bgg35-50

main.py

@@ -48,6 +48,7 @@ from ui_MainWin import Ui_MainWindow
 from view.ResetView import StopDialog
 from EMV.EMV import RelayController
 from CU.drop import DropPositionManager
+import re
 
 
 class MainWindow(QMainWindow, Ui_MainWindow):
@@ -58,7 +59,7 @@ class MainWindow(QMainWindow, Ui_MainWindow):
         self.setupUi(self)
         #传感器继电器加入变量
         self.relay_controller = RelayController()
-        self.drop_position_manager = DropPositionManager()
+        self.drop_position_manager = DropPositionManager(Constant.dropLine_set_file)
         self.feed_reset_obj=None
         self.sensor_thread = None
         self.sensor2_thread  = None
@@ -248,7 +249,10 @@ class MainWindow(QMainWindow, Ui_MainWindow):
                         line_model.save_line_model(config_reader)
                         config_reader.write(open(Constant.feedLine_set_file, 'w', encoding='utf-8'))
                     elif section.startswith(Constant.dropLine_set_section):
-                        self.drop_position_manager.save_path_points(line_model)
+                        loc_dropline_file=Constant.dropLine_set_file
+                        if section.endswith('-35'):
+                            loc_dropline_file=Constant.dropLine_set_file_35  
+                        DropPositionManager(loc_dropline_file).save_path_points(line_model)
                     self.init_FeedLine()
                     break
             self.init_table_lines_data()
@@ -414,7 +418,10 @@ class MainWindow(QMainWindow, Ui_MainWindow):
         self.tableWidget_line_positions.removeRow(self.tableWidget_line_positions.currentRow())
         
         if self.selected_line_section.startswith(Constant.dropLine_set_section):
-            self.drop_position_manager.del_drop_point(section)
+            loc_dropline_file=Constant.dropLine_set_file
+            if self.selected_line_section.endswith('-35'):
+                loc_dropline_file=Constant.dropLine_set_file_35
+            DropPositionManager(loc_dropline_file).del_drop_point(section)
         else: 
             config_writer = configparser.ConfigParser()
             config_writer.read(Constant.feedLine_set_file, encoding = 'utf-8')
@@ -603,6 +610,7 @@ class MainWindow(QMainWindow, Ui_MainWindow):
         }
         """)
         self.label_showDetection.setScaledContents(True)
+        self.comboBox_dropWeight.wheelEvent=lambda e:None
         if self.label_showDetection.size().width() < 100 or self.label_showDetection.size().height() < 100:
             self.label_showDetection.setMinimumSize(541, 321)
   
@@ -767,14 +775,15 @@ class MainWindow(QMainWindow, Ui_MainWindow):
         
         self.last_time = time.time()
         self.remain_lineName = self.configReader.get('Robot_Feed', 'remain_lineName')
+        self.remain_drop_weight = self.configReader.get("Robot_Feed", "remain_dropweight_kg")  # 9/29 投料重量, 单位kg
         self.remain_Count = int(self.configReader.get('Robot_Feed', 'remain_Count'))
         self.maduo_Count = int(self.configReader.get('Robot_Feed', 'maduo_Count'))
         self.label_remain_num.setText(str(self.remain_Count))
         self.label_maxNum.setText(str(self.maduo_Count))
-        _cur_sel_button=[button for button in self.frame_23.findChildren(QPushButton) if button.text()==str(self.maduo_Count)]
-        if _cur_sel_button:
-            _cur_sel_button[0].setStyleSheet(self.pushbutton_num_style_select)
-            self.cur_pushbutton_num = _cur_sel_button[0]
+        # _cur_sel_button=[button for button in self.frame_23.findChildren(QPushButton) if button.text()==str(self.maduo_Count)]
+        # if _cur_sel_button:
+        #     _cur_sel_button[0].setStyleSheet(self.pushbutton_num_style_select)
+        #     self.cur_pushbutton_num = _cur_sel_button[0]
         self.horizontalSlider_feedingNum.setMaximum(self.maduo_Count)
         self.updateUI_seting.connect(self.update_seting_frame)
         try:
@@ -915,11 +924,21 @@ class MainWindow(QMainWindow, Ui_MainWindow):
                 feed_line.read_line_model(config_reader=configReader,index=i)
                 self.feedLine_dict[f'{Constant.feedLine_set_section}{i}'] = feed_line
         #加载所有码垛的路径信息    
-        for i in range(1,Constant.MAX_Line_num):
-            line_model = self.drop_position_manager.load_path_points(i)
-            if line_model:
-                self.feedLine_dict[f'{Constant.dropLine_set_section}{i}'] = line_model
-        self.updateUI_Select_Line()
+        # for i in range(1,Constant.MAX_Line_num):
+        #     line_model = self.drop_position_manager.load_path_points(i)
+        #     if line_model:
+        #         self.feedLine_dict[f'{Constant.dropLine_set_section}{i}'] = line_model
+        line_model = DropPositionManager(Constant.dropLine_set_file).load_path_points(1)
+        if line_model:
+            self.feedLine_dict[f'{Constant.dropLine_set_section}-50'] = line_model
+        line_model = DropPositionManager(Constant.dropLine_set_file_35).load_path_points(1)
+        if line_model:
+            self.feedLine_dict[f'{Constant.dropLine_set_section}-35'] = line_model
+
+        # self.updateUI_Select_Line()
+        # 9/29 初始化线名选择框 和 重量选择框
+        self.updateui_select_line_by_feedLine_ini()
+        self.updateui_select_dropweight_by_drop_ini()
         pass
 
     def init_robot_info(self):
@@ -987,18 +1006,18 @@ class MainWindow(QMainWindow, Ui_MainWindow):
         self.relay_controller._running=True
         self.relay_controller.pause_start_sensor(True)
 
-        self.detect_person_thread = Thread(target=self.run_detect_persion,name="run_detect_persion")
+        #self.detect_person_thread = Thread(target=self.run_detect_persion,name="run_detect_persion")
         # self.camera_threading = Thread(target=self.camera_img.run,name="camera",daemon=True)
         self.main_threading.start()
         self.reset_threading.start()
         if not Constant.DebugPosition:
             self.robot_connect_threading.start()
         # self.main_UI_threading.start()
-        self.detect_person_thread.start()
-        self.emergency_thread.start()
+        #self.detect_person_thread.start()
+            self.emergency_thread.start()
         #启动传感器线程
-        self.sensor_thread.start()
-        self.sensor2_thread.start()
+            self.sensor_thread.start()
+            self.sensor2_thread.start()
         
         # self.camera_threading.start()
 
@@ -1070,18 +1089,22 @@ class MainWindow(QMainWindow, Ui_MainWindow):
             return
         log.log_message(logging.INFO, '第一层确认生产')
 
-        has_person = False
-        # has_person, _ = self.detection_person.get_person() # TODO
-        if has_person:  # TODO
-            # self.feeding.pause = True
-            # self.send_pause_command(True)
-            #
-            # self.show_messagebox_of_person()
-            msg_box_person.setText("检测到安全区域后人是否继续生产？")
-            result = msg_box_person.exec()
-            if msg_box_person.clickedButton() == cancel_button:
-                return
-            log.log_message(logging.ERROR, '人员进入安全区')
+        # has_person = False
+        # # has_person, _ = self.detection_person.get_person() # TODO
+        # if has_person:  # TODO
+        #     # self.feeding.pause = True
+        #     # self.send_pause_command(True)
+        #     #
+        #     # self.show_messagebox_of_person()
+        #     msg_box_person.setText("检测到安全区域后人是否继续生产？")
+        #     result = msg_box_person.exec()
+        #     if msg_box_person.clickedButton() == cancel_button:
+        #         return
+        #     log.log_message(logging.ERROR, '人员进入安全区')
+        msg_box_person.setText(f"确认当前码垛重量是 {self.remain_drop_weight}KG！！")
+        result = msg_box_person.exec()
+        if msg_box_person.clickedButton() == cancel_button:
+            return
         #QSlide控件默认的最大值为99
         num = self.horizontalSlider_feedingNum.maximum()
         # if num==99:
@@ -1089,14 +1112,32 @@ class MainWindow(QMainWindow, Ui_MainWindow):
         line_head = self.comboBox_lineIndex.currentData()
         if self.feeding.feedConfig:
             self.remain_Count=self.feeding.feedConfig.remain_count
+
         msg_box_person.setText(f"当前是从第{self.remain_Count+1}袋开始，总共需要{num}袋")
         result = msg_box_person.exec()
         if msg_box_person.clickedButton() == cancel_button:
             return
         
         self.label_button_status.setText("运行中...")
+        if self.remain_drop_weight == '35':
+            self.drop_position_manager=DropPositionManager(Constant.dropLine_set_file_35) 
+            self.relay_controller.set_drop_35(True)
+        else:
+            self.drop_position_manager=DropPositionManager(Constant.dropLine_set_file)
+            self.relay_controller.set_drop_35(False)
         # num=25  #先默认30包码垛
-        self.command_quene.put(FeedCommand(FeedingConfig(num, FeedLine(self.feedLine_dict[line_head].id,self.feedLine_dict[line_head].name,self.feedLine_dict[line_head].positions,self.remain_Count), self.feeding.robotClient.photo_locs[:],self.remain_Count)))
+        self.command_quene.put(
+            FeedCommand(
+                FeedingConfig(num, 
+                    FeedLine(
+                            self.feedLine_dict[line_head].id,
+                            self.feedLine_dict[line_head].name,
+                            self.feedLine_dict[line_head].positions,
+                            self.remain_Count,
+                            self.drop_position_manager
+                        )
+                        , self.feeding.robotClient.photo_locs[:],self.remain_Count
+                        )))
         # self.stackedWidget_num.setCurrentIndex(1)
         self.set_run_status_button(True)
         self.feeding.pause = False
@@ -1184,7 +1225,7 @@ class MainWindow(QMainWindow, Ui_MainWindow):
     def send_numkeybord_click(self):
         # 创建数字键盘对话框
         num_dialog = QDialog(self)
-        num_dialog.setWindowTitle("数字键盘")
+        num_dialog.setWindowTitle("选择已码垛数")
         num_dialog.setWindowFlags(num_dialog.windowFlags() & ~Qt.WindowCloseButtonHint)
         num_dialog.setFixedSize(400, 500)
         
@@ -1454,14 +1495,14 @@ class MainWindow(QMainWindow, Ui_MainWindow):
             self.show_infomessage_box("急停按钮已按下，不能暂停，请先松开急停按钮")
             return
         if self.feeding.feedStatus == FeedStatus.FNone:
-            self.show_infomessage_box("当前没有运行中的工作，不能暂停")
+            self.show_infomessage_box("没有启动，不能暂停")
             return
         self.send_pauseFeed_click()
         pass
     
     def send_pauseFeed_click(self):
         """暂停/继续工作"""
-        if self.pushButton_pauseFeed.text() == '暂停':
+        if self.pushButton_pauseFeed.text() == '暂停':            
             self.relay_controller.pause_start_sensor(True)
             icon9 = QIcon(QIcon.fromTheme(QIcon.ThemeIcon.SystemReboot))
             self.pushButton_pauseFeed.setIcon(icon9)
@@ -1471,16 +1512,24 @@ class MainWindow(QMainWindow, Ui_MainWindow):
             self.send_pause_command(True)
             self.feeding.pause = True
         else:
-            self.relay_controller.pause_start_sensor(False)
-            icon9 = QIcon(QIcon.fromTheme(QIcon.ThemeIcon.MediaPlaybackPause))
-            self.pushButton_pauseFeed.setIcon(icon9)
-            self.pushButton_pauseFeed.setText('暂停')
-            self.label_button_status.setText("运行中...")
-            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
+            #暂停后pushButton_pauseFeed的值是继续，再按急停,停止传感器和机械臂
+            #is_emergency_pressed  True没按下，False按下
+             if  self.is_emergency_pressed:
+                #已暂停，按急停
+                self.relay_controller.pause_start_sensor(True)
+                self.send_pause_command(True)
+                self.feeding.pause = True
+             else:
+                self.relay_controller.pause_start_sensor(False)
+                icon9 = QIcon(QIcon.fromTheme(QIcon.ThemeIcon.MediaPlaybackPause))
+                self.pushButton_pauseFeed.setIcon(icon9)
+                self.pushButton_pauseFeed.setText('暂停')
+                self.label_button_status.setText("运行中...")
+                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
 
 
     def send_tabWidget_control_change(self):
@@ -1727,8 +1776,10 @@ class MainWindow(QMainWindow, Ui_MainWindow):
         else: 
             if self.feeding.feedStatus == FeedStatus.FNone:
                 self.stackedWidget_num.setCurrentIndex(0)
+                self.comboBox_dropWeight.setDisabled(False)
             else:
                 self.stackedWidget_num.setCurrentIndex(1)
+                self.comboBox_dropWeight.setDisabled(True)
 
 
         self.label_date.setText(datetime.now().strftime("%Y-%m-%d"))
@@ -1766,6 +1817,7 @@ class MainWindow(QMainWindow, Ui_MainWindow):
         # self.feeding.pause = True
         # self.relay_controller.pause_start_sensor(True)
         self.stop_all_work()
+        self.relay_controller.close(blow_sensor2=True)
         msg_box_finish = QMessageBox()
         msg_box_finish.setIcon(QMessageBox.Icon.Warning)
         msg_box_finish.setText("码垛完成,请移走拖板")
@@ -1816,8 +1868,8 @@ class MainWindow(QMainWindow, Ui_MainWindow):
         if emergency_pressed:
             if not self.is_emergency_pressed:
                 print('急停按钮按下')
-                self.send_pauseFeed_click()
                 self.is_emergency_pressed = True
+                self.send_pauseFeed_click()            
                 self.label_button_status.setText("急停中，禁止操作")
         else:
             if self.is_emergency_pressed:
@@ -1873,6 +1925,127 @@ class MainWindow(QMainWindow, Ui_MainWindow):
         self.comboBox_lineIndex.clear()
         for key, value in self.feedLine_dict.items():
             self.comboBox_lineIndex.addItem(value.name, key)
+
+
+    # 9/29: 只需要加载FeedLine.ini中的name 作为comboBox_lineIndex的选项
+    def updateui_select_line_by_feedLine_ini(self):
+        self.comboBox_lineIndex.clear()
+        configReader = configparser.ConfigParser()
+        configReader.read(Constant.feedLine_set_file, encoding="utf-8")
+        for index in range(1, Constant.MAX_Line_num):
+            section = f"{Constant.feedLine_set_section}{index}"
+            if configReader.has_section(section):
+                line_name = configReader.get(section, "name")
+                self.comboBox_lineIndex.addItem(line_name, section)
+
+        # 设置初始化选中，初始选中 f'{Constant.feedLine_set_section}{self.remain_linename}'
+        if self.remain_lineName:
+            selected_value = f"{Constant.feedLine_set_section}{self.remain_lineName}"
+            selected_index = self.comboBox_lineIndex.findData(selected_value)
+            if selected_index >= 0:
+                self.comboBox_lineIndex.setCurrentIndex(selected_index)
+
+    # 9/29 初始化加载 drop.ini 中的name，获取预先设置的重量
+    def updateui_select_dropweight_by_drop_ini(self):
+        self.comboBox_dropWeight.clear()
+        configReader = configparser.ConfigParser()
+        # 读取重量路径配置文件 drop.ini
+        configReader.read(Constant.dropLine_set_file, encoding="utf-8")
+
+        # drop_name匹配xxxkg获取重量
+        weight_pattern = re.compile(r'(\d+kg)')
+
+        for index in range(1, Constant.MAX_Line_num):
+            section = f"{Constant.dropLine_set_section}{index}"
+            if configReader.has_section(section):
+                drop_name = configReader.get(section, "name")
+                match = weight_pattern.search(drop_name)
+                if match:
+                    # 提取匹配到的内容（如"50kg"）
+                    weight_text = match.group(1)
+                else:
+                    # 无法匹配xxxkg， 则使用"未知重量"
+                    weight_text = "未知重量"
+                # userData: 如 DropLine50kg
+                userData = f"{Constant.dropLine_set_section}{weight_text}"
+                self.comboBox_dropWeight.addItem(weight_text, userData)
+
+        # 连接槽函数
+        self.comboBox_dropWeight.activated.connect(self.on_drop_weight_changed)
+
+        # 设置初始化选中的重量
+        if self.remain_drop_weight:
+             # selected_value: 如 DropLine50kg
+            selected_value = f"{Constant.dropLine_set_section}{self.remain_drop_weight}kg"
+            selected_index = self.comboBox_dropWeight.findData(selected_value)
+            if selected_index >= 0:
+                self.comboBox_dropWeight.setCurrentIndex(selected_index)
+                self.drop_weight_index=selected_index
+                # 初始化重量提示标签
+                self.weight_label_info.setText(f"{self.remain_drop_weight}kg码垛")
+
+
+    """9/29 重量下拉框选中项变化时, 更新self.remain_drop_weight"""
+    def on_drop_weight_changed(self, index):
+        #提示
+        msgBox = QMessageBox(self)
+        msgBox.setIcon(QMessageBox.Icon.Information)       
+        msgBox.setText("会从第1包开始，是否继续？")
+        msgBox.setWindowTitle("提示")
+        font=QFont("Microsoft YaHei UI",40)
+        msgBox.setFont(font)
+        ok_button = msgBox.addButton("是", PySide6.QtWidgets.QMessageBox.ButtonRole.AcceptRole)
+        cancel_button = msgBox.addButton("否", PySide6.QtWidgets.QMessageBox.ButtonRole.RejectRole)
+
+        ok_button.setStyleSheet("QPushButton { color: #fff; background-color: red;margin-right: 80px;padding:15px;font-size:40px }")
+        cancel_button.setStyleSheet("QPushButton { margin-right: 10px;padding:15px;font-size:40px }")
+        # msgBox.setStandardButtons(QMessageBox.Yes | QMessageBox.No)
+        result = msgBox.exec()
+        if msgBox.clickedButton() == cancel_button:
+            self.comboBox_dropWeight.setCurrentIndex(self.drop_weight_index)
+            return
+        else:
+            self.drop_weight_index=index
+        # 默认的重量为 50 kg
+        default_weight = '50'
+
+        if index < 0:  # 没有选中项时（如下拉框为空）
+            self.remain_drop_weight = default_weight
+            return
+        
+        # 获取当前选中项的显示文本（如"50kg"）
+        selected_text = self.comboBox_dropWeight.currentText()
+        
+        # 提取重量数值（从"50kg"中提取"50"）
+        weight_pattern = re.compile(r'(\d+)kg')
+        match = weight_pattern.search(selected_text)
+        if match:
+            # 提取数字部分（如"50"）
+            self.remain_drop_weight = match.group(1)
+        else:
+            # 若为"未知重量"，remain_drop_weight 也为 default_weight
+            self.remain_drop_weight = default_weight
+
+        # 更新上方的码垛重量提示Tips：
+        self.weight_label_info.setText(f"{selected_text}码垛")
+        self.remain_Count=0
+        if self.feeding.feedConfig:
+            self.feeding.feedConfig.remain_count = 0
+    
+        self.label_remain_num.setText('0')
+
+        #35KG
+        if self.remain_drop_weight=='35':
+            self.label_maxNum.setText('40')
+            self.horizontalSlider_feedingNum.setMaximum(40)
+            self.maduo_Count=40
+        else:
+            self.label_maxNum.setText('30')
+            self.horizontalSlider_feedingNum.setMaximum(30)
+            self.maduo_Count=30
+        self.record_weight_ini(self.remain_Count,self.maduo_Count,self.remain_drop_weight)
+
+
     def updateUI_label_status(self):
         if self.robotClient.status_model.isMoving==1:
             self.label_move_sign.show()
@@ -2369,6 +2542,9 @@ class MainWindow(QMainWindow, Ui_MainWindow):
         self.feeding.onekey = True
 
     def send_exit_button_click(self):
+        if self.feeding.feedStatus != FeedStatus.FNone:
+            self.show_infomessage_box("请先停止后，再退出程序")
+            return
         self.close()
         # self.closeEvent(None)
         # QApplication.quit()
@@ -2426,6 +2602,18 @@ class MainWindow(QMainWindow, Ui_MainWindow):
          except:
              log.log_message(logging.ERROR, Constant.str_sys_log_feedNum)
 
+        #记录投料袋数
+    def record_weight_ini(self,remain_count,maduo_count,drop_weight):
+         try:
+             self.configReader = configparser.ConfigParser()
+             self.configReader.read(Constant.set_ini)
+             self.configReader.set('Robot_Feed', 'remain_count', str(remain_count))
+             self.configReader.set('Robot_Feed', 'maduo_count', str(maduo_count))
+             self.configReader.set('Robot_Feed', 'remain_dropweight_kg', str(drop_weight))
+             self.configReader.write(open(Constant.set_ini, 'w', encoding='utf-8'))
+         except:
+             log.log_message(logging.ERROR, Constant.str_sys_log_feedNum+"2")
+
 
 class MyApplication(QApplication):
     def __init__(self, argv):