#!/usr/bin/env python # -*- coding: utf-8 -*- try: import tkinter as tk except ImportError: import Tkinter as tk from mycobot_communication.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) # fixed window size，固定窗口大小 self.model = 0 self.speed = rospy.get_param("~speed", 50) # set default speed，设置默认速度 self.speed_d = tk.StringVar() self.speed_d.set(str(self.speed)) # print(self.speed) self.connect_ser() # Get the data of the robotic arm，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.获取屏幕宽度和高度 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 # 计算 Tk 根窗口的 x 和 y 坐标 x = (self.ws / 2) - 190 y = (self.hs / 2) - 250 self.win.geometry("430x400+{}+{}".format(int(x), int(y))) # layout,布局 self.set_layout() # input section,输入部分 self.need_input() # Show part,展示部分 self.show_init() # Set the joint buttons 设置joint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 settings button,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 ) # Gripper switch button,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): # input hint,输入提示 tk.Label(self.frmLT, text="Joint 1 ").grid(row=0) tk.Label(self.frmLT, text="Joint 2 ").grid(row=1) # the second row,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) # the second row,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) # Set the default value of the input box,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 input box,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 input box,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) # All input boxes, used to get the input data,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] # speed input box,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): # show,显示 tk.Label(self.frmLC, text="Joint 1 ").grid(row=0) tk.Label(self.frmLC, text="Joint 2 ").grid(row=1) # the second row,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 # show,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, ] # show,显示 tk.Label(self.frmLC, text=" x ").grid(row=0, column=3) tk.Label(self.frmLC, text=" y ").grid(row=1, column=3) 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， Unit show，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: # Probably because the method has no return value, the service throws an unhandled error # 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): # Get the data input by coord and send it to the robotic arm # 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): # Get the data input by the joint and send it to the robotic arm # 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): # Take the data of the robotic arm for display.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(0.1) t = time.time() while time.time() - t < 2: self.angles = self.get_angles() if self.angles.joint_1 > 1: break time.sleep(0.1) # 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=""): # Show data,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()