Merge remote-tracking branch 'origin/master'
# Conflicts: # Util/util_pic.py
This commit is contained in:
cdeyw
@ -37,7 +37,7 @@ class RobotClient(TCPClient):
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self.max_angle_interval = 0
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def add_sendQuene(self,command): #后面 命令分等级，紧急命令直接执行
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self.command_quene.put(command)
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log.log_message(logging.INFO, f'{Constant.str_sys_command}{command}')
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return
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def send_Command(self):
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13
CU/Catch.py
13
CU/Catch.py
@ -34,18 +34,19 @@ class Catch:
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if Constant.Debug or self.robotClient.check_outputQ(self.robotClient.con_ios[1]) and not self.robotClient.check_outputQ(self.robotClient.con_ios[0]):
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self.catch_status = CatchStatus.COk
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if self.catch_status == CatchStatus.CShake:
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if not self.shake_continue.Q(True, 2000):
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shakeQ = self.shakePulse.Q(True, 100, 100)
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self.robotClient.sendIOControl(self.robotClient.con_ios[2], shakeQ)
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if not self.shake_continue.Q(True, 1500):
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shakeQ = self.shakePulse.Q(True, 50, 50)
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self.robotClient.sendIOControl(self.robotClient.con_ios[2], 1 if shakeQ else 0)
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print("正在震动" if shakeQ else "震动结束")
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else:
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self.shake_continue.SetReset()
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self.catch_status = CatchStatus.COk
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if Constant.Debug or self.robotClient.check_outputQ(self.robotClient.con_ios[2]):
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self.robotClient.sendIOControl(self.robotClient.con_ios[2], False)
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print("震动结束")
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#if Constant.Debug or self.robotClient.check_outputQ(self.robotClient.con_ios[2]):
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self.robotClient.sendIOControl(self.robotClient.con_ios[2], 0)
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print("震动结束")
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if self.catch_status == CatchStatus.COk:
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self.robotClient.sendIOControl(self.robotClient.con_ios[1], 0)
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pass
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40
CU/Detect.py
Normal file
40
CU/Detect.py
Normal file
@ -0,0 +1,40 @@
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from enum import Enum
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import Constant
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from Model.Position import Real_Position
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from Trace.handeye_calibration import getPosition
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from Util.util_time import CClockPulse, CTon
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class DetectStatus(Enum):
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DNone = 0
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DDetect = 1
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DOk = 2
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class Detect:
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def __init__(self,detection):
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self.detection = detection
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self.detect_status = DetectStatus.DNone
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self.detect_position = None
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def run(self):
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if self.detect_status == DetectStatus.DNone:
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return
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if self.detect_status == DetectStatus.DDetect:
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_, img, xyz, uvw, points = self.detection.get_position(Point_isVision=False, Box_isPoint=True,
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First_Depth=True, Iter_Max_Pixel=30,
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save_img_point=0, Height_reduce=30, width_reduce=30)
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self.detection_image = img.copy()
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if xyz == None or uvw == None or points == None:
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self.detect_position = None
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self.detect_status = DetectStatus.DOk
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return
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target_position, noraml_base = getPosition(*xyz, *uvw, None, points)
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position = Real_Position().init_position(*target_position[:3], *noraml_base[:3])
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position.Z = position.Z + 200
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self.detect_position = position
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self.detect_status = DetectStatus.DOk
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if self.detect_status == DetectStatus.DOk:
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return
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@ -1,4 +1,6 @@
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import copy
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import logging
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import threading
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import time
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import cv2
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@ -8,6 +10,7 @@ from PySide6.QtCore import Signal, QObject
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import Constant
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import Expection
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from CU.Catch import Catch, CatchStatus
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from CU.Detect import Detect, DetectStatus
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from Model.FeedModel import PositionModel
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from Model.Position import Real_Position, Detection_Position
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from enum import Enum, IntEnum
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@ -61,7 +64,7 @@ class FeedPosition:
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class FeedLine:
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def __init__(self, id, name, feed_positions:list):
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self.feed_positions = feed_positions
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self.feed_positions = copy.deepcopy(feed_positions)
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self.feeding2end_pos_index = 0
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self.origin2start_pos_index = 0
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self.start2take_pos_index = 0
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@ -180,10 +183,13 @@ class Feeding(QObject):
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self.reset_status = ResetStatus.RNone
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self.reversed_positions = []
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self.current_position = None
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self.index=1
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self.pos_index = -1
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self.pos_near_index = -1
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self.catch = Catch(self.robotClient)
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self.detect = Detect(self.detection)
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self.detect_thread_img = threading.Thread(target=self.detect.run)
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self.detect_thread_img.start()
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pass
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def init_detection_image(self):
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@ -206,6 +212,12 @@ class Feeding(QObject):
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# 0,
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# 0);
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# img_path = f'Image/{self.index}.png'
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# img = cv2.imread(img_path)
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# self.index += 1
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# self.index = self.index % 4
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# self.detection_image = img
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if self.feedConfig == None:
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self.feedStatus = FeedStatus.FNone
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@ -241,6 +253,7 @@ class Feeding(QObject):
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log.log_message(logging.INFO, Constant.str_feed_start)
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if not self.robotClient.origin_position.compare(real_position) and not self.is_reverse:
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# QMessageBox.information(None, "提示", Constant.str_feed_start_error) # Fuck 引起异常
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log.log_message(logging.ERROR, Constant.str_feed_start_error)
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self.need_origin_signal.emit(Constant.str_feed_start_error)
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self.feedStatus = FeedStatus.FNone
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return
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@ -250,12 +263,11 @@ class Feeding(QObject):
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return
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self.feedConfig.feedLine.get_position_list()
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self.detect.detect_status = DetectStatus.DNone
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# = self.detection.get_position(Point_isVision=False, Box_isPoint=True, First_Depth=True, Iter_Max_Pixel=30,
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# # save_img_point=0, Height_reduce=30, width_reduce=30)
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self.feedConfig.feedLine.set_take_position(self.get_take_position())
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# TODO 获取目标位置
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#
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self.feed_Mid_Status = FeedMidStatus.FMid_Start
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@ -283,7 +295,18 @@ class Feeding(QObject):
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if self.robotClient.type_detection == DetectType.EyeOutHand:
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self.feed_Mid_Status = FeedMidStatus.FMid_Feed
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self.next_position()
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if self.detect.detect_status == DetectStatus.DNone:
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self.detect.detect_status = DetectStatus.DDetect
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elif self.detect.detect_status == DetectStatus.DOk:
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if self.detect.detect_position != None:
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log.log_message(logging.INFO, Constant.str_feed_takePhoto_success)
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self.feedConfig.feedLine.set_take_position(self.detect.detect_position)
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self.detection_image = self.detect.detection_image
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self.next_position()
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self.detect.detect_status = DetectStatus.DNone
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else:
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log.log_message(logging.ERROR, Constant.str_feed_takePhoto_fail)
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self.take_no_photo_sigal.emit()
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return
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detect_pos_list = []
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if not Constant.Debug:
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@ -362,8 +385,7 @@ class Feeding(QObject):
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# self.sendIOControl(self.robotClient.con_ios[1], 1)
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# self.sendIOControl(self.robotClient.con_ios[2], 1)
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log.log_message(logging.INFO, "到达抓料点位")
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if self.catch.catch_status == CatchStatus.CNone :
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self.catch.catch_status = CatchStatus.CTake
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return
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@ -379,9 +401,10 @@ class Feeding(QObject):
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else:
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log.log_message(logging.ERROR, Constant.str_feed_takePhoto_fail)
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# self.take_no_photo = True
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self.take_no_photo_sigal.emit()
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# 继续获取图像
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# TODO
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# self.feedConfig.feedLine.set_take_position(self.get_take_position())
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@ -430,7 +453,9 @@ class Feeding(QObject):
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self.catch.catch_status = CatchStatus.CNone
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time.sleep(self.robotClient.time_delay_put)
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# 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)
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self.feedConfig.feedLine.set_take_position(self.get_take_position())
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# self.feedConfig.feedLine.set_take_position(self.get_take_position())
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if self.detect.detect_status == DetectStatus.DNone:
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self.detect.detect_status = DetectStatus.DDetect
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self.feedConfig.num = self.feedConfig.num - 1
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log.log_message(logging.INFO, f'{Constant.str_feed_feed_num}{self.feedConfig.num}')
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self.next_position()
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@ -486,7 +511,6 @@ class Feeding(QObject):
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return
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pos_model = self.reversed_positions[self.reverse_index]
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if pos_model.status == FeedStatus.FTake.value: # 跳过取袋节点
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print('跳过抓袋点位')
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pos_model = self.reversed_positions[self.reverse_index + 1]
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self.reverse_index = self.reverse_index+1
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@ -554,10 +578,10 @@ class Feeding(QObject):
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while self.run_reverse and self.reverse_index!=len(reversed_positions):
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if self.reverse_index!=0 and not real_position.compare(current_position.get_position()):
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continue
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print(f'复位第{self.reverse_index}') #todo 缺少比对
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#todo 缺少比对
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pos_model = reversed_positions[self.reverse_index]
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if pos_model.status == FeedStatus.FTake.value: # 跳过取袋节点
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print('跳过抓袋点位')
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pos_model = reversed_positions[self.reverse_index + 1]
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# TODO take节点判断
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@ -601,6 +625,7 @@ class Feeding(QObject):
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position_instruction.m3 = real_position.U
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position_instruction.m4 = real_position.V
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position_instruction.m5 = real_position.W
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position_instruction.smooth = 4
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position_instruction.action = move_type.value
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if position_instruction.action == 17:
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@ -621,29 +646,28 @@ class Feeding(QObject):
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f'U:{position_instruction.m3}-' \
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f'V:{position_instruction.m4}-' \
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f'W:{position_instruction.m5}'
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print(log_str)
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try:
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||||
log.log_message(logging.INFO, log_str)
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||||
except:
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print("error")
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return
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|
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self.robotClient.add_sendQuene(request_command)
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pass
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def get_take_position(self):
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if Constant.Debug:
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return self.robotClient.status_model.getRealPosition()
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_, img, xyz, uvw, points = 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)
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self.detection_image = img
|
||||
if xyz ==None or uvw==None or points==None:
|
||||
return None
|
||||
target_position,noraml_base = getPosition(*xyz,*uvw,None,points)
|
||||
|
||||
position = Real_Position().init_position(*target_position[:3],*noraml_base[:3])
|
||||
position.Z = position.Z+40
|
||||
return position
|
||||
# def get_take_position(self):
|
||||
# if Constant.Debug:
|
||||
# return self.robotClient.status_model.getRealPosition()
|
||||
# _, img, xyz, uvw, points = 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.detection_image = img.copy()
|
||||
# if xyz ==None or uvw==None or points==None:
|
||||
# return None
|
||||
# target_position,noraml_base = getPosition(*xyz,*uvw,None,points)
|
||||
#
|
||||
# position = Real_Position().init_position(*target_position[:3],*noraml_base[:3])
|
||||
# position.Z = position.Z+200
|
||||
# return position
|
||||
def next_start(self,reverse=False):
|
||||
print(f'原点到初始位置的第{self.feedConfig.feedLine.origin2start_pos_index}')
|
||||
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:
|
||||
@ -655,13 +679,13 @@ class Feeding(QObject):
|
||||
self.feedStatus = None
|
||||
log.log_message(logging.ERROR, Constant.str_feed_angle_error)
|
||||
else:
|
||||
self.sendTargPosition(real_position=start_pos.get_position(),speed=self.robotClient.debug_speed,move_type=MoveType.WORLD)
|
||||
self.sendTargPosition(real_position=start_pos.get_position(),speed=self.robotClient.debug_speed,move_type=MoveType.AXIS)
|
||||
else:
|
||||
self.sendTargPosition(real_position=start_pos.get_position(),speed=self.robotClient.debug_speed)
|
||||
pass
|
||||
|
||||
def next_take(self,reverse=False):
|
||||
print(f'初始位置到拍照点的第{self.feedConfig.feedLine.start2take_pos_index}')
|
||||
|
||||
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:
|
||||
@ -673,7 +697,6 @@ class Feeding(QObject):
|
||||
pass
|
||||
|
||||
def next_Feed(self,reverse=False):
|
||||
print(f'拍照到抛料回来的第{self.feedConfig.feedLine.feeding2end_pos_index}')
|
||||
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:
|
||||
|
||||
@ -2,150 +2,163 @@
|
||||
id = 1
|
||||
name = 反应釜1
|
||||
|
||||
[Position2]
|
||||
x = 421.397
|
||||
y = 2095.76
|
||||
z = 1403.803
|
||||
u = 2.787
|
||||
v = 17.14
|
||||
w = -95.084
|
||||
id = 2
|
||||
order = 0
|
||||
lineid = 1
|
||||
status = 3
|
||||
linetype = 2
|
||||
|
||||
[FeedLine2]
|
||||
id = 2
|
||||
name = 未定义
|
||||
name = 反应釜2
|
||||
|
||||
[Position3]
|
||||
x = 1.0
|
||||
y = 2.0
|
||||
z = 0.0
|
||||
u = 0.0
|
||||
v = 0.0
|
||||
w = 0.0
|
||||
x = 1882.882568
|
||||
y = 786.492737
|
||||
z = 1203.552246
|
||||
u = 11.403661
|
||||
v = -0.985981
|
||||
w = -125.710434
|
||||
id = 3
|
||||
order = 0
|
||||
lineid = 2
|
||||
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
|
||||
[Position4]
|
||||
x = 1868.06311
|
||||
y = 872.854065
|
||||
z = 1265.651855
|
||||
u = 12.479004
|
||||
v = 1.611398
|
||||
w = -127.729263
|
||||
id = 4
|
||||
order = 2
|
||||
lineid = 1
|
||||
status = 4
|
||||
linetype = 0
|
||||
|
||||
[Position4]
|
||||
x = 7.0
|
||||
y = 50.0
|
||||
z = 1.0
|
||||
u = 12.0
|
||||
v = 0.0
|
||||
w = 1.0
|
||||
id = 4
|
||||
order = 3
|
||||
lineid = 1
|
||||
status = 2
|
||||
linetype = 0
|
||||
|
||||
[Position1]
|
||||
x = 7.0
|
||||
y = 50.0
|
||||
z = 1.0
|
||||
u = 12.0
|
||||
v = 0.0
|
||||
w = 1.0
|
||||
x = 348.84654634488436
|
||||
y = 1836.958560527403
|
||||
z = 223.84778176988266
|
||||
u = 2.3775411141593388
|
||||
v = -0.7172354339862681
|
||||
w = 95.0492701673298
|
||||
id = 1
|
||||
order = 4
|
||||
lineid = 1
|
||||
status = 5
|
||||
linetype = 0
|
||||
|
||||
[Position6]
|
||||
x = 7.0
|
||||
y = 50.0
|
||||
z = 1.0
|
||||
u = 12.0
|
||||
v = 0.0
|
||||
w = 1.0
|
||||
id = 6
|
||||
order = 1
|
||||
[Position7]
|
||||
x = 2218.886475
|
||||
y = 483.322144
|
||||
z = 1371.784302
|
||||
u = 8.190439
|
||||
v = 7.692511
|
||||
w = -143.628922
|
||||
id = 7
|
||||
order = 0
|
||||
lineid = 1
|
||||
status = 2
|
||||
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
|
||||
[Position8]
|
||||
x = 807.391785
|
||||
y = 2337.584473
|
||||
z = 1852.736816
|
||||
u = -0.412497
|
||||
v = 9.080836
|
||||
w = -110.687553
|
||||
id = 8
|
||||
order = 5
|
||||
lineid = 1
|
||||
status = 6
|
||||
linetype = 0
|
||||
|
||||
[Position8]
|
||||
x = 7.0
|
||||
y = 50.0
|
||||
z = 1.0
|
||||
u = 12.0
|
||||
v = 0.0
|
||||
w = 1.0
|
||||
id = 8
|
||||
[Position9]
|
||||
x = 1759.061523
|
||||
y = 1738.14978
|
||||
z = 1852.472412
|
||||
u = 0.723375
|
||||
v = 9.708878
|
||||
w = -126.572548
|
||||
id = 9
|
||||
order = 6
|
||||
lineid = 1
|
||||
status = 7
|
||||
linetype = 0
|
||||
|
||||
[Position9]
|
||||
x = 7.0
|
||||
y = 50.0
|
||||
z = 1.0
|
||||
u = 12.0
|
||||
v = 0.0
|
||||
w = 1.0
|
||||
id = 9
|
||||
[Position10]
|
||||
x = 1759.061523
|
||||
y = 1738.14978
|
||||
z = 1852.472412
|
||||
u = 0.723375
|
||||
v = 9.708878
|
||||
w = -126.572548
|
||||
id = 10
|
||||
order = 7
|
||||
lineid = 1
|
||||
status = 8
|
||||
linetype = 0
|
||||
|
||||
[Position10]
|
||||
x = 7.0
|
||||
y = 50.0
|
||||
z = 1.0
|
||||
u = 12.0
|
||||
v = 0.0
|
||||
w = 1.0
|
||||
id = 10
|
||||
order = 8
|
||||
lineid = 1
|
||||
status = 9
|
||||
linetype = 0
|
||||
|
||||
[Position11]
|
||||
x = 7.0
|
||||
y = 50.0
|
||||
z = 1.0
|
||||
u = 12.0
|
||||
v = 0.0
|
||||
w = 1.0
|
||||
x = 1960.667847
|
||||
y = 837.290405
|
||||
z = 1688.202637
|
||||
u = -0.347183
|
||||
v = 0.356827
|
||||
w = -147.846161
|
||||
id = 11
|
||||
order = 9
|
||||
order = 8
|
||||
lineid = 1
|
||||
status = 3
|
||||
linetype = 0
|
||||
|
||||
[Position12]
|
||||
x = 1643.540039
|
||||
y = -24.557989
|
||||
z = 995.504272
|
||||
u = 0.167181
|
||||
v = 2.42627
|
||||
w = 177.088989
|
||||
id = 12
|
||||
order = 9
|
||||
lineid = 1
|
||||
status = 9
|
||||
linetype = 0
|
||||
|
||||
[Position2]
|
||||
x = 762.708984
|
||||
y = 1915.674561
|
||||
z = 1265.639648
|
||||
u = 12.478849
|
||||
v = 1.611004
|
||||
w = -84.483177
|
||||
id = 2
|
||||
order = 3
|
||||
lineid = 1
|
||||
status = 3
|
||||
linetype = 0
|
||||
|
||||
[Position5]
|
||||
x = 1868.06311
|
||||
y = 872.854065
|
||||
z = 1265.651855
|
||||
u = 12.479004
|
||||
v = 1.611398
|
||||
w = -127.729263
|
||||
id = 5
|
||||
order = 1
|
||||
lineid = 1
|
||||
status = 2
|
||||
linetype = 0
|
||||
|
||||
[Position6]
|
||||
x = 1425.824829
|
||||
y = 952.627869
|
||||
z = 1364.459839
|
||||
u = -5.591513
|
||||
v = -38.629269
|
||||
w = -114.406639
|
||||
id = 6
|
||||
order = 1
|
||||
lineid = 2
|
||||
status = 2
|
||||
linetype = 0
|
||||
|
||||
|
||||
@ -3,7 +3,7 @@ import os
|
||||
Debug = True
|
||||
IO_EmergencyPoint = 3
|
||||
bag_height = 10 # 一袋的高度
|
||||
position_accuracy = 0.05
|
||||
position_accuracy = 0.1
|
||||
manual_adjust_accuracy = 1
|
||||
# speed = 10
|
||||
# shake_speed = 20
|
||||
@ -61,6 +61,7 @@ str_feed_start_error = '请先复位到原点'
|
||||
str_feed_return_original_position_fail = '机械臂未按照实际路线点移动，未能寻找到适配路径点位'
|
||||
str_feed_reset_no_line_error = '未定义的线段'
|
||||
str_feed_angle_error = '角度差距过大，停止运行'
|
||||
str_feed_reset_start = '开始复位'
|
||||
str_sys_start = '进入系统'
|
||||
str_sys_exit = '退出系统'
|
||||
str_sys_switch_tool = '切换到工具坐标'
|
||||
@ -78,6 +79,7 @@ str_sys_log_IO_error = 'IO更新失败'
|
||||
str_sys_log_alarm_error = '发生报警：'
|
||||
str_sys_log_move_error = '请填写全部坐标'
|
||||
str_sys_set_position_error = '未选中行'
|
||||
str_sys_command = '发送命令'
|
||||
str_tcp_robot_connect_fail = '连接失败'
|
||||
str_tcp_robot_connect_success = '连接成功'
|
||||
str_tcp_robot_data_error = '数据解析错误'
|
||||
|
||||
@ -1,3 +1,5 @@
|
||||
import math
|
||||
|
||||
from Constant import position_accuracy
|
||||
class Position:
|
||||
def __init__(self):
|
||||
@ -7,17 +9,30 @@ class Position:
|
||||
self.U = 0.0
|
||||
self.V = 0.0
|
||||
self.W = 0.0
|
||||
|
||||
def compare(self,position):
|
||||
if self.X-position.X<position_accuracy and \
|
||||
self.Y-position.Y<position_accuracy and \
|
||||
self.Z - position.Z < position_accuracy and \
|
||||
self.U - position.U < position_accuracy and \
|
||||
self.V - position.V < position_accuracy and \
|
||||
self.W - position.W < position_accuracy:
|
||||
distance = math.sqrt((self.X-position.X)**2+
|
||||
(self.Y-position.Y)**2+
|
||||
(self.Z - position.Z)**2+
|
||||
(self.U - position.U)**2+
|
||||
(self.V - position.V)**2+
|
||||
(self.W - position.W) ** 2)
|
||||
if distance<=position_accuracy:
|
||||
return True
|
||||
else:
|
||||
return False
|
||||
pass
|
||||
|
||||
# def compare(self,position):
|
||||
# if self.X-position.X<position_accuracy and \
|
||||
# self.Y-position.Y<position_accuracy and \
|
||||
# self.Z - position.Z < position_accuracy and \
|
||||
# self.U - position.U < position_accuracy and \
|
||||
# self.V - position.V < position_accuracy and \
|
||||
# self.W - position.W < position_accuracy:
|
||||
# return True
|
||||
# else:
|
||||
# return False
|
||||
# pass
|
||||
|
||||
def is_error_angel_move(self,position,interval):
|
||||
if self.X - position.X >= interval or \
|
||||
|
||||
@ -189,8 +189,7 @@ class CMDInstructRequest:
|
||||
if len(self.instructions) != 0:
|
||||
model_str = model_str+',"instructions":'+"[{"+self.instructions[0].toString()+"}]"+"}"
|
||||
else:
|
||||
model_str = model_str+',"instructions":'+"[{""}]"+"}" #model_str+"}"
|
||||
print(model_str)
|
||||
model_str = model_str+',"instructions":'+"[]"+"}" #model_str+"}"
|
||||
return model_str
|
||||
|
||||
class CMDInstructReply:
|
||||
|
||||
10
Seting.ini
10
Seting.ini
@ -47,14 +47,14 @@ photo_v5 = 0.0
|
||||
photo_w5 = 1.0
|
||||
linecount = 2
|
||||
remain_linename = 1
|
||||
remain_count = 0
|
||||
io_take_addr = 3
|
||||
io_zip_addr = 2
|
||||
io_shake_addr = 10
|
||||
remain_count = 574
|
||||
io_take_addr = 8
|
||||
io_zip_addr = 11
|
||||
io_shake_addr = 12
|
||||
takedelay = 0.2
|
||||
putdelay = 0.1
|
||||
shakedelay = 1.0
|
||||
max_angle_interval=20
|
||||
max_angle_interval = 20
|
||||
|
||||
[Speed]
|
||||
debug_speed = 50
|
||||
|
||||
@ -1,13 +1,25 @@
|
||||
import logging
|
||||
|
||||
import cv2
|
||||
from PIL.ImageQt import QImage, QPixmap
|
||||
|
||||
from Util.util_log import log
|
||||
|
||||
|
||||
def cv2_to_qpixmap(cv_img):
|
||||
"""将OpenCV图像转换为QPixmap"""
|
||||
height, width, channel = cv_img.shape
|
||||
bytes_per_line = 3 * width
|
||||
q_img = QImage(cv_img.data, width, height, bytes_per_line, QImage.Format_RGB888)
|
||||
return QPixmap.fromImage(q_img)
|
||||
# img = cv_img.copy()
|
||||
# cv_img = cv2.cvtColor(cv_img, cv2.COLOR_BGR2RGB)
|
||||
try:
|
||||
img = cv_img.copy()
|
||||
height, width, channel = img.shape
|
||||
bytes_per_line = 3 * width
|
||||
q_img = QImage(img.data, width, height, bytes_per_line, QImage.Format_RGB888)
|
||||
return QPixmap.fromImage(q_img)
|
||||
except Exception as e:
|
||||
print(e)
|
||||
log.log_message(logging.ERROR,e)
|
||||
return None
|
||||
|
||||
# def cv2_to_qpixmap(cv_img):
|
||||
# """将OpenCV图像转换为QPixmap"""
|
||||
|
||||
3
app.py
3
app.py
@ -910,7 +910,6 @@ class MainWindow(QMainWindow, Ui_MainWindow):
|
||||
else:
|
||||
pause_command.cmdData.append("0")
|
||||
request_command = pause_command.toString()
|
||||
print(request_command)
|
||||
self.robotClient.add_sendQuene(request_command)
|
||||
|
||||
def send_clear_alarm_command(self, pause: bool):
|
||||
@ -918,7 +917,6 @@ class MainWindow(QMainWindow, Ui_MainWindow):
|
||||
pause_command.cmdData.append("clearAlarmContinue")
|
||||
pause_command.cmdData.append("1")
|
||||
request_command = pause_command.toString()
|
||||
print(request_command)
|
||||
log_str = f'暂停：{pause}'
|
||||
self.robotClient.add_sendQuene(request_command)
|
||||
|
||||
@ -927,7 +925,6 @@ class MainWindow(QMainWindow, Ui_MainWindow):
|
||||
switch_command.cmdData.append("switchTool")
|
||||
switch_command.cmdData.append("2")
|
||||
request_command = switch_command.toString()
|
||||
print(request_command)
|
||||
|
||||
self.robotClient.add_sendQuene(request_command)
|
||||
|
||||
|
||||
67
main.py
67
main.py
@ -1,6 +1,7 @@
|
||||
import configparser
|
||||
import json
|
||||
import logging
|
||||
import os
|
||||
import queue
|
||||
import sys
|
||||
import threading
|
||||
@ -8,6 +9,7 @@ from multiprocessing import Process
|
||||
import traceback
|
||||
|
||||
import PySide6
|
||||
import cv2
|
||||
from PyQt5.uic.properties import QtWidgets
|
||||
from PySide6 import QtCore
|
||||
from PySide6.QtCore import QThread, Signal, Slot, QObject, QEvent, QTimer
|
||||
@ -46,6 +48,7 @@ from view.ResetView import StopDialog
|
||||
|
||||
|
||||
class MainWindow(QMainWindow, Ui_MainWindow):
|
||||
updateUI_seting = Signal()
|
||||
def __init__(self):
|
||||
super(MainWindow, self).__init__()
|
||||
self.setupUi(self)
|
||||
@ -396,8 +399,6 @@ class MainWindow(QMainWindow, Ui_MainWindow):
|
||||
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:
|
||||
@ -589,6 +590,7 @@ class MainWindow(QMainWindow, Ui_MainWindow):
|
||||
self.main_threading = None
|
||||
self.detection_person = None # DetectionPerson()
|
||||
self.cton_take_no_photo = CRisOrFall()
|
||||
self.index = 1
|
||||
|
||||
self.configReader.read(Constant.set_ini)
|
||||
ip = self.configReader.get('Robot_Feed', 'IPAddress')
|
||||
@ -642,6 +644,7 @@ class MainWindow(QMainWindow, Ui_MainWindow):
|
||||
self.last_time = time.time()
|
||||
self.remain_lineName = self.configReader.get('Robot_Feed', 'remain_lineName')
|
||||
self.remain_Count = int(self.configReader.get('Robot_Feed', 'remain_Count'))
|
||||
self.updateUI_seting.connect(self.update_seting_frame)
|
||||
try:
|
||||
self.robotClient.CreatConnect()
|
||||
except:
|
||||
@ -812,12 +815,13 @@ class MainWindow(QMainWindow, Ui_MainWindow):
|
||||
def start_Runing(self):
|
||||
self.main_threading = Thread(target=self.run)
|
||||
self.robot_connect_threading = Thread(target=self.robotClient.run)
|
||||
self.main_UI_threading = Thread(target=self.updateUI)
|
||||
|
||||
self.detect_person_thread = Thread(target=self.run_detect_persion)
|
||||
|
||||
self.main_threading.start()
|
||||
self.robot_connect_threading.start()
|
||||
|
||||
self.main_UI_threading = Thread(target=self.updateUI)
|
||||
self.main_UI_threading.start()
|
||||
self.detect_person_thread = Thread(target=self.run_detect_persion)
|
||||
self.detect_person_thread.start()
|
||||
pass
|
||||
def check_continue(self):
|
||||
@ -1035,9 +1039,9 @@ class MainWindow(QMainWindow, Ui_MainWindow):
|
||||
self.robotClient.time_delay_shake = time_delay_shake
|
||||
self.configReader = configparser.ConfigParser()
|
||||
self.configReader.read(Constant.set_ini)
|
||||
self.configReader.set('Robot_Feed', 'solenoid_valve1_addr', str(take_addr))
|
||||
self.configReader.set('Robot_Feed', 'solenoid_valve2_addr', str(press_addr))
|
||||
self.configReader.set('Robot_Feed', 'solenoid_valve3_addr', str(shake_addr))
|
||||
self.configReader.set('Robot_Feed', 'io_take_addr', str(take_addr))
|
||||
self.configReader.set('Robot_Feed', 'io_zip_addr', str(press_addr))
|
||||
self.configReader.set('Robot_Feed', 'io_shake_addr', str(shake_addr))
|
||||
self.configReader.set('Robot_Feed', 'takeDelay', str(time_delay_take))
|
||||
self.configReader.set('Robot_Feed', 'putDelay', str(time_delay_put))
|
||||
self.configReader.set('Robot_Feed', 'shakeDelay', str(time_delay_shake))
|
||||
@ -1177,8 +1181,6 @@ class MainWindow(QMainWindow, Ui_MainWindow):
|
||||
self.send_start_tool_command()
|
||||
|
||||
def send_reset_button_click(self):
|
||||
# TODO 清楚痕迹
|
||||
# TODO 开启自动
|
||||
# 触发自动运行
|
||||
if self.robotClient.status_model.curMode != 7:
|
||||
self.send_switch_tool_command()
|
||||
@ -1189,6 +1191,7 @@ class MainWindow(QMainWindow, Ui_MainWindow):
|
||||
|
||||
line_head = self.comboBox_lineIndex.currentData()
|
||||
self.send_clear_auto_command()
|
||||
log.log_message(logging.INFO, Constant.str_feed_reset_start)
|
||||
#safe_position = self.feedLine_dict[line_head].safe_position
|
||||
# self.send_position_command(safe_position.X, safe_position.Y, safe_position.Z, safe_position.U, safe_position.V, safe_position.W,move_type=MoveType.WORLD)
|
||||
if self.remain_lineName != '':
|
||||
@ -1205,8 +1208,8 @@ class MainWindow(QMainWindow, Ui_MainWindow):
|
||||
log.log_message(logging.ERROR, Constant.str_feed_reset_no_line_error)
|
||||
return
|
||||
self.feeding.reset_status = ResetStatus.RStart
|
||||
dialog_reset = StopDialog()
|
||||
dialog_reset.stop_thread_signal.connect(self.stop_reset_thread)
|
||||
# dialog_reset = StopDialog()
|
||||
# dialog_reset.stop_thread_signal.connect(self.stop_reset_thread)
|
||||
else:
|
||||
log.log_message(logging.ERROR, Constant.str_feed_reset_no_line_error)
|
||||
return
|
||||
@ -1364,13 +1367,14 @@ class MainWindow(QMainWindow, Ui_MainWindow):
|
||||
self.label_date.setText(datetime.now().strftime("%Y-%m-%d"))
|
||||
self.label_time.setText(datetime.now().strftime("%H:%M:%S"))
|
||||
|
||||
self.updateUI_Position()
|
||||
self.updateUI_label_detection()
|
||||
self.updateUI_label_status()
|
||||
self.updateUI_frame_sign(self.feeding.feedStatus)
|
||||
self.updateUI_IOPanel()
|
||||
|
||||
self.updateUI_seting.emit()
|
||||
|
||||
def update_seting_frame(self):
|
||||
self.updateUI_Position()
|
||||
self.updateUI_label_detection()
|
||||
self.updateUI_label_status()
|
||||
self.updateUI_frame_sign(self.feeding.feedStatus)
|
||||
self.updateUI_IOPanel()
|
||||
|
||||
def updateRobotSeting(self):
|
||||
self.lineEdit_origin_x.setText(str(self.robotClient.origin_position.X))
|
||||
@ -1380,6 +1384,7 @@ class MainWindow(QMainWindow, Ui_MainWindow):
|
||||
self.lineEdit_origin_v.setText(str(self.robotClient.origin_position.V))
|
||||
self.lineEdit_origin_w.setText(str(self.robotClient.origin_position.W))
|
||||
|
||||
@Slot()
|
||||
def show_no_photo_message_box(self):
|
||||
self.feeding.pause = True
|
||||
self.send_pause_command(pause=1)
|
||||
@ -1409,6 +1414,8 @@ class MainWindow(QMainWindow, Ui_MainWindow):
|
||||
pass
|
||||
def updateUI_label_detection(self):
|
||||
backgroud_img = Util.util_pic.cv2_to_qpixmap(self.feeding.detection_image)
|
||||
if backgroud_img == None:
|
||||
return
|
||||
backgroud_img = backgroud_img.scaled(self.label_showDetection.size().width(),self.label_showDetection.size().height(), Qt.AspectRatioMode.IgnoreAspectRatio,Qt.TransformationMode.SmoothTransformation)
|
||||
self.label_showDetection.setPixmap(backgroud_img)
|
||||
|
||||
@ -1560,7 +1567,8 @@ class MainWindow(QMainWindow, Ui_MainWindow):
|
||||
clear_command = CMDInstructRequest()
|
||||
request_command = clear_command.toString()
|
||||
log.log_message(logging.INFO, Constant.str_sys_clearAlarm)
|
||||
self.command_quene.put(request_command)
|
||||
self.robotClient.add_sendQuene(request_command)
|
||||
# self.command_quene.put(request_command)
|
||||
|
||||
def send_position_command(self, x1, x2, x3, x4, x5, x6, move_type: MoveType = MoveType.WORLD):
|
||||
|
||||
@ -1594,12 +1602,11 @@ class MainWindow(QMainWindow, Ui_MainWindow):
|
||||
else:
|
||||
pause_command.cmdData.append("0")
|
||||
request_command = pause_command.toString()
|
||||
print(request_command)
|
||||
self.robotClient.add_sendQuene(request_command)
|
||||
|
||||
def send_emergency_alarm_command(self):
|
||||
self.feeding.feedStatus = FeedStatus.FNone
|
||||
self.feeding.feedConfig.num = 0
|
||||
|
||||
stop_command = CMDRequest()
|
||||
stop_command.cmdData.append("actionStop")
|
||||
stop_command.cmdData.append("1")
|
||||
@ -1607,18 +1614,17 @@ class MainWindow(QMainWindow, Ui_MainWindow):
|
||||
self.send_clear_auto_command()
|
||||
self.robotClient.add_sendQuene(request_command)
|
||||
self.feeding.send_emergency_sound()
|
||||
self.feeding.feedConfig.num = 0
|
||||
log.log_message(logging.INFO, Constant.str_sys_emergencyStop)
|
||||
#TODO
|
||||
|
||||
|
||||
def send_clear_alarm_command(self, pause: bool):
|
||||
self.send_start_tool_command()
|
||||
self.send_clear_auto_command()
|
||||
pause_command = CMDRequest()
|
||||
pause_command.cmdData.append("StopButton")
|
||||
pause_command.cmdData.append("1")
|
||||
request_command = pause_command.toString()
|
||||
print(request_command)
|
||||
log_str = f'暂停：{pause}'
|
||||
self.robotClient.add_sendQuene(request_command)
|
||||
|
||||
def send_switch_tool_command(self):
|
||||
@ -1626,8 +1632,6 @@ class MainWindow(QMainWindow, Ui_MainWindow):
|
||||
switch_command.cmdData.append("switchTool")
|
||||
switch_command.cmdData.append("2")
|
||||
request_command = switch_command.toString()
|
||||
print(request_command)
|
||||
|
||||
self.robotClient.add_sendQuene(request_command)
|
||||
|
||||
def send_start_tool_command(self):
|
||||
@ -1635,8 +1639,6 @@ class MainWindow(QMainWindow, Ui_MainWindow):
|
||||
switch_command.cmdData.append("startButton")
|
||||
switch_command.cmdData.append("1")
|
||||
request_command = switch_command.toString()
|
||||
print(request_command)
|
||||
|
||||
self.robotClient.add_sendQuene(request_command)
|
||||
|
||||
def show_messagebox_of_person(self):
|
||||
@ -1841,6 +1843,7 @@ class MainWindow(QMainWindow, Ui_MainWindow):
|
||||
self.configReader.write(open(Constant.set_ini, 'w', encoding='utf-8'))
|
||||
log.log_message(logging.INFO, f'设置原点:{x},{y},{z}')
|
||||
except:
|
||||
log.log_message(logging.ERROR, f'设置原点失败')
|
||||
self.show_infomessage_box("设置原点失败")
|
||||
|
||||
|
||||
@ -1966,14 +1969,16 @@ def handle_exception(exc_type, exc_value, exc_tb):
|
||||
log.log_message(logging.INFO, "用户主动退出程序")
|
||||
return
|
||||
log.log_message(logging.ERROR, exc_value)
|
||||
print("未处理的异常:", exc_type, exc_value)
|
||||
traceback.print_exception(exc_type, exc_value, exc_tb)
|
||||
|
||||
if __name__ == "__main__":
|
||||
app = MyApplication(sys.argv)
|
||||
window = MainWindow()
|
||||
window.show()
|
||||
sys.excepthook = handle_exception # 你的 PySide 应用程序代码 pass
|
||||
sys.exit(app.exec())
|
||||
sys.excepthook = handle_exception
|
||||
try :
|
||||
sys.exit(app.exec())
|
||||
except Exception as e:
|
||||
log.log_message(logging.ERROR, e)
|
||||
|
||||
|
||||
|
||||
135
test.py
135
test.py
@ -1,100 +1,51 @@
|
||||
from PySide6.QtWidgets import QApplication, QPushButton, QMainWindow, QMessageBox
|
||||
from PySide6.QtCore import QPropertyAnimation, QPoint, QParallelAnimationGroup, QEasingCurve, Property
|
||||
from PySide6.QtGui import QColor, QPainter, QBrush
|
||||
from PySide6.QtCore import Qt
|
||||
from PySide6.QtCore import QThread, Signal, Slot
|
||||
from PySide6.QtWidgets import QApplication, QDialog, QLabel, QVBoxLayout, QPushButton
|
||||
import sys
|
||||
import time
|
||||
|
||||
import Constant
|
||||
# 定义子线程类
|
||||
class WorkerThread(QThread):
|
||||
# 创建信号，子线程处理完成后通知主线程弹窗
|
||||
show_dialog_signal = Signal(str)
|
||||
|
||||
def run(self):
|
||||
# 模拟子线程的工作
|
||||
time.sleep(3) # 假设任务执行需要 3 秒钟
|
||||
self.show_dialog_signal.emit("任务完成，弹出对话框") # 发出信号，通知主线程弹窗
|
||||
print("子线程")
|
||||
|
||||
class RippleButton(QPushButton):
|
||||
def __init__(self, text, parent=None):
|
||||
super().__init__(text, parent)
|
||||
self._ripple_radius = 0
|
||||
self._ripple_opacity = 1.0
|
||||
self.ripple_position = QPoint()
|
||||
self.animation_group = QParallelAnimationGroup(self) # 设置父对象
|
||||
self.setStyleSheet("background-color: #3498db; color: white; border-radius: 5px; padding: 10px;")
|
||||
self.setAttribute(Qt.WA_StaticContents)
|
||||
|
||||
def paintEvent(self, event):
|
||||
super().paintEvent(event)
|
||||
if self._ripple_radius > 0:
|
||||
painter = QPainter(self)
|
||||
painter.setRenderHint(QPainter.Antialiasing)
|
||||
color = QColor(255, 255, 255)
|
||||
color.setAlphaF(self._ripple_opacity)
|
||||
painter.setBrush(QBrush(color))
|
||||
painter.setPen(Qt.NoPen)
|
||||
painter.drawEllipse(self.ripple_position, self._ripple_radius, self._ripple_radius)
|
||||
|
||||
def mousePressEvent(self, event):
|
||||
if event.button() == Qt.LeftButton:
|
||||
self.ripple_position = event.pos()
|
||||
self.startRippleEffect()
|
||||
super().mousePressEvent(event)
|
||||
|
||||
def startRippleEffect(self):
|
||||
# 取消之前的动画
|
||||
self.animation_group.stop()
|
||||
self.animation_group.clear()
|
||||
|
||||
# 创建半径动画
|
||||
radius_animation = QPropertyAnimation(self, b"rippleRadius")
|
||||
radius_animation.setDuration(600)
|
||||
radius_animation.setStartValue(0)
|
||||
# 计算最大半径，确保覆盖按钮
|
||||
max_radius = max(self.width(), self.height()) * 1.5
|
||||
radius_animation.setEndValue(max_radius)
|
||||
radius_animation.setEasingCurve(QEasingCurve.OutQuad)
|
||||
|
||||
# 创建透明度动画
|
||||
opacity_animation = QPropertyAnimation(self, b"rippleOpacity")
|
||||
opacity_animation.setDuration(600)
|
||||
opacity_animation.setStartValue(0.5) # 初始透明度可以调整
|
||||
opacity_animation.setEndValue(0.0)
|
||||
opacity_animation.setEasingCurve(QEasingCurve.OutQuad)
|
||||
|
||||
# 将动画添加到动画组
|
||||
self.animation_group.addAnimation(radius_animation)
|
||||
self.animation_group.addAnimation(opacity_animation)
|
||||
self.animation_group.start()
|
||||
|
||||
# 使用 @Property 装饰器正确定义属性
|
||||
def getRippleRadius(self):
|
||||
return self._ripple_radius
|
||||
|
||||
def setRippleRadius(self, radius):
|
||||
self._ripple_radius = radius
|
||||
self.update()
|
||||
|
||||
rippleRadius = Property(float, getRippleRadius, setRippleRadius)
|
||||
|
||||
def getRippleOpacity(self):
|
||||
return self._ripple_opacity
|
||||
|
||||
def setRippleOpacity(self, opacity):
|
||||
self._ripple_opacity = opacity
|
||||
self.update()
|
||||
|
||||
rippleOpacity = Property(float, getRippleOpacity, setRippleOpacity)
|
||||
|
||||
class MainWindow(QMainWindow):
|
||||
# 定义主窗口类
|
||||
class MainWindow(QDialog):
|
||||
def __init__(self):
|
||||
super().__init__()
|
||||
self.setWindowTitle("水滴扩散按钮示例")
|
||||
self.setFixedSize(400, 300)
|
||||
self.setWindowTitle("主窗口")
|
||||
self.setGeometry(100, 100, 300, 200)
|
||||
|
||||
self.button = RippleButton("点击我", self)
|
||||
self.button.setGeometry(150, 130, 100, 40)
|
||||
self.button.clicked.connect(self.on_button_click)
|
||||
def on_button_click(self):
|
||||
print("按钮被点击了！")
|
||||
QMessageBox.information(None, "提示", Constant.str_feed_photo_error_msgbox)
|
||||
print("sadf")
|
||||
self.button = QPushButton("开始任务", self)
|
||||
self.button.clicked.connect(self.start_task)
|
||||
|
||||
if __name__ == "__main__":
|
||||
app = QApplication(sys.argv)
|
||||
window = MainWindow()
|
||||
window.show()
|
||||
sys.exit(app.exec())
|
||||
layout = QVBoxLayout(self)
|
||||
layout.addWidget(self.button)
|
||||
|
||||
@Slot(str)
|
||||
def show_dialog(self, message):
|
||||
# 接收到信号后显示弹窗
|
||||
dialog = QDialog(self)
|
||||
dialog.setWindowTitle("子线程通知")
|
||||
label = QLabel(message, dialog)
|
||||
dialog_layout = QVBoxLayout(dialog)
|
||||
dialog_layout.addWidget(label)
|
||||
dialog.exec()
|
||||
|
||||
def start_task(self):
|
||||
# 创建并启动子线程
|
||||
self.thread = WorkerThread()
|
||||
self.thread.show_dialog_signal.connect(self.show_dialog) # 连接信号到主线程的槽函数
|
||||
self.thread.start()
|
||||
|
||||
# 创建应用程序
|
||||
app = QApplication(sys.argv)
|
||||
window = MainWindow()
|
||||
window.show()
|
||||
|
||||
sys.exit(app.exec())
|
||||
|
||||
Reference in New Issue
Block a user