From 4dbf8d4cf3b277f66e3620589800e812f54df694 Mon Sep 17 00:00:00 2001
From: FrankCV2048 <1395405735@qq.com>
Date: Tue, 17 Dec 2024 19:56:40 +0800
Subject: [PATCH] =?UTF-8?q?update=20=E6=9B=B4=E6=96=B0=E8=AE=BE=E5=AE=9A?=
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---
 CU/Detect.py  |  4 +++-
 CU/Feeding.py | 15 +++++++++++++--
 Constant.py   |  2 +-
 Seting.ini    |  2 +-
 main.py       |  2 ++
 5 files changed, 20 insertions(+), 5 deletions(-)

diff --git a/CU/Detect.py b/CU/Detect.py
index e9ed6da..3d389e6 100644
--- a/CU/Detect.py
+++ b/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)
diff --git a/CU/Feeding.py b/CU/Feeding.py
index d65263b..1eec0bf 100644
--- a/CU/Feeding.py
+++ b/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)
diff --git a/Constant.py b/Constant.py
index 7d9f405..d25925e 100644
--- a/Constant.py
+++ b/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
diff --git a/Seting.ini b/Seting.ini
index 3c6817e..c71c894 100644
--- a/Seting.ini
+++ b/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
diff --git a/main.py b/main.py
index 849ecdf..296a4cb 100644
--- a/main.py
+++ b/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()