diff --git a/COM/COM_TCP.py b/COM/COM_TCP.py index 5c63ecd..d86a1b7 100644 --- a/COM/COM_TCP.py +++ b/COM/COM_TCP.py @@ -8,12 +8,13 @@ class TCPClient: self.error_count=0 self.IPAddress = ip self.port = port - self.client_socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM) - self.client_socket.settimeout(5) + self.connected = False def CreatConnect(self): + self.client_socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM) + self.client_socket.settimeout(5) self.client_socket.connect((self.IPAddress, self.port)) @@ -36,7 +37,16 @@ class TCPClient: self.error_count += 1 if self.error_count> 5: print("Error: TCPClient is not connected") - self.CreatConnect() + try: + self.CreatConnect() + except OSError as e1: + if e1.errno == 10056: + self.client_socket.close() + print("Error: TCPClient is not connected") + except Exception as e2: + print(e2) + + def send_Command(self): return False diff --git a/CU/Feeding.py b/CU/Feeding.py index 8aa8d3b..e22535e 100644 --- a/CU/Feeding.py +++ b/CU/Feeding.py @@ -58,13 +58,16 @@ class Feeding(): # 0, # 0); + if self.feedConfig == None: + self.feedStatus = FeedStatus.FNone + elif self.feedConfig.num == 0: + self.feedStatus = FeedStatus.FNone if self.feedStatus==FeedStatus.FNone: pass elif self.feedStatus==FeedStatus.FStart: if self.feedConfig.num != 0: self.feedStatus = FeedStatus.FSafeP - self.sendTargPosition(self.feedConfig.feedLine.safe_position) #print(request_command) diff --git a/Config/FeedLine.ini b/Config/FeedLine.ini index c5d557d..8c18deb 100644 --- a/Config/FeedLine.ini +++ b/Config/FeedLine.ini @@ -1,5 +1,5 @@ [FeedLine1] -name = 阿萨德 +name = 反应釜1 safeposition_x = 534.907898 safeposition_y = 5.525342 safeposition_z = 737.267822 @@ -20,7 +20,7 @@ feedposition_v = -4.094595 feedposition_w = -5.294128 [FeedLine2] -name = 艾师傅 +name = 反应釜2 safeposition_x = 0.0 safeposition_y = 0.0 safeposition_z = 0.0 diff --git a/Model/RobotModel.py b/Model/RobotModel.py index 4f7821c..899c982 100644 --- a/Model/RobotModel.py +++ b/Model/RobotModel.py @@ -98,10 +98,17 @@ class DATAReply: class CMDRequest: def __init__(self): - self.dsID = 'www.hc-system.com.HCRemoteCommand' + self.dsID = 'www.hc-system.com.RemoteMonitor' self.reqType = 'command' self.cmdData = [] return + def toString(self): + model_str = '{'+f'"dsID":"{self.dsID}","reqType":"{self.reqType}","cmdData":' + if len(self.cmdData) != 0: + model_str = model_str+"["+','.join(f'"{item}"' for item in self.cmdData)+"]"+"}" + else: + model_str = model_str+"}" + return model_str class CMDReply: def __init__(self): @@ -110,6 +117,7 @@ class CMDReply: self.cmdData = [] return + class Instruction: def __init__(self): self.oneshot = 1 @@ -130,7 +138,7 @@ class Instruction: model_str = f'"oneshot":"{self.oneshot}","action":"{self.action}","m0":"{self.m0}","m1":"{self.m1}","m2":"{self.m2}",' \ f'"m3":"{self.m3}","m4":"{self.m4}","m5":"{self.m5}","ckStatus":"{self.ckStatus}","speed":"{self.speed}",' \ f'"delay":"{self.delay}","smooth":"{self.smooth}","tool":"{self.tool}"' - print(model_str) + return model_str @@ -143,8 +151,12 @@ class CMDInstructRequest: self.instructions = [] def toString(self): - model_str = '{'+f'"dsID":"{self.dsID}","reqType":"{self.reqType}","emptyList":"{self.emptyList}","instructions":' - model_str = model_str+"[{"+self.instructions[0].toString()+"}]"+"}" + model_str = '{'+f'"dsID":"{self.dsID}","reqType":"{self.reqType}","emptyList":"{self.emptyList}"' + if len(self.instructions) != 0: + model_str = model_str+',"instructions":'+"[{"+self.instructions[0].toString()+"}]"+"}" + else: + model_str = model_str+"}" + print(model_str) return model_str class CMDInstructReply: diff --git a/app.py b/app.py index 0441427..3a6d476 100644 --- a/app.py +++ b/app.py @@ -83,6 +83,11 @@ class MainWindow(QMainWindow,Ui_MainWindow): self.pushButton_j5_add.clicked.connect(self.send_addOneAsix_button_click) self.pushButton_j6_add.clicked.connect(self.send_addOneAsix_button_click) + self.pushButton_stopFeed.clicked.connect(self.send_stopFeed_button_click) + self.pushButton_pauseFeed.clicked.connect(self.send_pauseFeed_button_click) + + self.pushButton_clearAlarm.clicked.connect(self.send_clear_alarm_command) + self.pushButton_speed.setText(str(Constant.speed)) self.pushButton_speed.clicked.connect(self.send_setSpeed_label_doubelClick) self.lineEdit_speed.returnPressed.connect(self.send_setSpeed_lineEdit_returePressed) @@ -104,7 +109,8 @@ class MainWindow(QMainWindow,Ui_MainWindow): self.lineEdit_speed.hide() - + self.pushButton_stopFeed.hide() + self.pushButton_pauseFeed.hide() def init_Run(self): self.robotClient = None @@ -242,6 +248,7 @@ class MainWindow(QMainWindow,Ui_MainWindow): name = self.configReader.get(line_str, 'Name', fallback='未命名') self.feedLine_dict[f'{Constant.feedLine_set_section}{i+1}'] = FeedLine(name ,safe_position, photo_position, feed_position) self.init_seting_frame() + self.updateUI_Select_Line() pass def init_robot_info(self): @@ -292,8 +299,10 @@ class MainWindow(QMainWindow,Ui_MainWindow): def send_startFeed_button_click(self): num = self.horizontalSlider_feedingNum.maximum() line_index = str(self.comboBox_lineIndex.currentIndex()+1) - self.command_quene.put(FeedCommand(FeedingConfig(num, self.feedLine_dict[f'{Constant.feedLine_set_section}{1}']))) + line_head = self.comboBox_lineIndex.currentData() + self.command_quene.put(FeedCommand(FeedingConfig(num, self.feedLine_dict[line_head]))) self.stackedWidget_num.setCurrentIndex(1) + self.set_run_status_button(True) def send_num_button_click(self): button = self.sender() @@ -304,6 +313,7 @@ class MainWindow(QMainWindow,Ui_MainWindow): self.horizontalSlider_feedingNum.setValue(0) else: self.pushButton_num_free.hide() + self.lineEdit_num.show() def send_subOneAsix_button_click(self): btn_str = self.sender().objectName() @@ -377,6 +387,8 @@ class MainWindow(QMainWindow,Ui_MainWindow): def send_stack_feedSet_button_click(self,index): #self.logger.info("This is an info message") self.stackedWidget_feed.setCurrentIndex(index) + if index == 0: + self.updateUI_Select_Line() @@ -410,28 +422,6 @@ class MainWindow(QMainWindow,Ui_MainWindow): self.pushButton_speed.show() pass - def send_position_command(self,x1,x2,x3,x4,x5,x6,move_type:MoveType=MoveType.WORLD): - position_instruction = Instruction() - position_instruction.m0 = float(x1) - position_instruction.m1 = float(x2) - position_instruction.m2 = float(x3) - position_instruction.m3 = float(x4) - position_instruction.m4 = float(x5) - position_instruction.m5 = float(x6) - position_instruction.action = move_type.value - instruction_command = CMDInstructRequest() - instruction_command.instructions.append(position_instruction) - request_command = instruction_command.toString() - print(request_command) - log_str = f'移动到位置:{"自由路径" if move_type==MoveType.AXIS else "姿势直线"}：' \ - f'm0:{position_instruction.m0}-' \ - f'm2:{position_instruction.m1}-' \ - f'm3:{position_instruction.m2}-' \ - f'm4:{position_instruction.m3}-' \ - f'm5:{position_instruction.m4}-' \ - f'm6:{position_instruction.m5}' - self.logger_textEdit.info(log_str) - self.robotClient.add_sendQuene(request_command) def send_get_safe_position_button_click(self): real_position = self.robotClient.status_model.getRealPosition() @@ -490,6 +480,24 @@ class MainWindow(QMainWindow,Ui_MainWindow): writeFeedLine_to_ini(self.feedLine_dict, Constant.feedLine_set_file) pass + def send_stopFeed_button_click(self): + pass + # 清空状态 + self.feeding.feedStatus = FeedStatus.FNone + # 清空运行命令 + self.send_clear_auto_command() + # + + + def send_pauseFeed_button_click(self): + if self.pushButton_pauseFeed.text()=='暂停': + self.pushButton_pauseFeed.setText('继续') + self.send_pause_command(True) + else: + self.pushButton_pauseFeed.setText('暂停') + self.send_pause_command(False) + + pass def send_tabelFeedSet_itemChanged(self, item): row = item.row() column = item.column() @@ -565,7 +573,9 @@ class MainWindow(QMainWindow,Ui_MainWindow): self.set_label_status_style(False) if self.feeding.feedStatus != FeedStatus.FNone: self.horizontalSlider_feedingNum.setValue(self.horizontalSlider_feedingNum.maximum()-self.feeding.feedConfig.num) - if self.horizontalSlider_feedingNum.value() == 0: + else: + self.set_run_status_button(False) + if self.feeding.feedStatus == FeedStatus.FNone: self.stackedWidget_num.setCurrentIndex(0) else: self.stackedWidget_num.setCurrentIndex(1) @@ -574,6 +584,11 @@ class MainWindow(QMainWindow,Ui_MainWindow): self.label_time.setText(datetime.now().strftime("%H:%M:%S")) self.updateUI_Position() + def updateUI_Select_Line(self): + self.comboBox_lineIndex.clear() + for key,value in self.feedLine_dict.items(): + self.comboBox_lineIndex.addItem(value.name,key) + def updateUI_Position(self): self.horizontalSlider_J1.setValue(self.status_address.axis_0) self.horizontalSlider_J2.setValue(self.status_address.axis_1) @@ -619,6 +634,82 @@ class MainWindow(QMainWindow,Ui_MainWindow): qproperty-alignment: 'AlignCenter'; /* 设置文本居中 */ } """) + def set_run_status_button(self, isRuning:bool): + self.pushButton_pauseFeed.setText("暂停") + if isRuning: + self.pushButton_pauseFeed.show() + self.pushButton_stopFeed.show() + self.pushButton_startFeed.hide() + else: + self.pushButton_pauseFeed.hide() + self.pushButton_stopFeed.hide() + self.pushButton_startFeed.show() + def send_clear_auto_command(self): + clear_command = CMDInstructRequest() + request_command = clear_command.toString() + print(request_command) + log_str = f'清除自动指令' + self.command_quene.put(request_command) + def send_position_command(self,x1,x2,x3,x4,x5,x6,move_type:MoveType=MoveType.WORLD): + position_instruction = Instruction() + position_instruction.m0 = float(x1) + position_instruction.m1 = float(x2) + position_instruction.m2 = float(x3) + position_instruction.m3 = float(x4) + position_instruction.m4 = float(x5) + position_instruction.m5 = float(x6) + position_instruction.action = move_type.value + instruction_command = CMDInstructRequest() + instruction_command.instructions.append(position_instruction) + request_command = instruction_command.toString() + log_str = f'移动到位置:{"自由路径" if move_type==MoveType.AXIS else "姿势直线"}：' \ + f'm0:{position_instruction.m0}-' \ + f'm2:{position_instruction.m1}-' \ + f'm3:{position_instruction.m2}-' \ + f'm4:{position_instruction.m3}-' \ + f'm5:{position_instruction.m4}-' \ + f'm6:{position_instruction.m5}' + self.logger_textEdit.info(log_str) + self.robotClient.add_sendQuene(request_command) + + def send_pause_command(self,pause:bool): + pause_command = CMDRequest() + pause_command.cmdData.append("actionPause") + if pause: + pause_command.cmdData.append("1") + else: + pause_command.cmdData.append("0") + request_command = pause_command.toString() + print(request_command) + log_str = f'暂停：{pause}' + self.robotClient.add_sendQuene(request_command) + + def send_clear_alarm_command(self,pause:bool): + pause_command = CMDRequest() + pause_command.cmdData.append("clearAlarmContinue") + pause_command.cmdData.append("1") + request_command = pause_command.toString() + print(request_command) + log_str = f'暂停：{pause}' + self.robotClient.add_sendQuene(request_command) + + def send_switch_tool_command(self): + switch_command = CMDRequest() + switch_command.cmdData.append("switchTool") + switch_command.cmdData.append("2") + request_command = switch_command.toString() + print(request_command) + log_str = f'切换工具' + self.robotClient.add_sendQuene(request_command) + + def send_start_tool_command(self): + switch_command = CMDRequest() + switch_command.cmdData.append("startButton") + switch_command.cmdData.append("1") + request_command = switch_command.toString() + print(request_command) + log_str = f'切换工具' + self.robotClient.add_sendQuene(request_command) diff --git a/ui_untitled.py b/ui_untitled.py index 376ac9a..8d5770a 100644 --- a/ui_untitled.py +++ b/ui_untitled.py @@ -692,10 +692,10 @@ class Ui_MainWindow(object): "") self.pushButton_SubNum.setIcon(icon1) self.stackedWidget_num.addWidget(self.page_10) - self.pushButton_20 = QPushButton(self.frame_6) - self.pushButton_20.setObjectName(u"pushButton_20") - self.pushButton_20.setGeometry(QRect(750, 480, 91, 31)) - self.pushButton_20.setStyleSheet(u"*{\n" + self.pushButton_clearAlarm = QPushButton(self.frame_6) + self.pushButton_clearAlarm.setObjectName(u"pushButton_clearAlarm") + self.pushButton_clearAlarm.setGeometry(QRect(750, 480, 91, 31)) + self.pushButton_clearAlarm.setStyleSheet(u"*{\n" "background-color: #1CB2B1;\n" "font: 9pt \"\u6977\u4f53\";\n" "border: 1px solid #dcdfe6;\n" @@ -708,23 +708,7 @@ class Ui_MainWindow(object): "\n" "") icon2 = QIcon(QIcon.fromTheme(QIcon.ThemeIcon.HelpFaq)) - self.pushButton_20.setIcon(icon2) - self.pushButton_startFeed = QPushButton(self.frame_6) - self.pushButton_startFeed.setObjectName(u"pushButton_startFeed") - self.pushButton_startFeed.setGeometry(QRect(350, 480, 91, 31)) - self.pushButton_startFeed.setStyleSheet(u"*{\n" -"background-color: #499C54;\n" -"font: 9pt \"\u6977\u4f53\";\n" -"border: 1px solid #dcdfe6;\n" -"border-radius: 10px;\n" -"}\n" -"*:pressed\n" -"{\n" -"background-color: #499c8a;\n" -"}\n" -"") - icon3 = QIcon(QIcon.fromTheme(QIcon.ThemeIcon.SystemShutdown)) - self.pushButton_startFeed.setIcon(icon3) + self.pushButton_clearAlarm.setIcon(icon2) self.pushButton_reset = QPushButton(self.frame_6) self.pushButton_reset.setObjectName(u"pushButton_reset") self.pushButton_reset.setGeometry(QRect(450, 480, 91, 31)) @@ -739,8 +723,8 @@ class Ui_MainWindow(object): "background-color: #FFF000;\n" "}\n" "") - icon4 = QIcon(QIcon.fromTheme(u"media-optical")) - self.pushButton_reset.setIcon(icon4) + icon3 = QIcon(QIcon.fromTheme(u"media-optical")) + self.pushButton_reset.setIcon(icon3) self.pushButton_21 = QPushButton(self.frame_6) self.pushButton_21.setObjectName(u"pushButton_21") self.pushButton_21.setGeometry(QRect(650, 480, 91, 31)) @@ -757,8 +741,8 @@ class Ui_MainWindow(object): "}\n" "\n" "") - icon5 = QIcon(QIcon.fromTheme(QIcon.ThemeIcon.InputMouse)) - self.pushButton_21.setIcon(icon5) + icon4 = QIcon(QIcon.fromTheme(QIcon.ThemeIcon.InputMouse)) + self.pushButton_21.setIcon(icon4) self.pushButton_17 = QPushButton(self.frame_6) self.pushButton_17.setObjectName(u"pushButton_17") self.pushButton_17.setGeometry(QRect(550, 480, 91, 31)) @@ -774,14 +758,14 @@ class Ui_MainWindow(object): "}\n" "\n" "") - icon6 = QIcon(QIcon.fromTheme(QIcon.ThemeIcon.WindowClose)) - self.pushButton_17.setIcon(icon6) + icon5 = QIcon(QIcon.fromTheme(QIcon.ThemeIcon.WindowClose)) + self.pushButton_17.setIcon(icon5) self.lineEdit_speed = QLineEdit(self.frame_6) self.lineEdit_speed.setObjectName(u"lineEdit_speed") self.lineEdit_speed.setGeometry(QRect(110, 490, 113, 21)) self.label_2 = QLabel(self.frame_6) self.label_2.setObjectName(u"label_2") - self.label_2.setGeometry(QRect(20, 493, 81, 16)) + self.label_2.setGeometry(QRect(10, 490, 81, 16)) self.pushButton_speed = QPushButton(self.frame_6) self.pushButton_speed.setObjectName(u"pushButton_speed") self.pushButton_speed.setGeometry(QRect(100, 490, 75, 23)) @@ -822,6 +806,53 @@ class Ui_MainWindow(object): "}\n" "") self.tabWidget_2.addTab(self.tab_4, "") + self.pushButton_stopFeed = QPushButton(self.frame_6) + self.pushButton_stopFeed.setObjectName(u"pushButton_stopFeed") + self.pushButton_stopFeed.setGeometry(QRect(250, 480, 91, 31)) + self.pushButton_stopFeed.setStyleSheet(u"*{\n" +"background-color: #F44336;\n" +"font: 9pt \"\u6977\u4f53\";\n" +"border: 1px solid #dcdfe6;\n" +"border-radius: 10px;\n" +"}\n" +"*:pressed\n" +"{\n" +"background-color: #499c8a;\n" +"}\n" +"") + icon6 = QIcon(QIcon.fromTheme(QIcon.ThemeIcon.SystemShutdown)) + self.pushButton_stopFeed.setIcon(icon6) + self.pushButton_startFeed = QPushButton(self.frame_6) + self.pushButton_startFeed.setObjectName(u"pushButton_startFeed") + self.pushButton_startFeed.setGeometry(QRect(350, 480, 91, 31)) + self.pushButton_startFeed.setStyleSheet(u"*{\n" +"background-color: #499C54;\n" +"font: 9pt \"\u6977\u4f53\";\n" +"border: 1px solid #dcdfe6;\n" +"border-radius: 10px;\n" +"}\n" +"*:pressed\n" +"{\n" +"background-color: #499c8a;\n" +"}\n" +"") + self.pushButton_startFeed.setIcon(icon6) + self.pushButton_pauseFeed = QPushButton(self.frame_6) + self.pushButton_pauseFeed.setObjectName(u"pushButton_pauseFeed") + self.pushButton_pauseFeed.setGeometry(QRect(350, 480, 91, 31)) + self.pushButton_pauseFeed.setStyleSheet(u"*{\n" +"background-color: #2196F3;\n" +"font: 9pt \"\u6977\u4f53\";\n" +"border: 1px solid #dcdfe6;\n" +"border-radius: 10px;\n" +"}\n" +"*:pressed\n" +"{\n" +"background-color: #499c8a;\n" +"}\n" +"") + icon7 = QIcon(QIcon.fromTheme(QIcon.ThemeIcon.MediaPlaybackPause)) + self.pushButton_pauseFeed.setIcon(icon7) self.stackedWidget_feed.addWidget(self.page_6) self.page_7 = QWidget() self.page_7.setObjectName(u"page_7") @@ -999,8 +1030,7 @@ class Ui_MainWindow(object): self.lineEdit_num.setPlaceholderText(QCoreApplication.translate("MainWindow", u"0-100", 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_20.setText(QCoreApplication.translate("MainWindow", u"\u6545\u969c\u8bca\u65ad", None)) - self.pushButton_startFeed.setText(QCoreApplication.translate("MainWindow", u"\u542f\u52a8", None)) + self.pushButton_clearAlarm.setText(QCoreApplication.translate("MainWindow", u"\u6e05\u695a\u62a5\u8b66", None)) self.pushButton_reset.setText(QCoreApplication.translate("MainWindow", u"\u590d\u4f4d", None)) self.pushButton_21.setText(QCoreApplication.translate("MainWindow", u"\u8c03\u8bd5", None)) self.pushButton_17.setText(QCoreApplication.translate("MainWindow", u"\u6025\u505c", None)) @@ -1026,6 +1056,9 @@ class Ui_MainWindow(object): "\n" "


", None)) self.tabWidget_2.setTabText(self.tabWidget_2.indexOf(self.tab_4), QCoreApplication.translate("MainWindow", u"\u62a5\u8b66", None)) + self.pushButton_stopFeed.setText(QCoreApplication.translate("MainWindow", u"\u505c\u6b62", 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_tableFeedSet_addRow.setText(QCoreApplication.translate("MainWindow", u"\u65b0\u589e\u7ebf", None)) self.pushButton_tableFeedSet_deleRow.setText(QCoreApplication.translate("MainWindow", u"\u5220\u9664\u7ebf", None)) self.pushButton_tableFeedSet_save.setText(QCoreApplication.translate("MainWindow", u"\u4fdd\u5b58", None)) diff --git a/untitled.ui b/untitled.ui index c47b1f0..431a881 100644 --- a/untitled.ui +++ b/untitled.ui @@ -1520,7 +1520,7 @@ background-color: #499c8a; - + 750 @@ -1544,41 +1544,12 @@ background-color:#1cb052; - 故障诊断 + 清楚报警 - - - - 350 - 480 - 91 - 31 - - - - *{ -background-color: #499C54; -font: 9pt "楷体"; -border: 1px solid #dcdfe6; -border-radius: 10px; -} -*:pressed -{ -background-color: #499c8a; -} - - - - 启动 - - - - - @@ -1688,8 +1659,8 @@ background-color: #ff6e00; - 20 - 493 + 10 + 490 81 16 @@ -1802,6 +1773,93 @@ li.checked::marker { content: "\2612"; } + + + + 250 + 480 + 91 + 31 + + + + *{ +background-color: #F44336; +font: 9pt "楷体"; +border: 1px solid #dcdfe6; +border-radius: 10px; +} +*:pressed +{ +background-color: #499c8a; +} + + + + 停止 + + + + + + + + + 350 + 480 + 91 + 31 + + + + *{ +background-color: #499C54; +font: 9pt "楷体"; +border: 1px solid #dcdfe6; +border-radius: 10px; +} +*:pressed +{ +background-color: #499c8a; +} + + + + 启动 + + + + + + + + + 350 + 480 + 91 + 31 + + + + *{ +background-color: #2196F3; +font: 9pt "楷体"; +border: 1px solid #dcdfe6; +border-radius: 10px; +} +*:pressed +{ +background-color: #499c8a; +} + + + + 暂停 + + + + +