update 增加停止，暂停，重连，报警消除等

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

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)
 

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

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 = '{'+f'"dsID":"{self.dsID}","reqType":"{self.reqType}","emptyList":"{self.emptyList}"'
-        model_str = model_str+"[{"+self.instructions[0].toString()+"}]"+"}"
+        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:

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)
 
 
 

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_clearAlarm = QPushButton(self.frame_6)
-        self.pushButton_20.setObjectName(u"pushButton_20")
+        self.pushButton_clearAlarm.setObjectName(u"pushButton_clearAlarm")
-        self.pushButton_20.setGeometry(QRect(750, 480, 91, 31))
+        self.pushButton_clearAlarm.setGeometry(QRect(750, 480, 91, 31))
-        self.pushButton_20.setStyleSheet(u"*{\n"
+        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_clearAlarm.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_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"))
+        icon3 = QIcon(QIcon.fromTheme(u"media-optical"))
-        self.pushButton_reset.setIcon(icon4)
+        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))
+        icon4 = QIcon(QIcon.fromTheme(QIcon.ThemeIcon.InputMouse))
-        self.pushButton_21.setIcon(icon5)
+        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))
+        icon5 = QIcon(QIcon.fromTheme(QIcon.ThemeIcon.WindowClose))
-        self.pushButton_17.setIcon(icon6)
+        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_clearAlarm.setText(QCoreApplication.translate("MainWindow", u"\u6e05\u695a\u62a5\u8b66", None))
-        self.pushButton_startFeed.setText(QCoreApplication.translate("MainWindow", u"\u542f\u52a8", 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):
 "</style></head><body style=\" font-family:'Microsoft YaHei UI'; font-size:9pt; font-weight:400; font-style:normal;\">\n"
 "<p style=\"-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><br /></p></body></html>", 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))

untitled.ui

@@ -1520,7 +1520,7 @@ background-color: #499c8a;
            </widget>
           </widget>
          </widget>
-         <widget class="QPushButton" name="pushButton_20">
+         <widget class="QPushButton" name="pushButton_clearAlarm">
           <property name="geometry">
            <rect>
             <x>750</x>
@@ -1544,41 +1544,12 @@ background-color:#1cb052;
 </string>
           </property>
           <property name="text">
-           <string>故障诊断</string>
+           <string>清楚报警</string>
           </property>
           <property name="icon">
            <iconset theme="QIcon::ThemeIcon::HelpFaq"/>
           </property>
          </widget>
-         <widget class="QPushButton" name="pushButton_startFeed">
-          <property name="geometry">
-           <rect>
-            <x>350</x>
-            <y>480</y>
-            <width>91</width>
-            <height>31</height>
-           </rect>
-          </property>
-          <property name="styleSheet">
-           <string notr="true">*{
-background-color: #499C54;
-font: 9pt &quot;楷体&quot;;
-border: 1px solid #dcdfe6;
-border-radius: 10px;
-}
-*:pressed
-{
-background-color: #499c8a;
-}
-</string>
-          </property>
-          <property name="text">
-           <string>启动</string>
-          </property>
-          <property name="icon">
-           <iconset theme="QIcon::ThemeIcon::SystemShutdown"/>
-          </property>
-         </widget>
          <widget class="QPushButton" name="pushButton_reset">
           <property name="geometry">
            <rect>
@@ -1688,8 +1659,8 @@ background-color: #ff6e00;
          <widget class="QLabel" name="label_2">
           <property name="geometry">
            <rect>
-            <x>20</x>
+            <x>10</x>
-            <y>493</y>
+            <y>490</y>
             <width>81</width>
             <height>16</height>
            </rect>
@@ -1802,6 +1773,93 @@ li.checked::marker { content: &quot;\2612&quot;; }
            </widget>
           </widget>
          </widget>
+         <widget class="QPushButton" name="pushButton_stopFeed">
+          <property name="geometry">
+           <rect>
+            <x>250</x>
+            <y>480</y>
+            <width>91</width>
+            <height>31</height>
+           </rect>
+          </property>
+          <property name="styleSheet">
+           <string notr="true">*{
+background-color: #F44336;
+font: 9pt &quot;楷体&quot;;
+border: 1px solid #dcdfe6;
+border-radius: 10px;
+}
+*:pressed
+{
+background-color: #499c8a;
+}
+</string>
+          </property>
+          <property name="text">
+           <string>停止</string>
+          </property>
+          <property name="icon">
+           <iconset theme="QIcon::ThemeIcon::SystemShutdown"/>
+          </property>
+         </widget>
+         <widget class="QPushButton" name="pushButton_startFeed">
+          <property name="geometry">
+           <rect>
+            <x>350</x>
+            <y>480</y>
+            <width>91</width>
+            <height>31</height>
+           </rect>
+          </property>
+          <property name="styleSheet">
+           <string notr="true">*{
+background-color: #499C54;
+font: 9pt &quot;楷体&quot;;
+border: 1px solid #dcdfe6;
+border-radius: 10px;
+}
+*:pressed
+{
+background-color: #499c8a;
+}
+</string>
+          </property>
+          <property name="text">
+           <string>启动</string>
+          </property>
+          <property name="icon">
+           <iconset theme="QIcon::ThemeIcon::SystemShutdown"/>
+          </property>
+         </widget>
+         <widget class="QPushButton" name="pushButton_pauseFeed">
+          <property name="geometry">
+           <rect>
+            <x>350</x>
+            <y>480</y>
+            <width>91</width>
+            <height>31</height>
+           </rect>
+          </property>
+          <property name="styleSheet">
+           <string notr="true">*{
+background-color: #2196F3;
+font: 9pt &quot;楷体&quot;;
+border: 1px solid #dcdfe6;
+border-radius: 10px;
+}
+*:pressed
+{
+background-color: #499c8a;
+}
+</string>
+          </property>
+          <property name="text">
+           <string>暂停</string>
+          </property>
+          <property name="icon">
+           <iconset theme="QIcon::ThemeIcon::MediaPlaybackPause"/>
+          </property>
+         </widget>
         </widget>
        </widget>
       </widget>