Merge remote-tracking branch 'origin/master'

CU/Detect.py

@@ -20,7 +20,9 @@ class Detect:
         if self.detect_status == DetectStatus.DNone:
             return
         if self.detect_status == DetectStatus.DDetect:
-
+            if Constant.Debug:
+                self.detect_status = DetectStatus.DOk
+                return
             _, 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)

CU/Feeding.py

@@ -188,13 +188,19 @@ class Feeding(QObject):
         self.pos_near_index = -1
         self.catch = Catch(self.robotClient)
         self.detect = Detect(self.detection)
-        self.detect_thread_img = threading.Thread(target=self.detect.run)
-        self.detect_thread_img.start()
+        self.is_detected = True
+        self.detect_thread = threading.Thread(target=self.run_detect)
+        self.detect_thread.start()
         pass
 
     def init_detection_image(self):
         self.detection_image = cv2.imread(Constant.feed_sign_path)
 
+    def run_detect(self):
+        while self.is_detected:
+            self.detect.run()
+            time.sleep(0.02)
+
     def run(self):
         self.catch.run()
         # 获取事件坐标
@@ -298,6 +304,11 @@ class Feeding(QObject):
                 if self.detect.detect_status == DetectStatus.DNone:
                     self.detect.detect_status = DetectStatus.DDetect
                 elif self.detect.detect_status == DetectStatus.DOk:
+                    if Constant.Debug:
+                        self.detect.detect_status = DetectStatus.DNone
+                        self.feedConfig.feedLine.set_take_position(real_position)
+                        self.next_position()
+
                     if self.detect.detect_position != None:
                         log.log_message(logging.INFO, Constant.str_feed_takePhoto_success)
                         self.feedConfig.feedLine.set_take_position(self.detect.detect_position)

Constant.py

@@ -1,6 +1,6 @@
 import os
 
-Debug = True
+Debug = False
 IO_EmergencyPoint = 3
 bag_height = 10 # 一袋的高度
 position_accuracy = 0.1

Seting.ini

@@ -47,7 +47,7 @@ photo_v5 = 0.0
 photo_w5 = 1.0
 linecount = 2
 remain_linename = 1
-remain_count = 574
+remain_count = 1
 io_take_addr = 8
 io_zip_addr = 11
 io_shake_addr = 12

main.py

@@ -1935,6 +1935,8 @@ class MainWindow(QMainWindow, Ui_MainWindow):
 
     def closeEvent(self, event):
         self.record_remain_num()
+        self.feeding.is_detected = False
+        self.feeding.detect_thread.join()
         self.detection.release()
         self.thread_signal = False
         self.robotClient.close()