209 lines
6.7 KiB
Python
209 lines
6.7 KiB
Python
import importlib
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import os
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from PyQt5.QtWidgets import QApplication, QMainWindow
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from PyQt5.QtCore import QTimer
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import sys
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from robowaiter.scene.ui.window import Ui_MainWindow
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from robowaiter.utils.basic import get_root_path
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from PyQt5.QtCore import QThread
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import queue
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import numpy as np
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from PyQt5.QtGui import QImage, QPixmap
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from PyQt5.QtCore import Qt
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from PyQt5.QtCore import QThread, pyqtSignal
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from robowaiter.scene.ui.scene_ui import SceneUI
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from robowaiter.scene.ui import scene_ui
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root_path = get_root_path()
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class TaskThread(QThread):
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stop_signal = pyqtSignal()
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def __init__(self, task, scene_cls,robot_cls,scene_queue,ui_queue, *args, **kwargs):
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super(TaskThread, self).__init__(*args, **kwargs)
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self.task = task
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self.scene_cls = scene_cls
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self.robot_cls = robot_cls
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self.scene_queue = scene_queue
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self.ui_queue = ui_queue
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self.stoped = True
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def run(self):
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self.scene = self.task(self.scene_cls,self.robot_cls,self.scene_queue,self.ui_queue)
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self.scene._run()
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# scene._run()
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while not self.isInterruptionRequested():
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self.scene.step()
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# def stop(self):
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# del self.scene
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def run_scene(scene_cls,robot_cls,scene_queue,ui_queue):
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scene = scene_cls(robot_cls(),scene_queue,ui_queue)
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scene.reset()
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# scene.run()
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return scene
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# try:
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# # 机器人系统的主循环
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#
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# except Exception as e:
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# # 打印异常信息到命令行
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# print("Robot system error:", str(e))
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example_list = ("AEM","VLN","VLM",'GQA',"OT","AT","reset")
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class UI(QMainWindow, Ui_MainWindow):
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scene = None
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def __init__(self,robot_cls):
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app = QApplication(sys.argv)
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MainWindow = QMainWindow()
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super(UI, self).__init__(MainWindow)
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# 创建线程安全的队列
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self.scene_queue = queue.Queue()
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self.ui_queue = queue.Queue()
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self.scene_cls = SceneUI
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self.robot_cls = robot_cls
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self.setupUi(MainWindow) # 初始化UI
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# 绑定说话按钮
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self.btn_say.clicked.connect(self.btn_say_on_click)
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# 绑定任务演示按钮
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for example in example_list:
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btn = getattr(self,f"btn_{example}")
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btn.clicked.connect(self.create_example_click(example))
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# 设置一个定时器，每隔100ms检查一次队列
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timer = QTimer()
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timer.setInterval(100) # 设置检查队列的间隔时间
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timer.timeout.connect(self.handle_queue_messages) # 当定时器超时时，处理队列中的消息
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timer.start() # 启动定时器
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MainWindow.show()
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self.thread = TaskThread(run_scene,self.scene_cls,self.robot_cls,self.scene_queue,self.ui_queue)
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self.thread.start()
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sys.exit(app.exec_())
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def create_example_click(self,name):
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def btn_example_on_click():
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self.thread.requestInterruption()
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self.thread.wait() # 等待线程安全退出
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self.scene_queue = queue.Queue()
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self.ui_queue = queue.Queue()
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self.thread = TaskThread(run_scene, self.scene_cls, self.robot_cls,self.scene_queue,self.ui_queue)
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self.thread.start()
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self.scene_func((f"run_{name}",))
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return btn_example_on_click
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def btn_say_on_click(self):
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question = self.edit_say.text()
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if question[-1] == ")":
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print(f"设置目标:{question}")
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self.scene_func(("new_set_goal",question))
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# self.scene.new_set_goal(question)
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else:
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self.scene_func(("customer_say","System",question))
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# self.scene.customer_say("System", question)
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def scene_func(self,args):
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self.scene_queue.put(args)
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def handle_queue_messages(self):
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while not self.ui_queue.empty():
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message = self.ui_queue.get()
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function_name = message[0]
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function = getattr(self, function_name, None)
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args = []
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if len(message)>1:
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args = message[1:]
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result = function(*args)
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def setupUi(self, MainWindow):
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Ui_MainWindow.setupUi(self,MainWindow)
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# dir_path = os.path.dirname(__file__)
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# 加载并显示图片
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# img_path = os.path.join(root_path, "robowaiter/utils/draw_bt/test.png")
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# self.draw_from_file("img_label_bt",img_path)
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# self.label.setAlignment(Qt.AlignCenter) # 图片居中显示
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def draw_from_file(self,control_name,file_name):
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control = getattr(self,control_name,None)
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# 加载并显示图片
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pixmap = QPixmap(file_name) # 替换为你的图片路径
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# self.label.setPixmap(pixmap)
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control.setPixmap(self.scale_pixmap_to_label(pixmap, control))
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def draw_img(self,control_name,img):
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control = getattr(self,control_name,None)
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# # 加载并显示图片
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# print(img)
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# img = self.ndarray_to_qimage(img)
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# print(img)
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# image = Image.open(io.BytesIO(img))
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# print(image)
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pixmap = QPixmap.fromImage(QImage.fromData(img))
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# self.label.setPixmap(pixmap)
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control.setPixmap(self.scale_pixmap_to_label(pixmap, control))
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# control.setPixmap(pixmap)
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def draw_canvas(self,control_name,canvas):
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control = getattr(self,control_name,None)
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# 加载并显示图片
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pixmap = QApplication.grabWidget(canvas)
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# self.label.setPixmap(pixmap)
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control.setPixmap(self.scale_pixmap_to_label(pixmap, control))
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def ndarray_to_qimage(self,array: np.ndarray) -> QImage:
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# 假设你的ndarray是uint8类型的，且是RGB格式（三个通道）
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height, width, channels = array.shape
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if channels ==3:
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bytes_per_line = channels * width
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image = QImage(array.data, width, height, bytes_per_line, QImage.Format_RGB888)
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else:
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# 对于灰度图像
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image = QImage(array.data, width, height, QImage.Format_Grayscale8)
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return image
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def scale_pixmap_to_label(self, pixmap, label):
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# 获取QLabel的大小
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label_width = label.width()
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label_height = label.height()
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# 保持图片的长宽比，同时确保图片的一个维度适应QLabel的大小
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scaled_pixmap = pixmap.scaledToWidth(label_width, Qt.SmoothTransformation)
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if scaled_pixmap.height() > label_height:
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scaled_pixmap = pixmap.scaledToHeight(label_height, Qt.SmoothTransformation)
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return scaled_pixmap
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def set_scene(self, scene):
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self.scene = scene
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if __name__ == "__main__":
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# app = QApplication(sys.argv)
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# MainWindow = QMainWindow()
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ui = UI()
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# ui.setupUi(MainWindow)
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# MainWindow.show()
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# sys.exit(app.exec_()) |