update 加入并行拍照，加入平滑
This commit is contained in:
FrankCV2048
@ -34,8 +34,8 @@ class Catch:
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if Constant.Debug or self.robotClient.check_outputQ(self.robotClient.con_ios[1]) and not self.robotClient.check_outputQ(self.robotClient.con_ios[0]):
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self.catch_status = CatchStatus.COk
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if self.catch_status == CatchStatus.CShake:
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if not self.shake_continue.Q(True, 2000):
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shakeQ = self.shakePulse.Q(True, 100, 100)
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if not self.shake_continue.Q(True, 1500):
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shakeQ = self.shakePulse.Q(True, 50, 50)
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self.robotClient.sendIOControl(self.robotClient.con_ios[2], 1 if shakeQ else 0)
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print("正在震动" if shakeQ else "震动结束")
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else:
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40
CU/Detect.py
Normal file
40
CU/Detect.py
Normal file
@ -0,0 +1,40 @@
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from enum import Enum
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import Constant
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from Model.Position import Real_Position
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from Trace.handeye_calibration import getPosition
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from Util.util_time import CClockPulse, CTon
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class DetectStatus(Enum):
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DNone = 0
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DDetect = 1
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DOk = 2
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class Detect:
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def __init__(self,detection):
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self.detection = detection
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self.detect_status = DetectStatus.DNone
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self.detect_position = None
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def run(self):
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if self.detect_status == DetectStatus.DNone:
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return
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if self.detect_status == DetectStatus.DDetect:
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_, img, xyz, uvw, points = self.detection.get_position(Point_isVision=False, Box_isPoint=True,
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First_Depth=True, Iter_Max_Pixel=30,
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save_img_point=0, Height_reduce=30, width_reduce=30)
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self.detection_image = img.copy()
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if xyz == None or uvw == None or points == None:
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self.detect_position = None
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self.detect_status = DetectStatus.DOk
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return
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target_position, noraml_base = getPosition(*xyz, *uvw, None, points)
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position = Real_Position().init_position(*target_position[:3], *noraml_base[:3])
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position.Z = position.Z + 200
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self.detect_position = position
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self.detect_status = DetectStatus.DOk
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if self.detect_status == DetectStatus.DOk:
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return
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@ -1,5 +1,6 @@
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import copy
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import logging
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import threading
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import time
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import cv2
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@ -9,6 +10,7 @@ from PySide6.QtCore import Signal, QObject
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import Constant
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import Expection
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from CU.Catch import Catch, CatchStatus
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from CU.Detect import Detect, DetectStatus
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from Model.FeedModel import PositionModel
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from Model.Position import Real_Position, Detection_Position
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from enum import Enum, IntEnum
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@ -185,6 +187,9 @@ class Feeding(QObject):
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self.pos_index = -1
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self.pos_near_index = -1
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self.catch = Catch(self.robotClient)
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self.detect = Detect(self.detection)
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self.detect_thread_img = threading.Thread(target=self.detect.run)
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self.detect_thread_img.start()
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pass
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def init_detection_image(self):
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@ -258,12 +263,11 @@ class Feeding(QObject):
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return
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self.feedConfig.feedLine.get_position_list()
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self.detect.detect_status = DetectStatus.DNone
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# = self.detection.get_position(Point_isVision=False, Box_isPoint=True, First_Depth=True, Iter_Max_Pixel=30,
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# # save_img_point=0, Height_reduce=30, width_reduce=30)
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if self.feedConfig.feedLine.get_take_position().get_position() != None:
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self.feedConfig.feedLine.set_take_position(self.get_take_position())
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# TODO 获取目标位置
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#
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self.feed_Mid_Status = FeedMidStatus.FMid_Start
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@ -291,7 +295,17 @@ class Feeding(QObject):
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if self.robotClient.type_detection == DetectType.EyeOutHand:
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self.feed_Mid_Status = FeedMidStatus.FMid_Feed
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self.next_position()
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if self.detect.detect_status == DetectStatus.DNone:
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self.detect.detect_status = DetectStatus.DDetect
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elif self.detect.detect_status == DetectStatus.DOk:
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if self.detect.detect_position != None:
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log.log_message(logging.INFO, Constant.str_feed_takePhoto_success)
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self.feedConfig.feedLine.set_take_position(self.detect.detect_position)
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self.next_position()
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self.detect.detect_status = DetectStatus.DNone
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else:
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log.log_message(logging.ERROR, Constant.str_feed_takePhoto_fail)
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self.take_no_photo_sigal.emit()
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return
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detect_pos_list = []
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if not Constant.Debug:
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@ -386,10 +400,11 @@ class Feeding(QObject):
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else:
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log.log_message(logging.ERROR, Constant.str_feed_takePhoto_fail)
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# self.take_no_photo = True
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self.take_no_photo_sigal.emit()
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# 继续获取图像
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# TODO
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self.feedConfig.feedLine.set_take_position(self.get_take_position())
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# self.feedConfig.feedLine.set_take_position(self.get_take_position())
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@ -437,7 +452,9 @@ class Feeding(QObject):
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self.catch.catch_status = CatchStatus.CNone
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time.sleep(self.robotClient.time_delay_put)
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# 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)
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self.feedConfig.feedLine.set_take_position(self.get_take_position())
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# self.feedConfig.feedLine.set_take_position(self.get_take_position())
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if self.detect.detect_status == DetectStatus.DNone:
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self.detect.detect_status = DetectStatus.DDetect
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self.feedConfig.num = self.feedConfig.num - 1
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log.log_message(logging.INFO, f'{Constant.str_feed_feed_num}{self.feedConfig.num}')
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self.next_position()
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@ -607,6 +624,7 @@ class Feeding(QObject):
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position_instruction.m3 = real_position.U
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position_instruction.m4 = real_position.V
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position_instruction.m5 = real_position.W
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position_instruction.smooth = 4
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position_instruction.action = move_type.value
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if position_instruction.action == 17:
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@ -636,18 +654,18 @@ class Feeding(QObject):
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self.robotClient.add_sendQuene(request_command)
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pass
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def get_take_position(self):
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if Constant.Debug:
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return self.robotClient.status_model.getRealPosition()
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_, img, xyz, uvw, points = 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)
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self.detection_image = img.copy()
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if xyz ==None or uvw==None or points==None:
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return None
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target_position,noraml_base = getPosition(*xyz,*uvw,None,points)
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position = Real_Position().init_position(*target_position[:3],*noraml_base[:3])
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position.Z = position.Z+200
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return position
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# def get_take_position(self):
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# if Constant.Debug:
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# return self.robotClient.status_model.getRealPosition()
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# _, img, xyz, uvw, points = 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)
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# self.detection_image = img.copy()
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# if xyz ==None or uvw==None or points==None:
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# return None
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# target_position,noraml_base = getPosition(*xyz,*uvw,None,points)
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#
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# position = Real_Position().init_position(*target_position[:3],*noraml_base[:3])
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# position.Z = position.Z+200
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# return position
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def next_start(self,reverse=False):
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start_pos = self.feedConfig.feedLine.get_next_start_position(reverse)
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self.feedStatus = FeedStatus(start_pos.status) if self.feedStatus != FeedStatus.FNone else FeedStatus.FNone
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