178 lines
6.0 KiB
Python
178 lines
6.0 KiB
Python
import logging
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from types import SimpleNamespace
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# 模拟 Constant
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class Constant:
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str_feed_take = "[测试] 开始抓料流程"
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str_feed_take_success = "[测试] ✅ 抓料成功"
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str_feed_takePhoto_fail = "[测试] ❌ 抓料点位获取失败"
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# 模拟 FeedStatus 和 CatchStatus
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class FeedStatus:
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FTake = "FTake"
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class CatchStatus:
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CNone = "CNone"
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CTake = "CTake"
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COk = "COk"
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class DetectStatus:
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DOk = "DOk"
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# 模拟 Position 类
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class Position:
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def __init__(self, x=0, y=0, z=0, a=0, b=0, c=0):
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self.X = x
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self.Y = y
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self.Z = z
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self.A = a
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self.B = b
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self.C = c
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def get_position(self):
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return self
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def compare(self, other, is_action=False):
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return (
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abs(self.X - other.X) < 0.1 and
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abs(self.Y - other.Y) < 0.1 and
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abs(self.Z - other.Z) < 0.1
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)
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# 模拟 Detect 类
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class Detect:
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def __init__(self):
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self.detect_position = None
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self.position_index = 0
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self.detect_status = DetectStatus.DOk
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# 模拟配置点位（类似 list.ini）
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self.positions = {
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0: Position(100, 200, 300, 0, 0, 0),
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1: Position(150, 250, 350, 0, 0, 0),
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2: Position(200, 300, 400, 0, 0, 0),
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3: Position(100, 200, 300, 0, 0, 0),
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4: Position(150, 250, 350, 0, 0, 0),
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5: Position(200, 300, 400, 0, 0, 0),
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}
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def run(self):
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"""根据当前索引加载点位"""
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pos = self.positions.get(self.position_index, None)
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if pos:
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self.detect_position = pos
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return True
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else:
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print(f"[❌ 失败] 索引 {self.position_index} 没有对应点位")
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return False
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# 模拟 FeedLine 类
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class FeedLine:
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def __init__(self):
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self.drop_position = Position()
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def get_take_position(self):
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return SimpleNamespace(get_position=lambda: Position(100, 200, 300))
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def set_drop_position(self, position):
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self.drop_position = position
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# 模拟 RelayController
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class RelayController:
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def get_all_device_status(self, *args):
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return {"SENSOR2": True}
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def open(self, conveyor2=False):
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pass
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# 模拟主类，用于测试
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class TestRunner:
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def __init__(self):
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self.feedStatus = FeedStatus.FTake
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self.catch = SimpleNamespace(catch_status=CatchStatus.CNone)
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self.detect = Detect()
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self.debug_run_count = 0
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self.sensor2_ready = True
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self.relay_controller = RelayController()
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# feedConfig 模拟
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self.feedConfig = SimpleNamespace(feedLine=FeedLine())
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# real_position 模拟
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self.real_position = Position(100, 200, 300)
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def log_signal(self, level, msg):
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logging.log(level, msg)
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def next_position(self):
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self.log_signal(logging.INFO, "[调试] 模拟移动到下一个位置")
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def run_test(self):
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if self.feedStatus == FeedStatus.FTake:
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self.log_signal(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(logging.ERROR, Constant.str_feed_takePhoto_fail)
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return
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if not take_position.get_position().compare(self.real_position, is_action=True):
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self.log_signal(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(logging.INFO, "🟢 机器人已到达抓料点位")
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# 传感器等待逻辑（模拟已触发）
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sensors = self.relay_controller.get_all_device_status('sensors')
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sensor2_value = sensors.get("SENSOR2", False)
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if not sensor2_value:
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self.log_signal(logging.INFO, "⏳ 等待传感器2料包信号...")
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return
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self.log_signal(logging.INFO, "✅ 传感器2检测到料包到位，开始执行抓取")
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# 执行抓取动作
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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(logging.INFO, "正在执行抓料动作...")
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self.catch.catch_status = CatchStatus.COk
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if self.catch.catch_status == CatchStatus.COk:
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self.log_signal(logging.INFO, Constant.str_feed_take_success)
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if not self.sensor2_ready:
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self.log_signal(logging.INFO, "抓取完成，重新启动 conveyor2")
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self.relay_controller.open(conveyor2=True)
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self.catch.catch_status = CatchStatus.CNone
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self.detect.detect_status = DetectStatus.DOk
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self.log_signal(logging.INFO, "修改抓取点")
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print(f"[调试] 即将丢包点位索引: {self.detect.position_index}")
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# ✅ 索引递增
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self.detect.position_index += 1
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print(f"[调试] 下一个要加载的索引: {self.detect.position_index}")
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# ✅ 加载新点位
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if not self.detect.run():
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self.log_signal(logging.ERROR, "❌ 加载新点位失败，停止流程")
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return
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# ✅ 设置丢包点
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self.feedConfig.feedLine.set_drop_position(self.detect.detect_position)
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self.debug_run_count += 1
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self.next_position()
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return
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else:
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self.log_signal(logging.ERROR, Constant.str_feed_takePhoto_fail)
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# ========================
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# 主程序入口
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# ========================
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if __name__ == "__main__":
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logging.basicConfig(level=logging.INFO, format='%(asctime)s [%(levelname)s] %(message)s')
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runner = TestRunner()
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print("🔧 开始测试索引递增和点位加载逻辑...\n")
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for i in range(5):
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print(f"\n🔄 第 {i+1} 次测试")
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runner.run_test() |