def __init__(self):
self.module_name = 'cfg_server'
App.__init__(self, self.module_name)
self.logger = get_logger(self.module_name)
self.database = DataBase()
self.database.create_table()
self.__init_callback()
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, base_frame):
self.module_name = 'mode_start'
# style_sheet = 'QFrame{border-image: url(:/mode_start/mode_start/start.png)}' \
# 'QFrame{background: transparent}'
AppQt.Q_App.__init__(self, self.module_name, base_frame,
QRect(0, 0, 800, 480))
self.logger = get_logger(self.module_name)
self.res_path = Util.get_res_path(self.module_name)
self.show_str = '正在启动请稍后'
self.status_cnt = 0
self.start_index = 0
self.timeout_cnt = 0
self.list_start_status = list_start_info
self.picture_label = AppQt.get_label_picture(
self, QRect(0, 0, 800, 480), ':/mode_start/mode_start/start.png')
rect = AppQt.QRect(0, 340, 800, 24)
self.m_static_start_result = AppQt.get_label_text(
self, rect, False, '正在启动，请稍后···', 24, 'MicrosoftYaHei', '#333333')
self.m_static_start_result.setStyleSheet('background: transparent;')
self.timer_show = QtCore.QTimer(parent=self) # 创建定时器
self.timer_show.timeout.connect(lambda: self.on_timer_show())
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 __init__(self, base_frame):
self.module_name = 'mode_check'
self.logger = get_logger(self.module_name)
AppQt.Q_App.__init__(self, self.module_name, base_frame)
self.res_path = Util.get_res_path(self.module_name)
self.check_index = 0
self.check_last_status = Check_status_idle
self.check_list_all = check_list_all
self.check_process_target = 0
self.current_process = 0
self.degree = 0
self.link_4G = True
self.link_ros = True
self.link_mcu = True
self.battery_count = 88
self.water_count = 88
self.release_stop = True
self.fault_status = True
self.origin_status = True
AppQt.get_label_picture(self, AppQt.QRect(344, 30, 130, 140),
':/mode_check/mode_check/扑拉飞呀导入版本.gif')
AppQt.get_label_picture(self, AppQt.QRect(210, 174, 380, 41),
':/mode_check/mode_check/自检进度条-灰.png')
self.cover_panel = AppQt.get_sub_frame(self,
AppQt.QRect(213, 178, 0, 34))
AppQt.get_label_picture(self.cover_panel, AppQt.QRect(0, 0, 380, 34),
':/mode_check/mode_check/自检进度条-蓝.png')
rect = AppQt.QRect(215, 237, 150, 24)
self.m_static_check_title = AppQt.get_label_text(
self, rect, False, '', 24, 'MicrosoftYaHei', '#333333')
self.m_static_check_title.setAlignment(QtCore.Qt.AlignLeft
| QtCore.Qt.AlignVCenter)
rect = AppQt.QRect(430, 237, 150, 24)
self.m_static_check_subtitle = AppQt.get_label_text(
self, rect, False, '', 24, 'MicrosoftYaHei', '#333333')
self.m_static_check_subtitle.setAlignment(QtCore.Qt.AlignRight
| QtCore.Qt.AlignVCenter)
rect = AppQt.QRect(430, 270, 150, 24)
self.m_static_check_result = AppQt.get_label_text(
self, rect, False, '', 24, 'MicrosoftYaHei', '#333333')
self.m_static_check_result.setAlignment(QtCore.Qt.AlignRight
| QtCore.Qt.AlignVCenter)
self.__check_list_init__()
self.timer_show = QtCore.QTimer() # 创建定时器
self.timer_show.timeout.connect(lambda: self.on_timer_show())
self.timer_process = QtCore.QTimer() # 创建定时器
self.timer_process.timeout.connect(lambda: self.on_timer_process())
def __init__(self, module_name, module_pipe=None):
self.__module_name = module_name
App.__init__(self, self.__module_name, is_msg_center=True)
self.__logger = get_logger(self.__module_name)
self.__init()
# self.__msg_id_module_dict = {}
if module_pipe is not None:
self.add_manager_dispatcher_pipe(module_pipe)
def __init__(self, base_frame):
self.module_name = 'mode_mt'
self.logger = get_logger(self.module_name)
AppQt.Q_App.__init__(self, self.module_name, base_frame)
# frame init
self.res_path = Util.get_res_path('mode_mt')
self.list_msg_info = [['close', 'open', 'brush_req'],
['close', 'open', 'water_req'],
['forward', 'back', 'direction_req']]
self.list_mt_button_status = [
Mt_button_off, Mt_button_off, Mt_button_forward
]
self.list_remote_mt_button_status = [
Mt_button_off, Mt_button_off, Mt_button_forward
]
self.link_ros = False
self.link_mcu = False
tmp_list = list_label_mt_string
for index in range(Mt_button_num):
rect = tmp_list[index][list_label_point]
name = tmp_list[index][list_label_info]
AppQt.get_label_text(self, rect, True, name, 28,
'MicrosoftYaHei-Bold', '#000000')
self.list_mt_button_bitmap = []
self.list_mt_button = []
tmp_list = list_button_mt_string
for index in range(Mt_button_num):
list_tmp = []
bitmap = "QPushButton{border-image: url(:/mode_mt/mode_mt/" + str(
tmp_list[index][Mt_button_off]) + ")}"
list_tmp.append(bitmap)
bitmap = "QPushButton{border-image: url(:/mode_mt/mode_mt/" + str(
tmp_list[index][Mt_button_on]) + ")}"
list_tmp.append(bitmap)
self.list_mt_button_bitmap.append(list_tmp)
rect = tmp_list[index][Mt_button_point]
style_sheet = list_tmp[self.list_mt_button_status[index]]
mt_button = AppQt.get_pushbutton(self, rect, style_sheet)
mt_button.setObjectName(str(tmp_list[index][Mt_button_id]))
mt_button.clicked.connect(
lambda: self.on_click_mt_button(self.sender().objectName()))
self.list_mt_button.append(mt_button)
self.timer_show = QtCore.QTimer(parent=self) # 创建定时器
self.timer_show.timeout.connect(self.on_timer_show)
self.timer_delay = QtCore.QTimer(parent=self) # 创建定时器
self.timer_delay.timeout.connect(self.on_timer_delay)
self.__init_callback()
def __init__(self, manager_pipe):
self.__module_name = 'ui_manager'
print('ui_manager come in 57')
self.__logger = get_logger(self.__module_name)
print('ui_manager come in 59')
self.dispatcher = None
self.__frame = None
self.__manager_pipe = manager_pipe
self.__app = None
self.widgets = None
def __init__(self):
if self.__first:
# 单例模式
self.__first = False
# 模块和接口对应关系,现在用的Queue,我可能会变
self.__module_queue_dict = {}
# 消息储存的地方
self.msg_id_module_dict = {}
#初始化logger模块
self.__logger = get_logger('pyins')
pass
def __init__(self, module_name, module_pipe=None):
self.__module_name = module_name
Q_App.__init__(self,
self.__module_name,
is_msg_center=True,
geometry=QRect(0, 0, 0, 0))
# self.hide()
self.__logger = get_logger(self.__module_name)
self.__init()
# self.__msg_id_module_dict = {}
if module_pipe is not None:
self.add_manager_dispatcher_pipe(module_pipe)
def __init__(self,
module_name,
is_msg_center=False,
need_start=True,
inner_connection=None):
self.__app_name = module_name
self.__logger = get_logger('app_' + self.__app_name)
self.__need_start = need_start
self.__is_msg_center = is_msg_center
self.__ins = Ins()
self.msg_id_module_dict = self.__ins.msg_id_module_dict
self.msg_id = UMsg()
# print(self.__app_name, ' :', need_start, '##', inner_connection, '###', inner_callback)
if not need_start and inner_connection is not None:
self.__queue = inner_connection
else:
self.__queue = Queue(0)
self.__pipe_dispatcher_rec = None
self.__pipe_dispatcher_send = None
self.__sleep_time = 0.001
self.__lock = None # type: Lock
if self.__is_msg_center:
self.__pipe_dispatcher_rec, self.__pipe_dispatcher_send = Pipe(
False)
self.__ins.add_module_queue(self.__app_name,
self.__pipe_dispatcher_send)
self.__ins.add_module_queue('dispatcher', self.__queue)
if self.__app_name != self.msg_id.out_dispatcher:
self.send_queue_module_manager()
else:
self.__lock = RLock()
else:
self.__sleep_time = 0.01
self.__ins.add_module_queue(self.__app_name, self.__queue)
self.__subscriber_dict = {}
self.__logger.info('init model ' + self.__app_name)
self.__is_shutdown = False
self.__default_callback = None
self.__multi_default_callback = None
# run self
self.__start__()
def run_ui_process(self, module_pipe):
print('begin to start run_ui_process')
logger = get_logger('ui_manager')
logger.info('begin to start run_ui_process')
try:
manager = UiManager(module_pipe)
manager.start()
while True:
time.sleep(1)
except Exception as e:
print('ui find exception !!!!!!! : ' + str(e))
logger.fatal('ui find exception !!!!!!! : ' + str(e))
time.sleep(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 __init__(self, base_frame):
self.module_name = 'Update'
AppQt.Q_App.__init__(self, self.module_name, base_frame)
self.logger = get_logger(self.module_name)
self.res_path = Util.get_res_path(self.module_name)
self.check_index = 0
self.check_last_status = Check_status_idle
self.Update_list_all = Update_list_all
self.check_process_target = 0
self.current_process = 0
self.degree = 0
self.update_index = 0
self.show_update_flag = False
self.update_status = False
self.process_percent = 0
# gif 动图
AppQt.get_label_picture(self, QRect(335, 20, 130, 140), ':/update/Update/扑拉飞呀导入版本.gif')
AppQt.get_label_picture(self, QRect(210, 174, 380, 41), ':/update/Update/自检进度条-灰.png')
self.cover_panel = AppQt.get_sub_frame(self, QRect(213, 178, 0, 34))
AppQt.get_label_picture(self.cover_panel, QRect(0, 0, 380, 34), ':/update/Update/自检进度条-蓝.png')
self.m_static_check_title = AppQt.get_label_text(self, QRect(215, 237, 150, 24), False, 'test',
24, 'MicrosoftYaHei', '#333333')
self.m_static_check_title.setAlignment(QtCore.Qt.AlignLeft | QtCore.Qt.AlignVCenter)
self.m_static_check_subtitle = AppQt.get_label_text(self, QRect(430, 237, 150, 24), False, 'test',
24, 'MicrosoftYaHei', '#333333')
self.m_static_check_subtitle.setAlignment(QtCore.Qt.AlignRight | QtCore.Qt.AlignVCenter)
self.m_static_check_result = AppQt.get_label_text(self, QRect(430, 270, 150, 24), False, 'test',
24, 'MicrosoftYaHei', '#333333')
self.m_static_check_result.setAlignment(QtCore.Qt.AlignRight | QtCore.Qt.AlignVCenter)
self.__check_list_init__()
self.timer_show = QtCore.QTimer(parent=self) # 创建定时器
self.timer_show.timeout.connect(lambda: self.on_timer_show())
self.timer_process = QtCore.QTimer(parent=self) # 创建定时器
self.timer_process.timeout.connect(lambda: self.on_timer_process())
self.__init_callback()
def __init__(self, manager_pipe):
self.module_name = 'service_manager'
self.__logger = get_logger(self.module_name)
self.__logger.info('init ' + str(self.module_name) + ' begin')
print('come in 61')
try:
print('come in 63')
self.dispatcher = UDispatcher(UMsg.service_dispatcher,
manager_pipe)
print('come in 65')
except Exception as e:
print('come in 65')
self.__logger.fatal('find exception : ' + str(e))
self.__logger.info('init ' + str(self.module_name) + ' success')
return
def __init__(self):
self.module_name = 'interface_ros'
App.__init__(self, self.module_name)
self.link_ros = False
self.link_mcu = False
self.received_time = 0
self.logger = get_logger(self.module_name)
self.pub = None
self.ros_is_running = False
self.send_link_status = False
self.master = None
self.ui_ros_topic_is_sub = False
self.callback_dict = {}
self.__init_callback()
self.msg_out_queue = Queue(0)
Util.add_thread(target=self.msg_out_queue_callback)
def __init__(self):
self.logger = get_logger('Manager')
self.logger.info('#######################################')
self.logger.info('begin to start process')
self.logger.info('#######################################')
self.manager_lock = multiprocessing.Lock()
self.manager_dispatcher = UDispatcher(UMsg.manager_dispatcher)
self.manager_dispatcher.start()
self.manager_pipe = {
'pipe': self.manager_dispatcher.get_self_pipe(),
'lock': self.manager_dispatcher.get_self_lock()
}
self.process_ui = None
self.process_service = None
self.process_ros = None
self.process_pool = {}
def __init__(self, module_pipe):
self.__module_name = 'ros_manager'
print('come in ' + str(self.__module_name))
try:
self.__logger = get_logger(self.__module_name)
print('come in 78' + str(self.__module_name))
self.__logger.info('come in ' + self.__module_name)
print('come in 80' + str(self.__module_name))
self.dispatcher = UDispatcher(UMsg.ros_dispatcher, module_pipe)
print('come in 82' + str(self.__module_name))
except Exception as e:
import os
os.system('echo \"' + str(e) + '\" > coredump.log')
self.__logger.fatal('find exception: ' + str(e))
self.__logger.info('UDispatcher init ok ')
self.launch_thread = None
self.__logger_inner = None
def __init__(self, base_frame):
self.__frame = base_frame
self.__module_name = 'manager_frame'
AppQt.Q_App.__init__(self,
self.__module_name,
parent=base_frame,
geometry=QtCore.QRect(0, 40, 800, 340))
self.__logger = get_logger(self.__module_name)
self.__default_page = setting.Page_mt_mode
self.robot_status = 'mt'
self.show_box_panel = None # type: AppQt.Q_App
self.start_panel = None # type: AppQt.Q_App
self.page_stack = None # type: QtWidgets.QStackedWidget
self.__init_callback()
self.__run()
def __init__(self, base_frame):
self.module_name = 'show_box'
self.logger = get_logger(self.module_name)
AppQt.Q_App.__init__(
self, self.module_name, base_frame, QRect(0, 0, 800, 480),
'QFrame{border-image: url(:/show_box/show_box/半透明.png)}'
'QFrame{background: transparent}')
self.res_path = Util.get_res_path(self.module_name)
self.index = 0
self.m_bitmap_white = AppQt.get_sub_frame(
self, QRect(100, 53, 600, 374),
'QFrame{border-image: url(:/show_box/show_box/弹窗.png)}')
style_sheet = 'QPushButton{border-image: url(:/show_box/show_box/否.png)}' + \
'QPushButton:pressed{border-image: url(:/show_box/show_box/否-点击.png)}'
self.button_no = AppQt.get_pushbutton(self.m_bitmap_white,
QRect(41, 223, 240, 70),
style_sheet)
self.button_no.clicked.connect(lambda: self.on_click_button_no())
style_sheet = 'QPushButton{border-image: url(:/show_box/show_box/是.png)}' + \
'QPushButton:pressed{border-image: url(:/show_box/show_box/是-点击.png)}'
self.button_yes = AppQt.get_pushbutton(self.m_bitmap_white,
QRect(320, 223, 240, 70),
style_sheet)
self.button_yes.clicked.connect(lambda: self.on_click_button_yes())
self.m_static_show = AppQt.get_label_text(self.m_bitmap_white,
QRect(0, 70, 600,
94), True, '', 34,
'MicrosoftYaHei-Bold',
'#333333')
self.timer_show = QtCore.QTimer(parent=self) # 创建定时器
self.timer_show.timeout.connect(lambda: self.on_timer_show())
self.__init_callback()
def __init__(self, base_frame):
self.module_name = 'mode_map_select'
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.get_map_num()
style_sheet = 'QPushButton{border-image: url(:/mode_map_select/mode_map_select/左-亮.png)}' + \
'QPushButton:pressed{border-image: url(:/mode_map_select/mode_map_select/左-灰.png)}'
self.m_button_left = AppQt.get_pushbutton(self, QRect(20, 140, 58, 58),
style_sheet)
# self.get_map_num()
style_sheet = 'QPushButton{border-image: url(:/mode_map_select/mode_map_select/右-亮.png)}' + \
'QPushButton:pressed{border-image: url(:/mode_map_select/mode_map_select/右-灰.png)}'
self.m_button_right = AppQt.get_pushbutton(self,
QRect(720, 140, 58,
58), style_sheet)
self.map_frame = AppQt.get_sub_frame(self, QRect(100, 0, 600, 340))
self.map_frame.show()
self.list_map_button = []
self.list_map_frame = []
self.list_map_label = []
self.list_map = []
self.timer_show = QtCore.QTimer() # 创建定时器
self.timer_show.timeout.connect(
lambda: self.on_timer_show()) # 绑定一个定时器事件
self.timer_update_map = QtCore.QTimer() # 创建定时器
self.timer_update_map.timeout.connect(
lambda: self.on_timer_update_map()) # 绑定一个定时器事件
self.position_cnt = 0
self.__init_callback()
def ros_core_process(self):
logger_inner = get_logger('ros_manager_inner')
logger_inner.info('begin ros core')
try:
while True:
while True:
time.sleep(3)
status, result = getipaddr()
logger_inner.info('get ip :' + str(result))
if status:
logger_inner.info('host ip is init!')
break
else:
print('wait for ip init!!')
logger_inner.warning('wait for ip init!!')
if not get_ros_core():
logger_inner.info('start ros core')
try:
roslaunch.main(['roscore', '--core'])
while True:
time.sleep(1)
except Exception as e:
print('I am except ' + str(e))
logger_inner.fatal(str(e))
continue
finally:
logger_inner.fatal('I am finally')
time.sleep(1)
else:
logger_inner.warning('ros core is exist , skip!')
print('ros core is exist , skip!')
break
except Exception as e:
print('something error ' + str(e))
logger_inner.fatal('something error ' + str(e))
def __init__(self, base_frame):
self.module_name = 'mode_working'
self.logger = get_logger(self.module_name)
AppQt.Q_App.__init__(self, self.module_name, base_frame)
self.res_path = Util.get_res_path(self.module_name)
self.current_process = [0, 0, 0]
self.check_process_target = [0, 0, 0]
self.degree = [0, 0, 0]
self.count = 0
self.map_select_path = None
self.map_select_name = None
self.working_status = working_status_on
self.move_speed = 0
self.position_x = 0
self.position_y = 0
self.position_z = 0
self.progress_percent = 0
self.label_back = AppQt.get_sub_frame(self,
AppQt.QRect(28, 26, 228, 228),
'background-color: #FFFFFF;')
self.m_bitmap_map_working = AppQt.get_label_picture(
self.label_back, AppQt.QRect(5, 5, 218, 218))
self.map_label_name = AppQt.get_label_text(
self, AppQt.QRect(8, 276, 270, 26), False, '', 26)
tmp_list = list_working_label_info
for index in range(4):
rect = tmp_list[index][list_working_point]
name = tmp_list[index][list_working_name]
AppQt.get_label_text(self, rect, True, name, 26,
'MicrosoftYaHei-Bold', '#333333')
self.list_working_label_point_show = []
for index in range(Working_point_num):
rect = AppQt.QRect(380 + 130 * index, 192, 90, 24)
working_label = AppQt.get_label_text(self, rect, False, '', 24,
'MicrosoftYaHei', '#333333')
self.list_working_label_point_show.append(working_label)
self.working_set_point()
tmp_list = list_working_process_info
self.list_working_cover_panel = []
self.list_working_cover_text = []
for index in range(Working_gauge_num):
rect = tmp_list[index][list_working_gray_point]
path = ':/mode_working/mode_working/工作中-灰.png'
AppQt.get_label_picture(self, rect, path)
cover_panel = AppQt.get_sub_frame(self, rect)
path = ':/mode_working/mode_working/工作中-蓝.png'
AppQt.get_label_picture(cover_panel, AppQt.QRect(0, 0, 380, 38),
path)
rect = tmp_list[index][list_working_text_point]
text_panel = AppQt.get_sub_frame(
self, rect, 'QFrame{background: transparent}')
cover_text = AppQt.get_label_text(
text_panel, AppQt.QRect(0, 0, rect.width(), rect.height()),
True, '', 26, 'MicrosoftYaHei-Bold', '#0E0E32')
cover_text.setStyleSheet('QLabel{background: transparent}')
self.list_working_cover_panel.append(cover_panel)
self.list_working_cover_text.append(cover_text)
self.list_working_button_bitmap = []
bitmap = 'QPushButton{border-image: url(:/mode_working/mode_working/暂停.png)}' + \
'QPushButton:pressed{border-image: url(:/mode_working/mode_working/暂停-按下.png)}'
self.list_working_button_bitmap.append(bitmap)
bitmap = 'QPushButton{border-image: url(:/mode_working/mode_working/继续.png)}' + \
'QPushButton:pressed{border-image: url(:/mode_working/mode_working/继续-按下.png)}'
self.list_working_button_bitmap.append(bitmap)
rect = AppQt.QRect(286, 236, 214, 74)
style_sheet = self.list_working_button_bitmap[self.working_status]
self.m_button_pause_continue = AppQt.get_pushbutton(
self, rect, style_sheet)
self.m_button_pause_continue.clicked.connect(
lambda: self.on_click_pause_continue())
rect = AppQt.QRect(524, 236, 214, 74)
self.cancel_style_sheet_enable = 'QPushButton{border-image: url(:/mode_working/mode_working/取消.png)}' + \
'QPushButton:pressed{border-image: url(:/mode_working/mode_working/取消-按下.png)}'
self.cancel_style_sheet_disable = 'QPushButton{border-image: url(:/mode_working/mode_working/取消灰.png)}'
self.m_button_cancel = AppQt.get_pushbutton(
self, rect, self.cancel_style_sheet_enable)
self.m_button_cancel.clicked.connect(lambda: self.on_click_cancel())
self.timer_show = QtCore.QTimer(parent=self) # 创建定时器
self.timer_show.timeout.connect(lambda: self.on_timer_show())
self.timer_process = QtCore.QTimer(parent=self) # 创建定时器
self.timer_process.timeout.connect(lambda: self.on_timer_process())
self.timer_delay = QtCore.QTimer(parent=self) # 创建定时器
self.timer_delay.timeout.connect(lambda: self.on_timer_process())
self.timer_start_delay = QtCore.QTimer(parent=self)
self.timer_start_delay.timeout.connect(
lambda: self.on_timer_start_delay())
self.__init_callback()
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)
def __init__(self, parent):
self.module_name = 'base_frame'
# init frame
AppQt.Q_App.__init__(self,
self.module_name,
parent=parent,
geometry=AppQt.QRect(0, 0, 800, 480),
style_sheet='QFrame{background-color: #D6D5D6}')
# init variable
self.res_path = Util.get_res_path('frame')
self.logger = get_logger(self.module_name)
self.one_second_cnt = 0
self.get_odom_cnt = 0
# home
self.battery_count = 88
self.water_count = 88
self.odom_count = 0
self.line_speed = 0
self.received_time = 0
self.link_4G = True
self.link_ros = False
self.link_mcu = False
self.is_get_odom = False
self.list_mt_button_status = [
Mt_button_off, Mt_button_off, Mt_button_forward
]
# title panel init
self.title_panel = AppQt.get_sub_frame(
self, AppQt.QRect(0, 0, 800, 40),
'QFrame{background-color: #E1E1E1}')
# tail panel init
self.tail_panel = AppQt.get_sub_frame(
self, AppQt.QRect(0, 380, 800, 100),
'QFrame{background-color: #F0F0F0}')
# init title 4G
self.m_bitmap_4G = AppQt.get_label_picture(self.title_panel,
AppQt.QRect(13, 12, 28, 17),
':/frame/frame/信号4.png')
# init title battery
self.m_battery_url = ':/frame/frame/电池1.png'
self.m_bitmap_battery = AppQt.get_label_picture(
self.title_panel, AppQt.QRect(745, 11, 43, 18), self.m_battery_url)
# init tail water percent
self.m_bitmap_water = AppQt.get_label_picture(
self.tail_panel, AppQt.QRect(47, 26, 40, 54),
':/frame/frame/水量.png')
# init tail odom
self.m_bitmap_odom = AppQt.get_label_picture(
self.tail_panel, AppQt.QRect(597, 26, 44, 54),
':/frame/frame/lichen.png')
# 剩下的label 批量处理,省地方
self.m_title_label_list = []
tmp_list = list_title_string
for index in range(len(tmp_list)):
# Label初始化
rect = tmp_list[index][Title_index_point]
name = tmp_list[index][Title_index_name]
font_px = tmp_list[index][Title_index_font_size]
title_label = AppQt.get_label_text(self.title_panel, rect, False,
name, font_px, 'MicrosoftYaHei',
'#000000')
# title_label.setAutoFillBackground(True)
self.m_title_label_list.append(title_label)
# 剩下的label 批量处理,省地方
self.m_tail_label_list = []
tmp_list = list_tail_string
for index in range(len(tmp_list)):
rect = tmp_list[index][Title_index_point]
name = tmp_list[index][Title_index_name]
font_px = tmp_list[index][Title_index_font_size]
tail_label = AppQt.get_label_text(self.tail_panel, rect, False,
name, font_px, 'MicrosoftYaHei',
'#000000')
self.m_tail_label_list.append(tail_label)
# init at or mt button 垃圾逻辑,改掉
self.At_style_sheet_enable = 'QPushButton{border-image: url(:/frame/frame/切换到 自动驾驶.png)}'
self.Mt_style_sheet_enable = 'QPushButton{border-image: url(:/frame/frame/切换到 手动驾驶.png)}'
self.Mt_style_sheet_disable = 'QPushButton{border-image: url(:/frame/frame/切换到 手动驾驶灰.png)}'
self.m_bpButtonAt_mini = AppQt.get_pushbutton(
self.tail_panel, AppQt.QRect(235, 0, 331, 100),
self.At_style_sheet_enable)
self.m_bpButtonAt_mini.clicked.connect(lambda: self.on_click_mini_at())
self.m_bpButtonAt_mini.hide()
self.m_bpButtonMt_mini = AppQt.get_pushbutton(
self.tail_panel, AppQt.QRect(235, 0, 331, 100),
self.Mt_style_sheet_enable)
self.m_bpButtonMt_mini.clicked.connect(lambda: self.on_click_mini_mt())
self.m_bpButtonMt_mini.hide()
# create timer for title and tail update
self.timer_show = QtCore.QTimer(parent=self) # 创建定时器
self.timer_show.timeout.connect(self.on_timer_show)
QtCore.QMetaObject.connectSlotsByName(parent)
# self.show_mt_signal.connect(self.show_mt_at)
# self.set_button_enable_signal.connect(self.set_button_enable)
self.__init_callback()
self.show()
self.Manage = ManagerFrame(self)
self.Manage.show()
self.send_msg(self.msg_id.interface_ros_send_msg_out,
self.msg_id.inner_dispatcher, msg_data)
def show_box(self, index, tip):
msg_data = {'index': index, 'tip': tip}
# print(msg_data)
self.send_msg_dispatcher(self.msg_id.ui_manager_show_box, msg_data)
def mode_dispatcher(self, page_mode):
msg_data = {'page_mode': page_mode}
self.send_msg_dispatcher(self.msg_id.ui_manager_change_page, msg_data)
# """test code """
if __name__ == '__main__':
logger = get_logger(__name__)
message = App('test')
print(message.make_session('abc'))
# for index in range(20):
# time.sleep(0.1)
# logger.info('send : test')
# message.send_msg('test','test')
#
# # print(message.check_dispatcher_ready.__annotations__)
# message.subscriber('test', message.callback_test)
# logger.info('message.start()')
# print(pub.topicsMap)
# if 'test' in pub.topicsMap:
# print('test ok')
