update 更新
This commit is contained in:
FrankCV2048
90
main.py
90
main.py
@ -1,4 +1,6 @@
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import configparser
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import json
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import queue
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import sys
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from PySide6.QtWidgets import QApplication, QMainWindow, QPushButton
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from ui_untitled import Ui_MainWindow
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@ -6,6 +8,10 @@ from COM.COM_Robot import RobotClient
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from Expection import ErrorCode
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from queue import Queue
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from Model.RobotModel import *
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import time
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from queue import Queue
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class MainWindow(QMainWindow,Ui_MainWindow):
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def __init__(self):
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@ -14,19 +20,60 @@ class MainWindow(QMainWindow,Ui_MainWindow):
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self.pushButton_17.clicked.connect(self.send_position_button_click)
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self.robotClient = None
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self.configReader = configparser.ConfigParser()
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self.horizontalSlider_J1.sliderReleased.connect(self.slider_valueChanged)
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self.horizontalSlider_J2.sliderReleased.connect(self.slider_valueChanged)
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self.horizontalSlider_J3.sliderReleased.connect(self.slider_valueChanged)
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self.horizontalSlider_J4.sliderReleased.connect(self.slider_valueChanged)
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self.horizontalSlider_J5.sliderReleased.connect(self.slider_valueChanged)
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self.horizontalSlider_J6.sliderReleased.connect(self.slider_valueChanged)
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#self.horizontalSlider_J1.sliderReleased
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self.command_quene = Queue()
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self.status_address = DataAddress()
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self.init_Run()
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self.init_robot_info()
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def slider_valueChanged(self):
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position_instruction = Instruction()
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position_instruction.m0 = self.horizontalSlider_J1.value()
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position_instruction.m1 = self.horizontalSlider_J2.value()
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position_instruction.m2 = self.horizontalSlider_J3.value()
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position_instruction.m3 = self.horizontalSlider_J4.value()
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position_instruction.m4 = self.horizontalSlider_J5.value()
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position_instruction.m5 = self.horizontalSlider_J6.value()
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self.textEdit_j1.setText(str(self.horizontalSlider_J1.value()))
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self.textEdit_j2.setText(str(self.horizontalSlider_J2.value()))
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self.textEdit_j3.setText(str(self.horizontalSlider_J3.value()))
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self.textEdit_j4.setText(str(self.horizontalSlider_J4.value()))
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self.textEdit_j5.setText(str(self.horizontalSlider_J5.value()))
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self.textEdit_j6.setText(str(self.horizontalSlider_J6.value()))
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instruction_command = CMDInstructRequest()
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instruction_command.instructions.append(vars(position_instruction))
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request_command = vars(instruction_command)
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print(request_command)
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self.robotClient.add_sendQuene(request_command)
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def on_button_click(self):
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self.button.setText("Clicked!")
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def send_position_button_click(self):
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return
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# if True:
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# cmd_command = CMDRequest()
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# cmd_command.cmdData = ['rewriteData', '800', f'{position_instruction.m0}', 0]
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# request_command = vars(cmd_command)
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# self.robotClient.add_sendQuene(request_command)
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return
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def init_Run(self):
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self.configReader.read('Seting.ini')
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ip = self.configReader.get('Robot', 'IPAddress')
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port= self.configReader.get('Robot', 'Port')
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port= int(self.configReader.get('Robot', 'Port'))
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self.robotClient = RobotClient(ip, port,self.command_quene,self.status_address)
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self.robotClient.CreatConnect()
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if self.robotClient.is_Connect():
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@ -34,6 +81,45 @@ class MainWindow(QMainWindow,Ui_MainWindow):
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else:
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return ErrorCode.NETERROR
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def init_robot_info(self):
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j1_min = int(self.configReader.get('Robot', 'j1_min'))
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j1_max = int(self.configReader.get('Robot', 'j1_max'))
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j2_min = int(self.configReader.get('Robot', 'j2_min'))
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j2_max = int(self.configReader.get('Robot', 'j2_max'))
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j3_min = int(self.configReader.get('Robot', 'j3_min'))
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j3_max = int(self.configReader.get('Robot', 'j3_max'))
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j4_min = int(self.configReader.get('Robot', 'j4_min'))
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j4_max = int(self.configReader.get('Robot', 'j4_max'))
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j5_min = int(self.configReader.get('Robot', 'j5_min'))
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j5_max = int(self.configReader.get('Robot', 'j5_max'))
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j6_min = int(self.configReader.get('Robot', 'j6_min'))
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j6_max = int(self.configReader.get('Robot', 'j6_max'))
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self.horizontalSlider_J1.setMinimum(j1_min)
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self.horizontalSlider_J1.setMaximum(j1_max)
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self.horizontalSlider_J2.setMinimum(j2_min)
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self.horizontalSlider_J2.setMaximum(j2_max)
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self.horizontalSlider_J3.setMinimum(j3_min)
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self.horizontalSlider_J3.setMaximum(j3_max)
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self.horizontalSlider_J4.setMinimum(j4_min)
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self.horizontalSlider_J4.setMaximum(j4_max)
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self.horizontalSlider_J5.setMinimum(j5_min)
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self.horizontalSlider_J5.setMaximum(j5_max)
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self.horizontalSlider_J6.setMinimum(j6_min)
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self.horizontalSlider_J6.setMaximum(j6_max)
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self.label_j1_min.setText(j1_min.__str__())
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self.label_j1_max.setText(j1_max.__str__())
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self.label_j2_min.setText(j2_min.__str__())
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self.label_j2_max.setText(j2_max.__str__())
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self.label_j3_min.setText(j3_min.__str__())
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self.label_j3_max.setText(j3_max.__str__())
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self.label_j4_min.setText(j4_min.__str__())
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self.label_j4_max.setText(j4_max.__str__())
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self.label_j5_min.setText(j5_min.__str__())
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self.label_j5_max.setText(j5_max.__str__())
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self.label_j6_min.setText(j6_min.__str__())
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self.label_j6_max.setText(str(j6_max))
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def send_position_command(self,position):
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