184 lines
7.8 KiB
Python
184 lines
7.8 KiB
Python
import sys
|
|
from PyQt5.QtWidgets import QApplication, QMainWindow, QMessageBox
|
|
from main_ui import *
|
|
from wifi_udp import *
|
|
import threading #引入并行
|
|
import numpy as np
|
|
import pyqtgraph as pg
|
|
import re
|
|
from sharedcomponets import GUIToolKit
|
|
|
|
class MyWindow(QMainWindow, Ui_MainWindow):
|
|
signalColors = [GUIToolKit.RED_COLOR, GUIToolKit.BLUE_COLOR, GUIToolKit.PURPLE_COLOR, GUIToolKit.YELLOW_COLOR,
|
|
GUIToolKit.MAROON_COLOR, GUIToolKit.ORANGE_COLOR, GUIToolKit.GREEN_COLOR]
|
|
signalIcons = ['reddot', 'bluedot', 'purpledot', 'yellowdot', 'maroondot', 'orangedot', 'greendot']
|
|
|
|
def __init__(self, parent=None):
|
|
super(MyWindow, self).__init__(parent)
|
|
self.setupUi(self)
|
|
# 变量初始化
|
|
self.variable_init()
|
|
# 设置实例
|
|
self.CreateItems()
|
|
# 设置信号与槽
|
|
self.CreateSignalSlot()
|
|
|
|
|
|
# 设置信号与槽
|
|
def CreateSignalSlot(self):
|
|
self.velocity_horizontalSlider.valueChanged.connect(self.velocity_horizontalSlider_valueChanged)
|
|
self.wifi_config_pushButton.clicked.connect(self.wifi_config_pushButton_clicked)
|
|
self.wifi_command_pushButton.clicked.connect(self.wifi_command_pushButton_clicked)
|
|
# 设置实例
|
|
def CreateItems(self):
|
|
# 定时器-绘图刷新
|
|
self.timer = QtCore.QTimer()
|
|
self.timer.timeout.connect(self.update_plot)
|
|
self.timer.start(20)
|
|
# wifi udp
|
|
self.udp = udp()
|
|
# self.wifi_IP_lineEdit.setText(self.udp.user_ip)
|
|
def variable_init(self):
|
|
# 图表数据变量
|
|
self.wifi_recv_flag = 0
|
|
self.udp_data = 0
|
|
self.target_velocity = 0
|
|
self.now_velocity = 0
|
|
self.close_flag = 1
|
|
self.re_item = []
|
|
def plot_init(self):
|
|
# 绘图对象
|
|
pg.setConfigOptions(antialias=True)
|
|
self.plotWidget = pg.PlotWidget()
|
|
self.plotWidget.showGrid(x=True, y=True, alpha=0.5)
|
|
self.plotWidget.addLegend()
|
|
self.controlPlotWidget = ControlPlotPanel(controllerPlotWidget=self)
|
|
# 图表可视化数组
|
|
self.numberOfSamples = 300
|
|
self.signalDataArrays = []
|
|
self.signalPlots = []
|
|
self.signalPlotFlags = []
|
|
self.timeArray = np.arange(-self.numberOfSamples, 0, 1)
|
|
for (sig, sigColor, checkBox,tooltip) in zip(self.re_item, self.signalColors, self.controlPlotWidget.signalCheckBox,self.re_item):
|
|
# define signal plot data array
|
|
self.signalDataArrays.append(np.zeros(self.numberOfSamples))
|
|
# configure signal plot parameters
|
|
signalPen = pg.mkPen(color=sigColor, width=1.5)
|
|
self.signalPlots.append(pg.PlotDataItem(self.timeArray,
|
|
self.signalDataArrays[-1],
|
|
pen=signalPen, name=tooltip))
|
|
self.plotWidget.addItem(self.signalPlots[-1])
|
|
# is plotted flag
|
|
self.signalPlotFlags.append(True)
|
|
|
|
self.gridLayout.addWidget(self.plotWidget)
|
|
self.tool_layout.addWidget(self.controlPlotWidget)
|
|
# 滑条绑定
|
|
def velocity_horizontalSlider_valueChanged(self):
|
|
self.target_velocity = self.velocity_horizontalSlider.value()
|
|
self.velocity_lineEdit.setText(str(self.target_velocity))
|
|
self.udp.send_message(str(self.target_velocity))
|
|
print(str(self.target_velocity))
|
|
# command命令发送事件
|
|
def wifi_command_pushButton_clicked(self):
|
|
self.udp.send_message(self.wifi_command_lineEdit.text())
|
|
def wifi_config_pushButton_clicked(self):
|
|
try:
|
|
# self.re_item = ['k','g','l','t']
|
|
# self.plot_init()
|
|
|
|
print(self.wifi_IP_lineEdit.text(),type(self.wifi_IP_lineEdit.text()))
|
|
self.udp.udpClientSocket.bind((self.wifi_IP_lineEdit.text(), 2333))
|
|
# 第一次接受数据，用于判断项目数，
|
|
self.udp.send_message("s")
|
|
recv_data = self.udp.udpClientSocket.recv(1024)
|
|
recv_data = recv_data.decode('utf-8')
|
|
recv_data = recv_data[:-1]
|
|
recv_data = recv_data.split(',')
|
|
"""处理接受的信息"""
|
|
for i, data in enumerate(recv_data):
|
|
self.re_item.append(''.join(re.split(r'[^A-Za-z]', data)))
|
|
print(self.re_item)
|
|
# 图表初始化
|
|
self.plot_init()
|
|
t1 = threading.Thread(target=self.udp_recv)
|
|
t1.start()
|
|
except Exception as e:
|
|
print(e)
|
|
QMessageBox.critical(self, "错误", '该请求的地址无效')
|
|
def udp_recv(self):
|
|
while self.close_flag:
|
|
recv_data = self.udp.udpClientSocket.recv(1024)
|
|
recv_data = recv_data.decode('utf-8')
|
|
recv_data = recv_data[:-1]
|
|
recv_data = recv_data.split(',')
|
|
"""处理接受的信息"""
|
|
# print(recv_data)
|
|
for i, data in enumerate(recv_data):
|
|
self.re_item.append(''.join(re.split(r'[^A-Za-z]', data)))
|
|
data = data.replace(self.re_item[i],'')
|
|
|
|
self.signalDataArrays[i] = np.roll(self.signalDataArrays[i], -1)
|
|
self.signalDataArrays[i][-1] = data
|
|
pass
|
|
def update_plot(self):
|
|
if self.wifi_recv_flag:
|
|
for i, plotFlag in enumerate(self.signalPlotFlags):
|
|
self.signalPlots[i].setData(self.timeArray, self.signalDataArrays[i])
|
|
self.signalPlots[i].updateItems()
|
|
self.signalPlots[i].sigPlotChanged.emit(self.signalPlots[i])
|
|
|
|
def closeEvent(self, a0: QtGui.QCloseEvent) -> None:
|
|
self.close_flag = 0
|
|
|
|
|
|
class ControlPlotPanel(QtWidgets.QWidget):
|
|
|
|
def __init__(self, parent=None, controllerPlotWidget=None):
|
|
'''Constructor for ToolsWidget'''
|
|
super().__init__(parent)
|
|
self.controlledPlot = controllerPlotWidget
|
|
|
|
self.horizontalLayout1 = QtWidgets.QHBoxLayout()
|
|
self.horizontalLayout1.setObjectName('horizontalLayout')
|
|
self.setLayout(self.horizontalLayout1)
|
|
|
|
self.startStopButton = QtWidgets.QPushButton(self)
|
|
self.startStopButton.setText('Start')
|
|
self.startStopButton.setObjectName('Start')
|
|
self.startStopButton.clicked.connect(self.wifi_recv_open_pushButton_clicked)
|
|
self.startStopButton.setIcon(GUIToolKit.getIconByName('start'))
|
|
self.horizontalLayout1.addWidget(self.startStopButton)
|
|
|
|
self.zoomAllButton = QtWidgets.QPushButton(self)
|
|
self.zoomAllButton.setObjectName('zoomAllButton')
|
|
self.zoomAllButton.setText('View all')
|
|
self.zoomAllButton.setIcon(GUIToolKit.getIconByName('zoomall'))
|
|
self.zoomAllButton.clicked.connect(self.zoomAllPlot)
|
|
self.horizontalLayout1.addWidget(self.zoomAllButton)
|
|
|
|
self.signalCheckBox = []
|
|
for i in range(len(self.controlledPlot.re_item)):
|
|
checkBox = QtWidgets.QCheckBox(self)
|
|
checkBox.setObjectName('signalCheckBox' + str(i))
|
|
checkBox.setToolTip(self.controlledPlot.re_item[i])
|
|
checkBox.setText(self.controlledPlot.re_item[i])
|
|
checkBox.setIcon(GUIToolKit.getIconByName(self.controlledPlot.signalIcons[i]))
|
|
checkBox.setChecked(True)
|
|
self.signalCheckBox.append(checkBox)
|
|
self.horizontalLayout1.addWidget(checkBox)
|
|
def zoomAllPlot(self):
|
|
self.controlledPlot.plotWidget.enableAutoRange()
|
|
def wifi_recv_open_pushButton_clicked(self):
|
|
if self.controlledPlot.wifi_recv_flag == 0:
|
|
# 打开wifi接收
|
|
self.controlledPlot.wifi_recv_flag = 1
|
|
self.startStopButton.setText('Stop')
|
|
else:
|
|
self.controlledPlot.wifi_recv_flag = 0
|
|
self.startStopButton.setText('Start')
|
|
if __name__ == '__main__':
|
|
app = QApplication(sys.argv)
|
|
myWin = MyWindow()
|
|
myWin.show()
|
|
sys.exit(app.exec_()) |