复位-急停

2025-11-12 07:11:09 +08:00
parent cbda29e270
commit ed6cc098df
15 changed files with 365 additions and 84 deletions
--- a/main.py
+++ b/main.py
@ -29,7 +29,7 @@ from Model.FeedModel import LineModel, PositionModel
 from Util.util_ini import writeFeedLine_to_ini
 import Constant
 from CU.Command import FeedCommand
-from CU.Feeding import FeedLine, FeedingConfig, Feeding, FeedStatus, FeedMidStatus, ResetStatus
+from CU.Feeding import FeedLine, FeedingConfig, Feeding, FeedStatus, FeedMidStatus, ResetStatus,FeedReset
 from Util.util_log import QTextEditLogger
 from Util.util_time import CRisOrFall
 #from Vision.camera_coordinate_dete import Detection
@ -59,6 +59,7 @@ class MainWindow(QMainWindow, Ui_MainWindow):
        #传感器继电器加入变量
        self.relay_controller = RelayController()
        self.drop_position_manager = DropPositionManager()
+        self.feed_reset_obj=None
        self.sensor_thread = None
        self.sensor2_thread  = None
        self.emergency_thread = None
@ -78,7 +79,9 @@ class MainWindow(QMainWindow, Ui_MainWindow):
        self.thread_signal = True
        self.init_qss()
        self.init_UI()
+    
        self.init_Run()
+        self.init_Reset()
        self.init_robot_info()
        self.init_IOPanel()
        self.start_Runing()
@ -91,6 +94,7 @@ class MainWindow(QMainWindow, Ui_MainWindow):
        self.selected_line_section = ''
       
        
+        

    def init_IOPanel(self):
        self.dirt_io_points = {}
@ -651,7 +655,7 @@ class MainWindow(QMainWindow, Ui_MainWindow):

        self.pushButton_clearAlarm.clicked.connect(self.send_clear_alarm_command)
        # self.pushButton_emergency.clicked.connect(self.send_emergency_alarm_command)
-        self.pushButton_reset.clicked.connect(self.send_reset_button_click)
+        self.pushButton_reset.clicked.connect(self.send_reset_button_click_new)


        self.pushButton_saveSeting.clicked.connect(self.send_setSpeed_clicked)
@ -757,6 +761,7 @@ class MainWindow(QMainWindow, Ui_MainWindow):
        self.relay_controller.log_signal.connect(self.log_message)
        self.relay_controller.emergency_signal.connect(self.emergency_press_notify)
        self.feeding.feed_error_signal.connect(self.feed_error_notify)
+        self.feeding.feed_nums_signal.connect(self.update_remain_num)
        # self.camera_img=CameraImg(self.feeding)
        # self.camera_img.update_camera_image.connect(self.updateUI_label_detection)
        
@ -782,6 +787,17 @@ class MainWindow(QMainWindow, Ui_MainWindow):
        else:
            return Error_Code.SYS_NETERROR

+    def init_Reset(self):
+        configReader = configparser.ConfigParser()
+        configReader.read(Constant.resetLine_set_file, encoding='utf-8')
+        #加载复位信息
+        line_str = f'{Constant.feedLine_set_section}1'
+        reset_line = LineModel()
+        if configReader.has_section(line_str):
+            reset_line.read_line_model(config_reader=configReader,index=1)        
+        self.feed_reset_obj = FeedReset(self.robotClient,self.relay_controller,reset_line.positions)
+
+
    def init_seting_frame(self):

        rows = len(self.feedLine_dict.keys()) + 1
@ -903,7 +919,6 @@ class MainWindow(QMainWindow, Ui_MainWindow):
            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()
        pass

@ -952,9 +967,10 @@ class MainWindow(QMainWindow, Ui_MainWindow):
                            name="emergency",
                            daemon=True
                        )
-        self.emergency_thread.start()
+      

        self.main_threading = Thread(target=self.run,name="feeding")#主循环
+        self.reset_threading = Thread(target=self.reset_run,name="reset",daemon=True)#复位线程
        self.robot_connect_threading = Thread(target=self.robotClient.run,name="robot_connect")
        # self.main_UI_threading = Thread(target=self.updateUI,name="updateUI")
        self.timer_updateui.timeout.connect(self.updateUI)
@ -974,10 +990,12 @@ class MainWindow(QMainWindow, Ui_MainWindow):
        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()
        #启动传感器线程
        self.sensor_thread.start()
        self.sensor2_thread.start()
@ -1018,6 +1036,7 @@ class MainWindow(QMainWindow, Ui_MainWindow):
            return

    def send_startFeed_button_click(self):
+
        if self.is_emergency_pressed:
            self.show_infomessage_box("急停按钮已按下，不能启动，请先松开急停按钮")
            return
@ -1034,14 +1053,17 @@ class MainWindow(QMainWindow, Ui_MainWindow):

        msg_box_person = QMessageBox()
        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.setText("是否确认生产区域安全？")
        msg_box_person.setWindowTitle("提示")
-        font=QFont("Microsoft YaHei UI",20)
+        font=QFont("Microsoft YaHei UI",40)
        msg_box_person.setFont(font)
+         

        ok_button = msg_box_person.addButton("确定", PySide6.QtWidgets.QMessageBox.ButtonRole.AcceptRole)
        cancel_button = msg_box_person.addButton("取消", PySide6.QtWidgets.QMessageBox.ButtonRole.RejectRole)

+        ok_button.setStyleSheet("QPushButton { color: #fff; background-color: red;margin-right: 80px;padding:15px }")
+        cancel_button.setStyleSheet("QPushButton { margin-right: 10px;padding:15px }")
        result = msg_box_person.exec()

        if msg_box_person.clickedButton() == cancel_button:
@ -1067,7 +1089,7 @@ 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"确认当前是从第{self.remain_Count+1}袋开始码垛，总共需要{num}袋！！")
+        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
@ -1151,29 +1173,31 @@ class MainWindow(QMainWindow, Ui_MainWindow):

    def send_custom_num_returnPressed(self):
        #码垛开始数量
-        self.remain_Count=int(self.lineEdit_num.text())-1
-        if self.remain_Count<0:
+        self.remain_Count=int(self.lineEdit_num.text())
+        if self.remain_Count<=0:
            self.remain_Count=0
        if self.feeding.feedConfig:
            self.feeding.feedConfig.remain_count=self.remain_Count
        self.label_remain_num.setText(str(self.remain_Count))
+        self.record_remain_num()
        
    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.setFixedSize(300, 400)
+        num_dialog.setWindowFlags(num_dialog.windowFlags() & ~Qt.WindowCloseButtonHint)
+        num_dialog.setFixedSize(400, 500)
        
        # 创建网格布局
        grid_layout = QGridLayout(num_dialog)
        
        # 添加1-30的数字按钮
-        for i in range(1, 31):
+        for i in range(0, 30):
            button = QPushButton(str(i), num_dialog)
            button.setStyleSheet(
                """
                *{background-color: #101F3F;
-                font: 20pt "楷体";
+                font: 30pt "楷体";
                color:#ffffff;
                border-radius: 5px;
                min-height: 40px;
@ -1188,8 +1212,8 @@ class MainWindow(QMainWindow, Ui_MainWindow):
                }
                """)
            # 5行6列排列
-            row = (i - 1) // 6
-            col = (i - 1) % 6
+            row = i // 6
+            col = i % 6
            grid_layout.addWidget(button, row, col)
            
            # 绑定点击事件
@ -1200,7 +1224,7 @@ class MainWindow(QMainWindow, Ui_MainWindow):
        cancel_button.setStyleSheet(
            """
            *{background-color: #6c757d;
-            font: 20pt "楷体";
+            font: 30pt "楷体";
            color:#ffffff;
            border-radius: 5px;
            min-height: 40px;
@ -1398,7 +1422,8 @@ class MainWindow(QMainWindow, Ui_MainWindow):
        self.robotClient.add_sendQuene(request_command)
        # self.feeding.send_emergency_sound()
        # self.feeding.feedConfig.num = 0
-        log.log_message(logging.INFO, Constant.str_sys_emergencyStop)
+        log.log_message(logging.INFO,"stop_all_work")
+
  
    def send_emergency_alarm_command(self):
        if self.is_emergency_pressed:
@ -1407,13 +1432,15 @@ class MainWindow(QMainWindow, Ui_MainWindow):
        """停止当前工作，需要启动"""
        msg_box_person = QMessageBox()
        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.setText("要停止当前工作吗？")
        msg_box_person.setWindowTitle("提示")
        font = msg_box_person.font()
-        font.setPointSize(20)
+        font.setPointSize(30)
        msg_box_person.setFont(font)
-        msg_box_person.addButton("确定", PySide6.QtWidgets.QMessageBox.ButtonRole.AcceptRole)
+        ok_button=msg_box_person.addButton("确定", PySide6.QtWidgets.QMessageBox.ButtonRole.AcceptRole)
        cancel_button = msg_box_person.addButton("取消", PySide6.QtWidgets.QMessageBox.ButtonRole.RejectRole)
+        ok_button.setStyleSheet("QPushButton { color: #fff; background-color: red;margin-right: 80px;padding:15px }")
+        cancel_button.setStyleSheet("QPushButton { margin-right: 10px;padding:15px }")
        msg_box_person.exec()
        if msg_box_person.clickedButton() == cancel_button:
            return
@ -1433,6 +1460,7 @@ class MainWindow(QMainWindow, Ui_MainWindow):
        pass
    
    def send_pauseFeed_click(self):
+        """暂停/继续工作"""
        if self.pushButton_pauseFeed.text() == '暂停':
            self.relay_controller.pause_start_sensor(True)
            icon9 = QIcon(QIcon.fromTheme(QIcon.ThemeIcon.SystemReboot))
@ -1441,7 +1469,6 @@ class MainWindow(QMainWindow, Ui_MainWindow):
            self.label_button_status.setText("已暂停")
            log.log_message(logging.INFO, Constant.str_feed_pause)
            self.send_pause_command(True)
-            self.relay_controller.pause_start_sensor(True)
            self.feeding.pause = True
        else:
            self.relay_controller.pause_start_sensor(False)
@ -1511,6 +1538,21 @@ class MainWindow(QMainWindow, Ui_MainWindow):
        # thread = threading.Thread(target=self.feeding.return_original_position())
        # thread.start()

+    def send_reset_button_click_new(self):
+        if self.is_emergency_pressed:
+            self.show_infomessage_box("急停按钮已按下，不能启动，请先松开急停按钮")
+            return
+
+        if self.feed_reset_obj.reset_status != ResetStatus.RNone:
+             self.show_infomessage_box("复位进行中，请不要重复操作")
+             return
+        
+        if self.feeding.feedStatus != FeedStatus.FNone:
+            self.show_infomessage_box("请先停止运行，再进行复位")
+            return
+        self.send_clear_auto_command()
+        self.feed_reset_obj.reset_status = ResetStatus.RStart
+
    def stop_reset_thread(self):
        self.feeding.reset_status = ResetStatus.ROk
        self.send_clear_auto_command()
@ -1616,7 +1658,7 @@ class MainWindow(QMainWindow, Ui_MainWindow):
            # 执行 feeding 主逻辑
            try:
                self.feeding.run()
-                self.feeding.run_reset()
+                # self.feeding.run_reset()
            except Exception as e:
                log.log_message(logging.ERROR, f"Feeding运行异常: {e}")

@ -1631,6 +1673,21 @@ class MainWindow(QMainWindow, Ui_MainWindow):
        except Exception as e:
            log.log_message(logging.ERROR, f"主循环退出时关闭线程异常: {e}")

+    def reset_run(self):
+            #加载复位信息
+        # 复位线程的逻辑就是 feeding.run_reset() 接口和错误状态处理
+        while self.thread_signal:
+    
+            try:
+                 self.feed_reset_obj.run_reset()
+                 
+                # self.feeding.run_reset()
+            except Exception as e:
+                log.log_message(logging.ERROR, f"Feeding运行异常: {e}")
+            finally:
+                time.sleep(2)
+ 
+
    def run_detect_persion(self):
        while self.thread_signal:
            has_person = False
@ -1713,9 +1770,10 @@ class MainWindow(QMainWindow, Ui_MainWindow):
        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")
-        msg_box_finish.addButton("确定", QMessageBox.AcceptRole)
-        loc_font=QFont("Microsoft YaHei UI",20)
+        ok_button=msg_box_finish.addButton("确定", QMessageBox.AcceptRole)
+        loc_font=QFont("Microsoft YaHei UI",40)
        msg_box_finish.setFont(loc_font)
+        ok_button.setStyleSheet("QPushButton { color: #fff; background-color: red;margin-right: 80px;padding:15px }")
        result=msg_box_finish.exec()
        self.label_remain_num.setText(str(self.feeding.feedConfig.remain_count))
     
@ -1727,19 +1785,29 @@ class MainWindow(QMainWindow, Ui_MainWindow):
        self.relay_controller.open(alarm=True)
        self.send_pauseFeed_click()
        msg_box_finish = QMessageBox()
-        msg_box_finish.setIcon(QMessageBox.Icon.Warning)
+        msg_box_finish.setIcon(QMessageBox.Icon.Critical)
        msg_box_finish.setText(error_msg)
        msg_box_finish.setWindowTitle("提示")
-        msg_box_finish.addButton("确定", QMessageBox.AcceptRole)
-        loc_font=QFont("Microsoft YaHei UI",20)
+        ok_button=msg_box_finish.addButton("确定", QMessageBox.AcceptRole)
+        loc_font=QFont("Microsoft YaHei UI",40)
        msg_box_finish.setFont(loc_font)
+        ok_button.setStyleSheet("QPushButton { color: #fff; background-color: red;margin-right: 80px;padding:15px }")
        result=msg_box_finish.exec()
-        if error_code==1:
-            msg_box_finish.setText("是否打开滚筒让料带滚出？")
-            msg_box_finish.addButton("取消", QMessageBox.RejectRole)
-            result=msg_box_finish.exec()
-            if result == QMessageBox.AcceptRole:
-                self.relay_controller.open(conveyor2=True)
+        if result == QMessageBox.AcceptRole:
+            self.relay_controller.close(alarm=True)
+        # if error_code==1:
+        #     msg_box_finish.setText("是否打开滚筒让料带滚出?")
+        #     cancel_button=msg_box_finish.addButton("取消", QMessageBox.RejectRole)
+        #     cancel_button.setStyleSheet("QPushButton { color: #fff; background-color: #007bff;margin-left: 80px;padding:15px }")
+        #     result=msg_box_finish.exec()
+        #     if result == QMessageBox.AcceptRole:
+        #         self.relay_controller.open(conveyor2=True)
+        #         msg_box_finish.removeButton(msg_box_finish.button(QMessageBox.RejectRole))
+        #         msg_box_finish.setText("请务必确认滚出后再继续程序！！！")
+                # self.relay_controller.close(conveyor2=True)
+
+    def update_remain_num(self,remain_num):
+        self.record_remain_num()

    def emergency_press_notify(self,emergency_pressed):
        """
@ -1747,11 +1815,13 @@ 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.label_button_status.setText("急停中，禁止操作")
        else:
            if self.is_emergency_pressed:
+                print('已暂停，可操作工控机')
                self.label_button_status.setText("已暂停，可操作工控机")

                self.is_emergency_pressed = False
@ -2267,15 +2337,15 @@ class MainWindow(QMainWindow, Ui_MainWindow):

    def show_infomessage_box(self,message):
        print('显示弹窗')
-        msg_box = QMessageBox(self)
+        msg_box = QMessageBox()
        msg_box.setWindowTitle("提示")
        msg_box.setText(message)
        msg_box.setIcon(QMessageBox.Icon.Information)
-        msg_box.setStandardButtons(QMessageBox.StandardButton.Ok)
-        font = msg_box.font()
-        font.setPointSize(20)
-        msg_box.setFont(font)
-        msg_box.show()
+        loc_font=QFont("Microsoft YaHei UI",40)
+        msg_box.setFont(loc_font)
+        ok_button = msg_box.addButton("确定", PySide6.QtWidgets.QMessageBox.ButtonRole.AcceptRole)    
+        ok_button.setStyleSheet("QPushButton { color: #fff; background-color: red;margin-right: 80px;padding:15px }")
+        msg_box.exec()
    def send_click_change_stackView(self,index):
        self.stackedWidget_view.setCurrentIndex(index)
        if index == 0:
@ -2348,6 +2418,8 @@ 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())
             self.configReader.write(open(Constant.set_ini, 'w', encoding='utf-8'))
@ -2379,7 +2451,9 @@ if __name__ == "__main__":
    window = MainWindow()
    # window.show()
    # window.showFullScreen()
+    window.setWindowFlags(window.windowFlags() & ~Qt.WindowCloseButtonHint)
    window.showMaximized()
+    window.setStyleSheet("QPushButton#qt_close_button {visibility: collapse;}")
    sys.excepthook = handle_exception
    try :
        sys.exit(app.exec())