update 流程调试

COM/COM_Robot.py

@@ -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
 
 

CU/Feeding.py

@@ -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.m0 = real_position.X
-        position_instruction.m1 = self.feedConfig.safe_position.Y
+        position_instruction.m1 = real_position.Y
-        position_instruction.m2 = self.feedConfig.safe_position.Z
+        position_instruction.m2 = real_position.Z
-        position_instruction.m3 = self.feedConfig.safe_position.U
+        position_instruction.m3 = real_position.U
-        position_instruction.m4 = self.feedConfig.safe_position.V
+        position_instruction.m4 = real_position.V
-        position_instruction.m5 = self.feedConfig.safe_position.W
+        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
 

Config/FeedLine.ini

@@ -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

Model/RobotModel.py

@@ -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):
+    def setPosition(self,w0,w1,w2,w3,w4,w5,a0,a1,a2,a3,a4,a5):
-        self.world_0 = int(w0)
+        self.world_0 = float(w0)
-        self.world_1 = int(w1)
+        self.world_1 = float(w1)
-        self.world_2 = int(w2)
+        self.world_2 = float(w2)
-        self.world_3 = int(w3)
+        self.world_3 = float(w3)
-        self.world_4 = int(w4)
+        self.world_4 = float(w4)
-        self.world_5 = int(w5)
+        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

Seting.ini

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

Trace/handeye_calibration.py

@@ -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)

app.py

@@ -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_J1.setValue(self.status_address.axis_0)
-        self.horizontalSlider_J2.setValue(self.status_address.world_1)
+        self.horizontalSlider_J2.setValue(self.status_address.axis_1)
-        self.horizontalSlider_J3.setValue(self.status_address.world_2)
+        self.horizontalSlider_J3.setValue(self.status_address.axis_2)
-        self.horizontalSlider_J4.setValue(self.status_address.world_3)
+        self.horizontalSlider_J4.setValue(self.status_address.axis_3)
-        self.horizontalSlider_J5.setValue(self.status_address.world_4)
+        self.horizontalSlider_J5.setValue(self.status_address.axis_4)
-        self.horizontalSlider_J6.setValue(self.status_address.world_5)
+        self.horizontalSlider_J6.setValue(self.status_address.axis_5)