96 lines
3.5 KiB
Python
96 lines
3.5 KiB
Python
#!/usr/bin/python3
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import time
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from enum import Enum
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import Constant
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from COM.COM_Robot import RobotClient
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from Util.util_time import CClockPulse, CTon
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from .EMV import *
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class CatchStatus(Enum):
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CNone = 0
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CTake = 1
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CDrop = 2
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CShake = 3
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COk = 4
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class Catch:
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def __init__(self, robotClient: RobotClient):
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self.robotClient = robotClient
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self.catch_status = CatchStatus.CNone
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self.shake_continue = CTon()
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self.drop_continue = CTon()
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self.take_continue = CTon()
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self.shakePulse = CClockPulse()
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self.shake_count = 5
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self.drop_count = 2
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self.is_send_command = False
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self.is_send_take_command = False
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self.shake_Q = False
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def run(self):
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if self.catch_status == CatchStatus.CNone:
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return
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if self.catch_status == CatchStatus.CTake:
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if not self.is_send_take_command:
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# 本身IO
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##self.robotClient.sendIOControl(self.robotClient.con_ios[0],1)
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# 网络继电器
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close(1, 0, 0)
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self.is_send_take_command = True
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if self.catch_status == CatchStatus.CDrop:
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if not self.is_send_command:
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# 本身IO
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# self.robotClient.sendIOControl(self.robotClient.con_ios[0], 0)
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# 网络继电器
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close(1, 0, 0)
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time.sleep(1)
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for _ in range(self.drop_count):
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# self.robotClient.sendIOControl(self.robotClient.con_ios[1], 1, delay=self.robotClient.time_delay_put)
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open(0, 0, 1)
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time.sleep(self.robotClient.time_delay_put) # 会造成这个时间点 其他命令插入不进去 需要另开线程
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close(0, 0, 1)
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# self.robotClient.sendIOControl(self.robotClient.con_ios[1], 0)
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# self.robotClient.sendIOControl(self.robotClient.con_ios[1], 1)
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close(0, 0, 1)
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self.is_send_command = True
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if self.drop_continue.Q(True,self.robotClient.time_delay_put*1000*self.drop_count):
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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.is_send_command = False
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self.catch_status = CatchStatus.COk
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self.drop_continue.SetReset()
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if self.catch_status == CatchStatus.CShake: # 1500
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self.shake_Q = not self.shake_Q # 10
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if not self.shake_continue.Q(True, 4000):
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if self.shake_Q:
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open(0, 1, 0)
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else:
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close(0, 1, 0)
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else:
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self.shake_continue.SetReset()
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self.catch_status = CatchStatus.COk
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#if Constant.Debug or self.robotClient.check_outputQ(self.robotClient.con_ios[2]):
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# self.robotClient.sendIOControl(self.robotClient.con_ios[2], 0)
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close(0, 1, 0)
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print("震动结束")
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if self.catch_status == CatchStatus.COk :
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# self.robotClient.sendIOControl(self.robotClient.con_ios[1], 0,emptyList='1')
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open(1,0,0)
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close(0, 1, 0)
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close(0, 0, 1)
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self.is_send_take_command = False
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pass
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def take_bag(self):
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return True
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def press_bag(self):
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return True
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def shake_bag(self):
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return True |