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fix many

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flandre 2025-02-18 23:31:44 +08:00
parent b9e3947a25
commit b7164b7c78
15 changed files with 593 additions and 374 deletions
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2
pyproject.toml
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@ -27,5 +27,5 @@ override-dependencies = [
[tool.uv.sources] [tool.uv.sources]
av = [ av = [
{ path = "./av-14.1.0-cp312-cp312-win_amd64.whl", marker = "sys_platform == 'win32'" }, { path = "./av-14.1.0-cp312-cp312-win_amd64.whl", marker = "sys_platform == 'win32'" },
{ path = "./av-14.1.0-cp312-cp312-linux_amd64.whl", marker = "sys_platform == 'linux'" }, { path = "./av-14.1.0-cp312-cp312-linux_x86_64.whl", marker = "sys_platform == 'linux'" },
] ]

6
src/nodes/Beamformer.py
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@ -9,7 +9,7 @@ import zmq
from config import PLAYBACK_SOCKET, VIDEO_WIDTH, VIDEO_HEIGHT, LIVE_SOCKET from config import PLAYBACK_SOCKET, VIDEO_WIDTH, VIDEO_HEIGHT, LIVE_SOCKET
from nodes.Node import Node from nodes.Node import Node
from utils.Msg import BMMsg, ImageArgMsg, KillMsg, SeqMetaMsg, SetPlayMode, SetDeviceConfigMsg, SetRecordMsg, \ from utils.Msg import BMMsg, ImageArgMsg, KillMsg, SetSeqMetaMsg, SetPlayMode, SetDeviceConfigMsg, SetRecordMsg, \
RecordFrameMsg RecordFrameMsg
from utils.RfFile import RfFrame, RfSequenceMeta from utils.RfFile import RfFrame, RfSequenceMeta
from utils.RfMat import RfMat from utils.RfMat import RfMat
@ -19,7 +19,7 @@ logger = logging.getLogger(__name__)
class Beamformer(Node): class Beamformer(Node):
topics = [ImageArgMsg, SeqMetaMsg, SetPlayMode, SetDeviceConfigMsg, SetRecordMsg] topics = [ImageArgMsg, SetSeqMetaMsg, SetPlayMode, SetDeviceConfigMsg, SetRecordMsg]
def __init__(self, level=logging.INFO): def __init__(self, level=logging.INFO):
super(Beamformer, self).__init__(level=level) super(Beamformer, self).__init__(level=level)
@ -89,7 +89,7 @@ class Beamformer(Node):
if isinstance(msg, KillMsg): if isinstance(msg, KillMsg):
if msg.name == '': if msg.name == '':
return return
if isinstance(msg, SeqMetaMsg): if isinstance(msg, SetSeqMetaMsg):
match msg.target: match msg.target:
case 'live': case 'live':
self.seq_meta_live = RfSequenceMeta.from_name(msg.name) self.seq_meta_live = RfSequenceMeta.from_name(msg.name)

36
src/nodes/ImageCV.py
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@ -1,17 +1,22 @@
import logging
import cv2 import cv2
import numpy as np import numpy as np
import zmq import zmq
from utils.Msg import BMMsg
from config import VIDEO_HEIGHT, VIDEO_WIDTH from config import VIDEO_HEIGHT, VIDEO_WIDTH
from nodes.Node import Node from nodes.Node import Node
from utils.Msg import BMMsg, SetWindowVisibleMsg
logger = logging.getLogger(__name__)
class ImageCV(Node): class ImageCV(Node):
topics = [BMMsg] topics = [BMMsg, SetWindowVisibleMsg]
def __init__(self): def __init__(self, level=logging.INFO):
super().__init__() super().__init__(level=level)
self.show = True
self.buffer = np.zeros((VIDEO_HEIGHT, VIDEO_WIDTH, 3), dtype=np.uint8) + 128 self.buffer = np.zeros((VIDEO_HEIGHT, VIDEO_WIDTH, 3), dtype=np.uint8) + 128
def loop(self): def loop(self):
@ -19,10 +24,23 @@ class ImageCV(Node):
while True: while True:
socks = dict(self.c.poller.poll(0.001)) socks = dict(self.c.poller.poll(0.001))
if self.c.sub in socks and socks[self.c.sub] == zmq.POLLIN: if self.c.sub in socks and socks[self.c.sub] == zmq.POLLIN:
r = self.recv() msg = self.recv()
if isinstance(r, BMMsg): if isinstance(msg, BMMsg):
b = np.frombuffer(r.data, dtype=np.uint8) b = np.frombuffer(msg.data, dtype=np.uint8)
b = np.reshape(b, (VIDEO_HEIGHT, VIDEO_WIDTH, 4)) b = np.reshape(b, (VIDEO_HEIGHT, VIDEO_WIDTH, 4))
self.buffer = b self.buffer = b
cv2.imshow('image', self.buffer) elif isinstance(msg, SetWindowVisibleMsg):
cv2.waitKey(1) if msg.name == 'bscan' and msg.sender != 'cv':
self.show = msg.value
if msg.value:
cv2.namedWindow('image', cv2.WINDOW_NORMAL)
else:
cv2.destroyWindow('image')
if self.show:
if cv2.getWindowProperty('image', cv2.WND_PROP_VISIBLE) < 1:
self.show = False
self.send(SetWindowVisibleMsg('cv', 'bscan', False))
cv2.destroyWindow('image')
continue
cv2.imshow('image', self.buffer)
cv2.waitKey(1)

19
src/nodes/Loader.py
View File

@ -7,14 +7,15 @@ import zmq
from config import PLAYBACK_SOCKET_PORT, SOFTWARE_CONFIG from config import PLAYBACK_SOCKET_PORT, SOFTWARE_CONFIG
from nodes.Node import Node from nodes.Node import Node
from utils.Msg import MoveAxisMsg, KillMsg, SelectSeqMsg, SeqMetaMsg, SeqIdMinMax, SetBaseMsg, SeqListMsg, SeqIdList from utils.Msg import MoveAxisMsg, KillMsg, SelectSeqMsg, SetSeqMetaMsg, SeqIdMinMax, SetBaseMsg, SeqListMsg, SeqIdList, \
SetSidMsg
from utils.RfFile import RfSequence from utils.RfFile import RfSequence
logger = logging.getLogger(__name__) logger = logging.getLogger(__name__)
class Loader(Node): class Loader(Node):
topics = [MoveAxisMsg, SelectSeqMsg, SetBaseMsg] topics = [MoveAxisMsg, SelectSeqMsg, SetBaseMsg, SetSidMsg]
def loop(self): def loop(self):
playback_socket = self.context.socket(zmq.PUSH) playback_socket = self.context.socket(zmq.PUSH)
@ -29,16 +30,18 @@ class Loader(Node):
if isinstance(msg, MoveAxisMsg) and rff is not None: if isinstance(msg, MoveAxisMsg) and rff is not None:
logger.debug(f'Move axis: {msg}') logger.debug(f'Move axis: {msg}')
if msg.axis == 'S': if msg.axis == 'S':
frame = rff.frames[msg.value] pass
buffer = io.BytesIO() elif isinstance(msg, SetSidMsg):
buffer.write(struct.pack('=iqi', 114514, frame.meta.sequence_id, frame.meta.encoder)) frame = rff.frames[msg.value]
buffer.write(frame.bytes) buffer = io.BytesIO()
playback_socket.send(buffer.getvalue()) buffer.write(struct.pack('=iqi', 114514, frame.meta.sequence_id, frame.meta.encoder))
buffer.write(frame.bytes)
playback_socket.send(buffer.getvalue())
elif isinstance(msg, SelectSeqMsg): elif isinstance(msg, SelectSeqMsg):
if base is None: if base is None:
continue continue
rff = RfSequence.from_folder(base / msg.value) rff = RfSequence.from_folder(base / msg.value)
self.send(SeqMetaMsg('playback', rff.meta.name)) self.send(SetSeqMetaMsg('playback', rff.meta.name))
self.send(SeqIdMinMax(*rff.seq_id_minmax)) self.send(SeqIdMinMax(*rff.seq_id_minmax))
self.send(SeqIdList([f.meta.sequence_id for f in rff.frames])) self.send(SeqIdList([f.meta.sequence_id for f in rff.frames]))
elif isinstance(msg, SetBaseMsg): elif isinstance(msg, SetBaseMsg):

205
src/nodes/MainUI.py
View File

@ -1,6 +1,7 @@
import logging import logging
import platform import platform
import sys import sys
import traceback
from enum import Enum, auto from enum import Enum, auto
from pathlib import Path from pathlib import Path
@ -10,12 +11,12 @@ from PyQt6.QtWidgets import QMainWindow, QApplication, QFrame, QMessageBox, QFil
from Main import Ui_MainWindow from Main import Ui_MainWindow
from ZMQReceiver import ZMQReceiver from ZMQReceiver import ZMQReceiver
from config import DS from config import DS, SOFTWARE_CONFIG
from nodes.Node import Node from nodes.Node import Node
from utils.Msg import KillMsg, Msg, ImageArgMsg, SelectSeqMsg, SeqIdMinMax, MoveAxisMsg, SeqListMsg, SetBaseMsg, \ from utils.Msg import KillMsg, Msg, ImageArgMsg, SelectSeqMsg, SeqIdMinMax, MoveAxisMsg, SeqListMsg, SetBaseMsg, \
SeqMetaMsg, SetPlayMode, DeviceConnectedMsg, DeviceEnabledMsg, DeviceOnlineMsg, SetDeviceEnabledMsg, \ SetSeqMetaMsg, SetPlayMode, DeviceConnectedMsg, DeviceEnabledMsg, DeviceOnlineMsg, SetDeviceEnabledMsg, \
SetDeviceConnectedMsg, DeviceConfigListMsg, SetDeviceConfigMsg, SetRecordMsg, RobotRtsiMsg, RecordFrameMsg, \ SetDeviceConnectedMsg, DeviceConfigListMsg, SetDeviceConfigMsg, SetRecordMsg, RobotRtsiMsg, RecordFrameMsg, \
SeqIdList SeqIdList, SetWindowVisibleMsg, SetSidMsg
from utils.RfMeta import RfSequenceMeta from utils.RfMeta import RfSequenceMeta
logger = logging.getLogger(__name__) logger = logging.getLogger(__name__)
@ -60,7 +61,7 @@ class Adv(QMainWindow, Ui_MainWindow):
self.c_playback_seq_name.currentIndexChanged.connect(self.on_select_plyayback_seq_name) self.c_playback_seq_name.currentIndexChanged.connect(self.on_select_plyayback_seq_name)
self.s_sid.valueChanged.connect(self.c_sid) self.s_sid.valueChanged.connect(self.c_sid)
self.arg = ImageArgMsg('ui', t_start=0, t_end=1499) self.arg = ImageArgMsg('ui', t_start=0, t_end=1499)
self.b_base.clicked.connect(self.on_base) self.b_base.clicked.connect(self.on_base_open)
self.seq_meta: RfSequenceMeta | None = None self.seq_meta: RfSequenceMeta | None = None
self.b_play_live.clicked.connect(self.on_play_live) self.b_play_live.clicked.connect(self.on_play_live)
self.b_play_playback.clicked.connect(self.on_play_playback) self.b_play_playback.clicked.connect(self.on_play_playback)
@ -70,8 +71,8 @@ class Adv(QMainWindow, Ui_MainWindow):
self.device_enabled = False self.device_enabled = False
# self.b_device_enabled.clicked.connect(lambda: self.p.send(SetDeviceEnabledMsg(not self.device_enabled))) # self.b_device_enabled.clicked.connect(lambda: self.p.send(SetDeviceEnabledMsg(not self.device_enabled)))
# self.b_device_connected.clicked.connect(lambda: self.p.send(SetDeviceConnectedMsg(not self.device_connected))) # self.b_device_connected.clicked.connect(lambda: self.p.send(SetDeviceConnectedMsg(not self.device_connected)))
self.c_seq_meta.currentIndexChanged.connect(self.on_seq_meta) self.c_live_seq_name.currentIndexChanged.connect(self.on_seq_meta)
self.l_base.setText(DS.__str__()) self.l_base.setText(SOFTWARE_CONFIG.base_dir.__str__())
self.b1, self.b2 = False, False self.b1, self.b2 = False, False
self.b3, self.b4 = False, False self.b3, self.b4 = False, False
@ -84,6 +85,10 @@ class Adv(QMainWindow, Ui_MainWindow):
self.b_select_base.clicked.connect(self.on_select_base) self.b_select_base.clicked.connect(self.on_select_base)
self.cb_bscan.stateChanged.connect(self.on_cb_bscan)
# self.cb_bscan.checkStateChanged.connect(lambda e: print(e == 2, flush=True))
# self.cb_bscan.checkStateChanged.connect(lambda e: print(e.name, flush=True))
def on_select_base(self): def on_select_base(self):
base = QFileDialog.getExistingDirectory(self, 'Select Base Folder', DS.__str__()) base = QFileDialog.getExistingDirectory(self, 'Select Base Folder', DS.__str__())
self.l_base.setText(Path(base).__str__()) self.l_base.setText(Path(base).__str__())
@ -91,8 +96,8 @@ class Adv(QMainWindow, Ui_MainWindow):
def update_b_play_live_enabled(self): def update_b_play_live_enabled(self):
self.b_play_live.setEnabled(all([self.b1, self.b2])) self.b_play_live.setEnabled(all([self.b1, self.b2]))
def on_base(self): def on_base_open(self):
if Path(self.l_base.text()).exists(): if Path(self.l_base.text()):
self.p.send(SetBaseMsg(self.l_base.text())) self.p.send(SetBaseMsg(self.l_base.text()))
self.b1 = True self.b1 = True
self.update_b_play_live_enabled() self.update_b_play_live_enabled()
@ -101,7 +106,7 @@ class Adv(QMainWindow, Ui_MainWindow):
match status: match status:
case LinkStatus.RED: case LinkStatus.RED:
self.device_connected = False self.device_connected = False
self.c_seq_meta.setEnabled(False) self.c_live_seq_name.setEnabled(False)
self.lb_device_connection.setText('Disconnected') self.lb_device_connection.setText('Disconnected')
self.lb_device_connection.setStyleSheet('background-color: pink;') self.lb_device_connection.setStyleSheet('background-color: pink;')
case LinkStatus.YELLOW: case LinkStatus.YELLOW:
@ -109,7 +114,7 @@ class Adv(QMainWindow, Ui_MainWindow):
self.lb_device_connection.setStyleSheet('background-color: yellow;') self.lb_device_connection.setStyleSheet('background-color: yellow;')
case LinkStatus.GREEN: case LinkStatus.GREEN:
self.device_connected = True self.device_connected = True
self.c_seq_meta.setEnabled(True) self.c_live_seq_name.setEnabled(True)
self.lb_device_connection.setText('Connected') self.lb_device_connection.setText('Connected')
self.lb_device_connection.setStyleSheet('background-color: LightGreen;') self.lb_device_connection.setStyleSheet('background-color: LightGreen;')
@ -131,21 +136,24 @@ class Adv(QMainWindow, Ui_MainWindow):
self.c_playback_seq_name.setEnabled(all([self.b3, self.b4])) self.c_playback_seq_name.setEnabled(all([self.b3, self.b4]))
def on_play_live(self): def on_play_live(self):
self.s_sid.setEnabled(False)
self.b_play_live.setStyleSheet('background-color: red;') self.b_play_live.setStyleSheet('background-color: red;')
self.b_play_playback.setStyleSheet('') self.b_play_playback.setStyleSheet('')
self.b_record.setEnabled(True) self.b_record.setEnabled(True)
self.l_record_commit.setEnabled(True) self.l_record_commit.setEnabled(True)
self.p.send(SeqMetaMsg('live', self.c_seq_meta.itemText(self.c_seq_meta.currentIndex()))) self.p.send(SetSeqMetaMsg('live', self.c_live_seq_name.itemText(self.c_live_seq_name.currentIndex())))
self.p.send(SetPlayMode('live')) self.p.send(SetPlayMode('live'))
self.b3 = False self.b3 = False
self.update_c_playback_seq_name_enable() self.update_c_playback_seq_name_enable()
def on_play_playback(self): def on_play_playback(self):
self.s_sid.setEnabled(True)
self.b_play_live.setStyleSheet('') self.b_play_live.setStyleSheet('')
self.b_play_playback.setStyleSheet('background-color: red;') self.b_play_playback.setStyleSheet('background-color: red;')
self.b_record.setEnabled(False) self.b_record.setEnabled(False)
self.l_record_commit.setEnabled(False) self.l_record_commit.setEnabled(False)
self.p.send(SeqMetaMsg('playback', self.c_playback_seq_name.itemText(self.c_playback_seq_name.currentIndex()))) self.p.send(
SetSeqMetaMsg('playback', self.c_playback_seq_name.itemText(self.c_playback_seq_name.currentIndex())))
self.p.send(SetPlayMode('playback')) self.p.send(SetPlayMode('playback'))
logger.debug(f'set playmode playback') logger.debug(f'set playmode playback')
self.b3 = True self.b3 = True
@ -236,75 +244,92 @@ class Adv(QMainWindow, Ui_MainWindow):
QMessageBox.warning(None, 'hint', 'Commit is empty!!') QMessageBox.warning(None, 'hint', 'Commit is empty!!')
def on_zmq_event(self, msg: QByteArray): def on_zmq_event(self, msg: QByteArray):
msg = Msg.decode_msg(msg.data()) try:
if isinstance(msg, KillMsg): msg = Msg.decode_msg(msg.data())
if msg.name == '': if isinstance(msg, KillMsg):
self.close() if msg.name == '':
elif isinstance(msg, ImageArgMsg): self.close()
self.s_t_end.setValue(msg.t_start) elif isinstance(msg, ImageArgMsg):
self.s_t_end.setValue(msg.t_end) self.s_t_end.setValue(msg.t_start)
elif isinstance(msg, MoveAxisMsg): self.s_t_end.setValue(msg.t_end)
match msg.axis: elif isinstance(msg, MoveAxisMsg):
case 'S': match msg.axis:
self.s_sid.setValue(msg.value) case 'S':
self.l_seq_current.setText(str(self.seq_id_list[msg.value])) pass
elif isinstance(msg, SeqIdList): # self.s_sid.setValue(msg.value)
self.seq_id_list = msg.li # self.l_seq_current.setText(str(self.seq_id_list[msg.value]))
self.s_sid.setMaximum(msg.li.__len__() - 1) elif isinstance(msg, SetSidMsg):
self.sp_sid.setMaximum(msg.li.__len__() - 1) self.s_sid.setValue(msg.value)
self.l_seq_min.setText(str(min(msg.li))) self.l_seq_current.setText(str(self.seq_id_list[msg.value]))
self.l_seq_max.setText(str(max(msg.li))) elif isinstance(msg, SeqIdList):
elif isinstance(msg, SeqListMsg): self.seq_id_list = msg.li
self.b4 = True self.s_sid.setMaximum(msg.li.__len__() - 1)
self.update_c_playback_seq_name_enable() self.sp_sid.setMaximum(msg.li.__len__() - 1)
self.c_playback_seq_name.clear() self.l_seq_min.setText(str(min(msg.li)))
for name in msg.value: self.l_seq_max.setText(str(max(msg.li)))
self.c_playback_seq_name.addItem(name) elif isinstance(msg, SeqListMsg):
if msg.value.__len__() > 0: self.b4 = True
self.p.send(SelectSeqMsg(self.c_playback_seq_name.itemText(self.c_playback_seq_name.currentIndex()))) self.update_c_playback_seq_name_enable()
self.b_play_playback.setEnabled(True) self.c_playback_seq_name.clear()
elif isinstance(msg, SeqMetaMsg): for name in msg.value:
self.seq_meta = RfSequenceMeta.from_name(msg.name) self.c_playback_seq_name.addItem(name)
self.s_t_start.setMaximum(max(self.seq_meta.shape)) if msg.value.__len__() > 0:
self.s_t_end.setMaximum(max(self.seq_meta.shape)) self.p.send(
elif isinstance(msg, DeviceConnectedMsg): SelectSeqMsg(self.c_playback_seq_name.itemText(self.c_playback_seq_name.currentIndex())))
if msg.value: self.b_play_playback.setEnabled(True)
self.set_device_connection(LinkStatus.GREEN) elif isinstance(msg, SetSeqMetaMsg):
else: self.seq_meta = RfSequenceMeta.from_name(msg.name)
self.set_device_connection(LinkStatus.RED) self.s_t_start.setMaximum(max(self.seq_meta.shape))
self.update_device_buttons() self.s_t_end.setMaximum(max(self.seq_meta.shape))
elif isinstance(msg, DeviceEnabledMsg): elif isinstance(msg, DeviceConnectedMsg):
if msg.value: if msg.value:
self.set_device_enable(LinkStatus.GREEN) self.set_device_connection(LinkStatus.GREEN)
else: else:
self.set_device_enable(LinkStatus.RED) self.set_device_connection(LinkStatus.RED)
self.update_device_buttons() self.update_device_buttons()
elif isinstance(msg, DeviceOnlineMsg): elif isinstance(msg, DeviceEnabledMsg):
if msg.value: if msg.value:
self.l_online.setStyleSheet("") self.set_device_enable(LinkStatus.GREEN)
self.l_online.setText("Device Online") else:
else: self.set_device_enable(LinkStatus.RED)
self.l_online.setStyleSheet("background-color: pink;") self.update_device_buttons()
self.l_online.setText("Device Offline") elif isinstance(msg, DeviceOnlineMsg):
elif isinstance(msg, DeviceConfigListMsg): if msg.value:
for name, txt in msg.arr: self.l_online.setStyleSheet("")
self.c_seq_meta.addItem(name, txt) self.l_online.setText("Device Online")
elif isinstance(msg, RobotRtsiMsg): else:
self.l_robot_pos.setText(','.join([f'{v:.3f}' for v in msg.pos])) self.l_online.setStyleSheet("background-color: pink;")
self.l_robot_force.setText(','.join([f'{v:.3f}' for v in msg.force])) self.l_online.setText("Device Offline")
elif isinstance(msg, RecordFrameMsg): elif isinstance(msg, DeviceConfigListMsg):
for name, txt in msg.arr:
self.c_live_seq_name.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]))
elif isinstance(msg, RecordFrameMsg):
self.record_frame_cnt += 1 self.record_frame_cnt += 1
self.record_size_cnt += msg.size self.record_size_cnt += msg.size
self.l_record_size.setText(humanbytes(self.record_size_cnt)) self.l_record_size.setText(humanbytes(self.record_size_cnt))
self.l_record_frames.setText(str(self.record_frame_cnt)) self.l_record_frames.setText(str(self.record_frame_cnt))
self.l_record_max_sid.setText(str(msg.current_sid)) self.l_record_max_sid.setText(str(msg.current_sid))
elif isinstance(msg, SetWindowVisibleMsg):
if msg.name == 'bscan' and msg.sender != 'ui':
self.cb_bscan.setChecked(msg.value)
except Exception as e:
logger.error(e)
traceback.print_exception(e)
def closeEvent(self, event): def closeEvent(self, event):
self.p.send(KillMsg('')) self.p.send(KillMsg(''))
# event.accept() # event.accept()
# event.ignore() # event.ignore()
@QtCore.pyqtSlot(int)
def on_cb_bscan(self, v):
if self.cb_bscan.sender() is None:
self.p.send(SetWindowVisibleMsg('ui', 'bscan', v == 2))
@QtCore.pyqtSlot(int) @QtCore.pyqtSlot(int)
def on_t_start(self, v): def on_t_start(self, v):
if self.s_t_end.sender() is None: if self.s_t_end.sender() is None:
@ -326,21 +351,22 @@ class Adv(QMainWindow, Ui_MainWindow):
def c_sid(self, v): def c_sid(self, v):
if self.s_sid.sender() is None: if self.s_sid.sender() is None:
self.sp_sid.setValue(v) self.sp_sid.setValue(v)
self.p.send(MoveAxisMsg('ui', 'S', v)) self.p.send(SetSidMsg(v))
# self.p.send(MoveAxisMsg('ui', 'S', v))
@QtCore.pyqtSlot(int) @QtCore.pyqtSlot(int)
def on_seq_meta(self, v): def on_seq_meta(self, v):
if self.c_seq_meta.sender() is None or isinstance(self.c_seq_meta.sender(), QFrame): if self.c_live_seq_name.sender() is None or isinstance(self.c_live_seq_name.sender(), QFrame):
if self.c_seq_meta.itemText(v) != 'Empty': if self.c_live_seq_name.itemText(v) != 'Empty':
self.b2 = True self.b2 = True
self.update_b_play_live_enabled() self.update_b_play_live_enabled()
self.p.send(SetDeviceConfigMsg(self.c_seq_meta.itemData(v))) self.p.send(SetDeviceConfigMsg(self.c_live_seq_name.itemData(v)))
self.p.send(SeqMetaMsg('live', self.c_seq_meta.itemText(v))) self.p.send(SetSeqMetaMsg('live', self.c_live_seq_name.itemText(v)))
class MainUI(Node): class MainUI(Node):
topics = [ImageArgMsg, SeqIdMinMax, MoveAxisMsg, topics = [ImageArgMsg, SeqIdMinMax, MoveAxisMsg,
SeqListMsg, SeqMetaMsg, SeqIdList, SeqListMsg, SetSeqMetaMsg, SeqIdList, SetWindowVisibleMsg, SetSidMsg,
DeviceConnectedMsg, DeviceEnabledMsg, DeviceOnlineMsg, DeviceConfigListMsg, DeviceConnectedMsg, DeviceEnabledMsg, DeviceOnlineMsg, DeviceConfigListMsg,
RobotRtsiMsg, RobotRtsiMsg,
RecordFrameMsg] RecordFrameMsg]
@ -349,11 +375,14 @@ class MainUI(Node):
super().__init__(level=level) super().__init__(level=level)
def loop(self): def loop(self):
app = QApplication(sys.argv) try:
if platform.system() == 'Windows': app = QApplication(sys.argv)
app.setStyle('windowsvista') if platform.system() == 'Windows':
MainWindow = Adv(self) app.setStyle('windowsvista')
# MainWindow.move(int(px), int(py)) MainWindow = Adv(self)
# MainWindow.resize(int(sx), int(sy)) # MainWindow.move(int(px), int(py))
MainWindow.show() # MainWindow.resize(int(sx), int(sy))
app.exec() MainWindow.show()
app.exec()
except Exception as e:
print(e)

499
src/ui/Main.py
View File

@ -1,4 +1,4 @@
# Form implementation generated from reading ui file '.\Main.ui' # Form implementation generated from reading ui file 'Main.ui'
# #
# Created by: PyQt6 UI code generator 6.8.0 # Created by: PyQt6 UI code generator 6.8.0
# #
@ -12,103 +12,91 @@ from PyQt6 import QtCore, QtGui, QtWidgets
class Ui_MainWindow(object): class Ui_MainWindow(object):
def setupUi(self, MainWindow): def setupUi(self, MainWindow):
MainWindow.setObjectName("MainWindow") MainWindow.setObjectName("MainWindow")
MainWindow.resize(936, 479) MainWindow.resize(936, 732)
self.centralwidget = QtWidgets.QWidget(parent=MainWindow) self.centralwidget = QtWidgets.QWidget(parent=MainWindow)
self.centralwidget.setObjectName("centralwidget") self.centralwidget.setObjectName("centralwidget")
self.gridLayout = QtWidgets.QGridLayout(self.centralwidget) self.gridLayout = QtWidgets.QGridLayout(self.centralwidget)
self.gridLayout.setObjectName("gridLayout") self.gridLayout.setObjectName("gridLayout")
self.gridLayout_7 = QtWidgets.QGridLayout() self.gridLayout_3 = QtWidgets.QGridLayout()
self.gridLayout_7.setObjectName("gridLayout_7") self.gridLayout_3.setObjectName("gridLayout_3")
self.s_sid = QtWidgets.QSlider(parent=self.centralwidget) self.horizontalLayout = QtWidgets.QHBoxLayout()
self.s_sid.setOrientation(QtCore.Qt.Orientation.Horizontal) self.horizontalLayout.setObjectName("horizontalLayout")
self.s_sid.setObjectName("s_sid") self.label_20 = QtWidgets.QLabel(parent=self.centralwidget)
self.gridLayout_7.addWidget(self.s_sid, 3, 1, 1, 1) self.label_20.setObjectName("label_20")
self.sp_sid = QtWidgets.QSpinBox(parent=self.centralwidget) self.horizontalLayout.addWidget(self.label_20)
self.sp_sid.setObjectName("sp_sid") self.c_live_seq_name = QtWidgets.QComboBox(parent=self.centralwidget)
self.gridLayout_7.addWidget(self.sp_sid, 3, 2, 1, 1) self.c_live_seq_name.setEnabled(False)
self.b_play_playback = QtWidgets.QPushButton(parent=self.centralwidget) self.c_live_seq_name.setObjectName("c_live_seq_name")
self.b_play_playback.setEnabled(False) self.c_live_seq_name.addItem("")
self.b_play_playback.setObjectName("b_play_playback") self.horizontalLayout.addWidget(self.c_live_seq_name)
self.gridLayout_7.addWidget(self.b_play_playback, 0, 0, 1, 3) self.horizontalLayout.setStretch(1, 1)
self.label_16 = QtWidgets.QLabel(parent=self.centralwidget) self.gridLayout_3.addLayout(self.horizontalLayout, 3, 0, 1, 4)
self.label_16.setObjectName("label_16") self.b_device_enable = QtWidgets.QPushButton(parent=self.centralwidget)
self.gridLayout_7.addWidget(self.label_16, 1, 0, 1, 1) self.b_device_enable.setEnabled(False)
self.label_4 = QtWidgets.QLabel(parent=self.centralwidget) self.b_device_enable.setObjectName("b_device_enable")
self.label_4.setObjectName("label_4") self.gridLayout_3.addWidget(self.b_device_enable, 2, 3, 1, 1)
self.gridLayout_7.addWidget(self.label_4, 3, 0, 1, 1) self.b_device_connection = QtWidgets.QPushButton(parent=self.centralwidget)
self.c_playback_seq_name = QtWidgets.QComboBox(parent=self.centralwidget) self.b_device_connection.setObjectName("b_device_connection")
self.c_playback_seq_name.setEnabled(False) self.gridLayout_3.addWidget(self.b_device_connection, 2, 1, 1, 1)
self.c_playback_seq_name.setEditable(False) self.label_24 = QtWidgets.QLabel(parent=self.centralwidget)
self.c_playback_seq_name.setObjectName("c_playback_seq_name") self.label_24.setAlignment(QtCore.Qt.AlignmentFlag.AlignCenter)
self.c_playback_seq_name.addItem("") self.label_24.setObjectName("label_24")
self.gridLayout_7.addWidget(self.c_playback_seq_name, 1, 1, 1, 2) self.gridLayout_3.addWidget(self.label_24, 1, 2, 2, 1)
self.horizontalLayout_5 = QtWidgets.QHBoxLayout() self.lb_device_connection = QtWidgets.QLabel(parent=self.centralwidget)
self.horizontalLayout_5.setObjectName("horizontalLayout_5") self.lb_device_connection.setAlignment(QtCore.Qt.AlignmentFlag.AlignCenter)
self.label26 = QtWidgets.QLabel(parent=self.centralwidget) self.lb_device_connection.setObjectName("lb_device_connection")
self.label26.setObjectName("label26") self.gridLayout_3.addWidget(self.lb_device_connection, 1, 1, 1, 1)
self.horizontalLayout_5.addWidget(self.label26) self.l_online = QtWidgets.QLabel(parent=self.centralwidget)
self.l_seq_min = QtWidgets.QLabel(parent=self.centralwidget) font = QtGui.QFont()
self.l_seq_min.setObjectName("l_seq_min") font.setPointSize(15)
self.horizontalLayout_5.addWidget(self.l_seq_min) self.l_online.setFont(font)
self.label_28 = QtWidgets.QLabel(parent=self.centralwidget) self.l_online.setStyleSheet("background-color: pink;")
self.label_28.setObjectName("label_28") self.l_online.setAlignment(QtCore.Qt.AlignmentFlag.AlignCenter)
self.horizontalLayout_5.addWidget(self.label_28) self.l_online.setObjectName("l_online")
self.l_seq_current = QtWidgets.QLabel(parent=self.centralwidget) self.gridLayout_3.addWidget(self.l_online, 0, 0, 1, 4)
self.l_seq_current.setObjectName("l_seq_current") self.lb_device_enable = QtWidgets.QLabel(parent=self.centralwidget)
self.horizontalLayout_5.addWidget(self.l_seq_current) self.lb_device_enable.setAlignment(QtCore.Qt.AlignmentFlag.AlignCenter)
self.label_29 = QtWidgets.QLabel(parent=self.centralwidget) self.lb_device_enable.setObjectName("lb_device_enable")
self.label_29.setObjectName("label_29") self.gridLayout_3.addWidget(self.lb_device_enable, 1, 3, 1, 1)
self.horizontalLayout_5.addWidget(self.label_29) self.label_21 = QtWidgets.QLabel(parent=self.centralwidget)
self.l_seq_max = QtWidgets.QLabel(parent=self.centralwidget) self.label_21.setAlignment(QtCore.Qt.AlignmentFlag.AlignCenter)
self.l_seq_max.setObjectName("l_seq_max") self.label_21.setObjectName("label_21")
self.horizontalLayout_5.addWidget(self.l_seq_max) self.gridLayout_3.addWidget(self.label_21, 1, 0, 2, 1)
self.horizontalLayout_5.setStretch(1, 1) self.gridLayout_3.setColumnStretch(1, 1)
self.horizontalLayout_5.setStretch(3, 1) self.gridLayout_3.setColumnStretch(3, 1)
self.horizontalLayout_5.setStretch(5, 1) self.gridLayout.addLayout(self.gridLayout_3, 0, 0, 1, 1)
self.gridLayout_7.addLayout(self.horizontalLayout_5, 2, 0, 1, 3) self.gridLayout_2 = QtWidgets.QGridLayout()
self.gridLayout.addLayout(self.gridLayout_7, 1, 1, 1, 1) self.gridLayout_2.setObjectName("gridLayout_2")
self.gridLayout_6 = QtWidgets.QGridLayout() self.l_robot_pos = QtWidgets.QLabel(parent=self.centralwidget)
self.gridLayout_6.setObjectName("gridLayout_6") font = QtGui.QFont()
self.l_record_commit = QtWidgets.QLineEdit(parent=self.centralwidget) font.setPointSize(15)
self.l_record_commit.setEnabled(False) self.l_robot_pos.setFont(font)
self.l_record_commit.setObjectName("l_record_commit") self.l_robot_pos.setAlignment(QtCore.Qt.AlignmentFlag.AlignCenter)
self.gridLayout_6.addWidget(self.l_record_commit, 1, 1, 1, 1) self.l_robot_pos.setObjectName("l_robot_pos")
self.label_17 = QtWidgets.QLabel(parent=self.centralwidget) self.gridLayout_2.addWidget(self.l_robot_pos, 1, 1, 1, 1)
self.label_17.setObjectName("label_17") self.l_robot_force = QtWidgets.QLabel(parent=self.centralwidget)
self.gridLayout_6.addWidget(self.label_17, 1, 0, 1, 1) font = QtGui.QFont()
self.b_record = QtWidgets.QPushButton(parent=self.centralwidget) font.setPointSize(15)
self.b_record.setEnabled(False) self.l_robot_force.setFont(font)
self.b_record.setObjectName("b_record") self.l_robot_force.setAlignment(QtCore.Qt.AlignmentFlag.AlignCenter)
self.gridLayout_6.addWidget(self.b_record, 1, 2, 1, 1) self.l_robot_force.setObjectName("l_robot_force")
self.horizontalLayout_2 = QtWidgets.QHBoxLayout() self.gridLayout_2.addWidget(self.l_robot_force, 2, 1, 1, 1)
self.horizontalLayout_2.setObjectName("horizontalLayout_2") self.label_22 = QtWidgets.QLabel(parent=self.centralwidget)
self.label_18 = QtWidgets.QLabel(parent=self.centralwidget) self.label_22.setObjectName("label_22")
self.label_18.setObjectName("label_18") self.gridLayout_2.addWidget(self.label_22, 1, 0, 1, 1)
self.horizontalLayout_2.addWidget(self.label_18) self.label_23 = QtWidgets.QLabel(parent=self.centralwidget)
self.l_record_frames = QtWidgets.QLabel(parent=self.centralwidget) self.label_23.setObjectName("label_23")
self.l_record_frames.setObjectName("l_record_frames") self.gridLayout_2.addWidget(self.label_23, 2, 0, 1, 1)
self.horizontalLayout_2.addWidget(self.l_record_frames) self.label_19 = QtWidgets.QLabel(parent=self.centralwidget)
self.label_25 = QtWidgets.QLabel(parent=self.centralwidget) font = QtGui.QFont()
self.label_25.setObjectName("label_25") font.setPointSize(15)
self.horizontalLayout_2.addWidget(self.label_25) self.label_19.setFont(font)
self.l_record_size = QtWidgets.QLabel(parent=self.centralwidget) self.label_19.setStyleSheet("background-color: pink;")
self.l_record_size.setObjectName("l_record_size") self.label_19.setAlignment(QtCore.Qt.AlignmentFlag.AlignCenter)
self.horizontalLayout_2.addWidget(self.l_record_size) self.label_19.setObjectName("label_19")
self.label_26 = QtWidgets.QLabel(parent=self.centralwidget) self.gridLayout_2.addWidget(self.label_19, 0, 0, 1, 2)
self.label_26.setObjectName("label_26") self.gridLayout_2.setColumnStretch(1, 1)
self.horizontalLayout_2.addWidget(self.label_26) self.gridLayout.addLayout(self.gridLayout_2, 0, 1, 1, 1)
self.l_record_max_sid = QtWidgets.QLabel(parent=self.centralwidget)
self.l_record_max_sid.setObjectName("l_record_max_sid")
self.horizontalLayout_2.addWidget(self.l_record_max_sid)
self.horizontalLayout_2.setStretch(1, 1)
self.horizontalLayout_2.setStretch(3, 1)
self.horizontalLayout_2.setStretch(5, 1)
self.gridLayout_6.addLayout(self.horizontalLayout_2, 2, 0, 1, 3)
self.b_play_live = QtWidgets.QPushButton(parent=self.centralwidget)
self.b_play_live.setEnabled(False)
self.b_play_live.setObjectName("b_play_live")
self.gridLayout_6.addWidget(self.b_play_live, 0, 0, 1, 3)
self.gridLayout.addLayout(self.gridLayout_6, 1, 0, 1, 1)
self.gridLayout_4 = QtWidgets.QGridLayout() self.gridLayout_4 = QtWidgets.QGridLayout()
self.gridLayout_4.setObjectName("gridLayout_4") self.gridLayout_4.setObjectName("gridLayout_4")
self.label_14 = QtWidgets.QLabel(parent=self.centralwidget) self.label_14 = QtWidgets.QLabel(parent=self.centralwidget)
@ -194,21 +182,31 @@ class Ui_MainWindow(object):
self.gridLayout.addLayout(self.gridLayout_4, 2, 1, 1, 1) self.gridLayout.addLayout(self.gridLayout_4, 2, 1, 1, 1)
self.gridLayout_5 = QtWidgets.QGridLayout() self.gridLayout_5 = QtWidgets.QGridLayout()
self.gridLayout_5.setObjectName("gridLayout_5") self.gridLayout_5.setObjectName("gridLayout_5")
self.spinBox_2 = QtWidgets.QSpinBox(parent=self.centralwidget) self.label_5 = QtWidgets.QLabel(parent=self.centralwidget)
self.spinBox_2.setObjectName("spinBox_2") self.label_5.setObjectName("label_5")
self.gridLayout_5.addWidget(self.spinBox_2, 3, 2, 1, 1) self.gridLayout_5.addWidget(self.label_5, 2, 0, 1, 1)
self.label_7 = QtWidgets.QLabel(parent=self.centralwidget) self.label_7 = QtWidgets.QLabel(parent=self.centralwidget)
self.label_7.setObjectName("label_7") self.label_7.setObjectName("label_7")
self.gridLayout_5.addWidget(self.label_7, 4, 0, 1, 1) self.gridLayout_5.addWidget(self.label_7, 4, 0, 1, 1)
self.label_6 = QtWidgets.QLabel(parent=self.centralwidget) self.s_t_start = QtWidgets.QSlider(parent=self.centralwidget)
self.label_6.setObjectName("label_6") self.s_t_start.setOrientation(QtCore.Qt.Orientation.Horizontal)
self.gridLayout_5.addWidget(self.label_6, 3, 0, 1, 1) self.s_t_start.setObjectName("s_t_start")
self.s_t_end = QtWidgets.QSlider(parent=self.centralwidget) self.gridLayout_5.addWidget(self.s_t_start, 1, 1, 1, 1)
self.s_t_end.setMinimum(1) self.horizontalSlider_2 = QtWidgets.QSlider(parent=self.centralwidget)
self.s_t_end.setMaximum(1500) self.horizontalSlider_2.setOrientation(QtCore.Qt.Orientation.Horizontal)
self.s_t_end.setOrientation(QtCore.Qt.Orientation.Horizontal) self.horizontalSlider_2.setObjectName("horizontalSlider_2")
self.s_t_end.setObjectName("s_t_end") self.gridLayout_5.addWidget(self.horizontalSlider_2, 3, 1, 1, 1)
self.gridLayout_5.addWidget(self.s_t_end, 2, 1, 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)
spacerItem1 = QtWidgets.QSpacerItem(20, 40, QtWidgets.QSizePolicy.Policy.Minimum, QtWidgets.QSizePolicy.Policy.Expanding)
self.gridLayout_5.addItem(spacerItem1, 5, 1, 1, 1)
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.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.label_2 = QtWidgets.QLabel(parent=self.centralwidget) self.label_2 = QtWidgets.QLabel(parent=self.centralwidget)
font = QtGui.QFont() font = QtGui.QFont()
font.setPointSize(20) font.setPointSize(20)
@ -217,84 +215,77 @@ class Ui_MainWindow(object):
self.label_2.setAlignment(QtCore.Qt.AlignmentFlag.AlignCenter) self.label_2.setAlignment(QtCore.Qt.AlignmentFlag.AlignCenter)
self.label_2.setObjectName("label_2") self.label_2.setObjectName("label_2")
self.gridLayout_5.addWidget(self.label_2, 0, 0, 1, 3) self.gridLayout_5.addWidget(self.label_2, 0, 0, 1, 3)
self.spinBox = QtWidgets.QSpinBox(parent=self.centralwidget)
self.spinBox.setObjectName("spinBox")
self.gridLayout_5.addWidget(self.spinBox, 2, 2, 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_15 = QtWidgets.QLabel(parent=self.centralwidget)
self.label_15.setObjectName("label_15")
self.gridLayout_5.addWidget(self.label_15, 1, 0, 1, 1)
self.horizontalSlider_4 = QtWidgets.QSlider(parent=self.centralwidget) self.horizontalSlider_4 = QtWidgets.QSlider(parent=self.centralwidget)
self.horizontalSlider_4.setOrientation(QtCore.Qt.Orientation.Horizontal) self.horizontalSlider_4.setOrientation(QtCore.Qt.Orientation.Horizontal)
self.horizontalSlider_4.setObjectName("horizontalSlider_4") self.horizontalSlider_4.setObjectName("horizontalSlider_4")
self.gridLayout_5.addWidget(self.horizontalSlider_4, 4, 1, 1, 1) 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.label_6 = QtWidgets.QLabel(parent=self.centralwidget)
self.gridLayout_5.addItem(spacerItem1, 5, 1, 1, 1) self.label_6.setObjectName("label_6")
self.spinBox = QtWidgets.QSpinBox(parent=self.centralwidget) self.gridLayout_5.addWidget(self.label_6, 3, 0, 1, 1)
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.addLayout(self.gridLayout_5, 2, 0, 1, 1)
self.gridLayout_3 = QtWidgets.QGridLayout() self.gridLayout_7 = QtWidgets.QGridLayout()
self.gridLayout_3.setObjectName("gridLayout_3") self.gridLayout_7.setObjectName("gridLayout_7")
self.horizontalLayout = QtWidgets.QHBoxLayout() self.s_sid = QtWidgets.QSlider(parent=self.centralwidget)
self.horizontalLayout.setObjectName("horizontalLayout") self.s_sid.setEnabled(False)
self.label_20 = QtWidgets.QLabel(parent=self.centralwidget) self.s_sid.setOrientation(QtCore.Qt.Orientation.Horizontal)
self.label_20.setObjectName("label_20") self.s_sid.setObjectName("s_sid")
self.horizontalLayout.addWidget(self.label_20) self.gridLayout_7.addWidget(self.s_sid, 3, 1, 1, 1)
self.c_seq_meta = QtWidgets.QComboBox(parent=self.centralwidget) self.sp_sid = QtWidgets.QSpinBox(parent=self.centralwidget)
self.c_seq_meta.setEnabled(False) self.sp_sid.setObjectName("sp_sid")
self.c_seq_meta.setObjectName("c_seq_meta") self.gridLayout_7.addWidget(self.sp_sid, 3, 2, 1, 1)
self.c_seq_meta.addItem("") self.b_play_playback = QtWidgets.QPushButton(parent=self.centralwidget)
self.horizontalLayout.addWidget(self.c_seq_meta) self.b_play_playback.setEnabled(False)
self.horizontalLayout.setStretch(1, 1) self.b_play_playback.setObjectName("b_play_playback")
self.gridLayout_3.addLayout(self.horizontalLayout, 3, 0, 1, 4) self.gridLayout_7.addWidget(self.b_play_playback, 0, 0, 1, 3)
self.b_device_enable = QtWidgets.QPushButton(parent=self.centralwidget) self.label_16 = QtWidgets.QLabel(parent=self.centralwidget)
self.b_device_enable.setEnabled(False) self.label_16.setObjectName("label_16")
self.b_device_enable.setObjectName("b_device_enable") self.gridLayout_7.addWidget(self.label_16, 1, 0, 1, 1)
self.gridLayout_3.addWidget(self.b_device_enable, 2, 3, 1, 1) self.label_4 = QtWidgets.QLabel(parent=self.centralwidget)
self.b_device_connection = QtWidgets.QPushButton(parent=self.centralwidget) self.label_4.setObjectName("label_4")
self.b_device_connection.setObjectName("b_device_connection") self.gridLayout_7.addWidget(self.label_4, 3, 0, 1, 1)
self.gridLayout_3.addWidget(self.b_device_connection, 2, 1, 1, 1) self.c_playback_seq_name = QtWidgets.QComboBox(parent=self.centralwidget)
self.label_24 = QtWidgets.QLabel(parent=self.centralwidget) self.c_playback_seq_name.setEnabled(False)
self.label_24.setAlignment(QtCore.Qt.AlignmentFlag.AlignCenter) self.c_playback_seq_name.setEditable(False)
self.label_24.setObjectName("label_24") self.c_playback_seq_name.setObjectName("c_playback_seq_name")
self.gridLayout_3.addWidget(self.label_24, 1, 2, 2, 1) self.c_playback_seq_name.addItem("")
self.lb_device_connection = QtWidgets.QLabel(parent=self.centralwidget) self.gridLayout_7.addWidget(self.c_playback_seq_name, 1, 1, 1, 2)
self.lb_device_connection.setAlignment(QtCore.Qt.AlignmentFlag.AlignCenter) self.horizontalLayout_5 = QtWidgets.QHBoxLayout()
self.lb_device_connection.setObjectName("lb_device_connection") self.horizontalLayout_5.setObjectName("horizontalLayout_5")
self.gridLayout_3.addWidget(self.lb_device_connection, 1, 1, 1, 1) self.label26 = QtWidgets.QLabel(parent=self.centralwidget)
self.l_online = QtWidgets.QLabel(parent=self.centralwidget) self.label26.setObjectName("label26")
font = QtGui.QFont() self.horizontalLayout_5.addWidget(self.label26)
font.setPointSize(15) self.l_seq_min = QtWidgets.QLabel(parent=self.centralwidget)
self.l_online.setFont(font) self.l_seq_min.setObjectName("l_seq_min")
self.l_online.setStyleSheet("background-color: pink;") self.horizontalLayout_5.addWidget(self.l_seq_min)
self.l_online.setAlignment(QtCore.Qt.AlignmentFlag.AlignCenter) self.label_28 = QtWidgets.QLabel(parent=self.centralwidget)
self.l_online.setObjectName("l_online") self.label_28.setObjectName("label_28")
self.gridLayout_3.addWidget(self.l_online, 0, 0, 1, 4) self.horizontalLayout_5.addWidget(self.label_28)
self.lb_device_enable = QtWidgets.QLabel(parent=self.centralwidget) self.l_seq_current = QtWidgets.QLabel(parent=self.centralwidget)
self.lb_device_enable.setAlignment(QtCore.Qt.AlignmentFlag.AlignCenter) self.l_seq_current.setObjectName("l_seq_current")
self.lb_device_enable.setObjectName("lb_device_enable") self.horizontalLayout_5.addWidget(self.l_seq_current)
self.gridLayout_3.addWidget(self.lb_device_enable, 1, 3, 1, 1) self.label_29 = QtWidgets.QLabel(parent=self.centralwidget)
self.label_21 = QtWidgets.QLabel(parent=self.centralwidget) self.label_29.setObjectName("label_29")
self.label_21.setAlignment(QtCore.Qt.AlignmentFlag.AlignCenter) self.horizontalLayout_5.addWidget(self.label_29)
self.label_21.setObjectName("label_21") self.l_seq_max = QtWidgets.QLabel(parent=self.centralwidget)
self.gridLayout_3.addWidget(self.label_21, 1, 0, 2, 1) self.l_seq_max.setObjectName("l_seq_max")
self.gridLayout_3.setColumnStretch(1, 1) self.horizontalLayout_5.addWidget(self.l_seq_max)
self.gridLayout_3.setColumnStretch(3, 1) self.horizontalLayout_5.setStretch(1, 1)
self.gridLayout.addLayout(self.gridLayout_3, 0, 0, 1, 1) self.horizontalLayout_5.setStretch(3, 1)
self.horizontalLayout_5.setStretch(5, 1)
self.gridLayout_7.addLayout(self.horizontalLayout_5, 2, 0, 1, 3)
self.gridLayout.addLayout(self.gridLayout_7, 1, 1, 1, 1)
self.horizontalLayout_4 = QtWidgets.QHBoxLayout() self.horizontalLayout_4 = QtWidgets.QHBoxLayout()
self.horizontalLayout_4.setObjectName("horizontalLayout_4") self.horizontalLayout_4.setObjectName("horizontalLayout_4")
self.label = QtWidgets.QLabel(parent=self.centralwidget) self.label = QtWidgets.QLabel(parent=self.centralwidget)
@ -311,41 +302,63 @@ class Ui_MainWindow(object):
self.b_base.setObjectName("b_base") self.b_base.setObjectName("b_base")
self.horizontalLayout_4.addWidget(self.b_base) self.horizontalLayout_4.addWidget(self.b_base)
self.gridLayout.addLayout(self.horizontalLayout_4, 3, 0, 1, 2) self.gridLayout.addLayout(self.horizontalLayout_4, 3, 0, 1, 2)
self.gridLayout_2 = QtWidgets.QGridLayout() self.gridLayout_6 = QtWidgets.QGridLayout()
self.gridLayout_2.setObjectName("gridLayout_2") self.gridLayout_6.setObjectName("gridLayout_6")
self.l_robot_pos = QtWidgets.QLabel(parent=self.centralwidget) self.l_record_commit = QtWidgets.QLineEdit(parent=self.centralwidget)
font = QtGui.QFont() self.l_record_commit.setEnabled(False)
font.setPointSize(15) self.l_record_commit.setObjectName("l_record_commit")
self.l_robot_pos.setFont(font) self.gridLayout_6.addWidget(self.l_record_commit, 1, 1, 1, 1)
self.l_robot_pos.setAlignment(QtCore.Qt.AlignmentFlag.AlignCenter) self.label_17 = QtWidgets.QLabel(parent=self.centralwidget)
self.l_robot_pos.setObjectName("l_robot_pos") self.label_17.setObjectName("label_17")
self.gridLayout_2.addWidget(self.l_robot_pos, 1, 1, 1, 1) self.gridLayout_6.addWidget(self.label_17, 1, 0, 1, 1)
self.l_robot_force = QtWidgets.QLabel(parent=self.centralwidget) self.b_record = QtWidgets.QPushButton(parent=self.centralwidget)
font = QtGui.QFont() self.b_record.setEnabled(False)
font.setPointSize(15) self.b_record.setObjectName("b_record")
self.l_robot_force.setFont(font) self.gridLayout_6.addWidget(self.b_record, 1, 2, 1, 1)
self.l_robot_force.setAlignment(QtCore.Qt.AlignmentFlag.AlignCenter) self.horizontalLayout_2 = QtWidgets.QHBoxLayout()
self.l_robot_force.setObjectName("l_robot_force") self.horizontalLayout_2.setObjectName("horizontalLayout_2")
self.gridLayout_2.addWidget(self.l_robot_force, 2, 1, 1, 1) self.label_18 = QtWidgets.QLabel(parent=self.centralwidget)
self.label_22 = QtWidgets.QLabel(parent=self.centralwidget) self.label_18.setObjectName("label_18")
self.label_22.setObjectName("label_22") self.horizontalLayout_2.addWidget(self.label_18)
self.gridLayout_2.addWidget(self.label_22, 1, 0, 1, 1) self.l_record_frames = QtWidgets.QLabel(parent=self.centralwidget)
self.label_23 = QtWidgets.QLabel(parent=self.centralwidget) self.l_record_frames.setObjectName("l_record_frames")
self.label_23.setObjectName("label_23") self.horizontalLayout_2.addWidget(self.l_record_frames)
self.gridLayout_2.addWidget(self.label_23, 2, 0, 1, 1) self.label_25 = QtWidgets.QLabel(parent=self.centralwidget)
self.label_19 = QtWidgets.QLabel(parent=self.centralwidget) self.label_25.setObjectName("label_25")
font = QtGui.QFont() self.horizontalLayout_2.addWidget(self.label_25)
font.setPointSize(15) self.l_record_size = QtWidgets.QLabel(parent=self.centralwidget)
self.label_19.setFont(font) self.l_record_size.setObjectName("l_record_size")
self.label_19.setStyleSheet("background-color: pink;") self.horizontalLayout_2.addWidget(self.l_record_size)
self.label_19.setAlignment(QtCore.Qt.AlignmentFlag.AlignCenter) self.label_26 = QtWidgets.QLabel(parent=self.centralwidget)
self.label_19.setObjectName("label_19") self.label_26.setObjectName("label_26")
self.gridLayout_2.addWidget(self.label_19, 0, 0, 1, 2) self.horizontalLayout_2.addWidget(self.label_26)
self.gridLayout_2.setColumnStretch(1, 1) self.l_record_max_sid = QtWidgets.QLabel(parent=self.centralwidget)
self.gridLayout.addLayout(self.gridLayout_2, 0, 1, 1, 1) self.l_record_max_sid.setObjectName("l_record_max_sid")
self.horizontalLayout_2.addWidget(self.l_record_max_sid)
self.horizontalLayout_2.setStretch(1, 1)
self.horizontalLayout_2.setStretch(3, 1)
self.horizontalLayout_2.setStretch(5, 1)
self.gridLayout_6.addLayout(self.horizontalLayout_2, 2, 0, 1, 3)
self.b_play_live = QtWidgets.QPushButton(parent=self.centralwidget)
self.b_play_live.setEnabled(False)
self.b_play_live.setObjectName("b_play_live")
self.gridLayout_6.addWidget(self.b_play_live, 0, 0, 1, 3)
self.gridLayout.addLayout(self.gridLayout_6, 1, 0, 1, 1)
self.horizontalLayout_6 = QtWidgets.QHBoxLayout()
self.horizontalLayout_6.setObjectName("horizontalLayout_6")
self.cb_bscan = QtWidgets.QCheckBox(parent=self.centralwidget)
self.cb_bscan.setChecked(True)
self.cb_bscan.setObjectName("cb_bscan")
self.horizontalLayout_6.addWidget(self.cb_bscan)
self.checkBox = QtWidgets.QCheckBox(parent=self.centralwidget)
self.checkBox.setObjectName("checkBox")
self.horizontalLayout_6.addWidget(self.checkBox)
spacerItem2 = QtWidgets.QSpacerItem(40, 20, QtWidgets.QSizePolicy.Policy.Expanding, QtWidgets.QSizePolicy.Policy.Minimum)
self.horizontalLayout_6.addItem(spacerItem2)
self.gridLayout.addLayout(self.horizontalLayout_6, 4, 0, 1, 2)
MainWindow.setCentralWidget(self.centralwidget) MainWindow.setCentralWidget(self.centralwidget)
self.menubar = QtWidgets.QMenuBar(parent=MainWindow) self.menubar = QtWidgets.QMenuBar(parent=MainWindow)
self.menubar.setGeometry(QtCore.QRect(0, 0, 936, 18)) self.menubar.setGeometry(QtCore.QRect(0, 0, 936, 30))
self.menubar.setObjectName("menubar") self.menubar.setObjectName("menubar")
MainWindow.setMenuBar(self.menubar) MainWindow.setMenuBar(self.menubar)
self.statusbar = QtWidgets.QStatusBar(parent=MainWindow) self.statusbar = QtWidgets.QStatusBar(parent=MainWindow)
@ -358,6 +371,33 @@ class Ui_MainWindow(object):
def retranslateUi(self, MainWindow): def retranslateUi(self, MainWindow):
_translate = QtCore.QCoreApplication.translate _translate = QtCore.QCoreApplication.translate
MainWindow.setWindowTitle(_translate("MainWindow", "MainWindow")) MainWindow.setWindowTitle(_translate("MainWindow", "MainWindow"))
self.label_20.setText(_translate("MainWindow", "DeviceConfig"))
self.c_live_seq_name.setItemText(0, _translate("MainWindow", "Empty"))
self.b_device_enable.setText(_translate("MainWindow", "Disconnect"))
self.b_device_connection.setText(_translate("MainWindow", "Connect"))
self.label_24.setText(_translate("MainWindow", "<html><head/><body><p style=\"line-height:0.3\" align=\"center\">Beam</p><p align=\"center\">Status</p></body></html>"))
self.lb_device_connection.setText(_translate("MainWindow", "Disconnected"))
self.l_online.setText(_translate("MainWindow", "Device Offline"))
self.lb_device_enable.setText(_translate("MainWindow", "Disabled"))
self.label_21.setText(_translate("MainWindow", "<html><head/><body><p style=\"line-height:0.3\" align=\"center\">Connection</p><p align=\"center\">Status</p></body></html>"))
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"))
self.label_14.setText(_translate("MainWindow", "Yal"))
self.label_13.setText(_translate("MainWindow", "Pitch"))
self.label_3.setText(_translate("MainWindow", "Probe Position"))
self.label_9.setText(_translate("MainWindow", "Y"))
self.label_10.setText(_translate("MainWindow", "Z"))
self.label_12.setText(_translate("MainWindow", "Roll"))
self.label_11.setText(_translate("MainWindow", "E"))
self.label_8.setText(_translate("MainWindow", "X"))
self.label_5.setText(_translate("MainWindow", "t_end"))
self.label_7.setText(_translate("MainWindow", "TextLabel"))
self.label_2.setText(_translate("MainWindow", "Imaging"))
self.label_15.setText(_translate("MainWindow", "t_start"))
self.label_6.setText(_translate("MainWindow", "TextLabel"))
self.b_play_playback.setText(_translate("MainWindow", "Playback")) self.b_play_playback.setText(_translate("MainWindow", "Playback"))
self.label_16.setText(_translate("MainWindow", "SeqName")) self.label_16.setText(_translate("MainWindow", "SeqName"))
self.label_4.setText(_translate("MainWindow", "Frame ID")) self.label_4.setText(_translate("MainWindow", "Frame ID"))
@ -368,6 +408,9 @@ class Ui_MainWindow(object):
self.l_seq_current.setText(_translate("MainWindow", "0")) self.l_seq_current.setText(_translate("MainWindow", "0"))
self.label_29.setText(_translate("MainWindow", "Max:")) self.label_29.setText(_translate("MainWindow", "Max:"))
self.l_seq_max.setText(_translate("MainWindow", "0")) self.l_seq_max.setText(_translate("MainWindow", "0"))
self.label.setText(_translate("MainWindow", "Base Path"))
self.b_select_base.setText(_translate("MainWindow", "Select"))
self.b_base.setText(_translate("MainWindow", "Open"))
self.label_17.setText(_translate("MainWindow", "RecordName")) self.label_17.setText(_translate("MainWindow", "RecordName"))
self.b_record.setText(_translate("MainWindow", "Record")) self.b_record.setText(_translate("MainWindow", "Record"))
self.label_18.setText(_translate("MainWindow", "Record Frames:")) self.label_18.setText(_translate("MainWindow", "Record Frames:"))
@ -377,33 +420,5 @@ class Ui_MainWindow(object):
self.label_26.setText(_translate("MainWindow", "Max SeqId:")) self.label_26.setText(_translate("MainWindow", "Max SeqId:"))
self.l_record_max_sid.setText(_translate("MainWindow", "0")) self.l_record_max_sid.setText(_translate("MainWindow", "0"))
self.b_play_live.setText(_translate("MainWindow", "Live")) self.b_play_live.setText(_translate("MainWindow", "Live"))
self.label_14.setText(_translate("MainWindow", "Yal")) self.cb_bscan.setText(_translate("MainWindow", "BSCAN"))
self.label_13.setText(_translate("MainWindow", "Pitch")) self.checkBox.setText(_translate("MainWindow", "FOCUS"))
self.label_3.setText(_translate("MainWindow", "Probe Position"))
self.label_9.setText(_translate("MainWindow", "Y"))
self.label_10.setText(_translate("MainWindow", "Z"))
self.label_12.setText(_translate("MainWindow", "Roll"))
self.label_11.setText(_translate("MainWindow", "E"))
self.label_8.setText(_translate("MainWindow", "X"))
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.label_20.setText(_translate("MainWindow", "DeviceConfig"))
self.c_seq_meta.setItemText(0, _translate("MainWindow", "Empty"))
self.b_device_enable.setText(_translate("MainWindow", "Disconnect"))
self.b_device_connection.setText(_translate("MainWindow", "Connect"))
self.label_24.setText(_translate("MainWindow", "<html><head/><body><p style=\"line-height:0.3\" align=\"center\">Beam</p><p align=\"center\">Status</p></body></html>"))
self.lb_device_connection.setText(_translate("MainWindow", "Disconnected"))
self.l_online.setText(_translate("MainWindow", "Device Offline"))
self.lb_device_enable.setText(_translate("MainWindow", "Disabled"))
self.label_21.setText(_translate("MainWindow", "<html><head/><body><p style=\"line-height:0.3\" align=\"center\">Connection</p><p align=\"center\">Status</p></body></html>"))
self.label.setText(_translate("MainWindow", "Base Path"))
self.b_select_base.setText(_translate("MainWindow", "Select"))
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"))

14
src/ui/Main.ui
View File

@ -7,7 +7,7 @@
<x>0</x> <x>0</x>
<y>0</y> <y>0</y>
<width>936</width> <width>936</width>
<height>479</height> <height>732</height>
</rect> </rect>
</property> </property>
<property name="windowTitle"> <property name="windowTitle">
@ -27,7 +27,7 @@
</widget> </widget>
</item> </item>
<item> <item>
<widget class="QComboBox" name="c_seq_meta"> <widget class="QComboBox" name="c_live_seq_name">
<property name="enabled"> <property name="enabled">
<bool>false</bool> <bool>false</bool>
</property> </property>
@ -446,6 +446,9 @@
<layout class="QGridLayout" name="gridLayout_7"> <layout class="QGridLayout" name="gridLayout_7">
<item row="3" column="1"> <item row="3" column="1">
<widget class="QSlider" name="s_sid"> <widget class="QSlider" name="s_sid">
<property name="enabled">
<bool>false</bool>
</property>
<property name="orientation"> <property name="orientation">
<enum>Qt::Orientation::Horizontal</enum> <enum>Qt::Orientation::Horizontal</enum>
</property> </property>
@ -660,10 +663,13 @@
<item row="4" column="0" colspan="2"> <item row="4" column="0" colspan="2">
<layout class="QHBoxLayout" name="horizontalLayout_6"> <layout class="QHBoxLayout" name="horizontalLayout_6">
<item> <item>
<widget class="QCheckBox" name="checkBox_2"> <widget class="QCheckBox" name="cb_bscan">
<property name="text"> <property name="text">
<string>BSCAN</string> <string>BSCAN</string>
</property> </property>
<property name="checked">
<bool>true</bool>
</property>
</widget> </widget>
</item> </item>
<item> <item>
@ -696,7 +702,7 @@
<x>0</x> <x>0</x>
<y>0</y> <y>0</y>
<width>936</width> <width>936</width>
<height>18</height> <height>30</height>
</rect> </rect>
</property> </property>
</widget> </widget>

2
src/ui/Main.ui.bak
View File

@ -293,7 +293,7 @@
<item row="0" column="0"> <item row="0" column="0">
<layout class="QGridLayout" name="gridLayout_3"> <layout class="QGridLayout" name="gridLayout_3">
<item row="3" column="0"> <item row="3" column="0">
<widget class="QComboBox" name="c_seq_meta"/> <widget class="QComboBox" name="c_live_seq_name"/>
</item> </item>
<item row="2" column="0"> <item row="2" column="0">
<widget class="QPushButton" name="b_device_enabled"> <widget class="QPushButton" name="b_device_enabled">

27
src/utils/Msg.py
View File

@ -14,7 +14,7 @@ class BG(Enum):
MoveAxisMsg = auto() MoveAxisMsg = auto()
ImageArgMsg = auto() ImageArgMsg = auto()
SelectSeqMsg = auto() SelectSeqMsg = auto()
SeqMetaMsg = auto() SetSeqMetaMsg = auto()
SeqIdMinMax = auto() SeqIdMinMax = auto()
SetBaseMsg = auto() SetBaseMsg = auto()
SeqListMsg = auto() SeqListMsg = auto()
@ -30,6 +30,8 @@ class BG(Enum):
RobotRtsiMsg = auto() RobotRtsiMsg = auto()
RecordFrameMsg = auto() RecordFrameMsg = auto()
SeqIdList = auto() SeqIdList = auto()
SetWindowVisibleMsg = auto()
SetSidMsg = auto()
class Msg: class Msg:
@ -94,6 +96,13 @@ class BoolMsg(Msg):
value: bool value: bool
@dataclasses.dataclass
class SetWindowVisibleMsg(Msg):
sender: str
name: str
value: bool
class SetDeviceEnabledMsg(BoolMsg): class SetDeviceEnabledMsg(BoolMsg):
pass pass
@ -143,7 +152,7 @@ class SetPlayMode(StrMsg):
@dataclasses.dataclass @dataclasses.dataclass
class SeqMetaMsg(Msg): class SetSeqMetaMsg(Msg):
target: str target: str
name: str name: str
@ -183,6 +192,9 @@ class RecordFrameMsg(Msg):
size: int size: int
current_sid: int current_sid: int
@dataclasses.dataclass
class SetSidMsg(Msg):
value: int
class BMMsg(Msg): class BMMsg(Msg):
def __init__(self, t: int, data: bytes): def __init__(self, t: int, data: bytes):
@ -204,3 +216,14 @@ class BMMsg(Msg):
class RobotRtsiMsg(Msg): class RobotRtsiMsg(Msg):
pos: tuple[float, float, float, float, float, float] pos: tuple[float, float, float, float, float, float]
force: tuple[float, float, float, float, float, float] force: tuple[float, float, float, float, float, float]
def test():
values = set(item.name for item in BG)
for k in globals().keys():
if k.endswith('Msg') and k not in ['Msg','BoolMsg']:
if k not in values:
raise RuntimeError(f"Unknown msg type: {k}")
test()

4
src/utils/RfMat.py
View File

@ -138,3 +138,7 @@ class RfMat:
def rotate90(self): def rotate90(self):
return self.copy(self.p.rot90(self.m, k=3)) return self.copy(self.p.rot90(self.m, k=3))
if __name__ == '__main__':
cp.zeros((1, 2, 3)) + 1

24
src/utils/RfMeta.py
View File

@ -6,28 +6,26 @@ from attr import dataclass
COMMIT_KEY = 'COMMIT' COMMIT_KEY = 'COMMIT'
class RfMeta: class RfMeta:
@classmethod @classmethod
@property
def p2a(clz): def p2a(clz):
gh = get_type_hints(clz, include_extras=True) gh = get_type_hints(clz, include_extras=True)
return {k: gh[k].__metadata__[0] for k in gh} return {k: gh[k].__metadata__[0] for k in gh}
@classmethod @classmethod
@property
def p2t(clz): def p2t(clz):
return get_type_hints(clz) return get_type_hints(clz)
@classmethod @classmethod
@property
def a2p(clz): def a2p(clz):
return {v: k for k, v in clz.p2a.items()} return {v: k for k, v in clz.p2a().items()}
@property @property
def name(self): def name(self):
p2a = self.p2a p2a = self.p2a()
p2t = self.p2t p2t = self.p2t()
a2p = self.a2p a2p = self.a2p()
arr = [] arr = []
if COMMIT_KEY in a2p: if COMMIT_KEY in a2p:
cp = a2p[COMMIT_KEY] cp = a2p[COMMIT_KEY]
@ -64,8 +62,8 @@ class RfMeta:
@classmethod @classmethod
def from_name(clz, name: str): def from_name(clz, name: str):
p2t = clz.p2t p2t = clz.p2t()
a2p = clz.a2p a2p = clz.a2p()
c = clz() c = clz()
sp = name.split(',') sp = name.split(',')
if COMMIT_KEY in a2p: if COMMIT_KEY in a2p:
@ -92,6 +90,7 @@ class RfFrameMeta(RfMeta):
robot_y: Annotated[int, 'Y'] = None robot_y: Annotated[int, 'Y'] = None
robot_z: Annotated[int, 'Z'] = None robot_z: Annotated[int, 'Z'] = None
@dataclass @dataclass
class RfSequenceMeta(RfMeta): class RfSequenceMeta(RfMeta):
class RfSequenceMode(Enum): class RfSequenceMode(Enum):
@ -101,4 +100,9 @@ class RfSequenceMeta(RfMeta):
commit: Annotated[str, COMMIT_KEY] = None commit: Annotated[str, COMMIT_KEY] = None
shape: Annotated[tuple, 'S'] = None shape: Annotated[tuple, 'S'] = None
mode: Annotated[RfSequenceMode, 'M'] = RfSequenceMode.PWI mode: Annotated[RfSequenceMode, 'M'] = RfSequenceMode.PWI
us: Annotated[int, 'U'] = None us: Annotated[int, 'U'] = None
if __name__ == '__main__':
r = RfSequenceMeta.from_name('asdasd1,S=(64 1501),M=PWI,U=30')
print(r)

41
test/kdemain.py Normal file
View File

@ -0,0 +1,41 @@
import logging
import multiprocessing
from BusClient import BusClient
from nodes.Beamformer import Beamformer
from nodes.Broker import Broker
from nodes.Device import Device
from nodes.ImageCV import ImageCV
from nodes.Loader import Loader
from nodes.Robot import Robot
from nodes.WebRTC import WebRTC
from qtonly import kde_pyqt6_mainui
from utils.Msg import KillMsg
if __name__ == '__main__':
logging.basicConfig(level=logging.INFO)
multiprocessing.set_start_method('spawn')
multiprocessing.Pool()
pps = []
ps = [
Broker(),
WebRTC(),
kde_pyqt6_mainui,
Device(level=logging.DEBUG),
ImageCV(level=logging.DEBUG),
Beamformer(),
Loader(),
Robot(),
]
for p in ps:
pps.append(multiprocessing.Process(target=p))
for p in pps:
p.start()
c = BusClient(KillMsg)
while True:
x: KillMsg = c.recv()
if x.name == '':
break
for p in pps:
p.kill()

23
test/qtonly.py Normal file
View File

@ -0,0 +1,23 @@
import logging
import logging
import os
import subprocess
from PyQt6 import QtWidgets
from nodes.MainUI import MainUI
def kde_pyqt6_mainui():
subprocess.run(['python', __file__],
env=dict(XDG_CURRENT_DESKTOP="KDE",
XDG_RUNTIME_DIR="/run/user/1000",
XDG_SESSION_TYPE="wayland",
PYTHONPATH=os.environ['PYTHONPATH'])
)
if __name__ == '__main__':
print(QtWidgets.QStyleFactory.keys())
logging.basicConfig(level=logging.INFO)
MainUI()()

6
test/so.py Normal file
View File

@ -0,0 +1,6 @@
from ctypes import CDLL
if __name__ == '__main__':
# libc = CDLL("libnvrtc.alt.so.12")
libc = CDLL("libnvrtc.so.12")
# print(libc.__dir__())

59
uv.lock
View File

@ -1,4 +1,5 @@
version = 1 version = 1
revision = 1
requires-python = ">=3.12" requires-python = ">=3.12"
resolution-markers = [ resolution-markers = [
"sys_platform == 'darwin'", "sys_platform == 'darwin'",
@ -11,7 +12,7 @@ resolution-markers = [
[manifest] [manifest]
overrides = [ overrides = [
{ name = "av", marker = "sys_platform != 'linux' and sys_platform != 'win32'", specifier = ">=14.0.0" }, { name = "av", marker = "sys_platform != 'linux' and sys_platform != 'win32'", specifier = ">=14.0.0" },
{ name = "av", marker = "sys_platform == 'linux'", path = "av-14.1.0-cp312-cp312-linux_amd64.whl" }, { name = "av", marker = "sys_platform == 'linux'", path = "av-14.1.0-cp312-cp312-linux_x86_64.whl" },
{ name = "av", marker = "sys_platform == 'win32'", path = "av-14.1.0-cp312-cp312-win_amd64.whl" }, { name = "av", marker = "sys_platform == 'win32'", path = "av-14.1.0-cp312-cp312-win_amd64.whl" },
] ]
@ -103,7 +104,7 @@ source = { registry = "https://pypi.org/simple" }
dependencies = [ dependencies = [
{ name = "aioice" }, { name = "aioice" },
{ name = "av", version = "14.1.0", source = { registry = "https://pypi.org/simple" }, marker = "sys_platform != 'linux' and sys_platform != 'win32'" }, { name = "av", version = "14.1.0", source = { registry = "https://pypi.org/simple" }, marker = "sys_platform != 'linux' and sys_platform != 'win32'" },
{ name = "av", version = "14.1.0", source = { path = "av-14.1.0-cp312-cp312-linux_amd64.whl" }, marker = "sys_platform == 'linux'" }, { name = "av", version = "14.1.0", source = { path = "av-14.1.0-cp312-cp312-linux_x86_64.whl" }, marker = "sys_platform == 'linux'" },
{ name = "av", version = "14.1.0", source = { path = "av-14.1.0-cp312-cp312-win_amd64.whl" }, marker = "sys_platform == 'win32'" }, { name = "av", version = "14.1.0", source = { path = "av-14.1.0-cp312-cp312-win_amd64.whl" }, marker = "sys_platform == 'win32'" },
{ name = "cffi" }, { name = "cffi" },
{ name = "cryptography" }, { name = "cryptography" },
@ -250,11 +251,24 @@ wheels = [
[[package]] [[package]]
name = "av" name = "av"
version = "14.1.0" version = "14.1.0"
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