diff --git a/COM/COM_TCP.py b/COM/COM_TCP.py index 92614d6..5c63ecd 100644 --- a/COM/COM_TCP.py +++ b/COM/COM_TCP.py @@ -28,13 +28,15 @@ class TCPClient: def run(self): while True: time.sleep(0.2) - self.connected = self.error_count > 0 + self.connected = (self.error_count == 0) try: if (self.send_Status() and self.send_Command()): self.error_count = 0 except Exception as e: self.error_count += 1 - + if self.error_count> 5: + print("Error: TCPClient is not connected") + self.CreatConnect() def send_Command(self): return False diff --git a/Seting.ini b/Seting.ini index 868333a..08bca94 100644 --- a/Seting.ini +++ b/Seting.ini @@ -3,7 +3,7 @@ [Robot_Feed] IPAddress=192.168.3.5 -Port=8113 +Port=503 j1_min=-150 j1_max=+150 j2_min=-150 diff --git a/Util/util_log.py b/Util/util_log.py new file mode 100644 index 0000000..8285fad --- /dev/null +++ b/Util/util_log.py @@ -0,0 +1,13 @@ +import logging + + +class QTextEditLogger(logging.Handler): + def __init__(self, text_widget): + super().__init__() + self.widget = text_widget + + def emit(self, record): + # 格式化日志信息 + log_message = self.format(record) + # 在主线程中更新 QTextEdit + self.widget.append(log_message) \ No newline at end of file diff --git a/app.py b/app.py index 2b750a5..fe9d113 100644 --- a/app.py +++ b/app.py @@ -1,5 +1,6 @@ import configparser import json +import logging import queue import sys from multiprocessing import Process @@ -14,6 +15,7 @@ from Util.util_ini import writeFeedLine_to_ini import Constant from CU.Command import FeedCommand from CU.Feeding import FeedLine, FeedingConfig, Feeding, FeedStatus +from Util.util_log import QTextEditLogger #from Vision.camera_coordinate_dete import Detection from ui_untitled import Ui_MainWindow from COM.COM_Robot import RobotClient @@ -37,9 +39,18 @@ class MainWindow(QMainWindow,Ui_MainWindow): self.init_Run() self.init_robot_info() self.init_FeedLine() - self.start_Runing() + self.init_log() + def init_log(self): + + self.logger_textEdit = logging.getLogger("QTextEditLogger") + self.logger_textEdit.setLevel(logging.DEBUG) + + text_edit_handler = QTextEditLogger(self.textEdit_log_info) + formatter = logging.Formatter('%(asctime)s - %(levelname)s - %(message)s', datefmt='%Y-%m-%d %H:%M:%S') + text_edit_handler.setFormatter(formatter) + self.logger_textEdit.addHandler(text_edit_handler) def init_UI(self): self.pushButton_num1.clicked.connect(self.send_num_button_click) @@ -275,8 +286,6 @@ class MainWindow(QMainWindow,Ui_MainWindow): self.main_threading = Thread(target=self.run) self.robot_connect_threading = Thread(target=self.robotClient.run) self.main_threading.start() - - self.robot_connect_threading.start() pass @@ -366,6 +375,7 @@ class MainWindow(QMainWindow,Ui_MainWindow): self.label_maxNum.setText(self.lineEdit_num.text()) def send_stack_feedSet_button_click(self,index): + self.logger.info("This is an info message") self.stackedWidget_feed.setCurrentIndex(index) @@ -413,6 +423,14 @@ class MainWindow(QMainWindow,Ui_MainWindow): instruction_command.instructions.append(position_instruction) request_command = instruction_command.toString() print(request_command) + log_str = f'移动到位置:{"自由路径" if move_type==MoveType.AXIS else "姿势直线"}：' \ + f'm0:{position_instruction.m0}-' \ + f'm2:{position_instruction.m1}-' \ + f'm3:{position_instruction.m2}-' \ + f'm4:{position_instruction.m3}-' \ + f'm5:{position_instruction.m4}-' \ + f'm6:{position_instruction.m5}' + self.logger_textEdit.info(log_str) self.robotClient.add_sendQuene(request_command) def send_get_safe_position_button_click(self): diff --git a/ui_untitled.py b/ui_untitled.py index ccde248..376ac9a 100644 --- a/ui_untitled.py +++ b/ui_untitled.py @@ -84,7 +84,7 @@ class Ui_MainWindow(object): self.frame_6.setFrameShadow(QFrame.Shadow.Raised) self.label_5 = QLabel(self.frame_6) self.label_5.setObjectName(u"label_5") - self.label_5.setGeometry(QRect(10, 10, 481, 261)) + self.label_5.setGeometry(QRect(10, 10, 481, 201)) self.label_5.setStyleSheet(u"\n" "background-image: url(:/bg/Image/robot.png);\n" "background-position:center;\n" @@ -493,13 +493,6 @@ class Ui_MainWindow(object): self.label_manual_adjust_accuracy = QLabel(self.frame_7) self.label_manual_adjust_accuracy.setObjectName(u"label_manual_adjust_accuracy") self.label_manual_adjust_accuracy.setGeometry(QRect(50, 13, 53, 15)) - self.textEdit_log = QTextEdit(self.frame_6) - self.textEdit_log.setObjectName(u"textEdit_log") - self.textEdit_log.setGeometry(QRect(10, 280, 481, 191)) - self.textEdit_log.setStyleSheet(u"*{\n" -" background-image: url(:/bg/Image/robot.png);\n" -" background-color: #E6ECF5;\n" -"}") self.comboBox_lineIndex = QComboBox(self.frame_6) self.comboBox_lineIndex.addItem("") self.comboBox_lineIndex.addItem("") @@ -805,6 +798,30 @@ class Ui_MainWindow(object): " background-color: red;\n" " color: white;\n" " }") + self.tabWidget_2 = QTabWidget(self.frame_6) + self.tabWidget_2.setObjectName(u"tabWidget_2") + self.tabWidget_2.setGeometry(QRect(10, 220, 491, 251)) + self.tab_3 = QWidget() + self.tab_3.setObjectName(u"tab_3") + self.textEdit_log_info = QTextEdit(self.tab_3) + self.textEdit_log_info.setObjectName(u"textEdit_log_info") + self.textEdit_log_info.setGeometry(QRect(0, 0, 491, 231)) + self.textEdit_log_info.setStyleSheet(u"*{\n" +" background-color: #D3D3D3;\n" +"}") + self.tabWidget_2.addTab(self.tab_3, "") + self.tab_4 = QWidget() + self.tab_4.setObjectName(u"tab_4") + self.textEdit_log_error = QTextEdit(self.tab_4) + self.textEdit_log_error.setObjectName(u"textEdit_log_error") + self.textEdit_log_error.setGeometry(QRect(0, 0, 491, 231)) + self.textEdit_log_error.setStyleSheet(u"*{\n" +" color: red;\n" +"\n" +" background-color: #D3D3D3;\n" +"}\n" +"") + self.tabWidget_2.addTab(self.tab_4, "") self.stackedWidget_feed.addWidget(self.page_6) self.page_7 = QWidget() self.page_7.setObjectName(u"page_7") @@ -912,8 +929,9 @@ class Ui_MainWindow(object): self.retranslateUi(MainWindow) self.tabWidget.setCurrentIndex(0) - self.stackedWidget_feed.setCurrentIndex(1) + self.stackedWidget_feed.setCurrentIndex(0) self.stackedWidget_num.setCurrentIndex(0) + self.tabWidget_2.setCurrentIndex(0) QMetaObject.connectSlotsByName(MainWindow) @@ -966,15 +984,6 @@ class Ui_MainWindow(object): self.lineEdit_manual_adjust_accuracy.setText(QCoreApplication.translate("MainWindow", u"1", None)) self.lineEdit_manual_adjust_accuracy.setPlaceholderText(QCoreApplication.translate("MainWindow", u"0.001-20", None)) self.label_manual_adjust_accuracy.setText(QCoreApplication.translate("MainWindow", u"\u8c03\u6574\u95f4\u9694\uff1a", None)) - self.textEdit_log.setHtml(QCoreApplication.translate("MainWindow", u"\n" -"\n" -"

2024-08-06 10:10:10\uff1a\u5f53\u524d\u6b63\u5728\u8fd0\u884c\u3002\u3002\u3002

\n" -"

2024-08-06 11:10:10\uff1a\u79fb\u52a8\u673a\u68b0\u81c2\u81f3\u6240\u793a\u4f4d\u7f6e

", None)) self.comboBox_lineIndex.setItemText(0, QCoreApplication.translate("MainWindow", u"1\u53f7\u7ebf", None)) self.comboBox_lineIndex.setItemText(1, QCoreApplication.translate("MainWindow", u"\u65b0\u5efa\u7ebf", None)) @@ -999,6 +1008,24 @@ class Ui_MainWindow(object): self.lineEdit_speed.setPlaceholderText(QCoreApplication.translate("MainWindow", u"\u8f93\u5165\u6574\u6570\uff0c\u5207\u52ff\u8d85\u901f", None)) self.label_2.setText(QCoreApplication.translate("MainWindow", u"\u5f53\u524d\u81ea\u52a8\u901f\u5ea6\uff1a", None)) self.pushButton_speed.setText(QCoreApplication.translate("MainWindow", u"PushButton", None)) + self.textEdit_log_info.setHtml(QCoreApplication.translate("MainWindow", u"\n" +"\n" +"


", None)) + self.tabWidget_2.setTabText(self.tabWidget_2.indexOf(self.tab_3), QCoreApplication.translate("MainWindow", u"\u65e5\u5fd7", None)) + self.textEdit_log_error.setHtml(QCoreApplication.translate("MainWindow", u"\n" +"\n" +"


", None)) + self.tabWidget_2.setTabText(self.tabWidget_2.indexOf(self.tab_4), QCoreApplication.translate("MainWindow", u"\u62a5\u8b66", None)) self.pushButton_tableFeedSet_addRow.setText(QCoreApplication.translate("MainWindow", u"\u65b0\u589e\u7ebf", None)) self.pushButton_tableFeedSet_deleRow.setText(QCoreApplication.translate("MainWindow", u"\u5220\u9664\u7ebf", None)) self.pushButton_tableFeedSet_save.setText(QCoreApplication.translate("MainWindow", u"\u4fdd\u5b58", None)) diff --git a/untitled.ui b/untitled.ui index 59ca209..c47b1f0 100644 --- a/untitled.ui +++ b/untitled.ui @@ -125,7 +125,7 @@ border-radius: 10px; - 1 + 0 @@ -171,7 +171,7 @@ border-radius: 10px; 10 10 481 - 261 + 201 @@ -1162,33 +1162,6 @@ font: 10pt "楷体"; - - - - 10 - 280 - 481 - 191 - - - - *{ - background-image: url(:/bg/Image/robot.png); - background-color: #E6ECF5; -} - - - <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> -<html><head><meta name="qrichtext" content="1" /><meta charset="utf-8" /><style type="text/css"> -p, li { white-space: pre-wrap; } -hr { height: 1px; border-width: 0; } -li.unchecked::marker { content: "\2610"; } -li.checked::marker { content: "\2612"; } -</style></head><body style=" font-family:'Microsoft YaHei UI'; font-size:9pt; font-weight:400; font-style:normal;"> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">2024-08-06 10:10:10：当前正在运行。。。</p> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">2024-08-06 11:10:10：移动机械臂至所示位置</p></body></html> - - @@ -1753,6 +1726,82 @@ font: 10pt "楷体"; PushButton + + + + 10 + 220 + 491 + 251 + + + + 0 + + + + 日志 + + + + + 0 + 0 + 491 + 231 + + + + *{ + background-color: #D3D3D3; +} + + + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><meta charset="utf-8" /><style type="text/css"> +p, li { white-space: pre-wrap; } +hr { height: 1px; border-width: 0; } +li.unchecked::marker { content: "\2610"; } +li.checked::marker { content: "\2612"; } +</style></head><body style=" font-family:'Microsoft YaHei UI'; font-size:9pt; font-weight:400; font-style:normal;"> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p></body></html> + + + + + + 报警 + + + + + 0 + 0 + 491 + 231 + + + + *{ + color: red; + + background-color: #D3D3D3; +} + + + + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><meta charset="utf-8" /><style type="text/css"> +p, li { white-space: pre-wrap; } +hr { height: 1px; border-width: 0; } +li.unchecked::marker { content: "\2610"; } +li.checked::marker { content: "\2612"; } +</style></head><body style=" font-family:'Microsoft YaHei UI'; font-size:9pt; font-weight:400; font-style:normal;"> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p></body></html> + + + +