Merge pull request '修改源码' (#29) from develop into master

src/Tello/KeyPress.py

@@ -1,19 +1,18 @@
-# @Time : 2022/5/9 20:49 
-# @Author : 2890199310@qq.com
-# @File : KeyPress.py 
-# @Software: PyCharm
-# @Function:
+import pygame
 
-def main():
-    keyPress()
-
-def keyPress(key):
-    if(key == 1):
-        return "e"
-
-def result():
-    return keyPress()
+def init():
+    pygame.init()
+    win = pygame.display.set_mode((400, 400))
 
+def getKey(keyName):
+    ans = False
+    for eve in pygame.event.get(): pass
+    keyInput = pygame.key.get_pressed()
+    myKey = getattr(pygame,'K_{}'.format(keyName))
+    if keyInput[myKey]:
+        ans = True
+    pygame.display.update()
+    return ans
 
 if __name__ == '__main__':
-    main()
+    init()

src/Tello/KeyPressModule.py

@@ -1,31 +1,18 @@
-# @Time : 2022/4/20 12:27 
-# @Author : 2890199310@qq.com
-# @File : KeyPressModule.py.py 
-# @Software: PyCharm
-# @Function:
-import os
-import sys
-sys.path.append(os.path.dirname(os.path.abspath(__file__)) + "/../../PaddleClas-release-2.3")
-
-# import pygame
-import Tello.KeyPress as k
+import pygame
 
 def init():
-    return
+    pygame.init()
+    win = pygame.display.set_mode((400, 400))
 
 def getKey(keyName):
-    # ans = False
-    # for eve in pygame.event.get(): pass
-    # keyInput = pygame.key.get_pressed()
-    # myKey = getattr(pygame,'K_{}'.format(keyName))
-    # if keyInput[myKey]:
-    if keyName == k.result():
+    ans = False
+    for eve in pygame.event.get(): pass
+    keyInput = pygame.key.get_pressed()
+    myKey = getattr(pygame,'K_{}'.format(keyName))
+    if keyInput[myKey]:
         ans = True
-    # pygame.display.update()
+    pygame.display.update()
     return ans
 
-def key(a):
-    return a
-
 if __name__ == '__main__':
     init()

src/Tello/KeyboardControl.py

@@ -1,8 +1,8 @@
-# @Time : 2022/4/20 12:27 
-# @Author : 2890199310@qq.com
-# @File : KeyboardControl.py.py 
-# @Software: PyCharm
-# @Function:
+# # @Time : 2022/4/20 12:27
+# # @Author : 2890199310@qq.com
+# # @File : KeyboardControl.py.py
+# # @Software: PyCharm
+# # @Function:
 import os
 import sys
 sys.path.append(os.path.dirname(os.path.abspath(__file__)) + "/../../PaddleClas-release-2.3")
@@ -13,16 +13,45 @@ from djitellopy import tello
 # import Tello.KeyPressModule as kp  # 用于获取键盘按键
 from time import sleep
 
-# Tello初始化设置
-Drone = tello.Tello()  # 创建飞行器对象
-Drone.connect()  # 连接到飞行器
-Drone.streamon()  # 开启视频传输
-Drone.LOGGER.setLevel(logging.ERROR)  # 只显示错误信息
-sleep(5)  #  等待视频初始化
-# kp.init()  # 初始化按键处理模块
 
-def getKeyboardInput(key):
+Camera_Width = 720
+Camera_Height = 480
+DetectRange = [6000, 11000]  # DetectRange[0] 是保持静止的检测人脸面积阈值下限，DetectRange[0] 是保持静止的检测人脸面积阈值上限
+PID_Parameter = [0.5, 0.0004, 0.4]
+pErrorRotate, pErrorUp = 0, 0
+
+# 字体设置
+font = cv2.FONT_HERSHEY_SIMPLEX
+fontScale = 0.5
+fontColor = (255, 0, 0)
+lineThickness = 1
+
+def connect():
+    # Tello初始化设置
+      # 创建飞行器对象
+    # kp.init()  # 初始化按键处理模块
+    global Drone
+    Drone = tello.Tello()
+    Drone.connect()  # 连接到飞行器
+    Drone.streamon()  # 开启视频传输
+    Drone.LOGGER.setLevel(logging.ERROR)  # 只显示错误信息
+    sleep(5)  # 等待视频初始化
+    flag = True
+    while flag:
+        global OriginalImage
+        OriginalImage = Drone.get_frame_read().frame
+        global image
         image = cv2.resize(OriginalImage, (Camera_Width, Camera_Height))
+        # getKeyboardInput(drone=Drone, speed=70, image=Image)  # 按键控制
+        cv2.imshow("Drone Control Centre", image)
+        cv2.waitKey(1)
+        if cv2.waitKey(1) == ord('q'):
+            flag = False
+            cv2.destroyAllWindows()
+
+
+def getKeyboardInput(key):
+    # image = cv2.resize(OriginalImage, (Camera_Width, Camera_Height))
     speed = 70
     drone = Drone
     lr, fb, ud, yv = 0, 0, 0, 0
@@ -36,7 +65,6 @@ def getKeyboardInput(key):
     # elif kp.getKey("DOWN"):#下降
     if key == "DOWN":
         Drone.land()
-
     # if kp.getKey("j"):# 向左飞行
     if key == "j":
         key_pressed = 1
@@ -45,11 +73,14 @@ def getKeyboardInput(key):
     if key == "l":
         key_pressed = 1
         lr = speed
-
     # if kp.getKey("i"): #向前飞行
     if key == "i":
         key_pressed = 1
         fb = speed
+    # stop
+    if key == "s":
+        key_pressed = 1
+        fb = 0
     # elif kp.getKey("k"):# 向后飞行
     if key == "k":
         key_pressed = 1
@@ -80,26 +111,92 @@ def getKeyboardInput(key):
 
     drone.send_rc_control(lr, fb, ud, yv)
 
-# 主程序
-# 摄像头设置
-Camera_Width = 720
-Camera_Height = 480
-DetectRange = [6000, 11000]  # DetectRange[0] 是保持静止的检测人脸面积阈值下限，DetectRange[0] 是保持静止的检测人脸面积阈值上限
-PID_Parameter = [0.5, 0.0004, 0.4]
-pErrorRotate, pErrorUp = 0, 0
 
-# 字体设置
-font = cv2.FONT_HERSHEY_SIMPLEX
-fontScale = 0.5
-fontColor = (255, 0, 0)
-lineThickness = 1
-
-
-
-
-while True:
-    OriginalImage = Drone.get_frame_read().frame
-    Image = cv2.resize(OriginalImage, (Camera_Width, Camera_Height))
-    # getKeyboardInput(drone=Drone, speed=70, image=Image)  # 按键控制
-    cv2.imshow("Drone Control Centre", Image)
-    cv2.waitKey(1)
+# connect()
+# # 主程序
+# # 摄像头设置
+#
+#
+#
+#
+# import logging
+# import time
+# import cv2
+# from djitellopy import tello
+# import KeyPressModule as kp  # 用于获取键盘按键
+# from time import sleep
+#
+# def getKeyboardInput(drone, speed, image):
+#     lr, fb, ud, yv = 0, 0, 0, 0
+#     key_pressed = 0
+#     if kp.getKey("e"):
+#         cv2.imwrite('D:/snap-{}.jpg'.format(time.strftime("%H%M%S", time.localtime())), image)
+#     if kp.getKey("UP"):
+#         Drone.takeoff()
+#     elif kp.getKey("DOWN"):
+#         Drone.land()
+#
+#     if kp.getKey("j"):
+#         key_pressed = 1
+#         lr = -speed
+#     elif kp.getKey("l"):
+#         key_pressed = 1
+#         lr = speed
+#
+#     if kp.getKey("i"):
+#         key_pressed = 1
+#         fb = speed
+#     elif kp.getKey("k"):
+#         key_pressed = 1
+#         fb = -speed
+#
+#     if kp.getKey("w"):
+#         key_pressed = 1
+#         ud = speed
+#     elif kp.getKey("s"):
+#         key_pressed = 1
+#         ud = -speed
+#
+#     if kp.getKey("a"):
+#         key_pressed = 1
+#         yv = -speed
+#     elif kp.getKey("d"):
+#         key_pressed = 1
+#         yv = speed
+#     InfoText = "battery : {0}% height: {1}cm   time: {2}".format(drone.get_battery(), drone.get_height(), time.strftime("%H:%M:%S",time.localtime()))
+#     cv2.putText(image, InfoText, (10, 20), font, fontScale, (0, 0, 255), lineThickness)
+#     if key_pressed == 1:
+#         InfoText = "Command : lr:{0}% fb:{1} ud:{2} yv:{3}".format(lr, fb, ud, yv)
+#         cv2.putText(image, InfoText, (10, 40), font, fontScale, (0, 0, 255), lineThickness)
+#
+#     drone.send_rc_control(lr, fb, ud, yv)
+#
+# # 主程序
+# # 摄像头设置
+# Camera_Width = 720
+# Camera_Height = 480
+# DetectRange = [6000, 11000]  # DetectRange[0] 是保持静止的检测人脸面积阈值下限，DetectRange[0] 是保持静止的检测人脸面积阈值上限
+# PID_Parameter = [0.5, 0.0004, 0.4]
+# pErrorRotate, pErrorUp = 0, 0
+#
+# # 字体设置
+# font = cv2.FONT_HERSHEY_SIMPLEX
+# fontScale = 0.5
+# fontColor = (255, 0, 0)
+# lineThickness = 1
+#
+# # Tello初始化设置
+# Drone = tello.Tello()  # 创建飞行器对象
+# Drone.connect()  # 连接到飞行器
+# Drone.streamon()  # 开启视频传输
+# Drone.LOGGER.setLevel(logging.ERROR)  # 只显示错误信息
+# sleep(5)  #  等待视频初始化
+# kp.init()  # 初始化按键处理模块
+#
+#
+# while True:
+#     OriginalImage = Drone.get_frame_read().frame
+#     Image = cv2.resize(OriginalImage, (Camera_Width, Camera_Height))
+#     getKeyboardInput(drone=Drone, speed=70, image=Image)  # 按键控制
+#     cv2.imshow("Drone Control Centre", Image)
+#     cv2.waitKey(1)

src/qt/Mainwindow.py

@@ -14,6 +14,9 @@ from findpath_UI import *
 from Screenshot.Screenshot_Gui import *
 import qdarkstyle
 
+sys.path.append(os.path.dirname(os.path.abspath(__file__)) + "/../../PaddleClas-release-2.3")
+import Tello.KeyboardControl as KeyControl
+
 class Ui_MainWindow(object):
     def setupUi(self, MainWindow):
         MainWindow.setObjectName("MainWindow")
@@ -203,6 +206,13 @@ class Ui_MainWindow(object):
         self.toolBar.addAction(self.actionicon_3)
         self.actionicon_2.triggered.connect(lambda: self.path())
         self.actionicon_3.triggered.connect(lambda: self.video())
+        self.pushButton_7.clicked.connect(lambda: self.connect())
+        self.pushButton_3.clicked.connect(lambda: self.up())
+        self.pushButton_6.clicked.connect(lambda: self.down())
+        self.pushButton.clicked.connect(lambda: self.forward())
+        self.pushButton_4.clicked.connect(lambda: self.right())
+        self.pushButton_2.clicked.connect(lambda: self.left())
+        self.pushButton_5.clicked.connect(lambda: self.Return())
         self.retranslateUi(MainWindow)
         QtCore.QMetaObject.connectSlotsByName(MainWindow)
 
@@ -216,6 +226,29 @@ class Ui_MainWindow(object):
         self.ui = Ui_MainWindow2()
         self.ui.show()
 
+    def connect(self):
+        KeyControl.connect()
+
+    def up(self):
+        KeyControl.getKeyboardInput("UP")
+
+    def down(self):
+        KeyControl.getKeyboardInput("DOWN")
+
+    def forward(self):
+        KeyControl.getKeyboardInput("i")
+
+    def right(self):
+        KeyControl.getKeyboardInput("l")
+
+    def left(self):
+        KeyControl.getKeyboardInput("j")
+
+    def Return(self):
+        KeyControl.getKeyboardInput("a")
+        KeyControl.getKeyboardInput("dffsfdsa")
+
+
     def retranslateUi(self, MainWindow):
         _translate = QtCore.QCoreApplication.translate
         MainWindow.setWindowTitle(_translate("MainWindow", "无人机路径生成系统"))