import configparser import json import queue import sys from multiprocessing import Process from PySide6.QtCore import QThread, Signal, Slot, QObject, QEvent from PySide6.QtGui import QIntValidator, QStandardItemModel, QStandardItem, Qt from PySide6.QtWidgets import QApplication, QMainWindow, QPushButton, QLabel from datetime import datetime import Constant from CU.Command import FeedCommand from CU.Feeding import FeedLine, FeedingConfig, Feeding, FeedStatus from Vision.camera_coordinate_dete import Detection 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, Detection_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.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.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_speed.setText(str(Constant.speed)) self.pushButton_speed.clicked.connect(self.send_setSpeed_label_doubelClick) self.lineEdit_speed.returnPressed.connect(self.send_setSpeed_lineEdit_returePressed) 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) self.pushButton_stack_feedSet.clicked.connect(self.send_stack_feedSet_button_click) self.horizontalSlider_feedingNum.blockSignals(True) self.horizontalSlider_feedingNum.setMinimum(0) model = QStandardItemModel(4, 6, self) # 4行6列 # 设置第一层表头 model.setHorizontalHeaderLabels(['', '个人信息', '', '', '工作信息', '']) # 设置第二层表头 itemA = QStandardItem("x") itemA.setTextAlignment(Qt.AlignmentFlag.AlignCenter) model.setItem(0, 0, itemA) model.setItem(0, 1, QStandardItem("y")) model.setItem(0, 2, QStandardItem("z")) model.setItem(0, 3, QStandardItem("u")) model.setItem(0, 4, QStandardItem("v")) model.setItem(0, 5, QStandardItem("w")) # 填充表格数据 data = [ ["Alice", "25", "New York", "Developer", "ABC Corp", "$100,000"], ["Bob", "30", "Los Angeles", "Designer", "XYZ Ltd", "$90,000"], ["Charlie", "22", "Chicago", "Analyst", "MNO Inc", "$80,000"], ["David", "28", "Miami", "Manager", "PQR LLC", "$110,000"] ] for row_idx, row_data in enumerate(data): for col_idx, item in enumerate(row_data): model.setItem(row_idx + 1, col_idx, QStandardItem(item)) # 合并单元格以创建多级表头效果 self.tableView_feedSeting.setSpan(0, 0, 1, 3) # "个人信息" 跨越三列 self.tableView_feedSeting.setSpan(0, 3, 1, 3) # "工作信息" 跨越三列 # 设置模型到表视图 self.tableView_feedSeting.setModel(model) self.lineEdit_speed.hide() def init_Run(self): self.robotClient = None self.configReader = configparser.ConfigParser() self.detection = Detection() 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,self.detection) # 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.maximum() line_index = str(self.comboBox_lineIndex.currentIndex()+1) self.command_quene.put(FeedCommand(FeedingConfig(num, self.feedLine_dict[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_subOneAsix_button_click(self): btn_str = self.sender().objectName() Constant.manual_adjust_accuracy = float(self.lineEdit_manual_adjust_accuracy.text()) x1 = self.horizontalSlider_J1.value() x2 = self.horizontalSlider_J2.value() x3 = self.horizontalSlider_J3.value() x4 = self.horizontalSlider_J4.value() x5 = self.horizontalSlider_J5.value() x6 = self.horizontalSlider_J6.value() 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 = self.horizontalSlider_J1.value() x2 = self.horizontalSlider_J2.value() x3 = self.horizontalSlider_J3.value() x4 = self.horizontalSlider_J4.value() x5 = self.horizontalSlider_J5.value() x6 = self.horizontalSlider_J6.value() 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 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 send_stack_feedSet_button_click(self): self.stackedWidget_feed.setCurrentIndex(1) 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): 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())) def send_setSpeed_label_doubelClick(self): self.pushButton_speed.hide() self.lineEdit_speed.show() pass def send_setSpeed_lineEdit_returePressed(self): Constant.speed = float(self.lineEdit_speed.text()) self.lineEdit_speed.hide() self.pushButton_speed.setText(str(Constant.speed)) self.pushButton_speed.show() pass 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 instruction_command = CMDInstructRequest() instruction_command.instructions.append(position_instruction) request_command = instruction_command.toString() 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")) self.updateUI_Position() 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)) 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 */ } """) if __name__ == "__main__": app = QApplication(sys.argv) window = MainWindow() window.show() sys.exit(app.exec())