update 投料逻辑完善
This commit is contained in:
FrankCV2048
@ -27,30 +27,29 @@ class FeedStatus(IntEnum):
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FFinished = 12
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class FeedLine:
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def __init__(self,id,name,safe_position:Real_Position,photo_position:Real_Position,mid_position:Real_Position,broken1_position:Real_Position,broken2_position:Real_Position,drop_bag_position:Real_Position,zip_bag_position:Real_Position,feed_position:Real_Position):
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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):
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self.safe_position = safe_position
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self.photo_position = photo_position
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self.feed_position = feed_position
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self.mid_position = mid_position
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self.broken1_position = broken1_position
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self.broken2_position = broken2_position
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self.shake_position = shake_position
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self.drop_bag_position = drop_bag_position
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self.zip_bag_position = zip_bag_position
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self.take_position = None
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self.name = name
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self.id=id
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class FeedingConfig:
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def __init__(self, num:int, feedLine:FeedLine):
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def __init__(self, num:int, feedLine:FeedLine,photo_locs):
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self.num = num
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self.feedLine = feedLine
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self.photo_locs = photo_locs
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def get_line_info(self):
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pass
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class Feeding():
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class Feeding:
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def __init__(self,robotClient:RobotClient,detection:Detection):
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self.feedConfig = None
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self.feedStatus = FeedStatus.FNone
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@ -107,6 +106,7 @@ class Feeding():
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if self.feedConfig.feedLine.safe_position.compare(real_position):
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self.feedStatus = FeedStatus.FPhoto
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self.sendTargPosition(self.feedConfig.feedLine.photo_position)
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#判断是哪一个问题
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elif self.feedStatus == FeedStatus.FPhoto:
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log.log_message(logging.INFO, Constant.str_feed_photo)
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@ -139,75 +139,57 @@ class Feeding():
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elif self.feedStatus == FeedStatus.FTake:
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log.log_message(logging.INFO, Constant.str_feed_take)
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if self.feedConfig.feedLine.take_position != None and self.feedConfig.feedLine.take_position.compare(real_position):
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self.feedStatus = FeedStatus.FSafeF
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# 打开吸嘴并返回 #TODO
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time.sleep(2)
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self.feedStatus = FeedStatus.FSafeF
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log.log_message(logging.INFO, Constant.str_feed_take_success)
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self.sendTargPosition(self.feedConfig.feedLine.mid_position)
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pass #打开吸嘴并返回
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self.sendTargPosition(self.feedConfig.feedLine.safe_position)
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pass
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elif self.feedStatus == FeedStatus.FSafeF:
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log.log_message(logging.INFO, Constant.str_feed_mid)
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if self.feedConfig.feedLine.mid_position.compare(real_position):
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self.feedStatus = FeedStatus.FFeedP
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self.sendTargPosition(self.feedConfig.feedLine.feed_position)
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pass #吸嘴开始
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elif self.feedStatus==FeedStatus.FFeedP:
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log.log_message(logging.INFO, Constant.str_feed_feed)
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if self.feedConfig.feedLine.feed_position.compare(real_position):
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if self.feedConfig.feedLine.safe_position.compare(real_position):
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self.feedStatus = FeedStatus.FBroken
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self.sendTargPosition(self.feedConfig.feedLine.broken1_position)
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pass #破袋
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pass #吸嘴开始
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# elif self.feedStatus==FeedStatus.FFeedP:
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# log.log_message(logging.INFO, Constant.str_feed_feed)
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# if self.feedConfig.feedLine.feed_position.compare(real_position):
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# self.feedStatus = FeedStatus.FBroken
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# self.sendTargPosition(self.feedConfig.feedLine.broken1_position)
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# pass #破袋
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elif self.feedStatus==FeedStatus.FBroken:
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log.log_message(logging.INFO, Constant.str_feed_broken)
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if self.feedConfig.feedLine.broken1_position.compare(real_position):
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self.sendTargPosition(self.feedConfig.feedLine.broken2_position)
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if self.feedConfig.feedLine.broken2_position.compare(real_position):
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current_position = Real_Position().init_position(0,0,0,0,0,0)
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current_position.X = self.robotClient.status_model.axis_0
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current_position.Y = self.robotClient.status_model.axis_1
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current_position.Z = self.robotClient.status_model.axis_2
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current_position.U = self.robotClient.status_model.axis_3
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current_position.V = self.robotClient.status_model.axis_4
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current_position.W = self.robotClient.status_model.axis_5
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for i in range(8):
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if (i % 2 == 0) ^ (i >= 3): ## 过一半取消
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c1 = current_position.U - 5
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self.sendTargPosition(c1, MoveType.AXIS, speed=Constant.shake_speed)
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else:
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c1 = current_position.U + 5
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self.sendTargPosition(c1, MoveType.AXIS, speed=Constant.shake_speed)
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if True: # 延迟判断，如果最后点位延迟1s，则认为阶段完成
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self.sendTargPosition(self.feedConfig.feedLine.shake_position)
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if self.feedConfig.feedLine.shake_position.compare(real_position): # 延迟判断，如果最后点位延迟1s，则认为阶段完成
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# TODO 震动方案
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time.sleep(2)
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self.feedStatus = FeedStatus.FDropBag
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self.sendTargPosition(self.feedConfig.feedLine.safe_position)
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elif self.feedStatus == FeedStatus.FDropBag:
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log.log_message(logging.INFO, Constant.str_feed_drop)
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if self.feedConfig.feedLine.safe_position.compare(real_position):
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if self.feedConfig.num - 1 != 0:
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self.sendTargPosition(self.feedConfig.feedLine.drop_bag_position)
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else:
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self.sendTargPosition(self.feedConfig.feedLine.zip_bag_position)
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self.sendTargPosition(self.feedConfig.feedLine.drop_bag_position)
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pass
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if self.feedConfig.feedLine.drop_bag_position.compare(real_position):
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# TODO 松开吸嘴
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time.sleep(2)
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self.feedConfig.num = self.feedConfig.num - 1
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log.log_message(logging.INFO, f'{Constant.str_feed_feed_num}{self.feedConfig.num}')
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self.feedStatus = FeedStatus.FSafeP
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self.sendTargPosition(self.feedConfig.feedLine.safe_position)
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if self.feedConfig.feedLine.zip_bag_position.compare(real_position):
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log.log_message(logging.INFO, Constant.str_feed_zip_bag)
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# TODO 松开吸嘴 是否需要判断放没放开不
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self.feedStatus = FeedStatus.FNone
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self.sendTargPosition(self.feedConfig.feedLine.safe_position)
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self.init_detection_image()
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log.log_message(logging.INFO, Constant.str_feed_finish)
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pass
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if self.feedConfig.num == 0: # 投料次数为0，直接返回
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log.log_message(logging.INFO, Constant.str_feed_finish)
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self.feedStatus = FeedStatus.FNone
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self.sendTargPosition(self.feedConfig.feedLine.safe_position)
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self.init_detection_image()
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else:
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self.feedStatus = FeedStatus.FSafeP
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self.sendTargPosition(self.feedConfig.feedLine.safe_position)
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@ -6,18 +6,6 @@ safeposition_z = 737.267822
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safeposition_u = -2.196312
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safeposition_v = -4.094595
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safeposition_w = -5.294128
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photoposition_x = 534.907898
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photoposition_y = 5.525342
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photoposition_z = 737.267822
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photoposition_u = -2.196312
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photoposition_v = -4.094595
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photoposition_w = -5.294128
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midposition_x = 638.432
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midposition_y = 16.854
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midposition_z = 406.721
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midposition_u = -3.256
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midposition_v = 7.334
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midposition_w = -4.307
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brokenposition1_x = 357.269
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brokenposition1_y = 478.874
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brokenposition1_z = 209.979
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@ -30,24 +18,20 @@ brokenposition2_z = 209.979
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brokenposition2_u = -3.100
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brokenposition2_v = -3.198
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brokenposition2_w = 49.945
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shakeposition_x = 357.269
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shakeposition_y = 478.874
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shakeposition_z = 209.979
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shakeposition_u = -3.100
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shakeposition_v = -3.198
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shakeposition_w = 49.945
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dropBagposition_x = 357.269
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dropBagposition_y = 478.874
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dropBagposition_z = 209.979
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dropBagposition_u = -3.100
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dropBagposition_v = -3.198
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dropBagposition_w = 49.945
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zipBagposition_x = 357.269
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zipBagposition_y = 478.874
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zipBagposition_z = 209.979
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zipBagposition_u = -3.100
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zipBagposition_v = -3.198
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zipBagposition_w = 49.945
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feedposition_x = 315.549
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feedposition_y = 427.090
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feedposition_z = 209.985
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feedposition_u = -2.793
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feedposition_v = -1.829
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feedposition_w = 50.000
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dropDelay_time = 3
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shakeDelay_time = 6
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[FeedLine2]
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@ -5793,3 +5793,93 @@ Warning 2024-10-27 22:59:38:0151 DevID:Virtual USB3 Vision Source-Line:MvCamer
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Warning 2024-10-27 22:59:38:0151 DevID:Virtual USB3 Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L0996) ProcessName:python.exe(26204) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_VERSION] failed, Ret[0x80000001]
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Warning 2024-10-27 22:59:38:0151 DevID:Virtual USB3 Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L1000) ProcessName:python.exe(26204) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_MANUFACTURER] failed, Ret[0x80000001]
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Warning 2024-10-27 22:59:38:0151 DevID:Virtual USB3 Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L1004) ProcessName:python.exe(26204) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_USER_DEFINED_NAME] failed, Ret[0x80000001]
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Error 2024-10-28 21:57:22:0667 DevID: Source-Line:MvCameraControl.dll(OtherLoadLibrary.cpp-L0709) ProcessName:python.exe(19976) Description:[LoadSRAllFunctions]hSRModule is NULL, Ret[0x8000000c]
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Warning 2024-10-28 21:57:22:0678 DevID: Source-Line:MvCameraControl.dll(GenTLLoadLibraryEx.cpp-L0345) ProcessName:python.exe(19976) Description:[LoadCtiLibInter]MV_GCSetConfigIntValue is NULL, CTI path[D:\environment\envs\UICreater\lib\site-packages\MvProducerVIR.dll]
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Warning 2024-10-28 21:57:22:0685 DevID:Virtual GigE Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L0992) ProcessName:python.exe(19976) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_MODEL] failed, Ret[0x80000001]
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Warning 2024-10-28 21:57:22:0685 DevID:Virtual GigE Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L0996) ProcessName:python.exe(19976) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_VERSION] failed, Ret[0x80000001]
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Warning 2024-10-28 21:57:22:0685 DevID:Virtual GigE Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L1000) ProcessName:python.exe(19976) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_MANUFACTURER] failed, Ret[0x80000001]
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Warning 2024-10-28 21:57:22:0685 DevID:Virtual GigE Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L1004) ProcessName:python.exe(19976) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_USER_DEFINED_NAME] failed, Ret[0x80000001]
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Warning 2024-10-28 21:57:22:0685 DevID:Virtual USB3 Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L0992) ProcessName:python.exe(19976) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_MODEL] failed, Ret[0x80000001]
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Warning 2024-10-28 21:57:22:0685 DevID:Virtual USB3 Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L0996) ProcessName:python.exe(19976) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_VERSION] failed, Ret[0x80000001]
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Warning 2024-10-28 21:57:22:0685 DevID:Virtual USB3 Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L1000) ProcessName:python.exe(19976) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_MANUFACTURER] failed, Ret[0x80000001]
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Warning 2024-10-28 21:57:22:0685 DevID:Virtual USB3 Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L1004) ProcessName:python.exe(19976) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_USER_DEFINED_NAME] failed, Ret[0x80000001]
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Error 2024-10-28 21:58:41:0982 DevID: Source-Line:MvCameraControl.dll(OtherLoadLibrary.cpp-L0709) ProcessName:python.exe(19704) Description:[LoadSRAllFunctions]hSRModule is NULL, Ret[0x8000000c]
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Warning 2024-10-28 21:58:41:0986 DevID: Source-Line:MvCameraControl.dll(GenTLLoadLibraryEx.cpp-L0345) ProcessName:python.exe(19704) Description:[LoadCtiLibInter]MV_GCSetConfigIntValue is NULL, CTI path[D:\environment\envs\UICreater\lib\site-packages\MvProducerVIR.dll]
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Warning 2024-10-28 21:58:41:0986 DevID:Virtual GigE Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L0992) ProcessName:python.exe(19704) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_MODEL] failed, Ret[0x80000001]
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Warning 2024-10-28 21:58:41:0986 DevID:Virtual GigE Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L0996) ProcessName:python.exe(19704) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_VERSION] failed, Ret[0x80000001]
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Warning 2024-10-28 21:58:41:0986 DevID:Virtual GigE Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L1000) ProcessName:python.exe(19704) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_MANUFACTURER] failed, Ret[0x80000001]
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Warning 2024-10-28 21:58:41:0986 DevID:Virtual GigE Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L1004) ProcessName:python.exe(19704) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_USER_DEFINED_NAME] failed, Ret[0x80000001]
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Warning 2024-10-28 21:58:41:0986 DevID:Virtual USB3 Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L0992) ProcessName:python.exe(19704) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_MODEL] failed, Ret[0x80000001]
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Warning 2024-10-28 21:58:41:0986 DevID:Virtual USB3 Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L0996) ProcessName:python.exe(19704) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_VERSION] failed, Ret[0x80000001]
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Warning 2024-10-28 21:58:41:0986 DevID:Virtual USB3 Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L1000) ProcessName:python.exe(19704) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_MANUFACTURER] failed, Ret[0x80000001]
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Warning 2024-10-28 21:58:41:0986 DevID:Virtual USB3 Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L1004) ProcessName:python.exe(19704) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_USER_DEFINED_NAME] failed, Ret[0x80000001]
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Error 2024-10-28 21:59:45:0877 DevID: Source-Line:MvCameraControl.dll(OtherLoadLibrary.cpp-L0709) ProcessName:python.exe(26956) Description:[LoadSRAllFunctions]hSRModule is NULL, Ret[0x8000000c]
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Warning 2024-10-28 21:59:45:0880 DevID: Source-Line:MvCameraControl.dll(GenTLLoadLibraryEx.cpp-L0345) ProcessName:python.exe(26956) Description:[LoadCtiLibInter]MV_GCSetConfigIntValue is NULL, CTI path[D:\environment\envs\UICreater\lib\site-packages\MvProducerVIR.dll]
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Warning 2024-10-28 21:59:45:0883 DevID:Virtual GigE Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L0992) ProcessName:python.exe(26956) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_MODEL] failed, Ret[0x80000001]
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Warning 2024-10-28 21:59:45:0883 DevID:Virtual GigE Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L0996) ProcessName:python.exe(26956) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_VERSION] failed, Ret[0x80000001]
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Warning 2024-10-28 21:59:45:0883 DevID:Virtual GigE Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L1000) ProcessName:python.exe(26956) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_MANUFACTURER] failed, Ret[0x80000001]
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Warning 2024-10-28 21:59:45:0883 DevID:Virtual GigE Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L1004) ProcessName:python.exe(26956) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_USER_DEFINED_NAME] failed, Ret[0x80000001]
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Warning 2024-10-28 21:59:45:0883 DevID:Virtual USB3 Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L0992) ProcessName:python.exe(26956) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_MODEL] failed, Ret[0x80000001]
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Warning 2024-10-28 21:59:45:0883 DevID:Virtual USB3 Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L0996) ProcessName:python.exe(26956) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_VERSION] failed, Ret[0x80000001]
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Warning 2024-10-28 21:59:45:0883 DevID:Virtual USB3 Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L1000) ProcessName:python.exe(26956) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_MANUFACTURER] failed, Ret[0x80000001]
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Warning 2024-10-28 21:59:45:0883 DevID:Virtual USB3 Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L1004) ProcessName:python.exe(26956) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_USER_DEFINED_NAME] failed, Ret[0x80000001]
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Error 2024-10-28 22:01:27:0553 DevID: Source-Line:MvCameraControl.dll(OtherLoadLibrary.cpp-L0709) ProcessName:python.exe(20304) Description:[LoadSRAllFunctions]hSRModule is NULL, Ret[0x8000000c]
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Warning 2024-10-28 22:01:27:0555 DevID: Source-Line:MvCameraControl.dll(GenTLLoadLibraryEx.cpp-L0345) ProcessName:python.exe(20304) Description:[LoadCtiLibInter]MV_GCSetConfigIntValue is NULL, CTI path[D:\environment\envs\UICreater\lib\site-packages\MvProducerVIR.dll]
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Warning 2024-10-28 22:01:27:0557 DevID:Virtual GigE Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L0992) ProcessName:python.exe(20304) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_MODEL] failed, Ret[0x80000001]
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Warning 2024-10-28 22:01:27:0557 DevID:Virtual GigE Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L0996) ProcessName:python.exe(20304) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_VERSION] failed, Ret[0x80000001]
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Warning 2024-10-28 22:01:27:0557 DevID:Virtual GigE Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L1000) ProcessName:python.exe(20304) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_MANUFACTURER] failed, Ret[0x80000001]
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Warning 2024-10-28 22:01:27:0557 DevID:Virtual GigE Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L1004) ProcessName:python.exe(20304) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_USER_DEFINED_NAME] failed, Ret[0x80000001]
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Warning 2024-10-28 22:01:27:0557 DevID:Virtual USB3 Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L0992) ProcessName:python.exe(20304) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_MODEL] failed, Ret[0x80000001]
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Warning 2024-10-28 22:01:27:0557 DevID:Virtual USB3 Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L0996) ProcessName:python.exe(20304) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_VERSION] failed, Ret[0x80000001]
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||||
Warning 2024-10-28 22:01:27:0557 DevID:Virtual USB3 Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L1000) ProcessName:python.exe(20304) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_MANUFACTURER] failed, Ret[0x80000001]
|
||||
Warning 2024-10-28 22:01:27:0557 DevID:Virtual USB3 Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L1004) ProcessName:python.exe(20304) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_USER_DEFINED_NAME] failed, Ret[0x80000001]
|
||||
Error 2024-10-28 22:09:24:0081 DevID: Source-Line:MvCameraControl.dll(OtherLoadLibrary.cpp-L0709) ProcessName:python.exe(23824) Description:[LoadSRAllFunctions]hSRModule is NULL, Ret[0x8000000c]
|
||||
Warning 2024-10-28 22:09:24:0083 DevID: Source-Line:MvCameraControl.dll(GenTLLoadLibraryEx.cpp-L0345) ProcessName:python.exe(23824) Description:[LoadCtiLibInter]MV_GCSetConfigIntValue is NULL, CTI path[D:\environment\envs\UICreater\lib\site-packages\MvProducerVIR.dll]
|
||||
Warning 2024-10-28 22:09:24:0084 DevID:Virtual GigE Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L0992) ProcessName:python.exe(23824) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_MODEL] failed, Ret[0x80000001]
|
||||
Warning 2024-10-28 22:09:24:0084 DevID:Virtual GigE Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L0996) ProcessName:python.exe(23824) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_VERSION] failed, Ret[0x80000001]
|
||||
Warning 2024-10-28 22:09:24:0084 DevID:Virtual GigE Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L1000) ProcessName:python.exe(23824) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_MANUFACTURER] failed, Ret[0x80000001]
|
||||
Warning 2024-10-28 22:09:24:0084 DevID:Virtual GigE Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L1004) ProcessName:python.exe(23824) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_USER_DEFINED_NAME] failed, Ret[0x80000001]
|
||||
Warning 2024-10-28 22:09:24:0084 DevID:Virtual USB3 Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L0992) ProcessName:python.exe(23824) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_MODEL] failed, Ret[0x80000001]
|
||||
Warning 2024-10-28 22:09:24:0084 DevID:Virtual USB3 Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L0996) ProcessName:python.exe(23824) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_VERSION] failed, Ret[0x80000001]
|
||||
Warning 2024-10-28 22:09:24:0084 DevID:Virtual USB3 Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L1000) ProcessName:python.exe(23824) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_MANUFACTURER] failed, Ret[0x80000001]
|
||||
Warning 2024-10-28 22:09:24:0084 DevID:Virtual USB3 Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L1004) ProcessName:python.exe(23824) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_USER_DEFINED_NAME] failed, Ret[0x80000001]
|
||||
Error 2024-10-28 22:16:20:0575 DevID: Source-Line:MvCameraControl.dll(OtherLoadLibrary.cpp-L0709) ProcessName:python.exe(25296) Description:[LoadSRAllFunctions]hSRModule is NULL, Ret[0x8000000c]
|
||||
Warning 2024-10-28 22:16:20:0579 DevID: Source-Line:MvCameraControl.dll(GenTLLoadLibraryEx.cpp-L0345) ProcessName:python.exe(25296) Description:[LoadCtiLibInter]MV_GCSetConfigIntValue is NULL, CTI path[D:\environment\envs\UICreater\lib\site-packages\MvProducerVIR.dll]
|
||||
Warning 2024-10-28 22:16:20:0580 DevID:Virtual GigE Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L0992) ProcessName:python.exe(25296) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_MODEL] failed, Ret[0x80000001]
|
||||
Warning 2024-10-28 22:16:20:0580 DevID:Virtual GigE Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L0996) ProcessName:python.exe(25296) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_VERSION] failed, Ret[0x80000001]
|
||||
Warning 2024-10-28 22:16:20:0580 DevID:Virtual GigE Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L1000) ProcessName:python.exe(25296) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_MANUFACTURER] failed, Ret[0x80000001]
|
||||
Warning 2024-10-28 22:16:20:0580 DevID:Virtual GigE Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L1004) ProcessName:python.exe(25296) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_USER_DEFINED_NAME] failed, Ret[0x80000001]
|
||||
Warning 2024-10-28 22:16:20:0580 DevID:Virtual USB3 Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L0992) ProcessName:python.exe(25296) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_MODEL] failed, Ret[0x80000001]
|
||||
Warning 2024-10-28 22:16:20:0580 DevID:Virtual USB3 Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L0996) ProcessName:python.exe(25296) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_VERSION] failed, Ret[0x80000001]
|
||||
Warning 2024-10-28 22:16:20:0580 DevID:Virtual USB3 Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L1000) ProcessName:python.exe(25296) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_MANUFACTURER] failed, Ret[0x80000001]
|
||||
Warning 2024-10-28 22:16:20:0580 DevID:Virtual USB3 Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L1004) ProcessName:python.exe(25296) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_USER_DEFINED_NAME] failed, Ret[0x80000001]
|
||||
Error 2024-10-28 22:21:14:0838 DevID: Source-Line:MvCameraControl.dll(OtherLoadLibrary.cpp-L0709) ProcessName:python.exe(27364) Description:[LoadSRAllFunctions]hSRModule is NULL, Ret[0x8000000c]
|
||||
Warning 2024-10-28 22:21:14:0840 DevID: Source-Line:MvCameraControl.dll(GenTLLoadLibraryEx.cpp-L0345) ProcessName:python.exe(27364) Description:[LoadCtiLibInter]MV_GCSetConfigIntValue is NULL, CTI path[D:\environment\envs\UICreater\lib\site-packages\MvProducerVIR.dll]
|
||||
Warning 2024-10-28 22:21:14:0843 DevID:Virtual GigE Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L0992) ProcessName:python.exe(27364) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_MODEL] failed, Ret[0x80000001]
|
||||
Warning 2024-10-28 22:21:14:0843 DevID:Virtual GigE Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L0996) ProcessName:python.exe(27364) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_VERSION] failed, Ret[0x80000001]
|
||||
Warning 2024-10-28 22:21:14:0843 DevID:Virtual GigE Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L1000) ProcessName:python.exe(27364) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_MANUFACTURER] failed, Ret[0x80000001]
|
||||
Warning 2024-10-28 22:21:14:0843 DevID:Virtual GigE Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L1004) ProcessName:python.exe(27364) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_USER_DEFINED_NAME] failed, Ret[0x80000001]
|
||||
Warning 2024-10-28 22:21:14:0843 DevID:Virtual USB3 Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L0992) ProcessName:python.exe(27364) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_MODEL] failed, Ret[0x80000001]
|
||||
Warning 2024-10-28 22:21:14:0843 DevID:Virtual USB3 Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L0996) ProcessName:python.exe(27364) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_VERSION] failed, Ret[0x80000001]
|
||||
Warning 2024-10-28 22:21:14:0843 DevID:Virtual USB3 Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L1000) ProcessName:python.exe(27364) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_MANUFACTURER] failed, Ret[0x80000001]
|
||||
Warning 2024-10-28 22:21:14:0843 DevID:Virtual USB3 Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L1004) ProcessName:python.exe(27364) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_USER_DEFINED_NAME] failed, Ret[0x80000001]
|
||||
Error 2024-10-28 22:22:24:0794 DevID: Source-Line:MvCameraControl.dll(OtherLoadLibrary.cpp-L0709) ProcessName:python.exe(19800) Description:[LoadSRAllFunctions]hSRModule is NULL, Ret[0x8000000c]
|
||||
Warning 2024-10-28 22:22:24:0796 DevID: Source-Line:MvCameraControl.dll(GenTLLoadLibraryEx.cpp-L0345) ProcessName:python.exe(19800) Description:[LoadCtiLibInter]MV_GCSetConfigIntValue is NULL, CTI path[D:\environment\envs\UICreater\lib\site-packages\MvProducerVIR.dll]
|
||||
Warning 2024-10-28 22:22:24:0798 DevID:Virtual GigE Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L0992) ProcessName:python.exe(19800) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_MODEL] failed, Ret[0x80000001]
|
||||
Warning 2024-10-28 22:22:24:0798 DevID:Virtual GigE Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L0996) ProcessName:python.exe(19800) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_VERSION] failed, Ret[0x80000001]
|
||||
Warning 2024-10-28 22:22:24:0798 DevID:Virtual GigE Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L1000) ProcessName:python.exe(19800) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_MANUFACTURER] failed, Ret[0x80000001]
|
||||
Warning 2024-10-28 22:22:24:0798 DevID:Virtual GigE Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L1004) ProcessName:python.exe(19800) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_USER_DEFINED_NAME] failed, Ret[0x80000001]
|
||||
Warning 2024-10-28 22:22:24:0798 DevID:Virtual USB3 Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L0992) ProcessName:python.exe(19800) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_MODEL] failed, Ret[0x80000001]
|
||||
Warning 2024-10-28 22:22:24:0798 DevID:Virtual USB3 Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L0996) ProcessName:python.exe(19800) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_VERSION] failed, Ret[0x80000001]
|
||||
Warning 2024-10-28 22:22:24:0798 DevID:Virtual USB3 Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L1000) ProcessName:python.exe(19800) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_MANUFACTURER] failed, Ret[0x80000001]
|
||||
Warning 2024-10-28 22:22:24:0798 DevID:Virtual USB3 Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L1004) ProcessName:python.exe(19800) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_USER_DEFINED_NAME] failed, Ret[0x80000001]
|
||||
Error 2024-10-28 22:24:11:0681 DevID: Source-Line:MvCameraControl.dll(OtherLoadLibrary.cpp-L0709) ProcessName:python.exe(18992) Description:[LoadSRAllFunctions]hSRModule is NULL, Ret[0x8000000c]
|
||||
Warning 2024-10-28 22:24:11:0684 DevID: Source-Line:MvCameraControl.dll(GenTLLoadLibraryEx.cpp-L0345) ProcessName:python.exe(18992) Description:[LoadCtiLibInter]MV_GCSetConfigIntValue is NULL, CTI path[D:\environment\envs\UICreater\lib\site-packages\MvProducerVIR.dll]
|
||||
Warning 2024-10-28 22:24:11:0688 DevID:Virtual GigE Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L0992) ProcessName:python.exe(18992) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_MODEL] failed, Ret[0x80000001]
|
||||
Warning 2024-10-28 22:24:11:0688 DevID:Virtual GigE Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L0996) ProcessName:python.exe(18992) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_VERSION] failed, Ret[0x80000001]
|
||||
Warning 2024-10-28 22:24:11:0688 DevID:Virtual GigE Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L1000) ProcessName:python.exe(18992) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_MANUFACTURER] failed, Ret[0x80000001]
|
||||
Warning 2024-10-28 22:24:11:0688 DevID:Virtual GigE Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L1004) ProcessName:python.exe(18992) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_USER_DEFINED_NAME] failed, Ret[0x80000001]
|
||||
Warning 2024-10-28 22:24:11:0688 DevID:Virtual USB3 Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L0992) ProcessName:python.exe(18992) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_MODEL] failed, Ret[0x80000001]
|
||||
Warning 2024-10-28 22:24:11:0688 DevID:Virtual USB3 Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L0996) ProcessName:python.exe(18992) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_VERSION] failed, Ret[0x80000001]
|
||||
Warning 2024-10-28 22:24:11:0688 DevID:Virtual USB3 Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L1000) ProcessName:python.exe(18992) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_MANUFACTURER] failed, Ret[0x80000001]
|
||||
Warning 2024-10-28 22:24:11:0688 DevID:Virtual USB3 Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L1004) ProcessName:python.exe(18992) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_USER_DEFINED_NAME] failed, Ret[0x80000001]
|
||||
|
||||
74
Seting.ini
74
Seting.ini
@ -52,79 +52,5 @@ remain_count = 1
|
||||
[Camera_Feed]
|
||||
ipaddress = 127.0.0.1
|
||||
|
||||
[FeedLine1]
|
||||
name = 反应釜1
|
||||
safeposition_x = 534.907898
|
||||
safeposition_y = 5.525342
|
||||
safeposition_z = 737.267822
|
||||
safeposition_u = -2.196312
|
||||
safeposition_v = -4.094595
|
||||
safeposition_w = -5.294128
|
||||
photoposition_x = 534.907898
|
||||
photoposition_y = 5.525342
|
||||
photoposition_z = 737.267822
|
||||
photoposition_u = -2.196312
|
||||
photoposition_v = -4.094595
|
||||
photoposition_w = -5.294128
|
||||
midposition_x = 638.432
|
||||
midposition_y = 16.854
|
||||
midposition_z = 406.721
|
||||
midposition_u = -3.256
|
||||
midposition_v = 7.334
|
||||
midposition_w = -4.307
|
||||
brokenposition1_x = 357.269
|
||||
brokenposition1_y = 478.874
|
||||
brokenposition1_z = 209.979
|
||||
brokenposition1_u = -3.100
|
||||
brokenposition1_v = -3.198
|
||||
brokenposition1_w = 49.945
|
||||
brokenposition2_x = 357.269
|
||||
brokenposition2_y = 478.874
|
||||
brokenposition2_z = 209.979
|
||||
brokenposition2_u = -3.100
|
||||
brokenposition2_v = -3.198
|
||||
brokenposition2_w = 49.945
|
||||
dropbagposition_x = 357.269
|
||||
dropbagposition_y = 478.874
|
||||
dropbagposition_z = 209.979
|
||||
dropbagposition_u = -3.100
|
||||
dropbagposition_v = -3.198
|
||||
dropbagposition_w = 49.945
|
||||
zipbagposition_x = 357.269
|
||||
zipbagposition_y = 478.874
|
||||
zipbagposition_z = 209.979
|
||||
zipbagposition_u = -3.100
|
||||
zipbagposition_v = -3.198
|
||||
zipbagposition_w = 49.945
|
||||
feedposition_x = 315.549
|
||||
feedposition_y = 427.090
|
||||
feedposition_z = 209.985
|
||||
feedposition_u = -2.793
|
||||
feedposition_v = -1.829
|
||||
feedposition_w = 50.000
|
||||
dropdelay_time = 3
|
||||
shakedelay_time = 6
|
||||
|
||||
[FeedLine2]
|
||||
name = 反应釜2
|
||||
safeposition_x = 0.0
|
||||
safeposition_y = 0.0
|
||||
safeposition_z = 0.0
|
||||
safeposition_u = 0.0
|
||||
safeposition_v = 0.0
|
||||
safeposition_w = 0.0
|
||||
photoposition_x = 0.0
|
||||
photoposition_y = 0.0
|
||||
photoposition_z = 0.0
|
||||
photoposition_u = 0.0
|
||||
photoposition_v = 0.0
|
||||
photoposition_w = 0.0
|
||||
feedposition_x = 0.0
|
||||
feedposition_y = 0.0
|
||||
feedposition_z = 0.0
|
||||
feedposition_u = 0.0
|
||||
feedposition_v = 0.0
|
||||
feedposition_w = 0.0
|
||||
dropdelay_time = 3
|
||||
shakedelay_time = 6
|
||||
|
||||
|
||||
285
main.py
285
main.py
@ -202,11 +202,24 @@ class MainWindow(QMainWindow, Ui_MainWindow):
|
||||
ip = self.configReader.get('Robot_Feed', 'IPAddress')
|
||||
port = int(self.configReader.get('Robot_Feed', 'Port'))
|
||||
photo_locs = [(int(self.configReader.get('Robot_Feed', 'photo_x1')),
|
||||
int(self.configReader.get('Robot_Feed', 'photo_y1')), int(self.configReader.get('Robot_Feed', 'photo_z1'))),
|
||||
int(self.configReader.get('Robot_Feed', 'photo_y1')), int(self.configReader.get('Robot_Feed', 'photo_z1')),
|
||||
int(self.configReader.get('Robot_Feed', 'photo_u1')),int(self.configReader.get('Robot_Feed', 'photo_v1')),int(self.configReader.get('Robot_Feed', 'photo_w1'))),
|
||||
(int(self.configReader.get('Robot_Feed', 'photo_x2')),
|
||||
int(self.configReader.get('Robot_Feed', 'photo_y2')), int(self.configReader.get('Robot_Feed', 'photo_z2'))),
|
||||
int(self.configReader.get('Robot_Feed', 'photo_y2')), int(self.configReader.get('Robot_Feed', 'photo_z2')),
|
||||
int(self.configReader.get('Robot_Feed', 'photo_u2')),int(self.configReader.get('Robot_Feed', 'photo_v2')),int(self.configReader.get('Robot_Feed', 'photo_w2'))
|
||||
),
|
||||
(int(self.configReader.get('Robot_Feed', 'photo_x3')),
|
||||
int(self.configReader.get('Robot_Feed', 'photo_y3')),int(self.configReader.get('Robot_Feed', 'photo_z3')))
|
||||
int(self.configReader.get('Robot_Feed', 'photo_y3')),int(self.configReader.get('Robot_Feed', 'photo_z3')),
|
||||
int(self.configReader.get('Robot_Feed', 'photo_u3')),int(self.configReader.get('Robot_Feed', 'photo_v3')),int(self.configReader.get('Robot_Feed', 'photo_w3'))
|
||||
),
|
||||
(int(self.configReader.get('Robot_Feed', 'photo_x4')),
|
||||
int(self.configReader.get('Robot_Feed', 'photo_y4')),int(self.configReader.get('Robot_Feed', 'photo_z4')),
|
||||
int(self.configReader.get('Robot_Feed', 'photo_u4')),int(self.configReader.get('Robot_Feed', 'photo_v4')),int(self.configReader.get('Robot_Feed', 'photo_w4'))
|
||||
),
|
||||
(int(self.configReader.get('Robot_Feed', 'photo_x5')),
|
||||
int(self.configReader.get('Robot_Feed', 'photo_y5')),int(self.configReader.get('Robot_Feed', 'photo_z5')),
|
||||
int(self.configReader.get('Robot_Feed', 'photo_u5')),int(self.configReader.get('Robot_Feed', 'photo_v5')),int(self.configReader.get('Robot_Feed', 'photo_w5'))
|
||||
)
|
||||
]
|
||||
#TODO
|
||||
#dropDelay_time = int(self.configReader.get('Robot_Feed', 'dropDelay_time'))
|
||||
@ -229,7 +242,7 @@ class MainWindow(QMainWindow, Ui_MainWindow):
|
||||
|
||||
rows = len(self.feedLine_dict.keys()) + 1
|
||||
self.tableWidget_feedSeting.setRowCount(rows)
|
||||
self.tableWidget_feedSeting.setColumnCount(20+4*6)
|
||||
self.tableWidget_feedSeting.setColumnCount(20+2*6)
|
||||
# 设置第一重表头的合并 (三列一组)
|
||||
self.tableWidget_feedSeting_addtional_col_num = 2
|
||||
|
||||
@ -238,8 +251,7 @@ class MainWindow(QMainWindow, Ui_MainWindow):
|
||||
self.tableWidget_feedSeting.setSpan(0, 12 + self.tableWidget_feedSeting_addtional_col_num, 1, 6) # 合并后3列
|
||||
self.tableWidget_feedSeting.setSpan(0, 18 + self.tableWidget_feedSeting_addtional_col_num, 1, 6) # 合并后3列
|
||||
self.tableWidget_feedSeting.setSpan(0, 24 + self.tableWidget_feedSeting_addtional_col_num, 1, 6) # 合并后3列
|
||||
self.tableWidget_feedSeting.setSpan(0, 30 + self.tableWidget_feedSeting_addtional_col_num, 1, 6)
|
||||
self.tableWidget_feedSeting.setSpan(0, 36 + self.tableWidget_feedSeting_addtional_col_num, 1, 6)
|
||||
|
||||
|
||||
self.tableWidget_feedSeting.itemChanged.connect(self.send_tabelFeedSet_itemChanged)
|
||||
|
||||
@ -252,23 +264,6 @@ class MainWindow(QMainWindow, Ui_MainWindow):
|
||||
# 将布局设置到 QWidget 容器中
|
||||
widget_safe.setLayout(layout_safe)
|
||||
|
||||
btn_photo = QPushButton("获取拍照位置")
|
||||
widget_photo = QWidget()
|
||||
layout_photo = QHBoxLayout()
|
||||
layout_photo.addWidget(btn_photo)
|
||||
# 调整布局的间距，使之更紧凑
|
||||
layout_photo.setContentsMargins(0, 0, 0, 0)
|
||||
# 将布局设置到 QWidget 容器中
|
||||
widget_photo.setLayout(layout_photo)
|
||||
|
||||
btn_feed = QPushButton("获取投料位置")
|
||||
widget_feed = QWidget()
|
||||
layout_feed = QHBoxLayout()
|
||||
layout_feed.addWidget(btn_feed)
|
||||
# 调整布局的间距，使之更紧凑
|
||||
layout_feed.setContentsMargins(0, 0, 0, 0)
|
||||
# 将布局设置到 QWidget 容器中
|
||||
widget_feed.setLayout(layout_feed)
|
||||
|
||||
btn_bk1 = QPushButton("获取破袋位置1")
|
||||
widget_bk1 = QWidget()
|
||||
@ -288,6 +283,13 @@ class MainWindow(QMainWindow, Ui_MainWindow):
|
||||
# 将布局设置到 QWidget 容器中
|
||||
widget_bk2.setLayout(layout_bk2)
|
||||
|
||||
btn_shake = QPushButton("获取摇晃位置")
|
||||
widget_shake = QWidget()
|
||||
layout_shake = QHBoxLayout()
|
||||
layout_shake.addWidget(btn_shake)
|
||||
layout_shake.setContentsMargins(0, 0, 0, 0)
|
||||
widget_shake.setLayout(layout_shake)
|
||||
|
||||
|
||||
btn_dropbag = QPushButton("获取丢袋位置")
|
||||
widget_dropbag = QWidget()
|
||||
@ -297,44 +299,32 @@ class MainWindow(QMainWindow, Ui_MainWindow):
|
||||
layout_dropbag.setContentsMargins(0, 0, 0, 0)
|
||||
# 将布局设置到 QWidget 容器中
|
||||
widget_dropbag.setLayout(layout_dropbag)
|
||||
btn_zipbag = QPushButton("获取压袋位置")
|
||||
|
||||
btn_zipbag = QPushButton("获取压袋位置")
|
||||
widget_zipbag = QWidget()
|
||||
layout_zipbag = QHBoxLayout()
|
||||
layout_zipbag.addWidget(btn_zipbag)
|
||||
# 调整布局的间距，使之更紧凑
|
||||
layout_zipbag.setContentsMargins(0, 0, 0, 0)
|
||||
# 将布局
|
||||
widget_zipbag.setLayout(layout_zipbag)
|
||||
|
||||
|
||||
|
||||
|
||||
btn_safe.clicked.connect(self.send_get_safe_position_button_click)
|
||||
btn_photo.clicked.connect(self.send_get_photo_position_button_click)
|
||||
btn_feed.clicked.connect(self.send_get_feed_position_button_click)
|
||||
btn_bk1.clicked.connect(self.send_get_broken1_position_button_click)
|
||||
btn_bk2.clicked.connect(self.send_get_broken2_position_button_click)
|
||||
btn_shake.clicked.connect(self.send_get_shake_position_button_click)
|
||||
btn_dropbag.clicked.connect(self.send_get_dropbag_position_button_click)
|
||||
btn_zipbag.clicked.connect(self.send_get_zipbag_position_button_click)
|
||||
|
||||
# 添加第一重表头项
|
||||
|
||||
self.tableWidget_feedSeting.setCellWidget(0, 0 + self.tableWidget_feedSeting_addtional_col_num, widget_safe)
|
||||
self.tableWidget_feedSeting.setCellWidget(0, 6 + self.tableWidget_feedSeting_addtional_col_num, widget_photo)
|
||||
self.tableWidget_feedSeting.setCellWidget(0, 12 + self.tableWidget_feedSeting_addtional_col_num,
|
||||
widget_feed) # 设置在合并的第2组
|
||||
self.tableWidget_feedSeting.setCellWidget(0, 6 + self.tableWidget_feedSeting_addtional_col_num, widget_bk1)
|
||||
self.tableWidget_feedSeting.setCellWidget(0, 12 + self.tableWidget_feedSeting_addtional_col_num, widget_bk2)
|
||||
self.tableWidget_feedSeting.setCellWidget(0, 18 + self.tableWidget_feedSeting_addtional_col_num, widget_shake)
|
||||
self.tableWidget_feedSeting.setCellWidget(0, 24 + self.tableWidget_feedSeting_addtional_col_num, widget_dropbag)
|
||||
|
||||
self.tableWidget_feedSeting.setCellWidget(0, 18 + self.tableWidget_feedSeting_addtional_col_num, widget_bk1)
|
||||
self.tableWidget_feedSeting.setCellWidget(0, 24 + self.tableWidget_feedSeting_addtional_col_num, widget_bk2)
|
||||
self.tableWidget_feedSeting.setCellWidget(0, 30 + self.tableWidget_feedSeting_addtional_col_num, widget_dropbag)
|
||||
self.tableWidget_feedSeting.setCellWidget(0, 36 + self.tableWidget_feedSeting_addtional_col_num, widget_zipbag)
|
||||
|
||||
self.tableWidget_feedSeting.setSelectionBehavior(QTableWidget.SelectRows)
|
||||
self.tableWidget_feedSeting.setAutoScroll(True)
|
||||
# 添加第二重表头
|
||||
self.tableWidget_feedSeting.setHorizontalHeaderLabels(
|
||||
['header', '线名', 'X1', 'Y1', 'Z1', 'U1', 'V1', 'W1', 'X2', 'Y2', 'Z2', 'U2', 'V2', 'W2', 'X3', 'Y3', 'Z3',
|
||||
'U3', 'V3', 'W3', 'X4', 'Y4', 'Z4', 'U4', 'V4', 'W4', 'X5', 'Y5', 'Z5', 'U5', 'V5', 'W5', 'X6', 'Y6', 'Z6', 'U6', 'V6', 'W6','X7', 'Y7', 'Z7', 'U7', 'V7', 'W7'])
|
||||
'U3', 'V3', 'W3', 'X4', 'Y4', 'Z4', 'U4', 'V4', 'W4', 'X5', 'Y5', 'Z5', 'U5', 'V5', 'W5'])
|
||||
|
||||
self.tableWidget_feedSeting.hideColumn(0)
|
||||
# 填充数据行
|
||||
@ -342,12 +332,10 @@ class MainWindow(QMainWindow, Ui_MainWindow):
|
||||
self.tableWidget_feedSeting.setItem(row + 1, 0, QTableWidgetItem(feed_line_key))
|
||||
self.tableWidget_feedSeting.setItem(row + 1, 1, QTableWidgetItem(feed_line.name))
|
||||
self.set_position_to_tabel(row + 1, 0, feed_line.safe_position)
|
||||
self.set_position_to_tabel(row + 1, 1, feed_line.photo_position)
|
||||
self.set_position_to_tabel(row + 1, 2, feed_line.feed_position)
|
||||
self.set_position_to_tabel(row + 1, 3, feed_line.broken1_position)
|
||||
self.set_position_to_tabel(row + 1, 4, feed_line.broken2_position)
|
||||
self.set_position_to_tabel(row + 1, 5, feed_line.drop_bag_position)
|
||||
self.set_position_to_tabel(row + 1, 6, feed_line.zip_bag_position)
|
||||
self.set_position_to_tabel(row + 1, 1, feed_line.broken1_position)
|
||||
self.set_position_to_tabel(row + 1, 2, feed_line.broken2_position)
|
||||
self.set_position_to_tabel(row + 1, 3, feed_line.broken2_position)
|
||||
self.set_position_to_tabel(row + 1, 4, feed_line.drop_bag_position)
|
||||
|
||||
|
||||
# 禁用自动表头
|
||||
@ -362,13 +350,11 @@ class MainWindow(QMainWindow, Ui_MainWindow):
|
||||
for i in range(int(line_count)):
|
||||
line_str = f'FeedLine{i + 1}'
|
||||
safe_position = Real_Position()
|
||||
photo_position = Real_Position()
|
||||
mid_position = Real_Position()
|
||||
broken_position1 = Real_Position()
|
||||
broken_position2 = Real_Position()
|
||||
feed_position = Real_Position()
|
||||
shake_position = Real_Position()
|
||||
dropBag_position = Real_Position()
|
||||
zipBag_poistion = Real_Position()
|
||||
|
||||
|
||||
|
||||
safe_position.X = float(self.configReader.get(line_str, 'SafePosition_x', fallback=0))
|
||||
@ -378,26 +364,13 @@ class MainWindow(QMainWindow, Ui_MainWindow):
|
||||
safe_position.V = float(self.configReader.get(line_str, 'SafePosition_v', fallback=0))
|
||||
safe_position.W = float(self.configReader.get(line_str, 'SafePosition_w', fallback=0))
|
||||
|
||||
photo_position.X = float(self.configReader.get(line_str, 'PhotoPosition_x', fallback=0))
|
||||
photo_position.Y = float(self.configReader.get(line_str, 'PhotoPosition_y', fallback=0))
|
||||
photo_position.Z = float(self.configReader.get(line_str, 'PhotoPosition_z', fallback=0))
|
||||
photo_position.U = float(self.configReader.get(line_str, 'PhotoPosition_u', fallback=0))
|
||||
photo_position.V = float(self.configReader.get(line_str, 'PhotoPosition_v', fallback=0))
|
||||
photo_position.W = float(self.configReader.get(line_str, 'PhotoPosition_w', fallback=0))
|
||||
|
||||
mid_position.X = float(self.configReader.get(line_str, 'MidPosition_x', fallback=0))
|
||||
mid_position.Y = float(self.configReader.get(line_str, 'MidPosition_y', fallback=0))
|
||||
mid_position.Z = float(self.configReader.get(line_str, 'MidPosition_z', fallback=0))
|
||||
mid_position.U = float(self.configReader.get(line_str, 'MidPosition_u', fallback=0))
|
||||
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_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))
|
||||
@ -405,33 +378,23 @@ class MainWindow(QMainWindow, Ui_MainWindow):
|
||||
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))
|
||||
|
||||
shake_position.X = float(self.configReader.get(line_str, 'ShakePosition_x', fallback=0))
|
||||
shake_position.Y = float(self.configReader.get(line_str, 'ShakePosition_y', fallback=0))
|
||||
shake_position.Z = float(self.configReader.get(line_str, 'ShakePosition_z', fallback=0))
|
||||
shake_position.U = float(self.configReader.get(line_str, 'ShakePosition_u', fallback=0))
|
||||
shake_position.V = float(self.configReader.get(line_str, 'ShakePosition_v', fallback=0))
|
||||
shake_position.W = float(self.configReader.get(line_str, 'ShakePosition_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))
|
||||
feed_position.Z = float(self.configReader.get(line_str, 'FeedPosition_z', fallback=0))
|
||||
feed_position.U = float(self.configReader.get(line_str, 'FeedPosition_u', fallback=0))
|
||||
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(i+1,name, safe_position,
|
||||
photo_position, mid_position,
|
||||
broken_position1,broken_position2,dropBag_position,zipBag_poistion,feed_position)
|
||||
broken_position1,broken_position2,shake_position ,dropBag_position)
|
||||
self.init_seting_frame()
|
||||
self.updateUI_Select_Line()
|
||||
pass
|
||||
@ -548,7 +511,7 @@ class MainWindow(QMainWindow, Ui_MainWindow):
|
||||
num = self.horizontalSlider_feedingNum.maximum()
|
||||
|
||||
line_head = self.comboBox_lineIndex.currentData()
|
||||
self.command_quene.put(FeedCommand(FeedingConfig(num, self.feedLine_dict[line_head])))
|
||||
self.command_quene.put(FeedCommand(FeedingConfig(num, self.feedLine_dict[line_head], self.feeding.robotClient.photo_locs[:])))
|
||||
self.stackedWidget_num.setCurrentIndex(1)
|
||||
self.set_run_status_button(True)
|
||||
log.log_message(logging.INFO, f'{self.feedLine_dict[line_head].name}:{Constant.str_feed_start}')
|
||||
@ -681,21 +644,6 @@ class MainWindow(QMainWindow, Ui_MainWindow):
|
||||
real_position.U, real_position.V, real_position.W)
|
||||
self.set_position_to_tabel(row_i, 0, real_position)
|
||||
|
||||
def send_get_photo_position_button_click(self):
|
||||
real_position = self.robotClient.status_model.getRealPosition()
|
||||
row_i = self.tableWidget_feedSeting.currentRow()
|
||||
head = self.tableWidget_feedSeting.item(row_i, 0).text()
|
||||
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)
|
||||
self.set_position_to_tabel(row_i, 1, real_position)
|
||||
|
||||
def send_get_feed_position_button_click(self):
|
||||
real_position = self.robotClient.status_model.getRealPosition()
|
||||
row_i = self.tableWidget_feedSeting.currentRow()
|
||||
head = self.tableWidget_feedSeting.item(row_i, 0).text()
|
||||
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)
|
||||
self.set_position_to_tabel(row_i, 2, real_position)
|
||||
|
||||
def send_get_broken1_position_button_click(self):
|
||||
real_position = self.robotClient.status_model.getRealPosition()
|
||||
@ -703,7 +651,7 @@ class MainWindow(QMainWindow, Ui_MainWindow):
|
||||
head = self.tableWidget_feedSeting.item(row_i, 0).text()
|
||||
self.feedLine_dict[head].broken1_position.init_position(real_position.X, real_position.Y, real_position.Z,
|
||||
real_position.U, real_position.V, real_position.W)
|
||||
self.set_position_to_tabel(row_i, 3, real_position)
|
||||
self.set_position_to_tabel(row_i, 1, real_position)
|
||||
|
||||
def send_get_broken2_position_button_click(self):
|
||||
real_position = self.robotClient.status_model.getRealPosition()
|
||||
@ -711,7 +659,15 @@ class MainWindow(QMainWindow, Ui_MainWindow):
|
||||
head = self.tableWidget_feedSeting.item(row_i, 0).text()
|
||||
self.feedLine_dict[head].broken2_position.init_position(real_position.X, real_position.Y, real_position.Z,
|
||||
real_position.U, real_position.V, real_position.W)
|
||||
self.set_position_to_tabel(row_i, 4, real_position)
|
||||
self.set_position_to_tabel(row_i, 2, real_position)
|
||||
|
||||
def send_get_shake_position_button_click(self):
|
||||
real_position = self.robotClient.status_model.getRealPosition()
|
||||
row_i = self.tableWidget_feedSeting.currentRow()
|
||||
head = self.tableWidget_feedSeting.item(row_i, 0).text()
|
||||
self.feedLine_dict[head].shake_position.init_position(real_position.X, real_position.Y, real_position.Z,
|
||||
real_position.U, real_position.V, real_position.W)
|
||||
self.set_position_to_tabel(row_i, 3, real_position)
|
||||
|
||||
def send_get_dropbag_position_button_click(self):
|
||||
real_position = self.robotClient.status_model.getRealPosition()
|
||||
@ -719,7 +675,7 @@ class MainWindow(QMainWindow, Ui_MainWindow):
|
||||
head = self.tableWidget_feedSeting.item(row_i, 0).text()
|
||||
self.feedLine_dict[head].drop_bag_position.init_position(real_position.X, real_position.Y, real_position.Z,
|
||||
real_position.U, real_position.V, real_position.W)
|
||||
self.set_position_to_tabel(row_i, 5, real_position)
|
||||
self.set_position_to_tabel(row_i, 4, real_position)
|
||||
|
||||
def send_get_zipbag_position_button_click(self):
|
||||
real_position = self.robotClient.status_model.getRealPosition()
|
||||
@ -735,16 +691,21 @@ class MainWindow(QMainWindow, Ui_MainWindow):
|
||||
row_position = self.tableWidget_feedSeting.rowCount() # 当前行数
|
||||
self.tableWidget_feedSeting.insertRow(row_position)
|
||||
safe_position = Real_Position()
|
||||
photo_position = Real_Position()
|
||||
feed_position = Real_Position()
|
||||
self.feedLine_dict[head] = FeedLine('新建', safe_position, photo_position, feed_position)
|
||||
break_1_position = Real_Position()
|
||||
break_2_position = Real_Position()
|
||||
shake_position = Real_Position()
|
||||
drop_bag_position = Real_Position()
|
||||
|
||||
self.feedLine_dict[head] = FeedLine('新建', safe_position, break_1_position, break_2_position,shake_position,drop_bag_position)
|
||||
self.tableWidget_feedSeting.setItem(self.tableWidget_feedSeting.rowCount() - 1, 0,
|
||||
QTableWidgetItem(head))
|
||||
self.tableWidget_feedSeting.setItem(self.tableWidget_feedSeting.rowCount() - 1, 1,
|
||||
QTableWidgetItem('新建'))
|
||||
self.set_position_to_tabel(self.tableWidget_feedSeting.rowCount() - 1, 0, safe_position)
|
||||
self.set_position_to_tabel(self.tableWidget_feedSeting.rowCount() - 1, 1, photo_position)
|
||||
self.set_position_to_tabel(self.tableWidget_feedSeting.rowCount() - 1, 2, feed_position)
|
||||
self.set_position_to_tabel(self.tableWidget_feedSeting.rowCount() - 1, 1, break_1_position)
|
||||
self.set_position_to_tabel(self.tableWidget_feedSeting.rowCount() - 1, 2, break_2_position)
|
||||
self.set_position_to_tabel(self.tableWidget_feedSeting.rowCount() - 1, 3, shake_position)
|
||||
self.set_position_to_tabel(self.tableWidget_feedSeting.rowCount() - 1, 4, drop_bag_position)
|
||||
break
|
||||
|
||||
def send_tabelFeedSet_delRow(self):
|
||||
@ -824,30 +785,56 @@ class MainWindow(QMainWindow, Ui_MainWindow):
|
||||
self.feedLine_dict[head].safe_position.W = float(value)
|
||||
# elif column == 7:
|
||||
elif column == (6 + self.tableWidget_feedSeting_addtional_col_num):
|
||||
self.feedLine_dict[head].photo_position.X = float(value)
|
||||
self.feedLine_dict[head].broken1_position.X = float(value)
|
||||
elif column == (7 + self.tableWidget_feedSeting_addtional_col_num):
|
||||
self.feedLine_dict[head].photo_position.Y = float(value)
|
||||
self.feedLine_dict[head].broken1_position.Y = float(value)
|
||||
elif column == (8 + self.tableWidget_feedSeting_addtional_col_num):
|
||||
self.feedLine_dict[head].photo_position.Z = float(value)
|
||||
self.feedLine_dict[head].broken1_position.Z = float(value)
|
||||
elif column == (9 + self.tableWidget_feedSeting_addtional_col_num):
|
||||
self.feedLine_dict[head].photo_position.U = float(value)
|
||||
self.feedLine_dict[head].broken1_position.U = float(value)
|
||||
elif column == (10 + self.tableWidget_feedSeting_addtional_col_num):
|
||||
self.feedLine_dict[head].photo_position.V = float(value)
|
||||
self.feedLine_dict[head].broken1_position.V = float(value)
|
||||
elif column == (11 + self.tableWidget_feedSeting_addtional_col_num):
|
||||
self.feedLine_dict[head].photo_position.W = float(value)
|
||||
self.feedLine_dict[head].broken1_position.W = float(value)
|
||||
|
||||
elif column == (12 + self.tableWidget_feedSeting_addtional_col_num):
|
||||
self.feedLine_dict[head].feed_position.X = float(value)
|
||||
self.feedLine_dict[head].broken2_position.X = float(value)
|
||||
elif column == (13 + self.tableWidget_feedSeting_addtional_col_num):
|
||||
self.feedLine_dict[head].feed_position.Y = float(value)
|
||||
self.feedLine_dict[head].broken2_position.Y = float(value)
|
||||
elif column == (14 + self.tableWidget_feedSeting_addtional_col_num):
|
||||
self.feedLine_dict[head].feed_position.Z = float(value)
|
||||
self.feedLine_dict[head].broken2_position.Z = float(value)
|
||||
elif column == (15 + self.tableWidget_feedSeting_addtional_col_num):
|
||||
self.feedLine_dict[head].feed_position.U = float(value)
|
||||
self.feedLine_dict[head].broken2_position.U = float(value)
|
||||
elif column == (16 + self.tableWidget_feedSeting_addtional_col_num):
|
||||
self.feedLine_dict[head].feed_position.V = float(value)
|
||||
self.feedLine_dict[head].broken2_position.V = float(value)
|
||||
elif column == (17 + self.tableWidget_feedSeting_addtional_col_num):
|
||||
self.feedLine_dict[head].feed_position.W = float(value)
|
||||
self.feedLine_dict[head].broken2_position.W = float(value)
|
||||
|
||||
elif column == (18 + self.tableWidget_feedSeting_addtional_col_num):
|
||||
self.feedLine_dict[head].shake_position.X = float(value)
|
||||
elif column == (19 + self.tableWidget_feedSeting_addtional_col_num):
|
||||
self.feedLine_dict[head].shake_position.Y = float(value)
|
||||
elif column == (20 + self.tableWidget_feedSeting_addtional_col_num):
|
||||
self.feedLine_dict[head].shake_position.Z = float(value)
|
||||
elif column == (21 + self.tableWidget_feedSeting_addtional_col_num):
|
||||
self.feedLine_dict[head].shake_position.U = float(value)
|
||||
elif column == (22 + self.tableWidget_feedSeting_addtional_col_num):
|
||||
self.feedLine_dict[head].shake_position.V = float(value)
|
||||
elif column == (23 + self.tableWidget_feedSeting_addtional_col_num):
|
||||
self.feedLine_dict[head].shake_position.W = float(value)
|
||||
|
||||
elif column == (24 + self.tableWidget_feedSeting_addtional_col_num):
|
||||
self.feedLine_dict[head].drop_bag_position.X = float(value)
|
||||
elif column == (25 + self.tableWidget_feedSeting_addtional_col_num):
|
||||
self.feedLine_dict[head].drop_bag_position.Y = float(value)
|
||||
elif column == (26 + self.tableWidget_feedSeting_addtional_col_num):
|
||||
self.feedLine_dict[head].drop_bag_position.Z = float(value)
|
||||
elif column == (27 + self.tableWidget_feedSeting_addtional_col_num):
|
||||
self.feedLine_dict[head].drop_bag_position.U = float(value)
|
||||
elif column == (28 + self.tableWidget_feedSeting_addtional_col_num):
|
||||
self.feedLine_dict[head].drop_bag_position.V = float(value)
|
||||
elif column == (29 + self.tableWidget_feedSeting_addtional_col_num):
|
||||
self.feedLine_dict[head].drop_bag_position.W = float(value)
|
||||
|
||||
def run(self):
|
||||
while True:
|
||||
@ -1139,34 +1126,52 @@ class MainWindow(QMainWindow, Ui_MainWindow):
|
||||
|
||||
### 设置界面
|
||||
def get_p1_button_click(self):
|
||||
realPosition = self.robotClient.status_model.getRealPosition()
|
||||
self.lineEdit_x1.setText(realPosition.X)
|
||||
self.lineEdit_y1.setText(realPosition.Y)
|
||||
self.lineEdit_z1.setText(realPosition.Z)
|
||||
realPosition = self.robotClient.status_model.getRealPosition()
|
||||
self.lineEdit_x1.setText(str(realPosition.X))
|
||||
self.lineEdit_y1.setText(str(realPosition.Y))
|
||||
self.lineEdit_z1.setText(str(realPosition.Z)+"1")
|
||||
self.lineEdit_u1.setText(str(realPosition.U))
|
||||
self.lineEdit_v1.setText(str(realPosition.V))
|
||||
self.lineEdit_w1.setText(str(realPosition.W))
|
||||
|
||||
|
||||
def get_p2_button_click(self):
|
||||
realPosition = self.robotClient.status_model.getRealPosition()
|
||||
self.lineEdit_x2.setText(realPosition.X)
|
||||
self.lineEdit_y2.setText(realPosition.Y)
|
||||
self.lineEdit_z2.setText(realPosition.Z)
|
||||
realPosition = self.robotClient.status_model.getRealPosition()
|
||||
self.lineEdit_x2.setText(str(realPosition.X))
|
||||
self.lineEdit_y2.setText(str(realPosition.Y))
|
||||
self.lineEdit_z2.setText(str(realPosition.Z)+"2")
|
||||
self.lineEdit_u2.setText(str(realPosition.U))
|
||||
self.lineEdit_v2.setText(str(realPosition.V))
|
||||
self.lineEdit_w2.setText(str(realPosition.W))
|
||||
|
||||
|
||||
def get_p3_button_click(self):
|
||||
realPosition = self.robotClient.status_model.getRealPosition()
|
||||
self.lineEdit_x3.setText(realPosition.X)
|
||||
self.lineEdit_y3.setText(realPosition.Y)
|
||||
self.lineEdit_z3.setText(realPosition.Z)
|
||||
realPosition = self.robotClient.status_model.getRealPosition()
|
||||
self.lineEdit_x3.setText(str(realPosition.X))
|
||||
self.lineEdit_y3.setText(str(realPosition.Y))
|
||||
self.lineEdit_z3.setText(str(realPosition.Z)+"3")
|
||||
self.lineEdit_u3.setText(str(realPosition.U))
|
||||
self.lineEdit_v3.setText(str(realPosition.V))
|
||||
self.lineEdit_w3.setText(str(realPosition.W))
|
||||
|
||||
def get_p4_button_click(self):
|
||||
realPosition = self.robotClient.status_model.getRealPosition()
|
||||
self.lineEdit_x4.setText(realPosition.X)
|
||||
self.lineEdit_y4.setText(realPosition.Y)
|
||||
self.lineEdit_z4.setText(realPosition.Z)
|
||||
realPosition = self.robotClient.status_model.getRealPosition()
|
||||
self.lineEdit_x4.setText(str(realPosition.X))
|
||||
self.lineEdit_y4.setText(str(realPosition.Y))
|
||||
self.lineEdit_z4.setText(str(realPosition.Z)+"4")
|
||||
self.lineEdit_u4.setText(str(realPosition.U))
|
||||
self.lineEdit_v4.setText(str(realPosition.V))
|
||||
self.lineEdit_w4.setText(str(realPosition.W))
|
||||
|
||||
def get_p5_button_click(self):
|
||||
realPosition = self.robotClient.status_model.getRealPosition()
|
||||
self.lineEdit_x5.setText(realPosition.X)
|
||||
self.lineEdit_y5.setText(realPosition.Y)
|
||||
self.lineEdit_z5.setText(realPosition.Z)
|
||||
self.lineEdit_x5.setText(str(realPosition.X))
|
||||
self.lineEdit_y5.setText(str(realPosition.Y))
|
||||
self.lineEdit_z5.setText(str(realPosition.Z)+"5")
|
||||
self.lineEdit_u5.setText(str(realPosition.U))
|
||||
self.lineEdit_v5.setText(str(realPosition.V))
|
||||
self.lineEdit_w5.setText(str(realPosition.W))
|
||||
|
||||
|
||||
def set_p1_button_click(self):
|
||||
try:
|
||||
|
||||
Reference in New Issue
Block a user