🚑 update 修复日志记录闪退bug 增加移动至此 修复复位

COM/COM_TCP.py

@@ -3,6 +3,7 @@ import logging
 import socket
 import threading
 import time
+import random
 
 import Constant
 from Util.util_log import log

CU/Feeding.py

@@ -1,5 +1,6 @@
 import copy
 import logging
+import random
 import threading
 import time
 

Constant.py

@@ -2,6 +2,7 @@ import os
 
 Debug = True
 IO_EmergencyPoint = 2
+max_log_len = 100
 bag_height = 10 # 一袋的高度
 position_accuracy_action = 0.1 #动作时的位置精度6  这个精度要高 必须到位置才做动作
 position_accuracy_command = 6#命令时的位置精度

Util/util_log.py

@@ -1,5 +1,10 @@
 import logging
+import queue
+import threading
+import time
 from logging.handlers import TimedRotatingFileHandler
+from PySide6.QtCore import Signal, QObject
+
 
 
 class QTextEditLogger(logging.Handler):
@@ -15,8 +20,12 @@ class QTextEditLogger(logging.Handler):
 
 
 
-class Logger:
+class Logger(QObject):
+    log_info_signal = Signal(str)
+    log_warning_signal = Signal(str)
+    log_error_signal = Signal(str)
     def __init__(self):
+        super().__init__()
         self.logger_textEdit_info = logging.getLogger('info_logger')
         self.logger_textEdit_info.setLevel(logging.INFO)
         self.logger_textEdit_warning = logging.getLogger('warning_logger')
@@ -24,6 +33,10 @@ class Logger:
         self.logger_file_info = logging.getLogger('file_logger')
         self.logger_file_info.setLevel(logging.INFO)
         self.pre_message = ''
+        self.lock = threading.Lock()  # 创建锁
+        self.log_queue = queue.Queue()
+        self.logger_thread = threading.Thread(target=self._process_logs, daemon=True)
+        self.logger_thread.start()
 
     def init_log(self,textEdit_info,textEdit_warning,file_path):
         text_edit_handler = QTextEditLogger(textEdit_info)
@@ -41,27 +54,45 @@ class Logger:
         formatter = logging.Formatter('%(asctime)s - %(levelname)s - %(message)s', datefmt='%Y-%m-%d %H:%M:%S')
         handler.setFormatter(formatter)
         self.logger_file_info.addHandler(handler)
+
+    def _process_logs(self):
+        while True:
+            time.sleep(0.1)
+            level, message = self.log_queue.get()
+            if level == logging.INFO:
+                self.log_info_signal.emit(message)
+                # self.logger_textEdit_info.info(message)
+                self.logger_file_info.info(message)
+            elif level == logging.ERROR:
+                # self.logger_textEdit_info.error(message)
+                self.logger_file_info.error(message)
+                # self.logger_textEdit_warning.error(message)
+                self.log_error_signal.emit(message)
+            elif level == logging.WARNING:
+                self.logger_file_info.warning(message)
+                self.log_warning_signal.emit(message)
     def log_message(self,level,message):
+        self.log_queue.put((level, message))
+        return
         try:
 
-            if message != self.pre_message:
+            with self.lock:  # 确保线程安全
-
+                if message == self.pre_message:
-                self.pre_message = message
-            else:
-
                     return
+                self.pre_message = message
 
             if level == logging.INFO:
 
                 self.logger_textEdit_info.info(message)
-
+                #return
                 self.logger_file_info.info(message)
 
             if level == logging.ERROR:
                 self.logger_textEdit_info.error(message)
-                self.logger_file_info.error(message)
                 self.logger_textEdit_warning.error(message)
+                self.logger_file_info.error(message)
             if level == logging.WARNING:
+                #return
                 self.logger_file_info.warning(message)
 
         except Exception as e:

main.py

@@ -1,8 +1,10 @@
 import configparser
+import copy
 import json
 import logging
 import os
 import queue
+import random
 import sys
 import threading
 from multiprocessing import Process
@@ -14,7 +16,8 @@ import numpy as np
 from PyQt5.uic.properties import QtWidgets
 from PySide6 import QtCore
 from PySide6.QtCore import QThread, Signal, Slot, QObject, QEvent, QTimer
-from PySide6.QtGui import QIntValidator, QStandardItemModel, QStandardItem, Qt, QMovie, QIcon, QCursor, QColor
+from PySide6.QtGui import QIntValidator, QStandardItemModel, QStandardItem, Qt, QMovie, QIcon, QCursor, QColor, \
+    QTextCursor
 from PySide6.QtWidgets import QApplication, QMainWindow, QPushButton, QLabel, QHeaderView, QTableWidget, \
     QTableWidgetItem, QWidget, QHBoxLayout, QAbstractItemView, QMessageBox, QSizePolicy, QComboBox, QMenu
 from datetime import datetime
@@ -326,9 +329,9 @@ class MainWindow(QMainWindow, Ui_MainWindow):
 
     def init_table_position(self):
         #self.tableWidget_line_positions.setRowCount(5)
-        self.tableWidget_line_positions.setColumnCount(13)
+        self.tableWidget_line_positions.setColumnCount(14)
 
-        self.tableWidget_line_positions.setHorizontalHeaderLabels(["节段","X","Y","Z","U","V","W","运动类型","点位类型","序号","排序","线号","操作2"])
+        self.tableWidget_line_positions.setHorizontalHeaderLabels(["节段","X","Y","Z","U","V","W","运动类型","点位类型","序号","排序","线号","操作1","操作2"])
         self.tableWidget_line_positions.setSelectionBehavior(QTableWidget.SelectRows)
         self.tableWidget_line_positions.setColumnHidden(0, True)
         self.tableWidget_line_positions.setColumnHidden(9,True)
@@ -340,7 +343,7 @@ class MainWindow(QMainWindow, Ui_MainWindow):
         header = self.tableWidget_line_positions.horizontalHeader()
         header.setSectionResizeMode(0, PySide6.QtWidgets.QHeaderView.ResizeMode.Interactive)
         self.tableWidget_line_positions.setHorizontalScrollBarPolicy(PySide6.QtCore.Qt.ScrollBarPolicy.ScrollBarAsNeeded)
-        for i in range(13):
+        for i in range(14):
             header.setSectionResizeMode(i, PySide6.QtWidgets.QHeaderView.ResizeMode.Interactive)
         self.tableWidget_line_positions.setContextMenuPolicy(PySide6.QtCore.Qt.ContextMenuPolicy.CustomContextMenu)
         self.tableWidget_line_positions.customContextMenuRequested.connect(self.show_positions_context_menu)
@@ -416,6 +419,44 @@ class MainWindow(QMainWindow, Ui_MainWindow):
         self.set_positionModel_to_tabel(row_i+1,position_model)
         self.table_line_changed = True
 
+
+    def tabel_move_position(self,row_i):
+        if self.tableWidget_line_positions.currentRow()==-1:
+            QMessageBox.information(self, "提示", Constant.str_sys_set_position_error)
+            return
+
+        row_i = self.tableWidget_line_positions.currentRow()
+        combox_line_type = self.tableWidget_line_positions.cellWidget(row_i, 7)
+        lineType = combox_line_type.currentData()
+        p1 = Real_Position().init_position(
+            float(self.tableWidget_line_positions.item(row_i, 1).text()),
+            float(self.tableWidget_line_positions.item(row_i, 2).text()),
+            float(self.tableWidget_line_positions.item(row_i, 3).text()),
+            float(self.tableWidget_line_positions.item(row_i, 4).text()),
+            float(self.tableWidget_line_positions.item(row_i, 5).text()),
+            float(self.tableWidget_line_positions.item(row_i, 6).text()),
+        )
+        if lineType == 0: #直线
+            if row_i != 0:
+                combox_line_type_inner = self.tableWidget_line_positions.cellWidget(row_i-1, 7)
+                lineType_inner = combox_line_type_inner.currentData()
+                if lineType_inner == 2:
+                    p2 = Real_Position().init_position(
+                        float(self.tableWidget_line_positions.item(row_i-1, 1).text()),
+                        float(self.tableWidget_line_positions.item(row_i-1, 2).text()),
+                        float(self.tableWidget_line_positions.item(row_i-1, 3).text()),
+                        float(self.tableWidget_line_positions.item(row_i-1, 4).text()),
+                        float(self.tableWidget_line_positions.item(row_i-1, 5).text()),
+                        float(self.tableWidget_line_positions.item(row_i-1, 6).text()),
+                    )
+                    self.send_position_command(x1=p1.X, x2=p1.Y, x3=p1.Z, x4=p1.X, x5=p1.Y, x6=p1.Z, move_type=MoveType.Cure, speed=self.robotClient.debug_speed, p2=p2)
+                    return
+            self.send_position_command(x1=p1.X, x2=p1.Y, x3=p1.Z, x4=p1.X, x5=p1.Y, x6=p1.Z, move_type=MoveType.WORLD,speed=self.robotClient.debug_speed)
+            return
+        if lineType == 4: # 自由路径
+            self.send_position_command(x1=p1.X, x2=p1.Y, x3=p1.Z, x4=p1.X, x5=p1.Y, x6=p1.Z,move_type=MoveType.AXIS,speed=self.robotClient.debug_speed)
+            return
+
     def tabel_get_position(self,row_i):
         if self.tableWidget_line_positions.currentRow()==-1:
             QMessageBox.information(self, "提示", Constant.str_sys_set_position_error)
@@ -469,9 +510,11 @@ class MainWindow(QMainWindow, Ui_MainWindow):
         get_pos_btn.clicked.connect(
             lambda _, index=row_i: self.tabel_get_position(index))
         self.tableWidget_line_positions.setCellWidget(row_i, 12, get_pos_btn)
-        # del_pos_btn = QPushButton("删除点位")
+
-        # del_pos_btn.clicked.connect(lambda _, index=row_i: self.tabel_delete_position(index))
+
-        # self.tableWidget_line_positions.setCellWidget(row_i, 12, del_pos_btn)
+        move_pos_btn = QPushButton("移至点位")
+        move_pos_btn.clicked.connect(lambda _, index=row_i: self.tabel_move_position(index))
+        self.tableWidget_line_positions.setCellWidget(row_i, 13, move_pos_btn)
     def send_table_position_status_changed(self):
         self.table_position_changed = True
 
@@ -490,9 +533,28 @@ class MainWindow(QMainWindow, Ui_MainWindow):
         pass
 
     def init_log(self):
+        log.log_info_signal.connect(self.log_info_message)
+        log.log_error_signal.connect(self.log_error_message)
+        log.log_warning_signal.connect(self.log_warning_message)
         log.init_log(self.textEdit_log_info, self.textEdit_log_error, Constant.log_file_path)
         log.log_message(logging.INFO, Constant.str_sys_start)
+    def log_info_message(self,message):
+        now = datetime.now()
+        formatted_time = now.strftime("%Y-%m-%d %H:%M:%S")
+        self.textEdit_log_info.append(f'{formatted_time}-提示： {message}')
 
+    def log_warning_message(self,message):
+        now = datetime.now()
+        formatted_time = now.strftime("%Y-%m-%d %H:%M:%S")
+        self.textEdit_log_info.append(f'{formatted_time}-注意： {message}')
+        self.textEdit_log_error.append(f'{formatted_time}-注意： {message}')
+    def log_error_message(self,message):
+        now = datetime.now()
+        formatted_time = now.strftime("%Y-%m-%d %H:%M:%S")
+        self.textEdit_log_info.append(f'{formatted_time}-报警： {message}')
+        self.textEdit_log_error.append(f'{formatted_time}-报警： {message}')
+        if self.tabWidget.currentIndex() != 1:
+            self.tabWidget.setCurrentIndex(1)
 
     def init_UI(self):
         self.pushButton_num1.clicked.connect(self.send_num_button_click)
@@ -1210,7 +1272,7 @@ class MainWindow(QMainWindow, Ui_MainWindow):
         # 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)
         if self.remain_lineName != '':
             line_head = f'{Constant.feedLine_set_section}{self.remain_lineName}'
-            return_positions = self.feedLine_dict[line_head].positions
+            return_positions = copy.deepcopy(self.feedLine_dict[line_head].positions)
             position_origin = PositionModel()
             position_origin.init_position(self.robotClient.origin_position)
             position_origin.status = 1
@@ -1591,7 +1653,7 @@ class MainWindow(QMainWindow, Ui_MainWindow):
         self.robotClient.add_sendQuene(request_command)
         # self.command_quene.put(request_command)
 
-    def send_position_command(self, x1, x2, x3, x4, x5, x6, move_type: MoveType = MoveType.WORLD):
+    def send_position_command(self, x1, x2, x3, x4, x5, x6, move_type: MoveType = MoveType.WORLD,speed=5,p2=None):
 
         position_instruction = Instruction()
         position_instruction.m0 = float(x1)
@@ -1601,7 +1663,15 @@ class MainWindow(QMainWindow, Ui_MainWindow):
         position_instruction.m4 = float(x5)
         position_instruction.m5 = float(x6)
         position_instruction.action = move_type.value
-        position_instruction.speed=self.robotClient.debug_speed
+        position_instruction.speed = self.robotClient.debug_speed
+        if position_instruction.action == 17:
+            position_instruction.m0_p = p2.X
+            position_instruction.m1_p = p2.Y
+            position_instruction.m2_p = p2.Z
+            position_instruction.m3_p = p2.U
+            position_instruction.m4_p = p2.V
+            position_instruction.m5_p = p2.W
+
         instruction_command = CMDInstructRequest()
         instruction_command.instructions.append(position_instruction)
         request_command = instruction_command.toString()