imitator tab

gui/imitator.py

@@ -0,0 +1,48 @@
+from PyQt5.QtWidgets import QWidget, QLabel, QVBoxLayout, QPushButton
+from PyQt5.QtCore import QTimer, Qt
+import time
+
+class Imitator(QWidget):
+    def __init__(self, updateData, world_coord, axis_coord, command_count):
+        super().__init__()
+        
+        self.world_coord = world_coord
+        self.axis_coord = axis_coord
+        self.command_count = command_count
+
+        self.updateData = updateData
+        
+        # Инициализация пользовательского интерфейса
+        self.initUI()
+
+    def initUI(self):
+        self.layout = QVBoxLayout()
+        self.setLayout(self.layout)        
+        
+        self.wLabel = QLabel(f'Мировые координаты {self.world_coord()}')
+        self.aLabel = QLabel(f'Поворот осей {self.axis_coord()}')
+        self.cLabel = QLabel(f'Количество команд в стеке {self.command_count()}')
+        
+        for l in [self.wLabel, self.aLabel, self.cLabel]:
+            l.setWordWrap(True)
+            self.layout.addWidget(l)
+        
+        self.updButton = QPushButton('Обновить данные')
+        self.updButton.clicked.connect(self.updateState)
+        self.layout.addWidget(self.updButton)
+        
+
+        
+    def paintEvent(self, event):
+        # Установка цвета фона
+        self.setAutoFillBackground(True)
+        p = self.palette()
+        p.setColor(self.backgroundRole(), Qt.lightGray)
+        self.setPalette(p)
+
+    def updateState(self):
+        self.updateData()
+        time.sleep(1)
+        self.wLabel.setText(f'Мировые координаты {self.world_coord()}')
+        self.aLabel.setText(f'Поворот осей {self.axis_coord()}')
+        self.cLabel.setText(f'Количество команд в стеке {self.command_count()}')

gui/init.py

@@ -4,6 +4,8 @@ from PyQt5.QtCore import Qt
 from PyQt5.QtGui import QColor, QPalette
 from gui.robot import ChangeRobot
 from gui.status import Status
+from gui.imitator import Imitator
+
 
 class RightPanel(QWidget):
     def __init__(self, panels):
@@ -21,6 +23,7 @@ class RightPanel(QWidget):
         self.setAutoFillBackground(True)
         self.setPalette(palette)
 
+
 class MainPanel(QWidget):
     def __init__(self):
         super().__init__()
@@ -32,6 +35,7 @@ class MainPanel(QWidget):
         self.setAutoFillBackground(True)
         self.setPalette(palette)
 
+
 class MainContentComponent(QWidget):
     def __init__(self, **kwargs):
         super().__init__()
@@ -40,7 +44,15 @@ class MainContentComponent(QWidget):
         robotPanel = ChangeRobot(**robotArgs)
         statusArgs = kwargs.get("statusPanel", {})
         statusPanel = Status(**statusArgs)
-        self.rightPanel = RightPanel(panels=[robotPanel, statusPanel])
+        imitatorArgs = kwargs.get("imitatorPanel", {})
+        imitatorPanel = Imitator(**imitatorArgs)
+        self.rightPanel = RightPanel(
+            panels=[
+                robotPanel,
+                statusPanel,
+                imitatorPanel
+            ]
+        )
         self.mainPanel = MainPanel()
 
         layout = QHBoxLayout()
@@ -62,11 +74,11 @@ class MainContentComponent(QWidget):
         self.rightPanel.setFixedWidth(rightPanelWidth)
         super().resizeEvent(event)
 
-if __name__ == '__main__':
+
+if __name__ == "__main__":
     app = QApplication(sys.argv)
     mainWindow = MainContentComponent(
-        robotPanel={'arg1': 'value1'}, 
-        statusPanel={'arg1': 'value1'}
+        robotPanel={"arg1": "value1"}, statusPanel={"arg1": "value1"}
     )
     mainWindow.show()
     sys.exit(app.exec_())

main.py

@@ -6,6 +6,7 @@ from PyQt5.QtWidgets import QApplication
 from robot.client_socket import SocketRobotArm
 from gui.init import MainContentComponent
 
+
 class MyApp:
     with open("./robots.json", "r") as file:
         robots = json.load(file)
@@ -33,7 +34,13 @@ class MyApp:
             },
             statusPanel={
                 "status": self.get_status,
-            }
+            },
+            imitatorPanel={
+                "world_coord": self.robot_app.get_world_coordinates,
+                "axis_coord": self.robot_app.get_axis_coordinates,
+                "command_count": self.robot_app.get_command_count,
+                "updateData": self.robot_app.upd_model,
+            },
         )
         mainWindow.setWindowTitle("ROBOT GUI")
         mainWindow.show()
@@ -52,7 +59,9 @@ class MyApp:
                 self.robot_app.close()
                 time.sleep(0.3)
             else:
-                self.robot_app.connect(selected_robot["host"], selected_robot["slave_id"])
+                self.robot_app.connect(
+                    selected_robot["host"], selected_robot["slave_id"]
+                )
 
 
 if __name__ == "__main__":

robot/client_socket.py

@@ -29,6 +29,10 @@ class SocketRobotArm:
     pass_size = 4
     Status = Literal["connected", "not_connected", "error"]
 
+    start_axis_coordinates = []
+    start_world_coordinates = []
+    remote_command_count = []
+
     def __init__(self, *args, **kwargs):
         self.socket = None
         self.host = None
@@ -85,13 +89,13 @@ class SocketRobotArm:
         time.sleep(0.5)
         self.set_joint(self.convert_to_joint(self.start_world_coordinates[0:3]))
 
-    def cycle_base(self):
-        self.upd_model()
-
-        self.get_command_count()
+        self._get_command_count()
         self.set_text(text=f"Команд в очереди {self.remote_command_count}")
         time.sleep(0.5)
 
+    def cycle_base(self):
+        self.upd_model()
+
         self.send_data(self.set_global_speed())
         self.set_text(text=f"Установили глобальную скорость {self.global_speed}")
         time.sleep(0.5)
@@ -184,6 +188,9 @@ class SocketRobotArm:
         self.start_axis_coordinates = [float(i) for i in axis_coord_raw]
         print("start_axis_coordinates", self.start_axis_coordinates)
 
+    def get_axis_coordinates(self):
+        return self.start_axis_coordinates
+
     def get_world(self):
         world_coord_raw = self.send_data(
             make_query_data(
@@ -193,11 +200,17 @@ class SocketRobotArm:
         self.start_world_coordinates = [float(i) for i in world_coord_raw]
         print("start_world_coordinates", self.start_world_coordinates)
 
-    def get_command_count(self):
+    def get_world_coordinates(self):
+        return self.start_world_coordinates
+
+    def _get_command_count(self):
         res = self.send_data(make_query_data(["RemoteCmdLen"]))
         self.remote_command_count = res
         print(res)
 
+    def get_command_count(self):
+        return self.remote_command_count
+
     def set_global_speed(self):
         # Изменили глобальную скорость на global_speed%
         return make_command_data(["modifyGSPD", str(self.global_speed * 10)])