diff --git a/COM/COM_Robot.py b/COM/COM_Robot.py
index 172a5f2..2ceb8b5 100644
--- a/COM/COM_Robot.py
+++ b/COM/COM_Robot.py
@@ -8,8 +8,11 @@ import Constant
from COM.COM_TCP import TCPClient
import queue
import json
-from Model.RobotModel import DataAddress,DATARequest,DATAReply
+from Model.RobotModel import DataAddress, DATARequest, DATAReply, CMDInstructRequest, Instruction
from Util.util_log import log
+from Util.util_math import is_bit_set
+
+
class DetectType(Enum):
EyeOnHand = 0
EyeOutHand = 1
@@ -28,6 +31,9 @@ class RobotClient(TCPClient):
self.time_delay_shake = time_delay_shake
self.type_detection = DetectType.EyeOutHand
self.origin_position = origin_position
+ self.debug_speed = 10
+ self.feed_speed = 10
+ self.reset_speed = 10
def add_sendQuene(self,command): #后面 命令分等级，紧急命令直接执行
self.command_quene.put(command)
@@ -95,6 +101,31 @@ class RobotClient(TCPClient):
log.log_message(logging.ERROR,f'{e}')
raise
+ def send_emergency_sound(self):
+ self.sendIOControl(Constant.IO_EmergencyPoint, 1)
+
+ def send_emergency_stop(self):
+ self.sendIOControl(Constant.IO_EmergencyPoint, 0)
+
+ def sendIOControl(self, IO_bit, IO_Status: int):
+
+ IO_command = CMDInstructRequest()
+ io_instruction = Instruction()
+ io_instruction.IO = True
+ io_instruction.io_status = IO_Status
+ io_instruction.point = IO_bit # {"dsID":"HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[{"oneshot":"1","action":"200","type":"0","io_status":"1","point":"15","delay":"0"}]}
+ IO_command.dsID = 'HCRemoteCommand'
+ IO_command.instructions.append(io_instruction)
+ self.add_sendQuene(IO_command.toString())
+ log.log_message(logging.INFO, f'{Constant.str_feed_io_control}{IO_bit}，{IO_Status}')
+ pass
+
+ def check_outputQ(self,IO_bit):
+ if is_bit_set(self.status_model.output_n, IO_bit):
+ return True
+ else:
+ return False
+
def get_origin_position(self):
return self.status_model.getRealPosition()
pass
diff --git a/CU/Feeding.py b/CU/Feeding.py
index b15252b..52b4481 100644
--- a/CU/Feeding.py
+++ b/CU/Feeding.py
@@ -164,6 +164,7 @@ class Feeding:
self.feed_Mid_Status = FeedMidStatus.FMid_Start
self.is_reverse = False
self.run_reverse = False
+ self.take_no_photo = False
pass
def init_detection_image(self):
@@ -321,6 +322,7 @@ class Feeding:
elif self.feedStatus == FeedStatus.FTake:
log.log_message(logging.INFO, Constant.str_feed_take)
if self.feedConfig.feedLine.get_take_position().get_position() != None:
+ self.take_no_photo = False
if self.feedConfig.feedLine.get_take_position().get_position().compare(real_position):
# 打开吸嘴并返回
self.sendIOControl(self.robotClient.con_ios[0], 1)
@@ -332,6 +334,12 @@ class Feeding:
time.sleep(self.robotClient.time_delay_take)
log.log_message(logging.INFO, Constant.str_feed_take_success)
self.next_position()
+ else:
+ log.log_message(logging.ERROR, Constant.str_feed_takePhoto_fail)
+ self.take_no_photo = True
+ # 继续获取图像
+ # TODO
+
@@ -406,6 +414,7 @@ class Feeding:
reversed_positions = self.feedConfig.feedLine.positions[::pos_index]
reversed_positions = list(reversed(reversed_positions))
self.reverse_index = 0
+ self.send_emergency_sound()
while self.run_reverse and reversed_positions!=len(reversed_positions):
pos_model = reversed_positions[self.reverse_index]
if pos_model.lineType == LineType.CureMid.value:
@@ -415,6 +424,7 @@ class Feeding:
else:
self.sendTargPosition(real_position=pos_model.get_position())
self.reverse_index = self.reverse_index + 1
+ self.send_emergency_stop()
return True
def send_emergency_sound(self):
self.sendIOControl(Constant.IO_EmergencyPoint, 1)
diff --git a/CU/Feeding_C.py b/CU/Feeding_C.py
index 4b921ad..0ed5114 100644
--- a/CU/Feeding_C.py
+++ b/CU/Feeding_C.py
@@ -1,474 +1,474 @@
-import logging
-import time
-
-import cv2
-from PyQt5.QtWidgets import QMessageBox
-
-import Constant
-import Expection
-from Model.Position import Real_Position, Detection_Position
-from enum import Enum, IntEnum
-from COM.COM_Robot import RobotClient, DetectType
-from Model.RobotModel import CMDInstructRequest, MoveType
-from Util.util_time import CRisOrFall
-from Vision.camera_coordinate_dete import Detection
-from Util.util_log import log
-from Model.RobotModel import Instruction
-
-
-
-
-class FeedStatus(IntEnum):
- FNone = 0
- FStart = 1
- FCheck = 2
- FMid = 3
- FPhoto = 4
- FTake = 5
- FBroken1 = 6
- FBroken2 =7
- FShake = 8
- FDropBag = 9
- FFinished = 10
- FReverse = 11
- FStartReverse = 12
-
-class LineType(Enum):
- Straight = 0
- CureStart = 1
- CureMid = 2
- CureEnd = 3
-
-
-class FeedMidStatus(Enum):
- FMid_Start = 1
- FMid_Take = 2
- FMid_Feed= 3
-
-class FeedPosition:
- def __init__(self,status:FeedStatus,position:Real_Position):
- self.status = status
- self.position = position
-
-class FeedLine:
- def __init__(self, id, name, feed_positions:list):
- self.feed_positions = feed_positions
- self.feeding2end_pos_index = 0
- self.origin2start_pos_index = 0
- self.start2take_pos_index = 0
- self.name = name
- self.id = id
- self.get_position_list()
-
- def get_current_feed_position(self):
- pos = self.feeding_to_end[self.feeding2end_pos_index]
- return pos
- def get_current_take_position(self):
- pos = self.start2take_pos_index[self.start2take_pos_index]
- return pos
- def get_current_start_position(self):
- pos = self.origin2start_pos_index[self.origin2start_pos_index]
- return pos
-
- def get_next_feed_position(self,reverse:bool=False):
- pos = self.feeding_to_end[self.feeding2end_pos_index]
- if reverse:
- self.feeding2end_pos_index -= 1
- if self.feeding2end_pos_index < 0:
- self.feeding2end_pos_index = len(self.feeding_to_end) - 1
- else:
- self.feeding2end_pos_index += 1
- if self.feeding2end_pos_index >= len(self.feeding_to_end):
- self.feeding2end_pos_index = 0
- return pos
-
-
- def get_next_start_position(self,reverse:bool=False):
- pos = self.origin2start_pos_index[self.origin2start_pos_index]
- if reverse:
- self.origin2start_pos_index -= 1
- if self.origin2start_pos_index < 0:
- self.origin2start_pos_index = len(self.origin2start_pos) - 1
- else:
- self.origin2start_pos_index += 1
- if self.origin2start_pos_index >= len(self.origin2start_pos):
- self.origin2start_pos_index = 0
-
- return pos
-
- def get_next_take_position(self,reverse:bool=False):
- pos = self.start2take_pos_index[self.start2take_pos_index]
- if reverse:
- self.start2take_pos_index -= 1
- if self.start2take_pos_index < 0:
- self.start2take_pos_index = len(self.start2take_pos) - 1
- else:
- self.start2take_pos_index += 1
- if self.start2take_pos_index >= len(self.start2take_pos):
- self.start2take_pos_index = 0
- return pos
-
- def get_take_position(self):
- for i in range(len(self.feeding_to_end)):
- if self.feeding_to_end[i].status == FeedStatus.FTake:
- return self.feeding_to_end[i]
-
- def set_take_position(self,position:Real_Position):
- for i in range(len(self.feeding_to_end)):
- if self.feeding_to_end[i].status == FeedStatus.FTake:
- self.feeding_to_end[i].position = position
-
- def get_position_list(self):
- index_start = -1
- for i in range(len(self.feed_positions)):
- if self.feed_positions[i].status == FeedStatus.FStart:
- index_start = i
- break
- for i in range(len(self.feed_positions)):
- if self.feed_positions[i].status == FeedStatus.FPhoto:
- index_take = i
-
- self.origin_to_start = self.feed_positions[: index_start+1]
- self.start_to_take = self.feed_positions[index_start:index_take+1]
- self.feeding_to_end = self.feed_positions[index_take:]
-
-
-
-
-class FeedingConfig:
- def __init__(self, num: int, feedLine: FeedLine, photo_locs):
- self.num = num
- self.feedLine = feedLine
- self.photo_locs = [self.deal_photo_locs(p) for p in photo_locs]
-
- def deal_photo_locs(self, photo_loc):
- position_photo = Real_Position()
- position_photo.init_position(photo_loc[0], photo_loc[1], photo_loc[2], photo_loc[3], photo_loc[4], photo_loc[5])
- return position_photo
-
- def get_line_info(self):
- pass
-
-
-class Feeding:
- def __init__(self, robotClient: RobotClient, detection: Detection):
- self.feedConfig = None
- self.feedStatus = FeedStatus.FNone
- self.robotClient = robotClient
- self.detection = detection
- self.detection_image = None
- self.init_detection_image()
- self.pause = False
- self.cRis_photo = CRisOrFall()
- self.feed_Mid_Status = FeedMidStatus.FMid_Start
- self.is_reverse = False
- pass
-
- def init_detection_image(self):
- self.detection_image = cv2.imread(Constant.feed_sign_path)
-
- def run(self):
- # 获取事件坐标
- real_position = Real_Position()
- real_position.init_position(self.robotClient.status_model.world_0,
- self.robotClient.status_model.world_1,
- self.robotClient.status_model.world_2,
- self.robotClient.status_model.world_3,
- self.robotClient.status_model.world_4,
- self.robotClient.status_model.world_5)
- # real_position.init_position(0,
- # 0,
- # 0,
- # 0,
- # 0,
- # 0);
-
- if self.feedConfig == None:
- self.feedStatus = FeedStatus.FNone
- elif self.feedConfig.num == 0 and self.feedStatus!=FeedStatus.FReverse:
- self.feedStatus = FeedStatus.FNone
-
- if self.feedStatus == FeedStatus.FNone or self.pause:
- return
- elif self.feedStatus == FeedStatus.FCheck:
- log.log_message(logging.INFO, Constant.str_feed_check)
- # 1, 检查是否是三列
- # 2, 检查是否有人
- # if self.safe_check_columns() and self.safe_check_person():
- # pass
- # else:
- # if self.feedConfig.num != 0:
- # self.next_target()
- # if == 原点 继续判断
- # else:
- # QMessageBox.information(None, "提示", Constant.str_feed_safe_error_msgbox)
- if self.is_reverse:
- self.feed_Mid_Status = FeedMidStatus.FMid_Start
- else:
- self.feed_Mid_Status = FeedMidStatus.FMid_Take
- self.next_position(self.is_reverse)
-
- elif self.feedStatus == FeedStatus.FStart:
- log.log_message(logging.INFO, Constant.str_feed_start)
- if not self.robotClient.get_origin_position().compare(real_position) and not self.is_reverse:
- QMessageBox.information(None, "提示", Constant.str_feed_start_error)
- self.feedStatus = FeedStatus.FNone
- if self.is_reverse and self.robotClient.get_origin_position().compare(real_position):
- self.feedStatus = FeedStatus.FNone
- self.is_reverse = False
-
- self.feed_Mid_Status = FeedMidStatus.FMid_Start
- self.next_position(self.is_reverse)
-
-
- elif self.feedStatus == FeedStatus.FMid:
- log.log_message(logging.INFO, Constant.str_feed_mid)
- feed_pos = self.get_current_position()
- if feed_pos.position.compare(real_position):
- self.next_position(self.is_reverse)
-
-
-
- elif self.feedStatus == FeedStatus.FPhoto:
- log.log_message(logging.INFO, Constant.str_feed_photo)
- if self.feedConfig.num == 0:
- log.log_message(logging.INFO, Constant.str_feed_finish)
- self.is_reverse = True
- self.FeedMid_Status = FeedMidStatus.FMid_Take
- self.next_position(self.is_reverse)
- return
-
- if self.robotClient.type_detection == DetectType.EyeOutHand:
- self.feed_Mid_Status = FeedMidStatus.FMid_Feed
- self.next_position()
- return
- detect_pos_list = []
- if not Constant.Debug:
- try:
- from Util.util_time import CRisOrFall
- if self.cRis_photo.Q(self.error_photo_count >= 5, True):
- QMessageBox.information(None, "提示", Constant.str_feed_photo_error_msgbox)
- self.error_photo_count = 0
- log.log_message(logging.INFO, Constant.str_feed_photo_confirm)
-
- # TODO 返回初始状态
- for pos in self.feedConfig.photo_locs:
- self.sendTargPosition(pos)
- while not pos.compare(real_position): # 可以优化 TODO
- if self.feedStatus == FeedStatus.FNone or not self.pause:
- return
- time.sleep(0.1)
- code, img, xyz, uvw, mng = self.detection.get_position() # 检测结果
- self.detection_image = img
- if xyz != None:
- log.log_message(logging.INFO, Constant.str_feed_takePhoto_success)
- # dp = Detection_Position().init_position(*xyz, *uvw)
- from Trace.handeye_calibration import R_matrix, getPosition
- rotation = R_matrix(self.robotClient.status_model.world_0,
- self.robotClient.status_model.world_1,
- self.robotClient.status_model.world_2,
- self.robotClient.status_model.world_3,
- self.robotClient.status_model.world_4,
- self.robotClient.status_model.world_5)
-
- # 黄老师给我的xyz和法向量
- target_position, noraml_base = getPosition(*xyz, *uvw, rotation, *mng)
- detect_pos_list.append(Real_Position().init_position(*target_position[:3], *noraml_base))
- log.log_message(logging.INFO, Constant.str_feed_takePhoto_success)
- else:
- log.log_message(logging.ERROR, Constant.str_feed_takePhoto_fail + real_position.to_string())
- z_diff, max_z_index = (lambda pts: (
- max(pts, key=lambda p: p.Z).Z - min(pts, key=lambda p: p.Z).Z,
- pts.index(max(pts, key=lambda p: p.Z))
- ))(detect_pos_list)
- if len(self.feedConfig.photo_locs) == 5:
- if z_diff < Constant.bag_height and len(
- detect_pos_list) == 3: # 第一次检测到没有高度差距开始三列拍照 TODO 保留全部的开关
- # 拍照位置从五个变为三个
- self.feedConfig.photo_locs = [detect_pos_list[0], detect_pos_list[2], detect_pos_list[4]]
- take_position = detect_pos_list[0]
- log.log_message(logging.INFO, Constant.str_feed_takePhoto_front_finish)
- else:
- take_position = detect_pos_list[max_z_index]
- log.log_message(logging.INFO, Constant.str_feed_takePhoto_front)
- else:
- if z_diff < Constant.bag_height:
- take_position = detect_pos_list[0]
- log.log_message(logging.INFO, Constant.str_feed_takePhoto_new_line)
- else:
- take_position = detect_pos_list[max_z_index]
- log.log_message(logging.INFO, Constant.str_feed_takePhoto_line)
-
- self.feedConfig.feedLine.set_take_position(take_position) ##TODO 检查有没有异常
- self.next_position()
- except:
- log.log_message(logging.ERROR, Constant.str_feed_takePhoto_fail)
- self.error_photo_count += 1
- else:
- self.feedConfig.feedLine.set_take_position(real_position) ##TODO 检查有没有异常
- self.next_position()
- log.log_message(logging.INFO, Constant.str_feed_takePhoto_move)
-
- elif self.feedStatus == FeedStatus.FTake:
- log.log_message(logging.INFO, Constant.str_feed_take)
- if self.feedConfig.feedLine.get_take_position() != None:
- if self.feedConfig.feedLine.get_take_position().compare(real_position):
- # 打开吸嘴并返回
- self.sendIOControl(self.robotClient.con_ios[0], 1)
- self.sendIOControl(self.robotClient.con_ios[1], 1)
- self.sendIOControl(self.robotClient.con_ios[2], 1)
-
- # TODO 检测是否通 不然报警
- self.feedConfig.feedLine.set_take_position(None)
- time.sleep(self.robotClient.time_delay_take)
- log.log_message(logging.INFO, Constant.str_feed_take_success)
-
-
-
- elif self.feedStatus == FeedStatus.FBroken1:
- log.log_message(logging.INFO, Constant.str_feed_broken)
- if self.get_current_position().compare(real_position):
- self.next_position()
-
-
- elif self.feedStatus == FeedStatus.FBroken2:
- log.log_message(logging.INFO, Constant.str_feed_broken)
- if self.get_current_position().compare(real_position):
- self.next_position()
-
- elif self.feedStatus == FeedStatus.FShake:
- log.log_message(logging.INFO, Constant.str_feed_shake)
- if self.get_current_position().compare(real_position):
- # TODO 震动方案
- time.sleep(self.robotClient.time_delay_shake)
- self.next_position()
-
- elif self.feedStatus == FeedStatus.FDropBag:
- log.log_message(logging.INFO, Constant.str_feed_drop)
-
- if self.get_current_position().compare(real_position):
- self.sendIOControl(self.robotClient.con_ios[0], 0)
- self.sendIOControl(self.robotClient.con_ios[1], 0)
- self.sendIOControl(self.robotClient.con_ios[2], 0)
- # TODO 检测是否断 不然报警
- time.sleep(self.robotClient.time_delay_put)
- # TODO 获取目标位置
- 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)
-
- self.feedConfig.num = self.feedConfig.num - 1
- log.log_message(logging.INFO, f'{Constant.str_feed_feed_num}{self.feedConfig.num}')
- self.next_position()
-
-
-
-
- def send_emergency_sound(self):
- self.sendIOControl(Constant.IO_EmergencyPoint, 1)
-
- def send_emergency_stop(self):
- self.sendIOControl(Constant.IO_EmergencyPoint, 0)
-
- def sendIOControl(self, IO_bit, IO_Status: int):
-
- IO_command = CMDInstructRequest()
- io_instruction = Instruction()
- io_instruction.IO = True
- io_instruction.io_status = IO_Status
- io_instruction.point = IO_bit # {"dsID":"HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[{"oneshot":"1","action":"200","type":"0","io_status":"1","point":"15","delay":"0"}]}
- IO_command.dsID = 'HCRemoteCommand'
- IO_command.instructions.append(io_instruction)
- self.robotClient.add_sendQuene(IO_command.toString())
- log.log_message(logging.INFO, f'{Constant.str_feed_io_control}{IO_bit}，{IO_Status}')
- pass
-
- def sendTargPosition(self, real_position, move_type: MoveType = MoveType.WORLD, speed=Constant.speed,real_position1=None):
- position_instruction = Instruction()
- position_instruction.speed = speed
- position_instruction.m0 = real_position.X
- position_instruction.m1 = real_position.Y
- position_instruction.m2 = real_position.Z
- position_instruction.m3 = real_position.U
- position_instruction.m4 = real_position.V
- position_instruction.m5 = real_position.W
-
- position_instruction.action = move_type.value
- if position_instruction.action == 17:
- position_instruction.m0_p = real_position1.X
- position_instruction.m1_p = real_position1.Y
- position_instruction.m2_p = real_position1.Z
- position_instruction.m3_p = real_position1.U
- position_instruction.m4_p = real_position1.V
- position_instruction.m5_p = real_position1.W
- instruction_command = CMDInstructRequest()
- instruction_command.instructions.append(position_instruction)
- request_command = instruction_command.toString()
-
- log_str = f'移动到位置:{"姿势直线"}：' \
- f'X:{position_instruction.m0}-' \
- f'Y:{position_instruction.m1}-' \
- f'Z:{position_instruction.m2}-' \
- f'U:{position_instruction.m3}-' \
- f'V:{position_instruction.m4}-' \
- f'W:{position_instruction.m5}'
-
- try:
- log.log_message(logging.INFO, log_str)
- except:
- print("error")
-
- self.robotClient.add_sendQuene(request_command)
- pass
-
-
- def next_start(self,reverse=False):
- start_pos = self.feedConfig.feedLine.get_next_start_position(reverse)
- self.feedStatus = start_pos.status if self.feedStatus != FeedStatus.FNone else FeedStatus.FNone
- if start_pos.lineType == LineType.CureMid:
- start_pos1 = self.feedConfig.feedLine.get_next_start_position(reverse)
- self.sendTargPosition(real_position=start_pos.position, move_type=MoveType.Cure, real_position1=start_pos1.position)
- else:
- self.sendTargPosition(start_pos.position)
- pass
-
- def next_take(self,reverse=False):
- take_pos = self.feedConfig.feedLine.get_next_take_position(reverse)
- self.feedStatus = take_pos.status if self.feedStatus != FeedStatus.FNone else FeedStatus.FNone
- if take_pos.lineType == LineType.CureMid:
- take_pos1 = self.feedConfig.feedLine.get_next_take_position(reverse)
- self.sendTargPosition(real_position=take_pos.position, move_type=MoveType.Cure, real_position1=take_pos1.position)
- else:
- self.sendTargPosition(take_pos.position)
- pass
-
- def next_Feed(self,reverse=False):
- feed_pos = self.feedConfig.feedLine.get_next_feed_position(reverse)
- self.feedStatus = feed_pos.status if self.feedStatus != FeedStatus.FNone else FeedStatus.FNone
- if feed_pos.lineType == LineType.CureMid:
- feed_pos1 = self.feedConfig.feedLine.get_next_feed_position(reverse)
- self.sendTargPosition(real_position=feed_pos.position, move_type=MoveType.Cure, real_position1=feed_pos1.position)
- else:
- self.sendTargPosition(feed_pos.position)
-
- def get_current_position(self):
- if self.feed_Mid_Status == FeedMidStatus.FMid_Start:
- return self.feedConfig.feedLine.get_current_start_position()
- elif self.feed_Mid_Status == FeedMidStatus.FMid_Take:
- return self.feedConfig.feedLine.get_current_take_position()
- elif self.feed_Mid_Status == FeedMidStatus.FMid_Feed:
- return self.feedConfig.feedLine.get_current_feed_position()
- def next_position(self,reverse=False):
- if self.feed_Mid_Status == FeedMidStatus.FMid_Start:
- self.next_start(reverse)
- elif self.feed_Mid_Status == FeedMidStatus.FMid_Take:
- self.next_take(reverse)
- elif self.feed_Mid_Status == FeedMidStatus.FMid_Feed:
- self.next_Feed(reverse)
-
- def safe_check_columns(self):
- return True
- pass
-
- def safe_check_person(self):
- return True
- pass
-
+# import logging
+# import time
+#
+# import cv2
+# from PyQt5.QtWidgets import QMessageBox
+#
+# import Constant
+# import Expection
+# from Model.Position import Real_Position, Detection_Position
+# from enum import Enum, IntEnum
+# from COM.COM_Robot import RobotClient, DetectType
+# from Model.RobotModel import CMDInstructRequest, MoveType
+# from Util.util_time import CRisOrFall
+# from Vision.camera_coordinate_dete import Detection
+# from Util.util_log import log
+# from Model.RobotModel import Instruction
+#
+#
+#
+#
+# class FeedStatus(IntEnum):
+# FNone = 0
+# FStart = 1
+# FCheck = 2
+# FMid = 3
+# FPhoto = 4
+# FTake = 5
+# FBroken1 = 6
+# FBroken2 =7
+# FShake = 8
+# FDropBag = 9
+# FFinished = 10
+# FReverse = 11
+# FStartReverse = 12
+#
+# class LineType(Enum):
+# Straight = 0
+# CureStart = 1
+# CureMid = 2
+# CureEnd = 3
+#
+#
+# class FeedMidStatus(Enum):
+# FMid_Start = 1
+# FMid_Take = 2
+# FMid_Feed= 3
+#
+# class FeedPosition:
+# def __init__(self,status:FeedStatus,position:Real_Position):
+# self.status = status
+# self.position = position
+#
+# class FeedLine:
+# def __init__(self, id, name, feed_positions:list):
+# self.feed_positions = feed_positions
+# self.feeding2end_pos_index = 0
+# self.origin2start_pos_index = 0
+# self.start2take_pos_index = 0
+# self.name = name
+# self.id = id
+# self.get_position_list()
+#
+# def get_current_feed_position(self):
+# pos = self.feeding_to_end[self.feeding2end_pos_index]
+# return pos
+# def get_current_take_position(self):
+# pos = self.start2take_pos_index[self.start2take_pos_index]
+# return pos
+# def get_current_start_position(self):
+# pos = self.origin2start_pos_index[self.origin2start_pos_index]
+# return pos
+#
+# def get_next_feed_position(self,reverse:bool=False):
+# pos = self.feeding_to_end[self.feeding2end_pos_index]
+# if reverse:
+# self.feeding2end_pos_index -= 1
+# if self.feeding2end_pos_index < 0:
+# self.feeding2end_pos_index = len(self.feeding_to_end) - 1
+# else:
+# self.feeding2end_pos_index += 1
+# if self.feeding2end_pos_index >= len(self.feeding_to_end):
+# self.feeding2end_pos_index = 0
+# return pos
+#
+#
+# def get_next_start_position(self,reverse:bool=False):
+# pos = self.origin2start_pos_index[self.origin2start_pos_index]
+# if reverse:
+# self.origin2start_pos_index -= 1
+# if self.origin2start_pos_index < 0:
+# self.origin2start_pos_index = len(self.origin2start_pos) - 1
+# else:
+# self.origin2start_pos_index += 1
+# if self.origin2start_pos_index >= len(self.origin2start_pos):
+# self.origin2start_pos_index = 0
+#
+# return pos
+#
+# def get_next_take_position(self,reverse:bool=False):
+# pos = self.start2take_pos_index[self.start2take_pos_index]
+# if reverse:
+# self.start2take_pos_index -= 1
+# if self.start2take_pos_index < 0:
+# self.start2take_pos_index = len(self.start2take_pos) - 1
+# else:
+# self.start2take_pos_index += 1
+# if self.start2take_pos_index >= len(self.start2take_pos):
+# self.start2take_pos_index = 0
+# return pos
+#
+# def get_take_position(self):
+# for i in range(len(self.feeding_to_end)):
+# if self.feeding_to_end[i].status == FeedStatus.FTake:
+# return self.feeding_to_end[i]
+#
+# def set_take_position(self,position:Real_Position):
+# for i in range(len(self.feeding_to_end)):
+# if self.feeding_to_end[i].status == FeedStatus.FTake:
+# self.feeding_to_end[i].position = position
+#
+# def get_position_list(self):
+# index_start = -1
+# for i in range(len(self.feed_positions)):
+# if self.feed_positions[i].status == FeedStatus.FStart:
+# index_start = i
+# break
+# for i in range(len(self.feed_positions)):
+# if self.feed_positions[i].status == FeedStatus.FPhoto:
+# index_take = i
+#
+# self.origin_to_start = self.feed_positions[: index_start+1]
+# self.start_to_take = self.feed_positions[index_start:index_take+1]
+# self.feeding_to_end = self.feed_positions[index_take:]
+#
+#
+#
+#
+# class FeedingConfig:
+# def __init__(self, num: int, feedLine: FeedLine, photo_locs):
+# self.num = num
+# self.feedLine = feedLine
+# self.photo_locs = [self.deal_photo_locs(p) for p in photo_locs]
+#
+# def deal_photo_locs(self, photo_loc):
+# position_photo = Real_Position()
+# position_photo.init_position(photo_loc[0], photo_loc[1], photo_loc[2], photo_loc[3], photo_loc[4], photo_loc[5])
+# return position_photo
+#
+# def get_line_info(self):
+# pass
+#
+#
+# class Feeding:
+# def __init__(self, robotClient: RobotClient, detection: Detection):
+# self.feedConfig = None
+# self.feedStatus = FeedStatus.FNone
+# self.robotClient = robotClient
+# self.detection = detection
+# self.detection_image = None
+# self.init_detection_image()
+# self.pause = False
+# self.cRis_photo = CRisOrFall()
+# self.feed_Mid_Status = FeedMidStatus.FMid_Start
+# self.is_reverse = False
+# pass
+#
+# def init_detection_image(self):
+# self.detection_image = cv2.imread(Constant.feed_sign_path)
+#
+# def run(self):
+# # 获取事件坐标
+# real_position = Real_Position()
+# real_position.init_position(self.robotClient.status_model.world_0,
+# self.robotClient.status_model.world_1,
+# self.robotClient.status_model.world_2,
+# self.robotClient.status_model.world_3,
+# self.robotClient.status_model.world_4,
+# self.robotClient.status_model.world_5)
+# # real_position.init_position(0,
+# # 0,
+# # 0,
+# # 0,
+# # 0,
+# # 0);
+#
+# if self.feedConfig == None:
+# self.feedStatus = FeedStatus.FNone
+# elif self.feedConfig.num == 0 and self.feedStatus!=FeedStatus.FReverse:
+# self.feedStatus = FeedStatus.FNone
+#
+# if self.feedStatus == FeedStatus.FNone or self.pause:
+# return
+# elif self.feedStatus == FeedStatus.FCheck:
+# log.log_message(logging.INFO, Constant.str_feed_check)
+# # 1, 检查是否是三列
+# # 2, 检查是否有人
+# # if self.safe_check_columns() and self.safe_check_person():
+# # pass
+# # else:
+# # if self.feedConfig.num != 0:
+# # self.next_target()
+# # if == 原点 继续判断
+# # else:
+# # QMessageBox.information(None, "提示", Constant.str_feed_safe_error_msgbox)
+# if self.is_reverse:
+# self.feed_Mid_Status = FeedMidStatus.FMid_Start
+# else:
+# self.feed_Mid_Status = FeedMidStatus.FMid_Take
+# self.next_position(self.is_reverse)
+#
+# elif self.feedStatus == FeedStatus.FStart:
+# log.log_message(logging.INFO, Constant.str_feed_start)
+# if not self.robotClient.get_origin_position().compare(real_position) and not self.is_reverse:
+# QMessageBox.information(None, "提示", Constant.str_feed_start_error)
+# self.feedStatus = FeedStatus.FNone
+# if self.is_reverse and self.robotClient.get_origin_position().compare(real_position):
+# self.feedStatus = FeedStatus.FNone
+# self.is_reverse = False
+#
+# self.feed_Mid_Status = FeedMidStatus.FMid_Start
+# self.next_position(self.is_reverse)
+#
+#
+# elif self.feedStatus == FeedStatus.FMid:
+# log.log_message(logging.INFO, Constant.str_feed_mid)
+# feed_pos = self.get_current_position()
+# if feed_pos.position.compare(real_position):
+# self.next_position(self.is_reverse)
+#
+#
+#
+# elif self.feedStatus == FeedStatus.FPhoto:
+# log.log_message(logging.INFO, Constant.str_feed_photo)
+# if self.feedConfig.num == 0:
+# log.log_message(logging.INFO, Constant.str_feed_finish)
+# self.is_reverse = True
+# self.FeedMid_Status = FeedMidStatus.FMid_Take
+# self.next_position(self.is_reverse)
+# return
+#
+# if self.robotClient.type_detection == DetectType.EyeOutHand:
+# self.feed_Mid_Status = FeedMidStatus.FMid_Feed
+# self.next_position()
+# return
+# detect_pos_list = []
+# if not Constant.Debug:
+# try:
+# from Util.util_time import CRisOrFall
+# if self.cRis_photo.Q(self.error_photo_count >= 5, True):
+# QMessageBox.information(None, "提示", Constant.str_feed_photo_error_msgbox)
+# self.error_photo_count = 0
+# log.log_message(logging.INFO, Constant.str_feed_photo_confirm)
+#
+# # TODO 返回初始状态
+# for pos in self.feedConfig.photo_locs:
+# self.sendTargPosition(pos)
+# while not pos.compare(real_position): # 可以优化 TODO
+# if self.feedStatus == FeedStatus.FNone or not self.pause:
+# return
+# time.sleep(0.1)
+# code, img, xyz, uvw, mng = self.detection.get_position() # 检测结果
+# self.detection_image = img
+# if xyz != None:
+# log.log_message(logging.INFO, Constant.str_feed_takePhoto_success)
+# # dp = Detection_Position().init_position(*xyz, *uvw)
+# from Trace.handeye_calibration import R_matrix, getPosition
+# rotation = R_matrix(self.robotClient.status_model.world_0,
+# self.robotClient.status_model.world_1,
+# self.robotClient.status_model.world_2,
+# self.robotClient.status_model.world_3,
+# self.robotClient.status_model.world_4,
+# self.robotClient.status_model.world_5)
+#
+# # 黄老师给我的xyz和法向量
+# target_position, noraml_base = getPosition(*xyz, *uvw, rotation, *mng)
+# detect_pos_list.append(Real_Position().init_position(*target_position[:3], *noraml_base))
+# log.log_message(logging.INFO, Constant.str_feed_takePhoto_success)
+# else:
+# log.log_message(logging.ERROR, Constant.str_feed_takePhoto_fail + real_position.to_string())
+# z_diff, max_z_index = (lambda pts: (
+# max(pts, key=lambda p: p.Z).Z - min(pts, key=lambda p: p.Z).Z,
+# pts.index(max(pts, key=lambda p: p.Z))
+# ))(detect_pos_list)
+# if len(self.feedConfig.photo_locs) == 5:
+# if z_diff < Constant.bag_height and len(
+# detect_pos_list) == 3: # 第一次检测到没有高度差距开始三列拍照 TODO 保留全部的开关
+# # 拍照位置从五个变为三个
+# self.feedConfig.photo_locs = [detect_pos_list[0], detect_pos_list[2], detect_pos_list[4]]
+# take_position = detect_pos_list[0]
+# log.log_message(logging.INFO, Constant.str_feed_takePhoto_front_finish)
+# else:
+# take_position = detect_pos_list[max_z_index]
+# log.log_message(logging.INFO, Constant.str_feed_takePhoto_front)
+# else:
+# if z_diff < Constant.bag_height:
+# take_position = detect_pos_list[0]
+# log.log_message(logging.INFO, Constant.str_feed_takePhoto_new_line)
+# else:
+# take_position = detect_pos_list[max_z_index]
+# log.log_message(logging.INFO, Constant.str_feed_takePhoto_line)
+#
+# self.feedConfig.feedLine.set_take_position(take_position) ##TODO 检查有没有异常
+# self.next_position()
+# except:
+# log.log_message(logging.ERROR, Constant.str_feed_takePhoto_fail)
+# self.error_photo_count += 1
+# else:
+# self.feedConfig.feedLine.set_take_position(real_position) ##TODO 检查有没有异常
+# self.next_position()
+# log.log_message(logging.INFO, Constant.str_feed_takePhoto_move)
+#
+# elif self.feedStatus == FeedStatus.FTake:
+# log.log_message(logging.INFO, Constant.str_feed_take)
+# if self.feedConfig.feedLine.get_take_position() != None:
+# if self.feedConfig.feedLine.get_take_position().compare(real_position):
+# # 打开吸嘴并返回
+# self.sendIOControl(self.robotClient.con_ios[0], 1)
+# self.sendIOControl(self.robotClient.con_ios[1], 1)
+# self.sendIOControl(self.robotClient.con_ios[2], 1)
+#
+# # TODO 检测是否通 不然报警
+# self.feedConfig.feedLine.set_take_position(None)
+# time.sleep(self.robotClient.time_delay_take)
+# log.log_message(logging.INFO, Constant.str_feed_take_success)
+#
+#
+#
+# elif self.feedStatus == FeedStatus.FBroken1:
+# log.log_message(logging.INFO, Constant.str_feed_broken)
+# if self.get_current_position().compare(real_position):
+# self.next_position()
+#
+#
+# elif self.feedStatus == FeedStatus.FBroken2:
+# log.log_message(logging.INFO, Constant.str_feed_broken)
+# if self.get_current_position().compare(real_position):
+# self.next_position()
+#
+# elif self.feedStatus == FeedStatus.FShake:
+# log.log_message(logging.INFO, Constant.str_feed_shake)
+# if self.get_current_position().compare(real_position):
+# # TODO 震动方案
+# time.sleep(self.robotClient.time_delay_shake)
+# self.next_position()
+#
+# elif self.feedStatus == FeedStatus.FDropBag:
+# log.log_message(logging.INFO, Constant.str_feed_drop)
+#
+# if self.get_current_position().compare(real_position):
+# self.sendIOControl(self.robotClient.con_ios[0], 0)
+# self.sendIOControl(self.robotClient.con_ios[1], 0)
+# self.sendIOControl(self.robotClient.con_ios[2], 0)
+# # TODO 检测是否断 不然报警
+# time.sleep(self.robotClient.time_delay_put)
+# # TODO 获取目标位置
+# 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)
+#
+# self.feedConfig.num = self.feedConfig.num - 1
+# log.log_message(logging.INFO, f'{Constant.str_feed_feed_num}{self.feedConfig.num}')
+# self.next_position()
+#
+#
+#
+#
+# def send_emergency_sound(self):
+# self.sendIOControl(Constant.IO_EmergencyPoint, 1)
+#
+# def send_emergency_stop(self):
+# self.sendIOControl(Constant.IO_EmergencyPoint, 0)
+#
+# def sendIOControl(self, IO_bit, IO_Status: int):
+#
+# IO_command = CMDInstructRequest()
+# io_instruction = Instruction()
+# io_instruction.IO = True
+# io_instruction.io_status = IO_Status
+# io_instruction.point = IO_bit # {"dsID":"HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[{"oneshot":"1","action":"200","type":"0","io_status":"1","point":"15","delay":"0"}]}
+# IO_command.dsID = 'HCRemoteCommand'
+# IO_command.instructions.append(io_instruction)
+# self.robotClient.add_sendQuene(IO_command.toString())
+# log.log_message(logging.INFO, f'{Constant.str_feed_io_control}{IO_bit}，{IO_Status}')
+# pass
+#
+# def sendTargPosition(self, real_position, move_type: MoveType = MoveType.WORLD, speed=Constant.speed,real_position1=None):
+# position_instruction = Instruction()
+# position_instruction.speed = speed
+# position_instruction.m0 = real_position.X
+# position_instruction.m1 = real_position.Y
+# position_instruction.m2 = real_position.Z
+# position_instruction.m3 = real_position.U
+# position_instruction.m4 = real_position.V
+# position_instruction.m5 = real_position.W
+#
+# position_instruction.action = move_type.value
+# if position_instruction.action == 17:
+# position_instruction.m0_p = real_position1.X
+# position_instruction.m1_p = real_position1.Y
+# position_instruction.m2_p = real_position1.Z
+# position_instruction.m3_p = real_position1.U
+# position_instruction.m4_p = real_position1.V
+# position_instruction.m5_p = real_position1.W
+# instruction_command = CMDInstructRequest()
+# instruction_command.instructions.append(position_instruction)
+# request_command = instruction_command.toString()
+#
+# log_str = f'移动到位置:{"姿势直线"}：' \
+# f'X:{position_instruction.m0}-' \
+# f'Y:{position_instruction.m1}-' \
+# f'Z:{position_instruction.m2}-' \
+# f'U:{position_instruction.m3}-' \
+# f'V:{position_instruction.m4}-' \
+# f'W:{position_instruction.m5}'
+#
+# try:
+# log.log_message(logging.INFO, log_str)
+# except:
+# print("error")
+#
+# self.robotClient.add_sendQuene(request_command)
+# pass
+#
+#
+# def next_start(self,reverse=False):
+# start_pos = self.feedConfig.feedLine.get_next_start_position(reverse)
+# self.feedStatus = start_pos.status if self.feedStatus != FeedStatus.FNone else FeedStatus.FNone
+# if start_pos.lineType == LineType.CureMid:
+# start_pos1 = self.feedConfig.feedLine.get_next_start_position(reverse)
+# self.sendTargPosition(real_position=start_pos.position, move_type=MoveType.Cure, real_position1=start_pos1.position)
+# else:
+# self.sendTargPosition(start_pos.position)
+# pass
+#
+# def next_take(self,reverse=False):
+# take_pos = self.feedConfig.feedLine.get_next_take_position(reverse)
+# self.feedStatus = take_pos.status if self.feedStatus != FeedStatus.FNone else FeedStatus.FNone
+# if take_pos.lineType == LineType.CureMid:
+# take_pos1 = self.feedConfig.feedLine.get_next_take_position(reverse)
+# self.sendTargPosition(real_position=take_pos.position, move_type=MoveType.Cure, real_position1=take_pos1.position)
+# else:
+# self.sendTargPosition(take_pos.position)
+# pass
+#
+# def next_Feed(self,reverse=False):
+# feed_pos = self.feedConfig.feedLine.get_next_feed_position(reverse)
+# self.feedStatus = feed_pos.status if self.feedStatus != FeedStatus.FNone else FeedStatus.FNone
+# if feed_pos.lineType == LineType.CureMid:
+# feed_pos1 = self.feedConfig.feedLine.get_next_feed_position(reverse)
+# self.sendTargPosition(real_position=feed_pos.position, move_type=MoveType.Cure, real_position1=feed_pos1.position)
+# else:
+# self.sendTargPosition(feed_pos.position)
+#
+# def get_current_position(self):
+# if self.feed_Mid_Status == FeedMidStatus.FMid_Start:
+# return self.feedConfig.feedLine.get_current_start_position()
+# elif self.feed_Mid_Status == FeedMidStatus.FMid_Take:
+# return self.feedConfig.feedLine.get_current_take_position()
+# elif self.feed_Mid_Status == FeedMidStatus.FMid_Feed:
+# return self.feedConfig.feedLine.get_current_feed_position()
+# def next_position(self,reverse=False):
+# if self.feed_Mid_Status == FeedMidStatus.FMid_Start:
+# self.next_start(reverse)
+# elif self.feed_Mid_Status == FeedMidStatus.FMid_Take:
+# self.next_take(reverse)
+# elif self.feed_Mid_Status == FeedMidStatus.FMid_Feed:
+# self.next_Feed(reverse)
+#
+# def safe_check_columns(self):
+# return True
+# pass
+#
+# def safe_check_person(self):
+# return True
+# pass
+#
diff --git a/Constant.py b/Constant.py
index f864ca2..25d4527 100644
--- a/Constant.py
+++ b/Constant.py
@@ -5,10 +5,10 @@ IO_EmergencyPoint = 3
bag_height = 10 # 一袋的高度
position_accuracy = 0.05
manual_adjust_accuracy = 1
-speed = 10
-shake_speed = 20
-debug_speed=10
-return_speed = 10
+# speed = 10
+# shake_speed = 20
+# debug_speed=10
+# return_speed = 10
feedLine_set_section = 'FeedLine'
position_set_section = 'Position'
feedLine_set_file = f'.{os.sep}Config{os.sep}feedLine.ini'
diff --git a/MainWin.ui b/MainWin.ui
index 2df570b..4a1b2cd 100644
--- a/MainWin.ui
+++ b/MainWin.ui
@@ -939,7 +939,7 @@ background-color: rgb(13, 17, 40);
- 0
+ 3
@@ -4051,12 +4051,24 @@ background-color: #197971;
QFrame::Shadow::Raised
-
+
+
+ 0
+
+
+ 0
+
+
+ 0
+
- 300
+ 60
+
+
+ 0
- 30
+ 80
-
@@ -4070,7 +4082,7 @@ background-color: #197971;
color: rgb(255, 255, 255);
- 全局速度：
+ 生产速度：
@@ -4103,7 +4115,7 @@ background-color: #197971;
- -
+
-
@@ -4117,6 +4129,35 @@ background-color: #197971;
-
+
+
+
+ 0
+ 0
+
+
+
+ color: rgb(255, 255, 255);
+
+
+ 复位速度：
+
+
+
+ -
+
+
+
+ 0
+ 0
+
+
+
+ color: rgb(255, 255, 255);
+
+
+
+ -
@@ -4132,7 +4173,7 @@ background-color: #197971;
- -
+
-
@@ -4145,6 +4186,77 @@ background-color: #197971;
+ -
+
+
+
+ 0
+ 0
+
+
+
+ color: rgb(255, 255, 255);
+
+
+ 电磁阀3:
+
+
+
+ -
+
+
+
+ 0
+ 0
+
+
+
+ color: rgb(255, 255, 255);
+
+
+
+ -
+
+
+
+ 0
+ 0
+
+
+
+ color: rgb(255, 255, 255);
+
+
+ 放取延时：
+
+
+
+ -
+
+
+
+ 0
+ 0
+
+
+
+ color: rgb(255, 255, 255);
+
+
+
+ -
+
+
+
+ 0
+ 0
+
+
+
+ color: rgb(255, 255, 255);
+
+
+
-
@@ -4161,8 +4273,8 @@ background-color: #197971;
- -
-
+
-
+
0
@@ -4174,36 +4286,7 @@ background-color: #197971;
- -
-
-
-
- 0
- 0
-
-
-
- color: rgb(255, 255, 255);
-
-
- 电磁阀3:
-
-
-
- -
-
-
-
- 0
- 0
-
-
-
- color: rgb(255, 255, 255);
-
-
-
- -
+
-
@@ -4219,8 +4302,8 @@ background-color: #197971;
- -
-
+
-
+
0
@@ -4232,36 +4315,7 @@ background-color: #197971;
- -
-
-
-
- 0
- 0
-
-
-
- color: rgb(255, 255, 255);
-
-
- 放取延时：
-
-
-
- -
-
-
-
- 0
- 0
-
-
-
- color: rgb(255, 255, 255);
-
-
-
- -
+
-
@@ -4277,20 +4331,7 @@ background-color: #197971;
- -
-
-
-
- 0
- 0
-
-
-
- color: rgb(255, 255, 255);
-
-
-
- -
+
-
diff --git a/Seting.ini b/Seting.ini
index 6e04393..d386416 100644
--- a/Seting.ini
+++ b/Seting.ini
@@ -55,6 +55,12 @@ takedelay = 0.2
putdelay = 0.1
shakedelay = 1.0
+[Speed]
+debug_speed=10
+feed_speed=10
+reset_speed=10
+
+
[Origin]
X = 0.0
Y = 0.0
diff --git a/Util/util_math.py b/Util/util_math.py
index c0974f2..5ce6984 100644
--- a/Util/util_math.py
+++ b/Util/util_math.py
@@ -8,4 +8,7 @@ def get_distance(p1, p2):
:param p2:
:return:
"""
- return math.sqrt((p1.X - p2.X) ** 2 + (p1.Y - p2.Y) ** 2+ (p1.Z - p2.Z)**2)
\ No newline at end of file
+ return math.sqrt((p1.X - p2.X) ** 2 + (p1.Y - p2.Y) ** 2+ (p1.Z - p2.Z)**2)
+
+def is_bit_set(n, position):
+ return (n >> position) & 1 == 1
\ No newline at end of file
diff --git a/main.py b/main.py
index d3ebf15..52ddb8e 100644
--- a/main.py
+++ b/main.py
@@ -549,6 +549,7 @@ class MainWindow(QMainWindow, Ui_MainWindow):
self.command_quene = Queue()
self.main_threading = None
self.detection_person = None #DetectionPerson()
+ self.cton_take_no_photo = CRisOrFall()
self.configReader.read(Constant.set_ini)
ip = self.configReader.get('Robot_Feed', 'IPAddress')
@@ -579,7 +580,9 @@ class MainWindow(QMainWindow, Ui_MainWindow):
float(self.configReader.get('Origin', 'U')),
float(self.configReader.get('Origin', 'V')),
float(self.configReader.get('Origin', 'W')))
-
+ debug_speed = int(self.configReader.get('Speed', 'debug_speed'))
+ feed_speed = int(self.configReader.get('Speed', 'feed_speed'))
+ reset_speed = int(self.configReader.get('Speed', 'reset_speed'))
solenoid_valve1_addr = int(self.configReader.get('Robot_Feed', 'solenoid_valve1_addr'))
solenoid_valve2_addr = int(self.configReader.get('Robot_Feed', 'solenoid_valve2_addr'))
solenoid_valve3_addr = int(self.configReader.get('Robot_Feed', 'solenoid_valve3_addr'))
@@ -589,6 +592,9 @@ class MainWindow(QMainWindow, Ui_MainWindow):
#TODO
#dropDelay_time = int(self.configReader.get('Robot_Feed', 'dropDelay_time'))
self.robotClient = RobotClient(ip, port, photo_locs, self.command_position_quene, self.status_address,[solenoid_valve1_addr, solenoid_valve2_addr, solenoid_valve3_addr],time_delay_take,time_delay_put,time_delay_shake,origin_position)
+ self.robotClient.debug_speed = debug_speed
+ self.robotClient.feed_speed = feed_speed
+ self.robotClient.reset_speed = reset_speed
self.feeding = Feeding(self.robotClient, self.detection) # 临时
self.last_time = time.time()
self.remain_lineName = self.configReader.get('Robot_Feed', 'remain_lineName')
@@ -767,8 +773,8 @@ class MainWindow(QMainWindow, Ui_MainWindow):
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):
if self.remain_Count!=0:
@@ -967,8 +973,9 @@ class MainWindow(QMainWindow, Ui_MainWindow):
pass
def send_setSpeed_clicked(self):
- Constant.speed = int(self.lineEdit_speed_run.text())
- Constant.debug_speed = int(self.lineEdit_speed_debug.text())
+ self.robotClient.feed_speed = int(self.lineEdit_speed_run.text())
+ self.robotClient.debug_speed = int(self.lineEdit_speed_debug.text())
+ self.robotClient.reset_speed = int(self.lineEdit_speed_reset.text())
try:
solenoid1_addr = int(self.lineEdit_solenoid1_addr.text())
solenoid2_addr = int(self.lineEdit_solenoid2_addr.text())
@@ -990,7 +997,9 @@ class MainWindow(QMainWindow, Ui_MainWindow):
self.configReader.set('Robot_Feed', 'takeDelay', str(time_delay_take))
self.configReader.set('Robot_Feed', 'putDelay', str(time_delay_put))
self.configReader.set('Robot_Feed', 'shakeDelay', str(time_delay_shake))
-
+ self.configReader.set('Speed', 'feed_speed', str(self.robotClient.feed_speed))
+ self.configReader.set('Speed', 'debug_speed', str(self.robotClient.debug_speed))
+ self.configReader.set('Speed', 'reset_speed', str(self.robotClient.reset_speed))
self.configReader.write(open(Constant.set_ini, 'w', encoding='utf-8'))
except Exception as e:
log.log_message(logging.ERROR, Constant.str_sys_set_error+e)
@@ -1232,6 +1241,9 @@ class MainWindow(QMainWindow, Ui_MainWindow):
position_origin.init_position(self.robotClient.origin_position)
command.feed_config.feedLine.positions.insert(0,position_origin)
self.feeding.feedConfig = command.feed_config
+ self.robotClient.send_emergency_sound()
+ time.sleep(5000)
+ self.robotClient.send_emergency_stop()
self.feeding.feedStatus = FeedStatus.FStart
# self.feeding.feed_Mid_Status = FeedMidStatus.FMid_Start
command.status = Status.Runing
@@ -1245,6 +1257,21 @@ class MainWindow(QMainWindow, Ui_MainWindow):
# pass #主线程
+ def run_detect_persion(self):
+ while self.thread_signal:
+ has_person = False
+ # has_person, _ = self.detection_person.get_person() # TODO
+ if has_person: # TODO
+ # self.feeding.pause = True
+ # self.send_pause_command(True)
+ #
+ # self.show_messagebox_of_person()
+ # msg_box_person.setText("检测到安全区域后人是否继续生产？")
+ # result = msg_box_person.exec()
+ # if result == QMessageBox.StandardButton.Cancel:
+ # return
+ log.log_message(logging.ERROR, '人员进入安全区')
+ pass
def updateUI(self):
while self.thread_signal:
@@ -1276,6 +1303,12 @@ class MainWindow(QMainWindow, Ui_MainWindow):
self.updateUI_label_status()
self.updateUI_frame_sign(self.feeding.feedStatus)
self.updateUI_IOPanel()
+ self.updateUI_InfoMB()
+ def updateUI_InfoMB(self):
+ if self.cton_take_no_photo.Q(self.feeding.take_no_photo):
+ self.show_infomessage_box("未识别到料袋报警，请重新放料后，点击继续")
+ self.send_pause_command(pause=1)
+ self.feeding.pause = True
def updateUI_IOPanel(self):
try:
@@ -1771,6 +1804,7 @@ class MainWindow(QMainWindow, Ui_MainWindow):
msg_box.setText(message)
msg_box.setIcon(QMessageBox.Icon.Information)
msg_box.setStandardButtons(QMessageBox.StandardButton.Ok)
+ msg_box.show()
def send_click_change_stackView(self,index):
self.stackedWidget_view.setCurrentIndex(index)
if index == 0:
diff --git a/test_ui.py b/test_ui.py
index 015e209..4c413e3 100644
--- a/test_ui.py
+++ b/test_ui.py
@@ -1,3 +1,14 @@
-my_list = [1, 2, 3, 4, 5]
-list_slice = list(reversed(my_list[:2]))
-print(list_slice) # 输出: [5, 4, 3, 2, 1]
+output_n = 7
+io_bit = 5
+
+def is_bit_set(n, position):
+ """
+ 检查整数 n 的第 position 位是否为 1
+ :param n: 整数
+ :param position: 从右往左数的位，0 表示最低位
+ :return: True 表示该位是 1，否则为 False
+ """
+ return (n >> position) & 1 == 1
+
+
+print(is_bit_set(7,3))
diff --git a/ui_MainWin.py b/ui_MainWin.py
index 31c58bb..26517ba 100644
--- a/ui_MainWin.py
+++ b/ui_MainWin.py
@@ -2462,8 +2462,9 @@ class Ui_MainWindow(object):
self.frame_29.setFrameShadow(QFrame.Shadow.Raised)
self.gridLayout_6 = QGridLayout(self.frame_29)
self.gridLayout_6.setObjectName(u"gridLayout_6")
- self.gridLayout_6.setVerticalSpacing(30)
- self.gridLayout_6.setContentsMargins(-1, -1, -1, 300)
+ self.gridLayout_6.setHorizontalSpacing(0)
+ self.gridLayout_6.setVerticalSpacing(80)
+ self.gridLayout_6.setContentsMargins(0, 0, 0, 60)
self.label_28 = QLabel(self.frame_29)
self.label_28.setObjectName(u"label_28")
sizePolicy4.setHeightForWidth(self.label_28.sizePolicy().hasHeightForWidth())
@@ -2494,7 +2495,23 @@ class Ui_MainWindow(object):
self.lineEdit_speed_debug.setSizePolicy(sizePolicy1)
self.lineEdit_speed_debug.setStyleSheet(u"color: rgb(255, 255, 255);")
- self.gridLayout_6.addWidget(self.lineEdit_speed_debug, 0, 3, 1, 2)
+ self.gridLayout_6.addWidget(self.lineEdit_speed_debug, 0, 3, 1, 1)
+
+ self.label_94 = QLabel(self.frame_29)
+ self.label_94.setObjectName(u"label_94")
+ sizePolicy4.setHeightForWidth(self.label_94.sizePolicy().hasHeightForWidth())
+ self.label_94.setSizePolicy(sizePolicy4)
+ self.label_94.setStyleSheet(u"color: rgb(255, 255, 255);")
+
+ self.gridLayout_6.addWidget(self.label_94, 1, 0, 1, 1)
+
+ self.lineEdit_speed_reset = QLineEdit(self.frame_29)
+ self.lineEdit_speed_reset.setObjectName(u"lineEdit_speed_reset")
+ sizePolicy1.setHeightForWidth(self.lineEdit_speed_reset.sizePolicy().hasHeightForWidth())
+ self.lineEdit_speed_reset.setSizePolicy(sizePolicy1)
+ self.lineEdit_speed_reset.setStyleSheet(u"color: rgb(255, 255, 255);")
+
+ self.gridLayout_6.addWidget(self.lineEdit_speed_reset, 1, 1, 1, 1)
self.label_51 = QLabel(self.frame_29)
self.label_51.setObjectName(u"label_51")
@@ -2502,7 +2519,7 @@ class Ui_MainWindow(object):
self.label_51.setSizePolicy(sizePolicy4)
self.label_51.setStyleSheet(u"color: rgb(255, 255, 255);")
- self.gridLayout_6.addWidget(self.label_51, 1, 0, 1, 1)
+ self.gridLayout_6.addWidget(self.label_51, 2, 0, 1, 1)
self.lineEdit_solenoid1_addr = QLineEdit(self.frame_29)
self.lineEdit_solenoid1_addr.setObjectName(u"lineEdit_solenoid1_addr")
@@ -2510,7 +2527,47 @@ class Ui_MainWindow(object):
self.lineEdit_solenoid1_addr.setSizePolicy(sizePolicy1)
self.lineEdit_solenoid1_addr.setStyleSheet(u"color: rgb(255, 255, 255);")
- self.gridLayout_6.addWidget(self.lineEdit_solenoid1_addr, 1, 1, 1, 1)
+ self.gridLayout_6.addWidget(self.lineEdit_solenoid1_addr, 2, 1, 1, 1)
+
+ self.label_54 = QLabel(self.frame_29)
+ self.label_54.setObjectName(u"label_54")
+ sizePolicy4.setHeightForWidth(self.label_54.sizePolicy().hasHeightForWidth())
+ self.label_54.setSizePolicy(sizePolicy4)
+ self.label_54.setStyleSheet(u"color: rgb(255, 255, 255);")
+
+ self.gridLayout_6.addWidget(self.label_54, 3, 0, 1, 1)
+
+ self.lineEdit_solenoid3_addr = QLineEdit(self.frame_29)
+ self.lineEdit_solenoid3_addr.setObjectName(u"lineEdit_solenoid3_addr")
+ sizePolicy1.setHeightForWidth(self.lineEdit_solenoid3_addr.sizePolicy().hasHeightForWidth())
+ self.lineEdit_solenoid3_addr.setSizePolicy(sizePolicy1)
+ self.lineEdit_solenoid3_addr.setStyleSheet(u"color: rgb(255, 255, 255);")
+
+ self.gridLayout_6.addWidget(self.lineEdit_solenoid3_addr, 3, 1, 1, 1)
+
+ self.label_86 = QLabel(self.frame_29)
+ self.label_86.setObjectName(u"label_86")
+ sizePolicy4.setHeightForWidth(self.label_86.sizePolicy().hasHeightForWidth())
+ self.label_86.setSizePolicy(sizePolicy4)
+ self.label_86.setStyleSheet(u"color: rgb(255, 255, 255);")
+
+ self.gridLayout_6.addWidget(self.label_86, 4, 0, 1, 1)
+
+ self.lineEdit_timedelay_put = QLineEdit(self.frame_29)
+ self.lineEdit_timedelay_put.setObjectName(u"lineEdit_timedelay_put")
+ sizePolicy1.setHeightForWidth(self.lineEdit_timedelay_put.sizePolicy().hasHeightForWidth())
+ self.lineEdit_timedelay_put.setSizePolicy(sizePolicy1)
+ self.lineEdit_timedelay_put.setStyleSheet(u"color: rgb(255, 255, 255);")
+
+ self.gridLayout_6.addWidget(self.lineEdit_timedelay_put, 4, 1, 1, 1)
+
+ self.lineEdit_solenoid2_addr = QLineEdit(self.frame_29)
+ self.lineEdit_solenoid2_addr.setObjectName(u"lineEdit_solenoid2_addr")
+ sizePolicy1.setHeightForWidth(self.lineEdit_solenoid2_addr.sizePolicy().hasHeightForWidth())
+ self.lineEdit_solenoid2_addr.setSizePolicy(sizePolicy1)
+ self.lineEdit_solenoid2_addr.setStyleSheet(u"color: rgb(255, 255, 255);")
+
+ self.gridLayout_6.addWidget(self.lineEdit_solenoid2_addr, 1, 3, 1, 1)
self.label_52 = QLabel(self.frame_29)
self.label_52.setObjectName(u"label_52")
@@ -2520,29 +2577,13 @@ class Ui_MainWindow(object):
self.gridLayout_6.addWidget(self.label_52, 1, 2, 1, 1)
- self.lineEdit_solenoid2_addr = QLineEdit(self.frame_29)
- self.lineEdit_solenoid2_addr.setObjectName(u"lineEdit_solenoid2_addr")
- sizePolicy1.setHeightForWidth(self.lineEdit_solenoid2_addr.sizePolicy().hasHeightForWidth())
- self.lineEdit_solenoid2_addr.setSizePolicy(sizePolicy1)
- self.lineEdit_solenoid2_addr.setStyleSheet(u"color: rgb(255, 255, 255);")
+ self.lineEdit_timedelay_take = QLineEdit(self.frame_29)
+ self.lineEdit_timedelay_take.setObjectName(u"lineEdit_timedelay_take")
+ sizePolicy1.setHeightForWidth(self.lineEdit_timedelay_take.sizePolicy().hasHeightForWidth())
+ self.lineEdit_timedelay_take.setSizePolicy(sizePolicy1)
+ self.lineEdit_timedelay_take.setStyleSheet(u"color: rgb(255, 255, 255);")
- self.gridLayout_6.addWidget(self.lineEdit_solenoid2_addr, 1, 3, 1, 2)
-
- self.label_54 = QLabel(self.frame_29)
- self.label_54.setObjectName(u"label_54")
- sizePolicy4.setHeightForWidth(self.label_54.sizePolicy().hasHeightForWidth())
- self.label_54.setSizePolicy(sizePolicy4)
- self.label_54.setStyleSheet(u"color: rgb(255, 255, 255);")
-
- self.gridLayout_6.addWidget(self.label_54, 2, 0, 1, 1)
-
- self.lineEdit_solenoid3_addr = QLineEdit(self.frame_29)
- self.lineEdit_solenoid3_addr.setObjectName(u"lineEdit_solenoid3_addr")
- sizePolicy1.setHeightForWidth(self.lineEdit_solenoid3_addr.sizePolicy().hasHeightForWidth())
- self.lineEdit_solenoid3_addr.setSizePolicy(sizePolicy1)
- self.lineEdit_solenoid3_addr.setStyleSheet(u"color: rgb(255, 255, 255);")
-
- self.gridLayout_6.addWidget(self.lineEdit_solenoid3_addr, 2, 1, 1, 1)
+ self.gridLayout_6.addWidget(self.lineEdit_timedelay_take, 2, 3, 1, 1)
self.label_85 = QLabel(self.frame_29)
self.label_85.setObjectName(u"label_85")
@@ -2550,39 +2591,7 @@ class Ui_MainWindow(object):
self.label_85.setSizePolicy(sizePolicy4)
self.label_85.setStyleSheet(u"color: rgb(255, 255, 255);")
- self.gridLayout_6.addWidget(self.label_85, 2, 2, 1, 2)
-
- self.lineEdit_timedelay_take = QLineEdit(self.frame_29)
- self.lineEdit_timedelay_take.setObjectName(u"lineEdit_timedelay_take")
- sizePolicy1.setHeightForWidth(self.lineEdit_timedelay_take.sizePolicy().hasHeightForWidth())
- self.lineEdit_timedelay_take.setSizePolicy(sizePolicy1)
- self.lineEdit_timedelay_take.setStyleSheet(u"color: rgb(255, 255, 255);")
-
- self.gridLayout_6.addWidget(self.lineEdit_timedelay_take, 2, 4, 1, 1)
-
- self.label_86 = QLabel(self.frame_29)
- self.label_86.setObjectName(u"label_86")
- sizePolicy4.setHeightForWidth(self.label_86.sizePolicy().hasHeightForWidth())
- self.label_86.setSizePolicy(sizePolicy4)
- self.label_86.setStyleSheet(u"color: rgb(255, 255, 255);")
-
- self.gridLayout_6.addWidget(self.label_86, 3, 0, 1, 1)
-
- self.lineEdit_timedelay_put = QLineEdit(self.frame_29)
- self.lineEdit_timedelay_put.setObjectName(u"lineEdit_timedelay_put")
- sizePolicy1.setHeightForWidth(self.lineEdit_timedelay_put.sizePolicy().hasHeightForWidth())
- self.lineEdit_timedelay_put.setSizePolicy(sizePolicy1)
- self.lineEdit_timedelay_put.setStyleSheet(u"color: rgb(255, 255, 255);")
-
- self.gridLayout_6.addWidget(self.lineEdit_timedelay_put, 3, 1, 1, 1)
-
- self.label_87 = QLabel(self.frame_29)
- self.label_87.setObjectName(u"label_87")
- sizePolicy4.setHeightForWidth(self.label_87.sizePolicy().hasHeightForWidth())
- self.label_87.setSizePolicy(sizePolicy4)
- self.label_87.setStyleSheet(u"color: rgb(255, 255, 255);")
-
- self.gridLayout_6.addWidget(self.label_87, 3, 2, 1, 2)
+ self.gridLayout_6.addWidget(self.label_85, 2, 2, 1, 1)
self.lineEdit_timedelay_shake = QLineEdit(self.frame_29)
self.lineEdit_timedelay_shake.setObjectName(u"lineEdit_timedelay_shake")
@@ -2590,7 +2599,15 @@ class Ui_MainWindow(object):
self.lineEdit_timedelay_shake.setSizePolicy(sizePolicy1)
self.lineEdit_timedelay_shake.setStyleSheet(u"color: rgb(255, 255, 255);")
- self.gridLayout_6.addWidget(self.lineEdit_timedelay_shake, 3, 4, 1, 1)
+ self.gridLayout_6.addWidget(self.lineEdit_timedelay_shake, 3, 3, 1, 1)
+
+ self.label_87 = QLabel(self.frame_29)
+ self.label_87.setObjectName(u"label_87")
+ sizePolicy4.setHeightForWidth(self.label_87.sizePolicy().hasHeightForWidth())
+ self.label_87.setSizePolicy(sizePolicy4)
+ self.label_87.setStyleSheet(u"color: rgb(255, 255, 255);")
+
+ self.gridLayout_6.addWidget(self.label_87, 3, 2, 1, 1)
self.pushButton_saveSeting = QPushButton(self.frame_29)
self.pushButton_saveSeting.setObjectName(u"pushButton_saveSeting")
@@ -2609,13 +2626,14 @@ class Ui_MainWindow(object):
"")
self.pushButton_saveSeting.setFlat(False)
- self.gridLayout_6.addWidget(self.pushButton_saveSeting, 4, 0, 1, 5)
+ self.gridLayout_6.addWidget(self.pushButton_saveSeting, 5, 0, 1, 4)
self.gridLayout_6.setRowStretch(0, 1)
self.gridLayout_6.setRowStretch(1, 1)
self.gridLayout_6.setRowStretch(2, 1)
self.gridLayout_6.setRowStretch(3, 1)
self.gridLayout_6.setRowStretch(4, 1)
+ self.gridLayout_6.setRowStretch(5, 1)
self.verticalLayout_18.addWidget(self.frame_29)
@@ -3769,7 +3787,7 @@ class Ui_MainWindow(object):
self.retranslateUi(MainWindow)
- self.stackedWidget_view.setCurrentIndex(0)
+ self.stackedWidget_view.setCurrentIndex(3)
self.tabWidget.setCurrentIndex(0)
self.stackedWidget_num.setCurrentIndex(0)
@@ -3899,13 +3917,14 @@ class Ui_MainWindow(object):
self.label_24.setText(QCoreApplication.translate("MainWindow", u"Z4:", None))
self.label_36.setText(QCoreApplication.translate("MainWindow", u"U1:", None))
self.label_17.setText(QCoreApplication.translate("MainWindow", u"Z2:", None))
- self.label_28.setText(QCoreApplication.translate("MainWindow", u"\u5168\u5c40\u901f\u5ea6\uff1a", None))
+ self.label_28.setText(QCoreApplication.translate("MainWindow", u"\u751f\u4ea7\u901f\u5ea6\uff1a", None))
self.label_29.setText(QCoreApplication.translate("MainWindow", u"\u8c03\u8bd5\u901f\u5ea6\uff1a", None))
+ self.label_94.setText(QCoreApplication.translate("MainWindow", u"\u590d\u4f4d\u901f\u5ea6\uff1a", None))
self.label_51.setText(QCoreApplication.translate("MainWindow", u"\u7535\u78c1\u96001:", None))
- self.label_52.setText(QCoreApplication.translate("MainWindow", u"\u7535\u78c1\u96002\uff1a", None))
self.label_54.setText(QCoreApplication.translate("MainWindow", u"\u7535\u78c1\u96003:", None))
- self.label_85.setText(QCoreApplication.translate("MainWindow", u"\u5438\u53d6\u5ef6\u65f6\uff1a", None))
self.label_86.setText(QCoreApplication.translate("MainWindow", u"\u653e\u53d6\u5ef6\u65f6\uff1a", None))
+ self.label_52.setText(QCoreApplication.translate("MainWindow", u"\u7535\u78c1\u96002\uff1a", None))
+ self.label_85.setText(QCoreApplication.translate("MainWindow", u"\u5438\u53d6\u5ef6\u65f6\uff1a", None))
self.label_87.setText(QCoreApplication.translate("MainWindow", u"\u9707\u52a8\u5ef6\u65f6\uff1a", None))
self.pushButton_saveSeting.setText(QCoreApplication.translate("MainWindow", u"\u4fdd\u5b58\u8bbe\u7f6e", None))
self.pushButton_j3_add.setText("")