chuyiwen/AutoControlSystem-G
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Merge remote-tracking branch 'remotes/origin/bugfix/ui_sensor_reset' into feature/weight_show

Browse Source
This commit is contained in:
yanganjie
2025-09-30 15:49:12 +08:00
parent c8286b7c4c 71360a47e4
commit 537cbaab9d
19 changed files with 438 additions and 17709 deletions
Download Patch File Download Diff File Expand all files Collapse all files

360
main.py
View File

@ -59,7 +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.sensor_thread = None
self.sensor2_thread = None
self.last_status_printed = None
@ -242,7 +242,10 @@ 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()
@ -335,7 +338,7 @@ class MainWindow(QMainWindow, Ui_MainWindow):
def show_lines_pos_data(self,line_index):
if self.selected_line_section!='' and self.selected_line_section != self.tableWidget_lines.item(line_index,0).text():
if self.table_position_changed or self.table_line_changed:
msgBox = QMessageBox()
msgBox = QMessageBox(self)
msgBox.setText("已修改的数据，是否保存？")
msgBox.setStandardButtons(QMessageBox.Yes | QMessageBox.No)
result = msgBox.exec()
@ -408,7 +411,10 @@ 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')
@ -448,7 +454,6 @@ class MainWindow(QMainWindow, Ui_MainWindow):
self.set_positionModel_to_tabel(row_i+1,position_model)
self.table_line_changed = True
def tabel_move_position(self,row_i):
if self.tableWidget_line_positions.currentRow()==-1:
QMessageBox.information(self, "提示", Constant.str_sys_set_position_error)
@ -566,11 +571,13 @@ class MainWindow(QMainWindow, Ui_MainWindow):
pass
def init_log(self):
"""初始化日志显示到界面上"""
log.log_info_signal.connect(self.log_info_message)
log.log_error_signal.connect(self.log_error_message)
log.log_warning_signal.connect(self.log_warning_message)
log.init_log(self.textEdit_log_info, self.textEdit_log_error, Constant.log_file_path)
log.log_message(logging.INFO, Constant.str_sys_start)
def log_info_message(self,message):
now = datetime.now()
formatted_time = now.strftime("%Y-%m-%d %H:%M:%S")
@ -752,6 +759,7 @@ class MainWindow(QMainWindow, Ui_MainWindow):
# self.camera_img.update_camera_image.connect(self.updateUI_label_detection)
self.feeding.log_signal.connect(self.log_message)
self.feeding.stack_finish_signal.connect(self.stack_finish)
self.relay_controller.log_signal.connect(self.log_message)
# self.camera_img=CameraImg(self.feeding)
# self.camera_img.update_camera_image.connect(self.updateUI_label_detection)
@ -778,112 +786,6 @@ class MainWindow(QMainWindow, Ui_MainWindow):
else:
return Error_Code.SYS_NETERROR
def init_seting_frame(self):
rows = len(self.feedLine_dict.keys()) + 1
self.tableWidget_feedSeting.setRowCount(rows)
self.tableWidget_feedSeting.setColumnCount(20+2*6)
# 设置第一重表头的合并 (三列一组)
self.tableWidget_feedSeting_addtional_col_num = 2
self.tableWidget_feedSeting.setSpan(0, 0 + self.tableWidget_feedSeting_addtional_col_num, 1, 6) # 合并前3列
self.tableWidget_feedSeting.setSpan(0, 6 + self.tableWidget_feedSeting_addtional_col_num, 1, 6) # 合并后3列
self.tableWidget_feedSeting.setSpan(0, 12 + self.tableWidget_feedSeting_addtional_col_num, 1, 6) # 合并后3列
self.tableWidget_feedSeting.setSpan(0, 18 + self.tableWidget_feedSeting_addtional_col_num, 1, 6) # 合并后3列
self.tableWidget_feedSeting.setSpan(0, 24 + self.tableWidget_feedSeting_addtional_col_num, 1, 6) # 合并后3列
self.tableWidget_feedSeting.itemChanged.connect(self.send_tabelFeedSet_itemChanged)
btn_safe = QPushButton("获取安全位置")
widget_safe = QWidget()
layout_safe = QHBoxLayout()
layout_safe.addWidget(btn_safe)
# 调整布局的间距，使之更紧凑
layout_safe.setContentsMargins(0, 0, 0, 0)
# 将布局设置到 QWidget 容器中
widget_safe.setLayout(layout_safe)
btn_bk1 = QPushButton("获取破袋位置1")
widget_bk1 = QWidget()
layout_bk1 = QHBoxLayout()
layout_bk1.addWidget(btn_bk1)
# 调整布局的间距，使之更紧凑
layout_bk1.setContentsMargins(0, 0, 0, 0)
# 将布局设置到 QWidget 容器中
widget_bk1.setLayout(layout_bk1)
btn_bk2 = QPushButton("获取破袋位置2")
widget_bk2 = QWidget()
layout_bk2 = QHBoxLayout()
layout_bk2.addWidget(btn_bk2)
# 调整布局的间距，使之更紧凑
layout_bk2.setContentsMargins(0, 0, 0, 0)
# 将布局设置到 QWidget 容器中
widget_bk2.setLayout(layout_bk2)
btn_shake = QPushButton("获取摇晃位置")
widget_shake = QWidget()
layout_shake = QHBoxLayout()
layout_shake.addWidget(btn_shake)
layout_shake.setContentsMargins(0, 0, 0, 0)
widget_shake.setLayout(layout_shake)
btn_dropbag = QPushButton("获取丢袋位置")
widget_dropbag = QWidget()
layout_dropbag = QHBoxLayout()
layout_dropbag.addWidget(btn_dropbag)
# 调整布局的间距，使之更紧凑
layout_dropbag.setContentsMargins(0, 0, 0, 0)
# 将布局设置到 QWidget 容器中
widget_dropbag.setLayout(layout_dropbag)
btn_safe.clicked.connect(self.send_get_safe_position_button_click)
btn_bk1.clicked.connect(self.send_get_broken1_position_button_click)
btn_bk2.clicked.connect(self.send_get_broken2_position_button_click)
btn_shake.clicked.connect(self.send_get_shake_position_button_click)
btn_dropbag.clicked.connect(self.send_get_dropbag_position_button_click)
# 添加第一重表头项
self.tableWidget_feedSeting.setCellWidget(0, 0 + self.tableWidget_feedSeting_addtional_col_num, widget_safe)
self.tableWidget_feedSeting.setCellWidget(0, 6 + self.tableWidget_feedSeting_addtional_col_num, widget_bk1)
self.tableWidget_feedSeting.setCellWidget(0, 12 + self.tableWidget_feedSeting_addtional_col_num, widget_bk2)
self.tableWidget_feedSeting.setCellWidget(0, 18 + self.tableWidget_feedSeting_addtional_col_num, widget_shake)
self.tableWidget_feedSeting.setCellWidget(0, 24 + self.tableWidget_feedSeting_addtional_col_num, widget_dropbag)
self.tableWidget_feedSeting.setSelectionBehavior(QTableWidget.SelectRows)
self.tableWidget_feedSeting.setAutoScroll(True)
# 添加第二重表头
self.tableWidget_feedSeting.setHorizontalHeaderLabels(
['header', '线名', 'X1', 'Y1', 'Z1', 'U1', 'V1', 'W1', 'X2', 'Y2', 'Z2', 'U2', 'V2', 'W2', 'X3', 'Y3', 'Z3',
'U3', 'V3', 'W3', 'X4', 'Y4', 'Z4', 'U4', 'V4', 'W4', 'X5', 'Y5', 'Z5', 'U5', 'V5', 'W5'])
self.tableWidget_feedSeting.hideColumn(0)
# 填充数据行
for row, (feed_line_key, feed_line) in enumerate(self.feedLine_dict.items()):
self.tableWidget_feedSeting.setItem(row + 1, 0, QTableWidgetItem(feed_line_key))
self.tableWidget_feedSeting.setItem(row + 1, 1, QTableWidgetItem(feed_line.name))
self.set_position_to_tabel(row + 1, 0, feed_line.safe_position)
self.set_position_to_tabel(row + 1, 1, feed_line.broken1_position)
self.set_position_to_tabel(row + 1, 2, feed_line.broken2_position)
self.set_position_to_tabel(row + 1, 3, feed_line.broken2_position)
self.set_position_to_tabel(row + 1, 4, feed_line.drop_bag_position)
# 禁用自动表头
self.tableWidget_feedSeting.verticalHeader().setVisible(True)
self.pushButton_tableFeedSet_addRow.clicked.connect(self.send_tabelFeedSet_addRow)
self.pushButton_tableFeedSet_deleRow.clicked.connect(self.send_tabelFeedSet_delRow)
self.pushButton_tableFeedSet_save.clicked.connect(self.send_tabelFeedSet_save)
def init_FeedLine(self):
# line_count = self.configReader.get('Robot_Feed', 'LineCount', fallback=0)
configReader = configparser.ConfigParser()
@ -895,10 +797,13 @@ 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
# for i in range(1,Constant.MAX_Line_num):
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
@ -977,15 +882,13 @@ class MainWindow(QMainWindow, Ui_MainWindow):
pass
def check_continue(self):
if self.remain_Count!=0:
for key in self.feedLine_dict.keys():
feed_line = self.feedLine_dict[key]
if f'FeedLine{self.remain_lineName}' == key:
#提示
remain_messageBox = QMessageBox()
remain_messageBox = QMessageBox(self)
remain_messageBox.setIcon(QMessageBox.Icon.Warning)
remain_messageBox.setText(f'还有{self.remain_Count}袋未投料，是否继续？') # 这里返回多少袋没有投料
# remain_messageBox.setStandardButtons(QMessageBox.StandardButton.Ok | QMessageBox.StandardButton.Cancel)
@ -1019,7 +922,7 @@ class MainWindow(QMainWindow, Ui_MainWindow):
self.send_start_tool_command()
log.log_message(logging.INFO, Constant.str_sys_start_tool)
msg_box_person = QMessageBox()
msg_box_person = QMessageBox(self)
msg_box_person.setIcon(QMessageBox.Icon.Information)
msg_box_person.setText("是否确认生产区域安全继续生产？")
msg_box_person.setWindowTitle("提示")
@ -1058,8 +961,24 @@ class MainWindow(QMainWindow, Ui_MainWindow):
return
self.label_button_status.setText("运行中...")
self.drop_position_manager=DropPositionManager(Constant.dropLine_set_file_35)
self.relay_controller.set_drop_35(True)
#注意码垛数和码垛总数
# 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
@ -1267,98 +1186,7 @@ class MainWindow(QMainWindow, Ui_MainWindow):
#self.pushButton_speed.setText(str(Constant.speed))
log.log_message(logging.INFO, Constant.str_sys_setSpeed + str(self.robotClient.debug_speed)+'|'+str(self.robotClient.feed_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_broken1_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].broken1_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_broken2_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].broken2_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_get_shake_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].shake_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, 3, real_position)
def send_get_dropbag_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].drop_bag_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, 4, real_position)
def send_get_zipbag_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].zip_bag_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, 6, 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()
break_1_position = Real_Position()
break_2_position = Real_Position()
shake_position = Real_Position()
drop_bag_position = Real_Position()
self.feedLine_dict[head] = FeedLine('新建', safe_position, break_1_position, break_2_position,shake_position,drop_bag_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, break_1_position)
self.set_position_to_tabel(self.tableWidget_feedSeting.rowCount() - 1, 2, break_2_position)
self.set_position_to_tabel(self.tableWidget_feedSeting.rowCount() - 1, 3, shake_position)
self.set_position_to_tabel(self.tableWidget_feedSeting.rowCount() - 1, 4, drop_bag_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
@ -1387,7 +1215,7 @@ class MainWindow(QMainWindow, Ui_MainWindow):
def send_emergency_alarm_command(self):
"""停止当前工作，需要启动"""
msg_box_person = QMessageBox()
msg_box_person = QMessageBox(self)
msg_box_person.setIcon(QMessageBox.Icon.Question)
msg_box_person.setText("您确定要停止当前工作吗？")
msg_box_person.setWindowTitle("提示")
@ -1468,9 +1296,15 @@ class MainWindow(QMainWindow, Ui_MainWindow):
position_origin.status = 1
return_positions.insert(0,position_origin)
if self.feedLine_dict.keys().__contains__(line_head):
self.feeding.feedConfig= FeedingConfig(0, FeedLine(self.feedLine_dict[line_head].id, self.feedLine_dict[line_head].name,
return_positions,self.remain_Count),
self.feeding.robotClient.photo_locs[:],self.remain_Count)
self.feeding.feedConfig= FeedingConfig(
0,
FeedLine(
self.feedLine_dict[line_head].id,
self.feedLine_dict[line_head].name,
return_positions,
self.remain_Count
)
,self.feeding.robotClient.photo_locs[:],self.remain_Count,None)
else:
log.log_message(logging.ERROR, Constant.str_feed_reset_no_line_error)
return
@ -1488,78 +1322,6 @@ class MainWindow(QMainWindow, Ui_MainWindow):
self.send_clear_auto_command()
self.send_emergency_alarm_command()
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].broken1_position.X = float(value)
elif column == (7 + self.tableWidget_feedSeting_addtional_col_num):
self.feedLine_dict[head].broken1_position.Y = float(value)
elif column == (8 + self.tableWidget_feedSeting_addtional_col_num):
self.feedLine_dict[head].broken1_position.Z = float(value)
elif column == (9 + self.tableWidget_feedSeting_addtional_col_num):
self.feedLine_dict[head].broken1_position.U = float(value)
elif column == (10 + self.tableWidget_feedSeting_addtional_col_num):
self.feedLine_dict[head].broken1_position.V = float(value)
elif column == (11 + self.tableWidget_feedSeting_addtional_col_num):
self.feedLine_dict[head].broken1_position.W = float(value)
elif column == (12 + self.tableWidget_feedSeting_addtional_col_num):
self.feedLine_dict[head].broken2_position.X = float(value)
elif column == (13 + self.tableWidget_feedSeting_addtional_col_num):
self.feedLine_dict[head].broken2_position.Y = float(value)
elif column == (14 + self.tableWidget_feedSeting_addtional_col_num):
self.feedLine_dict[head].broken2_position.Z = float(value)
elif column == (15 + self.tableWidget_feedSeting_addtional_col_num):
self.feedLine_dict[head].broken2_position.U = float(value)
elif column == (16 + self.tableWidget_feedSeting_addtional_col_num):
self.feedLine_dict[head].broken2_position.V = float(value)
elif column == (17 + self.tableWidget_feedSeting_addtional_col_num):
self.feedLine_dict[head].broken2_position.W = float(value)
elif column == (18 + self.tableWidget_feedSeting_addtional_col_num):
self.feedLine_dict[head].shake_position.X = float(value)
elif column == (19 + self.tableWidget_feedSeting_addtional_col_num):
self.feedLine_dict[head].shake_position.Y = float(value)
elif column == (20 + self.tableWidget_feedSeting_addtional_col_num):
self.feedLine_dict[head].shake_position.Z = float(value)
elif column == (21 + self.tableWidget_feedSeting_addtional_col_num):
self.feedLine_dict[head].shake_position.U = float(value)
elif column == (22 + self.tableWidget_feedSeting_addtional_col_num):
self.feedLine_dict[head].shake_position.V = float(value)
elif column == (23 + self.tableWidget_feedSeting_addtional_col_num):
self.feedLine_dict[head].shake_position.W = float(value)
elif column == (24 + self.tableWidget_feedSeting_addtional_col_num):
self.feedLine_dict[head].drop_bag_position.X = float(value)
elif column == (25 + self.tableWidget_feedSeting_addtional_col_num):
self.feedLine_dict[head].drop_bag_position.Y = float(value)
elif column == (26 + self.tableWidget_feedSeting_addtional_col_num):
self.feedLine_dict[head].drop_bag_position.Z = float(value)
elif column == (27 + self.tableWidget_feedSeting_addtional_col_num):
self.feedLine_dict[head].drop_bag_position.U = float(value)
elif column == (28 + self.tableWidget_feedSeting_addtional_col_num):
self.feedLine_dict[head].drop_bag_position.V = float(value)
elif column == (29 + self.tableWidget_feedSeting_addtional_col_num):
self.feedLine_dict[head].drop_bag_position.W = float(value)
def run(self):
# 主线程的逻辑就是 feeding.run() 接口和错误状态处理
while self.thread_signal:
@ -1581,7 +1343,7 @@ class MainWindow(QMainWindow, Ui_MainWindow):
self.feeding.feedConfig = command.feed_config
# 开启传感器线程检测相关
self.relay_controller.pause_start_sensor(False)
self.feeding.feedStatus = FeedStatus.FStart # ✅ 投料开始，会触发传感器线程启动
self.feeding.feedStatus = FeedStatus.FStart
command.status = Status.Runing
self.record_remain_num()
@ -1677,7 +1439,7 @@ class MainWindow(QMainWindow, Ui_MainWindow):
# self.send_pause_command(True)
# self.feeding.pause = True
# self.relay_controller.pause_start_sensor(True)
msg_box_finish = QMessageBox()
msg_box_finish = QMessageBox(self)
msg_box_finish.setIcon(QMessageBox.Icon.Warning)
msg_box_finish.setText("码垛完成,请移走拖板")
msg_box_finish.setWindowTitle("提示")
@ -1839,8 +1601,6 @@ class MainWindow(QMainWindow, Ui_MainWindow):
self.label_status_toolIndex.setText(str(self.robotClient.status_model.toolCoord))
self.label_status_speed.setText(str(self.robotClient.status_model.curSpeed_n))
def updateUI_Position(self):
self.horizontalSlider_J1.setValue(self.status_address.axis_0)
self.horizontalSlider_J2.setValue(self.status_address.axis_1)
@ -1862,19 +1622,6 @@ class MainWindow(QMainWindow, Ui_MainWindow):
self.horizontalSlider_J5.setValue(self.status_address.axis_4)
self.horizontalSlider_J6.setValue(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:
@ -1941,8 +1688,6 @@ class MainWindow(QMainWindow, Ui_MainWindow):
except Exception as e:
print(e)
def set_run_status_button(self, isRuning: bool):
self.pushButton_pauseFeed.setText("暂停")
##self.pushButton_startFeed.setEnabled(False)
@ -2207,6 +1952,7 @@ class MainWindow(QMainWindow, Ui_MainWindow):
log.log_message(logging.INFO, f'设置拍照点5:{x5},{y5},{z5}')
except:
self.show_infomessage_box("设置拍照点5失败")
def set_origin_button_click(self):
try:
x = float(self.lineEdit_origin_x.text())
@ -2231,8 +1977,6 @@ class MainWindow(QMainWindow, Ui_MainWindow):
log.log_message(logging.ERROR, f'设置原点失败')
self.show_infomessage_box("设置原点失败")
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]))