350 lines
16 KiB
Python
350 lines
16 KiB
Python
import configparser
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import json
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import queue
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import sys
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from multiprocessing import Process
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from PySide6.QtCore import QThread, Signal, Slot
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from PySide6.QtGui import QIntValidator
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from PySide6.QtWidgets import QApplication, QMainWindow, QPushButton
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from datetime import datetime
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from CU.Command import FeedCommand
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from CU.Feeding import FeedLine, FeedingConfig, Feeding, FeedStatus
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from Vision.camera_coordinate_dete import Detection
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from ui_untitled import Ui_MainWindow
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from COM.COM_Robot import RobotClient
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from Expection import Error_Code
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from queue import Queue
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from Model.RobotModel import *
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import time
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from queue import Queue
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from Model.Position import Real_Position, Detection_Position
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from threading import Thread
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from CU.Command import Status
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class MainWindow(QMainWindow,Ui_MainWindow):
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def __init__(self):
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super(MainWindow, self).__init__()
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self.setupUi(self)
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self.init_UI()
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self.init_Run()
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self.init_robot_info()
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self.init_FeedLine()
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self.start_Runing()
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def init_UI(self):
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self.horizontalSlider_J1.sliderReleased.connect(self.slider_valueChanged)
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self.horizontalSlider_J2.sliderReleased.connect(self.slider_valueChanged)
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self.horizontalSlider_J3.sliderReleased.connect(self.slider_valueChanged)
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self.horizontalSlider_J4.sliderReleased.connect(self.slider_valueChanged)
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self.horizontalSlider_J5.sliderReleased.connect(self.slider_valueChanged)
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self.horizontalSlider_J6.sliderReleased.connect(self.slider_valueChanged)
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self.pushButton_num1.clicked.connect(self.send_num_button_click)
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self.pushButton_num2.clicked.connect(self.send_num_button_click)
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self.pushButton_num3.clicked.connect(self.send_num_button_click)
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self.pushButton_num4.clicked.connect(self.send_num_button_click)
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self.pushButton_num5.clicked.connect(self.send_num_button_click)
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self.pushButton_num6.clicked.connect(self.send_num_button_click)
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self.pushButton_AddNum.clicked.connect(self.send_addNum_button_click)
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self.pushButton_SubNum.clicked.connect(self.send_subNum_button_click)
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self.pushButton_num_free.clicked.connect(self.send_num_button_click)
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self.lineEdit_j1.returnPressed.connect(self.send_position_returnPressed)
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self.lineEdit_j2.returnPressed.connect(self.send_position_returnPressed)
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self.lineEdit_j3.returnPressed.connect(self.send_position_returnPressed)
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self.lineEdit_j4.returnPressed.connect(self.send_position_returnPressed)
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self.lineEdit_j5.returnPressed.connect(self.send_position_returnPressed)
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self.lineEdit_j6.returnPressed.connect(self.send_position_returnPressed)
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self.lineEdit_num.returnPressed.connect(self.send_custom_num_returnPressed)
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int_validator = QIntValidator(0, 100, self.lineEdit_num)
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self.lineEdit_num.setValidator(int_validator)
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# self.horizontalSlider_J1.sliderReleased
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self.pushButton_startFeed.clicked.connect(self.send_startFeed_button_click)
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def init_Run(self):
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self.robotClient = None
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self.configReader = configparser.ConfigParser()
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self.detection = Detection()
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self.command_position_quene = Queue()
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self.status_address = DataAddress()
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self.feedLine_dict = {}
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self.command_quene = Queue()
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self.main_threading = None
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self.configReader.read('Seting.ini')
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ip = self.configReader.get('Robot_Feed', 'IPAddress')
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port = int(self.configReader.get('Robot_Feed', 'Port'))
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self.robotClient = RobotClient(ip, port, self.command_position_quene, self.status_address)
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self.feeding = Feeding(self.robotClient,self.detection) # 临时
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self.last_time=time.time()
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try:
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self.robotClient.CreatConnect()
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except:
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self.set_label_status_style(False)
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return Error_Code.SYS_NETERROR
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if self.robotClient.connected:
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return 0
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else:
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return Error_Code.SYS_NETERROR
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def init_FeedLine(self):
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line_count = self.configReader.get('Robot_Feed', 'LineCount', fallback=0)
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self.configReader.read('Config/FeedLine.ini')
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for i in range(int(line_count)):
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line_str = f'FeedLine{i+1}'
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safe_position = Real_Position()
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photo_position = Real_Position()
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feed_position = Real_Position()
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safe_position.X = int(self.configReader.get(line_str, 'SafePosition_x', fallback=0))
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safe_position.Y = int(self.configReader.get(line_str, 'SafePosition_y', fallback=0))
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safe_position.Z = int(self.configReader.get(line_str, 'SafePosition_z', fallback=0))
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safe_position.U = int(self.configReader.get(line_str, 'SafePosition_u', fallback=0))
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safe_position.V = int(self.configReader.get(line_str, 'SafePosition_v', fallback=0))
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safe_position.W = int(self.configReader.get(line_str, 'SafePosition_w', fallback=0))
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photo_position.X = int(self.configReader.get(line_str, 'PhotoPosition_x', fallback=0))
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photo_position.Y = int(self.configReader.get(line_str, 'PhotoPosition_y', fallback=0))
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photo_position.Z = int(self.configReader.get(line_str, 'PhotoPosition_z', fallback=0))
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photo_position.U = int(self.configReader.get(line_str, 'PhotoPosition_u', fallback=0))
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photo_position.V = int(self.configReader.get(line_str, 'PhotoPosition_v', fallback=0))
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photo_position.W = int(self.configReader.get(line_str, 'PhotoPosition_w', fallback=0))
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feed_position.X = int(self.configReader.get(line_str, 'FeedPosition_x', fallback=0))
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feed_position.Y = int(self.configReader.get(line_str, 'FeedPosition_y', fallback=0))
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feed_position.Z = int(self.configReader.get(line_str, 'FeedPosition_z', fallback=0))
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feed_position.U = int(self.configReader.get(line_str, 'FeedPosition_u', fallback=0))
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feed_position.V = int(self.configReader.get(line_str, 'FeedPosition_v', fallback=0))
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feed_position.W = int(self.configReader.get(line_str, 'FeedPosition_w', fallback=0))
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self.feedLine_dict[str(i+1)] = FeedLine(safe_position, photo_position, feed_position)
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pass
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def init_robot_info(self):
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j1_min = int(self.configReader.get('Robot_Feed', 'j1_min'))
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j1_max = int(self.configReader.get('Robot_Feed', 'j1_max'))
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j2_min = int(self.configReader.get('Robot_Feed', 'j2_min'))
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j2_max = int(self.configReader.get('Robot_Feed', 'j2_max'))
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j3_min = int(self.configReader.get('Robot_Feed', 'j3_min'))
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j3_max = int(self.configReader.get('Robot_Feed', 'j3_max'))
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j4_min = int(self.configReader.get('Robot_Feed', 'j4_min'))
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j4_max = int(self.configReader.get('Robot_Feed', 'j4_max'))
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j5_min = int(self.configReader.get('Robot_Feed', 'j5_min'))
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j5_max = int(self.configReader.get('Robot_Feed', 'j5_max'))
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j6_min = int(self.configReader.get('Robot_Feed', 'j6_min'))
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j6_max = int(self.configReader.get('Robot_Feed', 'j6_max'))
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self.horizontalSlider_J1.setMinimum(j1_min)
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self.horizontalSlider_J1.setMaximum(j1_max)
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self.horizontalSlider_J2.setMinimum(j2_min)
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self.horizontalSlider_J2.setMaximum(j2_max)
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self.horizontalSlider_J3.setMinimum(j3_min)
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self.horizontalSlider_J3.setMaximum(j3_max)
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self.horizontalSlider_J4.setMinimum(j4_min)
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self.horizontalSlider_J4.setMaximum(j4_max)
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self.horizontalSlider_J5.setMinimum(j5_min)
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self.horizontalSlider_J5.setMaximum(j5_max)
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self.horizontalSlider_J6.setMinimum(j6_min)
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self.horizontalSlider_J6.setMaximum(j6_max)
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self.label_j1_min.setText(j1_min.__str__())
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self.label_j1_max.setText(j1_max.__str__())
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self.label_j2_min.setText(j2_min.__str__())
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self.label_j2_max.setText(j2_max.__str__())
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self.label_j3_min.setText(j3_min.__str__())
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self.label_j3_max.setText(j3_max.__str__())
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self.label_j4_min.setText(j4_min.__str__())
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self.label_j4_max.setText(j4_max.__str__())
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self.label_j5_min.setText(j5_min.__str__())
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self.label_j5_max.setText(j5_max.__str__())
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self.label_j6_min.setText(j6_min.__str__())
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self.label_j6_max.setText(str(j6_max))
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def start_Runing(self):
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self.main_threading = Thread(target=self.run)
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self.robot_connect_threading = Thread(target=self.robotClient.run)
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self.main_threading.start()
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self.robot_connect_threading.start()
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pass
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def send_startFeed_button_click(self):
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num = self.horizontalSlider_feedingNum.value()
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line_index = str(self.comboBox_lineIndex.currentIndex()+1)
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self.command_quene.put(FeedCommand(FeedingConfig(num, line_index)))
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self.stackedWidget_num.setCurrentIndex(1)
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def send_num_button_click(self):
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button = self.sender()
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if button.text() != "自定义":
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num = int(button.text())
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self.horizontalSlider_feedingNum.setMaximum(num)
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self.label_maxNum.setText(str(num))
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self.horizontalSlider_feedingNum.setValue(0)
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else:
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self.pushButton_num_free.hide()
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def send_addNum_button_click(self):
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self.feeding.feedConfig.num +=1
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def send_subNum_button_click(self):
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self.feeding.feedConfig.num -=1
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def send_custom_num_returnPressed(self):
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self.pushButton_num_free.show()
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self.lineEdit_num.hide()
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self.horizontalSlider_feedingNum.setMaximum(int(self.lineEdit_num.text()))
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self.horizontalSlider_feedingNum.setValue(0)
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self.label_maxNum.setText(self.lineEdit_num.text())
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def slider_valueChanged(self):
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now_time = time.time()
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if(now_time-self.last_time) < 2:
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return
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self.last_time = now_time
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position_instruction = Instruction()
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position_instruction.m0 = self.horizontalSlider_J1.value()
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position_instruction.m1 = self.horizontalSlider_J2.value()
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position_instruction.m2 = self.horizontalSlider_J3.value()
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position_instruction.m3 = self.horizontalSlider_J4.value()
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position_instruction.m4 = self.horizontalSlider_J5.value()
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position_instruction.m5 = self.horizontalSlider_J6.value()
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self.lineEdit_j1.setText(str(self.horizontalSlider_J1.value()))
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self.lineEdit_j2.setText(str(self.horizontalSlider_J2.value()))
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self.lineEdit_j3.setText(str(self.horizontalSlider_J3.value()))
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self.lineEdit_j4.setText(str(self.horizontalSlider_J4.value()))
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self.lineEdit_j5.setText(str(self.horizontalSlider_J5.value()))
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self.lineEdit_j6.setText(str(self.horizontalSlider_J6.value()))
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instruction_command = CMDInstructRequest()
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instruction_command.instructions.append(position_instruction)
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request_command = instruction_command.toString()
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print(request_command)
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self.robotClient.add_sendQuene(request_command)
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def on_button_click(self):
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self.button.setText("Clicked!")
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def send_position_button_click(self):
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# if True:
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# cmd_command = CMDRequest()
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# cmd_command.cmdData = ['rewriteData', '800', f'{position_instruction.m0}', 0]
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# request_command = vars(cmd_command)
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# self.robotClient.add_sendQuene(request_command)
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return
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def send_position_returnPressed(self):
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position_instruction = Instruction()
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position_instruction.m0 = int(self.lineEdit_j1.text())
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position_instruction.m1 = int(self.lineEdit_j2.text())
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position_instruction.m2 = int(self.lineEdit_j3.text())
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position_instruction.m3 = int(self.lineEdit_j4.text())
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position_instruction.m4 = int(self.lineEdit_j5.text())
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position_instruction.m5 = int(self.lineEdit_j6.text())
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self.horizontalSlider_J1.setValue(int(self.lineEdit_j1.text()))
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self.horizontalSlider_J2.setValue(int(self.lineEdit_j2.text()))
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self.horizontalSlider_J3.setValue(int(self.lineEdit_j3.text()))
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self.horizontalSlider_J4.setValue(int(self.lineEdit_j4.text()))
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self.horizontalSlider_J5.setValue(int(self.lineEdit_j5.text()))
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self.horizontalSlider_J6.setValue(int(self.lineEdit_j6.text()))
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instruction_command = CMDInstructRequest()
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instruction_command.instructions.append(position_instruction)
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request_command = instruction_command.toString()
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print(request_command)
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self.robotClient.add_sendQuene(request_command)
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def run(self):
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while True:
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time.sleep(0.2)
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if not self.command_quene.empty():
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command = self.command_quene.get()
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if isinstance(command, FeedCommand) and command.status == Status.Prepareing:
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if self.feeding.feedStatus == FeedStatus.FNone:
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self.feeding.feedConfig = command.feed_config
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self.feeding.feedStatus = FeedStatus.FStart
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command.status = Status.Runing
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try:
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self.feeding.run()
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except:
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print(Error_Code.SYS_NONEPoint)
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self.updateUI()
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#pass #主线程
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def updateUI(self):
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if self.robotClient.connected:
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self.set_label_status_style(True)
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else:
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self.set_label_status_style(False)
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if self.feeding.feedStatus != FeedStatus.FNone:
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self.horizontalSlider_feedingNum.setValue(self.horizontalSlider_feedingNum.maximum()-self.feeding.feedConfig.num)
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if self.horizontalSlider_feedingNum.value() == 0:
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self.stackedWidget_num.setCurrentIndex(0)
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else:
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self.stackedWidget_num.setCurrentIndex(1)
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self.label_date.setText(datetime.now().strftime("%Y-%m-%d"))
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self.label_time.setText(datetime.now().strftime("%H:%M:%S"))
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self.updateUI_Position()
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def updateUI_Position(self):
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self.horizontalSlider_J1.setValue(self.status_address.world_0)
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self.horizontalSlider_J2.setValue(self.status_address.world_1)
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self.horizontalSlider_J3.setValue(self.status_address.world_2)
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self.horizontalSlider_J4.setValue(self.status_address.world_3)
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self.horizontalSlider_J5.setValue(self.status_address.world_4)
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self.horizontalSlider_J6.setValue(self.status_address.world_5)
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def set_label_status_style(self, connected: bool):
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if connected:
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self.label_connect_status.setStyleSheet("""
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QLabel {
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background-color: #A2EF4D; /* 设置背景颜色 */
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color: #ffffff; /* 设置字体颜色 */
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border-radius: 8px; /* 圆角半径设置为 QLabel 的一半，形成圆形 */
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border: 1px solid #A2EF4D; /* 设置边框颜色和宽度 */
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qproperty-alignment: 'AlignCenter'; /* 设置文本居中 */
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}
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""")
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else:
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self.label_connect_status.setStyleSheet("""
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QLabel {
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background-color: #FD3251; /* 设置背景颜色 */
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color: #ffffff; /* 设置字体颜色 */
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border-radius: 8px; /* 圆角半径设置为 QLabel 的一半，形成圆形 */
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border: 1px solid #FD3251; /* 设置边框颜色和宽度 */
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qproperty-alignment: 'AlignCenter'; /* 设置文本居中 */
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}
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""")
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def send_position_command(self, position):
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self.robotClient.add_sendQuene(position)
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if __name__ == "__main__":
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app = QApplication(sys.argv)
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window = MainWindow()
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window.show()
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sys.exit(app.exec())
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