update 更新界面显示

CU/Feeding.py

@@ -1,14 +1,16 @@
 import time
 
+import cv2
+
 import Constant
 from Model.Position import Real_Position, Detection_Position
-from enum import Enum
+from enum import Enum, IntEnum
 from COM.COM_Robot import RobotClient
 from Model.RobotModel import CMDInstructRequest, MoveType
 from Vision.camera_coordinate_dete import Detection
 
 
-class FeedStatus(Enum):
+class FeedStatus(IntEnum):
     FNone = 0
     FStart = 1
     FSafeP = 2
@@ -40,13 +42,17 @@ class FeedingConfig:
 
 
 class Feeding():
-    def __init__(self,robotClient:RobotClient,detection):
+    def __init__(self,robotClient:RobotClient,detection:Detection):
         self.feedConfig = None
         self.feedStatus = FeedStatus.FNone
         self.robotClient = robotClient
         self.detection = detection
+        self.detection_image = None
+        self.init_detection_image()
         pass
 
+    def init_detection_image(self):
+        self.detection_image = cv2.imread("./Image/wait.png")
     def run(self):
         # 获取事件坐标
         real_position = Real_Position()
@@ -84,9 +90,10 @@ class Feeding():
 
         elif self.feedStatus == FeedStatus.FPhoto:
             if self.feedConfig.feedLine.photo_position.compare(real_position):
-                _, _, xyz, uvw = self.detection.get_position() #检测结果
+                code, img, xyz, uvw = self.detection.get_position() #检测结果
+                self.detection_image = img
                 if xyz!=None:
-                    self.feedStatus = FeedStatus.FTake
+
                     #dp = Detection_Position().init_position(*xyz, *uvw)
                     from Trace.handeye_calibration import R_matrix,getPosition
                     rotation = R_matrix(self.robotClient.status_model.world_0,
@@ -99,6 +106,7 @@ 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[:3],*noraml_base)
+                    self.feedStatus = FeedStatus.FTake
                     self.sendTargPosition(self.feedConfig.feedLine.take_position)
                 else:
                     print("打印日志，保存失败图像")
@@ -129,6 +137,7 @@ class Feeding():
                 if self.feedConfig.num == 0:
                     self.feedStatus=FeedStatus.FNone
                     self.sendTargPosition(self.feedConfig.feedLine.safe_position)
+                    self.init_detection_image()
                 else:
                     self.feedStatus = FeedStatus.FSafeP
                     self.sendTargPosition(self.feedConfig.feedLine.safe_position)