update 添加三个拍照点位的显示设置

app.py

@@ -136,6 +136,13 @@ class MainWindow(QMainWindow, Ui_MainWindow):
         self.pushButton_stopFeed.clicked.connect(self.send_stopFeed_button_click)
         self.pushButton_pauseFeed.clicked.connect(self.send_pauseFeed_button_click)
 
+        self.pushButton_get_p1.clicked.connect(self.get_p1_button_click)
+        self.pushButton_get_p2.clicked.connect(self.get_p2_button_click)
+        self.pushButton_get_p3.clicked.connect(self.get_p3_button_click)
+        self.pushButton_set_p1.clicked.connect(self.set_p1_button_click)
+        self.pushButton_set_p2.clicked.connect(self.set_p2_button_click)
+        self.pushButton_set_p3.clicked.connect(self.set_p3_button_click)
+
         self.pushButton_clearAlarm.clicked.connect(self.send_clear_alarm_command)
         self.pushButton_reset.clicked.connect(self.send_reset_button_click)
         self.pushButton_speed.setText(str(Constant.speed))
@@ -177,11 +184,11 @@ class MainWindow(QMainWindow, Ui_MainWindow):
         ip = self.configReader.get('Robot_Feed', 'IPAddress')
         port = int(self.configReader.get('Robot_Feed', 'Port'))
         photo_locs = [(int(self.configReader.get('Robot_Feed', 'photo_x1')),
-                      int(self.configReader.get('Robot_Feed', 'photo_y1'))),
+                      int(self.configReader.get('Robot_Feed', 'photo_y1')), int(self.configReader.get('Robot_Feed', 'photo_z1'))),
                       (int(self.configReader.get('Robot_Feed', 'photo_x2')),
-                      int(self.configReader.get('Robot_Feed', 'photo_y2'))),
+                      int(self.configReader.get('Robot_Feed', 'photo_y2')), int(self.configReader.get('Robot_Feed', 'photo_z2'))),
                       (int(self.configReader.get('Robot_Feed', 'photo_x3')),
-                       int(self.configReader.get('Robot_Feed', 'photo_y3')))
+                       int(self.configReader.get('Robot_Feed', 'photo_y3')),int(self.configReader.get('Robot_Feed', 'photo_z3')))
                       ]
 
         self.robotClient = RobotClient(ip, port, photo_locs,self.command_position_quene, self.status_address)
@@ -483,6 +490,8 @@ class MainWindow(QMainWindow, Ui_MainWindow):
         self.stackedWidget_feed.setCurrentIndex(index)
         if index == 0:
             self.updateUI_Select_Line()
+        if index == 1:
+            self.updateUI_Photo_Set()
 
     def on_button_click(self):
         self.button.setText("Clicked!")
@@ -922,6 +931,87 @@ class MainWindow(QMainWindow, Ui_MainWindow):
             self.feeding.pause = False
             self.send_pause_command(False)
 
+    ### 设置界面
+    def get_p1_button_click(self):
+         realPosition = self.robotClient.status_model.getRealPosition()
+         self.lineEdit_x1.setText(realPosition.X)
+         self.lineEdit_y1.setText(realPosition.Y)
+         self.lineEdit_z1.setText(realPosition.Z)
+
+    def get_p2_button_click(self):
+         realPosition = self.robotClient.status_model.getRealPosition()
+         self.lineEdit_x2.setText(realPosition.X)
+         self.lineEdit_y2.setText(realPosition.Y)
+         self.lineEdit_z2.setText(realPosition.Z)
+
+    def get_p3_button_click(self):
+         realPosition = self.robotClient.status_model.getRealPosition()
+         self.lineEdit_x3.setText(realPosition.X)
+         self.lineEdit_y3.setText(realPosition.Y)
+         self.lineEdit_z3.setText(realPosition.Z)
+
+    def set_p1_button_click(self):
+        try:
+            x1 = float(self.lineEdit_x1.text())
+            y1 = float(self.lineEdit_y1.text())
+            z1 = float(self.lineEdit_z1.text())
+            self.robotClient.photo_locs[0] = (x1, y1, z1)
+            self.configReader.read(Constant.set_ini)
+            self.configReader.set('Robot_Feed', 'photo_x1', str(x1))
+            self.configReader.set('Robot_Feed', 'photo_y1', str(y1))
+            self.configReader.set('Robot_Feed', 'photo_z1', str(z1))
+            log.log_message(logging.INFO, f'设置拍照点1:{x1},{y1},{z1}')
+        except:
+            self.show_infomessage_box("设置拍照点1失败")
+
+    def set_p2_button_click(self):
+        try:
+            x2 = float(self.lineEdit_x2.text())
+            y2 = float(self.lineEdit_y2.text())
+            z2 = float(self.lineEdit_z2.text())
+            self.robotClient.photo_locs[1] = (x2, y2, z2)
+            self.configReader.read(Constant.set_ini)
+            self.configReader.set('Robot_Feed', 'photo_x2', str(x2))
+            self.configReader.set('Robot_Feed', 'photo_y2', str(y2))
+            self.configReader.set('Robot_Feed', 'photo_z2', str(z2))
+            log.log_message(logging.INFO, f'设置拍照点2:{x2},{y2},{z2}')
+        except:
+            self.show_infomessage_box("设置拍照点2失败")
+
+
+    def set_p3_button_click(self):
+        try:
+            x3 = float(self.lineEdit_x3.text())
+            y3 = float(self.lineEdit_y3.text())
+            z3 = float(self.lineEdit_z3.text())
+            self.robotClient.photo_locs[2] = (x3, y3, z3)
+            self.configReader.read(Constant.set_ini)
+            self.configReader.set('Robot_Feed', 'photo_x3', str(x3))
+            self.configReader.set('Robot_Feed', 'photo_y3', str(y3))
+            self.configReader.set('Robot_Feed', 'photo_z3', str(z3))
+            log.log_message(logging.INFO, f'设置拍照点3:{x3},{y3},{z3}')
+        except:
+            self.show_infomessage_box("设置拍照点3失败")
+
+
+    def updateUI_Photo_Set(self):
+        self.lineEdit_x1.setText(str(self.robotClient.photo_locs[0][0]))
+        self.lineEdit_y1.setText(str(self.robotClient.photo_locs[0][1]))
+        self.lineEdit_z1.setText(str(self.robotClient.photo_locs[0][2]))
+        self.lineEdit_x2.setText(str(self.robotClient.photo_locs[1][0]))
+        self.lineEdit_y2.setText(str(self.robotClient.photo_locs[1][1]))
+        self.lineEdit_z2.setText(str(self.robotClient.photo_locs[1][2]))
+        self.lineEdit_x3.setText(str(self.robotClient.photo_locs[2][0]))
+        self.lineEdit_y3.setText(str(self.robotClient.photo_locs[2][1]))
+        self.lineEdit_z3.setText(str(self.robotClient.photo_locs[2][2]))
+        pass
+
+    def show_infomessage_box(self,message):
+        msg_box = QMessageBox(self)
+        msg_box.setWindowTitle("提示")
+        msg_box.setText(message)
+        msg_box.setIcon(QMessageBox.Information)
+        msg_box.setStandardButtons(QMessageBox.OK)
 
 
 if __name__ == "__main__":