我发现当我从 QThread 访问 gui 时，出现 QTimer 错误。我看到一个解决方案说使用 pyqtSignal 解决了它。一开始，它实际上运作良好。 但是，当我添加代码时，出现了一些错误，我无法弄清楚问题发生在哪里。
from PyQt6.QtWidgets import *
import sys
import math
from PyQt6.QtCore import *
from PyQt6.QtGui import QPixmap, QColor, QPen
import mainbot_control_ui.submodule.control_ui as control_ui
import mainbot_control_ui.submodule.publisher as pub
import mainbot_control_ui.submodule.subscriber as sub
import rclpy
from sensor_msgs.msg import Imu, LaserScan
MOVING_LOG_SIZE = 100
MAP_X_SIZE=500
MAP_Y_SIZE=500
class ros_Tread1(QThread):
def __init__(self):
super().__init__()
def run(self):
while rclpy.ok():
try:
rclpy.spin_once(sub_angvel_node, timeout_sec=0.01)
rclpy.spin_once(sub_tf_node, timeout_sec=0.01)
rclpy.spin_once(sub_imu_node, timeout_sec=0.01)
rclpy.spin_once(sub_lidar_node, timeout_sec=0.01)
window.set_motor_ang_vel_label()
window.update_imu_data()
window.update_laser_scan_data()
window.pub_target_vel_msg()
except KeyboardInterrupt:
pass
sub_imu_node.destroy_node()
sub_tf_node.destroy_node()
sub_angvel_node.destroy_node()
sub_lidar_node.destroy_node()
pub_target_vel_nod.destroy_node()
rclpy.shutdown()
class update_map_Thread(QThread):
show_mainbot_odom = pyqtSignal()
show_laser_scan=pyqtSignal()
def __init__(self):
super().__init__()
def run(self):
while True:
if not (window.ui.tab_1.isHidden()):
window.scene3.clear()
window.update_mainbot_orientation_log()
if window.laser_scan_view_flag:
self.show_laser_scan.emit()
self.show_mainbot_odom.emit()
self.msleep(int(1000 / 20))
class UI(QWidget):
def __init__(self, parent=None):
super(UI, self).__init__(parent)
self.ui = control_ui.Ui_Form()
self.ui.setupUi(self)
self.ui.retranslateUi(self)
self.grayPen = QPen(QColor(211, 211, 211))
self.grayPen.setWidth(2)
self.redPen = QPen(QColor(200, 0, 0))
self.redPen.setWidth(4)
self.mainbot_imu = Imu()
self.laser_scan = LaserScan()
self.laser_scan_view_flag=False
self.ui.laser_scan_view_btn.clicked.connect(self.set_laser_scan_view_onoff)
self.Vx_vel = 0.0
self.Vy_vel = 0.0
self.W_vel = 0.0
self.mainbot_x = 0
self.mainbot_y = 0
self.mainbot_w = 0
self.mainbot_pos_x=0
self.mainbot_pos_y=0
self.move_update_flag = False
self.mainbot_moving_log = [[0 for j in range(4)] for i in range(MOVING_LOG_SIZE)]
self.save_moving_data_size = 0
self.ui.Vx_doubleSpinBox.valueChanged.connect(self.spin_selected)
self.ui.Vy_doubleSpinBox.valueChanged.connect(self.spin_selected)
self.ui.W_doubleSpinBox.valueChanged.connect(self.spin_w_selected)
self.ui.Vx_horizontalSlider.valueChanged.connect(self.scroll_selected)
self.ui.Vy_horizontalSlider.valueChanged.connect(self.scroll_selected)
self.ui.W_horizontalSlider.valueChanged.connect(self.scroll_w_selected)
self.ui.vel_rst_btn.clicked.connect(self.vel_rst)
scene1 = QGraphicsScene()
scene1.addPixmap(QPixmap("images/mecanumbot.png"))
self.ui.mecanum.setScene(scene1)
self.ui.mecanum.show()
self.scene2 = QGraphicsScene()
self.scene2.addEllipse(2, 2, 150, 150, self.grayPen)
self.scene2.addEllipse(58, 58, 38, 38, self.grayPen)
self.scene2.addLine(77, 58, 120, 15, self.grayPen)
self.scene2.addLine(15, 120, 58, 77, self.grayPen)
self.scene2.addLine(35, 15, 77, 58, self.grayPen)
self.scene2.addLine(96, 77, 138, 120, self.grayPen)
self.scene2.addLine(96, 77, 138, 35, self.grayPen)
self.scene2.addLine(35, 139, 77, 96, self.grayPen)
self.scene2.addLine(15, 35, 58, 77, self.grayPen)
self.scene2.addLine(77, 96, 120, 138, self.grayPen)
self.clc1 = QGraphicsEllipseItem(75, 75, 4, 4)
self.clc1.setPen(self.redPen)
self.scene2.addItem(self.clc1)
self.set_vel_veiw_scene2()
self.ui.vel_veiw.setScene(self.scene2)
self.ui.vel_veiw.show()
self.scene3 = QGraphicsScene()
self.map_x_zeropoint = self.ui.map.geometry().width() / 2
self.map_y_zeropoint = self.ui.map.geometry().height() / 2
self.ui.map.setScene(self.scene3)
self.ui.map.show()
self.T1 = ros_Tread1()
self.T1.start()
self.T2 = update_map_Thread()
self.T2.show_mainbot_odom.connect(self.show_mainbot_odom_on_map)
self.T2.show_laser_scan.connect(self.show_laser_scan_on_map)
self.T2.start()
def set_laser_scan_view_onoff(self):
if self.laser_scan_view_flag:
self.laser_scan_view_flag=False
else :
self.laser_scan_view_flag=True
def set_vel_veiw_scene2(self):
x = (self.Vy_vel * 1000) * 150 / 230 / 2
y = (self.Vx_vel * 1000) * 150 / 230 / 2
meg = math.sqrt(x ** 2 + y ** 2)
if meg > 77:
x = x * 77 / meg
y = y * 77 / meg
self.clc1.setRect(int(75 + x), int(75 - y), 4, 4)
def set_vel_velue_label(self):
self.ui.Vx_value.setText('{:.2f}'.format(self.Vx_vel))
self.ui.Vy_value.setText('{:.2f}'.format(self.Vy_vel))
self.ui.W_value.setText('{:.2f}'.format(self.W_vel))
def set_motor_ang_vel_label(self):
self.ui.FL_angVel.setText('{:.2f}'.format(sub_angvel_node.FL_Motor_Angvel))
self.ui.FR_angVel.setText('{:.2f}'.format(sub_angvel_node.FR_Motor_Angvel))
self.ui.BL_angVel.setText('{:.2f}'.format(sub_angvel_node.BL_Motor_Angvel))
self.ui.BR_angVel.setText('{:.2f}'.format(sub_angvel_node.BR_Motor_Angvel))
def show_mainbot_odom_on_map(self):
k = 0
for i in self.mainbot_moving_log:
pen = QPen(QColor(200, MOVING_LOG_SIZE - k, MOVING_LOG_SIZE - k))
pen.setWidth(2)
self.mainbot_pos_x = self.map_x_zeropoint + i[1]
self.mainbot_pos_y = self.map_y_zeropoint + i[2]
x= self.mainbot_pos_x -2
y= self.mainbot_pos_y -2
self.scene3.addEllipse(x, y, 5, 5, pen)
pen.setWidth(1)
self.scene3.addLine(x + 2, y + 2, x + 2 + math.sin(i[3]) * 8, y + 2 + math.cos(i[3]) * 8, pen)
k += 1
def show_laser_scan_on_map(self):
angle_min=self.laser_scan.angle_min
angle_increment=self.laser_scan.angle_increment
k=0
for i in self.laser_scan.ranges:
x=self.mainbot_pos_x+math.cos(angle_min+angle_increment*k)*i
y=self.mainbot_pos_y+math.sin(angle_min+angle_increment*k)*i
self.scene3.addRect(x-1,y-1,3,3,QPen(QColor(255,255,255)))
self.scene3.addLine(self.mainbot_pos_x,self.mainbot_pos_y,x,y,QPen(QColor(200,200,200)))
k+=1
def update_laser_scan_data(self):
self.laser_scan = sub_lidar_node.lidar_data
def update_imu_data(self):
tempx = self.mainbot_x
tempy = self.mainbot_y
tempw = self.mainbot_w
self.mainbot_imu = sub_imu_node.Imu_data
self.mainbot_x = int(sub_imu_node.Imu_data.orientation.x * 100) / 5 # cm/ 5pix
self.mainbot_y = int(sub_imu_node.Imu_data.orientation.y * 100) / 5
self.mainbot_w = int(sub_imu_node.Imu_data.orientation.w * 100) / 5
if not (tempx == self.mainbot_x and tempy == self.mainbot_y and tempw == self.mainbot_w):
self.move_update_flag = True
def update_mainbot_orientation_log(self):
time = self.mainbot_imu.header.stamp.sec + self.mainbot_imu.header.stamp.nanosec / 10 ** 9
x = self.mainbot_imu.orientation.x
y = self.mainbot_imu.orientation.y
w = self.mainbot_imu.orientation.w
if self.move_update_flag:
if self.save_moving_data_size < MOVING_LOG_SIZE:
self.mainbot_moving_log[self.save_moving_data_size][0] = time
self.mainbot_moving_log[self.save_moving_data_size][1] = x
self.mainbot_moving_log[self.save_moving_data_size][2] = y
self.mainbot_moving_log[self.save_moving_data_size][3] = w
self.save_moving_data_size += 1
else:
self.mainbot_moving_log.pop(0)
data = [time, x, y, w]
self.mainbot_moving_log.append(data)
self.move_update_flag = False
def set_vel_velue_spinbox(self):
self.ui.Vx_doubleSpinBox.setValue(self.Vx_vel)
self.ui.Vy_doubleSpinBox.setValue(self.Vy_vel)
self.ui.W_doubleSpinBox.setValue(self.W_vel)
def set_vel_velue_slider(self):
self.ui.Vx_horizontalSlider.setValue(int(self.Vx_vel * 100))
self.ui.Vy_horizontalSlider.setValue(int(self.Vy_vel * 100))
self.ui.W_horizontalSlider.setValue(int(self.W_vel * 100))
def pub_target_vel_msg(self):
pub_target_vel_nod.update_msg(self.Vx_vel, self.Vy_vel, self.W_vel)
rclpy.spin_once(pub_target_vel_nod)
def scroll_selected(self):
self.Vx_vel = self.ui.Vx_horizontalSlider.value() / 100.0
self.Vy_vel = self.ui.Vy_horizontalSlider.value() / 100.0
self.W_vel = 0.0
self.set_vel_velue_label()
self.set_vel_velue_slider()
self.set_vel_velue_spinbox()
self.set_vel_veiw_scene2()
def scroll_w_selected(self):
self.Vx_vel = 0.0
self.Vy_vel = 0.0
self.W_vel = self.ui.W_horizontalSlider.value() / 100.0
self.set_vel_velue_label()
self.set_vel_velue_slider()
self.set_vel_velue_spinbox()
self.set_vel_veiw_scene2()
def spin_w_selected(self):
self.Vx_vel = 0.0
self.Vy_vel = 0.0
self.W_vel = self.ui.W_doubleSpinBox.value()
self.set_vel_velue_label()
self.set_vel_velue_slider()
self.set_vel_velue_spinbox()
self.set_vel_veiw_scene2()
def spin_selected(self):
self.Vx_vel = self.ui.Vx_doubleSpinBox.value()
self.Vy_vel = self.ui.Vy_doubleSpinBox.value()
self.W_vel = 0.0
self.set_vel_velue_label()
self.set_vel_velue_slider()
self.set_vel_velue_spinbox()
self.set_vel_veiw_scene2()
def vel_rst(self):
self.Vx_vel = 0.0
self.Vy_vel = 0.0
self.W_vel = 0.0
self.set_vel_velue_label()
self.ui.Vx_horizontalSlider.setValue(0)
self.ui.Vy_horizontalSlider.setValue(0)
self.ui.W_horizontalSlider.setValue(0)
self.ui.Vx_doubleSpinBox.setValue(0.0)
self.ui.Vy_doubleSpinBox.setValue(0.0)
self.ui.W_doubleSpinBox.setValue(0.0)
self.set_vel_veiw_scene2()
def main(args=None):
rclpy.init(args=args)
global pub_target_vel_nod
global sub_angvel_node
global window
global sub_tf_node
global sub_imu_node
global sub_lidar_node
pub_target_vel_nod = pub.pub_target_vel()
sub_angvel_node = sub.sub_motor_anlvel()
sub_imu_node = sub.sub_imu_data()
sub_tf_node = sub.sub_tf_data()
sub_lidar_node = sub.sub_lidar_data()
app = QApplication(sys.argv)
window = UI()
window.show()
try:
sys.exit(app.exec())
except KeyboardInterrupt:
pass
if __name__ == '__main__':
main()
这是我的 git https://github.com/cananella/Ros2-whit-PyQt6-Ui.git
它工作得很好，直到我编写了与激光扫描相关的代码。 直到项目截止日期我都没有时间学习，所以代码看起来就像意大利面条一样。我想知道如何优化代码。
QThread
Q定时器