update 现场修

2024-12-07 16:16:20 +08:00
parent 65c4db96e0
commit d4fcb79394
4 changed files with 15 additions and 17 deletions
--- a/CU/Feeding.py
+++ b/CU/Feeding.py
@ -6,7 +6,6 @@ from PyQt5.QtWidgets import QMessageBox

 import Constant
 import Expection
-from Model.FeedModel import PositionModel
 from Model.Position import Real_Position, Detection_Position
 from enum import Enum, IntEnum
 from COM.COM_Robot import RobotClient, DetectType
@ -422,7 +421,7 @@ class Feeding:
                self.sendTargPosition(real_position=pos_model.get_position(), move_type=MoveType.Cure,
                                      real_position1=pos_model1.get_position())
            else:
-                self.sendTargPosition(real_position=pos_model.get_position())
+                self.sendTargPosition(real_position=pos_model.get_position(),speed=self.robotClient.reset_speed)
            self.reverse_index = self.reverse_index + 1
        self.send_emergency_stop()
        return True
@ -445,7 +444,7 @@ class Feeding:
        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):
+    def sendTargPosition(self, real_position, move_type: MoveType = MoveType.WORLD, speed=5,real_position1=None):
        position_instruction = Instruction()
        position_instruction.speed = speed
        position_instruction.m0 = real_position.X
@ -489,9 +488,9 @@ class Feeding:
        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(), move_type=MoveType.Cure, real_position1=start_pos1.get_position())
+            self.sendTargPosition(real_position=start_pos.get_position(),speed=self.robotClient.feed_speed, move_type=MoveType.Cure, real_position1=start_pos1.get_position())
        else:
-            self.sendTargPosition(real_position=start_pos.get_position())
+            self.sendTargPosition(real_position=start_pos.get_position(),speed=self.robotClient.feed_speed)
        pass

    def next_take(self,reverse=False):
@ -499,9 +498,9 @@ class Feeding:
        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())
+            self.sendTargPosition(real_position=take_pos.get_position(), move_type=MoveType.Cure, real_position1=take_pos1.get_position(),speed=self.robotClient.feed_speed)
        else:
-            self.sendTargPosition(real_position=take_pos.get_position())
+            self.sendTargPosition(real_position=take_pos.get_position(),speed=self.robotClient.feed_speed)
        pass

    def next_Feed(self,reverse=False):
@ -509,9 +508,9 @@ class Feeding:
        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())
+            self.sendTargPosition(real_position=feed_pos.get_position(), move_type=MoveType.Cure, real_position1=feed_pos1.get_position(),speed=self.robotClient.feed_speed)
        else:
-            self.sendTargPosition(real_position=feed_pos.get_position())
+            self.sendTargPosition(real_position=feed_pos.get_position(),speed=self.robotClient.feed_speed)

    def get_current_position(self):
        if self.feed_Mid_Status == FeedMidStatus.FMid_Start:
--- a/Model/FeedModel.py
+++ b/Model/FeedModel.py
@ -1,7 +1,6 @@
 import configparser

 import Constant
-from CU.Feeding import LineType
 from Model.Position import Real_Position


--- a/Seting.ini
+++ b/Seting.ini
@ -1,7 +1,7 @@
 [Main]

 [Robot_Feed]
-ipaddress = 192.168.3.5
+ipaddress = 192.168.20.4
 port = 502
 j1_min = -150
 j1_max = +150
--- a/main.py
+++ b/main.py
@ -39,7 +39,7 @@ from CU.Command import Status
 from Util.util_log import log
 from Vision.detect_person import DetectionPerson
 from ui_MainWin import Ui_MainWindow
-from view.ResetView import StopDialog
+#from view.ResetView import StopDialog


 class MainWindow(QMainWindow, Ui_MainWindow):
@ -574,7 +574,7 @@ class MainWindow(QMainWindow, Ui_MainWindow):
                       float(self.configReader.get('Robot_Feed', 'photo_u5')),float(self.configReader.get('Robot_Feed', 'photo_v5')),float(self.configReader.get('Robot_Feed', 'photo_w5'))
                       )
                      ]
-        origin_position = Real_Position(float(self.configReader.get('Origin', 'X')),
+        origin_position = Real_Position().init_position(float(self.configReader.get('Origin', 'X')),
                                         float(self.configReader.get('Origin', 'Y')),
                                         float(self.configReader.get('Origin', 'Z')),
                                         float(self.configReader.get('Origin', 'U')),
@ -1150,8 +1150,8 @@ class MainWindow(QMainWindow, Ui_MainWindow):
            return
        thread = threading.Thread(target=self.feeding.return_original_position())
        thread.start()
-        dialog_reset = StopDialog()
-        dialog_reset.stop_thread_signal.connect(self.stop_reset_thread)
+        # dialog_reset = StopDialog()
+        # dialog_reset.stop_thread_signal.connect(self.stop_reset_thread)

    def stop_reset_thread(self):
        self.feeding.run_reverse = False
@ -1305,7 +1305,7 @@ class MainWindow(QMainWindow, Ui_MainWindow):
            self.updateUI_IOPanel()
            self.updateUI_InfoMB()
    def updateUI_InfoMB(self):
-        if self.cton_take_no_photo.Q(self.feeding.take_no_photo):
+        if self.cton_take_no_photo.Q(self.feeding.take_no_photo,True):
            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
@ -1487,7 +1487,7 @@ class MainWindow(QMainWindow, Ui_MainWindow):
        position_instruction.m4 = float(x5)
        position_instruction.m5 = float(x6)
        position_instruction.action = move_type.value
-        position_instruction.speed=Constant.debug_speed
+        position_instruction.speed=self.robotClient.debug_speed
        instruction_command = CMDInstructRequest()
        instruction_command.instructions.append(position_instruction)
        request_command = instruction_command.toString()