update 更新表格设置

CU/Feeding.py

@@ -3,7 +3,7 @@ from Model.Position import Real_Position, Detection_Position
 from enum import Enum
 from COM.COM_Robot import RobotClient
 from Model.RobotModel import CMDInstructRequest
-from Vision.camera_coordinate_dete import Detection
+#from Vision.camera_coordinate_dete import Detection
 
 
 class FeedStatus(Enum):
@@ -35,10 +35,11 @@ class FeedingConfig:
 
 
 class Feeding():
-    def __init__(self,robotClient:RobotClient,detection:Detection):
+    def __init__(self,robotClient:RobotClient,detection):
         self.feedConfig = None
         self.feedStatus = FeedStatus.FNone
         self.robotClient = robotClient
+        self.detection = detection
         pass
 
     def run(self):
@@ -90,14 +91,16 @@ class Feeding():
 
                     # 黄老师给我的xyz和法向量
                     target_position, noraml_base = getPosition(*xyz, *uvw,rotation)
-                    self.feedConfig.feedLine.take_position = Real_Position().init_position(*target_position,*noraml_base)
+                    self.feedConfig.feedLine.take_position = Real_Position().init_position(*target_position[:3],*noraml_base)
+                    self.sendTargPosition(self.feedConfig.feedLine.take_position)
                 else:
                     print("打印日志，保存失败图像")
-                    pass # 发送拍照获取坐标 并 开始移动
+
 
         elif self.feedStatus == FeedStatus.FTake:
             if self.feedConfig.feedLine.take_position != None and self.feedConfig.feedLine.take_position.compare(real_position):
                 self.feedStatus = FeedStatus.FSafeF
+                self.sendTargPosition(self.feedConfig.feedLine.safe_position)
                 pass #打开吸嘴并返回
 
         elif self.feedStatus == FeedStatus.FSafeF: