def btnClicked(self):
sender = self.sender()
print(sender.text())
if sender.text() == r'伺服参数设置':
self.sifucanshu_ui.port = self.port
self.sifucanshu_ui.activateWindow()
self.sifucanshu_ui.show()
if sender.text() == r'压力参数设置':
self.yalicanshu_ui.port = self.port
self.yalicanshu_ui.askTimer.start()
self.yalicanshu_ui.activateWindow()
self.yalicanshu_ui.show()
if sender.text() == r'调试参数设置':
self.tiaoshicanshu_ui.activateWindow()
self.tiaoshicanshu_ui.show()
if sender.text() == r'工件参数设置':
self.gongjiancanshu_ui.activateWindow()
self.gongjiancanshu_ui.show()
if sender.text() == r'相机位置计算':
self.cameraPosition_ui.port = self.port
self.cameraPosition_ui.activateWindow()
#self.cameraPosition_ui.openCamera()
self.cameraPosition_ui.show()
if sender.text() == r'相机四孔识别':
self.sikongshibie_ui.port = self.port
self.sikongshibie_ui.activateWindow()
#self.sikongshibie_ui.openCamera()
self.sikongshibie_ui.show()
if sender.text() == r'自动调校':
self.ziDongTiaoJiao_ui.port = self.port
self.ziDongTiaoJiao_ui.activateWindow()
#todo
if self.port:
write_data_to_port(self.port, r'0001000000000005')
#self.ziDongTiaoJiao_ui.openCamera()
self.ziDongTiaoJiao_ui.show()
if sender.text() == r'电压调试':
self.dianyatiaoshi_ui.port = self.port
self.dianyatiaoshi_ui.activateWindow()
self.dianyatiaoshi_ui.show()
if sender.text() == r'零点标定':
if self.port:
write_data_to_port(self.port, r'0001000000000001')
if sender.text() == r'电压对比':
self.adDuiBi_ui.activateWindow()
self.adDuiBi_ui.show()
if self.port:
write_data_to_port(self.port, r'0001000000000002')
if sender.text() == r'关机归位':
if self.port:
write_data_to_port(self.port, r'0001000000000003')
def startWorking(self):
self.pos_x.setText(self.current_x.text())
self.pos_y.setText(self.current_y.text())
zuantou_high = math.floor(self.gongJian.zhuansu / 256)
zuantou_low = int(self.gongJian.zhuansu % 256)
if zuantou_low < 10:
zuantou_low = '0' + str(zuantou_low)
if zuantou_high < 10:
zuantou_high = '0' + str(zuantou_high)
move_up = r'00'
move_down_quick = r'00'
move_down_slow = r'00'
if self.move_up_flag:
move_up = r'01'
if self.move_down_slow_flag:
move_down_slow = r'01'
if self.move_down_quick_flag:
move_down_quick = r'01'
if self.start_flag == False:
start = r'01'
cmd = r'0003' + str(zuantou_high) + str(
zuantou_low
) + move_up + move_down_quick + move_down_slow + start
if self.port:
write_data_to_port(self.port, cmd)
self.start_flag = True
self.start.setText("停止")
else:
QMessageBox.information(self, '串口连接状态', '连接失败',
QMessageBox.Yes)
else:
start = r'00'
cmd = r'0003' + str(zuantou_high) + str(
zuantou_low
) + move_up + move_down_quick + move_down_slow + start
if self.port:
write_data_to_port(self.port, cmd)
self.start.setText("打孔")
self.start_flag = False
def moveRightReleased(self):
if self.port:
write_data_to_port(self.port, r'0004000000000000')
def moveRight(self):
if self.port:
write_data_to_port(self.port, r'0004000000000001')
def moveLeft(self):
if self.port:
write_data_to_port(self.port, r'0004000000000100')
def startClicked(self):
cmd = r'0005000000010000'
#cmd2 = r'0006000000000001'
if self.port:
write_data_to_port(self.port, cmd)
def parse(self, data):
data_splited = []
for i in range(0, 15, 2):
data_splited.append(data[i:i + 2])
# 获取AD值和继电器状态
if data_splited[0] == b'55' and data_splited[1] == b'02':
high = (data_splited[3][0] -
48) if data_splited[3][0] < 58 else data_splited[3][0] - 87
low = (data_splited[3][1] -
48) if data_splited[3][1] < 58 else data_splited[3][1] - 87
high_bin = bin(high)[-4:]
low_bin = bin(low)[-4:]
if len(high_bin) < 4:
high_bin = '0' + high_bin[-1]
if len(low_bin) is 3:
low_bin = '000' + low_bin[-1]
if len(low_bin) is 4:
if low_bin.startswith('b'):
low_bin = '0' + low_bin[-3:]
if low_bin.startswith('0b'):
low_bin = '00' + low_bin[-2:]
# if len(low_bin) is 5:
# low_bin = '0' + low_bin[-3:]
# if len(low_bin) is 6:
# low_bin = low_bin[-4:]
status = (high_bin + low_bin)[-6:]
self.update_relay_status(status)
ad1_high = data_splited[4]
ad1_low = data_splited[5]
ad2_high = data_splited[6]
ad2_low = data_splited[7]
ad1_value = byte_to_oct(ad1_high, ad1_low)
ad2_value = byte_to_oct(ad2_high, ad2_low)
temp1 = float(self.yalicanshu_ui.ad1_value_2.text()) - float(
self.yalicanshu_ui.ad1_value_1.text())
temp2 = float(self.yalicanshu_ui.ad1_pressure_2.text()) - float(
self.yalicanshu_ui.ad1_pressure_1.text())
if not temp2 == 0:
vp = temp1 / temp2
else:
vp = 999
# AD1 平均滤波
self.ad1_value_list.append(ad1_value)
self.ad1_count = self.ad1_count + 1
if self.ad1_count >= 4:
ad1_value = np.mean(self.ad1_value_list)
self.ad1_value_list = []
self.ad1_count = 0
self.yalicanshu_ui.ad1_display.setText(str(ad1_value))
# AD2 平均滤波
self.ad2_value_list.append(ad2_value)
self.ad2_count = self.ad2_count + 1
if self.ad2_count >= 4:
ad2_value = np.mean(self.ad2_value_list)
self.ad2_value_list = []
self.ad2_count = 0
self.yalicanshu_ui.ad2_display.setText(str(ad2_value))
#todo 测试AD2 AD1 压力及电压更新
self.yalicanshu_ui.updateUI()
# 向下位机发送相机XYZ坐标
if data_splited[0] == b'05' and data_splited[1] == b'01':
gongjian = self.ziDongTiaoJiao_ui.gongjian
camera_x = gongjian.c_x
camera_y = gongjian.c_y
camera_z = gongjian.c_z
oct_c_x_high = math.floor(camera_x / 256)
oct_c_x_low = math.floor(camera_x % 256)
oct_c_y_high = math.floor(camera_y / 256)
oct_c_y_low = math.floor(camera_y % 256)
oct_c_z_high = math.floor(camera_z / 256)
oct_c_z_low = math.floor(camera_z % 256)
cmd = r'5001'+oct_to_bin(oct_c_x_high) + \
oct_to_bin(oct_c_x_low) + \
oct_to_bin(oct_c_y_high) + \
oct_to_bin(oct_c_y_low) + \
oct_to_bin(oct_c_z_high) + \
oct_to_bin(oct_c_z_low)
if self.port:
write_data_to_port(self.port, cmd)
# 向下位机发送AD2压力和限压
if data_splited[0] == b'05' and data_splited[1] == b'02':
gongjian = self.ziDongTiaoJiao_ui.gongjian
pressure = gongjian.pressure
ad2 = self.yalicanshu_ui.sensor
xianya = ad2.ad2_max
pressure_high = math.floor(pressure / 256)
pressure_low = math.floor(pressure % 256)
xianya_high = math.floor(xianya / 256)
xianya_low = math.floor(xianya % 256)
cmd = r'05020000' + oct_to_bin(pressure_high) + \
oct_to_bin(pressure_low) + \
oct_to_bin(xianya_high) + \
oct_to_bin(xianya_low)
if self.port:
write_data_to_port(self.port, cmd)
#接收下位机完成步数
if data_splited[0] == b'05' and data_splited[1] == b'04':
# 接收下位机的传感器判断结果，并显示
if data_splited[-1] == b'04':
ad2_status = data_splited[-2]
if ad2_status == b'01':
self.yalicanshu_ui.ad2_pressure.setText(r'传感器错误')
#向下位机发送第四步完成的信号
write_data_to_port(self.port, r'0006000000000004')
# 第五步完成接第六步
if data_splited[-1] == b'05':
cx1 = 0
cy1 = 0
cx2 = 0
cy2 = 0
cx3 = 0
cy3 = 0
try:
srcImage = self.cap_image
self.circle_detector.origin_Image = srcImage
#todo gengxin
recognizedImage, x1, y1, x2, y2, x3, y3 = self.circle_detector.match(
)
if not x1 == -1 and not y1 == -1:
cx1 = x1
cy1 = y1
if not x2 == -1 and not y2 == -1:
cx2 = x2
cy2 = y2
if not x3 == -2 and not y3 == -1:
cx3 = x3
cy3 = y3
except Exception as e:
print(e)
QMessageBox.information(self, '识别结果', '识别失败',
QMessageBox.Yes)
filePath = os.path.join(
r'C:\Users\zyp\PycharmProjects\cv\data', 'test.xlsx')
data_dict = {}
data_dict['x1'] = cx1
data_dict['y1'] = cy1
data_dict['x2'] = cx2
data_dict['y2'] = cy2
data_dict['x3'] = cx3
data_dict['y3'] = cy3
data_dict['c_x'] = self.ziDongTiaoJiao_ui.gongjian.c_x
data_dict['c_y'] = self.ziDongTiaoJiao_ui.gongjian.c_y
data_dict['ad2_pressure'] = float(
self.ziDongTiaoJiao_ui.ad2_pressure.text())
data_dict['angle'] = self.ziDongTiaoJiao_ui.gongjian.angle
data_dict['vision'] = self.ziDongTiaoJiao_ui.gongjian.vision
data_dict[
'pressure'] = self.ziDongTiaoJiao_ui.gongjian.pressure
writeDataForSixStep(filePath, data_dict)
print("第6步 此处进行识别并写excel文件")
write_data_to_port(self.port, r'0006000000000006')
# 下位机第7步完成
if data_splited[-1] == b'07':
cx1 = 0
cy1 = 0
cx2 = 0
cy2 = 0
cx3 = 0
cy3 = 0
try:
srcImage = self.cap_image
self.circle_detector.origin_Image = srcImage
recognizedImage, x1, y1, x2, y2, x3, y3 = self.circle_detector.match(
)
if not x1 == -1 and not y1 == -1:
cx1 = x1
cy1 = y1
if not x2 == -1 and not y2 == -1:
cx2 = x2
cy2 = y2
if not x3 == -2 and not y3 == -1:
cx3 = x3
cy3 = y3
except Exception as e:
print(e)
QMessageBox.information(self, '识别结果', '识别失败',
QMessageBox.Yes)
filePath = os.path.join(
r'C:\Users\zyp\PycharmProjects\cv\data', 'test.xlsx')
data_dict = {}
data_dict['x1'] = cx1
data_dict['y1'] = cy1
data_dict['x2'] = cx2
data_dict['y2'] = cy2
data_dict['x3'] = cx3
data_dict['y3'] = cy3
data_dict['ad2_pressure'] = float(
self.ziDongTiaoJiao_ui.ad2_pressure.text())
writeDataForEightStep(filePath, data_dict)
print("第8步 对工件进行识别 写excel文件")
time.sleep(2)
write_data_to_port(self.port, r'0006000000000008')
#下位机第九步完成
if data_splited[-1] == b'09':
write_data_to_port(self.port, r'5004000000000000')
print(r"下位机第 9 步完成信号收到")
#下位机第十步完成
if data_splited[-1] == b'0a':
write_data_to_port(self.port, r'5004000000000000')
print(r"下位机第 10 步完成信号收到")
#下位机第 11 步完成
if data_splited[-1] == b'0b':
write_data_to_port(self.port, r'5004000000000000')
print(r"下位机第 11 步完成信号收到")
#下位机第 12 步完成
if data_splited[-1] == b'0c':
write_data_to_port(self.port, r'5004000000000000')
print(r"下位机第 12 步完成信号收到")
#下位机第 13 步完成
if data_splited[-1] == b'0d':
time.sleep(2)
print(r'识别工件 并写入excel')
cx1 = 0
cy1 = 0
cx2 = 0
cy2 = 0
cx3 = 0
cy3 = 0
try:
srcImage = self.cap_image
self.circle_detector.origin_Image = srcImage
recognizedImage, x1, y1, x2, y2, x3, y3 = self.circle_detector.match(
)
if not x1 == -1 and not y1 == -1:
cx1 = x1
cy1 = y1
if not x2 == -1 and not y2 == -1:
cx2 = x2
cy2 = y2
if not x3 == -2 and not y3 == -1:
cx3 = x3
cy3 = y3
except Exception as e:
print(e)
QMessageBox.information(self, '识别结果', '识别失败',
QMessageBox.Yes)
filePath = os.path.join(
r'C:\Users\zyp\PycharmProjects\cv\data', 'test.xlsx')
data_dict = {}
data_dict['x1'] = cx1
data_dict['y1'] = cy1
data_dict['x2'] = cx2
data_dict['y2'] = cy2
data_dict['x3'] = cx3
data_dict['y3'] = cy3
writeDataForFourteenStep(filePath, data_dict)
print(r"上位机 14 步识别工件 写入excel")
#通知下位机 上位机的第14步已经完成
write_data_to_port(self.port, r'000600000000000e')
print(r"上位机第14步 读取D26 判断是否正确")
flag = int(readData(filePath, (25, 3)))
unqualified_num = int(
self.ziDongTiaoJiao_ui.unqualified.text())
qualified_num = int(self.ziDongTiaoJiao_ui.qualified.text())
if flag == 0:
self.ziDongTiaoJiao_ui.img_box.setText("打孔位置正确")
self.ziDongTiaoJiao_ui.unqualified.setText(
str(qualified_num + 1))
print(r"打孔合格，读取D27 D28")
##通知下位机第十七步完成
write_data_to_port(self.port, r'0006000000000011')
else:
self.ziDongTiaoJiao_ui.img_box.setText("打孔位置错误")
self.ziDongTiaoJiao_ui.unqualified.setText(
str(unqualified_num + 1))
#通知下位机第十五步完成
write_data_to_port(self.port, r'000600000000000f')
#下位机获取X轴和Y轴的坐标
if data_splited[0] == b'05' and data_splited[1] == b'05':
filePath = os.path.join(r'C:\Users\zyp\PycharmProjects\cv\data',
'test.xlsx')
x, y = readDataForNineStep(filePath)
print("第九步从excel文件中读取数据")
x_high = math.floor(x / 256)
x_low = math.floor(x % 256)
y_high = math.floor(y / 256)
y_low = math.floor(y % 256)
cmd = r'5005'+oct_to_bin(x_high) + \
oct_to_bin(x_low) + \
oct_to_bin(y_high) + \
oct_to_bin(y_low) + \
'0009'
write_data_to_port(self.port, cmd)
#获取转速 和起钻、止钻的位置
if data_splited[0] == b'05' and data_splited[1] == b'03':
gongjian = self.ziDongTiaoJiao_ui.gongjian
qizuan = gongjian.z_start
zhizuan = gongjian.z_stop
zhuansu = gongjian.zhuansu
qizuan_high = math.floor(qizuan / 256)
qizuan_low = math.floor(qizuan % 256)
zhuansu_high = math.floor(zhuansu / 256)
zhuansu_low = math.floor(zhuansu % 256)
zhizuan_high = math.floor(zhizuan / 255)
zhizuan_low = math.floor(zhizuan % 255)
cmd = r'5003'+oct_to_bin(qizuan_high) + \
oct_to_bin(qizuan_low) + \
oct_to_bin(zhizuan_high) + \
oct_to_bin(zhizuan_low) + \
oct_to_bin(zhuansu_high) + \
oct_to_bin(zhuansu_low)
if self.port:
write_data_to_port(self.port, cmd)
#获取游丝角度
if data_splited[0] == b'05' and data_splited[1] == b'07':
gongjian = self.ziDongTiaoJiao_ui.gongjian
yousi = gongjian.yousi_ang
yousi_high = math.floor(yousi / 256)
yousi_low = math.floor(yousi % 256)
cmd = r'5007'+ oct_to_bin(yousi_high) + \
oct_to_bin(yousi_low)+'00000000'
write_data_to_port(self.port, cmd)
#获取钻速
if data_splited[0] == b'05' and data_splited[1] == b'02':
gongjian = self.ziDongTiaoJiao_ui.gongjian
zuansu = gongjian.zuansu
zuansu_high = math.floor(zuansu / 256)
zuansu_low = math.floor(zuansu % 256)
ad2 = self.yalicanshu_ui.sensor
xianya = ad2.ad2_max
pressure_high = math.floor(pressure / 256)
pressure_low = math.floor(pressure % 256)
xianya_high = math.floor(xianya / 256)
xianya_low = math.floor(xianya % 256)
cmd = r'5002' + oct_to_bin(zuansu_high) + \
oct_to_bin(zuansu_low) + \
oct_to_bin(xianya_high) + \
oct_to_bin(xianya_low) + \
oct_to_bin(pressure_high) + \
oct_to_bin(pressure_low)
write_data_to_port(self.port, cmd)
#相机位置计算更新坐标
#TODO 待更新计算公式
if data_splited[0] == b'55' and data_splited[1] == b'04':
x_high = data_splited[2]
x_mid = data_splited[3]
x_low = data_splited[4]
y_high = data_splited[5]
y_mid = data_splited[6]
y_low = data_splited[7]
# x = byte_to_oct(x_high,x_mid, x_low)
high_b1 = x_high[0]
high_b2 = x_high[1]
high_b1 = high_b1 - 48 if high_b1 < 58 else high_b1 - 87
high_b2 = high_b2 - 48 if high_b2 < 58 else high_b2 - 87
mid_b1 = x_mid[0]
mid_b2 = x_mid[1]
mid_b1 = mid_b1 - 48 if mid_b1 < 58 else mid_b1 - 87
mid_b2 = mid_b2 - 48 if mid_b2 < 58 else mid_b2 - 87
low_b1 = x_low[0]
low_b2 = x_low[1]
low_b1 = low_b1 - 48 if low_b1 < 58 else low_b1 - 87
low_b2 = low_b2 - 48 if low_b2 < 58 else low_b2 - 87
x = (high_b1 * 16 + high_b2) * 65536 + (
mid_b1 * 16 + mid_b2) * 256 + (low_b1 * 16 + low_b2)
#y = byte_to_oct(y_high, y_low)
high_b1 = y_high[0]
high_b2 = y_high[1]
high_b1 = high_b1 - 48 if high_b1 < 58 else high_b1 - 87
high_b2 = high_b2 - 48 if high_b2 < 58 else high_b2 - 87
mid_b1 = y_mid[0]
mid_b2 = y_mid[1]
mid_b1 = mid_b1 - 48 if mid_b1 < 58 else mid_b1 - 87
mid_b2 = mid_b2 - 48 if mid_b2 < 58 else mid_b2 - 87
low_b1 = y_low[0]
low_b2 = y_low[1]
low_b1 = low_b1 - 48 if low_b1 < 58 else low_b1 - 87
low_b2 = low_b2 - 48 if low_b2 < 58 else low_b2 - 87
y = (high_b1 * 16 + high_b2) * 65536 + (
mid_b1 * 16 + mid_b2) * 256 + (low_b1 * 16 + low_b2)
self.cameraPosition_ui.current_x.setText(str(round(x / 10000, 3)))
self.cameraPosition_ui.current_y.setText(str(round(y / 10000, 3)))
def sliderMoveRight(self):
if self.port:
write_data_to_port(self.port, r'0004000000000001')
self.sliderMoveRightFlag = True
def sliderMoveLeft(self):
if self.port:
write_data_to_port(self.port, r'0004000000000100')
self.sliderMoveLeftFlag = True
def sliderMoveRightReleased(self):
if self.port and self.sliderMoveRightFlag:
write_data_to_port(self.port, r'0004000000000000')
self.sliderMoveRightFlag = False
def moveToDownSlow(self):
if self.port:
self.move_down_slow_flag = True
cmd = self.constructCMD()
write_data_to_port(self.port, cmd)
self.move_down_slow.setStyleSheet("*{background-color:red}")
def moveDownSlowReleased(self):
if self.port and self.move_down_slow_flag:
self.move_down_slow_flag = False
write_data_to_port(self.port, self.constructCMD())
self.move_down_slow.setStyleSheet(
"background-image: url(:/image/down.png);")
def moveUpRelease(self):
if self.port and self.move_up_flag:
self.move_up_flag = False
write_data_to_port(self.port, self.constructCMD())
self.move_up.setStyleSheet(
"background-image: url(:/image/up.png);")
def moveToUp(self):
if self.port:
self.move_up_flag = True
write_data_to_port(self.port, self.constructCMD())
self.move_up.setStyleSheet("*{background-color:red}")
