add (增加了main_controller 和 位置设定的点位上移和下移)

app/controller/mi_an/main_controller.py

@@ -0,0 +1,53 @@
+from ...view.mi_an_main_window import Window as MainWindow
+from ...view.cood_forms_interface import CoordinateFormsWidget
+
+from typing import TypedDict
+
+
+# 子界面管理
+class SubViewsDict(TypedDict):
+    position: CoordinateFormsWidget
+
+
+class MainController:
+    def __init__(self):
+        # 主界面
+        self.main_window = MainWindow()
+
+        # 初始化子界面
+        self._initSubViews()
+
+        # 初始化子控制器
+        self._initSubControllers()
+
+        self.__connectSignals()
+
+    def _initSubViews(self):
+        self.sub_views: SubViewsDict = {
+            "system": self.main_window.system,  # 系统设置
+            "product": self.main_window.product,  # 生产界面
+            "robot": self.main_window.robot,  # 机器臂基础设置
+            "io": self.main_window.io,  # io面板
+            "position": self.main_window.position.formsWidget,  # 点位设置
+            "basic": self.main_window.basic,  # 基础设置
+            "point": self.main_window.point,  # 点位调试
+            "other": self.main_window.other,  # 其他设置
+            "data": self.main_window.data,  # 数据采集
+        }
+
+    def _initSubControllers(self):
+        # self.sub_controllers = {
+        #     "system": SystemController(self.sub_views["system"]),
+        #     "produce": ProduceController(self.sub_views["produce"]),
+        # }
+        pass
+
+    def showMainWindow(self):
+        self.main_window.show()
+
+    def __connectSignals(self):
+        pass
+        self.sub_views["position"].form_move_signal.connect(self.handleMove)
+
+    def handleMove(self, pos_list: list):
+        print("handleMove 移动：", pos_list)

app/view/cood_forms_interface.py

@@ -115,20 +115,51 @@ class FormDatabase:
             )
 
             # 创建表单数据表form_data（存储每行数据）
+            # cursor.execute(
+            #     """
+            # CREATE TABLE IF NOT EXISTS form_data (
+            #     data_id INTEGER PRIMARY KEY AUTOINCREMENT,
+            #     form_id INTEGER NOT NULL,  -- 关联表单信息表的 form_id
+            #     row_index INTEGER NOT NULL,  -- 行号(从0开始)
+            #     x TEXT,
+            #     y TEXT,
+            #     z TEXT,
+            #     rx TEXT,
+            #     ry TEXT,
+            #     rz TEXT,
+            #     FOREIGN KEY (form_id) REFERENCES form_info(form_id) ON DELETE CASCADE,
+            #     UNIQUE(form_id, row_index)  -- 确保一行数据只存一次
+            # )
+            # """
+            # )
+
             cursor.execute(
                 """
             CREATE TABLE IF NOT EXISTS form_data ( 
-                data_id INTEGER PRIMARY KEY AUTOINCREMENT,
+                data_id INTEGER PRIMARY KEY AUTOINCREMENT, --ID
-                form_id INTEGER NOT NULL,  -- 关联表单信息表的 form_id
+                form_id INTEGER NOT NULL, --关联form_info表的 form_id
-                row_index INTEGER NOT NULL,  -- 行号(从0开始)
+                row_index INTEGER NOT NULL, --表单中的行号(从0开始) 
-                x TEXT, 
+                x DOUBLE NOT NULL, --X轴坐标（单位：mm）
-                y TEXT,
+                y DOUBLE NOT NULL, --Y轴坐标（单位：mm）
-                z TEXT,
+                z DOUBLE NOT NULL, --Z轴坐标（单位：mm）
-                rx TEXT,
+                rx DOUBLE NOT NULL, --绕X轴旋转角度（单位：°） 
-                ry TEXT,
+                ry DOUBLE NOT NULL, --绕Y轴旋转角度（单位：°） 
-                rz TEXT,
+                rz DOUBLE NOT NULL, --绕Z轴旋转角度（单位：°） 
+                name VARCHAR(50) NOT NULL DEFAULT 'normal', --点位名（如“取料点”）
+                speed DOUBLE NOT NULL DEFAULT 20.0, --移动速度
+                tool_id INTEGER NOT NULL DEFAULT 0, --工具ID（如夹爪、吸盘）
+                workpiece_id INTEGER NOT NULL DEFAULT 0,  --工件ID
+                j1 DOUBLE NOT NULL DEFAULT -9999.0, --关节角度j1（单位：°）
+                j2 DOUBLE NOT NULL DEFAULT -9999.0, --关节角度j2（单位：°）
+                j3 DOUBLE NOT NULL DEFAULT -9999.0, --关节角度j3（单位：°） 
+                j4 DOUBLE NOT NULL DEFAULT -9999.0, --关节角度j4（单位：°） 
+                j5 DOUBLE NOT NULL DEFAULT -9999.0, --关节角度j5（单位：°） 
+                j6 DOUBLE NOT NULL DEFAULT -9999.0, --关节角度j6（单位：°） 
+                ext1 DOUBLE, --扩展字段1 
+                ext2 INTEGER, --扩展字段2
+                ext3 TEXT, --扩展字段3
                 FOREIGN KEY (form_id) REFERENCES form_info(form_id) ON DELETE CASCADE,
-                UNIQUE(form_id, row_index)  -- 确保一行数据只存一次
+                UNIQUE(form_id, row_index)
                 )
             """
             )
@@ -157,11 +188,13 @@ class FormDatabase:
         """连接数据库并获取游标"""
         if not self.conn:
             self.conn = sqlite3.connect(self.db_path)
+            self.conn.execute("PRAGMA foreign_keys = ON;")  # 启用外键
             self.cursor = self.conn.cursor()
         return self.cursor
 
     def commit_and_close(self):
         """提交事务并关闭连接"""
+        # 数据库操作最终一定要调用
         if self.conn:
             self.conn.commit()  # 提交事务
             self.conn.close()  # 关闭连接
@@ -192,8 +225,9 @@ class FormDatabase:
             self.rollback_and_close()
             raise exc
 
+    # 只删除（清空）表单的数据
     def delete_form_data(self, form_id):
-        """删除指定表单的所有数据"""
+        """删除指定表单的所有数据（表单数据form_data表中的该表单的数据）"""
         try:
             cursor = self.__connect()
             cursor.execute("DELETE FROM form_data WHERE form_id = ?", (form_id,))
@@ -201,6 +235,19 @@ class FormDatabase:
             self.rollback_and_close()
             raise exc
 
+    # 删除 表单
+    def delete_form(self, form_id):
+        """删除指定表单, 包括 表单信息表中表单信息 以及 数据表中的对应数据"""
+        try:
+            cursor = self.__connect()
+            # 利用外键，只需要删除表单信息form_info表中的表单信息
+            # 数据表中的对应数据 会被自动删除
+            # 备注：SQLite的外键默认不开启，需要在 __connect中启用外键
+            cursor.execute("DELETE FROM form_info WHERE form_id = ?", (form_id,))
+        except Exception as exc:
+            self.rollback_and_close()
+            raise exc
+
     def add_new_form(self, form_name):
         """新增表单 (返回新表单的form_id)"""
         try:
@@ -219,9 +266,19 @@ class FormDatabase:
                 # row格式: [row_idx, x, y, z, rx, ry, rz]
                 cursor.execute(
                     """INSERT INTO form_data 
-                    (form_id, row_index, x, y, z, rx, ry, rz) 
+                    (form_id, row_index, x, y, z, rx, ry, rz, name) 
-                    VALUES (?, ?, ?, ?, ?, ?, ?, ?)""",
+                    VALUES (?, ?, ?, ?, ?, ?, ?, ?, ?)""",
-                    (form_id, row[0], row[1], row[2], row[3], row[4], row[5], row[6]),
+                    (
+                        form_id,
+                        row[0],
+                        row[1],
+                        row[2],
+                        row[3],
+                        row[4],
+                        row[5],
+                        row[6],
+                        row[7],
+                    ),
                 )
         except Exception as exc:
             self.rollback_and_close()
@@ -257,6 +314,22 @@ class FormDatabase:
             self.rollback_and_close()
             raise exc
 
+    def get_row_idx_coordinate_and_name(self, form_id):
+        """根据form_id查询对应的表单数据 data_rows (包含行索引row_idx, x, y, z, rx, ry, rz, name)"""
+        try:
+            cursor = self.__connect()
+            cursor.execute(
+                "SELECT row_index, x, y, z, rx, ry, rz, name FROM form_data "
+                "WHERE form_id = ?",
+                (form_id,),
+            )
+            #  [(row_idx, x, y, z, rx, ry, rz, name), ...]
+            data_rows = cursor.fetchall()
+            return data_rows
+        except Exception as exc:
+            self.rollback_and_close()
+            raise exc
+
     def get_sorted_coordinate_list(self, form_name):
         """
         form_name 等同于线名
@@ -385,7 +458,7 @@ class DatabaseReadThread(QThread):
 
             form_date_dict = dict()
             for form_id, form_name in self.selected_form_id_name:
-                data_rows = db.get_row_idx_coordinate_list(form_id)
+                data_rows = db.get_row_idx_coordinate_and_name(form_id)
                 form_date_dict[form_name] = data_rows
 
             self.form_data_signal.emit(form_date_dict)
@@ -423,6 +496,7 @@ class CoordinateTableWidget(QWidget):
         self.form_name = form_name
         self.hideVHeader = hideVHeader  # 是否隐藏行名
         self.initRowCount = initRowCount  # 是否需要初始的行数
+        self.has_valid_copy = False  # 标志是否进行了有效的复制（复制了一行的数据）
         self.setObjectName("CoordinateTableWidget")
 
         # 主布局
@@ -462,9 +536,9 @@ class CoordinateTableWidget(QWidget):
         if self.initRowCount:
             self.table.setRowCount(5)  # 表的行数
 
-        self.table.setColumnCount(6)  # 表的列数
+        self.table.setColumnCount(7)  # 表的列数
 
-        self.table.setHorizontalHeaderLabels(["x", "y", "z", "rx", "ry", "rz"])
+        self.table.setHorizontalHeaderLabels(["x", "y", "z", "rx", "ry", "rz", "name"])
         self.table.horizontalHeader().setStyleSheet(
             "QHeaderView::section {font-size: 19px; font-weight: bold;}"
         )
@@ -475,7 +549,7 @@ class CoordinateTableWidget(QWidget):
         if self.hideVHeader:
             self.table.verticalHeader().hide()  # 隐藏行标题（行名）
 
-        for i in range(6):
+        for i in range(7):
             self.table.horizontalHeader().setSectionResizeMode(
                 i, self.table.horizontalHeader().ResizeMode.Stretch
             )
@@ -507,8 +581,8 @@ class CoordinateTableWidget(QWidget):
         self.resetBtn.clicked.connect(self.resetSelectedRow)
         btnLayout.addWidget(self.resetBtn)
 
-        # 移动按钮
+        # 机器臂（人）移动按钮
-        self.readBtn = PushButton("移动")
+        self.readBtn = PushButton("机器移动")
         self.readBtn.setIcon(FIF.RIGHT_ARROW.icon())  # FOLDER
         self.readBtn.clicked.connect(self.moveToSelectedCoodinate)
         btnLayout.addWidget(self.readBtn)
@@ -519,11 +593,30 @@ class CoordinateTableWidget(QWidget):
         self.saveBtn.clicked.connect(self.saveToDatabase)  # 关联保存函数
         btnLayout.addWidget(self.saveBtn)
 
-        self.mainLayout.addLayout(btnLayout)
+        btnLayout2 = QHBoxLayout()
+        btnLayout2.setSpacing(15)
+
+        # 上移按钮
+        self.moveUpBtn = PushButton("上移")
+        self.moveUpBtn.clicked.connect(self.moveRowUp)
+        btnLayout2.addWidget(self.moveUpBtn)
+
+        # 下移按钮
+        self.moveDownBtn = PushButton("下移")
+        self.moveDownBtn.clicked.connect(self.moveRowDown)
+        btnLayout2.addWidget(self.moveDownBtn)
+
+        # 状态编辑按钮
+        self.stateEditBtn = PushButton("状态编辑")
+        # self.stateEditBtn.clicked.connect(self.moveRowDown)
+        btnLayout2.addWidget(self.stateEditBtn)
+
+        self.mainLayout.addLayout(btnLayout)  # 添加 按钮布局一
+        self.mainLayout.addLayout(btnLayout2)  # 添加 按钮布局二
 
     # 数据保存到数据库，获取数据时调用
     def get_ui_data(self):
-        """从表格UI中获取数据 [[行索引row_idx, x, y, z, rx, ry, rz], ......]"""
+        """从表格UI中获取数据 [[行索引row_idx, x, y, z, rx, ry, rz, name], ......]"""
         row_count = self.table.rowCount()
         # column_count = self.table.columnCount()
         data_rows = []
@@ -531,7 +624,7 @@ class CoordinateTableWidget(QWidget):
             row_data = [row_idx]  # 先保存行索引
             is_valid_row = True  # 标记当前行是否完全有效
 
-            # 这里只有前6列是 x, y, rx, ry, rz
+            # 这里只有前6列是 x, y, z, rx, ry, rz
             # 目前 从ui获取的 需要保存到数据库的 只有 x, y, z, rx, ry, rz
             # 故这里为 0到5
             for col_idx in range(6):
@@ -555,10 +648,21 @@ class CoordinateTableWidget(QWidget):
                 # 保存单个坐标，浮点类型
                 row_data.append(coord_num)
 
-            # 放入这一行的数据 行索引row_idx, x, y, z, rx, ry, rz
+            # 新增：点位名字
+            # 增加点位名字的判断，当点位名 为空时，使用默认的 "normal"
+            name_idx = 6  # 目前的点位名的列索引为6 (索引从0开始)
+            name_item = self.table.item(row_idx, name_idx)
+            if not name_item or not name_item.text().strip():
+                row_data.append("normal")
+            else:
+                pos_name = name_item.text().strip()
+                row_data.append(pos_name)
+
+            # 放入这一行的数据 行索引row_idx, x, y, z, rx, ry, rz, name
             if is_valid_row:  # 有效，才保存到数据库
                 data_rows.append(row_data)
 
+        # print("data_rows", data_rows)
         return data_rows
 
     def showConfirmDialog(self):
@@ -618,8 +722,13 @@ class CoordinateTableWidget(QWidget):
             self.setThemeTextColor(header_item)
             self.table.setVerticalHeaderItem(row, header_item)
 
+            name_idx = 6  # 点位名的列索引号
             for col in range(self.table.columnCount()):
-                item = QTableWidgetItem("")
+                item = (
+                    QTableWidgetItem("")
+                    if col != name_idx
+                    else QTableWidgetItem("normal")
+                )
                 item.setTextAlignment(Qt.AlignCenter)
                 self.setThemeTextColor(item)
                 self.table.setItem(row, col, item)
@@ -639,7 +748,8 @@ class CoordinateTableWidget(QWidget):
     def update_table_data(self, positionList=None):
         selectedRows = self.getSelectedRows()
         for row in selectedRows:
-            for col in range(self.table.columnCount()):
+            # x, y, z, rx, ry, rz 的索引为 0 到 5
+            for col in range(6):
                 item = QTableWidgetItem(
                     str(positionList[col])
                     if (positionList and 0 <= col < len(positionList))
@@ -650,10 +760,10 @@ class CoordinateTableWidget(QWidget):
                 self.table.setItem(row, col, item)
 
         if positionList:
-            self.status_label.setText(f"已将选中行设置为{positionList}")
+            self.status_label.setText(f"已将选中行点位设置为{positionList}")
         else:
             self.status_label.setText(
-                "已将选中行设置为[-9999, -9999, -9999, -9999, -9999, -9999]"
+                "已将选中行点位设置为[-9999, -9999, -9999, -9999, -9999, -9999]"
             )
 
     """
@@ -675,8 +785,11 @@ class CoordinateTableWidget(QWidget):
         self.updateRowHeaders()
 
         # 初始化单元格
+        name_idx = 6  # 点位名的列索引号
         for col in range(self.table.columnCount()):
-            item = QTableWidgetItem("")
+            item = (
+                QTableWidgetItem("") if col != name_idx else QTableWidgetItem("normal")
+            )
             item.setTextAlignment(Qt.AlignCenter)
             self.setThemeTextColor(item)
             self.table.setItem(insert_pos, col, item)
@@ -711,7 +824,7 @@ class CoordinateTableWidget(QWidget):
             self.showNoSelectWarning("请先选中再设置点位！")
             return
 
-        # 选中行默认设置
+        # 选中行默认设置，主要是对 x, y, z, rx, ry, rz， 进行默认设置
         self.update_table_data()
 
         # 发送选中行设置（更新）信号
@@ -724,16 +837,19 @@ class CoordinateTableWidget(QWidget):
             self.showNoSelectWarning("请先选中再重置！")
             return
 
+        # x, y, z, rx, ry, rz 的索引为 0到5，故这里为6
+        # 只重置 x, y, z, rx, ry, rz
+        cood_count = 6
         for row in selectedRows:
-            for col in range(self.table.columnCount()):
+            for col in range(cood_count):
                 item = QTableWidgetItem("")
                 item.setTextAlignment(Qt.AlignCenter)
                 self.setThemeTextColor(item)
                 self.table.setItem(row, col, item)
 
-        self.status_label.setText("已重置选中行")
+        self.status_label.setText("已重置选中行坐标点位")
 
-    # 移动
+    # 移动 （只进行移动操作）
     def moveToSelectedCoodinate(self):
         selectedRows = self.getSelectedRows()
         if not selectedRows:
@@ -807,13 +923,21 @@ class CoordinateTableWidget(QWidget):
             return
 
         menu = QMenu()
-        copyAction = QAction("复制此行数据", self)
+
+        if self.has_valid_copy:
+            # 已经复制了有效的数据，可以进行粘贴操作
+            pasteAction = QAction("粘贴坐标到此行", self)
+            pasteAction.triggered.connect(self.pasteRowData)
+            menu.addAction(pasteAction)
+        else:
+            # 还没有进行复制，进行复制一行数据的操作
+            copyAction = QAction("复制此行坐标", self)
             copyAction.triggered.connect(self.copyRowData)
             menu.addAction(copyAction)
         menu.exec(self.table.mapToGlobal(position))
 
     def copyRowData(self):
-        """复制选中行数据到剪贴板"""
+        """复制选中行数据到剪贴板 目前只复制选中行的 x, y, z, rx, ry, rz"""
         selectedRows = self.getSelectedRows()
         if not selectedRows:
             return
@@ -822,14 +946,141 @@ class CoordinateTableWidget(QWidget):
         # 选中多行，默认复制选中的多行中行数最小的那行
         row = selectedRows[0]
         rowData = []
-        for col in range(self.table.columnCount()):
+        cood_count = 6  # # x, y, z, rx, ry, rz 的列索引为 0 到 5，故这里为6
+        for col in range(cood_count):
             item = self.table.item(row, col)
             rowData.append(item.text() if item else "")
 
         dataStr = ", ".join(rowData)
         clipboard = QApplication.clipboard()
         clipboard.setText(dataStr)
-        self.status_label.setText(f"已复制第 {row + 1} 行的数据: {dataStr}")
+
+        # 显示结果
+        self.status_label.setText(f"已复制第 {row + 1} 行的坐标: {dataStr}")
+        # 更改复制状态
+        self.has_valid_copy = True
+
+    def pasteRowData(self):
+        """从剪贴板粘贴数据到选中行"""
+        selectedRows = self.getSelectedRows()
+        if not selectedRows:
+            return
+
+        # 支持粘贴到所有的选中行
+        for target_row in selectedRows:
+            clipboard = QApplication.clipboard()
+            data_str = clipboard.text().strip()
+            if not data_str:
+                self.status_label.setText("剪贴板为空，无法粘贴!!!")
+                return
+
+            pasted_data = []
+            for item in data_str.split(","):
+                stripped_item = item.strip()
+                try:
+                    pasted_data.append(float(stripped_item))  # 保存的格式为 float
+                except ValueError:
+                    break
+
+            # x, y, z, rx, ry, rz 的列索引为 0 到 5，故这里为6
+            # 此时一共需要粘贴六个坐标
+            cood_count = 6
+            # print(pasted_data)
+
+            if len(pasted_data) != cood_count:
+                self.status_label.setText(
+                    f"粘贴到第 {target_row + 1} 行失败, 复制的坐标{data_str}错误!!!"
+                )
+            else:
+                for col in range(cood_count):
+                    item = QTableWidgetItem(str(pasted_data[col]))
+                    item.setTextAlignment(Qt.AlignCenter)
+                    self.setThemeTextColor(item)
+                    self.table.setItem(target_row, col, item)
+
+        # 提示粘贴结果（列出所有粘贴的行号）
+        row_nums = [str(row + 1) for row in selectedRows]
+        self.status_label.setText(
+            f"已将坐标{pasted_data}粘贴到第{', '.join(row_nums)}行"
+        )
+
+        # 粘贴后重置 复制状态，可以重新进行复制操作
+        self.has_valid_copy = False
+
+    # 上移操作
+    def moveRowUp(self):
+        """将选中行上移一行（仅支持单行选中）"""
+        selectedRows = self.getSelectedRows()
+        # 1. 校验：仅支持单行上移
+        if len(selectedRows) != 1:
+            self.showNoSelectWarning("请仅选中一行进行上移操作！")
+            return
+
+        current_row = selectedRows[0]
+        # total_rows = self.table.rowCount()
+
+        # 2. 边界校验：第一行无法上移
+        if current_row == 0:
+            self.status_label.setText("当前行为第一行，无法上移！！！")
+            return
+
+        # 3. 交换当前行与上一行的数据
+        target_row = current_row - 1  # 上移的目标行（当前行的上一行）
+        self._swapTwoRows(current_row, target_row)
+
+        # 4. 保持选中状态（选中移动后的行）
+        self.table.selectRow(target_row)
+        # 5. 更新状态提示
+        self.status_label.setText(f"第{current_row+1}行已上移至第{target_row+1}行")
+
+    # 下移操作
+    def moveRowDown(self):
+        """将选中行下移一行（仅支持单行选中）"""
+        selectedRows = self.getSelectedRows()
+        # 1. 校验：仅支持单行下移
+        if len(selectedRows) != 1:
+            self.showNoSelectWarning("请仅选中一行进行下移操作！！")
+            return
+
+        current_row = selectedRows[0]
+        total_rows = self.table.rowCount()
+
+        # 2. 边界校验：最后一行无法下移
+        if current_row == total_rows - 1:
+            self.status_label.setText("当前行为最后一行，无法下移！！！")
+            return
+
+        # 3. 交换当前行与下一行的数据
+        target_row = current_row + 1  # 下移的目标行（当前行的下一行）
+        self._swapTwoRows(current_row, target_row)
+
+        # 4. 保持选中状态（选中移动后的行）
+        self.table.selectRow(target_row)
+        # 5. 更新状态提示
+        self.status_label.setText(f"第{current_row+1}行已下移至第{target_row+1}行")
+
+    # ================交换两行数据=======================
+    def _swapTwoRows(self, row1, row2):
+        """交换表格中两行的所有列数据（包括坐标和name列）"""
+        total_cols = self.table.columnCount()  # 7列（x/y/z/rx/ry/rz/name）
+
+        for col in range(total_cols):
+            # 1. 取出两行当前列的item（takeItem会移除原位置item，避免引用冲突）
+            # 行1的当前列item
+            item1 = self.table.takeItem(row1, col) or QTableWidgetItem("")
+            # 行2的当前列item
+            item2 = self.table.takeItem(row2, col) or QTableWidgetItem("")
+
+            # 2. 交换设置item（行1放行2的item，行2放行1的item）
+            self.table.setItem(row1, col, item2)
+            self.table.setItem(row2, col, item1)
+
+            # 3. 确保交换后文本仍居中（保持样式一致性）
+            self.table.item(row1, col).setTextAlignment(Qt.AlignCenter)
+            self.table.item(row2, col).setTextAlignment(Qt.AlignCenter)
+            # 4. 确保文本颜色符合主题（浅色/深色）
+            self.setThemeTextColor(self.table.item(row1, col))
+            self.setThemeTextColor(self.table.item(row2, col))
 
     def getSelectedRows(self):
         return list(set(item.row() for item in self.table.selectedItems()))
@@ -1066,6 +1317,7 @@ class CoordinateFormsWidget(QWidget):
         if isinstance(sender_form, CoordinateTableWidget):
             self.form_update_signal.emit(sender_form)
 
+    # 读取数据
     def readFromDatabase(self):
         """启动读取线程，处理表单选择和数据生成"""
         # 检查是否已有运行中的读取线程
@@ -1074,7 +1326,7 @@ class CoordinateFormsWidget(QWidget):
             and self.read_thread
             and self.read_thread.isRunning()
         ):
-            # self.status_label.setText("有未完成的数据库读取操作，请稍后再试......")
+            self.showStateWarning("有未完成的数据库读取操作，请稍后再试......")
             return
 
         # 创建读取线程
@@ -1086,12 +1338,12 @@ class CoordinateFormsWidget(QWidget):
         # 连接信号：接收表单数据，生成新表单
         self.read_thread.form_data_signal.connect(self.generateNewForms)
         # 连接信号：状态提示 (数据库错误等)
-        self.read_thread.state_signal.connect(self.showDatabaseReadWarning)
+        self.read_thread.state_signal.connect(self.showStateWarning)
 
         # 启动线程
         self.read_thread.start()
 
-    def showDatabaseReadWarning(self, msg):
+    def showStateWarning(self, msg):
         msg_box = QMessageBox(self)
         msg_box.setIcon(QMessageBox.Warning)
         msg_box.setWindowTitle("提示")
@@ -1101,11 +1353,12 @@ class CoordinateFormsWidget(QWidget):
         msg_box.exec()
 
     def showFormSelection(self, all_form_id_name):
-        """显示多选表单选择页面 (UI线程处理)"""
+        """显示多选表单选择页面 (UI线程处理), 新增右键可删除表单"""
         if not all_form_id_name:
             # self.status_label.setText("数据库为空, 没有任何表单")
-            self.read_thread.set_selected_forms(list())
+            # self.read_thread.set_selected_forms(list())
-            return
+            # return
+            pass  # 直接进行后续操作，显示一个空的列表，表示数据库为空
 
         # 提取表单名（用于列表显示）
         form_names = [name for (_, name) in all_form_id_name]
@@ -1138,6 +1391,14 @@ class CoordinateFormsWidget(QWidget):
         list_widget.addItems(form_names)
         layout.addWidget(list_widget)
 
+        # ==========新增：右键可删除选中的表单 ======
+        list_widget.setContextMenuPolicy(Qt.CustomContextMenu)
+        list_widget.customContextMenuRequested.connect(
+            lambda position: self.showFormContextMenu(
+                list_widget, position, all_form_id_name
+            )
+        )
+
         # 确认/取消按钮
         btn_layout = QHBoxLayout()
         confirm_btn = PushButton("确认")
@@ -1185,10 +1446,72 @@ class CoordinateFormsWidget(QWidget):
         # 显示表单选择框
         dialog.exec()
 
+    def showFormContextMenu(self, list_widget, position, all_form_id_name):
+        """右键菜单：删除选中表单"""
+        menu = QMenu()
+        delete_action = QAction("删除选中表单", self)
+        # 传递当前对话框实例，用于显示提示
+        delete_action.triggered.connect(
+            lambda: self.deleteSelectedForm(list_widget, all_form_id_name)
+        )
+        menu.addAction(delete_action)
+        menu.exec(list_widget.mapToGlobal(position))
+
+    def deleteSelectedForm(self, list_widget, all_form_id_name):
+        """删除选中的一个或多个表单（支持批量删除）"""
+        selected_items = list_widget.selectedItems()
+        if not selected_items:
+            self.showStateWarning("请先选中要删除的表单！！")
+            return
+
+        # 1. 获取所有选中表单的 ID 和名称（支持批量）
+        selected_forms = [
+            (all_form_id_name[i][0], all_form_id_name[i][1])  # (form_id, form_name)
+            for i in range(len(all_form_id_name))
+            if list_widget.item(i).isSelected()
+        ]
+        if not selected_forms:
+            return
+
+        # 2. 显示确认对话框（列出所有要删除的表单名）
+        form_names = ", ".join([name for (_, name) in selected_forms])
+        msg_box = QMessageBox()
+        msg_box.setWindowTitle("确认删除")
+        msg_box.setText(f"确定要删除以下表单吗？\n{form_names}")
+        msg_box.setStandardButtons(QMessageBox.Yes | QMessageBox.No)
+        msg_box.setStyleSheet("QLabel{color: black;}")
+        reply = msg_box.exec()
+        if reply != QMessageBox.Yes:
+            return
+
+        try:
+            # 3. 执行数据库删除（批量删除）
+            db = FormDatabase("db/forms.db")
+            db.init_database()
+            for form_id, _ in selected_forms:
+                db.delete_form(form_id)  # 删除表单
+            db.commit_and_close()  # 提交并关闭数据库连接
+
+            # 4. 刷新列表（重新读取数据库中的表单）
+            db_reload = FormDatabase("db/forms.db")
+            db_reload.init_database()
+            new_all_form_id_name = db_reload.get_all_form_id_name()
+            db_reload.commit_and_close()
+
+            # 更新列表显示
+            list_widget.clear()
+            list_widget.addItems([name for (_, name) in new_all_form_id_name])
+
+            # 更新状态提示
+            self.showStateWarning(f"已删除表单：{form_names}")
+        except Exception as e:
+            self.showStateWarning(f"删除失败：{str(e)}")
+
     # 由读取的数据生成新表单
     def generateNewForms(self, form_data):
         """根据读取到的数据生成新表单(UI线程处理)"""
-        # form_data格式：{form_name: [(row_idx, x, y, z, rx, ry, rz), ...], ...}
+        # form_data格式：{form_name: [(row_idx, x, y, z, rx, ry, rz, name), ...], ...}
+        # print("form_data", form_data)
         for form_name, data_rows in form_data.items():
             # 创建新表单
             self.formTotalCnt += 1  # 创建的总的表单数加一
@@ -1198,19 +1521,28 @@ class CoordinateFormsWidget(QWidget):
             new_form.update_table_signal.connect(self.handleFormUpdate)
             new_form.move_to_coodinate_signal.connect(self.form_move_signal)
 
-            # 填充数据到新表单
+            # 填充数据到新表单(包含点位名)
-            for row_idx, x, y, z, rx, ry, rz in data_rows:
+            for row_idx, x, y, z, rx, ry, rz, name in data_rows:
+                # print(row_idx, x, y, z, rx, ry, rz)
                 # 如果数单行数超过表格行数，自动添加行
                 while row_idx >= new_form.table.rowCount():
                     new_form.addNewRow()
 
                 # 填充单元格
-                new_form.table.setItem(row_idx, 0, QTableWidgetItem(x))
+                new_form.table.setItem(row_idx, 0, QTableWidgetItem(str(x)))
-                new_form.table.setItem(row_idx, 1, QTableWidgetItem(y))
+                new_form.table.setItem(row_idx, 1, QTableWidgetItem(str(y)))
-                new_form.table.setItem(row_idx, 2, QTableWidgetItem(z))
+                new_form.table.setItem(row_idx, 2, QTableWidgetItem(str(z)))
-                new_form.table.setItem(row_idx, 3, QTableWidgetItem(rx))
+                new_form.table.setItem(row_idx, 3, QTableWidgetItem(str(rx)))
-                new_form.table.setItem(row_idx, 4, QTableWidgetItem(ry))
+                new_form.table.setItem(row_idx, 4, QTableWidgetItem(str(ry)))
-                new_form.table.setItem(row_idx, 5, QTableWidgetItem(rz))
+                new_form.table.setItem(row_idx, 5, QTableWidgetItem(str(rz)))
+                new_form.table.setItem(row_idx, 6, QTableWidgetItem(str(name)))
+
+                # 将填充的数据设置居中显示，一共是 0 到 6（如上），共7列
+                for col_idx in range(7):
+                    new_form.table.item(row_idx, col_idx).setTextAlignment(
+                        Qt.AlignCenter
+                    )
+
             # 将新表单添加到UI
             form_key = f"form_{self.formTotalCnt}"  # 唯一标识
             self.tabBar.addTab(
@@ -1224,12 +1556,14 @@ class CoordinateFormsWidget(QWidget):
 #     form_obj.update_table_data([666, 666, 666, 666, 666, 666])
 
 # 移动
-
+# def move_test(pos_list: list):
+#     print("移动：", pos_list)
 
 # if __name__ == "__main__":
 #     app = QApplication(sys.argv)
 #     setTheme(Theme.DARK)
 #     window = CoordinateFormsWidget()
 #     window.form_update_signal.connect(test)
+#     window.form_move_signal.connect(move_test)
 #     window.show()
 #     sys.exit(app.exec())

app/view/mi_an_main_window.py

@@ -0,0 +1,238 @@
+# coding:utf-8
+import sys
+import os
+from PySide6.QtCore import Qt, QRect, QUrl, Signal
+from PySide6.QtGui import (
+    QIcon,
+    QPainter,
+    QImage,
+    QBrush,
+    QColor,
+    QFont,
+    QDesktopServices,
+)
+from PySide6.QtWidgets import (
+    QApplication,
+    QFrame,
+    QStackedWidget,
+    QHBoxLayout,
+    QLabel,
+    QWidget,
+)
+
+from qfluentwidgets import (
+    NavigationInterface,
+    NavigationItemPosition,
+    NavigationWidget,
+    MessageBox,
+    isDarkTheme,
+    setTheme,
+    Theme,
+    setThemeColor,
+    qrouter,
+    FluentWindow,
+    NavigationAvatarWidget,
+)
+from qfluentwidgets import FluentIcon as FIF
+from qframelesswindow import FramelessWindow, StandardTitleBar
+
+from app.view.system_interface import SystemInterface
+from app.view.produce_interface import ProduceInterface
+from app.view.text_interface import TextInterface
+from app.view.data_interface import DataInterface
+
+from app.view.cood_forms_interface import CoodFormsInterface
+
+
+class Widget(QFrame):
+
+    def __init__(self, text: str, parent=None):
+        super().__init__(parent=parent)
+        self.label = QLabel(text, self)
+        self.label.setAlignment(Qt.AlignCenter)
+        self.hBoxLayout = QHBoxLayout(self)
+        self.hBoxLayout.addWidget(self.label, 1, Qt.AlignCenter)
+        self.setObjectName(text.replace(" ", "-"))
+
+
+class Window(FramelessWindow):
+    ## 定义信号：调整高度
+    heightChanged = Signal(int)
+
+    def __init__(self):
+        super().__init__()
+        self.setTitleBar(StandardTitleBar(self))
+
+        # use dark theme mode
+        # setTheme(Theme.DARK)
+
+        # change the theme color
+        # setThemeColor('#0078d4')
+
+        self.hBoxLayout = QHBoxLayout(self)
+        self.navigationInterface = NavigationInterface(self, showMenuButton=True)
+        self.stackWidget = QStackedWidget(self)
+
+        # create sub interface
+        self.system = SystemInterface(self)  # 系统设置
+        self.product = ProduceInterface(self)
+        self.robot = Widget("机械臂基础设置", self)  # 暂时不用
+        self.io = Widget("IO面板", self)  # 需要完成
+        self.position = CoodFormsInterface(self)  # 位置设定
+        self.basic = Widget("基础设置", self)  # 需要完成
+        self.point = Widget("点位调试", self)
+        self.other = Widget("其他设置", self)
+        self.data = DataInterface(self)  # 数据采集
+
+        # initialize layout
+        self.initLayout()
+
+        # add items to navigation interface
+        self.initNavigation()
+
+        self.initWindow()
+
+    def initLayout(self):
+        self.hBoxLayout.setSpacing(0)
+        self.hBoxLayout.setContentsMargins(0, self.titleBar.height(), 0, 0)
+        self.hBoxLayout.addWidget(self.navigationInterface)
+        self.hBoxLayout.addWidget(self.stackWidget)
+        self.hBoxLayout.setStretchFactor(self.stackWidget, 1)
+
+    def initNavigation(self):
+        # enable acrylic effect
+        # self.navigationInterface.setAcrylicEnabled(True)
+
+        # self.addSubInterface 加入导航栏页面
+        self.addSubInterface(
+            self.system, FIF.SETTING, "系统设置", NavigationItemPosition.SCROLL
+        )
+        self.addSubInterface(
+            self.product, FIF.COMPLETED, "生产界面", parent=self.system
+        )
+        self.addSubInterface(
+            self.robot, FIF.ROBOT, "机械臂基础设置", parent=self.system
+        )
+        self.addSubInterface(self.io, FIF.GAME, "IO面板", parent=self.system)
+        self.addSubInterface(self.position, FIF.IOT, "位置设定", parent=self.system)
+        self.addSubInterface(
+            self.basic, FIF.DEVELOPER_TOOLS, "基础设置", parent=self.system
+        )
+        self.addSubInterface(self.point, FIF.MOVE, "点位调试", parent=self.system)
+
+        # self.navigationInterface.addSeparator()
+        self.addSubInterface(
+            self.other, FIF.APPLICATION, "其他设置", NavigationItemPosition.SCROLL
+        )
+
+        self.addSubInterface(
+            self.data, FIF.PHOTO, "数据采集", NavigationItemPosition.SCROLL
+        )
+        # add navigation items to scroll area
+        # for i in range(1, 21):
+        #     self.navigationInterface.addItem(
+        #         f'folder{i}',
+        #         FIF.FOLDER,
+        #         f'Folder {i}',
+        #         lambda: print('Folder clicked'),
+        #         position=NavigationItemPosition.SCROLL
+        #     )
+
+        # add custom widget to bottom
+        self.navigationInterface.addWidget(
+            routeKey="avatar",
+            widget=NavigationAvatarWidget("用户设置", "resource/shoko.png"),
+            onClick=self.showMessageBox,
+            position=NavigationItemPosition.BOTTOM,
+        )
+
+        #!IMPORTANT: don't forget to set the default route key if you enable the return button
+        # qrouter.setDefaultRouteKey(self.stackWidget, self.musicInterface.objectName())
+
+        # set the maximum width
+        self.navigationInterface.setExpandWidth(220)
+
+        self.stackWidget.currentChanged.connect(self.onCurrentInterfaceChanged)
+        self.stackWidget.setCurrentIndex(1)
+
+        # always expand
+        self.navigationInterface.setCollapsible(False)
+
+    def initWindow(self):
+        self.resize(900, 700)
+        self.setWindowIcon(QIcon("resource/logo.png"))
+        self.setWindowTitle("密胺投料控制系统")
+        self.titleBar.setAttribute(Qt.WA_StyledBackground)
+
+        desktop = QApplication.screens()[0].availableGeometry()
+        w, h = desktop.width(), desktop.height()
+        self.move(w // 2 - self.width() // 2, h // 2 - self.height() // 2)
+
+        # NOTE: set the minimum window width that allows the navigation panel to be expanded
+        self.navigationInterface.setMinimumExpandWidth(900)
+        self.navigationInterface.expand(useAni=True)
+
+        self.setQss()
+
+    def addSubInterface(
+        self,
+        interface,
+        icon,
+        text: str,
+        position=NavigationItemPosition.TOP,
+        parent=None,
+    ):
+        """add sub interface"""
+        self.stackWidget.addWidget(interface)
+        self.navigationInterface.addItem(
+            routeKey=interface.objectName(),
+            icon=icon,
+            text=text,
+            onClick=lambda: self.switchTo(interface),
+            position=position,
+            tooltip=text,
+            parentRouteKey=parent.objectName() if parent else None,
+        )
+
+    def setQss(self):
+        color = "dark" if isDarkTheme() else "light"
+        with open(f"resource/{color}/demo.qss", encoding="utf-8") as f:
+            self.setStyleSheet(f.read())
+
+    def switchTo(self, widget):
+        self.stackWidget.setCurrentWidget(widget)
+
+    def onCurrentInterfaceChanged(self, index):
+        widget = self.stackWidget.widget(index)
+        self.navigationInterface.setCurrentItem(widget.objectName())
+
+        #!IMPORTANT: This line of code needs to be uncommented if the return button is enabled
+        # qrouter.push(self.stackWidget, widget.objectName())
+
+    def resizeEvent(self, event):
+        super().resizeEvent(event)
+        self.heightChanged.emit(self.height())
+
+    def showMessageBox(self):
+        w = MessageBox(
+            "支持作者🥰",
+            "个人开发不易，如果这个项目帮助到了您，可以考虑请作者喝一瓶快乐水🥤。您的支持就是作者开发和维护项目的动力🚀",
+            self,
+        )
+        w.yesButton.setText("来啦老弟")
+        w.cancelButton.setText("下次一定")
+
+        if w.exec():
+            QDesktopServices.openUrl(QUrl("https://afdian.net/a/zhiyiYo"))
+
+
+def move_test(pos_list: list):
+    print("移动：", pos_list)
+
+
+# if __name__ == "__main__":
+#     app = QApplication([])
+#     w = Window()
+#     w.position.formsWidget.form_move_signal.connect(move_test)
+#     w.show()
+#     app.exec()

mi_an_main.py

@@ -0,0 +1,8 @@
+from PySide6.QtWidgets import QApplication
+from app.controller.mi_an.main_controller import MainController
+
+if __name__ == "__main__":
+    app = QApplication([])
+    controller = MainController()
+    controller.showMainWindow()
+    app.exec()