146 lines
4.5 KiB
Python
146 lines
4.5 KiB
Python
import json
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import sys
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import time
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import argparse
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import threading
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from PyQt5.QtCore import QThread
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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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robot_app = None
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def __init__(self, mode):
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self.mode = mode
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self.startGui()
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self.startRobot()
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self.startWindow()
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def startGui(self):
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self.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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"status": self.get_status,
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},
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statusPanel={
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"status": self.get_status,
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},
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informerPanel={
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"world_coord": self.get_world_coordinates,
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"axis_coord": self.get_axis_coordinates,
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"command_count": self.get_command_count,
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"updateData": self.update_data_wrapper,
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},
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imitatorPanel={
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"startImitate": self.imitate_wrapper,
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"imitate_point": self.get_imitate_point,
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},
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visPanel={
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"get_pybullet_image": self.get_pybullet_image_wrapper,
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},
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)
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mainWindow.setWindowTitle("ROBOT GUI")
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self.window = mainWindow
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def startWindow(self):
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self.window.show()
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sys.exit(self.app.exec_())
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def startRobot(self):
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self.robot_app = SocketRobotArm()
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# Запускаем SocketRobotArm в отдельном потоке
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threading.Thread(target=self.run_robot_arm, daemon=True).start()
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def run_robot_arm(self):
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time.sleep(1)
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self.robot_app.start("SHARED_MEMORY")
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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 = {
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"name": "test",
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"host": "127.0.0.1",
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"slave_id": 11,
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"urdf": "sample",
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}
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if self.robot_app.status == "connected":
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self.robot_app.close()
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time.sleep(0.3)
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else:
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self.robot_app.connect(
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selected_robot["host"], selected_robot["slave_id"]
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)
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self.robot_app.start_loop(selected_robot["urdf"])
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# Функции-обертки
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def get_status(self):
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if self.robot_app:
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return self.robot_app.get_status()
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else:
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return "not_connected"
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def get_world_coordinates(self):
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if self.robot_app:
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return self.robot_app.get_world_coordinates()
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return None # Или любое значение по умолчанию
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def get_axis_coordinates(self):
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if self.robot_app:
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return self.robot_app.get_axis_coordinates()
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return None # Или любое значение по умолчанию
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def get_command_count(self):
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if self.robot_app:
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return self.robot_app.get_command_count()
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return 0 # Или любое значение по умолчанию
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def get_imitate_point(self):
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if self.robot_app:
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return self.robot_app.get_imitate_point()
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return 0 # Или любое значение по умолчанию
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def imitate_wrapper(self):
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if self.robot_app:
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self.robot_app.imitate()
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else:
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print("robot_app еще не инициализирован.")
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def update_data_wrapper(self):
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if self.robot_app:
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self.robot_app.upd_model()
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else:
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print("robot_app еще не инициализирован.")
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def get_pybullet_image_wrapper(self):
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if self.robot_app:
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return self.robot_app.get_pybullet_image()
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return (None, 0, 0) # Или любое значение по умолчанию
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if __name__ == "__main__":
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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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