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update 更新框架和控制细节

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Dream
2024-08-29 18:41:51 +08:00
parent 304a7044d4
commit 0ac8f8e86f
9 changed files with 1015 additions and 550 deletions
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236
app.py
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@ -3,8 +3,9 @@ import json
import queue
import sys
from PySide6.QtWidgets import QApplication, QMainWindow, QPushButton
from CU.Feeding import FeedLine, FeedingConfig
from datetime import datetime
from CU.Command import FeedCommand
from CU.Feeding import FeedLine, FeedingConfig, Feeding, FeedStatus
from ui_untitled import Ui_MainWindow
from COM.COM_Robot import RobotClient
from Expection import Error_Code
@ -13,6 +14,8 @@ from Model.RobotModel import *
import time
from queue import Queue
from Model.Position import Real_Position
from threading import Thread
from CU.Command import Status
@ -20,87 +23,61 @@ class MainWindow(QMainWindow,Ui_MainWindow):
def __init__(self):
super(MainWindow, self).__init__()
self.setupUi(self)
self.pushButton_17.clicked.connect(self.send_position_button_click)
self.robotClient = None
self.configReader = configparser.ConfigParser()
self.init_UI()
self.init_Run()
self.init_FeedLine()
self.init_robot_info()
start_Runing()
def init_UI(self):
self.horizontalSlider_J1.sliderReleased.connect(self.slider_valueChanged)
self.horizontalSlider_J2.sliderReleased.connect(self.slider_valueChanged)
self.horizontalSlider_J3.sliderReleased.connect(self.slider_valueChanged)
self.horizontalSlider_J4.sliderReleased.connect(self.slider_valueChanged)
self.horizontalSlider_J5.sliderReleased.connect(self.slider_valueChanged)
self.horizontalSlider_J6.sliderReleased.connect(self.slider_valueChanged)
#self.horizontalSlider_J1.sliderReleased
self.pushButton_num1.clicked.connect(self.send_num_button_click)
self.pushButton_num2.clicked.connect(self.send_num_button_click)
self.pushButton_num3.clicked.connect(self.send_num_button_click)
self.pushButton_num4.clicked.connect(self.send_num_button_click)
self.pushButton_num5.clicked.connect(self.send_num_button_click)
self.pushButton_num6.clicked.connect(self.send_num_button_click)
self.pushButton_AddNum.clicked.connect(self.send_addNum_button_click)
self.pushButton_SubNum.clicked.connect(self.send_subNum_button_click)
self.pushButton_num_free.clicked.connect(self.send_num_button_click)
self.lineEdit_num.returnPressed.connect(self.send_custom_num_returnPressed)
int_validator = QIntValidator(0, 100, self)
self.lineEdit_num.setValidator(int_validator)
# self.horizontalSlider_J1.sliderReleased
self.pushButton_startFeed.clicked.connect(self.send_startFeed_button_click)
def init_Run(self):
self.robotClient = None
self.configReader = configparser.ConfigParser()
self.command_position_quene = Queue()
self.status_address = DataAddress()
self.feedLine_dict = dir()
self.command_quene = Queue()
self.init_Run()
self.init_robot_info()
self.main_threading = None
def send_startFeed_button_click(self):
num = self.horizontalSlider_feedingNum.value()
line_index = str(self.comboBox_lineIndex.currentIndex()+1)
self.command_quene.put(FeedingConfig(num, line_index))
def slider_valueChanged(self):
global last_time
now_time = time.time()
if(now_time-last_time) < 2:
return
last_time = now_time
position_instruction = Instruction()
position_instruction.m0 = self.horizontalSlider_J1.value()
position_instruction.m1 = self.horizontalSlider_J2.value()
position_instruction.m2 = self.horizontalSlider_J3.value()
position_instruction.m3 = self.horizontalSlider_J4.value()
position_instruction.m4 = self.horizontalSlider_J5.value()
position_instruction.m5 = self.horizontalSlider_J6.value()
self.textEdit_j1.setText(str(self.horizontalSlider_J1.value()))
self.textEdit_j2.setText(str(self.horizontalSlider_J2.value()))
self.textEdit_j3.setText(str(self.horizontalSlider_J3.value()))
self.textEdit_j4.setText(str(self.horizontalSlider_J4.value()))
self.textEdit_j5.setText(str(self.horizontalSlider_J5.value()))
self.textEdit_j6.setText(str(self.horizontalSlider_J6.value()))
instruction_command = CMDInstructRequest()
instruction_command.instructions.append(vars(position_instruction))
request_command = vars(instruction_command)
print(request_command)
self.robotClient.add_sendQuene(request_command)
def on_button_click(self):
self.button.setText("Clicked!")
def send_position_button_click(self):
# if True:
# cmd_command = CMDRequest()
# cmd_command.cmdData = ['rewriteData', '800', f'{position_instruction.m0}', 0]
# request_command = vars(cmd_command)
# self.robotClient.add_sendQuene(request_command)
return
def init_Run(self):
self.configReader.read('Seting.ini')
ip = self.configReader.get('Robot_Feed', 'IPAddress')
port= int(self.configReader.get('Robot_Feed', 'Port'))
self.robotClient = RobotClient(ip, port,self.command_position_quene,self.status_address)
self.robotClient.CreatConnect()
self.read_FeedLine()
port = int(self.configReader.get('Robot_Feed', 'Port'))
self.robotClient = RobotClient(ip, port, self.command_position_quene, self.status_address)
try:
self.robotClient.CreatConnect()
except:
return Error_Code.SYS_NETERROR
if self.robotClient.is_Connect():
return 0
else:
return Error_Code.NETERROR
self.feeding = Feeding(self.robotClient) #临时
def read_FeedLine(self):
def init_FeedLine(self):
line_count = self.configReader.get('Robot_Feed', 'LineCount', fallback=0)
self.configReader.read('Config/FeedLine.ini')
for i in range(line_count):
@ -135,7 +112,6 @@ class MainWindow(QMainWindow,Ui_MainWindow):
pass
def init_robot_info(self):
j1_min = int(self.configReader.get('Robot', 'j1_min'))
j1_max = int(self.configReader.get('Robot', 'j1_max'))
@ -174,11 +150,139 @@ class MainWindow(QMainWindow,Ui_MainWindow):
self.label_j6_min.setText(j6_min.__str__())
self.label_j6_max.setText(str(j6_max))
def start_Runing(self):
self.main_threading = Thread(target=run)
self.main_threading.start()
def send_startFeed_button_click(self):
num = self.horizontalSlider_feedingNum.value()
line_index = str(self.comboBox_lineIndex.currentIndex()+1)
self.command_quene.put(FeedCommand(FeedingConfig(num, line_index)))
self.stackedWidget_num.setCurrentIndex(1)
def send_num_button_click(self):
button = self.sender()
if button.text() != "自定义":
num = int(button.text())
self.horizontalSlider_feedingNum.setMaximum(num)
self.horizontalSlider_feedingNum.setValue(0)
else:
self.pushButton_num_free.hide()
def send_addNum_button_click(self):
self.feeding.feedConfig.num +=1
def send_subNum_button_click(self):
self.feeding.feedConfig.num -=1
def send_custom_num_returnPressed(self):
self.pushButton_num_free.show()
self.lineEdit_num.hide()
self.horizontalSlider_feedingNum.setValue(int(self.lineEdit_num.text()))
def slider_valueChanged(self):
global last_time
now_time = time.time()
if(now_time-last_time) < 2:
return
last_time = now_time
position_instruction = Instruction()
position_instruction.m0 = self.horizontalSlider_J1.value()
position_instruction.m1 = self.horizontalSlider_J2.value()
position_instruction.m2 = self.horizontalSlider_J3.value()
position_instruction.m3 = self.horizontalSlider_J4.value()
position_instruction.m4 = self.horizontalSlider_J5.value()
position_instruction.m5 = self.horizontalSlider_J6.value()
self.textEdit_j1.setText(str(self.horizontalSlider_J1.value()))
self.textEdit_j2.setText(str(self.horizontalSlider_J2.value()))
self.textEdit_j3.setText(str(self.horizontalSlider_J3.value()))
self.textEdit_j4.setText(str(self.horizontalSlider_J4.value()))
self.textEdit_j5.setText(str(self.horizontalSlider_J5.value()))
self.textEdit_j6.setText(str(self.horizontalSlider_J6.value()))
instruction_command = CMDInstructRequest()
instruction_command.instructions.append(vars(position_instruction))
request_command = vars(instruction_command)
print(request_command)
self.robotClient.add_sendQuene(request_command)
def on_button_click(self):
self.button.setText("Clicked!")
def send_position_button_click(self):
# if True:
# cmd_command = CMDRequest()
# cmd_command.cmdData = ['rewriteData', '800', f'{position_instruction.m0}', 0]
# request_command = vars(cmd_command)
# self.robotClient.add_sendQuene(request_command)
return
def run(self):
pass #主线程
while True:
if not self.command_quene.empty():
command = self.command_quene.get()
if isinstance(command, FeedCommand) and command.status == Status.Prepareing:
if self.feeding.feedStatus == FeedStatus.FNone:
self.feeding.feedConfig = command.feed_config
self.feeding.feedStatus = FeedStatus.FStart
command.status = Status.Runing
def send_position_command(self,position):
self.feeding.run()
updateUI(self)
#pass #主线程
def updateUI(self):
if self.robotClient.is_Connect():
self.set_label_status_style(True)
else:
self.set_label_status_style(False)
self.horizontalSlider_feedingNum.setValue(self.horizontalSlider_feedingNum.maximum()-self.feeding.feedConfig.num)
if self.horizontalSlider_feedingNum.value() == 0:
self.stackedWidget_num.setCurrentIndex(0)
else:
self.stackedWidget_num.setCurrentIndex(1)
self.label_date.setText(datetime.now().strftime("%Y-%m-%d"))
self.label_time.setText(datetime.now().strftime("%H:%M:%S"))
def set_label_status_style(self,connected:bool):
palette = self.label_connect_status.palette()
if connected:
self.label_connect_status.setStyleSheet("""
QLabel {
background-color: #A2EF4D; /* 设置背景颜色 */
color: #ffffff; /* 设置字体颜色 */
border-radius: 8px; /* 圆角半径设置为 QLabel 的一半，形成圆形 */
border: 1px solid #A2EF4D; /* 设置边框颜色和宽度 */
qproperty-alignment: 'AlignCenter'; /* 设置文本居中 */
}
""")
else:
self.label_connect_status.setStyleSheet("""
QLabel {
background-color: #FD3251; /* 设置背景颜色 */
color: #ffffff; /* 设置字体颜色 */
border-radius: 8px; /* 圆角半径设置为 QLabel 的一半，形成圆形 */
border: 1px solid #FD3251; /* 设置边框颜色和宽度 */
qproperty-alignment: 'AlignCenter'; /* 设置文本居中 */
}
""")
def send_position_command(self, position):
self.robotClient.add_sendQuene(position)