from collections import defaultdict from .McuDebug import McuDebug from functools import partial import time, asyncio import settings class McuDeviationSet: # 调试处理 # data_sign = Signal(dict) # info_sign = Signal(str) # is_get_offset = Signal(dict) def __init__(self, mcu): super().__init__() self.mcu = mcu # self.setupUi(self) # self.init() # self.set_enable_by_mcu() # self.show() self.last_value = defaultdict(float) is_debug = True if settings.IS_DEBUG == "true" else False self.mcu_debug = McuDebug(mcu, is_debug=is_debug, is_deviation=False) # loop = asyncio.get_event_loop() self.get_mcu_deviation() # # 运动到设定位 # QTimer.singleShot(2500, self.init_pos) # def set_enable_by_mcu(self): # if self.mcu.state_camera_motor != 2: # self.doubleSpinBox.setEnabled(False) # self.pushButton_3.setEnabled(False) # if self.mcu.state_camera_steering != 2: # self.doubleSpinBox_2.setEnabled(False) # self.pushButton_16.setEnabled(False) # if self.mcu.state_turntable_steering != 2: # self.doubleSpinBox_3.setEnabled(False) # self.pushButton_22.setEnabled(False) # self.doubleSpinBox_7.setEnabled(False) def init(self): self.is_get_offset.connect(self.init_pos) self.windows.data_info.connect(self.get_mcu_deviation_info) # 相机电机 self.doubleSpinBox.setSingleStep(1) self.doubleSpinBox.setMinimum(0) self.doubleSpinBox.setMaximum(400) self.doubleSpinBox.valueChanged.connect( lambda x: self.change_value(x, "相机电机") ) # 相机舵机 self.doubleSpinBox_2.setSingleStep(0.1) self.doubleSpinBox_2.setMinimum(-40) self.doubleSpinBox_2.setMaximum(40) self.doubleSpinBox_2.valueChanged.connect( lambda x: self.change_value(x, "相机舵机") ) # 转盘电机 self.doubleSpinBox_3.setSingleStep(1) self.doubleSpinBox_3.setMinimum(-720) self.doubleSpinBox_3.setMaximum(720) self.doubleSpinBox_3.valueChanged.connect( lambda x: self.change_value(x, "转盘舵机") ) # 转盘前后电机 self.doubleSpinBox_7.setSingleStep(1) self.doubleSpinBox_7.setMinimum(0) self.doubleSpinBox_7.setMaximum(950) self.doubleSpinBox_7.setValue(300) self.doubleSpinBox_7.valueChanged.connect( lambda x: self.change_value(x, "转盘前后电机") ) # 翻板舵机中位 self.doubleSpinBox_4.setSingleStep(0.5) self.doubleSpinBox_4.setValue(90) self.doubleSpinBox_4.setMinimum(0) self.doubleSpinBox_4.setMaximum(180) self.doubleSpinBox_4.valueChanged.connect( lambda x: self.change_value(x, "翻板舵机中位") ) # 翻板舵机高位 self.doubleSpinBox_5.setSingleStep(0.5) self.doubleSpinBox_5.setValue(10) self.doubleSpinBox_5.setMinimum(0) self.doubleSpinBox_5.setMaximum(180) self.doubleSpinBox_5.valueChanged.connect( lambda x: self.change_value(x, "翻板舵机高位") ) # 翻板舵机上升速度 self.doubleSpinBox_6.setSingleStep(1) self.doubleSpinBox_6.setValue(5) self.doubleSpinBox_6.setMinimum(1) self.doubleSpinBox_6.setMaximum(10) self.doubleSpinBox_6.valueChanged.connect( lambda x: self.change_value(x, "翻板舵机上升速度") ) # 翻板舵机下降速度 self.doubleSpinBox_8.setSingleStep(1) self.doubleSpinBox_8.setValue(5) self.doubleSpinBox_8.setMinimum(1) self.doubleSpinBox_8.setMaximum(10) self.doubleSpinBox_8.valueChanged.connect( lambda x: self.change_value(x, "翻板舵机下降速度") ) # 获取偏移量 self.pushButton_2.clicked.connect(self.get_mcu_deviation) # 设定相机高度偏移量 self.pushButton_3.clicked.connect(lambda *args: self.set_deviation("相机电机")) # 设定相机舵机偏移量 self.pushButton_16.clicked.connect(lambda *args: self.set_deviation("相机舵机")) # 设定转盘偏移量 self.pushButton_22.clicked.connect(lambda *args: self.set_deviation("转盘舵机")) # 设定翻版舵机偏移量 self.pushButton_8.clicked.connect( lambda *args: self.set_deviation("翻板舵机中位") ) # 设定翻版舵机偏移量 self.pushButton_9.clicked.connect( lambda *args: self.set_deviation("翻板舵机高位") ) self.pushButton_10.clicked.connect( lambda *args: self.set_deviation("翻板舵机上升速度") ) self.pushButton_12.clicked.connect( lambda *args: self.set_deviation("翻板舵机下降速度") ) # 转盘重新获取转速比 # self.pushButton_7.clicked.connect(self.set_turntable_to_ratio_init) # 转盘重新定位到原点 self.pushButton_11.clicked.connect(self._to_init_all) def init_pos(self, data): time.sleep(0.6) func = partial(self._move_equipment, data=data) self.do_thread_run(func, call_back=None, time_out=30) def _move_equipment(self, data): self.mcu_debug.move_equipment(data=data) # MCU运动是否有停止检查，设定超时时间 time.sleep(1.5) if self.check_mcu_move_is_stop() is False: return def check_mcu_move_is_stop(self, out_time=15): _s = time.time() while 1: time.sleep(0.1) if time.time() - _s > out_time: return True if self.mcu.mcu_move_state == 2: return True if settings.IS_LIN_SHI_TEST: time.sleep(3) return True def change_value(self, value, name): value = round(float(value), 2) print("change_value===>", value, name) if name == "相机电机": self.mcu_debug.camera_high_motor(value=value) if name == "相机舵机": self.mcu_debug.camera_steering(value=value) if name == "转盘舵机": self.mcu_debug.turntable_steering(value=value) if name == "转盘前后电机": self.mcu_debug.turntable_position_motor(value=value) if name == "翻板舵机中位": self.mcu_debug.overturn_steering(value=value) if name == "翻板舵机高位": self.mcu_debug.overturn_steering(value=value) if name == "翻板舵机上升速度": pass print(value, name) self.last_value[name] = value def set_deviation(self, name): if name == "相机电机": # 设定相机高度偏移量 单位mm camera_high_motor_deviation = int(self.last_value[name]) device_name = "camera_high_motor" self.mcu.set_deviation( device_name=device_name, _type=0, deviation=camera_high_motor_deviation ) if name == "相机舵机": # 设定相机舵机偏移量 camera_steering_deviation = self.last_value[name] device_name = "camera_steering" self.mcu.set_deviation( device_name=device_name, _type=0, deviation=camera_steering_deviation ) # self.doubleSpinBox_2.setValue(0.0) if name == "转盘舵机": # 设定转盘舵机偏移角度 单位 度 turntable_steering_deviation = self.last_value[name] device_name = "turntable_steering" self.mcu.set_deviation( device_name=device_name, _type=1, deviation=turntable_steering_deviation ) if name == "翻板舵机中位": # 设定翻版舵机偏移量 value = self.last_value[name] device_name = "overturn_steering" self.mcu.set_deviation(device_name=device_name, _type=0, deviation=value) if name == "翻板舵机高位": # 设定翻版舵机偏移量 value = self.last_value[name] device_name = "overturn_steering" self.mcu.set_deviation(device_name=device_name, _type=1, deviation=value) if name == "翻板舵机上升速度": # 设定翻版舵机偏移量 value = self.last_value[name] device_name = "overturn_steering" self.mcu.set_deviation(device_name=device_name, _type=2, deviation=value) if name == "翻板舵机下降速度": # 设定翻版舵机偏移量 value = self.last_value[name] device_name = "overturn_steering" self.mcu.set_deviation(device_name=device_name, _type=3, deviation=value) def _to_init_all(self, *args): self.mcu.to_init_device_origin_point(device_name="mcu", is_force=True) def get_mcu_deviation(self): asyncio.run(self.mcu.getDeviationInfo()) def get_mcu_deviation_info(self, data): if "_type" not in data: return get_deviation_data = {} if data["_type"] == "get_deviation_data": data = data["data"] print("偏移量信息") # overturn_steering_up_speed overturn_steering_down_speed # 相机电机 单位mm if "camera_high_motor_deviation" in data: # self.doubleSpinBox.setValue(float(data["camera_high_motor_deviation"])) get_deviation_data["camera_high_motor_deviation"] = float( data["camera_high_motor_deviation"] ) # 相机舵机 if "camera_steering_deviation" in data: # self.doubleSpinBox_2.setValue(float(data["camera_steering_deviation"])) get_deviation_data["camera_steering_deviation"] = float( data["camera_steering_deviation"] ) # 转盘偏移位 if "turntable_steering_deviation" in data: # self.doubleSpinBox_3.setValue( # float(data["turntable_steering_deviation"]) # ) get_deviation_data["turntable_steering_deviation"] = float( data["turntable_steering_deviation"] ) # 翻板舵机中位 if "overturn_steering_middle" in data: # self.doubleSpinBox_4.setValue(float(data["overturn_steering_middle"])) get_deviation_data["overturn_steering_middle"] = float( data["overturn_steering_middle"] ) # 翻板舵机高位 if "overturn_steering_high" in data: # self.doubleSpinBox_5.setValue(float(data["overturn_steering_high"])) get_deviation_data["overturn_steering_high"] = float( data["overturn_steering_high"] ) # 翻板舵机 if "overturn_steering_up_speed" in data: # self.doubleSpinBox_6.setValue(float(data["overturn_steering_up_speed"])) get_deviation_data["overturn_steering_up_speed"] = float( data["overturn_steering_up_speed"] ) if "overturn_steering_down_speed" in data: # self.doubleSpinBox_8.setValue( # float(data["overturn_steering_down_speed"]) # ) get_deviation_data["overturn_steering_down_speed"] = float( data["overturn_steering_down_speed"] ) # 初始化位置 # data = { # "相机电机": self.doubleSpinBox.value(), # "相机舵机": self.doubleSpinBox_2.value(), # "转盘舵机": self.doubleSpinBox_3.value(), # "转盘前后电机": self.doubleSpinBox_7.value(), # } # self.is_get_offset.emit(data) print("获取初始化位置 [get_deviation_data] ", get_deviation_data) def __del__(self): self.state = 2 self.t = None