diff --git a/Massage/MassageControl/MassageRobot_nova5.py b/Massage/MassageControl/MassageRobot_nova5.py index b477da0..ad680d9 100644 --- a/Massage/MassageControl/MassageRobot_nova5.py +++ b/Massage/MassageControl/MassageRobot_nova5.py @@ -456,6 +456,7 @@ class MassageRobot: self.logger.log_error(f"传感器线程数据读取失败-{self.sensor_fail_count}") if self.sensor_fail_count > 10: self.logger.log_error("传感器线程数据读取失败超过10次,程序终止") + self.stop_thread() self.stop() break else: @@ -612,10 +613,11 @@ class MassageRobot: # # 自定义添加所需反馈数据 # print("self111222:",self.arm.feedbackData.robotMode,tcp_command) - if self.arm.feedbackData.robotMode in [3, 4, 6, 8, 9, 11] or not self.arm.feedbackData.EnableState: - self.logger.log_error(f"机械臂异常:{self.arm.feedbackData.robotMode}") + if self.arm.feedbackData.robotMode in [3, 4, 6, 8, 9, 11] or not self.arm.feedbackData.EnableState or self.arm.feedbackData.ErrorStatus == True: + self.logger.log_error(f"机械臂异常:{self.arm.feedbackData.robotMode},{self.arm.feedbackData.EnableState},{self.arm.feedbackData.ErrorStatus}") self.arm.dashboard.Stop() self.arm.dashboard.EmergencyStop(mode=1) + self.stop_thread() self.stop() return -1 if self.arm.feedbackData.EnableState and self.arm.feedbackData.robotMode == 10: diff --git a/Massage/MassageControl/hardware/dobot_nova5.py b/Massage/MassageControl/hardware/dobot_nova5.py index 78930fc..d7d687b 100644 --- a/Massage/MassageControl/hardware/dobot_nova5.py +++ b/Massage/MassageControl/hardware/dobot_nova5.py @@ -72,6 +72,7 @@ class dobot_nova5: self.QActual = -1 self.ActualQuaternion = -1 self.ToolVectorActual = -1 + self.ErrorStatus = False # ... 自定义反馈数据 ''' self.UserValue = -1 @@ -118,7 +119,7 @@ class dobot_nova5: cnt_num += 1 time.sleep(1) else: - if self.feedbackData.robotMode == 9:# and self.parseResultprocess(stopId)[0] == -3: + if self.feedbackData.robotMode == 9 or self.feedbackData.ErrorStatus == True: print(robot_mode_types.get(self.feedbackData.robotMode, "未知模式")) requests.post( @@ -263,6 +264,7 @@ class dobot_nova5: self.feedbackData.QActual = feedInfo['QActual'][0] self.feedbackData.ActualQuaternion = feedInfo['ActualQuaternion'][0] self.feedbackData.ToolVectorActual = feedInfo['ToolVectorActual'][0] + self.feedbackData.ErrorState = feedInfo['ErrorStatus'][0] # ⬇️ 将 ToolVectorActual 写入 txt 文件 # try: # with open("tool_vector_log.txt", "a") as f: @@ -290,7 +292,7 @@ class dobot_nova5: code = self.parseResultprocess(self.dashboard.EnableRobot())[0] if code == 0: while 1: - if self.feedbackData.robotMode in [3, 6, 7, 8, 9, 10, 11]: + if self.feedbackData.robotMode in [3, 6, 7, 8, 9, 10, 11] or self.feedbackData.ErrorStatus == True: self.logger.log_error(f"使能失败，机械臂异常:{self.feedbackData.robotMode}") return False elif self.feedbackData.robotMode == 5: @@ -312,7 +314,7 @@ class dobot_nova5: # print("self.feedbackData.robotMode6:",self.feedbackData.robotMode) # print("self.parseResultprocess(command)",self.parseResultprocess(command)) while True: - if self.feedbackData.robotMode in [3, 4, 6, 9, 10, 11]: + if self.feedbackData.robotMode in [3, 4, 6, 9, 10, 11] or not self.feedbackData.EnableState or self.feedbackData.ErrorStatus == True: self.logger.log_error(f"机械臂异常:{self.feedbackData.robotMode}") print(robot_mode_types.get(self.feedbackData.robotMode, "未知模式")) self.dashboard.Stop() diff --git a/Massage/aucpuncture2point/configs/using_img/Pixel_Visualization_4.jpg b/Massage/aucpuncture2point/configs/using_img/Pixel_Visualization_4.jpg index 3f41bf7..c74ef96 100644 Binary files a/Massage/aucpuncture2point/configs/using_img/Pixel_Visualization_4.jpg and b/Massage/aucpuncture2point/configs/using_img/Pixel_Visualization_4.jpg differ diff --git a/Massage/aucpuncture2point/configs/using_img/Pixel_Visualization_5.jpg b/Massage/aucpuncture2point/configs/using_img/Pixel_Visualization_5.jpg index b81ebbd..3f41bf7 100644 Binary files a/Massage/aucpuncture2point/configs/using_img/Pixel_Visualization_5.jpg and b/Massage/aucpuncture2point/configs/using_img/Pixel_Visualization_5.jpg differ diff --git a/Massage/aucpuncture2point/configs/using_img/Pixel_Visualization_6.jpg b/Massage/aucpuncture2point/configs/using_img/Pixel_Visualization_6.jpg index fbaf266..b81ebbd 100644 Binary files a/Massage/aucpuncture2point/configs/using_img/Pixel_Visualization_6.jpg and b/Massage/aucpuncture2point/configs/using_img/Pixel_Visualization_6.jpg differ diff --git a/Massage/aucpuncture2point/configs/using_img/Pixel_Visualization_7.jpg b/Massage/aucpuncture2point/configs/using_img/Pixel_Visualization_7.jpg index 53547f2..fbaf266 100644 Binary files a/Massage/aucpuncture2point/configs/using_img/Pixel_Visualization_7.jpg and b/Massage/aucpuncture2point/configs/using_img/Pixel_Visualization_7.jpg differ diff --git a/Massage/aucpuncture2point/configs/using_img/Pixel_Visualization_8.jpg b/Massage/aucpuncture2point/configs/using_img/Pixel_Visualization_8.jpg index 00af321..53547f2 100644 Binary files a/Massage/aucpuncture2point/configs/using_img/Pixel_Visualization_8.jpg and b/Massage/aucpuncture2point/configs/using_img/Pixel_Visualization_8.jpg differ diff --git a/Massage/aucpuncture2point/configs/using_img/Pixel_Visualization_9.jpg b/Massage/aucpuncture2point/configs/using_img/Pixel_Visualization_9.jpg index 2cb3063..00af321 100644 Binary files a/Massage/aucpuncture2point/configs/using_img/Pixel_Visualization_9.jpg and b/Massage/aucpuncture2point/configs/using_img/Pixel_Visualization_9.jpg differ diff --git a/UI_next/static/images/tmp_images/Pixel_Visualization_4.jpg b/UI_next/static/images/tmp_images/Pixel_Visualization_4.jpg index 3f41bf7..c74ef96 100644 Binary files a/UI_next/static/images/tmp_images/Pixel_Visualization_4.jpg and b/UI_next/static/images/tmp_images/Pixel_Visualization_4.jpg differ diff --git a/UI_next/static/images/tmp_images/Pixel_Visualization_5.jpg b/UI_next/static/images/tmp_images/Pixel_Visualization_5.jpg index b81ebbd..3f41bf7 100644 Binary files a/UI_next/static/images/tmp_images/Pixel_Visualization_5.jpg and b/UI_next/static/images/tmp_images/Pixel_Visualization_5.jpg differ diff --git a/UI_next/static/images/tmp_images/Pixel_Visualization_6.jpg b/UI_next/static/images/tmp_images/Pixel_Visualization_6.jpg index fbaf266..b81ebbd 100644 Binary files a/UI_next/static/images/tmp_images/Pixel_Visualization_6.jpg and b/UI_next/static/images/tmp_images/Pixel_Visualization_6.jpg differ diff --git a/UI_next/static/images/tmp_images/Pixel_Visualization_7.jpg b/UI_next/static/images/tmp_images/Pixel_Visualization_7.jpg index 53547f2..fbaf266 100644 Binary files a/UI_next/static/images/tmp_images/Pixel_Visualization_7.jpg and b/UI_next/static/images/tmp_images/Pixel_Visualization_7.jpg differ diff --git a/UI_next/static/images/tmp_images/Pixel_Visualization_8.jpg b/UI_next/static/images/tmp_images/Pixel_Visualization_8.jpg index 00af321..53547f2 100644 Binary files a/UI_next/static/images/tmp_images/Pixel_Visualization_8.jpg and b/UI_next/static/images/tmp_images/Pixel_Visualization_8.jpg differ