rm-log

.gitignore

@@ -1,8 +1,8 @@
 # Python
-**/__pycache__/
+*/__pycache__/
 *.py[cod]
 *$py.class
-
+*.egg-info/
 
 # IDEs and editors
 .idea/

COM/COM_Robot.py

@@ -1,7 +1,9 @@
 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
@@ -43,11 +45,17 @@ 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

COM/COM_TCP.py

@@ -41,10 +41,11 @@ 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,Constant.str_tcp_connect_no_reply)
+                log.log_message(logging.ERROR,f'{Constant.str_tcp_connect_no_reply}:{str(e)}')
                 try:
                     self.CreatConnect()
                     log.log_message(logging.INFO, Constant.str_tcp_reconnect)

CU/Feeding.py

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

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
 

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

Mv3D/CameraUtil.py

@@ -0,0 +1,202 @@
+# vision/camera.py
+import cv2
+import os
+import time
+from datetime import datetime
+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):
+        """
+        保存当前帧
+        :return: None
+        """
+        if self.camera is None:
+            self.setup_capture()
+        frame = self.capture_frame()
+        if frame is not None:
+            self.save_frame(frame)
+            self.release()
+        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()

log/log.log.2024-12-14

@@ -1,40 +0,0 @@
-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>ͣ
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-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

@@ -1,804 +0,0 @@
-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
-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 - 🟢 机器人已到达抓料点位
-2025-08-12 10:22:56 - INFO - 已设置放置点: X=-187.12
-2025-08-12 10:22:56 - 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 10:22:56 - 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 10:22:56 - INFO - 移动到中位位置
-2025-08-12 10:22:56 - 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 10:22:56 - 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 10:22:56 - INFO - [调试计数] 已进入 FMid 分支 5 次
-2025-08-12 10:22:56 - INFO - 移动到中位位置
-2025-08-12 10:22:56 - 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 10:22:57 - 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 10:22:57 - INFO - [调试计数] 已进入 FMid 分支 6 次
-2025-08-12 10:22:57 - INFO - 移动到中位位置
-2025-08-12 10:22:57 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1143.22937","m1":"-822.204346","m2":"-84.250801","m3":"-73.561378","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
-2025-08-12 10:22:57 - INFO - 移动到位置:姿势直线：X:1143.22937-Y:-822.204346-Z:-84.250801-U:-73.561378-V:0.0-W:-0.0
-2025-08-12 10:22:57 - INFO - [调试计数] 已进入 FMid 分支 7 次
-2025-08-12 10:23:05 - INFO - 移动到中位位置
-2025-08-12 10:23:05 - INFO - 移动到位置:姿势直线：X:890.821655-Y:-313.300446-Z:-691.557617-U:-63.248192-V:0.0-W:-0.0
-2025-08-12 10:23:05 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"890.821655","m1":"-313.300446","m2":"-691.557617","m3":"-63.248192","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
-2025-08-12 10:23:05 - INFO - [调试计数] 已进入 FMid 分支 8 次
-2025-08-12 10:23:09 - INFO - 移动到破袋位置
-2025-08-12 10:23:09 - 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 10:23:09 - 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 10:23:09 - INFO - 拍照
-2025-08-12 10:23:10 - INFO - 识别图像成功
-2025-08-12 10:23:10 - INFO - ⏳ 等待传感器2料包信号...
-2025-08-12 10:23:10 - INFO - ⏳ 等待传感器2料包信号...
-2025-08-12 10:23:11 - INFO - ⏳ 等待传感器2料包信号...
-2025-08-12 10:23:12 - INFO - ⏳ 等待传感器2料包信号...
-2025-08-12 10:23:13 - INFO - ⏳ 等待传感器2料包信号...
-2025-08-12 10:23:14 - INFO - ⏳ 等待传感器2料包信号...
-2025-08-12 10:23:16 - INFO - ⏳ 等待传感器2料包信号...
-2025-08-12 10:23:17 - INFO - ⏳ 等待传感器2料包信号...
-2025-08-12 10:23:18 - INFO - ⏳ 等待传感器2料包信号...
-2025-08-12 10:23:19 - INFO - ⏳ 等待传感器2料包信号...
-2025-08-12 10:23:20 - INFO - ⏳ 等待传感器2料包信号...
-2025-08-12 10:23:21 - INFO - ⏳ 等待传感器2料包信号...
-2025-08-12 10:23:22 - INFO - ⏳ 等待传感器2料包信号...
-2025-08-12 10:23:23 - INFO - ⏳ 等待传感器2料包信号...
-2025-08-12 10:23:24 - INFO - ⏳ 等待传感器2料包信号...
-2025-08-12 10:23:25 - INFO - ⏳ 等待传感器2料包信号...
-2025-08-12 10:23:26 - INFO - ⏳ 等待传感器2料包信号...
-2025-08-12 10:23:27 - INFO - ⏳ 等待传感器2料包信号...
-2025-08-12 10:23:28 - INFO - ⏳ 等待传感器2料包信号...
-2025-08-12 10:23:29 - INFO - ⏳ 等待传感器2料包信号...
-2025-08-12 10:23:30 - INFO - ⏳ 等待传感器2料包信号...
-2025-08-12 10:23:31 - INFO - ⏳ 等待传感器2料包信号...
-2025-08-12 10:23:32 - INFO - ⏳ 等待传感器2料包信号...
-2025-08-12 10:23:33 - INFO - ⏳ 等待传感器2料包信号...
-2025-08-12 10:23:34 - INFO - ✅ 传感器2检测到料包到位，开始执行抓取
-2025-08-12 10:23:34 - 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 10:23:35 - 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 10:23:35 - INFO - 执行完成FPhoto
-2025-08-12 10:23:35 - 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 10:23:35 - INFO - 移动到中位位置
-2025-08-12 10:23:35 - 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 10:23:35 - INFO - [调试计数] 已进入 FMid 分支 9 次
-2025-08-12 10:23:38 - INFO - 移动到中位位置
-2025-08-12 10:23:38 - 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 10:23:38 - 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 10:23:38 - INFO - [调试计数] 已进入 FMid 分支 10 次
-2025-08-12 10:23:40 - INFO - 移动到中位位置
-2025-08-12 10:23:40 - 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 10:23:41 - 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 10:23:41 - INFO - [调试计数] 已进入 FMid 分支 11 次
-2025-08-12 10:23:41 - INFO - str_feed_take移动到抓料位置
-2025-08-12 10:23:41 - INFO - 🟡 机器人尚未到达抓料点位
-2025-08-12 10:23:41 - INFO - str_feed_take移动到抓料位置
-2025-08-12 10:23:41 - INFO - 🟡 机器人尚未到达抓料点位
-2025-08-12 10:23:41 - INFO - str_feed_take移动到抓料位置
-2025-08-12 10:23:41 - INFO - 🟡 机器人尚未到达抓料点位
-2025-08-12 10:23:41 - INFO - str_feed_take移动到抓料位置
-2025-08-12 10:23:42 - INFO - 🟡 机器人尚未到达抓料点位
-2025-08-12 10:23:42 - INFO - str_feed_take移动到抓料位置
-2025-08-12 10:23:42 - INFO - 🟡 机器人尚未到达抓料点位
-2025-08-12 10:23:42 - INFO - str_feed_take移动到抓料位置
-2025-08-12 10:23:42 - INFO - 🟡 机器人尚未到达抓料点位
-2025-08-12 10:23:42 - INFO - str_feed_take移动到抓料位置
-2025-08-12 10:23:42 - INFO - 🟡 机器人尚未到达抓料点位
-2025-08-12 10:23:42 - INFO - str_feed_take移动到抓料位置
-2025-08-12 10:23:42 - INFO - 🟡 机器人尚未到达抓料点位
-2025-08-12 10:23:42 - INFO - str_feed_take移动到抓料位置
-2025-08-12 10:23:43 - INFO - 🟡 机器人尚未到达抓料点位
-2025-08-12 10:23:43 - INFO - str_feed_take移动到抓料位置
-2025-08-12 10:23:43 - INFO - 🟡 机器人尚未到达抓料点位
-2025-08-12 10:23:43 - INFO - str_feed_take移动到抓料位置
-2025-08-12 10:23:43 - INFO - 🟡 机器人尚未到达抓料点位
-2025-08-12 10:23:43 - INFO - str_feed_take移动到抓料位置
-2025-08-12 10:23:43 - INFO - 🟡 机器人尚未到达抓料点位
-2025-08-12 10:23:43 - INFO - str_feed_take移动到抓料位置
-2025-08-12 10:23:43 - INFO - 🟡 机器人尚未到达抓料点位
-2025-08-12 10:23:44 - INFO - str_feed_take移动到抓料位置
-2025-08-12 10:23:44 - INFO - 🟡 机器人尚未到达抓料点位
-2025-08-12 10:23:44 - INFO - str_feed_take移动到抓料位置
-2025-08-12 10:23:44 - INFO - 🟡 机器人尚未到达抓料点位
-2025-08-12 10:23:44 - INFO - str_feed_take移动到抓料位置
-2025-08-12 10:23:44 - INFO - 🟡 机器人尚未到达抓料点位
-2025-08-12 10:23:44 - INFO - str_feed_take移动到抓料位置
-2025-08-12 10:23:44 - INFO - 🟡 机器人尚未到达抓料点位
-2025-08-12 10:23:44 - INFO - str_feed_take移动到抓料位置
-2025-08-12 10:23:45 - INFO - 🟡 机器人尚未到达抓料点位
-2025-08-12 10:23:45 - INFO - str_feed_take移动到抓料位置
-2025-08-12 10:23:45 - INFO - 🟡 机器人尚未到达抓料点位
-2025-08-12 10:23:45 - INFO - str_feed_take移动到抓料位置
-2025-08-12 10:23:45 - INFO - 🟡 机器人尚未到达抓料点位
-2025-08-12 10:23:45 - INFO - str_feed_take移动到抓料位置
-2025-08-12 10:23:45 - INFO - 🟡 机器人尚未到达抓料点位
-2025-08-12 10:23:45 - INFO - str_feed_take移动到抓料位置
-2025-08-12 10:23:45 - INFO - 🟡 机器人尚未到达抓料点位
-2025-08-12 10:23:45 - INFO - str_feed_take移动到抓料位置
-2025-08-12 10:23:46 - INFO - 🟡 机器人尚未到达抓料点位
-2025-08-12 10:23:46 - INFO - str_feed_take移动到抓料位置
-2025-08-12 10:23:46 - INFO - 🟡 机器人尚未到达抓料点位
-2025-08-12 10:23:46 - INFO - str_feed_take移动到抓料位置
-2025-08-12 10:23:46 - INFO - 🟡 机器人尚未到达抓料点位
-2025-08-12 10:23:46 - INFO - str_feed_take移动到抓料位置
-2025-08-12 10:23:46 - INFO - 🟡 机器人尚未到达抓料点位
-2025-08-12 10:23:46 - INFO - str_feed_take移动到抓料位置
-2025-08-12 10:23:46 - INFO - 🟡 机器人尚未到达抓料点位
-2025-08-12 10:23:47 - INFO - str_feed_take移动到抓料位置
-2025-08-12 10:23:47 - INFO - 🟢 机器人已到达抓料点位
-2025-08-12 10:23:47 - INFO - 已设置放置点: X=1069.08
-2025-08-12 10:23:47 - 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 10:23:47 - 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 10:23:47 - INFO - 移动到中位位置
-2025-08-12 10:23:47 - 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 10:23:47 - 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 10:23:47 - INFO - [调试计数] 已进入 FMid 分支 12 次
-2025-08-12 10:23:48 - INFO - 移动到中位位置
-2025-08-12 10:23:48 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-569.522156","m1":"-1299.988647","m2":"-413.430023","m3":"-151.126541","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
-2025-08-12 10:23:48 - INFO - 移动到位置:姿势直线：X:-569.522156-Y:-1299.988647-Z:-413.430023-U:-151.126541-V:0.0-W:-0.0
-2025-08-12 10:23:48 - INFO - [调试计数] 已进入 FMid 分支 13 次
-2025-08-12 10:23:48 - INFO - 移动到中位位置
-2025-08-12 10:23:48 - INFO - 移动到位置:姿势直线：X:1143.22937-Y:-822.204346-Z:-84.250801-U:-73.561378-V:0.0-W:-0.0
-2025-08-12 10:23:48 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1143.22937","m1":"-822.204346","m2":"-84.250801","m3":"-73.561378","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
-2025-08-12 10:23:48 - INFO - [调试计数] 已进入 FMid 分支 14 次
-2025-08-12 10:23:56 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"890.821655","m1":"-313.300446","m2":"-691.557617","m3":"-63.248192","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
-2025-08-12 10:23:56 - INFO - 移动到中位位置
-2025-08-12 10:23:56 - INFO - 移动到位置:姿势直线：X:890.821655-Y:-313.300446-Z:-691.557617-U:-63.248192-V:0.0-W:-0.0
-2025-08-12 10:23:56 - INFO - [调试计数] 已进入 FMid 分支 15 次
-2025-08-12 10:24:00 - INFO - 移动到破袋位置
-2025-08-12 10:24:00 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-828.689758","m1":"-1146.968872","m2":"-77.084404","m3":"-90.137154","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
-2025-08-12 10:24:00 - INFO - 移动到位置:姿势直线：X:-828.689758-Y:-1146.968872-Z:-77.084404-U:-90.137154-V:0.0-W:-0.0
-2025-08-12 10:24:00 - INFO - 拍照
-2025-08-12 10:24:00 - INFO - 识别图像成功
-2025-08-12 10:24:01 - INFO - ⏳ 等待传感器2料包信号...
-2025-08-12 10:24:01 - INFO - ⏳ 等待传感器2料包信号...
-2025-08-12 10:24:02 - INFO - ⏳ 等待传感器2料包信号...
-2025-08-12 10:24:03 - INFO - ⏳ 等待传感器2料包信号...
-2025-08-12 10:24:04 - INFO - ⏳ 等待传感器2料包信号...
-2025-08-12 10:24:05 - INFO - ⏳ 等待传感器2料包信号...
-2025-08-12 10:24:06 - INFO - ⏳ 等待传感器2料包信号...
-2025-08-12 10:24:07 - INFO - ⏳ 等待传感器2料包信号...
-2025-08-12 10:24:08 - INFO - ⏳ 等待传感器2料包信号...
-2025-08-12 10:24:10 - INFO - ⏳ 等待传感器2料包信号...
-2025-08-12 10:24:11 - INFO - ⏳ 等待传感器2料包信号...
-2025-08-12 10:24:12 - INFO - ⏳ 等待传感器2料包信号...
-2025-08-12 10:24:13 - INFO - ⏳ 等待传感器2料包信号...
-2025-08-12 10:24:14 - INFO - ⏳ 等待传感器2料包信号...
-2025-08-12 10:24:15 - INFO - ⏳ 等待传感器2料包信号...
-2025-08-12 10:24:16 - INFO - ⏳ 等待传感器2料包信号...
-2025-08-12 10:24:17 - INFO - ⏳ 等待传感器2料包信号...
-2025-08-12 10:24:18 - INFO - ⏳ 等待传感器2料包信号...
-2025-08-12 10:24:19 - INFO - ⏳ 等待传感器2料包信号...
-2025-08-12 10:24:20 - INFO - ⏳ 等待传感器2料包信号...
-2025-08-12 10:24:21 - INFO - ⏳ 等待传感器2料包信号...
-2025-08-12 10:24:22 - INFO - ⏳ 等待传感器2料包信号...
-2025-08-12 10:24:23 - INFO - ⏳ 等待传感器2料包信号...
-2025-08-12 10:24:23 - ERROR - 'str' object has no attribute 'release'
-2025-08-12 10:24:24 - INFO - ⏳ 等待传感器2料包信号...
-2025-08-12 10:24:25 - INFO - ⏳ 等待传感器2料包信号...
-2025-08-12 10:24:26 - INFO - ⏳ 等待传感器2料包信号...
-2025-08-12 10:24:26 - ERROR - 'str' object has no attribute 'release'
-2025-08-12 10:24:27 - INFO - ⏳ 等待传感器2料包信号...
-2025-08-12 10:24:28 - INFO - ⏳ 等待传感器2料包信号...
-2025-08-12 10:24:29 - ERROR - 'str' object has no attribute 'release'
-2025-08-12 10:24:29 - INFO - ⏳ 等待传感器2料包信号...
-2025-08-12 10:24:30 - INFO - ⏳ 等待传感器2料包信号...
-2025-08-12 10:24:31 - ERROR - 'str' object has no attribute 'release'
-2025-08-12 10:24:31 - INFO - ⏳ 等待传感器2料包信号...
-2025-08-12 10:24:32 - INFO - ⏳ 等待传感器2料包信号...
-2025-08-12 10:24:33 - ERROR - 'str' object has no attribute 'release'
-2025-08-12 10:30:07 - INFO - 进入系统
-2025-08-12 10:30:12 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["switchTool","2"]}
-2025-08-12 10:30:12 - INFO - 切换到工具坐标
-2025-08-12 10:30:12 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["startButton","1"]}
-2025-08-12 10:30:12 - INFO - 切换到自动运行状态
-2025-08-12 10:30:13 - ERROR - 发生报警：42
-2025-08-12 10:30:13 - ERROR - 发生报警：42
-2025-08-12 10:30:13 - ERROR - 发生报警：42
-2025-08-12 10:30:13 - ERROR - 发生报警：42
-2025-08-12 10:30:14 - ERROR - 发生报警：42
-2025-08-12 10:30:14 - ERROR - 发生报警：42
-2025-08-12 10:30:14 - INFO - 第一层确认生产
-2025-08-12 10:30:14 - INFO - 反应釜1:投料开始
-2025-08-12 10:30:14 - INFO - 发送命令{"dsID":"HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"200","type":"0","io_status":"1","point":"2","delay":"0"}]}
-2025-08-12 10:30:14 - INFO - 发送IO控制: 2，1
-2025-08-12 10:30:14 - ERROR - 发生报警：42
-2025-08-12 10:30:15 - ERROR - 发生报警：42
-2025-08-12 10:30:15 - ERROR - 发生报警：42
-2025-08-12 10:30:15 - ERROR - 发生报警：42
-2025-08-12 10:30:15 - ERROR - 发生报警：42
-2025-08-12 10:30:15 - ERROR - 发生报警：42
-2025-08-12 10:30:15 - ERROR - 发生报警：42
-2025-08-12 10:30:15 - ERROR - 发生报警：42
-2025-08-12 10:30:16 - ERROR - 发生报警：42
-2025-08-12 10:30:16 - ERROR - 发生报警：42
-2025-08-12 10:30:16 - ERROR - 发生报警：42
-2025-08-12 10:30:16 - ERROR - 发生报警：42
-2025-08-12 10:30:16 - ERROR - 发生报警：42
-2025-08-12 10:30:17 - ERROR - 发生报警：42
-2025-08-12 10:30:17 - ERROR - 发生报警：42
-2025-08-12 10:30:17 - ERROR - 发生报警：42
-2025-08-12 10:30:17 - ERROR - 发生报警：42
-2025-08-12 10:30:17 - ERROR - 发生报警：42
-2025-08-12 10:30:18 - ERROR - 发生报警：42
-2025-08-12 10:30:18 - ERROR - 发生报警：42
-2025-08-12 10:30:18 - ERROR - 发生报警：42
-2025-08-12 10:30:18 - ERROR - 发生报警：42
-2025-08-12 10:30:18 - ERROR - 发生报警：42
-2025-08-12 10:30:19 - ERROR - 发生报警：42
-2025-08-12 10:30:19 - ERROR - 发生报警：42
-2025-08-12 10:30:19 - ERROR - 发生报警：42
-2025-08-12 10:30:19 - INFO - 发送命令{"dsID":"HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"200","type":"0","io_status":"0","point":"2","delay":"0"}]}
-2025-08-12 10:30:19 - INFO - 发送IO控制: 2，0
-2025-08-12 10:30:19 - ERROR - 发生报警：42
-2025-08-12 10:30:19 - INFO - 清除报警
-2025-08-12 10:30:20 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[]}
-2025-08-12 10:30:20 - INFO - 投料停止
-2025-08-12 10:30:20 - ERROR - 发生报警：42
-2025-08-12 10:30:20 - ERROR - 发生报警：42
-2025-08-12 10:30:20 - ERROR - 发生报警：42
-2025-08-12 10:30:20 - ERROR - 发生报警：42
-2025-08-12 10:30:20 - ERROR - 发生报警：42
-2025-08-12 10:30:20 - ERROR - 发生报警：42
-2025-08-12 10:30:21 - ERROR - 发生报警：42
-2025-08-12 10:30:21 - ERROR - 发生报警：42
-2025-08-12 10:30:21 - ERROR - 发生报警：42
-2025-08-12 10:30:21 - ERROR - 发生报警：42
-2025-08-12 10:30:22 - ERROR - 发生报警：42
-2025-08-12 10:30:22 - ERROR - 发生报警：42
-2025-08-12 10:30:22 - ERROR - 发生报警：42
-2025-08-12 10:30:22 - ERROR - 发生报警：42
-2025-08-12 10:30:24 - INFO - 清除报警
-2025-08-12 10:30:24 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[]}
-2025-08-12 10:30:24 - INFO - 投料停止
-2025-08-12 10:30:27 - INFO - 清除报警
-2025-08-12 10:30:27 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[]}
-2025-08-12 10:30:27 - INFO - 开始复位
-2025-08-12 10:30:27 - INFO - 发送命令{"dsID":"HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"200","type":"0","io_status":"1","point":"2","delay":"0"}]}
-2025-08-12 10:30:28 - ERROR - 机械臂未按照实际路线点移动，未能寻找到适配路径点位
-2025-08-12 10:30:28 - INFO - 发送IO控制: 2，1
-2025-08-12 10:30:28 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-569.522156","m1":"-1299.988647","m2":"-413.430023","m3":"-151.126541","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
-2025-08-12 10:30:28 - INFO - 移动到位置:姿势直线：X:-569.522156-Y:-1299.988647-Z:-413.430023-U:-151.126541-V:0.0-W:-0.0
-2025-08-12 10:30:34 - INFO - 移动到位置:姿势直线：X:-569.524475-Y:-1299.973877-Z:-825.314453-U:-151.126846-V:0.0-W:-0.0
-2025-08-12 10:30:35 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-569.524475","m1":"-1299.973877","m2":"-825.314453","m3":"-151.126846","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
-2025-08-12 10:30:38 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-569.531006","m1":"-1299.971069","m2":"-825.315613","m3":"-151.126694","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
-2025-08-12 10:30:38 - INFO - 移动到位置:姿势直线：X:-569.531006-Y:-1299.971069-Z:-825.315613-U:-151.126694-V:0.0-W:-0.0
-2025-08-12 10:30:38 - INFO - 移动到位置:姿势直线：X:-569.528625-Y:-1299.985718-Z:-413.431213-U:-151.127274-V:0.0-W:-0.0
-2025-08-12 10:30:39 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-569.528625","m1":"-1299.985718","m2":"-413.431213","m3":"-151.127274","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
-2025-08-12 10:30:42 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-828.689758","m1":"-1146.968872","m2":"-77.084404","m3":"-90.137154","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
-2025-08-12 10:30:42 - INFO - 移动到位置:姿势直线：X:-828.689758-Y:-1146.968872-Z:-77.084404-U:-90.137154-V:0.0-W:-0.0
-2025-08-12 10:30:47 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-828.689758","m1":"-1146.968872","m2":"-77.084404","m3":"-90.137154","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
-2025-08-12 10:30:47 - INFO - 移动到位置:姿势直线：X:-828.689758-Y:-1146.968872-Z:-77.084404-U:-90.137154-V:0.0-W:-0.0
-2025-08-12 10:30:47 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-828.689758","m1":"-1146.968872","m2":"-77.084404","m3":"-90.137154","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
-2025-08-12 10:30:47 - INFO - 移动到位置:姿势直线：X:-828.689758-Y:-1146.968872-Z:-77.084404-U:-90.137154-V:0.0-W:-0.0
-2025-08-12 10:30:47 - INFO - 移动到位置:姿势直线：X:-828.689758-Y:-1146.968872-Z:-77.084404-U:-90.137154-V:0.0-W:-0.0
-2025-08-12 10:30:48 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-828.689758","m1":"-1146.968872","m2":"-77.084404","m3":"-90.137154","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
-2025-08-12 10:30:48 - INFO - 发送命令{"dsID":"HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"200","type":"0","io_status":"0","point":"2","delay":"0"}]}
-2025-08-12 10:30:48 - INFO - 发送IO控制: 2，0
-2025-08-12 10:30:57 - INFO - 投料暂停
-2025-08-12 10:30:57 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["actionPause","1"]}
-2025-08-12 10:30:58 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["actionPause","0"]}
-2025-08-12 10:30:58 - INFO - 投料继续
-2025-08-12 10:30:58 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["startButton","1"]}
-2025-08-12 10:30:58 - INFO - 切换到自动运行状态
-2025-08-12 10:30:58 - ERROR - 启动传感器线程失败: log_message() missing 1 required positional argument: 'message'
-2025-08-12 10:30:58 - INFO - 投料开始
-2025-08-12 10:30:59 - INFO - 移动到位置:姿势直线：X:-828.689758-Y:-1146.968872-Z:-77.084404-U:-90.137154-V:0.0-W:-0.0
-2025-08-12 10:30:59 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-828.689758","m1":"-1146.968872","m2":"-77.084404","m3":"-90.137154","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
-2025-08-12 10:30:59 - INFO - 投料开始
-2025-08-12 10:31:00 - INFO - 移动到位置:姿势直线：X:-828.689758-Y:-1146.968872-Z:-77.084404-U:-90.137154-V:0.0-W:-0.0
-2025-08-12 10:31:01 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-828.689758","m1":"-1146.968872","m2":"-77.084404","m3":"-90.137154","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
-2025-08-12 10:31:01 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-828.689758","m1":"-1146.968872","m2":"-77.084404","m3":"-90.137154","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
-2025-08-12 10:31:01 - INFO - 移动到中位位置
-2025-08-12 10:31:01 - INFO - 移动到位置:姿势直线：X:-828.689758-Y:-1146.968872-Z:-77.084404-U:-90.137154-V:0.0-W:-0.0
-2025-08-12 10:31:01 - INFO - [调试计数] 已进入 FMid 分支 1 次
-2025-08-12 10:31:01 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-828.689758","m1":"-1146.968872","m2":"-77.084404","m3":"-90.137154","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
-2025-08-12 10:31:01 - INFO - 检测是否安全投料
-2025-08-12 10:31:01 - INFO - 移动到位置:姿势直线：X:-828.689758-Y:-1146.968872-Z:-77.084404-U:-90.137154-V:0.0-W:-0.0
-2025-08-12 10:31:01 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-828.689758","m1":"-1146.968872","m2":"-77.084404","m3":"-90.137154","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
-2025-08-12 10:31:02 - INFO - 检测是否安全投料
-2025-08-12 10:31:02 - INFO - 移动到位置:姿势直线：X:-828.689758-Y:-1146.968872-Z:-77.084404-U:-90.137154-V:0.0-W:-0.0
-2025-08-12 10:31:02 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-828.689758","m1":"-1146.968872","m2":"-77.084404","m3":"-90.137154","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
-2025-08-12 10:31:02 - INFO - 投料结束
-2025-08-12 10:31:02 - INFO - 移动到位置:姿势直线：X:-828.689758-Y:-1146.968872-Z:-77.084404-U:-90.137154-V:0.0-W:-0.0
-2025-08-12 10:31:02 - INFO - 移动到拍照位置
-2025-08-12 10:31:02 - INFO - 复位成功
-2025-08-12 10:31:02 - ERROR - 关闭传感器线程异常: log_message() missing 1 required positional argument: 'message'
-2025-08-12 10:31:04 - INFO - 第一层确认生产
-2025-08-12 10:31:04 - INFO - 反应釜1:投料开始
-2025-08-12 10:31:04 - INFO - 发送命令{"dsID":"HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"200","type":"0","io_status":"1","point":"2","delay":"0"}]}
-2025-08-12 10:31:05 - INFO - 发送IO控制: 2，1
-2025-08-12 10:31:09 - INFO - 发送命令{"dsID":"HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"200","type":"0","io_status":"0","point":"2","delay":"0"}]}
-2025-08-12 10:31:10 - INFO - 发送IO控制: 2，0
-2025-08-12 10:31:10 - INFO - 投料开始
-2025-08-12 10:31:11 - INFO - 移动到位置:姿势直线：X:-828.689758-Y:-1146.968872-Z:-77.084404-U:-90.137154-V:0.0-W:-0.0
-2025-08-12 10:31:11 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-828.689758","m1":"-1146.968872","m2":"-77.084404","m3":"-90.137154","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
-2025-08-12 10:31:11 - ERROR - 启动传感器线程失败: log_message() missing 1 required positional argument: 'message'
-2025-08-12 10:31:11 - INFO - 投料开始
-2025-08-12 10:31:12 - INFO - 移动到位置:姿势直线：X:-828.689758-Y:-1146.968872-Z:-77.084404-U:-90.137154-V:0.0-W:-0.0
-2025-08-12 10:31:12 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-828.689758","m1":"-1146.968872","m2":"-77.084404","m3":"-90.137154","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
-2025-08-12 10:31:12 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-828.689758","m1":"-1146.968872","m2":"-77.084404","m3":"-90.137154","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
-2025-08-12 10:31:12 - INFO - 移动到中位位置
-2025-08-12 10:31:12 - INFO - 移动到位置:姿势直线：X:-828.689758-Y:-1146.968872-Z:-77.084404-U:-90.137154-V:0.0-W:-0.0
-2025-08-12 10:31:12 - INFO - [调试计数] 已进入 FMid 分支 2 次
-2025-08-12 10:31:13 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-828.689758","m1":"-1146.968872","m2":"-77.084404","m3":"-90.137154","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
-2025-08-12 10:31:13 - INFO - 检测是否安全投料
-2025-08-12 10:31:13 - INFO - 移动到位置:姿势直线：X:-828.689758-Y:-1146.968872-Z:-77.084404-U:-90.137154-V:0.0-W:-0.0
-2025-08-12 10:31:13 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-828.689758","m1":"-1146.968872","m2":"-77.084404","m3":"-90.137154","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
-2025-08-12 10:31:13 - INFO - 检测是否安全投料
-2025-08-12 10:31:13 - INFO - 移动到位置:姿势直线：X:-828.689758-Y:-1146.968872-Z:-77.084404-U:-90.137154-V:0.0-W:-0.0
-2025-08-12 10:31:13 - INFO - 拍照
-2025-08-12 10:31:13 - INFO - 识别图像成功
-2025-08-12 10:31:13 - INFO - ⏳ 等待传感器2料包信号...
-2025-08-12 10:31:13 - INFO - ⏳ 等待传感器2料包信号...
-2025-08-12 10:31:14 - INFO - ⏳ 等待传感器2料包信号...
-2025-08-12 10:31:16 - INFO - ✅ 传感器2检测到料包到位，开始执行抓取
-2025-08-12 10:31:16 - INFO - 移动到位置:姿势直线：X:-828.689758-Y:-1146.968872-Z:-77.084404-U:-90.137154-V:0.0-W:-0.0
-2025-08-12 10:31:16 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-828.689758","m1":"-1146.968872","m2":"-77.084404","m3":"-90.137154","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
-2025-08-12 10:31:16 - INFO - 执行完成FPhoto
-2025-08-12 10:31:16 - INFO - 拍照
-2025-08-12 10:31:16 - INFO - 识别图像成功
-2025-08-12 10:31:16 - INFO - ✅ 传感器2检测到料包到位，开始执行抓取
-2025-08-12 10:31:16 - INFO - 移动到位置:姿势直线：X:-569.528625-Y:-1299.985718-Z:-413.431213-U:-151.127274-V:0.0-W:-0.0
-2025-08-12 10:31:16 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-569.528625","m1":"-1299.985718","m2":"-413.431213","m3":"-151.127274","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
-2025-08-12 10:31:17 - INFO - 执行完成FPhoto
-2025-08-12 10:31:17 - INFO - 移动到中位位置
-2025-08-12 10:31:17 - INFO - 移动到位置:姿势直线：X:-569.531006-Y:-1299.971069-Z:-825.315613-U:-151.126694-V:0.0-W:-0.0
-2025-08-12 10:31:17 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-569.531006","m1":"-1299.971069","m2":"-825.315613","m3":"-151.126694","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
-2025-08-12 10:31:17 - INFO - [调试计数] 已进入 FMid 分支 3 次
-2025-08-12 10:31:20 - INFO - 移动到中位位置
-2025-08-12 10:31:20 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-569.543396","m1":"-1299.659543","m2":"-1269.931256","m3":"-151.12764","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
-2025-08-12 10:31:20 - INFO - 移动到位置:姿势直线：X:-569.543396-Y:-1299.659543-Z:-1269.931256-U:-151.12764-V:0.258-W:0.258
-2025-08-12 10:31:20 - INFO - [调试计数] 已进入 FMid 分支 4 次
-2025-08-12 10:31:22 - INFO - 移动到中位位置
-2025-08-12 10:31:22 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-569.543396","m1":"-1299.659543","m2":"-1269.931256","m3":"-151.12764","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
-2025-08-12 10:31:22 - INFO - 移动到位置:姿势直线：X:-569.543396-Y:-1299.659543-Z:-1269.931256-U:-151.12764-V:0.258-W:0.258
-2025-08-12 10:31:23 - INFO - [调试计数] 已进入 FMid 分支 5 次
-2025-08-12 10:31:23 - INFO - str_feed_take移动到抓料位置
-2025-08-12 10:31:23 - INFO - 🟡 机器人尚未到达抓料点位
-2025-08-12 10:31:23 - INFO - str_feed_take移动到抓料位置
-2025-08-12 10:31:23 - INFO - 🟡 机器人尚未到达抓料点位
-2025-08-12 10:31:23 - INFO - str_feed_take移动到抓料位置
-2025-08-12 10:31:23 - INFO - 🟡 机器人尚未到达抓料点位
-2025-08-12 10:31:23 - INFO - str_feed_take移动到抓料位置
-2025-08-12 10:31:23 - INFO - 🟡 机器人尚未到达抓料点位
-2025-08-12 10:31:23 - INFO - str_feed_take移动到抓料位置
-2025-08-12 10:31:24 - INFO - 🟡 机器人尚未到达抓料点位
-2025-08-12 10:31:24 - INFO - str_feed_take移动到抓料位置
-2025-08-12 10:31:24 - INFO - 🟡 机器人尚未到达抓料点位
-2025-08-12 10:31:24 - INFO - str_feed_take移动到抓料位置
-2025-08-12 10:31:24 - INFO - 🟡 机器人尚未到达抓料点位
-2025-08-12 10:31:24 - INFO - str_feed_take移动到抓料位置
-2025-08-12 10:31:24 - INFO - 🟡 机器人尚未到达抓料点位
-2025-08-12 10:31:24 - INFO - str_feed_take移动到抓料位置
-2025-08-12 10:31:24 - INFO - 🟡 机器人尚未到达抓料点位
-2025-08-12 10:31:25 - INFO - str_feed_take移动到抓料位置
-2025-08-12 10:31:25 - INFO - 🟡 机器人尚未到达抓料点位
-2025-08-12 10:31:25 - INFO - str_feed_take移动到抓料位置
-2025-08-12 10:31:25 - INFO - 🟡 机器人尚未到达抓料点位
-2025-08-12 10:31:25 - INFO - str_feed_take移动到抓料位置
-2025-08-12 10:31:25 - INFO - 🟡 机器人尚未到达抓料点位
-2025-08-12 10:31:25 - INFO - str_feed_take移动到抓料位置
-2025-08-12 10:31:25 - INFO - 🟡 机器人尚未到达抓料点位
-2025-08-12 10:31:25 - INFO - str_feed_take移动到抓料位置
-2025-08-12 10:31:26 - INFO - 🟡 机器人尚未到达抓料点位
-2025-08-12 10:31:26 - INFO - str_feed_take移动到抓料位置
-2025-08-12 10:31:26 - INFO - 🟡 机器人尚未到达抓料点位
-2025-08-12 10:31:26 - INFO - str_feed_take移动到抓料位置
-2025-08-12 10:31:26 - INFO - 🟡 机器人尚未到达抓料点位
-2025-08-12 10:31:26 - INFO - str_feed_take移动到抓料位置
-2025-08-12 10:31:26 - INFO - 🟡 机器人尚未到达抓料点位
-2025-08-12 10:31:26 - INFO - str_feed_take移动到抓料位置
-2025-08-12 10:31:26 - INFO - 🟡 机器人尚未到达抓料点位
-2025-08-12 10:31:26 - INFO - str_feed_take移动到抓料位置
-2025-08-12 10:31:27 - INFO - 🟡 机器人尚未到达抓料点位
-2025-08-12 10:31:27 - INFO - str_feed_take移动到抓料位置
-2025-08-12 10:31:27 - INFO - 🟡 机器人尚未到达抓料点位
-2025-08-12 10:31:27 - INFO - str_feed_take移动到抓料位置
-2025-08-12 10:31:27 - INFO - 🟡 机器人尚未到达抓料点位
-2025-08-12 10:31:27 - INFO - str_feed_take移动到抓料位置
-2025-08-12 10:31:27 - INFO - 🟡 机器人尚未到达抓料点位
-2025-08-12 10:31:27 - INFO - str_feed_take移动到抓料位置
-2025-08-12 10:31:27 - INFO - 🟡 机器人尚未到达抓料点位
-2025-08-12 10:31:28 - INFO - str_feed_take移动到抓料位置
-2025-08-12 10:31:28 - INFO - 🟡 机器人尚未到达抓料点位
-2025-08-12 10:31:28 - INFO - str_feed_take移动到抓料位置
-2025-08-12 10:31:28 - INFO - 🟡 机器人尚未到达抓料点位
-2025-08-12 10:31:28 - INFO - str_feed_take移动到抓料位置
-2025-08-12 10:31:28 - INFO - 🟡 机器人尚未到达抓料点位
-2025-08-12 10:31:28 - INFO - str_feed_take移动到抓料位置
-2025-08-12 10:31:28 - INFO - 🟡 机器人尚未到达抓料点位
-2025-08-12 10:31:28 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-569.543396","m1":"-1299.659543","m2":"-1269.931256","m3":"-151.12764","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
-2025-08-12 10:31:29 - INFO - str_feed_take移动到抓料位置
-2025-08-12 10:31:29 - INFO - 🟢 机器人已到达抓料点位
-2025-08-12 10:31:29 - INFO - 已设置放置点: X=-187.12
-2025-08-12 10:31:29 - INFO - 移动到位置:姿势直线：X:-569.543396-Y:-1299.659543-Z:-1269.931256-U:-151.12764-V:0.258-W:0.258
-2025-08-12 10:31:29 - INFO - 移动到中位位置
-2025-08-12 10:31:29 - INFO - 移动到位置:姿势直线：X:-569.524475-Y:-1299.973877-Z:-825.314453-U:-151.126846-V:0.0-W:-0.0
-2025-08-12 10:31:29 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-569.524475","m1":"-1299.973877","m2":"-825.314453","m3":"-151.126846","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
-2025-08-12 10:31:29 - INFO - [调试计数] 已进入 FMid 分支 6 次
-2025-08-12 10:31:29 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-569.522156","m1":"-1299.988647","m2":"-413.430023","m3":"-151.126541","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
-2025-08-12 10:31:29 - INFO - 移动到中位位置
-2025-08-12 10:31:30 - INFO - 移动到位置:姿势直线：X:-569.522156-Y:-1299.988647-Z:-413.430023-U:-151.126541-V:0.0-W:-0.0
-2025-08-12 10:31:30 - INFO - [调试计数] 已进入 FMid 分支 7 次
-2025-08-12 10:31:30 - INFO - 移动到中位位置
-2025-08-12 10:31:30 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1143.22937","m1":"-822.204346","m2":"-84.250801","m3":"-73.561378","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
-2025-08-12 10:31:30 - INFO - 移动到位置:姿势直线：X:1143.22937-Y:-822.204346-Z:-84.250801-U:-73.561378-V:0.0-W:-0.0
-2025-08-12 10:31:30 - INFO - [调试计数] 已进入 FMid 分支 8 次
-2025-08-12 10:31:38 - INFO - 移动到中位位置
-2025-08-12 10:31:38 - INFO - 移动到位置:姿势直线：X:890.821655-Y:-313.300446-Z:-691.557617-U:-63.248192-V:0.0-W:-0.0
-2025-08-12 10:31:38 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"890.821655","m1":"-313.300446","m2":"-691.557617","m3":"-63.248192","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
-2025-08-12 10:31:38 - INFO - [调试计数] 已进入 FMid 分支 9 次
-2025-08-12 10:31:42 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-828.689758","m1":"-1146.968872","m2":"-77.084404","m3":"-90.137154","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
-2025-08-12 10:31:42 - INFO - 移动到破袋位置
-2025-08-12 10:31:42 - INFO - 移动到位置:姿势直线：X:-828.689758-Y:-1146.968872-Z:-77.084404-U:-90.137154-V:0.0-W:-0.0
-2025-08-12 10:31:42 - INFO - 拍照
-2025-08-12 10:31:42 - INFO - 识别图像成功
-2025-08-12 10:31:42 - INFO - ⏳ 等待传感器2料包信号...
-2025-08-12 10:31:43 - INFO - ⏳ 等待传感器2料包信号...
-2025-08-12 10:31:44 - INFO - ⏳ 等待传感器2料包信号...
-2025-08-12 10:31:45 - INFO - ⏳ 等待传感器2料包信号...
-2025-08-12 10:31:46 - INFO - ⏳ 等待传感器2料包信号...
-2025-08-12 10:31:47 - INFO - ⏳ 等待传感器2料包信号...
-2025-08-12 10:31:48 - INFO - ⏳ 等待传感器2料包信号...
-2025-08-12 10:31:49 - INFO - ⏳ 等待传感器2料包信号...
-2025-08-12 10:31:50 - INFO - ⏳ 等待传感器2料包信号...
-2025-08-12 10:31:51 - INFO - ⏳ 等待传感器2料包信号...
-2025-08-12 10:31:52 - INFO - ⏳ 等待传感器2料包信号...
-2025-08-12 10:31:53 - INFO - ⏳ 等待传感器2料包信号...
-2025-08-12 10:31:54 - INFO - ⏳ 等待传感器2料包信号...
-2025-08-12 10:31:55 - INFO - ⏳ 等待传感器2料包信号...
-2025-08-12 10:31:57 - INFO - ⏳ 等待传感器2料包信号...
-2025-08-12 10:31:58 - INFO - ⏳ 等待传感器2料包信号...
-2025-08-12 10:31:59 - INFO - ⏳ 等待传感器2料包信号...
-2025-08-12 10:32:00 - INFO - ⏳ 等待传感器2料包信号...
-2025-08-12 10:32:01 - INFO - ⏳ 等待传感器2料包信号...
-2025-08-12 10:32:02 - INFO - ✅ 传感器2检测到料包到位，开始执行抓取
-2025-08-12 10:32:02 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-569.528625","m1":"-1299.985718","m2":"-413.431213","m3":"-151.127274","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
-2025-08-12 10:32:02 - INFO - 移动到位置:姿势直线：X:-569.528625-Y:-1299.985718-Z:-413.431213-U:-151.127274-V:0.0-W:-0.0
-2025-08-12 10:32:02 - INFO - 执行完成FPhoto
-2025-08-12 10:32:02 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-569.531006","m1":"-1299.971069","m2":"-825.315613","m3":"-151.126694","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
-2025-08-12 10:32:02 - INFO - 移动到中位位置
-2025-08-12 10:32:02 - INFO - 移动到位置:姿势直线：X:-569.531006-Y:-1299.971069-Z:-825.315613-U:-151.126694-V:0.0-W:-0.0
-2025-08-12 10:32:03 - INFO - [调试计数] 已进入 FMid 分支 10 次
-2025-08-12 10:32:06 - INFO - 移动到中位位置
-2025-08-12 10:32:06 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-569.543396","m1":"-1299.659543","m2":"-1269.931256","m3":"-151.12764","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
-2025-08-12 10:32:06 - INFO - 移动到位置:姿势直线：X:-569.543396-Y:-1299.659543-Z:-1269.931256-U:-151.12764-V:0.258-W:0.258
-2025-08-12 10:32:06 - INFO - [调试计数] 已进入 FMid 分支 11 次
-2025-08-12 10:32:08 - INFO - 移动到中位位置
-2025-08-12 10:32:08 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-569.543396","m1":"-1299.659543","m2":"-1269.931256","m3":"-151.12764","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
-2025-08-12 10:32:08 - 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
-2025-08-12 10:32:08 - INFO - [调试计数] 已进入 FMid 分支 12 次
-2025-08-12 10:32:08 - INFO - str_feed_take移动到抓料位置
-2025-08-12 10:32:09 - INFO - 🟡 机器人尚未到达抓料点位
-2025-08-12 10:32:09 - INFO - str_feed_take移动到抓料位置
-2025-08-12 10:32:09 - INFO - 🟡 机器人尚未到达抓料点位
-2025-08-12 10:32:09 - INFO - str_feed_take移动到抓料位置
-2025-08-12 10:32:09 - INFO - 🟡 机器人尚未到达抓料点位
-2025-08-12 10:32:09 - INFO - str_feed_take移动到抓料位置
-2025-08-12 10:32:09 - INFO - 🟡 机器人尚未到达抓料点位
-2025-08-12 10:32:09 - INFO - str_feed_take移动到抓料位置
-2025-08-12 10:32:09 - INFO - 🟡 机器人尚未到达抓料点位
-2025-08-12 10:32:09 - INFO - str_feed_take移动到抓料位置
-2025-08-12 10:32:10 - INFO - 🟡 机器人尚未到达抓料点位
-2025-08-12 10:32:10 - INFO - str_feed_take移动到抓料位置
-2025-08-12 10:32:10 - INFO - 🟡 机器人尚未到达抓料点位
-2025-08-12 10:32:10 - INFO - str_feed_take移动到抓料位置
-2025-08-12 10:32:10 - INFO - 🟡 机器人尚未到达抓料点位
-2025-08-12 10:32:10 - INFO - str_feed_take移动到抓料位置
-2025-08-12 10:32:10 - INFO - 🟡 机器人尚未到达抓料点位
-2025-08-12 10:32:10 - INFO - str_feed_take移动到抓料位置
-2025-08-12 10:32:10 - INFO - 🟡 机器人尚未到达抓料点位
-2025-08-12 10:32:11 - INFO - str_feed_take移动到抓料位置
-2025-08-12 10:32:11 - INFO - 🟡 机器人尚未到达抓料点位
-2025-08-12 10:32:11 - INFO - str_feed_take移动到抓料位置
-2025-08-12 10:32:11 - INFO - 🟡 机器人尚未到达抓料点位
-2025-08-12 10:32:11 - INFO - str_feed_take移动到抓料位置
-2025-08-12 10:32:11 - INFO - 🟡 机器人尚未到达抓料点位
-2025-08-12 10:32:11 - INFO - str_feed_take移动到抓料位置
-2025-08-12 10:32:11 - INFO - 🟡 机器人尚未到达抓料点位
-2025-08-12 10:32:11 - INFO - str_feed_take移动到抓料位置
-2025-08-12 10:32:12 - INFO - 🟡 机器人尚未到达抓料点位
-2025-08-12 10:32:12 - INFO - str_feed_take移动到抓料位置
-2025-08-12 10:32:12 - INFO - 🟡 机器人尚未到达抓料点位
-2025-08-12 10:32:12 - INFO - str_feed_take移动到抓料位置
-2025-08-12 10:32:12 - INFO - 🟡 机器人尚未到达抓料点位
-2025-08-12 10:32:12 - INFO - str_feed_take移动到抓料位置
-2025-08-12 10:32:12 - INFO - 🟡 机器人尚未到达抓料点位
-2025-08-12 10:32:12 - INFO - str_feed_take移动到抓料位置
-2025-08-12 10:32:12 - INFO - 🟡 机器人尚未到达抓料点位
-2025-08-12 10:32:12 - INFO - str_feed_take移动到抓料位置
-2025-08-12 10:32:13 - INFO - 🟡 机器人尚未到达抓料点位
-2025-08-12 10:32:13 - INFO - str_feed_take移动到抓料位置
-2025-08-12 10:32:13 - INFO - 🟡 机器人尚未到达抓料点位
-2025-08-12 10:32:13 - INFO - str_feed_take移动到抓料位置
-2025-08-12 10:32:13 - INFO - 🟡 机器人尚未到达抓料点位
-2025-08-12 10:32:13 - INFO - str_feed_take移动到抓料位置
-2025-08-12 10:32:13 - INFO - 🟡 机器人尚未到达抓料点位
-2025-08-12 10:32:13 - INFO - str_feed_take移动到抓料位置
-2025-08-12 10:32:13 - INFO - 🟡 机器人尚未到达抓料点位
-2025-08-12 10:32:14 - INFO - str_feed_take移动到抓料位置
-2025-08-12 10:32:14 - INFO - 🟡 机器人尚未到达抓料点位
-2025-08-12 10:32:14 - INFO - str_feed_take移动到抓料位置
-2025-08-12 10:32:14 - INFO - 🟡 机器人尚未到达抓料点位
-2025-08-12 10:32:14 - INFO - str_feed_take移动到抓料位置
-2025-08-12 10:32:14 - INFO - 🟡 机器人尚未到达抓料点位
-2025-08-12 10:32:14 - INFO - str_feed_take移动到抓料位置
-2025-08-12 10:32:14 - INFO - 🟢 机器人已到达抓料点位
-2025-08-12 10:32:14 - INFO - 已设置放置点: X=1067.08
-2025-08-12 10:32:15 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-569.543396","m1":"-1299.659543","m2":"-1269.931256","m3":"-151.12764","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
-2025-08-12 10:32:15 - 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 10:32:15 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-569.524475","m1":"-1299.973877","m2":"-825.314453","m3":"-151.126846","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
-2025-08-12 10:32:15 - INFO - 移动到中位位置
-2025-08-12 10:32:15 - INFO - 移动到位置:姿势直线：X:-569.524475-Y:-1299.973877-Z:-825.314453-U:-151.126846-V:0.0-W:-0.0
-2025-08-12 10:32:15 - INFO - [调试计数] 已进入 FMid 分支 13 次
-2025-08-12 10:32:15 - INFO - 移动到中位位置
-2025-08-12 10:32:15 - INFO - 移动到位置:姿势直线：X:-569.522156-Y:-1299.988647-Z:-413.430023-U:-151.126541-V:0.0-W:-0.0
-2025-08-12 10:32:15 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-569.522156","m1":"-1299.988647","m2":"-413.430023","m3":"-151.126541","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
-2025-08-12 10:32:15 - INFO - [调试计数] 已进入 FMid 分支 14 次
-2025-08-12 10:32:16 - INFO - 移动到中位位置
-2025-08-12 10:32:16 - INFO - 移动到位置:姿势直线：X:1143.22937-Y:-822.204346-Z:-84.250801-U:-73.561378-V:0.0-W:-0.0
-2025-08-12 10:32:16 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1143.22937","m1":"-822.204346","m2":"-84.250801","m3":"-73.561378","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
-2025-08-12 10:32:16 - INFO - [调试计数] 已进入 FMid 分支 15 次
-2025-08-12 10:32:23 - INFO - 移动到中位位置
-2025-08-12 10:32:24 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"890.821655","m1":"-313.300446","m2":"-691.557617","m3":"-63.248192","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
-2025-08-12 10:32:24 - INFO - 移动到位置:姿势直线：X:890.821655-Y:-313.300446-Z:-691.557617-U:-63.248192-V:0.0-W:-0.0
-2025-08-12 10:32:24 - INFO - [调试计数] 已进入 FMid 分支 16 次
-2025-08-12 10:32:28 - 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 10:32:28 - INFO - 移动到破袋位置
-2025-08-12 10:32:28 - 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 10:32:28 - INFO - 拍照
-2025-08-12 10:32:28 - INFO - 识别图像成功
-2025-08-12 10:32:28 - INFO - ⏳ 等待传感器2料包信号...
-2025-08-12 10:32:29 - INFO - ⏳ 等待传感器2料包信号...
-2025-08-12 10:32:30 - INFO - ⏳ 等待传感器2料包信号...
-2025-08-12 10:32:31 - INFO - ⏳ 等待传感器2料包信号...
-2025-08-12 10:32:32 - INFO - ⏳ 等待传感器2料包信号...
-2025-08-12 10:32:33 - INFO - ⏳ 等待传感器2料包信号...
-2025-08-12 10:32:34 - INFO - ⏳ 等待传感器2料包信号...
-2025-08-12 10:32:35 - INFO - ⏳ 等待传感器2料包信号...
-2025-08-12 10:32:36 - INFO - ⏳ 等待传感器2料包信号...
-2025-08-12 10:32:37 - INFO - ⏳ 等待传感器2料包信号...
-2025-08-12 10:32:38 - INFO - ⏳ 等待传感器2料包信号...
-2025-08-12 10:32:39 - INFO - ⏳ 等待传感器2料包信号...
-2025-08-12 10:32:40 - INFO - ⏳ 等待传感器2料包信号...
-2025-08-12 10:32:41 - INFO - ⏳ 等待传感器2料包信号...
-2025-08-12 10:32:42 - INFO - ⏳ 等待传感器2料包信号...
-2025-08-12 10:32:43 - INFO - ⏳ 等待传感器2料包信号...
-2025-08-12 10:32:44 - INFO - ⏳ 等待传感器2料包信号...
-2025-08-12 10:32:45 - INFO - ✅ 传感器2检测到料包到位，开始执行抓取
-2025-08-12 10:32:46 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-569.528625","m1":"-1299.985718","m2":"-413.431213","m3":"-151.127274","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
-2025-08-12 10:32:46 - INFO - 移动到位置:姿势直线：X:-569.528625-Y:-1299.985718-Z:-413.431213-U:-151.127274-V:0.0-W:-0.0
-2025-08-12 10:32:46 - INFO - 执行完成FPhoto
-2025-08-12 10:32:46 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-569.531006","m1":"-1299.971069","m2":"-825.315613","m3":"-151.126694","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
-2025-08-12 10:32:46 - INFO - 移动到中位位置
-2025-08-12 10:32:46 - INFO - 移动到位置:姿势直线：X:-569.531006-Y:-1299.971069-Z:-825.315613-U:-151.126694-V:0.0-W:-0.0
-2025-08-12 10:32:46 - INFO - [调试计数] 已进入 FMid 分支 17 次
-2025-08-12 10:32:49 - 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 10:32:49 - INFO - 移动到中位位置
-2025-08-12 10:32:49 - 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 10:32:50 - INFO - [调试计数] 已进入 FMid 分支 18 次
-2025-08-12 10:32:52 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-569.543396","m1":"-1299.659543","m2":"-1269.931256","m3":"-151.12764","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
-2025-08-12 10:32:52 - INFO - 移动到中位位置
-2025-08-12 10:32:52 - 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 10:32:52 - INFO - [调试计数] 已进入 FMid 分支 19 次
-2025-08-12 10:32:52 - INFO - str_feed_take移动到抓料位置
-2025-08-12 10:32:52 - INFO - 🟡 机器人尚未到达抓料点位
-2025-08-12 10:32:52 - INFO - str_feed_take移动到抓料位置
-2025-08-12 10:32:52 - INFO - 🟡 机器人尚未到达抓料点位
-2025-08-12 10:32:53 - INFO - str_feed_take移动到抓料位置
-2025-08-12 10:32:53 - INFO - 🟡 机器人尚未到达抓料点位
-2025-08-12 10:32:53 - INFO - str_feed_take移动到抓料位置
-2025-08-12 10:32:53 - INFO - 🟡 机器人尚未到达抓料点位
-2025-08-12 10:32:53 - INFO - str_feed_take移动到抓料位置
-2025-08-12 10:32:53 - INFO - 🟡 机器人尚未到达抓料点位
-2025-08-12 10:32:53 - INFO - str_feed_take移动到抓料位置
-2025-08-12 10:32:53 - INFO - 🟡 机器人尚未到达抓料点位
-2025-08-12 10:32:53 - INFO - str_feed_take移动到抓料位置
-2025-08-12 10:32:54 - INFO - 🟡 机器人尚未到达抓料点位
-2025-08-12 10:32:54 - INFO - str_feed_take移动到抓料位置
-2025-08-12 10:32:54 - INFO - 🟡 机器人尚未到达抓料点位
-2025-08-12 10:32:54 - INFO - str_feed_take移动到抓料位置
-2025-08-12 10:32:54 - INFO - 🟡 机器人尚未到达抓料点位
-2025-08-12 10:32:54 - INFO - str_feed_take移动到抓料位置
-2025-08-12 10:32:54 - INFO - 🟡 机器人尚未到达抓料点位
-2025-08-12 10:32:54 - INFO - str_feed_take移动到抓料位置
-2025-08-12 10:32:54 - INFO - 🟡 机器人尚未到达抓料点位
-2025-08-12 10:32:55 - INFO - str_feed_take移动到抓料位置
-2025-08-12 10:32:55 - INFO - 🟡 机器人尚未到达抓料点位
-2025-08-12 10:32:55 - INFO - str_feed_take移动到抓料位置
-2025-08-12 10:32:55 - INFO - 🟡 机器人尚未到达抓料点位
-2025-08-12 10:32:55 - INFO - str_feed_take移动到抓料位置
-2025-08-12 10:32:55 - INFO - 🟡 机器人尚未到达抓料点位
-2025-08-12 10:32:55 - INFO - str_feed_take移动到抓料位置
-2025-08-12 10:32:55 - INFO - 🟡 机器人尚未到达抓料点位
-2025-08-12 10:32:55 - INFO - str_feed_take移动到抓料位置
-2025-08-12 10:32:55 - INFO - 🟡 机器人尚未到达抓料点位
-2025-08-12 10:32:56 - INFO - str_feed_take移动到抓料位置
-2025-08-12 10:32:56 - INFO - 🟡 机器人尚未到达抓料点位
-2025-08-12 10:32:56 - INFO - str_feed_take移动到抓料位置
-2025-08-12 10:32:56 - INFO - 🟡 机器人尚未到达抓料点位
-2025-08-12 10:32:56 - INFO - str_feed_take移动到抓料位置
-2025-08-12 10:32:56 - INFO - 🟡 机器人尚未到达抓料点位
-2025-08-12 10:32:56 - INFO - str_feed_take移动到抓料位置
-2025-08-12 10:32:56 - INFO - 🟡 机器人尚未到达抓料点位
-2025-08-12 10:32:56 - INFO - str_feed_take移动到抓料位置
-2025-08-12 10:32:57 - INFO - 🟡 机器人尚未到达抓料点位
-2025-08-12 10:32:57 - INFO - str_feed_take移动到抓料位置
-2025-08-12 10:32:57 - INFO - 🟡 机器人尚未到达抓料点位
-2025-08-12 10:32:57 - INFO - str_feed_take移动到抓料位置
-2025-08-12 10:32:57 - INFO - 🟡 机器人尚未到达抓料点位
-2025-08-12 10:32:57 - INFO - str_feed_take移动到抓料位置
-2025-08-12 10:32:57 - INFO - 🟡 机器人尚未到达抓料点位
-2025-08-12 10:32:57 - INFO - str_feed_take移动到抓料位置
-2025-08-12 10:32:57 - INFO - 🟡 机器人尚未到达抓料点位
-2025-08-12 10:32:57 - INFO - str_feed_take移动到抓料位置
-2025-08-12 10:32:58 - INFO - 🟡 机器人尚未到达抓料点位
-2025-08-12 10:32:58 - INFO - str_feed_take移动到抓料位置
-2025-08-12 10:32:58 - INFO - 🟡 机器人尚未到达抓料点位
-2025-08-12 10:32:58 - INFO - str_feed_take移动到抓料位置
-2025-08-12 10:32:58 - INFO - 🟢 机器人已到达抓料点位
-2025-08-12 10:32:58 - INFO - 已设置放置点: X=-187.12
-2025-08-12 10:32:58 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-569.543396","m1":"-1299.659543","m2":"-1269.931256","m3":"-151.12764","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
-2025-08-12 10:32:58 - 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 10:32:58 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-569.524475","m1":"-1299.973877","m2":"-825.314453","m3":"-151.126846","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
-2025-08-12 10:32:59 - INFO - 移动到中位位置
-2025-08-12 10:32:59 - INFO - 移动到位置:姿势直线：X:-569.524475-Y:-1299.973877-Z:-825.314453-U:-151.126846-V:0.0-W:-0.0
-2025-08-12 10:32:59 - INFO - [调试计数] 已进入 FMid 分支 20 次
-2025-08-12 10:32:59 - INFO - 移动到中位位置
-2025-08-12 10:32:59 - INFO - 移动到位置:姿势直线：X:-569.522156-Y:-1299.988647-Z:-413.430023-U:-151.126541-V:0.0-W:-0.0
-2025-08-12 10:32:59 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-569.522156","m1":"-1299.988647","m2":"-413.430023","m3":"-151.126541","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
-2025-08-12 10:32:59 - INFO - [调试计数] 已进入 FMid 分支 21 次
-2025-08-12 10:32:59 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1143.22937","m1":"-822.204346","m2":"-84.250801","m3":"-73.561378","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
-2025-08-12 10:32:59 - INFO - 移动到中位位置
-2025-08-12 10:33:00 - INFO - 移动到位置:姿势直线：X:1143.22937-Y:-822.204346-Z:-84.250801-U:-73.561378-V:0.0-W:-0.0
-2025-08-12 10:33:00 - INFO - [调试计数] 已进入 FMid 分支 22 次
-2025-08-12 10:33:07 - INFO - 移动到中位位置
-2025-08-12 10:33:07 - INFO - 移动到位置:姿势直线：X:890.821655-Y:-313.300446-Z:-691.557617-U:-63.248192-V:0.0-W:-0.0
-2025-08-12 10:33:07 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"890.821655","m1":"-313.300446","m2":"-691.557617","m3":"-63.248192","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
-2025-08-12 10:33:08 - INFO - [调试计数] 已进入 FMid 分支 23 次
-2025-08-12 10:33:11 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-828.689758","m1":"-1146.968872","m2":"-77.084404","m3":"-90.137154","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
-2025-08-12 10:33:12 - INFO - 移动到破袋位置
-2025-08-12 10:33:12 - INFO - 移动到位置:姿势直线：X:-828.689758-Y:-1146.968872-Z:-77.084404-U:-90.137154-V:0.0-W:-0.0
-2025-08-12 10:33:12 - INFO - 拍照
-2025-08-12 10:33:12 - INFO - 识别图像成功
-2025-08-12 10:33:12 - INFO - ⏳ 等待传感器2料包信号...
-2025-08-12 10:33:13 - INFO - ⏳ 等待传感器2料包信号...
-2025-08-12 10:33:14 - INFO - ⏳ 等待传感器2料包信号...
-2025-08-12 10:33:15 - INFO - ⏳ 等待传感器2料包信号...
-2025-08-12 10:33:16 - INFO - ⏳ 等待传感器2料包信号...
-2025-08-12 10:33:17 - INFO - ⏳ 等待传感器2料包信号...
-2025-08-12 10:33:18 - INFO - ⏳ 等待传感器2料包信号...
-2025-08-12 10:33:19 - INFO - ⏳ 等待传感器2料包信号...
-2025-08-12 10:33:20 - INFO - ⏳ 等待传感器2料包信号...
-2025-08-12 10:33:21 - INFO - ⏳ 等待传感器2料包信号...
-2025-08-12 10:33:22 - INFO - ⏳ 等待传感器2料包信号...
-2025-08-12 10:33:23 - INFO - ⏳ 等待传感器2料包信号...
-2025-08-12 10:33:24 - INFO - ⏳ 等待传感器2料包信号...
-2025-08-12 10:33:25 - INFO - ⏳ 等待传感器2料包信号...
-2025-08-12 10:33:26 - INFO - ⏳ 等待传感器2料包信号...
-2025-08-12 10:33:27 - INFO - ⏳ 等待传感器2料包信号...
-2025-08-12 10:33:28 - INFO - ⏳ 等待传感器2料包信号...
-2025-08-12 10:33:29 - INFO - ⏳ 等待传感器2料包信号...
-2025-08-12 10:33:30 - INFO - ⏳ 等待传感器2料包信号...
-2025-08-12 10:33:31 - INFO - ⏳ 等待传感器2料包信号...
-2025-08-12 10:33:32 - INFO - ⏳ 等待传感器2料包信号...
-2025-08-12 10:33:33 - INFO - ⏳ 等待传感器2料包信号...
-2025-08-12 10:33:35 - INFO - ⏳ 等待传感器2料包信号...
-2025-08-12 10:33:36 - INFO - ⏳ 等待传感器2料包信号...
-2025-08-12 10:33:37 - INFO - ⏳ 等待传感器2料包信号...
-2025-08-12 10:33:38 - INFO - ⏳ 等待传感器2料包信号...
-2025-08-12 10:33:39 - ERROR - 'str' object has no attribute 'release'
-2025-08-12 10:33:41 - ERROR - Feeding运行异常: Internal C++ object (Feeding) already deleted.
-2025-08-12 10:33:41 - ERROR - Feeding运行异常: Internal C++ object (Feeding) already deleted.
-2025-08-12 10:33:41 - ERROR - Feeding运行异常: Internal C++ object (Feeding) already deleted.

main.py

@@ -17,7 +17,7 @@ from PyQt5.uic.properties import QtWidgets
 from PySide6 import QtCore
 from PySide6.QtCore import QThread, Signal, Slot, QObject, QEvent, QTimer
 from PySide6.QtGui import QIntValidator, QStandardItemModel, QStandardItem, Qt, QMovie, QIcon, QCursor, QColor, \
-    QTextCursor
+    QTextCursor,QFont
 from PySide6.QtWidgets import QApplication, QMainWindow, QPushButton, QLabel, QHeaderView, QTableWidget, \
     QTableWidgetItem, QWidget, QHBoxLayout, QAbstractItemView, QMessageBox, QSizePolicy, QComboBox, QMenu, QDialog, QGridLayout
 from datetime import datetime
@@ -1019,6 +1019,8 @@ class MainWindow(QMainWindow, Ui_MainWindow):
         msg_box_person.setIcon(QMessageBox.Icon.Information)
         msg_box_person.setText("是否确认生产区域安全继续生产？")
         msg_box_person.setWindowTitle("提示")
+        font=QFont("Microsoft YaHei UI",20)
+        msg_box_person.setFont(font)
 
         ok_button = msg_box_person.addButton("确定", PySide6.QtWidgets.QMessageBox.ButtonRole.AcceptRole)
         cancel_button = msg_box_person.addButton("取消", PySide6.QtWidgets.QMessageBox.ButtonRole.RejectRole)
@@ -1154,7 +1156,7 @@ class MainWindow(QMainWindow, Ui_MainWindow):
             button.setStyleSheet(
                 """
                 *{background-color: #101F3F;
-                font: 10pt "楷体";
+                font: 20pt "楷体";
                 color:#ffffff;
                 border-radius: 5px;
                 min-height: 40px;
@@ -1181,7 +1183,7 @@ class MainWindow(QMainWindow, Ui_MainWindow):
         cancel_button.setStyleSheet(
             """
             *{background-color: #6c757d;
-            font: 10pt "楷体";
+            font: 20pt "楷体";
             color:#ffffff;
             border-radius: 5px;
             min-height: 40px;
@@ -1678,6 +1680,8 @@ class MainWindow(QMainWindow, Ui_MainWindow):
         msg_box_finish.setText("码垛完成,请移走拖板")
         msg_box_finish.setWindowTitle("提示")
         msg_box_finish.addButton("确定", QMessageBox.AcceptRole)
+        loc_font=QFont("Microsoft YaHei UI",20)
+        msg_box_finish.setFont(font)
         result=msg_box_finish.exec()
         self.label_remain_num.setText(str(self.feeding.feedConfig.remain_count))
         self.stop_all_work()

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\x99\x8e\x16\x01P\
+\x00\x00\x01\x9a\x01M\x90h\
 "
 
 def qInitResources():

ui_MainWin.py

@@ -3445,7 +3445,7 @@ 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: 9pt \"Microsoft YaHei UI\";")
+"font: 12pt \"Microsoft YaHei UI\";")
 
         self.gridLayout.addWidget(self.lineEdit_num, 0, 0, 1, 4)
 
@@ -3455,7 +3455,7 @@ class Ui_MainWindow(object):
         self.pushButton_numkeybord.setSizePolicy(sizePolicy1)
         self.pushButton_numkeybord.setStyleSheet(u"\n"
 "*{background-color: #101F3F;\n"
-"font: 11pt \"\u6977\u4f53\";\n"
+"font: 20pt \"\u6977\u4f53\";\n"
 "color:#ffffff\n"
 "}\n"
 "*:hover {\n"
@@ -3475,7 +3475,7 @@ class Ui_MainWindow(object):
         self.pushButton_num_confirm.setSizePolicy(sizePolicy1)
         self.pushButton_num_confirm.setStyleSheet(u"\n"
 "*{background-color: #101F3F;\n"
-"font: 11pt \"\u6977\u4f53\";\n"
+"font: 20pt \"\u6977\u4f53\";\n"
 "color:#ffffff\n"
 "}\n"
 "*:hover {\n"
@@ -3516,7 +3516,7 @@ class Ui_MainWindow(object):
         self.label_button_status.setStyleSheet(u"\n"
 "QLabel{\n"
 "background-color: rgba(255, 255, 255, 0);\n"
-"font: 700 16pt \"Microsoft YaHei UI\";\n"
+"font: 700 36pt \"Microsoft YaHei UI\";\n"
 "color:#FF0000;\n"
 "}")
 
@@ -3545,7 +3545,7 @@ class Ui_MainWindow(object):
         self.pushButton_reset.setSizePolicy(sizePolicy5)
         self.pushButton_reset.setStyleSheet(u"*{\n"
 "background-color: #FFFFBF;\n"
-"font: 9pt \"\u6977\u4f53\";\n"
+"font: 20pt \"\u6977\u4f53\";\n"
 "border-radius: 10px;\n"
 "}\n"
 "*:pressed\n"
@@ -3584,7 +3584,7 @@ class Ui_MainWindow(object):
         self.pushButton_stopFeed.setSizePolicy(sizePolicy5)
         self.pushButton_stopFeed.setStyleSheet(u"*{\n"
 "background-color: #FF0000;\n"
-"font: 9pt \"\u6977\u4f53\";\n"
+"font: 20pt \"\u6977\u4f53\";\n"
 "border-radius: 10px;\n"
 "}\n"
 "*:pressed\n"
@@ -3603,7 +3603,7 @@ class Ui_MainWindow(object):
         self.pushButton_pauseFeed.setSizePolicy(sizePolicy5)
         self.pushButton_pauseFeed.setStyleSheet(u"*{\n"
 "background-color: #2196F3;\n"
-"font: 9pt \"\u6977\u4f53\";\n"
+"font: 20pt \"\u6977\u4f53\";\n"
 "border-radius: 10px;\n"
 "}\n"
 "*:pressed\n"
@@ -3622,7 +3622,7 @@ class Ui_MainWindow(object):
         self.pushButton_startFeed.setSizePolicy(sizePolicy5)
         self.pushButton_startFeed.setStyleSheet(u"*{\n"
 "background-color: #499C54;\n"
-"font: 9pt \"\u6977\u4f53\";\n"
+"font: 20pt \"\u6977\u4f53\";\n"
 "\n"
 "border-radius: 10px;\n"
 "}\n"
@@ -3642,7 +3642,7 @@ class Ui_MainWindow(object):
         self.pushButton_clearAlarm.setSizePolicy(sizePolicy5)
         self.pushButton_clearAlarm.setStyleSheet(u"*{\n"
 "background-color: #1CB2B1;\n"
-"font: 9pt \"\u6977\u4f53\";\n"
+"font: 20pt \"\u6977\u4f53\";\n"
 "border-radius: 10px;\n"
 "}\n"
 "*:pressed\n"