973 lines
46 KiB
Python
973 lines
46 KiB
Python
import copy
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from dis import stack_effect
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import logging
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import random
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import threading
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import time
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import cv2
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import numpy as np
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from PyQt5.QtWidgets import QMessageBox
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from PySide6.QtCore import Signal, QObject
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from PySide6.QtGui import QPixmap
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import Constant
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import Expection
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from CU.Catch import Catch, CatchStatus
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from CU.Detect import Detect, DetectStatus
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from Model.FeedModel import PositionModel
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from Model.Position import Real_Position, Detection_Position
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from enum import Enum, IntEnum
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from COM.COM_Robot import RobotClient, DetectType
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from Model.RobotModel import CMDInstructRequest, MoveType
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from Trace.handeye_calibration import getPosition
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from Trace.handeye_calibration import getxyz,getxyz1
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from Util.util_math import get_distance
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from Util.util_time import CRisOrFall
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#from Vision.camera_coordinate_dete import Detection
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from Util.util_log import log
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from Model.RobotModel import Instruction
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from EMV.EMV import RelayController
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from CU.drop import DropPositionManager
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# from Mv3D.CameraImg import CameraImg
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class ResetStatus(Enum):
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RNone = 0
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RStart = 1
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RRunging = 2
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ROk =3
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class FeedStatus(IntEnum):
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FNone = 0
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FStart = 1
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FCheck = 2
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FMid = 3
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FPhoto = 4
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FTake = 5
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FBroken1 = 6
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FDropMid = 7 # 暂时替换为扔包中间点
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FShake = 8
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FDropBag = 9 #码垛点
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FDropReset = 10 #码垛后点
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FFinished = 11
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FReverse = 12
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FStartReverse = 13
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class LineType(Enum):
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#直线
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Straight = 0
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#曲线中间点
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CureMid = 2
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#曲线终点
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CureEnd = 3
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#关节（自由路径）
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WORLD = 4
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class FeedMidStatus(Enum):
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FMid_Start = 1
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FMid_Take = 2
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FMid_Feed= 3
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FMid_Reverse = 4
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class FeedPosition:
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def __init__(self,status:FeedStatus,position:Real_Position):
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self.status = status
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self.position = position
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class FeedLine:
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def __init__(self, id, name, feed_positions:list,remain_count:int,drop_manage:DropPositionManager):
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self.feed_positions = copy.deepcopy(feed_positions)
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self.feeding2end_pos_index = 0
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self.origin2start_pos_index = 0
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self.start2take_pos_index = 0
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self.name = name
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self.id = id
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self.drop_manager = drop_manage
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# 初始化各个阶段的位置列表
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self.feeding_to_end = []
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# --- 新增：用于存储从 ini 文件读取的多个投料点坐标 ---
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# 这个列表将在加载 ini 时填充 [[x1,y1,z1,u1,v1,w1], [x2,y2,z2,u2,v2,w2], ...]
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self.drop_point_list = []
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#读取码垛点位置
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self.current_index = remain_count+1
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#记录feed_positions当前扔包点索引
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self.current_dropbag_index=0
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#记录当前抓包点索引
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self.current_take_index = 0
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def get_current_index(self):
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return self.current_index
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def set_current_index(self, index):
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self.current_index = index
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def get_current_feed_position(self,is_reverse):
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pos = self.feeding_to_end[ (self.feeding2end_pos_index+1)%len(self.feeding_to_end) if is_reverse else self.feeding2end_pos_index-1]
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return pos
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def get_current_take_position(self,is_reverse):
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pos = self.start_to_take[ (self.start2take_pos_index+1)%len(self.start_to_take) if is_reverse else self.start2take_pos_index-1]
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return pos
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def get_current_start_position(self,is_reverse):
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pos = self.origin_to_start[(self.origin2start_pos_index+1)%len(self.origin_to_start) if is_reverse else self.origin2start_pos_index-1]
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return pos
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def get_next_feed_position(self,reverse:bool=False):
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pos = self.feeding_to_end[self.feeding2end_pos_index]
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if reverse:
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self.feeding2end_pos_index -= 1
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if self.feeding2end_pos_index < 0:
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self.feeding2end_pos_index = len(self.feeding_to_end) - 1
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else:
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self.feeding2end_pos_index += 1
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if self.feeding2end_pos_index >= len(self.feeding_to_end):
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self.feeding2end_pos_index = 0
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return pos
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def get_next_start_position(self,reverse:bool=False):
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pos = self.origin_to_start[self.origin2start_pos_index]
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if reverse:
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self.origin2start_pos_index -= 1
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if self.origin2start_pos_index < 0:
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self.origin2start_pos_index = len(self.origin_to_start) - 1
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else:
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self.origin2start_pos_index += 1
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if self.origin2start_pos_index >= len(self.origin_to_start):
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self.origin2start_pos_index = 0
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return pos
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def get_next_take_position(self,reverse:bool=False):
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pos = self.start_to_take[self.start2take_pos_index]
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if reverse:
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self.start2take_pos_index -= 1
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if self.start2take_pos_index < 0:
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self.start2take_pos_index = len(self.start_to_take) - 1
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else:
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self.start2take_pos_index += 1
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if self.start2take_pos_index >= len(self.start_to_take):
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self.start2take_pos_index = 0
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return pos
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def get_take_position(self):
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for i in range(len(self.feeding_to_end)):
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if self.feeding_to_end[i].status == FeedStatus.FTake.value:
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return self.feeding_to_end[i]
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def set_take_position(self, position: Real_Position, dynamic_height=0):
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"""
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设置 FTake 位置（），并更新其前后动态点的位置。
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:param position: 新的抓取位置
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:param dynamic_height: 动态高度调整 (如果需要)
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"""
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for i in range(len(self.feeding_to_end)):
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if self.feeding_to_end[i].status == FeedStatus.FTake.value:
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# 计算 XYZ 坐标
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# xyz = getxyz(position.X, position.Y, position.Z, position.a, position.b, position.c)
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xyz = getxyz1(position.X, position.Y, position.Z, position.a, position.b, position.c)
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# 创建 before 和 after 位置
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befor_take_position = Real_Position().init_position(xyz[0],
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xyz[1],
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xyz[2],
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position.U,
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position.V,
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position.W)
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after_take_position = Real_Position().init_position(xyz[0],
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xyz[1],
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xyz[2],
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position.U,
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position.V,
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position.W)
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# 安全检查索引
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if i > 0:
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self.feeding_to_end[i - 1].set_position(befor_take_position)
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else:
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print("Warning: No position before FTake to update.")
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self.feeding_to_end[i].set_position(position)
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if i + 1 < len(self.feeding_to_end):
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self.feeding_to_end[i + 1].set_position(after_take_position)
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else:
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print("Warning: No position after FTake to update.")
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break # 抓料点暂时就一个
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def set_drop_position(self, position: Real_Position):
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"""
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设置 FDropBag 位置，只设置当前点，不处理前后点。
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:param position: 新的丢包位置
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"""
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for i in range(len(self.feeding_to_end)):
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if self.feeding_to_end[i].status == FeedStatus.FDropBag.value:
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# 直接设置当前点的位置
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self.feeding_to_end[i].set_position(position)
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print(
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f"✅ FDropBag 位置已更新: ({position.X}, {position.Y}, {position.Z}, {position.U}, {position.V}, {position.W})")
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break # 假设只有一个丢包点
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def get_drop_path(self) -> list:
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"""获取动态扔包路径"""
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if self.drop_manager is None:
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return []
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path = []
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while True:
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#current_index,当前扔包点id
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#drop.ini定义point1,point2,current_index对应后面的数字
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pos_model = self.drop_manager.get_next_drop_position(
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self.id,
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self.current_index
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)
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if pos_model is None:
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break
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path.append(pos_model)
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return path
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def get_position_list(self):
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index_start = -1
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for i in range(len(self.feed_positions)):
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if self.feed_positions[i].status == FeedStatus.FCheck.value:
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index_start = i
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break
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for i in range(len(self.feed_positions)):
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if self.feed_positions[i].status == FeedStatus.FPhoto.value:
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index_take = i
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#开始插入动态扔包点，按照 动态扔包中间点，扔包点，动态复位点的顺序
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#记录feed_positions扔包点初始位置,注意feed_positions会动态变化
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#如动态变化,重新获取
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if self.current_dropbag_index==0:
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for i in range(len(self.feed_positions)):
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if self.feed_positions[i].status == FeedStatus.FDropBag.value:
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self.current_dropbag_index = i
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break
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self.origin_to_start = self.feed_positions[: index_start+1]
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self.start_to_take = self.feed_positions[index_start:index_take+1]
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self.feeding_to_end = self.feed_positions[index_take:]
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def set_feeding_to_end(self):
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for i in range(len(self.feed_positions)):
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if self.feed_positions[i].status == FeedStatus.FPhoto.value:
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index_take = i
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break
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index_drop=self.current_dropbag_index
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test_path = self.get_drop_path()
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self.current_index+=1
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# 将总list的drop部分，替换为动态路径
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self.feed_positions = self.feed_positions[:index_drop] + test_path
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# self.feeding_to_end = self.feed_positions[index_take:index_drop]
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self.feeding_to_end = self.feed_positions[index_take:index_drop]+test_path
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class FeedingConfig:
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def __init__(self, num: int, feedLine: FeedLine, photo_locs,remain_count:int):
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#需码垛数量，如50，或30
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self.num = num
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#已经码垛数量
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self.remain_count=remain_count
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self.feedLine = feedLine
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self.photo_locs = [self.deal_photo_locs(p) for p in photo_locs]
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def deal_photo_locs(self, photo_loc):
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position_photo = Real_Position()
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position_photo.init_position(photo_loc[0], photo_loc[1], photo_loc[2], photo_loc[3], photo_loc[4], photo_loc[5])
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return position_photo
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def get_line_info(self):
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pass
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class Feeding(QObject):
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need_origin_signal = Signal(str)
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take_photo_sigal = Signal()
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update_detect_image = Signal(np.ndarray)
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log_signal = Signal(int,str)
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#码垛完成通知
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stack_finish_signal=Signal()
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def __init__(self, robotClient: RobotClient,relay_controller:RelayController):
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super().__init__()
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self.feedConfig = None
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self.feedStatus = FeedStatus.FNone
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self.robotClient = robotClient
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# self.sensor_thread = None
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self.detection_image = None
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self.pause = False
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self.cRis_photo = CRisOrFall()
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self.cRis_shake = CRisOrFall()
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self.feed_Mid_Status = FeedMidStatus.FMid_Start
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self.is_reverse = False
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# 复位集合
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self.run_reverse = False
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self.take_no_photo = False
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self.reset_status = ResetStatus.RNone
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self.reversed_positions = []
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self.current_position = None
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self.index=1
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self.pos_index = -1
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self.pos_near_index = -1
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self.catch = Catch(self.robotClient)
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self.detect = Detect()
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self.is_detected = True
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self.detect_thread = threading.Thread(target=self.run_detect,name="run_detect")
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# self.detect_thread.start()
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self.onekey = False
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self.debug_run_count = 0 # 初始化计数器
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self.mid_take_count = 0
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#记录抓取传感器状态通知
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self.take_sensor_signal=False
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#传感器判断抓包参数
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# self.sensor2_ready = False # 传感器2是否检测到料包
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# self.motor_stopped_by_sensor2 = False # 是否由传感器2触发停止电机
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# self.sensor_thread = None
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# self.relay_controller = RelayController()
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#用于同步控制EMV相关
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self.relay_controller = relay_controller
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self.relay_controller.take_robot_signal.connect(self.take_feed_notice)
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# self.camera_img=CameraImg()
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# 启动传感器2线程
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# self.relay_controller._running = True
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# self.sensor2_thread = None
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# --- 新增: 用于码垛模式的投料点索引 ---
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self.current_drop_index = 1
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pass
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def close_feed(self):
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self.is_detected = False
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# self.detect_thread.join()
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if self.detect.detection:
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self.detect.detection.release()
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# if self.camera_img:
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# self.camera_img.close_camera()
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def run_detect(self):
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#图片相关线程
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while self.is_detected:
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self.detect.run()
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time.sleep(0.02)
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def take_feed_notice(self):
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"""接收机器人信号通知"""
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self.take_sensor_signal = True
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def run(self):
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self.catch.run()
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# 获取事件坐标
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real_position = Real_Position()
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real_position.init_position_joint_and_world(self.robotClient.status_model.world_0,
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self.robotClient.status_model.world_1,
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self.robotClient.status_model.world_2,
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self.robotClient.status_model.world_3,
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self.robotClient.status_model.world_4,
|
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self.robotClient.status_model.world_5,
|
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self.robotClient.status_model.axis_0,
|
||
self.robotClient.status_model.axis_1,
|
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self.robotClient.status_model.axis_2,
|
||
self.robotClient.status_model.axis_3,
|
||
self.robotClient.status_model.axis_4,
|
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self.robotClient.status_model.axis_5
|
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)
|
||
# real_position.init_position(0,
|
||
# 0,
|
||
# 0,
|
||
# 0,
|
||
# 0,
|
||
# 0);
|
||
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||
# img_path = f'Image/{self.index}.png'
|
||
# img = cv2.imread(img_path)
|
||
# self.index += 1
|
||
# self.index = self.index % 4
|
||
# self.detection_image = img
|
||
|
||
if self.feedConfig == None:
|
||
self.feedStatus = FeedStatus.FNone
|
||
|
||
#
|
||
if self.feedConfig !=None and self.is_reverse and real_position.compare(self.robotClient.origin_position,is_action=True):
|
||
self.feedStatus = FeedStatus.FNone
|
||
self.is_reverse = False
|
||
self.log_signal.emit(logging.INFO, Constant.str_feed_reverse)
|
||
|
||
if self.feedStatus == FeedStatus.FNone or self.pause:
|
||
return
|
||
|
||
elif self.feedStatus == FeedStatus.FCheck:
|
||
self.log_signal.emit(logging.INFO, Constant.str_feed_check)
|
||
# 1, 检查是否是三列
|
||
# 2, 检查是否有人
|
||
# if self.safe_check_columns() and self.safe_check_person():
|
||
# pass
|
||
# else:
|
||
# if self.feedConfig.num != 0:
|
||
# self.next_target()
|
||
# if == 原点 继续判断
|
||
# else:
|
||
# QMessageBox.information(None, "提示", Constant.str_feed_sae_error_msgbox)
|
||
|
||
if self.is_reverse:
|
||
self.feed_Mid_Status = FeedMidStatus.FMid_Start
|
||
else:
|
||
self.feed_Mid_Status = FeedMidStatus.FMid_Take
|
||
|
||
if real_position.compare(self.feedConfig.feedLine.start_to_take[0].get_position()):
|
||
self.next_position(self.is_reverse)
|
||
|
||
elif self.feedStatus == FeedStatus.FStart:
|
||
self.log_signal.emit(logging.INFO, Constant.str_feed_start)
|
||
# self.relay_controller.open(conveyor2=True)#开电机
|
||
|
||
if not real_position.compare(self.robotClient.origin_position,is_action=True) and not self.is_reverse:
|
||
# QMessageBox.information(None, "提示", Constant.str_feed_start_error) # Fuck 引起异常
|
||
self.log_signal.emit(logging.ERROR, Constant.str_feed_start_error)
|
||
self.need_origin_signal.emit(Constant.str_feed_start_error)
|
||
self.feedStatus = FeedStatus.FNone
|
||
return
|
||
if self.is_reverse:
|
||
self.feedStatus = FeedStatus.FNone
|
||
self.is_reverse = False
|
||
return
|
||
|
||
self.feedConfig.feedLine.get_position_list()
|
||
self.detect.detect_status = DetectStatus.DNone
|
||
self.feed_Mid_Status = FeedMidStatus.FMid_Start
|
||
|
||
self.next_position(self.is_reverse)
|
||
|
||
elif self.feedStatus == FeedStatus.FMid:
|
||
feed_pos = self.get_current_position(self.is_reverse)
|
||
if real_position.compare(feed_pos.get_position()):
|
||
self.log_signal.emit(logging.INFO, Constant.str_feed_mid)
|
||
self.next_position(self.is_reverse)
|
||
# 增加计数器逻辑
|
||
self.mid_take_count += 1
|
||
# 可选：在 Debug1 模式下输出日志
|
||
if Constant.Debug1:
|
||
self.log_signal.emit(
|
||
logging.INFO,
|
||
f"[调试计数] 已进入 FMid 分支 {self.mid_take_count} 次"
|
||
)
|
||
#这里他写的中间点过完马上进行抓料，和整个流程不符合我就注释掉了，因为实际测试的时候还没到FTake的点他就进行了继电器关闭夹爪的抓取
|
||
#if self.feedStatus == FeedStatus.FTake:
|
||
#self.catch.catch_status = CatchStatus.CTake
|
||
|
||
elif self.feedStatus == FeedStatus.FPhoto:
|
||
#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
|
||
self.log_signal.emit(logging.INFO, Constant.str_feed_finish)
|
||
self.is_reverse = True
|
||
self.feed_Mid_Status = FeedMidStatus.FMid_Take
|
||
self.feedConfig.feedLine.start2take_pos_index = len(self.feedConfig.feedLine.start_to_take) - 2
|
||
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)
|
||
#码垛完成信号通知
|
||
self.stack_finish_signal.emit()
|
||
self.log_signal.emit(logging.INFO, Constant.str_feed_photo)
|
||
return
|
||
|
||
if not Constant.Debug:
|
||
self.log_signal.emit(logging.INFO, Constant.str_feed_takePhoto)
|
||
if(self.feed_Mid_Status != FeedMidStatus.FMid_Feed):
|
||
self.feed_Mid_Status = FeedMidStatus.FMid_Feed
|
||
self.log_signal.emit(logging.INFO, Constant.str_feed_takePhoto_success)
|
||
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
|
||
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
|
||
|
||
elif self.feedStatus == FeedStatus.FTake:
|
||
self.log_signal.emit(logging.INFO, Constant.str_feed_take)
|
||
take_position = self.feedConfig.feedLine.get_take_position()
|
||
if not take_position or not take_position.get_position():
|
||
self.log_signal.emit(logging.ERROR, Constant.str_feed_takePhoto_fail)
|
||
return
|
||
if not real_position.compare(take_position.get_position(), is_action=True):
|
||
self.log_signal.emit(logging.INFO, "机器人尚未到达抓料点位")
|
||
return
|
||
self.log_signal.emit(logging.INFO, "机器人已到达抓料点位")
|
||
|
||
|
||
# 执行抓取动作
|
||
#self.catch.catch_status = CatchStatus.CTake
|
||
#if self.catch.catch_status == CatchStatus.CNone:
|
||
#self.catch.catch_status = CatchStatus.CTake
|
||
#if self.catch.catch_status == CatchStatus.CTake:
|
||
#self.log_signal.emit(logging.INFO, "正在执行抓料动作...")
|
||
#self.catch.catch_status = CatchStatus.COk
|
||
#if self.catch.catch_status == CatchStatus.COk:
|
||
#self.log_signal.emit(logging.INFO, Constant.str_feed_take_success)
|
||
#self.catch.catch_status = CatchStatus.CNone
|
||
# 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.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
|
||
|
||
|
||
#return
|
||
#else:
|
||
#self.log_signal.emit(logging.ERROR, Constant.str_feed_takePhoto_fail)
|
||
|
||
elif self.feedStatus == FeedStatus.FBroken1:
|
||
|
||
if real_position.compare(self.get_current_position().get_position()):
|
||
self.log_signal.emit(logging.INFO, Constant.str_feed_broken)
|
||
self.next_position()
|
||
|
||
|
||
elif self.feedStatus == FeedStatus.FDropMid:
|
||
|
||
if real_position.compare(self.get_current_position().get_position(),is_action=True):
|
||
self.log_signal.emit(logging.INFO, Constant.str_feed_drop_mid)
|
||
self.next_position()
|
||
|
||
elif self.feedStatus == FeedStatus.FShake:
|
||
if real_position.compare(self.get_current_position().get_position(),is_action=True):
|
||
# TODO 震动方案
|
||
self.log_signal.emit(logging.INFO, Constant.str_feed_shake)
|
||
if self.catch.catch_status == CatchStatus.CNone:
|
||
self.catch.catch_status = CatchStatus.CShake
|
||
return
|
||
if self.catch.catch_status == CatchStatus.CShake:
|
||
# if self.feedConfig.feedLine.feeding_to_end[
|
||
# self.feedConfig.feedLine.feeding2end_pos_index + 1].status != FeedStatus.FShake:
|
||
# self.catch.catch_status = CatchStatus.COk
|
||
# else:
|
||
self.catch.shake_continue.SetReset()
|
||
self.next_position()
|
||
if self.feedStatus!=FeedStatus.FShake:
|
||
self.catch.catch_status = CatchStatus.CNone
|
||
return
|
||
|
||
elif self.feedStatus == FeedStatus.FDropBag:
|
||
#"""*** 处理投料点 (FDropBag) 的核心逻辑 ***"""
|
||
# 1. 确认机械臂是否已精确到达当前目标投料点
|
||
# get_current_position() 会根据 self.feed_Mid_Status (应为 FMid_Feed)
|
||
# 调用 feedLine.get_current_feed_position()，从 feeding_to_end 列表获取
|
||
# 由 feeding2end_pos_index 指向的点。
|
||
if real_position.compare(self.get_current_position().get_position(),is_action=True):
|
||
# 2. 记录日志：已到达投料点
|
||
self.log_signal.emit(logging.INFO, Constant.str_feed_drop)
|
||
|
||
# 3. 与 Catch 模块进行状态交互来驱动投料动作
|
||
# a. 初始状态 (CNone): 触发投料动作
|
||
|
||
if self.catch.catch_status == CatchStatus.CNone:
|
||
# 将 Catch 状态设置为 CDrop，通知 Catch 模块开始执行物理投料动作
|
||
self.catch.catch_status = CatchStatus.CDrop
|
||
# 立即返回，等待 Catch 模块处理
|
||
return
|
||
|
||
# b. 投料进行中 (CDrop): 等待完成
|
||
|
||
if self.catch.catch_status == CatchStatus.CDrop:
|
||
# 什么都不做，等待 Catch 模块完成动作并更新状态
|
||
return
|
||
# c. 投料完成 (COk): 处理后续逻辑并移动到下一个点
|
||
if self.catch.catch_status == CatchStatus.COk:
|
||
# 重置 Catch 状态，为下一次操作做准备
|
||
self.catch.catch_status = CatchStatus.CNone
|
||
# (后续增加) 延时: 让物料稳定
|
||
# time.sleep(self.robotClient.time_delay_put)
|
||
# (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(...)
|
||
|
||
# 码垛数量增加
|
||
self.feedConfig.remain_count = self.feedConfig.remain_count + 1
|
||
# 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
|
||
# next_position() 会根据当前的 feed_Mid_Status (FMid_Feed)
|
||
# 调用 next_Feed()。
|
||
self.next_position()
|
||
elif self.feedStatus == FeedStatus.FDropReset:
|
||
if real_position.compare(self.get_current_position().get_position()):
|
||
self.log_signal.emit(logging.INFO, Constant.str_feed_drop_reset)
|
||
self.next_position()
|
||
|
||
|
||
|
||
elif self.feedStatus == None:
|
||
print(self.feedStatus)
|
||
pass
|
||
|
||
def run_reset(self):
|
||
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.RNone:
|
||
return
|
||
|
||
if self.reset_status == ResetStatus.RStart:
|
||
if self.feedConfig == None: return
|
||
# for index in range(len(self.feedConfig.feedLine.positions)):
|
||
# if self.feedConfig.feedLine.positions[index].status == 2:
|
||
# start_index = index
|
||
self.pos_index = -1
|
||
self.pos_near_index = -1
|
||
self.reversed_positions = []
|
||
for index, pos_model in enumerate(self.feedConfig.feedLine.feed_positions):
|
||
if real_position.compare(pos_model.get_position(),is_action=True):
|
||
self.pos_index = index
|
||
break
|
||
|
||
if self.pos_index == -1:
|
||
self.log_signal.emit(logging.ERROR, Constant.str_feed_return_original_position_fail)
|
||
min_distance = 99999999
|
||
for index, pos_model in enumerate(self.feedConfig.feedLine.feed_positions):
|
||
if get_distance(pos_model.get_position(), real_position) < min_distance:
|
||
min_distance = get_distance(pos_model.get_position(), real_position)
|
||
self.pos_near_index = index
|
||
if self.pos_near_index != -1:
|
||
self.reversed_positions = self.feedConfig.feedLine.feed_positions[:self.pos_near_index + 1]
|
||
else:
|
||
return False
|
||
else:
|
||
self.reversed_positions = self.feedConfig.feedLine.feed_positions[:self.pos_index+1]
|
||
self.reversed_positions = list(reversed(self.reversed_positions))
|
||
self.reverse_index = 0
|
||
self.send_emergency_sound()
|
||
self.current_position = PositionModel()
|
||
self.current_position.init_position(real_position)
|
||
self.reset_status = ResetStatus.RRunging
|
||
|
||
if self.reset_status == ResetStatus.RRunging:
|
||
if not real_position.compare(self.current_position.get_position(),is_action=True):
|
||
return
|
||
pos_model = self.reversed_positions[self.reverse_index]
|
||
if pos_model.status == FeedStatus.FTake.value: # 跳过取袋节点
|
||
pos_model = self.reversed_positions[self.reverse_index + 1]
|
||
self.reverse_index = self.reverse_index+1
|
||
|
||
if pos_model.lineType == LineType.CureMid.value:
|
||
pos_model1 = self.reversed_positions[self.reverse_index + 1]
|
||
self.sendTargPosition(real_position=pos_model.get_position(), move_type=MoveType.Cure,
|
||
real_position1=pos_model1.get_position(), speed=self.robotClient.reset_speed)
|
||
self.current_position = pos_model1
|
||
self.reverse_index = self.reverse_index + 2
|
||
elif pos_model.lineType==LineType.WORLD.value:
|
||
#关节移动
|
||
self.sendTargPosition(real_position=pos_model.get_position(), speed=self.robotClient.reset_speed,move_type=MoveType.AXIS)
|
||
self.current_position = pos_model
|
||
self.reverse_index = self.reverse_index + 1
|
||
else:
|
||
self.sendTargPosition(real_position=pos_model.get_position(), speed=self.robotClient.reset_speed)
|
||
self.current_position = pos_model
|
||
self.reverse_index = self.reverse_index + 1
|
||
|
||
if self.reverse_index == len(self.reversed_positions):
|
||
self.reset_status = ResetStatus.ROk
|
||
if self.reset_status == ResetStatus.ROk:
|
||
self.reset_status = ResetStatus.RNone
|
||
self.send_emergency_stop()
|
||
|
||
def return_original_position(self):
|
||
|
||
self.run_reverse = True
|
||
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.feedConfig == None: return
|
||
start_index = -1
|
||
# for index in range(len(self.feedConfig.feedLine.positions)):
|
||
# if self.feedConfig.feedLine.positions[index].status == 2:
|
||
# start_index = index
|
||
pos_index = -1
|
||
pos_near_index = -1
|
||
reversed_positions = []
|
||
for index, pos_model in enumerate(self.feedConfig.feedLine.feed_positions):
|
||
if real_position.compare(pos_model.get_position()):
|
||
pos_index = index
|
||
break
|
||
|
||
if pos_index == -1:
|
||
self.log_signal.emit(logging.ERROR, Constant.str_feed_return_original_position_fail)
|
||
min_distance = 99999999
|
||
for index, pos_model in enumerate(self.feedConfig.feedLine.feed_positions):
|
||
if get_distance(pos_model.get_position(), real_position)<min_distance:
|
||
min_distance = get_distance(pos_model.get_position(), real_position)
|
||
pos_near_index = index
|
||
if pos_near_index != -1:
|
||
reversed_positions = self.feedConfig.feedLine.feed_positions[:pos_near_index+1]
|
||
else:
|
||
return False
|
||
else:
|
||
reversed_positions = self.feedConfig.feedLine.feed_positions[:pos_index]
|
||
reversed_positions = list(reversed(reversed_positions))
|
||
self.reverse_index = 0
|
||
self.send_emergency_sound()
|
||
current_position = PositionModel()
|
||
current_position.init_position(real_position)
|
||
while self.run_reverse and self.reverse_index!=len(reversed_positions):
|
||
if self.reverse_index!=0 and not real_position.compare(current_position.get_position()):
|
||
continue
|
||
#todo 缺少比对
|
||
pos_model = reversed_positions[self.reverse_index]
|
||
if pos_model.status == FeedStatus.FTake.value: # 跳过取袋节点
|
||
|
||
pos_model = reversed_positions[self.reverse_index + 1]
|
||
# TODO take节点判断
|
||
|
||
if pos_model.lineType == LineType.CureMid.value:
|
||
pos_model1 = reversed_positions[self.reverse_index + 1]
|
||
self.sendTargPosition(real_position=pos_model.get_position(), move_type=MoveType.Cure,
|
||
real_position1=pos_model1.get_position(),speed= self.robotClient.reset_speed)
|
||
current_position = pos_model1
|
||
self.reverse_index = self.reverse_index+2
|
||
else:
|
||
self.sendTargPosition(real_position=pos_model.get_position(),speed=self.robotClient.reset_speed)
|
||
current_position = pos_model
|
||
self.reverse_index = self.reverse_index + 1
|
||
self.send_emergency_stop()
|
||
return True
|
||
def send_emergency_sound(self):
|
||
self.sendIOControl(Constant.IO_EmergencyPoint, 1)
|
||
|
||
def send_emergency_stop(self):
|
||
self.sendIOControl(Constant.IO_EmergencyPoint, 0)
|
||
|
||
def sendIOControl(self, IO_bit, IO_Status: int):
|
||
|
||
IO_command = CMDInstructRequest()
|
||
io_instruction = Instruction()
|
||
io_instruction.IO = True
|
||
io_instruction.io_status = IO_Status
|
||
io_instruction.point = IO_bit # {"dsID":"HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[{"oneshot":"1","action":"200","type":"0","io_status":"1","point":"15","delay":"0"}]}
|
||
IO_command.dsID = 'HCRemoteCommand'
|
||
IO_command.instructions.append(io_instruction)
|
||
self.robotClient.add_sendQuene(IO_command.toString())
|
||
self.log_signal.emit(logging.INFO, f'{Constant.str_feed_io_control}{IO_bit}，{IO_Status}')
|
||
pass
|
||
|
||
def sendTargPosition1(self, real_position, move_type: MoveType = MoveType.WORLD, speed=5,real_position1=None):
|
||
pass
|
||
|
||
|
||
def sendTargPosition(self, real_position, move_type: MoveType = MoveType.WORLD, speed=5,real_position1=None):
|
||
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
|
||
|
||
position_instruction.action = move_type.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()
|
||
|
||
log_str = f'移动到位置:{ "姿势直线" if move_type==MoveType.WORLD else "姿势曲线"}：' \
|
||
f'X:{position_instruction.m0}-' \
|
||
f'Y:{position_instruction.m1}-' \
|
||
f'Z:{position_instruction.m2}-' \
|
||
f'U:{position_instruction.m3}-' \
|
||
f'V:{position_instruction.m4}-' \
|
||
f'W:{position_instruction.m5}'
|
||
|
||
|
||
try:
|
||
self.log_signal.emit(logging.INFO, log_str)
|
||
print(log_str)
|
||
except:
|
||
return
|
||
print(request_command)
|
||
self.robotClient.add_sendQuene(request_command)
|
||
pass
|
||
# def get_take_position(self):
|
||
# if Constant.Debug:
|
||
# return self.robotClient.status_model.getRealPosition()
|
||
# _, img, xyz, uvw, points = self.detection.get_position(Point_isVision=False, Box_isPoint=True, First_Depth=True, Iter_Max_Pixel=30,save_img_point=0, Height_reduce=30, width_reduce=30)
|
||
# self.detection_image = img.copy()
|
||
# if xyz ==None or uvw==None or points==None:
|
||
# return None
|
||
# target_position,noraml_base = getPosition(*xyz,*uvw,None,points)
|
||
#
|
||
# position = Real_Position().init_position(*target_position[:3],*noraml_base[:3])
|
||
# position.Z = position.Z+200
|
||
# return position
|
||
def next_start(self,reverse=False):
|
||
start_pos = self.feedConfig.feedLine.get_next_start_position(reverse)
|
||
self.feedStatus = FeedStatus(start_pos.status) if self.feedStatus != FeedStatus.FNone else FeedStatus.FNone
|
||
if start_pos.lineType == LineType.CureMid.value:
|
||
start_pos1 = self.feedConfig.feedLine.get_next_start_position(reverse)
|
||
self.feedStatus = FeedStatus(start_pos1.status) if self.feedStatus != FeedStatus.FNone else FeedStatus.FNone
|
||
self.sendTargPosition(real_position=start_pos.get_position(),speed=self.robotClient.reset_speed, move_type=MoveType.Cure, real_position1=start_pos1.get_position())
|
||
elif start_pos.lineType == LineType.WORLD.value:
|
||
self.feedStatus = FeedStatus(start_pos1.status) if self.feedStatus != FeedStatus.FNone else FeedStatus.FNone
|
||
self.sendTargPosition(real_position=start_pos.get_position(), speed=self.robotClient.reset_speed,
|
||
move_type=MoveType.AXIS)
|
||
# if self.robotClient.status_model.getAnglePosition().is_error_angel_move(start_pos.get_position(),self.robotClient.max_angle_interval):
|
||
# self.feedStatus = None
|
||
# self.log_signal.emit(logging.ERROR, Constant.str_feed_angle_error)
|
||
# else:
|
||
# self.sendTargPosition(real_position=start_pos.get_position(),speed=self.robotClient.reset_speed,move_type=MoveType.AXIS)
|
||
else:
|
||
self.sendTargPosition(real_position=start_pos.get_position(),speed=self.robotClient.reset_speed)
|
||
pass
|
||
|
||
def next_take(self,reverse=False):
|
||
|
||
take_pos = self.feedConfig.feedLine.get_next_take_position(reverse)
|
||
self.feedStatus = FeedStatus(take_pos.status) if self.feedStatus != FeedStatus.FNone else FeedStatus.FNone
|
||
if take_pos.lineType == LineType.CureMid.value:
|
||
take_pos1 = self.feedConfig.feedLine.get_next_take_position(reverse)
|
||
self.feedStatus = FeedStatus(take_pos1.status) if self.feedStatus != FeedStatus.FNone else FeedStatus.FNone
|
||
self.sendTargPosition(real_position=take_pos.get_position(), move_type=MoveType.Cure, real_position1=take_pos1.get_position(),speed=self.robotClient.feed_speed)
|
||
elif take_pos.lineType == LineType.WORLD.value:
|
||
take_pos1 = self.feedConfig.feedLine.get_next_take_position(reverse)
|
||
self.feedStatus = FeedStatus(take_pos1.status) if self.feedStatus != FeedStatus.FNone else FeedStatus.FNone
|
||
self.sendTargPosition(real_position=take_pos.get_position(), speed=self.robotClient.feed_speed,
|
||
move_type=MoveType.AXIS)
|
||
# if self.robotClient.status_model.getAnglePosition().is_error_angel_move(take_pos.get_position(),
|
||
# self.robotClient.max_angle_interval):
|
||
# self.feedStatus = None
|
||
# self.log_signal.emit(logging.ERROR, Constant.str_feed_angle_error)
|
||
# else:
|
||
# self.sendTargPosition(real_position=take_pos.get_position(), speed=self.robotClient.feed_speed,
|
||
# move_type=MoveType.AXIS)
|
||
|
||
else:
|
||
self.sendTargPosition(real_position=take_pos.get_position(),speed=self.robotClient.feed_speed)
|
||
pass
|
||
|
||
def next_Feed(self,reverse=False):
|
||
feed_pos = self.feedConfig.feedLine.get_next_feed_position(reverse)
|
||
self.feedStatus = FeedStatus(feed_pos.status) if self.feedStatus != FeedStatus.FNone else FeedStatus.FNone
|
||
if feed_pos.lineType == LineType.CureMid.value:
|
||
feed_pos1 = self.feedConfig.feedLine.get_next_feed_position(reverse)
|
||
self.feedStatus = FeedStatus(feed_pos1.status) if self.feedStatus != FeedStatus.FNone else FeedStatus.FNone
|
||
self.sendTargPosition(real_position=feed_pos.get_position(), move_type=MoveType.Cure, real_position1=feed_pos1.get_position(),speed=self.robotClient.feed_speed)
|
||
elif feed_pos.lineType == LineType.WORLD.value:
|
||
# 暂时不考虑世界坐标到关节坐标的转换，强行不判断接近
|
||
# feed_pos1 = self.feedConfig.feedLine.get_next_feed_position(reverse)
|
||
# self.feedStatus = FeedStatus(feed_pos1.status) if self.feedStatus != FeedStatus.FNone else FeedStatus.FNone
|
||
self.sendTargPosition(real_position=feed_pos.get_position(), speed=self.robotClient.feed_speed,
|
||
move_type=MoveType.AXIS)
|
||
|
||
# 注释掉 by chuyiwen
|
||
# if self.robotClient.status_model.getAnglePosition().is_error_angel_move(feed_pos.get_position(),
|
||
# self.robotClient.max_angle_interval):
|
||
# self.feedStatus = FeedStatus.FNone
|
||
# self.log_signal.emit(logging.ERROR, Constant.str_feed_angle_error)
|
||
# else:
|
||
# self.sendTargPosition(real_position=feed_pos.get_position(), speed=self.robotClient.feed_speed,
|
||
# move_type=MoveType.AXIS)
|
||
|
||
else:
|
||
# if not reverse and self.feedStatus == FeedStatus.FShake:
|
||
# if not reverse:
|
||
# if self.cRis_shake.Q(self.feedStatus == FeedStatus.FShake, True):
|
||
# pass
|
||
# elif self.cRis_shake.Q(self.feedStatus == FeedStatus.FShake, False):
|
||
# self.feedStatus = FeedStatus.FShake
|
||
# self.sendTargPosition(real_position=feed_pos.get_position(),speed=self.robotClient.feed_speed)
|
||
# return
|
||
|
||
|
||
self.sendTargPosition(real_position=feed_pos.get_position(),speed=self.robotClient.feed_speed)
|
||
|
||
def get_current_position(self,is_reverse=False):
|
||
if self.feed_Mid_Status == FeedMidStatus.FMid_Start:
|
||
return self.feedConfig.feedLine.get_current_start_position(self.is_reverse)
|
||
elif self.feed_Mid_Status == FeedMidStatus.FMid_Take:
|
||
return self.feedConfig.feedLine.get_current_take_position(self.is_reverse)
|
||
elif self.feed_Mid_Status == FeedMidStatus.FMid_Feed:
|
||
return self.feedConfig.feedLine.get_current_feed_position(self.is_reverse)
|
||
|
||
|
||
def next_position(self,reverse=False):
|
||
if self.feed_Mid_Status == FeedMidStatus.FMid_Start:
|
||
self.next_start(reverse)
|
||
if Constant.Debug1:
|
||
print('next_start')
|
||
elif self.feed_Mid_Status == FeedMidStatus.FMid_Take:
|
||
self.next_take(reverse)
|
||
if Constant.Debug1:
|
||
print('next_take')
|
||
elif self.feed_Mid_Status == FeedMidStatus.FMid_Feed:
|
||
self.next_Feed(reverse)
|
||
if Constant.Debug1:
|
||
print('next_feed')
|
||
|
||
def safe_check_columns(self):
|
||
return True
|
||
pass
|
||
|
||
def safe_check_person(self):
|
||
return True
|
||
pass
|
||
|