update 日志模块初见

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

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

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)

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):

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"<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\">\n"
-"<html><head><meta name=\"qrichtext\" content=\"1\" /><meta charset=\"utf-8\" /><style type=\"text/css\">\n"
-"p, li { white-space: pre-wrap; }\n"
-"hr { height: 1px; border-width: 0; }\n"
-"li.unchecked::marker { content: \"\\2610\"; }\n"
-"li.checked::marker { content: \"\\2612\"; }\n"
-"</style></head><body style=\" font-family:'Microsoft YaHei UI'; font-size:9pt; font-weight:400; font-style:normal;\">\n"
-"<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\uff1a\u5f53\u524d\u6b63\u5728\u8fd0\u884c\u3002\u3002\u3002</p>\n"
-"<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\uff1a\u79fb\u52a8\u673a\u68b0\u81c2\u81f3\u6240\u793a\u4f4d\u7f6e</p></body></html>", 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"<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\">\n"
+"<html><head><meta name=\"qrichtext\" content=\"1\" /><meta charset=\"utf-8\" /><style type=\"text/css\">\n"
+"p, li { white-space: pre-wrap; }\n"
+"hr { height: 1px; border-width: 0; }\n"
+"li.unchecked::marker { content: \"\\2610\"; }\n"
+"li.checked::marker { content: \"\\2612\"; }\n"
+"</style></head><body style=\" font-family:'Microsoft YaHei UI'; font-size:9pt; font-weight:400; font-style:normal;\">\n"
+"<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>", 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"<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\">\n"
+"<html><head><meta name=\"qrichtext\" content=\"1\" /><meta charset=\"utf-8\" /><style type=\"text/css\">\n"
+"p, li { white-space: pre-wrap; }\n"
+"hr { height: 1px; border-width: 0; }\n"
+"li.unchecked::marker { content: \"\\2610\"; }\n"
+"li.checked::marker { content: \"\\2612\"; }\n"
+"</style></head><body style=\" font-family:'Microsoft YaHei UI'; font-size:9pt; font-weight:400; font-style:normal;\">\n"
+"<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>", 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))

untitled.ui

@@ -125,7 +125,7 @@ border-radius: 10px;</string>
        </rect>
       </property>
       <property name="currentIndex">
-       <number>1</number>
+       <number>0</number>
       </property>
       <widget class="QWidget" name="page_6">
        <widget class="QFrame" name="frame_2">
@@ -171,7 +171,7 @@ border-radius: 10px;</string>
             <x>10</x>
             <y>10</y>
             <width>481</width>
-            <height>261</height>
+            <height>201</height>
            </rect>
           </property>
           <property name="styleSheet">
@@ -1162,33 +1162,6 @@ font: 10pt &quot;楷体&quot;;
            </property>
           </widget>
          </widget>
-         <widget class="QTextEdit" name="textEdit_log">
-          <property name="geometry">
-           <rect>
-            <x>10</x>
-            <y>280</y>
-            <width>481</width>
-            <height>191</height>
-           </rect>
-          </property>
-          <property name="styleSheet">
-           <string notr="true">*{
-	background-image: url(:/bg/Image/robot.png);
-	background-color: #E6ECF5;
-}</string>
-          </property>
-          <property name="html">
-           <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
-&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;meta charset=&quot;utf-8&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
-p, li { white-space: pre-wrap; }
-hr { height: 1px; border-width: 0; }
-li.unchecked::marker { content: &quot;\2610&quot;; }
-li.checked::marker { content: &quot;\2612&quot;; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Microsoft YaHei UI'; font-size:9pt; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;2024-08-06 10:10:10：当前正在运行。。。&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;2024-08-06 11:10:10：移动机械臂至所示位置&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-          </property>
-         </widget>
          <widget class="QComboBox" name="comboBox_lineIndex">
           <property name="geometry">
            <rect>
@@ -1753,6 +1726,82 @@ font: 10pt &quot;楷体&quot;;
            <string>PushButton</string>
           </property>
          </widget>
+         <widget class="QTabWidget" name="tabWidget_2">
+          <property name="geometry">
+           <rect>
+            <x>10</x>
+            <y>220</y>
+            <width>491</width>
+            <height>251</height>
+           </rect>
+          </property>
+          <property name="currentIndex">
+           <number>0</number>
+          </property>
+          <widget class="QWidget" name="tab_3">
+           <attribute name="title">
+            <string>日志</string>
+           </attribute>
+           <widget class="QTextEdit" name="textEdit_log_info">
+            <property name="geometry">
+             <rect>
+              <x>0</x>
+              <y>0</y>
+              <width>491</width>
+              <height>231</height>
+             </rect>
+            </property>
+            <property name="styleSheet">
+             <string notr="true">*{
+	background-color: #D3D3D3;
+}</string>
+            </property>
+            <property name="html">
+             <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;meta charset=&quot;utf-8&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+hr { height: 1px; border-width: 0; }
+li.unchecked::marker { content: &quot;\2610&quot;; }
+li.checked::marker { content: &quot;\2612&quot;; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Microsoft YaHei UI'; font-size:9pt; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+            </property>
+           </widget>
+          </widget>
+          <widget class="QWidget" name="tab_4">
+           <attribute name="title">
+            <string>报警</string>
+           </attribute>
+           <widget class="QTextEdit" name="textEdit_log_error">
+            <property name="geometry">
+             <rect>
+              <x>0</x>
+              <y>0</y>
+              <width>491</width>
+              <height>231</height>
+             </rect>
+            </property>
+            <property name="styleSheet">
+             <string notr="true">*{
+	color: red;
+
+	background-color: #D3D3D3;
+}
+</string>
+            </property>
+            <property name="html">
+             <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;meta charset=&quot;utf-8&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+hr { height: 1px; border-width: 0; }
+li.unchecked::marker { content: &quot;\2610&quot;; }
+li.checked::marker { content: &quot;\2612&quot;; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Microsoft YaHei UI'; font-size:9pt; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+            </property>
+           </widget>
+          </widget>
+         </widget>
         </widget>
        </widget>
       </widget>