2022/12/11 入口引导增加有无车光电的判断，检查节点增加是否有人逗留判断，出口提示节点搬运中改为取车中

入口引导提示节点/ui_config.json

@@ -2,7 +2,7 @@
   "db": {"ip": "192.168.1.233","port": 3306,"database": "ct_project","user": "zx","password": "zx123456"},
   "rabbitmq": {"ip":"192.168.1.233","port":5672,"user":"zx","password":"zx123456"},
   "led": {"ip": "192.168.1.163","port": 5005},
-  "entrance_id": 2,
-  "unit":1,
+  "entrance_id": 4,
+  "unit":2,
   "prj": {"ip": "192.168.1.193","port": 4352,"type": 2}
 }

入口引导提示节点/window_screen_pyqt.py

@@ -149,6 +149,11 @@ class Frame(QMainWindow):
         #有车才显示
         icpu_statu=message.in_mcpu_statu()
         tf.Parse(self.icpu_statu.statu,icpu_statu)
+        if icpu_statu.is_occupy != 2:
+            self.panel_txt.ShowImg(self.images["空闲"])
+            self.panel_arrow.ShowImg(self.images["空闲"])
+            self.last_show = "空闲"
+            return
         measure_info=message.measure_info()
         tf.Parse(self.measure_statu.statu,measure_info)
 
@@ -222,7 +227,7 @@ class Frame(QMainWindow):
                 return
 
         #光电正常
-        if lidar_statu==MeasureStatu["无数据"] and icpu_statu.is_occupy != 2:
+        if lidar_statu==MeasureStatu["无数据"]:
             self.panel_txt.ShowImg(self.images["空闲"])
             self.panel_arrow.ShowImg(self.images["空闲"])
             self.last_show="空闲"

出口提示节点/LedControl.py

@@ -46,7 +46,7 @@ class LedControl:
                 statu = "\\C1排 队"
                 queue_string = queue_string + car_number + " " + statu + "\\n"
             elif(cmd["statu"] == 1):#工作
-                statu = "\\C3搬运中"
+                statu = "\\C3取车中"
                 work_string = work_string + car_number + " " + statu + "\\n"
             elif(cmd["statu"] == 2):#已完成
                 statu = "\\C2出口"+ str(cmd["export_id"])

指令检查节点/CheckEntrance.py

@@ -1,3 +1,4 @@
+import datetime
 import threading
 import time
 
@@ -36,15 +37,14 @@ class EntranceChecker(threading.Thread):
         return tf.MessageToString(pick_table, as_utf8=True)
 
     def entrance_isOK(self,park_table):
-
-        measure_info = message.measure_info()
-        tf.Parse(self.measure_statu.statu, measure_info)
         park = message.park_table()
         park.CopyFrom(park_table)
+        measure_info = message.measure_info()
+        tf.Parse(self.measure_statu.statu, measure_info)
         tm = time.time()
         if self.error_str == 'OK':
             while time.time() - tm < 0.5:
-                if measure_info.border_statu == MeasureStatu["ok"]:
+                if measure_info.border_statu == MeasureStatu["ok"] and measure_info.ground_status == 0:
                     park.statu.execute_statu = message.eNormal
                     park.statu.statu_description = self.error_str
                     park.entrance_measure_info.CopyFrom(measure_info)