import sys from PyQt5.QtWidgets import QApplication, QMainWindow, QMessageBox from main_ui import * from wifi_udp import * import threading #引入并行 import numpy as np import pyqtgraph as pg import re from sharedcomponets import GUIToolKit class MyWindow(QMainWindow, Ui_MainWindow): signalColors = [GUIToolKit.RED_COLOR, GUIToolKit.BLUE_COLOR, GUIToolKit.PURPLE_COLOR, GUIToolKit.YELLOW_COLOR, GUIToolKit.MAROON_COLOR, GUIToolKit.ORANGE_COLOR, GUIToolKit.GREEN_COLOR] signalIcons = ['reddot', 'bluedot', 'purpledot', 'yellowdot', 'maroondot', 'orangedot', 'greendot'] def __init__(self, parent=None): super(MyWindow, self).__init__(parent) self.setupUi(self) # 变量初始化 self.variable_init() # 设置实例 self.CreateItems() # 设置信号与槽 self.CreateSignalSlot() # 设置信号与槽 def CreateSignalSlot(self): self.velocity_horizontalSlider.valueChanged.connect(self.velocity_horizontalSlider_valueChanged) self.wifi_config_pushButton.clicked.connect(self.wifi_config_pushButton_clicked) # 设置实例 def CreateItems(self): # 定时器-绘图刷新 self.timer = QtCore.QTimer() self.timer.timeout.connect(self.update_plot) self.timer.start(20) # wifi udp self.udp = udp() # self.wifi_IP_lineEdit.setText(self.udp.user_ip) def variable_init(self): # 图表数据变量 self.wifi_recv_flag = 0 self.udp_data = 0 self.target_velocity = 0 self.now_velocity = 0 self.close_flag = 1 self.re_item = [] def plot_init(self): # 绘图对象 self.plotWidget = pg.PlotWidget() self.plotWidget.showGrid(x=True, y=True, alpha=0.5) self.controlPlotWidget = ControlPlotPanel(controllerPlotWidget=self) # 图表可视化数组 self.numberOfSamples = 300 self.signalDataArrays = [] self.signalPlots = [] self.signalPlotFlags = [] self.timeArray = np.arange(-self.numberOfSamples, 0, 1) for (sig, sigColor, checkBox,tooltip) in zip(self.re_item, self.signalColors, self.controlPlotWidget.signalCheckBox,self.re_item): # define signal plot data array self.signalDataArrays.append(np.zeros(self.numberOfSamples)) # configure signal plot parameters signalPen = pg.mkPen(color=sigColor, width=1.5) self.signalPlots.append(pg.PlotDataItem(self.timeArray, self.signalDataArrays[-1], pen=signalPen, name=tooltip)) self.plotWidget.addItem(self.signalPlots[-1]) # is plotted flag self.signalPlotFlags.append(True) self.gridLayout.addWidget(self.plotWidget) self.tool_layout.addWidget(self.controlPlotWidget) # 滑条绑定 def velocity_horizontalSlider_valueChanged(self): self.target_velocity = self.velocity_horizontalSlider.value() self.velocity_lineEdit.setText(str(self.target_velocity)) self.udp.send_message(str(self.target_velocity)) print(str(self.target_velocity)) def wifi_config_pushButton_clicked(self): try: self.re_item = ['k','g','l','t'] self.plot_init() # print(self.wifi_IP_lineEdit.text(),type(self.wifi_IP_lineEdit.text())) # self.udp.udpClientSocket.bind((self.wifi_IP_lineEdit.text(), 2333)) # # 第一次接受数据，用于判断项目数， # recv_data = self.udp.udpClientSocket.recv(1024) # recv_data = recv_data.decode('utf-8') # recv_data = recv_data[:-1] # recv_data = recv_data.split(',') # """处理接受的信息""" # for i, data in enumerate(recv_data): # self.re_item.append(''.join(re.split(r'[^A-Za-z]', data))) # print(self.re_item) # # 图表初始化 # self.plot_init() # t1 = threading.Thread(target=self.udp_recv) # t1.start() # self.wifi_recv_open_pushButton.setEnabled(True) except Exception as e: print(e) QMessageBox.critical(self, "错误", '该请求的地址无效') def udp_recv(self): while self.close_flag: recv_data = self.udp.udpClientSocket.recv(1024) recv_data = recv_data.decode('utf-8') recv_data = recv_data[:-1] recv_data = recv_data.split(',') """处理接受的信息""" print(recv_data) for i, data in enumerate(recv_data): self.re_item.append(''.join(re.split(r'[^A-Za-z]', data))) data = re.findall(r"\d+\.?\d*", data) # print(i,data) self.signalDataArrays[i] = np.roll(self.signalDataArrays[i], -1) self.signalDataArrays[i][-1] = data[0] pass def update_plot(self): if self.wifi_recv_flag: for i, plotFlag in enumerate(self.signalPlotFlags): self.signalPlots[i].setData(self.timeArray, self.signalDataArrays[i]) self.signalPlots[i].updateItems() self.signalPlots[i].sigPlotChanged.emit(self.signalPlots[i]) def closeEvent(self, a0: QtGui.QCloseEvent) -> None: self.close_flag = 0 class ControlPlotPanel(QtWidgets.QWidget): def __init__(self, parent=None, controllerPlotWidget=None): '''Constructor for ToolsWidget''' super().__init__(parent) self.controlledPlot = controllerPlotWidget self.horizontalLayout1 = QtWidgets.QHBoxLayout() self.horizontalLayout1.setObjectName('horizontalLayout') self.setLayout(self.horizontalLayout1) self.startStopButton = QtWidgets.QPushButton(self) self.startStopButton.setText('Start') self.startStopButton.setObjectName('Start') self.startStopButton.clicked.connect(self.wifi_recv_open_pushButton_clicked) self.startStopButton.setIcon(GUIToolKit.getIconByName('start')) self.horizontalLayout1.addWidget(self.startStopButton) self.zoomAllButton = QtWidgets.QPushButton(self) self.zoomAllButton.setObjectName('zoomAllButton') self.zoomAllButton.setText('View all') self.zoomAllButton.setIcon(GUIToolKit.getIconByName('zoomall')) self.zoomAllButton.clicked.connect(self.zoomAllPlot) self.horizontalLayout1.addWidget(self.zoomAllButton) self.signalCheckBox = [] for i in range(len(self.controlledPlot.re_item)): checkBox = QtWidgets.QCheckBox(self) checkBox.setObjectName('signalCheckBox' + str(i)) checkBox.setToolTip(self.controlledPlot.re_item[i]) checkBox.setText(self.controlledPlot.re_item[i]) checkBox.setIcon(GUIToolKit.getIconByName(self.controlledPlot.signalIcons[i])) checkBox.setChecked(True) self.signalCheckBox.append(checkBox) self.horizontalLayout1.addWidget(checkBox) def zoomAllPlot(self): self.controlledPlot.plotWidget.enableAutoRange() def wifi_recv_open_pushButton_clicked(self): if self.controlledPlot.wifi_recv_flag == 0: # 打开wifi接收 self.controlledPlot.wifi_recv_flag = 1 self.startStopButton.setText('Stop') else: self.controlledPlot.wifi_recv_flag = 0 self.startStopButton.setText('Start') if __name__ == '__main__': app = QApplication(sys.argv) myWin = MyWindow() myWin.show() sys.exit(app.exec_())