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update 增加速度设置，点位比对，启动警报等

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This commit is contained in:
FrankCV2048
2024-12-05 20:29:27 +08:00
parent a884e241d3
commit 6f22ef051a
10 changed files with 795 additions and 640 deletions
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33
COM/COM_Robot.py
View File

@ -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

10
CU/Feeding.py
View File

@ -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)

942
CU/Feeding_C.py
View File

@ -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():
# 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:
# if self.feedConfig.num != 0:
# self.next_target()
# if == 原点 继续判断
# 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:
# 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
# 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
#

8
Constant.py
View File

@ -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'

211
MainWin.ui
View File

@ -939,7 +939,7 @@ background-color: rgb(13, 17, 40);</string>
</sizepolicy>
</property>
<property name="currentIndex">
<number>0</number>
<number>3</number>
</property>
<widget class="QWidget" name="page_3">
<layout class="QVBoxLayout" name="verticalLayout_7" stretch="1">
@ -4051,12 +4051,24 @@ background-color: #197971;
<property name="frameShadow">
<enum>QFrame::Shadow::Raised</enum>
</property>
<layout class="QGridLayout" name="gridLayout_6" rowstretch="1,1,1,1,1">
<layout class="QGridLayout" name="gridLayout_6" rowstretch="1,1,1,1,1,1">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>300</number>
<number>60</number>
</property>
<property name="horizontalSpacing">
<number>0</number>
</property>
<property name="verticalSpacing">
<number>30</number>
<number>80</number>
</property>
<item row="0" column="0">
<widget class="QLabel" name="label_28">
@ -4070,7 +4082,7 @@ background-color: #197971;
<string notr="true">color: rgb(255, 255, 255);</string>
</property>
<property name="text">
<string>全局速度：</string>
<string>生产速度：</string>
</property>
</widget>
</item>
@ -4103,7 +4115,7 @@ background-color: #197971;
</property>
</widget>
</item>
<item row="0" column="3" colspan="2">
<item row="0" column="3">
<widget class="QLineEdit" name="lineEdit_speed_debug">
<property name="sizePolicy">
<sizepolicy hsizetype="Expanding" vsizetype="Expanding">
@ -4117,6 +4129,35 @@ background-color: #197971;
</widget>
</item>
<item row="1" column="0">
<widget class="QLabel" name="label_94">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="styleSheet">
<string notr="true">color: rgb(255, 255, 255);</string>
</property>
<property name="text">
<string>复位速度：</string>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLineEdit" name="lineEdit_speed_reset">
<property name="sizePolicy">
<sizepolicy hsizetype="Expanding" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="styleSheet">
<string notr="true">color: rgb(255, 255, 255);</string>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QLabel" name="label_51">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Expanding">
@ -4132,7 +4173,7 @@ background-color: #197971;
</property>
</widget>
</item>
<item row="1" column="1">
<item row="2" column="1">
<widget class="QLineEdit" name="lineEdit_solenoid1_addr">
<property name="sizePolicy">
<sizepolicy hsizetype="Expanding" vsizetype="Expanding">
@ -4145,6 +4186,77 @@ background-color: #197971;
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QLabel" name="label_54">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="styleSheet">
<string notr="true">color: rgb(255, 255, 255);</string>
</property>
<property name="text">
<string>电磁阀3:</string>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLineEdit" name="lineEdit_solenoid3_addr">
<property name="sizePolicy">
<sizepolicy hsizetype="Expanding" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="styleSheet">
<string notr="true">color: rgb(255, 255, 255);</string>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QLabel" name="label_86">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="styleSheet">
<string notr="true">color: rgb(255, 255, 255);</string>
</property>
<property name="text">
<string>放取延时：</string>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLineEdit" name="lineEdit_timedelay_put">
<property name="sizePolicy">
<sizepolicy hsizetype="Expanding" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="styleSheet">
<string notr="true">color: rgb(255, 255, 255);</string>
</property>
</widget>
</item>
<item row="1" column="3">
<widget class="QLineEdit" name="lineEdit_solenoid2_addr">
<property name="sizePolicy">
<sizepolicy hsizetype="Expanding" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="styleSheet">
<string notr="true">color: rgb(255, 255, 255);</string>
</property>
</widget>
</item>
<item row="1" column="2">
<widget class="QLabel" name="label_52">
<property name="sizePolicy">
@ -4161,8 +4273,8 @@ background-color: #197971;
</property>
</widget>
</item>
<item row="1" column="3" colspan="2">
<widget class="QLineEdit" name="lineEdit_solenoid2_addr">
<item row="2" column="3">
<widget class="QLineEdit" name="lineEdit_timedelay_take">
<property name="sizePolicy">
<sizepolicy hsizetype="Expanding" vsizetype="Expanding">
<horstretch>0</horstretch>
@ -4174,36 +4286,7 @@ background-color: #197971;
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QLabel" name="label_54">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="styleSheet">
<string notr="true">color: rgb(255, 255, 255);</string>
</property>
<property name="text">
<string>电磁阀3:</string>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLineEdit" name="lineEdit_solenoid3_addr">
<property name="sizePolicy">
<sizepolicy hsizetype="Expanding" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="styleSheet">
<string notr="true">color: rgb(255, 255, 255);</string>
</property>
</widget>
</item>
<item row="2" column="2" colspan="2">
<item row="2" column="2">
<widget class="QLabel" name="label_85">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Expanding">
@ -4219,8 +4302,8 @@ background-color: #197971;
</property>
</widget>
</item>
<item row="2" column="4">
<widget class="QLineEdit" name="lineEdit_timedelay_take">
<item row="3" column="3">
<widget class="QLineEdit" name="lineEdit_timedelay_shake">
<property name="sizePolicy">
<sizepolicy hsizetype="Expanding" vsizetype="Expanding">
<horstretch>0</horstretch>
@ -4232,36 +4315,7 @@ background-color: #197971;
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QLabel" name="label_86">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="styleSheet">
<string notr="true">color: rgb(255, 255, 255);</string>
</property>
<property name="text">
<string>放取延时：</string>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLineEdit" name="lineEdit_timedelay_put">
<property name="sizePolicy">
<sizepolicy hsizetype="Expanding" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="styleSheet">
<string notr="true">color: rgb(255, 255, 255);</string>
</property>
</widget>
</item>
<item row="3" column="2" colspan="2">
<item row="3" column="2">
<widget class="QLabel" name="label_87">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Expanding">
@ -4277,20 +4331,7 @@ background-color: #197971;
</property>
</widget>
</item>
<item row="3" column="4">
<widget class="QLineEdit" name="lineEdit_timedelay_shake">
<property name="sizePolicy">
<sizepolicy hsizetype="Expanding" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="styleSheet">
<string notr="true">color: rgb(255, 255, 255);</string>
</property>
</widget>
</item>
<item row="4" column="0" colspan="5">
<item row="5" column="0" colspan="4">
<widget class="QPushButton" name="pushButton_saveSeting">
<property name="sizePolicy">
<sizepolicy hsizetype="Expanding" vsizetype="Expanding">

6
Seting.ini
View File

@ -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

3
Util/util_math.py
View File

@ -9,3 +9,6 @@ def get_distance(p1, p2):
:return:
"""
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

46
main.py
View File

@ -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:

17
test_ui.py
View File

@ -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))

151
ui_MainWin.py
View File

@ -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("")