update 重新规划架构，绘制机械臂夹爪轨迹图
This commit is contained in:
FrankCV2048
@ -39,26 +39,57 @@ 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.pos_index = 0
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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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self.name = name
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self.id = id
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self.get_position_list()
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def get_current_position(self):
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pos = self.feed_positions[self.pos_index]
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pos = self.feeding_to_end[self.feeding2end_pos_index]
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return pos
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def get_next_position(self):
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pos = self.feed_positions[self.pos_index]
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self.pos_index += 1
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def get_next_feed_position(self):
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pos = self.feeding_to_end[self.feeding2end_pos_index]
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self.feeding2end_pos_index += 1
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return pos
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def get_next_start_position(self):
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pos = self.origin2start_pos_index[self.origin2start_pos_index]
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self.origin2start_pos_index += 1
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return pos
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def get_next_take_position(self):
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pos = self.start2take_pos_index[self.start2take_pos_index]
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self.start2take_pos_index += 1
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return pos
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def get_take_position(self):
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for i in range(len(self.feed_positions)):
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if self.feed_positions[i].status == FeedStatus.FTake:
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return self.feed_positions[i]
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for i in range(len(self.feeding_to_end)):
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if self.feeding_to_end[i].status == FeedStatus.FTake:
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return self.feeding_to_end[i]
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def set_take_position(self,position:Real_Position):
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for i in range(len(self.feeding_to_end)):
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if self.feeding_to_end[i].status == FeedStatus.FTake:
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self.feeding_to_end[i].position = position
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def get_position_list(self):
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index_start = -1
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for i in range(len(self.feed_positions)):
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if self.feed_positions[i].status == FeedStatus.FStart:
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index_start = i
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break
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for i in range(len(self.feed_positions)):
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if self.feed_positions[i].status == FeedStatus.FTake:
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self.feed_positions[i].position = position
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index_take = i
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self.origin_to_start = self.feed_positions[: index_start+1]
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self.start_to_take = self.feed_positions[index_start:index_take+1]
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self.feeding_to_end = self.feed_positions[index_take:]
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class FeedingConfig:
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def __init__(self, num: int, feedLine: FeedLine, photo_locs):
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@ -310,6 +341,7 @@ class Feeding:
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self.robotClient.add_sendQuene(request_command)
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pass
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def
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def next_target(self):
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feed_pos = self.feedConfig.feedLine.get_next_position()
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self.feedStatus = feed_pos.status
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@ -1,61 +1,64 @@
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from PySide6.QtWidgets import (
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QApplication, QWidget, QHBoxLayout, QVBoxLayout, QPushButton,
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QLineEdit, QLabel, QGroupBox, QSpacerItem, QSizePolicy
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)
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from PySide6.QtGui import QIcon
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from PySide6.QtCore import Qt
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from PySide6.QtWidgets import QApplication, QMainWindow, QVBoxLayout, QWidget
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from PySide6.QtDataVisualization import Q3DScatter, QScatter3DSeries, Q3DTheme,Q3DCamera,QScatterDataItem
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from PySide6.QtGui import QVector3D, Qt
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class OptimizedUI(QWidget):
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import sys
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class Scatter3DWindow(QMainWindow):
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def __init__(self):
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super().__init__()
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self.setWindowTitle("3D 轨迹点图")
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self.setWindowTitle("UI Optimization")
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self.setFixedSize(600, 150)
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self.init_ui()
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# 创建 3D Scatter 图
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self.graph = Q3DScatter()
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self.graph.activeTheme().setType(Q3DTheme.Theme.ThemeEbony) # 设置主题
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self.graph.scene().activeCamera().setCameraPreset(Q3DCamera.CameraPreset.CameraPresetFront) # 修正属性名
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def init_ui(self):
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# 主布局
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main_layout = QHBoxLayout(self)
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main_layout.setSpacing(10)
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# 创建容器
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container = QWidget.createWindowContainer(self.graph)
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container.setMinimumSize(800, 600)
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# 1. 坐标输入框组
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coord_group = QGroupBox("坐标")
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coord_layout = QVBoxLayout()
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for _ in range(2): # 两行坐标输入
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row_layout = QHBoxLayout()
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for label in ["x", "y", "z"]:
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row_layout.addWidget(QLineEdit(), 1)
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coord_layout.addLayout(row_layout)
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coord_group.setLayout(coord_layout)
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# 设置布局
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widget = QWidget()
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layout = QVBoxLayout(widget)
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layout.addWidget(container)
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self.setCentralWidget(widget)
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# 2. 功能按钮组
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button_layout = QVBoxLayout()
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get_btn = QPushButton("获取位置")
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save_btn = QPushButton("保存位置")
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for btn in [get_btn, save_btn]:
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btn.setStyleSheet("background-color: #a8e6cf; border-radius: 5px;")
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button_layout.addWidget(btn)
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# 添加数据
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self.add_data()
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# 3. 右侧操作按钮
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add_point_btn = QPushButton("添加中间点")
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add_point_btn.setIcon(QIcon.fromTheme("list-add"))
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add_point_btn.setStyleSheet("background-color: #61c0bf; border-radius: 5px; color: white;")
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dropdown_btn = QPushButton("▼")
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dropdown_btn.setFixedWidth(30)
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def add_data(self):
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# 创建轨迹点数据
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series = QScatter3DSeries()
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series.setItemSize(0.2) # 点的大小
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data = []
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data.append(QScatterDataItem(QVector3D(0.5, 0.5, 0.5)))
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data.append(QScatterDataItem(QVector3D(-0.3, -0.5, -0.4)))
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data.append(QScatterDataItem(QVector3D(0.0, -0.3, 0.2)))
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series.dataProxy().addItems(data)
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right_layout = QHBoxLayout()
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right_layout.addWidget(add_point_btn)
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right_layout.addWidget(dropdown_btn)
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# 添加控件到主布局
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main_layout.addWidget(QPushButton("破碎点"), 1)
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main_layout.addWidget(coord_group, 3)
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main_layout.addLayout(button_layout, 2)
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main_layout.addLayout(right_layout, 2)
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# 添加到图表
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self.graph.addSeries(series)
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if __name__ == "__main__":
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import sys
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app = QApplication(sys.argv)
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window = OptimizedUI()
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window.show()
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scatter = Q3DScatter()
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scatter.setFlags(scatter.flags())
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series = QScatter3DSeries()
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data = []
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data.append(QScatterDataItem(QVector3D(0.5, 0.5, 0.5)))
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data.append(QScatterDataItem(QVector3D(-0.3, -0.5, -0.4)))
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data.append(QScatterDataItem(QVector3D(0.0, -0.3, 0.2)))
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series.dataProxy().addItems(data)
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scatter.addSeries(series)
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# 调整相机位置，更好的角度来观察散点
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camera = scatter.scene().activeCamera()
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camera.setCameraPreset(Q3DCamera.CameraPreset.CameraPresetFront)
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scatter.setTitle('实战 Qt for Python: 3D散点图演示')
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scatter.resize(480, 360)
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scatter.show()
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sys.exit(app.exec())
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