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update plotcanvas

This commit is contained in:
Your Name 2020-12-12 23:12:25 +08:00
parent b1e816b98a
commit 4b6bde22dc
6 changed files with 23 additions and 16 deletions
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control/gui/images/open.jpg
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control/gui/images/xt.jpg Normal file
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2
control/gui/main.py
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@ -6,7 +6,7 @@ if __name__== '__main__':
app = QApplication(sys.argv) app = QApplication(sys.argv)
ui = Gui2Ros() ui = Gui2Ros()
ui.show() ui.show()
sys.exit(app.exec_()) # main circulation sys.exit(app.exec_())

22
control/gui/plotcanvas.py
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@ -6,9 +6,8 @@ from PyQt5.QtWidgets import QApplication, QMainWindow, QSizePolicy
class PlotCanvas(FigureCanvas): class PlotCanvas(FigureCanvas):
def __init__(self, parent=None, map='indoor1'): def __init__(self, parent=None, Map='indoor1'):
#fig = Figure() self.Image_PreProcessing(Map)
#self.Image_PreProcessing(map)
img = plt.imread('./images/open.jpg') img = plt.imread('./images/open.jpg')
self.fig, self.ax = plt.subplots() self.fig, self.ax = plt.subplots()
self.ax.imshow(img, extent=[-50, 100, -50, 50]) self.ax.imshow(img, extent=[-50, 100, -50, 50])
@ -25,6 +24,17 @@ class PlotCanvas(FigureCanvas):
FigureCanvas.setSizePolicy(self, QSizePolicy.Expanding, QSizePolicy.Expanding) FigureCanvas.setSizePolicy(self, QSizePolicy.Expanding, QSizePolicy.Expanding)
FigureCanvas.updateGeometry(self) FigureCanvas.updateGeometry(self)
#def Image_PreProcessing(self,map): def canvas_update(self, Map):
# if map == 'robocup': self.Image_PreProcessing(Map)
# im = Image.open('/home/calt01-1302//xtdrone_pyqt5/images/robocup_world.jpg') img = plt.imread('./images/open.jpg')
self.ax.imshow(img, extent=[-50, 100, -50, 50])
self.draw()
def Image_PreProcessing(self,Map):
if Map == 'robocup':
im = Image.open('./images/robocup_world.jpg')
print('robocup')
else:
im = Image.open('./images/xt.jpg')
imBackground = im.resize((876, 587)) #701 470 840 564
imBackground.save('./images/open.jpg')

1
control/gui/receive.py
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@ -31,7 +31,6 @@ class Ros2Gui(QThread):
self.multirotor_type + '_' + str(id_1) + "/mavros/local_position/pose", PoseStamped, self.local_pose_callback, id_1) self.multirotor_type + '_' + str(id_1) + "/mavros/local_position/pose", PoseStamped, self.local_pose_callback, id_1)
self.local_vel_sub[id_1] = rospy.Subscriber( self.local_vel_sub[id_1] = rospy.Subscriber(
self.multirotor_type + '_' + str(id_1) + "/mavros/local_position/velocity_body", TwistStamped, self.local_vel_callback, id_1) self.multirotor_type + '_' + str(id_1) + "/mavros/local_position/velocity_body", TwistStamped, self.local_vel_callback, id_1)
self.leader_cmd_vel_sub = rospy.Subscriber('/xtdrone/' + self.multirotor_type + '_0' + '/cmd_vel_flu', Twist, self.hhhhhhh)
def run(self): def run(self):
print('RUN Thread') print('RUN Thread')

14
control/gui/send.py
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@ -18,7 +18,7 @@ class Gui2Ros(QMainWindow,xt_ui.Ui_MainWindow):
super(Gui2Ros, self).__init__() super(Gui2Ros, self).__init__()
self.setupUi(self) self.setupUi(self)
self.map = 'indoor1' self.map = 'indoor1'
# self.comboBox_maps.currentIndexChanged.connect(self.initplot) self.comboBox_maps.currentIndexChanged.connect(self.initplot)
self.button_run.clicked.connect(self.startrun) self.button_run.clicked.connect(self.startrun)
self.cmd = '' self.cmd = ''
self.ctrl_leader = True self.ctrl_leader = True
@ -26,20 +26,18 @@ class Gui2Ros(QMainWindow,xt_ui.Ui_MainWindow):
self.close_flag = False self.close_flag = False
self.local_pose = PoseStamped() self.local_pose = PoseStamped()
self.local_vel = Twist() self.local_vel = Twist()
self.m = PlotCanvas(self, map=self.map) self.m = PlotCanvas(self, self.map)
self.m.move(180, 0) self.m.move(180, 0)
self.x = [[]for i in range(self.multirotor_num)] self.x = [[]for i in range(self.multirotor_num)]
self.y = [[] for i in range(self.multirotor_num)] self.y = [[] for i in range(self.multirotor_num)]
# def initplot(self): def initplot(self):
# self.map = self.comboBox_maps.currentText() self.map = self.comboBox_maps.currentText()
# self.m = PlotCanvas(self, map=self.map) self.m.canvas_update(self.map)
# self.m.move(180, 0)
def startrun(self): def startrun(self):
print 'start run!' print 'start run!'
# self.m = PlotCanvas(self, num=self.multirotor_num)
# self.m.move(180, 0)
self.pSend2ros = Process(target=self.run_process) self.pSend2ros = Process(target=self.run_process)
self.pSend2ros.start() self.pSend2ros.start()
self.text_thread = Ros2Gui(self.multirotor_num, self.multirotor_type) self.text_thread = Ros2Gui(self.multirotor_num, self.multirotor_type)