import configparser import json import logging import queue import sys from multiprocessing import Process from PyQt5.uic.properties import QtWidgets 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, QHeaderView, QTableWidget, \ QTableWidgetItem, QWidget, QHBoxLayout, QAbstractItemView, QMessageBox from datetime import datetime from Util.util_ini import writeFeedLine_to_ini import Constant from CU.Command import FeedCommand from CU.Feeding import FeedLine, FeedingConfig, Feeding, FeedStatus from Util.util_log import QTextEditLogger 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() self.init_log() def init_log(self): self.logger_textEdit = logging.getLogger("QTextEditLogger") self.logger_textEdit.setLevel(logging.DEBUG) text_edit_handler = QTextEditLogger(self.textEdit_log_info) formatter = logging.Formatter('%(asctime)s - %(levelname)s - %(message)s', datefmt='%Y-%m-%d %H:%M:%S') text_edit_handler.setFormatter(formatter) self.logger_textEdit.addHandler(text_edit_handler) 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_feedControl.clicked.connect(lambda _, index=0: self.send_stack_feedSet_button_click(index)) self.pushButton_stack_feedSet.clicked.connect(lambda _,index=1:self.send_stack_feedSet_button_click(index)) self.horizontalSlider_feedingNum.blockSignals(True) self.horizontalSlider_feedingNum.setMinimum(0) 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(Constant.set_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_seting_frame(self): rows = len(self.feedLine_dict.keys())+1 self.tableWidget_feedSeting.setRowCount(rows) self.tableWidget_feedSeting.setColumnCount(19) # 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.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_photo = QPushButton("获取拍照位置") widget_photo = QWidget() layout_photo = QHBoxLayout() layout_photo.addWidget(btn_photo) # 调整布局的间距，使之更紧凑 layout_photo.setContentsMargins(0, 0, 0, 0) # 将布局设置到 QWidget 容器中 widget_photo.setLayout(layout_photo) btn_feed = QPushButton("获取投料位置") widget_feed = QWidget() layout_feed = QHBoxLayout() layout_feed.addWidget(btn_feed) # 调整布局的间距，使之更紧凑 layout_feed.setContentsMargins(0, 0, 0, 0) # 将布局设置到 QWidget 容器中 widget_feed.setLayout(layout_feed) btn_safe.clicked.connect(self.send_get_safe_position_button_click) btn_photo.clicked.connect(self.send_get_photo_position_button_click) btn_feed.clicked.connect(self.send_get_feed_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_photo) self.tableWidget_feedSeting.setCellWidget(0, 12+self.tableWidget_feedSeting_addtional_col_num, widget_feed) # 设置在合并的第2组 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']) 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.photo_position) self.set_position_to_tabel(row+1, 2, feed_line.feed_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) self.configReader.read(Constant.feedLine_set_file, encoding='utf-8') 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 = float(self.configReader.get(line_str, 'SafePosition_x', fallback=0)) safe_position.Y = float(self.configReader.get(line_str, 'SafePosition_y', fallback=0)) safe_position.Z = float(self.configReader.get(line_str, 'SafePosition_z', fallback=0)) safe_position.U = float(self.configReader.get(line_str, 'SafePosition_u', fallback=0)) safe_position.V = float(self.configReader.get(line_str, 'SafePosition_v', fallback=0)) safe_position.W = float(self.configReader.get(line_str, 'SafePosition_w', fallback=0)) photo_position.X = float(self.configReader.get(line_str, 'PhotoPosition_x', fallback=0)) photo_position.Y = float(self.configReader.get(line_str, 'PhotoPosition_y', fallback=0)) photo_position.Z = float(self.configReader.get(line_str, 'PhotoPosition_z', fallback=0)) photo_position.U = float(self.configReader.get(line_str, 'PhotoPosition_u', fallback=0)) photo_position.V = float(self.configReader.get(line_str, 'PhotoPosition_v', fallback=0)) photo_position.W = float(self.configReader.get(line_str, 'PhotoPosition_w', fallback=0)) feed_position.X = float(self.configReader.get(line_str, 'FeedPosition_x', fallback=0)) feed_position.Y = float(self.configReader.get(line_str, 'FeedPosition_y', fallback=0)) feed_position.Z = float(self.configReader.get(line_str, 'FeedPosition_z', fallback=0)) feed_position.U = float(self.configReader.get(line_str, 'FeedPosition_u', fallback=0)) feed_position.V = float(self.configReader.get(line_str, 'FeedPosition_v', fallback=0)) feed_position.W = float(self.configReader.get(line_str, 'FeedPosition_w', fallback=0)) name = self.configReader.get(line_str, 'Name', fallback='未命名') self.feedLine_dict[f'{Constant.feedLine_set_section}{i+1}'] = FeedLine(name ,safe_position, photo_position, feed_position) self.init_seting_frame() 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[f'{Constant.feedLine_set_section}{1}']))) 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,index): #self.logger.info("This is an info message") self.stackedWidget_feed.setCurrentIndex(index) 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.value instruction_command = CMDInstructRequest() instruction_command.instructions.append(position_instruction) request_command = instruction_command.toString() print(request_command) 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}' self.logger_textEdit.info(log_str) self.robotClient.add_sendQuene(request_command) 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_photo_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].photo_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_feed_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].feed_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_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() photo_position = Real_Position() feed_position = Real_Position() self.feedLine_dict[head] = FeedLine('新建', safe_position, photo_position, feed_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, photo_position) self.set_position_to_tabel(self.tableWidget_feedSeting.rowCount() - 1, 2, feed_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_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].photo_position.X = float(value) elif column == (7+self.tableWidget_feedSeting_addtional_col_num): self.feedLine_dict[head].photo_position.Y = float(value) elif column == (8+self.tableWidget_feedSeting_addtional_col_num): self.feedLine_dict[head].photo_position.Z = float(value) elif column == (9+self.tableWidget_feedSeting_addtional_col_num): self.feedLine_dict[head].photo_position.U = float(value) elif column == (10+self.tableWidget_feedSeting_addtional_col_num): self.feedLine_dict[head].photo_position.V = float(value) elif column == (11+self.tableWidget_feedSeting_addtional_col_num): self.feedLine_dict[head].photo_position.W = float(value) elif column==(12+self.tableWidget_feedSeting_addtional_col_num): self.feedLine_dict[head].feed_position.X = float(value) elif column == (13+self.tableWidget_feedSeting_addtional_col_num): self.feedLine_dict[head].feed_position.Y = float(value) elif column == (14+self.tableWidget_feedSeting_addtional_col_num): self.feedLine_dict[head].feed_position.Z = float(value) elif column == (15+self.tableWidget_feedSeting_addtional_col_num): self.feedLine_dict[head].feed_position.U = float(value) elif column == (16+self.tableWidget_feedSeting_addtional_col_num): self.feedLine_dict[head].feed_position.V = float(value) elif column == (17+self.tableWidget_feedSeting_addtional_col_num): self.feedLine_dict[head].feed_position.W = float(value) 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_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 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())