404 lines
15 KiB
Python
404 lines
15 KiB
Python
# -*- coding:utf-8 -*-
|
||
|
||
import os
|
||
import sys
|
||
import time
|
||
from multiprocessing import Process
|
||
import subprocess
|
||
import ctypes
|
||
|
||
sys.path.append(os.path.dirname(os.path.dirname(os.path.abspath(__file__))))
|
||
sys.path.append(os.path.dirname(os.path.abspath(__file__)))
|
||
|
||
from PyQt5 import QtCore, QtGui, QtWidgets
|
||
from PyQt5.QtWidgets import QApplication, QMainWindow, QFileDialog, QMessageBox, QTableWidgetItem
|
||
|
||
from MainWindowDesigner import Ui_MainWindow
|
||
from InitResource import get_icon, get_pixmap, get_gif
|
||
from AppSettingDialog import AppSettingDialog
|
||
|
||
STD_INPUT_HANDLE = -10
|
||
STD_OUTPUT_HANDLE = -11
|
||
STD_ERROR_HANDLE = -12
|
||
|
||
# 字体颜色定义 ,关键在于颜色编码，由2位十六进制组成，分别取0~f，前一位指的是背景色，后一位指的是字体色
|
||
#由于该函数的限制，应该是只有这16种，可以前景色与背景色组合。也可以几种颜色通过或运算组合，组合后还是在这16种颜色中
|
||
|
||
# Windows CMD命令行 字体颜色定义 text colors
|
||
FOREGROUND_BLACK = 0x00 # black.
|
||
FOREGROUND_DARKBLUE = 0x01 # dark blue.
|
||
FOREGROUND_DARKGREEN = 0x02 # dark green.
|
||
FOREGROUND_DARKSKYBLUE = 0x03 # dark skyblue.
|
||
FOREGROUND_DARKRED = 0x04 # dark red.
|
||
FOREGROUND_DARKPINK = 0x05 # dark pink.
|
||
FOREGROUND_DARKYELLOW = 0x06 # dark yellow.
|
||
FOREGROUND_DARKWHITE = 0x07 # dark white.
|
||
FOREGROUND_DARKGRAY = 0x08 # dark gray.
|
||
FOREGROUND_BLUE = 0x09 # blue.
|
||
FOREGROUND_GREEN = 0x0a # green.
|
||
FOREGROUND_SKYBLUE = 0x0b # skyblue.
|
||
FOREGROUND_RED = 0x0c # red.
|
||
FOREGROUND_PINK = 0x0d # pink.
|
||
FOREGROUND_YELLOW = 0x0e # yellow.
|
||
FOREGROUND_WHITE = 0x0f # white.
|
||
|
||
|
||
# Windows CMD命令行 背景颜色定义 background colors
|
||
BACKGROUND_BLUE = 0x10 # dark blue.
|
||
BACKGROUND_GREEN = 0x20 # dark green.
|
||
BACKGROUND_DARKSKYBLUE = 0x30 # dark skyblue.
|
||
BACKGROUND_DARKRED = 0x40 # dark red.
|
||
BACKGROUND_DARKPINK = 0x50 # dark pink.
|
||
BACKGROUND_DARKYELLOW = 0x60 # dark yellow.
|
||
BACKGROUND_DARKWHITE = 0x70 # dark white.
|
||
BACKGROUND_DARKGRAY = 0x80 # dark gray.
|
||
BACKGROUND_BLUE = 0x90 # blue.
|
||
BACKGROUND_GREEN = 0xa0 # green.
|
||
BACKGROUND_SKYBLUE = 0xb0 # skyblue.
|
||
BACKGROUND_RED = 0xc0 # red.
|
||
BACKGROUND_PINK = 0xd0 # pink.
|
||
BACKGROUND_YELLOW = 0xe0 # yellow.
|
||
BACKGROUND_WHITE = 0xf0 # white.
|
||
|
||
|
||
|
||
# get handle
|
||
std_out_handle = ctypes.windll.kernel32.GetStdHandle(STD_OUTPUT_HANDLE)
|
||
|
||
def set_cmd_text_color(color, handle=std_out_handle):
|
||
Bool = ctypes.windll.kernel32.SetConsoleTextAttribute(handle, color)
|
||
return Bool
|
||
|
||
#reset white
|
||
def resetColor():
|
||
set_cmd_text_color(FOREGROUND_RED | FOREGROUND_GREEN | FOREGROUND_BLUE)
|
||
|
||
###############################################################
|
||
|
||
#暗蓝色
|
||
#dark blue
|
||
def printDarkBlue(mess):
|
||
set_cmd_text_color(FOREGROUND_DARKBLUE)
|
||
sys.stdout.write(mess)
|
||
resetColor()
|
||
|
||
#暗绿色
|
||
#dark green
|
||
def printDarkGreen(mess):
|
||
set_cmd_text_color(FOREGROUND_DARKGREEN)
|
||
sys.stdout.write(mess)
|
||
resetColor()
|
||
|
||
#暗天蓝色
|
||
#dark sky blue
|
||
def printDarkSkyBlue(mess):
|
||
set_cmd_text_color(FOREGROUND_DARKSKYBLUE)
|
||
sys.stdout.write(mess)
|
||
resetColor()
|
||
|
||
#暗红色
|
||
#dark red
|
||
def printDarkRed(mess):
|
||
set_cmd_text_color(FOREGROUND_DARKRED)
|
||
sys.stdout.write(mess)
|
||
resetColor()
|
||
|
||
#暗粉红色
|
||
#dark pink
|
||
def printDarkPink(mess):
|
||
set_cmd_text_color(FOREGROUND_DARKPINK)
|
||
sys.stdout.write(mess)
|
||
resetColor()
|
||
|
||
#暗黄色
|
||
#dark yellow
|
||
def printDarkYellow(mess):
|
||
set_cmd_text_color(FOREGROUND_DARKYELLOW)
|
||
sys.stdout.write(mess)
|
||
resetColor()
|
||
|
||
#暗白色
|
||
#dark white
|
||
def printDarkWhite(mess):
|
||
set_cmd_text_color(FOREGROUND_DARKWHITE)
|
||
sys.stdout.write(mess)
|
||
resetColor()
|
||
|
||
#暗灰色
|
||
#dark gray
|
||
def printDarkGray(mess):
|
||
set_cmd_text_color(FOREGROUND_DARKGRAY)
|
||
sys.stdout.write(mess)
|
||
resetColor()
|
||
|
||
#蓝色
|
||
#blue
|
||
def printBlue(mess):
|
||
set_cmd_text_color(FOREGROUND_BLUE)
|
||
sys.stdout.write(mess)
|
||
resetColor()
|
||
|
||
#绿色
|
||
#green
|
||
def printGreen(mess):
|
||
set_cmd_text_color(FOREGROUND_GREEN)
|
||
sys.stdout.write(mess)
|
||
resetColor()
|
||
|
||
#天蓝色
|
||
#sky blue
|
||
def printSkyBlue(mess):
|
||
set_cmd_text_color(FOREGROUND_SKYBLUE)
|
||
sys.stdout.write(mess)
|
||
resetColor()
|
||
|
||
#红色
|
||
#red
|
||
def printRed(mess):
|
||
set_cmd_text_color(FOREGROUND_RED)
|
||
sys.stdout.write(mess)
|
||
resetColor()
|
||
|
||
#粉红色
|
||
#pink
|
||
def printPink(mess):
|
||
set_cmd_text_color(FOREGROUND_PINK)
|
||
sys.stdout.write(mess)
|
||
resetColor()
|
||
|
||
#黄色
|
||
#yellow
|
||
def printYellow(mess):
|
||
set_cmd_text_color(FOREGROUND_YELLOW)
|
||
sys.stdout.write(mess)
|
||
resetColor()
|
||
|
||
#白色
|
||
#white
|
||
def printWhite(mess):
|
||
set_cmd_text_color(FOREGROUND_WHITE)
|
||
sys.stdout.write(mess)
|
||
resetColor()
|
||
|
||
##################################################
|
||
|
||
#白底黑字
|
||
#white bkground and black text
|
||
def printWhiteBlack(mess):
|
||
set_cmd_text_color(FOREGROUND_BLACK | BACKGROUND_WHITE)
|
||
sys.stdout.write(mess)
|
||
resetColor()
|
||
|
||
#白底黑字
|
||
#white bkground and black text
|
||
def printWhiteBlack_2(mess):
|
||
set_cmd_text_color(0xf0)
|
||
sys.stdout.write(mess)
|
||
resetColor()
|
||
|
||
|
||
#黄底蓝字
|
||
#white bkground and black text
|
||
def printYellowRed(mess):
|
||
set_cmd_text_color(BACKGROUND_YELLOW | FOREGROUND_RED)
|
||
sys.stdout.write(mess)
|
||
resetColor()
|
||
|
||
|
||
##############################################################
|
||
global location
|
||
location = "KSFO"
|
||
|
||
class MainWindow(QMainWindow, Ui_MainWindow):
|
||
|
||
def __init__(self):
|
||
super(MainWindow, self).__init__(None)
|
||
self.setupUi(self)
|
||
#
|
||
self.init_app_config()
|
||
self.init_window_ui()
|
||
self.init_toolBar_ui()
|
||
self.init_toolBox_ui()
|
||
self.connect_signal_slot()
|
||
|
||
def init_app_config(self):
|
||
#
|
||
self.setting_filename = os.path.dirname(os.path.dirname(__file__)) + \
|
||
r"\resource\data\setting.ini"
|
||
self.qSetting = QtCore.QSettings(self.setting_filename, QtCore.QSettings.IniFormat)
|
||
#
|
||
self.working_dir = str(self.qSetting.value("lastFileDir"))
|
||
if self.working_dir is None or not os.path.isdir(self.working_dir):
|
||
self.working_dir = os.path.expanduser('~')
|
||
#
|
||
self.qSetting.setValue("lastFileDir", self.working_dir)
|
||
#
|
||
self.sklearn_params_filepath = str(self.qSetting.value("sklearnParamsFilepath"))
|
||
if self.sklearn_params_filepath is None or not os.path.isdir(self.sklearn_params_filepath):
|
||
self.sklearn_params_filepath = os.path.dirname(os.path.dirname(__file__)) + \
|
||
r"\resource\data\sklearn_params.json"
|
||
self.qSetting.setValue("sklearnParamsFilepath", self.sklearn_params_filepath)
|
||
#
|
||
self.curl_bin_dir = str(self.qSetting.value("curlBinDir"))
|
||
if self.curl_bin_dir is None or not os.path.isdir(self.curl_bin_dir):
|
||
self.curl_bin_dir = os.path.dirname(os.path.dirname(__file__)) + \
|
||
r"\bin\curl-7.65.3-win64-mingw\bin"
|
||
#
|
||
self.qSetting.setValue("curlBinDir", self.curl_bin_dir)
|
||
|
||
def init_window_ui(self):
|
||
self.setWindowIcon(get_icon("s"))
|
||
self.setWindowFlags(QtCore.Qt.WindowMinimizeButtonHint|QtCore.Qt.WindowCloseButtonHint)
|
||
|
||
def init_toolBar_ui(self):
|
||
self.mainToolBar = QtWidgets.QToolBar(self)
|
||
self.mainToolBar.setMovable(False)
|
||
self.mainToolBar.setToolButtonStyle(QtCore.Qt.ToolButtonTextUnderIcon)
|
||
self.mainToolBar.setObjectName("mainToolBar")
|
||
self.addToolBar(QtCore.Qt.TopToolBarArea, self.mainToolBar)
|
||
#
|
||
self.appSettingToolBarAction = QtWidgets.QAction(get_icon("toolBarAppSetting"), "设置", self)
|
||
self.mainToolBar.addAction(self.appSettingToolBarAction)
|
||
self.mainToolBar.addSeparator()
|
||
|
||
self.helpToolBarAction = QtWidgets.QAction(get_icon("toolBarHelp"), "帮助", self)
|
||
self.mainToolBar.addAction(self.helpToolBarAction)
|
||
|
||
self.feedbackToolBarAction = QtWidgets.QAction(get_icon("toolBarFeedback"), "反馈", self)
|
||
self.mainToolBar.addAction(self.feedbackToolBarAction)
|
||
|
||
self.aboutToolBarAction = QtWidgets.QAction(get_icon("toolBarAbout"), "关于", self)
|
||
self.mainToolBar.addAction(self.aboutToolBarAction)
|
||
|
||
def init_toolBox_ui(self):
|
||
# 虚拟飞行
|
||
self.toolBoxTreeWidget.topLevelItem(0).setIcon(0, get_icon("select_folder"))
|
||
self.toolBoxTreeWidget.topLevelItem(0).child(0).setIcon(0, get_icon("1"))
|
||
self.toolBoxTreeWidget.topLevelItem(0).child(1).setIcon(0, get_icon("select_folder"))
|
||
self.toolBoxTreeWidget.topLevelItem(0).child(1).child(0).setIcon(0, get_icon("2"))
|
||
self.toolBoxTreeWidget.topLevelItem(0).child(1).child(1).setIcon(0, get_icon("9"))
|
||
self.toolBoxTreeWidget.topLevelItem(0).child(1).child(2).setIcon(0, get_icon("10"))
|
||
self.toolBoxTreeWidget.topLevelItem(0).child(1).child(3).setIcon(0, get_icon("3"))
|
||
|
||
# 作战控制台
|
||
self.toolBoxTreeWidget.topLevelItem(1).setIcon(0, get_icon("select_folder"))
|
||
self.toolBoxTreeWidget.topLevelItem(1).child(0).setIcon(0, get_icon("Cygwin-Terminal"))
|
||
self.toolBoxTreeWidget.topLevelItem(1).child(1).setIcon(0, get_icon("tableFile_FileListTreeWidget"))
|
||
self.toolBoxTreeWidget.topLevelItem(1).child(2).setIcon(0, get_icon("dataViewToolBar"))
|
||
#self.toolBoxTreeWidget.topLevelItem(1).child(3).setIcon(0, get_icon("toolBoxToolTreeWidget"))
|
||
|
||
# 智能控制台
|
||
self.toolBoxTreeWidget.topLevelItem(1).child(3).setIcon(0, get_icon("select_folder"))
|
||
self.toolBoxTreeWidget.topLevelItem(1).child(3).child(0).setIcon(0, get_icon("Cygwin-Terminal"))
|
||
self.toolBoxTreeWidget.topLevelItem(1).child(3).child(1).setIcon(0, get_icon("5"))
|
||
self.toolBoxTreeWidget.topLevelItem(1).child(3).child(2).setIcon(0, get_icon("6"))
|
||
self.toolBoxTreeWidget.topLevelItem(1).child(3).child(3).setIcon(0, get_icon("7"))
|
||
|
||
# 地面站
|
||
self.toolBoxTreeWidget.topLevelItem(2).setIcon(0, get_icon("select_folder"))
|
||
self.toolBoxTreeWidget.topLevelItem(2).child(0).setIcon(0, get_icon("4"))
|
||
|
||
|
||
def connect_signal_slot(self):
|
||
self.appSettingToolBarAction.triggered.connect(self.appSettingToolBarActionTriggered)
|
||
self.toolBoxTreeWidget.doubleClicked.connect(self.toolBoxTreeWidgetDoubleClicked)
|
||
|
||
def appSettingToolBarActionTriggered(self):
|
||
appSettingDialog = AppSettingDialog(self.qSetting)
|
||
appSettingDialog.exec()
|
||
|
||
def toolBoxTreeWidgetDoubleClicked(self):
|
||
selectToolName = self.toolBoxTreeWidget.currentItem().text(0)
|
||
global location
|
||
|
||
if selectToolName == "启动FlightGear飞行模拟器":
|
||
printSkyBlue(u'正在启动FlightGear飞行模拟器......\n')
|
||
process1 = subprocess.Popen(["C:/cygwin64/home/Lenovo/ardupilot/Tools/autotest/fg_quad_view.bat"])
|
||
#printSkyBlue(u'FlightGear飞行模拟器启动完成\n')
|
||
#subprocess.call("start /wait C:/cygwin64/home/Lenovo/ardupilot/Tools/autotest/fg_quad_view.bat", shell=True)
|
||
#son_p1=Process(target=run_FlightGear,args={})
|
||
#son_p1.start()
|
||
#son_p1.join()
|
||
elif selectToolName == "测试位置：德国吕纳堡(EDHG)":
|
||
location = "EDHG"
|
||
printBlue(u'目标位置确定：' + location + '\n')
|
||
elif selectToolName == "测试位置：布兰肯塞机场(EDHL)":
|
||
location = "EDHL"
|
||
printBlue(u'目标位置确定：' + location + '\n')
|
||
elif selectToolName == "测试位置：佛罗里达(SCSE)":
|
||
location = "SCSE"
|
||
printBlue(u'目标位置确定：' + location + '\n')
|
||
elif selectToolName == "自定义地理坐标":
|
||
printBlue(u'因平台重新编译原因，请开启编程环境——作战平台并执行以下两段代码，注意替换实际的值：\n')
|
||
printBlue(u'cd /home/Lenovo/ardupilot/ArduCopter\n')
|
||
printBlue(u'../Tools/autotest/sim_vehicle.py --map -l ' + "目标纬度,目标经度,飞行高度,无人机朝向" + ' --console\n')
|
||
|
||
elif selectToolName == "启动编程环境——作战平台":
|
||
printYellow(u'正在启动编程环境——作战平台......\n')
|
||
os.system("mintty.exe -i /Cygwin-Terminal.ico -")
|
||
printYellow(u'编程环境——作战平台启动完成\n')
|
||
|
||
elif selectToolName == "仅加载Mavproxy控制台":
|
||
printDarkGreen(u'因平台重新编译原因，请分别在编程环境——作战平台下执行以下两段代码：\n')
|
||
printDarkGreen(u'cd /home/Lenovo/ardupilot/ArduCopter\n')
|
||
printDarkGreen(u'../Tools/autotest/sim_vehicle.py --console\n')
|
||
|
||
elif selectToolName == "加载Mavproxy控制台与战场俯视图":
|
||
printDarkSkyBlue(u'因平台重新编译原因，请分别在编程环境——作战平台下执行以下两段代码：\n')
|
||
printDarkSkyBlue(u'cd /home/Lenovo/ardupilot/ArduCopter\n')
|
||
printDarkSkyBlue(u'../Tools/autotest/sim_vehicle.py --map -L ' + location + ' --console\n')
|
||
|
||
elif selectToolName == "启动编程环境——智能平台":
|
||
printYellow(u'正在启动编程环境——智能平台......\n')
|
||
os.system("mintty.exe -i /Cygwin-Terminal.ico -")
|
||
printYellow(u'编程环境——智能平台启动完成\n')
|
||
|
||
elif selectToolName == "autoFly获取无人机信息":
|
||
printDarkPink(u'因平台重新编译原因，请分别在编程环境——智能平台下执行以下两段代码：\n')
|
||
printDarkPink(u'cd /home/Lenovo/ardupilot/ArduCopter/PyScripts\n')
|
||
printDarkPink(u'python autoFly获取无人机信息.py\n')
|
||
|
||
elif selectToolName == "autoFly前后左右升降俯仰":
|
||
printDarkYellow(u'因平台重新编译原因，请分别在编程环境——智能平台下执行以下两段代码：\n')
|
||
printDarkYellow(u'cd /home/Lenovo/ardupilot/ArduCopter/PyScripts\n')
|
||
printDarkYellow(u'python autoFly前后左右升降俯仰.py\n')
|
||
|
||
elif selectToolName == "autoFly连续飞行":
|
||
printSkyBlue(u'因平台重新编译原因，请分别在编程环境——智能平台下执行以下两段代码：\n')
|
||
printSkyBlue(u'cd /home/Lenovo/ardupilot/ArduCopter/PyScripts\n')
|
||
printSkyBlue(u'python autoFly连续飞行.py\n')
|
||
|
||
elif selectToolName == "启动地面站Mission Planner":
|
||
printDarkRed(u'地面站Mission Planner启动......\n')
|
||
son_p2=Process(target=run_MP,args={})
|
||
son_p2.start()
|
||
son_p2.join()
|
||
printDarkRed(u'请在Mavproxy控制台输入代码并执行：\n')
|
||
printDarkRed(u'output add 127.0.0.1:14550\n')
|
||
printDarkRed(u'地面站Mission Planner启动完成\n')
|
||
|
||
else:
|
||
pass
|
||
|
||
def closeEvent(self, QCloseEvent):
|
||
qMsg = QMessageBox.question(self, "提示","退出仿真程序？")
|
||
if qMsg == QMessageBox.Yes:
|
||
QCloseEvent.accept()
|
||
else:
|
||
QCloseEvent.ignore()
|
||
|
||
def run_MP():
|
||
process2 = subprocess.Popen([subprocess.call("start start /B /wait MissionPlanner.exe", shell=True)])
|
||
|
||
def main():
|
||
app = QApplication(sys.argv)
|
||
mainWindow = MainWindow()
|
||
mainWindow.show()
|
||
sys.exit(app.exec_())
|
||
|
||
|
||
|
||
if __name__ == "__main__":
|
||
#启动
|
||
main()
|