python-GUI键盘小工具
2024-10-20 17:23:29
一、tkinter GUI界面
二、实现功能
连接设备、设备上电、设备使能、键盘按键控制关节移动、配置关节移动速度和角度
三、python源码
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()
四、程序打包
生成open.exe 文件，将其发送给未安装python的人，点击即可使用。
如果一个人不懂得照顾自己的情绪，不懂得表达自己的情绪的话，要么压抑生病，要么突然暴怒、欺负别人，因为这些情绪都没有消失，而是在生命中不断的累积。
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