update 更新图片处理，点位比较方法，夹爪控制
This commit is contained in:
FrankCV2048
@ -41,11 +41,12 @@ class Catch:
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else:
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self.shake_continue.SetReset()
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self.catch_status = CatchStatus.COk
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if Constant.Debug or self.robotClient.check_outputQ(self.robotClient.con_ios[2]):
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self.robotClient.sendIOControl(self.robotClient.con_ios[2], 0)
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print("震动结束")
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#if Constant.Debug or self.robotClient.check_outputQ(self.robotClient.con_ios[2]):
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self.robotClient.sendIOControl(self.robotClient.con_ios[2], 0)
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print("震动结束")
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if self.catch_status == CatchStatus.COk:
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self.robotClient.sendIOControl(self.robotClient.con_ios[1], 0)
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pass
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@ -206,11 +206,11 @@ class Feeding(QObject):
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# 0,
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# 0);
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img_path = f'Image/{self.index}.png'
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img = cv2.imread(img_path)
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self.index += 1
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self.index = self.index % 4
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self.detection_image = img
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# img_path = f'Image/{self.index}.png'
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# img = cv2.imread(img_path)
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# self.index += 1
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# self.index = self.index % 4
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# self.detection_image = img
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if self.feedConfig == None:
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self.feedStatus = FeedStatus.FNone
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@ -247,6 +247,7 @@ class Feeding(QObject):
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log.log_message(logging.INFO, Constant.str_feed_start)
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if not self.robotClient.origin_position.compare(real_position) and not self.is_reverse:
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# QMessageBox.information(None, "提示", Constant.str_feed_start_error) # Fuck 引起异常
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log.log_message(logging.ERROR, Constant.str_feed_start_error)
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self.need_origin_signal.emit(Constant.str_feed_start_error)
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self.feedStatus = FeedStatus.FNone
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return
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@ -260,8 +261,8 @@ class Feeding(QObject):
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# = self.detection.get_position(Point_isVision=False, Box_isPoint=True, First_Depth=True, Iter_Max_Pixel=30,
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# # save_img_point=0, Height_reduce=30, width_reduce=30)
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self.feedConfig.feedLine.set_take_position(self.get_take_position())
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if self.feedConfig.feedLine.get_take_position().get_position() != None:
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self.feedConfig.feedLine.set_take_position(self.get_take_position())
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# TODO 获取目标位置
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#
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self.feed_Mid_Status = FeedMidStatus.FMid_Start
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@ -368,8 +369,7 @@ class Feeding(QObject):
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# self.sendIOControl(self.robotClient.con_ios[1], 1)
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# self.sendIOControl(self.robotClient.con_ios[2], 1)
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log.log_message(logging.INFO, "到达抓料点位")
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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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return
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@ -492,7 +492,6 @@ class Feeding(QObject):
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return
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pos_model = self.reversed_positions[self.reverse_index]
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if pos_model.status == FeedStatus.FTake.value: # 跳过取袋节点
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print('跳过抓袋点位')
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pos_model = self.reversed_positions[self.reverse_index + 1]
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self.reverse_index = self.reverse_index+1
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@ -560,10 +559,10 @@ class Feeding(QObject):
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while self.run_reverse and self.reverse_index!=len(reversed_positions):
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if self.reverse_index!=0 and not real_position.compare(current_position.get_position()):
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continue
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print(f'复位第{self.reverse_index}') #todo 缺少比对
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#todo 缺少比对
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pos_model = reversed_positions[self.reverse_index]
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if pos_model.status == FeedStatus.FTake.value: # 跳过取袋节点
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print('跳过抓袋点位')
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pos_model = reversed_positions[self.reverse_index + 1]
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# TODO take节点判断
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@ -627,12 +626,12 @@ class Feeding(QObject):
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f'U:{position_instruction.m3}-' \
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f'V:{position_instruction.m4}-' \
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f'W:{position_instruction.m5}'
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print(log_str)
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try:
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log.log_message(logging.INFO, log_str)
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except:
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print("error")
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return
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self.robotClient.add_sendQuene(request_command)
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pass
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@ -640,16 +639,15 @@ class Feeding(QObject):
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if Constant.Debug:
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return self.robotClient.status_model.getRealPosition()
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_, img, xyz, uvw, points = self.detection.get_position(Point_isVision=False, Box_isPoint=True, First_Depth=True, Iter_Max_Pixel=30,save_img_point=0, Height_reduce=30, width_reduce=30)
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self.detection_image = img
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self.detection_image = img.copy()
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if xyz ==None or uvw==None or points==None:
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return None
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target_position,noraml_base = getPosition(*xyz,*uvw,None,points)
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position = Real_Position().init_position(*target_position[:3],*noraml_base[:3])
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position.Z = position.Z+40
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position.Z = position.Z+200
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return position
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def next_start(self,reverse=False):
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print(f'原点到初始位置的第{self.feedConfig.feedLine.origin2start_pos_index}')
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start_pos = self.feedConfig.feedLine.get_next_start_position(reverse)
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self.feedStatus = FeedStatus(start_pos.status) if self.feedStatus != FeedStatus.FNone else FeedStatus.FNone
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if start_pos.lineType == LineType.CureMid.value:
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@ -667,7 +665,7 @@ class Feeding(QObject):
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pass
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def next_take(self,reverse=False):
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print(f'初始位置到拍照点的第{self.feedConfig.feedLine.start2take_pos_index}')
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take_pos = self.feedConfig.feedLine.get_next_take_position(reverse)
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self.feedStatus = FeedStatus(take_pos.status) if self.feedStatus != FeedStatus.FNone else FeedStatus.FNone
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if take_pos.lineType == LineType.CureMid.value:
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@ -679,7 +677,6 @@ class Feeding(QObject):
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pass
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def next_Feed(self,reverse=False):
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print(f'拍照到抛料回来的第{self.feedConfig.feedLine.feeding2end_pos_index}')
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feed_pos = self.feedConfig.feedLine.get_next_feed_position(reverse)
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self.feedStatus = FeedStatus(feed_pos.status) if self.feedStatus != FeedStatus.FNone else FeedStatus.FNone
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if feed_pos.lineType == LineType.CureMid.value:
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