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modifed messy code for input ui
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@CKAyano
CKAyano committed Mar 30, 2023
1 parent ef47dda commit 8713763
Showing 1 changed file with 39 additions and 99 deletions.
138 changes: 39 additions & 99 deletions robotck/gui/main_window.py
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Original file line number Diff line number Diff line change
Expand Up @@ -7,9 +7,9 @@
import sympy as sp
from matplotlib.backends.backend_qtagg import FigureCanvas
from matplotlib.figure import Figure
from PySide6.QtCore import Qt, QUrl
from PySide6.QtCore import QUrl
from PySide6.QtGui import QIcon
from PySide6.QtWidgets import QDoubleSpinBox, QLabel, QMainWindow, QRadioButton
from PySide6.QtWidgets import QDoubleSpinBox, QMainWindow

from ..base import DHParameterError, Robot, deg2rad
from ..base.dh_types import DHType
Expand Down Expand Up @@ -71,6 +71,23 @@ def _connect_event(self):

self.pushButton_plot_output.clicked.connect(self.on_plot_result)

@staticmethod
def set_input_ui(layout, doubleSpinBox_list: list, doubleSpinBox_objname, joints_count):
groupBox = layout.parentWidget()

for i in reversed(range(layout.count())):
if isinstance(layout.itemAt(i).widget(), QDoubleSpinBox):
layout.itemAt(i).widget().setParent(None)

doubleSpinBox_list.clear()
for i in range(joints_count):
doubleSpinBox_fk_j_n = QDoubleSpinBox(groupBox)
doubleSpinBox_fk_j_n.setObjectName(f"{doubleSpinBox_objname}{i+1}")
doubleSpinBox_fk_j_n.setDecimals(6)
doubleSpinBox_fk_j_n.setRange(-10000, 10000)
layout.addWidget(doubleSpinBox_fk_j_n)
doubleSpinBox_list.append(doubleSpinBox_fk_j_n)

def is_default_dh(self):
return self.comboBox_dh.currentIndex() == 0

Expand Down Expand Up @@ -99,6 +116,7 @@ def get_robot_instance(self):
return robot

def is_current_tab(self, idx: int):
# idx start at 0
if self.tabWidget_main.currentIndex() == idx:
return True
return False
Expand Down Expand Up @@ -168,38 +186,12 @@ def set_dh_default(self):
self.set_dh_default_plot_io()

def set_fk_input(self, joints_count: int):
for i in reversed(range(self.horizontalLayout_fk_input.count())):
self.horizontalLayout_fk_input.itemAt(i).widget().setParent(None)

self.label_fk_angle = QLabel(self.groupBox_fk_input)
self.label_fk_angle.setObjectName("label_fk_angle")
self.label_fk_angle.setAlignment(Qt.AlignRight | Qt.AlignTrailing | Qt.AlignVCenter)
self.label_fk_angle.setText("角度: ")

self.horizontalLayout_fk_input.addWidget(self.label_fk_angle)

self.doubleSpinBox_fk_j_list = []
for i in range(joints_count):
doubleSpinBox_fk_j_n = QDoubleSpinBox(self.groupBox_fk_input)
doubleSpinBox_fk_j_n.setObjectName(f"doubleSpinBox_fk_j{i+1}")
doubleSpinBox_fk_j_n.setDecimals(6)
doubleSpinBox_fk_j_n.setRange(-10000, 10000)
self.horizontalLayout_fk_input.addWidget(doubleSpinBox_fk_j_n)
self.doubleSpinBox_fk_j_list.append(doubleSpinBox_fk_j_n)

self.radioButton_fk_rad = QRadioButton(self.groupBox_fk_input)
self.radioButton_fk_rad.setObjectName("radioButton_fk_rad")
self.radioButton_fk_rad.setChecked(True)
self.radioButton_fk_rad.setText("弳度 (rad)")

self.horizontalLayout_fk_input.addWidget(self.radioButton_fk_rad)

self.radioButton_fk_deg = QRadioButton(self.groupBox_fk_input)
self.radioButton_fk_deg.setObjectName("radioButton_fk_deg")
self.radioButton_fk_deg.setChecked(False)
self.radioButton_fk_deg.setText("角度 (deg)")

self.horizontalLayout_fk_input.addWidget(self.radioButton_fk_deg)
self.set_input_ui(
self.horizontalLayout_fk_input_doubleSpinBox,
self.doubleSpinBox_fk_j_list,
"doubleSpinBox_fk_j",
joints_count,
)

def set_fk_output(self, joints_count: int):
self.spinBox_fk_numjoint.setRange(1, joints_count)
Expand Down Expand Up @@ -279,38 +271,12 @@ def set_ik_input(self, joints_count):
self.doubleSpinBox_ik_x.setDisabled(False)
self.doubleSpinBox_ik_y.setDisabled(False)
self.doubleSpinBox_ik_z.setDisabled(False)
for i in reversed(range(self.horizontalLayout_ik_initAngle.count())):
self.horizontalLayout_ik_initAngle.itemAt(i).widget().setParent(None)

self.label_ik_init_angle = QLabel(self.groupBox_ik_input)
self.label_ik_init_angle.setObjectName("label_ik_init_angle")
self.label_ik_init_angle.setAlignment(Qt.AlignRight | Qt.AlignTrailing | Qt.AlignVCenter)
self.label_ik_init_angle.setText("初始角度: ")

self.horizontalLayout_ik_initAngle.addWidget(self.label_ik_init_angle)

self.doubleSpinBox_ik_init_list = []
for i in range(joints_count):
doubleSpinBox_ik_j_n = QDoubleSpinBox(self.groupBox_ik_input)
doubleSpinBox_ik_j_n.setObjectName(f"doubleSpinBox_ik_init_j{i+1}")
doubleSpinBox_ik_j_n.setDecimals(6)
doubleSpinBox_ik_j_n.setRange(-100000000, 100000000)
self.horizontalLayout_ik_initAngle.addWidget(doubleSpinBox_ik_j_n)
self.doubleSpinBox_ik_init_list.append(doubleSpinBox_ik_j_n)

self.radioButton_ik_init_rad = QRadioButton(self.groupBox_ik_input)
self.radioButton_ik_init_rad.setObjectName("radioButton_ik_init_rad")
self.radioButton_ik_init_rad.setChecked(True)
self.radioButton_ik_init_rad.setText("弳度 (rad)")

self.horizontalLayout_ik_initAngle.addWidget(self.radioButton_ik_init_rad)

self.radioButton_ik_init_deg = QRadioButton(self.groupBox_ik_input)
self.radioButton_ik_init_deg.setObjectName("radioButton_ik_init_deg")
self.radioButton_ik_init_deg.setChecked(False)
self.radioButton_ik_init_deg.setText("角度 (deg)")

self.horizontalLayout_ik_initAngle.addWidget(self.radioButton_ik_init_deg)
self.set_input_ui(
self.horizontalLayout_ik_initAngle_doubleSpinBox,
self.doubleSpinBox_ik_init_list,
"doubleSpinBox_ik_init_j",
joints_count,
)

def set_ik_output(self):
self.pushButton_ik_result.setDisabled(False)
Expand Down Expand Up @@ -341,7 +307,7 @@ def get_ik(self):
init_angle = []
for i in self.doubleSpinBox_ik_init_list:
init_angle.append(i.value())
if self.radioButton_ik_init_deg.isChecked():
if self.radioButton_ik_deg.isChecked():
init_angle = deg2rad(init_angle)
ik, is_warned, err = self.robot_instance.inverse_kine_simplex(coord, init_angle, save_err=True)
if is_warned:
Expand Down Expand Up @@ -401,38 +367,12 @@ def replot_robot(self, joints_angle=None):
self.widget_plot_fig.canvas.draw_idle()

def set_plot_input(self, joints_count):
for i in reversed(range(self.horizontalLayout_plot_input.count())):
self.horizontalLayout_plot_input.itemAt(i).widget().setParent(None)

self.label_plot_angle = QLabel(self.groupBox_plot_input)
self.label_plot_angle.setObjectName("label_plot_angle")
self.label_plot_angle.setAlignment(Qt.AlignRight | Qt.AlignTrailing | Qt.AlignVCenter)
self.label_plot_angle.setText("初始角度: ")

self.horizontalLayout_plot_input.addWidget(self.label_plot_angle)

self.doubleSpinBox_plot_j_list = []
for i in range(joints_count):
doubleSpinBox_plot_j_n = QDoubleSpinBox(self.groupBox_plot_input)
doubleSpinBox_plot_j_n.setObjectName(f"doubleSpinBox_plot_j{i+1}")
doubleSpinBox_plot_j_n.setDecimals(6)
doubleSpinBox_plot_j_n.setRange(-100000, 100000)
self.horizontalLayout_plot_input.addWidget(doubleSpinBox_plot_j_n)
self.doubleSpinBox_plot_j_list.append(doubleSpinBox_plot_j_n)

self.radioButton_plot_rad = QRadioButton(self.groupBox_plot_input)
self.radioButton_plot_rad.setObjectName("radioButton_plot_rad")
self.radioButton_plot_rad.setChecked(True)
self.radioButton_plot_rad.setText("弳度 (rad)")

self.horizontalLayout_plot_input.addWidget(self.radioButton_plot_rad)

self.radioButton_plot_deg = QRadioButton(self.groupBox_plot_input)
self.radioButton_plot_deg.setObjectName("radioButton_plot_deg")
self.radioButton_plot_deg.setChecked(False)
self.radioButton_plot_deg.setText("角度 (deg)")

self.horizontalLayout_plot_input.addWidget(self.radioButton_plot_deg)
self.set_input_ui(
self.horizontalLayout_plot_input_doubleSpinBox,
self.doubleSpinBox_plot_j_list,
"doubleSpinBox_plot_j",
joints_count,
)

def set_plot_output(self, joints_angle: list):
self.pushButton_plot_output.setDisabled(False)
Expand Down

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