861 lines
43 KiB
Python
861 lines
43 KiB
Python
import copy
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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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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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FBroken2 =7
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FShake = 8
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FDropBag = 9
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FFinished = 10
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FReverse = 11
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FStartReverse = 12
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class LineType(Enum):
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Straight = 0
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CureMid = 2
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CureEnd = 3
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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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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):
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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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# --- 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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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_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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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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for i in range(len(self.feeding_to_end)): #插入动态中间点
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if self.feeding_to_end[i].status == FeedStatus.FTake.value:
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befor_position_model = PositionModel()
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befor_position_model.init_position(None)
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after_position_model = PositionModel()
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after_position_model.init_position(None)
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self.feeding_to_end.insert(i, befor_position_model)
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self.feeding_to_end.insert(i+2, after_position_model)
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break
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class FeedingConfig:
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def __init__(self, num: int, feedLine: FeedLine, photo_locs):
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self.num = num
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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_no_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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def __init__(self, robotClient: RobotClient):
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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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# 添加 RelayController 实例
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self.relay_controller = RelayController()
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self.sensor_thread = None
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self.detection_image = None
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self.init_detection_image()
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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)
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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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#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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# 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 = 0
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self.drop_manager = DropPositionManager("CU/drop.ini")
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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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#self.detect.detection.release()
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def init_detection_image(self):
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detection_image = cv2.imread(Constant.feed_sign_path)
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self.update_detect_image.emit(detection_image)
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def run_detect(self):
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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 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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self.detect.position_index = 0
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real_position.init_position(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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# real_position.init_position(0,
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# 0,
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# 0,
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# 0,
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# 0,
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# 0);
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# img_path = f'Image/{self.index}.png'
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# img = cv2.imread(img_path)
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# self.index += 1
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# self.index = self.index % 4
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# self.detection_image = img
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if self.feedConfig == None:
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self.feedStatus = FeedStatus.FNone
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if self.feedConfig !=None and self.feedConfig.num == 0 and self.is_reverse and self.robotClient.origin_position.compare(real_position,is_action=True):
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self.feedStatus = FeedStatus.FNone
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self.is_reverse = False
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self.log_signal.emit(logging.INFO, Constant.str_feed_reverse)
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if self.feedStatus == FeedStatus.FNone or self.pause:
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return
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elif self.feedStatus == FeedStatus.FCheck:
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self.log_signal.emit(logging.INFO, Constant.str_feed_check)
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# 1, 检查是否是三列
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# 2, 检查是否有人
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# if self.safe_check_columns() and self.safe_check_person():
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# pass
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# else:
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# if self.feedConfig.num != 0:
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# self.next_target()
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# if == 原点 继续判断
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# else:
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# QMessageBox.information(None, "提示", Constant.str_feed_sae_error_msgbox)
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if self.is_reverse:
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self.feed_Mid_Status = FeedMidStatus.FMid_Start
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else:
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self.feed_Mid_Status = FeedMidStatus.FMid_Take
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if self.feedConfig.feedLine.start_to_take[0].get_position().compare(real_position):
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self.next_position(self.is_reverse)
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elif self.feedStatus == FeedStatus.FStart:
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self.log_signal.emit(logging.INFO, Constant.str_feed_start)
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self.relay_controller.open(conveyor2=True)#开电机
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#self.sensor2_thread = threading.Thread(target=self.relay_controller.handle_sensor2, daemon=True)#线程2的开始，但是在那里设置结束呢
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#self.sensor2_thread.start()
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if not self.robotClient.origin_position.compare(real_position,is_action=True) and not self.is_reverse:
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# QMessageBox.information(None, "提示", Constant.str_feed_start_error) # Fuck 引起异常
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self.log_signal.emit(logging.ERROR, Constant.str_feed_start_error)
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self.need_origin_signal.emit(Constant.str_feed_start_error)
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self.feedStatus = FeedStatus.FNone
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return
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if self.is_reverse:
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self.feedStatus = FeedStatus.FNone
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self.is_reverse = False
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return
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self.feedConfig.feedLine.get_position_list()
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self.detect.detect_status = DetectStatus.DNone
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self.feed_Mid_Status = FeedMidStatus.FMid_Start
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self.next_position(self.is_reverse)
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elif self.feedStatus == FeedStatus.FMid:
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feed_pos = self.get_current_position(self.is_reverse)
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if feed_pos.get_position().compare(real_position):
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self.log_signal.emit(logging.INFO, Constant.str_feed_mid)
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self.next_position(self.is_reverse)
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# 增加计数器逻辑
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self.mid_take_count += 1
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# 可选：在 Debug1 模式下输出日志
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if Constant.Debug1:
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self.log_signal.emit(
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logging.INFO,
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f"[调试计数] 已进入 FMid 分支 {self.mid_take_count} 次"
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)
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#if self.feedStatus == FeedStatus.FTake:
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#self.catch.catch_status = CatchStatus.CTake
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elif self.feedStatus == FeedStatus.FPhoto:
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if self.feedConfig.num == 0:
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self.log_signal.emit(logging.INFO, Constant.str_feed_finish)
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self.is_reverse = True
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self.feed_Mid_Status = FeedMidStatus.FMid_Take
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self.feedConfig.feedLine.start2take_pos_index = len(self.feedConfig.feedLine.start_to_take) - 2
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self.feedConfig.feedLine.origin2start_pos_index = len(self.feedConfig.feedLine.origin_to_start) - 2
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self.next_position(self.is_reverse)
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self.log_signal.emit(logging.INFO, Constant.str_feed_photo)
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self.init_detection_image()
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return
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if not Constant.Debug:
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self.log_signal.emit(logging.INFO, Constant.str_feed_takePhoto)
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self.feed_Mid_Status = FeedMidStatus.FMid_Feed
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self.log_signal.emit(logging.INFO, Constant.str_feed_takePhoto_success)
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self.feedConfig.feedLine.set_take_position(self.detect.detect_position, 0)
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#self.feedConfig.feedLine.set_take_position(real_position, 0)#必须设置
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'''real_position'''
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# 一直等待传感器2信号，永不超时
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while True:
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sensors = self.relay_controller.get_all_device_status('sensors')
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sensor2_value = sensors.get(self.relay_controller.SENSOR2, False)
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if sensor2_value:
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self.log_signal.emit(logging.INFO, "✅ 传感器2检测到料包到位，开始执行抓取")
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#self.relay_controller.close(conveyor2=True)
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print("---------传感器2检测到料包到位，开始执行抓取,------------")
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break # ✅ 条件满足，跳出循环，继续执行下面的代码
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else:
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self.log_signal.emit(logging.INFO, "⏳ 等待传感器2料包信号...")
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time.sleep(1) # 每秒检查一次
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self.next_position()
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self.log_signal.emit(logging.INFO, Constant.str_sys_runing2)
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#self.feedStatus = FeedStatus.FTake
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elif self.feedStatus == FeedStatus.FTake:
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self.log_signal.emit(logging.INFO, Constant.str_feed_take)
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take_position = self.feedConfig.feedLine.get_take_position()
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if not take_position or not take_position.get_position():
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self.log_signal.emit(logging.ERROR, Constant.str_feed_takePhoto_fail)
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return
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if not take_position.get_position().compare(real_position, is_action=True):
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self.log_signal.emit(logging.INFO, "🟡 机器人尚未到达抓料点位")
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return
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self.log_signal.emit(logging.INFO, "🟢 机器人已到达抓料点位")
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# 执行抓取动作
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#self.catch.catch_status = CatchStatus.CTake
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#if self.catch.catch_status == CatchStatus.CNone:
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#self.catch.catch_status = CatchStatus.CTake
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#if self.catch.catch_status == CatchStatus.CTake:
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||
#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
|
||
next_drop_pos = self.drop_manager.get_next_drop_position(lineid=1)
|
||
if next_drop_pos:
|
||
self.feedConfig.feedLine.set_drop_position(next_drop_pos)
|
||
self.log_signal.emit(logging.INFO, f"已设置放置点: X={next_drop_pos.X:.2f}")
|
||
#self.relay_controller.open(conveyor2=True)
|
||
print(f"--------已设置放置点: X={next_drop_pos.X:.2f}")
|
||
else:
|
||
self.log_signal.emit(logging.ERROR, "获取放置点失败")
|
||
print("--------获取放置点失败")
|
||
return
|
||
#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
|
||
self.relay_controller.open(clamp=True)
|
||
self.next_position()
|
||
#return
|
||
#else:
|
||
#self.log_signal.emit(logging.ERROR, Constant.str_feed_takePhoto_fail)
|
||
|
||
elif self.feedStatus == FeedStatus.FBroken1:
|
||
|
||
if self.get_current_position().get_position().compare(real_position):
|
||
self.log_signal.emit(logging.INFO, Constant.str_feed_broken)
|
||
self.next_position()
|
||
|
||
|
||
elif self.feedStatus == FeedStatus.FBroken2:
|
||
|
||
if self.get_current_position().get_position().compare(real_position):
|
||
self.log_signal.emit(logging.INFO, Constant.str_feed_broken)
|
||
self.next_position()
|
||
|
||
elif self.feedStatus == FeedStatus.FShake:
|
||
if self.get_current_position().get_position().compare(real_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 self.get_current_position().get_position().compare(real_position, is_action=True):
|
||
# 2. 记录日志：已到达投料点
|
||
#if not self.sensor2_ready:
|
||
#self.log_signal.emit(logging.INFO, "抓取完成，重新启动 conveyor2")
|
||
#self.relay_controller.open(conveyor2=True)
|
||
|
||
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(...)
|
||
# 4. 更新业务逻辑：减少剩余袋数
|
||
self.feedConfig.num = self.feedConfig.num - 1
|
||
self.log_signal.emit(logging.INFO, f'{Constant.str_feed_feed_num}{self.feedConfig.num}')
|
||
# 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()
|
||
|
||
def run_reset(self):
|
||
"""
|
||
复位流程主函数：让机器人沿喂料路径反向移动，回到起始安全位置。
|
||
该函数通常在设备启动、错误恢复或手动干预后调用。
|
||
"""
|
||
# 1. 获取机器人当前的实际物理位置
|
||
# 从 robotClient 的状态模型中读取6个关节的世界坐标（world_0 ~ world_5）
|
||
real_position = Real_Position()
|
||
real_position.init_position(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)
|
||
# 2. 状态检查：如果复位状态为 RNone（无任务），直接返回，不执行任何操作
|
||
if self.reset_status == ResetStatus.RNone:
|
||
return
|
||
# 3. 状态一：RStart - 复位启动阶段：确定当前位置在喂料路径中的索引
|
||
if self.reset_status == ResetStatus.RStart:
|
||
# a. 安全检查：确保 feedConfig 配置已加载
|
||
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
|
||
# b. 初始化关键变量
|
||
self.pos_index = -1 # 用于存储与当前位置精确匹配的路径点索引
|
||
self.pos_near_index = -1 # 用于存储距离当前位置最近的路径点索引
|
||
self.reversed_positions = [] # 存储从当前位置到起始点的反向路径点列表
|
||
# c. 第一步：尝试在 feed_positions 路径点中寻找与当前实际位置完全匹配的点
|
||
for index, pos_model in enumerate(self.feedConfig.feedLine.feed_positions):
|
||
if pos_model.get_position().compare(real_position,is_action=True):
|
||
self.pos_index = index
|
||
break
|
||
# d. 如果没有找到精确匹配的点，则寻找距离最近的点
|
||
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
|
||
# 根据最近点构建回退路径（从起点到最近点）
|
||
if self.pos_near_index != -1:
|
||
self.reversed_positions = self.feedConfig.feedLine.feed_positions[:self.pos_near_index + 1]
|
||
else:
|
||
#极端情况：没有任何点可选，复位失败
|
||
return False
|
||
else:
|
||
#如果找到了精确匹配点，则从起点到该点构建回退路径
|
||
self.reversed_positions = self.feedConfig.feedLine.feed_positions[:self.pos_index+1]
|
||
# e. 关键步骤：反转路径，使其成为“从当前位置退回起点”的顺序
|
||
self.reversed_positions = list(reversed(self.reversed_positions))
|
||
self.reverse_index = 0
|
||
# f. 触发复位警报音，提示用户设备正在复位
|
||
self.send_emergency_sound()
|
||
# g. 记录当前实际位置作为移动的初始参考点
|
||
self.current_position = PositionModel()
|
||
self.current_position.init_position(real_position)
|
||
# h. 更新状态机：进入“正在复位”阶段
|
||
self.reset_status = ResetStatus.RRunging
|
||
|
||
# 4. 状态二：RRunging - 正在复位中：逐步移动到反向路径的每一个点
|
||
if self.reset_status == ResetStatus.RRunging:
|
||
# a. 安全检查：只有当机器人到达上一个目标点后，才允许执行下一步
|
||
# compare 判断当前实际位置是否与目标位置（current_position）一致
|
||
if not real_position.compare(self.current_position.get_position(),is_action=True):
|
||
return# 未到达目标，等待下一次调用
|
||
# b. 获取当前要移动到的反向路径点
|
||
pos_model = self.reversed_positions[self.reverse_index]
|
||
# c. 特殊处理：跳过“取袋”状态的节点（FTake）
|
||
# 在回退过程中，不需要在取袋点停留或执行动作
|
||
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
|
||
# d. 根据路径点类型执行不同的移动指令
|
||
if pos_model.lineType == LineType.CureMid.value:
|
||
#如果是圆弧中间点（CureMid），需要同时指定当前点和下一个点来规划圆弧
|
||
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
|
||
else:
|
||
#普通直线或关节移动
|
||
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
|
||
# e. 检查是否已完成所有反向路径点的移动
|
||
if self.reverse_index == len(self.reversed_positions):
|
||
self.reset_status = ResetStatus.ROk
|
||
# 5. 状态三：ROk - 复位完成
|
||
if self.reset_status == ResetStatus.ROk:
|
||
# a. 重置状态为 RNone，表示复位任务结束
|
||
self.reset_status = ResetStatus.RNone
|
||
# b.发送紧急停止信号（用于关闭警报音后续可扩展复位其他外设）
|
||
self.send_emergency_stop()
|
||
|
||
def return_original_position(self):
|
||
|
||
self.run_reverse = True
|
||
real_position = Real_Position()
|
||
real_position.init_position(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)
|
||
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 pos_model.get_position().compare(real_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:
|
||
print('fuck1',log_str)
|
||
self.log_signal.emit(logging.INFO, log_str)
|
||
print('fuck2',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:
|
||
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:
|
||
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:
|
||
if self.robotClient.status_model.getAnglePosition().is_error_angel_move(feed_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=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
|
||
|