230 lines
8.8 KiB
Python
230 lines
8.8 KiB
Python
from ast import mod
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import configparser
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import os
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from typing import Optional
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from Model.Position import Real_Position
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from Model.FeedModel import PositionModel
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class DropPositionManager:
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def __init__(self, config_path="CU/drop.ini"):
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self.config_path = config_path
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self.config = configparser.ConfigParser()
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self._load_config()
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# --- 本地缓存 ---
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self._current_lineid: Optional[int] = None
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self._current_point_id: Optional[int] = None
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self._current_path: list = [] # 当前路径点列表
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self._current_index: int = 0 # 当前路径中的索引
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def _load_config(self):
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"""加载配置文件"""
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if not os.path.exists(self.config_path):
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raise FileNotFoundError(f"配置文件不存在: {self.config_path}")
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self.config.read(self.config_path, encoding='utf-8')
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def get_next_drop_position(self, lineid: int, point: int) -> Optional[PositionModel]:
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"""
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获取指定 lineid 和 point 的下一个路径点。
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:param lineid: 路径组 ID（对应 DropLineX）
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:param point: 投料点 ID（对应 DropPoints{point}）
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:return: 下一个路径点，若无则返回 None
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"""
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# 如果 lineid 或 point 改变，重新加载路径
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if self._current_lineid != lineid or self._current_point_id != point:
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self._load_point_path(lineid, point)
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self._current_lineid = lineid
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self._current_point_id = point
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self._current_index = 0
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# 返回当前索引的点
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if self._current_index < len(self._current_path):
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next_point = self._current_path[self._current_index]
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self._current_index += 1
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pos = next_point.get_position()
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print(f"🎯 返回点: status={next_point.status}, linetype={next_point.lineType}, "
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f"position=({pos.X:.3f}, {pos.Y:.3f}, {pos.Z:.3f})")
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return next_point
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# 路径结束
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print("✅ 当前点集合路径已结束")
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return None
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def _load_point_path(self, lineid: int, point_id: int):
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"""加载指定 lineid 和 point_id 的完整路径
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(点集合dropmidpoint、droppoint、resetpoint)"""
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self._current_path = []
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# 检查是否存在 DropPoints{point_id}
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drop_point_sec = f"DropPoints{point_id}"
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if not self.config.has_section(drop_point_sec):
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print(f"❌ 配置错误：不存在 {drop_point_sec}")
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return
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if self.config.getint(drop_point_sec, "lineid") != lineid:
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print(f"❌ {drop_point_sec} 不属于 lineid={lineid}")
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return
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try:
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drop_pos = self._read_position_from_section(drop_point_sec)
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except Exception as e:
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print(f"❌ 读取 {drop_point_sec} 失败: {e}")
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return
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# 1. 加载 DropMidPoint{point_id}-*（按 level 升序）
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mid_points = []
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for sec in self.config.sections():
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if sec.startswith(f"DropMidPoint{point_id}-") and self.config.getint(sec, "lineid") == lineid:
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try:
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level = int(sec.split('-')[1])
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pos = self._read_position_from_section(sec)
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mid_points.append((level, pos))
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except Exception as e:
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print(f"❌ 解析 {sec} 失败: {e}")
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mid_points.sort(key=lambda x: x[0])
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# 2. 加载 ResetPoint{point_id}-*（按 level 升序）
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reset_points = []
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for sec in self.config.sections():
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if sec.startswith(f"ResetPoint{point_id}-") and self.config.getint(sec, "lineid") == lineid:
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try:
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level = int(sec.split('-')[1])
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pos = self._read_position_from_section(sec)
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reset_points.append((level, pos))
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except Exception as e:
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print(f"❌ 解析 {sec} 失败: {e}")
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reset_points.sort(key=lambda x: x[0])
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# 3. 组装路径
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# a. DropMidPoint
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for _, pos in mid_points:
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# model = PositionModel()
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# model.init_position(pos)
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# model.status = 7 # FMid
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# model.lineType = 4 # WORLD
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self._current_path.append(pos)
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# b. DropPoints
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# main_model = PositionModel()
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# main_model.init_position(drop_pos)
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# main_model.status = 9 # FDropBag
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# main_model.lineType = 4
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self._current_path.append(drop_pos)
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# c. ResetPoint
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for _, pos in reset_points:
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# model = PositionModel()
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# model.init_position(pos)
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# model.status = 10 # FReverse
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# model.lineType = 4
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self._current_path.append(pos)
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print(f"✅ 已加载 DropLine{lineid} 中 DropPoints{point_id} 的路径，共 {len(self._current_path)} 个点")
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def _read_position_from_section(self, section: str) -> PositionModel:
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"""从配置文件的 section 中读取位置信息"""
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model = PositionModel()
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pos = Real_Position()
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pos.X = self.config.getfloat(section, "x")
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pos.Y = self.config.getfloat(section, "y")
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pos.Z = self.config.getfloat(section, "z")
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pos.U = self.config.getfloat(section, "u")
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pos.V = self.config.getfloat(section, "v")
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pos.W = self.config.getfloat(section, "w")
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model.init_position(pos)
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model.lineType=self.config.getint(section, "linetype")
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model.status=self.config.getint(section, "status")
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return model
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def _get_point_debug_info(manager, pos, model):
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config = manager.config
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for sec in config.sections():
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if sec.startswith("DropPoints"):
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try:
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x, y, z = config.getfloat(sec, "x"), config.getfloat(sec, "y"), config.getfloat(sec, "z")
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if abs(x - pos.X) < 0.001 and abs(y - pos.Y) < 0.001 and abs(z - pos.Z) < 0.001:
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point_id = config.getint(sec, "id")
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return f"📌 DropPoints{point_id} | id={point_id}"
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except: pass
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elif sec.startswith("DropMidPoint"):
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try:
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parts = sec.split('-')
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if len(parts) != 2: continue
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point_id = int(''.join(filter(str.isdigit, parts[0])))
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level = int(parts[1])
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x, y, z = config.getfloat(sec, "x"), config.getfloat(sec, "y"), config.getfloat(sec, "z")
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if abs(x - pos.X) < 0.001 and abs(y - pos.Y) < 0.001 and abs(z - pos.Z) < 0.001:
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return f"📍 DropMidPoint{point_id}-{level} | id={point_id}, level={level}"
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except: pass
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elif sec.startswith("ResetPoint"):
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try:
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parts = sec.split('-')
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if len(parts) != 2: continue
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point_id = int(''.join(filter(str.isdigit, parts[0])))
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level = int(parts[1])
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x, y, z = config.getfloat(sec, "x"), config.getfloat(sec, "y"), config.getfloat(sec, "z")
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if abs(x - pos.X) < 0.001 and abs(y - pos.Y) < 0.001 and abs(z - pos.Z) < 0.001:
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return f"🔙 ResetPoint{point_id}-{level} | id={point_id}, level={level}"
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except: pass
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return "❓ 未知点位"
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# 测试
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if __name__ == "__main__":
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# manager = DropPositionManager("drop.ini")
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manager = DropPositionManager()
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lineid = 1
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print(f"\n🔁 测试：通过 point 参数切换路径集合\n")
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# 先走 point=1
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print("=" * 60)
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print("📦 开始执行 point=1 的路径")
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print("=" * 60)
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for i in range(10):
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pos_model = manager.get_next_drop_position(lineid=lineid, point=1)
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if pos_model is None:
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print("🔚 point=1 路径结束")
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break
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pos = pos_model.get_position()
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info = _get_point_debug_info(manager, pos, pos_model)
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print(f" 🚀 {info}")
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if pos_model.status == 9:
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print(" 💥 执行【扔包】操作！")
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# 再走 point=2
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print("\n" + "=" * 60)
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print("📦 开始执行 point=2 的路径")
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print("=" * 60)
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for i in range(10):
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pos_model = manager.get_next_drop_position(lineid=lineid, point=2)
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if pos_model is None:
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print("🔚 point=2 路径结束")
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break
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pos = pos_model.get_position()
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info = _get_point_debug_info(manager, pos, pos_model)
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print(f" 🚀 {info}")
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if pos_model.status == 9:
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print(" 💥 执行【扔包】操作！")
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# 再切回 point=1
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print("\n" + "=" * 60)
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print("🔄 切换回 point=1，从头开始")
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print("=" * 60)
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for i in range(3):
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pos_model = manager.get_next_drop_position(lineid=lineid, point=1)
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if pos_model is None:
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break
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pos = pos_model.get_position()
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info = _get_point_debug_info(manager, pos, pos_model)
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print(f" 🚀 {info}") |