update 增加速度设置，点位比对，启动警报等

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: