observable connect

README.md

@@ -1 +1,4 @@
-## modbus
+## Работа с роботом 
+
+### Тестовое окружение
+* `poetry run python main.py --mode test`

app.log

@@ -0,0 +1,26 @@
+2024-10-25 09:35:09,819 - logger - INFO - test
+2024-10-25 09:35:13,350 - logger - INFO - test
+2024-10-25 10:32:36,506 - logger - INFO - not_connected
+2024-10-25 10:39:48,747 - logger - INFO - not_connected
+2024-10-25 10:42:35,337 - logger - INFO - not_connected
+2024-10-25 10:42:36,287 - logger - INFO - not_connected
+2024-10-25 10:42:37,541 - logger - INFO - connected
+2024-10-25 10:42:38,252 - logger - INFO - connected
+2024-10-25 10:42:39,252 - logger - INFO - connected
+2024-10-25 10:42:40,253 - logger - INFO - connected
+2024-10-25 10:42:41,253 - logger - INFO - connected
+2024-10-25 10:42:42,253 - logger - INFO - connected
+2024-10-25 10:42:43,252 - logger - INFO - connected
+2024-10-25 10:42:44,253 - logger - INFO - connected
+2024-10-25 10:42:45,252 - logger - INFO - connected
+2024-10-25 10:43:37,355 - logger - INFO - Value changed: not_connected
+2024-10-25 10:43:40,252 - logger - INFO - Value changed: connected
+2024-10-25 10:43:43,595 - logger - INFO - Value changed: not_connected
+2024-10-25 10:53:29,935 - logger - INFO - Value changed: not_connected
+2024-10-25 10:53:41,824 - logger - INFO - Value changed: not_connected
+2024-10-25 10:53:45,860 - logger - INFO - Value changed: connected
+2024-10-25 10:53:50,752 - logger - INFO - Value changed: not_connected
+2024-10-25 10:53:52,751 - logger - INFO - Value changed: connected
+2024-10-25 10:53:54,993 - logger - INFO - Value changed: not_connected
+2024-10-25 10:53:57,014 - logger - INFO - Value changed: connected
+2024-10-25 10:54:02,382 - logger - INFO - Value changed: not_connected

gui/init.py

@@ -5,6 +5,9 @@ from PyQt5.QtGui import QColor, QPalette
 from gui.robot import ChangeRobot
 from gui.status import Status
 from gui.imitator import Imitator
+from gui.visualize import Visualize
+from gui.observable import Observable
+from logger import logger
 
 
 class RightPanel(QWidget):
@@ -12,7 +15,6 @@ class RightPanel(QWidget):
         super().__init__()
         layout = QVBoxLayout()
         for panel in panels:
-            # panel.setFixedHeight(200)
             layout.addWidget(panel)
         self.setLayout(layout)
         self.initUI()
@@ -25,8 +27,11 @@ class RightPanel(QWidget):
 
 
 class MainPanel(QWidget):
-    def __init__(self):
+    def __init__(self, panels):
         super().__init__()
+        layout = QVBoxLayout()
+        for panel in panels:
+            layout.addWidget(panel)
         self.initUI()
 
     def initUI(self):
@@ -40,20 +45,33 @@ class MainContentComponent(QWidget):
     def __init__(self, **kwargs):
         super().__init__()
 
+        self.observable = Observable(kwargs.get("get_status"))
+        self.observable.value_changed.connect(self.handle_value_change)
+
         robotArgs = kwargs.get("robotPanel", {})
-        robotPanel = ChangeRobot(**robotArgs)
+        self.robotPanel = ChangeRobot(**robotArgs)
+
         statusArgs = kwargs.get("statusPanel", {})
-        statusPanel = Status(**statusArgs)
+        self.statusPanel = Status(**statusArgs)
+
         imitatorArgs = kwargs.get("imitatorPanel", {})
-        imitatorPanel = Imitator(**imitatorArgs)
+        self.imitatorPanel = Imitator(**imitatorArgs)
+
         self.rightPanel = RightPanel(
             panels=[
-                statusPanel,
+                self.statusPanel,
-                robotPanel,
+                self.robotPanel,
-                imitatorPanel
+                self.imitatorPanel,
+            ]
+        )
+
+        visArgs = kwargs.get("visPanel", {})
+        self.visPanel = Visualize(**visArgs)
+        self.mainPanel = MainPanel(
+            panels=[
+                self.visPanel,
             ]
         )
-        self.mainPanel = MainPanel()
 
         layout = QHBoxLayout()
         layout.addWidget(self.mainPanel)
@@ -74,6 +92,14 @@ class MainContentComponent(QWidget):
         self.rightPanel.setFixedWidth(rightPanelWidth)
         super().resizeEvent(event)
 
+    def handle_value_change(self, new_value):
+        logger.info(f"Value changed: {new_value}")
+
+        if new_value == "not_connected":
+            self.imitatorPanel.setDisabled(True)
+        if new_value == "connected":
+            self.imitatorPanel.setDisabled(False)
+
 
 if __name__ == "__main__":
     app = QApplication(sys.argv)

gui/observable.py

@@ -0,0 +1,22 @@
+from PyQt5.QtCore import pyqtSignal, QObject, QTimer
+from logger import logger
+
+class Observable(QObject):
+    value_changed = pyqtSignal(object)  # Сигнал с переданным значением
+
+    def __init__(self, func, interval=1000):
+        super().__init__()
+        self.get_dynamic_value = func
+        self._value = None
+        
+        # Таймер для периодической проверки значения
+        self.timer = QTimer(self)
+        self.timer.timeout.connect(self.check_function)  # Вызываем some_function на каждом таймере
+        self.timer.start(interval)  # Интервал в миллисекундах
+
+    def check_function(self):
+        # Пример функции, которая обновляет значение
+        new_value = self.get_dynamic_value()
+        if new_value != self._value:
+            self._value = new_value
+            self.value_changed.emit(new_value)

gui/visualize.py

@@ -0,0 +1,33 @@
+
+from PyQt5.QtWidgets import QWidget, QVBoxLayout, QLabel, QSizePolicy
+from PyQt5.QtGui import QImage, QPixmap
+from PyQt5.QtCore import QTimer
+
+class Visualize(QWidget):
+    def __init__(self, get_pybullet_image):
+        super().__init__()
+        self.get_pybullet_image = get_pybullet_image
+        
+        # Настройка компоновки
+        self.layout = QVBoxLayout(self)
+        self.layout.setContentsMargins(0, 0, 0, 0)  # Убираем отступы по краям
+        self.label = QLabel(self)
+        self.label.setScaledContents(True)  # Масштабирование изображения по размеру QLabel
+        self.label.setSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding)  # QLabel занимает всю доступную область
+        self.layout.addWidget(self.label)
+        
+        # Таймер для обновления изображения
+        self.timer = QTimer()
+        self.timer.timeout.connect(self.update_image)
+        self.timer.start(100)  # Обновление каждые 100 мс
+        
+    def update_image(self):
+        (rgb, width, height) = self.get_pybullet_image()
+        
+        # Преобразование RGB-данных в QImage
+        image = QImage(rgb, width, height, QImage.Format_RGB888)
+        pixmap = QPixmap.fromImage(image)
+        
+        # Обновление изображения на QLabel
+        self.label.setPixmap(pixmap)
+        

logger.py

@@ -0,0 +1,14 @@
+import sys
+import logging
+
+# Настройка логгера
+logging.basicConfig(
+    level=logging.DEBUG,  # Уровень логирования
+    format="%(asctime)s - %(name)s - %(levelname)s - %(message)s",
+    handlers=[
+        logging.FileHandler("app.log"),  # Запись в файл
+        logging.StreamHandler(sys.stdout),  # Вывод в консоль
+    ],
+)
+
+logger = logging.getLogger("logger")

main.py

@@ -1,17 +1,20 @@
 import json
 import sys
 import time
+import argparse
 from PyQt5.QtWidgets import QApplication
 
 from robot.client_socket import SocketRobotArm
 from gui.init import MainContentComponent
+from logger import logger
 
 
 class MyApp:
     with open("./robots.json", "r") as file:
         robots = json.load(file)
 
-    def __init__(self):
+    def __init__(self, mode):
+        self.mode = mode
         self.startRobot()
         self.startGui()
 
@@ -27,6 +30,7 @@ class MyApp:
     def startGui(self):
         app = QApplication(sys.argv)
         mainWindow = MainContentComponent(
+            get_status=self.get_status,
             robotPanel={
                 "robots": self.robots,
                 "updateRobot": self.updateRobot,
@@ -41,6 +45,9 @@ class MyApp:
                 "command_count": self.robot_app.get_command_count,
                 "updateData": self.robot_app.upd_model,
             },
+            visPanel={
+                "get_pybullet_image": self.robot_app.get_pybullet_image,
+            },
         )
         mainWindow.setWindowTitle("ROBOT GUI")
         mainWindow.show()
@@ -53,7 +60,8 @@ class MyApp:
     def updateRobot(self, robot):
         if robot in self.robots:
             selected_robot = robot
-            selected_robot = {"name": "test", "host": "127.0.0.1", "slave_id": 11}
+            if self.mode == "test":
+                selected_robot = {"name": "test", "host": "127.0.0.1", "slave_id": 11}
 
             if self.robot_app.status == "connected":
                 self.robot_app.close()
@@ -65,4 +73,14 @@ class MyApp:
 
 
 if __name__ == "__main__":
-    MyApp()
+    parser = argparse.ArgumentParser(description="MyApp Command Line Interface")
+    parser.add_argument(
+        "--mode",
+        type=str,
+        choices=["test", "prod"],
+        default="prod",
+        help="Mode of operation",
+    )
+    # MyApp()
+    args = parser.parse_args()
+    app = MyApp(args.mode)

robot/client_socket.py

@@ -61,6 +61,23 @@ class SocketRobotArm:
             useFixedBase=True,
         )
 
+    def get_pybullet_image(self):
+        width, height, rgb, _, _ = p.getCameraImage(
+            width=320,
+            height=240,
+            viewMatrix=p.computeViewMatrix(
+                cameraEyePosition=[1, 1, 1],
+                cameraTargetPosition=[0, 0, 0],
+                cameraUpVector=[0, 0, 1],
+            ),
+            projectionMatrix=p.computeProjectionMatrixFOV(
+                fov=60.0, aspect=1.0, nearVal=0.1, farVal=10.0
+            ),
+            renderer=p.ER_BULLET_HARDWARE_OPENGL,
+            physicsClientId=self.physics_client,
+        )
+        return (rgb, width, height)
+
     def close(self):
         self.socket.close()
         self.socket = None