observable connect
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## modbus
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## Работа с роботом
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### Тестовое окружение
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* `poetry run python main.py --mode test`
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@ -0,0 +1,26 @@
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2024-10-25 09:35:09,819 - logger - INFO - test
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2024-10-25 09:35:13,350 - logger - INFO - test
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2024-10-25 10:32:36,506 - logger - INFO - not_connected
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2024-10-25 10:39:48,747 - logger - INFO - not_connected
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2024-10-25 10:42:35,337 - logger - INFO - not_connected
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2024-10-25 10:42:36,287 - logger - INFO - not_connected
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2024-10-25 10:42:37,541 - logger - INFO - connected
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2024-10-25 10:42:38,252 - logger - INFO - connected
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2024-10-25 10:42:39,252 - logger - INFO - connected
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2024-10-25 10:42:40,253 - logger - INFO - connected
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2024-10-25 10:42:41,253 - logger - INFO - connected
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2024-10-25 10:42:42,253 - logger - INFO - connected
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2024-10-25 10:42:43,252 - logger - INFO - connected
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2024-10-25 10:42:44,253 - logger - INFO - connected
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2024-10-25 10:42:45,252 - logger - INFO - connected
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2024-10-25 10:43:37,355 - logger - INFO - Value changed: not_connected
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2024-10-25 10:43:40,252 - logger - INFO - Value changed: connected
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2024-10-25 10:43:43,595 - logger - INFO - Value changed: not_connected
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2024-10-25 10:53:29,935 - logger - INFO - Value changed: not_connected
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2024-10-25 10:53:41,824 - logger - INFO - Value changed: not_connected
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2024-10-25 10:53:45,860 - logger - INFO - Value changed: connected
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2024-10-25 10:53:50,752 - logger - INFO - Value changed: not_connected
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2024-10-25 10:53:52,751 - logger - INFO - Value changed: connected
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2024-10-25 10:53:54,993 - logger - INFO - Value changed: not_connected
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2024-10-25 10:53:57,014 - logger - INFO - Value changed: connected
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2024-10-25 10:54:02,382 - logger - INFO - Value changed: not_connected
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44
gui/init.py
44
gui/init.py
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@ -5,6 +5,9 @@ from PyQt5.QtGui import QColor, QPalette
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from gui.robot import ChangeRobot
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from gui.status import Status
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from gui.imitator import Imitator
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from gui.visualize import Visualize
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from gui.observable import Observable
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from logger import logger
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class RightPanel(QWidget):
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@ -12,7 +15,6 @@ class RightPanel(QWidget):
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super().__init__()
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layout = QVBoxLayout()
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for panel in panels:
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# panel.setFixedHeight(200)
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layout.addWidget(panel)
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self.setLayout(layout)
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self.initUI()
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@ -25,8 +27,11 @@ class RightPanel(QWidget):
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class MainPanel(QWidget):
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def __init__(self):
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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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@ -40,20 +45,33 @@ class MainContentComponent(QWidget):
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def __init__(self, **kwargs):
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super().__init__()
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self.observable = Observable(kwargs.get("get_status"))
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self.observable.value_changed.connect(self.handle_value_change)
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robotArgs = kwargs.get("robotPanel", {})
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robotPanel = ChangeRobot(**robotArgs)
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self.robotPanel = ChangeRobot(**robotArgs)
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statusArgs = kwargs.get("statusPanel", {})
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statusPanel = Status(**statusArgs)
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self.statusPanel = Status(**statusArgs)
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imitatorArgs = kwargs.get("imitatorPanel", {})
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imitatorPanel = Imitator(**imitatorArgs)
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self.imitatorPanel = Imitator(**imitatorArgs)
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self.rightPanel = RightPanel(
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panels=[
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statusPanel,
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robotPanel,
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imitatorPanel
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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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visArgs = kwargs.get("visPanel", {})
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self.visPanel = Visualize(**visArgs)
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self.mainPanel = MainPanel(
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panels=[
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self.visPanel,
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]
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)
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self.mainPanel = MainPanel()
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layout = QHBoxLayout()
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layout.addWidget(self.mainPanel)
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@ -74,6 +92,14 @@ class MainContentComponent(QWidget):
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self.rightPanel.setFixedWidth(rightPanelWidth)
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super().resizeEvent(event)
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def handle_value_change(self, new_value):
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logger.info(f"Value changed: {new_value}")
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if new_value == "not_connected":
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self.imitatorPanel.setDisabled(True)
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if new_value == "connected":
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self.imitatorPanel.setDisabled(False)
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if __name__ == "__main__":
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app = QApplication(sys.argv)
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@ -0,0 +1,22 @@
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from PyQt5.QtCore import pyqtSignal, QObject, QTimer
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from logger import logger
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class Observable(QObject):
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value_changed = pyqtSignal(object) # Сигнал с переданным значением
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def __init__(self, func, interval=1000):
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super().__init__()
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self.get_dynamic_value = func
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self._value = None
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# Таймер для периодической проверки значения
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self.timer = QTimer(self)
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self.timer.timeout.connect(self.check_function) # Вызываем some_function на каждом таймере
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self.timer.start(interval) # Интервал в миллисекундах
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def check_function(self):
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# Пример функции, которая обновляет значение
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new_value = self.get_dynamic_value()
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if new_value != self._value:
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self._value = new_value
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self.value_changed.emit(new_value)
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@ -0,0 +1,33 @@
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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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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.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.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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def update_image(self):
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(rgb, width, height) = self.get_pybullet_image()
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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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# Обновление изображения на QLabel
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self.label.setPixmap(pixmap)
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import sys
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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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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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],
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)
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logger = logging.getLogger("logger")
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22
main.py
22
main.py
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@ -1,17 +1,20 @@
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import json
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import sys
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import time
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import argparse
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from PyQt5.QtWidgets import QApplication
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from robot.client_socket import SocketRobotArm
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from gui.init import MainContentComponent
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from logger import logger
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class MyApp:
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with open("./robots.json", "r") as file:
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robots = json.load(file)
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def __init__(self):
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def __init__(self, mode):
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self.mode = mode
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self.startRobot()
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self.startGui()
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@ -27,6 +30,7 @@ class MyApp:
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def startGui(self):
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app = QApplication(sys.argv)
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mainWindow = MainContentComponent(
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get_status=self.get_status,
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robotPanel={
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"robots": self.robots,
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"updateRobot": self.updateRobot,
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@ -41,6 +45,9 @@ class MyApp:
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"command_count": self.robot_app.get_command_count,
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"updateData": self.robot_app.upd_model,
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},
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visPanel={
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"get_pybullet_image": self.robot_app.get_pybullet_image,
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},
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)
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mainWindow.setWindowTitle("ROBOT GUI")
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mainWindow.show()
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@ -53,6 +60,7 @@ class MyApp:
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def updateRobot(self, robot):
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if robot in self.robots:
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selected_robot = robot
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if self.mode == "test":
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selected_robot = {"name": "test", "host": "127.0.0.1", "slave_id": 11}
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if self.robot_app.status == "connected":
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@ -65,4 +73,14 @@ class MyApp:
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if __name__ == "__main__":
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MyApp()
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parser = argparse.ArgumentParser(description="MyApp Command Line Interface")
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parser.add_argument(
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"--mode",
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type=str,
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choices=["test", "prod"],
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default="prod",
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help="Mode of operation",
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)
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# MyApp()
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args = parser.parse_args()
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app = MyApp(args.mode)
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@ -61,6 +61,23 @@ class SocketRobotArm:
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useFixedBase=True,
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)
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def get_pybullet_image(self):
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width, height, rgb, _, _ = p.getCameraImage(
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width=320,
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height=240,
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viewMatrix=p.computeViewMatrix(
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cameraEyePosition=[1, 1, 1],
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cameraTargetPosition=[0, 0, 0],
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cameraUpVector=[0, 0, 1],
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),
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projectionMatrix=p.computeProjectionMatrixFOV(
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fov=60.0, aspect=1.0, nearVal=0.1, farVal=10.0
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),
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renderer=p.ER_BULLET_HARDWARE_OPENGL,
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physicsClientId=self.physics_client,
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)
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return (rgb, width, height)
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def close(self):
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self.socket.close()
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self.socket = None
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