117 lines
4.0 KiB
Python
117 lines
4.0 KiB
Python
from ...view.mi_an_main_window import Window as MainWindow
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from ...view.cood_forms_interface import CoordinateFormsWidget
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from ...view.cood_forms_interface import CoordinateTableWidget
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from typing import TypedDict
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from ...service.robot_service import RobotService
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# 法奥机器人
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from fairino import Robot
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# 子界面管理
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class SubViewsDict(TypedDict):
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position: CoordinateFormsWidget
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class MainController:
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def __init__(self):
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# 主界面
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self.main_window = MainWindow()
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# 初始化子界面
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self._initSubViews()
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# 初始化子控制器
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self._initSubControllers()
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# 机器人实例
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self.robot_client = Robot.RPC("192.168.58.2")
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self.robot_service = RobotService(self.robot_client)
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self.__connectSignals()
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def _initSubViews(self):
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self.sub_views: SubViewsDict = {
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"system": self.main_window.system, # 系统设置
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"product": self.main_window.product, # 生产界面
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"robot": self.main_window.robot, # 机器臂基础设置
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"io": self.main_window.io, # io面板
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"position": self.main_window.position.formsWidget, # 点位设置
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"basic": self.main_window.basic, # 基础设置
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"point": self.main_window.point, # 点位调试
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"other": self.main_window.other, # 其他设置
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"data": self.main_window.data, # 数据采集
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}
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def _initSubControllers(self):
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# self.sub_controllers = {
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# "system": SystemController(self.sub_views["system"]),
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# "produce": ProduceController(self.sub_views["produce"]),
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# }
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pass
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def showMainWindow(self):
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self.main_window.show()
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def __connectSignals(self):
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self.sub_views["position"].form_move_signal.connect(self.handleMove)
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self.sub_views["position"].form_update_signal.connect(self.handleGetPosition)
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self.sub_views["position"].form_machine_stop_signal.connect(self.handleMachineStop)
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# 机器臂停止移动
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def handleMachineStop(self):
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self.robot_service.stop_moves()
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# 设置点位
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def handleGetPosition(self, form_obj: CoordinateTableWidget):
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result = self.robot_client.GetActualTCPPose() # 获取 工具坐标
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if isinstance(result, tuple) and len(result) == 2:
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# 成功：解包错误码和位姿
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error, tcp_pos = result
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# print(f"成功，位姿：{tcp_pos}")
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# 保留三位小数
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tcp_pos_rounded = [round(pos, 3) for pos in tcp_pos]
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# print(f"保留三位小数后：{tcp_pos_rounded}")
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else:
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# 失败：result 即为错误码
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print(f"设置位置失败，错误码：{result}")
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return
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form_obj.update_table_data(tcp_pos_rounded)
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# 机器臂移动
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# pos_list 中一定是合法坐标
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def handleMove(self, pos_list: list, name_list: list):
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# print("handleMove 移动 pos_list: ", pos_list)
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# print("handleMove 移动 pos_list: ", name_list)
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# 后续需要根据状态来设置
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tool_id = 1 # 当前 1为吸盘
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vel = 20.0
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# self.robot_service.start_moves(pos_list, name_list, tool_id=tool_id, vel=vel)
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try:
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self.robot_service.start_moves(
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pos_list=pos_list,
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name_list=name_list,
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tool_id=tool_id,
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vel=vel
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)
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except ValueError as e:
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# 处理“坐标列表与名称列表长度不一致”的错误
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print(f"❌ 移动任务提交失败（参数错误）：{str(e)}")
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# for desc_pos in pos_list:
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# print("handleMove 移动 desc_pos: ", pos_list)
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# error_code = self.robot_client.MoveCart(desc_pos=desc_pos, tool=tool_id, user=0,vel=vel)
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# if error_code == 0:
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# print("运动成功")
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# else:
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# print(f"运动失败，错误码: {error_code}")
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