From 73f83cc56d061f85bdcf39103acfab460ccb66e7 Mon Sep 17 00:00:00 2001 From: ChenXL97 <908926798@qq.com> Date: Thu, 23 Nov 2023 10:03:47 +0800 Subject: [PATCH] sceneui --- robowaiter/scene/scene.py | 254 +++++++++++-------- robowaiter/{utils => scene}/ui/__init__.py | 0 robowaiter/{utils => scene}/ui/pyqt5.py | 96 ++++--- robowaiter/scene/ui/scene_ui.py | 126 +++++++++ robowaiter/{utils => scene}/ui/ui.py | 0 robowaiter/{utils => scene}/ui/ui2py.bat | 0 robowaiter/scene/ui/window.py | 121 +++++++++ robowaiter/scene/ui/window.ui | 281 +++++++++++++++++++++ robowaiter/utils/ui/scene_ui.py | 88 ------- robowaiter/utils/ui/window.py | 67 ----- robowaiter/utils/ui/window.ui | 106 -------- run_ui.py | 5 + 12 files changed, 747 insertions(+), 397 deletions(-) rename robowaiter/{utils => scene}/ui/__init__.py (100%) rename robowaiter/{utils => scene}/ui/pyqt5.py (65%) create mode 100644 robowaiter/scene/ui/scene_ui.py rename robowaiter/{utils => scene}/ui/ui.py (100%) rename robowaiter/{utils => scene}/ui/ui2py.bat (100%) create mode 100644 robowaiter/scene/ui/window.py create mode 100644 robowaiter/scene/ui/window.ui delete mode 100644 robowaiter/utils/ui/scene_ui.py delete mode 100644 robowaiter/utils/ui/window.py delete mode 100644 robowaiter/utils/ui/window.ui create mode 100644 run_ui.py diff --git a/robowaiter/scene/scene.py b/robowaiter/scene/scene.py index 3ae34eb..adea305 100644 --- a/robowaiter/scene/scene.py +++ b/robowaiter/scene/scene.py @@ -1,3 +1,4 @@ +import io import pickle import sys import time @@ -33,22 +34,10 @@ channel = grpc.insecure_channel( ("grpc.max_receive_message_length", 1024 * 1024 * 1024), ], ) -stub = GrabSim_pb2_grpc.GrabSimStub(channel) - animation_step = [4, 5, 7, 3, 3] loc_offset = [-700, -1400] -def init_world(scene_num=1, mapID=11): - stub.SetWorld(GrabSim_pb2.BatchMap(count=scene_num, mapID=mapID)) - time.sleep(3) # wait for the map to load - - -def get_camera(part, scene_id=0): - # print('------------------get_camera----------------------') - action = GrabSim_pb2.CameraList(cameras=part, scene=scene_id) - return stub.Capture(action) - def show_image(camera_data): print('------------------show_image----------------------') @@ -114,6 +103,11 @@ class Scene: """ def __init__(self, robot=None, sceneID=0): + self.stub = GrabSim_pb2_grpc.GrabSimStub(channel) + + + self.robot = robot + self.sceneID = sceneID self.use_offset = False self.start_time = time.time() @@ -137,13 +131,19 @@ class Scene: self.map_map_real = pickle.load(file) - self.init_robot(robot) self.robot_changed = False self.last_event_time = 0 self.last_camera_time = -99999 self.last_step_time = -99999 + self.img_cache = { + "img_label_canvas":None, + "img_label_seg":None, + "img_label_obj":None, + "img_label_map":None, + } + # 1-7 正常执行, 8-10 控灯操作移动到6, 11-12窗帘操作不需要移动, self.op_dialog = ["", "制作咖啡", "倒水", "夹点心", "拖地", "擦桌子", "开筒灯", "搬椅子", # 1-7 "关筒灯", "开大厅灯", "关大厅灯", "关闭窗帘", "打开窗帘", # 8-12 @@ -218,13 +218,22 @@ class Scene: self.init_algos() # 初始化各种算法类 - def init_robot(self, robot): - # init robot - self.robot = robot - if robot: - robot.set_scene(self) - return robot.load_BT() + def init_world(self,scene_num=1, mapID=11): + self.stub.SetWorld(GrabSim_pb2.BatchMap(count=scene_num, mapID=mapID)) + time.sleep(3) # wait for the map to load + + def get_camera(self,part, scene_id=0): + # print('------------------get_camera----------------------') + action = GrabSim_pb2.CameraList(cameras=part, scene=scene_id) + return self.stub.Capture(action) + + def init_robot(self): + # init robot + + if self.robot: + self.robot.set_scene(self) + self.robot.load_BT() def init_algos(self): ''' @@ -243,18 +252,19 @@ class Scene: def reset(self): # 基类reset，默认执行仿真器初始化操作 self.reset_sim() + self.init_robot() + self.init_algos() # reset state self.state = copy.deepcopy(self.default_state) - print("场景初始化完成") self._reset() + print("场景初始化完成") self.running = True def run(self): # 基类run - self._run() # 运行并由robot打印每步信息 while True: @@ -329,13 +339,13 @@ class Scene: @property def status(self): - return stub.Observe(GrabSim_pb2.SceneID(value=self.sceneID)) + return self.stub.Observe(GrabSim_pb2.SceneID(value=self.sceneID)) def reset_sim(self): # reset world - stub.CleanWalkers(GrabSim_pb2.SceneID(value=self.sceneID)) - init_world() - stub.Reset(GrabSim_pb2.ResetParams(scene=self.sceneID)) + self.stub.CleanWalkers(GrabSim_pb2.SceneID(value=self.sceneID)) + self.init_world() + self.stub.Reset(GrabSim_pb2.ResetParams(scene=self.sceneID)) def _reset(self): # 场景自定义的reset @@ -364,7 +374,7 @@ class Scene: action = GrabSim_pb2.Action( scene=self.sceneID, action=GrabSim_pb2.Action.ActionType.WalkTo, values=walk_v ) - scene = stub.Do(action) + scene = self.stub.Do(action) return scene @@ -375,7 +385,7 @@ class Scene: def reachable_check(self, X, Y, Yaw): if self.use_offset: X, Y = X + loc_offset[0], Y + loc_offset[1] - navigation_info = stub.Do( + navigation_info = self.stub.Do( GrabSim_pb2.Action( scene=self.sceneID, action=GrabSim_pb2.Action.ActionType.WalkTo, @@ -390,7 +400,7 @@ class Scene: def add_walker(self, id, x, y, yaw=0, v=0, scope=100): loc = [x, y, yaw, v, scope] action = GrabSim_pb2.Action(scene=self.sceneID, action=GrabSim_pb2.Action.ActionType.WalkTo, values=loc) - scene = stub.Do(action) + scene = self.stub.Do(action) # print(scene.info) walker_list = [] if (str(scene.info).find('unreachable') > -1): @@ -398,7 +408,7 @@ class Scene: else: walker_list.append( GrabSim_pb2.WalkerList.Walker(id=id, pose=GrabSim_pb2.Pose(X=loc[0], Y=loc[1], Yaw=loc[2]))) - stub.AddWalker(GrabSim_pb2.WalkerList(walkers=walker_list, scene=self.sceneID)) + self.stub.AddWalker(GrabSim_pb2.WalkerList(walkers=walker_list, scene=self.sceneID)) w = self.status.walkers num_customer = len(w) @@ -431,15 +441,15 @@ class Scene: # Since status.walkers is a list, some walkerIDs would change after removing a walker. remove_list.append(walkerID) - stub.RemoveWalkers(GrabSim_pb2.RemoveList(IDs=remove_list, scene=self.sceneID)) + self.stub.RemoveWalkers(GrabSim_pb2.RemoveList(IDs=remove_list, scene=self.sceneID)) self.state["customer_mem"] = {} w = self.status.walkers for i in range(len(w)): self.state["customer_mem"][w[i].name] = i def remove_walkers(self, IDs=[0]): - s = stub.Observe(GrabSim_pb2.SceneID(value=self.sceneID)) - scene = stub.RemoveWalkers(GrabSim_pb2.RemoveList(IDs=IDs, scene=self.sceneID)) + s = self.stub.Observe(GrabSim_pb2.SceneID(value=self.sceneID)) + scene = self.stub.RemoveWalkers(GrabSim_pb2.RemoveList(IDs=IDs, scene=self.sceneID)) time.sleep(2) self.state["customer_mem"] = {} w = self.status.walkers @@ -448,7 +458,7 @@ class Scene: return def clean_walkers(self): - scene = stub.CleanWalkers(GrabSim_pb2.SceneID(value=self.sceneID)) + scene = self.stub.CleanWalkers(GrabSim_pb2.SceneID(value=self.sceneID)) self.state["customer_mem"] = {} return scene @@ -458,13 +468,13 @@ class Scene: walkerID = self.walker_index2mem(walkerID) pose = GrabSim_pb2.Pose(X=X, Y=Y, Yaw=Yaw) - scene = stub.ControlWalkers( + scene = self.stub.ControlWalkers( GrabSim_pb2.WalkerControls( controls=[GrabSim_pb2.WalkerControls.WControl(id=walkerID, autowalk=autowalk, speed=speed, pose=pose)], scene=self.sceneID) ) return scene - # stub.ControlWalkers( + # self.stub.ControlWalkers( # GrabSim_pb2.WalkerControls(controls=control_list, scene=self.sceneID) # ) @@ -487,7 +497,7 @@ class Scene: self.walker_control_generator(walkerID=control[0], autowalk=control[1], speed=control[2], X=control[3], Y=control[4], Yaw=control[5])) # 收集没有对话的统一控制 - scene = stub.ControlWalkers( + scene = self.stub.ControlWalkers( GrabSim_pb2.WalkerControls(controls=control_list, scene=self.sceneID) ) return scene @@ -502,7 +512,7 @@ class Scene: is_autowalk = is_autowalk pose = GrabSim_pb2.Pose(X=loc[0], Y=loc[1], Yaw=180) controls.append(GrabSim_pb2.WalkerControls.WControl(id=i, autowalk=is_autowalk, speed=80, pose=pose)) - scene = stub.ControlWalkers(GrabSim_pb2.WalkerControls(controls=controls, scene=self.sceneID)) + scene = self.stub.ControlWalkers(GrabSim_pb2.WalkerControls(controls=controls, scene=self.sceneID)) return scene def control_walker_ls(self, walker_loc=[[-55, 750], [70, -200], [250, 1200], [0, 880]]): @@ -522,12 +532,12 @@ class Scene: elif len(walker) == 6: self.control_walker(walker[0], walker[1], walker[2], walker[3], walker[4], walker[5]) # self.control_walker() - # scene = stub.ControlWalkers(GrabSim_pb2.WalkerControls(controls=controls, scene=self.sceneID)) + # scene = self.stub.ControlWalkers(GrabSim_pb2.WalkerControls(controls=controls, scene=self.sceneID)) # return scene return def control_joints(self, angles): - stub.Do( + self.stub.Do( GrabSim_pb2.Action( scene=self.sceneID, action=GrabSim_pb2.Action.ActionType.RotateJoints, @@ -538,7 +548,7 @@ class Scene: def add_object(self, type, X, Y, Z, Yaw=0): if self.use_offset: X, Y = X + loc_offset[0], Y + loc_offset[1] - stub.AddObjects( + self.stub.AddObjects( GrabSim_pb2.ObjectList( objects=[ GrabSim_pb2.ObjectList.Object(x=X, y=Y, yaw=Yaw, z=Z, type=type) @@ -554,13 +564,13 @@ class Scene: else: for objectID in args: remove_list.append(objectID) - stub.RemoveObjects(GrabSim_pb2.RemoveList(IDs=remove_list, scene=self.sceneID)) + self.stub.RemoveObjects(GrabSim_pb2.RemoveList(IDs=remove_list, scene=self.sceneID)) def clean_object(self): - stub.CleanObjects(GrabSim_pb2.SceneID(value=self.sceneID)) + self.stub.CleanObjects(GrabSim_pb2.SceneID(value=self.sceneID)) def grasp(self, handID, objectID): - stub.Do( + self.stub.Do( GrabSim_pb2.Action( scene=self.sceneID, action=GrabSim_pb2.Action.ActionType.Grasp, @@ -569,7 +579,7 @@ class Scene: ) def release(self, handID): - stub.Do( + self.stub.Do( GrabSim_pb2.Action( scene=self.sceneID, action=GrabSim_pb2.Action.ActionType.Release, @@ -578,7 +588,7 @@ class Scene: ) def get_camera_color(self, image_only=True): - camera_data = stub.Capture( + camera_data = self.stub.Capture( GrabSim_pb2.CameraList( cameras=[GrabSim_pb2.CameraName.Head_Color], scene=self.sceneID ) @@ -589,7 +599,7 @@ class Scene: return camera_data def get_camera_depth(self, image_only=True): - camera_data = stub.Capture( + camera_data = self.stub.Capture( GrabSim_pb2.CameraList( cameras=[GrabSim_pb2.CameraName.Head_Depth], scene=self.sceneID ) @@ -600,7 +610,7 @@ class Scene: return camera_data def get_camera_segment(self, show=True): - camera_data = stub.Capture( + camera_data = self.stub.Capture( GrabSim_pb2.CameraList( cameras=[GrabSim_pb2.CameraName.Head_Segment], scene=self.sceneID ) @@ -611,7 +621,7 @@ class Scene: return camera_data def chat_bubble(self, message): - stub.ControlRobot( + self.stub.ControlRobot( GrabSim_pb2.ControlInfo( scene=self.sceneID, type=0, action=1, content=message.strip() ) @@ -635,7 +645,7 @@ class Scene: # def control_robot_action(self, scene_id=0, type=0, action=0, message="你好"): # print('------------------control_robot_action----------------------') - # scene = stub.ControlRobot( + # scene = self.stub.ControlRobot( # GrabSim_pb2.ControlInfo(scene=scene_id, type=type, action=action, content=message)) # if (str(scene.info).find("Action Success") > -1): # print(scene.info) @@ -646,19 +656,19 @@ class Scene: def animation_control(self, animation_type): # animation_type: 1:make coffee 2: pour water 3: grab food 4: mop floor 5: clean table - scene = stub.ControlRobot( + scene = self.stub.ControlRobot( GrabSim_pb2.ControlInfo(scene=self.sceneID, type=animation_type, action=1) ) if scene.info == "action success": for i in range(2, animation_step[animation_type - 1] + 1): - stub.ControlRobot( + self.stub.ControlRobot( GrabSim_pb2.ControlInfo( scene=self.sceneID, type=animation_type, action=i ) ) def animation_reset(self): - stub.ControlRobot(GrabSim_pb2.ControlInfo(scene=self.sceneID, type=0, action=0)) + self.stub.ControlRobot(GrabSim_pb2.ControlInfo(scene=self.sceneID, type=0, action=0)) # 手指移动到指定位置 def ik_control_joints(self, handNum=2, x=30, y=40, z=80): @@ -668,7 +678,7 @@ class Scene: GrabSim_pb2.HandPostureInfos.HandPostureObject(handNum=handNum, x=x, y=y, z=z, roll=0, pitch=0, yaw=0), # GrabSim_pb2.HandPostureInfos.HandPostureObject(handNum=1, x=0, y=0, z=0, roll=0, pitch=0, yaw=0), ] - temp = stub.GetIKControlInfos( + temp = self.stub.GetIKControlInfos( GrabSim_pb2.HandPostureInfos(scene=self.sceneID, handPostureObjects=HandPostureObject)) def move_to_obj(self, obj_id): @@ -680,7 +690,7 @@ class Scene: # value[i] = self.status.joints[i].angle # value[5] = 0 # action = GrabSim_pb2.Action(scene=self.sceneID, action=GrabSim_pb2.Action.ActionType.RotateJoints, values=value) - # scene = stub.Do(action) + # scene = self.stub.Do(action) # time.sleep(1.0) obj_info = scene.objects[obj_id] @@ -697,7 +707,7 @@ class Scene: self.navigator.navigate(goal=(walk_v[0], walk_v[1]), animation=False) else: action = GrabSim_pb2.Action(scene=self.sceneID, action=GrabSim_pb2.Action.ActionType.WalkTo, values=walk_v) - scene = stub.Do(action) + scene = self.stub.Do(action) print("After Walk Position:", [scene.location.X, scene.location.Y, scene.rotation.Yaw]) # 移动到进行操作任务的指定地点 @@ -710,7 +720,7 @@ class Scene: # value[i] = self.status.joints[i].angle # value[5] = 0 # action = GrabSim_pb2.Action(scene=self.sceneID, action=GrabSim_pb2.Action.ActionType.RotateJoints, values=value) - # scene = stub.Do(action) + # scene = self.stub.Do(action) # time.sleep(1.0) cur_pos = [scene.location.X, scene.location.Y, scene.rotation.Yaw] @@ -745,12 +755,12 @@ class Scene: walk_v[2] = 130 # 移动到目标位置 action = GrabSim_pb2.Action(scene=self.sceneID, action=GrabSim_pb2.Action.ActionType.WalkTo, values=walk_v) - scene = stub.Do(action) + scene = self.stub.Do(action) print("After Walk Position:", [scene.location.X, scene.location.Y, scene.rotation.Yaw]) # 相应的行动，由主办方封装 def control_robot_action(self, type=0, action=0, message="你好"): - scene = stub.ControlRobot( + scene = self.stub.ControlRobot( GrabSim_pb2.ControlInfo( scene=self.sceneID, type=type, action=action, content=message ) @@ -770,7 +780,7 @@ class Scene: value[i] = self.status.joints[i].angle value[5] = 30 action = GrabSim_pb2.Action(scene=self.sceneID, action=GrabSim_pb2.Action.ActionType.RotateJoints, values=value) - scene = stub.Do(action) + scene = self.stub.Do(action) time.sleep(1.0) if self.take_picture: @@ -806,7 +816,7 @@ class Scene: GrabSim_pb2.ObjectList.Object(x=-115, y=280, z=85, roll=0, pitch=0, yaw=90, type=35), # Chess ] - scene = stub.AddObjects(GrabSim_pb2.ObjectList(objects=obj_list, scene=self.sceneID)) + scene = self.stub.AddObjects(GrabSim_pb2.ObjectList(objects=obj_list, scene=self.sceneID)) time.sleep(1.0) # 实现抓握操作 @@ -820,7 +830,7 @@ class Scene: value[i] = self.status.joints[i].angle value[5] = 30 action = GrabSim_pb2.Action(scene=self.sceneID, action=GrabSim_pb2.Action.ActionType.RotateJoints, values=value) - scene = stub.Do(action) + scene = self.stub.Do(action) time.sleep(1.0) if self.take_picture: @@ -833,7 +843,7 @@ class Scene: # obj_y -= 1 # values = [0,0,0,0,0, 10,-25,-45,-45,-45] # values= [-6, 0, 0, 0, 0, -6, 0, 45, 45, 45] - # stub.Do(GrabSim_pb2.Action(scene=self.sceneID, action=GrabSim_pb2.Action.ActionType.Finger, values=values)) + # self.stub.Do(GrabSim_pb2.Action(scene=self.sceneID, action=GrabSim_pb2.Action.ActionType.Finger, values=values)) pass if obj_info.name == "Glass": pass @@ -844,7 +854,7 @@ class Scene: print('------------------grasp_obj----------------------') action = GrabSim_pb2.Action(scene=self.sceneID, action=GrabSim_pb2.Action.ActionType.Grasp, values=[hand_id, obj_id]) - scene = stub.Do(action) + scene = self.stub.Do(action) time.sleep(3.0) return True @@ -852,12 +862,12 @@ class Scene: def robo_recover(self): action = GrabSim_pb2.Action(scene=self.sceneID, action=GrabSim_pb2.Action.ActionType.RotateJoints, # 恢复原位 values=[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]) - scene = stub.Do(action) + scene = self.stub.Do(action) # 恢复手指关节 def standard_finger(self): values = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0] - stub.Do(GrabSim_pb2.Action(scene=self.sceneID, action=GrabSim_pb2.Action.ActionType.Finger, values=values)) + self.stub.Do(GrabSim_pb2.Action(scene=self.sceneID, action=GrabSim_pb2.Action.ActionType.Finger, values=values)) time.sleep(1.0) # 弯腰以及手掌与放置面平齐 @@ -870,7 +880,7 @@ class Scene: angle[20] = -30 action = GrabSim_pb2.Action(scene=self.sceneID, action=GrabSim_pb2.Action.ActionType.RotateJoints, # 弯腰 values=angle) - scene = stub.Do(action) + scene = self.stub.Do(action) time.sleep(1.0) # 实现放置操作 @@ -882,7 +892,7 @@ class Scene: value[i] = self.status.joints[i].angle value[5] = 30 action = GrabSim_pb2.Action(scene=self.sceneID, action=GrabSim_pb2.Action.ActionType.RotateJoints, values=value) - scene = stub.Do(action) + scene = self.stub.Do(action) time.sleep(1.0) if self.take_picture: @@ -897,7 +907,7 @@ class Scene: self.robo_stoop_parallel() print("------------------release_obj----------------------") action = GrabSim_pb2.Action(scene=self.sceneID, action=GrabSim_pb2.Action.ActionType.Release, values=[1]) - scene = stub.Do(action) + scene = self.stub.Do(action) time.sleep(2.0) self.robo_recover() # 恢复肢体关节 self.standard_finger() # 恢复手指关节 @@ -942,12 +952,12 @@ class Scene: walk_v = walk_v + [scene.rotation.Yaw - 90, 600, 100] print("walk_v", walk_v) action = GrabSim_pb2.Action(scene=self.sceneID, action=GrabSim_pb2.Action.ActionType.WalkTo, values=walk_v) - scene = stub.Do(action) + scene = self.stub.Do(action) print(scene.info) def navigation_move(self, plt, cur_objs, cur_obstacle_world_points, v_list, map_ratio, db, scene_id=0, map_id=11): print('------------------navigation_move----------------------') - scene = stub.Observe(GrabSim_pb2.SceneID(value=scene_id)) + scene = self.stub.Observe(GrabSim_pb2.SceneID(value=scene_id)) walk_value = [scene.location.X, scene.location.Y] print("position:", walk_value) @@ -958,7 +968,7 @@ class Scene: walk_v = walk_value + [yaw, 250, 10] print("walk_v", walk_v) action = GrabSim_pb2.Action(scene=scene_id, action=GrabSim_pb2.Action.ActionType.WalkTo, values=walk_v) - scene = stub.Do(action) + scene = self.stub.Do(action) # cur_objs, objs_name_set = camera.get_semantic_map(GrabSim_pb2.CameraName.Head_Segment, cur_objs, # objs_name_set) @@ -980,7 +990,7 @@ class Scene: walk_v = walk_v + [yaw, 250, 10] print("walk_v", walk_v) action = GrabSim_pb2.Action(scene=scene_id, action=GrabSim_pb2.Action.ActionType.WalkTo, values=walk_v) - scene = stub.Do(action) + scene = self.stub.Do(action) # cur_objs, objs_name_set = camera.get_semantic_map(GrabSim_pb2.CameraName.Head_Segment, cur_objs, # objs_name_set) @@ -1008,7 +1018,7 @@ class Scene: return x, y def explore(self, map, explore_range): - scene = stub.Observe(GrabSim_pb2.SceneID(value=0)) + scene = self.stub.Observe(GrabSim_pb2.SceneID(value=0)) cur_pos = [int(scene.location.X), int(scene.location.Y)] for i in range(cur_pos[0] - explore_range, cur_pos[0] + explore_range + 1): for j in range(cur_pos[1] - explore_range, cur_pos[1] + explore_range + 1): @@ -1191,13 +1201,14 @@ class Scene: cur_obstacle_world_points = [] obj_detect_count = 0 walker_detect_count = 0 - fig = plt.figure() object_pixels = {} not_key_objs_id = {255, 254, 253, 107, 81} img_data_segment,img_data_depth,img_data_color = self.get_cameras() + if len(img_data_segment.images) <1: + return im_segment = img_data_segment.images[0] im_depth = img_data_depth.images[0] im_color = img_data_color.images[0] @@ -1218,10 +1229,7 @@ class Scene: objs_id[251] = "walker" # plt.imshow(d_depth, cmap="gray" if "depth" in im_depth.name.lower() else None) # plt.show() - plt.subplot(2, 2, 1) - plt.imshow(d_segment, cmap="gray" if "depth" in im_segment.name.lower() else None) - plt.axis("off") - plt.title("相机分割") + img_segment = d_segment d_depth = np.transpose(d_depth, (1, 0, 2)) @@ -1281,14 +1289,24 @@ class Scene: # world_point = self.transform_co(img_data_depth, pixel[0], pixel[1], d_depth[pixel[0]][pixel[1]][0], scene) # cur_obstacle_world_points.append([world_point[0], world_point[1]]) # print(f"{pixel}：{[world_point[0], world_point[1]]}") - plt.subplot(2, 2, 2) - plt.imshow(d_color, cmap="gray" if "depth" in im_depth.name.lower() else None) - plt.axis('off') - plt.title("目标检测") + img_obj = d_color # self.ui_func(("draw_img","img_label_obj",d_color)) + # 画分隔图 + # plt.subplot(2, 2, 1) + plt.figure() + plt.imshow(img_segment, cmap="gray" if "depth" in im_segment.name.lower() else None) + plt.axis("off") + # plt.title("相机分割") + self.send_img("img_label_seg") + # 画目标检测图 + # plt.subplot(2, 2, 2) + plt.figure() + plt.imshow(img_obj, cmap="gray" if "depth" in im_depth.name.lower() else None) + plt.axis('off') + # plt.title("目标检测") for key, value in object_pixels.items(): if key == 0: @@ -1348,37 +1366,59 @@ class Scene: ha='center', va='center') plt.gca().add_patch(rect) + + self.send_img("img_label_obj") + + + + new_map = self.updateMap(cur_obstacle_world_points) self.draw_map(plt,new_map) - plt.subplot(2, 7, 14) plt.axis("off") - plt.text(0, 0.9, f'检测行人数量：{walker_detect_count}', fontsize=10) - plt.text(0, 0.7, f'检测物体数量：{obj_detect_count}', fontsize=10) - plt.text(0, 0.5, f'新增语义信息：{walker_detect_count}', fontsize=10) - plt.text(0, 0.3, f'更新语义信息：{update_info_count}', fontsize=10) + self.send_img("img_label_map") + + + + # plt.subplot(2, 7, 14) + # plt.text(0, 0.9, f'检测行人数量：{walker_detect_count}', fontsize=10) + # plt.text(0, 0.7, f'检测物体数量：{obj_detect_count}', fontsize=10) + # plt.text(0, 0.5, f'新增语义信息：{walker_detect_count}', fontsize=10) + # plt.text(0, 0.3, f'更新语义信息：{update_info_count}', fontsize=10) # plt.text(0, 0.1, f'已存语义信息：{self.infoCount}', fontsize=10) - output_path = os.path.join(self.output_path,"vision.png") - # canvas = FigureCanvas(plt.gcf()) - # fig = plt.gcf() # 获取当前figure - # image = fig.canvas.print_to_buffer() - # width, height = fig.get_size_inches() # 获取图像的宽度和高度（单位：英寸） - # dpi = fig.dpi # 获取图像的DPI - # - # width_px = int(width * dpi) # 转换为像素 - # height_px = int(height * dpi) # 转换为像素 - # - # image_pil = Image.frombuffer('RGB', (width, height), image, 'raw') - # + # draw figures + + # output_path = os.path.join(self.output_path,"vision.png") + + + + # # 转换为numpy数组 # image_np = np.asarray(image_pil) - self.ui_func(("draw_from_file","img_label_canvas",output_path)) - plt.close() + # self.ui_func(("draw_from_file","img_label_canvas",output_path)) + # plt.close() # plt.show() # return cur_obstacle_world_points + def send_img(self,name): + # 将图像保存到内存 + buffer = io.BytesIO() + plt.savefig(buffer, bbox_inches='tight', pad_inches=0,format='png') + image_data = buffer.getvalue() + + # 关闭当前图像 + plt.close() + + if not self.img_cache[name] == image_data: + self.img_cache[name] = image_data + self.ui_func(("draw_img",name,image_data)) + + + + + def updateMap(self, points): # map = copy.deepcopy(self.map_map) map = copy.deepcopy(self.map_map_real) @@ -1400,11 +1440,11 @@ class Scene: return map def draw_map(self,plt, map): - plt.subplot(2, 1, 2) # 这里的2,1表示总共2行，1列，2表示这个位置是第2个子图 + # plt.subplot(2, 1, 2) # 这里的2,1表示总共2行，1列，2表示这个位置是第2个子图 plt.imshow(map, cmap='binary', alpha=0.5, origin='lower', extent=(-400 / self.map_ratio, 1450 / self.map_ratio, -350 / self.map_ratio, 600 / self.map_ratio)) - plt.title('可达性地图') + # plt.title('可达性地图') def get_id_object_world(self, id, scene): pixels = [] @@ -1435,11 +1475,11 @@ class Scene: def get_cameras(self): # if self.time - self.last_camera_time > self.camera_interval: - self.img_data_segment = get_camera([GrabSim_pb2.CameraName.Head_Segment]) + self.img_data_segment = self.get_camera([GrabSim_pb2.CameraName.Head_Segment]) time.sleep(0.2) - self.img_data_depth = get_camera([GrabSim_pb2.CameraName.Head_Depth]) + self.img_data_depth = self.get_camera([GrabSim_pb2.CameraName.Head_Depth]) time.sleep(0.2) - self.img_data_color = get_camera([GrabSim_pb2.CameraName.Head_Color]) - self.last_camera_time = self.time + self.img_data_color = self.get_camera([GrabSim_pb2.CameraName.Head_Color]) + # self.last_camera_time = self.time return self.img_data_segment,self.img_data_depth,self.img_data_color \ No newline at end of file diff --git a/robowaiter/utils/ui/__init__.py b/robowaiter/scene/ui/__init__.py similarity index 100% rename from robowaiter/utils/ui/__init__.py rename to robowaiter/scene/ui/__init__.py diff --git a/robowaiter/utils/ui/pyqt5.py b/robowaiter/scene/ui/pyqt5.py similarity index 65% rename from robowaiter/utils/ui/pyqt5.py rename to robowaiter/scene/ui/pyqt5.py index c62cbd6..68264f7 100644 --- a/robowaiter/utils/ui/pyqt5.py +++ b/robowaiter/scene/ui/pyqt5.py @@ -1,40 +1,52 @@ -from PyQt5.QtWidgets import QApplication, QMainWindow, QLabel -from PyQt5.QtGui import QPixmap -from PyQt5.QtCore import Qt -from PyQt5.QtCore import QTimer, QCoreApplication -import sys +import importlib import os -from robowaiter.utils.ui.window import Ui_MainWindow +from PyQt5.QtWidgets import QApplication, QMainWindow +from PyQt5.QtCore import QTimer +import sys + +from robowaiter.scene.ui.window import Ui_MainWindow from robowaiter.utils.basic import get_root_path from PyQt5.QtCore import QThread import queue import numpy as np from PyQt5.QtGui import QImage, QPixmap from PyQt5.QtCore import Qt - -# 创建线程安全的队列 -scene_queue = queue.Queue() -ui_queue = queue.Queue() +from PyQt5.QtCore import QThread, pyqtSignal +from robowaiter.scene.ui.scene_ui import SceneUI +from robowaiter.scene.ui import scene_ui root_path = get_root_path() class TaskThread(QThread): - def __init__(self, task, scene_cls,robot_cls, *args, **kwargs): + stop_signal = pyqtSignal() + + def __init__(self, task, scene_cls,robot_cls,scene_queue,ui_queue, *args, **kwargs): super(TaskThread, self).__init__(*args, **kwargs) self.task = task self.scene_cls = scene_cls self.robot_cls = robot_cls + self.scene_queue = scene_queue + self.ui_queue = ui_queue + self.stoped = True def run(self): - self.task(self.scene_cls,self.robot_cls) + self.scene = self.task(self.scene_cls,self.robot_cls,self.scene_queue,self.ui_queue) + self.scene._run() + # scene._run() -def run_scene(scene_cls,robot_cls): + while not self.isInterruptionRequested(): + self.scene.step() + + # def stop(self): + # del self.scene + +def run_scene(scene_cls,robot_cls,scene_queue,ui_queue): scene = scene_cls(robot_cls(),scene_queue,ui_queue) scene.reset() - scene.run() - # + # scene.run() + return scene # try: # # 机器人系统的主循环 # @@ -42,22 +54,30 @@ def run_scene(scene_cls,robot_cls): # # 打印异常信息到命令行 # print("Robot system error:", str(e)) - +example_list = ("AEM","VLN","VLM",'GQA',"OT","AT","reset") class UI(QMainWindow, Ui_MainWindow): scene = None - def __init__(self,scene_cls,robot_cls): + def __init__(self,robot_cls): app = QApplication(sys.argv) MainWindow = QMainWindow() super(UI, self).__init__(MainWindow) - self.scene_cls = scene_cls + # 创建线程安全的队列 + self.scene_queue = queue.Queue() + self.ui_queue = queue.Queue() + + self.scene_cls = SceneUI self.robot_cls = robot_cls self.setupUi(MainWindow) # 初始化UI - # 初始化 + # 绑定说话按钮 self.btn_say.clicked.connect(self.btn_say_on_click) + # 绑定任务演示按钮 + for example in example_list: + btn = getattr(self,f"btn_{example}") + btn.clicked.connect(self.create_example_click(example)) # 设置一个定时器，每隔100ms检查一次队列 timer = QTimer() @@ -67,11 +87,24 @@ class UI(QMainWindow, Ui_MainWindow): MainWindow.show() - thread = TaskThread(run_scene,scene_cls,robot_cls) - thread.start() + self.thread = TaskThread(run_scene,self.scene_cls,self.robot_cls,self.scene_queue,self.ui_queue) + self.thread.start() sys.exit(app.exec_()) + def create_example_click(self,name): + def btn_example_on_click(): + self.thread.requestInterruption() + self.thread.wait() # 等待线程安全退出 + + self.scene_queue = queue.Queue() + self.ui_queue = queue.Queue() + self.thread = TaskThread(run_scene, self.scene_cls, self.robot_cls,self.scene_queue,self.ui_queue) + self.thread.start() + + self.scene_func((f"run_example",name)) + return btn_example_on_click + def btn_say_on_click(self): question = self.edit_say.text() if question[-1] == ")": @@ -83,11 +116,11 @@ class UI(QMainWindow, Ui_MainWindow): # self.scene.customer_say("System", question) def scene_func(self,args): - scene_queue.put(args) + self.scene_queue.put(args) def handle_queue_messages(self): - while not ui_queue.empty(): - message = ui_queue.get() + while not self.ui_queue.empty(): + message = self.ui_queue.get() function_name = message[0] function = getattr(self, function_name, None) @@ -116,13 +149,18 @@ class UI(QMainWindow, Ui_MainWindow): def draw_img(self,control_name,img): control = getattr(self,control_name,None) - # 加载并显示图片 - print(img) - img = self.ndarray_to_qimage(img) - print(img) - pixmap = QPixmap.fromImage(img) # 替换为你的图片路径 + # # 加载并显示图片 + # print(img) + # img = self.ndarray_to_qimage(img) + # print(img) + + # image = Image.open(io.BytesIO(img)) + # print(image) + pixmap = QPixmap.fromImage(QImage.fromData(img)) + # self.label.setPixmap(pixmap) control.setPixmap(self.scale_pixmap_to_label(pixmap, control)) + # control.setPixmap(pixmap) def draw_canvas(self,control_name,canvas): control = getattr(self,control_name,None) diff --git a/robowaiter/scene/ui/scene_ui.py b/robowaiter/scene/ui/scene_ui.py new file mode 100644 index 0000000..6b905fc --- /dev/null +++ b/robowaiter/scene/ui/scene_ui.py @@ -0,0 +1,126 @@ +""" +UI场景 +""" +import sys + + +from robowaiter.scene.scene import Scene +from robowaiter.utils.bt.draw import render_dot_tree +class SceneUI(Scene): + scene_queue = None + ui_queue = None + # camera_interval = 4 + def __init__(self, robot,scene_queue,ui_queue): + self.scene_queue = scene_queue + self.ui_queue = ui_queue + + super().__init__(robot) + # 在这里加入场景中发生的事件 + self.take_picture = True + + # while True: + # if not self.scene_queue.empty(): + # param = self.scene_queue.get() + # # 处理参数... + + # self.ui_queue.put(('say',"test")) + self.stoped = False + + def run(self): + # 基类run + self._run() + # 运行并由robot打印每步信息 + while not self.stoped: + self.step() + + def run_example(self,example_name): + if example_name == 'VLN': + self.gen_obj() + self.add_walkers([ + [29, 60, 520], # 顾客 0 + [23, 0, 220], # 秃头老头子 1 + [0, -55, 150], # 小男孩d走来走去 2 + [10, -55, 750], # 3 + [19, 70, -200], # 后门站着不动的 4 + [21, 65, 1000, -90], # 大胖男占了一号桌 5 + [5, 230, 1200], # 小女孩 6 + [26, -28, -10, 90], + # [26, 60, 0, 90], + # [26, -28, 0, 90] , #在设置一个在后门随机游走的 7 + # 设置为 26, 60, 0, 90] + [31, 280, 1200, -45] # 8 + ]) + self.control_walker(2, True, 200, -55, 155, 90) # 飞速奔跑的小男孩 + # self.control_walker(7, True, 80, -25, -150, 90) + self.control_walker(5, True, 65, 995, 520, 90) + self.control_walker(4, True, 65, 70, -200, 90) + + self.new_event_list = [ + (5, self.customer_say, (0, "请问哪里有空位啊？")), + (13, self.customer_say, (0, "我想坐高凳子。")), + (3, self.customer_say, (0, "你带我去吧。")), + (45, self.control_walker, (0, False, 100, -250, 480, -90)), + (-1, self.customer_say, (0, "谢谢你！这儿还不错！")), + ] + + if example_name == 'AEM': + pass + + + def init_robot(self): + # init robot + + if self.robot: + self.robot.set_scene(self) + self.robot.load_BT() + self.draw_current_bt() + + def draw_current_bt(self): + render_dot_tree(self.robot.bt.root,target_directory=self.output_path,name="current_bt") + self.ui_queue.put(('draw_from_file',"img_label_bt", f"{self.output_path}/current_bt.png")) + + def ui_func(self,args): + # _,_,output_path = args + # plt.savefig(output_path) + + self.ui_queue.put(args) + + def _reset(self): + pass + + def _step(self): + # print("已运行") + self.handle_queue_messages() + # if len(self.sub_task_seq.children) == 0: + # question = input("请输入指令：") + # if question[-1] == ")": + # print(f"设置目标:{question}") + # self.new_set_goal(question) + # else: + # self.customer_say("System",question) + + + def handle_queue_messages(self): + while not self.scene_queue.empty(): + message = self.scene_queue.get() + function_name = message[0] + function = getattr(self, function_name, None) + + args = [] + if len(message)>1: + args = message[1:] + + result = function(*args) + + def stop(self): + self.stoped = True + +if __name__ == '__main__': + from robowaiter.robot.robot import Robot + + robot = Robot() + ui = UI( Robot) + + # create task + # task = SceneUI(robot,ui) + diff --git a/robowaiter/utils/ui/ui.py b/robowaiter/scene/ui/ui.py similarity index 100% rename from robowaiter/utils/ui/ui.py rename to robowaiter/scene/ui/ui.py diff --git a/robowaiter/utils/ui/ui2py.bat b/robowaiter/scene/ui/ui2py.bat similarity index 100% rename from robowaiter/utils/ui/ui2py.bat rename to robowaiter/scene/ui/ui2py.bat diff --git a/robowaiter/scene/ui/window.py b/robowaiter/scene/ui/window.py new file mode 100644 index 0000000..a8e16e4 --- /dev/null +++ b/robowaiter/scene/ui/window.py @@ -0,0 +1,121 @@ +# -*- coding: utf-8 -*- + +# Form implementation generated from reading ui file 'window.ui' +# +# Created by: PyQt5 UI code generator 5.15.7 +# +# WARNING: Any manual changes made to this file will be lost when pyuic5 is +# run again. Do not edit this file unless you know what you are doing. + + +from PyQt5 import QtCore, QtGui, QtWidgets + + +class Ui_MainWindow(object): + def setupUi(self, MainWindow): + MainWindow.setObjectName("MainWindow") + MainWindow.resize(960, 1080) + MainWindow.setAutoFillBackground(False) + self.centralwidget = QtWidgets.QWidget(MainWindow) + self.centralwidget.setObjectName("centralwidget") + self.edit_say = QtWidgets.QLineEdit(self.centralwidget) + self.edit_say.setGeometry(QtCore.QRect(430, 40, 221, 31)) + self.edit_say.setObjectName("edit_say") + self.btn_say = QtWidgets.QPushButton(self.centralwidget) + self.btn_say.setGeometry(QtCore.QRect(680, 40, 75, 23)) + self.btn_say.setObjectName("btn_say") + self.img_label_seg = QtWidgets.QLabel(self.centralwidget) + self.img_label_seg.setGeometry(QtCore.QRect(0, 200, 311, 241)) + self.img_label_seg.setStyleSheet("border: 2px solid black;") + self.img_label_seg.setText("") + self.img_label_seg.setObjectName("img_label_seg") + self.img_label_bt = QtWidgets.QLabel(self.centralwidget) + self.img_label_bt.setGeometry(QtCore.QRect(0, 810, 811, 171)) + self.img_label_bt.setStyleSheet("border: 2px solid black;") + self.img_label_bt.setText("") + self.img_label_bt.setObjectName("img_label_bt") + self.label_5 = QtWidgets.QLabel(self.centralwidget) + self.label_5.setGeometry(QtCore.QRect(370, 780, 111, 16)) + self.label_5.setObjectName("label_5") + self.img_label_obj = QtWidgets.QLabel(self.centralwidget) + self.img_label_obj.setGeometry(QtCore.QRect(420, 200, 331, 241)) + self.img_label_obj.setStyleSheet("border: 2px solid black;") + self.img_label_obj.setText("") + self.img_label_obj.setObjectName("img_label_obj") + self.img_label_map = QtWidgets.QLabel(self.centralwidget) + self.img_label_map.setGeometry(QtCore.QRect(0, 510, 471, 241)) + self.img_label_map.setStyleSheet("border: 2px solid black;") + self.img_label_map.setText("") + self.img_label_map.setObjectName("img_label_map") + self.label_6 = QtWidgets.QLabel(self.centralwidget) + self.label_6.setGeometry(QtCore.QRect(180, 470, 111, 16)) + self.label_6.setObjectName("label_6") + self.label_7 = QtWidgets.QLabel(self.centralwidget) + self.label_7.setGeometry(QtCore.QRect(130, 170, 111, 16)) + self.label_7.setObjectName("label_7") + self.label_8 = QtWidgets.QLabel(self.centralwidget) + self.label_8.setGeometry(QtCore.QRect(570, 170, 111, 16)) + self.label_8.setObjectName("label_8") + self.btn_AEM = QtWidgets.QPushButton(self.centralwidget) + self.btn_AEM.setGeometry(QtCore.QRect(30, 30, 121, 21)) + self.btn_AEM.setObjectName("btn_AEM") + self.label_9 = QtWidgets.QLabel(self.centralwidget) + self.label_9.setGeometry(QtCore.QRect(20, 10, 331, 16)) + self.label_9.setObjectName("label_9") + self.btn_VLN = QtWidgets.QPushButton(self.centralwidget) + self.btn_VLN.setGeometry(QtCore.QRect(30, 60, 121, 21)) + self.btn_VLN.setObjectName("btn_VLN") + self.btn_VLM = QtWidgets.QPushButton(self.centralwidget) + self.btn_VLM.setGeometry(QtCore.QRect(30, 90, 121, 21)) + self.btn_VLM.setObjectName("btn_VLM") + self.btn_GQA = QtWidgets.QPushButton(self.centralwidget) + self.btn_GQA.setGeometry(QtCore.QRect(160, 30, 121, 21)) + self.btn_GQA.setObjectName("btn_GQA") + self.btn_OT = QtWidgets.QPushButton(self.centralwidget) + self.btn_OT.setGeometry(QtCore.QRect(160, 60, 121, 21)) + self.btn_OT.setObjectName("btn_OT") + self.btn_AT = QtWidgets.QPushButton(self.centralwidget) + self.btn_AT.setGeometry(QtCore.QRect(160, 90, 121, 21)) + self.btn_AT.setObjectName("btn_AT") + self.btn_reset = QtWidgets.QPushButton(self.centralwidget) + self.btn_reset.setGeometry(QtCore.QRect(30, 120, 251, 21)) + self.btn_reset.setObjectName("btn_reset") + MainWindow.setCentralWidget(self.centralwidget) + self.menubar = QtWidgets.QMenuBar(MainWindow) + self.menubar.setGeometry(QtCore.QRect(0, 0, 960, 23)) + self.menubar.setObjectName("menubar") + MainWindow.setMenuBar(self.menubar) + self.statusbar = QtWidgets.QStatusBar(MainWindow) + self.statusbar.setObjectName("statusbar") + MainWindow.setStatusBar(self.statusbar) + + self.retranslateUi(MainWindow) + QtCore.QMetaObject.connectSlotsByName(MainWindow) + + def retranslateUi(self, MainWindow): + _translate = QtCore.QCoreApplication.translate + MainWindow.setWindowTitle(_translate("MainWindow", "MainWindow")) + self.edit_say.setText(_translate("MainWindow", "Is(AC,On)")) + self.btn_say.setText(_translate("MainWindow", "说话")) + self.label_5.setText(_translate("MainWindow", "当前行为树")) + self.label_6.setText(_translate("MainWindow", "可达性地图")) + self.label_7.setText(_translate("MainWindow", "实例分割")) + self.label_8.setText(_translate("MainWindow", "目标检测")) + self.btn_AEM.setText(_translate("MainWindow", "环境主动探索")) + self.label_9.setText(_translate("MainWindow", "任务演示：（播放动画时需等待动画播放完毕才会重置场景）")) + self.btn_VLN.setText(_translate("MainWindow", "视觉语言导航")) + self.btn_VLM.setText(_translate("MainWindow", "视觉语言操作")) + self.btn_GQA.setText(_translate("MainWindow", "具身多轮对话")) + self.btn_OT.setText(_translate("MainWindow", "开放具身任务")) + self.btn_AT.setText(_translate("MainWindow", "自主具身任务")) + self.btn_reset.setText(_translate("MainWindow", "重置")) + + +if __name__ == "__main__": + import sys + app = QtWidgets.QApplication(sys.argv) + MainWindow = QtWidgets.QMainWindow() + ui = Ui_MainWindow() + ui.setupUi(MainWindow) + MainWindow.show() + sys.exit(app.exec_()) diff --git a/robowaiter/scene/ui/window.ui b/robowaiter/scene/ui/window.ui new file mode 100644 index 0000000..14b717a --- /dev/null +++ b/robowaiter/scene/ui/window.ui @@ -0,0 +1,281 @@ + + + MainWindow + + + + 0 + 0 + 960 + 1080 + + + + MainWindow + + + false + + + + + + 430 + 40 + 221 + 31 + + + + Is(AC,On) + + + + + + 680 + 40 + 75 + 23 + + + + 说话 + + + + + + 0 + 200 + 311 + 241 + + + + border: 2px solid black; + + + + + + + + + 0 + 810 + 811 + 171 + + + + border: 2px solid black; + + + + + + + + + 370 + 780 + 111 + 16 + + + + 当前行为树 + + + + + + 420 + 200 + 331 + 241 + + + + border: 2px solid black; + + + + + + + + + 0 + 510 + 471 + 241 + + + + border: 2px solid black; + + + + + + + + + 180 + 470 + 111 + 16 + + + + 可达性地图 + + + + + + 130 + 170 + 111 + 16 + + + + 实例分割 + + + + + + 570 + 170 + 111 + 16 + + + + 目标检测 + + + + + + 30 + 30 + 121 + 21 + + + + 环境主动探索 + + + + + + 20 + 10 + 331 + 16 + + + + 任务演示：（播放动画时需等待动画播放完毕才会重置场景） + + + + + + 30 + 60 + 121 + 21 + + + + 视觉语言导航 + + + + + + 30 + 90 + 121 + 21 + + + + 视觉语言操作 + + + + + + 160 + 30 + 121 + 21 + + + + 具身多轮对话 + + + + + + 160 + 60 + 121 + 21 + + + + 开放具身任务 + + + + + + 160 + 90 + 121 + 21 + + + + 自主具身任务 + + + + + + 30 + 120 + 251 + 21 + + + + 重置 + + + + + + + 0 + 0 + 960 + 23 + + + + + + + + diff --git a/robowaiter/utils/ui/scene_ui.py b/robowaiter/utils/ui/scene_ui.py deleted file mode 100644 index 00374bc..0000000 --- a/robowaiter/utils/ui/scene_ui.py +++ /dev/null @@ -1,88 +0,0 @@ -""" -交互式场景，输入 -""" -import tkinter as tk -from robowaiter.utils.ui.pyqt5 import UI -import os -from matplotlib import pyplot as plt - -# todo: 接收点单信息，大模型生成任务规划 - -from robowaiter.scene.scene import Scene -from robowaiter.utils.ui.ui import RobotInterface -from robowaiter.utils.bt.draw import render_dot_tree -class SceneUI(Scene): - scene_queue = None - ui_queue = None - # camera_interval = 4 - def __init__(self, robot,scene_queue,ui_queue): - self.scene_queue = scene_queue - self.ui_queue = ui_queue - - super().__init__(robot) - # 在这里加入场景中发生的事件 - self.take_picture = True - - # while True: - # if not self.scene_queue.empty(): - # param = self.scene_queue.get() - # # 处理参数... - - # self.ui_queue.put(('say',"test")) - - def init_robot(self, robot): - # init robot - self.robot = robot - - if robot: - robot.set_scene(self) - robot.load_BT() - self.draw_current_bt() - - def draw_current_bt(self): - render_dot_tree(self.robot.bt.root,target_directory=self.output_path,name="current_bt") - self.ui_queue.put(('draw_from_file',"img_label_bt", f"{self.output_path}/current_bt.png")) - - def ui_func(self,args): - _,_,output_path = args - plt.savefig(output_path) - - self.ui_queue.put(args) - - def _reset(self): - pass - - def _step(self): - # print("已运行") - self.handle_queue_messages() - # if len(self.sub_task_seq.children) == 0: - # question = input("请输入指令：") - # if question[-1] == ")": - # print(f"设置目标:{question}") - # self.new_set_goal(question) - # else: - # self.customer_say("System",question) - - - def handle_queue_messages(self): - while not self.scene_queue.empty(): - message = self.scene_queue.get() - function_name = message[0] - function = getattr(self, function_name, None) - - args = [] - if len(message)>1: - args = message[1:] - - result = function(*args) - - -if __name__ == '__main__': - from robowaiter.robot.robot import Robot - - robot = Robot() - ui = UI(SceneUI, Robot) - - # create task - # task = SceneUI(robot,ui) - diff --git a/robowaiter/utils/ui/window.py b/robowaiter/utils/ui/window.py deleted file mode 100644 index 9f7ff31..0000000 --- a/robowaiter/utils/ui/window.py +++ /dev/null @@ -1,67 +0,0 @@ -# -*- coding: utf-8 -*- - -# Form implementation generated from reading ui file 'window.ui' -# -# Created by: PyQt5 UI code generator 5.15.7 -# -# WARNING: Any manual changes made to this file will be lost when pyuic5 is -# run again. Do not edit this file unless you know what you are doing. - - -from PyQt5 import QtCore, QtGui, QtWidgets - - -class Ui_MainWindow(object): - def setupUi(self, MainWindow): - MainWindow.setObjectName("MainWindow") - MainWindow.resize(960, 1080) - MainWindow.setAutoFillBackground(False) - self.centralwidget = QtWidgets.QWidget(MainWindow) - self.centralwidget.setObjectName("centralwidget") - self.edit_say = QtWidgets.QLineEdit(self.centralwidget) - self.edit_say.setGeometry(QtCore.QRect(430, 40, 221, 31)) - self.edit_say.setObjectName("edit_say") - self.btn_say = QtWidgets.QPushButton(self.centralwidget) - self.btn_say.setGeometry(QtCore.QRect(680, 40, 75, 23)) - self.btn_say.setObjectName("btn_say") - self.img_label_canvas = QtWidgets.QLabel(self.centralwidget) - self.img_label_canvas.setGeometry(QtCore.QRect(0, 160, 811, 441)) - self.img_label_canvas.setStyleSheet("border: 2px solid black;") - self.img_label_canvas.setText("") - self.img_label_canvas.setObjectName("img_label_canvas") - self.img_label_bt = QtWidgets.QLabel(self.centralwidget) - self.img_label_bt.setGeometry(QtCore.QRect(0, 670, 811, 311)) - self.img_label_bt.setStyleSheet("border: 2px solid black;") - self.img_label_bt.setText("") - self.img_label_bt.setObjectName("img_label_bt") - self.label_5 = QtWidgets.QLabel(self.centralwidget) - self.label_5.setGeometry(QtCore.QRect(400, 630, 111, 16)) - self.label_5.setObjectName("label_5") - MainWindow.setCentralWidget(self.centralwidget) - self.menubar = QtWidgets.QMenuBar(MainWindow) - self.menubar.setGeometry(QtCore.QRect(0, 0, 960, 23)) - self.menubar.setObjectName("menubar") - MainWindow.setMenuBar(self.menubar) - self.statusbar = QtWidgets.QStatusBar(MainWindow) - self.statusbar.setObjectName("statusbar") - MainWindow.setStatusBar(self.statusbar) - - self.retranslateUi(MainWindow) - QtCore.QMetaObject.connectSlotsByName(MainWindow) - - def retranslateUi(self, MainWindow): - _translate = QtCore.QCoreApplication.translate - MainWindow.setWindowTitle(_translate("MainWindow", "MainWindow")) - self.edit_say.setText(_translate("MainWindow", "Is(AC,On)")) - self.btn_say.setText(_translate("MainWindow", "说话")) - self.label_5.setText(_translate("MainWindow", "语义地图")) - - -if __name__ == "__main__": - import sys - app = QtWidgets.QApplication(sys.argv) - MainWindow = QtWidgets.QMainWindow() - ui = Ui_MainWindow() - ui.setupUi(MainWindow) - MainWindow.show() - sys.exit(app.exec_()) diff --git a/robowaiter/utils/ui/window.ui b/robowaiter/utils/ui/window.ui deleted file mode 100644 index fb32a4d..0000000 --- a/robowaiter/utils/ui/window.ui +++ /dev/null @@ -1,106 +0,0 @@ - - - MainWindow - - - - 0 - 0 - 960 - 1080 - - - - MainWindow - - - false - - - - - - 430 - 40 - 221 - 31 - - - - Is(AC,On) - - - - - - 680 - 40 - 75 - 23 - - - - 说话 - - - - - - 0 - 160 - 811 - 441 - - - - border: 2px solid black; - - - - - - - - - 0 - 670 - 811 - 311 - - - - border: 2px solid black; - - - - - - - - - 400 - 630 - 111 - 16 - - - - 语义地图 - - - - - - - 0 - 0 - 960 - 23 - - - - - - - - diff --git a/run_ui.py b/run_ui.py new file mode 100644 index 0000000..589b689 --- /dev/null +++ b/run_ui.py @@ -0,0 +1,5 @@ +from robowaiter.scene.ui.pyqt5 import UI +from robowaiter.robot.robot import Robot + +robot = Robot() +ui = UI( Robot)