.gitignore

@@ -273,3 +273,4 @@ PySide2_Fluent_Widgets.egg-info/
 /Trace/__pycache__
 /Util/__pycache__
 /view/__pycache__
+/log/log.log

.idea/.gitignore

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

.idea/ailai.iml

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

.idea/inspectionProfiles/profiles_settings.xml

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

.idea/misc.xml

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

.idea/modules.xml

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

.idea/vcs.xml

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

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

@@ -75,7 +75,7 @@ class FeedPosition:
         self.position = position
 
 class FeedLine:
-    def __init__(self, id, name, feed_positions:list,remain_count:int):
+    def __init__(self, id, name, feed_positions:list,remain_count:int,drop_manage:DropPositionManager):
         self.feed_positions = copy.deepcopy(feed_positions)
         
         self.feeding2end_pos_index = 0
@@ -83,7 +83,7 @@ class FeedLine:
         self.start2take_pos_index = 0
         self.name = name
         self.id = id
-        self.drop_manager = DropPositionManager()
+        self.drop_manager = drop_manage
         # 初始化各个阶段的位置列表
         self.feeding_to_end = []
 
@@ -479,7 +479,7 @@ class Feeding(QObject):
                     self.next_position()
                     return
                 #初始点无论如何先打开夹爪
-                self.relay_controller.close(clamp=True)
+                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
@@ -507,6 +507,9 @@ class Feeding(QObject):
                     # self.take_photo_sigal.emit()
                     self.next_position()
                     self.log_signal.emit(logging.INFO, Constant.str_sys_runing2)
+                else:
+                    self.log_signal.emit(logging.ERROR, Constant.str_clamp_open_error)
+                    time.sleep(2)
                 # self.feedStatus = FeedStatus.FTake
 
         elif self.feedStatus == FeedStatus.FTake:
@@ -534,8 +537,11 @@ class Feeding(QObject):
                 # 移动到下一个抓取点
                 # 更新丢包点: 如果需要根据放置情况调整下次抓取
 
-            self.relay_controller.open(clamp=True)
+            if self.relay_controller.open(clamp=True):
                 self.next_position(self.is_reverse)
+            else:
+                self.log_signal.emit(logging.ERROR, Constant.str_clamp_close_error)
+                time.sleep(2)
             
             #self.feedConfig.feedLine.set_drop_position(real_position)#我想在这里读取我的一个ini文件值里面有很多个drop点，每一次索引递增的点
 

CU/drop.py

@@ -8,7 +8,7 @@ import Constant
 
 
 class DropPositionManager:
-    def __init__(self, config_path=Constant.dropLine_set_file):
+    def __init__(self, config_path):
         self.config_path = config_path
         self.config = configparser.ConfigParser()
         self._load_config()
@@ -167,10 +167,13 @@ 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  
         line_model = LineModel(_lineid)
         line_model.line_category = 2
@@ -255,10 +258,13 @@ class DropPositionManager:
     def save_path_points(self, line_model: LineModel):
         """根据lineid保存所有码垛的路径信息"""
         #默认码垛的lineid从10开始,保存的时候减一
+        if self.config_path==Constant.dropLine_set_file_35:
+            _lineid=line_model.id-11  
+        else: 
             _lineid=line_model.id-10  
         if _lineid<=0:
             return
-        self.config.read(Constant.dropLine_set_file, encoding='utf-8')
+        self.config.read(self.config_path, encoding='utf-8')
         # 查找主表 DropLineX
         main_section = f"{Constant.dropLine_set_section}{_lineid}"
         if not self.config.has_section(main_section):
@@ -267,7 +273,7 @@ class DropPositionManager:
         self.config.set(main_section, "id", str(_lineid))
         _current_reset_index=1
         _current_mid_index=1
-        _current_drop_section_val=self._current_drop_section[main_section]
+        _current_drop_section_val=self._get_max_drop_section()
         # 保存每个DropPoints
         for i, pos in enumerate(line_model.positions):
             if pos.lineId == _lineid or pos.lineId == line_model.id:
@@ -300,49 +306,25 @@ class DropPositionManager:
                 #保存数据
                 pos.save_position_model(self.config)
 
-        with open(Constant.dropLine_set_file, 'w', encoding='utf-8') as f:
+        with open(self.config_path, 'w', encoding='utf-8') as f:
             self.config.write(f)
     
     def del_drop_point(self,section):
-            self.config.read(Constant.dropLine_set_file, encoding = 'utf-8')
+            self.config.read(self.config_path, encoding = 'utf-8')
             self.config.remove_section(section)
-            with open(Constant.dropLine_set_file, 'w', encoding='utf-8') as f:
+            with open(self.config_path, 'w', encoding='utf-8') as f:
                 self.config.write(f)
 
-def _get_point_debug_info(manager, pos, model):
+    def _get_max_drop_section(self):
-    config = manager.config
+        """获取最大的DropPoints序号"""
-    for sec in config.sections():
+        max_section = 1
-        if sec.startswith("DropPoints"):
+        for section in self.config.sections():
-            try:
+            if section.startswith("DropPoints"):
-                x, y, z = config.getfloat(sec, "x"), config.getfloat(sec, "y"), config.getfloat(sec, "z")
+                num_part = int(section.replace("DropPoints", "0"))
-                if abs(x - pos.X) < 0.001 and abs(y - pos.Y) < 0.001 and abs(z - pos.Z) < 0.001:
+                if num_part > max_section:
-                    point_id = config.getint(sec, "id")
+                    max_section = num_part
-                    return f"📌 DropPoints{point_id} | id={point_id}"
+        return max_section
-            except: pass
+   #endregion
-
-        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")

Constant.py

@@ -22,6 +22,7 @@ dropLine_set_section = 'DropLine'
 position_set_section = 'Position'
 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'
 MAX_Position_num = 40
 MAX_Line_num = 10
 set_ini = 'Seting.ini'
@@ -104,7 +105,8 @@ str_tcp_connect_no_reply = '无回复'
 str_tcp_connect_error = 'tcp连接错误'
 str_tcp_reconnect = '重连中'
 str_sys_json_error = 'json解析错误'
-
+str_clamp_open_error = '夹爪打开失败'
+str_clamp_close_error = '夹爪关闭失败'
 
 str_sys_runing = '运行到这里了！'
 str_sys_runing1 = '运行到这里2！ '

EMV/EMV.py

@@ -36,6 +36,7 @@ class RelayController(QObject):
         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
@@ -113,6 +114,7 @@ class RelayController(QObject):
 
         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'):
@@ -127,7 +129,7 @@ class RelayController(QObject):
                     sock.connect((self.host, self.port))
                     sock.send(byte_data)
                     response = sock.recv(1024)
-                    hex_response = binascii.hexlify(response).decode('utf-8')
+                    # hex_response = binascii.hexlify(response).decode('utf-8')
                     #if source == 'sensor':
                         #print(f"[传感器响应] {hex_response}")
                     #elif source == 'device':
@@ -136,13 +138,14 @@ 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})")
+                # 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})")
                 time.sleep(5)
         self.trigger_alarm()
         return None
 
     def trigger_alarm(self):
-        print("警告：网络继电器连续多次通信失败，请检查设备连接！")
+        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！")
 
     # ===================== 状态读取方法 =====================
     def get_all_device_status(self, command_type='devices'):
@@ -186,6 +189,7 @@ class RelayController(QObject):
 
         if response and len(response) >= 10:
             hex_response = binascii.hexlify(response).decode('utf-8')
+
             # print(f"[原始响应][{command_type}] {hex_response}")
 
             # 假设传感器数据从第 9 字节开始，长度为 2 字节
@@ -247,7 +251,63 @@ class RelayController(QObject):
             time.sleep(self.sensor2_loop_delay)
         return False
 
+    def is_valid_sensor(self,sensor_name):
+        """
+        检查传感器状态是否有效
+        参数:
+            sensor_name: 传感器名称
+        返回:
+            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)
+
+        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:
+                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      
+        参数:
+            sensor_name: 传感器名称
+            detection_duration: 总检测时间窗口(秒)，默认为3秒
+            stability_duration: 信号需要持续稳定的时间(秒)，默认为2.5秒
+            check_interval: 检测间隔(秒)，默认为0.1秒
+        
+        返回:
+            True: 在时间窗口内检测到持续稳定的有效信号
+            False: 未检测到持续稳定的有效信号
+        """
+        stable_start_time = None  # 记录首次检测到有效信号的时间
+        start_time = time.time()
+        if not self.is_valid_sensor(sensor_name):
+            return False   # 传感器状态无效,返回
+        else:
+            stable_start_time = time.time()  # 首次检测到有效信号
+            time.sleep(check_interval)
+       
+        while time.time() - start_time < detection_duration:
+            temp_is_valid = self.is_valid_sensor(sensor_name)
+            if temp_is_valid:
+                if time.time() - stable_start_time >= stability_duration:
+                    return True  # 信号持续稳定达到要求时间
+            else:
+                    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):
@@ -269,49 +329,104 @@ class RelayController(QObject):
         return False
 
     # ===================== 动作控制方法 =====================
-    def open(self, conveyor1=False, pusher=False, conveyor2=False, clamp=False, pusher1=False, conveyor2_reverse=False):
+    def open(self, conveyor1=False, pusher=False, conveyor2=False, clamp=False, pusher1=False, conveyor2_reverse=False)->bool:
-        if Constant.DebugPosition:
+        """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"""
-            return
+        loc_ret=False
+        loc_reponse=None
+        loc_send_command=None
         status = self.get_all_device_status()
-        if conveyor1 and not status.get(self.CONVEYOR1, False):
-            self.send_command(self.valve_commands[self.CONVEYOR1]['open'])
-            time.sleep(self.delay_conveyor)
-        if pusher and not status.get(self.PUSHER, False):
-            self.send_command(self.valve_commands[self.PUSHER]['open'])
-            time.sleep(self.delay_pusher)
-        if conveyor2 and not status.get(self.CONVEYOR2, False):
-            self.send_command(self.valve_commands[self.CONVEYOR2]['open'])
-            time.sleep(self.delay_conveyor)
-        if clamp and not status.get(self.CLAMP, False):
-            self.send_command(self.valve_commands[self.CLAMP]['open'])
-            time.sleep(self.delay_clamp)
-        if pusher1 and not status.get(self.PUSHER1, False):
-            self.send_command(self.valve_commands[self.PUSHER1]['open'])
-            time.sleep(self.delay_pusher)
-        if conveyor2_reverse:
-            self.send_command(self.valve_commands[self.CONVEYOR2_REVERSE]['open'])
-            time.sleep(self.delay_conveyor)
-
-    def close(self, conveyor1=False, pusher=False, conveyor2=False, clamp=False, pusher1=False, conveyor2_reverse=False):
         if conveyor1:
-            self.send_command(self.valve_commands[self.CONVEYOR1]['close'])
+            if not status.get(self.CONVEYOR1, False):
+                loc_send_command=self.valve_commands[self.CONVEYOR1]['open']
+                loc_reponse=self.send_command(loc_send_command)
+                time.sleep(self.delay_conveyor)
+            else:
+                loc_ret=True
+        elif pusher:
+            if not status.get(self.PUSHER, False):
+                loc_send_command=self.valve_commands[self.PUSHER]['open']
+                loc_reponse=self.send_command(loc_send_command)
+                time.sleep(self.delay_pusher)
+            else:
+                loc_ret=True
+        elif conveyor2:
+            if not status.get(self.CONVEYOR2, False):
+                loc_send_command=self.valve_commands[self.CONVEYOR2]['open']
+                loc_reponse=self.send_command(loc_send_command)
+                time.sleep(self.delay_conveyor)
+            else:
+                loc_ret=True
+        elif clamp:
+            if not status.get(self.CLAMP, False):
+                loc_send_command=self.valve_commands[self.CLAMP]['open']
+                loc_reponse=self.send_command(loc_send_command)
+                time.sleep(self.delay_clamp)
+            else:
+                loc_ret=True
+        elif pusher1:
+            if not status.get(self.PUSHER1, False):
+                loc_send_command=self.valve_commands[self.PUSHER1]['open']
+                loc_reponse=self.send_command(loc_send_command)
+                time.sleep(self.delay_pusher)
+            else:
+                loc_ret=True
+        elif conveyor2_reverse:
+            if not status.get(self.CONVEYOR2_REVERSE, False):
+                loc_send_command=self.valve_commands[self.CONVEYOR2_REVERSE]['open']
+                loc_reponse=self.send_command(loc_send_command)
+                time.sleep(self.delay_conveyor)
+            else:
+                loc_ret=True
+
+       
+        if loc_reponse and len(loc_reponse) >= 10:
+            lol_hex_response = binascii.hexlify(response).decode('utf-8')
+            if lol_hex_response == loc_send_command:
+                loc_ret=True
+
+        if Constant.DebugPosition:
+            loc_ret=True
+        return loc_ret
+        
+
+    def close(self, conveyor1=False, pusher=False, conveyor2=False, clamp=False, pusher1=False, conveyor2_reverse=False)->bool:
+        loc_ret=False
+        loc_reponse=None
+        loc_send_command=None
+        if conveyor1:
+            loc_send_command=self.valve_commands[self.CONVEYOR1]['close']   
+            loc_reponse=self.send_command(loc_send_command)
             time.sleep(self.delay_conveyor)
         if pusher:
-            self.send_command(self.valve_commands[self.PUSHER]['close'])
+            loc_send_command=self.valve_commands[self.PUSHER]['close']
+            loc_reponse=self.send_command(loc_send_command)
             time.sleep(self.delay_pusher)
         if conveyor2:
-            self.send_command(self.valve_commands[self.CONVEYOR2]['close'])
+            loc_send_command=self.valve_commands[self.CONVEYOR2]['close']
+            loc_reponse=self.send_command(loc_send_command)
             time.sleep(self.delay_conveyor)
         if clamp:
-            self.send_command(self.valve_commands[self.CLAMP]['close'])
+            loc_send_command=self.valve_commands[self.CLAMP]['close']
+            loc_reponse=self.send_command(loc_send_command)
             time.sleep(self.delay_clamp)
         if pusher1:
-            self.send_command(self.valve_commands[self.PUSHER1]['close'])
+            loc_send_command=self.valve_commands[self.PUSHER1]['close']
+            loc_reponse=self.send_command(loc_send_command)
             time.sleep(self.delay_pusher)
         if conveyor2_reverse:
-            self.send_command(self.valve_commands[self.CONVEYOR2_REVERSE]['close'])
+            loc_send_command=self.valve_commands[self.CONVEYOR2_REVERSE]['close']
+            loc_reponse=self.send_command(loc_send_command)
             time.sleep(self.delay_conveyor)
 
+        if loc_reponse and len(loc_reponse) >= 10:
+            lol_hex_response = binascii.hexlify(response).decode('utf-8')
+            if lol_hex_response == loc_send_command:
+                loc_ret=True
+        if Constant.DebugPosition:
+            loc_ret=True   
+        return loc_ret
+        
+
     # ===================== 传感器处理线程 =====================
     def handle_sensor1(self):
         while self._running:
@@ -356,6 +471,7 @@ class RelayController(QObject):
                 time.sleep(self.sensor1_loop_delay)
             except Exception as e:
                 print(f"SENSOR1 处理错误: {e}")
+                self.log_signal.emit(logging.ERROR,f"SENSOR1 处理错误: {e}")
                 self.sensor1_triggered = False
                 time.sleep(self.sensor1_error_delay)
 
@@ -363,6 +479,14 @@ class RelayController(QObject):
         _is_pause_close=True
         #是否料袋尾部（有信号--》无信号）
         _is_signal=False
+
+         #正发转用
+        _is_reverse_2=False
+        #是否反转后正转信号消息
+        _is_signal_2=False
+        #是否首次正转信号
+        _is_first_signal_2=False
+
         while self._running:
             if self._ispause:
                 #暂停
@@ -376,9 +500,66 @@ 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 or self.is_valid_sensor_status_1(self.SENSOR2):
+                    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):
@@ -394,16 +575,85 @@ class RelayController(QObject):
                             _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')   
+                        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)
+                    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:
+                    time.sleep(0.1)  
+                else:  
                     time.sleep(2)
             except Exception as e:
-                print(f"SENSOR2 处理错误: {e}")
+                print(f"SENSOR3 处理错误: {e}")
+                self.log_signal.emit(logging.ERROR,f"SENSOR3 处理错误: {e}")
                 time.sleep(self.sensor2_error_delay)
 
     def pause_start_sensor(self,is_pause):
@@ -413,6 +663,14 @@ class RelayController(QObject):
         """
         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    
+
+
     def stop_sensor(self,sensor1_thread,sensor2_thread):
         if not self._running:
             print("线程未在运行")

Seting.ini

@@ -21,12 +21,12 @@ photo_z1 = 1.0
 photo_u1 = 12.0
 photo_v1 = 0.0
 photo_w1 = 1.0
-photo_x2 = 7.0
+photo_x2 = 0.0
-photo_y2 = 50.0
+photo_y2 = 0.0
-photo_z2 = 1.0
+photo_z2 = 0.0
-photo_u2 = 12.0
+photo_u2 = 0.0
 photo_v2 = 0.0
-photo_w2 = 1.0
+photo_w2 = 0.0
 photo_x3 = 7.0
 photo_y3 = 50.0
 photo_z3 = 1.0
@@ -48,7 +48,7 @@ photo_w5 = 1.0
 linecount = 2
 remain_linename = 1
 remain_dropweight_kg = 50
-remain_count = 10
+remain_count = 18
 maduo_count = 30
 io_take_addr = 8
 io_zip_addr = 11

Util/util_log.py

@@ -51,9 +51,18 @@ 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
+        error_handler = TimedRotatingFileHandler(
+            file_path.replace('.log', '_error.log'), 
+            when='D', interval=1, backupCount=30, encoding='utf-8')
+        error_handler.suffix = "%Y-%m-%d"
+        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:

main.py

@@ -59,7 +59,7 @@ class MainWindow(QMainWindow, Ui_MainWindow):
         self.setupUi(self)
         #传感器继电器加入变量
         self.relay_controller = RelayController()
-        self.drop_position_manager = DropPositionManager()
+        self.drop_position_manager = DropPositionManager(Constant.dropLine_set_file)
         self.sensor_thread = None
         self.sensor2_thread  = None
         self.last_status_printed = None
@@ -242,7 +242,10 @@ class MainWindow(QMainWindow, Ui_MainWindow):
                         line_model.save_line_model(config_reader)
                         config_reader.write(open(Constant.feedLine_set_file, 'w', encoding='utf-8'))
                     elif section.startswith(Constant.dropLine_set_section):
-                        self.drop_position_manager.save_path_points(line_model)
+                        loc_dropline_file=Constant.dropLine_set_file
+                        if section.endswith('-35'):
+                            loc_dropline_file=Constant.dropLine_set_file_35                                                  
+                        DropPositionManager(loc_dropline_file).save_path_points(line_model)
                     self.init_FeedLine()
                     break
             self.init_table_lines_data()
@@ -335,7 +338,7 @@ class MainWindow(QMainWindow, Ui_MainWindow):
     def show_lines_pos_data(self,line_index):
         if self.selected_line_section!='' and self.selected_line_section != self.tableWidget_lines.item(line_index,0).text():
             if self.table_position_changed or self.table_line_changed:
-                msgBox = QMessageBox()
+                msgBox = QMessageBox(self)
                 msgBox.setText("已修改的数据，是否保存？")
                 msgBox.setStandardButtons(QMessageBox.Yes | QMessageBox.No)
                 result = msgBox.exec()
@@ -408,7 +411,10 @@ class MainWindow(QMainWindow, Ui_MainWindow):
         self.tableWidget_line_positions.removeRow(self.tableWidget_line_positions.currentRow())
         
         if self.selected_line_section.startswith(Constant.dropLine_set_section):
-            self.drop_position_manager.del_drop_point(section)
+            loc_dropline_file=Constant.dropLine_set_file
+            if self.selected_line_section.endswith('-35'):
+                loc_dropline_file=Constant.dropLine_set_file_35
+            DropPositionManager(loc_dropline_file).del_drop_point(section)
         else: 
             config_writer = configparser.ConfigParser()
             config_writer.read(Constant.feedLine_set_file, encoding = 'utf-8')
@@ -448,7 +454,6 @@ class MainWindow(QMainWindow, Ui_MainWindow):
         self.set_positionModel_to_tabel(row_i+1,position_model)
         self.table_line_changed = True
 
-
     def tabel_move_position(self,row_i):
         if self.tableWidget_line_positions.currentRow()==-1:
             QMessageBox.information(self, "提示", Constant.str_sys_set_position_error)
@@ -566,11 +571,13 @@ class MainWindow(QMainWindow, Ui_MainWindow):
         pass
 
     def init_log(self):
+        """初始化日志显示到界面上"""
         log.log_info_signal.connect(self.log_info_message)
         log.log_error_signal.connect(self.log_error_message)
         log.log_warning_signal.connect(self.log_warning_message)
         log.init_log(self.textEdit_log_info, self.textEdit_log_error, Constant.log_file_path)
         log.log_message(logging.INFO, Constant.str_sys_start)
+    
     def log_info_message(self,message):
         now = datetime.now()
         formatted_time = now.strftime("%Y-%m-%d %H:%M:%S")
@@ -752,6 +759,7 @@ class MainWindow(QMainWindow, Ui_MainWindow):
         # self.camera_img.update_camera_image.connect(self.updateUI_label_detection)
         self.feeding.log_signal.connect(self.log_message)
         self.feeding.stack_finish_signal.connect(self.stack_finish)
+        self.relay_controller.log_signal.connect(self.log_message)
         # self.camera_img=CameraImg(self.feeding)
         # self.camera_img.update_camera_image.connect(self.updateUI_label_detection)
         
@@ -778,112 +786,6 @@ class MainWindow(QMainWindow, Ui_MainWindow):
         else:
             return Error_Code.SYS_NETERROR
 
-    def init_seting_frame(self):
-
-        rows = len(self.feedLine_dict.keys()) + 1
-        self.tableWidget_feedSeting.setRowCount(rows)
-        self.tableWidget_feedSeting.setColumnCount(20+2*6)
-        # 设置第一重表头的合并 (三列一组)
-        self.tableWidget_feedSeting_addtional_col_num = 2
-
-        self.tableWidget_feedSeting.setSpan(0, 0 + self.tableWidget_feedSeting_addtional_col_num, 1, 6)  # 合并前3列
-        self.tableWidget_feedSeting.setSpan(0, 6 + self.tableWidget_feedSeting_addtional_col_num, 1, 6)  # 合并后3列
-        self.tableWidget_feedSeting.setSpan(0, 12 + self.tableWidget_feedSeting_addtional_col_num, 1, 6)  # 合并后3列
-        self.tableWidget_feedSeting.setSpan(0, 18 + self.tableWidget_feedSeting_addtional_col_num, 1, 6)  # 合并后3列
-        self.tableWidget_feedSeting.setSpan(0, 24 + self.tableWidget_feedSeting_addtional_col_num, 1, 6)  # 合并后3列
-
-
-        self.tableWidget_feedSeting.itemChanged.connect(self.send_tabelFeedSet_itemChanged)
-
-        btn_safe = QPushButton("获取安全位置")
-        widget_safe = QWidget()
-        layout_safe = QHBoxLayout()
-        layout_safe.addWidget(btn_safe)
-        # 调整布局的间距，使之更紧凑
-        layout_safe.setContentsMargins(0, 0, 0, 0)
-        # 将布局设置到 QWidget 容器中
-        widget_safe.setLayout(layout_safe)
-
-
-        btn_bk1 = QPushButton("获取破袋位置1")
-        widget_bk1 = QWidget()
-        layout_bk1 = QHBoxLayout()
-        layout_bk1.addWidget(btn_bk1)
-        # 调整布局的间距，使之更紧凑
-        layout_bk1.setContentsMargins(0, 0, 0, 0)
-        # 将布局设置到 QWidget 容器中
-        widget_bk1.setLayout(layout_bk1)
-
-        btn_bk2 = QPushButton("获取破袋位置2")
-        widget_bk2 = QWidget()
-        layout_bk2 = QHBoxLayout()
-        layout_bk2.addWidget(btn_bk2)
-        # 调整布局的间距，使之更紧凑
-        layout_bk2.setContentsMargins(0, 0, 0, 0)
-        # 将布局设置到 QWidget 容器中
-        widget_bk2.setLayout(layout_bk2)
-
-        btn_shake = QPushButton("获取摇晃位置")
-        widget_shake = QWidget()
-        layout_shake = QHBoxLayout()
-        layout_shake.addWidget(btn_shake)
-        layout_shake.setContentsMargins(0, 0, 0, 0)
-        widget_shake.setLayout(layout_shake)
-
-
-        btn_dropbag = QPushButton("获取丢袋位置")
-        widget_dropbag = QWidget()
-        layout_dropbag = QHBoxLayout()
-        layout_dropbag.addWidget(btn_dropbag)
-        # 调整布局的间距，使之更紧凑
-        layout_dropbag.setContentsMargins(0, 0, 0, 0)
-        # 将布局设置到 QWidget 容器中
-        widget_dropbag.setLayout(layout_dropbag)
-
-
-
-
-
-        btn_safe.clicked.connect(self.send_get_safe_position_button_click)
-        btn_bk1.clicked.connect(self.send_get_broken1_position_button_click)
-        btn_bk2.clicked.connect(self.send_get_broken2_position_button_click)
-        btn_shake.clicked.connect(self.send_get_shake_position_button_click)
-        btn_dropbag.clicked.connect(self.send_get_dropbag_position_button_click)
-
-        # 添加第一重表头项
-
-        self.tableWidget_feedSeting.setCellWidget(0, 0 + self.tableWidget_feedSeting_addtional_col_num, widget_safe)
-        self.tableWidget_feedSeting.setCellWidget(0, 6 + self.tableWidget_feedSeting_addtional_col_num, widget_bk1)
-        self.tableWidget_feedSeting.setCellWidget(0, 12 + self.tableWidget_feedSeting_addtional_col_num, widget_bk2)
-        self.tableWidget_feedSeting.setCellWidget(0, 18 + self.tableWidget_feedSeting_addtional_col_num, widget_shake)
-        self.tableWidget_feedSeting.setCellWidget(0, 24 + self.tableWidget_feedSeting_addtional_col_num, widget_dropbag)
-
-
-        self.tableWidget_feedSeting.setSelectionBehavior(QTableWidget.SelectRows)
-        self.tableWidget_feedSeting.setAutoScroll(True)
-        # 添加第二重表头
-        self.tableWidget_feedSeting.setHorizontalHeaderLabels(
-            ['header', '线名', 'X1', 'Y1', 'Z1', 'U1', 'V1', 'W1', 'X2', 'Y2', 'Z2', 'U2', 'V2', 'W2', 'X3', 'Y3', 'Z3',
-             'U3', 'V3', 'W3', 'X4', 'Y4', 'Z4', 'U4', 'V4', 'W4', 'X5', 'Y5', 'Z5', 'U5', 'V5', 'W5'])
-
-        self.tableWidget_feedSeting.hideColumn(0)
-        # 填充数据行
-        for row, (feed_line_key, feed_line) in enumerate(self.feedLine_dict.items()):
-            self.tableWidget_feedSeting.setItem(row + 1, 0, QTableWidgetItem(feed_line_key))
-            self.tableWidget_feedSeting.setItem(row + 1, 1, QTableWidgetItem(feed_line.name))
-            self.set_position_to_tabel(row + 1, 0, feed_line.safe_position)
-            self.set_position_to_tabel(row + 1, 1, feed_line.broken1_position)
-            self.set_position_to_tabel(row + 1, 2, feed_line.broken2_position)
-            self.set_position_to_tabel(row + 1, 3, feed_line.broken2_position)
-            self.set_position_to_tabel(row + 1, 4, feed_line.drop_bag_position)
-
-
-        # 禁用自动表头
-        self.tableWidget_feedSeting.verticalHeader().setVisible(True)
-        self.pushButton_tableFeedSet_addRow.clicked.connect(self.send_tabelFeedSet_addRow)
-        self.pushButton_tableFeedSet_deleRow.clicked.connect(self.send_tabelFeedSet_delRow)
-        self.pushButton_tableFeedSet_save.clicked.connect(self.send_tabelFeedSet_save)
-
     def init_FeedLine(self):
         # line_count = self.configReader.get('Robot_Feed', 'LineCount', fallback=0)
         configReader = configparser.ConfigParser()
@@ -895,10 +797,13 @@ class MainWindow(QMainWindow, Ui_MainWindow):
                 feed_line.read_line_model(config_reader=configReader,index=i)
                 self.feedLine_dict[f'{Constant.feedLine_set_section}{i}'] = feed_line
         #加载所有码垛的路径信息    
-        for i in range(1,Constant.MAX_Line_num):
+        # for i in range(1,Constant.MAX_Line_num):
-            line_model = self.drop_position_manager.load_path_points(i)
+        line_model = DropPositionManager(Constant.dropLine_set_file).load_path_points(1)
         if line_model:
-                self.feedLine_dict[f'{Constant.dropLine_set_section}{i}'] = line_model
+            self.feedLine_dict[f'{Constant.dropLine_set_section}-50'] = line_model
+        line_model = DropPositionManager(Constant.dropLine_set_file_35).load_path_points(1)
+        if line_model:
+            self.feedLine_dict[f'{Constant.dropLine_set_section}-35'] = line_model
 
         # self.updateUI_Select_Line()
         # 9/29 初始化线名选择框 和 重量选择框
@@ -977,15 +882,13 @@ class MainWindow(QMainWindow, Ui_MainWindow):
 
         pass
 
-
-
     def check_continue(self):
         if self.remain_Count!=0:
             for key in self.feedLine_dict.keys():
                 feed_line = self.feedLine_dict[key]
                 if  f'FeedLine{self.remain_lineName}' == key:
                     #提示
-                    remain_messageBox = QMessageBox()
+                    remain_messageBox = QMessageBox(self)
                     remain_messageBox.setIcon(QMessageBox.Icon.Warning)
                     remain_messageBox.setText(f'还有{self.remain_Count}袋未投料，是否继续？') # 这里返回多少袋没有投料
                     # remain_messageBox.setStandardButtons(QMessageBox.StandardButton.Ok | QMessageBox.StandardButton.Cancel)
@@ -1019,7 +922,7 @@ class MainWindow(QMainWindow, Ui_MainWindow):
             self.send_start_tool_command()
             log.log_message(logging.INFO, Constant.str_sys_start_tool)
 
-        msg_box_person = QMessageBox()
+        msg_box_person = QMessageBox(self)
         msg_box_person.setIcon(QMessageBox.Icon.Information)
         msg_box_person.setText("是否确认生产区域安全继续生产？")
         msg_box_person.setWindowTitle("提示")
@@ -1058,8 +961,24 @@ class MainWindow(QMainWindow, Ui_MainWindow):
             return
         
         self.label_button_status.setText("运行中...")
+        self.drop_position_manager=DropPositionManager(Constant.dropLine_set_file_35)
+        self.relay_controller.set_drop_35(True)
+        #注意码垛数和码垛总数
         # num=25  #先默认30包码垛
-        self.command_quene.put(FeedCommand(FeedingConfig(num, FeedLine(self.feedLine_dict[line_head].id,self.feedLine_dict[line_head].name,self.feedLine_dict[line_head].positions,self.remain_Count), self.feeding.robotClient.photo_locs[:],self.remain_Count)))
+        self.command_quene.put(
+            FeedCommand(
+                FeedingConfig(num, 
+                    FeedLine(
+                        self.feedLine_dict[line_head].id,
+                        self.feedLine_dict[line_head].name,
+                        self.feedLine_dict[line_head].positions,
+                        self.remain_Count,
+                        self.drop_position_manager
+                     )
+                    , self.feeding.robotClient.photo_locs[:],self.remain_Count
+                  )
+                )
+          )
         # self.stackedWidget_num.setCurrentIndex(1)
         self.set_run_status_button(True)
         self.feeding.pause = False
@@ -1268,97 +1187,6 @@ class MainWindow(QMainWindow, Ui_MainWindow):
         log.log_message(logging.INFO, Constant.str_sys_setSpeed + str(self.robotClient.debug_speed)+'|'+str(self.robotClient.feed_speed))
         pass
     
-    def send_get_safe_position_button_click(self):
-        real_position = self.robotClient.status_model.getRealPosition()
-        row_i = self.tableWidget_feedSeting.currentRow()
-        head = self.tableWidget_feedSeting.item(row_i, 0).text()
-        self.feedLine_dict[head].safe_position.init_position(real_position.X, real_position.Y, real_position.Z,
-                                                             real_position.U, real_position.V, real_position.W)
-        self.set_position_to_tabel(row_i, 0, real_position)
-
-
-    def send_get_broken1_position_button_click(self):
-        real_position = self.robotClient.status_model.getRealPosition()
-        row_i = self.tableWidget_feedSeting.currentRow()
-        head = self.tableWidget_feedSeting.item(row_i, 0).text()
-        self.feedLine_dict[head].broken1_position.init_position(real_position.X, real_position.Y, real_position.Z,
-                                                                real_position.U, real_position.V, real_position.W)
-        self.set_position_to_tabel(row_i, 1, real_position)
-
-    def send_get_broken2_position_button_click(self):
-        real_position = self.robotClient.status_model.getRealPosition()
-        row_i = self.tableWidget_feedSeting.currentRow()
-        head = self.tableWidget_feedSeting.item(row_i, 0).text()
-        self.feedLine_dict[head].broken2_position.init_position(real_position.X, real_position.Y, real_position.Z,
-                                                                real_position.U, real_position.V, real_position.W)
-        self.set_position_to_tabel(row_i, 2, real_position)
-
-    def send_get_shake_position_button_click(self):
-        real_position = self.robotClient.status_model.getRealPosition()
-        row_i = self.tableWidget_feedSeting.currentRow()
-        head = self.tableWidget_feedSeting.item(row_i, 0).text()
-        self.feedLine_dict[head].shake_position.init_position(real_position.X, real_position.Y, real_position.Z,
-                                                              real_position.U, real_position.V, real_position.W)
-        self.set_position_to_tabel(row_i, 3, real_position)
-
-    def send_get_dropbag_position_button_click(self):
-        real_position = self.robotClient.status_model.getRealPosition()
-        row_i = self.tableWidget_feedSeting.currentRow()
-        head = self.tableWidget_feedSeting.item(row_i, 0).text()
-        self.feedLine_dict[head].drop_bag_position.init_position(real_position.X, real_position.Y, real_position.Z,
-                                                                 real_position.U, real_position.V, real_position.W)
-        self.set_position_to_tabel(row_i, 4, real_position)
-
-    def send_get_zipbag_position_button_click(self):
-        real_position = self.robotClient.status_model.getRealPosition()
-        row_i = self.tableWidget_feedSeting.currentRow()
-        head = self.tableWidget_feedSeting.item(row_i, 0).text()
-        self.feedLine_dict[head].zip_bag_position.init_position(real_position.X, real_position.Y, real_position.Z,
-                                                                real_position.U, real_position.V, real_position.W)
-        self.set_position_to_tabel(row_i, 6, real_position)
-    
-    def send_tabelFeedSet_addRow(self):
-        for i in range(1, 20):
-            head = f'{Constant.feedLine_set_section}{i}'
-            if head not in self.feedLine_dict:
-                row_position = self.tableWidget_feedSeting.rowCount()  # 当前行数
-                self.tableWidget_feedSeting.insertRow(row_position)
-                safe_position = Real_Position()
-                break_1_position = Real_Position()
-                break_2_position = Real_Position()
-                shake_position = Real_Position()
-                drop_bag_position = Real_Position()
-
-                self.feedLine_dict[head] = FeedLine('新建', safe_position, break_1_position, break_2_position,shake_position,drop_bag_position)
-                self.tableWidget_feedSeting.setItem(self.tableWidget_feedSeting.rowCount() - 1, 0,
-                                                    QTableWidgetItem(head))
-                self.tableWidget_feedSeting.setItem(self.tableWidget_feedSeting.rowCount() - 1, 1,
-                                                    QTableWidgetItem('新建'))
-                self.set_position_to_tabel(self.tableWidget_feedSeting.rowCount() - 1, 0, safe_position)
-                self.set_position_to_tabel(self.tableWidget_feedSeting.rowCount() - 1, 1, break_1_position)
-                self.set_position_to_tabel(self.tableWidget_feedSeting.rowCount() - 1, 2, break_2_position)
-                self.set_position_to_tabel(self.tableWidget_feedSeting.rowCount() - 1, 3, shake_position)
-                self.set_position_to_tabel(self.tableWidget_feedSeting.rowCount() - 1, 4, drop_bag_position)
-                break
-
-    def send_tabelFeedSet_delRow(self):
-        selectRow = self.tableWidget_feedSeting.currentRow()
-        if selectRow >= 0:
-            for feed_line_key, feed_line in self.feedLine_dict.items():
-                if feed_line_key == self.tableWidget_feedSeting.item(selectRow, 0).text():
-                    self.feedLine_dict.pop(feed_line_key)
-                    self.tableWidget_feedSeting.removeRow(selectRow)
-                    break
-        else:
-            QMessageBox.information(self, "提示", "请选择要删除的行")
-
-    def send_tabelFeedSet_save(self):
-        count = len(self.feedLine_dict.keys())
-        self.configReader.read(Constant.set_ini)
-        self.configReader.set('Robot_Feed', 'LineCount', str(count))
-        writeFeedLine_to_ini(self.feedLine_dict, Constant.feedLine_set_file)
-        pass
-
     def send_stopFeed_button_click(self):
         # 清空状态
         self.feeding.feedStatus = FeedStatus.FNone
@@ -1387,7 +1215,7 @@ class MainWindow(QMainWindow, Ui_MainWindow):
   
     def send_emergency_alarm_command(self):
         """停止当前工作，需要启动"""
-        msg_box_person = QMessageBox()
+        msg_box_person = QMessageBox(self)
         msg_box_person.setIcon(QMessageBox.Icon.Question)
         msg_box_person.setText("您确定要停止当前工作吗？")
         msg_box_person.setWindowTitle("提示")
@@ -1468,9 +1296,15 @@ class MainWindow(QMainWindow, Ui_MainWindow):
                 position_origin.status = 1
                 return_positions.insert(0,position_origin)
                 if self.feedLine_dict.keys().__contains__(line_head):
-                    self.feeding.feedConfig= FeedingConfig(0, FeedLine(self.feedLine_dict[line_head].id, self.feedLine_dict[line_head].name,
+                    self.feeding.feedConfig= FeedingConfig(
-                                                return_positions,self.remain_Count),
+                        0, 
-                                self.feeding.robotClient.photo_locs[:],self.remain_Count)
+                        FeedLine(
+                            self.feedLine_dict[line_head].id, 
+                            self.feedLine_dict[line_head].name,
+                            return_positions,
+                            self.remain_Count
+                            )
+                            ,self.feeding.robotClient.photo_locs[:],self.remain_Count,None)
                 else:
                     log.log_message(logging.ERROR, Constant.str_feed_reset_no_line_error)
                     return
@@ -1488,78 +1322,6 @@ class MainWindow(QMainWindow, Ui_MainWindow):
         self.send_clear_auto_command()
         self.send_emergency_alarm_command()
 
-    def send_tabelFeedSet_itemChanged(self, item):
-        row = item.row()
-        column = item.column()
-        value = item.text()
-        head = self.tableWidget_feedSeting.item(row, 0).text()
-        if column == 1:
-            self.feedLine_dict[head].name = value
-        elif column == (0 + self.tableWidget_feedSeting_addtional_col_num):
-            self.feedLine_dict[head].safe_position.X = float(value)
-        elif column == (1 + self.tableWidget_feedSeting_addtional_col_num):
-            self.feedLine_dict[head].safe_position.Y = float(value)
-        elif column == (2 + self.tableWidget_feedSeting_addtional_col_num):
-            self.feedLine_dict[head].safe_position.Z = float(value)
-        elif column == (3 + self.tableWidget_feedSeting_addtional_col_num):
-            self.feedLine_dict[head].safe_position.U = float(value)
-        elif column == (4 + self.tableWidget_feedSeting_addtional_col_num):
-            self.feedLine_dict[head].safe_position.V = float(value)
-        elif column == (5 + self.tableWidget_feedSeting_addtional_col_num):
-            self.feedLine_dict[head].safe_position.W = float(value)
-        # elif column == 7:
-        elif column == (6 + self.tableWidget_feedSeting_addtional_col_num):
-            self.feedLine_dict[head].broken1_position.X = float(value)
-        elif column == (7 + self.tableWidget_feedSeting_addtional_col_num):
-            self.feedLine_dict[head].broken1_position.Y = float(value)
-        elif column == (8 + self.tableWidget_feedSeting_addtional_col_num):
-            self.feedLine_dict[head].broken1_position.Z = float(value)
-        elif column == (9 + self.tableWidget_feedSeting_addtional_col_num):
-            self.feedLine_dict[head].broken1_position.U = float(value)
-        elif column == (10 + self.tableWidget_feedSeting_addtional_col_num):
-            self.feedLine_dict[head].broken1_position.V = float(value)
-        elif column == (11 + self.tableWidget_feedSeting_addtional_col_num):
-            self.feedLine_dict[head].broken1_position.W = float(value)
-
-        elif column == (12 + self.tableWidget_feedSeting_addtional_col_num):
-            self.feedLine_dict[head].broken2_position.X = float(value)
-        elif column == (13 + self.tableWidget_feedSeting_addtional_col_num):
-            self.feedLine_dict[head].broken2_position.Y = float(value)
-        elif column == (14 + self.tableWidget_feedSeting_addtional_col_num):
-            self.feedLine_dict[head].broken2_position.Z = float(value)
-        elif column == (15 + self.tableWidget_feedSeting_addtional_col_num):
-            self.feedLine_dict[head].broken2_position.U = float(value)
-        elif column == (16 + self.tableWidget_feedSeting_addtional_col_num):
-            self.feedLine_dict[head].broken2_position.V = float(value)
-        elif column == (17 + self.tableWidget_feedSeting_addtional_col_num):
-            self.feedLine_dict[head].broken2_position.W = float(value)
-
-        elif column == (18 + self.tableWidget_feedSeting_addtional_col_num):
-            self.feedLine_dict[head].shake_position.X = float(value)
-        elif column == (19 + self.tableWidget_feedSeting_addtional_col_num):
-            self.feedLine_dict[head].shake_position.Y = float(value)
-        elif column == (20 + self.tableWidget_feedSeting_addtional_col_num):
-            self.feedLine_dict[head].shake_position.Z = float(value)
-        elif column == (21 + self.tableWidget_feedSeting_addtional_col_num):
-            self.feedLine_dict[head].shake_position.U = float(value)
-        elif column == (22 + self.tableWidget_feedSeting_addtional_col_num):
-            self.feedLine_dict[head].shake_position.V = float(value)
-        elif column == (23 + self.tableWidget_feedSeting_addtional_col_num):
-            self.feedLine_dict[head].shake_position.W = float(value)
-
-        elif column == (24 + self.tableWidget_feedSeting_addtional_col_num):
-            self.feedLine_dict[head].drop_bag_position.X = float(value)
-        elif column == (25 + self.tableWidget_feedSeting_addtional_col_num):
-            self.feedLine_dict[head].drop_bag_position.Y = float(value)
-        elif column == (26 + self.tableWidget_feedSeting_addtional_col_num):
-            self.feedLine_dict[head].drop_bag_position.Z = float(value)
-        elif column == (27 + self.tableWidget_feedSeting_addtional_col_num):
-            self.feedLine_dict[head].drop_bag_position.U = float(value)
-        elif column == (28 + self.tableWidget_feedSeting_addtional_col_num):
-            self.feedLine_dict[head].drop_bag_position.V = float(value)
-        elif column == (29 + self.tableWidget_feedSeting_addtional_col_num):
-            self.feedLine_dict[head].drop_bag_position.W = float(value)
-
     def run(self):
         # 主线程的逻辑就是 feeding.run() 接口和错误状态处理
         while self.thread_signal:
@@ -1581,7 +1343,7 @@ class MainWindow(QMainWindow, Ui_MainWindow):
                         self.feeding.feedConfig = command.feed_config
                         # 开启传感器线程检测相关
                         self.relay_controller.pause_start_sensor(False)
-                        self.feeding.feedStatus = FeedStatus.FStart  # ✅ 投料开始，会触发传感器线程启动
+                        self.feeding.feedStatus = FeedStatus.FStart
                         command.status = Status.Runing
                         self.record_remain_num()
 
@@ -1677,7 +1439,7 @@ class MainWindow(QMainWindow, Ui_MainWindow):
         # self.send_pause_command(True)
         # self.feeding.pause = True
         # self.relay_controller.pause_start_sensor(True)
-        msg_box_finish = QMessageBox()
+        msg_box_finish = QMessageBox(self)
         msg_box_finish.setIcon(QMessageBox.Icon.Warning)
         msg_box_finish.setText("码垛完成,请移走拖板")
         msg_box_finish.setWindowTitle("提示")
@@ -1839,8 +1601,6 @@ class MainWindow(QMainWindow, Ui_MainWindow):
         self.label_status_toolIndex.setText(str(self.robotClient.status_model.toolCoord))
         self.label_status_speed.setText(str(self.robotClient.status_model.curSpeed_n))
 
-
-
     def updateUI_Position(self):
         self.horizontalSlider_J1.setValue(self.status_address.axis_0)
         self.horizontalSlider_J2.setValue(self.status_address.axis_1)
@@ -1862,19 +1622,6 @@ class MainWindow(QMainWindow, Ui_MainWindow):
         self.horizontalSlider_J5.setValue(self.status_address.axis_4)
         self.horizontalSlider_J6.setValue(self.status_address.axis_5)
 
-    def set_position_to_tabel(self, row_i, position_j, real_Position: Real_Position):
-        self.tableWidget_feedSeting.setItem(row_i, position_j * 6 + self.tableWidget_feedSeting_addtional_col_num,
-                                            QTableWidgetItem(str(real_Position.X)))
-        self.tableWidget_feedSeting.setItem(row_i, position_j * 6 + 1 + self.tableWidget_feedSeting_addtional_col_num,
-                                            QTableWidgetItem(str(real_Position.Y)))
-        self.tableWidget_feedSeting.setItem(row_i, position_j * 6 + 2 + self.tableWidget_feedSeting_addtional_col_num,
-                                            QTableWidgetItem(str(real_Position.Z)))
-        self.tableWidget_feedSeting.setItem(row_i, position_j * 6 + 3 + self.tableWidget_feedSeting_addtional_col_num,
-                                            QTableWidgetItem(str(real_Position.U)))
-        self.tableWidget_feedSeting.setItem(row_i, position_j * 6 + 4 + self.tableWidget_feedSeting_addtional_col_num,
-                                            QTableWidgetItem(str(real_Position.V)))
-        self.tableWidget_feedSeting.setItem(row_i, position_j * 6 + 5 + self.tableWidget_feedSeting_addtional_col_num,
-                                            QTableWidgetItem(str(real_Position.W)))
     def updateUI_frame_sign(self,sign:FeedStatus):
         # print("start")
         if sign == FeedStatus.FNone:
@@ -1941,8 +1688,6 @@ class MainWindow(QMainWindow, Ui_MainWindow):
         except Exception as e:
             print(e)
 
-
-
     def set_run_status_button(self, isRuning: bool):
         self.pushButton_pauseFeed.setText("暂停")
         ##self.pushButton_startFeed.setEnabled(False)
@@ -2207,6 +1952,7 @@ class MainWindow(QMainWindow, Ui_MainWindow):
             log.log_message(logging.INFO, f'设置拍照点5:{x5},{y5},{z5}')
         except:
             self.show_infomessage_box("设置拍照点5失败")
+   
     def set_origin_button_click(self):
         try:
             x = float(self.lineEdit_origin_x.text())
@@ -2231,8 +1977,6 @@ class MainWindow(QMainWindow, Ui_MainWindow):
             log.log_message(logging.ERROR, f'设置原点失败')
             self.show_infomessage_box("设置原点失败")
 
-
-
     def updateUI_Photo_Set(self):
         self.lineEdit_x1.setText(str(self.robotClient.photo_locs[0][0]))
         self.lineEdit_y1.setText(str(self.robotClient.photo_locs[0][1]))