增加速度调试和IO控制

main.py

@@ -822,7 +822,7 @@ class MainWindow(QMainWindow, Ui_MainWindow):
         else:
             self.stackedWidget_num.setCurrentIndex(1)
 
-        has_person,_ = self.detection_person.get_person(None)
+        has_person,_ = self.detection_person.get_person()
         if has_person:
             self.feeding.pause=True
             self.send_pause_command(True)
@@ -975,6 +975,12 @@ class MainWindow(QMainWindow, Ui_MainWindow):
 
     def send_clear_auto_command(self):
         clear_command = CMDInstructRequest()
+        io_instruction= Instruction()
+        io_instruction.IO = True
+        io_instruction.point=0 #{"dsID":"HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[{"oneshot":"1","action":"200","type":"0","io_status":"1","point":"15","delay":"0"}]}
+        io_instruction.delay=1
+        clear_command.dsID = 'HCRemoteCommand'
+        clear_command.instructions.append(io_instruction)
         request_command = clear_command.toString()
         log.log_message(logging.INFO, Constant.str_sys_clearAlarm)
         self.command_quene.put(request_command)
@@ -989,6 +995,7 @@ class MainWindow(QMainWindow, Ui_MainWindow):
         position_instruction.m4 = float(x5)
         position_instruction.m5 = float(x6)
         position_instruction.action = move_type.value
+        position_instruction.speed=40
         instruction_command = CMDInstructRequest()
         instruction_command.instructions.append(position_instruction)
         request_command = instruction_command.toString()
@@ -1014,6 +1021,14 @@ class MainWindow(QMainWindow, Ui_MainWindow):
         self.robotClient.add_sendQuene(request_command)
 
     def send_clear_alarm_command(self, pause: bool):
+        switch_command = CMDRequest()
+        switch_command.cmdData.append("modifyGSPD")
+        switch_command.cmdData.append("2")
+        request_command = switch_command.toString()
+        print(request_command)
+
+        self.robotClient.add_sendQuene(request_command)
+
         pause_command = CMDRequest()
         pause_command.cmdData.append("clearAlarmContinue")
         pause_command.cmdData.append("1")