修复ui bug

robowaiter/scene/scene.py

@@ -1177,6 +1177,9 @@ class Scene:
         return world_coordinates
 
     def ui_func(self,args):
+        plt.show()
+
+    def draw_current_bt(self):
         pass
 
     def get_obstacle_point(self, db, scene, map_ratio, update_info_count=0):
@@ -1357,7 +1360,6 @@ class Scene:
         # 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")
-        plt.savefig(output_path)
 
         # canvas = FigureCanvas(plt.gcf())
         # fig = plt.gcf()  # 获取当前figure

robowaiter/utils/ui/scene_ui.py

@@ -4,6 +4,7 @@
 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
 
@@ -14,13 +15,13 @@ 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():
@@ -43,6 +44,9 @@ class SceneUI(Scene):
         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):

robowaiter/utils/ui/window.py

@@ -15,11 +15,11 @@ class Ui_MainWindow(object):
     def setupUi(self, MainWindow):
         MainWindow.setObjectName("MainWindow")
         MainWindow.resize(960, 1080)
-        MainWindow.setAutoFillBackground(True)
+        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(450, 30, 221, 31))
+        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))
@@ -52,7 +52,7 @@ class Ui_MainWindow(object):
     def retranslateUi(self, MainWindow):
         _translate = QtCore.QCoreApplication.translate
         MainWindow.setWindowTitle(_translate("MainWindow", "MainWindow"))
-        self.edit_say.setText(_translate("MainWindow", "做一杯咖啡"))
+        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"))
 

robowaiter/utils/ui/window.ui

@@ -14,20 +14,20 @@
    <string>MainWindow</string>
   </property>
   <property name="autoFillBackground">
-   <bool>true</bool>
+   <bool>false</bool>
   </property>
   <widget class="QWidget" name="centralwidget">
    <widget class="QLineEdit" name="edit_say">
     <property name="geometry">
      <rect>
-      <x>450</x>
-      <y>30</y>
+      <x>430</x>
+      <y>40</y>
       <width>221</width>
       <height>31</height>
      </rect>
     </property>
     <property name="text">
-     <string>做一杯咖啡</string>
+     <string>Is(AC,On)</string>
     </property>
    </widget>
    <widget class="QPushButton" name="btn_say">