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78 lines
3.0 KiB
78 lines
3.0 KiB
3 months ago
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import json
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from trajectory_program import (
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program1, program1_1, program2, program3, program3_1, program4,
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program5, program5_1, program6, program7, program7_1, program8,
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program9, program10, program11, program12
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)
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program_switch = {
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1: program1,
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100: program1_1,
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2: program2,
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3: program3,
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300: program3_1,
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4: program4,
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5: program5,
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500: program5_1,
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6: program6,
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7: program7,
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700: program7_1,
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8: program8,
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9: program9, # 停机位置
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10: program10, # 初始位置
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11: program11, # 洗枪位置
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12: program12, # 试枪位置
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}
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# 定义四种循环序列
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sequence_1 = [2, 300, 4, 100] # 情况1的循环序列，更改为循环序列使用透传
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sequence_2 = [4, 1, 2, 3] # 情况2的循环序列，待修改,暂从程序中删除逻辑，如有需要，从V2.0中复制
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sequence_3 = [6, 700, 8, 500] # 情况3的循环序列，更改为循环序列使用透传
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sequence_4 = [8, 5, 6, 7] # 情况4的循环序列，待修改,暂从程序中删除逻辑，如有需要，从V2.0中复制
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def load_process_config(config_path="/home/raspberrypi/robot1/config.json"):
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try:
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# 读取 JSON 文件
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with open(config_path, "r", encoding="utf-8") as f:
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config = json.load(f)
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# ========== 关键：适配新的 JSON 结构 ==========
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processed_presets = []
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for preset in config["PRESET_PARAMS"]:
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# 1. 处理单个预设项内的 program_delay_map（键转整数，值转浮点数）
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processed_delay_map = {
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int(key): float(value)
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for key, value in preset["program_delay_map"].items()
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}
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# 2. 处理 params（数组转元组，保持原代码格式）
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processed_params = tuple(preset["params"])
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# 3. 保留 relay_config（无需类型转换，直接使用）
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processed_relay = preset["relay_config"]
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# 4. 组装处理后的预设项
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processed_presets.append({
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"params": processed_params,
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"program_delay_map": processed_delay_map,
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"relay_config": processed_relay
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})
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# 替换原 PRESET_PARAMS 为处理后的版本
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config["PRESET_PARAMS"] = processed_presets
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print(f"✅ 已加载配置文件，共加载 {len(processed_presets)} 个预设参数组")
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return config
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except FileNotFoundError:
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print(f"❌ 配置文件 {config_path} 未找到！")
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return None
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except json.JSONDecodeError:
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print(f"❌ 配置文件 {config_path} 格式错误！")
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return None
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except KeyError as e:
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print(f"❌ 配置文件结构错误：缺少关键字段 {str(e)}，请检查 JSON 格式")
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return None
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except Exception as e:
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print(f"❌ 加载配置失败：{str(e)}")
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return None
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