vis start
This commit is contained in:
parent
233417c50b
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39
gui/init.py
39
gui/init.py
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@ -10,33 +10,21 @@ from gui.observable import Observable
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from logger import logger
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class RightPanel(QWidget):
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def __init__(self, panels):
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class MyPanel(QWidget):
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def __init__(self, panels, color):
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super().__init__()
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layout = QVBoxLayout()
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for panel in panels:
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layout.addWidget(panel)
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self.color = QColor(*color)
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self.setLayout(layout)
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self.initUI()
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def initUI(self):
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palette = self.palette()
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palette.setColor(QPalette.Window, QColor(169, 169, 169)) # DarkGray
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self.setAutoFillBackground(True)
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self.setPalette(palette)
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class MainPanel(QWidget):
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def __init__(self, panels):
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super().__init__()
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layout = QVBoxLayout()
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for panel in panels:
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layout.addWidget(panel)
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self.initUI()
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def initUI(self):
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palette = self.palette()
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palette.setColor(QPalette.Window, QColor(255, 255, 255)) # White
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palette.setColor(QPalette.Window, self.color)
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self.setAutoFillBackground(True)
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self.setPalette(palette)
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@ -57,20 +45,22 @@ class MainContentComponent(QWidget):
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imitatorArgs = kwargs.get("imitatorPanel", {})
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self.imitatorPanel = Imitator(**imitatorArgs)
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self.rightPanel = RightPanel(
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self.rightPanel = MyPanel(
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panels=[
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self.statusPanel,
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self.robotPanel,
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self.imitatorPanel,
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]
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],
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color=(169, 169, 169),
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)
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visArgs = kwargs.get("visPanel", {})
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self.visPanel = Visualize(**visArgs)
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self.mainPanel = MainPanel(
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self.mainPanel = MyPanel(
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panels=[
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self.visPanel,
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]
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],
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color=(200, 200, 200),
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)
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layout = QHBoxLayout()
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@ -93,7 +83,10 @@ class MainContentComponent(QWidget):
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super().resizeEvent(event)
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def handle_value_change(self, new_value):
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panels = [self.imitatorPanel, self.visPanel]
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panels = [
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self.imitatorPanel,
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self.visPanel,
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]
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for p in panels:
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if new_value == "not_connected":
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p.setDisabled(True)
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@ -1,36 +1,63 @@
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import time
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from PyQt5.QtWidgets import QWidget, QVBoxLayout, QHBoxLayout, QLabel, QSizePolicy
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from PyQt5.QtGui import QImage, QPixmap, QColor
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from PyQt5.QtCore import Qt, QTimer
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import numpy as np
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from PIL import Image
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from PyQt5.QtWidgets import QWidget, QVBoxLayout, QLabel, QSizePolicy
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from PyQt5.QtGui import QImage, QPixmap
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from PyQt5.QtCore import QTimer
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from logger import logger
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class Visualize(QWidget):
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def __init__(self, get_pybullet_image):
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super().__init__()
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self.get_pybullet_image = get_pybullet_image
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# Настройка компоновки
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self.layout = QVBoxLayout(self)
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self.layout.setContentsMargins(0, 0, 0, 0) # Убираем отступы по краям
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self.h_layout = QHBoxLayout()
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self.h_layout.setContentsMargins(0, 0, 0, 0) # Убираем отступы по краям
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self.label = QLabel(self)
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self.label.setScaledContents(True) # Масштабирование изображения по размеру QLabel
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self.label.setSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding) # QLabel занимает всю доступную область
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self.label.setScaledContents(True)
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self.label.setSizePolicy(
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QSizePolicy.Expanding, QSizePolicy.Expanding
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)
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self.layout.addWidget(self.label)
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# Таймер для обновления изображения
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self.timer = QTimer()
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self.timer.timeout.connect(self.update_image)
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self.timer.start(100) # Обновление каждые 100 мс
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self.timer.start(1000) # Обновление каждые 100 мс
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def update_image(self):
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(rgb, width, height) = self.get_pybullet_image()
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# logger.info('upd img')
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# logger.info(f"Image size: {width}x{height}, RGB data length: {len(rgb)}")
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# rgbim = Image.fromarray(rgb)
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# rgbim.save(f"test_img/rgbtest/{time.time() }.png")
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# Преобразуем RGB данные в массив NumPy
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rgb_array = np.array(rgb, dtype=np.uint8)
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# Изменяем форму массива на (height, width, 4) для QImage
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rgb_array = rgb_array.reshape(height, width, 4)
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# Преобразование RGB-данных в QImage
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image = QImage(rgb, width, height, QImage.Format_RGB888)
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pixmap = QPixmap.fromImage(image)
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image = QImage(rgb_array, width, height, QImage.Format_RGBA8888)
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image = image.convertToFormat(QImage.Format_RGB888)
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pixmap = QPixmap.fromImage(image)
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# Обновление изображения на QLabel
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self.label.setPixmap(pixmap)
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self.label.repaint()
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def paintEvent(self, event):
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p = self.palette()
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p.setColor(self.backgroundRole(), Qt.magenta)
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self.setPalette(p)
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super().paintEvent(event)
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@ -4,7 +4,7 @@ import logging
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# Настройка логгера
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logging.basicConfig(
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level=logging.DEBUG, # Уровень логирования
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format="%(asctime)s - %(name)s - %(levelname)s - %(message)s",
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format="%(asctime)s - %(name)s - %(levelname)s - %(message)s - %(filename)s - %(lineno)d",
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handlers=[
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logging.FileHandler("app.log"), # Запись в файл
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logging.StreamHandler(sys.stdout), # Вывод в консоль
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@ -45,6 +45,98 @@ files = [
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{file = "numpy-1.26.4.tar.gz", hash = "sha256:2a02aba9ed12e4ac4eb3ea9421c420301a0c6460d9830d74a9df87efa4912010"},
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]
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[[package]]
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name = "pillow"
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version = "11.0.0"
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description = "Python Imaging Library (Fork)"
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optional = false
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python-versions = ">=3.9"
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files = [
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{file = "pillow-11.0.0-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:a65149d8ada1055029fcb665452b2814fe7d7082fcb0c5bed6db851cb69b2086"},
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||||
{file = "pillow-11.0.0-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:20ec184af98a121fb2da42642dea8a29ec80fc3efbaefb86d8fdd2606619045d"},
|
||||
{file = "pillow-11.0.0-cp39-cp39-manylinux_2_28_aarch64.whl", hash = "sha256:8594f42df584e5b4bb9281799698403f7af489fba84c34d53d1c4bfb71b7c4e7"},
|
||||
{file = "pillow-11.0.0-cp39-cp39-manylinux_2_28_x86_64.whl", hash = "sha256:c12b5ae868897c7338519c03049a806af85b9b8c237b7d675b8c5e089e4a618e"},
|
||||
{file = "pillow-11.0.0-cp39-cp39-musllinux_1_2_aarch64.whl", hash = "sha256:70fbbdacd1d271b77b7721fe3cdd2d537bbbd75d29e6300c672ec6bb38d9672f"},
|
||||
{file = "pillow-11.0.0-cp39-cp39-musllinux_1_2_x86_64.whl", hash = "sha256:5178952973e588b3f1360868847334e9e3bf49d19e169bbbdfaf8398002419ae"},
|
||||
{file = "pillow-11.0.0-cp39-cp39-win32.whl", hash = "sha256:8c676b587da5673d3c75bd67dd2a8cdfeb282ca38a30f37950511766b26858c4"},
|
||||
{file = "pillow-11.0.0-cp39-cp39-win_amd64.whl", hash = "sha256:94f3e1780abb45062287b4614a5bc0874519c86a777d4a7ad34978e86428b8dd"},
|
||||
{file = "pillow-11.0.0-cp39-cp39-win_arm64.whl", hash = "sha256:290f2cc809f9da7d6d622550bbf4c1e57518212da51b6a30fe8e0a270a5b78bd"},
|
||||
{file = "pillow-11.0.0-pp310-pypy310_pp73-macosx_10_15_x86_64.whl", hash = "sha256:1187739620f2b365de756ce086fdb3604573337cc28a0d3ac4a01ab6b2d2a6d2"},
|
||||
{file = "pillow-11.0.0-pp310-pypy310_pp73-macosx_11_0_arm64.whl", hash = "sha256:fbbcb7b57dc9c794843e3d1258c0fbf0f48656d46ffe9e09b63bbd6e8cd5d0a2"},
|
||||
{file = "pillow-11.0.0-pp310-pypy310_pp73-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:5d203af30149ae339ad1b4f710d9844ed8796e97fda23ffbc4cc472968a47d0b"},
|
||||
{file = "pillow-11.0.0-pp310-pypy310_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:21a0d3b115009ebb8ac3d2ebec5c2982cc693da935f4ab7bb5c8ebe2f47d36f2"},
|
||||
{file = "pillow-11.0.0-pp310-pypy310_pp73-manylinux_2_28_aarch64.whl", hash = "sha256:73853108f56df97baf2bb8b522f3578221e56f646ba345a372c78326710d3830"},
|
||||
{file = "pillow-11.0.0-pp310-pypy310_pp73-manylinux_2_28_x86_64.whl", hash = "sha256:e58876c91f97b0952eb766123bfef372792ab3f4e3e1f1a2267834c2ab131734"},
|
||||
{file = "pillow-11.0.0-pp310-pypy310_pp73-win_amd64.whl", hash = "sha256:224aaa38177597bb179f3ec87eeefcce8e4f85e608025e9cfac60de237ba6316"},
|
||||
{file = "pillow-11.0.0-pp39-pypy39_pp73-macosx_11_0_arm64.whl", hash = "sha256:5bd2d3bdb846d757055910f0a59792d33b555800813c3b39ada1829c372ccb06"},
|
||||
{file = "pillow-11.0.0-pp39-pypy39_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:375b8dd15a1f5d2feafff536d47e22f69625c1aa92f12b339ec0b2ca40263273"},
|
||||
{file = "pillow-11.0.0-pp39-pypy39_pp73-manylinux_2_28_x86_64.whl", hash = "sha256:daffdf51ee5db69a82dd127eabecce20729e21f7a3680cf7cbb23f0829189790"},
|
||||
{file = "pillow-11.0.0-pp39-pypy39_pp73-win_amd64.whl", hash = "sha256:7326a1787e3c7b0429659e0a944725e1b03eeaa10edd945a86dead1913383944"},
|
||||
{file = "pillow-11.0.0.tar.gz", hash = "sha256:72bacbaf24ac003fea9bff9837d1eedb6088758d41e100c1552930151f677739"},
|
||||
]
|
||||
|
||||
[package.extras]
|
||||
docs = ["furo", "olefile", "sphinx (>=8.1)", "sphinx-copybutton", "sphinx-inline-tabs", "sphinxext-opengraph"]
|
||||
fpx = ["olefile"]
|
||||
mic = ["olefile"]
|
||||
tests = ["check-manifest", "coverage", "defusedxml", "markdown2", "olefile", "packaging", "pyroma", "pytest", "pytest-cov", "pytest-timeout"]
|
||||
typing = ["typing-extensions"]
|
||||
xmp = ["defusedxml"]
|
||||
|
||||
[[package]]
|
||||
name = "popsicle"
|
||||
version = "0.9.6"
|
||||
|
|
@ -179,4 +271,4 @@ files = [
|
|||
[metadata]
|
||||
lock-version = "2.0"
|
||||
python-versions = "3.10.12"
|
||||
content-hash = "674afa8962f34256e63f5d5af6be94013e2c39e9880191eb3caecc9f70dcf704"
|
||||
content-hash = "f85dffb2208f45a3e3405ff57e5215d35ca57ed3e846c4f1580cd20bb4111491"
|
||||
|
|
|
|||
|
|
@ -13,6 +13,7 @@ pybullet = "^3.2.6"
|
|||
numpy = "^1.20"
|
||||
popsicle = "^0.9.6"
|
||||
pyqt5 = "^5.15.11"
|
||||
pillow = "^11.0.0"
|
||||
|
||||
|
||||
[build-system]
|
||||
|
|
|
|||
|
|
@ -46,38 +46,50 @@ class SocketRobotArm:
|
|||
self.body_id = None
|
||||
threading.Thread(target=self.run_pybullet, daemon=True).start()
|
||||
|
||||
# self.socket.connect((self.host, self.port))
|
||||
# self.cycle_base()
|
||||
|
||||
def __exit__(self, exc_type, exc_value, traceback):
|
||||
print("exiting")
|
||||
self.socket.close()
|
||||
|
||||
def run_pybullet(self):
|
||||
self.physics_client = p.connect(p.GUI)
|
||||
|
||||
p.setGravity(0, 0, -9.81, physicsClientId=self.physics_client)
|
||||
p.setAdditionalSearchPath(pybullet_data.getDataPath())
|
||||
|
||||
|
||||
urdf_path = os.path.join("urdf", f"{self.urdf_filename}.urdf")
|
||||
if not os.path.exists(urdf_path):
|
||||
raise FileNotFoundError(f"URDF file not found: {urdf_path}")
|
||||
|
||||
self.body_id = p.loadURDF(
|
||||
urdf_path,
|
||||
[0, 0, 0],
|
||||
useFixedBase=True,
|
||||
)
|
||||
|
||||
logger.info(f"Loaded URDF: {urdf_path} with body ID: {self.body_id}")
|
||||
|
||||
p.loadURDF("plane.urdf")
|
||||
self.body_id = p.loadURDF(urdf_path, [0, 0, 0], useFixedBase=True)
|
||||
logger.info(f"Загружена модель {urdf_path}, id: {self.body_id}")
|
||||
|
||||
threading.Thread(target=self.simulation_loop, daemon=True).start()
|
||||
|
||||
def simulation_loop(self):
|
||||
logger.info(f"Загружена simulation loop")
|
||||
while True:
|
||||
bodyUniqueId = self.body_id
|
||||
position, orientation = p.getBasePositionAndOrientation(bodyUniqueId)
|
||||
# logger.info(f"Position: {position}, Orientation: {orientation}")
|
||||
|
||||
# Получение состояния суставов
|
||||
num_joints = p.getNumJoints(bodyUniqueId)
|
||||
joint_states = p.getJointStates(bodyUniqueId, range(num_joints))
|
||||
|
||||
for i, state in enumerate(joint_states):
|
||||
joint_position = state[0] # Угол
|
||||
joint_velocity = state[1] # Угловая скорость
|
||||
# logger.info(f"Joint {i} - Position: {joint_position}, Velocity: {joint_velocity}")
|
||||
|
||||
p.stepSimulation()
|
||||
time.sleep(1 / 24) # 24 кадра в секунду
|
||||
|
||||
def get_pybullet_image(self):
|
||||
p.stepSimulation()
|
||||
width, height, rgb, _, _ = p.getCameraImage(
|
||||
width=800,
|
||||
height=800,
|
||||
width=640,
|
||||
height=640,
|
||||
viewMatrix=p.computeViewMatrix(
|
||||
cameraEyePosition=[0, 0, 1],
|
||||
cameraEyePosition=[2, 2, 2],
|
||||
cameraTargetPosition=[0, 0, 0],
|
||||
cameraUpVector=[0, 0, 1],
|
||||
),
|
||||
|
|
@ -87,6 +99,10 @@ class SocketRobotArm:
|
|||
renderer=p.ER_BULLET_HARDWARE_OPENGL,
|
||||
physicsClientId=self.physics_client,
|
||||
)
|
||||
logger.info(f"Image size: {width}x{height}, RGB data length: {len(rgb)}")
|
||||
|
||||
|
||||
|
||||
return (rgb, width, height)
|
||||
|
||||
def close(self):
|
||||
|
|
@ -172,17 +188,19 @@ class SocketRobotArm:
|
|||
targetPosition=coordinates,
|
||||
)
|
||||
print(joint_angles)
|
||||
return joint_angles
|
||||
logger.info(joint_angles)
|
||||
|
||||
def set_text(self, text):
|
||||
print(text)
|
||||
logger.info(text)
|
||||
|
||||
def set_joint(self, coordinates):
|
||||
logger.info('set joint')
|
||||
logger.info("set joints")
|
||||
num_joints = p.getNumJoints(self.body_id)
|
||||
if coordinates is None:
|
||||
return
|
||||
for joint_index in range(0, num_joints):
|
||||
# if not joint_index in coordinates:
|
||||
# return
|
||||
if coordinates[joint_index] is None:
|
||||
return
|
||||
p.setJointMotorControl2(
|
||||
bodyUniqueId=self.body_id,
|
||||
jointIndex=joint_index,
|
||||
|
|
|
|||
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|
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|
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|
After Width: | Height: | Size: 23 KiB |
|
|
@ -10,14 +10,14 @@
|
|||
<link name="base_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="/home/aarizona/projects/modbus_test/borunte_support/meshes/base_link.stl"/>
|
||||
<mesh filename="/home/aarizona/projects/modbus_test/urdf_support/borunte_support/meshes/base_link.stl"/>
|
||||
</geometry>
|
||||
<origin rpy="0.0 0 0.0" xyz="0 0 0"/>
|
||||
<material name="Black"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="/home/aarizona/projects/modbus_test/borunte_support/meshes/base_link_collision.stl"/>
|
||||
<mesh filename="/home/aarizona/projects/modbus_test/urdf_support/borunte_support/meshes/base_link_collision.stl"/>
|
||||
</geometry>
|
||||
<origin rpy="0.0 0 0.0" xyz="0 0 0"/>
|
||||
</collision>
|
||||
|
|
@ -25,14 +25,14 @@
|
|||
<link name="link_1">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="/home/aarizona/projects/modbus_test/borunte_support/meshes/link_1.stl"/>
|
||||
<mesh filename="/home/aarizona/projects/modbus_test/urdf_support/borunte_support/meshes/link_1.stl"/>
|
||||
</geometry>
|
||||
<origin rpy="0.0 0 0.0" xyz="0 0 0"/>
|
||||
<material name="DarkRed"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="/home/aarizona/projects/modbus_test/borunte_support/meshes/link_1_collision.stl"/>
|
||||
<mesh filename="/home/aarizona/projects/modbus_test/urdf_support/borunte_support/meshes/link_1_collision.stl"/>
|
||||
</geometry>
|
||||
<origin rpy="0.0 0 0.0" xyz="0 0 0"/>
|
||||
</collision>
|
||||
|
|
@ -44,14 +44,14 @@
|
|||
<link name="link_2">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="/home/aarizona/projects/modbus_test/borunte_support/meshes/link_2.stl"/>
|
||||
<mesh filename="/home/aarizona/projects/modbus_test/urdf_support/borunte_support/meshes/link_2.stl"/>
|
||||
</geometry>
|
||||
<origin rpy="0.0 0 0.0" xyz="0 0 0"/>
|
||||
<material name="DarkRed"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="/home/aarizona/projects/modbus_test/borunte_support/meshes/link_2_collision.stl"/>
|
||||
<mesh filename="/home/aarizona/projects/modbus_test/urdf_support/borunte_support/meshes/link_2_collision.stl"/>
|
||||
</geometry>
|
||||
<origin rpy="0.0 0 0.0" xyz="0 0 0"/>
|
||||
</collision>
|
||||
|
|
@ -63,14 +63,14 @@
|
|||
<link name="link_3">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="/home/aarizona/projects/modbus_test/borunte_support/meshes/link_3.stl"/>
|
||||
<mesh filename="/home/aarizona/projects/modbus_test/urdf_support/borunte_support/meshes/link_3.stl"/>
|
||||
</geometry>
|
||||
<origin rpy="0.0 0 0.0" xyz="0 0.01 0"/>
|
||||
<material name="DarkRed"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="/home/aarizona/projects/modbus_test/borunte_support/meshes/link_3_collision.stl"/>
|
||||
<mesh filename="/home/aarizona/projects/modbus_test/urdf_support/borunte_support/meshes/link_3_collision.stl"/>
|
||||
</geometry>
|
||||
<origin rpy="0.0 0 0.0" xyz="0 0.01 0"/>
|
||||
</collision>
|
||||
|
|
@ -82,14 +82,14 @@
|
|||
<link name="link_4">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="/home/aarizona/projects/modbus_test/borunte_support/meshes/link_4.stl"/>
|
||||
<mesh filename="/home/aarizona/projects/modbus_test/urdf_support/borunte_support/meshes/link_4.stl"/>
|
||||
</geometry>
|
||||
<origin rpy="0.0 0.0 0.0" xyz="0 0 0"/>
|
||||
<material name="DarkRed"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="/home/aarizona/projects/modbus_test/borunte_support/meshes/link_4_collision.stl"/>
|
||||
<mesh filename="/home/aarizona/projects/modbus_test/urdf_support/borunte_support/meshes/link_4_collision.stl"/>
|
||||
</geometry>
|
||||
<origin rpy="0.0 0 0.0" xyz="0 0 0"/>
|
||||
</collision>
|
||||
|
|
@ -101,14 +101,14 @@
|
|||
<link name="link_5">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="/home/aarizona/projects/modbus_test/borunte_support/meshes/link_5.stl"/>
|
||||
<mesh filename="/home/aarizona/projects/modbus_test/urdf_support/borunte_support/meshes/link_5.stl"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<material name="DarkRed"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="/home/aarizona/projects/modbus_test/borunte_support/meshes/link_5_collision.stl"/>
|
||||
<mesh filename="/home/aarizona/projects/modbus_test/urdf_support/borunte_support/meshes/link_5_collision.stl"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
</collision>
|
||||
|
|
@ -120,14 +120,14 @@
|
|||
<link name="link_6">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="/home/aarizona/projects/modbus_test/borunte_support/meshes/link_6.stl"/>
|
||||
<mesh filename="/home/aarizona/projects/modbus_test/urdf_support/borunte_support/meshes/link_6.stl"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0.0" xyz="0 0 0"/>
|
||||
<material name="DarkRed"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="/home/aarizona/projects/modbus_test/borunte_support/meshes/link_6_collision.stl"/>
|
||||
<mesh filename="/home/aarizona/projects/modbus_test/urdf_support/borunte_support/meshes/link_6_collision.stl"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0.0" xyz="0 0 0"/>
|
||||
</collision>
|
||||
|
|
|
|||
Loading…
Reference in New Issue