def start(self):
self.__logger.info('start service_manger!')
cfg_server = CfgServer()
cfg_server.start()
self.__logger.info('start cfg_service ok!')
interface_ros = InterfaceRos()
interface_ros.start()
self.__logger.info('start interface_ros ok')
video_record_enable = get_value_by_key('video_record_enable', 'CONFIG')
self.__logger.info('get video_record_enable :' +
str(video_record_enable))
if video_record_enable == 'yes':
video_record = VideoRecord()
video_record.start()
self.__logger.info('start video_record ok !')
update_task = UpdateTask()
update_task.start()
self.__logger.info('start update_task Ok!')
interface_ros.init_ros_node()
self.__logger.info('start init_ros_node Ok!')
check_memory = get_value_by_key('check_memory', 'CONFIG')
self.__logger.info('get check_memory :' + str(check_memory))
if check_memory == 'yes':
task_mem = Thread(target=get_mem_snap)
task_mem.start()
while True:
time.sleep(1)
def __init__(self):
self.__module_name = 'LaunchThread'
App.__init__(self, self.__module_name)
self.__logger = get_logger(self.__module_name)
self.launch_under_pan = None
self.launch_under_pan_path = get_value_by_key('underpan', 'LAUNCH')
self.__logger.info('get underpan path: ' +
str(self.launch_under_pan_path))
if self.launch_under_pan_path is None:
self.launch_under_pan_path = \
'/home/utry/catkin_ws/src/xiaoyuan_robot_v2/launch/xiaoyuan_robot_start_underpan.launch'
self.launch_other = None
self.launch_other_path = get_value_by_key('other', 'LAUNCH')
self.__logger.info('get other path: ' + str(self.launch_other_path))
if self.launch_other_path is None:
self.launch_other_path = \
'/home/utry/catkin_ws/src/xiaoyuan_robot_v2/launch/xiaoyuan_robot_start_other.launch'
self.launch_sensor = None
self.launch_amcl = None
self.launch_running = None
self.launch_running_path = get_value_by_key('linerunning', 'LAUNCH')
self.__logger.info('get linerunning path: ' +
str(self.launch_running_path))
if self.launch_running_path is None:
self.launch_running_path = '/home/utry/catkin_ws/src/linerunning_v2/launch/xiaoyuan_clear.launch'
self.is_start = False
self.is_stop = False
self.is_shutdown = False
self.uuid = None
self.__init_callback()
def __init__(self):
self.module_name = 'update_task'
App.__init__(self, self.module_name)
self.json_request = ''
self.logger = get_logger(self.module_name)
self.res_path = Util.get_res_path('Update')
self.download_url = get_value_by_key('update_download_url', 'HOST_URL')
self.logger.info('get download_url:' + str(self.download_url))
if self.download_url is None:
self.download_url = 'http://47.100.182.145:9200'
self.update_url = get_value_by_key('update_url', 'HOST_URL')
self.logger.info('get update_url:' + str(self.update_url))
if self.update_url is None:
self.update_url = 'http://47.100.182.145:9200/update_info?'
self.update_function_list = []
self.update_function_list_init()
self.is_shutdown = False
self.update_index = 0
self.show_update_flag = False
self.update_status = False
self.process_percent = 0
self.download_file_name = 'update.zip'
self.__init_callback()
def change_wp_file(wp_path):
launch_file = get_value_by_key('linerunning', 'LAUNCH')
if launch_file is None:
launch_file = '/home/utry/catkin_ws/src/linerunning_v2/launch/xiaoyuan_clear.launch'
launch_file_bk = get_launch_backup(launch_file)
if os.path.isfile(launch_file):
cmd = 'cp ' + launch_file + ' ' + launch_file_bk
os.system(cmd)
if os.path.isfile(wp_path) and os.path.isfile(launch_file):
with open(launch_file, 'r') as f_launch:
file_lines = f_launch.readlines()
with open(launch_file, 'w') as f_launch:
for line in file_lines:
if 'waypoints_filepath' in line:
line = ' <param name="waypoints_filepath" type="string" value="' + wp_path + '"/>\n'
f_launch.write(line)
with open(launch_file, 'r') as f_launch:
file_lines = f_launch.readlines()
for line in file_lines:
if wp_path in line:
return True
if os.path.isfile(launch_file_bk):
cmd = 'cp ' + launch_file_bk + ' ' + launch_file
os.system(cmd)
return False
def change_pcd_file(pcd_path):
launch_file = get_value_by_key('other', 'LAUNCH')
if launch_file is None:
launch_file = '/home/utry/catkin_ws/src/xiaoyuan_robot_v2/launch/xiaoyuan_robot_start_other.launch'
# 拼接backup文件
launch_file_bk = get_launch_backup(launch_file)
if os.path.isfile(launch_file):
cmd = 'cp ' + launch_file + ' ' + launch_file_bk
os.system(cmd)
if os.path.isfile(pcd_path) and os.path.isfile(launch_file):
with open(launch_file, 'r') as f_launch:
file_lines = f_launch.readlines()
with open(launch_file, 'w') as f_launch:
for line in file_lines:
if 'map_pcd' in line:
line = ' <arg name="map_pcd" value="' + pcd_path + '"/>\n'
f_launch.write(line)
with open(launch_file, 'r') as f_launch:
file_lines = f_launch.readlines()
for line in file_lines:
if pcd_path in line:
return True
if os.path.isfile(launch_file_bk):
cmd = 'cp ' + launch_file_bk + ' ' + launch_file
os.system(cmd)
return False
def __init__(self, database_name='u_database.db'):
database_path = get_value_by_key('database', 'DATA_PATH')
print('Database get path: ' + str(database_path))
if database_path is None:
database_path = os.path.curdir
self.connect = sqlite3.connect(os.path.join(database_path, str(database_name)), check_same_thread=False)
self.cursor = self.connect.cursor()
self.cursor.execute("PRAGMA synchronous = 2;")
def __init__(self):
self.module_name = 'video_record'
App.__init__(self, self.module_name)
self.logger = get_logger(self.module_name)
# Message.__init__(self,mode_name='VideoRecord')
self.cap = None
self.fourcc = None
self.out_file = None
self.start_time = 0
self.frequency = 8.0
self.abspath = None
# video record
self.record_time = get_value_by_key('video_record_time', 'CONFIG') # type:str
self.logger.info('get video_record_time: ' + str(self.record_time))
if self.record_time is None:
self.record_time = 180
else:
if self.record_time.isdigit():
self.record_time = int(self.record_time)
else:
self.logger.info('get video_record_time is not digit')
self.record_time = 180
self.file_size = get_value_by_key('video_record_size', 'CONFIG') # type:str
self.logger.info('get video_record_size: ' + str(self.file_size))
if self.file_size is None:
self.file_size = 1024
else:
if self.file_size.isdigit():
self.file_size = int(self.file_size)
else:
self.logger.info('get video_record_size is not digit')
self.file_size = 1024
self.save_path = Util.get_res_path('video_save')
self.snap_flag = False
self.write_file_queue = Queue()
self.rtmp_queue = Queue()
self.local_queue = Queue()
self.video_record_flip = get_value_by_key('video_record_flip', 'CONFIG')
self.logger.info('get video_record_flip ：' + str(self.video_record_flip))
self.rtmp_enable = get_value_by_key('rtmp_enable', 'CONFIG')
self.logger.info('get rtmp_enable ：' + str(self.rtmp_enable))
self.rtmp_url = get_value_by_key('rtmp_url', 'CONFIG')
self.logger.info('get rtmp_url ：' + str(self.rtmp_url))
if self.rtmp_url is None:
self.rtmp_url = 'rtmp://120.26.209.2:1935/live/test'
self.http_local_enable = get_value_by_key('http_local_enable', 'CONFIG')
self.logger.info('get http_local_enable ：' + str(self.http_local_enable))
def start(self):
self.__logger.info('begin to init ros core')
try:
process = Process(target=self.ros_core_process)
process.daemon = True
time.sleep(1)
process.start()
self.__logger.info('complete to init ros core')
check_memory = get_value_by_key('check_memory', 'CONFIG')
self.__logger.info('get check_memory :' + str(check_memory))
if check_memory == 'yes':
task_mem = Thread(target=get_mem_snap)
task_mem.start()
self.launch_thread = LaunchThread()
self.launch_thread.start()
except Exception as e:
self.__logger.fatal('process start fail!! ' + str(e))
time.sleep(1)
def start(self):
self.__logger.info('begin to init pyqt5 app for this project!')
# init widgets
self.__app = QtWidgets.QApplication([])
self.widgets = QtWidgets.QWidget()
self.widgets.setWindowFlags(QtCore.Qt.FramelessWindowHint | QtCore.Qt.WindowStaysOnTopHint)
self.widgets.move(0, 0)
self.widgets.resize(800, 480)
print('ui_manager come in 76')
if not os.path.isfile('./debug'):
self.widgets.setCursor(QtCore.Qt.BlankCursor)
self.dispatcher = UDispatcher(UMsg.ui_dispatcher, self.__manager_pipe)
print('ui_manager come in 82')
# init base_frame
self.__frame = BaseFrame(self.widgets)
print('ui_manager come in 86')
# self.__change_page(0)
# show main frame
self.widgets.show()
# test mem
check_memory = get_value_by_key('check_memory', 'CONFIG')
self.__logger.info('get check_memory :' + str(check_memory))
if check_memory == 'yes':
task_mem = Thread(target=get_mem_snap)
task_mem.start()
self.__app.exec_()
self.__logger.info('end!!!!!!')
print('ui_manager come in 58')
def __init__(self, base_frame):
self.module_name = 'mode_author'
self.logger = get_logger(self.module_name)
AppQt.Q_App.__init__(self, self.module_name, base_frame)
self.show_callback = self.start
self.hide_callback = self.stop
self.res_path = Util.get_res_path(self.module_name)
self.input_cnt = 0
self.one_second_cnt = 0
password = get_value_by_key('password', 'CONFIG') # type: str
self.logger.info('get password: '******'889972'
if password is not None:
if len(password) == 6:
if password.isdigit():
self.password = str(password)
self.logger.info('set password: '******''
self.error_show_cnt = 0
self.mac_id = Util.get_mac_address()
self.download_url = get_value_by_key('qrcode_download_url', 'HOST_URL')
self.logger.info('get qr_code url is : ' + str(self.download_url))
if self.download_url is None:
self.download_url = 'http://47.100.182.145:8080/qrcode/clearQrcode?macId='
self.download_url += self.mac_id
self.unlock_url = get_value_by_key('unlock_url', 'HOST_URL')
self.logger.info('unlock url is : ' + str(self.unlock_url))
if self.unlock_url is None:
self.unlock_url = 'http://47.100.182.145:8080/lock/queryUnlockById?macId='
self.unlock_url += self.mac_id
self.lock_url = get_value_by_key('lock_url', 'HOST_URL')
self.logger.info('lock url is : ' + str(self.lock_url))
if self.lock_url is None:
self.lock_url = 'http://47.100.182.145:8080/lock/lock?macId='
self.lock_url += self.mac_id
self.logger.info('get qr_code url is : ' + str(self.download_url))
self.logger.info('unlock url is : ' + str(self.unlock_url))
self.logger.info('lock url is : ' + str(self.lock_url))
self.download_file_name = self.res_path + 'Qr_d.png'
self.qr_code_path = self.res_path + 'Qr.png'
self.process_percent = 0
self.m_bitmap_qr = AppQt.get_label_picture(
self, AppQt.QRect(18, 120, 161, 161), self.qr_code_path)
tmp_list = list_button_author_info
self.list_key_button = []
for index in range(12):
rect = tmp_list[index][Author_button_point]
style_sheet = 'QPushButton{border-image: url(:/mode_author/mode_author/' + \
str(tmp_list[index][Author_button_unselect]) + ')}' + \
'QPushButton:pressed{border-image: url(:/mode_author/mode_author/' + \
str(tmp_list[index][Author_button_select]) + ')}'
button = AppQt.get_pushbutton(self, rect, style_sheet)
button.setObjectName(str(tmp_list[index][Author_button_id]))
button.clicked.connect(
lambda: self.on_click_key(self.sender().objectName()))
self.list_key_button.append(button)
tmp_list = list_radio_author_string
self.radio_list = []
self.radio_bitmap_list = []
bitmap = QtGui.QPixmap(':/mode_author/mode_author/' +
tmp_list[Author_radio_off])
self.radio_bitmap_list.append(bitmap)
bitmap = QtGui.QPixmap(':/mode_author/mode_author/' +
tmp_list[Author_radio_on])
self.radio_bitmap_list.append(bitmap)
# 设置属性,位置
for index in range(6):
rect = AppQt.QRect(307 + (26 + 37) * index, 57, 26, 26)
path = ':/mode_author/mode_author/' + tmp_list[Author_radio_off]
radio_button = AppQt.get_label_picture(self, rect, path)
self.radio_list.append(radio_button)
self.m_static_password_tip = AppQt.get_label_text(
self, AppQt.QRect(191, 14, 418, 28), True, '请扫描二维码或 输入管理员密码', 28,
'MicrosoftYaHei-Bold', '#333333')
self.timer_show = QtCore.QTimer(parent=self) # 创建定时器
self.timer_show.timeout.connect(self.on_timer_show)
self.timer_error_show = QtCore.QTimer(parent=self) # 创建定时器
self.timer_error_show.timeout.connect(self.on_timer_error_show)
self.timer_delay = QtCore.QTimer(parent=self) # 创建定时器
self.timer_delay.timeout.connect(self.on_timer_delay)
self.update_qr_code = False
Util.add_thread(target=self.update_qr_code_function)
self.lock_status = False
self.unlock_status = False
Util.add_thread(target=self.qr_code_lock_function)
self.locking = False
Util.add_thread(target=self.set_lock_status)