初步加入单次轨迹开关冲击波

Massage/Massage.py

@@ -360,6 +360,9 @@ class SharedResources:
         self.jump_mode = True
         self.jump_mode_default = True
 
+        self.is_headOn = True
+        self.is_headOn_default = True
+
         self.cal_acu = False
         self.get_picture = True
         self.manual_start = False
@@ -696,6 +699,10 @@ class SharedResources:
             cycles = task.get('cycles')
             direction = task.get('direction')
             jump_mode = task.get('jump_mode')
+            try:
+                is_headOn = task.get('headOn')
+            except:
+                is_headOn = True
             if  body_part == "shoulder":
                 pathBodypart = body_part
             else:
@@ -713,7 +720,8 @@ class SharedResources:
                 pathBodypart,
                 start_point_raw,
                 end_point_raw,
-                jump_mode
+                jump_mode,
+                is_headOn
             ])
         if self.mode_commands_list is None:
             self.send_instruction(instruction={"message": "没有检测到穴位点<br>请重新拍照"}, target="ui_on_message")
@@ -1971,10 +1979,11 @@ class TaskBase(smach.State):
                 self.resources.logger.log_blue("检测到跳过，准备进入跳过流程")
                 self.resources.robot.is_execute = False
                 return True
-        if self.resources.choose_task == "shockwave":
-            self.resources.robot.shockwave.on() # 开启冲击波
-            self.resources.robot.shockwave.p_set(level = self.resources.press)
-            self.resources.robot.shockwave.f_set(level = self.resources.frequency)
+        if self.resources.motion_task[12] == True:
+            if self.resources.choose_task == "shockwave":
+                self.resources.robot.shockwave.on() # 开启冲击波
+                self.resources.robot.shockwave.p_set(level = self.resources.press)
+                self.resources.robot.shockwave.f_set(level = self.resources.frequency)
         if self.resources.motion_task[5] == "point" or self.resources.motion_task[5] == "point_rub":
             use_algorithm = self.resources.use_algorithm
             if self.resources.choose_task != "ion" and self.resources.motion_task[5] == "point":

Massage/MassageControl/hardware/dobot_nova5.py

@@ -266,8 +266,8 @@ class dobot_nova5:
                         return True
                     time.sleep(0.1)
     
-    # def disable_servo(self):
-    #     pass
+    def disable_servo(self):
+        pass
 
     def enable_servo(self):
         pass