From 5dd082384ceeb2e2768cce64e38b16f6bdfb4063 Mon Sep 17 00:00:00 2001 From: FrankCV2048 <1395405735@qq.com> Date: Wed, 4 Dec 2024 23:59:12 +0800 Subject: [PATCH] =?UTF-8?q?update=20=E5=8E=9F=E7=82=B9=E9=85=8D=E7=BD=AE?= =?UTF-8?q?=E6=B7=BB=E5=8A=A0?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- MainWin.ui | 319 +++++++++++++++++++++++++++++++++++++++++--------- main.py | 34 ++++++ ui_MainWin.py | 217 +++++++++++++++++++++++++--------- 3 files changed, 461 insertions(+), 109 deletions(-) diff --git a/MainWin.ui b/MainWin.ui index cec5d43..9ec037f 100644 --- a/MainWin.ui +++ b/MainWin.ui @@ -592,6 +592,38 @@ border-image: url(:/main/Image/backgroud_leftMenu_btn_child.jpg); + + + + + 0 + 0 + + + + + + QPushButton { + + background-color: rgb(16, 31, 63); + color: rgb(255, 255, 255); + + } + QPushButton:hover { + border-image: url(:/main/Image/backgroud_leftMenu_btn_child.jpg); + + } +*:pressed +{ +border-image: url(:/main/Image/backgroud_leftMenu_btn_child.jpg); +} + + + + 机械臂基础设置 + + + @@ -2432,12 +2464,12 @@ font: 700 9pt "Microsoft YaHei UI"; QFrame::Shadow::Raised - + - border:none; - + color:#ffffff; +border:None; QFrame::Shape::StyledPanel @@ -2447,7 +2479,233 @@ font: 700 9pt "Microsoft YaHei UI"; - + + + + 0 + 0 + + + + X1: + + + Qt::AlignmentFlag::AlignRight|Qt::AlignmentFlag::AlignTrailing|Qt::AlignmentFlag::AlignVCenter + + + + + + + + 0 + 0 + + + + border:1px solid #FFFfff + + + true + + + + + + + + 0 + 0 + + + + Y1: + + + Qt::AlignmentFlag::AlignRight|Qt::AlignmentFlag::AlignTrailing|Qt::AlignmentFlag::AlignVCenter + + + + + + + + 0 + 0 + + + + border:1px solid #FFFfff + + + true + + + + + + + + 0 + 0 + + + + Z1: + + + Qt::AlignmentFlag::AlignRight|Qt::AlignmentFlag::AlignTrailing|Qt::AlignmentFlag::AlignVCenter + + + + + + + + 0 + 0 + + + + border:1px solid #FFFfff + + + true + + + + + + + + 0 + 0 + + + + U1: + + + Qt::AlignmentFlag::AlignRight|Qt::AlignmentFlag::AlignTrailing|Qt::AlignmentFlag::AlignVCenter + + + + + + + + 0 + 0 + + + + border:1px solid #FFFfff + + + true + + + + + + + + 0 + 0 + + + + V1: + + + Qt::AlignmentFlag::AlignRight|Qt::AlignmentFlag::AlignTrailing|Qt::AlignmentFlag::AlignVCenter + + + + + + + + 0 + 0 + + + + border:1px solid #FFFfff + + + true + + + + + + + + 0 + 0 + + + + W1: + + + Qt::AlignmentFlag::AlignRight|Qt::AlignmentFlag::AlignTrailing|Qt::AlignmentFlag::AlignVCenter + + + + + + + + 0 + 0 + + + + border:1px solid #FFFfff + + + true + + + + + + + + 0 + 0 + + + + +*{ +color: #ffffff; +background-color: rgb(16, 133, 255); +font: 12pt "楷体"; +border: 1px solid #dcdfe6; +border-radius: 6px; +} +*:pressed +{ +background-color: #197971; +} + + + + 获取原点 + + + + + + + + 0 + 0 + + *{ @@ -2464,64 +2722,13 @@ background-color: #197971; - 保存 - - - - - - - -*{ -color: #ffffff; -background-color: rgb(16, 133, 255); -font: 12pt "楷体"; -border: 1px solid #dcdfe6; -border-radius: 6px; -} -*:pressed -{ -background-color: #499c8a; -} - - - - 新增线 - - - - - - - *{ -color: #ffffff; -background-color: #FF5722; -font: 12pt "楷体"; -border: 1px solid #dcdfe6; -border-radius: 6px; -} -*:pressed -{ -background-color: #499c8a; -} - - - - 删除线 + 保存原点 - - - - -color: rgb(255, 255, 255); - - - diff --git a/main.py b/main.py index 82fa52a..55228f8 100644 --- a/main.py +++ b/main.py @@ -460,6 +460,7 @@ class MainWindow(QMainWindow, Ui_MainWindow): self.pushButton_num6.clicked.connect(self.send_num_button_click) self.pushButton_AddNum.clicked.connect(self.send_addNum_button_click) self.pushButton_SubNum.clicked.connect(self.send_subNum_button_click) + self.lineEdit_j1.returnPressed.connect(self.send_position_returnPressed) self.lineEdit_j2.returnPressed.connect(self.send_position_returnPressed) self.lineEdit_j3.returnPressed.connect(self.send_position_returnPressed) @@ -490,12 +491,14 @@ class MainWindow(QMainWindow, Ui_MainWindow): self.pushButton_get_p3.clicked.connect(self.get_p3_button_click) self.pushButton_get_p4.clicked.connect(self.get_p4_button_click) self.pushButton_get_p5.clicked.connect(self.get_p5_button_click) + self.pushButton_get_origin.clicked.connect(self.get_origin_button_click) self.pushButton_set_p1.clicked.connect(self.set_p1_button_click) self.pushButton_set_p2.clicked.connect(self.set_p2_button_click) self.pushButton_set_p3.clicked.connect(self.set_p3_button_click) self.pushButton_set_p4.clicked.connect(self.set_p4_button_click) self.pushButton_set_p5.clicked.connect(self.set_p5_button_click) + self.pushButton_set_origin.clicked.connect(self.set_origin_button_click) self.pushButton_clearAlarm.clicked.connect(self.send_clear_alarm_command) self.pushButton_emergency.clicked.connect(self.send_emergency_alarm_command) @@ -1577,6 +1580,14 @@ class MainWindow(QMainWindow, Ui_MainWindow): self.lineEdit_v5.setText(str(realPosition.V)) self.lineEdit_w5.setText(str(realPosition.W)) + def get_origin_button_click(self): + realPosition = self.robotClient.status_model.getRealPosition() + self.lineEdit_origin_x.setText(str(realPosition.X)) + self.lineEdit_origin_y.setText(str(realPosition.Y)) + self.lineEdit_origin_z.setText(str(realPosition.Z)) + self.lineEdit_origin_u.setText(str(realPosition.U)) + self.lineEdit_origin_v.setText(str(realPosition.V)) + self.lineEdit_origin_w.setText(str(realPosition.W)) def set_p1_button_click(self): try: @@ -1684,6 +1695,29 @@ class MainWindow(QMainWindow, Ui_MainWindow): log.log_message(logging.INFO, f'设置拍照点5:{x5},{y5},{z5}') except: self.show_infomessage_box("设置拍照点5失败") + def set_origin_button_click(self): + try: + x = float(self.lineEdit_origin_x.text()) + y = float(self.lineEdit_origin_y.text()) + z = float(self.lineEdit_origin_z.text()) + u = float(self.lineEdit_origin_u.text()) + v = float(self.lineEdit_origin_v.text()) + w = float(self.lineEdit_origin_w.text()) + origin_position = Real_Position() + origin_position.init_position(x,y,z,u,v,w) + self.robotClient.origin_position = origin_position + self.configReader.read(Constant.set_ini) + self.configReader.set('Origin', 'X', str(x)) + self.configReader.set('Origin', 'Y', str(y)) + self.configReader.set('Origin', 'Z', str(z)) + self.configReader.set('Origin', 'U', str(u)) + self.configReader.set('Origin', 'V', str(v)) + self.configReader.set('Origin', 'W', str(w)) + self.configReader.write(open(Constant.set_ini, 'w', encoding='utf-8')) + log.log_message(logging.INFO, f'设置原点:{x},{y},{z}') + except: + self.show_infomessage_box("设置原点失败") + def updateUI_Photo_Set(self): self.lineEdit_x1.setText(str(self.robotClient.photo_locs[0][0])) diff --git a/ui_MainWin.py b/ui_MainWin.py index 06e85e6..c7eb6c4 100644 --- a/ui_MainWin.py +++ b/ui_MainWin.py @@ -376,6 +376,30 @@ class Ui_MainWindow(object): self.verticalLayout_4.addWidget(self.pushButton_leftmenu_produce) + self.pushButton_leftmenu_produce_3 = QPushButton(self.frame_10) + self.pushButton_leftmenu_produce_3.setObjectName(u"pushButton_leftmenu_produce_3") + sizePolicy5.setHeightForWidth(self.pushButton_leftmenu_produce_3.sizePolicy().hasHeightForWidth()) + self.pushButton_leftmenu_produce_3.setSizePolicy(sizePolicy5) + self.pushButton_leftmenu_produce_3.setStyleSheet(u"\n" +"\n" +" QPushButton {\n" +" \n" +" background-color: rgb(16, 31, 63);\n" +" color: rgb(255, 255, 255);\n" +"\n" +" }\n" +" QPushButton:hover {\n" +" border-image: url(:/main/Image/backgroud_leftMenu_btn_child.jpg);\n" +"\n" +" }\n" +"*:pressed\n" +"{\n" +"border-image: url(:/main/Image/backgroud_leftMenu_btn_child.jpg);\n" +"}\n" +"") + + self.verticalLayout_4.addWidget(self.pushButton_leftmenu_produce_3) + self.pushButton_leftmenu_IO = QPushButton(self.frame_10) self.pushButton_leftmenu_IO.setObjectName(u"pushButton_leftmenu_IO") sizePolicy5.setHeightForWidth(self.pushButton_leftmenu_IO.sizePolicy().hasHeightForWidth()) @@ -1505,15 +1529,139 @@ class Ui_MainWindow(object): self.verticalLayout_16.setObjectName(u"verticalLayout_16") self.frame_27 = QFrame(self.frame_6) self.frame_27.setObjectName(u"frame_27") - self.frame_27.setStyleSheet(u"border:none;\n" -"") + self.frame_27.setStyleSheet(u"color:#ffffff;\n" +"border:None;") self.frame_27.setFrameShape(QFrame.Shape.StyledPanel) self.frame_27.setFrameShadow(QFrame.Shadow.Raised) self.horizontalLayout_15 = QHBoxLayout(self.frame_27) self.horizontalLayout_15.setObjectName(u"horizontalLayout_15") - self.pushButton_tableFeedSet_save = QPushButton(self.frame_27) - self.pushButton_tableFeedSet_save.setObjectName(u"pushButton_tableFeedSet_save") - self.pushButton_tableFeedSet_save.setStyleSheet(u"\n" + self.label_90 = QLabel(self.frame_27) + self.label_90.setObjectName(u"label_90") + sizePolicy2.setHeightForWidth(self.label_90.sizePolicy().hasHeightForWidth()) + self.label_90.setSizePolicy(sizePolicy2) + self.label_90.setAlignment(Qt.AlignmentFlag.AlignRight|Qt.AlignmentFlag.AlignTrailing|Qt.AlignmentFlag.AlignVCenter) + + self.horizontalLayout_15.addWidget(self.label_90) + + self.lineEdit_origin_x = QLineEdit(self.frame_27) + self.lineEdit_origin_x.setObjectName(u"lineEdit_origin_x") + sizePolicy2.setHeightForWidth(self.lineEdit_origin_x.sizePolicy().hasHeightForWidth()) + self.lineEdit_origin_x.setSizePolicy(sizePolicy2) + self.lineEdit_origin_x.setStyleSheet(u"border:1px solid #FFFfff") + self.lineEdit_origin_x.setReadOnly(True) + + self.horizontalLayout_15.addWidget(self.lineEdit_origin_x) + + self.label_93 = QLabel(self.frame_27) + self.label_93.setObjectName(u"label_93") + sizePolicy2.setHeightForWidth(self.label_93.sizePolicy().hasHeightForWidth()) + self.label_93.setSizePolicy(sizePolicy2) + self.label_93.setAlignment(Qt.AlignmentFlag.AlignRight|Qt.AlignmentFlag.AlignTrailing|Qt.AlignmentFlag.AlignVCenter) + + self.horizontalLayout_15.addWidget(self.label_93) + + self.lineEdit_origin_y = QLineEdit(self.frame_27) + self.lineEdit_origin_y.setObjectName(u"lineEdit_origin_y") + sizePolicy2.setHeightForWidth(self.lineEdit_origin_y.sizePolicy().hasHeightForWidth()) + self.lineEdit_origin_y.setSizePolicy(sizePolicy2) + self.lineEdit_origin_y.setStyleSheet(u"border:1px solid #FFFfff") + self.lineEdit_origin_y.setReadOnly(True) + + self.horizontalLayout_15.addWidget(self.lineEdit_origin_y) + + self.label_88 = QLabel(self.frame_27) + self.label_88.setObjectName(u"label_88") + sizePolicy2.setHeightForWidth(self.label_88.sizePolicy().hasHeightForWidth()) + self.label_88.setSizePolicy(sizePolicy2) + self.label_88.setAlignment(Qt.AlignmentFlag.AlignRight|Qt.AlignmentFlag.AlignTrailing|Qt.AlignmentFlag.AlignVCenter) + + self.horizontalLayout_15.addWidget(self.label_88) + + self.lineEdit_origin_z = QLineEdit(self.frame_27) + self.lineEdit_origin_z.setObjectName(u"lineEdit_origin_z") + sizePolicy2.setHeightForWidth(self.lineEdit_origin_z.sizePolicy().hasHeightForWidth()) + self.lineEdit_origin_z.setSizePolicy(sizePolicy2) + self.lineEdit_origin_z.setStyleSheet(u"border:1px solid #FFFfff") + self.lineEdit_origin_z.setReadOnly(True) + + self.horizontalLayout_15.addWidget(self.lineEdit_origin_z) + + self.label_89 = QLabel(self.frame_27) + self.label_89.setObjectName(u"label_89") + sizePolicy2.setHeightForWidth(self.label_89.sizePolicy().hasHeightForWidth()) + self.label_89.setSizePolicy(sizePolicy2) + self.label_89.setAlignment(Qt.AlignmentFlag.AlignRight|Qt.AlignmentFlag.AlignTrailing|Qt.AlignmentFlag.AlignVCenter) + + self.horizontalLayout_15.addWidget(self.label_89) + + self.lineEdit_origin_u = QLineEdit(self.frame_27) + self.lineEdit_origin_u.setObjectName(u"lineEdit_origin_u") + sizePolicy2.setHeightForWidth(self.lineEdit_origin_u.sizePolicy().hasHeightForWidth()) + self.lineEdit_origin_u.setSizePolicy(sizePolicy2) + self.lineEdit_origin_u.setStyleSheet(u"border:1px solid #FFFfff") + self.lineEdit_origin_u.setReadOnly(True) + + self.horizontalLayout_15.addWidget(self.lineEdit_origin_u) + + self.label_92 = QLabel(self.frame_27) + self.label_92.setObjectName(u"label_92") + sizePolicy2.setHeightForWidth(self.label_92.sizePolicy().hasHeightForWidth()) + self.label_92.setSizePolicy(sizePolicy2) + self.label_92.setAlignment(Qt.AlignmentFlag.AlignRight|Qt.AlignmentFlag.AlignTrailing|Qt.AlignmentFlag.AlignVCenter) + + self.horizontalLayout_15.addWidget(self.label_92) + + self.lineEdit_origin_v = QLineEdit(self.frame_27) + self.lineEdit_origin_v.setObjectName(u"lineEdit_origin_v") + sizePolicy2.setHeightForWidth(self.lineEdit_origin_v.sizePolicy().hasHeightForWidth()) + self.lineEdit_origin_v.setSizePolicy(sizePolicy2) + self.lineEdit_origin_v.setStyleSheet(u"border:1px solid #FFFfff") + self.lineEdit_origin_v.setReadOnly(True) + + self.horizontalLayout_15.addWidget(self.lineEdit_origin_v) + + self.label_91 = QLabel(self.frame_27) + self.label_91.setObjectName(u"label_91") + sizePolicy2.setHeightForWidth(self.label_91.sizePolicy().hasHeightForWidth()) + self.label_91.setSizePolicy(sizePolicy2) + self.label_91.setAlignment(Qt.AlignmentFlag.AlignRight|Qt.AlignmentFlag.AlignTrailing|Qt.AlignmentFlag.AlignVCenter) + + self.horizontalLayout_15.addWidget(self.label_91) + + self.lineEdit_origin_w = QLineEdit(self.frame_27) + self.lineEdit_origin_w.setObjectName(u"lineEdit_origin_w") + sizePolicy2.setHeightForWidth(self.lineEdit_origin_w.sizePolicy().hasHeightForWidth()) + self.lineEdit_origin_w.setSizePolicy(sizePolicy2) + self.lineEdit_origin_w.setStyleSheet(u"border:1px solid #FFFfff") + self.lineEdit_origin_w.setReadOnly(True) + + self.horizontalLayout_15.addWidget(self.lineEdit_origin_w) + + self.pushButton_get_origin = QPushButton(self.frame_27) + self.pushButton_get_origin.setObjectName(u"pushButton_get_origin") + sizePolicy2.setHeightForWidth(self.pushButton_get_origin.sizePolicy().hasHeightForWidth()) + self.pushButton_get_origin.setSizePolicy(sizePolicy2) + self.pushButton_get_origin.setStyleSheet(u"\n" +"*{\n" +"color: #ffffff;\n" +"background-color: rgb(16, 133, 255);\n" +"font: 12pt \"\u6977\u4f53\";\n" +"border: 1px solid #dcdfe6;\n" +"border-radius: 6px;\n" +"}\n" +"*:pressed\n" +"{\n" +"background-color: #197971;\n" +"}\n" +"") + + self.horizontalLayout_15.addWidget(self.pushButton_get_origin) + + self.pushButton_set_origin = QPushButton(self.frame_27) + self.pushButton_set_origin.setObjectName(u"pushButton_set_origin") + sizePolicy2.setHeightForWidth(self.pushButton_set_origin.sizePolicy().hasHeightForWidth()) + self.pushButton_set_origin.setSizePolicy(sizePolicy2) + self.pushButton_set_origin.setStyleSheet(u"\n" "*{\n" "color: #ffffff;\n" "background-color: #1AA094;\n" @@ -1527,55 +1675,12 @@ class Ui_MainWindow(object): "}\n" "") - self.horizontalLayout_15.addWidget(self.pushButton_tableFeedSet_save) - - self.pushButton_tableFeedSet_addRow = QPushButton(self.frame_27) - self.pushButton_tableFeedSet_addRow.setObjectName(u"pushButton_tableFeedSet_addRow") - self.pushButton_tableFeedSet_addRow.setStyleSheet(u"\n" -"*{\n" -"color: #ffffff;\n" -"background-color: rgb(16, 133, 255);\n" -"font: 12pt \"\u6977\u4f53\";\n" -"border: 1px solid #dcdfe6;\n" -"border-radius: 6px;\n" -"}\n" -"*:pressed\n" -"{\n" -"background-color: #499c8a;\n" -"}\n" -"") - - self.horizontalLayout_15.addWidget(self.pushButton_tableFeedSet_addRow) - - self.pushButton_tableFeedSet_deleRow = QPushButton(self.frame_27) - self.pushButton_tableFeedSet_deleRow.setObjectName(u"pushButton_tableFeedSet_deleRow") - self.pushButton_tableFeedSet_deleRow.setStyleSheet(u"*{\n" -"color: #ffffff;\n" -"background-color: #FF5722;\n" -"font: 12pt \"\u6977\u4f53\";\n" -"border: 1px solid #dcdfe6;\n" -"border-radius: 6px;\n" -"}\n" -"*:pressed\n" -"{\n" -"background-color: #499c8a;\n" -"}\n" -"") - - self.horizontalLayout_15.addWidget(self.pushButton_tableFeedSet_deleRow) + self.horizontalLayout_15.addWidget(self.pushButton_set_origin) self.verticalLayout_16.addWidget(self.frame_27) - self.tableWidget_feedSeting = QTableWidget(self.frame_6) - self.tableWidget_feedSeting.setObjectName(u"tableWidget_feedSeting") - self.tableWidget_feedSeting.setStyleSheet(u"\n" -"color: rgb(255, 255, 255);") - - self.verticalLayout_16.addWidget(self.tableWidget_feedSeting) - self.verticalLayout_16.setStretch(0, 1) - self.verticalLayout_16.setStretch(1, 7) self.verticalLayout_15.addWidget(self.frame_6) @@ -3664,7 +3769,7 @@ class Ui_MainWindow(object): self.retranslateUi(MainWindow) - self.stackedWidget_view.setCurrentIndex(5) + self.stackedWidget_view.setCurrentIndex(2) self.tabWidget.setCurrentIndex(0) self.stackedWidget_num.setCurrentIndex(0) @@ -3684,6 +3789,7 @@ class Ui_MainWindow(object): self.pushButton_exit.setText(QCoreApplication.translate("MainWindow", u"\u9000\u51fa", None)) self.pushButton_sysseting.setText(QCoreApplication.translate("MainWindow", u"\u7cfb\u7edf\u8bbe\u7f6e", None)) self.pushButton_leftmenu_produce.setText(QCoreApplication.translate("MainWindow", u"\u751f\u4ea7\u754c\u9762", None)) + self.pushButton_leftmenu_produce_3.setText(QCoreApplication.translate("MainWindow", u"\u673a\u68b0\u81c2\u57fa\u7840\u8bbe\u7f6e", None)) self.pushButton_leftmenu_IO.setText(QCoreApplication.translate("MainWindow", u"IO\u9762\u677f", None)) self.pushButton_leftmenu_position.setText(QCoreApplication.translate("MainWindow", u"\u4f4d\u7f6e\u8bbe\u5b9a", None)) self.pushButton_leftmenu_baseSeting.setText(QCoreApplication.translate("MainWindow", u"\u57fa\u7840\u8bbe\u7f6e", None)) @@ -3745,9 +3851,14 @@ class Ui_MainWindow(object): self.label_76.setText(QCoreApplication.translate("MainWindow", u"30", None)) self.label_83.setText(QCoreApplication.translate("MainWindow", u"31", None)) self.label_79.setText(QCoreApplication.translate("MainWindow", u"32", None)) - self.pushButton_tableFeedSet_save.setText(QCoreApplication.translate("MainWindow", u"\u4fdd\u5b58", 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.label_90.setText(QCoreApplication.translate("MainWindow", u"X1:", None)) + self.label_93.setText(QCoreApplication.translate("MainWindow", u"Y1:", None)) + self.label_88.setText(QCoreApplication.translate("MainWindow", u"Z1:", None)) + self.label_89.setText(QCoreApplication.translate("MainWindow", u"U1:", None)) + self.label_92.setText(QCoreApplication.translate("MainWindow", u"V1:", None)) + self.label_91.setText(QCoreApplication.translate("MainWindow", u"W1:", None)) + self.pushButton_get_origin.setText(QCoreApplication.translate("MainWindow", u"\u83b7\u53d6\u539f\u70b9", None)) + self.pushButton_set_origin.setText(QCoreApplication.translate("MainWindow", u"\u4fdd\u5b58\u539f\u70b9", None)) self.pushButton_get_p2.setText(QCoreApplication.translate("MainWindow", u"\u8bb0\u5f55\u70b9\u4f4d2", None)) self.pushButton_set_p1.setText(QCoreApplication.translate("MainWindow", u"\u8bb0\u5f55\u70b9\u4f4d1", None)) self.label_16.setText(QCoreApplication.translate("MainWindow", u"X2:", None))