update 增加速度设置，点位比对，启动警报等

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