From db466ddafba0cd81a652e5a8d1be71b27709411a Mon Sep 17 00:00:00 2001
From: wangWking <842749351@qq.com>
Date: Thu, 8 Dec 2022 11:30:41 +0800
Subject: [PATCH] add aikit280 one touch start
---
.../ai_mycobot_280/scripts/ai_windows.py | 191 ++++++++++++++++++
1 file changed, 191 insertions(+)
create mode 100644 mycobot_ai/ai_mycobot_280/scripts/ai_windows.py
diff --git a/mycobot_ai/ai_mycobot_280/scripts/ai_windows.py b/mycobot_ai/ai_mycobot_280/scripts/ai_windows.py
new file mode 100644
index 0000000..09ad47f
--- /dev/null
+++ b/mycobot_ai/ai_mycobot_280/scripts/ai_windows.py
@@ -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 = ''.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 = ''.format(port)
+ command2 = ''.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()