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update 更新Demo

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This commit is contained in:
FrankCV2048
2024-08-26 22:42:27 +08:00
parent 7dc66871ee
commit 173ae711b4
9 changed files with 200 additions and 84 deletions
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12
CU/Command.py Normal file
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@ -0,0 +1,12 @@
from enum import Enum
class Status(Enum):
Prepareing = 0
Runing = 1
End = 2
class Command:
def __init__(self):
self.status = Status.Prepareing
pass

23
CU/Feeding.py Normal file
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@ -0,0 +1,23 @@
from Model.Position import Real_Position
class FeedLine:
def __init__(self,safe_position:Real_Position,photo_position:Real_Position,feed_position:Real_Position):
self.safe_position = safe_position
self.photo_position = photo_position
self.feed_position = feed_position
class FeedingConfig:
def __init__(self, num:int, feedLine:FeedLine):
self.num = num
self.feedLine = feedLine
def get_line_info(self):
pass
class Feeding():
def __init__(self,feedingConfig):
pass

21
Config/FeedLine.ini Normal file
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@ -0,0 +1,21 @@
[FeedLine1]
SafePosition_x=0
SafePosition_y=0
SafePosition_z=0
SafePosition_u=0
SafePosition_v=0
SafePosition_w=0
PhotoPosition_x=0
PhotoPosition_y=0
PhotoPosition_z=0
PhotoPosition_u=0
PhotoPosition_v=0
PhotoPosition_w=0
FeedPosition_x=0
FeedPosition_y=0
FeedPosition_z=0
FeedPosition_u=0
FeedPosition_v=0
FeedPosition_w=0

18
Model/Position.py
View File

@ -13,6 +13,24 @@ class Detection_Position:
self.W = 0.0
def init_position(self,X,Y,Z,U,V,W):
self.X = X
self.Y = Y
self.Z = Z
self.U = U
self.V = V
self.W = W
class Real_Position:
def __init__(self):
self.X = 0.0
self.Y = 0.0
self.Z = 0.0
self.U = 0.0
self.V = 0.0
self.W = 0.0
def init_position(self, X, Y, Z, U, V, W):
self.X = X
self.Y = Y
self.Z = Z

1
Seting.ini
View File

@ -16,6 +16,7 @@ j5_min=-150
j5_max=+150
j6_min=-150
j6_max=+150
LineCount=1
[Camera_Feed]

61
app.py
View File

@ -3,13 +3,16 @@ import json
import queue
import sys
from PySide6.QtWidgets import QApplication, QMainWindow, QPushButton
from CU.Feeding import FeedLine, FeedingConfig
from ui_untitled import Ui_MainWindow
from COM.COM_Robot import RobotClient
from Expection import ErrorCode
from Expection import Error_Code
from queue import Queue
from Model.RobotModel import *
import time
from queue import Queue
from Model.Position import Real_Position
@ -27,12 +30,18 @@ class MainWindow(QMainWindow,Ui_MainWindow):
self.horizontalSlider_J5.sliderReleased.connect(self.slider_valueChanged)
self.horizontalSlider_J6.sliderReleased.connect(self.slider_valueChanged)
#self.horizontalSlider_J1.sliderReleased
self.command_quene = Queue()
self.pushButton_startFeed.clicked.connect(self.send_startFeed_button_click)
self.command_position_quene = Queue()
self.status_address = DataAddress()
self.feedLine_dict = dir()
self.command_quene = Queue()
self.init_Run()
self.init_robot_info()
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
@ -81,13 +90,52 @@ class MainWindow(QMainWindow,Ui_MainWindow):
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_quene,self.status_address)
self.robotClient = RobotClient(ip, port,self.command_position_quene,self.status_address)
self.robotClient.CreatConnect()
self.read_FeedLine()
if self.robotClient.is_Connect():
return 0
else:
return ErrorCode.NETERROR
return Error_Code.NETERROR
def read_FeedLine(self):
line_count = self.configReader.get('Robot_Feed', 'LineCount', fallback=0)
self.configReader.read('Config/FeedLine.ini')
for i in range(line_count):
line_str = f'FeedLine{i+1}'
safe_position = Real_Position()
photo_position = Real_Position()
feed_position = Real_Position()
safe_position.X = self.configReader.get(line_str, 'SafePosition_x', fallback=0)
safe_position.Y = self.configReader.get(line_str, 'SafePosition_y', fallback=0)
safe_position.Z = self.configReader.get(line_str, 'SafePosition_z', fallback=0)
safe_position.U = self.configReader.get(line_str, 'SafePosition_u', fallback=0)
safe_position.V = self.configReader.get(line_str, 'SafePosition_v', fallback=0)
safe_position.W = self.configReader.get(line_str, 'SafePosition_w', fallback=0)
photo_position.X = self.configReader.get(line_str, 'PhotoPosition_x', fallback=0)
photo_position.Y = self.configReader.get(line_str, 'PhotoPosition_y', fallback=0)
photo_position.Z = self.configReader.get(line_str, 'PhotoPosition_z', fallback=0)
photo_position.U = self.configReader.get(line_str, 'PhotoPosition_u', fallback=0)
photo_position.V = self.configReader.get(line_str, 'PhotoPosition_v', fallback=0)
photo_position.W = self.configReader.get(line_str, 'PhotoPosition_w', fallback=0)
feed_position.X = self.configReader.get(line_str, 'FeedPosition_x', fallback=0)
feed_position.Y = self.configReader.get(line_str, 'FeedPosition_y', fallback=0)
feed_position.Z = self.configReader.get(line_str, 'FeedPosition_z', fallback=0)
feed_position.U = self.configReader.get(line_str, 'FeedPosition_u', fallback=0)
feed_position.V = self.configReader.get(line_str, 'FeedPosition_v', fallback=0)
feed_position.W = self.configReader.get(line_str, 'FeedPosition_w', fallback=0)
self.feedLine_dict[str(i+1)] = FeedLine(safe_position, photo_position, feed_position)
pass
def init_robot_info(self):
j1_min = int(self.configReader.get('Robot', 'j1_min'))
j1_max = int(self.configReader.get('Robot', 'j1_max'))
@ -126,7 +174,8 @@ class MainWindow(QMainWindow,Ui_MainWindow):
self.label_j6_min.setText(j6_min.__str__())
self.label_j6_max.setText(str(j6_max))
def run(self):
pass #主线程
def send_position_command(self,position):

35
test.py
View File

@ -1,35 +0,0 @@
import asyncio
async def send_update_command():
while True:
command = "update_position_command\n"
print('command')
await asyncio.sleep(2)
#await writer.drain()
await asyncio.sleep(1)
async def query_robot_status():
while True:
command = "query_status_command\n"
print('status')
await asyncio.sleep(1)
# await writer.drain()
#feedback = await reader.read(1024)
#if feedback:
# print("Received feedback:", feedback.decode())
await asyncio.sleep(2)
async def main():
#reader, writer = await asyncio.open_connection('f', 'f')
await asyncio.gather(
send_update_command(),
query_robot_status()
)
print('UI')
asyncio.run(main())

83
ui_untitled.py
View File

@ -72,23 +72,22 @@ class Ui_MainWindow(object):
self.pushButton_3.setObjectName(u"pushButton_3")
self.pushButton_3.setGeometry(QRect(10, 0, 101, 31))
self.pushButton_3.setStyleSheet(u"background-color: #F9FAFC;\n"
"font: 12pt \"\u6977\u4f53\";\n"
"font: 700 9pt \"Microsoft YaHei UI\";\n"
"\n"
"border: 1px solid #dcdfe6;\n"
"border-radius: 10px;")
icon = QIcon(QIcon.fromTheme(QIcon.ThemeIcon.ListAdd))
self.pushButton_3.setIcon(icon)
self.pushButton_4 = QPushButton(self.frame_2)
self.pushButton_4.setObjectName(u"pushButton_4")
self.pushButton_4.setGeometry(QRect(140, 0, 101, 31))
self.pushButton_4.setStyleSheet(u"background-color: #F9FAFC;\n"
"font: 12pt \"\u6977\u4f53\";\n"
"font: 700 9pt \"Microsoft YaHei UI\";\n"
"border: 1px solid #dcdfe6;\n"
"border-radius: 10px;")
self.pushButton_5 = QPushButton(self.frame_2)
self.pushButton_5.setObjectName(u"pushButton_5")
self.pushButton_5.setGeometry(QRect(270, 0, 101, 31))
self.pushButton_5.setStyleSheet(u"background-color: #F9FAFC;\n"
"font: 12pt \"\u6977\u4f53\";\n"
"font: 700 9pt \"Microsoft YaHei UI\";\n"
"border: 1px solid #dcdfe6;\n"
"border-radius: 10px;")
self.frame_3 = QFrame(self.frame_2)
@ -100,14 +99,14 @@ class Ui_MainWindow(object):
self.label_4 = QLabel(self.frame_3)
self.label_4.setObjectName(u"label_4")
self.label_4.setGeometry(QRect(10, 10, 481, 261))
self.label_4.setStyleSheet(u"border-image: url(:/Image/Image/robot.png);\n"
self.label_4.setStyleSheet(u"border-image: url(:bg/Image/robot.png);\n"
"background-position:center;\n"
"background-repeat:no-repeat;")
self.label_4.setScaledContents(True)
self.horizontalSlider = QSlider(self.frame_3)
self.horizontalSlider.setObjectName(u"horizontalSlider")
self.horizontalSlider.setGeometry(QRect(520, 150, 271, 41))
self.horizontalSlider.setStyleSheet(u"QSlider\n"
self.horizontalSlider_feedingNum = QSlider(self.frame_3)
self.horizontalSlider_feedingNum.setObjectName(u"horizontalSlider_feedingNum")
self.horizontalSlider_feedingNum.setGeometry(QRect(520, 150, 271, 41))
self.horizontalSlider_feedingNum.setStyleSheet(u"QSlider\n"
"{\n"
" background-color: #FFFFFF; \n"
" border-style: outset; \n"
@ -129,8 +128,14 @@ class Ui_MainWindow(object):
" margin: -5px 3px -5px 6px;\n"
" border-radius:5px; \n"
" border: 3px solid #007900;\n"
"}")
self.horizontalSlider.setOrientation(Qt.Orientation.Horizontal)
"}\n"
"\n"
"\n"
"\n"
"\n"
"\n"
"")
self.horizontalSlider_feedingNum.setOrientation(Qt.Orientation.Horizontal)
self.label_5 = QLabel(self.frame_3)
self.label_5.setObjectName(u"label_5")
self.label_5.setGeometry(QRect(800, 160, 31, 21))
@ -352,6 +357,7 @@ class Ui_MainWindow(object):
" background-color:rgb(0, 255, 0);\n"
"}\n"
"")
icon = QIcon(QIcon.fromTheme(QIcon.ThemeIcon.ListAdd))
self.pushButton_27.setIcon(icon)
self.pushButton_28 = QPushButton(self.frame_4)
self.pushButton_28.setObjectName(u"pushButton_28")
@ -545,12 +551,12 @@ class Ui_MainWindow(object):
" \n"
" background-color: #E6ECF5;\n"
"}")
self.comboBox = QComboBox(self.frame_3)
self.comboBox.addItem("")
self.comboBox.addItem("")
self.comboBox.setObjectName(u"comboBox")
self.comboBox.setGeometry(QRect(520, 10, 271, 41))
self.comboBox.setStyleSheet(u"QComboBox {\n"
self.comboBox_lineIndex = QComboBox(self.frame_3)
self.comboBox_lineIndex.addItem("")
self.comboBox_lineIndex.addItem("")
self.comboBox_lineIndex.setObjectName(u"comboBox_lineIndex")
self.comboBox_lineIndex.setGeometry(QRect(520, 10, 271, 41))
self.comboBox_lineIndex.setStyleSheet(u"QComboBox {\n"
" border-radius: 10px;\n"
" padding: 5px 5px 5px 5px;\n"
" background-color: #2c2c2c;\n"
@ -578,7 +584,7 @@ class Ui_MainWindow(object):
"}")
self.lineEdit.raise_()
self.label_4.raise_()
self.horizontalSlider.raise_()
self.horizontalSlider_feedingNum.raise_()
self.label_5.raise_()
self.pushButton_20.raise_()
self.pushButton_21.raise_()
@ -589,7 +595,7 @@ class Ui_MainWindow(object):
self.pushButton_26.raise_()
self.frame_4.raise_()
self.textEdit.raise_()
self.comboBox.raise_()
self.comboBox_lineIndex.raise_()
self.pushButton_16 = QPushButton(self.frame_2)
self.pushButton_16.setObjectName(u"pushButton_16")
self.pushButton_16.setGeometry(QRect(560, 510, 91, 31))
@ -642,10 +648,10 @@ class Ui_MainWindow(object):
"")
icon4 = QIcon(QIcon.fromTheme(QIcon.ThemeIcon.InputMouse))
self.pushButton_19.setIcon(icon4)
self.pushButton_17 = QPushButton(self.frame_2)
self.pushButton_17.setObjectName(u"pushButton_17")
self.pushButton_17.setGeometry(QRect(460, 510, 91, 31))
self.pushButton_17.setStyleSheet(u"*{\n"
self.pushButton_startFeed = QPushButton(self.frame_2)
self.pushButton_startFeed.setObjectName(u"pushButton_startFeed")
self.pushButton_startFeed.setGeometry(QRect(360, 510, 91, 31))
self.pushButton_startFeed.setStyleSheet(u"*{\n"
"background-color: #499C54;\n"
"font: 9pt \"\u6977\u4f53\";\n"
"border: 1px solid #dcdfe6;\n"
@ -657,7 +663,23 @@ class Ui_MainWindow(object):
"}\n"
"")
icon5 = QIcon(QIcon.fromTheme(QIcon.ThemeIcon.SystemShutdown))
self.pushButton_17.setIcon(icon5)
self.pushButton_startFeed.setIcon(icon5)
self.pushButton_39 = QPushButton(self.frame_2)
self.pushButton_39.setObjectName(u"pushButton_39")
self.pushButton_39.setGeometry(QRect(460, 510, 91, 31))
self.pushButton_39.setStyleSheet(u"*{\n"
"background-color: #FFFFBF;\n"
"font: 9pt \"\u6977\u4f53\";\n"
"border: 1px solid #dcdfe6;\n"
"border-radius: 10px;\n"
"}\n"
"*:pressed\n"
"{\n"
"background-color: #FFF000;\n"
"}\n"
"")
icon6 = QIcon(QIcon.fromTheme(u"media-optical"))
self.pushButton_39.setIcon(icon6)
self.stackedWidget.addWidget(self.page)
self.page_2 = QWidget()
self.page_2.setObjectName(u"page_2")
@ -683,7 +705,7 @@ class Ui_MainWindow(object):
self.retranslateUi(MainWindow)
self.tabWidget.setCurrentIndex(1)
self.tabWidget.setCurrentIndex(0)
self.stackedWidget.setCurrentIndex(0)
@ -747,14 +769,15 @@ class Ui_MainWindow(object):
"</style></head><body style=\" font-family:'Microsoft YaHei UI'; font-size:9pt; font-weight:400; font-style:normal;\">\n"
"<p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\">2024-08-06 10:10:10\uff1a\u5f53\u524d\u6b63\u5728\u8fd0\u884c\u3002\u3002\u3002</p>\n"
"<p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\">2024-08-06 11:10:10\uff1a\u79fb\u52a8\u673a\u68b0\u81c2\u81f3\u6240\u793a\u4f4d\u7f6e</p></body></html>", None))
self.comboBox.setItemText(0, QCoreApplication.translate("MainWindow", u"1\u53f7\u7ebf", None))
self.comboBox.setItemText(1, QCoreApplication.translate("MainWindow", u"\u65b0\u5efa\u7ebf", None))
self.comboBox_lineIndex.setItemText(0, QCoreApplication.translate("MainWindow", u"1\u53f7\u7ebf", None))
self.comboBox_lineIndex.setItemText(1, QCoreApplication.translate("MainWindow", u"\u65b0\u5efa\u7ebf", None))
self.comboBox.setCurrentText(QCoreApplication.translate("MainWindow", u"1\u53f7\u7ebf", None))
self.comboBox_lineIndex.setCurrentText(QCoreApplication.translate("MainWindow", u"1\u53f7\u7ebf", None))
self.pushButton_16.setText(QCoreApplication.translate("MainWindow", u"\u6025\u505c", None))
self.pushButton_18.setText(QCoreApplication.translate("MainWindow", u"\u6545\u969c\u8bca\u65ad", None))
self.pushButton_19.setText(QCoreApplication.translate("MainWindow", u"\u8c03\u8bd5", None))
self.pushButton_17.setText(QCoreApplication.translate("MainWindow", u"\u542f\u52a8", None))
self.pushButton_startFeed.setText(QCoreApplication.translate("MainWindow", u"\u542f\u52a8", None))
self.pushButton_39.setText(QCoreApplication.translate("MainWindow", u"\u590d\u4f4d", None))
self.tabWidget.setTabText(self.tabWidget.indexOf(self.tab), QCoreApplication.translate("MainWindow", u"\u6295\u6599", None))
self.pushButton_2.setText(QCoreApplication.translate("MainWindow", u"PushButton", None))
self.pushButton.setText(QCoreApplication.translate("MainWindow", u"PushButton", None))

30
untitled.ui
View File

@ -135,16 +135,14 @@ font: 290 9pt &quot;Microsoft YaHei&quot;;</string>
</property>
<property name="styleSheet">
<string notr="true">background-color: #F9FAFC;
font: 12pt &quot;楷体&quot;;
font: 700 9pt &quot;Microsoft YaHei UI&quot;;
border: 1px solid #dcdfe6;
border-radius: 10px;</string>
</property>
<property name="text">
<string>监控投料</string>
</property>
<property name="icon">
<iconset theme="QIcon::ThemeIcon::ListAdd"/>
</property>
</widget>
<widget class="QPushButton" name="pushButton_4">
<property name="geometry">
@ -157,7 +155,7 @@ border-radius: 10px;</string>
</property>
<property name="styleSheet">
<string notr="true">background-color: #F9FAFC;
font: 12pt &quot;楷体&quot;;
font: 700 9pt &quot;Microsoft YaHei UI&quot;;
border: 1px solid #dcdfe6;
border-radius: 10px;</string>
</property>
@ -176,7 +174,7 @@ border-radius: 10px;</string>
</property>
<property name="styleSheet">
<string notr="true">background-color: #F9FAFC;
font: 12pt &quot;楷体&quot;;
font: 700 9pt &quot;Microsoft YaHei UI&quot;;
border: 1px solid #dcdfe6;
border-radius: 10px;</string>
</property>
@ -212,7 +210,7 @@ border-radius: 10px;</string>
</rect>
</property>
<property name="styleSheet">
<string notr="true">border-image: url(:/Image/data/robot.png);
<string notr="true">border-image: url(:bg/Image/robot.png);
background-position:center;
background-repeat:no-repeat;</string>
</property>
@ -223,7 +221,7 @@ background-repeat:no-repeat;</string>
<bool>true</bool>
</property>
</widget>
<widget class="QSlider" name="horizontalSlider">
<widget class="QSlider" name="horizontalSlider_feedingNum">
<property name="geometry">
<rect>
<x>520</x>
@ -255,7 +253,13 @@ QSlider::handle:horizontal
margin: -5px 3px -5px 6px;
border-radius:5px;
border: 3px solid #007900;
}</string>
}
</string>
</property>
<property name="orientation">
<enum>Qt::Orientation::Horizontal</enum>
@ -1231,7 +1235,7 @@ li.checked::marker { content: &quot;\2612&quot;; }
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;2024-08-06 11:10:10：移动机械臂至所示位置&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
</widget>
<widget class="QComboBox" name="comboBox">
<widget class="QComboBox" name="comboBox_lineIndex">
<property name="geometry">
<rect>
<x>520</x>
@ -1284,7 +1288,7 @@ QComboBox QAbstractItemView {
</widget>
<zorder>lineEdit</zorder>
<zorder>label_4</zorder>
<zorder>horizontalSlider</zorder>
<zorder>horizontalSlider_feedingNum</zorder>
<zorder>label_5</zorder>
<zorder>pushButton_20</zorder>
<zorder>pushButton_21</zorder>
@ -1295,7 +1299,7 @@ QComboBox QAbstractItemView {
<zorder>pushButton_26</zorder>
<zorder>frame_4</zorder>
<zorder>textEdit</zorder>
<zorder>comboBox</zorder>
<zorder>comboBox_lineIndex</zorder>
</widget>
<widget class="QPushButton" name="pushButton_16">
<property name="geometry">
@ -1388,7 +1392,7 @@ background-color:#1053b2;
<iconset theme="QIcon::ThemeIcon::InputMouse"/>
</property>
</widget>
<widget class="QPushButton" name="pushButton_17">
<widget class="QPushButton" name="pushButton_startFeed">
<property name="geometry">
<rect>
<x>360</x>