add aikit280 one touch start

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 = '<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()