btl143/project_main
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fix: 修复task多次开启问题
feat: 新增 891 参数（医院停早，红球靠外）
pref: 弃用 action 类
This commit is contained in:
bmy
2024-08-17 01:40:07 +08:00
parent 7ae8162da7
commit 91d6491f64
10 changed files with 1828 additions and 78 deletions
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26
action.py
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@@ -13,15 +13,19 @@ move = None
axis = None
cmd = None
action_run_flag = None
cfg = toml.load('/home/evan/Workplace/project_main/cfg_action.toml')
def import_obj(_bycmd):
def import_obj(_run_flag,_bycmd):
global bycmd
global move
global axis
global cmd
global action_run_flag
bycmd = _bycmd
action_run_flag = _run_flag
move = move_cls()
axis = axis_cls()
cmd = cmd_cls()
@@ -118,7 +122,7 @@ class cmd_cls():
else:
time_via = _time_via
logger.info(f"z[{self.__axis_z_pos}] speed:{_speed:.2f}, dis:{_dis:.2f}, time_via:{time_via:.2f}")
while bycmd.send_position_axis_z(_speed, self.__axis_z_pos) == -1:
while bycmd.send_position_axis_z(_speed, self.__axis_z_pos) == -1 and action_run_flag.isSet():
pass
time.sleep(time_via)
def z2(self, _speed, _pos, _time_via = -1):
@@ -131,7 +135,7 @@ class cmd_cls():
else:
time_via = _time_via
logger.info(f"z[{self.__axis_z_pos}] speed:{_speed:.2f}, pos:{_pos:.2f}, time_via:{time_via:.2f}")
while bycmd.send_position_axis_z(_speed, self.__axis_z_pos) == -1:
while bycmd.send_position_axis_z(_speed, self.__axis_z_pos) == -1 and action_run_flag.isSet():
pass
time.sleep(time_via)
def x(self, _speed, _dis, _time_via = -1):
@@ -143,7 +147,7 @@ class cmd_cls():
else:
time_via = _time_via
logger.info(f"x[{self.__axis_x_pos}] speed:{_speed:.2f}, dis:{_dis:.2f}, time_via:{time_via:.2f}")
while bycmd.send_position_axis_x(_speed, self.__axis_x_pos) == -1:
while bycmd.send_position_axis_x(_speed, self.__axis_x_pos) == -1 and action_run_flag.isSet():
pass
time.sleep(time_via)
def x2(self, _speed, _pos, _time_via = -1):
@@ -156,30 +160,30 @@ class cmd_cls():
else:
time_via = _time_via
logger.info(f"x[{self.__axis_x_pos}] speed:{_speed:.2f}, pos:{_pos:.2f}, time_via:{time_via:.2f}")
while bycmd.send_position_axis_x(_speed, self.__axis_x_pos) == -1:
while bycmd.send_position_axis_x(_speed, self.__axis_x_pos) == -1 and action_run_flag.isSet():
pass
time.sleep(time_via)
def camera(self, angle):
while bycmd.send_angle_camera(angle) == -1:
while bycmd.send_angle_camera(angle) == -1 and action_run_flag.isSet():
pass
def claw(self, angle):
while bycmd.send_angle_claw(angle) == -1:
while bycmd.send_angle_claw(angle) == -1 and action_run_flag.isSet():
pass
time.sleep(0.5)
def claw_arm(self, angle):
while bycmd.send_angle_claw_arm(angle) == -1:
while bycmd.send_angle_claw_arm(angle) == -1 and action_run_flag.isSet():
pass
time.sleep(1)
def scoop(self, angle):
while bycmd.send_angle_scoop(angle) == -1:
while bycmd.send_angle_scoop(angle) == -1 and action_run_flag.isSet():
pass
time.sleep(0.5)
def storage(self, angle):
while bycmd.send_angle_storage(angle) == -1:
while bycmd.send_angle_storage(angle) == -1 and action_run_flag.isSet():
pass
time.sleep(0.5)
def zhuan(self, angle):
while bycmd.send_angle_zhuan(angle) == -1:
while bycmd.send_angle_zhuan(angle) == -1 and action_run_flag.isSet():
pass
time.sleep(0.5)
def wait(self, _time):