update 更新命令发送错误，自由路径配置失误，图片显示实物

CU/Catch.py

@@ -36,13 +36,13 @@ class Catch:
         if self.catch_status == CatchStatus.CShake:
             if not self.shake_continue.Q(True, 2000):
                 shakeQ = self.shakePulse.Q(True, 100, 100)
-                self.robotClient.sendIOControl(self.robotClient.con_ios[2], shakeQ)
+                self.robotClient.sendIOControl(self.robotClient.con_ios[2], 1 if shakeQ else 0)
                 print("正在震动" if shakeQ else "震动结束")
             else:
                 self.shake_continue.SetReset()
                 self.catch_status = CatchStatus.COk
                 if Constant.Debug or self.robotClient.check_outputQ(self.robotClient.con_ios[2]):
-                    self.robotClient.sendIOControl(self.robotClient.con_ios[2], False)
+                    self.robotClient.sendIOControl(self.robotClient.con_ios[2], 0)
                     print("震动结束")
 
         if self.catch_status == CatchStatus.COk:

CU/Feeding.py

@@ -180,7 +180,7 @@ class Feeding(QObject):
         self.reset_status = ResetStatus.RNone
         self.reversed_positions = []
         self.current_position = None
-
+        self.index=1
         self.pos_index = -1
         self.pos_near_index = -1
         self.catch = Catch(self.robotClient)
@@ -206,6 +206,12 @@ class Feeding(QObject):
         #                             0,
         #                             0);
 
+        img_path = f'Image/{self.index}.png'
+        img = cv2.imread(img_path)
+        self.index += 1
+        self.index = self.index % 4
+        self.detection_image = img
+
         if self.feedConfig == None:
             self.feedStatus = FeedStatus.FNone
 
@@ -655,7 +661,7 @@ class Feeding(QObject):
                 self.feedStatus = None
                 log.log_message(logging.ERROR, Constant.str_feed_angle_error)
             else:
-                self.sendTargPosition(real_position=start_pos.get_position(),speed=self.robotClient.debug_speed,move_type=MoveType.WORLD)
+                self.sendTargPosition(real_position=start_pos.get_position(),speed=self.robotClient.debug_speed,move_type=MoveType.AXIS)
         else:
             self.sendTargPosition(real_position=start_pos.get_position(),speed=self.robotClient.debug_speed)
         pass

Config/FeedLine.ini

@@ -3,17 +3,17 @@ id = 1
 name = 反应釜1
 
 [Position2]
-x = 421.397
+x = 2.734364
-y = 2095.76
+y = -0.014967
-z = 1403.803
+z = -0.353024
-u = 2.787
+u = -19.845549
-v = 17.14
+v = -21.947229
-w = -95.084
+w = 2.585297
 id = 2
 order = 0
 lineid = 1
 status = 3
-linetype = 2
+linetype = 4
 
 [FeedLine2]
 id = 2
@@ -33,119 +33,132 @@ status = 3
 linetype = 0
 
 [Position5]
-x = 7.0
+x = 693.6604
-y = 50.0
+y = -7.213258
-z = 1.0
+z = 728.627869
-u = 12.0
+u = -156.791855
-v = 0.0
+v = 64.281898
-w = 1.0
+w = -157.13649
 id = 5
-order = 2
+order = 3
 lineid = 1
 status = 4
 linetype = 0
 
 [Position4]
-x = 7.0
+x = 693.677979
-y = 50.0
+y = -24.01004
-z = 1.0
+z = 730.956055
-u = 12.0
+u = -141.801926
-v = 0.0
+v = 60.324791
-w = 1.0
+w = -143.841553
 id = 4
-order = 3
+order = 4
 lineid = 1
-status = 2
+status = 3
 linetype = 0
 
 [Position1]
-x = 7.0
+x = 693.6604
-y = 50.0
+y = -7.213258
-z = 1.0
+z = 728.627869
-u = 12.0
+u = -156.791855
-v = 0.0
+v = 64.281898
-w = 1.0
+w = -157.13649
 id = 1
-order = 4
+order = 5
 lineid = 1
 status = 5
 linetype = 0
 
 [Position6]
-x = 7.0
+x = 693.677979
-y = 50.0
+y = -24.01004
-z = 1.0
+z = 730.956055
-u = 12.0
+u = -141.801926
-v = 0.0
+v = 60.324791
-w = 1.0
+w = -143.841553
 id = 6
-order = 1
+order = 2
 lineid = 1
 status = 2
 linetype = 0
 
 [Position7]
-x = 7.0
+x = 693.677979
-y = 50.0
+y = -24.01004
-z = 1.0
+z = 730.956055
-u = 12.0
+u = -141.801926
-v = 0.0
+v = 60.324791
-w = 1.0
+w = -143.841553
 id = 7
-order = 5
+order = 6
 lineid = 1
 status = 6
 linetype = 0
 
 [Position8]
-x = 7.0
+x = 693.6604
-y = 50.0
+y = -7.213258
-z = 1.0
+z = 728.627869
-u = 12.0
+u = -156.791855
-v = 0.0
+v = 64.281898
-w = 1.0
+w = -157.13649
 id = 8
-order = 6
+order = 7
 lineid = 1
 status = 7
 linetype = 0
 
 [Position9]
-x = 7.0
+x = 693.677979
-y = 50.0
+y = -24.01004
-z = 1.0
+z = 730.956055
-u = 12.0
+u = -141.801926
-v = 0.0
+v = 60.324791
-w = 1.0
+w = -143.841553
 id = 9
-order = 7
+order = 8
 lineid = 1
 status = 8
 linetype = 0
 
 [Position10]
-x = 7.0
+x = 693.6604
-y = 50.0
+y = -7.213258
-z = 1.0
+z = 728.627869
-u = 12.0
+u = -156.791855
-v = 0.0
+v = 64.281898
-w = 1.0
+w = -157.13649
 id = 10
-order = 8
+order = 9
 lineid = 1
 status = 9
 linetype = 0
 
 [Position11]
-x = 7.0
+x = 693.677979
-y = 50.0
+y = -24.01004
-z = 1.0
+z = 730.956055
-u = 12.0
+u = -141.801926
-v = 0.0
+v = 60.324791
-w = 1.0
+w = -143.841553
 id = 11
-order = 9
+order = 10
 lineid = 1
 status = 3
 linetype = 0
 
+[Position12]
+x = 2.719969
+y = 0.0
+z = -0.338814
+u = -34.504669
+v = -21.932972
+w = 2.570882
+id = 12
+order = 1
+lineid = 1
+status = 3
+linetype = 4
+

Util/util_pic.py

@@ -1,13 +1,23 @@
+import logging
+
 import cv2
 from PIL.ImageQt import QImage, QPixmap
 
+from Util.util_log import log
+
 
 def cv2_to_qpixmap(cv_img):
     """将OpenCV图像转换为QPixmap"""
-    height, width, channel = cv_img.shape
+    # img = cv_img.copy()
-    bytes_per_line = 3 * width
+    # cv_img = cv2.cvtColor(cv_img, cv2.COLOR_BGR2RGB)
-    q_img = QImage(cv_img.data, width, height, bytes_per_line, QImage.Format_RGB888)
+    try:
-    return QPixmap.fromImage(q_img)
+        height, width, channel = cv_img.shape
+        bytes_per_line = 3 * width
+        q_img = QImage(cv_img.data, width, height, bytes_per_line, QImage.Format_RGB888)
+        return QPixmap.fromImage(q_img)
+    except Exception as e:
+        log.log_message(logging.ERROR,e)
+        return None
 
 # def cv2_to_qpixmap(cv_img):
 #     """将OpenCV图像转换为QPixmap"""

main.py

@@ -8,6 +8,7 @@ from multiprocessing import Process
 import traceback
 
 import PySide6
+import cv2
 from PyQt5.uic.properties import QtWidgets
 from PySide6 import QtCore
 from PySide6.QtCore import QThread, Signal, Slot, QObject, QEvent, QTimer
@@ -589,6 +590,7 @@ class MainWindow(QMainWindow, Ui_MainWindow):
         self.main_threading = None
         self.detection_person = None # DetectionPerson()
         self.cton_take_no_photo = CRisOrFall()
+        self.index = 1
 
         self.configReader.read(Constant.set_ini)
         ip = self.configReader.get('Robot_Feed', 'IPAddress')
@@ -1035,9 +1037,9 @@ class MainWindow(QMainWindow, Ui_MainWindow):
             self.robotClient.time_delay_shake = time_delay_shake
             self.configReader = configparser.ConfigParser()
             self.configReader.read(Constant.set_ini)
-            self.configReader.set('Robot_Feed', 'solenoid_valve1_addr', str(take_addr))
+            self.configReader.set('Robot_Feed', 'io_take_addr', str(take_addr))
-            self.configReader.set('Robot_Feed', 'solenoid_valve2_addr', str(press_addr))
+            self.configReader.set('Robot_Feed', 'io_zip_addr', str(press_addr))
-            self.configReader.set('Robot_Feed', 'solenoid_valve3_addr', str(shake_addr))
+            self.configReader.set('Robot_Feed', 'io_shake_addr', str(shake_addr))
             self.configReader.set('Robot_Feed', 'takeDelay', str(time_delay_take))
             self.configReader.set('Robot_Feed', 'putDelay', str(time_delay_put))
             self.configReader.set('Robot_Feed', 'shakeDelay', str(time_delay_shake))
@@ -1409,6 +1411,8 @@ class MainWindow(QMainWindow, Ui_MainWindow):
         pass
     def updateUI_label_detection(self):
         backgroud_img = Util.util_pic.cv2_to_qpixmap(self.feeding.detection_image)
+        if backgroud_img == None:
+            return
         backgroud_img = backgroud_img.scaled(self.label_showDetection.size().width(),self.label_showDetection.size().height(), Qt.AspectRatioMode.IgnoreAspectRatio,Qt.TransformationMode.SmoothTransformation)
         self.label_showDetection.setPixmap(backgroud_img)