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

.gitignore

@@ -1,64 +1,276 @@
-# Python
-*/__pycache__/
+# ---> Qt
+# C++ objects and libs
+*.slo
+*.lo
+*.o
+*.a
+*.la
+*.lai
+*.so
+*.so.*
+*.dll
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+
+# 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
+
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 *.egg-info/
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-# IDEs and editors
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+#  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.
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+*.cover
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+.hypothesis/
+.pytest_cache/
+cover/
+
+# Translations
+*.mo
+*.pot
+
+# Django stuff:
+*.log
+local_settings.py
+db.sqlite3
+db.sqlite3-journal
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+.webassets-cache
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+
+# 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/
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+# Spyder project settings
+.spyderproject
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+# Rope project settings
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+
+# mypy
+.mypy_cache/
+.dmypy.json
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+.pyre/
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+# pytype static type analyzer
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+cython_debug/
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+# 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
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+#  option (not recommended) you can uncomment the following to ignore the entire idea folder.
+#.idea/
+
+# Ruff stuff:
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+# 忽略.vscode文件夹
 .vscode/
-*.suo
-# *.ntvs*
-# *.njsproj
-# # *.sln
-# *.sw?
+.VSCodeCounter
 
-# OS generated files
-# .DS_Store
-# .DS_Store?
-# ._*
-# .Spotlight-V100
-# .Trashes
-# ehthumbs.db
-# Thumbs.db
+# 忽略工作区文件
+*.code-workspace
+.DS_Store
 
-# 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
-# *.tmp
-# *.temp
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+# 忽略配置文件
+config.json
 
-# Test coverage
-# .coverage
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+# 忽略下载文件夹
+download/
 
-# Debug
-# *.pyc
-# *.pyd
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-# Runtime data
-# pids
-# *.pid
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-
-# Project specific
-# test.py
-# test2.py
-# test3.py
-# test6.py
-# TEST3.py
-# workflow_test.py
-# MvFGSdkLog/
-# MvSDKLog/
-# Trace/com_pose.txt
-# Trace/com_pose2.txt
+# 忽略构建文件夹
+build/
+dist/
+PyQt_Fluent_Widgets.egg-info/
+PySide6_Fluent_Widgets.egg-info/
+PyQt6_Fluent_Widgets.egg-info/
+PySide2_Fluent_Widgets.egg-info/
+/COM/__pycache__
+/__pycache__
+/CU/__pycache__
+/EMV/__pycache__
+/Model/__pycache__
+/Trace/__pycache__
+/Util/__pycache__
+/view/__pycache__
+/log/log.log

.idea/.gitignore

@@ -1,3 +0,0 @@
-# Default ignored files
-/shelf/
-/workspace.xml

.idea/ailai.iml

@@ -1,12 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<module type="PYTHON_MODULE" version="4">
-  <component name="NewModuleRootManager">
-    <content url="file://$MODULE_DIR$" />
-    <orderEntry type="inheritedJdk" />
-    <orderEntry type="sourceFolder" forTests="false" />
-  </component>
-  <component name="PyDocumentationSettings">
-    <option name="format" value="PLAIN" />
-    <option name="myDocStringFormat" value="Plain" />
-  </component>
-</module>

.idea/inspectionProfiles/profiles_settings.xml

@@ -1,6 +0,0 @@
-<component name="InspectionProjectProfileManager">
-  <settings>
-    <option name="USE_PROJECT_PROFILE" value="false" />
-    <version value="1.0" />
-  </settings>
-</component>

.idea/misc.xml

@@ -1,4 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<project version="4">
-  <component name="ProjectRootManager" version="2" project-jdk-name="ailai" project-jdk-type="Python SDK" />
-</project>

.idea/modules.xml

@@ -1,8 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<project version="4">
-  <component name="ProjectModuleManager">
-    <modules>
-      <module fileurl="file://$PROJECT_DIR$/.idea/ailai.iml" filepath="$PROJECT_DIR$/.idea/ailai.iml" />
-    </modules>
-  </component>
-</project>

.idea/vcs.xml

@@ -1,6 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<project version="4">
-  <component name="VcsDirectoryMappings">
-    <mapping directory="" vcs="Git" />
-  </component>
-</project>

COM/COM_Robot.py

@@ -1,9 +1,7 @@
 import logging
 from enum import Enum
 from turtle import Turtle
-
-from numpy.array_api import trunc
-
+# from numpy.array_api import trunc
 import Constant
 from COM.COM_TCP import TCPClient
 import queue
@@ -45,17 +43,11 @@ class RobotClient(TCPClient):
     def send_Command(self):
         try:
             if self.command_quene.qsize()!=0:
-                log.log_message(logging.INFO, f'robot-command:从队列获取命令')
                 command = self.command_quene.get()
-                log.log_message(logging.INFO, f'robot-command:{command}')
                 self.client_socket.send(command.encode())
                 if True:
                     response = self.client_socket.recv(1024).decode('utf-8')
                     # response_message = json.loads(response)
-                    if response:
-                      log.log_message(logging.INFO, f'robot-command:{response},剩余:{self.command_quene.qsize()}条命令')
-                    else:
-                      log.log_message(logging.INFO, f'robot-command:无返回值,剩余:{self.command_quene.qsize()}条命令')
                 return True
             else:
                 return True
@@ -101,10 +93,10 @@ class RobotClient(TCPClient):
                         log.log_message(logging.ERROR,Constant.str_tcp_robot_data_error)
             return True
         except json.JSONDecodeError as e:
-            log.log_message(logging.WARNING,Constant.str_sys_json_error+request_status_json)
+            log.log_message(logging.WARNING,Constant.str_sys_json_error+response)
             return True
         except Exception as e:
-            log.log_message(logging.ERROR,f'{e}{request_status_json}')
+            log.log_message(logging.ERROR,f'{e}{response}')
             raise
 
     def send_emergency_sound(self):

COM/COM_TCP.py

@@ -41,11 +41,10 @@ class TCPClient:
                 if (self.send_Status() and self.send_Command()):
                     self.error_count = 0
             except Exception as e:
-                log.log_message(logging.ERROR,f'COM_TCP: {str(e)}')
                 self.error_count += 1
             if self.error_count> 5:
                 print("Error: 机械臂控制程序中TCPClient is not connected")
-                # log.log_message(logging.ERROR,f'{Constant.str_tcp_connect_no_reply}:{str(e)}')
+                log.log_message(logging.ERROR,Constant.str_tcp_connect_no_reply)
                 try:
                     self.CreatConnect()
                     log.log_message(logging.INFO, Constant.str_tcp_reconnect)

CU/Feed_save.py

@@ -268,7 +268,7 @@ 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()
+        # self.drop_manager = DropPositionManager()
         pass
 
     def close_feed(self):

CU/Feeding.py

@@ -1,8 +1,6 @@
 import copy
 from dis import stack_effect
 import logging
-import math
-from pickle import FALSE
 import random
 import threading
 import time
@@ -31,21 +29,12 @@ from Util.util_log import log
 from Model.RobotModel import Instruction
 from EMV.EMV import RelayController
 from CU.drop import DropPositionManager
-from Mv3D.CameraUtil import CameraUtil
-from Mv3D.calculate_diff2 import calculate_offset_from_image
-
+# from Mv3D.CameraImg import CameraImg
 class ResetStatus(Enum):
     RNone = 0
-    #开始复位 
     RStart = 1
-    #复位向上移到最高点
     RRunging = 2
-    #扔包点
     ROk =3
-    #复位点
-    RRestPoint = 5
-    #复位完成
-    RFinish = 4
 
 class FeedStatus(IntEnum):
     FNone = 0
@@ -86,7 +75,7 @@ class FeedPosition:
         self.position = position
 
 class FeedLine:
-    def __init__(self, id, name, feed_positions:list,remain_count:int):
+    def __init__(self, id, name, feed_positions:list,remain_count:int,drop_manage:DropPositionManager):
         self.feed_positions = copy.deepcopy(feed_positions)
         
         self.feeding2end_pos_index = 0
@@ -94,7 +83,7 @@ class FeedLine:
         self.start2take_pos_index = 0
         self.name = name
         self.id = id
-        self.drop_manager = DropPositionManager()
+        self.drop_manager = drop_manage
         # 初始化各个阶段的位置列表
         self.feeding_to_end = []
 
@@ -215,7 +204,7 @@ class FeedLine:
                     f"✅ FDropBag 位置已更新: ({position.X}, {position.Y}, {position.Z}, {position.U}, {position.V}, {position.W})")
                 break  # 假设只有一个丢包点
 
-    def get_drop_path(self,offsetX) -> list:
+    def get_drop_path(self) -> list:
         """获取动态扔包路径"""
 
         if self.drop_manager is None:
@@ -229,11 +218,8 @@ class FeedLine:
                 self.id,
                 self.current_index
             )
-            
             if pos_model is None:
                 break
-            if pos_model.status==FeedStatus.FDropBag.value:
-                pos_model=self.get_offset_position(pos_model,self.current_index,offsetX)
             path.append(pos_model)
         return path
 
@@ -259,51 +245,21 @@ class FeedLine:
         self.start_to_take = self.feed_positions[index_start:index_take+1]
         self.feeding_to_end = self.feed_positions[index_take:]
 
-    def set_feeding_to_end(self,offsetX)->bool:
-        """
-        设置动态扔包路径
-        :param image_path: 偏移量图像路径
-        """
+    def set_feeding_to_end(self):
+       
         for i in range(len(self.feed_positions)):
             if self.feed_positions[i].status == FeedStatus.FPhoto.value:
                 index_take = i
                 break
         index_drop=self.current_dropbag_index
-        test_path = self.get_drop_path(offsetX)
+        test_path = self.get_drop_path()
         self.current_index+=1
           # 将总list的drop部分，替换为动态路径
         self.feed_positions = self.feed_positions[:index_drop] + test_path
         # self.feeding_to_end = self.feed_positions[index_take:index_drop]
         self.feeding_to_end = self.feed_positions[index_take:index_drop]+test_path
-    
-       # 计算偏移量
-  
-    def get_offset_position(self,point,_current_index,offsetX):
-        """
-        获取偏移后的坐标。
-        """    
-        _current_index=_current_index-1
-        if _current_index<0:
-           _current_index=0
-        loc_floor=(_current_index//5)+1
-        loc_bag=(_current_index%5)+1
-        if loc_floor in [1,3,5]:
-            if loc_bag in [1,2,3]:
-                point.X=round(point.X-offsetX, 3)
-            elif loc_bag==4:
-                point.Y=round(point.Y-offsetX, 3)
-            elif loc_bag==5:
-                point.Y=round(point.Y+offsetX, 3)
-        elif loc_floor in [2,4,6]:
-            if loc_bag in [1,2,3]:
-                point.X=round(point.X+offsetX, 3)
-            elif loc_bag==4:
-                point.Y=round(point.Y-offsetX, 3)
-            elif loc_bag==5:
-                point.Y=round(point.Y+offsetX, 3)
-        return point
-               
- 
+
+
 class FeedingConfig:
     def __init__(self, num: int, feedLine: FeedLine, photo_locs,remain_count:int):
         #需码垛数量，如50，或30
@@ -330,10 +286,6 @@ class Feeding(QObject):
     log_signal = Signal(int,str)
     #码垛完成通知
     stack_finish_signal=Signal()
-    #误差过大，通知用户
-    feed_error_signal=Signal(int,str)
-    #数量保存信号
-    feed_nums_signal=Signal(int)
 
     def __init__(self, robotClient: RobotClient,relay_controller:RelayController):
         super().__init__()
@@ -374,7 +326,7 @@ class Feeding(QObject):
         #用于同步控制EMV相关
         self.relay_controller = relay_controller
         self.relay_controller.take_robot_signal.connect(self.take_feed_notice)
-        self.camera_img=CameraUtil()
+        # self.camera_img=CameraImg()
         # 启动传感器2线程
         # self.relay_controller._running = True
         # self.sensor2_thread = None
@@ -388,8 +340,8 @@ class Feeding(QObject):
         # self.detect_thread.join()
         if self.detect.detection:
             self.detect.detection.release()
-        if self.camera_img:
-            self.camera_img.release()
+        # if self.camera_img:
+        #     self.camera_img.close_camera()
 
     def run_detect(self):
         #图片相关线程
@@ -401,8 +353,6 @@ class Feeding(QObject):
         """接收机器人信号通知"""
         self.take_sensor_signal = True
 
-
-
     def run(self):
         self.catch.run()
         # 获取事件坐标
@@ -505,10 +455,6 @@ class Feeding(QObject):
                     #self.catch.catch_status = CatchStatus.CTake
 
         elif self.feedStatus == FeedStatus.FPhoto:
-           
-            if not real_position.compare(self.robotClient.origin_position,is_action=True):
-                 return
-            
             #码垛的数量和配置的数量一致时
             if self.feedConfig.remain_count >=self.feedConfig.num:
                 #关闭，暂停
@@ -519,7 +465,7 @@ class Feeding(QObject):
                 self.feedConfig.feedLine.origin2start_pos_index = len(self.feedConfig.feedLine.origin_to_start) - 2
                 #码垛数量重置
                 self.feedConfig.remain_count=0
-                # self.next_position(self.is_reverse)
+                self.next_position(self.is_reverse)
                 #码垛完成信号通知
                 self.stack_finish_signal.emit()
                 self.log_signal.emit(logging.INFO, Constant.str_feed_photo)
@@ -533,66 +479,38 @@ class Feeding(QObject):
                     self.next_position()
                     return
                 #初始点无论如何先打开夹爪
-                self.relay_controller.close(clamp=True)
-
-                self.relay_controller.close(blow_sensor2=True)
-                #重新抓去信号料带
-                self.take_sensor_signal=False
-                self.relay_controller.sensor2_ready=True
-                #去除list.ini读取抓取点20250915
-                #self.feedConfig.feedLine.set_take_position(self.detect.detect_position, 0)
-                #self.feedConfig.feedLine.set_take_position(real_position, 0)#必须设置
-                # 一直等待传感器2信号，永不超时
-                # TODO:逻辑需改变，不能用while循环
-                if Constant.DebugPosition:
-                    self.take_sensor_signal=True
-                while True:
-                    # sensors = self.relay_controller.get_all_device_status('sensors')
-                    # sensor2_value = sensors.get(self.relay_controller.SENSOR2, False)
-                    if self.take_sensor_signal:
-                        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:
-                        if self.feedStatus == FeedStatus.FNone:
-                            return
-                        time.sleep(1)  # 每秒检查一次
-               
-                loc_offsetX=0
-                loc_is_next=False
-                #第二次执行FeedStatus.FPhoto时，改变码垛点
-                try:
-                    loc_image_path=self.camera_img.save_img()
-                    loc_model_result = calculate_offset_from_image(loc_image_path, visualize=False)
-                    if loc_model_result['success']:
-                        #置信度
-                        if loc_model_result['obj_conf']>0.5:
-                            loc_offsetX=loc_model_result['dx_mm']
-                            if abs(loc_model_result['dx_mm'])<200:
-                                loc_is_next=True   
-                                print(f'{loc_image_path}:料带偏移{loc_offsetX}mm')                           
-                            else:
-                                print(f"{loc_image_path}:料带偏移过大，报警")
-                                self.feed_error_signal.emit(1,f"{loc_image_path}:料带偏移过大，报警")
+                if self.relay_controller.close(clamp=True):
+                    #重新抓去信号料带
+                    self.take_sensor_signal=False
+                    self.relay_controller.sensor2_ready=True
+                    #去除list.ini读取抓取点20250915
+                    #self.feedConfig.feedLine.set_take_position(self.detect.detect_position, 0)
+                    #self.feedConfig.feedLine.set_take_position(real_position, 0)#必须设置
+                    # 一直等待传感器2信号，永不超时
+                    # TODO:逻辑需改变，不能用while循环
+                    if Constant.DebugPosition:
+                        self.take_sensor_signal=True
+                    while True:
+                        # sensors = self.relay_controller.get_all_device_status('sensors')
+                        # sensor2_value = sensors.get(self.relay_controller.SENSOR2, False)
+                        if self.take_sensor_signal:
+                            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:
-                            print(f"{loc_image_path}:未检测到料带,置信度低")
-                            self.feed_error_signal.emit(2,f"{loc_image_path}:未检测到料带,置信度低")
-                    else:
-                        print(f"{loc_image_path}:计算偏移失败，视觉返回False")
-                        self.feed_error_signal.emit(2,f"{loc_image_path}:计算偏移失败，视觉返回False")
-                        # loc_is_next=False
-                        loc_offsetX=0
-                except Exception as e:
-                    print(f"视频模型异常：{loc_image_path}",e)
-                    # loc_is_next=False
-                    loc_offsetX=0
-                    if not Constant.DebugPosition:      
-                        self.feed_error_signal.emit(2,"视频模型异常")
-                        self.log_signal.emit(logging.ERROR, f"视频模型异常：{e}")
-                finally:
-                    if loc_is_next or Constant.DebugPosition:
-                            self.feedConfig.feedLine.set_feeding_to_end(loc_offsetX)
-                            self.next_position()
-                            self.log_signal.emit(logging.INFO, Constant.str_sys_runing2)
+                            if self.feedStatus == FeedStatus.FNone:
+                                return
+                            time.sleep(1)  # 每秒检查一次
+                
+                    #第二次执行FeedStatus.FPhoto时，改变码垛点
+                    # self.camera_img.save_frame_path()
+                    self.feedConfig.feedLine.set_feeding_to_end()
+                    # self.take_photo_sigal.emit()
+                    self.next_position()
+                    self.log_signal.emit(logging.INFO, Constant.str_sys_runing2)
+                else:
+                    self.log_signal.emit(logging.ERROR, Constant.str_clamp_open_error)
+                    time.sleep(2)
+                # self.feedStatus = FeedStatus.FTake
 
         elif self.feedStatus == FeedStatus.FTake:
             self.log_signal.emit(logging.INFO, Constant.str_feed_take)
@@ -619,8 +537,11 @@ class Feeding(QObject):
                 # 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
 
-            self.relay_controller.open(clamp=True)
-            self.next_position(self.is_reverse)
+            if self.relay_controller.open(clamp=True):
+                self.next_position(self.is_reverse)
+            else:
+                self.log_signal.emit(logging.ERROR, Constant.str_clamp_close_error)
+                time.sleep(2)
             
             #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
 
@@ -693,10 +614,9 @@ class Feeding(QObject):
                     # (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(...)
-                    self.relay_controller.open(blow_sensor2=True)
+                    
                     # 码垛数量增加
                     self.feedConfig.remain_count = self.feedConfig.remain_count + 1
-                    self.feed_nums_signal.emit(self.feedConfig.remain_count)
                     # self.feedConfig.num = self.feedConfig.num - 1
                     self.log_signal.emit(logging.INFO, f'{Constant.str_feed_feed_num}{self.feedConfig.remain_count}')
                     # 5. *** 关键步骤 ***: 移动到路径中的下一个点
@@ -926,7 +846,6 @@ 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()
@@ -1051,109 +970,3 @@ class Feeding(QObject):
         return True
         pass
 
-class FeedReset(QObject):
-    def __init__(self,robotClient: RobotClient,relay_controller:RelayController,positions):
-        super().__init__()
-        self.robotClient = robotClient
-        self.relay_controller = relay_controller
-        self.reversed_positions = positions
-        self.reset_status = ResetStatus.RNone
-
-    def run_reset(self):
-        if self.reset_status == ResetStatus.RNone:
-            return
-
-        real_position = Real_Position()
-        real_position.init_position_joint_and_world(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,
-                                    self.robotClient.status_model.axis_0,
-                                    self.robotClient.status_model.axis_1,
-                                    self.robotClient.status_model.axis_2,
-                                    self.robotClient.status_model.axis_3,
-                                    self.robotClient.status_model.axis_4,
-                                    self.robotClient.status_model.axis_5)
-
-        if self.reset_status == ResetStatus.RStart:
-            #当前位置
-            self.reverse_index = 0
-            self.current_position = PositionModel()
-            self.current_position.init_position(real_position)
-            self.reset_status = ResetStatus.RRunging
-
-        elif self.reset_status == ResetStatus.RRunging:
-            #到达当前位置-》移到机械臂最上方
-
-            if not real_position.compare(self.current_position.get_position(),is_action=True):
-                return
-            self.current_position.X=real_position.Axis_0
-            self.current_position.Y=-59.997
-            self.current_position.Z=real_position.Axis_2
-            self.current_position.U=real_position.Axis_3
-            self.current_position.V=real_position.Axis_4
-            self.current_position.W=real_position.Axis_5
-            self.current_position.lineType=4
-            # pos_model.get_position().Y = pos_model.get_position().Y + 10000
-            #linetype 4是关节移动
-            self.sendTargPosition(pos_model= self.current_position,speed=60)
-            self.reset_status=ResetStatus.ROk
-             
-        elif self.reset_status == ResetStatus.ROk:
-            #到达机械臂最上方--》扔包点
-            if not real_position.compare(self.current_position.get_position(),is_action=True):
-                return
-            pos_model=self.reversed_positions[self.reverse_index]
-            
-            self.current_position = pos_model
-            self.sendTargPosition(pos_model=pos_model,speed=60)
-            self.reverse_index = self.reverse_index + 1
-            self.reset_status = ResetStatus.RRestPoint
-        elif self.reset_status == ResetStatus.RRestPoint:
-            #到达扔包点-》发送复位点
-            if real_position.compare(self.current_position.get_position(),is_action=True):
-                self.relay_controller.close(clamp=True)
-                pos_model=self.reversed_positions[self.reverse_index]
-                self.current_position = pos_model
-                self.sendTargPosition(pos_model=pos_model,speed=60)
-                self.reset_status = ResetStatus.RFinish
-        elif self.reset_status == ResetStatus.RFinish:
-           #到达复位点-》RNone
-            if not real_position.compare(self.current_position.get_position(),is_action=True):
-                return
-            self.reset_status = ResetStatus.RNone
-        
-           
-    def sendTargPosition(self, pos_model:PositionModel, speed=5):
-        real_position=pos_model.get_position()
-        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
-        
-        if pos_model.lineType == 4:
-             #linetype 4是关节移动
-            position_instruction.action = MoveType.AXIS.value
-        else:
-            position_instruction.action = MoveType.WORLD.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()
-        self.robotClient.add_sendQuene(request_command)
-        pass
-    

CU/drop.py

@@ -8,7 +8,7 @@ import Constant
 
 
 class DropPositionManager:
-    def __init__(self, config_path=Constant.dropLine_set_file):
+    def __init__(self, config_path):
         self.config_path = config_path
         self.config = configparser.ConfigParser()
         self._load_config()
@@ -167,11 +167,14 @@ class DropPositionManager:
             return None
             
 
-
+    #region 前端UI编辑码垛点位调用方法
     def load_path_points(self,lineid: int) ->Optional[LineModel]:
         """根据lineid加载所有码垛的路径信息"""
         #默认码垛的lineid从10开始
-        _lineid=lineid+10  
+        if self.config_path==Constant.dropLine_set_file_35:
+            _lineid=lineid+11
+        else: 
+            _lineid=lineid+10  
         line_model = LineModel(_lineid)
         line_model.line_category = 2
         line_model.id = _lineid
@@ -255,10 +258,13 @@ class DropPositionManager:
     def save_path_points(self, line_model: LineModel):
         """根据lineid保存所有码垛的路径信息"""
         #默认码垛的lineid从10开始,保存的时候减一
-        _lineid=line_model.id-10  
+        if self.config_path==Constant.dropLine_set_file_35:
+            _lineid=line_model.id-11  
+        else: 
+            _lineid=line_model.id-10  
         if _lineid<=0:
             return
-        self.config.read(Constant.dropLine_set_file, encoding='utf-8')
+        self.config.read(self.config_path, encoding='utf-8')
         # 查找主表 DropLineX
         main_section = f"{Constant.dropLine_set_section}{_lineid}"
         if not self.config.has_section(main_section):
@@ -267,7 +273,7 @@ class DropPositionManager:
         self.config.set(main_section, "id", str(_lineid))
         _current_reset_index=1
         _current_mid_index=1
-        _current_drop_section_val=self._current_drop_section[main_section]
+        _current_drop_section_val=self._get_max_drop_section()
         # 保存每个DropPoints
         for i, pos in enumerate(line_model.positions):
             if pos.lineId == _lineid or pos.lineId == line_model.id:
@@ -300,49 +306,25 @@ class DropPositionManager:
                 #保存数据
                 pos.save_position_model(self.config)
 
-        with open(Constant.dropLine_set_file, 'w', encoding='utf-8') as f:
+        with open(self.config_path, 'w', encoding='utf-8') as f:
             self.config.write(f)
     
     def del_drop_point(self,section):
-            self.config.read(Constant.dropLine_set_file, encoding = 'utf-8')
+            self.config.read(self.config_path, encoding = 'utf-8')
             self.config.remove_section(section)
-            with open(Constant.dropLine_set_file, 'w', encoding='utf-8') as f:
+            with open(self.config_path, 'w', encoding='utf-8') as f:
                 self.config.write(f)
 
-def _get_point_debug_info(manager, pos, model):
-    config = manager.config
-    for sec in config.sections():
-        if sec.startswith("DropPoints"):
-            try:
-                x, y, z = config.getfloat(sec, "x"), config.getfloat(sec, "y"), config.getfloat(sec, "z")
-                if abs(x - pos.X) < 0.001 and abs(y - pos.Y) < 0.001 and abs(z - pos.Z) < 0.001:
-                    point_id = config.getint(sec, "id")
-                    return f"📌 DropPoints{point_id} | id={point_id}"
-            except: pass
-
-        elif sec.startswith("DropMidPoint"):
-            try:
-                parts = sec.split('-')
-                if len(parts) != 2: continue
-                point_id = int(''.join(filter(str.isdigit, parts[0])))
-                level = int(parts[1])
-                x, y, z = config.getfloat(sec, "x"), config.getfloat(sec, "y"), config.getfloat(sec, "z")
-                if abs(x - pos.X) < 0.001 and abs(y - pos.Y) < 0.001 and abs(z - pos.Z) < 0.001:
-                    return f"📍 DropMidPoint{point_id}-{level} | id={point_id}, level={level}"
-            except: pass
-
-        elif sec.startswith("ResetPoint"):
-            try:
-                parts = sec.split('-')
-                if len(parts) != 2: continue
-                point_id = int(''.join(filter(str.isdigit, parts[0])))
-                level = int(parts[1])
-                x, y, z = config.getfloat(sec, "x"), config.getfloat(sec, "y"), config.getfloat(sec, "z")
-                if abs(x - pos.X) < 0.001 and abs(y - pos.Y) < 0.001 and abs(z - pos.Z) < 0.001:
-                    return f"🔙 ResetPoint{point_id}-{level} | id={point_id}, level={level}"
-            except: pass
-    return "❓ 未知点位"
-
+    def _get_max_drop_section(self):
+        """获取最大的DropPoints序号"""
+        max_section = 1
+        for section in self.config.sections():
+            if section.startswith("DropPoints"):
+                num_part = int(section.replace("DropPoints", "0"))
+                if num_part > max_section:
+                    max_section = num_part
+        return max_section
+   #endregion
 # 测试
 if __name__ == "__main__":
     # manager = DropPositionManager("drop.ini")

Config/reset_line.ini

@@ -1,34 +0,0 @@
-[FeedLine1]
-id = 1
-name = 1号线
-
-
-[Position1]
-x = -24.063
-y = -42.650
-z = -52.472
-u = 21.969
-v = 0.0
-w = 0.0
-id = 1
-order = 1
-lineid = 1
-status = 1
-linetype = 4
-
-[Position2]
-x = -44.430
-y = -59.997604
-z = -80.499
-u = 51.386665
-v = 0.0
-w = -0.0
-id = 2
-order = 2
-lineid = 1
-status = 2
-linetype = 4
-
-
-
-

Constant.py

@@ -3,7 +3,7 @@ import os
 # 调试变量
 Debug = False # 控制不加图像的Fphoto False是不加
 Debug1 = False # 打印很多日志节点
-DebugPosition = False # 调试位置，关闭机器人和传感器及判断
+DebugPosition = True # 调试位置，关闭机器人和传感器及判断
 # Debug2 = False
 feedStatus = True #feedStatus的状态打印
 
@@ -20,10 +20,9 @@ manual_adjust_accuracy = 1
 feedLine_set_section = 'FeedLine'
 dropLine_set_section = 'DropLine'
 position_set_section = 'Position'
-reset_line_set_section = 'ResetLine'
 feedLine_set_file = f'.{os.sep}Config{os.sep}FeedLine.ini'
 dropLine_set_file = f'.{os.sep}Config{os.sep}drop.ini'
-resetLine_set_file = f'.{os.sep}Config{os.sep}reset_line.ini'
+dropLine_set_file_35 = f'.{os.sep}Config{os.sep}drop-35.ini'
 MAX_Position_num = 40
 MAX_Line_num = 10
 set_ini = 'Seting.ini'
@@ -55,7 +54,6 @@ str_feed_drop_mid = '移动到码垛中间点位置'
 str_feed_drop_reset = '移动到码垛复位位置'
 str_feed_broken = '移动到破袋位置'
 str_feed_takePhoto_fail = '识别图像失败'
-str_image_model_fail = '摄像头识别料带失败'
 str_feed_takePhoto_success = '识别图像成功'
 str_feed_takePhoto_new_line = '新的一排袋识别'
 str_feed_takePhoto_line = '一排袋最高的识别'
@@ -107,7 +105,8 @@ str_tcp_connect_no_reply = '无回复'
 str_tcp_connect_error = 'tcp连接错误'
 str_tcp_reconnect = '重连中'
 str_sys_json_error = 'json解析错误'
-
+str_clamp_open_error = '夹爪打开失败'
+str_clamp_close_error = '夹爪关闭失败'
 
 str_sys_runing = '运行到这里了！'
 str_sys_runing1 = '运行到这里2！ '

EMV/EMV.py

@@ -14,8 +14,6 @@ import Constant
 class RelayController(QObject):
     log_signal = Signal(int, str)
     take_robot_signal = Signal()
-    emergency_signal = Signal(bool)
-
     def __init__(self, host='192.168.0.18', port=50000):
         super().__init__()
         # ===================== 全局线程延时参数 =====================
@@ -34,12 +32,11 @@ class RelayController(QObject):
         self.delay_clamp = 0.5  # 夹爪动作延时
         self.delay_after_pusher = 5.0  # 推板推出后到重启传动带时间
 
-        self.emergency_is_pressed=False
-
         # ===================== 传感器稳定检测参数 =====================
         self.sensor_stable_duration = 1.0  # 传感器状态稳定检测时间（秒）
         self.sensor_max_attempts = 3  # 连续检测次数达到此值判定有效
         self.sensor1_debounce_time = 1.0  # 传感器1防抖时间（秒）
+        self.sensor2_debounce_time = 3.0  # 袋尾检测3秒有效信号
 
         # ===================== 网络与设备映射 =====================
         self.host = host
@@ -53,12 +50,8 @@ class RelayController(QObject):
         self.PUSHER1 = 'pusher1'
         self.SENSOR1 = 'sensor1'
         self.SENSOR2 = 'sensor2'
-        self.BELT = 'belt'
-        self.ALARM = 'alarm'
-        self.BLOW_SENSOR2 = 'blow_sensor2'
 
         self.valve_commands = {
-            #包装机皮带
             self.CONVEYOR1: {'open': '000000000006010500070000', 'close': '00000000000601050007FF00'},
             # self.CONVEYOR11: {'open': '00000000000601050000FF00', 'close': '000000000006010500000000'},
             self.PUSHER: {'open': '00000000000601050001FF00', 'close': '000000000006010500010000'},
@@ -68,12 +61,6 @@ class RelayController(QObject):
             self.CLAMP: {'open': '00000000000601050003FF00', 'close': '000000000006010500030000'},
             #DO5 回 DO2推
             self.PUSHER1: {'open': '00000000000601050004FF00', 'close': '000000000006010500040000'},
-            #D07 长皮带
-            self.BELT: {'open': '00000000000601050006FF00', 'close': '000000000006010500060000'},
-            #D01 声控报警
-            self.ALARM: {'open': '00000000000601050000FF00', 'close': '000000000006010500000000'},
-            #DO6 吹传感器2
-            self.BLOW_SENSOR2: {'open': '00000000000601050005FF00', 'close': '000000000006010500050000'},
             #滚筒反转
             self.CONVEYOR2_REVERSE: {'open': '000100000006020620000022', 'close': '000100000006020620000001'}
         }
@@ -91,10 +78,7 @@ class RelayController(QObject):
             self.CONVEYOR2: 2,
             self.CLAMP: 3,
             self.PUSHER1: 4,
-            self.CONVEYOR2_REVERSE: 5,
-            self.BELT: 6,
-            self.ALARM: 7,
-            #self.BLOW_SENSOR2: 8
+            self.CONVEYOR2_REVERSE: 5
         }
 
         self.sensor_bit_map = {
@@ -103,15 +87,12 @@ class RelayController(QObject):
         }
 
         self.device_name_map = {
-            self.CONVEYOR1: "包装机皮带",
+            self.CONVEYOR1: "传送带1",
             self.PUSHER: "推板开",
-            self.CONVEYOR2: "滚筒",
+            self.CONVEYOR2: "传送带2",
             self.CLAMP: "机械臂夹爪",
             self.PUSHER1: "推板关",
-            self.CONVEYOR2_REVERSE: "滚筒反转",
-            self.BELT: "皮带",
-            self.ALARM: "声控报警",
-            self.BLOW_SENSOR2: "吹传感器2"
+            self.CONVEYOR2_REVERSE: "传送带2反转"
         }
 
         self.sensor_name_map = {
@@ -125,19 +106,20 @@ class RelayController(QObject):
         self._sensor1_thread = None
         self._sensor2_thread = None
 
-        self.required_codes = {'0101', '0103','0105','0107'}  # 有效状态码（传感器1）
-        self.required_codes_1 = {'0102', '0103','0106','0107'}  # 有效状态码（传感器2）
+        self.required_codes = {'0101', '0103'}  # 有效状态码（传感器1）
+        self.required_codes_1 = {'0102', '0103'}  # 有效状态码（传感器2）
 
         self.sensor1_triggered = False
         self.sensor1_last_time = 0
 
         self.sensor2_ready = False   #默认不打开
         self.motor_stopped_by_sensor2 = True
+        self.is_drop_35=False  #是否是35码
 
     # ===================== 基础通信方法 =====================
     def send_command(self, command_hex, retry_count=2, source='unknown'):
         if Constant.DebugPosition:
-            print(f"[发送命令] {command_hex} ({source})")
+            # print(f"[发送命令] {command_hex} ({source})")
             return None
         byte_data = binascii.unhexlify(command_hex)
         for attempt in range(retry_count):
@@ -156,20 +138,19 @@ class RelayController(QObject):
                         #print(f"[通信响应] {hex_response}")
                     return response
             except Exception as e:
+                # print(f"网络继电器通信错误 ({source}): {e}, 尝试重连... ({attempt + 1}/{retry_count})")
                 self.log_signal.emit(logging.INFO,f"网络继电器通信错误 ({source}): {e}, 尝试重连... ({attempt + 1}/{retry_count})")
-                print(f"网络继电器通信错误 ({source}): {e}, 尝试重连... ({attempt + 1}/{retry_count})")
                 time.sleep(5)
         self.trigger_alarm()
         return None
 
     def trigger_alarm(self):
         self.log_signal.emit(logging.ERROR,"警告：网络继电器连续多次通信失败，请检查设备连接！")
-        print("警告：网络继电器连续多次通信失败，请检查设备连接！")
 
     # ===================== 状态读取方法 =====================
     def get_all_device_status(self, command_type='devices'):
-        # if Constant.DebugPosition:
-        #      return {self.SENSOR2:True}
+        if Constant.DebugPosition:
+             return {self.SENSOR2:True}
         command = self.read_status_command.get(command_type)
         if not command:
             print(f"未知的网络继电器读取类型: {command_type}")
@@ -183,7 +164,7 @@ class RelayController(QObject):
             status_byte = response[9]
             status_bin = f"{status_byte:08b}"[::-1]
             bit_map = self.device_bit_map if command_type == 'devices' else self.sensor_bit_map
-            # name_map = self.device_name_map if command_type == 'devices' else self.sensor_name_map
+            name_map = self.device_name_map if command_type == 'devices' else self.sensor_name_map
 
             for key, bit_index in bit_map.items():
                 status_dict[key] = status_bin[bit_index] == '1'
@@ -208,6 +189,7 @@ class RelayController(QObject):
 
         if response and len(response) >= 10:
             hex_response = binascii.hexlify(response).decode('utf-8')
+
             # print(f"[原始响应][{command_type}] {hex_response}")
 
             # 假设传感器数据从第 9 字节开始，长度为 2 字节
@@ -221,24 +203,6 @@ class RelayController(QObject):
             print(f"[{command_type}] 无法获取响应数据")
         return responses
 
-    def get_emergency_is_pressed(self)->bool:
-        "获取急停信号，DI 3 位为1，正常，DI 3为0时为按下急停状态，00000000000401020107 后四位01表示一个字节，最后一位（07）二进制对应开关量"
-        "按下急停为"
-        command = self.read_status_command.get("sensors")
-        response = self.send_command(command)
-        loc_is_pressed=False
-        if response and len(response) >= 10:
-            status_byte = response[9]
-            #简单验证
-            status_crc=response[8]
-            loc_is_pressed =status_crc==1 and (status_byte & 0b100) == 0  # 0b100 表示第三位为1
-        else:
-            self.log_signal.emit(logging.ERROR,f"网络继电器[急停] 读取状态失败或响应无效")
-            print(f"网络继电器[急停] 读取状态失败或响应无效")
-                
-        return loc_is_pressed
-        
-
     def parse_status_code(self, response):
         """
         从 Modbus 响应字符串中提取状态码（后两位）
@@ -287,27 +251,6 @@ class RelayController(QObject):
             time.sleep(self.sensor2_loop_delay)
         return False
 
-    def is_valid_sensor2_status_lost(self, sensor_name):
-        stable_count = 0
-        _try_nums=5  # 尝试次数
-        for _ in range(_try_nums):
-            responses = self.get_all_sensor_responses('sensors')
-            response = responses.get(sensor_name)
-
-            if not response:
-                print(f"[警告] 无法获取 {sensor_name} 的响应，尝试重试...")
-                stable_count = 0
-            else:
-                status_code = self.parse_status_code(response)
-                if status_code not in self.required_codes_1:
-                    stable_count += 1
-                    if stable_count >= self.sensor_max_attempts:
-                        return True
-                else:
-                    stable_count = 0
-            time.sleep(self.sensor2_loop_lost)
-        return False
-
     def is_valid_sensor(self,sensor_name):
         """
         检查传感器状态是否有效
@@ -317,26 +260,19 @@ class RelayController(QObject):
             True: 传感器状态有效
             False: 传感器状态无效
         """
-        stable_count = 0
-        _try_nums=5  # 尝试次数
-        for _ in range(_try_nums):
-            responses = self.get_all_sensor_responses('sensors')
-            response = responses.get(sensor_name)
+        responses = self.get_all_sensor_responses('sensors')
+        response = responses.get(sensor_name)
 
-            if not response:
-                print(f"[警告] 无法获取 {sensor_name} 的响应，尝试重试...")
-                return False
+        if not response:
+            print(f"[警告] 无法获取 {sensor_name} 的响应，尝试重试...")
+            return False
+        else:
+            temp_status_code = self.parse_status_code(response)
+            if temp_status_code in self.required_codes_1:
+                return True
             else:
-                temp_status_code = self.parse_status_code(response)
-                if temp_status_code in self.required_codes_1:
-                    stable_count += 1
-                    if stable_count >= 3:
-                        return True
-                else:
-                   stable_count = 0
-            time.sleep(self.sensor2_loop_lost)
-        return False
-
+                return False
+         
     def is_valid_sensor_signal_stable(self, sensor_name, detection_duration=3.0, stability_duration=2.5, check_interval=0.1):
         """
         检测在指定时间窗口内是否存在持续稳定的有效信号      
@@ -367,67 +303,129 @@ class RelayController(QObject):
                     stable_start_time = None  # 信号不稳定，重置计时           
             time.sleep(check_interval)      
         return False
-    # ===================== 动作控制方法 =====================
-    def open(self, conveyor1=False, pusher=False, conveyor2=False, clamp=False, pusher1=False, conveyor2_reverse=False,belt=False,alarm=False,blow_sensor2=False):
-        # if Constant.DebugPosition:
-        #     return
-        # status = self.get_all_device_status()
-        if conveyor1:
-            self.send_command(self.valve_commands[self.CONVEYOR1]['open'])
-            time.sleep(self.delay_conveyor)
-        if pusher:
-            self.send_command(self.valve_commands[self.PUSHER]['open'])
-            time.sleep(self.delay_pusher)
-        if conveyor2:
-            self.send_command(self.valve_commands[self.CONVEYOR2]['open'])
-            time.sleep(self.delay_conveyor)
-        if clamp:
-            self.send_command(self.valve_commands[self.CLAMP]['open'])
-            time.sleep(self.delay_clamp)
-        if pusher1:
-            self.send_command(self.valve_commands[self.PUSHER1]['open'])
-            time.sleep(self.delay_pusher)
-        if conveyor2_reverse:
-            self.send_command(self.valve_commands[self.CONVEYOR2_REVERSE]['open'])
-            time.sleep(self.delay_conveyor)
-        if belt:
-            self.send_command(self.valve_commands[self.BELT]['open'])
-            # time.sleep(self.delay_belt)
-        if alarm:
-            self.send_command(self.valve_commands[self.ALARM]['open'])
-            # time.sleep(self.delay_alarm)
-        if blow_sensor2:
-            self.send_command(self.valve_commands[self.BLOW_SENSOR2]['open'])
-            # time.sleep(self.delay_blow_sensor2)
 
-    def close(self, conveyor1=False, pusher=False, conveyor2=False, clamp=False, pusher1=False, conveyor2_reverse=False,belt=False,alarm=False,blow_sensor2=False):
+    def is_valid_sensor2_status_lost(self, sensor_name):
+        """
+        检查传感器2是否丢失信号
+        """
+        stable_count = 0
+        _try_nums=5  # 尝试次数
+        for _ in range(_try_nums):
+            responses = self.get_all_sensor_responses('sensors')
+            response = responses.get(sensor_name)
+
+            if not response:
+                print(f"[警告] 无法获取 {sensor_name} 的响应，尝试重试...")
+                stable_count = 0
+            else:
+                status_code = self.parse_status_code(response)
+                if status_code not in self.required_codes_1:
+                    stable_count += 1
+                    if stable_count >= self.sensor_max_attempts:
+                        return True
+                else:
+                    stable_count = 0
+            time.sleep(self.sensor2_loop_lost)
+        return False
+
+    # ===================== 动作控制方法 =====================
+    def open(self, conveyor1=False, pusher=False, conveyor2=False, clamp=False, pusher1=False, conveyor2_reverse=False)->bool:
+        """将if改成elif,一次只能打开一个设备，否则会造成延时sleep时间不一致问题。并返回成功核验"""
+        loc_ret=False
+        loc_reponse=None
+        loc_send_command=None
+        status = self.get_all_device_status()
         if conveyor1:
-            self.send_command(self.valve_commands[self.CONVEYOR1]['close'])
+            if not status.get(self.CONVEYOR1, False):
+                loc_send_command=self.valve_commands[self.CONVEYOR1]['open']
+                loc_reponse=self.send_command(loc_send_command)
+                time.sleep(self.delay_conveyor)
+            else:
+                loc_ret=True
+        elif pusher:
+            if not status.get(self.PUSHER, False):
+                loc_send_command=self.valve_commands[self.PUSHER]['open']
+                loc_reponse=self.send_command(loc_send_command)
+                time.sleep(self.delay_pusher)
+            else:
+                loc_ret=True
+        elif conveyor2:
+            if not status.get(self.CONVEYOR2, False):
+                loc_send_command=self.valve_commands[self.CONVEYOR2]['open']
+                loc_reponse=self.send_command(loc_send_command)
+                time.sleep(self.delay_conveyor)
+            else:
+                loc_ret=True
+        elif clamp:
+            if not status.get(self.CLAMP, False):
+                loc_send_command=self.valve_commands[self.CLAMP]['open']
+                loc_reponse=self.send_command(loc_send_command)
+                time.sleep(self.delay_clamp)
+            else:
+                loc_ret=True
+        elif pusher1:
+            if not status.get(self.PUSHER1, False):
+                loc_send_command=self.valve_commands[self.PUSHER1]['open']
+                loc_reponse=self.send_command(loc_send_command)
+                time.sleep(self.delay_pusher)
+            else:
+                loc_ret=True
+        elif conveyor2_reverse:
+            if not status.get(self.CONVEYOR2_REVERSE, False):
+                loc_send_command=self.valve_commands[self.CONVEYOR2_REVERSE]['open']
+                loc_reponse=self.send_command(loc_send_command)
+                time.sleep(self.delay_conveyor)
+            else:
+                loc_ret=True
+
+       
+        if loc_reponse and len(loc_reponse) >= 10:
+            lol_hex_response = binascii.hexlify(response).decode('utf-8')
+            if lol_hex_response == loc_send_command:
+                loc_ret=True
+
+        if Constant.DebugPosition:
+            loc_ret=True
+        return loc_ret
+        
+
+    def close(self, conveyor1=False, pusher=False, conveyor2=False, clamp=False, pusher1=False, conveyor2_reverse=False)->bool:
+        loc_ret=False
+        loc_reponse=None
+        loc_send_command=None
+        if conveyor1:
+            loc_send_command=self.valve_commands[self.CONVEYOR1]['close']   
+            loc_reponse=self.send_command(loc_send_command)
             time.sleep(self.delay_conveyor)
         if pusher:
-            self.send_command(self.valve_commands[self.PUSHER]['close'])
+            loc_send_command=self.valve_commands[self.PUSHER]['close']
+            loc_reponse=self.send_command(loc_send_command)
             time.sleep(self.delay_pusher)
         if conveyor2:
-            self.send_command(self.valve_commands[self.CONVEYOR2]['close'])
+            loc_send_command=self.valve_commands[self.CONVEYOR2]['close']
+            loc_reponse=self.send_command(loc_send_command)
             time.sleep(self.delay_conveyor)
         if clamp:
-            self.send_command(self.valve_commands[self.CLAMP]['close'])
+            loc_send_command=self.valve_commands[self.CLAMP]['close']
+            loc_reponse=self.send_command(loc_send_command)
             time.sleep(self.delay_clamp)
         if pusher1:
-            self.send_command(self.valve_commands[self.PUSHER1]['close'])
+            loc_send_command=self.valve_commands[self.PUSHER1]['close']
+            loc_reponse=self.send_command(loc_send_command)
             time.sleep(self.delay_pusher)
         if conveyor2_reverse:
-            self.send_command(self.valve_commands[self.CONVEYOR2_REVERSE]['close'])
+            loc_send_command=self.valve_commands[self.CONVEYOR2_REVERSE]['close']
+            loc_reponse=self.send_command(loc_send_command)
             time.sleep(self.delay_conveyor)
-        if belt:
-            self.send_command(self.valve_commands[self.BELT]['close'])
-            # time.sleep(self.delay_belt)
-        if alarm:
-            self.send_command(self.valve_commands[self.ALARM]['close'])
-            # time.sleep(self.delay_alarm)
-        if blow_sensor2:
-            self.send_command(self.valve_commands[self.BLOW_SENSOR2]['close'])
-            # time.sleep(self.delay_blow_sensor2)
+
+        if loc_reponse and len(loc_reponse) >= 10:
+            lol_hex_response = binascii.hexlify(response).decode('utf-8')
+            if lol_hex_response == loc_send_command:
+                loc_ret=True
+        if Constant.DebugPosition:
+            loc_ret=True   
+        return loc_ret
+        
 
     # ===================== 传感器处理线程 =====================
     def handle_sensor1(self):
@@ -463,11 +461,11 @@ class RelayController(QObject):
                                        
                         time.sleep(1)
                         # 5. 状态检查（可选）
-                        # status = self.get_all_device_status()
-                        # if status.get('conveyor1') and not status.get('pusher'):
-                        #     print("流程完成1：皮带运行中，推板已收回")
-                        # else:
-                        #     print("状态异常，请检查设备")
+                        status = self.get_all_device_status()
+                        if status.get('conveyor1') and not status.get('pusher'):
+                            print("流程完成1：皮带运行中，推板已收回")
+                        else:
+                            print("状态异常，请检查设备")
                         # 流程结束，重置触发标志
                         self.sensor1_triggered = False
                 time.sleep(self.sensor1_loop_delay)
@@ -481,6 +479,14 @@ class RelayController(QObject):
         _is_pause_close=True
         #是否料袋尾部（有信号--》无信号）
         _is_signal=False
+
+         #正发转用
+        _is_reverse_2=False
+        #是否反转后正转信号消息
+        _is_signal_2=False
+        #是否首次正转信号
+        _is_first_signal_2=False
+
         while self._running:
             if self._ispause:
                 #暂停
@@ -494,30 +500,141 @@ class RelayController(QObject):
                 continue
             #开启线程
             _is_pause_close=True
+            if self.is_drop_35:
+             #region 35kg 正反转打平
+                try:
+                    if _is_signal_2 or self.is_valid_sensor_status_1(self.SENSOR2):                 
+                    #反转要加个防抖动时间 
+                        if _is_reverse_2:
+                            print('回退后检查到sensor2 35KG信号，正转')               
+                            self.open(conveyor2=True)
+                            _is_reverse_2=False
+                            _is_signal_2=True
+                        elif _is_signal_2 and self.is_valid_sensor2_status_lost(self.SENSOR2):
+                            print('检查到sensor2正转35KG信号消失')   
+                            self.close(conveyor2=True)
+                            #滚筒关闭标志
+                            self.motor_stopped_by_sensor2 = True
+                            # 发送信号通知机器人取走物品
+                            self.take_robot_signal.emit()
+                            _is_signal_2=False
+                            #停止后即使有信号了，也不能转，直到self.sensor2_ready=True
+                            # _is_first_signal=False
+                            self.sensor2_ready=False   #打开滚洞标识
+                        elif not _is_first_signal_2:
+                            print('检查到正转sensor2 35KG信号')
+                            #检测到信号，5秒
+                            time.sleep(6)
+                            self.open(conveyor2_reverse=True)
+                            _is_reverse_2=True 
+                            _is_first_signal_2=True
+                        time.sleep(0.1)
+                        continue
+                    elif self.sensor2_ready:
+                        #sensor2_ready:通过Feeding:FPhoto处控制是否启动
+                        if self.motor_stopped_by_sensor2:
+                            print('开滚筒')
+                            self.open(conveyor2=True)
+                            self.motor_stopped_by_sensor2 = False
+                            _is_first_signal=False
+                            # _is_reverse=False
+                            # _is_first_signal=False
+                            # _is_signal=False
 
+                    if _is_reverse_2:
+                        time.sleep(0.1)  
+                    else:  
+                        time.sleep(2)
+                except Exception as e:
+                    print(f"SENSOR3 处理错误: {e}")
+                    self.log_signal.emit(logging.ERROR,f"SENSOR3 处理错误: {e}")
+                    time.sleep(self.sensor2_error_delay)
+            #endregion
+            else:
+                try:
+                    
+                    if self.sensor2_ready:
+                        #sensor2_ready:通过Feeding:FPhoto处控制是否启动,到了，先启动
+                        if self.motor_stopped_by_sensor2:
+                            print('开滚筒')
+                            self.open(conveyor2=True)
+                            self.motor_stopped_by_sensor2 = False
+                    elif _is_signal or self.is_valid_sensor_signal_stable(self.SENSOR2,detection_duration=3,stability_duration=2.5,check_interval=0.5):
+                        #检测到信号，如果之前是没有信号，关闭滚筒                              
+                        print('检查到sensor2信号')   
+                        if _is_signal and self.is_valid_sensor2_status_lost(self.SENSOR2):
+                            print('检查到sensor2信号消失')   
+                            self.close(conveyor2=True)
+                            #滚筒关闭标志
+                            self.motor_stopped_by_sensor2 = True
+                            # 发送信号通知机器人取走物品
+                            self.take_robot_signal.emit()
+                            _is_signal=False
+                            self.sensor2_ready=False   #打开滚洞标识
+                        else:    
+                            _is_signal=True  
+                        # time.sleep(0.1)
+                        continue
+                            
+                    time.sleep(2)
+                except Exception as e:
+                    print(f"SENSOR2 处理错误: {e}")
+                    self.log_signal.emit(logging.ERROR,f"SENSOR2 处理错误: {e}")
+                    time.sleep(self.sensor2_error_delay)
+    
+    def handle_sensor3(self):
+        """
+        正转--》反转--》正转
+        """
+        _is_pause_close=True
+       #是否反转
+        _is_reverse=False
+        #是否反转后正转信号消息
+        _is_signal=False
+        #是否首次正转信号
+        _is_first_signal=False
+        #是否料袋尾部（有信号--》无信号）
+        while self._running:
+            if self._ispause:
+                #暂停
+                if _is_pause_close:
+                    self.close(conveyor2=True)
+                    self.motor_stopped_by_sensor2 = True
+                    # self.sensor2_ready = True  #初始值
+                    _is_pause_close=False
+                    
+                time.sleep(self.sensor2_error_delay)
+                continue
+            #开启线程
+            _is_pause_close=True
+            #滚动次数  
             try:
-                if _is_signal or self.is_valid_sensor_status_1(self.SENSOR2):
-                    #检测到信号，如果之前是没有信号，关闭滚筒                              
-                    print('检查到sensor2信号')              
-                    if _is_signal and self.is_valid_sensor2_status_lost(self.SENSOR2):
-                        print('检查到sensor2信号消失')   
+                if _is_signal or self.is_valid_sensor_status_1(self.SENSOR2):                 
+                   #反转要加个防抖动时间 
+                    if _is_reverse:
+                        print('回退后检查到sensor2信号，正转')               
+                        self.open(conveyor2=True)
+                        _is_reverse=False
+                        _is_signal=True
+                    elif _is_signal and self.is_valid_sensor2_status_lost(self.SENSOR2):
+                        print('检查到sensor2正转信号消失')   
                         self.close(conveyor2=True)
                         #滚筒关闭标志
                         self.motor_stopped_by_sensor2 = True
                         # 发送信号通知机器人取走物品
                         self.take_robot_signal.emit()
                         _is_signal=False
-                        self.sensor2_ready=False   #打开滚洞标识，FPhoto控制打开
-                    else:
-                        if self.sensor2_ready: 
-                            #只有在FPhoto处才有效
-                            _is_signal=True
-                            if self.motor_stopped_by_sensor2:
-                                print('开滚筒')
-                                self.open(conveyor2=True)
-                                self.motor_stopped_by_sensor2 = False
-
-                    # time.sleep(0.1)
+                        #停止后即使有信号了，也不能转，直到self.sensor2_ready=True
+                        # _is_first_signal=False
+                        self.sensor2_ready=False   #打开滚洞标识
+                    elif not _is_first_signal:
+                        print('检查到正转sensor2信号')
+                        #检测到信号，5秒
+                        time.sleep(6)
+                        self.open(conveyor2_reverse=True)
+                        _is_reverse=True 
+                        _is_first_signal=True
+                    time.sleep(0.1)
                     continue
                 elif self.sensor2_ready:
                     #sensor2_ready:通过Feeding:FPhoto处控制是否启动
@@ -525,26 +642,33 @@ class RelayController(QObject):
                         print('开滚筒')
                         self.open(conveyor2=True)
                         self.motor_stopped_by_sensor2 = False
-                        
-                time.sleep(2)
+                        _is_first_signal=False
+                        # _is_reverse=False
+                        # _is_first_signal=False
+                        # _is_signal=False
+
+                if _is_reverse:
+                    time.sleep(0.1)  
+                else:  
+                    time.sleep(2)
             except Exception as e:
-                print(f"SENSOR2 处理错误: {e}")
-                self.log_signal.emit(logging.ERROR,f"SENSOR2 处理错误: {e}")
+                print(f"SENSOR3 处理错误: {e}")
+                self.log_signal.emit(logging.ERROR,f"SENSOR3 处理错误: {e}")
                 time.sleep(self.sensor2_error_delay)
-    
+
     def pause_start_sensor(self,is_pause):
         """
         暂停或开启传感器线程
         is_pause:True是，False否
         """
         self._ispause = is_pause
-        
-        if is_pause:
-            """暂停皮带"""
-            self.close(belt=True)
-        else:
-            """开启皮带"""
-            self.open(belt=True)
+
+    def set_drop_35(self,is_drop_35):
+        """
+        设置是否是35码
+        is_drop_35:True是，False否
+        """
+        self.is_drop_35=is_drop_35    
 
 
     def stop_sensor(self,sensor1_thread,sensor2_thread):
@@ -558,28 +682,3 @@ class RelayController(QObject):
         if sensor2_thread and sensor2_thread.is_alive():
             sensor2_thread.join()
         print("传感器线程已终止。")
-
-    def handle_emergency_pressed(self):
-        "处理急停按钮信号状态线程"
-        print('检查急停按钮状态1')
-               
-        while self._running:
-            try:
-                print('检查急停按钮状态')
-                loc_is_pressed =self.get_emergency_is_pressed()
-                if loc_is_pressed:
-                    # 处理急停按钮信号状态                 
-                    if  not self.emergency_is_pressed:     
-                        print('急停按钮被按下')
-                        self.log_signal.emit(logging.INFO,f"急停按钮被按下")
-                    self.emergency_is_pressed=True
-                    self.emergency_signal.emit(True)
-                else:
-                    print('急停按钮未被按下')
-                    self.emergency_is_pressed=False
-                    self.emergency_signal.emit(False)
-                time.sleep(0.5)
-            except Exception as e:
-                print(f"急停 处理错误: {e}")
-                self.log_signal.emit(logging.ERROR,f"急停线程 处理错误: {e}")
-                time.sleep(2)

EMV/all_sensors_device_test.py

@@ -1,7 +1,4 @@
-import os
-import sys
 
-sys.path.insert(0, os.path.dirname(os.path.dirname(__file__)))
 from EMV import RelayController
 import time
 import threading
@@ -38,18 +35,6 @@ def test_device(device_name, action):
         'clamp': {
             'open': lambda: relay_controller.open(clamp=True),
             'close': lambda: relay_controller.close(clamp=True)
-        },
-        'alarm': {
-            'open': lambda: relay_controller.open(alarm=True),
-            'close': lambda: relay_controller.close(alarm=True)
-        },
-        'belt': {
-            'open': lambda: relay_controller.open(belt=True),
-            'close': lambda: relay_controller.close(belt=True)
-        },
-        'blow_sensor2': {
-            'open': lambda: relay_controller.open(blow_sensor2=True),
-            'close': lambda: relay_controller.close(blow_sensor2=True)
         }
     }
 
@@ -98,18 +83,16 @@ if __name__ == "__main__":
     # print(sensors)
     # time.sleep(3)
     # test_device('conveyor2', 'open')
-    # test_device('belt', 'close')
+    test_device('conveyor2_reverse', 'open')
     # time.sleep(3)
     # test_device('conveyor2', 'open')
-    # test_device('belt', 'close')
+    test_device('conveyor2', 'close')
     # sensors = relay_controller.get_all_device_status('sensors')
     # sensor2_value = sensors.get(relay_controller.SENSOR2, False)
     
     # relay_controller._running=True
     # relay_controller.handle_sensor2()
-    test_device('blow_sensor2', 'close')
-
-    # test_device('blow_sensor2', 'close')
+    # test_device('conveyor2', 'close')
     # while True:
     # if relay_controller.is_valid_sensor_status_1('sensor2'):         
     #     test_device('conveyor2', 'close')
@@ -129,10 +112,8 @@ if __name__ == "__main__":
     #     time.sleep(0.1)
   
         
-    # relay_controller._running=True
-    # relay_controller.handle_emergency_pressed()
+    
 
-    time.sleep(100)
 
     print('aaaaa')
     

MainRecources_rc.py

@@ -102112,31 +102112,31 @@ qt_resource_struct = b"\
 \x00\x00\x00\x0e\x00\x02\x00\x00\x00\x0d\x00\x00\x00\x03\
 \x00\x00\x00\x00\x00\x00\x00\x00\
 \x00\x00\x00\xb2\x00\x00\x00\x00\x00\x01\x00\x03/R\
-\x00\x00\x01\x9a\x01M\x90X\
+\x00\x00\x01\x99\x8e\x16\x01I\
 \x00\x00\x00\x1e\x00\x00\x00\x00\x00\x01\x00\x00\x00\x00\
-\x00\x00\x01\x9a\x01M\x90h\
+\x00\x00\x01\x99\x8e\x16\x01R\
 \x00\x00\x008\x00\x00\x00\x00\x00\x01\x00\x00\x05\x9a\
-\x00\x00\x01\x9a\x01M\x90X\
+\x00\x00\x01\x99\x8e\x16\x01N\
 \x00\x00\x00~\x00\x00\x00\x00\x00\x01\x00\x03\x13\xe9\
-\x00\x00\x01\x9a\x01M\x90h\
+\x00\x00\x01\x99\x8e\x16\x01O\
 \x00\x00\x00\xe4\x00\x00\x00\x00\x00\x01\x00\x0ff\xaf\
-\x00\x00\x01\x9a\x01M\x90X\
+\x00\x00\x01\x99\x8e\x16\x01I\
 \x00\x00\x01\xbc\x00\x00\x00\x00\x00\x01\x00\x18\xcf\xe2\
-\x00\x00\x01\x9a\x01M\x90h\
+\x00\x00\x01\x99\x8e\x16\x01O\
 \x00\x00\x01\x88\x00\x00\x00\x00\x00\x01\x00\x16\xd0\xa3\
-\x00\x00\x01\x9a\x01M\x90X\
+\x00\x00\x01\x99\x8e\x16\x01N\
 \x00\x00\x01\xa6\x00\x00\x00\x00\x00\x01\x00\x16\xd7X\
-\x00\x00\x01\x9a\x01M\x90h\
+\x00\x00\x01\x99\x8e\x16\x01Q\
 \x00\x00\x01\x16\x00\x00\x00\x00\x00\x01\x00\x0f\xd3\xa7\
-\x00\x00\x01\x9a\x01M\x90X\
+\x00\x00\x01\x99\x8e\x16\x01L\
 \x00\x00\x00\x92\x00\x00\x00\x00\x00\x01\x00\x03\x1eU\
-\x00\x00\x01\x9a\x01M\x90h\
+\x00\x00\x01\x99\x8e\x16\x01P\
 \x00\x00\x00\xc2\x00\x00\x00\x00\x00\x01\x00\x0f\x5c\xad\
-\x00\x00\x01\x9a\x01M\x90X\
+\x00\x00\x01\x99\x8e\x16\x01O\
 \x00\x00\x01\xd6\x00\x00\x00\x00\x00\x01\x00\x18\xd4\xc0\
-\x00\x00\x01\x9a\x01M\x90h\
+\x00\x00\x01\x99\x8e\x16\x01O\
 \x00\x00\x01P\x00\x00\x00\x00\x00\x01\x00\x16\xbe\x07\
-\x00\x00\x01\x9a\x01M\x90X\
+\x00\x00\x01\x99\x8e\x16\x01N\
 "
 
 def qInitResources():

Mv3D/CameraUtil.py

@@ -1,204 +0,0 @@
-# vision/camera.py
-import cv2
-import os
-import time
-from datetime import datetime
-from typing import Optional
-import numpy as np
-import shutil  # 用于检查磁盘空间
-
-class CameraUtil:
-    """
-    海康摄像头工具类，用于初始化、设置配置、捕获图像等操作
-    """
-    def __init__(self):
-        self.camera = None
-        self.camera_type = "ip"
-        self.camera_ip = "192.168.0.234"
-        self.camera_port = 554
-        self.camera_username = "admin"
-        self.camera_password = "ailaimiye123"
-        self.camera_channel = 1
-
-    def set_config(self, camera_type="ip", ip=None, port=None, username=None, password=None, channel=1):
-        """
-        设置摄像头配置
-        """
-        self.camera_type = camera_type
-        if ip:
-            self.camera_ip = ip
-        if port:
-            self.camera_port = port
-        if username:
-            self.camera_username = username
-        if password:
-            self.camera_password = password
-        self.camera_channel = channel
-
-    def setup_capture(self, camera_index=0):
-        """
-        设置摄像头捕获
-        """
-        try:
-            rtsp_url = f"rtsp://{self.camera_username}:{self.camera_password}@{self.camera_ip}:{self.camera_port}/streaming/channels/{self.camera_channel}01"
-            self.camera = cv2.VideoCapture(rtsp_url, cv2.CAP_FFMPEG)
-
-            if not self.camera.isOpened():
-                print(f"无法打开网络摄像头: {rtsp_url}")
-                return False
-            print(f"网络摄像头初始化成功，地址: {rtsp_url}")
-             # 关键优化：设置极低的缓冲区大小
-            self.camera.set(cv2.CAP_PROP_BUFFERSIZE, 1)
-            # 确保设置合理的帧率
-            self.camera.set(cv2.CAP_PROP_FPS, 25)
-            
-            # 设置超时参数
-            self.camera.set(cv2.CAP_PROP_OPEN_TIMEOUT_MSEC, 5000)  # 5秒超时
-            self.camera.set(cv2.CAP_PROP_READ_TIMEOUT_MSEC, 1000)  # 1秒读取超时
-            return True
-        except Exception as e:
-            print(f"摄像头设置失败: {e}")
-            return False
-    
-    def capture_frame(self):
-        """捕获当前帧并返回numpy数组，设置5秒总超时"""
-        try:
-            if self.camera is None:
-                print("摄像头未初始化")
-                return None
-
-            # 设置总超时时间为5秒
-            total_timeout = 5.0  # 5秒总超时时间
-            start_time = time.time()
-            
-            # 跳20帧，获取最新图像
-            frames_skipped = 0
-            while frames_skipped < 20:
-                # 检查总超时
-                if time.time() - start_time > total_timeout:
-                    print("捕获图像总超时")
-                    return None
-                self.camera.grab()
-                time.sleep(0.05)  # 稍微增加延迟，确保有新帧到达
-                frames_skipped += 1
-            
-            # 尝试读取帧，使用同一超时计时器
-            read_attempts = 0
-            max_read_attempts = 3
-            if self.camera.grab():
-              while read_attempts < max_read_attempts:
-                # 使用同一个超时计时器检查
-                if time.time() - start_time > total_timeout:
-                    print("捕获图像总超时")
-                    return None
-                
-                ret, frame = self.camera.retrieve()
-                if ret:
-                    return frame
-                else:
-                    print(f"尝试读取图像帧失败，重试 ({read_attempts+1}/{max_read_attempts})")
-                    read_attempts += 1
-                    # 短暂延迟后重试
-                    time.sleep(0.05)
-            
-            print("多次尝试后仍无法捕获有效图像帧")
-            return None
-        except Exception as e:
-            print(f"图像捕获失败: {e}")
-            return None
-
-    def release(self):
-        """释放摄像头资源"""
-        if self.camera is not None:
-            self.camera.release()
-            self.camera = None
-            print("摄像头资源已释放")
-
-    def save_frame(self, frame, save_dir="captured_frames", filename=None):
-        """
-        保存图像帧到指定目录，按日期创建子文件夹
-        :param frame: 要保存的图像帧
-        :param save_dir: 保存根目录
-        :param filename: 保存的文件名，如果为None则使用时分秒格式
-        :return: 保存的文件路径
-        """
-        try:
-            # 确保保存根目录存在
-            if not os.path.exists(save_dir):
-                os.makedirs(save_dir)
-                print(f"创建保存根目录: {save_dir}")
-            
-            # 检查磁盘可用空间 - 修复变量名称错误
-            total, used, free = shutil.disk_usage(save_dir)
-            if free < 1024 * 1024 * 20:  # 小于 20MB 就停止
-                print(f"❌ 磁盘空间严重不足（仅剩 {free / (1024**3):.2f} GB），停止运行。")
-                return None
-
-            # 获取当前日期，创建日期子文件夹
-            current_date = datetime.now().strftime("%Y%m%d")
-            date_dir = os.path.join(save_dir, current_date)
-            
-            # 确保日期子文件夹存在
-            if not os.path.exists(date_dir):
-                os.makedirs(date_dir)
-                print(f"创建日期文件夹: {date_dir}")
-
-            # 生成文件名（时分秒格式）
-            if filename is None:
-                time_str = datetime.now().strftime("%Y%m%d%H%M%S")
-                filename = f"{time_str}.jpg"
-            
-            # 保存图像到日期子文件夹
-            save_path = os.path.join(date_dir, filename)
-            loc_status=cv2.imwrite(save_path, frame)
-            if not loc_status:
-                print(f"保存图像失败: {save_path}")
-                return None
-            print(f"图像已保存到: {save_path}")
-            return save_path
-        except Exception as e:
-            print(f"保存图像失败: {e}")
-            return None
-    
-    def save_img(self)->Optional[str]:
-        """
-        保存当前帧
-        :return: 保存的文件路径
-        """
-        if self.camera is None:
-            self.setup_capture()
-        frame = self.capture_frame()
-        if frame is not None:
-            loc_filepath=self.save_frame(frame)
-            self.release()
-            return loc_filepath
-        else:
-            print("无法捕获图像帧")
-            return None
-    
-
-    def __del__(self):
-        """关闭
-        """
-        self.release()
-
-    
-if __name__ == "__main__":
-    camera = CameraUtil()
-    for i in range(10):
-        camera.save_img()
-        time.sleep(5)
-    camera.release()
-    # camera.set_config(camera_type="ip", ip="192.168.0.234", port=554, username="admin", password="ailaimiye123", channel=1)
-    # camera.setup_capture()
-    # for i in range(10):
-    # frame = camera.capture_frame()
-    
-    # if frame is not None:
-        # 保存当前帧
-        # camera.save_frame(frame)
-        # cv2.imshow("Camera Feed", frame)
-    print('success')
-            
-    # camera.release()
-    # cv2.destroyAllWindows()

Mv3D/calculate_diff2.py

@@ -1,237 +0,0 @@
-import cv2
-import numpy as np
-import os
-
-# ====================== 配置区 ======================
-
-MODEL_PATH = "./Mv3D/point.rknn"
-OUTPUT_DIR = "./output_rknn"
-os.makedirs(OUTPUT_DIR, exist_ok=True)
-
-# 固定参考点（像素坐标）
-FIXED_REF_POINT = (535, 605)
-
-# mm/px 缩放因子（根据标定数据填写）
-width_mm = 70.0
-width_px = 42
-SCALE_X = width_mm / float(width_px)
-height_mm = 890.0
-height_px = 507
-SCALE_Y = height_mm / float(height_px)
-print(f"Scale factors: SCALE_X={SCALE_X:.3f} mm/px, SCALE_Y={SCALE_Y:.3f} mm/px")
-
-# 输入尺寸
-IMG_SIZE = (640, 640)
-
-
-def letterbox_resize(image, size, bg_color=114):
-    target_w, target_h = size
-    h, w = image.shape[:2]
-    scale = min(target_w / w, target_h / h)
-    new_w, new_h = int(w * scale), int(h * scale)
-    resized = cv2.resize(image, (new_w, new_h))
-    canvas = np.full((target_h, target_w, 3), bg_color, dtype=np.uint8)
-    dx, dy = (target_w - new_w) // 2, (target_h - new_h) // 2
-    canvas[dy:dy + new_h, dx:dx + new_w] = resized
-    return canvas, scale, dx, dy
-
-
-def safe_sigmoid(x):
-    x = np.clip(x, -50, 50)
-    return 1.0 / (1.0 + np.exp(-x))
-
-
-def softmax(x):
-    x = x - np.max(x)
-    e = np.exp(x)
-    return e / e.sum()
-
-
-def dfl_to_xywh(loc, grid_x, grid_y, stride):
-    """将 DFL 输出解析为 xywh"""
-    xywh_ = np.zeros(4)
-    xywh = np.zeros(4)
-
-    # 每个维度 16 bins 做 softmax
-    for i in range(4):
-        l = loc[i * 16:(i + 1) * 16]
-        l = softmax(l)
-        xywh_[i] = sum([j * l[j] for j in range(16)])
-
-    # 对应公式
-    xywh_[0] = (grid_x + 0.5) - xywh_[0]
-    xywh_[1] = (grid_y + 0.5) - xywh_[1]
-    xywh_[2] = (grid_x + 0.5) + xywh_[2]
-    xywh_[3] = (grid_y + 0.5) + xywh_[3]
-
-    # 转成中心点 + 宽高
-    xywh[0] = ((xywh_[0] + xywh_[2]) / 2) * stride
-    xywh[1] = ((xywh_[1] + xywh_[3]) / 2) * stride
-    xywh[2] = (xywh_[2] - xywh_[0]) * stride
-    xywh[3] = (xywh_[3] - xywh_[1]) * stride
-
-    # 转为左上角坐标
-    xywh[0] = xywh[0] - xywh[2] / 2
-    xywh[1] = xywh[1] - xywh[3] / 2
-    return xywh
-
-
-def parse_pose_outputs(outputs, conf_threshold=0.5, dx=0, dy=0, scale=1.0):
-    """
-    完整解析 RKNN YOLO-Pose 输出
-    返回 keypoints, class_id, obj_conf, bbox（已映射回原图）
-    """
-    boxes = []
-    obj_confs = []
-    class_ids = []
-
-    # 遍历前三个输出 tensor (det 输出)
-    for idx in range(3):
-        det = np.array(outputs[idx])[0]  # (C,H,W)
-        C, H, W = det.shape
-        num_classes = C - 64  # 前64通道为 DFL bbox
-        stride = 640 // H
-
-        for h in range(H):
-            for w in range(W):
-                for c in range(num_classes):
-                    conf = safe_sigmoid(det[64 + c, h, w])
-                    if conf >= conf_threshold:
-                        loc = det[:64, h, w].astype(np.float32)
-                        xywh = dfl_to_xywh(loc, w, h, stride)
-                        boxes.append(xywh)
-                        obj_confs.append(conf)
-                        class_ids.append(c)
-
-    if not obj_confs:
-        best_box = np.array([0, 0, 0, 0])
-        class_id = -1
-        obj_conf = 0.0
-    else:
-        max_idx = np.argmax(obj_confs)
-        best_box = boxes[max_idx]
-        class_id = class_ids[max_idx]
-        obj_conf = obj_confs[max_idx]
-
-    # 🔹 bbox 坐标映射回原图
-    x, y, w, h = best_box
-    x = (x - dx) / scale
-    y = (y - dy) / scale
-    w = w / scale
-    h = h / scale
-    best_box = np.array([x, y, w, h])
-
-    # 🔹 关键点解析
-    kpt_output = np.array(outputs[3])[0]  # (num_kpts, 3, num_anchor)
-    confs = kpt_output[:, 2, :]
-    best_anchor_idx = np.argmax(np.mean(confs, axis=0))
-    kpt_data = kpt_output[:, :, best_anchor_idx]
-
-    keypoints = []
-    for i in range(kpt_data.shape[0]):
-        x_img, y_img, vis_conf_raw = kpt_data[i]
-        vis_prob = safe_sigmoid(vis_conf_raw)
-        x_orig = (x_img - dx) / scale
-        y_orig = (y_img - dy) / scale
-        keypoints.append([x_orig, y_orig, vis_prob])
-
-    return np.array(keypoints), class_id, obj_conf, best_box
-
-
-def compute_offset(keypoints, fixed_point, scale_x, scale_y):
-    if len(keypoints) < 2:
-        return None
-    p1, p2 = keypoints[0], keypoints[1]
-    cx = (p1[0] + p2[0]) / 2.0
-    cy = (p1[1] + p2[1]) / 2.0
-    dx_mm = (cx - fixed_point[0]) * scale_x
-    dy_mm = (cy - fixed_point[1]) * scale_y
-    return cx, cy, dx_mm, dy_mm
-
-
-def visualize_result(image, keypoints, bbox, fixed_point, offset_info, save_path):
-    vis = image.copy()
-    colors = [(0, 0, 255), (0, 255, 255)]
-    cx, cy, dx_mm, dy_mm = offset_info
-    fx, fy = map(int, fixed_point)
-
-    # 绘制关键点
-    for i, (x, y, conf) in enumerate(keypoints[:2]):
-        if conf > 0.5:
-            cv2.circle(vis, (int(x), int(y)), 6, colors[i], -1)
-    if len(keypoints) >= 2:
-        cv2.line(vis,
-                 (int(keypoints[0][0]), int(keypoints[0][1])),
-                 (int(keypoints[1][0]), int(keypoints[1][1])),
-                 (0, 255, 0), 2)
-
-    # 绘制 bbox
-    x, y, w, h = bbox
-    cv2.rectangle(vis, (int(x), int(y)), (int(x + w), int(y + h)), (255, 0, 0), 2)
-
-    # 绘制中心点
-    cv2.circle(vis, (int(cx), int(cy)), 10, (0, 255, 0), 3)
-    cv2.circle(vis, (fx, fy), 12, (255, 255, 0), 3)
-    cv2.arrowedLine(vis, (fx, fy), (int(cx), int(cy)), (255, 255, 0), 2, tipLength=0.05)
-    cv2.putText(vis, f"DeltaX={dx_mm:+.1f}mm", (fx + 30, fy - 30),
-                cv2.FONT_HERSHEY_SIMPLEX, 0.8, (0, 255, 255), 2)
-    cv2.putText(vis, f"DeltaY={dy_mm:+.1f}mm", (fx + 30, fy + 30),
-                cv2.FONT_HERSHEY_SIMPLEX, 0.8, (0, 255, 255), 2)
-
-    cv2.imwrite(save_path, vis)
-
-
-def calculate_offset_from_image(image_path, visualize=False):
-    from rknnlite.api import RKNNLite
-    
-    orig = cv2.imread(image_path)
-    if orig is None:
-        return {'success': False, 'message': f'Failed to load image: {image_path}'}
-
-    img_resized, scale, dx, dy = letterbox_resize(orig, IMG_SIZE)
-    infer_img = np.expand_dims(img_resized[..., ::-1], 0).astype(np.uint8)
-
-    rknn = RKNNLite(verbose=False)
-    ret = rknn.load_rknn(MODEL_PATH)
-    if ret != 0:
-        return {'success': False, 'message': 'Failed to load RKNN model'}
-
-    try:
-        rknn.init_runtime(core_mask=RKNNLite.NPU_CORE_0)
-        outputs = rknn.inference([infer_img])
-    finally:
-        rknn.release()
-
-    try:
-        keypoints, class_id, obj_conf, bbox = parse_pose_outputs(outputs, dx=dx, dy=dy, scale=scale)
-    except Exception as e:
-        return {'success': False, 'message': f'Parse error: {str(e)}'}
-
-    offset_info = compute_offset(keypoints, FIXED_REF_POINT, SCALE_X, SCALE_Y)
-    if offset_info is None:
-        return {'success': False, 'message': 'Not enough keypoints'}
-
-    cx, cy, dx_mm, dy_mm = offset_info
-
-    if visualize:
-        vis_save_path = os.path.join(OUTPUT_DIR, f"result_{os.path.basename(image_path)}")
-        visualize_result(orig, keypoints, bbox, FIXED_REF_POINT, offset_info, vis_save_path)
-
-    return {'success': True, 'dx_mm': dx_mm, 'dy_mm': dy_mm,
-            'cx': cx, 'cy': cy, 'class_id': class_id,
-            'obj_conf': obj_conf, 'bbox': bbox,
-            'message': 'Success'}
-
-
-# ====================== 使用示例 ======================
-if __name__ == "__main__":
-    image_path = "11.jpg"
-    result = calculate_offset_from_image(image_path, visualize=True)
-
-    if result['success']:
-        print(f"Center point: ({result['cx']:.1f}, {result['cy']:.1f})")
-        print(f"Offset: DeltaX={result['dx_mm']:+.2f} mm, DeltaY={result['dy_mm']:+.2f} mm")
-        print(f"Class ID: {result['class_id']}, Confidence: {result['obj_conf']:.3f}")
-        print(f"BBox: {result['bbox']}")
-    else:
-        print("Error:", result['message'])

Seting.ini

@@ -21,12 +21,12 @@ photo_z1 = 1.0
 photo_u1 = 12.0
 photo_v1 = 0.0
 photo_w1 = 1.0
-photo_x2 = 7.0
-photo_y2 = 50.0
-photo_z2 = 1.0
-photo_u2 = 12.0
+photo_x2 = 0.0
+photo_y2 = 0.0
+photo_z2 = 0.0
+photo_u2 = 0.0
 photo_v2 = 0.0
-photo_w2 = 1.0
+photo_w2 = 0.0
 photo_x3 = 7.0
 photo_y3 = 50.0
 photo_z3 = 1.0
@@ -47,7 +47,8 @@ photo_v5 = 0.0
 photo_w5 = 1.0
 linecount = 2
 remain_linename = 1
-remain_count = 3
+remain_dropweight_kg = 50
+remain_count = 18
 maduo_count = 30
 io_take_addr = 8
 io_zip_addr = 11

Util/util_log.py

@@ -51,11 +51,10 @@ class Logger(QObject):
 
         handler = TimedRotatingFileHandler(file_path, when='D', interval=1, backupCount=30,encoding='utf-8')
         handler.suffix = "%Y-%m-%d"
-        formatter = logging.Formatter('%(asctime)s - %(levelname)s - %(message)s', datefmt='%Y-%m-%d %H:%M:%S')
+        formatter = logging.Formatter('%(asctime)s - %(levelname)s- %(message)s', datefmt='%Y-%m-%d %H:%M:%S')
         handler.setFormatter(formatter)
         self.logger_file_info.addHandler(handler)
-
-          # 添加错误专用日志文件
+    # 添加错误专用日志文件
         error_handler = TimedRotatingFileHandler(
             file_path.replace('.log', '_error.log'), 
             when='D', interval=1, backupCount=30, encoding='utf-8')
@@ -63,6 +62,7 @@ class Logger(QObject):
         error_handler.setLevel(logging.ERROR)  # 只处理错误级别
         error_handler.setFormatter(formatter)
         self.logger_file_info.addHandler(error_handler)
+        
 
     def _process_logs(self):
         while True:

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 
+2024-12-14 16:14:11 - INFO - <20>л<EFBFBD><D0BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+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
+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
+2025-08-12 10:22:50 - INFO - str_feed_take移动到抓料位置
+2025-08-12 10:22:51 - INFO - 🟡 机器人尚未到达抓料点位
+2025-08-12 10:22:51 - INFO - str_feed_take移动到抓料位置
+2025-08-12 10:22:51 - INFO - 🟡 机器人尚未到达抓料点位
+2025-08-12 10:22:51 - INFO - str_feed_take移动到抓料位置
+2025-08-12 10:22:51 - INFO - 🟡 机器人尚未到达抓料点位
+2025-08-12 10:22:51 - INFO - str_feed_take移动到抓料位置
+2025-08-12 10:22:51 - INFO - 🟡 机器人尚未到达抓料点位
+2025-08-12 10:22:51 - INFO - str_feed_take移动到抓料位置
+2025-08-12 10:22:51 - INFO - 🟡 机器人尚未到达抓料点位
+2025-08-12 10:22:51 - INFO - str_feed_take移动到抓料位置
+2025-08-12 10:22:52 - INFO - 🟡 机器人尚未到达抓料点位
+2025-08-12 10:22:52 - INFO - str_feed_take移动到抓料位置
+2025-08-12 10:22:52 - INFO - 🟡 机器人尚未到达抓料点位
+2025-08-12 10:22:52 - INFO - str_feed_take移动到抓料位置
+2025-08-12 10:22:52 - INFO - 🟡 机器人尚未到达抓料点位
+2025-08-12 10:22:52 - INFO - str_feed_take移动到抓料位置
+2025-08-12 10:22:52 - INFO - 🟡 机器人尚未到达抓料点位
+2025-08-12 10:22:52 - INFO - str_feed_take移动到抓料位置
+2025-08-12 10:22:52 - INFO - 🟡 机器人尚未到达抓料点位
+2025-08-12 10:22:53 - INFO - str_feed_take移动到抓料位置
+2025-08-12 10:22:53 - INFO - 🟡 机器人尚未到达抓料点位
+2025-08-12 10:22:53 - INFO - str_feed_take移动到抓料位置
+2025-08-12 10:22:53 - INFO - 🟡 机器人尚未到达抓料点位
+2025-08-12 10:22:53 - INFO - str_feed_take移动到抓料位置
+2025-08-12 10:22:53 - INFO - 🟡 机器人尚未到达抓料点位
+2025-08-12 10:22:53 - INFO - str_feed_take移动到抓料位置
+2025-08-12 10:22:53 - INFO - 🟡 机器人尚未到达抓料点位
+2025-08-12 10:22:53 - INFO - str_feed_take移动到抓料位置
+2025-08-12 10:22:54 - INFO - 🟡 机器人尚未到达抓料点位
+2025-08-12 10:22:54 - INFO - str_feed_take移动到抓料位置
+2025-08-12 10:22:54 - INFO - 🟡 机器人尚未到达抓料点位
+2025-08-12 10:22:54 - INFO - str_feed_take移动到抓料位置
+2025-08-12 10:22:54 - INFO - 🟡 机器人尚未到达抓料点位
+2025-08-12 10:22:54 - INFO - str_feed_take移动到抓料位置
+2025-08-12 10:22:54 - INFO - 🟡 机器人尚未到达抓料点位
+2025-08-12 10:22:54 - INFO - str_feed_take移动到抓料位置
+2025-08-12 10:22:54 - INFO - 🟡 机器人尚未到达抓料点位
+2025-08-12 10:22:55 - INFO - str_feed_take移动到抓料位置
+2025-08-12 10:22:55 - INFO - 🟡 机器人尚未到达抓料点位
+2025-08-12 10:22:55 - INFO - str_feed_take移动到抓料位置
+2025-08-12 10:22:55 - INFO - 🟡 机器人尚未到达抓料点位
+2025-08-12 10:22:55 - INFO - str_feed_take移动到抓料位置
+2025-08-12 10:22:55 - INFO - 🟡 机器人尚未到达抓料点位
+2025-08-12 10:22:55 - INFO - str_feed_take移动到抓料位置
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+2025-08-12 10:22:55 - INFO - str_feed_take移动到抓料位置
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+2025-08-12 10:23:34 - INFO - ✅ 传感器2检测到料包到位，开始执行抓取
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+2025-08-12 10:24:00 - INFO - 拍照
+2025-08-12 10:24:00 - INFO - 识别图像成功
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+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...
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+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
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+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"}]}
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+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"}]}
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+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
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+2025-08-12 10:31:42 - INFO - 拍照
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+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
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+2025-08-12 10:32:02 - INFO - 执行完成FPhoto
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+2025-08-12 10:32:08 - 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 10:33:36 - 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.

resources_rc.py

@@ -4260,7 +4260,7 @@ qt_resource_struct = b"\
 \x00\x00\x00\x0a\x00\x02\x00\x00\x00\x01\x00\x00\x00\x03\
 \x00\x00\x00\x00\x00\x00\x00\x00\
 \x00\x00\x00\x1a\x00\x00\x00\x00\x00\x01\x00\x00\x00\x00\
-\x00\x00\x01\x9a\x01M\x90h\
+\x00\x00\x01\x99\x8e\x16\x01P\
 "
 
 def qInitResources():

test6.py

@@ -1,37 +0,0 @@
-import os
-import sys
-import time
-from Mv3D.CameraUtil import CameraUtil
-from Mv3D.calculate_diff2 import calculate_offset_from_image
-
-if __name__=='__main__':
-
-   camera_img=CameraUtil()
-   loc_image_path=camera_img.save_img()
-   print(f"保存图片路径:{loc_image_path}")
-   try:
-      loc_model_result = calculate_offset_from_image(loc_image_path, visualize=False)
-      if loc_model_result['success']:
-            #置信度
-            if loc_model_result['obj_conf']>0.5:
-                loc_offsetX=loc_model_result['dx_mm']
-                if abs(loc_model_result['dx_mm'])<200:
-                    loc_is_next=True   
-                    print(f'{loc_image_path}:料带偏移{loc_offsetX}mm')                           
-                else:
-                    print(f"{loc_image_path}:料带偏移过大，报警")
-                    # self.feed_error_signal.emit(1,f"{loc_image_path}:料带偏移过大，报警")
-            else:
-                print(f"{loc_image_path}:未检测到料带,置信度低")
-                # self.feed_error_signal.emit(2,f"{loc_image_path}:未检测到料带,置信度低")
-      else:
-            print(f"{loc_image_path}:计算偏移失败，视觉返回False")
-            # self.feed_error_signal.emit(2,f"{loc_image_path}:计算偏移失败，视觉返回False")
-            # loc_is_next=False
-            loc_offsetX=0
-   except Exception as e:
-      print(f"{loc_image_path}:计算偏移失败:{e}")
-   
-   time.sleep(10)
-
-   

ui_MainWin.py

@@ -235,9 +235,9 @@ class Ui_MainWindow(object):
         sizePolicy1.setHeightForWidth(self.pushButton_exit.sizePolicy().hasHeightForWidth())
         self.pushButton_exit.setSizePolicy(sizePolicy1)
         self.pushButton_exit.setStyleSheet(u"*{\n"
-"color:#fff;\n"
+"color:#838992;\n"
 "background-color: #1B1F34;\n"
-"font: 30pt \"Microsoft YaHei UI\";\n"
+"font: 9pt \"Microsoft YaHei UI\";\n"
 "border: 1px solid #282B40;\n"
 "}\n"
 "*:pressed\n"
@@ -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;")
@@ -3445,7 +3518,7 @@ class Ui_MainWindow(object):
         self.lineEdit_num.setSizePolicy(sizePolicy1)
         self.lineEdit_num.setStyleSheet(u"color: rgb(255, 255, 255);\n"
 "border: 1px solid #dcdfe6;\n"
-"font: 12pt \"Microsoft YaHei UI\";")
+"font: 9pt \"Microsoft YaHei UI\";")
 
         self.gridLayout.addWidget(self.lineEdit_num, 0, 0, 1, 4)
 
@@ -3455,7 +3528,7 @@ class Ui_MainWindow(object):
         self.pushButton_numkeybord.setSizePolicy(sizePolicy1)
         self.pushButton_numkeybord.setStyleSheet(u"\n"
 "*{background-color: #101F3F;\n"
-"font: 30pt \"\u6977\u4f53\";\n"
+"font: 11pt \"\u6977\u4f53\";\n"
 "color:#ffffff\n"
 "}\n"
 "*:hover {\n"
@@ -3475,7 +3548,7 @@ class Ui_MainWindow(object):
         self.pushButton_num_confirm.setSizePolicy(sizePolicy1)
         self.pushButton_num_confirm.setStyleSheet(u"\n"
 "*{background-color: #101F3F;\n"
-"font: 30pt \"\u6977\u4f53\";\n"
+"font: 11pt \"\u6977\u4f53\";\n"
 "color:#ffffff\n"
 "}\n"
 "*:hover {\n"
@@ -3516,7 +3589,7 @@ class Ui_MainWindow(object):
         self.label_button_status.setStyleSheet(u"\n"
 "QLabel{\n"
 "background-color: rgba(255, 255, 255, 0);\n"
-"font: 700 36pt \"Microsoft YaHei UI\";\n"
+"font: 700 16pt \"Microsoft YaHei UI\";\n"
 "color:#FF0000;\n"
 "}")
 
@@ -3545,7 +3618,7 @@ class Ui_MainWindow(object):
         self.pushButton_reset.setSizePolicy(sizePolicy5)
         self.pushButton_reset.setStyleSheet(u"*{\n"
 "background-color: #FFFFBF;\n"
-"font: 30pt \"\u6977\u4f53\";\n"
+"font: 9pt \"\u6977\u4f53\";\n"
 "border-radius: 10px;\n"
 "}\n"
 "*:pressed\n"
@@ -3584,7 +3657,7 @@ class Ui_MainWindow(object):
         self.pushButton_stopFeed.setSizePolicy(sizePolicy5)
         self.pushButton_stopFeed.setStyleSheet(u"*{\n"
 "background-color: #FF0000;\n"
-"font: 30pt \"\u6977\u4f53\";\n"
+"font: 9pt \"\u6977\u4f53\";\n"
 "border-radius: 10px;\n"
 "}\n"
 "*:pressed\n"
@@ -3603,7 +3676,7 @@ class Ui_MainWindow(object):
         self.pushButton_pauseFeed.setSizePolicy(sizePolicy5)
         self.pushButton_pauseFeed.setStyleSheet(u"*{\n"
 "background-color: #2196F3;\n"
-"font: 30pt \"\u6977\u4f53\";\n"
+"font: 9pt \"\u6977\u4f53\";\n"
 "border-radius: 10px;\n"
 "}\n"
 "*:pressed\n"
@@ -3622,7 +3695,7 @@ class Ui_MainWindow(object):
         self.pushButton_startFeed.setSizePolicy(sizePolicy5)
         self.pushButton_startFeed.setStyleSheet(u"*{\n"
 "background-color: #499C54;\n"
-"font: 30pt \"\u6977\u4f53\";\n"
+"font: 9pt \"\u6977\u4f53\";\n"
 "\n"
 "border-radius: 10px;\n"
 "}\n"
@@ -3642,7 +3715,7 @@ class Ui_MainWindow(object):
         self.pushButton_clearAlarm.setSizePolicy(sizePolicy5)
         self.pushButton_clearAlarm.setStyleSheet(u"*{\n"
 "background-color: #1CB2B1;\n"
-"font: 30pt \"\u6977\u4f53\";\n"
+"font: 9pt \"\u6977\u4f53\";\n"
 "border-radius: 10px;\n"
 "}\n"
 "*:pressed\n"
@@ -3813,7 +3886,7 @@ class Ui_MainWindow(object):
         self.label_remain_num = QLabel(self.frame_24)
         self.label_remain_num.setObjectName(u"label_remain_num")
         self.label_remain_num.setStyleSheet(u"color: rgb(0, 255, 0);\n"
-"font: 66pt \"Microsoft YaHei UI\";")
+"font: 36pt \"Microsoft YaHei UI\";")
         self.label_remain_num.setAlignment(Qt.AlignmentFlag.AlignCenter)
 
         self.horizontalLayout_12.addWidget(self.label_remain_num)
@@ -4043,7 +4116,7 @@ class Ui_MainWindow(object):
         # self.pushButton_num4.setText(QCoreApplication.translate("MainWindow", u"40", None))
         # self.pushButton_num5.setText(QCoreApplication.translate("MainWindow", u"50", None))
         # self.pushButton_num6.setText(QCoreApplication.translate("MainWindow", u"60", None))
-        self.lineEdit_num.setPlaceholderText(QCoreApplication.translate("MainWindow", u"已码垛数量", None))
+        self.lineEdit_num.setPlaceholderText(QCoreApplication.translate("MainWindow", u"\u4ece\u7b2c\u51e0\u5305\u5f00\u59cb\u7801\u579b\u002c\u8f93\u5165\u540e\u70b9\u51fb\u786e\u5b9a", None))
         self.pushButton_numkeybord.setText(QCoreApplication.translate("MainWindow", u"\u952e\u76d8", None))
         self.pushButton_num_confirm.setText(QCoreApplication.translate("MainWindow", u"\u786e\u5b9a", None))
         # self.pushButton_AddNum.setText(QCoreApplication.translate("MainWindow", u"\u8865\u4e00\u888b", None))