From 29d004221f86a0e59924291b7338c6e8572eabf4 Mon Sep 17 00:00:00 2001 From: FrankCV2048 <1395405735@qq.com> Date: Mon, 25 Nov 2024 22:35:45 +0800 Subject: [PATCH] =?UTF-8?q?:radioactive:=20update=20=E5=88=9D=E6=AD=A5?= =?UTF-8?q?=E6=9B=B4=E6=96=B0=E6=8A=95=E6=96=99=E6=A1=86=E6=9E=B6?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- CU/Catch.py | 10 ++ CU/Feeding.py | 3 + CU/Feeding_C.py | 324 ++++++++++++++++++++++++++++++++++++++++ Constant.py | 3 + MainWin.ui | 31 +++- MvSDKLog/CamCtrl_00.log | 40 +++++ Seting.ini | 2 +- ThreadTest.py | 89 ++++++----- 8 files changed, 465 insertions(+), 37 deletions(-) create mode 100644 CU/Catch.py create mode 100644 CU/Feeding_C.py diff --git a/CU/Catch.py b/CU/Catch.py new file mode 100644 index 0000000..0b15697 --- /dev/null +++ b/CU/Catch.py @@ -0,0 +1,10 @@ +class catch_jaw: + def __init__(self, x, y, width, height, angle, color): + pass + + def run(self): + pass + + + def take_bag(self): + return True \ No newline at end of file diff --git a/CU/Feeding.py b/CU/Feeding.py index 206ddc9..87c7920 100644 --- a/CU/Feeding.py +++ b/CU/Feeding.py @@ -32,6 +32,8 @@ class FeedStatus(IntEnum): class FeedLine: def __init__(self,id,name,safe_position:Real_Position,broken1_position:Real_Position,broken2_position:Real_Position,shake_position:Real_Position,drop_bag_position:Real_Position): + + self.safe_position = safe_position self.broken1_position = broken1_position self.broken2_position = broken2_position @@ -68,6 +70,7 @@ class Feeding : self.init_detection_image() self.pause = False self.cRis_photo = CRisOrFall() + pass def init_detection_image(self): diff --git a/CU/Feeding_C.py b/CU/Feeding_C.py new file mode 100644 index 0000000..692bf84 --- /dev/null +++ b/CU/Feeding_C.py @@ -0,0 +1,324 @@ +import logging +import time + +import cv2 +from PyQt5.QtWidgets import QMessageBox + +import Constant +import Expection +from Model.Position import Real_Position, Detection_Position +from enum import Enum, IntEnum +from COM.COM_Robot import RobotClient +from Model.RobotModel import CMDInstructRequest, MoveType +from Util.util_time import CRisOrFall +from Vision.camera_coordinate_dete import Detection +from Util.util_log import log +from Model.RobotModel import Instruction + + + + +class FeedStatus(IntEnum): + FNone = 0 + FStart = 1 + FCheck = 2 + FMid = 3 + FPhoto = 4 + FTake = 5 + FBroken1 = 6 + FBroken2 =7 + FShake = 8 + FDropBag = 9 + FFinished = 10 + +class FeedPosition: + def __init__(self,status:FeedStatus,position:Real_Position): + self.status = status + self.position = position + +class FeedLine: + def __init__(self, id, name, feed_positions:list): + self.feed_positions = feed_positions + self.pos_index = 0 + self.name = name + self.id = id + + def get_current_position(self): + pos = self.feed_positions[self.pos_index] + return pos + def get_next_position(self): + pos = self.feed_positions[self.pos_index] + self.pos_index += 1 + return pos + def get_take_position(self): + for i in range(len(self.feed_positions)): + if self.feed_positions[i].status == FeedStatus.FTake: + return self.feed_positions[i] + + def set_take_position(self,position:Real_Position): + for i in range(len(self.feed_positions)): + if self.feed_positions[i].status == FeedStatus.FTake: + self.feed_positions[i].position = position + +class FeedingConfig: + def __init__(self, num: int, feedLine: FeedLine, photo_locs): + self.num = num + self.feedLine = feedLine + self.photo_locs = [self.deal_photo_locs(p) for p in photo_locs] + + def deal_photo_locs(self, photo_loc): + position_photo = Real_Position() + position_photo.init_position(photo_loc[0], photo_loc[1], photo_loc[2], photo_loc[3], photo_loc[4], photo_loc[5]) + return position_photo + + def get_line_info(self): + pass + + +class Feeding: + def __init__(self, robotClient: RobotClient, detection: Detection): + self.feedConfig = None + self.feedStatus = FeedStatus.FNone + self.robotClient = robotClient + self.detection = detection + self.detection_image = None + self.init_detection_image() + self.pause = False + self.cRis_photo = CRisOrFall() + + pass + + def init_detection_image(self): + self.detection_image = cv2.imread(Constant.feed_sign_path) + + def run(self): + # 获取事件坐标 + real_position = Real_Position() + real_position.init_position(self.robotClient.status_model.world_0, + self.robotClient.status_model.world_1, + self.robotClient.status_model.world_2, + self.robotClient.status_model.world_3, + self.robotClient.status_model.world_4, + self.robotClient.status_model.world_5) + # real_position.init_position(0, + # 0, + # 0, + # 0, + # 0, + # 0); + + if self.feedConfig == None: + self.feedStatus = FeedStatus.FNone + elif self.feedConfig.num == 0: + self.feedStatus = FeedStatus.FNone + + if self.feedStatus == FeedStatus.FNone or self.pause: + return + + + elif self.feedStatus == FeedStatus.FStart: + log.log_message(logging.INFO, Constant.str_feed_start) + self.feedStatus = FeedStatus.FCheck if self.feedStatus != FeedStatus.FNone else FeedStatus.FNone + pass + elif self.feedStatus == FeedStatus.FCheck: + log.log_message(logging.INFO, Constant.str_feed_check) + # 1, 检查是否是三列 + # 2, 检查是否有人 + # if self.safe_check_columns() and self.safe_check_person(): + # pass + # else: + if self.feedConfig.num != 0: + self.next_target() + # if == 原点 继续判断 + # else: + # QMessageBox.information(None, "提示", Constant.str_feed_safe_error_msgbox) + elif self.feedStatus == FeedStatus.FMid: + log.log_message(logging.INFO, Constant.str_feed_mid) + feed_pos = self.feedConfig.feedLine.get_current_position() + if feed_pos.position.compare(real_position): + self.next_target() + + + + elif self.feedStatus == FeedStatus.FPhoto: + log.log_message(logging.INFO, Constant.str_feed_photo) + detect_pos_list = [] + if not Constant.Debug: + try: + from Util.util_time import CRisOrFall + if self.cRis_photo.Q(self.error_photo_count >= 5, True): + QMessageBox.information(None, "提示", Constant.str_feed_photo_error_msgbox) + self.error_photo_count = 0 + log.log_message(logging.INFO, Constant.str_feed_photo_confirm) + + # TODO 返回初始状态 + for pos in self.feedConfig.photo_locs: + self.sendTargPosition(pos) + while not pos.compare(real_position): # 可以优化 TODO + if self.feedStatus == FeedStatus.FNone or not self.pause: + return + time.sleep(0.1) + code, img, xyz, uvw, mng = self.detection.get_position() # 检测结果 + self.detection_image = img + if xyz != None: + log.log_message(logging.INFO, Constant.str_feed_takePhoto_success) + # dp = Detection_Position().init_position(*xyz, *uvw) + from Trace.handeye_calibration import R_matrix, getPosition + rotation = R_matrix(self.robotClient.status_model.world_0, + self.robotClient.status_model.world_1, + self.robotClient.status_model.world_2 - 10, # TODO 这个10 需要确定 + self.robotClient.status_model.world_3, + self.robotClient.status_model.world_4, + self.robotClient.status_model.world_5) + + # 黄老师给我的xyz和法向量 + target_position, noraml_base = getPosition(*xyz, *uvw, rotation, *mng) + detect_pos_list.append(Real_Position().init_position(*target_position[:3], *noraml_base)) + log.log_message(logging.INFO, Constant.str_feed_takePhoto_success) + else: + log.log_message(logging.ERROR, Constant.str_feed_takePhoto_fail + real_position.to_string()) + z_diff, max_z_index = (lambda pts: ( + max(pts, key=lambda p: p.Z).Z - min(pts, key=lambda p: p.Z).Z, + pts.index(max(pts, key=lambda p: p.Z)) + ))(detect_pos_list) + if len(self.feedConfig.photo_locs) == 5: + if z_diff < Constant.bag_height and len( + detect_pos_list) == 3: # 第一次检测到没有高度差距开始三列拍照 TODO 保留全部的开关 + # 拍照位置从五个变为三个 + self.feedConfig.photo_locs = [detect_pos_list[0], detect_pos_list[2], detect_pos_list[4]] + take_position = detect_pos_list[0] + log.log_message(logging.INFO, Constant.str_feed_takePhoto_front_finish) + else: + take_position = detect_pos_list[max_z_index] + log.log_message(logging.INFO, Constant.str_feed_takePhoto_front) + else: + if z_diff < Constant.bag_height: + take_position = detect_pos_list[0] + log.log_message(logging.INFO, Constant.str_feed_takePhoto_new_line) + else: + take_position = detect_pos_list[max_z_index] + log.log_message(logging.INFO, Constant.str_feed_takePhoto_line) + + self.feedConfig.feedLine.set_take_position(take_position) ##TODO 检查有没有异常 + self.next_target() + except: + log.log_message(logging.ERROR, Constant.str_feed_takePhoto_fail) + self.error_photo_count += 1 + else: + self.feedConfig.feedLine.set_take_position(real_position) ##TODO 检查有没有异常 + self.next_target() + log.log_message(logging.INFO, Constant.str_feed_takePhoto_move) + + elif self.feedStatus == FeedStatus.FTake: + log.log_message(logging.INFO, Constant.str_feed_take) + if self.feedConfig.feedLine.take_position != None and self.feedConfig.feedLine.get_current_position().compare( + real_position): + # 打开吸嘴并返回 + self.sendIOControl(self.robotClient.con_ios[0], 1) + self.sendIOControl(self.robotClient.con_ios[1], 1) + self.sendIOControl(self.robotClient.con_ios[2], 1) + + # TODO 检测是否通 不然报警 + + time.sleep(self.robotClient.time_delay_take) + log.log_message(logging.INFO, Constant.str_feed_take_success) + self.next_target() + + + elif self.feedStatus == FeedStatus.FBroken1: + log.log_message(logging.INFO, Constant.str_feed_broken) + if self.feedConfig.feedLine.get_current_position.compare(real_position): + self.next_target() + + + elif self.feedStatus == FeedStatus.FBroken2: + log.log_message(logging.INFO, Constant.str_feed_broken) + if self.feedConfig.feedLine.get_current_position.compare(real_position): + self.next_target() + + elif self.feedStatus == FeedStatus.FShake: + log.log_message(logging.INFO, Constant.str_feed_shake) + if self.feedConfig.feedLine.get_current_position.compare(real_position): + # TODO 震动方案 + time.sleep(self.robotClient.time_delay_shake) + self.next_target() + + elif self.feedStatus == FeedStatus.FDropBag: + log.log_message(logging.INFO, Constant.str_feed_drop) + + if self.feedConfig.feedLine.get_current_position.compare(real_position): + self.sendIOControl(self.robotClient.con_ios[0], 0) + self.sendIOControl(self.robotClient.con_ios[1], 0) + self.sendIOControl(self.robotClient.con_ios[2], 0) + # TODO 检测是否断 不然报警 + time.sleep(self.robotClient.time_delay_put) + self.feedConfig.num = self.feedConfig.num - 1 + log.log_message(logging.INFO, f'{Constant.str_feed_feed_num}{self.feedConfig.num}') + + + if self.feedConfig.num ==0 and self.feedConfig.feedLine.pos_index == 0: + log.log_message(logging.INFO, Constant.str_feed_finish) + self.feedStatus = FeedStatus.FNone + self.init_detection_image() + + def send_emergency_sound(self): + self.sendIOControl(Constant.IO_EmergencyPoint, 1) + + def send_emergency_stop(self): + self.sendIOControl(Constant.IO_EmergencyPoint, 0) + + def sendIOControl(self, IO_bit, IO_Status: int): + + IO_command = CMDInstructRequest() + io_instruction = Instruction() + io_instruction.IO = True + io_instruction.io_status = IO_Status + io_instruction.point = IO_bit # {"dsID":"HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[{"oneshot":"1","action":"200","type":"0","io_status":"1","point":"15","delay":"0"}]} + IO_command.dsID = 'HCRemoteCommand' + IO_command.instructions.append(io_instruction) + self.robotClient.add_sendQuene(IO_command.toString()) + log.log_message(logging.INFO, f'{Constant.str_feed_io_control}{IO_bit}，{IO_Status}') + pass + + def sendTargPosition(self, real_position, move_type: MoveType = MoveType.WORLD, speed=Constant.speed): + position_instruction = Instruction() + position_instruction.speed = speed + position_instruction.m0 = real_position.X + position_instruction.m1 = real_position.Y + position_instruction.m2 = real_position.Z + position_instruction.m3 = real_position.U + position_instruction.m4 = real_position.V + position_instruction.m5 = real_position.W + position_instruction.action = move_type.value + instruction_command = CMDInstructRequest() + instruction_command.instructions.append(position_instruction) + request_command = instruction_command.toString() + + log_str = f'移动到位置:{"姿势直线"}：' \ + f'X:{position_instruction.m0}-' \ + f'Y:{position_instruction.m1}-' \ + f'Z:{position_instruction.m2}-' \ + f'U:{position_instruction.m3}-' \ + f'V:{position_instruction.m4}-' \ + f'W:{position_instruction.m5}' + + try: + log.log_message(logging.INFO, log_str) + except: + print("error") + + self.robotClient.add_sendQuene(request_command) + pass + + def next_target(self): + feed_pos = self.feedConfig.feedLine.get_next_position() + self.feedStatus = feed_pos.status + self.sendTargPosition(feed_pos.position) + def safe_check_columns(self): + return True + pass + + def safe_check_person(self): + return True + pass + diff --git a/Constant.py b/Constant.py index 22f0811..8023330 100644 --- a/Constant.py +++ b/Constant.py @@ -27,6 +27,7 @@ str_feed_stop = '投料停止' str_feed_feed = '移动到投料位置' str_feed_mid = '移动到中位位置' str_feed_safe = '移动到安全位置' +str_feed_safe_middle = '移动到安全中位位置' str_feed_takePhoto = '拍照' str_feed_broken = '移动到破袋位置' str_feed_broken_bag = '划袋' @@ -50,6 +51,8 @@ str_feed_zip_bag = '移动到压缩袋位置' str_feed_photo_error_msgbox = '请重新摆放料带后再关闭此窗口' str_feed_photo_confirm = '确认摆好' str_feed_io_control = '发送IO控制: ' +str_feed_safe_error_msgbox = '未在安全位置，请先复位！' +str_feed_shake = '摇摆' str_sys_start = '进入系统' str_sys_exit = '退出系统' str_sys_switch_tool = '切换到工具坐标' diff --git a/MainWin.ui b/MainWin.ui index 72f834f..dcd232d 100644 --- a/MainWin.ui +++ b/MainWin.ui @@ -907,7 +907,7 @@ background-color: rgb(13, 17, 40); - 0 + 5 @@ -4752,6 +4752,35 @@ font: 10pt "楷体"; + + + + 0 + + + 0 + + + 0 + + + 0 + + + 0 + + + + + QFrame::Shape::StyledPanel + + + QFrame::Shadow::Raised + + + + + diff --git a/MvSDKLog/CamCtrl_00.log b/MvSDKLog/CamCtrl_00.log index 4cc0696..1c1949a 100644 --- a/MvSDKLog/CamCtrl_00.log +++ b/MvSDKLog/CamCtrl_00.log @@ -9083,3 +9083,43 @@ Warning 2024-11-07 20:21:59:0564 DevID:Virtual USB3 Vision Source-Line:MvCamer Warning 2024-11-07 20:21:59:0564 DevID:Virtual USB3 Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L0996) ProcessName:python.exe(16148) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_VERSION] failed, Ret[0x80000001] Warning 2024-11-07 20:21:59:0564 DevID:Virtual USB3 Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L1000) ProcessName:python.exe(16148) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_MANUFACTURER] failed, Ret[0x80000001] Warning 2024-11-07 20:21:59:0564 DevID:Virtual USB3 Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L1004) ProcessName:python.exe(16148) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_USER_DEFINED_NAME] failed, Ret[0x80000001] +Error 2024-11-07 20:27:31:0198 DevID: Source-Line:MvCameraControl.dll(OtherLoadLibrary.cpp-L0709) ProcessName:python.exe(16960) Description:[LoadSRAllFunctions]hSRModule is NULL, Ret[0x8000000c] +Warning 2024-11-07 20:27:31:0201 DevID: Source-Line:MvCameraControl.dll(GenTLLoadLibraryEx.cpp-L0345) ProcessName:python.exe(16960) Description:[LoadCtiLibInter]MV_GCSetConfigIntValue is NULL, CTI path[D:\environment\envs\UICreater\lib\site-packages\MvProducerVIR.dll] +Warning 2024-11-07 20:27:31:0202 DevID:Virtual GigE Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L0992) ProcessName:python.exe(16960) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_MODEL] failed, Ret[0x80000001] +Warning 2024-11-07 20:27:31:0202 DevID:Virtual GigE Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L0996) ProcessName:python.exe(16960) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_VERSION] failed, Ret[0x80000001] +Warning 2024-11-07 20:27:31:0202 DevID:Virtual GigE Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L1000) ProcessName:python.exe(16960) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_MANUFACTURER] failed, Ret[0x80000001] +Warning 2024-11-07 20:27:31:0202 DevID:Virtual GigE Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L1004) ProcessName:python.exe(16960) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_USER_DEFINED_NAME] failed, Ret[0x80000001] +Warning 2024-11-07 20:27:31:0202 DevID:Virtual USB3 Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L0992) ProcessName:python.exe(16960) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_MODEL] failed, Ret[0x80000001] +Warning 2024-11-07 20:27:31:0202 DevID:Virtual USB3 Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L0996) ProcessName:python.exe(16960) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_VERSION] failed, Ret[0x80000001] +Warning 2024-11-07 20:27:31:0202 DevID:Virtual USB3 Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L1000) ProcessName:python.exe(16960) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_MANUFACTURER] failed, Ret[0x80000001] +Warning 2024-11-07 20:27:31:0202 DevID:Virtual USB3 Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L1004) ProcessName:python.exe(16960) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_USER_DEFINED_NAME] failed, Ret[0x80000001] +Error 2024-11-21 19:43:31:0867 DevID: Source-Line:MvCameraControl.dll(OtherLoadLibrary.cpp-L0709) ProcessName:python.exe(23792) Description:[LoadSRAllFunctions]hSRModule is NULL, Ret[0x8000000c] +Warning 2024-11-21 19:43:31:0876 DevID: Source-Line:MvCameraControl.dll(GenTLLoadLibraryEx.cpp-L0345) ProcessName:python.exe(23792) Description:[LoadCtiLibInter]MV_GCSetConfigIntValue is NULL, CTI path[D:\environment\envs\UICreater\lib\site-packages\MvProducerVIR.dll] +Warning 2024-11-21 19:43:31:0882 DevID:Virtual GigE Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L0992) ProcessName:python.exe(23792) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_MODEL] failed, Ret[0x80000001] +Warning 2024-11-21 19:43:31:0882 DevID:Virtual GigE Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L0996) ProcessName:python.exe(23792) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_VERSION] failed, Ret[0x80000001] +Warning 2024-11-21 19:43:31:0883 DevID:Virtual GigE Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L1000) ProcessName:python.exe(23792) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_MANUFACTURER] failed, Ret[0x80000001] +Warning 2024-11-21 19:43:31:0883 DevID:Virtual GigE Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L1004) ProcessName:python.exe(23792) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_USER_DEFINED_NAME] failed, Ret[0x80000001] +Warning 2024-11-21 19:43:31:0883 DevID:Virtual USB3 Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L0992) ProcessName:python.exe(23792) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_MODEL] failed, Ret[0x80000001] +Warning 2024-11-21 19:43:31:0883 DevID:Virtual USB3 Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L0996) ProcessName:python.exe(23792) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_VERSION] failed, Ret[0x80000001] +Warning 2024-11-21 19:43:31:0883 DevID:Virtual USB3 Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L1000) ProcessName:python.exe(23792) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_MANUFACTURER] failed, Ret[0x80000001] +Warning 2024-11-21 19:43:31:0883 DevID:Virtual USB3 Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L1004) ProcessName:python.exe(23792) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_USER_DEFINED_NAME] failed, Ret[0x80000001] +Error 2024-11-21 19:44:16:0341 DevID: Source-Line:MvCameraControl.dll(OtherLoadLibrary.cpp-L0709) ProcessName:python.exe(21116) Description:[LoadSRAllFunctions]hSRModule is NULL, Ret[0x8000000c] +Warning 2024-11-21 19:44:16:0343 DevID: Source-Line:MvCameraControl.dll(GenTLLoadLibraryEx.cpp-L0345) ProcessName:python.exe(21116) Description:[LoadCtiLibInter]MV_GCSetConfigIntValue is NULL, CTI path[D:\environment\envs\UICreater\lib\site-packages\MvProducerVIR.dll] +Warning 2024-11-21 19:44:16:0344 DevID:Virtual GigE Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L0992) ProcessName:python.exe(21116) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_MODEL] failed, Ret[0x80000001] +Warning 2024-11-21 19:44:16:0344 DevID:Virtual GigE Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L0996) ProcessName:python.exe(21116) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_VERSION] failed, Ret[0x80000001] +Warning 2024-11-21 19:44:16:0344 DevID:Virtual GigE Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L1000) ProcessName:python.exe(21116) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_MANUFACTURER] failed, Ret[0x80000001] +Warning 2024-11-21 19:44:16:0344 DevID:Virtual GigE Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L1004) ProcessName:python.exe(21116) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_USER_DEFINED_NAME] failed, Ret[0x80000001] +Warning 2024-11-21 19:44:16:0344 DevID:Virtual USB3 Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L0992) ProcessName:python.exe(21116) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_MODEL] failed, Ret[0x80000001] +Warning 2024-11-21 19:44:16:0344 DevID:Virtual USB3 Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L0996) ProcessName:python.exe(21116) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_VERSION] failed, Ret[0x80000001] +Warning 2024-11-21 19:44:16:0344 DevID:Virtual USB3 Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L1000) ProcessName:python.exe(21116) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_MANUFACTURER] failed, Ret[0x80000001] +Warning 2024-11-21 19:44:16:0344 DevID:Virtual USB3 Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L1004) ProcessName:python.exe(21116) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_USER_DEFINED_NAME] failed, Ret[0x80000001] +Error 2024-11-21 20:52:26:0047 DevID: Source-Line:MvCameraControl.dll(OtherLoadLibrary.cpp-L0709) ProcessName:python.exe(15072) Description:[LoadSRAllFunctions]hSRModule is NULL, Ret[0x8000000c] +Warning 2024-11-21 20:52:26:0052 DevID: Source-Line:MvCameraControl.dll(GenTLLoadLibraryEx.cpp-L0345) ProcessName:python.exe(15072) Description:[LoadCtiLibInter]MV_GCSetConfigIntValue is NULL, CTI path[D:\environment\envs\UICreater\lib\site-packages\MvProducerVIR.dll] +Warning 2024-11-21 20:52:26:0056 DevID:Virtual GigE Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L0992) ProcessName:python.exe(15072) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_MODEL] failed, Ret[0x80000001] +Warning 2024-11-21 20:52:26:0056 DevID:Virtual GigE Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L0996) ProcessName:python.exe(15072) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_VERSION] failed, Ret[0x80000001] +Warning 2024-11-21 20:52:26:0056 DevID:Virtual GigE Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L1000) ProcessName:python.exe(15072) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_MANUFACTURER] failed, Ret[0x80000001] +Warning 2024-11-21 20:52:26:0056 DevID:Virtual GigE Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L1004) ProcessName:python.exe(15072) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_USER_DEFINED_NAME] failed, Ret[0x80000001] +Warning 2024-11-21 20:52:26:0056 DevID:Virtual USB3 Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L0992) ProcessName:python.exe(15072) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_MODEL] failed, Ret[0x80000001] +Warning 2024-11-21 20:52:26:0056 DevID:Virtual USB3 Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L0996) ProcessName:python.exe(15072) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_VERSION] failed, Ret[0x80000001] +Warning 2024-11-21 20:52:26:0056 DevID:Virtual USB3 Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L1000) ProcessName:python.exe(15072) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_MANUFACTURER] failed, Ret[0x80000001] +Warning 2024-11-21 20:52:26:0056 DevID:Virtual USB3 Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L1004) ProcessName:python.exe(15072) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_USER_DEFINED_NAME] failed, Ret[0x80000001] diff --git a/Seting.ini b/Seting.ini index bd62b36..0c3e6d6 100644 --- a/Seting.ini +++ b/Seting.ini @@ -47,7 +47,7 @@ photo_v5 = 0.0 photo_w5 = 1.0 linecount = 2 remain_linename = 1 -remain_count = 477 +remain_count = 0 solenoid_valve1_addr = 3 solenoid_valve2_addr = 2 solenoid_valve3_addr = 10 diff --git a/ThreadTest.py b/ThreadTest.py index eff9585..6676f67 100644 --- a/ThreadTest.py +++ b/ThreadTest.py @@ -1,42 +1,61 @@ -import sys -import time +from PySide6.QtWidgets import ( + QApplication, QWidget, QHBoxLayout, QVBoxLayout, QPushButton, + QLineEdit, QLabel, QGroupBox, QSpacerItem, QSizePolicy +) +from PySide6.QtGui import QIcon +from PySide6.QtCore import Qt -from PySide6.QtCore import QThread, Signal, Slot -from PySide6.QtWidgets import QMainWindow, QApplication, QLineEdit - -from ui_untitled import Ui_MainWindow - - -class WorkerThread(QThread): - # 定义一个信号，用于在计数完成后发送结果到主线程 - result_signal = Signal(int) - finished = Signal() - - def run(self): - count = 0 - for i in range(1, 11): - count += i - time.sleep(1) # 模拟耗时操作 - self.result_signal.emit(count) - # 发射信号 - - self.finished.emit() - - -class MainWindow(QMainWindow, Ui_MainWindow): +class OptimizedUI(QWidget): def __init__(self): - super(MainWindow, self).__init__() - self.setupUi(self) - #self.line = QLineEdit("设置") + super().__init__() - # self.btn_1.clicked.connect(self.start_count) + self.setWindowTitle("UI Optimization") + self.setFixedSize(600, 150) + self.init_ui() - # 创建并启动后台线程 + def init_ui(self): + # 主布局 + main_layout = QHBoxLayout(self) + main_layout.setSpacing(10) + # 1. 坐标输入框组 + coord_group = QGroupBox("坐标") + coord_layout = QVBoxLayout() + for _ in range(2): # 两行坐标输入 + row_layout = QHBoxLayout() + for label in ["x", "y", "z"]: + row_layout.addWidget(QLineEdit(), 1) + coord_layout.addLayout(row_layout) + coord_group.setLayout(coord_layout) -if __name__ == '__main__': + # 2. 功能按钮组 + button_layout = QVBoxLayout() + get_btn = QPushButton("获取位置") + save_btn = QPushButton("保存位置") + for btn in [get_btn, save_btn]: + btn.setStyleSheet("background-color: #a8e6cf; border-radius: 5px;") + button_layout.addWidget(btn) + + # 3. 右侧操作按钮 + add_point_btn = QPushButton("添加中间点") + add_point_btn.setIcon(QIcon.fromTheme("list-add")) + add_point_btn.setStyleSheet("background-color: #61c0bf; border-radius: 5px; color: white;") + dropdown_btn = QPushButton("▼") + dropdown_btn.setFixedWidth(30) + + right_layout = QHBoxLayout() + right_layout.addWidget(add_point_btn) + right_layout.addWidget(dropdown_btn) + + # 添加控件到主布局 + main_layout.addWidget(QPushButton("破碎点"), 1) + main_layout.addWidget(coord_group, 3) + main_layout.addLayout(button_layout, 2) + main_layout.addLayout(right_layout, 2) + + if __name__ == "__main__": + import sys app = QApplication(sys.argv) - win = MainWindow() - win.show() - app.exec() - + window = OptimizedUI() + window.show() + sys.exit(app.exec())