8")
+        for index in range(1, Constant.MAX_Line_num):
+            section = f"{Constant.feedLine_set_section}{index}"
+            if configReader.has_section(section):
+                line_name = configReader.get(section, "name")
+                self.comboBox_lineIndex.addItem(line_name, section)
+
+        # 设置初始化选中，初始选中 f'{Constant.feedLine_set_section}{self.remain_linename}'
+        if self.remain_lineName:
+            selected_value = f"{Constant.feedLine_set_section}{self.remain_lineName}"
+            selected_index = self.comboBox_lineIndex.findData(selected_value)
+            if selected_index >= 0:
+                self.comboBox_lineIndex.setCurrentIndex(selected_index)
+
+    # 9/29 初始化加载 drop.ini 中的name，获取预先设置的重量
+    def updateui_select_dropweight_by_drop_ini(self):
+        self.comboBox_dropWeight.clear()
+        configReader = configparser.ConfigParser()
+        # 读取重量路径配置文件 drop.ini
+        configReader.read(Constant.dropLine_set_file, encoding="utf-8")
+
+        # drop_name匹配xxxkg获取重量
+        weight_pattern = re.compile(r'(\d+kg)')
+
+        for index in range(1, Constant.MAX_Line_num):
+            section = f"{Constant.dropLine_set_section}{index}"
+            if configReader.has_section(section):
+                drop_name = configReader.get(section, "name")
+                match = weight_pattern.search(drop_name)
+                if match:
+                    # 提取匹配到的内容（如"50kg"）
+                    weight_text = match.group(1)
+                else:
+                    # 无法匹配xxxkg， 则使用"未知重量"
+                    weight_text = "未知重量"
+                # userData: 如 DropLine50kg
+                userData = f"{Constant.dropLine_set_section}{weight_text}"
+                self.comboBox_dropWeight.addItem(weight_text, userData)
+
+        # 连接槽函数
+        self.comboBox_dropWeight.currentIndexChanged.connect(self.on_drop_weight_changed)
+
+        # 设置初始化选中的重量
+        if self.remain_drop_weight:
+             # selected_value: 如 DropLine50kg
+            selected_value = f"{Constant.dropLine_set_section}{self.remain_drop_weight}kg"
+            selected_index = self.comboBox_dropWeight.findData(selected_value)
+            if selected_index >= 0:
+                self.comboBox_dropWeight.setCurrentIndex(selected_index)
+                # 初始化重量提示标签
+                self.weight_label_info.setText(f"Tips: 当前选择的码垛重量为 {self.remain_drop_weight}kg")
+
+
+    """9/29 重量下拉框选中项变化时, 更新self.remain_drop_weight"""
+    def on_drop_weight_changed(self, index):
+        # 默认的重量为 50 kg
+        default_weight = 50
+
+        if index < 0:  # 没有选中项时（如下拉框为空）
+            self.remain_drop_weight = default_weight
+            return
+        
+        # 获取当前选中项的显示文本（如"50kg"）
+        selected_text = self.comboBox_dropWeight.currentText()
+        
+        # 提取重量数值（从"50kg"中提取"50"）
+        weight_pattern = re.compile(r'(\d+)kg')
+        match = weight_pattern.search(selected_text)
+        if match:
+            # 提取数字部分（如"50"）
+            self.remain_drop_weight = match.group(1)
+        else:
+            # 若为"未知重量"，remain_drop_weight 也为 default_weight
+            self.remain_drop_weight = default_weight
+
+        # 更新上方的码垛重量提示Tips：
+        self.weight_label_info.setText(f"Tips: 当前选择的码垛重量为 {selected_text}")
+
+
     def updateUI_label_status(self):
         if self.robotClient.status_model.isMoving==1:
             self.label_move_sign.show()
@@ -1945,7 +2033,9 @@ class MainWindow(QMainWindow, Ui_MainWindow):
     def send_click_change_stackView(self,index):
         self.stackedWidget_view.setCurrentIndex(index)
         if index == 0:
-            self.updateUI_Select_Line()
+            # 9/29： 切换界面，不刷新 线名选择框 comboBox_lineIndex
+            # self.updateUI_Select_Line()
+            pass
         if index == 2:
             self.updateRobotSeting()
             self.updateUI_Photo_Set()
@@ -2009,16 +2099,20 @@ class MainWindow(QMainWindow, Ui_MainWindow):
     #记录投料袋数
     def record_remain_num(self):
          try:
-             self.configReader = configparser.ConfigParser()
+            self.configReader = configparser.ConfigParser()
-             self.configReader.read(Constant.set_ini)
+            self.configReader.read(Constant.set_ini)
-             if self.feeding.feedConfig:
+            if self.feeding.feedConfig:
                 self.configReader.set('Robot_Feed', 'remain_linename', str(self.feeding.feedConfig.feedLine.id))
                 self.configReader.set('Robot_Feed', 'remain_count', str(self.feeding.feedConfig.remain_count))
-             if self.cur_pushbutton_num:
+            if self.cur_pushbutton_num:
                 self.configReader.set('Robot_Feed', 'maduo_count', self.cur_pushbutton_num.text())
-             self.configReader.write(open(Constant.set_ini, 'w', encoding='utf-8'))
+
+            # 9/29 保存 remain_dropweight_kg 投料的重量，35、50 (单位kg)
+            self.configReader.set("Robot_Feed", "remain_dropweight_kg", str(self.remain_drop_weight))
+
+            self.configReader.write(open(Constant.set_ini, 'w', encoding='utf-8'))
          except:
-             log.log_message(logging.ERROR, Constant.str_sys_log_feedNum)
+            log.log_message(logging.ERROR, Constant.str_sys_log_feedNum)
 
 
 class MyApplication(QApplication):

ui_MainWin.py

@@ -628,7 +628,36 @@ class Ui_MainWindow(object):
 "border-image: None;")
         self.frame_sign_2.setFrameShape(QFrame.Shape.StyledPanel)
         self.frame_sign_2.setFrameShadow(QFrame.Shadow.Raised)
-        self.gridLayout_4 = QGridLayout(self.frame_sign_2)
+
+
+        # 9/30 新增显示 投料的重量的信息
+        self.verticalLayout_sign = QVBoxLayout(self.frame_sign_2)
+        self.verticalLayout_sign.setObjectName(u"verticalLayout_sign")
+        self.verticalLayout_sign.setContentsMargins(0, 0, 0, 0)  # 清除边距
+        self.verticalLayout_sign.setSpacing(5)  # 新标签与下方网格布局的间距
+
+        # 1. 添加新的信息标签（放在上方）
+        self.weight_label_info = QLabel(self.frame_sign_2)
+        self.weight_label_info.setObjectName(u"label_info")
+        # 设置标签样式 background-color: #2c2c2c;
+        self.weight_label_info.setStyleSheet(u"""
+        QLabel {
+                background-color: rgba(255, 255, 255, 0);
+                color: red;
+                font: 11pt "Microsoft YaHei UI";
+                padding: 5px;
+                border-radius: 3px;
+        }
+        """)
+        self.weight_label_info.setText("显示当前的重量")  # 初始信息
+        # self.weight_label_info.setAlignment(Qt.AlignmentFlag.AlignLeft | Qt.AlignmentFlag.AlignVCenter) 
+        self.weight_label_info.setAlignment(Qt.AlignmentFlag.AlignCenter) # 居中
+        self.verticalLayout_sign.addWidget(self.weight_label_info)  
+
+
+        # 9/10
+        # self.gridLayout_4 = QGridLayout(self.frame_sign_2)
+        self.gridLayout_4 = QGridLayout()
         self.gridLayout_4.setObjectName(u"gridLayout_4")
         self.pushButton_sign_go = QPushButton(self.frame_sign_2)
         self.pushButton_sign_go.setObjectName(u"pushButton_sign_go")
@@ -786,6 +815,9 @@ class Ui_MainWindow(object):
 
         self.gridLayout_4.addWidget(self.label_sign_feed, 0, 7, 1, 1)
 
+        # 9/10 添加 取料中、拍照中等布局
+        self.verticalLayout_sign.addLayout(self.gridLayout_4)
+
 
         self.verticalLayout_14.addWidget(self.frame_sign_2)
 
@@ -3310,6 +3342,47 @@ class Ui_MainWindow(object):
 
         self.verticalLayout_11.addWidget(self.comboBox_lineIndex)
 
+        # 9/29 新增重量选择框 和 选择投料重量提示
+        weight_h_layout = QHBoxLayout()
+        # weight_h_layout.setSpacing(10) 
+        self.weight_label = QLabel(self.frame_20)
+        self.weight_label.setText("选择码垛重量:")
+        self.weight_label.setStyleSheet("color: white;") 
+        weight_h_layout.addWidget(self.weight_label)
+
+        self.comboBox_dropWeight = QComboBox(self.frame_20)
+        self.comboBox_dropWeight.setObjectName(u"comboBox_dropWeight")
+        self.comboBox_dropWeight.setStyleSheet(u"QComboBox {\n"
+"    border-radius: 10px;\n"
+"    padding: 5px 5px 5px 5px;\n"
+"    background-color: #2c2c2c;\n"
+"    color: white;\n"
+"    border: 1px solid #474747;\n"
+"    min-width: 80px;\n"
+"}\n"
+"\n"
+"\n"
+"QComboBox::drop-down {\n"
+"    width: 0px;\n"
+"    border: none;\n"
+"\n"
+"}\n"
+"\n"
+"QComboBox::down-arrow {\n"
+"    image: none;\n"
+"}\n"
+"\n"
+"QComboBox QAbstractItemView {\n"
+"    border-bottom-right-radius: 10px;\n"
+"    border-bottom-left-radius: 10px;\n"
+"    background-color: #D3D3D3;\n"
+"    border: 1px solid gray;\n"
+"    padding: 4px 4px 4px 4px;\n"
+"    outline: none;\n"
+"}")
+        weight_h_layout.addWidget(self.comboBox_dropWeight)
+        self.verticalLayout_11.addLayout(weight_h_layout)
+
         self.stackedWidget_num = QStackedWidget(self.frame_20)
         self.stackedWidget_num.setObjectName(u"stackedWidget_num")
         self.stackedWidget_num.setStyleSheet(u"border:none;")