35-50KG

2025-09-30 17:51:45 +08:00
parent a2619ea237
commit 65e90ce8a0
6 changed files with 231 additions and 166 deletions
--- a/Config/drop-35.ini
+++ b/Config/drop-35.ini
@ -35,8 +35,8 @@ status = 10
 linetype = 4

 [DropPoints1]
-x = 1052.553
-y = -395.692
+x = 1018.237
+y = -433.424
 z = -1202.361
 u = -148.482
 v = 1.0
@ -48,8 +48,8 @@ status = 9
 linetype = 0

 [DropPoints2]
-x = 1052.553
-y = 704.308
+x = 1018.237
+y = 666.576
 z = -1202.361
 u = -148.482
 v = 2.0
@ -61,8 +61,8 @@ status = 9
 linetype = 0

 [DropPoints3]
-x = 1052.553
-y = 179.308
+x = 1018.237
+y = 116.576
 z = -1202.361
 u = -148.482
 v = 3.0
@ -74,10 +74,10 @@ status = 9
 linetype = 0

 [DropPoints4]
-x = 1792.553
-y = -185.692
+x = 1688.237
+y = -433.424
 z = -1202.361
-u = -58.482
+u = 31.518
 v = 4.0
 w = 0.0
 id = 1
@ -87,10 +87,10 @@ status = 9
 linetype = 0

 [DropPoints5]
-x = 1792.553
-y = 544.308
+x = 1688.237
+y = 666.576
 z = -1202.361
-u = -238.482
+u = 31.518
 v = 5.0
 w = 0.0
 id = 1
@ -100,9 +100,9 @@ status = 9
 linetype = 0

 [DropPoints6]
-x = 1582.553
-y = -395.692
-z = -1052.361
+x = 1688.237
+y = 116.576
+z = -1202.361
 u = 31.518
 v = 6.0
 w = 0.0
@ -113,10 +113,10 @@ status = 9
 linetype = 0

 [DropPoints7]
-x = 1582.553
-y = 704.308
+x = 818.237
+y = -233.424
 z = -1052.361
-u = 31.518
+u = -58.482
 v = 7.0
 w = 0.0
 id = 1
@ -126,10 +126,10 @@ status = 9
 linetype = 0

 [DropPoints8]
-x = 1582.553
-y = 179.308
+x = 1818.237
+y = -233.424
 z = -1052.361
-u = 31.518
+u = -58.482
 v = 8.0
 w = 0.0
 id = 1
@ -139,8 +139,8 @@ status = 9
 linetype = 0

 [DropPoints9]
-x = 842.553
-y = -185.692
+x = 1318.237
+y = -233.424
 z = -1052.361
 u = -58.482
 v = 9.0
@ -152,8 +152,8 @@ status = 9
 linetype = 0

 [DropPoints10]
-x = 842.553
-y = 544.308
+x = 818.237
+y = 456.576
 z = -1052.361
 u = -238.482
 v = 10.0
@ -165,10 +165,10 @@ status = 9
 linetype = 0

 [DropPoints11]
-x = 1052.553
-y = -395.692
-z = -902.361
-u = -148.482
+x = 1818.237
+y = 456.576
+z = -1052.361
+u = -238.482
 v = 11.0
 w = 0.0
 id = 1
@ -178,10 +178,10 @@ status = 9
 linetype = 0

 [DropPoints12]
-x = 1052.553
-y = 704.308
-z = -902.361
-u = -148.482
+x = 1318.237
+y = 456.576
+z = -1052.361
+u = -238.482
 v = 12.0
 w = 0.0
 id = 1
@ -191,8 +191,8 @@ status = 9
 linetype = 0

 [DropPoints13]
-x = 1052.553
-y = 179.308
+x = 1018.237
+y = -433.424
 z = -902.361
 u = -148.482
 v = 13.0
@ -204,10 +204,10 @@ status = 9
 linetype = 0

 [DropPoints14]
-x = 1792.553
-y = -185.692
+x = 1018.237
+y = 666.576
 z = -902.361
-u = -58.482
+u = -148.482
 v = 14.0
 w = 0.0
 id = 1
@ -217,10 +217,10 @@ status = 9
 linetype = 0

 [DropPoints15]
-x = 1792.553
-y = 544.308
+x = 1018.237
+y = 116.576
 z = -902.361
-u = -238.482
+u = -148.482
 v = 15.0
 w = 0.0
 id = 1
@ -230,9 +230,9 @@ status = 9
 linetype = 0

 [DropPoints16]
-x = 1582.553
-y = -395.692
-z = -752.361
+x = 1688.237
+y = -433.424
+z = -902.361
 u = 31.518
 v = 16.0
 w = 0.0
@ -243,9 +243,9 @@ status = 9
 linetype = 0

 [DropPoints17]
-x = 1582.553
-y = 704.308
-z = -752.361
+x = 1688.237
+y = 666.576
+z = -902.361
 u = 31.518
 v = 17.0
 w = 0.0
@ -256,9 +256,9 @@ status = 9
 linetype = 0

 [DropPoints18]
-x = 1582.553
-y = 179.308
-z = -752.361
+x = 1688.237
+y = 116.576
+z = -902.361
 u = 31.518
 v = 18.0
 w = 0.0
@ -269,8 +269,8 @@ status = 9
 linetype = 0

 [DropPoints19]
-x = 842.553
-y = -185.692
+x = 818.237
+y = -233.424
 z = -752.361
 u = -58.482
 v = 19.0
@ -282,10 +282,10 @@ status = 9
 linetype = 0

 [DropPoints20]
-x = 842.553
-y = 544.308
+x = 1818.237
+y = -233.424
 z = -752.361
-u = -238.482
+u = -58.482
 v = 20.0
 w = 0.0
 id = 1
@ -295,10 +295,10 @@ status = 9
 linetype = 0

 [DropPoints21]
-x = 1052.553
-y = -395.692
-z = -602.361
-u = -148.482
+x = 1318.237
+y = -233.424
+z = -752.361
+u = -58.482
 v = 21.0
 w = 0.0
 id = 1
@ -308,10 +308,10 @@ status = 9
 linetype = 0

 [DropPoints22]
-x = 1052.553
-y = 704.308
-z = -602.361
-u = -148.482
+x = 818.237
+y = 416.576
+z = -752.361
+u = -238.482
 v = 22.0
 w = 0.0
 id = 1
@ -321,10 +321,10 @@ status = 9
 linetype = 0

 [DropPoints23]
-x = 1052.553
-y = 179.308
-z = -602.361
-u = -148.482
+x = 1818.237
+y = 416.576
+z = -752.361
+u = -238.482
 v = 23.0
 w = 0.0
 id = 1
@ -334,10 +334,10 @@ status = 9
 linetype = 0

 [DropPoints24]
-x = 1792.553
-y = -185.692
-z = -602.361
-u = -58.482
+x = 1318.237
+y = 416.576
+z = -752.361
+u = -238.482
 v = 24.0
 w = 0.0
 id = 1
@ -347,10 +347,10 @@ status = 9
 linetype = 0

 [DropPoints25]
-x = 1792.553
-y = 544.308
+x = 1018.237
+y = -433.424
 z = -602.361
-u = -238.482
+u = -148.482
 v = 25.0
 w = 0.0
 id = 1
@ -360,10 +360,10 @@ status = 9
 linetype = 0

 [DropPoints26]
-x = 1582.553
-y = -395.692
-z = -452.361
-u = 31.518
+x = 1018.237
+y = 666.576
+z = -602.361
+u = -148.482
 v = 26.0
 w = 0.0
 id = 1
@ -373,10 +373,10 @@ status = 9
 linetype = 0

 [DropPoints27]
-x = 1582.553
-y = 704.308
-z = -452.361
-u = 31.518
+x = 1018.237
+y = 116.576
+z = -602.361
+u = -148.482
 v = 27.0
 w = 0.0
 id = 1
@ -386,9 +386,9 @@ status = 9
 linetype = 0

 [DropPoints28]
-x = 1582.553
-y = 179.308
-z = -452.361
+x = 1688.237
+y = -433.424
+z = -602.361
 u = 31.518
 v = 28.0
 w = 0.0
@ -399,10 +399,10 @@ status = 9
 linetype = 0

 [DropPoints29]
-x = 842.553
-y = -185.692
-z = -452.361
-u = -58.482
+x = 1688.237
+y = 666.576
+z = -602.361
+u = 31.518
 v = 29.0
 w = 0.0
 id = 1
@ -412,10 +412,10 @@ status = 9
 linetype = 0

 [DropPoints30]
-x = 842.553
-y = 544.308
-z = -452.361
-u = -238.482
+x = 1688.237
+y = 116.576
+z = -602.361
+u = 31.518
 v = 30.0
 w = 0.0
 id = 1
@ -425,10 +425,10 @@ status = 9
 linetype = 0

 [DropPoints31]
-x = 1052.553
-y = -395.692
-z = -302.361
-u = -148.482
+x = 818.237
+y = -233.424
+z = -452.361
+u = -58.482
 v = 31.0
 w = 0.0
 id = 1
@ -438,10 +438,10 @@ status = 9
 linetype = 0

 [DropPoints32]
-x = 1052.553
-y = 704.308
-z = -302.361
-u = -148.482
+x = 1818.237
+y = -233.424
+z = -452.361
+u = -58.482
 v = 32.0
 w = 0.0
 id = 1
@ -451,10 +451,10 @@ status = 9
 linetype = 0

 [DropPoints33]
-x = 1052.553
-y = 179.308
-z = -302.361
-u = -148.482
+x = 1318.237
+y = -233.424
+z = -452.361
+u = -58.482
 v = 33.0
 w = 0.0
 id = 1
@ -464,10 +464,10 @@ status = 9
 linetype = 0

 [DropPoints34]
-x = 1792.553
-y = -185.692
-z = -302.361
-u = -58.482
+x = 818.237
+y = 416.576
+z = -452.361
+u = -238.482
 v = 34.0
 w = 0.0
 id = 1
@ -477,9 +477,9 @@ status = 9
 linetype = 0

 [DropPoints35]
-x = 1792.553
-y = 544.308
-z = -302.361
+x = 1818.237
+y = 416.576
+z = -452.361
 u = -238.482
 v = 35.0
 w = 0.0
@ -490,10 +490,10 @@ status = 9
 linetype = 0

 [DropPoints36]
-x = 1582.553
-y = -395.692
-z = -202.361
-u = 31.518
+x = 1318.237
+y = 416.576
+z = -452.361
+u = -238.482
 v = 36.0
 w = 0.0
 id = 1
@ -503,10 +503,10 @@ status = 9
 linetype = 0

 [DropPoints37]
-x = 1582.553
-y = 704.308
-z = -202.361
-u = 31.518
+x = 1018.237
+y = -433.424
+z = -250.361
+u = -148.482
 v = 37.0
 w = 0.0
 id = 1
@ -516,10 +516,10 @@ status = 9
 linetype = 0

 [DropPoints38]
-x = 1582.553
-y = 179.308
-z = -202.361
-u = 31.518
+x = 1018.237
+y = 666.576
+z = -250.361
+u = -148.482
 v = 38.0
 w = 0.0
 id = 1
@ -529,10 +529,10 @@ status = 9
 linetype = 0

 [DropPoints39]
-x = 842.553
-y = -185.692
-z = -202.361
-u = -58.482
+x = 1018.237
+y = 116.576
+z = -250.361
+u = -148.482
 v = 39.0
 w = 0.0
 id = 1
@ -542,10 +542,10 @@ status = 9
 linetype = 0

 [DropPoints40]
-x = 842.553
-y = 544.308
-z = -202.361
-u = -238.482
+x = 1688.237
+y = -433.424
+z = -250.361
+u = 31.518
 v = 40.0
 w = 0.0
 id = 1
@ -554,3 +554,29 @@ lineid = 1
 status = 9
 linetype = 0

+[DropPoints41]
+x = 1688.237
+y = 666.576
+z = -250.361
+u = 31.518
+v = 41.0
+w = 0.0
+id = 37
+order = 42
+lineid = 1
+status = 9
+linetype = 0
+
+[DropPoints42]
+x = 1688.237
+y = 116.576
+z = -250.361
+u = 31.518
+v = 42.0
+w = 0.0
+id = 38
+order = 43
+lineid = 1
+status = 9
+linetype = 0
+
--- a/MainRecources_rc.py
+++ b/MainRecources_rc.py
@ -102112,31 +102112,31 @@ qt_resource_struct = b"\
 \x00\x00\x00\x0e\x00\x02\x00\x00\x00\x0d\x00\x00\x00\x03\
 \x00\x00\x00\x00\x00\x00\x00\x00\
 \x00\x00\x00\xb2\x00\x00\x00\x00\x00\x01\x00\x03/R\
-\x00\x00\x01\x99\x8e\x16\x01I\
+\x00\x00\x01\x99\x99\xa8;\xfb\
 \x00\x00\x00\x1e\x00\x00\x00\x00\x00\x01\x00\x00\x00\x00\
-\x00\x00\x01\x99\x8e\x16\x01R\
+\x00\x00\x01\x99\x99\xa8<\x03\
 \x00\x00\x008\x00\x00\x00\x00\x00\x01\x00\x00\x05\x9a\
-\x00\x00\x01\x99\x8e\x16\x01N\
+\x00\x00\x01\x99\x99\xa8<\x00\
 \x00\x00\x00~\x00\x00\x00\x00\x00\x01\x00\x03\x13\xe9\
-\x00\x00\x01\x99\x8e\x16\x01O\
+\x00\x00\x01\x99\x99\xa8<\x01\
 \x00\x00\x00\xe4\x00\x00\x00\x00\x00\x01\x00\x0ff\xaf\
-\x00\x00\x01\x99\x8e\x16\x01I\
+\x00\x00\x01\x99\x99\xa8;\xfb\
 \x00\x00\x01\xbc\x00\x00\x00\x00\x00\x01\x00\x18\xcf\xe2\
-\x00\x00\x01\x99\x8e\x16\x01O\
+\x00\x00\x01\x99\x99\xa8<\x01\
 \x00\x00\x01\x88\x00\x00\x00\x00\x00\x01\x00\x16\xd0\xa3\
-\x00\x00\x01\x99\x8e\x16\x01N\
+\x00\x00\x01\x99\x99\xa8<\x00\
 \x00\x00\x01\xa6\x00\x00\x00\x00\x00\x01\x00\x16\xd7X\
-\x00\x00\x01\x99\x8e\x16\x01Q\
+\x00\x00\x01\x99\x99\xa8<\x03\
 \x00\x00\x01\x16\x00\x00\x00\x00\x00\x01\x00\x0f\xd3\xa7\
-\x00\x00\x01\x99\x8e\x16\x01L\
+\x00\x00\x01\x99\x99\xa8;\xff\
 \x00\x00\x00\x92\x00\x00\x00\x00\x00\x01\x00\x03\x1eU\
-\x00\x00\x01\x99\x8e\x16\x01P\
+\x00\x00\x01\x99\x99\xa8<\x01\
 \x00\x00\x00\xc2\x00\x00\x00\x00\x00\x01\x00\x0f\x5c\xad\
-\x00\x00\x01\x99\x8e\x16\x01O\
+\x00\x00\x01\x99\x99\xa8<\x00\
 \x00\x00\x01\xd6\x00\x00\x00\x00\x00\x01\x00\x18\xd4\xc0\
-\x00\x00\x01\x99\x8e\x16\x01O\
+\x00\x00\x01\x99\x99\xa8<\x01\
 \x00\x00\x01P\x00\x00\x00\x00\x00\x01\x00\x16\xbe\x07\
-\x00\x00\x01\x99\x8e\x16\x01N\
+\x00\x00\x01\x99\x99\xa8<\x00\
 "

 def qInitResources():
--- a/Seting.ini
+++ b/Seting.ini
@ -47,8 +47,8 @@ photo_v5 = 0.0
 photo_w5 = 1.0
 linecount = 2
 remain_linename = 1
-remain_dropweight_kg = 50
-remain_count = 18
+remain_dropweight_kg = 35
+remain_count = 1
 maduo_count = 30
 io_take_addr = 8
 io_zip_addr = 11
--- a/main.py
+++ b/main.py
@ -65,6 +65,7 @@ class MainWindow(QMainWindow, Ui_MainWindow):
        self.last_status_printed = None
        self.last_pause_printed = None
        self.cur_pushbutton_num = None
+        self.drop_weight_index=0
        self.pushbutton_num_style = """
        QPushButton { background-color: #101F3F;color:#ffffff }
        """
@ -603,7 +604,9 @@ class MainWindow(QMainWindow, Ui_MainWindow):
                background-color: #888888;
        }
        """)
+
        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)
  
@ -913,7 +916,7 @@ class MainWindow(QMainWindow, Ui_MainWindow):

    def send_startFeed_button_click(self):
        if self.feeding.feedStatus != FeedStatus.FNone:
-            self.show_infomessage_box("正在执行")
+            self.show_infomessage_box("已启动，无需重复启动")
            return
        # 触发自动运行
        if self.robotClient.status_model.curMode != 7:
@ -935,20 +938,25 @@ class MainWindow(QMainWindow, Ui_MainWindow):
        if msg_box_person.clickedButton() == cancel_button:
            return
        log.log_message(logging.INFO, '第一层确认生产')
-
-        has_person = False
+        #region 人员检测，暂无
+        # has_person = False
        # has_person, _ = self.detection_person.get_person() # TODO
-        if has_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？")
+            # 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')
+        #QSlide控件默认的最大值为99
+        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
-            log.log_message(logging.ERROR, '人员进入安全区')
-        #QSlide控件默认的最大值为99
+
        num = self.horizontalSlider_feedingNum.maximum()
        # if num==99:
        #     num = 30   #默认是30包
@ -961,8 +969,12 @@ class MainWindow(QMainWindow, Ui_MainWindow):
            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)
        #注意码垛数和码垛总数
        # num=25  #先默认30包码垛
        self.command_quene.put(
@ -1540,7 +1552,7 @@ class MainWindow(QMainWindow, Ui_MainWindow):
                self.comboBox_dropWeight.addItem(weight_text, userData)

        # 连接槽函数
-        self.comboBox_dropWeight.currentIndexChanged.connect(self.on_drop_weight_changed)
+        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:
@ -1549,14 +1561,25 @@ class MainWindow(QMainWindow, Ui_MainWindow):
            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"Tips: 当前选择的码垛重量为 {self.remain_drop_weight}kg")
+                self.weight_label_info.setText(f"当前码垛重量 {self.remain_drop_weight}kg")


    """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.setText("修改码垛重量会从第1包开始，是否继续？")
+        msgBox.setStandardButtons(QMessageBox.Yes | QMessageBox.No)
+        result = msgBox.exec()
+        if result != QMessageBox.StandardButton.Yes:
+            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
+        default_weight = '50'

        if index < 0:  # 没有选中项时（如下拉框为空）
            self.remain_drop_weight = default_weight
@ -1576,8 +1599,22 @@ class MainWindow(QMainWindow, Ui_MainWindow):
            self.remain_drop_weight = default_weight

        # 更新上方的码垛重量提示Tips：
-        self.weight_label_info.setText(f"Tips: 当前选择的码垛重量为 {selected_text}")
+        self.weight_label_info.setText(f"当前码垛重量 {selected_text}")
+        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('42')
+            self.horizontalSlider_feedingNum.setMaximum(42)
+            self.maduo_Count=42
+        else:
+            self.label_maxNum.setText('30')
+            self.horizontalSlider_feedingNum.setMaximum(30)
+            self.maduo_Count=30

    def updateUI_label_status(self):
        if self.robotClient.status_model.isMoving==1:
@ -2104,6 +2141,8 @@ class MainWindow(QMainWindow, Ui_MainWindow):
            if self.feeding.feedConfig:
                self.configReader.set('Robot_Feed', 'remain_linename', str(self.feeding.feedConfig.feedLine.id))
                self.configReader.set('Robot_Feed', 'remain_count', str(self.feeding.feedConfig.remain_count))
+            else:
+                self.configReader.set('Robot_Feed', 'remain_count', str(self.remain_Count))
            if self.cur_pushbutton_num:
                self.configReader.set('Robot_Feed', 'maduo_count', self.cur_pushbutton_num.text())

@ -2111,8 +2150,8 @@ class MainWindow(QMainWindow, Ui_MainWindow):
            self.configReader.set("Robot_Feed", "remain_dropweight_kg", str(self.remain_drop_weight))

            self.configReader.write(open(Constant.set_ini, 'w', encoding='utf-8'))
-         except:
-            log.log_message(logging.ERROR, Constant.str_sys_log_feedNum)
+         except Exception as ex:
+            log.log_message(logging.ERROR, Constant.str_sys_log_feedNum + str(ex))


 class MyApplication(QApplication):
--- a/resources_rc.py
+++ b/resources_rc.py
@ -4260,7 +4260,7 @@ qt_resource_struct = b"\
 \x00\x00\x00\x0a\x00\x02\x00\x00\x00\x01\x00\x00\x00\x03\
 \x00\x00\x00\x00\x00\x00\x00\x00\
 \x00\x00\x00\x1a\x00\x00\x00\x00\x00\x01\x00\x00\x00\x00\
-\x00\x00\x01\x99\x8e\x16\x01P\
+\x00\x00\x01\x99\x99\xa8<\x01\
 "

 def qInitResources():
--- a/ui_MainWin.py
+++ b/ui_MainWin.py
@ -3346,7 +3346,7 @@ class Ui_MainWindow(object):
        weight_h_layout = QHBoxLayout()
        # weight_h_layout.setSpacing(10) 
        self.weight_label = QLabel(self.frame_20)
-        self.weight_label.setText("选择码垛重量:")
+        self.weight_label.setText("选择料袋重量:")
        self.weight_label.setStyleSheet("color: white;") 
        weight_h_layout.addWidget(self.weight_label)