test gui

gui_test.py

@@ -0,0 +1,97 @@
+from juce_init import START_JUCE_COMPONENT
+import popsicle as juce
+
+
+class SidePanel(juce.Component):
+    backgroundColour = juce.Colours.lightblue
+    textColour = juce.Colours.black
+    
+    robots = []
+    
+    robotsLabel = juce.Label("", "Выберите робота")
+    robotsRadio = []
+    robotsControls = [robotsLabel] + robotsRadio
+
+    robotButtonsId = 1001
+
+    def __init__(self, robots=[]):
+        super().__init__()
+        self.robots = robots
+
+        for r in self.robots:
+            self.robotsRadio.append(
+                juce.ToggleButton(r["name"]),
+            )
+        self.robotsControls = [self.robotsLabel] + self.robotsRadio
+
+        for s in self.robotsControls:
+            self.addAndMakeVisible(s)
+
+        for s in self.robotsRadio:
+            s.setRadioGroupId(self.robotButtonsId, juce.dontSendNotification)
+            s.onClick = self.updateToggleState
+            s.setClickingTogglesState(True)
+
+    def paint(self, g: juce.Graphics):
+        g.fillAll(self.backgroundColour)
+
+        for i, s in enumerate(self.robotsControls):
+            s.setColour(s.textColourId, self.textColour)
+            if hasattr(s, "tickDisabledColourId"):
+                s.setColour(s.tickColourId, self.textColour)
+                s.setColour(s.tickDisabledColourId, self.textColour)
+
+            s.setBounds(10 if i == 0 else 20, (i * 20), self.getWidth() - 20, 20)
+
+    def updateToggleState(self):
+        for i, s in enumerate(self.robotsRadio):
+            if s.getToggleState() == True:
+                print(self.robots[i])
+                break;
+
+
+class MainPanel(juce.Component):
+    sliders = []
+
+    def __init__(self):
+        super().__init__()
+
+        for _ in range(5):
+            slider = juce.Slider()
+            slider.setTextBoxStyle(
+                juce.Slider.TextEntryBoxPosition.NoTextBox, True, 0, 0
+            )
+
+            self.sliders.append(slider)
+            self.addAndMakeVisible(slider)
+
+    def paint(self, g):
+        g.fillAll(juce.Colours.hotpink)
+
+
+class MainContentComponent(juce.Component):
+    def __init__(self, robots):
+        super().__init__()
+
+        self.rightPanel = SidePanel(robots)
+        self.mainPanel = MainPanel()
+
+        self.addAndMakeVisible(self.rightPanel)
+        self.addAndMakeVisible(self.mainPanel)
+
+        self.setSize(800, 600)
+        # self.setResizable(False, False)
+
+    def paint(self, g):
+        g.fillAll(
+            self.getLookAndFeel().findColour(juce.ResizableWindow.backgroundColourId)
+        )
+
+    def resized(self):
+        bounds = self.getLocalBounds()
+        self.rightPanel.setBounds(bounds.removeFromRight(self.proportionOfWidth(0.25)))
+        self.mainPanel.setBounds(bounds)
+
+
+if __name__ == "__main__":
+    START_JUCE_COMPONENT(MainContentComponent, name="ROBOT GUI")

juce_init.py

@@ -0,0 +1,101 @@
+import os
+import sys
+import glob
+import time
+import traceback
+from pathlib import Path
+from functools import wraps
+
+
+try:
+	import popsicle as juce
+
+except ImportError:
+    folder = (Path(__file__).parent.parent / "build")
+    for ext in ["*.so", "*.pyd"]:
+        path_to_search = folder / "**" / ext
+        for f in glob.iglob(str(path_to_search), recursive=True):
+            if os.path.isfile(f):
+                sys.path.append(str(Path(f).parent))
+                break
+
+    import popsicle as juce
+
+
+def START_JUCE_COMPONENT(ComponentClass, name, **kwargs):
+    class DefaultWindow(juce.DocumentWindow):
+        component = None
+
+        def __init__(self):
+            super().__init__(
+                juce.JUCEApplication.getInstance().getApplicationName(),
+                juce.Desktop.getInstance().getDefaultLookAndFeel()
+                    .findColour(juce.ResizableWindow.backgroundColourId),
+                juce.DocumentWindow.allButtons,
+                True)
+
+            self.component = ComponentClass(kwargs.get("robots", []))
+
+            self.setResizable(True, True)
+            self.setContentNonOwned(self.component, True)
+            self.centreWithSize(self.component.getWidth(), self.component.getHeight() + self.getTitleBarHeight())
+            self.setAlwaysOnTop(kwargs.get("alwaysOnTop", False))
+            self.setVisible(True)
+
+        def __del__(self):
+            self.clearContentComponent()
+
+            if self.component:
+                self.component.setVisible(False)
+                del self.component
+
+        def closeButtonPressed(self):
+            juce.JUCEApplication.getInstance().systemRequestedQuit()
+
+    class DefaultApplication(juce.JUCEApplication):
+        window = None
+
+        def __init__(self):
+            super().__init__()
+
+        def getApplicationName(self):
+            return name
+
+        def getApplicationVersion(self):
+            return "1.0"
+
+        def initialise(self, commandLineParameters):
+            self.window = DefaultWindow()
+
+            juce.MessageManager.callAsync(lambda: juce.Process.makeForegroundProcess())
+
+        def shutdown(self):
+            if self.window:
+                del self.window
+
+        def systemRequestedQuit(self):
+            self.quit()
+
+        # def unhandledException(self, ex: Exception, file: str, line: int):
+        #     if hasattr(ex, "__traceback__"):
+        #         print("Traceback (most recent call last):")
+        #         traceback.print_tb(ex.__traceback__)
+        #     print(ex)
+        #     if isinstance(ex, KeyboardInterrupt):
+        #         juce.JUCEApplication.getInstance().systemRequestedQuit()
+
+    juce.START_JUCE_APPLICATION(
+        DefaultApplication,
+        catchExceptionsAndContinue=kwargs.get("catchExceptionsAndContinue", False))
+
+
+def timeit(func):
+    @wraps(func)
+    def timeit_wrapper(*args, **kwargs):
+        start_time = time.perf_counter()
+        result = func(*args, **kwargs)
+        total_time = time.perf_counter() - start_time
+        print(f'Function {func.__name__} Took {total_time:.4f} seconds') # {args} {kwargs}
+        return result
+
+    return timeit_wrapper

main.py

@@ -0,0 +1,19 @@
+import threading
+from juce_init import START_JUCE_COMPONENT
+from gui_test import MainContentComponent
+
+class MyApp:
+    robots = [
+        {"name": "big", "host": "192.168.70.55", "slave_id": 11},
+        {"name": "small", "host": "192.168.70.65", "slave_id": 22},
+    ]
+
+    def __init__(self):
+        robot = self.robots[0]
+        self.start_gui()
+        
+    def start_gui(self):
+        START_JUCE_COMPONENT(MainContentComponent, name="ROBOT GUI", robots=self.robots)
+        
+if __name__ == "__main__":
+    MyApp()

poetry.lock

@@ -45,6 +45,30 @@ files = [
     {file = "numpy-1.26.4.tar.gz", hash = "sha256:2a02aba9ed12e4ac4eb3ea9421c420301a0c6460d9830d74a9df87efa4912010"},
 ]
 
+[[package]]
+name = "popsicle"
+version = "0.9.6"
+description = "popsicle: Python integration for JUCE with pybind11."
+optional = false
+python-versions = ">=3.10"
+files = [
+    {file = "popsicle-0.9.6-cp310-cp310-macosx_10_15_universal2.whl", hash = "sha256:0abedd3790cfe63b14ac3aa46263993e8d859b2c1f769dad8e8685d9995e8e2e"},
+    {file = "popsicle-0.9.6-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:10ef070c120e782d852eb47a55a187cf7276e8a759110bbbec713e5bbd0faf6a"},
+    {file = "popsicle-0.9.6-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:4e2d51bd173da55f84aec6c2a3b5c4b8c0ac3742491a20110531fcc3a3f308bc"},
+    {file = "popsicle-0.9.6-cp310-cp310-win_amd64.whl", hash = "sha256:c55c6f840269a49b395626ce600c65078aeeda8c727d305d1dca7bded5cf587b"},
+    {file = "popsicle-0.9.6-cp310-cp310-win_arm64.whl", hash = "sha256:1e22ffb9aca2b468915d7c4b5bd7ce82cdf52ce86e1f4d54eacf6a033dd13c98"},
+    {file = "popsicle-0.9.6-cp311-cp311-macosx_10_15_universal2.whl", hash = "sha256:d013f08cfd2c491d3f4a35b6477592bd58ece3d59c37a513b6d1e620f50145f1"},
+    {file = "popsicle-0.9.6-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:cafbace5fb0df51aac0336cce47fc5208335c43670a103d1a7f8ee0f3094f118"},
+    {file = "popsicle-0.9.6-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:95063399a42258b56b469ae31a380d6c2ddb4ab01d729a52300ee3e55ecececb"},
+    {file = "popsicle-0.9.6-cp311-cp311-win_amd64.whl", hash = "sha256:f30b6309b015f3a26a461223c19d7c8f962f42868575af076f15f71f53b58496"},
+    {file = "popsicle-0.9.6-cp311-cp311-win_arm64.whl", hash = "sha256:0d0eafff83b08b6ada954e897a0e07b17f6994398c1860a5a9560af402c8f6e9"},
+    {file = "popsicle-0.9.6-cp312-cp312-macosx_10_15_universal2.whl", hash = "sha256:a42d53580ddbaca15e64e34c4971f83a862a95c5e50d3e1be5b127c4ff056e48"},
+    {file = "popsicle-0.9.6-cp312-cp312-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:4429eeee549cf340b3bcc60e7244881b08b8357aeafc88a2a9aee9dd1e3b9fc1"},
+    {file = "popsicle-0.9.6-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:11de3ccfb5a8f422f1532aaca835ab6907affcbf91ff45312ebcb1d424b4723f"},
+    {file = "popsicle-0.9.6-cp312-cp312-win_amd64.whl", hash = "sha256:ce7f79069151860a1bd43ba50e786d57c8db3e2f6e8538db45bb0ac67adba7f6"},
+    {file = "popsicle-0.9.6-cp312-cp312-win_arm64.whl", hash = "sha256:c40d8301b08690b041ed5710f0e9a63bf83c48ab51f5cf015b6fb7cf95921744"},
+]
+
 [[package]]
 name = "pybullet"
 version = "3.2.6"
@@ -94,4 +118,4 @@ files = [
 [metadata]
 lock-version = "2.0"
 python-versions = "3.10.12"
-content-hash = "fe8f4d7980373c9220c8910d6eb71c5f4dd23b77fc6879a939a317637ef349d4"
+content-hash = "7bff17d98584d2b65789f0713e4ac29f8948fc013c65a192ab11ef9e3bfcd9d6"

pyproject.toml

@@ -11,6 +11,7 @@ pymodbus = "^3.7.0"
 tk = "^0.1.0"
 pybullet = "^3.2.6"
 numpy = "^1.20"
+popsicle = "^0.9.6"
 
 
 [build-system]