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update 完成点位控制逻辑，UI可视化界面生成

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This commit is contained in:
FrankCV2048
2024-11-30 22:46:32 +08:00
parent bde241574c
commit ef5ed6eed1
9 changed files with 369 additions and 63 deletions
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14
COM/COM_Robot.py
View File

@ -1,4 +1,5 @@
import logging import logging
from enum import Enum
from turtle import Turtle from turtle import Turtle
from numpy.array_api import trunc from numpy.array_api import trunc
@ -9,6 +10,9 @@ import queue
import json import json
from Model.RobotModel import DataAddress,DATARequest,DATAReply from Model.RobotModel import DataAddress,DATARequest,DATAReply
from Util.util_log import log from Util.util_log import log
class DetectType(Enum):
EyeOnHand = 0
EyeOutHand = 1
class RobotClient(TCPClient): class RobotClient(TCPClient):
@ -22,6 +26,7 @@ class RobotClient(TCPClient):
self.time_delay_take= time_delay_take self.time_delay_take= time_delay_take
self.time_delay_put = time_delay_put self.time_delay_put = time_delay_put
self.time_delay_shake = time_delay_shake self.time_delay_shake = time_delay_shake
self.type_detection = DetectType.EyeOnHand
def add_sendQuene(self,command): #后面 命令分等级，紧急命令直接执行 def add_sendQuene(self,command): #后面 命令分等级，紧急命令直接执行
self.command_quene.put(command) self.command_quene.put(command)
@ -87,8 +92,11 @@ class RobotClient(TCPClient):
return True return True
except Exception as e: except Exception as e:
log.log_message(logging.ERROR,f'{e}') log.log_message(logging.ERROR,f'{e}')
raise raise
def get_origin_position(self):
pass

201
CU/Feeding_C.py
View File

@ -8,7 +8,7 @@ import Constant
import Expection import Expection
from Model.Position import Real_Position, Detection_Position from Model.Position import Real_Position, Detection_Position
from enum import Enum, IntEnum from enum import Enum, IntEnum
from COM.COM_Robot import RobotClient from COM.COM_Robot import RobotClient, DetectType
from Model.RobotModel import CMDInstructRequest, MoveType from Model.RobotModel import CMDInstructRequest, MoveType
from Util.util_time import CRisOrFall from Util.util_time import CRisOrFall
from Vision.camera_coordinate_dete import Detection from Vision.camera_coordinate_dete import Detection
@ -30,6 +30,13 @@ class FeedStatus(IntEnum):
FShake = 8 FShake = 8
FDropBag = 9 FDropBag = 9
FFinished = 10 FFinished = 10
FReverse = 11
FStartReverse = 12
class FeedMidStatus(Enum):
FMid_Start = 1
FMid_Take = 2
FMid_Feed= 3
class FeedPosition: class FeedPosition:
def __init__(self,status:FeedStatus,position:Real_Position): def __init__(self,status:FeedStatus,position:Real_Position):
@ -46,22 +53,52 @@ class FeedLine:
self.id = id self.id = id
self.get_position_list() self.get_position_list()
def get_current_position(self): def get_current_feed_position(self):
pos = self.feeding_to_end[self.feeding2end_pos_index] pos = self.feeding_to_end[self.feeding2end_pos_index]
return pos return pos
def get_next_feed_position(self): def get_current_take_position(self):
pos = self.feeding_to_end[self.feeding2end_pos_index]
self.feeding2end_pos_index += 1
return pos
def get_next_start_position(self):
pos = self.origin2start_pos_index[self.origin2start_pos_index]
self.origin2start_pos_index += 1
return pos
def get_next_take_position(self):
pos = self.start2take_pos_index[self.start2take_pos_index] pos = self.start2take_pos_index[self.start2take_pos_index]
self.start2take_pos_index += 1 return pos
def get_current_start_position(self):
pos = self.origin2start_pos_index[self.origin2start_pos_index]
return pos
def get_next_feed_position(self,reverse:bool=False):
pos = self.feeding_to_end[self.feeding2end_pos_index]
if reverse:
self.feeding2end_pos_index -= 1
if self.feeding2end_pos_index < 0:
self.feeding2end_pos_index = len(self.feeding_to_end) - 1
else:
self.feeding2end_pos_index += 1
if self.feeding2end_pos_index >= len(self.feeding_to_end):
self.feeding2end_pos_index = 0
return pos
def get_next_start_position(self,reverse:bool=False):
pos = self.origin2start_pos_index[self.origin2start_pos_index]
if reverse:
self.origin2start_pos_index -= 1
if self.origin2start_pos_index < 0:
self.origin2start_pos_index = len(self.origin2start_pos) - 1
else:
self.origin2start_pos_index += 1
if self.origin2start_pos_index >= len(self.origin2start_pos):
self.origin2start_pos_index = 0
return pos
def get_next_take_position(self,reverse:bool=False):
pos = self.start2take_pos_index[self.start2take_pos_index]
if reverse:
self.start2take_pos_index -= 1
if self.start2take_pos_index < 0:
self.start2take_pos_index = len(self.start2take_pos) - 1
else:
self.start2take_pos_index += 1
if self.start2take_pos_index >= len(self.start2take_pos):
self.start2take_pos_index = 0
return pos return pos
def get_take_position(self): def get_take_position(self):
@ -81,7 +118,7 @@ class FeedLine:
index_start = i index_start = i
break break
for i in range(len(self.feed_positions)): for i in range(len(self.feed_positions)):
if self.feed_positions[i].status == FeedStatus.FTake: if self.feed_positions[i].status == FeedStatus.FPhoto:
index_take = i index_take = i
self.origin_to_start = self.feed_positions[: index_start+1] self.origin_to_start = self.feed_positions[: index_start+1]
@ -116,7 +153,8 @@ class Feeding:
self.init_detection_image() self.init_detection_image()
self.pause = False self.pause = False
self.cRis_photo = CRisOrFall() self.cRis_photo = CRisOrFall()
self.feed_Mid_Status = FeedMidStatus.FMid_Start
self.is_reverse = False
pass pass
def init_detection_image(self): def init_detection_image(self):
@ -140,17 +178,11 @@ class Feeding:
if self.feedConfig == None: if self.feedConfig == None:
self.feedStatus = FeedStatus.FNone self.feedStatus = FeedStatus.FNone
elif self.feedConfig.num == 0: elif self.feedConfig.num == 0 and self.feedStatus!=FeedStatus.FReverse:
self.feedStatus = FeedStatus.FNone self.feedStatus = FeedStatus.FNone
if self.feedStatus == FeedStatus.FNone or self.pause: if self.feedStatus == FeedStatus.FNone or self.pause:
return return
elif self.feedStatus == FeedStatus.FStart:
log.log_message(logging.INFO, Constant.str_feed_start)
self.feedStatus = FeedStatus.FCheck if self.feedStatus != FeedStatus.FNone else FeedStatus.FNone
pass
elif self.feedStatus == FeedStatus.FCheck: elif self.feedStatus == FeedStatus.FCheck:
log.log_message(logging.INFO, Constant.str_feed_check) log.log_message(logging.INFO, Constant.str_feed_check)
# 1, 检查是否是三列 # 1, 检查是否是三列
@ -158,21 +190,51 @@ class Feeding:
# if self.safe_check_columns() and self.safe_check_person(): # if self.safe_check_columns() and self.safe_check_person():
# pass # pass
# else: # else:
if self.feedConfig.num != 0: # if self.feedConfig.num != 0:
self.next_target() # self.next_target()
# if == 原点 继续判断 # if == 原点 继续判断
# else: # else:
# QMessageBox.information(None, "提示", Constant.str_feed_safe_error_msgbox) # QMessageBox.information(None, "提示", Constant.str_feed_safe_error_msgbox)
if self.is_reverse:
self.feed_Mid_Status = FeedMidStatus.FMid_Start
else:
self.feed_Mid_Status = FeedMidStatus.FMid_Take
self.next_position(self.is_reverse)
elif self.feedStatus == FeedStatus.FStart:
log.log_message(logging.INFO, Constant.str_feed_start)
if not self.robotClient.get_origin_position().compare(real_position) and not self.is_reverse:
QMessageBox.information(None, "提示", Constant.str_feed_start_error)
self.feedStatus = FeedStatus.FNone
if self.is_reverse and self.robotClient.get_origin_position().compare(real_position):
self.feedStatus = FeedStatus.FNone
self.is_reverse = False
self.feed_Mid_Status = FeedMidStatus.FMid_Start
self.next_position(self.is_reverse)
elif self.feedStatus == FeedStatus.FMid: elif self.feedStatus == FeedStatus.FMid:
log.log_message(logging.INFO, Constant.str_feed_mid) log.log_message(logging.INFO, Constant.str_feed_mid)
feed_pos = self.feedConfig.feedLine.get_current_position() feed_pos = self.get_current_position()
if feed_pos.position.compare(real_position): if feed_pos.position.compare(real_position):
self.next_target() self.next_position(self.is_reverse)
elif self.feedStatus == FeedStatus.FPhoto: elif self.feedStatus == FeedStatus.FPhoto:
log.log_message(logging.INFO, Constant.str_feed_photo) log.log_message(logging.INFO, Constant.str_feed_photo)
if self.feedConfig.num == 0:
log.log_message(logging.INFO, Constant.str_feed_finish)
self.is_reverse = True
self.FeedMid_Status = FeedMidStatus.FMid_Take
self.next_position(self.is_reverse)
return
if self.robotClient.type_detection == DetectType.EyeOutHand:
self.feed_Mid_Status = FeedMidStatus.FMid_Feed
self.next_position()
return
detect_pos_list = [] detect_pos_list = []
if not Constant.Debug: if not Constant.Debug:
try: try:
@ -197,7 +259,7 @@ class Feeding:
from Trace.handeye_calibration import R_matrix, getPosition from Trace.handeye_calibration import R_matrix, getPosition
rotation = R_matrix(self.robotClient.status_model.world_0, rotation = R_matrix(self.robotClient.status_model.world_0,
self.robotClient.status_model.world_1, self.robotClient.status_model.world_1,
self.robotClient.status_model.world_2 - 10, # TODO 这个10 需要确定 self.robotClient.status_model.world_2,
self.robotClient.status_model.world_3, self.robotClient.status_model.world_3,
self.robotClient.status_model.world_4, self.robotClient.status_model.world_4,
self.robotClient.status_model.world_5) self.robotClient.status_model.world_5)
@ -231,66 +293,67 @@ class Feeding:
log.log_message(logging.INFO, Constant.str_feed_takePhoto_line) log.log_message(logging.INFO, Constant.str_feed_takePhoto_line)
self.feedConfig.feedLine.set_take_position(take_position) ##TODO 检查有没有异常 self.feedConfig.feedLine.set_take_position(take_position) ##TODO 检查有没有异常
self.next_target() self.next_position()
except: except:
log.log_message(logging.ERROR, Constant.str_feed_takePhoto_fail) log.log_message(logging.ERROR, Constant.str_feed_takePhoto_fail)
self.error_photo_count += 1 self.error_photo_count += 1
else: else:
self.feedConfig.feedLine.set_take_position(real_position) ##TODO 检查有没有异常 self.feedConfig.feedLine.set_take_position(real_position) ##TODO 检查有没有异常
self.next_target() self.next_position()
log.log_message(logging.INFO, Constant.str_feed_takePhoto_move) log.log_message(logging.INFO, Constant.str_feed_takePhoto_move)
elif self.feedStatus == FeedStatus.FTake: elif self.feedStatus == FeedStatus.FTake:
log.log_message(logging.INFO, Constant.str_feed_take) log.log_message(logging.INFO, Constant.str_feed_take)
if self.feedConfig.feedLine.take_position != None and self.feedConfig.feedLine.get_current_position().compare( if self.feedConfig.feedLine.get_take_position() != None:
real_position): if self.feedConfig.feedLine.get_take_position().compare(real_position):
# 打开吸嘴并返回 # 打开吸嘴并返回
self.sendIOControl(self.robotClient.con_ios[0], 1) self.sendIOControl(self.robotClient.con_ios[0], 1)
self.sendIOControl(self.robotClient.con_ios[1], 1) self.sendIOControl(self.robotClient.con_ios[1], 1)
self.sendIOControl(self.robotClient.con_ios[2], 1) self.sendIOControl(self.robotClient.con_ios[2], 1)
# TODO 检测是否通 不然报警 # TODO 检测是否通 不然报警
self.feedConfig.feedLine.set_take_position(None)
time.sleep(self.robotClient.time_delay_take)
log.log_message(logging.INFO, Constant.str_feed_take_success)
time.sleep(self.robotClient.time_delay_take)
log.log_message(logging.INFO, Constant.str_feed_take_success)
self.next_target()
elif self.feedStatus == FeedStatus.FBroken1: elif self.feedStatus == FeedStatus.FBroken1:
log.log_message(logging.INFO, Constant.str_feed_broken) log.log_message(logging.INFO, Constant.str_feed_broken)
if self.feedConfig.feedLine.get_current_position.compare(real_position): if self.get_current_position().compare(real_position):
self.next_target() self.next_position()
elif self.feedStatus == FeedStatus.FBroken2: elif self.feedStatus == FeedStatus.FBroken2:
log.log_message(logging.INFO, Constant.str_feed_broken) log.log_message(logging.INFO, Constant.str_feed_broken)
if self.feedConfig.feedLine.get_current_position.compare(real_position): if self.get_current_position().compare(real_position):
self.next_target() self.next_position()
elif self.feedStatus == FeedStatus.FShake: elif self.feedStatus == FeedStatus.FShake:
log.log_message(logging.INFO, Constant.str_feed_shake) log.log_message(logging.INFO, Constant.str_feed_shake)
if self.feedConfig.feedLine.get_current_position.compare(real_position): if self.get_current_position().compare(real_position):
# TODO 震动方案 # TODO 震动方案
time.sleep(self.robotClient.time_delay_shake) time.sleep(self.robotClient.time_delay_shake)
self.next_target() self.next_position()
elif self.feedStatus == FeedStatus.FDropBag: elif self.feedStatus == FeedStatus.FDropBag:
log.log_message(logging.INFO, Constant.str_feed_drop) log.log_message(logging.INFO, Constant.str_feed_drop)
if self.feedConfig.feedLine.get_current_position.compare(real_position): if self.get_current_position().compare(real_position):
self.sendIOControl(self.robotClient.con_ios[0], 0) self.sendIOControl(self.robotClient.con_ios[0], 0)
self.sendIOControl(self.robotClient.con_ios[1], 0) self.sendIOControl(self.robotClient.con_ios[1], 0)
self.sendIOControl(self.robotClient.con_ios[2], 0) self.sendIOControl(self.robotClient.con_ios[2], 0)
# TODO 检测是否断 不然报警 # TODO 检测是否断 不然报警
time.sleep(self.robotClient.time_delay_put) time.sleep(self.robotClient.time_delay_put)
# TODO 获取目标位置
self.detection.get_position(Point_isVision=False, Box_isPoint=True, First_Depth=True, Iter_Max_Pixel=30, save_img_point=0, Height_reduce=30, width_reduce=30)
self.feedConfig.num = self.feedConfig.num - 1 self.feedConfig.num = self.feedConfig.num - 1
log.log_message(logging.INFO, f'{Constant.str_feed_feed_num}{self.feedConfig.num}') log.log_message(logging.INFO, f'{Constant.str_feed_feed_num}{self.feedConfig.num}')
self.next_position()
if self.feedConfig.num ==0 and self.feedConfig.feedLine.pos_index == 0:
log.log_message(logging.INFO, Constant.str_feed_finish)
self.feedStatus = FeedStatus.FNone
self.init_detection_image()
def send_emergency_sound(self): def send_emergency_sound(self):
self.sendIOControl(Constant.IO_EmergencyPoint, 1) self.sendIOControl(Constant.IO_EmergencyPoint, 1)
@ -341,11 +404,39 @@ class Feeding:
self.robotClient.add_sendQuene(request_command) self.robotClient.add_sendQuene(request_command)
pass pass
def
def next_target(self): def next_start(self,reverse=False):
feed_pos = self.feedConfig.feedLine.get_next_position() start_pos = self.feedConfig.feedLine.get_next_start_position(reverse)
self.feedStatus = feed_pos.status self.feedStatus = start_pos.status if self.feedStatus != FeedStatus.FNone else FeedStatus.FNone
self.sendTargPosition(start_pos.position)
pass
def next_take(self,reverse=False):
take_pos = self.feedConfig.feedLine.get_next_take_position(reverse)
self.feedStatus = take_pos.status if self.feedStatus != FeedStatus.FNone else FeedStatus.FNone
self.sendTargPosition(take_pos.position)
pass
def next_Feed(self,reverse=False):
feed_pos = self.feedConfig.feedLine.get_next_feed_position(reverse)
self.feedStatus = feed_pos.status if self.feedStatus != FeedStatus.FNone else FeedStatus.FNone
self.sendTargPosition(feed_pos.position) self.sendTargPosition(feed_pos.position)
def get_current_position(self):
if self.feed_Mid_Status == FeedMidStatus.FMid_Start:
return self.feedConfig.feedLine.get_current_start_position()
elif self.feed_Mid_Status == FeedMidStatus.FMid_Take:
return self.feedConfig.feedLine.get_current_take_position()
elif self.feed_Mid_Status == FeedMidStatus.FMid_Feed:
return self.feedConfig.feedLine.get_current_feed_position()
def next_position(self,reverse=False):
if self.feed_Mid_Status == FeedMidStatus.FMid_Start:
self.next_start(reverse)
elif self.feed_Mid_Status == FeedMidStatus.FMid_Take:
self.next_take(reverse)
elif self.feed_Mid_Status == FeedMidStatus.FMid_Feed:
self.next_Feed(reverse)
def safe_check_columns(self): def safe_check_columns(self):
return True return True
pass pass

1
Constant.py
View File

@ -53,6 +53,7 @@ str_feed_photo_confirm = '确认摆好'
str_feed_io_control = '发送IO控制: ' str_feed_io_control = '发送IO控制: '
str_feed_safe_error_msgbox = '未在安全位置，请先复位！' str_feed_safe_error_msgbox = '未在安全位置，请先复位！'
str_feed_shake = '摇摆' str_feed_shake = '摇摆'
str_feed_start_error = '请先复位机械臂'
str_sys_start = '进入系统' str_sys_start = '进入系统'
str_sys_exit = '退出系统' str_sys_exit = '退出系统'
str_sys_switch_tool = '切换到工具坐标' str_sys_switch_tool = '切换到工具坐标'

31
MainWin.ui
View File

@ -4777,6 +4777,37 @@ font: 10pt &quot;楷体&quot;;
<property name="frameShadow"> <property name="frameShadow">
<enum>QFrame::Shadow::Raised</enum> <enum>QFrame::Shadow::Raised</enum>
</property> </property>
<layout class="QVBoxLayout" name="verticalLayout_23">
<property name="spacing">
<number>0</number>
</property>
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number>
</property>
<item>
<widget class="QPushButton" name="pushButton_savePosition">
<property name="styleSheet">
<string notr="true">color: rgb(255, 255, 255);
background-color: rgb(0, 85, 0);</string>
</property>
<property name="text">
<string>保存</string>
</property>
</widget>
</item>
<item>
<widget class="QTableWidget" name="tableWidget_positions"/>
</item>
</layout>
</widget> </widget>
</item> </item>
</layout> </layout>

6
Model/Robot.py Normal file
View File

@ -0,0 +1,6 @@
class Robot:
def __init__(self):
pass
def get_origin_position(self):
return Real_Position(0,0,0,0,0,0)

50
MvSDKLog/CamCtrl_00.log
View File

@ -9123,3 +9123,53 @@ Warning 2024-11-21 20:52:26:0056 DevID:Virtual USB3 Vision Source-Line:MvCamer
Warning 2024-11-21 20:52:26:0056 DevID:Virtual USB3 Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L0996) ProcessName:python.exe(15072) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_VERSION] failed, Ret[0x80000001] Warning 2024-11-21 20:52:26:0056 DevID:Virtual USB3 Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L0996) ProcessName:python.exe(15072) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_VERSION] failed, Ret[0x80000001]
Warning 2024-11-21 20:52:26:0056 DevID:Virtual USB3 Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L1000) ProcessName:python.exe(15072) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_MANUFACTURER] failed, Ret[0x80000001] Warning 2024-11-21 20:52:26:0056 DevID:Virtual USB3 Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L1000) ProcessName:python.exe(15072) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_MANUFACTURER] failed, Ret[0x80000001]
Warning 2024-11-21 20:52:26:0056 DevID:Virtual USB3 Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L1004) ProcessName:python.exe(15072) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_USER_DEFINED_NAME] failed, Ret[0x80000001] Warning 2024-11-21 20:52:26:0056 DevID:Virtual USB3 Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L1004) ProcessName:python.exe(15072) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_USER_DEFINED_NAME] failed, Ret[0x80000001]
Error 2024-11-30 22:28:04:0247 DevID: Source-Line:MvCameraControl.dll(OtherLoadLibrary.cpp-L0709) ProcessName:python.exe(17884) Description:[LoadSRAllFunctions]hSRModule is NULL, Ret[0x8000000c]
Warning 2024-11-30 22:28:04:0259 DevID: Source-Line:MvCameraControl.dll(GenTLLoadLibraryEx.cpp-L0345) ProcessName:python.exe(17884) Description:[LoadCtiLibInter]MV_GCSetConfigIntValue is NULL, CTI path[D:\environment\envs\UICreater\lib\site-packages\MvProducerVIR.dll]
Warning 2024-11-30 22:28:04:0268 DevID:Virtual GigE Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L0992) ProcessName:python.exe(17884) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_MODEL] failed, Ret[0x80000001]
Warning 2024-11-30 22:28:04:0268 DevID:Virtual GigE Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L0996) ProcessName:python.exe(17884) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_VERSION] failed, Ret[0x80000001]
Warning 2024-11-30 22:28:04:0268 DevID:Virtual GigE Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L1000) ProcessName:python.exe(17884) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_MANUFACTURER] failed, Ret[0x80000001]
Warning 2024-11-30 22:28:04:0268 DevID:Virtual GigE Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L1004) ProcessName:python.exe(17884) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_USER_DEFINED_NAME] failed, Ret[0x80000001]
Warning 2024-11-30 22:28:04:0268 DevID:Virtual USB3 Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L0992) ProcessName:python.exe(17884) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_MODEL] failed, Ret[0x80000001]
Warning 2024-11-30 22:28:04:0268 DevID:Virtual USB3 Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L0996) ProcessName:python.exe(17884) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_VERSION] failed, Ret[0x80000001]
Warning 2024-11-30 22:28:04:0268 DevID:Virtual USB3 Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L1000) ProcessName:python.exe(17884) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_MANUFACTURER] failed, Ret[0x80000001]
Warning 2024-11-30 22:28:04:0268 DevID:Virtual USB3 Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L1004) ProcessName:python.exe(17884) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_USER_DEFINED_NAME] failed, Ret[0x80000001]
Error 2024-11-30 22:29:34:0576 DevID: Source-Line:MvCameraControl.dll(OtherLoadLibrary.cpp-L0709) ProcessName:python.exe(17868) Description:[LoadSRAllFunctions]hSRModule is NULL, Ret[0x8000000c]
Warning 2024-11-30 22:29:34:0578 DevID: Source-Line:MvCameraControl.dll(GenTLLoadLibraryEx.cpp-L0345) ProcessName:python.exe(17868) Description:[LoadCtiLibInter]MV_GCSetConfigIntValue is NULL, CTI path[D:\environment\envs\UICreater\lib\site-packages\MvProducerVIR.dll]
Warning 2024-11-30 22:29:34:0580 DevID:Virtual GigE Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L0992) ProcessName:python.exe(17868) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_MODEL] failed, Ret[0x80000001]
Warning 2024-11-30 22:29:34:0580 DevID:Virtual GigE Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L0996) ProcessName:python.exe(17868) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_VERSION] failed, Ret[0x80000001]
Warning 2024-11-30 22:29:34:0580 DevID:Virtual GigE Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L1000) ProcessName:python.exe(17868) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_MANUFACTURER] failed, Ret[0x80000001]
Warning 2024-11-30 22:29:34:0580 DevID:Virtual GigE Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L1004) ProcessName:python.exe(17868) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_USER_DEFINED_NAME] failed, Ret[0x80000001]
Warning 2024-11-30 22:29:34:0580 DevID:Virtual USB3 Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L0992) ProcessName:python.exe(17868) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_MODEL] failed, Ret[0x80000001]
Warning 2024-11-30 22:29:34:0580 DevID:Virtual USB3 Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L0996) ProcessName:python.exe(17868) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_VERSION] failed, Ret[0x80000001]
Warning 2024-11-30 22:29:34:0580 DevID:Virtual USB3 Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L1000) ProcessName:python.exe(17868) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_MANUFACTURER] failed, Ret[0x80000001]
Warning 2024-11-30 22:29:34:0580 DevID:Virtual USB3 Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L1004) ProcessName:python.exe(17868) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_USER_DEFINED_NAME] failed, Ret[0x80000001]
Error 2024-11-30 22:30:47:0422 DevID: Source-Line:MvCameraControl.dll(OtherLoadLibrary.cpp-L0709) ProcessName:python.exe(14212) Description:[LoadSRAllFunctions]hSRModule is NULL, Ret[0x8000000c]
Warning 2024-11-30 22:30:47:0425 DevID: Source-Line:MvCameraControl.dll(GenTLLoadLibraryEx.cpp-L0345) ProcessName:python.exe(14212) Description:[LoadCtiLibInter]MV_GCSetConfigIntValue is NULL, CTI path[D:\environment\envs\UICreater\lib\site-packages\MvProducerVIR.dll]
Warning 2024-11-30 22:30:47:0426 DevID:Virtual GigE Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L0992) ProcessName:python.exe(14212) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_MODEL] failed, Ret[0x80000001]
Warning 2024-11-30 22:30:47:0426 DevID:Virtual GigE Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L0996) ProcessName:python.exe(14212) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_VERSION] failed, Ret[0x80000001]
Warning 2024-11-30 22:30:47:0426 DevID:Virtual GigE Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L1000) ProcessName:python.exe(14212) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_MANUFACTURER] failed, Ret[0x80000001]
Warning 2024-11-30 22:30:47:0426 DevID:Virtual GigE Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L1004) ProcessName:python.exe(14212) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_USER_DEFINED_NAME] failed, Ret[0x80000001]
Warning 2024-11-30 22:30:47:0426 DevID:Virtual USB3 Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L0992) ProcessName:python.exe(14212) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_MODEL] failed, Ret[0x80000001]
Warning 2024-11-30 22:30:47:0426 DevID:Virtual USB3 Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L0996) ProcessName:python.exe(14212) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_VERSION] failed, Ret[0x80000001]
Warning 2024-11-30 22:30:47:0426 DevID:Virtual USB3 Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L1000) ProcessName:python.exe(14212) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_MANUFACTURER] failed, Ret[0x80000001]
Warning 2024-11-30 22:30:47:0426 DevID:Virtual USB3 Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L1004) ProcessName:python.exe(14212) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_USER_DEFINED_NAME] failed, Ret[0x80000001]
Error 2024-11-30 22:41:37:0040 DevID: Source-Line:MvCameraControl.dll(OtherLoadLibrary.cpp-L0709) ProcessName:python.exe(3620) Description:[LoadSRAllFunctions]hSRModule is NULL, Ret[0x8000000c]
Warning 2024-11-30 22:41:37:0042 DevID: Source-Line:MvCameraControl.dll(GenTLLoadLibraryEx.cpp-L0345) ProcessName:python.exe(3620) Description:[LoadCtiLibInter]MV_GCSetConfigIntValue is NULL, CTI path[D:\environment\envs\UICreater\lib\site-packages\MvProducerVIR.dll]
Warning 2024-11-30 22:41:37:0044 DevID:Virtual GigE Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L0992) ProcessName:python.exe(3620) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_MODEL] failed, Ret[0x80000001]
Warning 2024-11-30 22:41:37:0044 DevID:Virtual GigE Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L0996) ProcessName:python.exe(3620) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_VERSION] failed, Ret[0x80000001]
Warning 2024-11-30 22:41:37:0044 DevID:Virtual GigE Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L1000) ProcessName:python.exe(3620) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_MANUFACTURER] failed, Ret[0x80000001]
Warning 2024-11-30 22:41:37:0044 DevID:Virtual GigE Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L1004) ProcessName:python.exe(3620) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_USER_DEFINED_NAME] failed, Ret[0x80000001]
Warning 2024-11-30 22:41:37:0044 DevID:Virtual USB3 Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L0992) ProcessName:python.exe(3620) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_MODEL] failed, Ret[0x80000001]
Warning 2024-11-30 22:41:37:0044 DevID:Virtual USB3 Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L0996) ProcessName:python.exe(3620) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_VERSION] failed, Ret[0x80000001]
Warning 2024-11-30 22:41:37:0044 DevID:Virtual USB3 Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L1000) ProcessName:python.exe(3620) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_MANUFACTURER] failed, Ret[0x80000001]
Warning 2024-11-30 22:41:37:0044 DevID:Virtual USB3 Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L1004) ProcessName:python.exe(3620) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_USER_DEFINED_NAME] failed, Ret[0x80000001]
Error 2024-11-30 22:44:34:0357 DevID: Source-Line:MvCameraControl.dll(OtherLoadLibrary.cpp-L0709) ProcessName:python.exe(14324) Description:[LoadSRAllFunctions]hSRModule is NULL, Ret[0x8000000c]
Warning 2024-11-30 22:44:34:0359 DevID: Source-Line:MvCameraControl.dll(GenTLLoadLibraryEx.cpp-L0345) ProcessName:python.exe(14324) Description:[LoadCtiLibInter]MV_GCSetConfigIntValue is NULL, CTI path[D:\environment\envs\UICreater\lib\site-packages\MvProducerVIR.dll]
Warning 2024-11-30 22:44:34:0360 DevID:Virtual GigE Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L0992) ProcessName:python.exe(14324) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_MODEL] failed, Ret[0x80000001]
Warning 2024-11-30 22:44:34:0360 DevID:Virtual GigE Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L0996) ProcessName:python.exe(14324) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_VERSION] failed, Ret[0x80000001]
Warning 2024-11-30 22:44:34:0360 DevID:Virtual GigE Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L1000) ProcessName:python.exe(14324) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_MANUFACTURER] failed, Ret[0x80000001]
Warning 2024-11-30 22:44:34:0360 DevID:Virtual GigE Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L1004) ProcessName:python.exe(14324) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_USER_DEFINED_NAME] failed, Ret[0x80000001]
Warning 2024-11-30 22:44:34:0360 DevID:Virtual USB3 Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L0992) ProcessName:python.exe(14324) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_MODEL] failed, Ret[0x80000001]
Warning 2024-11-30 22:44:34:0360 DevID:Virtual USB3 Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L0996) ProcessName:python.exe(14324) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_VERSION] failed, Ret[0x80000001]
Warning 2024-11-30 22:44:34:0360 DevID:Virtual USB3 Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L1000) ProcessName:python.exe(14324) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_MANUFACTURER] failed, Ret[0x80000001]
Warning 2024-11-30 22:44:34:0360 DevID:Virtual USB3 Vision Source-Line:MvCameraControl.dll(GenTLManager.cpp-L1004) ProcessName:python.exe(14324) Description:[GetInterfaceInfos]TLGetInterfaceInfo[INTERFACE_INFO_USER_DEFINED_NAME] failed, Ret[0x80000001]

35
main.py
View File

@ -5,12 +5,14 @@ import queue
import sys import sys
from multiprocessing import Process from multiprocessing import Process
import traceback import traceback
import PySide6
from PyQt5.uic.properties import QtWidgets from PyQt5.uic.properties import QtWidgets
from PySide6 import QtCore from PySide6 import QtCore
from PySide6.QtCore import QThread, Signal, Slot, QObject, QEvent, QTimer from PySide6.QtCore import QThread, Signal, Slot, QObject, QEvent, QTimer
from PySide6.QtGui import QIntValidator, QStandardItemModel, QStandardItem, Qt, QMovie, QIcon from PySide6.QtGui import QIntValidator, QStandardItemModel, QStandardItem, Qt, QMovie, QIcon
from PySide6.QtWidgets import QApplication, QMainWindow, QPushButton, QLabel, QHeaderView, QTableWidget, \ from PySide6.QtWidgets import QApplication, QMainWindow, QPushButton, QLabel, QHeaderView, QTableWidget, \
QTableWidgetItem, QWidget, QHBoxLayout, QAbstractItemView, QMessageBox, QSizePolicy QTableWidgetItem, QWidget, QHBoxLayout, QAbstractItemView, QMessageBox, QSizePolicy, QComboBox
from datetime import datetime from datetime import datetime
from click import clear from click import clear
@ -51,7 +53,7 @@ class MainWindow(QMainWindow, Ui_MainWindow):
self.init_IOPanel() self.init_IOPanel()
self.start_Runing() self.start_Runing()
self.init_log() self.init_log()
self.init_table_positions()
@ -157,7 +159,32 @@ class MainWindow(QMainWindow, Ui_MainWindow):
def init_table_positions(self):
self.tableWidget_positions.setRowCount(9)
self.tableWidget_positions.setColumnCount(2)
self.tableWidget_positions.setHorizontalHeaderLabels(["名字", "删除点位"])
self.tableWidget_positions.setSelectionBehavior(QTableWidget.SelectRows)
self.tableWidget_positions.setAutoScroll(True)
# 自动调整列宽
header = self.tableWidget_positions.horizontalHeader()
# 让第一列宽度根据内容自动调整
header.setSectionResizeMode(0, PySide6.QtWidgets.QHeaderView.ResizeMode.Stretch)
# 第二列宽度根据内容自动调整
header.setSectionResizeMode(1, PySide6.QtWidgets.QHeaderView.ResizeMode.Stretch)
for row in range(5):
combo = QComboBox()
combo.addItems(["位置 A", "位置 B", "位置 C"])
self.tableWidget_positions.setCellWidget(row, 0, combo)
for row in range(5):
get_button = QPushButton("获取位置")
# get_button.clicked.connect(self.get_location)
self.tableWidget_positions.setCellWidget(row, 1, get_button)
def init_qss(self): def init_qss(self):
pass pass
@ -230,7 +257,7 @@ class MainWindow(QMainWindow, Ui_MainWindow):
self.pushButton_leftmenu_IO.clicked.connect(lambda _, index=1: self.send_click_change_stackView(index)) self.pushButton_leftmenu_IO.clicked.connect(lambda _, index=1: self.send_click_change_stackView(index))
self.pushButton_leftmenu_position.clicked.connect(lambda _, index=2: self.send_click_change_stackView(index)) self.pushButton_leftmenu_position.clicked.connect(lambda _, index=2: self.send_click_change_stackView(index))
self.pushButton_leftmenu_baseSeting.clicked.connect(lambda _, index=3: self.send_click_change_stackView(index)) self.pushButton_leftmenu_baseSeting.clicked.connect(lambda _, index=3: self.send_click_change_stackView(index))
self.pushButton_leftmenu_posDebug.clicked.connect(lambda _, index=4: self.send_click_change_stackView(index)) self.pushButton_leftmenu_posDebug.clicked.connect(lambda _, index=5: self.send_click_change_stackView(index))
self.pushButton_exit.clicked.connect(self.send_exit_button_click) self.pushButton_exit.clicked.connect(self.send_exit_button_click)
@ -950,7 +977,7 @@ class MainWindow(QMainWindow, Ui_MainWindow):
if isinstance(command, FeedCommand) and command.status == Status.Prepareing: if isinstance(command, FeedCommand) and command.status == Status.Prepareing:
if self.feeding.feedStatus == FeedStatus.FNone: if self.feeding.feedStatus == FeedStatus.FNone:
self.feeding.feedConfig = command.feed_config self.feeding.feedConfig = command.feed_config
self.feeding.feedStatus = FeedStatus.FStart self.feeding.feedStatus = FeedStatus.FCheck
command.status = Status.Runing command.status = Status.Runing
try: try:

61
test_ui.py Normal file
View File

@ -0,0 +1,61 @@
from PySide6.QtWidgets import QApplication, QWidget, QTableWidget, QTableWidgetItem, QComboBox, QPushButton, QVBoxLayout, QHBoxLayout
from PySide6.QtCore import Qt
class TableWithComboAndButtons(QWidget):
def __init__(self):
super().__init__()
self.setWindowTitle("表格：两列按钮，某一列下拉框")
self.setGeometry(100, 100, 600, 400)
# 布局
layout = QVBoxLayout()
# 创建表格
self.table = QTableWidget(5, 3) # 5行，3列
self.table.setHorizontalHeaderLabels(["位置", "获取位置", "保存位置"])
# 设置“位置”列为下拉框
for row in range(5):
combo = QComboBox()
combo.addItems(["位置 A", "位置 B", "位置 C"])
self.table.setCellWidget(row, 0, combo)
# 设置“获取位置”和“保存位置”列为按钮
for row in range(5):
get_button = QPushButton("获取位置")
get_button.clicked.connect(self.get_location)
self.table.setCellWidget(row, 1, get_button)
save_button = QPushButton("保存位置")
save_button.clicked.connect(self.save_location)
self.table.setCellWidget(row, 2, save_button)
# 将表格添加到布局中
layout.addWidget(self.table)
self.setLayout(layout)
def get_location(self):
# 获取当前行的“位置”列的内容
selected_row = self.table.currentRow()
if selected_row >= 0:
location = self.table.cellWidget(selected_row, 0).currentText()
print(f"获取位置: {location}")
else:
print("没有选中任何行")
def save_location(self):
# 获取当前行的“位置”列的内容并保存
selected_row = self.table.currentRow()
if selected_row >= 0:
location = self.table.cellWidget(selected_row, 0).currentText()
print(f"保存位置: {location}")
self.table.setItem(selected_row, 0, QTableWidgetItem(f"已保存 - {location}"))
else:
print("没有选中任何行")
if __name__ == "__main__":
app = QApplication([])
window = TableWithComboAndButtons()
window.show()
app.exec()

33
ui_MainWin.py
View File

@ -2991,6 +2991,36 @@ class Ui_MainWindow(object):
self.verticalLayout_19.addWidget(self.frame_30) self.verticalLayout_19.addWidget(self.frame_30)
self.stackedWidget_view.addWidget(self.page_2) self.stackedWidget_view.addWidget(self.page_2)
self.page_8 = QWidget()
self.page_8.setObjectName(u"page_8")
self.verticalLayout_22 = QVBoxLayout(self.page_8)
self.verticalLayout_22.setSpacing(0)
self.verticalLayout_22.setObjectName(u"verticalLayout_22")
self.verticalLayout_22.setContentsMargins(0, 0, 0, 0)
self.frame_16 = QFrame(self.page_8)
self.frame_16.setObjectName(u"frame_16")
self.frame_16.setFrameShape(QFrame.Shape.StyledPanel)
self.frame_16.setFrameShadow(QFrame.Shadow.Raised)
self.verticalLayout_23 = QVBoxLayout(self.frame_16)
self.verticalLayout_23.setSpacing(0)
self.verticalLayout_23.setObjectName(u"verticalLayout_23")
self.verticalLayout_23.setContentsMargins(0, 0, 0, 0)
self.pushButton_savePosition = QPushButton(self.frame_16)
self.pushButton_savePosition.setObjectName(u"pushButton_savePosition")
self.pushButton_savePosition.setStyleSheet(u"color: rgb(255, 255, 255);\n"
"background-color: rgb(0, 85, 0);")
self.verticalLayout_23.addWidget(self.pushButton_savePosition)
self.tableWidget_positions = QTableWidget(self.frame_16)
self.tableWidget_positions.setObjectName(u"tableWidget_positions")
self.verticalLayout_23.addWidget(self.tableWidget_positions)
self.verticalLayout_22.addWidget(self.frame_16)
self.stackedWidget_view.addWidget(self.page_8)
self.verticalLayout_8.addWidget(self.stackedWidget_view) self.verticalLayout_8.addWidget(self.stackedWidget_view)
@ -3602,7 +3632,7 @@ class Ui_MainWindow(object):
self.retranslateUi(MainWindow) self.retranslateUi(MainWindow)
self.stackedWidget_view.setCurrentIndex(0) self.stackedWidget_view.setCurrentIndex(5)
self.tabWidget.setCurrentIndex(0) self.tabWidget.setCurrentIndex(0)
self.stackedWidget_num.setCurrentIndex(0) self.stackedWidget_num.setCurrentIndex(0)
@ -3775,6 +3805,7 @@ class Ui_MainWindow(object):
self.label_33.setText(QCoreApplication.translate("MainWindow", u"J4", None)) self.label_33.setText(QCoreApplication.translate("MainWindow", u"J4", None))
self.lineEdit_manual_adjust_accuracy.setText(QCoreApplication.translate("MainWindow", u"1", None)) self.lineEdit_manual_adjust_accuracy.setText(QCoreApplication.translate("MainWindow", u"1", None))
self.lineEdit_manual_adjust_accuracy.setPlaceholderText(QCoreApplication.translate("MainWindow", u"0.001-20", None)) self.lineEdit_manual_adjust_accuracy.setPlaceholderText(QCoreApplication.translate("MainWindow", u"0.001-20", None))
self.pushButton_savePosition.setText(QCoreApplication.translate("MainWindow", u"\u4fdd\u5b58", None))
self.label_3.setText("") self.label_3.setText("")
self.label_date.setText(QCoreApplication.translate("MainWindow", u"2024-08-01", None)) self.label_date.setText(QCoreApplication.translate("MainWindow", u"2024-08-01", None))
self.label_time.setText(QCoreApplication.translate("MainWindow", u"08:00:00", None)) self.label_time.setText(QCoreApplication.translate("MainWindow", u"08:00:00", None))