update 重新规划架构，绘制机械臂夹爪轨迹图

CU/Feeding_C.py

@@ -39,26 +39,57 @@ class FeedPosition:
 class FeedLine:
     def __init__(self, id, name, feed_positions:list):
         self.feed_positions = feed_positions
-        self.pos_index = 0
+        self.feeding2end_pos_index = 0
+        self.origin2start_pos_index = 0
+        self.start2take_pos_index = 0
         self.name = name
         self.id = id
+        self.get_position_list()
 
     def get_current_position(self):
-        pos = self.feed_positions[self.pos_index]
+        pos = self.feeding_to_end[self.feeding2end_pos_index]
         return pos
-    def get_next_position(self):
+    def get_next_feed_position(self):
-        pos = self.feed_positions[self.pos_index]
+        pos = self.feeding_to_end[self.feeding2end_pos_index]
-        self.pos_index += 1
+        self.feeding2end_pos_index += 1
         return pos
+
+    def get_next_start_position(self):
+        pos = self.origin2start_pos_index[self.origin2start_pos_index]
+        self.origin2start_pos_index += 1
+        return pos
+
+    def get_next_take_position(self):
+        pos = self.start2take_pos_index[self.start2take_pos_index]
+        self.start2take_pos_index += 1
+        return pos
+
     def get_take_position(self):
-        for i in range(len(self.feed_positions)):
+        for i in range(len(self.feeding_to_end)):
-            if self.feed_positions[i].status == FeedStatus.FTake:
+            if self.feeding_to_end[i].status == FeedStatus.FTake:
-                return self.feed_positions[i]
+                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:
+                self.feeding_to_end[i].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.FStart:
+                index_start = i
+                break
         for i in range(len(self.feed_positions)):
             if self.feed_positions[i].status == FeedStatus.FTake:
-                self.feed_positions[i].position = position
+                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):
@@ -310,6 +341,7 @@ class Feeding:
         self.robotClient.add_sendQuene(request_command)
         pass
 
+    def
     def next_target(self):
         feed_pos = self.feedConfig.feedLine.get_next_position()
         self.feedStatus = feed_pos.status

ThreadTest.py

@@ -1,61 +1,64 @@
-from PySide6.QtWidgets import (
+from PySide6.QtWidgets import QApplication, QMainWindow, QVBoxLayout, QWidget
-    QApplication, QWidget, QHBoxLayout, QVBoxLayout, QPushButton,
+from PySide6.QtDataVisualization import Q3DScatter, QScatter3DSeries, Q3DTheme,Q3DCamera,QScatterDataItem
-    QLineEdit, QLabel, QGroupBox, QSpacerItem, QSizePolicy
+from PySide6.QtGui import QVector3D, Qt
-)
-from PySide6.QtGui import QIcon
-from PySide6.QtCore import Qt
 
-class OptimizedUI(QWidget):
+import sys
+
+class Scatter3DWindow(QMainWindow):
     def __init__(self):
         super().__init__()
+        self.setWindowTitle("3D 轨迹点图")
 
-        self.setWindowTitle("UI Optimization")
+        # 创建 3D Scatter 图
-        self.setFixedSize(600, 150)
+        self.graph = Q3DScatter()
-        self.init_ui()
+        self.graph.activeTheme().setType(Q3DTheme.Theme.ThemeEbony)  # 设置主题
+        self.graph.scene().activeCamera().setCameraPreset(Q3DCamera.CameraPreset.CameraPresetFront)  # 修正属性名
 
-    def init_ui(self):
+        # 创建容器
-        # 主布局
+        container = QWidget.createWindowContainer(self.graph)
-        main_layout = QHBoxLayout(self)
+        container.setMinimumSize(800, 600)
-        main_layout.setSpacing(10)
 
-        # 1. 坐标输入框组
+        # 设置布局
-        coord_group = QGroupBox("坐标")
+        widget = QWidget()
-        coord_layout = QVBoxLayout()
+        layout = QVBoxLayout(widget)
-        for _ in range(2):  # 两行坐标输入
+        layout.addWidget(container)
-            row_layout = QHBoxLayout()
+        self.setCentralWidget(widget)
-            for label in ["x", "y", "z"]:
-                row_layout.addWidget(QLineEdit(), 1)
-            coord_layout.addLayout(row_layout)
-        coord_group.setLayout(coord_layout)
 
-        # 2. 功能按钮组
+        # 添加数据
-        button_layout = QVBoxLayout()
+        self.add_data()
-        get_btn = QPushButton("获取位置")
-        save_btn = QPushButton("保存位置")
-        for btn in [get_btn, save_btn]:
-            btn.setStyleSheet("background-color: #a8e6cf; border-radius: 5px;")
-            button_layout.addWidget(btn)
 
-        # 3. 右侧操作按钮
+    def add_data(self):
-        add_point_btn = QPushButton("添加中间点")
+        # 创建轨迹点数据
-        add_point_btn.setIcon(QIcon.fromTheme("list-add"))
+        series = QScatter3DSeries()
-        add_point_btn.setStyleSheet("background-color: #61c0bf; border-radius: 5px; color: white;")
+        series.setItemSize(0.2)  # 点的大小
-        dropdown_btn = QPushButton("▼")
+        data = []
-        dropdown_btn.setFixedWidth(30)
+        data.append(QScatterDataItem(QVector3D(0.5, 0.5, 0.5)))
+        data.append(QScatterDataItem(QVector3D(-0.3, -0.5, -0.4)))
+        data.append(QScatterDataItem(QVector3D(0.0, -0.3, 0.2)))
+        series.dataProxy().addItems(data)
 
-        right_layout = QHBoxLayout()
+        # 添加到图表
-        right_layout.addWidget(add_point_btn)
+        self.graph.addSeries(series)
-        right_layout.addWidget(dropdown_btn)
 
-        # 添加控件到主布局
+if __name__ == "__main__":
-        main_layout.addWidget(QPushButton("破碎点"), 1)
-        main_layout.addWidget(coord_group, 3)
-        main_layout.addLayout(button_layout, 2)
-        main_layout.addLayout(right_layout, 2)
-
-  if __name__ == "__main__":
-    import sys
     app = QApplication(sys.argv)
-    window = OptimizedUI()
+    scatter = Q3DScatter()
-    window.show()
+    scatter.setFlags(scatter.flags())
+    series = QScatter3DSeries()
+    data = []
+    data.append(QScatterDataItem(QVector3D(0.5, 0.5, 0.5)))
+    data.append(QScatterDataItem(QVector3D(-0.3, -0.5, -0.4)))
+    data.append(QScatterDataItem(QVector3D(0.0, -0.3, 0.2)))
+    series.dataProxy().addItems(data)
+    scatter.addSeries(series)
+
+    # 调整相机位置，更好的角度来观察散点
+    camera = scatter.scene().activeCamera()
+    camera.setCameraPreset(Q3DCamera.CameraPreset.CameraPresetFront)
+
+    scatter.setTitle('实战 Qt for Python: 3D散点图演示')
+    scatter.resize(480, 360)
+    scatter.show()
+
     sys.exit(app.exec())
+