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add ui update

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add robot rtsi
This commit is contained in:
remilia 2025-01-20 15:23:27 +08:00
parent 5011d6c476
commit 4475e6afe2
10 changed files with 1595 additions and 320 deletions
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2
src/main.py
View File

@ -8,6 +8,7 @@ from nodes.Device import Device
from nodes.ImageCV import ImageCV
from nodes.Loader import Loader
from nodes.MainUI import MainUI
from nodes.Robot import Robot
from nodes.WebRTC import WebRTC
from utils.Msg import KillMsg
@ -24,6 +25,7 @@ if __name__ == '__main__':
ImageCV(),
Beamformer(),
Loader(),
Robot(),
]
for p in ps:
pps.append(multiprocessing.Process(target=p))

13
src/nodes/MainUI.py
View File

@ -10,7 +10,7 @@ from ZMQReceiver import ZMQReceiver
from nodes.Node import Node
from utils.Msg import KillMsg, Msg, ImageArgMsg, SelectSeqMsg, SeqIdMinMax, MoveAxisMsg, SeqListMsg, SetBaseMsg, \
SeqMetaMsg, SetPlayMode, DeviceConnectedMsg, DeviceEnabledMsg, DeviceOnlineMsg, SetDeviceEnabledMsg, \
SetDeviceConnectedMsg, DeviceConfigListMsg, SetDeviceConfigMsg, SetRecordMsg
SetDeviceConnectedMsg, DeviceConfigListMsg, SetDeviceConfigMsg, SetRecordMsg, RobotRtsiMsg
from utils.RfFile import RfSequenceMeta
@ -29,7 +29,6 @@ class Adv(QMainWindow, Ui_MainWindow):
self.arg = ImageArgMsg('ui', t_start=0, t_end=1499)
self.b_base.clicked.connect(lambda: self.p.send(SetBaseMsg(self.l_base.text())))
self.seq_meta: RfSequenceMeta | None = None
self.b_exit.clicked.connect(lambda: self.p.send(KillMsg('')))
self.b_play_live.clicked.connect(self.on_play_live)
self.b_play_playback.clicked.connect(self.on_play_playback)
self.b_record.clicked.connect(self.on_record)
@ -122,7 +121,14 @@ class Adv(QMainWindow, Ui_MainWindow):
elif isinstance(msg, DeviceConfigListMsg):
for name, txt in msg.arr:
self.c_seq_meta.addItem(name, txt)
elif isinstance(msg, RobotRtsiMsg):
self.l_robot_pos.setText(','.join([f'{v:.3f}' for v in msg.pos]))
self.l_robot_force.setText(','.join([f'{v:.3f}' for v in msg.force]))
def closeEvent(self, event):
self.p.send(KillMsg(''))
# event.accept()
# event.ignore()
@QtCore.pyqtSlot(int)
def on_t_start(self, v):
if self.s_t_end.sender() is None:
@ -155,7 +161,8 @@ class Adv(QMainWindow, Ui_MainWindow):
class MainUI(Node):
topics = [ImageArgMsg, SeqIdMinMax, MoveAxisMsg,
SeqListMsg, SeqMetaMsg,
DeviceConnectedMsg, DeviceEnabledMsg, DeviceOnlineMsg, DeviceConfigListMsg]
DeviceConnectedMsg, DeviceEnabledMsg, DeviceOnlineMsg, DeviceConfigListMsg,
RobotRtsiMsg]
def __init__(self, level=logging.INFO):
super().__init__(level=level)

63
src/nodes/Robot.py Normal file
View File

@ -0,0 +1,63 @@
import logging
import threading
import zmq
from nodes.Node import Node
from utils.Msg import KillMsg, RobotRtsiMsg, Msg
from utils.rtsi import rtsi
from utils.rtsi.serialize import DataObject
logger = logging.getLogger(__name__)
class Robot(Node):
topics = []
def __init__(self):
super(Robot, self).__init__()
self.rtsi_thread_stop = False
self.rt = rtsi('11.6.1.53') # 创建rtsi类
self.rt.connect() # socket链接远程rtsi
self.rt.version_check() # rtsi版本协议检查
version = self.rt.controller_version() # 获取控制器协议版本
def rtsi_thread(self):
rtsi_push_socket = self.context.socket(zmq.PUSH)
rtsi_push_socket.bind('inproc://rtsi')
output1 = self.rt.output_subscribe('actual_joint_positions,actual_TCP_force', 125) # 输出订阅,配方1
self.rt.start() # rtsi 开始
while not self.rtsi_thread_stop:
recv_out: DataObject = self.rt.get_output_data()
if recv_out is None:
continue
if recv_out.recipe_id == output1.id:
rtsi_push_socket.send(RobotRtsiMsg(
pos=recv_out.actual_joint_positions,
force=recv_out.actual_TCP_force,
).encode_msg())
self.rt.disconnect()
def loop(self):
t = threading.Thread(target=self.rtsi_thread)
t.start()
rtsi_pull_socket = self.context.socket(zmq.PULL)
rtsi_pull_socket.connect('inproc://rtsi')
self.c.poller.register(rtsi_pull_socket, zmq.POLLIN)
while True:
socks = dict(self.c.poller.poll())
if rtsi_pull_socket in socks and socks[rtsi_pull_socket] == zmq.POLLIN:
msg = Msg.decode_msg(rtsi_pull_socket.recv())
self.send(msg)
if self.c.sub in socks and socks[self.c.sub] == zmq.POLLIN:
msg = self.recv()
if isinstance(msg, KillMsg):
if msg.name == '':
self.rtsi_thread_stop = True
return
if __name__ == '__main__':
r = Robot()
r()

311
src/ui/Main.py
View File

@ -17,117 +17,53 @@ class Ui_MainWindow(object):
self.centralwidget.setObjectName("centralwidget")
self.gridLayout = QtWidgets.QGridLayout(self.centralwidget)
self.gridLayout.setObjectName("gridLayout")
self.gridLayout_3 = QtWidgets.QGridLayout()
self.gridLayout_3.setObjectName("gridLayout_3")
self.c_seq_meta = QtWidgets.QComboBox(parent=self.centralwidget)
self.c_seq_meta.setObjectName("c_seq_meta")
self.gridLayout_3.addWidget(self.c_seq_meta, 3, 0, 1, 1)
self.b_device_enabled = QtWidgets.QPushButton(parent=self.centralwidget)
self.b_device_enabled.setObjectName("b_device_enabled")
self.gridLayout_3.addWidget(self.b_device_enabled, 2, 0, 1, 1)
self.b_device_connected = QtWidgets.QPushButton(parent=self.centralwidget)
self.b_device_connected.setObjectName("b_device_connected")
self.gridLayout_3.addWidget(self.b_device_connected, 1, 0, 1, 1)
self.l_online = QtWidgets.QLabel(parent=self.centralwidget)
self.l_online.setStyleSheet("background-color: pink;")
self.l_online.setObjectName("l_online")
self.gridLayout_3.addWidget(self.l_online, 0, 0, 1, 1)
self.gridLayout.addLayout(self.gridLayout_3, 0, 0, 1, 1)
self.gridLayout_5 = QtWidgets.QGridLayout()
self.gridLayout_5.setObjectName("gridLayout_5")
self.spinBox_2 = QtWidgets.QSpinBox(parent=self.centralwidget)
self.spinBox_2.setObjectName("spinBox_2")
self.gridLayout_5.addWidget(self.spinBox_2, 3, 2, 1, 1)
self.label_7 = QtWidgets.QLabel(parent=self.centralwidget)
self.label_7.setObjectName("label_7")
self.gridLayout_5.addWidget(self.label_7, 4, 0, 1, 1)
self.label_6 = QtWidgets.QLabel(parent=self.centralwidget)
self.label_6.setObjectName("label_6")
self.gridLayout_5.addWidget(self.label_6, 3, 0, 1, 1)
self.s_t_end = QtWidgets.QSlider(parent=self.centralwidget)
self.s_t_end.setMinimum(1)
self.s_t_end.setMaximum(1500)
self.s_t_end.setOrientation(QtCore.Qt.Orientation.Horizontal)
self.s_t_end.setObjectName("s_t_end")
self.gridLayout_5.addWidget(self.s_t_end, 2, 1, 1, 1)
self.label_2 = QtWidgets.QLabel(parent=self.centralwidget)
self.label_2.setObjectName("label_2")
self.gridLayout_5.addWidget(self.label_2, 0, 0, 1, 3)
self.horizontalSlider_4 = QtWidgets.QSlider(parent=self.centralwidget)
self.horizontalSlider_4.setOrientation(QtCore.Qt.Orientation.Horizontal)
self.horizontalSlider_4.setObjectName("horizontalSlider_4")
self.gridLayout_5.addWidget(self.horizontalSlider_4, 4, 1, 1, 1)
spacerItem = QtWidgets.QSpacerItem(20, 40, QtWidgets.QSizePolicy.Policy.Minimum, QtWidgets.QSizePolicy.Policy.Expanding)
self.gridLayout_5.addItem(spacerItem, 5, 1, 1, 1)
self.spinBox = QtWidgets.QSpinBox(parent=self.centralwidget)
self.spinBox.setObjectName("spinBox")
self.gridLayout_5.addWidget(self.spinBox, 2, 2, 1, 1)
self.label_5 = QtWidgets.QLabel(parent=self.centralwidget)
self.label_5.setObjectName("label_5")
self.gridLayout_5.addWidget(self.label_5, 2, 0, 1, 1)
self.horizontalSlider_2 = QtWidgets.QSlider(parent=self.centralwidget)
self.horizontalSlider_2.setOrientation(QtCore.Qt.Orientation.Horizontal)
self.horizontalSlider_2.setObjectName("horizontalSlider_2")
self.gridLayout_5.addWidget(self.horizontalSlider_2, 3, 1, 1, 1)
self.spinBox_3 = QtWidgets.QSpinBox(parent=self.centralwidget)
self.spinBox_3.setObjectName("spinBox_3")
self.gridLayout_5.addWidget(self.spinBox_3, 4, 2, 1, 1)
self.spinBox_12 = QtWidgets.QSpinBox(parent=self.centralwidget)
self.spinBox_12.setObjectName("spinBox_12")
self.gridLayout_5.addWidget(self.spinBox_12, 1, 2, 1, 1)
self.s_t_start = QtWidgets.QSlider(parent=self.centralwidget)
self.s_t_start.setOrientation(QtCore.Qt.Orientation.Horizontal)
self.s_t_start.setObjectName("s_t_start")
self.gridLayout_5.addWidget(self.s_t_start, 1, 1, 1, 1)
self.label_15 = QtWidgets.QLabel(parent=self.centralwidget)
self.label_15.setObjectName("label_15")
self.gridLayout_5.addWidget(self.label_15, 1, 0, 1, 1)
self.gridLayout.addLayout(self.gridLayout_5, 1, 0, 1, 1)
self.gridLayout_2 = QtWidgets.QGridLayout()
self.gridLayout_2.setObjectName("gridLayout_2")
self.l_record_commit = QtWidgets.QLineEdit(parent=self.centralwidget)
self.l_record_commit.setEnabled(False)
self.l_record_commit.setObjectName("l_record_commit")
self.gridLayout_2.addWidget(self.l_record_commit, 1, 1, 1, 1)
self.gridLayout_7 = QtWidgets.QGridLayout()
self.gridLayout_7.setObjectName("gridLayout_7")
self.s_sid = QtWidgets.QSlider(parent=self.centralwidget)
self.s_sid.setOrientation(QtCore.Qt.Orientation.Horizontal)
self.s_sid.setObjectName("s_sid")
self.gridLayout_7.addWidget(self.s_sid, 2, 1, 1, 1)
self.label_4 = QtWidgets.QLabel(parent=self.centralwidget)
self.label_4.setObjectName("label_4")
self.gridLayout_7.addWidget(self.label_4, 2, 0, 1, 1)
self.spinBox_7 = QtWidgets.QSpinBox(parent=self.centralwidget)
self.spinBox_7.setObjectName("spinBox_7")
self.gridLayout_7.addWidget(self.spinBox_7, 2, 2, 1, 1)
self.b_play_playback = QtWidgets.QPushButton(parent=self.centralwidget)
self.b_play_playback.setEnabled(False)
self.b_play_playback.setStyleSheet("background-color : red")
self.b_play_playback.setObjectName("b_play_playback")
self.gridLayout_2.addWidget(self.b_play_playback, 2, 0, 1, 1)
self.b_record = QtWidgets.QPushButton(parent=self.centralwidget)
self.b_record.setEnabled(False)
self.b_record.setObjectName("b_record")
self.gridLayout_2.addWidget(self.b_record, 1, 2, 1, 1)
self.s_sid = QtWidgets.QSlider(parent=self.centralwidget)
self.s_sid.setOrientation(QtCore.Qt.Orientation.Horizontal)
self.s_sid.setObjectName("s_sid")
self.gridLayout_2.addWidget(self.s_sid, 3, 1, 1, 1)
self.label_4 = QtWidgets.QLabel(parent=self.centralwidget)
self.label_4.setObjectName("label_4")
self.gridLayout_2.addWidget(self.label_4, 3, 0, 1, 1)
self.b_base = QtWidgets.QPushButton(parent=self.centralwidget)
self.b_base.setObjectName("b_base")
self.gridLayout_2.addWidget(self.b_base, 0, 2, 1, 1)
self.l_base = QtWidgets.QLineEdit(parent=self.centralwidget)
self.l_base.setObjectName("l_base")
self.gridLayout_2.addWidget(self.l_base, 0, 1, 1, 1)
self.label = QtWidgets.QLabel(parent=self.centralwidget)
self.label.setObjectName("label")
self.gridLayout_2.addWidget(self.label, 0, 0, 1, 1)
self.b_play_live = QtWidgets.QPushButton(parent=self.centralwidget)
self.b_play_live.setObjectName("b_play_live")
self.gridLayout_2.addWidget(self.b_play_live, 1, 0, 1, 1)
self.gridLayout_7.addWidget(self.b_play_playback, 0, 0, 1, 3)
self.comboBox = QtWidgets.QComboBox(parent=self.centralwidget)
self.comboBox.setEnabled(False)
self.comboBox.setEditable(False)
self.comboBox.setObjectName("comboBox")
self.comboBox.addItem("")
self.gridLayout_2.addWidget(self.comboBox, 2, 1, 1, 2)
self.spinBox_7 = QtWidgets.QSpinBox(parent=self.centralwidget)
self.spinBox_7.setObjectName("spinBox_7")
self.gridLayout_2.addWidget(self.spinBox_7, 3, 2, 1, 1)
self.gridLayout_2.setColumnStretch(1, 1)
self.gridLayout.addLayout(self.gridLayout_2, 0, 1, 1, 1)
self.gridLayout_7.addWidget(self.comboBox, 1, 1, 1, 2)
self.label_16 = QtWidgets.QLabel(parent=self.centralwidget)
self.label_16.setObjectName("label_16")
self.gridLayout_7.addWidget(self.label_16, 1, 0, 1, 1)
self.gridLayout.addLayout(self.gridLayout_7, 1, 1, 1, 1)
self.gridLayout_6 = QtWidgets.QGridLayout()
self.gridLayout_6.setObjectName("gridLayout_6")
self.l_record_commit = QtWidgets.QLineEdit(parent=self.centralwidget)
self.l_record_commit.setEnabled(False)
self.l_record_commit.setObjectName("l_record_commit")
self.gridLayout_6.addWidget(self.l_record_commit, 1, 1, 1, 1)
self.b_record = QtWidgets.QPushButton(parent=self.centralwidget)
self.b_record.setEnabled(False)
self.b_record.setObjectName("b_record")
self.gridLayout_6.addWidget(self.b_record, 1, 2, 1, 1)
self.label_17 = QtWidgets.QLabel(parent=self.centralwidget)
self.label_17.setObjectName("label_17")
self.gridLayout_6.addWidget(self.label_17, 1, 0, 1, 1)
self.b_play_live = QtWidgets.QPushButton(parent=self.centralwidget)
self.b_play_live.setObjectName("b_play_live")
self.gridLayout_6.addWidget(self.b_play_live, 0, 0, 1, 3)
self.label_18 = QtWidgets.QLabel(parent=self.centralwidget)
self.label_18.setObjectName("label_18")
self.gridLayout_6.addWidget(self.label_18, 2, 0, 1, 3)
self.gridLayout.addLayout(self.gridLayout_6, 1, 0, 1, 1)
self.gridLayout_4 = QtWidgets.QGridLayout()
self.gridLayout_4.setObjectName("gridLayout_4")
self.spinBox_4 = QtWidgets.QSpinBox(parent=self.centralwidget)
@ -161,13 +97,19 @@ class Ui_MainWindow(object):
self.label_9 = QtWidgets.QLabel(parent=self.centralwidget)
self.label_9.setObjectName("label_9")
self.gridLayout_4.addWidget(self.label_9, 2, 0, 1, 1)
spacerItem1 = QtWidgets.QSpacerItem(20, 40, QtWidgets.QSizePolicy.Policy.Minimum, QtWidgets.QSizePolicy.Policy.Expanding)
self.gridLayout_4.addItem(spacerItem1, 8, 1, 1, 1)
spacerItem = QtWidgets.QSpacerItem(20, 40, QtWidgets.QSizePolicy.Policy.Minimum, QtWidgets.QSizePolicy.Policy.Expanding)
self.gridLayout_4.addItem(spacerItem, 8, 1, 1, 1)
self.horizontalSlider_7 = QtWidgets.QSlider(parent=self.centralwidget)
self.horizontalSlider_7.setOrientation(QtCore.Qt.Orientation.Horizontal)
self.horizontalSlider_7.setObjectName("horizontalSlider_7")
self.gridLayout_4.addWidget(self.horizontalSlider_7, 7, 1, 1, 1)
self.label_3 = QtWidgets.QLabel(parent=self.centralwidget)
font = QtGui.QFont()
font.setPointSize(20)
font.setBold(False)
font.setWeight(50)
self.label_3.setFont(font)
self.label_3.setAlignment(QtCore.Qt.AlignmentFlag.AlignCenter)
self.label_3.setObjectName("label_3")
self.gridLayout_4.addWidget(self.label_3, 0, 0, 1, 3)
self.label_11 = QtWidgets.QLabel(parent=self.centralwidget)
@ -205,10 +147,126 @@ class Ui_MainWindow(object):
self.spinBox_11 = QtWidgets.QSpinBox(parent=self.centralwidget)
self.spinBox_11.setObjectName("spinBox_11")
self.gridLayout_4.addWidget(self.spinBox_11, 7, 2, 1, 1)
self.gridLayout.addLayout(self.gridLayout_4, 1, 1, 1, 1)
self.b_exit = QtWidgets.QPushButton(parent=self.centralwidget)
self.b_exit.setObjectName("b_exit")
self.gridLayout.addWidget(self.b_exit, 2, 0, 1, 2)
self.gridLayout.addLayout(self.gridLayout_4, 2, 1, 1, 1)
self.gridLayout_5 = QtWidgets.QGridLayout()
self.gridLayout_5.setObjectName("gridLayout_5")
self.spinBox_2 = QtWidgets.QSpinBox(parent=self.centralwidget)
self.spinBox_2.setObjectName("spinBox_2")
self.gridLayout_5.addWidget(self.spinBox_2, 3, 2, 1, 1)
self.label_7 = QtWidgets.QLabel(parent=self.centralwidget)
self.label_7.setObjectName("label_7")
self.gridLayout_5.addWidget(self.label_7, 4, 0, 1, 1)
self.label_6 = QtWidgets.QLabel(parent=self.centralwidget)
self.label_6.setObjectName("label_6")
self.gridLayout_5.addWidget(self.label_6, 3, 0, 1, 1)
self.s_t_end = QtWidgets.QSlider(parent=self.centralwidget)
self.s_t_end.setMinimum(1)
self.s_t_end.setMaximum(1500)
self.s_t_end.setOrientation(QtCore.Qt.Orientation.Horizontal)
self.s_t_end.setObjectName("s_t_end")
self.gridLayout_5.addWidget(self.s_t_end, 2, 1, 1, 1)
self.label_2 = QtWidgets.QLabel(parent=self.centralwidget)
font = QtGui.QFont()
font.setPointSize(20)
font.setBold(False)
font.setWeight(50)
self.label_2.setFont(font)
self.label_2.setAlignment(QtCore.Qt.AlignmentFlag.AlignCenter)
self.label_2.setObjectName("label_2")
self.gridLayout_5.addWidget(self.label_2, 0, 0, 1, 3)
self.horizontalSlider_4 = QtWidgets.QSlider(parent=self.centralwidget)
self.horizontalSlider_4.setOrientation(QtCore.Qt.Orientation.Horizontal)
self.horizontalSlider_4.setObjectName("horizontalSlider_4")
self.gridLayout_5.addWidget(self.horizontalSlider_4, 4, 1, 1, 1)
spacerItem1 = QtWidgets.QSpacerItem(20, 40, QtWidgets.QSizePolicy.Policy.Minimum, QtWidgets.QSizePolicy.Policy.Expanding)
self.gridLayout_5.addItem(spacerItem1, 5, 1, 1, 1)
self.spinBox = QtWidgets.QSpinBox(parent=self.centralwidget)
self.spinBox.setObjectName("spinBox")
self.gridLayout_5.addWidget(self.spinBox, 2, 2, 1, 1)
self.label_5 = QtWidgets.QLabel(parent=self.centralwidget)
self.label_5.setObjectName("label_5")
self.gridLayout_5.addWidget(self.label_5, 2, 0, 1, 1)
self.horizontalSlider_2 = QtWidgets.QSlider(parent=self.centralwidget)
self.horizontalSlider_2.setOrientation(QtCore.Qt.Orientation.Horizontal)
self.horizontalSlider_2.setObjectName("horizontalSlider_2")
self.gridLayout_5.addWidget(self.horizontalSlider_2, 3, 1, 1, 1)
self.spinBox_3 = QtWidgets.QSpinBox(parent=self.centralwidget)
self.spinBox_3.setObjectName("spinBox_3")
self.gridLayout_5.addWidget(self.spinBox_3, 4, 2, 1, 1)
self.spinBox_12 = QtWidgets.QSpinBox(parent=self.centralwidget)
self.spinBox_12.setObjectName("spinBox_12")
self.gridLayout_5.addWidget(self.spinBox_12, 1, 2, 1, 1)
self.s_t_start = QtWidgets.QSlider(parent=self.centralwidget)
self.s_t_start.setOrientation(QtCore.Qt.Orientation.Horizontal)
self.s_t_start.setObjectName("s_t_start")
self.gridLayout_5.addWidget(self.s_t_start, 1, 1, 1, 1)
self.label_15 = QtWidgets.QLabel(parent=self.centralwidget)
self.label_15.setObjectName("label_15")
self.gridLayout_5.addWidget(self.label_15, 1, 0, 1, 1)
self.gridLayout.addLayout(self.gridLayout_5, 2, 0, 1, 1)
self.gridLayout_3 = QtWidgets.QGridLayout()
self.gridLayout_3.setObjectName("gridLayout_3")
self.c_seq_meta = QtWidgets.QComboBox(parent=self.centralwidget)
self.c_seq_meta.setObjectName("c_seq_meta")
self.gridLayout_3.addWidget(self.c_seq_meta, 3, 0, 1, 1)
self.b_device_enabled = QtWidgets.QPushButton(parent=self.centralwidget)
self.b_device_enabled.setObjectName("b_device_enabled")
self.gridLayout_3.addWidget(self.b_device_enabled, 2, 0, 1, 1)
self.b_device_connected = QtWidgets.QPushButton(parent=self.centralwidget)
self.b_device_connected.setObjectName("b_device_connected")
self.gridLayout_3.addWidget(self.b_device_connected, 1, 0, 1, 1)
self.l_online = QtWidgets.QLabel(parent=self.centralwidget)
font = QtGui.QFont()
font.setPointSize(15)
self.l_online.setFont(font)
self.l_online.setStyleSheet("background-color: pink;")
self.l_online.setAlignment(QtCore.Qt.AlignmentFlag.AlignCenter)
self.l_online.setObjectName("l_online")
self.gridLayout_3.addWidget(self.l_online, 0, 0, 1, 1)
self.gridLayout.addLayout(self.gridLayout_3, 0, 0, 1, 1)
self.horizontalLayout_4 = QtWidgets.QHBoxLayout()
self.horizontalLayout_4.setObjectName("horizontalLayout_4")
self.label = QtWidgets.QLabel(parent=self.centralwidget)
self.label.setObjectName("label")
self.horizontalLayout_4.addWidget(self.label)
self.l_base = QtWidgets.QLineEdit(parent=self.centralwidget)
self.l_base.setObjectName("l_base")
self.horizontalLayout_4.addWidget(self.l_base)
self.b_base = QtWidgets.QPushButton(parent=self.centralwidget)
self.b_base.setObjectName("b_base")
self.horizontalLayout_4.addWidget(self.b_base)
self.gridLayout.addLayout(self.horizontalLayout_4, 3, 0, 1, 2)
self.gridLayout_2 = QtWidgets.QGridLayout()
self.gridLayout_2.setObjectName("gridLayout_2")
self.l_robot_pos = QtWidgets.QLabel(parent=self.centralwidget)
font = QtGui.QFont()
font.setPointSize(15)
self.l_robot_pos.setFont(font)
self.l_robot_pos.setAlignment(QtCore.Qt.AlignmentFlag.AlignCenter)
self.l_robot_pos.setObjectName("l_robot_pos")
self.gridLayout_2.addWidget(self.l_robot_pos, 1, 1, 1, 1)
self.l_robot_force = QtWidgets.QLabel(parent=self.centralwidget)
font = QtGui.QFont()
font.setPointSize(15)
self.l_robot_force.setFont(font)
self.l_robot_force.setAlignment(QtCore.Qt.AlignmentFlag.AlignCenter)
self.l_robot_force.setObjectName("l_robot_force")
self.gridLayout_2.addWidget(self.l_robot_force, 2, 1, 1, 1)
self.label_22 = QtWidgets.QLabel(parent=self.centralwidget)
self.label_22.setObjectName("label_22")
self.gridLayout_2.addWidget(self.label_22, 1, 0, 1, 1)
self.label_23 = QtWidgets.QLabel(parent=self.centralwidget)
self.label_23.setObjectName("label_23")
self.gridLayout_2.addWidget(self.label_23, 2, 0, 1, 1)
self.label_19 = QtWidgets.QLabel(parent=self.centralwidget)
font = QtGui.QFont()
font.setPointSize(15)
self.label_19.setFont(font)
self.label_19.setAlignment(QtCore.Qt.AlignmentFlag.AlignCenter)
self.label_19.setObjectName("label_19")
self.gridLayout_2.addWidget(self.label_19, 0, 0, 1, 2)
self.gridLayout_2.setColumnStretch(1, 1)
self.gridLayout.addLayout(self.gridLayout_2, 0, 1, 1, 1)
MainWindow.setCentralWidget(self.centralwidget)
self.menubar = QtWidgets.QMenuBar(parent=MainWindow)
self.menubar.setGeometry(QtCore.QRect(0, 0, 1177, 30))
@ -224,22 +282,14 @@ class Ui_MainWindow(object):
def retranslateUi(self, MainWindow):
_translate = QtCore.QCoreApplication.translate
MainWindow.setWindowTitle(_translate("MainWindow", "MainWindow"))
self.b_device_enabled.setText(_translate("MainWindow", "Beam"))
self.b_device_connected.setText(_translate("MainWindow", "Connection"))
self.l_online.setText(_translate("MainWindow", "Device Offline"))
self.label_7.setText(_translate("MainWindow", "TextLabel"))
self.label_6.setText(_translate("MainWindow", "TextLabel"))
self.label_2.setText(_translate("MainWindow", "Imaging"))
self.label_5.setText(_translate("MainWindow", "t_end"))
self.label_15.setText(_translate("MainWindow", "t_start"))
self.b_play_playback.setText(_translate("MainWindow", "Playback"))
self.b_record.setText(_translate("MainWindow", "Record"))
self.label_4.setText(_translate("MainWindow", "Frame ID"))
self.b_base.setText(_translate("MainWindow", "SetBase"))
self.l_base.setText(_translate("MainWindow", "/mnt/16T/private_dataset/us/"))
self.label.setText(_translate("MainWindow", "Base Path"))
self.b_play_live.setText(_translate("MainWindow", "Live"))
self.b_play_playback.setText(_translate("MainWindow", "Playback"))
self.comboBox.setItemText(0, _translate("MainWindow", "Unset"))
self.label_16.setText(_translate("MainWindow", "SeqName"))
self.b_record.setText(_translate("MainWindow", "Record"))
self.label_17.setText(_translate("MainWindow", "RecordName"))
self.b_play_live.setText(_translate("MainWindow", "Live"))
self.label_18.setText(_translate("MainWindow", "Space left 1000GB"))
self.label_10.setText(_translate("MainWindow", "Z"))
self.label_9.setText(_translate("MainWindow", "Y"))
self.label_3.setText(_translate("MainWindow", "Probe Position"))
@ -248,4 +298,19 @@ class Ui_MainWindow(object):
self.label_12.setText(_translate("MainWindow", "Roll"))
self.label_13.setText(_translate("MainWindow", "Pitch"))
self.label_14.setText(_translate("MainWindow", "Yal"))
self.b_exit.setText(_translate("MainWindow", "EXIT"))
self.label_7.setText(_translate("MainWindow", "TextLabel"))
self.label_6.setText(_translate("MainWindow", "TextLabel"))
self.label_2.setText(_translate("MainWindow", "Imaging"))
self.label_5.setText(_translate("MainWindow", "t_end"))
self.label_15.setText(_translate("MainWindow", "t_start"))
self.b_device_enabled.setText(_translate("MainWindow", "Beam"))
self.b_device_connected.setText(_translate("MainWindow", "Connection"))
self.l_online.setText(_translate("MainWindow", "Device Offline"))
self.label.setText(_translate("MainWindow", "Base Path"))
self.l_base.setText(_translate("MainWindow", "/mnt/16T/private_dataset/us/"))
self.b_base.setText(_translate("MainWindow", "Open"))
self.l_robot_pos.setText(_translate("MainWindow", "0,0,0,0,0,0"))
self.l_robot_force.setText(_translate("MainWindow", "0,0,0,0,0,0"))
self.label_22.setText(_translate("MainWindow", "Position"))
self.label_23.setText(_translate("MainWindow", "Force"))
self.label_19.setText(_translate("MainWindow", "Robot Offline"))

504
src/ui/Main.ui
View File

@ -14,146 +14,27 @@
<string>MainWindow</string>
</property>
<widget class="QWidget" name="centralwidget">
<layout class="QGridLayout" name="gridLayout" rowstretch="0,0,0">
<item row="0" column="0">
<layout class="QGridLayout" name="gridLayout_3">
<item row="3" column="0">
<widget class="QComboBox" name="c_seq_meta"/>
<layout class="QGridLayout" name="gridLayout" rowstretch="0,0,0,0">
<item row="1" column="1">
<layout class="QGridLayout" name="gridLayout_7">
<item row="2" column="1">
<widget class="QSlider" name="s_sid">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QPushButton" name="b_device_enabled">
<widget class="QLabel" name="label_4">
<property name="text">
<string>Beam</string>
<string>Frame ID</string>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QPushButton" name="b_device_connected">
<property name="text">
<string>Connection</string>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QLabel" name="l_online">
<property name="styleSheet">
<string notr="true">background-color: pink;</string>
</property>
<property name="text">
<string>Device Offline</string>
</property>
</widget>
</item>
</layout>
</item>
<item row="1" column="0">
<layout class="QGridLayout" name="gridLayout_5">
<item row="3" column="2">
<widget class="QSpinBox" name="spinBox_2"/>
</item>
<item row="4" column="0">
<widget class="QLabel" name="label_7">
<property name="text">
<string>TextLabel</string>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QLabel" name="label_6">
<property name="text">
<string>TextLabel</string>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QSlider" name="s_t_end">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>1500</number>
</property>
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
<item row="0" column="0" colspan="3">
<widget class="QLabel" name="label_2">
<property name="text">
<string>Imaging</string>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QSlider" name="horizontalSlider_4">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
<item row="5" column="1">
<spacer name="verticalSpacer_2">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>40</height>
</size>
</property>
</spacer>
</item>
<item row="2" column="2">
<widget class="QSpinBox" name="spinBox"/>
<widget class="QSpinBox" name="spinBox_7"/>
</item>
<item row="2" column="0">
<widget class="QLabel" name="label_5">
<property name="text">
<string>t_end</string>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QSlider" name="horizontalSlider_2">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
<item row="4" column="2">
<widget class="QSpinBox" name="spinBox_3"/>
</item>
<item row="1" column="2">
<widget class="QSpinBox" name="spinBox_12"/>
</item>
<item row="1" column="1">
<widget class="QSlider" name="s_t_start">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QLabel" name="label_15">
<property name="text">
<string>t_start</string>
</property>
</widget>
</item>
</layout>
</item>
<item row="0" column="1">
<layout class="QGridLayout" name="gridLayout_2" columnstretch="0,1,0">
<item row="1" column="1">
<widget class="QLineEdit" name="l_record_commit">
<property name="enabled">
<bool>false</bool>
</property>
</widget>
</item>
<item row="2" column="0">
<item row="0" column="0" colspan="3">
<widget class="QPushButton" name="b_play_playback">
<property name="enabled">
<bool>false</bool>
@ -166,59 +47,7 @@
</property>
</widget>
</item>
<item row="1" column="2">
<widget class="QPushButton" name="b_record">
<property name="enabled">
<bool>false</bool>
</property>
<property name="text">
<string>Record</string>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QSlider" name="s_sid">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QLabel" name="label_4">
<property name="text">
<string>Frame ID</string>
</property>
</widget>
</item>
<item row="0" column="2">
<widget class="QPushButton" name="b_base">
<property name="text">
<string>SetBase</string>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLineEdit" name="l_base">
<property name="text">
<string>/mnt/16T/private_dataset/us/</string>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QLabel" name="label">
<property name="text">
<string>Base Path</string>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QPushButton" name="b_play_live">
<property name="text">
<string>Live</string>
</property>
</widget>
</item>
<item row="2" column="1" colspan="2">
<item row="1" column="1" colspan="2">
<widget class="QComboBox" name="comboBox">
<property name="enabled">
<bool>false</bool>
@ -233,12 +62,58 @@
</item>
</widget>
</item>
<item row="3" column="2">
<widget class="QSpinBox" name="spinBox_7"/>
<item row="1" column="0">
<widget class="QLabel" name="label_16">
<property name="text">
<string>SeqName</string>
</property>
</widget>
</item>
</layout>
</item>
<item row="1" column="1">
<item row="1" column="0">
<layout class="QGridLayout" name="gridLayout_6">
<item row="1" column="1">
<widget class="QLineEdit" name="l_record_commit">
<property name="enabled">
<bool>false</bool>
</property>
</widget>
</item>
<item row="1" column="2">
<widget class="QPushButton" name="b_record">
<property name="enabled">
<bool>false</bool>
</property>
<property name="text">
<string>Record</string>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QLabel" name="label_17">
<property name="text">
<string>RecordName</string>
</property>
</widget>
</item>
<item row="0" column="0" colspan="3">
<widget class="QPushButton" name="b_play_live">
<property name="text">
<string>Live</string>
</property>
</widget>
</item>
<item row="2" column="0" colspan="3">
<widget class="QLabel" name="label_18">
<property name="text">
<string>Space left 1000GB</string>
</property>
</widget>
</item>
</layout>
</item>
<item row="2" column="1">
<layout class="QGridLayout" name="gridLayout_4">
<item row="1" column="2">
<widget class="QSpinBox" name="spinBox_4"/>
@ -313,9 +188,19 @@
</item>
<item row="0" column="0" colspan="3">
<widget class="QLabel" name="label_3">
<property name="font">
<font>
<pointsize>20</pointsize>
<weight>50</weight>
<bold>false</bold>
</font>
</property>
<property name="text">
<string>Probe Position</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="7" column="0">
@ -381,12 +266,243 @@
</item>
</layout>
</item>
<item row="2" column="0" colspan="2">
<widget class="QPushButton" name="b_exit">
<property name="text">
<string>EXIT</string>
</property>
</widget>
<item row="2" column="0">
<layout class="QGridLayout" name="gridLayout_5">
<item row="3" column="2">
<widget class="QSpinBox" name="spinBox_2"/>
</item>
<item row="4" column="0">
<widget class="QLabel" name="label_7">
<property name="text">
<string>TextLabel</string>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QLabel" name="label_6">
<property name="text">
<string>TextLabel</string>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QSlider" name="s_t_end">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>1500</number>
</property>
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
<item row="0" column="0" colspan="3">
<widget class="QLabel" name="label_2">
<property name="font">
<font>
<pointsize>20</pointsize>
<weight>50</weight>
<bold>false</bold>
</font>
</property>
<property name="text">
<string>Imaging</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QSlider" name="horizontalSlider_4">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
<item row="5" column="1">
<spacer name="verticalSpacer_2">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>40</height>
</size>
</property>
</spacer>
</item>
<item row="2" column="2">
<widget class="QSpinBox" name="spinBox"/>
</item>
<item row="2" column="0">
<widget class="QLabel" name="label_5">
<property name="text">
<string>t_end</string>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QSlider" name="horizontalSlider_2">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
<item row="4" column="2">
<widget class="QSpinBox" name="spinBox_3"/>
</item>
<item row="1" column="2">
<widget class="QSpinBox" name="spinBox_12"/>
</item>
<item row="1" column="1">
<widget class="QSlider" name="s_t_start">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QLabel" name="label_15">
<property name="text">
<string>t_start</string>
</property>
</widget>
</item>
</layout>
</item>
<item row="0" column="0">
<layout class="QGridLayout" name="gridLayout_3">
<item row="3" column="0">
<widget class="QComboBox" name="c_seq_meta"/>
</item>
<item row="2" column="0">
<widget class="QPushButton" name="b_device_enabled">
<property name="text">
<string>Beam</string>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QPushButton" name="b_device_connected">
<property name="text">
<string>Connection</string>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QLabel" name="l_online">
<property name="font">
<font>
<pointsize>15</pointsize>
</font>
</property>
<property name="styleSheet">
<string notr="true">background-color: pink;</string>
</property>
<property name="text">
<string>Device Offline</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
</layout>
</item>
<item row="3" column="0" colspan="2">
<layout class="QHBoxLayout" name="horizontalLayout_4">
<item>
<widget class="QLabel" name="label">
<property name="text">
<string>Base Path</string>
</property>
</widget>
</item>
<item>
<widget class="QLineEdit" name="l_base">
<property name="text">
<string>/mnt/16T/private_dataset/us/</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="b_base">
<property name="text">
<string>Open</string>
</property>
</widget>
</item>
</layout>
</item>
<item row="0" column="1">
<layout class="QGridLayout" name="gridLayout_2" columnstretch="0,1">
<item row="1" column="1">
<widget class="QLabel" name="l_robot_pos">
<property name="font">
<font>
<pointsize>15</pointsize>
</font>
</property>
<property name="text">
<string>0,0,0,0,0,0</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="l_robot_force">
<property name="font">
<font>
<pointsize>15</pointsize>
</font>
</property>
<property name="text">
<string>0,0,0,0,0,0</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QLabel" name="label_22">
<property name="text">
<string>Position</string>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QLabel" name="label_23">
<property name="text">
<string>Force</string>
</property>
</widget>
</item>
<item row="0" column="0" colspan="2">
<widget class="QLabel" name="label_19">
<property name="font">
<font>
<pointsize>15</pointsize>
</font>
</property>
<property name="styleSheet">
<string notr="true">background-color: pink;</string>
</property>
<property name="text">
<string>Robot Offline</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</widget>

442
src/ui/Main.ui.bak Normal file
View File

@ -0,0 +1,442 @@
<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>MainWindow</class>
<widget class="QMainWindow" name="MainWindow">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>1177</width>
<height>910</height>
</rect>
</property>
<property name="windowTitle">
<string>MainWindow</string>
</property>
<widget class="QWidget" name="centralwidget">
<layout class="QGridLayout" name="gridLayout" rowstretch="0,0,0,0">
<item row="3" column="0" colspan="2">
<widget class="QPushButton" name="b_exit">
<property name="text">
<string>EXIT</string>
</property>
</widget>
</item>
<item row="2" column="0">
<layout class="QGridLayout" name="gridLayout_5">
<item row="3" column="2">
<widget class="QSpinBox" name="spinBox_2"/>
</item>
<item row="4" column="0">
<widget class="QLabel" name="label_7">
<property name="text">
<string>TextLabel</string>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QLabel" name="label_6">
<property name="text">
<string>TextLabel</string>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QSlider" name="s_t_end">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>1500</number>
</property>
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
<item row="0" column="0" colspan="3">
<widget class="QLabel" name="label_2">
<property name="font">
<font>
<pointsize>20</pointsize>
<weight>50</weight>
<bold>false</bold>
</font>
</property>
<property name="text">
<string>Imaging</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QSlider" name="horizontalSlider_4">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
<item row="5" column="1">
<spacer name="verticalSpacer_2">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>40</height>
</size>
</property>
</spacer>
</item>
<item row="2" column="2">
<widget class="QSpinBox" name="spinBox"/>
</item>
<item row="2" column="0">
<widget class="QLabel" name="label_5">
<property name="text">
<string>t_end</string>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QSlider" name="horizontalSlider_2">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
<item row="4" column="2">
<widget class="QSpinBox" name="spinBox_3"/>
</item>
<item row="1" column="2">
<widget class="QSpinBox" name="spinBox_12"/>
</item>
<item row="1" column="1">
<widget class="QSlider" name="s_t_start">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QLabel" name="label_15">
<property name="text">
<string>t_start</string>
</property>
</widget>
</item>
</layout>
</item>
<item row="2" column="1">
<layout class="QGridLayout" name="gridLayout_4">
<item row="1" column="2">
<widget class="QSpinBox" name="spinBox_4"/>
</item>
<item row="3" column="2">
<widget class="QSpinBox" name="spinBox_6"/>
</item>
<item row="3" column="0">
<widget class="QLabel" name="label_10">
<property name="text">
<string>Z</string>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QSlider" name="horizontalSlider_3">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QSlider" name="horizontalSlider_5">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QSlider" name="horizontalSlider_6">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
<item row="2" column="2">
<widget class="QSpinBox" name="spinBox_5"/>
</item>
<item row="5" column="1">
<widget class="QSlider" name="horizontalSlider_9">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QLabel" name="label_9">
<property name="text">
<string>Y</string>
</property>
</widget>
</item>
<item row="8" column="1">
<spacer name="verticalSpacer">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>40</height>
</size>
</property>
</spacer>
</item>
<item row="7" column="1">
<widget class="QSlider" name="horizontalSlider_7">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
<item row="0" column="0" colspan="3">
<widget class="QLabel" name="label_3">
<property name="font">
<font>
<pointsize>20</pointsize>
<weight>50</weight>
<bold>false</bold>
</font>
</property>
<property name="text">
<string>Probe Position</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="7" column="0">
<widget class="QLabel" name="label_11">
<property name="text">
<string>E</string>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QLabel" name="label_8">
<property name="text">
<string>X</string>
</property>
</widget>
</item>
<item row="6" column="1">
<widget class="QSlider" name="horizontalSlider_8">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QSlider" name="horizontalSlider_10">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QLabel" name="label_12">
<property name="text">
<string>Roll</string>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QLabel" name="label_13">
<property name="text">
<string>Pitch</string>
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QLabel" name="label_14">
<property name="text">
<string>Yal</string>
</property>
</widget>
</item>
<item row="4" column="2">
<widget class="QSpinBox" name="spinBox_8"/>
</item>
<item row="5" column="2">
<widget class="QSpinBox" name="spinBox_9"/>
</item>
<item row="6" column="2">
<widget class="QSpinBox" name="spinBox_10"/>
</item>
<item row="7" column="2">
<widget class="QSpinBox" name="spinBox_11"/>
</item>
</layout>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_16">
<property name="text">
<string>TextLabel</string>
</property>
</widget>
</item>
<item row="0" column="0">
<layout class="QGridLayout" name="gridLayout_3">
<item row="3" column="0">
<widget class="QComboBox" name="c_seq_meta"/>
</item>
<item row="2" column="0">
<widget class="QPushButton" name="b_device_enabled">
<property name="text">
<string>Beam</string>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QPushButton" name="b_device_connected">
<property name="text">
<string>Connection</string>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QLabel" name="l_online">
<property name="font">
<font>
<pointsize>15</pointsize>
</font>
</property>
<property name="styleSheet">
<string notr="true">background-color: pink;</string>
</property>
<property name="text">
<string>Device Offline</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
</layout>
</item>
<item row="1" column="0" colspan="2">
<layout class="QGridLayout" name="gridLayout_2" columnstretch="0,1,0">
<item row="1" column="1">
<widget class="QLineEdit" name="l_record_commit">
<property name="enabled">
<bool>false</bool>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QPushButton" name="b_play_playback">
<property name="enabled">
<bool>false</bool>
</property>
<property name="styleSheet">
<string notr="true">background-color : red</string>
</property>
<property name="text">
<string>Playback</string>
</property>
</widget>
</item>
<item row="1" column="2">
<widget class="QPushButton" name="b_record">
<property name="enabled">
<bool>false</bool>
</property>
<property name="text">
<string>Record</string>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QSlider" name="s_sid">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QLabel" name="label_4">
<property name="text">
<string>Frame ID</string>
</property>
</widget>
</item>
<item row="0" column="2">
<widget class="QPushButton" name="b_base">
<property name="text">
<string>SetBase</string>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLineEdit" name="l_base">
<property name="text">
<string>/mnt/16T/private_dataset/us/</string>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QLabel" name="label">
<property name="text">
<string>Base Path</string>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QPushButton" name="b_play_live">
<property name="text">
<string>Live</string>
</property>
</widget>
</item>
<item row="2" column="1" colspan="2">
<widget class="QComboBox" name="comboBox">
<property name="enabled">
<bool>false</bool>
</property>
<property name="editable">
<bool>false</bool>
</property>
<item>
<property name="text">
<string>Unset</string>
</property>
</item>
</widget>
</item>
<item row="3" column="2">
<widget class="QSpinBox" name="spinBox_7"/>
</item>
</layout>
</item>
</layout>
</widget>
<widget class="QMenuBar" name="menubar">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>1177</width>
<height>30</height>
</rect>
</property>
</widget>
<widget class="QStatusBar" name="statusbar"/>
</widget>
<resources/>
<connections/>
</ui>

7
src/utils/Msg.py
View File

@ -27,6 +27,7 @@ class BG(Enum):
DeviceOnlineMsg = auto()
DeviceConfigListMsg = auto()
SetRecordMsg = auto()
RobotRtsiMsg = auto()
class Msg:
@ -182,3 +183,9 @@ class BMMsg(Msg):
struct.unpack('I', data[:4])[0],
data[4:]
)
@dataclasses.dataclass
class RobotRtsiMsg(Msg):
pos: tuple[float, float, float, float, float, float]
force: tuple[float, float, float, float, float, float]

1
src/utils/rtsi/__init__.py Normal file
View File

@ -0,0 +1 @@
from .rtsi import *

390
src/utils/rtsi/rtsi.py Normal file
View File

@ -0,0 +1,390 @@
import struct
import socket
import select
import sys
import logging
import utils.rtsi.serialize as serialize
DEFAULT_TIMEOUT = 10.0
LOGNAME = 'rtsi'
_log = logging.getLogger(LOGNAME)
class Command:
RTSI_REQUEST_PROTOCOL_VERSION = 86 # ascii V
RTSI_GET_ELITECONTROL_VERSION = 118 # ascii v
RTSI_TEXT_MESSAGE = 77 # ascii M
RTSI_DATA_PACKAGE = 85 # ascii U
RTSI_CONTROL_PACKAGE_SETUP_OUTPUTS = 79 # ascii O
RTSI_CONTROL_PACKAGE_SETUP_INPUTS = 73 # ascii I
RTSI_CONTROL_PACKAGE_START = 83 # ascii S
RTSI_CONTROL_PACKAGE_PAUSE = 80 # ascii P
RTSI_PROTOCOL_VERSION_1 = 1
class ConnectionState:
DISCONNECTED = 0
CONNECTED = 1
STARTED = 2
PAUSED = 3
class RTSIException(Exception):
def __init__(self, msg):
self.msg = msg
def __str__(self):
return repr(self.msg)
class RTSITimeoutException(RTSIException):
def __init__(self, msg):
super(RTSITimeoutException, self).__init__(msg)
class rtsi(object):
def __init__(self, hostname, port=30004):
self.hostname = hostname
self.port = port
self.__conn_state = ConnectionState.DISCONNECTED
self.__sock = None
self.__output_config = {}
self.__input_config = {}
self.__skipped_package_count = 0
self.__protocolVersion = RTSI_PROTOCOL_VERSION_1
def connect(self):
if self.__sock:
return
self.__buf = b'' # buffer data in binary format
try:
self.__sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
self.__sock.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
self.__sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_NODELAY, 1)
self.__sock.settimeout(DEFAULT_TIMEOUT)
self.__skipped_package_count = 0
self.__sock.connect((self.hostname, self.port))
self.__conn_state = ConnectionState.CONNECTED
except (socket.timeout, socket.error):
self.__sock = None
raise
def disconnect(self):
if self.__sock:
self.__sock.close()
self.__sock = None
self.__conn_state = ConnectionState.DISCONNECTED
def is_connected(self):
return self.__conn_state is not ConnectionState.DISCONNECTED
def controller_version(self):
cmd = Command.RTSI_GET_ELITECONTROL_VERSION
version = self.__sendAndReceive(cmd)
if version:
_log.info('Controller version: ' + str(version.major) + '.' + str(version.minor) + '.' + str(version.bugfix)+ '.' + str(version.build))
if version.major == 3 and version.minor <= 2 and version.bugfix < 19171:
_log.error("Please upgrade your controller to minimally version 2.10")
sys.exit()
return version.major, version.minor, version.bugfix, version.build
return None, None, None, None
def version_check(self):
cmd = Command.RTSI_REQUEST_PROTOCOL_VERSION
payload = struct.pack('>H', RTSI_PROTOCOL_VERSION_1)
success = self.__sendAndReceive(cmd, payload)
if success:
self.__protocolVersion = RTSI_PROTOCOL_VERSION_1
return success
def input_subscribe(self, variables:str):
cmd = Command.RTSI_CONTROL_PACKAGE_SETUP_INPUTS
payload = variables.encode()
result = self.__sendAndReceive(cmd, payload)
result.names = variables.split(',')
self.__input_config[result.id] = result
return serialize.DataObject.create_empty(variables, result.id)
def output_subscribe(self, variables:str, frequency=125):
cmd = Command.RTSI_CONTROL_PACKAGE_SETUP_OUTPUTS
payload = struct.pack('>d', frequency)
payload = payload + variables.encode()
result = self.__sendAndReceive(cmd, payload)
result.names = variables.split(',')
self.__output_config[result.id] = result
return result
def start(self):
cmd = Command.RTSI_CONTROL_PACKAGE_START
success = self.__sendAndReceive(cmd)
if success:
_log.info('RTSI synchronization started')
self.__conn_state = ConnectionState.STARTED
else:
_log.error('RTSI synchronization failed to start')
return success
def pause(self):
cmd = Command.RTSI_CONTROL_PACKAGE_PAUSE
success = self.__sendAndReceive(cmd)
if success:
_log.info('RTSI synchronization paused')
self.__conn_state = ConnectionState.PAUSED
else:
_log.error('RTSI synchronization failed to pause')
return success
def set_input(self, input_data):
if self.__conn_state != ConnectionState.STARTED:
_log.error('Cannot send when RTSI synchronization is inactive')
return
if not input_data.recipe_id in self.__input_config:
_log.error('Input configuration id not found: ' + str(input_data.recipe_id))
return
config = self.__input_config[input_data.recipe_id]
return self.__sendall(Command.RTSI_DATA_PACKAGE, config.pack(input_data))
def get_output_data(self):
"""Recieve the latest data package.
If muliple packages has been received, older ones are discarded
and only the newest one will be returned. Will block untill a package
is received or the connection is lost
"""
if self.__conn_state != ConnectionState.STARTED:
raise RTSIException('Cannot receive when RTSI synchronization is inactive')
return self.__recv(Command.RTSI_DATA_PACKAGE, False)
def get_output_data_buffered(self, buffer_limit = None):
"""Recieve the next data package.
If muliple packages has been received they are buffered and will
be returned on subsequent calls to this function.
Returns None if no data is available.
"""
if self._rtsi__output_config is None:
logging.error("Output configuration not initialized")
return None
try:
while (
self.is_connected()
and (buffer_limit == None or len(self.__buf) < buffer_limit)
and self.__recv_to_buffer(0)
):
pass
except RTSIException as e:
data = self.__recv_from_buffer(Command.RTSI_DATA_PACKAGE, False)
if data == None:
raise e
else:
data = self.__recv_from_buffer(Command.RTSI_DATA_PACKAGE, False)
return data
def send_message(self, message, source = b"Python Client", type = serialize.Message.INFO_MESSAGE):
cmd = Command.RTSI_TEXT_MESSAGE
fmt = '>B%dsB%dsB' % (len(message), len(source))
payload = struct.pack(fmt, len(message), message, len(source), source, type)
return self.__sendall(cmd, payload)
def __on_packet(self, cmd, payload):
if cmd == Command.RTSI_REQUEST_PROTOCOL_VERSION:
return self.__unpack_protocol_version_package(payload)
elif cmd == Command.RTSI_GET_ELITECONTROL_VERSION:
return self.__unpack_elitecontrol_version_package(payload)
elif cmd == Command.RTSI_TEXT_MESSAGE:
return self.__unpack_text_message(payload)
elif cmd == Command.RTSI_CONTROL_PACKAGE_SETUP_OUTPUTS:
return self.__unpack_setup_outputs_package(payload)
elif cmd == Command.RTSI_CONTROL_PACKAGE_SETUP_INPUTS:
return self.__unpack_setup_inputs_package(payload)
elif cmd == Command.RTSI_CONTROL_PACKAGE_START:
return self.__unpack_start_package(payload)
elif cmd == Command.RTSI_CONTROL_PACKAGE_PAUSE:
return self.__unpack_pause_package(payload)
elif cmd == Command.RTSI_DATA_PACKAGE:
return self.__unpack_data_package(payload, self.__output_config[payload[0]])
else:
_log.error('Unknown package command: ' + str(cmd))
def __sendAndReceive(self, cmd, payload=b''):
if self.__sendall(cmd, payload):
return self.__recv(cmd)
else:
return None
def __sendall(self, command, payload=b''):
fmt = '>HB'
size = struct.calcsize(fmt) + len(payload)
buf = struct.pack(fmt, size, command) + payload
if self.__sock is None:
_log.error('Unable to send: not connected to Robot')
return False
_, writable, _ = select.select([], [self.__sock], [], DEFAULT_TIMEOUT)
if len(writable):
self.__sock.sendall(buf)
return True
else:
self.__trigger_disconnected()
return False
def has_data(self):
timeout = 0
readable, _, _ = select.select([self.__sock], [], [], timeout)
return len(readable)!=0
def __recv(self, command, binary=False):
while self.is_connected():
try:
self.__recv_to_buffer(DEFAULT_TIMEOUT)
except RTSITimeoutException:
return None
# unpack_from requires a buffer of at least 3 bytes
while len(self.__buf) >= 3:
# Attempts to extract a packet
packet_header = serialize.ControlHeader.unpack(self.__buf)
if len(self.__buf) >= packet_header.size:
packet, self.__buf = self.__buf[3:packet_header.size], self.__buf[packet_header.size:]
data = self.__on_packet(packet_header.command, packet)
if len(self.__buf) >= 3 and command == Command.RTSI_DATA_PACKAGE:
next_packet_header = serialize.ControlHeader.unpack(self.__buf)
if next_packet_header.command == command:
_log.debug('skipping package(1)')
self.__skipped_package_count += 1
continue
if packet_header.command == command:
if(binary):
return packet[1:]
return data
else:
_log.debug('skipping package(2)')
else:
break
raise RTSIException(' _recv() Connection lost ')
def __recv_to_buffer(self, timeout):
readable, _, xlist = select.select([self.__sock], [], [self.__sock], timeout)
if len(readable):
more = self.__sock.recv(4096)
#When the controller stops while the script is running
if len(more) == 0:
_log.error('received 0 bytes from Controller, probable cause: Controller has stopped')
self.__trigger_disconnected()
raise RTSIException('received 0 bytes from Controller')
self.__buf = self.__buf + more
return True
if (len(xlist) or len(readable) == 0) and timeout != 0: # Effectively a timeout of timeout seconds
_log.warning('no data received in last %d seconds ',timeout)
raise RTSITimeoutException("no data received within timeout")
return False
def __recv_from_buffer(self, command, binary=False):
# unpack_from requires a buffer of at least 3 bytes
while len(self.__buf) >= 3:
# Attempts to extract a packet
packet_header = serialize.ControlHeader.unpack(self.__buf)
if len(self.__buf) >= packet_header.size:
packet, self.__buf = self.__buf[3:packet_header.size], self.__buf[packet_header.size:]
data = self.__on_packet(packet_header.command, packet)
if packet_header.command == command:
if(binary):
return packet[1:]
return data
else:
print('skipping package(2)')
else:
return None
def __trigger_disconnected(self):
_log.info("RTSI disconnected")
self.disconnect() #clean-up
def __unpack_protocol_version_package(self, payload):
if len(payload) != 1:
_log.error('RTSI_REQUEST_PROTOCOL_VERSION: Wrong payload size')
return None
result = serialize.ReturnValue.unpack(payload)
return result.success
def __unpack_elitecontrol_version_package(self, payload):
if len(payload) != 16:
_log.error('RTSI_GET_ELITECONTROL_VERSION: Wrong payload size')
return None
version = serialize.ControlVersion.unpack(payload)
return version
def __unpack_text_message(self, payload):
if len(payload) < 1:
_log.error('RTSIE_TEXT_MESSAGE: No payload')
return None
if(self.__protocolVersion == RTSI_PROTOCOL_VERSION_1):
msg = serialize.MessageV1.unpack(payload)
else:
msg = serialize.Message.unpack(payload)
if(msg.level == serialize.Message.EXCEPTION_MESSAGE or
msg.level == serialize.Message.ERROR_MESSAGE):
_log.error(msg.source + ': ' + msg.message)
elif msg.level == serialize.Message.WARNING_MESSAGE:
_log.warning(msg.source + ': ' + msg.message)
elif msg.level == serialize.Message.INFO_MESSAGE:
_log.info(msg.source + ': ' + msg.message)
def __unpack_setup_outputs_package(self, payload):
if len(payload) < 1:
_log.error('RTSI_CONTROL_PACKAGE_SETUP_OUTPUTS: No payload')
return None
output_config = serialize.DataConfig.unpack_recipe(payload)
return output_config
def __unpack_setup_inputs_package(self, payload):
if len(payload) < 1:
_log.error('RTSI_CONTROL_PACKAGE_SETUP_INPUTS: No payload')
return None
input_config = serialize.DataConfig.unpack_recipe(payload)
return input_config
def __unpack_start_package(self, payload):
if len(payload) != 1:
_log.error('RTSI_CONTROL_PACKAGE_START: Wrong payload size')
return None
result = serialize.ReturnValue.unpack(payload)
return result.success
def __unpack_pause_package(self, payload):
if len(payload) != 1:
_log.error('RTSI_CONTROL_PACKAGE_PAUSE: Wrong payload size')
return None
result = serialize.ReturnValue.unpack(payload)
return result.success
def __unpack_data_package(self, payload, output_config):
if output_config is None:
_log.error('RTSI_DATA_PACKAGE: Missing output configuration')
return None
output = output_config.unpack(payload)
return output
def __list_equals(self, l1, l2):
if len(l1) != len(l2):
return False
for i in range(len((l1))):
if l1[i] != l2[i]:
return False
return True
@property
def skipped_package_count(self):
"""The skipped package count, resets on connect"""
return self.__skipped_package_count

182
src/utils/rtsi/serialize.py Normal file
View File

@ -0,0 +1,182 @@
import struct
class ControlHeader(object):
__slots__ = ['command', 'size',]
@staticmethod
def unpack(buf):
rmd = ControlHeader()
(rmd.size, rmd.command) = struct.unpack_from('>HB', buf)
return rmd
class ControlVersion(object):
__slots__ = ['major', 'minor', 'bugfix', 'build']
@staticmethod
def unpack(buf):
rmd = ControlVersion()
(rmd.major, rmd.minor, rmd.bugfix, rmd.build) = struct.unpack_from('>IIII', buf)
return rmd
class ReturnValue(object):
__slots__ = ['success']
@staticmethod
def unpack(buf):
rmd = ReturnValue()
rmd.success = bool(struct.unpack_from('>B', buf)[0])
return rmd
class MessageV1(object):
@staticmethod
def unpack(buf):
rmd = Message() # use V2 message object
offset = 0
rmd.level = struct.unpack_from(">B", buf, offset)[0]
offset = offset + 1
rmd.message = str(buf[offset:])
rmd.source = ""
return rmd
class Message(object):
__slots__ = ['level', 'message', 'source']
EXCEPTION_MESSAGE = 0
ERROR_MESSAGE = 1
WARNING_MESSAGE = 2
INFO_MESSAGE = 3
@staticmethod
def unpack(buf):
rmd = Message()
offset = 0
msg_length = struct.unpack_from(">B", buf, offset)[0]
offset = offset + 1
rmd.message = str(buf[offset:offset+msg_length])
offset = offset + msg_length
src_length = struct.unpack_from(">B", buf, offset)[0]
offset = offset + 1
rmd.source = str(buf[offset:offset+src_length])
offset = offset + src_length
rmd.level = struct.unpack_from(">B", buf, offset)[0]
return rmd
def get_item_size(data_type):
if data_type.startswith('VECTOR6'):
return 6
elif data_type.startswith('VECTOR3'):
return 3
return 1
def unpack_field(data, offset, data_type):
size = get_item_size(data_type)
if(data_type == 'VECTOR6D' or
data_type == 'VECTOR3D'):
return [float(data[offset+i]) for i in range(size)]
elif(data_type == 'VECTOR6UINT32'):
return [int(data[offset+i]) for i in range(size)]
elif(data_type == 'DOUBLE'):
return float(data[offset])
elif(data_type == 'UINT32' or
data_type == 'UINT64'):
return int(data[offset])
elif(data_type == 'VECTOR6INT32'):
return [int(data[offset+i]) for i in range(size)]
elif(data_type == 'INT32' or
data_type == 'UINT8'):
return int(data[offset])
elif(data_type == 'BOOL'):
return bool(data[offset])
raise ValueError('unpack_field: unknown data type: ' + data_type)
class DataObject(object):
recipe_id = None
def pack(self, names, types):
if len(names) != len(types):
raise ValueError('List sizes are not identical.')
l = []
if(self.recipe_id is not None):
l.append(self.recipe_id)
for i in range(len(names)):
if self.__dict__[names[i]] is None:
raise ValueError('Uninitialized parameter: ' + names[i])
if types[i].startswith('VECTOR'):
l.extend(self.__dict__[names[i]])
else:
l.append(self.__dict__[names[i]])
return l
@staticmethod
def unpack(data, names, types):
if len(names) != len(types):
raise ValueError('List sizes are not identical.')
obj = DataObject()
offset = 0
obj.recipe_id = data[0]
for i in range(len(names)):
obj.__dict__[names[i]] = unpack_field(data[1:], offset, types[i])
offset += get_item_size(types[i])
return obj
@staticmethod
def create_empty(names, recipe_id):
obj = DataObject()
for i in range(len(names)):
obj.__dict__[names[i]] = None
obj.recipe_id = recipe_id
return obj
class DataConfig(object):
__slots__ = ['id', 'names', 'types', 'fmt']
@staticmethod
def unpack_recipe(buf):
rmd = DataConfig()
rmd.id = struct.unpack_from('>B', buf)[0]
rmd.types = buf.decode('utf-8')[1:].split(',')
rmd.fmt = '>B'
for i in rmd.types:
if i=='INT32':
rmd.fmt += 'i'
elif i=='UINT32':
rmd.fmt += 'I'
elif i=='VECTOR6D':
rmd.fmt += 'd'*6
elif i=='VECTOR3D':
rmd.fmt += 'd'*3
elif i=='VECTOR6INT32':
rmd.fmt += 'i'*6
elif i=='VECTOR6UINT32':
rmd.fmt += 'I'*6
elif i=='DOUBLE':
rmd.fmt += 'd'
elif i=='UINT64':
rmd.fmt += 'Q'
elif i=='UINT8':
rmd.fmt += 'B'
elif i =='BOOL':
rmd.fmt += '?'
elif i == 'UINT16':
rmd.fmt += 'H'
elif i=='IN_USE':
raise ValueError('An input parameter is already in use.')
else:
raise ValueError('Unknown data type: ' + i)
return rmd
def pack(self, state):
l = state.pack(self.names, self.types)
return struct.pack(self.fmt, *l)
def unpack(self, data):
li = struct.unpack_from(self.fmt, data)
return DataObject.unpack(li, self.names, self.types)