""" # @Time : 2025/12/12 11:05 # @Author : reenrr # @File : drop.py # @Desc : """ from ast import mod import configparser import os from typing import Optional from Position import Real_Position from FeedModel import LineModel, PositionModel import Constant class DropPositionManager: """ 负责读取/写入ini格式的码垛点位配置文件 """ def __init__(self, config_path=Constant.dropLine_set_file): """ :param config_path: 配置文件路径 """ self.config_path = config_path self.config = configparser.ConfigParser() # 配置文件解析器实例，用于读取/写入ini文件 self._load_config() # --- 本地缓存 --- self._current_lineid: Optional[int] = None # 当前缓存的路径组ID（对应DropLineX） self._current_point_id: Optional[int] = None # 当前缓存的投料点ID（对应DropPoints{point}） self._current_path: list = [] # 当前缓存的完整路径点列表（PositionModel对象列表） self._current_index: int = 0 # 当前路径中的索引（用于遍历路径点，返回下一个点位） self._current_drop_section: dict = {} # 存储每个主配置节（DropLineX）对应的最大码垛点编号，用于新增点位时的编号自增 def _load_config(self): """加载配置文件""" if not os.path.exists(self.config_path): raise FileNotFoundError(f"配置文件不存在: {self.config_path}") self.config.read(self.config_path, encoding='utf-8') def get_next_drop_position(self, lineid: int, point: int) -> Optional[PositionModel]: """ 获取指定 lineid 和 point 的下一个路径点。 :param lineid: 路径组 ID（对应 DropLineX） :param point: 投料点 ID（对应 DropPoints{point}） :return: 下一个路径点，若无则返回 None """ # 如果 lineid 或 point 改变，重新加载路径 if self._current_lineid != lineid or self._current_point_id != point: self._load_point_path(lineid, point) self._current_lineid = lineid self._current_point_id = point self._current_index = 0 # 如果索引未超过路径长度，返回当前索引的点 if self._current_index < len(self._current_path): next_point = self._current_path[self._current_index] self._current_index += 1 pos = next_point.get_position() print(f"🎯 返回点: status={next_point.status}, linetype={next_point.lineType}, " f"position=({pos.X:.3f}, {pos.Y:.3f}, {pos.Z:.3f})") return next_point # 路径结束 print("✅ 当前点集合路径已结束") return None def _load_point_path(self, lineid: int, point_id: int): """加载指定 lineid 和 point_id 的完整路径 (点集合dropmidpoint、droppoint、resetpoint) :param lineid: 路径组 ID（对应 DropLineX） param point_id: 投料点 ID（对应 DropPoints{point}） """ self._current_path = [] # 检查是否存在 DropPoints{point_id} drop_point_sec = f"DropPoints{point_id}" if not self.config.has_section(drop_point_sec): print(f"❌ 配置错误：不存在 {drop_point_sec}") return if self.config.getint(drop_point_sec, "lineid") != lineid: print(f"❌ {drop_point_sec} 不属于 lineid={lineid}") return try: drop_pos = self._read_position_from_section(drop_point_sec) except Exception as e: print(f"❌ 读取 {drop_point_sec} 失败: {e}") return # 1. 加载 DropMidPoint{point_id}-*（按 level 升序） mid_points = [] # _mid_section_start=f"DropMidPoint{point_id}-" _mid_section_start="DropMidPoint1-" for sec in self.config.sections(): if sec.startswith(_mid_section_start) and self.config.getint(sec, "lineid") == lineid: try: level = int(sec.split('-')[1]) pos = self._read_position_from_section(sec) mid_points.append((level, pos)) break except Exception as e: print(f"❌ 解析 {sec} 失败: {e}") mid_points.sort(key=lambda x: x[0]) # 2. 加载 ResetPoint{point_id}-*（按 level 升序） reset_points = [] # _reset_section_start=f"ResetPoint{point_id}-" _reset_section_start="ResetPoint1-" for sec in self.config.sections(): if sec.startswith(_reset_section_start) and self.config.getint(sec, "lineid") == lineid: try: level = int(sec.split('-')[1]) pos = self._read_position_from_section(sec) reset_points.append((level, pos)) break except Exception as e: print(f"❌ 解析 {sec} 失败: {e}") reset_points.sort(key=lambda x: x[0]) # 3. 组装路径 # a. DropMidPoint for _, pos in mid_points: self._current_path.append(pos) # b. DropPoints self._current_path.append(drop_pos) # c. ResetPoint for _, pos in reset_points: # model = PositionModel() # model.init_position(pos) # model.status = 10 # FReverse # model.lineType = 4 self._current_path.append(pos) print(f"✅ 已加载 DropLine{lineid} 中 DropPoints{point_id} 的路径，共 {len(self._current_path)} 个点") def _read_position_from_section(self, section: str) -> PositionModel: """从配置文件的 section 中读取位置信息""" model = PositionModel() pos = Real_Position() pos.X = self.config.getfloat(section, "x") pos.Y = self.config.getfloat(section, "y") pos.Z = self.config.getfloat(section, "z") pos.U = self.config.getfloat(section, "u") pos.V = self.config.getfloat(section, "v") pos.W = self.config.getfloat(section, "w") model.init_position(pos) model.lineType=self.config.getint(section, "linetype") model.status=self.config.getint(section, "status") model.id=self.config.getint(section, "id") model.order=self.config.getint(section, "order") model.lineId=self.config.getint(section, "lineid") # 保存section名称，用于排序 model.section = section return model def _read_position_return_leveL(self,config_reader,section,lineid)->Optional[tuple]: """ 读取指定配置节的点位信息，并返回元组 :param config_reader: 配置文件解析器 :param section: 配置节名称 :param lineid: 路径组ID """ try: if config_reader.getint(section, "lineid") == lineid: # 提取 - 后的数字 level = int(section.split('-')[1]) position_model = self._read_position_from_section(section) return (level, position_model) except Exception as e: print(f"{__name__}:_read_position_return_leveL:{e}") return None def load_path_points(self,lineid: int) ->Optional[LineModel]: """根据lineid加载所有码垛的路径信息""" #默认码垛的lineid从10开始 _lineid=lineid+10 line_model = LineModel(_lineid) line_model.line_category = 2 line_model.id = _lineid # 查找主表 DropLineX main_section = f"{Constant.dropLine_set_section}{lineid}" if self.config.has_section(main_section): line_model.name = self.config.get(main_section, "name", fallback=f"路径{lineid}") else: return None # 先收集所有 DropPoints 开头的 section drop_points_sections = [] for sec in self.config.sections(): if sec.startswith("DropPoints"): try: if self.config.getint(sec, "lineid") == lineid: # 提取数字部分 num_part = sec.replace("DropPoints", "") if num_part.isdigit(): drop_points_sections.append((sec, int(num_part))) except Exception as e: print(f"{__name__}:_load_path_points异常1:{e}") continue # 按数字排序 DropPoints sections drop_points_sections.sort(key=lambda x: x[1]) # 使用main_section作为键存储当前最大的drop-section编号 self._current_drop_section[main_section] = drop_points_sections[-1][1] if drop_points_sections else 1 mid_points_other=[] #最后点没有匹配的droppoints # 遍历每个 DropPoints，按照_load_point_path的逻辑加载对应的中间点和复位点 for sec, point_num in drop_points_sections: try: # 1. 加载 DropMidPoint{point_num}-*（按 level 升序） mid_points = [] for s in self.config.sections(): if s.startswith(f"DropMidPoint{point_num}-"): _mid=self._read_position_return_leveL(self.config,s,lineid) if _mid: mid_points.append(_mid) if point_num==(len(drop_points_sections)): if s.startswith(f"DropMidPoint{point_num+1}-"): _mid=self._read_position_return_leveL(self.config,s,lineid) if _mid: mid_points_other.append(_mid) # 按level升序排序 mid_points.sort(key=lambda x: x[0]) # 添加中间点到路径 for _, pos in mid_points: line_model.positions.append(pos) # 加载 ResetPoint{point_num}-*（按 level 升序） reset_points = [] for s in self.config.sections(): if s.startswith(f"ResetPoint{point_num}-"): _reset=self._read_position_return_leveL(self.config,s,lineid) if _reset: reset_points.append(_reset) # 按level升序排序 reset_points.sort(key=lambda x: x[0]) # 添加复位点到路径 for _, pos in reset_points: line_model.positions.append(pos) #添加当前 DropPoints try: position_model = self._read_position_from_section(sec) line_model.positions.append(position_model) except Exception as e: print(f"{__name__}:_load_path_points异常3:{e}") except Exception as e: print(f"{__name__}:_load_path_points异常4:{e}") if mid_points_other: mid_points_other.sort(key=lambda x: x[0]) for _, pos in mid_points_other: line_model.positions.append(pos) return line_model def save_path_points(self, line_model: LineModel): """根据lineid保存所有码垛的路径信息""" #默认码垛的lineid从10开始,保存的时候减一 _lineid=line_model.id-10 if _lineid<=0: return self.config.read(Constant.dropLine_set_file, encoding='utf-8') # 查找主表 DropLineX main_section = f"{Constant.dropLine_set_section}{_lineid}" if not self.config.has_section(main_section): self.config.add_section(main_section) self.config.set(main_section, "name", line_model.name) self.config.set(main_section, "id", str(_lineid)) _current_reset_index=1 _current_mid_index=1 _current_drop_section_val=self._current_drop_section[main_section] # 保存每个DropPoints for i, pos in enumerate(line_model.positions): if pos.lineId == _lineid or pos.lineId == line_model.id: #最后一个扔包点 if pos.section.startswith(f"DropMidPoint{_current_drop_section_val+1}"): _current_mid_index=int(pos.section.split('-')[-1])+1 if pos.section.startswith(f"ResetPoint{_current_drop_section_val}"): _current_reset_index=int(pos.section.split('-')[-1])+1 #新增的数据，如果是前点，需要获取后点的数据 if pos.section.startswith("Position"): pos.lineId = _lineid if pos.status is None: continue # FDropMid = 7 elif pos.status==7: #只有一个 pos.section = f"DropMidPoint{_current_drop_section_val+1}-{_current_mid_index}" _current_mid_index+=1 elif pos.status==9: pos.section = f"DropPoints{_current_drop_section_val+1}" _current_drop_section_val+=1 _current_mid_index=1 _current_reset_index=1 elif pos.status==10: pos.section = f"ResetPoint{_current_drop_section_val}-{_current_reset_index}" _current_reset_index+=1 #保存数据 pos.save_position_model(self.config) with open(Constant.dropLine_set_file, 'w', encoding='utf-8') as f: self.config.write(f) def del_drop_point(self,section): self.config.read(Constant.dropLine_set_file, encoding = 'utf-8') self.config.remove_section(section) with open(Constant.dropLine_set_file, 'w', encoding='utf-8') as f: self.config.write(f) def _get_point_debug_info(manager, pos, model): config = manager.config for sec in config.sections(): if sec.startswith("DropPoints"): try: x, y, z = config.getfloat(sec, "x"), config.getfloat(sec, "y"), config.getfloat(sec, "z") if abs(x - pos.X) < 0.001 and abs(y - pos.Y) < 0.001 and abs(z - pos.Z) < 0.001: point_id = config.getint(sec, "id") return f"📌 DropPoints{point_id} | id={point_id}" except: pass elif sec.startswith("DropMidPoint"): try: parts = sec.split('-') if len(parts) != 2: continue point_id = int(''.join(filter(str.isdigit, parts[0]))) level = int(parts[1]) x, y, z = config.getfloat(sec, "x"), config.getfloat(sec, "y"), config.getfloat(sec, "z") if abs(x - pos.X) < 0.001 and abs(y - pos.Y) < 0.001 and abs(z - pos.Z) < 0.001: return f"📍 DropMidPoint{point_id}-{level} | id={point_id}, level={level}" except: pass elif sec.startswith("ResetPoint"): try: parts = sec.split('-') if len(parts) != 2: continue point_id = int(''.join(filter(str.isdigit, parts[0]))) level = int(parts[1]) x, y, z = config.getfloat(sec, "x"), config.getfloat(sec, "y"), config.getfloat(sec, "z") if abs(x - pos.X) < 0.001 and abs(y - pos.Y) < 0.001 and abs(z - pos.Z) < 0.001: return f"🔙 ResetPoint{point_id}-{level} | id={point_id}, level={level}" except: pass return "❓ 未知点位" # 测试 if __name__ == "__main__": # manager = DropPositionManager("drop.ini") manager = DropPositionManager() lineid = 1 manager.load_path_points(1)