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update 更新表格处理，更新添加自由路径，更新了重连机制

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This commit is contained in:
FrankCV2048
2024-12-13 23:02:22 +08:00
parent b804b52b1f
commit d231d9fcc8
10 changed files with 104 additions and 20 deletions
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8
COM/COM_Robot.py
View File

@ -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

4
COM/COM_TCP.py
View File

@ -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))

7
CU/Feeding.py
View File

@ -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

2
Constant.py
View File

@ -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'

12
Model/Position.py
View File

@ -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
"""

3
Model/RobotModel.py
View File

@ -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]

1
Seting.ini
View File

@ -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

22
Util/util_pic.py
View File

@ -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
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(cv_img.data, width, height, bytes_per_line, QImage.Format_RGB888)
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

17
main.py
View File

@ -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)

44
test_ui.py
View File

@ -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)
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())