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main_AGV.py
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main_AGV.py
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#!/usr/bin/env python3
# encoding:utf-8
import os
import socket
import struct
import sys
import threading
#import fcntl
from PyQt5 import QtCore, QtGui
from PyQt5.QtCore import pyqtSlot, Qt, QPoint
from PyQt5.QtGui import QPixmap, QEnterEvent
from PyQt5.QtWidgets import QMainWindow, QApplication, QWidget, QMessageBox
from libraries.pyqtfile.INagv_UI import Ui_AGV_UI as AGV_Window
class AGV_APP(AGV_Window, QMainWindow, QWidget):
def __init__(self):
super(AGV_APP, self).__init__()
super(AGV_APP, self).__init__()
self.setupUi(self)
self._init_main_window()
self._initDrag() # Set the mouse tracking judgment trigger default value
self.setMouseTracking(True) # Set widget mouse tracking
self.widget.installEventFilter(self) # Initialize event filter
self.move(350, 10)
self._init_variable()
self._init_status()
self._close_max_min_icon()
self.min_btn.clicked.connect(self.min_clicked) # minimize
self.max_btn.clicked.connect(self.max_clicked)
self.close_btn.clicked.connect(self.close_clicked) # close
self.language_btn.clicked.connect(self.set_language)
self.agv_connect_btn.clicked.connect(self.open_socket)
# Initialize window borders
def _init_main_window(self):
# Set the form to be borderless
self.setWindowFlags(Qt.FramelessWindowHint)
# Set the background to be transparent
self.setAttribute(Qt.WA_TranslucentBackground)
# Set software icon
w = self.logo_lab.width()
h = self.logo_lab.height()
self.pix = QPixmap(libraries_path + '/images/logo.png') # the path to the icon
self.logo_lab.setPixmap(self.pix)
self.logo_lab.setScaledContents(True)
w = self.logo_pic_lab.width()
h = self.logo_pic_lab.height()
self.pix = QPixmap(libraries_path + '/images/logo_pic.jpg') # the path to the icon
self.logo_pic_lab.setPixmap(self.pix)
self.logo_pic_lab.setScaledContents(True)
# Initialize variables
def _init_variable(self):
with open(libraries_path + f'/offset/language_AGV.txt', "r", encoding="utf-8") as f:
lange = f.read()
self.language = int(lange) # Control language, 1 is English, 2 is Chinese
if self.language == 1:
self.btn_color(self.language_btn, 'green')
else:
self.btn_color(self.language_btn, 'blue')
self.is_language_btn_click = False
self.agv_IP_text.setText(self.get_IP())
def _init_status(self):
self._init_language()
def _initDrag(self):
# Set the mouse tracking judgment trigger default value
self._move_drag = False
self._corner_drag = False
self._bottom_drag = False
self._right_drag = False
# Close, minimize button display text
def _close_max_min_icon(self):
self.min_btn.setStyleSheet("border-image: url({}/images/min.ico);".format(libraries_path))
self.max_btn.setStyleSheet("border-image: url({}/images/max.ico);".format(libraries_path))
self.close_btn.setStyleSheet("border-image: url({}/images/close.ico);".format(libraries_path))
@pyqtSlot()
def min_clicked(self):
# minimize
self.showMinimized()
@pyqtSlot()
def max_clicked(self):
# Maximize and restore (not used)
if self.isMaximized():
self.showNormal()
# self.max_btn.setStyleSheet("border-image: url({}/AiKit_UI_img/max.png);".format(libraries_path))
icon_max = QtGui.QIcon()
icon_max.addPixmap(QtGui.QPixmap(f"{libraries_path}/images/max.ico"), QtGui.QIcon.Normal,
QtGui.QIcon.Off)
self.max_btn.setIcon(icon_max)
self.max_btn.setIconSize(QtCore.QSize(30, 30))
self.max_btn.setToolTip("<html><head/><body><p>maximize</p></body></html>")
else:
self.showMaximized()
# self.max_btn.setStyleSheet("border-image: url({}/AiKit_UI_img/nomel.png);".format(libraries_path))
icon_nomel = QtGui.QIcon()
icon_nomel.addPixmap(QtGui.QPixmap(f"{libraries_path}/images/nomel.ico"), QtGui.QIcon.Normal,
QtGui.QIcon.Off)
self.max_btn.setIcon(icon_nomel)
self.max_btn.setIconSize(QtCore.QSize(30, 30))
self.max_btn.setToolTip("<html><head/><body><p>recover</p></body></html>")
def eventFilter(self, obj, event):
# Event filter, used to solve the problem of reverting to the standard mouse style after the mouse enters other controls
if isinstance(event, QEnterEvent):
self.setCursor(Qt.ArrowCursor)
return super(AGV_APP, self).eventFilter(obj, event) # Note that MyWindow is the name of the class
def resizeEvent(self, QResizeEvent):
# 自定义窗口调整大小事件
# 改变窗口大小的三个坐标范围
self._right_rect = [QPoint(x, y) for x in range(self.width() - 5, self.width() + 5)
for y in range(self.widget.height() + 20, self.height() - 5)]
self._bottom_rect = [QPoint(x, y) for x in range(1, self.width() - 5)
for y in range(self.height() - 5, self.height() + 1)]
self._corner_rect = [QPoint(x, y) for x in range(self.width() - 5, self.width() + 100)
for y in range(self.height() - 5, self.height() + 1)]
def mousePressEvent(self, event):
# 重写鼠标点击的事件
if (event.button() == Qt.LeftButton) and (event.pos() in self._corner_rect):
# 鼠标左键点击右下角边界区域
self._corner_drag = True
event.accept()
elif (event.button() == Qt.LeftButton) and (event.pos() in self._right_rect):
# 鼠标左键点击右侧边界区域
self._right_drag = True
event.accept()
elif (event.button() == Qt.LeftButton) and (event.pos() in self._bottom_rect):
# 鼠标左键点击下侧边界区域
self._bottom_drag = True
event.accept()
elif (event.button() == Qt.LeftButton) and (event.y() < self.widget.height()):
# 鼠标左键点击标题栏区域
self._move_drag = True
self.move_DragPosition = event.globalPos() - self.pos()
event.accept()
def mouseMoveEvent(self, QMouseEvent):
# 判断鼠标位置切换鼠标手势
if QMouseEvent.pos() in self._corner_rect: # QMouseEvent.pos()获取相对位置
self.setCursor(Qt.SizeFDiagCursor)
elif QMouseEvent.pos() in self._bottom_rect:
self.setCursor(Qt.SizeVerCursor)
elif QMouseEvent.pos() in self._right_rect:
self.setCursor(Qt.SizeHorCursor)
# 当鼠标左键点击不放及满足点击区域的要求后，分别实现不同的窗口调整
# 没有定义左方和上方相关的5个方向，主要是因为实现起来不难，但是效果很差，拖放的时候窗口闪烁，再研究研究是否有更好的实现
if Qt.LeftButton and self._right_drag:
# 右侧调整窗口宽度
self.resize(QMouseEvent.pos().x(), self.height())
QMouseEvent.accept()
elif Qt.LeftButton and self._bottom_drag:
# 下侧调整窗口高度
self.resize(self.width(), QMouseEvent.pos().y())
QMouseEvent.accept()
elif Qt.LeftButton and self._corner_drag:
# 由于我窗口设置了圆角,这个调整大小相当于没有用了
# 右下角同时调整高度和宽度
self.resize(QMouseEvent.pos().x(), QMouseEvent.pos().y())
QMouseEvent.accept()
elif Qt.LeftButton and self._move_drag:
# 标题栏拖放窗口位置
self.move(QMouseEvent.globalPos() - self.move_DragPosition)
QMouseEvent.accept()
def mouseReleaseEvent(self, QMouseEvent):
# 鼠标释放后，各扳机复位
self._move_drag = False
self._corner_drag = False
self._bottom_drag = False
self._right_drag = False
self.setCursor(Qt.ArrowCursor)
@pyqtSlot()
def close_clicked(self):
# turn off an app
self.cap.release()
self.close()
QApplication.exit()
def get_IP(self):
# 获取本地计算机的主机名
host_name = socket.gethostname()
# 根据主机名获取本地IP地址
ip_address = socket.gethostbyname(host_name)
print(ip_address)
return ip_address
def open_socket(self):
ip_address = self.agv_IP_text.text()
port = self.agv_port_text.text()
try:
if ip_address and port is not None:
self.client_socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
server_address = (ip_address, int(port))
self.client_socket.connect(server_address)
t = threading.Thread(target=self.get_res)
t.start()
if self.language == 1:
QMessageBox.information(self, "communication", "Successfully connected", QMessageBox.Ok)
else:
QMessageBox.information(self, "提示", "连接成功", QMessageBox.Ok)
else:
if self.language == 1:
QMessageBox.information(self, "prompt", "The connection failed, please check the IP address and confirm that the AGV has started the server", QMessageBox.Ok)
else:
QMessageBox.information(self, "提示", "连接失败，请检查IP地址以及确认AGV已经启动服务端", QMessageBox.Ok)
self.agv_IP_text.setText(self.get_IP())
except Exception as e:
print(str(e))
if self.language == 1:
QMessageBox.information(self, "prompt", "The connection failed, please check the IP address and confirm that the AGV has started the server", QMessageBox.Ok)
else:
QMessageBox.information(self, "提示", "连接失败，请检查IP地址以及确认AGV已经启动服务端", QMessageBox.Ok)
self.agv_IP_text.setText(self.get_IP())
def btn_color(self, btn, color):
if color == 'red':
btn.setStyleSheet("background-color: rgb(231, 76, 60);\n"
"color: rgb(255, 255, 255);\n"
"border-radius: 10px;\n"
"border: 2px groove gray;\n"
"border-style: outset;")
elif color == 'green':
btn.setStyleSheet("background-color: rgb(39, 174, 96);\n"
"color: rgb(255, 255, 255);\n"
"border-radius: 10px;\n"
"border: 2px groove gray;\n"
"border-style: outset;")
elif color == 'blue':
btn.setStyleSheet("background-color: rgb(41, 128, 185);\n"
"color: rgb(255, 255, 255);\n"
"border-radius: 10px;\n"
"border: 2px groove gray;\n"
"border-style: outset;")
elif color == 'grey':
btn.setStyleSheet("background-color:rgb(41, 128, 185);\n"
"background-color: rgb(218, 218, 218);\n"
"color: rgb(255, 255, 255);\n"
"border-radius: 10px;\n"
"border: 2px groove gray;\n"
"border-style: outset;")
def set_language(self):
try:
self.is_language_btn_click = True
if self.language == 1:
self.language = 2
self.btn_color(self.language_btn, 'blue')
else:
self.language = 1
self.btn_color(self.language_btn, 'green')
self._init_language()
self.is_language_btn_click = False
with open(rf'{libraries_path}/offset/language_AGV.txt', "w",
encoding="utf-8") as file:
file.write(str(self.language))
except Exception as e:
print(str(e))
def _init_language(self):
_translate = QtCore.QCoreApplication.translate
if self.language == 2:
self.title_lab.setText(_translate("AGV_UI", "Elephant Robotics AGV Sand Table"))
self.connect_lab.setText(_translate("AGV_UI", "Socket服务"))
self.language_btn.setText(_translate("AGV_UI", "English"))
self.agv_ip.setText(_translate("AGV_UI", "IP"))
self.agv_IP_text.setText(_translate("AGV_UI", f"{self.get_IP()}"))
self.agv_port.setText(_translate("AGV_UI", "端口"))
self.agv_connect_btn.setText(_translate("AGV_UI", "开启"))
self.agv_con_lab.setText(_translate("AGV_UI", "定点导航位置"))
self.agv_connect_btn_2.setText(_translate("AGV_UI", "保存"))
self.label_3.setText(_translate("AGV_UI", "目标点1"))
self.X_lab.setText(_translate("AGV_UI", "X"))
self.Y_lab.setText(_translate("AGV_UI", "Y"))
self.Z_lab.setText(_translate("AGV_UI", "Z"))
self.W_lab.setText(_translate("AGV_UI", "W"))
self.label_2.setText(_translate("AGV_UI", "目标点2"))
self.X_lab_3.setText(_translate("AGV_UI", "X"))
self.Y_lab_3.setText(_translate("AGV_UI", "Y"))
self.Z_lab_3.setText(_translate("AGV_UI", "Z"))
self.W_lab_3.setText(_translate("AGV_UI", "W"))
self.camera_lab_3.setToolTip(_translate("AGV_UI", "放大对应的监控画面"))
self.camera_lab_3.setText(_translate("AGV_UI", "AGV"))
self.camera_lab_4.setToolTip(_translate("AGV_UI", "放大对应的监控画面"))
self.camera_lab_4.setText(_translate("AGV_UI", "Sand Table"))
self.log_lab.setText(_translate("AGV_UI", "日志"))
self.clear_log_btn.setText(_translate("AGV_UI", "清除日志"))
else:
self.title_lab.setText(_translate("AGV_UI", "Elephant Robotics AGV Sand Table"))
self.connect_lab.setText(_translate("AGV_UI", "Socket service"))
self.language_btn.setText(_translate("AGV_UI", "简体中文"))
self.agv_ip.setText(_translate("AGV_UI", "IP"))
self.agv_IP_text.setText(_translate("AGV_UI", f"{self.get_IP()}"))
self.agv_port.setText(_translate("AGV_UI", "Port"))
self.agv_connect_btn.setText(_translate("AGV_UI", "Open"))
self.agv_con_lab.setText(_translate("AGV_UI", "point navigation position"))
self.agv_connect_btn_2.setText(_translate("AGV_UI", "Save"))
self.label_3.setText(_translate("AGV_UI", "target point 1"))
self.X_lab.setText(_translate("AGV_UI", "X"))
self.Y_lab.setText(_translate("AGV_UI", "Y"))
self.Z_lab.setText(_translate("AGV_UI", "Z"))
self.W_lab.setText(_translate("AGV_UI", "W"))
self.label_2.setText(_translate("AGV_UI", "target point 2"))
self.X_lab_3.setText(_translate("AGV_UI", "X"))
self.Y_lab_3.setText(_translate("AGV_UI", "Y"))
self.Z_lab_3.setText(_translate("AGV_UI", "Z"))
self.W_lab_3.setText(_translate("AGV_UI", "W"))
self.camera_lab_3.setText(_translate("AGV_UI", "AGV"))
self.camera_lab_4.setText(_translate("AGV_UI", "Sand Table"))
self.log_lab.setText(_translate("AGV_UI", "Log"))
self.clear_log_btn.setText(_translate("AGV_UI", "Clear"))
# visit resource lib
def resource_path(relative_path):
# check if Bundle Resource
if getattr(sys, 'frozen', False):
base_path = sys._MEIPASS
else:
base_path = os.path.abspath(".")
return os.path.join(base_path, relative_path)
if __name__ == '__main__':
try:
libraries_path = resource_path('libraries')
libraries_path = libraries_path.replace("\\", "/")
print(libraries_path)
app = QApplication(sys.argv)
PC_Window = AGV_APP()
PC_Window.show()
except Exception as e:
print(str(e))
sys.exit(app.exec_())