91 lines
3.2 KiB
Python
91 lines
3.2 KiB
Python
import sys
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from PyQt5.QtWidgets import QApplication, QMainWindow, QMessageBox
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from main_ui import *
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from wifi_udp import *
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import threading #引入并行
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import numpy as np
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import pyqtgraph as pg
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class MyWindow(QMainWindow, Ui_MainWindow):
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def __init__(self, parent=None):
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super(MyWindow, self).__init__(parent)
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self.setupUi(self)
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# 变量初始化
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self.variable_init()
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# 设置实例
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self.CreateItems()
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# 设置信号与槽
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self.CreateSignalSlot()
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# 图表初始化
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self.plot_init()
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# 设置信号与槽
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def CreateSignalSlot(self):
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self.wifi_recv_open_pushButton.clicked.connect(self.wifi_recv_open_pushButton_clicked)
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self.velocity_horizontalSlider.valueChanged.connect(self.velocity_horizontalSlider_valueChanged)
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self.wifi_config_pushButton.clicked.connect(self.wifi_config_pushButton_clicked)
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# 设置实例
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def CreateItems(self):
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# 定时器-绘图刷新
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self.timer = QtCore.QTimer()
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self.timer.timeout.connect(self.update_plot)
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self.timer.start(50)
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# wifi udp
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self.udp = udp()
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self.wifi_IP_lineEdit.setText(self.udp.user_ip)
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def variable_init(self):
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# 图表数据变量
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self.wifi_recv_flag = 0
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self.udp_data = 0
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self.target_velocity = 0
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self.now_velocity = 0
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def plot_init(self):
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# 图表可视化数组
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self.v_list = []
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self.v_list.append(np.zeros(300))
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self.timeArray = np.arange(-300, 0, 1)
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# 绘图对象
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self.pw = pg.PlotWidget()
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self.curve = self.pw.plot(pen='y')
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self.gridLayout.addWidget(self.pw)
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# 滑条绑定
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def velocity_horizontalSlider_valueChanged(self):
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self.target_velocity = self.velocity_horizontalSlider.value()
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self.velocity_lineEdit.setText(str(self.target_velocity))
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self.udp.send_message(str(self.velocity_lineEdit))
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def wifi_config_pushButton_clicked(self):
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try:
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self.udp.udpClientSocket.bind((self.wifi_IP_lineEdit.text(), 2333))
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t1 = threading.Thread(target=self.udp_recv)
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t1.start()
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self.wifi_recv_open_pushButton.setEnabled(True)
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except:
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QMessageBox.critical(self, "错误", '该请求的地址无效')
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def wifi_recv_open_pushButton_clicked(self):
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if self.wifi_recv_flag == 0:
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# 打开wifi接收
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self.wifi_recv_flag = 1
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self.wifi_recv_open_pushButton.setText('关闭')
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else:
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self.wifi_recv_flag = 0
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self.wifi_recv_open_pushButton.setText('打开')
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def udp_recv(self):
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while self.wifi_recv_flag:
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recv_data = self.udp.udpClientSocket.recv(1024)
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recv_data = recv_data.decode('utf-8')
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self.udp_data = recv_data
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def update_plot(self):
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if self.wifi_recv_flag:
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self.v_list[0] = np.roll(self.v_list[0], -1)
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self.v_list[0][-1] = self.udp_data
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self.curve.setData(self.timeArray, self.v_list[0]) # 在绘图部件中绘制折线图
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if __name__ == '__main__':
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app = QApplication(sys.argv)
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myWin = MyWindow()
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myWin.show()
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sys.exit(app.exec_()) |