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gui upgrade

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Neptune-1
2018-12-05 17:31:24 +03:00
parent f2ca1e9ebe
commit 4dbfc1e477
12 changed files with 1293 additions and 1021 deletions
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# -*- coding: utf-8 -*- .
from PyQt5.QtWidgets import *
from PyQt5.QtGui import *
from PyQt5.QtCore import *
from mpl_toolkits.mplot3d import Axes3D
import matplotlib.pyplot as plt
import time
import socket
import os
from PyQt5 import QtCore, QtGui, QtWidgets
import easygui
import threading
from threading import Thread
import math
import requests
import json
from PyQt5 import QtCore
import main_gui
import gui_telem
ip = [1, 2]
# slids = 0
sq_rad = 0
sq_cet = 0
cr_rad = 0
cr_cet = 0
copters = 1
conn = []
conn_2 = []
file = ''
data = b''
addr = []
addr_2 = []
coord = []
sock = socket.socket()
sock.bind(('', 35001)) # назначается адресс и порт связи для отпраки команд на коптеры
sock.listen(1)
sock_2 = socket.socket()
sock_2.bind(('', 35002)) # назначается адресс и порт связи для приема данных с коптеров
sock_2.listen(1)
class Dialog(QMainWindow, gui_telem.Ui_Dialog):
def __init__(self):
super().__init__()
self.setupUi(self)
def up(self):
self.voltage_2.setText('1234567')
class Widget(QMainWindow, main_gui.Ui_MainWindow):
def __init__(self):
super().__init__()
self.setupUi(self)
self.start_animation_button.clicked.connect(self.start_animation)
self.stop_swarm_but.clicked.connect(self.stop_swarm)
self.show_3d_scene_button.clicked.connect(self.show_3d)
self.disarm_all_button.clicked.connect(self.disarm)
self.turn_off_led_button.clicked.connect(self.off_leds)
self.turn_on_led_button.clicked.connect(self.on_leds)
self.upload_animation_button.clicked.connect(self.upload_animation)
self.land_all_button.clicked.connect(self.land)
self.take_off_button.clicked.connect(self.take_off)
#self.number_animation_copters.clicked.connect(self.number_animation)
self.take_off_n_button.clicked.connect(self.take_off_n)
self.land_n_button.clicked.connect(self.land_n)
self.disarm_n_button.clicked.connect(self.disarm_n)
self.land_spinBox.valueChanged.connect(self.land_led)
self.disarm_spinBox.valueChanged.connect(self.disarm_led)
self.take_off_spinBox.valueChanged.connect(self.take_off_led)
self.safty_button.clicked.connect(self.safty)
self.connect_button.clicked.connect(self.connect)
self.swarm_size_spinBox.valueChanged.connect(self.number_copters)
def stop_swarm(self):
pass
def receiver(self):
global copters
global addr
while True:
try:
for k in range(copters):
a = requests.get('http://' + addr[k][0] + ':8081/aruco_map')
tem = json.loads(a.text)
coord[k] = str(tem['x']) + ',' + str(tem['y']) + ',' + str(tem['z']) + ',' + \
str(tem['mode']) + ',' + str(tem['armed']) + ',' + str(tem['frame_id']) + str(
tem['voltage']) + ',' + \
str(tem['yaw']) + ',' + str(tem['pitch']) + ',' + str(tem['roll']) + ',' + \
str(tem['vx']) + ',' + str(tem['vy']) + ',' + str(tem['vz'])
time.sleep(0.05)
except Exception as e:
pass
def sender(self, com, num):
global conn
global conn_2
global copters
print(com)
print(num)
try:
if num == 'all':
for i in range(copters):
conn[i].send(com + b'$$')
print(com + b'$$')
elif int(num) > 0:
conn[int(num) - 1].send(com + b'$$')
except:
pass
def message(self, mes):
pass
def connect(self):
global copters
global conn
global conn_2
global addr
global addr_2
global coord
addr_2 = []
conn = []
conn_2 = []
self.message('Try connect')
for i in range(copters):
conn.append(0)
addr.append(0)
coord.append('0')
t_0 = Thread(target=self.connect_init)
t_0.daemon = True
t_0.start()
def connect_init(self):
self.state_label.setText("<html><head/><body><p><span style=\" font-size:12pt; color:rgb(255,255,"
"0);\">Wait</span></p></body></html>")
global copters
global conn
global addr
global conn_2
global addr_2
for i in range(copters):
conn[i], addr[i] = sock.accept()
print("connected_controllers:", addr[i])
self.disarm_spinBox.setMaximum(copters)
self.land_spinBox.setMaximum(copters)
self.take_off_spinBox.setMaximum(copters)
self.state_label.setText("<html><head/><body><p><span style=\" font-size:12pt; "
"color:Green;\">Connect</span></p></body></html>")
t = Thread(target=self.receiver)
t.daemon = True
t.start()
def number_animation(self):
global copters
col = [b'(255,0,0)', b'(173,255,47)', b'(255,215,0)', b'(255,0,255)', b'(0,0,255)', b'(205,92,92)',
b'(255,255,255)', b'(240,128,128)']
for i in range(copters + 1):
self.sender(b'led.fill' + col[i], str(i))
time.sleep(0.5)
self.sender(b'led.off()', str(i))
for i in range(copters + 1):
self.sender(b'led.fill' + col[i], str(i))
time.sleep(0.5)
def safty(self):
self.message('safty check')
self.sender(b'f.safety_check(False)', 'all')
def take_off(self):
self.message('take off')
self.sender(b'f.takeoff(z=2, speed=2,speed_takeoff=2 , timeout=2)', 'all')
def take_off_n(self):
self.message('take off n')
self.sender(b'f.takeoff()', str(self.take_off_spinBox.value()))
def land(self):
self.message('land')
self.sender(b'f.land(preland=False)', 'all')
def land_n(self):
self.message('land n')
self.sender(b'f.land(preland=False)', str(self.land_spinBox.value()))
def disarm(self):
self.sender(b'f.arming(False)', 'all')
def disarm_n(self):
self.sender(b'f.arming(False)', str(self.disarm_spinBox.value()))
def off_leds(self):
self.sender(b'led.off()', 'all')
def land_led(self):
self.sender(b'led.off()', 'all')
self.sender(b'led.fill(255,0,0)', self.land_spinBox.value())
# print(1)
def disarm_led(self):
self.sender(b'led.off()', 'all')
self.sender(b'led.fill(0,255,0)', self.disarm_spinBox.value())
def take_off_led(self):
self.sender(b'led.off()', 'all')
self.sender(b'led.fill(0,0,255)', self.take_off_spinBox.value())
def on_leds(self):
self.sender(b'led.fill(0, 0, 255)', 'all')
def square(self):
pass
def number_copters(self):
global copters
copters = self.swarm_size_spinBox.value()
def circle(self):
# ToDO to make this function
pass
def upload_animation(self):
global file
file = easygui.fileopenbox(filetypes=["*.avi"]) # вызов окна проводника для выбора файла
def start_animation(self):
t_4 = Thread(target=self.start_animation_1)
t_4.daemon = True
t_4.start()
def start_animation_1(self):
global file
f = open(file, 'r')
prog = f.read()
self.sender(b'programm', 'all')
time.sleep(0.5)
self.sender(bytes(prog, 'utf-8'), 'all')
def show_3d(self):
global data
global copters
global coord
fig = plt.figure()
ax = fig.add_subplot(111, projection='3d')
updateDialog = Dialog()
updateDialog.show()
while True:
s = str(self.console_textEdit.toPlainText())
print(s)
if '>' in s:
print(s[:-2], s[s.index('>') - 1])
self.console_textEdit.setText('')
if s[s.index('>') - 1] == '0':
self.sender(bytes(str(s[:s.index('>') - 1]), 'utf-8'), 'all')
print(s[:s.index('>') - 1], 'all')
else:
self.sender(bytes(str(s[:s.index('>') - 1]), 'utf-8'), str(s[s.index('>') - 1]))
print('sender', s[s.index('>') - 1])
try:
i = updateDialog.number_spinBox.value()
if i > 0:
i -= 1
coord_drone = []
coord_drone = coord[i].split(',')
updateDialog.z_2.setText("<html><head/><body><p><span style=\" color:#c8c8c8;\">" + coord_drone[
0] + "</span></p></body></html>")
updateDialog.x_2.setText("<html><head/><body><p><span style=\" color:#c8c8c8;\">" + coord_drone[
1] + "</span></p></body></html>")
updateDialog.y_2.setText("<html><head/><body><p><span style=\" color:#c8c8c8;\">" + coord_drone[
2] + "</span></p></body></html>")
updateDialog.mode_2.setText("<html><head/><body><p><span style=\" color:#c8c8c8;\">" + coord_drone[
3] + "</span></p></body></html>")
updateDialog.armed_2.setText("<html><head/><body><p><span style=\" color:#c8c8c8;\">" + coord_drone[
4] + "</span></p></body></html>")
updateDialog.frame_id_2.setText("<html><head/><body><p><span style=\" color:#c8c8c8;\">" + coord_drone[
5] + "</span></p></body></html>")
updateDialog.voltage_2.setText("<html><head/><body><p><span style=\" color:#c8c8c8;\">" + coord_drone[
6] + "</span></p></body></html>")
updateDialog.yaw2.setText("<html><head/><body><p><span style=\" color:#c8c8c8;\">" + coord_drone[
7] + "</span></p></body></html>")
updateDialog.pitch_2.setText("<html><head/><body><p><span style=\" color:#c8c8c8;\">" + coord_drone[
8] + "</span></p></body></html>")
updateDialog.roll_2.setText("<html><head/><body><p><span style=\" color:#c8c8c8;\">" + coord_drone[
9] + "</span></p></body></html>")
updateDialog.vx_2.setText("<html><head/><body><p><span style=\" color:#c8c8c8;\">" + coord_drone[
10] + "</span></p></body></html>")
updateDialog.vy_2.setText("<html><head/><body><p><span style=\" color:#c8c8c8;\">" + coord_drone[
11] + "</span></p></body></html>")
updateDialog.vz_2.setText("<html><head/><body><p><span style=\" color:#c8c8c8;\">" + coord_drone[
12] + "</span></p></body></html>")
except Exception as e:
# print(e)
pass
try:
n = 0
# set size of scene
ax.set_xlim(0, 1.5)
ax.set_ylim(0, 2.2)
ax.set_zlim(0, 2)
ax.set_xlabel('x')
ax.set_ylabel('y')
ax.set_zlabel('z')
plt.pause(0.01)
ax.clear()
try:
for i in coord:
co = (0, 0, 0)
n += 1
if self.land_spinBox.value() == n:
co = (1, 0, 0)
if self.take_off_spinBox.value() == n:
co = (1, 0, 0)
if self.disarm_spinBox.value() == n:
co = (1, 0, 0)
ax.scatter(float(i.split(',')[0]), float(i.split(',')[1]), float(i.split(',')[2]), s=50, c=co,
marker='.')
ax.text(float(i.split(',')[0]), float(i.split(',')[1]), float(i.split(',')[2]), str(n), size=10,
zorder=1, color=(0, 0, 0))
except Exception as e:
print(e)
ax.set_xlim(0, 1.5)
ax.set_ylim(0, 2.2)
ax.set_zlim(0, 2)
ax.set_xlabel('x')
ax.set_ylabel('y')
ax.set_zlabel('z')
plt.draw()
except KeyboardInterrupt:
print('stop')
break
plt.show()
app = QApplication([])
w = Widget()
w.show()
app.exec()
"""Code by Alexandr Osherov 10 class, phone - +79251834732, email - allexandr2001@mail.ru"""