forked from huangxin/ailai
475 lines
21 KiB
Python
475 lines
21 KiB
Python
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# import logging
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# import time
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#
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# import cv2
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# from PyQt5.QtWidgets import QMessageBox
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#
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# import Constant
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# import Expection
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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 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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#
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#
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#
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#
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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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#
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# class LineType(Enum):
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# Straight = 0
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# CureStart = 1
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# CureMid = 2
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# CureEnd = 3
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#
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#
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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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#
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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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#
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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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# self.get_position_list()
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#
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# def get_current_feed_position(self):
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# pos = self.feeding_to_end[self.feeding2end_pos_index]
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# return pos
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# def get_current_take_position(self):
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# pos = self.start2take_pos_index[self.start2take_pos_index]
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# return pos
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# def get_current_start_position(self):
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# pos = self.origin2start_pos_index[self.origin2start_pos_index]
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# return pos
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#
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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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#
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#
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# def get_next_start_position(self,reverse:bool=False):
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# pos = self.origin2start_pos_index[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.origin2start_pos) - 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.origin2start_pos):
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# self.origin2start_pos_index = 0
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#
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# return pos
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#
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# def get_next_take_position(self,reverse:bool=False):
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# pos = self.start2take_pos_index[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.start2take_pos) - 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.start2take_pos):
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# self.start2take_pos_index = 0
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# return pos
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#
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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:
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# return self.feeding_to_end[i]
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#
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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:
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# self.feeding_to_end[i].position = position
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#
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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.FStart:
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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:
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# index_take = i
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#
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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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#
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#
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#
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#
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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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#
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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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#
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# def get_line_info(self):
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# pass
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#
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#
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# class Feeding:
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# def __init__(self, robotClient: RobotClient, detection: Detection):
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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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# pass
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#
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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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#
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# def run(self):
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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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#
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# if self.feedConfig == None:
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# self.feedStatus = FeedStatus.FNone
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# elif self.feedConfig.num == 0 and self.feedStatus!=FeedStatus.FReverse:
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# self.feedStatus = FeedStatus.FNone
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#
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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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# self.next_position(self.is_reverse)
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#
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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.get_origin_position().compare(real_position) and not self.is_reverse:
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# QMessageBox.information(None, "提示", Constant.str_feed_start_error)
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# self.feedStatus = FeedStatus.FNone
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# if self.is_reverse and self.robotClient.get_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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#
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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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#
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#
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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.position.compare(real_position):
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# self.next_position(self.is_reverse)
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#
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#
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#
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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.FeedMid_Status = FeedMidStatus.FMid_Take
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# self.next_position(self.is_reverse)
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# return
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#
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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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#
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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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#
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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, Constanstr_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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#
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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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#
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# elif self.feedStatus == FeedStatus.FTake:
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# log.log_message(logging.INFO, Constant.str_feed_take)
|
|||
|
|
# if self.feedConfig.feedLine.get_take_position() != None:
|
|||
|
|
# if self.feedConfig.feedLine.get_take_position().compare(real_position):
|
|||
|
|
# # 打开吸嘴并返回
|
|||
|
|
# self.sendIOControl(self.robotClient.con_ios[0], 1)
|
|||
|
|
# self.sendIOControl(self.robotClient.con_ios[1], 1)
|
|||
|
|
# self.sendIOControl(self.robotClient.con_ios[2], 1)
|
|||
|
|
#
|
|||
|
|
# # TODO 检测是否通 不然报警
|
|||
|
|
# self.feedConfig.feedLine.set_take_position(None)
|
|||
|
|
# time.sleep(self.robotClient.time_delay_take)
|
|||
|
|
# log.log_message(logging.INFO, Constant.str_feed_take_success)
|
|||
|
|
#
|
|||
|
|
#
|
|||
|
|
#
|
|||
|
|
# elif self.feedStatus == FeedStatus.FBroken1:
|
|||
|
|
# log.log_message(logging.INFO, Constant.str_feed_broken)
|
|||
|
|
# if self.get_current_position().compare(real_position):
|
|||
|
|
# self.next_position()
|
|||
|
|
#
|
|||
|
|
#
|
|||
|
|
# elif self.feedStatus == FeedStatus.FBroken2:
|
|||
|
|
# log.log_message(logging.INFO, Constant.str_feed_broken)
|
|||
|
|
# if self.get_current_position().compare(real_position):
|
|||
|
|
# self.next_position()
|
|||
|
|
#
|
|||
|
|
# elif self.feedStatus == FeedStatus.FShake:
|
|||
|
|
# log.log_message(logging.INFO, Constant.str_feed_shake)
|
|||
|
|
# if self.get_current_position().compare(real_position):
|
|||
|
|
# # TODO 震动方案
|
|||
|
|
# time.sleep(self.robotClient.time_delay_shake)
|
|||
|
|
# self.next_position()
|
|||
|
|
#
|
|||
|
|
# elif self.feedStatus == FeedStatus.FDropBag:
|
|||
|
|
# log.log_message(logging.INFO, Constant.str_feed_drop)
|
|||
|
|
#
|
|||
|
|
# if self.get_current_position().compare(real_position):
|
|||
|
|
# self.sendIOControl(self.robotClient.con_ios[0], 0)
|
|||
|
|
# self.sendIOControl(self.robotClient.con_ios[1], 0)
|
|||
|
|
# self.sendIOControl(self.robotClient.con_ios[2], 0)
|
|||
|
|
# # TODO 检测是否断 不然报警
|
|||
|
|
# time.sleep(self.robotClient.time_delay_put)
|
|||
|
|
# # TODO 获取目标位置
|
|||
|
|
# 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.feedConfig.num = self.feedConfig.num - 1
|
|||
|
|
# log.log_message(logging.INFO, f'{Constant.str_feed_feed_num}{self.feedConfig.num}')
|
|||
|
|
# self.next_position()
|
|||
|
|
#
|
|||
|
|
#
|
|||
|
|
#
|
|||
|
|
#
|
|||
|
|
# def send_emergency_sound(self):
|
|||
|
|
# self.sendIOControl(Constant.IO_EmergencyPoint, 1)
|
|||
|
|
#
|
|||
|
|
# 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=Constant.speed,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"}：' \
|
|||
|
|
# 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}'
|
|||
|
|
#
|
|||
|
|
# try:
|
|||
|
|
# log.log_message(logging.INFO, log_str)
|
|||
|
|
# except:
|
|||
|
|
# print("error")
|
|||
|
|
#
|
|||
|
|
# self.robotClient.add_sendQuene(request_command)
|
|||
|
|
# pass
|
|||
|
|
#
|
|||
|
|
#
|
|||
|
|
# def next_start(self,reverse=False):
|
|||
|
|
# start_pos = self.feedConfig.feedLine.get_next_start_position(reverse)
|
|||
|
|
# self.feedStatus = start_pos.status if self.feedStatus != FeedStatus.FNone else FeedStatus.FNone
|
|||
|
|
# if start_pos.lineType == LineType.CureMid:
|
|||
|
|
# start_pos1 = self.feedConfig.feedLine.get_next_start_position(reverse)
|
|||
|
|
# self.sendTargPosition(real_position=start_pos.position, move_type=MoveType.Cure, real_position1=start_pos1.position)
|
|||
|
|
# else:
|
|||
|
|
# self.sendTargPosition(start_pos.position)
|
|||
|
|
# pass
|
|||
|
|
#
|
|||
|
|
# def next_take(self,reverse=False):
|
|||
|
|
# take_pos = self.feedConfig.feedLine.get_next_take_position(reverse)
|
|||
|
|
# self.feedStatus = take_pos.status if self.feedStatus != FeedStatus.FNone else FeedStatus.FNone
|
|||
|
|
# if take_pos.lineType == LineType.CureMid:
|
|||
|
|
# take_pos1 = self.feedConfig.feedLine.get_next_take_position(reverse)
|
|||
|
|
# self.sendTargPosition(real_position=take_pos.position, move_type=MoveType.Cure, real_position1=take_pos1.position)
|
|||
|
|
# else:
|
|||
|
|
# self.sendTargPosition(take_pos.position)
|
|||
|
|
# pass
|
|||
|
|
#
|
|||
|
|
# def next_Feed(self,reverse=False):
|
|||
|
|
# feed_pos = self.feedConfig.feedLine.get_next_feed_position(reverse)
|
|||
|
|
# self.feedStatus = feed_pos.status if self.feedStatus != FeedStatus.FNone else FeedStatus.FNone
|
|||
|
|
# if feed_pos.lineType == LineType.CureMid:
|
|||
|
|
# feed_pos1 = self.feedConfig.feedLine.get_next_feed_position(reverse)
|
|||
|
|
# self.sendTargPosition(real_position=feed_pos.position, move_type=MoveType.Cure, real_position1=feed_pos1.position)
|
|||
|
|
# else:
|
|||
|
|
# self.sendTargPosition(feed_pos.position)
|
|||
|
|
#
|
|||
|
|
# 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
|
|||
|
|
#
|