From d231d9fcc8648c908000b531a67eb08b05a3e13c Mon Sep 17 00:00:00 2001 From: FrankCV2048 <1395405735@qq.com> Date: Fri, 13 Dec 2024 23:02:22 +0800 Subject: [PATCH] =?UTF-8?q?update=20=E6=9B=B4=E6=96=B0=E8=A1=A8=E6=A0=BC?= =?UTF-8?q?=E5=A4=84=E7=90=86=EF=BC=8C=E6=9B=B4=E6=96=B0=E6=B7=BB=E5=8A=A0?= =?UTF-8?q?=E8=87=AA=E7=94=B1=E8=B7=AF=E5=BE=84=EF=BC=8C=E6=9B=B4=E6=96=B0?= =?UTF-8?q?=E4=BA=86=E9=87=8D=E8=BF=9E=E6=9C=BA=E5=88=B6?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- COM/COM_Robot.py | 8 +++----- COM/COM_TCP.py | 4 +++- CU/Feeding.py | 7 +++++++ Constant.py | 2 ++ Model/Position.py | 12 ++++++++++++ Model/RobotModel.py | 3 +++ Seting.ini | 1 + Util/util_pic.py | 26 ++++++++++++++++++++------ main.py | 17 ++++++++++++++++- test_ui.py | 44 +++++++++++++++++++++++++++++++++++++------- 10 files changed, 104 insertions(+), 20 deletions(-) diff --git a/COM/COM_Robot.py b/COM/COM_Robot.py index d4762be..a9f3989 100644 --- a/COM/COM_Robot.py +++ b/COM/COM_Robot.py @@ -34,6 +34,7 @@ class RobotClient(TCPClient): self.debug_speed = 10 self.feed_speed = 10 self.reset_speed = 10 + self.max_angle_interval = 0 def add_sendQuene(self,command): #后面 命令分等级，紧急命令直接执行 self.command_quene.put(command) @@ -42,13 +43,10 @@ class RobotClient(TCPClient): def send_Command(self): try: if self.command_quene.qsize()!=0: - command = self.command_quene.get() self.client_socket.send(command.encode()) - if True: response = self.client_socket.recv(1024).decode('utf-8') - # response_message = json.loads(response) return True else: @@ -98,7 +96,7 @@ class RobotClient(TCPClient): log.log_message(logging.WARNING,Constant.str_sys_json_error+response) return True except Exception as e: - log.log_message(logging.ERROR,f'{e}') + log.log_message(logging.ERROR,f'{e}{response}') raise def send_emergency_sound(self): @@ -127,7 +125,7 @@ class RobotClient(TCPClient): return False def get_origin_position(self): - return self.status_model.getRealPosition() + return self.origin_position pass diff --git a/COM/COM_TCP.py b/COM/COM_TCP.py index f14f231..2b911d6 100644 --- a/COM/COM_TCP.py +++ b/COM/COM_TCP.py @@ -14,9 +14,11 @@ class TCPClient: self.port = port self.thread_signal = True self.connected = False - + self.client_socket = None def CreatConnect(self): + if self.client_socket: + self.client_socket.close() self.client_socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM) self.client_socket.settimeout(5) self.client_socket.connect((self.IPAddress, self.port)) diff --git a/CU/Feeding.py b/CU/Feeding.py index f19c9ff..c2d078b 100644 --- a/CU/Feeding.py +++ b/CU/Feeding.py @@ -46,6 +46,7 @@ class LineType(Enum): Straight = 0 CureMid = 2 CureEnd = 3 + WORLD = 4 class FeedMidStatus(Enum): @@ -649,6 +650,12 @@ class Feeding(QObject): start_pos1 = self.feedConfig.feedLine.get_next_start_position(reverse) self.feedStatus = FeedStatus(start_pos1.status) if self.feedStatus != FeedStatus.FNone else FeedStatus.FNone self.sendTargPosition(real_position=start_pos.get_position(),speed=self.robotClient.debug_speed, move_type=MoveType.Cure, real_position1=start_pos1.get_position()) + elif start_pos.lineType == LineType.WORLD.value: + if self.robotClient.status_model.getAnglePosition().is_error_angel_move(start_pos.get_position(),self.robotClient.max_angle_interval): + 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) else: self.sendTargPosition(real_position=start_pos.get_position(),speed=self.robotClient.debug_speed) pass diff --git a/Constant.py b/Constant.py index d036ca9..441d276 100644 --- a/Constant.py +++ b/Constant.py @@ -60,6 +60,7 @@ str_feed_shake = '摇摆' 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_sys_start = '进入系统' str_sys_exit = '退出系统' str_sys_switch_tool = '切换到工具坐标' @@ -76,6 +77,7 @@ str_sys_set_error = '保存设置失败' 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_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' diff --git a/Model/Position.py b/Model/Position.py index 213a930..9c8824b 100644 --- a/Model/Position.py +++ b/Model/Position.py @@ -18,6 +18,18 @@ class Position: else: return False pass + + def is_error_angel_move(self,position,interval): + if self.X - position.X >= interval or \ + self.Y - position.Y >= interval or \ + self.Z - position.Z >= interval or \ + self.U - position.U >= interval or \ + self.V - position.V >= interval or \ + self.W - position.W >= interval: + return True + else: + return False + pass """ 摄像头识别位置和角度 """ diff --git a/Model/RobotModel.py b/Model/RobotModel.py index 06cfda0..9298e56 100644 --- a/Model/RobotModel.py +++ b/Model/RobotModel.py @@ -77,6 +77,9 @@ class DataAddress: real_position = Real_Position().init_position(self.world_0,self.world_1,self.world_2,self.world_3,self.world_4,self.world_5) return real_position + def getAnglePosition(self): + real_position = Real_Position().init_position(self.axis_0,self.axis_1,self.axis_2,self.axis_3,self.axis_4,self.axis_5) + return real_position def get_IO_bits(self): io_bits_str = format(self.output_n, '032b')[::-1] io_bits_arry = [bit == '1' for bit in io_bits_str] diff --git a/Seting.ini b/Seting.ini index 87c492e..8eb6424 100644 --- a/Seting.ini +++ b/Seting.ini @@ -54,6 +54,7 @@ io_shake_addr = 10 takedelay = 0.2 putdelay = 0.1 shakedelay = 1.0 +max_angle_interval=20 [Speed] debug_speed = 50 diff --git a/Util/util_pic.py b/Util/util_pic.py index b06fa1e..e6ef291 100644 --- a/Util/util_pic.py +++ b/Util/util_pic.py @@ -1,11 +1,25 @@ +import logging + +import PySide6 import cv2 -from PIL.ImageQt import QImage, QPixmap +from PyQt5.QtGui import QImage, QPixmap + +from Util.util_log import log def cv2_to_qpixmap(cv_img): """将OpenCV图像转换为QPixmap""" - cv_img = cv2.cvtColor(cv_img, cv2.COLOR_BGR2RGB) - 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) \ No newline at end of file + if cv_img.shape !=3: + print("cv_img.shape !=3") + return None + 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: + log.log_message(logging.ERROR, e) + return None + + diff --git a/main.py b/main.py index fff1858..771c388 100644 --- a/main.py +++ b/main.py @@ -415,7 +415,17 @@ class MainWindow(QMainWindow, Ui_MainWindow): self.table_line_changed = True def tabel_get_position(self,row_i): - self.set_position_tabel(row_i,self.status_address.getRealPosition()) + if self.tableWidget_line_positions.currentRow()==-1: + QMessageBox.information(self, "提示", Constant.str_sys_set_position_error) + return + + row_i = self.tableWidget_line_positions.currentRow() + combox_line_type = self.tableWidget_line_positions.cellWidget(row_i, 7) + lineType = combox_line_type.currentData() + if lineType == 4: + self.set_position_tabel(row_i, self.status_address.getAnglePosition()) + else: + self.set_position_tabel(row_i, self.status_address.getRealPosition()) self.table_line_changed = True def tabel_delete_position(self,row_i): @@ -429,6 +439,7 @@ class MainWindow(QMainWindow, Ui_MainWindow): combox_lineType.addItem("直线",0) combox_lineType.addItem("曲线中间点",2) combox_lineType.addItem("曲线终点",3) + combox_lineType.addItem("自由路径",4) combox_lineType.setCurrentIndex(combox_lineType.findData(position_model.lineType)) combox_lineType.currentIndexChanged.connect(self.send_table_position_status_changed) self.tableWidget_line_positions.setCellWidget(row_i, 7, combox_lineType) @@ -461,6 +472,8 @@ class MainWindow(QMainWindow, Ui_MainWindow): self.table_position_changed = True def set_position_tabel(self, row_i, position): + + self.tableWidget_line_positions.setItem(row_i, 1, QTableWidgetItem(str(position.X))) self.tableWidget_line_positions.setItem(row_i, 2, QTableWidgetItem(str(position.Y))) self.tableWidget_line_positions.setItem(row_i, 3, QTableWidgetItem(str(position.Z))) @@ -615,12 +628,14 @@ class MainWindow(QMainWindow, Ui_MainWindow): time_delay_take = float(self.configReader.get('Robot_Feed', 'takeDelay')) time_delay_put = float(self.configReader.get('Robot_Feed', 'putDelay')) time_delay_shake = float(self.configReader.get('Robot_Feed', 'shakeDelay')) + max_angle_interval = float(self.configReader.get('Robot_Feed', 'max_angle_interval')) #TODO #dropDelay_time = int(self.configReader.get('Robot_Feed', 'dropDelay_time')) self.robotClient = RobotClient(ip, port, photo_locs, self.command_position_quene, self.status_address,[io_take_addr, io_zip_addr, io_shake_addr],time_delay_take,time_delay_put,time_delay_shake,origin_position) self.robotClient.debug_speed = debug_speed 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.need_origin_signal.connect(self.show_infomessage_box) self.feeding.take_no_photo_sigal.emit(self.show_no_photo_message_box) diff --git a/test_ui.py b/test_ui.py index b0ca845..f9a01cd 100644 --- a/test_ui.py +++ b/test_ui.py @@ -1,9 +1,39 @@ -from CU.Feeding import Feeding -from Model.Position import Real_Position -from Model.RobotModel import MoveType +import sys +import cv2 +from PyQt5.QtGui import QImage, QPixmap +from PySide6.QtWidgets import QApplication, QLabel, QMainWindow -feeding = Feeding(None,None) -p_mid = Real_Position().init_position(20,20,20,30,20,20) -p_end = Real_Position().init_position(30,40,5,30,3,3) -feeding.sendTargPosition(p_mid,MoveType.Cure,5,p_end) \ No newline at end of file +def cv2_to_qimage(cv_img): + """Convert an OpenCV image to QImage.""" + height, width, channel = cv_img.shape + bytes_per_line = 3 * width + q_img = QImage(cv_img.data, width, height, bytes_per_line, QImage.Format_BGR888) + return q_img + + +class MainWindow(QMainWindow): + def __init__(self): + super().__init__() + self.setWindowTitle("Display Image with PySide6") + self.resize(800, 600) + + + # 使用 OpenCV 读取图像 + cv_img = cv2.imread("./Image/1.png") # 替换为实际路径 + img = cv_img.copy() + # 转换为 QImage img = cv_img.copy() + q_img = cv2_to_qimage(cv_img) + + # 创建 QLabel 并设置图像 + label = QLabel(self) + label.setPixmap(QPixmap.fromImage(q_img)) + label.setScaledContents(True) + label.setGeometry(50, 50, 700, 500) # 调整位置和大小 + + +if __name__ == "__main__": + app = QApplication(sys.argv) + window = MainWindow() + window.show() + sys.exit(app.exec())