#!/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 import QtWidgets, QtGui 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 RobotData as RD import message_pb2 as message import google.protobuf.json_format as jtf import uuid # =============================================================================== class MainWindow(QMainWindow): """docstring for Mainwindow""" djks_map_ = mp.DijikstraMap() ui_nodes = [] def __init__(self, parent=None): super(MainWindow, self).__init__(parent) self.basic() self.LoadMap() self.Controller1 = ControllWidget.ControlFrame(["AGV1", self.ui_nodes]) self.Controller2 = ControllWidget.ControlFrame(["AGV2", self.ui_nodes]) splitter_main = self.split_() self.setCentralWidget(splitter_main) self.Controller1.robot_.connect("pyUI_r1", "127.0.0.1", 1883, "admin", "zx123456") dataTopics = {"agv1_child/agv_statu": message.AGVStatu.__name__, "agv1_child/nav_statu": message.NavStatu.__name__} self.Controller1.robot_.SetSubDataTopic(dataTopics, self.messageArrived) self.Controller1.robot_.SetCmdTopic("agv1_child/nav_cmd") self.Controller1.robot_.loop_start() self.Controller1.robot_.SetColor([0.7, 0.2, 0.3], [0.7, 0.2, 0.3]) self.gl.SetRobot1Instance(self.Controller1.robot_) self.Controller2.robot_.connect("pyUI_r2", "127.0.0.1", 1883, "admin", "zx123456") dataTopics = {"agv1/agv_statu": message.AGVStatu.__name__, "agv1/nav_statu": message.NavStatu.__name__} self.Controller2.robot_.SetSubDataTopic(dataTopics, self.messageArrived) self.Controller2.robot_.SetCmdTopic("agv1/nav_cmd") self.Controller2.robot_.loop_start() self.Controller2.robot_.SetColor([0.4, 0.2, 0.8], [0.4, 0.2, 0.8]) self.gl.SetRobot2Instance(self.Controller2.robot_) 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.append(id) for node in map['space_nodes'].items(): [id, point] = node [x, y, connectId] = point space_node = mp.SpaceNode(id, point[0], point[1], connectId) self.djks_map_.AddVertex(space_node) self.djks_map_.AddEdge(id, connectId) glNode = [id, "space_node", [x, y]] self.gl.AddNode(glNode) self.gl.AddRoad(["conn%s-%s" % (id, connectId), [id, connectId]]) self.ui_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 messageArrived(self): self.gl.update() # 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() # 基于布局的显示窗口 def split_(self): total_layout = QtWidgets.QGridLayout() # 地图显示布局 display_layout = QtWidgets.QGridLayout() display_layout.setObjectName("display_layout") display_layout.addWidget(self.gl) total_layout.addLayout(display_layout, 0, 1, 1, 1) # 操作控制布局 control_layout = QtWidgets.QGridLayout() control_layout.setObjectName("control_layout") control_layout.addWidget(self.Controller1) control_layout.addWidget(self.Controller2) total_layout.addLayout(control_layout, 0, 0, 1, 1) # 总布局设置 total_layout.setColumnStretch(0, 2) total_layout.setColumnStretch(1, 5) total_layout.setRowStretch(0, 1) # 将总布局加载到主窗口 centerWidget = QtWidgets.QWidget() # font = QtGui.QFont() # font.setFamily("楷体") # font.setPointSize(15) # centerWidget.setFont(font) centerWidget.setLayout(total_layout) return centerWidget if __name__ == "__main__": app = QApplication(sys.argv) win = MainWindow() win.showMaximized() 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 # Park_End: # # ===============================================================================