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✅ update 参数调试

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This commit is contained in:
FrankCV2048
2024-09-02 22:56:19 +08:00
parent 0ac8f8e86f
commit 76a9a2e676
8 changed files with 312 additions and 49981 deletions
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163
app.py
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@ -2,6 +2,9 @@ import configparser
import json
import queue
import sys
from multiprocessing import Process
from PySide6.QtCore import QThread, Signal, Slot
from PySide6.QtGui import QIntValidator
from PySide6.QtWidgets import QApplication, QMainWindow, QPushButton
from datetime import datetime
from CU.Command import FeedCommand
@ -17,17 +20,16 @@ from Model.Position import Real_Position
from threading import Thread
from CU.Command import Status
class MainWindow(QMainWindow,Ui_MainWindow):
def __init__(self):
super(MainWindow, self).__init__()
self.setupUi(self)
self.init_UI()
self.init_Run()
self.init_FeedLine()
self.init_robot_info()
start_Runing()
self.init_FeedLine()
self.start_Runing()
def init_UI(self):
self.horizontalSlider_J1.sliderReleased.connect(self.slider_valueChanged)
@ -45,8 +47,15 @@ class MainWindow(QMainWindow,Ui_MainWindow):
self.pushButton_AddNum.clicked.connect(self.send_addNum_button_click)
self.pushButton_SubNum.clicked.connect(self.send_subNum_button_click)
self.pushButton_num_free.clicked.connect(self.send_num_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)
self.lineEdit_j4.returnPressed.connect(self.send_position_returnPressed)
self.lineEdit_j5.returnPressed.connect(self.send_position_returnPressed)
self.lineEdit_j6.returnPressed.connect(self.send_position_returnPressed)
self.lineEdit_num.returnPressed.connect(self.send_custom_num_returnPressed)
int_validator = QIntValidator(0, 100, self)
int_validator = QIntValidator(0, 100, self.lineEdit_num)
self.lineEdit_num.setValidator(int_validator)
# self.horizontalSlider_J1.sliderReleased
@ -58,7 +67,7 @@ class MainWindow(QMainWindow,Ui_MainWindow):
self.command_position_quene = Queue()
self.status_address = DataAddress()
self.feedLine_dict = dir()
self.feedLine_dict = {}
self.command_quene = Queue()
self.main_threading = None
@ -66,65 +75,67 @@ class MainWindow(QMainWindow,Ui_MainWindow):
ip = self.configReader.get('Robot_Feed', 'IPAddress')
port = int(self.configReader.get('Robot_Feed', 'Port'))
self.robotClient = RobotClient(ip, port, self.command_position_quene, self.status_address)
self.feeding = Feeding(self.robotClient) # 临时
self.last_time=time.time()
try:
self.robotClient.CreatConnect()
except:
self.set_label_status_style(False)
return Error_Code.SYS_NETERROR
if self.robotClient.is_Connect():
if self.robotClient.connected:
return 0
else:
return Error_Code.NETERROR
self.feeding = Feeding(self.robotClient) #临时
return Error_Code.SYS_NETERROR
def init_FeedLine(self):
line_count = self.configReader.get('Robot_Feed', 'LineCount', fallback=0)
self.configReader.read('Config/FeedLine.ini')
for i in range(line_count):
for i in range(int(line_count)):
line_str = f'FeedLine{i+1}'
safe_position = Real_Position()
photo_position = Real_Position()
feed_position = Real_Position()
safe_position.X = self.configReader.get(line_str, 'SafePosition_x', fallback=0)
safe_position.Y = self.configReader.get(line_str, 'SafePosition_y', fallback=0)
safe_position.Z = self.configReader.get(line_str, 'SafePosition_z', fallback=0)
safe_position.U = self.configReader.get(line_str, 'SafePosition_u', fallback=0)
safe_position.V = self.configReader.get(line_str, 'SafePosition_v', fallback=0)
safe_position.W = self.configReader.get(line_str, 'SafePosition_w', fallback=0)
safe_position.X = int(self.configReader.get(line_str, 'SafePosition_x', fallback=0))
safe_position.Y = int(self.configReader.get(line_str, 'SafePosition_y', fallback=0))
safe_position.Z = int(self.configReader.get(line_str, 'SafePosition_z', fallback=0))
safe_position.U = int(self.configReader.get(line_str, 'SafePosition_u', fallback=0))
safe_position.V = int(self.configReader.get(line_str, 'SafePosition_v', fallback=0))
safe_position.W = int(self.configReader.get(line_str, 'SafePosition_w', fallback=0))
photo_position.X = self.configReader.get(line_str, 'PhotoPosition_x', fallback=0)
photo_position.Y = self.configReader.get(line_str, 'PhotoPosition_y', fallback=0)
photo_position.Z = self.configReader.get(line_str, 'PhotoPosition_z', fallback=0)
photo_position.U = self.configReader.get(line_str, 'PhotoPosition_u', fallback=0)
photo_position.V = self.configReader.get(line_str, 'PhotoPosition_v', fallback=0)
photo_position.W = self.configReader.get(line_str, 'PhotoPosition_w', fallback=0)
photo_position.X = int(self.configReader.get(line_str, 'PhotoPosition_x', fallback=0))
photo_position.Y = int(self.configReader.get(line_str, 'PhotoPosition_y', fallback=0))
photo_position.Z = int(self.configReader.get(line_str, 'PhotoPosition_z', fallback=0))
photo_position.U = int(self.configReader.get(line_str, 'PhotoPosition_u', fallback=0))
photo_position.V = int(self.configReader.get(line_str, 'PhotoPosition_v', fallback=0))
photo_position.W = int(self.configReader.get(line_str, 'PhotoPosition_w', fallback=0))
feed_position.X = self.configReader.get(line_str, 'FeedPosition_x', fallback=0)
feed_position.Y = self.configReader.get(line_str, 'FeedPosition_y', fallback=0)
feed_position.Z = self.configReader.get(line_str, 'FeedPosition_z', fallback=0)
feed_position.U = self.configReader.get(line_str, 'FeedPosition_u', fallback=0)
feed_position.V = self.configReader.get(line_str, 'FeedPosition_v', fallback=0)
feed_position.W = self.configReader.get(line_str, 'FeedPosition_w', fallback=0)
feed_position.X = int(self.configReader.get(line_str, 'FeedPosition_x', fallback=0))
feed_position.Y = int(self.configReader.get(line_str, 'FeedPosition_y', fallback=0))
feed_position.Z = int(self.configReader.get(line_str, 'FeedPosition_z', fallback=0))
feed_position.U = int(self.configReader.get(line_str, 'FeedPosition_u', fallback=0))
feed_position.V = int(self.configReader.get(line_str, 'FeedPosition_v', fallback=0))
feed_position.W = int(self.configReader.get(line_str, 'FeedPosition_w', fallback=0))
self.feedLine_dict[str(i+1)] = FeedLine(safe_position, photo_position, feed_position)
pass
def init_robot_info(self):
j1_min = int(self.configReader.get('Robot', 'j1_min'))
j1_max = int(self.configReader.get('Robot', 'j1_max'))
j2_min = int(self.configReader.get('Robot', 'j2_min'))
j2_max = int(self.configReader.get('Robot', 'j2_max'))
j3_min = int(self.configReader.get('Robot', 'j3_min'))
j3_max = int(self.configReader.get('Robot', 'j3_max'))
j4_min = int(self.configReader.get('Robot', 'j4_min'))
j4_max = int(self.configReader.get('Robot', 'j4_max'))
j5_min = int(self.configReader.get('Robot', 'j5_min'))
j5_max = int(self.configReader.get('Robot', 'j5_max'))
j6_min = int(self.configReader.get('Robot', 'j6_min'))
j6_max = int(self.configReader.get('Robot', 'j6_max'))
j1_min = int(self.configReader.get('Robot_Feed', 'j1_min'))
j1_max = int(self.configReader.get('Robot_Feed', 'j1_max'))
j2_min = int(self.configReader.get('Robot_Feed', 'j2_min'))
j2_max = int(self.configReader.get('Robot_Feed', 'j2_max'))
j3_min = int(self.configReader.get('Robot_Feed', 'j3_min'))
j3_max = int(self.configReader.get('Robot_Feed', 'j3_max'))
j4_min = int(self.configReader.get('Robot_Feed', 'j4_min'))
j4_max = int(self.configReader.get('Robot_Feed', 'j4_max'))
j5_min = int(self.configReader.get('Robot_Feed', 'j5_min'))
j5_max = int(self.configReader.get('Robot_Feed', 'j5_max'))
j6_min = int(self.configReader.get('Robot_Feed', 'j6_min'))
j6_max = int(self.configReader.get('Robot_Feed', 'j6_max'))
self.horizontalSlider_J1.setMinimum(j1_min)
self.horizontalSlider_J1.setMaximum(j1_max)
self.horizontalSlider_J2.setMinimum(j2_min)
@ -151,9 +162,14 @@ class MainWindow(QMainWindow,Ui_MainWindow):
self.label_j6_max.setText(str(j6_max))
def start_Runing(self):
self.main_threading = Thread(target=run)
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
def send_startFeed_button_click(self):
num = self.horizontalSlider_feedingNum.value()
line_index = str(self.comboBox_lineIndex.currentIndex()+1)
@ -165,6 +181,7 @@ class MainWindow(QMainWindow,Ui_MainWindow):
if button.text() != "自定义":
num = int(button.text())
self.horizontalSlider_feedingNum.setMaximum(num)
self.label_maxNum.setText(str(num))
self.horizontalSlider_feedingNum.setValue(0)
else:
self.pushButton_num_free.hide()
@ -180,14 +197,16 @@ class MainWindow(QMainWindow,Ui_MainWindow):
def send_custom_num_returnPressed(self):
self.pushButton_num_free.show()
self.lineEdit_num.hide()
self.horizontalSlider_feedingNum.setValue(int(self.lineEdit_num.text()))
self.horizontalSlider_feedingNum.setMaximum(int(self.lineEdit_num.text()))
self.horizontalSlider_feedingNum.setValue(0)
self.label_maxNum.setText(self.lineEdit_num.text())
def slider_valueChanged(self):
global last_time
now_time = time.time()
if(now_time-last_time) < 2:
if(now_time-self.last_time) < 2:
return
last_time = now_time
self.last_time = now_time
position_instruction = Instruction()
position_instruction.m0 = self.horizontalSlider_J1.value()
position_instruction.m1 = self.horizontalSlider_J2.value()
@ -196,12 +215,14 @@ class MainWindow(QMainWindow,Ui_MainWindow):
position_instruction.m4 = self.horizontalSlider_J5.value()
position_instruction.m5 = self.horizontalSlider_J6.value()
self.textEdit_j1.setText(str(self.horizontalSlider_J1.value()))
self.textEdit_j2.setText(str(self.horizontalSlider_J2.value()))
self.textEdit_j3.setText(str(self.horizontalSlider_J3.value()))
self.textEdit_j4.setText(str(self.horizontalSlider_J4.value()))
self.textEdit_j5.setText(str(self.horizontalSlider_J5.value()))
self.textEdit_j6.setText(str(self.horizontalSlider_J6.value()))
self.lineEdit_j1.setText(str(self.horizontalSlider_J1.value()))
self.lineEdit_j2.setText(str(self.horizontalSlider_J2.value()))
self.lineEdit_j3.setText(str(self.horizontalSlider_J3.value()))
self.lineEdit_j4.setText(str(self.horizontalSlider_J4.value()))
self.lineEdit_j5.setText(str(self.horizontalSlider_J5.value()))
self.lineEdit_j6.setText(str(self.horizontalSlider_J6.value()))
instruction_command = CMDInstructRequest()
instruction_command.instructions.append(vars(position_instruction))
@ -219,7 +240,27 @@ class MainWindow(QMainWindow,Ui_MainWindow):
# request_command = vars(cmd_command)
# self.robotClient.add_sendQuene(request_command)
return
def send_position_returnPressed(self):
position_instruction = Instruction()
position_instruction.m0 = int(self.lineEdit_j1.text())
position_instruction.m1 = int(self.lineEdit_j2.text())
position_instruction.m2 = int(self.lineEdit_j3.text())
position_instruction.m3 = int(self.lineEdit_j4.text())
position_instruction.m4 = int(self.lineEdit_j5.text())
position_instruction.m5 = int(self.lineEdit_j6.text())
self.horizontalSlider_J1.setValue(int(self.lineEdit_j1.text()))
self.horizontalSlider_J2.setValue(int(self.lineEdit_j2.text()))
self.horizontalSlider_J3.setValue(int(self.lineEdit_j3.text()))
self.horizontalSlider_J4.setValue(int(self.lineEdit_j4.text()))
self.horizontalSlider_J5.setValue(int(self.lineEdit_j5.text()))
self.horizontalSlider_J6.setValue(int(self.lineEdit_j6.text()))
instruction_command = CMDInstructRequest()
instruction_command.instructions.append(vars(position_instruction))
request_command = vars(instruction_command)
print(request_command)
self.robotClient.add_sendQuene(request_command)
@ -229,7 +270,7 @@ class MainWindow(QMainWindow,Ui_MainWindow):
def run(self):
while True:
time.sleep(0.2)
if not self.command_quene.empty():
command = self.command_quene.get()
if isinstance(command, FeedCommand) and command.status == Status.Prepareing:
@ -238,18 +279,21 @@ class MainWindow(QMainWindow,Ui_MainWindow):
self.feeding.feedStatus = FeedStatus.FStart
command.status = Status.Runing
self.feeding.run()
updateUI(self)
try:
self.feeding.run()
except:
print(Error_Code.SYS_NONEPoint)
self.updateUI()
#pass #主线程
def updateUI(self):
if self.robotClient.is_Connect():
if self.robotClient.connected:
self.set_label_status_style(True)
else:
self.set_label_status_style(False)
self.horizontalSlider_feedingNum.setValue(self.horizontalSlider_feedingNum.maximum()-self.feeding.feedConfig.num)
if self.feeding.feedStatus != FeedStatus.FNone:
self.horizontalSlider_feedingNum.setValue(self.horizontalSlider_feedingNum.maximum()-self.feeding.feedConfig.num)
if self.horizontalSlider_feedingNum.value() == 0:
self.stackedWidget_num.setCurrentIndex(0)
else:
@ -258,8 +302,7 @@ class MainWindow(QMainWindow,Ui_MainWindow):
self.label_date.setText(datetime.now().strftime("%Y-%m-%d"))
self.label_time.setText(datetime.now().strftime("%H:%M:%S"))
def set_label_status_style(self,connected:bool):
palette = self.label_connect_status.palette()
def set_label_status_style(self, connected: bool):
if connected:
self.label_connect_status.setStyleSheet("""
QLabel {