mirror of
https://github.com/elephantrobotics/mycobot_ros.git
synced 2026-07-05 19:47:04 +00:00
add aikit280 one touch start
This commit is contained in:
wangWking
parent
e11e0ac141
commit
db466ddafb
1 changed files with 191 additions and 0 deletions
191
mycobot_ai/ai_mycobot_280/scripts/ai_windows.py
Normal file
191
mycobot_ai/ai_mycobot_280/scripts/ai_windows.py
Normal file
|
|
@ -0,0 +1,191 @@
|
|||
#!/usr/bin/env python3
|
||||
# encoding:utf-8
|
||||
|
||||
from tkinter import ttk
|
||||
from tkinter import *
|
||||
import os,sys
|
||||
import time
|
||||
import subprocess
|
||||
|
||||
import threading
|
||||
from multiprocessing import Process
|
||||
|
||||
|
||||
class Application(object):
|
||||
def __init__(self):
|
||||
self.win = Tk()
|
||||
# 窗口置顶
|
||||
self.win.wm_attributes('-topmost', 1)
|
||||
self.ros = False
|
||||
# 运行的文件
|
||||
self.run_py = ""
|
||||
# 判断通信口并给权限
|
||||
try:
|
||||
self.robot_m5 = os.popen("ls /dev/ttyUSB*").readline()[:-1]
|
||||
self.robot_wio = os.popen("ls /dev/ttyACM*").readline()[:-1]
|
||||
self.robot_raspi = os.popen("ls /dev/ttyAMA*").readline()[:-1]
|
||||
self.robot_jes = os.popen("ls /dev/ttyTHS1").readline()[:-1]
|
||||
if "dev" in self.robot_wio:
|
||||
self.set_file(self.robot_wio)
|
||||
elif "dev" in self.robot_m5:
|
||||
self.set_file(self.robot_m5)
|
||||
elif "dev" in self.robot_raspi:
|
||||
self.change_file(self.robot_raspi)
|
||||
elif "dev" in self.robot_jes:
|
||||
self.change_file(self.robot_jes)
|
||||
except Exception as e:
|
||||
pass
|
||||
|
||||
# 设置标题
|
||||
self.win.title("aikit启动工具")
|
||||
self.win.geometry(
|
||||
"600x400+100+100") # 290 160为窗口大小，+10 +10 定义窗口弹出时的默认展示位置
|
||||
# 打开ros按钮
|
||||
self.btn = Button(self.win, text="open ROS", command=self.open_ros)
|
||||
self.btn.grid(row=0)
|
||||
|
||||
self.chanse_code = Label(self.win, text="选择程序:", width=10)
|
||||
self.chanse_code.grid(row=1)
|
||||
|
||||
self.myComboList = [u"颜色识别", u"物体识别", u"二维码识别"]
|
||||
self.myCombox = ttk.Combobox(self.win, values=self.myComboList)
|
||||
self.myCombox.grid(row=1, column=1)
|
||||
|
||||
self.add_btn = Button(self.win, text="添加新的物体图像", command=self.add_img)
|
||||
self.add_btn.grid(row=1, column=2)
|
||||
|
||||
self.tips = "1、首先打开ros,大概需要等待5s\n2、选择所要运行的程序点击运行即可,开启大概需要10秒,可以通过查看终端查看开启情况。\n\n添加新的图像：\n1、点击按钮，等待开启摄像头\n2、选中图像框，按z键拍照\n3、使用鼠标框出需要识别的图像区域\n4、按Enter键提取图像\n5、根据终端提示，输入数字(1~4)保存到相对应图像的文件夹，按下Enter键即可保存至对应文件夹。"
|
||||
|
||||
self.btn = Button(self.win, text="运行", command=self.start_run)
|
||||
self.btn.grid(row=5)
|
||||
|
||||
self.close = Button(self.win, text="close", command=self.close_py)
|
||||
self.close.grid(row=5, column=1)
|
||||
|
||||
self.t2 = None
|
||||
self.log_data = Text(self.win, width=74, height=20)
|
||||
self.log_data.grid(row=16, column=0, columnspan=10)
|
||||
self.log_data.insert(END, self.tips)
|
||||
|
||||
# self.open_ros()
|
||||
self.win.protocol('WM_DELETE_WINDOW', self.close_rviz)
|
||||
|
||||
def close_rviz(self):
|
||||
os.system(
|
||||
"ps -ef | grep -E mycobot.rviz | grep -v 'grep' | awk '{print $2}' | xargs kill -9")
|
||||
sys.exit(0)
|
||||
|
||||
def set_file(self,port):
|
||||
self.command = '<arg name="port" default="{}" />'.format(
|
||||
port)
|
||||
# 根据通信口修改ros启动文件
|
||||
os.system(
|
||||
"sed -i '2c {}' ~/catkin_ws/src/mycobot_ros/mycobot_ai/ai_mycobot_280/launch/vision_wio.launch"
|
||||
.format(self.command))
|
||||
|
||||
def change_file(self, port):
|
||||
command1 = '<arg name="port" default="{}" />'.format(port)
|
||||
command2 = '<arg name="baud" default="{}" />'.format(1000000)
|
||||
# 根据通信口修改ros启动文件
|
||||
os.system(
|
||||
"sed -i '2c {}' ~/catkin_ws/src/mycobot_ros/mycobot_ai/launch/vision.launch".format(command1))
|
||||
os.system(
|
||||
"sed -i '3c {}' ~/catkin_ws/src/mycobot_ros/mycobot_ai/launch/vision.launch".format(command2))
|
||||
|
||||
def start_run(self):
|
||||
try:
|
||||
print(u"开始运行")
|
||||
one = self.myCombox.get()
|
||||
if one == u"颜色识别":
|
||||
self.run_py = "combine_detect_obj_color.py"
|
||||
t2 = threading.Thread(target=self.open_py1)
|
||||
t2.setDaemon(True)
|
||||
t2.start()
|
||||
elif one == u"物体识别":
|
||||
self.run_py = "combine_detect_obj_img_folder_opt.py"
|
||||
t3 = threading.Thread(target=self.open_py)
|
||||
t3.setDaemon(True)
|
||||
t3.start()
|
||||
elif one == u"二维码识别":
|
||||
self.run_py = "detect_encode.py"
|
||||
t3 = threading.Thread(target=self.open_py2)
|
||||
t3.setDaemon(True)
|
||||
t3.start()
|
||||
except Exception as e:
|
||||
self.tips = str(e)
|
||||
self.log_data.insert(END, self.tips)
|
||||
|
||||
def open_py(self):
|
||||
os.system(
|
||||
"cd /home/h/catkin_ws/src/mycobot_ros/mycobot_ai/ai_mycobot_280 && python scripts/combine_detect_obj_img_folder_opt.py"
|
||||
)
|
||||
|
||||
def open_py1(self):
|
||||
os.system(
|
||||
"python ~/catkin_ws/src/mycobot_ros/mycobot_ai/ai_mycobot_280/scripts/combine_detect_obj_color.py"
|
||||
)
|
||||
|
||||
def open_py2(self):
|
||||
os.system(
|
||||
"python ~/catkin_ws/src/mycobot_ros/mycobot_ai/ai_mycobot_280/scripts/detect_encode.py"
|
||||
)
|
||||
|
||||
def add_img(self):
|
||||
os.system(
|
||||
"python ~/catkin_ws/src/mycobot_ros/mycobot_ai/ai_mycobot_280/scripts/add_img.py"
|
||||
)
|
||||
|
||||
def open_ros(self):
|
||||
if self.ros:
|
||||
print("ros is opened")
|
||||
return
|
||||
# t1 = threading.Thread(target=self.ross)
|
||||
# t1.setDaemon(True)
|
||||
# t1.start()
|
||||
self.ross()
|
||||
self.ros = True
|
||||
|
||||
def ross(self):
|
||||
# os.system(
|
||||
# "roslaunch ~/catkin_ws/src/mycobot_ros/mycobot_ai/ai_mycobot_280/launch/vision_wio.launch"
|
||||
# )
|
||||
p = subprocess.Popen(["roslaunch", "/home/h/catkin_ws/src/mycobot_ros/mycobot_ai/ai_mycobot_280/launch/vision_wio.launch"],shell=False, stdout=subprocess.PIPE, stderr=subprocess.STDOUT)
|
||||
|
||||
def close_py(self):
|
||||
t1 = threading.Thread(target=self.close_p)
|
||||
t1.setDaemon(True)
|
||||
t1.start()
|
||||
|
||||
def close_p(self):
|
||||
# 关闭ai程序
|
||||
os.system("ps -ef | grep -E " + self.run_py +
|
||||
" | grep -v 'grep' | awk '{print $2}' | xargs kill -9")
|
||||
|
||||
def get_current_time(self):
|
||||
# 日志时间
|
||||
"""Get current time with format."""
|
||||
current_time = time.strftime("%Y-%m-%d %H:%M:%S",
|
||||
time.localtime(time.time()))
|
||||
return current_time
|
||||
|
||||
def write_log_to_Text(self, logmsg):
|
||||
# 设置日志函数
|
||||
global LOG_NUM
|
||||
current_time = self.get_current_time()
|
||||
logmsg_in = str(current_time) + " " + str(logmsg) + "\n" # 换行
|
||||
|
||||
if LOG_NUM <= 18:
|
||||
self.log_data_Text.insert(END, logmsg_in)
|
||||
LOG_NUM += len(logmsg_in.split("\n"))
|
||||
# print(LOG_NUM)
|
||||
else:
|
||||
self.log_data_Text.insert(END, logmsg_in)
|
||||
self.log_data_Text.yview("end")
|
||||
|
||||
def run(self):
|
||||
self.win.mainloop()
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
mc = Application()
|
||||
mc.run()
|
||||
Loading…
Add table
Reference in a new issue