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update 更新信息填写

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This commit is contained in:
FrankCV2048
2024-12-21 14:19:27 +08:00
parent cd7e354cbd
commit c7edb09b08
4 changed files with 297 additions and 36 deletions
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71
CU/Feeding.py
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@ -196,6 +196,7 @@ class Feeding(QObject):
need_origin_signal = Signal(str)
take_no_photo_sigal = Signal()
update_detect_image = Signal(np.ndarray)
log_signal = Signal(int,str)
def __init__(self, robotClient: RobotClient):
super().__init__()
self.feedConfig = None
@ -268,13 +269,13 @@ class Feeding(QObject):
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
log.log_message(logging.INFO, Constant.str_feed_reverse)
self.log_signal.emit(logging.INFO, Constant.str_feed_reverse)
if self.feedStatus == FeedStatus.FNone or self.pause:
return
elif self.feedStatus == FeedStatus.FCheck:
log.log_message(logging.INFO, Constant.str_feed_check)
self.log_signal.emit(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():
@ -295,10 +296,10 @@ class Feeding(QObject):
self.next_position(self.is_reverse)
elif self.feedStatus == FeedStatus.FStart:
log.log_message(logging.INFO, Constant.str_feed_start)
self.log_signal.emit(logging.INFO, Constant.str_feed_start)
if not self.robotClient.origin_position.compare(real_position) and not self.is_reverse:
# QMessageBox.information(None, "提示", Constant.str_feed_start_error) # Fuck 引起异常
log.log_message(logging.ERROR, Constant.str_feed_start_error)
self.log_signal.emit(logging.ERROR, Constant.str_feed_start_error)
self.need_origin_signal.emit(Constant.str_feed_start_error)
self.feedStatus = FeedStatus.FNone
return
@ -314,7 +315,7 @@ class Feeding(QObject):
elif self.feedStatus == FeedStatus.FMid:
log.log_message(logging.INFO, Constant.str_feed_mid)
self.log_signal.emit(logging.INFO, Constant.str_feed_mid)
feed_pos = self.get_current_position(self.is_reverse)
if feed_pos.get_position().compare(real_position):
self.next_position(self.is_reverse)
@ -322,9 +323,9 @@ class Feeding(QObject):
elif self.feedStatus == FeedStatus.FPhoto:
log.log_message(logging.INFO, Constant.str_feed_photo)
self.log_signal.emit(logging.INFO, Constant.str_feed_photo)
if self.feedConfig.num == 0:
log.log_message(logging.INFO, Constant.str_feed_finish)
self.log_signal.emit(logging.INFO, Constant.str_feed_finish)
self.is_reverse = True
self.feed_Mid_Status = FeedMidStatus.FMid_Take
self.feedConfig.feedLine.start2take_pos_index = len(self.feedConfig.feedLine.start_to_take) -2
@ -341,7 +342,7 @@ class Feeding(QObject):
if Constant.Debug:
if self.feedConfig.num == 990 and self.onekey:
self.feedConfig.num = 0
log.log_message(logging.ERROR, Constant.str_feed_finish)
self.log_signal.emit(logging.ERROR, Constant.str_feed_finish)
return
self.detect.detect_status = DetectStatus.DNone
self.feedConfig.feedLine.set_take_position(real_position)
@ -349,7 +350,7 @@ class Feeding(QObject):
return
if self.detect.detect_position != None:
log.log_message(logging.INFO, Constant.str_feed_takePhoto_success)
self.log_signal.emit(logging.INFO, Constant.str_feed_takePhoto_success)
self.feedConfig.feedLine.set_take_position(self.detect.detect_position)
self.update_detect_image.emit(self.detect.detection_image)
self.next_position()
@ -357,9 +358,9 @@ class Feeding(QObject):
else:
if self.onekey:
self.feedConfig.num = 0
log.log_message(logging.ERROR, Constant.str_feed_finish)
self.log_signal.emit(logging.ERROR, Constant.str_feed_finish)
else:
log.log_message(logging.ERROR, Constant.str_feed_takePhoto_fail)
self.log_signal.emit(logging.ERROR, Constant.str_feed_takePhoto_fail)
self.take_no_photo_sigal.emit()
return
detect_pos_list = []
@ -369,7 +370,7 @@ class Feeding(QObject):
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)
self.log_signal.emit(logging.INFO, Constant.str_feed_photo_confirm)
# TODO 返回初始状态
for pos in self.feedConfig.photo_locs:
@ -381,7 +382,7 @@ class Feeding(QObject):
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)
self.log_signal.emit(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,
@ -394,9 +395,9 @@ class Feeding(QObject):
# 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)
self.log_signal.emit(logging.INFO, Constant.str_feed_takePhoto_success)
else:
log.log_message(logging.ERROR, Constant.str_feed_takePhoto_fail + real_position.to_string())
self.log_signal.emit(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))
@ -407,30 +408,30 @@ class Feeding(QObject):
# 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)
self.log_signal.emit(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)
self.log_signal.emit(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)
self.log_signal.emit(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.log_signal.emit(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.log_signal.emit(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)
self.log_signal.emit(logging.INFO, Constant.str_feed_takePhoto_move)
elif self.feedStatus == FeedStatus.FTake:
log.log_message(logging.INFO, Constant.str_feed_take)
self.log_signal.emit(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, is_action=True):
@ -439,7 +440,7 @@ class Feeding(QObject):
# self.sendIOControl(self.robotClient.con_ios[1], 1)
# self.sendIOControl(self.robotClient.con_ios[2], 1)
log.log_message(logging.INFO, "到达抓料点位")
self.log_signal.emit(logging.INFO, "到达抓料点位")
if self.catch.catch_status == CatchStatus.CNone :
self.catch.catch_status = CatchStatus.CTake
return
@ -449,11 +450,11 @@ class Feeding(QObject):
self.catch.catch_status = CatchStatus.CNone
#self.feedConfig.feedLine.set_take_position(None)
time.sleep(self.robotClient.time_delay_take)
log.log_message(logging.INFO, Constant.str_feed_take_success)
self.log_signal.emit(logging.INFO, Constant.str_feed_take_success)
self.next_position()
else:
log.log_message(logging.ERROR, Constant.str_feed_takePhoto_fail)
self.log_signal.emit(logging.ERROR, Constant.str_feed_takePhoto_fail)
# self.take_no_photo = True
# 继续获取图像
@ -464,18 +465,18 @@ class Feeding(QObject):
elif self.feedStatus == FeedStatus.FBroken1:
log.log_message(logging.INFO, Constant.str_feed_broken)
self.log_signal.emit(logging.INFO, Constant.str_feed_broken)
if self.get_current_position().get_position().compare(real_position):
self.next_position()
elif self.feedStatus == FeedStatus.FBroken2:
log.log_message(logging.INFO, Constant.str_feed_broken)
self.log_signal.emit(logging.INFO, Constant.str_feed_broken)
if self.get_current_position().get_position().compare(real_position):
self.next_position()
elif self.feedStatus == FeedStatus.FShake:
log.log_message(logging.INFO, Constant.str_feed_shake)
self.log_signal.emit(logging.INFO, Constant.str_feed_shake)
if self.get_current_position().get_position().compare(real_position,is_action=True):
# TODO 震动方案
@ -491,7 +492,7 @@ class Feeding(QObject):
self.next_position()
elif self.feedStatus == FeedStatus.FDropBag:
log.log_message(logging.INFO, Constant.str_feed_drop)
self.log_signal.emit(logging.INFO, Constant.str_feed_drop)
if self.get_current_position().get_position().compare(real_position,is_action=True):
# self.sendIOControl(self.robotClient.con_ios[0], 0)
@ -511,7 +512,7 @@ class Feeding(QObject):
if self.detect.detect_status == DetectStatus.DNone:
self.detect.detect_status = DetectStatus.DDetect
self.feedConfig.num = self.feedConfig.num - 1
log.log_message(logging.INFO, f'{Constant.str_feed_feed_num}{self.feedConfig.num}')
self.log_signal.emit(logging.INFO, f'{Constant.str_feed_feed_num}{self.feedConfig.num}')
self.next_position()
@ -541,7 +542,7 @@ class Feeding(QObject):
break
if self.pos_index == -1:
log.log_message(logging.ERROR, Constant.str_feed_return_original_position_fail)
self.log_signal.emit(logging.ERROR, Constant.str_feed_return_original_position_fail)
min_distance = 99999999
for index, pos_model in enumerate(self.feedConfig.feedLine.feed_positions):
if get_distance(pos_model.get_position(), real_position) < min_distance:
@ -612,7 +613,7 @@ class Feeding(QObject):
break
if pos_index == -1:
log.log_message(logging.ERROR, Constant.str_feed_return_original_position_fail)
self.log_signal.emit(logging.ERROR, Constant.str_feed_return_original_position_fail)
min_distance = 99999999
for index, pos_model in enumerate(self.feedConfig.feedLine.feed_positions):
if get_distance(pos_model.get_position(), real_position)<min_distance:
@ -667,7 +668,7 @@ class Feeding(QObject):
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}')
self.log_signal.emit(logging.INFO, f'{Constant.str_feed_io_control}{IO_bit}，{IO_Status}')
pass
def sendTargPosition(self, real_position, move_type: MoveType = MoveType.WORLD, speed=5,real_position1=None):
@ -703,7 +704,7 @@ class Feeding(QObject):
try:
log.log_message(logging.INFO, log_str)
self.log_signal.emit(logging.INFO, log_str)
except:
return
@ -731,7 +732,7 @@ class Feeding(QObject):
elif start_pos.lineType == LineType.WORLD.value:
if self.robotClient.status_model.getAnglePosition().is_error_angel_move(start_pos.get_position(),self.robotClient.max_angle_interval):
self.feedStatus = None
log.log_message(logging.ERROR, Constant.str_feed_angle_error)
self.log_signal.emit(logging.ERROR, Constant.str_feed_angle_error)
else:
self.sendTargPosition(real_position=start_pos.get_position(),speed=self.robotClient.debug_speed,move_type=MoveType.AXIS)
else:

2
Seting.ini
View File

@ -47,7 +47,7 @@ photo_v5 = 0.0
photo_w5 = 1.0
linecount = 2
remain_linename = 1
remain_count = 999
remain_count = 998
io_take_addr = 8
io_zip_addr = 11
io_shake_addr = 12

255
log/log.log
View File

@ -14805,3 +14805,258 @@
2024-12-19 23:27:39 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[{"oneshot":"1","action":"10","m0":"7.0","m1":"50.0","m2":"1.0","m3":"12.0","m4":"0.0","m5":"1.0","ckStatus":"0x3F","speed":"50","delay":"0","smooth":"4","tool":"2"}]}
2024-12-19 23:27:39 - INFO - 移动到拍照位置
2024-12-19 23:27:39 - WARNING - json解析错误{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"query","queryData":["0","7","50","1","12","0","1","10","48","1","12","0","1","0","0","0","2","0","0","0","0","0"]}{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"query","queryData":["0","7","50","1","12","0","1","10","48","1","12","0","1","0","0","0","2","0","0","0","0","0"]}
2024-12-20 20:25:43 - INFO - 进入系统
2024-12-20 20:25:59 - INFO - 用户主动退出程序
2024-12-20 20:26:02 - ERROR - 记录袋数失败
2024-12-20 20:26:02 - INFO - 退出系统
2024-12-21 14:14:48 - INFO - 进入系统
2024-12-21 14:15:20 - ERROR - 无回复
2024-12-21 14:15:20 - INFO - 重连中
2024-12-21 14:15:23 - WARNING - json解析错误{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"query","queryData":["0","7","50","1","12","0","1","10","48","1","12","0","1","0","0","0","2","0","0","0","0","0"]}{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"query","queryData":["0","7","50","1","12","0","1","10","48","1","12","0","1","0","0","0","2","0","0","0","0","0"]}{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"query","queryData":["0","7","50","1","12","0","1","10","48","1","12","0","1","0","0","0","2","0","0","0","0","0"]}
2024-12-21 14:15:23 - WARNING - json解析错误{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"query","queryData":["0","7","50","1","12","0","1","10","48","1","12","0","1","0","0","0","2","0","0","0","0","0"]}{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"query","queryData":["0","7","50","1","12","0","1","10","48","1","12","0","1","0","0","0","2","0","0","0","0","0"]}
2024-12-21 14:15:29 - WARNING - json解析错误{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"query","queryData":["0","7","50","1","12","0","1","10","48","1","12","0","1","0","0","0","2","0","0","0","0","0"]}{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"query","queryData":["0","7","50","1","12","0","1","10","48","1","12","0","1","0","0","0","2","0","0","0","0","0"]}{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"query","queryData":["0","7","50","1","12","0","1","10","48","1","12","0","1","0","0","0","2","0","0","0","0","0"]}
2024-12-21 14:15:29 - WARNING - json解析错误{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"query","queryData":["0","7","50","1","12","0","1","10","48","1","12","0","1","0","0","0","2","0","0","0","0","0"]}{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"query","queryData":["0","7","50","1","12","0","1","10","48","1","12","0","1","0","0","0","2","0","0","0","0","0"]}
2024-12-21 14:15:29 - INFO - 设置投料次数:1
2024-12-21 14:15:30 - WARNING - json解析错误{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"query","queryData":["0","7","50","1","12","0","1","10","48","1","12","0","1","0","0","0","2","0","0","0","0","0"]}{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"query","queryData":["0","7","50","1","12","0","1","10","48","1","12","0","1","0","0","0","2","0","0","0","0","0"]}
2024-12-21 14:15:30 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["switchTool","2"]}
2024-12-21 14:15:30 - INFO - 切换到工具坐标
2024-12-21 14:15:30 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["startButton","1"]}
2024-12-21 14:15:30 - INFO - 切换到自动运行状态
2024-12-21 14:15:30 - WARNING - json解析错误{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"query","queryData":["0","7","50","1","12","0","1","10","48","1","12","0","1","0","0","0","2","0","0","0","0","0"]}{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"query","queryData":["0","7","50","1","12","0","1","10","48","1","12","0","1","0","0","0","2","0","0","0","0","0"]}
2024-12-21 14:15:32 - WARNING - json解析错误{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"query","queryData":["0","7","50","1","12","0","1","10","48","1","12","0","1","0","0","0","2","0","0","0","0","0"]}{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"query","queryData":["0","7","50","1","12","0","1","10","48","1","12","0","1","0","0","0","2","0","0","0","0","0"]}{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"query","queryData":["0","7","50","1","12","0","1","10","48","1","12","0","1","0","0","0","2","0","0","0","0","0"]}
2024-12-21 14:15:32 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["switchTool","2"]}
2024-12-21 14:15:32 - INFO - 切换到工具坐标
2024-12-21 14:15:32 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["startButton","1"]}
2024-12-21 14:15:32 - INFO - 切换到自动运行状态
2024-12-21 14:15:32 - WARNING - json解析错误{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"query","queryData":["0","7","50","1","12","0","1","10","48","1","12","0","1","0","0","0","2","0","0","0","0","0"]}{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"query","queryData":["0","7","50","1","12","0","1","10","48","1","12","0","1","0","0","0","2","0","0","0","0","0"]}
2024-12-21 14:15:33 - INFO - 第一层确认生产
2024-12-21 14:15:33 - INFO - 反应釜1:投料开始
2024-12-21 14:15:33 - INFO - 发送命令{"dsID":"HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[{"oneshot":"1","action":"200","type":"0","io_status":"1","point":"3","delay":"0"}]}
2024-12-21 14:15:33 - INFO - 发送IO控制: 3，1
2024-12-21 14:15:33 - WARNING - json解析错误{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"query","queryData":["0","7","50","1","12","0","1","10","48","1","12","0","1","0","0","0","2","0","0","0","0","0"]}{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"query","queryData":["0","7","50","1","12","0","1","10","48","1","12","0","1","0","0","0","2","0","0","0","0","0"]}
2024-12-21 14:15:38 - INFO - 发送命令{"dsID":"HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[{"oneshot":"1","action":"200","type":"0","io_status":"0","point":"3","delay":"0"}]}
2024-12-21 14:15:38 - INFO - 发送IO控制: 3，0
2024-12-21 14:15:38 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[{"oneshot":"1","action":"10","m0":"7.0","m1":"50.0","m2":"1.0","m3":"12.0","m4":"0.0","m5":"1.0","ckStatus":"0x3F","speed":"50","delay":"0","smooth":"4","tool":"2"}]}
2024-12-21 14:15:38 - INFO - 投料开始
2024-12-21 14:15:38 - INFO - 移动到位置:姿势直线：X:7.0-Y:50.0-Z:1.0-U:12.0-V:0.0-W:1.0
2024-12-21 14:15:38 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[{"oneshot":"1","action":"10","m0":"7.0","m1":"50.0","m2":"1.0","m3":"12.0","m4":"0.0","m5":"1.0","ckStatus":"0x3F","speed":"50","delay":"0","smooth":"4","tool":"2"}]}
2024-12-21 14:15:38 - INFO - 投料开始
2024-12-21 14:15:38 - INFO - 移动到位置:姿势直线：X:7.0-Y:50.0-Z:1.0-U:12.0-V:0.0-W:1.0
2024-12-21 14:15:38 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[{"oneshot":"1","action":"10","m0":"7.0","m1":"50.0","m2":"1.0","m3":"12.0","m4":"0.0","m5":"1.0","ckStatus":"0x3F","speed":"50","delay":"0","smooth":"4","tool":"2"}]}
2024-12-21 14:15:38 - INFO - 移动到中位位置
2024-12-21 14:15:38 - WARNING - json解析错误{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"query","queryData":["0","7","50","1","12","0","1","10","48","1","12","0","1","0","0","0","2","0","0","0","0","0"]}{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"query","queryData":["0","7","50","1","12","0","1","10","48","1","12","0","1","0","0","0","2","0","0","0","0","0"]}
2024-12-21 14:15:38 - INFO - 移动到位置:姿势直线：X:7.0-Y:50.0-Z:1.0-U:12.0-V:0.0-W:1.0
2024-12-21 14:15:38 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[{"oneshot":"1","action":"10","m0":"7.0","m1":"50.0","m2":"1.0","m3":"12.0","m4":"0.0","m5":"1.0","ckStatus":"0x3F","speed":"50","delay":"0","smooth":"4","tool":"2"}]}
2024-12-21 14:15:38 - INFO - 移动到中位位置
2024-12-21 14:15:38 - INFO - 移动到位置:姿势直线：X:7.0-Y:50.0-Z:1.0-U:12.0-V:0.0-W:1.0
2024-12-21 14:15:38 - INFO - 检测是否安全投料
2024-12-21 14:15:38 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[{"oneshot":"1","action":"10","m0":"7.0","m1":"50.0","m2":"1.0","m3":"12.0","m4":"0.0","m5":"1.0","ckStatus":"0x3F","speed":"50","delay":"0","smooth":"4","tool":"2"}]}
2024-12-21 14:15:38 - INFO - 移动到位置:姿势直线：X:7.0-Y:50.0-Z:1.0-U:12.0-V:0.0-W:1.0
2024-12-21 14:15:38 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[{"oneshot":"1","action":"10","m0":"7.0","m1":"50.0","m2":"1.0","m3":"12.0","m4":"0.0","m5":"1.0","ckStatus":"0x3F","speed":"50","delay":"0","smooth":"4","tool":"2"}]}
2024-12-21 14:15:38 - INFO - 检测是否安全投料
2024-12-21 14:15:38 - INFO - 移动到位置:姿势直线：X:7.0-Y:50.0-Z:1.0-U:12.0-V:0.0-W:1.0
2024-12-21 14:15:38 - INFO - 移动到拍照位置
2024-12-21 14:15:38 - WARNING - json解析错误{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"query","queryData":["0","7","50","1","12","0","1","10","48","1","12","0","1","0","0","0","2","0","0","0","0","0"]}{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"query","queryData":["0","7","50","1","12","0","1","10","48","1","12","0","1","0","0","0","2","0","0","0","0","0"]}
2024-12-21 14:15:38 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[{"oneshot":"1","action":"10","m0":"7.0","m1":"50.0","m2":"1.0","m3":"12.0","m4":"0.0","m5":"1.0","ckStatus":"0x3F","speed":"50","delay":"0","smooth":"4","tool":"2"}]}
2024-12-21 14:15:38 - INFO - 移动到拍照位置
2024-12-21 14:15:38 - INFO - 移动到位置:姿势直线：X:7.0-Y:50.0-Z:1.0-U:12.0-V:0.0-W:1.0
2024-12-21 14:15:39 - INFO - 移动到拍照位置
2024-12-21 14:15:39 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[{"oneshot":"1","action":"10","m0":"7.0","m1":"50.0","m2":"1.0","m3":"12.0","m4":"0.0","m5":"1.0","ckStatus":"0x3F","speed":"50","delay":"0","smooth":"4","tool":"2"}]}
2024-12-21 14:15:39 - INFO - 移动到拍照位置
2024-12-21 14:15:39 - INFO - 移动到位置:姿势直线：X:7.0-Y:50.0-Z:1.0-U:12.0-V:0.0-W:1.0
2024-12-21 14:15:39 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[{"oneshot":"1","action":"10","m0":"7.0","m1":"50.0","m2":"1.0","m3":"12.0","m4":"0.0","m5":"1.0","ckStatus":"0x3F","speed":"50","delay":"0","smooth":"4","tool":"2"}]}
2024-12-21 14:15:39 - INFO - 移动到中位位置
2024-12-21 14:15:39 - INFO - 移动到位置:姿势直线：X:7.0-Y:50.0-Z:1.0-U:12.0-V:0.0-W:1.0
2024-12-21 14:15:39 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[{"oneshot":"1","action":"10","m0":"7.0","m1":"50.0","m2":"1.0","m3":"12.0","m4":"0.0","m5":"1.0","ckStatus":"0x3F","speed":"50","delay":"0","smooth":"4","tool":"2"}]}
2024-12-21 14:15:39 - INFO - 移动到中位位置
2024-12-21 14:15:39 - INFO - 移动到位置:姿势直线：X:7.0-Y:50.0-Z:1.0-U:12.0-V:0.0-W:1.0
2024-12-21 14:15:39 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[{"oneshot":"1","action":"10","m0":"7.0","m1":"50.0","m2":"1.0","m3":"12.0","m4":"0.0","m5":"1.0","ckStatus":"0x3F","speed":"50","delay":"0","smooth":"4","tool":"2"}]}
2024-12-21 14:15:39 - INFO - 移动到中位位置
2024-12-21 14:15:39 - INFO - 移动到位置:姿势直线：X:7.0-Y:50.0-Z:1.0-U:12.0-V:0.0-W:1.0
2024-12-21 14:15:39 - WARNING - json解析错误{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"query","queryData":["0","7","50","1","12","0","1","10","48","1","12","0","1","0","0","0","2","0","0","0","0","0"]}{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"query","queryData":["0","7","50","1","12","0","1","10","48","1","12","0","1","0","0","0","2","0","0","0","0","0"]}
2024-12-21 14:15:39 - INFO - 移动到抓料位置
2024-12-21 14:15:39 - INFO - 到达抓料点位
2024-12-21 14:15:39 - INFO - 发送命令{"dsID":"HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[{"oneshot":"1","action":"200","type":"0","io_status":"1","point":"8","delay":"0"}]}
2024-12-21 14:15:39 - INFO - 发送IO控制: 8，1
2024-12-21 14:15:39 - INFO - 发送命令{"dsID":"HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[{"oneshot":"1","action":"200","type":"0","io_status":"0","point":"11","delay":"0"}]}
2024-12-21 14:15:39 - INFO - 发送IO控制: 11，0
2024-12-21 14:15:39 - INFO - 移动到抓料位置
2024-12-21 14:15:39 - INFO - 到达抓料点位
2024-12-21 14:15:39 - INFO - 抓料成功
2024-12-21 14:15:39 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[{"oneshot":"1","action":"10","m0":"7.0","m1":"50.0","m2":"1.0","m3":"12.0","m4":"0.0","m5":"1.0","ckStatus":"0x3F","speed":"50","delay":"0","smooth":"4","tool":"2"}]}
2024-12-21 14:15:39 - INFO - 移动到位置:姿势直线：X:7.0-Y:50.0-Z:1.0-U:12.0-V:0.0-W:1.0
2024-12-21 14:15:39 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[{"oneshot":"1","action":"10","m0":"7.0","m1":"50.0","m2":"1.0","m3":"12.0","m4":"0.0","m5":"1.0","ckStatus":"0x3F","speed":"50","delay":"0","smooth":"4","tool":"2"}]}
2024-12-21 14:15:39 - INFO - 移动到中位位置
2024-12-21 14:15:39 - INFO - 移动到位置:姿势直线：X:7.0-Y:50.0-Z:1.0-U:12.0-V:0.0-W:1.0
2024-12-21 14:15:40 - INFO - 移动到中位位置
2024-12-21 14:15:40 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[{"oneshot":"1","action":"10","m0":"7.0","m1":"50.0","m2":"1.0","m3":"12.0","m4":"0.0","m5":"1.0","ckStatus":"0x3F","speed":"50","delay":"0","smooth":"4","tool":"2"}]}
2024-12-21 14:15:40 - INFO - 移动到位置:姿势直线：X:7.0-Y:50.0-Z:1.0-U:12.0-V:0.0-W:1.0
2024-12-21 14:15:40 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[{"oneshot":"1","action":"10","m0":"7.0","m1":"50.0","m2":"1.0","m3":"12.0","m4":"0.0","m5":"1.0","ckStatus":"0x3F","speed":"50","delay":"0","smooth":"4","tool":"2"}]}
2024-12-21 14:15:40 - INFO - 移动到中位位置
2024-12-21 14:15:40 - INFO - 移动到位置:姿势直线：X:7.0-Y:50.0-Z:1.0-U:12.0-V:0.0-W:1.0
2024-12-21 14:15:40 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[{"oneshot":"1","action":"10","m0":"7.0","m1":"50.0","m2":"1.0","m3":"12.0","m4":"0.0","m5":"1.0","ckStatus":"0x3F","speed":"50","delay":"0","smooth":"4","tool":"2"}]}
2024-12-21 14:15:40 - INFO - 移动到破袋位置
2024-12-21 14:15:40 - INFO - 移动到位置:姿势直线：X:7.0-Y:50.0-Z:1.0-U:12.0-V:0.0-W:1.0
2024-12-21 14:15:40 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[{"oneshot":"1","action":"10","m0":"7.0","m1":"50.0","m2":"1.0","m3":"12.0","m4":"0.0","m5":"1.0","ckStatus":"0x3F","speed":"50","delay":"0","smooth":"4","tool":"2"}]}
2024-12-21 14:15:40 - INFO - 移动到破袋位置
2024-12-21 14:15:40 - INFO - 移动到位置:姿势直线：X:7.0-Y:50.0-Z:1.0-U:12.0-V:0.0-W:1.0
2024-12-21 14:15:40 - WARNING - json解析错误{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"query","queryData":["0","7","50","1","12","0","1","10","48","1","12","0","1","0","0","0","2","0","0","0","0","0"]}{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"query","queryData":["0","7","50","1","12","0","1","10","48","1","12","0","1","0","0","0","2","0","0","0","0","0"]}
2024-12-21 14:15:40 - INFO - 摇摆
2024-12-21 14:15:40 - INFO - 发送命令{"dsID":"HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[{"oneshot":"1","action":"200","type":"0","io_status":"1","point":"12","delay":"0"}]}
2024-12-21 14:15:40 - INFO - 发送IO控制: 12，1
2024-12-21 14:15:40 - INFO - 摇摆
2024-12-21 14:15:40 - INFO - 发送命令{"dsID":"HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[{"oneshot":"1","action":"200","type":"0","io_status":"0","point":"12","delay":"0"}]}
2024-12-21 14:15:40 - INFO - 发送IO控制: 12，0
2024-12-21 14:15:40 - INFO - 摇摆
2024-12-21 14:15:40 - INFO - 发送命令{"dsID":"HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[{"oneshot":"1","action":"200","type":"0","io_status":"0","point":"12","delay":"0"}]}
2024-12-21 14:15:40 - INFO - 发送IO控制: 12，0
2024-12-21 14:15:40 - INFO - 摇摆
2024-12-21 14:15:40 - INFO - 发送命令{"dsID":"HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[{"oneshot":"1","action":"200","type":"0","io_status":"1","point":"12","delay":"0"}]}
2024-12-21 14:15:40 - INFO - 发送IO控制: 12，1
2024-12-21 14:15:40 - INFO - 摇摆
2024-12-21 14:15:41 - INFO - 发送命令{"dsID":"HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[{"oneshot":"1","action":"200","type":"0","io_status":"1","point":"12","delay":"0"}]}
2024-12-21 14:15:41 - INFO - 发送IO控制: 12，1
2024-12-21 14:15:41 - WARNING - json解析错误{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"query","queryData":["0","7","50","1","12","0","1","10","48","1","12","0","1","0","0","0","2","0","0","0","0","0"]}{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"query","queryData":["0","7","50","1","12","0","1","10","48","1","12","0","1","0","0","0","2","0","0","0","0","0"]}
2024-12-21 14:15:41 - INFO - 摇摆
2024-12-21 14:15:41 - INFO - 发送命令{"dsID":"HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[{"oneshot":"1","action":"200","type":"0","io_status":"0","point":"12","delay":"0"}]}
2024-12-21 14:15:41 - INFO - 发送IO控制: 12，0
2024-12-21 14:15:41 - INFO - 摇摆
2024-12-21 14:15:41 - INFO - 发送命令{"dsID":"HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[{"oneshot":"1","action":"200","type":"0","io_status":"0","point":"12","delay":"0"}]}
2024-12-21 14:15:41 - INFO - 发送IO控制: 12，0
2024-12-21 14:15:41 - INFO - 摇摆
2024-12-21 14:15:41 - INFO - 发送命令{"dsID":"HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[{"oneshot":"1","action":"200","type":"0","io_status":"1","point":"12","delay":"0"}]}
2024-12-21 14:15:41 - INFO - 发送IO控制: 12，1
2024-12-21 14:15:41 - INFO - 摇摆
2024-12-21 14:15:41 - INFO - 发送命令{"dsID":"HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[{"oneshot":"1","action":"200","type":"0","io_status":"1","point":"12","delay":"0"}]}
2024-12-21 14:15:41 - INFO - 发送IO控制: 12，1
2024-12-21 14:15:41 - INFO - 摇摆
2024-12-21 14:15:41 - INFO - 发送命令{"dsID":"HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[{"oneshot":"1","action":"200","type":"0","io_status":"0","point":"12","delay":"0"}]}
2024-12-21 14:15:41 - INFO - 发送IO控制: 12，0
2024-12-21 14:15:41 - INFO - 摇摆
2024-12-21 14:15:41 - WARNING - json解析错误{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"query","queryData":["0","7","50","1","12","0","1","10","48","1","12","0","1","0","0","0","2","0","0","0","0","0"]}{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"query","queryData":["0","7","50","1","12","0","1","10","48","1","12","0","1","0","0","0","2","0","0","0","0","0"]}
2024-12-21 14:15:41 - INFO - 发送命令{"dsID":"HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[{"oneshot":"1","action":"200","type":"0","io_status":"0","point":"12","delay":"0"}]}
2024-12-21 14:15:41 - INFO - 发送IO控制: 12，0
2024-12-21 14:15:41 - INFO - 摇摆
2024-12-21 14:15:41 - INFO - 发送命令{"dsID":"HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[{"oneshot":"1","action":"200","type":"0","io_status":"1","point":"12","delay":"0"}]}
2024-12-21 14:15:41 - INFO - 发送IO控制: 12，1
2024-12-21 14:15:41 - INFO - 摇摆
2024-12-21 14:15:41 - INFO - 发送命令{"dsID":"HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[{"oneshot":"1","action":"200","type":"0","io_status":"1","point":"12","delay":"0"}]}
2024-12-21 14:15:41 - INFO - 发送IO控制: 12，1
2024-12-21 14:15:41 - INFO - 摇摆
2024-12-21 14:15:42 - INFO - 发送命令{"dsID":"HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[{"oneshot":"1","action":"200","type":"0","io_status":"0","point":"12","delay":"0"}]}
2024-12-21 14:15:42 - INFO - 发送IO控制: 12，0
2024-12-21 14:15:42 - INFO - 摇摆
2024-12-21 14:15:42 - INFO - 发送命令{"dsID":"HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[{"oneshot":"1","action":"200","type":"0","io_status":"0","point":"12","delay":"0"}]}
2024-12-21 14:15:42 - INFO - 发送IO控制: 12，0
2024-12-21 14:15:42 - INFO - 发送命令{"dsID":"HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[{"oneshot":"1","action":"200","type":"0","io_status":"0","point":"11","delay":"0"}]}
2024-12-21 14:15:42 - INFO - 发送IO控制: 11，0
2024-12-21 14:15:42 - INFO - 摇摆
2024-12-21 14:15:42 - WARNING - json解析错误{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"query","queryData":["0","7","50","1","12","0","1","10","48","1","12","0","1","0","0","0","2","0","0","0","0","0"]}{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"query","queryData":["0","7","50","1","12","0","1","10","48","1","12","0","1","0","0","0","2","0","0","0","0","0"]}
2024-12-21 14:15:43 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[{"oneshot":"1","action":"10","m0":"7.0","m1":"50.0","m2":"1.0","m3":"12.0","m4":"0.0","m5":"1.0","ckStatus":"0x3F","speed":"50","delay":"0","smooth":"4","tool":"2"}]}
2024-12-21 14:15:43 - INFO - 移动到位置:姿势直线：X:7.0-Y:50.0-Z:1.0-U:12.0-V:0.0-W:1.0
2024-12-21 14:15:43 - INFO - 移动扔空袋
2024-12-21 14:15:43 - INFO - 发送命令{"dsID":"HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[{"oneshot":"1","action":"200","type":"0","io_status":"0","point":"8","delay":"0"}]}
2024-12-21 14:15:43 - INFO - 发送IO控制: 8，0
2024-12-21 14:15:43 - INFO - 发送命令{"dsID":"HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[{"oneshot":"1","action":"200","type":"0","io_status":"1","point":"11","delay":"0"}]}
2024-12-21 14:15:43 - INFO - 发送IO控制: 11，1
2024-12-21 14:15:43 - INFO - 发送命令{"dsID":"HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[{"oneshot":"1","action":"200","type":"0","io_status":"0","point":"11","delay":"0"}]}
2024-12-21 14:15:43 - INFO - 发送IO控制: 11，0
2024-12-21 14:15:43 - INFO - 移动扔空袋
2024-12-21 14:15:43 - WARNING - json解析错误{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"query","queryData":["0","7","50","1","12","0","1","10","48","1","12","0","1","0","0","0","2","0","0","0","0","0"]}{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"query","queryData":["0","7","50","1","12","0","1","10","48","1","12","0","1","0","0","0","2","0","0","0","0","0"]}
2024-12-21 14:15:43 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[{"oneshot":"1","action":"10","m0":"7.0","m1":"50.0","m2":"1.0","m3":"12.0","m4":"0.0","m5":"1.0","ckStatus":"0x3F","speed":"50","delay":"0","smooth":"4","tool":"2"}]}
2024-12-21 14:15:43 - INFO - 剩余投料次数：998
2024-12-21 14:15:43 - INFO - 移动到位置:姿势直线：X:7.0-Y:50.0-Z:1.0-U:12.0-V:0.0-W:1.0
2024-12-21 14:15:43 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[{"oneshot":"1","action":"10","m0":"7.0","m1":"50.0","m2":"1.0","m3":"12.0","m4":"0.0","m5":"1.0","ckStatus":"0x3F","speed":"50","delay":"0","smooth":"4","tool":"2"}]}
2024-12-21 14:15:43 - INFO - 移动到拍照位置
2024-12-21 14:15:43 - INFO - 移动到位置:姿势直线：X:7.0-Y:50.0-Z:1.0-U:12.0-V:0.0-W:1.0
2024-12-21 14:15:43 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[{"oneshot":"1","action":"10","m0":"7.0","m1":"50.0","m2":"1.0","m3":"12.0","m4":"0.0","m5":"1.0","ckStatus":"0x3F","speed":"50","delay":"0","smooth":"4","tool":"2"}]}
2024-12-21 14:15:43 - INFO - 移动到中位位置
2024-12-21 14:15:43 - INFO - 移动到位置:姿势直线：X:7.0-Y:50.0-Z:1.0-U:12.0-V:0.0-W:1.0
2024-12-21 14:15:43 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[{"oneshot":"1","action":"10","m0":"7.0","m1":"50.0","m2":"1.0","m3":"12.0","m4":"0.0","m5":"1.0","ckStatus":"0x3F","speed":"50","delay":"0","smooth":"4","tool":"2"}]}
2024-12-21 14:15:43 - INFO - 移动到中位位置
2024-12-21 14:15:43 - INFO - 移动到位置:姿势直线：X:7.0-Y:50.0-Z:1.0-U:12.0-V:0.0-W:1.0
2024-12-21 14:15:43 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[{"oneshot":"1","action":"10","m0":"7.0","m1":"50.0","m2":"1.0","m3":"12.0","m4":"0.0","m5":"1.0","ckStatus":"0x3F","speed":"50","delay":"0","smooth":"4","tool":"2"}]}
2024-12-21 14:15:43 - INFO - 移动到中位位置
2024-12-21 14:15:43 - INFO - 移动到位置:姿势直线：X:7.0-Y:50.0-Z:1.0-U:12.0-V:0.0-W:1.0
2024-12-21 14:15:44 - WARNING - json解析错误{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"query","queryData":["0","7","50","1","12","0","1","10","48","1","12","0","1","0","0","0","2","0","0","0","0","0"]}{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"query","queryData":["0","7","50","1","12","0","1","10","48","1","12","0","1","0","0","0","2","0","0","0","0","0"]}
2024-12-21 14:15:44 - INFO - 移动到抓料位置
2024-12-21 14:15:44 - INFO - 到达抓料点位
2024-12-21 14:15:44 - INFO - 发送命令{"dsID":"HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[{"oneshot":"1","action":"200","type":"0","io_status":"1","point":"8","delay":"0"}]}
2024-12-21 14:15:44 - INFO - 发送IO控制: 8，1
2024-12-21 14:15:44 - INFO - 发送命令{"dsID":"HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[{"oneshot":"1","action":"200","type":"0","io_status":"0","point":"11","delay":"0"}]}
2024-12-21 14:15:44 - INFO - 发送IO控制: 11，0
2024-12-21 14:15:44 - INFO - 移动到抓料位置
2024-12-21 14:15:44 - INFO - 到达抓料点位
2024-12-21 14:15:44 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[{"oneshot":"1","action":"10","m0":"7.0","m1":"50.0","m2":"1.0","m3":"12.0","m4":"0.0","m5":"1.0","ckStatus":"0x3F","speed":"50","delay":"0","smooth":"4","tool":"2"}]}
2024-12-21 14:15:44 - INFO - 抓料成功
2024-12-21 14:15:44 - INFO - 移动到位置:姿势直线：X:7.0-Y:50.0-Z:1.0-U:12.0-V:0.0-W:1.0
2024-12-21 14:15:44 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[{"oneshot":"1","action":"10","m0":"7.0","m1":"50.0","m2":"1.0","m3":"12.0","m4":"0.0","m5":"1.0","ckStatus":"0x3F","speed":"50","delay":"0","smooth":"4","tool":"2"}]}
2024-12-21 14:15:44 - INFO - 移动到中位位置
2024-12-21 14:15:44 - INFO - 移动到位置:姿势直线：X:7.0-Y:50.0-Z:1.0-U:12.0-V:0.0-W:1.0
2024-12-21 14:15:44 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[{"oneshot":"1","action":"10","m0":"7.0","m1":"50.0","m2":"1.0","m3":"12.0","m4":"0.0","m5":"1.0","ckStatus":"0x3F","speed":"50","delay":"0","smooth":"4","tool":"2"}]}
2024-12-21 14:15:44 - INFO - 移动到中位位置
2024-12-21 14:15:44 - INFO - 移动到位置:姿势直线：X:7.0-Y:50.0-Z:1.0-U:12.0-V:0.0-W:1.0
2024-12-21 14:15:44 - WARNING - json解析错误{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"query","queryData":["0","7","50","1","12","0","1","10","48","1","12","0","1","0","0","0","2","0","0","0","0","0"]}{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"query","queryData":["0","7","50","1","12","0","1","10","48","1","12","0","1","0","0","0","2","0","0","0","0","0"]}
2024-12-21 14:15:44 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[{"oneshot":"1","action":"10","m0":"7.0","m1":"50.0","m2":"1.0","m3":"12.0","m4":"0.0","m5":"1.0","ckStatus":"0x3F","speed":"50","delay":"0","smooth":"4","tool":"2"}]}
2024-12-21 14:15:44 - INFO - 移动到中位位置
2024-12-21 14:15:44 - INFO - 移动到位置:姿势直线：X:7.0-Y:50.0-Z:1.0-U:12.0-V:0.0-W:1.0
2024-12-21 14:15:44 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[{"oneshot":"1","action":"10","m0":"7.0","m1":"50.0","m2":"1.0","m3":"12.0","m4":"0.0","m5":"1.0","ckStatus":"0x3F","speed":"50","delay":"0","smooth":"4","tool":"2"}]}
2024-12-21 14:15:44 - INFO - 移动到破袋位置
2024-12-21 14:15:44 - INFO - 移动到位置:姿势直线：X:7.0-Y:50.0-Z:1.0-U:12.0-V:0.0-W:1.0
2024-12-21 14:15:44 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[{"oneshot":"1","action":"10","m0":"7.0","m1":"50.0","m2":"1.0","m3":"12.0","m4":"0.0","m5":"1.0","ckStatus":"0x3F","speed":"50","delay":"0","smooth":"4","tool":"2"}]}
2024-12-21 14:15:44 - INFO - 移动到破袋位置
2024-12-21 14:15:44 - INFO - 移动到位置:姿势直线：X:7.0-Y:50.0-Z:1.0-U:12.0-V:0.0-W:1.0
2024-12-21 14:15:45 - INFO - 摇摆
2024-12-21 14:15:45 - INFO - 发送命令{"dsID":"HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[{"oneshot":"1","action":"200","type":"0","io_status":"0","point":"12","delay":"0"}]}
2024-12-21 14:15:45 - INFO - 发送IO控制: 12，0
2024-12-21 14:15:45 - INFO - 摇摆
2024-12-21 14:15:45 - INFO - 发送命令{"dsID":"HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[{"oneshot":"1","action":"200","type":"0","io_status":"1","point":"12","delay":"0"}]}
2024-12-21 14:15:45 - WARNING - json解析错误{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"query","queryData":["0","7","50","1","12","0","1","10","48","1","12","0","1","0","0","0","2","0","0","0","0","0"]}{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"query","queryData":["0","7","50","1","12","0","1","10","48","1","12","0","1","0","0","0","2","0","0","0","0","0"]}
2024-12-21 14:15:45 - INFO - 发送IO控制: 12，1
2024-12-21 14:15:45 - INFO - 摇摆
2024-12-21 14:15:45 - INFO - 发送命令{"dsID":"HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[{"oneshot":"1","action":"200","type":"0","io_status":"1","point":"12","delay":"0"}]}
2024-12-21 14:15:45 - INFO - 发送IO控制: 12，1
2024-12-21 14:15:45 - INFO - 摇摆
2024-12-21 14:15:45 - INFO - 发送命令{"dsID":"HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[{"oneshot":"1","action":"200","type":"0","io_status":"0","point":"12","delay":"0"}]}
2024-12-21 14:15:45 - INFO - 发送IO控制: 12，0
2024-12-21 14:15:45 - INFO - 摇摆
2024-12-21 14:15:45 - INFO - 发送命令{"dsID":"HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[{"oneshot":"1","action":"200","type":"0","io_status":"0","point":"12","delay":"0"}]}
2024-12-21 14:15:45 - INFO - 发送IO控制: 12，0
2024-12-21 14:15:45 - INFO - 摇摆
2024-12-21 14:15:45 - INFO - 发送命令{"dsID":"HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[{"oneshot":"1","action":"200","type":"0","io_status":"1","point":"12","delay":"0"}]}
2024-12-21 14:15:45 - INFO - 发送IO控制: 12，1
2024-12-21 14:15:45 - INFO - 摇摆
2024-12-21 14:15:45 - INFO - 发送命令{"dsID":"HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[{"oneshot":"1","action":"200","type":"0","io_status":"1","point":"12","delay":"0"}]}
2024-12-21 14:15:45 - INFO - 发送IO控制: 12，1
2024-12-21 14:15:45 - INFO - 摇摆
2024-12-21 14:15:45 - INFO - 发送命令{"dsID":"HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[{"oneshot":"1","action":"200","type":"0","io_status":"0","point":"12","delay":"0"}]}
2024-12-21 14:15:45 - INFO - 发送IO控制: 12，0
2024-12-21 14:15:45 - INFO - 摇摆
2024-12-21 14:15:46 - INFO - 发送命令{"dsID":"HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[{"oneshot":"1","action":"200","type":"0","io_status":"0","point":"12","delay":"0"}]}
2024-12-21 14:15:46 - INFO - 发送IO控制: 12，0
2024-12-21 14:15:46 - INFO - 摇摆
2024-12-21 14:15:46 - INFO - 发送命令{"dsID":"HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[{"oneshot":"1","action":"200","type":"0","io_status":"1","point":"12","delay":"0"}]}
2024-12-21 14:15:46 - INFO - 发送IO控制: 12，1
2024-12-21 14:15:46 - INFO - 摇摆
2024-12-21 14:15:46 - INFO - 发送命令{"dsID":"HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[{"oneshot":"1","action":"200","type":"0","io_status":"1","point":"12","delay":"0"}]}
2024-12-21 14:15:46 - INFO - 发送IO控制: 12，1
2024-12-21 14:15:46 - INFO - 摇摆
2024-12-21 14:15:46 - WARNING - json解析错误{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"query","queryData":["0","7","50","1","12","0","1","10","48","1","12","0","1","0","0","0","2","0","0","0","0","0"]}{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"query","queryData":["0","7","50","1","12","0","1","10","48","1","12","0","1","0","0","0","2","0","0","0","0","0"]}
2024-12-21 14:15:46 - INFO - 发送命令{"dsID":"HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[{"oneshot":"1","action":"200","type":"0","io_status":"0","point":"12","delay":"0"}]}
2024-12-21 14:15:46 - INFO - 发送IO控制: 12，0
2024-12-21 14:15:46 - INFO - 摇摆
2024-12-21 14:15:46 - INFO - 发送命令{"dsID":"HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[{"oneshot":"1","action":"200","type":"0","io_status":"0","point":"12","delay":"0"}]}
2024-12-21 14:15:46 - INFO - 发送IO控制: 12，0
2024-12-21 14:15:46 - INFO - 摇摆
2024-12-21 14:15:46 - INFO - 发送命令{"dsID":"HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[{"oneshot":"1","action":"200","type":"0","io_status":"1","point":"12","delay":"0"}]}
2024-12-21 14:15:46 - INFO - 发送IO控制: 12，1
2024-12-21 14:15:46 - INFO - 摇摆
2024-12-21 14:15:46 - INFO - 发送命令{"dsID":"HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[{"oneshot":"1","action":"200","type":"0","io_status":"0","point":"12","delay":"0"}]}
2024-12-21 14:15:46 - INFO - 发送IO控制: 12，0
2024-12-21 14:15:46 - INFO - 发送命令{"dsID":"HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[{"oneshot":"1","action":"200","type":"0","io_status":"0","point":"11","delay":"0"}]}
2024-12-21 14:15:46 - INFO - 发送IO控制: 11，0
2024-12-21 14:15:46 - INFO - 摇摆
2024-12-21 14:15:46 - WARNING - json解析错误{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"query","queryData":["0","7","50","1","12","0","1","10","48","1","12","0","1","0","0","0","2","0","0","0","0","0"]}{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"query","queryData":["0","7","50","1","12","0","1","10","48","1","12","0","1","0","0","0","2","0","0","0","0","0"]}
2024-12-21 14:15:47 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[{"oneshot":"1","action":"10","m0":"7.0","m1":"50.0","m2":"1.0","m3":"12.0","m4":"0.0","m5":"1.0","ckStatus":"0x3F","speed":"50","delay":"0","smooth":"4","tool":"2"}]}
2024-12-21 14:15:47 - INFO - 移动到位置:姿势直线：X:7.0-Y:50.0-Z:1.0-U:12.0-V:0.0-W:1.0
2024-12-21 14:15:47 - INFO - 退出系统

5
main.py
View File

@ -644,6 +644,7 @@ class MainWindow(QMainWindow, Ui_MainWindow):
self.feeding.need_origin_signal.connect(self.show_infomessage_box)
self.feeding.take_no_photo_sigal.connect(self.show_no_photo_message_box)
self.feeding.update_detect_image.connect(self.updateUI_label_detection)
self.feeding.log_signal.connect(self.log_message)
self.last_time = time.time()
self.remain_lineName = self.configReader.get('Robot_Feed', 'remain_lineName')
self.remain_Count = int(self.configReader.get('Robot_Feed', 'remain_Count'))
@ -1426,6 +1427,10 @@ class MainWindow(QMainWindow, Ui_MainWindow):
self.label_showDetection.setPixmap(backgroud_img)
@Slot()
def log_message(self,level,message):
log.log_message(level,message)
def updateUI_Select_Line(self):
self.comboBox_lineIndex.clear()
for key, value in self.feedLine_dict.items():