From aa93685862f9942d8eb79b29d24398a0b03769ef Mon Sep 17 00:00:00 2001 From: FrankCV2048 <1395405735@qq.com> Date: Tue, 3 Dec 2024 23:25:17 +0800 Subject: [PATCH] =?UTF-8?q?update=20=E5=AE=8C=E6=88=90=E6=8E=A7=E5=88=B6?= =?UTF-8?q?=E5=9F=BA=E6=9C=AC=E9=80=BB=E8=BE=91?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- COM/COM_Robot.py | 3 +- CU/Feeding.py | 392 +++++++++++++++++++++++++++++++------------- CU/Feeding_C.py | 35 +++- Config/FeedLine.ini | 354 ++++++++++++++++++++++++++++++++++----- Model/FeedModel.py | 23 ++- Model/RobotModel.py | 12 ++ main.py | 110 ++++++++----- test_ui.py | 61 +------ 8 files changed, 728 insertions(+), 262 deletions(-) diff --git a/COM/COM_Robot.py b/COM/COM_Robot.py index 292effb..e0b5a7a 100644 --- a/COM/COM_Robot.py +++ b/COM/COM_Robot.py @@ -26,7 +26,7 @@ class RobotClient(TCPClient): self.time_delay_take= time_delay_take self.time_delay_put = time_delay_put self.time_delay_shake = time_delay_shake - self.type_detection = DetectType.EyeOnHand + self.type_detection = DetectType.EyeOutHand 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 +95,7 @@ class RobotClient(TCPClient): raise def get_origin_position(self): + return self.status_model.getRealPosition() pass diff --git a/CU/Feeding.py b/CU/Feeding.py index 87c7920..2753957 100644 --- a/CU/Feeding.py +++ b/CU/Feeding.py @@ -8,50 +8,140 @@ import Constant import Expection from Model.Position import Real_Position, Detection_Position from enum import Enum, IntEnum -from COM.COM_Robot import RobotClient +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 - FSafeP = 3 + FMid = 3 FPhoto = 4 FTake = 5 - FSafeF = 6 - FFeedP = 7 - FBroken = 8 - FCut = 9 - FShake = 10 - FDropBag = 11 - FFinished = 12 + FBroken1 = 6 + FBroken2 =7 + FShake = 8 + FDropBag = 9 + FFinished = 10 + FReverse = 11 + FStartReverse = 12 + +class LineType(Enum): + Straight = 0 + 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,safe_position:Real_Position,broken1_position:Real_Position,broken2_position:Real_Position,shake_position:Real_Position,drop_bag_position:Real_Position): - - - self.safe_position = safe_position - self.broken1_position = broken1_position - self.broken2_position = broken2_position - self.shake_position = shake_position - self.drop_bag_position = drop_bag_position - - self.take_position = None + 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.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.start_to_take[self.start2take_pos_index] + return pos + def get_current_start_position(self): + pos = self.origin_to_start[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.origin_to_start[self.origin2start_pos_index] + if reverse: + self.origin2start_pos_index -= 1 + if self.origin2start_pos_index < 0: + self.origin2start_pos_index = len(self.origin_to_start) - 1 + else: + self.origin2start_pos_index += 1 + if self.origin2start_pos_index >= len(self.origin_to_start): + self.origin2start_pos_index = 0 + + return pos + + def get_next_take_position(self,reverse:bool=False): + pos = self.start_to_take[self.start2take_pos_index] + if reverse: + self.start2take_pos_index -= 1 + if self.start2take_pos_index < 0: + self.start2take_pos_index = len(self.start_to_take) - 1 + else: + self.start2take_pos_index += 1 + if self.start2take_pos_index >= len(self.start_to_take): + 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.value: + 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.value: + self.feeding_to_end[i].set_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.FCheck.value: + index_start = i + break + for i in range(len(self.feed_positions)): + if self.feed_positions[i].status == FeedStatus.FPhoto.value: + 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): + 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): + 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 @@ -60,8 +150,8 @@ class FeedingConfig: pass -class Feeding : - def __init__(self,robotClient:RobotClient,detection:Detection): +class Feeding: + def __init__(self, robotClient: RobotClient, detection: Detection): self.feedConfig = None self.feedStatus = FeedStatus.FNone self.robotClient = robotClient @@ -70,11 +160,13 @@ class Feeding : 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() @@ -91,18 +183,13 @@ class Feeding : # 0, # 0); - if self.feedConfig == None: self.feedStatus = FeedStatus.FNone - - elif self.feedConfig.num == 0: + 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.FStart: - log.log_message(logging.INFO, Constant.str_feed_start) - self.feedStatus = FeedStatus.FCheck if self.feedStatus != FeedStatus.FNone else FeedStatus.FNone - pass elif self.feedStatus == FeedStatus.FCheck: log.log_message(logging.INFO, Constant.str_feed_check) # 1, 检查是否是三列 @@ -110,36 +197,74 @@ class Feeding : # if self.safe_check_columns() and self.safe_check_person(): # pass # else: - if self.feedConfig.num != 0: - self.feedStatus = FeedStatus.FSafeP if self.feedStatus != FeedStatus.FNone else FeedStatus.FNone - self.sendTargPosition(self.feedConfig.feedLine.safe_position) + # 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 + return + if self.is_reverse and self.robotClient.get_origin_position().compare(real_position): + self.feedStatus = FeedStatus.FNone + self.is_reverse = False + return + # TODO 获取目标位置 + self.feedConfig.feedLine.set_take_position(real_position) + # 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.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.get_position().compare(real_position): + self.next_position(self.is_reverse) - elif self.feedStatus==FeedStatus.FSafeP: - log.log_message(logging.INFO,Constant.str_feed_safe) - if self.feedConfig.feedLine.safe_position.compare(real_position): - self.error_photo_count=0 - self.feedStatus = FeedStatus.FPhoto if self.feedStatus != FeedStatus.FNone else FeedStatus.FNone - #self.sendTargPosition(self.feedConfig.feedLine.photo_position) - #判断是哪一个问题 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): + 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) + 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 : + 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 + 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) @@ -147,122 +272,110 @@ class Feeding : 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 - 10, #TODO 这个10 需要确定 + 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)) + 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()) + 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 + 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]] - self.feedConfig.feedLine.take_position = detect_pos_list[0] + 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: - self.feedConfig.feedLine.take_position = detect_pos_list[max_z_index] + 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: - self.feedConfig.feedLine.take_position = detect_pos_list[0] + take_position = detect_pos_list[0] log.log_message(logging.INFO, Constant.str_feed_takePhoto_new_line) else: - self.feedConfig.feedLine.take_position = detect_pos_list[max_z_index] + take_position = detect_pos_list[max_z_index] log.log_message(logging.INFO, Constant.str_feed_takePhoto_line) - self.feedStatus = FeedStatus.FTake if self.feedStatus != FeedStatus.FNone else FeedStatus.FNone - self.sendTargPosition(self.feedConfig.feedLine.take_position) + + 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 + self.error_photo_count += 1 else: - self.feedConfig.feedLine.take_position = self.feedConfig.feedLine.safe_position - self.sendTargPosition(self.feedConfig.feedLine.safe_position) - self.feedStatus = FeedStatus.FTake if self.feedStatus != FeedStatus.FNone else FeedStatus.FNone + 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.take_position != None and self.feedConfig.feedLine.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 - time.sleep(self.robotClient.time_delay_take) - self.feedStatus = FeedStatus.FSafeF if self.feedStatus != FeedStatus.FNone else FeedStatus.FNone - log.log_message(logging.INFO, Constant.str_feed_take_success) - self.sendTargPosition(self.feedConfig.feedLine.safe_position) + if self.feedConfig.feedLine.get_take_position().get_position() != None: + 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) + self.sendIOControl(self.robotClient.con_ios[1], 1) + self.sendIOControl(self.robotClient.con_ios[2], 1) - pass + # 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) + self.next_position() - elif self.feedStatus == FeedStatus.FSafeF: - log.log_message(logging.INFO, Constant.str_feed_safe) - if self.feedConfig.feedLine.safe_position.compare(real_position): - self.feedStatus = FeedStatus.FBroken if self.feedStatus != FeedStatus.FNone else FeedStatus.FNone - self.sendTargPosition(self.feedConfig.feedLine.broken1_position) - pass #吸嘴开始 - - # elif self.feedStatus==FeedStatus.FFeedP: - # log.log_message(logging.INFO, Constant.str_feed_feed) - # if self.feedConfig.feedLine.feed_position.compare(real_position): - # self.feedStatus = FeedStatus.FBroken - # self.sendTargPosition(self.feedConfig.feedLine.broken1_position) - # pass #破袋 - - elif self.feedStatus==FeedStatus.FBroken: + elif self.feedStatus == FeedStatus.FBroken1: log.log_message(logging.INFO, Constant.str_feed_broken) + if self.get_current_position().get_position().compare(real_position): + self.next_position() - if self.feedConfig.feedLine.broken1_position.compare(real_position): - self.sendTargPosition(self.feedConfig.feedLine.broken2_position) - if self.feedConfig.feedLine.broken2_position.compare(real_position): - self.sendTargPosition(self.feedConfig.feedLine.shake_position) - if self.feedConfig.feedLine.shake_position.compare(real_position): # 延迟判断，如果最后点位延迟1s，则认为阶段完成 + + elif self.feedStatus == FeedStatus.FBroken2: + log.log_message(logging.INFO, Constant.str_feed_broken) + if self.get_current_position().get_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().get_position().compare(real_position): # TODO 震动方案 time.sleep(self.robotClient.time_delay_shake) - self.feedStatus = FeedStatus.FDropBag if self.feedStatus != FeedStatus.FNone else FeedStatus.FNone - self.sendTargPosition(self.feedConfig.feedLine.safe_position) + self.next_position() elif self.feedStatus == FeedStatus.FDropBag: log.log_message(logging.INFO, Constant.str_feed_drop) - if self.feedConfig.feedLine.safe_position.compare(real_position): - self.sendTargPosition(self.feedConfig.feedLine.drop_bag_position) - pass - if self.feedConfig.feedLine.drop_bag_position.compare(real_position): + + if self.get_current_position().get_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.feedLine.set_take_position(real_position) self.feedConfig.num = self.feedConfig.num - 1 log.log_message(logging.INFO, f'{Constant.str_feed_feed_num}{self.feedConfig.num}') - if self.feedConfig.num == 0: # 投料次数为0，直接返回 - log.log_message(logging.INFO, Constant.str_feed_finish) - self.feedStatus = FeedStatus.FNone - self.sendTargPosition(self.feedConfig.feedLine.safe_position) - self.init_detection_image() - else: - self.feedStatus = FeedStatus.FSafeP if self.feedStatus != FeedStatus.FNone else FeedStatus.FNone - self.sendTargPosition(self.feedConfig.feedLine.safe_position) + self.next_position() + + def send_emergency_sound(self): - self.sendIOControl(Constant.IO_EmergencyPoint, 1) + 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): + def sendIOControl(self, IO_bit, IO_Status: int): IO_command = CMDInstructRequest() io_instruction = Instruction() @@ -275,7 +388,7 @@ class Feeding : 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): + 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 @@ -284,12 +397,19 @@ class Feeding : 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}-' \ @@ -297,17 +417,59 @@ class Feeding : f'U:{position_instruction.m3}-' \ f'V:{position_instruction.m4}-' \ f'W:{position_instruction.m5}' - - try : + print(log_str) + 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 = FeedStatus(start_pos.status) if self.feedStatus != FeedStatus.FNone else FeedStatus.FNone + if start_pos.lineType == LineType.CureMid.value: + start_pos1 = self.feedConfig.feedLine.get_next_start_position(reverse) + self.sendTargPosition(real_position=start_pos.get_position(), move_type=MoveType.Cure, real_position1=start_pos1.get_position()) + else: + self.sendTargPosition(real_position=start_pos.get_position()) + pass + + def next_take(self,reverse=False): + take_pos = self.feedConfig.feedLine.get_next_take_position(reverse) + self.feedStatus = FeedStatus(take_pos.status) if self.feedStatus != FeedStatus.FNone else FeedStatus.FNone + if take_pos.lineType == LineType.CureMid.value: + take_pos1 = self.feedConfig.feedLine.get_next_take_position(reverse) + self.sendTargPosition(real_position=take_pos.get_position(), move_type=MoveType.Cure, real_position1=take_pos1.get_position()) + else: + self.sendTargPosition(real_position=take_pos.get_position()) + pass + + def next_Feed(self,reverse=False): + feed_pos = self.feedConfig.feedLine.get_next_feed_position(reverse) + self.feedStatus = FeedStatus(feed_pos.status) if self.feedStatus != FeedStatus.FNone else FeedStatus.FNone + if feed_pos.lineType == LineType.CureMid.value: + feed_pos1 = self.feedConfig.feedLine.get_next_feed_position(reverse) + self.sendTargPosition(real_position=feed_pos.get_position(), move_type=MoveType.Cure, real_position1=feed_pos1.get_position()) + else: + self.sendTargPosition(real_position=feed_pos.get_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 diff --git a/CU/Feeding_C.py b/CU/Feeding_C.py index 1beb610..4b921ad 100644 --- a/CU/Feeding_C.py +++ b/CU/Feeding_C.py @@ -33,6 +33,13 @@ class FeedStatus(IntEnum): FReverse = 11 FStartReverse = 12 +class LineType(Enum): + Straight = 0 + CureStart = 1 + CureMid = 2 + CureEnd = 3 + + class FeedMidStatus(Enum): FMid_Start = 1 FMid_Take = 2 @@ -374,7 +381,7 @@ class Feeding: 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): + 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 @@ -383,7 +390,15 @@ class Feeding: 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() @@ -408,19 +423,31 @@ class Feeding: 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 - self.sendTargPosition(start_pos.position) + 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 - self.sendTargPosition(take_pos.position) + 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 - self.sendTargPosition(feed_pos.position) + 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: diff --git a/Config/FeedLine.ini b/Config/FeedLine.ini index 64f1b31..6a71ea6 100644 --- a/Config/FeedLine.ini +++ b/Config/FeedLine.ini @@ -6,75 +6,345 @@ name = 反应釜1 id = 2 name = 反应釜2 -[Position1] -id = 1 -order = 1 -lineid = 1 -status = 0 -x = 0 -y = 0 -z = 0 -u = 0 -v = 0 -w = 0 - [Position2] +x = 7.0 +y = 50.0 +z = 1.0 +u = 12.0 +v = 0.0 +w = 1.0 id = 2 +order = 0 +lineid = 1 +status = 3 +linetype = 2 + +[Position3] +x = 7.0 +y = 50.0 +z = 1.0 +u = 12.0 +v = 0.0 +w = 1.0 +id = 3 order = 2 lineid = 1 -status = 0 -x = 0 -y = 0 -z = 0 -u = 0 -v = 0 -w = 0 +status = 2 +linetype = 0 + +[Position4] +x = 7.0 +y = 50.0 +z = 1.0 +u = 12.0 +v = 0.0 +w = 1.0 +id = 4 +order = 4 +lineid = 1 +status = 3 +linetype = 0 + +[Position5] +x = 7.0 +y = 50.0 +z = 1.0 +u = 12.0 +v = 0.0 +w = 1.0 +id = 5 +order = 6 +lineid = 1 +status = 3 +linetype = 0 + +[Position1] +x = 7.0 +y = 50.0 +z = 1.0 +u = 12.0 +v = 0.0 +w = 1.0 +id = 1 +order = 8 +lineid = 1 +status = 3 +linetype = 0 + +[Position7] +x = 7.0 +y = 50.0 +z = 1.0 +u = 12.0 +v = 0.0 +w = 1.0 +id = 7 +order = 1 +lineid = 1 +status = 3 +linetype = 0 + +[Position8] +x = 7.0 +y = 50.0 +z = 1.0 +u = 12.0 +v = 0.0 +w = 1.0 +id = 8 +order = 3 +lineid = 1 +status = 3 +linetype = 0 + +[Position9] +x = 7.0 +y = 50.0 +z = 1.0 +u = 12.0 +v = 0.0 +w = 1.0 +id = 9 +order = 5 +lineid = 1 +status = 3 +linetype = 0 + +[Position10] +x = 7.0 +y = 50.0 +z = 1.0 +u = 12.0 +v = 0.0 +w = 1.0 +id = 10 +order = 7 +lineid = 1 +status = 3 +linetype = 0 + +[Position11] +x = 7.0 +y = 50.0 +z = 1.0 +u = 12.0 +v = 0.0 +w = 1.0 +id = 11 +order = 9 +lineid = 1 +status = 4 +linetype = 0 + +[Position12] +x = 7.0 +y = 50.0 +z = 1.0 +u = 12.0 +v = 0.0 +w = 1.0 +id = 12 +order = 10 +lineid = 1 +status = 5 +linetype = 0 + +[Position13] +x = 7.0 +y = 50.0 +z = 1.0 +u = 12.0 +v = 0.0 +w = 1.0 +id = 13 +order = 11 +lineid = 1 +status = 3 +linetype = 0 + +[Position14] +x = 7.0 +y = 50.0 +z = 1.0 +u = 12.0 +v = 0.0 +w = 1.0 +id = 14 +order = 12 +lineid = 1 +status = 3 +linetype = 0 + +[Position15] +x = 7.0 +y = 50.0 +z = 1.0 +u = 12.0 +v = 0.0 +w = 1.0 +id = 15 +order = 13 +lineid = 1 +status = 6 +linetype = 0 + +[Position16] +x = 7.0 +y = 50.0 +z = 1.0 +u = 12.0 +v = 0.0 +w = 1.0 +id = 16 +order = 14 +lineid = 1 +status = 7 +linetype = 0 + +[Position17] +x = 7.0 +y = 50.0 +z = 1.0 +u = 12.0 +v = 0.0 +w = 1.0 +id = 17 +order = 15 +lineid = 1 +status = 8 +linetype = 0 + +[Position18] +x = 7.0 +y = 50.0 +z = 1.0 +u = 12.0 +v = 0.0 +w = 1.0 +id = 18 +order = 16 +lineid = 1 +status = 3 +linetype = 0 + +[Position19] +x = 7.0 +y = 50.0 +z = 1.0 +u = 12.0 +v = 0.0 +w = 1.0 +id = 19 +order = 17 +lineid = 1 +status = 9 +linetype = 0 + +[Position20] +x = 7.0 +y = 50.0 +z = 1.0 +u = 12.0 +v = 0.0 +w = 1.0 +id = 20 +order = 18 +lineid = 1 +status = 3 +linetype = 0 + +[Position21] +x = 7.0 +y = 50.0 +z = 1.0 +u = 12.0 +v = 0.0 +w = 1.0 +id = 21 +order = 19 +lineid = 1 +status = 3 +linetype = 0 + +[Position6] +x = 7.0 +y = 50.0 +z = 1.0 +u = 12.0 +v = 0.0 +w = 1.0 +id = 6 +order = 20 +lineid = 1 +status = 3 +linetype = 0 [FeedLine3] id = 3 -name = 线3阿斯顿发斯蒂芬 +name = 124124 -[Position3] +[Position23] x = 0.0 y = 0.0 z = 0.0 u = 0.0 v = 0.0 w = 0.0 -id = 3 -order = 5 +id = 23 +order = 0 lineid = 3 -status = 3 +status = 1 +linetype = 0 -[FeedLine4] -id = 4 -name = 线4阿斯顿发斯蒂芬 - -[Position4] +[Position24] x = 0.0 y = 0.0 z = 0.0 u = 0.0 v = 0.0 w = 0.0 -id = 4 -order = 5 -lineid = 4 -status = 3 +id = 24 +order = 1 +lineid = 3 +status = 1 +linetype = 0 -[FeedLine5] -id = 5 -name = 线5 - -[Position5] +[Position25] x = 0.0 y = 0.0 z = 0.0 u = 0.0 v = 0.0 w = 0.0 -id = 5 -order = 5 -lineid = 5 -status = 3 +id = 25 +order = 2 +lineid = 3 +status = 1 +linetype = 0 + +[Position26] +x = 0.0 +y = 0.0 +z = 0.0 +u = 0.0 +v = 0.0 +w = 0.0 +id = 26 +order = 3 +lineid = 3 +status = 1 +linetype = 0 + +[Position22] +x = 0.0 +y = 0.0 +z = 0.0 +u = 0.0 +v = 0.0 +w = 0.0 +id = 22 +order = 4 +lineid = 3 +status = 1 +linetype = 0 diff --git a/Model/FeedModel.py b/Model/FeedModel.py index 945b535..375ef59 100644 --- a/Model/FeedModel.py +++ b/Model/FeedModel.py @@ -1,6 +1,7 @@ import configparser import Constant +from CU.Feeding import LineType from Model.Position import Real_Position @@ -49,6 +50,7 @@ class PositionModel: self.order = 0 self.lineId = 0 self.status = 0 + self.lineType = 0 self.section = f'Position{index}' pass @@ -64,12 +66,28 @@ class PositionModel: self.order = config_reader.getint(self.section, 'order') self.lineId = config_reader.getint(self.section, 'lineId') self.status = config_reader.getint(self.section, 'status') - + self.lineType = config_reader.getint(self.section, 'lineType') def get_position(self): real_pos = Real_Position() real_pos.init_position(self.X, self.Y, self.Z, self.U, self.V, self.W) + if real_pos.X == -9999: + return None return real_pos - + def set_position(self,real_pos:Real_Position): + if real_pos == None: + self.X = -9999 + self.Y = -9999 + self.Z = -9999 + self.U = -9999 + self.V = -9999 + self.W = -9999 + return + self.X = real_pos.X + self.Y = real_pos.Y + self.Z = real_pos.Z + self.U = real_pos.U + self.V = real_pos.V + self.W = real_pos.W def save_position_model(self,config_reader): if not config_reader.has_section(self.section): config_reader.add_section(self.section) @@ -83,3 +101,4 @@ class PositionModel: config_reader.set(self.section, 'order', str(self.order)) config_reader.set(self.section, 'lineId', str(self.lineId)) config_reader.set(self.section, 'status', str(self.status)) + config_reader.set(self.section, 'lineType', str(self.lineType)) diff --git a/Model/RobotModel.py b/Model/RobotModel.py index 129d5e4..597ea31 100644 --- a/Model/RobotModel.py +++ b/Model/RobotModel.py @@ -6,6 +6,7 @@ from Model.Position import Real_Position class MoveType(Enum): AXIS = 4 WORLD = 10 + Cure = 17 class DATARequest: def __init__(self): @@ -137,6 +138,12 @@ class Instruction: self.m3 = 0.0 self.m4 = 0.0 self.m5 = 0.0 + self.m0_p = 0.0 + self.m1_p = 0.0 + self.m2_p = 0.0 + self.m3_p = 0.0 + self.m4_p = 0.0 + self.m5_p = 0.0 self.ckStatus = '0x3F' self.speed = 10 self.delay = 1.0 @@ -153,6 +160,11 @@ class Instruction: model_str = f'"oneshot":"{self.oneshot}","action":"{self.action}","m0":"{self.m0}","m1":"{self.m1}","m2":"{self.m2}",' \ f'"m3":"{self.m3}","m4":"{self.m4}","m5":"{self.m5}","ckStatus":"{self.ckStatus}","speed":"{self.speed}",' \ f'"delay":"{self.delay}","smooth":"{self.smooth}","tool":"{self.tool}"' + if self.action == 17: + model_str = f'"oneshot":"{self.oneshot}","action":"{self.action}","m0":"{self.m0}","m1":"{self.m1}","m2":"{self.m2}",' \ + f'"m3":"{self.m3}","m4":"{self.m4}","m5":"{self.m5}","m0_p":"{self.m0_p}","m1_p":"{self.m1_p}","m2_p":"{self.m2_p}",' \ + f'"m3_p":"{self.m3_p}","m4_p":"{self.m4_p}","m5_p":"{self.m5_p}","ckStatus":"{self.ckStatus}","speed":"{self.speed}",' \ + f'"delay":"{self.delay}","smooth":"{self.smooth}","tool":"{self.tool}"' else: model_str = f'"oneshot":"{self.oneshot}","action":"{200}","type":"{self.type}","io_status":"{self.io_status}"' \ f',"point":"{self.point}","delay":"{self.delay}"' diff --git a/main.py b/main.py index ec0ee07..dc871e0 100644 --- a/main.py +++ b/main.py @@ -22,7 +22,7 @@ from Model.FeedModel import LineModel, PositionModel from Util.util_ini import writeFeedLine_to_ini import Constant from CU.Command import FeedCommand -from CU.Feeding import FeedLine, FeedingConfig, Feeding, FeedStatus +from CU.Feeding import FeedLine, FeedingConfig, Feeding, FeedStatus, FeedMidStatus from Util.util_log import QTextEditLogger from Util.util_time import CRisOrFall from Vision.camera_coordinate_dete import Detection @@ -195,22 +195,22 @@ class MainWindow(QMainWindow, Ui_MainWindow): for row_i in range(self.tableWidget_lines.rowCount()): if self.tableWidget_lines.item(row_i, 0).text() == section: line_model = LineModel() - line_model.section = section - line_model.name = self.tableWidget_lines.item(row_i, 1).text() - line_model.id = int(self.tableWidget_lines.item(row_i, 2).text()) - line_model.positions = self.get_table_positions() - if len(self.get_table_positions()) != 0 and line_model.id != self.get_table_positions()[0].id: - return - if len(self.get_table_positions())==0: - return - + if len(self.get_table_positions()) == 0 and self.feedLine_dict.keys().__contains__(section): + line_model = self.feedLine_dict[section] + line_model.name = self.tableWidget_lines.item(row_i, 1).text() + else: + line_model.section = section + line_model.name = self.tableWidget_lines.item(row_i, 1).text() + line_model.id = int(self.tableWidget_lines.item(row_i, 2).text()) + line_model.positions = self.get_table_positions() config_reader = configparser.ConfigParser() config_reader.read(Constant.feedLine_set_file, encoding='utf-8') + if len(self.get_table_positions()) != 0 and line_model.id != self.get_table_positions()[0].lineId: + return line_model.save_line_model(config_reader) config_reader.write(open(Constant.feedLine_set_file, 'w', encoding='utf-8')) - break self.init_FeedLine() - + break self.init_table_lines_data() self.table_line_changed = False self.table_position_changed = False @@ -226,29 +226,36 @@ class MainWindow(QMainWindow, Ui_MainWindow): position_model.U = float(self.tableWidget_line_positions.item(row_i, 4).text()) position_model.V = float(self.tableWidget_line_positions.item(row_i, 5).text()) position_model.W = float(self.tableWidget_line_positions.item(row_i, 6).text()) - widget = self.tableWidget_line_positions.cellWidget(row_i, 7) - position_model.status = widget.currentData() - position_model.id = int(self.tableWidget_line_positions.item(row_i, 8).text()) + combox_line_type = self.tableWidget_line_positions.cellWidget(row_i, 7) + position_model.lineType = combox_line_type.currentData() + combox_status = self.tableWidget_line_positions.cellWidget(row_i, 8) + position_model.status = combox_status.currentData() + + position_model.id = int(self.tableWidget_line_positions.item(row_i, 9).text()) position_model.order = row_i - position_model.lineId = int(self.tableWidget_line_positions.item(row_i, 10).text()) + position_model.lineId = int(self.tableWidget_line_positions.item(row_i, 11).text()) position_models.append(position_model) return position_models def init_table_lines_data(self): # self.tableWidget_lines.setItem(0, 0, QTableWidgetItem("线1")) # self.tableWidget_lines.setItem(1, 0, QTableWidgetItem("线2")) # self.tableWidget_lines.setItem() + self.selected_line_section = '' + self.table_line_changed = False + self.table_position_changed = False self.tableWidget_lines.setRowCount(0) - for key,value in self.feedLine_dict.items(): + for key, value in self.feedLine_dict.items(): self.tableWidget_lines.insertRow(self.tableWidget_lines.rowCount()) self.tableWidget_lines.setItem(self.tableWidget_lines.rowCount()-1, 0, QTableWidgetItem(key)) self.tableWidget_lines.setItem(self.tableWidget_lines.rowCount()-1, 1, QTableWidgetItem(value.name)) - self.tableWidget_lines.setItem(self.tableWidget_lines.rowCount()-1, 2, QTableWidgetItem(value.id)) + self.tableWidget_lines.setItem(self.tableWidget_lines.rowCount()-1, 2, QTableWidgetItem(str(value.id))) show_pos_btn = QPushButton("显示路径") show_pos_btn.clicked.connect( lambda _, index=self.tableWidget_lines.rowCount()-1: self.show_lines_pos_data(index)) self.tableWidget_lines.setCellWidget(self.tableWidget_lines.rowCount() - 1, 3, show_pos_btn) - self.tableWidget_line_positions.setRowCount(0) + self.selected_line_section = '' + self.tableWidget_line_positions.setRowCount(0) def show_lines_context_menu(self): menu = QMenu(self) @@ -293,6 +300,7 @@ class MainWindow(QMainWindow, Ui_MainWindow): result = msgBox.exec() if result == QMessageBox.StandardButton.Ok: self.send_save_lines_data() + return else: # 重新初始化· self.init_table_lines_data() @@ -304,26 +312,27 @@ class MainWindow(QMainWindow, Ui_MainWindow): def init_table_position(self): #self.tableWidget_line_positions.setRowCount(5) - self.tableWidget_line_positions.setColumnCount(12) + self.tableWidget_line_positions.setColumnCount(13) - self.tableWidget_line_positions.setHorizontalHeaderLabels(["节段","X","Y","Z","U","V","W","类型","序号","排序","线号","操作2"]) + self.tableWidget_line_positions.setHorizontalHeaderLabels(["节段","X","Y","Z","U","V","W","运动类型","点位类型","序号","排序","线号","操作2"]) self.tableWidget_line_positions.setSelectionBehavior(QTableWidget.SelectRows) self.tableWidget_line_positions.setColumnHidden(0, True) - self.tableWidget_line_positions.setColumnHidden(8,True) - self.tableWidget_line_positions.setColumnHidden(9, True) + self.tableWidget_line_positions.setColumnHidden(9,True) self.tableWidget_line_positions.setColumnHidden(10, True) + self.tableWidget_line_positions.setColumnHidden(11, True) self.tableWidget_line_positions.setAutoScroll(True) self.tableWidget_line_positions.verticalHeader().hide() # 自动调整列宽 header = self.tableWidget_line_positions.horizontalHeader() - header.setSectionResizeMode(0, PySide6.QtWidgets.QHeaderView.ResizeMode.Stretch) + header.setSectionResizeMode(0, PySide6.QtWidgets.QHeaderView.ResizeMode.Interactive) self.tableWidget_line_positions.setHorizontalScrollBarPolicy(PySide6.QtCore.Qt.ScrollBarPolicy.ScrollBarAsNeeded) - for i in range(12): - header.setSectionResizeMode(i, PySide6.QtWidgets.QHeaderView.ResizeMode.Stretch) + for i in range(13): + header.setSectionResizeMode(i, PySide6.QtWidgets.QHeaderView.ResizeMode.Interactive) self.tableWidget_line_positions.setContextMenuPolicy(PySide6.QtCore.Qt.ContextMenuPolicy.CustomContextMenu) self.tableWidget_line_positions.customContextMenuRequested.connect(self.show_positions_context_menu) def init_table_positions_data(self,position_list): + self.tableWidget_line_positions.setRowCount(0) for index,position_model in enumerate(position_list): self.tableWidget_line_positions.insertRow(self.tableWidget_line_positions.rowCount()) self.set_positionModel_to_tabel(index,position_model) @@ -347,13 +356,21 @@ class MainWindow(QMainWindow, Ui_MainWindow): self.table_position_changed = True def add_new_position(self):# 选中添加 + if self.selected_line_section == '': return config_reader = configparser.ConfigParser() config_reader.read(Constant.feedLine_set_file, encoding = 'utf-8') position_model = PositionModel(999) + ids = [] + for j in range(self.tableWidget_line_positions.rowCount()): + ids.append(int(self.tableWidget_line_positions.item(j, 9).text())) for i in range(1,Constant.MAX_Position_num): if not config_reader.has_section(f"{Constant.position_set_section}{i}"): + if ids.__contains__(i): + continue position_model = PositionModel(i) break + if position_model.id == 999: + print("d") if self.tableWidget_line_positions.currentRow()==-1: row_i = self.tableWidget_line_positions.rowCount() else: @@ -362,8 +379,7 @@ class MainWindow(QMainWindow, Ui_MainWindow): self.tableWidget_line_positions.insertRow(row_i) position_model.order = 0 - position_model.status = FeedStatus.FStart - + position_model.status = 1 line_model = self.feedLine_dict.get(self.selected_line_section) line_id = line_model.id position_model.lineId = line_id @@ -371,7 +387,7 @@ class MainWindow(QMainWindow, Ui_MainWindow): self.table_line_changed = True def tabel_get_position(self,row_i): - self.set_position_to_tabel(row_i,self.status_address.getRealPosition()) + self.set_position_tabel(row_i,self.status_address.getRealPosition()) self.table_line_changed = True def tabel_delete_position(self,row_i): @@ -381,8 +397,16 @@ class MainWindow(QMainWindow, Ui_MainWindow): def set_positionModel_to_tabel(self,row_i,position_model:PositionModel): self.tableWidget_line_positions.setItem(row_i,0,QTableWidgetItem(str(position_model.section))) self.set_position_tabel(row_i,position_model.get_position()) + combox_lineType = QComboBox() + combox_lineType.addItem("直线",0) + combox_lineType.addItem("曲线中间点",2) + combox_lineType.addItem("曲线终点",3) + combox_lineType.setCurrentIndex(combox_lineType.findData(position_model.lineType)) + combox_lineType.currentIndexChanged.connect(self.send_table_position_status_changed) + self.tableWidget_line_positions.setCellWidget(row_i, 7, combox_lineType) + combox = QComboBox() - combox.addItem("初始化点", 1) + combox.addItem("初始化点", 2) combox.addItem("中间点", 3) combox.addItem("相机/待抓点",4) combox.addItem("抓取",5) @@ -390,18 +414,18 @@ class MainWindow(QMainWindow, Ui_MainWindow): combox.addItem("破带点2",7) combox.addItem("震动点",8) combox.addItem("扔带点",9) - combox.setCurrentIndex(position_model.status) + combox.setCurrentIndex(combox.findData(position_model.status)) combox.currentIndexChanged.connect(self.send_table_position_status_changed) - self.tableWidget_line_positions.setCellWidget(row_i, 7, combox) + self.tableWidget_line_positions.setCellWidget(row_i, 8, combox) #self.tableWidget_line_positions.setItem(row_i, 7, QTableWidgetItem(str(position_model.status))) - self.tableWidget_line_positions.setItem(row_i, 8, QTableWidgetItem(str(position_model.id))) - self.tableWidget_line_positions.setItem(row_i, 9, QTableWidgetItem(str(position_model.order))) - self.tableWidget_line_positions.setItem(row_i, 10, QTableWidgetItem(str(position_model.lineId))) + self.tableWidget_line_positions.setItem(row_i, 9, QTableWidgetItem(str(position_model.id))) + self.tableWidget_line_positions.setItem(row_i, 10, QTableWidgetItem(str(position_model.order))) + self.tableWidget_line_positions.setItem(row_i, 11, QTableWidgetItem(str(position_model.lineId))) get_pos_btn = QPushButton("获取点位") get_pos_btn.clicked.connect( lambda _, index=row_i: self.tabel_get_position(index)) - self.tableWidget_line_positions.setCellWidget(row_i, 11, get_pos_btn) + self.tableWidget_line_positions.setCellWidget(row_i, 12, get_pos_btn) # del_pos_btn = QPushButton("删除点位") # del_pos_btn.clicked.connect(lambda _, index=row_i: self.tabel_delete_position(index)) # self.tableWidget_line_positions.setCellWidget(row_i, 12, del_pos_btn) @@ -781,9 +805,9 @@ class MainWindow(QMainWindow, Ui_MainWindow): return log.log_message(logging.INFO, '第一层确认生产') - - has_person, _ = self.detection_person.get_person() - if has_person: + has_person = False + # has_person, _ = self.detection_person.get_person() # TODO + if has_person: # TODO # self.feeding.pause = True # self.send_pause_command(True) # @@ -800,7 +824,8 @@ class MainWindow(QMainWindow, Ui_MainWindow): num = self.horizontalSlider_feedingNum.maximum() line_head = self.comboBox_lineIndex.currentData() - self.command_quene.put(FeedCommand(FeedingConfig(num, self.feedLine_dict[line_head], self.feeding.robotClient.photo_locs[:]))) + + self.command_quene.put(FeedCommand(FeedingConfig(num, FeedLine(self.feedLine_dict[line_head].id,self.feedLine_dict[line_head].name,self.feedLine_dict[line_head].positions), self.feeding.robotClient.photo_locs[:]))) self.stackedWidget_num.setCurrentIndex(1) self.set_run_status_button(True) self.feeding.pause = False @@ -1166,7 +1191,8 @@ class MainWindow(QMainWindow, Ui_MainWindow): if isinstance(command, FeedCommand) and command.status == Status.Prepareing: if self.feeding.feedStatus == FeedStatus.FNone: self.feeding.feedConfig = command.feed_config - self.feeding.feedStatus = FeedStatus.FCheck + self.feeding.feedStatus = FeedStatus.FStart + # self.feeding.feed_Mid_Status = FeedMidStatus.FMid_Start command.status = Status.Runing try: @@ -1315,7 +1341,7 @@ class MainWindow(QMainWindow, Ui_MainWindow): self.set_sign_status(self.label_sign_take, self.pushButton_sign_take, True) self.set_sign_status(self.label_sign_feed, self.pushButton_sign_feed, False) return - if sign <= FeedStatus.FBroken: + if sign <= FeedStatus.FBroken1: self.set_sign_status(self.label_sign_go, self.pushButton_sign_go, False) self.set_sign_status(self.label_sign_photo, self.pushButton_sign_photo, False) self.set_sign_status(self.label_sign_take, self.pushButton_sign_take, False) diff --git a/test_ui.py b/test_ui.py index b807cf7..463b910 100644 --- a/test_ui.py +++ b/test_ui.py @@ -1,61 +1,10 @@ -from PySide6.QtWidgets import QApplication, QWidget, QTableWidget, QTableWidgetItem, QComboBox, QPushButton, QVBoxLayout, QHBoxLayout -from PySide6.QtCore import Qt +from enum import Enum -class TableWithComboAndButtons(QWidget): - def __init__(self): - super().__init__() - self.setWindowTitle("表格：两列按钮，某一列下拉框") - self.setGeometry(100, 100, 600, 400) - # 布局 - layout = QVBoxLayout() +def keepA(a,b=1,c=2,d=3): + print(a) + print('Straight') - # 创建表格 - self.table = QTableWidget(5, 3) # 5行，3列 - self.table.setHorizontalHeaderLabels(["位置", "获取位置", "保存位置"]) +keepA(2) - # 设置“位置”列为下拉框 - for row in range(5): - combo = QComboBox() - combo.addItems(["位置 A", "位置 B", "位置 C"]) - self.table.setCellWidget(row, 0, combo) - - # 设置“获取位置”和“保存位置”列为按钮 - for row in range(5): - get_button = QPushButton("获取位置") - get_button.clicked.connect(self.get_location) - self.table.setCellWidget(row, 1, get_button) - - save_button = QPushButton("保存位置") - save_button.clicked.connect(self.save_location) - self.table.setCellWidget(row, 2, save_button) - - # 将表格添加到布局中 - layout.addWidget(self.table) - self.setLayout(layout) - - def get_location(self): - # 获取当前行的“位置”列的内容 - selected_row = self.table.currentRow() - if selected_row >= 0: - location = self.table.cellWidget(selected_row, 0).currentText() - print(f"获取位置: {location}") - else: - print("没有选中任何行") - - def save_location(self): - # 获取当前行的“位置”列的内容并保存 - selected_row = self.table.currentRow() - if selected_row >= 0: - location = self.table.cellWidget(selected_row, 0).currentText() - print(f"保存位置: {location}") - self.table.setItem(selected_row, 0, QTableWidgetItem(f"已保存 - {location}")) - else: - print("没有选中任何行") - -if __name__ == "__main__": - app = QApplication([]) - window = TableWithComboAndButtons() - window.show() - app.exec()