280 RISCV: 修复吸泵提前开启问题;偏移量修改和位置放置按钮增加禁用/开放机制;增加是否执行初始点按钮判断

Author: wangWking

libraries/offset/myCobot 280 for RISCV_color.txt

@@ -1 +1 @@
-['165', '10', '103']
+['165', '0', '100']

libraries/offset/myCobot 280 for RISCV_encode.txt

@@ -1 +1 @@
-['170', '20', '65']
+['175', '0', '64']

libraries/offset/myCobot 280 for RISCV_feature.txt

@@ -1 +1 @@
-['165', '5', '65']
+['165', '5', '64']

libraries/offset/myCobot 280 for RISCV_shape.txt

@@ -1 +1 @@
-['165', '10', '65']
+['165', '-5', '64']

libraries/offset/myCobot 280 for RISCV_yolov8.txt

@@ -1 +1 @@
-['170', '15', '65']
+['165', '0', '64']

main.py

@@ -201,6 +201,8 @@ def _init_variable(self):
         self.BLUE = (255, 178, 50)
         self.YELLOW = (0, 255, 255)
 
+        self.init_point_done = False  # 标志位：是否点击过初始点按钮
+
     # initialization status
     def _init_status(self):
         self.camera_status = False  # camera open state
@@ -487,6 +489,7 @@ def buad_choose(self):
                 Device.pin_factory = LGPIOFactory(chip=0)  # 显式指定/dev/gpiochip0
                 # 初始化 GPIO 控制的设备
                 self.valve = LED(72)  # 阀门
+                self.valve.on()
 
             else:
                 self.camera_edit.setText('0')
@@ -1595,6 +1598,12 @@ def discern_func(self):
 
     def crawl_func(self):
         """Turn crawling on/off"""
+        if not self.init_point_done:
+            if self.language == 1:
+                QMessageBox.warning(self, 'prompt', 'Please return to the initial point first！')
+            else:
+                QMessageBox.warning(self, '警告', '请先回到初始点！')
+            return
         if self.crawl_status:
             self.crawl_status = False
             self.btn_color(self.crawl_btn, 'blue')
@@ -1633,7 +1642,7 @@ def check_position(self, data, ids, max_same_data_count=50):
             start_time = time.time()
             while True:
                 # 超时检测
-                if (time.time() - start_time) >= 3:
+                if (time.time() - start_time) >= 5:
                     break
                 res = self.myCobot.is_in_position(data, ids)
                 # print('res', res, data)
@@ -1667,6 +1676,12 @@ def to_origin_func(self):
             if self.comboBox_function.currentText() == 'yolov5':
                 self.yolov5_is_not_pick = False
                 self.is_yolov5_cut_btn_clicked = False
+            self.init_point_done = True
+            if self.language == 1:
+                msg_box = QMessageBox(QMessageBox.Information, 'prompt', 'Returned to initial point successfully！')
+            else:
+                msg_box = QMessageBox(QMessageBox.Information, '提示', '成功返回初始点！')
+            msg_box.exec_()
         except Exception as e:
             e = traceback.format_exc()
             self.loger.error(str(e))
@@ -2019,6 +2034,16 @@ def shape_detect(self, img):
         else:
             return None
 
+    def controls_disable_place_offset(self, status):
+        """禁用/打开 ABCD四个放置点按钮、XYZ坐标偏移量修改"""
+        controls_list = [self.radioButton_A, self.radioButton_B, self.radioButton_C, self.radioButton_D, self.xoffset_edit, self.yoffset_edit, self.zoffset_edit]
+        if status:
+            for b in controls_list:
+                b.setEnabled(True)
+        else:
+            for b in controls_list:
+                b.setEnabled(False)
+
     def decide_move(self, x, y, color):
         device = self.comboBox_device.currentText()
         if self.comboBox_function.currentText() == 'yolov5':
@@ -2086,15 +2111,18 @@ def moved(self, x, y):
                         self.prompts(f'X:{self.pos_x}  Y:{self.pos_y}  Z:{self.pos_z}')
                     self.pos_x, self.pos_y, self.pos_z = round(x, 2), round(y, 2), self.camera_z
                     self.prompts(f'X:{self.pos_x}  Y:{self.pos_y}  Z:{self.pos_z}')
+
                 if self.is_crawl:
                     if self.crawl_status:
                         self.is_crawl = False
+                        # 机械臂执行过程中，禁用某些控件编辑
+                        self.controls_disable_place_offset(False)
                         if device == 'ultraArm P340':
                             self.myCobot.set_angles(self.move_angles[1], 20)
                             self.stop_wait(3)
                         else:
                             self.myCobot.send_angles(self.move_angles[1], 50)
-                            # self.check_position(self.move_angles[1], 0)
+                            self.check_position(self.move_angles[1], 0)
                         # send coordinates to move mycobot
                         if func == 'QR code recognition' or func == '二维码识别':
                             if device == 'myPalletizer 260 for M5' or device == 'myPalletizer 260 for Pi':
@@ -2107,11 +2135,11 @@ def moved(self, x, y):
                                 self.stop_wait(2.5)
                             elif device == 'mechArm 270 for Pi' or device == 'mechArm 270 for M5':
                                 self.myCobot.send_coords(
-                                    [self.home_coords[0] + x, self.home_coords[1] + y, 150, 172.36, 5.36, 125.58], 30,
+                                    [self.home_coords[0] + x, self.home_coords[1] + y, 150, 172.36, 5.36, 125.58], 70,
                                     1)
                                 self.myCobot.send_coords(
                                     [self.home_coords[0] + x, self.home_coords[1] + y, self.camera_z, 172.36, 5.36,
-                                     125.58], 30, 1)
+                                     125.58], 70, 1)
                                 data = [self.home_coords[0] + x, self.home_coords[1] + y, self.camera_z, 172.36, 5.36,
                                         125.58]
                                 self.check_position(data, 1)
@@ -2136,7 +2164,7 @@ def moved(self, x, y):
                                 time.sleep(3)
 
                             elif device == 'myCobot 280 for RISCV':
-                                self.myCobot.send_coords([x, y, self.camera_z, 178.99, -3.78, -62.9], 70, 1)
+                                self.myCobot.send_coords([x, y, self.camera_z, 178.99, -3.78, -62.9], 90, 1)
                                 data = [x, y, self.camera_z, 178.99, -3.78, 62.9]
                                 self.check_position(data, 1)
 
@@ -2147,10 +2175,10 @@ def moved(self, x, y):
                                 self.myCobot.send_coords([x, y, self.camera_z, 0], 20, 0)
                                 self.stop_wait(1.5)
                             elif device in ['mechArm 270 for Pi', 'mechArm 270 for M5']:
-                                self.myCobot.send_coords([x, y, 110, -176.1, 2.4, -125.1], 60,
+                                self.myCobot.send_coords([x, y, 110, -176.1, 2.4, -125.1], 70,
                                                          1)  # usb :rx,ry,rz -173.3, -5.48, -57.9
                                 # self.stop_wait(3)
-                                self.myCobot.send_coords([x, y, self.camera_z, -176.1, 2.4, -125.1], 60, 1)
+                                self.myCobot.send_coords([x, y, self.camera_z, -176.1, 2.4, -125.1], 70, 1)
                                 # self.stop_wait(3)
                                 self.check_position([x, y, self.camera_z, -176.1, 2.4, -125.1], 1)
 
@@ -2172,7 +2200,7 @@ def moved(self, x, y):
                                 time.sleep(2)
 
                             elif device in ['myCobot 280 for RISCV']:
-                                self.myCobot.send_coords([x, y, self.camera_z, 179.87, -3.78, -62.75], 60, 1)
+                                self.myCobot.send_coords([x, y, self.camera_z, 179.87, -3.78, -62.75], 90, 1)
                                 self.check_position([x, y, self.camera_z, 179.87, -3.78, -62.75], 1)
 
                         else:
@@ -2183,8 +2211,8 @@ def moved(self, x, y):
                                 self.stop_wait(1.5)
 
                             elif device in ['mechArm 270 for Pi', 'mechArm 270 for M5']:
-                                self.myCobot.send_coords([x, y, 150, -176.1, 2.4, -125.1], 60, 1)
-                                self.myCobot.send_coords([x, y, self.camera_z, -176.1, 2.4, -125.1], 60, 1)
+                                self.myCobot.send_coords([x, y, 150, -176.1, 2.4, -125.1], 70, 1)
+                                self.myCobot.send_coords([x, y, self.camera_z, -176.1, 2.4, -125.1], 70, 1)
                                 self.check_position([x, y, self.camera_z, -176.1, 2.4, -125.1], 1)
 
                             elif device in ['myCobot 280 for Pi', 'myCobot 280 for M5']:
@@ -2205,7 +2233,7 @@ def moved(self, x, y):
                                 time.sleep(2)
 
                             elif device in ['myCobot 280 for RISCV']:
-                                self.myCobot.send_coords([x, y, self.camera_z, 179.87, -3.78, -62.75], 70, 1)
+                                self.myCobot.send_coords([x, y, self.camera_z, 179.87, -3.78, -62.75], 90, 1)
                                 self.check_position([x, y, self.camera_z, 179.87, -3.78, -62.75], 1)
 
                         # open pump
@@ -2264,7 +2292,7 @@ def moved(self, x, y):
                         self.myCobot.send_angles(self.new_move_coords_to_angles[color], 50)
                         self.check_position(self.new_move_coords_to_angles[color], 0)
                     else:
-                        self.myCobot.send_coords(self.move_coords[color], 40, 0)
+                        self.myCobot.send_coords(self.move_coords[color], 50, 0)
                         self.stop_wait(4)
 
                     # close pump
@@ -2281,6 +2309,8 @@ def moved(self, x, y):
                         self.btn_color(self.place_btn, 'blue')
                     self.num = 0
                     self.real_sx = self.real_sy = 0
+                    # 运动结束后启用某些控件编辑
+                    self.controls_disable_place_offset(True)
                 time.sleep(0.1)
             if self.auto_mode_status:
                 self.is_pick = True
@@ -2567,6 +2597,12 @@ def combox_func_checked(self):
     def auto_mode(self):
         """automated operation"""
         btn = [self.discern_btn, self.crawl_btn, self.place_btn]
+        if not self.init_point_done:
+            if self.language == 1:
+                QMessageBox.warning(self, 'prompt', 'Please return to the initial point first！')
+            else:
+                QMessageBox.warning(self, '警告', '请先回到初始点！')
+            return
         if self.auto_mode_status:
             self.auto_mode_status = False
             self.discern_status = False