update 现场调试

CU/Feeding.py

@@ -3,6 +3,7 @@ import time
 
 import cv2
 from PyQt5.QtWidgets import QMessageBox
+from jedi.debug import speed
 
 import Constant
 import Expection
@@ -58,17 +59,17 @@ class FeedLine:
         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]
+        pos = self.feeding_to_end[self.feeding2end_pos_index-1]
         return pos
     def get_current_take_position(self):
-        pos = self.start_to_take[self.start2take_pos_index]
+        pos = self.start_to_take[self.start2take_pos_index-1]
         return pos
     def get_current_start_position(self):
-        pos = self.origin_to_start[self.origin2start_pos_index]
+        pos = self.origin_to_start[self.origin2start_pos_index-1]
         return pos
 
     def get_next_feed_position(self,reverse:bool=False):
@@ -187,11 +188,14 @@ class Feeding:
 
         if self.feedConfig == None:
             self.feedStatus = FeedStatus.FNone
-        elif self.feedConfig.num == 0 and self.feedStatus!=FeedStatus.FReverse:
+
+        if self.feedConfig !=None and self.feedConfig.num == 0 and self.is_reverse and self.robotClient.origin_position.compare(real_position):
             self.feedStatus = FeedStatus.FNone
+            self.is_reverse = False
 
         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
@@ -209,7 +213,9 @@ class Feeding:
                 self.feed_Mid_Status = FeedMidStatus.FMid_Start
             else:
                 self.feed_Mid_Status = FeedMidStatus.FMid_Take
-            self.next_position(self.is_reverse)
+
+            if self.feedConfig.feedLine.start_to_take[0].get_position().compare(real_position):
+                self.next_position(self.is_reverse)
 
         elif self.feedStatus == FeedStatus.FStart:
             log.log_message(logging.INFO, Constant.str_feed_start)
@@ -217,11 +223,13 @@ class Feeding:
                 QMessageBox.information(None, "提示", Constant.str_feed_start_error)
                 self.feedStatus = FeedStatus.FNone
                 return
-            if self.is_reverse and self.robotClient.origin_position.compare(real_position):
+            if self.is_reverse:
                 self.feedStatus = FeedStatus.FNone
                 self.is_reverse = False
                 return
 
+            self.feedConfig.feedLine.get_position_list()
+
             self.feedConfig.feedLine.set_take_position(real_position)
             # TODO 获取目标位置
             # self.detection.get_position(Point_isVision=False, Box_isPoint=True, First_Depth=True, Iter_Max_Pixel=30,
@@ -243,8 +251,11 @@ class Feeding:
             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.feed_Mid_Status = FeedMidStatus.FMid_Take
+                self.feedConfig.feedLine.start2take_pos_index = len(self.feedConfig.feedLine.start_to_take) -2
+                self.feedConfig.feedLine.origin2start_pos_index = len(self.feedConfig.feedLine.origin_to_start) - 2
                 self.next_position(self.is_reverse)
+
                 return
 
             if self.robotClient.type_detection == DetectType.EyeOutHand:
@@ -324,9 +335,9 @@ class Feeding:
                 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)
+                    # self.sendIOControl(self.robotClient.con_ios[0], 1)
-                    self.sendIOControl(self.robotClient.con_ios[1], 1)
+                    # self.sendIOControl(self.robotClient.con_ios[1], 1)
-                    self.sendIOControl(self.robotClient.con_ios[2], 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)
@@ -364,9 +375,9 @@ class Feeding:
             log.log_message(logging.INFO, Constant.str_feed_drop)
 
             if self.get_current_position().get_position().compare(real_position):
-                self.sendIOControl(self.robotClient.con_ios[0], 0)
+                # self.sendIOControl(self.robotClient.con_ios[0], 0)
-                self.sendIOControl(self.robotClient.con_ios[1], 0)
+                # self.sendIOControl(self.robotClient.con_ios[1], 0)
-                self.sendIOControl(self.robotClient.con_ios[2], 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
@@ -393,7 +404,7 @@ class Feeding:
         pos_index = -1
         pos_near_index = -1
         reversed_positions = []
-        for index, pos_model in enumerate(self.feedConfig.feedLine.positions):
+        for index, pos_model in enumerate(self.feedConfig.feedLine.feed_positions):
             if pos_model.get_position().compare(real_position):
                 pos_index = index
                 break
@@ -401,28 +412,37 @@ class Feeding:
         if pos_index == -1:
             log.log_message(logging.ERROR, Constant.str_feed_return_original_position_fail)
             min_distance = 99999999
-            for index, pos_model in enumerate(self.feedConfig.feedLine.positions):
+            for index, pos_model in enumerate(self.feedConfig.feedLine.feed_positions):
                 if get_distance(pos_model.get_position(), real_position)<min_distance:
                     min_distance = get_distance(pos_model.get_position(), real_position)
                     pos_near_index = index
             if pos_near_index != -1:
-                reversed_positions = self.feedConfig.feedLine.positions[::pos_near_index+1]
+                reversed_positions = self.feedConfig.feedLine.feed_positions[:pos_near_index+1]
             else:
                 return False
         else:
-            reversed_positions = self.feedConfig.feedLine.positions[::pos_index]
+            reversed_positions = self.feedConfig.feedLine.feed_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):
+        while self.run_reverse and self.reverse_index!=len(reversed_positions):
+            if self.reverse_index!=0 and not real_position.compare(reversed_positions[self.reverse_index-1]):
+                continue
+            print(f'复位第{self.reverse_index}')  #todo 缺少比对
             pos_model = reversed_positions[self.reverse_index]
+            if pos_model.status == FeedStatus.FTake.value:  # 跳过取袋节点
+                print('跳过抓袋点位')
+                pos_model = reversed_positions[self.reverse_index + 1]
+            # TODO take节点判断
+
             if pos_model.lineType == LineType.CureMid.value:
                 pos_model1 = reversed_positions[self.reverse_index + 1]
                 self.sendTargPosition(real_position=pos_model.get_position(), move_type=MoveType.Cure,
-                                      real_position1=pos_model1.get_position())
+                                      real_position1=pos_model1.get_position(),speed= self.robotClient.reset_speed)
+                self.reverse_index = self.reverse_index+2
             else:
                 self.sendTargPosition(real_position=pos_model.get_position(),speed=self.robotClient.reset_speed)
-            self.reverse_index = self.reverse_index + 1
+                self.reverse_index = self.reverse_index + 1
         self.send_emergency_stop()
         return True
     def send_emergency_sound(self):
@@ -466,7 +486,7 @@ class Feeding:
         instruction_command.instructions.append(position_instruction)
         request_command = instruction_command.toString()
 
-        log_str = f'移动到位置:{"姿势直线"}：' \
+        log_str = f'移动到位置:{ "姿势直线" if move_type==MoveType.WORLD else "姿势曲线"}：' \
                   f'X:{position_instruction.m0}-' \
                   f'Y:{position_instruction.m1}-' \
                   f'Z:{position_instruction.m2}-' \
@@ -474,6 +494,7 @@ class Feeding:
                   f'V:{position_instruction.m4}-' \
                   f'W:{position_instruction.m5}'
         print(log_str)
+
         try:
             log.log_message(logging.INFO, log_str)
         except:
@@ -484,33 +505,39 @@ class Feeding:
 
 
     def next_start(self,reverse=False):
+        print(f'原点到初始位置的第{self.feedConfig.feedLine.origin2start_pos_index}')
         start_pos = self.feedConfig.feedLine.get_next_start_position(reverse)
         self.feedStatus = FeedStatus(start_pos.status) if self.feedStatus != FeedStatus.FNone else FeedStatus.FNone
         if start_pos.lineType == LineType.CureMid.value:
             start_pos1 = self.feedConfig.feedLine.get_next_start_position(reverse)
-            self.sendTargPosition(real_position=start_pos.get_position(),speed=self.robotClient.feed_speed, move_type=MoveType.Cure, real_position1=start_pos1.get_position())
+            self.feedStatus = FeedStatus(start_pos1.status) if self.feedStatus != FeedStatus.FNone else FeedStatus.FNone
+            self.sendTargPosition(real_position=start_pos.get_position(),speed=self.robotClient.debug_speed, move_type=MoveType.Cure, real_position1=start_pos1.get_position())
         else:
-            self.sendTargPosition(real_position=start_pos.get_position(),speed=self.robotClient.feed_speed)
+            self.sendTargPosition(real_position=start_pos.get_position(),speed=self.robotClient.debug_speed)
         pass
 
     def next_take(self,reverse=False):
+        print(f'初始位置到拍照点的第{self.feedConfig.feedLine.start2take_pos_index}')
         take_pos = self.feedConfig.feedLine.get_next_take_position(reverse)
         self.feedStatus = FeedStatus(take_pos.status) if self.feedStatus != FeedStatus.FNone else FeedStatus.FNone
         if take_pos.lineType == LineType.CureMid.value:
             take_pos1 = self.feedConfig.feedLine.get_next_take_position(reverse)
-            self.sendTargPosition(real_position=take_pos.get_position(), move_type=MoveType.Cure, real_position1=take_pos1.get_position(),speed=self.robotClient.feed_speed)
+            self.feedStatus = FeedStatus(take_pos1.status) if self.feedStatus != FeedStatus.FNone else FeedStatus.FNone
+            self.sendTargPosition(real_position=take_pos.get_position(), move_type=MoveType.Cure, real_position1=take_pos1.get_position(),speed=self.robotClient.debug_speed)
         else:
-            self.sendTargPosition(real_position=take_pos.get_position(),speed=self.robotClient.feed_speed)
+            self.sendTargPosition(real_position=take_pos.get_position(),speed=self.robotClient.debug_speed)
         pass
 
     def next_Feed(self,reverse=False):
+        print(f'拍照到抛料回来的第{self.feedConfig.feedLine.feeding2end_pos_index}')
         feed_pos = self.feedConfig.feedLine.get_next_feed_position(reverse)
         self.feedStatus = FeedStatus(feed_pos.status) if self.feedStatus != FeedStatus.FNone else FeedStatus.FNone
         if feed_pos.lineType == LineType.CureMid.value:
             feed_pos1 = self.feedConfig.feedLine.get_next_feed_position(reverse)
-            self.sendTargPosition(real_position=feed_pos.get_position(), move_type=MoveType.Cure, real_position1=feed_pos1.get_position(),speed=self.robotClient.feed_speed)
+            self.feedStatus = FeedStatus(feed_pos1.status) if self.feedStatus != FeedStatus.FNone else FeedStatus.FNone
+            self.sendTargPosition(real_position=feed_pos.get_position(), move_type=MoveType.Cure, real_position1=feed_pos1.get_position(),speed=self.robotClient.debug_speed)
         else:
-            self.sendTargPosition(real_position=feed_pos.get_position(),speed=self.robotClient.feed_speed)
+            self.sendTargPosition(real_position=feed_pos.get_position(),speed=self.robotClient.debug_speed)
 
     def get_current_position(self):
         if self.feed_Mid_Status == FeedMidStatus.FMid_Start:

Config/FeedLine.ini

@@ -6,13 +6,26 @@ name = 反应釜1
 id = 2
 name = 反应釜2
 
+[Position1]
+x = 711.544373
+y = 2058.108887
+z = 1652.191772
+u = 3.285049
+v = 25.047607
+w = -102.662521
+id = 1
+order = 1
+lineid = 1
+status = 2
+linetype = 0
+
 [Position2]
-x = 7.0
+x = 421.397
-y = 50.0
+y = 2095.76
-z = 1.0
+z = 1403.803
-u = 12.0
+u = 2.787
-v = 0.0
+v = 17.14
-w = 1.0
+w = -95.084
 id = 2
 order = 0
 lineid = 1
@@ -20,331 +33,132 @@ status = 3
 linetype = 2
 
 [Position3]
-x = 7.0
+x = 116.779472
-y = 50.0
+y = 1554.860718
-z = 1.0
+z = 598.915833
-u = 12.0
+u = 4.423964
-v = 0.0
+v = 15.661633
-w = 1.0
+w = -80.555466
 id = 3
 order = 2
 lineid = 1
-status = 2
+status = 4
 linetype = 0
 
 [Position4]
-x = 7.0
+x = 230.750946
-y = 50.0
+y = 1330.444702
-z = 1.0
+z = 339.72052
-u = 12.0
+u = 2.843005
-v = 0.0
+v = 6.159603
-w = 1.0
+w = -85.733009
 id = 4
-order = 4
+order = 3
 lineid = 1
 status = 3
 linetype = 0
 
 [Position5]
-x = 7.0
+x = 116.779472
-y = 50.0
+y = 1554.860718
-z = 1.0
+z = 598.915833
-u = 12.0
+u = 4.423964
-v = 0.0
+v = 15.661633
-w = 1.0
+w = -80.555466
 id = 5
-order = 6
+order = 4
 lineid = 1
-status = 3
+status = 5
 linetype = 0
 
-[Position1]
+[Position6]
-x = 7.0
+x = 230.750946
-y = 50.0
+y = 1330.444702
-z = 1.0
+z = 339.72052
-u = 12.0
+u = 2.843005
-v = 0.0
+v = 6.159603
-w = 1.0
+w = -85.733009
-id = 1
+id = 6
-order = 8
-lineid = 1
-status = 3
-linetype = 0
-
-[Position7]
-x = 7.0
-y = 50.0
-z = 1.0
-u = 12.0
-v = 0.0
-w = 1.0
-id = 7
-order = 1
-lineid = 1
-status = 3
-linetype = 0
-
-[Position8]
-x = 7.0
-y = 50.0
-z = 1.0
-u = 12.0
-v = 0.0
-w = 1.0
-id = 8
-order = 3
-lineid = 1
-status = 3
-linetype = 0
-
-[Position9]
-x = 7.0
-y = 50.0
-z = 1.0
-u = 12.0
-v = 0.0
-w = 1.0
-id = 9
 order = 5
 lineid = 1
 status = 3
 linetype = 0
 
-[Position10]
+[Position7]
-x = 7.0
+x = 116.779472
-y = 50.0
+y = 1554.860718
-z = 1.0
+z = 598.915833
-u = 12.0
+u = 4.423964
-v = 0.0
+v = 15.661633
-w = 1.0
+w = -80.555466
-id = 10
+id = 7
+order = 6
+lineid = 1
+status = 6
+linetype = 0
+
+[Position8]
+x = 230.750946
+y = 1330.444702
+z = 339.72052
+u = 2.843005
+v = 6.159603
+w = -85.733009
+id = 8
 order = 7
 lineid = 1
+status = 7
+linetype = 0
+
+[Position9]
+x = 116.779472
+y = 1554.860718
+z = 598.915833
+u = 4.423964
+v = 15.661633
+w = -80.555466
+id = 9
+order = 8
+lineid = 1
+status = 8
+linetype = 0
+
+[Position10]
+x = 230.750946
+y = 1330.444702
+z = 339.72052
+u = 2.843005
+v = 6.159603
+w = -85.733009
+id = 10
+order = 9
+lineid = 1
 status = 3
 linetype = 0
 
 [Position11]
-x = 7.0
+x = 116.779472
-y = 50.0
+y = 1554.860718
-z = 1.0
+z = 598.915833
-u = 12.0
+u = 4.423964
-v = 0.0
+v = 15.661633
-w = 1.0
+w = -80.555466
 id = 11
-order = 9
+order = 10
 lineid = 1
-status = 4
+status = 9
 linetype = 0
 
 [Position12]
-x = 7.0
+x = 230.750946
-y = 50.0
+y = 1330.444702
-z = 1.0
+z = 339.72052
-u = 12.0
+u = 2.843005
-v = 0.0
+v = 6.159603
-w = 1.0
+w = -85.733009
 id = 12
-order = 10
-lineid = 1
-status = 5
-linetype = 0
-
-[Position13]
-x = 7.0
-y = 50.0
-z = 1.0
-u = 12.0
-v = 0.0
-w = 1.0
-id = 13
 order = 11
 lineid = 1
 status = 3
 linetype = 0
 
-[Position14]
-x = 7.0
-y = 50.0
-z = 1.0
-u = 12.0
-v = 0.0
-w = 1.0
-id = 14
-order = 12
-lineid = 1
-status = 3
-linetype = 0
-
-[Position15]
-x = 7.0
-y = 50.0
-z = 1.0
-u = 12.0
-v = 0.0
-w = 1.0
-id = 15
-order = 13
-lineid = 1
-status = 6
-linetype = 0
-
-[Position16]
-x = 7.0
-y = 50.0
-z = 1.0
-u = 12.0
-v = 0.0
-w = 1.0
-id = 16
-order = 14
-lineid = 1
-status = 7
-linetype = 0
-
-[Position17]
-x = 7.0
-y = 50.0
-z = 1.0
-u = 12.0
-v = 0.0
-w = 1.0
-id = 17
-order = 15
-lineid = 1
-status = 8
-linetype = 0
-
-[Position18]
-x = 7.0
-y = 50.0
-z = 1.0
-u = 12.0
-v = 0.0
-w = 1.0
-id = 18
-order = 16
-lineid = 1
-status = 3
-linetype = 0
-
-[Position19]
-x = 7.0
-y = 50.0
-z = 1.0
-u = 12.0
-v = 0.0
-w = 1.0
-id = 19
-order = 17
-lineid = 1
-status = 9
-linetype = 0
-
-[Position20]
-x = 7.0
-y = 50.0
-z = 1.0
-u = 12.0
-v = 0.0
-w = 1.0
-id = 20
-order = 18
-lineid = 1
-status = 3
-linetype = 0
-
-[Position21]
-x = 7.0
-y = 50.0
-z = 1.0
-u = 12.0
-v = 0.0
-w = 1.0
-id = 21
-order = 19
-lineid = 1
-status = 3
-linetype = 0
-
-[Position6]
-x = 7.0
-y = 50.0
-z = 1.0
-u = 12.0
-v = 0.0
-w = 1.0
-id = 6
-order = 20
-lineid = 1
-status = 3
-linetype = 0
-
-[FeedLine3]
-id = 3
-name = 124124
-
-[Position23]
-x = 0.0
-y = 0.0
-z = 0.0
-u = 0.0
-v = 0.0
-w = 0.0
-id = 23
-order = 0
-lineid = 3
-status = 1
-linetype = 0
-
-[Position24]
-x = 0.0
-y = 0.0
-z = 0.0
-u = 0.0
-v = 0.0
-w = 0.0
-id = 24
-order = 1
-lineid = 3
-status = 1
-linetype = 0
-
-[Position25]
-x = 0.0
-y = 0.0
-z = 0.0
-u = 0.0
-v = 0.0
-w = 0.0
-id = 25
-order = 2
-lineid = 3
-status = 1
-linetype = 0
-
-[Position26]
-x = 0.0
-y = 0.0
-z = 0.0
-u = 0.0
-v = 0.0
-w = 0.0
-id = 26
-order = 3
-lineid = 3
-status = 1
-linetype = 0
-
-[Position22]
-x = 0.0
-y = 0.0
-z = 0.0
-u = 0.0
-v = 0.0
-w = 0.0
-id = 22
-order = 4
-lineid = 3
-status = 1
-linetype = 0
-

Seting.ini

@@ -56,18 +56,17 @@ putdelay = 0.1
 shakedelay = 1.0
 
 [Speed]
-debug_speed=10
+debug_speed = 50
-feed_speed=10
+feed_speed = 10
-reset_speed=10
+reset_speed = 35
-
 
 [Origin]
-X = 0.0
+x = 143.921
-Y = 0.0
+y = 2170.454
-Z = 0.0
+z = 1627.494
-U = 0.0
+u = 3.234
-V = 0.0
+v = 24.269
-W = 0.0
+w = -87.403
 
 [Camera_Feed]
 ipaddress = 127.0.0.1

main.py

@@ -1005,7 +1005,7 @@ class MainWindow(QMainWindow, Ui_MainWindow):
             log.log_message(logging.ERROR, Constant.str_sys_set_error+e)
             pass
         #self.pushButton_speed.setText(str(Constant.speed))
-        log.log_message(logging.INFO, Constant.str_sys_setSpeed + str(Constant.speed)+'|'+str(Constant.debug_speed))
+        log.log_message(logging.INFO, Constant.str_sys_setSpeed + str(self.robotClient.debug_speed)+'|'+str(self.robotClient.feed_speed))
         pass
 
     def send_get_safe_position_button_click(self):
@@ -1134,13 +1134,17 @@ class MainWindow(QMainWindow, Ui_MainWindow):
 
     def send_reset_button_click(self):
         line_head = self.comboBox_lineIndex.currentData()
-        safe_position = self.feedLine_dict[line_head].safe_position
+        #safe_position = self.feedLine_dict[line_head].safe_position
         # self.send_position_command(safe_position.X, safe_position.Y, safe_position.Z, safe_position.U, safe_position.V, safe_position.W,move_type=MoveType.WORLD)
         if self.remain_lineName != '':
             line_head = f'{Constant.feedLine_set_section}{self.remain_lineName}'
+            return_positions = self.feedLine_dict[line_head].positions
+            position_origin = PositionModel()
+            position_origin.init_position(self.robotClient.origin_position)
+            return_positions.insert(0,position_origin)
             if self.feedLine_dict.keys().__contains__(line_head):
                 self.feeding.feedConfig= FeedingConfig(0, FeedLine(self.feedLine_dict[line_head].id, self.feedLine_dict[line_head].name,
-                                            self.feedLine_dict[line_head].positions),
+                                            return_positions),
                               self.feeding.robotClient.photo_locs[:])
             else:
                 log.log_message(logging.ERROR, Constant.str_feed_reset_no_line_error)
@@ -1239,10 +1243,11 @@ class MainWindow(QMainWindow, Ui_MainWindow):
                     if self.feeding.feedStatus == FeedStatus.FNone:
                         position_origin = PositionModel()
                         position_origin.init_position(self.robotClient.origin_position)
-                        command.feed_config.feedLine.positions.insert(0,position_origin)
+                        position_origin.status = 1
+                        command.feed_config.feedLine.feed_positions.insert(0,position_origin)
                         self.feeding.feedConfig = command.feed_config
                         self.robotClient.send_emergency_sound()
-                        time.sleep(5000)
+                        time.sleep(5)
                         self.robotClient.send_emergency_stop()
                         self.feeding.feedStatus = FeedStatus.FStart
                         # self.feeding.feed_Mid_Status = FeedMidStatus.FMid_Start
@@ -1271,6 +1276,8 @@ class MainWindow(QMainWindow, Ui_MainWindow):
                 # if result == QMessageBox.StandardButton.Cancel:
                 #     return
                 log.log_message(logging.ERROR, '人员进入安全区')
+
+            time.sleep(3)
         pass
 
     def updateUI(self):
@@ -1789,8 +1796,9 @@ class MainWindow(QMainWindow, Ui_MainWindow):
         self.lineEdit_w5.setText(str(self.robotClient.photo_locs[4][5]))
         pass
     def updateUI_Base_Set(self):
-        self.lineEdit_speed_run.setText(str(Constant.speed))
+        self.lineEdit_speed_run.setText(str(self.robotClient.feed_speed))
-        self.lineEdit_speed_debug.setText(str(Constant.shake_speed))
+        self.lineEdit_speed_debug.setText(str(self.robotClient.debug_speed))
+        self.lineEdit_speed_reset.setText(str(self.robotClient.reset_speed))
         self.lineEdit_solenoid1_addr.setText(str(self.robotClient.con_ios[0]))
         self.lineEdit_solenoid2_addr.setText(str(self.robotClient.con_ios[1]))
         self.lineEdit_solenoid3_addr.setText(str(self.robotClient.con_ios[2]))

test_ui.py

@@ -1,14 +1,9 @@
-output_n = 7
+from CU.Feeding import Feeding
-io_bit = 5
+from Model.Position import Real_Position
+from Model.RobotModel import MoveType
 
-def is_bit_set(n, position):
+feeding  = Feeding(None,None)
-    """
+p_mid = Real_Position().init_position(20,20,20,30,20,20)
-    检查整数 n 的第 position 位是否为 1
+p_end = Real_Position().init_position(30,40,5,30,3,3)
-    :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
 
-
+feeding.sendTargPosition(p_mid,MoveType.Cure,5,p_end)
-print(is_bit_set(7,3))