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update 更新ui和增加视觉模块

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This commit is contained in:
FrankCV2048
2024-08-22 23:23:05 +08:00
parent 86f21ffda8
commit 7dc66871ee
13 changed files with 292 additions and 178 deletions
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14
Expection.py
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@ -1,3 +1,13 @@
from enum import Enum
class ErrorCode(Enum):
NETERROR = 404 #网络异常
class Error_Code(Enum):
SYS_SUCCESS = 100
SYS_NETERROR = 104 #网络异常
class VisionError_Code(Enum):
CAMERA_SUCCESS = 200

0
data/1.png → Image/1.png
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Side by Side Swipe Overlay

Before

Width:  |  Height:  |  Size: 779 KiB

After

Width:  |  Height:  |  Size: 779 KiB

0
data/robot.png → Image/robot.png
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Side by Side Swipe Overlay

Before

Width:  |  Height:  |  Size: 66 KiB

After

Width:  |  Height:  |  Size: 66 KiB

21
Model/Position.py Normal file
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@ -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

5
Seting.ini
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@ -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

18
Trace/README.md Normal file
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@ -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

18
Vision/README.md Normal file
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@ -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

142
app.py
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@ -1,18 +1,140 @@
import configparser
import json
import queue
import sys
from PySide6.QtWidgets import QMainWindow, QApplication
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):
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()
win.show()
app.exec()
window = MainWindow()
window.show()
sys.exit(app.exec())

133
main.py
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@ -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())

18
requirements Normal file
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@ -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

5
resources.qrc
View File

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

43
ui_untitled.py
View File

@ -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,
QSizePolicy, QSlider, QTabWidget, QTextEdit,
QLineEdit, QMainWindow, QPushButton, QSizePolicy,
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.verticalLayout_2.setSpacing(0)
self.verticalLayout_2.setObjectName(u"verticalLayout_2")
self.verticalLayout_2.setSizeConstraint(QLayout.SizeConstraint.SetNoConstraint)
self.frame_2 = QFrame(self.tab)
self.stackedWidget = QStackedWidget(self.tab)
self.stackedWidget.setObjectName(u"stackedWidget")
self.page = QWidget()
self.page.setObjectName(u"page")
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"
" border-radius:11px; \n"
" margin: -5px 3px -5px 6px;\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.addLayout(self.verticalLayout_2)
self.verticalLayout.addWidget(self.stackedWidget)
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)

55
untitled.ui
View File

@ -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">
<property name="spacing">
<widget class="QStackedWidget" name="stackedWidget">
<property name="currentIndex">
<number>0</number>
</property>
<property name="sizeConstraint">
<enum>QLayout::SizeConstraint::SetNoConstraint</enum>
</property>
<item>
<widget class="QWidget" name="page">
<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>
</widget>
<widget class="QWidget" name="page_2"/>
</widget>
</item>
</layout>
</item>
</layout>
</widget>