import logging import time import cv2 import Constant from Model.Position import Real_Position, Detection_Position from enum import Enum, IntEnum from COM.COM_Robot import RobotClient from Model.RobotModel import CMDInstructRequest, MoveType from Vision.camera_coordinate_dete import Detection from Util.util_log import log class FeedStatus(IntEnum): FNone = 0 FStart = 1 FCheck = 2 FSafeP = 3 FPhoto = 4 FTake = 5 FSafeF = 6 FFeedP = 7 FBroken = 8 FCut = 9 FShake = 10 FDropBag = 11 FFinished = 12 class FeedLine: def __init__(self,name,safe_position:Real_Position,photo_position:Real_Position,mid_position:Real_Position,broken1_position:Real_Position,broken2_position:Real_Position,drop_bag_position:Real_Position,zip_bag_position:Real_Position,feed_position:Real_Position): self.safe_position = safe_position self.photo_position = photo_position self.feed_position = feed_position self.mid_position = mid_position self.broken1_position = broken1_position self.broken2_position = broken2_position self.drop_bag_position = drop_bag_position self.zip_bag_position = zip_bag_position self.take_position = None self.name = name class FeedingConfig: def __init__(self, num:int, feedLine:FeedLine): self.num = num self.feedLine = feedLine def get_line_info(self): pass class Feeding(): def __init__(self,robotClient:RobotClient,detection:Detection): self.feedConfig = None self.feedStatus = FeedStatus.FNone self.robotClient = robotClient self.detection = detection self.detection_image = None self.init_detection_image() self.pause = False pass def init_detection_image(self): self.detection_image = cv2.imread(Constant.feed_sign_path) def run(self): # 获取事件坐标 real_position = Real_Position() real_position.init_position(self.robotClient.status_model.world_0, self.robotClient.status_model.world_1, self.robotClient.status_model.world_2, self.robotClient.status_model.world_3, self.robotClient.status_model.world_4, self.robotClient.status_model.world_5) # real_position.init_position(0, # 0, # 0, # 0, # 0, # 0); if self.feedConfig == None: self.feedStatus = FeedStatus.FNone elif self.feedConfig.num == 0: self.feedStatus = FeedStatus.FNone if self.feedStatus == FeedStatus.FNone or self.pause: return elif self.feedStatus == FeedStatus.FStart: log.log_message(logging.INFO, Constant.str_feed_start) self.feedStatus = FeedStatus.FCheck pass elif self.feedStatus == FeedStatus.FCheck: log.log_message(logging.INFO, Constant.str_feed_check) # 1, 检查是否是三列 # 2, 检查是否有人 if self.safe_check_columns() and self.safe_check_person(): pass else: if self.feedConfig.num != 0: self.feedStatus = FeedStatus.FSafeP self.sendTargPosition(self.feedConfig.feedLine.safe_position) elif self.feedStatus==FeedStatus.FSafeP: log.log_message(logging.INFO,Constant.str_feed_safe) if self.feedConfig.feedLine.safe_position.compare(real_position): self.feedStatus = FeedStatus.FPhoto self.sendTargPosition(self.feedConfig.feedLine.photo_position) elif self.feedStatus == FeedStatus.FPhoto: log.log_message(logging.INFO, Constant.str_feed_photo) if self.feedConfig.feedLine.photo_position.compare(real_position): code, img, xyz, uvw, mng = self.detection.get_position() #检测结果 log.log_message(logging.INFO, Constant.str_feed_takePhoto) self.detection_image = img if xyz!=None: log.log_message(logging.INFO, Constant.str_feed_takePhoto_success) #dp = Detection_Position().init_position(*xyz, *uvw) from Trace.handeye_calibration import R_matrix,getPosition rotation = R_matrix(self.robotClient.status_model.world_0, self.robotClient.status_model.world_1, self.robotClient.status_model.world_2-10, self.robotClient.status_model.world_3, self.robotClient.status_model.world_4, self.robotClient.status_model.world_5) # 黄老师给我的xyz和法向量 target_position, noraml_base = getPosition(*xyz, *uvw,rotation,*mng) log.log_message(logging.INFO, Constant.str_feed_covert_success) self.feedConfig.feedLine.take_position = Real_Position().init_position(*target_position[:3],*noraml_base) self.feedStatus = FeedStatus.FTake self.sendTargPosition(self.feedConfig.feedLine.take_position) else: log.log_message(logging.ERROR,Constant.str_feed_takePhoto_fail) print("打印日志，保存失败图像") elif self.feedStatus == FeedStatus.FTake: log.log_message(logging.INFO, Constant.str_feed_take) if self.feedConfig.feedLine.take_position != None and self.feedConfig.feedLine.take_position.compare(real_position): self.feedStatus = FeedStatus.FSafeF time.sleep(2) log.log_message(logging.INFO, Constant.str_feed_take_success) self.sendTargPosition(self.feedConfig.feedLine.mid_position) pass #打开吸嘴并返回 elif self.feedStatus == FeedStatus.FSafeF: log.log_message(logging.INFO, Constant.str_feed_mid) if self.feedConfig.feedLine.mid_position.compare(real_position): self.feedStatus = FeedStatus.FFeedP self.sendTargPosition(self.feedConfig.feedLine.feed_position) pass #吸嘴开始 elif self.feedStatus==FeedStatus.FFeedP: log.log_message(logging.INFO, Constant.str_feed_feed) if self.feedConfig.feedLine.feed_position.compare(real_position): self.feedStatus = FeedStatus.FBroken self.sendTargPosition(self.feedConfig.feedLine.broken1_position) pass #破袋 elif self.feedStatus==FeedStatus.FBroken: log.log_message(logging.INFO, Constant.str_feed_broken) if self.feedConfig.feedLine.broken1_position.compare(real_position): self.sendTargPosition(self.feedConfig.feedLine.broken2_position) if self.feedConfig.feedLine.broken2_position.compare(real_position): current_position = Real_Position().init_position(0,0,0,0,0,0) current_position.X = self.robotClient.status_model.axis_0 current_position.Y = self.robotClient.status_model.axis_1 current_position.Z = self.robotClient.status_model.axis_2 current_position.U = self.robotClient.status_model.axis_3 current_position.V = self.robotClient.status_model.axis_4 current_position.W = self.robotClient.status_model.axis_5 for i in range(8): if (i % 2 == 0) ^ (i >= 3): ## 过一半取消 c1 = current_position.U - 5 self.sendTargPosition(c1, MoveType.AXIS, speed=Constant.shake_speed) else: c1 = current_position.U + 5 self.sendTargPosition(c1, MoveType.AXIS, speed=Constant.shake_speed) if True: # 延迟判断，如果最后点位延迟1s，则认为阶段完成 self.feedStatus = FeedStatus.FDropBag self.sendTargPosition(self.feedConfig.feedLine.safe_position) elif self.feedStatus == FeedStatus.FDropBag: log.log_message(logging.INFO, Constant.str_feed_drop) if self.feedConfig.feedLine.safe_position.compare(real_position): if self.feedConfig.num - 1 != 0: self.sendTargPosition(self.feedConfig.feedLine.drop_bag_position) else: self.sendTargPosition(self.feedConfig.feedLine.zip_bag_position) pass if self.feedConfig.feedLine.drop_bag_position.compare(real_position): # TODO 松开吸嘴 self.feedConfig.num = self.feedConfig.num - 1 log.log_message(logging.INFO, f'{Constant.str_feed_feed_num}{self.feedConfig.num}') self.feedStatus = FeedStatus.FSafeP self.sendTargPosition(self.feedConfig.feedLine.safe_position) if self.feedConfig.feedLine.zip_bag_position.compare(real_position): log.log_message(logging.INFO, Constant.str_feed_zip_bag) # TODO 松开吸嘴 是否需要判断放没放开不 self.feedStatus = FeedStatus.FNone self.sendTargPosition(self.feedConfig.feedLine.safe_position) self.init_detection_image() log.log_message(logging.INFO, Constant.str_feed_finish) pass def sendTargPosition(self,real_position,move_type:MoveType=MoveType.WORLD ,speed = Constant.speed): from Model.RobotModel import Instruction position_instruction = Instruction() position_instruction.speed = speed position_instruction.m0 = real_position.X position_instruction.m1 = real_position.Y position_instruction.m2 = real_position.Z position_instruction.m3 = real_position.U position_instruction.m4 = real_position.V position_instruction.m5 = real_position.W position_instruction.action = move_type.value instruction_command = CMDInstructRequest() instruction_command.instructions.append(position_instruction) request_command = instruction_command.toString() print(request_command) log_str = f'移动到位置:{"姿势直线"}：' \ f'X:{position_instruction.m0}-' \ f'Y:{position_instruction.m1}-' \ f'Z:{position_instruction.m2}-' \ f'U:{position_instruction.m3}-' \ f'V:{position_instruction.m4}-' \ f'W:{position_instruction.m5}' log.log_message(logging.INFO, log_str) self.robotClient.add_sendQuene(request_command) pass def safe_check_columns(self): return True pass def safe_check_person(self): return True pass