it move

main.py

@@ -2,12 +2,13 @@ import json
 import sys
 import time
 import argparse
+import threading
+import queue
+from PyQt5.QtCore import QThread
 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:
@@ -15,6 +16,9 @@ class MyApp:
 
     def __init__(self, mode):
         self.mode = mode
+        # self.robot_thread = RobotThread()
+        # self.robot_thread.start()
+        # self.robot_thread.finished.connect(self.startGui) 
         self.startRobot()
         self.startGui()
 
@@ -29,6 +33,7 @@ class MyApp:
 
     def startGui(self):
         app = QApplication(sys.argv)
+
         mainWindow = MainContentComponent(
             get_status=self.get_status,
             robotPanel={
@@ -56,6 +61,11 @@ class MyApp:
 
     def startRobot(self):
         self.robot_app = SocketRobotArm()
+        # Запускаем SocketRobotArm в отдельном потоке
+        threading.Thread(target=self.run_robot_arm, daemon=True).start()
+
+    def run_robot_arm(self):
+        self.robot_app.start()
 
     def updateRobot(self, robot):
         if robot in self.robots:

robot/client_socket.py

@@ -13,7 +13,8 @@ import pybullet_data
 from robot.func import *
 from logger import logger
 
-os.environ["LIBGL_ALWAYS_SOFTWARE"] = "1"
+# os.environ["LIBGL_ALWAYS_SOFTWARE"] = "1"
+
 
 class SocketRobotArm:
     line_speed = 100.0
@@ -44,16 +45,21 @@ class SocketRobotArm:
 
         self.physics_client = None
         self.body_id = None
-        threading.Thread(target=self.run_pybullet, daemon=True).start()
+        self.q_app = None
 
     def __exit__(self, exc_type, exc_value, traceback):
         print("exiting")
         self.socket.close()
 
+    def start(self):
+        self.run_pybullet()
+
     def run_pybullet(self):
         self.physics_client = p.connect(p.GUI)
+        p.loadPlugin("eglRendererPlugin")
         p.setGravity(0, 0, -9.81, physicsClientId=self.physics_client)
         p.setAdditionalSearchPath(pybullet_data.getDataPath())
+        p.configureDebugVisualizer(p.COV_ENABLE_GUI, 0)
 
         urdf_path = os.path.join("urdf", f"{self.urdf_filename}.urdf")
         if not os.path.exists(urdf_path):
@@ -63,10 +69,12 @@ class SocketRobotArm:
         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()
+        # self.cube_id = p.loadURDF("r2d2.urdf", [0, 0, 1], useFixedBase=0)
+
+        self.simulation_loop()
 
     def simulation_loop(self):
-        logger.info(f"Загружена simulation loop")
+        logger.info(f"Нчат цикл симуляции")
         while True:
             bodyUniqueId = self.body_id
             position, orientation = p.getBasePositionAndOrientation(bodyUniqueId)
@@ -76,12 +84,20 @@ class SocketRobotArm:
             num_joints = p.getNumJoints(bodyUniqueId)
             joint_states = p.getJointStates(bodyUniqueId, range(num_joints))
 
+            joint_log = []
             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}")
+                joint_log.append(
+                    f"Joint {i} - Position: {joint_position}, Velocity: {joint_velocity}"
+                )
+            logger.info("\n".join(joint_log))
 
             p.stepSimulation()
+            if self.q_app:
+                logger.info(self.q_app)
+                self.q_app.processEvents()
+
             time.sleep(1 / 24)  # 24 кадра в секунду
 
     def get_pybullet_image(self):
@@ -99,9 +115,6 @@ 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)
 

robot_arm.py

@@ -0,0 +1,19 @@
+# run.py
+import sys
+import os
+import time
+
+# Добавляем путь к родительской директории
+sys.path.append(os.path.abspath(os.path.join(os.path.dirname(__file__), 'robot')))
+
+from robot.client_socket import SocketRobotArm
+
+if __name__ == "__main__":
+    robot_arm = SocketRobotArm()
+    robot_arm.start()
+    try:
+        while True:
+            time.sleep(1)  # Просто удерживаем основной поток активным
+    except KeyboardInterrupt:
+        print("Программа завершена.")
+