715 lines
33 KiB
Python
715 lines
33 KiB
Python
import logging
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import time
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import cv2
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from PyQt5.QtWidgets import QMessageBox
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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 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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from COM.COM_Robot import RobotClient, DetectType
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from Model.RobotModel import CMDInstructRequest, MoveType
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from Trace.handeye_calibration import getPosition
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from Util.util_math import get_distance
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from Util.util_time import CRisOrFall
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from Vision.camera_coordinate_dete import Detection
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from Util.util_log import log
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from Model.RobotModel import Instruction
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class ResetStatus(Enum):
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RNone = 0
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RStart = 1
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RRunging = 2
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ROk =3
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class FeedStatus(IntEnum):
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FNone = 0
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FStart = 1
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FCheck = 2
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FMid = 3
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FPhoto = 4
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FTake = 5
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FBroken1 = 6
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FBroken2 =7
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FShake = 8
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FDropBag = 9
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FFinished = 10
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FReverse = 11
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FStartReverse = 12
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class LineType(Enum):
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Straight = 0
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CureMid = 2
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CureEnd = 3
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WORLD = 4
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class FeedMidStatus(Enum):
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FMid_Start = 1
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FMid_Take = 2
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FMid_Feed= 3
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class FeedPosition:
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def __init__(self,status:FeedStatus,position:Real_Position):
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self.status = status
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self.position = position
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class FeedLine:
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def __init__(self, id, name, feed_positions:list):
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self.feed_positions = feed_positions
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self.feeding2end_pos_index = 0
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self.origin2start_pos_index = 0
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self.start2take_pos_index = 0
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self.name = name
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self.id = id
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def get_current_feed_position(self):
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pos = self.feeding_to_end[self.feeding2end_pos_index-1]
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return pos
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def get_current_take_position(self):
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pos = self.start_to_take[self.start2take_pos_index-1]
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return pos
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def get_current_start_position(self):
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pos = self.origin_to_start[self.origin2start_pos_index-1]
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return pos
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def get_next_feed_position(self,reverse:bool=False):
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pos = self.feeding_to_end[self.feeding2end_pos_index]
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if reverse:
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self.feeding2end_pos_index -= 1
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if self.feeding2end_pos_index < 0:
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self.feeding2end_pos_index = len(self.feeding_to_end) - 1
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else:
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self.feeding2end_pos_index += 1
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if self.feeding2end_pos_index >= len(self.feeding_to_end):
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self.feeding2end_pos_index = 0
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return pos
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def get_next_start_position(self,reverse:bool=False):
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pos = self.origin_to_start[self.origin2start_pos_index]
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if reverse:
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self.origin2start_pos_index -= 1
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if self.origin2start_pos_index < 0:
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self.origin2start_pos_index = len(self.origin_to_start) - 1
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else:
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self.origin2start_pos_index += 1
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if self.origin2start_pos_index >= len(self.origin_to_start):
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self.origin2start_pos_index = 0
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return pos
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def get_next_take_position(self,reverse:bool=False):
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pos = self.start_to_take[self.start2take_pos_index]
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if reverse:
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self.start2take_pos_index -= 1
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if self.start2take_pos_index < 0:
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self.start2take_pos_index = len(self.start_to_take) - 1
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else:
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self.start2take_pos_index += 1
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if self.start2take_pos_index >= len(self.start_to_take):
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self.start2take_pos_index = 0
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return pos
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def get_take_position(self):
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for i in range(len(self.feeding_to_end)):
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if self.feeding_to_end[i].status == FeedStatus.FTake.value:
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return self.feeding_to_end[i]
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def set_take_position(self,position:Real_Position):
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for i in range(len(self.feeding_to_end)):
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if self.feeding_to_end[i].status == FeedStatus.FTake.value:
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self.feeding_to_end[i].set_position(position)
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def get_position_list(self):
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index_start = -1
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for i in range(len(self.feed_positions)):
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if self.feed_positions[i].status == FeedStatus.FCheck.value:
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index_start = i
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break
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for i in range(len(self.feed_positions)):
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if self.feed_positions[i].status == FeedStatus.FPhoto.value:
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index_take = i
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self.origin_to_start = self.feed_positions[: index_start+1]
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self.start_to_take = self.feed_positions[index_start:index_take+1]
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self.feeding_to_end = self.feed_positions[index_take:]
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class FeedingConfig:
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def __init__(self, num: int, feedLine: FeedLine, photo_locs):
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self.num = num
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self.feedLine = feedLine
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self.photo_locs = [self.deal_photo_locs(p) for p in photo_locs]
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def deal_photo_locs(self, photo_loc):
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position_photo = Real_Position()
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position_photo.init_position(photo_loc[0], photo_loc[1], photo_loc[2], photo_loc[3], photo_loc[4], photo_loc[5])
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return position_photo
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def get_line_info(self):
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pass
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class Feeding(QObject):
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need_origin_signal = Signal(str)
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take_no_photo_sigal = Signal(str)
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def __init__(self, robotClient: RobotClient, detection: Detection):
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super().__init__()
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self.feedConfig = None
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self.feedStatus = FeedStatus.FNone
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self.robotClient = robotClient
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self.detection = detection
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self.detection_image = None
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self.init_detection_image()
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self.pause = False
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self.cRis_photo = CRisOrFall()
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self.feed_Mid_Status = FeedMidStatus.FMid_Start
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self.is_reverse = False
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# 复位集合
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self.run_reverse = False
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self.take_no_photo = False
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self.reset_status = ResetStatus.RNone
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self.reversed_positions = []
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self.current_position = None
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self.index=1
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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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pass
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def init_detection_image(self):
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self.detection_image = cv2.imread(Constant.feed_sign_path)
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def run(self):
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self.catch.run()
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# 获取事件坐标
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real_position = Real_Position()
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real_position.init_position(self.robotClient.status_model.world_0,
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self.robotClient.status_model.world_1,
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self.robotClient.status_model.world_2,
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self.robotClient.status_model.world_3,
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self.robotClient.status_model.world_4,
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self.robotClient.status_model.world_5)
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# real_position.init_position(0,
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# 0,
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# 0,
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# 0,
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# 0,
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# 0);
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img_path = f'Image/{self.index}.png'
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img = cv2.imread(img_path)
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self.index += 1
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self.index = self.index % 4
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self.detection_image = img
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if self.feedConfig == None:
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self.feedStatus = FeedStatus.FNone
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if self.feedConfig !=None and self.feedConfig.num == 0 and self.is_reverse and self.robotClient.origin_position.compare(real_position):
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self.feedStatus = FeedStatus.FNone
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self.is_reverse = False
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if self.feedStatus == FeedStatus.FNone or self.pause:
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return
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elif self.feedStatus == FeedStatus.FCheck:
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log.log_message(logging.INFO, Constant.str_feed_check)
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# 1, 检查是否是三列
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# 2, 检查是否有人
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# if self.safe_check_columns() and self.safe_check_person():
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# pass
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# else:
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# if self.feedConfig.num != 0:
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# self.next_target()
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# if == 原点 继续判断
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# else:
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# QMessageBox.information(None, "提示", Constant.str_feed_safe_error_msgbox)
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if self.is_reverse:
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self.feed_Mid_Status = FeedMidStatus.FMid_Start
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else:
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self.feed_Mid_Status = FeedMidStatus.FMid_Take
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if self.feedConfig.feedLine.start_to_take[0].get_position().compare(real_position):
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self.next_position(self.is_reverse)
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elif self.feedStatus == FeedStatus.FStart:
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log.log_message(logging.INFO, Constant.str_feed_start)
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if not self.robotClient.origin_position.compare(real_position) and not self.is_reverse:
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# QMessageBox.information(None, "提示", Constant.str_feed_start_error) # Fuck 引起异常
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self.need_origin_signal.emit(Constant.str_feed_start_error)
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self.feedStatus = FeedStatus.FNone
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return
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if self.is_reverse:
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self.feedStatus = FeedStatus.FNone
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self.is_reverse = False
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return
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self.feedConfig.feedLine.get_position_list()
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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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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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self.next_position(self.is_reverse)
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elif self.feedStatus == FeedStatus.FMid:
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log.log_message(logging.INFO, Constant.str_feed_mid)
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feed_pos = self.get_current_position()
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if feed_pos.get_position().compare(real_position):
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self.next_position(self.is_reverse)
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elif self.feedStatus == FeedStatus.FPhoto:
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log.log_message(logging.INFO, Constant.str_feed_photo)
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if self.feedConfig.num == 0:
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log.log_message(logging.INFO, Constant.str_feed_finish)
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self.is_reverse = True
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self.feed_Mid_Status = FeedMidStatus.FMid_Take
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self.feedConfig.feedLine.start2take_pos_index = len(self.feedConfig.feedLine.start_to_take) -2
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self.feedConfig.feedLine.origin2start_pos_index = len(self.feedConfig.feedLine.origin_to_start) - 2
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self.next_position(self.is_reverse)
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return
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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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return
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detect_pos_list = []
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if not Constant.Debug:
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try:
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from Util.util_time import CRisOrFall
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if self.cRis_photo.Q(self.error_photo_count >= 5, True):
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QMessageBox.information(None, "提示", Constant.str_feed_photo_error_msgbox)
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self.error_photo_count = 0
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log.log_message(logging.INFO, Constant.str_feed_photo_confirm)
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# TODO 返回初始状态
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for pos in self.feedConfig.photo_locs:
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self.sendTargPosition(pos)
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while not pos.compare(real_position): # 可以优化 TODO
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if self.feedStatus == FeedStatus.FNone or not self.pause:
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return
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time.sleep(0.1)
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code, img, xyz, uvw, mng = self.detection.get_position() # 检测结果
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self.detection_image = img
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if xyz != None:
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log.log_message(logging.INFO, Constant.str_feed_takePhoto_success)
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# dp = Detection_Position().init_position(*xyz, *uvw)
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from Trace.handeye_calibration import R_matrix, getPosition
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rotation = R_matrix(self.robotClient.status_model.world_0,
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self.robotClient.status_model.world_1,
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self.robotClient.status_model.world_2,
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self.robotClient.status_model.world_3,
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self.robotClient.status_model.world_4,
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self.robotClient.status_model.world_5)
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# 黄老师给我的xyz和法向量
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target_position, noraml_base = getPosition(*xyz, *uvw, rotation, *mng)
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detect_pos_list.append(Real_Position().init_position(*target_position[:3], *noraml_base))
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log.log_message(logging.INFO, Constant.str_feed_takePhoto_success)
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else:
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log.log_message(logging.ERROR, Constant.str_feed_takePhoto_fail + real_position.to_string())
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z_diff, max_z_index = (lambda pts: (
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max(pts, key=lambda p: p.Z).Z - min(pts, key=lambda p: p.Z).Z,
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pts.index(max(pts, key=lambda p: p.Z))
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))(detect_pos_list)
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if len(self.feedConfig.photo_locs) == 5:
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if z_diff < Constant.bag_height and len(
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detect_pos_list) == 3: # 第一次检测到没有高度差距开始三列拍照 TODO 保留全部的开关
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# 拍照位置从五个变为三个
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self.feedConfig.photo_locs = [detect_pos_list[0], detect_pos_list[2], detect_pos_list[4]]
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take_position = detect_pos_list[0]
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log.log_message(logging.INFO, Constant.str_feed_takePhoto_front_finish)
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else:
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take_position = detect_pos_list[max_z_index]
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log.log_message(logging.INFO, Constant.str_feed_takePhoto_front)
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else:
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if z_diff < Constant.bag_height:
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take_position = detect_pos_list[0]
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log.log_message(logging.INFO, Constant.str_feed_takePhoto_new_line)
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else:
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take_position = detect_pos_list[max_z_index]
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log.log_message(logging.INFO, Constant.str_feed_takePhoto_line)
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self.feedConfig.feedLine.set_take_position(take_position) ##TODO 检查有没有异常
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self.next_position()
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except:
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log.log_message(logging.ERROR, Constant.str_feed_takePhoto_fail)
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self.error_photo_count += 1
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else:
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self.feedConfig.feedLine.set_take_position(real_position) ##TODO 检查有没有异常
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self.next_position()
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log.log_message(logging.INFO, Constant.str_feed_takePhoto_move)
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elif self.feedStatus == FeedStatus.FTake:
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log.log_message(logging.INFO, Constant.str_feed_take)
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if self.feedConfig.feedLine.get_take_position().get_position() != None:
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# self.take_no_photo = False
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if self.feedConfig.feedLine.get_take_position().get_position().compare(real_position):
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# 打开吸嘴并返回
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# self.sendIOControl(self.robotClient.con_ios[0], 1)
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# self.sendIOControl(self.robotClient.con_ios[1], 1)
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# self.sendIOControl(self.robotClient.con_ios[2], 1)
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if self.catch.catch_status == CatchStatus.CNone :
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self.catch.catch_status = CatchStatus.CTake
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return
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if self.catch.catch_status == CatchStatus.CTake:
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return
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if self.catch.catch_status == CatchStatus.COk :
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self.catch.catch_status = CatchStatus.CNone
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self.feedConfig.feedLine.set_take_position(None)
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time.sleep(self.robotClient.time_delay_take)
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log.log_message(logging.INFO, Constant.str_feed_take_success)
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self.next_position()
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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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elif self.feedStatus == FeedStatus.FBroken1:
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log.log_message(logging.INFO, Constant.str_feed_broken)
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if self.get_current_position().get_position().compare(real_position):
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self.next_position()
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elif self.feedStatus == FeedStatus.FBroken2:
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log.log_message(logging.INFO, Constant.str_feed_broken)
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if self.get_current_position().get_position().compare(real_position):
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self.next_position()
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elif self.feedStatus == FeedStatus.FShake:
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log.log_message(logging.INFO, Constant.str_feed_shake)
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if self.get_current_position().get_position().compare(real_position):
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# TODO 震动方案
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if self.catch.catch_status == CatchStatus.CNone:
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self.catch.catch_status = CatchStatus.CShake
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return
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if self.catch.catch_status == CatchStatus.CShake:
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return
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if self.catch.catch_status == CatchStatus.COk:
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self.catch.catch_status = CatchStatus.CNone
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time.sleep(self.robotClient.time_delay_shake)
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self.next_position()
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elif self.feedStatus == FeedStatus.FDropBag:
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log.log_message(logging.INFO, Constant.str_feed_drop)
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if self.get_current_position().get_position().compare(real_position):
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# self.sendIOControl(self.robotClient.con_ios[0], 0)
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# self.sendIOControl(self.robotClient.con_ios[1], 0)
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# self.sendIOControl(self.robotClient.con_ios[2], 0)
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if self.catch.catch_status == CatchStatus.CNone:
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self.catch.catch_status = CatchStatus.CDrop
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return
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if self.catch.catch_status == CatchStatus.CDrop:
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return
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if self.catch.catch_status == CatchStatus.COk:
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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.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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def run_reset(self):
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real_position = Real_Position()
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real_position.init_position(self.robotClient.status_model.world_0,
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self.robotClient.status_model.world_1,
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self.robotClient.status_model.world_2,
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self.robotClient.status_model.world_3,
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self.robotClient.status_model.world_4,
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self.robotClient.status_model.world_5)
|
||
if self.reset_status == ResetStatus.RNone:
|
||
return
|
||
|
||
if self.reset_status == ResetStatus.RStart:
|
||
|
||
if self.feedConfig == None: return
|
||
# for index in range(len(self.feedConfig.feedLine.positions)):
|
||
# if self.feedConfig.feedLine.positions[index].status == 2:
|
||
# start_index = index
|
||
self.pos_index = -1
|
||
self.pos_near_index = -1
|
||
self.reversed_positions = []
|
||
for index, pos_model in enumerate(self.feedConfig.feedLine.feed_positions):
|
||
if pos_model.get_position().compare(real_position):
|
||
self.pos_index = index
|
||
break
|
||
|
||
if self.pos_index == -1:
|
||
log.log_message(logging.ERROR, Constant.str_feed_return_original_position_fail)
|
||
min_distance = 99999999
|
||
for index, pos_model in enumerate(self.feedConfig.feedLine.feed_positions):
|
||
if get_distance(pos_model.get_position(), real_position) < min_distance:
|
||
min_distance = get_distance(pos_model.get_position(), real_position)
|
||
self.pos_near_index = index
|
||
if self.pos_near_index != -1:
|
||
self.reversed_positions = self.feedConfig.feedLine.feed_positions[:self.pos_near_index + 1]
|
||
else:
|
||
return False
|
||
else:
|
||
self.reversed_positions = self.feedConfig.feedLine.feed_positions[:self.pos_index]
|
||
self.reversed_positions = list(reversed(self.reversed_positions))
|
||
self.reverse_index = 0
|
||
self.send_emergency_sound()
|
||
self.current_position = PositionModel()
|
||
self.current_position.init_position(real_position)
|
||
self.reset_status = ResetStatus.RRunging
|
||
|
||
if self.reset_status == ResetStatus.RRunging:
|
||
if not real_position.compare(self.current_position.get_position()):
|
||
return
|
||
pos_model = self.reversed_positions[self.reverse_index]
|
||
if pos_model.status == FeedStatus.FTake.value: # 跳过取袋节点
|
||
print('跳过抓袋点位')
|
||
pos_model = self.reversed_positions[self.reverse_index + 1]
|
||
self.reverse_index = self.reverse_index+1
|
||
|
||
if pos_model.lineType == LineType.CureMid.value:
|
||
pos_model1 = self.reversed_positions[self.reverse_index + 1]
|
||
self.sendTargPosition(real_position=pos_model.get_position(), move_type=MoveType.Cure,
|
||
real_position1=pos_model1.get_position(), speed=self.robotClient.reset_speed)
|
||
self.current_position = pos_model1
|
||
self.reverse_index = self.reverse_index + 2
|
||
else:
|
||
self.sendTargPosition(real_position=pos_model.get_position(), speed=self.robotClient.reset_speed)
|
||
self.current_position = pos_model
|
||
self.reverse_index = self.reverse_index + 1
|
||
|
||
if self.reverse_index == len(self.reversed_positions):
|
||
self.reset_status = ResetStatus.ROk
|
||
if self.reset_status == ResetStatus.ROk:
|
||
self.reset_status = ResetStatus.RNone
|
||
self.send_emergency_stop()
|
||
|
||
|
||
|
||
|
||
def return_original_position(self):
|
||
|
||
self.run_reverse = True
|
||
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)
|
||
if self.feedConfig == None: return
|
||
start_index = -1
|
||
# for index in range(len(self.feedConfig.feedLine.positions)):
|
||
# if self.feedConfig.feedLine.positions[index].status == 2:
|
||
# start_index = index
|
||
pos_index = -1
|
||
pos_near_index = -1
|
||
reversed_positions = []
|
||
for index, pos_model in enumerate(self.feedConfig.feedLine.feed_positions):
|
||
if pos_model.get_position().compare(real_position):
|
||
pos_index = index
|
||
break
|
||
|
||
if pos_index == -1:
|
||
log.log_message(logging.ERROR, Constant.str_feed_return_original_position_fail)
|
||
min_distance = 99999999
|
||
for index, pos_model in enumerate(self.feedConfig.feedLine.feed_positions):
|
||
if get_distance(pos_model.get_position(), real_position)<min_distance:
|
||
min_distance = get_distance(pos_model.get_position(), real_position)
|
||
pos_near_index = index
|
||
if pos_near_index != -1:
|
||
reversed_positions = self.feedConfig.feedLine.feed_positions[:pos_near_index+1]
|
||
else:
|
||
return False
|
||
else:
|
||
reversed_positions = self.feedConfig.feedLine.feed_positions[:pos_index]
|
||
reversed_positions = list(reversed(reversed_positions))
|
||
self.reverse_index = 0
|
||
self.send_emergency_sound()
|
||
current_position = PositionModel()
|
||
current_position.init_position(real_position)
|
||
while self.run_reverse and self.reverse_index!=len(reversed_positions):
|
||
if self.reverse_index!=0 and not real_position.compare(current_position.get_position()):
|
||
continue
|
||
print(f'复位第{self.reverse_index}') #todo 缺少比对
|
||
pos_model = reversed_positions[self.reverse_index]
|
||
if pos_model.status == FeedStatus.FTake.value: # 跳过取袋节点
|
||
print('跳过抓袋点位')
|
||
pos_model = reversed_positions[self.reverse_index + 1]
|
||
# TODO take节点判断
|
||
|
||
if pos_model.lineType == LineType.CureMid.value:
|
||
pos_model1 = reversed_positions[self.reverse_index + 1]
|
||
self.sendTargPosition(real_position=pos_model.get_position(), move_type=MoveType.Cure,
|
||
real_position1=pos_model1.get_position(),speed= self.robotClient.reset_speed)
|
||
current_position = pos_model1
|
||
self.reverse_index = self.reverse_index+2
|
||
else:
|
||
self.sendTargPosition(real_position=pos_model.get_position(),speed=self.robotClient.reset_speed)
|
||
current_position = pos_model
|
||
self.reverse_index = self.reverse_index + 1
|
||
self.send_emergency_stop()
|
||
return True
|
||
def send_emergency_sound(self):
|
||
self.sendIOControl(Constant.IO_EmergencyPoint, 2)
|
||
|
||
def send_emergency_stop(self):
|
||
self.sendIOControl(Constant.IO_EmergencyPoint, 0)
|
||
|
||
def sendIOControl(self, IO_bit, IO_Status: int):
|
||
|
||
IO_command = CMDInstructRequest()
|
||
io_instruction = Instruction()
|
||
io_instruction.IO = True
|
||
io_instruction.io_status = IO_Status
|
||
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)
|
||
self.robotClient.add_sendQuene(IO_command.toString())
|
||
log.log_message(logging.INFO, f'{Constant.str_feed_io_control}{IO_bit}，{IO_Status}')
|
||
pass
|
||
|
||
def sendTargPosition(self, real_position, move_type: MoveType = MoveType.WORLD, speed=5,real_position1=None):
|
||
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
|
||
if position_instruction.action == 17:
|
||
position_instruction.m0_p = real_position1.X
|
||
position_instruction.m1_p = real_position1.Y
|
||
position_instruction.m2_p = real_position1.Z
|
||
position_instruction.m3_p = real_position1.U
|
||
position_instruction.m4_p = real_position1.V
|
||
position_instruction.m5_p = real_position1.W
|
||
instruction_command = CMDInstructRequest()
|
||
instruction_command.instructions.append(position_instruction)
|
||
request_command = instruction_command.toString()
|
||
|
||
log_str = f'移动到位置:{ "姿势直线" if move_type==MoveType.WORLD else "姿势曲线"}：' \
|
||
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}'
|
||
print(log_str)
|
||
|
||
try:
|
||
log.log_message(logging.INFO, log_str)
|
||
except:
|
||
print("error")
|
||
|
||
self.robotClient.add_sendQuene(request_command)
|
||
pass
|
||
def get_take_position(self):
|
||
if Constant.Debug:
|
||
return self.robotClient.status_model.getRealPosition()
|
||
_, 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)
|
||
self.detection_image = img
|
||
if xyz ==None or uvw==None or points==None:
|
||
return None
|
||
target_position,noraml_base = getPosition(*xyz,*uvw,None,points)
|
||
|
||
position = Real_Position().init_position(*target_position[:3],*noraml_base[:3])
|
||
position.Z = position.Z+40
|
||
return position
|
||
def next_start(self,reverse=False):
|
||
print(f'原点到初始位置的第{self.feedConfig.feedLine.origin2start_pos_index}')
|
||
start_pos = self.feedConfig.feedLine.get_next_start_position(reverse)
|
||
self.feedStatus = FeedStatus(start_pos.status) if self.feedStatus != FeedStatus.FNone else FeedStatus.FNone
|
||
if start_pos.lineType == LineType.CureMid.value:
|
||
start_pos1 = self.feedConfig.feedLine.get_next_start_position(reverse)
|
||
self.feedStatus = FeedStatus(start_pos1.status) if self.feedStatus != FeedStatus.FNone else FeedStatus.FNone
|
||
self.sendTargPosition(real_position=start_pos.get_position(),speed=self.robotClient.debug_speed, move_type=MoveType.Cure, real_position1=start_pos1.get_position())
|
||
elif start_pos.lineType == LineType.WORLD.value:
|
||
if self.robotClient.status_model.getAnglePosition().is_error_angel_move(start_pos.get_position(),self.robotClient.max_angle_interval):
|
||
self.feedStatus = None
|
||
log.log_message(logging.ERROR, Constant.str_feed_angle_error)
|
||
else:
|
||
self.sendTargPosition(real_position=start_pos.get_position(),speed=self.robotClient.debug_speed,move_type=MoveType.AXIS)
|
||
else:
|
||
self.sendTargPosition(real_position=start_pos.get_position(),speed=self.robotClient.debug_speed)
|
||
pass
|
||
|
||
def next_take(self,reverse=False):
|
||
print(f'初始位置到拍照点的第{self.feedConfig.feedLine.start2take_pos_index}')
|
||
take_pos = self.feedConfig.feedLine.get_next_take_position(reverse)
|
||
self.feedStatus = FeedStatus(take_pos.status) if self.feedStatus != FeedStatus.FNone else FeedStatus.FNone
|
||
if take_pos.lineType == LineType.CureMid.value:
|
||
take_pos1 = self.feedConfig.feedLine.get_next_take_position(reverse)
|
||
self.feedStatus = FeedStatus(take_pos1.status) if self.feedStatus != FeedStatus.FNone else FeedStatus.FNone
|
||
self.sendTargPosition(real_position=take_pos.get_position(), move_type=MoveType.Cure, real_position1=take_pos1.get_position(),speed=self.robotClient.debug_speed)
|
||
else:
|
||
self.sendTargPosition(real_position=take_pos.get_position(),speed=self.robotClient.debug_speed)
|
||
pass
|
||
|
||
def next_Feed(self,reverse=False):
|
||
print(f'拍照到抛料回来的第{self.feedConfig.feedLine.feeding2end_pos_index}')
|
||
feed_pos = self.feedConfig.feedLine.get_next_feed_position(reverse)
|
||
self.feedStatus = FeedStatus(feed_pos.status) if self.feedStatus != FeedStatus.FNone else FeedStatus.FNone
|
||
if feed_pos.lineType == LineType.CureMid.value:
|
||
feed_pos1 = self.feedConfig.feedLine.get_next_feed_position(reverse)
|
||
self.feedStatus = FeedStatus(feed_pos1.status) if self.feedStatus != FeedStatus.FNone else FeedStatus.FNone
|
||
self.sendTargPosition(real_position=feed_pos.get_position(), move_type=MoveType.Cure, real_position1=feed_pos1.get_position(),speed=self.robotClient.debug_speed)
|
||
else:
|
||
self.sendTargPosition(real_position=feed_pos.get_position(),speed=self.robotClient.debug_speed)
|
||
|
||
def get_current_position(self):
|
||
if self.feed_Mid_Status == FeedMidStatus.FMid_Start:
|
||
return self.feedConfig.feedLine.get_current_start_position()
|
||
elif self.feed_Mid_Status == FeedMidStatus.FMid_Take:
|
||
return self.feedConfig.feedLine.get_current_take_position()
|
||
elif self.feed_Mid_Status == FeedMidStatus.FMid_Feed:
|
||
return self.feedConfig.feedLine.get_current_feed_position()
|
||
def next_position(self,reverse=False):
|
||
if self.feed_Mid_Status == FeedMidStatus.FMid_Start:
|
||
self.next_start(reverse)
|
||
elif self.feed_Mid_Status == FeedMidStatus.FMid_Take:
|
||
self.next_take(reverse)
|
||
elif self.feed_Mid_Status == FeedMidStatus.FMid_Feed:
|
||
self.next_Feed(reverse)
|
||
|
||
def safe_check_columns(self):
|
||
return True
|
||
pass
|
||
|
||
def safe_check_person(self):
|
||
return True
|
||
pass
|
||
|