import sys import os import serial import serial.tools.list_ports from PyQt5.QtCore import Qt, pyqtSignal, QThread from PyQt5.QtGui import QTextCursor from PyQt5.QtWidgets import ( QApplication, QWidget, QVBoxLayout, QHBoxLayout, QGridLayout, QGroupBox, QComboBox, QPushButton, QTextEdit, QLineEdit, QLabel, QSizePolicy, QFileDialog, QMessageBox, QStackedLayout ) from qfluentwidgets import ( 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 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): def __init__(self, parent=None): super().__init__(parent=parent) # ===================== 首页界面 ===================== class HomeInterface(BaseInterface): def __init__(self, parent=None): super().__init__(parent=parent) self.setObjectName("homeInterface") layout = QVBoxLayout() layout.setContentsMargins(60, 60, 60, 60) layout.setSpacing(32) self.setLayout(layout) # 顶部logo和欢迎区 top_layout = QHBoxLayout() logo = ImageLabel('img/MRobot.png') logo.setFixedSize(260, 80) top_layout.addWidget(logo, alignment=Qt.AlignmentFlag.AlignTop) title_layout = QVBoxLayout() title_layout.addWidget(StrongBodyLabel("欢迎使用 MRobot Toolbox")) title_layout.addWidget(SubtitleLabel("让你的机器人开发更高效、更智能")) top_layout.addLayout(title_layout) top_layout.addStretch() layout.addLayout(top_layout) layout.addWidget(HorizontalSeparator()) # 项目简介 layout.addWidget(BodyLabel( "MRobot Toolbox 是一款集成化的机器人开发辅助工具，" "支持代码生成、串口终端、主题切换等多种实用功能。\n" "点击左侧导航栏可快速切换各功能页面。" )) # 开发者与项目目标 layout.addWidget(HorizontalSeparator()) layout.addWidget(SubtitleLabel("开发者与项目目标")) layout.addWidget(BodyLabel("开发团队：QUT 青岛理工大学 MOVE 战队")) layout.addWidget(BodyLabel("项目目标：为所有 rmer 和 rcer 提供现代化、简单、高效的机器人开发方式，" "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。")) # layout.addStretch() # ===================== 代码生成页面 ===================== class DataInterface(BaseInterface): def __init__(self, parent=None): super().__init__(parent=parent) self.setObjectName("dataInterface") 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): data_received = pyqtSignal(str) def __init__(self, ser): super().__init__() self.ser = ser self._running = True def run(self): while self._running: if self.ser and self.ser.is_open and self.ser.in_waiting: try: data = self.ser.readline().decode(errors='ignore') self.data_received.emit(data) except Exception: pass def stop(self): self._running = False self.wait() class SerialTerminalInterface(BaseInterface): def __init__(self, parent=None): super().__init__(parent=parent) self.setObjectName("serialTerminalInterface") main_layout = QVBoxLayout(self) main_layout.setSpacing(12) # 顶部：串口设置区 top_hbox = QHBoxLayout() top_hbox.addWidget(BodyLabel("串口:")) self.port_combo = ComboBox() self.refresh_ports() top_hbox.addWidget(self.port_combo) top_hbox.addWidget(BodyLabel("波特率:")) self.baud_combo = ComboBox() self.baud_combo.addItems(['9600', '115200', '57600', '38400', '19200', '4800']) top_hbox.addWidget(self.baud_combo) self.connect_btn = PushButton("连接") self.connect_btn.clicked.connect(self.toggle_connection) top_hbox.addWidget(self.connect_btn) self.refresh_btn = PushButton(FluentIcon.SYNC, "刷新") self.refresh_btn.clicked.connect(self.refresh_ports) top_hbox.addWidget(self.refresh_btn) top_hbox.addStretch() main_layout.addLayout(top_hbox) main_layout.addWidget(HorizontalSeparator()) # 中部：左侧预设命令，右侧显示区 center_hbox = QHBoxLayout() # 左侧：预设命令竖排 preset_vbox = QVBoxLayout() preset_vbox.addWidget(SubtitleLabel("快捷指令")) #快捷指令居中 preset_vbox.setAlignment(Qt.AlignmentFlag.AlignCenter) self.preset_commands = [ ("线程监视器", "RESET"), ("陀螺仪校准", "GET_VERSION"), ("性能监视", "START"), ("重启", "STOP"), ("显示所有设备", "SELF_TEST"), ("查询id", "STATUS"), ] for label, cmd in self.preset_commands: btn = PushButton(label) btn.setSizePolicy(QSizePolicy.Expanding, QSizePolicy.Preferred) btn.clicked.connect(lambda _, c=cmd: self.send_preset_command(c)) preset_vbox.addWidget(btn) preset_vbox.addStretch() main_layout.addLayout(center_hbox, stretch=1) # 右侧：串口数据显示区 self.text_edit = TextEdit() self.text_edit.setReadOnly(True) self.text_edit.setMinimumWidth(400) center_hbox.addWidget(self.text_edit, 3) center_hbox.addLayout(preset_vbox, 1) main_layout.addWidget(HorizontalSeparator()) # 底部：输入区 bottom_hbox = QHBoxLayout() self.input_line = LineEdit() self.input_line.setPlaceholderText("输入内容，回车发送") self.input_line.returnPressed.connect(self.send_data) bottom_hbox.addWidget(self.input_line, 4) send_btn = PushButton("发送") send_btn.clicked.connect(self.send_data) bottom_hbox.addWidget(send_btn, 1) self.auto_enter_checkbox = CheckBox("自动回车") self.auto_enter_checkbox.setChecked(True) bottom_hbox.addWidget(self.auto_enter_checkbox) bottom_hbox.addStretch() main_layout.addLayout(bottom_hbox) self.ser = None self.read_thread = None def send_preset_command(self, cmd): self.input_line.setText(cmd) self.send_data() def refresh_ports(self): self.port_combo.clear() ports = serial.tools.list_ports.comports() for port in ports: self.port_combo.addItem(port.device) def toggle_connection(self): if self.ser and self.ser.is_open: self.disconnect_serial() else: self.connect_serial() def connect_serial(self): port = self.port_combo.currentText() baud = int(self.baud_combo.currentText()) try: self.ser = serial.Serial(port, baud, timeout=0.1) self.connect_btn.setText("断开") self.text_edit.append(f"已连接到 {port} @ {baud}") self.read_thread = SerialReadThread(self.ser) self.read_thread.data_received.connect(self.display_data) self.read_thread.start() except Exception as e: self.text_edit.append(f"连接失败: {e}") def disconnect_serial(self): if self.read_thread: self.read_thread.stop() self.read_thread = None if self.ser: self.ser.close() self.ser = None self.connect_btn.setText("连接") self.text_edit.append("已断开连接") def display_data(self, data): self.text_edit.moveCursor(QTextCursor.End) self.text_edit.insertPlainText(data) self.text_edit.moveCursor(QTextCursor.End) def send_data(self): if self.ser and self.ser.is_open: text = self.input_line.text() try: if not text: self.ser.write('\n'.encode()) else: for char in text: self.ser.write(char.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): success, fail = [], [] total = len(self.files) max_retry = 3 # 最大重试次数 for idx, rel_path in enumerate(self.files): retry = 0 while retry < max_retry: 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) break # 下载成功，跳出重试循环 else: print(f"下载失败({resp.status_code}): {rel_path}，第{retry+1}次尝试") retry += 1 except Exception as e: print(f"下载异常: {rel_path}，第{retry+1}次尝试，错误: {e}") retry += 1 else: 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。（如无法使用或者下载失败，请尝试重新下载或检查网络连接）")) 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() def __init__(self, parent=None): super().__init__(parent=parent) self.setObjectName("settingInterface") layout = QVBoxLayout() self.setLayout(layout) # 标题 layout.addSpacing(10) layout.addWidget(SubtitleLabel("设置中心")) layout.addSpacing(10) layout.addWidget(HorizontalSeparator()) # 主题切换区域 theme_title = StrongBodyLabel("外观设置") theme_desc = BodyLabel("切换夜间/白天模式，适应不同环境。") theme_desc.setWordWrap(True) layout.addSpacing(10) layout.addWidget(theme_title) layout.addWidget(theme_desc) theme_box = QHBoxLayout() self.theme_label = BodyLabel("夜间模式") self.theme_switch = SwitchButton() self.theme_switch.setChecked(Theme.DARK == Theme.DARK) self.theme_switch.checkedChanged.connect(self.on_theme_switch) theme_box.addWidget(self.theme_label) theme_box.addWidget(self.theme_switch) theme_box.addStretch() layout.addLayout(theme_box) layout.addSpacing(15) layout.addWidget(HorizontalSeparator()) # 其它设置区域（示例） other_title = StrongBodyLabel("其它设置") other_desc = BodyLabel("更多功能正在开发中，敬请期待。") other_desc.setWordWrap(True) layout.addSpacing(10) layout.addWidget(other_title) layout.addWidget(other_desc) # 版权信息 layout.addStretch() copyright_label = BodyLabel("© 2025 MRobot Toolbox") copyright_label.setAlignment(Qt.AlignmentFlag.AlignHCenter) layout.addWidget(copyright_label) layout.addSpacing(10) def on_theme_switch(self, checked): self.themeSwitchRequested.emit() # ===================== 帮助与关于界面 ===================== class HelpInterface(BaseInterface): def __init__(self, parent=None): super().__init__(parent=parent) self.setObjectName("helpInterface") layout = QVBoxLayout() self.setLayout(layout) class AboutInterface(BaseInterface): def __init__(self, parent=None): super().__init__(parent=parent) self.setObjectName("aboutInterface") layout = QVBoxLayout() self.setLayout(layout) # ===================== 主窗口与导航 ===================== class MainWindow(FluentWindow): themeChanged = pyqtSignal(Theme) def __init__(self): super().__init__() self.setWindowTitle("MR_ToolBox") self.resize(1000, 700) self.setMinimumSize(800, 600) # 记录当前主题 self.current_theme = Theme.DARK # 创建页面实例 self.setting_page = SettingInterface(self) self.setting_page.themeSwitchRequested.connect(self.toggle_theme) self.page_registry = [ (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), ] self.initNavigation() def initNavigation(self): for page, icon, name, position in self.page_registry: self.addSubInterface(page, icon, name, position) self.navigationInterface.addSeparator() avatar = NavigationAvatarWidget('用户', ':/qfluentwidgets/images/avatar.png') self.navigationInterface.addWidget( routeKey='avatar', widget=avatar, onClick=self.show_user_info, # 这里改为 self.show_user_info position=NavigationItemPosition.BOTTOM ) def toggle_theme(self): # 切换主题 if self.current_theme == Theme.DARK: self.current_theme = Theme.LIGHT else: self.current_theme = Theme.DARK setTheme(self.current_theme) # 同步设置界面按钮状态 self.setting_page.theme_switch.setChecked(self.current_theme == Theme.DARK) def show_user_info(self): dialog = Dialog( title="用户信息", content="用户：MRobot至尊VIP用户", parent=self ) dialog.exec() # ===================== 程序入口 ===================== def main(): app = QApplication(sys.argv) setTheme(Theme.DARK) window = MainWindow() window.show() sys.exit(app.exec_()) if __name__ == '__main__': main()