#!/usr/bin/env python # -*- coding: utf-8 -*- import Tkinter as tk from mycobot_ros.srv import ( GetCoords, SetCoords, GetAngles, SetAngles, GripperStatus) import rospy import time from rospy import ServiceException class Window: def __init__(self,handle): self.win = handle self.win.resizable(0,0) # 固定窗口大小 self.model = 0 self.speed = rospy.get_param("~speed", 50) #设置默认速度 self.speed_d = tk.StringVar() self.speed_d.set(str(self.speed)) # print(self.speed) self.connect_ser() # 获取机械臂数据 self.record_coords = [0, 0, 0, 0, 0, 0, self.speed,self.model] self.res_angles = [0, 0, 0, 0, 0, 0, self.speed,self.model] self.get_date() # get screen width and height self.ws = self.win.winfo_screenwidth() # width of the screen self.hs = self.win.winfo_screenheight() # height of the screen # calculate x and y coordinates for the Tk root window x = (self.ws/2) - 190 y = (self.hs/2) - 250 self.win.geometry('430x370+{}+{}'.format(x,y)) # 布局 self.set_layout() # 输入部分 self.need_input() # 展示部分 self.show_init() # joint 设置按钮 tk.Button(self.frmLT,text="设置",width=5, command=self.get_joint_input).grid(row=6, column=1, sticky="w", padx=3, pady=2) # coordination 设置按钮 tk.Button(self.frmRT,text="设置",width=5, command=self.get_coord_input).grid(row=6, column=1, sticky="w", padx=3, pady=2) # 夹爪开关按钮 tk.Button(self.frmLB,text="夹爪(开)",command=self.gripper_open,width=5).grid(row=1, column=0, sticky="w", padx=3, pady=50) tk.Button(self.frmLB,text="夹爪(关)",command=self.gripper_close,width=5).grid(row=1, column=1, sticky="w", padx=3, pady=2) def connect_ser(self): rospy.init_node('simple_gui', anonymous=True, disable_signals=True) rospy.wait_for_service('get_joint_angles') rospy.wait_for_service('set_joint_angles') rospy.wait_for_service('get_joint_coords') rospy.wait_for_service('set_joint_coords') rospy.wait_for_service('switch_gripper_status') try: self.get_coords = rospy.ServiceProxy('get_joint_coords', GetCoords) self.set_coords = rospy.ServiceProxy('set_joint_coords', SetCoords) self.get_angles = rospy.ServiceProxy('get_joint_angles', GetAngles) self.set_angles = rospy.ServiceProxy('set_joint_angles', SetAngles) self.switch_gripper = rospy.ServiceProxy( 'switch_gripper_status', GripperStatus) except: print('start error ...') exit(1) print('Connect service success.') def set_layout(self): self.frmLT = tk.Frame(width=200, height=200) self.frmLC = tk.Frame(width=200, height=200) self.frmLB = tk.Frame(width=200, height=200) self.frmRT = tk.Frame(width=200, height=200) self.frmLT.grid(row=0, column=0,padx=1,pady=3) self.frmLC.grid(row=1, column=0,padx=1,pady=3) self.frmLB.grid(row=1, column=1,padx=2,pady=3) self.frmRT.grid(row=0, column=1,padx=2,pady=3) def need_input(self): # 输入提示 tk.Label(self.frmLT,text="Joint 1 ").grid(row=0) tk.Label(self.frmLT,text="Joint 2 ").grid(row=1)#第二行 tk.Label(self.frmLT,text="Joint 3 ").grid(row=2) tk.Label(self.frmLT,text="Joint 4 ").grid(row=3) tk.Label(self.frmLT,text="Joint 5 ").grid(row=4) tk.Label(self.frmLT,text="Joint 6 ").grid(row=5) tk.Label(self.frmRT,text=" x ").grid(row=0) tk.Label(self.frmRT,text=" y ").grid(row=1)#第二行 tk.Label(self.frmRT,text=" z ").grid(row=2) tk.Label(self.frmRT,text=" rx ").grid(row=3) tk.Label(self.frmRT,text=" ry ").grid(row=4) tk.Label(self.frmRT,text=" rz ").grid(row=5) # 设置输入框的默认值 self.j1_default = tk.StringVar() self.j1_default.set(self.res_angles[0]) self.j2_default = tk.StringVar() self.j2_default.set(self.res_angles[1]) self.j3_default = tk.StringVar() self.j3_default.set(self.res_angles[2]) self.j4_default = tk.StringVar() self.j4_default.set(self.res_angles[3]) self.j5_default = tk.StringVar() self.j5_default.set(self.res_angles[4]) self.j6_default = tk.StringVar() self.j6_default.set(self.res_angles[5]) self.x_default = tk.StringVar() self.x_default.set(self.record_coords[0]) self.y_default = tk.StringVar() self.y_default.set(self.record_coords[1]) self.z_default = tk.StringVar() self.z_default.set(self.record_coords[2]) self.rx_default = tk.StringVar() self.rx_default.set(self.record_coords[3]) self.ry_default = tk.StringVar() self.ry_default.set(self.record_coords[4]) self.rz_default = tk.StringVar() self.rz_default.set(self.record_coords[5]) # joint 输入框 self.J_1 = tk.Entry(self.frmLT, textvariable=self.j1_default) self.J_1.grid(row=0,column=1,pady=3) self.J_2 = tk.Entry(self.frmLT, textvariable=self.j2_default) self.J_2.grid(row=1,column=1,pady=3) self.J_3 = tk.Entry(self.frmLT, textvariable=self.j3_default) self.J_3.grid(row=2,column=1,pady=3) self.J_4 = tk.Entry(self.frmLT, textvariable=self.j4_default) self.J_4.grid(row=3,column=1,pady=3) self.J_5 = tk.Entry(self.frmLT, textvariable=self.j5_default) self.J_5.grid(row=4,column=1,pady=3) self.J_6 = tk.Entry(self.frmLT, textvariable=self.j6_default) self.J_6.grid(row=5,column=1,pady=3) # coord 输入框 self.x = tk.Entry(self.frmRT, textvariable=self.x_default) self.x.grid(row=0,column=1,pady=3,padx=0) self.y = tk.Entry(self.frmRT, textvariable=self.y_default) self.y.grid(row=1,column=1,pady=3) self.z = tk.Entry(self.frmRT, textvariable=self.z_default) self.z.grid(row=2,column=1,pady=3) self.rx = tk.Entry(self.frmRT, textvariable=self.rx_default) self.rx.grid(row=3,column=1,pady=3) self.ry = tk.Entry(self.frmRT, textvariable=self.ry_default) self.ry.grid(row=4,column=1,pady=3) self.rz = tk.Entry(self.frmRT, textvariable=self.rz_default) self.rz.grid(row=5,column=1,pady=3) # 所有输入框，用于拿输入的数据 self.all_j = [self.J_1,self.J_2,self.J_3,self.J_4,self.J_5,self.J_6] self.all_c = [self.x,self.y,self.z,self.rx,self.ry,self.rz] # 速度输入框 tk.Label(self.frmLB,text="speed",).grid(row=0,column=0) self.get_speed = tk.Entry(self.frmLB, textvariable=self.speed_d,width=10) self.get_speed.grid(row=0,column=1) def show_init(self): # 显示 tk.Label(self.frmLC,text="Joint 1 ").grid(row=0) tk.Label(self.frmLC,text="Joint 2 ").grid(row=1)#第二行 tk.Label(self.frmLC,text="Joint 3 ").grid(row=2) tk.Label(self.frmLC,text="Joint 4 ").grid(row=3) tk.Label(self.frmLC,text="Joint 5 ").grid(row=4) tk.Label(self.frmLC,text="Joint 6 ").grid(row=5) # get数据 # ，展示出来 self.cont_1 = tk.StringVar(self.frmLC) self.cont_1.set(str(self.res_angles[0])+"°") self.cont_2 = tk.StringVar(self.frmLC) self.cont_2.set(str(self.res_angles[1])+"°") self.cont_3 = tk.StringVar(self.frmLC) self.cont_3.set(str(self.res_angles[2])+"°") self.cont_4 = tk.StringVar(self.frmLC) self.cont_4.set(str(self.res_angles[3])+"°") self.cont_5 = tk.StringVar(self.frmLC) self.cont_5.set(str(self.res_angles[4])+"°") self.cont_6 = tk.StringVar(self.frmLC) self.cont_6.set(str(self.res_angles[5])+"°") self.cont_all = [self.cont_1,self.cont_2,self.cont_3,self.cont_4,self.cont_5,self.cont_6,self.speed,self.model] self.show_j1 = tk.Label(self.frmLC, textvariable=self.cont_1, font=('Arial',9),width=7,height=1,bg='white').grid(row=0,column=1,padx=0,pady=5) self.show_j2 = tk.Label(self.frmLC, textvariable=self.cont_2, font=('Arial',9),width=7,height=1,bg='white').grid(row=1,column=1,padx=0,pady=5) self.show_j3 = tk.Label(self.frmLC, textvariable=self.cont_3, font=('Arial',9),width=7,height=1,bg='white').grid(row=2,column=1,padx=0,pady=5) self.show_j4 = tk.Label(self.frmLC, textvariable=self.cont_4, font=('Arial',9),width=7,height=1,bg='white').grid(row=3,column=1,padx=0,pady=5) self.show_j5 = tk.Label(self.frmLC, textvariable=self.cont_5, font=('Arial',9),width=7,height=1,bg='white').grid(row=4,column=1,padx=0,pady=5) self.show_j6 = tk.Label(self.frmLC, textvariable=self.cont_6, font=('Arial',9),width=7,height=1,bg='white').grid(row=5,column=1,padx=5,pady=5) self.all_jo = [self.show_j1,self.show_j2,self.show_j3,self.show_j4,self.show_j5,self.show_j6] # 显示 tk.Label(self.frmLC,text=" x ").grid(row=0,column=3) tk.Label(self.frmLC,text=" y ").grid(row=1,column=3)#第二行 tk.Label(self.frmLC,text=" z ").grid(row=2,column=3) tk.Label(self.frmLC,text=" rx ").grid(row=3,column=3) tk.Label(self.frmLC,text=" ry ").grid(row=4,column=3) tk.Label(self.frmLC,text=" rz ").grid(row=5,column=3) self.coord_x = tk.StringVar() self.coord_x.set(str(self.record_coords[0])) self.coord_y = tk.StringVar() self.coord_y.set(str(self.record_coords[1])) self.coord_z = tk.StringVar() self.coord_z.set(str(self.record_coords[2])) self.coord_rx = tk.StringVar() self.coord_rx.set(str(self.record_coords[3])) self.coord_ry = tk.StringVar() self.coord_ry.set(str(self.record_coords[4])) self.coord_rz = tk.StringVar() self.coord_rz.set(str(self.record_coords[5])) self.coord_all = [self.coord_x,self.coord_y,self.coord_z,self.coord_rx,self.coord_ry,self.coord_rz,self.speed,self.model] self.show_x = tk.Label(self.frmLC, textvariable=self.coord_x, font=('Arial',9),width=7,height=1,bg='white').grid(row=0,column=4,padx=5,pady=5) self.show_y = tk.Label(self.frmLC, textvariable=self.coord_y, font=('Arial',9),width=7,height=1,bg='white').grid(row=1,column=4,padx=5,pady=5) self.show_z = tk.Label(self.frmLC, textvariable=self.coord_z, font=('Arial',9),width=7,height=1,bg='white').grid(row=2,column=4,padx=5,pady=5) self.show_rx = tk.Label(self.frmLC, textvariable=self.coord_rx, font=('Arial',9),width=7,height=1,bg='white').grid(row=3,column=4,padx=5,pady=5) self.show_ry = tk.Label(self.frmLC, textvariable=self.coord_ry, font=('Arial',9),width=7,height=1,bg='white').grid(row=4,column=4,padx=5,pady=5) self.show_rz = tk.Label(self.frmLC, textvariable=self.coord_rz, font=('Arial',9),width=7,height=1,bg='white').grid(row=5,column=4,padx=5,pady=5) # mm 单位展示 self.unit = tk.StringVar() self.unit.set('mm') for i in range(6): tk.Label(self.frmLC,textvariable=self.unit,font=('Arial',9)).grid(row=i,column=5) def gripper_open(self): try: self.switch_gripper(True) except ServiceException: # 可能由于该方法没有返回值，服务抛出无法处理的错误 pass def gripper_close(self): try: self.switch_gripper(False) except ServiceException: pass def get_coord_input(self): # 获取 coord 输入的数据，发送给机械臂 c_value = [] for i in self.all_c: # print(type(i.get())) c_value.append(float(i.get())) self.speed = int(float(self.get_speed.get())) if self.get_speed.get() else self.speed c_value.append(self.speed) c_value.append(self.model) # print(c_value) try: self.set_coords(*c_value) except ServiceException: pass self.show_j_date(c_value[:-2],'coord') def get_joint_input(self): # 获取joint输入的数据，发送给机械臂 j_value = [] for i in self.all_j: # print(type(i.get())) j_value.append(float(i.get())) self.speed = int(float(self.get_speed.get())) if self.get_speed.get() else self.speed j_value.append(self.speed) try: self.set_angles(*j_value) except ServiceException: pass self.show_j_date(j_value[:-1]) # return j_value,c_value,speed def get_date(self): # 拿机械臂的数据，用于展示 t = time.time() while time.time() - t < 2: self.res = self.get_coords() if self.res.x > 1: break time.sleep(.1) t = time.time() while time.time() - t < 2: self.angles = self.get_angles() if self.angles.joint_1 > 1: break time.sleep(.1) # print(self.angles.joint_1) self.record_coords = [ round(self.res.x,2), round(self.res.y,2), round(self.res.z,2), round(self.res.rx,2), round(self.res.ry,2), round(self.res.rz,2), self.speed, self.model ] self.res_angles = [round(self.angles.joint_1,2),round(self.angles.joint_2,2),round(self.angles.joint_3,2),round(self.angles.joint_4,2),round(self.angles.joint_5,2),round(self.angles.joint_6,2)] # print('coord:',self.record_coords) # print('angles:',self.res_angles) # def send_input(self,dates): def show_j_date(self,date,way=""): # 展示数据 if way == "coord": for i,j in zip(date,self.coord_all): # print(i) j.set(str(i)) else: for i,j in zip(date,self.cont_all): j.set(str(i)+"°") def run(self): while True: try: self.win.update() time.sleep(0.001) except tk.TclError as e: if "application has been destroyed" in str(e): break else: raise def main(): window = tk.Tk() window.title('mycobot ros GUI') Window(window).run() if __name__ == "__main__": main()