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🚑 update 更新抓取和扔料

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This commit is contained in:
FrankCV2048
2025-01-14 23:02:14 +08:00
parent 3e065af6a0
commit ecfd9551e1
9 changed files with 1772 additions and 15181 deletions
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4
COM/COM_Robot.py
View File

@ -107,12 +107,14 @@ class RobotClient(TCPClient):
def send_emergency_stop(self):
self.sendIOControl(Constant.IO_EmergencyPoint, 0)
def sendIOControl(self, IO_bit, IO_Status: int):#
def sendIOControl(self, IO_bit, IO_Status: int, delay=0,emptyList='0'):#
IO_command = CMDInstructRequest()
IO_command.emptyList = emptyList
io_instruction = Instruction()
io_instruction.IO = True
io_instruction.io_status = IO_Status
io_instruction.delay = delay
io_instruction.point = IO_bit # {"dsID":"HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[{"oneshot":"1","action":"200","type":"0","io_status":"1","point":"15","delay":"0"}]}
IO_command.dsID = 'HCRemoteCommand'
IO_command.instructions.append(io_instruction)

32
CU/Catch.py
View File

@ -1,3 +1,4 @@
import time
from enum import Enum
import Constant
@ -17,27 +18,46 @@ class Catch:
self.robotClient = robotClient
self.catch_status = CatchStatus.CNone
self.shake_continue = CTon()
self.drop_continue = CTon()
self.take_continue = CTon()
self.shakePulse = CClockPulse()
self.shake_count = 5
self.drop_count = 2
self.is_send_command = False
self.is_send_take_command = False
self.shake_Q = False
def run(self):
if self.catch_status == CatchStatus.CNone:
return
if self.catch_status == CatchStatus.CTake:
if not self.is_send_take_command:
self.robotClient.sendIOControl(self.robotClient.con_ios[0],1)
if self.robotClient.check_outputQ(self.robotClient.con_ios[0]) or Constant.Debug:
self.is_send_take_command = True
else:
if self.take_continue.Q(True,self.robotClient.time_delay_take*1000):
self.is_send_take_command = False
self.catch_status = CatchStatus.COk
if self.catch_status == CatchStatus.CDrop:
if not self.is_send_command:
self.robotClient.sendIOControl(self.robotClient.con_ios[0], 0)
for _ in range(self.drop_count):
self.robotClient.sendIOControl(self.robotClient.con_ios[1], 1, delay=self.robotClient.time_delay_put)
self.robotClient.sendIOControl(self.robotClient.con_ios[1], 0)
self.robotClient.sendIOControl(self.robotClient.con_ios[1], 1)
self.is_send_command = True
if self.drop_continue.Q(True,self.robotClient.time_delay_put*1000*self.drop_count):
# if Constant.Debug or self.robotClient.check_outputQ(self.robotClient.con_ios[1]) and not self.robotClient.check_outputQ(self.robotClient.con_ios[0]):
self.is_send_command = False
self.catch_status = CatchStatus.COk
self.drop_continue.SetReset()
if self.catch_status == CatchStatus.CShake:
if not self.shake_continue.Q(True, 1500):
shakeQ = self.shakePulse.Q(True, 50, 50)
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")
if not self.shake_continue.Q(True, 600): # 1500
self.shake_Q = not self.shake_Q # 10
self.robotClient.sendIOControl(self.robotClient.con_ios[2], 1 if self.shake_Q else 0)
else:
self.shake_continue.SetReset()
self.catch_status = CatchStatus.COk
@ -46,7 +66,7 @@ class Catch:
print("震动结束")
if self.catch_status == CatchStatus.COk:
self.robotClient.sendIOControl(self.robotClient.con_ios[1], 0)
self.robotClient.sendIOControl(self.robotClient.con_ios[1], 0,emptyList='1')
pass

40
CU/Feeding.py
View File

@ -208,6 +208,7 @@ class Feeding(QObject):
self.init_detection_image()
self.pause = False
self.cRis_photo = CRisOrFall()
self.cRis_shake = CRisOrFall()
self.feed_Mid_Status = FeedMidStatus.FMid_Start
self.is_reverse = False
# 复位集合
@ -316,9 +317,10 @@ class Feeding(QObject):
elif self.feedStatus == FeedStatus.FMid:
self.log_signal.emit(logging.INFO, Constant.str_feed_mid)
feed_pos = self.get_current_position(self.is_reverse)
if feed_pos.get_position().compare(real_position):
self.log_signal.emit(logging.INFO, Constant.str_feed_mid)
self.next_position(self.is_reverse)
@ -450,7 +452,7 @@ class Feeding(QObject):
if self.catch.catch_status == CatchStatus.COk :
self.catch.catch_status = CatchStatus.CNone
#self.feedConfig.feedLine.set_take_position(None)
time.sleep(self.robotClient.time_delay_take)
# time.sleep(self.robotClient.time_delay_take)
self.log_signal.emit(logging.INFO, Constant.str_feed_take_success)
self.next_position()
@ -466,21 +468,23 @@ class Feeding(QObject):
elif self.feedStatus == FeedStatus.FBroken1:
self.log_signal.emit(logging.INFO, Constant.str_feed_broken)
if self.get_current_position().get_position().compare(real_position):
self.log_signal.emit(logging.INFO, Constant.str_feed_broken)
self.next_position()
elif self.feedStatus == FeedStatus.FBroken2:
self.log_signal.emit(logging.INFO, Constant.str_feed_broken)
if self.get_current_position().get_position().compare(real_position):
self.log_signal.emit(logging.INFO, Constant.str_feed_broken)
self.next_position()
elif self.feedStatus == FeedStatus.FShake:
self.log_signal.emit(logging.INFO, Constant.str_feed_shake)
if self.get_current_position().get_position().compare(real_position,is_action=True):
# TODO 震动方案
self.log_signal.emit(logging.INFO, Constant.str_feed_shake)
if self.catch.catch_status == CatchStatus.CNone:
self.catch.catch_status = CatchStatus.CShake
@ -489,7 +493,6 @@ class Feeding(QObject):
return
if self.catch.catch_status == CatchStatus.COk:
self.catch.catch_status = CatchStatus.CNone
time.sleep(self.robotClient.time_delay_shake)
self.next_position()
elif self.feedStatus == FeedStatus.FDropBag:
@ -507,7 +510,7 @@ class Feeding(QObject):
return
if self.catch.catch_status == CatchStatus.COk:
self.catch.catch_status = CatchStatus.CNone
time.sleep(self.robotClient.time_delay_put)
# time.sleep(self.robotClient.time_delay_put)
# self.detection.get_position(Point_isVision=False, Box_isPoint=True, First_Depth=True, Iter_Max_Pixel=30, save_img_point=0, Height_reduce=30, width_reduce=30)
# self.feedConfig.feedLine.set_take_position(self.get_take_position())
if self.detect.detect_status == DetectStatus.DNone:
@ -587,9 +590,6 @@ class Feeding(QObject):
self.reset_status = ResetStatus.RNone
self.send_emergency_stop()
def return_original_position(self):
self.run_reverse = True
@ -672,6 +672,10 @@ class Feeding(QObject):
self.log_signal.emit(logging.INFO, f'{Constant.str_feed_io_control}{IO_bit}，{IO_Status}')
pass
def sendTargPosition1(self, real_position, move_type: MoveType = MoveType.WORLD, speed=5,real_position1=None):
pass
def sendTargPosition(self, real_position, move_type: MoveType = MoveType.WORLD, speed=5,real_position1=None):
position_instruction = Instruction()
position_instruction.speed = speed
@ -705,10 +709,12 @@ class Feeding(QObject):
try:
print('fuck1',log_str)
self.log_signal.emit(logging.INFO, log_str)
print('fuck2',log_str)
except:
return
print(request_command)
self.robotClient.add_sendQuene(request_command)
pass
# def get_take_position(self):
@ -778,6 +784,16 @@ class Feeding(QObject):
move_type=MoveType.AXIS)
else:
# if not reverse and self.feedStatus == FeedStatus.FShake:
# if not reverse:
# if self.cRis_shake.Q(self.feedStatus == FeedStatus.FShake, True):
# pass
# elif self.cRis_shake.Q(self.feedStatus == FeedStatus.FShake, False):
# self.feedStatus = FeedStatus.FShake
# self.sendTargPosition(real_position=feed_pos.get_position(),speed=self.robotClient.feed_speed)
# return
self.sendTargPosition(real_position=feed_pos.get_position(),speed=self.robotClient.feed_speed)
def get_current_position(self,is_reverse=False):

213
Config/FeedLine.ini
View File

@ -19,39 +19,26 @@ lineid = 2
status = 3
linetype = 0
[Position4]
x = 1868.06311
y = 872.854065
z = 1265.651855
u = 12.479004
v = 1.611398
w = -127.729263
id = 4
order = 2
lineid = 1
status = 4
linetype = 0
[Position1]
x = 348.84654634488436
y = 1836.958560527403
z = 223.84778176988266
u = 2.3775411141593388
v = -0.7172354339862681
w = 95.0492701673298
x = 7.0
y = 50.0
z = 1.0
u = 12.0
v = 0.0
w = 1.0
id = 1
order = 4
lineid = 1
status = 5
status = 3
linetype = 0
[Position7]
x = 2218.886475
y = 483.322144
z = 1371.784302
u = 8.190439
v = 7.692511
w = -143.628922
x = 7.0
y = 50.0
z = 1.0
u = 12.0
v = 0.0
w = 1.0
id = 7
order = 0
lineid = 1
@ -59,94 +46,68 @@ status = 3
linetype = 0
[Position8]
x = 807.391785
y = 2337.584473
z = 1852.736816
u = -0.412497
v = 9.080836
w = -110.687553
x = 7.0
y = 50.0
z = 1.0
u = 12.0
v = 0.0
w = 1.0
id = 8
order = 5
order = 9
lineid = 1
status = 6
linetype = 0
[Position9]
x = 1759.061523
y = 1738.14978
z = 1852.472412
u = 0.723375
v = 9.708878
w = -126.572548
x = 7.0
y = 50.0
z = 1.0
u = 12.0
v = 0.0
w = 1.0
id = 9
order = 6
order = 10
lineid = 1
status = 7
linetype = 0
[Position10]
x = 1759.061523
y = 1738.14978
z = 1852.472412
u = 0.723375
v = 9.708878
w = -126.572548
x = 7.0
y = 50.0
z = 1.0
u = 12.0
v = 0.0
w = 1.0
id = 10
order = 7
order = 11
lineid = 1
status = 8
linetype = 0
[Position11]
x = 1960.667847
y = 837.290405
z = 1688.202637
u = -0.347183
v = 0.356827
w = -147.846161
id = 11
order = 8
lineid = 1
status = 3
linetype = 0
[Position12]
x = 1643.540039
y = -24.557989
z = 995.504272
u = 0.167181
v = 2.42627
w = 177.088989
x = 7.0
y = 50.0
z = 1.0
u = 12.0
v = 0.0
w = 1.0
id = 12
order = 9
order = 12
lineid = 1
status = 9
linetype = 0
[Position2]
x = 762.708984
y = 1915.674561
z = 1265.639648
u = 12.478849
v = 1.611004
w = -84.483177
x = 7.0
y = 50.0
z = 1.0
u = 12.0
v = 0.0
w = 1.0
id = 2
order = 3
lineid = 1
status = 3
linetype = 0
[Position5]
x = 1868.06311
y = 872.854065
z = 1265.651855
u = 12.479004
v = 1.611398
w = -127.729263
id = 5
order = 1
lineid = 1
status = 2
status = 4
linetype = 0
[Position6]
@ -162,3 +123,81 @@ lineid = 2
status = 2
linetype = 0
[Position13]
x = 7.0
y = 50.0
z = 1.0
u = 12.0
v = 0.0
w = 1.0
id = 13
order = 1
lineid = 1
status = 3
linetype = 0
[Position14]
x = 7.0
y = 50.0
z = 1.0
u = 12.0
v = 0.0
w = 1.0
id = 14
order = 5
lineid = 1
status = 3
linetype = 0
[Position5]
x = 7.0
y = 50.0
z = 1.0
u = 12.0
v = 0.0
w = 1.0
id = 5
order = 6
lineid = 1
status = 5
linetype = 0
[Position15]
x = 7.0
y = 50.0
z = 1.0
u = 12.0
v = 0.0
w = 1.0
id = 15
order = 2
lineid = 1
status = 2
linetype = 0
[Position4]
x = 7.0
y = 50.0
z = 1.0
u = 12.0
v = 0.0
w = 1.0
id = 4
order = 7
lineid = 1
status = 3
linetype = 0
[Position16]
x = 7.0
y = 50.0
z = 1.0
u = 12.0
v = 0.0
w = 1.0
id = 16
order = 8
lineid = 1
status = 3
linetype = 0

3
Model/RobotModel.py
View File

@ -149,7 +149,6 @@ class Instruction:
self.m5_p = 0.0
self.ckStatus = '0x3F'
self.speed = 10
self.delay = 1.0
self.smooth = 0
self.tool=2
self.IO = False
@ -181,7 +180,7 @@ class CMDInstructRequest:
def __init__(self):
self.dsID = 'www.hc-system.com.HCRemoteCommand'
self.reqType = "AddRCC"
self.emptyList = '1' #清空机械臂的远程命令数据
self.emptyList = '0' #清空机械臂的远程命令数据
self.instructions = []
def toString(self):

6
Seting.ini
View File

@ -47,7 +47,7 @@ photo_v5 = 0.0
photo_w5 = 1.0
linecount = 2
remain_linename = 1
remain_count = 998
remain_count = 999
io_take_addr = 8
io_zip_addr = 11
io_shake_addr = 12
@ -55,10 +55,12 @@ takedelay = 0.2
putdelay = 0.1
shakedelay = 1.0
max_angle_interval = 20
smooth = 9
dynamic_height = 520.0
[Speed]
debug_speed = 50
feed_speed = 10
feed_speed = 550
reset_speed = 35
[Origin]

10
Util/util_language.py Normal file
View File

@ -0,0 +1,10 @@
from PyQt5.QtCore import QTranslator, QLocale, QLibraryInfo
def show_translated_message_box(app):
# 加载翻译文件
translator = QTranslator()
locale = QLocale.system().name() # 获取系统语言
qt_translations_path = QLibraryInfo.path(QLibraryInfo.TranslationsPath)
translator.load(f"qtbase_{locale}", qt_translations_path)
app.installTranslator(translator)

16626
log/log.log
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File diff suppressed because it is too large Load Diff

7
main.py
View File

@ -449,12 +449,12 @@ class MainWindow(QMainWindow, Ui_MainWindow):
float(self.tableWidget_line_positions.item(row_i-1, 5).text()),
float(self.tableWidget_line_positions.item(row_i-1, 6).text()),
)
self.send_position_command(x1=p1.X, x2=p1.Y, x3=p1.Z, x4=p1.X, x5=p1.Y, x6=p1.Z, move_type=MoveType.Cure, speed=self.robotClient.debug_speed, p2=p2)
self.send_position_command(x1=p1.X, x2=p1.Y, x3=p1.Z, x4=p1.U, x5=p1.V, x6=p1.W, move_type=MoveType.Cure, speed=self.robotClient.debug_speed, p2=p2)
return
self.send_position_command(x1=p1.X, x2=p1.Y, x3=p1.Z, x4=p1.X, x5=p1.Y, x6=p1.Z, move_type=MoveType.WORLD,speed=self.robotClient.debug_speed)
self.send_position_command(x1=p1.X, x2=p1.Y, x3=p1.Z, x4=p1.U, x5=p1.V, x6=p1.W, move_type=MoveType.WORLD,speed=self.robotClient.debug_speed)
return
if lineType == 4: # 自由路径
self.send_position_command(x1=p1.X, x2=p1.Y, x3=p1.Z, x4=p1.X, x5=p1.Y, x6=p1.Z,move_type=MoveType.AXIS,speed=self.robotClient.debug_speed)
self.send_position_command(x1=p1.X, x2=p1.Y, x3=p1.Z, x4=p1.U, x5=p1.V, x6=p1.W, move_type=MoveType.AXIS,speed=self.robotClient.debug_speed)
return
def tabel_get_position(self,row_i):
@ -1653,6 +1653,7 @@ class MainWindow(QMainWindow, Ui_MainWindow):
def send_clear_auto_command(self):
clear_command = CMDInstructRequest()
clear_command.emptyList = '1'
request_command = clear_command.toString()
log.log_message(logging.INFO, Constant.str_sys_clearAlarm)
self.robotClient.add_sendQuene(request_command)