class Introduction(QWidget):
def __init__(self):
super().__init__()
self.initUI()
def Style(self, path):
# load css
with open(path, "r") as fh:
self.setStyleSheet(fh.read())
def initUI(self):
self.Style("./css/Aqua.qss")
# set icon
self.setWindowIcon(QIcon('./images/icon.ico'))
# Actions
# Open Data from Excel Action
self.actOpen = QAction(QIcon('./images/open.ico'), "Ochish", self)
self.actOpen.setShortcut("Ctrl+O")
self.actOpen.triggered.connect(self.openFile)
# centeral layout
self.vbox = QVBoxLayout(self)
self.vbox.setAlignment(Qt.AlignTop)
# Name of app
lbl = QLabel(
'Yaqin qo‘shni usuli algortimi asosida o‘rgatuvchi tanlamani saralash'
)
lbl.setWordWrap(True)
from PyQt5.QtWidgets import QStyle
#lbl.setStyle(QStyle=QStyle("font-size: 28px;"))
self.vbox.addChildWidget(lbl)
# Select file
hbox = QHBoxLayout()
self.edit = QLineEdit()
self.edit.setEnabled(False)
hbox.addWidget(self.edit)
# Browise button
btnBrowse = QPushButton("Fayl")
btnBrowse.clicked.connect(self.openFile)
hbox.addWidget(btnBrowse)
self.vbox.addLayout(hbox)
btnOpenMain = QPushButton("Ochish")
btnOpenMain.clicked.connect(self.openMain)
self.vbox.addWidget(btnOpenMain)
self.vbox.addStretch(4)
# set properteis of window
self.setWindowTitle("Yaqin qo‘shni usuli")
self.setGeometry(300, 300, 640, 400)
def colnum_string(self, n):
string = ""
while n > 0:
n, remainder = divmod(n - 1, 26)
string = chr(65 + remainder) + string
return string
def openMain(self):
try:
self.window = MainWindow(fpath=self.fnames[0])
self.window.showMaximized()
except Exception as exc:
QMessageBox.about(self, "Hisoblashda xatolik bor: ", str(exc))
def openFile(self):
try:
# open file dialog
self.fnames = QFileDialog().getOpenFileName(
self, 'Fayl ochish', '/Home')
if len(self.fnames[0]) == 0:
return
self.edit.setText(self.fnames[0])
except Exception as exc:
print(exc)
QMessageBox.about(self, "Fayl ochishda xatolik bor", str(exc))
class MapBox(QWidget):
def __init__(self, message_box):
super().__init__()
# 定义布局
self.layout = QVBoxLayout()
self.setLayout(self.layout)
# 定义地图
self.map = QLabel()
self.init_map()
# 定义无人机
self.uvas = []
self.init_uvas()
# 消息
self.message_box = message_box
self.rw = 0
self.rh = 0
self.start_point = -1
self.end_point = -1
self.pass_point = []
self.locations = []
self.locations_button = []
self.uva_num = 1
def resizeEvent(self, a0: QResizeEvent):
self.update_map()
self.update_location()
def init_map(self):
self.map.setObjectName("none")
self.map.setScaledContents(True)
self.map.resize(self.width(), self.height())
self.layout.addChildWidget(self.map)
def init_uvas(self):
for i in range(10):
r = random.randint(100, 255)
g = random.randint(100, 255)
b = random.randint(100, 255)
self.uvas.append(
UVA([(500, 500), (10, 10), (r, g)],
self,
pen=QPen(QColor(r, g, b), 2, Qt.DashLine)))
self.layout.addChildWidget(self.uvas[-1])
self.uvas[-1].hide()
def init_location(self):
self.locations.clear()
self.locations_button.clear()
tp = json.load(open("./conf.json", "r"))
name = tp["map"]
with open("./maps/" + name + ".txt", "r") as f:
n = 0
for row in f:
x, y = row.split()
x = float(x)
y = float(y)
if n == 0:
self.rw = x
self.rh = y
else:
self.locations.append((x, y))
n += 1
for i in range(len(self.locations)):
location_button = LocationButton(str(i + 1), 0, 0, self, "none")
location_button.setIcon(location_button.icon_black)
self.locations_button.append(location_button)
def load_map(self, file):
l = file.rfind("NJU")
r = file.rfind("-")
self.map_name = file[l:r]
self.map_height = file[r + 1]
self.map_path = file[:r]
self.clear()
conf = json.load(open("./conf.json", "r"))
conf["map"] = self.map_name
conf["height"] = self.map_height
json.dump(conf, open("./conf.json", "w"))
self.map.setPixmap(QPixmap(file))
self.map.setObjectName(file)
self.show_map()
def show_map(self):
if self.map.objectName() == "none":
self.message_box.append("未加载地图")
return False
else:
self.map.show()
return True
def hide_map(self):
self.map.hide()
def update_map(self, h=None):
if h is not None:
self.map_height = h
print(self.map_path + "-" + h + ".png")
self.map.setPixmap(QPixmap(self.map_path + "-" + h + ".png"))
self.map.resize(self.width(), self.height())
def update_location(self):
w = self.width()
h = self.height()
self.map.resize(w, h)
pts = []
for i in range(len(self.locations)):
px = int(self.locations[i][0] * w / self.rw)
py = int((self.rh - self.locations[i][1]) * h / self.rh)
self.locations_button[i].move(px, py)
pts.append((px, h - py))
# self.locations = list(pts)
# self.rw = w
# self.rh = h
def show_location(self, kind):
self.update_location()
for i in range(len(self.locations)):
self.locations_button[i].kind = kind
self.locations_button[i].show()
def hide_location(self):
for i in range(len(self.locations)):
self.locations_button[i].kind = "none"
self.locations_button[i].hide()
def plan_path(self):
self.hide_location()
self.update_location()
if self.start_point < 0:
self.message_box.append("规划失败，未设置起点!!")
return
if self.end_point < 0:
self.message_box.append("未设置终点，默认为起点!!")
self.end_point = self.start_point
tp = set(self.pass_point)
self.pass_point = []
for pid in tp:
if pid < 0:
continue
if pid == self.start_point or pid == self.end_point:
continue
self.pass_point.append(pid)
# 显示选中点
self.locations_button[self.start_point].setIcon(
self.locations_button[self.start_point].icon_blue)
self.locations_button[self.start_point].show()
self.locations_button[self.end_point].setIcon(
self.locations_button[self.start_point].icon_purple)
self.locations_button[self.end_point].show()
for i in range(len(self.pass_point)):
pid = self.pass_point[i]
self.locations_button[pid].setIcon(
self.locations_button[pid].icon_green)
self.locations_button[pid].show()
# 规划路径
self.message_box.append("路径规划中...")
conf = json.load(open("./conf.json", "r"))
conf["start_location"] = self.start_point
conf["end_location"] = self.end_point
conf["pass_location"] = [pid for pid in self.pass_point]
json.dump(conf, open("./conf.json", "w"))
print("start_location:", conf["start_location"])
print("pass_location:", conf["pass_location"])
print("map_height:", self.map_height)
print("uva_num:", self.uva_num)
paths = plan_route(conf["start_location"], conf["pass_location"],
int(self.map_height), int(self.uva_num))
print(paths)
# 读入规划路线
#paths = [[self.start_point] + self.pass_point + [self.end_point], [0, 1, 2, 3, 4]]
# = [[0, 5, 6, 7], [0, 1, 2, 3]]
# paths = [[0, 5, 6, 7]]
t = random.random() * 60
# time.sleep(t)
self.message_box.append("路径规划完成，一共耗时%.2f秒，规划结果共需要%d架无人机" %
(t, len(paths)))
# 显示规划路径
for i in range(len(paths)):
self.uvas[i].update_locations(
[(self.rw, self.rh)] +
[self.locations[paths[i][j]] for j in range(len(paths[i]))])
self.uvas[i].show()
def run_path(self):
for i in range(len(self.uvas)):
self.uvas[i].run()
def clear(self):
# self.hide_map()
self.hide_location()
for x in self.uvas:
x.hide()
