def show_box_show_tip(self, data_dict):
msg_id, msg_data = Util.get_msg_id_data_dict(data_dict)
if msg_id is not None:
index, tip = Util.get_index_tip_msg_data(msg_data)
if index is not None:
pass
pass
def compare_qr_code(self):
ret, md5sum_download = Util.get_md5sum(self.download_file_name)
if ret == 'ok':
ret, md5sum_current = Util.get_md5sum(self.qr_code_path)
if md5sum_current == md5sum_download:
self.logger.info('two png is same!!')
return True
self.logger.info('two png not same!!' + str(md5sum_download) + ' : ' +
str(md5sum_current))
return False
def on_click_button_yes(self):
"""取消按钮"""
if list_show_box_string[self.index][show_box_yes] is not None:
self.mode_dispatcher(
list_show_box_string[self.index][show_box_yes])
elif self.index == show_box_start_error:
self.logger.fatal('start error restart!')
Util.do_restart()
self.hide()
def start(self):
Util.add_thread(target=self.__run__)
Util.add_thread(target=self.write_file_queue_callback)
if self.rtmp_enable == 'yes':
Util.add_thread(target=self.rtmp_queue_callback)
if self.http_local_enable == 'yes':
Util.add_thread(target=self.local_queue_callback)
def __show_box_callback(self, data_dict):
"""
data_dict =
{
'msg_id' : 'ui_manager_show_box',
'msg_data' : {
'index' : 1 ,
'tip' : 'this a tip for show box'
}
}
"""
msg_id, msg_data = Util.get_msg_id_data_dict(data_dict)
if msg_id is not None:
index, tip = Util.get_index_tip_msg_data(msg_data)
if index is not None:
self.__show_box(index, tip)
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 control_callback(self, data_dict):
self.__logger.info(str(data_dict))
_, msg_data = Util.get_msg_id_data_dict(data_dict)
if 'ros_start' in msg_data:
if msg_data['ros_start']:
if self.is_start:
self.__logger.warning(' is starting please wait')
else:
self.__logger.info('start launch begin')
Util.add_thread(target=self.start_launch_thread)
else:
if self.is_stop:
self.__logger.warning(' is stopping please wait')
else:
self.__logger.info('stop launch begin')
Util.add_thread(target=self.stop_launch_thread)
def get_map_num(self):
list_map = Util.get_map_num()
self.m_button_left.hide()
self.m_button_right.hide()
list_map_len = len(list_map)
if list_map_len == 0:
self.timer_update_map.stop()
self.show_box(show_box_need_build_map, '')
else:
if list_map == self.list_map:
self.timer_update_map.stop()
return
else:
self.list_map = list_map
self.clear_all()
self.position_cnt = 0
self.timer_update_map.start(50)
# if list_map_len > 8:
# self.m_button_right.show()
pass
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_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 __subscribe_msg(self, data_dict):
"""
subscribe msg_id with mode_name.
:param data_dict: is a dict . include msg_id, mode_name
Note: ##
data_dict = {
'msg_id' : 'register_msg_id',
'msg_data' :
{
'msg_id' : 'xxxxx_id',
'module_name' : 'xxxxxx'
}
}
"""
msg_id, msg_data = Util.get_msg_id_data_dict(data_dict)
if msg_id is not None:
msg_id = msg_data.get('msg_id')
module_name = msg_data.get('module_name')
if isinstance(msg_id, str) and isinstance(module_name, str):
if msg_id == self.msg_id.inner_register_id:
self.__logger.info('register_msg_id ready for service !')
else:
if msg_id in self.msg_id_module_dict:
self.__logger.warning('msg_id : ' + str(msg_id) + ' register again! old module_ is ' +
str(self.msg_id_module_dict[msg_id]) + ' new module is ' +
str(module_name))
else:
self.__logger.info('msg_id : ' + str(msg_id) + ' register to module :' + str(module_name))
self.msg_id_module_dict[msg_id] = module_name
self.send_msg_id_manager_dispatcher(msg_id)
def __multi_msg_dispatcher(self, data_dict):
msg_id, msg_data = Util.get_msg_id_data_dict(data_dict)
if msg_id is not None:
module_name = self.msg_id_module_dict.get(msg_id)
if isinstance(module_name, str):
self.send_msg(msg_id, module_name, msg_data, msg_src=data_dict['msg_src'])
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 send_msg_ros(self, msg_data):
ret, send_msg = Util.dict_to_ros_msg(msg_data)
if ret == 'ok':
self.pub.publish(send_msg)
else:
self.logger.warning('msg : ' + str(msg_data) + 'to json fail by:' +
str(ret))
return
def mode_status_update(self, data_dict):
self.logger.info(str(data_dict))
_, msg_data = Util.get_msg_id_data_dict(data_dict)
if 'status' in msg_data and 'index' in msg_data:
status = msg_data['status']
index = msg_data['index']
if isinstance(status, bool) and index in range(start_status_cnt):
self.list_start_status[index][start_status] = status
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 inner_msg_handler(self, data_dict):
msg_id, msg_data = Util.get_msg_id_data_dict(data_dict)
if msg_id is not None:
callback = self.__subscriber_dict.get(msg_id)
if callback is not None:
callback(data_dict)
else:
if self.__default_callback is not None:
self.__default_callback(data_dict)
def progress_notify_callback(self, data_dict):
_, msg_data = Util.get_msg_id_data_dict(data_dict)
self.logger.info('receive msg ' + str(data_dict))
if 'progress_percent' in msg_data:
progress_percent = msg_data['progress_percent']
if isinstance(progress_percent, int):
if progress_percent >= 100:
self.progress_percent = 100
else:
self.progress_percent = progress_percent
def position_notify_callback(self, data_dict):
msg_id, msg_data = Util.get_msg_id_data_dict(data_dict)
if 'x' in msg_data and 'y' in msg_data and 'z' in msg_data:
self.position_x = int(msg_data['x'])
self.position_y = int(msg_data['y'])
self.position_z = int(msg_data['z'])
else:
self.logger.warning(str(data_dict) + ' data error !!!')
pass
def on_click_map_button(self, index):
"""选择地图按钮处理事件"""
self.logger.info('click ' + str(index) + 'map')
button_index = index - Map_button_id_delta
if 0 <= button_index < len(self.list_map):
if Util.change_wp_file(self.list_map[button_index].get('wp')) and \
Util.change_pcd_file(self.list_map[button_index].get('pcd')):
map_select_path = self.list_map[button_index].get('png')
map_select_name = self.list_map[button_index].get('name')
self.show_box(show_box_map_select,
'【' + map_select_name + '】?')
data_dict = {
'map_path': map_select_path,
'map_name': map_select_name
}
self.send_msg_dispatcher(self.msg_id.mode_working_show_map,
data_dict)
else:
self.show_box(show_box_launch_fail, '')
def do_update_map(self):
self.timer_update_map.stop()
list_map_len = len(self.list_map)
pos = self.get_map_qrect(list_map_len)
if self.position_cnt >= len(self.list_map):
return
map_detail = self.list_map[self.position_cnt]
rect_back, rect_title = self.get_qrect(pos, list_map_len,
self.position_cnt)
frame = AppQt.get_sub_frame(self.map_frame, rect_back,
'background-color: #FFFFFF;')
frame.show()
self.list_map_frame.append(frame)
png_path = map_detail.get('png')
Util.resize_png_for_map_display(png_path)
style_sheet = 'QPushButton{border-image: url(' + png_path + ')}'
rect = AppQt.QRect(3, 3, pos['map_weight'] - 2 * 3,
pos['map_weight'] - 2 * 3)
map_button = AppQt.get_pushbutton(frame, rect,
style_sheet) # type: QPushButton
map_button.setObjectName(str(self.position_cnt + Map_button_id_delta))
map_button.show()
map_button.clicked.connect(
lambda: self.on_click_map_button(int(self.sender().objectName())))
self.list_map_button.append(map_button)
name = map_detail.get('name')
map_label = AppQt.get_label_text(self.map_frame, rect_title, False,
name, 26)
map_label.show()
self.list_map_label.append(map_label)
self.timer_update_map.start(50)
pass
def interface_ros_send_msg_out(self, data_dict):
_, msg_data = Util.get_msg_id_data_dict(data_dict)
if msg_data is not None and isinstance(msg_data, dict):
if self.ros_is_running:
if self.ui_ros_topic_is_sub:
# self.send_msg_ros(msg_data)
self.msg_out_queue.put_nowait(msg_data)
else:
self.logger.info('/ui_ros_topic is not Subscriber')
else:
self.logger.info('ros_master is not run')
return
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 set_button_enable_callback(self, data_dict):
"""
{
'msg_id': 'base_frame_set_button_enable',
'msg_data':{
'button_enable': False
}
}
:param data_dict:
:return:
"""
msg_id, msg_data = Util.get_msg_id_data_dict(data_dict)
if msg_id is not None and isinstance(msg_data, dict):
self.set_button_enable_msg_data_proc(msg_data)
def update_link_status_callback(self, data_dict):
"""
{
'msg_id' : 'mode_mt_update_link_status',
'msg_data': {
'link_ros': False,
'link_mcu': False
}
}
:param data_dict:
:return:
"""
msg_id, msg_data = Util.get_msg_id_data_dict(data_dict)
if msg_id is not None and isinstance(msg_data, dict):
self.update_link_status_proc(msg_data)
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 set_odom_callback(self, data_dict):
"""
{
'msg_id' : 'cfg_server_set_odom',
'msg_data': {
'odom': 1.23
}
}
:param data_dict:
:return:
"""
msg_id, msg_data = Util.get_msg_id_data_dict(data_dict)
if msg_id is not None and isinstance(msg_data, dict):
self.logger.info('set_odom :' + str(data_dict))
odom = msg_data['odom']
self.database.update_key_value('odom', str(odom))
def show_map_callback(self, data_dict):
msg_id, msg_data = Util.get_msg_id_data_dict(data_dict)
if 'map_path' in msg_data and 'map_name' in msg_data:
map_path = msg_data['map_path']
if os.path.isfile(
map_path
) or map_path == ':/mode_map_select/mode_map_select/default.png':
self.map_select_path = map_path
if 'map_name' in msg_data:
self.map_select_name = msg_data['map_name']
return
else:
self.logger.fatal(str(map_path) + ' select path is no existed')
return
self.logger.warning(str(data_dict) + ' data error !!!')
def update_button_status_callback(self, data_dict):
"""
{
'msg_id' : 'mode_mt_update_button_status',
'msg_data': {
'brush_status': 'open', # close
'water_status': 'open',
'direction_status': 'forward' #back
}
}
:param data_dict:
:return:
"""
msg_id, msg_data = Util.get_msg_id_data_dict(data_dict)
if msg_id is not None and isinstance(msg_data, dict):
self.update_button_status_proc(msg_data)
def update_button_status_callback(self, data_dict):
"""
{
'msg_id' : 'base_frame_update_button_status',
'msg_data': {
'page_mode': 1
}
}
:param data_dict:
:return:
"""
msg_id, msg_data = Util.get_msg_id_data_dict(data_dict)
if msg_id is not None and isinstance(msg_data, dict):
self.logger.info('get_status :' + str(data_dict))
self.update_button_status_proc(msg_data)
