1046 lines
52 KiB
Python
1046 lines
52 KiB
Python
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import configparser
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import json
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import logging
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import queue
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import sys
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from multiprocessing import Process
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from PyQt5.uic.properties import QtWidgets
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from PySide6.QtCore import QThread, Signal, Slot, QObject, QEvent
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from PySide6.QtGui import QIntValidator, QStandardItemModel, QStandardItem, Qt, QMovie
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from PySide6.QtWidgets import QApplication, QMainWindow, QPushButton, QLabel, QHeaderView, QTableWidget, \
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QTableWidgetItem, QWidget, QHBoxLayout, QAbstractItemView, QMessageBox
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from datetime import datetime
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import Util.util_pic
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from Util.util_ini import writeFeedLine_to_ini
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import Constant
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from CU.Command import FeedCommand
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from CU.Feeding import FeedLine, FeedingConfig, Feeding, FeedStatus
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from Util.util_log import QTextEditLogger
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from Vision.camera_coordinate_dete import Detection
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from COM.COM_Robot import RobotClient
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from Expection import Error_Code
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from queue import Queue
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from Model.RobotModel import *
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import time
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from queue import Queue
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from Model.Position import Real_Position, Detection_Position
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from threading import Thread
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from CU.Command import Status
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from Util.util_log import log
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from ui_untitled import Ui_MainWindow
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class MainWindow(QMainWindow, Ui_MainWindow):
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def __init__(self):
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super(MainWindow, self).__init__()
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self.setupUi(self)
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self.init_qss()
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self.init_UI()
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self.init_Run()
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self.init_robot_info()
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self.init_FeedLine()
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self.start_Runing()
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self.init_log()
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def init_qss(self):
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self.active_status_Qss = """
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background-color: #A2EF4D;
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color: #ffffff;
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border-radius: 8px;
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border: 1px solid #A2EF4D;
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qproperty-alignment: 'AlignCenter';
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"""
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self.noActive_status_Qss = """
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background-color: #FD3251;
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color: #ffffff;
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border-radius: 8px;
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border: 1px solid #FD3251;
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qproperty-alignment: 'AlignCenter';
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"""
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self.active_label_sign_Qss = """
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background-color: rgba(255, 255, 255, 0);
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font: 700 12pt "Microsoft YaHei UI";
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color: red;
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"""
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self.active_btn_sign_Qss = """
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background-color: rgb(255, 0, 0);
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font: 9pt "楷体";
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border: 1px solid #dcdfe6;
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border-radius: 5px;
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"""
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self.noactive_label_sign_Qss = """
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background-color: rgba(255, 255, 255, 0);
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font: 700 12pt "Microsoft YaHei UI";
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color: #7A7A7A;
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"""
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self.noactive_btn_sign_Qss = """
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background-color: #7A7A7A;
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font: 9pt "楷体";
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border: 1px solid #dcdfe6;
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border-radius: 5px;
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"""
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def init_log(self):
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log.init_log(self.textEdit_log_info, self.textEdit_log_error, Constant.log_file_path)
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def init_UI(self):
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self.pushButton_num1.clicked.connect(self.send_num_button_click)
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self.pushButton_num2.clicked.connect(self.send_num_button_click)
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self.pushButton_num3.clicked.connect(self.send_num_button_click)
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self.pushButton_num4.clicked.connect(self.send_num_button_click)
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self.pushButton_num5.clicked.connect(self.send_num_button_click)
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self.pushButton_num6.clicked.connect(self.send_num_button_click)
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self.pushButton_AddNum.clicked.connect(self.send_addNum_button_click)
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self.pushButton_SubNum.clicked.connect(self.send_subNum_button_click)
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self.pushButton_num_free.clicked.connect(self.send_num_button_click)
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self.lineEdit_j1.returnPressed.connect(self.send_position_returnPressed)
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self.lineEdit_j2.returnPressed.connect(self.send_position_returnPressed)
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self.lineEdit_j3.returnPressed.connect(self.send_position_returnPressed)
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self.lineEdit_j4.returnPressed.connect(self.send_position_returnPressed)
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self.lineEdit_j5.returnPressed.connect(self.send_position_returnPressed)
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self.lineEdit_j6.returnPressed.connect(self.send_position_returnPressed)
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self.pushButton_j1_sub.clicked.connect(self.send_subOneAsix_button_click)
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self.pushButton_j2_sub.clicked.connect(self.send_subOneAsix_button_click)
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self.pushButton_j3_sub.clicked.connect(self.send_subOneAsix_button_click)
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self.pushButton_j4_sub.clicked.connect(self.send_subOneAsix_button_click)
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self.pushButton_j5_sub.clicked.connect(self.send_subOneAsix_button_click)
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self.pushButton_j6_sub.clicked.connect(self.send_subOneAsix_button_click)
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self.pushButton_j1_add.clicked.connect(self.send_addOneAsix_button_click)
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self.pushButton_j2_add.clicked.connect(self.send_addOneAsix_button_click)
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self.pushButton_j3_add.clicked.connect(self.send_addOneAsix_button_click)
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self.pushButton_j4_add.clicked.connect(self.send_addOneAsix_button_click)
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self.pushButton_j5_add.clicked.connect(self.send_addOneAsix_button_click)
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self.pushButton_j6_add.clicked.connect(self.send_addOneAsix_button_click)
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self.pushButton_stopFeed.clicked.connect(self.send_stopFeed_button_click)
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self.pushButton_pauseFeed.clicked.connect(self.send_pauseFeed_button_click)
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self.pushButton_get_p1.clicked.connect(self.get_p1_button_click)
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self.pushButton_get_p2.clicked.connect(self.get_p2_button_click)
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self.pushButton_get_p3.clicked.connect(self.get_p3_button_click)
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self.pushButton_set_p1.clicked.connect(self.set_p1_button_click)
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self.pushButton_set_p2.clicked.connect(self.set_p2_button_click)
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self.pushButton_set_p3.clicked.connect(self.set_p3_button_click)
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self.pushButton_clearAlarm.clicked.connect(self.send_clear_alarm_command)
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self.pushButton_reset.clicked.connect(self.send_reset_button_click)
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self.pushButton_speed.setText(str(Constant.speed))
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self.pushButton_speed.clicked.connect(self.send_setSpeed_label_doubelClick)
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self.lineEdit_speed.returnPressed.connect(self.send_setSpeed_lineEdit_returePressed)
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self.lineEdit_num.returnPressed.connect(self.send_custom_num_returnPressed)
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self.tabWidget_control.currentChanged.connect(self.send_tabWidget_control_change)
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int_validator = QIntValidator(0, 100, self.lineEdit_num)
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self.lineEdit_num.setValidator(int_validator)
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# self.horizontalSlider_J1.sliderReleased
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self.pushButton_startFeed.clicked.connect(self.send_startFeed_button_click)
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self.pushButton_stack_feedControl.clicked.connect(
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lambda _, index=0: self.send_stack_feedSet_button_click(index))
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self.pushButton_stack_feedSet.clicked.connect(lambda _, index=1: self.send_stack_feedSet_button_click(index))
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self.horizontalSlider_feedingNum.blockSignals(True)
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self.horizontalSlider_feedingNum.setMinimum(0)
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self.lineEdit_speed.hide()
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self.pushButton_stopFeed.hide()
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self.pushButton_pauseFeed.hide()
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def init_Run(self):
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self.robotClient = None
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self.configReader = configparser.ConfigParser()
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self.detection = Detection()
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self.command_position_quene = Queue()
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self.status_address = DataAddress()
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self.feedLine_dict = {}
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self.command_quene = Queue()
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self.main_threading = None
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self.configReader.read(Constant.set_ini)
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ip = self.configReader.get('Robot_Feed', 'IPAddress')
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port = int(self.configReader.get('Robot_Feed', 'Port'))
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photo_locs = [(int(self.configReader.get('Robot_Feed', 'photo_x1')),
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int(self.configReader.get('Robot_Feed', 'photo_y1')), int(self.configReader.get('Robot_Feed', 'photo_z1'))),
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(int(self.configReader.get('Robot_Feed', 'photo_x2')),
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int(self.configReader.get('Robot_Feed', 'photo_y2')), int(self.configReader.get('Robot_Feed', 'photo_z2'))),
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(int(self.configReader.get('Robot_Feed', 'photo_x3')),
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int(self.configReader.get('Robot_Feed', 'photo_y3')),int(self.configReader.get('Robot_Feed', 'photo_z3')))
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]
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dropDelay_time = int(self.configReader.get('Robot_Feed', 'dropDelay_time'))
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self.robotClient = RobotClient(ip, port, photo_locs, self.command_position_quene, self.status_address)
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self.feeding = Feeding(self.robotClient, self.detection) # 临时
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self.last_time = time.time()
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try:
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self.robotClient.CreatConnect()
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except:
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self.set_label_status_style(False)
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return Error_Code.SYS_NETERROR
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if self.robotClient.connected:
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return 0
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else:
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return Error_Code.SYS_NETERROR
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def init_seting_frame(self):
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rows = len(self.feedLine_dict.keys()) + 1
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self.tableWidget_feedSeting.setRowCount(rows)
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self.tableWidget_feedSeting.setColumnCount(20)
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# 设置第一重表头的合并 (三列一组)
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self.tableWidget_feedSeting_addtional_col_num = 2
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self.tableWidget_feedSeting.setSpan(0, 0 + self.tableWidget_feedSeting_addtional_col_num, 1, 6) # 合并前3列
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self.tableWidget_feedSeting.setSpan(0, 6 + self.tableWidget_feedSeting_addtional_col_num, 1, 6) # 合并后3列
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self.tableWidget_feedSeting.setSpan(0, 12 + self.tableWidget_feedSeting_addtional_col_num, 1, 6) # 合并后3列
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self.tableWidget_feedSeting.itemChanged.connect(self.send_tabelFeedSet_itemChanged)
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btn_safe = QPushButton("获取安全位置")
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widget_safe = QWidget()
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layout_safe = QHBoxLayout()
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layout_safe.addWidget(btn_safe)
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# 调整布局的间距，使之更紧凑
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layout_safe.setContentsMargins(0, 0, 0, 0)
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# 将布局设置到 QWidget 容器中
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widget_safe.setLayout(layout_safe)
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btn_photo = QPushButton("获取拍照位置")
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widget_photo = QWidget()
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layout_photo = QHBoxLayout()
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layout_photo.addWidget(btn_photo)
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# 调整布局的间距，使之更紧凑
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layout_photo.setContentsMargins(0, 0, 0, 0)
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# 将布局设置到 QWidget 容器中
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widget_photo.setLayout(layout_photo)
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btn_feed = QPushButton("获取投料位置")
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widget_feed = QWidget()
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layout_feed = QHBoxLayout()
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layout_feed.addWidget(btn_feed)
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# 调整布局的间距，使之更紧凑
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layout_feed.setContentsMargins(0, 0, 0, 0)
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# 将布局设置到 QWidget 容器中
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widget_feed.setLayout(layout_feed)
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btn_safe.clicked.connect(self.send_get_safe_position_button_click)
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btn_photo.clicked.connect(self.send_get_photo_position_button_click)
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btn_feed.clicked.connect(self.send_get_feed_position_button_click)
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# 添加第一重表头项
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self.tableWidget_feedSeting.setCellWidget(0, 0 + self.tableWidget_feedSeting_addtional_col_num, widget_safe)
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self.tableWidget_feedSeting.setCellWidget(0, 6 + self.tableWidget_feedSeting_addtional_col_num, widget_photo)
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self.tableWidget_feedSeting.setCellWidget(0, 12 + self.tableWidget_feedSeting_addtional_col_num,
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widget_feed) # 设置在合并的第2组
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self.tableWidget_feedSeting.setSelectionBehavior(QTableWidget.SelectRows)
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self.tableWidget_feedSeting.setAutoScroll(True)
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# 添加第二重表头
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self.tableWidget_feedSeting.setHorizontalHeaderLabels(
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['header', '线名', 'X1', 'Y1', 'Z1', 'U1', 'V1', 'W1', 'X2', 'Y2', 'Z2', 'U2', 'V2', 'W2', 'X3', 'Y3', 'Z3',
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'U3', 'V3', 'W3'])
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self.tableWidget_feedSeting.hideColumn(0)
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# 填充数据行
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for row, (feed_line_key, feed_line) in enumerate(self.feedLine_dict.items()):
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self.tableWidget_feedSeting.setItem(row + 1, 0, QTableWidgetItem(feed_line_key))
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self.tableWidget_feedSeting.setItem(row + 1, 1, QTableWidgetItem(feed_line.name))
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self.set_position_to_tabel(row + 1, 0, feed_line.safe_position)
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self.set_position_to_tabel(row + 1, 1, feed_line.photo_position)
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self.set_position_to_tabel(row + 1, 2, feed_line.feed_position)
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# 禁用自动表头
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self.tableWidget_feedSeting.verticalHeader().setVisible(True)
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self.pushButton_tableFeedSet_addRow.clicked.connect(self.send_tabelFeedSet_addRow)
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self.pushButton_tableFeedSet_deleRow.clicked.connect(self.send_tabelFeedSet_delRow)
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self.pushButton_tableFeedSet_save.clicked.connect(self.send_tabelFeedSet_save)
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|||
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def init_FeedLine(self):
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|||
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line_count = self.configReader.get('Robot_Feed', 'LineCount', fallback=0)
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|||
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self.configReader.read(Constant.feedLine_set_file, encoding='utf-8')
|
|||
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for i in range(int(line_count)):
|
|||
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line_str = f'FeedLine{i + 1}'
|
|||
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safe_position = Real_Position()
|
|||
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photo_position = Real_Position()
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mid_position = Real_Position()
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broken_position1 = Real_Position()
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|||
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broken_position2 = Real_Position()
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|||
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feed_position = Real_Position()
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dropBag_position = Real_Position()
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|||
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zipBag_poistion = Real_Position()
|
|||
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|
|||
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|||
|
|
safe_position.X = float(self.configReader.get(line_str, 'SafePosition_x', fallback=0))
|
|||
|
|
safe_position.Y = float(self.configReader.get(line_str, 'SafePosition_y', fallback=0))
|
|||
|
|
safe_position.Z = float(self.configReader.get(line_str, 'SafePosition_z', fallback=0))
|
|||
|
|
safe_position.U = float(self.configReader.get(line_str, 'SafePosition_u', fallback=0))
|
|||
|
|
safe_position.V = float(self.configReader.get(line_str, 'SafePosition_v', fallback=0))
|
|||
|
|
safe_position.W = float(self.configReader.get(line_str, 'SafePosition_w', fallback=0))
|
|||
|
|
|
|||
|
|
photo_position.X = float(self.configReader.get(line_str, 'PhotoPosition_x', fallback=0))
|
|||
|
|
photo_position.Y = float(self.configReader.get(line_str, 'PhotoPosition_y', fallback=0))
|
|||
|
|
photo_position.Z = float(self.configReader.get(line_str, 'PhotoPosition_z', fallback=0))
|
|||
|
|
photo_position.U = float(self.configReader.get(line_str, 'PhotoPosition_u', fallback=0))
|
|||
|
|
photo_position.V = float(self.configReader.get(line_str, 'PhotoPosition_v', fallback=0))
|
|||
|
|
photo_position.W = float(self.configReader.get(line_str, 'PhotoPosition_w', fallback=0))
|
|||
|
|
|
|||
|
|
mid_position.X = float(self.configReader.get(line_str, 'MidPosition_x', fallback=0))
|
|||
|
|
mid_position.Y = float(self.configReader.get(line_str, 'MidPosition_y', fallback=0))
|
|||
|
|
mid_position.Z = float(self.configReader.get(line_str, 'MidPosition_z', fallback=0))
|
|||
|
|
mid_position.U = float(self.configReader.get(line_str, 'MidPosition_u', fallback=0))
|
|||
|
|
mid_position.V = float(self.configReader.get(line_str, 'MidPosition_v', fallback=0))
|
|||
|
|
mid_position.W = float(self.configReader.get(line_str, 'MidPosition_w', fallback=0))
|
|||
|
|
|
|||
|
|
broken_position1.X = float(self.configReader.get(line_str, 'BrokenPosition_x', fallback=0))
|
|||
|
|
broken_position1.Y = float(self.configReader.get(line_str, 'BrokenPosition_y', fallback=0))
|
|||
|
|
broken_position1.Z = float(self.configReader.get(line_str, 'BrokenPosition_z', fallback=0))
|
|||
|
|
broken_position1.U = float(self.configReader.get(line_str, 'BrokenPosition_u', fallback=0))
|
|||
|
|
broken_position1.V = float(self.configReader.get(line_str, 'BrokenPosition_v', fallback=0))
|
|||
|
|
broken_position1.W = float(self.configReader.get(line_str, 'BrokenPosition_w', fallback=0))
|
|||
|
|
broken_position2.X = float(self.configReader.get(line_str, 'BrokenPosition2_x', fallback=0))
|
|||
|
|
broken_position2.Y = float(self.configReader.get(line_str, 'BrokenPosition2_y', fallback=0))
|
|||
|
|
broken_position2.Z = float(self.configReader.get(line_str, 'BrokenPosition2_z', fallback=0))
|
|||
|
|
broken_position2.U = float(self.configReader.get(line_str, 'BrokenPosition2_u', fallback=0))
|
|||
|
|
broken_position2.V = float(self.configReader.get(line_str, 'BrokenPosition2_v', fallback=0))
|
|||
|
|
broken_position2.W = float(self.configReader.get(line_str, 'BrokenPosition2_w', fallback=0))
|
|||
|
|
|
|||
|
|
dropBag_position.X = float(self.configReader.get(line_str, 'DropBagPosition_x', fallback=0))
|
|||
|
|
dropBag_position.Y = float(self.configReader.get(line_str, 'DropBagPosition_y', fallback=0))
|
|||
|
|
dropBag_position.Z = float(self.configReader.get(line_str, 'DropBagPosition_z', fallback=0))
|
|||
|
|
dropBag_position.U = float(self.configReader.get(line_str, 'DropBagPosition_u', fallback=0))
|
|||
|
|
dropBag_position.V = float(self.configReader.get(line_str, 'DropBagPosition_v', fallback=0))
|
|||
|
|
dropBag_position.W = float(self.configReader.get(line_str, 'DropBagPosition_w', fallback=0))
|
|||
|
|
zipBag_poistion.X = float(self.configReader.get(line_str, 'ZipBagPosition_x', fallback=0))
|
|||
|
|
zipBag_poistion.Y = float(self.configReader.get(line_str, 'ZipBagPosition_y', fallback=0))
|
|||
|
|
zipBag_poistion.Z = float(self.configReader.get(line_str, 'ZipBagPosition_z', fallback=0))
|
|||
|
|
zipBag_poistion.U = float(self.configReader.get(line_str, 'ZipBagPosition_u', fallback=0))
|
|||
|
|
zipBag_poistion.V = float(self.configReader.get(line_str, 'ZipBagPosition_v', fallback=0))
|
|||
|
|
zipBag_poistion.W = float(self.configReader.get(line_str, 'ZipBagPosition_w', fallback=0))
|
|||
|
|
|
|||
|
|
|
|||
|
|
feed_position.X = float(self.configReader.get(line_str, 'FeedPosition_x', fallback=0))
|
|||
|
|
feed_position.Y = float(self.configReader.get(line_str, 'FeedPosition_y', fallback=0))
|
|||
|
|
feed_position.Z = float(self.configReader.get(line_str, 'FeedPosition_z', fallback=0))
|
|||
|
|
feed_position.U = float(self.configReader.get(line_str, 'FeedPosition_u', fallback=0))
|
|||
|
|
feed_position.V = float(self.configReader.get(line_str, 'FeedPosition_v', fallback=0))
|
|||
|
|
feed_position.W = float(self.configReader.get(line_str, 'FeedPosition_w', fallback=0))
|
|||
|
|
|
|||
|
|
|
|||
|
|
|
|||
|
|
name = self.configReader.get(line_str, 'Name', fallback='未命名')
|
|||
|
|
self.feedLine_dict[f'{Constant.feedLine_set_section}{i + 1}'] = FeedLine(i + 1,name, safe_position,
|
|||
|
|
photo_position, mid_position,
|
|||
|
|
broken_position1,broken_position2,dropBag_position,zipBag_poistion,feed_position)
|
|||
|
|
self.init_seting_frame()
|
|||
|
|
self.updateUI_Select_Line()
|
|||
|
|
pass
|
|||
|
|
|
|||
|
|
def init_robot_info(self):
|
|||
|
|
j1_min = int(self.configReader.get('Robot_Feed', 'j1_min'))
|
|||
|
|
j1_max = int(self.configReader.get('Robot_Feed', 'j1_max'))
|
|||
|
|
j2_min = int(self.configReader.get('Robot_Feed', 'j2_min'))
|
|||
|
|
j2_max = int(self.configReader.get('Robot_Feed', 'j2_max'))
|
|||
|
|
j3_min = int(self.configReader.get('Robot_Feed', 'j3_min'))
|
|||
|
|
j3_max = int(self.configReader.get('Robot_Feed', 'j3_max'))
|
|||
|
|
j4_min = int(self.configReader.get('Robot_Feed', 'j4_min'))
|
|||
|
|
j4_max = int(self.configReader.get('Robot_Feed', 'j4_max'))
|
|||
|
|
j5_min = int(self.configReader.get('Robot_Feed', 'j5_min'))
|
|||
|
|
j5_max = int(self.configReader.get('Robot_Feed', 'j5_max'))
|
|||
|
|
j6_min = int(self.configReader.get('Robot_Feed', 'j6_min'))
|
|||
|
|
j6_max = int(self.configReader.get('Robot_Feed', 'j6_max'))
|
|||
|
|
self.horizontalSlider_J1.setMinimum(j1_min)
|
|||
|
|
self.horizontalSlider_J1.setMaximum(j1_max)
|
|||
|
|
self.horizontalSlider_J2.setMinimum(j2_min)
|
|||
|
|
self.horizontalSlider_J2.setMaximum(j2_max)
|
|||
|
|
self.horizontalSlider_J3.setMinimum(j3_min)
|
|||
|
|
self.horizontalSlider_J3.setMaximum(j3_max)
|
|||
|
|
self.horizontalSlider_J4.setMinimum(j4_min)
|
|||
|
|
self.horizontalSlider_J4.setMaximum(j4_max)
|
|||
|
|
self.horizontalSlider_J5.setMinimum(j5_min)
|
|||
|
|
self.horizontalSlider_J5.setMaximum(j5_max)
|
|||
|
|
self.horizontalSlider_J6.setMinimum(j6_min)
|
|||
|
|
self.horizontalSlider_J6.setMaximum(j6_max)
|
|||
|
|
self.label_j1_min.setText(j1_min.__str__())
|
|||
|
|
self.label_j1_max.setText(j1_max.__str__())
|
|||
|
|
self.label_j2_min.setText(j2_min.__str__())
|
|||
|
|
self.label_j2_max.setText(j2_max.__str__())
|
|||
|
|
self.label_j3_min.setText(j3_min.__str__())
|
|||
|
|
self.label_j3_max.setText(j3_max.__str__())
|
|||
|
|
self.label_j4_min.setText(j4_min.__str__())
|
|||
|
|
self.label_j4_max.setText(j4_max.__str__())
|
|||
|
|
self.label_j5_min.setText(j5_min.__str__())
|
|||
|
|
self.label_j5_max.setText(j5_max.__str__())
|
|||
|
|
self.label_j6_min.setText(j6_min.__str__())
|
|||
|
|
self.label_j6_max.setText(str(j6_max))
|
|||
|
|
|
|||
|
|
def start_Runing(self):
|
|||
|
|
self.main_threading = Thread(target=self.run)
|
|||
|
|
self.robot_connect_threading = Thread(target=self.robotClient.run)
|
|||
|
|
self.main_threading.start()
|
|||
|
|
self.robot_connect_threading.start()
|
|||
|
|
pass
|
|||
|
|
|
|||
|
|
def send_startFeed_button_click(self):
|
|||
|
|
# 触发自动运行
|
|||
|
|
if self.robotClient.status_model.curMode != 7:
|
|||
|
|
self.send_switch_tool_command()
|
|||
|
|
log.log_message(logging.INFO, Constant.str_sys_switch_tool)
|
|||
|
|
self.send_start_tool_command()
|
|||
|
|
log.log_message(logging.INFO, Constant.str_sys_start_tool)
|
|||
|
|
num = self.horizontalSlider_feedingNum.maximum()
|
|||
|
|
line_head = self.comboBox_lineIndex.currentData()
|
|||
|
|
self.command_quene.put(FeedCommand(FeedingConfig(num, self.feedLine_dict[line_head])))
|
|||
|
|
self.stackedWidget_num.setCurrentIndex(1)
|
|||
|
|
self.set_run_status_button(True)
|
|||
|
|
log.log_message(logging.INFO, f'{self.feedLine_dict[line_head].name}:{Constant.str_feed_start}')
|
|||
|
|
|
|||
|
|
def send_num_button_click(self):
|
|||
|
|
button = self.sender()
|
|||
|
|
if button.text() != "自定义":
|
|||
|
|
num = int(button.text())
|
|||
|
|
self.horizontalSlider_feedingNum.setMaximum(num)
|
|||
|
|
self.label_maxNum.setText(str(num))
|
|||
|
|
self.horizontalSlider_feedingNum.setValue(0)
|
|||
|
|
else:
|
|||
|
|
self.pushButton_num_free.hide()
|
|||
|
|
self.lineEdit_num.show()
|
|||
|
|
|
|||
|
|
def send_subOneAsix_button_click(self):
|
|||
|
|
btn_str = self.sender().objectName()
|
|||
|
|
Constant.manual_adjust_accuracy = float(self.lineEdit_manual_adjust_accuracy.text())
|
|||
|
|
x1 = self.horizontalSlider_J1.value()
|
|||
|
|
x2 = self.horizontalSlider_J2.value()
|
|||
|
|
x3 = self.horizontalSlider_J3.value()
|
|||
|
|
x4 = self.horizontalSlider_J4.value()
|
|||
|
|
x5 = self.horizontalSlider_J5.value()
|
|||
|
|
x6 = self.horizontalSlider_J6.value()
|
|||
|
|
if 'j1' in btn_str:
|
|||
|
|
x1 = x1 - Constant.manual_adjust_accuracy
|
|||
|
|
elif 'j2' in btn_str:
|
|||
|
|
x2 = x2 - Constant.manual_adjust_accuracy
|
|||
|
|
pass
|
|||
|
|
elif 'j3' in btn_str:
|
|||
|
|
x3 = x3 - Constant.manual_adjust_accuracy
|
|||
|
|
pass
|
|||
|
|
elif 'j4' in btn_str:
|
|||
|
|
x4 = x4 - Constant.manual_adjust_accuracy
|
|||
|
|
pass
|
|||
|
|
elif 'j5' in btn_str:
|
|||
|
|
x5 = x5 - Constant.manual_adjust_accuracy
|
|||
|
|
pass
|
|||
|
|
elif 'j6' in btn_str:
|
|||
|
|
x6 = x6 - Constant.manual_adjust_accuracy
|
|||
|
|
self.send_position_command(x1, x2, x3, x4, x5, x6, MoveType.AXIS)
|
|||
|
|
|
|||
|
|
def send_addOneAsix_button_click(self, btn):
|
|||
|
|
btn_str = self.sender().objectName()
|
|||
|
|
Constant.manual_adjust_accuracy = float(self.lineEdit_manual_adjust_accuracy.text())
|
|||
|
|
x1 = self.horizontalSlider_J1.value()
|
|||
|
|
x2 = self.horizontalSlider_J2.value()
|
|||
|
|
x3 = self.horizontalSlider_J3.value()
|
|||
|
|
x4 = self.horizontalSlider_J4.value()
|
|||
|
|
x5 = self.horizontalSlider_J5.value()
|
|||
|
|
x6 = self.horizontalSlider_J6.value()
|
|||
|
|
if 'j1' in btn_str:
|
|||
|
|
x1 = x1 + Constant.manual_adjust_accuracy
|
|||
|
|
elif 'j2' in btn_str:
|
|||
|
|
x2 = x2 + Constant.manual_adjust_accuracy
|
|||
|
|
pass
|
|||
|
|
elif 'j3' in btn_str:
|
|||
|
|
x3 = x3 + Constant.manual_adjust_accuracy
|
|||
|
|
pass
|
|||
|
|
elif 'j4' in btn_str:
|
|||
|
|
x4 = x4 + Constant.manual_adjust_accuracy
|
|||
|
|
pass
|
|||
|
|
elif 'j5' in btn_str:
|
|||
|
|
x5 = x5 + Constant.manual_adjust_accuracy
|
|||
|
|
pass
|
|||
|
|
elif 'j6' in btn_str:
|
|||
|
|
x6 = x6 + Constant.manual_adjust_accuracy
|
|||
|
|
self.send_position_command(x1, x2, x3, x4, x5, x6, move_type=MoveType.AXIS)
|
|||
|
|
|
|||
|
|
def send_addNum_button_click(self):
|
|||
|
|
self.feeding.feedConfig.num += 1
|
|||
|
|
|
|||
|
|
log.log_message(logging.INFO, Constant.str_sys_feedNum_add)
|
|||
|
|
max_num = int(self.label_maxNum.text()) + 1
|
|||
|
|
self.horizontalSlider_feedingNum.setMaximum(max_num)
|
|||
|
|
self.label_maxNum.setText(str(max_num))
|
|||
|
|
def send_subNum_button_click(self):
|
|||
|
|
if self.feeding.feedConfig.num <= 1:
|
|||
|
|
#self.send_stopFeed_button_click()
|
|||
|
|
self.feeding.feedStatus = FeedStatus.FNone
|
|||
|
|
# 清空运行命令
|
|||
|
|
self.send_clear_auto_command()
|
|||
|
|
log.log_message(logging.INFO, Constant.str_feed_stop)
|
|||
|
|
return
|
|||
|
|
self.feeding.feedConfig.num -= 1
|
|||
|
|
log.log_message(logging.INFO, Constant.str_sys_feedNum_sub)
|
|||
|
|
max_num = int(self.label_maxNum.text())-1
|
|||
|
|
self.horizontalSlider_feedingNum.setMaximum(max_num)
|
|||
|
|
self.label_maxNum.setText(str(max_num))
|
|||
|
|
|
|||
|
|
def send_custom_num_returnPressed(self):
|
|||
|
|
self.pushButton_num_free.show()
|
|||
|
|
self.lineEdit_num.hide()
|
|||
|
|
self.horizontalSlider_feedingNum.setMaximum(int(self.lineEdit_num.text()))
|
|||
|
|
self.horizontalSlider_feedingNum.setValue(0)
|
|||
|
|
self.label_maxNum.setText(self.lineEdit_num.text())
|
|||
|
|
log.log_message(logging.INFO, f'{Constant.str_sys_setFeedNum}:{self.label_maxNum.text()} ')
|
|||
|
|
|
|||
|
|
def send_stack_feedSet_button_click(self, index):
|
|||
|
|
# self.logger.info("This is an info message")
|
|||
|
|
self.stackedWidget_feed.setCurrentIndex(index)
|
|||
|
|
if index == 0:
|
|||
|
|
self.updateUI_Select_Line()
|
|||
|
|
if index == 1:
|
|||
|
|
self.updateUI_Photo_Set()
|
|||
|
|
|
|||
|
|
def on_button_click(self):
|
|||
|
|
self.button.setText("Clicked!")
|
|||
|
|
|
|||
|
|
def send_position_button_click(self):
|
|||
|
|
# if True:
|
|||
|
|
# cmd_command = CMDRequest()
|
|||
|
|
# cmd_command.cmdData = ['rewriteData', '800', f'{position_instruction.m0}', 0]
|
|||
|
|
# request_command = vars(cmd_command)
|
|||
|
|
# self.robotClient.add_sendQuene(request_command)
|
|||
|
|
return
|
|||
|
|
|
|||
|
|
def send_position_returnPressed(self):
|
|||
|
|
log.log_message(logging.INFO, Constant.str_sys_manualPosition)
|
|||
|
|
self.send_position_command(float(self.lineEdit_j1.text()),
|
|||
|
|
float(self.lineEdit_j2.text()),
|
|||
|
|
float(self.lineEdit_j3.text()),
|
|||
|
|
float(self.lineEdit_j4.text()),
|
|||
|
|
float(self.lineEdit_j5.text()),
|
|||
|
|
float(self.lineEdit_j6.text()))
|
|||
|
|
|
|||
|
|
def send_setSpeed_label_doubelClick(self):
|
|||
|
|
self.pushButton_speed.hide()
|
|||
|
|
self.lineEdit_speed.show()
|
|||
|
|
pass
|
|||
|
|
|
|||
|
|
def send_setSpeed_lineEdit_returePressed(self):
|
|||
|
|
Constant.speed = int(self.lineEdit_speed.text())
|
|||
|
|
self.lineEdit_speed.hide()
|
|||
|
|
self.pushButton_speed.setText(str(Constant.speed))
|
|||
|
|
self.pushButton_speed.show()
|
|||
|
|
log.log_message(logging.INFO, Constant.str_sys_setSpeed + str(Constant.speed))
|
|||
|
|
pass
|
|||
|
|
|
|||
|
|
def send_get_safe_position_button_click(self):
|
|||
|
|
real_position = self.robotClient.status_model.getRealPosition()
|
|||
|
|
row_i = self.tableWidget_feedSeting.currentRow()
|
|||
|
|
head = self.tableWidget_feedSeting.item(row_i, 0).text()
|
|||
|
|
self.feedLine_dict[head].safe_position.init_position(real_position.X, real_position.Y, real_position.Z,
|
|||
|
|
real_position.U, real_position.V, real_position.W)
|
|||
|
|
self.set_position_to_tabel(row_i, 0, real_position)
|
|||
|
|
|
|||
|
|
def send_get_photo_position_button_click(self):
|
|||
|
|
real_position = self.robotClient.status_model.getRealPosition()
|
|||
|
|
row_i = self.tableWidget_feedSeting.currentRow()
|
|||
|
|
head = self.tableWidget_feedSeting.item(row_i, 0).text()
|
|||
|
|
self.feedLine_dict[head].photo_position.init_position(real_position.X, real_position.Y, real_position.Z,
|
|||
|
|
real_position.U, real_position.V, real_position.W)
|
|||
|
|
self.set_position_to_tabel(row_i, 1, real_position)
|
|||
|
|
|
|||
|
|
def send_get_feed_position_button_click(self):
|
|||
|
|
real_position = self.robotClient.status_model.getRealPosition()
|
|||
|
|
row_i = self.tableWidget_feedSeting.currentRow()
|
|||
|
|
head = self.tableWidget_feedSeting.item(row_i, 0).text()
|
|||
|
|
self.feedLine_dict[head].feed_position.init_position(real_position.X, real_position.Y, real_position.Z,
|
|||
|
|
real_position.U, real_position.V, real_position.W)
|
|||
|
|
self.set_position_to_tabel(row_i, 2, real_position)
|
|||
|
|
|
|||
|
|
def send_tabelFeedSet_addRow(self):
|
|||
|
|
for i in range(1, 20):
|
|||
|
|
head = f'{Constant.feedLine_set_section}{i}'
|
|||
|
|
if head not in self.feedLine_dict:
|
|||
|
|
row_position = self.tableWidget_feedSeting.rowCount() # 当前行数
|
|||
|
|
self.tableWidget_feedSeting.insertRow(row_position)
|
|||
|
|
safe_position = Real_Position()
|
|||
|
|
photo_position = Real_Position()
|
|||
|
|
feed_position = Real_Position()
|
|||
|
|
self.feedLine_dict[head] = FeedLine('新建', safe_position, photo_position, feed_position)
|
|||
|
|
self.tableWidget_feedSeting.setItem(self.tableWidget_feedSeting.rowCount() - 1, 0,
|
|||
|
|
QTableWidgetItem(head))
|
|||
|
|
self.tableWidget_feedSeting.setItem(self.tableWidget_feedSeting.rowCount() - 1, 1,
|
|||
|
|
QTableWidgetItem('新建'))
|
|||
|
|
self.set_position_to_tabel(self.tableWidget_feedSeting.rowCount() - 1, 0, safe_position)
|
|||
|
|
self.set_position_to_tabel(self.tableWidget_feedSeting.rowCount() - 1, 1, photo_position)
|
|||
|
|
self.set_position_to_tabel(self.tableWidget_feedSeting.rowCount() - 1, 2, feed_position)
|
|||
|
|
break
|
|||
|
|
|
|||
|
|
def send_tabelFeedSet_delRow(self):
|
|||
|
|
selectRow = self.tableWidget_feedSeting.currentRow()
|
|||
|
|
if selectRow >= 0:
|
|||
|
|
for feed_line_key, feed_line in self.feedLine_dict.items():
|
|||
|
|
if feed_line_key == self.tableWidget_feedSeting.item(selectRow, 0).text():
|
|||
|
|
self.feedLine_dict.pop(feed_line_key)
|
|||
|
|
self.tableWidget_feedSeting.removeRow(selectRow)
|
|||
|
|
break
|
|||
|
|
else:
|
|||
|
|
QMessageBox.information(self, "提示", "请选择要删除的行")
|
|||
|
|
|
|||
|
|
def send_tabelFeedSet_save(self):
|
|||
|
|
count = len(self.feedLine_dict.keys())
|
|||
|
|
self.configReader.read(Constant.set_ini)
|
|||
|
|
self.configReader.set('Robot_Feed', 'LineCount', str(count))
|
|||
|
|
writeFeedLine_to_ini(self.feedLine_dict, Constant.feedLine_set_file)
|
|||
|
|
pass
|
|||
|
|
|
|||
|
|
def send_stopFeed_button_click(self):
|
|||
|
|
# 清空状态
|
|||
|
|
self.feeding.feedStatus = FeedStatus.FNone
|
|||
|
|
# 清空运行命令
|
|||
|
|
self.send_clear_auto_command()
|
|||
|
|
log.log_message(logging.INFO, Constant.str_feed_stop)
|
|||
|
|
|
|||
|
|
def send_pauseFeed_button_click(self):
|
|||
|
|
if self.pushButton_pauseFeed.text() == '暂停':
|
|||
|
|
self.pushButton_pauseFeed.setText('继续')
|
|||
|
|
log.log_message(logging.INFO, Constant.str_feed_pause)
|
|||
|
|
self.send_pause_command(True)
|
|||
|
|
self.feeding.pause = True
|
|||
|
|
else:
|
|||
|
|
self.pushButton_pauseFeed.setText('暂停')
|
|||
|
|
self.send_pause_command(False)
|
|||
|
|
log.log_message(logging.INFO, Constant.str_feed_continue)
|
|||
|
|
self.send_start_tool_command()
|
|||
|
|
log.log_message(logging.INFO, Constant.str_sys_start_tool)
|
|||
|
|
self.feeding.pause = False
|
|||
|
|
|
|||
|
|
pass
|
|||
|
|
def send_tabWidget_control_change(self):
|
|||
|
|
if self.robotClient.status_model.curMode != 7:
|
|||
|
|
self.send_switch_tool_command()
|
|||
|
|
log.log_message(logging.INFO, Constant.str_sys_switch_tool)
|
|||
|
|
self.send_start_tool_command()
|
|||
|
|
|
|||
|
|
def send_reset_button_click(self):
|
|||
|
|
line_head = self.comboBox_lineIndex.currentData()
|
|||
|
|
safe_position = self.feedLine_dict[line_head].safe_position
|
|||
|
|
self.send_position_command(safe_position.X, safe_position.Y, safe_position.Z, safe_position.U, safe_position.V, safe_position.W,move_type=MoveType.WORLD)
|
|||
|
|
|
|||
|
|
def send_tabelFeedSet_itemChanged(self, item):
|
|||
|
|
row = item.row()
|
|||
|
|
column = item.column()
|
|||
|
|
value = item.text()
|
|||
|
|
head = self.tableWidget_feedSeting.item(row, 0).text()
|
|||
|
|
if column == 1:
|
|||
|
|
self.feedLine_dict[head].name = value
|
|||
|
|
elif column == (0 + self.tableWidget_feedSeting_addtional_col_num):
|
|||
|
|
self.feedLine_dict[head].safe_position.X = float(value)
|
|||
|
|
elif column == (1 + self.tableWidget_feedSeting_addtional_col_num):
|
|||
|
|
self.feedLine_dict[head].safe_position.Y = float(value)
|
|||
|
|
elif column == (2 + self.tableWidget_feedSeting_addtional_col_num):
|
|||
|
|
self.feedLine_dict[head].safe_position.Z = float(value)
|
|||
|
|
elif column == (3 + self.tableWidget_feedSeting_addtional_col_num):
|
|||
|
|
self.feedLine_dict[head].safe_position.U = float(value)
|
|||
|
|
elif column == (4 + self.tableWidget_feedSeting_addtional_col_num):
|
|||
|
|
self.feedLine_dict[head].safe_position.V = float(value)
|
|||
|
|
elif column == (5 + self.tableWidget_feedSeting_addtional_col_num):
|
|||
|
|
self.feedLine_dict[head].safe_position.W = float(value)
|
|||
|
|
# elif column == 7:
|
|||
|
|
elif column == (6 + self.tableWidget_feedSeting_addtional_col_num):
|
|||
|
|
self.feedLine_dict[head].photo_position.X = float(value)
|
|||
|
|
elif column == (7 + self.tableWidget_feedSeting_addtional_col_num):
|
|||
|
|
self.feedLine_dict[head].photo_position.Y = float(value)
|
|||
|
|
elif column == (8 + self.tableWidget_feedSeting_addtional_col_num):
|
|||
|
|
self.feedLine_dict[head].photo_position.Z = float(value)
|
|||
|
|
elif column == (9 + self.tableWidget_feedSeting_addtional_col_num):
|
|||
|
|
self.feedLine_dict[head].photo_position.U = float(value)
|
|||
|
|
elif column == (10 + self.tableWidget_feedSeting_addtional_col_num):
|
|||
|
|
self.feedLine_dict[head].photo_position.V = float(value)
|
|||
|
|
elif column == (11 + self.tableWidget_feedSeting_addtional_col_num):
|
|||
|
|
self.feedLine_dict[head].photo_position.W = float(value)
|
|||
|
|
|
|||
|
|
elif column == (12 + self.tableWidget_feedSeting_addtional_col_num):
|
|||
|
|
self.feedLine_dict[head].feed_position.X = float(value)
|
|||
|
|
elif column == (13 + self.tableWidget_feedSeting_addtional_col_num):
|
|||
|
|
self.feedLine_dict[head].feed_position.Y = float(value)
|
|||
|
|
elif column == (14 + self.tableWidget_feedSeting_addtional_col_num):
|
|||
|
|
self.feedLine_dict[head].feed_position.Z = float(value)
|
|||
|
|
elif column == (15 + self.tableWidget_feedSeting_addtional_col_num):
|
|||
|
|
self.feedLine_dict[head].feed_position.U = float(value)
|
|||
|
|
elif column == (16 + self.tableWidget_feedSeting_addtional_col_num):
|
|||
|
|
self.feedLine_dict[head].feed_position.V = float(value)
|
|||
|
|
elif column == (17 + self.tableWidget_feedSeting_addtional_col_num):
|
|||
|
|
self.feedLine_dict[head].feed_position.W = float(value)
|
|||
|
|
|
|||
|
|
def run(self):
|
|||
|
|
while True:
|
|||
|
|
time.sleep(0.1)
|
|||
|
|
if not self.command_quene.empty():
|
|||
|
|
command = self.command_quene.get()
|
|||
|
|
if isinstance(command, FeedCommand) and command.status == Status.Prepareing:
|
|||
|
|
if self.feeding.feedStatus == FeedStatus.FNone:
|
|||
|
|
self.feeding.feedConfig = command.feed_config
|
|||
|
|
self.feeding.feedStatus = FeedStatus.FStart
|
|||
|
|
command.status = Status.Runing
|
|||
|
|
|
|||
|
|
try:
|
|||
|
|
self.feeding.run()
|
|||
|
|
except:
|
|||
|
|
print(Error_Code.SYS_NONEPoint)
|
|||
|
|
self.updateUI()
|
|||
|
|
|
|||
|
|
# pass #主线程
|
|||
|
|
|
|||
|
|
def updateUI(self):
|
|||
|
|
if self.robotClient.connected:
|
|||
|
|
self.set_label_status_style(True)
|
|||
|
|
else:
|
|||
|
|
self.set_label_status_style(False)
|
|||
|
|
if self.feeding.feedStatus != FeedStatus.FNone:
|
|||
|
|
self.horizontalSlider_feedingNum.setValue(
|
|||
|
|
self.horizontalSlider_feedingNum.maximum() - self.feeding.feedConfig.num)
|
|||
|
|
else:
|
|||
|
|
self.set_run_status_button(False)
|
|||
|
|
if self.feeding.feedStatus == FeedStatus.FNone:
|
|||
|
|
self.stackedWidget_num.setCurrentIndex(0)
|
|||
|
|
else:
|
|||
|
|
self.stackedWidget_num.setCurrentIndex(1)
|
|||
|
|
|
|||
|
|
# if self.feeding.feedConfig.num==2:
|
|||
|
|
# self.feeding.pause=True
|
|||
|
|
# self.send_pause_command(True)
|
|||
|
|
# self.show_messagebox_of_person()
|
|||
|
|
# log.log_message(logging.ERROR, '人员进入安全区')
|
|||
|
|
self.label_date.setText(datetime.now().strftime("%Y-%m-%d"))
|
|||
|
|
self.label_time.setText(datetime.now().strftime("%H:%M:%S"))
|
|||
|
|
|
|||
|
|
self.updateUI_Position()
|
|||
|
|
self.updateUI_label_detection()
|
|||
|
|
self.updateUI_label_status()
|
|||
|
|
self.updateUI_frame_sign(self.feeding.feedStatus)
|
|||
|
|
|
|||
|
|
def updateUI_label_detection(self):
|
|||
|
|
backgroud_img = Util.util_pic.cv2_to_qpixmap(self.feeding.detection_image)
|
|||
|
|
self.label_showDetection.setPixmap(backgroud_img)
|
|||
|
|
|
|||
|
|
def updateUI_Select_Line(self):
|
|||
|
|
self.comboBox_lineIndex.clear()
|
|||
|
|
for key, value in self.feedLine_dict.items():
|
|||
|
|
self.comboBox_lineIndex.addItem(value.name, key)
|
|||
|
|
def updateUI_label_status(self):
|
|||
|
|
if self.robotClient.status_model.isMoving==1:
|
|||
|
|
self.label_move_sign.show()
|
|||
|
|
if self.label_move_sign.text() == '正在移动.':
|
|||
|
|
self.label_move_sign.setText('正在移动..')
|
|||
|
|
else:
|
|||
|
|
self.label_move_sign.setText('正在移动.')
|
|||
|
|
else:
|
|||
|
|
self.label_move_sign.hide()
|
|||
|
|
if self.robotClient.status_model.curMode >= 0:
|
|||
|
|
try:
|
|||
|
|
self.label_status_model.setText(Constant.mode_array[self.robotClient.status_model.curMode])
|
|||
|
|
except:
|
|||
|
|
self.label_status_model.setText('未知模式')
|
|||
|
|
self.label_status_remoteCmdLen.setText(str(self.robotClient.status_model.RemoteCmdLen))
|
|||
|
|
|
|||
|
|
|
|||
|
|
def updateUI_Position(self):
|
|||
|
|
self.horizontalSlider_J1.setValue(self.status_address.axis_0)
|
|||
|
|
self.horizontalSlider_J2.setValue(self.status_address.axis_1)
|
|||
|
|
self.horizontalSlider_J3.setValue(self.status_address.axis_2)
|
|||
|
|
self.horizontalSlider_J4.setValue(self.status_address.axis_3)
|
|||
|
|
self.horizontalSlider_J5.setValue(self.status_address.axis_4)
|
|||
|
|
self.horizontalSlider_J6.setValue(self.status_address.axis_5)
|
|||
|
|
|
|||
|
|
self.label_j1.setText(str(self.status_address.axis_0))
|
|||
|
|
self.label_j2.setText(str(self.status_address.axis_1))
|
|||
|
|
self.label_j3.setText(str(self.status_address.axis_2))
|
|||
|
|
self.label_j4.setText(str(self.status_address.axis_3))
|
|||
|
|
self.label_j5.setText(str(self.status_address.axis_4))
|
|||
|
|
self.label_j6.setText(str(self.status_address.axis_5))
|
|||
|
|
|
|||
|
|
def set_position_to_tabel(self, row_i, position_j, real_Position: Real_Position):
|
|||
|
|
self.tableWidget_feedSeting.setItem(row_i, position_j * 6 + self.tableWidget_feedSeting_addtional_col_num,
|
|||
|
|
QTableWidgetItem(str(real_Position.X)))
|
|||
|
|
self.tableWidget_feedSeting.setItem(row_i, position_j * 6 + 1 + self.tableWidget_feedSeting_addtional_col_num,
|
|||
|
|
QTableWidgetItem(str(real_Position.Y)))
|
|||
|
|
self.tableWidget_feedSeting.setItem(row_i, position_j * 6 + 2 + self.tableWidget_feedSeting_addtional_col_num,
|
|||
|
|
QTableWidgetItem(str(real_Position.Z)))
|
|||
|
|
self.tableWidget_feedSeting.setItem(row_i, position_j * 6 + 3 + self.tableWidget_feedSeting_addtional_col_num,
|
|||
|
|
QTableWidgetItem(str(real_Position.U)))
|
|||
|
|
self.tableWidget_feedSeting.setItem(row_i, position_j * 6 + 4 + self.tableWidget_feedSeting_addtional_col_num,
|
|||
|
|
QTableWidgetItem(str(real_Position.V)))
|
|||
|
|
self.tableWidget_feedSeting.setItem(row_i, position_j * 6 + 5 + self.tableWidget_feedSeting_addtional_col_num,
|
|||
|
|
QTableWidgetItem(str(real_Position.W)))
|
|||
|
|
def updateUI_frame_sign(self,sign:FeedStatus):
|
|||
|
|
# print("start")
|
|||
|
|
if sign == FeedStatus.FNone:
|
|||
|
|
self.set_sign_status(self.label_sign_go, self.pushButton_sign_go, False)
|
|||
|
|
self.set_sign_status(self.label_sign_photo, self.pushButton_sign_photo, False)
|
|||
|
|
self.set_sign_status(self.label_sign_take, self.pushButton_sign_take, False)
|
|||
|
|
self.set_sign_status(self.label_sign_feed, self.pushButton_sign_feed, False)
|
|||
|
|
return
|
|||
|
|
if sign < FeedStatus.FPhoto:
|
|||
|
|
self.set_sign_status(self.label_sign_go,self.pushButton_sign_go,True)
|
|||
|
|
self.set_sign_status(self.label_sign_photo, self.pushButton_sign_photo, False)
|
|||
|
|
self.set_sign_status(self.label_sign_take, self.pushButton_sign_take, False)
|
|||
|
|
self.set_sign_status(self.label_sign_feed, self.pushButton_sign_feed, False)
|
|||
|
|
return
|
|||
|
|
if sign <= FeedStatus.FPhoto:
|
|||
|
|
self.set_sign_status(self.label_sign_go, self.pushButton_sign_go, False)
|
|||
|
|
self.set_sign_status(self.label_sign_photo,self.pushButton_sign_photo,True)
|
|||
|
|
self.set_sign_status(self.label_sign_take, self.pushButton_sign_take, False)
|
|||
|
|
self.set_sign_status(self.label_sign_feed, self.pushButton_sign_feed, False)
|
|||
|
|
return
|
|||
|
|
if sign <= FeedStatus.FTake:
|
|||
|
|
self.set_sign_status(self.label_sign_go, self.pushButton_sign_go, False)
|
|||
|
|
self.set_sign_status(self.label_sign_photo, self.pushButton_sign_photo, False)
|
|||
|
|
self.set_sign_status(self.label_sign_take, self.pushButton_sign_take, True)
|
|||
|
|
self.set_sign_status(self.label_sign_feed, self.pushButton_sign_feed, False)
|
|||
|
|
return
|
|||
|
|
if sign <= FeedStatus.FBroken:
|
|||
|
|
self.set_sign_status(self.label_sign_go, self.pushButton_sign_go, False)
|
|||
|
|
self.set_sign_status(self.label_sign_photo, self.pushButton_sign_photo, False)
|
|||
|
|
self.set_sign_status(self.label_sign_take, self.pushButton_sign_take, False)
|
|||
|
|
self.set_sign_status(self.label_sign_feed, self.pushButton_sign_feed, True)
|
|||
|
|
return
|
|||
|
|
pass
|
|||
|
|
|
|||
|
|
|
|||
|
|
def set_label_status_style(self, connected: bool):
|
|||
|
|
|
|||
|
|
if connected:
|
|||
|
|
if self.label_connect_status.styleSheet().strip() != self.active_status_Qss:
|
|||
|
|
self.label_connect_status.setStyleSheet(self.active_status_Qss)
|
|||
|
|
self.active_status_Qss = self.label_connect_status.styleSheet().strip()
|
|||
|
|
|
|||
|
|
else:
|
|||
|
|
if self.label_connect_status.styleSheet().strip() != self.noActive_status_Qss:
|
|||
|
|
self.label_connect_status.setStyleSheet(self.noActive_status_Qss)
|
|||
|
|
self.noActive_status_Qss = self.label_connect_status.styleSheet().strip()
|
|||
|
|
def set_sign_status(self,label,btn,signed:bool):
|
|||
|
|
|
|||
|
|
try :
|
|||
|
|
if signed:
|
|||
|
|
if label.styleSheet().strip() != self.active_label_sign_Qss:
|
|||
|
|
label.setStyleSheet(self.active_label_sign_Qss)
|
|||
|
|
self.active_label_sign_Qss = label.styleSheet().strip()
|
|||
|
|
|
|||
|
|
if btn.styleSheet().strip() != self.active_btn_sign_Qss:
|
|||
|
|
btn.setStyleSheet(self.active_btn_sign_Qss)
|
|||
|
|
self.active_btn_sign_Qss = btn.styleSheet().strip()
|
|||
|
|
else:
|
|||
|
|
if label.styleSheet().strip() != self.noactive_label_sign_Qss:
|
|||
|
|
label.setStyleSheet(self.noactive_label_sign_Qss)
|
|||
|
|
self.noactive_label_sign_Qss = label.styleSheet().strip()
|
|||
|
|
if btn.styleSheet().strip() != self.noactive_btn_sign_Qss:
|
|||
|
|
btn.setStyleSheet(self.noactive_btn_sign_Qss)
|
|||
|
|
self.noactive_btn_sign_Qss = btn.styleSheet().strip()
|
|||
|
|
except Exception as e:
|
|||
|
|
print(e)
|
|||
|
|
|
|||
|
|
|
|||
|
|
|
|||
|
|
def set_run_status_button(self, isRuning: bool):
|
|||
|
|
self.pushButton_pauseFeed.setText("暂停")
|
|||
|
|
if isRuning:
|
|||
|
|
self.pushButton_pauseFeed.show()
|
|||
|
|
self.pushButton_stopFeed.show()
|
|||
|
|
self.pushButton_startFeed.hide()
|
|||
|
|
else:
|
|||
|
|
self.pushButton_pauseFeed.hide()
|
|||
|
|
self.pushButton_stopFeed.hide()
|
|||
|
|
self.pushButton_startFeed.show()
|
|||
|
|
|
|||
|
|
def send_clear_auto_command(self):
|
|||
|
|
clear_command = CMDInstructRequest()
|
|||
|
|
request_command = clear_command.toString()
|
|||
|
|
log.log_message(logging.INFO, Constant.str_sys_clearAlarm)
|
|||
|
|
self.command_quene.put(request_command)
|
|||
|
|
|
|||
|
|
def send_position_command(self, x1, x2, x3, x4, x5, x6, move_type: MoveType = MoveType.WORLD):
|
|||
|
|
|
|||
|
|
position_instruction = Instruction()
|
|||
|
|
position_instruction.m0 = float(x1)
|
|||
|
|
position_instruction.m1 = float(x2)
|
|||
|
|
position_instruction.m2 = float(x3)
|
|||
|
|
position_instruction.m3 = float(x4)
|
|||
|
|
position_instruction.m4 = float(x5)
|
|||
|
|
position_instruction.m5 = float(x6)
|
|||
|
|
position_instruction.action = move_type.value
|
|||
|
|
instruction_command = CMDInstructRequest()
|
|||
|
|
instruction_command.instructions.append(position_instruction)
|
|||
|
|
request_command = instruction_command.toString()
|
|||
|
|
log_str = f'移动到位置:{"自由路径" if move_type == MoveType.AXIS else "姿势直线"}：' \
|
|||
|
|
f'm0:{position_instruction.m0}-' \
|
|||
|
|
f'm2:{position_instruction.m1}-' \
|
|||
|
|
f'm3:{position_instruction.m2}-' \
|
|||
|
|
f'm4:{position_instruction.m3}-' \
|
|||
|
|
f'm5:{position_instruction.m4}-' \
|
|||
|
|
f'm6:{position_instruction.m5}'
|
|||
|
|
log.log_message(logging.INFO,log_str)
|
|||
|
|
self.robotClient.add_sendQuene(request_command)
|
|||
|
|
|
|||
|
|
def send_pause_command(self, pause: bool):
|
|||
|
|
pause_command = CMDRequest()
|
|||
|
|
pause_command.cmdData.append("actionPause")
|
|||
|
|
if pause:
|
|||
|
|
pause_command.cmdData.append("1")
|
|||
|
|
else:
|
|||
|
|
pause_command.cmdData.append("0")
|
|||
|
|
request_command = pause_command.toString()
|
|||
|
|
self.robotClient.add_sendQuene(request_command)
|
|||
|
|
|
|||
|
|
def send_clear_alarm_command(self, pause: bool):
|
|||
|
|
pause_command = CMDRequest()
|
|||
|
|
pause_command.cmdData.append("clearAlarmContinue")
|
|||
|
|
pause_command.cmdData.append("1")
|
|||
|
|
request_command = pause_command.toString()
|
|||
|
|
log_str = f'暂停：{pause}'
|
|||
|
|
self.robotClient.add_sendQuene(request_command)
|
|||
|
|
|
|||
|
|
def send_switch_tool_command(self):
|
|||
|
|
switch_command = CMDRequest()
|
|||
|
|
switch_command.cmdData.append("switchTool")
|
|||
|
|
switch_command.cmdData.append("2")
|
|||
|
|
request_command = switch_command.toString()
|
|||
|
|
|
|||
|
|
self.robotClient.add_sendQuene(request_command)
|
|||
|
|
|
|||
|
|
def send_start_tool_command(self):
|
|||
|
|
switch_command = CMDRequest()
|
|||
|
|
switch_command.cmdData.append("startButton")
|
|||
|
|
switch_command.cmdData.append("1")
|
|||
|
|
request_command = switch_command.toString()
|
|||
|
|
print(request_command)
|
|||
|
|
|
|||
|
|
self.robotClient.add_sendQuene(request_command)
|
|||
|
|
|
|||
|
|
def show_messagebox_of_person(self):
|
|||
|
|
|
|||
|
|
msg_box = QMessageBox(self)
|
|||
|
|
msg_box.setWindowTitle("提示")
|
|||
|
|
msg_box.setText("当前有人是否继续")
|
|||
|
|
msg_box.setIcon(QMessageBox.Question)
|
|||
|
|
msg_box.setStandardButtons(QMessageBox.Yes)
|
|||
|
|
msg_box.setDefaultButton(QMessageBox.Yes)
|
|||
|
|
|
|||
|
|
|
|||
|
|
result = msg_box.exec()
|
|||
|
|
|
|||
|
|
|
|||
|
|
|
|||
|
|
if result == QMessageBox.Yes:
|
|||
|
|
self.feeding.pause = False
|
|||
|
|
self.send_pause_command(False)
|
|||
|
|
|
|||
|
|
### 设置界面
|
|||
|
|
def get_p1_button_click(self):
|
|||
|
|
realPosition = self.robotClient.status_model.getRealPosition()
|
|||
|
|
self.lineEdit_x1.setText(realPosition.X)
|
|||
|
|
self.lineEdit_y1.setText(realPosition.Y)
|
|||
|
|
self.lineEdit_z1.setText(realPosition.Z)
|
|||
|
|
|
|||
|
|
def get_p2_button_click(self):
|
|||
|
|
realPosition = self.robotClient.status_model.getRealPosition()
|
|||
|
|
self.lineEdit_x2.setText(realPosition.X)
|
|||
|
|
self.lineEdit_y2.setText(realPosition.Y)
|
|||
|
|
self.lineEdit_z2.setText(realPosition.Z)
|
|||
|
|
|
|||
|
|
def get_p3_button_click(self):
|
|||
|
|
realPosition = self.robotClient.status_model.getRealPosition()
|
|||
|
|
self.lineEdit_x3.setText(realPosition.X)
|
|||
|
|
self.lineEdit_y3.setText(realPosition.Y)
|
|||
|
|
self.lineEdit_z3.setText(realPosition.Z)
|
|||
|
|
|
|||
|
|
def set_p1_button_click(self):
|
|||
|
|
try:
|
|||
|
|
x1 = float(self.lineEdit_x1.text())
|
|||
|
|
y1 = float(self.lineEdit_y1.text())
|
|||
|
|
z1 = float(self.lineEdit_z1.text())
|
|||
|
|
self.robotClient.photo_locs[0] = (x1, y1, z1)
|
|||
|
|
self.configReader.read(Constant.set_ini)
|
|||
|
|
self.configReader.set('Robot_Feed', 'photo_x1', str(x1))
|
|||
|
|
self.configReader.set('Robot_Feed', 'photo_y1', str(y1))
|
|||
|
|
self.configReader.set('Robot_Feed', 'photo_z1', str(z1))
|
|||
|
|
log.log_message(logging.INFO, f'设置拍照点1:{x1},{y1},{z1}')
|
|||
|
|
except:
|
|||
|
|
self.show_infomessage_box("设置拍照点1失败")
|
|||
|
|
|
|||
|
|
def set_p2_button_click(self):
|
|||
|
|
try:
|
|||
|
|
x2 = float(self.lineEdit_x2.text())
|
|||
|
|
y2 = float(self.lineEdit_y2.text())
|
|||
|
|
z2 = float(self.lineEdit_z2.text())
|
|||
|
|
self.robotClient.photo_locs[1] = (x2, y2, z2)
|
|||
|
|
self.configReader.read(Constant.set_ini)
|
|||
|
|
self.configReader.set('Robot_Feed', 'photo_x2', str(x2))
|
|||
|
|
self.configReader.set('Robot_Feed', 'photo_y2', str(y2))
|
|||
|
|
self.configReader.set('Robot_Feed', 'photo_z2', str(z2))
|
|||
|
|
log.log_message(logging.INFO, f'设置拍照点2:{x2},{y2},{z2}')
|
|||
|
|
except:
|
|||
|
|
self.show_infomessage_box("设置拍照点2失败")
|
|||
|
|
|
|||
|
|
|
|||
|
|
def set_p3_button_click(self):
|
|||
|
|
try:
|
|||
|
|
x3 = float(self.lineEdit_x3.text())
|
|||
|
|
y3 = float(self.lineEdit_y3.text())
|
|||
|
|
z3 = float(self.lineEdit_z3.text())
|
|||
|
|
self.robotClient.photo_locs[2] = (x3, y3, z3)
|
|||
|
|
self.configReader.read(Constant.set_ini)
|
|||
|
|
self.configReader.set('Robot_Feed', 'photo_x3', str(x3))
|
|||
|
|
self.configReader.set('Robot_Feed', 'photo_y3', str(y3))
|
|||
|
|
self.configReader.set('Robot_Feed', 'photo_z3', str(z3))
|
|||
|
|
log.log_message(logging.INFO, f'设置拍照点3:{x3},{y3},{z3}')
|
|||
|
|
except:
|
|||
|
|
self.show_infomessage_box("设置拍照点3失败")
|
|||
|
|
|
|||
|
|
|
|||
|
|
def updateUI_Photo_Set(self):
|
|||
|
|
self.lineEdit_x1.setText(str(self.robotClient.photo_locs[0][0]))
|
|||
|
|
self.lineEdit_y1.setText(str(self.robotClient.photo_locs[0][1]))
|
|||
|
|
self.lineEdit_z1.setText(str(self.robotClient.photo_locs[0][2]))
|
|||
|
|
self.lineEdit_x2.setText(str(self.robotClient.photo_locs[1][0]))
|
|||
|
|
self.lineEdit_y2.setText(str(self.robotClient.photo_locs[1][1]))
|
|||
|
|
self.lineEdit_z2.setText(str(self.robotClient.photo_locs[1][2]))
|
|||
|
|
self.lineEdit_x3.setText(str(self.robotClient.photo_locs[2][0]))
|
|||
|
|
self.lineEdit_y3.setText(str(self.robotClient.photo_locs[2][1]))
|
|||
|
|
self.lineEdit_z3.setText(str(self.robotClient.photo_locs[2][2]))
|
|||
|
|
pass
|
|||
|
|
|
|||
|
|
def show_infomessage_box(self,message):
|
|||
|
|
msg_box = QMessageBox(self)
|
|||
|
|
msg_box.setWindowTitle("提示")
|
|||
|
|
msg_box.setText(message)
|
|||
|
|
msg_box.setIcon(QMessageBox.Information)
|
|||
|
|
msg_box.setStandardButtons(QMessageBox.OK)
|
|||
|
|
|
|||
|
|
|
|||
|
|
if __name__ == "__main__":
|
|||
|
|
app = QApplication(sys.argv)
|
|||
|
|
window = MainWindow()
|
|||
|
|
window.show()
|
|||
|
|
sys.exit(app.exec())
|