class XArmUI(object):
def __init__(self, ui, layout):
self.main_ui = ui
self.layout = layout
super(XArmUI, self).__init__()
self.handler = XArmHandler(self)
self.lang = self.main_ui.lang
self.set_ui()
self.set_disable(True)
def set_ui(self):
self._set_common_top_ui()
self._set_tab()
self._set_common_down_ui()
self.connect_slot()
def _set_common_top_ui(self):
top_frame = QFrame()
top_frame.setMaximumHeight(60)
top_layout = QVBoxLayout(top_frame)
self.layout.addWidget(top_frame)
common_top_frame = QFrame()
common_top_frame.setMinimumHeight(50)
common_top_layout = QHBoxLayout(common_top_frame)
top_layout.addWidget(common_top_frame)
label_1 = QLabel(i18n[self.lang]['Connected'] + ':')
self.label_connected = QLabel()
img = QImage()
self.label_connected.setMaximumHeight(20)
self.label_connected.setMaximumWidth(20)
self.label_connected.setScaledContents(True)
if img.load(disconnect_icon_path):
self.label_connected.setPixmap(QPixmap.fromImage(img))
label_2 = QLabel(i18n[self.lang]['Reported'] + ':')
self.label_reported = QLabel()
img = QImage()
self.label_reported.setMaximumHeight(20)
self.label_reported.setMaximumWidth(20)
self.label_reported.setScaledContents(True)
if img.load(disconnect_icon_path):
self.label_reported.setPixmap(QPixmap.fromImage(img))
self.lnt_addr = QLineEdit('192.168.1.182')
self.lnt_addr.setMaximumWidth(100)
self.lnt_addr.setMinimumWidth(60)
self.btn_connect = QPushButton(i18n[self.lang]['Connect'])
# self.btn_connect.setMaximumWidth(50)
# common_top_layout.addStretch(0)
common_top_layout.setSpacing(10)
common_top_layout.addWidget(label_1)
common_top_layout.addWidget(self.label_connected)
common_top_layout.addWidget(label_2)
common_top_layout.addWidget(self.label_reported)
common_top_layout.addWidget(self.lnt_addr)
common_top_layout.addWidget(self.btn_connect)
# common_down_frame = QFrame()
# common_down_layout = QHBoxLayout(common_down_frame)
# common_down_layout.setSpacing(0)
# top_layout.addWidget(common_down_frame)
common_down_layout = common_top_layout
label = QLabel(i18n[self.lang]['WarnCode'] + ':')
self.label_warn_code = QLabel('0')
self.label_warn_code.setStyleSheet('''color: gray;font:bold;''')
common_down_layout.addWidget(label)
common_down_layout.addWidget(self.label_warn_code)
label = QLabel(i18n[self.lang]['ErrorCode'] + ':')
self.label_error_code = QLabel('0')
self.label_error_code.setStyleSheet('''color: gray;font:bold;''')
common_down_layout.addWidget(label)
common_down_layout.addWidget(self.label_error_code)
label = QLabel(i18n[self.lang]['CmdCount'] + ':')
self.label_cmd_count = QLabel('0')
self.label_cmd_count.setStyleSheet('''color: gray;font:bold;''')
common_down_layout.addWidget(label)
common_down_layout.addWidget(self.label_cmd_count)
label = QLabel(i18n[self.lang]['State'] + ':')
self.label_state = QLabel('4')
self.label_state.setStyleSheet('''color: gray;font:bold;''')
common_down_layout.addWidget(label)
common_down_layout.addWidget(self.label_state)
label = QLabel(i18n[self.lang]['Maable'] + ':')
self.label_maable = QLabel('128')
self.label_maable.setStyleSheet('''color: gray;font:bold;''')
common_down_layout.addWidget(label)
common_down_layout.addWidget(self.label_maable)
label = QLabel(i18n[self.lang]['Mtbrake'] + ':')
self.label_mtbrake = QLabel('128')
self.label_mtbrake.setStyleSheet('''color: gray;font:bold;''')
common_down_layout.addWidget(label)
common_down_layout.addWidget(self.label_mtbrake)
def _set_tab(self):
tab_widget = QTabWidget()
tab_widget.setMaximumHeight(self.main_ui.window.geometry().height() //
2)
self.layout.addWidget(tab_widget)
toolBox1 = QToolBox()
toolBox2 = QToolBox()
groupBox1 = QGroupBox()
groupBox2 = QGroupBox()
toolBox1.addItem(groupBox1, "")
toolBox2.addItem(groupBox2, "")
tab_widget.addTab(toolBox1, i18n[self.lang]['Joint'])
tab_widget.addTab(toolBox2, i18n[self.lang]['Cartesian'])
joint_layout = QVBoxLayout(groupBox1)
cartesian_layout = QVBoxLayout(groupBox2)
self.cartesian_ui = CartesianUI(self, cartesian_layout)
self.axis_ui = JointUI(self, joint_layout)
def _set_common_down_ui(self):
slider_frame = QFrame()
slider_layout = QGridLayout(slider_frame)
self.layout.addWidget(slider_frame)
label = QLabel(i18n[self.lang]['Speed'] + ':')
self.slider_speed = QSlider(Qt.Horizontal)
self.spinbox_speed = QSpinBox()
self.slider_speed.setMinimum(1)
self.slider_speed.setMaximum(1000)
self.slider_speed.setValue(50)
self.spinbox_speed.setSingleStep(1)
self.spinbox_speed.setMinimum(1)
self.spinbox_speed.setMaximum(1000)
self.spinbox_speed.setValue(50)
slider_layout.addWidget(label, 0, 0)
slider_layout.addWidget(self.slider_speed, 0, 1)
slider_layout.addWidget(self.spinbox_speed, 0, 2)
label = QLabel(i18n[self.lang]['Acc'] + ':')
self.slider_acc = QSlider(Qt.Horizontal)
self.spinbox_acc = QSpinBox()
self.slider_acc.setMinimum(1)
self.slider_acc.setMaximum(100000)
self.slider_acc.setValue(5000)
self.spinbox_acc.setSingleStep(1)
self.spinbox_acc.setMinimum(1)
self.spinbox_acc.setMaximum(100000)
self.spinbox_acc.setValue(5000)
slider_layout.addWidget(label, 0, 3)
slider_layout.addWidget(self.slider_acc, 0, 4)
slider_layout.addWidget(self.spinbox_acc, 0, 5)
common_frame = QFrame()
common_layout = QGridLayout(common_frame)
self.layout.addWidget(common_frame)
self.btn_stop = QPushButton(i18n[self.lang]['Stop'])
self.btn_clean = QPushButton(i18n[self.lang]['CleanErrorWarn'])
self.btn_reset = QPushButton(i18n[self.lang]['Reset'])
self.btn_get_servo_dbmsg = QPushButton(
i18n[self.lang]['GetServoDebugMsg'])
common_layout.addWidget(self.btn_stop, 0, 0)
common_layout.addWidget(self.btn_clean, 0, 2)
common_layout.addWidget(self.btn_reset, 0, 3)
common_layout.addWidget(self.btn_get_servo_dbmsg, 0, 4)
btn_frame = QFrame()
btn_layout = QGridLayout(btn_frame)
self.layout.addWidget(btn_frame)
self.combobox_servo = QComboBox()
self.combobox_servo.setStyleSheet('''color: blue;''')
for item in [
'axis-all', 'axis-1', 'axis-2', 'axis-3', 'axis-4', 'axis-5',
'axis-6', 'axis-7'
]:
self.combobox_servo.addItem(item)
self.combobox_servo.setCurrentIndex(1)
btn_layout.addWidget(self.combobox_servo, 0, 0)
self.btn_motion_enable = QPushButton(i18n[self.lang]['MotionEnable'])
self.btn_motion_disable = QPushButton(i18n[self.lang]['MotionDisable'])
self.btn_servo_attach = QPushButton(i18n[self.lang]['ServoAttach'])
self.btn_servo_detach = QPushButton(i18n[self.lang]['ServoDetach'])
self.combobox_state = QComboBox()
self.combobox_state.setStyleSheet('''color: blue;''')
for item in ['sport', 'pause', 'stop']:
self.combobox_state.addItem(item)
self.combobox_state.setCurrentIndex(0)
self.btn_set_state = QPushButton(i18n[self.lang]['SetState'])
btn_layout.addWidget(self.btn_motion_enable, 0, 1)
btn_layout.addWidget(self.btn_motion_disable, 0, 2)
btn_layout.addWidget(self.btn_servo_attach, 0, 3)
btn_layout.addWidget(self.btn_servo_detach, 0, 4)
btn_layout.addWidget(self.combobox_state, 0, 5)
btn_layout.addWidget(self.btn_set_state, 0, 6)
self.lnt_servo_addr = QLineEdit('servo_addr')
self.lnt_servo_addr_value = QLineEdit('value')
self.btn_get_servo_addr16 = QPushButton(
i18n[self.lang]['GetServoAddr16'])
self.btn_set_servo_addr16 = QPushButton(
i18n[self.lang]['SetServoAddr16'])
self.btn_get_servo_addr32 = QPushButton(
i18n[self.lang]['GetServoAddr32'])
self.btn_set_servo_addr32 = QPushButton(
i18n[self.lang]['SetServoAddr32'])
self.btn_set_servo_zero = QPushButton(i18n[self.lang]['SetServoZero'])
btn_layout.addWidget(self.lnt_servo_addr, 1, 0)
btn_layout.addWidget(self.lnt_servo_addr_value, 1, 1)
btn_layout.addWidget(self.btn_get_servo_addr16, 1, 2)
btn_layout.addWidget(self.btn_set_servo_addr16, 1, 3)
btn_layout.addWidget(self.btn_get_servo_addr32, 1, 4)
btn_layout.addWidget(self.btn_set_servo_addr32, 1, 5)
btn_layout.addWidget(self.btn_set_servo_zero, 1, 6)
def connect_slot(self):
self.btn_connect.clicked.connect(self.connect)
self.slider_speed.valueChanged.connect(
functools.partial(self.slider_spinbox_related,
slave=self.spinbox_speed,
scale=1))
self.spinbox_speed.valueChanged.connect(
functools.partial(self.slider_spinbox_related,
slave=self.slider_speed,
scale=1))
self.slider_acc.valueChanged.connect(
functools.partial(self.slider_spinbox_related,
slave=self.spinbox_acc,
scale=1))
self.spinbox_acc.valueChanged.connect(
functools.partial(self.slider_spinbox_related,
slave=self.slider_acc,
scale=1))
self.btn_stop.clicked.connect(self.stop)
self.btn_clean.clicked.connect(self.clean)
self.btn_reset.clicked.connect(self.reset)
self.btn_get_servo_dbmsg.clicked.connect(
functools.partial(self.handler.get_servo_debug_msg,
only_log_error_servo=False))
self.btn_motion_enable.clicked.connect(self.motion_enable)
self.btn_motion_disable.clicked.connect(self.motion_disable)
self.btn_servo_attach.clicked.connect(self.set_servo_attach)
self.btn_servo_detach.clicked.connect(self.set_servo_detach)
self.btn_set_state.clicked.connect(self.set_state)
self.btn_get_servo_addr16.clicked.connect(self.get_servo_addr_16)
self.btn_set_servo_addr16.clicked.connect(self.set_servo_addr_16)
self.btn_get_servo_addr32.clicked.connect(self.get_servo_addr_32)
self.btn_set_servo_addr32.clicked.connect(self.set_servo_addr_32)
self.btn_set_servo_zero.clicked.connect(self.set_servo_zero)
@staticmethod
def slider_spinbox_related(value, master=None, slave=None, scale=1):
try:
slave.setValue(value * scale)
except Exception as e:
print(e)
def reset_flag(self):
self.cartesian_ui.reset_flag()
self.axis_ui.reset_flag()
def update_maable_mtbrake(self, maable, mtbrake):
try:
self.label_maable.setText(str(maable))
self.label_mtbrake.setText(str(mtbrake))
self.label_maable.setStyleSheet('''color: green;font:bold;''')
self.label_mtbrake.setStyleSheet('''color: green;font:bold;''')
except Exception as e:
print(e)
def update_cmd_count(self, cmdnum):
try:
self.label_cmd_count.setText(str(cmdnum))
self.label_cmd_count.setStyleSheet('''color: green;font:bold;''')
except Exception as e:
print(e)
def update_state(self, state):
try:
if state == 1:
state_str = 'sport'
self.label_state.setText(state_str)
self.label_state.setStyleSheet('''color: green;font:bold;''')
elif state == 2:
state_str = 'sleep'
self.label_state.setText(state_str)
self.label_state.setStyleSheet('''color: gray;font:bold;''')
elif state == 3:
state_str = 'pause'
self.label_state.setText(state_str)
self.label_state.setStyleSheet('''color: orange;font:bold;''')
elif state == 4:
state_str = 'stop'
self.label_state.setText(state_str)
self.label_state.setStyleSheet('''color: red;font:bold;''')
except Exception as e:
print(e)
# getattr(self, 'label_state').setText(state_str)
# getattr(self, 'label_state').setText(str(state))
if state != 1:
self.reset_flag()
def update_warn_error(self, item):
try:
warn, error = item
self.label_warn_code.setText(str(warn))
self.label_error_code.setText(str(error))
if warn != 0:
self.label_warn_code.setStyleSheet('''color: red;font:bold;''')
else:
self.label_warn_code.setStyleSheet(
'''color: green;font:bold;''')
if error != 0:
self.label_error_code.setStyleSheet(
'''color: red;font:bold;''')
else:
self.label_error_code.setStyleSheet(
'''color: green;font:bold;''')
except Exception as e:
print(e)
def update_connect_status(self, item):
try:
img = QImage()
if item[0]:
logger.info('connect to {} success, report: {}'.format(
self.handler.addr, self.handler.report_type))
if img.load(connect_icon_path):
self.label_connected.setPixmap(QPixmap.fromImage(img))
self.btn_connect.setText(i18n[self.lang]['Disconnect'])
self.btn_connect.setStyleSheet('''color: red;font:bold;''')
self.set_disable(False)
else:
logger.info('disconnect from or failed connect {}'.format(
self.handler.addr))
self.handler.cmd_que.queue.clear()
if img.load(disconnect_icon_path):
self.label_connected.setPixmap(QPixmap.fromImage(img))
self.btn_connect.setText(i18n[self.lang]['Connect'])
self.btn_connect.setStyleSheet(
'''color: green;font:bold;''')
self.set_disable(True)
if item[1]:
if img.load(connect_icon_path):
self.label_reported.setPixmap(QPixmap.fromImage(img))
else:
if img.load(disconnect_icon_path):
self.label_reported.setPixmap(QPixmap.fromImage(img))
except Exception as e:
print(e)
def connect(self, event):
try:
if str(self.btn_connect.text()) == i18n[self.lang]['Connect']:
addr = self.lnt_addr.text().strip()
if addr == '192.168.1.':
addr = 'localhost'
report_type = 'normal'
else:
tmp = addr.split(':')
addr = tmp[0]
report_type = tmp[1] if len(tmp) > 1 else 'normal'
self.btn_connect.setText('Connecting')
self.btn_connect.setStyleSheet('''color: orange;font:bold;''')
self.handler.connect(addr, report_type=report_type)
# if self.window.connect(addr, report_type=report_type):
# self.btn_connect.setText(self.disconnect_label)
# self.btn_connect.setStyleSheet('''color: red;font:bold;''')
elif str(self.btn_connect.text()) == i18n[self.lang]['Disconnect']:
self.handler.disconnect()
self.btn_connect.setText(i18n[self.lang]['Connect'])
self.btn_connect.setStyleSheet('''color: green;font:bold;''')
except Exception as e:
print(e)
def stop(self, event):
try:
self.handler.cmd_que.queue.clear()
if self.handler.xarm and self.handler.xarm.warn_code != 0:
item = {
'cmd': 'clean_warn',
}
self.handler.put_cmd_que(item)
if self.handler.xarm and self.handler.xarm.error_code != 0:
item = {
'cmd': 'clean_error',
}
self.handler.put_cmd_que(item)
item = {
'cmd': 'motion_enable',
'kwargs': {
'servo_id': 0,
'enable': True
}
}
self.handler.put_cmd_que(item)
item = {
'cmd': 'urgent_stop',
}
self.handler.put_cmd_que(item)
self.reset_flag()
except Exception as e:
print(e)
def clean(self, event):
try:
self.handler.cmd_que.queue.clear()
if self.handler.xarm and self.handler.xarm.warn_code != 0:
item = {
'cmd': 'clean_warn',
}
self.handler.put_cmd_que(item)
if self.handler.xarm and self.handler.xarm.error_code != 0:
item = {
'cmd': 'clean_error',
}
self.handler.put_cmd_que(item)
except Exception as e:
print(e)
def reset(self, event):
try:
self.handler.cmd_que.queue.clear()
if self.handler.xarm and self.handler.xarm.warn_code != 0:
item = {
'cmd': 'clean_warn',
}
self.handler.put_cmd_que(item)
if self.handler.xarm and self.handler.xarm.error_code != 0:
item = {
'cmd': 'clean_error',
}
self.handler.put_cmd_que(item)
item = {
'cmd': 'motion_enable',
'kwargs': {
'servo_id': 0,
'enable': True
}
}
self.handler.put_cmd_que(item)
item = {'cmd': 'set_state', 'kwargs': {'state': 0}}
self.handler.put_cmd_que(item)
item = {
'cmd': 'move_gohome',
'kwargs': {
'speed': 30,
'mvacc': 5000,
}
}
self.handler.put_cmd_que(item)
self.reset_flag()
except Exception as e:
print(e)
def get_servo_addr_16(self, event):
try:
addr = self.lnt_servo_addr.text().strip()
try:
if addr.lower().startswith('0x'):
addr = int(addr, base=16)
else:
addr = int(addr)
except:
QMessageBox.warning(self.main_ui.window, '错误',
'请输入正确的地址， 地址必须是u16类型')
return
text = self.combobox_servo.currentText()
if text == 'axis-all':
QMessageBox.warning(self.main_ui.window, '警告',
'请选择其中一个电机，不能选择所有电机')
return
else:
servo_id = int(text.split('-')[-1])
tmp = '你确定要获取电机{}的地址{}的值吗？'.format(servo_id, addr)
if QMessageBox.question(self.main_ui.window, '警告',
tmp) == QMessageBox.Yes:
item = {
'cmd': 'get_servo_addr_16',
'kwargs': {
'servo_id': servo_id,
'addr': addr
}
}
self.handler.put_cmd_que(item)
except Exception as e:
print(e)
def get_servo_addr_32(self, event):
try:
addr = self.lnt_servo_addr.text().strip()
try:
if addr.lower().startswith('0x'):
addr = int(addr, base=16)
else:
addr = int(addr)
except:
QMessageBox.warning(self.main_ui.window, '错误',
'请输入正确的地址， 地址必须是u16类型')
return
text = self.combobox_servo.currentText()
if text == 'axis-all':
QMessageBox.warning(self.main_ui.window, '警告',
'请选择其中一个电机，不能选择所有电机')
return
else:
servo_id = int(text.split('-')[-1])
tmp = '你确定要获取电机{}的地址{}的值吗？'.format(servo_id, addr)
if QMessageBox.question(self.main_ui.window, '警告',
tmp) == QMessageBox.Yes:
item = {
'cmd': 'get_servo_addr_32',
'kwargs': {
'servo_id': servo_id,
'addr': addr
}
}
self.handler.put_cmd_que(item)
except Exception as e:
print(e)
def set_servo_addr_16(self, event):
try:
addr = self.lnt_servo_addr.text().strip()
try:
if addr.lower().startswith('0x'):
addr = int(addr, base=16)
else:
addr = int(addr)
except:
QMessageBox.warning(self.main_ui.window, '错误',
'请输入正确的地址， 地址必须是u16类型')
return
value = self.lnt_servo_addr_value.text().strip()
try:
value = float(value)
except:
QMessageBox.warning(self.main_ui.window, '错误',
'请输入正确的值， 值必须是float32类型')
return
text = self.combobox_servo.currentText()
if text == 'axis-all':
QMessageBox.warning(self.main_ui.window, '警告',
'请选择其中一个电机，不能选择所有电机')
return
else:
servo_id = int(text.split('-')[-1])
tmp = '你确定要设置电机{}的地址{}的值为{}吗？'.format(servo_id, addr, value)
if QMessageBox.question(self.main_ui.window, '警告',
tmp) == QMessageBox.Yes:
item = {
'cmd': 'set_servo_addr_16',
'kwargs': {
'servo_id': servo_id,
'addr': addr,
'value': value
}
}
self.handler.put_cmd_que(item)
except Exception as e:
print(e)
def set_servo_addr_32(self, event):
try:
addr = self.lnt_servo_addr.text().strip()
try:
if addr.lower().startswith('0x'):
addr = int(addr, base=16)
else:
addr = int(addr)
except:
QMessageBox.warning(self.main_ui.window, '错误',
'请输入正确的地址， 地址必须是u16类型')
return
value = self.lnt_servo_addr_value.text().strip()
try:
value = float(value)
except:
QMessageBox.warning(self.main_ui.window, '错误',
'请输入正确的值， 值必须是float32类型')
return
text = self.combobox_servo.currentText()
if text == 'axis-all':
QMessageBox.warning(self.main_ui.window, '警告',
'请选择其中一个电机，不能选择所有电机')
return
else:
servo_id = int(text.split('-')[-1])
tmp = '你确定要设置电机{}的地址{}的值为{}吗？'.format(servo_id, addr, value)
if QMessageBox.question(self.main_ui.window, '警告',
tmp) == QMessageBox.Yes:
item = {
'cmd': 'set_servo_addr_32',
'kwargs': {
'servo_id': servo_id,
'addr': addr,
'value': value
}
}
self.handler.put_cmd_que(item)
except Exception as e:
print(e)
def set_servo_zero(self, event):
try:
text = self.combobox_servo.currentText()
if text == 'axis-all':
servo_id = 8
else:
servo_id = int(text.split('-')[-1])
if servo_id == 8:
tmp = '你确定要设置所有电机的零点吗？'
else:
tmp = '你确定要设置电机{}的零点吗？'.format(servo_id)
if QMessageBox.question(self.main_ui.window, '警告',
tmp) == QMessageBox.Yes:
item = {
'cmd': 'set_servo_zero',
'kwargs': {
'servo_id': servo_id
}
}
self.handler.put_cmd_que(item)
except Exception as e:
print(e)
def set_servo_attach(self, event):
try:
text = self.combobox_servo.currentText()
if text == 'axis-all':
servo_id = 8
else:
servo_id = int(text.split('-')[-1])
item = {
'cmd': 'set_servo_attach',
'kwargs': {
'servo_id': servo_id
}
}
self.handler.put_cmd_que(item)
item = {
'cmd': 'motion_enable',
'kwargs': {
'servo_id': servo_id,
'enable': True
}
}
self.handler.put_cmd_que(item)
item = {'cmd': 'set_state', 'kwargs': {'state': 0}}
self.handler.put_cmd_que(item)
except Exception as e:
print(e)
def set_servo_detach(self, event):
try:
text = self.combobox_servo.currentText()
if text == 'axis-all':
servo_id = 8
else:
servo_id = int(text.split('-')[-1])
if servo_id == 8:
tmp = '你确定要解锁所有电机吗？'
else:
tmp = '你确定要解锁电机{}吗？'.format(servo_id)
if QMessageBox.question(self.main_ui.window, '警告',
tmp) == QMessageBox.Yes:
item = {
'cmd': 'set_servo_detach',
'kwargs': {
'servo_id': servo_id
}
}
self.handler.put_cmd_que(item)
except Exception as e:
print(e)
def motion_enable(self, event):
self._motion_enable(True)
def motion_disable(self, event):
self._motion_enable(False)
def _motion_enable(self, enable=True):
try:
text = self.combobox_servo.currentText()
if text == 'axis-all':
servo_id = 8
else:
servo_id = int(text.split('-')[-1])
item = {
'cmd': 'motion_enable',
'kwargs': {
'servo_id': servo_id,
'enable': enable
}
}
self.handler.put_cmd_que(item)
except Exception as e:
print(e)
def set_state(self, event):
try:
text = self.combobox_state.currentText()
if text == 'sport':
state = 0
elif text == 'pause':
state = 3
elif text == 'stop':
state = 4
else:
return
if state in [0, 3, 4]:
item = {'cmd': 'set_state', 'kwargs': {'state': state}}
self.handler.put_cmd_que(item)
except Exception as e:
print(e)
def set_disable(self, disable):
try:
self.btn_stop.setDisabled(disable)
self.btn_clean.setDisabled(disable)
self.btn_reset.setDisabled(disable)
self.btn_get_servo_dbmsg.setDisabled(disable)
self.combobox_servo.setDisabled(disable)
self.combobox_state.setDisabled(disable)
self.btn_motion_enable.setDisabled(disable)
self.btn_motion_disable.setDisabled(disable)
self.btn_servo_attach.setDisabled(disable)
self.btn_servo_detach.setDisabled(disable)
self.btn_set_state.setDisabled(disable)
self.lnt_servo_addr.setDisabled(disable)
self.lnt_servo_addr_value.setDisabled(disable)
self.btn_get_servo_addr16.setDisabled(disable)
self.btn_set_servo_addr16.setDisabled(disable)
self.btn_get_servo_addr32.setDisabled(disable)
self.btn_set_servo_addr32.setDisabled(disable)
self.btn_set_servo_zero.setDisabled(disable)
self.slider_speed.setDisabled(disable)
self.spinbox_speed.setDisabled(disable)
self.slider_acc.setDisabled(disable)
self.spinbox_acc.setDisabled(disable)
self.axis_ui.set_disable(disable)
self.cartesian_ui.set_disable(disable)
except Exception as e:
print(e)
class UArmUI(object):
def __init__(self, ui, layout):
self.main_ui = ui
self.layout = layout
super(UArmUI, self).__init__()
self.handler = UArmHandler(self)
self.lang = self.main_ui.lang
self.status = 0
self.set_ui()
self.set_disable(True)
def set_ui(self):
self._set_common_top_ui()
self._set_tab()
self._set_common_down_ui()
self.connect_slot()
def _set_common_top_ui(self):
top_frame = QFrame()
top_frame.setMaximumHeight(60)
top_layout = QVBoxLayout(top_frame)
self.layout.addWidget(top_frame)
common_top_frame = QFrame()
common_top_frame.setMinimumHeight(50)
common_top_frame.setMaximumHeight(50)
common_top_layout = QHBoxLayout(common_top_frame)
top_layout.addWidget(common_top_frame)
common_top_layout.addStretch(0)
label = QLabel(i18n[self.lang]['Type'] + ':')
self.label_type = QLabel('')
self.label_type.setStyleSheet('''color: gray;font:bold;''')
common_top_layout.addWidget(label)
common_top_layout.addWidget(self.label_type)
label = QLabel(i18n[self.lang]['Mode'] + ':')
self.label_mode = QLabel('')
self.label_mode.setStyleSheet('''color: gray;font:bold;''')
common_top_layout.addWidget(label)
common_top_layout.addWidget(self.label_mode)
label = QLabel(i18n[self.lang]['HardwareVersion'] + ':')
self.label_hard_version = QLabel('')
self.label_hard_version.setStyleSheet('''color: gray;font:bold;''')
common_top_layout.addWidget(label)
common_top_layout.addWidget(self.label_hard_version)
label = QLabel(i18n[self.lang]['FirmwareVersion'] + ':')
self.label_firm_version = QLabel('')
self.label_firm_version.setStyleSheet('''color: gray;font:bold;''')
common_top_layout.addWidget(label)
common_top_layout.addWidget(self.label_firm_version)
label_1 = QLabel(i18n[self.lang]['Connected'] + ':')
self.label_connected = QLabel()
img = QImage()
self.label_connected.setMaximumHeight(20)
self.label_connected.setMaximumWidth(20)
self.label_connected.setScaledContents(True)
if img.load(disconnect_icon_path):
self.label_connected.setPixmap(QPixmap.fromImage(img))
self.lnt_addr = QLineEdit('COM12')
self.lnt_addr.setMaximumWidth(50)
self.lnt_addr.setMinimumWidth(30)
self.btn_connect = QPushButton(i18n[self.lang]['Connect'])
# self.btn_connect.setMaximumWidth(50)
# common_top_layout.addStretch(0)
common_top_layout.setSpacing(10)
common_top_layout.addWidget(label_1)
common_top_layout.addWidget(self.label_connected)
common_top_layout.addWidget(self.lnt_addr)
common_top_layout.addWidget(self.btn_connect)
def _set_common_down_ui(self):
slider_frame = QFrame()
slider_layout = QGridLayout(slider_frame)
self.layout.addWidget(slider_frame)
label = QLabel(i18n[self.lang]['Speed'] + ':')
self.slider_speed = QSlider(Qt.Horizontal)
self.spinbox_speed = QSpinBox()
self.slider_speed.setMinimum(1)
self.slider_speed.setMaximum(100000)
self.slider_speed.setValue(10000)
self.spinbox_speed.setSingleStep(1)
self.spinbox_speed.setMinimum(1)
self.spinbox_speed.setMaximum(100000)
self.spinbox_speed.setValue(10000)
slider_layout.addWidget(label, 0, 0)
slider_layout.addWidget(self.slider_speed, 0, 1)
slider_layout.addWidget(self.spinbox_speed, 0, 2)
# label = QLabel(i18n[self.lang]['Acc'] + ':')
# self.slider_acc = QSlider(Qt.Horizontal)
# self.spinbox_acc = QSpinBox()
# self.slider_acc.setMinimum(1)
# self.slider_acc.setMaximum(100000)
# self.slider_acc.setValue(5000)
# self.spinbox_acc.setSingleStep(1)
# self.spinbox_acc.setMinimum(1)
# self.spinbox_acc.setMaximum(100000)
# self.spinbox_acc.setValue(5000)
# slider_layout.addWidget(label, 0, 3)
# slider_layout.addWidget(self.slider_acc, 0, 4)
# slider_layout.addWidget(self.spinbox_acc, 0, 5)
btn_frame = QFrame()
btn_layout = QGridLayout(btn_frame)
self.layout.addWidget(btn_frame)
self.btn_get_device_info = QPushButton(i18n[self.lang]['GetDeviceInfo'])
self.btn_get_position = QPushButton(i18n[self.lang]['GetPosition'])
self.btn_get_polar = QPushButton(i18n[self.lang]['GetPolar'])
self.btn_get_servo_angle = QPushButton(i18n[self.lang]['GetServoAngle'])
self.btn_get_mode = QPushButton(i18n[self.lang]['GetMode'])
btn_layout.addWidget(self.btn_get_device_info, 0, 0)
btn_layout.addWidget(self.btn_get_position, 0, 1)
btn_layout.addWidget(self.btn_get_polar, 0, 2)
btn_layout.addWidget(self.btn_get_servo_angle, 0, 3)
btn_layout.addWidget(self.btn_get_mode, 0, 4)
self.combobox_servo = QComboBox()
self.combobox_servo.setStyleSheet('''color: blue;''')
for item in ['axis-1', 'axis-2', 'axis-3', 'axis-all']:
self.combobox_servo.addItem(item)
self.combobox_servo.setCurrentIndex(0)
btn_layout.addWidget(self.combobox_servo, 0, 0)
self.btn_servo_attach = QPushButton(i18n[self.lang]['ServoAttach'])
self.btn_servo_detach = QPushButton(i18n[self.lang]['ServoDetach'])
self.combobox_mode = QComboBox()
self.combobox_mode.setStyleSheet('''color: blue;''')
for item in ['normal', 'laser', '3D', 'pen']:
self.combobox_mode.addItem(item)
self.combobox_mode.setCurrentIndex(0)
self.btn_set_mode = QPushButton(i18n[self.lang]['SetMode'])
btn_layout.addWidget(self.combobox_servo, 1, 0)
btn_layout.addWidget(self.btn_servo_attach, 1, 1)
btn_layout.addWidget(self.btn_servo_detach, 1, 2)
btn_layout.addWidget(self.combobox_mode, 1, 3)
btn_layout.addWidget(self.btn_set_mode, 1, 4)
self.btn_reset = QPushButton(i18n[self.lang]['Reset'])
self.btn_pump_on = QPushButton(i18n[self.lang]['PumpOn'])
self.btn_pump_off = QPushButton(i18n[self.lang]['PumpOff'])
self.btn_gripper_catch = QPushButton(i18n[self.lang]['GripperCatch'])
self.btn_gripper_release = QPushButton(i18n[self.lang]['GripperRelease'])
btn_layout.addWidget(self.btn_reset, 2, 0)
btn_layout.addWidget(self.btn_pump_on, 2, 1)
btn_layout.addWidget(self.btn_pump_off, 2, 2)
btn_layout.addWidget(self.btn_gripper_catch, 2, 3)
btn_layout.addWidget(self.btn_gripper_release, 2, 4)
@staticmethod
def slider_spinbox_related(value, master=None, slave=None, scale=1):
try:
slave.setValue(value * scale)
except Exception as e:
print(e)
def connect_slot(self):
self.btn_connect.clicked.connect(self.connect)
self.slider_speed.valueChanged.connect(
functools.partial(self.slider_spinbox_related, slave=self.spinbox_speed, scale=1))
self.spinbox_speed.valueChanged.connect(
functools.partial(self.slider_spinbox_related, slave=self.slider_speed, scale=1))
# self.slider_acc.valueChanged.connect(
# functools.partial(self.slider_spinbox_related, slave=self.spinbox_acc, scale=1))
# self.spinbox_acc.valueChanged.connect(
# functools.partial(self.slider_spinbox_related, slave=self.slider_acc, scale=1))
self.btn_get_device_info.clicked.connect(self.get_device_info)
self.btn_get_position.clicked.connect(self.get_position)
self.btn_get_polar.clicked.connect(self.get_polar)
self.btn_get_servo_angle.clicked.connect(self.get_servo_angle)
self.btn_get_mode.clicked.connect(self.get_mode)
self.btn_servo_attach.clicked.connect(self.set_servo_attach)
self.btn_servo_detach.clicked.connect(self.set_servo_detach)
self.btn_set_mode.clicked.connect(self.set_mode)
self.btn_reset.clicked.connect(self.reset)
self.btn_pump_on.clicked.connect(self.pump_on)
self.btn_pump_off.clicked.connect(self.pump_off)
self.btn_gripper_catch.clicked.connect(self.gripper_catch)
self.btn_gripper_release.clicked.connect(self.gripper_release)
def reset_flag(self):
self.cartesian_ui.reset_flag()
self.axis_ui.reset_flag()
def update_connect_status(self, item):
try:
img = QImage()
if item and self.status != 1:
self.status = 1
logger.info('connect to {} success'.format(self.handler.port))
if img.load(connect_icon_path):
self.label_connected.setPixmap(QPixmap.fromImage(img))
self.btn_connect.setText(i18n[self.lang]['Disconnect'])
self.btn_connect.setStyleSheet('''color: red;font:bold;''')
self.set_disable(False)
elif not item and self.status != 0:
self.status = 0
logger.info('disconnect from {0} or failed connect {0}'.format(self.handler.port))
self.handler.cmd_que.queue.clear()
if img.load(disconnect_icon_path):
self.label_connected.setPixmap(QPixmap.fromImage(img))
self.btn_connect.setText(i18n[self.lang]['Connect'])
self.btn_connect.setStyleSheet('''color: green;font:bold;''')
self.set_disable(True)
except Exception as e:
print(e)
def connect(self):
try:
if str(self.btn_connect.text()) == i18n[self.lang]['Connect']:
addr = self.lnt_addr.text().strip()
if addr == 'auto':
addr = None
self.btn_connect.setText('Connecting')
self.status = 2
self.btn_connect.setStyleSheet('''color: orange;font:bold;''')
self.handler.connect(addr)
# if self.window.connect(addr, report_type=report_type):
# self.btn_connect.setText(self.disconnect_label)
# self.btn_connect.setStyleSheet('''color: red;font:bold;''')
elif str(self.btn_connect.text()) == i18n[self.lang]['Disconnect']:
self.handler.disconnect()
self.btn_connect.setText(i18n[self.lang]['Connect'])
self.btn_connect.setStyleSheet('''color: green;font:bold;''')
except Exception as e:
print(e)
def get_device_info(self, event):
try:
item = {
'cmd': 'get_device_info',
}
self.handler.put_cmd_que(item)
except Exception as e:
print(e)
def get_mode(self, event):
try:
item = {
'cmd': 'get_mode',
}
self.handler.put_cmd_que(item)
except Exception as e:
print(e)
def get_position(self, event):
try:
item = {
'cmd': 'get_position',
}
self.handler.put_cmd_que(item)
except Exception as e:
print(e)
def get_polar(self, event):
try:
item = {
'cmd': 'get_polar',
}
self.handler.put_cmd_que(item)
except Exception as e:
print(e)
def get_servo_angle(self, event):
try:
item = {
'cmd': 'get_servo_angle',
}
self.handler.put_cmd_que(item)
except Exception as e:
print(e)
def set_servo_attach(self, event):
try:
text = self.combobox_servo.currentText()
if text == 'axis-all':
servo_id = None
else:
servo_id = int(self.combobox_servo.currentIndex())
item = {
'cmd': 'set_servo_attach',
'kwargs': {
'servo_id': servo_id
}
}
self.handler.put_cmd_que(item)
except Exception as e:
print(e)
def set_servo_detach(self, event):
try:
text = self.combobox_servo.currentText()
if text == 'axis-all':
servo_id = None
else:
servo_id = int(self.combobox_servo.currentIndex())
item = {
'cmd': 'set_servo_detach',
'kwargs': {
'servo_id': servo_id
}
}
self.handler.put_cmd_que(item)
except Exception as e:
print(e)
def pump_on(self, event):
try:
item = {
'cmd': 'set_pump',
'kwargs': {
'on': True
}
}
self.handler.put_cmd_que(item)
except Exception as e:
print(e)
def pump_off(self, event):
try:
item = {
'cmd': 'set_pump',
'kwargs': {
'on': False
}
}
self.handler.put_cmd_que(item)
except Exception as e:
print(e)
def gripper_catch(self, event):
try:
item = {
'cmd': 'set_gripper',
'kwargs': {
'catch': True
}
}
self.handler.put_cmd_que(item)
except Exception as e:
print(e)
def gripper_release(self, event):
try:
item = {
'cmd': 'set_gripper',
'kwargs': {
'catch': False
}
}
self.handler.put_cmd_que(item)
except Exception as e:
print(e)
def set_mode(self, event):
try:
mode = self.combobox_mode.currentIndex()
item = {
'cmd': 'set_mode',
'kwargs': {
'mode': int(mode)
}
}
self.handler.put_cmd_que(item)
except Exception as e:
print(e)
def reset(self, event):
try:
self.handler.cmd_que.queue.clear()
item = {
'cmd': 'reset',
'kwargs': {
'speed': self.spinbox_speed.value(),
'wait': False,
}
}
self.handler.put_cmd_que(item)
self.reset_flag()
except Exception as e:
print(e)
@staticmethod
def slider_spinbox_related(value, master=None, slave=None, scale=1):
try:
slave.setValue(value * scale)
except Exception as e:
print(e)
def _set_tab(self):
tab_widget = QTabWidget()
tab_widget.setMaximumHeight(self.main_ui.window.geometry().height() // 2)
self.layout.addWidget(tab_widget)
toolBox1 = QToolBox()
toolBox2 = QToolBox()
groupBox1 = QGroupBox()
groupBox2 = QGroupBox()
toolBox1.addItem(groupBox1, "")
toolBox2.addItem(groupBox2, "")
tab_widget.addTab(toolBox1, i18n[self.lang]['Angle'])
tab_widget.addTab(toolBox2, i18n[self.lang]['Coordinate'])
joint_layout = QVBoxLayout(groupBox1)
cartesian_layout = QVBoxLayout(groupBox2)
self.cartesian_ui = CoordinateUI(self, cartesian_layout)
self.axis_ui = AngleUI(self, joint_layout)
def update_device_info(self, device_info):
if device_info is not None:
self.label_type.setText(str(device_info.get('device_type', None)))
self.label_hard_version.setText(str(device_info.get('hardware_version', None)))
self.label_firm_version.setText(str(device_info.get('firmware_version', None)))
def update_mode(self, mode):
if mode is not None:
if mode == 0:
mode_str = 'Normal'
elif mode == 1:
mode_str = 'Laser'
elif mode == 2:
mode_str = '3D'
elif mode == 3:
mode_str = 'Pen'
else:
mode_str = self.label_mode.text()
self.label_mode.setText(mode_str)
def set_disable(self, disable):
try:
self.btn_get_device_info.setDisabled(disable)
self.btn_get_position.setDisabled(disable)
self.btn_get_polar.setDisabled(disable)
self.btn_get_servo_angle.setDisabled(disable)
self.btn_get_mode.setDisabled(disable)
self.combobox_servo.setDisabled(disable)
self.combobox_mode.setDisabled(disable)
self.btn_servo_attach.setDisabled(disable)
self.btn_servo_detach.setDisabled(disable)
self.btn_reset.setDisabled(disable)
self.btn_pump_on.setDisabled(disable)
self.btn_pump_off.setDisabled(disable)
self.btn_gripper_catch.setDisabled(disable)
self.btn_gripper_release.setDisabled(disable)
self.slider_speed.setDisabled(disable)
self.spinbox_speed.setDisabled(disable)
# self.slider_acc.setDisabled(disable)
# self.spinbox_acc.setDisabled(disable)
self.axis_ui.set_disable(disable)
self.cartesian_ui.set_disable(disable)
except Exception as e:
print(e)
