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update 略微更新

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This commit is contained in:
FrankCV2048
2024-12-11 22:21:33 +08:00
parent c81ccecc7d
commit ec57c6d543
7 changed files with 464 additions and 447 deletions
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12
CU/Catch.py
View File

@ -1,8 +1,18 @@
class catch_jaw:
from enum import Enum
class CatchStatus(Enum):
CNone = 0
CTake = 1
CPress = 2
CShake = 3
class catch:
def __init__(self, x, y, width, height, angle, color):
pass
def run(self):
pass

2
CU/Feeding.py
View File

@ -3,8 +3,6 @@ import time
import cv2
from PyQt5.QtWidgets import QMessageBox
from jedi.debug import speed
from tifffile.tifffile import read_lsm_positions
import Constant
import Expection

6
Config/FeedLine.ini
View File

@ -20,7 +20,7 @@ status = 2
linetype = 0
[Position2]
x = 421.397
x = 11000.0
y = 2095.76
z = 1403.803
u = 2.787
@ -53,7 +53,7 @@ u = 2.843005
v = 6.159603
w = -85.733009
id = 4
order = 3
order = 4
lineid = 1
status = 3
linetype = 0
@ -66,7 +66,7 @@ u = 4.423964
v = 15.661633
w = -80.555466
id = 5
order = 4
order = 3
lineid = 1
status = 5
linetype = 0

636
MainWin.ui
View File

@ -939,7 +939,7 @@ background-color: rgb(13, 17, 40);</string>
</sizepolicy>
</property>
<property name="currentIndex">
<number>3</number>
<number>5</number>
</property>
<widget class="QWidget" name="page_3">
<layout class="QVBoxLayout" name="verticalLayout_7" stretch="1">
@ -2464,7 +2464,7 @@ font: 700 9pt &quot;Microsoft YaHei UI&quot;;</string>
<property name="frameShadow">
<enum>QFrame::Shadow::Raised</enum>
</property>
<layout class="QVBoxLayout" name="verticalLayout_16" stretch="1">
<layout class="QVBoxLayout" name="verticalLayout_16" stretch="0">
<item>
<widget class="QFrame" name="frame_27">
<property name="styleSheet">
@ -2477,136 +2477,8 @@ border:None;</string>
<property name="frameShadow">
<enum>QFrame::Shadow::Raised</enum>
</property>
<layout class="QHBoxLayout" name="horizontalLayout_15">
<item>
<widget class="QLabel" name="label_90">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="text">
<string>X1:</string>
</property>
<property name="alignment">
<set>Qt::AlignmentFlag::AlignRight|Qt::AlignmentFlag::AlignTrailing|Qt::AlignmentFlag::AlignVCenter</set>
</property>
</widget>
</item>
<item>
<widget class="QLineEdit" name="lineEdit_origin_x">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="styleSheet">
<string notr="true">border:1px solid #FFFfff</string>
</property>
<property name="readOnly">
<bool>true</bool>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_93">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="text">
<string>Y1:</string>
</property>
<property name="alignment">
<set>Qt::AlignmentFlag::AlignRight|Qt::AlignmentFlag::AlignTrailing|Qt::AlignmentFlag::AlignVCenter</set>
</property>
</widget>
</item>
<item>
<widget class="QLineEdit" name="lineEdit_origin_y">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="styleSheet">
<string notr="true">border:1px solid #FFFfff</string>
</property>
<property name="readOnly">
<bool>true</bool>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_88">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="text">
<string>Z1:</string>
</property>
<property name="alignment">
<set>Qt::AlignmentFlag::AlignRight|Qt::AlignmentFlag::AlignTrailing|Qt::AlignmentFlag::AlignVCenter</set>
</property>
</widget>
</item>
<item>
<widget class="QLineEdit" name="lineEdit_origin_z">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="styleSheet">
<string notr="true">border:1px solid #FFFfff</string>
</property>
<property name="readOnly">
<bool>true</bool>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_89">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="text">
<string>U1:</string>
</property>
<property name="alignment">
<set>Qt::AlignmentFlag::AlignRight|Qt::AlignmentFlag::AlignTrailing|Qt::AlignmentFlag::AlignVCenter</set>
</property>
</widget>
</item>
<item>
<widget class="QLineEdit" name="lineEdit_origin_u">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="styleSheet">
<string notr="true">border:1px solid #FFFfff</string>
</property>
<property name="readOnly">
<bool>true</bool>
</property>
</widget>
</item>
<item>
<layout class="QGridLayout" name="gridLayout_9" rowstretch="1,1,1,1">
<item row="1" column="2">
<widget class="QLabel" name="label_92">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
@ -2618,14 +2490,14 @@ border:None;</string>
<string>V1:</string>
</property>
<property name="alignment">
<set>Qt::AlignmentFlag::AlignRight|Qt::AlignmentFlag::AlignTrailing|Qt::AlignmentFlag::AlignVCenter</set>
<set>Qt::AlignmentFlag::AlignCenter</set>
</property>
</widget>
</item>
<item>
<widget class="QLineEdit" name="lineEdit_origin_v">
<item row="0" column="3">
<widget class="QLineEdit" name="lineEdit_origin_y">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<sizepolicy hsizetype="Preferred" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
@ -2638,7 +2510,119 @@ border:None;</string>
</property>
</widget>
</item>
<item>
<item row="1" column="3">
<widget class="QLineEdit" name="lineEdit_origin_v">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="styleSheet">
<string notr="true">border:1px solid #FFFfff</string>
</property>
<property name="readOnly">
<bool>true</bool>
</property>
</widget>
</item>
<item row="0" column="4">
<widget class="QLabel" name="label_88">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="text">
<string>Z1:</string>
</property>
<property name="alignment">
<set>Qt::AlignmentFlag::AlignCenter</set>
</property>
</widget>
</item>
<item row="0" column="2">
<widget class="QLabel" name="label_93">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="text">
<string>Y1:</string>
</property>
<property name="alignment">
<set>Qt::AlignmentFlag::AlignCenter</set>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QLabel" name="label_95">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="text">
<string>U1:</string>
</property>
<property name="alignment">
<set>Qt::AlignmentFlag::AlignCenter</set>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QLabel" name="label_90">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="text">
<string>X1:</string>
</property>
<property name="alignment">
<set>Qt::AlignmentFlag::AlignCenter</set>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLineEdit" name="lineEdit_origin_u">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="styleSheet">
<string notr="true">border:1px solid #FFFfff</string>
</property>
<property name="readOnly">
<bool>true</bool>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLineEdit" name="lineEdit_origin_x">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="styleSheet">
<string notr="true">border:1px solid #FFFfff</string>
</property>
<property name="readOnly">
<bool>true</bool>
</property>
</widget>
</item>
<item row="1" column="4">
<widget class="QLabel" name="label_91">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
@ -2650,14 +2634,14 @@ border:None;</string>
<string>W1:</string>
</property>
<property name="alignment">
<set>Qt::AlignmentFlag::AlignRight|Qt::AlignmentFlag::AlignTrailing|Qt::AlignmentFlag::AlignVCenter</set>
<set>Qt::AlignmentFlag::AlignCenter</set>
</property>
</widget>
</item>
<item>
<item row="1" column="5">
<widget class="QLineEdit" name="lineEdit_origin_w">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<sizepolicy hsizetype="Preferred" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
@ -2670,10 +2654,26 @@ border:None;</string>
</property>
</widget>
</item>
<item>
<item row="0" column="5">
<widget class="QLineEdit" name="lineEdit_origin_z">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="styleSheet">
<string notr="true">border:1px solid #FFFfff</string>
</property>
<property name="readOnly">
<bool>true</bool>
</property>
</widget>
</item>
<item row="2" column="1" colspan="2">
<widget class="QPushButton" name="pushButton_get_origin">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<sizepolicy hsizetype="Preferred" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
@ -2698,10 +2698,10 @@ background-color: #197971;
</property>
</widget>
</item>
<item>
<item row="2" column="4" colspan="2">
<widget class="QPushButton" name="pushButton_set_origin">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<sizepolicy hsizetype="Preferred" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
@ -4099,35 +4099,6 @@ background-color: #197971;
</property>
</widget>
</item>
<item row="0" column="2">
<widget class="QLabel" name="label_29">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="styleSheet">
<string notr="true">color: rgb(255, 255, 255);</string>
</property>
<property name="text">
<string>调试速度：</string>
</property>
</widget>
</item>
<item row="0" column="3">
<widget class="QLineEdit" name="lineEdit_speed_debug">
<property name="sizePolicy">
<sizepolicy hsizetype="Expanding" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="styleSheet">
<string notr="true">color: rgb(255, 255, 255);</string>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QLabel" name="label_94">
<property name="sizePolicy">
@ -4157,64 +4128,6 @@ background-color: #197971;
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QLabel" name="label_51">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="styleSheet">
<string notr="true">color: rgb(255, 255, 255);</string>
</property>
<property name="text">
<string>电磁阀1:</string>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLineEdit" name="lineEdit_solenoid1_addr">
<property name="sizePolicy">
<sizepolicy hsizetype="Expanding" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="styleSheet">
<string notr="true">color: rgb(255, 255, 255);</string>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QLabel" name="label_54">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="styleSheet">
<string notr="true">color: rgb(255, 255, 255);</string>
</property>
<property name="text">
<string>电磁阀3:</string>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLineEdit" name="lineEdit_solenoid3_addr">
<property name="sizePolicy">
<sizepolicy hsizetype="Expanding" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="styleSheet">
<string notr="true">color: rgb(255, 255, 255);</string>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QLabel" name="label_86">
<property name="sizePolicy">
@ -4244,93 +4157,6 @@ background-color: #197971;
</property>
</widget>
</item>
<item row="1" column="3">
<widget class="QLineEdit" name="lineEdit_solenoid2_addr">
<property name="sizePolicy">
<sizepolicy hsizetype="Expanding" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="styleSheet">
<string notr="true">color: rgb(255, 255, 255);</string>
</property>
</widget>
</item>
<item row="1" column="2">
<widget class="QLabel" name="label_52">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="styleSheet">
<string notr="true">color: rgb(255, 255, 255);</string>
</property>
<property name="text">
<string>电磁阀2：</string>
</property>
</widget>
</item>
<item row="2" column="3">
<widget class="QLineEdit" name="lineEdit_timedelay_take">
<property name="sizePolicy">
<sizepolicy hsizetype="Expanding" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="styleSheet">
<string notr="true">color: rgb(255, 255, 255);</string>
</property>
</widget>
</item>
<item row="2" column="2">
<widget class="QLabel" name="label_85">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="styleSheet">
<string notr="true">color: rgb(255, 255, 255);</string>
</property>
<property name="text">
<string>吸取延时：</string>
</property>
</widget>
</item>
<item row="3" column="3">
<widget class="QLineEdit" name="lineEdit_timedelay_shake">
<property name="sizePolicy">
<sizepolicy hsizetype="Expanding" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="styleSheet">
<string notr="true">color: rgb(255, 255, 255);</string>
</property>
</widget>
</item>
<item row="3" column="2">
<widget class="QLabel" name="label_87">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="styleSheet">
<string notr="true">color: rgb(255, 255, 255);</string>
</property>
<property name="text">
<string>震动延时：</string>
</property>
</widget>
</item>
<item row="5" column="0" colspan="4">
<widget class="QPushButton" name="pushButton_saveSeting">
<property name="sizePolicy">
@ -4360,6 +4186,180 @@ background-color: #499c8a;
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLineEdit" name="lineEdit_speed_debug">
<property name="sizePolicy">
<sizepolicy hsizetype="Expanding" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="styleSheet">
<string notr="true">color: rgb(255, 255, 255);</string>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QLabel" name="label_29">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="styleSheet">
<string notr="true">color: rgb(255, 255, 255);</string>
</property>
<property name="text">
<string>调试速度：</string>
</property>
</widget>
</item>
<item row="0" column="3">
<widget class="QLineEdit" name="lineEdit_take_addr">
<property name="sizePolicy">
<sizepolicy hsizetype="Expanding" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="styleSheet">
<string notr="true">color: rgb(255, 255, 255);</string>
</property>
</widget>
</item>
<item row="0" column="2">
<widget class="QLabel" name="label_51">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="styleSheet">
<string notr="true">color: rgb(255, 255, 255);</string>
</property>
<property name="text">
<string>收放点位:</string>
</property>
</widget>
</item>
<item row="1" column="3">
<widget class="QLineEdit" name="lineEdit_press_addr">
<property name="sizePolicy">
<sizepolicy hsizetype="Expanding" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="styleSheet">
<string notr="true">color: rgb(255, 255, 255);</string>
</property>
</widget>
</item>
<item row="1" column="2">
<widget class="QLabel" name="label_52">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="styleSheet">
<string notr="true">color: rgb(255, 255, 255);</string>
</property>
<property name="text">
<string>按压点位：</string>
</property>
</widget>
</item>
<item row="2" column="2">
<widget class="QLabel" name="label_54">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="styleSheet">
<string notr="true">color: rgb(255, 255, 255);</string>
</property>
<property name="text">
<string>摇晃点位:</string>
</property>
</widget>
</item>
<item row="2" column="3">
<widget class="QLineEdit" name="lineEdit_shake_addr">
<property name="sizePolicy">
<sizepolicy hsizetype="Expanding" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="styleSheet">
<string notr="true">color: rgb(255, 255, 255);</string>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLineEdit" name="lineEdit_timedelay_shake">
<property name="sizePolicy">
<sizepolicy hsizetype="Expanding" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="styleSheet">
<string notr="true">color: rgb(255, 255, 255);</string>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QLabel" name="label_87">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="styleSheet">
<string notr="true">color: rgb(255, 255, 255);</string>
</property>
<property name="text">
<string>震动延时：</string>
</property>
</widget>
</item>
<item row="3" column="3">
<widget class="QLineEdit" name="lineEdit_timedelay_take">
<property name="sizePolicy">
<sizepolicy hsizetype="Expanding" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="styleSheet">
<string notr="true">color: rgb(255, 255, 255);</string>
</property>
</widget>
</item>
<item row="3" column="2">
<widget class="QLabel" name="label_85">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="styleSheet">
<string notr="true">color: rgb(255, 255, 255);</string>
</property>
<property name="text">
<string>吸取延时：</string>
</property>
</widget>
</item>
</layout>
</widget>
</item>

6
Seting.ini
View File

@ -48,9 +48,9 @@ photo_w5 = 1.0
linecount = 2
remain_linename = 1
remain_count = 1
solenoid_valve1_addr = 3
solenoid_valve2_addr = 2
solenoid_valve3_addr = 10
io_take_addr = 3
io_zip_addr = 2
io_shake_addr = 10
takedelay = 0.2
putdelay = 0.1
shakedelay = 1.0

45
main.py
View File

@ -980,23 +980,23 @@ class MainWindow(QMainWindow, Ui_MainWindow):
self.robotClient.debug_speed = int(self.lineEdit_speed_debug.text())
self.robotClient.reset_speed = int(self.lineEdit_speed_reset.text())
try:
solenoid1_addr = int(self.lineEdit_solenoid1_addr.text())
solenoid2_addr = int(self.lineEdit_solenoid2_addr.text())
solenoid3_addr = int(self.lineEdit_solenoid3_addr.text())
take_addr = int(self.lineEdit_take_addr.text())
press_addr = int(self.lineEdit_press_addr.text())
shake_addr = int(self.lineEdit_shake_addr.text())
time_delay_take = float(self.lineEdit_timedelay_take.text())
time_delay_put = float(self.lineEdit_timedelay_put.text())
time_delay_shake = float(self.lineEdit_timedelay_shake.text())
self.robotClient.con_ios[0] = solenoid1_addr
self.robotClient.con_ios[1] = solenoid2_addr
self.robotClient.con_ios[2] = solenoid3_addr
self.robotClient.con_ios[0] = take_addr
self.robotClient.con_ios[1] = press_addr
self.robotClient.con_ios[2] = shake_addr
self.robotClient.time_delay_take = time_delay_take
self.robotClient.time_delay_put = time_delay_put
self.robotClient.time_delay_shake = time_delay_shake
self.configReader = configparser.ConfigParser()
self.configReader.read(Constant.set_ini)
self.configReader.set('Robot_Feed', 'solenoid_valve1_addr', str(solenoid1_addr))
self.configReader.set('Robot_Feed', 'solenoid_valve2_addr', str(solenoid2_addr))
self.configReader.set('Robot_Feed', 'solenoid_valve3_addr', str(solenoid3_addr))
self.configReader.set('Robot_Feed', 'solenoid_valve1_addr', str(take_addr))
self.configReader.set('Robot_Feed', 'solenoid_valve2_addr', str(press_addr))
self.configReader.set('Robot_Feed', 'solenoid_valve3_addr', str(shake_addr))
self.configReader.set('Robot_Feed', 'takeDelay', str(time_delay_take))
self.configReader.set('Robot_Feed', 'putDelay', str(time_delay_put))
self.configReader.set('Robot_Feed', 'shakeDelay', str(time_delay_shake))
@ -1314,14 +1314,21 @@ class MainWindow(QMainWindow, Ui_MainWindow):
self.label_date.setText(datetime.now().strftime("%Y-%m-%d"))
self.label_time.setText(datetime.now().strftime("%H:%M:%S"))
# self.updateUI_Position()
# self.updateUI_label_detection()
# self.updateUI_label_status()
# self.updateUI_frame_sign(self.feeding.feedStatus)
# self.updateUI_IOPanel()
# self.updateUI_InfoMB()
self.updateUI_Position()
self.updateUI_label_detection()
self.updateUI_label_status()
self.updateUI_frame_sign(self.feeding.feedStatus)
self.updateUI_IOPanel()
self.updateUI_InfoMB()
def updateRobotSeting(self):
self.lineEdit_origin_x.setText(str(self.robotClient.origin_position.X))
self.lineEdit_origin_y.setText(str(self.robotClient.origin_position.Y))
self.lineEdit_origin_z.setText(str(self.robotClient.origin_position.Z))
self.lineEdit_origin_u.setText(str(self.robotClient.origin_position.U))
self.lineEdit_origin_v.setText(str(self.robotClient.origin_position.V))
self.lineEdit_origin_w.setText(str(self.robotClient.origin_position.W))
def updateUI_InfoMB(self):
if self.cton_take_no_photo.Q(self.feeding.take_no_photo,True):
@ -1775,6 +1782,7 @@ class MainWindow(QMainWindow, Ui_MainWindow):
self.show_infomessage_box("设置原点失败")
def updateUI_Photo_Set(self):
self.lineEdit_x1.setText(str(self.robotClient.photo_locs[0][0]))
self.lineEdit_y1.setText(str(self.robotClient.photo_locs[0][1]))
@ -1811,9 +1819,9 @@ class MainWindow(QMainWindow, Ui_MainWindow):
self.lineEdit_speed_run.setText(str(self.robotClient.feed_speed))
self.lineEdit_speed_debug.setText(str(self.robotClient.debug_speed))
self.lineEdit_speed_reset.setText(str(self.robotClient.reset_speed))
self.lineEdit_solenoid1_addr.setText(str(self.robotClient.con_ios[0]))
self.lineEdit_solenoid2_addr.setText(str(self.robotClient.con_ios[1]))
self.lineEdit_solenoid3_addr.setText(str(self.robotClient.con_ios[2]))
self.lineEdit_take_addr.setText(str(self.robotClient.con_ios[0]))
self.lineEdit_press_addr.setText(str(self.robotClient.con_ios[1]))
self.lineEdit_shake_addr.setText(str(self.robotClient.con_ios[2]))
self.lineEdit_timedelay_take.setText(str(self.robotClient.time_delay_take))
self.lineEdit_timedelay_put.setText(str(self.robotClient.time_delay_put))
self.lineEdit_timedelay_shake.setText(str(self.robotClient.time_delay_shake))
@ -1830,6 +1838,7 @@ class MainWindow(QMainWindow, Ui_MainWindow):
if index == 0:
self.updateUI_Select_Line()
if index == 2:
self.updateRobotSeting()
self.updateUI_Photo_Set()
if index == 3:
self.updateUI_Base_Set()

204
ui_MainWin.py
View File

@ -2481,22 +2481,6 @@ class Ui_MainWindow(object):
self.gridLayout_6.addWidget(self.lineEdit_speed_run, 0, 1, 1, 1)
self.label_29 = QLabel(self.frame_29)
self.label_29.setObjectName(u"label_29")
sizePolicy4.setHeightForWidth(self.label_29.sizePolicy().hasHeightForWidth())
self.label_29.setSizePolicy(sizePolicy4)
self.label_29.setStyleSheet(u"color: rgb(255, 255, 255);")
self.gridLayout_6.addWidget(self.label_29, 0, 2, 1, 1)
self.lineEdit_speed_debug = QLineEdit(self.frame_29)
self.lineEdit_speed_debug.setObjectName(u"lineEdit_speed_debug")
sizePolicy1.setHeightForWidth(self.lineEdit_speed_debug.sizePolicy().hasHeightForWidth())
self.lineEdit_speed_debug.setSizePolicy(sizePolicy1)
self.lineEdit_speed_debug.setStyleSheet(u"color: rgb(255, 255, 255);")
self.gridLayout_6.addWidget(self.lineEdit_speed_debug, 0, 3, 1, 1)
self.label_94 = QLabel(self.frame_29)
self.label_94.setObjectName(u"label_94")
sizePolicy4.setHeightForWidth(self.label_94.sizePolicy().hasHeightForWidth())
@ -2513,38 +2497,6 @@ class Ui_MainWindow(object):
self.gridLayout_6.addWidget(self.lineEdit_speed_reset, 1, 1, 1, 1)
self.label_51 = QLabel(self.frame_29)
self.label_51.setObjectName(u"label_51")
sizePolicy4.setHeightForWidth(self.label_51.sizePolicy().hasHeightForWidth())
self.label_51.setSizePolicy(sizePolicy4)
self.label_51.setStyleSheet(u"color: rgb(255, 255, 255);")
self.gridLayout_6.addWidget(self.label_51, 2, 0, 1, 1)
self.lineEdit_solenoid1_addr = QLineEdit(self.frame_29)
self.lineEdit_solenoid1_addr.setObjectName(u"lineEdit_solenoid1_addr")
sizePolicy1.setHeightForWidth(self.lineEdit_solenoid1_addr.sizePolicy().hasHeightForWidth())
self.lineEdit_solenoid1_addr.setSizePolicy(sizePolicy1)
self.lineEdit_solenoid1_addr.setStyleSheet(u"color: rgb(255, 255, 255);")
self.gridLayout_6.addWidget(self.lineEdit_solenoid1_addr, 2, 1, 1, 1)
self.label_54 = QLabel(self.frame_29)
self.label_54.setObjectName(u"label_54")
sizePolicy4.setHeightForWidth(self.label_54.sizePolicy().hasHeightForWidth())
self.label_54.setSizePolicy(sizePolicy4)
self.label_54.setStyleSheet(u"color: rgb(255, 255, 255);")
self.gridLayout_6.addWidget(self.label_54, 3, 0, 1, 1)
self.lineEdit_solenoid3_addr = QLineEdit(self.frame_29)
self.lineEdit_solenoid3_addr.setObjectName(u"lineEdit_solenoid3_addr")
sizePolicy1.setHeightForWidth(self.lineEdit_solenoid3_addr.sizePolicy().hasHeightForWidth())
self.lineEdit_solenoid3_addr.setSizePolicy(sizePolicy1)
self.lineEdit_solenoid3_addr.setStyleSheet(u"color: rgb(255, 255, 255);")
self.gridLayout_6.addWidget(self.lineEdit_solenoid3_addr, 3, 1, 1, 1)
self.label_86 = QLabel(self.frame_29)
self.label_86.setObjectName(u"label_86")
sizePolicy4.setHeightForWidth(self.label_86.sizePolicy().hasHeightForWidth())
@ -2561,54 +2513,6 @@ class Ui_MainWindow(object):
self.gridLayout_6.addWidget(self.lineEdit_timedelay_put, 4, 1, 1, 1)
self.lineEdit_solenoid2_addr = QLineEdit(self.frame_29)
self.lineEdit_solenoid2_addr.setObjectName(u"lineEdit_solenoid2_addr")
sizePolicy1.setHeightForWidth(self.lineEdit_solenoid2_addr.sizePolicy().hasHeightForWidth())
self.lineEdit_solenoid2_addr.setSizePolicy(sizePolicy1)
self.lineEdit_solenoid2_addr.setStyleSheet(u"color: rgb(255, 255, 255);")
self.gridLayout_6.addWidget(self.lineEdit_solenoid2_addr, 1, 3, 1, 1)
self.label_52 = QLabel(self.frame_29)
self.label_52.setObjectName(u"label_52")
sizePolicy4.setHeightForWidth(self.label_52.sizePolicy().hasHeightForWidth())
self.label_52.setSizePolicy(sizePolicy4)
self.label_52.setStyleSheet(u"color: rgb(255, 255, 255);")
self.gridLayout_6.addWidget(self.label_52, 1, 2, 1, 1)
self.lineEdit_timedelay_take = QLineEdit(self.frame_29)
self.lineEdit_timedelay_take.setObjectName(u"lineEdit_timedelay_take")
sizePolicy1.setHeightForWidth(self.lineEdit_timedelay_take.sizePolicy().hasHeightForWidth())
self.lineEdit_timedelay_take.setSizePolicy(sizePolicy1)
self.lineEdit_timedelay_take.setStyleSheet(u"color: rgb(255, 255, 255);")
self.gridLayout_6.addWidget(self.lineEdit_timedelay_take, 2, 3, 1, 1)
self.label_85 = QLabel(self.frame_29)
self.label_85.setObjectName(u"label_85")
sizePolicy4.setHeightForWidth(self.label_85.sizePolicy().hasHeightForWidth())
self.label_85.setSizePolicy(sizePolicy4)
self.label_85.setStyleSheet(u"color: rgb(255, 255, 255);")
self.gridLayout_6.addWidget(self.label_85, 2, 2, 1, 1)
self.lineEdit_timedelay_shake = QLineEdit(self.frame_29)
self.lineEdit_timedelay_shake.setObjectName(u"lineEdit_timedelay_shake")
sizePolicy1.setHeightForWidth(self.lineEdit_timedelay_shake.sizePolicy().hasHeightForWidth())
self.lineEdit_timedelay_shake.setSizePolicy(sizePolicy1)
self.lineEdit_timedelay_shake.setStyleSheet(u"color: rgb(255, 255, 255);")
self.gridLayout_6.addWidget(self.lineEdit_timedelay_shake, 3, 3, 1, 1)
self.label_87 = QLabel(self.frame_29)
self.label_87.setObjectName(u"label_87")
sizePolicy4.setHeightForWidth(self.label_87.sizePolicy().hasHeightForWidth())
self.label_87.setSizePolicy(sizePolicy4)
self.label_87.setStyleSheet(u"color: rgb(255, 255, 255);")
self.gridLayout_6.addWidget(self.label_87, 3, 2, 1, 1)
self.pushButton_saveSeting = QPushButton(self.frame_29)
self.pushButton_saveSeting.setObjectName(u"pushButton_saveSeting")
sizePolicy1.setHeightForWidth(self.pushButton_saveSeting.sizePolicy().hasHeightForWidth())
@ -2628,6 +2532,102 @@ class Ui_MainWindow(object):
self.gridLayout_6.addWidget(self.pushButton_saveSeting, 5, 0, 1, 4)
self.lineEdit_speed_debug = QLineEdit(self.frame_29)
self.lineEdit_speed_debug.setObjectName(u"lineEdit_speed_debug")
sizePolicy1.setHeightForWidth(self.lineEdit_speed_debug.sizePolicy().hasHeightForWidth())
self.lineEdit_speed_debug.setSizePolicy(sizePolicy1)
self.lineEdit_speed_debug.setStyleSheet(u"color: rgb(255, 255, 255);")
self.gridLayout_6.addWidget(self.lineEdit_speed_debug, 2, 1, 1, 1)
self.label_29 = QLabel(self.frame_29)
self.label_29.setObjectName(u"label_29")
sizePolicy4.setHeightForWidth(self.label_29.sizePolicy().hasHeightForWidth())
self.label_29.setSizePolicy(sizePolicy4)
self.label_29.setStyleSheet(u"color: rgb(255, 255, 255);")
self.gridLayout_6.addWidget(self.label_29, 2, 0, 1, 1)
self.lineEdit_take_addr = QLineEdit(self.frame_29)
self.lineEdit_take_addr.setObjectName(u"lineEdit_take_addr")
sizePolicy1.setHeightForWidth(self.lineEdit_take_addr.sizePolicy().hasHeightForWidth())
self.lineEdit_take_addr.setSizePolicy(sizePolicy1)
self.lineEdit_take_addr.setStyleSheet(u"color: rgb(255, 255, 255);")
self.gridLayout_6.addWidget(self.lineEdit_take_addr, 0, 3, 1, 1)
self.label_51 = QLabel(self.frame_29)
self.label_51.setObjectName(u"label_51")
sizePolicy4.setHeightForWidth(self.label_51.sizePolicy().hasHeightForWidth())
self.label_51.setSizePolicy(sizePolicy4)
self.label_51.setStyleSheet(u"color: rgb(255, 255, 255);")
self.gridLayout_6.addWidget(self.label_51, 0, 2, 1, 1)
self.lineEdit_press_addr = QLineEdit(self.frame_29)
self.lineEdit_press_addr.setObjectName(u"lineEdit_press_addr")
sizePolicy1.setHeightForWidth(self.lineEdit_press_addr.sizePolicy().hasHeightForWidth())
self.lineEdit_press_addr.setSizePolicy(sizePolicy1)
self.lineEdit_press_addr.setStyleSheet(u"color: rgb(255, 255, 255);")
self.gridLayout_6.addWidget(self.lineEdit_press_addr, 1, 3, 1, 1)
self.label_52 = QLabel(self.frame_29)
self.label_52.setObjectName(u"label_52")
sizePolicy4.setHeightForWidth(self.label_52.sizePolicy().hasHeightForWidth())
self.label_52.setSizePolicy(sizePolicy4)
self.label_52.setStyleSheet(u"color: rgb(255, 255, 255);")
self.gridLayout_6.addWidget(self.label_52, 1, 2, 1, 1)
self.label_54 = QLabel(self.frame_29)
self.label_54.setObjectName(u"label_54")
sizePolicy4.setHeightForWidth(self.label_54.sizePolicy().hasHeightForWidth())
self.label_54.setSizePolicy(sizePolicy4)
self.label_54.setStyleSheet(u"color: rgb(255, 255, 255);")
self.gridLayout_6.addWidget(self.label_54, 2, 2, 1, 1)
self.lineEdit_shake_addr = QLineEdit(self.frame_29)
self.lineEdit_shake_addr.setObjectName(u"lineEdit_shake_addr")
sizePolicy1.setHeightForWidth(self.lineEdit_shake_addr.sizePolicy().hasHeightForWidth())
self.lineEdit_shake_addr.setSizePolicy(sizePolicy1)
self.lineEdit_shake_addr.setStyleSheet(u"color: rgb(255, 255, 255);")
self.gridLayout_6.addWidget(self.lineEdit_shake_addr, 2, 3, 1, 1)
self.lineEdit_timedelay_shake = QLineEdit(self.frame_29)
self.lineEdit_timedelay_shake.setObjectName(u"lineEdit_timedelay_shake")
sizePolicy1.setHeightForWidth(self.lineEdit_timedelay_shake.sizePolicy().hasHeightForWidth())
self.lineEdit_timedelay_shake.setSizePolicy(sizePolicy1)
self.lineEdit_timedelay_shake.setStyleSheet(u"color: rgb(255, 255, 255);")
self.gridLayout_6.addWidget(self.lineEdit_timedelay_shake, 3, 1, 1, 1)
self.label_87 = QLabel(self.frame_29)
self.label_87.setObjectName(u"label_87")
sizePolicy4.setHeightForWidth(self.label_87.sizePolicy().hasHeightForWidth())
self.label_87.setSizePolicy(sizePolicy4)
self.label_87.setStyleSheet(u"color: rgb(255, 255, 255);")
self.gridLayout_6.addWidget(self.label_87, 3, 0, 1, 1)
self.lineEdit_timedelay_take = QLineEdit(self.frame_29)
self.lineEdit_timedelay_take.setObjectName(u"lineEdit_timedelay_take")
sizePolicy1.setHeightForWidth(self.lineEdit_timedelay_take.sizePolicy().hasHeightForWidth())
self.lineEdit_timedelay_take.setSizePolicy(sizePolicy1)
self.lineEdit_timedelay_take.setStyleSheet(u"color: rgb(255, 255, 255);")
self.gridLayout_6.addWidget(self.lineEdit_timedelay_take, 3, 3, 1, 1)
self.label_85 = QLabel(self.frame_29)
self.label_85.setObjectName(u"label_85")
sizePolicy4.setHeightForWidth(self.label_85.sizePolicy().hasHeightForWidth())
self.label_85.setSizePolicy(sizePolicy4)
self.label_85.setStyleSheet(u"color: rgb(255, 255, 255);")
self.gridLayout_6.addWidget(self.label_85, 3, 2, 1, 1)
self.gridLayout_6.setRowStretch(0, 1)
self.gridLayout_6.setRowStretch(1, 1)
self.gridLayout_6.setRowStretch(2, 1)
@ -3918,15 +3918,15 @@ class Ui_MainWindow(object):
self.label_36.setText(QCoreApplication.translate("MainWindow", u"U1:", None))
self.label_17.setText(QCoreApplication.translate("MainWindow", u"Z2:", None))
self.label_28.setText(QCoreApplication.translate("MainWindow", u"\u751f\u4ea7\u901f\u5ea6\uff1a", None))
self.label_29.setText(QCoreApplication.translate("MainWindow", u"\u8c03\u8bd5\u901f\u5ea6\uff1a", None))
self.label_94.setText(QCoreApplication.translate("MainWindow", u"\u590d\u4f4d\u901f\u5ea6\uff1a", None))
self.label_51.setText(QCoreApplication.translate("MainWindow", u"\u7535\u78c1\u96001:", None))
self.label_54.setText(QCoreApplication.translate("MainWindow", u"\u7535\u78c1\u96003:", None))
self.label_86.setText(QCoreApplication.translate("MainWindow", u"\u653e\u53d6\u5ef6\u65f6\uff1a", None))
self.label_52.setText(QCoreApplication.translate("MainWindow", u"\u7535\u78c1\u96002\uff1a", None))
self.label_85.setText(QCoreApplication.translate("MainWindow", u"\u5438\u53d6\u5ef6\u65f6\uff1a", None))
self.label_87.setText(QCoreApplication.translate("MainWindow", u"\u9707\u52a8\u5ef6\u65f6\uff1a", None))
self.pushButton_saveSeting.setText(QCoreApplication.translate("MainWindow", u"\u4fdd\u5b58\u8bbe\u7f6e", None))
self.label_29.setText(QCoreApplication.translate("MainWindow", u"\u8c03\u8bd5\u901f\u5ea6\uff1a", None))
self.label_51.setText(QCoreApplication.translate("MainWindow", u"\u6536\u653e\u70b9\u4f4d:", None))
self.label_52.setText(QCoreApplication.translate("MainWindow", u"\u6309\u538b\u70b9\u4f4d\uff1a", None))
self.label_54.setText(QCoreApplication.translate("MainWindow", u"\u6447\u6643\u70b9\u4f4d:", None))
self.label_87.setText(QCoreApplication.translate("MainWindow", u"\u9707\u52a8\u5ef6\u65f6\uff1a", None))
self.label_85.setText(QCoreApplication.translate("MainWindow", u"\u5438\u53d6\u5ef6\u65f6\uff1a", None))
self.pushButton_j3_add.setText("")
self.pushButton_j5_add.setText("")
self.pushButton_j6_sub.setText("")