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 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","192.168.0.70",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","192.168.0.70",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()

    #分割窗口
    def split_(self):
        splitter_main = QSplitter(Qt.Horizontal)
        splitter = QSplitter(Qt.Vertical)

        splitter.addWidget(self.Controller1)
        splitter.addWidget(self.Controller2)

        splitter.setStretchFactor(0,1)
        splitter.setStretchFactor(1,1)

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