From 012b01299a155666b3afbc603a6070206dac1e94 Mon Sep 17 00:00:00 2001 From: user Date: Tue, 12 Nov 2024 09:03:54 +0300 Subject: [PATCH] test --- app.log | 91 ++++++++++++++++++++++++++++++++++++++++ gui/informer.py | 8 ++-- gui/visualize.py | 1 + poetry.lock | 18 ++++---- utils/pybullet_server.py | 3 +- 5 files changed, 108 insertions(+), 13 deletions(-) diff --git a/app.log b/app.log index 3528c11..5029a17 100644 --- a/app.log +++ b/app.log @@ -68637,3 +68637,94 @@ Joint 5 - Position: 2.6324369751913186e-19, Velocity: -1.7044130180708233e-30 - 2024-11-11 19:17:25,350 - logger - INFO - connected - robot.py - 52 2024-11-11 19:17:32,585 - logger - INFO - connected - robot.py - 52 2024-11-11 19:17:32,972 - logger - INFO - urdf\sample.urdf - client_socket.py - 136 +2024-11-12 08:54:09,496 - logger - INFO - robot_app . : get_status - main.py - 100 +2024-11-12 08:54:09,496 - logger - INFO - None - robot.py - 52 +2024-11-12 08:54:09,496 - logger - INFO - robot_app . : get_status - main.py - 100 +2024-11-12 08:54:09,496 - logger - INFO - robot_app . : get_status - main.py - 100 +2024-11-12 08:54:09,496 - logger - INFO - robot_app . : get_status - main.py - 100 +2024-11-12 08:54:09,496 - logger - INFO - robot_app . : get_world_coordinates - main.py - 100 +2024-11-12 08:54:09,496 - logger - INFO - robot_app . : get_axis_coordinates - main.py - 100 +2024-11-12 08:54:09,496 - logger - INFO - robot_app . : get_command_count - main.py - 100 +2024-11-12 08:54:10,545 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 130 +2024-11-12 08:54:15,648 - logger - INFO - not_connected - robot.py - 52 +2024-11-12 08:54:15,961 - logger - INFO - urdf\sample.urdf - client_socket.py - 136 +2024-11-12 08:54:18,486 - logger - INFO - connected - robot.py - 52 +2024-11-12 08:54:53,739 - logger - INFO - robot_app . : get_status - main.py - 100 +2024-11-12 08:54:53,739 - logger - INFO - None - robot.py - 52 +2024-11-12 08:54:53,739 - logger - INFO - robot_app . : get_status - main.py - 100 +2024-11-12 08:54:53,739 - logger - INFO - robot_app . : get_status - main.py - 100 +2024-11-12 08:54:53,739 - logger - INFO - robot_app . : get_status - main.py - 100 +2024-11-12 08:54:53,739 - logger - INFO - robot_app . : get_world_coordinates - main.py - 100 +2024-11-12 08:54:53,739 - logger - INFO - robot_app . : get_axis_coordinates - main.py - 100 +2024-11-12 08:54:53,739 - logger - INFO - robot_app . : get_command_count - main.py - 100 +2024-11-12 08:54:54,787 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 130 +2024-11-12 08:54:58,174 - logger - INFO - not_connected - robot.py - 52 +2024-11-12 08:54:58,530 - logger - INFO - urdf\sample.urdf - client_socket.py - 136 +2024-11-12 08:55:01,106 - logger - INFO - connected - robot.py - 52 +2024-11-12 08:55:04,592 - logger - INFO - UPDATE MODEL FUNC - client_socket.py - 236 +2024-11-12 08:55:04,592 - logger - INFO - [-8.487, -8.681, 33.058, 88.07, -75.01, -10.566] - client_socket.py - 329 +2024-11-12 08:55:05,102 - logger - INFO - set joints - client_socket.py - 332 +2024-11-12 08:55:06,305 - logger - INFO - [1282.244, -75.427, 1772.476, 84.629, 34.519, 153.999] - client_socket.py - 329 +2024-11-12 08:55:07,077 - logger - INFO - convrt to joint (-0.1446875831839329, -0.1492969091695312, 0.5051191505541466, 1.280780368433558, -0.9743354679330868, -0.3718163051032315) - client_socket.py - 324 +2024-11-12 08:55:07,126 - logger - INFO - set joints - client_socket.py - 332 +2024-11-12 08:55:09,409 - logger - INFO - ['ok'] - client_socket.py - 329 +2024-11-12 08:55:10,185 - logger - INFO - [1272.848129272461, -69.07805055379868, 1779.3337106704712] - client_socket.py - 265 +2024-11-12 08:55:10,236 - logger - INFO - [47.02958857 1.49078732 48.72599327] - client_socket.py - 268 +2024-11-12 08:58:05,072 - logger - INFO - robot_app . : get_status - main.py - 100 +2024-11-12 08:58:05,072 - logger - INFO - None - robot.py - 52 +2024-11-12 08:58:05,072 - logger - INFO - robot_app . : get_status - main.py - 100 +2024-11-12 08:58:05,072 - logger - INFO - robot_app . : get_status - main.py - 100 +2024-11-12 08:58:05,072 - logger - INFO - robot_app . : get_status - main.py - 100 +2024-11-12 08:58:05,072 - logger - INFO - robot_app . : get_world_coordinates - main.py - 100 +2024-11-12 08:58:05,072 - logger - INFO - robot_app . : get_axis_coordinates - main.py - 100 +2024-11-12 08:58:05,072 - logger - INFO - robot_app . : get_command_count - main.py - 100 +2024-11-12 08:58:06,116 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 130 +2024-11-12 08:58:48,618 - logger - INFO - not_connected - robot.py - 52 +2024-11-12 08:59:19,463 - logger - INFO - robot_app . : get_status - main.py - 100 +2024-11-12 08:59:19,463 - logger - INFO - None - robot.py - 52 +2024-11-12 08:59:19,463 - logger - INFO - robot_app . : get_status - main.py - 100 +2024-11-12 08:59:19,464 - logger - INFO - robot_app . : get_status - main.py - 100 +2024-11-12 08:59:19,464 - logger - INFO - robot_app . : get_status - main.py - 100 +2024-11-12 08:59:19,464 - logger - INFO - robot_app . : get_world_coordinates - main.py - 100 +2024-11-12 08:59:19,464 - logger - INFO - robot_app . : get_axis_coordinates - main.py - 100 +2024-11-12 08:59:19,465 - logger - INFO - robot_app . : get_command_count - main.py - 100 +2024-11-12 08:59:20,491 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 130 +2024-11-12 08:59:24,166 - logger - INFO - not_connected - robot.py - 52 +2024-11-12 08:59:24,482 - logger - INFO - urdf\sample.urdf - client_socket.py - 136 +2024-11-12 08:59:26,939 - logger - INFO - connected - robot.py - 52 +2024-11-12 08:59:32,447 - logger - INFO - UPDATE MODEL FUNC - client_socket.py - 236 +2024-11-12 08:59:32,447 - logger - INFO - [-8.487, -8.681, 33.058, 88.07, -75.01, -10.566] - client_socket.py - 329 +2024-11-12 08:59:32,968 - logger - INFO - set joints - client_socket.py - 332 +2024-11-12 08:59:34,124 - logger - INFO - [1282.244, -75.427, 1772.476, 84.629, 34.519, 153.999] - client_socket.py - 329 +2024-11-12 08:59:34,741 - logger - INFO - convrt to joint (-0.1410451840841763, -0.14026451538867948, 0.4940647625966008, 1.251435478939267, -0.8991454685072018, -0.4124368876357231) - client_socket.py - 324 +2024-11-12 08:59:34,793 - logger - INFO - set joints - client_socket.py - 332 +2024-11-12 08:59:36,627 - logger - INFO - UPDATE MODEL FUNC - client_socket.py - 236 +2024-11-12 08:59:36,627 - logger - INFO - [-8.487, -8.681, 33.058, 88.07, -75.01, -10.566] - client_socket.py - 329 +2024-11-12 08:59:36,676 - logger - INFO - ['ok'] - client_socket.py - 329 +2024-11-12 08:59:37,151 - logger - INFO - set joints - client_socket.py - 332 +2024-11-12 08:59:37,190 - logger - INFO - [1279.6517610549927, -73.23195040225983, 1773.9975452423096] - client_socket.py - 265 +2024-11-12 08:59:37,190 - logger - INFO - [41.107984 1.0752949 41.52261182] - client_socket.py - 268 +2024-11-12 08:59:38,307 - logger - INFO - [1282.244, -75.427, 1772.476, 84.629, 34.519, 153.999] - client_socket.py - 329 +2024-11-12 08:59:38,940 - logger - INFO - convrt to joint (-0.15495462721225997, -0.18048900853073904, 0.5334311266730681, 1.481888469833186, -1.2089736804011866, -0.2622167156584065) - client_socket.py - 324 +2024-11-12 08:59:38,984 - logger - INFO - set joints - client_socket.py - 332 +2024-11-12 08:59:40,007 - logger - INFO - convrt to joint (-0.1280844504756567, 0.01732342425808424, 0.40575713675528374, 0.9971144050940502, -2.8081011377497447, -0.5054530833540489) - client_socket.py - 324 +2024-11-12 08:59:40,007 - logger - INFO - set joints - client_socket.py - 332 +2024-11-12 08:59:41,078 - logger - INFO - ['ok'] - client_socket.py - 329 +2024-11-12 08:59:41,724 - logger - INFO - [1123.6740350723267, -23.6895140260458, 1832.5248956680298] - client_socket.py - 265 +2024-11-12 08:59:41,774 - logger - INFO - [48.48838013 14.09606231 67.26295677] - client_socket.py - 268 +2024-11-12 08:59:43,159 - logger - INFO - convrt to joint (-0.1087874707257609, -0.3906609560363362, 0.8300053485437483, 0.956280400294129, -2.801251913053437, -0.5349649967014609) - client_socket.py - 324 +2024-11-12 08:59:43,199 - logger - INFO - set joints - client_socket.py - 332 +2024-11-12 08:59:46,357 - logger - INFO - convrt to joint (-0.3082748963579218, -0.5523585642686842, 1.059117216444423, 0.8689442484447031, -2.984863076223401, -0.7187844811486995) - client_socket.py - 324 +2024-11-12 08:59:46,407 - logger - INFO - set joints - client_socket.py - 332 +2024-11-12 09:02:37,995 - logger - INFO - robot_app . : get_status - main.py - 100 +2024-11-12 09:02:37,995 - logger - INFO - None - robot.py - 52 +2024-11-12 09:02:37,995 - logger - INFO - robot_app . : get_status - main.py - 100 +2024-11-12 09:02:37,995 - logger - INFO - robot_app . : get_status - main.py - 100 +2024-11-12 09:02:37,995 - logger - INFO - robot_app . : get_status - main.py - 100 +2024-11-12 09:02:37,995 - logger - INFO - robot_app . : get_world_coordinates - main.py - 100 +2024-11-12 09:02:37,995 - logger - INFO - robot_app . : get_axis_coordinates - main.py - 100 +2024-11-12 09:02:37,995 - logger - INFO - robot_app . : get_command_count - main.py - 100 +2024-11-12 09:02:39,029 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 130 +2024-11-12 09:02:43,061 - logger - INFO - not_connected - robot.py - 52 +2024-11-12 09:02:43,444 - logger - INFO - urdf\sample.urdf - client_socket.py - 136 +2024-11-12 09:02:45,916 - logger - INFO - connected - robot.py - 52 diff --git a/gui/informer.py b/gui/informer.py index d9e9610..69c37f4 100644 --- a/gui/informer.py +++ b/gui/informer.py @@ -13,6 +13,10 @@ class Informer(QWidget): self.updateData = updateData + self.timer = QTimer() + self.timer.timeout.connect(self.updateState) + self.timer.start(int(100)) + # Инициализация пользовательского интерфейса self.initUI() @@ -29,7 +33,7 @@ class Informer(QWidget): self.layout.addWidget(l) self.updButton = QPushButton('Обновить данные') - self.updButton.clicked.connect(self.updateState) + self.updButton.clicked.connect(self.updateData) self.layout.addWidget(self.updButton) @@ -42,8 +46,6 @@ class Informer(QWidget): self.setPalette(p) def updateState(self): - self.updateData() - time.sleep(1) self.wLabel.setText(f'Мировые координаты {self.world_coord()}') self.aLabel.setText(f'Поворот осей {self.axis_coord()}') self.cLabel.setText(f'Количество команд в стеке {self.command_count()}') diff --git a/gui/visualize.py b/gui/visualize.py index 5c58888..464debe 100644 --- a/gui/visualize.py +++ b/gui/visualize.py @@ -36,6 +36,7 @@ class Visualize(QWidget): (rgb, width, height) = res bytesPerLine = 2 * width + # print(type(rgb)) image = QImage(np.asarray(rgb), width, height, bytesPerLine, QImage.Format.Format_RGBA8888).rgbSwapped() image = image.convertToFormat(QImage.Format.Format_RGB888) pixmap = QPixmap.fromImage(image) diff --git a/poetry.lock b/poetry.lock index 3c89806..5144eba 100644 --- a/poetry.lock +++ b/poetry.lock @@ -262,23 +262,23 @@ files = [ [[package]] name = "setuptools" -version = "75.3.0" +version = "75.4.0" description = "Easily download, build, install, upgrade, and uninstall Python packages" optional = false -python-versions = ">=3.8" +python-versions = ">=3.9" files = [ - {file = "setuptools-75.3.0-py3-none-any.whl", hash = "sha256:f2504966861356aa38616760c0f66568e535562374995367b4e69c7143cf6bcd"}, - {file = "setuptools-75.3.0.tar.gz", hash = "sha256:fba5dd4d766e97be1b1681d98712680ae8f2f26d7881245f2ce9e40714f1a686"}, + {file = "setuptools-75.4.0-py3-none-any.whl", hash = "sha256:b3c5d862f98500b06ffdf7cc4499b48c46c317d8d56cb30b5c8bce4d88f5c216"}, + {file = "setuptools-75.4.0.tar.gz", hash = "sha256:1dc484f5cf56fd3fe7216d7b8df820802e7246cfb534a1db2aa64f14fcb9cdcb"}, ] [package.extras] -check = ["pytest-checkdocs (>=2.4)", "pytest-ruff (>=0.2.1)", "ruff (>=0.5.2)"] -core = ["importlib-metadata (>=6)", "importlib-resources (>=5.10.2)", "jaraco.collections", "jaraco.functools", "jaraco.text (>=3.7)", "more-itertools", "more-itertools (>=8.8)", "packaging", "packaging (>=24)", "platformdirs (>=4.2.2)", "tomli (>=2.0.1)", "wheel (>=0.43.0)"] +check = ["pytest-checkdocs (>=2.4)", "pytest-ruff (>=0.2.1)", "ruff (>=0.7.0)"] +core = ["importlib-metadata (>=6)", "jaraco.collections", "jaraco.functools (>=4)", "jaraco.text (>=3.7)", "more-itertools", "more-itertools (>=8.8)", "packaging", "packaging (>=24.2)", "platformdirs (>=4.2.2)", "tomli (>=2.0.1)", "wheel (>=0.43.0)"] cover = ["pytest-cov"] doc = ["furo", "jaraco.packaging (>=9.3)", "jaraco.tidelift (>=1.4)", "pygments-github-lexers (==0.0.5)", "pyproject-hooks (!=1.1)", "rst.linker (>=1.9)", "sphinx (>=3.5)", "sphinx-favicon", "sphinx-inline-tabs", "sphinx-lint", "sphinx-notfound-page (>=1,<2)", "sphinx-reredirects", "sphinxcontrib-towncrier", "towncrier (<24.7)"] enabler = ["pytest-enabler (>=2.2)"] -test = ["build[virtualenv] (>=1.0.3)", "filelock (>=3.4.0)", "ini2toml[lite] (>=0.14)", "jaraco.develop (>=7.21)", "jaraco.envs (>=2.2)", "jaraco.path (>=3.2.0)", "jaraco.test (>=5.5)", "packaging (>=23.2)", "pip (>=19.1)", "pyproject-hooks (!=1.1)", "pytest (>=6,!=8.1.*)", "pytest-home (>=0.5)", "pytest-perf", "pytest-subprocess", "pytest-timeout", "pytest-xdist (>=3)", "tomli-w (>=1.0.0)", "virtualenv (>=13.0.0)", "wheel (>=0.44.0)"] -type = ["importlib-metadata (>=7.0.2)", "jaraco.develop (>=7.21)", "mypy (==1.12.*)", "pytest-mypy"] +test = ["build[virtualenv] (>=1.0.3)", "filelock (>=3.4.0)", "ini2toml[lite] (>=0.14)", "jaraco.develop (>=7.21)", "jaraco.envs (>=2.2)", "jaraco.path (>=3.2.0)", "jaraco.test (>=5.5)", "packaging (>=24.2)", "pip (>=19.1)", "pyproject-hooks (!=1.1)", "pytest (>=6,!=8.1.*)", "pytest-home (>=0.5)", "pytest-perf", "pytest-subprocess", "pytest-timeout", "pytest-xdist (>=3)", "tomli-w (>=1.0.0)", "virtualenv (>=13.0.0)", "wheel (>=0.44.0)"] +type = ["importlib-metadata (>=7.0.2)", "jaraco.develop (>=7.21)", "mypy (>=1.12,<1.14)", "pytest-mypy"] [[package]] name = "tk" @@ -294,4 +294,4 @@ files = [ [metadata] lock-version = "2.0" python-versions = "^3.10.11" -content-hash = "aacd044d750c588febb366011ff5172986b44b422eeaaf0066a1c4d34b5a10c1" +content-hash = "477456fef4701073ccbd5d5d1815632f60b9b74f660c90ea5a7303a5701765e1" diff --git a/utils/pybullet_server.py b/utils/pybullet_server.py index 5ab837b..c47e7ba 100644 --- a/utils/pybullet_server.py +++ b/utils/pybullet_server.py @@ -22,7 +22,8 @@ def main(type="SHARED_MEMORY_SERVER"): try: p.stepSimulation() except Exception as e: - print(e) + print(f"Ошибка в pybullet_server{e}") + time.sleep(1) time.sleep(30 * 0.001)