poetry

.gitignore

@@ -7,3 +7,4 @@ data/*
 app.log
 dist.zip
 .venv
+*.log

data/test.nc.result

@@ -1,19 +1,6 @@
-X0 Y0 Z0 U0
-X0 Y0 Z0 U-33.333
-X100 Y0 Z0 U-33.333
-X200 Y0 Z0 U-33.333
-X200 Y100 Z0 U-33.333
-X200 Y200 Z0 U-33.333
-X100 Y200 Z0 U-33.333
-X0 Y200 Z0 U-33.333
-X0 Y100 Z0 U-33.333
-X0 Y0 Z0 U-33.333
-X0 Y0 Z-100 W-33.333
-X100 Y0 Z-100 W-33.333
-X200 Y0 Z-100 W-33.333
-X200 Y100 Z-100 W-33.333
-X200 Y200 Z-100 W-33.333
-X100 Y200 Z-100 W-33.333
-X0 Y200 Z-100 W-33.333
-X0 Y100 Z-100 W-33.333
-X0 Y0 Z-100 W-33.333
+X-300 Y0 Z0
+X0 Y0 Z0
+X0 Y-300 Z0
+X0 Y0 Z0
+X0 Y0 Z-300
+X0 Y0 Z0

gui/visualize.py

@@ -1,4 +1,5 @@
 import time
+import numpy as np
 
 from PyQt6.QtWidgets import QWidget, QVBoxLayout, QHBoxLayout, QLabel, QSizePolicy
 from PyQt6.QtGui import QImage, QPixmap
@@ -34,8 +35,7 @@ class Visualize(QWidget):
             return
 
         (rgb, width, height) = res
-        
-        image = QImage(rgb, width, height, QImage.Format.Format_RGBA8888)
+        image = QImage(np.asarray(rgb), width, height, QImage.Format.Format_RGBA8888)
         image = image.convertToFormat(QImage.Format.Format_RGB888)
         pixmap = QPixmap.fromImage(image)
 

robot/client_socket.py

@@ -284,6 +284,8 @@ class SocketRobotArm:
             if self.command_type == "base"
             else self.convert_file_to_joint()
         )
+        with open(f"{self.command_type}.log", "w") as myfile:
+            myfile.write(json.dumps(commands))
 
         self.add_rcc_list = (
             [self.set_physical_speed(True), self.set_output_laser(True)]
@@ -294,8 +296,8 @@ class SocketRobotArm:
         step = 4
         empty = 1
         for i in range(0, len(self.add_rcc_list), step):
-            if not self.socket:
-                return
+            # if not self.socket:
+            #     return
 
             self.command_data = f"Отправка данных {i}...{i+step-1}"
 

run_local.py

@@ -33,13 +33,19 @@ signal.signal(signal.SIGTERM, lambda *_: cleanup())
 
 # Парсер аргументов командной строки
 parser = argparse.ArgumentParser(description="Python launcher script.")
-parser.add_argument("--test-socket", action="store_true", help="Запуск в режиме тестирования")
-parser.add_argument("--bullet-gui", action="store_true", help="Вывод визуального pybullet")
+parser.add_argument(
+    "--test-socket", action="store_true", help="Запуск в режиме тестирования"
+)
+parser.add_argument(
+    "--bullet-gui", action="store_true", help="Вывод визуального pybullet"
+)
 args = parser.parse_args()
 
+poetry_path = "poetry"
+
 # Установка команды для pybullet_server
 pybullet_command = [
-    "C://Users//user//AppData//Local//Packages//PythonSoftwareFoundation.Python.3.10_qbz5n2kfra8p0//LocalCache//local-packages//Python310//Scripts\poetry.exe",
+    poetry_path,
     "run",
     "python",
     "utils/pybullet_server.py",
@@ -63,10 +69,10 @@ if args.test_socket:
     print("Запуск test_socket_server...")
     test_server_process = subprocess.Popen(
         [
-            "C://Users//user//AppData//Local//Packages//PythonSoftwareFoundation.Python.3.10_qbz5n2kfra8p0//LocalCache//local-packages//Python310//Scripts//poetry.exe", 
-        "run", 
-        "python", 
-        "utils/test_socket_server.py",
+            poetry_path,
+            "run",
+            "python",
+            "utils/test_socket_server.py",
         ]
     )  # Путь к исполняемому файлу
 
@@ -77,14 +83,20 @@ if args.test_socket:
 
     # Запуск основного скрипта main.exe в режиме тестирования
     subprocess.run(
-        [    "C://Users//user//AppData//Local//Packages//PythonSoftwareFoundation.Python.3.10_qbz5n2kfra8p0//LocalCache//local-packages//Python310//Scripts//poetry.exe", 
-         "run", "python", "main.py", "--mode", "test"]
+        [
+            poetry_path,
+            "run",
+            "python",
+            "main.py",
+            "--mode",
+            "test",
+        ]
     )  # Путь к исполняемому файлу
 else:
     # Запуск основного скрипта main.exe
-    subprocess.run([    
-        "C://Users//user//AppData//Local//Packages//PythonSoftwareFoundation.Python.3.10_qbz5n2kfra8p0//LocalCache//local-packages//Python310//Scripts//poetry.exe",
-         "run", "python", "main.py"])  # Путь к исполняемому файлу
+    subprocess.run(
+        [poetry_path, "run", "python", "main.py",]
+    )  # Путь к исполняемому файлу
 
 # Очистка после завершения
 cleanup()