update 增加速度设置，点位比对，启动警报等

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)