9.17.1

python_gui/gui/main.py

@@ -6,16 +6,13 @@ import threading    #引入并行
 import numpy as np
 import pyqtgraph as pg
 import re
-
+from sharedcomponets import GUIToolKit
-RED_COLOR = (255, 92, 92)
-GREEN_COLOR = (57, 217, 138)
-BLUE_COLOR = (91, 141, 236)
-ORANGE_COLOR = (253, 172, 66)
-YELLOW_COLOR = (255,255,51)
-PURPLE_COLOR = (75,0,130)
-MAROON_COLOR = (222,184,135)
 
 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)
@@ -29,7 +26,6 @@ class MyWindow(QMainWindow, Ui_MainWindow):
 
     # 设置信号与槽
     def CreateSignalSlot(self):
-        self.wifi_recv_open_pushButton.clicked.connect(self.wifi_recv_open_pushButton_clicked)
         self.velocity_horizontalSlider.valueChanged.connect(self.velocity_horizontalSlider_valueChanged)
         self.wifi_config_pushButton.clicked.connect(self.wifi_config_pushButton_clicked)
 
@@ -54,16 +50,14 @@ class MyWindow(QMainWindow, Ui_MainWindow):
         # 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
-        signalColors = [RED_COLOR, BLUE_COLOR, PURPLE_COLOR, YELLOW_COLOR,
-                        MAROON_COLOR, ORANGE_COLOR, GREEN_COLOR]
-        signalIcons = ['reddot', 'bluedot', 'purpledot', 'yellowdot', 'maroondot', 'orangedot', 'greendot']
         self.numberOfSamples = 300
         self.signalDataArrays = []
         self.signalPlots = []
         self.signalPlotFlags = []
         self.timeArray = np.arange(-self.numberOfSamples, 0, 1)
-        for (sig, sigColor, tooltip) in zip(self.re_item, signalColors, self.re_item):
+        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
@@ -76,7 +70,7 @@ class MyWindow(QMainWindow, Ui_MainWindow):
             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()
@@ -85,32 +79,27 @@ class MyWindow(QMainWindow, Ui_MainWindow):
         print(str(self.target_velocity))
     def wifi_config_pushButton_clicked(self):
         try:
-            print(self.wifi_IP_lineEdit.text(),type(self.wifi_IP_lineEdit.text()))
+            self.re_item = ['k','g','l','t']
-            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)
+            # print(self.wifi_IP_lineEdit.text(),type(self.wifi_IP_lineEdit.text()))
-            t1.start()
+            # self.udp.udpClientSocket.bind((self.wifi_IP_lineEdit.text(), 2333))
-            self.wifi_recv_open_pushButton.setEnabled(True)
+            # # 第一次接受数据，用于判断项目数，
-        except:
+            # 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 wifi_recv_open_pushButton_clicked(self):
-        if self.wifi_recv_flag == 0:
-            # 打开wifi接收
-            self.wifi_recv_flag = 1
-            self.wifi_recv_open_pushButton.setText('关闭')
-        else:
-            self.wifi_recv_flag = 0
-            self.wifi_recv_open_pushButton.setText('打开')
     def udp_recv(self):
         while self.close_flag:
             recv_data = self.udp.udpClientSocket.recv(1024)
@@ -136,6 +125,53 @@ class MyWindow(QMainWindow, Ui_MainWindow):
 
     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()

python_gui/gui/main_ui.py

@@ -14,11 +14,11 @@ from PyQt5 import QtCore, QtGui, QtWidgets
 class Ui_MainWindow(object):
     def setupUi(self, MainWindow):
         MainWindow.setObjectName("MainWindow")
-        MainWindow.resize(800, 749)
+        MainWindow.resize(1187, 707)
         self.centralwidget = QtWidgets.QWidget(MainWindow)
         self.centralwidget.setObjectName("centralwidget")
         self.groupBox = QtWidgets.QGroupBox(self.centralwidget)
-        self.groupBox.setGeometry(QtCore.QRect(20, 420, 241, 61))
+        self.groupBox.setGeometry(QtCore.QRect(20, 460, 241, 61))
         self.groupBox.setObjectName("groupBox")
         self.horizontalLayoutWidget = QtWidgets.QWidget(self.groupBox)
         self.horizontalLayoutWidget.setGeometry(QtCore.QRect(10, 20, 221, 31))
@@ -34,7 +34,7 @@ class Ui_MainWindow(object):
         self.wifi_config_pushButton.setObjectName("wifi_config_pushButton")
         self.horizontalLayout.addWidget(self.wifi_config_pushButton)
         self.horizontalLayoutWidget_2 = QtWidgets.QWidget(self.centralwidget)
-        self.horizontalLayoutWidget_2.setGeometry(QtCore.QRect(570, 440, 104, 31))
+        self.horizontalLayoutWidget_2.setGeometry(QtCore.QRect(590, 480, 104, 31))
         self.horizontalLayoutWidget_2.setObjectName("horizontalLayoutWidget_2")
         self.horizontalLayout_2 = QtWidgets.QHBoxLayout(self.horizontalLayoutWidget_2)
         self.horizontalLayout_2.setContentsMargins(0, 0, 0, 0)
@@ -46,7 +46,7 @@ class Ui_MainWindow(object):
         self.velocity_lineEdit.setObjectName("velocity_lineEdit")
         self.horizontalLayout_2.addWidget(self.velocity_lineEdit)
         self.velocity_horizontalSlider = QtWidgets.QSlider(self.centralwidget)
-        self.velocity_horizontalSlider.setGeometry(QtCore.QRect(410, 420, 261, 22))
+        self.velocity_horizontalSlider.setGeometry(QtCore.QRect(430, 460, 261, 22))
         self.velocity_horizontalSlider.setMinimum(-150)
         self.velocity_horizontalSlider.setMaximum(150)
         self.velocity_horizontalSlider.setOrientation(QtCore.Qt.Horizontal)
@@ -54,7 +54,7 @@ class Ui_MainWindow(object):
         self.velocity_horizontalSlider.setTickInterval(10)
         self.velocity_horizontalSlider.setObjectName("velocity_horizontalSlider")
         self.horizontalLayoutWidget_3 = QtWidgets.QWidget(self.centralwidget)
-        self.horizontalLayoutWidget_3.setGeometry(QtCore.QRect(400, 440, 134, 31))
+        self.horizontalLayoutWidget_3.setGeometry(QtCore.QRect(420, 480, 134, 31))
         self.horizontalLayoutWidget_3.setObjectName("horizontalLayoutWidget_3")
         self.horizontalLayout_3 = QtWidgets.QHBoxLayout(self.horizontalLayoutWidget_3)
         self.horizontalLayout_3.setContentsMargins(0, 0, 0, 0)
@@ -66,21 +66,23 @@ class Ui_MainWindow(object):
         self.angle_lineEdit.setObjectName("angle_lineEdit")
         self.horizontalLayout_3.addWidget(self.angle_lineEdit)
         self.groupBox_2 = QtWidgets.QGroupBox(self.centralwidget)
-        self.groupBox_2.setGeometry(QtCore.QRect(190, 0, 601, 391))
+        self.groupBox_2.setGeometry(QtCore.QRect(370, 10, 811, 431))
         self.groupBox_2.setObjectName("groupBox_2")
         self.gridLayoutWidget = QtWidgets.QWidget(self.groupBox_2)
-        self.gridLayoutWidget.setGeometry(QtCore.QRect(10, 20, 581, 361))
+        self.gridLayoutWidget.setGeometry(QtCore.QRect(10, 20, 791, 361))
         self.gridLayoutWidget.setObjectName("gridLayoutWidget")
         self.gridLayout = QtWidgets.QGridLayout(self.gridLayoutWidget)
         self.gridLayout.setContentsMargins(0, 0, 0, 0)
         self.gridLayout.setObjectName("gridLayout")
-        self.wifi_recv_open_pushButton = QtWidgets.QPushButton(self.centralwidget)
+        self.horizontalLayoutWidget_4 = QtWidgets.QWidget(self.groupBox_2)
-        self.wifi_recv_open_pushButton.setEnabled(False)
+        self.horizontalLayoutWidget_4.setGeometry(QtCore.QRect(10, 370, 791, 51))
-        self.wifi_recv_open_pushButton.setGeometry(QtCore.QRect(190, 390, 93, 28))
+        self.horizontalLayoutWidget_4.setObjectName("horizontalLayoutWidget_4")
-        self.wifi_recv_open_pushButton.setObjectName("wifi_recv_open_pushButton")
+        self.tool_layout = QtWidgets.QHBoxLayout(self.horizontalLayoutWidget_4)
+        self.tool_layout.setContentsMargins(0, 0, 0, 0)
+        self.tool_layout.setObjectName("tool_layout")
         MainWindow.setCentralWidget(self.centralwidget)
         self.menubar = QtWidgets.QMenuBar(MainWindow)
-        self.menubar.setGeometry(QtCore.QRect(0, 0, 800, 26))
+        self.menubar.setGeometry(QtCore.QRect(0, 0, 1187, 26))
         self.menubar.setObjectName("menubar")
         MainWindow.setMenuBar(self.menubar)
         self.statusbar = QtWidgets.QStatusBar(MainWindow)
@@ -101,4 +103,3 @@ class Ui_MainWindow(object):
         self.label_2.setText(_translate("MainWindow", "目标角度："))
         self.angle_lineEdit.setText(_translate("MainWindow", "149"))
         self.groupBox_2.setTitle(_translate("MainWindow", "GroupBox"))
-        self.wifi_recv_open_pushButton.setText(_translate("MainWindow", "打开"))

python_gui/gui/main_ui.ui

@@ -6,8 +6,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>800</width>
+    <width>1187</width>
-    <height>749</height>
+    <height>707</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -18,7 +18,7 @@
     <property name="geometry">
      <rect>
       <x>20</x>
-      <y>420</y>
+      <y>460</y>
       <width>241</width>
       <height>61</height>
      </rect>
@@ -59,8 +59,8 @@
    <widget class="QWidget" name="horizontalLayoutWidget_2">
     <property name="geometry">
      <rect>
-      <x>570</x>
+      <x>590</x>
-      <y>440</y>
+      <y>480</y>
       <width>104</width>
       <height>31</height>
      </rect>
@@ -85,8 +85,8 @@
    <widget class="QSlider" name="velocity_horizontalSlider">
     <property name="geometry">
      <rect>
-      <x>410</x>
+      <x>430</x>
-      <y>420</y>
+      <y>460</y>
       <width>261</width>
       <height>22</height>
      </rect>
@@ -110,8 +110,8 @@
    <widget class="QWidget" name="horizontalLayoutWidget_3">
     <property name="geometry">
      <rect>
-      <x>400</x>
+      <x>420</x>
-      <y>440</y>
+      <y>480</y>
       <width>134</width>
       <height>31</height>
      </rect>
@@ -136,10 +136,10 @@
    <widget class="QGroupBox" name="groupBox_2">
     <property name="geometry">
      <rect>
-      <x>190</x>
+      <x>370</x>
-      <y>0</y>
+      <y>10</y>
-      <width>601</width>
+      <width>811</width>
-      <height>391</height>
+      <height>431</height>
      </rect>
     </property>
     <property name="title">
@@ -150,28 +150,23 @@
       <rect>
        <x>10</x>
        <y>20</y>
-       <width>581</width>
+       <width>791</width>
        <height>361</height>
       </rect>
      </property>
      <layout class="QGridLayout" name="gridLayout"/>
     </widget>
-   </widget>
+    <widget class="QWidget" name="horizontalLayoutWidget_4">
-   <widget class="QPushButton" name="wifi_recv_open_pushButton">
-    <property name="enabled">
-     <bool>false</bool>
-    </property>
      <property name="geometry">
       <rect>
-      <x>190</x>
+       <x>10</x>
-      <y>390</y>
+       <y>370</y>
-      <width>93</width>
+       <width>791</width>
-      <height>28</height>
+       <height>51</height>
       </rect>
      </property>
-    <property name="text">
+     <layout class="QHBoxLayout" name="tool_layout"/>
-     <string>打开</string>
+    </widget>
-    </property>
    </widget>
   </widget>
   <widget class="QMenuBar" name="menubar">
@@ -179,7 +174,7 @@
     <rect>
      <x>0</x>
      <y>0</y>
-     <width>800</width>
+     <width>1187</width>
      <height>26</height>
     </rect>
    </property>

python_gui/gui/sharedcomponets.py

@@ -0,0 +1,74 @@
+import os
+
+from PyQt5 import QtGui, QtWidgets, QtCore
+
+class GUIToolKit(object):
+    ''' This class is used to provide icons for the rest of the application
+        hiding the location of the resources
+    '''
+    RED_COLOR = (255, 92, 92)
+    GREEN_COLOR = (57, 217, 138)
+    BLUE_COLOR = (91, 141, 236)
+    ORANGE_COLOR = (253, 172, 66)
+    YELLOW_COLOR = (255,255,51)
+    PURPLE_COLOR = (75,0,130)
+    MAROON_COLOR = (222,184,135)
+
+    @staticmethod
+    def getIconByName(icoName):
+
+        file_index = {
+            'add': 'add.png',
+            'add_motor': 'add_motor.png',
+            'tree': 'tree.png',
+            'gen': 'gen.png',
+            'home': 'home.png',
+            'form': 'form.png',
+            'edit': 'edit.png',
+            'delete': 'delete.png',
+            'statistics': 'statistics.png',
+            'reddot': 'reddot.png',
+            'orangedot': 'orangedot.png',
+            'greendot': 'greendot.png',
+            'bluedot': 'bluedot.png',
+            'purpledot': 'purpledot.png',
+            'yellowdot': 'yellowdot.png',
+            'maroondot': 'maroondot.png',
+            'send': 'send.png',
+            'zoomall': 'zoomall.png',
+            'connect': 'connect.png',
+            'continue': 'continue.png',
+            'alert': 'alert.png',
+            'gear': 'gear.png',
+            'generalsettings': 'generalsettings.png',
+            'open': 'open.png',
+            'loop': 'loop.png',
+            'save': 'save.png',
+            'stop': 'stop.png',
+            'restart': 'continue.png',
+            'res': 'res.png',
+            'sensor': 'sensor.png',
+            'start': 'start.png',
+            'motor': 'motor.png',
+            'pause': 'pause.png',
+            'pull': 'pull.png',
+            'push': 'push.png',
+            'list': 'list.png',
+            'disconnect': 'disconnect.png',
+            'configure': 'configure.png',
+            'pidconfig': 'pidconfig.png',
+            'consoletool': 'consoletool.png',
+            'fordward': 'fordward.png',
+            'fastbackward': 'fastbackward.png',
+            'backward': 'backward.png',
+            'stopjogging': 'stopjogging.png',
+            'fastfordward': 'fastfordward.png',
+            'customcommands':'customcommands.png'
+        }
+        currentDir = os.path.dirname(__file__)
+        icon_path = os.path.join(currentDir, './resources', file_index[icoName])
+        print(icon_path)
+        icon = QtGui.QIcon()
+        icon.addPixmap(QtGui.QPixmap(icon_path), QtGui.QIcon.Normal,
+                      QtGui.QIcon.Off)
+        return icon