python-GUI键盘小工具

  1 #coding=utf-8
  2 import msvcrt
  3 import threading
  4 from tkinter import *
  5 from tkinter import ttk
  6 import tkinter as tk
  7 from DucoCobot import DucoCobot
  8 import math
  9 
 10 class Display():
 11     def __init__(self):
 12         self.root = tk.Tk()
 13         self.root.title("DUCO CORE KEYBOARD CONTROL")
 14         self.dic_key = {"q": 1, "a": -1, "w": 1, "s": -1, "e": 1, "d": -1,
 15                    "u": 1, "j": -1, "i": 1, "k": -1, "o": 1, "l": -1}
 16 
 17         #第一行
 18         self.ip_label = Label(self.root, text="ip: ")
 19         self.ip_demo = StringVar(value="192.168.12.111")
 20         self.ip_field = Entry(self.root, textvariable=self.ip_demo)
 21         self.ip_label.grid(row=0, column=0, padx=10, pady=10)
 22         self.ip_field.grid(row=0, column=1, padx=10, sticky=W)
 23         self.ip = Entry.get(self.ip_field)
 24         # 第二行
 25         self.port_label = Label(self.root, text="port: ")
 26         self.port_demo = StringVar(value="7003")
 27         self.port_field = Entry(self.root, textvariable=self.port_demo)
 28         self.port_label.grid(row=1, column=0, padx=10, pady=5)
 29         self.port_field.grid(row=1, column=1, padx=10, sticky=W)
 30         self.port = Entry.get(self.port_field)
 31         #第三行
 32         self.speed_label = Label(self.root, text="joint speed: ")
 33         self.speed_demo = StringVar(value="10")
 34         self.speed_field = Entry(self.root, textvariable=self.speed_demo)
 35         self.speed_label.grid(row=2, column=0, padx=10, pady=5)
 36         self.speed_field.grid(row=2, column=1, padx=10, sticky=W)
 37 
 38         #第四行
 39         self.angle_label = Label(self.root, text="joint angle: ")
 40         self.angle_demo = StringVar(value="5")
 41         self.angle_field = Entry(self.root, textvariable=self.angle_demo)
 42         self.angle_label.grid(row=3, column=0, padx=10, pady=5)
 43         self.angle_field.grid(row=3, column=1, padx=10, sticky=W)
 44 
 45         # 第五行
 46         self.button_connect = Button(self.root, text="connect", command=self.connect_robot)
 47         self.button_connect.grid(row=4, column=0, padx=10, pady=5)
 48         self.button_poweron = Button(self.root, text="poweron", command=self.poweron)
 49         self.button_poweron.grid(row=4, column=1, padx=10)
 50         self.button_enable = Button(self.root, text="enable", command=self.enable)
 51         self.button_enable.grid(row=4, column=2, padx=10)
 52         self.button_speedj = Button(self.root, text="speedj", command=lambda: self.thread_it(self.speedj))
 53         self.button_speedj.grid(row=4, column=3, padx=10)
 54         self.button_speedl = Button(self.root, text="speedl", command=lambda: self.thread_it(self.speedl))
 55         self.button_speedl.grid(row=4, column=4 ,padx=10)
 56         self.button_speedj = Button(self.root, text="servoj", command=lambda: self.thread_it(self.servoj))
 57         self.button_speedj.grid(row=4, column=5, padx=10)
 58         self.button_speedl = Button(self.root, text="servoj_pose", command=lambda: self.thread_it(self.servoj_pose))
 59         self.button_speedl.grid(row=4, column=6, padx=10)
 60         #文本框
 61         self.app = ttk.Frame()
 62         self.app.grid(row=5, columnspan=8)
 63         self.fram1 = LabelFrame(self.app, text='log')
 64         self.fram1.grid(row=5, pady=10, padx=10)
 65         self.win_output = Text(self.fram1)
 66         self.win_output.grid(row=5, sticky=E + W + N + S, pady=10, padx=10)
 67         self.scrollbar = Scrollbar(self.fram1, orient="vertical", command=self.win_output.yview)
 68         self.scrollbar.grid(row=5, column=8, sticky=E, rowspan=80)
 69         self.scrollbar.config(command=self.win_output.yview)
 70         self.win_output.config(yscrollcommand=self.scrollbar.set)
 71 
 72         self.root.mainloop()
 73 
 74     def get_ip_port_open(self):
 75         self.ip = Entry.get(self.ip_field)
 76         self.port = Entry.get(self.port_field)
 77         self.duco_cobot = DucoCobot(self.ip, self.port)
 78         self.duco_cobot.open()
 79 
 80     def connect_robot(self):
 81         self.ip = Entry.get(self.ip_field)
 82         self.port = Entry.get(self.port_field)
 83         self.duco_cobot = DucoCobot(self.ip, self.port)
 84         if self.duco_cobot.open() == 0:
 85             self.write("{}:{} connect success".format(self.ip, self.port))
 86 
 87     def poweron(self):
 88         self.get_ip_port_open()
 89         self.duco_cobot.power_on(True)
 90         state = self.duco_cobot.get_robot_state()
 91         if state[0] == 5 or 6:
 92             self.write("poweron success")
 93         else:
 94             self.write("poweron fault")
 95             self.write("get_robot_state: {}".format(state))
 96 
 97     def enable(self):
 98         self.get_ip_port_open()
 99         self.duco_cobot.enable(True)
100         state = self.duco_cobot.get_robot_state()
101         if state[0] == 6:
102             self.write("enable success")
103         else:
104             self.write("enable fault")
105             self.write("get_robot_state: {}".format(state))
106 
107     def speedj(self):
108         self.get_ip_port_open()
109         self.write("please press key:")
110         self.win_output.bind("<KeyPress>", self.speedj_action)
111 
112     def speedj_action(self, event):
113         try:
114             self.joints_list = [0, 0, 0, 0, 0, 0]
115             self.speed = Entry.get(self.speed_field)
116             self.input_key = event.char
117             self.write(" is pressed, speedj speed is {}".format(self.speed))
118             self.key_index = list(self.dic_key.keys()).index(self.input_key) // 2
119             self.joints_list[self.key_index] += self.dic_key[self.input_key] * float(self.speed)
120             self.duco_cobot.speedj(self.joints_list, 0.8, 500, False)
121         except ValueError:
122             self.write(
123             "press fault, please press correct key(QA=joint1, WS=joint2,ED=joint3,UJ=joint4,IK=joint5,OL=joint6)")
124 
125     def speedl(self):
126         self.get_ip_port_open()
127         self.write("please press key:")
128         self.win_output.bind("<KeyPress>", self.speedl_action)
129 
130     def speedl_action(self, event):
131         try:
132             self.joints_list = [0, 0, 0, 0, 0, 0]
133             self.speed = Entry.get(self.speed_field)
134             self.input_key = event.char
135             self.write(" is pressed, speedl speed is {}".format(self.speed))
136             self.key_index = list(self.dic_key.keys()).index(self.input_key) // 2
137             self.joints_list[self.key_index] += self.dic_key[self.input_key] * float(self.speed)
138             self.duco_cobot.speedl(self.joints_list, 0.2, 500, False)
139         except ValueError:
140             self.write(
141             "press fault, please press correct key(QA=X, WS=Y,ED=Z,UJ=RX,IK=RY,OL=RZ)")
142 
143     def servoj(self):
144         self.get_ip_port_open()
145         self.write("please press key:")
146         self.win_output.bind("<KeyPress>", self.servoj_action)
147 
148     def servoj_action(self, event):
149         try:
150             position = self.duco_cobot.get_actual_joints_position()
151             self.angle = Entry.get(self.angle_field)
152             self.input_key = event.char
153             self.write(" is pressed, servoj angle is {}".format(self.angle))
154             self.key_index = list(self.dic_key.keys()).index(self.input_key) // 2
155             position[self.key_index] += self.dic_key[self.input_key] * math.radians(float(self.angle))
156             self.duco_cobot.servoj(position, 0.2, 0.4, False, 200, 25)
157         except ValueError:
158             self.write(
159             "press fault, please press correct key(QA=joint1, WS=joint2,ED=joint3,UJ=joint4,IK=joint5,OL=joint6)")
160 
161     def servoj_pose(self):
162         self.get_ip_port_open()
163         self.write("please press key:")
164         self.win_output.bind("<KeyPress>", self.servoj_pose_action)
165 
166     def servoj_pose_action(self, event):
167         try:
168             tcp_position = self.duco_cobot.get_tcp_pose()
169             joints_position = self.duco_cobot.get_actual_joints_position()
170             self.angle = Entry.get(self.angle_field)
171             self.input_key = event.char
172             self.write(" is pressed, servoj_pose angle is {}".format(self.angle))
173             self.key_index = list(self.dic_key.keys()).index(self.input_key) // 2
174             if self.key_index > 2:
175                 tcp_position[self.key_index] += self.dic_key[self.input_key] * math.radians(float(self.angle))
176             else:
177                 tcp_position[self.key_index] += self.dic_key[self.input_key] * float(self.angle) / 1000
178             self.duco_cobot.servoj_pose(tcp_position, 0.2, 0.4, joints_position, '', '', False, 200, 25)
179         except ValueError:
180             self.write(
181             "press fault, please press correct key(QA=X, WS=Y,ED=Z,UJ=RX,IK=RY,OL=RZ)")
182 
183 
184     def thread_it(self, func):
185         t = threading.Thread(target=func)
186         t.setDaemon(True)
187         t.start()
188 
189     def write(self, txt):
190         self.win_output.insert(END, str(txt+"\n"))
191 
192 if __name__ == '__main__':
193     Display()