update 更新一键投料，优化设置文字，添加平滑，假装解决闪退
This commit is contained in:
FrankCV2048
@ -1,9 +1,11 @@
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from enum import Enum
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import numpy as np
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from PySide6.QtCore import Signal
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import Constant
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from Model.Position import Real_Position
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from Trace.handeye_calibration import getPosition
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from Util.util_time import CClockPulse, CTon
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from Vision.camera_coordinate_dete import Detection
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class DetectStatus(Enum):
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@ -12,8 +14,9 @@ class DetectStatus(Enum):
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DOk = 2
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class Detect:
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def __init__(self,detection):
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self.detection = detection
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update_detect_image = Signal(np.ndarray)
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def __init__(self):
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self.detection = Detection(alignmentType='depth2color')
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self.detect_status = DetectStatus.DNone
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self.detect_position = None
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def run(self):
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@ -4,8 +4,10 @@ import threading
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import time
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import cv2
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import numpy as np
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from PyQt5.QtWidgets import QMessageBox
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from PySide6.QtCore import Signal, QObject
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from PySide6.QtGui import QPixmap
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import Constant
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import Expection
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@ -129,8 +131,25 @@ class FeedLine:
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def set_take_position(self,position:Real_Position):
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for i in range(len(self.feeding_to_end)):
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if self.feeding_to_end[i].status == FeedStatus.FTake.value:
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if position != None:
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befor_take_position = Real_Position().init_position(position.X,
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position.Y,
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position.Z,
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position.U,
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position.V,
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position.W)
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after_take_position = Real_Position().init_position(position.X,
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position.Y,
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position.Z,
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position.U,
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position.V,
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position.W)
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self.feeding_to_end[i - 1].set_position(befor_take_position)
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self.feeding_to_end[i + 1].set_position(after_take_position)
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self.feeding_to_end[i].set_position(position)
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def get_position_list(self):
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index_start = -1
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for i in range(len(self.feed_positions)):
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@ -145,6 +164,17 @@ class FeedLine:
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self.start_to_take = self.feed_positions[index_start:index_take+1]
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self.feeding_to_end = self.feed_positions[index_take:]
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for i in range(len(self.feeding_to_end)): #插入动态中间点
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if self.feeding_to_end[i].status == FeedStatus.FTake.value:
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befor_position_model = PositionModel()
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befor_position_model.init_position(None)
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after_position_model = PositionModel()
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after_position_model.init_position(None)
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self.feeding_to_end.insert(i, befor_position_model)
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self.feeding_to_end.insert(i+2, after_position_model)
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break
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class FeedingConfig:
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@ -164,13 +194,14 @@ class FeedingConfig:
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class Feeding(QObject):
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need_origin_signal = Signal(str)
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take_no_photo_sigal = Signal(str)
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def __init__(self, robotClient: RobotClient, detection: Detection):
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take_no_photo_sigal = Signal()
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update_detect_image = Signal(np.ndarray)
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def __init__(self, robotClient: RobotClient):
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super().__init__()
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self.feedConfig = None
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self.feedStatus = FeedStatus.FNone
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self.robotClient = robotClient
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self.detection = detection
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self.detection_image = None
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self.init_detection_image()
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self.pause = False
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@ -187,14 +218,21 @@ class Feeding(QObject):
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self.pos_index = -1
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self.pos_near_index = -1
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self.catch = Catch(self.robotClient)
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self.detect = Detect(self.detection)
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self.detect = Detect()
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self.is_detected = True
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self.detect_thread = threading.Thread(target=self.run_detect)
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self.detect_thread.start()
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self.onekey = False
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pass
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def close_feed(self):
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self.is_detected = False
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self.detect_thread.join()
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self.detect.detection.release()
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def init_detection_image(self):
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self.detection_image = cv2.imread(Constant.feed_sign_path)
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detection_image = cv2.imread(Constant.feed_sign_path)
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self.update_detect_image.emit(detection_image)
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def run_detect(self):
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while self.is_detected:
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@ -271,12 +309,6 @@ class Feeding(QObject):
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self.feedConfig.feedLine.get_position_list()
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self.detect.detect_status = DetectStatus.DNone
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# = self.detection.get_position(Point_isVision=False, Box_isPoint=True, First_Depth=True, Iter_Max_Pixel=30,
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# # save_img_point=0, Height_reduce=30, width_reduce=30)
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# TODO 获取目标位置
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#
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self.feed_Mid_Status = FeedMidStatus.FMid_Start
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self.next_position(self.is_reverse)
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@ -298,6 +330,7 @@ class Feeding(QObject):
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self.feedConfig.feedLine.start2take_pos_index = len(self.feedConfig.feedLine.start_to_take) -2
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self.feedConfig.feedLine.origin2start_pos_index = len(self.feedConfig.feedLine.origin_to_start) - 2
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self.next_position(self.is_reverse)
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self.init_detection_image()
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return
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if self.robotClient.type_detection == DetectType.EyeOutHand:
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@ -306,19 +339,28 @@ class Feeding(QObject):
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self.detect.detect_status = DetectStatus.DDetect
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elif self.detect.detect_status == DetectStatus.DOk:
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if Constant.Debug:
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if self.feedConfig.num == 990 and self.onekey:
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self.feedConfig.num = 0
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log.log_message(logging.ERROR, Constant.str_feed_finish)
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return
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self.detect.detect_status = DetectStatus.DNone
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self.feedConfig.feedLine.set_take_position(real_position)
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self.next_position()
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return
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if self.detect.detect_position != None:
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log.log_message(logging.INFO, Constant.str_feed_takePhoto_success)
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self.feedConfig.feedLine.set_take_position(self.detect.detect_position)
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self.detection_image = self.detect.detection_image
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self.update_detect_image.emit(self.detect.detection_image)
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self.next_position()
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self.detect.detect_status = DetectStatus.DNone
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else:
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log.log_message(logging.ERROR, Constant.str_feed_takePhoto_fail)
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self.take_no_photo_sigal.emit()
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if self.onekey:
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self.feedConfig.num = 0
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log.log_message(logging.ERROR, Constant.str_feed_finish)
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else:
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log.log_message(logging.ERROR, Constant.str_feed_takePhoto_fail)
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self.take_no_photo_sigal.emit()
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return
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detect_pos_list = []
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if not Constant.Debug:
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@ -391,7 +433,7 @@ class Feeding(QObject):
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log.log_message(logging.INFO, Constant.str_feed_take)
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if self.feedConfig.feedLine.get_take_position().get_position() != None:
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# self.take_no_photo = False
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if self.feedConfig.feedLine.get_take_position().get_position().compare(real_position):
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if self.feedConfig.feedLine.get_take_position().get_position().compare(real_position, is_action=True):
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# 打开吸嘴并返回
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# self.sendIOControl(self.robotClient.con_ios[0], 1)
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# self.sendIOControl(self.robotClient.con_ios[1], 1)
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@ -405,7 +447,7 @@ class Feeding(QObject):
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return
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if self.catch.catch_status == CatchStatus.COk :
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self.catch.catch_status = CatchStatus.CNone
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self.feedConfig.feedLine.set_take_position(None)
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#self.feedConfig.feedLine.set_take_position(None)
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time.sleep(self.robotClient.time_delay_take)
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log.log_message(logging.INFO, Constant.str_feed_take_success)
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self.next_position()
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@ -434,7 +476,7 @@ class Feeding(QObject):
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elif self.feedStatus == FeedStatus.FShake:
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log.log_message(logging.INFO, Constant.str_feed_shake)
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if self.get_current_position().get_position().compare(real_position):
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if self.get_current_position().get_position().compare(real_position,is_action=True):
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# TODO 震动方案
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@ -451,7 +493,7 @@ class Feeding(QObject):
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elif self.feedStatus == FeedStatus.FDropBag:
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log.log_message(logging.INFO, Constant.str_feed_drop)
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if self.get_current_position().get_position().compare(real_position):
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if self.get_current_position().get_position().compare(real_position,is_action=True):
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# self.sendIOControl(self.robotClient.con_ios[0], 0)
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# self.sendIOControl(self.robotClient.con_ios[1], 0)
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# self.sendIOControl(self.robotClient.con_ios[2], 0)
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