forked from wangtao/SoftwareEngineeringCase
404 lines
15 KiB
Python
404 lines
15 KiB
Python
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# -*- coding:utf-8 -*-
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import os
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import sys
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import time
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from multiprocessing import Process
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import subprocess
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import ctypes
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sys.path.append(os.path.dirname(os.path.dirname(os.path.abspath(__file__))))
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sys.path.append(os.path.dirname(os.path.abspath(__file__)))
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from PyQt5 import QtCore, QtGui, QtWidgets
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from PyQt5.QtWidgets import QApplication, QMainWindow, QFileDialog, QMessageBox, QTableWidgetItem
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from MainWindowDesigner import Ui_MainWindow
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from InitResource import get_icon, get_pixmap, get_gif
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from AppSettingDialog import AppSettingDialog
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STD_INPUT_HANDLE = -10
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STD_OUTPUT_HANDLE = -11
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STD_ERROR_HANDLE = -12
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# 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
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#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
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# Windows CMD命令行 字体颜色定义 text colors
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FOREGROUND_BLACK = 0x00 # black.
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FOREGROUND_DARKBLUE = 0x01 # dark blue.
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FOREGROUND_DARKGREEN = 0x02 # dark green.
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FOREGROUND_DARKSKYBLUE = 0x03 # dark skyblue.
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FOREGROUND_DARKRED = 0x04 # dark red.
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FOREGROUND_DARKPINK = 0x05 # dark pink.
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FOREGROUND_DARKYELLOW = 0x06 # dark yellow.
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FOREGROUND_DARKWHITE = 0x07 # dark white.
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FOREGROUND_DARKGRAY = 0x08 # dark gray.
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FOREGROUND_BLUE = 0x09 # blue.
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FOREGROUND_GREEN = 0x0a # green.
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FOREGROUND_SKYBLUE = 0x0b # skyblue.
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FOREGROUND_RED = 0x0c # red.
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FOREGROUND_PINK = 0x0d # pink.
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FOREGROUND_YELLOW = 0x0e # yellow.
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FOREGROUND_WHITE = 0x0f # white.
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# Windows CMD命令行 背景颜色定义 background colors
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BACKGROUND_BLUE = 0x10 # dark blue.
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BACKGROUND_GREEN = 0x20 # dark green.
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BACKGROUND_DARKSKYBLUE = 0x30 # dark skyblue.
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BACKGROUND_DARKRED = 0x40 # dark red.
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BACKGROUND_DARKPINK = 0x50 # dark pink.
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BACKGROUND_DARKYELLOW = 0x60 # dark yellow.
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BACKGROUND_DARKWHITE = 0x70 # dark white.
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BACKGROUND_DARKGRAY = 0x80 # dark gray.
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BACKGROUND_BLUE = 0x90 # blue.
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BACKGROUND_GREEN = 0xa0 # green.
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BACKGROUND_SKYBLUE = 0xb0 # skyblue.
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BACKGROUND_RED = 0xc0 # red.
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BACKGROUND_PINK = 0xd0 # pink.
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BACKGROUND_YELLOW = 0xe0 # yellow.
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BACKGROUND_WHITE = 0xf0 # white.
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# get handle
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std_out_handle = ctypes.windll.kernel32.GetStdHandle(STD_OUTPUT_HANDLE)
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def set_cmd_text_color(color, handle=std_out_handle):
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Bool = ctypes.windll.kernel32.SetConsoleTextAttribute(handle, color)
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return Bool
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#reset white
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def resetColor():
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set_cmd_text_color(FOREGROUND_RED | FOREGROUND_GREEN | FOREGROUND_BLUE)
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###############################################################
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#暗蓝色
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#dark blue
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def printDarkBlue(mess):
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set_cmd_text_color(FOREGROUND_DARKBLUE)
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sys.stdout.write(mess)
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resetColor()
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#暗绿色
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#dark green
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def printDarkGreen(mess):
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set_cmd_text_color(FOREGROUND_DARKGREEN)
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sys.stdout.write(mess)
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resetColor()
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#暗天蓝色
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#dark sky blue
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def printDarkSkyBlue(mess):
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set_cmd_text_color(FOREGROUND_DARKSKYBLUE)
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sys.stdout.write(mess)
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resetColor()
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#暗红色
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#dark red
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def printDarkRed(mess):
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set_cmd_text_color(FOREGROUND_DARKRED)
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sys.stdout.write(mess)
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resetColor()
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#暗粉红色
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#dark pink
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def printDarkPink(mess):
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set_cmd_text_color(FOREGROUND_DARKPINK)
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sys.stdout.write(mess)
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resetColor()
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#暗黄色
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#dark yellow
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def printDarkYellow(mess):
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set_cmd_text_color(FOREGROUND_DARKYELLOW)
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sys.stdout.write(mess)
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resetColor()
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#暗白色
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#dark white
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def printDarkWhite(mess):
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set_cmd_text_color(FOREGROUND_DARKWHITE)
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sys.stdout.write(mess)
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resetColor()
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#暗灰色
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#dark gray
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def printDarkGray(mess):
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set_cmd_text_color(FOREGROUND_DARKGRAY)
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sys.stdout.write(mess)
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resetColor()
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#蓝色
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#blue
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def printBlue(mess):
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set_cmd_text_color(FOREGROUND_BLUE)
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sys.stdout.write(mess)
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resetColor()
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#绿色
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#green
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def printGreen(mess):
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set_cmd_text_color(FOREGROUND_GREEN)
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sys.stdout.write(mess)
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resetColor()
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#天蓝色
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#sky blue
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def printSkyBlue(mess):
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set_cmd_text_color(FOREGROUND_SKYBLUE)
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sys.stdout.write(mess)
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resetColor()
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#红色
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#red
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def printRed(mess):
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set_cmd_text_color(FOREGROUND_RED)
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sys.stdout.write(mess)
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resetColor()
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#粉红色
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#pink
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def printPink(mess):
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set_cmd_text_color(FOREGROUND_PINK)
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sys.stdout.write(mess)
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resetColor()
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#黄色
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#yellow
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def printYellow(mess):
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set_cmd_text_color(FOREGROUND_YELLOW)
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sys.stdout.write(mess)
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resetColor()
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#白色
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#white
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def printWhite(mess):
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set_cmd_text_color(FOREGROUND_WHITE)
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sys.stdout.write(mess)
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resetColor()
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##################################################
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#白底黑字
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#white bkground and black text
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def printWhiteBlack(mess):
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set_cmd_text_color(FOREGROUND_BLACK | BACKGROUND_WHITE)
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sys.stdout.write(mess)
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resetColor()
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#白底黑字
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#white bkground and black text
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def printWhiteBlack_2(mess):
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set_cmd_text_color(0xf0)
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sys.stdout.write(mess)
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resetColor()
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#黄底蓝字
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#white bkground and black text
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def printYellowRed(mess):
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set_cmd_text_color(BACKGROUND_YELLOW | FOREGROUND_RED)
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sys.stdout.write(mess)
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resetColor()
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##############################################################
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global location
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location = "KSFO"
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class MainWindow(QMainWindow, Ui_MainWindow):
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def __init__(self):
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super(MainWindow, self).__init__(None)
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self.setupUi(self)
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#
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self.init_app_config()
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self.init_window_ui()
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self.init_toolBar_ui()
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self.init_toolBox_ui()
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self.connect_signal_slot()
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def init_app_config(self):
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#
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self.setting_filename = os.path.dirname(os.path.dirname(__file__)) + \
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r"\resource\data\setting.ini"
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self.qSetting = QtCore.QSettings(self.setting_filename, QtCore.QSettings.IniFormat)
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#
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self.working_dir = str(self.qSetting.value("lastFileDir"))
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if self.working_dir is None or not os.path.isdir(self.working_dir):
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self.working_dir = os.path.expanduser('~')
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#
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self.qSetting.setValue("lastFileDir", self.working_dir)
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#
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self.sklearn_params_filepath = str(self.qSetting.value("sklearnParamsFilepath"))
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if self.sklearn_params_filepath is None or not os.path.isdir(self.sklearn_params_filepath):
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self.sklearn_params_filepath = os.path.dirname(os.path.dirname(__file__)) + \
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r"\resource\data\sklearn_params.json"
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self.qSetting.setValue("sklearnParamsFilepath", self.sklearn_params_filepath)
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#
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self.curl_bin_dir = str(self.qSetting.value("curlBinDir"))
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if self.curl_bin_dir is None or not os.path.isdir(self.curl_bin_dir):
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self.curl_bin_dir = os.path.dirname(os.path.dirname(__file__)) + \
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r"\bin\curl-7.65.3-win64-mingw\bin"
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#
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self.qSetting.setValue("curlBinDir", self.curl_bin_dir)
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def init_window_ui(self):
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self.setWindowIcon(get_icon("s"))
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self.setWindowFlags(QtCore.Qt.WindowMinimizeButtonHint|QtCore.Qt.WindowCloseButtonHint)
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def init_toolBar_ui(self):
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self.mainToolBar = QtWidgets.QToolBar(self)
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self.mainToolBar.setMovable(False)
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self.mainToolBar.setToolButtonStyle(QtCore.Qt.ToolButtonTextUnderIcon)
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self.mainToolBar.setObjectName("mainToolBar")
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self.addToolBar(QtCore.Qt.TopToolBarArea, self.mainToolBar)
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#
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self.appSettingToolBarAction = QtWidgets.QAction(get_icon("toolBarAppSetting"), "设置", self)
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self.mainToolBar.addAction(self.appSettingToolBarAction)
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self.mainToolBar.addSeparator()
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self.helpToolBarAction = QtWidgets.QAction(get_icon("toolBarHelp"), "帮助", self)
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self.mainToolBar.addAction(self.helpToolBarAction)
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self.feedbackToolBarAction = QtWidgets.QAction(get_icon("toolBarFeedback"), "反馈", self)
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self.mainToolBar.addAction(self.feedbackToolBarAction)
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self.aboutToolBarAction = QtWidgets.QAction(get_icon("toolBarAbout"), "关于", self)
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self.mainToolBar.addAction(self.aboutToolBarAction)
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def init_toolBox_ui(self):
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# 虚拟飞行
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self.toolBoxTreeWidget.topLevelItem(0).setIcon(0, get_icon("select_folder"))
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self.toolBoxTreeWidget.topLevelItem(0).child(0).setIcon(0, get_icon("1"))
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self.toolBoxTreeWidget.topLevelItem(0).child(1).setIcon(0, get_icon("select_folder"))
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self.toolBoxTreeWidget.topLevelItem(0).child(1).child(0).setIcon(0, get_icon("2"))
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self.toolBoxTreeWidget.topLevelItem(0).child(1).child(1).setIcon(0, get_icon("9"))
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self.toolBoxTreeWidget.topLevelItem(0).child(1).child(2).setIcon(0, get_icon("10"))
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self.toolBoxTreeWidget.topLevelItem(0).child(1).child(3).setIcon(0, get_icon("3"))
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# 作战控制台
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self.toolBoxTreeWidget.topLevelItem(1).setIcon(0, get_icon("select_folder"))
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self.toolBoxTreeWidget.topLevelItem(1).child(0).setIcon(0, get_icon("Cygwin-Terminal"))
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self.toolBoxTreeWidget.topLevelItem(1).child(1).setIcon(0, get_icon("tableFile_FileListTreeWidget"))
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self.toolBoxTreeWidget.topLevelItem(1).child(2).setIcon(0, get_icon("dataViewToolBar"))
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#self.toolBoxTreeWidget.topLevelItem(1).child(3).setIcon(0, get_icon("toolBoxToolTreeWidget"))
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# 智能控制台
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self.toolBoxTreeWidget.topLevelItem(1).child(3).setIcon(0, get_icon("select_folder"))
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self.toolBoxTreeWidget.topLevelItem(1).child(3).child(0).setIcon(0, get_icon("Cygwin-Terminal"))
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self.toolBoxTreeWidget.topLevelItem(1).child(3).child(1).setIcon(0, get_icon("5"))
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self.toolBoxTreeWidget.topLevelItem(1).child(3).child(2).setIcon(0, get_icon("6"))
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self.toolBoxTreeWidget.topLevelItem(1).child(3).child(3).setIcon(0, get_icon("7"))
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# 地面站
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self.toolBoxTreeWidget.topLevelItem(2).setIcon(0, get_icon("select_folder"))
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self.toolBoxTreeWidget.topLevelItem(2).child(0).setIcon(0, get_icon("4"))
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def connect_signal_slot(self):
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self.appSettingToolBarAction.triggered.connect(self.appSettingToolBarActionTriggered)
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self.toolBoxTreeWidget.doubleClicked.connect(self.toolBoxTreeWidgetDoubleClicked)
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def appSettingToolBarActionTriggered(self):
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appSettingDialog = AppSettingDialog(self.qSetting)
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appSettingDialog.exec()
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def toolBoxTreeWidgetDoubleClicked(self):
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selectToolName = self.toolBoxTreeWidget.currentItem().text(0)
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global location
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if selectToolName == "启动FlightGear飞行模拟器":
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printSkyBlue(u'正在启动FlightGear飞行模拟器......\n')
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process1 = subprocess.Popen(["C:/cygwin64/home/Lenovo/ardupilot/Tools/autotest/fg_quad_view.bat"])
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#printSkyBlue(u'FlightGear飞行模拟器启动完成\n')
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#subprocess.call("start /wait C:/cygwin64/home/Lenovo/ardupilot/Tools/autotest/fg_quad_view.bat", shell=True)
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#son_p1=Process(target=run_FlightGear,args={})
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#son_p1.start()
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#son_p1.join()
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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()
|