1.更新PLC反馈通信协议

2.147车位点矫正
3.手动位移速度增大
4.存车子流程可获取执行结果

ManualOperationWidget.py

@@ -179,7 +179,7 @@ class ManualOperationWidget(QFrame, Ui_manual_operation_widget):
             speed = 0.0
             if self.speed_lineEdit_check():
                 speed = float(self.speed_lineEdit.text())
-            speed = min(speed, 0.5)
+            speed = min(speed, 2.0)
             self.speed_lineEdit.setText(str(speed))
             self.robot_dict[self.selected_robot_name].ManualTask(self.current_operation, self.step_acc, speed=speed)
             self.step_acc += 1

RobotData.py

@@ -60,7 +60,7 @@ class Robot(MqttAsync):
         self.autoTest_ = False
 
         self.l_ = 0.8  # 轮长
-        self.L_ = 1.3  # 轴距
+        self.L_ = 2.9  # 轴距
         self.W_ = 2.5  # 宽
         self.heat_ = 0  # 心跳
 

count.json

@@ -1 +1 @@
-{"load_count": 863, "single_count": 2575}
+{"load_count": 876, "single_count": 2692}

map.json

@@ -10,13 +10,13 @@
       -8.57, -8.46
     ],
     "F_Input_R147": [
-      -10.98, -5.61
+      -10.97, -5.61
     ],
     "C_Input_R147": [
-      -10.98, -7.16
+      -10.97, -7.16
     ],
     "B_Input_R147": [
-      -10.98, -8.46
+      -10.97, -8.46
     ],
      "F_OutLink": [
       -0.32, -5.61
@@ -40,7 +40,7 @@
 
   "space_nodes": {
     "S147": [
-      -10.97, -13.48, -90
+      -10.96, -13.48, -90
     ],
     "S1100": [
       -0.32, 1.0, 90

message.proto

@@ -15,6 +15,9 @@ message AgvStatu{
   int32 clamp_other=4; //另外一节
   int32 lifter=5;   //提升机构  0中间状态，1上升到位， 2下降到位
   int32 lifter_other = 6;     //另外一节
+  repeated int32 zcb = 7; //载车板
+  int32 door = 8; // 门控
+
 }
 
 message ToAgvCmd {

test.py

@@ -272,6 +272,9 @@ class MainWindow(QMainWindow):
 
     def asyncExecute(self, tasks):
         results = [feature.result() for feature in concurrent.futures.as_completed(tasks)]
+        print("==========================\n")
+        print(results)
+        print("==========================\n")
         ret = True
         for result in results:
             ret = ret and result
@@ -346,8 +349,7 @@ class MainWindow(QMainWindow):
         cur_pose2 = control2.robot_.timedRobotStatu_.statu
         [label, pt] = self.mapManager.findNeastNode(backMap, [cur_pose2.x, cur_pose2.y])
         control2.robot_.GeneratePath(label, entrance_id, backMap)
-
-        # print("Child: begin:%s   target:%s    wheelBase:%f" % (label, entrance_id, wheel_base))
+        print("Child: begin:%s   target:%s    wheelBase:%f" % (label, entrance_id, wheel_base))
 
         autoDirect = True
 
@@ -376,6 +378,7 @@ class MainWindow(QMainWindow):
 
         controlMain.robot_.Navigatting(entrance_id, target_id, autoDirect, wheel_base)
 
+        print("-------------------------")
         # 整车松夹池------------------------------------
         threadPool = ThreadPoolExecutor(1)
         threadPool.submit(controlMain.robot_.ClampOpen)