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update 更新部分UI，增加速度设置

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This commit is contained in:
FrankCV2048
2024-09-05 23:01:15 +08:00
parent 371ee321d4
commit 1918520cc9
7 changed files with 575 additions and 281 deletions
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176
app.py
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@ -3,10 +3,12 @@ import json
import queue
import sys
from multiprocessing import Process
from PySide6.QtCore import QThread, Signal, Slot
from PySide6.QtCore import QThread, Signal, Slot, QObject, QEvent
from PySide6.QtGui import QIntValidator, QStandardItemModel, QStandardItem, Qt
from PySide6.QtWidgets import QApplication, QMainWindow, QPushButton
from PySide6.QtWidgets import QApplication, QMainWindow, QPushButton, QLabel
from datetime import datetime
import Constant
from CU.Command import FeedCommand
from CU.Feeding import FeedLine, FeedingConfig, Feeding, FeedStatus
from Vision.camera_coordinate_dete import Detection
@ -21,6 +23,9 @@ from Model.Position import Real_Position, Detection_Position
from threading import Thread
from CU.Command import Status
class MainWindow(QMainWindow,Ui_MainWindow):
def __init__(self):
super(MainWindow, self).__init__()
@ -33,12 +38,6 @@ class MainWindow(QMainWindow,Ui_MainWindow):
def init_UI(self):
self.horizontalSlider_J1.sliderReleased.connect(self.slider_valueChanged)
self.horizontalSlider_J2.sliderReleased.connect(self.slider_valueChanged)
self.horizontalSlider_J3.sliderReleased.connect(self.slider_valueChanged)
self.horizontalSlider_J4.sliderReleased.connect(self.slider_valueChanged)
self.horizontalSlider_J5.sliderReleased.connect(self.slider_valueChanged)
self.horizontalSlider_J6.sliderReleased.connect(self.slider_valueChanged)
self.pushButton_num1.clicked.connect(self.send_num_button_click)
self.pushButton_num2.clicked.connect(self.send_num_button_click)
self.pushButton_num3.clicked.connect(self.send_num_button_click)
@ -55,6 +54,26 @@ class MainWindow(QMainWindow,Ui_MainWindow):
self.lineEdit_j5.returnPressed.connect(self.send_position_returnPressed)
self.lineEdit_j6.returnPressed.connect(self.send_position_returnPressed)
self.pushButton_j1_sub.clicked.connect(self.send_subOneAsix_button_click)
self.pushButton_j2_sub.clicked.connect(self.send_subOneAsix_button_click)
self.pushButton_j3_sub.clicked.connect(self.send_subOneAsix_button_click)
self.pushButton_j4_sub.clicked.connect(self.send_subOneAsix_button_click)
self.pushButton_j5_sub.clicked.connect(self.send_subOneAsix_button_click)
self.pushButton_j6_sub.clicked.connect(self.send_subOneAsix_button_click)
self.pushButton_j1_add.clicked.connect(self.send_addOneAsix_button_click)
self.pushButton_j2_add.clicked.connect(self.send_addOneAsix_button_click)
self.pushButton_j3_add.clicked.connect(self.send_addOneAsix_button_click)
self.pushButton_j4_add.clicked.connect(self.send_addOneAsix_button_click)
self.pushButton_j5_add.clicked.connect(self.send_addOneAsix_button_click)
self.pushButton_j6_add.clicked.connect(self.send_addOneAsix_button_click)
self.pushButton_speed.setText(str(Constant.speed))
self.pushButton_speed.clicked.connect(self.send_setSpeed_label_doubelClick)
self.lineEdit_speed.returnPressed.connect(self.send_setSpeed_lineEdit_returePressed)
self.lineEdit_num.returnPressed.connect(self.send_custom_num_returnPressed)
int_validator = QIntValidator(0, 100, self.lineEdit_num)
self.lineEdit_num.setValidator(int_validator)
@ -63,6 +82,7 @@ class MainWindow(QMainWindow,Ui_MainWindow):
self.pushButton_startFeed.clicked.connect(self.send_startFeed_button_click)
self.pushButton_stack_feedSet.clicked.connect(self.send_stack_feedSet_button_click)
self.horizontalSlider_feedingNum.blockSignals(True)
self.horizontalSlider_feedingNum.setMinimum(0)
model = QStandardItemModel(4, 6, self) # 4行6列
@ -98,11 +118,13 @@ class MainWindow(QMainWindow,Ui_MainWindow):
# 设置模型到表视图
self.tableView_feedSeting.setModel(model)
self.lineEdit_speed.hide()
def init_Run(self):
self.robotClient = None
self.configReader = configparser.ConfigParser()
self.detection = Detection()
self.detection = Detection()
self.command_position_quene = Queue()
self.status_address = DataAddress()
self.feedLine_dict = {}
@ -112,6 +134,7 @@ 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_position_quene, self.status_address)
self.feeding = Feeding(self.robotClient,self.detection) # 临时
self.last_time=time.time()
@ -224,6 +247,60 @@ class MainWindow(QMainWindow,Ui_MainWindow):
else:
self.pushButton_num_free.hide()
def send_subOneAsix_button_click(self):
btn_str = self.sender().objectName()
Constant.manual_adjust_accuracy = float(self.lineEdit_manual_adjust_accuracy.text())
x1 = self.horizontalSlider_J1.value()
x2 = self.horizontalSlider_J2.value()
x3 = self.horizontalSlider_J3.value()
x4 = self.horizontalSlider_J4.value()
x5 = self.horizontalSlider_J5.value()
x6 = self.horizontalSlider_J6.value()
if 'j1' in btn_str:
x1 = x1 - Constant.manual_adjust_accuracy
elif 'j2' in btn_str:
x2 = x2 - Constant.manual_adjust_accuracy
pass
elif 'j3' in btn_str:
x3 = x3 - Constant.manual_adjust_accuracy
pass
elif 'j4' in btn_str:
x4 = x4 - Constant.manual_adjust_accuracy
pass
elif 'j5' in btn_str:
x5 = x5 - Constant.manual_adjust_accuracy
pass
elif 'j6' in btn_str:
x6 = x6 - Constant.manual_adjust_accuracy
self.send_position_command(x1,x2,x3,x4,x5,x6,MoveType.AXIS)
def send_addOneAsix_button_click(self, btn):
btn_str = self.sender().objectName()
Constant.manual_adjust_accuracy = float(self.lineEdit_manual_adjust_accuracy.text())
x1 = self.horizontalSlider_J1.value()
x2 = self.horizontalSlider_J2.value()
x3 = self.horizontalSlider_J3.value()
x4 = self.horizontalSlider_J4.value()
x5 = self.horizontalSlider_J5.value()
x6 = self.horizontalSlider_J6.value()
if 'j1' in btn_str:
x1 = x1 + Constant.manual_adjust_accuracy
elif 'j2' in btn_str:
x2 = x2 + Constant.manual_adjust_accuracy
pass
elif 'j3' in btn_str:
x3 = x3 + Constant.manual_adjust_accuracy
pass
elif 'j4' in btn_str:
x4 = x4 + Constant.manual_adjust_accuracy
pass
elif 'j5' in btn_str:
x5 = x5 + Constant.manual_adjust_accuracy
pass
elif 'j6' in btn_str:
x6 = x6 + Constant.manual_adjust_accuracy
self.send_position_command(x1, x2, x3, x4, x5, x6, move_type=MoveType.AXIS)
def send_addNum_button_click(self):
@ -242,34 +319,7 @@ class MainWindow(QMainWindow,Ui_MainWindow):
def send_stack_feedSet_button_click(self):
self.stackedWidget_feed.setCurrentIndex(1)
def slider_valueChanged(self):
now_time = time.time()
if(now_time-self.last_time) < 2:
return
self.last_time = now_time
position_instruction = Instruction()
position_instruction.m0 = self.horizontalSlider_J1.value()
position_instruction.m1 = self.horizontalSlider_J2.value()
position_instruction.m2 = self.horizontalSlider_J3.value()
position_instruction.m3 = self.horizontalSlider_J4.value()
position_instruction.m4 = self.horizontalSlider_J5.value()
position_instruction.m5 = self.horizontalSlider_J6.value()
self.lineEdit_j1.setText(str(self.horizontalSlider_J1.value()))
self.lineEdit_j2.setText(str(self.horizontalSlider_J2.value()))
self.lineEdit_j3.setText(str(self.horizontalSlider_J3.value()))
self.lineEdit_j4.setText(str(self.horizontalSlider_J4.value()))
self.lineEdit_j5.setText(str(self.horizontalSlider_J5.value()))
self.lineEdit_j6.setText(str(self.horizontalSlider_J6.value()))
instruction_command = CMDInstructRequest()
instruction_command.instructions.append(position_instruction)
request_command = instruction_command.toString()
print(request_command)
self.robotClient.add_sendQuene(request_command)
def on_button_click(self):
self.button.setText("Clicked!")
@ -282,21 +332,34 @@ class MainWindow(QMainWindow,Ui_MainWindow):
# self.robotClient.add_sendQuene(request_command)
return
def send_position_returnPressed(self):
self.send_position_command(float(self.lineEdit_j1.text()),
float(self.lineEdit_j2.text()),
float(self.lineEdit_j3.text()),
float(self.lineEdit_j4.text()),
float(self.lineEdit_j5.text()),
float(self.lineEdit_j6.text()))
def send_setSpeed_label_doubelClick(self):
self.pushButton_speed.hide()
self.lineEdit_speed.show()
pass
def send_setSpeed_lineEdit_returePressed(self):
Constant.speed = float(self.lineEdit_speed.text())
self.lineEdit_speed.hide()
self.pushButton_speed.setText(str(Constant.speed))
self.pushButton_speed.show()
pass
def send_position_command(self,x1,x2,x3,x4,x5,x6,move_type:MoveType=MoveType.WORLD):
position_instruction = Instruction()
position_instruction.m0 = int(self.lineEdit_j1.text())
position_instruction.m1 = int(self.lineEdit_j2.text())
position_instruction.m2 = int(self.lineEdit_j3.text())
position_instruction.m3 = int(self.lineEdit_j4.text())
position_instruction.m4 = int(self.lineEdit_j5.text())
position_instruction.m5 = int(self.lineEdit_j6.text())
self.horizontalSlider_J1.setValue(int(self.lineEdit_j1.text()))
self.horizontalSlider_J2.setValue(int(self.lineEdit_j2.text()))
self.horizontalSlider_J3.setValue(int(self.lineEdit_j3.text()))
self.horizontalSlider_J4.setValue(int(self.lineEdit_j4.text()))
self.horizontalSlider_J5.setValue(int(self.lineEdit_j5.text()))
self.horizontalSlider_J6.setValue(int(self.lineEdit_j6.text()))
position_instruction.m0 = float(x1)
position_instruction.m1 = float(x2)
position_instruction.m2 = float(x3)
position_instruction.m3 = float(x4)
position_instruction.m4 = float(x5)
position_instruction.m5 = float(x6)
position_instruction.action = move_type
instruction_command = CMDInstructRequest()
instruction_command.instructions.append(position_instruction)
request_command = instruction_command.toString()
@ -304,11 +367,6 @@ class MainWindow(QMainWindow,Ui_MainWindow):
self.robotClient.add_sendQuene(request_command)
def run(self):
while True:
time.sleep(0.2)
@ -352,6 +410,12 @@ class MainWindow(QMainWindow,Ui_MainWindow):
self.horizontalSlider_J5.setValue(self.status_address.axis_4)
self.horizontalSlider_J6.setValue(self.status_address.axis_5)
self.label_j1.setText(str(self.status_address.axis_0))
self.label_j2.setText(str(self.status_address.axis_1))
self.label_j3.setText(str(self.status_address.axis_2))
self.label_j4.setText(str(self.status_address.axis_3))
self.label_j5.setText(str(self.status_address.axis_4))
self.label_j6.setText(str(self.status_address.axis_5))
@ -378,8 +442,6 @@ class MainWindow(QMainWindow,Ui_MainWindow):
}
""")
def send_position_command(self, position):
self.robotClient.add_sendQuene(position)
if __name__ == "__main__":