From 6f22ef051ae6007022f921dc21e0341074ded04b Mon Sep 17 00:00:00 2001 From: FrankCV2048 <1395405735@qq.com> Date: Thu, 5 Dec 2024 20:29:27 +0800 Subject: [PATCH] =?UTF-8?q?update=20=E5=A2=9E=E5=8A=A0=E9=80=9F=E5=BA=A6?= =?UTF-8?q?=E8=AE=BE=E7=BD=AE=EF=BC=8C=E7=82=B9=E4=BD=8D=E6=AF=94=E5=AF=B9?= =?UTF-8?q?=EF=BC=8C=E5=90=AF=E5=8A=A8=E8=AD=A6=E6=8A=A5=E7=AD=89?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- COM/COM_Robot.py | 33 +- CU/Feeding.py | 10 + CU/Feeding_C.py | 948 +++++++++++++++++++++++----------------------- Constant.py | 8 +- MainWin.ui | 211 ++++++----- Seting.ini | 6 + Util/util_math.py | 5 +- main.py | 46 ++- test_ui.py | 17 +- ui_MainWin.py | 151 ++++---- 10 files changed, 795 insertions(+), 640 deletions(-) diff --git a/COM/COM_Robot.py b/COM/COM_Robot.py index 172a5f2..2ceb8b5 100644 --- a/COM/COM_Robot.py +++ b/COM/COM_Robot.py @@ -8,8 +8,11 @@ import Constant from COM.COM_TCP import TCPClient import queue import json -from Model.RobotModel import DataAddress,DATARequest,DATAReply +from Model.RobotModel import DataAddress, DATARequest, DATAReply, CMDInstructRequest, Instruction from Util.util_log import log +from Util.util_math import is_bit_set + + class DetectType(Enum): EyeOnHand = 0 EyeOutHand = 1 @@ -28,6 +31,9 @@ class RobotClient(TCPClient): self.time_delay_shake = time_delay_shake self.type_detection = DetectType.EyeOutHand self.origin_position = origin_position + self.debug_speed = 10 + self.feed_speed = 10 + self.reset_speed = 10 def add_sendQuene(self,command): #后面 命令分等级，紧急命令直接执行 self.command_quene.put(command) @@ -95,6 +101,31 @@ class RobotClient(TCPClient): log.log_message(logging.ERROR,f'{e}') raise + def send_emergency_sound(self): + self.sendIOControl(Constant.IO_EmergencyPoint, 1) + + def send_emergency_stop(self): + self.sendIOControl(Constant.IO_EmergencyPoint, 0) + + def sendIOControl(self, IO_bit, IO_Status: int): + + IO_command = CMDInstructRequest() + io_instruction = Instruction() + io_instruction.IO = True + io_instruction.io_status = IO_Status + io_instruction.point = IO_bit # {"dsID":"HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[{"oneshot":"1","action":"200","type":"0","io_status":"1","point":"15","delay":"0"}]} + IO_command.dsID = 'HCRemoteCommand' + IO_command.instructions.append(io_instruction) + self.add_sendQuene(IO_command.toString()) + log.log_message(logging.INFO, f'{Constant.str_feed_io_control}{IO_bit}，{IO_Status}') + pass + + def check_outputQ(self,IO_bit): + if is_bit_set(self.status_model.output_n, IO_bit): + return True + else: + return False + def get_origin_position(self): return self.status_model.getRealPosition() pass diff --git a/CU/Feeding.py b/CU/Feeding.py index b15252b..52b4481 100644 --- a/CU/Feeding.py +++ b/CU/Feeding.py @@ -164,6 +164,7 @@ class Feeding: self.feed_Mid_Status = FeedMidStatus.FMid_Start self.is_reverse = False self.run_reverse = False + self.take_no_photo = False pass def init_detection_image(self): @@ -321,6 +322,7 @@ class Feeding: elif self.feedStatus == FeedStatus.FTake: log.log_message(logging.INFO, Constant.str_feed_take) if self.feedConfig.feedLine.get_take_position().get_position() != None: + self.take_no_photo = False if self.feedConfig.feedLine.get_take_position().get_position().compare(real_position): # 打开吸嘴并返回 self.sendIOControl(self.robotClient.con_ios[0], 1) @@ -332,6 +334,12 @@ class Feeding: time.sleep(self.robotClient.time_delay_take) log.log_message(logging.INFO, Constant.str_feed_take_success) self.next_position() + else: + log.log_message(logging.ERROR, Constant.str_feed_takePhoto_fail) + self.take_no_photo = True + # 继续获取图像 + # TODO + @@ -406,6 +414,7 @@ class Feeding: reversed_positions = self.feedConfig.feedLine.positions[::pos_index] reversed_positions = list(reversed(reversed_positions)) self.reverse_index = 0 + self.send_emergency_sound() while self.run_reverse and reversed_positions!=len(reversed_positions): pos_model = reversed_positions[self.reverse_index] if pos_model.lineType == LineType.CureMid.value: @@ -415,6 +424,7 @@ class Feeding: else: self.sendTargPosition(real_position=pos_model.get_position()) self.reverse_index = self.reverse_index + 1 + self.send_emergency_stop() return True def send_emergency_sound(self): self.sendIOControl(Constant.IO_EmergencyPoint, 1) diff --git a/CU/Feeding_C.py b/CU/Feeding_C.py index 4b921ad..0ed5114 100644 --- a/CU/Feeding_C.py +++ b/CU/Feeding_C.py @@ -1,474 +1,474 @@ -import logging -import time - -import cv2 -from PyQt5.QtWidgets import QMessageBox - -import Constant -import Expection -from Model.Position import Real_Position, Detection_Position -from enum import Enum, IntEnum -from COM.COM_Robot import RobotClient, DetectType -from Model.RobotModel import CMDInstructRequest, MoveType -from Util.util_time import CRisOrFall -from Vision.camera_coordinate_dete import Detection -from Util.util_log import log -from Model.RobotModel import Instruction - - - - -class FeedStatus(IntEnum): - FNone = 0 - FStart = 1 - FCheck = 2 - FMid = 3 - FPhoto = 4 - FTake = 5 - FBroken1 = 6 - FBroken2 =7 - FShake = 8 - FDropBag = 9 - FFinished = 10 - FReverse = 11 - FStartReverse = 12 - -class LineType(Enum): - Straight = 0 - CureStart = 1 - CureMid = 2 - CureEnd = 3 - - -class FeedMidStatus(Enum): - FMid_Start = 1 - FMid_Take = 2 - FMid_Feed= 3 - -class FeedPosition: - def __init__(self,status:FeedStatus,position:Real_Position): - self.status = status - self.position = position - -class FeedLine: - def __init__(self, id, name, feed_positions:list): - self.feed_positions = feed_positions - self.feeding2end_pos_index = 0 - self.origin2start_pos_index = 0 - self.start2take_pos_index = 0 - self.name = name - self.id = id - self.get_position_list() - - def get_current_feed_position(self): - pos = self.feeding_to_end[self.feeding2end_pos_index] - return pos - def get_current_take_position(self): - pos = self.start2take_pos_index[self.start2take_pos_index] - return pos - def get_current_start_position(self): - pos = self.origin2start_pos_index[self.origin2start_pos_index] - return pos - - def get_next_feed_position(self,reverse:bool=False): - pos = self.feeding_to_end[self.feeding2end_pos_index] - if reverse: - self.feeding2end_pos_index -= 1 - if self.feeding2end_pos_index < 0: - self.feeding2end_pos_index = len(self.feeding_to_end) - 1 - else: - self.feeding2end_pos_index += 1 - if self.feeding2end_pos_index >= len(self.feeding_to_end): - self.feeding2end_pos_index = 0 - return pos - - - def get_next_start_position(self,reverse:bool=False): - pos = self.origin2start_pos_index[self.origin2start_pos_index] - if reverse: - self.origin2start_pos_index -= 1 - if self.origin2start_pos_index < 0: - self.origin2start_pos_index = len(self.origin2start_pos) - 1 - else: - self.origin2start_pos_index += 1 - if self.origin2start_pos_index >= len(self.origin2start_pos): - self.origin2start_pos_index = 0 - - return pos - - def get_next_take_position(self,reverse:bool=False): - pos = self.start2take_pos_index[self.start2take_pos_index] - if reverse: - self.start2take_pos_index -= 1 - if self.start2take_pos_index < 0: - self.start2take_pos_index = len(self.start2take_pos) - 1 - else: - self.start2take_pos_index += 1 - if self.start2take_pos_index >= len(self.start2take_pos): - self.start2take_pos_index = 0 - return pos - - def get_take_position(self): - for i in range(len(self.feeding_to_end)): - if self.feeding_to_end[i].status == FeedStatus.FTake: - return self.feeding_to_end[i] - - def set_take_position(self,position:Real_Position): - for i in range(len(self.feeding_to_end)): - if self.feeding_to_end[i].status == FeedStatus.FTake: - self.feeding_to_end[i].position = position - - def get_position_list(self): - index_start = -1 - for i in range(len(self.feed_positions)): - if self.feed_positions[i].status == FeedStatus.FStart: - index_start = i - break - for i in range(len(self.feed_positions)): - if self.feed_positions[i].status == FeedStatus.FPhoto: - index_take = i - - self.origin_to_start = self.feed_positions[: index_start+1] - self.start_to_take = self.feed_positions[index_start:index_take+1] - self.feeding_to_end = self.feed_positions[index_take:] - - - - -class FeedingConfig: - def __init__(self, num: int, feedLine: FeedLine, photo_locs): - self.num = num - self.feedLine = feedLine - self.photo_locs = [self.deal_photo_locs(p) for p in photo_locs] - - def deal_photo_locs(self, photo_loc): - position_photo = Real_Position() - position_photo.init_position(photo_loc[0], photo_loc[1], photo_loc[2], photo_loc[3], photo_loc[4], photo_loc[5]) - return position_photo - - def get_line_info(self): - pass - - -class Feeding: - def __init__(self, robotClient: RobotClient, detection: Detection): - self.feedConfig = None - self.feedStatus = FeedStatus.FNone - self.robotClient = robotClient - self.detection = detection - self.detection_image = None - self.init_detection_image() - self.pause = False - self.cRis_photo = CRisOrFall() - self.feed_Mid_Status = FeedMidStatus.FMid_Start - self.is_reverse = False - pass - - def init_detection_image(self): - self.detection_image = cv2.imread(Constant.feed_sign_path) - - def run(self): - # 获取事件坐标 - real_position = Real_Position() - real_position.init_position(self.robotClient.status_model.world_0, - self.robotClient.status_model.world_1, - self.robotClient.status_model.world_2, - self.robotClient.status_model.world_3, - self.robotClient.status_model.world_4, - self.robotClient.status_model.world_5) - # real_position.init_position(0, - # 0, - # 0, - # 0, - # 0, - # 0); - - if self.feedConfig == None: - self.feedStatus = FeedStatus.FNone - elif self.feedConfig.num == 0 and self.feedStatus!=FeedStatus.FReverse: - self.feedStatus = FeedStatus.FNone - - if self.feedStatus == FeedStatus.FNone or self.pause: - return - elif self.feedStatus == FeedStatus.FCheck: - log.log_message(logging.INFO, Constant.str_feed_check) - # 1, 检查是否是三列 - # 2, 检查是否有人 - # if self.safe_check_columns() and self.safe_check_person(): - # pass - # else: - # if self.feedConfig.num != 0: - # self.next_target() - # if == 原点 继续判断 - # else: - # QMessageBox.information(None, "提示", Constant.str_feed_safe_error_msgbox) - if self.is_reverse: - self.feed_Mid_Status = FeedMidStatus.FMid_Start - else: - self.feed_Mid_Status = FeedMidStatus.FMid_Take - self.next_position(self.is_reverse) - - elif self.feedStatus == FeedStatus.FStart: - log.log_message(logging.INFO, Constant.str_feed_start) - if not self.robotClient.get_origin_position().compare(real_position) and not self.is_reverse: - QMessageBox.information(None, "提示", Constant.str_feed_start_error) - self.feedStatus = FeedStatus.FNone - if self.is_reverse and self.robotClient.get_origin_position().compare(real_position): - self.feedStatus = FeedStatus.FNone - self.is_reverse = False - - self.feed_Mid_Status = FeedMidStatus.FMid_Start - self.next_position(self.is_reverse) - - - elif self.feedStatus == FeedStatus.FMid: - log.log_message(logging.INFO, Constant.str_feed_mid) - feed_pos = self.get_current_position() - if feed_pos.position.compare(real_position): - self.next_position(self.is_reverse) - - - - elif self.feedStatus == FeedStatus.FPhoto: - log.log_message(logging.INFO, Constant.str_feed_photo) - if self.feedConfig.num == 0: - log.log_message(logging.INFO, Constant.str_feed_finish) - self.is_reverse = True - self.FeedMid_Status = FeedMidStatus.FMid_Take - self.next_position(self.is_reverse) - return - - if self.robotClient.type_detection == DetectType.EyeOutHand: - self.feed_Mid_Status = FeedMidStatus.FMid_Feed - self.next_position() - return - detect_pos_list = [] - if not Constant.Debug: - try: - from Util.util_time import CRisOrFall - if self.cRis_photo.Q(self.error_photo_count >= 5, True): - QMessageBox.information(None, "提示", Constant.str_feed_photo_error_msgbox) - self.error_photo_count = 0 - log.log_message(logging.INFO, Constant.str_feed_photo_confirm) - - # TODO 返回初始状态 - for pos in self.feedConfig.photo_locs: - self.sendTargPosition(pos) - while not pos.compare(real_position): # 可以优化 TODO - if self.feedStatus == FeedStatus.FNone or not self.pause: - return - time.sleep(0.1) - code, img, xyz, uvw, mng = self.detection.get_position() # 检测结果 - self.detection_image = img - if xyz != None: - log.log_message(logging.INFO, Constant.str_feed_takePhoto_success) - # dp = Detection_Position().init_position(*xyz, *uvw) - from Trace.handeye_calibration import R_matrix, getPosition - rotation = R_matrix(self.robotClient.status_model.world_0, - self.robotClient.status_model.world_1, - self.robotClient.status_model.world_2, - self.robotClient.status_model.world_3, - self.robotClient.status_model.world_4, - self.robotClient.status_model.world_5) - - # 黄老师给我的xyz和法向量 - target_position, noraml_base = getPosition(*xyz, *uvw, rotation, *mng) - detect_pos_list.append(Real_Position().init_position(*target_position[:3], *noraml_base)) - log.log_message(logging.INFO, Constant.str_feed_takePhoto_success) - else: - log.log_message(logging.ERROR, Constant.str_feed_takePhoto_fail + real_position.to_string()) - z_diff, max_z_index = (lambda pts: ( - max(pts, key=lambda p: p.Z).Z - min(pts, key=lambda p: p.Z).Z, - pts.index(max(pts, key=lambda p: p.Z)) - ))(detect_pos_list) - if len(self.feedConfig.photo_locs) == 5: - if z_diff < Constant.bag_height and len( - detect_pos_list) == 3: # 第一次检测到没有高度差距开始三列拍照 TODO 保留全部的开关 - # 拍照位置从五个变为三个 - self.feedConfig.photo_locs = [detect_pos_list[0], detect_pos_list[2], detect_pos_list[4]] - take_position = detect_pos_list[0] - log.log_message(logging.INFO, Constant.str_feed_takePhoto_front_finish) - else: - take_position = detect_pos_list[max_z_index] - log.log_message(logging.INFO, Constant.str_feed_takePhoto_front) - else: - if z_diff < Constant.bag_height: - take_position = detect_pos_list[0] - log.log_message(logging.INFO, Constant.str_feed_takePhoto_new_line) - else: - take_position = detect_pos_list[max_z_index] - log.log_message(logging.INFO, Constant.str_feed_takePhoto_line) - - self.feedConfig.feedLine.set_take_position(take_position) ##TODO 检查有没有异常 - self.next_position() - except: - log.log_message(logging.ERROR, Constant.str_feed_takePhoto_fail) - self.error_photo_count += 1 - else: - self.feedConfig.feedLine.set_take_position(real_position) ##TODO 检查有没有异常 - self.next_position() - log.log_message(logging.INFO, Constant.str_feed_takePhoto_move) - - elif self.feedStatus == FeedStatus.FTake: - log.log_message(logging.INFO, Constant.str_feed_take) - if self.feedConfig.feedLine.get_take_position() != None: - if self.feedConfig.feedLine.get_take_position().compare(real_position): - # 打开吸嘴并返回 - self.sendIOControl(self.robotClient.con_ios[0], 1) - self.sendIOControl(self.robotClient.con_ios[1], 1) - self.sendIOControl(self.robotClient.con_ios[2], 1) - - # TODO 检测是否通 不然报警 - self.feedConfig.feedLine.set_take_position(None) - time.sleep(self.robotClient.time_delay_take) - log.log_message(logging.INFO, Constant.str_feed_take_success) - - - - elif self.feedStatus == FeedStatus.FBroken1: - log.log_message(logging.INFO, Constant.str_feed_broken) - if self.get_current_position().compare(real_position): - self.next_position() - - - elif self.feedStatus == FeedStatus.FBroken2: - log.log_message(logging.INFO, Constant.str_feed_broken) - if self.get_current_position().compare(real_position): - self.next_position() - - elif self.feedStatus == FeedStatus.FShake: - log.log_message(logging.INFO, Constant.str_feed_shake) - if self.get_current_position().compare(real_position): - # TODO 震动方案 - time.sleep(self.robotClient.time_delay_shake) - self.next_position() - - elif self.feedStatus == FeedStatus.FDropBag: - log.log_message(logging.INFO, Constant.str_feed_drop) - - if self.get_current_position().compare(real_position): - self.sendIOControl(self.robotClient.con_ios[0], 0) - self.sendIOControl(self.robotClient.con_ios[1], 0) - self.sendIOControl(self.robotClient.con_ios[2], 0) - # TODO 检测是否断 不然报警 - time.sleep(self.robotClient.time_delay_put) - # TODO 获取目标位置 - self.detection.get_position(Point_isVision=False, Box_isPoint=True, First_Depth=True, Iter_Max_Pixel=30, save_img_point=0, Height_reduce=30, width_reduce=30) - - self.feedConfig.num = self.feedConfig.num - 1 - log.log_message(logging.INFO, f'{Constant.str_feed_feed_num}{self.feedConfig.num}') - self.next_position() - - - - - def send_emergency_sound(self): - self.sendIOControl(Constant.IO_EmergencyPoint, 1) - - def send_emergency_stop(self): - self.sendIOControl(Constant.IO_EmergencyPoint, 0) - - def sendIOControl(self, IO_bit, IO_Status: int): - - IO_command = CMDInstructRequest() - io_instruction = Instruction() - io_instruction.IO = True - io_instruction.io_status = IO_Status - io_instruction.point = IO_bit # {"dsID":"HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[{"oneshot":"1","action":"200","type":"0","io_status":"1","point":"15","delay":"0"}]} - IO_command.dsID = 'HCRemoteCommand' - IO_command.instructions.append(io_instruction) - self.robotClient.add_sendQuene(IO_command.toString()) - log.log_message(logging.INFO, f'{Constant.str_feed_io_control}{IO_bit}，{IO_Status}') - pass - - def sendTargPosition(self, real_position, move_type: MoveType = MoveType.WORLD, speed=Constant.speed,real_position1=None): - position_instruction = Instruction() - position_instruction.speed = speed - position_instruction.m0 = real_position.X - position_instruction.m1 = real_position.Y - position_instruction.m2 = real_position.Z - position_instruction.m3 = real_position.U - position_instruction.m4 = real_position.V - position_instruction.m5 = real_position.W - - position_instruction.action = move_type.value - if position_instruction.action == 17: - position_instruction.m0_p = real_position1.X - position_instruction.m1_p = real_position1.Y - position_instruction.m2_p = real_position1.Z - position_instruction.m3_p = real_position1.U - position_instruction.m4_p = real_position1.V - position_instruction.m5_p = real_position1.W - instruction_command = CMDInstructRequest() - instruction_command.instructions.append(position_instruction) - request_command = instruction_command.toString() - - log_str = f'移动到位置:{"姿势直线"}：' \ - f'X:{position_instruction.m0}-' \ - f'Y:{position_instruction.m1}-' \ - f'Z:{position_instruction.m2}-' \ - f'U:{position_instruction.m3}-' \ - f'V:{position_instruction.m4}-' \ - f'W:{position_instruction.m5}' - - try: - log.log_message(logging.INFO, log_str) - except: - print("error") - - self.robotClient.add_sendQuene(request_command) - pass - - - def next_start(self,reverse=False): - start_pos = self.feedConfig.feedLine.get_next_start_position(reverse) - self.feedStatus = start_pos.status if self.feedStatus != FeedStatus.FNone else FeedStatus.FNone - if start_pos.lineType == LineType.CureMid: - start_pos1 = self.feedConfig.feedLine.get_next_start_position(reverse) - self.sendTargPosition(real_position=start_pos.position, move_type=MoveType.Cure, real_position1=start_pos1.position) - else: - self.sendTargPosition(start_pos.position) - pass - - def next_take(self,reverse=False): - take_pos = self.feedConfig.feedLine.get_next_take_position(reverse) - self.feedStatus = take_pos.status if self.feedStatus != FeedStatus.FNone else FeedStatus.FNone - if take_pos.lineType == LineType.CureMid: - take_pos1 = self.feedConfig.feedLine.get_next_take_position(reverse) - self.sendTargPosition(real_position=take_pos.position, move_type=MoveType.Cure, real_position1=take_pos1.position) - else: - self.sendTargPosition(take_pos.position) - pass - - def next_Feed(self,reverse=False): - feed_pos = self.feedConfig.feedLine.get_next_feed_position(reverse) - self.feedStatus = feed_pos.status if self.feedStatus != FeedStatus.FNone else FeedStatus.FNone - if feed_pos.lineType == LineType.CureMid: - feed_pos1 = self.feedConfig.feedLine.get_next_feed_position(reverse) - self.sendTargPosition(real_position=feed_pos.position, move_type=MoveType.Cure, real_position1=feed_pos1.position) - else: - self.sendTargPosition(feed_pos.position) - - def get_current_position(self): - if self.feed_Mid_Status == FeedMidStatus.FMid_Start: - return self.feedConfig.feedLine.get_current_start_position() - elif self.feed_Mid_Status == FeedMidStatus.FMid_Take: - return self.feedConfig.feedLine.get_current_take_position() - elif self.feed_Mid_Status == FeedMidStatus.FMid_Feed: - return self.feedConfig.feedLine.get_current_feed_position() - def next_position(self,reverse=False): - if self.feed_Mid_Status == FeedMidStatus.FMid_Start: - self.next_start(reverse) - elif self.feed_Mid_Status == FeedMidStatus.FMid_Take: - self.next_take(reverse) - elif self.feed_Mid_Status == FeedMidStatus.FMid_Feed: - self.next_Feed(reverse) - - def safe_check_columns(self): - return True - pass - - def safe_check_person(self): - return True - pass - +# import logging +# import time +# +# import cv2 +# from PyQt5.QtWidgets import QMessageBox +# +# import Constant +# import Expection +# from Model.Position import Real_Position, Detection_Position +# from enum import Enum, IntEnum +# from COM.COM_Robot import RobotClient, DetectType +# from Model.RobotModel import CMDInstructRequest, MoveType +# from Util.util_time import CRisOrFall +# from Vision.camera_coordinate_dete import Detection +# from Util.util_log import log +# from Model.RobotModel import Instruction +# +# +# +# +# class FeedStatus(IntEnum): +# FNone = 0 +# FStart = 1 +# FCheck = 2 +# FMid = 3 +# FPhoto = 4 +# FTake = 5 +# FBroken1 = 6 +# FBroken2 =7 +# FShake = 8 +# FDropBag = 9 +# FFinished = 10 +# FReverse = 11 +# FStartReverse = 12 +# +# class LineType(Enum): +# Straight = 0 +# CureStart = 1 +# CureMid = 2 +# CureEnd = 3 +# +# +# class FeedMidStatus(Enum): +# FMid_Start = 1 +# FMid_Take = 2 +# FMid_Feed= 3 +# +# class FeedPosition: +# def __init__(self,status:FeedStatus,position:Real_Position): +# self.status = status +# self.position = position +# +# class FeedLine: +# def __init__(self, id, name, feed_positions:list): +# self.feed_positions = feed_positions +# self.feeding2end_pos_index = 0 +# self.origin2start_pos_index = 0 +# self.start2take_pos_index = 0 +# self.name = name +# self.id = id +# self.get_position_list() +# +# def get_current_feed_position(self): +# pos = self.feeding_to_end[self.feeding2end_pos_index] +# return pos +# def get_current_take_position(self): +# pos = self.start2take_pos_index[self.start2take_pos_index] +# return pos +# def get_current_start_position(self): +# pos = self.origin2start_pos_index[self.origin2start_pos_index] +# return pos +# +# def get_next_feed_position(self,reverse:bool=False): +# pos = self.feeding_to_end[self.feeding2end_pos_index] +# if reverse: +# self.feeding2end_pos_index -= 1 +# if self.feeding2end_pos_index < 0: +# self.feeding2end_pos_index = len(self.feeding_to_end) - 1 +# else: +# self.feeding2end_pos_index += 1 +# if self.feeding2end_pos_index >= len(self.feeding_to_end): +# self.feeding2end_pos_index = 0 +# return pos +# +# +# def get_next_start_position(self,reverse:bool=False): +# pos = self.origin2start_pos_index[self.origin2start_pos_index] +# if reverse: +# self.origin2start_pos_index -= 1 +# if self.origin2start_pos_index < 0: +# self.origin2start_pos_index = len(self.origin2start_pos) - 1 +# else: +# self.origin2start_pos_index += 1 +# if self.origin2start_pos_index >= len(self.origin2start_pos): +# self.origin2start_pos_index = 0 +# +# return pos +# +# def get_next_take_position(self,reverse:bool=False): +# pos = self.start2take_pos_index[self.start2take_pos_index] +# if reverse: +# self.start2take_pos_index -= 1 +# if self.start2take_pos_index < 0: +# self.start2take_pos_index = len(self.start2take_pos) - 1 +# else: +# self.start2take_pos_index += 1 +# if self.start2take_pos_index >= len(self.start2take_pos): +# self.start2take_pos_index = 0 +# return pos +# +# def get_take_position(self): +# for i in range(len(self.feeding_to_end)): +# if self.feeding_to_end[i].status == FeedStatus.FTake: +# return self.feeding_to_end[i] +# +# def set_take_position(self,position:Real_Position): +# for i in range(len(self.feeding_to_end)): +# if self.feeding_to_end[i].status == FeedStatus.FTake: +# self.feeding_to_end[i].position = position +# +# def get_position_list(self): +# index_start = -1 +# for i in range(len(self.feed_positions)): +# if self.feed_positions[i].status == FeedStatus.FStart: +# index_start = i +# break +# for i in range(len(self.feed_positions)): +# if self.feed_positions[i].status == FeedStatus.FPhoto: +# index_take = i +# +# self.origin_to_start = self.feed_positions[: index_start+1] +# self.start_to_take = self.feed_positions[index_start:index_take+1] +# self.feeding_to_end = self.feed_positions[index_take:] +# +# +# +# +# class FeedingConfig: +# def __init__(self, num: int, feedLine: FeedLine, photo_locs): +# self.num = num +# self.feedLine = feedLine +# self.photo_locs = [self.deal_photo_locs(p) for p in photo_locs] +# +# def deal_photo_locs(self, photo_loc): +# position_photo = Real_Position() +# position_photo.init_position(photo_loc[0], photo_loc[1], photo_loc[2], photo_loc[3], photo_loc[4], photo_loc[5]) +# return position_photo +# +# def get_line_info(self): +# pass +# +# +# class Feeding: +# def __init__(self, robotClient: RobotClient, detection: Detection): +# self.feedConfig = None +# self.feedStatus = FeedStatus.FNone +# self.robotClient = robotClient +# self.detection = detection +# self.detection_image = None +# self.init_detection_image() +# self.pause = False +# self.cRis_photo = CRisOrFall() +# self.feed_Mid_Status = FeedMidStatus.FMid_Start +# self.is_reverse = False +# pass +# +# def init_detection_image(self): +# self.detection_image = cv2.imread(Constant.feed_sign_path) +# +# def run(self): +# # 获取事件坐标 +# real_position = Real_Position() +# real_position.init_position(self.robotClient.status_model.world_0, +# self.robotClient.status_model.world_1, +# self.robotClient.status_model.world_2, +# self.robotClient.status_model.world_3, +# self.robotClient.status_model.world_4, +# self.robotClient.status_model.world_5) +# # real_position.init_position(0, +# # 0, +# # 0, +# # 0, +# # 0, +# # 0); +# +# if self.feedConfig == None: +# self.feedStatus = FeedStatus.FNone +# elif self.feedConfig.num == 0 and self.feedStatus!=FeedStatus.FReverse: +# self.feedStatus = FeedStatus.FNone +# +# if self.feedStatus == FeedStatus.FNone or self.pause: +# return +# elif self.feedStatus == FeedStatus.FCheck: +# log.log_message(logging.INFO, Constant.str_feed_check) +# # 1, 检查是否是三列 +# # 2, 检查是否有人 +# # if self.safe_check_columns() and self.safe_check_person(): +# # pass +# # else: +# # if self.feedConfig.num != 0: +# # self.next_target() +# # if == 原点 继续判断 +# # else: +# # QMessageBox.information(None, "提示", Constant.str_feed_safe_error_msgbox) +# if self.is_reverse: +# self.feed_Mid_Status = FeedMidStatus.FMid_Start +# else: +# self.feed_Mid_Status = FeedMidStatus.FMid_Take +# self.next_position(self.is_reverse) +# +# elif self.feedStatus == FeedStatus.FStart: +# log.log_message(logging.INFO, Constant.str_feed_start) +# if not self.robotClient.get_origin_position().compare(real_position) and not self.is_reverse: +# QMessageBox.information(None, "提示", Constant.str_feed_start_error) +# self.feedStatus = FeedStatus.FNone +# if self.is_reverse and self.robotClient.get_origin_position().compare(real_position): +# self.feedStatus = FeedStatus.FNone +# self.is_reverse = False +# +# self.feed_Mid_Status = FeedMidStatus.FMid_Start +# self.next_position(self.is_reverse) +# +# +# elif self.feedStatus == FeedStatus.FMid: +# log.log_message(logging.INFO, Constant.str_feed_mid) +# feed_pos = self.get_current_position() +# if feed_pos.position.compare(real_position): +# self.next_position(self.is_reverse) +# +# +# +# elif self.feedStatus == FeedStatus.FPhoto: +# log.log_message(logging.INFO, Constant.str_feed_photo) +# if self.feedConfig.num == 0: +# log.log_message(logging.INFO, Constant.str_feed_finish) +# self.is_reverse = True +# self.FeedMid_Status = FeedMidStatus.FMid_Take +# self.next_position(self.is_reverse) +# return +# +# if self.robotClient.type_detection == DetectType.EyeOutHand: +# self.feed_Mid_Status = FeedMidStatus.FMid_Feed +# self.next_position() +# return +# detect_pos_list = [] +# if not Constant.Debug: +# try: +# from Util.util_time import CRisOrFall +# if self.cRis_photo.Q(self.error_photo_count >= 5, True): +# QMessageBox.information(None, "提示", Constant.str_feed_photo_error_msgbox) +# self.error_photo_count = 0 +# log.log_message(logging.INFO, Constant.str_feed_photo_confirm) +# +# # TODO 返回初始状态 +# for pos in self.feedConfig.photo_locs: +# self.sendTargPosition(pos) +# while not pos.compare(real_position): # 可以优化 TODO +# if self.feedStatus == FeedStatus.FNone or not self.pause: +# return +# time.sleep(0.1) +# code, img, xyz, uvw, mng = self.detection.get_position() # 检测结果 +# self.detection_image = img +# if xyz != None: +# log.log_message(logging.INFO, Constant.str_feed_takePhoto_success) +# # dp = Detection_Position().init_position(*xyz, *uvw) +# from Trace.handeye_calibration import R_matrix, getPosition +# rotation = R_matrix(self.robotClient.status_model.world_0, +# self.robotClient.status_model.world_1, +# self.robotClient.status_model.world_2, +# self.robotClient.status_model.world_3, +# self.robotClient.status_model.world_4, +# self.robotClient.status_model.world_5) +# +# # 黄老师给我的xyz和法向量 +# target_position, noraml_base = getPosition(*xyz, *uvw, rotation, *mng) +# detect_pos_list.append(Real_Position().init_position(*target_position[:3], *noraml_base)) +# log.log_message(logging.INFO, Constant.str_feed_takePhoto_success) +# else: +# log.log_message(logging.ERROR, Constant.str_feed_takePhoto_fail + real_position.to_string()) +# z_diff, max_z_index = (lambda pts: ( +# max(pts, key=lambda p: p.Z).Z - min(pts, key=lambda p: p.Z).Z, +# pts.index(max(pts, key=lambda p: p.Z)) +# ))(detect_pos_list) +# if len(self.feedConfig.photo_locs) == 5: +# if z_diff < Constant.bag_height and len( +# detect_pos_list) == 3: # 第一次检测到没有高度差距开始三列拍照 TODO 保留全部的开关 +# # 拍照位置从五个变为三个 +# self.feedConfig.photo_locs = [detect_pos_list[0], detect_pos_list[2], detect_pos_list[4]] +# take_position = detect_pos_list[0] +# log.log_message(logging.INFO, Constant.str_feed_takePhoto_front_finish) +# else: +# take_position = detect_pos_list[max_z_index] +# log.log_message(logging.INFO, Constant.str_feed_takePhoto_front) +# else: +# if z_diff < Constant.bag_height: +# take_position = detect_pos_list[0] +# log.log_message(logging.INFO, Constant.str_feed_takePhoto_new_line) +# else: +# take_position = detect_pos_list[max_z_index] +# log.log_message(logging.INFO, Constant.str_feed_takePhoto_line) +# +# self.feedConfig.feedLine.set_take_position(take_position) ##TODO 检查有没有异常 +# self.next_position() +# except: +# log.log_message(logging.ERROR, Constant.str_feed_takePhoto_fail) +# self.error_photo_count += 1 +# else: +# self.feedConfig.feedLine.set_take_position(real_position) ##TODO 检查有没有异常 +# self.next_position() +# log.log_message(logging.INFO, Constant.str_feed_takePhoto_move) +# +# elif self.feedStatus == FeedStatus.FTake: +# log.log_message(logging.INFO, Constant.str_feed_take) +# if self.feedConfig.feedLine.get_take_position() != None: +# if self.feedConfig.feedLine.get_take_position().compare(real_position): +# # 打开吸嘴并返回 +# self.sendIOControl(self.robotClient.con_ios[0], 1) +# self.sendIOControl(self.robotClient.con_ios[1], 1) +# self.sendIOControl(self.robotClient.con_ios[2], 1) +# +# # TODO 检测是否通 不然报警 +# self.feedConfig.feedLine.set_take_position(None) +# time.sleep(self.robotClient.time_delay_take) +# log.log_message(logging.INFO, Constant.str_feed_take_success) +# +# +# +# elif self.feedStatus == FeedStatus.FBroken1: +# log.log_message(logging.INFO, Constant.str_feed_broken) +# if self.get_current_position().compare(real_position): +# self.next_position() +# +# +# elif self.feedStatus == FeedStatus.FBroken2: +# log.log_message(logging.INFO, Constant.str_feed_broken) +# if self.get_current_position().compare(real_position): +# self.next_position() +# +# elif self.feedStatus == FeedStatus.FShake: +# log.log_message(logging.INFO, Constant.str_feed_shake) +# if self.get_current_position().compare(real_position): +# # TODO 震动方案 +# time.sleep(self.robotClient.time_delay_shake) +# self.next_position() +# +# elif self.feedStatus == FeedStatus.FDropBag: +# log.log_message(logging.INFO, Constant.str_feed_drop) +# +# if self.get_current_position().compare(real_position): +# self.sendIOControl(self.robotClient.con_ios[0], 0) +# self.sendIOControl(self.robotClient.con_ios[1], 0) +# self.sendIOControl(self.robotClient.con_ios[2], 0) +# # TODO 检测是否断 不然报警 +# time.sleep(self.robotClient.time_delay_put) +# # TODO 获取目标位置 +# self.detection.get_position(Point_isVision=False, Box_isPoint=True, First_Depth=True, Iter_Max_Pixel=30, save_img_point=0, Height_reduce=30, width_reduce=30) +# +# self.feedConfig.num = self.feedConfig.num - 1 +# log.log_message(logging.INFO, f'{Constant.str_feed_feed_num}{self.feedConfig.num}') +# self.next_position() +# +# +# +# +# def send_emergency_sound(self): +# self.sendIOControl(Constant.IO_EmergencyPoint, 1) +# +# def send_emergency_stop(self): +# self.sendIOControl(Constant.IO_EmergencyPoint, 0) +# +# def sendIOControl(self, IO_bit, IO_Status: int): +# +# IO_command = CMDInstructRequest() +# io_instruction = Instruction() +# io_instruction.IO = True +# io_instruction.io_status = IO_Status +# io_instruction.point = IO_bit # {"dsID":"HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[{"oneshot":"1","action":"200","type":"0","io_status":"1","point":"15","delay":"0"}]} +# IO_command.dsID = 'HCRemoteCommand' +# IO_command.instructions.append(io_instruction) +# self.robotClient.add_sendQuene(IO_command.toString()) +# log.log_message(logging.INFO, f'{Constant.str_feed_io_control}{IO_bit}，{IO_Status}') +# pass +# +# def sendTargPosition(self, real_position, move_type: MoveType = MoveType.WORLD, speed=Constant.speed,real_position1=None): +# position_instruction = Instruction() +# position_instruction.speed = speed +# position_instruction.m0 = real_position.X +# position_instruction.m1 = real_position.Y +# position_instruction.m2 = real_position.Z +# position_instruction.m3 = real_position.U +# position_instruction.m4 = real_position.V +# position_instruction.m5 = real_position.W +# +# position_instruction.action = move_type.value +# if position_instruction.action == 17: +# position_instruction.m0_p = real_position1.X +# position_instruction.m1_p = real_position1.Y +# position_instruction.m2_p = real_position1.Z +# position_instruction.m3_p = real_position1.U +# position_instruction.m4_p = real_position1.V +# position_instruction.m5_p = real_position1.W +# instruction_command = CMDInstructRequest() +# instruction_command.instructions.append(position_instruction) +# request_command = instruction_command.toString() +# +# log_str = f'移动到位置:{"姿势直线"}：' \ +# f'X:{position_instruction.m0}-' \ +# f'Y:{position_instruction.m1}-' \ +# f'Z:{position_instruction.m2}-' \ +# f'U:{position_instruction.m3}-' \ +# f'V:{position_instruction.m4}-' \ +# f'W:{position_instruction.m5}' +# +# try: +# log.log_message(logging.INFO, log_str) +# except: +# print("error") +# +# self.robotClient.add_sendQuene(request_command) +# pass +# +# +# def next_start(self,reverse=False): +# start_pos = self.feedConfig.feedLine.get_next_start_position(reverse) +# self.feedStatus = start_pos.status if self.feedStatus != FeedStatus.FNone else FeedStatus.FNone +# if start_pos.lineType == LineType.CureMid: +# start_pos1 = self.feedConfig.feedLine.get_next_start_position(reverse) +# self.sendTargPosition(real_position=start_pos.position, move_type=MoveType.Cure, real_position1=start_pos1.position) +# else: +# self.sendTargPosition(start_pos.position) +# pass +# +# def next_take(self,reverse=False): +# take_pos = self.feedConfig.feedLine.get_next_take_position(reverse) +# self.feedStatus = take_pos.status if self.feedStatus != FeedStatus.FNone else FeedStatus.FNone +# if take_pos.lineType == LineType.CureMid: +# take_pos1 = self.feedConfig.feedLine.get_next_take_position(reverse) +# self.sendTargPosition(real_position=take_pos.position, move_type=MoveType.Cure, real_position1=take_pos1.position) +# else: +# self.sendTargPosition(take_pos.position) +# pass +# +# def next_Feed(self,reverse=False): +# feed_pos = self.feedConfig.feedLine.get_next_feed_position(reverse) +# self.feedStatus = feed_pos.status if self.feedStatus != FeedStatus.FNone else FeedStatus.FNone +# if feed_pos.lineType == LineType.CureMid: +# feed_pos1 = self.feedConfig.feedLine.get_next_feed_position(reverse) +# self.sendTargPosition(real_position=feed_pos.position, move_type=MoveType.Cure, real_position1=feed_pos1.position) +# else: +# self.sendTargPosition(feed_pos.position) +# +# def get_current_position(self): +# if self.feed_Mid_Status == FeedMidStatus.FMid_Start: +# return self.feedConfig.feedLine.get_current_start_position() +# elif self.feed_Mid_Status == FeedMidStatus.FMid_Take: +# return self.feedConfig.feedLine.get_current_take_position() +# elif self.feed_Mid_Status == FeedMidStatus.FMid_Feed: +# return self.feedConfig.feedLine.get_current_feed_position() +# def next_position(self,reverse=False): +# if self.feed_Mid_Status == FeedMidStatus.FMid_Start: +# self.next_start(reverse) +# elif self.feed_Mid_Status == FeedMidStatus.FMid_Take: +# self.next_take(reverse) +# elif self.feed_Mid_Status == FeedMidStatus.FMid_Feed: +# self.next_Feed(reverse) +# +# def safe_check_columns(self): +# return True +# pass +# +# def safe_check_person(self): +# return True +# pass +# diff --git a/Constant.py b/Constant.py index f864ca2..25d4527 100644 --- a/Constant.py +++ b/Constant.py @@ -5,10 +5,10 @@ IO_EmergencyPoint = 3 bag_height = 10 # 一袋的高度 position_accuracy = 0.05 manual_adjust_accuracy = 1 -speed = 10 -shake_speed = 20 -debug_speed=10 -return_speed = 10 +# speed = 10 +# shake_speed = 20 +# debug_speed=10 +# return_speed = 10 feedLine_set_section = 'FeedLine' position_set_section = 'Position' feedLine_set_file = f'.{os.sep}Config{os.sep}feedLine.ini' diff --git a/MainWin.ui b/MainWin.ui index 2df570b..4a1b2cd 100644 --- a/MainWin.ui +++ b/MainWin.ui @@ -939,7 +939,7 @@ background-color: rgb(13, 17, 40); - 0 + 3 @@ -4051,12 +4051,24 @@ background-color: #197971; QFrame::Shadow::Raised - + + + 0 + + + 0 + + + 0 + - 300 + 60 + + + 0 - 30 + 80 @@ -4070,7 +4082,7 @@ background-color: #197971; color: rgb(255, 255, 255); - 全局速度： + 生产速度： @@ -4103,7 +4115,7 @@ background-color: #197971; - + @@ -4117,6 +4129,35 @@ background-color: #197971; + + + + 0 + 0 + + + + color: rgb(255, 255, 255); + + + 复位速度： + + + + + + + + 0 + 0 + + + + color: rgb(255, 255, 255); + + + + @@ -4132,7 +4173,7 @@ background-color: #197971; - + @@ -4145,6 +4186,77 @@ background-color: #197971; + + + + + 0 + 0 + + + + color: rgb(255, 255, 255); + + + 电磁阀3: + + + + + + + + 0 + 0 + + + + color: rgb(255, 255, 255); + + + + + + + + 0 + 0 + + + + color: rgb(255, 255, 255); + + + 放取延时： + + + + + + + + 0 + 0 + + + + color: rgb(255, 255, 255); + + + + + + + + 0 + 0 + + + + color: rgb(255, 255, 255); + + + @@ -4161,8 +4273,8 @@ background-color: #197971; - - + + 0 @@ -4174,36 +4286,7 @@ background-color: #197971; - - - - - 0 - 0 - - - - color: rgb(255, 255, 255); - - - 电磁阀3: - - - - - - - - 0 - 0 - - - - color: rgb(255, 255, 255); - - - - + @@ -4219,8 +4302,8 @@ background-color: #197971; - - + + 0 @@ -4232,36 +4315,7 @@ background-color: #197971; - - - - - 0 - 0 - - - - color: rgb(255, 255, 255); - - - 放取延时： - - - - - - - - 0 - 0 - - - - color: rgb(255, 255, 255); - - - - + @@ -4277,20 +4331,7 @@ background-color: #197971; - - - - - 0 - 0 - - - - color: rgb(255, 255, 255); - - - - + diff --git a/Seting.ini b/Seting.ini index 6e04393..d386416 100644 --- a/Seting.ini +++ b/Seting.ini @@ -55,6 +55,12 @@ takedelay = 0.2 putdelay = 0.1 shakedelay = 1.0 +[Speed] +debug_speed=10 +feed_speed=10 +reset_speed=10 + + [Origin] X = 0.0 Y = 0.0 diff --git a/Util/util_math.py b/Util/util_math.py index c0974f2..5ce6984 100644 --- a/Util/util_math.py +++ b/Util/util_math.py @@ -8,4 +8,7 @@ def get_distance(p1, p2): :param p2: :return: """ - return math.sqrt((p1.X - p2.X) ** 2 + (p1.Y - p2.Y) ** 2+ (p1.Z - p2.Z)**2) \ No newline at end of file + return math.sqrt((p1.X - p2.X) ** 2 + (p1.Y - p2.Y) ** 2+ (p1.Z - p2.Z)**2) + +def is_bit_set(n, position): + return (n >> position) & 1 == 1 \ No newline at end of file diff --git a/main.py b/main.py index d3ebf15..52ddb8e 100644 --- a/main.py +++ b/main.py @@ -549,6 +549,7 @@ class MainWindow(QMainWindow, Ui_MainWindow): self.command_quene = Queue() self.main_threading = None self.detection_person = None #DetectionPerson() + self.cton_take_no_photo = CRisOrFall() self.configReader.read(Constant.set_ini) ip = self.configReader.get('Robot_Feed', 'IPAddress') @@ -579,7 +580,9 @@ class MainWindow(QMainWindow, Ui_MainWindow): float(self.configReader.get('Origin', 'U')), float(self.configReader.get('Origin', 'V')), float(self.configReader.get('Origin', 'W'))) - + debug_speed = int(self.configReader.get('Speed', 'debug_speed')) + feed_speed = int(self.configReader.get('Speed', 'feed_speed')) + reset_speed = int(self.configReader.get('Speed', 'reset_speed')) solenoid_valve1_addr = int(self.configReader.get('Robot_Feed', 'solenoid_valve1_addr')) solenoid_valve2_addr = int(self.configReader.get('Robot_Feed', 'solenoid_valve2_addr')) solenoid_valve3_addr = int(self.configReader.get('Robot_Feed', 'solenoid_valve3_addr')) @@ -589,6 +592,9 @@ class MainWindow(QMainWindow, Ui_MainWindow): #TODO #dropDelay_time = int(self.configReader.get('Robot_Feed', 'dropDelay_time')) self.robotClient = RobotClient(ip, port, photo_locs, self.command_position_quene, self.status_address,[solenoid_valve1_addr, solenoid_valve2_addr, solenoid_valve3_addr],time_delay_take,time_delay_put,time_delay_shake,origin_position) + self.robotClient.debug_speed = debug_speed + self.robotClient.feed_speed = feed_speed + self.robotClient.reset_speed = reset_speed self.feeding = Feeding(self.robotClient, self.detection) # 临时 self.last_time = time.time() self.remain_lineName = self.configReader.get('Robot_Feed', 'remain_lineName') @@ -767,8 +773,8 @@ class MainWindow(QMainWindow, Ui_MainWindow): self.main_UI_threading = Thread(target=self.updateUI) self.main_UI_threading.start() - - + self.detect_person_thread = Thread(target=self.run_detect_persion) + self.detect_person_thread.start() pass def check_continue(self): if self.remain_Count!=0: @@ -967,8 +973,9 @@ class MainWindow(QMainWindow, Ui_MainWindow): pass def send_setSpeed_clicked(self): - Constant.speed = int(self.lineEdit_speed_run.text()) - Constant.debug_speed = int(self.lineEdit_speed_debug.text()) + self.robotClient.feed_speed = int(self.lineEdit_speed_run.text()) + self.robotClient.debug_speed = int(self.lineEdit_speed_debug.text()) + self.robotClient.reset_speed = int(self.lineEdit_speed_reset.text()) try: solenoid1_addr = int(self.lineEdit_solenoid1_addr.text()) solenoid2_addr = int(self.lineEdit_solenoid2_addr.text()) @@ -990,7 +997,9 @@ class MainWindow(QMainWindow, Ui_MainWindow): self.configReader.set('Robot_Feed', 'takeDelay', str(time_delay_take)) self.configReader.set('Robot_Feed', 'putDelay', str(time_delay_put)) self.configReader.set('Robot_Feed', 'shakeDelay', str(time_delay_shake)) - + self.configReader.set('Speed', 'feed_speed', str(self.robotClient.feed_speed)) + self.configReader.set('Speed', 'debug_speed', str(self.robotClient.debug_speed)) + self.configReader.set('Speed', 'reset_speed', str(self.robotClient.reset_speed)) self.configReader.write(open(Constant.set_ini, 'w', encoding='utf-8')) except Exception as e: log.log_message(logging.ERROR, Constant.str_sys_set_error+e) @@ -1232,6 +1241,9 @@ class MainWindow(QMainWindow, Ui_MainWindow): position_origin.init_position(self.robotClient.origin_position) command.feed_config.feedLine.positions.insert(0,position_origin) self.feeding.feedConfig = command.feed_config + self.robotClient.send_emergency_sound() + time.sleep(5000) + self.robotClient.send_emergency_stop() self.feeding.feedStatus = FeedStatus.FStart # self.feeding.feed_Mid_Status = FeedMidStatus.FMid_Start command.status = Status.Runing @@ -1245,6 +1257,21 @@ class MainWindow(QMainWindow, Ui_MainWindow): # pass #主线程 + def run_detect_persion(self): + while self.thread_signal: + has_person = False + # has_person, _ = self.detection_person.get_person() # TODO + if has_person: # TODO + # self.feeding.pause = True + # self.send_pause_command(True) + # + # self.show_messagebox_of_person() + # msg_box_person.setText("检测到安全区域后人是否继续生产？") + # result = msg_box_person.exec() + # if result == QMessageBox.StandardButton.Cancel: + # return + log.log_message(logging.ERROR, '人员进入安全区') + pass def updateUI(self): while self.thread_signal: @@ -1276,6 +1303,12 @@ class MainWindow(QMainWindow, Ui_MainWindow): self.updateUI_label_status() self.updateUI_frame_sign(self.feeding.feedStatus) self.updateUI_IOPanel() + self.updateUI_InfoMB() + def updateUI_InfoMB(self): + if self.cton_take_no_photo.Q(self.feeding.take_no_photo): + self.show_infomessage_box("未识别到料袋报警，请重新放料后，点击继续") + self.send_pause_command(pause=1) + self.feeding.pause = True def updateUI_IOPanel(self): try: @@ -1771,6 +1804,7 @@ class MainWindow(QMainWindow, Ui_MainWindow): msg_box.setText(message) msg_box.setIcon(QMessageBox.Icon.Information) msg_box.setStandardButtons(QMessageBox.StandardButton.Ok) + msg_box.show() def send_click_change_stackView(self,index): self.stackedWidget_view.setCurrentIndex(index) if index == 0: diff --git a/test_ui.py b/test_ui.py index 015e209..4c413e3 100644 --- a/test_ui.py +++ b/test_ui.py @@ -1,3 +1,14 @@ -my_list = [1, 2, 3, 4, 5] -list_slice = list(reversed(my_list[:2])) -print(list_slice) # 输出: [5, 4, 3, 2, 1] +output_n = 7 +io_bit = 5 + +def is_bit_set(n, position): + """ + 检查整数 n 的第 position 位是否为 1 + :param n: 整数 + :param position: 从右往左数的位，0 表示最低位 + :return: True 表示该位是 1，否则为 False + """ + return (n >> position) & 1 == 1 + + +print(is_bit_set(7,3)) diff --git a/ui_MainWin.py b/ui_MainWin.py index 31c58bb..26517ba 100644 --- a/ui_MainWin.py +++ b/ui_MainWin.py @@ -2462,8 +2462,9 @@ class Ui_MainWindow(object): self.frame_29.setFrameShadow(QFrame.Shadow.Raised) self.gridLayout_6 = QGridLayout(self.frame_29) self.gridLayout_6.setObjectName(u"gridLayout_6") - self.gridLayout_6.setVerticalSpacing(30) - self.gridLayout_6.setContentsMargins(-1, -1, -1, 300) + self.gridLayout_6.setHorizontalSpacing(0) + self.gridLayout_6.setVerticalSpacing(80) + self.gridLayout_6.setContentsMargins(0, 0, 0, 60) self.label_28 = QLabel(self.frame_29) self.label_28.setObjectName(u"label_28") sizePolicy4.setHeightForWidth(self.label_28.sizePolicy().hasHeightForWidth()) @@ -2494,7 +2495,23 @@ class Ui_MainWindow(object): self.lineEdit_speed_debug.setSizePolicy(sizePolicy1) self.lineEdit_speed_debug.setStyleSheet(u"color: rgb(255, 255, 255);") - self.gridLayout_6.addWidget(self.lineEdit_speed_debug, 0, 3, 1, 2) + self.gridLayout_6.addWidget(self.lineEdit_speed_debug, 0, 3, 1, 1) + + self.label_94 = QLabel(self.frame_29) + self.label_94.setObjectName(u"label_94") + sizePolicy4.setHeightForWidth(self.label_94.sizePolicy().hasHeightForWidth()) + self.label_94.setSizePolicy(sizePolicy4) + self.label_94.setStyleSheet(u"color: rgb(255, 255, 255);") + + self.gridLayout_6.addWidget(self.label_94, 1, 0, 1, 1) + + self.lineEdit_speed_reset = QLineEdit(self.frame_29) + self.lineEdit_speed_reset.setObjectName(u"lineEdit_speed_reset") + sizePolicy1.setHeightForWidth(self.lineEdit_speed_reset.sizePolicy().hasHeightForWidth()) + self.lineEdit_speed_reset.setSizePolicy(sizePolicy1) + self.lineEdit_speed_reset.setStyleSheet(u"color: rgb(255, 255, 255);") + + self.gridLayout_6.addWidget(self.lineEdit_speed_reset, 1, 1, 1, 1) self.label_51 = QLabel(self.frame_29) self.label_51.setObjectName(u"label_51") @@ -2502,7 +2519,7 @@ class Ui_MainWindow(object): self.label_51.setSizePolicy(sizePolicy4) self.label_51.setStyleSheet(u"color: rgb(255, 255, 255);") - self.gridLayout_6.addWidget(self.label_51, 1, 0, 1, 1) + self.gridLayout_6.addWidget(self.label_51, 2, 0, 1, 1) self.lineEdit_solenoid1_addr = QLineEdit(self.frame_29) self.lineEdit_solenoid1_addr.setObjectName(u"lineEdit_solenoid1_addr") @@ -2510,7 +2527,47 @@ class Ui_MainWindow(object): self.lineEdit_solenoid1_addr.setSizePolicy(sizePolicy1) self.lineEdit_solenoid1_addr.setStyleSheet(u"color: rgb(255, 255, 255);") - self.gridLayout_6.addWidget(self.lineEdit_solenoid1_addr, 1, 1, 1, 1) + self.gridLayout_6.addWidget(self.lineEdit_solenoid1_addr, 2, 1, 1, 1) + + self.label_54 = QLabel(self.frame_29) + self.label_54.setObjectName(u"label_54") + sizePolicy4.setHeightForWidth(self.label_54.sizePolicy().hasHeightForWidth()) + self.label_54.setSizePolicy(sizePolicy4) + self.label_54.setStyleSheet(u"color: rgb(255, 255, 255);") + + self.gridLayout_6.addWidget(self.label_54, 3, 0, 1, 1) + + self.lineEdit_solenoid3_addr = QLineEdit(self.frame_29) + self.lineEdit_solenoid3_addr.setObjectName(u"lineEdit_solenoid3_addr") + sizePolicy1.setHeightForWidth(self.lineEdit_solenoid3_addr.sizePolicy().hasHeightForWidth()) + self.lineEdit_solenoid3_addr.setSizePolicy(sizePolicy1) + self.lineEdit_solenoid3_addr.setStyleSheet(u"color: rgb(255, 255, 255);") + + self.gridLayout_6.addWidget(self.lineEdit_solenoid3_addr, 3, 1, 1, 1) + + self.label_86 = QLabel(self.frame_29) + self.label_86.setObjectName(u"label_86") + sizePolicy4.setHeightForWidth(self.label_86.sizePolicy().hasHeightForWidth()) + self.label_86.setSizePolicy(sizePolicy4) + self.label_86.setStyleSheet(u"color: rgb(255, 255, 255);") + + self.gridLayout_6.addWidget(self.label_86, 4, 0, 1, 1) + + self.lineEdit_timedelay_put = QLineEdit(self.frame_29) + self.lineEdit_timedelay_put.setObjectName(u"lineEdit_timedelay_put") + sizePolicy1.setHeightForWidth(self.lineEdit_timedelay_put.sizePolicy().hasHeightForWidth()) + self.lineEdit_timedelay_put.setSizePolicy(sizePolicy1) + self.lineEdit_timedelay_put.setStyleSheet(u"color: rgb(255, 255, 255);") + + self.gridLayout_6.addWidget(self.lineEdit_timedelay_put, 4, 1, 1, 1) + + self.lineEdit_solenoid2_addr = QLineEdit(self.frame_29) + self.lineEdit_solenoid2_addr.setObjectName(u"lineEdit_solenoid2_addr") + sizePolicy1.setHeightForWidth(self.lineEdit_solenoid2_addr.sizePolicy().hasHeightForWidth()) + self.lineEdit_solenoid2_addr.setSizePolicy(sizePolicy1) + self.lineEdit_solenoid2_addr.setStyleSheet(u"color: rgb(255, 255, 255);") + + self.gridLayout_6.addWidget(self.lineEdit_solenoid2_addr, 1, 3, 1, 1) self.label_52 = QLabel(self.frame_29) self.label_52.setObjectName(u"label_52") @@ -2520,29 +2577,13 @@ class Ui_MainWindow(object): self.gridLayout_6.addWidget(self.label_52, 1, 2, 1, 1) - self.lineEdit_solenoid2_addr = QLineEdit(self.frame_29) - self.lineEdit_solenoid2_addr.setObjectName(u"lineEdit_solenoid2_addr") - sizePolicy1.setHeightForWidth(self.lineEdit_solenoid2_addr.sizePolicy().hasHeightForWidth()) - self.lineEdit_solenoid2_addr.setSizePolicy(sizePolicy1) - self.lineEdit_solenoid2_addr.setStyleSheet(u"color: rgb(255, 255, 255);") + self.lineEdit_timedelay_take = QLineEdit(self.frame_29) + self.lineEdit_timedelay_take.setObjectName(u"lineEdit_timedelay_take") + sizePolicy1.setHeightForWidth(self.lineEdit_timedelay_take.sizePolicy().hasHeightForWidth()) + self.lineEdit_timedelay_take.setSizePolicy(sizePolicy1) + self.lineEdit_timedelay_take.setStyleSheet(u"color: rgb(255, 255, 255);") - self.gridLayout_6.addWidget(self.lineEdit_solenoid2_addr, 1, 3, 1, 2) - - self.label_54 = QLabel(self.frame_29) - self.label_54.setObjectName(u"label_54") - sizePolicy4.setHeightForWidth(self.label_54.sizePolicy().hasHeightForWidth()) - self.label_54.setSizePolicy(sizePolicy4) - self.label_54.setStyleSheet(u"color: rgb(255, 255, 255);") - - self.gridLayout_6.addWidget(self.label_54, 2, 0, 1, 1) - - self.lineEdit_solenoid3_addr = QLineEdit(self.frame_29) - self.lineEdit_solenoid3_addr.setObjectName(u"lineEdit_solenoid3_addr") - sizePolicy1.setHeightForWidth(self.lineEdit_solenoid3_addr.sizePolicy().hasHeightForWidth()) - self.lineEdit_solenoid3_addr.setSizePolicy(sizePolicy1) - self.lineEdit_solenoid3_addr.setStyleSheet(u"color: rgb(255, 255, 255);") - - self.gridLayout_6.addWidget(self.lineEdit_solenoid3_addr, 2, 1, 1, 1) + self.gridLayout_6.addWidget(self.lineEdit_timedelay_take, 2, 3, 1, 1) self.label_85 = QLabel(self.frame_29) self.label_85.setObjectName(u"label_85") @@ -2550,39 +2591,7 @@ class Ui_MainWindow(object): self.label_85.setSizePolicy(sizePolicy4) self.label_85.setStyleSheet(u"color: rgb(255, 255, 255);") - self.gridLayout_6.addWidget(self.label_85, 2, 2, 1, 2) - - self.lineEdit_timedelay_take = QLineEdit(self.frame_29) - self.lineEdit_timedelay_take.setObjectName(u"lineEdit_timedelay_take") - sizePolicy1.setHeightForWidth(self.lineEdit_timedelay_take.sizePolicy().hasHeightForWidth()) - self.lineEdit_timedelay_take.setSizePolicy(sizePolicy1) - self.lineEdit_timedelay_take.setStyleSheet(u"color: rgb(255, 255, 255);") - - self.gridLayout_6.addWidget(self.lineEdit_timedelay_take, 2, 4, 1, 1) - - self.label_86 = QLabel(self.frame_29) - self.label_86.setObjectName(u"label_86") - sizePolicy4.setHeightForWidth(self.label_86.sizePolicy().hasHeightForWidth()) - self.label_86.setSizePolicy(sizePolicy4) - self.label_86.setStyleSheet(u"color: rgb(255, 255, 255);") - - self.gridLayout_6.addWidget(self.label_86, 3, 0, 1, 1) - - self.lineEdit_timedelay_put = QLineEdit(self.frame_29) - self.lineEdit_timedelay_put.setObjectName(u"lineEdit_timedelay_put") - sizePolicy1.setHeightForWidth(self.lineEdit_timedelay_put.sizePolicy().hasHeightForWidth()) - self.lineEdit_timedelay_put.setSizePolicy(sizePolicy1) - self.lineEdit_timedelay_put.setStyleSheet(u"color: rgb(255, 255, 255);") - - self.gridLayout_6.addWidget(self.lineEdit_timedelay_put, 3, 1, 1, 1) - - self.label_87 = QLabel(self.frame_29) - self.label_87.setObjectName(u"label_87") - sizePolicy4.setHeightForWidth(self.label_87.sizePolicy().hasHeightForWidth()) - self.label_87.setSizePolicy(sizePolicy4) - self.label_87.setStyleSheet(u"color: rgb(255, 255, 255);") - - self.gridLayout_6.addWidget(self.label_87, 3, 2, 1, 2) + self.gridLayout_6.addWidget(self.label_85, 2, 2, 1, 1) self.lineEdit_timedelay_shake = QLineEdit(self.frame_29) self.lineEdit_timedelay_shake.setObjectName(u"lineEdit_timedelay_shake") @@ -2590,7 +2599,15 @@ class Ui_MainWindow(object): self.lineEdit_timedelay_shake.setSizePolicy(sizePolicy1) self.lineEdit_timedelay_shake.setStyleSheet(u"color: rgb(255, 255, 255);") - self.gridLayout_6.addWidget(self.lineEdit_timedelay_shake, 3, 4, 1, 1) + self.gridLayout_6.addWidget(self.lineEdit_timedelay_shake, 3, 3, 1, 1) + + self.label_87 = QLabel(self.frame_29) + self.label_87.setObjectName(u"label_87") + sizePolicy4.setHeightForWidth(self.label_87.sizePolicy().hasHeightForWidth()) + self.label_87.setSizePolicy(sizePolicy4) + self.label_87.setStyleSheet(u"color: rgb(255, 255, 255);") + + self.gridLayout_6.addWidget(self.label_87, 3, 2, 1, 1) self.pushButton_saveSeting = QPushButton(self.frame_29) self.pushButton_saveSeting.setObjectName(u"pushButton_saveSeting") @@ -2609,13 +2626,14 @@ class Ui_MainWindow(object): "") self.pushButton_saveSeting.setFlat(False) - self.gridLayout_6.addWidget(self.pushButton_saveSeting, 4, 0, 1, 5) + self.gridLayout_6.addWidget(self.pushButton_saveSeting, 5, 0, 1, 4) self.gridLayout_6.setRowStretch(0, 1) self.gridLayout_6.setRowStretch(1, 1) self.gridLayout_6.setRowStretch(2, 1) self.gridLayout_6.setRowStretch(3, 1) self.gridLayout_6.setRowStretch(4, 1) + self.gridLayout_6.setRowStretch(5, 1) self.verticalLayout_18.addWidget(self.frame_29) @@ -3769,7 +3787,7 @@ class Ui_MainWindow(object): self.retranslateUi(MainWindow) - self.stackedWidget_view.setCurrentIndex(0) + self.stackedWidget_view.setCurrentIndex(3) self.tabWidget.setCurrentIndex(0) self.stackedWidget_num.setCurrentIndex(0) @@ -3899,13 +3917,14 @@ class Ui_MainWindow(object): self.label_24.setText(QCoreApplication.translate("MainWindow", u"Z4:", None)) self.label_36.setText(QCoreApplication.translate("MainWindow", u"U1:", None)) self.label_17.setText(QCoreApplication.translate("MainWindow", u"Z2:", None)) - self.label_28.setText(QCoreApplication.translate("MainWindow", u"\u5168\u5c40\u901f\u5ea6\uff1a", None)) + self.label_28.setText(QCoreApplication.translate("MainWindow", u"\u751f\u4ea7\u901f\u5ea6\uff1a", None)) self.label_29.setText(QCoreApplication.translate("MainWindow", u"\u8c03\u8bd5\u901f\u5ea6\uff1a", None)) + self.label_94.setText(QCoreApplication.translate("MainWindow", u"\u590d\u4f4d\u901f\u5ea6\uff1a", None)) self.label_51.setText(QCoreApplication.translate("MainWindow", u"\u7535\u78c1\u96001:", None)) - self.label_52.setText(QCoreApplication.translate("MainWindow", u"\u7535\u78c1\u96002\uff1a", None)) self.label_54.setText(QCoreApplication.translate("MainWindow", u"\u7535\u78c1\u96003:", None)) - self.label_85.setText(QCoreApplication.translate("MainWindow", u"\u5438\u53d6\u5ef6\u65f6\uff1a", None)) self.label_86.setText(QCoreApplication.translate("MainWindow", u"\u653e\u53d6\u5ef6\u65f6\uff1a", None)) + self.label_52.setText(QCoreApplication.translate("MainWindow", u"\u7535\u78c1\u96002\uff1a", None)) + self.label_85.setText(QCoreApplication.translate("MainWindow", u"\u5438\u53d6\u5ef6\u65f6\uff1a", None)) self.label_87.setText(QCoreApplication.translate("MainWindow", u"\u9707\u52a8\u5ef6\u65f6\uff1a", None)) self.pushButton_saveSeting.setText(QCoreApplication.translate("MainWindow", u"\u4fdd\u5b58\u8bbe\u7f6e", None)) self.pushButton_j3_add.setText("")