forked from huangxin/ailai
137 lines
5.9 KiB
Python
137 lines
5.9 KiB
Python
from enum import Enum
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import numpy as np
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from PySide6.QtCore import Signal
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import Constant
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from Model.Position import Real_Position
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from Trace.handeye_calibration import getPosition
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#from Vision.camera_coordinate_dete import Detection
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import configparser
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import os
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class DetectStatus(Enum):
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DNone = 0
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DDetect = 1
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DOk = 2
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class miDetect:
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update_detect_image = Signal(np.ndarray)
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def __init__(self):
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self.detection = Detection(alignmentType='depth2color')
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self.detect_status = DetectStatus.DNone
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self.detect_position = None
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def run(self):
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if self.detect_status == DetectStatus.DNone:
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return
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if self.detect_status == DetectStatus.DDetect:
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if Constant.Debug:
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self.detect_status = DetectStatus.DOk
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return
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_, img, xyz, uvw, points = self.detection.get_position(Point_isVision=False, Box_isPoint=True,
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First_Depth=True, Iter_Max_Pixel=30,
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save_img_point=1, Height_reduce=30, width_reduce=30)
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self.detection_image = img.copy()
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if xyz == None or uvw == None or points == None:
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self.detect_position = None
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self.detect_status = DetectStatus.DOk
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return
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target_position, noraml_base = getPosition(*xyz, *uvw, None, points)
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position = Real_Position().init_position(*target_position[:3], *noraml_base[:3])
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# position.Z = position.Z
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position.a = uvw[0]
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position.b = uvw[1]
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position.c = uvw[2]
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self.detect_position = position
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self.detect_status = DetectStatus.DOk
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if self.detect_status == DetectStatus.DOk:
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return
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class Detect:
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update_detect_image = Signal(np.ndarray)
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def __init__(self):
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self.detection = ""
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self.detect_status = DetectStatus.DOk
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self.detect_position = None
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self.position_index = 0 # 默认读取索引为 0 的点位
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def run(self):
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#print( f"[调试] 当前丢包点位索引: {self.position_index}")
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if self.detect_status == DetectStatus.DOk:
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self.detect_position = None
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config = configparser.ConfigParser()
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config_file = os.path.join(os.path.dirname(__file__), 'list.ini') #配置文件地址
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if not os.path.exists(config_file):
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print("配置文件 list.ini 不存在")
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return
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config.read(config_file)
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if not config.has_section('positions'):
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print("配置文件中没有 [positions] 段")
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return
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if not config.has_option('positions', str(self.position_index)):
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print(f"没有索引为 {self.position_index} 的点位")
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return
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try:
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# 读取配置项
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data = config.get('positions', str(self.position_index)).strip().split(',')
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if len(data) != 6:
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raise ValueError(f"点位数据格式错误（应为6个值）: {data}")
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x, y, z, a, b, c = map(float, data)
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# 初始化坐标
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self.detect_position = Real_Position()
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self.detect_position.init_position(x, y, z, a, b, c)
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#print(f"成功加载点位索引 {self.position_index}: ({x}, {y}, {z}, {a}, {b}, {c})")
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except Exception as e:
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print(f"读取点位时出错: {e}")
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class Detect1:
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update_detect_image = Signal(np.ndarray)
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def __init__(self):
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self.detection = ""
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self.detect_status = DetectStatus.DOk
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self.detect_position = None
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self.position_index = 0 # 默认读取索引为 0 的点位
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def run(self):
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print(f"[调试] 当前丢包点位索引: {self.position_index}")
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if self.detect_status == DetectStatus.DNone:
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return
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if self.detect_status != DetectStatus.DOk:
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print("检测状态不允许运行")
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return False
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if self.detect_status == DetectStatus.DOk:
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self.detect_position = None # 重置上一次结果
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config = configparser.ConfigParser()
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config_file = os.path.join(os.path.dirname(__file__), 'list.ini')
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if not os.path.exists(config_file):
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print("❌ 配置文件 list.ini 不存在")
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return False
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try:
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config.read(config_file, encoding='utf-8')
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except Exception as e:
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print(f"❌ 读取配置文件失败: {e}")
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return False
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if not config.has_section('positions'):
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print("❌ 配置文件中没有 [positions] 段")
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return False
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if not config.has_option('positions', str(self.position_index)):
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print(f"❌ 没有索引为 {self.position_index} 的点位")
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return False
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try:
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data = config.get('positions', str(self.position_index)).strip().split(',')
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if len(data) != 6:
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raise ValueError(f"点位数据格式错误（应为6个值）: {data}")
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x, y, z, a, b, c = map(float, data)
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self.detect_position = Real_Position()
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self.detect_position.init_position(x, y, z, a, b, c)
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print(f"✅ 成功加载点位索引 {self.position_index}: X{x} Y{y} Z{z} A{a} B{b} C{c}")
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return True # ✅ 成功返回 True
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except ValueError as ve:
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print(f"❌ 数据转换错误: {ve}")
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return False
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except Exception as e:
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print(f"❌ 未知错误: {e}")
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return False |