import sys from dataclasses import dataclass from PyQt5.QtCore import * from PyQt5.QtWidgets import * import keyboard import DroneController # 假设只需要无人机控制 # mobile configuration @dataclass class Vehicle(): acc = 1 vehicle_type = 'drone' # 设置为无人机模式 veh = Vehicle() # form application # app = QApplication(sys.argv) class AirDroneClientWindow(QWidget): button_takeoff = QPushButton() button_land = QPushButton() button_up = QPushButton() button_down = QPushButton() button_f = QPushButton() button_b = QPushButton() button_l = QPushButton() button_r = QPushButton() button_weather = QPushButton() button_task = QPushButton() button_algorithm = QPushButton() button_formation = QPushButton() button_keyboard = QPushButton() weather_selection = QComboBox() label_gps_alt = QLabel() label_gps_lat = QLabel() label_gps_lon = QLabel() label_rot_w = QLabel() label_rot_y = QLabel() label_rot_z = QLabel() label_speed = QLabel() label_angle_speed = QLabel() refreshinfo = QTimer() def initUI(self): self.resize(500, 400) # 调整为更合适的尺寸 self.setWindowTitle("U21Data-2 Client") #self.set_background() self.setObjectName("AirDroneClientWindow") # 设置对象名称匹配选择器 self.setStyleSheet(self.styleSheet()) # 主垂直布局 main_layout = QVBoxLayout() # 添加Start Point部分 start_group = QGroupBox("Start Point") start_layout = QHBoxLayout() self.start_combo = QComboBox() self.start_combo.setEditable(True) self.start_combo.lineEdit().setReadOnly(True) self.start_combo.lineEdit().setAlignment(Qt.AlignCenter) self.start_combo.addItems(["9.8, -279, -22", "213, -429, 19","-315, -444, 12", "-335, 282, 19", "-152, 236, 66", "-430, -91, 13"]) self.start_combo.setCurrentIndex(-1) self.start_combo.lineEdit().setPlaceholderText("StartPoint") self.weather_selection = QComboBox() self.weather_selection.setEditable(True) self.weather_selection.lineEdit().setReadOnly(True) self.weather_selection.lineEdit().setAlignment(Qt.AlignCenter) self.weather_selection.addItems(["Clear", "Rain", "Snow", "Fog", "Overcast","Sand"]) self.weather_selection.setCurrentIndex(-1) self.weather_selection.lineEdit().setPlaceholderText("Weather") for widget in [self.start_combo, self.weather_selection]: widget.setSizePolicy(QSizePolicy.Expanding, QSizePolicy.Preferred) start_layout.addWidget(self.start_combo) start_layout.addWidget(self.weather_selection) start_group.setLayout(start_layout) # 添加功能按钮部分 func_group = QGroupBox("Functions") func_layout = QHBoxLayout() self.button_keyboard = QComboBox() self.button_keyboard.setEditable(True) self.button_keyboard.lineEdit().setReadOnly(True) self.button_keyboard.lineEdit().setAlignment(Qt.AlignCenter) self.button_keyboard.addItems(["Yes", "No"]) self.button_keyboard.setCurrentIndex(-1) self.button_keyboard.lineEdit().setPlaceholderText("Task") #Task self.task_combo = QComboBox() self.task_combo.setEditable(True) # 设置为可编辑 self.task_combo.lineEdit().setReadOnly(True) # 设置行编辑为只读 self.task_combo.lineEdit().setAlignment(Qt.AlignCenter) # 文字居中 self.task_combo.addItems(["Task 1", "Task 2", "Task 3"]) self.task_combo.setCurrentIndex(-1) # 不选中任何项 self.task_combo.lineEdit().setPlaceholderText("Task") # 设置Algorithm下拉框选项 self.algorithm_combo = QComboBox() self.algorithm_combo.setEditable(True) # 设置为可编辑 self.algorithm_combo.lineEdit().setReadOnly(True) # 设置行编辑为只读 self.algorithm_combo.lineEdit().setAlignment(Qt.AlignCenter) # 文字居中 self.algorithm_combo.addItems(["Algorithm 1", "Algorithm 2", "Algorithm 3"]) self.algorithm_combo.setCurrentIndex(-1) # 不选中任何项 self.algorithm_combo.lineEdit().setPlaceholderText("Algorithm") # 设置占位文本 # 设置Formation下拉框选项 self.formation_combo = QComboBox() self.formation_combo.setEditable(True) self.formation_combo.lineEdit().setReadOnly(True) self.formation_combo.lineEdit().setAlignment(Qt.AlignCenter) self.formation_combo.addItems(["Line Formation", "V Formation", "Square Formation", "Circle Formation"]) self.formation_combo.setCurrentIndex(-1) self.formation_combo.lineEdit().setPlaceholderText("Formation") # 设置控件大小策略 for widget in [self.task_combo, self.algorithm_combo, self.formation_combo, self.button_keyboard]: widget.setSizePolicy(QSizePolicy.Expanding, QSizePolicy.Preferred) # 添加控件到布局 func_layout.addWidget(self.task_combo) func_layout.addWidget(self.algorithm_combo) func_layout.addWidget(self.formation_combo) func_layout.addWidget(self.button_keyboard) func_group.setLayout(func_layout) # 添加飞行控制部分 flight_group = QGroupBox("Flight Controls") flight_layout = QVBoxLayout() # 将Takeoff, Land, Up, Down四个按钮放在同一行 top_row_layout = QHBoxLayout() self.button_takeoff = QPushButton("Takeoff") self.button_land = QPushButton("Land") self.button_up = QPushButton("Up") self.button_down = QPushButton("Down") # 设置按钮大小策略，使它们均匀分布 for button in [self.button_takeoff, self.button_land, self.button_up, self.button_down]: button.setSizePolicy(QSizePolicy.Expanding, QSizePolicy.Preferred) top_row_layout.addWidget(self.button_takeoff) top_row_layout.addWidget(self.button_land) top_row_layout.addWidget(self.button_up) top_row_layout.addWidget(self.button_down) top_row_layout.setSpacing(5) # 设置按钮间距 # 前后左右 move_layout = QGridLayout() self.button_f = QPushButton("Move Forward") self.button_b = QPushButton("Move Backward") self.button_l = QPushButton("Move Left") self.button_r = QPushButton("Move Right") move_layout.addWidget(self.button_f, 0, 1) move_layout.addWidget(self.button_b, 2, 1) move_layout.addWidget(self.button_l, 1, 0) move_layout.addWidget(self.button_r, 1, 2) flight_layout.addLayout(top_row_layout) flight_layout.addLayout(move_layout) flight_group.setLayout(flight_layout) # 添加日志信息部分 log_group = QGroupBox("Log") log_layout = QVBoxLayout() self.label_gps_alt = QLabel("GPS Altitude: ") self.label_gps_lat = QLabel("GPS Latitude: ") self.label_gps_lon = QLabel("GPS Longitude: ") self.label_rot_w = QLabel("Rotation w: ") self.label_rot_y = QLabel("Rotation y: ") self.label_rot_z = QLabel("Rotation z: ") self.label_speed = QLabel("Linear Speed: ") self.label_angle_speed = QLabel("Angle Speed: ") log_layout.addWidget(self.label_gps_alt) log_layout.addWidget(self.label_gps_lat) log_layout.addWidget(self.label_gps_lon) log_layout.addWidget(self.label_rot_w) log_layout.addWidget(self.label_rot_y) log_layout.addWidget(self.label_rot_z) log_layout.addWidget(self.label_speed) log_layout.addWidget(self.label_angle_speed) log_group.setLayout(log_layout) # 将所有组添加到主布局 main_layout.addWidget(start_group) main_layout.addWidget(func_group) main_layout.addWidget(flight_group) main_layout.addWidget(log_group) self.setLayout(main_layout) # 连接信号槽 self.button_takeoff.clicked.connect(DroneController.dronecontrol.TakeOff) self.button_land.clicked.connect(DroneController.dronecontrol.Landed) self.button_up.clicked.connect(self.up) self.button_down.clicked.connect(self.down) self.button_f.pressed.connect(self.forward) self.button_b.pressed.connect(self.backward) self.button_l.pressed.connect(self.left) self.button_r.pressed.connect(self.right) self.button_f.released.connect(self.stop) self.button_b.released.connect(self.stop) self.button_l.released.connect(self.stop) self.button_r.released.connect(self.stop) self.button_keyboard.currentIndexChanged.connect(self.EnableKeyboard) self.weather_selection.currentIndexChanged.connect(self.change_weather) self.algorithm_combo.currentIndexChanged.connect(self.on_algorithm_changed) self.formation_combo.currentIndexChanged.connect(self.on_formation_changed) self.task_combo.currentIndexChanged.connect(self.on_task_changed) self.start_combo.currentIndexChanged.connect(self.on_start_changed) # 自动刷新信息 self.refreshinfo.start(1000) self.refreshinfo.timeout.connect(self.setInfo) self.show() def setInfo(self): self.label_gps_alt.setText("GPS Altitude: " + str(DroneController.dronecontrol.GetState().gps_pos_altitude)) self.label_gps_lat.setText("GPS Latitude: " + str(DroneController.dronecontrol.GetState().gps_pos_latitude)) self.label_gps_lon.setText("GPS Longitude: " + str(DroneController.dronecontrol.GetState().gps_pos_longitude)) self.label_rot_w.setText("Rotation w: " + str(DroneController.dronecontrol.GetState().ori_x)) self.label_rot_y.setText("Rotation y: " + str(DroneController.dronecontrol.GetState().ori_y)) self.label_rot_z.setText("Rotation z: " + str(DroneController.dronecontrol.GetState().ori_z)) self.label_speed.setText("Linear Speed: " + str(DroneController.dronecontrol.GetState().linear_speed)) self.label_angle_speed.setText("Angle Speed: " + str(DroneController.dronecontrol.GetState().a_v_x)) # 移动功能 def forward(self): DroneController.dronecontrol.DroneMoveByTime(veh.acc, 0, 0) def backward(self): DroneController.dronecontrol.DroneMoveByTime(-veh.acc, 0, 0) def left(self): DroneController.dronecontrol.DroneMoveByTime(0, -veh.acc, 0) def right(self): DroneController.dronecontrol.DroneMoveByTime(0, veh.acc, 0) def stop(self): pass def up(self): DroneController.dronecontrol.DroneMoveByTime(0, 0, -veh.acc) def down(self): DroneController.dronecontrol.DroneMoveByTime(0, 0, veh.acc) def change_weather(self, index): if index >= 0: weather = self.weather_selection.currentText() if weather == "Snow": DroneController.dronecontrol.SnowTeleport() elif weather == "Rain": DroneController.dronecontrol.RainTeleport() elif weather == "Fog": DroneController.dronecontrol.FogTeleport() elif weather == "Overcast": DroneController.dronecontrol.OvercastTeleport() elif weather == "Clear": DroneController.dronecontrol.ClearTeleport() elif weather == "Sand": DroneController.dronecontrol.SandTeleport() def on_algorithm_changed(self, index): """Algorithm下拉框选择变化时的处理""" if index >= 0: selected_algorithm = self.algorithm_combo.currentText() print(f"Selected Algorithm: {selected_algorithm}") def on_formation_changed(self, index): """Formation下拉框选择变化时的处理""" if index >= 0: selected_formation = self.formation_combo.currentText() print(f"Selected Formation: {selected_formation}") def on_task_changed(self, index): """Task下拉框选择变化时的处理""" if index >= 0: selected_task = self.task_combo.currentText() print(f"Selected Task: {selected_task}") def on_start_changed(self, index): if index >= 0: pos = self.start_combo.currentText() if pos == "9.8, -279, -22": DroneController.dronecontrol.SnowTeleport() elif pos == "213, -429, 19": DroneController.dronecontrol.OvercastTeleport() elif pos == "-315, -444, 12": DroneController.dronecontrol.RainTeleport() elif pos == "-335, 282, 19": DroneController.dronecontrol.SandTeleport() elif pos == "-152, 236, 66": DroneController.dronecontrol.ClearTeleport() elif pos == "-430, -91, 13": DroneController.dronecontrol.FogTeleport() else: print(self.start_combo.currentIndex()) def EnableKeyboard(self): keyboard.hook(DroneController.dronecontrol.KeyboardControl) keyboard.wait() window = AirDroneClientWindow() window.initUI() window.setInfo() sys.exit(app.exec())