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update 更新添加各种中间点位

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This commit is contained in:
FrankCV2048
2024-10-11 23:05:08 +08:00
parent 47f8d81b7f
commit 2af2bff5e8
6 changed files with 142 additions and 34 deletions
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46
app.py
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@ -190,8 +190,8 @@ class MainWindow(QMainWindow, Ui_MainWindow):
(int(self.configReader.get('Robot_Feed', 'photo_x3')),
int(self.configReader.get('Robot_Feed', 'photo_y3')),int(self.configReader.get('Robot_Feed', 'photo_z3')))
]
self.robotClient = RobotClient(ip, port, photo_locs,self.command_position_quene, self.status_address)
dropDelay_time = int(self.configReader.get('Robot_Feed', 'dropDelay_time'))
self.robotClient = RobotClient(ip, port, photo_locs, self.command_position_quene, self.status_address)
self.feeding = Feeding(self.robotClient, self.detection) # 临时
self.last_time = time.time()
@ -286,8 +286,12 @@ class MainWindow(QMainWindow, Ui_MainWindow):
safe_position = Real_Position()
photo_position = Real_Position()
mid_position = Real_Position()
broken_position = Real_Position()
broken_position1 = Real_Position()
broken_position2 = Real_Position()
feed_position = Real_Position()
dropBag_position = Real_Position()
zipBag_poistion = Real_Position()
safe_position.X = float(self.configReader.get(line_str, 'SafePosition_x', fallback=0))
safe_position.Y = float(self.configReader.get(line_str, 'SafePosition_y', fallback=0))
@ -310,12 +314,32 @@ class MainWindow(QMainWindow, Ui_MainWindow):
mid_position.V = float(self.configReader.get(line_str, 'MidPosition_v', fallback=0))
mid_position.W = float(self.configReader.get(line_str, 'MidPosition_w', fallback=0))
broken_position.X = float(self.configReader.get(line_str, 'BrokenPosition_x', fallback=0))
broken_position.Y = float(self.configReader.get(line_str, 'BrokenPosition_y', fallback=0))
broken_position.Z = float(self.configReader.get(line_str, 'BrokenPosition_z', fallback=0))
broken_position.U = float(self.configReader.get(line_str, 'BrokenPosition_u', fallback=0))
broken_position.V = float(self.configReader.get(line_str, 'BrokenPosition_v', fallback=0))
broken_position.W = float(self.configReader.get(line_str, 'BrokenPosition_w', fallback=0))
broken_position1.X = float(self.configReader.get(line_str, 'BrokenPosition_x', fallback=0))
broken_position1.Y = float(self.configReader.get(line_str, 'BrokenPosition_y', fallback=0))
broken_position1.Z = float(self.configReader.get(line_str, 'BrokenPosition_z', fallback=0))
broken_position1.U = float(self.configReader.get(line_str, 'BrokenPosition_u', fallback=0))
broken_position1.V = float(self.configReader.get(line_str, 'BrokenPosition_v', fallback=0))
broken_position1.W = float(self.configReader.get(line_str, 'BrokenPosition_w', fallback=0))
broken_position2.X = float(self.configReader.get(line_str, 'BrokenPosition2_x', fallback=0))
broken_position2.Y = float(self.configReader.get(line_str, 'BrokenPosition2_y', fallback=0))
broken_position2.Z = float(self.configReader.get(line_str, 'BrokenPosition2_z', fallback=0))
broken_position2.U = float(self.configReader.get(line_str, 'BrokenPosition2_u', fallback=0))
broken_position2.V = float(self.configReader.get(line_str, 'BrokenPosition2_v', fallback=0))
broken_position2.W = float(self.configReader.get(line_str, 'BrokenPosition2_w', fallback=0))
dropBag_position.X = float(self.configReader.get(line_str, 'DropBagPosition_x', fallback=0))
dropBag_position.Y = float(self.configReader.get(line_str, 'DropBagPosition_y', fallback=0))
dropBag_position.Z = float(self.configReader.get(line_str, 'DropBagPosition_z', fallback=0))
dropBag_position.U = float(self.configReader.get(line_str, 'DropBagPosition_u', fallback=0))
dropBag_position.V = float(self.configReader.get(line_str, 'DropBagPosition_v', fallback=0))
dropBag_position.W = float(self.configReader.get(line_str, 'DropBagPosition_w', fallback=0))
zipBag_poistion.X = float(self.configReader.get(line_str, 'ZipBagPosition_x', fallback=0))
zipBag_poistion.Y = float(self.configReader.get(line_str, 'ZipBagPosition_y', fallback=0))
zipBag_poistion.Z = float(self.configReader.get(line_str, 'ZipBagPosition_z', fallback=0))
zipBag_poistion.U = float(self.configReader.get(line_str, 'ZipBagPosition_u', fallback=0))
zipBag_poistion.V = float(self.configReader.get(line_str, 'ZipBagPosition_v', fallback=0))
zipBag_poistion.W = float(self.configReader.get(line_str, 'ZipBagPosition_w', fallback=0))
feed_position.X = float(self.configReader.get(line_str, 'FeedPosition_x', fallback=0))
feed_position.Y = float(self.configReader.get(line_str, 'FeedPosition_y', fallback=0))
@ -324,10 +348,12 @@ class MainWindow(QMainWindow, Ui_MainWindow):
feed_position.V = float(self.configReader.get(line_str, 'FeedPosition_v', fallback=0))
feed_position.W = float(self.configReader.get(line_str, 'FeedPosition_w', fallback=0))
name = self.configReader.get(line_str, 'Name', fallback='未命名')
self.feedLine_dict[f'{Constant.feedLine_set_section}{i + 1}'] = FeedLine(name, safe_position,
photo_position, mid_position,
broken_position, feed_position)
broken_position1,broken_position2,dropBag_position,zipBag_poistion,feed_position)
self.init_seting_frame()
self.updateUI_Select_Line()
pass