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b.py
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b.py
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# -*- coding: utf-8 -*-
from PyQt5 import QtCore, QtGui, QtWidgets
from PyQt5.QtGui import *
from PyQt5.QtWidgets import *
from PyQt5.QtCore import *
import socket
import time
import rospy
from std_msgs.msg import String
from sensor_msgs.msg import Image
import gc
import sys
import cv2
from cv_bridge import CvBridge
import threading
'''
def callback_battery(data):
video.x = 0
#xx = str('%')
#global x
video.x = ("%s" %data.data)
def listener_battery():
rospy.Subscriber("battery", String, callback_battery)
'''
class video(QMainWindow):
def __init__(self):
#def __init__(self, cam): 有用cam的時候
super(video,self).__init__()
#self.battery_str = self.x
self.xx = str('%')
self.a =1
self.resize(1600, 1024)
self.setWindowTitle('gui')
self.vF = QLabel()
self.setCentralWidget(self.vF)
self.vF.setGeometry(QtCore.QRect(160, 152, 960, 720))
#位置x y 長 寬 位置是看左上角的點
self.label_2 = QLabel(self)
self.label_2.setGeometry(QtCore.QRect(1410, 890, 191, 131))
#self.label_2.setText("")
#圖片寫法好像不同？
pix = QPixmap('aa.png')
self.label_2.setPixmap(pix)
self.label_2.setObjectName("label_2")
self.label_2.setScaledContents(True)
# 设置视频显示在窗口中间,否则可以注释掉
self.vF.setAlignment(Qt.AlignCenter)
self.pushButton_camera = QPushButton(self)
self.pushButton_camera.setGeometry(QtCore.QRect(30, 40, 200, 70))
self.pushButton_camera.setObjectName("pushButton_camera")
font = QtGui.QFont()
font.setPointSize(16)
self.pushButton_camera.setFont(font)
self.pushButton_camera.setText("使用手動控制")
#"開啟相機"
self.battery_textBrowser1 = QTextBrowser(self)
self.battery_textBrowser1.setGeometry(QtCore.QRect(830, 20, 220, 40))
self.battery_textBrowser1.setObjectName("battery_textBrowser1")
font = QtGui.QFont()
font.setPointSize(16)
self.battery_textBrowser1.setFont(font)
self.battery_textBrowser1.setText('大無人機電量： 0%s' %self.xx)
self.battery_textBrowser1.setVerticalScrollBarPolicy(QtCore.Qt.ScrollBarAlwaysOff)
self.battery_textBrowser1.setHorizontalScrollBarPolicy(QtCore.Qt.ScrollBarAlwaysOff)
self.battery_textBrowser = QTextBrowser(self)
self.battery_textBrowser.setGeometry(QtCore.QRect(480, 20, 220, 40))
self.battery_textBrowser.setObjectName("battery_textBrowser")
font = QtGui.QFont()
font.setPointSize(16)
self.battery_textBrowser.setFont(font)
self.battery_textBrowser.setText('小無人機電量： 0%s' %self.xx)
self.battery_textBrowser.setVerticalScrollBarPolicy(QtCore.Qt.ScrollBarAlwaysOff)
self.battery_textBrowser.setHorizontalScrollBarPolicy(QtCore.Qt.ScrollBarAlwaysOff)
self.battery_textBrowser2 = QTextBrowser(self)
self.battery_textBrowser2.setGeometry(QtCore.QRect(480, 90, 220, 40))
self.battery_textBrowser2.setObjectName("battery_textBrowser2")
font = QtGui.QFont()
font.setPointSize(16)
self.battery_textBrowser2.setFont(font)
self.battery_textBrowser2.setText('小無人機座標：(0,0)' )
self.battery_textBrowser2.setVerticalScrollBarPolicy(QtCore.Qt.ScrollBarAlwaysOff)
self.battery_textBrowser2.setHorizontalScrollBarPolicy(QtCore.Qt.ScrollBarAlwaysOff)
self.battery_textBrowser3 = QTextBrowser(self)
self.battery_textBrowser3.setGeometry(QtCore.QRect(830, 90, 220, 40))
self.battery_textBrowser3.setObjectName("battery_textBrowser3r")
font = QtGui.QFont()
font.setPointSize(16)
self.battery_textBrowser3.setFont(font)
self.battery_textBrowser3.setText('大無人機座標：(0,0)' )
self.battery_textBrowser3.setVerticalScrollBarPolicy(QtCore.Qt.ScrollBarAlwaysOff)
self.battery_textBrowser3.setHorizontalScrollBarPolicy(QtCore.Qt.ScrollBarAlwaysOff)
#介入
self.takeoff = QPushButton(self)
self.takeoff.setGeometry(QtCore.QRect(30, 120, 200, 70))
self.takeoff.setObjectName("pushButton_takeoff")
font = QtGui.QFont()
font.setPointSize(16)
self.takeoff.setFont(font)
self.takeoff.setText("起飛")
self.takeoff.clicked.connect(self.takeoff_click)
self.land = QPushButton(self)
self.land.setGeometry(QtCore.QRect(30, 200, 200, 70))
self.land.setObjectName("pushButton_land")
font = QtGui.QFont()
font.setPointSize(16)
self.land.setFont(font)
self.land.setText("降落")
self.land.clicked.connect(self.land_click)
self.movefront = QPushButton(self)
self.movefront.setGeometry(QtCore.QRect(30, 280, 200, 70))
self.movefront.setObjectName("pushButton_movefront")
font = QtGui.QFont()
font.setPointSize(16)
self.movefront.setFont(font)
self.movefront.setText("向前")
self.movefront.clicked.connect(self.movefront_click)
self.moveback = QPushButton(self)
self.moveback.setGeometry(QtCore.QRect(30, 360, 200, 70))
self.moveback.setObjectName("pushButton_moveback")
font = QtGui.QFont()
font.setPointSize(16)
self.moveback.setFont(font)
self.moveback.setText("向後")
self.moveback.clicked.connect(self.moveback_click)
self.moveleft = QPushButton(self)
self.moveleft.setGeometry(QtCore.QRect(30, 440, 200, 70))
self.moveleft.setObjectName("pushButton_moveleft")
font = QtGui.QFont()
font.setPointSize(16)
self.moveleft.setFont(font)
self.moveleft.setText("向左")
self.moveleft.clicked.connect(self.moveleft_click)
self.moveright = QPushButton(self)
self.moveright.setGeometry(QtCore.QRect(30, 520, 200, 70))
self.moveright.setObjectName("pushButton_moveright")
font = QtGui.QFont()
font.setPointSize(16)
self.moveright.setFont(font)
self.moveright.setText("向右")
self.moveright.clicked.connect(self.moveright_click)
#self.setfirst()
#self.battery_renew()
#self.w = QtCore.QThread()
#刷新圖
self._timer = QTimer(self)
self._timer.timeout.connect(self.load)
self._timer.start(300)
#400
#刷新電池電量
self._timer_battery = QTimer(self)
self._timer_battery.timeout.connect(self.battery_renew)
self._timer_battery.join(1000)
def load(self):
rospy.Subscriber("image", Image, self.callback)
#self.battery_renew()
#rospy.Subscriber("battery", String, self.callback_battery)
def callback(self, imgmsg):
bridge = CvBridge()
img = bridge.imgmsg_to_cv2(imgmsg, "bgr8")
img = cv2.resize(img, (960, 720))
#self.w.wait()
self.vF.setPixmap(QPixmap.fromImage(
QImage(cv2.cvtColor(img, cv2.COLOR_BGR2RGB ),
960,
720,
13)))
def battery_renew(self):
rospy.Subscriber("battery", String, self.callback_battery)
def callback_battery(self,data):
o = str('%')
v1 = ("%s" %data.data)
self.battery_textBrowser.setText('小無人機電量： %s%s' %(v1,o))
def takeoff_click(self):
a = 0
a = 'takeoff'
pub_direct.publish(a)
def land_click(self):
b = 0
b = 'land'
pub_direct.publish(b)
def movefront_click(self):
c = 0
c = 'forward 30'
pub_direct.publish(c)
def moveback_click(self):
d = 0
d = 'back 30'
pub_direct.publish(d)
def moveleft_click(self):
e = 0
e = 'left 30'
pub_direct.publish(e)
def moveright_click(self):
f = 0
f = 'right 30'
pub_direct.publish(f)
if __name__ == '__main__':
##pub_direct = rospy.Publisher('direct', String, queue_size=1)
rospy.init_node('listener', anonymous=True)
#pub = rospy.Publisher('image', Image, queue_size=1)
#ao = '1'
#pub_direct.publish(ao)
app = QApplication(sys.argv)
win = video()
win.show()
sys.exit(app.exec_())