mirror of
https://github.com/elephantrobotics/mycobot_ros.git
synced 2026-07-05 19:47:04 +00:00
414 lines
14 KiB
Python
Executable file
414 lines
14 KiB
Python
Executable file
#!/usr/bin/env python
|
||
# -*- coding: utf-8 -*-
|
||
import Tkinter as tk
|
||
from mypalletizer_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,self.speed, self.model]
|
||
self.res_angles = [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()
|
||
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("430x350+{}+{}".format(x, 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 = 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)
|
||
tk.Label(self.frmLT, text="Joint 3 ").grid(row=2)
|
||
tk.Label(self.frmLT, text="Joint 4 ").grid(row=3)
|
||
|
||
|
||
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)
|
||
tk.Label(self.frmRT, text=" rx ").grid(row=3)
|
||
|
||
|
||
# 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.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])
|
||
|
||
|
||
# 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)
|
||
self.J_4 = tk.Entry(self.frmLT, textvariable=self.j4_default)
|
||
self.J_4.grid(row=3, 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)
|
||
self.rx = tk.Entry(self.frmRT, textvariable=self.rx_default)
|
||
self.rx.grid(row=3, 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.all_c = [self.x, self.y, self.z, self.rx]
|
||
|
||
|
||
|
||
# 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)
|
||
tk.Label(self.frmLC, text="Joint 4 ").grid(row=3)
|
||
|
||
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_all = [
|
||
self.cont_1,
|
||
self.cont_2,
|
||
self.cont_3,
|
||
self.cont_4,
|
||
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.all_jo = [
|
||
self.show_j1,
|
||
self.show_j2,
|
||
self.show_j3,
|
||
self.show_j4,
|
||
|
||
]
|
||
|
||
# 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)
|
||
tk.Label(self.frmLC, text=" rx ").grid(row=3, 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_all = [
|
||
self.coord_x,
|
||
self.coord_y,
|
||
self.coord_z,
|
||
self.coord_rx,
|
||
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)
|
||
|
||
# show label"mm" .mm 单位展示
|
||
self.unit = tk.StringVar()
|
||
self.unit.set("mm")
|
||
for i in range(4):
|
||
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:
|
||
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 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)
|
||
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 < 2:
|
||
self.res = self.get_coords()
|
||
|
||
print(self.res)
|
||
|
||
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),
|
||
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),
|
||
]
|
||
# 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()
|