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MicScanSystemV1.0
Commit bd7c532f authored by 徐生海's avatar 徐生海
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parent 854d2864
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Showing with 351 additions and 8039 deletions
AppBackEnd/AppBusinessController.py
View file @ bd7c532f
......@@ -1043,39 +1043,44 @@ class AppBusinessController(AppBusinessInterface):
logWARNING << message
def waitForChamberAvailable(self, waittimes: int = 30000) -> bool:
isBuzzer : bool = self.isBuzzerAvailable()
isChamberAvailable : bool
isChamberAvailable : bool = False
_waittimes : int = max(30000, waittimes)
isWarning : bool = False
endtime : Qt.QDateTime = Qt.QDateTime.currentDateTime().addMSecs(_waittimes)
warning_string: str = f'片仓没有安装到位 请检查安装好片仓'
if self.system.isEnglishMode():
warning_string = 'The slide cassette is not properly installed. Please verify the installation'
while True:
isChamberAvailable = self.isChamberAvailable()
isBuzzer = self.isBuzzerAvailable()
if isChamberAvailable:
if isBuzzer:
isBuzzer = False
self.setWarning(warning_string, isBuzzer)
break
if not isBuzzer:
try:
if self.system.isEnglishMode():
warning_string = 'The slide cassette is not properly installed. Please verify the installation'
while True:
isChamberAvailable = self.isChamberAvailable()
isBuzzer = self.isBuzzerAvailable()
if isChamberAvailable:
if isBuzzer:
isBuzzer = False
self.setWarning(warning_string, isBuzzer)
break
if not isBuzzer:
isBuzzer = True
self.setWarning(warning_string, isBuzzer)
if Qt.QDateTime.currentDateTime() > endtime:
break
AppTimeLoop.processGlobalEvents(self.system.WarningWaitTimes())
if not isBuzzer:
isBuzzer = True
self.setWarning(warning_string, isBuzzer)
if Qt.QDateTime.currentDateTime() > endtime:
break
AppTimeLoop.processGlobalEvents(self.system.WarningWaitTimes())
except Exception as e:
AppUtils.print_Exception(e)
return isChamberAvailable
def isChamberAvailable(self) -> bool:
isChamberAvailable: bool = False
if self.hasDetection:
isChamberAvailable = self.detection.get_chamber_status()
if isChamberAvailable != self.status.isChamberAvailable():
self.status.setChamber(isChamberAvailable)
try:
if self.hasDetection:
isChamberAvailable = self.detection.get_chamber_status()
if isChamberAvailable != self.status.isChamberAvailable():
self.status.setChamber(isChamberAvailable)
except Exception as e:
AppUtils.print_Exception(e)
return isChamberAvailable
def isBuzzerAvailable(self) -> bool:
......@@ -1806,14 +1811,14 @@ class AppBusinessController(AppBusinessInterface):
listentime: Qt.QDateTime
focusing_times: Qt.QDateTime
isWrong: int = RECODE_FAILURE
position_z: int = focusing_b_z
last_position_z: int = focusing_b_z
# position_z: int = focusing_b_z
# last_position_z: int = focusing_b_z
index: int = 1
maxwaittimes: int = 2000
# maxwaittimes: int = 2000
max_focusing_times: int = 60000
"""开始Z轴定速定焦"""
listentime = Qt.QDateTime.currentDateTime()
begintimes = Qt.QDateTime.currentDateTime()
# listentime = Qt.QDateTime.currentDateTime()
# begintimes = Qt.QDateTime.currentDateTime()
logSCANNING << f"{AppConvert.QDateTimeToString(Qt.QDateTime.currentDateTime())}开始玻片定焦"
"""开始定焦"""
self.microscope.set_z_speed(focusing_z_speed)
......@@ -1837,7 +1842,7 @@ class AppBusinessController(AppBusinessInterface):
item.Level = focusing_status
item.Index = index
index += 1
listentime = Qt.QDateTime.currentDateTime()
# listentime = Qt.QDateTime.currentDateTime()
if isGrabbing:
self.camera.GetFocusingData(item, classifier)
else:
......@@ -1847,7 +1852,7 @@ class AppBusinessController(AppBusinessInterface):
if RECODE_SUCCEED == isWrong:
item.Position_Z = position_z
self.focusing_pool.SendEvent(item)
print(f"一帧定焦数据:{index} {listentime.msecsTo(Qt.QDateTime.currentDateTime())}ms")
# print(f"一帧定焦数据:{index} {listentime.msecsTo(Qt.QDateTime.currentDateTime())}ms")
if index % 5 == 0:
isWrong, Moving, Lower, Upper, Limit, Focus = self.microscope.ZDriverMoveStatus()
if RECODE_SUCCEED == isWrong:
......@@ -1897,13 +1902,13 @@ class AppBusinessController(AppBusinessInterface):
listentime: Qt.QDateTime
focusing_times: Qt.QDateTime
isWrong: int = RECODE_FAILURE
position_z: int = focusing_b_z
last_position_z: int = focusing_b_z
# position_z: int = focusing_b_z
# last_position_z: int = focusing_b_z
index: int = 1
maxwaittimes: int = 10000
max_focusing_times: int = 60000
# max_focusing_times: int = 60000
"""开始Z轴定速定焦"""
begintimes = Qt.QDateTime.currentDateTime()
# begintimes = Qt.QDateTime.currentDateTime()
logSCANNING << f"{AppConvert.QDateTimeToString(Qt.QDateTime.currentDateTime())}开始玻片定焦"
"""开始定焦"""
......@@ -1912,7 +1917,7 @@ class AppBusinessController(AppBusinessInterface):
self.microscope.set_z_range(min(focusing_b_z, focusing_e_z), max(focusing_b_z, focusing_e_z))
self.microscope.POS_CONST_Z(focusing_z_speed)
focusing_times = Qt.QDateTime.currentDateTime()
endtime: Qt.QDateTime = Qt.QDateTime.currentDateTime().addMSecs(maxwaittimes)
# endtime: Qt.QDateTime = Qt.QDateTime.currentDateTime().addMSecs(maxwaittimes)
while True:
if isFilter:
if self.status.focusing_status == ScanStatusLevel.FocusingFinish_Status:
......@@ -1925,18 +1930,19 @@ class AppBusinessController(AppBusinessInterface):
item.Level = focusing_status
item.Index = index
index += 1
listentime = Qt.QDateTime.currentDateTime()
if isGrabbing:
self.camera.GetFocusingData(item, classifier)
else:
self.camera.GetRequestData(item, classifier)
# listentime = Qt.QDateTime.currentDateTime()
# print(f"1一帧定焦数据:{index} {listentime.msecsTo(Qt.QDateTime.currentDateTime())}ms")
isWrong, position_z = self.motion.get_position_z()
"""获取Z轴位置错误 重新移动到目标位置"""
if RECODE_SUCCEED == isWrong:
if isGrabbing:
self.camera.GetFocusingData(item, classifier)
else:
self.camera.GetRequestData(item, classifier)
item.Position_Z = position_z
self.focusing_pool.SendEvent(item)
print(f"2一帧定焦数据:{index} {listentime.msecsTo(Qt.QDateTime.currentDateTime())}ms")
# print(f"2一帧定焦数据:{index} {listentime.msecsTo(Qt.QDateTime.currentDateTime())}ms")
if index % 5 == 0:
isWrong, Moving, Lower, Upper, Limit, Focus = self.microscope.ZDriverMoveStatus()
if RECODE_SUCCEED == isWrong:
......@@ -2345,20 +2351,18 @@ class AppBusinessController(AppBusinessInterface):
"""获取当前位置 如果当前机械臂位置大于安全位置 先回安全位置 再放片"""
self.hitbot.flush_scara_param()
self.hitbot.moveToSafePosition()
# SafeAction: HitBotSafeAction = HitBotSafeAction.getMinPrimaryItem()
# if not isinstance(SafeAction, HitBotModelInterface) or not isinstance(self.hitbot.yPosition, (int, float)):
# self.hitbot.moveToSafePosition()
# elif Float(self.hitbot.yPosition) < float(round(SafeAction.yPosition, 2)):
# self.hitbot.moveToSafePosition()
"""玻片取放片过程中不处理停止业务 只处理暂停业务"""
Action = Actions[0]
if chamber_number == 4 or chamber_number == 9:
self.hitbot.moveToSafePosition(True)
Action.speed = self.system.HitBotSpeed4
elif chamber_number == 5 or chamber_number == 10:
self.hitbot.moveToSafePosition(True)
Action.speed = self.system.HitBotSpeed5
else:
self.hitbot.moveToSafePosition()
isWrong = self.waitForSucceedMoving(Action)
if RECODE_SUCCEED != isWrong:
Actions = HitBotChamberDropAction.getChamberDropActions(chamber_number, row_number)
......
AppBackEnd/BackEndBusiness/ChamberDropBusiness.py
View file @ bd7c532f
......@@ -154,8 +154,8 @@ class ChamberDropBusiness(Qt.QObject, AppBusinessController):
MinChamberNumber, MaxChamberNumber = self.system.getChamberRange ()
if MinChamberNumber <= chamber_number <= MaxChamberNumber and MinRowNumber <= row_number <= MaxRowNumber:
"""如果当前玻片不能取 直接退出"""
if not ChamberStatusModel.IsPickAvailable(chamber_number, row_number):
return RECODE_FAILURE
# if not ChamberStatusModel.IsPickAvailable(chamber_number, row_number):
# return RECODE_FAILURE
if not self.isValid():
return RECODE_FAILURE
if not self.isAvailable:
......
AppBackEnd/BackEndBusiness/ChamberPickBusiness.py
View file @ bd7c532f
......@@ -105,7 +105,12 @@ class ChamberPickBusiness(Qt.QObject, AppBusinessController):
if RECODE_SUCCEED != isWrong:
return isWrong
if isSafe:
self.hitbot.moveToSafePosition()
if chamber_number == 4 or chamber_number == 9:
self.hitbot.moveToSafePosition(True)
elif chamber_number == 5 or chamber_number == 10:
self.hitbot.moveToSafePosition(True)
else:
self.hitbot.moveToSafePosition()
"""处理片仓安装状态"""
while not self.waitForChamberAvailable():
AppTimeLoop.processEvents(self.system.WarningWaitTimes())
......@@ -116,7 +121,12 @@ class ChamberPickBusiness(Qt.QObject, AppBusinessController):
AppTimeLoop.processEvents(self.system.WarningWaitTimes())
if self.status.waitForExitRunning():
if isSafe:
self.hitbot.moveToSafePosition()
if chamber_number == 4 or chamber_number == 9:
self.hitbot.moveToSafePosition(True)
elif chamber_number == 5 or chamber_number == 10:
self.hitbot.moveToSafePosition(True)
else:
self.hitbot.moveToSafePosition()
return RECODE_SUCCEED
isWrong = self.waitForChamberPickSlide(chamber_number, row_number)
......@@ -137,7 +147,12 @@ class ChamberPickBusiness(Qt.QObject, AppBusinessController):
isWrong = self.waitForPickWarning(chamber_number, row_number)
if isSafe and RECODE_SUCCEED == isWrong:
self.hitbot.moveToSafePosition()
if chamber_number == 4 or chamber_number == 9:
self.hitbot.moveToSafePosition(True)
elif chamber_number == 5 or chamber_number == 10:
self.hitbot.moveToSafePosition(True)
else:
self.hitbot.moveToSafePosition()
if isExit:
"""处理暂停 退出"""
......
AppBackEnd/BackEndBusiness/SlideCellFocusingBusiness.py
View file @ bd7c532f
......@@ -497,8 +497,8 @@ class SlideCellFocusingBusiness(Qt.QObject, AppBusinessController):
focusing_z_speed = Focusing.FocusingSpeed
objective_focusing_positions = model.Position_Z #
objective_focusing_difference = abs(model.Position_Z) - FocalDistance
focusing_b_z = max(min(int(objective_focusing_positions - abs(FocalDistance) - abs(focusing_length)), Focus_Upper_Limit), Focus_Lower_Limit)
focusing_e_z = max(min(int(objective_focusing_positions + abs(FocalDistance) + abs(focusing_length)), Focus_Upper_Limit), Focus_Lower_Limit)
focusing_b_z = max(min(int(objective_focusing_positions - abs(FocalDistance) ), Focus_Upper_Limit), Focus_Lower_Limit)
focusing_e_z = max(min(int(objective_focusing_positions + abs(focusing_length) ), Focus_Upper_Limit), Focus_Lower_Limit)
item = model.copy()
item.Index = index
item.Focusing = Focusing
......
AppCore/AppImplsbak/CameraImpl.py deleted 100644 → 0
View file @ 854d2864
#!D:\IDE\Anaconda3\envs\Microscope_Scan python
# -*- coding: UTF-8 -*-
"""
@Author: Administrator
@FileName: CameraImpl.py
@DateTime: 2025/4/9 23:06
@SoftWare: PyCharm
@Author ：xsh
"""
from PyQt5 import Qt
from pypylon import pylon
import numpy as np
import cv2
import asyncio
from abc import abstractmethod
from AppCore.AppContextModels.CameraContext import CameraContext
from AppCore.AppRequestModels.CameraRequest import CameraRequest
from AppCore.AppDBModels.CameraModels.CameraInterface import CameraInterface #
from AppCore.AppDBModels.CameraModels.OtherCameraModel import OtherCameraModel #
from AppCore.AppDBModels.CameraModels.CameraModel import CameraModel #
from AppCore.AppDBModels.CameraModels.CameraColorModel import CameraColorModel #
from AppCore.AppDBModels.SlideModels.SlideModelInterface import SlideModelInterface #
from AppInterfaces.ImplInterface import (ImplInterface, log_exceptions, AppUtils, AppConvert, AppTimeLoop)
from AppInterfaces.SingletonInterface import (SingletonInterface)
from AppUtils.ImageUtils import ImageUtils
from AppSettings.Settings import (RECODE_FAILURE, RECODE_SUCCEED, SIGNAL_CONNECTION_TYPE)
from AppCore.Levels import *
from AppSettings.SystemSetting import SystemSetting, SystemConfig
from AppLog.logHelper import logCAMERA
from AppSettings.AppSetting import AppConfig
from AppSettings.AppGlobalStatus import AppGlobalStatus, AppStatus
from AppCore.ImplInterfaces import CameraImplInterface
CAMERA_DEFAULT_DELAY: int = 50
MaxCameraRequestTimes: int = 1000
class CameraImpl(Qt.QObject, CameraImplInterface, SingletonInterface):
Devices : list[pylon.DeviceInfo] #
Manager : pylon.InstantCamera #
DeviceInfo : pylon.DeviceInfo #
TlFactory : pylon.TlFactory #
Parameter : CameraContext #
Objective : int #
Model : CameraInterface #
Locker: Qt.QMutex = Qt.QMutex()
@classmethod
def GetInstance(cls, *args, **kwargs) -> 'CameraImpl':
return super(CameraImpl, cls).GetInstance(*args, **kwargs)
def __init__(self, context: CameraContext = None, parent: Qt.QObject = None):
super(CameraImpl, self).__init__(parent=parent)
self.Parameter = context
self.Initialization("CameraImpl", self, parent)
def setParameter(self, context: CameraContext):
isOpen: bool = self.IsOpen()
self.deleManager()
self.Parameter = context
self.initManager(self.Parameter)
if isOpen:
self.Open()
def initValue(self):
super(CameraImpl, self).initValue()
if not self.hasTlFactory :
self.initTlFactory()
if not self.hasDevices :
self.initDevices()
if not self.hasParameter :
self.initContext()
self.initModel()
self.initManager(self.Parameter if self.hasParameter() else None)
def initModel(self) -> bool:
if not self.hasObjective :
self.Objective = ObjectiveLevel.ObjectiveNone
if not self.hasModel or self.Model.Level != self.Objective:
self.Model = AppStatus.getCameraModel(self.Objective)
return self.hasModel and self.Objective == self.Model.Level
def initTlFactory(self) -> bool:
if not self.hasTlFactory:
self.TlFactory = pylon.TlFactory.GetInstance()
return self.hasTlFactory
def initDevices(self) -> bool:
self.initTlFactory()
if not self.hasDevices:
if not self.hasTlFactory:
self.Devices = None
else:
self.Devices = self.TlFactory.EnumerateDevices()
if self.hasDevices:
from AppLog.logHelper import logCAMERA
logCAMERA << f'{[device.GetModelName() for device in self.Devices]}'
return self.hasDevices
def initDeviceInfo(self) -> bool:
self.initTlFactory ()
self.initDevices ()
self.initModel ()
if not self.hasDevices or not self.hasModel:
self.DeviceInfo = None
self.deleManager()
else:
for device in self.Devices:
if device.GetVendorName() == self.Model.VendorName and device.GetModelName() == self.Model.ModelName:
self.DeviceInfo = device
break
return self.hasDeviceInfo
def initConnect(self):
super(CameraImpl, self).initConnect()
def deleConnect(self):
super(CameraImpl, self).deleConnect()
def isValid(self) -> bool:
return self.hasManager() and self.hasParameter() and self.hasTlFactory and self.hasDeviceInfo
def IsOpen(self) -> bool:
return self.hasManager() and self.Manager.IsOpen()
def IsGrabbing(self) -> bool:
return self.hasManager() and self.Manager.IsGrabbing()
def isEnabled(self) -> bool:
return self.hasManager() and self.Manager.IsOpen()
def isDisable(self) -> bool:
return not self.isEnabled()
def waitForStopGrabbing(self, waittimes: int = 3000) -> bool:
endtime: Qt.QDateTime
if not self.hasManager():
return False
endtime = Qt.QDateTime.currentDateTime().addMSecs(abs(waittimes))
while True:
if not self.IsGrabbing() or Qt.QDateTime.currentDateTime() > endtime:
break
self.StopGrabbing()
AppTimeLoop.processGlobalEvents(CAMERA_DEFAULT_DELAY)
return self.IsGrabbing()
def waitForClose(self, waittimes: int = 3000) -> bool:
endtime: Qt.QDateTime
if not self.hasManager():
return False
endtime = Qt.QDateTime.currentDateTime().addMSecs(abs(waittimes))
while True:
if not self.IsOpen() or Qt.QDateTime.currentDateTime() > endtime:
break
if not self.Manager.IsOpen():
break
try:
self.Manager.Close()
except Exception as e:
break
AppTimeLoop.processGlobalEvents(CAMERA_DEFAULT_DELAY)
return self.IsOpen()
def isCorrect(self):
if not self.hasObjective:
self.Objective = ObjectiveLevel.ObjectiveNone
if not self.hasDeviceInfo:
self.deleManager()
if not self.hasModel:
self.deleManager()
if self.hasDeviceInfo and self.hasModel:
return self.Model.Level == self.Objective and self.DeviceInfo.GetModelName () == self.Model.ModelName and self.DeviceInfo.GetVendorName() == self.Model.VendorName
return False
def waitForFindDevice(self, waittimes: int = 3000) -> bool:
endtime: Qt.QDateTime
if self.hasManager() and self.isCorrect():
return True
endtime = Qt.QDateTime.currentDateTime().addMSecs(abs(waittimes))
self.initContext()
while True:
self.initManager(self.Parameter)
if self.hasManager() or Qt.QDateTime.currentDateTime() > endtime:
break
AppTimeLoop.processGlobalEvents(CAMERA_DEFAULT_DELAY)
def waitForDeviceOpen(self, waittimes: int = 3000) -> bool:
endtime: Qt.QDateTime
if not self.isCorrect():
return False
if not self.hasManager():
return False
endtime = Qt.QDateTime.currentDateTime().addMSecs(abs(waittimes))
while True:
self.Manager.Open()
if self.IsOpen() or Qt.QDateTime.currentDateTime() > endtime:
break
AppTimeLoop.processGlobalEvents(CAMERA_DEFAULT_DELAY)
return self.IsOpen()
def initContext(self):
if not self.hasParameter():
self.Parameter = AppConfig.cameraConfig
def Open(self, timeOut: int = 1000) -> int:
endtime: Qt.QDateTime
endtime = Qt.QDateTime.currentDateTime().addMSecs(abs(timeOut))
self.initContext()
while True:
if self.waitForFindDevice(timeOut) or Qt.QDateTime.currentDateTime() > endtime:
break
AppTimeLoop.processGlobalEvents(CAMERA_DEFAULT_DELAY)
if not self.hasManager():
return RECODE_FAILURE
endtime = Qt.QDateTime.currentDateTime().addMSecs(abs(timeOut))
while True:
if not self.waitForStopGrabbing(timeOut) or Qt.QDateTime.currentDateTime() > endtime:
break
AppTimeLoop.processGlobalEvents(CAMERA_DEFAULT_DELAY)
endtime = Qt.QDateTime.currentDateTime().addMSecs(abs(timeOut))
while True:
if not self.waitForClose(timeOut) or Qt.QDateTime.currentDateTime() > endtime:
break
AppTimeLoop.processGlobalEvents(CAMERA_DEFAULT_DELAY)
self.Parameter.IsGrabbing = self.IsGrabbing ()
self.Parameter.IsOpen = self.IsOpen ()
try:
self.initManager(self.Parameter)
endtime = Qt.QDateTime.currentDateTime().addMSecs(abs(timeOut))
while True:
if self.waitForDeviceOpen(timeOut) or Qt.QDateTime.currentDateTime() > endtime:
break
AppTimeLoop.processGlobalEvents(CAMERA_DEFAULT_DELAY)
self.Parameter.IsOpen = self.IsOpen ()
self.Parameter.IsGrabbing = self.IsGrabbing()
if self.IsOpen():
self.initCameraConfig()
except Exception as e:
from AppLog.logHelper import logCAMERA
from AppUtils.AppUtils import AppUtils
logCAMERA << AppUtils.toString(e)
return RECODE_SUCCEED if self.IsOpen() else RECODE_FAILURE
def CameraOpen(self, level: int = ObjectiveLevel.ObjectiveNone, timeOut: int = 1000) -> int:
endtime: Qt.QDateTime
endtime = Qt.QDateTime.currentDateTime().addMSecs(abs(timeOut))
self.initContext()
self.Objective = level
while True:
if self.waitForFindDevice(timeOut):
break
if Qt.QDateTime.currentDateTime() > endtime:
break
AppTimeLoop.processGlobalEvents(CAMERA_DEFAULT_DELAY)
if not self.hasManager():
return RECODE_FAILURE
endtime = Qt.QDateTime.currentDateTime().addMSecs(abs(timeOut))
while True:
if not self.waitForStopGrabbing(timeOut):
break
if Qt.QDateTime.currentDateTime() > endtime:
break
AppTimeLoop.processGlobalEvents(CAMERA_DEFAULT_DELAY)
self.Parameter.IsGrabbing = self.IsGrabbing()
self.Parameter.IsOpen = self.IsOpen()
try:
if not self.isCorrect():
self.initManager()
endtime = Qt.QDateTime.currentDateTime().addMSecs(abs(timeOut))
while True:
if self.waitForDeviceOpen(timeOut):
break
if Qt.QDateTime.currentDateTime() > endtime:
break
AppTimeLoop.processGlobalEvents(CAMERA_DEFAULT_DELAY)
self.Parameter.IsGrabbing = self.IsGrabbing ()
self.Parameter.IsOpen = self.IsOpen ()
if self.IsOpen():
self.Model = SystemConfig.getCameraModel(self.Objective)
self.initCameraConfig()
except Exception as e:
from AppLog.logHelper import logCAMERA
from AppUtils.AppUtils import AppUtils
logCAMERA << AppUtils.toString(e)
return RECODE_SUCCEED if self.IsOpen() else RECODE_FAILURE
def setLevel(self, level: int):
from AppSettings.SystemSetting import SystemConfig
self.Objective = level if level in ObjectiveLevel.all() else self.Objective
self.Model = SystemConfig.getCameraModel(level)
self.initCameraConfig()
def setModel(self, level: int):
from AppSettings.SystemSetting import SystemConfig
self.Objective = level if level in ObjectiveLevel.all() else self.Objective
self.Model = SystemConfig.getCameraModel(level)
self.initCameraGama()
def setPixelParameter(self, level: int):
from AppSettings.SystemSetting import SystemConfig
self.Objective = level if level in ObjectiveLevel.all() else self.Objective
self.Model = SystemConfig.getCameraModel(level)
self.initCameraConfig()
def Close(self, timeOut: int = 1000) -> int:
self.initContext()
if self.hasManager():
self.waitForStopGrabbing(timeOut)
self.waitForClose (timeOut)
self.Parameter.IsGrabbing = self.IsGrabbing()
self.Parameter.IsOpen = self.IsOpen()
return RECODE_FAILURE if self.Parameter.IsOpen else RECODE_SUCCEED
def changedObjective(self, level: int, timeOut: int = 1000):
if self.hasObjective and level == self.Objective:
self.setLevel(level)
return RECODE_SUCCEED
else:
self.Close()
return self.CameraOpen(level, timeOut)
def StartGrabbing(self):
if not self.hasManager():
return
if not self.IsOpen():
return
self.initContext()
self.Parameter.IsGrabbing = self.Manager.IsGrabbing()
if self.Manager.IsGrabbing():
return
self.Manager.StartGrabbing(pylon.GrabStrategy_LatestImages)
self.Parameter.IsGrabbing = self.Manager.IsGrabbing()
def Grabbing(self, ):
if not self.hasManager():
return
if not self.IsOpen():
return
self.initContext()
self.Parameter.IsGrabbing = self.Manager.IsGrabbing()
if self.Manager.IsGrabbing():
return
self.Manager.StartGrabbing(pylon.GrabStrategy_LatestImages)
self.Parameter.IsGrabbing = self.Manager.IsGrabbing()
def StopGrabbing(self):
if not self.hasManager():
return
if self.Manager.IsGrabbing():
self.Manager.StopGrabbing()
self.Parameter.IsGrabbing = self.Manager.IsGrabbing()
def isBayer(self) -> bool:
return SystemConfig.isBayer()
def isMoons(self) -> bool:
return SystemConfig.isMoons()
def isOther(self) -> bool:
return SystemConfig.isOther()
def GrabFrame(self) -> np.ndarray:
result_image: np.ndarray = None
from AppLog.logHelper import logCAMERA
from AppUtils.AppUtils import AppUtils
self.initContext()
if not self.hasModel:
return result_image
if self.Parameter.IsOpen:
try:
converter = pylon.ImageFormatConverter() #
converter.OutputBitAlignment = pylon.OutputBitAlignment_MsbAligned #
converter.OutputPixelFormat = pylon.PixelType_RGB8packed #
self.Manager.StartGrabbingMax(int(self.Model.ImageCount))
ImageFrame: pylon.GrabResult = self.Manager.RetrieveResult(int(self.Model.ExposureTime))
if isinstance(ImageFrame, pylon.GrabResult) and ImageFrame.GrabSucceeded():
result_image = converter.Convert(ImageFrame).GetArray().copy()
except Exception as e:
logCAMERA << AppUtils.toString(e)
return result_image
def GrabImage(self) -> np.ndarray:
from AppLog.logHelper import logCAMERA
from AppUtils.AppUtils import AppUtils
result_image: np.ndarray = None
self.initContext()
if not self.hasModel:
return result_image
if self.Parameter.IsOpen and self.Parameter.IsGrabbing:
try:
converter = pylon.ImageFormatConverter() #
converter.OutputBitAlignment = pylon.OutputBitAlignment_MsbAligned #
converter.OutputPixelFormat = pylon.PixelType_RGB8packed #
self.Manager.StartGrabbingMax(int(self.Model.ImageCount))
ImageFrame: pylon.GrabResult = self.Manager.RetrieveResult(int(self.Model.ExposureTime))
if isinstance(ImageFrame, pylon.GrabResult) and ImageFrame.GrabSucceeded():
result_image = converter.Convert(ImageFrame).GetArray().copy()
except Exception as e:
logCAMERA << AppUtils.toString(e)
# logCAMERA << f"读取图像 {'成功' if result_image is not None else '失败'}"
return result_image
def GetImage(self, request: CameraRequest) -> CameraRequest:
if not isinstance(request, CameraRequest):
return request
from AppLog.logHelper import logCAMERA
from AppUtils.AppUtils import AppUtils
result_image: np.ndarray = None
request.StartTime = Qt.QDateTime.currentDateTime()
self.initContext()
if not self.hasModel:
request.ImageSource = result_image
return request
if self.Parameter.IsOpen and self.Parameter.IsGrabbing:
try:
converter = pylon.ImageFormatConverter() #
converter.OutputBitAlignment = pylon.OutputBitAlignment_MsbAligned #
converter.OutputPixelFormat = pylon.PixelType_RGB8packed #
ImageFrame: pylon.GrabResult = self.Manager.RetrieveResult(self.Model.ExposureTime)
if isinstance(ImageFrame, pylon.GrabResult) and ImageFrame.GrabSucceeded():
result_image = converter.Convert(ImageFrame).GetArray().copy()
except Exception as e:
logCAMERA << AppUtils.toString(e)
request .FinishTime = Qt.QDateTime.currentDateTime()
request.ImageSource = result_image
# logCAMERA << f"读取图像 {'成功' if result_image is not None else '失败'}"
return request
def GetQImage(self) -> Qt.QImage:
from AppLog.logHelper import logCAMERA
from AppUtils.AppUtils import AppUtils
result_image: np.ndarray = None
if not self.hasModel:
return Qt.QImage()
if self.Parameter.IsOpen:
try:
converter = pylon.ImageFormatConverter() #
converter.OutputBitAlignment = pylon.OutputBitAlignment_MsbAligned #
converter.OutputPixelFormat = pylon.PixelType_RGB8packed #
self.Manager.StartGrabbingMax(int(self.Model.ImageCount))
ImageFrame: pylon.GrabResult = self.Manager.RetrieveResult(int(self.Model.ExposureTime))
if isinstance(ImageFrame, pylon.GrabResult) and ImageFrame.GrabSucceeded():
result_image = converter.Convert(ImageFrame).GetArray().copy()
except Exception as e:
from AppLog.logHelper import logCAMERA
from AppUtils.AppUtils import AppUtils
logCAMERA << AppUtils.toString(e)
# logCAMERA << f"读取图像 {'成功' if result_image is not None else '失败'}"
if result_image is not None:
w: int = result_image.shape[1]
h: int = result_image.shape[0]
return ImageUtils.cv2_to_QImage(result_image, w, h)
return Qt.QImage()
async def GetMat(self) -> np.ndarray:
result_image = self.GetNumpy()
return result_image
def GetNumpy(self, isMono: bool = True, classifier: str = 'Aberration') -> np.ndarray:
result_image: np.ndarray = None
if not self.hasModel:
return result_image
if self.hasManager() and self.Manager.IsOpen():
try:
ImageFrame: pylon.GrabResult
IsGrabbing = self.Manager.IsGrabbing()
ExposureTime: int
isMono = self.Model.PixelFormat == 'Mono8'
if isMono:
if self.isAberration(classifier):
ExposureTime = self.Model.AberrationExposureTime
elif self.isKaryotyping(classifier):
ExposureTime = self.Model.KaryotypingExposureTime
elif self.isMicronucleus(classifier):
ExposureTime = self.Model.MicronucleusExposureTime
else:
ExposureTime = self.Model.ExposureTime
else:
if self.isAberration(classifier):
ExposureTime = self.Model.AberrationExposureTime
elif self.isKaryotyping(classifier):
ExposureTime = self.Model.KaryotypingExposureTime
elif self.isMicronucleus(classifier):
ExposureTime = self.Model.MicronucleusExposureTime
# isMono = False
else:
ExposureTime = self.Model.MicronucleusExposureTime
# isMono = False
try:
if int(self.Manager.ExposureTime.Value) != ExposureTime:
self.ChangedCameraExposureTime(self.Manager, ExposureTime, self.Model)
except Exception as e:
self.ChangedCameraExposureTime(self.Manager, ExposureTime, self.Model)
# if not self.Manager.IsGrabbing():
# self.Manager.StartGrabbing(pylon.GrabStrategy_LatestImages)
if self.IsGrabbing():
waittimes = int(ExposureTime)
endtime = Qt.QDateTime.currentDateTime().addMSecs(waittimes)
while self.Manager.IsGrabbing():
ImageFrame = self.Manager.RetrieveResult(int(ExposureTime),pylon.TimeoutHandling_ThrowException)
if isinstance(ImageFrame, pylon.GrabResult) and ImageFrame.GrabSucceeded():
source_image = ImageFrame.GetArray()
result_image = self.ImageToColor(source_image, self.Model.PixelFormat, isMono)
break
if Qt.QDateTime.currentDateTime() > endtime:
break
# if not IsGrabbing:
# self.Manager.StopGrabbing()
else:
self.Manager.StartGrabbingMax(int(self.Model.ImageCount))
ImageFrame = self.Manager.RetrieveResult(int(ExposureTime))
if isinstance(ImageFrame, pylon.GrabResult) and ImageFrame.GrabSucceeded():
source_image = ImageFrame.GetArray()
result_image = self.ImageToColor(source_image, self.Model.PixelFormat, isMono)
except Exception as e:
from AppLog.logHelper import logCAMERA
from AppUtils.AppUtils import AppUtils
logCAMERA << AppUtils.toString(e)
return result_image
def CameraReOpen(self, level: int, timeOut: int = 1000):
self.Close(timeOut)
self.deleManager()
self.CameraOpen(level, timeOut)
def StartFocusing(self, level: int, timeOut: int = 1000):
self.Objective = level
if not self.isCorrect():
self.CameraReOpen(level)
if not self.IsOpen():
return
if not self.Manager.IsGrabbing():
self.Manager.StartGrabbing(pylon.GrabStrategy_LatestImages)
self.Parameter.IsGrabbing = self.Manager.IsGrabbing()
def StopFocusing(self):
if not self.IsOpen():
return
if self.IsGrabbing():
self.Manager.StopGrabbing()
self.Parameter.IsGrabbing = self.Manager.IsGrabbing()
def GetFocusingNumpy(self, isMono: bool = True) -> np.ndarray:
result_image: np.ndarray = None
source_image: np.ndarray = None
if not self.hasModel or not self.hasManager():
return result_image
try:
ExposureTime: int = self.Model.ExposureTime
try:
if int(self.Manager.ExposureTime.Value) != ExposureTime:
self.ChangedCameraExposureTime(self.Manager, ExposureTime, self.Model)
except Exception as e:
self.ChangedCameraExposureTime(self.Manager, ExposureTime, self.Model)
_isMono: bool = self.Model.isMono()
if self.Manager.IsGrabbing():
waittimes = int(ExposureTime)
endtime = Qt.QDateTime.currentDateTime().addMSecs(waittimes)
while self.Manager.IsGrabbing():
ImageFrame = self.Manager.RetrieveResult(int(ExposureTime), pylon.TimeoutHandling_ThrowException)
if isinstance(ImageFrame, pylon.GrabResult) and ImageFrame.GrabSucceeded():
source_image = ImageFrame.GetArray()
result_image = self.ImageToColor(source_image, self.Model.PixelFormat, _isMono)
break
if Qt.QDateTime.currentDateTime() > endtime:
break
else:
self.Manager.StartGrabbingMax(int(self.Model.ImageCount))
ImageFrame: pylon.GrabResult = self.Manager.RetrieveResult(int(ExposureTime))
if ImageFrame is not None and ImageFrame.GrabSucceeded():
source_image = ImageFrame.GetArray()
result_image = self.ImageToColor(source_image, self.Model.PixelFormat, _isMono)
except Exception as e:
AppUtils.print_Exception(e)
return result_image
def GetFocusingData(self, classifier: str = 'Aberration') -> np.ndarray:
result_image: np.ndarray = None
source_image: np.ndarray = None
if not self.hasModel or not self.hasManager():
return result_image
try:
ExposureTime: int
isMono: bool = True
if self.isAberration(classifier):
ExposureTime = self.Model.AberrationExposureTime
elif self.isMicronucleus(classifier):
ExposureTime = self.Model.MicronucleusExposureTime
isMono = False
elif self.isKaryotyping(classifier):
ExposureTime = self.Model.KaryotypingExposureTime
else:
ExposureTime = self.Model.ExposureTime
try:
if int(self.Manager.ExposureTime.Value) != ExposureTime:
self.ChangedCameraExposureTime(self.Manager, ExposureTime, self.Model)
except Exception as e:
self.ChangedCameraExposureTime(self.Manager, ExposureTime, self.Model)
if not self.Manager.IsGrabbing():
self.Manager.StartGrabbing(pylon.GrabStrategy_LatestImages)
if self.Manager.IsGrabbing():
try:
if int(self.Manager.ExposureTime.Value) != ExposureTime:
self.ChangedCameraExposureTime(self.Manager, ExposureTime, self.Model)
except Exception as e:
self.ChangedCameraExposureTime(self.Manager, ExposureTime, self.Model)
waittimes = int(ExposureTime)
endtime = Qt.QDateTime.currentDateTime().addMSecs(waittimes)
while self.Manager.IsGrabbing():
ImageFrame = self.Manager.RetrieveResult(int(ExposureTime), pylon.TimeoutHandling_ThrowException)
if isinstance(ImageFrame, pylon.GrabResult) and ImageFrame.GrabSucceeded():
source_image = ImageFrame.GetArray()
result_image = self.ImageToColor(source_image, self.Model.PixelFormat, isMono)
break
if Qt.QDateTime.currentDateTime() > endtime:
break
except Exception as e:
AppUtils.print_Exception(e)
return result_image
def GetRequestData(self, request: CameraRequest, classifier: str = 'Aberration') -> int:
isWrong: int = RECODE_FAILURE
camera: CameraRequest
if isinstance(request, CameraRequest):
if not request.has_StartTime:
request.StartTime = Qt.QDateTime.currentDateTime()
request.ImageSource = self.GetNumpyData(classifier)
request.FinishTime = Qt.QDateTime.currentDateTime()
isWrong = RECODE_SUCCEED if request.hasImageSource else RECODE_FAILURE
return isWrong
def GetNumpyData(self, classifier: str = 'Aberration') -> np.ndarray:
result_image: np.ndarray = None
if not self.hasModel:
return result_image
if self.Parameter.IsOpen:
try:
ImageFrame: pylon.GrabResult
ExposureTime: int
isMono: bool = True
IsGrabbing = self.Manager.IsGrabbing()
if self.isAberration(classifier):
ExposureTime = self.Model.AberrationExposureTime
elif self.isMicronucleus(classifier):
ExposureTime = self.Model.MicronucleusExposureTime
isMono = False
elif self.isKaryotyping(classifier):
ExposureTime = self.Model.KaryotypingExposureTime
else:
ExposureTime = self.Model.ExposureTime
try:
if int(self.Manager.ExposureTime.Value) != ExposureTime:
self.ChangedCameraExposureTime(self.Manager, ExposureTime, self.Model)
except Exception as e:
self.ChangedCameraExposureTime(self.Manager, ExposureTime, self.Model)
if not self.Manager.IsGrabbing():
self.Manager.StartGrabbing(pylon.GrabStrategy_LatestImages)
if self.IsGrabbing():
waittimes = int(ExposureTime)
endtime = Qt.QDateTime.currentDateTime().addMSecs(waittimes)
while self.Manager.IsGrabbing():
ImageFrame = self.Manager.RetrieveResult(int(ExposureTime),pylon.TimeoutHandling_ThrowException)
if isinstance(ImageFrame, pylon.GrabResult) and ImageFrame.GrabSucceeded():
source_image = ImageFrame.GetArray()
result_image = self.ImageToColor(source_image, self.Model.PixelFormat, isMono)
break
if Qt.QDateTime.currentDateTime() > endtime:
break
except Exception as e:
from AppLog.logHelper import logCAMERA
from AppUtils.AppUtils import AppUtils
logCAMERA << AppUtils.toString(e)
return result_image
def ImageToColor(self, image: np.ndarray, pixel_fmt: str, isMono: bool = False) -> np.ndarray:
img: np.ndarray = None
try:
if pixel_fmt == 'Mono8':
img = cv2.cvtColor(image, cv2.COLOR_GRAY2RGB)
elif pixel_fmt == 'BayerGR8':
if isMono:
img = cv2.cvtColor(image, cv2.COLOR_BAYER_GR2GRAY)
else:
img = cv2.cvtColor(image, cv2.COLOR_BAYER_GR2RGB)
elif pixel_fmt == 'BayerRG8':
if isMono:
img = cv2.cvtColor(image, cv2.COLOR_BAYER_RG2GRAY)
else:
img = cv2.cvtColor(image, cv2.COLOR_BAYER_RG2RGB)
elif pixel_fmt == 'BayerGB8':
if isMono:
img = cv2.cvtColor(image, cv2.COLOR_BAYER_GB2GRAY)
else:
img = cv2.cvtColor(image, cv2.COLOR_BAYER_BG2RGB)
elif pixel_fmt == 'BayerBG8':
if isMono:
img = cv2.cvtColor(image, cv2.COLOR_BAYER_BG2GRAY)
else:
img = cv2.cvtColor(image, cv2.COLOR_BAYER_BG2RGB)
elif pixel_fmt == 'BayerGR12':
if isMono:
img = cv2.cvtColor(image, cv2.COLOR_BAYER_GR2GRAY)
else:
img = cv2.cvtColor(image, cv2.COLOR_BAYER_GR2RGB)
elif pixel_fmt == 'BayerGR12p':
if isMono:
img = cv2.cvtColor(image, cv2.COLOR_BAYER_GR2GRAY)
else:
img = cv2.cvtColor(image, cv2.COLOR_BAYER_GR2RGB)
elif pixel_fmt == 'BayerRG12':
if isMono:
img = cv2.cvtColor(image, cv2.COLOR_BAYER_RG2GRAY)
else:
img = cv2.cvtColor(image, cv2.COLOR_BAYER_RG2RGB)
elif pixel_fmt == 'BayerRG12p':
if isMono:
img = cv2.cvtColor(image, cv2.COLOR_BAYER_RG2GRAY)
else:
img = cv2.cvtColor(image, cv2.COLOR_BAYER_RG2RGB)
elif pixel_fmt == 'BayerGB12':
if isMono:
img = cv2.cvtColor(image, cv2.COLOR_BAYER_GB2GRAY)
else:
img = cv2.cvtColor(image, cv2.COLOR_BAYER_GB2RGB)
elif pixel_fmt == 'BayerGB12p':
if isMono:
img = cv2.cvtColor(image, cv2.COLOR_BAYER_GB2GRAY)
else:
img = cv2.cvtColor(image, cv2.COLOR_BAYER_GB2RGB)
elif pixel_fmt == 'BayerBG12':
if isMono:
img = cv2.cvtColor(image, cv2.COLOR_BAYER_BG2GRAY)
else:
img = cv2.cvtColor(image, cv2.COLOR_BAYER_BG2RGB)
elif pixel_fmt == 'BayerBG12p':
if isMono:
img = cv2.cvtColor(image, cv2.COLOR_BAYER_BG2GRAY)
else:
img = cv2.cvtColor(image, cv2.COLOR_BAYER_BG2RGB)
elif pixel_fmt == 'RGB8':
if isMono:
img = cv2.cvtColor(image, cv2.COLOR_RGB2GRAY)
else:
img = image
elif pixel_fmt == 'BGR8':
if isMono:
img = cv2.cvtColor(image, cv2.COLOR_BGR2GRAY)
else:
img = cv2.cvtColor(image, cv2.COLOR_BGR2RGB)
if img is not None and len(img.shape) <= 2:
img = np.stack((img, ) * 3, axis= -1)
pass
except Exception as e:
AppUtils.print_Exception(e)
return img
def GetFrame(self, request: CameraRequest) -> CameraRequest:
if not isinstance(request, CameraRequest):
return request
from AppLog.logHelper import logCAMERA
from AppUtils.AppUtils import AppUtils
result_image: np.ndarray = None
request .StartTime = Qt.QDateTime.currentDateTime()
if not self.hasModel:
request.ImageSource = result_image
return request
if self.Parameter.IsOpen:
try:
self.Manager.StartGrabbingMax(int(self.Model.ImageCount))
ImageFrame: pylon.GrabResult = self.Manager.RetrieveResult(int(self.Model.ExposureTime))
if isinstance(ImageFrame, pylon.GrabResult) and ImageFrame.GrabSucceeded():
source_image = ImageFrame.GetArray()
result_image = self.ImageToColor(source_image, self.Model.PixelFormat, ObjectiveLevel.isMono(self.Model.Level))
except Exception as e:
from AppLog.logHelper import logCAMERA
from AppUtils.AppUtils import AppUtils
logCAMERA << AppUtils.toString(e)
request .FinishTime = Qt.QDateTime.currentDateTime()
request .ImageSource = result_image
# logCAMERA << f"读取图像 {'成功' if result_image is not None else '失败'}"
return request
def GetRequest(self, request: CameraRequest, isMono: bool = True, classifier: str = 'Aberration') -> int:
isWrong: int = RECODE_FAILURE
camera: CameraRequest
if isinstance(request, CameraRequest):
if not request.has_StartTime:
request.StartTime = Qt.QDateTime.currentDateTime()
request.ImageSource = self.GetNumpy(isMono, classifier)
request.FinishTime = Qt.QDateTime.currentDateTime()
isWrong = RECODE_SUCCEED if request.hasImageSource else RECODE_FAILURE
return isWrong
def RequestMultiple(self, parameter: CameraInterface, ExposureTimes: list[int]) -> list[np.ndarray]:
images: list[np.ndarray] = self.RequestMultipleNumpy(parameter, ExposureTimes)
self.StopGrabbing()
self.setRequestParameter(self.Manager, parameter, parameter.ExposureTime)
return images
def RequestMultipleArray(self, parameter: CameraInterface, ExposureTimes: list[int], ImageArray: list[np.ndarray], isMono: bool = True):
if parameter is None:
return
self.ChangedCameraParameter(self.Manager, parameter)
self.RequestMultipleNumpyArray(parameter, ExposureTimes, ImageArray, isMono)
self.ChangedCameraExposureTime(self.Manager, parameter.ExposureTime, self.Model)
return
def RequestNumpy(self, parameter: CameraInterface, isMono: bool = True) -> np.ndarray:
from AppLog.logHelper import logCAMERA
from AppUtils.AppUtils import AppUtils
result_image: np.ndarray = None
if not isinstance(parameter, CameraInterface):
return result_image
ExposureTime: int = int(parameter.ExposureTime)
if not isinstance(ExposureTime, (float, int)):
return result_image
if self.Parameter.IsOpen:
try:
result_image = None
IsGrabbing = self.Manager.IsGrabbing()
self.ChangedCameraExposureTime(self.Manager, ExposureTime, self.Model)
if self.Manager.IsGrabbing():
if not self.Manager.IsGrabbing():
self.Manager.StartGrabbing(pylon.GrabStrategy_LatestImages)
waittimes = int(ExposureTime)
endtime = Qt.QDateTime.currentDateTime().addMSecs(waittimes)
while self.Manager.IsGrabbing():
ImageFrame = self.Manager.RetrieveResult(int(ExposureTime), pylon.TimeoutHandling_ThrowException)
if isinstance(ImageFrame, pylon.GrabResult) and ImageFrame.GrabSucceeded():
source_image = ImageFrame.GetArray()
result_image = self.ImageToColor(source_image, self.Model.PixelFormat, isMono)
break
if Qt.QDateTime.currentDateTime() > endtime:
break
else:
self.Manager.StartGrabbingMax(int(parameter.ImageCount))
ImageFrame: pylon.GrabResult = self.Manager.RetrieveResult(int(ExposureTime))
if ImageFrame is not None and ImageFrame.GrabSucceeded():
source_image = ImageFrame.GetArray()
result_image = self.ImageToColor(source_image, self.Model.PixelFormat, isMono)
except Exception as e:
from AppLog.logHelper import logCAMERA
from AppUtils.AppUtils import AppUtils
logCAMERA << AppUtils.toString(e)
return result_image
def RequestMultipleImage(self, parameter: CameraInterface, ExposureTime: int, isMono: bool = True) -> np.ndarray:
from AppLog.logHelper import logCAMERA
from AppUtils.AppUtils import AppUtils
if not isinstance(parameter, CameraInterface) or not isinstance(ExposureTime, (int, float)):
return None
result_image: np.ndarray = None
if self.Parameter.IsOpen:
try:
result_image = None
self.ChangedCameraExposureTime(self.Manager, ExposureTime, self.Model)
if self.Manager.IsGrabbing():
waittimes = int(ExposureTime)
endtime = Qt.QDateTime.currentDateTime().addMSecs(waittimes)
while self.Manager.IsGrabbing():
ImageFrame = self.Manager.RetrieveResult(int(ExposureTime), pylon.TimeoutHandling_ThrowException)
if isinstance(ImageFrame, pylon.GrabResult) and ImageFrame.GrabSucceeded():
source_image = ImageFrame.GetArray()
result_image = self.ImageToColor(source_image, self.Model.PixelFormat, isMono)
break
if Qt.QDateTime.currentDateTime() > endtime:
break
else:
self.Manager.StartGrabbingMax(int(parameter.ImageCount))
ImageFrame: pylon.GrabResult = self.Manager.RetrieveResult(int(ExposureTime))
if ImageFrame is not None and ImageFrame.GrabSucceeded():
source_image = ImageFrame.GetArray()
result_image = self.ImageToColor(source_image, self.Model.PixelFormat, isMono)
if result_image is not None:
if len(result_image.shape) == 2:
result_image = np.stack((result_image,) * 3, axis=-1)
except Exception as e:
from AppLog.logHelper import logCAMERA
from AppUtils.AppUtils import AppUtils
logCAMERA << AppUtils.toString(e)
return result_image
def RequestMultipleNumpy(self, parameter: CameraInterface, ExposureTimes: list[int]) -> list[np.ndarray]:
from AppLog.logHelper import logCAMERA
from AppUtils.AppUtils import AppUtils
if not isinstance(parameter, CameraInterface) or not isinstance(ExposureTimes, list) or len(ExposureTimes) <= 0:
return None
isMono : bool = parameter.isMono()
images : list[np.ndarray] = []
ImageFrame : pylon.GrabResult
Index : int = 0
MaxLength : int = len(ExposureTimes)
ImageFrame : pylon.GrabResult
result_image : np.ndarray = None
waittimes : int
ExposureTime : int
endtime : Qt.QDateTime
converter : pylon.ImageFormatConverter
if self.Parameter.IsOpen:
try:
for Index, ExposureTime in enumerate(ExposureTimes):
result_image = None
self.ChangedCameraExposureTime(self.Manager, ExposureTime, self.Model)
if self.Manager.IsGrabbing():
waittimes = int(ExposureTime)
endtime = Qt.QDateTime.currentDateTime().addMSecs(waittimes)
while self.Manager.IsGrabbing():
ImageFrame = self.Manager.RetrieveResult(int(ExposureTime), pylon.TimeoutHandling_ThrowException)
if isinstance(ImageFrame, pylon.GrabResult) and ImageFrame.GrabSucceeded():
source_image = ImageFrame.GetArray()
result_image = self.ImageToColor(source_image, self.Model.PixelFormat, isMono)
break
if Qt.QDateTime.currentDateTime() > endtime:
break
else:
self.Manager.StartGrabbingMax(int(parameter.ImageCount))
ImageFrame: pylon.GrabResult = self.Manager.RetrieveResult(int(ExposureTime))
if ImageFrame is not None and ImageFrame.GrabSucceeded():
source_image = ImageFrame.GetArray()
result_image = self.ImageToColor(source_image, self.Model.PixelFormat, isMono)
images.append(result_image)
except Exception as e:
from AppLog.logHelper import logCAMERA
from AppUtils.AppUtils import AppUtils
logCAMERA << AppUtils.toString(e)
return images
def RequestMultipleNumpyArray(self, parameter: CameraInterface, ExposureTimes: list[int], ImageArray: list[np.ndarray], isMono: bool = True) -> list[np.ndarray]:
from AppLog.logHelper import logCAMERA
from AppUtils.AppUtils import AppUtils
if not isinstance(parameter, CameraInterface) or not isinstance(ExposureTimes, list) or len(ExposureTimes) <= 0:
return
if not isinstance(ImageArray, list):
return
if not self.Parameter.IsOpen:
return
ImageFrame : pylon.GrabResult #
Index : int = 0 #
MaxLength : int = len(ExposureTimes) #
ImageFrame : pylon.GrabResult #
result_image : np.ndarray = None #
waittimes : int #
ExposureTime : int #
endtime : Qt.QDateTime #
converter : pylon.ImageFormatConverter #
if self.Parameter.IsOpen:
try:
for Index, ExposureTime in enumerate(ExposureTimes):
result_image = None
self.ChangedCameraExposureTime(self.Manager, ExposureTime, self.Model)
if self.Manager.IsGrabbing():
waittimes = int(ExposureTime)
endtime = Qt.QDateTime.currentDateTime().addMSecs(waittimes)
while self.Manager.IsGrabbing():
ImageFrame = self.Manager.RetrieveResult(int(ExposureTime), pylon.TimeoutHandling_ThrowException)
if isinstance(ImageFrame, pylon.GrabResult) and ImageFrame.GrabSucceeded():
source_image = ImageFrame.GetArray()
result_image = self.ImageToColor(source_image, self.Model.PixelFormat, isMono)
ImageArray.append(result_image)
break
if Qt.QDateTime.currentDateTime() > endtime:
break
else:
self.Manager.StartGrabbingMax(int(parameter.ImageCount))
ImageFrame: pylon.GrabResult = self.Manager.RetrieveResult(int(ExposureTime))
if ImageFrame is not None and ImageFrame.GrabSucceeded():
source_image = ImageFrame.GetArray()
result_image = self.ImageToColor(source_image, self.Model.PixelFormat, isMono)
ImageArray.append(result_image)
except Exception as e:
from AppLog.logHelper import logCAMERA
from AppUtils.AppUtils import AppUtils
logCAMERA << AppUtils.toString(e)
# self.StopGrabbing()
return
def CameraRequest(self, model: CameraRequest, parameter: CameraInterface):
isWrong: int = RECODE_FAILURE
camera: CameraRequest
if isinstance(model, CameraRequest):
camera = model
else:
return isWrong
camera.StartTime = Qt.QDateTime.currentDateTime()
camera.ImageSource = self.RequestNumpy(parameter)
isWrong = RECODE_SUCCEED
camera.FinishTime = Qt.QDateTime.currentDateTime()
return isWrong
def GetStatus(self) -> CameraInterface:
from AppLog.logHelper import logCAMERA
from AppUtils.AppUtils import AppUtils
Status: CameraInterface = SystemConfig.getCameraModel(self.Objective)
if self.hasManager():
self.getCameraStatus(self.Manager, Status)
self.CameraGetStatus.emit(Status)
logCAMERA << f"获取相机状态"
return Status
def setGain(self, value):
try:
self.Manager.Gain.Value = float(value)
except Exception as e:
from AppLog.logHelper import logCAMERA
from AppUtils.AppUtils import AppUtils
logCAMERA << AppUtils.toString(e)
def setGamma(self, value):
try:
self.Manager.Gamma.Value = float(value)
except Exception as e:
from AppLog.logHelper import logCAMERA
from AppUtils.AppUtils import AppUtils
logCAMERA << AppUtils.toString(e)
def setExposureTime(self, value):
try:
self.Manager.ExposureTime.Value = float(value) # 曝光时间
except Exception as e:
from AppLog.logHelper import logCAMERA
from AppUtils.AppUtils import AppUtils
logCAMERA << AppUtils.toString(e)
def setImageROI(self, offsetX, offsetY, width, height, CenterX: bool = True, CenterY: bool = True):
try:
# 读取相机最大宽度和高度
MAX_W: int = int(self.Manager.WidthMax .Value)
MAX_H: int = int(self.Manager.HeightMax.Value)
ROI_W: int = offsetX * 2 + width
ROI_H: int = offsetY * 2 + height
_OffsetX: int = int(offsetX ) if ROI_W <= MAX_W and ROI_H <= MAX_H else self.Parameter.OffsetX
_OffsetY: int = int(offsetY ) if ROI_W <= MAX_W and ROI_H <= MAX_H else self.Parameter.OffsetY
_Dst_W : int = int(width ) if ROI_W <= MAX_W and ROI_H <= MAX_H else self.Parameter.Width
_Dst_H : int = int(height ) if ROI_W <= MAX_W and ROI_H <= MAX_H else self.Parameter.Height
self.Manager.OffsetX.Value = _OffsetX
self.Manager.OffsetY.Value = _OffsetY
self.Manager.Width.Value = _Dst_W
self.Manager.Height.Value = _Dst_H
except Exception as e:
from AppLog.logHelper import logCAMERA
from AppUtils.AppUtils import AppUtils
logCAMERA << AppUtils.toString(e)
def setPixelFormat(self, value: int):
try:
self.Manager.Gamma.Value = int(value)
except Exception as e:
from AppLog.logHelper import logCAMERA
from AppUtils.AppUtils import AppUtils
logCAMERA << AppUtils.toString(e)
def initManager(self, context: CameraContext = None, **args):
from AppLog.logHelper import logCAMERA
from AppUtils.AppUtils import AppUtils
self.initContext()
try:
if not self.initTlFactory():
return
if not self.initDevices():
return
if self.isCorrect():
return
if not self.initDeviceInfo():
return
# print(f'{self.__class__.__name__} load {self.DeviceInfo.GetModelName()} {self.DeviceInfo.GetFullName()}')
self.Manager = pylon.InstantCamera(self.TlFactory.CreateDevice(self.DeviceInfo.GetFullName()))
except Exception as e:
error: str = AppUtils.toString(e)
logCAMERA << error
self.Manager = None
# self.BaslerInfo = None
# self.TlFactory = None
def deleManager(self):
try:
self.StopGrabbing()
self.Close()
if self.hasManager():
del self.Manager
except Exception as e:
pass
self.Manager = None
self.TlFactory = None
self.DeviceInfo = None
pass
def initCameraConfig(self):
if not self.hasManager() or not self.hasDeviceInfo or not self.hasModel:
return
from AppLog.logHelper import logCAMERA
from AppUtils.AppUtils import AppUtils
try:
MAX_W: int = int(self.Manager.WidthMax.Value)
MAX_H: int = int(self.Manager.HeightMax.Value)
try:
self.Manager.Height.Value = int (self.Model.Height ) if int(self.Model.Height) <= MAX_H else int(MAX_H) # 宽度
self.Manager.Width.Value = int (self.Model.Width ) if int(self.Model.Width) <= MAX_W else int(MAX_W) # 高度
self.Manager.CenterX.Value = bool(self.Model.CenterX ) if self.Model.hasCenterX else True # X距中
self.Manager.CenterY.Value = bool(self.Model.CenterY ) if self.Model.hasCenterY else True # X距中
self.Manager.ReverseX.Value = bool(self.Model.ReverseX) if self.Model.hasReverseX else False # X镜像
self.Manager.ReverseY.Value = bool(self.Model.ReverseY) if self.Model.hasReverseY else False # Y镜像
except Exception as e:
AppUtils.print_Exception(e)
if self.Model.hasPixelFormat:
try:
self.Manager.PixelFormat.Value = str(self.Model.PixelFormat)
except Exception as e:
AppUtils.print_Exception(e)
if self.Model.hasExposureTime :
try:
self.Manager.ExposureTime.Value = float(self.Model.ExposureTime) # 曝光时间
except Exception as e:
AppUtils.print_Exception(e)
if self.Model.hasGain :
try:
self.Manager.Gain.Value = float(self.Model.Gain) # 增益数值
except Exception as e:
AppUtils.print_Exception(e)
if self.Model.hasGamma :
try:
self.Manager.Gamma.Value = float(self.Model.Gamma) # 伽马数值
except Exception as e:
AppUtils.print_Exception(e)
if self.Model.hasBlackLevel :
try:
self.Manager.BlackLevel.Value = float(self.Model.BlackLevel) # 黑电平值
except Exception as e:
AppUtils.print_Exception(e)
if self.Model.hasExposureMode:
try:
self.Manager.ExposureMode.IntValue = int(self.Model.ExposureMode)
except Exception as e:
AppUtils.print_Exception(e)
if self.Model.hasTriggerMode:
try:
self.Manager.TriggerMode.IntValue = int(self.Model.TriggerMode) # ('Off', 'On')
except Exception as e:
AppUtils.print_Exception(e)
if self.Model.hasShutterMode:
try:
self.Manager.ShutterMode.IntValue = int(self.Model.ShutterMode)
except Exception as e:
AppUtils.print_Exception(e)
if self.Model.hasGainAuto:
try:
self.Manager.GainAuto.IntValue = int(self.Model.GainAuto) # 自动增益
except Exception as e:
AppUtils.print_Exception(e)
if self.DeviceInfo.GetModelName() == SystemConfig.BayerCameraName:
'''设置彩色相机'''
if self.Model.hasLightSourcePreset:
try:
self.Manager.LightSourcePreset.Value = str(self.Model.LightSourcePreset)
except Exception as e:
AppUtils.print_Exception(e)
try:
ColorParameter: CameraColorModel = CameraColorModel.getConfig(self.Model.Level)
self.Manager.BalanceRatioSelector .IntValue = 0
self.Manager.BalanceRatio .Value = ColorParameter.BalanceRatio0
self.Manager.BalanceRatioSelector .IntValue = 1
self.Manager.BalanceRatio .Value = ColorParameter.BalanceRatio1
self.Manager.BalanceRatioSelector .IntValue = 2
self.Manager.BalanceRatio .Value = ColorParameter.BalanceRatio2
self.Manager.ColorTransformationValueSelector.IntValue = int(0)
self.Manager.ColorTransformationValue .IntValue = int(ColorParameter.ColorTransformationValue0)
self.Manager.ColorTransformationValueSelector.IntValue = int(1)
self.Manager.ColorTransformationValue .IntValue = int(ColorParameter.ColorTransformationValue1)
self.Manager.ColorTransformationValueSelector.IntValue = int(2)
self.Manager.ColorTransformationValue .IntValue = int(ColorParameter.ColorTransformationValue2)
self.Manager.ColorTransformationValueSelector.IntValue = int(3)
self.Manager.ColorTransformationValue .IntValue = int(ColorParameter.ColorTransformationValue0)
self.Manager.ColorTransformationValueSelector.IntValue = int(4)
self.Manager.ColorTransformationValue .IntValue = int(ColorParameter.ColorTransformationValue1)
self.Manager.ColorTransformationValueSelector.IntValue = int(5)
self.Manager.ColorTransformationValue .IntValue = int(ColorParameter.ColorTransformationValue2)
self.Manager.ColorTransformationValueSelector.IntValue = int(6)
self.Manager.ColorTransformationValue .IntValue = int(ColorParameter.ColorTransformationValue20)
self.Manager.ColorTransformationValueSelector.IntValue = int(7)
self.Manager.ColorTransformationValue .IntValue = int(ColorParameter.ColorTransformationValue21)
self.Manager.ColorTransformationValueSelector.IntValue = int(8)
self.Manager.ColorTransformationValue .IntValue = int(ColorParameter.ColorTransformationValue22)
except Exception as e:
AppUtils.print_Exception(e)
except Exception as e:
logCAMERA << AppUtils.toString(e)
else:
logCAMERA << "设置相机参数"
def initCameraGama(self):
if not self.IsOpen():
return
try:
if self.Model.hasGain:
try:
self.Manager.Gain.Value = float(self.Model.Gain) # 增益数值
except Exception as e:
AppUtils.print_Exception(e)
if self.Model.hasGamma:
try:
self.Manager.Gamma.Value = float(self.Model.Gamma) # 伽马数值
except Exception as e:
AppUtils.print_Exception(e)
if self.Model.hasBlackLevel:
try:
self.Manager.BlackLevel.Value = float(self.Model.BlackLevel) # 黑电平值
except Exception as e:
AppUtils.print_Exception(e)
except Exception as e:
AppUtils.print_Exception(e)
def WhiteAutoOnce(self):
if self.hasManager() and self.IsOpen():
try:
self.Manager.BalanceWhiteAuto.Value = 'Once' #('Off', 'Once', 'Continuous')
AppTimeLoop.delay(2000)
self.Manager.BalanceWhiteAuto.Value = 'Off'
except Exception as e:
AppUtils.print_Exception(e)
@staticmethod
def getCameraStatus(camera: pylon.InstantCamera, Status: CameraInterface):
if not isinstance(camera, pylon.InstantCamera) or not isinstance(Status, CameraInterface):
return
# 读取相机状态
try:
Status.ExposureMode = camera.ExposureMode .Value
Status.TriggerMode = camera.TriggerMode .Value
Status.ShutterMode = camera.ShutterMode .Value
Status.ExposureAuto = camera.ExposureAuto .Value
Status.GainAuto = camera.GainAuto .Value
Status.Width = camera.Width .Value
Status.Height = camera.Height .Value
Status.BalanceWhiteAuto = camera.BalanceWhiteAuto .Value
Status.ImageCount = camera.ImageCount .Value
Status.ExposureTime = camera.ExposureTime .Value
Status.R_BalanceRatio = camera.R_BalanceRatio .Value
Status.G_BalanceRatio = camera.G_BalanceRatio .Value
Status.B_BalanceRatio = camera.B_BalanceRatio .Value
Status.Gain = camera.Gain .Value
Status.Gamma = camera.Gamma .Value
Status.BlackLevel = camera.BlackLevel .Value
Status.Axis_Offset_X = camera.Axis_Offset_X .Value
Status.Axis_Offset_Y = camera.Axis_Offset_Y .Value
Status.Image_Offset_W = camera.Image_Offset_W .Value
Status.Image_Offset_H = camera.Image_Offset_H .Value
Status.PixelFormat = camera.PixelFormat .Value
Status.LightSourcePreset = camera.LightSourcePreset .Value
Status.CenterX = camera.CenterX .Value
Status.CenterY = camera.CenterY .Value
Status.ReverseX = camera.ReverseX .Value
Status.ReverseY = camera.ReverseY .Value
except Exception as e:
from AppLog.logHelper import logCAMERA
from AppUtils.AppUtils import AppUtils
logCAMERA << AppUtils.toString(e)
def hasManager (self) -> bool:
return hasattr(self, 'Manager' ) and self.Manager is not None
def hasParameter (self) -> bool:
return hasattr(self, 'Parameter' ) and isinstance(self.Parameter , CameraContext )
@property
def hasDeviceInfo (self) -> bool:
return hasattr(self, 'DeviceInfo') and isinstance(self.DeviceInfo , pylon.DeviceInfo )
@property
def hasTlFactory (self) -> bool:
return hasattr(self, 'TlFactory' ) and isinstance(self.TlFactory , pylon.TlFactory )
@property
def hasDevices (self) -> bool:
return hasattr(self, 'Devices') and isinstance(self.Devices, (list, tuple))
@property
def hasObjective (self) -> bool:
return hasattr(self, 'Objective' ) and isinstance(self.Objective , int )
@property
def hasModel (self) -> bool:
return hasattr(self, 'Model' ) and isinstance(self.Model , CameraInterface )
# AppCamera: CameraImpl = CameraImpl.GetInstance()
\ No newline at end of file
AppCore/AppImplsbak/HitBotImpl.py deleted 100644 → 0
View file @ 854d2864
#!D:\IDE\Anaconda3\envs\Microscope_Scan python
# -*- coding: UTF-8 -*-
"""
@Author: Administrator
@FileName: HitBotImpl.py
@DateTime: 2025/4/8 22:16
@SoftWare: PyCharm
@Author ：xsh
"""
from PyQt5 import Qt, sip
import ctypes
from ctypes import *
from abc import abstractmethod
from AppInterfaces.ImplInterface import (ImplInterface, AppTimeLoop, AppConvert, AppUtils, log_exceptions)
from AppSettings.Settings import (RECODE_FAILURE, RECODE_SUCCEED)
from AppUtils.Float import Float
from AppInterfaces.SingletonInterface import SingletonInterface
from AppCore.Levels import *
from AppCore.AppContextModels.HitBotContext import HitBotContext
from AppCore.AppContextModels.HitBotData import HitBotData
from AppSettings.AppSetting import AppSetting, AppConfig
from AppInterfaces.globalSlot import globalSlot, AppSlot
from AppCore.ImplInterfaces import HitBotImplInterface
from AppCore.AppDBModels.DBModels import *
HITBOT_MOVE_MAX_WAIT_TIMES: int = 30000
HITBOT_MOVE_MIN_WAIT_TIMES: int = 3000
HITBOT_DEFAULT_DELAY: int = 200
LIB_DEFAULT_LOAD_WAIT_TIMES: int = 2000
LIB_DEFAULT_DELAY_TIMES: int = 500
HITBOT_CHECK_DELAY: int = 50
class HitBotImpl(Qt.QObject, HitBotImplInterface, SingletonInterface):
Manager : Qt.QLibrary
Parameter : HitBotContext
UpdateStatus: Qt.pyqtSignal = Qt.pyqtSignal(object, object)
IOLocker : Qt.QReadWriteLock = Qt.QReadWriteLock()
Locker: Qt.QMutex = Qt.QMutex()
@classmethod
def GetInstance(cls, *args, **kwargs) -> 'HitBotImpl':
return super(HitBotImpl, cls).GetInstance(*args, **kwargs)
def __init__(self, context: HitBotContext = None, parent: Qt.QObject = None):
super(HitBotImpl, self).__init__(parent=parent)
self.initImpl(context, parent)
def isValid(self) -> bool:
return self.hasManager and self.hasParameter
def isEnabled(self) -> bool:
return self.isValid() and self.Manager.isLoaded()
def isDisable(self) -> bool:
return not self.isEnabled()
def setParameter(self, value):
isOpen: bool = self.IsOpen()
isEnabled: bool = self.isEnabled()
if isOpen:
self.Close()
if isEnabled:
self.UnLoadLibrary()
self.initManager(value)
if isEnabled:
self.LoadLibrary()
if isOpen:
self.Open()
def initManager(self, context: object, **args):
from AppSettings.AppSetting import AppSetting, AppConfig
if not self.hasParameter or self.Parameter != context:
self.Parameter = context
if not self.hasParameter:
self.Parameter = AppConfig.hitBotConfig
if not self.hasManager:
self.Manager = Qt.QLibrary()
if self.Manager.fileName().lower() != self.Parameter.absoluteFilePath:
if self.Manager.isLoaded():
self.UnLoadLibrary()
if Qt.QLibrary.isLibrary(self.Parameter.absoluteFilePath):
self.Manager.setFileName(self.Parameter.absoluteFilePath)
def deleManager(self):
self.UnLoadLibrary()
self.Manager = None
def LoadLibrary(self, timeout: int = 1000) -> int:
waittimes: int = max(abs(timeout), LIB_DEFAULT_LOAD_WAIT_TIMES)
if not self.isValid():
if not self.hasParameter:
self.Parameter = AppConfig.hitBotConfig
self.initManager(self.Parameter if self.hasParameter else None)
if not self.isValid() or not self.hasManager or not self.hasParameter:
return RECODE_FAILURE
if self.isEnabled():
if self.Manager.fileName().lower() == self.Parameter.absoluteFilePath.lower():
self.Parameter.LibStatus = self.Manager.isLoaded()
return RECODE_SUCCEED if self.Parameter.LibStatus else RECODE_FAILURE
else:
self.UnLoadLibrary(timeout)
self.Parameter.LibStatus = False
self.Manager.setFileName(self.Parameter.absoluteFilePath)
self.Manager.load()
endtime: Qt.QDateTime = Qt.QDateTime.currentDateTime().addMSecs(waittimes)
while True:
if Qt.QDateTime.currentDateTime() > endtime or self.Parameter.LibStatus:
break
self.Parameter.LibStatus = self.Manager.isLoaded()
if not self.Parameter.LibStatus:
self.Manager.setFileName(self.Parameter.absoluteFilePath)
self.Manager.load()
AppTimeLoop.processGlobalEvents(LIB_DEFAULT_DELAY_TIMES)
return RECODE_SUCCEED if self.Parameter.LibStatus else RECODE_FAILURE
def UnLoadLibrary(self, timeout: int = 1000) -> int:
waittimes: int = max(abs(timeout), LIB_DEFAULT_LOAD_WAIT_TIMES)
if not self.isValid():
if not self.hasParameter:
self.Parameter = AppConfig.hitBotConfig
self.initManager(self.Parameter if self.hasParameter else None)
if not self.isValid() or not self.hasManager or not self.hasParameter:
return RECODE_SUCCEED
self.Parameter.LibStatus = self.Manager.isLoaded()
if not self.Manager.isLoaded():
self.Manager.deleteLater()
self.Manager = None
AppTimeLoop.processGlobalEvents(LIB_DEFAULT_DELAY_TIMES)
self.initManager(self.Parameter if self.hasParameter else None)
return RECODE_SUCCEED
endtime: Qt.QDateTime = Qt.QDateTime.currentDateTime().addMSecs(waittimes)
while True:
if Qt.QDateTime.currentDateTime() > endtime or not self.Parameter.LibStatus:
break
self.Parameter.LibStatus = self.Manager.isLoaded()
if self.Parameter.LibStatus:
self.Manager.unload()
AppTimeLoop.processGlobalEvents(LIB_DEFAULT_DELAY_TIMES)
self.Manager.deleteLater()
self.Manager = None
AppTimeLoop.processGlobalEvents(LIB_DEFAULT_DELAY_TIMES)
self.initManager(self.Parameter)
return RECODE_SUCCEED
def ReLoadLibrary(self, timeout: int = 1000) -> int:
self.UnLoadLibrary(timeout)
return self.LoadLibrary(timeout)
@log_exceptions
def resolve(self, symbol: str, c_rec_type, *c_args):
if self.isEnabled() and not AppConvert.isChinese(symbol) and not AppConvert.isEmpty(symbol):
void_pointer: sip.voidptr = self.Manager.resolve(symbol)
return ctypes.CFUNCTYPE(c_rec_type, *c_args)(void_pointer.__int__())
return None
@staticmethod
def copyHitBotData(src: HitBotData, dst: HitBotData):
if not isinstance(src, HitBotData) or not isinstance(dst, HitBotData):
return
for _property in src.fields:
setattr(dst, _property, getattr(src, _property, None))
def getHitBotData(self) -> HitBotData:
self.flushProperty()
return HitBotData.instance(self)
def CurrentHitBotData(self) -> (HitBotData, HitBotModel):
data: HitBotData = HitBotData.instance(self)
model: HitBotModel = HitBotModel.asHitBotData(self)
return data, model
def asStatus(self, state: (HitBotModelInterface)):
self.flushProperty()
if isinstance(state, HitBotData):
self.copyHitBotData(self, state)
elif isinstance(state, HitBotModel, HitBotModelInterface):
state.asObject(self)
pass
def GetHitData(self) -> HitBotData:
return HitBotData.instance(self)
def GetHitPosition(self) -> (HitBotData, HitBotModelInterface):
data: HitBotData = HitBotData.instance(self)
model: HitBotModel = HitBotModel()
model.initProperty()
model.movetype = HitBotMoveType.LMove_XYZR_G
model.xPosition = self.xPosition
model.yPosition = self.yPosition
model.zPosition = self.zPosition
model.rPosition = self.rPosition
model.efg_distance = self.efg_distance
return data, model
def GetHitModel(self) -> HitBotModelInterface:
model: HitBotModel = HitBotModel()
model.initProperty()
model.movetype = HitBotMoveType.LMove_XYZR_G
model.xPosition = self.xPosition
model.yPosition = self.yPosition
model.zPosition = self.zPosition
model.rPosition = self.rPosition
model.efg_distance = self.efg_distance
return model
pass
def GetStatus(self, state: (HitBotModelInterface)) -> (HitBotData, HitBotModel):
self.flushProperty()
data : HitBotData
model : HitBotModel
if isinstance(state, HitBotData):
self.copyHitBotData(self, state)
data = state
model = HitBotModel.asHitBotData(self)
elif isinstance(state, HitBotModel, HitBotModelInterface):
state.asObject(self)
model = state
data = HitBotData.instance(self)
else:
data = HitBotData.instance (self)
model = HitBotModel.asHitBotData(self)
return data, model
def initImpl(self, context: HitBotContext = None, parent: Qt.QObject = None):
self.initManager(context)
self.Initialization("HitBotImpl", self, parent)
def initValue(self):
super(HitBotImpl, self).initValue()
self.initHitbotProperty ()
self.initEncodeProperty ()
self.initGripperProperty()
self.ReLoadLibrary ()
def initProperty(self):
super(HitBotImpl, self).initProperty()
self.initHitbotProperty ()
self.initEncodeProperty ()
self.initGripperProperty ()
def deleProperty(self):
super(HitBotImpl, self).deleProperty()
self.initHitbotProperty()
self.initEncodeProperty()
self.initGripperProperty()
def deleValue(self):
super(HitBotImpl, self).deleValue()
self.Close()
self.UnLoadLibrary()
self.Manager = None
self.Parameter = None
self.initHitbotProperty()
self.initEncodeProperty()
self.initGripperProperty()
def Open(self, timeOut: int = 10000) -> int:
if not self.isValid():
self.initManager(self.Parameter)
if not self.isValid():
return RECODE_FAILURE
if not self.isEnabled():
self.ReLoadLibrary(timeOut)
if not self.isEnabled():
return RECODE_FAILURE
waittimes: int = max(5000, timeOut)
endtime: Qt.QDateTime
endtime = Qt.QDateTime.currentDateTime().addMSecs(waittimes)
self.net_port_initial()
Processes: list[dict[str, object]] = AppUtils.getFilterProcesses('server.exe')
serverPID: int = None if len(Processes) <= 0 else Processes[0].get('pid')
if not isinstance(serverPID, int):
serverPID = AppUtils.start_process("c:/Server/server.exe")
self.net_port_initial()
while True:
if Qt.QDateTime.currentDateTime() > endtime:
break
self.flushProperty()
if self.is_connect():
break
AppTimeLoop.processGlobalEvents(HITBOT_DEFAULT_DELAY)
self._get_scara_param()
self.Parameter.IsOpen = self.IsOpen()
return RECODE_SUCCEED if self.Parameter.IsOpen else RECODE_FAILURE
def Close(self, timeOut: int = 1000) -> int:
if self.isEnabled():
if self.IsInitialize():
self.close_server()
self.KillHitBotServer()
# self.UnLoadLibrary(timeOut)
self.communicate_success = False
self.initial_finish = False
return RECODE_SUCCEED
@staticmethod
def KillHitBotServer():
Processes: list[dict[str, object]] = AppUtils.getFilterProcesses('server.exe')
for item in Processes:
AppUtils.terminate_process_by_pid(item.get('pid', None))
def IsOpen(self) -> bool:
return self.isValid() and self.communicate_success
def IsStop(self) -> bool:
return self.IsOpen() and self.is_stop()
def IsMoving(self) -> bool:
return self.IsOpen() and not self.is_stop()
def IsInitialize(self) -> bool:
return self.isValid() and self.isEnabled() and self.initial_finish
def initHitBot(self) -> int:
if not self.IsOpen():
self.Open()
if not self.IsOpen():
return RECODE_FAILURE
if not self.is_stop():
return RECODE_FAILURE
"""
0 ：机械臂不在线
1 ：初始化成功
2 ：参数错误
3 ：当前位置不在限定范围
12 ：传参错误
101 ：传入参数不是整数
105 ：某个关节失效
"""
isWrong : int = self.initial(self.HitbotType, self.MaxZPosition)
self.updateProperty()
if not self.initial_finish:
return isWrong
self.SetGripperState(GripperConfigModel.GripperON())
return self.unlock_position()
def AxisHome(self) -> int:
isWrong : int = self.joint_home(AxisLevel.AxisX)
if RECODE_SUCCEED != isWrong:
return isWrong
isWrong: int = self.joint_home(AxisLevel.AxisY)
if RECODE_SUCCEED != isWrong:
return isWrong
isWrong: int = self.joint_home(AxisLevel.AxisZ)
if RECODE_SUCCEED != isWrong:
return isWrong
isWrong: int = self.joint_home(AxisLevel.AxisR)
if RECODE_SUCCEED != isWrong:
return isWrong
isWrong: int = self.initial(self.HitbotType, self.MaxZPosition)
return isWrong
def MoveXYZ(self, axisType: int, movelength: float, movespeed: float) -> int:
"""
:param axisType: 1 x 轴正方向，2 y 轴正方向，3 z 轴正方向
:param movelength: 移动距离（mm）
:param movespeed: 移动速度（mm/s）
:return:
0：正在执行其他指令，本次指令无效；
1：本次指令生效，机械臂开始运动；
2：设置速度小于等于零；
3：未初始化；
4：过程点无法到达；
5：方向参数错误；
6：伺服未开启；
7：该姿态无法完成直线运动；
11：手机端在控制；
101：传入参数 NOT A NUMBER；
102：发生碰撞，本次指令无效；
103：轴发生复位，需要重新初始化，本次指令无效；
"""
isWrong: int = HitBotMoveStatus.NOT_INITIALIZED
if not self.initial_finish:
return isWrong
try:
isWrong = self.xyz_move(axisType, movelength, movespeed)
except Exception as e:
from AppLog.logHelper import logHITBOT
logHITBOT << AppUtils.toString(e)
# self.flushProperty()
return isWrong
pass
def LineMoveXYZ(self, x: float, y: float, z: float, r: float, speed: float) ->int:
"""
以 movel 的运动方式到达目标点 move_flag 等于 False 时，进行首次调用，返回 1 后，可以重复调用该函数设定新的目标点位
距离当前目标点有一定距离时，再次设定新的目标，机械臂将以一定的速度通过当前目标点，而后去往新的目标点。
:param x: 目标点 x 坐标（mm）
:param y: 目标点 y 坐标（mm）
:param z: 目标点 z 坐标（mm）
:param r: 目标点 r 坐标（deg）
:param speed: xyz 点的线速度（mm/s）或轴 4 的旋转角速度（deg/s）
:return:
• 0：正在执行其他指令，本次指令无效 1：本次指令生效，机械臂开始运动 2：设置速度小于等于零 3：未初始化 4：过程点无法到达
6：伺服未开启 7：存在中间过程点无法以机械臂当前姿态（手系）达到 11：手机端在控制 99：急停中 101：传入参数 NOT A NUMBER
102：发生碰撞，本次指令无效 103：轴发生复位，需要重新初始化，本次指令无效
"""
isWrong: int = HitBotMoveStatus.NOT_INITIALIZED
if not self.initial_finish:
return isWrong
try:
isWrong = self.movel_xyz(x, y, z, r, speed)
except Exception as e:
from AppLog.logHelper import logHITBOT
logHITBOT << AppUtils.toString(e)
return isWrong
# 以 movej 的运动方式，并以指定手系达目标点
def JopMoveXYZ(self, x: float, y: float, z: float, r: float, speed: float, roughly: float) -> int:
"""
:param x:目标点 x 坐标（mm）
:param y:目标点 y 坐标（mm）
:param z:目标点 z 坐标（mm）
:param r:目标点 r 坐标（mm）
:param speed: xyz 点的线速度（mm/s）或轴 4 的旋转角速度
:param roughly: 0 先运动到前目标点，并且在当前目标点的速度等于 0，而后在去往新的目标点，
1 在有新目标点时，将在当前目标点附近以最大速度通过，
此参数取值范围 0 到 1，越大通过速度越快，但是通过点距离当前目标点越远
1 右手系，-1 左手系，angle2>0 右手系，否则为左手系
:return:
0：正在执行其他指令，本次指令无效
1：本次指令生效，机械臂开始运动
2：设置速度小于等于零
3：未初始化
4：目标点无法到达
6：伺服未开启
7：无法以设定手系到达目标点位
11：手机端在控制
99：急停中
101：传入参数 NOT A NUMBER
102：发生碰撞，本次指令无效
103：轴发生复位，需要重新初始化，本次指令无效
"""
isWrong: int = HitBotMoveStatus.NOT_INITIALIZED
if not self.initial_finish:
return isWrong
try:
self.flushProperty()
lr: int = 1 if int(self.angle2) >= 1 else -1
isWrong = self.new_movej_xyz_lr(x, y, z, r, speed, roughly, lr)
except Exception as e:
from AppLog.logHelper import logHITBOT
logHITBOT << AppUtils.toString(e)
isWrong = HitBotMoveStatus.NOT_INITIALIZED
return isWrong
def JopMove_LR(self, x: float, y: float, z: float, r: float, speed: float, roughly: float, isLeft: bool = True) -> int:
"""
:param isLeft:
:param x:目标点 x 坐标（mm）
:param y:目标点 y 坐标（mm）
:param z:目标点 z 坐标（mm）
:param r:目标点 r 坐标（mm）
:param speed: xyz 点的线速度（mm/s）或轴 4 的旋转角速度
:param roughly: 0 先运动到前目标点，并且在当前目标点的速度等于 0，而后在去往新的目标点，
1 在有新目标点时，将在当前目标点附近以最大速度通过，
此参数取值范围 0 到 1，越大通过速度越快，但是通过点距离当前目标点越远
1 右手系，-1 左手系，angle2>0 右手系，否则为左手系
:return:
0：正在执行其他指令，本次指令无效
1：本次指令生效，机械臂开始运动
2：设置速度小于等于零
3：未初始化
4：目标点无法到达
6：伺服未开启
7：无法以设定手系到达目标点位
11：手机端在控制
99：急停中
101：传入参数 NOT A NUMBER
102：发生碰撞，本次指令无效
103：轴发生复位，需要重新初始化，本次指令无效
lr：1 右手系，-1 左手系，angle2>0 右手系，否则为左手系
"""
isWrong: int = HitBotMoveStatus.NOT_INITIALIZED
if not self.initial_finish:
return isWrong
try:
lr: int = -1 if isLeft else 1
# self.change_attitude(speed)
isWrong = self.new_movej_xyz_lr(x, y, z, r, speed, roughly, lr)
except Exception as e:
from AppLog.logHelper import logHITBOT
logHITBOT << AppUtils.toString(e)
isWrong = HitBotMoveStatus.NOT_INITIALIZED
return isWrong
def waitmovefinish(self, waittimes: int = 5000, x: float = None, y: float = None, z: float = None, r: float = None) -> bool:
"""
:param waittimes: 最大超时时间
:param x: 目标点 x 坐标（mm）
:param y: 目标点 y 坐标（mm）
:param z: 目标点 z 坐标（mm）
:param r: 目标点 r 坐标（deg）
:return: 是否停止
"""
if not self.initial_finish:
return True
is_finish : bool
is_complete : bool = isinstance(x, float) and isinstance(y, float) or isinstance(z, float) and isinstance(r, float)
isstop: bool = self.is_stop()
waittime: int = max(min(waittimes, HITBOT_MOVE_MAX_WAIT_TIMES), HITBOT_MOVE_MIN_WAIT_TIMES)
endtime = Qt.QDateTime.currentDateTime().addMSecs(waittime)
while True:
if Qt.QDateTime.currentDateTime() > endtime:
break
isstop = self.is_stop()
if isstop:
break
self._get_scara_param()
if not self.move_flag:
isstop = True
break
if is_complete:
is_target: bool = self.is_robot_goto_target(x, y, z, r) == 1
if is_target:
isstop = True
break
AppTimeLoop.processGlobalEvents(HITBOT_DEFAULT_DELAY)
if isstop:
self._get_scara_param()
if is_complete:
is_target: bool = self.is_robot_goto_target(x, y, z, r) == 1
if is_target:
is_finish = True
return is_finish
return isstop
def waitForMoveComplete(self, waittimes: int, delay: int, x: float = None, y: float = None, z: float = None, r: float = None):
if not self.initial_finish:
return True
is_finish : bool
is_complete : bool = isinstance(x, float) and isinstance(y, float) or isinstance(z, float) and isinstance(r, float)
isstop: int = self.is_stop()
waittime: int = max(min(waittimes, HITBOT_MOVE_MAX_WAIT_TIMES), HITBOT_MOVE_MIN_WAIT_TIMES)
endtime = Qt.QDateTime.currentDateTime().addMSecs(waittime)
while True:
if Qt.QDateTime.currentDateTime() > endtime:
break
self._get_scara_param()
if self.move_flag:
AppTimeLoop.processGlobalEvents(HITBOT_DEFAULT_DELAY)
continue
isstop = self.is_stop()
if isstop:
break
if is_complete:
is_target: bool = self.is_robot_goto_target(x, y, z, r) == 1
if is_target:
isstop = True
break
AppTimeLoop.processGlobalEvents(HITBOT_DEFAULT_DELAY)
if isstop:
if is_complete:
is_target: bool = self.is_robot_goto_target(x, y, z, r) == 1
if is_target:
is_finish = True
return is_finish
self._get_scara_param()
return isstop
def waitForMoveStatus(self, waittimes: int) -> list[list[object]]:
from AppSettings.SystemSetting import SystemSetting, SystemConfig
status: list[list[object]] = []
if not self.initial_finish:
return status
is_finish: bool
isstop: int = self.is_stop()
waittime: int = max(min(waittimes, HITBOT_MOVE_MAX_WAIT_TIMES), HITBOT_MOVE_MIN_WAIT_TIMES)
endtime = Qt.QDateTime.currentDateTime().addMSecs(waittime)
rate: Qt.QDateTime = Qt.QDateTime.currentDateTime()
IN_PORT: int = SystemConfig.CheckInPort
io: int
index = 0
while True:
if Qt.QDateTime.currentDateTime() > endtime:
break
self._get_scara_param()
io = self.get_digital_in(IN_PORT)
status.append([self.zPosition, io])
# print(index, self.zPosition, io)
AppTimeLoop.processEvents(40)
index += 1
if self.move_flag:
AppTimeLoop.processGlobalEvents(HITBOT_DEFAULT_DELAY)
continue
isstop = self.is_stop()
if isstop:
break
self._get_scara_param()
io = self.get_digital_in(7)
status.append([self.zPosition, io])
return status
def waitForMoveIOStatus(self, waittimes: int) -> list[object]:
from AppSettings.SystemSetting import SystemSetting, SystemConfig
status: list[object] = []
if not self.initial_finish:
return status
is_finish: bool
isstop: int = self.is_stop()
waittime: int = max(min(waittimes, HITBOT_MOVE_MAX_WAIT_TIMES), HITBOT_MOVE_MIN_WAIT_TIMES)
endtime = Qt.QDateTime.currentDateTime().addMSecs(waittime)
rate: Qt.QDateTime = Qt.QDateTime.currentDateTime()
IN_PORT: int = SystemConfig.CheckInPort
io: int
index = 0
while True:
if Qt.QDateTime.currentDateTime() > endtime:
break
self._get_scara_param()
if not self.move_flag:
AppTimeLoop.delay(40)
isstop = self.is_stop()
if isstop:
break
AppTimeLoop.processGlobalEvents(HITBOT_DEFAULT_DELAY)
AppTimeLoop.delay(40)
self._get_scara_param()
return status
def waitForMovingStatus(self, waittimes: int, x: float, y: float, z: float, r: float, offset: float) -> int:
from AppSettings.SystemSetting import SystemSetting, SystemConfig
status: int = 0
if not self.initial_finish:
return status
is_finish: bool
# isstop: int = self.is_stop()
waittime: int = max(min(waittimes, HITBOT_MOVE_MAX_WAIT_TIMES), HITBOT_MOVE_MIN_WAIT_TIMES)
IN_PORT: int = SystemConfig.CheckInPort
io : int
index = 0
b_z: float = round(z + offset, 2)
e_z: float = round(z - offset, 2)
wait_delay: int = 500
endtime = Qt.QDateTime.currentDateTime().addMSecs(waittime)
begin: Qt.QDateTime
while True:
if Qt.QDateTime.currentDateTime() > endtime:
status += self.get_digital_in(IN_PORT)
return status
self._get_scara_param()
AppTimeLoop.processGlobalEvents(100)
if self.is_robot_goto_target(x, y, z, r):
begin = Qt.QDateTime.currentDateTime().addMSecs(wait_delay)
break
if not self.move_flag or self.is_stop():
status += self.get_digital_in(IN_PORT)
return status
while True:
if Qt.QDateTime.currentDateTime() > begin:
break
status += self.get_digital_in(IN_PORT)
if status >= 1:
break
AppTimeLoop.processGlobalEvents(100)
return status
def waitForJointMovingStatus(self, waittimes: int, begin_z: float, end_z: float) -> int:
from AppSettings.SystemSetting import SystemSetting, SystemConfig
status: int = 0
if not self.initial_finish:
return status
is_finish: bool
# isstop: int = self.is_stop()
waittime: int = max(min(waittimes, HITBOT_MOVE_MAX_WAIT_TIMES), HITBOT_MOVE_MIN_WAIT_TIMES)
endtime = Qt.QDateTime.currentDateTime().addMSecs(waittime)
rate: Qt.QDateTime = Qt.QDateTime.currentDateTime()
IN_PORT: int = SystemConfig.CheckInPort
io: int
index = 0
msec: int = rate.msecsTo(Qt.QDateTime.currentDateTime())
while True:
if Qt.QDateTime.currentDateTime() > endtime:
break
self._get_scara_param()
AppTimeLoop.processGlobalEvents(100)
if end_z <= Float(self.zPosition) <= begin_z:
status += self.get_digital_in(IN_PORT)
if not self.move_flag or self.is_stop():
status += self.get_digital_in(IN_PORT)
break
# AppTimeLoop.processEvents(20)
status += self.get_digital_in(IN_PORT)
return status
def waitForMoving(self, x: float = None, y: float = None, z: float = None, r: float = None, waittimes: int = 5000) -> bool:
"""
:param waittimes: 最大超时时间
:param x: 目标点 x 坐标（mm）
:param y: 目标点 y 坐标（mm）
:param z: 目标点 z 坐标（mm）
:param r: 目标点 r 坐标（deg）
:return: 是否停止
"""
if not self.initial_finish:
return True
is_finish : bool
is_complete : bool = isinstance(x, float) and isinstance(y, float) or isinstance(z, float) and isinstance(r, float)
isstop: bool = self.is_stop()
waittime: int = max(min(waittimes, HITBOT_MOVE_MAX_WAIT_TIMES), HITBOT_MOVE_MIN_WAIT_TIMES)
endtime = Qt.QDateTime.currentDateTime().addMSecs(waittime)
while True:
if Qt.QDateTime.currentDateTime() > endtime:
break
isstop = self.is_stop()
if isstop:
break
AppTimeLoop.processGlobalEvents(HITBOT_DEFAULT_DELAY)
if isstop:
if is_complete:
is_finish = self.is_robot_goto_target(x, y, z, r)
return is_finish
return isstop
def StopHitBotMove(self):
isWrong: int = HitBotMoveStatus.NOT_INITIALIZED
if not self.IsInitialize():
return isWrong
return self.new_stop_move()
def GetEmStopState(self):
isWrong: int = HitBotMoveStatus.NOT_INITIALIZED
if not self.IsInitialize():
return isWrong
return self.get_hard_emergency_stop_state()
def SetEmStop(self):
isWrong: int = HitBotMoveStatus.NOT_INITIALIZED
if not self.IsInitialize():
return isWrong
return self.emergency_stop()
def ClearEmStop(self):
isWrong: int = HitBotMoveStatus.NOT_INITIALIZED
if not self.IsInitialize():
return isWrong
return self.clear_hard_emergency_stop()
def JointMove(self, axis: int,distance: float,speed: float) -> int:
"""
:param axis : 关节号 1-4 正方向
:param distance : 旋转角度(deg)
:param speed :轴 3 为线速度(mm/s),其他为旋转速度(deg/s)
:return :
0：正在执行其他指令，本次指令无效；
1：本次指令生效，机械臂开始运动；
2：设置速度小于等于零；
3：未初始化；
5：轴号参数错误；
6：伺服未开启；
11：手机端在控制；
101：传入参数 NOT A NUMBER；
102：发生碰撞，本次指令无效；
103：轴发生复位，需要重新初始化，本次指令无效；
"""
if not self.IsInitialize():
return HitBotMoveStatus.NOT_INITIALIZED
return self.single_joint_move(axis, distance, speed)
def isJointValid(self, axis: int, enable: bool) -> bool:
"""
:param axis:关节号 1-4
:param enable: true 开启关节 false 屏蔽
:return: true：设置关节是否生效成功； false：关节号错误；
"""
if not self.IsInitialize():
return HitBotMoveStatus.NOT_INITIALIZED
return self.check_joint(axis, enable)
def JointHome(self, axis: int) -> int:
"""
:param axis: 轴号 1-4
:return: 0：未连接 1：调用成功 2：传入参数错误 3：机械臂正在初始化
"""
if not self.IsInitialize():
return HitBotMoveStatus.NOT_INITIALIZED
return self.joint_home(axis)
def GetJointState(self, axis: int) -> int:
if not self.IsInitialize():
return HitBotMoveStatus.NOT_INITIALIZED
return self.get_joint_state(axis)
def GetGripperState(self) -> int:
""":return: 1：成功 3：失败，未初始化;"""
if not self.IsInitialize():
return 3
value = self.get_efg_state()
return value
def GetGripperRotationAngle(self) -> float:
""":return: 旋转角度"""
if not self.IsInitialize():
return self._Manager.rPosition
self.updateProperty()
return self.rPosition
def SetGripperRotationAngle(self, angle: float, speed: float) -> int:
""":return: 旋转角度"""
if not self.IsInitialize():
return HitBotMoveStatus.NOT_INITIALIZED
isWrong = self.single_joint_move(AxisLevel.AxisR,angle,speed)
self.waitForMoving()
self.updateProperty()
return isWrong
def SetGripperState(self, distance: float) -> int:
"""
:param distance: Type==8：0 张开 1 闭合 Type==20：实际行程（mm）
:return: -1：控制参数发生变化 0 ：type 参数错误 1：设置成功 3：未初始化;
"""
if not self.IsInitialize():
return RECODE_FAILURE
if isinstance(distance, float) or isinstance(distance, int):
old: float = float(self.efg_travel_length)
self.efg_distance = distance
rec = self.set_efg_state(self.efg_type, int(self.efg_distance))
self._get_efg_state()
return RECODE_SUCCEED if rec == 1 else RECODE_FAILURE
return RECODE_SUCCEED
def IsGrab(self) -> bool:
"""夹爪是否夹取到东西"""
if not self.IsInitialize():
return False
GrabMinLength : float
GrabMaxLength : float
GripperON : float
GripperOFF : float
GrabOFF : float = GripperConfigModel.GrabOFF()
isGrab : bool = False
efg_travel_length : float
GrabMinLength , GrabMaxLength = GripperConfigModel.isGrab()
GripperON , GripperOFF = GripperConfigModel.Switch()
"""夹爪是否关闭"""
self.SetGripperStatus(float(GrabOFF))
AppTimeLoop.processEvents(50)
self._get_efg_state()
efg_travel_length = self.efg_travel_length
isGrab = float(GrabMinLength) <= Float(efg_travel_length) <= float(GrabMaxLength)
self.SetGripperStatus(float(GripperOFF))
if not isGrab:
print(f'IsGrab: {isGrab} {GrabOFF} {GrabMinLength} {efg_travel_length} {GrabMaxLength}')
print(f'IsGrab: {isGrab} GrabMinLength: {GrabMinLength} efg_travel_length: {efg_travel_length} GrabMaxLength:{GrabMaxLength}')
return isGrab
def IsGripperON(self) -> bool:
if not self.IsInitialize():
return False
self._get_efg_state()
GripperON: float
GripperMiddle: float
GripperON, GripperMiddle = GripperConfigModel.isGripperON()
return float(GripperON) <= Float(self.efg_travel_length) < float(GripperMiddle)
def IsGripperOFF(self) -> bool:
if not self.IsInitialize():
return False
self._get_efg_state()
GripperMinLength: float
GripperMaxLength: float
GripperMinLength, GripperMaxLength = GripperConfigModel.isGripperOFF()
IsGripperOFF : bool = float(GripperMinLength) <= Float(self.efg_travel_length) <= float(GripperMaxLength)
print(f'IsGripperOFF: {IsGripperOFF} GripperMinLength: {GripperMinLength} <= {self.efg_travel_length} <= {GripperMaxLength}')
return IsGripperOFF
def IsBeginOFF(self) -> bool:
if not self.IsInitialize():
return False
BeginOFF: float
GripperMinLength: float
BeginOFF, GripperMinLength = GripperConfigModel.isBeginOFF()
self._get_efg_state()
return float(BeginOFF) <= Float(self.efg_travel_length) < float(GripperMinLength)
def SetGripperON(self) -> int:
GripperON, GripperOFF = GripperConfigModel.Switch()
BeginOFF = GripperConfigModel.BeginOFF()
isWrong: int = self.SetGripperState(float(GripperON))
for count in range(0, 2):
if RECODE_SUCCEED == isWrong and self.IsGripperON():
break
self.SetGripperState(float(BeginOFF))
isWrong = self.SetGripperState(float(GripperON))
return isWrong
def SetGripperOFF(self) -> int:
GripperON, GripperOFF = GripperConfigModel.Switch()
isWrong: int = self.SetGripperState(float(GripperOFF))
BeginOFF = GripperConfigModel.BeginOFF()
Step: float = 1.0
for count in range(1, 3):
if RECODE_SUCCEED == isWrong and self.IsGripperOFF():
break
isWrong = self.SetGripperState(float(GripperOFF) + Step * count)
# AppTimeLoop.processEvents(50)
return isWrong
def SetBeginOFF(self) -> int:
isWrong: int = self.SetGripperStatus(float(GripperConfigModel.BeginOFF()))
# AppTimeLoop.processEvents(50)
return isWrong
def SetBeginON(self) -> int:
isWrong: int = self.SetGripperStatus(float(GripperConfigModel.BeginOFF()))
# AppTimeLoop.processEvents(50)
return isWrong
def SetGrabON(self):
isWrong: int = self.SetGripperStatus(float(GripperConfigModel.GrabON()))
return isWrong
def SetGrabOFF(self):
isWrong: int = self.SetGripperStatus(float(GripperConfigModel.GrabOFF()))
return isWrong
def SetGripperStatus(self, distance: float) -> int:
"""
:param distance: Type==8：0 张开 1 闭合 Type==20：实际行程（mm）
:return: -1：控制参数发生变化 0 ：type 参数错误 1：设置成功 3：未初始化;
"""
if not self.IsInitialize():
return RECODE_FAILURE
if isinstance(distance, (float, int)):
self.efg_distance = distance
self.efg_travel_length = distance
rec = self.set_efg_state(self.efg_type, float(self.efg_distance))
return RECODE_SUCCEED if rec == 1 else RECODE_FAILURE
return RECODE_SUCCEED
def isReach(self, x: float, y: float, z: float, r: float) -> bool:
"""
:param x:x 坐标(mm)
:param y:y 坐标(mm)
:param z:z 坐标(mm)
:param r:r 坐标(deg)
:return: false：超出范围无法到达； true：可以到达；
"""
if not self.IsInitialize():
return False
return self.judge_in_range_xyzr(x, y, z, r)
pass
def SetJointTorqueValue(self, axis: int, value: int) ->int:
"""
:param axis: 轴编号
:param value: 转矩设定值，[1000，20000]
:return:0：未连接；1：设置成功；2：轴号错误；3：未初始化；
"""
if not self.IsInitialize():
return 0
return self.set_robot_joint_torque_value(axis, value)
def AxisXHome(self) -> int:
""":return: 0：未连接 1：调用成功 2：传入参数错误 3：机械臂正在初始化"""
if not self.IsOpen():
return RECODE_FAILURE
return self.joint_home(AxisLevel.AxisX)
def AxisYHome(self) -> int:
""":return: 0：未连接 1：调用成功 2：传入参数错误 3：机械臂正在初始化"""
if not self.IsOpen():
return RECODE_FAILURE
return self.joint_home(AxisLevel.AxisY)
def AxisZHome(self) -> int:
""":return: 0：未连接 1：调用成功 2：传入参数错误 3：机械臂正在初始化"""
if not self.IsOpen():
return RECODE_FAILURE
return self.joint_home(AxisLevel.AxisZ)
def AxisRHome(self) -> int:
""":return: 0：未连接 1：调用成功 2：传入参数错误 3：机械臂正在初始化"""
if not self.IsOpen():
return RECODE_FAILURE
return self.joint_home(AxisLevel.AxisR)
def isCollision(self) -> bool:
"""查询机械臂是否发生碰撞 :return: False：未发生碰撞 True：发生碰撞"""
if not self.IsInitialize():
return False
return self.is_collision()
def GetInputStatus(self, io_number: int) -> bool:
if not self.IsInitialize():
return False
status = self.get_digital_in(io_number)
return status
def GetCheckPortStatus(self) -> bool:
from AppSettings.SystemSetting import SystemSetting, SystemConfig
return self.GetInputStatus(SystemConfig.CheckInPort)
def ReadCheckPortStatus(self, count: int, split: int = 100) -> list[int]:
from AppSettings.SystemSetting import SystemSetting, SystemConfig
Count: int = max(1, count)
waittimes: int = max(10, split)
result: list[int] = [0] * max(1, count)
for index in range(Count):
result[index] = self.get_digital_in(SystemConfig.CheckInPort)
AppTimeLoop.processEvents(waittimes)
return result
def initHitbotProperty(self):
self.CardNumber = 180
self.xPosition = 0.0
self.yPosition = 0.0
self.zPosition = 0.0
self.rPosition = 0.0
self.angle1 = 0.0
self.angle2 = 0.0
self.communicate_success = False
self.initial_finish = False
self.move_flag = False
self.MaxZPosition = HitbotAxisZLength.Max180
self.HitbotType = HitbotLevel.Hitbot400
def initEncodeProperty(self):
self.encoder_x = 0.0
self.encoder_y = 0.0
self.encoder_z = 0.0
self.encoder_r = 0.0
self.encoder_angle1 = 0.0
self.encoder_angle2 = 0.0
pass
def initGripperProperty(self):
self.efg_distance = 0.0
self.efg_type = GripperLevel.EFG_20
def flushHitbotProperty(self):
self.get_scara_param()
def flushEncodeProperty(self):
self.get_encoder_coor()
pass
def flushGripperProperty(self):
self.get_efg_state()
def flushProperty(self):
self._get_scara_param()
self._get_encoder_coor()
self._get_efg_state()
print(f"error: {self.get_error_code()}")
# print(self.__str__())
def flush_scara_param(self):
self._get_scara_param()
def updateProperty(self):
Locker: Qt.QWriteLocker = Qt.QWriteLocker(self.IOLocker)
self._get_scara_param()
self._get_encoder_coor()
self._get_efg_state()
print(f"error: {self.get_error_code()}")
# print(self.__str__())
def isLeft(self) -> bool:
if not self.initial_finish:
return True
self._get_scara_param()
return Float(self.angle2) <= float(0.0)
def _get_scara_param(self):
"""
更新 x，y，z 等成员变量
:return:
"""
# self.initHitbotProperty()
c_xPosition : c_float = c_float(0)
c_yPosition : c_float = c_float(0)
c_zPosition : c_float = c_float(0)
c_angle1 : c_float = c_float(0)
c_angle2 : c_float = c_float(0)
c_rPosition : c_float = c_float(0)
c_communicate_success : c_bool = c_bool (0)
c_initial_finish : c_bool = c_bool (0)
c_move_flag : c_bool = c_bool (0)
get_scara_param = self.resolve('robot_get_scara_param', c_void_p)
if not get_scara_param:
return HitBot_DLL_Warning
get_scara_param(c_int(self.CardNumber ), byref(c_xPosition ), byref(c_yPosition ),
byref(c_zPosition ), byref(c_angle1 ), byref(c_angle2 ),
byref(c_rPosition ), byref(c_communicate_success ), byref(c_initial_finish ),
byref(c_move_flag ))
self.xPosition = round(c_xPosition .value, 3)
self.yPosition = round(c_yPosition .value, 3)
self.zPosition = round(c_zPosition .value, 3)
self.angle1 = round(c_angle1 .value, 3)
self.angle2 = round(c_angle2 .value, 3)
self.rPosition = round(c_rPosition .value, 3)
self.communicate_success = c_communicate_success .value
self.initial_finish = c_initial_finish .value
self.move_flag = c_move_flag .value
data : HitBotData = HitBotData (self)
data.xPosition = self.xPosition
data.yPosition = self.yPosition
data.zPosition = self.zPosition
data.angle1 = self.angle1
data.angle2 = self.angle2
data.rPosition = self.rPosition
data.communicate_success = self.communicate_success
data.initial_finish = self.initial_finish
data.move_flag = self.move_flag
model : HitBotModel = HitBotModel .asHitBotData(data)
self.UpdateStatus.emit(data, model)
AppSlot.currentHitBotDataChanged.emit(data, model)
# 更新编码器位置，调用后 encoder_x,encoder_y,encoder_z等变量会进行更新
def _get_encoder_coor(self):
"""
:return:
"""
self.initEncodeProperty()
c_x = c_float(0) # 编码器 x 轴坐标
c_y = c_float(0) # 编码器 y 轴坐标
c_z = c_float(0) # 编码器 z 轴坐标
c_r = c_float(0) # 编码器 r 轴坐标
c_angle1 = c_float(0) # 编码器 angle1 轴坐标
c_angle2 = c_float(0) # 编码器 angle2 轴坐标
get_encoder_coor = self.resolve('robot_get_encoder_param', c_void_p)
if not get_encoder_coor:
return HitBot_DLL_Warning
get_encoder_coor(c_int(self.CardNumber), byref(c_x), byref(c_y), byref(c_z), byref(c_angle1),
byref(c_angle2), byref(c_r))
self.encoder_x = round(c_x .value, 2)
self.encoder_y = round(c_y .value, 2)
self.encoder_z = round(c_z .value, 2)
self.encoder_r = round(c_r .value, 2)
self.encoder_angle1 = round(c_angle1.value, 2)
self.encoder_angle2 = round(c_angle2.value, 2)
# 获取电动夹爪状态
def _get_efg_state(self) -> int:
"""
:return: 1：成功 3：失败，未初始化;
"""
# self.initGripperProperty()
self.efg_travel_length = 0.0
c_efg_type: c_int = c_int(0)
c_efg_travel_length: c_float = c_float(0)
func = self.resolve('robot_get_efg_state', c_int)
if not func:
return 3
rec = func(c_int(self.CardNumber), byref(c_efg_type), byref(c_efg_travel_length))
self.efg_travel_length = round(c_efg_travel_length .value, 2)
return rec
def net_port_initial(self) -> int:
"""
申请内存和初始化网络服务器 调用其他 api 之前，需要先调用该函数，否则将导致程序崩溃，同一个 python 程序控制多台手臂时，
每一个手臂对象都要调用该函数
:return: •1 成功 0 失败，一般是 40000 端口号被占用
"""
net_port_initial = self.resolve('net_port_initial', c_int)
if not net_port_initial:
return 0
return net_port_initial()
def close_server(self):
"""
关闭网络服务器(server.exe 程序）
:return: 调用后，手臂和 pc 的通讯将会断开
"""
robot_close_server = self.resolve("robot_close_server", c_void_p)
if robot_close_server is None:
return HitBot_DLL_Warning
return robot_close_server()
def initial(self, generation: int, z_trail: float):
"""
初始化机械臂的各项参数，机械臂进入工作状态
机械臂在运动时调用该函数，会造成机械臂抖动 返回 3 时，可以使用 joint_home 使关节强制回零
:param generation: 00mm 臂展系列传入 1，320mm 臂展系列及其他臂展手臂传入 5，
:param z_trail: 上下关节有效行程（mm）
:return:
0：机械臂不在线
1：初始化成功
2：generation 参数错误
3：机械臂当前位置不在限定范围，可以使用 joint_home使关节强制回零
12：z_travel 传参错误
101：传入参数 NOT A NUMBER
105：存在某一个关节失效
>= 10000，pid 自检异常
"""
robot_initial = self.resolve("robot_initial", c_int, *[c_int, c_int, c_float])
if robot_initial is None:
return HitBot_DLL_Warning
return robot_initial(c_int(self.CardNumber), c_int(generation), c_float(z_trail))
def get_scara_param(self):
"""
更新 x，y，z 等成员变量
:return:
"""
Locker: Qt.QWriteLocker = Qt.QWriteLocker(self.IOLocker)
return self._get_scara_param()
def unlock_position(self) -> int:
"""
解锁机械臂，使机械臂可以接受运动指令 一般初始化成功后立刻调用
:return: 0：机械臂不在线 1：成功
"""
unlock_position = self.resolve('robot_unlock_position', c_int, *[c_int])
if unlock_position is None:
return HitBot_DLL_Warning
return unlock_position(c_int(self.CardNumber))
def is_connect(self) -> int:
"""
查询机械臂是否在线
:return: False：机械臂不在线 True：机械臂在线
"""
is_connect = self.resolve('robot_is_connect', c_int, *[c_int])
if is_connect is None:
return HitBot_DLL_Warning
return is_connect(c_int(self.CardNumber))
def get_joint_status(self) -> (int, int, int, int):
x: int = self.get_joint_state(1)
y: int = self.get_joint_state(2)
z: int = self.get_joint_state(3)
r: int = self.get_joint_state(4)
return x, y, z, r
# 获取机械臂关节状态
def get_joint_state(self, joint_num: int) -> int:
"""
获取机械臂关节状态
:param joint_num: 轴号 1-4
:return:
0：轴发生复位，需要重新初始化 1：关节正常 2：传入参数超范围 3：未初始化 4：轴状态获取失败 5：发生碰撞; 6：处于拖动模式
7：关节缺轴/失效 8：编码器错误 9：电机堵转/过电流保护 10：过压保护 11：手臂收到 PC 发送的错误数据
12：手臂主控与驱动通讯异常 21： MOS ntc 开路 22：MOS ntc 短路 23：电机 ntc 开路 24：电机 ntc 短路
25：MOS ntc 温度过高 26：MOS ntc 温度过低 27：电机 ntc 温度过高 28：电机 ntc 温度过低
"""
robot_get_joint_state = self.resolve('robot_get_joint_state', c_int, *[c_int, c_int])
if robot_get_joint_state is None:
return HitBot_DLL_Warning
return robot_get_joint_state(c_int(self.CardNumber), c_int(joint_num))
pass
# 设定拖动示教功能是否开启
def set_drag_teach(self, enable: bool) -> bool:
"""
设定拖动示教功能是否开启
仅协作机型支持开启此功能 拖动示教功能开启后，轴 Z 3 不支持拖动，需要通过调用运 动函数控制轴 Z 3 部分新机型支持 z 轴拖动示教
:param enable: False：失败 True：成功
:return:
"""
set_drag_teach = self.resolve('robot_set_drag_teach', c_bool, *[c_int, c_bool])
if set_drag_teach is None:
return False
return set_drag_teach(c_int(self.CardNumber), c_bool(enable))
# 查询是否处于拖动示教状态
def get_drag_teach(self) -> bool:
"""
查询是否处于拖动示教状态
:return: • False：开启 True：关闭
"""
get_drag_teach = self.resolve('robot_get_drag_teach', c_bool, *[c_int])
if get_drag_teach is None:
return False
return get_drag_teach(c_int(self.CardNumber))
# 设定协作功能是否开启，开启后机械臂遇到障碍物会停止运动，并上报此状态
def set_cooperation_fun_state(self, enable: bool) -> bool:
"""
设定协作功能是否开启，开启后机械臂遇到障碍物会停止运动，并上报此状态
:param enable: True 开启，False 关闭
:return: False：成功 True：失败
"""
set_cooperation_fun_state = self.resolve('robot_set_cooperation_fun_state', c_bool, *[c_int, c_bool])
if set_cooperation_fun_state is None:
return False
return set_cooperation_fun_state(c_int(self.CardNumber), c_bool(enable))
# 查询机械臂是否开启协作功能
def get_cooperation_fun_state(self) -> bool:
"""
:return: False：开启 True：关闭
"""
get_cooperation_fun_state = self.resolve('robot_get_cooperation_fun_state', c_int, *[c_int])
if get_cooperation_fun_state is None:
return False
return get_cooperation_fun_state(c_int(self.CardNumber))
pass
# 查询机械臂是否发生碰撞
def is_collision(self) -> bool:
"""
# 查询机械臂是否发生碰撞 :return: False：未发生碰撞 True：发生碰撞
"""
is_collision = self.resolve('robot_is_collision', c_bool, *[c_int])
if is_collision is None:
return False
return is_collision(c_int(self.CardNumber))
# 使轴回到零位
def joint_home(self, joint_num: int) -> int:
"""
:param joint_num: 轴号
:return: 0：未连接 1：调用成功 2：传入参数错误 3：机械臂正在初始化
"""
joint_home = self.resolve('robot_joint_home', c_int, *[c_int, c_int])
if joint_home is None:
return HitBot_DLL_Warning
return joint_home(c_int(self.CardNumber), c_int(joint_num))
# 以 movel 的运动方式到达目标点
def movel_xyz(self, goal_x: float, goal_y: float, goal_z: float, goal_r: float, speed: float) -> int:
"""
以 movel 的运动方式到达目标点 move_flag 等于 False 时，进行首次调用，返回 1 后，可以重复调用该函数设定新的目标点位
距离当前目标点有一定距离时，再次设定新的目标，机械臂将以一定的速度通过当前目标点，而后去往新的目标点。
:param goal_x: 目标点 x 坐标（mm）
:param goal_y: 目标点 y 坐标（mm）
:param goal_z: 目标点 z 坐标（mm）
:param goal_r: 目标点 r 坐标（deg）
:param speed: xyz 点的线速度（mm/s）或轴 4 的旋转角速度（deg/s）
:return:
• 0：正在执行其他指令，本次指令无效 1：本次指令生效，机械臂开始运动 2：设置速度小于等于零 3：未初始化 4：过程点无法到达
6：伺服未开启 7：存在中间过程点无法以机械臂当前姿态（手系）达到 11：手机端在控制 99：急停中 101：传入参数 NOT A NUMBER
102：发生碰撞，本次指令无效 103：轴发生复位，需要重新初始化，本次指令无效
"""
movel_xyz = self.resolve('robot_movel_xyz', c_int, *[c_int, c_float, c_float, c_float, c_float, c_float])
if movel_xyz is None:
return HitBot_DLL_Warning
isWrong: int = movel_xyz(c_int(self.CardNumber), c_float(goal_x), c_float(goal_y), c_float(goal_z), c_float(goal_r), c_float(speed))
error_string: str = HitBotMoveWarning.toString(isWrong)
print(error_string)
return isWrong
# 切换手系
def change_attitude(self, speed: float) -> int:
"""
:param speed:线速度（mm/s）
:return: 0：机械臂正在执行其他指令，本次指令无效
1：本次指令生效，机械臂开始运动 2：设置速度小于等于零 3：未初始化 4：过程点无法到达 6：伺服未开启 11：手机端在控制
101：传入参数 NOT A NUMBER 102：发生碰撞，本次指令无效 103：轴发生复位，需要重新初始化，本次指令无效
"""
change_attitude = self.resolve('robot_change_attitude', c_int, *[c_int, c_float])
if change_attitude is None:
return HitBot_DLL_Warning
return change_attitude(c_int(self.CardNumber), c_float(speed))
pass
# 用于判断运动是否结束
def wait_stop(self) -> bool:
"""
wait_stop 属于开环控制，函数返回以后不代表手臂一定处
于静止状态，在关键点位需要搭配 is_robot_goto_target 使
用，此时 is_robot_goto_target 需要做超时处理，一般超时
时间 3s 即可
阻塞函数，运动数据下发完成后返回
:return: true：正常停止 false：存在某些异常使 wait_stop 超时,此时应停止手臂作业流程
"""
wait_stop = self.resolve('robot_wait_stop', c_bool, *[c_int])
if wait_stop is None:
return False
return wait_stop(c_int(self.CardNumber))
# 暂停机械臂的运动
def pause_move(self) -> int:
"""
:return: 默认返回 1
"""
pause_move = self.resolve('robot_pause_move', c_int, *[c_int])
if pause_move is None:
return HitBot_DLL_Warning
return pause_move(c_int(self.CardNumber))
# 恢复机械臂的运动
def resume_move(self) -> int:
"""
:return: 默认返回 1
"""
resume_move = self.resolve('robot_resume_move', c_int, *[c_int])
if resume_move is None:
return HitBot_DLL_Warning
return resume_move(c_int(self.CardNumber))
# 非阻塞，查询手臂是否停止运动
def is_stop(self) -> int:
"""
:return: 0：运动 1：停止
"""
robot_is_stop = self.resolve('robot_is_stop', c_bool, *[c_int])
if robot_is_stop is None:
return HitBot_DLL_Warning
return robot_is_stop(c_int(self.CardNumber))
# 设定 io 输出点状态
def set_digital_out(self, io_number: int, io_value: int) -> int:
"""
:param io_number: io 输出点编号
:param io_value: 设定值
:return: 0：io_number 参数错误 1：设置成功 3：未初始化
"""
set_digital_out = self.resolve('robot_set_digital_io_out', c_int, *[c_int, c_int, c_int])
if set_digital_out is None:
return HitBot_DLL_Warning
return set_digital_out(c_int(self.CardNumber), c_int(io_number), c_int(io_value))
# 获取 io 输出点状态
def get_digital_out(self, io_number) -> int:
"""
:param io_number：io 输出点编号
:return: -1：io_number 参数错误 0：io 口输出状态为断开 1：io 口输出状态为导通 3：未初始化
"""
get_digital_out = self.resolve('robot_get_digital_io_out', c_int, *[c_int, c_int])
if get_digital_out is None:
return HitBot_DLL_Warning
return get_digital_out(c_int(self.CardNumber), c_int(io_number))
pass
# 获取 io 输入点状态
def get_digital_in(self, io_number: int) -> int:
"""
:param io_number：io 输入点编号
:return: -1：io_number 参数错误 0：io 输入点没有被触发
"""
get_digital_in = self.resolve('robot_get_digital_io_in', c_int, *[c_int, c_int])
if get_digital_in is None:
return HitBot_DLL_Warning
return get_digital_in(c_int(self.CardNumber), c_int(io_number))
# 设定电动夹爪状态
def set_efg_state(self, efg_type: int, efg_distance: (int, float)) -> int:
"""
:param efg_type:8 EFG-8，20 EFG-20
:param efg_distance: Type==8：0 张开 1 闭合 Type==20：实际行程（mm）
:return: -1：控制参数发生变化 0 ：type 参数错误 1：设置成功 3：未初始化;
"""
set_efg_state = self.resolve('robot_set_efg_state', c_int, *[c_int, c_int, c_float])
if set_efg_state is None:
return HitBot_DLL_Warning
self.efg_distance = efg_distance
result: int = set_efg_state(c_int(self.CardNumber), c_int(efg_type), c_float(efg_distance))
self._get_efg_state()
self._get_scara_param()
return result
# 获取电动夹爪状态
def get_efg_state(self) -> int:
"""
:return: 1：成功 3：失败，未初始化;
"""
Locker : Qt.QWriteLocker = Qt.QWriteLocker(self.IOLocker)
rec = self._get_efg_state()
return rec
# 以 movej 的运动方式，并以指定手系达目标点
def new_movej_xyz_lr(self, goal_x: float,goal_y: float,goal_z: float,goal_r: float,speed: float, roughly: float,lr: int) -> int:
"""
:param goal_x:目标点 x 坐标（mm）
:param goal_y:目标点 y 坐标（mm）
:param goal_z:目标点 z 坐标（mm）
:param goal_r:目标点 r 坐标（mm）
:param speed: xyz 点的线速度（mm/s）或轴 4 的旋转角速度
:param roughly: 0 先运动到前目标点，并且在当前目标点的速度等于 0，而后在去往新的目标点，
1 在有新目标点时，将在当前目标点附近以最大速度通过，
此参数取值范围 0 到 1，越大通过速度越快，但是通过点距离当前目标点越远
:param lr: 1 右手系，-1 左手系，angle2>0 右手系，否则为左手系
:return:
0：正在执行其他指令，本次指令无效
1：本次指令生效，机械臂开始运动
2：设置速度小于等于零
3：未初始化
4：目标点无法到达
6：伺服未开启
7：无法以设定手系到达目标点位
11：手机端在控制
99：急停中
101：传入参数 NOT A NUMBER
102：发生碰撞，本次指令无效
103：轴发生复位，需要重新初始化，本次指令无效
"""
new_movej_xyz_lr = self.resolve('robot_new_movej_xyz_lr', c_int, *[
c_int, c_float, c_float, c_float, c_float, c_float, c_float, c_int])
if new_movej_xyz_lr is None:
return HitBot_DLL_Warning
return new_movej_xyz_lr(c_int(self.CardNumber), c_float(goal_x), c_float(goal_y),
c_float(goal_z), c_float(goal_r), c_float(speed),
c_float(roughly), c_int(lr))
# 立即结束当前正在执行的指令
def new_stop_move(self):
"""
立即结束当前正在执行的指令
:return:
"""
new_stop_move = self.resolve('robot_new_stop_move', c_int, *[c_int])
if new_stop_move is None:
return HitBot_DLL_Warning
return new_stop_move(c_int(self.CardNumber))
# 更新编码器位置，调用后 encoder_x,encoder_y,encoder_z等变量会进行更新
def get_encoder_coor(self):
"""
:return:
"""
Locker: Qt.QWriteLocker = Qt.QWriteLocker(self.IOLocker)
rec = self._get_encoder_coor()
return rec
# 获取急停状态
def get_hard_emergency_stop_state(self) -> int:
"""
:return:
-1：该机型不支持；
0：未处于急停状态；
1：处于急停状态；
3：未连接；
4：没有急停功能；
"""
get_hard_emergency_stop_state = self.resolve('robot_get_hard_emergency_stop_state', c_int, *[c_int])
if get_hard_emergency_stop_state is None:
return HitBot_DLL_Warning
return get_hard_emergency_stop_state(c_int(self.CardNumber))
pass
# 急停按钮复位后，发送清除急停状态，进入正常模式
def clear_hard_emergency_stop(self) -> int:
"""
:return:
-1：该机型不支持；
0：未处于急停状态；
1：解除成功；
1：解除超时
3：未连接；
4：没有急停功能；
5：正处于急停状态
"""
clear_hard_emergency_stop = self.resolve('robot_clear_hard_emergency_stop', c_int, *[c_int])
if clear_hard_emergency_stop is None:
return HitBot_DLL_Warning
return clear_hard_emergency_stop(c_int(self.CardNumber))
pass
# 查询机械臂是否到达目标点
def is_robot_goto_target(self, target_x: float, target_y: float, target_z: float, target_r: float) -> int:
"""
:param target_x: 目标点 x 坐标（mm）
:param target_y: 目标点 y 坐标（mm）
:param target_z: 目标点 z 坐标（mm）
:param target_r: 目标点 r 坐标（mm）
:return: 0：未到达；1：已到达；
"""
is_robot_goto_target = self.resolve('robot_is_robot_goto_target', c_int, *[
c_int, c_float, c_float, c_float, c_float
])
if is_robot_goto_target is None:
return HitBot_DLL_Warning
return is_robot_goto_target(c_int(self.CardNumber), c_float(target_x), c_float(target_y),
c_float(target_z), c_float(target_r))
pass
# 485 夹爪手动初始化
def com485_initial(self, baudRate: int) -> int:
"""
:param baudRate: 波特率
:return:
1：夹爪初始化成功；
2：未初始化；
3：未连接；
4：波特率过小；
5：波特率过大；
6：接收超时；
7：设定反馈超时；
8：非 485 扩展模块；
-1：I/O 板发送超时；
"""
com485_initial = self.resolve('robot_com485_initial', c_int, *[c_int, c_int])
if com485_initial is None:
return HitBot_DLL_Warning
return com485_initial(c_int(self.CardNumber), c_int(baudRate))
pass
# 485 夹爪设置旋转速度
def com485_set_rotation_speed(self, speed: float) -> int:
"""
:param speed:旋转速度
:return:1：夹爪设置相对旋转角度成功；-1：I/0 板发送超时；-2：485 发送超时；2：准备发送状态位置超时；
3：下位机进入接收发送数据状态超时；6：接收超时；8：非 485 扩展模块；
"""
com485_set_rotation_speed = self.resolve('robot_com485_set_rotation_speed', c_int, *[c_int, c_float])
if com485_set_rotation_speed is None:
return HitBot_DLL_Warning
return com485_set_rotation_speed(c_int(self.CardNumber), c_float(speed))
# 485 夹爪设置夹持速度
def com485_set_clamping_speed(self, speed: float) -> int:
"""
:param speed: 夹持速度
:return:1：夹爪设置相对旋转角度成功；-1：I/0 板发送超时；-2：485 发送超时；2：准备发送状态位置超时；
3：下位机进入接收发送数据状态超时；6：接收超时；8：非 485 扩展模块；
"""
com485_set_clamping_speed = self.resolve('robot_com485_set_clamping_speed', c_int, *[c_int, c_float])
if com485_set_clamping_speed is None:
return HitBot_DLL_Warning
return com485_set_clamping_speed(c_int(self.CardNumber), c_float(speed))
pass
# 485 夹爪设置夹持距离
def com485_set_clamping_distance(self, distance: float):
"""
:param distance: 夹持距离
:return:1：夹爪设置相对旋转角度成功；-1：I/0 板发送超时；-2：485 发送超时；2：准备发送状态位置超时；
3：下位机进入接收发送数据状态超时；6：接收超时；8：非 485 扩展模块；
"""
com485_set_clamping_distance = self.resolve('robot_com485_set_clamping_distance', c_int, *[c_int, c_float])
if com485_set_clamping_distance is None:
return HitBot_DLL_Warning
return com485_set_clamping_distance(c_int(self.CardNumber), c_float(distance))
pass
# 485 夹爪获取夹持距离
def com485_get_clamping_distance(self) -> float:
"""
:return: 夹持距离
"""
com485_get_clamping_distance = self.resolve('robot_com485_get_clamping_distance', c_int, *[c_int])
if com485_get_clamping_distance is None:
return HitBot_DLL_Warning
return com485_get_clamping_distance(c_int(self.CardNumber))
pass
# 485 夹爪设置绝对旋转角度
def com485_set_rotation_angle(self, angle: float) -> int:
"""
:param angle: 绝对旋转角度
:return:1：夹爪设置相对旋转角度成功；-1：I/0 板发送超时；-2：485 发送超时；2：准备发送状态位置超时；
3：下位机进入接收发送数据状态超时；6：接收超时；8：非 485 扩展模块；
"""
com485_set_clamping_distance = self.resolve('robot_com485_set_clamping_distance', c_int, *[c_int, c_float])
if com485_set_clamping_distance is None:
return HitBot_DLL_Warning
return com485_set_clamping_distance(c_int(self.CardNumber), c_float(angle))
# 485 夹爪设置相对旋转角度
def com485_set_relative_rotation_angle(self, angle: float):
"""
:param angle: 相对旋转角度
:return:1：夹爪设置相对旋转角度成功；-1：I/0 板发送超时；-2：485 发送超时；2：准备发送状态位置超时；
3：下位机进入接收发送数据状态超时；6：接收超时；8：非 485 扩展模块；
"""
com485_set_relative_rotation_angle = self.resolve('robot_com485_set_relative_rotation_angle', c_int, *[c_int, c_float])
if com485_set_relative_rotation_angle is None:
return HitBot_DLL_Warning
return com485_set_relative_rotation_angle(c_int(self.CardNumber), c_float(angle))
# 485 夹爪获取旋转角度
def com485_get_rotation_angle(self) -> float:
"""
:return: 旋转角度
"""
com485_get_rotation_angle = self.resolve('robot_com485_get_rotation_angle', c_int, *[c_int])
if com485_get_rotation_angle is None:
return HitBot_DLL_Warning
return com485_get_rotation_angle(c_int(self.CardNumber))
# 485 夹爪获取夹持状态
def com485_get_clamping_state(self) -> int:
"""
0：到位；
1：运动中；
2：夹持；
3：掉落；
:return:
"""
com485_get_clamping_state = self.resolve('robot_com485_get_clamping_state', c_int, *[c_int])
if com485_get_clamping_state is None:
return HitBot_DLL_Warning
return com485_get_clamping_state(c_int(self.CardNumber))
# 485 夹爪获取旋转状态
def com485_get_rotation_state(self):
"""
:return: 0：到位；1：运动中；2：夹持；3：掉落；
"""
com485_get_rotation_state = self.resolve('robot_com485_get_rotation_state', c_int, *[c_int])
if com485_get_rotation_state is None:
return HitBot_DLL_Warning
return com485_get_rotation_state(c_int(self.CardNumber))
# RS485 夹爪发送数据控制夹爪
def com485_send(self, data: bytes,len: int) -> int:
"""
:param data: 485 夹爪数据
:param len: 485 夹爪数据长度
:return:
1：夹爪发送数据成功；
-1：I/0 板发送超时；
-2：485 发送超时；
2：准备发送状态位置超时；
3：下位机进入接收发送数据状态超时；
6：接收超时；
8：非 485 扩展模块；
"""
com485_send = self.resolve('robot_com485_recv', c_int, *[c_char_p, c_char])
if com485_send is None:
return HitBot_DLL_Warning
return com485_send(c_int(self.CardNumber), c_char_p(data), c_char(len))
# RS485 夹爪接收返回数据
def com485_recv(self, data: bytes) -> int:
"""
:param data: 485 夹爪返回数据
:return: 8：夹爪返回数据长度； -1：非 485 扩展模块； 0：485 接收失败；
"""
com485_recv = self.resolve('robot_com485_recv', c_int, *[c_char_p])
if com485_recv is None:
return HitBot_DLL_Warning
return com485_recv(c_int(self.CardNumber), c_char_p(data))
# 立刻停止机械臂运动，然后释放除上下以外关节的转矩
def emergency_stop(self):
emergency_stop = self.resolve('robot_emergency_stop', c_void_p, *[c_int])
if emergency_stop is None:
return HitBot_DLL_Warning
return emergency_stop(c_int(self.CardNumber))
# 判断点位是否可以到达
def judge_in_range_xyzr(self,x: float,y: float,z: float,r: float) -> bool:
"""
:param x:x 坐标(mm)
:param y:y 坐标(mm)
:param z:z 坐标(mm)
:param r:r 坐标(deg)
:return: false：超出范围无法到达； true：可以到达；
"""
judge_in_range_xyzr = self.resolve('robot_judge_in_range_xyzr', c_void_p, *[c_int, c_float, c_float, c_float, c_float])
if judge_in_range_xyzr is None:
return False
return judge_in_range_xyzr(c_int(self.CardNumber), c_float(x), c_float(y), c_float(z), c_float(r))
pass
# 检查关节是否有效
def check_joint(self,joint_num: int,state: bool) -> bool:
"""
:param joint_num:关节号 1-4
:param state: true 开启关节 false 屏蔽
:return: true：设置关节是否生效成功； false：关节号错误；
"""
check_joint = self.resolve('robot_check_joint', c_bool, *[c_int, c_int, c_bool])
if check_joint is None:
return False
return check_joint(c_int(self.CardNumber), c_int(joint_num), c_bool(state))
# 驱动机械臂某一个轴旋转指定角度
def single_joint_move(self,axis: int,distance: float,speed: float):
"""
:param axis : 关节号 1-4 正方向
:param distance : 旋转角度(deg)
:param speed :轴 3 为线速度(mm/s),其他为旋转速度(deg/s)
:return :
0：正在执行其他指令，本次指令无效；
1：本次指令生效，机械臂开始运动；
2：设置速度小于等于零；
3：未初始化；
5：轴号参数错误；
6：伺服未开启；
11：手机端在控制；
101：传入参数 NOT A NUMBER；
102：发生碰撞，本次指令无效；
103：轴发生复位，需要重新初始化，本次指令无效；
"""
single_joint_move = self.resolve('robot_single_joint_move', c_int, *[c_int, c_int, c_float, c_float])
if single_joint_move is None:
return HitBot_DLL_Warning
return single_joint_move(c_int(self.CardNumber), c_int(axis), c_float(distance), c_float(speed))
pass
# 驱动机械臂沿某一方向运动指定距离
def xyz_move(self, direction: int, distance: float, speed: float):
"""
:param direction: 1 x 轴正方向，2 y 轴正方向，3 z 轴正方向
:param distance: 移动距离（mm）
:param speed: 移动速度（mm/s）
:return:
0：正在执行其他指令，本次指令无效；
1：本次指令生效，机械臂开始运动；
2：设置速度小于等于零；
3：未初始化；
4：过程点无法到达；
5：方向参数错误；
6：伺服未开启；
7：该姿态无法完成直线运动；
11：手机端在控制；
101：传入参数 NOT A NUMBER；
102：发生碰撞，本次指令无效；
103：轴发生复位，需要重新初始化，本次指令无效；
"""
xyz_move = self.resolve('robot_xyz_move', c_int, *[c_int, c_int, c_float, c_float])
if xyz_move is None:
return HitBot_DLL_Warning
return xyz_move(c_int(self.CardNumber), c_int(direction), c_float(distance), c_float(speed))
pass
# 设置轨迹插补缓存区长度，减小或者增大停止或者暂停延时
def set_Interpolation_position_buf_catch_count(self, count: int):
"""
:param count:插补缓存区长度，默认 200，区间 [32，4096]
:return: 1：设置成功； 3：未初始化；
"""
set_Interpolation_position_buf_catch_count = self.resolve('robot_set_Interpolation_position_buf_catch_count', c_int, *[c_int, c_int])
if set_Interpolation_position_buf_catch_count is None:
return HitBot_DLL_Warning
return set_Interpolation_position_buf_catch_count(c_int(self.CardNumber), c_int(count))
pass
# 设置手臂执行缓存区长度，减小或者增大停止或者暂停延时
def set_robot_buf_size(self, bufsize: int) -> int:
"""
:param bufsize: 插补缓存区长度，默认 850，区间 [32，900]
:return:1：设置成功； 3：未初始化；
"""
set_robot_buf_size = self.resolve('robot_set_robot_buf_size', c_int, *[c_int, c_int])
if set_robot_buf_size is None:
return HitBot_DLL_Warning
return set_robot_buf_size(c_int(self.CardNumber), c_int(bufsize))
pass
# 设置各关节转矩设定值，限制电机输出转矩范围，来调节碰撞检测的灵敏度
def set_robot_joint_torque_value(self, jointnum: int, value: int):
"""
:param jointnum: 轴编号
:param value: 转矩设定值，[1000，20000]
:return:0：未连接；1：设置成功；2：轴号错误；3：未初始化；
"""
set_robot_joint_torque_value = self.resolve('robot_set_robot_joint_torque_value', c_int, *[c_int, c_int, c_int])
if set_robot_joint_torque_value is None:
return HitBot_DLL_Warning
return set_robot_joint_torque_value(c_int(self.CardNumber), c_int(jointnum), c_int(value))
pass
# 设置停止 I/O
def set_stop_io(self, io_number: int, io_value: int):
"""
:param io_number:I/O 号
:param io_value:：I/0 信号值
:return: 0：设置停止 I/O 成功；
"""
robot_set_stop_io = self.resolve('robot_set_stop_io', c_int, *[c_int, c_int, c_int])
if robot_set_stop_io is None:
return HitBot_DLL_Warning
return robot_set_stop_io(c_int(self.CardNumber), c_int(io_number), c_int(io_value))
# 获取错误信息
def get_error_code(self):
robot_get_error_code = self.resolve("robot_get_error_code", c_int, *[c_int])
if robot_get_error_code is None:
return HitBot_DLL_Warning
return robot_get_error_code(c_int(self.CardNumber))
AppCore/AppImplsbak/MicroscopeImpl.py deleted 100644 → 0
View file @ 854d2864
#!D:\IDE\Anaconda3\envs\Microscope_Scan python
# -*- coding: UTF-8 -*-
"""
@Author: Administrator
@FileName: MicroscopeImpl.py
@DateTime: 2025/4/8 20:21
@SoftWare: PyCharm
@Author ：xsh
"""
from PyQt5 import Qt
from abc import abstractmethod
from AppCore.AppContextModels.MicroscopeContext import MicroscopeContext
from AppCore.AppRequestModels.SerialRequest import SerialRequest
from AppInterfaces.ImplInterface import (ImplInterface, AppUtils, AppConvert, AppTimeLoop, log_exceptions)
from AppInterfaces.SingletonInterface import (SingletonInterface)
from AppSettings.Settings import (RECODE_FAILURE, RECODE_SUCCEED)
from AppCore.AppLevelModels.ObjectiveLevel import ObjectiveLevel
from AppCore.DBModels import ObjectiveModel, FocusingConfigModel
from AppCore.ImplInterfaces import MicroscopeInterface
MAX_SERIAL_DEFAULT_WAIT_TIMES : int = 1500
MAX_SERIAL_READ_DELAY : int = 5
MAX_SERIAL_SEND_BUFFER_LENGTH : int = 255
class MicroscopeImpl(Qt.QObject, MicroscopeInterface, SingletonInterface):
Manager : Qt.QSerialPort
Parameter : MicroscopeContext
StartTime : Qt.QTime
isMoving : bool
Locker: Qt.QMutex = Qt.QMutex()
_IsInitialize: bool
@classmethod
def GetInstance(cls, *args, **kwargs) -> 'MicroscopeImpl':
return super(MicroscopeImpl, cls).GetInstance(*args, **kwargs)
@property
def parameter(self) -> MicroscopeContext:
return None if not self.hasParameter else self.Parameter
def initContext(self):
from AppSettings.AppSetting import AppSetting, AppConfig
self.Parameter = AppConfig.microscopeConfig
def initManager(self, context: MicroscopeContext = None, **args):
self.initContext()
if not self.hasManager:
self.Manager = Qt.QSerialPort()
def __init__(self, parent: Qt.QObject = None):
super(MicroscopeImpl, self).__init__(parent=parent)
self.Initialization("MicroscopeImpl", self, parent)
def setParameter(self, context: MicroscopeContext):
pass
def initValue(self):
super(MicroscopeImpl, self).initValue()
self.initManager()
self.StartTime = Qt.QTime.currentTime()
def deleValue(self):
super(MicroscopeImpl, self).deleValue()
self.Close()
self.Manager = None
self.Parameter = None
def deleManager(self):
if self.hasManager:
self.Close()
self.Manager.deleteLater()
self.Manager = None
def Open(self, timeOut: int = 1000) -> int:
self.initContext()
if not self.isValid():
self.initManager(self.Parameter)
if not self.isValid():
return RECODE_FAILURE
if self.IsOpen():
self.Manager.close()
self.Parameter.IsOpen = False
waittime: int = max(timeOut, self.Parameter.ReadWaitTime)
ETime: Qt.QDateTime = Qt.QDateTime.currentDateTime().addMSecs(waittime)
while True:
if Qt.QDateTime.currentDateTime() > ETime:
break
if self._OpenSerial(self.Manager, self.Parameter) == RECODE_SUCCEED:
break
AppTimeLoop.processGlobalEvents(MAX_SERIAL_READ_DELAY)
return RECODE_SUCCEED if self.Parameter.IsOpen else RECODE_FAILURE
def Close(self, timeOut: int = 1000) -> int:
self.initContext()
if not self.isValid():
self.initManager(self.Parameter)
self._CloseSerial(self.Manager, self.Parameter)
return RECODE_SUCCEED
def ReOpen(self, timeOut: int = 1000) -> int:
self.Close(timeOut)
return self.Open(timeOut)
def isEqual(self, other) -> bool:
if isinstance(other, MicroscopeImpl):
return self.Manager == other.Manager
return False
def SendString(self, buffer: str, **args) -> int:
if not self.IsOpen():
self.Open(MAX_SERIAL_DEFAULT_WAIT_TIMES)
if not self.IsOpen():
return RECODE_FAILURE
return self._SendSerialPort(self.Manager, Qt.QByteArray(buffer.encode('utf-8')), self.Parameter.ReadWaitTime)
def SendBinary(self, buffer: (bytes, bytearray, Qt.QByteArray), **args) -> int:
if not self.IsOpen():
self.Open(MAX_SERIAL_DEFAULT_WAIT_TIMES)
if not self.IsOpen():
return RECODE_FAILURE
return self._SendSerialPort(self.Manager, Qt.QByteArray(buffer), self.Parameter.ReadWaitTime)
def Send(self, buffer, **args) -> int:
if not self.IsOpen():
self.Open(MAX_SERIAL_DEFAULT_WAIT_TIMES)
if not self.IsOpen():
return RECODE_FAILURE
if isinstance(buffer, str):
return self.SendString(buffer)
elif isinstance(buffer, (bytes, bytearray, Qt.QByteArray)):
return self.SendBinary(buffer)
elif isinstance(buffer, SerialRequest):
return self._SendSerialPort(self.Manager, Qt.QByteArray(buffer.TransmitBinary), self.Parameter.ReadWaitTime)
return RECODE_FAILURE
def ReadBinary(self) -> Qt.QByteArray:
if not self.IsOpen():
self.Open(MAX_SERIAL_DEFAULT_WAIT_TIMES)
if not self.IsOpen():
return Qt.QByteArray()
buffer = self._ReadSerialPort(self.Manager, -1, self.Parameter.ReadWaitTime)
return buffer
def Read(self, request: SerialRequest, **args) -> int:
if not self.IsOpen():
self.Open(MAX_SERIAL_DEFAULT_WAIT_TIMES)
if not self.IsOpen() or not isinstance(request, SerialRequest):
return RECODE_FAILURE
return self._ReadSerial(self.Manager, self.Parameter, request, request.ReceivedWaits)
def ReadMic(self, request: SerialRequest) -> int:
if not self.IsOpen():
self.Open(MAX_SERIAL_DEFAULT_WAIT_TIMES)
if not self.IsOpen() or not isinstance(request, SerialRequest):
return RECODE_FAILURE
return self._ReadMicSerial(self.Manager, self.Parameter, request, request.ReceivedWaits)
def WaitDone(self, request: SerialRequest):
if not self.IsOpen():
self.Open(MAX_SERIAL_DEFAULT_WAIT_TIMES)
if not self.IsOpen() or not isinstance(request, SerialRequest):
return
request.ResultNumber = RECODE_FAILURE
isWrong: int = self.Send(request.TransmitBinary)
request.ResultNumber = isWrong
if RECODE_SUCCEED != isWrong:
return
self.Read(request)
def Transmit(self, data: object, **args) -> int:
if not self.hasManager:
self.initManager( AppConfig.microscopeConfig)
if not self.hasManager:
return RECODE_FAILURE
if self.IsOpen():
return self.Send(data, **args)
return RECODE_FAILURE
def Received(self, data: object, **args) -> int:
if not self.hasManager:
self.initManager( AppConfig.microscopeConfig)
if not self.hasManager:
return RECODE_FAILURE
if self.IsOpen():
return self.Read(data, **args)
return RECODE_FAILURE
def initMicroscopeEvent(self):
isWrong: int = self.GET_INIT_STATUS()
if RECODE_SUCCEED == isWrong:
self.SET_Z_STEP_MODE(1)
self.read_empty()
self.SET_MASTER_EVENT ()
self.SET_TL_EVENT ()
self.SET_FIELD_TL_EVENT ()
self.SET_LED_EVENT ()
self.SET_OBJ_EVENT ()
self.SET_CONFIG_MODE (0)
self.SET_Z_EVENT()
self.set_SPOTLIGHT_EVENT()
self.read_empty()
def initMicroscopeObjective(self):
isWrong: int = self.GET_INIT_STATUS()
if RECODE_SUCCEED == isWrong:
self.changed_spot_light(False)
Wrong_Objective1 : int
Wrong_Objective10 : int
Wrong_Objective20 : int
Wrong_Objective40 : int
Wrong_Objective63 : int
Wrong_Objective100 : int
Wrong_ObjectiveNone : int
Objective1 : int
Objective10 : int
Objective20 : int
Objective40 : int
Objective63 : int
Objective100 : int
ObjectiveNone : int
_Objective1 : int = ObjectiveLevel.toParameters().get(ObjectiveLevel.Objective1 )
_Objective10 : int = ObjectiveLevel.toParameters().get(ObjectiveLevel.Objective10 )
_Objective20 : int = ObjectiveLevel.toParameters().get(ObjectiveLevel.Objective20 )
_Objective40 : int = ObjectiveLevel.toParameters().get(ObjectiveLevel.Objective40 )
_Objective63 : int = ObjectiveLevel.toParameters().get(ObjectiveLevel.Objective63 )
_Objective100 : int = ObjectiveLevel.toParameters().get(ObjectiveLevel.Objective100 )
_ObjectiveNone : int = ObjectiveLevel.toParameters().get(ObjectiveLevel.ObjectiveNone)
Objective1 , Wrong_Objective1 = self.GET_OBJPAR(ObjectiveLevel.Objective1 )
Objective10 , Wrong_Objective10 = self.GET_OBJPAR(ObjectiveLevel.Objective10 )
Objective20 , Wrong_Objective20 = self.GET_OBJPAR(ObjectiveLevel.Objective20 )
Objective40 , Wrong_Objective40 = self.GET_OBJPAR(ObjectiveLevel.Objective40 )
Objective63 , Wrong_Objective63 = self.GET_OBJPAR(ObjectiveLevel.Objective63 )
Objective100 , Wrong_Objective100 = self.GET_OBJPAR(ObjectiveLevel.Objective100 )
ObjectiveNone, Wrong_ObjectiveNone = self.GET_OBJPAR(ObjectiveLevel.ObjectiveNone)
if RECODE_SUCCEED != Wrong_Objective1 or Objective1 != _Objective1 :
self.SET_OBJPAR(ObjectiveLevel.Objective1 )
if RECODE_SUCCEED != Wrong_Objective10 or Objective10 != _Objective10 :
self.SET_OBJPAR(ObjectiveLevel.Objective10 )
if RECODE_SUCCEED != Wrong_Objective20 or Objective20 != _Objective20 :
self.SET_OBJPAR(ObjectiveLevel.Objective20 )
if RECODE_SUCCEED != Wrong_Objective40 or Objective40 != _Objective40 :
self.SET_OBJPAR(ObjectiveLevel.Objective40 )
if RECODE_SUCCEED != Wrong_Objective63 or Objective63 != _Objective63 :
self.SET_OBJPAR(ObjectiveLevel.Objective63 )
if RECODE_SUCCEED != Wrong_Objective100 or Objective100 != _Objective100 :
self.SET_OBJPAR(ObjectiveLevel.Objective100 )
if RECODE_SUCCEED != Wrong_ObjectiveNone or ObjectiveNone != _ObjectiveNone :
self.SET_OBJPAR(ObjectiveLevel.ObjectiveNone)
Objective: ObjectiveModel = ObjectiveModel.getObjectiveConfig(ObjectiveLevel.ObjectiveNone)
self.set_z_speed(Objective.Default_Speed)
self.set_z_range(Objective.Lower_Limit, Objective.Upper_Limit)
self.changedObjective(ObjectiveLevel.ObjectiveNone)
def initZDriver(self):
isWrong: int = self.GET_INIT_STATUS()
if RECODE_SUCCEED == isWrong:
Objective: ObjectiveModel = ObjectiveModel.getObjectiveConfig(ObjectiveLevel.ObjectiveNone)
self.SET_Z_STEP_MODE(1)
self.BREAK_Z()
self.isMoving = False
self.set_z_speed(Objective.Default_Speed)
self.SET_LOWER_LIMIT(Objective.Lower_Limit)
self.SET_UPPER_LIMIT(Objective.Upper_Limit)
self.isMoving = True
self.INIT_Z()
self.waitmove_finish(Objective.Lower_Limit)
self.BREAK_Z()
self.isMoving = False
self.SET_Z_EVENT()
def initMicroscopeZDrive(self):
isWrong: int = self.GET_INIT_STATUS()
if RECODE_SUCCEED == isWrong:
Objective: ObjectiveModel = ObjectiveModel.getObjectiveConfig(ObjectiveLevel.ObjectiveNone)
self.SET_Z_STEP_MODE(1)
self.BREAK_Z()
self.isMoving = False
self.set_z_speed(Objective.Default_Speed)
self.SET_LOWER_LIMIT(Objective.Lower_Limit)
self.SET_UPPER_LIMIT(Objective.Upper_Limit)
self.waitmove(Objective.Lower_Limit)
self.isMoving = True
self.INIT_Z()
self.waitmove_finish(Objective.Lower_Limit)
self.BREAK_Z()
self.isMoving = False
position: int
_warning: int
_warning, position = self.get_position()
if _warning == RECODE_SUCCEED and position > Objective.Lower_Limit:
self.waitmove(Objective.Lower_Limit)
_warning, position = self.get_position()
if _warning == RECODE_SUCCEED and position > Objective.Lower_Limit:
self.waitmove(Objective.Lower_Limit)
self.SET_Z_EVENT()
def initMicroscopeLight(self):
pass
isWrong: int = self.GET_INIT_STATUS()
if RECODE_SUCCEED == isWrong:
self.SET_SHUTTER_LAMP(True)
# self.INIT_APBL_TL()
# self.INIT_LFBL_TL()
self.SET_MIN_POS_ABS_LAMP ()
self.SET_MIN_POS_ABS_LFBL_TL()
self.SET_MIN_POS_ABS_APBL_TL()
# self.POS_MAX_TL_DIAPH1 ()
# self.POS_MAX_TL_DIAPH2 ()
def initMicroscope(self):
self._IsInitialize = False
self.initMicroscopeEvent ()
self.initMicroscopeLight ()
self.initMicroscopeZDrive ()
self.initMicroscopeObjective()
self.initMicroscopeEvent()
self._IsInitialize = True
def move_to_z_lower_limit(self) -> int:
self.set_z_move_mode(1)
Objective: ObjectiveModel = ObjectiveModel.getObjectiveConfig(ObjectiveLevel.ObjectiveNone)
self.set_z_speed(Objective.Default_Speed)
self.set_z_range(Objective.Lower_Limit, Objective.Upper_Limit)
return self.waitmove(Objective.Lower_Limit)
def openTL(self):
return self.SET_SHUTTER_LAMP(True)
def closeTL(self):
return self.SET_SHUTTER_LAMP(False)
def IsTLOpen(self) -> bool:
isWrong: int
enable : int
isWrong, enable = self.GET_SHUTTER_LAMP()
return isWrong == RECODE_SUCCEED and enable == 1
def home(self) -> int:
self.initMicroscope()
isWrong: int = self.GET_INIT_STATUS()
self._IsInitialize = RECODE_SUCCEED == isWrong
return isWrong
def waithome(self) -> int:
return self.home()
def move(self, position: (float, int)) -> int:
isWrong = self.SET_POS_ABS_Z(int(round(float(position), 0)))
return isWrong
def stop_move(self) -> int:
return self.BREAK_Z()
def rel_move(self, value: int) -> int:
return self.SET_POS_REL_Z(value)
def waitmove(self, position: (int, float)) -> int:
_position: int
_target: int = abs(int(round(float(position), 0)))
isWrong : int
# if self.hasMoving and self.isMoving:
# return RECODE_FAILURE
self.isMoving = True
isWrong = self.SET_POS_ABS_Z(_target)
endtime: Qt.QDateTime = Qt.QDateTime.currentDateTime().addMSecs(1000)
while True:
if RECODE_SUCCEED == isWrong or Qt.QDateTime.currentDateTime() > endtime:
break
isWrong = self.SET_POS_ABS_Z(_target)
isWrong = self.waitmove_complete(_target)
self.isMoving = False
# AppTimeLoop.msleep(50)
return isWrong
@property
def hasMoving(self) -> bool:
return hasattr(self, 'isMoving') and isinstance(self.isMoving, (bool, int))
async def async_waitmove(self, position: (int, float)) -> int:
_position: int
_target: int = int(round(float(position), 0))
isWrong : int
self.SET_POS_ABS_Z(_target)
isWrong = self.waitmove_complete(_target)
# AppTimeLoop.msleep(50)
return isWrong
def waitmove_complete(self, position: (int, float)) -> int:
_position: int
_target: int = abs(int(round(float(position), 0)))
endtime: Qt.QDateTime = Qt.QDateTime.currentDateTime().addMSecs(360000)
begintime: Qt.QDateTime = Qt.QDateTime.currentDateTime()
processtime: Qt.QDateTime
waittimes: int = 0
waitdelay: int = 5
count : int = 0
maxCount : int = 10
isWrong, _position = self.GET_POS_ABS_Z()
last_position: int = _position
isWrong: int = RECODE_FAILURE
Moving : int = None
Lower : int = None
Upper : int = None
Limit : int = None
Focus : int = None
while True:
try:
if int(_position) == int(_target) and RECODE_SUCCEED == isWrong:
break
except Exception as e:
pass
isWrong, Moving ,Lower ,Upper ,Limit ,Focus = self.ZDriverMoveStatus()
if RECODE_SUCCEED == isWrong:
if isinstance(Moving, int) and not Moving:
break
if isinstance(Lower, int) and Lower:
break
if isinstance(Upper, int) and Upper:
break
if isinstance(Limit, int) and Limit:
break
if isinstance(Focus, int) and Focus:
break
isWrong, _position = self.GET_POS_ABS_Z()
if Qt.QDateTime.currentDateTime() > endtime:
break
AppTimeLoop.delay(waitdelay)
self.BREAK_Z()
self.isMoving = False
return isWrong
def waitmove_finish(self, position: (int, float)) -> int:
_position: int
_target: int = int(round(float(position), 0))
isWrong, _position = self.GET_POS_ABS_Z()
endtime: Qt.QDateTime = Qt.QDateTime.currentDateTime().addMSecs(360000)
processtime: Qt.QDateTime = endtime.addMSecs(500)
waittimes: int = 0
waitdelay: int = 10
old_position: int = _position
while _position != _target:
isWrong, Moving, Lower, Upper, Limit, Focus = self.ZDriverMoveStatus()
if RECODE_SUCCEED == isWrong:
if isinstance(Moving, int) and Moving == 0:
break
if isinstance(Lower, int) and Lower:
break
if isinstance(Upper, int) and Upper:
break
if isinstance(Limit, int) and Limit:
break
if isinstance(Focus, int) and Focus:
break
isWrong, _position = self.GET_POS_ABS_Z()
if Qt.QDateTime.currentDateTime() > endtime:
break
if Qt.QDateTime.currentDateTime() > processtime:
if old_position == _position:
break
try:
if int(_position) == int(_target):
break
except Exception as e:
pass
waittimes += waitdelay
AppTimeLoop.processEvents(waitdelay)
# self.waitmove_finish(Objective.Lower_Limit)
self.BREAK_Z()
self.isMoving = False
return RECODE_SUCCEED
def waitmove_lower_limit(self):
isWrong, low_limit = self.GET_LOW_LIMIT_Z()
self.SET_Z_STEP_MODE(1)
self.waitmove(low_limit if isinstance(low_limit, (float, int)) else 0)
return RECODE_SUCCEED
def waitmove_upper_limit(self) -> int:
return self.waitmove(self.MAX_Z_POSITION)
def getPosition(self) -> int:
isWrong: int
position: int
isWrong, position = self.GET_POS_ABS_Z()
return position
def setFastSpeedMode(self):
return self.SET_Z_STEP_MODE(1)
def setNormalSpeedMode(self):
return self.SET_Z_STEP_MODE(0)
def changedObjective(self, level: int, is_lower_limit: bool = True) -> int:
# if is_lower_limit:
# isWrong = self.waitmove_lower_limit()
# else:
# isWrong = self.waitmove_safe(level)
# if isWrong != RECODE_SUCCEED:
# return isWrong
self.BREAK_Z()
isWrong = self.SET_OBJ_POS_ABS_OBJ(level)
if RECODE_SUCCEED != isWrong:
isWrong = self.SET_OBJ_POS_ABS_OBJ(level)
self.changedLightIntensity(level)
self.BREAK_Z()
return isWrong
def changedLightIntensity(self, level: int) -> int:
isWrong: int
objective: ObjectiveModel = ObjectiveModel.getObjectiveConfig(level)
self.SET_SHUTTER_LAMP (True )
self.SET_POS_ABS_LAMP (objective.LAMP )
self.SET_POS_ABS_APBL_TL (objective.APBL )
self.SET_POS_ABS_LFBL_TL (objective.LFBL )
self.set_z_range(objective.Lower_Limit, objective.Upper_Limit)
self.set_z_speed(objective.Default_Speed)
self.set_z_move_mode(1)
return RECODE_SUCCEED
def waitmove_safe(self, level) -> int:
isWrong: int
position: int
objective: ObjectiveModel = ObjectiveModel.getObjectiveConfig(level)
isWrong = self.waitmove(objective.Safe_Limit)
return isWrong
def get_objective_safe_limit(self, level) -> int:
objective: ObjectiveModel = ObjectiveModel.getObjectiveConfig(level)
return objective.Safe_Limit
def get_objective_lower_limit(self, level) -> int:
objective: ObjectiveModel = ObjectiveModel.getObjectiveConfig(level)
return objective.Lower_Limit
def get_objective_upper_limit(self, level) -> int:
objective: ObjectiveModel = ObjectiveModel.getObjectiveConfig(level)
return objective.Upper_Limit
def get_objective_focus_speed(self, level) -> int:
objective: ObjectiveModel = ObjectiveModel.getObjectiveConfig(level)
return objective.Focus_Speed
def get_objective_first_focus_speed(self, level) -> int:
objective: ObjectiveModel = ObjectiveModel.getObjectiveConfig(level)
return objective.First_Focus_Speed
def get_objective_second_focus_speed(self, level) -> int:
objective: ObjectiveModel = ObjectiveModel.getObjectiveConfig(level)
return objective.Second_Focus_Speed
def get_objective_three_focus_speed(self, level) -> int:
objective: ObjectiveModel = ObjectiveModel.getObjectiveConfig(level)
return objective.Three_Focus_Speed
def get_objective_default_speed(self, level) -> int:
objective: ObjectiveModel = ObjectiveModel.getObjectiveConfig(level)
return objective.Default_Speed
def get_objective_scan_speed(self, level) -> int:
objective: ObjectiveModel = ObjectiveModel.getObjectiveConfig(level)
return objective.Scan_Speed
def set_z_upper_limit(self, limit = -1) -> int:
return self.SET_UPPER_LIMIT(int(limit))
def set_z_lower_limit(self, limit = -1) -> int:
return self.SET_LOW_LIMIT_Z(int(limit))
def set_z_range(self, min_limit: int = -1, max_limit: int = -1) -> int:
self.SET_LOW_LIMIT_Z(min_limit)
self.SET_UPPER_LIMIT(max_limit)
return RECODE_SUCCEED
def set_z_speed(self, speed: (float, int)):
return self.SET_SPEED_Z(speed)
def set_z_move_mode(self, enable: (int, bool)):
return self.SET_Z_STEP_MODE(1 if isinstance(enable, (int, bool)) and enable else 0)
def set_objective_upper_limit(self, level) -> int:
objective: ObjectiveModel = ObjectiveModel.getObjectiveConfig(level)
return self.SET_UPPER_LIMIT(int(objective.Upper_Limit))
def set_objective_limit(self, level) -> int:
objective: ObjectiveModel = ObjectiveModel.getObjectiveConfig(level)
self.SET_LOW_LIMIT_Z(int(objective.Lower_Limit))
self.SET_UPPER_LIMIT(int(objective.Upper_Limit))
self.SET_SPEED_Z(int(objective.Default_Speed))
self.SET_Z_STEP_MODE(1)
return RECODE_SUCCEED
def set_objective_lower_limit(self, level) -> int:
objective: ObjectiveModel = ObjectiveModel.getObjectiveConfig(level)
return self.SET_LOW_LIMIT_Z(int(objective.Lower_Limit))
def set_objective_focus_speed(self, level) -> int:
objective: ObjectiveModel = ObjectiveModel.getObjectiveConfig(level)
return self.SET_SPEED_Z(objective.Focus_Speed)
def set_objective_default_speed(self, level) -> int:
objective: ObjectiveModel = ObjectiveModel.getObjectiveConfig(level)
return self.SET_SPEED_Z(objective.Default_Speed)
def set_objective_scan_speed(self, level) -> int:
objective: ObjectiveModel = ObjectiveModel.getObjectiveConfig(level)
return self.SET_SPEED_Z(objective.Scan_Speed)
def set_upper_limit(self, position: (int, float)) -> int:
return self.SET_UPPER_LIMIT(int(position))
def set_lower_limit(self, position: (int, float)) -> int:
return self.SET_LOW_LIMIT_Z(int(position))
def get_position(self) -> (int, int):
isWrong: int
position: int
isWrong, position = self.GET_POS_ABS_Z()
return isWrong, position
def getObjective(self) -> int:
isWrong: int
position: int
isWrong, position = self.GET_OBJ_POS_ABS_OBJ()
return position
def currentObjective(self) -> (int, int):
isWrong : int
objective : int
isWrong, objective = self.GET_OBJ_POS_ABS_OBJ()
return isWrong, objective
def SET_MASTER_EVENT(self):
isWrong: int = RECODE_FAILURE
if self.hasDone():
request: SerialRequest = self.execute(70003, 0, 0, 0, 0, 0, 0, 0, 0)
isWrong = request.ResultNumber
if RECODE_SUCCEED != isWrong:
return False
isWrong = RECODE_FAILURE
result_list: list = self.parserReceived(request, [int])
if isinstance(result_list, list) and len(result_list) >= 1:
return result_list[0] == 70003
return isWrong == RECODE_SUCCEED
def SET_OBJ_EVENT(self):
isWrong: int = RECODE_FAILURE
if self.hasDone():
request: SerialRequest = self.execute(76003, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0)
isWrong = request.ResultNumber
if RECODE_SUCCEED != isWrong:
return False
isWrong = RECODE_FAILURE
result_list: list = self.parserReceived(request, [int])
if isinstance(result_list, list) and len(result_list) >= 1:
return result_list[0] == 76003
return isWrong == RECODE_SUCCEED
def SET_LAMP_EVENT(self):
isWrong: int = RECODE_FAILURE
if self.hasDone():
request: SerialRequest = self.execute(77003, 0, 0, 0, 0, 0, 0, 0)
isWrong = request.ResultNumber
if RECODE_SUCCEED != isWrong:
return False
isWrong = RECODE_FAILURE
result_list: list = self.parserReceived(request, [int])
if isinstance(result_list, list) and len(result_list) >= 1:
return result_list[0] == 71003
return isWrong == RECODE_SUCCEED
def SET_Z_EVENT(self):
isWrong: int = RECODE_FAILURE
if self.hasDone():
request: SerialRequest = self.execute(71003, 0, 0, 0, 0, 0, 0, 0, 0, 0)
isWrong = request.ResultNumber
if RECODE_SUCCEED != isWrong:
return False
isWrong = RECODE_FAILURE
result_list: list = self.parserReceived(request, [int])
if isinstance(result_list, list) and len(result_list) >= 1:
return result_list[0] == 71003
return isWrong == RECODE_SUCCEED
def SET_TL_EVENT(self):
isWrong: int = RECODE_FAILURE
if self.hasDone():
request: SerialRequest = self.execute(84003, 0, 0)
isWrong = request.ResultNumber
if RECODE_SUCCEED != isWrong:
return False
isWrong = RECODE_FAILURE
result_list: list = self.parserReceived(request, [int])
if isinstance(result_list, list) and len(result_list) >= 1:
return result_list[0] == 84003
return isWrong == RECODE_SUCCEED
def SET_FIELD_TL_EVENT(self):
isWrong: int = RECODE_FAILURE
if self.hasDone():
request: SerialRequest = self.execute(83003, 0, 0)
isWrong = request.ResultNumber
if RECODE_SUCCEED != isWrong:
return False
isWrong = RECODE_FAILURE
result_list: list = self.parserReceived(request, [int])
if isinstance(result_list, list) and len(result_list) >= 1:
return result_list[0] == 83003
return isWrong == RECODE_SUCCEED
def SET_LED_EVENT(self):
isWrong: int = RECODE_FAILURE
if self.hasDone():
request: SerialRequest = self.execute(77003, 0, 0, 0, 0)
isWrong = request.ResultNumber
if RECODE_SUCCEED != isWrong:
return False
isWrong = RECODE_FAILURE
result_list: list = self.parserReceived(request, [int])
if isinstance(result_list, list) and len(result_list) >= 1:
return result_list[0] == 77003
return isWrong == RECODE_SUCCEED
def set_SPOTLIGHT_EVENT(self):
isWrong: int = RECODE_FAILURE
if self.hasDone():
request: SerialRequest = self.execute(80003, 0, 0, 0)
isWrong = request.ResultNumber
if RECODE_SUCCEED != isWrong:
return False
isWrong = RECODE_FAILURE
result_list: list = self.parserReceived(request, [int])
if isinstance(result_list, list) and len(result_list) >= 1:
return result_list[0] == 80003
return isWrong == RECODE_SUCCEED
def CHECK_PROG(self) -> bool:
"""返回固件状态 0 = 固件正在从引导扇区运行 1 = 固件正在从程序内存运行"""
isWrong: int = RECODE_FAILURE
if self.hasDone():
request: SerialRequest = self.execute(self.__CHECK_PROG)
isWrong = request.ResultNumber
if RECODE_SUCCEED != isWrong:
return False
isWrong = RECODE_FAILURE
result_list: list = self.parserReceived(request, [int, int])
if isinstance(result_list, list) and len(result_list) >= 2:
return result_list[0] == self.__CHECK_PROG and isinstance(result_list[1], int) and int(result_list[1]) == 1
return isWrong == RECODE_SUCCEED
def SET_TO_DEFAULT(self):
"""个显微镜重置为出厂默认设置"""
isWrong: int = RECODE_FAILURE
if self.hasDone():
request: SerialRequest = self.execute(self.__SET_TO_DEFAULT)
isWrong = request.ResultNumber
if RECODE_SUCCEED != isWrong:
return False
isWrong = RECODE_FAILURE
result_list: list = self.parserReceived(request, [int, int])
if isinstance(result_list, list) and len(result_list) >= 1 and isinstance(result_list[0], int):
isWrong = RECODE_SUCCEED if result_list[0] == self.__SET_TO_DEFAULT else RECODE_FAILURE
return isWrong
def SET_CONFIG_MODE(self, enable: (int, bool) = 0):
"""设置配置模式 0: 配置模式关闭 1：配置模式开启"""
isWrong: int = RECODE_FAILURE
if self.hasDone():
request: SerialRequest = self.execute(self.__SET_CONFIG_MODE, 1 if isinstance(enable, (int, bool)) and enable else 0)
isWrong = request.ResultNumber
if RECODE_SUCCEED != isWrong:
return False
isWrong = RECODE_FAILURE
result_list: list = self.parserReceived(request, [int, int])
if isinstance(result_list, list) and len(result_list) >= 1 and isinstance(result_list[0], int):
isWrong = RECODE_SUCCEED if result_list[0] == self.__SET_CONFIG_MODE else RECODE_FAILURE
return isWrong
def GET_CONFIG_MODE(self):
"""设置配置模式 0: 配置模式关闭 1：配置模式开启"""
isWrong: int = RECODE_FAILURE
if self.hasDone():
request: SerialRequest = self.execute(self.__GET_CONFIG_MODE)
isWrong = request.ResultNumber
if RECODE_SUCCEED != isWrong:
return False
isWrong = RECODE_FAILURE
result_list: list = self.parserReceived(request, [int, int])
if result_list[0] == self.__GET_OBJ_POS_ABS_OBJ and isinstance(result_list[1], int):
isWrong = result_list[1]
return isWrong
def GET_INIT_STATUS(self) -> int:
"""70080 获取初始化状态 0: 硬件初始化未完成 1：硬件初始化完成"""
isWrong: int = RECODE_FAILURE
if self.hasDone():
request: SerialRequest = self.execute(self.__GET_INIT_STATUS)
isWrong = request.ResultNumber
if RECODE_SUCCEED != isWrong:
return isWrong
isWrong = RECODE_FAILURE
result_list: list = self.parserReceived(request, [int, int])
if isinstance(result_list, list) and len(result_list) >= 2:
if result_list[0] == self.__GET_INIT_STATUS and isinstance(result_list[1], int):
return RECODE_SUCCEED if result_list[1] == 1 else RECODE_FAILURE
self.SET_Z_EVENT()
return isWrong
def INIT_OBJPAR(self) -> int:
isWrong: int = RECODE_FAILURE
if self.hasDone():
level = ObjectiveLevel.ObjectiveNone
request: SerialRequest = self.execute(self.__SET_OBJPAR, level, 1, ObjectiveLevel.toParameters().get(level))
isWrong = request.ResultNumber
if RECODE_SUCCEED != isWrong:
return isWrong
isWrong = RECODE_FAILURE
result_list: list = self.parserReceived(request, [int, int])
if isinstance(result_list, list) and len(result_list) >= 1:
if result_list[0] == self.__SET_OBJPAR:
isWrong = RECODE_SUCCEED
return isWrong
def SET_OBJPAR (self, level: int) -> int:
isWrong: int = RECODE_FAILURE
Objective: ObjectiveModel = ObjectiveModel.getObjectiveConfig(level)
if self.hasDone():
parameters: list = [
(Objective.Level, 1 , ObjectiveLevel.toParameters().get(level) ),
(Objective.Level, 10, Objective.LFBL ), # 设置放大倍率
(Objective.Level, 11, Objective.APBL ), # 设置视场光阑值
(Objective.Level, 14, Objective.LAMP ), # 设置孔径光阑值
]
for parameter in parameters:
self.execute(self.__SET_OBJPAR , *parameter)
return RECODE_SUCCEED
def GET_OBJPAR (self, level: int) -> (int, int):
isWrong: int = RECODE_FAILURE
if self.hasDone() and level in ObjectiveLevel.all():
request: SerialRequest = self.execute(self.__GET_OBJPAR, level, 1)
isWrong = request.ResultNumber
if RECODE_SUCCEED != isWrong:
return isWrong, 0
isWrong = RECODE_FAILURE
result_list: list = self.parserReceived(request, [int, int])
if isinstance(result_list, list) and len(result_list) >= 4:
if result_list[0] == self.__GET_OBJPAR and isinstance(result_list[1], int) and isinstance(result_list[3], int):
if result_list[1] == level:
return RECODE_SUCCEED, result_list[3]
self.SET_Z_EVENT()
return isWrong, 0
def SET_OBJ_POS_ABS_OBJ(self, level: int) -> int:
isWrong: int = RECODE_FAILURE
if self.hasDone() and level in ObjectiveLevel.toList():
request: SerialRequest = self.execute(self.__SET_OBJ_POS_ABS_OBJ, level)
isWrong = request.ResultNumber
if RECODE_SUCCEED != isWrong:
return isWrong
isWrong = RECODE_FAILURE
result_list: list = self.parserReceived(request, [int, int])
if isinstance(result_list, list) and len(result_list) >= 1:
if result_list[0] == self.__SET_OBJ_POS_ABS_OBJ:
isWrong = RECODE_SUCCEED
else:
AppTimeLoop.msleep(50)
self.ReadMic(request)
result_list: list = self.parserReceived(request, [int, int])
if isinstance(result_list, list) and len(result_list) >= 1:
if result_list[0] == self.__SET_OBJ_POS_ABS_OBJ:
isWrong = RECODE_SUCCEED
AppTimeLoop.msleep(1000)
return isWrong
def GET_OBJ_POS_ABS_OBJ(self) -> (int, int):
isWrong: int = RECODE_FAILURE
if self.hasDone():
request: SerialRequest = self.execute(self.__GET_OBJ_POS_ABS_OBJ)
isWrong = request.ResultNumber
if RECODE_SUCCEED != isWrong:
return isWrong, ObjectiveLevel.ObjectiveNone
isWrong = RECODE_FAILURE
result_list: list = self.parserReceived(request, [int, int])
if isinstance(result_list, list) and len(result_list) >= 2:
if result_list[0] == self.__GET_OBJ_POS_ABS_OBJ and isinstance(result_list[1], int):
return RECODE_SUCCEED, result_list[1]
self.SET_Z_EVENT()
return isWrong, ObjectiveLevel.ObjectiveNone
def SET_POS_ABS_LAMP(self, intensity: int) -> int:
isWrong: int = RECODE_FAILURE
if self.hasDone() and 0 <= intensity <= 255:
request: SerialRequest = self.execute(self.__SET_POS_ABS_LAMP, intensity)
isWrong = request.ResultNumber
if RECODE_SUCCEED != isWrong:
return isWrong
isWrong = RECODE_FAILURE
result_list: list = self.parserReceived(request, [int, int])
if isinstance(result_list, list) and len(result_list) >= 1:
if result_list[0] == self.__SET_POS_ABS_LAMP:
isWrong = RECODE_SUCCEED
return isWrong
def SET_MAX_POS_ABS_LAMP(self) -> int:
isWrong: int = self.SET_POS_ABS_LAMP(255)
return isWrong
def SET_MIN_POS_ABS_LAMP(self) -> int:
isWrong: int = self.SET_POS_ABS_LAMP(1)
return isWrong
def GET_POS_ABS_LAMP(self) -> (int, int):
isWrong: int = RECODE_FAILURE
if self.hasDone():
request: SerialRequest = self.execute(self.__GET_POS_ABS_LAMP)
isWrong = request.ResultNumber
if RECODE_SUCCEED != isWrong:
return isWrong, 1
isWrong = RECODE_FAILURE
result_list: list = self.parserReceived(request, [int, int, int])
if isinstance(result_list, list) and len(result_list) >= 2:
if result_list[0] == self.__GET_POS_ABS_LAMP and isinstance(result_list[1], int):
return RECODE_SUCCEED, result_list[1]
return isWrong, 1
def SET_SHUTTER_LAMP(self, enable: (bool, int)) -> int:
isWrong: int = RECODE_FAILURE
if self.hasDone() and isinstance(enable, (bool, int)):
_enable: int = 1 if enable == True or enable == 1 else 0
request: SerialRequest = self.execute(self.__SET_SHUTTER_LAMP, 0, _enable)
isWrong = request.ResultNumber
if RECODE_SUCCEED != isWrong:
return isWrong
isWrong = RECODE_FAILURE
result_list: list = self.parserReceived(request, [int, int])
if isinstance(result_list, list) and len(result_list) >= 1:
if result_list[0] == self.__SET_SHUTTER_LAMP:
isWrong = RECODE_SUCCEED
return isWrong
def GET_SHUTTER_LAMP(self) -> (int, int):
isWrong: int = RECODE_FAILURE
if self.hasDone():
request: SerialRequest = self.execute(self.__GET_SHUTTER_LAMP)
isWrong = request.ResultNumber
if RECODE_SUCCEED != isWrong:
return isWrong, 0
isWrong = RECODE_FAILURE
result_list: list = self.parserReceived(request, [int, int, int])
if isinstance(result_list, list) and len(result_list) >= 3:
if result_list[0] == self.__GET_SHUTTER_LAMP and isinstance(result_list[2], int):
return RECODE_SUCCEED, result_list[2]
return isWrong, 0
def INIT_LFBL_TL(self, enable: (bool, int) =1) -> int: #__INIT_LFBL_TL
isWrong: int = RECODE_FAILURE
_enable: int = 1 if isinstance(enable, (bool, int)) and enable else 0
if self.hasDone():
request: SerialRequest = self.execute(self.__INIT_LFBL_TL, _enable)
isWrong = request.ResultNumber
if RECODE_SUCCEED != isWrong:
return isWrong
isWrong = RECODE_FAILURE
result_list: list = self.parserReceived(request, [int, int])
if isinstance(result_list, list) and len(result_list) >= 1:
if result_list[0] == self.__INIT_LFBL_TL:
isWrong = RECODE_SUCCEED
return isWrong
def INIT_APBL_TL(self, enable: (bool, int) =1) -> int: #__INIT_APBL_TL
isWrong: int = RECODE_FAILURE
_enable: int = 1 if isinstance(enable, (bool, int)) and enable else 0
if self.hasDone():
request: SerialRequest = self.execute(self.__INIT_APBL_TL, _enable)
isWrong = request.ResultNumber
if RECODE_SUCCEED != isWrong:
return isWrong
isWrong = RECODE_FAILURE
result_list: list = self.parserReceived(request, [int, int])
if isinstance(result_list, list) and len(result_list) >= 1:
if result_list[0] == self.__INIT_APBL_TL:
isWrong = RECODE_SUCCEED
return isWrong
def SET_POS_ABS_LFBL_TL(self, value: int) -> int:
"""视场光阑 定位到指定的绝对值"""
isWrong: int = RECODE_FAILURE
if self.hasDone() and 1 <= value <= 33:
request: SerialRequest = self.execute(self.__SET_POS_ABS_LFBL_TL, value)
isWrong = request.ResultNumber
if RECODE_SUCCEED != isWrong:
return isWrong
isWrong = RECODE_FAILURE
result_list: list = self.parserReceived(request, [int, int])
if isinstance(result_list, list) and len(result_list) >= 1:
if result_list[0] == self.__SET_POS_ABS_LFBL_TL:
isWrong = RECODE_SUCCEED
return isWrong
def SET_MAX_POS_ABS_LFBL_TL(self) -> int:
"""视场光阑最大位置"""
isWrong: int = self.SET_POS_ABS_LFBL_TL(38)
return isWrong
def SET_MIN_POS_ABS_LFBL_TL(self) -> int:
"""视场光阑最大位置"""
isWrong: int = self.SET_POS_ABS_LFBL_TL(1)
return isWrong
def POS_MAX_TL_DIAPH1(self) -> int:
"""定位至视场光阑最大光圈位置"""
isWrong: int = RECODE_FAILURE
if self.hasDone():
request: SerialRequest = self.execute(self.__POS_MAX_TL_DIAPH1)
isWrong = request.ResultNumber
if RECODE_SUCCEED != isWrong:
return isWrong
isWrong = RECODE_FAILURE
result_list: list = self.parserReceived(request, [int, int])
if isinstance(result_list, list) and len(result_list) >= 1:
if result_list[0] == self.__POS_MAX_TL_DIAPH1:
isWrong = RECODE_SUCCEED
return isWrong
def GET_SPOTLIGHT(self) -> (int, int):
isWrong: int = RECODE_FAILURE
if self.hasDone():
request: SerialRequest = self.execute(self.__GET_SPOTLIGHT)
isWrong = request.ResultNumber
if RECODE_SUCCEED != isWrong:
return isWrong, 1
isWrong = RECODE_FAILURE
result_list: list = self.parserReceived(request, [int, int])
if isinstance(result_list, list) and len(result_list) >= 2:
if result_list[0] == self.__GET_SPOTLIGHT and isinstance(result_list[1], int):
return RECODE_SUCCEED, result_list[1]
return isWrong, 0
def SET_SPOTLIGHT(self, enable: (bool, int)) -> int:
isWrong: int = RECODE_FAILURE
ENABLE: int = 1 if isinstance(enable, (bool, int)) and enable else 0
if self.hasDone():
request: SerialRequest = self.execute(self.__SET_SPOTLIGHT, ENABLE)
isWrong = request.ResultNumber
if RECODE_SUCCEED != isWrong:
return isWrong
isWrong = RECODE_FAILURE
result_list: list = self.parserReceived(request, [int, int])
if isinstance(result_list, list) and len(result_list) >= 1:
if result_list[0] == self.__SET_SPOTLIGHT:
isWrong = RECODE_SUCCEED
return isWrong
def changed_spot_light(self, enable: (bool, int)) -> int:
return self.SET_SPOTLIGHT(enable)
def get_spot_light(self) -> (int, int):
return self.GET_SPOTLIGHT()
def GET_POS_ABS_LFBL_TL(self) -> (int, int):
"""输出视场光阑的当前位置"""
isWrong: int = RECODE_FAILURE
if self.hasDone():
request: SerialRequest = self.execute(self.__GET_POS_ABS_LFBL_TL)
isWrong = request.ResultNumber
if RECODE_SUCCEED != isWrong:
return isWrong
isWrong = RECODE_FAILURE
result_list: list = self.parserReceived(request, [int, int])
if isinstance(result_list, list) and len(result_list) >= 2:
if result_list[0] == self.__GET_POS_ABS_LFBL_TL and isinstance(result_list[1], int):
return RECODE_SUCCEED, result_list[1]
return isWrong, None
def SET_POS_ABS_APBL_TL (self, value: int) -> int:
"""孔径光阑 定位到指定的绝对值"""
isWrong: int = RECODE_FAILURE
if self.hasDone() and 1 <= value <= 38:
request: SerialRequest = self.execute(self.__SET_POS_ABS_APBL_TL, value)
isWrong = request.ResultNumber
if RECODE_SUCCEED != isWrong:
return isWrong
isWrong = RECODE_FAILURE
result_list: list = self.parserReceived(request, [int, int])
if isinstance(result_list, list) and len(result_list) >= 1:
if result_list[0] == self.__SET_POS_ABS_APBL_TL:
isWrong = RECODE_SUCCEED
return isWrong
def GET_POS_ABS_APBL_TL (self) -> object:
"""输出孔径光阑的当前位置"""
isWrong: int = RECODE_FAILURE
if self.hasDone():
request: SerialRequest = self.execute(self.__GET_POS_ABS_APBL_TL)
isWrong = request.ResultNumber
if RECODE_SUCCEED != isWrong:
return isWrong
isWrong = RECODE_FAILURE
result_list: list = self.parserReceived(request, [int, int])
if isinstance(result_list, list) and len(result_list) >= 2:
if result_list[0] == self.__GET_POS_ABS_APBL_TL and isinstance(result_list[1], int):
return RECODE_SUCCEED, result_list[1]
return isWrong, None
def SET_MAX_POS_ABS_APBL_TL(self) -> int:
"""孔径光阑最大位置"""
isWrong: int = self.SET_POS_ABS_APBL_TL(33)
return isWrong
def SET_MIN_POS_ABS_APBL_TL(self) -> int:
"""孔径光阑最大位置"""
isWrong: int = self.SET_POS_ABS_APBL_TL(1)
return isWrong
def POS_MAX_TL_DIAPH2(self) -> int:
"""定位至孔径光阑最大光圈位置"""
isWrong: int = RECODE_FAILURE
if self.hasDone():
request: SerialRequest = self.execute(self.__POS_MAX_TL_DIAPH2)
isWrong = request.ResultNumber
if RECODE_SUCCEED != isWrong:
return isWrong
isWrong = RECODE_FAILURE
result_list: list = self.parserReceived(request, [int, int])
if isinstance(result_list, list) and len(result_list) >= 1:
if result_list[0] == self.__POS_MAX_TL_DIAPH2:
isWrong = RECODE_SUCCEED
return isWrong
def SET_MAN_ON_OFF (self, enable: (bool, int) = True) -> int:
"""打开或关闭 Z-DRIVE 的手动操作"""
isWrong: int = RECODE_FAILURE
if self.hasDone() and isinstance(enable, (bool, int)):
request: SerialRequest = self.execute(self.__SET_MAN_ON_OFF, 1 if enable else 0)
isWrong = request.ResultNumber
if RECODE_SUCCEED != isWrong:
return isWrong
isWrong = RECODE_FAILURE
result_list: list = self.parserReceived(request, [int, int])
if isinstance(result_list, list) and len(result_list) >= 1:
if result_list[0] == self.__SET_MAN_ON_OFF:
isWrong = RECODE_SUCCEED
return isWrong
def GET_MAN_ON_OFF (self) -> (int, int):
"""返回 Z-DRIVE 的手动操作是否已打开或关闭"""
isWrong: int = RECODE_FAILURE
if self.hasDone():
request: SerialRequest = self.execute(self.__GET_MAN_ON_OFF)
isWrong = request.ResultNumber
if RECODE_SUCCEED != isWrong:
return isWrong, 0
isWrong = RECODE_FAILURE
result_list: list = self.parserReceived(request, [int, int])
if isinstance(result_list, list) and len(result_list) >= 2:
if result_list[0] == self.__GET_MAN_ON_OFF and isinstance(result_list[1], int):
return RECODE_SUCCEED, result_list[1]
return isWrong, 0
def RESET_Z__UNIT (self) -> int:
"""
此命令将 Z-DRIVE 的以下参数重置为默认值
加速度参数
速度参数
软件限制
焦点位置
自动传递事件
手动操作
"""
isWrong: int = RECODE_FAILURE
if self.hasDone():
request: SerialRequest = self.execute(self.__RESET_Z__UNIT)
isWrong = request.ResultNumber
if RECODE_SUCCEED != isWrong:
return isWrong
isWrong = RECODE_FAILURE
result_list: list = self.parserReceived(request, [int])
if isinstance(result_list, list) and len(result_list) >= 1:
if result_list[0] == self.__RESET_Z__UNIT:
isWrong = RECODE_SUCCEED
return isWrong
def CHECK_Z__UNIT (self) -> int:
"""读取固件状态 0 = 固件正在从引导扇区运行 1 = 固件正在从程序内存运行"""
isWrong: int = RECODE_FAILURE
if self.hasDone():
request: SerialRequest = self.execute(self.__CHECK_Z__UNIT)
isWrong = request.ResultNumber
if RECODE_SUCCEED != isWrong:
return 0
isWrong = RECODE_FAILURE
result_list: list = self.parserReceived(request, [int, int])
if isinstance(result_list, list) and len(result_list) >= 2:
if result_list[0] == self.__CHECK_Z__UNIT and isinstance(result_list[1], int):
return int(result_list[1])
return 0
def INIT_Z (self) -> int:
"""初始化 Z-DRIVE Z-DRIVE 移动到下方硬件端开关并重置零点"""
isWrong: int = RECODE_FAILURE
if self.hasDone():
request: SerialRequest = self.execute(self.__INIT_Z)
isWrong = request.ResultNumber
if RECODE_SUCCEED != isWrong:
return isWrong
isWrong = RECODE_FAILURE
result_list: list = self.parserReceived(request, [int])
if isinstance(result_list, list) and len(result_list) >= 1:
if result_list[0] == self.__INIT_Z:
isWrong = RECODE_SUCCEED
return isWrong
def INIT_RANGE_Z (self) -> int:
isWrong: int = RECODE_FAILURE
if self.hasDone():
request: SerialRequest = self.execute(self.__INIT_RANGE_Z)
isWrong = request.ResultNumber
if RECODE_SUCCEED != isWrong:
return isWrong
isWrong = RECODE_FAILURE
result_list: list = self.parserReceived(request, [int])
if isinstance(result_list, list) and len(result_list) >= 1:
if result_list[0] == self.__INIT_RANGE_Z:
isWrong = RECODE_SUCCEED
return isWrong
def BREAK_Z (self) -> int:
"""此命令将中止 Z-DRIVE 的当前定位 未完全执行的命令将通过 FLOW_ERR 进行确认 之后BREAK_Z 将退出"""
isWrong: int = RECODE_FAILURE
if self.hasDone():
request: SerialRequest = self.execute(self.__BREAK_Z)
isWrong = request.ResultNumber
if RECODE_SUCCEED != isWrong:
return isWrong
isWrong = RECODE_FAILURE
result_list: list = self.parserReceived(request, [int])
if isinstance(result_list, list) and len(result_list) >= 1:
if result_list[0] == self.__BREAK_Z:
isWrong = RECODE_SUCCEED
self.isMoving = False
if RECODE_SUCCEED == isWrong:
self.isMoving = False
return isWrong
def ZDriverMoveStatus(self) -> (int, int, int, int, int, int):
isWrong: int = RECODE_FAILURE
Moving : int = None
Lower : int = None
Upper : int = None
Limit : int = None
Focus : int = None
if self.hasDone():
request: SerialRequest = self.execute(self.__GET_Z_DRIVE_STATUS)
isWrong = request.ResultNumber
if RECODE_SUCCEED != isWrong:
return isWrong
isWrong = RECODE_FAILURE
result_list: list = self.parserReceived(request, [int, int, int, int, int, int])
if isinstance(result_list, list) and len(result_list) >= 6:
if result_list[0] == self.__GET_Z_DRIVE_STATUS:
isWrong = RECODE_SUCCEED
Moving = AppConvert.ObjectConvert(result_list[1], int)
Lower = AppConvert.ObjectConvert(result_list[2], int)
Upper = AppConvert.ObjectConvert(result_list[3], int)
Limit = AppConvert.ObjectConvert(result_list[4], int)
Focus = AppConvert.ObjectConvert(result_list[5], int)
self.isMoving = isinstance(Moving, int) and Moving == 1
return isWrong, Moving ,Lower ,Upper ,Limit ,Focus
def SET_POS_ABS_Z (self, POS: (int, float)) -> int:
"""将功能单元定位到以微步（计数）为单位的给定绝对值 Z 范围 0 – 最大位置值"""
isWrong: int = RECODE_FAILURE
if self.hasDone() and self.MIN_Z_POSITION <= int(POS) <= self.MAX_Z_POSITION:
request: SerialRequest = self.execute(self.__SET_POS_ABS_Z, POS)
isWrong = request.ResultNumber
if RECODE_SUCCEED != isWrong:
return isWrong
isWrong = RECODE_FAILURE
result_list: list = self.parserReceived(request, [int])
if isinstance(result_list, list) and len(result_list) >= 1:
if result_list[0] == self.__SET_POS_ABS_Z:
isWrong = RECODE_SUCCEED
self.isMoving = RECODE_SUCCEED == isWrong
return isWrong
def GET_POS_ABS_Z (self) -> (int, int):
"""以微步（计数）为单位读取功能单元的当前位置"""
isWrong: int = RECODE_FAILURE
if self.hasDone():
request: SerialRequest = self.execute(self.__GET_POS_ABS_Z)
isWrong = request.ResultNumber
if RECODE_SUCCEED != isWrong:
return isWrong, 0
isWrong = RECODE_FAILURE
result_list: list = self.parserReceived(request, [int, int])
if isinstance(result_list, list) and len(result_list) >= 2:
if result_list[0] == self.__GET_POS_ABS_Z and isinstance(result_list[1], int):
return RECODE_SUCCEED, result_list[1]
return isWrong, 0
def SET_POS_REL_Z (self, POS: (int, float)) -> int:
isWrong: int = RECODE_FAILURE
if self.hasDone() and isinstance(POS, (int, float)) and self.MIN_Z_POSITION <= abs(POS) <= self.MAX_Z_POSITION:
request: SerialRequest = self.execute(self.__SET_POS_REL_Z, POS)
isWrong = request.ResultNumber
if RECODE_SUCCEED != isWrong:
return isWrong
isWrong = RECODE_FAILURE
result_list: list = self.parserReceived(request, [int])
if isinstance(result_list, list) and len(result_list) >= 1:
if result_list[0] == self.__SET_POS_REL_Z:
isWrong = RECODE_SUCCEED
return isWrong
def POS_CONST_Z (self, SPEED: int) -> int:
"""以恒定速度移动到最大位置"""
isWrong: int = RECODE_FAILURE
if self.hasDone() and isinstance(SPEED, (int, float)):
request: SerialRequest = self.execute(self.__POS_CONST_Z, int(SPEED))
isWrong = request.ResultNumber
if RECODE_SUCCEED != isWrong:
return isWrong
isWrong = RECODE_FAILURE
result_list: list = self.parserReceived(request, [int])
if isinstance(result_list, list) and len(result_list) >= 1:
if result_list[0] == self.__POS_CONST_Z:
isWrong = RECODE_SUCCEED
return isWrong
def SET_LOW_LIMIT_Z (self, value: int) -> int:
"""将下限阈值设置为给定的 Z 轴位置 值“0”位于下部机械限位开关。如果参数值设置为-1，则阈值将重置为其默认值"""
isWrong: int = RECODE_FAILURE
if self.hasDone() and isinstance(value, (int, float)):
_pos: int = value if self.MIN_Z_POSITION <= value <= self.MAX_Z_POSITION else -1
request: SerialRequest = self.execute(self.__SET_LOW_LIMIT_Z, _pos)
isWrong = request.ResultNumber
if RECODE_SUCCEED != isWrong:
return isWrong
isWrong = RECODE_FAILURE
result_list: list = self.parserReceived(request, [int])
if isinstance(result_list, list) and len(result_list) >= 1:
if result_list[0] == self.__SET_LOW_LIMIT_Z:
isWrong = RECODE_SUCCEED
return isWrong
def SET_FOCUS_Z (self, value: int) -> int:
"""将焦点位置设置为指定的 Z 轴位置 如果参数值设置为 -1 ，则阈值将重置为其默认值。默认值： -1"""
isWrong: int = RECODE_FAILURE
if self.hasDone() and isinstance(value, (int, float)):
_pos: int = value if self.MIN_Z_POSITION <= value <= self.MAX_Z_POSITION else -1
request: SerialRequest = self.execute(self.__SET_FOCUS_Z, _pos)
isWrong = request.ResultNumber
if RECODE_SUCCEED != isWrong:
return isWrong
isWrong = RECODE_FAILURE
result_list: list = self.parserReceived(request, [int])
if isinstance(result_list, list) and len(result_list) >= 1:
if result_list[0] == self.__SET_FOCUS_Z:
isWrong = RECODE_SUCCEED
return isWrong
def GET_LOW_LIMIT_Z (self) -> (int, int):
isWrong: int = RECODE_FAILURE
if self.hasDone():
request: SerialRequest = self.execute(self.__GET_LOW_LIMIT_Z)
isWrong = request.ResultNumber
if RECODE_SUCCEED != isWrong:
return isWrong, 0
isWrong = RECODE_FAILURE
result_list: list = self.parserReceived(request, [int, int])
if isinstance(result_list, list) and len(result_list) >= 2:
if result_list[0] == self.__GET_LOW_LIMIT_Z and isinstance(result_list[1], int):
return RECODE_SUCCEED, result_list[1]
return isWrong, 0
def GET_FOCUS_Z (self) -> int:
isWrong: int = RECODE_FAILURE
if self.hasDone():
request: SerialRequest = self.execute(self.__GET_FOCUS_Z)
isWrong = request.ResultNumber
if RECODE_SUCCEED != isWrong:
return isWrong, -1
isWrong = RECODE_FAILURE
result_list: list = self.parserReceived(request, [int, int])
if isinstance(result_list, list) and len(result_list) >= 2:
if result_list[0] == self.__GET_FOCUS_Z and isinstance(result_list[1], int):
return RECODE_SUCCEED, result_list[1]
return isWrong, -1
def SET_RAMP_Z (self, value: int) -> int:
isWrong: int = RECODE_FAILURE
if self.hasDone() and isinstance(value, (int, float)) and self.MIN_Z_ACC <= value <= self.MAX_Z_ACC:
request: SerialRequest = self.execute(self.__SET_RAMP_Z, value)
isWrong = request.ResultNumber
if RECODE_SUCCEED != isWrong:
return isWrong
isWrong = RECODE_FAILURE
result_list: list = self.parserReceived(request, [int])
if isinstance(result_list, list) and len(result_list) >= 1:
if result_list[0] == self.__SET_RAMP_Z:
isWrong = RECODE_SUCCEED
return isWrong
def GET_RAMP_Z (self) -> int:
isWrong: int = RECODE_FAILURE
if self.hasDone():
request: SerialRequest = self.execute(self.__GET_RAMP_Z)
isWrong = request.ResultNumber
if RECODE_SUCCEED != isWrong:
return isWrong, -1
isWrong = RECODE_FAILURE
result_list: list = self.parserReceived(request, [int, int])
if isinstance(result_list, list) and len(result_list) >= 2:
if result_list[0] == self.__GET_RAMP_Z and isinstance(result_list[1], int):
return RECODE_SUCCEED, result_list[1]
return isWrong, -1
def SET_SPEED_Z (self, SPEED: (float, int)) -> int:
isWrong: int = RECODE_FAILURE
if self.hasDone() and isinstance(SPEED, (float, int)) and self.MIN_Z_SPEED <= int(SPEED) <= self.MAX_Z_SPEED:
request: SerialRequest = self.execute(self.__SET_SPEED_Z, int(SPEED))
isWrong = request.ResultNumber
if RECODE_SUCCEED != isWrong:
return isWrong
isWrong = RECODE_FAILURE
result_list: list = self.parserReceived(request, [int])
if isinstance(result_list, list) and len(result_list) >= 1:
if result_list[0] == self.__SET_SPEED_Z:
isWrong = RECODE_SUCCEED
return isWrong
def GET_SPEED_Z (self) -> int:
isWrong: int = RECODE_FAILURE
if self.hasDone():
request: SerialRequest = self.execute(self.__GET_SPEED_Z)
isWrong = request.ResultNumber
if RECODE_SUCCEED != isWrong:
return isWrong, 1
isWrong = RECODE_FAILURE
result_list: list = self.parserReceived(request, [int, int])
if isinstance(result_list, list) and len(result_list) >= 2:
if result_list[0] == self.__GET_SPEED_Z and isinstance(result_list[1], int):
return RECODE_SUCCEED, result_list[1]
return isWrong, 1
def MOVE_TO_POS_FOCUS (self) -> int:
isWrong: int = RECODE_FAILURE
if self.hasDone():
request: SerialRequest = self.execute(self.__MOVE_TO_POS_FOCUS)
isWrong = request.ResultNumber
if RECODE_SUCCEED != isWrong:
return isWrong
isWrong = RECODE_FAILURE
result_list: list = self.parserReceived(request, [int])
if isinstance(result_list, list) and len(result_list) >= 1:
if result_list[0] == self.__MOVE_TO_POS_FOCUS:
isWrong = RECODE_SUCCEED
return isWrong
def MOVE_TO_LOW_LIMIT_Z (self) -> int:
isWrong: int = RECODE_FAILURE
if self.hasDone():
request: SerialRequest = self.execute(self.__MOVE_TO_LOW_LIMIT_Z)
isWrong = request.ResultNumber
if RECODE_SUCCEED != isWrong:
return isWrong
isWrong = RECODE_FAILURE
result_list: list = self.parserReceived(request, [int])
if isinstance(result_list, list) and len(result_list) >= 1:
if result_list[0] == self.__MOVE_TO_LOW_LIMIT_Z:
isWrong = RECODE_SUCCEED
return isWrong
def SET_Z_STEP_MODE (self, enable: (bool, int)) -> int:
isWrong: int = RECODE_FAILURE
if self.hasDone():
_enable: int = 1 if isinstance(enable, (bool, int)) and (enable == True or enable == 1) else 0
request: SerialRequest = self.execute(self.__SET_Z_STEP_MODE, _enable)
isWrong = request.ResultNumber
if RECODE_SUCCEED != isWrong:
return isWrong
isWrong = RECODE_FAILURE
result_list: list = self.parserReceived(request, [int])
if isinstance(result_list, list) and len(result_list) >= 1:
if result_list[0] == self.__SET_Z_STEP_MODE:
isWrong = RECODE_SUCCEED
return isWrong
def GET_Z_STEP_MODE (self) -> (int, int):
isWrong: int = RECODE_FAILURE
if self.hasDone():
request: SerialRequest = self.execute(self.__GET_Z_STEP_MODE)
isWrong = request.ResultNumber
if RECODE_SUCCEED != isWrong:
return isWrong, 0
isWrong = RECODE_FAILURE
result_list: list = self.parserReceived(request, [int, int])
if isinstance(result_list, list) and len(result_list) >= 2:
if result_list[0] == self.__GET_Z_STEP_MODE and isinstance(result_list[1], int):
return RECODE_SUCCEED, result_list[1]
return isWrong, 0
def SET_UPPER_LIMIT (self, POS: int) -> int:
isWrong: int = RECODE_FAILURE
if self.hasDone() and isinstance(POS, int):
request: SerialRequest = self.execute(self.__SET_UPPER_LIMIT, int(POS))
isWrong = request.ResultNumber
if RECODE_SUCCEED != isWrong:
return isWrong
isWrong = RECODE_FAILURE
result_list: list = self.parserReceived(request, [int])
if isinstance(result_list, list) and len(result_list) >= 1:
if result_list[0] == self.__SET_UPPER_LIMIT:
isWrong = RECODE_SUCCEED
return isWrong
def SET_LOWER_LIMIT (self, POS: int) -> int:
isWrong: int = RECODE_FAILURE
if self.hasDone() and isinstance(POS, int):
request: SerialRequest = self.execute(self.__SET_LOW_LIMIT_Z, int(POS))
isWrong = request.ResultNumber
if RECODE_SUCCEED != isWrong:
return isWrong
isWrong = RECODE_FAILURE
result_list: list = self.parserReceived(request, [int])
if isinstance(result_list, list) and len(result_list) >= 1:
if result_list[0] == self.__SET_LOW_LIMIT_Z:
isWrong = RECODE_SUCCEED
return isWrong
def GET_LOWER_LIMIT (self) -> int:
isWrong: int = RECODE_FAILURE
if self.hasDone():
request: SerialRequest = self.execute(self.__GET_LOW_LIMIT_Z)
isWrong = request.ResultNumber
if RECODE_SUCCEED != isWrong:
return isWrong, 1
isWrong = RECODE_FAILURE
result_list: list = self.parserReceived(request, [int, int])
if isinstance(result_list, list) and len(result_list) >= 2:
if result_list[0] == self.__GET_LOW_LIMIT_Z and isinstance(result_list[1], int):
return RECODE_SUCCEED, result_list[1]
return isWrong, 1
def GET_UPPER_LIMIT (self) -> int:
isWrong: int = RECODE_FAILURE
if self.hasDone():
request: SerialRequest = self.execute(self.__GET_UPPER_LIMIT)
isWrong = request.ResultNumber
if RECODE_SUCCEED != isWrong:
return isWrong, 1
isWrong = RECODE_FAILURE
result_list: list = self.parserReceived(request, [int, int])
if isinstance(result_list, list) and len(result_list) >= 2:
if result_list[0] == self.__GET_UPPER_LIMIT and isinstance(result_list[1], int):
return RECODE_SUCCEED, result_list[1]
return isWrong, 1
def execute(self, Command: int, *args) -> SerialRequest:
# Locker: Qt.QWriteLocker = Qt.QWriteLocker(self._Locker)
command: str
args_str: str = ''
if isinstance(args, (tuple, list)) and len(args) > 0:
for value in args:
args_str += f' {value}'
command = f'{Command}' + args_str
request: SerialRequest = SerialRequest.MicroscopeRequest(command, self.Manager)
if not self.IsOpen():
self.Open(1500)
if self.IsOpen():
request.ResultNumber = RECODE_FAILURE
isWrong: int = self.Send(request.TransmitBinary)
request.ResultNumber = isWrong
if RECODE_SUCCEED != isWrong:
return request
AppTimeLoop.delay(2)
# time.sleep(10 / 100)
self.ReadMic(request)
if RECODE_SUCCEED != request.ResultNumber:
request.ReceivedBinary = b''
self.ReadMic(request)
return request
def read_empty(self, timeout: int = 1000) -> SerialRequest:
# Locker: Qt.QWriteLocker = Qt.QWriteLocker(self._Locker)
command: str = ''
request: SerialRequest = SerialRequest.MicroscopeRequest(command, self.Manager)
if not self.IsOpen():
self.Open(1500)
if self.IsOpen():
request.ReceivedWaits = timeout
request.ResultNumber = RECODE_FAILURE
AppTimeLoop.msleep(6)
self.Read(request)
return request
def parserReceived(self, request: SerialRequest, types: list[type]) -> list:
result: list = None
if not isinstance(request, SerialRequest) or RECODE_SUCCEED != request.ResultNumber:
return result
buffer: str = request.ReceivedBinary.decode('utf-8')
results: list[str] = buffer.split('\r')
result_list: list
type_length: int = len(types) if isinstance(types, (tuple, list)) else 0
result = []
for string_data in results:
if '$' in string_data or len(string_data) <= 0:
result_list = []
else:
result_list = string_data.split(' ')
for index, data in enumerate(result_list):
if 0 <= index < type_length:
try:
result.append(AppConvert.ObjectConvert(data, types[index]))
except Exception as e:
print(e)
result.append(data)
else:
result.append(data)
return result
def hasDone(self) -> bool:
if not self.IsOpen():
self.Open()
return self.IsOpen()
__CHECK_PROG : int = 70008
__SET_TO_DEFAULT : int = 70018
__GET_CONFIG_MODE : int = 70074
__SET_CONFIG_MODE : int = 70075
__GET_INIT_STATUS : int = 70080
__SET_OBJ_POS_ABS_OBJ : int = 76022
__GET_OBJ_POS_ABS_OBJ : int = 76023
__SET_OBJ_MODE : int = 76025
__GET_OBJ_MODE : int = 76026
__SET_OBJ_PATHO_MODE : int = 76046
__GET_OBJ_PATHO_MODE : int = 76047
__SET_OBJPAR : int = 76032
__GET_OBJPAR : int = 76033
__SET_POS_ABS_LAMP : int = 77020
__GET_POS_ABS_LAMP : int = 77021
__SET_SHUTTER_LAMP : int = 77032
__GET_SHUTTER_LAMP : int = 77033
__INIT_LFBL_TL : int = 83020
__INIT_APBL_TL : int = 84020
__SET_POS_ABS_LFBL_TL : int = 83022
__GET_POS_ABS_LFBL_TL : int = 83023
__POS_MAX_TL_DIAPH1 : int = 83029
__SET_POS_ABS_APBL_TL : int = 84022
__GET_POS_ABS_APBL_TL : int = 84023
__POS_MAX_TL_DIAPH2 : int = 84029
__GET_Z_DRIVE_STATUS : int = 71004
__SET_MAN_ON_OFF : int = 71005
__GET_MAN_ON_OFF : int = 71006
__RESET_Z__UNIT : int = 71007
__CHECK_Z__UNIT : int = 71008
__INIT_Z : int = 71020
__BREAK_Z : int = 71021
__SET_POS_ABS_Z : int = 71022
__GET_POS_ABS_Z : int = 71023
__SET_POS_REL_Z : int = 71024
__POS_CONST_Z : int = 71025
__SET_LOW_LIMIT_Z : int = 71026
__SET_FOCUS_Z : int = 71027
__GET_LOW_LIMIT_Z : int = 71028
__GET_FOCUS_Z : int = 71029
__SET_RAMP_Z : int = 71030
__GET_RAMP_Z : int = 71031
__SET_SPEED_Z : int = 71032
__GET_SPEED_Z : int = 71033
__MOVE_TO_POS_FOCUS : int = 71034
__MOVE_TO_LOW_LIMIT_Z : int = 71035
__INIT_RANGE_Z : int = 71044
__SET_Z_STEP_MODE : int = 71050
__GET_Z_STEP_MODE : int = 71051
__SET_UPPER_LIMIT : int = 71055
__GET_UPPER_LIMIT : int = 71056
__SET_SPOTLIGHT : int = 81022
__GET_SPOTLIGHT : int = 81023
MAX_Z_POSITION : int = 6804441
MIN_Z_POSITION : int = 0
MIN_Z_ACC : int = 1
MAX_Z_ACC : int = 3612
MIN_Z_SPEED : int = 1
MAX_Z_SPEED : int = 8820000
LOW_Z_STEP : int = 1
HIG_Z_STEP : int = 0
@staticmethod
def _OpenSerial(serial: Qt.QSerialPort, Parameter: MicroscopeContext) -> int:
isWrong: int = RECODE_FAILURE
if not isinstance(serial, Qt.QSerialPort) or not isinstance(Parameter, MicroscopeContext):
return isWrong
if MicroscopeImpl._isSerialOpened(serial):
MicroscopeImpl._CloseSerial(serial, Parameter)
Parameter.IsOpen = False
try:
serial.setPortName(Parameter.COM)
serial.setBaudRate(Parameter.BaudRate)
serial.setDataBits(Parameter.DataBit)
serial.setParity(Parameter.ParityBit)
serial.setStopBits(Parameter.StopBit)
serial.setFlowControl(Parameter.FlowControl)
Parameter.IsOpen = serial.open(Qt.QIODevice.ReadWrite)
except Exception as e:
from AppLog.logHelper import logSERIAL
logSERIAL << AppUtils.toString(e)
Parameter.IsOpen = False
isWrong = RECODE_SUCCEED if Parameter.IsOpen else RECODE_FAILURE
return isWrong
@staticmethod
def _CloseSerial(serial: Qt.QSerialPort, Parameter: MicroscopeContext):
isWrong = RECODE_FAILURE
if not isinstance(serial, Qt.QSerialPort) or not isinstance(Parameter, MicroscopeContext):
return isWrong
try:
Parameter.IsOpen = serial.isOpen()
serial.close()
Parameter.IsOpen = serial.isOpen()
except Exception as e:
from AppLog.logHelper import logSERIAL
logSERIAL << AppUtils.toString(e)
Parameter.IsOpen = False
isWrong = RECODE_SUCCEED
return isWrong
@staticmethod
def _ReadSerial(serial: Qt.QSerialPort, Parameter: MicroscopeContext, request: SerialRequest, timeout: int = -1):
isWrong: int = RECODE_FAILURE
if not isinstance(serial, Qt.QSerialPort) or not isinstance(Parameter, MicroscopeContext):
return isWrong
if not isinstance(request, SerialRequest):
return isWrong
request.ResultNumber = isWrong
if request.ReceivedTails is None or len(request.ReceivedTails) <= 0:
request.ReceivedBinary = MicroscopeImpl._ReadSerialPort(serial, -1, timeout)
return RECODE_SUCCEED
TimerLoop: AppTimeLoop = AppTimeLoop()
waittime: int = max(timeout, Parameter.ReadWaitTime)
def read_serial_port(Serial: Qt.QSerialPort, Request: SerialRequest, Loop: AppTimeLoop):
from AppLog.logHelper import logSERIAL
tails: Qt.QByteArray = Qt.QByteArray(Request.ReceivedTails)
maxlength: int
readlength: int
buffer: Qt.QByteArray = Qt.QByteArray()
bufferlength: int
atEnd: bool = False
while True:
if Loop.remainingTime() <= 0 or atEnd:
break
maxlength = Serial.bytesAvailable()
if maxlength <= 0:
Serial.waitForReadyRead(MAX_SERIAL_READ_DELAY)
# AppTimeLoop.msleep(MAX_SERIAL_READ_DELAY)
else:
while maxlength > 0:
bufferlength = len(buffer)
buffer.append(Serial.read(1))
readlength = len(buffer) - bufferlength
if readlength > 0:
maxlength -= readlength
try:
atEnd = buffer.indexOf(tails) >= 0
if atEnd:
break
except Exception as e:
logSERIAL << AppUtils.toString(e)
else:
Serial.waitForReadyRead(MAX_SERIAL_READ_DELAY)
# AppTimeLoop.msleep(MAX_SERIAL_READ_DELAY)
try:
atEnd = buffer.indexOf(tails) >= 0
if atEnd:
break
except Exception as e:
logSERIAL << AppUtils.toString(e)
# logSERIAL << f"Read: {buffer}"
Request.ReceivedBinary = buffer.data()
Request.ResultNumber = RECODE_SUCCEED if atEnd else RECODE_FAILURE
Loop.exit()
return
TimerLoop.execute(waittime, read_serial_port, **{"Serial": serial, "Request": request, "Loop": TimerLoop})
return RECODE_SUCCEED
@staticmethod
def _ReadMicSerial(serial: Qt.QSerialPort, Parameter: MicroscopeContext, request: SerialRequest, timeout: int = -1):
isWrong: int = RECODE_FAILURE
if not isinstance(serial, Qt.QSerialPort) or not isinstance(Parameter, MicroscopeContext):
return isWrong
if not isinstance(request, SerialRequest):
return isWrong
request.ResultNumber = isWrong
if request.ReceivedTails is None or len(request.ReceivedTails) <= 0:
request.ReceivedBinary = MicroscopeImpl._ReadSerialPort(serial, -1, timeout)
return RECODE_SUCCEED
TimerLoop: AppTimeLoop = AppTimeLoop()
waittime: int = max(timeout, Parameter.ReadWaitTime)
def read_serial_port(Serial: Qt.QSerialPort, Request: SerialRequest, Loop: AppTimeLoop):
from AppLog.logHelper import logSERIAL
tails: Qt.QByteArray = Qt.QByteArray(Request.ReceivedTails)
maxlength: int
readlength: int
buffer: Qt.QByteArray = Qt.QByteArray()
bufferlength: int
atEnd: bool = False
send_buffer: bytes = Request.TransmitBinary[0: 5]
while True:
if Loop.remainingTime() <= 0 or atEnd:
break
maxlength = Serial.bytesAvailable()
if maxlength <= 0:
Serial.waitForReadyRead(MAX_SERIAL_READ_DELAY)
# AppTimeLoop.msleep(MAX_SERIAL_READ_DELAY)
else:
bufferlength = len(buffer)
buffer.append(Serial.readAll())
readlength = len(buffer) - bufferlength
if readlength > 0:
maxlength -= readlength
try:
atEnd = buffer.indexOf(tails) >= 0
if atEnd:
break
except Exception as e:
logSERIAL << AppUtils.toString(e)
try:
atEnd = buffer.indexOf(tails) >= 0
isSucceed: bool = buffer.indexOf(send_buffer) >= 0
if atEnd:
if isSucceed:
buffer = buffer.mid(buffer.indexOf(send_buffer))
break
else:
buffer = buffer.mid(buffer.indexOf(tails) + len(tails))
continue
except Exception as e:
logSERIAL << AppUtils.toString(e)
# logSERIAL << f"Read: {buffer}"
Request.ReceivedBinary = buffer.data()
Request.ResultNumber = RECODE_SUCCEED if atEnd else RECODE_FAILURE
Loop.exit()
return
TimerLoop.execute(waittime, read_serial_port, **{"Serial": serial, "Request": request, "Loop": TimerLoop})
return RECODE_SUCCEED
@staticmethod
def _ReadSerialPort(serial: Qt.QSerialPort, length: int, waittimes: int = 1000) -> Qt.QByteArray:
from AppLog.logHelper import logSERIAL
buffer: Qt.QByteArray = Qt.QByteArray()
maxlength: int
remaining: int
readlength: int
bufferlength: int
waittime: int = max(waittimes, MAX_SERIAL_DEFAULT_WAIT_TIMES)
ETime: Qt.QDateTime = Qt.QDateTime.currentDateTime().addMSecs(waittime)
while True:
serial.waitForReadyRead(MAX_SERIAL_READ_DELAY)
maxlength = serial.bytesAvailable()
if Qt.QDateTime.currentDateTime() >= ETime:
break
if 0 < length <= maxlength:
break
if length <= 0:
buffer.append(serial.readAll())
else:
ETime = Qt.QDateTime.currentDateTime().addMSecs(waittime)
remaining = min(length, maxlength)
while remaining > 0:
if Qt.QDateTime.currentDateTime() > ETime:
break
bufferlength = len(buffer)
buffer.append(serial.read(remaining))
readlength = len(buffer) - bufferlength
if readlength > 0:
remaining -= readlength
else:
serial.waitForReadyRead(MAX_SERIAL_READ_DELAY)
# logSERIAL << f"Send: {buffer}"
return buffer
@staticmethod
def _SendSerial(serial: Qt.QSerialPort, buffer: Qt.QByteArray, timeout: int = 1000):
return MicroscopeImpl._ReadSerialPort(serial=serial, buffer=buffer, waittimes=timeout)
@staticmethod
def _SendSerialPort(serial: Qt.QSerialPort, buffer: Qt.QByteArray, waittimes: int) -> int:
from AppLog.logHelper import logSERIAL
isWrong: int
maxlength: int
remaining: int
sendlength: int
sendindex: int
waittime: int = max(waittimes, MAX_SERIAL_DEFAULT_WAIT_TIMES)
ETime: Qt.QDateTime = Qt.QDateTime.currentDateTime().addMSecs(waittime)
while True:
if Qt.QDateTime.currentDateTime() > ETime:
break
if serial.isWritable() or serial.bytesToWrite() <= 0:
break
serial.flush()
AppTimeLoop.processGlobalEvents(MAX_SERIAL_READ_DELAY)
remaining = len(buffer)
sendindex = 0
ETime = Qt.QDateTime.currentDateTime().addMSecs(waittime)
while remaining >= MAX_SERIAL_SEND_BUFFER_LENGTH:
sendlength = serial.write(buffer.mid(sendindex, MAX_SERIAL_SEND_BUFFER_LENGTH))
if sendlength <= 0:
AppTimeLoop.processGlobalEvents(MAX_SERIAL_READ_DELAY)
else:
sendindex += MAX_SERIAL_SEND_BUFFER_LENGTH
remaining -= MAX_SERIAL_SEND_BUFFER_LENGTH
while remaining > 0:
sendlength = serial.write(buffer.mid(sendindex, remaining))
if sendlength <= 0:
AppTimeLoop.processGlobalEvents(MAX_SERIAL_READ_DELAY)
else:
sendindex += remaining
remaining -= remaining
while True:
if Qt.QDateTime.currentDateTime() > ETime:
break
if serial.isWritable() or serial.bytesToWrite() <= 0:
break
serial.flush()
AppTimeLoop.processGlobalEvents(MAX_SERIAL_READ_DELAY)
# logSERIAL << f"Send: {buffer}"
isWrong = RECODE_SUCCEED if remaining <= 0 else RECODE_FAILURE
return isWrong
@staticmethod
def _isSerialOpened(serial: Qt.QSerialPort) -> bool:
return isinstance(serial, Qt.QSerialPort) and serial.isOpen()
@staticmethod
def _isSerialReadable(serial: Qt.QSerialPort) -> bool:
return isinstance(serial, Qt.QSerialPort) and serial.isReadable()
@staticmethod
def _isSerialWritable(serial: Qt.QSerialPort) -> bool:
return isinstance(serial, Qt.QSerialPort) and serial.isWritable()
AppCore/AppImplsbak/ModBusImpl.py deleted 100644 → 0
View file @ 854d2864
#!D:\IDE\Anaconda3\envs\Microscope_Scan python
# -*- coding: UTF-8 -*-
"""
@Author: Administrator
@FileName: ModBusImpl.py
@DateTime: 2025/4/8 20:20
@SoftWare: PyCharm
@Author ：xsh
"""
from PyQt5 import Qt
from abc import abstractmethod
from pymodbus.client.tcp import ModbusTcpClient
from pymodbus.payload import BinaryPayloadBuilder, BinaryPayloadDecoder
from pymodbus.constants import Endian
import struct
from AppCore.AppContextModels.ModBusContext import ModBusContext
from AppCore.AppContextModels.ModBusRegister import ModBusRegister
from AppCore.AppRequestModels.ModBusRequest import ModBusRequest
from AppInterfaces.ImplInterface import (ImplInterface, AppTimeLoop, AppConvert, AppUtils, log_exceptions)
from AppCore.ImplInterfaces import ModBusInterface
from AppSettings.Settings import (RECODE_FAILURE, RECODE_SUCCEED)
MODBUS_UNIT: int = 1
class ModBusImpl(Qt.QObject, ModBusInterface):
Manager : ModbusTcpClient
Parameter : ModBusContext
def isValid(self) -> bool:
return self.hasManager() and self.hasParameter()
@property
def isAvailable(self) -> bool:
return self.hasManager() and self.IsOpen()
def __init__(self, context: ModBusContext = None, parent: Qt.QObject = None):
super(ModBusImpl, self).__init__(parent=parent)
self.Parameter = context
self.Initialization("ModBusImpl", self, parent)
@classmethod
def instance(cls, context: ModBusContext = None, parent: Qt.QObject = None) -> 'ModBusImpl':
result = cls.__new__(cls)
result.__init__(context=context, parent=parent)
# result.Open()
return result
def setParameter(self, context: ModBusContext):
if self.Parameter.isEqual(context):
return
isOpen: bool = self.IsOpen()
self.deleManager()
self.Parameter = context
self.initManager(self.Parameter)
if isOpen:
self.Open()
def IsOpen(self) -> bool:
try:
return self.isValid() and self.Manager.is_socket_open()
except Exception as e:
return False
def isEnabled(self) -> bool:
return self.isValid() and self.Manager.is_socket_open()
def isDisable(self) -> bool:
return not self.isEnabled()
def Open(self, timeOut: int = 1000) -> int:
if not self.isValid():
self.initManager(self.Parameter)
if not self.isValid():
return RECODE_FAILURE
if self.isEnabled():
self.Close(timeOut)
self.Parameter.IsOpen = False
try:
self.Manager.connect()
self.Parameter.IsOpen = self.Manager.connected
except Exception as e:
AppUtils.print_Exception(e)
return RECODE_SUCCEED if self.Parameter.IsOpen else RECODE_FAILURE
def Close(self, timeOut: int = 1000) -> int:
if not self.isValid():
return RECODE_SUCCEED
try:
self.Manager.close()
del self.Manager
self.Manager = None
except Exception as e:
AppUtils.print_Exception(e)
self.Parameter.IsOpen = False
return RECODE_SUCCEED if not self.Parameter.IsOpen else RECODE_FAILURE
def initManager(self, context: ModBusContext = None, **args):
if not self.hasParameter() or self.Parameter != context:
self.Parameter = context
if not self.hasParameter():
from AppSettings.AppSetting import AppSetting, AppConfig
self.Parameter = AppConfig.manipulatorConfig.modBusConfig
if not self.hasParameter():
self.Parameter = ModBusContext()
if not self.hasManager():
try:
self.Manager = ModbusTcpClient(self.Parameter.Addr, port=self.Parameter.Port,
timeout=self.Parameter.TimeOut,
reconnect_delay_max=self.Parameter.ReconnectedTimes)
except Exception as e:
AppUtils.print_Exception(e)
self.Manager = None
def deleManager(self):
if self.hasManager():
try:
self.Manager.close()
del self.Manager
except Exception as e:
AppUtils.print_Exception(e)
self.Manager = None
self.Parameter.IsOpen = False
@log_exceptions
def ReadRegister(self, address: int):
if self.isValid():
count: int = 1
try:
response = self.Manager.read_holding_registers(address=address,count=count, slave=MODBUS_UNIT)
except Exception as e:
AppUtils.print_Exception(e)
try:
if e.errno == 10054:
self.deleManager()
self.ReOpen()
except Exception as ex:
pass
if self.IsOpen():
try:
response = self.Manager.read_holding_registers(address=address, count=count, slave=MODBUS_UNIT)
except Exception as e:
AppUtils.print_Exception(e)
return None
else:
return None
if response.isError():
AppUtils.print_current_function_info(f"ModBus error: {response}")
return None
return response.registers
return None
@log_exceptions
def ReadRegisters(self, address: int, Count: int, values: list[int]) -> int:
count: int = max(1, Count)
if self.isEnabled() or isinstance(values, list):
try:
response = self.Manager.read_holding_registers(address=address, count=count, slave=MODBUS_UNIT)
except Exception as e:
AppUtils.print_Exception(e)
try:
if e.errno == 10054:
self.deleManager()
self.ReOpen()
except Exception as ex:
pass
if self.IsOpen():
try:
response = self.Manager.read_holding_registers(address=address, count=count, slave=MODBUS_UNIT)
except Exception as e:
AppUtils.print_Exception(e)
return None
else:
return None
if response.isError():
AppUtils.print_current_function_info(f"ModBus error: {response}")
return RECODE_FAILURE
buffer = response.registers
values.clear()
values.extend(buffer)
return RECODE_SUCCEED if len(values) == count else RECODE_FAILURE
return RECODE_FAILURE
@log_exceptions
def ReadCoil(self, address: int) -> int:
if self.isValid():
count: int = 1
try:
response = self.Manager.read_coils(address=address, count=count, slave=MODBUS_UNIT)
except Exception as e:
AppUtils.print_Exception(e)
try:
if e.errno == 10054:
self.deleManager()
self.ReOpen()
except Exception as ex:
pass
if self.IsOpen():
try:
response = self.Manager.read_coils(address=address, count=count, slave=MODBUS_UNIT)
except Exception as e:
AppUtils.print_Exception(e)
return None
else:
return None
if response.isError():
AppUtils.print_current_function_info(f"ModBus error: {response}")
return None
return response.bits[0]
return None
@log_exceptions
def ReadCoils(self, address: int, Count: int, values: list[bool]) -> int:
count: int = max(1, Count)
if self.isValid() and isinstance(values, list):
try:
response = self.Manager.read_coils(address=address, count=count, slave=MODBUS_UNIT)
except Exception as e:
AppUtils.print_Exception(e)
try:
if e.errno == 10054:
self.deleManager()
self.ReOpen()
except Exception as ex:
pass
if self.IsOpen():
try:
response = self.Manager.read_coils(address=address, count=count, slave=MODBUS_UNIT)
except Exception as e:
AppUtils.print_Exception(e)
return None
else:
return None
if response.isError():
print(f"ModBus error: {response}")
return RECODE_FAILURE
values.clear()
values.extend(response.bits)
return RECODE_SUCCEED if len(values) == count else RECODE_FAILURE
return RECODE_FAILURE
@log_exceptions
def SendCoil(self, address: int, value: bool) -> int:
if self.isValid():
try:
response = self.Manager.write_coil(address=address, value=value, slave=MODBUS_UNIT)
except Exception as e:
AppUtils.print_Exception(e)
try:
if e.errno == 10054:
self.deleManager()
self.ReOpen()
except Exception as ex:
pass
if self.IsOpen():
try:
response = self.Manager.write_coil(address=address, value=value, slave=MODBUS_UNIT)
except Exception as e:
AppUtils.print_Exception(e)
return None
else:
return None
if response.isError():
AppUtils.print_current_function_info(f"ModBus error: {response}")
return RECODE_FAILURE
return RECODE_SUCCEED
return RECODE_FAILURE
@log_exceptions
def SendCoils(self, address: int, values: list[int]) -> int:
if self.isValid() and isinstance(values, list):
try:
response = self.Manager.write_coils(address=address, values=values, slave=MODBUS_UNIT)
except Exception as e:
AppUtils.print_Exception(e)
try:
if e.errno == 10054:
self.deleManager()
self.ReOpen()
except Exception as ex:
pass
if self.IsOpen():
try:
response = self.Manager.write_coils(address=address, values=values, slave=MODBUS_UNIT)
except Exception as e:
AppUtils.print_Exception(e)
return None
else:
return None
if response.isError():
AppUtils.print_current_function_info(f"ModBus error: {response}")
return RECODE_FAILURE
return RECODE_SUCCEED
return RECODE_FAILURE
@log_exceptions
def SendRegister(self, address: int, value: list[int]) -> int:
if self.isValid() and isinstance(value, list):
try:
response = self.Manager.write_register(address=address, value=value, slave=MODBUS_UNIT)
except Exception as e:
AppUtils.print_Exception(e)
try:
if e.errno == 10054:
self.deleManager()
self.ReOpen()
except Exception as ex:
pass
if self.IsOpen():
try:
response = self.Manager.write_register(address=address, value=value, slave=MODBUS_UNIT)
except Exception as e:
AppUtils.print_Exception(e)
return None
else:
return None
if response.isError():
AppUtils.print_current_function_info(f"ModBus error: {response}")
return RECODE_FAILURE
return RECODE_SUCCEED
return RECODE_FAILURE
@log_exceptions
def ReadFloats(self, address: int, Count: int, values: list[float]) -> int:
if self.isValid() and isinstance(values, list):
Step: int = 2
Length: int = max(1, Count)
ByteLength = Step * Length
try:
response = self.Manager.read_holding_registers(address=address, count=ByteLength, slave=MODBUS_UNIT)
except Exception as e:
AppUtils.print_Exception(e)
try:
if e.errno == 10054:
self.deleManager()
self.ReOpen()
except Exception as ex:
pass
if self.IsOpen():
try:
response = self.Manager.read_holding_registers(address=address, count=ByteLength, slave=MODBUS_UNIT)
except Exception as e:
AppUtils.print_Exception(e)
return RECODE_SUCCEED
else:
return RECODE_SUCCEED
if response.isError():
AppUtils.print_current_function_info(f"ModBus error: {response}")
return RECODE_FAILURE
byte_array = struct.pack('<{}'.format('H' * ByteLength), *response.registers)
result: list[float] = struct.unpack("<{}".format('f' * Length), bytes(byte_array))
values.clear()
values.extend(result)
return RECODE_SUCCEED
else:
return RECODE_FAILURE
@log_exceptions
def ReadFloat(self, address: int) -> float:
if self.isValid():
DataLength = 2
try:
response = self.Manager.read_holding_registers(address=address, count=DataLength, slave=MODBUS_UNIT)
except Exception as e:
AppUtils.print_Exception(e)
try:
if e.errno == 10054:
self.deleManager()
self.ReOpen()
except Exception as ex:
pass
if self.IsOpen():
try:
response = self.Manager.read_holding_registers(address=address, count=DataLength, slave=MODBUS_UNIT)
except Exception as e:
AppUtils.print_Exception(e)
return None
else:
return None
if response.isError():
AppUtils.print_current_function_info(f"ModBus error: {response}")
return None
byte_array = struct.pack('<HH', *response.registers)
result: float = struct.unpack("<f", bytes(byte_array))[0]
return round(result, 2)
return None
@log_exceptions
def SendFloats(self, address: int, values: list[float]) -> int:
if self.isValid() and isinstance(values, list):
FloatLength = len(values)
DataLength = FloatLength * 2
byte_array: list[bytes] = [struct.pack('<f', float(value)) for value in values]
value_list: list[int] = []
for _bytes in byte_array:
value_list.extend(struct.unpack('<HH', _bytes))
try:
response = self.Manager.write_registers(address=address, values=value_list, slave=MODBUS_UNIT)
except Exception as e:
AppUtils.print_Exception(e)
try:
if e.errno == 10054:
self.deleManager()
self.ReOpen()
except Exception as ex:
pass
if self.IsOpen():
try:
response = self.Manager.write_registers(address=address, values=value_list, slave=MODBUS_UNIT)
except Exception as e:
AppUtils.print_Exception(e)
return RECODE_SUCCEED
else:
return RECODE_SUCCEED
if response.isError():
AppUtils.print_current_function_info(f"ModBus error: {response}")
return RECODE_FAILURE
return RECODE_SUCCEED
return RECODE_FAILURE
@log_exceptions
def SendFloat(self, address: int, value: float) -> int:
if self.isValid() and isinstance(value, (float, int)):
value_list: list[int] = []
value_list.extend(struct.unpack('<HH', struct.pack('<f', float(value))))
try:
response = self.Manager.write_registers(address=address, values=value_list, slave=MODBUS_UNIT)
except Exception as e:
AppUtils.print_Exception(e)
try:
if e.errno == 10054:
self.deleManager()
self.ReOpen()
except Exception as ex:
pass
if self.IsOpen():
try:
response = self.Manager.write_registers(address=address, values=value_list, slave=MODBUS_UNIT)
except Exception as e:
AppUtils.print_Exception(e)
return RECODE_FAILURE
else:
return RECODE_FAILURE
if response.isError():
AppUtils.print_current_function_info(f"ModBus error: {response}")
return RECODE_FAILURE
return RECODE_SUCCEED
return RECODE_FAILURE
@log_exceptions
def ReadInt32(self, address: int):
if self.isValid():
Length: int = 1
ByteLength: int = Length * 2
try:
response = self.Manager.read_holding_registers(address=address, count=ByteLength, slave=MODBUS_UNIT)
except Exception as e:
AppUtils.print_Exception(e)
try:
if e.errno == 10054:
self.deleManager()
self.ReOpen()
except Exception as ex:
pass
if self.IsOpen():
try:
response = self.Manager.read_holding_registers(address=address, count=ByteLength, slave=MODBUS_UNIT)
except Exception as e:
AppUtils.print_Exception(e)
return None
else:
return None
if response.isError():
AppUtils.print_current_function_info(f"ModBus error: {response}")
return None
byte_data = struct.pack('>{}H'.format(ByteLength), *response.registers)
int32_values = struct.unpack('>{}i'.format(Length), byte_data)
return int32_values[0]
return None
pass
@log_exceptions
def ReadInt32s(self, address: int, Count: int, values: list[int]) -> int:
if self.isValid() and isinstance(values, list):
Step: int = 2
Length: int = max(1, Count)
ByteLength = Step * Length
try:
response = self.Manager.read_holding_registers(address=address, count=ByteLength, slave=MODBUS_UNIT)
except Exception as e:
AppUtils.print_Exception(e)
try:
if e.errno == 10054:
self.deleManager()
self.ReOpen()
except Exception as ex:
pass
if self.IsOpen():
try:
response = self.Manager.read_holding_registers(address=address, count=ByteLength, slave=MODBUS_UNIT)
except Exception as e:
AppUtils.print_Exception(e)
return RECODE_FAILURE
else:
return RECODE_FAILURE
if response.isError():
AppUtils.print_current_function_info(f"ModBus error: {response}")
return RECODE_FAILURE
byte_data = struct.pack('>{}H'.format(ByteLength), *response.registers)
int32_values = struct.unpack('>{}i'.format(Length), byte_data)
values.clear()
values.extend(int32_values)
return RECODE_SUCCEED
else:
return RECODE_FAILURE
@log_exceptions
def SendInt32(self, address: int, value: int) -> int:
if self.isValid():
DataLength = 2
byte_data = struct.pack('>i', int(value))
register_list = struct.unpack('>{}H'.format(DataLength), byte_data)
try:
response = self.Manager.write_registers(address=address, values=register_list, slave=MODBUS_UNIT)
except Exception as e:
AppUtils.print_Exception(e)
try:
if e.errno == 10054:
self.deleManager()
self.ReOpen()
except Exception as ex:
pass
if self.IsOpen():
try:
response = self.Manager.write_registers(address=address, values=register_list, slave=MODBUS_UNIT)
except Exception as e:
AppUtils.print_Exception(e)
return RECODE_FAILURE
else:
return RECODE_FAILURE
if response.isError():
AppUtils.print_current_function_info(f"ModBus error: {response}")
return RECODE_FAILURE
return RECODE_SUCCEED
return RECODE_FAILURE
@log_exceptions
def SendInt32s(self, address: int, values: list[int]) -> int:
if self.isValid() and isinstance(values, list):
FloatLength = len(values)
DataLength = FloatLength * 2
byte_data = struct.pack('>{}i'.format(FloatLength), *values)
register_list = struct.unpack('>{}H'.format(DataLength), byte_data)
try:
response = self.Manager.write_registers(address=address, values=register_list, slave=MODBUS_UNIT)
except Exception as e:
AppUtils.print_Exception(e)
try:
if e.errno == 10054:
self.deleManager()
self.ReOpen()
except Exception as ex:
pass
if self.IsOpen():
try:
response = self.Manager.write_registers(address=address, values=register_list, slave=MODBUS_UNIT)
except Exception as e:
AppUtils.print_Exception(e)
return RECODE_FAILURE
else:
return RECODE_FAILURE
if response.isError():
AppUtils.print_current_function_info(f"ModBus error: {response}")
return RECODE_FAILURE
return RECODE_SUCCEED
return RECODE_FAILURE
@log_exceptions
def ReadUInt32(self, address: int):
if self.isValid():
Length: int = 1
ByteLength: int = Length * 2
try:
response = self.Manager.read_holding_registers(address=address, count=ByteLength, slave=MODBUS_UNIT)
except Exception as e:
AppUtils.print_Exception(e)
try:
if e.errno == 10054:
self.deleManager()
self.ReOpen()
except Exception as ex:
pass
if self.IsOpen():
try:
response = self.Manager.read_holding_registers(address=address, count=ByteLength, slave=MODBUS_UNIT)
except Exception as e:
AppUtils.print_Exception(e)
return None
else:
return None
if response.isError():
AppUtils.print_current_function_info(f"ModBus error: {response}")
return None
byte_data = struct.pack('>{}H'.format(ByteLength), *response.registers)
int32_values = struct.unpack('>{}I'.format(Length), byte_data)
return int32_values[0]
return None
pass
@log_exceptions
def ReadUInt32s(self, address: int, Count: int, values: list[int]) -> int:
if self.isValid() and isinstance(values, list):
Step: int = 2
Length: int = max(1, Count)
ByteLength = Step * Length
try:
response = self.Manager.read_holding_registers(address=address, count=ByteLength, slave=MODBUS_UNIT)
except Exception as e:
AppUtils.print_Exception(e)
try:
if e.errno == 10054:
self.deleManager()
self.ReOpen()
except Exception as ex:
pass
if self.IsOpen():
try:
response = self.Manager.read_holding_registers(address=address, count=ByteLength, slave=MODBUS_UNIT)
except Exception as e:
AppUtils.print_Exception(e)
return RECODE_FAILURE
else:
return RECODE_FAILURE
if response.isError():
AppUtils.print_current_function_info(f"ModBus error: {response}")
return RECODE_FAILURE
byte_data = struct.pack('>{}H'.format(ByteLength), *response.registers)
int32_values = struct.unpack('>{}I'.format(Length), byte_data)
values.clear()
values.extend(int32_values)
return RECODE_SUCCEED
else:
return RECODE_FAILURE
@log_exceptions
def SendUInt32(self, address: int, value: int) -> int:
if self.isValid():
DataLength = 2
byte_data = struct.pack('>I', int(value))
register_list = struct.unpack('>{}H'.format(DataLength), byte_data)
try:
response = self.Manager.write_registers(address=address, values=register_list, slave=MODBUS_UNIT)
except Exception as e:
AppUtils.print_Exception(e)
try:
if e.errno == 10054:
self.deleManager()
self.ReOpen()
except Exception as ex:
pass
if self.IsOpen():
try:
response = self.Manager.write_registers(address=address, values=register_list, slave=MODBUS_UNIT)
except Exception as e:
AppUtils.print_Exception(e)
return RECODE_FAILURE
else:
return RECODE_FAILURE
if response.isError():
AppUtils.print_current_function_info(f"ModBus error: {response}")
return RECODE_FAILURE
return RECODE_SUCCEED
return RECODE_FAILURE
@log_exceptions
def SendUInt32s(self, address: int, values: list[int]) -> int:
if self.isValid() and isinstance(values, list):
FloatLength = len(values)
DataLength = FloatLength * 2
byte_data = struct.pack('>{}I'.format(FloatLength), *values)
register_list = struct.unpack('>{}H'.format(DataLength), byte_data)
try:
response = self.Manager.write_registers(address=address, values=register_list, slave=MODBUS_UNIT)
except Exception as e:
AppUtils.print_Exception(e)
try:
if e.errno == 10054:
self.deleManager()
self.ReOpen()
except Exception as ex:
pass
if self.IsOpen():
try:
response = self.Manager.write_registers(address=address, values=register_list, slave=MODBUS_UNIT)
except Exception as e:
AppUtils.print_Exception(e)
return RECODE_FAILURE
else:
return RECODE_FAILURE
if response.isError():
AppUtils.print_current_function_info(f"ModBus error: {response}")
return RECODE_FAILURE
return RECODE_SUCCEED
return RECODE_FAILURE
@log_exceptions
def ReadInt16(self, address: int):
if self.isValid():
Length: int = 1
ByteLength: int = Length
try:
response = self.Manager.read_holding_registers(address=address, count=ByteLength, slave=MODBUS_UNIT)
except Exception as e:
AppUtils.print_Exception(e)
try:
if e.errno == 10054:
self.deleManager()
self.ReOpen()
except Exception as ex:
pass
if self.IsOpen():
try:
response = self.Manager.read_holding_registers(address=address, count=ByteLength, slave=MODBUS_UNIT)
except Exception as e:
AppUtils.print_Exception(e)
return RECODE_FAILURE
else:
return RECODE_FAILURE
if response.isError():
AppUtils.print_current_function_info(f"ModBus error: {response}")
return None
byte_data = struct.pack('>{}H'.format(ByteLength), *response.registers)
int32_values = struct.unpack('>{}h'.format(Length), byte_data)
return int32_values[0]
return None
pass
@log_exceptions
def ReadInt16s(self, address: int, Count: int, values: list[int]) -> int:
if self.isValid() and isinstance(values, list):
Step: int = 1
Length: int = max(1, Count)
ByteLength = Step * Length
try:
response = self.Manager.read_holding_registers(address=address, count=ByteLength, slave=MODBUS_UNIT)
except Exception as e:
AppUtils.print_Exception(e)
try:
if e.errno == 10054:
self.deleManager()
self.ReOpen()
except Exception as ex:
pass
if self.IsOpen():
try:
response = self.Manager.read_holding_registers(address=address, count=ByteLength, slave=MODBUS_UNIT)
except Exception as e:
AppUtils.print_Exception(e)
return RECODE_FAILURE
else:
return RECODE_FAILURE
if response.isError():
AppUtils.print_current_function_info(f"ModBus error: {response}")
return RECODE_FAILURE
byte_data = struct.pack('>{}H'.format(ByteLength), *response.registers)
int32_values = struct.unpack('>{}h'.format(Length), byte_data)
values.clear()
values.extend(int32_values)
return RECODE_SUCCEED
else:
return RECODE_FAILURE
@log_exceptions
def SendInt16(self, address: int, value: int) -> int:
if self.isValid():
register_list = [int(value)]
try:
response = self.Manager.write_registers(address=address, values=register_list, slave=MODBUS_UNIT)
except Exception as e:
AppUtils.print_Exception(e)
try:
if e.errno == 10054:
self.deleManager()
self.ReOpen()
except Exception as ex:
pass
if self.IsOpen():
try:
response = self.Manager.write_registers(address=address, values=register_list, slave=MODBUS_UNIT)
except Exception as e:
AppUtils.print_Exception(e)
return RECODE_FAILURE
else:
return RECODE_FAILURE
if response.isError():
AppUtils.print_current_function_info(f"ModBus error: {response}")
return RECODE_FAILURE
return RECODE_SUCCEED
return RECODE_FAILURE
@log_exceptions
def SendInt16s(self, address: int, values: list[int]) -> int:
if self.isValid() and isinstance(values, list):
FloatLength = len(values)
DataLength = FloatLength
byte_data = struct.pack('>{}h'.format(FloatLength), *values)
register_list = struct.unpack('>{}H'.format(DataLength), byte_data)
try:
response = self.Manager.write_registers(address=address,values=register_list, slave=MODBUS_UNIT)
except Exception as e:
AppUtils.print_Exception(e)
try:
if e.errno == 10054:
self.deleManager()
self.ReOpen()
except Exception as ex:
pass
if self.IsOpen():
try:
response = self.Manager.write_registers(address=address,values=register_list, slave=MODBUS_UNIT)
except Exception as e:
AppUtils.print_Exception(e)
return RECODE_FAILURE
else:
return RECODE_FAILURE
if response.isError():
AppUtils.print_current_function_info(f"ModBus error: {response}")
return RECODE_FAILURE
return RECODE_SUCCEED
return RECODE_FAILURE
@log_exceptions
def ReadUInt16(self, address: int):
if self.isValid():
Length: int = 1
try:
response = self.Manager.read_holding_registers(address=address, count=Length, slave=MODBUS_UNIT)
except Exception as e:
AppUtils.print_Exception(e)
try:
if e.errno == 10054:
self.deleManager()
self.ReOpen()
except Exception as ex:
pass
if self.IsOpen():
try:
response = self.Manager.read_holding_registers(address=address, count=Length, slave=MODBUS_UNIT)
except Exception as e:
AppUtils.print_Exception(e)
return None
else:
return None
if not response.isError() and len(response.registers) >= Length:
return response.registers[0]
return None
pass
@log_exceptions
def ReadUInt16s(self, address: int, Count: int, values: list[int]) -> int:
if self.isValid() and isinstance(values, list):
Step: int = 2
Length: int = max(1, Count)
try:
response = self.Manager.read_holding_registers(address=address, count=Length, slave=MODBUS_UNIT)
except Exception as e:
AppUtils.print_Exception(e)
try:
if e.errno == 10054:
self.deleManager()
self.ReOpen()
except Exception as ex:
pass
if self.IsOpen():
try:
response = self.Manager.read_holding_registers(address=address, count=Length, slave=MODBUS_UNIT)
except Exception as e:
AppUtils.print_Exception(e)
return RECODE_FAILURE
else:
return RECODE_FAILURE
if response.isError():
AppUtils.print_current_function_info(f"ModBus error: {response}")
return RECODE_FAILURE
values.clear()
values.extend(response.registers)
return RECODE_SUCCEED
else:
return RECODE_FAILURE
@log_exceptions
def SendUInt16(self, address: int, value: int) -> int:
if self.isValid():
try:
response = self.Manager.write_register(address=address, value=int(value), slave=MODBUS_UNIT)
except Exception as e:
AppUtils.print_Exception(e)
try:
if e.errno == 10054:
self.deleManager()
self.ReOpen()
except Exception as ex:
pass
if self.IsOpen():
try:
response = self.Manager.write_register(address=address, value=int(value), slave=MODBUS_UNIT)
except Exception as e:
AppUtils.print_Exception(e)
return RECODE_FAILURE
else:
return RECODE_FAILURE
if response.isError():
AppUtils.print_current_function_info(f"ModBus error: {response}")
return RECODE_FAILURE
return RECODE_SUCCEED
return RECODE_FAILURE
@log_exceptions
def SendUInt16s(self, address: int, values: list[int]) -> int:
if self.isValid() and isinstance(values, list):
try:
response = self.Manager.write_registers(address=address, values=values, slave=MODBUS_UNIT)
except Exception as e:
AppUtils.print_Exception(e)
try:
if e.errno == 10054:
self.deleManager()
self.ReOpen()
except Exception as ex:
pass
if self.IsOpen():
try:
response = self.Manager.write_registers(address=address, values=values, slave=MODBUS_UNIT)
except Exception as e:
AppUtils.print_Exception(e)
return RECODE_FAILURE
else:
return RECODE_FAILURE
if response.isError():
AppUtils.print_current_function_info(f"ModBus error: {response}")
return RECODE_FAILURE
return RECODE_SUCCEED
return RECODE_FAILURE
@log_exceptions
def ReadState(self, address: int) -> int:
if self.isValid():
count: int = 1
try:
response = self.Manager.read_coils(address=address, count=count, slave=MODBUS_UNIT)
except Exception as e:
AppUtils.print_Exception(e)
try:
if e.errno == 10054:
self.deleManager()
self.ReOpen()
except Exception as ex:
pass
if self.IsOpen():
try:
response = self.Manager.read_coils(address=address, count=count, slave=MODBUS_UNIT)
except Exception as e:
AppUtils.print_Exception(e)
return None
else:
return None
if response.isError():
AppUtils.print_current_function_info(f"ModBus error: {response}")
return None
return response.bits[0]
return None
@log_exceptions
def ReadStatus(self, address: int, Count: int, values: list[bool]) -> int:
count: int = max(1, Count)
if self.isValid() and isinstance(values, list):
try:
response = self.Manager.read_coils(address=address, count=count, slave=MODBUS_UNIT)
except Exception as e:
AppUtils.print_Exception(e)
try:
if e.errno == 10054:
self.deleManager()
self.ReOpen()
except Exception as ex:
pass
if self.IsOpen():
try:
response = self.Manager.read_coils(address=address, count=count, slave=MODBUS_UNIT)
except Exception as e:
AppUtils.print_Exception(e)
return RECODE_FAILURE
else:
return RECODE_FAILURE
if response.isError():
print(f"ModBus error: {response}")
return RECODE_FAILURE
values.clear()
values.extend(response.bits)
return RECODE_SUCCEED if len(values) == count else RECODE_FAILURE
return RECODE_FAILURE
@log_exceptions
def SendState(self, address: int, value: bool) -> int:
if self.isValid():
try:
response = self.Manager.write_coil(address=address, value=value, slave=MODBUS_UNIT)
except Exception as e:
AppUtils.print_Exception(e)
try:
if e.errno == 10054:
self.deleManager()
self.ReOpen()
except Exception as ex:
pass
if self.IsOpen():
try:
response = self.Manager.write_coil(address=address, value=value, slave=MODBUS_UNIT)
except Exception as e:
AppUtils.print_Exception(e)
return RECODE_FAILURE
else:
return RECODE_FAILURE
if response.isError():
AppUtils.print_current_function_info(f"ModBus error: {response}")
return RECODE_FAILURE
return RECODE_SUCCEED
return RECODE_FAILURE
@log_exceptions
def SendStatus(self, address: int, values: list[int]) -> int:
if self.isValid() and isinstance(values, list):
_values = [True if isinstance(state, (bool, int)) and state else False for state in values ]
try:
response = self.Manager.write_coils(address=address, values=_values, slave=MODBUS_UNIT)
except Exception as e:
AppUtils.print_Exception(e)
try:
if e.errno == 10054:
self.deleManager()
self.ReOpen()
except Exception as ex:
pass
if self.IsOpen():
try:
response = self.Manager.write_coils(address=address, values=_values, slave=MODBUS_UNIT)
except Exception as e:
AppUtils.print_Exception(e)
return RECODE_FAILURE
else:
return RECODE_FAILURE
if response.isError():
AppUtils.print_current_function_info(f"ModBus error: {response}")
return RECODE_FAILURE
return RECODE_SUCCEED
return RECODE_FAILURE
def hasManager(self) -> bool:
return hasattr(self, 'Manager') and self.Manager is not None
def hasParameter(self) -> bool:
return hasattr(self, 'Parameter') and self.Parameter is not None
AppCore/AppImplsbak/ScanCodeImpl.py deleted 100644 → 0
View file @ 854d2864
#!D:\IDE\Anaconda3\envs\Microscope_Scan python
# -*- coding: UTF-8 -*-
"""
@Author: Administrator
@FileName: ScanCodeImpl.py
@DateTime: 2025/4/9 23:07
@SoftWare: PyCharm
@Author ：xsh
"""
from PyQt5 import Qt
from abc import abstractmethod
from AppCore.AppContextModels.SerialContext import SerialContext
from AppCore.AppRequestModels.SerialRequest import SerialRequest
from AppInterfaces.ImplInterface import (ImplInterface, AppConvert, AppUtils, AppTimeLoop, log_exceptions)
from AppInterfaces.SingletonInterface import (SingletonInterface)
from AppCore.ImplInterfaces import ScanCodeInterface
from AppSettings.Settings import (RECODE_FAILURE, RECODE_SUCCEED, SIGNAL_CONNECTION_TYPE)
MAX_SERIAL_DEFAULT_WAIT_TIMES : int = 5000
MAX_SERIAL_READ_DELAY : int = 5
MAX_SERIAL_SEND_BUFFER_LENGTH : int = 255
SERIAL_CODE_SCAN_DELAY : int = 50
SERIAL_READ_CODE_SCAN_DELAY : int = 200
class ScanCodeImpl(Qt.QObject, ScanCodeInterface, SingletonInterface):
_isScanning : bool = False
_ScanLocker : Qt.QReadWriteLock = Qt.QReadWriteLock()
TransmitString : Qt.pyqtSignal = Qt.pyqtSignal(object, str)
TransmitBinary : Qt.pyqtSignal = Qt.pyqtSignal(object, object)
TransmitSignal : Qt.pyqtSignal = Qt.pyqtSignal(object, object)
ReceivedSignal : Qt.pyqtSignal = Qt.pyqtSignal(object, object)
Parameter : SerialContext
Manager : Qt.QSerialPort
Locker : Qt.QMutex = Qt.QMutex()
@classmethod
def GetInstance(cls, *args, **kwargs) -> 'ScanCodeImpl':
return super(ScanCodeImpl, cls).GetInstance(*args, **kwargs)
def __init__(self, context: SerialContext = None, parent: Qt.QObject = None):
super(ScanCodeImpl, self).__init__(parent=parent)
self.Parameter = context
self.Initialization("ScanCodeImpl", self, parent)
self.initContext()
self.ReOpen()
def initContext(self):
from AppSettings.AppSetting import AppConfig
if self.Parameter != AppConfig.CodeScanningConfig:
self.Parameter = AppConfig.CodeScanningConfig
def initConnect(self):
if not self.hasManager():
self.initManager(self.Parameter if self.hasParameter() else None)
def initManager(self, context: object = None, **args):
if not self.hasParameter():
self.Parameter = context
if not self.hasParameter():
self.Parameter = SerialContext()
if not self.hasManager():
self.Manager = Qt.QSerialPort()
def deleManager(self):
if self.hasManager():
self.Close()
self.Manager.deleteLater()
self.Manager = None
def deleConnect(self):
super(ScanCodeImpl, self).deleConnect()
def IsScanning(self) -> bool:
Locker: Qt.QReadLocker = Qt.QReadLocker(self._ScanLocker)
return self._isScanning
def setHostMode(self) -> int:
isWrong: int = RECODE_FAILURE
Result: str = None
isWrong: int = self.SendBinary(bytes.fromhex(self.CONSOLE_MODE))
if RECODE_SUCCEED == isWrong:
Result = self.ReadString()
print(f"主机模式:{Result} ")
isWrong = RECODE_SUCCEED if isinstance(Result, str) and len(Result) > 0 else RECODE_FAILURE
return isWrong
def getVERSION(self) -> int:
from AppSettings.SystemSetting import SystemConfig
Result: str = None
isWrong: int = self.SendBinary(bytes.fromhex(self.GET_VERSION))
if RECODE_SUCCEED == isWrong:
Result = self.ReadString()
print(f"扫码器版本:{Result}")
isWrong = RECODE_SUCCEED if isinstance(Result, str) and len(Result) > 0 and self.VERSION in Result else RECODE_FAILURE
return isWrong
def waitForScanning(self, timeout: int = 1500) -> bool:
waittimes: int = max(timeout, self.Parameter.SpaceTime)
endtime: Qt.QDateTime = Qt.QDateTime.currentDateTime().addMSecs(waittimes)
while self.IsScanning():
if Qt.QDateTime.currentDateTime() > endtime:
break
AppTimeLoop.processGlobalEvents(SERIAL_READ_CODE_SCAN_DELAY)
return self.IsScanning()
def ScanningCode(self, timeout: int = 1500) -> str:
result: str = None
from AppCore.AppDBModels.ConfigModels.SystemConfigModel import SystemConfigModel
if self.waitForScanning(timeout):
return result
Locker: Qt.QWriteLocker = Qt.QWriteLocker(self._ScanLocker)
self._isScanning = True
endtime: Qt.QDateTime
if RECODE_SUCCEED != self.SendBinary(bytes.fromhex(self.START_DECODE)):
self._isScanning = False
return result
request: SerialRequest
waittimes: int
request, waittimes = SystemConfigModel.ScanCodeRequest()
request.ReceivedBinary = b''
endtime = Qt.QDateTime.currentDateTime().addMSecs(waittimes)
while True:
if Qt.QDateTime.currentDateTime() > endtime:
break
if RECODE_SUCCEED == self.Read(request):
break
AppTimeLoop.processGlobalEvents(SERIAL_READ_CODE_SCAN_DELAY)
result = request.ReceivedBinary.replace(request.ReceivedTails, b'').decode('utf-8')
self.SendBinary(bytes.fromhex(self.STOP_DECODE))
self._isScanning = False
return result
def StartScanningCode(self) -> int:
self._isScanning = True
isWrong: int = self.SendBinary(bytes.fromhex(self.START_DECODE))
return isWrong
def StopScanningCode(self, **args) -> int:
isWrong: int = RECODE_SUCCEED
# isWrong = self.SendBinary(bytes.fromhex(self.STOP_DECODE))
self._isScanning = False
return isWrong
def ReadScanningCode(self, timeout: int = 1500) -> str:
result: str = None
waittimes: int
endtime: Qt.QDateTime
request: SerialRequest
from AppCore.AppDBModels.ConfigModels.SystemConfigModel import SystemConfigModel
request, waittimes = SystemConfigModel.ScanCodeRequest()
request.ReceivedBinary = b''
request.ReceivedWaits = timeout
endtime = Qt.QDateTime.currentDateTime().addMSecs(waittimes)
while True:
if Qt.QDateTime.currentDateTime() > endtime:
break
if RECODE_SUCCEED == self.Read(request):
break
AppTimeLoop.processGlobalEvents(SERIAL_READ_CODE_SCAN_DELAY)
result = request.ReceivedBinary.replace(request.ReceivedTails, b'').decode('utf-8')
return result
def ReadRequest(self, request, timeout: int = 1500) -> str:
result: str = None
waittimes: int = max(timeout, self.Parameter.ReadWaitTime)
endtime: Qt.QDateTime
request: SerialRequest
request.ReceivedWaits = timeout
endtime = Qt.QDateTime.currentDateTime().addMSecs(waittimes)
while True:
if Qt.QDateTime.currentDateTime() > endtime:
break
if RECODE_SUCCEED == self.Read(request):
break
AppTimeLoop.processGlobalEvents(SERIAL_READ_CODE_SCAN_DELAY)
result = request.ReceivedBinary.replace(request.ReceivedTails, b'').decode('utf-8')
return result
def StopScanning(self):
while self.IsScanning():
self.waitForScanning()
if not self.IsScanning():
return
Locker: Qt.QWriteLocker = Qt.QWriteLocker(self._ScanLocker)
self.SendBinary(bytes.fromhex(self.STOP_DECODE))
self._isScanning = False
def isValid(self) -> bool:
return self.hasManager() and self.hasParameter()
def IsOpen(self) -> bool:
return self.isValid() and self.Manager.isOpen()
def isEnabled(self) -> bool:
return self.isValid() and self.Manager.isOpen()
def isDisable(self) -> bool:
return not self.isEnabled()
def Open(self, timeOut: int = 1000) -> int:
self.initContext()
if not self.isValid():
self.initManager(self.Parameter)
if not self.isValid():
return RECODE_FAILURE
if self.IsOpen():
self.Manager.close()
self.Parameter.IsOpen = False
waittime: int = max(timeOut, self.Parameter.ReadWaitTime)
ETime: Qt.QDateTime = Qt.QDateTime.currentDateTime().addMSecs(waittime)
while True:
if Qt.QDateTime.currentDateTime() > ETime:
break
if self._OpenSerial(self.Manager, self.Parameter) == RECODE_SUCCEED:
break
AppTimeLoop.processGlobalEvents(MAX_SERIAL_READ_DELAY)
return RECODE_SUCCEED if self.Parameter.IsOpen else RECODE_FAILURE
def Close(self, timeOut: int = 1000) -> int:
if not self.isValid():
self.initManager(self.Parameter)
if self.IsOpen() and self._isScanning:
self.SendBinary(bytes.fromhex(self.STOP_DECODE))
self._CloseSerial(self.Manager, self.Parameter)
return RECODE_SUCCEED
def ReOpen(self, timeOut: int = 1000) -> int:
self.Close(timeOut)
return self.Open(timeOut)
def isEqual(self, other) -> bool:
if isinstance(other, ScanCodeImpl):
return self.Manager == other.Manager
return False
def SendString(self, buffer: str, **args) -> int:
if not self.IsOpen():
self.Open(MAX_SERIAL_DEFAULT_WAIT_TIMES)
if not self.IsOpen():
return RECODE_FAILURE
return self._SendSerialPort(self.Manager, Qt.QByteArray(buffer.encode('utf-8')), self.Parameter.ReadWaitTime)
def SendBinary(self, buffer: (bytes, bytearray, Qt.QByteArray), **args) -> int:
if not self.IsOpen():
self.Open(MAX_SERIAL_DEFAULT_WAIT_TIMES)
if not self.IsOpen():
return RECODE_FAILURE
return self._SendSerialPort(self.Manager, Qt.QByteArray(buffer), self.Parameter.ReadWaitTime)
def ReadString(self, **args) -> str:
result: str = None
if not self.IsOpen():
self.Open(MAX_SERIAL_DEFAULT_WAIT_TIMES)
if not self.IsOpen():
return result
request: SerialRequest = SerialRequest()
request.ReceivedTails = b'06'
request.ReceivedWaits = 300
if RECODE_SUCCEED == self._ReadSerial(self.Manager, self.Parameter, request, request.ReceivedWaits):
try:
buffer = request.ReceivedBinary.replace(request.ReceivedTails, b'')
buffer = buffer .replace(b'\r\n', b'')
result = buffer.decode('utf-8')
except Exception as e:
result = None
return result
def Send(self, buffer, **args) -> int:
if not self.IsOpen():
self.Open(MAX_SERIAL_DEFAULT_WAIT_TIMES)
if not self.IsOpen():
return RECODE_FAILURE
if isinstance(buffer, str):
return self.SendString(buffer)
elif isinstance(buffer, (bytes, bytearray, Qt.QByteArray)):
return self.SendBinary(buffer)
elif isinstance(buffer, SerialRequest):
return self._SendSerialPort(self.Manager, Qt.QByteArray(buffer.TransmitBinary), self.Parameter.ReadWaitTime)
return RECODE_FAILURE
def ReadBinary(self) -> Qt.QByteArray:
if not self.IsOpen():
self.Open(MAX_SERIAL_DEFAULT_WAIT_TIMES)
if not self.IsOpen():
return Qt.QByteArray()
buffer: Qt.QByteArray = Qt.QByteArray()
if Qt.QTime.currentTime() > self.StartTime:
self.StartTime = Qt.QTime.currentTime().addMSecs(self.Parameter.SpaceTime)
buffer = self._ReadSerialPort(self.Manager, -1, self.Parameter.ReadWaitTime)
return buffer
def Read(self, request: SerialRequest, **args) -> int:
if not self.IsOpen():
self.Open(MAX_SERIAL_DEFAULT_WAIT_TIMES)
if not self.IsOpen() or not isinstance(request, SerialRequest):
return RECODE_FAILURE
return self._ReadSerial(self.Manager, self.Parameter, request, request.ReceivedWaits)
def ReadMic(self, request: SerialRequest) -> int:
if not self.IsOpen():
self.Open(MAX_SERIAL_DEFAULT_WAIT_TIMES)
if not self.IsOpen() or not isinstance(request, SerialRequest):
return RECODE_FAILURE
return self._ReadMicSerial(self.Manager, self.Parameter, request, request.ReceivedWaits)
def WaitDone(self, request: SerialRequest):
if not self.IsOpen():
self.Open(MAX_SERIAL_DEFAULT_WAIT_TIMES)
if not self.IsOpen() or not isinstance(request, SerialRequest):
return
request.ResultNumber = RECODE_FAILURE
isWrong: int = self.Send(request.TransmitBinary)
request.ResultNumber = isWrong
if RECODE_SUCCEED != isWrong:
return
self.Read(request)
@staticmethod
def _OpenSerial(serial: Qt.QSerialPort, Parameter: SerialContext) -> int:
isWrong: int = RECODE_FAILURE
if not isinstance(serial, Qt.QSerialPort) or not isinstance(Parameter, SerialContext):
return isWrong
if ScanCodeImpl._isSerialOpened(serial):
ScanCodeImpl._CloseSerial(serial, Parameter)
Parameter.IsOpen = False
try:
serial.setPortName(Parameter.COM)
serial.setBaudRate(Parameter.BaudRate)
serial.setDataBits(Parameter.DataBit)
serial.setParity(Parameter.ParityBit)
serial.setStopBits(Parameter.StopBit)
serial.setFlowControl(Parameter.FlowControl)
Parameter.IsOpen = serial.open(Qt.QIODevice.ReadWrite)
except Exception as e:
from AppLog.logHelper import logSERIAL
logSERIAL << AppUtils.toString(e)
Parameter.IsOpen = False
isWrong = RECODE_SUCCEED if Parameter.IsOpen else RECODE_FAILURE
return isWrong
@staticmethod
def _CloseSerial(serial: Qt.QSerialPort, Parameter: SerialContext):
isWrong = RECODE_FAILURE
if not isinstance(serial, Qt.QSerialPort) or not isinstance(Parameter, SerialContext):
return isWrong
try:
Parameter.IsOpen = serial.isOpen()
serial.close()
Parameter.IsOpen = serial.isOpen()
except Exception as e:
from AppLog.logHelper import logSERIAL
logSERIAL << AppUtils.toString(e)
Parameter.IsOpen = False
isWrong = RECODE_SUCCEED
return isWrong
@staticmethod
def _ReadSerial(serial: Qt.QSerialPort, Parameter: SerialContext, request: SerialRequest, timeout: int = -1):
isWrong: int = RECODE_FAILURE
if not isinstance(serial, Qt.QSerialPort) or not isinstance(Parameter, SerialContext):
return isWrong
if not isinstance(request, SerialRequest):
return isWrong
request.ResultNumber = isWrong
if request.ReceivedTails is None or len(request.ReceivedTails) <= 0:
request.ReceivedBinary = ScanCodeImpl._ReadSerialPort(serial, -1, timeout)
return RECODE_SUCCEED
TimerLoop: AppTimeLoop = AppTimeLoop()
waittime: int = max(timeout, Parameter.ReadWaitTime)
def read_serial_port(Serial: Qt.QSerialPort, Request: SerialRequest, Loop: AppTimeLoop):
from AppLog.logHelper import logSERIAL
tails: Qt.QByteArray = Qt.QByteArray(Request.ReceivedTails)
maxlength: int
readlength: int
buffer: Qt.QByteArray = Qt.QByteArray()
bufferlength: int
atEnd: bool = False
while True:
if Loop.remainingTime() <= 0 or atEnd:
break
maxlength = Serial.bytesAvailable()
if maxlength <= 0:
Serial.waitForReadyRead(MAX_SERIAL_READ_DELAY)
else:
while maxlength > 0:
bufferlength = len(buffer)
buffer.append(Serial.read(1))
readlength = len(buffer) - bufferlength
if readlength > 0:
maxlength -= readlength
try:
atEnd = buffer.indexOf(tails) >= 0
if atEnd:
break
except Exception as e:
logSERIAL << AppUtils.toString(e)
else:
Serial.waitForReadyRead(MAX_SERIAL_READ_DELAY)
# AppTimeLoop.msleep(MAX_SERIAL_READ_DELAY)
try:
atEnd = buffer.indexOf(tails) >= 0
if atEnd:
break
except Exception as e:
logSERIAL << AppUtils.toString(e)
# logSERIAL << f"Read: {buffer}"
Request.ReceivedBinary = buffer.data()
Request.ResultNumber = RECODE_SUCCEED if atEnd else RECODE_FAILURE
Loop.exit()
return
TimerLoop.execute(waittime, read_serial_port, **{"Serial": serial, "Request": request, "Loop": TimerLoop})
return RECODE_SUCCEED
@staticmethod
def _ReadMicSerial(serial: Qt.QSerialPort, Parameter: SerialContext, request: SerialRequest, timeout: int = -1):
isWrong: int = RECODE_FAILURE
if not isinstance(serial, Qt.QSerialPort) or not isinstance(Parameter, SerialContext):
return isWrong
if not isinstance(request, SerialRequest):
return isWrong
request.ResultNumber = isWrong
if request.ReceivedTails is None or len(request.ReceivedTails) <= 0:
request.ReceivedBinary = ScanCodeImpl._ReadSerialPort(serial, -1, timeout)
return RECODE_SUCCEED
TimerLoop: AppTimeLoop = AppTimeLoop()
waittime: int = max(timeout, Parameter.ReadWaitTime)
def read_serial_port(Serial: Qt.QSerialPort, Request: SerialRequest, Loop: AppTimeLoop):
from AppLog.logHelper import logSERIAL
tails: Qt.QByteArray = Qt.QByteArray(Request.ReceivedTails)
maxlength: int
readlength: int
buffer: Qt.QByteArray = Qt.QByteArray()
bufferlength: int
atEnd: bool = False
send_buffer: bytes = Request.TransmitBinary[0: 5]
while True:
if Loop.remainingTime() <= 0 or atEnd:
break
maxlength = Serial.bytesAvailable()
if maxlength <= 0:
Serial.waitForReadyRead(MAX_SERIAL_READ_DELAY)
# AppTimeLoop.msleep(MAX_SERIAL_READ_DELAY)
else:
bufferlength = len(buffer)
buffer.append(Serial.readAll())
readlength = len(buffer) - bufferlength
if readlength > 0:
maxlength -= readlength
try:
atEnd = buffer.indexOf(tails) >= 0
if atEnd:
break
except Exception as e:
logSERIAL << AppUtils.toString(e)
try:
atEnd = buffer.indexOf(tails) >= 0
isSucceed: bool = buffer.indexOf(send_buffer) >= 0
if atEnd:
if isSucceed:
buffer = buffer.mid(buffer.indexOf(send_buffer))
break
else:
buffer = buffer.mid(buffer.indexOf(tails) + len(tails))
continue
except Exception as e:
logSERIAL << AppUtils.toString(e)
# logSERIAL << f"Read: {buffer}"
Request.ReceivedBinary = buffer.data()
Request.ResultNumber = RECODE_SUCCEED if atEnd else RECODE_FAILURE
Loop.exit()
return
TimerLoop.execute(waittime, read_serial_port, **{"Serial": serial, "Request": request, "Loop": TimerLoop})
return RECODE_SUCCEED
@staticmethod
def _ReadSerialPort(serial: Qt.QSerialPort, length: int, waittimes: int = 1000) -> Qt.QByteArray:
from AppLog.logHelper import logSERIAL
buffer: Qt.QByteArray = Qt.QByteArray()
maxlength: int
remaining: int
readlength: int
bufferlength: int
waittime: int = max(waittimes, MAX_SERIAL_DEFAULT_WAIT_TIMES)
ETime: Qt.QDateTime = Qt.QDateTime.currentDateTime().addMSecs(waittime)
while True:
serial.waitForReadyRead(MAX_SERIAL_READ_DELAY)
maxlength = serial.bytesAvailable()
if Qt.QDateTime.currentDateTime() >= ETime:
break
if 0 < length <= maxlength:
break
if length <= 0:
buffer.append(serial.readAll())
else:
ETime = Qt.QDateTime.currentDateTime().addMSecs(waittime)
remaining = min(length, maxlength)
while remaining > 0:
if Qt.QDateTime.currentDateTime() > ETime:
break
bufferlength = len(buffer)
buffer.append(serial.read(remaining))
readlength = len(buffer) - bufferlength
if readlength > 0:
remaining -= readlength
else:
serial.waitForReadyRead(MAX_SERIAL_READ_DELAY)
# logSERIAL << f"Send: {buffer}"
return buffer
@staticmethod
def _SendSerial(serial: Qt.QSerialPort, buffer: Qt.QByteArray, timeout: int = 1000):
return ScanCodeImpl._ReadSerialPort(serial=serial, buffer=buffer, waittimes=timeout)
@staticmethod
def _SendSerialPort(serial: Qt.QSerialPort, buffer: Qt.QByteArray, waittimes: int) -> int:
from AppLog.logHelper import logSERIAL
isWrong: int
maxlength: int
remaining: int
sendlength: int
sendindex: int
waittime: int = max(waittimes, MAX_SERIAL_DEFAULT_WAIT_TIMES)
ETime: Qt.QDateTime = Qt.QDateTime.currentDateTime().addMSecs(waittime)
while True:
if Qt.QDateTime.currentDateTime() > ETime:
break
if serial.isWritable() or serial.bytesToWrite() <= 0:
break
serial.flush()
AppTimeLoop.processGlobalEvents(MAX_SERIAL_READ_DELAY)
remaining = len(buffer)
sendindex = 0
ETime = Qt.QDateTime.currentDateTime().addMSecs(waittime)
while remaining >= MAX_SERIAL_SEND_BUFFER_LENGTH:
sendlength = serial.write(buffer.mid(sendindex, MAX_SERIAL_SEND_BUFFER_LENGTH))
if sendlength <= 0:
AppTimeLoop.processGlobalEvents(MAX_SERIAL_READ_DELAY)
else:
sendindex += MAX_SERIAL_SEND_BUFFER_LENGTH
remaining -= MAX_SERIAL_SEND_BUFFER_LENGTH
while remaining > 0:
sendlength = serial.write(buffer.mid(sendindex, remaining))
if sendlength <= 0:
AppTimeLoop.processGlobalEvents(MAX_SERIAL_READ_DELAY)
else:
sendindex += remaining
remaining -= remaining
while True:
if Qt.QDateTime.currentDateTime() > ETime:
break
if serial.isWritable() or serial.bytesToWrite() <= 0:
break
serial.flush()
AppTimeLoop.processGlobalEvents(MAX_SERIAL_READ_DELAY)
# logSERIAL << f"Send: {buffer}"
isWrong = RECODE_SUCCEED if remaining <= 0 else RECODE_FAILURE
return isWrong
@staticmethod
def _isSerialOpened(serial: Qt.QSerialPort) -> bool:
return isinstance(serial, Qt.QSerialPort) and serial.isOpen()
@staticmethod
def _isSerialReadable(serial: Qt.QSerialPort) -> bool:
return isinstance(serial, Qt.QSerialPort) and serial.isReadable()
@staticmethod
def _isSerialWritable(serial: Qt.QSerialPort) -> bool:
return isinstance(serial, Qt.QSerialPort) and serial.isWritable()
def hasManager(self) -> bool:
return hasattr(self, 'Manager') and isinstance(self.Manager, Qt.QSerialPort)
def hasParameter(self) -> bool:
return hasattr(self, 'Parameter') and isinstance(self.Parameter, SerialContext)
AppCore/AppImplsbak/WebSocketClient.py deleted 100644 → 0
View file @ 854d2864
#!D:\IDE\Anaconda3\envs\Microscope_Scan python
# -*- coding: UTF-8 -*-
"""
@Author: Administrator
@FileName: WebSocketClient.py
@DateTime: 2025/6/28 20:53
@SoftWare: PyCharm
@Author ：xsh
"""
from PyQt5 import Qt
from AppSettings.Settings import RECODE_FAILURE, RECODE_SUCCEED, CODE_FAILURE, CODE_SUCCESS, CODE_WARNING
from AppInterfaces.ImplInterface import ImplInterface, AppUtils, AppConvert, AppTimeLoop, log_exceptions
from AppCore.Contexts import WebSocketContext
from AppCore.Requests import Request, Response
from AppCore.Levels import WebAPILevel
from AppCore.ImplInterfaces import WebClientInterface
SOCKET_DEFAULT_DELAY : int = 50
SOCKET_MAX_CONNECT_DELAY : int = 2000
class WebSocketClient(Qt.QObject, WebClientInterface):
IOLocker : Qt.QReadWriteLock
Manager : Qt.QWebSocket
Parameter : WebSocketContext
ConnectedSignal : Qt.pyqtSignal = Qt.pyqtSignal(Request )
DisconnectedSignal : Qt.pyqtSignal = Qt.pyqtSignal(Request )
ReceivedFrame : Qt.pyqtSignal = Qt.pyqtSignal(Request )
TransmitFrame : Qt.pyqtSignal = Qt.pyqtSignal(object )
def __init__(self, parent: Qt.QObject = None):
super(WebSocketClient, self).__init__(parent=parent)
self.Initialization('WebSocketClient', self, parent)
self.initManager(context=None)
@classmethod
def instance(cls, context: WebSocketContext = None, socket: Qt.QWebSocket = None, parent: Qt.QObject = None) -> 'WebSocketClient':
result: WebSocketClient = cls.__new__(cls)
result.__init__(parent=parent)
result.initManager(context, socket=socket)
return result
def initConnect(self):
super(WebSocketClient, self).initConnect()
TYPE: Qt.Qt.ConnectionType = Qt.Qt.ConnectionType(Qt.Qt.AutoConnection | Qt.Qt.UniqueConnection)
self.TransmitFrame.connect(slot=self.slot_SocketTransmitFrame, type=TYPE)
def deleConnect(self):
super(WebSocketClient, self).deleConnect()
def deleValue(self):
super(WebSocketClient, self).deleValue()
self.Close()
self.Manager = None
self.Parameter = None
def initValue(self):
super(WebSocketClient, self).initValue()
if not self.hasLocker:
self.IOLocker = Qt.QReadWriteLock()
self.Manager = None
self.Parameter = None
@property
def hasLocker(self) -> bool:
return hasattr(self, 'IOLocker') and isinstance(self.IOLocker, Qt.QReadWriteLock)
def hasManager(self) -> bool:
return hasattr(self, 'Manager') and self.Manager is not None
def hasParameter(self) -> bool:
return hasattr(self, 'Parameter') and self.Parameter is not None
def isValid(self) -> bool:
return self.hasManager() and self.hasParameter()
def IsOpen(self) -> bool:
return False if not self.hasParameter() else self.Parameter.IsOpen
def isEnabled(self) -> bool:
return False if not self.hasParameter() else self.Parameter.IsOpen
def isDisable(self) -> bool:
return True if not self.hasParameter() else not self.Parameter.IsOpen
def Open(self, timeOut: int = 1000) -> int:
waittimes: int = max(abs(timeOut), SOCKET_MAX_CONNECT_DELAY)
if not self.isValid():
self.initManager(self.Parameter)
if not self.isValid():
return RECODE_FAILURE
if self.IsOpen() and self.EqualSocket(self.Manager, self.Parameter):
return RECODE_SUCCEED
self.Parameter.IsOpen = False
self.Manager.abort()
self.Manager.open(Qt.QUrl(self.Parameter.API))
endtime: Qt.QDateTime = Qt.QDateTime.currentDateTime().addMSecs(waittimes)
while True:
if Qt.QDateTime.currentDateTime() > endtime or self.Parameter.IsOpen:
break
AppTimeLoop.processGlobalEvents(SOCKET_DEFAULT_DELAY)
return RECODE_SUCCEED if self.Parameter.IsOpen else RECODE_FAILURE
# SOCKET_DEFAULT_DELAY
# SOCKET_MAX_CONNECT_DELAY
def Close(self, timeOut: int = 1000) -> int:
waittimes: int = max(abs(timeOut), SOCKET_MAX_CONNECT_DELAY)
if not self.isValid():
return RECODE_SUCCEED
if not self.IsOpen():
return RECODE_SUCCEED
self.Manager.abort()
endtime: Qt.QDateTime = Qt.QDateTime.currentDateTime().addMSecs(waittimes)
while True:
if Qt.QDateTime.currentDateTime() > endtime or not self.Parameter.IsOpen:
break
AppTimeLoop.processGlobalEvents(SOCKET_DEFAULT_DELAY)
return RECODE_SUCCEED if self.Parameter.IsOpen else RECODE_FAILURE
def initManager(self, context: object, **args):
from AppSettings.AppSetting import AppSetting, AppConfig
if not self.hasParameter():
self.Parameter = AppConfig.webConfig
if isinstance(context, WebSocketContext):
if self.Parameter.API.lower() != context.API.lower():
self.Parameter.API = context.API
self.Parameter.Mode = context.Mode
self.Parameter.Descriptor = context.Descriptor
self.Parameter.IsOpen = False
socket: Qt.QWebSocket = args.get('socket', None)
if isinstance(socket, Qt.QWebSocket):
if self.hasManager():
if id(self.Manager) != id(socket):
self.Manager.close()
self.deleSocketConnect(self.Manager)
self.Manager = socket
self.initSocketConnect(self.Manager)
else:
self.Manager = socket
self.initSocketConnect(self.Manager)
else:
if not self.hasManager():
self.Manager = Qt.QWebSocket()
self.initSocketConnect(self.Manager)
def initContext(self):
if not self.hasParameter():
self.Parameter = WebSocketContext()
def initIOLocker(self):
if not self.hasLocker:
self.IOLocker = Qt.QReadWriteLock()
def deleManager(self):
self.initContext()
if self.hasManager():
self.Manager.abort()
if self.hasParameter():
self.Parameter.IsOpen = False
self.Parameter.Descriptor = 0
self.Manager = None
def initSocketConnect(self, socket: Qt.QWebSocket):
if not isinstance(socket, Qt.QWebSocket):
return
TYPE: Qt.Qt.ConnectionType = Qt.Qt.ConnectionType(Qt.Qt.AutoConnection | Qt.Qt.UniqueConnection)
socket.textFrameReceived .connect(slot=self.slot_SocketReadStringFrame, type=TYPE)
socket.binaryFrameReceived .connect(slot=self.slot_SocketReadBinaryFrame, type=TYPE)
socket.error .connect(slot=self.slot_SocketCurrentError , type=TYPE)
socket.stateChanged .connect(slot=self.slot_SocketStateChanged , type=TYPE)
socket.connected .connect(slot=self.slot_SocketConnected , type=TYPE)
socket.disconnected .connect(slot=self.slot_SocketDisconnected , type=TYPE)
pass
def deleSocketConnect(self, socket: Qt.QWebSocket):
if not isinstance(socket, Qt.QWebSocket):
return
self.Parameter.IsOpen = False
socket.textFrameReceived .disconnect()
socket.binaryFrameReceived .disconnect()
socket.error .disconnect()
socket.stateChanged .disconnect()
socket.connected .disconnect()
socket.disconnected .disconnect()
def slot_SocketReadStringFrame (self, buffer: str ):
self.initIOLocker()
Locker: Qt.QReadLocker = Qt.QReadLocker(self.IOLocker)
from AppLog.logHelper import logWEBSERVER, logWARNING
request: Request = Request()
try:
request.asJson(buffer)
request.Buffer = buffer
except Exception as e:
logWARNING << AppUtils.toString(e)
return
request.level = WebAPILevel.toValue(request.callback)
request.Handler = self
request.Buffer = buffer
logWEBSERVER << f"Address:{self.Manager.peerAddress().toString()} Port: {self.Manager.peerPort()} data: {buffer}"
self.ReceivedFrame.emit(request)
pass
def slot_SocketReadBinaryFrame (self, buffer: bytes ):
self.initIOLocker()
Locker: Qt.QReadLocker = Qt.QReadLocker(self.IOLocker)
from AppLog.logHelper import logWEBSERVER, logWARNING
request: Request = Request()
try:
string = buffer.decode('utf-8')
request.asJson(string)
request.Buffer = string
except Exception as e:
logWARNING << AppUtils.toString(e)
return
request.level = WebAPILevel.toValue(request.callback)
request.Handler = self
logWEBSERVER << f"Address:{self.Manager.peerAddress().toString()} Port: {self.Manager.peerPort()} data: {string}"
self.ReceivedFrame.emit(request)
pass
def slot_SocketCurrentError (self, error):
socket: Qt.QWebSocket = self.sender()
if not isinstance(socket, Qt.QWebSocket):
return
from AppLog.logHelper import logWEBSERVER
logWEBSERVER << AppUtils.current_function_info(f"ADDR: {socket.peerAddress().toString()} Port: {socket.peerPort()} SocketError: {error} errorString: {socket.errorString()}")
self.Parameter.IsOpen = socket.state() == Qt.QAbstractSocket.SocketState.ConnectedState
pass
def slot_SocketStateChanged (self, state: int):
socket: Qt.QWebSocket = self.sender()
if not isinstance(socket, Qt.QWebSocket):
return
self.Parameter.IsOpen = socket.state() == Qt.QAbstractSocket.SocketState.ConnectedState
pass
def slot_SocketConnected (self):
self.Parameter.IsOpen = True
self.Parameter.Address = self.Manager.localAddress().toString()
self.Parameter.Port = self.Manager.localPort()
self.ConnectedSignal.emit(Request.instance(buffer=None, Handler=self))
pass
def slot_SocketDisconnected (self):
self.Parameter.IsOpen = False
self.ConnectedSignal.emit(Request.instance(buffer=None, Handler=self))
def slot_SocketTransmitFrame (self, buffer):
if isinstance(buffer, str):
self.TransmitString(buffer)
elif isinstance(buffer, bytes) or isinstance(buffer, bytearray) or isinstance(buffer, Qt.QByteArray):
self.TransmitBinary(buffer)
else:
self.TransmitBinary(buffer)
pass
def TransmitString(self, buffer, **args) -> int:
sendBuffer: str
if isinstance(buffer, str):
sendBuffer = buffer
elif isinstance(buffer, bytes) or isinstance(buffer, bytearray):
sendBuffer = buffer.decode('utf-8')
elif isinstance(buffer, Qt.QByteArray):
sendBuffer = buffer.data().decode('utf-8')
elif isinstance(buffer, Response):
sendBuffer = buffer.toJson()
elif isinstance(buffer, Request):
sendBuffer = buffer.toJson()
else:
sendBuffer = f"{buffer}"
self.SocketSendString(self.Manager, sendBuffer)
def TransmitBinary(self, buffer, **args) -> int:
sendBuffer: bytes
if isinstance(buffer, str):
sendBuffer = buffer.encode('utf-8')
elif isinstance(buffer, bytes) or isinstance(buffer, bytearray):
sendBuffer = buffer
elif isinstance(buffer, Qt.QByteArray):
sendBuffer = buffer.data()
elif isinstance(buffer, Response):
sendBuffer = buffer.toJson().encode('utf-8')
elif isinstance(buffer, Request):
sendBuffer = buffer.toJson().encode('utf-8')
else:
sendBuffer = f"{buffer}".encode('utf-8')
self.SocketSendBinary(self.Manager, sendBuffer)
@staticmethod
def SocketSendString(socket: Qt.QWebSocket, buffer: str) -> int:
isWrong: int = RECODE_FAILURE
if not isinstance(socket, Qt.QWebSocket) or AppConvert.isEmpty(buffer):
return isWrong
try:
OtherLength: int = socket.bytesToWrite()
MaxLength: int = len(buffer)
SendLength: int
while OtherLength > 0:
AppTimeLoop.processGlobalEvents(SOCKET_DEFAULT_DELAY)
OtherLength = socket.bytesToWrite()
SendLength = socket.sendTextMessage(buffer)
OtherLength = socket.bytesToWrite()
while OtherLength > 0:
AppTimeLoop.processGlobalEvents(SOCKET_DEFAULT_DELAY)
OtherLength = socket.bytesToWrite()
isWrong = SendLength == MaxLength or OtherLength <= 0
except Exception as e:
from AppLog.logHelper import logWEBSERVER
logWEBSERVER << AppUtils.toString(e)
return isWrong
@staticmethod
def SocketSendBinary(socket: Qt.QWebSocket, buffer: bytes) -> int:
isWrong: int = RECODE_FAILURE
if not isinstance(socket, Qt.QWebSocket) or not isinstance(buffer, bytes) or len(buffer) <= 0:
return isWrong
try:
# OtherLength: int = socket.bytesToWrite()
MaxLength: int = len(buffer)
# SendLength: int
# while OtherLength > 0:
# AppTimeLoop.processGlobalEvents(SOCKET_DEFAULT_DELAY)
# OtherLength = socket.bytesToWrite()
SendLength = socket.sendBinaryMessage(buffer)
# OtherLength = socket.bytesToWrite()
# while OtherLength > 0:
# AppTimeLoop.processGlobalEvents(SOCKET_DEFAULT_DELAY)
# OtherLength = socket.bytesToWrite()
isWrong = SendLength == MaxLength
except Exception as e:
from AppLog.logHelper import logWEBSERVER
logWEBSERVER << AppUtils.toString(e)
return isWrong
@staticmethod
def SocketClose(socket: Qt.QWebSocket, Parameter: WebSocketContext) -> int:
isWrong: int = RECODE_SUCCEED
if not isinstance(socket, Qt.QWebSocket) or not isinstance(Parameter, WebSocketContext):
return isWrong
try:
socket.close()
Parameter.IsOpen = False
except Exception as e:
from AppLog.logHelper import logWEBSERVER
logWEBSERVER << AppUtils.toString(e)
return isWrong
@staticmethod
def SocketOpen(socket: Qt.QWebSocket, Parameter: WebSocketContext) -> int:
isWrong: int = RECODE_FAILURE
if not isinstance(socket, Qt.QWebSocket) or not isinstance(Parameter, WebSocketContext):
return isWrong
WebSocketClient.SocketClose(socket, Parameter)
Parameter.IsOpen = False
try:
socket.open(Qt.QUrl(Parameter.API))
isWrong = RECODE_SUCCEED
except Exception as e:
from AppLog.logHelper import logWEBSERVER
logWEBSERVER << AppUtils.toString(e)
isWrong = RECODE_FAILURE
return isWrong
@staticmethod
def EqualSocket(Manager: Qt.QWebSocket, Parameter: WebSocketContext) -> bool:
if not isinstance(Manager, Qt.QWebSocket) or not isinstance(Parameter, WebSocketContext):
return False
return Manager.requestUrl().toString().lower() == Qt.QUrl(Parameter.API).toString().lower()
\ No newline at end of file
AppCore/AppImplsbak/WebSocketServer.py deleted 100644 → 0
View file @ 854d2864
#!D:\IDE\Anaconda3\envs\Microscope_Scan python
# -*- coding: UTF-8 -*-
"""
@Author: Administrator
@FileName: WebSocketServer.py
@DateTime: 2025/6/28 20:53
@SoftWare: PyCharm
@Author ：xsh
"""
from PyQt5 import Qt
from AppSettings.Settings import (RECODE_FAILURE, RECODE_SUCCEED, CODE_SUCCESS, PROCESS_EVENT_DELAY)
from AppInterfaces.ImplInterface import AppUtils, AppTimeLoop
from AppInterfaces.ImplInterface import ServerImplInterface
from AppCore.Contexts import WebSocketContext
from AppCore.Requests import Request, Response
from AppCore.AppLevelModels.WebAPILevel import WebAPILevel
from AppCore.AppImpls.WebSocketClient import WebSocketClient, SOCKET_MAX_CONNECT_DELAY
from AppCore.ImplInterfaces import WebServerInterface, WebClientInterface
DEFAULT_WEBSERVER_NAME : str = "MicroscopeScanWebServer"
DEFAULT_WEBSERVER_SECURE_MODE = Qt.QWebSocketServer.SslMode.NonSecureMode
class WebSocketServer(Qt.QObject, WebServerInterface):
Manager : Qt.QWebSocketServer
Parameter : WebSocketContext
TransmitFrame : Qt.pyqtSignal = Qt.pyqtSignal(object)
ReceivedFrame : Qt.pyqtSignal = Qt.pyqtSignal(object)
def __init__(self, context=None, parent: Qt.QObject = None):
super(WebSocketServer, self).__init__(parent=parent)
self.Parameter = context
self.Initialization("WebSocketServer", self, parent)
@classmethod
def instance(cls, context=None, parent: Qt.QObject = None) -> 'WebSocketServer':
result: WebSocketServer = cls.__new__(cls)
result.__init__(context, parent)
return result
def Start(self) -> bool:
return self.Open() == RECODE_SUCCEED
def Stop(self):
self.Close()
def initValue(self):
super(WebSocketServer, self).initValue()
self.initManager(context = self.Parameter if self.hasParameter else None)
def deleValue(self):
super(WebSocketServer, self).deleValue()
if self.hasManager:
self.deleServerConnect(self.Manager)
self.Close()
self.Manager = None
self.Parameter = None
self.Handles = []
def deleProperty(self):
super(WebSocketServer, self).deleProperty()
self.deleHandles()
def initConnect(self):
super(WebSocketServer, self).initConnect()
TYPE: Qt.Qt.ConnectionType = Qt.Qt.ConnectionType(Qt.Qt.AutoConnection | Qt.Qt.UniqueConnection)
self.TransmitFrame.connect(slot=self.slot_SocketTransmitFrame, type=TYPE)
def deleConnect(self):
super(WebSocketServer, self).deleConnect()
try:
self.TransmitFrame.disconnect(self.slot_SocketTransmitFrame)
except Exception as e:
pass
def IsOpen(self) -> bool:
return self.hasManager and self.Manager.isListening()
def isEnabled(self) -> bool:
return self.hasManager and self.Manager.isListening()
def isDisable(self) -> bool:
return not self.isEnabled()
def Open(self, timeOut: int = 1000) -> int:
waittimes: int = max(abs(timeOut), SOCKET_MAX_CONNECT_DELAY)
if not self.hasManager:
self.initManager(self.Parameter if self.hasManager else None)
if not self.hasManager:
return RECODE_FAILURE
if self.IsOpen():
return RECODE_SUCCEED
url: Qt.QUrl = Qt.QUrl(self.Parameter.API)
print(url, url.port(), url.host())
self.Parameter.IsOpen = self.Manager.listen(Qt.QHostAddress(url.host()), url.port(9903))
endtime: Qt.QDateTime = Qt.QDateTime.currentDateTime().addMSecs(waittimes)
while True:
if Qt.QDateTime.currentDateTime() > endtime or self.Parameter.IsOpen:
break
AppTimeLoop.processEvents(PROCESS_EVENT_DELAY)
self.Parameter.IsOpen = self.Manager.listen(Qt.QHostAddress(self.Parameter.Addr), self.Parameter.Port)
return RECODE_SUCCEED if self.Parameter.IsOpen else RECODE_FAILURE
def Close(self, timeOut: int = 1000) -> int:
waittimes: int = max(abs(timeOut), SOCKET_MAX_CONNECT_DELAY)
if not self.isValid:
return RECODE_SUCCEED
if not self.IsOpen():
return RECODE_SUCCEED
self.Manager.close()
endtime: Qt.QDateTime = Qt.QDateTime.currentDateTime().addMSecs(waittimes)
while True:
self.Parameter.IsOpen = self.Manager.isListening()
if Qt.QDateTime.currentDateTime() > endtime or not self.Parameter.IsOpen:
break
AppTimeLoop.processEvents(PROCESS_EVENT_DELAY)
self.Manager.close()
return RECODE_SUCCEED if self.Parameter.IsOpen else RECODE_FAILURE
def initManager(self, context: object, **args):
if isinstance(context, WebSocketContext):
if not self.hasParameter or self.Parameter != context:
self.Parameter = context
if not self.hasParameter:
self.Parameter = WebSocketContext()
self.initHandles()
if not self.hasManager:
self.Manager = Qt.QWebSocketServer(DEFAULT_WEBSERVER_NAME, DEFAULT_WEBSERVER_SECURE_MODE)
self.initServerConnect(self.Manager)
def deleManager(self):
self.Close()
self.deleHandles()
self.Manager = None
def initServerConnect(self, socket: Qt.QWebSocketServer):
if not isinstance(socket, Qt.QWebSocketServer):
return
TYPE: Qt.Qt.ConnectionType = Qt.Qt.ConnectionType(Qt.Qt.AutoConnection | Qt.Qt.UniqueConnection)
socket.acceptError.connect(slot=self.slot_acceptError , type=TYPE)
socket.serverError.connect(slot=self.slot_serverError , type=TYPE)
socket.newConnection.connect(slot=self.slot_newConnection , type=TYPE)
def deleServerConnect(self, socket: Qt.QWebSocketServer):
if not isinstance(socket, Qt.QWebSocketServer):
return
socket.acceptError.disconnect()
socket.serverError.disconnect()
socket.newConnection.disconnect()
def initSocketConnect(self, socket: WebSocketClient):
if not isinstance(socket, WebSocketClient):
return
TYPE: Qt.Qt.ConnectionType = Qt.Qt.ConnectionType(Qt.Qt.AutoConnection | Qt.Qt.UniqueConnection)
socket.ReceivedFrame .connect(slot=self.slot_SocketReceivedFrame , type=TYPE)
socket.ConnectedSignal .connect(slot=self.slot_SocketConnected , type=TYPE)
socket.DisconnectedSignal .connect(slot=self.slot_SocketDisconnected , type=TYPE)
def deleSocketConnect(self, socket: WebSocketClient):
if not isinstance(socket, WebSocketClient):
return
socket.ReceivedFrame.disconnect()
socket.ConnectedSignal.disconnect()
socket.DisconnectedSignal.disconnect()
def slot_acceptError(self, socketError):
server: Qt.QWebSocketServer = self.sender()
if not isinstance(server, Qt.QWebSocketServer):
return
from AppLog.logHelper import logWEBSERVER
logWEBSERVER << AppUtils.current_function_info(
f"ADDR: {server.serverAddress().toString()} Port: {server.serverPort()} Error: {socketError}")
pass
def slot_serverError(self, closeCode):
server: Qt.QWebSocketServer = self.sender()
if not isinstance(server, Qt.QWebSocketServer):
return
from AppLog.logHelper import logWEBSERVER
logWEBSERVER << AppUtils.current_function_info(f"ADDR: {server.serverAddress().toString()} Port: {server.serverPort()} closeCode: {closeCode}")
pass
def slot_newConnection(self):
Server: Qt.QWebSocketServer = self.sender()
if not isinstance(Server, Qt.QWebSocketServer):
return
socket: Qt.QWebSocket = Server.nextPendingConnection()
if not isinstance(socket, Qt.QWebSocket):
return
from AppLog.logHelper import logWEBSERVER
logWEBSERVER << AppUtils.current_function_info(f"Server: {Server.serverUrl()} ADDR: {socket.peerAddress().toString()} Port: {socket.peerPort()}")
handler: WebSocketClient = WebSocketClient.instance(context=None, socket=socket)
index: int = self.indexOf(handler)
if index >= 0:
return
self.initSocketConnect(handler)
self.Handles.append(handler)
response: Response = Request.instance(buffer=None, code=CODE_SUCCESS, message="连接成功", callback=WebAPILevel.toString(WebAPILevel.NoneWebAPI))
print(response.toJson())
handler.TransmitFrame.emit(response.toJson())
pass
def slot_SocketReceivedFrame(self, buffer):
self.ReceivedFrame.emit(buffer)
pass
def slot_SocketConnected(self, request: Request):
if isinstance(request, Request):
return
Lock: Qt.QWriteLocker = Qt.QWriteLocker(self.IOLocker)
index: int
number: int = len(self.Handles)
if isinstance(request.Handler, WebSocketClient):
index = self.indexOf(request.Handler)
elif isinstance(request.Handler, Qt.QWebSocket):
index = self.indexOf(request.Handler)
else:
index = number
if index < 0:
self.Handles.append(request.Handler)
pass
def slot_SocketDisconnected(self, request: Request):
if isinstance(request, Request):
return
Lock: Qt.QWriteLocker = Qt.QWriteLocker(self.IOLocker)
index: int
if isinstance(request.Handler, WebSocketClient):
index = self.indexOf(request.Handler)
elif isinstance(request.Handler, Qt.QWebSocket):
index = self.indexOf(request.Handler)
else:
index = -1
if index >= 0:
self.Handles.pop(index)
def slot_SocketTransmitFrame(self, buffer):
self.TransmitString(buffer)
pass
def slot_WebServerTransmit(self, name: str, buffer):
if name == self.__class__.__name__:
self.TransmitString(buffer)
pass
def TransmitString(self, buffer, **args) -> int:
if len(self.Handles) <= 0:
return RECODE_SUCCEED
socket: WebSocketClient
for index, socket in enumerate(self.Handles):
if socket is not None:
socket.TransmitFrame.emit(buffer)
return RECODE_SUCCEED
def __getitem__(self, key: int) -> WebSocketClient:
return super(WebSocketServer, self).__getitem__(key)
def __setitem__(self, key: int, value: WebSocketClient):
super(WebSocketServer, self).__setitem__(key, value)
AppCore/AppImplsbak/__init__.py deleted 100644 → 0
View file @ 854d2864
#!D:/IDE/anaconda3/envs python
# -*- coding: UTF-8 -*-
"""
@Author: Administrator
@FileName：__init__.py.py\n
@DateTime: 2025/6/18 17:32\n
@Author ：xsh
"""
AppCore/AppReaders/DetectionReader.py
View file @ bd7c532f
......@@ -36,94 +36,42 @@ class DetectionReader(Qt.QObject, DetectionReaderInterface):
self._IsInitialize = isinstance(pool, ModBusPoolInterface) and isinstance(context, DetectionContext)
self.Initialization("DetectionReader", self, parent)
def hasManager(self) -> bool:
return hasattr(self, '_Manager') and isinstance(self._Manager, ModBusPoolInterface)
def hasParameter(self) -> bool:
return hasattr(self, '_Parameter') and isinstance(self._Parameter, DetectionContext)
def initManager(self):
self.initContext()
if not self.hasManager():
if not self.hasManager:
from AppCore.AppReaders.ModBusPool import ModBusPool
self._Manager = ModBusPool.GetInstance()
@property
def manager(self) -> ModBusPoolInterface:
return None if not self.hasManager() else self._Manager
self.Manager = ModBusPool.GetInstance()
def deleManager(self):
self.Manager = None
@property
def Parameter(self) -> DetectionContext:
return None if not self.hasParameter() else self._Parameter
@Parameter.setter
def Parameter(self, value: DetectionContext):
self.initContext()
def initContext(self):
from AppSettings.AppSetting import AppConfig
self._Parameter = AppConfig.manipulatorConfig.detectionConfig
def isValid(self) -> bool:
return self.hasManager() and self.hasParameter()
self.Parameter = DetectionContext()
try:
self.Parameter.deserialize(AppConfig.manipulatorConfig.detectionConfig.serialize())
except Exception as e:
AppUtils.print_Exception(e)
def IsOpen(self) -> bool:
return self.isValid() and self._Manager.IsOpen()
@property
def isAvailable(self) -> bool:
handle: ModBusInterface = self.handler()
return self.hasManager() and handle is not None and handle.isAvailable
def Open(self, timeOut: int = 1000, **args) -> int:
self.initContext()
if not self.hasManager():
if not self.hasManager:
return RECODE_FAILURE
if self._Manager.IsOpen():
if self.Manager.IsOpen():
return RECODE_SUCCEED
return self.Manager.Open(timeOut)
return self._Manager.Open(timeOut)
def handler(self) -> ModBusInterface:
if not self.hasManager():
return None
if not self._Manager.IsOpen():
self._Manager.Open()
if not self._Manager.IsOpen():
return None
return self._Manager.detectorhandler
def slow_handler(self) -> ModBusInterface:
if not self.hasManager():
return None
if not self._Manager.IsOpen():
self._Manager.Open()
if not self._Manager.IsOpen():
return None
return self._Manager.slow_handler
def readhandler(self) -> ModBusInterface:
if not self.hasManager():
return None
if not self._Manager.IsOpen():
self._Manager.Open()
if not self._Manager.IsOpen():
return None
return self._Manager.readhandler
def scan_handler(self) -> ModBusInterface:
if not self.hasManager():
return None
if not self._Manager.IsOpen():
self._Manager.Open()
if not self._Manager.IsOpen():
return None
return self._Manager.scan_handler
def Close(self, timeOut: int = 1000, **args) -> int:
self.initContext()
if not self.hasManager():
if not self.hasManager:
return RECODE_FAILURE
self._Manager.Close(timeOut)
self.Manager.Close(timeOut)
......
AppCore/AppReaders/HitBotReader.py
View file @ bd7c532f
......@@ -1037,7 +1037,7 @@ class HitBotReader(Qt.QObject, HitBotReaderInterface):
self.manager.GetGripperState()
return self.manager.efg_distance
def moveToSafePosition(self):
def moveToSafePosition(self, isSlow: bool = False):
if not self.IsInitialize():
return False
from AppSettings.AppGlobalStatus import AppStatus
......@@ -1100,9 +1100,15 @@ class HitBotReader(Qt.QObject, HitBotReaderInterface):
self.move(yAction)
if not self._Manager.isLeft():
model = moveAction.copy()
model.speed = 100
if isSlow:
model.speed = 50
else:
model.speed = 100
self.JMove_LR(model, True)
moveAction.speed = 100
if isSlow:
moveAction.speed = 50
else:
moveAction.speed = 100
self._Manager.flush_scara_param()
self.move(moveAction)
......@@ -1115,7 +1121,7 @@ class HitBotReader(Qt.QObject, HitBotReaderInterface):
yAction.yPosition = Default.yPosition
yAction.zPosition = self._Manager.zPosition
yAction.rPosition = self._Manager.rPosition
yAction.speed = 50
yAction.speed = 50
self.move(yAction)
......@@ -1126,20 +1132,29 @@ class HitBotReader(Qt.QObject, HitBotReaderInterface):
is_r_move = True
if Float(moveAction.xPosition) != float(self._Manager.xPosition):
moveAction.xPosition = Default.xPosition
moveAction.speed = 200
if isSlow:
moveAction.speed = 50
else:
moveAction.speed = 200
is_move = True
if Float(moveAction.zPosition) != float(self._Manager.zPosition):
moveAction.zPosition = Default.zPosition
is_move = True
if not self._Manager.isLeft():
model = moveAction.copy()
model.speed = 100
if isSlow:
model.speed = 50
else:
model.speed = 100
self.JMove_LR(model, True)
if is_move:
if is_r_move:
moveAction.speed = 200
if isSlow:
moveAction.speed = 50
else:
moveAction.speed = 400
if is_r_move:
moveAction.speed = 200
else:
moveAction.speed = 400
self._Manager.flush_scara_param()
self.move(moveAction)
......@@ -1147,8 +1162,8 @@ class HitBotReader(Qt.QObject, HitBotReaderInterface):
return True
def ToSafePosition(self) -> int:
return RECODE_SUCCEED if self.moveToSafePosition() else RECODE_FAILURE
def ToSafePosition(self, isSlow: bool = False) -> int:
return RECODE_SUCCEED if self.moveToSafePosition(isSlow) else RECODE_FAILURE
def isReach(self, x: float, y: float, z: float, r: float) -> bool:
"""
......
AppCore/AppReaders/ManipulatorReader.py
View file @ bd7c532f
......@@ -16,7 +16,7 @@ from AppCore.Contexts import ModBusContext, ModBusRegister, AxisCo
from AppInterfaces.ImplInterfaces import ModBusPoolInterface, ModBusInterface, AxisReaderInterface #
from AppInterfaces.ReaderInterfaces import ManipulatorReaderInterface #
from AppUtils.HardWareUnit import HardWareUnit
from AppCore.DBModels import *
class ManipulatorReader(Qt.QObject, ManipulatorReaderInterface, SingletonInterface):
_IsInitialize : bool
Locker: Qt.QMutex = Qt.QMutex()
......@@ -32,9 +32,9 @@ class ManipulatorReader(Qt.QObject, ManipulatorReaderInterface, SingletonInterfa
def IsInitialize(self) -> bool:
if not self._hasIsInitialize:
self._IsInitialize = False
if not self.hasAxisX() or not self.axis_x.IsInitialize:
if not self.hasAxisX or not self.axis_x.IsInitialize:
return False
if not self.hasAxisY() or not self.axis_y.IsInitialize:
if not self.hasAxisY or not self.axis_y.IsInitialize:
return False
return True
......@@ -46,11 +46,11 @@ class ManipulatorReader(Qt.QObject, ManipulatorReaderInterface, SingletonInterfa
@property
def Parameter(self) -> ModBusContext:
return None if not self.hasManager() else self._Manager.Parameter
return None if not self.hasManager else self._Manager.Parameter
def initValue(self):
super(ManipulatorReader, self).initValue()
if not self.hasManager() :
if not self.hasManager :
self.initManager()
self.initAxisX ()
self.initAxisY ()
......@@ -68,15 +68,19 @@ class ManipulatorReader(Qt.QObject, ManipulatorReaderInterface, SingletonInterfa
def initManager(self):
from AppSettings.AppSetting import AppSetting
if not self.hasManager():
if not self.hasManager:
from AppCore.AppReaders.ModBusPool import ModBusPool
self._Manager = ModBusPool(context=AppSetting.GetInstance().ManipulatorConfig.modBusConfig)
if not self._Manager.IsOpen:
self._Manager.Open()
def deleManager(self):
self._Manager = None
def initAxisX (self):
from AppSettings.AppSetting import AppSetting
if not self.hasAxisX():
if not self.hasAxisX:
from AppCore.AppReaders.AxisReader import AxisReader
self._AxisX = AxisReader(AppSetting.GetInstance().ManipulatorConfig.axisXConfig, self._Manager)
self._AxisX.IsScanning = False
......@@ -84,14 +88,14 @@ class ManipulatorReader(Qt.QObject, ManipulatorReaderInterface, SingletonInterfa
def initAxisY (self):
from AppSettings.AppSetting import AppSetting
if not self.hasAxisY():
if not self.hasAxisY:
from AppCore.AppReaders.AxisReader import AxisReader
self._AxisY = AxisReader(AppSetting.GetInstance().ManipulatorConfig.axisYConfig, self._Manager)
self._AxisY.IsScanning = False
self._AxisY.setLevel(AxisLevel.AxisY)
def initScanX (self):
from AppSettings.AppSetting import AppSetting
if not self.hasScanX():
if not self.hasScanX:
from AppCore.AppReaders.AxisReader import AxisReader
self._ScanX = AxisReader(AppSetting.GetInstance().ManipulatorConfig.scanXConfig, self._Manager)
self._ScanX.IsScanning = True
......@@ -99,14 +103,14 @@ class ManipulatorReader(Qt.QObject, ManipulatorReaderInterface, SingletonInterfa
def initScanY (self):
from AppSettings.AppSetting import AppSetting
if not self.hasScanY():
if not self.hasScanY:
from AppCore.AppReaders.AxisReader import AxisReader
self._ScanY = AxisReader(AppSetting.GetInstance().ManipulatorConfig.scanYConfig, self._Manager)
self._ScanY.IsScanning = True
self._ScanY.setLevel(AxisLevel.ScanY)
def initSlowX (self):
from AppSettings.AppSetting import AppSetting
if not self.hasSlowX():
if not self.hasSlowX:
from AppCore.AppReaders.AxisReader import AxisReader
self._SlowX = AxisReader(AppSetting.GetInstance().ManipulatorConfig.SlowScanXConfig, self._Manager)
self._SlowX.IsScanning = True
......@@ -115,7 +119,7 @@ class ManipulatorReader(Qt.QObject, ManipulatorReaderInterface, SingletonInterfa
def initSlowY (self):
from AppSettings.AppSetting import AppSetting
if not self.hasSlowY():
if not self.hasSlowY:
from AppCore.AppReaders.AxisReader import AxisReader
self._SlowY = AxisReader(AppSetting.GetInstance().ManipulatorConfig.SlowScanYConfig, self._Manager)
self._SlowY.IsScanning = True
......@@ -123,7 +127,7 @@ class ManipulatorReader(Qt.QObject, ManipulatorReaderInterface, SingletonInterfa
def initDropOilX (self):
from AppSettings.AppSetting import AppSetting
if not self.hasDropOilX():
if not self.hasDropOilX:
from AppCore.AppReaders.AxisReader import AxisReader
self._DropOilX = AxisReader(AppSetting.GetInstance().ManipulatorConfig.DropOilXConfig, self._Manager)
self._DropOilX.IsScanning = False
......@@ -131,59 +135,16 @@ class ManipulatorReader(Qt.QObject, ManipulatorReaderInterface, SingletonInterfa
def initDropOilY (self):
from AppSettings.AppSetting import AppSetting
if not self.hasDropOilY():
if not self.hasDropOilY:
from AppCore.AppReaders.AxisReader import AxisReader
self._DropOilY = AxisReader(AppSetting.GetInstance().ManipulatorConfig.DropOilYConfig, self._Manager)
self._DropOilY.IsScanning = False
self._DropOilY.setLevel(AxisLevel.DropOilY)
@property
def isAvailable(self) -> bool:
return self.hasManager() and self.hasAxisX() and self.hasAxisY() and self.hasScanX() and self.hasScanY() and self.hasSlowX() and self.hasSlowY()
def hasManager(self) -> bool:
return hasattr(self, '_Manager') and isinstance(self._Manager, ModBusPoolInterface)
def hasDeviceX(self) -> bool:
return hasattr(self, '_DeviceX') and isinstance(self._DeviceX, AxisContext)
def hasDeviceY(self) -> bool:
return hasattr(self, '_DeviceY') and isinstance(self._DeviceY, AxisContext)
def hasAxisX(self) -> bool:
return hasattr(self, '_AxisX') and isinstance(self._AxisX, AxisReaderInterface)
def hasAxisY(self) -> bool:
return hasattr(self, '_AxisY') and isinstance(self._AxisY, AxisReaderInterface)
def hasScanXParameter(self) -> bool:
return hasattr(self, '_ScanXParameter') and isinstance(self._ScanXParameter, AxisContext)
def hasScanYParameter(self) -> bool:
return hasattr(self, '_ScanYParameter') and isinstance(self._ScanYParameter, AxisContext)
def hasScanX(self) -> bool:
return hasattr(self, '_ScanX') and isinstance(self._ScanX, AxisReaderInterface)
def hasScanY(self) -> bool:
return hasattr(self, '_ScanY') and isinstance(self._ScanY, AxisReaderInterface)
def hasSlowX(self) -> bool:
return hasattr(self, '_SlowX') and isinstance(self._SlowX, AxisReaderInterface)
def hasSlowY(self) -> bool:
return hasattr(self, '_SlowY') and isinstance(self._SlowY, AxisReaderInterface)
def hasDropOilX(self) -> bool:
return hasattr(self, '_DropOilX') and isinstance(self._DropOilX, AxisReaderInterface)
def hasDropOilY(self) -> bool:
return hasattr(self, '_DropOilY') and isinstance(self._DropOilY, AxisReaderInterface)
def handler(self) -> ModBusInterface:
if not self.hasManager():
if not self.hasManager:
return None
if not self._Manager.IsOpen:
self._Manager.Open()
......@@ -194,12 +155,12 @@ class ManipulatorReader(Qt.QObject, ManipulatorReaderInterface, SingletonInterfa
def home_xy(self):
isWrong: int = RECODE_FAILURE
if self.isValid():
if self.isValid:
isWrong: int = HardWareUnit.axis_home_xy(self.axis_x, self.axis_y)
return isWrong
def hasHome(self) -> (int, int):
if self.isValid():
if self.isValid:
return self._AxisX.hasAxisHome(), self._AxisY.hasAxisHome()
return RECODE_FAILURE, RECODE_FAILURE
......@@ -228,7 +189,7 @@ class ManipulatorReader(Qt.QObject, ManipulatorReaderInterface, SingletonInterfa
def start_waitmove_scanning(self, x: (float, int), y: (float, int)) -> int:
isWrong: int = RECODE_FAILURE
if self.isValid():
if self.isValid:
isWrong = HardWareUnit.axis_move_parameter_xy(self.axis_x, self.axis_y, round(float(x), 4), round(float(y), 4))
return isWrong
pass
......@@ -237,7 +198,7 @@ class ManipulatorReader(Qt.QObject, ManipulatorReaderInterface, SingletonInterfa
def waitmove_scanning(self, xPosition: (float, int), yPosition: (float, int)) -> int:
isWrong: int = RECODE_FAILURE
begin: Qt.QDateTime = Qt.QDateTime.currentDateTime()
if self.isValid() and isinstance(xPosition, (float, int)) and isinstance(yPosition, (float, int)):
if self.isValid and isinstance(xPosition, (float, int)) and isinstance(yPosition, (float, int)):
isWrong = HardWareUnit.axis_waitmove_xy(self.axis_x, self.axis_y, round(float(xPosition), 4), round(float(yPosition), 4))
return isWrong
......@@ -245,60 +206,60 @@ class ManipulatorReader(Qt.QObject, ManipulatorReaderInterface, SingletonInterfa
def move_x(self, p: (float, int)) -> int:
isWrong: int = RECODE_FAILURE
if self.isValid():
if self.isValid:
isWrong = HardWareUnit.axis_move(self.axis_x, round(float(p), 4))
return isWrong
def waitmove_x(self, p: (float, int)) -> int:
isWrong: int = RECODE_FAILURE
if self.isValid():
if self.isValid:
isWrong = HardWareUnit.axis_waitmove(self.axis_x, round(float(p), 4))
return isWrong
def move_y(self, p: (float, int)) -> int:
isWrong: int = RECODE_FAILURE
if self.isValid():
if self.isValid:
isWrong = HardWareUnit.axis_move(self.axis_y, round(float(p), 4))
return isWrong
def waitmove_y(self, p: (float, int)) -> int:
isWrong: int = RECODE_FAILURE
if self.isValid():
if self.isValid:
isWrong = HardWareUnit.axis_waitmove(self.axis_y, round(float(p), 4))
return isWrong
def home_x(self):
isWrong: int = RECODE_FAILURE
if self.isValid():
if self.isValid:
isWrong = HardWareUnit.axis_home(self.axis_x)
return isWrong
def waithome_x(self):
isWrong: int = RECODE_FAILURE
if self.isValid():
if self.isValid:
isWrong = HardWareUnit.axis_waithome(self.axis_x)
return isWrong
def home_y(self):
isWrong: int = RECODE_FAILURE
if self.isValid():
if self.isValid:
isWrong = HardWareUnit.axis_home(self.axis_y)
return isWrong
def waithome_y(self):
isWrong: int = RECODE_FAILURE
if self.isValid():
if self.isValid:
isWrong = HardWareUnit.axis_waithome(self.axis_y)
return isWrong
def position_x(self) -> float:
if self.isValid():
if self.isValid:
return self._AxisX.position()
return 0.0
def position_y(self) -> float:
if self.isValid():
if self.isValid:
return self._AxisY.position()
return 0.0
......@@ -306,15 +267,119 @@ class ManipulatorReader(Qt.QObject, ManipulatorReaderInterface, SingletonInterfa
isWrong: int
x: float = None
y: float = None
if self.isValid():
if self.isValid:
xWrong, x = self._AxisX.getPosition()
yWrong, y = self._AxisY.getPosition()
return x, y
def start_scanning_xy(self, x, y) -> int:
return HardWareUnit.axis_waitmove_xy(self.axis_x, self.axis_y, round(float(x), 4), round(float(y), 4))
def reload_velocity(self):
from AppCore.AppDBModels.ConfigModels.AxisVelocityModel import AxisVelocityModel
if self.hasAxisX and self.hasAxisY:
Velocity, Acceleration, Deceleration = AxisVelocityModel.getConfig(AxisLevel.AxisX)
self.axis_x.changedMoveParameter(Velocity, Acceleration, Deceleration)
Velocity, Acceleration, Deceleration = AxisVelocityModel.getConfig(AxisLevel.AxisY)
self.axis_y.changedMoveParameter(Velocity, Acceleration, Deceleration)
return RECODE_SUCCEED
return RECODE_FAILURE
def reload_orl_speed(self):
from AppCore.AppDBModels.ConfigModels.AxisVelocityModel import AxisVelocityModel
if self.hasDropOilX and self.hasDropOilY:
Velocity, Acceleration, Deceleration = AxisVelocityModel.getConfig(AxisLevel.DropOilX)
self.oil_x.changedMoveParameter(Velocity, Acceleration, Deceleration)
Velocity, Acceleration, Deceleration = AxisVelocityModel.getConfig(AxisLevel.DropOilY)
self.oil_y.changedMoveParameter(Velocity, Acceleration, Deceleration)
return RECODE_SUCCEED
return RECODE_FAILURE
def reset_scanning(self, x: (int, float), y: (int, float)) -> int:
from AppCore.AppDBModels.ConfigModels.AxisVelocityModel import AxisVelocityModel
if self.hasScanX and self.hasScanY:
Velocity, Acceleration, Deceleration = AxisVelocityModel.getConfig(AxisLevel.ScanX)
self.scan_x.changedMoveParameter(Velocity, Acceleration, Deceleration)
Velocity, Acceleration, Deceleration = AxisVelocityModel.getConfig(AxisLevel.ScanY)
self.scan_y.changedMoveParameter(Velocity, Acceleration, Deceleration)
return RECODE_SUCCEED
return RECODE_FAILURE
def reset_oiling(self, x: (int, float), y: (int, float)) -> int:
from AppCore.AppDBModels.ConfigModels.AxisVelocityModel import AxisVelocityModel
if self.hasDropOilX and self.hasDropOilY:
Velocity, Acceleration, Deceleration = AxisVelocityModel.getConfig(AxisLevel.DropOilX)
self.oil_x.changedMoveParameter(Velocity, Acceleration, Deceleration)
Velocity, Acceleration, Deceleration = AxisVelocityModel.getConfig(AxisLevel.DropOilY)
self.oil_y.changedMoveParameter(Velocity, Acceleration, Deceleration)
return RECODE_SUCCEED
return RECODE_FAILURE
def reset_moving(self, x: (int, float), y: (int, float)) -> int:
from AppCore.AppDBModels.ConfigModels.AxisVelocityModel import AxisVelocityModel
if self.hasAxisX and self.hasAxisY:
Velocity, Acceleration, Deceleration = AxisVelocityModel.getConfig(AxisLevel.AxisX)
self.axis_x.changedMoveParameter(Velocity, Acceleration, Deceleration)
Velocity, Acceleration, Deceleration = AxisVelocityModel.getConfig(AxisLevel.AxisY)
self.axis_y.changedMoveParameter(Velocity, Acceleration, Deceleration)
return RECODE_SUCCEED
return RECODE_FAILURE
def reset_slow_scanning(self, x: (int, float), y: (int, float)) -> int:
from AppCore.AppDBModels.ConfigModels.AxisVelocityModel import AxisVelocityModel
if self.hasSlowX and self.hasSlowY:
Velocity, Acceleration, Deceleration = AxisVelocityModel.getConfig(AxisLevel.SlowScanX)
self.axis_x.changedMoveParameter(Velocity, Acceleration, Deceleration)
Velocity, Acceleration, Deceleration = AxisVelocityModel.getConfig(AxisLevel.SlowScanY)
self.axis_y.changedMoveParameter(Velocity, Acceleration, Deceleration)
return RECODE_SUCCEED
return RECODE_FAILURE
def start_dropoiling(self):
pass
def waitmove_scan_xy(self, x: (float, int), y: (float, int)) -> int:
return HardWareUnit.axis_waitmove_xy(self.scan_x, self.scan_y, round(float(x), 4), round(float(y), 4))
def waitmove_slow_scanning_xy(self, x: (float, int), y: (float, int)) -> (int, str):
return HardWareUnit.axis_waitmove_xy(self.slow_x, self.slow_y, round(float(x), 4), round(float(y), 4))
def waitmove_scanning_xy(self, action: 'SlideModelInterface', isSafe: bool = False) -> int:
isWrong: int = RECODE_FAILURE
if isinstance(action, SlideModelInterface):
return HardWareUnit.axis_waitmove_xy(self.scan_x, self.scan_y, action.Position_X, action.Position_Y)
return isWrong
def setScanMoveEnable(self, enable: bool):
return HardWareUnit.axis_move_enable_xy(self.scan_x, self.scan_y, enable)
def setMoveEnable(self, enable: bool):
return HardWareUnit.axis_move_enable_xy(self.axis_x, self.axis_y, enable)
def setSlowEnable(self, enable: bool):
return HardWareUnit.axis_move_enable_xy(self.slow_x, self.slow_y, enable)
def anointing_xy(self, x: (float, int), y: (float, int)):
return HardWareUnit.axis_waitmove_xy(self.oil_x, self.oil_y, round(float(x), 4), round(float(y), 4))
def reload_axis_speed(self):
from AppCore.AppDBModels.ConfigModels.AxisVelocityModel import AxisVelocityModel
if self.hasAxisX() and self.hasAxisY():
if self.hasAxisX and self.hasAxisY:
Velocity, Acceleration, Deceleration = AxisVelocityModel.getConfig(AxisLevel.AxisX)
self.axis_x.changedMoveParameter(Velocity, Acceleration, Deceleration)
Velocity, Acceleration, Deceleration = AxisVelocityModel.getConfig(AxisLevel.AxisY)
......@@ -329,14 +394,14 @@ class ManipulatorReader(Qt.QObject, ManipulatorReaderInterface, SingletonInterfa
Deceleration : float
if isSlow:
if self.hasSlowX() and self.hasSlowY():
if self.hasSlowX and self.hasSlowY:
Velocity, Acceleration, Deceleration = AxisVelocityModel.getConfig(AxisLevel.SlowScanX)
self.slow_x.changedMoveParameter(Velocity, Acceleration, Deceleration)
Velocity, Acceleration, Deceleration = AxisVelocityModel.getConfig(AxisLevel.SlowScanY)
self.slow_y.changedMoveParameter(Velocity, Acceleration, Deceleration)
return RECODE_SUCCEED
else:
if self.hasScanX() and self.hasScanY():
if self.hasScanX and self.hasScanY:
Velocity, Acceleration, Deceleration = AxisVelocityModel.getConfig(AxisLevel.ScanX)
self.scan_x.changedMoveParameter(Velocity, Acceleration, Deceleration)
Velocity, Acceleration, Deceleration = AxisVelocityModel.getConfig(AxisLevel.ScanY)
......@@ -344,18 +409,12 @@ class ManipulatorReader(Qt.QObject, ManipulatorReaderInterface, SingletonInterfa
return RECODE_SUCCEED
return RECODE_FAILURE
def isValid(self) -> bool:
return self.hasManager() and self.hasAxisX() and self.hasAxisY()
def IsOpen(self) -> bool:
return self.hasManager() and self._Manager.IsOpen
def Open(self, timeOut: int = 1000, **args) -> int:
if not self.hasManager():
if not self.hasManager:
self.initManager()
if not self.hasManager():
if not self.hasManager:
return RECODE_FAILURE
if self._Manager.IsOpen:
return RECODE_SUCCEED
......@@ -363,9 +422,9 @@ class ManipulatorReader(Qt.QObject, ManipulatorReaderInterface, SingletonInterfa
def Close(self, timeOut: int = 1000, **args) -> int:
if not self.hasManager():
if not self.hasManager:
self.initManager()
if not self.hasManager():
if not self.hasManager:
return RECODE_FAILURE
if not self._Manager.IsOpen:
return RECODE_SUCCEED
......
AppCore/AppReaders/ModBusPool.py
View file @ bd7c532f
......@@ -88,6 +88,7 @@ class ModBusPool(Qt.QObject, ModBusPoolInterface, SingletonInterface):
super(ModBusPool, self).deleValue()
self.deleManagers()
def IsOpen(self) -> bool:
handler: ModBusInterface = self.handle
return isinstance(handler, ModBusInterface) and handler.IsOpen()
......
AppInterfaces/AppImplInterfaces/DetectionReaderInterface.py
View file @ bd7c532f
......@@ -17,8 +17,8 @@ from AppInterfaces.AppImplInterfaces.ModBusPoolInterface import ModBusPoolInt
from AppInterfaces.AppReaderInterfaces.AppReaderInterface import AppReaderInterface #
class DetectionReaderInterface(AppReaderInterface):
_Manager : ModBusPoolInterface
_Parameter : DetectionContext
Manager : ModBusPoolInterface
Parameter : DetectionContext
......@@ -28,14 +28,14 @@ class DetectionReaderInterface(AppReaderInterface):
handler: ModBusInterface = self.handler()
if isinstance(handler, ModBusInterface) and handler.isAvailable:
_status: bool = True if isinstance(enable, (bool, int)) and enable else False
isWrong = self.SendBool(handler, self._Parameter.OilPumpRegister, _status)
isWrong = self.SendBool(handler, self.Parameter.OilPumpRegister, _status)
return isWrong
def get_oil_switch_status(self) -> int:
isWrong: int = RECODE_FAILURE
handler: ModBusInterface = self.handler()
if isinstance(handler, ModBusInterface) and handler.isAvailable:
isWrong = self.ReadBool(handler, self._Parameter.OilPumpRegister)
isWrong = self.ReadBool(handler, self.Parameter.OilPumpRegister)
return isWrong
def set_oil_speed(self, speed: int) -> int:
......@@ -44,7 +44,7 @@ class DetectionReaderInterface(AppReaderInterface):
handler: ModBusInterface = self.handler()
if isinstance(handler, ModBusInterface) and handler.isAvailable:
_speed: int = round(speed, 0) if isinstance(speed, float) else speed
isWrong = self.SendUInt16(self.handler(), self._Parameter.OilSpeedRegister, _speed)
isWrong = self.SendUInt16(handler, self.Parameter.OilSpeedRegister, _speed)
return isWrong
def get_oil_speed(self) -> (int, int):
......@@ -53,7 +53,7 @@ class DetectionReaderInterface(AppReaderInterface):
_speed: int = 0
handler: ModBusInterface = self.readhandler()
if isinstance(handler, ModBusInterface) and handler.isAvailable:
speed: int = self.ReadUInt16(self.handler(), self._Parameter.OilSpeedRegister, _speed)
speed: int = self.ReadUInt16(handler, self.Parameter.OilSpeedRegister, _speed)
if isinstance(speed, int):
_speed = speed
isWrong = RECODE_SUCCEED
......@@ -65,7 +65,7 @@ class DetectionReaderInterface(AppReaderInterface):
status: bool = False
handler: ModBusInterface = self.readhandler()
if isinstance(handler, ModBusInterface) and handler.isAvailable:
_status: bool = self.ReadBool(self.handler(), self._Parameter.OilStatusRegister)
_status: bool = self.ReadBool(handler, self.Parameter.OilStatusRegister)
status = _status if isinstance(_status, bool) else False
return status
......@@ -73,7 +73,7 @@ class DetectionReaderInterface(AppReaderInterface):
status: bool = False
handler: ModBusInterface = self.readhandler()
if isinstance(handler, ModBusInterface) and handler.isAvailable:
_status: bool = self.ReadBool(self.handler(), self._Parameter.DoorStatusRegister)
_status: bool = self.ReadBool(handler, self.Parameter.DoorStatusRegister)
status = _status if isinstance(_status, bool) else False
return status
......@@ -81,7 +81,7 @@ class DetectionReaderInterface(AppReaderInterface):
status: bool = False
handler: ModBusInterface = self.readhandler()
if isinstance(handler, ModBusInterface) and handler.isAvailable:
_status: bool = self.ReadBool(self.handler(), self._Parameter.DoorStatusRegister)
_status: bool = self.ReadBool(handler, self.Parameter.DoorStatusRegister)
status = _status if isinstance(_status, bool) else False
return status
......@@ -90,7 +90,7 @@ class DetectionReaderInterface(AppReaderInterface):
status: bool = False
handler: ModBusInterface = self.readhandler()
if isinstance(handler, ModBusInterface) and handler.isAvailable:
_status: bool = self.ReadBool(self.handler(), self._Parameter.ChamberStatusRegister)
_status: bool = self.ReadBool(handler, self.Parameter.ChamberStatusRegister)
status = _status if isinstance(_status, bool) else False
return status
......@@ -108,7 +108,7 @@ class DetectionReaderInterface(AppReaderInterface):
handler: ModBusInterface = self.handler()
if isinstance(handler, ModBusInterface) and handler.isAvailable:
_status: bool = True if isinstance(enable, (bool, int)) and enable else False
isWrong = self.SendBool(self.handler(), self._Parameter.BuzzerRegister, _status)
isWrong = self.SendBool(handler, self.Parameter.BuzzerRegister, _status)
return isWrong
def get_buzzer_switch(self) -> int:
......@@ -116,60 +116,54 @@ class DetectionReaderInterface(AppReaderInterface):
isWrong: int = RECODE_FAILURE
handler: ModBusInterface = self.readhandler()
if isinstance(handler, ModBusInterface) and handler.isAvailable:
isWrong = self.ReadBool(self.handler(), self._Parameter.BuzzerRegister)
isWrong = self.ReadBool(handler, self.Parameter.BuzzerRegister)
return isWrong
def handler(self) -> ModBusInterface:
if not self.hasManager:
return None
if not self._Manager.IsOpen:
self._Manager.Open()
if not self._Manager.IsOpen:
if not self.Manager.IsOpen():
self.Manager.Open()
if not self.Manager.IsOpen():
return None
return self._Manager.handle
return self.Manager.handle
def slow_handler(self) -> ModBusInterface:
if not self.hasManager:
return None
if not self._Manager.IsOpen:
self._Manager.Open()
if not self._Manager.IsOpen:
if not self.Manager.IsOpen():
self.Manager.Open()
if not self.Manager.IsOpen():
return None
return self._Manager.slow_handler
return self.Manager.slow_handler
def readhandler(self) -> ModBusInterface:
if not self.hasManager:
return None
if not self._Manager.IsOpen:
self._Manager.Open()
if not self._Manager.IsOpen:
if not self.Manager.IsOpen():
self.Manager.Open()
if not self.Manager.IsOpen():
return None
return self._Manager.readhandler
return self.Manager.readhandler
def scan_handler(self) -> ModBusInterface:
if not self.hasManager:
return None
if not self._Manager.IsOpen:
self._Manager.Open()
if not self._Manager.IsOpen:
if not self.Manager.IsOpen():
self.Manager.Open()
if not self.Manager.IsOpen():
return None
return self._Manager.scan_handler
return self.Manager.scan_handler
@property
def parameter(self) -> DetectionContext:
return None if not self.hasParameter else self._Parameter
@parameter.setter
def parameter(self, value: DetectionContext):
self._Parameter = value
if not self.hasParameter:
self._Parameter = None
return None if not self.hasParameter else self.Parameter
@property
def hasParameter(self) -> bool:
return hasattr(self, '_Parameter') and isinstance(self._Parameter, DetectionContext)
return hasattr(self, 'Parameter') and isinstance(self.Parameter, DetectionContext)
@property
def isAvailable(self) -> bool:
......@@ -181,21 +175,16 @@ class DetectionReaderInterface(AppReaderInterface):
@property
def IsOpen(self) -> bool:
return self.hasManager and self.manager.IsOpen
return self.hasManager and self.Manager.IsOpen()
@property
def hasManager(self) -> bool:
return hasattr(self, '_Manager') and isinstance(self._Manager, ModBusPoolInterface)
return hasattr(self, 'Manager') and isinstance(self.Manager, ModBusPoolInterface)
@property
def manager(self) -> ModBusPoolInterface:
return None if not self.hasManager else self._Manager
return None if not self.hasManager else self.Manager
@manager.setter
def manager(self, value):
self._Manager = value
if not self.hasManager:
self._Manager = None
@abstractmethod
def setLevel(self, level: int):
......
AppInterfaces/AppImplInterfaces/ModBusPoolInterface.py
View file @ bd7c532f
......@@ -31,34 +31,25 @@ class ModBusPoolInterface(PoolInterface):
@property
@abstractmethod
def isAvailable(self) -> bool:
pass
return self.IsOpen()
@property
@abstractmethod
def isValid(self) -> bool:
pass
return self.hasParameter and self.hasManagers
@property
@abstractmethod
def IsOpen(self) -> bool:
pass
@property
@abstractmethod
def hasManager(self) -> bool:
pass
return self.hasManagers
@property
@abstractmethod
def manager(self):
pass
return None if not self.hasManagers else self.Managers
@manager.setter
@abstractmethod
def manager(self, value):
pass
@abstractmethod
def Open(self, timeOut: int = 1000, **args) -> int:
......@@ -68,13 +59,11 @@ class ModBusPoolInterface(PoolInterface):
def Close(self, timeOut: int = 1000, **args) -> int:
pass
@abstractmethod
def initManager(self):
pass
self.initManagers(None)
@abstractmethod
def deleManager(self):
pass
self.deleManagers()
def Transmit(self, data: object, **args) -> int:
return RECODE_FAILURE
......
AppInterfaces/AppReaderInterfaces/HitBotReaderInterface.py
View file @ bd7c532f
......@@ -227,7 +227,7 @@ class HitBotReaderInterface(AppReaderInterface):
pass
@abstractmethod
def moveToSafePosition(self):
def moveToSafePosition(self, isSlow: bool = False):
pass
@abstractmethod
......
AppInterfaces/AppReaderInterfaces/ManipulatorReaderInterface.py
View file @ bd7c532f
......@@ -110,77 +110,11 @@ class ManipulatorReaderInterface(AppReaderInterface):
def oil_y(self) -> AxisReaderInterface:
return None if not self.hasDropOilY else self._DropOilY
""""""
@axis_x.setter
def axis_x(self, value):
self._AxisX = value
if not self.hasAxisX:
self._AxisX = None
@axis_y.setter
def axis_y(self, value):
self._AxisY = value
if not self.hasAxisY:
self._AxisY = None
@scan_x.setter
def scan_x(self, value):
self._ScanX = value
if not self.hasScanX:
self._ScanX = None
@scan_y.setter
def scan_y(self, value):
self._ScanY = value
if not self.hasScanY:
self._ScanY = None
@slow_x.setter
def slow_x(self, value):
self._SlowX = value
if not self.hasSlowX:
self._SlowX = None
@slow_y.setter
def slow_y(self, value):
self._SlowY = value
if not self.hasSlowY:
self._SlowY = None
@scan_axis_x.setter
def scan_axis_x(self, value):
self._ScanX = value
if not self.hasScanX:
self._ScanX = None
@scan_axis_y.setter
def scan_axis_y(self, value):
self._ScanY = value
if not self.hasScanY:
self._ScanY = None
@oil_x.setter
def oil_x(self, value):
self._DropOilX = value
if not self.hasDropOilX:
self._DropOilX = None
@oil_y.setter
def oil_y(self, value):
self._DropOilY = value
if not self.hasDropOilY:
self._DropOilY = None
@property
def parameter(self) -> ModBusContext:
return None if not self.manager else self.manager.parameter
@parameter.setter
def parameter(self, value):
if self.hasManager:
self.manager.parameter = value
@property
def hasManager (self) -> bool:
return hasattr(self, '_Manager' ) and isinstance(self._Manager , ModBusPoolInterface)
......@@ -226,7 +160,7 @@ class ManipulatorReaderInterface(AppReaderInterface):
def isValid(self) -> bool:
return self.hasManager and self.manager.isValid
@property
def IsOpen(self) -> bool:
return self.hasManager and self.manager.IsOpen
......@@ -235,11 +169,6 @@ class ManipulatorReaderInterface(AppReaderInterface):
def manager(self):
return None if not self.hasManager else self._Manager
@manager.setter
def manager(self, value):
self._Manager = value
if not self.hasManager:
self._Manager = None
@abstractmethod
def Open(self, timeOut: int = 1000, **args) -> int:
......
MicScanSystem.py
View file @ bd7c532f
......@@ -31,17 +31,17 @@ if __name__ == "__main__":
if AppUtils.IsServerAvailable(AppConfig.WebConfig.API):
from AppInterfaces.bases import *
from AppUtils.DataBaseDeploy import DataBaseDeploy
from AppSettings.AppStatusSetting import AppStatus
from AppSettings.AppGlobalStatus import AppStatus
from AppSettings.SystemSetting import SystemConfig
from AppSettings.HitBotSetting import HitBotSetting, HitBotConfig
from AppBackEnd.AppEventBusBusiness import *
from AppCore.AppDBModels.DBModels import *
DataBaseDeploy.init()
AppStatus.UpdateFromDBModel()
HitBotConfig.UpdateFromDBModel()
SystemConfig.UpdateFromDBModel()
TrayModel.UpdateModel()
AppStatus.UpdateMaxLocation()
SystemConfig.UpdateMaxLocation()
HitBotConfig.UpdateMaxLocation()
TrayModel.UpdateMaxLocation()
from AppCore.AppManagers.HardWareManager import HardWareManager
from AppCore.Readers import ModBusPool
from AppBackEnd.AppScanningFlow import AppScanningFlow
......
MicScanSystem.spec 0 → 100644
View file @ bd7c532f
# -*- mode: python ; coding: utf-8 -*-
a = Analysis(
['MicScanSystem.py'],
pathex=[],
binaries=[],
datas=[],
hiddenimports=[],
hookspath=[],
hooksconfig={},
runtime_hooks=[],
excludes=[],
noarchive=False,
optimize=0,
)
pyz = PYZ(a.pure)
exe = EXE(
pyz,
a.scripts,
[],
exclude_binaries=True,
name='MicScanSystem',
debug=False,
bootloader_ignore_signals=False,
strip=False,
upx=True,
console=True,
disable_windowed_traceback=False,
argv_emulation=False,
target_arch=None,
codesign_identity=None,
entitlements_file=None,
icon=['MicScanSystem.ico'],
)
coll = COLLECT(
exe,
a.binaries,
a.datas,
strip=False,
upx=True,
upx_exclude=[],
name='MicScanSystem',
)
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