update 更新表格设置
This commit is contained in:
FrankCV2048
181
app.py
181
app.py
@ -3,15 +3,18 @@ import json
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import queue
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import sys
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from multiprocessing import Process
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from PyQt5.uic.properties import QtWidgets
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from PySide6.QtCore import QThread, Signal, Slot, QObject, QEvent
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from PySide6.QtGui import QIntValidator, QStandardItemModel, QStandardItem, Qt
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from PySide6.QtWidgets import QApplication, QMainWindow, QPushButton, QLabel
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from PySide6.QtWidgets import QApplication, QMainWindow, QPushButton, QLabel, QHeaderView, QTableWidget, \
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QTableWidgetItem, QWidget, QHBoxLayout, QAbstractItemView
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from datetime import datetime
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import Constant
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from CU.Command import FeedCommand
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from CU.Feeding import FeedLine, FeedingConfig, Feeding, FeedStatus
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from Vision.camera_coordinate_dete import Detection
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#from Vision.camera_coordinate_dete import Detection
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from ui_untitled import Ui_MainWindow
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from COM.COM_Robot import RobotClient
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from Expection import Error_Code
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@ -34,6 +37,7 @@ class MainWindow(QMainWindow,Ui_MainWindow):
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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.start_Runing()
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@ -80,51 +84,21 @@ class MainWindow(QMainWindow,Ui_MainWindow):
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# self.horizontalSlider_J1.sliderReleased
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self.pushButton_startFeed.clicked.connect(self.send_startFeed_button_click)
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self.pushButton_stack_feedSet.clicked.connect(self.send_stack_feedSet_button_click)
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self.pushButton_stack_feedControl.clicked.connect(lambda _, index=0: self.send_stack_feedSet_button_click(index))
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self.pushButton_stack_feedSet.clicked.connect(lambda _,index=1:self.send_stack_feedSet_button_click(index))
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self.horizontalSlider_feedingNum.blockSignals(True)
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self.horizontalSlider_feedingNum.setMinimum(0)
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model = QStandardItemModel(4, 6, self) # 4行6列
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# 设置第一层表头
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model.setHorizontalHeaderLabels(['', '个人信息', '', '', '工作信息', ''])
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# 设置第二层表头
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itemA = QStandardItem("x")
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itemA.setTextAlignment(Qt.AlignmentFlag.AlignCenter)
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model.setItem(0, 0, itemA)
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model.setItem(0, 1, QStandardItem("y"))
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model.setItem(0, 2, QStandardItem("z"))
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model.setItem(0, 3, QStandardItem("u"))
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model.setItem(0, 4, QStandardItem("v"))
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model.setItem(0, 5, QStandardItem("w"))
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# 填充表格数据
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data = [
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["Alice", "25", "New York", "Developer", "ABC Corp", "$100,000"],
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["Bob", "30", "Los Angeles", "Designer", "XYZ Ltd", "$90,000"],
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["Charlie", "22", "Chicago", "Analyst", "MNO Inc", "$80,000"],
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["David", "28", "Miami", "Manager", "PQR LLC", "$110,000"]
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]
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for row_idx, row_data in enumerate(data):
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for col_idx, item in enumerate(row_data):
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model.setItem(row_idx + 1, col_idx, QStandardItem(item))
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# 合并单元格以创建多级表头效果
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self.tableView_feedSeting.setSpan(0, 0, 1, 3) # "个人信息" 跨越三列
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self.tableView_feedSeting.setSpan(0, 3, 1, 3) # "工作信息" 跨越三列
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# 设置模型到表视图
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self.tableView_feedSeting.setModel(model)
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self.lineEdit_speed.hide()
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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()
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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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@ -138,6 +112,7 @@ class MainWindow(QMainWindow,Ui_MainWindow):
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self.robotClient = RobotClient(ip, port, self.command_position_quene, self.status_address)
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self.feeding = Feeding(self.robotClient,self.detection) # 临时
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self.last_time=time.time()
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try:
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self.robotClient.CreatConnect()
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except:
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@ -148,6 +123,71 @@ class MainWindow(QMainWindow,Ui_MainWindow):
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else:
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return Error_Code.SYS_NETERROR
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def init_seting_frame(self):
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rows = len(self.feedLine_dict.keys())+2
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self.tableWidget_feedSeting.setRowCount(rows)
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self.tableWidget_feedSeting.setColumnCount(19)
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# 设置第一重表头的合并 (三列一组)
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self.tableWidget_feedSeting.setSpan(0, 1, 1, 6) # 合并前3列
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self.tableWidget_feedSeting.setSpan(0, 7, 1, 6) # 合并后3列
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self.tableWidget_feedSeting.setSpan(0, 13, 1, 6) # 合并后3列
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btn_safe = QPushButton("获取安全位置")
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widget_safe = QWidget()
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layout_safe = QHBoxLayout()
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layout_safe.addWidget(btn_safe)
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# 调整布局的间距，使之更紧凑
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layout_safe.setContentsMargins(0, 0, 0, 0)
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# 将布局设置到 QWidget 容器中
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widget_safe.setLayout(layout_safe)
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btn_photo = QPushButton("获取拍照位置")
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widget_photo = QWidget()
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layout_photo = QHBoxLayout()
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layout_photo.addWidget(btn_photo)
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# 调整布局的间距，使之更紧凑
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layout_photo.setContentsMargins(0, 0, 0, 0)
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# 将布局设置到 QWidget 容器中
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widget_photo.setLayout(layout_photo)
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btn_feed = QPushButton("获取投料位置")
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widget_feed = QWidget()
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layout_feed = QHBoxLayout()
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layout_feed.addWidget(btn_feed)
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# 调整布局的间距，使之更紧凑
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layout_feed.setContentsMargins(0, 0, 0, 0)
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# 将布局设置到 QWidget 容器中
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widget_feed.setLayout(layout_feed)
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btn_safe.clicked.connect(self.send_get_safe_position_button_click)
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btn_photo.clicked.connect(self.send_get_photo_position_button_click)
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btn_feed.clicked.connect(self.send_get_feed_position_button_click)
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# 添加第一重表头项
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self.tableWidget_feedSeting.setCellWidget(0, 1, widget_safe)
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self.tableWidget_feedSeting.setCellWidget(0, 7, widget_photo)
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self.tableWidget_feedSeting.setCellWidget(0, 13, widget_feed) # 设置在合并的第2组
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self.tableWidget_feedSeting.setSelectionBehavior(QTableWidget.SelectRows)
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self.tableWidget_feedSeting.setAutoScroll(True)
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# 添加第二重表头
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self.tableWidget_feedSeting.setHorizontalHeaderLabels(['header','X1','Y1','Z1','U1','V1','W1','X2','Y2','Z2','U2','V2','W2','X3','Y3','Z3','U3','V3','W3'])
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self.tableWidget_feedSeting.hideColumn(0)
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# 填充数据行
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for row,(feed_line_key,feed_line)in enumerate(self.feedLine_dict.items()):
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self.tableWidget_feedSeting.setItem(row+1, 0, QTableWidgetItem(feed_line_key))
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self.set_position_to_tabel(row+1, 0, feed_line.safe_position)
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self.set_position_to_tabel(row+1, 1, feed_line.photo_position)
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self.set_position_to_tabel(row+1, 2, feed_line.feed_position)
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# 禁用自动表头
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self.tableWidget_feedSeting.verticalHeader().setVisible(True)
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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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@ -158,30 +198,30 @@ class MainWindow(QMainWindow,Ui_MainWindow):
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photo_position = Real_Position()
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feed_position = Real_Position()
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safe_position.X = int(self.configReader.get(line_str, 'SafePosition_x', fallback=0))
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safe_position.Y = int(self.configReader.get(line_str, 'SafePosition_y', fallback=0))
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safe_position.Z = int(self.configReader.get(line_str, 'SafePosition_z', fallback=0))
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safe_position.U = int(self.configReader.get(line_str, 'SafePosition_u', fallback=0))
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safe_position.V = int(self.configReader.get(line_str, 'SafePosition_v', fallback=0))
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safe_position.W = int(self.configReader.get(line_str, 'SafePosition_w', fallback=0))
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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))
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safe_position.Z = float(self.configReader.get(line_str, 'SafePosition_z', fallback=0))
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safe_position.U = float(self.configReader.get(line_str, 'SafePosition_u', fallback=0))
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safe_position.V = float(self.configReader.get(line_str, 'SafePosition_v', fallback=0))
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safe_position.W = float(self.configReader.get(line_str, 'SafePosition_w', fallback=0))
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photo_position.X = int(self.configReader.get(line_str, 'PhotoPosition_x', fallback=0))
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photo_position.Y = int(self.configReader.get(line_str, 'PhotoPosition_y', fallback=0))
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photo_position.Z = int(self.configReader.get(line_str, 'PhotoPosition_z', fallback=0))
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photo_position.U = int(self.configReader.get(line_str, 'PhotoPosition_u', fallback=0))
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photo_position.V = int(self.configReader.get(line_str, 'PhotoPosition_v', fallback=0))
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photo_position.W = int(self.configReader.get(line_str, 'PhotoPosition_w', fallback=0))
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photo_position.X = float(self.configReader.get(line_str, 'PhotoPosition_x', fallback=0))
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photo_position.Y = float(self.configReader.get(line_str, 'PhotoPosition_y', fallback=0))
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photo_position.Z = float(self.configReader.get(line_str, 'PhotoPosition_z', fallback=0))
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photo_position.U = float(self.configReader.get(line_str, 'PhotoPosition_u', fallback=0))
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photo_position.V = float(self.configReader.get(line_str, 'PhotoPosition_v', fallback=0))
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photo_position.W = float(self.configReader.get(line_str, 'PhotoPosition_w', fallback=0))
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feed_position.X = int(self.configReader.get(line_str, 'FeedPosition_x', fallback=0))
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feed_position.Y = int(self.configReader.get(line_str, 'FeedPosition_y', fallback=0))
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feed_position.Z = int(self.configReader.get(line_str, 'FeedPosition_z', fallback=0))
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feed_position.U = int(self.configReader.get(line_str, 'FeedPosition_u', fallback=0))
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feed_position.V = int(self.configReader.get(line_str, 'FeedPosition_v', fallback=0))
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feed_position.W = int(self.configReader.get(line_str, 'FeedPosition_w', fallback=0))
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feed_position.X = float(self.configReader.get(line_str, 'FeedPosition_x', fallback=0))
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feed_position.Y = float(self.configReader.get(line_str, 'FeedPosition_y', fallback=0))
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feed_position.Z = float(self.configReader.get(line_str, 'FeedPosition_z', fallback=0))
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feed_position.U = float(self.configReader.get(line_str, 'FeedPosition_u', fallback=0))
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feed_position.V = float(self.configReader.get(line_str, 'FeedPosition_v', fallback=0))
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feed_position.W = float(self.configReader.get(line_str, 'FeedPosition_w', fallback=0))
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self.feedLine_dict[str(i+1)] = FeedLine(safe_position, photo_position, feed_position)
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self.init_seting_frame()
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pass
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def init_robot_info(self):
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@ -316,8 +356,8 @@ class MainWindow(QMainWindow,Ui_MainWindow):
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self.horizontalSlider_feedingNum.setValue(0)
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self.label_maxNum.setText(self.lineEdit_num.text())
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def send_stack_feedSet_button_click(self):
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self.stackedWidget_feed.setCurrentIndex(1)
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def send_stack_feedSet_button_click(self,index):
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self.stackedWidget_feed.setCurrentIndex(index)
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@ -366,6 +406,25 @@ class MainWindow(QMainWindow,Ui_MainWindow):
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print(request_command)
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self.robotClient.add_sendQuene(request_command)
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def send_get_safe_position_button_click(self):
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real_position = self.robotClient.status_model.getRealPosition()
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row_i = self.tableWidget_feedSeting.currentRow()
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head = self.tableWidget_feedSeting.item(row_i, 0).text()
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self.feedLine_dict[head].safe_position.init_position(real_position.X,real_position.Y,real_position.Z,real_position.U,real_position.V,real_position.W)
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self.set_position_to_tabel(row_i,0,real_position)
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def send_get_photo_position_button_click(self):
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real_position = self.robotClient.status_model.getRealPosition()
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row_i = self.tableWidget_feedSeting.currentRow()
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head = self.tableWidget_feedSeting.item(row_i, 0).text()
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self.feedLine_dict[head].photo_position.init_position(real_position.X, real_position.Y, real_position.Z, real_position.U, real_position.V, real_position.W)
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self.set_position_to_tabel(row_i, 1, real_position)
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def send_get_feed_position_button_click(self):
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real_position = self.robotClient.status_model.getRealPosition()
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row_i = self.tableWidget_feedSeting.currentRow()
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head = self.tableWidget_feedSeting.item(row_i, 0).text()
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self.feedLine_dict[head].feed_position.init_position(real_position.X, real_position.Y, real_position.Z, real_position.U, real_position.V, real_position.W)
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self.set_position_to_tabel(row_i, 2, real_position)
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def run(self):
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while True:
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@ -417,7 +476,13 @@ class MainWindow(QMainWindow,Ui_MainWindow):
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self.label_j5.setText(str(self.status_address.axis_4))
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self.label_j6.setText(str(self.status_address.axis_5))
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def set_position_to_tabel(self,row_i,position_j,real_Position:Real_Position):
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self.tableWidget_feedSeting.setItem(row_i, position_j*6+1, QTableWidgetItem(str(real_Position.X)))
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self.tableWidget_feedSeting.setItem(row_i, position_j*6+1+1, QTableWidgetItem(str(real_Position.Y)))
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self.tableWidget_feedSeting.setItem(row_i, position_j*6+2+1, QTableWidgetItem(str(real_Position.Z)))
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self.tableWidget_feedSeting.setItem(row_i, position_j*6+3+1, QTableWidgetItem(str(real_Position.U)))
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self.tableWidget_feedSeting.setItem(row_i, position_j*6+4+1, QTableWidgetItem(str(real_Position.V)))
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self.tableWidget_feedSeting.setItem(row_i, position_j*6+5+1, QTableWidgetItem(str(real_Position.W)))
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def set_label_status_style(self, connected: bool):
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if connected:
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