AGVUI_python/test.py

#!/usr/bin/env python
# -*- coding: utf-8 -*-
#===============================================================================
#
# test.py
#
# Test program for the simple GL Viewer.
#
# Copyright (c) 2011, Arne Schmitz <arne.schmitz@gmx.net>
# 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 <organization> 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 <COPYRIGHT HOLDER> 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()
        config1={"label":RobotName.strAGVMain,
                 "rpc":"192.168.0.70:9090",
                 # "rpc": "127.0.0.1:9090",
                 "street_nodes":self.ui_nodes["street_nodes"],
                 "space_nodes":self.ui_nodes["space_nodes"],
                 # "mqtt":["pyui1","192.168.0.70",1883,"admin","zx123456"],
                 # "mqtt":["pyui1","192.168.225.224",1883,"admin","zx123456"],
                 "mqtt":["pyui-main","127.0.0.1",1883,"admin","zx123456"],
                 "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":"192.168.0.71:9090",
                 "rpc": "127.0.0.1:9091",
                 "street_nodes":self.ui_nodes["street_nodes"],
                 "space_nodes":self.ui_nodes["space_nodes"],
                 # "mqtt":["pyui2","192.168.0.71",1883,"admin","zx123456"],
                 # "mqtt":["pyui2","192.168.225.224",1883,"admin","zx123456"],
                 "mqtt":["pyui-child","127.0.0.1",1883,"admin","zx123456"],
                 "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()

    #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:
#
#===============================================================================