import configparser import json import queue import sys from multiprocessing import Process from PySide6.QtCore import QThread, Signal, Slot from PySide6.QtGui import QIntValidator from PySide6.QtWidgets import QApplication, QMainWindow, QPushButton from datetime import datetime from CU.Command import FeedCommand from CU.Feeding import FeedLine, FeedingConfig, Feeding, FeedStatus from ui_untitled import Ui_MainWindow from COM.COM_Robot import RobotClient from Expection import Error_Code from queue import Queue from Model.RobotModel import * import time from queue import Queue from Model.Position import Real_Position from threading import Thread from CU.Command import Status class MainWindow(QMainWindow,Ui_MainWindow): def __init__(self): super(MainWindow, self).__init__() self.setupUi(self) self.init_UI() self.init_Run() self.init_robot_info() self.init_FeedLine() self.start_Runing() def init_UI(self): self.horizontalSlider_J1.sliderReleased.connect(self.slider_valueChanged) self.horizontalSlider_J2.sliderReleased.connect(self.slider_valueChanged) self.horizontalSlider_J3.sliderReleased.connect(self.slider_valueChanged) self.horizontalSlider_J4.sliderReleased.connect(self.slider_valueChanged) self.horizontalSlider_J5.sliderReleased.connect(self.slider_valueChanged) self.horizontalSlider_J6.sliderReleased.connect(self.slider_valueChanged) self.pushButton_num1.clicked.connect(self.send_num_button_click) self.pushButton_num2.clicked.connect(self.send_num_button_click) self.pushButton_num3.clicked.connect(self.send_num_button_click) self.pushButton_num4.clicked.connect(self.send_num_button_click) self.pushButton_num5.clicked.connect(self.send_num_button_click) self.pushButton_num6.clicked.connect(self.send_num_button_click) self.pushButton_AddNum.clicked.connect(self.send_addNum_button_click) self.pushButton_SubNum.clicked.connect(self.send_subNum_button_click) self.pushButton_num_free.clicked.connect(self.send_num_button_click) self.lineEdit_j1.returnPressed.connect(self.send_position_returnPressed) self.lineEdit_j2.returnPressed.connect(self.send_position_returnPressed) self.lineEdit_j3.returnPressed.connect(self.send_position_returnPressed) self.lineEdit_j4.returnPressed.connect(self.send_position_returnPressed) self.lineEdit_j5.returnPressed.connect(self.send_position_returnPressed) self.lineEdit_j6.returnPressed.connect(self.send_position_returnPressed) self.lineEdit_num.returnPressed.connect(self.send_custom_num_returnPressed) int_validator = QIntValidator(0, 100, self.lineEdit_num) self.lineEdit_num.setValidator(int_validator) # self.horizontalSlider_J1.sliderReleased self.pushButton_startFeed.clicked.connect(self.send_startFeed_button_click) def init_Run(self): self.robotClient = None self.configReader = configparser.ConfigParser() self.command_position_quene = Queue() self.status_address = DataAddress() self.feedLine_dict = {} self.command_quene = Queue() self.main_threading = None self.configReader.read('Seting.ini') ip = self.configReader.get('Robot_Feed', 'IPAddress') port = int(self.configReader.get('Robot_Feed', 'Port')) self.robotClient = RobotClient(ip, port, self.command_position_quene, self.status_address) self.feeding = Feeding(self.robotClient) # 临时 self.last_time=time.time() try: self.robotClient.CreatConnect() except: self.set_label_status_style(False) return Error_Code.SYS_NETERROR if self.robotClient.connected: return 0 else: return Error_Code.SYS_NETERROR def init_FeedLine(self): line_count = self.configReader.get('Robot_Feed', 'LineCount', fallback=0) self.configReader.read('Config/FeedLine.ini') for i in range(int(line_count)): line_str = f'FeedLine{i+1}' safe_position = Real_Position() photo_position = Real_Position() feed_position = Real_Position() safe_position.X = int(self.configReader.get(line_str, 'SafePosition_x', fallback=0)) safe_position.Y = int(self.configReader.get(line_str, 'SafePosition_y', fallback=0)) safe_position.Z = int(self.configReader.get(line_str, 'SafePosition_z', fallback=0)) safe_position.U = int(self.configReader.get(line_str, 'SafePosition_u', fallback=0)) safe_position.V = int(self.configReader.get(line_str, 'SafePosition_v', fallback=0)) safe_position.W = int(self.configReader.get(line_str, 'SafePosition_w', fallback=0)) photo_position.X = int(self.configReader.get(line_str, 'PhotoPosition_x', fallback=0)) photo_position.Y = int(self.configReader.get(line_str, 'PhotoPosition_y', fallback=0)) photo_position.Z = int(self.configReader.get(line_str, 'PhotoPosition_z', fallback=0)) photo_position.U = int(self.configReader.get(line_str, 'PhotoPosition_u', fallback=0)) photo_position.V = int(self.configReader.get(line_str, 'PhotoPosition_v', fallback=0)) photo_position.W = int(self.configReader.get(line_str, 'PhotoPosition_w', fallback=0)) feed_position.X = int(self.configReader.get(line_str, 'FeedPosition_x', fallback=0)) feed_position.Y = int(self.configReader.get(line_str, 'FeedPosition_y', fallback=0)) feed_position.Z = int(self.configReader.get(line_str, 'FeedPosition_z', fallback=0)) feed_position.U = int(self.configReader.get(line_str, 'FeedPosition_u', fallback=0)) feed_position.V = int(self.configReader.get(line_str, 'FeedPosition_v', fallback=0)) feed_position.W = int(self.configReader.get(line_str, 'FeedPosition_w', fallback=0)) self.feedLine_dict[str(i+1)] = FeedLine(safe_position, photo_position, feed_position) pass def init_robot_info(self): j1_min = int(self.configReader.get('Robot_Feed', 'j1_min')) j1_max = int(self.configReader.get('Robot_Feed', 'j1_max')) j2_min = int(self.configReader.get('Robot_Feed', 'j2_min')) j2_max = int(self.configReader.get('Robot_Feed', 'j2_max')) j3_min = int(self.configReader.get('Robot_Feed', 'j3_min')) j3_max = int(self.configReader.get('Robot_Feed', 'j3_max')) j4_min = int(self.configReader.get('Robot_Feed', 'j4_min')) j4_max = int(self.configReader.get('Robot_Feed', 'j4_max')) j5_min = int(self.configReader.get('Robot_Feed', 'j5_min')) j5_max = int(self.configReader.get('Robot_Feed', 'j5_max')) j6_min = int(self.configReader.get('Robot_Feed', 'j6_min')) j6_max = int(self.configReader.get('Robot_Feed', 'j6_max')) self.horizontalSlider_J1.setMinimum(j1_min) self.horizontalSlider_J1.setMaximum(j1_max) self.horizontalSlider_J2.setMinimum(j2_min) self.horizontalSlider_J2.setMaximum(j2_max) self.horizontalSlider_J3.setMinimum(j3_min) self.horizontalSlider_J3.setMaximum(j3_max) self.horizontalSlider_J4.setMinimum(j4_min) self.horizontalSlider_J4.setMaximum(j4_max) self.horizontalSlider_J5.setMinimum(j5_min) self.horizontalSlider_J5.setMaximum(j5_max) self.horizontalSlider_J6.setMinimum(j6_min) self.horizontalSlider_J6.setMaximum(j6_max) self.label_j1_min.setText(j1_min.__str__()) self.label_j1_max.setText(j1_max.__str__()) self.label_j2_min.setText(j2_min.__str__()) self.label_j2_max.setText(j2_max.__str__()) self.label_j3_min.setText(j3_min.__str__()) self.label_j3_max.setText(j3_max.__str__()) self.label_j4_min.setText(j4_min.__str__()) self.label_j4_max.setText(j4_max.__str__()) self.label_j5_min.setText(j5_min.__str__()) self.label_j5_max.setText(j5_max.__str__()) self.label_j6_min.setText(j6_min.__str__()) self.label_j6_max.setText(str(j6_max)) def start_Runing(self): self.main_threading = Thread(target=self.run) self.robot_connect_threading = Thread(target=self.robotClient.run) self.main_threading.start() self.robot_connect_threading.start() pass def send_startFeed_button_click(self): num = self.horizontalSlider_feedingNum.value() line_index = str(self.comboBox_lineIndex.currentIndex()+1) self.command_quene.put(FeedCommand(FeedingConfig(num, line_index))) self.stackedWidget_num.setCurrentIndex(1) def send_num_button_click(self): button = self.sender() if button.text() != "自定义": num = int(button.text()) self.horizontalSlider_feedingNum.setMaximum(num) self.label_maxNum.setText(str(num)) self.horizontalSlider_feedingNum.setValue(0) else: self.pushButton_num_free.hide() def send_addNum_button_click(self): self.feeding.feedConfig.num +=1 def send_subNum_button_click(self): self.feeding.feedConfig.num -=1 def send_custom_num_returnPressed(self): self.pushButton_num_free.show() self.lineEdit_num.hide() self.horizontalSlider_feedingNum.setMaximum(int(self.lineEdit_num.text())) self.horizontalSlider_feedingNum.setValue(0) self.label_maxNum.setText(self.lineEdit_num.text()) def slider_valueChanged(self): now_time = time.time() if(now_time-self.last_time) < 2: return self.last_time = now_time position_instruction = Instruction() position_instruction.m0 = self.horizontalSlider_J1.value() position_instruction.m1 = self.horizontalSlider_J2.value() position_instruction.m2 = self.horizontalSlider_J3.value() position_instruction.m3 = self.horizontalSlider_J4.value() position_instruction.m4 = self.horizontalSlider_J5.value() position_instruction.m5 = self.horizontalSlider_J6.value() self.lineEdit_j1.setText(str(self.horizontalSlider_J1.value())) self.lineEdit_j2.setText(str(self.horizontalSlider_J2.value())) self.lineEdit_j3.setText(str(self.horizontalSlider_J3.value())) self.lineEdit_j4.setText(str(self.horizontalSlider_J4.value())) self.lineEdit_j5.setText(str(self.horizontalSlider_J5.value())) self.lineEdit_j6.setText(str(self.horizontalSlider_J6.value())) instruction_command = CMDInstructRequest() instruction_command.instructions.append(position_instruction) request_command = instruction_command.toString() print(request_command) self.robotClient.add_sendQuene(request_command) def on_button_click(self): self.button.setText("Clicked!") def send_position_button_click(self): # if True: # cmd_command = CMDRequest() # cmd_command.cmdData = ['rewriteData', '800', f'{position_instruction.m0}', 0] # request_command = vars(cmd_command) # self.robotClient.add_sendQuene(request_command) return def send_position_returnPressed(self): position_instruction = Instruction() position_instruction.m0 = int(self.lineEdit_j1.text()) position_instruction.m1 = int(self.lineEdit_j2.text()) position_instruction.m2 = int(self.lineEdit_j3.text()) position_instruction.m3 = int(self.lineEdit_j4.text()) position_instruction.m4 = int(self.lineEdit_j5.text()) position_instruction.m5 = int(self.lineEdit_j6.text()) self.horizontalSlider_J1.setValue(int(self.lineEdit_j1.text())) self.horizontalSlider_J2.setValue(int(self.lineEdit_j2.text())) self.horizontalSlider_J3.setValue(int(self.lineEdit_j3.text())) self.horizontalSlider_J4.setValue(int(self.lineEdit_j4.text())) self.horizontalSlider_J5.setValue(int(self.lineEdit_j5.text())) self.horizontalSlider_J6.setValue(int(self.lineEdit_j6.text())) instruction_command = CMDInstructRequest() instruction_command.instructions.append(vars(position_instruction)) request_command = vars(instruction_command) print(request_command) self.robotClient.add_sendQuene(request_command) def run(self): while True: time.sleep(0.2) if not self.command_quene.empty(): command = self.command_quene.get() if isinstance(command, FeedCommand) and command.status == Status.Prepareing: if self.feeding.feedStatus == FeedStatus.FNone: self.feeding.feedConfig = command.feed_config self.feeding.feedStatus = FeedStatus.FStart command.status = Status.Runing try: self.feeding.run() except: print(Error_Code.SYS_NONEPoint) self.updateUI() #pass #主线程 def updateUI(self): if self.robotClient.connected: self.set_label_status_style(True) else: 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: self.stackedWidget_num.setCurrentIndex(0) else: self.stackedWidget_num.setCurrentIndex(1) self.label_date.setText(datetime.now().strftime("%Y-%m-%d")) self.label_time.setText(datetime.now().strftime("%H:%M:%S")) def set_label_status_style(self, connected: bool): if connected: self.label_connect_status.setStyleSheet(""" QLabel { background-color: #A2EF4D; /* 设置背景颜色 */ color: #ffffff; /* 设置字体颜色 */ border-radius: 8px; /* 圆角半径设置为 QLabel 的一半，形成圆形 */ border: 1px solid #A2EF4D; /* 设置边框颜色和宽度 */ qproperty-alignment: 'AlignCenter'; /* 设置文本居中 */ } """) else: self.label_connect_status.setStyleSheet(""" QLabel { background-color: #FD3251; /* 设置背景颜色 */ color: #ffffff; /* 设置字体颜色 */ border-radius: 8px; /* 圆角半径设置为 QLabel 的一半，形成圆形 */ border: 1px solid #FD3251; /* 设置边框颜色和宽度 */ qproperty-alignment: 'AlignCenter'; /* 设置文本居中 */ } """) def send_position_command(self, position): self.robotClient.add_sendQuene(position) if __name__ == "__main__": app = QApplication(sys.argv) window = MainWindow() window.show() sys.exit(app.exec())