From d487f58c6be4ed22f735d12861b59b85c3a924b9 Mon Sep 17 00:00:00 2001
From: yincheng.zhong <634916154@qq.com>
Date: 星期六, 20 十二月 2025 21:53:25 +0800
Subject: [PATCH] HTTP下载路径文件成功，解析路径文件成功,CRC用的软件，硬件解析不对。准备改BOOT
---
python/realtime_control.py | 129 +++++++++++-------------------------------
1 files changed, 34 insertions(+), 95 deletions(-)
diff --git a/python/realtime_control.py b/python/realtime_control.py
index 3eb5ba0..17ab062 100644
--- a/python/realtime_control.py
+++ b/python/realtime_control.py
@@ -351,13 +351,14 @@
info_scroll.setMinimumWidth(320)
right_layout.addWidget(info_scroll, stretch=1)
- self.path_browse_btn.clicked.connect(self._browse_path_file)
- self.path_load_btn.clicked.connect(self._load_path_from_ui)
- self.origin_update_btn.clicked.connect(self._update_origin_from_ui)
- self.port_refresh_btn.clicked.connect(lambda: self._refresh_serial_ports(initial=False))
- self.serial_toggle_btn.clicked.connect(self._toggle_serial_connection)
- self.start_button.clicked.connect(self._start_control)
- self.stop_button.clicked.connect(self._stop_control)
+ if self.controller is not None:
+ self.path_browse_btn.clicked.connect(self._browse_path_file)
+ self.path_load_btn.clicked.connect(self._load_path_from_ui)
+ self.origin_update_btn.clicked.connect(self._update_origin_from_ui)
+ self.port_refresh_btn.clicked.connect(lambda: self._refresh_serial_ports(initial=False))
+ self.serial_toggle_btn.clicked.connect(self._toggle_serial_connection)
+ self.start_button.clicked.connect(self._start_control)
+ self.stop_button.clicked.connect(self._stop_control)
def _apply_saved_values(self):
path_file = self.gui_state.get("path_file", "")
@@ -541,69 +542,16 @@
self.port_combo.blockSignals(False)
def _toggle_serial_connection(self):
- if self.controller.is_connected():
- if self.controller.is_running():
- QtWidgets.QMessageBox.warning(self, "涓插彛", "璇峰厛鍋滄杩愬姩鎺у埗锛屽啀鍏抽棴涓插彛銆�")
- return
- self.controller.disconnect()
- QtWidgets.QMessageBox.information(self, "涓插彛", "涓插彛宸插叧闂��")
- else:
- port = self.port_combo.currentText().strip()
- if not port:
- QtWidgets.QMessageBox.warning(self, "涓插彛", "娌℃湁鍙敤涓插彛锛岃鍏堣繛鎺ヨ澶囥��")
- return
- try:
- self.controller.set_port(port)
- except RuntimeError as exc:
- QtWidgets.QMessageBox.warning(self, "涓插彛", str(exc))
- return
- if not self.controller.connect():
- QtWidgets.QMessageBox.warning(self, "涓插彛", "涓插彛鎵撳紑澶辫触锛岃妫�鏌ヨ繛鎺ャ��")
- return
- self._save_state({"serial_port": port})
- QtWidgets.QMessageBox.information(self, "涓插彛", f"涓插彛 {port} 宸叉墦寮�銆�")
- self._update_serial_ui()
- self._update_control_buttons()
+ QtWidgets.QMessageBox.warning(self, "涓插彛", "HITL 妯″紡涓嬭鎿嶄綔鐢变豢鐪熷櫒鎺у埗")
def _start_control(self):
- if self._is_control_running():
- return
- if not self.controller.mower_ctrl:
- QtWidgets.QMessageBox.warning(self, "鎺у埗", "璇峰厛鍔犺浇璺緞鏂囦欢銆�")
- return
- if not self.controller.is_connected():
- QtWidgets.QMessageBox.warning(self, "鎺у埗", "璇峰厛鎵撳紑涓插彛銆�")
- return
-
- self.start_button.setEnabled(False)
- self.stop_button.setEnabled(True)
-
- def control_entry():
- try:
- self.controller.run()
- except Exception as exc:
- print(f"[ERROR] 鎺у埗绾跨▼寮傚父: {exc}")
- QtCore.QMetaObject.invokeMethod(
- self,
- "_show_error_message",
- QtCore.Qt.QueuedConnection,
- QtCore.Q_ARG(str, f"鎺у埗绾跨▼寮傚父: {exc}"),
- )
- finally:
- QtCore.QMetaObject.invokeMethod(self, "_on_control_finished", QtCore.Qt.QueuedConnection)
-
- self.control_thread = threading.Thread(target=control_entry, daemon=True)
- self.control_thread.start()
- self._update_control_buttons()
+ QtWidgets.QMessageBox.warning(self, "鎺у埗", "HITL 妯″紡涓嬭閫氳繃浠跨湡鍣ㄥ惎鍔�")
def _stop_control(self):
- if not self._is_control_running():
- return
- self.controller.stop()
- self.stop_button.setEnabled(False)
+ QtWidgets.QMessageBox.warning(self, "鎺у埗", "HITL 妯″紡涓嬭閫氳繃浠跨湡鍣ㄥ仠姝�")
def _is_control_running(self) -> bool:
- return bool(self.control_thread and self.control_thread.is_alive())
+ return False
def _save_state(self, updates: Dict[str, str]):
self.gui_state.update(updates)
@@ -611,32 +559,23 @@
self.persist_state_cb(updates)
def _update_serial_ui(self):
- connected = self.controller.is_connected()
- self.serial_toggle_btn.setText("鍏抽棴涓插彛" if connected else "鎵撳紑涓插彛")
- self.port_combo.setEnabled(not connected)
- self.port_refresh_btn.setEnabled(not connected)
+ self.serial_toggle_btn.setEnabled(False)
+ self.port_combo.setEnabled(False)
+ self.port_refresh_btn.setEnabled(False)
def _update_control_buttons(self):
- can_start = bool(self.controller.mower_ctrl and self.controller.is_connected() and not self._is_control_running())
- self.start_button.setEnabled(can_start)
- self.stop_button.setEnabled(self._is_control_running())
+ self.start_button.setEnabled(False)
+ self.stop_button.setEnabled(False)
@QtCore.pyqtSlot()
def _on_control_finished(self):
- self.control_thread = None
- self._update_control_buttons()
- self.stop_button.setEnabled(False)
+ pass
@QtCore.pyqtSlot(str)
def _show_error_message(self, message: str):
QtWidgets.QMessageBox.warning(self, "閿欒", message)
def closeEvent(self, event):
- self._stop_control()
- if self.control_thread:
- self.control_thread.join(timeout=3.0)
- if self.controller.is_connected():
- self.controller.disconnect()
super().closeEvent(event)
else:
QtRealtimeDashboard = None
@@ -926,7 +865,7 @@
def disconnect(self):
"""鏂紑杩炴帴"""
if self.receiver:
- self.receiver.disconnect()
+ self.receiver.disconnect()
self.receiver = None
self.cmd_sender = None
@@ -1160,7 +1099,7 @@
if self._stop_event.is_set():
return
-
+
print("[INFO] 寮�濮嬫帶鍒跺惊鐜�")
while not self._stop_event.is_set():
@@ -1219,7 +1158,7 @@
# 鏁板瑙掑害杞湴鐞嗚搴︼細heading_err_deg
# 娉ㄦ剰 control_output['info']['heading_err'] 鏄姬搴�
heading_err_deg = math.degrees(control_info.get('heading_err', 0))
-
+
print(f"[LOG] POS_ENU: {x:.3f}, {y:.3f}, {z:.3f} | "
f"ATT(H/P/R): {gps_heading:.2f}掳, {gps_pitch:.2f}掳, {gps_roll:.2f}掳 | "
f"CTRL: S={status}, F={forward_signal}, T={turn_signal}, Err={xte:.2f}m")
@@ -1272,10 +1211,10 @@
self._stop_event.clear()
# 鍙戦�佸仠姝㈠懡浠� (涓綅鍊�)
if self.cmd_sender:
- print("[INFO] 鍙戦�佸仠姝㈠懡浠�...")
- for _ in range(5):
- self.cmd_sender.send_control_command(1500, 1500)
- time.sleep(0.02)
+ print("[INFO] 鍙戦�佸仠姝㈠懡浠�...")
+ for _ in range(5):
+ self.cmd_sender.send_control_command(1500, 1500)
+ time.sleep(0.02)
# 鎵撳嵃鏈�缁堢粺璁�
print("\n========== 鏈�缁堢粺璁� ==========")
@@ -1284,7 +1223,7 @@
print(f"GPS鏁版嵁鍖�: {receiver.gps_count}")
print(f"IMU鏁版嵁鍖�: {receiver.imu_count}")
if self.cmd_sender:
- print(f"鍛戒护鍙戦��: {self.cmd_sender.get_stats()}")
+ print(f"鍛戒护鍙戦��: {self.cmd_sender.get_stats()}")
if receiver:
print(f"閿欒璁℃暟: {receiver.error_count}")
print("==============================\n")
@@ -1313,7 +1252,7 @@
origin_alt_m=None,
gui_bridge=gui_bridge,
)
-
+
# 棰勫姞杞借矾寰勬枃浠讹紙鑻ュ瓨鍦級
candidate_path = path_file or DEFAULT_PATH_FILE
if candidate_path and Path(candidate_path).exists():
@@ -1336,13 +1275,13 @@
# 鏃燪t鐜鏃讹紝娌跨敤鏃х殑鍛戒护琛屽伐浣滄祦
if not controller.path_points and Path(DEFAULT_PATH_FILE).exists():
controller.load_path(DEFAULT_PATH_FILE)
- if not controller.connect():
- print("[ERROR] 涓插彛杩炴帴澶辫触锛岄��鍑�")
- return
- try:
- controller.run()
- finally:
- controller.disconnect()
+ if not controller.connect():
+ print("[ERROR] 涓插彛杩炴帴澶辫触锛岄��鍑�")
+ return
+ try:
+ controller.run()
+ finally:
+ controller.disconnect()
if __name__ == "__main__":
--
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