update 更新Demo

CU/Command.py

@@ -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
+

CU/Feeding.py

@@ -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

Config/FeedLine.ini

@@ -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
+
+

Model/Position.py

@@ -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

Seting.ini

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

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):

test.py

@@ -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())

ui_untitled.py

@@ -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_feedingNum = QSlider(self.frame_3)
-        self.horizontalSlider.setObjectName(u"horizontalSlider")
+        self.horizontalSlider_feedingNum.setObjectName(u"horizontalSlider_feedingNum")
-        self.horizontalSlider.setGeometry(QRect(520, 150, 271, 41))
+        self.horizontalSlider_feedingNum.setGeometry(QRect(520, 150, 271, 41))
-        self.horizontalSlider.setStyleSheet(u"QSlider\n"
+        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"
-"}")
+"}\n"
-        self.horizontalSlider.setOrientation(Qt.Orientation.Horizontal)
+"\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_lineIndex = QComboBox(self.frame_3)
-        self.comboBox.addItem("")
+        self.comboBox_lineIndex.addItem("")
-        self.comboBox.addItem("")
+        self.comboBox_lineIndex.addItem("")
-        self.comboBox.setObjectName(u"comboBox")
+        self.comboBox_lineIndex.setObjectName(u"comboBox_lineIndex")
-        self.comboBox.setGeometry(QRect(520, 10, 271, 41))
+        self.comboBox_lineIndex.setGeometry(QRect(520, 10, 271, 41))
-        self.comboBox.setStyleSheet(u"QComboBox {\n"
+        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_startFeed = QPushButton(self.frame_2)
-        self.pushButton_17.setObjectName(u"pushButton_17")
+        self.pushButton_startFeed.setObjectName(u"pushButton_startFeed")
-        self.pushButton_17.setGeometry(QRect(460, 510, 91, 31))
+        self.pushButton_startFeed.setGeometry(QRect(360, 510, 91, 31))
-        self.pushButton_17.setStyleSheet(u"*{\n"
+        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_lineIndex.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(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))

untitled.ui

@@ -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>