From f1f9fb9f39fd147185c42030285bc299d6c9a57e Mon Sep 17 00:00:00 2001
From: FrankCV2048 <1395405735@qq.com>
Date: Mon, 23 Dec 2024 20:25:31 +0800
Subject: [PATCH] =?UTF-8?q?update=20=E6=96=B0=E5=A2=9E=E9=9F=B5?=
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---
 CU/Feeding.py | 10 +++++-----
 MainWin.ui    |  4 ++--
 ui_MainWin.py | 12 ++++++------
 3 files changed, 13 insertions(+), 13 deletions(-)

diff --git a/CU/Feeding.py b/CU/Feeding.py
index dc0f507..02c2e30 100644
--- a/CU/Feeding.py
+++ b/CU/Feeding.py
@@ -128,19 +128,19 @@ class FeedLine:
             if self.feeding_to_end[i].status == FeedStatus.FTake.value:
                 return self.feeding_to_end[i]
 
-    def set_take_position(self,position:Real_Position):
+    def set_take_position(self,position:Real_Position,dynamic_height=0):
         for i in range(len(self.feeding_to_end)):
             if self.feeding_to_end[i].status == FeedStatus.FTake.value:
                 if position != None:
                     befor_take_position = Real_Position().init_position(position.X,
                                                                         position.Y,
-                                                                        position.Z,
+                                                                        position.Z+dynamic_height,
                                                                         position.U,
                                                                         position.V,
                                                                         position.W)
                     after_take_position = Real_Position().init_position(position.X,
                                                                         position.Y,
-                                                                        position.Z,
+                                                                        position.Z+dynamic_height,
                                                                         position.U,
                                                                         position.V,
                                                                         position.W)
@@ -351,7 +351,7 @@ class Feeding(QObject):
 
                     if self.detect.detect_position != None:
                         self.log_signal.emit(logging.INFO, Constant.str_feed_takePhoto_success)
-                        self.feedConfig.feedLine.set_take_position(self.detect.detect_position)
+                        self.feedConfig.feedLine.set_take_position(self.detect.detect_position,dynamic_height=self.robotClient.dynamic_height)
                         self.update_detect_image.emit(self.detect.detection_image)
                         self.next_position()
                         self.detect.detect_status = DetectStatus.DNone
@@ -653,7 +653,7 @@ class Feeding(QObject):
         self.send_emergency_stop()
         return True
     def send_emergency_sound(self):
-        self.sendIOControl(Constant.IO_EmergencyPoint, 2)
+        self.sendIOControl(Constant.IO_EmergencyPoint, 1)
 
     def send_emergency_stop(self):
         self.sendIOControl(Constant.IO_EmergencyPoint, 0)
diff --git a/MainWin.ui b/MainWin.ui
index c70a879..2bd935a 100644
--- a/MainWin.ui
+++ b/MainWin.ui
@@ -5177,7 +5177,7 @@ border: 1px solid #122041;</string>
          <property name="frameShadow">
           <enum>QFrame::Shadow::Raised</enum>
          </property>
-         <layout class="QVBoxLayout" name="verticalLayout_10" stretch="1,6,4,4">
+         <layout class="QVBoxLayout" name="verticalLayout_10" stretch="1,6,6,1">
           <property name="spacing">
            <number>0</number>
           </property>
@@ -5655,7 +5655,7 @@ background-color: #499c8a;
             <property name="frameShadow">
              <enum>QFrame::Shadow::Raised</enum>
             </property>
-            <layout class="QGridLayout" name="gridLayout_2" rowstretch="1,1,1,1" columnstretch="1,1,0" rowminimumheight="2,2,2,0">
+            <layout class="QGridLayout" name="gridLayout_2" rowstretch="2,2,2,2" columnstretch="1,1,0" rowminimumheight="2,2,2,0">
              <item row="2" column="1" colspan="2">
               <widget class="QPushButton" name="pushButton_reset">
                <property name="sizePolicy">
diff --git a/ui_MainWin.py b/ui_MainWin.py
index 47c4e29..83c7d6b 100644
--- a/ui_MainWin.py
+++ b/ui_MainWin.py
@@ -3682,10 +3682,10 @@ class Ui_MainWindow(object):
 
         self.gridLayout_2.addWidget(self.pushButton_onekeyfeed, 0, 0, 1, 2)
 
-        self.gridLayout_2.setRowStretch(0, 1)
-        self.gridLayout_2.setRowStretch(1, 1)
-        self.gridLayout_2.setRowStretch(2, 1)
-        self.gridLayout_2.setRowStretch(3, 1)
+        self.gridLayout_2.setRowStretch(0, 2)
+        self.gridLayout_2.setRowStretch(1, 2)
+        self.gridLayout_2.setRowStretch(2, 2)
+        self.gridLayout_2.setRowStretch(3, 2)
         self.gridLayout_2.setColumnStretch(0, 1)
         self.gridLayout_2.setColumnStretch(1, 1)
         self.gridLayout_2.setRowMinimumHeight(0, 2)
@@ -3832,8 +3832,8 @@ class Ui_MainWindow(object):
 
         self.verticalLayout_10.setStretch(0, 1)
         self.verticalLayout_10.setStretch(1, 6)
-        self.verticalLayout_10.setStretch(2, 4)
-        self.verticalLayout_10.setStretch(3, 4)
+        self.verticalLayout_10.setStretch(2, 6)
+        self.verticalLayout_10.setStretch(3, 1)
 
         self.horizontalLayout_4.addWidget(self.frame_right)