#!/usr/bin/env python3 # -*- coding: utf-8 -*- import tkinter as tk from ultraarm_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 robotic arm data. 获取机械臂数据 self.record_coords = [0.0, 0.0, 0.0, self.speed] self.res_angles = [0.0, 0.0, 0.0, self.speed] self.get_date() # get screen width and height. 获取屏幕宽度和高度 self.ws = self.win.winfo_screenwidth() self.hs = self.win.winfo_screenheight() # 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("450x350+{}+{}".format(int(x), int(y))) # layout. 布局 self.set_layout() # input. 输入部分 self.need_input() # show info. 展示部分 self.show_init() # Set joint button. 设置关节按钮 tk.Button(self.frmLT, text="Set", width=5, command=self.get_joint_input).grid( row=6, column=1, sticky="w", padx=3, pady=2 ) # Set Coordinate button. 设置坐标按钮 tk.Button(self.frmRT, text="Set", width=5, command=self.get_coord_input).grid( row=6, column=1, sticky="w", padx=3, pady=2 ) # Gripper Switch. 夹爪开关按钮 tk.Button(self.frmLB, text="Gripper Open", command=self.gripper_open, width=10).grid( row=1, column=0, sticky="w", padx=3, pady=50 ) tk.Button(self.frmLB, text="Gripper Close", command=self.gripper_close, width=10).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_info = rospy.ServiceProxy("get_joint_coords", GetCoords) self.set_coords = rospy.ServiceProxy("set_joint_coords", SetCoords) self.get_angles_info = 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) tk.Label(self.frmLT, text="Joint 3 ").grid(row=2) tk.Label(self.frmRT, text=" x ").grid(row=0) tk.Label(self.frmRT, text=" y ").grid(row=1) tk.Label(self.frmRT, text=" z ").grid(row=2) # 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.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]) # joint input box. 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) # coord input box. 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) # 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.all_c = [self.x, self.y, self.z] # 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): # display. 显示 tk.Label(self.frmLC, text="Joint 1 ").grid(row=0) tk.Label(self.frmLC, text="Joint 2 ").grid(row=1) tk.Label(self.frmLC, text="Joint 3 ").grid(row=2) 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_all = [ self.cont_1, self.cont_2, self.cont_3, self.speed, ] 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.all_jo = [ self.show_j1, self.show_j2, self.show_j3, ] # display. 显示 tk.Label(self.frmLC, text=" x ").grid(row=0, column=3) tk.Label(self.frmLC, text=" y ").grid(row=1, column=3) # the second row. 第二行 tk.Label(self.frmLC, text=" z ").grid(row=2, 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_all = [ self.coord_x, self.coord_y, self.coord_z, self.speed, ] 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) # show label"mm" .mm 单位展示 self.unit = tk.StringVar() self.unit.set("mm") for i in range(3): 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[0],c_value[1],c_value[2], self.speed) except ServiceException: pass self.show_j_date(c_value[:-2], "coord") def get_joint_input(self): # Get the data of 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[0],j_value[1],j_value[2], self.speed) except ServiceException: pass self.show_j_date(j_value[:-1]) # return j_value,c_value,speed def get_date(self): # Get the data of robotic arm for display. 拿机械臂的数据，用于展示 t = time.time() while time.time() - t < 3: self.res = self.get_coords_info() print(self.res) # if self.res.x > 1: if self.res!= []: break time.sleep(0.1) t = time.time() while time.time() - t < 3: self.angles = self.get_angles_info() # if self.angles.joint_1 > 1: if self.angles != []: break time.sleep(0.1) # print(self.angles.joint_1) if self.res and self.angles != None: self.record_coords = [ round(self.res.x, 2), round(self.res.y, 2), round(self.res.z, 2), self.speed, ] self.res_angles = [ round(self.angles.joint_1, 2), round(self.angles.joint_2, 2), round(self.angles.joint_3, 2), ] # 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("ultraArm ros GUI") Window(window).run() if __name__ == "__main__": main()