复位-急停

CU/Feeding.py

@@ -36,9 +36,16 @@ from Mv3D.calculate_diff2 import calculate_offset_from_image
 
 class ResetStatus(Enum):
     RNone = 0
+    #开始复位 
     RStart = 1
+    #复位向上移到最高点
     RRunging = 2
+    #扔包点
     ROk =3
+    #复位点
+    RRestPoint = 5
+    #复位完成
+    RFinish = 4
 
 class FeedStatus(IntEnum):
     FNone = 0
@@ -325,6 +332,8 @@ class Feeding(QObject):
     stack_finish_signal=Signal()
     #误差过大，通知用户
     feed_error_signal=Signal(int,str)
+    #数量保存信号
+    feed_nums_signal=Signal(int)
 
     def __init__(self, robotClient: RobotClient,relay_controller:RelayController):
         super().__init__()
@@ -496,6 +505,10 @@ class Feeding(QObject):
                     #self.catch.catch_status = CatchStatus.CTake
 
         elif self.feedStatus == FeedStatus.FPhoto:
+           
+            if not real_position.compare(self.robotClient.origin_position,is_action=True):
+                 return
+            
             #码垛的数量和配置的数量一致时
             if self.feedConfig.remain_count >=self.feedConfig.num:
                 #关闭，暂停
@@ -506,7 +519,7 @@ class Feeding(QObject):
                 self.feedConfig.feedLine.origin2start_pos_index = len(self.feedConfig.feedLine.origin_to_start) - 2
                 #码垛数量重置
                 self.feedConfig.remain_count=0
-                self.next_position(self.is_reverse)
+                # self.next_position(self.is_reverse)
                 #码垛完成信号通知
                 self.stack_finish_signal.emit()
                 self.log_signal.emit(logging.INFO, Constant.str_feed_photo)
@@ -521,6 +534,8 @@ class Feeding(QObject):
                     return
                 #初始点无论如何先打开夹爪
                 self.relay_controller.close(clamp=True)
+
+                self.relay_controller.close(blow_sensor2=True)
                 #重新抓去信号料带
                 self.take_sensor_signal=False
                 self.relay_controller.sensor2_ready=True
@@ -570,10 +585,11 @@ class Feeding(QObject):
                     print(f"视频模型异常：{loc_image_path}",e)
                     # loc_is_next=False
                     loc_offsetX=0
+                    if not Constant.DebugPosition:      
                         self.feed_error_signal.emit(2,"视频模型异常")
                         self.log_signal.emit(logging.ERROR, f"视频模型异常：{e}")
                 finally:
-                    if loc_is_next:
+                    if loc_is_next or Constant.DebugPosition:
                             self.feedConfig.feedLine.set_feeding_to_end(loc_offsetX)
                             self.next_position()
                             self.log_signal.emit(logging.INFO, Constant.str_sys_runing2)
@@ -677,9 +693,10 @@ class Feeding(QObject):
                     # (后续增加) 视觉确认: 拍照确认袋子已放置
                     # self.detection.get_position(...)
                     # self.feedConfig.feedLine.set_take_position(...)
-                    
+                    self.relay_controller.open(blow_sensor2=True)
                     # 码垛数量增加
                     self.feedConfig.remain_count = self.feedConfig.remain_count + 1
+                    self.feed_nums_signal.emit(self.feedConfig.remain_count)
                     # self.feedConfig.num = self.feedConfig.num - 1
                     self.log_signal.emit(logging.INFO, f'{Constant.str_feed_feed_num}{self.feedConfig.remain_count}')
                     # 5. *** 关键步骤 ***: 移动到路径中的下一个点
@@ -909,6 +926,7 @@ class Feeding(QObject):
         print(request_command)
         self.robotClient.add_sendQuene(request_command)
         pass
+    
     # def get_take_position(self):
     #     if Constant.Debug:
     #         return self.robotClient.status_model.getRealPosition()
@@ -1033,3 +1051,109 @@ class Feeding(QObject):
         return True
         pass
 
+class FeedReset(QObject):
+    def __init__(self,robotClient: RobotClient,relay_controller:RelayController,positions):
+        super().__init__()
+        self.robotClient = robotClient
+        self.relay_controller = relay_controller
+        self.reversed_positions = positions
+        self.reset_status = ResetStatus.RNone
+
+    def run_reset(self):
+        if self.reset_status == ResetStatus.RNone:
+            return
+
+        real_position = Real_Position()
+        real_position.init_position_joint_and_world(self.robotClient.status_model.world_0,
+                                    self.robotClient.status_model.world_1,
+                                    self.robotClient.status_model.world_2,
+                                    self.robotClient.status_model.world_3,
+                                    self.robotClient.status_model.world_4,
+                                    self.robotClient.status_model.world_5,
+                                    self.robotClient.status_model.axis_0,
+                                    self.robotClient.status_model.axis_1,
+                                    self.robotClient.status_model.axis_2,
+                                    self.robotClient.status_model.axis_3,
+                                    self.robotClient.status_model.axis_4,
+                                    self.robotClient.status_model.axis_5)
+
+        if self.reset_status == ResetStatus.RStart:
+            #当前位置
+            self.reverse_index = 0
+            self.current_position = PositionModel()
+            self.current_position.init_position(real_position)
+            self.reset_status = ResetStatus.RRunging
+
+        elif self.reset_status == ResetStatus.RRunging:
+            #到达当前位置-》移到机械臂最上方
+
+            if not real_position.compare(self.current_position.get_position(),is_action=True):
+                return
+            self.current_position.X=real_position.Axis_0
+            self.current_position.Y=-59.997
+            self.current_position.Z=real_position.Axis_2
+            self.current_position.U=real_position.Axis_3
+            self.current_position.V=real_position.Axis_4
+            self.current_position.W=real_position.Axis_5
+            self.current_position.lineType=4
+            # pos_model.get_position().Y = pos_model.get_position().Y + 10000
+            #linetype 4是关节移动
+            self.sendTargPosition(pos_model= self.current_position,speed=60)
+            self.reset_status=ResetStatus.ROk
+             
+        elif self.reset_status == ResetStatus.ROk:
+            #到达机械臂最上方--》扔包点
+            if not real_position.compare(self.current_position.get_position(),is_action=True):
+                return
+            pos_model=self.reversed_positions[self.reverse_index]
+            
+            self.current_position = pos_model
+            self.sendTargPosition(pos_model=pos_model,speed=60)
+            self.reverse_index = self.reverse_index + 1
+            self.reset_status = ResetStatus.RRestPoint
+        elif self.reset_status == ResetStatus.RRestPoint:
+            #到达扔包点-》发送复位点
+            if real_position.compare(self.current_position.get_position(),is_action=True):
+                self.relay_controller.close(clamp=True)
+                pos_model=self.reversed_positions[self.reverse_index]
+                self.current_position = pos_model
+                self.sendTargPosition(pos_model=pos_model,speed=60)
+                self.reset_status = ResetStatus.RFinish
+        elif self.reset_status == ResetStatus.RFinish:
+           #到达复位点-》RNone
+            if not real_position.compare(self.current_position.get_position(),is_action=True):
+                return
+            self.reset_status = ResetStatus.RNone
+        
+           
+    def sendTargPosition(self, pos_model:PositionModel, speed=5):
+        real_position=pos_model.get_position()
+        position_instruction = Instruction()
+        position_instruction.speed = speed
+        position_instruction.m0 = real_position.X
+        position_instruction.m1 = real_position.Y
+        position_instruction.m2 = real_position.Z
+        position_instruction.m3 = real_position.U
+        position_instruction.m4 = real_position.V
+        position_instruction.m5 = real_position.W
+        position_instruction.smooth = self.robotClient.smooth
+        
+        if pos_model.lineType == 4:
+             #linetype 4是关节移动
+            position_instruction.action = MoveType.AXIS.value
+        else:
+            position_instruction.action = MoveType.WORLD.value
+
+        if position_instruction.action == 17:
+            position_instruction.m0_p = real_position1.X
+            position_instruction.m1_p = real_position1.Y
+            position_instruction.m2_p = real_position1.Z
+            position_instruction.m3_p = real_position1.U
+            position_instruction.m4_p = real_position1.V
+            position_instruction.m5_p = real_position1.W
+        instruction_command = CMDInstructRequest()
+        instruction_command.instructions.append(position_instruction)
+        request_command = instruction_command.toString()
+        self.robotClient.add_sendQuene(request_command)
+        pass
+    

Config/reset_line.ini

@@ -0,0 +1,34 @@
+[FeedLine1]
+id = 1
+name = 1号线
+
+
+[Position1]
+x = -24.063
+y = -42.650
+z = -52.472
+u = 21.969
+v = 0.0
+w = 0.0
+id = 1
+order = 1
+lineid = 1
+status = 1
+linetype = 4
+
+[Position2]
+x = -44.430
+y = -59.997604
+z = -80.499
+u = 51.386665
+v = 0.0
+w = -0.0
+id = 2
+order = 2
+lineid = 1
+status = 2
+linetype = 4
+
+
+
+

Constant.py

@@ -3,7 +3,7 @@ import os
 # 调试变量
 Debug = False # 控制不加图像的Fphoto False是不加
 Debug1 = False # 打印很多日志节点
-DebugPosition = True # 调试位置，关闭机器人和传感器及判断
+DebugPosition = False # 调试位置，关闭机器人和传感器及判断
 # Debug2 = False
 feedStatus = True #feedStatus的状态打印
 
@@ -20,8 +20,10 @@ manual_adjust_accuracy = 1
 feedLine_set_section = 'FeedLine'
 dropLine_set_section = 'DropLine'
 position_set_section = 'Position'
+reset_line_set_section = 'ResetLine'
 feedLine_set_file = f'.{os.sep}Config{os.sep}FeedLine.ini'
 dropLine_set_file = f'.{os.sep}Config{os.sep}drop.ini'
+resetLine_set_file = f'.{os.sep}Config{os.sep}reset_line.ini'
 MAX_Position_num = 40
 MAX_Line_num = 10
 set_ini = 'Seting.ini'

EMV/EMV.py

@@ -55,6 +55,7 @@ class RelayController(QObject):
         self.SENSOR2 = 'sensor2'
         self.BELT = 'belt'
         self.ALARM = 'alarm'
+        self.BLOW_SENSOR2 = 'blow_sensor2'
 
         self.valve_commands = {
             #包装机皮带
@@ -71,6 +72,8 @@ class RelayController(QObject):
             self.BELT: {'open': '00000000000601050006FF00', 'close': '000000000006010500060000'},
             #D01 声控报警
             self.ALARM: {'open': '00000000000601050000FF00', 'close': '000000000006010500000000'},
+            #DO6 吹传感器2
+            self.BLOW_SENSOR2: {'open': '00000000000601050005FF00', 'close': '000000000006010500050000'},
             #滚筒反转
             self.CONVEYOR2_REVERSE: {'open': '000100000006020620000022', 'close': '000100000006020620000001'}
         }
@@ -91,6 +94,7 @@ class RelayController(QObject):
             self.CONVEYOR2_REVERSE: 5,
             self.BELT: 6,
             self.ALARM: 7,
+            #self.BLOW_SENSOR2: 8
         }
 
         self.sensor_bit_map = {
@@ -99,14 +103,15 @@ class RelayController(QObject):
         }
 
         self.device_name_map = {
-            self.CONVEYOR1: "传送带1",
+            self.CONVEYOR1: "包装机皮带",
             self.PUSHER: "推板开",
-            self.CONVEYOR2: "传送带2",
+            self.CONVEYOR2: "滚筒",
             self.CLAMP: "机械臂夹爪",
             self.PUSHER1: "推板关",
-            self.CONVEYOR2_REVERSE: "传送带2反转",
+            self.CONVEYOR2_REVERSE: "滚筒反转",
             self.BELT: "皮带",
             self.ALARM: "声控报警",
+            self.BLOW_SENSOR2: "吹传感器2"
         }
 
         self.sensor_name_map = {
@@ -142,7 +147,7 @@ class RelayController(QObject):
                     sock.connect((self.host, self.port))
                     sock.send(byte_data)
                     response = sock.recv(1024)
-                    hex_response = binascii.hexlify(response).decode('utf-8')
+                    # hex_response = binascii.hexlify(response).decode('utf-8')
                     #if source == 'sensor':
                         #print(f"[传感器响应] {hex_response}")
                     #elif source == 'device':
@@ -163,8 +168,8 @@ class RelayController(QObject):
 
     # ===================== 状态读取方法 =====================
     def get_all_device_status(self, command_type='devices'):
-        if Constant.DebugPosition:
+        # if Constant.DebugPosition:
-             return {self.SENSOR2:True}
+        #      return {self.SENSOR2:True}
         command = self.read_status_command.get(command_type)
         if not command:
             print(f"未知的网络继电器读取类型: {command_type}")
@@ -178,7 +183,7 @@ class RelayController(QObject):
             status_byte = response[9]
             status_bin = f"{status_byte:08b}"[::-1]
             bit_map = self.device_bit_map if command_type == 'devices' else self.sensor_bit_map
-            name_map = self.device_name_map if command_type == 'devices' else self.sensor_name_map
+            # name_map = self.device_name_map if command_type == 'devices' else self.sensor_name_map
 
             for key, bit_index in bit_map.items():
                 status_dict[key] = status_bin[bit_index] == '1'
@@ -234,7 +239,6 @@ class RelayController(QObject):
         return loc_is_pressed
         
 
-
     def parse_status_code(self, response):
         """
         从 Modbus 响应字符串中提取状态码（后两位）
@@ -364,36 +368,39 @@ class RelayController(QObject):
             time.sleep(check_interval)      
         return False
     # ===================== 动作控制方法 =====================
-    def open(self, conveyor1=False, pusher=False, conveyor2=False, clamp=False, pusher1=False, conveyor2_reverse=False,belt=False,alarm=False):
+    def open(self, conveyor1=False, pusher=False, conveyor2=False, clamp=False, pusher1=False, conveyor2_reverse=False,belt=False,alarm=False,blow_sensor2=False):
-        if Constant.DebugPosition:
+        # if Constant.DebugPosition:
-            return
+        #     return
-        status = self.get_all_device_status()
+        # status = self.get_all_device_status()
-        if conveyor1 and not status.get(self.CONVEYOR1, False):
+        if conveyor1:
             self.send_command(self.valve_commands[self.CONVEYOR1]['open'])
             time.sleep(self.delay_conveyor)
-        if pusher and not status.get(self.PUSHER, False):
+        if pusher:
             self.send_command(self.valve_commands[self.PUSHER]['open'])
             time.sleep(self.delay_pusher)
-        if conveyor2 and not status.get(self.CONVEYOR2, False):
+        if conveyor2:
             self.send_command(self.valve_commands[self.CONVEYOR2]['open'])
             time.sleep(self.delay_conveyor)
-        if clamp and not status.get(self.CLAMP, False):
+        if clamp:
             self.send_command(self.valve_commands[self.CLAMP]['open'])
             time.sleep(self.delay_clamp)
-        if pusher1 and not status.get(self.PUSHER1, False):
+        if pusher1:
             self.send_command(self.valve_commands[self.PUSHER1]['open'])
             time.sleep(self.delay_pusher)
         if conveyor2_reverse:
             self.send_command(self.valve_commands[self.CONVEYOR2_REVERSE]['open'])
             time.sleep(self.delay_conveyor)
-        if belt and not status.get(self.BELT, False):
+        if belt:
             self.send_command(self.valve_commands[self.BELT]['open'])
             # time.sleep(self.delay_belt)
-        if alarm and not status.get(self.ALARM, False):
+        if alarm:
             self.send_command(self.valve_commands[self.ALARM]['open'])
             # time.sleep(self.delay_alarm)
+        if blow_sensor2:
+            self.send_command(self.valve_commands[self.BLOW_SENSOR2]['open'])
+            # time.sleep(self.delay_blow_sensor2)
 
-    def close(self, conveyor1=False, pusher=False, conveyor2=False, clamp=False, pusher1=False, conveyor2_reverse=False,belt=False,alarm=False):
+    def close(self, conveyor1=False, pusher=False, conveyor2=False, clamp=False, pusher1=False, conveyor2_reverse=False,belt=False,alarm=False,blow_sensor2=False):
         if conveyor1:
             self.send_command(self.valve_commands[self.CONVEYOR1]['close'])
             time.sleep(self.delay_conveyor)
@@ -418,6 +425,9 @@ class RelayController(QObject):
         if alarm:
             self.send_command(self.valve_commands[self.ALARM]['close'])
             # time.sleep(self.delay_alarm)
+        if blow_sensor2:
+            self.send_command(self.valve_commands[self.BLOW_SENSOR2]['close'])
+            # time.sleep(self.delay_blow_sensor2)
 
     # ===================== 传感器处理线程 =====================
     def handle_sensor1(self):
@@ -497,11 +507,16 @@ class RelayController(QObject):
                         # 发送信号通知机器人取走物品
                         self.take_robot_signal.emit()
                         _is_signal=False
-                        self.sensor2_ready=False   #打开滚洞标识
+                        self.sensor2_ready=False   #打开滚洞标识，FPhoto控制打开
                     else:
                         if self.sensor2_ready: 
                             #只有在FPhoto处才有效
                             _is_signal=True
+                            if self.motor_stopped_by_sensor2:
+                                print('开滚筒')
+                                self.open(conveyor2=True)
+                                self.motor_stopped_by_sensor2 = False
+
                     # time.sleep(0.1)
                     continue
                 elif self.sensor2_ready:
@@ -524,6 +539,13 @@ class RelayController(QObject):
         """
         self._ispause = is_pause
         
+        if is_pause:
+            """暂停皮带"""
+            self.close(belt=True)
+        else:
+            """开启皮带"""
+            self.open(belt=True)
+
 
     def stop_sensor(self,sensor1_thread,sensor2_thread):
         if not self._running:
@@ -539,15 +561,21 @@ class RelayController(QObject):
 
     def handle_emergency_pressed(self):
         "处理急停按钮信号状态线程"
+        print('检查急停按钮状态1')
+               
         while self._running:
             try:
+                print('检查急停按钮状态')
                 loc_is_pressed =self.get_emergency_is_pressed()
                 if loc_is_pressed:
                     # 处理急停按钮信号状态                 
+                    if  not self.emergency_is_pressed:     
+                        print('急停按钮被按下')
                         self.log_signal.emit(logging.INFO,f"急停按钮被按下")
                     self.emergency_is_pressed=True
                     self.emergency_signal.emit(True)
                 else:
+                    print('急停按钮未被按下')
                     self.emergency_is_pressed=False
                     self.emergency_signal.emit(False)
                 time.sleep(0.5)

EMV/all_sensors_device_test.py

@@ -1,4 +1,7 @@
+import os
+import sys
 
+sys.path.insert(0, os.path.dirname(os.path.dirname(__file__)))
 from EMV import RelayController
 import time
 import threading
@@ -35,6 +38,18 @@ def test_device(device_name, action):
         'clamp': {
             'open': lambda: relay_controller.open(clamp=True),
             'close': lambda: relay_controller.close(clamp=True)
+        },
+        'alarm': {
+            'open': lambda: relay_controller.open(alarm=True),
+            'close': lambda: relay_controller.close(alarm=True)
+        },
+        'belt': {
+            'open': lambda: relay_controller.open(belt=True),
+            'close': lambda: relay_controller.close(belt=True)
+        },
+        'blow_sensor2': {
+            'open': lambda: relay_controller.open(blow_sensor2=True),
+            'close': lambda: relay_controller.close(blow_sensor2=True)
         }
     }
 
@@ -83,16 +98,18 @@ if __name__ == "__main__":
     # print(sensors)
     # time.sleep(3)
     # test_device('conveyor2', 'open')
-    test_device('conveyor2_reverse', 'open')
+    # test_device('belt', 'close')
     # time.sleep(3)
     # test_device('conveyor2', 'open')
-    test_device('conveyor2', 'close')
+    # test_device('belt', 'close')
     # sensors = relay_controller.get_all_device_status('sensors')
     # sensor2_value = sensors.get(relay_controller.SENSOR2, False)
     
     # relay_controller._running=True
     # relay_controller.handle_sensor2()
-    # test_device('conveyor2', 'close')
+    test_device('blow_sensor2', 'close')
+
+    # test_device('blow_sensor2', 'close')
     # while True:
     # if relay_controller.is_valid_sensor_status_1('sensor2'):         
     #     test_device('conveyor2', 'close')
@@ -112,8 +129,10 @@ if __name__ == "__main__":
     #     time.sleep(0.1)
   
         
+    # relay_controller._running=True
+    # relay_controller.handle_emergency_pressed()
 
-
+    time.sleep(100)
 
     print('aaaaa')
     

Seting.ini

@@ -47,7 +47,7 @@ photo_v5 = 0.0
 photo_w5 = 1.0
 linecount = 2
 remain_linename = 1
-remain_count = 0
+remain_count = 3
 maduo_count = 30
 io_take_addr = 8
 io_zip_addr = 11

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()
@@ -92,6 +95,7 @@ class MainWindow(QMainWindow, Ui_MainWindow):
        
         
         
+
     def init_IOPanel(self):
         self.dirt_io_points = {}
         self.dirt_io_points.setdefault('y1', self.widget_y1)
@@ -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
+        self.remain_Count=int(self.lineEdit_num.text())
-        if self.remain_Count<0:
+        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
+            row = i // 6
-            col = (i - 1) % 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)
+        ok_button=msg_box_finish.addButton("确定", QMessageBox.AcceptRole)
-        loc_font=QFont("Microsoft YaHei UI",20)
+        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)
+        ok_button=msg_box_finish.addButton("确定", QMessageBox.AcceptRole)
-        loc_font=QFont("Microsoft YaHei UI",20)
+        loc_font=QFont("Microsoft YaHei UI",40)
         msg_box_finish.setFont(loc_font)
-        result=msg_box_finish.exec()
+        ok_button.setStyleSheet("QPushButton { color: #fff; background-color: red;margin-right: 80px;padding:15px }")
-        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)
+            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)
+        loc_font=QFont("Microsoft YaHei UI",40)
-        font = msg_box.font()
+        msg_box.setFont(loc_font)
-        font.setPointSize(20)
+        ok_button = msg_box.addButton("确定", PySide6.QtWidgets.QMessageBox.ButtonRole.AcceptRole)    
-        msg_box.setFont(font)
+        ok_button.setStyleSheet("QPushButton { color: #fff; background-color: red;margin-right: 80px;padding:15px }")
-        msg_box.show()
+        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())

ui_MainWin.py

@@ -235,9 +235,9 @@ class Ui_MainWindow(object):
         sizePolicy1.setHeightForWidth(self.pushButton_exit.sizePolicy().hasHeightForWidth())
         self.pushButton_exit.setSizePolicy(sizePolicy1)
         self.pushButton_exit.setStyleSheet(u"*{\n"
-"color:#838992;\n"
+"color:#fff;\n"
 "background-color: #1B1F34;\n"
-"font: 9pt \"Microsoft YaHei UI\";\n"
+"font: 30pt \"Microsoft YaHei UI\";\n"
 "border: 1px solid #282B40;\n"
 "}\n"
 "*:pressed\n"
@@ -3455,7 +3455,7 @@ class Ui_MainWindow(object):
         self.pushButton_numkeybord.setSizePolicy(sizePolicy1)
         self.pushButton_numkeybord.setStyleSheet(u"\n"
 "*{background-color: #101F3F;\n"
-"font: 20pt \"\u6977\u4f53\";\n"
+"font: 30pt \"\u6977\u4f53\";\n"
 "color:#ffffff\n"
 "}\n"
 "*:hover {\n"
@@ -3475,7 +3475,7 @@ class Ui_MainWindow(object):
         self.pushButton_num_confirm.setSizePolicy(sizePolicy1)
         self.pushButton_num_confirm.setStyleSheet(u"\n"
 "*{background-color: #101F3F;\n"
-"font: 20pt \"\u6977\u4f53\";\n"
+"font: 30pt \"\u6977\u4f53\";\n"
 "color:#ffffff\n"
 "}\n"
 "*:hover {\n"
@@ -3545,7 +3545,7 @@ class Ui_MainWindow(object):
         self.pushButton_reset.setSizePolicy(sizePolicy5)
         self.pushButton_reset.setStyleSheet(u"*{\n"
 "background-color: #FFFFBF;\n"
-"font: 20pt \"\u6977\u4f53\";\n"
+"font: 30pt \"\u6977\u4f53\";\n"
 "border-radius: 10px;\n"
 "}\n"
 "*:pressed\n"
@@ -3584,7 +3584,7 @@ class Ui_MainWindow(object):
         self.pushButton_stopFeed.setSizePolicy(sizePolicy5)
         self.pushButton_stopFeed.setStyleSheet(u"*{\n"
 "background-color: #FF0000;\n"
-"font: 20pt \"\u6977\u4f53\";\n"
+"font: 30pt \"\u6977\u4f53\";\n"
 "border-radius: 10px;\n"
 "}\n"
 "*:pressed\n"
@@ -3603,7 +3603,7 @@ class Ui_MainWindow(object):
         self.pushButton_pauseFeed.setSizePolicy(sizePolicy5)
         self.pushButton_pauseFeed.setStyleSheet(u"*{\n"
 "background-color: #2196F3;\n"
-"font: 20pt \"\u6977\u4f53\";\n"
+"font: 30pt \"\u6977\u4f53\";\n"
 "border-radius: 10px;\n"
 "}\n"
 "*:pressed\n"
@@ -3622,7 +3622,7 @@ class Ui_MainWindow(object):
         self.pushButton_startFeed.setSizePolicy(sizePolicy5)
         self.pushButton_startFeed.setStyleSheet(u"*{\n"
 "background-color: #499C54;\n"
-"font: 20pt \"\u6977\u4f53\";\n"
+"font: 30pt \"\u6977\u4f53\";\n"
 "\n"
 "border-radius: 10px;\n"
 "}\n"
@@ -3642,7 +3642,7 @@ class Ui_MainWindow(object):
         self.pushButton_clearAlarm.setSizePolicy(sizePolicy5)
         self.pushButton_clearAlarm.setStyleSheet(u"*{\n"
 "background-color: #1CB2B1;\n"
-"font: 20pt \"\u6977\u4f53\";\n"
+"font: 30pt \"\u6977\u4f53\";\n"
 "border-radius: 10px;\n"
 "}\n"
 "*:pressed\n"
@@ -3813,7 +3813,7 @@ class Ui_MainWindow(object):
         self.label_remain_num = QLabel(self.frame_24)
         self.label_remain_num.setObjectName(u"label_remain_num")
         self.label_remain_num.setStyleSheet(u"color: rgb(0, 255, 0);\n"
-"font: 36pt \"Microsoft YaHei UI\";")
+"font: 66pt \"Microsoft YaHei UI\";")
         self.label_remain_num.setAlignment(Qt.AlignmentFlag.AlignCenter)
 
         self.horizontalLayout_12.addWidget(self.label_remain_num)
@@ -4043,7 +4043,7 @@ class Ui_MainWindow(object):
         # self.pushButton_num4.setText(QCoreApplication.translate("MainWindow", u"40", None))
         # self.pushButton_num5.setText(QCoreApplication.translate("MainWindow", u"50", None))
         # self.pushButton_num6.setText(QCoreApplication.translate("MainWindow", u"60", None))
-        self.lineEdit_num.setPlaceholderText(QCoreApplication.translate("MainWindow", u"\u4ece\u7b2c\u51e0\u5305\u5f00\u59cb\u7801\u579b\u002c\u8f93\u5165\u540e\u70b9\u51fb\u786e\u5b9a", None))
+        self.lineEdit_num.setPlaceholderText(QCoreApplication.translate("MainWindow", u"已码垛数量", None))
         self.pushButton_numkeybord.setText(QCoreApplication.translate("MainWindow", u"\u952e\u76d8", None))
         self.pushButton_num_confirm.setText(QCoreApplication.translate("MainWindow", u"\u786e\u5b9a", None))
         # self.pushButton_AddNum.setText(QCoreApplication.translate("MainWindow", u"\u8865\u4e00\u888b", None))