update 投料逻辑完善
This commit is contained in:
FrankCV2048
285
main.py
285
main.py
@ -202,11 +202,24 @@ class MainWindow(QMainWindow, Ui_MainWindow):
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ip = self.configReader.get('Robot_Feed', 'IPAddress')
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port = int(self.configReader.get('Robot_Feed', 'Port'))
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photo_locs = [(int(self.configReader.get('Robot_Feed', 'photo_x1')),
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int(self.configReader.get('Robot_Feed', 'photo_y1')), int(self.configReader.get('Robot_Feed', 'photo_z1'))),
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int(self.configReader.get('Robot_Feed', 'photo_y1')), int(self.configReader.get('Robot_Feed', 'photo_z1')),
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int(self.configReader.get('Robot_Feed', 'photo_u1')),int(self.configReader.get('Robot_Feed', 'photo_v1')),int(self.configReader.get('Robot_Feed', 'photo_w1'))),
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(int(self.configReader.get('Robot_Feed', 'photo_x2')),
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int(self.configReader.get('Robot_Feed', 'photo_y2')), int(self.configReader.get('Robot_Feed', 'photo_z2'))),
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int(self.configReader.get('Robot_Feed', 'photo_y2')), int(self.configReader.get('Robot_Feed', 'photo_z2')),
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int(self.configReader.get('Robot_Feed', 'photo_u2')),int(self.configReader.get('Robot_Feed', 'photo_v2')),int(self.configReader.get('Robot_Feed', 'photo_w2'))
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),
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(int(self.configReader.get('Robot_Feed', 'photo_x3')),
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int(self.configReader.get('Robot_Feed', 'photo_y3')),int(self.configReader.get('Robot_Feed', 'photo_z3')))
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int(self.configReader.get('Robot_Feed', 'photo_y3')),int(self.configReader.get('Robot_Feed', 'photo_z3')),
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int(self.configReader.get('Robot_Feed', 'photo_u3')),int(self.configReader.get('Robot_Feed', 'photo_v3')),int(self.configReader.get('Robot_Feed', 'photo_w3'))
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),
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(int(self.configReader.get('Robot_Feed', 'photo_x4')),
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int(self.configReader.get('Robot_Feed', 'photo_y4')),int(self.configReader.get('Robot_Feed', 'photo_z4')),
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int(self.configReader.get('Robot_Feed', 'photo_u4')),int(self.configReader.get('Robot_Feed', 'photo_v4')),int(self.configReader.get('Robot_Feed', 'photo_w4'))
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),
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(int(self.configReader.get('Robot_Feed', 'photo_x5')),
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int(self.configReader.get('Robot_Feed', 'photo_y5')),int(self.configReader.get('Robot_Feed', 'photo_z5')),
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int(self.configReader.get('Robot_Feed', 'photo_u5')),int(self.configReader.get('Robot_Feed', 'photo_v5')),int(self.configReader.get('Robot_Feed', 'photo_w5'))
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)
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]
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#TODO
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#dropDelay_time = int(self.configReader.get('Robot_Feed', 'dropDelay_time'))
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@ -229,7 +242,7 @@ class MainWindow(QMainWindow, Ui_MainWindow):
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rows = len(self.feedLine_dict.keys()) + 1
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self.tableWidget_feedSeting.setRowCount(rows)
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self.tableWidget_feedSeting.setColumnCount(20+4*6)
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self.tableWidget_feedSeting.setColumnCount(20+2*6)
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# 设置第一重表头的合并 (三列一组)
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self.tableWidget_feedSeting_addtional_col_num = 2
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@ -238,8 +251,7 @@ class MainWindow(QMainWindow, Ui_MainWindow):
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self.tableWidget_feedSeting.setSpan(0, 12 + self.tableWidget_feedSeting_addtional_col_num, 1, 6) # 合并后3列
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self.tableWidget_feedSeting.setSpan(0, 18 + self.tableWidget_feedSeting_addtional_col_num, 1, 6) # 合并后3列
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self.tableWidget_feedSeting.setSpan(0, 24 + self.tableWidget_feedSeting_addtional_col_num, 1, 6) # 合并后3列
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self.tableWidget_feedSeting.setSpan(0, 30 + self.tableWidget_feedSeting_addtional_col_num, 1, 6)
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self.tableWidget_feedSeting.setSpan(0, 36 + self.tableWidget_feedSeting_addtional_col_num, 1, 6)
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self.tableWidget_feedSeting.itemChanged.connect(self.send_tabelFeedSet_itemChanged)
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@ -252,23 +264,6 @@ class MainWindow(QMainWindow, Ui_MainWindow):
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# 将布局设置到 QWidget 容器中
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widget_safe.setLayout(layout_safe)
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btn_photo = QPushButton("获取拍照位置")
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widget_photo = QWidget()
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layout_photo = QHBoxLayout()
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layout_photo.addWidget(btn_photo)
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# 调整布局的间距，使之更紧凑
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layout_photo.setContentsMargins(0, 0, 0, 0)
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# 将布局设置到 QWidget 容器中
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widget_photo.setLayout(layout_photo)
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btn_feed = QPushButton("获取投料位置")
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widget_feed = QWidget()
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layout_feed = QHBoxLayout()
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layout_feed.addWidget(btn_feed)
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# 调整布局的间距，使之更紧凑
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layout_feed.setContentsMargins(0, 0, 0, 0)
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# 将布局设置到 QWidget 容器中
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widget_feed.setLayout(layout_feed)
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btn_bk1 = QPushButton("获取破袋位置1")
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widget_bk1 = QWidget()
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@ -288,6 +283,13 @@ class MainWindow(QMainWindow, Ui_MainWindow):
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# 将布局设置到 QWidget 容器中
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widget_bk2.setLayout(layout_bk2)
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btn_shake = QPushButton("获取摇晃位置")
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widget_shake = QWidget()
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layout_shake = QHBoxLayout()
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layout_shake.addWidget(btn_shake)
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layout_shake.setContentsMargins(0, 0, 0, 0)
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widget_shake.setLayout(layout_shake)
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btn_dropbag = QPushButton("获取丢袋位置")
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widget_dropbag = QWidget()
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@ -297,44 +299,32 @@ class MainWindow(QMainWindow, Ui_MainWindow):
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layout_dropbag.setContentsMargins(0, 0, 0, 0)
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# 将布局设置到 QWidget 容器中
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widget_dropbag.setLayout(layout_dropbag)
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btn_zipbag = QPushButton("获取压袋位置")
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btn_zipbag = QPushButton("获取压袋位置")
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widget_zipbag = QWidget()
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layout_zipbag = QHBoxLayout()
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layout_zipbag.addWidget(btn_zipbag)
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# 调整布局的间距，使之更紧凑
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layout_zipbag.setContentsMargins(0, 0, 0, 0)
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# 将布局
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widget_zipbag.setLayout(layout_zipbag)
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btn_safe.clicked.connect(self.send_get_safe_position_button_click)
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btn_photo.clicked.connect(self.send_get_photo_position_button_click)
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btn_feed.clicked.connect(self.send_get_feed_position_button_click)
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btn_bk1.clicked.connect(self.send_get_broken1_position_button_click)
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btn_bk2.clicked.connect(self.send_get_broken2_position_button_click)
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btn_shake.clicked.connect(self.send_get_shake_position_button_click)
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btn_dropbag.clicked.connect(self.send_get_dropbag_position_button_click)
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btn_zipbag.clicked.connect(self.send_get_zipbag_position_button_click)
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# 添加第一重表头项
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self.tableWidget_feedSeting.setCellWidget(0, 0 + self.tableWidget_feedSeting_addtional_col_num, widget_safe)
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self.tableWidget_feedSeting.setCellWidget(0, 6 + self.tableWidget_feedSeting_addtional_col_num, widget_photo)
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self.tableWidget_feedSeting.setCellWidget(0, 12 + self.tableWidget_feedSeting_addtional_col_num,
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widget_feed) # 设置在合并的第2组
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self.tableWidget_feedSeting.setCellWidget(0, 6 + self.tableWidget_feedSeting_addtional_col_num, widget_bk1)
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self.tableWidget_feedSeting.setCellWidget(0, 12 + self.tableWidget_feedSeting_addtional_col_num, widget_bk2)
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self.tableWidget_feedSeting.setCellWidget(0, 18 + self.tableWidget_feedSeting_addtional_col_num, widget_shake)
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self.tableWidget_feedSeting.setCellWidget(0, 24 + self.tableWidget_feedSeting_addtional_col_num, widget_dropbag)
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self.tableWidget_feedSeting.setCellWidget(0, 18 + self.tableWidget_feedSeting_addtional_col_num, widget_bk1)
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self.tableWidget_feedSeting.setCellWidget(0, 24 + self.tableWidget_feedSeting_addtional_col_num, widget_bk2)
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self.tableWidget_feedSeting.setCellWidget(0, 30 + self.tableWidget_feedSeting_addtional_col_num, widget_dropbag)
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self.tableWidget_feedSeting.setCellWidget(0, 36 + self.tableWidget_feedSeting_addtional_col_num, widget_zipbag)
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self.tableWidget_feedSeting.setSelectionBehavior(QTableWidget.SelectRows)
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self.tableWidget_feedSeting.setAutoScroll(True)
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# 添加第二重表头
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self.tableWidget_feedSeting.setHorizontalHeaderLabels(
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['header', '线名', 'X1', 'Y1', 'Z1', 'U1', 'V1', 'W1', 'X2', 'Y2', 'Z2', 'U2', 'V2', 'W2', 'X3', 'Y3', 'Z3',
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'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'])
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'U3', 'V3', 'W3', 'X4', 'Y4', 'Z4', 'U4', 'V4', 'W4', 'X5', 'Y5', 'Z5', 'U5', 'V5', 'W5'])
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self.tableWidget_feedSeting.hideColumn(0)
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# 填充数据行
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@ -342,12 +332,10 @@ class MainWindow(QMainWindow, Ui_MainWindow):
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self.tableWidget_feedSeting.setItem(row + 1, 0, QTableWidgetItem(feed_line_key))
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self.tableWidget_feedSeting.setItem(row + 1, 1, QTableWidgetItem(feed_line.name))
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self.set_position_to_tabel(row + 1, 0, feed_line.safe_position)
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self.set_position_to_tabel(row + 1, 1, feed_line.photo_position)
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self.set_position_to_tabel(row + 1, 2, feed_line.feed_position)
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self.set_position_to_tabel(row + 1, 3, feed_line.broken1_position)
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self.set_position_to_tabel(row + 1, 4, feed_line.broken2_position)
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self.set_position_to_tabel(row + 1, 5, feed_line.drop_bag_position)
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self.set_position_to_tabel(row + 1, 6, feed_line.zip_bag_position)
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self.set_position_to_tabel(row + 1, 1, feed_line.broken1_position)
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self.set_position_to_tabel(row + 1, 2, feed_line.broken2_position)
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self.set_position_to_tabel(row + 1, 3, feed_line.broken2_position)
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self.set_position_to_tabel(row + 1, 4, feed_line.drop_bag_position)
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# 禁用自动表头
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@ -362,13 +350,11 @@ class MainWindow(QMainWindow, Ui_MainWindow):
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for i in range(int(line_count)):
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line_str = f'FeedLine{i + 1}'
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safe_position = Real_Position()
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photo_position = Real_Position()
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mid_position = Real_Position()
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broken_position1 = Real_Position()
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broken_position2 = Real_Position()
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feed_position = Real_Position()
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shake_position = Real_Position()
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dropBag_position = Real_Position()
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zipBag_poistion = Real_Position()
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safe_position.X = float(self.configReader.get(line_str, 'SafePosition_x', fallback=0))
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@ -378,26 +364,13 @@ class MainWindow(QMainWindow, Ui_MainWindow):
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safe_position.V = float(self.configReader.get(line_str, 'SafePosition_v', fallback=0))
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safe_position.W = float(self.configReader.get(line_str, 'SafePosition_w', fallback=0))
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photo_position.X = float(self.configReader.get(line_str, 'PhotoPosition_x', fallback=0))
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photo_position.Y = float(self.configReader.get(line_str, 'PhotoPosition_y', fallback=0))
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photo_position.Z = float(self.configReader.get(line_str, 'PhotoPosition_z', fallback=0))
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photo_position.U = float(self.configReader.get(line_str, 'PhotoPosition_u', fallback=0))
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photo_position.V = float(self.configReader.get(line_str, 'PhotoPosition_v', fallback=0))
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photo_position.W = float(self.configReader.get(line_str, 'PhotoPosition_w', fallback=0))
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mid_position.X = float(self.configReader.get(line_str, 'MidPosition_x', fallback=0))
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mid_position.Y = float(self.configReader.get(line_str, 'MidPosition_y', fallback=0))
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mid_position.Z = float(self.configReader.get(line_str, 'MidPosition_z', fallback=0))
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mid_position.U = float(self.configReader.get(line_str, 'MidPosition_u', fallback=0))
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mid_position.V = float(self.configReader.get(line_str, 'MidPosition_v', fallback=0))
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mid_position.W = float(self.configReader.get(line_str, 'MidPosition_w', fallback=0))
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broken_position1.X = float(self.configReader.get(line_str, 'BrokenPosition_x', fallback=0))
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broken_position1.Y = float(self.configReader.get(line_str, 'BrokenPosition_y', fallback=0))
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broken_position1.Z = float(self.configReader.get(line_str, 'BrokenPosition_z', fallback=0))
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broken_position1.U = float(self.configReader.get(line_str, 'BrokenPosition_u', fallback=0))
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broken_position1.V = float(self.configReader.get(line_str, 'BrokenPosition_v', fallback=0))
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broken_position1.W = float(self.configReader.get(line_str, 'BrokenPosition_w', fallback=0))
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broken_position2.X = float(self.configReader.get(line_str, 'BrokenPosition2_x', fallback=0))
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broken_position2.Y = float(self.configReader.get(line_str, 'BrokenPosition2_y', fallback=0))
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broken_position2.Z = float(self.configReader.get(line_str, 'BrokenPosition2_z', fallback=0))
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@ -405,33 +378,23 @@ class MainWindow(QMainWindow, Ui_MainWindow):
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broken_position2.V = float(self.configReader.get(line_str, 'BrokenPosition2_v', fallback=0))
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broken_position2.W = float(self.configReader.get(line_str, 'BrokenPosition2_w', fallback=0))
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shake_position.X = float(self.configReader.get(line_str, 'ShakePosition_x', fallback=0))
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shake_position.Y = float(self.configReader.get(line_str, 'ShakePosition_y', fallback=0))
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shake_position.Z = float(self.configReader.get(line_str, 'ShakePosition_z', fallback=0))
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shake_position.U = float(self.configReader.get(line_str, 'ShakePosition_u', fallback=0))
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shake_position.V = float(self.configReader.get(line_str, 'ShakePosition_v', fallback=0))
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shake_position.W = float(self.configReader.get(line_str, 'ShakePosition_w', fallback=0))
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dropBag_position.X = float(self.configReader.get(line_str, 'DropBagPosition_x', fallback=0))
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dropBag_position.Y = float(self.configReader.get(line_str, 'DropBagPosition_y', fallback=0))
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dropBag_position.Z = float(self.configReader.get(line_str, 'DropBagPosition_z', fallback=0))
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dropBag_position.U = float(self.configReader.get(line_str, 'DropBagPosition_u', fallback=0))
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dropBag_position.V = float(self.configReader.get(line_str, 'DropBagPosition_v', fallback=0))
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dropBag_position.W = float(self.configReader.get(line_str, 'DropBagPosition_w', fallback=0))
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zipBag_poistion.X = float(self.configReader.get(line_str, 'ZipBagPosition_x', fallback=0))
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zipBag_poistion.Y = float(self.configReader.get(line_str, 'ZipBagPosition_y', fallback=0))
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zipBag_poistion.Z = float(self.configReader.get(line_str, 'ZipBagPosition_z', fallback=0))
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zipBag_poistion.U = float(self.configReader.get(line_str, 'ZipBagPosition_u', fallback=0))
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zipBag_poistion.V = float(self.configReader.get(line_str, 'ZipBagPosition_v', fallback=0))
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zipBag_poistion.W = float(self.configReader.get(line_str, 'ZipBagPosition_w', fallback=0))
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feed_position.X = float(self.configReader.get(line_str, 'FeedPosition_x', fallback=0))
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feed_position.Y = float(self.configReader.get(line_str, 'FeedPosition_y', fallback=0))
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feed_position.Z = float(self.configReader.get(line_str, 'FeedPosition_z', fallback=0))
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feed_position.U = float(self.configReader.get(line_str, 'FeedPosition_u', fallback=0))
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feed_position.V = float(self.configReader.get(line_str, 'FeedPosition_v', fallback=0))
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feed_position.W = float(self.configReader.get(line_str, 'FeedPosition_w', fallback=0))
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name = self.configReader.get(line_str, 'Name', fallback='未命名')
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self.feedLine_dict[f'{Constant.feedLine_set_section}{i + 1}'] = FeedLine(i+1,name, safe_position,
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photo_position, mid_position,
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broken_position1,broken_position2,dropBag_position,zipBag_poistion,feed_position)
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broken_position1,broken_position2,shake_position ,dropBag_position)
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self.init_seting_frame()
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self.updateUI_Select_Line()
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pass
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@ -548,7 +511,7 @@ class MainWindow(QMainWindow, Ui_MainWindow):
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num = self.horizontalSlider_feedingNum.maximum()
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line_head = self.comboBox_lineIndex.currentData()
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self.command_quene.put(FeedCommand(FeedingConfig(num, self.feedLine_dict[line_head])))
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self.command_quene.put(FeedCommand(FeedingConfig(num, self.feedLine_dict[line_head], self.feeding.robotClient.photo_locs[:])))
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self.stackedWidget_num.setCurrentIndex(1)
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self.set_run_status_button(True)
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log.log_message(logging.INFO, f'{self.feedLine_dict[line_head].name}:{Constant.str_feed_start}')
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@ -681,21 +644,6 @@ class MainWindow(QMainWindow, Ui_MainWindow):
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real_position.U, real_position.V, real_position.W)
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self.set_position_to_tabel(row_i, 0, real_position)
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def send_get_photo_position_button_click(self):
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real_position = self.robotClient.status_model.getRealPosition()
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row_i = self.tableWidget_feedSeting.currentRow()
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head = self.tableWidget_feedSeting.item(row_i, 0).text()
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self.feedLine_dict[head].photo_position.init_position(real_position.X, real_position.Y, real_position.Z,
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real_position.U, real_position.V, real_position.W)
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self.set_position_to_tabel(row_i, 1, real_position)
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def send_get_feed_position_button_click(self):
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real_position = self.robotClient.status_model.getRealPosition()
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row_i = self.tableWidget_feedSeting.currentRow()
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head = self.tableWidget_feedSeting.item(row_i, 0).text()
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self.feedLine_dict[head].feed_position.init_position(real_position.X, real_position.Y, real_position.Z,
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real_position.U, real_position.V, real_position.W)
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self.set_position_to_tabel(row_i, 2, real_position)
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def send_get_broken1_position_button_click(self):
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real_position = self.robotClient.status_model.getRealPosition()
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@ -703,7 +651,7 @@ class MainWindow(QMainWindow, Ui_MainWindow):
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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