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update 完成所有投料逻辑，IO点位控制，急停控制

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This commit is contained in:
FrankCV2048
2024-10-29 23:06:25 +08:00
parent 5500ac7f71
commit e5ce0dc31d
11 changed files with 156 additions and 54 deletions
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35
main.py
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@ -155,6 +155,7 @@ class MainWindow(QMainWindow, Ui_MainWindow):
self.pushButton_set_p5.clicked.connect(self.set_p5_button_click)
self.pushButton_clearAlarm.clicked.connect(self.send_clear_alarm_command)
self.pushButton_emergency.clicked.connect(self.send_emergency_alarm_command)
self.pushButton_reset.clicked.connect(self.send_reset_button_click)
self.pushButton_speed.setText(str(Constant.speed))
@ -221,9 +222,12 @@ class MainWindow(QMainWindow, Ui_MainWindow):
int(self.configReader.get('Robot_Feed', 'photo_u5')),int(self.configReader.get('Robot_Feed', 'photo_v5')),int(self.configReader.get('Robot_Feed', 'photo_w5'))
)
]
solenoid_valve1_addr = int(self.configReader.get('Robot_Feed', 'solenoid_valve1_addr'))
solenoid_valve2_addr = int(self.configReader.get('Robot_Feed', 'solenoid_valve2_addr'))
solenoid_valve3_addr = int(self.configReader.get('Robot_Feed', 'solenoid_valve3_addr'))
#TODO
#dropDelay_time = int(self.configReader.get('Robot_Feed', 'dropDelay_time'))
self.robotClient = RobotClient(ip, port, photo_locs, self.command_position_quene, self.status_address)
self.robotClient = RobotClient(ip, port, photo_locs, self.command_position_quene, self.status_address,[solenoid_valve1_addr, solenoid_valve2_addr, solenoid_valve3_addr])
self.feeding = Feeding(self.robotClient, self.detection) # 临时
self.last_time = time.time()
self.remain_lineName = self.configReader.get('Robot_Feed', 'remain_lineName')
@ -473,6 +477,9 @@ class MainWindow(QMainWindow, Ui_MainWindow):
return
def send_startFeed_button_click(self):
if self.feeding.feedStatus != FeedStatus.FNone:
self.show_infomessage_box("正在执行")
return
# 触发自动运行
if self.robotClient.status_model.curMode != 7:
self.send_switch_tool_command()
@ -1013,7 +1020,7 @@ class MainWindow(QMainWindow, Ui_MainWindow):
def set_run_status_button(self, isRuning: bool):
self.pushButton_pauseFeed.setText("暂停")
##self.pushButton_startFeed.setEnabled(False)
# if isRuning:
# self.pushButton_pauseFeed.show()
@ -1026,12 +1033,6 @@ class MainWindow(QMainWindow, Ui_MainWindow):
def send_clear_auto_command(self):
clear_command = CMDInstructRequest()
io_instruction= Instruction()
io_instruction.IO = True
io_instruction.point=0 #{"dsID":"HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[{"oneshot":"1","action":"200","type":"0","io_status":"1","point":"15","delay":"0"}]}
io_instruction.delay=1
clear_command.dsID = 'HCRemoteCommand'
clear_command.instructions.append(io_instruction)
request_command = clear_command.toString()
log.log_message(logging.INFO, Constant.str_sys_clearAlarm)
self.command_quene.put(request_command)
@ -1071,15 +1072,19 @@ class MainWindow(QMainWindow, Ui_MainWindow):
print(request_command)
self.robotClient.add_sendQuene(request_command)
def send_clear_alarm_command(self, pause: bool):
switch_command = CMDRequest()
switch_command.cmdData.append("modifyGSPD")
switch_command.cmdData.append("2")
request_command = switch_command.toString()
print(request_command)
def send_emergency_alarm_command(self):
stop_command = CMDRequest()
stop_command.cmdData.append("actionStop")
stop_command.cmdData.append("1")
request_command = stop_command.toString()
self.robotClient.add_sendQuene(request_command)
self.feeding.send_emergency_sound()
log.log_message(logging.INFO, Constant.str_sys_emergencyStop)
#TODO
def send_clear_alarm_command(self, pause: bool):
self.send_start_tool_command()
pause_command = CMDRequest()
pause_command.cmdData.append("clearAlarmContinue")
pause_command.cmdData.append("1")