diff --git a/CU/Feeding.py b/CU/Feeding.py index 07b2632..352e259 100644 --- a/CU/Feeding.py +++ b/CU/Feeding.py @@ -27,30 +27,29 @@ class FeedStatus(IntEnum): FFinished = 12 class FeedLine: - 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): + 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.photo_position = photo_position - self.feed_position = feed_position - self.mid_position = mid_position self.broken1_position = broken1_position self.broken2_position = broken2_position + self.shake_position = shake_position self.drop_bag_position = drop_bag_position - self.zip_bag_position = zip_bag_position + self.take_position = None self.name = name self.id=id class FeedingConfig: - def __init__(self, num:int, feedLine:FeedLine): + def __init__(self, num:int, feedLine:FeedLine,photo_locs): self.num = num self.feedLine = feedLine + self.photo_locs = photo_locs def get_line_info(self): pass -class Feeding(): +class Feeding: def __init__(self,robotClient:RobotClient,detection:Detection): self.feedConfig = None self.feedStatus = FeedStatus.FNone @@ -107,6 +106,7 @@ class Feeding(): if self.feedConfig.feedLine.safe_position.compare(real_position): self.feedStatus = FeedStatus.FPhoto self.sendTargPosition(self.feedConfig.feedLine.photo_position) + #判断是哪一个问题 elif self.feedStatus == FeedStatus.FPhoto: log.log_message(logging.INFO, Constant.str_feed_photo) @@ -139,75 +139,57 @@ class Feeding(): 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.take_position.compare(real_position): - self.feedStatus = FeedStatus.FSafeF + # 打开吸嘴并返回 #TODO time.sleep(2) + self.feedStatus = FeedStatus.FSafeF log.log_message(logging.INFO, Constant.str_feed_take_success) - self.sendTargPosition(self.feedConfig.feedLine.mid_position) - pass #打开吸嘴并返回 + self.sendTargPosition(self.feedConfig.feedLine.safe_position) + pass elif self.feedStatus == FeedStatus.FSafeF: log.log_message(logging.INFO, Constant.str_feed_mid) - if self.feedConfig.feedLine.mid_position.compare(real_position): - self.feedStatus = FeedStatus.FFeedP - self.sendTargPosition(self.feedConfig.feedLine.feed_position) - pass #吸嘴开始 - - elif self.feedStatus==FeedStatus.FFeedP: - log.log_message(logging.INFO, Constant.str_feed_feed) - if self.feedConfig.feedLine.feed_position.compare(real_position): + if self.feedConfig.feedLine.safe_position.compare(real_position): self.feedStatus = FeedStatus.FBroken self.sendTargPosition(self.feedConfig.feedLine.broken1_position) - pass #破袋 + pass #吸嘴开始 + + # elif self.feedStatus==FeedStatus.FFeedP: + # log.log_message(logging.INFO, Constant.str_feed_feed) + # if self.feedConfig.feedLine.feed_position.compare(real_position): + # self.feedStatus = FeedStatus.FBroken + # self.sendTargPosition(self.feedConfig.feedLine.broken1_position) + # pass #破袋 elif self.feedStatus==FeedStatus.FBroken: log.log_message(logging.INFO, Constant.str_feed_broken) if self.feedConfig.feedLine.broken1_position.compare(real_position): self.sendTargPosition(self.feedConfig.feedLine.broken2_position) if self.feedConfig.feedLine.broken2_position.compare(real_position): - current_position = Real_Position().init_position(0,0,0,0,0,0) - current_position.X = self.robotClient.status_model.axis_0 - current_position.Y = self.robotClient.status_model.axis_1 - current_position.Z = self.robotClient.status_model.axis_2 - current_position.U = self.robotClient.status_model.axis_3 - current_position.V = self.robotClient.status_model.axis_4 - current_position.W = self.robotClient.status_model.axis_5 - for i in range(8): - if (i % 2 == 0) ^ (i >= 3): ## 过一半取消 - c1 = current_position.U - 5 - self.sendTargPosition(c1, MoveType.AXIS, speed=Constant.shake_speed) - else: - c1 = current_position.U + 5 - self.sendTargPosition(c1, MoveType.AXIS, speed=Constant.shake_speed) - if True: # 延迟判断，如果最后点位延迟1s，则认为阶段完成 + self.sendTargPosition(self.feedConfig.feedLine.shake_position) + 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 + # TODO 震动方案 + time.sleep(2) self.feedStatus = FeedStatus.FDropBag self.sendTargPosition(self.feedConfig.feedLine.safe_position) elif self.feedStatus == FeedStatus.FDropBag: log.log_message(logging.INFO, Constant.str_feed_drop) if self.feedConfig.feedLine.safe_position.compare(real_position): - if self.feedConfig.num - 1 != 0: - self.sendTargPosition(self.feedConfig.feedLine.drop_bag_position) - else: - self.sendTargPosition(self.feedConfig.feedLine.zip_bag_position) + self.sendTargPosition(self.feedConfig.feedLine.drop_bag_position) pass if self.feedConfig.feedLine.drop_bag_position.compare(real_position): # TODO 松开吸嘴 + time.sleep(2) self.feedConfig.num = self.feedConfig.num - 1 log.log_message(logging.INFO, f'{Constant.str_feed_feed_num}{self.feedConfig.num}') - self.feedStatus = FeedStatus.FSafeP - self.sendTargPosition(self.feedConfig.feedLine.safe_position) - - - if self.feedConfig.feedLine.zip_bag_position.compare(real_position): - log.log_message(logging.INFO, Constant.str_feed_zip_bag) - # TODO 松开吸嘴 是否需要判断放没放开不 - self.feedStatus = FeedStatus.FNone - self.sendTargPosition(self.feedConfig.feedLine.safe_position) - self.init_detection_image() - log.log_message(logging.INFO, Constant.str_feed_finish) - - - pass + if self.feedConfig.num == 0: # 投料次数为0，直接返回 + log.log_message(logging.INFO, Constant.str_feed_finish) + self.feedStatus = FeedStatus.FNone + self.sendTargPosition(self.feedConfig.feedLine.safe_position) + self.init_detection_image() + else: + self.feedStatus = FeedStatus.FSafeP + self.sendTargPosition(self.feedConfig.feedLine.safe_position) diff --git a/Config/FeedLine.ini b/Config/FeedLine.ini index 3873236..398b426 100644 --- a/Config/FeedLine.ini +++ b/Config/FeedLine.ini @@ -6,18 +6,6 @@ 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 @@ -30,24 +18,20 @@ brokenposition2_z = 209.979 brokenposition2_u = -3.100 brokenposition2_v = -3.198 brokenposition2_w = 49.945 +shakeposition_x = 357.269 +shakeposition_y = 478.874 +shakeposition_z = 209.979 +shakeposition_u = -3.100 +shakeposition_v = -3.198 +shakeposition_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] diff --git a/MvSDKLog/CamCtrl_00.log b/MvSDKLog/CamCtrl_00.log index 98f571c..c252cc2 100644 --- a/MvSDKLog/CamCtrl_00.log +++ b/MvSDKLog/CamCtrl_00.log @@ -5793,3 +5793,93 @@ Warning 2024-10-27 22:59:38:0151 DevID:Virtual USB3 Vision Source-Line:MvCamer 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] 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] 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] +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] +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] +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] +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] +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] +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] +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] +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] +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] +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] +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] +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] +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] +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] +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] +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] +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] +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] +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] +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] +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] +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] +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] +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] +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] +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] +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] +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] +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] +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] +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] +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] +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] +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] +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] +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] +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] +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] +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] diff --git a/Seting.ini b/Seting.ini index 741a95d..3c87c6c 100644 --- a/Seting.ini +++ b/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 diff --git a/main.py b/main.py index 7818b03..c2b6528 100644 --- a/main.py +++ b/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: