update 更新一键投料，优化设置文字，添加平滑，假装解决闪退

main.py

@@ -10,6 +10,7 @@ import traceback
 
 import PySide6
 import cv2
+import numpy as np
 from PyQt5.uic.properties import QtWidgets
 from PySide6 import QtCore
 from PySide6.QtCore import QThread, Signal, Slot, QObject, QEvent, QTimer
@@ -449,7 +450,9 @@ class MainWindow(QMainWindow, Ui_MainWindow):
         combox.addItem("初始化点", 2)
         combox.addItem("中间点", 3)
         combox.addItem("相机/待抓点",4)
+        combox.addItem("抓取前点", 3)
         combox.addItem("抓取",5)
+        combox.addItem("抓取后点", 3)
         combox.addItem("破带点1",6)
         combox.addItem("破带点2",7)
         combox.addItem("震动点",8)
@@ -563,7 +566,7 @@ class MainWindow(QMainWindow, Ui_MainWindow):
         self.pushButton_leftmenu_baseSeting.clicked.connect(lambda _, index=3: self.send_click_change_stackView(index))
         self.pushButton_leftmenu_posDebug.clicked.connect(lambda _, index=4: self.send_click_change_stackView(index))
         self.pushButton_exit.clicked.connect(self.send_exit_button_click)
-
+        self.pushButton_onekeyfeed.clicked.connect(self.send_onekeyfeed_button_click)
 
         int_validator = QIntValidator(0, 100, self.lineEdit_num)
         self.lineEdit_num.setValidator(int_validator)
@@ -582,14 +585,13 @@ class MainWindow(QMainWindow, Ui_MainWindow):
     def init_Run(self):
         self.robotClient = None
         self.configReader = configparser.ConfigParser()
-        self.detection =Detection() #TODO 关闭图像
+        #TODO 关闭图像
         self.command_position_quene = Queue()
         self.status_address = DataAddress()
         self.feedLine_dict = {}
         self.command_quene = Queue()
         self.main_threading = None
         self.detection_person = None # DetectionPerson()
-        self.cton_take_no_photo = CRisOrFall()
         self.index = 1
 
         self.configReader.read(Constant.set_ini)
@@ -638,9 +640,10 @@ class MainWindow(QMainWindow, Ui_MainWindow):
         self.robotClient.feed_speed = feed_speed
         self.robotClient.reset_speed = reset_speed
         self.robotClient.max_angle_interval = max_angle_interval
-        self.feeding = Feeding(self.robotClient, self.detection)  # 临时
+        self.feeding = Feeding(self.robotClient)  # 临时
         self.feeding.need_origin_signal.connect(self.show_infomessage_box)
-        self.feeding.take_no_photo_sigal.emit(self.show_no_photo_message_box)
+        self.feeding.take_no_photo_sigal.connect(self.show_no_photo_message_box)
+        self.feeding.update_detect_image.connect(self.updateUI_label_detection)
         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'))
@@ -899,6 +902,7 @@ class MainWindow(QMainWindow, Ui_MainWindow):
         # self.stackedWidget_num.setCurrentIndex(1)
         self.set_run_status_button(True)
         self.feeding.pause = False
+        self.feeding.onekey = False
         log.log_message(logging.INFO, f'{self.feedLine_dict[line_head].name}:{Constant.str_feed_start}')
 
     def send_num_button_click(self):
@@ -1318,8 +1322,8 @@ class MainWindow(QMainWindow, Ui_MainWindow):
             try:
                 self.feeding.run()
                 self.feeding.run_reset()
-            except:
-                print(Error_Code.SYS_NONEPoint)
+            except Exception as e:
+                log.log_message(logging.ERROR, e)
 
 
         # pass #主线程
@@ -1371,7 +1375,6 @@ class MainWindow(QMainWindow, Ui_MainWindow):
 
     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()
@@ -1386,6 +1389,7 @@ class MainWindow(QMainWindow, Ui_MainWindow):
 
     @Slot()
     def show_no_photo_message_box(self):
+        print("显示弹窗图片")
         self.feeding.pause = True
         self.send_pause_command(pause=1)
         msg_box_person = QMessageBox()
@@ -1412,8 +1416,10 @@ class MainWindow(QMainWindow, Ui_MainWindow):
         except Exception as e:
             log.log_message(logging.ERROR, Constant.str_sys_log_IO_error)
         pass
-    def updateUI_label_detection(self):
-        backgroud_img = Util.util_pic.cv2_to_qpixmap(self.feeding.detection_image)
+    @Slot()
+    def updateUI_label_detection(self,img:np.ndarray):
+        img_copy = np.copy(img)
+        backgroud_img = Util.util_pic.cv2_to_qpixmap(img_copy)
         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)
@@ -1892,6 +1898,7 @@ class MainWindow(QMainWindow, Ui_MainWindow):
         self.lineEdit_timedelay_shake.setText(str(self.robotClient.time_delay_shake))
 
     def show_infomessage_box(self,message):
+        print('显示弹窗')
         msg_box = QMessageBox(self)
         msg_box.setWindowTitle("提示")
         msg_box.setText(message)
@@ -1908,6 +1915,18 @@ class MainWindow(QMainWindow, Ui_MainWindow):
         if index == 3:
             self.updateUI_Base_Set()
 
+    def send_onekeyfeed_button_click(self):
+        # if self.feeding.feedStatus != FeedStatus.FNone:
+        #     self.show_infomessage_box("正在执行")
+        #     return
+
+        self.horizontalSlider_feedingNum.setMaximum(999)
+        self.label_maxNum.setText(str(999))
+        self.horizontalSlider_feedingNum.setValue(0)
+
+        self.send_startFeed_button_click()
+        self.feeding.onekey = True
+
     def send_exit_button_click(self):
         self.closeEvent(None)
         QApplication.quit()
@@ -1935,9 +1954,9 @@ class MainWindow(QMainWindow, Ui_MainWindow):
 
     def closeEvent(self, event):
         self.record_remain_num()
-        self.feeding.is_detected = False
-        self.feeding.detect_thread.join()
-        self.detection.release()
+        # self.feeding.is_detected = False
+        # self.feeding.detect_thread.join()
+        self.feeding.close_feed()
         self.thread_signal = False
         self.robotClient.close()
         log.log_message(logging.INFO, Constant.str_sys_exit)