update 初次融合+调试

app.py

@@ -9,6 +9,7 @@ from PySide6.QtWidgets import QApplication, QMainWindow, QPushButton
 from datetime import datetime
 from CU.Command import FeedCommand
 from CU.Feeding import FeedLine, FeedingConfig, Feeding, FeedStatus
+from Vision.camera_coordinate_dete import Detection
 from ui_untitled import  Ui_MainWindow
 from COM.COM_Robot import RobotClient
 from Expection import  Error_Code
@@ -16,7 +17,7 @@ from queue import Queue
 from Model.RobotModel import *
 import time
 from queue import Queue
-from Model.Position import Real_Position
+from Model.Position import Real_Position, Detection_Position
 from threading import Thread
 from CU.Command import Status
 
@@ -64,7 +65,7 @@ class MainWindow(QMainWindow,Ui_MainWindow):
     def init_Run(self):
         self.robotClient = None
         self.configReader = configparser.ConfigParser()
-
+        self.detection = Detection()
         self.command_position_quene = Queue()
         self.status_address = DataAddress()
         self.feedLine_dict = {}
@@ -75,7 +76,7 @@ class MainWindow(QMainWindow,Ui_MainWindow):
         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.feeding = Feeding(self.robotClient)  # 临时
+        self.feeding = Feeding(self.robotClient,self.detection)  # 临时
         self.last_time=time.time()
         try:
             self.robotClient.CreatConnect()
@@ -257,8 +258,8 @@ class MainWindow(QMainWindow,Ui_MainWindow):
         self.horizontalSlider_J6.setValue(int(self.lineEdit_j6.text()))
 
         instruction_command = CMDInstructRequest()
-        instruction_command.instructions.append(vars(position_instruction))
-        request_command = vars(instruction_command)
+        instruction_command.instructions.append(position_instruction)
+        request_command = instruction_command.toString()
         print(request_command)
         self.robotClient.add_sendQuene(request_command)
 
@@ -301,6 +302,18 @@ class MainWindow(QMainWindow,Ui_MainWindow):
 
         self.label_date.setText(datetime.now().strftime("%Y-%m-%d"))
         self.label_time.setText(datetime.now().strftime("%H:%M:%S"))
+        self.updateUI_Position()
+
+    def updateUI_Position(self):
+        self.horizontalSlider_J1.setValue(self.status_address.world_0)
+        self.horizontalSlider_J2.setValue(self.status_address.world_1)
+        self.horizontalSlider_J3.setValue(self.status_address.world_2)
+        self.horizontalSlider_J4.setValue(self.status_address.world_3)
+        self.horizontalSlider_J5.setValue(self.status_address.world_4)
+        self.horizontalSlider_J6.setValue(self.status_address.world_5)
+
+
+
 
     def set_label_status_style(self, connected: bool):
         if connected: