update 更新表格处理，更新添加自由路径，更新了重连机制

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 
 
     

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))

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

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'

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
 """

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]

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

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)
+    if cv_img.shape !=3:
-    height, width, channel = cv_img.shape
+        print("cv_img.shape !=3")
-    bytes_per_line = 3 * width
+        return None
-    q_img = QImage(cv_img.data, width, height, bytes_per_line, QImage.Format_RGB888)
+    try:
-    return QPixmap.fromImage(q_img)
+        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
+
+

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)

test_ui.py

@@ -1,9 +1,39 @@
-from CU.Feeding import Feeding
+import sys
-from Model.Position import Real_Position
+import cv2
-from Model.RobotModel import MoveType
+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)
+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())