98 lines
3.7 KiB
Python
98 lines
3.7 KiB
Python
#!/usr/bin/python3
|
||
import time
|
||
from enum import Enum
|
||
|
||
import Constant
|
||
from COM.COM_Robot import RobotClient
|
||
from Util.util_time import CClockPulse, CTon
|
||
from .EMV import *
|
||
|
||
class CatchStatus(Enum):
|
||
CNone = 0
|
||
CTake = 1
|
||
CDrop = 2
|
||
CShake = 3
|
||
COk = 4
|
||
|
||
class Catch:
|
||
def __init__(self, robotClient: RobotClient):
|
||
self.robotClient = robotClient
|
||
self.catch_status = CatchStatus.CNone
|
||
self.shake_continue = CTon()
|
||
self.drop_continue = CTon()
|
||
self.take_continue = CTon()
|
||
self.shakePulse = CClockPulse()
|
||
self.shake_count = 5
|
||
self.drop_count = 2
|
||
self.is_send_command = False#这里到时候可以改成True，然后加一个获取继电器状态变成False
|
||
self.is_send_take_command = False
|
||
self.shake_Q = False
|
||
def run(self):
|
||
if self.catch_status == CatchStatus.CNone:
|
||
return
|
||
|
||
if self.catch_status == CatchStatus.CTake:
|
||
# 这里可以添加继电器状态获取，把is_send_command = False
|
||
if not self.is_send_take_command:
|
||
# 本身IO
|
||
#self.robotClient.sendIOControl(self.robotClient.con_ios[0],1)
|
||
# 网络继电器
|
||
close(1, 0, 0) #逻辑关闭电磁阀1
|
||
self.is_send_take_command = True
|
||
|
||
if self.catch_status == CatchStatus.CDrop:
|
||
if not self.is_send_command:
|
||
# 本身IO
|
||
# self.robotClient.sendIOControl(self.robotClient.con_ios[0], 0)
|
||
# 网络继电器
|
||
open(1, 0, 0)#逻辑
|
||
#time.sleep(1)
|
||
#for _ in range(self.drop_count):
|
||
# self.robotClient.sendIOControl(self.robotClient.con_ios[1], 1, delay=self.robotClient.time_delay_put)
|
||
#open(0, 0, 1)
|
||
#time.sleep(self.robotClient.time_delay_put) # 会造成这个时间点 其他命令插入不进去 需要另开线程
|
||
#close(0, 0, 1)
|
||
# self.robotClient.sendIOControl(self.robotClient.con_ios[1], 0)
|
||
|
||
# self.robotClient.sendIOControl(self.robotClient.con_ios[1], 1)
|
||
#close(0, 0, 1)
|
||
self.is_send_command = True
|
||
if self.drop_continue.Q(True,self.robotClient.time_delay_put*1000*self.drop_count):
|
||
# if Constant.Debug or self.robotClient.check_outputQ(self.robotClient.con_ios[1]) and not self.robotClient.check_outputQ(self.robotClient.con_ios[0]):
|
||
self.is_send_command = False
|
||
self.catch_status = CatchStatus.COk
|
||
self.drop_continue.SetReset()
|
||
|
||
if self.catch_status == CatchStatus.CShake: # 1500
|
||
self.shake_Q = not self.shake_Q # 10
|
||
if not self.shake_continue.Q(True, 6000):
|
||
#if self.shake_Q:
|
||
#open(0, 1, 0)
|
||
#else:
|
||
#close(0, 1, 0)
|
||
#else:
|
||
self.shake_continue.SetReset()
|
||
#self.catch_status = CatchStatus.COk
|
||
#if Constant.Debug or self.robotClient.check_outputQ(self.robotClient.con_ios[2]):
|
||
# self.robotClient.sendIOControl(self.robotClient.con_ios[2], 0)
|
||
#close(0, 1, 0)
|
||
print("震动结束")
|
||
|
||
if self.catch_status == CatchStatus.COk:
|
||
self.shake_continue.SetReset()
|
||
# self.robotClient.sendIOControl(self.robotClient.con_ios[1], 0,emptyList='1')
|
||
open(1,0,0)#逻辑
|
||
#close(0, 1, 0)
|
||
#close(0, 0, 1)
|
||
self.is_send_take_command = False
|
||
pass
|
||
|
||
|
||
def take_bag(self):
|
||
return True
|
||
|
||
def press_bag(self):
|
||
return True
|
||
|
||
def shake_bag(self):
|
||
return True |