#!/usr/bin/env python # -*- coding: utf-8 -*- # =============================================================================== # # test.py # # Test program for the simple GL Viewer. # # Copyright (c) 2011, Arne Schmitz # All rights reserved. # # Redistribution and use in source and binary forms, with or without # modification, are permitted provided that the following conditions are met: # * Redistributions of source code must retain the above copyright # notice, this list of conditions and the following disclaimer. # * Redistributions in binary form must reproduce the above copyright # notice, this list of conditions and the following disclaimer in the # documentation and/or other materials provided with the distribution. # * Neither the name of the nor the # names of its contributors may be used to endorse or promote products # derived from this software without specific prior written permission. # # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND # ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED # WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE # DISCLAIMED. IN NO EVENT SHALL BE LIABLE FOR ANY # DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES # (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND # ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT # (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS # SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. # # =============================================================================== import math import time import sys from PyQt5.QtGui import * from PyQt5.QtWidgets import * from PyQt5.QtCore import * from MapGLWidget import MapGLWidget import json import dijkstra.Map as mp import ControllWidget import JointContrallerWidget import ManualOperationWidget import RobotData as RD import message_pb2 as message import google.protobuf.json_format as jtf import uuid from custom_define import RobotName # =============================================================================== class MainWindow(QMainWindow): """docstring for Mainwindow""" djks_map_ = mp.DijikstraMap() ui_nodes = {} ui_nodes["street_nodes"] = [] ui_nodes["space_nodes"] = [] def __init__(self, parent=None): super(MainWindow, self).__init__(parent) self.basic() self.count_frame_ = ControllWidget.CountFrame() self.LoadMap() self.isLocalTest = True self.isAutoDispatch = False rpc_1 = "192.168.0.70:9090" mqtt_1 = ["pyui1", "192.168.0.70", 1883, "admin", "zx123456"] rpc_2 = "192.168.0.71:9090" mqtt_2 = ["pyui2", "192.168.0.71", 1883, "admin", "zx123456"] if self.isLocalTest: rpc_1 = "127.0.0.1:9090" mqtt_1 = ["pyui-main", "127.0.0.1", 1883, "admin", "zx123456"] rpc_2 = "127.0.0.1:9091" mqtt_2 = ["pyui-child", "127.0.0.1", 1883, "admin", "zx123456"] config1 = {"label": RobotName.strAGVMain, "rpc": rpc_1, "street_nodes": self.ui_nodes["street_nodes"], "space_nodes": self.ui_nodes["space_nodes"], "mqtt": mqtt_1, "subTopics": {"agv_main/agv_statu": message.RobotStatu.__name__, "agv_main/nav_statu": message.NavStatu.__name__}, "cmdTopic": "agv_main/nav_cmd", "robotColor": [0.7, 0.2, 0.3]} config2 = {"label": RobotName.strAGV2, "rpc": rpc_2, # "rpc": "127.0.0.1:9091", "street_nodes": self.ui_nodes["street_nodes"], "space_nodes": self.ui_nodes["space_nodes"], "mqtt": mqtt_2, "subTopics": {"agv_child/agv_statu": message.RobotStatu.__name__, "agv_child/nav_statu": message.NavStatu.__name__}, "cmdTopic": "agv_child/nav_cmd", "robotColor": [0.4, 0.2, 0.8]} self.Controller1 = ControllWidget.ControlFrame(config1) self.Controller2 = ControllWidget.ControlFrame(config2) robot_dict = {self.Controller1.robot_.name_: self.Controller1.robot_, self.Controller2.robot_.name_: self.Controller2.robot_} self.ManualOperationWidget = ManualOperationWidget.ManualOperationWidget(robot_dict) splitter_main = self.split_() self.setCentralWidget(splitter_main) self.gl.SetRobot1Instance(self.Controller1.robot_) self.gl.SetRobot2Instance(self.Controller2.robot_) self.timer_ = QTimer() self.timer_.timeout.connect(self.Update) self.timer_.start(100) def LoadMap(self): self.gl = MapGLWidget() # 将opengl例子嵌入GUI map = self.load_map("./map.json") for node in map['street_nodes'].items(): [id, point] = node street_node = mp.StreetNode(id, point[0], point[1]) self.djks_map_.AddVertex(street_node) self.gl.AddNode([id, "street_node", point]) self.ui_nodes["street_nodes"].append(id) for node in map['space_nodes'].items(): [id, point] = node [x, y, yaw] = point space_node = mp.SpaceNode(id, point[0], point[1], yaw) self.djks_map_.AddVertex(space_node) glNode = [id, "space_node", [x, y]] self.gl.AddNode(glNode) self.ui_nodes["space_nodes"].append(id) for road in map['roads'].items(): self.gl.AddRoad(road) [_, points] = road for pt1 in points: for pt2 in points: if not pt1 == pt2: self.djks_map_.AddEdge(pt1, pt2) def load_map(self, file): with open(file, 'r', encoding='utf-8') as fp: map = json.load(fp) return map def Update(self): self.gl.update() if self.isAutoDispatch: self.Controller1.setVisible(False) self.Controller2.setVisible(False) else: self.Controller1.setVisible(True) self.Controller2.setVisible(True) # 窗口基础属性 def basic(self): # 设置标题，大小，图标 self.setWindowTitle("GT") self.resize(1100, 650) self.setWindowIcon(QIcon("./image/Gt.png")) # 居中显示 screen = QDesktopWidget().geometry() self_size = self.geometry() self.move(int((screen.width() - self_size.width()) / 2), int((screen.height() - self_size.height()) / 2)) def closeEvent(self, QCloseEvent): self.gl.close() # 分割窗口 def split_(self): splitter_main = QSplitter(Qt.Horizontal) splitter = QSplitter(Qt.Vertical) splitter.addWidget(self.count_frame_) splitter.addWidget(self.Controller1) splitter.addWidget(self.Controller2) splitter.addWidget(self.ManualOperationWidget) splitter.setStretchFactor(0, 1) splitter.setStretchFactor(1, 3) splitter.setStretchFactor(2, 3) splitter.setStretchFactor(3, 1) splitter_main.addWidget(splitter) splitter_main.addWidget(self.gl) splitter_main.setStretchFactor(0, 1) splitter_main.setStretchFactor(2, 4) return splitter_main if __name__ == "__main__": app = QApplication(sys.argv) win = MainWindow() win.show() sys.exit(app.exec_()) # =============================================================================== # Main # =============================================================================== '''app = QApplication(sys.argv) mainWindow = MapGLWidget() mainWindow.show() mainWindow.raise_() # Need this at least on OS X, otherwise the window ends up in background sys.exit(app.exec_())''' # =============================================================================== # # Local Variables: # mode: Python # indent-tabs-mode: nil # End: # # ===============================================================================