def __init__(self, isServer: bool = True):
self._client = FBServer() if isServer else FBClient()
self._client.registerRecvCallback(self._send)
self._serThread: ReaderThread = None
self._connected = threading.Event()
self._running = True
self._conCB: List[callable] = []
self._disconCB: List[callable] = []
def __init__(self, isServer: bool = False):
style = ttk.Style("cosmo")
self._root = style.master
self._root.title("FBPos")
self._root.protocol("WM_DELETE_WINDOW", self.shutdown)
self._root.rowconfigure(0, weight=1)
self._root.columnconfigure(0, weight=1)
self._recv = FBFloatMultiRecv()
self._client = FBServer() if isServer else FBClient()
self._client.registerRecvCallback(self._recv.input)
self._plotFrame = ttk.Frame(self._root)
self._plotFrame.grid(row=0, column=0, sticky="wesn")
self._plotFrame.rowconfigure(0, weight=1)
self._plotFrame.columnconfigure(0, weight=1)
self._fig = plt.Figure()
self._fig.subplots_adjust(top=0.965,
bottom=0.055,
left=0.115,
right=0.97,
wspace=0,
hspace=0)
self._canvas = FigureCanvasTkAgg(self._fig, master=self._plotFrame)
self._canvas.get_tk_widget().grid(row=0, column=0, sticky="wesn")
self._ax = self._fig.add_subplot(1, 1, 1)
self._ax.set_aspect("equal", adjustable="datalim")
self._toolbar = NavigationToolbar2Tk(self._canvas,
self._plotFrame,
pack_toolbar=False)
self._toolbar.update()
self._hiddenPanButton = self._toolbar._buttons["Pan"]
self._prePanState = False
self._canvas.mpl_connect("button_press_event", self._control_on_press)
self._canvas.mpl_connect("button_release_event",
self._control_on_release)
self._canvas.mpl_connect("motion_notify_event", self._control_on_move)
self._control_event: SimpleNamespace = None
self._control_event_lock = threading.Lock()
self._control_arrow = FancyArrow(0, 0, 1, 0, width=0.1)
self._ax.add_patch(self._control_arrow)
self._control_arrow.set_visible(False)
self._opFrame = ttk.Frame(self._root)
self._opFrame.grid(row=1, column=0, sticky="we")
self._resetLimButton = ttk.Button(self._opFrame,
text="视野重置",
command=self._resetLim)
self._resetLimButton.pack(side="left", padx=5, pady=5)
self._panButton = ttk.Checkbutton(
self._opFrame,
text="拖拽",
bootstyle=("warning", "outline", "toolbutton"),
command=self._onPanClick,
)
self._panButton.pack(side="left", padx=5, pady=5)
self._controlButton = ttk.Checkbutton(
self._opFrame,
text="控制",
bootstyle=("error", "outline", "toolbutton"),
command=self._onControlClick,
)
self._controlButton.pack(side="left", padx=5, pady=5)
self._pauseButton = ttk.Checkbutton(self._opFrame,
text="暂停",
bootstyle=("success", "outline",
"toolbutton"))
self._pauseButton.pack(side="left", padx=5, pady=5)
self._resetPosButton = ttk.Button(self._opFrame,
text="重置位置",
command=self._resetPos)
self._resetPosButton.pack(side="left", padx=5, pady=5)
self._stopButton = ttk.Button(self._opFrame,
text="停止",
command=self._stop)
self._stopButton.pack(side="left", padx=5, pady=5)
self._robots: List[Robot] = []
self._scatters: List[Scatter] = []
class FBPosApp:
def __init__(self, isServer: bool = False):
style = ttk.Style("cosmo")
self._root = style.master
self._root.title("FBPos")
self._root.protocol("WM_DELETE_WINDOW", self.shutdown)
self._root.rowconfigure(0, weight=1)
self._root.columnconfigure(0, weight=1)
self._recv = FBFloatMultiRecv()
self._client = FBServer() if isServer else FBClient()
self._client.registerRecvCallback(self._recv.input)
self._plotFrame = ttk.Frame(self._root)
self._plotFrame.grid(row=0, column=0, sticky="wesn")
self._plotFrame.rowconfigure(0, weight=1)
self._plotFrame.columnconfigure(0, weight=1)
self._fig = plt.Figure()
self._fig.subplots_adjust(top=0.965,
bottom=0.055,
left=0.115,
right=0.97,
wspace=0,
hspace=0)
self._canvas = FigureCanvasTkAgg(self._fig, master=self._plotFrame)
self._canvas.get_tk_widget().grid(row=0, column=0, sticky="wesn")
self._ax = self._fig.add_subplot(1, 1, 1)
self._ax.set_aspect("equal", adjustable="datalim")
self._toolbar = NavigationToolbar2Tk(self._canvas,
self._plotFrame,
pack_toolbar=False)
self._toolbar.update()
self._hiddenPanButton = self._toolbar._buttons["Pan"]
self._prePanState = False
self._canvas.mpl_connect("button_press_event", self._control_on_press)
self._canvas.mpl_connect("button_release_event",
self._control_on_release)
self._canvas.mpl_connect("motion_notify_event", self._control_on_move)
self._control_event: SimpleNamespace = None
self._control_event_lock = threading.Lock()
self._control_arrow = FancyArrow(0, 0, 1, 0, width=0.1)
self._ax.add_patch(self._control_arrow)
self._control_arrow.set_visible(False)
self._opFrame = ttk.Frame(self._root)
self._opFrame.grid(row=1, column=0, sticky="we")
self._resetLimButton = ttk.Button(self._opFrame,
text="视野重置",
command=self._resetLim)
self._resetLimButton.pack(side="left", padx=5, pady=5)
self._panButton = ttk.Checkbutton(
self._opFrame,
text="拖拽",
bootstyle=("warning", "outline", "toolbutton"),
command=self._onPanClick,
)
self._panButton.pack(side="left", padx=5, pady=5)
self._controlButton = ttk.Checkbutton(
self._opFrame,
text="控制",
bootstyle=("error", "outline", "toolbutton"),
command=self._onControlClick,
)
self._controlButton.pack(side="left", padx=5, pady=5)
self._pauseButton = ttk.Checkbutton(self._opFrame,
text="暂停",
bootstyle=("success", "outline",
"toolbutton"))
self._pauseButton.pack(side="left", padx=5, pady=5)
self._resetPosButton = ttk.Button(self._opFrame,
text="重置位置",
command=self._resetPos)
self._resetPosButton.pack(side="left", padx=5, pady=5)
self._stopButton = ttk.Button(self._opFrame,
text="停止",
command=self._stop)
self._stopButton.pack(side="left", padx=5, pady=5)
self._robots: List[Robot] = []
self._scatters: List[Scatter] = []
def _resetPos(self):
data = HEADER + STATE_ID + b"".join(map(as_float, (0, 0, 0, 0, 0, 0)))
self._client.send(data)
def _stop(self):
data = HEADER + STOP_ID
self._client.send(data)
def _get_control_data(self):
return (
self._control_event.x,
self._control_event.y,
self._control_event.dx,
self._control_event.dy,
)
def _control_on_press(self, event):
if event.xdata is None:
return
if self._controlButton.instate(["selected"]):
with self._control_event_lock:
self._control_event = SimpleNamespace(x=event.xdata,
y=event.ydata,
dx=0,
dy=0)
def _control_on_move(self, event):
if event.xdata is None:
return
with self._control_event_lock:
if self._control_event is not None:
self._control_event.dx, self._control_event.dy = (
event.xdata - self._control_event.x,
event.ydata - self._control_event.y,
)
def _control_on_release(self, event):
with self._control_event_lock:
if self._control_event is None or self._control_event.dx == self._control_event.dy == 0:
self._control_event = None
return
x, y, dx, dy = self._get_control_data()
self._control_event = None
yaw = atan2(dy, dx)
print("x:%.2f y:%.2f yaw:%.2f" % (x, y, yaw))
if event.button == 1:
data = HEADER + CONTROL_ID + b"".join(map(as_float, (x, y, yaw)))
else:
data = HEADER + STATE_ID + b"".join(
map(as_float, (x, y, yaw, 0, 0, 0)))
self._client.send(data)
def _getLimScale(self):
xlim, ylim = self._ax.get_xlim(), self._ax.get_ylim()
return min(xlim[1] - xlim[0], ylim[1] - ylim[0])
def _updateControlArrow(self):
with self._control_event_lock:
if self._control_event is None or self._control_event.dx == self._control_event.dy == 0:
self._control_arrow.set_visible(False)
return [self._control_arrow]
else:
self._control_arrow.set_visible(True)
x, y, dx, dy = self._get_control_data()
k = self._getLimScale() * 0.2 / sqrt(dx * dx + dy * dy)
self._control_arrow.set_data(x=x, y=y, dx=dx * k, dy=dy * k)
return [self._control_arrow]
def registerScatter(self, id: int, *args, **kwargs) -> Scatter:
scatter = Scatter(self._ax, *args, **kwargs)
self._recv.setConfig(id, 0, 4, True)
self._recv.registerRecvCallback(
id, lambda data: scatter.set_data(np.reshape(data, (-1, 2))))
self._scatters.append(scatter)
return scatter
def _updateScatters(self):
if not self._pauseButton.instate(["selected"]):
for scatter in self._scatters:
scatter.update_data()
return [scatter.get_artist() for scatter in self._scatters]
def registerRobot(self,
id: Optional[int] = None,
*args,
**kwargs) -> Robot:
robot = Robot(*args, **kwargs)
if id is not None:
self._recv.setConfig(id, 3, 4, True)
self._recv.registerRecvCallback(id,
lambda data: robot.set_pose(*data))
self._robots.append(robot)
return robot
def _updateRobots(self):
if not self._pauseButton.instate(["selected"]):
for robot in self._robots:
robot.update_pose()
return self._robots
def _updatePlot(self, *_):
changed = []
changed.extend(self._updateControlArrow())
changed.extend(self._updateRobots())
changed.extend(self._updateScatters())
return changed
def _onPanClick(self, *_):
cur = self._panButton.instate(["selected"])
if cur != self._prePanState:
self._toolbar.pan()
self._prePanState = cur
if cur:
self._controlButton.state(["!selected"])
def _onControlClick(self, *_):
if self._controlButton.instate(["selected"]):
self._panButton.state(["!selected"])
self._onPanClick()
def _initPlot(self):
self._ax.cla()
self._ax.grid(True)
for robot in self._robots:
self._ax.add_patch(robot)
self._resetLim()
def _resetLim(self, *_):
self._ax.set_ylim((-1, 8))
self._ax.set_xlim((-1, 8))
def mainloop(self):
self._client.start()
self._recv.start()
self._initPlot()
self._animation = animation.FuncAnimation(self._fig,
self._updatePlot,
interval=20,
blit=True)
self._root.mainloop()
def shutdown(self):
self._recv.shutdown()
self._client.shutdown()
self._root.destroy()
if data is None:
continue
for cb in self._recvCBs:
if not self._running:
break
cb(data)
__all__ = ["FBFloatRecv"]
if __name__ == "__main__":
import sys, os.path
sys.path.append(os.path.join(os.path.dirname(__file__), ".."))
from FBSocket import FBServer
server = FBServer()
recv = FBFloatRecv()
server.registerRecvCallback(recv.input)
recv.registerRecvCallback(print)
recv.start()
server.start()
input()
recv.setConfig(cnt=2)
input()
recv.shutdown()
server.shutdown()
def __init__(self, isServer: bool = False):
style = ttk.Style("cosmo")
self._root = style.master
self._root.title("FBImg")
self._root.rowconfigure(0, weight=1)
self._root.columnconfigure(0, weight=1)
self._root.protocol("WM_DELETE_WINDOW", self.shutdown)
self._imgCanvas = ttk.Canvas(self._root)
self._imgCanvas.config(bg="light gray")
self._imgCanvas.grid(row=0, column=0, sticky="nsew")
self._imgCanvas_shape = (0, 0)
opFrame = ttk.Frame(self._root)
opFrame.grid(row=1, column=0, sticky="we")
opFrame.columnconfigure(0, weight=1)
val = lambda s: ValEntry.type_validator(int)(s) and int(s) > 0
imgFrame = ttk.Frame(opFrame)
imgFrame.grid(row=0, column=0, sticky="we")
ttk.Label(imgFrame, text="宽度").pack(side="left", pady=5)
self.wEntry = ValEntry(val, imgFrame, width=5)
self.wEntry.pack(side="left", pady=5)
ttk.Label(imgFrame, text="高度").pack(side="left", pady=5)
self.hEntry = ValEntry(val, imgFrame, width=5)
self.hEntry.pack(side="left", pady=5)
ttk.Button(imgFrame, text="应用",
command=self._applySize).pack(side="left", padx=2, pady=5)
self._pauseButton = ttk.Checkbutton(imgFrame,
text="暂停",
bootstyle=("success", "outline",
"toolbutton"))
self._pauseButton.pack(side="left", padx=5, pady=5)
ttk.Label(imgFrame, text="保存路径").pack(side="left", pady=5)
self._dirEntry = ttk.Entry(imgFrame, width=30)
self._dirEntry.pack(side="left", pady=5)
ttk.Button(imgFrame, text="选择",
command=self._selectDir).pack(side="left", pady=5)
self._saveButton = ttk.Button(imgFrame,
text="保存",
bootstyle=("success"),
command=self.saveImg)
self._saveButton.pack(side="left", padx=5, pady=5)
self._recordButton = ttk.Checkbutton(imgFrame,
text="录制",
command=self._toggleRecord,
bootstyle=("warning", "outline",
"toolbutton"))
self._recordButton.pack(side="left", pady=5)
self._cntLabel = ttk.Label(imgFrame)
self._cntLabel.pack(side="left", pady=5)
self._client = FBServer() if isServer else FBClient()
self._recv = FBRawRecv()
self._client.registerRecvCallback(self._recv.input)
self._recv.registerRecvCallback(self.updateData)
self._imgLock = threading.Lock()
self._dirLock = threading.Lock()
self.loadConfig()
class FBImgApp:
def __init__(self, isServer: bool = False):
style = ttk.Style("cosmo")
self._root = style.master
self._root.title("FBImg")
self._root.rowconfigure(0, weight=1)
self._root.columnconfigure(0, weight=1)
self._root.protocol("WM_DELETE_WINDOW", self.shutdown)
self._imgCanvas = ttk.Canvas(self._root)
self._imgCanvas.config(bg="light gray")
self._imgCanvas.grid(row=0, column=0, sticky="nsew")
self._imgCanvas_shape = (0, 0)
opFrame = ttk.Frame(self._root)
opFrame.grid(row=1, column=0, sticky="we")
opFrame.columnconfigure(0, weight=1)
val = lambda s: ValEntry.type_validator(int)(s) and int(s) > 0
imgFrame = ttk.Frame(opFrame)
imgFrame.grid(row=0, column=0, sticky="we")
ttk.Label(imgFrame, text="宽度").pack(side="left", pady=5)
self.wEntry = ValEntry(val, imgFrame, width=5)
self.wEntry.pack(side="left", pady=5)
ttk.Label(imgFrame, text="高度").pack(side="left", pady=5)
self.hEntry = ValEntry(val, imgFrame, width=5)
self.hEntry.pack(side="left", pady=5)
ttk.Button(imgFrame, text="应用",
command=self._applySize).pack(side="left", padx=2, pady=5)
self._pauseButton = ttk.Checkbutton(imgFrame,
text="暂停",
bootstyle=("success", "outline",
"toolbutton"))
self._pauseButton.pack(side="left", padx=5, pady=5)
ttk.Label(imgFrame, text="保存路径").pack(side="left", pady=5)
self._dirEntry = ttk.Entry(imgFrame, width=30)
self._dirEntry.pack(side="left", pady=5)
ttk.Button(imgFrame, text="选择",
command=self._selectDir).pack(side="left", pady=5)
self._saveButton = ttk.Button(imgFrame,
text="保存",
bootstyle=("success"),
command=self.saveImg)
self._saveButton.pack(side="left", padx=5, pady=5)
self._recordButton = ttk.Checkbutton(imgFrame,
text="录制",
command=self._toggleRecord,
bootstyle=("warning", "outline",
"toolbutton"))
self._recordButton.pack(side="left", pady=5)
self._cntLabel = ttk.Label(imgFrame)
self._cntLabel.pack(side="left", pady=5)
self._client = FBServer() if isServer else FBClient()
self._recv = FBRawRecv()
self._client.registerRecvCallback(self._recv.input)
self._recv.registerRecvCallback(self.updateData)
self._imgLock = threading.Lock()
self._dirLock = threading.Lock()
self.loadConfig()
def _toggleRecord(self, *_):
if self._recordButton.instate(["selected"]):
self._saveButton.config(state="disabled")
self._recordButton.config(text="停止")
else:
self._saveButton.config(state="!disabled")
self._recordButton.config(text="录制")
def _updateDir(self):
os.makedirs(self.save_dir, exist_ok=True)
self._dirEntry.config(state="normal")
self._dirEntry.delete(0, tk.END)
self._dirEntry.insert(0, self.save_dir)
self._dirEntry.config(state="readonly")
def _selectDir(self, *_):
with self._dirLock:
cur = self.save_dir
s = filedialog.askdirectory(master=self._root,
initialdir=cur,
title="选择保存路径",
mustexist=False)
if not s:
return
with self._dirLock:
self.save_dir = s
self._updateDir()
def saveImg(self, *_):
def save():
with self._imgLock:
img = self.img
with self._dirLock:
Dir = self.save_dir
name = datetime.datetime.now().strftime(
"%Y-%m-%d-%H-%M-%S-%f") + SAVE_EXT
cv.imwrite(os.path.join(Dir, name), img)
threading.Thread(target=save).start()
def updateData(self, data: bytes) -> None:
if self._pauseButton.instate(["selected"]):
return
with self._imgLock:
w, h = self.w, self.h
img = np.frombuffer(data, dtype=np.uint8).reshape((h, w))
with self._imgLock:
if w != self.w or h != self.h:
return
self.img = img
self._updateFlag = True
if self._recordButton.instate(["selected"]):
self.saveImg()
def _applySize(self):
with self._imgLock:
self.w, self.h = int(self.wEntry.get()), int(self.hEntry.get())
self.img = np.zeros((self.h, self.w), dtype=np.uint8)
self._updateFlag = True
self._recv.setConfig(cnt=self.w * self.h)
def loadConfig(self):
os.makedirs(CFG_DIR, exist_ok=True)
cfg = {}
if os.path.exists(CFG_PATH):
with open(CFG_PATH, "r") as f:
cfg = json.load(f)
self._root.geometry(cfg.get("geometry", "876x600+30+30"))
self.w = cfg.get("w", 752)
self.h = cfg.get("h", 480)
self.wEntry.set(str(self.w))
self.hEntry.set(str(self.h))
self.save_dir = cfg.get("save_dir", SAVE_DIR)
self._updateDir()
self._applySize()
def saveConfig(self):
cfg = {
"geometry": self._root.geometry(),
"w": self.w,
"h": self.h,
"save_dir": self.save_dir
}
with open(CFG_PATH, "w") as f:
json.dump(cfg, f)
def create_image(self):
canvas_w, canvas_h = self._imgCanvas.winfo_width(
), self._imgCanvas.winfo_height()
with self._imgLock:
if (canvas_w, canvas_h
) == self._imgCanvas_shape and not self._updateFlag:
return
img = self.img
self._updateFlag = False
self._imgCanvas_shape = (canvas_w, canvas_h)
img_w, img_h = img.shape[1], img.shape[0]
canvas_k, img_k = canvas_w / canvas_h, img_w / img_h
w, h = (canvas_w,
round(canvas_w /
img_k)) if canvas_k < img_k else (round(canvas_h *
img_k), canvas_h)
resized_img = cv.resize(img, (max(1, w), max(1, h)),
interpolation=cv.INTER_NEAREST)
cvt_img = resized_img
self._imgTK = ImageTk.PhotoImage(master=self._imgCanvas,
image=Image.fromarray(cvt_img))
self._imgCanvas.create_image(canvas_w >> 1,
canvas_h >> 1,
image=self._imgTK)
def _create_image_task(self):
if self._running:
self.create_image()
if self._running:
self._imgCanvas.after(50, self._create_image_task)
def mainloop(self):
self._running = True
self._updateFlag = True
self._create_image_task()
self._client.start()
self._recv.start()
self._root.mainloop()
def shutdown(self):
self._running = False
self._recv.shutdown()
self._client.shutdown()
self.saveConfig()
self._root.destroy()
class FBSerial:
def __init__(self, isServer: bool = True):
self._client = FBServer() if isServer else FBClient()
self._client.registerRecvCallback(self._send)
self._serThread: ReaderThread = None
self._connected = threading.Event()
self._running = True
self._conCB: List[callable] = []
self._disconCB: List[callable] = []
@staticmethod
def _protocalFactory(master: "FBSerial"):
class PrintLines(Protocol):
def connection_made(self, transport):
for cb in master._conCB:
if not master._running:
break
cb()
self.port = transport.serial.port
print(f"[FBSerial]连接建立: {self.port}")
master._connected.set()
def data_received(self, data):
master._client.send(data)
def connection_lost(self, exc):
master._connected.clear()
master._serThread = None
for cb in master._disconCB:
if not master._running:
break
cb()
print(f"[FBSerial]连接断开: {self.port}")
return PrintLines
def _send(self, data: bytes) -> None:
if self._running:
self._connected.wait()
if not self._running:
return
try:
self._serThread.write(data)
except:
pass
def start(self):
self._running = True
self._client.start()
def shutdown(self) -> None:
self._running = False
self.close()
self._client.shutdown()
def connect(self, port, baudrate=115200):
self.close()
ser = serial.Serial(port=port, baudrate=baudrate)
self._serThread = ReaderThread(ser, self._protocalFactory(self))
self._serThread.start()
def close(self) -> None:
if self._serThread is not None:
if self._running:
threading.Thread(target=self._serThread.close).start()
else:
self._serThread.close()
def registerConnectCallback(self, func: callable) -> None:
self._conCB.append(func)
def registerDisconnectCallback(self, func: callable) -> None:
self._disconCB.append(func)
def __init__(self, isServer: bool = False):
style = ttk.Style("cosmo")
self._root = style.master
self._root.title("FBRecorder")
self._root.resizable(False, False)
self._root.protocol("WM_DELETE_WINDOW", self.shutdown)
self._recv = FBFloatMultiRecv()
self._recv.registerRecvAllCallback(self.updateData)
self._client = FBServer() if isServer else FBClient()
self._client.registerRecvCallback(self._recv.input)
self._csvWriter: FBCSVWriter = None
self._cvsWriterLock = threading.Lock()
self.cnt = 0
self._cntLock = threading.Lock()
self._cntVar = tk.StringVar(value="0")
cfgFrame = ttk.Frame(self._root)
cfgFrame.pack(padx=5, pady=5)
self.cfg_path = tk.StringVar()
self._cfgPathEntry = ttk.Entry(cfgFrame,
textvariable=self.cfg_path,
state="readonly",
width=30)
self._cfgPathButton = ttk.Button(cfgFrame,
text="选择",
command=self._selectCfgPath)
ttk.Label(cfgFrame, text="配置文件").pack(side="left")
self._cfgPathEntry.pack(side="left")
self._cfgPathButton.pack(side="left")
saveFrame = ttk.Frame(self._root)
saveFrame.pack(padx=5, pady=5)
self.save_path = tk.StringVar()
self._savePathEntry = ttk.Entry(saveFrame,
textvariable=self.save_path,
state="readonly",
width=30)
self._savePathButton = ttk.Button(saveFrame,
text="选择",
command=self._selectSavePath)
ttk.Label(saveFrame, text="保存文件").pack(side="left")
self._savePathEntry.pack(side="left")
self._savePathButton.pack(side="left")
opFrame = ttk.Frame(self._root)
opFrame.pack(padx=5, pady=5, fill="x", expand=True)
self._appendsButton = ttk.Checkbutton(
opFrame,
text="追加",
bootstyle=("info", "outline", "toolbutton"),
)
self._recordButton = ttk.Checkbutton(opFrame,
text="录制",
command=self._toggleRecord,
bootstyle=("warning", "outline",
"toolbutton"))
self._pauseButton = ttk.Checkbutton(opFrame,
text="暂停",
bootstyle=("success", "outline",
"toolbutton"))
self._appendsButton.pack(side="left")
self._recordButton.pack(side="left", padx=5)
self._pauseButton.pack(side="left")
ttk.Label(opFrame, text="已接收:").pack(side="left")
ttk.Label(opFrame, textvariable=self._cntVar).pack(side="left")
class FBRecorderApp:
def __init__(self, isServer: bool = False):
style = ttk.Style("cosmo")
self._root = style.master
self._root.title("FBRecorder")
self._root.resizable(False, False)
self._root.protocol("WM_DELETE_WINDOW", self.shutdown)
self._recv = FBFloatMultiRecv()
self._recv.registerRecvAllCallback(self.updateData)
self._client = FBServer() if isServer else FBClient()
self._client.registerRecvCallback(self._recv.input)
self._csvWriter: FBCSVWriter = None
self._cvsWriterLock = threading.Lock()
self.cnt = 0
self._cntLock = threading.Lock()
self._cntVar = tk.StringVar(value="0")
cfgFrame = ttk.Frame(self._root)
cfgFrame.pack(padx=5, pady=5)
self.cfg_path = tk.StringVar()
self._cfgPathEntry = ttk.Entry(cfgFrame,
textvariable=self.cfg_path,
state="readonly",
width=30)
self._cfgPathButton = ttk.Button(cfgFrame,
text="选择",
command=self._selectCfgPath)
ttk.Label(cfgFrame, text="配置文件").pack(side="left")
self._cfgPathEntry.pack(side="left")
self._cfgPathButton.pack(side="left")
saveFrame = ttk.Frame(self._root)
saveFrame.pack(padx=5, pady=5)
self.save_path = tk.StringVar()
self._savePathEntry = ttk.Entry(saveFrame,
textvariable=self.save_path,
state="readonly",
width=30)
self._savePathButton = ttk.Button(saveFrame,
text="选择",
command=self._selectSavePath)
ttk.Label(saveFrame, text="保存文件").pack(side="left")
self._savePathEntry.pack(side="left")
self._savePathButton.pack(side="left")
opFrame = ttk.Frame(self._root)
opFrame.pack(padx=5, pady=5, fill="x", expand=True)
self._appendsButton = ttk.Checkbutton(
opFrame,
text="追加",
bootstyle=("info", "outline", "toolbutton"),
)
self._recordButton = ttk.Checkbutton(opFrame,
text="录制",
command=self._toggleRecord,
bootstyle=("warning", "outline",
"toolbutton"))
self._pauseButton = ttk.Checkbutton(opFrame,
text="暂停",
bootstyle=("success", "outline",
"toolbutton"))
self._appendsButton.pack(side="left")
self._recordButton.pack(side="left", padx=5)
self._pauseButton.pack(side="left")
ttk.Label(opFrame, text="已接收:").pack(side="left")
ttk.Label(opFrame, textvariable=self._cntVar).pack(side="left")
def loadConfig(self):
os.makedirs(CFG_DIR, exist_ok=True)
cfg = {}
if os.path.exists(CFG_PATH):
with open(CFG_PATH, "r") as f:
cfg = json.load(f)
self.cfg_path.set(cfg.get("cfg_path", ""))
self.save_path.set(cfg.get("save_path", SAVE_PATH))
if cfg.get("appends", False):
self._appendsButton.invoke()
def saveConfig(self):
cfg = {
"cfg_path": self.cfg_path.get(),
"save_path": self.save_path.get(),
"appends": self._appendsButton.instate(["selected"]),
}
with open(CFG_PATH, "w") as f:
json.dump(cfg, f)
def _increaseCnt(self):
with self._cntLock:
self.cnt += 1
def _updateCnt(self):
with self._cntLock:
cnt = self.cnt
self._cntVar.set(str(cnt))
self._root.after(100, self._updateCnt)
def mainloop(self):
self.loadConfig()
self._client.start()
self._recv.start()
self._updateCnt()
self._root.mainloop()
def shutdown(self):
self._recv.shutdown()
self._client.shutdown()
self._stopWriter()
self.saveConfig()
self._root.destroy()
def updateData(self, id: int, data: List[float]):
if self._pauseButton.instate(["selected"]):
return
with self._cvsWriterLock:
writer = self._csvWriter
if writer is None:
return
self._increaseCnt()
writer.write(map(str, (datetime.timestamp(datetime.now()), id, *data)))
def _toggleRecord(self, *_):
if self._recordButton.instate(["selected"]):
self._recordButton.config(text="停止")
self._cfgPathButton.config(state="disabled")
self._savePathButton.config(state="disabled")
self._appendsButton.config(state="disabled")
self._startWriter()
else:
self._recordButton.config(text="录制")
self._cfgPathButton.config(state="!disabled")
self._savePathButton.config(state="!disabled")
self._appendsButton.config(state="!disabled")
self._stopWriter()
def _startWriter(self):
self._stopWriter()
self._recv.resetConfig()
cfg_path = self.cfg_path.get()
if not isfile(cfg_path):
messagebox.showerror("错误", "配置文件不存在", parent=self._root)
self._recordButton.invoke()
return
self._recv.loadCfgFromCSV(cfg_path)
save_path = self.save_path.get()
with self._cvsWriterLock:
self._csvWriter = FBCSVWriter(save_path,
appends=self._appendsButton.instate(
["selected"]))
def _stopWriter(self):
with self._cvsWriterLock:
writer = self._csvWriter
self._csvWriter = None
if writer is not None:
writer.close()
def _selectCfgPath(self, *_):
s = filedialog.askopenfilename(
master=self._root,
initialfile=self.cfg_path.get(),
filetypes=[("csv file", "*.csv"), ("all files", "*.*")],
defaultextension="csv file",
title="选择配置文件",
)
if s and isfile(s):
self.cfg_path.set(s)
def _selectSavePath(self, *_):
s = filedialog.asksaveasfilename(
master=self._root,
initialfile=self.save_path.get(),
filetypes=[("csv file", "*.csv"), ("all files", "*.*")],
defaultextension="csv file",
title="选择保存路径",
confirmoverwrite=False,
)
if s:
os.makedirs(dirname(s), exist_ok=True)
self.save_path.set(s)