update 更新添加各种中间点位

CU/Feeding.py

@@ -21,15 +21,21 @@ class FeedStatus(IntEnum):
     FSafeF = 6
     FFeedP = 7
     FBroken = 8
-    FFinished = 9
+    FCut = 9
+    FShake = 10
+    FDropBag = 11
+    FFinished = 12
 
 class FeedLine:
-    def __init__(self,name,safe_position:Real_Position,photo_position:Real_Position,mid_position:Real_Position,broken_position:Real_Position,feed_position:Real_Position):
+    def __init__(self,name,safe_position:Real_Position,photo_position:Real_Position,mid_position:Real_Position,broken1_position:Real_Position,broken2_position:Real_Position,drop_bag_position:Real_Position,zip_bag_position:Real_Position,feed_position:Real_Position):
         self.safe_position = safe_position
         self.photo_position = photo_position
         self.feed_position = feed_position
         self.mid_position = mid_position
-        self.broken_position = broken_position
+        self.broken1_position = broken1_position
+        self.broken2_position = broken2_position
+        self.drop_bag_position = drop_bag_position
+        self.zip_bag_position = zip_bag_position
         self.take_position = None
         self.name = name
 
@@ -150,35 +156,72 @@ class Feeding():
             log.log_message(logging.INFO, Constant.str_feed_feed)
             if self.feedConfig.feedLine.feed_position.compare(real_position):
                 self.feedStatus = FeedStatus.FBroken
-                self.sendTargPosition(self.feedConfig.feedLine.broken_position)
+                self.sendTargPosition(self.feedConfig.feedLine.broken1_position)
                 pass #破袋
 
         elif self.feedStatus==FeedStatus.FBroken:
             log.log_message(logging.INFO, Constant.str_feed_broken)
-            if self.feedConfig.feedLine.broken_position.compare(real_position):
+            if self.feedConfig.feedLine.broken1_position.compare(real_position):
-                self.feedConfig.num = self.feedConfig.num-1
+                self.sendTargPosition(self.feedConfig.feedLine.broken2_position)
-                if self.feedConfig.num == 0:
+            if self.feedConfig.feedLine.broken2_position.compare(real_position):
-                    self.feedStatus=FeedStatus.FNone
+                current_position = Real_Position().init_position(0,0,0,0,0,0)
-                    self.sendTargPosition(self.feedConfig.feedLine.safe_position)
+                current_position.X = self.robotClient.status_model.axis_0
-                    self.init_detection_image()
+                current_position.Y = self.robotClient.status_model.axis_1
-                    log.log_message(logging.INFO, Constant.str_feed_finish)
+                current_position.Z = self.robotClient.status_model.axis_2
+                current_position.U = self.robotClient.status_model.axis_3
+                current_position.V = self.robotClient.status_model.axis_4
+                current_position.W = self.robotClient.status_model.axis_5
+                for i in range(8):
+                    if (i % 2 == 0) ^ (i >= 3): ## 过一半取消
+                        c1 = current_position.U - 5
+                        self.sendTargPosition(c1, MoveType.AXIS, speed=Constant.shake_speed)
+                    else:
+                        c1 = current_position.U + 5
+                        self.sendTargPosition(c1, MoveType.AXIS, speed=Constant.shake_speed)
+            if True: # 延迟判断，如果最后点位延迟1s，则认为阶段完成
+                self.feedStatus = FeedStatus.FDropBag
+                self.sendTargPosition(self.feedConfig.feedLine.safe_position)
+
+        elif self.feedStatus == FeedStatus.FDropBag:
+            log.log_message(logging.INFO, Constant.str_feed_drop)
+            if self.feedConfig.feedLine.safe_position.compare(real_position):
+                if self.feedConfig.num - 1 != 0:
+                    self.sendTargPosition(self.feedConfig.feedLine.drop_bag_position)
                 else:
-                    log.log_message(logging.INFO, f'{Constant.str_feed_feed_num}{self.feedConfig.num}')
+                    self.sendTargPosition(self.feedConfig.feedLine.zip_bag_position)
-                    self.feedStatus = FeedStatus.FSafeP
+                pass
-                    self.sendTargPosition(self.feedConfig.feedLine.safe_position)
+            if self.feedConfig.feedLine.drop_bag_position.compare(real_position):
+                # TODO 松开吸嘴
+                self.feedConfig.num = self.feedConfig.num - 1
+                log.log_message(logging.INFO, f'{Constant.str_feed_feed_num}{self.feedConfig.num}')
+                self.feedStatus = FeedStatus.FSafeP
+                self.sendTargPosition(self.feedConfig.feedLine.safe_position)
+
+
+            if self.feedConfig.feedLine.zip_bag_position.compare(real_position):
+                log.log_message(logging.INFO, Constant.str_feed_zip_bag)
+                # TODO 松开吸嘴  是否需要判断放没放开不
+                self.feedStatus = FeedStatus.FNone
+                self.sendTargPosition(self.feedConfig.feedLine.safe_position)
+                self.init_detection_image()
+                log.log_message(logging.INFO, Constant.str_feed_finish)
+
+
         pass
 
-    def sendTargPosition(self,real_position):
+
+
+    def sendTargPosition(self,real_position,move_type:MoveType=MoveType.WORLD ,speed = Constant.speed):
         from Model.RobotModel import Instruction
         position_instruction = Instruction()
-        position_instruction.speed = Constant.speed
+        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.action = MoveType.WORLD.value
+        position_instruction.action = move_type.value
         instruction_command = CMDInstructRequest()
         instruction_command.instructions.append(position_instruction)
         request_command = instruction_command.toString()
@@ -196,6 +239,8 @@ class Feeding():
         self.robotClient.add_sendQuene(request_command)
         pass
 
+
+
     def safe_check_columns(self):
         return True
         pass

Config/FeedLine.ini

@@ -18,19 +18,38 @@ midposition_z = 406.721
 midposition_u = -3.256
 midposition_v = 7.334
 midposition_w = -4.307
-brokenposition_x = 357.269
+brokenposition1_x = 357.269
-brokenposition_y = 478.874
+brokenposition1_y = 478.874
-brokenposition_z = 209.979
+brokenposition1_z = 209.979
-brokenposition_u = -3.100
+brokenposition1_u = -3.100
-brokenposition_v = -3.198
+brokenposition1_v = -3.198
-brokenposition_w = 49.945
+brokenposition1_w = 49.945
+brokenposition2_x = 357.269
+brokenposition2_y = 478.874
+brokenposition2_z = 209.979
+brokenposition2_u = -3.100
+brokenposition2_v = -3.198
+brokenposition2_w = 49.945
+dropBagposition_x = 357.269
+dropBagposition_y = 478.874
+dropBagposition_z = 209.979
+dropBagposition_u = -3.100
+dropBagposition_v = -3.198
+dropBagposition_w = 49.945
+zipBagposition_x = 357.269
+zipBagposition_y = 478.874
+zipBagposition_z = 209.979
+zipBagposition_u = -3.100
+zipBagposition_v = -3.198
+zipBagposition_w = 49.945
 feedposition_x = 315.549
 feedposition_y = 427.090
 feedposition_z = 209.985
 feedposition_u = -2.793
 feedposition_v = -1.829
 feedposition_w = 50.000
-
+dropDelay_time = 3
+shakeDelay_time = 6
 [FeedLine2]
 name = 反应釜2
 safeposition_x = 0.0
@@ -51,4 +70,6 @@ feedposition_z = 0.0
 feedposition_u = 0.0
 feedposition_v = 0.0
 feedposition_w = 0.0
+dropDelay_time = 3
+shakeDelay_time = 6
 

Constant.py

@@ -3,6 +3,7 @@ import os
 position_accuracy = 0.05
 manual_adjust_accuracy = 1
 speed = 10
+shake_speed = 20
 feedLine_set_section = 'FeedLine'
 feedLine_set_file = f'.{os.sep}Config{os.sep}feedLine.ini'
 set_ini = 'Seting.ini'
@@ -24,6 +25,8 @@ str_feed_mid = '移动到中位位置'
 str_feed_safe = '移动到安全位置'
 str_feed_takePhoto = '拍照'
 str_feed_broken = '移动到破袋位置'
+str_feed_broken_bag = '划袋'
+str_feed_drop = '移动扔空袋'
 str_feed_takePhoto_fail = '识别图像失败'
 str_feed_takePhoto_success = '识别图像成功'
 str_feed_covert_success = '转换坐标成功'
@@ -34,6 +37,7 @@ str_feed_finish = '投料结束'
 str_feed_take_success = '抓料成功'
 str_feed_take_fail = '抓料失败'
 str_feed_feed_num = '剩余投料次数：'
+str_feed_zip_bag = '移动到压缩袋位置'
 str_sys_switch_tool = '切换到工具坐标'
 str_sys_start_tool = '切换到自动运行状态'
 str_sys_clearAlarm = '清除报警'
@@ -48,3 +52,4 @@ str_tcp_robot_data_error = '数据解析错误'
 str_tcp_connect_no_reply = '无回复'
 str_tcp_connect_error = 'tcp连接错误'
 str_tcp_reconnect = '重连中'
+

MvSDKLog/CamCtrl_00.log

@@ -4822,3 +4822,13 @@ Warning 2024-09-19 20:04:10:0204  DevID:Virtual USB3 Vision  Source-Line:MvCamer
 Warning 2024-09-19 20:04:10:0204  DevID:Virtual USB3 Vision  Source-Line:MvCameraControl.dll(GenTLManager.cpp-L0996)  ProcessName:python.exe(14692)     Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_VERSION] failed, Ret[0x80000001]
 Warning 2024-09-19 20:04:10:0204  DevID:Virtual USB3 Vision  Source-Line:MvCameraControl.dll(GenTLManager.cpp-L1000)  ProcessName:python.exe(14692)     Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_MANUFACTURER] failed, Ret[0x80000001]
 Warning 2024-09-19 20:04:10:0204  DevID:Virtual USB3 Vision  Source-Line:MvCameraControl.dll(GenTLManager.cpp-L1004)  ProcessName:python.exe(14692)     Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_USER_DEFINED_NAME] failed, Ret[0x80000001]
+Error   2024-10-11 21:23:05:0716  DevID:  Source-Line:MvCameraControl.dll(OtherLoadLibrary.cpp-L0709)  ProcessName:python.exe(9244)     Description:[LoadSRAllFunctions]hSRModule is NULL, Ret[0x8000000c]
+Warning 2024-10-11 21:23:05:0729  DevID:  Source-Line:MvCameraControl.dll(GenTLLoadLibraryEx.cpp-L0345)  ProcessName:python.exe(9244)     Description:[LoadCtiLibInter]MV_GCSetConfigIntValue is NULL, CTI path[D:\environment\envs\UICreater\lib\site-packages\MvProducerVIR.dll]
+Warning 2024-10-11 21:23:05:0729  DevID:Virtual GigE Vision  Source-Line:MvCameraControl.dll(GenTLManager.cpp-L0992)  ProcessName:python.exe(9244)     Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_MODEL] failed, Ret[0x80000001]
+Warning 2024-10-11 21:23:05:0729  DevID:Virtual GigE Vision  Source-Line:MvCameraControl.dll(GenTLManager.cpp-L0996)  ProcessName:python.exe(9244)     Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_VERSION] failed, Ret[0x80000001]
+Warning 2024-10-11 21:23:05:0729  DevID:Virtual GigE Vision  Source-Line:MvCameraControl.dll(GenTLManager.cpp-L1000)  ProcessName:python.exe(9244)     Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_MANUFACTURER] failed, Ret[0x80000001]
+Warning 2024-10-11 21:23:05:0729  DevID:Virtual GigE Vision  Source-Line:MvCameraControl.dll(GenTLManager.cpp-L1004)  ProcessName:python.exe(9244)     Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_USER_DEFINED_NAME] failed, Ret[0x80000001]
+Warning 2024-10-11 21:23:05:0729  DevID:Virtual USB3 Vision  Source-Line:MvCameraControl.dll(GenTLManager.cpp-L0992)  ProcessName:python.exe(9244)     Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_MODEL] failed, Ret[0x80000001]
+Warning 2024-10-11 21:23:05:0729  DevID:Virtual USB3 Vision  Source-Line:MvCameraControl.dll(GenTLManager.cpp-L0996)  ProcessName:python.exe(9244)     Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_VERSION] failed, Ret[0x80000001]
+Warning 2024-10-11 21:23:05:0729  DevID:Virtual USB3 Vision  Source-Line:MvCameraControl.dll(GenTLManager.cpp-L1000)  ProcessName:python.exe(9244)     Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_MANUFACTURER] failed, Ret[0x80000001]
+Warning 2024-10-11 21:23:05:0729  DevID:Virtual USB3 Vision  Source-Line:MvCameraControl.dll(GenTLManager.cpp-L1004)  ProcessName:python.exe(9244)     Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_USER_DEFINED_NAME] failed, Ret[0x80000001]

Seting.ini

@@ -28,6 +28,7 @@ photo_z3 = 0
 LineCount=2
 
 
+
 [Camera_Feed]
 IPAddress=127.0.0.1
 

app.py

@@ -190,8 +190,8 @@ class MainWindow(QMainWindow, Ui_MainWindow):
                       (int(self.configReader.get('Robot_Feed', 'photo_x3')),
                        int(self.configReader.get('Robot_Feed', 'photo_y3')),int(self.configReader.get('Robot_Feed', 'photo_z3')))
                       ]
-
+        dropDelay_time = int(self.configReader.get('Robot_Feed', 'dropDelay_time'))
-        self.robotClient = RobotClient(ip, port, photo_locs,self.command_position_quene, self.status_address)
+        self.robotClient = RobotClient(ip, port, photo_locs, self.command_position_quene, self.status_address)
         self.feeding = Feeding(self.robotClient, self.detection)  # 临时
         self.last_time = time.time()
 
@@ -286,8 +286,12 @@ class MainWindow(QMainWindow, Ui_MainWindow):
             safe_position = Real_Position()
             photo_position = Real_Position()
             mid_position = Real_Position()
-            broken_position = Real_Position()
+            broken_position1 = Real_Position()
+            broken_position2 = Real_Position()
             feed_position = Real_Position()
+            dropBag_position = Real_Position()
+            zipBag_poistion = Real_Position()
+
 
             safe_position.X = float(self.configReader.get(line_str, 'SafePosition_x', fallback=0))
             safe_position.Y = float(self.configReader.get(line_str, 'SafePosition_y', fallback=0))
@@ -310,12 +314,32 @@ class MainWindow(QMainWindow, Ui_MainWindow):
             mid_position.V = float(self.configReader.get(line_str, 'MidPosition_v', fallback=0))
             mid_position.W = float(self.configReader.get(line_str, 'MidPosition_w', fallback=0))
 
-            broken_position.X = float(self.configReader.get(line_str, 'BrokenPosition_x', fallback=0))
+            broken_position1.X = float(self.configReader.get(line_str, 'BrokenPosition_x', fallback=0))
-            broken_position.Y = float(self.configReader.get(line_str, 'BrokenPosition_y', fallback=0))
+            broken_position1.Y = float(self.configReader.get(line_str, 'BrokenPosition_y', fallback=0))
-            broken_position.Z = float(self.configReader.get(line_str, 'BrokenPosition_z', fallback=0))
+            broken_position1.Z = float(self.configReader.get(line_str, 'BrokenPosition_z', fallback=0))
-            broken_position.U = float(self.configReader.get(line_str, 'BrokenPosition_u', fallback=0))
+            broken_position1.U = float(self.configReader.get(line_str, 'BrokenPosition_u', fallback=0))
-            broken_position.V = float(self.configReader.get(line_str, 'BrokenPosition_v', fallback=0))
+            broken_position1.V = float(self.configReader.get(line_str, 'BrokenPosition_v', fallback=0))
-            broken_position.W = float(self.configReader.get(line_str, 'BrokenPosition_w', fallback=0))
+            broken_position1.W = float(self.configReader.get(line_str, 'BrokenPosition_w', fallback=0))
+            broken_position2.X = float(self.configReader.get(line_str, 'BrokenPosition2_x', fallback=0))
+            broken_position2.Y = float(self.configReader.get(line_str, 'BrokenPosition2_y', fallback=0))
+            broken_position2.Z = float(self.configReader.get(line_str, 'BrokenPosition2_z', fallback=0))
+            broken_position2.U = float(self.configReader.get(line_str, 'BrokenPosition2_u', fallback=0))
+            broken_position2.V = float(self.configReader.get(line_str, 'BrokenPosition2_v', fallback=0))
+            broken_position2.W = float(self.configReader.get(line_str, 'BrokenPosition2_w', fallback=0))
+
+            dropBag_position.X = float(self.configReader.get(line_str, 'DropBagPosition_x', fallback=0))
+            dropBag_position.Y = float(self.configReader.get(line_str, 'DropBagPosition_y', fallback=0))
+            dropBag_position.Z = float(self.configReader.get(line_str, 'DropBagPosition_z', fallback=0))
+            dropBag_position.U = float(self.configReader.get(line_str, 'DropBagPosition_u', fallback=0))
+            dropBag_position.V = float(self.configReader.get(line_str, 'DropBagPosition_v', fallback=0))
+            dropBag_position.W = float(self.configReader.get(line_str, 'DropBagPosition_w', fallback=0))
+            zipBag_poistion.X = float(self.configReader.get(line_str, 'ZipBagPosition_x', fallback=0))
+            zipBag_poistion.Y = float(self.configReader.get(line_str, 'ZipBagPosition_y', fallback=0))
+            zipBag_poistion.Z = float(self.configReader.get(line_str, 'ZipBagPosition_z', fallback=0))
+            zipBag_poistion.U = float(self.configReader.get(line_str, 'ZipBagPosition_u', fallback=0))
+            zipBag_poistion.V = float(self.configReader.get(line_str, 'ZipBagPosition_v', fallback=0))
+            zipBag_poistion.W = float(self.configReader.get(line_str, 'ZipBagPosition_w', fallback=0))
+
 
             feed_position.X = float(self.configReader.get(line_str, 'FeedPosition_x', fallback=0))
             feed_position.Y = float(self.configReader.get(line_str, 'FeedPosition_y', fallback=0))
@@ -324,10 +348,12 @@ class MainWindow(QMainWindow, Ui_MainWindow):
             feed_position.V = float(self.configReader.get(line_str, 'FeedPosition_v', fallback=0))
             feed_position.W = float(self.configReader.get(line_str, 'FeedPosition_w', fallback=0))
 
+
+
             name = self.configReader.get(line_str, 'Name', fallback='未命名')
             self.feedLine_dict[f'{Constant.feedLine_set_section}{i + 1}'] = FeedLine(name, safe_position,
                                                                                      photo_position, mid_position,
-                                                                                     broken_position, feed_position)
+                                                                                     broken_position1,broken_position2,dropBag_position,zipBag_poistion,feed_position)
         self.init_seting_frame()
         self.updateUI_Select_Line()
         pass