diff --git a/.DS_Store b/.DS_Store index 7145f21..96936bc 100644 Binary files a/.DS_Store and b/.DS_Store differ diff --git a/MRobot.py b/MRobot.py index 118275b..d9e6e9e 100644 --- a/MRobot.py +++ b/MRobot.py @@ -1,28 +1,36 @@ import sys -from PyQt5.QtCore import Qt, pyqtSignal -from PyQt5.QtWidgets import QWidget, QVBoxLayout, QApplication +import os import serial import serial.tools.list_ports + +from PyQt5.QtCore import Qt, pyqtSignal, QThread from PyQt5.QtGui import QTextCursor -from PyQt5.QtCore import QThread, pyqtSignal -from PyQt5.QtWidgets import QHBoxLayout, QComboBox, QPushButton, QTextEdit, QLineEdit, QLabel -from PyQt5.QtWidgets import QGroupBox, QGridLayout, QSizePolicy -from qfluentwidgets import Theme, setTheme +from PyQt5.QtWidgets import ( + QApplication, QWidget, QVBoxLayout, QHBoxLayout, QGridLayout, QGroupBox, + QComboBox, QPushButton, QTextEdit, QLineEdit, QLabel, QSizePolicy, + QFileDialog, QMessageBox, QStackedLayout +) + from qfluentwidgets import ( - NavigationItemPosition, Theme, FluentWindow, NavigationAvatarWidget, - PushButton, FluentIcon + Theme, setTheme, FluentIcon, SwitchButton, BodyLabel, SubtitleLabel, + StrongBodyLabel, HorizontalSeparator, InfoBar, MessageDialog, Dialog, + AvatarWidget, NavigationItemPosition, FluentWindow, NavigationAvatarWidget, + PushButton, TextEdit, LineEdit, ComboBox, ImageLabel ) from qfluentwidgets import FluentIcon as FIF -from qfluentwidgets import Theme, setTheme, FluentIcon, SwitchButton -from qfluentwidgets import BodyLabel -from qfluentwidgets import BodyLabel, TextEdit, LineEdit, ComboBox, PushButton, SwitchButton -from qfluentwidgets import BodyLabel, SubtitleLabel, StrongBodyLabel, HorizontalSeparator, InfoBar -from qfluentwidgets import MessageDialog -from qfluentwidgets import Dialog, StrongBodyLabel, BodyLabel, SubtitleLabel, AvatarWidget -from PyQt5.QtWidgets import QVBoxLayout, QHBoxLayout, QWidget -from qfluentwidgets import Dialog -from qfluentwidgets import StrongBodyLabel, SubtitleLabel, BodyLabel, PushButton, AvatarWidget, HorizontalSeparator -from qfluentwidgets import ImageLabel +import requests +import shutil +from PyQt5.QtCore import Qt +from PyQt5.QtWidgets import QTreeWidget, QTreeWidgetItem, QAbstractItemView, QHeaderView + +from qfluentwidgets import ( + TreeWidget, InfoBar, InfoBarPosition, MessageDialog, TreeItemDelegate +) +from qfluentwidgets import CheckBox +from qfluentwidgets import TreeWidget +from PyQt5.QtCore import QThread, pyqtSignal +from PyQt5.QtWidgets import QFileDialog +from qfluentwidgets import ProgressBar # ===================== 页面基类 ===================== class BaseInterface(QWidget): @@ -30,10 +38,6 @@ class BaseInterface(QWidget): super().__init__(parent=parent) # ===================== 首页界面 ===================== -# ...existing code... - -# ...existing code... - class HomeInterface(BaseInterface): def __init__(self, parent=None): super().__init__(parent=parent) @@ -72,32 +76,83 @@ class HomeInterface(BaseInterface): "让机器人开发变得更轻松、更智能。")) layout.addWidget(BodyLabel("适用于 RM、RC、各类嵌入式机器人项目。")) - # # 开源与版本信息 - # layout.addWidget(HorizontalSeparator()) - # layout.addWidget(SubtitleLabel("项目信息")) - # layout.addWidget(BodyLabel("开源地址: https://github.com/QUT-MOVE/MRobot-Toolbox")) - # layout.addWidget(BodyLabel("当前版本: v1.0.0")) - # layout.addWidget(BodyLabel("反馈邮箱: move@qut.edu.cn")) - - # # 致谢 - # layout.addWidget(HorizontalSeparator()) - # layout.addWidget(SubtitleLabel("致谢")) - # layout.addWidget(BodyLabel("感谢所有开源社区贡献者，特别感谢 RM/RC 机器人开发者的持续支持。")) - - layout.addStretch() - -# ...existing code... - -# ...existing code... - + # layout.addStretch() # ===================== 代码生成页面 ===================== class DataInterface(BaseInterface): def __init__(self, parent=None): super().__init__(parent=parent) self.setObjectName("dataInterface") - layout = QVBoxLayout() - self.setLayout(layout) + self.stacked_layout = QStackedLayout() + self.setLayout(self.stacked_layout) + + # --- 页面1：工程路径选择 --- + self.select_widget = QWidget() + select_layout = QVBoxLayout(self.select_widget) + select_layout.addSpacing(40) + select_layout.addWidget(SubtitleLabel("MRobot 代码生成")) + select_layout.addWidget(HorizontalSeparator()) + select_layout.addSpacing(10) + select_layout.addWidget(BodyLabel("请选择包含 .ioc 文件的工程文件夹，点击下方按钮进行选择。")) + select_layout.addSpacing(20) + self.choose_btn = PushButton("选择工程路径") + self.choose_btn.clicked.connect(self.choose_project_folder) + select_layout.addWidget(self.choose_btn) + select_layout.addStretch() + self.stacked_layout.addWidget(self.select_widget) + + # --- 页面2：代码配置 --- + self.config_widget = QWidget() + self.config_layout = QVBoxLayout(self.config_widget) + # 左上角小返回按钮 + top_bar = QHBoxLayout() + self.back_btn = PushButton('返回', icon=FluentIcon.SKIP_BACK) + # self.back_btn.setFixedSize(32, 32) + self.back_btn.clicked.connect(self.back_to_select) + self.back_btn.setToolTip("返回") + top_bar.addWidget(self.back_btn, alignment=Qt.AlignmentFlag.AlignLeft) + top_bar.addStretch() + self.config_layout.addLayout(top_bar) + self.config_layout.addWidget(SubtitleLabel("工程配置信息")) + self.config_layout.addWidget(HorizontalSeparator()) + self.project_info_labels = [] + self.config_layout.addStretch() + self.stacked_layout.addWidget(self.config_widget) + + # 默认显示选择页面 + self.stacked_layout.setCurrentWidget(self.select_widget) + + def choose_project_folder(self): + folder = QFileDialog.getExistingDirectory(self, "请选择代码项目文件夹") + if not folder: + return + ioc_files = [f for f in os.listdir(folder) if f.endswith('.ioc')] + if not ioc_files: + QMessageBox.warning(self, "提示", "未找到.ioc文件，请确认项目文件夹。") + return + self.project_path = folder + self.project_name = os.path.basename(folder) + self.ioc_file = os.path.join(folder, ioc_files[0]) + self.show_config_page() + + def show_config_page(self): + # 清理旧内容 + for label in self.project_info_labels: + self.config_layout.removeWidget(label) + label.deleteLater() + self.project_info_labels.clear() + # 显示项目信息 + l1 = BodyLabel(f"项目名称: {self.project_name}") + l2 = BodyLabel(f"项目路径: {self.project_path}") + l3 = BodyLabel(f"IOC 文件: {self.ioc_file}") + self.config_layout.insertWidget(2, l1) + self.config_layout.insertWidget(3, l2) + self.config_layout.insertWidget(4, l3) + self.project_info_labels.extend([l1, l2, l3]) + self.stacked_layout.setCurrentWidget(self.config_widget) + + def back_to_select(self): + self.stacked_layout.setCurrentWidget(self.select_widget) # ===================== 串口终端界面 ===================== class SerialReadThread(QThread): @@ -129,11 +184,11 @@ class SerialTerminalInterface(BaseInterface): # 串口选择和连接 hbox = QHBoxLayout() - self.port_combo = ComboBox() # 替换QComboBox为ComboBox + self.port_combo = ComboBox() self.refresh_ports() - self.baud_combo = ComboBox() # 替换QComboBox为ComboBox + self.baud_combo = ComboBox() self.baud_combo.addItems(['9600', '115200', '57600', '38400', '19200', '4800']) - self.connect_btn = PushButton("连接") # 替换QPushButton为PushButton + self.connect_btn = PushButton("连接") self.connect_btn.clicked.connect(self.toggle_connection) hbox.addWidget(BodyLabel("串口:")) hbox.addWidget(self.port_combo) @@ -142,8 +197,22 @@ class SerialTerminalInterface(BaseInterface): hbox.addWidget(self.connect_btn) layout.addLayout(hbox) - # 预设命令区 - preset_group = QGroupBox("预设命令") + # 自动回车复选框 + self.auto_enter_checkbox = CheckBox("自动回车") + self.auto_enter_checkbox.setChecked(True) + layout.addWidget(self.auto_enter_checkbox) + + # 预设命令区（不使用QGroupBox，直接用布局和分隔线） + layout.addWidget(HorizontalSeparator()) + preset_label = BodyLabel("预设命令") + layout.addWidget(preset_label) + # ...existing code... + + + # 预设命令区（不使用QGroupBox，直接用布局和分隔线） + layout.addWidget(HorizontalSeparator()) + preset_label = BodyLabel("预设命令") + layout.addWidget(preset_label) preset_layout = QGridLayout() self.preset_commands = [ ("线程监视器", "RESET"), @@ -154,15 +223,16 @@ class SerialTerminalInterface(BaseInterface): ("查询id", "STATUS"), ] for i, (label, cmd) in enumerate(self.preset_commands): - btn = PushButton(label) # 替换QPushButton为PushButton + btn = PushButton(label) btn.setSizePolicy(QSizePolicy.Expanding, QSizePolicy.Preferred) btn.clicked.connect(lambda _, c=cmd: self.send_preset_command(c)) preset_layout.addWidget(btn, i // 3, i % 3) - preset_group.setLayout(preset_layout) - layout.addWidget(preset_group) + layout.addLayout(preset_layout) + layout.addWidget(HorizontalSeparator()) + # 显示区 - self.text_edit = TextEdit() # 替换QTextEdit为TextEdit + self.text_edit = TextEdit() self.text_edit.setReadOnly(True) layout.addWidget(self.text_edit) @@ -180,6 +250,7 @@ class SerialTerminalInterface(BaseInterface): self.ser = None self.read_thread = None + def send_preset_command(self, cmd): self.input_line.setText(cmd) self.send_data() @@ -233,11 +304,221 @@ class SerialTerminalInterface(BaseInterface): else: for char in text: self.ser.write(char.encode()) - self.ser.write('\n'.encode()) + # 判断是否自动回车 + if self.auto_enter_checkbox.isChecked(): + self.ser.write('\n'.encode()) except Exception as e: self.text_edit.append(f"发送失败: {e}") self.input_line.clear() +# ===================== 零件库页面 ===================== + +class DownloadThread(QThread): + progressChanged = pyqtSignal(int) + finished = pyqtSignal(list, list) # success, fail + + def __init__(self, files, server_url, secret_key, local_dir, parent=None): + super().__init__(parent) + self.files = files + self.server_url = server_url + self.secret_key = secret_key + self.local_dir = local_dir + + def run(self): + import requests, shutil, os + success, fail = [], [] + total = len(self.files) + for idx, rel_path in enumerate(self.files): + try: + url = f"{self.server_url}/download/{rel_path}" + params = {"key": self.secret_key} + resp = requests.get(url, params=params, stream=True, timeout=10) + if resp.status_code == 200: + local_path = os.path.join(self.local_dir, rel_path) + os.makedirs(os.path.dirname(local_path), exist_ok=True) + with open(local_path, "wb") as f: + shutil.copyfileobj(resp.raw, f) + success.append(rel_path) + else: + fail.append(rel_path) + except Exception: + fail.append(rel_path) + self.progressChanged.emit(int((idx + 1) / total * 100)) + self.finished.emit(success, fail) + +class PartLibraryInterface(BaseInterface): + SERVER_URL = "http://154.37.215.220:5000" + SECRET_KEY = "MRobot_Download" + LOCAL_LIB_DIR = "mech_lib" + + def __init__(self, parent=None): + super().__init__(parent=parent) + self.setObjectName("partLibraryInterface") + layout = QVBoxLayout(self) + layout.setSpacing(16) + + layout.addWidget(SubtitleLabel("零件库（在线bate版）")) + layout.addWidget(HorizontalSeparator()) + layout.addWidget(BodyLabel("可浏览服务器零件库，选择需要的文件下载到本地。")) + + btn_layout = QHBoxLayout() + refresh_btn = PushButton(FluentIcon.SYNC, "刷新列表") + refresh_btn.clicked.connect(self.refresh_list) + btn_layout.addWidget(refresh_btn) + + # 新增：打开本地零件库按钮 + open_local_btn = PushButton(FluentIcon.FOLDER, "打开本地零件库") + open_local_btn.clicked.connect(self.open_local_lib) + btn_layout.addWidget(open_local_btn) + btn_layout.addStretch() + layout.addLayout(btn_layout) + + self.tree = TreeWidget(self) + + self.tree.setHeaderLabels(["名称", "类型"]) + self.tree.setSelectionMode(self.tree.ExtendedSelection) + self.tree.header().setSectionResizeMode(0, QHeaderView.Stretch) + self.tree.header().setSectionResizeMode(1, QHeaderView.ResizeToContents) + self.tree.setCheckedColor("#0078d4", "#2d7d9a") + self.tree.setBorderRadius(8) + self.tree.setBorderVisible(True) + layout.addWidget(self.tree, stretch=1) + + download_btn = PushButton(FluentIcon.DOWNLOAD, "下载选中文件") + download_btn.clicked.connect(self.download_selected_files) + layout.addWidget(download_btn) + + self.refresh_list(first=True) + + def refresh_list(self, first=False): + self.tree.clear() + try: + resp = requests.get( + f"{self.SERVER_URL}/list", + params={"key": self.SECRET_KEY}, + timeout=5 + ) + resp.raise_for_status() + tree = resp.json() + self.populate_tree(self.tree, tree, "") + if not first: + InfoBar.success( + title="刷新成功", + content="零件库已经是最新的！", + parent=self, + position=InfoBarPosition.TOP, + duration=2000 + ) + except Exception as e: + InfoBar.error( + title="刷新失败", + content=f"获取零件库失败: {e}", + parent=self, + position=InfoBarPosition.TOP, + duration=3000 + ) + + def populate_tree(self, parent, node, path_prefix): + from PyQt5.QtWidgets import QTreeWidgetItem + for dname, dnode in node.get("dirs", {}).items(): + item = QTreeWidgetItem([dname, "文件夹"]) + if isinstance(parent, TreeWidget): + parent.addTopLevelItem(item) + else: + parent.addChild(item) + self.populate_tree(item, dnode, os.path.join(path_prefix, dname)) + for fname in node.get("files", []): + item = QTreeWidgetItem([fname, "文件"]) + item.setFlags(item.flags() | Qt.ItemIsUserCheckable) + item.setCheckState(0, Qt.Unchecked) + item.setData(0, Qt.UserRole, os.path.join(path_prefix, fname)) + if isinstance(parent, TreeWidget): + parent.addTopLevelItem(item) + else: + parent.addChild(item) + + def get_checked_files(self): + files = [] + def _traverse(item): + for i in range(item.childCount()): + child = item.child(i) + if child.text(1) == "文件" and child.checkState(0) == Qt.Checked: + files.append(child.data(0, Qt.UserRole)) + _traverse(child) + root = self.tree.invisibleRootItem() + for i in range(root.childCount()): + _traverse(root.child(i)) + return files + + def download_selected_files(self): + files = self.get_checked_files() + if not files: + InfoBar.info( + title="提示", + content="请先勾选要下载的文件。", + parent=self, + position=InfoBarPosition.TOP, + duration=2000 + ) + return + + # 进度条对话框 + self.progress_dialog = Dialog( + title="正在下载", + content="正在下载选中文件，请稍候...", + parent=self + ) + self.progress_bar = ProgressBar() + self.progress_bar.setValue(0) + # 插入进度条到内容布局 + self.progress_dialog.textLayout.addWidget(self.progress_bar) + self.progress_dialog.show() + + # 启动下载线程 + self.download_thread = DownloadThread( + files, self.SERVER_URL, self.SECRET_KEY, self.LOCAL_LIB_DIR + ) + self.download_thread.progressChanged.connect(self.progress_bar.setValue) + self.download_thread.finished.connect(self.on_download_finished) + self.download_thread.finished.connect(self.download_thread.deleteLater) + self.download_thread.start() + + def on_download_finished(self, success, fail): + self.progress_dialog.close() + msg = f"成功下载: {len(success)} 个文件\n失败: {len(fail)} 个文件" + dialog = Dialog( + title="下载结果", + content=msg, + parent=self + ) + # 添加“打开文件夹”按钮 + open_btn = PushButton("打开文件夹") + def open_folder(): + folder = os.path.abspath(self.LOCAL_LIB_DIR) + # 打开文件夹（macOS用open，Windows用explorer，Linux用xdg-open） + import platform, subprocess + if platform.system() == "Darwin": + subprocess.call(["open", folder]) + elif platform.system() == "Windows": + subprocess.call(["explorer", folder]) + else: + subprocess.call(["xdg-open", folder]) + dialog.close() + open_btn.clicked.connect(open_folder) + # 添加按钮到Dialog布局 + dialog.textLayout.addWidget(open_btn) + dialog.exec() + + def open_local_lib(self): + folder = os.path.abspath(self.LOCAL_LIB_DIR) + import platform, subprocess + if platform.system() == "Darwin": + subprocess.call(["open", folder]) + elif platform.system() == "Windows": + subprocess.call(["explorer", folder]) + else: + subprocess.call(["xdg-open", folder]) + # ===================== 设置界面 ===================== class SettingInterface(BaseInterface): themeSwitchRequested = pyqtSignal() @@ -292,6 +573,7 @@ class SettingInterface(BaseInterface): def on_theme_switch(self, checked): self.themeSwitchRequested.emit() + # ===================== 帮助与关于界面 ===================== class HelpInterface(BaseInterface): def __init__(self, parent=None): @@ -328,6 +610,7 @@ class MainWindow(FluentWindow): (HomeInterface(self), FIF.HOME, "首页", NavigationItemPosition.TOP), (DataInterface(self), FIF.LIBRARY, "MRobot代码生成", NavigationItemPosition.SCROLL), (SerialTerminalInterface(self), FIF.COMMAND_PROMPT, "Mini_Shell", NavigationItemPosition.SCROLL), + (PartLibraryInterface(self), FIF.DOWNLOAD, "零件库", NavigationItemPosition.SCROLL), # ← 加上这一行 (self.setting_page, FIF.SETTING, "设置", NavigationItemPosition.BOTTOM), (HelpInterface(self), FIF.HELP, "帮助", NavigationItemPosition.BOTTOM), (AboutInterface(self), FIF.INFO, "关于", NavigationItemPosition.BOTTOM),