update 更新ui和增加视觉模块

Expection.py

@@ -1,3 +1,13 @@
 from enum import Enum
-class ErrorCode(Enum):
+class Error_Code(Enum):
-    NETERROR = 404  #网络异常
+    SYS_SUCCESS = 100
+    SYS_NETERROR = 104  #网络异常
+
+
+class VisionError_Code(Enum):
+    CAMERA_SUCCESS = 200
+
+
+
+
+

Model/Position.py

@@ -0,0 +1,21 @@
+
+
+"""
+摄像头识别位置和角度
+"""
+class Detection_Position:
+    def __init__(self):
+        self.X = 0.0
+        self.Y = 0.0
+        self.Z = 0.0
+        self.U = 0.0
+        self.V = 0.0
+        self.W = 0.0
+
+    def init_position(self,X,Y,Z,U,V,W):
+        self.X = X
+        self.Y = Y
+        self.Z = Z
+        self.U = U
+        self.V = V
+        self.W = W

Seting.ini

@@ -1,7 +1,7 @@
 [Main]
 
 
-[Robot]
+[Robot_Feed]
 IPAddress=192.168.3.5
 Port=8111
 j1_min=-150
@@ -18,3 +18,6 @@ j6_min=-150
 j6_max=+150
 
 
+[Camera_Feed]
+IPAddress=127.0.0.1
+

Trace/README.md

@@ -0,0 +1,18 @@
+# 路径处理
+
+Code 在 Expection的VisionError_Code里 增加定义
+##  提供视频流,
+```
+func1()
+   return Code,frame  #返回错误代码和当前帧
+```
+
+##  提供当前摄像头位置识别结果
+```
+func2()
+   return Code,frame,position  #返回带识别标签的当前图像 和 识别坐标结果Detection_Position对象
+
+```
+**注意：** 识别不到报异常Code且带有识别结果（标签和位置都绘制出来）的图像保存到本地位置，
+保存位置在Seting.ini里面的[Camera_Feed]定义
+

Vision/README.md

@@ -0,0 +1,18 @@
+# 视觉处理
+
+Code 在 Expection的VisionError_Code里 增加定义
+##  1 提供视频流,
+```
+func1()
+   return Code,frame  #返回错误代码和当前帧
+```
+
+##  2 提供当前摄像头位置识别结果
+```
+func2()
+   return Code,frame,position  #返回带识别标签的当前图像 和 识别坐标结果Detection_Position对象
+
+```
+**注意：** 识别不到报异常Code且带有识别结果（标签和位置都绘制出来）的图像保存到本地位置，
+保存位置在Seting.ini里面的[Camera_Feed]定义
+

app.py

@@ -1,18 +1,140 @@
+import configparser
+import json
+import queue
 import sys
+from PySide6.QtWidgets import QApplication, QMainWindow, QPushButton
+from ui_untitled import  Ui_MainWindow
+from COM.COM_Robot import RobotClient
+from Expection import  ErrorCode
+from queue import Queue
+from Model.RobotModel import *
+import time
+from queue import Queue
 
-from PySide6.QtWidgets import QMainWindow, QApplication
 
-from ui_untitled import Ui_MainWindow
 
-class MainWindow(QMainWindow, Ui_MainWindow):
+class MainWindow(QMainWindow,Ui_MainWindow):
     def __init__(self):
         super(MainWindow, self).__init__()
         self.setupUi(self)
+        self.pushButton_17.clicked.connect(self.send_position_button_click)
+        self.robotClient = None
+        self.configReader = configparser.ConfigParser()
+        self.horizontalSlider_J1.sliderReleased.connect(self.slider_valueChanged)
+        self.horizontalSlider_J2.sliderReleased.connect(self.slider_valueChanged)
+        self.horizontalSlider_J3.sliderReleased.connect(self.slider_valueChanged)
+        self.horizontalSlider_J4.sliderReleased.connect(self.slider_valueChanged)
+        self.horizontalSlider_J5.sliderReleased.connect(self.slider_valueChanged)
+        self.horizontalSlider_J6.sliderReleased.connect(self.slider_valueChanged)
+        #self.horizontalSlider_J1.sliderReleased
+        self.command_quene = Queue()
+        self.status_address = DataAddress()
+        self.init_Run()
+        self.init_robot_info()
 
-if __name__ == '__main__':
+
+
+    def slider_valueChanged(self):
+        global last_time
+        now_time = time.time()
+        if(now_time-last_time) < 2:
+            return
+        last_time = now_time
+
+
+
+        position_instruction = Instruction()
+        position_instruction.m0 = self.horizontalSlider_J1.value()
+        position_instruction.m1 = self.horizontalSlider_J2.value()
+        position_instruction.m2 = self.horizontalSlider_J3.value()
+        position_instruction.m3 = self.horizontalSlider_J4.value()
+        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()))
+
+
+        instruction_command = CMDInstructRequest()
+        instruction_command.instructions.append(vars(position_instruction))
+        request_command = vars(instruction_command)
+        print(request_command)
+        self.robotClient.add_sendQuene(request_command)
+
+    def on_button_click(self):
+        self.button.setText("Clicked!")
+
+    def send_position_button_click(self):
+        # if True:
+        #     cmd_command = CMDRequest()
+        #     cmd_command.cmdData = ['rewriteData', '800', f'{position_instruction.m0}', 0]
+        #     request_command = vars(cmd_command)
+        #     self.robotClient.add_sendQuene(request_command)
+        return
+
+
+    def init_Run(self):
+        self.configReader.read('Seting.ini')
+        ip = self.configReader.get('Robot_Feed', 'IPAddress')
+        port= int(self.configReader.get('Robot_Feed', 'Port'))
+        self.robotClient = RobotClient(ip, port,self.command_quene,self.status_address)
+        self.robotClient.CreatConnect()
+        if self.robotClient.is_Connect():
+            return 0
+        else:
+            return ErrorCode.NETERROR
+
+    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'))
+        self.horizontalSlider_J1.setMinimum(j1_min)
+        self.horizontalSlider_J1.setMaximum(j1_max)
+        self.horizontalSlider_J2.setMinimum(j2_min)
+        self.horizontalSlider_J2.setMaximum(j2_max)
+        self.horizontalSlider_J3.setMinimum(j3_min)
+        self.horizontalSlider_J3.setMaximum(j3_max)
+        self.horizontalSlider_J4.setMinimum(j4_min)
+        self.horizontalSlider_J4.setMaximum(j4_max)
+        self.horizontalSlider_J5.setMinimum(j5_min)
+        self.horizontalSlider_J5.setMaximum(j5_max)
+        self.horizontalSlider_J6.setMinimum(j6_min)
+        self.horizontalSlider_J6.setMaximum(j6_max)
+        self.label_j1_min.setText(j1_min.__str__())
+        self.label_j1_max.setText(j1_max.__str__())
+        self.label_j2_min.setText(j2_min.__str__())
+        self.label_j2_max.setText(j2_max.__str__())
+        self.label_j3_min.setText(j3_min.__str__())
+        self.label_j3_max.setText(j3_max.__str__())
+        self.label_j4_min.setText(j4_min.__str__())
+        self.label_j4_max.setText(j4_max.__str__())
+        self.label_j5_min.setText(j5_min.__str__())
+        self.label_j5_max.setText(j5_max.__str__())
+        self.label_j6_min.setText(j6_min.__str__())
+        self.label_j6_max.setText(str(j6_max))
+
+
+
+
+    def send_position_command(self,position):
+        self.robotClient.add_sendQuene(position)
+
+
+if __name__ == "__main__":
     app = QApplication(sys.argv)
-    win = MainWindow()
+    window = MainWindow()
-    win.show()
+    window.show()
-    app.exec()
+    sys.exit(app.exec())
-
-

main.py

@@ -1,133 +0,0 @@
-import configparser
-import json
-import queue
-import sys
-from PySide6.QtWidgets import QApplication, QMainWindow, QPushButton
-from ui_untitled import  Ui_MainWindow
-from COM.COM_Robot import RobotClient
-from Expection import  ErrorCode
-from queue import Queue
-from Model.RobotModel import *
-import time
-from queue import Queue
-
-
-
-class MainWindow(QMainWindow,Ui_MainWindow):
-    def __init__(self):
-        super(MainWindow, self).__init__()
-        self.setupUi(self)
-        self.pushButton_17.clicked.connect(self.send_position_button_click)
-        self.robotClient = None
-        self.configReader = configparser.ConfigParser()
-        self.horizontalSlider_J1.sliderReleased.connect(self.slider_valueChanged)
-        self.horizontalSlider_J2.sliderReleased.connect(self.slider_valueChanged)
-        self.horizontalSlider_J3.sliderReleased.connect(self.slider_valueChanged)
-        self.horizontalSlider_J4.sliderReleased.connect(self.slider_valueChanged)
-        self.horizontalSlider_J5.sliderReleased.connect(self.slider_valueChanged)
-        self.horizontalSlider_J6.sliderReleased.connect(self.slider_valueChanged)
-        #self.horizontalSlider_J1.sliderReleased
-        self.command_quene = Queue()
-        self.status_address = DataAddress()
-        self.init_Run()
-        self.init_robot_info()
-
-
-
-    def slider_valueChanged(self):
-
-        position_instruction = Instruction()
-        position_instruction.m0 = self.horizontalSlider_J1.value()
-        position_instruction.m1 = self.horizontalSlider_J2.value()
-        position_instruction.m2 = self.horizontalSlider_J3.value()
-        position_instruction.m3 = self.horizontalSlider_J4.value()
-        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()))
-
-
-        instruction_command = CMDInstructRequest()
-        instruction_command.instructions.append(vars(position_instruction))
-        request_command = vars(instruction_command)
-        print(request_command)
-        self.robotClient.add_sendQuene(request_command)
-
-    def on_button_click(self):
-        self.button.setText("Clicked!")
-
-    def send_position_button_click(self):
-        # if True:
-        #     cmd_command = CMDRequest()
-        #     cmd_command.cmdData = ['rewriteData', '800', f'{position_instruction.m0}', 0]
-        #     request_command = vars(cmd_command)
-        #     self.robotClient.add_sendQuene(request_command)
-        return
-
-
-    def init_Run(self):
-        self.configReader.read('Seting.ini')
-        ip = self.configReader.get('Robot', 'IPAddress')
-        port= int(self.configReader.get('Robot', 'Port'))
-        self.robotClient = RobotClient(ip, port,self.command_quene,self.status_address)
-        self.robotClient.CreatConnect()
-        if self.robotClient.is_Connect():
-            return 0
-        else:
-            return ErrorCode.NETERROR
-
-    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'))
-        self.horizontalSlider_J1.setMinimum(j1_min)
-        self.horizontalSlider_J1.setMaximum(j1_max)
-        self.horizontalSlider_J2.setMinimum(j2_min)
-        self.horizontalSlider_J2.setMaximum(j2_max)
-        self.horizontalSlider_J3.setMinimum(j3_min)
-        self.horizontalSlider_J3.setMaximum(j3_max)
-        self.horizontalSlider_J4.setMinimum(j4_min)
-        self.horizontalSlider_J4.setMaximum(j4_max)
-        self.horizontalSlider_J5.setMinimum(j5_min)
-        self.horizontalSlider_J5.setMaximum(j5_max)
-        self.horizontalSlider_J6.setMinimum(j6_min)
-        self.horizontalSlider_J6.setMaximum(j6_max)
-        self.label_j1_min.setText(j1_min.__str__())
-        self.label_j1_max.setText(j1_max.__str__())
-        self.label_j2_min.setText(j2_min.__str__())
-        self.label_j2_max.setText(j2_max.__str__())
-        self.label_j3_min.setText(j3_min.__str__())
-        self.label_j3_max.setText(j3_max.__str__())
-        self.label_j4_min.setText(j4_min.__str__())
-        self.label_j4_max.setText(j4_max.__str__())
-        self.label_j5_min.setText(j5_min.__str__())
-        self.label_j5_max.setText(j5_max.__str__())
-        self.label_j6_min.setText(j6_min.__str__())
-        self.label_j6_max.setText(str(j6_max))
-
-
-
-
-    def send_position_command(self,position):
-        self.robotClient.add_sendQuene(position)
-
-
-if __name__ == "__main__":
-    app = QApplication(sys.argv)
-    window = MainWindow()
-    window.show()
-    sys.exit(app.exec())

requirements

@@ -0,0 +1,18 @@
+colorthief=0.2.1
+darkdetect=0.8.0
+numpy=2.0.1
+pillow=10.4.
+pip=24.0
+PyQt5=5.15.11
+PyQt5-Frameless-Window=0.3.9
+PyQt5-Qt5=5.15.2
+PyQt5_sip=12.15.0
+PySide6=6.7.2
+PySide6_Addons=6.7.2
+PySide6_Essentials=6.7.2
+pywin32=306
+scipy=1.13.1
+setuptools=69.5.1
+shiboken6=6.7.2
+wheel=0.43.0
+python=3.9.19

resources.qrc

@@ -1,6 +1,5 @@
 <RCC>
-  <qresource prefix="Image">
+  <qresource prefix="bg">
-    <file>data/1.png</file>
+    <file>Image/robot.png</file>
-    <file>data/robot.png</file>
   </qresource>
 </RCC>

ui_untitled.py

@@ -16,8 +16,8 @@ from PySide6.QtGui import (QBrush, QColor, QConicalGradient, QCursor,
     QImage, QKeySequence, QLinearGradient, QPainter,
     QPalette, QPixmap, QRadialGradient, QTransform)
 from PySide6.QtWidgets import (QApplication, QComboBox, QFrame, QLabel,
-    QLayout, QLineEdit, QMainWindow, QPushButton,
+    QLineEdit, QMainWindow, QPushButton, QSizePolicy,
-    QSizePolicy, QSlider, QTabWidget, QTextEdit,
+    QSlider, QStackedWidget, QTabWidget, QTextEdit,
     QVBoxLayout, QWidget)
 import resources_rc
 
@@ -57,12 +57,13 @@ class Ui_MainWindow(object):
         self.tab.setObjectName(u"tab")
         self.verticalLayout = QVBoxLayout(self.tab)
         self.verticalLayout.setObjectName(u"verticalLayout")
-        self.verticalLayout_2 = QVBoxLayout()
+        self.stackedWidget = QStackedWidget(self.tab)
-        self.verticalLayout_2.setSpacing(0)
+        self.stackedWidget.setObjectName(u"stackedWidget")
-        self.verticalLayout_2.setObjectName(u"verticalLayout_2")
+        self.page = QWidget()
-        self.verticalLayout_2.setSizeConstraint(QLayout.SizeConstraint.SetNoConstraint)
+        self.page.setObjectName(u"page")
-        self.frame_2 = QFrame(self.tab)
+        self.frame_2 = QFrame(self.page)
         self.frame_2.setObjectName(u"frame_2")
+        self.frame_2.setGeometry(QRect(0, 0, 877, 555))
         self.frame_2.setStyleSheet(u"background-color: #E6ECF5;\n"
 "")
         self.frame_2.setFrameShape(QFrame.Shape.StyledPanel)
@@ -92,14 +93,14 @@ class Ui_MainWindow(object):
 "border-radius: 10px;")
         self.frame_3 = QFrame(self.frame_2)
         self.frame_3.setObjectName(u"frame_3")
-        self.frame_3.setGeometry(QRect(0, 40, 841, 461))
+        self.frame_3.setGeometry(QRect(10, 40, 841, 461))
         self.frame_3.setStyleSheet(u"background-color: rgb(255, 255, 255);")
         self.frame_3.setFrameShape(QFrame.Shape.StyledPanel)
         self.frame_3.setFrameShadow(QFrame.Shadow.Raised)
         self.label_4 = QLabel(self.frame_3)
         self.label_4.setObjectName(u"label_4")
         self.label_4.setGeometry(QRect(10, 10, 481, 261))
-        self.label_4.setStyleSheet(u"border-image: url(:/Image/data/robot.png);\n"
+        self.label_4.setStyleSheet(u"border-image: url(:/Image/Image/robot.png);\n"
 "background-position:center;\n"
 "background-repeat:no-repeat;")
         self.label_4.setScaledContents(True)
@@ -110,23 +111,23 @@ class Ui_MainWindow(object):
 "{\n"
 "    background-color: #FFFFFF; \n"
 "	border-style: outset; \n"
-"	border-radius: 10px; \n"
+"	border-radius:5px; \n"
 "}\n"
 " \n"
 "QSlider::groove:horizontal\n"
 "{\n"
-"	height: 12px;\n"
+"	height: 10px;\n"
 "	background: qlineargradient(x1:0, y1:0, x2:0, y2:1, stop:0 #B1B1B1, stop:1 #c4c4c4);\n"
-"	margin: 2px 0\n"
+"	margin: 10px 0\n"
 "}\n"
 " \n"
 "QSlider::handle:horizontal \n"
 "{\n"
 "	background: QRadialGradient(cx:0, cy:0, radius: 1, fx:0.5, fy:0.5,stop:0 green, stop:1 green);\n"
-"	width: 16px;\n"
+"	width: 10px;\n"
 "	height: 16px;\n"
-"	margin: -5px 6px -5px 6px;\n"
+"	margin: -5px 3px -5px 6px;\n"
-"	border-radius:11px; \n"
+"	border-radius:5px; \n"
 "	border: 3px solid #007900;\n"
 "}")
         self.horizontalSlider.setOrientation(Qt.Orientation.Horizontal)
@@ -657,11 +658,12 @@ class Ui_MainWindow(object):
 "")
         icon5 = QIcon(QIcon.fromTheme(QIcon.ThemeIcon.SystemShutdown))
         self.pushButton_17.setIcon(icon5)
+        self.stackedWidget.addWidget(self.page)
+        self.page_2 = QWidget()
+        self.page_2.setObjectName(u"page_2")
+        self.stackedWidget.addWidget(self.page_2)
 
-        self.verticalLayout_2.addWidget(self.frame_2)
+        self.verticalLayout.addWidget(self.stackedWidget)
-
-
-        self.verticalLayout.addLayout(self.verticalLayout_2)
 
         self.tabWidget.addTab(self.tab, "")
         self.tab_2 = QWidget()
@@ -681,7 +683,8 @@ class Ui_MainWindow(object):
 
         self.retranslateUi(MainWindow)
 
-        self.tabWidget.setCurrentIndex(0)
+        self.tabWidget.setCurrentIndex(1)
+        self.stackedWidget.setCurrentIndex(0)
 
 
         QMetaObject.connectSlotsByName(MainWindow)

untitled.ui

@@ -100,15 +100,20 @@ font: 290 9pt &quot;Microsoft YaHei&quot;;</string>
      </attribute>
      <layout class="QVBoxLayout" name="verticalLayout">
       <item>
-       <layout class="QVBoxLayout" name="verticalLayout_2" stretch="0">
+       <widget class="QStackedWidget" name="stackedWidget">
-        <property name="spacing">
+        <property name="currentIndex">
          <number>0</number>
         </property>
-        <property name="sizeConstraint">
+        <widget class="QWidget" name="page">
-         <enum>QLayout::SizeConstraint::SetNoConstraint</enum>
-        </property>
-        <item>
          <widget class="QFrame" name="frame_2">
+          <property name="geometry">
+           <rect>
+            <x>0</x>
+            <y>0</y>
+            <width>877</width>
+            <height>555</height>
+           </rect>
+          </property>
           <property name="styleSheet">
            <string notr="true">background-color: #E6ECF5;
 </string>
@@ -182,7 +187,7 @@ border-radius: 10px;</string>
           <widget class="QFrame" name="frame_3">
            <property name="geometry">
             <rect>
-             <x>0</x>
+             <x>10</x>
              <y>40</y>
              <width>841</width>
              <height>461</height>
@@ -1386,7 +1391,7 @@ background-color:#1053b2;
           <widget class="QPushButton" name="pushButton_17">
            <property name="geometry">
             <rect>
-             <x>460</x>
+             <x>360</x>
              <y>510</y>
              <width>91</width>
              <height>31</height>
@@ -1412,9 +1417,39 @@ background-color: #499c8a;
             <iconset theme="QIcon::ThemeIcon::SystemShutdown"/>
            </property>
           </widget>
+          <widget class="QPushButton" name="pushButton_39">
+           <property name="geometry">
+            <rect>
+             <x>460</x>
+             <y>510</y>
+             <width>91</width>
+             <height>31</height>
+            </rect>
+           </property>
+           <property name="styleSheet">
+            <string notr="true">*{
+background-color: #FFFFBF;
+font: 9pt &quot;楷体&quot;;
+border: 1px solid #dcdfe6;
+border-radius: 10px;
+}
+*:pressed
+{
+background-color: #FFF000;
+}
+</string>
+           </property>
+           <property name="text">
+            <string>复位</string>
+           </property>
+           <property name="icon">
+            <iconset theme="media-optical"/>
+           </property>
+          </widget>
          </widget>
-        </item>
+        </widget>
-       </layout>
+        <widget class="QWidget" name="page_2"/>
+       </widget>
       </item>
      </layout>
     </widget>