update 完成UI可视化界面生成
This commit is contained in:
FrankCV2048
345
main.py
345
main.py
@ -10,14 +10,15 @@ import PySide6
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from PyQt5.uic.properties import QtWidgets
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from PySide6 import QtCore
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from PySide6.QtCore import QThread, Signal, Slot, QObject, QEvent, QTimer
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from PySide6.QtGui import QIntValidator, QStandardItemModel, QStandardItem, Qt, QMovie, QIcon
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from PySide6.QtGui import QIntValidator, QStandardItemModel, QStandardItem, Qt, QMovie, QIcon, QCursor, QColor
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from PySide6.QtWidgets import QApplication, QMainWindow, QPushButton, QLabel, QHeaderView, QTableWidget, \
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QTableWidgetItem, QWidget, QHBoxLayout, QAbstractItemView, QMessageBox, QSizePolicy, QComboBox
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QTableWidgetItem, QWidget, QHBoxLayout, QAbstractItemView, QMessageBox, QSizePolicy, QComboBox, QMenu
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from datetime import datetime
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from click import clear
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import Util.util_pic
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from Model.FeedModel import LineModel, PositionModel
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from Util.util_ini import writeFeedLine_to_ini
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import Constant
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from CU.Command import FeedCommand
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@ -49,13 +50,16 @@ class MainWindow(QMainWindow, Ui_MainWindow):
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self.init_UI()
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self.init_Run()
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self.init_robot_info()
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self.init_FeedLine()
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self.init_IOPanel()
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self.start_Runing()
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self.init_log()
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self.init_table_positions()
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self.init_FeedLine()
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self.init_table_lines()
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self.init_table_position()
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self.table_line_changed = False
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self.table_position_changed = False
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self.selected_line_section = ''
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def init_IOPanel(self):
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self.dirt_io_points = {}
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@ -157,34 +161,262 @@ class MainWindow(QMainWindow, Ui_MainWindow):
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self.widget_y32.clicked.connect(self.send_IO_Point_OpenOrClose)
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self.widget_y32.index=32
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# region 战线，点位表格初始化
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def init_table_lines(self):
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self.tableWidget_lines.setColumnCount(4)
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def init_table_positions(self):
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self.tableWidget_positions.setRowCount(9)
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self.tableWidget_positions.setColumnCount(2)
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self.tableWidget_positions.setHorizontalHeaderLabels(["名字", "删除点位"])
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self.tableWidget_positions.setSelectionBehavior(QTableWidget.SelectRows)
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self.tableWidget_positions.setAutoScroll(True)
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self.tableWidget_lines.horizontalHeader().setStyleSheet(f"background-color: {QColor(44,44,44).name()};")
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self.tableWidget_lines.verticalHeader().setStyleSheet(f"background-color: {QColor(44,44,44).name()};")
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self.tableWidget_lines.verticalHeader().hide()
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self.tableWidget_lines.setHorizontalHeaderLabels(["节名", "线名", "id", "操作"])
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self.tableWidget_lines.setSelectionBehavior(QTableWidget.SelectRows)
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self.tableWidget_lines.setAutoScroll(True)
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self.tableWidget_lines. setColumnHidden(0,True)
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self.tableWidget_lines. setColumnHidden(2,True)
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# 自动调整列宽
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header = self.tableWidget_positions.horizontalHeader()
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# 让第一列宽度根据内容自动调整
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header = self.tableWidget_lines.horizontalHeader()
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header.setSectionResizeMode(0, PySide6.QtWidgets.QHeaderView.ResizeMode.Stretch)
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# 第二列宽度根据内容自动调整
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header.setSectionResizeMode(1, PySide6.QtWidgets.QHeaderView.ResizeMode.Stretch)
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header.setSectionResizeMode(2, PySide6.QtWidgets.QHeaderView.ResizeMode.Stretch)
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self.tableWidget_lines.setContextMenuPolicy(PySide6.QtCore.Qt.ContextMenuPolicy.CustomContextMenu)
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self.tableWidget_lines.customContextMenuRequested.connect(self.show_lines_context_menu)
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self.tableWidget_lines.cellChanged.connect(self.send_table_lines_cell_changed)
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self.init_table_lines_data()
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for row in range(5):
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combo = QComboBox()
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combo.addItems(["位置 A", "位置 B", "位置 C"])
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self.tableWidget_positions.setCellWidget(row, 0, combo)
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self.pushButton_savePosition.clicked.connect(self.send_save_lines_data)
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for row in range(5):
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get_button = QPushButton("获取位置")
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# get_button.clicked.connect(self.get_location)
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self.tableWidget_positions.setCellWidget(row, 1, get_button)
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def send_table_lines_cell_changed(self):
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self.table_line_changed = True
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def send_save_lines_data(self):
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if self.table_position_changed or self.table_line_changed:
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section = self.selected_line_section
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for row_i in range(self.tableWidget_lines.rowCount()):
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if self.tableWidget_lines.item(row_i, 0).text() == section:
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line_model = LineModel()
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line_model.section = section
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line_model.name = self.tableWidget_lines.item(row_i, 1).text()
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line_model.id = int(self.tableWidget_lines.item(row_i, 2).text())
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line_model.positions = self.get_table_positions()
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if len(self.get_table_positions()) != 0 and line_model.id != self.get_table_positions()[0].id:
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return
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if len(self.get_table_positions())==0:
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return
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config_reader = configparser.ConfigParser()
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config_reader.read(Constant.feedLine_set_file, encoding='utf-8')
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line_model.save_line_model(config_reader)
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config_reader.write(open(Constant.feedLine_set_file, 'w', encoding='utf-8'))
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break
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self.init_FeedLine()
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self.init_table_lines_data()
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self.table_line_changed = False
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self.table_position_changed = False
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def get_table_positions(self):
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position_models = []
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for row_i in range(self.tableWidget_line_positions.rowCount()):
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section = self.tableWidget_line_positions.item(row_i, 0).text()
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position_model = PositionModel(index=row_i)
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position_model.section = section
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position_model.X = float(self.tableWidget_line_positions.item(row_i, 1).text())
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position_model.Y = float(self.tableWidget_line_positions.item(row_i, 2).text())
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position_model.Z = float(self.tableWidget_line_positions.item(row_i, 3).text())
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position_model.U = float(self.tableWidget_line_positions.item(row_i, 4).text())
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position_model.V = float(self.tableWidget_line_positions.item(row_i, 5).text())
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position_model.W = float(self.tableWidget_line_positions.item(row_i, 6).text())
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widget = self.tableWidget_line_positions.cellWidget(row_i, 7)
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position_model.status = widget.currentData()
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position_model.id = int(self.tableWidget_line_positions.item(row_i, 8).text())
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position_model.order = row_i
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position_model.lineId = int(self.tableWidget_line_positions.item(row_i, 10).text())
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position_models.append(position_model)
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return position_models
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def init_table_lines_data(self):
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# self.tableWidget_lines.setItem(0, 0, QTableWidgetItem("线1"))
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# self.tableWidget_lines.setItem(1, 0, QTableWidgetItem("线2"))
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# self.tableWidget_lines.setItem()
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self.tableWidget_lines.setRowCount(0)
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for key,value in self.feedLine_dict.items():
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self.tableWidget_lines.insertRow(self.tableWidget_lines.rowCount())
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self.tableWidget_lines.setItem(self.tableWidget_lines.rowCount()-1, 0, QTableWidgetItem(key))
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self.tableWidget_lines.setItem(self.tableWidget_lines.rowCount()-1, 1, QTableWidgetItem(value.name))
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self.tableWidget_lines.setItem(self.tableWidget_lines.rowCount()-1, 2, QTableWidgetItem(value.id))
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show_pos_btn = QPushButton("显示路径")
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show_pos_btn.clicked.connect(
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lambda _, index=self.tableWidget_lines.rowCount()-1: self.show_lines_pos_data(index))
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self.tableWidget_lines.setCellWidget(self.tableWidget_lines.rowCount() - 1, 3, show_pos_btn)
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self.tableWidget_line_positions.setRowCount(0)
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self.selected_line_section = ''
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def show_lines_context_menu(self):
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menu = QMenu(self)
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action_add = menu.addAction("添加投料线")
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action_del = menu.addAction("删除投料线")
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action = menu.exec(QCursor.pos())
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if action == action_add:
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self.add_new_line()
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elif action == action_del:
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self.del_line()
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def del_line(self):
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if self.tableWidget_lines.rowCount()==0:
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return
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if self.tableWidget_lines.currentRow()==-1:
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return
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self.tableWidget_lines.removeRow(self.tableWidget_lines.currentRow())
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self.table_line_changed = True
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def add_new_line(self):
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add_section = f'{Constant.feedLine_set_section}{1}'
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for i in range(1,Constant.MAX_Line_num):
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if not self.feedLine_dict.get(f"{Constant.feedLine_set_section}{i}"):
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add_section = f"{Constant.feedLine_set_section}{i}"
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break
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self.tableWidget_lines.insertRow(self.tableWidget_lines.rowCount())
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self.tableWidget_lines.setItem(self.tableWidget_lines.rowCount()-1, 0, QTableWidgetItem(add_section))
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self.tableWidget_lines.setItem(self.tableWidget_lines.rowCount()-1, 1, QTableWidgetItem("线" + str(self.tableWidget_lines.rowCount())))
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self.tableWidget_lines.setItem(self.tableWidget_lines.rowCount()-1, 2, QTableWidgetItem(str(i)))
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show_pos_btn = QPushButton("显示路径")
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show_pos_btn.clicked.connect(lambda _, index=self.tableWidget_lines.rowCount()-1: self.show_lines_pos_data(index))
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self.tableWidget_lines.setCellWidget(self.tableWidget_lines.rowCount()-1, 3,show_pos_btn)
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self.table_position_changed = True
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self.feedLine_dict[add_section] = LineModel(i)
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def show_lines_pos_data(self,line_index):
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if self.selected_line_section!='' and self.selected_line_section != self.tableWidget_lines.item(line_index,0).text():
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if self.table_position_changed or self.table_line_changed:
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msgBox = QMessageBox()
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msgBox.setText("已修改的数据，是否保存？")
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msgBox.setStandardButtons(QMessageBox.Yes | QMessageBox.No)
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result = msgBox.exec()
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if result == QMessageBox.StandardButton.Ok:
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self.send_save_lines_data()
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else:
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# 重新初始化·
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self.init_table_lines_data()
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line_name = self.tableWidget_lines.item(line_index,0).text()
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line_model = self.feedLine_dict.get(line_name)
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self.init_table_positions_data(line_model.positions)
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self.selected_line_section = line_name
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self.label_table_line_position_title.setText(line_model.name)
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def init_table_position(self):
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#self.tableWidget_line_positions.setRowCount(5)
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self.tableWidget_line_positions.setColumnCount(12)
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self.tableWidget_line_positions.setHorizontalHeaderLabels(["节段","X","Y","Z","U","V","W","类型","序号","排序","线号","操作2"])
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self.tableWidget_line_positions.setSelectionBehavior(QTableWidget.SelectRows)
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self.tableWidget_line_positions.setColumnHidden(0, True)
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self.tableWidget_line_positions.setColumnHidden(8,True)
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self.tableWidget_line_positions.setColumnHidden(9, True)
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self.tableWidget_line_positions.setColumnHidden(10, True)
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self.tableWidget_line_positions.setAutoScroll(True)
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self.tableWidget_line_positions.verticalHeader().hide()
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# 自动调整列宽
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header = self.tableWidget_line_positions.horizontalHeader()
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header.setSectionResizeMode(0, PySide6.QtWidgets.QHeaderView.ResizeMode.Stretch)
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self.tableWidget_line_positions.setHorizontalScrollBarPolicy(PySide6.QtCore.Qt.ScrollBarPolicy.ScrollBarAsNeeded)
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for i in range(12):
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header.setSectionResizeMode(i, PySide6.QtWidgets.QHeaderView.ResizeMode.Stretch)
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self.tableWidget_line_positions.setContextMenuPolicy(PySide6.QtCore.Qt.ContextMenuPolicy.CustomContextMenu)
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self.tableWidget_line_positions.customContextMenuRequested.connect(self.show_positions_context_menu)
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def init_table_positions_data(self,position_list):
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for index,position_model in enumerate(position_list):
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self.tableWidget_line_positions.insertRow(self.tableWidget_line_positions.rowCount())
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self.set_positionModel_to_tabel(index,position_model)
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def show_positions_context_menu(self):
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menu = QMenu(self)
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action_add = menu.addAction("添加位置节点")
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action_del = menu.addAction("删除位置节点")
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action = menu.exec(QCursor.pos())
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if action == action_add:
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self.add_new_position()
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elif action == action_del:
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self.del_position()
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def del_position(self):
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if self.tableWidget_line_positions.rowCount()==0:
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return
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if self.tableWidget_line_positions.currentRow()==-1:
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return
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self.tableWidget_line_positions.removeRow(self.tableWidget_line_positions.currentRow())
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self.table_position_changed = True
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def add_new_position(self):# 选中添加
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config_reader = configparser.ConfigParser()
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config_reader.read(Constant.feedLine_set_file, encoding = 'utf-8')
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position_model = PositionModel(999)
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for i in range(1,Constant.MAX_Position_num):
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if not config_reader.has_section(f"{Constant.position_set_section}{i}"):
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position_model = PositionModel(i)
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break
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if self.tableWidget_line_positions.currentRow()==-1:
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row_i = self.tableWidget_line_positions.rowCount()
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else:
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row_i = self.tableWidget_line_positions.currentRow()
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self.tableWidget_line_positions.insertRow(row_i)
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position_model.order = 0
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position_model.status = FeedStatus.FStart
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line_model = self.feedLine_dict.get(self.selected_line_section)
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line_id = line_model.id
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position_model.lineId = line_id
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self.set_positionModel_to_tabel(row_i,position_model)
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self.table_line_changed = True
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def tabel_get_position(self,row_i):
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self.set_position_to_tabel(row_i,self.status_address.getRealPosition())
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self.table_line_changed = True
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def tabel_delete_position(self,row_i):
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self.tableWidget_line_positions.removeRow(row_i)
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self.table_line_changed = True
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def set_positionModel_to_tabel(self,row_i,position_model:PositionModel):
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self.tableWidget_line_positions.setItem(row_i,0,QTableWidgetItem(str(position_model.section)))
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self.set_position_tabel(row_i,position_model.get_position())
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combox = QComboBox()
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combox.addItem("初始化点", 1)
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combox.addItem("中间点", 3)
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combox.addItem("相机/待抓点",4)
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combox.addItem("抓取",5)
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combox.addItem("破带点1",6)
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combox.addItem("破带点2",7)
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combox.addItem("震动点",8)
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combox.addItem("扔带点",9)
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combox.setCurrentIndex(position_model.status)
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combox.currentIndexChanged.connect(self.send_table_position_status_changed)
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self.tableWidget_line_positions.setCellWidget(row_i, 7, combox)
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#self.tableWidget_line_positions.setItem(row_i, 7, QTableWidgetItem(str(position_model.status)))
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self.tableWidget_line_positions.setItem(row_i, 8, QTableWidgetItem(str(position_model.id)))
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self.tableWidget_line_positions.setItem(row_i, 9, QTableWidgetItem(str(position_model.order)))
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self.tableWidget_line_positions.setItem(row_i, 10, QTableWidgetItem(str(position_model.lineId)))
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get_pos_btn = QPushButton("获取点位")
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get_pos_btn.clicked.connect(
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lambda _, index=row_i: self.tabel_get_position(index))
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self.tableWidget_line_positions.setCellWidget(row_i, 11, get_pos_btn)
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# del_pos_btn = QPushButton("删除点位")
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# del_pos_btn.clicked.connect(lambda _, index=row_i: self.tabel_delete_position(index))
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# self.tableWidget_line_positions.setCellWidget(row_i, 12, del_pos_btn)
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def send_table_position_status_changed(self):
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self.table_position_changed = True
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def set_position_tabel(self, row_i, position):
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self.tableWidget_line_positions.setItem(row_i, 1, QTableWidgetItem(str(position.X)))
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self.tableWidget_line_positions.setItem(row_i, 2, QTableWidgetItem(str(position.Y)))
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self.tableWidget_line_positions.setItem(row_i, 3, QTableWidgetItem(str(position.Z)))
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self.tableWidget_line_positions.setItem(row_i, 4, QTableWidgetItem(str(position.U)))
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self.tableWidget_line_positions.setItem(row_i, 5, QTableWidgetItem(str(position.V)))
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self.tableWidget_line_positions.setItem(row_i, 6, QTableWidgetItem(str(position.W)))
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#endregion
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def init_qss(self):
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pass
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@ -277,13 +509,13 @@ class MainWindow(QMainWindow, Ui_MainWindow):
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def init_Run(self):
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self.robotClient = None
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self.configReader = configparser.ConfigParser()
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self.detection = Detection()
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self.detection = None # Detection() #TODO 关闭图像
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self.command_position_quene = Queue()
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self.status_address = DataAddress()
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self.feedLine_dict = {}
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self.command_quene = Queue()
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self.main_threading = None
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self.detection_person = DetectionPerson()
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self.detection_person = None #DetectionPerson()
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self.configReader.read(Constant.set_ini)
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ip = self.configReader.get('Robot_Feed', 'IPAddress')
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@ -438,57 +670,14 @@ class MainWindow(QMainWindow, Ui_MainWindow):
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self.pushButton_tableFeedSet_save.clicked.connect(self.send_tabelFeedSet_save)
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def init_FeedLine(self):
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line_count = self.configReader.get('Robot_Feed', 'LineCount', fallback=0)
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# line_count = self.configReader.get('Robot_Feed', 'LineCount', fallback=0)
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self.configReader.read(Constant.feedLine_set_file, encoding='utf-8')
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for i in range(int(line_count)):
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line_str = f'FeedLine{i + 1}'
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safe_position = Real_Position()
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broken_position1 = Real_Position()
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broken_position2 = Real_Position()
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shake_position = Real_Position()
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dropBag_position = Real_Position()
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safe_position.X = float(self.configReader.get(line_str, 'SafePosition_x', fallback=0))
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safe_position.Y = float(self.configReader.get(line_str, 'SafePosition_y', fallback=0))
|
||||
safe_position.Z = float(self.configReader.get(line_str, 'SafePosition_z', fallback=0))
|
||||
safe_position.U = float(self.configReader.get(line_str, 'SafePosition_u', fallback=0))
|
||||
safe_position.V = float(self.configReader.get(line_str, 'SafePosition_v', fallback=0))
|
||||
safe_position.W = float(self.configReader.get(line_str, 'SafePosition_w', fallback=0))
|
||||
|
||||
broken_position1.X = float(self.configReader.get(line_str, 'BrokenPosition_x', fallback=0))
|
||||
broken_position1.Y = float(self.configReader.get(line_str, 'BrokenPosition_y', fallback=0))
|
||||
broken_position1.Z = float(self.configReader.get(line_str, 'BrokenPosition_z', fallback=0))
|
||||
broken_position1.U = float(self.configReader.get(line_str, 'BrokenPosition_u', fallback=0))
|
||||
broken_position1.V = float(self.configReader.get(line_str, 'BrokenPosition_v', fallback=0))
|
||||
broken_position1.W = float(self.configReader.get(line_str, 'BrokenPosition_w', fallback=0))
|
||||
|
||||
broken_position2.X = float(self.configReader.get(line_str, 'BrokenPosition2_x', fallback=0))
|
||||
broken_position2.Y = float(self.configReader.get(line_str, 'BrokenPosition2_y', fallback=0))
|
||||
broken_position2.Z = float(self.configReader.get(line_str, 'BrokenPosition2_z', fallback=0))
|
||||
broken_position2.U = float(self.configReader.get(line_str, 'BrokenPosition2_u', fallback=0))
|
||||
broken_position2.V = float(self.configReader.get(line_str, 'BrokenPosition2_v', fallback=0))
|
||||
broken_position2.W = float(self.configReader.get(line_str, 'BrokenPosition2_w', fallback=0))
|
||||
|
||||
shake_position.X = float(self.configReader.get(line_str, 'ShakePosition_x', fallback=0))
|
||||
shake_position.Y = float(self.configReader.get(line_str, 'ShakePosition_y', fallback=0))
|
||||
shake_position.Z = float(self.configReader.get(line_str, 'ShakePosition_z', fallback=0))
|
||||
shake_position.U = float(self.configReader.get(line_str, 'ShakePosition_u', fallback=0))
|
||||
shake_position.V = float(self.configReader.get(line_str, 'ShakePosition_v', fallback=0))
|
||||
shake_position.W = float(self.configReader.get(line_str, 'ShakePosition_w', fallback=0))
|
||||
|
||||
dropBag_position.X = float(self.configReader.get(line_str, 'DropBagPosition_x', fallback=0))
|
||||
dropBag_position.Y = float(self.configReader.get(line_str, 'DropBagPosition_y', fallback=0))
|
||||
dropBag_position.Z = float(self.configReader.get(line_str, 'DropBagPosition_z', fallback=0))
|
||||
dropBag_position.U = float(self.configReader.get(line_str, 'DropBagPosition_u', fallback=0))
|
||||
dropBag_position.V = float(self.configReader.get(line_str, 'DropBagPosition_v', fallback=0))
|
||||
dropBag_position.W = float(self.configReader.get(line_str, 'DropBagPosition_w', fallback=0))
|
||||
|
||||
name = self.configReader.get(line_str, 'Name', fallback='未命名')
|
||||
self.feedLine_dict[f'{Constant.feedLine_set_section}{i + 1}'] = FeedLine(i+1,name, safe_position,
|
||||
broken_position1,broken_position2,shake_position ,dropBag_position)
|
||||
self.init_seting_frame()
|
||||
for i in range(1,Constant.MAX_Line_num):
|
||||
line_str = f'{Constant.feedLine_set_section}{i}'
|
||||
if self.configReader.has_section(line_str):
|
||||
feed_line = LineModel()
|
||||
feed_line.read_line_model(config_reader=self.configReader,index=i)
|
||||
self.feedLine_dict[f'{Constant.feedLine_set_section}{i}'] = feed_line
|
||||
self.updateUI_Select_Line()
|
||||
pass
|
||||
|
||||
|
||||
Reference in New Issue
Block a user