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MapWidget.py
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MapWidget.py
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from multiprocessing import set_forkserver_preload
from tkinter.messagebox import NO
from PyQt5.QtWidgets import QWidget
import matplotlib
matplotlib.use('Qt5Agg')
from matplotlib.backends.backend_qt5agg import (
FigureCanvas, NavigationToolbar2QT as NavigationToolbar)
from matplotlib.figure import Figure
import matplotlib.lines as lines
import matplotlib.text as mtext
from matplotlib.patches import Circle, Polygon, Wedge, Arc
from PyQt5 import QtGui, QtCore,QtWidgets
from PyQt5.QtCore import *
from PyQt5.QtCore import QThread, Qt, pyqtSignal, pyqtSlot
import numpy as np
import json as js
import os
from MyToolBar import MyToolBar, keepRatio, RulerShape
from matplotlib.path import Path
import matplotlib.patches as patches
from matplotlib.textpath import TextPath
import math
import logging
import time
import random
import re
from ExtendedComboBox import ExtendedComboBox
def GetGlobalPos(p2b, b2g):
x = p2b[0] * np.cos(b2g[2]) - p2b[1] * np.sin(b2g[2])
y = p2b[0] * np.sin(b2g[2]) + p2b[1] * np.cos(b2g[2])
x = x + b2g[0]
y = y + b2g[1]
return np.array([x, y])
def normalize_theta(theta):
if theta >= -math.pi and theta < math.pi:
return theta
multiplier = math.floor(theta / (2 * math.pi))
theta = theta - multiplier * 2 * math.pi
if theta >= math.pi:
theta = theta - 2 * math.pi
if theta < -math.pi:
theta = theta + 2 * math.pi
return theta
class RobotModel:
def __init__(self) -> None:
self.head = None
self.tail = None
self.width = None
self.pos = [None,None,None]
self.name = None
self.areaName = None
self.cur_arrow = patches.FancyArrow(0, 0, 0.3, 0,
length_includes_head=True,# 增加的长度包含箭头部分
width=0.05,
head_width=0.1, head_length=0.16, fc='r', ec='b')
self.cur_arrow.set_zorder(0)
self.org_arrow_xy = self.cur_arrow.get_xy().copy()
self.robot_data = lines.Line2D([],[], linestyle = '-', color='k')
self.robot_data_c0 = lines.Line2D([],[], linestyle = '-', linewidth = 2, color='k')
# self.trajectory = lines.Line2D([],[], linestyle = '', marker = 'o', markersize = 2.0, color='m')
self.trajectory_next = lines.Line2D([],[], linestyle = '-', marker = 'o', markersize = 2.0, color='mediumpurple')
self.robot_text = mtext.Text(0,0, "")
def updateByPos(self, areaName = None):
if self.head == None or self.pos[0] == None:
return
xdata = [-self.tail, -self.tail, self.head, self.head, -self.tail]
ydata = [self.width/2, -self.width/2, -self.width/2, self.width/2, self.width/2]
robot_shape = np.array([xdata, ydata])
xxdata = [-0.05, 0.05, 0.0, 0.0, 0.0]
xydata = [0.0, 0.0, 0.0, 0.05, -0.05]
cross_shape = np.array([xxdata,xydata])
robot_shape = GetGlobalPos(robot_shape, self.pos)
self.robot_data.set_xdata(robot_shape[0])
self.robot_data.set_ydata(robot_shape[1])
cross_shape = GetGlobalPos(cross_shape, self.pos)
self.robot_data_c0.set_xdata(cross_shape[0])
self.robot_data_c0.set_ydata(cross_shape[1])
x0 = self.pos[0]
y0 = self.pos[1]
r0 = self.pos[2]
data = self.org_arrow_xy.copy()
tmp_data = data.copy()
data[:,0]= tmp_data[:,0] * np.cos(r0) - tmp_data[:,1] * np.sin(r0)
data[:,1] = tmp_data[:,0] * np.sin(r0) + tmp_data[:,1] * np.cos(r0)
data = data + [x0, y0]
self.cur_arrow.set_xy(data)
self.robot_text.set_x(robot_shape[0][0])
self.robot_text.set_y(robot_shape[1][0])
print(areaName, self.areaName)
if areaName != None:
show = self.areaName == areaName
self.robot_text.set_visible(show)
self.cur_arrow.set_visible(show)
self.robot_data.set_visible(show)
self.robot_data_c0.set_visible(show)
# self.trajectory.set_visible(show)
self.trajectory_next.set_visible(show)
def clear_artist(self):
self.robot_text.remove()
self.cur_arrow.remove()
self.robot_data_c0.remove()
self.robot_data.remove()
def readModel(self, name, paths):
self.name = name
self.robot_text = mtext.Text(0,0, self.name)
fname = os.path.join(paths, name)
fname = os.path.join(fname, "models")
fname = os.path.join(fname, "robot.model")
with open(fname, 'r',encoding= 'UTF-8') as fid:
try:
model_js = js.load(fid)
except:
logging.error("robot model file cannot read!!!")
# fid.close()
self.head = None
self.tail = None
self.width = None
if 'chassis' in model_js:
self.head = float(model_js['chassis']['head'])
self.tail = float(model_js['chassis']['tail'])
self.width = float(model_js['chassis']['width'])
elif 'deviceTypes' in model_js:
for device in model_js['deviceTypes']:
if device['name'] == 'chassis':
for param in device['devices'][0]['deviceParams']:
if param['key'] == 'shape':
for childparam in param['comboParam']['childParams']:
if childparam['key'] == 'rectangle':
if param['comboParam']['childKey'] == childparam['key']:
for p in childparam['params']:
if p['key'] == 'width':
self.width = p['doubleValue']
elif p['key'] == 'head':
self.head = p['doubleValue']
elif p['key'] == 'tail':
self.tail = p['doubleValue']
elif childparam['key'] == 'circle':
if param['comboParam']['childKey'] == childparam['key']:
for p in childparam['params']:
if p['key'] == 'radius':
self.width = p['doubleValue']
self.head = self.width
self.tail = self.width
else:
logging.error('Cannot Open robot.model: ' + name)
class AdancedBlock:
def __init__(self) -> None:
self.className = ""
self.instanceName = ""
self.posGroup = []
self.dir = 0
self.property = []
self.desc = []
class Line:
def __init__(self, pts) -> None:
self.points = pts
self.d2s = []
ds = 0
for i in range(len(self.points)):
if i == 0:
self.d2s.append(0)
continue
cur_ds = math.hypot(self.points[i, 0] - self.points[i-1, 0], self.points[i, 1] - self.points[i-1,1])
ds += cur_ds
self.d2s.append(ds)
def getIdByPercentage(self, p)->int:
if len(self.d2s) < 1:
return -1
dist = self.d2s[-1] * p
ind = len(self.d2s) - 1
for (i, s) in enumerate(self.d2s):
if s <= dist:
ind = i
else:
break
return ind
def getPoits(self, sp, ep):
if len(self.d2s) < 1:
print("no path", sp, ep)
return [], []
sid = self.getIdByPercentage(sp)
eid = self.getIdByPercentage(ep)+1
print("sid-eid",type(self.points), sid, eid)
return self.points[sid:eid:2, 0], self.points[sid:eid:2, 1]
class AreaData:
def __init__(self) -> None:
self.name = ""
self.lines = dict()
self.circles = []
self.p_names = dict()
self.bin = dict()
self.straights = []
self.map_x = []
self.map_y = []
self.blocks = []
self.binList = []
class Readmap(QThread):
signal = pyqtSignal('PyQt_PyObject')
def __init__(self):
QThread.__init__(self)
self.map_name = ''
self.js = dict()
self.map_data = dict()
self.bezier_codes = [
Path.MOVETO,
Path.CURVE4,
Path.CURVE4,
Path.CURVE4,
]
self.straight_codes = [
Path.MOVETO,
Path.LINETO ,
]
self.robots = dict()
# run method gets called when we start the thread
def run(self):
fid = open(self.map_name, encoding= 'UTF-8')
self.js = js.load(fid)
fid.close()
self.map_data = dict()
# print(self.js.keys())
def addStr(areadata, startPos, endPos):
x1 = 0
y1 = 0
x2 = 0
y2 = 0
if 'x' in startPos:
x1 = startPos['x']
if 'y' in startPos:
y1 = startPos['y']
if 'x' in endPos:
x2 = endPos['x']
if 'y' in endPos:
y2 = endPos['y']
areadata.straights.append([(x1,y1),(x2,y2)])
def f3order(p0, p1, p2, p3):
dt = 0.01
t = 0
v = []
while(True):
s = 1 - t
x = (p0 * s * s * s
+ 3.0 * p1 * s * s * t
+ 3.0 * p2 * s * t * t
+ p3 * t * t * t)
v.append(x)
t = t + dt
if t > 1.0:
t = 1
s = 0
x = (p0 * s * s * s
+ 3.0 * p1 * s * s * t
+ 3.0 * p2 * s * t * t
+ p3 * t * t * t)
v.append(x)
return v
def f5order(p0, p1, p2, p3, p4, p5):
dt = 0.01
t = 0
v = []
while(True):
s = 1 - t
x = (p0 * s * s * s * s * s
+ 5.0 * p1 * s * s * s * s * t
+ 10.0 * p2 * s * s * s * t * t
+ 10.0 * p3 * s * s * t * t * t
+ 5.0 * p4 * s * t *t * t * t
+ p5 * t * t * t * t * t)
v.append(x)
t = t + dt
if t > 1.0:
t = 1.0
s = 0.0
x = (p0 * s * s * s * s * s
+ 5.0 * p1 * s * s * s * s * t
+ 10.0 * p2 * s * s * s * t * t
+ 10.0 * p3 * s * s * t * t * t
+ 5.0 * p4 * s * t *t * t * t
+ p5 * t * t * t * t * t)
v.append(x)
return v
for area in self.js["areas"]:
areadata = AreaData()
print("areaname:",area["name"])
areadata.name = area["name"]
self.map_data[area["name"]] = areadata
logicMap = area["logicalMap"]
if 'advancedCurves' in logicMap:
for line in logicMap['advancedCurves']:
if line['className'] == 'BezierPath'\
or line['className'] == 'DegenerateBezier'\
or line['className'] == 'StraightPath':
x0 = 0
y0 = 0
x1 = 0
y1 = 0
x2 = 0
y2 = 0
x3 = 0
y3 = 0
if 'x' in line['startPos']['pos']:
x0 = line['startPos']['pos']['x']
if 'y' in line['startPos']['pos']:
y0 = line['startPos']['pos']['y']
if 'controlPos1' in line and 'x' in line['controlPos1']:
x1 = line['controlPos1']['x']
if 'controlPos1' in line and 'y' in line['controlPos1']:
y1 = line['controlPos1']['y']
if 'controlPos2' in line and 'x' in line['controlPos2']:
x2 = line['controlPos2']['x']
if 'controlPos2' in line and 'y' in line['controlPos2']:
y2 = line['controlPos2']['y']
if 'x' in line['endPos']['pos']:
x3 = line['endPos']['pos']['x']
if 'y' in line['endPos']['pos']:
y3 = line['endPos']['pos']['y']
xs = np.array([])
ys = np.array([])
if line['className'] == 'BezierPath':
xs = np.array(f3order(x0, x1, x2, x3))
ys = np.array(f3order(y0, y1, y2, y3))
elif line['className'] == 'DegenerateBezier':
xs = np.array(f5order(x0, x1, x1, x2, x2, x3))
ys = np.array(f5order(y0, y1, y1, y2, y2, y3))
elif line['className'] == 'StraightPath':
xs = np.array(f3order(x0, x0, x3, x3))
ys = np.array(f3order(y0, y0, y3, y3))
points = np.vstack((xs,ys))
instance_name = line["instanceName"]
name = ""
for n in instance_name:
if n.isdigit() or n == "-":
name+=n
areadata.lines[name] = Line(points.T)
elif line['className'] == 'ArcPath':
x1 = 0
y1 = 0
x2 = 0
y2 = 0
x3 = 0
y3 = 0
if 'x' in line['startPos']['pos']:
x1 = line['startPos']['pos']['x']
if 'y' in line['startPos']['pos']:
y1 = line['startPos']['pos']['y']
if 'x' in line['controlPos1']:
x2 = line['controlPos1']['x']
if 'y' in line['controlPos1']:
y2 = line['controlPos1']['y']
if 'x' in line['endPos']['pos']:
x3 = line['endPos']['pos']['x']
if 'y' in line['endPos']['pos']:
y3 = line['endPos']['pos']['y']
A = x1*(y2-y3) - y1*(x2-x3)+x2*y3-x3*y2
B = (x1*x1 + y1*y1)*(y3-y2)+(x2*x2+y2*y2)*(y1-y3)+(x3*x3+y3*y3)*(y2-y1)
C = (x1*x1 + y1*y1)*(x2-x3)+(x2*x2+y2*y2)*(x3-x1)+(x3*x3+y3*y3)*(x1-x2)
D = (x1*x1 + y1*y1)*(x3*y2-x2*y3)+(x2*x2+y2*y2)*(x1*y3-x3*y1)+(x3*x3+y3*y3)*(x2*y1-x1*y2)
if abs(A) > 1e-12:
x = -B/2/A
y = -C/2/A
r = math.sqrt((B*B+C*C-4*A*D)/(4*A*A))
theta1 = math.atan2(y1-y,x1-x)
theta3 = math.atan2(y3-y,x3-x)
v1 = np.array([x2-x1,y2-y1])
v2 = np.array([x3-x2,y3-y2])
flag = float(np.cross(v1,v2))
if flag >= 0:
areadata.circles.append([x, y, r, np.rad2deg(theta1), np.rad2deg(theta3)])
else:
areadata.circles.append([x, y, r, np.rad2deg(theta3), np.rad2deg(theta1)])
else:
areadata.straights.append([(x1,y1),(x3,y3)])
if 'primitiveList' in logicMap:
for line in logicMap['primitiveList']:
if line['className'] == 'RoundLine':
cL = line['controlPosList']
critical_dist = math.hypot(cL[1]['x'] - cL[3]['x'], cL[1]['y'] - cL[3]['y'])
angle1 = math.atan2(cL[0]['y'] - cL[1]['y'], cL[0]['x'] - cL[1]['x'])
angle2 = math.atan2(cL[3]['y'] - cL[1]['y'], cL[3]['x'] - cL[1]['x'])
angle3 = math.atan2(cL[2]['y'] - cL[1]['y'], cL[2]['x'] - cL[1]['x'])
delta_angle = normalize_theta(angle2 - angle1)
delta_angle2 = normalize_theta(angle3 - angle2)
if critical_dist < 0.0001 or math.fabs(math.fabs(delta_angle) - math.fabs(delta_angle2) > 0.1):
addStr(line['startPos']['pos'],line['endPos']['pos'])
else:
addStr(line['startPos']['pos'],cL[0])
addStr(cL[2],line['endPos']['pos'])
r0 = math.hypot(cL[1]['x'] - cL[0]['x'], cL[1]['y'] - cL[0]['y'])
r1 = math.hypot(cL[1]['x'] - cL[2]['x'], cL[1]['y'] - cL[2]['y'])
r = (r0 + r1)/2.0
if angle1 < angle3:
areadata.circles.append([cL[1]['x'], cL[1]['y'], r, np.rad2deg(angle1), np.rad2deg(angle3)])
else:
areadata.circles.append([cL[1]['x'], cL[1]['y'], r, np.rad2deg(angle3), np.rad2deg(angle1)])
if 'advancedPoints' in logicMap:
for pt in logicMap['advancedPoints']:
x0 = 0
y0 = 0
theta = 0
if 'x' in pt['pos']:
x0 = pt['pos']['x']
if 'y' in pt['pos']:
y0 = pt['pos']['y']
if 'dir' in pt:
theta = pt['dir']
if 'ignoreDir' in pt:
if pt['ignoreDir'] == True:
theta = None
areadata.p_names[pt['instanceName']] = [x0,y0,theta]
areadata.map_x.append(x0)
areadata.map_y.append(y0)
if 'advancedBlocks' in logicMap:
for b in logicMap['advancedBlocks']:
ab = AdancedBlock()
ab.className = b['className']
ab.instanceName = b['instanceName']
for p in b['posGroup']:
x = p.get('x',0)
y = p.get('y',0)
ab.posGroup.append([x,y])
ab.dir = b['dir']
ab.desc = b['desc']
areadata.blocks.append(ab)
if 'binLocationsList' in logicMap:
for bs in logicMap['binLocationsList']:
for b in bs['binLocationList']:
if 'pointName' in b and 'instanceName' in b:
areadata.bin[b['instanceName']] = b['pointName']
print('blocks size', areadata.name, len(areadata.blocks))
for k in self.robots.keys():
self.robots[k].clear_artist()
self.robots.clear()
for rs in self.js["robotGroup"]:
for r in rs["robot"]:
name = r["id"]
robot = RobotModel()
paths = os.path.dirname(self.map_name)
paths = os.path.join(paths, "robots")
robot.readModel(name, paths)
self.robots[name] = robot
self.signal.emit(self.map_name)
class PointWidget(QtWidgets.QWidget):
getdata = pyqtSignal('PyQt_PyObject')
def __init__(self, parent = None):
super(QtWidgets.QWidget, self).__init__(parent)
self.x_label = QtWidgets.QLabel('x(m)')
self.y_label = QtWidgets.QLabel('y(m)')
valid = QtGui.QDoubleValidator()
self.x_edit = QtWidgets.QLineEdit()
self.x_edit.setValidator(valid)
self.y_edit = QtWidgets.QLineEdit()
self.y_edit.setValidator(valid)
self.x_input = QtWidgets.QFormLayout()
self.x_input.addRow(self.x_label,self.x_edit)
self.y_input = QtWidgets.QFormLayout()
self.y_input.addRow(self.y_label,self.y_edit)
self.btn = QtWidgets.QPushButton("Yes")
self.btn.clicked.connect(self.getData)
vbox = QtWidgets.QVBoxLayout(self)
vbox.addLayout(self.x_input)
vbox.addLayout(self.y_input)
vbox.addWidget(self.btn)
self.setWindowTitle("Point Input")
def getData(self):
try:
x = float(self.x_edit.text())
y = float(self.y_edit.text())
self.hide()
self.getdata.emit([x,y])
except:
pass
class FindRobot(QtWidgets.QWidget):
"""查找机器人，的对话窗口
Args:
QtWidgets (_type_): _description_
"""
getdata = pyqtSignal('PyQt_PyObject')
def __init__(self, parent = None):
super(QtWidgets.QWidget, self).__init__(parent)
self.car_combo = ExtendedComboBox()
self.car_label = QtWidgets.QLabel('Robot')
car_form = QtWidgets.QFormLayout()
car_form.addRow(self.car_label,self.car_combo)
self.btn = QtWidgets.QPushButton("Yes")
self.btn.clicked.connect(self.getData)
vbox = QtWidgets.QVBoxLayout(self)
vbox.addLayout(car_form)
vbox.addWidget(self.btn)
self.setWindowTitle("FindRobot")
self.resize(300, 40)
def addItems(self,names):
self.car_combo.addItems(names)
def getData(self):
"""
"""
try:
text = self.car_combo.currentText()
self.hide()
self.getdata.emit([text])
except Exception as err:
print(err.args)
pass
class FindElement(QtWidgets.QWidget):
"""查找图元的对话窗口
Args:
QtWidgets (_type_): _description_
"""
getdata = pyqtSignal('PyQt_PyObject')
def __init__(self, parent = None):
super(QtWidgets.QWidget, self).__init__(parent)
self.car_combo = ExtendedComboBox()
self.car_label = QtWidgets.QLabel('Element')
car_form = QtWidgets.QFormLayout()
car_form.addRow(self.car_label,self.car_combo)
self.btn = QtWidgets.QPushButton("Yes")
self.btn.clicked.connect(self.getData)
vbox = QtWidgets.QVBoxLayout(self)
vbox.addLayout(car_form)
vbox.addWidget(self.btn)
self.setWindowTitle("FindElement")
self.resize(300, 40)
def addItems(self,names):
self.car_combo.addItems(names)
def getData(self):
"""
"""
try:
text = self.car_combo.currentText()
self.hide()
self.getdata.emit([text])
except Exception as err:
print(err.args)
pass
class CollisionShapeWidget(QtWidgets.QWidget):
getdata = pyqtSignal('PyQt_PyObject')
def __init__(self, parent = None):
super(QtWidgets.QWidget, self).__init__(parent)
self.pos_label = QtWidgets.QLabel('checkCollision')
self.shape_label = QtWidgets.QLabel('shape')
self.shape_edit = QtWidgets.QLineEdit()
self.pos_edit = QtWidgets.QLineEdit()
self.shape_input = QtWidgets.QFormLayout()
self.shape_input.addRow(self.shape_label,self.shape_edit)
self.pos_input = QtWidgets.QFormLayout()
self.pos_input.addRow(self.pos_label,self.pos_edit)
self.pos_edit.setPlaceholderText("[2022-12-30 16:57:44.897866][RDSDispatcher][debug] [AMB-07][checkCollision|-15.345750|-8.672000|-3.141593|-14.612000|-7.780000|-2.609048|true|AMB-09|0.548250|0.098623]")
self.shape_edit.setPlaceholderText("[2022-12-30 16:57:44.897866][RDSDispatcher][debug] [AMB-07][shape|[(0.520000,0.350000),(0.520000,-0.350000),(-0.480000,-0.350000),(-0.480000,0.350000),]|[(0.520000,0.350000),(0.520000,-0.350000),(-0.480000,-0.350000),(-0.480000,0.350000),]]")
self.btn = QtWidgets.QPushButton("Yes")
self.btn.clicked.connect(self.getData)
vbox = QtWidgets.QVBoxLayout(self)
vbox.addLayout(self.pos_input)
vbox.addLayout(self.shape_input)
vbox.addWidget(self.btn)
self.setWindowTitle("CollisionShape Input")
def getData(self):
"""
"""
try:
shape_txt = self.shape_edit.text()
if shape_txt == "":
shape_txt = self.shape_edit.placeholderText()
pos_txt = self.pos_edit.text()
if pos_txt == "":
pos_txt = self.pos_edit.placeholderText()
print(pos_txt == None, shape_txt == None, pos_txt, shape_txt)
pos_regex = re.compile("\[(.*?)\].*\[(.*?)\]\[checkCollision\|(.*)\]")
shape_regex = re.compile("\[(.*?)\].*\[(.*?)\]\[shape\|(.*)\]")
pos_out = pos_regex.match(pos_txt)
shape_out = shape_regex.match(shape_txt)
shape1 = []
shape2 = []
print("pos_eidt", pos_txt)
print("shape_eidt", shape_txt)
if pos_out and shape_out:
pos_data = pos_out.groups()
shape_data = shape_out.groups()
pos_valus = pos_data[2].split('|')
shape_values = shape_data[2].split('|')
def getShape(x,y,theta, in_shape):
b2g = np.array([x,y,theta])
in_shape.append(in_shape[0])
shape = np.array(in_shape)
shape = np.transpose(shape)
shape = GetGlobalPos(shape,b2g)
return shape
shape1 = getShape(float(pos_valus[0]), float(pos_valus[1]), float(pos_valus[2]), eval(shape_values[0]))
shape2 = getShape(float(pos_valus[3]), float(pos_valus[4]), float(pos_valus[5]), eval(shape_values[1]))
self.hide()
self.getdata.emit([shape1,shape2])
except Exception as err:
print(err.args)
pass
class GoodsShapeWidget(QtWidgets.QWidget):
getdata = pyqtSignal('PyQt_PyObject')
def __init__(self, parent = None):
super(QtWidgets.QWidget, self).__init__(parent)
self.goods_label = QtWidgets.QLabel('largeGoodsShape')
self.goods_edit = QtWidgets.QLineEdit()
self.goods_input = QtWidgets.QFormLayout()
self.goods_input.addRow(self.goods_label,self.goods_edit)
self.goods_edit.setPlaceholderText("[largeGoodsShape|(-1.6501:-0.969999)(-1.6501:0.970001)(1.6499:0.969999)(1.6499:-0.970001)(-1.6501:-0.969999)]")
self.pos_label = QtWidgets.QLabel('rTopoPos')
self.pos_edit = QtWidgets.QLineEdit()
self.pos_input = QtWidgets.QFormLayout()
self.pos_input.addRow(self.pos_label,self.pos_edit)
self.pos_edit.setPlaceholderText("[rTopoPos|-2.792|-1.171|-0.011|1|45|149|1.000|0|0|0|2|0.004|0.000|0.000|1|0|0|0|0|0|1|a88692|2|0|1.000|(45,149,1)||402464.204|(149,)|PQ-01|1|()]")
self.btn = QtWidgets.QPushButton("Yes")
self.btn.clicked.connect(self.getData)
vbox = QtWidgets.QVBoxLayout(self)
vbox.addLayout(self.pos_input)
vbox.addLayout(self.goods_input)
vbox.addWidget(self.btn)
self.setWindowTitle("GoodsShape Input")
def getData(self):
"""
"""
try:
shape_txt = self.goods_edit.text()
if shape_txt == "":
shape_txt = self.goods_edit.placeholderText()
pos_txt = self.pos_edit.text()
if pos_txt == "":
pos_txt = self.pos_edit.placeholderText()
print(pos_txt == None, shape_txt == None, pos_txt, shape_txt)
pos_regex = re.compile("\[rTopoPos\|(.*)\]")
goods_regex = re.compile("\[largeGoodsShape\|(.*)\]")
pos_out = pos_regex.match(pos_txt)
goods_out = goods_regex.match(shape_txt)
shape = []
if pos_out and goods_out:
pos_data = pos_out.groups()
goods_data = goods_out.groups()
pos_valus = pos_data[0].split('|')
goods_values = goods_data[0].replace('(','')
goods_values = goods_values.split(')')
goods_values = [t.split(':') for t in goods_values]
x = []
y = []
for g in goods_values:
if g == '':
continue
has_space = False
for v in g:
if v == '':
has_space = True
break
if has_space:
continue
if len(g) == 2:
x.append(float(g[0]))
y.append(float(g[1]))
x.append(x[0])
y.append(y[0])
goods_values = np.array([x,y])
def getShape(x,y,theta, shape):
b2g = np.array([x,y,theta])
print(shape)
shape = GetGlobalPos(shape,b2g)
return shape
shape = getShape(float(pos_valus[0]), float(pos_valus[1]), float(pos_valus[2]), goods_values)
self.hide()
self.getdata.emit(shape)
except Exception as err:
print(err.args)
pass
class DrawPath(QtWidgets.QWidget):
getdata = pyqtSignal('PyQt_PyObject')
def __init__(self, parent = None):
super().__init__(parent)
self.path_label = QtWidgets.QLabel('Path')
self.path_edit = QtWidgets.QLineEdit()
self.path_input = QtWidgets.QFormLayout()
self.path_input.addRow(self.path_label,self.path_edit)
self.path_edit.setPlaceholderText("")
self.spacer_label = QtWidgets.QLabel('spacer')
self.spacer_edit = QtWidgets.QLineEdit()
self.spacer_input = QtWidgets.QFormLayout()
self.spacer_input.addRow(self.spacer_label,self.spacer_edit)
self.spacer_edit.setPlaceholderText("-")
self.c_msg = QtWidgets.QLabel("color:")
self.c = QtWidgets.QComboBox(self)
self.c.addItems(["b", "g", "r", "c", "m", "y"])
hbox2 = QtWidgets.QFormLayout()
hbox2.addRow(self.c_msg, self.c)
self.btn = QtWidgets.QPushButton("Yes")
self.btn.clicked.connect(self.getData)
vbox = QtWidgets.QVBoxLayout(self)
vbox.addLayout(self.path_input)
vbox.addLayout(self.spacer_input)
vbox.addLayout(hbox2)
vbox.addWidget(self.btn)
self.setWindowTitle("Path Input")
def getData(self):
"""
"""
try:
path_txt = self.path_edit.text()
spacer_txt = self.spacer_edit.text()
print("path", path_txt, spacer_txt, self.c.currentText())
if path_txt == "":
return
if spacer_txt == "":
spacer_txt = self.spacer_edit.placeholderText()
paths = path_txt.split(spacer_txt)
self.getdata.emit([paths, self.c.currentText()])
self.hide()
except Exception as err:
print("err",err.args)
pass
class RotateCollisionWidget(QtWidgets.QWidget):
getdata = pyqtSignal('PyQt_PyObject')
def __init__(self, parent = None):
super(QtWidgets.QWidget, self).__init__(parent)
self.log_label = QtWidgets.QLabel('log')
self.log_edit = QtWidgets.QLineEdit()
self.log_input = QtWidgets.QFormLayout()
self.log_input.addRow(self.log_label,self.log_edit)
self.log_edit.setPlaceholderText("[240804 081006.993][2,539,402,579][D][d] CheckRotateCollision4||vertices_size: 4||Polygon|(-63.933814,-52.592231)(-62.804836,-52.585271)(-62.793955,-54.350237)(-63.922934,-54.357197)|ClockwiseSectors||(center: (-62.585000,-51.326000), bound1: (-1.148000,-0.564500), bound2: (1.143206,0.574147))|(center: (-62.585000,-51.326000), bound1: (-1.148000,0.564500), bound2: (1.152713,-0.554813))|(center: (-62.585000,-51.326000), bound1: (0.617000,0.564500), bound2: (-0.612225,-0.569676))|(center: (-62.585000,-51.326000), bound1: (0.617000,-0.564500), bound2: (-0.621732,0.559284))|CollisionSector|(center: (-62.585000,-51.326000), bound1: (-1.148000,-0.564500), bound2: (1.143206,0.574147))|CounterclockwiseSectors||(center: (-62.585000,-51.326000), bound1: (1.143206,0.574147), bound2: (-1.148000,-0.564500))|(center: (-62.585000,-51.326000), bound1: (1.152713,-0.554813), bound2: (-1.148000,0.564500))|(center: (-62.585000,-51.326000), bound1: (-0.612225,-0.569676), bound2: (0.617000,0.564500))|(center: (-62.585000,-51.326000), bound1: (-0.621732,0.559284), bound2: (0.617000,-0.564500))")
self.btn = QtWidgets.QPushButton("Yes")
self.btn.clicked.connect(self.getData)
vbox = QtWidgets.QVBoxLayout(self)
vbox.addLayout(self.log_input)
vbox.addWidget(self.btn)
self.setWindowTitle("RotateCollision Input")
def getData(self):
try:
rotate_collision_txt = self.log_edit.text()
if rotate_collision_txt == "":
rotate_collision_txt = self.log_edit.placeholderText()
print("rotate_collision", rotate_collision_txt)
if rotate_collision_txt == "":
return
# parse polygon
polygon_regex = re.compile(".*\|Polygon\|(.*)\|(Clockwise|Counterclock).*")
polygon_out = polygon_regex.match(rotate_collision_txt)[1]
polygon_out = polygon_out.replace(')', '|').replace('(', '')
vertices_strs = polygon_out.split('|')
vertices = []
for vertex_str in vertices_strs:
if not vertex_str:
continue
if vertex_str in ['ClockwiseSectors', 'CounterclockwiseSectors', 'CollisionSector']:
break
x, y = vertex_str.split(',')
vertices.append((float(x), float(y)))
print("vertices: ", vertices)
# sectors
sector_regex = re.compile(".*(Clockwise|Counterclockwise)Sectors\|\|(.*)\|CollisionSector.*")
sectors = sector_regex.match(rotate_collision_txt)
sectors_strs = sectors[2].split('|')
sectors = []
for sector_str in sectors_strs:
# sector_str has format: (center: (-62.585000,-51.326000), bound1: (-1.148000,-0.564500), bound2: (1.143206,0.574147))
if sector_str in ['', 'CounterclockwiseSectors', 'ClockwiseSectors', 'CollisionSector']:
continue
# remove first ( and last )
sector_str = sector_str[1:-1]
sector_str = sector_str.replace('center: ','').replace(', bound1: ', '|').replace(', bound2: ', '|')
center, bound1, bound2 = sector_str.split('|')
center_x, center_y = center[1:-1].split(',')
bound1_x, bound1_y = bound1[1:-1].split(',')
bound2_x, bound2_y = bound2[1:-1].split(',')
sectors.append((float(center_x), float(center_y), float(bound1_x), float(bound1_y), float(bound2_x), float(bound2_y)))
print("sectors: ", sectors)
# collision sector
collision_sector_regex = re.compile(".*CollisionSector\|(.*)")
collision_sector_str = collision_sector_regex.match(rotate_collision_txt)[1].split('|')[0]
collision_sector_str = collision_sector_str[1:-1].replace('center: ','').replace(', bound1: ', '|').replace(', bound2: ', '|')
center, bound1, bound2 = collision_sector_str.split('|')
center_x, center_y = center[1:-1].split(',')
bound1_x, bound1_y = bound1[1:-1].split(',')
bound2_x, bound2_y = bound2[1:-1].split(',')
collision_sector=((float(center_x), float(center_y), float(bound1_x), float(bound1_y), float(bound2_x), float(bound2_y)))
print("collision_sector: ", collision_sector)
self.hide()
self.getdata.emit([vertices, sectors, [collision_sector]])
except Exception as err:
print(err.args)
pass
class LineWidget(QtWidgets.QWidget):
getdata = pyqtSignal('PyQt_PyObject')
def __init__(self, parent = None):
super(QtWidgets.QWidget, self).__init__(parent)
self.groupBox1 = QtWidgets.QGroupBox('P1')
x_label = QtWidgets.QLabel('x(m)')
y_label = QtWidgets.QLabel('y(m)')
valid = QtGui.QDoubleValidator()
self.x_edit1 = QtWidgets.QLineEdit()
self.x_edit1.setValidator(valid)
self.y_edit1 = QtWidgets.QLineEdit()
self.y_edit1.setValidator(valid)
x_input = QtWidgets.QFormLayout()
x_input.addRow(x_label,self.x_edit1)
y_input = QtWidgets.QFormLayout()
y_input.addRow(y_label,self.y_edit1)
vbox1 = QtWidgets.QVBoxLayout()
vbox1.addLayout(x_input)
vbox1.addLayout(y_input)
self.groupBox1.setLayout(vbox1)
self.groupBox2 = QtWidgets.QGroupBox('P2')
x_label = QtWidgets.QLabel('x(m)')
y_label = QtWidgets.QLabel('y(m)')
valid = QtGui.QDoubleValidator()
self.x_edit2 = QtWidgets.QLineEdit()
self.x_edit2.setValidator(valid)
self.y_edit2 = QtWidgets.QLineEdit()
self.y_edit2.setValidator(valid)
x_input = QtWidgets.QFormLayout()
x_input.addRow(x_label,self.x_edit2)
y_input = QtWidgets.QFormLayout()
y_input.addRow(y_label,self.y_edit2)
vbox2 = QtWidgets.QVBoxLayout()
vbox2.addLayout(x_input)
vbox2.addLayout(y_input)
self.groupBox2.setLayout(vbox2)
vbox = QtWidgets.QVBoxLayout(self)
self.btn = QtWidgets.QPushButton("Yes")
self.btn.clicked.connect(self.getData)
vbox.addWidget(self.groupBox1)
vbox.addWidget(self.groupBox2)
vbox.addWidget(self.btn)
self.setWindowTitle("Line Input")
def getData(self):
try:
x1 = float(self.x_edit1.text())
y1 = float(self.y_edit1.text())
x2 = float(self.x_edit2.text())
y2 = float(self.y_edit2.text())
self.hide()
self.getdata.emit([[x1,y1],[x2,y2]])
except:
pass
class CurveWidget(QtWidgets.QWidget):
getdata = pyqtSignal('PyQt_PyObject')
def __init__(self, parent = None):
super(QtWidgets.QWidget, self).__init__(parent)
self.data_label = QtWidgets.QLabel('Script: x,y,linestype,marker,markersize,color:')
self.data_edit = QtWidgets.QTextEdit()
self.btn = QtWidgets.QPushButton("Yes")
self.btn.clicked.connect(self.getData)
vbox = QtWidgets.QVBoxLayout(self)
vbox.addWidget(self.data_label)
vbox.addWidget(self.data_edit)
vbox.addWidget(self.btn)
self.setWindowTitle("Curve Input")
self.show()
def getData(self):
code = self.data_edit.toPlainText()
try:
l = locals()
exec(code,globals(),l)
self.hide()
self.getdata.emit([l['x'],l['y'],
l.get('linestyle','--'),
l.get('marker','.'),
l.get('markersize',6),
l.get('color','r')])
except Exception as err:
print(err.args)
pass
class MapWidget(QtWidgets.QWidget):
dropped = pyqtSignal('PyQt_PyObject')
hiddened = pyqtSignal('PyQt_PyObject')
def __init__(self, parent=None):
super().__init__(parent)
self.setWindowTitle('MapViewer')
self.map_name = None
self.model_name = None
self.cp_name = None
self.draw_size = [] #xmin xmax ymin ymax
self.check_draw_flag = False
self.fig_ratio = 1.0
self.setAcceptDrops(True)
self.dropped.connect(self.dragFiles)
self.read_map = Readmap()
self.read_map.signal.connect(self.readMapFinished)
self.setupUI()
self.pointLists = dict()
self.lineLists = dict()
self.mapData = dict()
self.cur_area = None
def setupUI(self):
self.static_canvas = FigureCanvas(Figure(figsize=(5,5)))
self.static_canvas.setSizePolicy(QtWidgets.QSizePolicy.Minimum, QtWidgets.QSizePolicy.Minimum)
self.static_canvas.figure.subplots_adjust(left = 0.0, right = 1.0, bottom = 0.0, top = 1.0)
self.static_canvas.figure.tight_layout()
self.ax= self.static_canvas.figure.subplots(1, 1)
self.ruler = RulerShape()
self.ruler.add_ruler(self.ax)
self.toolbar = MyToolBar(self.static_canvas, self, ruler = self.ruler)
self.toolbar.update_home_callBack(self.toolbarHome)
self.toolbar.fig_ratio = 1
self.userToolbar = QtWidgets.QToolBar(self)
self.autoMap = QtWidgets.QAction("AUTO", self.userToolbar)
self.autoMap.setCheckable(True)
self.autoMap.toggled.connect(self.changeAutoMap)
self.smap_action = QtWidgets.QAction("SCENE", self.userToolbar)
self.smap_action.triggered.connect(self.openMap)
self.draw_point = QtWidgets.QAction("POINT", self.userToolbar)
self.draw_point.triggered.connect(self.addPoint)
self.draw_line = QtWidgets.QAction("LINE", self.userToolbar)
self.draw_line.triggered.connect(self.addLine)
self.draw_curve = QtWidgets.QAction("CURVE", self.userToolbar)
self.draw_curve.triggered.connect(self.addCurve)
self.draw_colliShape = QtWidgets.QAction("ColliShape", self.userToolbar)
self.draw_colliShape.triggered.connect(self.addCollisionShape)
self.draw_rotateCollision = QtWidgets.QAction("RotateCollision", self.userToolbar)
self.draw_rotateCollision.triggered.connect(self.addRotateCollision)
self.draw_goodsShape = QtWidgets.QAction("GoodsShape", self.userToolbar)
self.draw_goodsShape.triggered.connect(self.addGoodsShape)
self.draw_path = QtWidgets.QAction("Path", self.userToolbar)
self.draw_path.triggered.connect(self.drawPath)
self.find_robot_bar = QtWidgets.QAction("FindRobot", self.userToolbar)
self.find_robot_bar.triggered.connect(self.findRobot)
self.find_element_bar = QtWidgets.QAction("FindElement", self.userToolbar)
self.find_element_bar.triggered.connect(self.findElement)
self.draw_clear = QtWidgets.QAction("CLEAR", self.userToolbar)
self.draw_clear.triggered.connect(self.drawClear)
self.userToolbar.addActions([self.autoMap, self.smap_action])
self.userToolbar.addSeparator()
self.userToolbar.addActions([self.draw_point, self.draw_line, self.draw_curve, self.draw_colliShape, self.draw_rotateCollision,
self.draw_goodsShape, self.draw_path, self.draw_clear])
self.userToolbar.addSeparator()
self.userToolbar.addActions([self.find_robot_bar,self.find_element_bar])
self.scenceToolBar = QtWidgets.QToolBar(self)
self.areaGroup = QtWidgets.QActionGroup(self)
# self.scenceToolBar.addAction(self.areaGroup)
self.getPoint = PointWidget(self)
self.getPoint.getdata.connect(self.getPointData)
self.getPoint.hide()
self.getPoint.setWindowFlags(Qt.Window)
self.getLine = LineWidget(self)
self.getLine.getdata.connect(self.getLineData)
self.getLine.hide()
self.getLine.setWindowFlags(Qt.Window)
self.getCurve = CurveWidget(self)
self.getCurve.getdata.connect(self.getCurveData)
self.getCurve.hide()
self.getCurve.setWindowFlags(Qt.Window)
self.getColliShape = CollisionShapeWidget(self)
self.getColliShape.getdata.connect(self.getCollisionShapeData)
self.getColliShape.hide()
self.getColliShape.setWindowFlags(Qt.Window)
self.getRotateCollision = RotateCollisionWidget(self)
self.getRotateCollision.getdata.connect(self.getRotateCollisionData)
self.getRotateCollision.hide()