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update 更新一键投料，优化设置文字，添加平滑，假装解决闪退

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This commit is contained in:
FrankCV2048
2024-12-19 23:29:35 +08:00
parent da31ce91b6
commit cd7e354cbd
10 changed files with 15194 additions and 2121 deletions
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9
CU/Detect.py
View File

@ -1,9 +1,11 @@
from enum import Enum from enum import Enum
import numpy as np
from PySide6.QtCore import Signal
import Constant import Constant
from Model.Position import Real_Position from Model.Position import Real_Position
from Trace.handeye_calibration import getPosition from Trace.handeye_calibration import getPosition
from Util.util_time import CClockPulse, CTon from Vision.camera_coordinate_dete import Detection
class DetectStatus(Enum): class DetectStatus(Enum):
@ -12,8 +14,9 @@ class DetectStatus(Enum):
DOk = 2 DOk = 2
class Detect: class Detect:
def __init__(self,detection): update_detect_image = Signal(np.ndarray)
self.detection = detection def __init__(self):
self.detection = Detection(alignmentType='depth2color')
self.detect_status = DetectStatus.DNone self.detect_status = DetectStatus.DNone
self.detect_position = None self.detect_position = None
def run(self): def run(self):

78
CU/Feeding.py
View File

@ -4,8 +4,10 @@ import threading
import time import time
import cv2 import cv2
import numpy as np
from PyQt5.QtWidgets import QMessageBox from PyQt5.QtWidgets import QMessageBox
from PySide6.QtCore import Signal, QObject from PySide6.QtCore import Signal, QObject
from PySide6.QtGui import QPixmap
import Constant import Constant
import Expection import Expection
@ -129,8 +131,25 @@ class FeedLine:
def set_take_position(self,position:Real_Position): def set_take_position(self,position:Real_Position):
for i in range(len(self.feeding_to_end)): for i in range(len(self.feeding_to_end)):
if self.feeding_to_end[i].status == FeedStatus.FTake.value: if self.feeding_to_end[i].status == FeedStatus.FTake.value:
if position != None:
befor_take_position = Real_Position().init_position(position.X,
position.Y,
position.Z,
position.U,
position.V,
position.W)
after_take_position = Real_Position().init_position(position.X,
position.Y,
position.Z,
position.U,
position.V,
position.W)
self.feeding_to_end[i - 1].set_position(befor_take_position)
self.feeding_to_end[i + 1].set_position(after_take_position)
self.feeding_to_end[i].set_position(position) self.feeding_to_end[i].set_position(position)
def get_position_list(self): def get_position_list(self):
index_start = -1 index_start = -1
for i in range(len(self.feed_positions)): for i in range(len(self.feed_positions)):
@ -145,6 +164,17 @@ class FeedLine:
self.start_to_take = self.feed_positions[index_start:index_take+1] self.start_to_take = self.feed_positions[index_start:index_take+1]
self.feeding_to_end = self.feed_positions[index_take:] self.feeding_to_end = self.feed_positions[index_take:]
for i in range(len(self.feeding_to_end)): #插入动态中间点
if self.feeding_to_end[i].status == FeedStatus.FTake.value:
befor_position_model = PositionModel()
befor_position_model.init_position(None)
after_position_model = PositionModel()
after_position_model.init_position(None)
self.feeding_to_end.insert(i, befor_position_model)
self.feeding_to_end.insert(i+2, after_position_model)
break
class FeedingConfig: class FeedingConfig:
@ -164,13 +194,14 @@ class FeedingConfig:
class Feeding(QObject): class Feeding(QObject):
need_origin_signal = Signal(str) need_origin_signal = Signal(str)
take_no_photo_sigal = Signal(str) take_no_photo_sigal = Signal()
def __init__(self, robotClient: RobotClient, detection: Detection): update_detect_image = Signal(np.ndarray)
def __init__(self, robotClient: RobotClient):
super().__init__() super().__init__()
self.feedConfig = None self.feedConfig = None
self.feedStatus = FeedStatus.FNone self.feedStatus = FeedStatus.FNone
self.robotClient = robotClient self.robotClient = robotClient
self.detection = detection
self.detection_image = None self.detection_image = None
self.init_detection_image() self.init_detection_image()
self.pause = False self.pause = False
@ -187,14 +218,21 @@ class Feeding(QObject):
self.pos_index = -1 self.pos_index = -1
self.pos_near_index = -1 self.pos_near_index = -1
self.catch = Catch(self.robotClient) self.catch = Catch(self.robotClient)
self.detect = Detect(self.detection) self.detect = Detect()
self.is_detected = True self.is_detected = True
self.detect_thread = threading.Thread(target=self.run_detect) self.detect_thread = threading.Thread(target=self.run_detect)
self.detect_thread.start() self.detect_thread.start()
self.onekey = False
pass pass
def close_feed(self):
self.is_detected = False
self.detect_thread.join()
self.detect.detection.release()
def init_detection_image(self): def init_detection_image(self):
self.detection_image = cv2.imread(Constant.feed_sign_path) detection_image = cv2.imread(Constant.feed_sign_path)
self.update_detect_image.emit(detection_image)
def run_detect(self): def run_detect(self):
while self.is_detected: while self.is_detected:
@ -271,12 +309,6 @@ class Feeding(QObject):
self.feedConfig.feedLine.get_position_list() self.feedConfig.feedLine.get_position_list()
self.detect.detect_status = DetectStatus.DNone self.detect.detect_status = DetectStatus.DNone
# = 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)
# TODO 获取目标位置
#
self.feed_Mid_Status = FeedMidStatus.FMid_Start self.feed_Mid_Status = FeedMidStatus.FMid_Start
self.next_position(self.is_reverse) self.next_position(self.is_reverse)
@ -298,6 +330,7 @@ class Feeding(QObject):
self.feedConfig.feedLine.start2take_pos_index = len(self.feedConfig.feedLine.start_to_take) -2 self.feedConfig.feedLine.start2take_pos_index = len(self.feedConfig.feedLine.start_to_take) -2
self.feedConfig.feedLine.origin2start_pos_index = len(self.feedConfig.feedLine.origin_to_start) - 2 self.feedConfig.feedLine.origin2start_pos_index = len(self.feedConfig.feedLine.origin_to_start) - 2
self.next_position(self.is_reverse) self.next_position(self.is_reverse)
self.init_detection_image()
return return
if self.robotClient.type_detection == DetectType.EyeOutHand: if self.robotClient.type_detection == DetectType.EyeOutHand:
@ -306,19 +339,28 @@ class Feeding(QObject):
self.detect.detect_status = DetectStatus.DDetect self.detect.detect_status = DetectStatus.DDetect
elif self.detect.detect_status == DetectStatus.DOk: elif self.detect.detect_status == DetectStatus.DOk:
if Constant.Debug: if Constant.Debug:
if self.feedConfig.num == 990 and self.onekey:
self.feedConfig.num = 0
log.log_message(logging.ERROR, Constant.str_feed_finish)
return
self.detect.detect_status = DetectStatus.DNone self.detect.detect_status = DetectStatus.DNone
self.feedConfig.feedLine.set_take_position(real_position) self.feedConfig.feedLine.set_take_position(real_position)
self.next_position() self.next_position()
return
if self.detect.detect_position != None: if self.detect.detect_position != None:
log.log_message(logging.INFO, Constant.str_feed_takePhoto_success) log.log_message(logging.INFO, Constant.str_feed_takePhoto_success)
self.feedConfig.feedLine.set_take_position(self.detect.detect_position) self.feedConfig.feedLine.set_take_position(self.detect.detect_position)
self.detection_image = self.detect.detection_image self.update_detect_image.emit(self.detect.detection_image)
self.next_position() self.next_position()
self.detect.detect_status = DetectStatus.DNone self.detect.detect_status = DetectStatus.DNone
else: else:
log.log_message(logging.ERROR, Constant.str_feed_takePhoto_fail) if self.onekey:
self.take_no_photo_sigal.emit() self.feedConfig.num = 0
log.log_message(logging.ERROR, Constant.str_feed_finish)
else:
log.log_message(logging.ERROR, Constant.str_feed_takePhoto_fail)
self.take_no_photo_sigal.emit()
return return
detect_pos_list = [] detect_pos_list = []
if not Constant.Debug: if not Constant.Debug:
@ -391,7 +433,7 @@ class Feeding(QObject):
log.log_message(logging.INFO, Constant.str_feed_take) log.log_message(logging.INFO, Constant.str_feed_take)
if self.feedConfig.feedLine.get_take_position().get_position() != None: if self.feedConfig.feedLine.get_take_position().get_position() != None:
# self.take_no_photo = False # self.take_no_photo = False
if self.feedConfig.feedLine.get_take_position().get_position().compare(real_position): if self.feedConfig.feedLine.get_take_position().get_position().compare(real_position, is_action=True):
# 打开吸嘴并返回 # 打开吸嘴并返回
# self.sendIOControl(self.robotClient.con_ios[0], 1) # self.sendIOControl(self.robotClient.con_ios[0], 1)
# self.sendIOControl(self.robotClient.con_ios[1], 1) # self.sendIOControl(self.robotClient.con_ios[1], 1)
@ -405,7 +447,7 @@ class Feeding(QObject):
return return
if self.catch.catch_status == CatchStatus.COk : if self.catch.catch_status == CatchStatus.COk :
self.catch.catch_status = CatchStatus.CNone self.catch.catch_status = CatchStatus.CNone
self.feedConfig.feedLine.set_take_position(None) #self.feedConfig.feedLine.set_take_position(None)
time.sleep(self.robotClient.time_delay_take) time.sleep(self.robotClient.time_delay_take)
log.log_message(logging.INFO, Constant.str_feed_take_success) log.log_message(logging.INFO, Constant.str_feed_take_success)
self.next_position() self.next_position()
@ -434,7 +476,7 @@ class Feeding(QObject):
elif self.feedStatus == FeedStatus.FShake: elif self.feedStatus == FeedStatus.FShake:
log.log_message(logging.INFO, Constant.str_feed_shake) log.log_message(logging.INFO, Constant.str_feed_shake)
if self.get_current_position().get_position().compare(real_position): if self.get_current_position().get_position().compare(real_position,is_action=True):
# TODO 震动方案 # TODO 震动方案
@ -451,7 +493,7 @@ class Feeding(QObject):
elif self.feedStatus == FeedStatus.FDropBag: elif self.feedStatus == FeedStatus.FDropBag:
log.log_message(logging.INFO, Constant.str_feed_drop) log.log_message(logging.INFO, Constant.str_feed_drop)
if self.get_current_position().get_position().compare(real_position): if self.get_current_position().get_position().compare(real_position,is_action=True):
# self.sendIOControl(self.robotClient.con_ios[0], 0) # self.sendIOControl(self.robotClient.con_ios[0], 0)
# self.sendIOControl(self.robotClient.con_ios[1], 0) # self.sendIOControl(self.robotClient.con_ios[1], 0)
# self.sendIOControl(self.robotClient.con_ios[2], 0) # self.sendIOControl(self.robotClient.con_ios[2], 0)

3
Constant.py
View File

@ -3,7 +3,8 @@ import os
Debug = True Debug = True
IO_EmergencyPoint = 3 IO_EmergencyPoint = 3
bag_height = 10 # 一袋的高度 bag_height = 10 # 一袋的高度
position_accuracy = 0.1 position_accuracy_action = 0.1 #动作时的位置精度6 这个精度要高 必须到位置才做动作
position_accuracy_command = 6#命令时的位置精度
manual_adjust_accuracy = 1 manual_adjust_accuracy = 1
# speed = 10 # speed = 10
# shake_speed = 20 # shake_speed = 20

223
MainWin.ui
View File

@ -4143,7 +4143,7 @@ background-color: #197971;
<string notr="true">color: rgb(255, 255, 255);</string> <string notr="true">color: rgb(255, 255, 255);</string>
</property> </property>
<property name="text"> <property name="text">
<string>放取延时：</string> <string>抛袋延时：</string>
</property> </property>
</widget> </widget>
</item> </item>
@ -4243,7 +4243,7 @@ background-color: #499c8a;
<string notr="true">color: rgb(255, 255, 255);</string> <string notr="true">color: rgb(255, 255, 255);</string>
</property> </property>
<property name="text"> <property name="text">
<string>收放点位:</string> <string>抓取点位:</string>
</property> </property>
</widget> </widget>
</item> </item>
@ -4272,7 +4272,7 @@ background-color: #499c8a;
<string notr="true">color: rgb(255, 255, 255);</string> <string notr="true">color: rgb(255, 255, 255);</string>
</property> </property>
<property name="text"> <property name="text">
<string>按压点位：</string> <string>抛袋点位：</string>
</property> </property>
</widget> </widget>
</item> </item>
@ -4306,7 +4306,7 @@ background-color: #499c8a;
</widget> </widget>
</item> </item>
<item row="3" column="1"> <item row="3" column="1">
<widget class="QLineEdit" name="lineEdit_timedelay_shake"> <widget class="QLineEdit" name="lineEdit_timedelay_take">
<property name="sizePolicy"> <property name="sizePolicy">
<sizepolicy hsizetype="Expanding" vsizetype="Expanding"> <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
<horstretch>0</horstretch> <horstretch>0</horstretch>
@ -4330,12 +4330,12 @@ background-color: #499c8a;
<string notr="true">color: rgb(255, 255, 255);</string> <string notr="true">color: rgb(255, 255, 255);</string>
</property> </property>
<property name="text"> <property name="text">
<string>震动延时：</string> <string>抓取延时：</string>
</property> </property>
</widget> </widget>
</item> </item>
<item row="3" column="3"> <item row="3" column="3">
<widget class="QLineEdit" name="lineEdit_timedelay_take"> <widget class="QLineEdit" name="lineEdit_timedelay_shake">
<property name="sizePolicy"> <property name="sizePolicy">
<sizepolicy hsizetype="Expanding" vsizetype="Expanding"> <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
<horstretch>0</horstretch> <horstretch>0</horstretch>
@ -4359,7 +4359,36 @@ background-color: #499c8a;
<string notr="true">color: rgb(255, 255, 255);</string> <string notr="true">color: rgb(255, 255, 255);</string>
</property> </property>
<property name="text"> <property name="text">
<string>吸取延时：</string> <string>摇晃延时：</string>
</property>
</widget>
</item>
<item row="4" column="2">
<widget class="QLabel" name="label_89">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="styleSheet">
<string notr="true">color: rgb(255, 255, 255);</string>
</property>
<property name="text">
<string>平滑系数：</string>
</property>
</widget>
</item>
<item row="4" column="3">
<widget class="QLineEdit" name="lineEdit_setting_smooth">
<property name="sizePolicy">
<sizepolicy hsizetype="Expanding" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="styleSheet">
<string notr="true">color: rgb(255, 255, 255);</string>
</property> </property>
</widget> </widget>
</item> </item>
@ -5597,9 +5626,9 @@ background-color: #499c8a;
<property name="frameShadow"> <property name="frameShadow">
<enum>QFrame::Shadow::Raised</enum> <enum>QFrame::Shadow::Raised</enum>
</property> </property>
<layout class="QGridLayout" name="gridLayout_2" rowstretch="1,1,1" columnstretch="1,1,0" rowminimumheight="2,2,2"> <layout class="QGridLayout" name="gridLayout_2" rowstretch="1,1,1,1" columnstretch="1,1,0" rowminimumheight="2,2,2,0">
<item row="0" column="0"> <item row="2" column="1" colspan="2">
<widget class="QPushButton" name="pushButton_startFeed"> <widget class="QPushButton" name="pushButton_reset">
<property name="sizePolicy"> <property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Expanding"> <sizepolicy hsizetype="Minimum" vsizetype="Expanding">
<horstretch>0</horstretch> <horstretch>0</horstretch>
@ -5608,54 +5637,25 @@ background-color: #499c8a;
</property> </property>
<property name="styleSheet"> <property name="styleSheet">
<string notr="true">*{ <string notr="true">*{
background-color: #499C54; background-color: #FFFFBF;
font: 9pt &quot;楷体&quot;;
border-radius: 10px;
}
*:pressed
{
background-color: #499c8a;
}
</string>
</property>
<property name="text">
<string>启动</string>
</property>
<property name="icon">
<iconset theme="QIcon::ThemeIcon::MediaPlaybackStart"/>
</property>
</widget>
</item>
<item row="0" column="1" colspan="2">
<widget class="QPushButton" name="pushButton_pauseFeed">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="styleSheet">
<string notr="true">*{
background-color: #2196F3;
font: 9pt &quot;楷体&quot;; font: 9pt &quot;楷体&quot;;
border-radius: 10px; border-radius: 10px;
} }
*:pressed *:pressed
{ {
background-color: #499c8a; background-color: #FFF000;
} }
</string> </string>
</property> </property>
<property name="text"> <property name="text">
<string>暂停</string> <string>复位</string>
</property> </property>
<property name="icon"> <property name="icon">
<iconset theme="QIcon::ThemeIcon::MediaPlaybackPause"/> <iconset theme="media-optical"/>
</property> </property>
</widget> </widget>
</item> </item>
<item row="2" column="0"> <item row="3" column="0">
<widget class="QPushButton" name="pushButton_emergency"> <widget class="QPushButton" name="pushButton_emergency">
<property name="sizePolicy"> <property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Expanding"> <sizepolicy hsizetype="Minimum" vsizetype="Expanding">
@ -5684,36 +5684,7 @@ background-color: #ff6e00;
</property> </property>
</widget> </widget>
</item> </item>
<item row="2" column="1" colspan="2"> <item row="2" column="0">
<widget class="QPushButton" name="pushButton_clearAlarm">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="styleSheet">
<string notr="true">*{
background-color: #1CB2B1;
font: 9pt &quot;楷体&quot;;
border-radius: 10px;
}
*:pressed
{
background-color:#1cb052;
}
</string>
</property>
<property name="text">
<string>清除报警</string>
</property>
<property name="icon">
<iconset theme="QIcon::ThemeIcon::SystemReboot"/>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QPushButton" name="pushButton_stopFeed"> <widget class="QPushButton" name="pushButton_stopFeed">
<property name="sizePolicy"> <property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Expanding"> <sizepolicy hsizetype="Minimum" vsizetype="Expanding">
@ -5742,7 +5713,7 @@ background-color: #499c8a;
</widget> </widget>
</item> </item>
<item row="1" column="1" colspan="2"> <item row="1" column="1" colspan="2">
<widget class="QPushButton" name="pushButton_reset"> <widget class="QPushButton" name="pushButton_pauseFeed">
<property name="sizePolicy"> <property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Expanding"> <sizepolicy hsizetype="Minimum" vsizetype="Expanding">
<horstretch>0</horstretch> <horstretch>0</horstretch>
@ -5751,21 +5722,115 @@ background-color: #499c8a;
</property> </property>
<property name="styleSheet"> <property name="styleSheet">
<string notr="true">*{ <string notr="true">*{
background-color: #FFFFBF; background-color: #2196F3;
font: 9pt &quot;楷体&quot;; font: 9pt &quot;楷体&quot;;
border-radius: 10px; border-radius: 10px;
} }
*:pressed *:pressed
{ {
background-color: #FFF000; background-color: #499c8a;
} }
</string> </string>
</property> </property>
<property name="text"> <property name="text">
<string>复位</string> <string>暂停</string>
</property> </property>
<property name="icon"> <property name="icon">
<iconset theme="media-optical"/> <iconset theme="QIcon::ThemeIcon::MediaPlaybackPause"/>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QPushButton" name="pushButton_startFeed">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="styleSheet">
<string notr="true">*{
background-color: #499C54;
font: 9pt &quot;楷体&quot;;
border-radius: 10px;
}
*:pressed
{
background-color: #499c8a;
}
</string>
</property>
<property name="text">
<string>启动</string>
</property>
<property name="icon">
<iconset theme="QIcon::ThemeIcon::MediaPlaybackStart"/>
</property>
</widget>
</item>
<item row="3" column="1" colspan="2">
<widget class="QPushButton" name="pushButton_clearAlarm">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="styleSheet">
<string notr="true">*{
background-color: #1CB2B1;
font: 9pt &quot;楷体&quot;;
border-radius: 10px;
}
*:pressed
{
background-color:#1cb052;
}
</string>
</property>
<property name="text">
<string>清除报警</string>
</property>
<property name="icon">
<iconset theme="QIcon::ThemeIcon::SystemReboot"/>
</property>
</widget>
</item>
<item row="0" column="0" colspan="2">
<widget class="QPushButton" name="pushButton_onekeyfeed">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="styleSheet">
<string notr="true">*{
background-color: rgb(0, 170, 0);
font: 9pt &quot;楷体&quot;;
border-radius: 10px;
}
*:pressed
{
background-color:#1cb052;
}
</string>
</property>
<property name="text">
<string>一键投料</string>
</property>
<property name="icon">
<iconset theme="QIcon::ThemeIcon::DocumentSend"/>
</property>
<property name="iconSize">
<size>
<width>20</width>
<height>20</height>
</size>
</property> </property>
</widget> </widget>
</item> </item>

11
Model/Position.py
View File

@ -1,6 +1,7 @@
import math import math
from Constant import position_accuracy from Constant import position_accuracy_command
from Constant import position_accuracy_action
class Position: class Position:
def __init__(self): def __init__(self):
self.X = 0.0 self.X = 0.0
@ -10,18 +11,19 @@ class Position:
self.V = 0.0 self.V = 0.0
self.W = 0.0 self.W = 0.0
def compare(self,position): def compare(self,position,is_action=False):
distance = math.sqrt((self.X-position.X)**2+ distance = math.sqrt((self.X-position.X)**2+
(self.Y-position.Y)**2+ (self.Y-position.Y)**2+
(self.Z - position.Z)**2+ (self.Z - position.Z)**2+
(self.U - position.U)**2+ (self.U - position.U)**2+
(self.V - position.V)**2+ (self.V - position.V)**2+
(self.W - position.W) ** 2) (self.W - position.W) ** 2)
if distance<=position_accuracy: if distance<=(position_accuracy_action if is_action else position_accuracy_command):
return True return True
else: else:
return False return False
# def compare(self,position): # def compare(self,position):
# if self.X-position.X<position_accuracy and \ # if self.X-position.X<position_accuracy and \
# self.Y-position.Y<position_accuracy and \ # self.Y-position.Y<position_accuracy and \
@ -74,5 +76,8 @@ class Real_Position(Position):
self.W = W self.W = W
return self return self
# def init_position(self, position):
# return self.init_position(position.X,position.Y,position.Z,position.U,position.V,position.W)
def to_string(self): def to_string(self):
return "X:{:.3f},Y:{:.3f},Z:{:.3f},U:{:.3f},V:{:.3f},W:{:.3f}".format(self.X,self.Y,self.Z,self.U,self.V,self.W) return "X:{:.3f},Y:{:.3f},Z:{:.3f},U:{:.3f},V:{:.3f},W:{:.3f}".format(self.X,self.Y,self.Z,self.U,self.V,self.W)

2
Seting.ini
View File

@ -47,7 +47,7 @@ photo_v5 = 0.0
photo_w5 = 1.0 photo_w5 = 1.0
linecount = 2 linecount = 2
remain_linename = 1 remain_linename = 1
remain_count = 1 remain_count = 999
io_take_addr = 8 io_take_addr = 8
io_zip_addr = 11 io_zip_addr = 11
io_shake_addr = 12 io_shake_addr = 12

12
Util/util_pic.py
View File

@ -1,7 +1,7 @@
import logging import logging
import cv2 import cv2
from PIL.ImageQt import QImage, QPixmap from PySide6.QtGui import QPixmap, QImage
from Util.util_log import log from Util.util_log import log
@ -11,11 +11,11 @@ def cv2_to_qpixmap(cv_img):
# img = cv_img.copy() # img = cv_img.copy()
# cv_img = cv2.cvtColor(cv_img, cv2.COLOR_BGR2RGB) # cv_img = cv2.cvtColor(cv_img, cv2.COLOR_BGR2RGB)
try: try:
img = cv_img.copy() height, width, channel = cv_img.shape
height, width, channel = img.shape bytes_per_line = channel * width
bytes_per_line = 3 * width q_image = QImage(cv_img.data, width, height, bytes_per_line, QImage.Format_RGB888)
q_img = QImage(img.data, width, height, bytes_per_line, QImage.Format_RGB888) pixmap = QPixmap.fromImage(q_image)
return QPixmap.fromImage(q_img) return pixmap
except Exception as e: except Exception as e:
print(e) print(e)
log.log_message(logging.ERROR,e) log.log_message(logging.ERROR,e)

16717
log/log.log
View File

File diff suppressed because it is too large Load Diff

45
main.py
View File

@ -10,6 +10,7 @@ import traceback
import PySide6 import PySide6
import cv2 import cv2
import numpy as np
from PyQt5.uic.properties import QtWidgets from PyQt5.uic.properties import QtWidgets
from PySide6 import QtCore from PySide6 import QtCore
from PySide6.QtCore import QThread, Signal, Slot, QObject, QEvent, QTimer 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("初始化点", 2)
combox.addItem("中间点", 3) combox.addItem("中间点", 3)
combox.addItem("相机/待抓点",4) combox.addItem("相机/待抓点",4)
combox.addItem("抓取前点", 3)
combox.addItem("抓取",5) combox.addItem("抓取",5)
combox.addItem("抓取后点", 3)
combox.addItem("破带点1",6) combox.addItem("破带点1",6)
combox.addItem("破带点2",7) combox.addItem("破带点2",7)
combox.addItem("震动点",8) 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_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_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_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) int_validator = QIntValidator(0, 100, self.lineEdit_num)
self.lineEdit_num.setValidator(int_validator) self.lineEdit_num.setValidator(int_validator)
@ -582,14 +585,13 @@ class MainWindow(QMainWindow, Ui_MainWindow):
def init_Run(self): def init_Run(self):
self.robotClient = None self.robotClient = None
self.configReader = configparser.ConfigParser() self.configReader = configparser.ConfigParser()
self.detection =Detection() #TODO 关闭图像 #TODO 关闭图像
self.command_position_quene = Queue() self.command_position_quene = Queue()
self.status_address = DataAddress() self.status_address = DataAddress()
self.feedLine_dict = {} self.feedLine_dict = {}
self.command_quene = Queue() self.command_quene = Queue()
self.main_threading = None self.main_threading = None
self.detection_person = None # DetectionPerson() self.detection_person = None # DetectionPerson()
self.cton_take_no_photo = CRisOrFall()
self.index = 1 self.index = 1
self.configReader.read(Constant.set_ini) self.configReader.read(Constant.set_ini)
@ -638,9 +640,10 @@ class MainWindow(QMainWindow, Ui_MainWindow):
self.robotClient.feed_speed = feed_speed self.robotClient.feed_speed = feed_speed
self.robotClient.reset_speed = reset_speed self.robotClient.reset_speed = reset_speed
self.robotClient.max_angle_interval = max_angle_interval 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.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.last_time = time.time()
self.remain_lineName = self.configReader.get('Robot_Feed', 'remain_lineName') self.remain_lineName = self.configReader.get('Robot_Feed', 'remain_lineName')
self.remain_Count = int(self.configReader.get('Robot_Feed', 'remain_Count')) 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.stackedWidget_num.setCurrentIndex(1)
self.set_run_status_button(True) self.set_run_status_button(True)
self.feeding.pause = False self.feeding.pause = False
self.feeding.onekey = False
log.log_message(logging.INFO, f'{self.feedLine_dict[line_head].name}:{Constant.str_feed_start}') log.log_message(logging.INFO, f'{self.feedLine_dict[line_head].name}:{Constant.str_feed_start}')
def send_num_button_click(self): def send_num_button_click(self):
@ -1318,8 +1322,8 @@ class MainWindow(QMainWindow, Ui_MainWindow):
try: try:
self.feeding.run() self.feeding.run()
self.feeding.run_reset() self.feeding.run_reset()
except: except Exception as e:
print(Error_Code.SYS_NONEPoint) log.log_message(logging.ERROR, e)
# pass #主线程 # pass #主线程
@ -1371,7 +1375,6 @@ class MainWindow(QMainWindow, Ui_MainWindow):
def update_seting_frame(self): def update_seting_frame(self):
self.updateUI_Position() self.updateUI_Position()
self.updateUI_label_detection()
self.updateUI_label_status() self.updateUI_label_status()
self.updateUI_frame_sign(self.feeding.feedStatus) self.updateUI_frame_sign(self.feeding.feedStatus)
self.updateUI_IOPanel() self.updateUI_IOPanel()
@ -1386,6 +1389,7 @@ class MainWindow(QMainWindow, Ui_MainWindow):
@Slot() @Slot()
def show_no_photo_message_box(self): def show_no_photo_message_box(self):
print("显示弹窗图片")
self.feeding.pause = True self.feeding.pause = True
self.send_pause_command(pause=1) self.send_pause_command(pause=1)
msg_box_person = QMessageBox() msg_box_person = QMessageBox()
@ -1412,8 +1416,10 @@ class MainWindow(QMainWindow, Ui_MainWindow):
except Exception as e: except Exception as e:
log.log_message(logging.ERROR, Constant.str_sys_log_IO_error) log.log_message(logging.ERROR, Constant.str_sys_log_IO_error)
pass pass
def updateUI_label_detection(self): @Slot()
backgroud_img = Util.util_pic.cv2_to_qpixmap(self.feeding.detection_image) 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: if backgroud_img == None:
return return
backgroud_img = backgroud_img.scaled(self.label_showDetection.size().width(),self.label_showDetection.size().height(), Qt.AspectRatioMode.IgnoreAspectRatio,Qt.TransformationMode.SmoothTransformation) 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)) self.lineEdit_timedelay_shake.setText(str(self.robotClient.time_delay_shake))
def show_infomessage_box(self,message): def show_infomessage_box(self,message):
print('显示弹窗')
msg_box = QMessageBox(self) msg_box = QMessageBox(self)
msg_box.setWindowTitle("提示") msg_box.setWindowTitle("提示")
msg_box.setText(message) msg_box.setText(message)
@ -1908,6 +1915,18 @@ class MainWindow(QMainWindow, Ui_MainWindow):
if index == 3: if index == 3:
self.updateUI_Base_Set() 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): def send_exit_button_click(self):
self.closeEvent(None) self.closeEvent(None)
QApplication.quit() QApplication.quit()
@ -1935,9 +1954,9 @@ class MainWindow(QMainWindow, Ui_MainWindow):
def closeEvent(self, event): def closeEvent(self, event):
self.record_remain_num() self.record_remain_num()
self.feeding.is_detected = False # self.feeding.is_detected = False
self.feeding.detect_thread.join() # self.feeding.detect_thread.join()
self.detection.release() self.feeding.close_feed()
self.thread_signal = False self.thread_signal = False
self.robotClient.close() self.robotClient.close()
log.log_message(logging.INFO, Constant.str_sys_exit) log.log_message(logging.INFO, Constant.str_sys_exit)

215
ui_MainWin.py
View File

@ -2602,13 +2602,13 @@ class Ui_MainWindow(object):
self.gridLayout_6.addWidget(self.lineEdit_shake_addr, 2, 3, 1, 1) self.gridLayout_6.addWidget(self.lineEdit_shake_addr, 2, 3, 1, 1)
self.lineEdit_timedelay_shake = QLineEdit(self.frame_29) self.lineEdit_timedelay_take = QLineEdit(self.frame_29)
self.lineEdit_timedelay_shake.setObjectName(u"lineEdit_timedelay_shake") self.lineEdit_timedelay_take.setObjectName(u"lineEdit_timedelay_take")
sizePolicy1.setHeightForWidth(self.lineEdit_timedelay_shake.sizePolicy().hasHeightForWidth()) sizePolicy1.setHeightForWidth(self.lineEdit_timedelay_take.sizePolicy().hasHeightForWidth())
self.lineEdit_timedelay_shake.setSizePolicy(sizePolicy1) self.lineEdit_timedelay_take.setSizePolicy(sizePolicy1)
self.lineEdit_timedelay_shake.setStyleSheet(u"color: rgb(255, 255, 255);") self.lineEdit_timedelay_take.setStyleSheet(u"color: rgb(255, 255, 255);")
self.gridLayout_6.addWidget(self.lineEdit_timedelay_shake, 3, 1, 1, 1) self.gridLayout_6.addWidget(self.lineEdit_timedelay_take, 3, 1, 1, 1)
self.label_87 = QLabel(self.frame_29) self.label_87 = QLabel(self.frame_29)
self.label_87.setObjectName(u"label_87") self.label_87.setObjectName(u"label_87")
@ -2618,13 +2618,13 @@ class Ui_MainWindow(object):
self.gridLayout_6.addWidget(self.label_87, 3, 0, 1, 1) self.gridLayout_6.addWidget(self.label_87, 3, 0, 1, 1)
self.lineEdit_timedelay_take = QLineEdit(self.frame_29) self.lineEdit_timedelay_shake = QLineEdit(self.frame_29)
self.lineEdit_timedelay_take.setObjectName(u"lineEdit_timedelay_take") self.lineEdit_timedelay_shake.setObjectName(u"lineEdit_timedelay_shake")
sizePolicy1.setHeightForWidth(self.lineEdit_timedelay_take.sizePolicy().hasHeightForWidth()) sizePolicy1.setHeightForWidth(self.lineEdit_timedelay_shake.sizePolicy().hasHeightForWidth())
self.lineEdit_timedelay_take.setSizePolicy(sizePolicy1) self.lineEdit_timedelay_shake.setSizePolicy(sizePolicy1)
self.lineEdit_timedelay_take.setStyleSheet(u"color: rgb(255, 255, 255);") self.lineEdit_timedelay_shake.setStyleSheet(u"color: rgb(255, 255, 255);")
self.gridLayout_6.addWidget(self.lineEdit_timedelay_take, 3, 3, 1, 1) self.gridLayout_6.addWidget(self.lineEdit_timedelay_shake, 3, 3, 1, 1)
self.label_85 = QLabel(self.frame_29) self.label_85 = QLabel(self.frame_29)
self.label_85.setObjectName(u"label_85") self.label_85.setObjectName(u"label_85")
@ -2634,6 +2634,22 @@ class Ui_MainWindow(object):
self.gridLayout_6.addWidget(self.label_85, 3, 2, 1, 1) self.gridLayout_6.addWidget(self.label_85, 3, 2, 1, 1)
self.label_89 = QLabel(self.frame_29)
self.label_89.setObjectName(u"label_89")
sizePolicy4.setHeightForWidth(self.label_89.sizePolicy().hasHeightForWidth())
self.label_89.setSizePolicy(sizePolicy4)
self.label_89.setStyleSheet(u"color: rgb(255, 255, 255);")
self.gridLayout_6.addWidget(self.label_89, 4, 2, 1, 1)
self.lineEdit_setting_smooth = QLineEdit(self.frame_29)
self.lineEdit_setting_smooth.setObjectName(u"lineEdit_setting_smooth")
sizePolicy1.setHeightForWidth(self.lineEdit_setting_smooth.sizePolicy().hasHeightForWidth())
self.lineEdit_setting_smooth.setSizePolicy(sizePolicy1)
self.lineEdit_setting_smooth.setStyleSheet(u"color: rgb(255, 255, 255);")
self.gridLayout_6.addWidget(self.lineEdit_setting_smooth, 4, 3, 1, 1)
self.gridLayout_6.setRowStretch(0, 1) self.gridLayout_6.setRowStretch(0, 1)
self.gridLayout_6.setRowStretch(1, 1) self.gridLayout_6.setRowStretch(1, 1)
self.gridLayout_6.setRowStretch(2, 1) self.gridLayout_6.setRowStretch(2, 1)
@ -3510,44 +3526,24 @@ class Ui_MainWindow(object):
self.frame_21.setFrameShadow(QFrame.Shadow.Raised) self.frame_21.setFrameShadow(QFrame.Shadow.Raised)
self.gridLayout_2 = QGridLayout(self.frame_21) self.gridLayout_2 = QGridLayout(self.frame_21)
self.gridLayout_2.setObjectName(u"gridLayout_2") self.gridLayout_2.setObjectName(u"gridLayout_2")
self.pushButton_startFeed = QPushButton(self.frame_21) self.pushButton_reset = QPushButton(self.frame_21)
self.pushButton_startFeed.setObjectName(u"pushButton_startFeed") self.pushButton_reset.setObjectName(u"pushButton_reset")
sizePolicy5.setHeightForWidth(self.pushButton_startFeed.sizePolicy().hasHeightForWidth()) sizePolicy5.setHeightForWidth(self.pushButton_reset.sizePolicy().hasHeightForWidth())
self.pushButton_startFeed.setSizePolicy(sizePolicy5) self.pushButton_reset.setSizePolicy(sizePolicy5)
self.pushButton_startFeed.setStyleSheet(u"*{\n" self.pushButton_reset.setStyleSheet(u"*{\n"
"background-color: #499C54;\n" "background-color: #FFFFBF;\n"
"font: 9pt \"\u6977\u4f53\";\n"
"\n"
"border-radius: 10px;\n"
"}\n"
"*:pressed\n"
"{\n"
"background-color: #499c8a;\n"
"}\n"
"")
icon8 = QIcon(QIcon.fromTheme(QIcon.ThemeIcon.MediaPlaybackStart))
self.pushButton_startFeed.setIcon(icon8)
self.gridLayout_2.addWidget(self.pushButton_startFeed, 0, 0, 1, 1)
self.pushButton_pauseFeed = QPushButton(self.frame_21)
self.pushButton_pauseFeed.setObjectName(u"pushButton_pauseFeed")
sizePolicy5.setHeightForWidth(self.pushButton_pauseFeed.sizePolicy().hasHeightForWidth())
self.pushButton_pauseFeed.setSizePolicy(sizePolicy5)
self.pushButton_pauseFeed.setStyleSheet(u"*{\n"
"background-color: #2196F3;\n"
"font: 9pt \"\u6977\u4f53\";\n" "font: 9pt \"\u6977\u4f53\";\n"
"border-radius: 10px;\n" "border-radius: 10px;\n"
"}\n" "}\n"
"*:pressed\n" "*:pressed\n"
"{\n" "{\n"
"background-color: #499c8a;\n" "background-color: #FFF000;\n"
"}\n" "}\n"
"") "")
icon9 = QIcon(QIcon.fromTheme(QIcon.ThemeIcon.MediaPlaybackPause)) icon8 = QIcon(QIcon.fromTheme(u"media-optical"))
self.pushButton_pauseFeed.setIcon(icon9) self.pushButton_reset.setIcon(icon8)
self.gridLayout_2.addWidget(self.pushButton_pauseFeed, 0, 1, 1, 2) self.gridLayout_2.addWidget(self.pushButton_reset, 2, 1, 1, 2)
self.pushButton_emergency = QPushButton(self.frame_21) self.pushButton_emergency = QPushButton(self.frame_21)
self.pushButton_emergency.setObjectName(u"pushButton_emergency") self.pushButton_emergency.setObjectName(u"pushButton_emergency")
@ -3564,10 +3560,68 @@ class Ui_MainWindow(object):
"}\n" "}\n"
"\n" "\n"
"") "")
icon10 = QIcon(QIcon.fromTheme(QIcon.ThemeIcon.WindowClose)) icon9 = QIcon(QIcon.fromTheme(QIcon.ThemeIcon.WindowClose))
self.pushButton_emergency.setIcon(icon10) self.pushButton_emergency.setIcon(icon9)
self.gridLayout_2.addWidget(self.pushButton_emergency, 2, 0, 1, 1) self.gridLayout_2.addWidget(self.pushButton_emergency, 3, 0, 1, 1)
self.pushButton_stopFeed = QPushButton(self.frame_21)
self.pushButton_stopFeed.setObjectName(u"pushButton_stopFeed")
sizePolicy5.setHeightForWidth(self.pushButton_stopFeed.sizePolicy().hasHeightForWidth())
self.pushButton_stopFeed.setSizePolicy(sizePolicy5)
self.pushButton_stopFeed.setStyleSheet(u"*{\n"
"background-color: #FF0000;\n"
"font: 9pt \"\u6977\u4f53\";\n"
"border-radius: 10px;\n"
"}\n"
"*:pressed\n"
"{\n"
"background-color: #499c8a;\n"
"}\n"
"")
icon10 = QIcon(QIcon.fromTheme(QIcon.ThemeIcon.SystemShutdown))
self.pushButton_stopFeed.setIcon(icon10)
self.gridLayout_2.addWidget(self.pushButton_stopFeed, 2, 0, 1, 1)
self.pushButton_pauseFeed = QPushButton(self.frame_21)
self.pushButton_pauseFeed.setObjectName(u"pushButton_pauseFeed")
sizePolicy5.setHeightForWidth(self.pushButton_pauseFeed.sizePolicy().hasHeightForWidth())
self.pushButton_pauseFeed.setSizePolicy(sizePolicy5)
self.pushButton_pauseFeed.setStyleSheet(u"*{\n"
"background-color: #2196F3;\n"
"font: 9pt \"\u6977\u4f53\";\n"
"border-radius: 10px;\n"
"}\n"
"*:pressed\n"
"{\n"
"background-color: #499c8a;\n"
"}\n"
"")
icon11 = QIcon(QIcon.fromTheme(QIcon.ThemeIcon.MediaPlaybackPause))
self.pushButton_pauseFeed.setIcon(icon11)
self.gridLayout_2.addWidget(self.pushButton_pauseFeed, 1, 1, 1, 2)
self.pushButton_startFeed = QPushButton(self.frame_21)
self.pushButton_startFeed.setObjectName(u"pushButton_startFeed")
sizePolicy5.setHeightForWidth(self.pushButton_startFeed.sizePolicy().hasHeightForWidth())
self.pushButton_startFeed.setSizePolicy(sizePolicy5)
self.pushButton_startFeed.setStyleSheet(u"*{\n"
"background-color: #499C54;\n"
"font: 9pt \"\u6977\u4f53\";\n"
"\n"
"border-radius: 10px;\n"
"}\n"
"*:pressed\n"
"{\n"
"background-color: #499c8a;\n"
"}\n"
"")
icon12 = QIcon(QIcon.fromTheme(QIcon.ThemeIcon.MediaPlaybackStart))
self.pushButton_startFeed.setIcon(icon12)
self.gridLayout_2.addWidget(self.pushButton_startFeed, 1, 0, 1, 1)
self.pushButton_clearAlarm = QPushButton(self.frame_21) self.pushButton_clearAlarm = QPushButton(self.frame_21)
self.pushButton_clearAlarm.setObjectName(u"pushButton_clearAlarm") self.pushButton_clearAlarm.setObjectName(u"pushButton_clearAlarm")
@ -3584,52 +3638,37 @@ class Ui_MainWindow(object):
"}\n" "}\n"
"\n" "\n"
"") "")
icon11 = QIcon(QIcon.fromTheme(QIcon.ThemeIcon.SystemReboot)) icon13 = QIcon(QIcon.fromTheme(QIcon.ThemeIcon.SystemReboot))
self.pushButton_clearAlarm.setIcon(icon11) self.pushButton_clearAlarm.setIcon(icon13)
self.gridLayout_2.addWidget(self.pushButton_clearAlarm, 2, 1, 1, 2) self.gridLayout_2.addWidget(self.pushButton_clearAlarm, 3, 1, 1, 2)
self.pushButton_stopFeed = QPushButton(self.frame_21) self.pushButton_onekeyfeed = QPushButton(self.frame_21)
self.pushButton_stopFeed.setObjectName(u"pushButton_stopFeed") self.pushButton_onekeyfeed.setObjectName(u"pushButton_onekeyfeed")
sizePolicy5.setHeightForWidth(self.pushButton_stopFeed.sizePolicy().hasHeightForWidth()) sizePolicy5.setHeightForWidth(self.pushButton_onekeyfeed.sizePolicy().hasHeightForWidth())
self.pushButton_stopFeed.setSizePolicy(sizePolicy5) self.pushButton_onekeyfeed.setSizePolicy(sizePolicy5)
self.pushButton_stopFeed.setStyleSheet(u"*{\n" self.pushButton_onekeyfeed.setStyleSheet(u"*{\n"
"background-color: #FF0000;\n" "background-color: rgb(0, 170, 0);\n"
"\n"
"font: 9pt \"\u6977\u4f53\";\n" "font: 9pt \"\u6977\u4f53\";\n"
"border-radius: 10px;\n" "border-radius: 10px;\n"
"}\n" "}\n"
"*:pressed\n" "*:pressed\n"
"{\n" "{\n"
"background-color: #499c8a;\n" "background-color:#1cb052;\n"
"}\n" "}\n"
"\n"
"") "")
icon12 = QIcon(QIcon.fromTheme(QIcon.ThemeIcon.SystemShutdown)) icon14 = QIcon(QIcon.fromTheme(QIcon.ThemeIcon.DocumentSend))
self.pushButton_stopFeed.setIcon(icon12) self.pushButton_onekeyfeed.setIcon(icon14)
self.pushButton_onekeyfeed.setIconSize(QSize(20, 20))
self.gridLayout_2.addWidget(self.pushButton_stopFeed, 1, 0, 1, 1) self.gridLayout_2.addWidget(self.pushButton_onekeyfeed, 0, 0, 1, 2)
self.pushButton_reset = QPushButton(self.frame_21)
self.pushButton_reset.setObjectName(u"pushButton_reset")
sizePolicy5.setHeightForWidth(self.pushButton_reset.sizePolicy().hasHeightForWidth())
self.pushButton_reset.setSizePolicy(sizePolicy5)
self.pushButton_reset.setStyleSheet(u"*{\n"
"background-color: #FFFFBF;\n"
"font: 9pt \"\u6977\u4f53\";\n"
"border-radius: 10px;\n"
"}\n"
"*:pressed\n"
"{\n"
"background-color: #FFF000;\n"
"}\n"
"")
icon13 = QIcon(QIcon.fromTheme(u"media-optical"))
self.pushButton_reset.setIcon(icon13)
self.gridLayout_2.addWidget(self.pushButton_reset, 1, 1, 1, 2)
self.gridLayout_2.setRowStretch(0, 1) self.gridLayout_2.setRowStretch(0, 1)
self.gridLayout_2.setRowStretch(1, 1) self.gridLayout_2.setRowStretch(1, 1)
self.gridLayout_2.setRowStretch(2, 1) self.gridLayout_2.setRowStretch(2, 1)
self.gridLayout_2.setRowStretch(3, 1)
self.gridLayout_2.setColumnStretch(0, 1) self.gridLayout_2.setColumnStretch(0, 1)
self.gridLayout_2.setColumnStretch(1, 1) self.gridLayout_2.setColumnStretch(1, 1)
self.gridLayout_2.setRowMinimumHeight(0, 2) self.gridLayout_2.setRowMinimumHeight(0, 2)
@ -3925,14 +3964,15 @@ class Ui_MainWindow(object):
self.label_17.setText(QCoreApplication.translate("MainWindow", u"Z2:", None)) self.label_17.setText(QCoreApplication.translate("MainWindow", u"Z2:", None))
self.label_28.setText(QCoreApplication.translate("MainWindow", u"\u751f\u4ea7\u901f\u5ea6\uff1a", None)) self.label_28.setText(QCoreApplication.translate("MainWindow", u"\u751f\u4ea7\u901f\u5ea6\uff1a", None))
self.label_94.setText(QCoreApplication.translate("MainWindow", u"\u590d\u4f4d\u901f\u5ea6\uff1a", None)) self.label_94.setText(QCoreApplication.translate("MainWindow", u"\u590d\u4f4d\u901f\u5ea6\uff1a", None))
self.label_86.setText(QCoreApplication.translate("MainWindow", u"\u653e\u53d6\u5ef6\u65f6\uff1a", None)) self.label_86.setText(QCoreApplication.translate("MainWindow", u"\u629b\u888b\u5ef6\u65f6\uff1a", None))
self.pushButton_saveSeting.setText(QCoreApplication.translate("MainWindow", u"\u4fdd\u5b58\u8bbe\u7f6e", None)) self.pushButton_saveSeting.setText(QCoreApplication.translate("MainWindow", u"\u4fdd\u5b58\u8bbe\u7f6e", None))
self.label_29.setText(QCoreApplication.translate("MainWindow", u"\u8c03\u8bd5\u901f\u5ea6\uff1a", None)) self.label_29.setText(QCoreApplication.translate("MainWindow", u"\u8c03\u8bd5\u901f\u5ea6\uff1a", None))
self.label_51.setText(QCoreApplication.translate("MainWindow", u"\u6536\u653e\u70b9\u4f4d:", None)) self.label_51.setText(QCoreApplication.translate("MainWindow", u"\u6293\u53d6\u70b9\u4f4d:", None))
self.label_52.setText(QCoreApplication.translate("MainWindow", u"\u6309\u538b\u70b9\u4f4d\uff1a", None)) self.label_52.setText(QCoreApplication.translate("MainWindow", u"\u629b\u888b\u70b9\u4f4d\uff1a", None))
self.label_54.setText(QCoreApplication.translate("MainWindow", u"\u6447\u6643\u70b9\u4f4d:", None)) self.label_54.setText(QCoreApplication.translate("MainWindow", u"\u6447\u6643\u70b9\u4f4d:", None))
self.label_87.setText(QCoreApplication.translate("MainWindow", u"\u9707\u52a8\u5ef6\u65f6\uff1a", None)) self.label_87.setText(QCoreApplication.translate("MainWindow", u"\u6293\u53d6\u5ef6\u65f6\uff1a", None))
self.label_85.setText(QCoreApplication.translate("MainWindow", u"\u5438\u53d6\u5ef6\u65f6\uff1a", None)) self.label_85.setText(QCoreApplication.translate("MainWindow", u"\u6447\u6643\u5ef6\u65f6\uff1a", None))
self.label_89.setText(QCoreApplication.translate("MainWindow", u"\u5e73\u6ed1\u7cfb\u6570\uff1a", None))
self.pushButton_j3_add.setText("") self.pushButton_j3_add.setText("")
self.pushButton_j5_add.setText("") self.pushButton_j5_add.setText("")
self.pushButton_j6_sub.setText("") self.pushButton_j6_sub.setText("")
@ -3993,12 +4033,13 @@ class Ui_MainWindow(object):
self.pushButton_num_confirm.setText(QCoreApplication.translate("MainWindow", u"\u786e\u5b9a", None)) self.pushButton_num_confirm.setText(QCoreApplication.translate("MainWindow", u"\u786e\u5b9a", None))
self.pushButton_AddNum.setText(QCoreApplication.translate("MainWindow", u"\u8865\u4e00\u888b", None)) self.pushButton_AddNum.setText(QCoreApplication.translate("MainWindow", u"\u8865\u4e00\u888b", None))
self.pushButton_SubNum.setText(QCoreApplication.translate("MainWindow", u"\u6263\u4e00\u888b", None)) self.pushButton_SubNum.setText(QCoreApplication.translate("MainWindow", u"\u6263\u4e00\u888b", None))
self.pushButton_startFeed.setText(QCoreApplication.translate("MainWindow", u"\u542f\u52a8", None))
self.pushButton_pauseFeed.setText(QCoreApplication.translate("MainWindow", u"\u6682\u505c", None))
self.pushButton_emergency.setText(QCoreApplication.translate("MainWindow", u"\u6025\u505c", None))
self.pushButton_clearAlarm.setText(QCoreApplication.translate("MainWindow", u"\u6e05\u9664\u62a5\u8b66", None))
self.pushButton_stopFeed.setText(QCoreApplication.translate("MainWindow", u"\u505c\u6b62", None))
self.pushButton_reset.setText(QCoreApplication.translate("MainWindow", u"\u590d\u4f4d", None)) self.pushButton_reset.setText(QCoreApplication.translate("MainWindow", u"\u590d\u4f4d", None))
self.pushButton_emergency.setText(QCoreApplication.translate("MainWindow", u"\u6025\u505c", None))
self.pushButton_stopFeed.setText(QCoreApplication.translate("MainWindow", u"\u505c\u6b62", None))
self.pushButton_pauseFeed.setText(QCoreApplication.translate("MainWindow", u"\u6682\u505c", None))
self.pushButton_startFeed.setText(QCoreApplication.translate("MainWindow", u"\u542f\u52a8", None))
self.pushButton_clearAlarm.setText(QCoreApplication.translate("MainWindow", u"\u6e05\u9664\u62a5\u8b66", None))
self.pushButton_onekeyfeed.setText(QCoreApplication.translate("MainWindow", u"\u4e00\u952e\u6295\u6599", None))
self.label_4.setText(QCoreApplication.translate("MainWindow", u"\u76ee\u6807\u888b\u6570\uff1a", None)) self.label_4.setText(QCoreApplication.translate("MainWindow", u"\u76ee\u6807\u888b\u6570\uff1a", None))
self.label_maxNum.setText(QCoreApplication.translate("MainWindow", u"0", None)) self.label_maxNum.setText(QCoreApplication.translate("MainWindow", u"0", None))
self.label_6.setText(QCoreApplication.translate("MainWindow", u"\u5269\u4f59\u888b\u6570\uff1a", None)) self.label_6.setText(QCoreApplication.translate("MainWindow", u"\u5269\u4f59\u888b\u6570\uff1a", None))