def start(self):
myDebug(self.__class__.__name__, get_current_function_name())
self.mViewController.start()
self.mRobotController.start()
self.mMainLoopTimer.start(1000/30)
self.mViewController.navigateTo("ContentsNavWin")
def __init__(self, *args):
myDebug(self.__class__.__name__, get_current_function_name())
super(MultiViewFrame, self).__init__(*args)
self.setStyleSheet(
"color: rgb(0, 243, 255);background-color: rgba(255, 255, 255, 0); border:2px solid rgb(0, 178, 255);"
)
self.mMainLayout = QGridLayout(self)
self.mMainLayout.setContentsMargins(1, 1, 1, 1)
self.mMainLayout.setSpacing(1)
self.mBackgound = QLabel(self)
self.mBackgound.setGeometry(self.width() * 0.5 / 3,
self.height() * 0.5 / 3,
self.width() * 2 / 3,
self.height() * 2 / 3)
self.mBackgound.setStyleSheet(
"background-color: rgba(255, 255, 255, 0); border:0px solid rgb(0, 0, 0)"
)
self.mBackgound.setAlignment(QtCore.Qt.AlignCenter)
image = QPixmap("resource/images/earth.png")
self.mBackgound.setPixmap(
image.scaled(self.mBackgound.size(), QtCore.Qt.KeepAspectRatio,
QtCore.Qt.SmoothTransformation))
self.mBackgound.show()
self.mFocusedView = None
self.mLastViewList = []
self.mViewList = []
self.isViewMaximizedStateChanged = False
self.mMaximizedView = None
def deleteOptionList(self, ind):
myDebug(self.__class__.__name__, get_current_function_name())
if ind >= 0 and ind < len(self.mOptionList):
self.mOptionList.pop(ind)
self.mOptionFuncList.pop(ind)
else:
raise IndexError()
def __init__(self, *arg):
myDebug(self.__class__.__name__, get_current_function_name())
super(ContentsNavWin, self).__init__(*arg)
loadUi(
XSetting.getValue('Python/SrcDir') + 'Views/ContentsNavWin.ui',
self)
self.id = 'ContentsNavWin'
self.name = 'ContentsNavWin'
self.mImage_T = QPixmap()
self.mImage_T.load('resource/icons/T.png')
self.mImage_O = QPixmap()
self.mImage_O.load('resource/icons/O.png')
self.mImage_E = QPixmap()
self.mImage_E.load('resource/icons/E.png')
self.lbT.setAlignment(QtCore.Qt.AlignCenter)
self.lbT.setPixmap(
self.mImage_T.scaled(self.lbT.width(), self.lbT.height()))
self.lbO.setAlignment(QtCore.Qt.AlignCenter)
self.lbO.setPixmap(
self.mImage_O.scaled(self.lbO.width(), self.lbO.height()))
self.lbE.setAlignment(QtCore.Qt.AlignCenter)
self.lbE.setPixmap(
self.mImage_E.scaled(self.lbE.width(), self.lbE.height()))
self.mkConnect()
def mkQMenu(self):
myDebug(self.__class__.__name__, get_current_function_name())
menu=QMenu(self)
menu.setStyleSheet("""
color: rgb(0, 243, 255);
background-color: rgba(255, 255, 255, 0);
border:2px solid rgb(0, 108, 255);
selection-background-color: rgba(183, 212, 255, 150);
"""
)
camera_list = QMenu(menu)
camera_list.setTitle('新建相机视图')
controller = MainController.getController()
camera_names, camera_types = controller.mCameraController.getAvailableCameraNames()
for ind, name in enumerate(camera_names):
cam_action = QAction(name, camera_list)
# cam_action.triggered.connect(self.mCameregister[ind])
cam_action.triggered.connect(partial(self.on_add_camera_view, ind, camera_types[ind]))
camera_list.addAction(cam_action)
menu.addMenu(camera_list)
add_image_proc_action = QAction('添加图像处理视图', menu)
add_image_proc_action.triggered.connect(self.slot_add_image_proc_view)
menu.addAction(add_image_proc_action)
add_robot_action = QAction('添加机器人', menu)
add_robot_action.triggered.connect(self.slot_add_robot)
menu.addAction(add_robot_action)
clear_views_action = QAction('清空视图', menu)
clear_views_action.triggered.connect(self.slot_clearSubview)
menu.addAction(clear_views_action)
return menu
def contextMenuEvent(self, event: QContextMenuEvent):
myDebug(self.__class__.__name__, get_current_function_name())
# print(event.type(), ' ', QContextMenuEvent.MouseButtonRelease)
# if event.type() == QContextMenuEvent.MouseButtonRelease:
# if event.button() == QtCore.Qt.RightButton:
menu = self.mkQMenu()
menu.exec_(event.globalPos())
def slot_view_focaus_changed(self):
myDebug(self.__class__.__name__, get_current_function_name())
if self.mFrameViewArea.mFocusedView:
self.mSlm.setStringList(
self.mFrameViewArea.mFocusedView.mOptionList)
else:
self.mSlm.setStringList([])
def mouseReleaseEvent(self, a0: QtGui.QMouseEvent):
myDebug(self.__class__.__name__, get_current_function_name())
super().mouseReleaseEvent(a0)
if self.isFocused:
self.signalFocusedChanged.emit(self, False)
else:
self.signalFocusedChanged.emit(self, True)
def start(self):
myDebug(self.__class__.__name__, get_current_function_name())
self.mMainWin.show()
movie = QMovie("resource/images/background001.gif")
for label_i in self.mMainWin.mlbBackgroundList:
label_i.setMovie(movie)
label_i.setScaledContents(True)
movie.start()
def _addImageFlow(self, flow):
myDebug(self.__class__.__name__, get_current_function_name())
self.setImageFlowInput(flow)
self.deleteOptionList(0)
self.insertOptionList(flow.getName(), self.addImageFlowFunc, 0)
if self.getOptionListLen() == 1:
self.insertOptionList('添加图像处理模块', self.addImageProcFunc)
self.signalFocusedChanged.emit(self, True)
def disconnect(self):
myDebug(self.__class__.__name__, get_current_function_name())
self.isConnected = False
try:
self.client_sock.close()
self.mCamera.releaseCamera()
except:
pass
def loadConfigFile(self, path):
myDebug(self.__class__.__name__, get_current_function_name())
print(path)
with open(path, 'r') as f:
data = json.load(f)
self.setRobotPolicy(data["policy"])
for robot_data in data["robots"]:
self.addRobot(robot_data)
def slot_subview_active_changed(self, view: ViewFrameBase, value: bool):
myDebug(self.__class__.__name__, get_current_function_name())
if self.mFocusedView:
self.setFocusedView(None)
if value:
self.setFocusedView(view)
# self.mFocusedView.active()
else:
view.deactive()
def __init__(self, parent, population, pos=np.array((0, 0, 0), dtype=np.float), orientation = np.zeros((3,3), dtype=np.float)) -> None:
myDebug(self.__class__.__name__, get_current_function_name())
super().__init__(parent)
self.mRobotType = "RobotEpuck"
self.mState = RobotControlMode.PolicyControl
self.mCamera = CameraEPuck(self)
self.mPopulation = population
self.mPos = np.array(pos, dtype=np.float)
self.mOrientation = np.array(orientation, dtype=np.float)
self.mSpeedWheels:np.ndarray = np.zeros((1, 2), dtype=np.float)
self.mTargetEulerAngle = 0.0 # 世界坐标系下目标角度
self.mRobotEulerAngle = 0.0 # 世界坐标系下机器人角度
self.mX_t = 0.0 # 目标坐标系下机器人坐标
self.mY_t = 0.0 # 目标坐标系下机器人坐标
self.mLineSpeed = 0.0
self.mRotationSpeed = 0.0
self.mAlpha = 0.0
self.mPreAlpha = 0.0
self.mTheta = 0.0
self.mBeta = 0.0
# self.mTObsacle = target_obstacle # 目标障碍物
self.client_sock = 1000
self.client_addr = "192.168.1.100"
self.isConnected = False
self.socket_error = 0
self.isFirstConnect = True
self.proximity = [0.0]*8 # 8个方向的距离传感器
self.acceleration = 0.0 # 加速度
self.orientation = 0.0 # 方向
self.inclination = 0.0 # 倾斜度
self.lightAvg = 0 # light sensor data
self.gyroRaw = [0.0]*3 # Gyro
self.magneticField = [0.0]*3 # Magnetometer
self.distanceCm = 0.0 # ToF
self.micVolume = [0]*4 # Microphone
self.batteryRaw = 100.0 # Battery
self.num_packets = 0
self.mCommand = bytearray([0] * COMMAND_PACKET_SIZE)
self.initCommand()
self.mPolicy:RobotPolicyBase = None # 机器人的决策，通过插件更改
self.isGetLocationFromGlobal = True
self.nearDestination = False
self.toNextTarget = False # if a robot has near the now target, it change the target value to the next target, to avoid speed down,
# 参数
self.MAX_SPEED = float(XSetting.getValue('Epuck/MAX_SPEED'))
self.WHEEL_RADIUS = float(XSetting.getValue('Epuck/WHEEL_RADIUS'))
self.AXLE_LENGTH = float(XSetting.getValue('Epuck/AXLE_LENGTH'))
self.K_RHO = float(XSetting.getValue('Epuck/K_RHO'))
self.K_ALPHA = float(XSetting.getValue('Epuck/K_ALPHA'))
self.K_BETA = float(XSetting.getValue('Epuck/K_BETA'))
def windowSwitch(self, win: QWidget):
myDebug(self.__class__.__name__, get_current_function_name())
self.mCurrentWin: QFrame
if self.mCurrentWin is not None:
self.mMainLayout.replaceWidget(self.mCurrentWin, win)
self.mCurrentWin.hide()
else:
self.mMainLayout.addWidget(win)
self.mCurrentWin = win
self.mCurrentWin.show()
def addSubview(self, view:ViewFrameBase):
myDebug(self.__class__.__name__, get_current_function_name())
if len(self.mViewList) < 36:
self.mLastViewList = self.mViewList.copy()
self.mViewList.append(view)
view.signalDestroyed.connect(self.on_removeSubview)
view.signalFocusedChanged.connect(self.slot_subview_active_changed)
view.signalClearViews.connect(self.slot_clearSubview)
view.signalAddImageProcView.connect(self.slot_add_image_proc_view)
self.reLayoutView()
def insertOptionList(self, name, func, insert_ind=-1):
myDebug(self.__class__.__name__, get_current_function_name())
if insert_ind == -1 or len(self.mOptionList) == 0:
self.mOptionList.append(name)
self.mOptionFuncList.append(func)
elif insert_ind >= 0 and insert_ind < len(self.mOptionList):
self.mOptionList.insert(insert_ind, name)
self.mOptionFuncList.insert(insert_ind, func)
else:
raise IndexError()
def contextMenuEvent(self, event: QContextMenuEvent):
myDebug(self.__class__.__name__, get_current_function_name())
# print(event.type(), ' ', QContextMenuEvent.MouseButtonRelease)
# if event.type() == QContextMenuEvent.MouseButtonRelease:
# if event.button() == QtCore.Qt.RightButton:
menu = self.mkQMenu()
# set_robot_id_action = QAction('Set Robot ID', menu)
# set_robot_id_action.triggered.connect(self.slot_set_robot_id)
# menu.addAction(set_robot_id_action)
menu.exec_(event.globalPos())
def slot_clearSubview(self):
myDebug(self.__class__.__name__, get_current_function_name())
self.mLastViewList = self.mViewList.copy()
self.mViewList = []
self.reLayoutView()
camera_controller = MainController.getController().mCameraController
for i in self.mLastViewList:
i.destroy()
camera_controller.releaseAllCamera()
self.setFocusedView(None)
def navigateTo(self, win_name: str):
myDebug(self.__class__.__name__, get_current_function_name())
isFind = False
for iter in self.mFrameList:
if win_name.strip() == iter.name:
self.windowSwitch(iter)
isFind = True
if not isFind:
raise Exception("Fail to switch window. The name of win isn't exited, please checking.")
def setFocusedView(self, view):
myDebug(self.__class__.__name__, get_current_function_name())
if self.mFocusedView:
self.mFocusedView.deactive()
self.releaseKeyboard()
self.mFocusedView = view
if type(self.mFocusedView) is RobotFrame:
self.grabKeyboard()
self.signalViewFocusChanged.emit()
def contextMenuEvent(self, event: QContextMenuEvent):
myDebug(self.__class__.__name__, get_current_function_name())
# print(event.type(), ' ', QContextMenuEvent.MouseButtonRelease)
# if event.type() == QContextMenuEvent.MouseButtonRelease:
# if event.button() == QtCore.Qt.RightButton:
menu = self.mkQMenu()
image_save_dir_set_action = QAction('设置图片保存路径', menu)
image_save_dir_set_action.triggered.connect(self.on_image_save_dir_set)
menu.addAction(image_save_dir_set_action)
menu.exec_(event.globalPos())
def __init__(self, *arg):
myDebug(self.__class__.__name__, get_current_function_name())
super(MainController, self).__init__(*arg)
self.mMainLoopTimer = QtCore.QTimer(self)
self.mViewController = ViewController.ViewController()
self.mCameraController = CameraController.CameraController()
self.mRobotController = RobotController.RobotController()
self.mCameraData = CameraData()
self.mImageHandle = []
self.initConnect()
self.t1 = 0.0
def __init__(self, *arg):
myDebug(self.__class__.__name__, get_current_function_name())
super().__init__(*arg)
self.controller = MainController.getController()
self.robot_controller = RobotController.RobotController()
self.robot_controller.start()
self.mDataHandle = DataHandle()
self.controller.addDataHandle(self.mDataHandle)
self.mLayout.addWidget(self.mDataHandle.image_label)
self.mDataHandle.image_label.show()
self.mRobotPolicy = None
def on_add_camera_view(self, cam_id: int, cam_type: XCameraType):
myDebug(self.__class__.__name__, get_current_function_name())
camera_controller = MainController.getController().mCameraController
camera = camera_controller.getCamera(cam_id)
if camera and camera.isOpen():
print('该相机已经打开')
else:
camera_controller.startCamera(cam_id, cam_type)
view = CameraViewFrame(self)
view.setCamera(camera_controller.mCameraList[len(camera_controller.mCameraList) - 1])
self.addSubview(view)
print('打开第%d个相机'%cam_id)
def getAvailableCameraNames(self):
myDebug(self.__class__.__name__, get_current_function_name())
names = []
types = []
for i in self.mCameraAvailable:
try:
names.append(i.description())
types.append(XCameraType.X_USB_CAM)
except:
names.append(i.GetFriendlyName())
types.append(XCameraType.X_MindVision)
return names, types
def __init__(self, *args):
myDebug(self.__class__.__name__, get_current_function_name())
super(ViewController, self).__init__(*args)
self.mMainWin = MainWindow()
self.mMainFrame = QFrame(self.mMainWin)
self.mCurrentWin = None
self.mMainLayout = QGridLayout(self.mMainFrame)
self.mFrameList = []
self.mTestCamera = CameraInterface()
self.mTestMovieShow = None
self.windowLoad()
def __init__(self, *args):
myDebug(self.__class__.__name__, get_current_function_name())
super(ImageProcViewBase, self).__init__(*args)
self.mActiveBorderStyle = 'border:1px solid rgba(200, 50, 50, 255);'
self.mUnactiveBorderStyle = 'border:1px solid rgba(200, 200, 200, 150);'
self.deactive()
self.mImageSaveDir = "./general_image_save"
self.mImageHandle = ImageHandle()
self.mImageHandle.setImageSaveDir(self.mImageSaveDir)
self.controller = MainController.getController()
self.controller.addImageHandle(self.mImageHandle)
self.mLayout.addWidget(self.mImageHandle.image_label)
self.mImageHandle.image_label.show()
def setCamera(self, camera):
myDebug(self.__class__.__name__, get_current_function_name())
self.mOptionList = []
camera_name = "unknown"
if camera.mCameraName:
camera_name = camera.mCameraName
self.mCameraNameLabel.setText(camera_name)
self.mCamera = camera
self.mLayout.addWidget(self.mCameraNameLabel)
self.mLayout.addWidget(camera.mViewCamera)
self.mLayout.addWidget(self.foot_label)
self.insertOptionList(camera_name, self.defaultFunc)
self.insertOptionList('This is Camera View', self.defaultFunc)
def __init__(self, *arg):
myDebug(self.__class__.__name__, get_current_function_name())
super(ViewFrameBase, self).__init__(*arg)
self.mActiveBorderStyle = 'border:2px solid rgba(200, 50, 50, 255);'
self.mUnactiveBorderStyle = 'border:2px solid rgba(200, 200, 200, 150);'
self.deactive()
self.isFocused = False
self.mOptionList = []
self.mOptionFuncList = []
self.isViewMaximized = False
self.mLayout = QGridLayout(self)
self.mLayout.setContentsMargins(0, 0, 0, 0)
self.setLayout(self.mLayout)