update 增加停止，暂停，重连，报警消除等

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)