update 更新图片处理，点位比较方法，夹爪控制

main.py

@@ -397,8 +397,6 @@ class MainWindow(QMainWindow, Ui_MainWindow):
                     continue
                 position_model = PositionModel(i)
                 break
-        if position_model.id == 999:
-            print("d")
         if self.tableWidget_line_positions.currentRow()==-1:
             row_i = self.tableWidget_line_positions.rowCount()
         else:
@@ -814,12 +812,13 @@ class MainWindow(QMainWindow, Ui_MainWindow):
     def start_Runing(self):
         self.main_threading = Thread(target=self.run)
         self.robot_connect_threading = Thread(target=self.robotClient.run)
+        self.main_UI_threading = Thread(target=self.updateUI)
+
+        self.detect_person_thread = Thread(target=self.run_detect_persion)
+
         self.main_threading.start()
         self.robot_connect_threading.start()
-
-        self.main_UI_threading = Thread(target=self.updateUI)
         self.main_UI_threading.start()
-        self.detect_person_thread = Thread(target=self.run_detect_persion)
         self.detect_person_thread.start()
         pass
     def check_continue(self):
@@ -1207,8 +1206,8 @@ class MainWindow(QMainWindow, Ui_MainWindow):
                 log.log_message(logging.ERROR, Constant.str_feed_reset_no_line_error)
                 return
             self.feeding.reset_status = ResetStatus.RStart
-            dialog_reset = StopDialog()
-            dialog_reset.stop_thread_signal.connect(self.stop_reset_thread)
+            # dialog_reset = StopDialog()
+            # dialog_reset.stop_thread_signal.connect(self.stop_reset_thread)
         else:
             log.log_message(logging.ERROR, Constant.str_feed_reset_no_line_error)
             return
@@ -1564,7 +1563,8 @@ class MainWindow(QMainWindow, Ui_MainWindow):
         clear_command = CMDInstructRequest()
         request_command = clear_command.toString()
         log.log_message(logging.INFO, Constant.str_sys_clearAlarm)
-        self.command_quene.put(request_command)
+        self.robotClient.add_sendQuene(request_command)
+        # self.command_quene.put(request_command)
 
     def send_position_command(self, x1, x2, x3, x4, x5, x6, move_type: MoveType = MoveType.WORLD):
 
@@ -1598,12 +1598,11 @@ class MainWindow(QMainWindow, Ui_MainWindow):
         else:
             pause_command.cmdData.append("0")
         request_command = pause_command.toString()
-        print(request_command)
         self.robotClient.add_sendQuene(request_command)
 
     def send_emergency_alarm_command(self):
         self.feeding.feedStatus = FeedStatus.FNone
-        self.feeding.feedConfig.num = 0
+
         stop_command = CMDRequest()
         stop_command.cmdData.append("actionStop")
         stop_command.cmdData.append("1")
@@ -1611,18 +1610,17 @@ class MainWindow(QMainWindow, Ui_MainWindow):
         self.send_clear_auto_command()
         self.robotClient.add_sendQuene(request_command)
         self.feeding.send_emergency_sound()
+        self.feeding.feedConfig.num = 0
         log.log_message(logging.INFO, Constant.str_sys_emergencyStop)
         #TODO
 
 
     def send_clear_alarm_command(self, pause: bool):
-        self.send_start_tool_command()
+        self.send_clear_auto_command()
         pause_command = CMDRequest()
         pause_command.cmdData.append("StopButton")
         pause_command.cmdData.append("1")
         request_command = pause_command.toString()
-        print(request_command)
-        log_str = f'暂停：{pause}'
         self.robotClient.add_sendQuene(request_command)
 
     def send_switch_tool_command(self):
@@ -1630,8 +1628,6 @@ class MainWindow(QMainWindow, Ui_MainWindow):
         switch_command.cmdData.append("switchTool")
         switch_command.cmdData.append("2")
         request_command = switch_command.toString()
-        print(request_command)
-
         self.robotClient.add_sendQuene(request_command)
 
     def send_start_tool_command(self):
@@ -1639,8 +1635,6 @@ class MainWindow(QMainWindow, Ui_MainWindow):
         switch_command.cmdData.append("startButton")
         switch_command.cmdData.append("1")
         request_command = switch_command.toString()
-        print(request_command)
-
         self.robotClient.add_sendQuene(request_command)
 
     def show_messagebox_of_person(self):
@@ -1845,6 +1839,7 @@ class MainWindow(QMainWindow, Ui_MainWindow):
             self.configReader.write(open(Constant.set_ini, 'w', encoding='utf-8'))
             log.log_message(logging.INFO, f'设置原点:{x},{y},{z}')
         except:
+            log.log_message(logging.ERROR, f'设置原点失败')
             self.show_infomessage_box("设置原点失败")
 
 
@@ -1970,7 +1965,6 @@ def handle_exception(exc_type, exc_value, exc_tb):
         log.log_message(logging.INFO, "用户主动退出程序")
         return
     log.log_message(logging.ERROR, exc_value)
-    print("未处理的异常:", exc_type, exc_value)
     traceback.print_exception(exc_type, exc_value, exc_tb)
 
 if __name__ == "__main__":