update 更新Demo

app.py

@@ -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):