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update 原点配置添加

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This commit is contained in:
FrankCV2048
2024-12-04 23:59:12 +08:00
parent db283fbe71
commit 5dd082384c
3 changed files with 461 additions and 109 deletions
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34
main.py
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@ -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]))