米厂码垛修改
This commit is contained in:
187
main.py
187
main.py
@ -490,7 +490,8 @@ class MainWindow(QMainWindow, Ui_MainWindow):
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combox_lineType.addItem("直线",0)
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combox_lineType.addItem("曲线中间点",2)
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combox_lineType.addItem("曲线终点",3)
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combox_lineType.addItem("自由路径",4)
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#自由路径修改成关节坐标
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combox_lineType.addItem("关节",4)
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combox_lineType.setCurrentIndex(combox_lineType.findData(position_model.lineType))
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combox_lineType.currentIndexChanged.connect(self.send_table_position_status_changed)
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self.tableWidget_line_positions.setCellWidget(row_i, 7, combox_lineType)
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@ -719,6 +720,7 @@ class MainWindow(QMainWindow, Ui_MainWindow):
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self.feeding.take_no_photo_sigal.connect(self.show_no_photo_message_box)
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self.feeding.update_detect_image.connect(self.updateUI_label_detection)
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self.feeding.log_signal.connect(self.log_message)
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self.feeding.stack_finish_signal.connect(self.stack_finish)
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self.last_time = time.time()
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self.remain_lineName = self.configReader.get('Robot_Feed', 'remain_lineName')
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self.remain_Count = int(self.configReader.get('Robot_Feed', 'remain_Count'))
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@ -897,10 +899,12 @@ class MainWindow(QMainWindow, Ui_MainWindow):
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self.main_UI_threading = Thread(target=self.updateUI)
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self.detect_person_thread = Thread(target=self.run_detect_persion)
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self.main_threading.start()
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self.robot_connect_threading.start()
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if not Constant.DebugPosition:
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self.robot_connect_threading.start()
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self.main_UI_threading.start()
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self.detect_person_thread.start()
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pass
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def check_continue(self):
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if self.remain_Count!=0:
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for key in self.feedLine_dict.keys():
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@ -915,7 +919,7 @@ class MainWindow(QMainWindow, Ui_MainWindow):
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cancel_button = remain_messageBox.addButton("取消", PySide6.QtWidgets.QMessageBox.ButtonRole.RejectRole)
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result = remain_messageBox.exec()
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if remain_messageBox.clickedButton() == cancel_button:
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self.remain_Count = 0
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# self.remain_Count = 0
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return
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self.configReader.read(Constant.feedLine_set_file, encoding='utf-8')
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line_name = self.configReader.get(key, 'name')
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@ -970,7 +974,8 @@ class MainWindow(QMainWindow, Ui_MainWindow):
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num = self.horizontalSlider_feedingNum.maximum()
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line_head = self.comboBox_lineIndex.currentData()
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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.feeding.robotClient.photo_locs[:])))
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num=5 #先默认30包码垛
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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)))
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# self.stackedWidget_num.setCurrentIndex(1)
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self.set_run_status_button(True)
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self.feeding.pause = False
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@ -1273,19 +1278,31 @@ class MainWindow(QMainWindow, Ui_MainWindow):
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#safe_position = self.feedLine_dict[line_head].safe_position
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# 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)
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if self.remain_lineName != '':
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line_head = f'{Constant.feedLine_set_section}{self.remain_lineName}'
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return_positions = copy.deepcopy(self.feedLine_dict[line_head].positions)
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position_origin = PositionModel()
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position_origin.init_position(self.robotClient.origin_position)
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position_origin.status = 1
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return_positions.insert(0,position_origin)
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if self.feedLine_dict.keys().__contains__(line_head):
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self.feeding.feedConfig= FeedingConfig(0, FeedLine(self.feedLine_dict[line_head].id, self.feedLine_dict[line_head].name,
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return_positions),
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self.feeding.robotClient.photo_locs[:])
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if self.feeding.feedConfig:
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#改变路径后的值进行复位
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__current_feed_config=self.feeding.feedConfig
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# __current_lineid=__current_feed_config.feedLine.id
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# __current_linename=__current_feed_config.feedLine.name
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# __current_position=
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# self.feeding.feedConfig= FeedingConfig(0, FeedLine(__current_lineid, __current_linename,
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# __current_feed_config.feedLine.positions,0),
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# self.feeding.robotClient.photo_locs[:],0)
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else:
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log.log_message(logging.ERROR, Constant.str_feed_reset_no_line_error)
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return
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#用配置的路径进行复位
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line_head = f'{Constant.feedLine_set_section}{self.remain_lineName}'
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return_positions = copy.deepcopy(self.feedLine_dict[line_head].positions)
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position_origin = PositionModel()
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position_origin.init_position(self.robotClient.origin_position)
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position_origin.status = 1
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return_positions.insert(0,position_origin)
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if self.feedLine_dict.keys().__contains__(line_head):
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self.feeding.feedConfig= FeedingConfig(0, FeedLine(self.feedLine_dict[line_head].id, self.feedLine_dict[line_head].name,
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return_positions,self.remain_Count),
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self.feeding.robotClient.photo_locs[:],self.remain_Count)
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else:
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log.log_message(logging.ERROR, Constant.str_feed_reset_no_line_error)
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return
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self.feeding.reset_status = ResetStatus.RStart
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# dialog_reset = StopDialog()
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# dialog_reset.stop_thread_signal.connect(self.stop_reset_thread)
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@ -1377,64 +1394,66 @@ class MainWindow(QMainWindow, Ui_MainWindow):
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# 主线程的逻辑就是 feeding.run() 接口和错误状态处理
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while self.thread_signal:
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time.sleep(0.1)
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if Constant.feedStatus: #feedStatus的状态打印
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current_status = self.feeding.feedStatus
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is_paused = self.feeding.pause
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if not Constant.DebugPosition:
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if Constant.feedStatus: #feedStatus的状态打印
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current_status = self.feeding.feedStatus
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is_paused = self.feeding.pause
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# 只有当状态或暂停标志发生变化时才打印
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if (current_status != self.last_status_printed or
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is_paused != self.last_pause_printed):
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print(f"[调试] 当前 feedStatus: {current_status}, 是否暂停: {is_paused}")
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self.last_status_printed = current_status
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self.last_pause_printed = is_paused
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# 只有当状态或暂停标志发生变化时才打印
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if (current_status != self.last_status_printed or
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is_paused != self.last_pause_printed):
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print(f"[调试] 当前 feedStatus: {current_status}, 是否暂停: {is_paused}")
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self.last_status_printed = current_status
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self.last_pause_printed = is_paused
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# 获取状态和控制标志
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current_feed_status = self.feeding.feedStatus
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is_running = (current_feed_status == FeedStatus.FStart) and (not self.feeding.pause) #加上未暂停
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is_stopped = ( # 以下情况应关闭传感器
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current_feed_status in [FeedStatus.FFinished, FeedStatus.FNone, FeedStatus.FReverse,
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FeedStatus.FStartReverse]
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or self.feeding.pause # 暂停时也视为“停止”
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)
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# 启动条件：处于 FStart 且未暂停，且线程未运行
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if is_running and self.sensor_thread is None:
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try:
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self.relay_controller._running = True
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self.sensor_thread = threading.Thread(
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target=self.relay_controller.handle_sensor1,
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name="Sensor1MonitorThread",
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daemon=True
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)
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self.sensor_thread.start()
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self.sensor2_thread = threading.Thread(
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target=self.relay_controller.handle_sensor2,
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daemon=True)
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self.sensor2_thread.start()
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print("🟢 传感器1监控线程已启动（开始投料）")
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print("🟢 传感器2监控线程已启动（关闭滚筒）")
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except Exception as e:
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log.log_message(logging.ERROR, f"启动传感器线程失败: {e}")
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# 获取状态和控制标志
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current_feed_status = self.feeding.feedStatus
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is_running = (current_feed_status == FeedStatus.FStart) and (not self.feeding.pause) #加上未暂停
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is_stopped = ( # 以下情况应关闭传感器
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current_feed_status in [FeedStatus.FFinished, FeedStatus.FNone, FeedStatus.FReverse,
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FeedStatus.FStartReverse]
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or self.feeding.pause # 暂停时也视为“停止”
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)
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# 启动条件：处于 FStart 且未暂停，且线程未运行
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if is_running and self.sensor_thread is None:
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try:
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self.relay_controller._running = True
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self.sensor_thread = threading.Thread(
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target=self.relay_controller.handle_sensor1,
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name="Sensor1MonitorThread",
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daemon=True
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)
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self.sensor_thread.start()
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self.sensor2_thread = threading.Thread(
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target=self.relay_controller.handle_sensor2,
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daemon=True)
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self.sensor2_thread.start()
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print("🟢 传感器1监控线程已启动（开始投料）")
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print("🟢 传感器2监控线程已启动（关闭滚筒）")
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except Exception as e:
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log.log_message(logging.ERROR, f"启动传感器线程失败: {e}")
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# 关闭条件：暂停、完成、回退等状态
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if is_stopped and self.sensor_thread is not None:
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try:
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self.relay_controller._running = False
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if self.sensor_thread.is_alive():
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self.sensor_thread.join(timeout=1)
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print("🛑 传感器监控线程已关闭（暂停/完成/回退）")
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self.relay_controller.close(conveyor2=True)
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except Exception as e:
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log.log_message(logging.ERROR, f"关闭传感器线程异常: {e}")
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finally:
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self.sensor_thread = None
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# 关闭条件：暂停、完成、回退等状态
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if is_stopped and self.sensor_thread is not None:
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try:
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self.relay_controller._running = False
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if self.sensor_thread.is_alive():
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self.sensor_thread.join(timeout=1)
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print("🛑 传感器监控线程已关闭（暂停/完成/回退）")
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self.relay_controller.close(conveyor2=True)
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except Exception as e:
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log.log_message(logging.ERROR, f"关闭传感器线程异常: {e}")
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finally:
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self.sensor_thread = None
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# 如果你也有 handle_sensor2 线程，也可以在这里关闭
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# 如果你也有 handle_sensor2 线程，也可以在这里关闭
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# 处理命令队列
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if not self.command_quene.empty():
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command = self.command_quene.get()
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if isinstance(command, FeedCommand) and command.status == Status.Prepareing:
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if self.feeding.feedStatus == FeedStatus.FNone:
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#插入起始点（set.ini中配置的点）
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position_origin = PositionModel()
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position_origin.init_position(self.robotClient.origin_position)
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position_origin.status = 1
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@ -1493,7 +1512,7 @@ class MainWindow(QMainWindow, Ui_MainWindow):
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self.set_label_status_style(False)
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if self.feeding.feedStatus != FeedStatus.FNone:
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self.horizontalSlider_feedingNum.setValue(
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self.horizontalSlider_feedingNum.maximum() - self.feeding.feedConfig.num)
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self.feeding.feedConfig.remain_count)
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# self.label_remain_num.setText(str(self.feeding.feedConfig.num))
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else:
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self.set_run_status_button(False)
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@ -1501,7 +1520,7 @@ class MainWindow(QMainWindow, Ui_MainWindow):
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#修改点1：这里修改显示剩余袋数的逻辑
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#原来的逻辑是显示剩余袋数：self.label_remain_num.setText(self.feeding.feedConfig.num))
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#我改成了目标袋数减剩余袋数就是已经投料的袋数self.label_remain_num.setText(str(self.horizontalSlider_feedingNum.maximum()-self.feeding.feedConfig.num))
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self.label_remain_num.setText(str(self.horizontalSlider_feedingNum.maximum()-self.feeding.feedConfig.num))
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self.label_remain_num.setText(str(self.feeding.feedConfig.remain_count))
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if self.feeding.feedStatus == FeedStatus.FNone:
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self.stackedWidget_num.setCurrentIndex(0)
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else:
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@ -1542,6 +1561,23 @@ class MainWindow(QMainWindow, Ui_MainWindow):
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if msg_box_person.clickedButton() == cancel_button:
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return
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# self.show_infomessage_box("")
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def stack_finish(self):
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"""
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码垛完成处理
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"""
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# self.feeding.feedConfig.remain_count=0
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# self.closeEvent(None)
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self.send_pause_command(True)
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self.feeding.pause = True
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msg_box_finish = QMessageBox()
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msg_box_finish.setIcon(QMessageBox.Icon.Warning)
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msg_box_finish.setText("码码完成")
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msg_box_finish.setWindowTitle("提示")
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msg_box_finish.addButton("确定", QMessageBox.AcceptRole)
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result=msg_box_finish.exec()
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def updateUI_IOPanel(self):
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try:
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@ -1762,7 +1798,7 @@ class MainWindow(QMainWindow, Ui_MainWindow):
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def send_emergency_alarm_command(self):
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self.feeding.feedStatus = FeedStatus.FNone
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self.feeding.pause = True #暂停，停止滚去等
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stop_command = CMDRequest()
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stop_command.cmdData.append("actionStop")
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stop_command.cmdData.append("1")
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@ -2081,9 +2117,10 @@ class MainWindow(QMainWindow, Ui_MainWindow):
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self.feeding.onekey = True
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def send_exit_button_click(self):
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self.closeEvent(None)
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QApplication.quit()
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sys.exit(app.exec())
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self.close()
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# self.closeEvent(None)
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# QApplication.quit()
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# sys.exit(app.exec())
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def send_click_sysmeuExpand(self):
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self.frame_sys_seting.setVisible(not self.frame_sys_seting.isVisible())
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@ -2102,17 +2139,23 @@ class MainWindow(QMainWindow, Ui_MainWindow):
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def showEvent(self, event):
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super().showEvent(event)
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QTimer.singleShot(2000, self.check_continue)
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# QTimer.singleShot(2000, self.check_continue)
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def closeEvent(self, event):
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#关闭窗口事件
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self.record_remain_num()
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# self.feeding.is_detected = False
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# self.feeding.detect_thread.join()
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self.feeding.close_feed()
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self.thread_signal = False
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self.robotClient.close()
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if self.relay_controller:
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self.relay_controller.stop_sensor(self.sensor_thread,self.sensor2_thread)
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# self.relay_controller.close(conveyor2=True)
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log.log_message(logging.INFO, Constant.str_sys_exit)
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#显示接受关闭事件
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event.accept()
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#记录投料袋数
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def record_remain_num(self):
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@ -2120,7 +2163,7 @@ class MainWindow(QMainWindow, Ui_MainWindow):
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self.configReader = configparser.ConfigParser()
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self.configReader.read(Constant.set_ini)
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self.configReader.set('Robot_Feed', 'remain_linename', str(self.feeding.feedConfig.feedLine.id))
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self.configReader.set('Robot_Feed', 'remain_count', str(self.feeding.feedConfig.num))
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self.configReader.set('Robot_Feed', 'remain_count', str(self.feeding.feedConfig.remain_count))
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self.configReader.write(open(Constant.set_ini, 'w', encoding='utf-8'))
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except:
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log.log_message(logging.ERROR, Constant.str_sys_log_feedNum)
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