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main.py
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main.py
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#! /usr/bin/env pyhton3
# encoding:utf-8
import math
import os
import sys
import threading
import time
import traceback
import cv2
import numpy as np
import serial
import serial.tools.list_ports
from PyQt5 import QtCore, QtGui, QtWidgets
from PyQt5.QtCore import QPoint, QRegularExpression
from PyQt5.QtCore import pyqtSlot, Qt, QCoreApplication
from PyQt5.QtGui import QEnterEvent, QPixmap, QIntValidator, QRegularExpressionValidator
from PyQt5.QtWidgets import QMainWindow, QApplication, QInputDialog, QWidget, QMessageBox
# from pymycobot.mycobot import MyCobot
# from pymycobot.mypalletizer import MyPalletizer
from pymycobot.ultraArm import ultraArm
from pymycobot.mycobot280 import MyCobot280
from pymycobot.mecharm270 import MechArm270
from pymycobot.mypalletizer260 import MyPalletizer260
from libraries.log import logfile
from libraries.pyqtFile.AiKit_auto import Ui_AiKit_UI as AiKit_window
class AiKit_APP(AiKit_window, QMainWindow, QWidget):
def __init__(self):
super(AiKit_APP, self).__init__()
self.setupUi(self)
self.x1 = self.x2 = self.y1 = self.y2 = 0
# self.M5color.init()
self.myCobot = None
self.loger = logfile.MyLogging().logger
self.path = os.path.split(os.path.abspath(__file__))
self.port_list = []
self.loger = logfile.MyLogging().logger
self._init_main_window()
self._close_max_min_icon()
self._initDrag() # Set the mouse tracking judgment trigger default value
self.setMouseTracking(True) # Set widget mouse tracking
self.widget.installEventFilter(self) # Initialize event filter
self.move(350, 10)
self.radioButton_A.setChecked(True)
self._init_variable()
self._init_status()
self._init_language()
self.cap = cv2.VideoCapture() # video stream
self.min_btn.clicked.connect(self.min_clicked) # minimize
self.max_btn.clicked.connect(self.max_clicked)
self.close_btn.clicked.connect(self.close_clicked) # close
self.comboBox_function.activated.connect(self.combox_func_checked) # switch algorithm
self.comboBox_port.highlighted.connect(self.get_serial_port_list) # get serial port
self.comboBox_port.activated.connect(self.get_serial_port_list) # get serial port
self.comboBox_device.currentTextChanged.connect(self.buad_choose) # Device drop-down box
self.connect_btn.clicked.connect(self.connect_checked) # connect button
self.open_camera_btn.clicked.connect(self.camera_checked) # open/close camera
self.yolov5_cut_btn.clicked.connect(self.cut_yolov5_img)
self.auto_btn.clicked.connect(self.auto_mode) # automation
self.discern_btn.clicked.connect(self.discern_func) # discern
self.crawl_btn.clicked.connect(self.crawl_func) # crawl
self.place_btn.clicked.connect(self.place_func) # place
self.to_origin_btn.clicked.connect(self.to_origin_func) # to_origin
self.offset_save_btn.clicked.connect(self.insert_offsets) # update offsets
self.open_file_btn.clicked.connect(self.open_file) # open file
self.add_img_btn.clicked.connect(self.add_img) # add image
self.exit_add_btn.clicked.connect(self.exit_add) # exit add image
self.image_coord_btn.clicked.connect(self.get_img_coord) # get the image coords
self.current_coord_btn.clicked.connect(self.get_current_coord_btnClick) # get the robot coords
self.language_btn.clicked.connect(self.set_language) # set language
self.get_serial_port_list()
self.offset_change()
self.btn_status()
self.device_coord()
self.cut_yolov5_img_status()
self._init_tooltip()
self.combox_func_checked()
# Initialize variables
def _init_variable(self):
self.pump_y = 0
self.pump_x = 0
# device
self.M5 = ['myPalletizer 260 for M5', 'myCobot 280 for M5', 'ultraArm P340', 'mechArm 270 for M5'] # M5 robot
self.Pi = ['myCobot 280 for Pi', 'mechArm 270 for Pi', 'myCobot 280 for JN',
'myPalletizer 260 for Pi'] # Pi robot
# angles to move
self.move_angles = [
[-29.0, 5.88, -4.92, -76.28], # point to grab
[17.4, -10.1, -87.27, 5.8], # point to grab
]
# origin coords
self.home_coords = [166.4, -21.8, 219, 0.96]
# coords to move
self.move_coords = [
[132.6, -155.6, 211.8, -20.9], # D Sorting area
[232.5, -134.1, 197.7, -45.26], # C Sorting area
[111.6, 159, 221.5, -120], # A Sorting area
[-15.9, 164.6, 217.5, -119.35], # B Sorting area
]
# The internal parameter matrix of the camera
self.camera_matrix = np.array([
[781.33379113, 0., 347.53500524],
[0., 783.79074192, 246.67627253],
[0., 0., 1.]])
# Distortion coefficient of the camera
self.dist_coeffs = np.array(([[3.41360787e-01, -2.52114260e+00, -1.28012469e-03, 6.70503562e-03,
2.57018000e+00]]))
self.color = 0
# parameters to calculate camera clipping parameters 计算相机裁剪参数的参数
self.x1 = self.x2 = self.y1 = self.y2 = 0
# set cache of real coord 设置真实坐标的缓存
self.cache_x = self.cache_y = 0
# set color HSV
self.HSV = {
"yellow": [np.array([11, 85, 70]), np.array([59, 255, 245])],
# "yellow": [np.array([22, 93, 0]), np.array([45, 255, 245])],
"red": [np.array([0, 43, 46]), np.array([8, 255, 255])],
"green": [np.array([35, 43, 35]), np.array([90, 255, 255])],
"blue": [np.array([100, 43, 46]), np.array([124, 255, 255])],
"cyan": [np.array([78, 43, 46]), np.array([99, 255, 255])],
}
# Used to calculate the coordinates between the cube and mycobot
self.sum_x1 = self.sum_x2 = self.sum_y2 = self.sum_y1 = 0
# Grab the coordinates of the center point relative to mycobot
self.camera_x, self.camera_y = 165, 5
self.camera_z = 110
# display real img coord
self.pos_x, self.pos_y, self.pos_z = 0, 0, 0
# The coordinates of the cube relative to mycobot
self.c_x, self.c_y = 0, 0
# The ratio of pixels to actual values
self.ratio = 0
# Get ArUco marker dict that can be detected.
self.aruco_dict = cv2.aruco.Dictionary_get(cv2.aruco.DICT_6X6_250)
# Get ArUco marker params.
self.aruco_params = cv2.aruco.DetectorParameters_create()
# Initialize the background subtractor
self.mog = cv2.bgsegm.createBackgroundSubtractorMOG()
# yolov5 model file path
self.modelWeights = libraries_path + '/yolov5File/yolov5s.onnx'
self._init_ = 20
self.init_num = 0
self.nparams = 0
self.num = 0
self.real_sx = self.real_sy = 0
# Constants.
self.INPUT_WIDTH = 640 # 640
self.INPUT_HEIGHT = 640 # 640
self.SCORE_THRESHOLD = 0.5
self.NMS_THRESHOLD = 0.45
self.CONFIDENCE_THRESHOLD = 0.45
# Text parameters.
self.FONT_FACE = cv2.FONT_HERSHEY_SIMPLEX
self.FONT_SCALE = 0.7
self.THICKNESS = 1
# Colors.
self.BLACK = (0, 0, 0)
self.BLUE = (255, 178, 50)
self.YELLOW = (0, 255, 255)
# initialization status
def _init_status(self):
self.camera_status = False # camera open state
self.discern_status = False # Whether to enable recognition
self.crawl_status = False # Whether to enable crawling
self.place_status = False # Whether to open the placement
self.cut_status = False # Whether to open and cut pictures
self.auto_mode_status = False # Whether to enable automatic operation
self.img_coord_status = False # Whether to enable the display of the X and Y coordinates of the object
self.current_coord_status = False # Whether to enable displaying the real-time location of the robot
self.is_pick = False # Whether the object has been grasped
self.yolov5_is_not_pick = True
self.is_yolov5_cut_btn_clicked = False
self.yolov5_count = False # is first open camera
self.open_camera_func = 1 # Opening mode of the camera, 1 is the open button, 2 is the add button
with open(libraries_path + f'/offset/language.txt', "r", encoding="utf-8") as f:
lange = f.read()
self.language = int(lange) # Control language, 1 is English, 2 is Chinese
if self.language == 1:
self.btn_color(self.language_btn, 'green')
else:
self.btn_color(self.language_btn, 'blue')
self.is_language_btn_click = False
# Initialize window borders
def _init_main_window(self):
# Set the form to be borderless
self.setWindowFlags(Qt.FramelessWindowHint)
# Set the background to be transparent
self.setAttribute(Qt.WA_TranslucentBackground)
# Set software icon
w = self.logo_lab.width()
h = self.logo_lab.height()
self.pix = QPixmap(libraries_path + '/res/logo.png') # the path to the icon
self.logo_lab.setPixmap(self.pix)
self.logo_lab.setScaledContents(True)
# Close, minimize button display text
def _close_max_min_icon(self):
self.min_btn.setStyleSheet("border-image: url({}/AiKit_UI_img/min.ico);".format(libraries_path))
self.max_btn.setStyleSheet("border-image: url({}/AiKit_UI_img/max.ico);".format(libraries_path))
self.close_btn.setStyleSheet("border-image: url({}/AiKit_UI_img/close.ico);".format(libraries_path))
def _init_tooltip(self):
if self.language == 1:
self.func_lab_6.setToolTip(
'Adjust the suction position of the end, add X forward,'
' subtract X backward, add Y to the left, \nand subtract Y to the right, and Upward Z increases, downward Z decreases.')
else:
self.func_lab_6.setToolTip(
'调整末端吸取位置，向前X加，向后X减，向左Y加，向右Y减，向上Z加，向下Z减。')
@pyqtSlot()
def min_clicked(self):
# minimize
self.showMinimized()
@pyqtSlot()
def max_clicked(self):
# Maximize and restore (not used)
if self.isMaximized():
self.showNormal()
# self.max_btn.setStyleSheet("border-image: url({}/AiKit_UI_img/max.png);".format(libraries_path))
icon_max = QtGui.QIcon()
icon_max.addPixmap(QtGui.QPixmap("./libraries/AiKit_UI_img/max.ico"), QtGui.QIcon.Normal, QtGui.QIcon.Off)
self.max_btn.setIcon(icon_max)
self.max_btn.setIconSize(QtCore.QSize(30, 30))
self.max_btn.setToolTip("<html><head/><body><p>maximize</p></body></html>")
else:
self.showMaximized()
# self.max_btn.setStyleSheet("border-image: url({}/AiKit_UI_img/nomel.png);".format(libraries_path))
icon_nomel = QtGui.QIcon()
icon_nomel.addPixmap(QtGui.QPixmap("./libraries/AiKit_UI_img/nomel.ico"), QtGui.QIcon.Normal,
QtGui.QIcon.Off)
self.max_btn.setIcon(icon_nomel)
self.max_btn.setIconSize(QtCore.QSize(30, 30))
self.max_btn.setToolTip("<html><head/><body><p>recover</p></body></html>")
@pyqtSlot()
def close_clicked(self):
# turn off an app
if self.camera_status:
self.close_camera()
self.close()
QCoreApplication.instance().quit
def _initDrag(self):
# Set the mouse tracking judgment trigger default value
self._move_drag = False
self._corner_drag = False
self._bottom_drag = False
self._right_drag = False
def eventFilter(self, obj, event):
# Event filter, used to solve the problem of reverting to the standard mouse style after the mouse enters other controls
if isinstance(event, QEnterEvent):
self.setCursor(Qt.ArrowCursor)
return super(AiKit_APP, self).eventFilter(obj, event) # Note that MyWindow is the name of the class
# return QWidget.eventFilter(self, obj, event) # You can also use this, but pay attention to modifying the window type
def resizeEvent(self, QResizeEvent):
# 自定义窗口调整大小事件
# 改变窗口大小的三个坐标范围
self._right_rect = [QPoint(x, y) for x in range(self.width() - 5, self.width() + 5)
for y in range(self.widget.height() + 20, self.height() - 5)]
self._bottom_rect = [QPoint(x, y) for x in range(1, self.width() - 5)
for y in range(self.height() - 5, self.height() + 1)]
self._corner_rect = [QPoint(x, y) for x in range(self.width() - 5, self.width() + 100)
for y in range(self.height() - 5, self.height() + 1)]
def mousePressEvent(self, event):
# 重写鼠标点击的事件
if (event.button() == Qt.LeftButton) and (event.pos() in self._corner_rect):
# 鼠标左键点击右下角边界区域
self._corner_drag = True
event.accept()
elif (event.button() == Qt.LeftButton) and (event.pos() in self._right_rect):
# 鼠标左键点击右侧边界区域
self._right_drag = True
event.accept()
elif (event.button() == Qt.LeftButton) and (event.pos() in self._bottom_rect):
# 鼠标左键点击下侧边界区域
self._bottom_drag = True
event.accept()
elif (event.button() == Qt.LeftButton) and (event.y() < self.widget.height()):
# 鼠标左键点击标题栏区域
self._move_drag = True
self.move_DragPosition = event.globalPos() - self.pos()
event.accept()
def mouseMoveEvent(self, QMouseEvent):
# 判断鼠标位置切换鼠标手势
if QMouseEvent.pos() in self._corner_rect: # QMouseEvent.pos()获取相对位置
self.setCursor(Qt.SizeFDiagCursor)
elif QMouseEvent.pos() in self._bottom_rect:
self.setCursor(Qt.SizeVerCursor)
elif QMouseEvent.pos() in self._right_rect:
self.setCursor(Qt.SizeHorCursor)
# 当鼠标左键点击不放及满足点击区域的要求后，分别实现不同的窗口调整
# 没有定义左方和上方相关的5个方向，主要是因为实现起来不难，但是效果很差，拖放的时候窗口闪烁，再研究研究是否有更好的实现
if Qt.LeftButton and self._right_drag:
# 右侧调整窗口宽度
self.resize(QMouseEvent.pos().x(), self.height())
QMouseEvent.accept()
elif Qt.LeftButton and self._bottom_drag:
# 下侧调整窗口高度
self.resize(self.width(), QMouseEvent.pos().y())
QMouseEvent.accept()
elif Qt.LeftButton and self._corner_drag:
# 由于我窗口设置了圆角,这个调整大小相当于没有用了
# 右下角同时调整高度和宽度
self.resize(QMouseEvent.pos().x(), QMouseEvent.pos().y())
QMouseEvent.accept()
elif Qt.LeftButton and self._move_drag:
# 标题栏拖放窗口位置
self.move(QMouseEvent.globalPos() - self.move_DragPosition)
QMouseEvent.accept()
def mouseReleaseEvent(self, QMouseEvent):
# 鼠标释放后，各扳机复位
self._move_drag = False
self._corner_drag = False
self._bottom_drag = False
self._right_drag = False
self.setCursor(Qt.ArrowCursor)
def has_mycobot(self):
"""Check whether it is connected on mycobot"""
if not self.myCobot:
self.loger.info("Mycobot is not connected yet! ! ! Please connect to myCobot first! ! !")
return False
return True
def get_serial_port_list(self):
"""Get the current serial port and map it to the serial port drop-down box"""
device = self.comboBox_device.currentText()
if device == 'myCobot 280 for JN':
if self.comboBox_port.currentText() != '/dev/ttyTHS1':
self.comboBox_port.addItem('/dev/ttyTHS1')
self.comboBox_port.setCurrentText('/dev/ttyTHS1')
self.port_list = None
self.connect_btn.setEnabled(True)
self.connect_btn.setStyleSheet("background-color: rgb(39, 174, 96);\n"
"color: rgb(255, 255, 255);\n"
"border-radius: 10px;\n"
"border: 2px groove gray;\n"
"border-style: outset;")
self.HSV = {
"yellow": [np.array([15, 50, 50]), np.array([50, 255, 255])],
# "yellow": [np.array([22, 93, 0]), np.array([45, 255, 245])],
"red": [np.array([0, 43, 46]), np.array([8, 255, 255])],
"green": [np.array([35, 43, 35]), np.array([90, 255, 255])],
"blue": [np.array([78, 43, 46]), np.array([110, 255, 255])],
"cyan": [np.array([78, 43, 46]), np.array([99, 255, 255])],
}
return
plist = [
str(x).split(" - ")[0].strip() for x in serial.tools.list_ports.comports()
]
if not plist:
if self.comboBox_port.currentText() == 'NO Port':
return
self.comboBox_port.clear()
self.comboBox_port.addItem('NO Port')
self.connect_btn.setEnabled(False)
self.connect_btn.setStyleSheet("background-color: rgb(185, 195, 199);\n"
"color: rgb(255, 255, 255);\n"
"border-radius: 10px;\n"
"border: 2px groove gray;\n"
"border-style: outset;")
self.port_list = []
return
else:
if self.port_list != plist:
self.port_list = plist
self.comboBox_port.clear()
self.connect_btn.setEnabled(True)
self.connect_btn.setStyleSheet("background-color: rgb(39, 174, 96);\n"
"color: rgb(255, 255, 255);\n"
"border-radius: 10px;\n"
"border: 2px groove gray;\n"
"border-style: outset;")
for p in plist:
self.comboBox_port.addItem(p)
def buad_choose(self):
try:
"""Switch the baud rate according to the device and initialize the corresponding variable"""
# self.btn_status(True)
value = self.comboBox_device.currentText()
if value in self.Pi:
# self.comboBox_buad.clear()
# self.comboBox_buad.addItem('1000000')
self.comboBox_buad.setCurrentIndex(0)
else:
# self.comboBox_buad.clear()
# self.comboBox_buad.addItem('115200')
self.comboBox_buad.setCurrentIndex(1)
self.get_serial_port_list()
self.offset_change() # Get the corresponding offset of the device
self.device_coord() # Initialize the point of the corresponding device
if value in ['ultraArm P340']:
self.widget_11.hide()
self.widget_20.hide()
else:
self.widget_11.show()
self.widget_20.show()
except Exception as e:
e = traceback.format_exc()
self.loger.error(str(e))
def device_coord(self):
"""Get points according to the device"""
value = self.comboBox_device.currentText()
if value == 'myCobot 280 for Pi' or value == 'myCobot 280 for M5':
# yolov5 model file path
self.modelWeights = libraries_path + "/yolov5File/yolov5s.onnx"
# y-axis offset
self.pump_y = -55
# x-axis offset
self.pump_x = 15
self.move_angles = [
[0.61, 45.87, -92.37, -41.3, 2.02, 9.58], # init the point
[18.8, -7.91, -54.49, -23.02, -0.79, -14.76], # point to grab
]
self.move_coords = [
[132.2, -136.9, 200.8, -178.24, -3.72, -107.17], # D Sorting area
[238.8, -124.1, 204.3, -169.69, -5.52, -96.52], # C Sorting area
[115.8, 177.3, 210.6, 178.06, -0.92, -6.11], # A Sorting area
[-6.9, 173.2, 201.5, 179.93, 0.63, 33.83], # B Sorting area
]
self.new_move_coords_to_angles = [
[-24.87, -2.98, -92.46, 5.88, -3.07, -8.34], # D Sorting area
[-13.71, -52.11, -25.4, -4.57, -3.86, -7.73], # C Sorting area
[74.0, -18.1, -64.24, -9.84, -0.79, -9.49], # A Sorting area
[112.93, 3.16, -96.32, 0.87, 0.26, -9.75], # B Sorting area
]
self.home_coords = [145.0, -65.5, 280.1, 178.99, 7.67, -179.9]
elif value == 'myCobot 280 for JN':
# yolov5 model file path
self.modelWeights = libraries_path + "/yolov5File/yolov5s.onnx"
# y-axis offset
self.pump_y = -55
# x-axis offset
self.pump_x = 15
self.move_angles = [
[0.61, 45.87, -92.37, -41.3, 2.02, 9.58], # init the point
[18.63, 5.39, -83.49, -10.37, -0.08, -13.44], # point to grab
]
self.move_coords = [
[133.5, -149.5, 153.0, -178.91, -1.27, -112.78], # D Sorting area
[242.5, -143.1, 164.3, -172.38, -4.38, -100.28], # C Sorting area
[133.5, 168.0, 172.2, -175.89, -1.86, -13.65], # A Sorting area
[21.6, 176.3, 171.4, -178.53, -1.69, 21.75], # B Sorting area
]
self.home_coords = [145.0, -65.5, 280.1, 178.99, 7.67, -179.9]
elif value == 'myPalletizer 260 for M5' or value == 'myPalletizer 260 for Pi':
self.pump_y = -45
self.pump_x = -30
self.move_angles = [
[-22.0, 0, 0, 7.28], # point to grab
[17.4, -10.1, -87.27, 5.8], # point to grab
]
self.home_coords = [166.4, -21.8, 219, 0.96]
self.move_coords = [
[132.6, -155.6, 211.8, -20.9], # D Sorting area
[232.5, -134.1, 197.7, -45.26], # C Sorting area
[111.6, 159, 221.5, -120], # A Sorting area
[-15.9, 164.6, 217.5, -119.35], # B Sorting area
]
elif value == 'mechArm 270 for Pi' or value == 'mechArm 270 for M5':
self.pump_y = -55
self.pump_x = 15
self.move_angles = [
[-33.31, 2.02, -10.72, -0.08, 95, -54.84], # point to grab
[0, 0, 0, 0, 90, 0], # init the point
]
self.move_coords = [
[96.5, -101.9, 185.6, 155.25, 19.14, 75.88], # D
[180.9, -99.3, 184.6, 124.4, 30.9, 80.58], # C
[77.4, 122.1, 179.2, 151.66, 17.94, 178.24], # A
[2.2, 128.5, 171.6, 163.27, 10.58, -147.25] # B
]
self.home_coords = [81.8, -52.3, 186.7, 174.48, 4.08, 92.41]
elif value == 'ultraArm P340':
self.pump_y = -30
# x-axis offset
self.pump_x = -45
# 移动角度
self.move_angles = [
[25.55, 0.0, 15.24, 0],
[0.0, 14.32, 0.0, 0], # point to grab
]
# 移动坐标
self.move_coords = [
[141.53, 148.67, 43.73, 0], # D Sorting area
[248.52, 152.35, 53.45, 0], # C Sorting area
[269.02, -161.65, 51.42, 0], # A Sorting area
[146.8, -159.53, 50.44, 0], # B Sorting area
]
self.home_coords = [267.15, 0.0, 125.96]
def connect_mycobot(self):
"""Connect the arm"""
self.comboBox_port.setEnabled(False)
self.comboBox_buad.setEnabled(False)
self.comboBox_device.setEnabled(False)
device = self.comboBox_device.currentText()
port = self.comboBox_port.currentText()
baud = self.comboBox_buad.currentText()
baud = int(baud)
try:
if device == 'myPalletizer 260 for M5' or device == 'myPalletizer 260 for Pi':
self.myCobot = MyPalletizer260(port, baud, timeout=0.2)
elif device == 'ultraArm P340':
self.myCobot = ultraArm(port, baud, timeout=0.2)
self.stop_wait(0.1)
zero = threading.Thread(target=self.go_zero)
zero.start()
if self.language == 1:
self.prompts('Zero calibration is in progress, please wait patiently......')
else:
self.prompts('正在进行回零校正，请耐心等待......')
self.btn_status(False)
self.connect_btn.setEnabled(False)
elif device == 'mechArm 270 for Pi' or device == 'mechArm 270 for M5':
self.myCobot = MechArm270(port, baud, timeout=0.2)
else:
self.myCobot = MyCobot280(port, baud, timeout=0.2)
self.stop_wait(0.5)
self.loger.info("connection succeeded !")
if device != 'ultraArm P340':
self.btn_status(True)
if self.language == 1:
self.connect_btn.setText('DISCONNECT')
else:
self.connect_btn.setText('断开')
self.btn_color(self.connect_btn, 'red')
except Exception as e:
e = traceback.format_exc()
err_log = """\
\rConnection failed !!!
\r=================================================
{}
\r=================================================
""".format(
e
)
self.myCobot = None
self.comboBox_port.setEnabled(True)
self.comboBox_buad.setEnabled(True)
self.comboBox_device.setEnabled(True)
self.btn_status(False)
if self.language == 1:
self.connect_btn.setText('CONNECT')
else:
self.connect_btn.setText('连接')
self.btn_color(self.connect_btn, 'green')
self.loger.error(err_log)
def disconnect_mycobot(self):
if not self.has_mycobot():
return
try:
del self.myCobot
self.myCobot = None
self.loger.info("Disconnected successfully !")
self.comboBox_port.setEnabled(True)
self.comboBox_buad.setEnabled(True)
self.comboBox_device.setEnabled(True)
if self.language == 1:
self.connect_btn.setText('CONNECT')
else:
self.connect_btn.setText('连接')
self.btn_color(self.connect_btn, 'green')
self.btn_color(self.discern_btn, 'blue')
self.btn_status(False)
self.auto_mode_status = False
self.discern_status = False
self.crawl_status = False
self.place_status = False
self.img_coord_status = False
self.current_coord_status = False
self.is_pick = False
except AttributeError:
self.loger.info("Not yet connected to mycobot！！！")
def connect_checked(self):
"""State toggle for the connect button"""
if self.language == 1:
txt = 'CONNECT'
else:
txt = '连接'
if self.connect_btn.text() == txt:
self.connect_mycobot()
else:
self.disconnect_mycobot()
def btn_status(self, status=False):
"""Some button state settings"""
btn_blue = [self.to_origin_btn, self.crawl_btn, self.place_btn]
btn_green = [self.auto_btn, self.current_coord_btn, self.image_coord_btn]
if status:
for b in btn_blue:
b.setEnabled(True) # clickable
b.setStyleSheet("background-color: rgb(41, 128, 185);\n"
"color: rgb(255, 255, 255);\n"
"border-radius: 10px;\n"
"border: 2px groove gray;\n"
"border-style: outset;")
for b in btn_green:
b.setEnabled(True)
b.setStyleSheet("background-color: rgb(39, 174, 96);\n"
"color: rgb(255, 255, 255);\n"
"border-radius: 10px;\n"
"border: 2px groove gray;\n"
"border-style: outset;")
else:
for b in btn_blue:
b.setEnabled(False) # not clickable
b.setStyleSheet("background-color: rgb(185, 195, 199);\n"
"color: rgb(255, 255, 255);\n"
"border-radius: 10px;\n"
"border: 2px groove gray;\n"
"border-style: outset;")
for b in btn_green:
b.setEnabled(False)
b.setStyleSheet("background-color: rgb(185, 195, 199);\n"
"color: rgb(255, 255, 255);\n"
"border-radius: 10px;\n"
"border: 2px groove gray;\n"
"border-style: outset;")
def open_camera(self):
"""Turn on the camera"""
try:
if self.language == 1:
self.prompts('Opening camera, please wait....')
else:
self.prompts('正在打开相机，请稍后....')
QApplication.processEvents()
self.camera_status = True
self.camera_edit.setEnabled(False)
flag = self.cap.open(int(self.camera_edit.text())) # Get the serial number of the camera to open
if not flag: # Flag indicates whether the camera is successfully opened
if self.language == 1:
self.prompts(
'The camera failed to open, please check whether the serial number is correct or the camera is connected.')
else:
self.prompts('相机打开失败，请检查序号是否正确或摄像头已连接.')
self.loger.error('Failed to open camera')
self.close_camera()
return
self.prompts_lab.clear()
self.yolov5_count = False
if self.language == 1:
self.add_img_btn.setText('Cut')
self.open_camera_btn.setText('Close')
else:
self.add_img_btn.setText('剪切')
self.open_camera_btn.setText('关闭')
self.btn_color(self.open_camera_btn, 'red')
except Exception as e:
e = traceback.format_exc()
self.loger.error('Unable to open camera' + str(e))
self.camera_status = False
self.camera_edit.setEnabled(True)
if self.language == 1:
self.open_camera_btn.setText('Open')
else:
self.open_camera_btn.setText('打开')
self.btn_color(self.open_camera_btn, 'green')
def close_camera(self):
"""turn off the camera"""
try:
self.camera_status = False
self.yolov5_is_not_pick = False
self.comboBox_function.setEnabled(True)
self.connect_btn.setEnabled(True)
self.is_yolov5_cut_btn_clicked = False
if self.has_mycobot():
self.auto_mode_status = True
self.auto_mode()
self.cap.release() # free video stream
self.camera_edit.setEnabled(True)
self.show_camera_lab.clear() # Clear the video display area
if self.language == 1:
self.open_camera_btn.setText('Open')
else:
self.open_camera_btn.setText('打开')
self.btn_color(self.open_camera_btn, 'green')
self._init_variable()
self.buad_choose()
self.prompts_lab.clear()
except Exception as e:
e = traceback.format_exc()
self.loger.error('camera off exception' + str(e))
def camera_checked(self):
"""Bind camera switch"""
if self.language == 1:
txt = 'Open'
else:
txt = '打开'
if self.open_camera_btn.text() == txt:
self.open_camera_func = 1
self.show_camera()
else:
if self.language == 1:
txt = 'Cut'
else:
txt = '剪切'
if self.add_img_btn.text() == txt:
if self.language == 1:
self.add_img_btn.setText('Add')
else:
self.add_img_btn.setText('添加')
self.close_camera()
def show_camera(self):
"""matching algorithm for identification"""
try:
if not self.camera_status: #
self.open_camera()
if not self.camera_status:
return
# Define Keypoints image storage/reading path
num = sum_x = sum_y = 0
is_release = False
while self.camera_status:
func = self.comboBox_function.currentText()
if func == 'Color recognition' or func == '颜色识别':
self.prompts_lab.clear()
# read camera
_, frame = self.cap.read()
# deal img
frame = self.transform_frame(frame)
QApplication.processEvents()
if self._init_ > 0:
self._init_ -= 1
if self.camera_status:
# The video color is converted back to RGB, so that it is the realistic color
show = cv2.cvtColor(frame, cv2.COLOR_BGR2RGB)
# Convert the read video data into QImage format
showImage = QtGui.QImage(show.data, show.shape[1], show.shape[0], show.shape[1] * 3,
QtGui.QImage.Format_RGB888)
# Display the QImage in the Label that displays the video
self.show_camera_lab.setPixmap(QtGui.QPixmap.fromImage(showImage))
continue
# calculate the parameters of camera clipping
QApplication.processEvents()
if self.init_num < 20:
if self.get_calculate_params(frame) is None:
if self.camera_status:
show = cv2.cvtColor(frame, cv2.COLOR_BGR2RGB)
showImage = QtGui.QImage(show.data, show.shape[1], show.shape[0], show.shape[1] * 3,
QtGui.QImage.Format_RGB888)
self.show_camera_lab.setPixmap(
QtGui.QPixmap.fromImage(showImage))
continue
else:
x1, x2, y1, y2 = self.get_calculate_params(frame)
self.draw_marker(frame, x1, y1)
self.draw_marker(frame, x2, y2)
self.sum_x1 += x1
self.sum_x2 += x2
self.sum_y1 += y1
self.sum_y2 += y2
self.init_num += 1
continue
elif self.init_num == 20:
self.set_cut_params(
(self.sum_x1) / 20.0,
(self.sum_y1) / 20.0,
(self.sum_x2) / 20.0,
(self.sum_y2) / 20.0,
)
self.sum_x1 = self.sum_x2 = self.sum_y1 = self.sum_y2 = 0
self.init_num += 1
continue
# # calculate params of the coords between cube and mycobot
QApplication.processEvents()
if self.nparams < 10:
if self.get_calculate_params(frame) is None:
if self.camera_status:
show = cv2.cvtColor(frame, cv2.COLOR_BGR2RGB)
showImage = QtGui.QImage(show.data, show.shape[1], show.shape[0], show.shape[1] * 3,
QtGui.QImage.Format_RGB888)
self.show_camera_lab.setPixmap(
QtGui.QPixmap.fromImage(showImage))
continue
else:
x1, x2, y1, y2 = self.get_calculate_params(frame)
self.draw_marker(frame, x1, y1)
self.draw_marker(frame, x2, y2)
self.sum_x1 += x1
self.sum_x2 += x2
self.sum_y1 += y1
self.sum_y2 += y2
self.nparams += 1
continue
elif self.nparams == 10:
self.nparams += 1
# calculate and set params of calculating real coord between cube and mycobot
self.set_params(
(self.sum_x1 + self.sum_x2) / 20.0,
(self.sum_y1 + self.sum_y2) / 20.0,
abs(self.sum_x1 - self.sum_x2) / 10.0 +
abs(self.sum_y1 - self.sum_y2) / 10.0
)
self.loger.info("Color recognition ok")
continue
# get detect result
QApplication.processEvents()
detect_result = None
if self.discern_status:
detect_result = self.color_detect(frame)
if detect_result is None:
if self.camera_status:
show = cv2.cvtColor(frame, cv2.COLOR_BGR2RGB)
showImage = QtGui.QImage(show.data, show.shape[1], show.shape[0], show.shape[1] * 3,
QtGui.QImage.Format_RGB888)
self.show_camera_lab.setPixmap(QtGui.QPixmap.fromImage(showImage))
continue
else:
x, y = detect_result
# calculate real coord between cube and mycobot
self.real_x, self.real_y = self.get_position(x, y)
if self.num == 20:
if self.crawl_status or self.place_status:
self.decide_move(self.real_sx / 20.0, self.real_sy / 20.0, self.color)
self.num = self.real_sx = self.real_sy = 0
else:
self.num += 1
self.real_sy += self.real_y
self.real_sx += self.real_x
if self.camera_status:
show = cv2.cvtColor(frame, cv2.COLOR_BGR2RGB)
showImage = QtGui.QImage(show.data, show.shape[1], show.shape[0], show.shape[1] * 3,
QtGui.QImage.Format_RGB888)
self.show_camera_lab.setPixmap(QtGui.QPixmap.fromImage(showImage))
elif func == 'Keypoints' or func == '特征点识别':
try:
res_queue = [[], [], [], []]
res_queue[0] = self.parse_folder('res/D')
res_queue[1] = self.parse_folder('res/C')
res_queue[2] = self.parse_folder('res/A')
res_queue[3] = self.parse_folder('res/B')
QApplication.processEvents()
self.prompts_lab.clear()
# read camera
_, frame = self.cap.read()
# deal img
frame = self.transform_frame(frame)
if self.init_num < 20:
if self.get_calculate_params(frame) is None:
if self.camera_status:
show = cv2.cvtColor(frame, cv2.COLOR_BGR2RGB)
showImage = QtGui.QImage(show.data, show.shape[1], show.shape[0], show.shape[1] * 3,
QtGui.QImage.Format_RGB888)
self.show_camera_lab.setPixmap(
QtGui.QPixmap.fromImage(showImage))
continue
else:
x1, x2, y1, y2 = self.get_calculate_params(frame)
self.draw_marker(frame, x1, y1)
self.draw_marker(frame, x2, y2)
self.sum_x1 += x1
self.sum_x2 += x2
self.sum_y1 += y1
self.sum_y2 += y2
self.init_num += 1
continue
elif self.init_num == 20:
self.set_cut_params(
(self.sum_x1) / 20.0,
(self.sum_y1) / 20.0,
(self.sum_x2) / 20.0,
(self.sum_y2) / 20.0,
)
self.sum_x1 = self.sum_x2 = self.sum_y1 = self.sum_y2 = 0
self.init_num += 1
continue
# calculate params of the coords between cube and mycobot
if self.nparams < 10:
if self.get_calculate_params(frame) is None:
if self.camera_status:
show = cv2.cvtColor(frame, cv2.COLOR_BGR2RGB)
showImage = QtGui.QImage(show.data, show.shape[1], show.shape[0], show.shape[1] * 3,
QtGui.QImage.Format_RGB888)
self.show_camera_lab.setPixmap(
QtGui.QPixmap.fromImage(showImage))
continue
else:
x1, x2, y1, y2 = self.get_calculate_params(frame)
self.draw_marker(frame, x1, y1)
self.draw_marker(frame, x2, y2)
self.sum_x1 += x1
self.sum_x2 += x2
self.sum_y1 += y1
self.sum_y2 += y2
self.nparams += 1
self.loger.info("Keypoints ok")
continue
elif self.nparams == 10:
self.nparams += 1
# calculate and set params of calculating real coord between cube and mycobot
self.set_params((self.sum_x1 + self.sum_x2) / 20.0,
(self.sum_y1 + self.sum_y2) / 20.0,
abs(self.sum_x1 - self.sum_x2) / 10.0 +
abs(self.sum_y1 - self.sum_y2) / 10.0)
self.loger.info("ok")
continue
# get detect result
detect_result = None
for i, v in enumerate(res_queue):
if self.discern_status:
detect_result = self.obj_detect(frame, v)
if detect_result is None:
if self.camera_status:
show = cv2.cvtColor(frame, cv2.COLOR_BGR2RGB)
showImage = QtGui.QImage(show.data, show.shape[1], show.shape[0], show.shape[1] * 3,
QtGui.QImage.Format_RGB888)
self.show_camera_lab.setPixmap(
QtGui.QPixmap.fromImage(showImage))
continue
else:
x, y = detect_result
# calculate real coord between cube and mycobot
self.real_x, self.real_y = self.get_position(x, y)
if self.num == 5:
# self.color = i
# self.pub_marker(self.real_sx / 5.0 / 1000.0,
# self.real_sy / 5.0 / 1000.0)
if self.crawl_status:
self.decide_move(self.real_sx / 5.0, self.real_sy / 5.0,
self.color)
self.num = self.real_sx = self.real_sy = 0
else:
self.num += 1
self.real_sy += self.real_y
self.real_sx += self.real_x
if self.camera_status:
show = cv2.cvtColor(frame, cv2.COLOR_BGR2RGB)
showImage = QtGui.QImage(show.data, show.shape[1], show.shape[0], show.shape[1] * 3,
QtGui.QImage.Format_RGB888)
self.show_camera_lab.setPixmap(QtGui.QPixmap.fromImage(showImage))
except Exception as e:
e = traceback.format_exc()
self.loger.error('Abnormal image recognition：' + str(e))
elif func == 'QR code recognition' or func == '二维码识别':
try:
QApplication.processEvents()
self.prompts_lab.clear()
success, img = self.cap.read()
if not success:
break
if self.discern_status:
gray = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
corners, ids, rejectImaPoint = cv2.aruco.detectMarkers(
gray, self.aruco_dict, parameters=self.aruco_params
)
if len(corners) > 0:
if ids is not None:
ret = cv2.aruco.estimatePoseSingleMarkers(
corners, 0.03, self.camera_matrix, self.dist_coeffs
)