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update 流程调试

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This commit is contained in:
hjw
2024-09-04 20:29:08 +08:00
parent e1b7784b9a
commit d9bf3f5b27
7 changed files with 57 additions and 37 deletions
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7
COM/COM_Robot.py
View File

@ -19,7 +19,7 @@ class RobotClient(TCPClient):
try:
if self.command_quene.qsize()!=0:
command = self.command_quene.get()
self.client_socket.send(command.encode('utf-8'))
self.client_socket.send(command.encode())
if False:
response = self.client_socket.recv(1024).decode('utf-8')
@ -48,19 +48,20 @@ class RobotClient(TCPClient):
# 转字符串
try:
self.client_socket.send(request_status_json.encode('utf-8'))
self.client_socket.send(request_status_json.encode())
if True:
response = self.client_socket.recv(1024).decode('utf-8')
response_message = json.loads(response)
if True:
data_status = DATAReply()
data_status.__dict__ = response_message
data_address_array = data_status.queryAddr
data_address_array = data_status.queryData
data_Address = DataAddress()
data_Address.setPosition(*data_address_array)
self.status_model.setPosition(*data_address_array)
return True
except Exception as e:
print(e.with_traceback())
return False

24
CU/Feeding.py
View File

@ -64,7 +64,7 @@ class Feeding():
if self.feedConfig.num != 0:
self.feedStatus = FeedStatus.FSafeP
self.sendTargPosition(self.feedConfig.safe_position)
self.sendTargPosition(self.feedConfig.feedLine.safe_position)
#print(request_command)
pass
@ -72,7 +72,7 @@ class Feeding():
if self.feedConfig.safe_position.compare(real_position):
self.feedStatus = FeedStatus.FPhoto
self.sendTargPosition(self.feedConfig.photo_position)
self.sendTargPosition(self.feedConfig.feedLine.photo_position)
elif self.feedStatus == FeedStatus.FPhoto:
if self.feedConfig.photo_position.compare(real_position):
@ -103,7 +103,7 @@ class Feeding():
elif self.feedStatus == FeedStatus.FSafeF:
if self.feedConfig.safe_position.compare(real_position):
self.feedStatus = FeedStatus.FFeedP
self.sendTargPosition(self.feedConfig.feed_position)
self.sendTargPosition(self.feedConfig.feedLine.feed_position)
pass #吸嘴开始
@ -120,15 +120,17 @@ class Feeding():
def sendTargPosition(self,real_position):
from Model.RobotModel import Instruction
position_instruction = Instruction()
position_instruction.m0 = self.feedConfig.safe_position.X
position_instruction.m1 = self.feedConfig.safe_position.Y
position_instruction.m2 = self.feedConfig.safe_position.Z
position_instruction.m3 = self.feedConfig.safe_position.U
position_instruction.m4 = self.feedConfig.safe_position.V
position_instruction.m5 = self.feedConfig.safe_position.W
position_instruction.m0 = real_position.X
position_instruction.m1 = real_position.Y
position_instruction.m2 = real_position.Z
position_instruction.m3 = real_position.U
position_instruction.m4 = real_position.V
position_instruction.m5 = real_position.W
instruction_command = CMDInstructRequest()
instruction_command.instructions.append(vars(position_instruction))
request_command = vars(instruction_command)
instruction_command.instructions.append(position_instruction)
request_command = instruction_command.toString()
self.robotClient.add_sendQuene(request_command)
pass

2
Config/FeedLine.ini
View File

@ -10,7 +10,7 @@ PhotoPosition_y=0
PhotoPosition_z=0
PhotoPosition_u=0
PhotoPosition_v=0
PhotoPosition_w=0
PhotoPosition_w=20
FeedPosition_x=0
FeedPosition_y=0
FeedPosition_z=0

35
Model/RobotModel.py
View File

@ -1,6 +1,6 @@
class DATARequest:
def __init__(self):
self.dsID = 'www.hc-system.com.RemoteMonitor"'
self.dsID = 'www.hc-system.com.RemoteMonitor'
self.reqType = 'query'
self.queryAddr = []
def toString(self):
@ -28,6 +28,12 @@ class DataAddress:
self.world_3 = 0
self.world_4 = 0
self.world_5 = 0
self.axis_0 = 0
self.axis_1 = 0
self.axis_2 = 0
self.axis_3 = 0
self.axis_4 = 0
self.axis_5 = 0
self.curAlarm = ''
self.curCycle = ''
self.lastCycle = ''
@ -40,17 +46,26 @@ class DataAddress:
self.isMoving = ''
self.M_n = ''
#return
def setPosition(self,w0,w1,w2,w3,w4,w5):
self.world_0 = int(w0)
self.world_1 = int(w1)
self.world_2 = int(w2)
self.world_3 = int(w3)
self.world_4 = int(w4)
self.world_5 = int(w5)
def setPosition(self,w0,w1,w2,w3,w4,w5,a0,a1,a2,a3,a4,a5):
self.world_0 = float(w0)
self.world_1 = float(w1)
self.world_2 = float(w2)
self.world_3 = float(w3)
self.world_4 = float(w4)
self.world_5 = float(w5)
self.axis_0 = float(a0)
self.axis_1 = float(a1)
self.axis_2 = float(a2)
self.axis_3 = float(a3)
self.axis_4 = float(a4)
self.axis_5 = float(a5)
def setAngle(self,a0,a1,a2,a3,a4,a5):
pass
def toString(self):
model_str = f'"world_0","world_1","world_2","world_3","world_4","world_5"'
model_str = f'"world-0","world-1","world-2","world-3","world-4","world-5","axis-0","axis-1","axis-2","axis-3","axis-4","axis-5"'
return model_str
@ -85,7 +100,7 @@ class CMDReply:
class Instruction:
def __init__(self):
self.oneshot = 1
self.action = 10 #4 自由路径 10 姿势直线 17 姿势曲线
self.action = 4 #4 自由路径 10 姿势直线 17 姿势曲线
self.m0 = 0.0
self.m1 = 0.0
self.m2 = 0.0

4
Seting.ini
View File

@ -2,8 +2,8 @@
[Robot_Feed]
IPAddress=192.168.3.5
Port=8116
IPAddress=192.168.10.4
Port=502
j1_min=-150
j1_max=+150
j2_min=-150

4
Trace/handeye_calibration.py
View File

@ -1,3 +1,5 @@
import os
import numpy as np
from scipy.spatial.transform import Rotation as R
@ -62,7 +64,7 @@ def R_matrix(x,y,z,u,v,w):
# 图像识别结果：xyz和法向量
def getPosition(x,y,z,a,b,c,rotation):
target = np.asarray([x, y, z,1])
camera2robot = np.loadtxt('D:\BaiduNetdiskDownload\机械臂\GRCNN\\real\cam_pose.txt', delimiter=' ') #相对目录且分隔符采用os.sep
camera2robot = np.loadtxt('./cam_pose.txt', delimiter='') #相对目录且分隔符采用os.sep
robot2base = rotation
camera2base = robot2base @ camera2robot
target_position = np.dot(camera2base, target)

18
app.py
View File

@ -65,7 +65,7 @@ class MainWindow(QMainWindow,Ui_MainWindow):
def init_Run(self):
self.robotClient = None
self.configReader = configparser.ConfigParser()
self.detection = Detection()
self.detection = None# Detection()
self.command_position_quene = Queue()
self.status_address = DataAddress()
self.feedLine_dict = {}
@ -172,9 +172,9 @@ class MainWindow(QMainWindow,Ui_MainWindow):
pass
def send_startFeed_button_click(self):
num = self.horizontalSlider_feedingNum.value()
num = 1#self.horizontalSlider_feedingNum.x()
line_index = str(self.comboBox_lineIndex.currentIndex()+1)
self.command_quene.put(FeedCommand(FeedingConfig(num, line_index)))
self.command_quene.put(FeedCommand(FeedingConfig(num, self.feedLine_dict[line_index])))
self.stackedWidget_num.setCurrentIndex(1)
def send_num_button_click(self):
@ -305,12 +305,12 @@ class MainWindow(QMainWindow,Ui_MainWindow):
self.updateUI_Position()
def updateUI_Position(self):
self.horizontalSlider_J1.setValue(self.status_address.world_0)
self.horizontalSlider_J2.setValue(self.status_address.world_1)
self.horizontalSlider_J3.setValue(self.status_address.world_2)
self.horizontalSlider_J4.setValue(self.status_address.world_3)
self.horizontalSlider_J5.setValue(self.status_address.world_4)
self.horizontalSlider_J6.setValue(self.status_address.world_5)
self.horizontalSlider_J1.setValue(self.status_address.axis_0)
self.horizontalSlider_J2.setValue(self.status_address.axis_1)
self.horizontalSlider_J3.setValue(self.status_address.axis_2)
self.horizontalSlider_J4.setValue(self.status_address.axis_3)
self.horizontalSlider_J5.setValue(self.status_address.axis_4)
self.horizontalSlider_J6.setValue(self.status_address.axis_5)