复位-急停

.gitignore

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

.idea/.gitignore

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

.idea/ailai.iml

@@ -0,0 +1,12 @@
+<?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

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

.idea/misc.xml

@@ -0,0 +1,4 @@
+<?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

@@ -0,0 +1,8 @@
+<?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

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

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
@@ -93,10 +101,10 @@ 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+response)
+            log.log_message(logging.WARNING,Constant.str_sys_json_error+request_status_json)
             return True
         except Exception as e:
-            log.log_message(logging.ERROR,f'{e}{response}')
+            log.log_message(logging.ERROR,f'{e}{request_status_json}')
             raise
 
     def send_emergency_sound(self):

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/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

@@ -1,6 +1,8 @@
 import copy
 from dis import stack_effect
 import logging
+import math
+from pickle import FALSE
 import random
 import threading
 import time
@@ -29,12 +31,21 @@ 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
+from Mv3D.calculate_diff2 import calculate_offset_from_image
+
 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
@@ -75,7 +86,7 @@ class FeedPosition:
         self.position = position
 
 class FeedLine:
-    def __init__(self, id, name, feed_positions:list,remain_count:int,drop_manage:DropPositionManager):
+    def __init__(self, id, name, feed_positions:list,remain_count:int):
         self.feed_positions = copy.deepcopy(feed_positions)
         
         self.feeding2end_pos_index = 0
@@ -83,7 +94,7 @@ class FeedLine:
         self.start2take_pos_index = 0
         self.name = name
         self.id = id
-        self.drop_manager = drop_manage
+        self.drop_manager = DropPositionManager()
         # 初始化各个阶段的位置列表
         self.feeding_to_end = []
 
@@ -204,7 +215,7 @@ 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) -> list:
+    def get_drop_path(self,offsetX) -> list:
         """获取动态扔包路径"""
 
         if self.drop_manager is None:
@@ -218,8 +229,11 @@ 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
 
@@ -245,21 +259,51 @@ 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):
-       
+    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
+        """
         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()
+        test_path = self.get_drop_path(offsetX)
         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
@@ -286,6 +330,10 @@ 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__()
@@ -326,7 +374,7 @@ 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 +388,8 @@ class Feeding(QObject):
         # self.detect_thread.join()
         if self.detect.detection:
             self.detect.detection.release()
-        # if self.camera_img:
-        #     self.camera_img.close_camera()
+        if self.camera_img:
+            self.camera_img.release()
 
     def run_detect(self):
         #图片相关线程
@@ -353,6 +401,8 @@ 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
@@ -455,6 +505,10 @@ 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
@@ -465,7 +519,7 @@ 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)
@@ -479,38 +533,66 @@ class Feeding(QObject):
                     self.next_position()
                     return
                 #初始点无论如何先打开夹爪
-                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
+                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")
                         else:
-                            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
+                            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)
 
         elif self.feedStatus == FeedStatus.FTake:
             self.log_signal.emit(logging.INFO, Constant.str_feed_take)
@@ -537,11 +619,8 @@ 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
 
-            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.relay_controller.open(clamp=True)
+            self.next_position(self.is_reverse)
             
             #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
 
@@ -614,9 +693,10 @@ 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
@@ -846,6 +926,7 @@ 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()
@@ -970,3 +1051,109 @@ 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):
+    def __init__(self, config_path=Constant.dropLine_set_file):
         self.config_path = config_path
         self.config = configparser.ConfigParser()
         self._load_config()
@@ -167,14 +167,11 @@ 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
-        if self.config_path==Constant.dropLine_set_file_35:
-            _lineid=lineid+11
-        else: 
-            _lineid=lineid+10  
+        _lineid=lineid+10  
         line_model = LineModel(_lineid)
         line_model.line_category = 2
         line_model.id = _lineid
@@ -258,13 +255,10 @@ 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
-        if self.config_path==Constant.dropLine_set_file_35:
-            _lineid=line_model.id-11  
-        else: 
-            _lineid=line_model.id-10  
+        _lineid=line_model.id-10  
         if _lineid<=0:
             return
-        self.config.read(self.config_path, encoding='utf-8')
+        self.config.read(Constant.dropLine_set_file, encoding='utf-8')
         # 查找主表 DropLineX
         main_section = f"{Constant.dropLine_set_section}{_lineid}"
         if not self.config.has_section(main_section):
@@ -273,7 +267,7 @@ class DropPositionManager:
         self.config.set(main_section, "id", str(_lineid))
         _current_reset_index=1
         _current_mid_index=1
-        _current_drop_section_val=self._get_max_drop_section()
+        _current_drop_section_val=self._current_drop_section[main_section]
         # 保存每个DropPoints
         for i, pos in enumerate(line_model.positions):
             if pos.lineId == _lineid or pos.lineId == line_model.id:
@@ -306,25 +300,49 @@ class DropPositionManager:
                 #保存数据
                 pos.save_position_model(self.config)
 
-        with open(self.config_path, 'w', encoding='utf-8') as f:
+        with open(Constant.dropLine_set_file, 'w', encoding='utf-8') as f:
             self.config.write(f)
     
     def del_drop_point(self,section):
-            self.config.read(self.config_path, encoding = 'utf-8')
+            self.config.read(Constant.dropLine_set_file, encoding = 'utf-8')
             self.config.remove_section(section)
-            with open(self.config_path, 'w', encoding='utf-8') as f:
+            with open(Constant.dropLine_set_file, 'w', encoding='utf-8') as f:
                 self.config.write(f)
 
-    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
+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"
+
 # 测试
 if __name__ == "__main__":
     # manager = DropPositionManager("drop.ini")

Config/reset_line.ini

@@ -0,0 +1,34 @@
+[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 = True # 调试位置，关闭机器人和传感器及判断
+DebugPosition = False # 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
 
@@ -20,9 +20,10 @@ 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'
-dropLine_set_file_35 = f'.{os.sep}Config{os.sep}drop-35.ini'
+resetLine_set_file = f'.{os.sep}Config{os.sep}reset_line.ini'
 MAX_Position_num = 40
 MAX_Line_num = 10
 set_ini = 'Seting.ini'
@@ -54,6 +55,7 @@ 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'
@@ -105,8 +107,7 @@ 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

@@ -14,6 +14,8 @@ 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 =====================
@@ -32,11 +34,12 @@ 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
@@ -50,8 +53,12 @@ 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'},
@@ -61,6 +68,12 @@ 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'}
         }
@@ -78,7 +91,10 @@ class RelayController(QObject):
             self.CONVEYOR2: 2,
             self.CLAMP: 3,
             self.PUSHER1: 4,
-            self.CONVEYOR2_REVERSE: 5
+            self.CONVEYOR2_REVERSE: 5,
+            self.BELT: 6,
+            self.ALARM: 7,
+            #self.BLOW_SENSOR2: 8
         }
 
         self.sensor_bit_map = {
@@ -87,12 +103,15 @@ class RelayController(QObject):
         }
 
         self.device_name_map = {
-            self.CONVEYOR1: "传送带1",
+            self.CONVEYOR1: "包装机皮带",
             self.PUSHER: "推板开",
-            self.CONVEYOR2: "传送带2",
+            self.CONVEYOR2: "滚筒",
             self.CLAMP: "机械臂夹爪",
             self.PUSHER1: "推板关",
-            self.CONVEYOR2_REVERSE: "传送带2反转"
+            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.sensor_name_map = {
@@ -106,20 +125,19 @@ class RelayController(QObject):
         self._sensor1_thread = None
         self._sensor2_thread = None
 
-        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.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.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):
@@ -138,19 +156,20 @@ 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}")
@@ -164,7 +183,7 @@ 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'
@@ -189,7 +208,6 @@ 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
@@ -203,6 +221,24 @@ 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）
@@ -251,6 +287,27 @@ 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
@@ -260,19 +317,26 @@ class RelayController(QObject):
             True: 传感器状态有效
             False: 传感器状态无效
         """
-        responses = self.get_all_sensor_responses('sensors')
-        response = responses.get(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...")
-            return False
-        else:
-            temp_status_code = self.parse_status_code(response)
-            if temp_status_code in self.required_codes_1:
-                return True
-            else:
+            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:
+                    stable_count += 1
+                    if stable_count >= 3:
+                        return True
+                else:
+                   stable_count = 0
+            time.sleep(self.sensor2_loop_lost)
+        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      
@@ -303,129 +367,67 @@ class RelayController(QObject):
                     stable_start_time = None  # 信号不稳定，重置计时           
             time.sleep(check_interval)      
         return 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()
+    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:
-            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)
+            self.send_command(self.valve_commands[self.CONVEYOR1]['open'])
             time.sleep(self.delay_conveyor)
         if pusher:
-            loc_send_command=self.valve_commands[self.PUSHER]['close']
-            loc_reponse=self.send_command(loc_send_command)
+            self.send_command(self.valve_commands[self.PUSHER]['open'])
             time.sleep(self.delay_pusher)
         if conveyor2:
-            loc_send_command=self.valve_commands[self.CONVEYOR2]['close']
-            loc_reponse=self.send_command(loc_send_command)
+            self.send_command(self.valve_commands[self.CONVEYOR2]['open'])
             time.sleep(self.delay_conveyor)
         if clamp:
-            loc_send_command=self.valve_commands[self.CLAMP]['close']
-            loc_reponse=self.send_command(loc_send_command)
+            self.send_command(self.valve_commands[self.CLAMP]['open'])
             time.sleep(self.delay_clamp)
         if pusher1:
-            loc_send_command=self.valve_commands[self.PUSHER1]['close']
-            loc_reponse=self.send_command(loc_send_command)
+            self.send_command(self.valve_commands[self.PUSHER1]['open'])
             time.sleep(self.delay_pusher)
         if conveyor2_reverse:
-            loc_send_command=self.valve_commands[self.CONVEYOR2_REVERSE]['close']
-            loc_reponse=self.send_command(loc_send_command)
+            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)
 
-        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,belt=False,alarm=False,blow_sensor2=False):
+        if conveyor1:
+            self.send_command(self.valve_commands[self.CONVEYOR1]['close'])
+            time.sleep(self.delay_conveyor)
+        if pusher:
+            self.send_command(self.valve_commands[self.PUSHER]['close'])
+            time.sleep(self.delay_pusher)
+        if conveyor2:
+            self.send_command(self.valve_commands[self.CONVEYOR2]['close'])
+            time.sleep(self.delay_conveyor)
+        if clamp:
+            self.send_command(self.valve_commands[self.CLAMP]['close'])
+            time.sleep(self.delay_clamp)
+        if pusher1:
+            self.send_command(self.valve_commands[self.PUSHER1]['close'])
+            time.sleep(self.delay_pusher)
+        if conveyor2_reverse:
+            self.send_command(self.valve_commands[self.CONVEYOR2_REVERSE]['close'])
+            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)
 
     # ===================== 传感器处理线程 =====================
     def handle_sensor1(self):
@@ -461,11 +463,11 @@ 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)
@@ -479,14 +481,6 @@ 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
@@ -500,141 +494,30 @@ 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):                 
-                   #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')   
+                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')   
                         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
-                        #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)
+                        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)
                     continue
                 elif self.sensor2_ready:
                     #sensor2_ready:通过Feeding:FPhoto处控制是否启动
@@ -642,33 +525,26 @@ class RelayController(QObject):
                         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:
-                    time.sleep(0.1)  
-                else:  
-                    time.sleep(2)
+                        
+                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}")
+                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 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
-
-    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    
+        
+        if is_pause:
+            """暂停皮带"""
+            self.close(belt=True)
+        else:
+            """开启皮带"""
+            self.open(belt=True)
 
 
     def stop_sensor(self,sensor1_thread,sensor2_thread):
@@ -682,3 +558,28 @@ 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

@@ -1,4 +1,7 @@
+import os
+import sys
 
+sys.path.insert(0, os.path.dirname(os.path.dirname(__file__)))
 from EMV import RelayController
 import time
 import threading
@@ -35,6 +38,18 @@ 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)
         }
     }
 
@@ -83,16 +98,18 @@ if __name__ == "__main__":
     # print(sensors)
     # time.sleep(3)
     # test_device('conveyor2', 'open')
-    test_device('conveyor2_reverse', 'open')
+    # test_device('belt', 'close')
     # time.sleep(3)
     # test_device('conveyor2', 'open')
-    test_device('conveyor2', 'close')
+    # test_device('belt', '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('conveyor2', 'close')
+    test_device('blow_sensor2', 'close')
+
+    # test_device('blow_sensor2', 'close')
     # while True:
     # if relay_controller.is_valid_sensor_status_1('sensor2'):         
     #     test_device('conveyor2', 'close')
@@ -112,8 +129,10 @@ 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\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 +1,204 @@
+# 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

@@ -0,0 +1,237 @@
+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 = 0.0
-photo_y2 = 0.0
-photo_z2 = 0.0
-photo_u2 = 0.0
+photo_x2 = 7.0
+photo_y2 = 50.0
+photo_z2 = 1.0
+photo_u2 = 12.0
 photo_v2 = 0.0
-photo_w2 = 0.0
+photo_w2 = 1.0
 photo_x3 = 7.0
 photo_y3 = 50.0
 photo_z3 = 1.0
@@ -47,8 +47,7 @@ photo_v5 = 0.0
 photo_w5 = 1.0
 linecount = 2
 remain_linename = 1
-remain_dropweight_kg = 50
-remain_count = 18
+remain_count = 3
 maduo_count = 30
 io_take_addr = 8
 io_zip_addr = 11

Util/util_log.py

@@ -51,10 +51,11 @@ 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')
@@ -62,7 +63,6 @@ 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

@@ -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>ͣ
-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

@@ -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.

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():

test6.py

@@ -0,0 +1,37 @@
+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:#838992;\n"
+"color:#fff;\n"
 "background-color: #1B1F34;\n"
-"font: 9pt \"Microsoft YaHei UI\";\n"
+"font: 30pt \"Microsoft YaHei UI\";\n"
 "border: 1px solid #282B40;\n"
 "}\n"
 "*:pressed\n"
@@ -628,36 +628,7 @@ class Ui_MainWindow(object):
 "border-image: None;")
         self.frame_sign_2.setFrameShape(QFrame.Shape.StyledPanel)
         self.frame_sign_2.setFrameShadow(QFrame.Shadow.Raised)
-
-
-        # 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 = QGridLayout(self.frame_sign_2)
         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")
@@ -815,9 +786,6 @@ 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)
 
@@ -3342,47 +3310,6 @@ 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;")
@@ -3518,7 +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)
 
@@ -3528,7 +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: 30pt \"\u6977\u4f53\";\n"
 "color:#ffffff\n"
 "}\n"
 "*:hover {\n"
@@ -3548,7 +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: 30pt \"\u6977\u4f53\";\n"
 "color:#ffffff\n"
 "}\n"
 "*:hover {\n"
@@ -3589,7 +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"
 "}")
 
@@ -3618,7 +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: 30pt \"\u6977\u4f53\";\n"
 "border-radius: 10px;\n"
 "}\n"
 "*:pressed\n"
@@ -3657,7 +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: 30pt \"\u6977\u4f53\";\n"
 "border-radius: 10px;\n"
 "}\n"
 "*:pressed\n"
@@ -3676,7 +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: 30pt \"\u6977\u4f53\";\n"
 "border-radius: 10px;\n"
 "}\n"
 "*:pressed\n"
@@ -3695,7 +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: 30pt \"\u6977\u4f53\";\n"
 "\n"
 "border-radius: 10px;\n"
 "}\n"
@@ -3715,7 +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: 30pt \"\u6977\u4f53\";\n"
 "border-radius: 10px;\n"
 "}\n"
 "*:pressed\n"
@@ -3886,7 +3813,7 @@ 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: 36pt \"Microsoft YaHei UI\";")
+"font: 66pt \"Microsoft YaHei UI\";")
         self.label_remain_num.setAlignment(Qt.AlignmentFlag.AlignCenter)
 
         self.horizontalLayout_12.addWidget(self.label_remain_num)
@@ -4116,7 +4043,7 @@ 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"\u4ece\u7b2c\u51e0\u5305\u5f00\u59cb\u7801\u579b\u002c\u8f93\u5165\u540e\u70b9\u51fb\u786e\u5b9a", None))
+        self.lineEdit_num.setPlaceholderText(QCoreApplication.translate("MainWindow", u"已码垛数量", 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))