import configparser import json import logging import os import queue import sys import threading from multiprocessing import Process import traceback import PySide6 import cv2 from PyQt5.uic.properties import QtWidgets from PySide6 import QtCore from PySide6.QtCore import QThread, Signal, Slot, QObject, QEvent, QTimer from PySide6.QtGui import QIntValidator, QStandardItemModel, QStandardItem, Qt, QMovie, QIcon, QCursor, QColor from PySide6.QtWidgets import QApplication, QMainWindow, QPushButton, QLabel, QHeaderView, QTableWidget, \ QTableWidgetItem, QWidget, QHBoxLayout, QAbstractItemView, QMessageBox, QSizePolicy, QComboBox, QMenu from datetime import datetime from click import clear import Util.util_pic from Model.FeedModel import LineModel, PositionModel from Util.util_ini import writeFeedLine_to_ini import Constant from CU.Command import FeedCommand from CU.Feeding import FeedLine, FeedingConfig, Feeding, FeedStatus, FeedMidStatus, ResetStatus from Util.util_log import QTextEditLogger from Util.util_time import CRisOrFall from Vision.camera_coordinate_dete import Detection 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, Detection_Position from threading import Thread from CU.Command import Status from Util.util_log import log from Vision.detect_person import DetectionPerson from ui_MainWin import Ui_MainWindow from view.ResetView import StopDialog #from view.ResetView import StopDialog class MainWindow(QMainWindow, Ui_MainWindow): updateUI_seting = Signal() def __init__(self): super(MainWindow, self).__init__() self.setupUi(self) #self.setWindowFlags(Qt.WindowType.FramelessWindowHint) self.thread_signal = True self.init_qss() self.init_UI() self.init_Run() self.init_robot_info() self.init_IOPanel() self.start_Runing() self.init_log() self.init_FeedLine() self.init_table_lines() self.init_table_position() self.table_line_changed = False self.table_position_changed = False self.selected_line_section = '' def init_IOPanel(self): self.dirt_io_points = {} self.dirt_io_points.setdefault('y1', self.widget_y1) self.dirt_io_points.setdefault('y2', self.widget_y2) self.dirt_io_points.setdefault('y3', self.widget_y3) self.dirt_io_points.setdefault('y4', self.widget_y4) self.dirt_io_points.setdefault('y5', self.widget_y5) self.dirt_io_points.setdefault('y6', self.widget_y6) self.dirt_io_points.setdefault('y7', self.widget_y7) self.dirt_io_points.setdefault('y8', self.widget_y8) self.dirt_io_points.setdefault('y9', self.widget_y9) self.dirt_io_points.setdefault('y10', self.widget_y10) self.dirt_io_points.setdefault('y11', self.widget_y11) self.dirt_io_points.setdefault('y12', self.widget_y12) self.dirt_io_points.setdefault('y13', self.widget_y13) self.dirt_io_points.setdefault('y14', self.widget_y14) self.dirt_io_points.setdefault('y15', self.widget_y15) self.dirt_io_points.setdefault('y16', self.widget_y16) self.dirt_io_points.setdefault('y17', self.widget_y17) self.dirt_io_points.setdefault('y18', self.widget_y18) self.dirt_io_points.setdefault('y19', self.widget_y19) self.dirt_io_points.setdefault('y20', self.widget_y20) self.dirt_io_points.setdefault('y21', self.widget_y21) self.dirt_io_points.setdefault('y22', self.widget_y22) self.dirt_io_points.setdefault('y23', self.widget_y23) self.dirt_io_points.setdefault('y24', self.widget_y24) self.dirt_io_points.setdefault('y25', self.widget_y25) self.dirt_io_points.setdefault('y26', self.widget_y26) self.dirt_io_points.setdefault('y27', self.widget_y27) self.dirt_io_points.setdefault('y28', self.widget_y28) self.dirt_io_points.setdefault('y29', self.widget_y29) self.dirt_io_points.setdefault('y30', self.widget_y30) self.dirt_io_points.setdefault('y31', self.widget_y31) self.dirt_io_points.setdefault('y32', self.widget_y32) self.widget_y1.clicked.connect(self.send_IO_Point_OpenOrClose) self.widget_y1.index=1 self.widget_y2.clicked.connect(self.send_IO_Point_OpenOrClose) self.widget_y2.index=2 self.widget_y3.clicked.connect(self.send_IO_Point_OpenOrClose) self.widget_y3.index=3 self.widget_y4.clicked.connect(self.send_IO_Point_OpenOrClose) self.widget_y4.index=4 self.widget_y5.clicked.connect(self.send_IO_Point_OpenOrClose) self.widget_y5.index=5 self.widget_y6.clicked.connect(self.send_IO_Point_OpenOrClose) self.widget_y6.index=6 self.widget_y7.clicked.connect(self.send_IO_Point_OpenOrClose) self.widget_y7.index=7 self.widget_y8.clicked.connect(self.send_IO_Point_OpenOrClose) self.widget_y8.index=8 self.widget_y9.clicked.connect(self.send_IO_Point_OpenOrClose) self.widget_y9.index=9 self.widget_y10.clicked.connect(self.send_IO_Point_OpenOrClose) self.widget_y10.index=10 self.widget_y11.clicked.connect(self.send_IO_Point_OpenOrClose) self.widget_y11.index=11 self.widget_y12.clicked.connect(self.send_IO_Point_OpenOrClose) self.widget_y12.index=12 self.widget_y13.clicked.connect(self.send_IO_Point_OpenOrClose) self.widget_y13.index=13 self.widget_y14.clicked.connect(self.send_IO_Point_OpenOrClose) self.widget_y14.index=14 self.widget_y15.clicked.connect(self.send_IO_Point_OpenOrClose) self.widget_y15.index=15 self.widget_y16.clicked.connect(self.send_IO_Point_OpenOrClose) self.widget_y16.index=16 self.widget_y17.clicked.connect(self.send_IO_Point_OpenOrClose) self.widget_y17.index=17 self.widget_y18.clicked.connect(self.send_IO_Point_OpenOrClose) self.widget_y18.index=18 self.widget_y19.clicked.connect(self.send_IO_Point_OpenOrClose) self.widget_y19.index=19 self.widget_y20.clicked.connect(self.send_IO_Point_OpenOrClose) self.widget_y20.index=20 self.widget_y21.clicked.connect(self.send_IO_Point_OpenOrClose) self.widget_y21.index=21 self.widget_y22.clicked.connect(self.send_IO_Point_OpenOrClose) self.widget_y22.index=22 self.widget_y23.clicked.connect(self.send_IO_Point_OpenOrClose) self.widget_y23.index=23 self.widget_y24.clicked.connect(self.send_IO_Point_OpenOrClose) self.widget_y24.index=24 self.widget_y25.clicked.connect(self.send_IO_Point_OpenOrClose) self.widget_y25.index=25 self.widget_y26.clicked.connect(self.send_IO_Point_OpenOrClose) self.widget_y26.index=26 self.widget_y27.clicked.connect(self.send_IO_Point_OpenOrClose) self.widget_y27.index=27 self.widget_y28.clicked.connect(self.send_IO_Point_OpenOrClose) self.widget_y28.index=28 self.widget_y29.clicked.connect(self.send_IO_Point_OpenOrClose) self.widget_y29.index=29 self.widget_y30.clicked.connect(self.send_IO_Point_OpenOrClose) self.widget_y30.index=30 self.widget_y31.clicked.connect(self.send_IO_Point_OpenOrClose) self.widget_y31.index=31 self.widget_y32.clicked.connect(self.send_IO_Point_OpenOrClose) self.widget_y32.index=32 # region 战线，点位表格初始化 def init_table_lines(self): self.tableWidget_lines.setColumnCount(4) self.tableWidget_lines.horizontalHeader().setStyleSheet(f"background-color: {QColor(44,44,44).name()};") self.tableWidget_lines.verticalHeader().setStyleSheet(f"background-color: {QColor(44,44,44).name()};") self.tableWidget_lines.verticalHeader().hide() self.tableWidget_lines.setHorizontalHeaderLabels(["节名", "线名", "id", "操作"]) self.tableWidget_lines.setSelectionBehavior(QTableWidget.SelectRows) self.tableWidget_lines.setAutoScroll(True) self.tableWidget_lines. setColumnHidden(0,True) self.tableWidget_lines. setColumnHidden(2,True) # 自动调整列宽 header = self.tableWidget_lines.horizontalHeader() header.setSectionResizeMode(0, PySide6.QtWidgets.QHeaderView.ResizeMode.Stretch) header.setSectionResizeMode(1, PySide6.QtWidgets.QHeaderView.ResizeMode.Stretch) header.setSectionResizeMode(2, PySide6.QtWidgets.QHeaderView.ResizeMode.Stretch) self.tableWidget_lines.setContextMenuPolicy(PySide6.QtCore.Qt.ContextMenuPolicy.CustomContextMenu) self.tableWidget_lines.customContextMenuRequested.connect(self.show_lines_context_menu) self.tableWidget_lines.cellChanged.connect(self.send_table_lines_cell_changed) self.init_table_lines_data() self.pushButton_savePosition.clicked.connect(self.send_save_lines_data) def send_table_line_position_cell_changed(self): self.table_position_changed = True def send_table_lines_cell_changed(self): self.table_line_changed = True def send_save_lines_data(self): if self.table_position_changed or self.table_line_changed: section = self.selected_line_section for row_i in range(self.tableWidget_lines.rowCount()): if self.tableWidget_lines.item(row_i, 0).text() == section: line_model = LineModel() if len(self.get_table_positions()) == 0 and self.feedLine_dict.keys().__contains__(section): line_model = self.feedLine_dict[section] line_model.name = self.tableWidget_lines.item(row_i, 1).text() else: line_model.section = section line_model.name = self.tableWidget_lines.item(row_i, 1).text() line_model.id = int(self.tableWidget_lines.item(row_i, 2).text()) line_model.positions = self.get_table_positions() config_reader = configparser.ConfigParser() config_reader.read(Constant.feedLine_set_file, encoding='utf-8') if len(self.get_table_positions()) != 0 and line_model.id != self.get_table_positions()[0].lineId: return line_model.save_line_model(config_reader) config_reader.write(open(Constant.feedLine_set_file, 'w', encoding='utf-8')) self.init_FeedLine() break self.init_table_lines_data() self.table_line_changed = False self.table_position_changed = False def get_table_positions(self): position_models = [] for row_i in range(self.tableWidget_line_positions.rowCount()): section = self.tableWidget_line_positions.item(row_i, 0).text() position_model = PositionModel(index=row_i) position_model.section = section position_model.X = float(self.tableWidget_line_positions.item(row_i, 1).text()) position_model.Y = float(self.tableWidget_line_positions.item(row_i, 2).text()) position_model.Z = float(self.tableWidget_line_positions.item(row_i, 3).text()) position_model.U = float(self.tableWidget_line_positions.item(row_i, 4).text()) position_model.V = float(self.tableWidget_line_positions.item(row_i, 5).text()) position_model.W = float(self.tableWidget_line_positions.item(row_i, 6).text()) combox_line_type = self.tableWidget_line_positions.cellWidget(row_i, 7) position_model.lineType = combox_line_type.currentData() combox_status = self.tableWidget_line_positions.cellWidget(row_i, 8) position_model.status = combox_status.currentData() position_model.id = int(self.tableWidget_line_positions.item(row_i, 9).text()) position_model.order = row_i position_model.lineId = int(self.tableWidget_line_positions.item(row_i, 11).text()) position_models.append(position_model) return position_models def init_table_lines_data(self): # self.tableWidget_lines.setItem(0, 0, QTableWidgetItem("线1")) # self.tableWidget_lines.setItem(1, 0, QTableWidgetItem("线2")) # self.tableWidget_lines.setItem() self.tableWidget_lines.blockSignals(True) self.selected_line_section = '' self.table_line_changed = False self.table_position_changed = False self.tableWidget_lines.setRowCount(0) for key, value in self.feedLine_dict.items(): self.tableWidget_lines.insertRow(self.tableWidget_lines.rowCount()) self.tableWidget_lines.setItem(self.tableWidget_lines.rowCount()-1, 0, QTableWidgetItem(key)) self.tableWidget_lines.setItem(self.tableWidget_lines.rowCount()-1, 1, QTableWidgetItem(value.name)) self.tableWidget_lines.setItem(self.tableWidget_lines.rowCount()-1, 2, QTableWidgetItem(str(value.id))) show_pos_btn = QPushButton("显示路径") show_pos_btn.clicked.connect( lambda _, index=self.tableWidget_lines.rowCount()-1: self.show_lines_pos_data(index)) self.tableWidget_lines.setCellWidget(self.tableWidget_lines.rowCount() - 1, 3, show_pos_btn) self.selected_line_section = '' self.tableWidget_line_positions.setRowCount(0) self.tableWidget_lines.blockSignals(False) def show_lines_context_menu(self): menu = QMenu(self) action_add = menu.addAction("添加投料线") action_del = menu.addAction("删除投料线") action = menu.exec(QCursor.pos()) if action == action_add: self.add_new_line() elif action == action_del: self.del_line() def del_line(self): if self.tableWidget_lines.rowCount()==0: return if self.tableWidget_lines.currentRow()==-1: return self.tableWidget_lines.removeRow(self.tableWidget_lines.currentRow()) self.table_line_changed = True def add_new_line(self): add_section = f'{Constant.feedLine_set_section}{1}' for i in range(1,Constant.MAX_Line_num): if not self.feedLine_dict.get(f"{Constant.feedLine_set_section}{i}"): add_section = f"{Constant.feedLine_set_section}{i}" break self.tableWidget_lines.insertRow(self.tableWidget_lines.rowCount()) self.tableWidget_lines.setItem(self.tableWidget_lines.rowCount()-1, 0, QTableWidgetItem(add_section)) self.tableWidget_lines.setItem(self.tableWidget_lines.rowCount()-1, 1, QTableWidgetItem("线" + str(self.tableWidget_lines.rowCount()))) self.tableWidget_lines.setItem(self.tableWidget_lines.rowCount()-1, 2, QTableWidgetItem(str(i))) show_pos_btn = QPushButton("显示路径") show_pos_btn.clicked.connect(lambda _, index=self.tableWidget_lines.rowCount()-1: self.show_lines_pos_data(index)) self.tableWidget_lines.setCellWidget(self.tableWidget_lines.rowCount()-1, 3,show_pos_btn) self.table_position_changed = True self.feedLine_dict[add_section] = LineModel(i) def show_lines_pos_data(self,line_index): if self.selected_line_section!='' and self.selected_line_section != self.tableWidget_lines.item(line_index,0).text(): if self.table_position_changed or self.table_line_changed: msgBox = QMessageBox() msgBox.setText("已修改的数据，是否保存？") msgBox.setStandardButtons(QMessageBox.Yes | QMessageBox.No) result = msgBox.exec() if result == QMessageBox.StandardButton.Ok: self.send_save_lines_data() return else: # 重新初始化· self.init_table_lines_data() self.table_line_changed = False self.table_position_changed = False line_name = self.tableWidget_lines.item(line_index,0).text() line_model = self.feedLine_dict.get(line_name) self.init_table_positions_data(line_model.positions) self.selected_line_section = line_name self.label_table_line_position_title.setText(line_model.name) def init_table_position(self): #self.tableWidget_line_positions.setRowCount(5) self.tableWidget_line_positions.setColumnCount(13) self.tableWidget_line_positions.setHorizontalHeaderLabels(["节段","X","Y","Z","U","V","W","运动类型","点位类型","序号","排序","线号","操作2"]) self.tableWidget_line_positions.setSelectionBehavior(QTableWidget.SelectRows) self.tableWidget_line_positions.setColumnHidden(0, True) self.tableWidget_line_positions.setColumnHidden(9,True) self.tableWidget_line_positions.setColumnHidden(10, True) self.tableWidget_line_positions.setColumnHidden(11, True) self.tableWidget_line_positions.setAutoScroll(True) self.tableWidget_line_positions.verticalHeader().hide() # 自动调整列宽 header = self.tableWidget_line_positions.horizontalHeader() header.setSectionResizeMode(0, PySide6.QtWidgets.QHeaderView.ResizeMode.Interactive) self.tableWidget_line_positions.setHorizontalScrollBarPolicy(PySide6.QtCore.Qt.ScrollBarPolicy.ScrollBarAsNeeded) for i in range(13): header.setSectionResizeMode(i, PySide6.QtWidgets.QHeaderView.ResizeMode.Interactive) self.tableWidget_line_positions.setContextMenuPolicy(PySide6.QtCore.Qt.ContextMenuPolicy.CustomContextMenu) self.tableWidget_line_positions.customContextMenuRequested.connect(self.show_positions_context_menu) self.tableWidget_line_positions.cellChanged.connect(self.send_table_line_position_cell_changed) def init_table_positions_data(self,position_list): self.tableWidget_line_positions.blockSignals(True) self.tableWidget_line_positions.setRowCount(0) for index,position_model in enumerate(position_list): self.tableWidget_line_positions.insertRow(self.tableWidget_line_positions.rowCount()) self.set_positionModel_to_tabel(index,position_model) self.tableWidget_line_positions.blockSignals(False) def show_positions_context_menu(self): menu = QMenu(self) action_add = menu.addAction("添加位置节点") action_del = menu.addAction("删除位置节点") action = menu.exec(QCursor.pos()) if action == action_add: self.add_new_position() elif action == action_del: self.del_position() def del_position(self): if self.tableWidget_line_positions.rowCount()==0: return if self.tableWidget_line_positions.currentRow()==-1: return section = self.tableWidget_line_positions.item(self.tableWidget_line_positions.currentRow(),0).text() id = int(self.tableWidget_line_positions.item(self.tableWidget_line_positions.currentRow(), 9).text()) line_model = self.feedLine_dict.get(self.selected_line_section) for pos_model in line_model.positions: if pos_model.id == id: line_model.positions.remove(pos_model) break self.tableWidget_line_positions.removeRow(self.tableWidget_line_positions.currentRow()) config_writer = configparser.ConfigParser() config_writer.read(Constant.feedLine_set_file, encoding = 'utf-8') config_writer.remove_section(section) config_writer.write(open(Constant.feedLine_set_file,'w',encoding='utf-8')) self.table_position_changed = True def add_new_position(self):# 选中添加 if self.selected_line_section == '': return config_reader = configparser.ConfigParser() config_reader.read(Constant.feedLine_set_file, encoding = 'utf-8') position_model = PositionModel(999) ids = [] for j in range(self.tableWidget_line_positions.rowCount()): ids.append(int(self.tableWidget_line_positions.item(j, 9).text())) for i in range(1,Constant.MAX_Position_num): if not config_reader.has_section(f"{Constant.position_set_section}{i}"): if ids.__contains__(i): continue position_model = PositionModel(i) break if self.tableWidget_line_positions.currentRow()==-1: row_i = self.tableWidget_line_positions.rowCount() else: row_i = self.tableWidget_line_positions.currentRow() # self.tableWidget_line_positions.setRowCount(self.tableWidget_line_positions.rowCount()+1) self.tableWidget_line_positions.insertRow(row_i+1) position_model.order = 0 position_model.status = 1 line_model = self.feedLine_dict.get(self.selected_line_section) line_id = line_model.id position_model.lineId = line_id self.set_positionModel_to_tabel(row_i+1,position_model) self.table_line_changed = True def tabel_get_position(self,row_i): if self.tableWidget_line_positions.currentRow()==-1: QMessageBox.information(self, "提示", Constant.str_sys_set_position_error) return row_i = self.tableWidget_line_positions.currentRow() combox_line_type = self.tableWidget_line_positions.cellWidget(row_i, 7) lineType = combox_line_type.currentData() if lineType == 4: self.set_position_tabel(row_i, self.status_address.getAnglePosition()) else: self.set_position_tabel(row_i, self.status_address.getRealPosition()) self.table_line_changed = True def tabel_delete_position(self,row_i): self.tableWidget_line_positions.removeRow(row_i) self.table_line_changed = True def set_positionModel_to_tabel(self,row_i,position_model:PositionModel): self.tableWidget_line_positions.setItem(row_i,0,QTableWidgetItem(str(position_model.section))) self.set_position_tabel(row_i,position_model.get_position()) combox_lineType = QComboBox() combox_lineType.addItem("直线",0) combox_lineType.addItem("曲线中间点",2) combox_lineType.addItem("曲线终点",3) combox_lineType.addItem("自由路径",4) combox_lineType.setCurrentIndex(combox_lineType.findData(position_model.lineType)) combox_lineType.currentIndexChanged.connect(self.send_table_position_status_changed) self.tableWidget_line_positions.setCellWidget(row_i, 7, combox_lineType) combox = QComboBox() combox.addItem("初始化点", 2) combox.addItem("中间点", 3) combox.addItem("相机/待抓点",4) combox.addItem("抓取",5) combox.addItem("破带点1",6) combox.addItem("破带点2",7) combox.addItem("震动点",8) combox.addItem("扔带点",9) combox.setCurrentIndex(combox.findData(position_model.status)) combox.currentIndexChanged.connect(self.send_table_position_status_changed) self.tableWidget_line_positions.setCellWidget(row_i, 8, combox) #self.tableWidget_line_positions.setItem(row_i, 7, QTableWidgetItem(str(position_model.status))) self.tableWidget_line_positions.setItem(row_i, 9, QTableWidgetItem(str(position_model.id))) self.tableWidget_line_positions.setItem(row_i, 10, QTableWidgetItem(str(position_model.order))) self.tableWidget_line_positions.setItem(row_i, 11, QTableWidgetItem(str(position_model.lineId))) get_pos_btn = QPushButton("获取点位") get_pos_btn.clicked.connect( lambda _, index=row_i: self.tabel_get_position(index)) self.tableWidget_line_positions.setCellWidget(row_i, 12, get_pos_btn) # del_pos_btn = QPushButton("删除点位") # del_pos_btn.clicked.connect(lambda _, index=row_i: self.tabel_delete_position(index)) # self.tableWidget_line_positions.setCellWidget(row_i, 12, del_pos_btn) def send_table_position_status_changed(self): self.table_position_changed = True def set_position_tabel(self, row_i, position): self.tableWidget_line_positions.setItem(row_i, 1, QTableWidgetItem(str(position.X))) self.tableWidget_line_positions.setItem(row_i, 2, QTableWidgetItem(str(position.Y))) self.tableWidget_line_positions.setItem(row_i, 3, QTableWidgetItem(str(position.Z))) self.tableWidget_line_positions.setItem(row_i, 4, QTableWidgetItem(str(position.U))) self.tableWidget_line_positions.setItem(row_i, 5, QTableWidgetItem(str(position.V))) self.tableWidget_line_positions.setItem(row_i, 6, QTableWidgetItem(str(position.W))) #endregion def init_qss(self): pass def init_log(self): log.init_log(self.textEdit_log_info, self.textEdit_log_error, Constant.log_file_path) log.log_message(logging.INFO, Constant.str_sys_start) def init_UI(self): 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.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.pushButton_sendMove.clicked.connect(self.send_position_returnPressed) self.pushButton_j1_sub.clicked.connect(self.send_subOneAsix_button_click) self.pushButton_j2_sub.clicked.connect(self.send_subOneAsix_button_click) self.pushButton_j3_sub.clicked.connect(self.send_subOneAsix_button_click) self.pushButton_j4_sub.clicked.connect(self.send_subOneAsix_button_click) self.pushButton_j5_sub.clicked.connect(self.send_subOneAsix_button_click) self.pushButton_j6_sub.clicked.connect(self.send_subOneAsix_button_click) self.pushButton_j1_add.clicked.connect(self.send_addOneAsix_button_click) self.pushButton_j2_add.clicked.connect(self.send_addOneAsix_button_click) self.pushButton_j3_add.clicked.connect(self.send_addOneAsix_button_click) self.pushButton_j4_add.clicked.connect(self.send_addOneAsix_button_click) self.pushButton_j5_add.clicked.connect(self.send_addOneAsix_button_click) self.pushButton_j6_add.clicked.connect(self.send_addOneAsix_button_click) self.pushButton_stopFeed.clicked.connect(self.send_stopFeed_button_click) self.pushButton_pauseFeed.clicked.connect(self.send_pauseFeed_button_click) self.pushButton_get_p1.clicked.connect(self.get_p1_button_click) self.pushButton_get_p2.clicked.connect(self.get_p2_button_click) self.pushButton_get_p3.clicked.connect(self.get_p3_button_click) self.pushButton_get_p4.clicked.connect(self.get_p4_button_click) self.pushButton_get_p5.clicked.connect(self.get_p5_button_click) self.pushButton_get_origin.clicked.connect(self.get_origin_button_click) self.pushButton_set_p1.clicked.connect(self.set_p1_button_click) self.pushButton_set_p2.clicked.connect(self.set_p2_button_click) self.pushButton_set_p3.clicked.connect(self.set_p3_button_click) self.pushButton_set_p4.clicked.connect(self.set_p4_button_click) self.pushButton_set_p5.clicked.connect(self.set_p5_button_click) self.pushButton_set_origin.clicked.connect(self.set_origin_button_click) self.pushButton_clearAlarm.clicked.connect(self.send_clear_alarm_command) self.pushButton_emergency.clicked.connect(self.send_emergency_alarm_command) self.pushButton_reset.clicked.connect(self.send_reset_button_click) self.pushButton_saveSeting.clicked.connect(self.send_setSpeed_clicked) self.pushButton_num_confirm.clicked.connect(self.send_custom_num_returnPressed) #self.tabWidget_control.currentChanged.connect(self.send_tabWidget_control_change) self.frame_sys_seting.setVisible(False) self.pushButton_sysseting.clicked.connect(self.send_click_sysmeuExpand) self.pushButton_leftmenu_produce.clicked.connect(lambda _, index=0: self.send_click_change_stackView(index)) self.pushButton_leftmenu_robot_seting.clicked.connect( lambda _, index=2: 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=5: 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_exit.clicked.connect(self.send_exit_button_click) 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) self.horizontalSlider_feedingNum.blockSignals(True) self.horizontalSlider_feedingNum.setMinimum(0) def init_Run(self): self.robotClient = None self.configReader = configparser.ConfigParser() self.detection =Detection() #TODO 关闭图像 self.command_position_quene = Queue() self.status_address = DataAddress() self.feedLine_dict = {} self.command_quene = Queue() self.main_threading = None self.detection_person = None # DetectionPerson() self.cton_take_no_photo = CRisOrFall() self.index = 1 self.configReader.read(Constant.set_ini) ip = self.configReader.get('Robot_Feed', 'IPAddress') port = int(self.configReader.get('Robot_Feed', 'Port')) photo_locs = [(float(self.configReader.get('Robot_Feed', 'photo_x1')), float(self.configReader.get('Robot_Feed', 'photo_y1')), float(self.configReader.get('Robot_Feed', 'photo_z1')), float(self.configReader.get('Robot_Feed', 'photo_u1')),float(self.configReader.get('Robot_Feed', 'photo_v1')),float(self.configReader.get('Robot_Feed', 'photo_w1'))), (float(self.configReader.get('Robot_Feed', 'photo_x2')), float(self.configReader.get('Robot_Feed', 'photo_y2')), float(self.configReader.get('Robot_Feed', 'photo_z2')), float(self.configReader.get('Robot_Feed', 'photo_u2')),float(self.configReader.get('Robot_Feed', 'photo_v2')),float(self.configReader.get('Robot_Feed', 'photo_w2')) ), (float(self.configReader.get('Robot_Feed', 'photo_x3')), float(self.configReader.get('Robot_Feed', 'photo_y3')),float(self.configReader.get('Robot_Feed', 'photo_z3')), float(self.configReader.get('Robot_Feed', 'photo_u3')),float(self.configReader.get('Robot_Feed', 'photo_v3')),float(self.configReader.get('Robot_Feed', 'photo_w3')) ), (float(self.configReader.get('Robot_Feed', 'photo_x4')), float(self.configReader.get('Robot_Feed', 'photo_y4')),float(self.configReader.get('Robot_Feed', 'photo_z4')), float(self.configReader.get('Robot_Feed', 'photo_u4')),float(self.configReader.get('Robot_Feed', 'photo_v4')),float(self.configReader.get('Robot_Feed', 'photo_w4')) ), (float(self.configReader.get('Robot_Feed', 'photo_x5')), float(self.configReader.get('Robot_Feed', 'photo_y5')),float(self.configReader.get('Robot_Feed', 'photo_z5')), float(self.configReader.get('Robot_Feed', 'photo_u5')),float(self.configReader.get('Robot_Feed', 'photo_v5')),float(self.configReader.get('Robot_Feed', 'photo_w5')) ) ] origin_position = Real_Position().init_position(float(self.configReader.get('Origin', 'X')), float(self.configReader.get('Origin', 'Y')), float(self.configReader.get('Origin', 'Z')), float(self.configReader.get('Origin', 'U')), float(self.configReader.get('Origin', 'V')), float(self.configReader.get('Origin', 'W'))) debug_speed = int(self.configReader.get('Speed', 'debug_speed')) feed_speed = int(self.configReader.get('Speed', 'feed_speed')) reset_speed = int(self.configReader.get('Speed', 'reset_speed')) io_take_addr = int(self.configReader.get('Robot_Feed', 'io_take_addr')) io_zip_addr = int(self.configReader.get('Robot_Feed', 'io_zip_addr')) io_shake_addr = int(self.configReader.get('Robot_Feed', 'io_shake_addr')) time_delay_take = float(self.configReader.get('Robot_Feed', 'takeDelay')) time_delay_put = float(self.configReader.get('Robot_Feed', 'putDelay')) time_delay_shake = float(self.configReader.get('Robot_Feed', 'shakeDelay')) max_angle_interval = float(self.configReader.get('Robot_Feed', 'max_angle_interval')) #TODO #dropDelay_time = int(self.configReader.get('Robot_Feed', 'dropDelay_time')) self.robotClient = RobotClient(ip, port, photo_locs, self.command_position_quene, self.status_address,[io_take_addr, io_zip_addr, io_shake_addr],time_delay_take,time_delay_put,time_delay_shake,origin_position) self.robotClient.debug_speed = debug_speed self.robotClient.feed_speed = feed_speed self.robotClient.reset_speed = reset_speed self.robotClient.max_angle_interval = max_angle_interval self.feeding = Feeding(self.robotClient, self.detection) # 临时 self.feeding.need_origin_signal.connect(self.show_infomessage_box) self.feeding.take_no_photo_sigal.emit(self.show_no_photo_message_box) self.last_time = time.time() self.remain_lineName = self.configReader.get('Robot_Feed', 'remain_lineName') self.remain_Count = int(self.configReader.get('Robot_Feed', 'remain_Count')) self.updateUI_seting.connect(self.update_seting_frame) 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_seting_frame(self): rows = len(self.feedLine_dict.keys()) + 1 self.tableWidget_feedSeting.setRowCount(rows) self.tableWidget_feedSeting.setColumnCount(20+2*6) # 设置第一重表头的合并 (三列一组) self.tableWidget_feedSeting_addtional_col_num = 2 self.tableWidget_feedSeting.setSpan(0, 0 + self.tableWidget_feedSeting_addtional_col_num, 1, 6) # 合并前3列 self.tableWidget_feedSeting.setSpan(0, 6 + self.tableWidget_feedSeting_addtional_col_num, 1, 6) # 合并后3列 self.tableWidget_feedSeting.setSpan(0, 12 + self.tableWidget_feedSeting_addtional_col_num, 1, 6) # 合并后3列 self.tableWidget_feedSeting.setSpan(0, 18 + self.tableWidget_feedSeting_addtional_col_num, 1, 6) # 合并后3列 self.tableWidget_feedSeting.setSpan(0, 24 + self.tableWidget_feedSeting_addtional_col_num, 1, 6) # 合并后3列 self.tableWidget_feedSeting.itemChanged.connect(self.send_tabelFeedSet_itemChanged) btn_safe = QPushButton("获取安全位置") widget_safe = QWidget() layout_safe = QHBoxLayout() layout_safe.addWidget(btn_safe) # 调整布局的间距，使之更紧凑 layout_safe.setContentsMargins(0, 0, 0, 0) # 将布局设置到 QWidget 容器中 widget_safe.setLayout(layout_safe) btn_bk1 = QPushButton("获取破袋位置1") widget_bk1 = QWidget() layout_bk1 = QHBoxLayout() layout_bk1.addWidget(btn_bk1) # 调整布局的间距，使之更紧凑 layout_bk1.setContentsMargins(0, 0, 0, 0) # 将布局设置到 QWidget 容器中 widget_bk1.setLayout(layout_bk1) btn_bk2 = QPushButton("获取破袋位置2") widget_bk2 = QWidget() layout_bk2 = QHBoxLayout() layout_bk2.addWidget(btn_bk2) # 调整布局的间距，使之更紧凑 layout_bk2.setContentsMargins(0, 0, 0, 0) # 将布局设置到 QWidget 容器中 widget_bk2.setLayout(layout_bk2) btn_shake = QPushButton("获取摇晃位置") widget_shake = QWidget() layout_shake = QHBoxLayout() layout_shake.addWidget(btn_shake) layout_shake.setContentsMargins(0, 0, 0, 0) widget_shake.setLayout(layout_shake) btn_dropbag = QPushButton("获取丢袋位置") widget_dropbag = QWidget() layout_dropbag = QHBoxLayout() layout_dropbag.addWidget(btn_dropbag) # 调整布局的间距，使之更紧凑 layout_dropbag.setContentsMargins(0, 0, 0, 0) # 将布局设置到 QWidget 容器中 widget_dropbag.setLayout(layout_dropbag) btn_safe.clicked.connect(self.send_get_safe_position_button_click) btn_bk1.clicked.connect(self.send_get_broken1_position_button_click) btn_bk2.clicked.connect(self.send_get_broken2_position_button_click) btn_shake.clicked.connect(self.send_get_shake_position_button_click) btn_dropbag.clicked.connect(self.send_get_dropbag_position_button_click) # 添加第一重表头项 self.tableWidget_feedSeting.setCellWidget(0, 0 + self.tableWidget_feedSeting_addtional_col_num, widget_safe) self.tableWidget_feedSeting.setCellWidget(0, 6 + self.tableWidget_feedSeting_addtional_col_num, widget_bk1) self.tableWidget_feedSeting.setCellWidget(0, 12 + self.tableWidget_feedSeting_addtional_col_num, widget_bk2) self.tableWidget_feedSeting.setCellWidget(0, 18 + self.tableWidget_feedSeting_addtional_col_num, widget_shake) self.tableWidget_feedSeting.setCellWidget(0, 24 + self.tableWidget_feedSeting_addtional_col_num, widget_dropbag) self.tableWidget_feedSeting.setSelectionBehavior(QTableWidget.SelectRows) self.tableWidget_feedSeting.setAutoScroll(True) # 添加第二重表头 self.tableWidget_feedSeting.setHorizontalHeaderLabels( ['header', '线名', 'X1', 'Y1', 'Z1', 'U1', 'V1', 'W1', 'X2', 'Y2', 'Z2', 'U2', 'V2', 'W2', 'X3', 'Y3', 'Z3', 'U3', 'V3', 'W3', 'X4', 'Y4', 'Z4', 'U4', 'V4', 'W4', 'X5', 'Y5', 'Z5', 'U5', 'V5', 'W5']) self.tableWidget_feedSeting.hideColumn(0) # 填充数据行 for row, (feed_line_key, feed_line) in enumerate(self.feedLine_dict.items()): self.tableWidget_feedSeting.setItem(row + 1, 0, QTableWidgetItem(feed_line_key)) self.tableWidget_feedSeting.setItem(row + 1, 1, QTableWidgetItem(feed_line.name)) self.set_position_to_tabel(row + 1, 0, feed_line.safe_position) self.set_position_to_tabel(row + 1, 1, feed_line.broken1_position) self.set_position_to_tabel(row + 1, 2, feed_line.broken2_position) self.set_position_to_tabel(row + 1, 3, feed_line.broken2_position) self.set_position_to_tabel(row + 1, 4, feed_line.drop_bag_position) # 禁用自动表头 self.tableWidget_feedSeting.verticalHeader().setVisible(True) self.pushButton_tableFeedSet_addRow.clicked.connect(self.send_tabelFeedSet_addRow) self.pushButton_tableFeedSet_deleRow.clicked.connect(self.send_tabelFeedSet_delRow) self.pushButton_tableFeedSet_save.clicked.connect(self.send_tabelFeedSet_save) def init_FeedLine(self): # line_count = self.configReader.get('Robot_Feed', 'LineCount', fallback=0) configReader = configparser.ConfigParser() configReader.read(Constant.feedLine_set_file, encoding='utf-8') for i in range(1,Constant.MAX_Line_num): line_str = f'{Constant.feedLine_set_section}{i}' if configReader.has_section(line_str): feed_line = LineModel() feed_line.read_line_model(config_reader=configReader,index=i) self.feedLine_dict[f'{Constant.feedLine_set_section}{i}'] = feed_line self.updateUI_Select_Line() 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_UI_threading = Thread(target=self.updateUI) self.detect_person_thread = Thread(target=self.run_detect_persion) self.main_threading.start() self.robot_connect_threading.start() self.main_UI_threading.start() self.detect_person_thread.start() pass def check_continue(self): if self.remain_Count!=0: for key in self.feedLine_dict.keys(): feed_line = self.feedLine_dict[key] if f'FeedLine{self.remain_lineName}' == key: #提示 remain_messageBox = QMessageBox() remain_messageBox.setIcon(QMessageBox.Icon.Warning) remain_messageBox.setText(f'还有{self.remain_Count}袋未投料，是否继续？') remain_messageBox.setStandardButtons(QMessageBox.StandardButton.Ok | QMessageBox.StandardButton.Cancel) result = remain_messageBox.exec() if result == QMessageBox.StandardButton.Cancel: self.remain_Count = 0 return self.configReader.read(Constant.feedLine_set_file, encoding='utf-8') line_name = self.configReader.get(key, 'name') current_index = self.comboBox_lineIndex.findText(line_name) self.comboBox_lineIndex.setCurrentIndex(current_index) #self.horizontalSlider_feedingNum.setMaximum(self.remain_Count) self.horizontalSlider_feedingNum.setMaximum(self.remain_Count) self.label_maxNum.setText(str(self.remain_Count)) self.horizontalSlider_feedingNum.setValue(0) self.send_startFeed_button_click() else: return def send_startFeed_button_click(self): if self.feeding.feedStatus != FeedStatus.FNone: self.show_infomessage_box("正在执行") return # 触发自动运行 if self.robotClient.status_model.curMode != 7: self.send_switch_tool_command() log.log_message(logging.INFO, Constant.str_sys_switch_tool) self.send_start_tool_command() log.log_message(logging.INFO, Constant.str_sys_start_tool) msg_box_person = QMessageBox() msg_box_person.setIcon(QMessageBox.Icon.Information) msg_box_person.setText("是否确认生产区域安全继续生产？") msg_box_person.setWindowTitle("提示") msg_box_person.setStandardButtons(QMessageBox.StandardButton.Ok | QMessageBox.StandardButton.Cancel) result = msg_box_person.exec() if result == QMessageBox.StandardButton.Cancel: return log.log_message(logging.INFO, '第一层确认生产') has_person = False # has_person, _ = self.detection_person.get_person() # TODO if has_person: # TODO # self.feeding.pause = True # self.send_pause_command(True) # # self.show_messagebox_of_person() msg_box_person.setText("检测到安全区域后人是否继续生产？") result = msg_box_person.exec() if result == QMessageBox.StandardButton.Cancel: return log.log_message(logging.ERROR, '人员进入安全区') num = self.horizontalSlider_feedingNum.maximum() line_head = self.comboBox_lineIndex.currentData() self.command_quene.put(FeedCommand(FeedingConfig(num, FeedLine(self.feedLine_dict[line_head].id,self.feedLine_dict[line_head].name,self.feedLine_dict[line_head].positions), self.feeding.robotClient.photo_locs[:]))) # self.stackedWidget_num.setCurrentIndex(1) self.set_run_status_button(True) self.feeding.pause = False log.log_message(logging.INFO, f'{self.feedLine_dict[line_head].name}:{Constant.str_feed_start}') 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.lineEdit_num.show() def send_subOneAsix_button_click(self): btn_str = self.sender().objectName() Constant.manual_adjust_accuracy = float(self.lineEdit_manual_adjust_accuracy.text()) x1 = float(self.label_j1.text()) x2 = float(self.label_j2.text()) x3 = float(self.label_j3.text()) x4 = float(self.label_j4.text()) x5 = float(self.label_j5.text()) x6 = float(self.label_j6.text()) if 'j1' in btn_str: x1 = x1 - Constant.manual_adjust_accuracy elif 'j2' in btn_str: x2 = x2 - Constant.manual_adjust_accuracy pass elif 'j3' in btn_str: x3 = x3 - Constant.manual_adjust_accuracy pass elif 'j4' in btn_str: x4 = x4 - Constant.manual_adjust_accuracy pass elif 'j5' in btn_str: x5 = x5 - Constant.manual_adjust_accuracy pass elif 'j6' in btn_str: x6 = x6 - Constant.manual_adjust_accuracy self.send_position_command(x1, x2, x3, x4, x5, x6, MoveType.AXIS) def send_addOneAsix_button_click(self, btn): btn_str = self.sender().objectName() Constant.manual_adjust_accuracy = float(self.lineEdit_manual_adjust_accuracy.text()) x1 = float(self.label_j1.text()) x2 = float(self.label_j2.text()) x3 = float(self.label_j3.text()) x4 = float(self.label_j4.text()) x5 = float(self.label_j5.text()) x6 = float(self.label_j6.text()) if 'j1' in btn_str: x1 = x1 + Constant.manual_adjust_accuracy elif 'j2' in btn_str: x2 = x2 + Constant.manual_adjust_accuracy pass elif 'j3' in btn_str: x3 = x3 + Constant.manual_adjust_accuracy pass elif 'j4' in btn_str: x4 = x4 + Constant.manual_adjust_accuracy pass elif 'j5' in btn_str: x5 = x5 + Constant.manual_adjust_accuracy pass elif 'j6' in btn_str: x6 = x6 + Constant.manual_adjust_accuracy self.send_position_command(x1, x2, x3, x4, x5, x6, move_type=MoveType.AXIS) def send_addNum_button_click(self): self.feeding.feedConfig.num += 1 log.log_message(logging.INFO, Constant.str_sys_feedNum_add) max_num = int(self.label_maxNum.text()) + 1 self.horizontalSlider_feedingNum.setMaximum(max_num) self.label_maxNum.setText(str(max_num)) def send_subNum_button_click(self): if self.feeding.feedConfig.num <= 1: #self.send_stopFeed_button_click() self.feeding.feedStatus = FeedStatus.FNone # 清空运行命令 self.send_clear_auto_command() log.log_message(logging.INFO, Constant.str_feed_stop) return self.feeding.feedConfig.num -= 1 log.log_message(logging.INFO, Constant.str_sys_feedNum_sub) max_num = int(self.label_maxNum.text())-1 self.horizontalSlider_feedingNum.setMaximum(max_num) self.label_maxNum.setText(str(max_num)) def send_custom_num_returnPressed(self): if self.lineEdit_num.text()== '' or not self.lineEdit_num.text().isdigit(): return self.horizontalSlider_feedingNum.setMaximum(int(self.lineEdit_num.text())) self.horizontalSlider_feedingNum.setValue(0) self.label_maxNum.setText(self.lineEdit_num.text()) log.log_message(logging.INFO, f'{Constant.str_sys_setFeedNum}:{self.label_maxNum.text()} ') 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): log.log_message(logging.INFO, Constant.str_sys_manualPosition) try: self.send_position_command(float(self.lineEdit_j1.text()), float(self.lineEdit_j2.text()), float(self.lineEdit_j3.text()), float(self.lineEdit_j4.text()), float(self.lineEdit_j5.text()), float(self.lineEdit_j6.text())) except Exception as e: self.show_infomessage_box(Constant.str_sys_log_move_error) def send_setSpeed_label_doubelClick(self): pass def send_setSpeed_clicked(self): self.robotClient.feed_speed = int(self.lineEdit_speed_run.text()) self.robotClient.debug_speed = int(self.lineEdit_speed_debug.text()) self.robotClient.reset_speed = int(self.lineEdit_speed_reset.text()) try: 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] = 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', 'io_take_addr', str(take_addr)) self.configReader.set('Robot_Feed', 'io_zip_addr', str(press_addr)) self.configReader.set('Robot_Feed', 'io_shake_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)) self.configReader.set('Speed', 'feed_speed', str(self.robotClient.feed_speed)) self.configReader.set('Speed', 'debug_speed', str(self.robotClient.debug_speed)) self.configReader.set('Speed', 'reset_speed', str(self.robotClient.reset_speed)) self.configReader.write(open(Constant.set_ini, 'w', encoding='utf-8')) except Exception as e: log.log_message(logging.ERROR, Constant.str_sys_set_error+e) pass #self.pushButton_speed.setText(str(Constant.speed)) log.log_message(logging.INFO, Constant.str_sys_setSpeed + str(self.robotClient.debug_speed)+'|'+str(self.robotClient.feed_speed)) pass def send_get_safe_position_button_click(self): real_position = self.robotClient.status_model.getRealPosition() row_i = self.tableWidget_feedSeting.currentRow() head = self.tableWidget_feedSeting.item(row_i, 0).text() self.feedLine_dict[head].safe_position.init_position(real_position.X, real_position.Y, real_position.Z, real_position.U, real_position.V, real_position.W) self.set_position_to_tabel(row_i, 0, real_position) def send_get_broken1_position_button_click(self): real_position = self.robotClient.status_model.getRealPosition() row_i = self.tableWidget_feedSeting.currentRow() head = self.tableWidget_feedSeting.item(row_i, 0).text() self.feedLine_dict[head].broken1_position.init_position(real_position.X, real_position.Y, real_position.Z, real_position.U, real_position.V, real_position.W) self.set_position_to_tabel(row_i, 1, real_position) def send_get_broken2_position_button_click(self): real_position = self.robotClient.status_model.getRealPosition() row_i = self.tableWidget_feedSeting.currentRow() head = self.tableWidget_feedSeting.item(row_i, 0).text() self.feedLine_dict[head].broken2_position.init_position(real_position.X, real_position.Y, real_position.Z, real_position.U, real_position.V, real_position.W) self.set_position_to_tabel(row_i, 2, real_position) def send_get_shake_position_button_click(self): real_position = self.robotClient.status_model.getRealPosition() row_i = self.tableWidget_feedSeting.currentRow() head = self.tableWidget_feedSeting.item(row_i, 0).text() self.feedLine_dict[head].shake_position.init_position(real_position.X, real_position.Y, real_position.Z, real_position.U, real_position.V, real_position.W) self.set_position_to_tabel(row_i, 3, real_position) def send_get_dropbag_position_button_click(self): real_position = self.robotClient.status_model.getRealPosition() row_i = self.tableWidget_feedSeting.currentRow() head = self.tableWidget_feedSeting.item(row_i, 0).text() self.feedLine_dict[head].drop_bag_position.init_position(real_position.X, real_position.Y, real_position.Z, real_position.U, real_position.V, real_position.W) self.set_position_to_tabel(row_i, 4, real_position) def send_get_zipbag_position_button_click(self): real_position = self.robotClient.status_model.getRealPosition() row_i = self.tableWidget_feedSeting.currentRow() head = self.tableWidget_feedSeting.item(row_i, 0).text() self.feedLine_dict[head].zip_bag_position.init_position(real_position.X, real_position.Y, real_position.Z, real_position.U, real_position.V, real_position.W) self.set_position_to_tabel(row_i, 6, real_position) def send_tabelFeedSet_addRow(self): for i in range(1, 20): head = f'{Constant.feedLine_set_section}{i}' if head not in self.feedLine_dict: row_position = self.tableWidget_feedSeting.rowCount() # 当前行数 self.tableWidget_feedSeting.insertRow(row_position) safe_position = Real_Position() break_1_position = Real_Position() break_2_position = Real_Position() shake_position = Real_Position() drop_bag_position = Real_Position() self.feedLine_dict[head] = FeedLine('新建', safe_position, break_1_position, break_2_position,shake_position,drop_bag_position) self.tableWidget_feedSeting.setItem(self.tableWidget_feedSeting.rowCount() - 1, 0, QTableWidgetItem(head)) self.tableWidget_feedSeting.setItem(self.tableWidget_feedSeting.rowCount() - 1, 1, QTableWidgetItem('新建')) self.set_position_to_tabel(self.tableWidget_feedSeting.rowCount() - 1, 0, safe_position) self.set_position_to_tabel(self.tableWidget_feedSeting.rowCount() - 1, 1, break_1_position) self.set_position_to_tabel(self.tableWidget_feedSeting.rowCount() - 1, 2, break_2_position) self.set_position_to_tabel(self.tableWidget_feedSeting.rowCount() - 1, 3, shake_position) self.set_position_to_tabel(self.tableWidget_feedSeting.rowCount() - 1, 4, drop_bag_position) break def send_tabelFeedSet_delRow(self): selectRow = self.tableWidget_feedSeting.currentRow() if selectRow >= 0: for feed_line_key, feed_line in self.feedLine_dict.items(): if feed_line_key == self.tableWidget_feedSeting.item(selectRow, 0).text(): self.feedLine_dict.pop(feed_line_key) self.tableWidget_feedSeting.removeRow(selectRow) break else: QMessageBox.information(self, "提示", "请选择要删除的行") def send_tabelFeedSet_save(self): count = len(self.feedLine_dict.keys()) self.configReader.read(Constant.set_ini) self.configReader.set('Robot_Feed', 'LineCount', str(count)) writeFeedLine_to_ini(self.feedLine_dict, Constant.feedLine_set_file) pass def send_stopFeed_button_click(self): # 清空状态 self.feeding.feedStatus = FeedStatus.FNone # 清空运行命令 self.send_clear_auto_command() self.feeding.feedConfig.num = 0 log.log_message(logging.INFO, Constant.str_feed_stop) def send_pauseFeed_button_click(self): if self.pushButton_pauseFeed.text() == '暂停': icon9 = QIcon(QIcon.fromTheme(QIcon.ThemeIcon.SystemReboot)) self.pushButton_pauseFeed.setIcon(icon9) self.pushButton_pauseFeed.setText('继续') log.log_message(logging.INFO, Constant.str_feed_pause) self.send_pause_command(True) self.feeding.pause = True else: icon9 = QIcon(QIcon.fromTheme(QIcon.ThemeIcon.MediaPlaybackPause)) self.pushButton_pauseFeed.setIcon(icon9) self.pushButton_pauseFeed.setText('暂停') self.send_pause_command(False) log.log_message(logging.INFO, Constant.str_feed_continue) self.send_start_tool_command() log.log_message(logging.INFO, Constant.str_sys_start_tool) self.feeding.pause = False pass def send_tabWidget_control_change(self): if self.robotClient.status_model.curMode != 7: self.send_switch_tool_command() log.log_message(logging.INFO, Constant.str_sys_switch_tool) self.send_start_tool_command() def send_reset_button_click(self): # 触发自动运行 if self.robotClient.status_model.curMode != 7: self.send_switch_tool_command() log.log_message(logging.INFO, Constant.str_sys_switch_tool) self.send_start_tool_command() log.log_message(logging.INFO, Constant.str_sys_start_tool) line_head = self.comboBox_lineIndex.currentData() self.send_clear_auto_command() log.log_message(logging.INFO, Constant.str_feed_reset_start) #safe_position = self.feedLine_dict[line_head].safe_position # self.send_position_command(safe_position.X, safe_position.Y, safe_position.Z, safe_position.U, safe_position.V, safe_position.W,move_type=MoveType.WORLD) if self.remain_lineName != '': line_head = f'{Constant.feedLine_set_section}{self.remain_lineName}' return_positions = self.feedLine_dict[line_head].positions position_origin = PositionModel() position_origin.init_position(self.robotClient.origin_position) return_positions.insert(0,position_origin) if self.feedLine_dict.keys().__contains__(line_head): self.feeding.feedConfig= FeedingConfig(0, FeedLine(self.feedLine_dict[line_head].id, self.feedLine_dict[line_head].name, return_positions), self.feeding.robotClient.photo_locs[:]) else: log.log_message(logging.ERROR, Constant.str_feed_reset_no_line_error) return self.feeding.reset_status = ResetStatus.RStart # dialog_reset = StopDialog() # dialog_reset.stop_thread_signal.connect(self.stop_reset_thread) else: log.log_message(logging.ERROR, Constant.str_feed_reset_no_line_error) return # thread = threading.Thread(target=self.feeding.return_original_position()) # thread.start() def stop_reset_thread(self): self.feeding.reset_status = ResetStatus.ROk self.send_clear_auto_command() self.send_emergency_alarm_command() def send_tabelFeedSet_itemChanged(self, item): row = item.row() column = item.column() value = item.text() head = self.tableWidget_feedSeting.item(row, 0).text() if column == 1: self.feedLine_dict[head].name = value elif column == (0 + self.tableWidget_feedSeting_addtional_col_num): self.feedLine_dict[head].safe_position.X = float(value) elif column == (1 + self.tableWidget_feedSeting_addtional_col_num): self.feedLine_dict[head].safe_position.Y = float(value) elif column == (2 + self.tableWidget_feedSeting_addtional_col_num): self.feedLine_dict[head].safe_position.Z = float(value) elif column == (3 + self.tableWidget_feedSeting_addtional_col_num): self.feedLine_dict[head].safe_position.U = float(value) elif column == (4 + self.tableWidget_feedSeting_addtional_col_num): self.feedLine_dict[head].safe_position.V = float(value) elif column == (5 + self.tableWidget_feedSeting_addtional_col_num): self.feedLine_dict[head].safe_position.W = float(value) # elif column == 7: elif column == (6 + self.tableWidget_feedSeting_addtional_col_num): self.feedLine_dict[head].broken1_position.X = float(value) elif column == (7 + self.tableWidget_feedSeting_addtional_col_num): self.feedLine_dict[head].broken1_position.Y = float(value) elif column == (8 + self.tableWidget_feedSeting_addtional_col_num): self.feedLine_dict[head].broken1_position.Z = float(value) elif column == (9 + self.tableWidget_feedSeting_addtional_col_num): self.feedLine_dict[head].broken1_position.U = float(value) elif column == (10 + self.tableWidget_feedSeting_addtional_col_num): self.feedLine_dict[head].broken1_position.V = float(value) elif column == (11 + self.tableWidget_feedSeting_addtional_col_num): self.feedLine_dict[head].broken1_position.W = float(value) elif column == (12 + self.tableWidget_feedSeting_addtional_col_num): self.feedLine_dict[head].broken2_position.X = float(value) elif column == (13 + self.tableWidget_feedSeting_addtional_col_num): self.feedLine_dict[head].broken2_position.Y = float(value) elif column == (14 + self.tableWidget_feedSeting_addtional_col_num): self.feedLine_dict[head].broken2_position.Z = float(value) elif column == (15 + self.tableWidget_feedSeting_addtional_col_num): self.feedLine_dict[head].broken2_position.U = float(value) elif column == (16 + self.tableWidget_feedSeting_addtional_col_num): self.feedLine_dict[head].broken2_position.V = float(value) elif column == (17 + self.tableWidget_feedSeting_addtional_col_num): self.feedLine_dict[head].broken2_position.W = float(value) elif column == (18 + self.tableWidget_feedSeting_addtional_col_num): self.feedLine_dict[head].shake_position.X = float(value) elif column == (19 + self.tableWidget_feedSeting_addtional_col_num): self.feedLine_dict[head].shake_position.Y = float(value) elif column == (20 + self.tableWidget_feedSeting_addtional_col_num): self.feedLine_dict[head].shake_position.Z = float(value) elif column == (21 + self.tableWidget_feedSeting_addtional_col_num): self.feedLine_dict[head].shake_position.U = float(value) elif column == (22 + self.tableWidget_feedSeting_addtional_col_num): self.feedLine_dict[head].shake_position.V = float(value) elif column == (23 + self.tableWidget_feedSeting_addtional_col_num): self.feedLine_dict[head].shake_position.W = float(value) elif column == (24 + self.tableWidget_feedSeting_addtional_col_num): self.feedLine_dict[head].drop_bag_position.X = float(value) elif column == (25 + self.tableWidget_feedSeting_addtional_col_num): self.feedLine_dict[head].drop_bag_position.Y = float(value) elif column == (26 + self.tableWidget_feedSeting_addtional_col_num): self.feedLine_dict[head].drop_bag_position.Z = float(value) elif column == (27 + self.tableWidget_feedSeting_addtional_col_num): self.feedLine_dict[head].drop_bag_position.U = float(value) elif column == (28 + self.tableWidget_feedSeting_addtional_col_num): self.feedLine_dict[head].drop_bag_position.V = float(value) elif column == (29 + self.tableWidget_feedSeting_addtional_col_num): self.feedLine_dict[head].drop_bag_position.W = float(value) def run(self): while self.thread_signal: time.sleep(0.1) 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: position_origin = PositionModel() position_origin.init_position(self.robotClient.origin_position) position_origin.status = 1 command.feed_config.feedLine.feed_positions.insert(0,position_origin) self.robotClient.send_emergency_sound() time.sleep(5) self.robotClient.send_emergency_stop() self.feeding.feedConfig = command.feed_config self.feeding.feedStatus = FeedStatus.FStart # self.feeding.feed_Mid_Status = FeedMidStatus.FMid_Start command.status = Status.Runing self.record_remain_num() try: self.feeding.run() self.feeding.run_reset() except: print(Error_Code.SYS_NONEPoint) # pass #主线程 def run_detect_persion(self): while self.thread_signal: has_person = False # has_person, _ = self.detection_person.get_person() # TODO if has_person: # TODO # self.feeding.pause = True # self.send_pause_command(True) # # self.show_messagebox_of_person() # msg_box_person.setText("检测到安全区域后人是否继续生产？") # result = msg_box_person.exec() # if result == QMessageBox.StandardButton.Cancel: # return log.log_message(logging.ERROR, '人员进入安全区') time.sleep(1) pass def updateUI(self): while self.thread_signal: time.sleep(0.2) 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) # self.label_remain_num.setText(str(self.feeding.feedConfig.num)) else: self.set_run_status_button(False) if self.feeding.feedConfig!=None: self.label_remain_num.setText(str(self.feeding.feedConfig.num)) if self.feeding.feedStatus == FeedStatus.FNone: 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")) self.updateUI_seting.emit() def update_seting_frame(self): self.updateUI_Position() self.updateUI_label_detection() self.updateUI_label_status() self.updateUI_frame_sign(self.feeding.feedStatus) self.updateUI_IOPanel() 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)) @Slot() def show_no_photo_message_box(self): self.feeding.pause = True self.send_pause_command(pause=1) msg_box_person = QMessageBox() msg_box_person.setIcon(QMessageBox.Icon.Warning) msg_box_person.setText("未识别到料袋报警，请重新放料后，点击继续") msg_box_person.setWindowTitle("提示") msg_box_person.setStandardButtons(QMessageBox.StandardButton.Ok) result = msg_box_person.exec() if result == QMessageBox.StandardButton.Cancel: return # self.show_infomessage_box("") def updateUI_IOPanel(self): try: io_bits = self.robotClient.status_model.get_IO_bits() for index, bit in enumerate(io_bits): toggle = self.dirt_io_points[f'y{index+1}'] if toggle.is_on == bit: continue else: toggle.change_status() except Exception as e: log.log_message(logging.ERROR, Constant.str_sys_log_IO_error) pass def updateUI_label_detection(self): backgroud_img = Util.util_pic.cv2_to_qpixmap(self.feeding.detection_image) if backgroud_img == None: return backgroud_img = backgroud_img.scaled(self.label_showDetection.size().width(),self.label_showDetection.size().height(), Qt.AspectRatioMode.IgnoreAspectRatio,Qt.TransformationMode.SmoothTransformation) self.label_showDetection.setPixmap(backgroud_img) def updateUI_Select_Line(self): self.comboBox_lineIndex.clear() for key, value in self.feedLine_dict.items(): self.comboBox_lineIndex.addItem(value.name, key) def updateUI_label_status(self): if self.robotClient.status_model.isMoving==1: self.label_move_sign.show() if self.label_move_sign.text() == '正在移动.': self.label_move_sign.setText('正在移动..') else: self.label_move_sign.setText('正在移动.') else: self.label_move_sign.hide() if self.robotClient.status_model.curMode >= 0: try: self.label_status_model.setText(Constant.mode_array[self.robotClient.status_model.curMode]) except: self.label_status_model.setText('未知模式') self.label_status_remoteCmdLen.setText(str(self.robotClient.status_model.RemoteCmdLen)) if self.robotClient.status_model.curAlarm != 0: log.log_message(logging.ERROR, Constant.str_sys_log_alarm_error+str(self.robotClient.status_model.curAlarm)) self.feeding.pause = True self.label_status_alarmcode.setText(str(self.robotClient.status_model.curAlarm)) self.label_status_toolIndex.setText(str(self.robotClient.status_model.toolCoord)) self.label_status_speed.setText(str(self.robotClient.status_model.curSpeed_n)) def updateUI_Position(self): self.horizontalSlider_J1.setValue(self.status_address.axis_0) self.horizontalSlider_J2.setValue(self.status_address.axis_1) self.horizontalSlider_J3.setValue(self.status_address.axis_2) self.horizontalSlider_J4.setValue(self.status_address.axis_3) self.horizontalSlider_J5.setValue(self.status_address.axis_4) self.horizontalSlider_J6.setValue(self.status_address.axis_5) self.label_j1.setText(str(self.status_address.axis_0)) self.label_j2.setText(str(self.status_address.axis_1)) self.label_j3.setText(str(self.status_address.axis_2)) self.label_j4.setText(str(self.status_address.axis_3)) self.label_j5.setText(str(self.status_address.axis_4)) self.label_j6.setText(str(self.status_address.axis_5)) self.horizontalSlider_J1.setValue(self.status_address.axis_0) self.horizontalSlider_J2.setValue(self.status_address.axis_1) self.horizontalSlider_J3.setValue(self.status_address.axis_2) self.horizontalSlider_J4.setValue(self.status_address.axis_3) self.horizontalSlider_J5.setValue(self.status_address.axis_4) self.horizontalSlider_J6.setValue(self.status_address.axis_5) def set_position_to_tabel(self, row_i, position_j, real_Position: Real_Position): self.tableWidget_feedSeting.setItem(row_i, position_j * 6 + self.tableWidget_feedSeting_addtional_col_num, QTableWidgetItem(str(real_Position.X))) self.tableWidget_feedSeting.setItem(row_i, position_j * 6 + 1 + self.tableWidget_feedSeting_addtional_col_num, QTableWidgetItem(str(real_Position.Y))) self.tableWidget_feedSeting.setItem(row_i, position_j * 6 + 2 + self.tableWidget_feedSeting_addtional_col_num, QTableWidgetItem(str(real_Position.Z))) self.tableWidget_feedSeting.setItem(row_i, position_j * 6 + 3 + self.tableWidget_feedSeting_addtional_col_num, QTableWidgetItem(str(real_Position.U))) self.tableWidget_feedSeting.setItem(row_i, position_j * 6 + 4 + self.tableWidget_feedSeting_addtional_col_num, QTableWidgetItem(str(real_Position.V))) self.tableWidget_feedSeting.setItem(row_i, position_j * 6 + 5 + self.tableWidget_feedSeting_addtional_col_num, QTableWidgetItem(str(real_Position.W))) def updateUI_frame_sign(self,sign:FeedStatus): # print("start") if sign == FeedStatus.FNone: self.set_sign_status(self.label_sign_go, self.pushButton_sign_go, False) self.set_sign_status(self.label_sign_photo, self.pushButton_sign_photo, False) self.set_sign_status(self.label_sign_take, self.pushButton_sign_take, False) self.set_sign_status(self.label_sign_feed, self.pushButton_sign_feed, False) return if sign < FeedStatus.FPhoto: self.set_sign_status(self.label_sign_go,self.pushButton_sign_go,True) self.set_sign_status(self.label_sign_photo, self.pushButton_sign_photo, False) self.set_sign_status(self.label_sign_take, self.pushButton_sign_take, False) self.set_sign_status(self.label_sign_feed, self.pushButton_sign_feed, False) return if sign <= FeedStatus.FPhoto: self.set_sign_status(self.label_sign_go, self.pushButton_sign_go, False) self.set_sign_status(self.label_sign_photo,self.pushButton_sign_photo,True) self.set_sign_status(self.label_sign_take, self.pushButton_sign_take, False) self.set_sign_status(self.label_sign_feed, self.pushButton_sign_feed, False) return if sign <= FeedStatus.FTake: self.set_sign_status(self.label_sign_go, self.pushButton_sign_go, False) self.set_sign_status(self.label_sign_photo, self.pushButton_sign_photo, False) self.set_sign_status(self.label_sign_take, self.pushButton_sign_take, True) self.set_sign_status(self.label_sign_feed, self.pushButton_sign_feed, False) return if sign <= FeedStatus.FBroken1: self.set_sign_status(self.label_sign_go, self.pushButton_sign_go, False) self.set_sign_status(self.label_sign_photo, self.pushButton_sign_photo, False) self.set_sign_status(self.label_sign_take, self.pushButton_sign_take, False) self.set_sign_status(self.label_sign_feed, self.pushButton_sign_feed, True) return pass def set_label_status_style(self, connected: bool): #return if connected and not self.label_connect_status.isEnabled(): self.label_connect_status.setEnabled(True) if not connected and self.label_connect_status.isEnabled(): self.label_connect_status.setDisabled(True) def set_sign_status(self,label,btn,signed:bool): #return try : if signed and label.isEnabled(): label.setDisabled(True) btn.setDisabled(True) # if label.styleSheet().strip() != self.active_label_sign_Qss: # label.setStyleSheet(self.active_label_sign_Qss) # self.active_label_sign_Qss = label.styleSheet().strip() # # if btn.styleSheet().strip() != self.active_btn_sign_Qss: # btn.setStyleSheet(self.active_btn_sign_Qss) # self.active_btn_sign_Qss = btn.styleSheet().strip() if not signed and not label.isEnabled(): label.setEnabled(True) btn.setEnabled(True) # if label.styleSheet().strip() != self.noactive_label_sign_Qss: # label.setStyleSheet(self.noactive_label_sign_Qss) # self.noactive_label_sign_Qss = label.styleSheet().strip() # if btn.styleSheet().strip() != self.noactive_btn_sign_Qss: # btn.setStyleSheet(self.noactive_btn_sign_Qss) # self.noactive_btn_sign_Qss = btn.styleSheet().strip() except Exception as e: print(e) def set_run_status_button(self, isRuning: bool): self.pushButton_pauseFeed.setText("暂停") ##self.pushButton_startFeed.setEnabled(False) # if isRuning: # self.pushButton_pauseFeed.show() # self.pushButton_stopFeed.show() # self.pushButton_startFeed.hide() # else: # self.pushButton_pauseFeed.hide() # self.pushButton_stopFeed.hide() # self.pushButton_startFeed.show() def send_clear_auto_command(self): clear_command = CMDInstructRequest() request_command = clear_command.toString() log.log_message(logging.INFO, Constant.str_sys_clearAlarm) self.robotClient.add_sendQuene(request_command) # self.command_quene.put(request_command) def send_position_command(self, x1, x2, x3, x4, x5, x6, move_type: MoveType = MoveType.WORLD): position_instruction = Instruction() position_instruction.m0 = float(x1) position_instruction.m1 = float(x2) position_instruction.m2 = float(x3) position_instruction.m3 = float(x4) position_instruction.m4 = float(x5) position_instruction.m5 = float(x6) position_instruction.action = move_type.value position_instruction.speed=self.robotClient.debug_speed instruction_command = CMDInstructRequest() instruction_command.instructions.append(position_instruction) request_command = instruction_command.toString() log_str = f'移动到位置:{"自由路径" if move_type == MoveType.AXIS else "姿势直线"}：' \ f'm0:{position_instruction.m0}-' \ f'm2:{position_instruction.m1}-' \ f'm3:{position_instruction.m2}-' \ f'm4:{position_instruction.m3}-' \ f'm5:{position_instruction.m4}-' \ f'm6:{position_instruction.m5}' log.log_message(logging.INFO,log_str) self.robotClient.add_sendQuene(request_command) def send_pause_command(self, pause: bool): pause_command = CMDRequest() pause_command.cmdData.append("actionPause") if pause: pause_command.cmdData.append("1") else: pause_command.cmdData.append("0") request_command = pause_command.toString() self.robotClient.add_sendQuene(request_command) def send_emergency_alarm_command(self): self.feeding.feedStatus = FeedStatus.FNone stop_command = CMDRequest() stop_command.cmdData.append("actionStop") stop_command.cmdData.append("1") request_command = stop_command.toString() self.send_clear_auto_command() self.robotClient.add_sendQuene(request_command) self.feeding.send_emergency_sound() self.feeding.feedConfig.num = 0 log.log_message(logging.INFO, Constant.str_sys_emergencyStop) #TODO def send_clear_alarm_command(self, pause: bool): self.send_clear_auto_command() pause_command = CMDRequest() pause_command.cmdData.append("StopButton") pause_command.cmdData.append("1") request_command = pause_command.toString() self.robotClient.add_sendQuene(request_command) def send_switch_tool_command(self): switch_command = CMDRequest() switch_command.cmdData.append("switchTool") switch_command.cmdData.append("2") request_command = switch_command.toString() self.robotClient.add_sendQuene(request_command) def send_start_tool_command(self): switch_command = CMDRequest() switch_command.cmdData.append("startButton") switch_command.cmdData.append("1") request_command = switch_command.toString() self.robotClient.add_sendQuene(request_command) def show_messagebox_of_person(self): msg_box = QMessageBox(self) msg_box.setWindowTitle("提示") msg_box.setText("当前有人是否继续") msg_box.setIcon(QMessageBox.Question) msg_box.setStandardButtons(QMessageBox.Yes) msg_box.setDefaultButton(QMessageBox.Yes) result = msg_box.exec() if result == QMessageBox.Yes: self.feeding.pause = False self.send_pause_command(False) ### 设置界面 def get_p1_button_click(self): realPosition = self.robotClient.status_model.getRealPosition() self.lineEdit_x1.setText(str(realPosition.X)) self.lineEdit_y1.setText(str(realPosition.Y)) self.lineEdit_z1.setText(str(realPosition.Z)) self.lineEdit_u1.setText(str(realPosition.U)) self.lineEdit_v1.setText(str(realPosition.V)) self.lineEdit_w1.setText(str(realPosition.W)) def get_p2_button_click(self): realPosition = self.robotClient.status_model.getRealPosition() self.lineEdit_x2.setText(str(realPosition.X)) self.lineEdit_y2.setText(str(realPosition.Y)) self.lineEdit_z2.setText(str(realPosition.Z)) self.lineEdit_u2.setText(str(realPosition.U)) self.lineEdit_v2.setText(str(realPosition.V)) self.lineEdit_w2.setText(str(realPosition.W)) def get_p3_button_click(self): realPosition = self.robotClient.status_model.getRealPosition() self.lineEdit_x3.setText(str(realPosition.X)) self.lineEdit_y3.setText(str(realPosition.Y)) self.lineEdit_z3.setText(str(realPosition.Z)) self.lineEdit_u3.setText(str(realPosition.U)) self.lineEdit_v3.setText(str(realPosition.V)) self.lineEdit_w3.setText(str(realPosition.W)) def get_p4_button_click(self): realPosition = self.robotClient.status_model.getRealPosition() self.lineEdit_x4.setText(str(realPosition.X)) self.lineEdit_y4.setText(str(realPosition.Y)) self.lineEdit_z4.setText(str(realPosition.Z)) self.lineEdit_u4.setText(str(realPosition.U)) self.lineEdit_v4.setText(str(realPosition.V)) self.lineEdit_w4.setText(str(realPosition.W)) def get_p5_button_click(self): realPosition = self.robotClient.status_model.getRealPosition() self.lineEdit_x5.setText(str(realPosition.X)) self.lineEdit_y5.setText(str(realPosition.Y)) self.lineEdit_z5.setText(str(realPosition.Z)) self.lineEdit_u5.setText(str(realPosition.U)) self.lineEdit_v5.setText(str(realPosition.V)) self.lineEdit_w5.setText(str(realPosition.W)) def get_origin_button_click(self): realPosition = self.robotClient.status_model.getRealPosition() self.lineEdit_origin_x.setText(str(realPosition.X)) self.lineEdit_origin_y.setText(str(realPosition.Y)) self.lineEdit_origin_z.setText(str(realPosition.Z)) self.lineEdit_origin_u.setText(str(realPosition.U)) self.lineEdit_origin_v.setText(str(realPosition.V)) self.lineEdit_origin_w.setText(str(realPosition.W)) def set_p1_button_click(self): try: x1 = float(self.lineEdit_x1.text()) y1 = float(self.lineEdit_y1.text()) z1 = float(self.lineEdit_z1.text()) u1 = float(self.lineEdit_u1.text()) v1 = float(self.lineEdit_v1.text()) w1 = float(self.lineEdit_w1.text()) self.robotClient.photo_locs[0] = (x1, y1, z1,u1,v1,w1) self.configReader.read(Constant.set_ini) self.configReader.set('Robot_Feed', 'photo_x1', str(x1)) self.configReader.set('Robot_Feed', 'photo_y1', str(y1)) self.configReader.set('Robot_Feed', 'photo_z1', str(z1)) self.configReader.set('Robot_Feed', 'photo_u1', str(u1)) self.configReader.set('Robot_Feed', 'photo_v1', str(v1)) self.configReader.set('Robot_Feed', 'photo_w1', str(w1)) self.configReader.write(open(Constant.set_ini,'w',encoding='utf-8')) log.log_message(logging.INFO, f'设置拍照点1:{x1},{y1},{z1}') except: self.show_infomessage_box("设置拍照点1失败") def set_p2_button_click(self): try: x2 = float(self.lineEdit_x2.text()) y2 = float(self.lineEdit_y2.text()) z2 = float(self.lineEdit_z2.text()) u2 = float(self.lineEdit_u2.text()) v2 = float(self.lineEdit_v2.text()) w2 = float(self.lineEdit_w2.text()) self.robotClient.photo_locs[1] = (x2, y2, z2,u2,v2,w2) self.configReader.read(Constant.set_ini) self.configReader.set('Robot_Feed', 'photo_x2', str(x2)) self.configReader.set('Robot_Feed', 'photo_y2', str(y2)) self.configReader.set('Robot_Feed', 'photo_z2', str(z2)) self.configReader.set('Robot_Feed', 'photo_u2', str(u2)) self.configReader.set('Robot_Feed', 'photo_v2', str(v2)) self.configReader.set('Robot_Feed', 'photo_w2', str(w2)) self.configReader.write(open(Constant.set_ini, 'w', encoding='utf-8')) log.log_message(logging.INFO, f'设置拍照点2:{x2},{y2},{z2}') except: self.show_infomessage_box("设置拍照点2失败") def set_p3_button_click(self): try: x3 = float(self.lineEdit_x3.text()) y3 = float(self.lineEdit_y3.text()) z3 = float(self.lineEdit_z3.text()) u3 = float(self.lineEdit_u3.text()) v3 = float(self.lineEdit_v3.text()) w3 = float(self.lineEdit_w3.text()) self.robotClient.photo_locs[2] = (x3, y3, z3,u3,v3,w3) self.configReader.read(Constant.set_ini) self.configReader.set('Robot_Feed', 'photo_x3', str(x3)) self.configReader.set('Robot_Feed', 'photo_y3', str(y3)) self.configReader.set('Robot_Feed', 'photo_z3', str(z3)) self.configReader.set('Robot_Feed', 'photo_u3', str(u3)) self.configReader.set('Robot_Feed', 'photo_v3', str(v3)) self.configReader.set('Robot_Feed', 'photo_w3', str(w3)) self.configReader.write(open(Constant.set_ini, 'w', encoding='utf-8')) log.log_message(logging.INFO, f'设置拍照点3:{x3},{y3},{z3}') except: self.show_infomessage_box("设置拍照点3失败") def set_p4_button_click(self): try: x4 = float(self.lineEdit_x4.text()) y4 = float(self.lineEdit_y4.text()) z4 = float(self.lineEdit_z4.text()) u4 = float(self.lineEdit_u4.text()) v4 = float(self.lineEdit_v4.text()) w4 = float(self.lineEdit_w4.text()) self.robotClient.photo_locs[3] = (x4, y4, z4,u4,v4,w4) self.configReader.read(Constant.set_ini) self.configReader.set('Robot_Feed', 'photo_x4', str(x4)) self.configReader.set('Robot_Feed', 'photo_y4', str(y4)) self.configReader.set('Robot_Feed', 'photo_z4', str(z4)) self.configReader.set('Robot_Feed', 'photo_u4', str(u4)) self.configReader.set('Robot_Feed', 'photo_v4', str(v4)) self.configReader.set('Robot_Feed', 'photo_w4', str(w4)) self.configReader.write(open(Constant.set_ini, 'w', encoding='utf-8')) log.log_message(logging.INFO, f'设置拍照点4:{x4},{y4},{z4}') except: self.show_infomessage_box("设置拍照点4失败") def set_p5_button_click(self): try: x5 = float(self.lineEdit_x5.text()) y5 = float(self.lineEdit_y5.text()) z5 = float(self.lineEdit_z5.text()) u5 = float(self.lineEdit_u5.text()) v5 = float(self.lineEdit_v5.text()) w5 = float(self.lineEdit_w5.text()) self.robotClient.photo_locs[4] = (x5, y5, z5,u5,v5,w5) self.configReader.read(Constant.set_ini) self.configReader.set('Robot_Feed', 'photo_x5', str(x5)) self.configReader.set('Robot_Feed', 'photo_y5', str(y5)) self.configReader.set('Robot_Feed', 'photo_z5', str(z5)) self.configReader.set('Robot_Feed', 'photo_u5', str(u5)) self.configReader.set('Robot_Feed', 'photo_v5', str(v5)) self.configReader.set('Robot_Feed', 'photo_w5', str(w5)) self.configReader.write(open(Constant.set_ini, 'w', encoding='utf-8')) log.log_message(logging.INFO, f'设置拍照点5:{x5},{y5},{z5}') except: self.show_infomessage_box("设置拍照点5失败") def set_origin_button_click(self): try: x = float(self.lineEdit_origin_x.text()) y = float(self.lineEdit_origin_y.text()) z = float(self.lineEdit_origin_z.text()) u = float(self.lineEdit_origin_u.text()) v = float(self.lineEdit_origin_v.text()) w = float(self.lineEdit_origin_w.text()) origin_position = Real_Position() origin_position.init_position(x,y,z,u,v,w) self.robotClient.origin_position = origin_position self.configReader.read(Constant.set_ini) self.configReader.set('Origin', 'X', str(x)) self.configReader.set('Origin', 'Y', str(y)) self.configReader.set('Origin', 'Z', str(z)) self.configReader.set('Origin', 'U', str(u)) self.configReader.set('Origin', 'V', str(v)) self.configReader.set('Origin', 'W', str(w)) self.configReader.write(open(Constant.set_ini, 'w', encoding='utf-8')) log.log_message(logging.INFO, f'设置原点:{x},{y},{z}') except: log.log_message(logging.ERROR, f'设置原点失败') 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])) self.lineEdit_z1.setText(str(self.robotClient.photo_locs[0][2])) self.lineEdit_u1.setText(str(self.robotClient.photo_locs[0][3])) self.lineEdit_v1.setText(str(self.robotClient.photo_locs[0][4])) self.lineEdit_w1.setText(str(self.robotClient.photo_locs[0][5])) self.lineEdit_x2.setText(str(self.robotClient.photo_locs[1][0])) self.lineEdit_y2.setText(str(self.robotClient.photo_locs[1][1])) self.lineEdit_z2.setText(str(self.robotClient.photo_locs[1][2])) self.lineEdit_u2.setText(str(self.robotClient.photo_locs[1][3])) self.lineEdit_v2.setText(str(self.robotClient.photo_locs[1][4])) self.lineEdit_w2.setText(str(self.robotClient.photo_locs[1][5])) self.lineEdit_x3.setText(str(self.robotClient.photo_locs[2][0])) self.lineEdit_y3.setText(str(self.robotClient.photo_locs[2][1])) self.lineEdit_z3.setText(str(self.robotClient.photo_locs[2][2])) self.lineEdit_u3.setText(str(self.robotClient.photo_locs[2][3])) self.lineEdit_v3.setText(str(self.robotClient.photo_locs[2][4])) self.lineEdit_w3.setText(str(self.robotClient.photo_locs[2][5])) self.lineEdit_x4.setText(str(self.robotClient.photo_locs[3][0])) self.lineEdit_y4.setText(str(self.robotClient.photo_locs[3][1])) self.lineEdit_z4.setText(str(self.robotClient.photo_locs[3][2])) self.lineEdit_u4.setText(str(self.robotClient.photo_locs[3][3])) self.lineEdit_v4.setText(str(self.robotClient.photo_locs[3][4])) self.lineEdit_w4.setText(str(self.robotClient.photo_locs[3][5])) self.lineEdit_x5.setText(str(self.robotClient.photo_locs[4][0])) self.lineEdit_y5.setText(str(self.robotClient.photo_locs[4][1])) self.lineEdit_z5.setText(str(self.robotClient.photo_locs[4][2])) self.lineEdit_u5.setText(str(self.robotClient.photo_locs[4][3])) self.lineEdit_v5.setText(str(self.robotClient.photo_locs[4][4])) self.lineEdit_w5.setText(str(self.robotClient.photo_locs[4][5])) pass def updateUI_Base_Set(self): 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_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)) def show_infomessage_box(self,message): msg_box = QMessageBox(self) msg_box.setWindowTitle("提示") msg_box.setText(message) msg_box.setIcon(QMessageBox.Icon.Information) msg_box.setStandardButtons(QMessageBox.StandardButton.Ok) msg_box.show() def send_click_change_stackView(self,index): self.stackedWidget_view.setCurrentIndex(index) if index == 0: self.updateUI_Select_Line() if index == 2: self.updateRobotSeting() self.updateUI_Photo_Set() if index == 3: self.updateUI_Base_Set() def send_exit_button_click(self): self.closeEvent(None) QApplication.quit() sys.exit(app.exec()) def send_click_sysmeuExpand(self): self.frame_sys_seting.setVisible(not self.frame_sys_seting.isVisible()) if self.frame_2.sizePolicy().verticalPolicy() == QSizePolicy.Policy.Fixed: self.frame_2.setSizePolicy(QSizePolicy.Policy.Expanding, QSizePolicy.Policy.Expanding) else: self.frame_2.setSizePolicy(QSizePolicy.Policy.Expanding, QSizePolicy.Policy.Fixed) def send_IO_Point_OpenOrClose(self,index,togger): if togger: self.feeding.sendIOControl(index-1, 1) log.log_message(logging.INFO, f'打开IO{index}') else: self.feeding.sendIOControl(index-1, 0) log.log_message(logging.INFO, f'关闭IO{index}') def showEvent(self, event): super().showEvent(event) QTimer.singleShot(2000, self.check_continue) def closeEvent(self, event): self.record_remain_num() self.feeding.is_detected = False self.feeding.detect_thread.join() self.detection.release() self.thread_signal = False self.robotClient.close() log.log_message(logging.INFO, Constant.str_sys_exit) def record_remain_num(self): try: self.configReader = configparser.ConfigParser() self.configReader.read(Constant.set_ini) self.configReader.set('Robot_Feed', 'remain_linename', str(self.feeding.feedConfig.feedLine.id)) self.configReader.set('Robot_Feed', 'remain_count', str(self.feeding.feedConfig.num)) self.configReader.write(open(Constant.set_ini, 'w', encoding='utf-8')) except: log.log_message(logging.ERROR, Constant.str_sys_log_feedNum) class MyApplication(QApplication): def __init__(self, argv): super().__init__(argv) def notify(self, receiver, event): try: return super().notify(receiver, event) except Exception as e: log.log_message(logging.ERROR, e) # 可以在这里记录日志或者执行其他操作 return False def handle_exception(exc_type, exc_value, exc_tb): if issubclass(exc_type, KeyboardInterrupt): log.log_message(logging.INFO, "用户主动退出程序") return log.log_message(logging.ERROR, exc_value) traceback.print_exception(exc_type, exc_value, exc_tb) if __name__ == "__main__": app = MyApplication(sys.argv) window = MainWindow() window.show() sys.excepthook = handle_exception try : sys.exit(app.exec()) except Exception as e: log.log_message(logging.ERROR, e)