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Code Issues Pull Requests Releases Wiki Activity

更新控件命名和添加注释

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pull/41/head
lvs 3 years ago
parent 9e45057000
commit c3b7ed28b6
4 changed files with 229 additions and 231 deletions
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src/Tello/__pycache__/KeyboardControl.cpython-39.pyc
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src/qt/Mainwindow.py
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@ -8,16 +8,15 @@
# run again. Do not edit this file unless you know what you are doing. # run again. Do not edit this file unless you know what you are doing.
import os import os
import sys import sys
import cv2
from PyQt5.QtCore import Qt from PyQt5.QtCore import Qt
from PyQt5.QtGui import QPixmap
from PyQt5.QtWidgets import QApplication from PyQt5.QtWidgets import QApplication
from PyQt5.QtWidgets import * from PyQt5.QtWidgets import *
from findpath_UI import * from findpath_UI import *
from app import ScreenBar from app import ScreenBar
import qdarkstyle import qdarkstyle
sys.path.append(os.path.dirname(os.path.abspath(__file__)) + "/../../PaddleClas-release-2.3")
import Tello.KeyboardControl as KeyControl
sys.path.append(os.path.dirname(os.path.abspath(__file__)) + "/../../PaddleClas-release-2.3")
import Tello.KeyboardControl as KeyControl import Tello.KeyboardControl as KeyControl
class Ui_MainWindow(object): class Ui_MainWindow(object):
@ -35,55 +34,58 @@ class Ui_MainWindow(object):
self.frame.setFrameShape(QtWidgets.QFrame.StyledPanel) self.frame.setFrameShape(QtWidgets.QFrame.StyledPanel)
self.frame.setFrameShadow(QtWidgets.QFrame.Raised) self.frame.setFrameShadow(QtWidgets.QFrame.Raised)
self.frame.setObjectName("frame") self.frame.setObjectName("frame")
self.label = QtWidgets.QLabel(self.frame) #设置无人机状态
self.label.setGeometry(QtCore.QRect(0, 0, 111, 25)) self.tellostate = QtWidgets.QLabel(self.frame)
self.tellostate.setGeometry(QtCore.QRect(0, 0, 111, 25))
font = QtGui.QFont() font = QtGui.QFont()
font.setFamily("微软雅黑") font.setFamily("微软雅黑")
font.setPointSize(14) font.setPointSize(14)
font.setBold(True) font.setBold(True)
font.setWeight(75) font.setWeight(75)
self.label.setFont(font) self.tellostate.setFont(font)
self.label.setStyleSheet("QLabel\n" self.tellostate.setStyleSheet("QLabel\n"
"{\n" "{\n"
" color:white\n" " color:white\n"
"}") "}")
self.label.setObjectName("label") self.tellostate.setObjectName("tellostate")
self.label_2 = QtWidgets.QLabel(self.frame) #设置充电状态
self.label_2.setGeometry(QtCore.QRect(20, 30, 341, 41)) self.charge = QtWidgets.QLabel(self.frame)
self.charge.setGeometry(QtCore.QRect(20, 30, 341, 41))
font = QtGui.QFont() font = QtGui.QFont()
font.setFamily("微软雅黑") font.setFamily("微软雅黑")
font.setPointSize(10) font.setPointSize(10)
font.setBold(True) font.setBold(True)
font.setWeight(75) font.setWeight(75)
self.label_2.setFont(font) self.charge.setFont(font)
self.label_2.setObjectName("label_2") self.charge.setObjectName("charge")
self.label_7 = QtWidgets.QLabel(self.frame) self.chargetxt = QtWidgets.QLabel(self.frame)
self.label_7.setGeometry(QtCore.QRect(100, 30, 341, 41)) self.chargetxt.setGeometry(QtCore.QRect(100, 30, 341, 41))
font = QtGui.QFont() font = QtGui.QFont()
font.setFamily("微软雅黑") font.setFamily("微软雅黑")
font.setPointSize(10) font.setPointSize(10)
font.setBold(True) font.setBold(True)
font.setWeight(75) font.setWeight(75)
self.label_7.setFont(font) self.chargetxt.setFont(font)
self.label_7.setObjectName("label_7") self.chargetxt.setObjectName("chargetxt")
self.label_3 = QtWidgets.QLabel(self.frame) #设置WIFI状态
self.label_3.setGeometry(QtCore.QRect(20, 100, 341, 41)) self.Wifi = QtWidgets.QLabel(self.frame)
self.Wifi.setGeometry(QtCore.QRect(20, 100, 341, 41))
font = QtGui.QFont() font = QtGui.QFont()
font.setFamily("微软雅黑") font.setFamily("微软雅黑")
font.setPointSize(10) font.setPointSize(10)
font.setBold(True) font.setBold(True)
font.setWeight(75) font.setWeight(75)
self.label_3.setFont(font) self.Wifi.setFont(font)
self.label_3.setObjectName("label_3") self.Wifi.setObjectName("Wifi")
self.label_8 = QtWidgets.QLabel(self.frame) self.Wifitxt = QtWidgets.QLabel(self.frame)
self.label_8.setGeometry(QtCore.QRect(100, 100, 341, 41)) self.Wifitxt.setGeometry(QtCore.QRect(100, 100, 341, 41))
font = QtGui.QFont() font = QtGui.QFont()
font.setFamily("微软雅黑") font.setFamily("微软雅黑")
font.setPointSize(10) font.setPointSize(10)
font.setBold(True) font.setBold(True)
font.setWeight(75) font.setWeight(75)
self.label_8.setFont(font) self.Wifitxt.setFont(font)
self.label_8.setObjectName("label_8") self.Wifitxt.setObjectName("Wifitxt")
self.frame_2 = QtWidgets.QFrame(self.centralwidget) self.frame_2 = QtWidgets.QFrame(self.centralwidget)
self.frame_2.setGeometry(QtCore.QRect(840, 250, 391, 421)) self.frame_2.setGeometry(QtCore.QRect(840, 250, 391, 421))
self.frame_2.setStyleSheet("QPushButton\n" self.frame_2.setStyleSheet("QPushButton\n"
@ -93,33 +95,34 @@ class Ui_MainWindow(object):
self.frame_2.setFrameShape(QtWidgets.QFrame.StyledPanel) self.frame_2.setFrameShape(QtWidgets.QFrame.StyledPanel)
self.frame_2.setFrameShadow(QtWidgets.QFrame.Raised) self.frame_2.setFrameShadow(QtWidgets.QFrame.Raised)
self.frame_2.setObjectName("frame_2") self.frame_2.setObjectName("frame_2")
self.label_4 = QtWidgets.QLabel(self.frame_2) #设置无人机控制部分
self.label_4.setGeometry(QtCore.QRect(0, 0, 101, 31)) self.tellocontrol = QtWidgets.QLabel(self.frame_2)
self.tellocontrol.setGeometry(QtCore.QRect(0, 0, 101, 31))
font = QtGui.QFont() font = QtGui.QFont()
font.setFamily("微软雅黑") font.setFamily("微软雅黑")
font.setPointSize(14) font.setPointSize(14)
font.setBold(True) font.setBold(True)
font.setWeight(75) font.setWeight(75)
self.label_4.setFont(font) self.tellocontrol.setFont(font)
self.label_4.setStyleSheet("QLabel\n" self.tellocontrol.setStyleSheet("QLabel\n"
"{\n" "{\n"
" color:white\n" " color:white\n"
"}\n" "}\n"
"") "")
self.label_4.setObjectName("label_4") self.tellocontrol.setObjectName("tellocontrol")
self.pushButton_3 = QtWidgets.QPushButton(self.frame_2) self.btn_tello_up = QtWidgets.QPushButton(self.frame_2)
self.pushButton_3.setGeometry(QtCore.QRect(60, 30, 231, 91)) self.btn_tello_up.setGeometry(QtCore.QRect(60, 30, 231, 91))
font = QtGui.QFont() font = QtGui.QFont()
font.setFamily("Arial") font.setFamily("Arial")
font.setPointSize(10) font.setPointSize(10)
font.setBold(True) font.setBold(True)
font.setWeight(75) font.setWeight(75)
self.pushButton_3.setFont(font) self.btn_tello_up.setFont(font)
icon1 = QtGui.QIcon() icon1 = QtGui.QIcon()
icon1.addPixmap(QtGui.QPixmap("tello_png/qifei.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off) icon1.addPixmap(QtGui.QPixmap("tello_png/qifei.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off)
self.pushButton_3.setIcon(icon1) self.btn_tello_up.setIcon(icon1)
self.pushButton_3.setIconSize(QtCore.QSize(150, 150)) self.btn_tello_up.setIconSize(QtCore.QSize(150, 150))
self.pushButton_3.setObjectName("pushButton_3") self.btn_tello_up.setObjectName("btn_tello_up")
self.upload = QtWidgets.QPushButton(self.frame_2) self.upload = QtWidgets.QPushButton(self.frame_2)
self.upload.setGeometry(QtCore.QRect(300, 30, 50, 180)) self.upload.setGeometry(QtCore.QRect(300, 30, 50, 180))
font = QtGui.QFont() font = QtGui.QFont()
@ -138,105 +141,107 @@ class Ui_MainWindow(object):
font.setWeight(75) font.setWeight(75)
self.download.setFont(font) self.download.setFont(font)
self.download.setObjectName("download") self.download.setObjectName("download")
self.pushButton_6 = QtWidgets.QPushButton(self.frame_2) self.btn_tello_down = QtWidgets.QPushButton(self.frame_2)
self.pushButton_6.setGeometry(QtCore.QRect(60, 310, 231, 91)) self.btn_tello_down.setGeometry(QtCore.QRect(60, 310, 231, 91))
font = QtGui.QFont() font = QtGui.QFont()
font.setFamily("Arial") font.setFamily("Arial")
font.setPointSize(10) font.setPointSize(10)
font.setBold(True) font.setBold(True)
font.setItalic(False) font.setItalic(False)
font.setWeight(75) font.setWeight(75)
self.pushButton_6.setFont(font) self.btn_tello_down.setFont(font)
icon2 = QtGui.QIcon() icon2 = QtGui.QIcon()
icon2.addPixmap(QtGui.QPixmap("tello_png/jiangluo.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off) icon2.addPixmap(QtGui.QPixmap("tello_png/jiangluo.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off)
self.pushButton_6.setIcon(icon2) self.btn_tello_down.setIcon(icon2)
self.pushButton_6.setIconSize(QtCore.QSize(150, 150)) self.btn_tello_down.setIconSize(QtCore.QSize(150, 150))
self.pushButton_6.setObjectName("pushButton_6") self.btn_tello_down.setObjectName("btn_tello_down")
self.pushButton_4 = QtWidgets.QPushButton(self.frame_2) self.btn_tello_right = QtWidgets.QPushButton(self.frame_2)
self.pushButton_4.setGeometry(QtCore.QRect(220, 220, 71, 71)) self.btn_tello_right.setGeometry(QtCore.QRect(220, 220, 71, 71))
self.pushButton_4.setText("") self.btn_tello_right.setText("")
icon3 = QtGui.QIcon() icon3 = QtGui.QIcon()
icon3.addPixmap(QtGui.QPixmap("tello_png/right.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off) icon3.addPixmap(QtGui.QPixmap("tello_png/right.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off)
self.pushButton_4.setIcon(icon3) self.btn_tello_right.setIcon(icon3)
self.pushButton_4.setIconSize(QtCore.QSize(70, 100)) self.btn_tello_right.setIconSize(QtCore.QSize(70, 100))
self.pushButton_4.setObjectName("pushButton_4") self.btn_tello_right.setObjectName("btn_tello_right")
self.pushButton_2 = QtWidgets.QPushButton(self.frame_2) self.btn_tello_left = QtWidgets.QPushButton(self.frame_2)
self.pushButton_2.setGeometry(QtCore.QRect(60, 220, 71, 71)) self.btn_tello_left.setGeometry(QtCore.QRect(60, 220, 71, 71))
self.pushButton_2.setText("") self.btn_tello_left.setText("")
icon4 = QtGui.QIcon() icon4 = QtGui.QIcon()
icon4.addPixmap(QtGui.QPixmap("tello_png/left.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off) icon4.addPixmap(QtGui.QPixmap("tello_png/left.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off)
self.pushButton_2.setIcon(icon4) self.btn_tello_left.setIcon(icon4)
self.pushButton_2.setIconSize(QtCore.QSize(70, 100)) self.btn_tello_left.setIconSize(QtCore.QSize(70, 100))
self.pushButton_2.setObjectName("pushButton_2") self.btn_tello_left.setObjectName("btn_tello_left")
self.pushButton_5 = QtWidgets.QPushButton(self.frame_2) self.btn_tello_hold = QtWidgets.QPushButton(self.frame_2)
self.pushButton_5.setGeometry(QtCore.QRect(140, 220, 71, 71)) self.btn_tello_hold.setGeometry(QtCore.QRect(140, 220, 71, 71))
self.pushButton_5.setText("") self.btn_tello_hold.setText("")
icon5 = QtGui.QIcon() icon5 = QtGui.QIcon()
icon5.addPixmap(QtGui.QPixmap("tello_png/hold.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off) icon5.addPixmap(QtGui.QPixmap("tello_png/hold.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off)
self.pushButton_5.setIcon(icon5) self.btn_tello_hold.setIcon(icon5)
self.pushButton_5.setIconSize(QtCore.QSize(70, 100)) self.btn_tello_hold.setIconSize(QtCore.QSize(70, 100))
self.pushButton_5.setObjectName("pushButton_5") self.btn_tello_hold.setObjectName("btn_tello_hold")
self.pushButton = QtWidgets.QPushButton(self.frame_2) self.btn_tello_forward = QtWidgets.QPushButton(self.frame_2)
self.pushButton.setGeometry(QtCore.QRect(140, 140, 71, 71)) self.btn_tello_forward.setGeometry(QtCore.QRect(140, 140, 71, 71))
self.pushButton.setText("") self.btn_tello_forward.setText("")
icon6 = QtGui.QIcon() icon6 = QtGui.QIcon()
icon6.addPixmap(QtGui.QPixmap("tello_png/up.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off) icon6.addPixmap(QtGui.QPixmap("tello_png/up.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off)
self.pushButton.setIcon(icon6) self.btn_tello_forward.setIcon(icon6)
self.pushButton.setIconSize(QtCore.QSize(70, 100)) self.btn_tello_forward.setIconSize(QtCore.QSize(70, 100))
self.pushButton.setObjectName("pushButton") self.btn_tello_forward.setObjectName("btn_tello_forward")
self.pushButton_8 = QtWidgets.QPushButton(self.frame_2) self.btn_tello_turnright = QtWidgets.QPushButton(self.frame_2)
self.pushButton_8.setGeometry(QtCore.QRect(220, 140, 71, 71)) self.btn_tello_turnright.setGeometry(QtCore.QRect(220, 140, 71, 71))
self.pushButton_8.setText("") self.btn_tello_turnright.setText("")
icon6 = QtGui.QIcon() icon6 = QtGui.QIcon()
icon6.addPixmap(QtGui.QPixmap("tello_png/return.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off) icon6.addPixmap(QtGui.QPixmap("tello_png/return.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off)
self.pushButton_8.setIcon(icon6) self.btn_tello_turnright.setIcon(icon6)
self.pushButton_8.setIconSize(QtCore.QSize(70, 100)) self.btn_tello_turnright.setIconSize(QtCore.QSize(70, 100))
self.pushButton_8.setObjectName("pushButton_8") self.btn_tello_turnright.setObjectName("btn_tello_turnright")
self.pushButton_9 = QtWidgets.QPushButton(self.frame_2) self.btn_tello_turnleft = QtWidgets.QPushButton(self.frame_2)
self.pushButton_9.setGeometry(QtCore.QRect(60, 140, 71, 71)) self.btn_tello_turnleft.setGeometry(QtCore.QRect(60, 140, 71, 71))
self.pushButton_9.setText("") self.btn_tello_turnleft.setText("")
icon6 = QtGui.QIcon() icon6 = QtGui.QIcon()
icon6.addPixmap(QtGui.QPixmap("tello_png/return_2.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off) icon6.addPixmap(QtGui.QPixmap("tello_png/return_2.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off)
self.pushButton_9.setIcon(icon6) self.btn_tello_turnleft.setIcon(icon6)
self.pushButton_9.setIconSize(QtCore.QSize(70, 100)) self.btn_tello_turnleft.setIconSize(QtCore.QSize(70, 100))
self.pushButton_9.setObjectName("pushButton_9") self.btn_tello_turnleft.setObjectName("btn_tello_turnleft")
#设置无人机连接部分
self.frame_3 = QtWidgets.QFrame(self.centralwidget) self.frame_3 = QtWidgets.QFrame(self.centralwidget)
self.frame_3.setGeometry(QtCore.QRect(840, 680, 391, 80)) self.frame_3.setGeometry(QtCore.QRect(840, 680, 391, 80))
self.frame_3.setFrameShape(QtWidgets.QFrame.StyledPanel) self.frame_3.setFrameShape(QtWidgets.QFrame.StyledPanel)
self.frame_3.setFrameShadow(QtWidgets.QFrame.Raised) self.frame_3.setFrameShadow(QtWidgets.QFrame.Raised)
self.frame_3.setObjectName("frame_3") self.frame_3.setObjectName("frame_3")
self.pushButton_7 = QtWidgets.QPushButton(self.frame_3) self.btn_tello_connect = QtWidgets.QPushButton(self.frame_3)
self.pushButton_7.setGeometry(QtCore.QRect(20, 10, 75, 61)) self.btn_tello_connect.setGeometry(QtCore.QRect(20, 10, 75, 61))
self.pushButton_7.setText("") self.btn_tello_connect.setText("")
icon7 = QtGui.QIcon() icon7 = QtGui.QIcon()
icon7.addPixmap(QtGui.QPixmap("window_png/连接.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off) icon7.addPixmap(QtGui.QPixmap("window_png/连接.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off)
self.pushButton_7.setIcon(icon7) self.btn_tello_connect.setIcon(icon7)
self.pushButton_7.setIconSize(QtCore.QSize(60, 60)) self.btn_tello_connect.setIconSize(QtCore.QSize(60, 60))
self.pushButton_7.setObjectName("pushButton_7") self.btn_tello_connect.setObjectName("btn_tello_connect")
self.label_5 = QtWidgets.QLabel(self.frame_3) self.connectstate = QtWidgets.QLabel(self.frame_3)
self.label_5.setGeometry(QtCore.QRect(120, 15, 231, 51)) self.connectstate.setGeometry(QtCore.QRect(120, 15, 231, 51))
font = QtGui.QFont() font = QtGui.QFont()
font.setFamily("微软雅黑") font.setFamily("微软雅黑")
font.setPointSize(10) font.setPointSize(10)
font.setBold(True) font.setBold(True)
font.setWeight(75) font.setWeight(75)
self.label_5.setFont(font) self.connectstate.setFont(font)
self.label_5.setObjectName("label_5") self.connectstate.setObjectName("connectstate")
self.label_6 = QtWidgets.QLabel(self.frame_3) self.connecttxt = QtWidgets.QLabel(self.frame_3)
self.label_6.setGeometry(QtCore.QRect(200, 15, 231, 51)) self.connecttxt.setGeometry(QtCore.QRect(200, 15, 231, 51))
font = QtGui.QFont() font = QtGui.QFont()
font.setFamily("微软雅黑") font.setFamily("微软雅黑")
font.setPointSize(10) font.setPointSize(10)
font.setBold(True) font.setBold(True)
font.setWeight(75) font.setWeight(75)
self.label_6.setFont(font) self.connecttxt.setFont(font)
self.label_6.setStyleSheet("QLabel\n" self.connecttxt.setStyleSheet("QLabel\n"
"{\n" "{\n"
" color:red\n" " color:red\n"
"}\n" "}\n"
"") "")
self.label_6.setObjectName("label_6") self.connecttxt.setObjectName("connecttxt")
MainWindow.setCentralWidget(self.centralwidget) MainWindow.setCentralWidget(self.centralwidget)
#上方工具栏
self.menubar = QtWidgets.QMenuBar(MainWindow) self.menubar = QtWidgets.QMenuBar(MainWindow)
self.menubar.setGeometry(QtCore.QRect(0, 0, 1260, 23)) self.menubar.setGeometry(QtCore.QRect(0, 0, 1260, 23))
self.menubar.setObjectName("menubar") self.menubar.setObjectName("menubar")
@ -253,100 +258,103 @@ class Ui_MainWindow(object):
self.toolBar.setIconSize(QtCore.QSize(50, 24)) self.toolBar.setIconSize(QtCore.QSize(50, 24))
self.toolBar.setObjectName("toolBar") self.toolBar.setObjectName("toolBar")
MainWindow.addToolBar(QtCore.Qt.TopToolBarArea, self.toolBar) MainWindow.addToolBar(QtCore.Qt.TopToolBarArea, self.toolBar)
self.actionicon = QtWidgets.QAction(MainWindow) self.tello = QtWidgets.QAction(MainWindow)
icon8 = QtGui.QIcon() icon8 = QtGui.QIcon()
icon8.addPixmap(QtGui.QPixmap("window_png/实时画面-1.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off) icon8.addPixmap(QtGui.QPixmap("window_png/实时画面-1.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off)
self.actionicon.setIcon(icon8) self.tello.setIcon(icon8)
self.actionicon.setObjectName("actionicon") self.tello.setObjectName("tello")
self.actionicon_2 = QtWidgets.QAction(MainWindow) self.pathfind = QtWidgets.QAction(MainWindow)
icon9 = QtGui.QIcon() icon9 = QtGui.QIcon()
icon9.addPixmap(QtGui.QPixmap("window_png/路径分析-1.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off) icon9.addPixmap(QtGui.QPixmap("window_png/路径分析-1.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off)
self.actionicon_2.setIcon(icon9) self.pathfind.setIcon(icon9)
self.actionicon_2.setObjectName("actionicon_2") self.pathfind.setObjectName("pathfind")
self.actionicon_3 = QtWidgets.QAction(MainWindow) self.screenshot = QtWidgets.QAction(MainWindow)
icon10 = QtGui.QIcon() icon10 = QtGui.QIcon()
icon10.addPixmap(QtGui.QPixmap("window_png/录像.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off) icon10.addPixmap(QtGui.QPixmap("window_png/录像.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off)
self.actionicon_3.setIcon(icon10) self.screenshot.setIcon(icon10)
self.actionicon_3.setObjectName("actionicon_3") self.screenshot.setObjectName("screenshot")
self.menubar.addAction(self.menu.menuAction()) self.menubar.addAction(self.menu.menuAction())
self.menubar.addAction(self.menu_2.menuAction()) self.menubar.addAction(self.menu_2.menuAction())
self.toolBar.addAction(self.actionicon) self.toolBar.addAction(self.tello)
self.toolBar.addAction(self.actionicon_2) self.toolBar.addAction(self.pathfind)
self.toolBar.addAction(self.actionicon_3) self.toolBar.addAction(self.screenshot)
self.img_label = QtWidgets.QLabel()
self.connect_flag = False self.connect_flag = False
self.actionicon_2.triggered.connect(lambda: self.path()) #槽函数部分
self.actionicon_3.triggered.connect(lambda: self.video()) self.pathfind.triggered.connect(lambda: self.path())
self.pushButton_7.clicked.connect(lambda: self.connect()) self.screenshot.triggered.connect(lambda: self.video())
self.pushButton_3.clicked.connect(lambda: self.up()) self.btn_tello_connect.clicked.connect(lambda: self.connect())
self.pushButton_6.clicked.connect(lambda: self.down()) self.btn_tello_up.clicked.connect(lambda: self.up())
self.pushButton.clicked.connect(lambda: self.forward()) self.btn_tello_down.clicked.connect(lambda: self.down())
self.pushButton_4.clicked.connect(lambda: self.right()) self.btn_tello_forward.clicked.connect(lambda: self.forward())
self.pushButton_2.clicked.connect(lambda: self.left()) self.btn_tello_right.clicked.connect(lambda: self.right())
self.pushButton_5.clicked.connect(lambda: self.Return()) self.btn_tello_left.clicked.connect(lambda: self.left())
self.btn_tello_hold.clicked.connect(lambda: self.Return())
self.retranslateUi(MainWindow) self.retranslateUi(MainWindow)
QtCore.QMetaObject.connectSlotsByName(MainWindow) QtCore.QMetaObject.connectSlotsByName(MainWindow)
#点击路径分析事件
def path(self): def path(self):
self.MainWindow1 = QMainWindow() self.MainWindow1 = QMainWindow()
ui = Ui_MainWindow1() ui = Ui_MainWindow1()
ui.setupUi(self.MainWindow1) ui.setupUi(self.MainWindow1)
self.MainWindow1.show() self.MainWindow1.show()
#点击屏幕录制事件
def video(self): def video(self):
bar.show() bar.show()
#点击连接无人机事件
def connect(self): def connect(self):
self.connect_flag = True self.connect_flag = True
self.label_6.setStyleSheet("QLabel\n" self.connecttxt.setStyleSheet("QLabel\n"
"{\n" "{\n"
" color:green\n" " color:green\n"
"}\n" "}\n"
"") "")
self.label_6.setText("已连接") self.connecttxt.setText("已连接")
self.label_7.setStyleSheet("QLabel\n" self.chargetxt.setStyleSheet("QLabel\n"
"{\n" "{\n"
" color:green\n" " color:green\n"
"}\n" "}\n"
"") "")
self.label_7.setText("100%") self.chargetxt.setText("100%")
self.label_8.setStyleSheet("QLabel\n" self.Wifitxt.setStyleSheet("QLabel\n"
"{\n" "{\n"
" color:green\n" " color:green\n"
"}\n" "}\n"
"") "")
self.label_8.setText("强") self.Wifitxt.setText("强")
KeyControl.connect() KeyControl.connect()
#点击无人机起飞事件
def up(self): def up(self):
if self.connect_flag: if self.connect_flag:
KeyControl.getKeyboardInput("UP") KeyControl.getKeyboardInput("UP")
else: else:
return return
#点击无人机降落事件
def down(self): def down(self):
if self.connect_flag: if self.connect_flag:
KeyControl.getKeyboardInput("DOWN") KeyControl.getKeyboardInput("DOWN")
else: else:
return return
#点击无人机前进事件
def forward(self): def forward(self):
if self.connect_flag: if self.connect_flag:
KeyControl.getKeyboardInput("i") KeyControl.getKeyboardInput("i")
else: else:
return return
#点击无人机右偏事件
def right(self): def right(self):
if self.connect_flag: if self.connect_flag:
KeyControl.getKeyboardInput("l") KeyControl.getKeyboardInput("l")
else: else:
return return
#点击无人机左偏事件
def left(self): def left(self):
if self.connect_flag: if self.connect_flag:
KeyControl.getKeyboardInput("j") KeyControl.getKeyboardInput("j")
else: else:
return return
#点击无人机停止事件
def Return(self): def Return(self):
if self.connect_flag: if self.connect_flag:
KeyControl.getKeyboardInput("a") KeyControl.getKeyboardInput("a")
@ -354,49 +362,27 @@ class Ui_MainWindow(object):
else: else:
return return
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): def retranslateUi(self, MainWindow):
_translate = QtCore.QCoreApplication.translate _translate = QtCore.QCoreApplication.translate
MainWindow.setWindowTitle(_translate("MainWindow", "无人机路径生成系统")) MainWindow.setWindowTitle(_translate("MainWindow", "无人机路径生成系统"))
self.label.setText(_translate("MainWindow", "无人机状态")) self.tellostate.setText(_translate("MainWindow", "无人机状态"))
self.label_2.setText(_translate("MainWindow", "剩余电量：")) self.charge.setText(_translate("MainWindow", "剩余电量："))
self.label_7.setText(_translate("MainWindow", "--")) self.chargetxt.setText(_translate("MainWindow", "--"))
self.label_3.setText(_translate("MainWindow", "WIFI强度：")) self.Wifi.setText(_translate("MainWindow", "WIFI强度："))
self.label_8.setText(_translate("MainWindow", "--")) self.Wifitxt.setText(_translate("MainWindow", "--"))
self.label_4.setText(_translate("MainWindow", "控制面板")) self.tellocontrol.setText(_translate("MainWindow", "控制面板"))
self.pushButton_3.setText(_translate("MainWindow", "起飞")) self.btn_tello_up.setText(_translate("MainWindow", "起飞"))
self.pushButton_6.setText(_translate("MainWindow", "降落")) self.btn_tello_down.setText(_translate("MainWindow", "降落"))
self.upload.setText(_translate("MainWindow", "上升")) self.upload.setText(_translate("MainWindow", "上升"))
self.download.setText(_translate("MainWindow", "下降")) self.download.setText(_translate("MainWindow", "下降"))
self.label_5.setText(_translate("MainWindow", "连接状态：")) self.connectstate.setText(_translate("MainWindow", "连接状态："))
self.label_6.setText(_translate("MainWindow", "未连接")) self.connecttxt.setText(_translate("MainWindow", "未连接"))
self.menu.setTitle(_translate("MainWindow", "实时画面")) self.menu.setTitle(_translate("MainWindow", "实时画面"))
self.menu_2.setTitle(_translate("MainWindow", "路径分析")) self.menu_2.setTitle(_translate("MainWindow", "路径分析"))
self.toolBar.setWindowTitle(_translate("MainWindow", "toolBar")) self.toolBar.setWindowTitle(_translate("MainWindow", "toolBar"))
self.actionicon.setText(_translate("MainWindow", "实时画面")) self.tello.setText(_translate("MainWindow", "实时画面"))
self.actionicon_2.setText(_translate("MainWindow", "路径分析")) self.pathfind.setText(_translate("MainWindow", "路径分析"))
if __name__ == '__main__': if __name__ == '__main__':

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src/qt/findpath_UI.py
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@ -20,60 +20,67 @@ class Ui_MainWindow1(object):
MainWindow.resize(1262, 867) MainWindow.resize(1262, 867)
self.centralwidget = QtWidgets.QWidget(MainWindow) self.centralwidget = QtWidgets.QWidget(MainWindow)
self.centralwidget.setObjectName("centralwidget") self.centralwidget.setObjectName("centralwidget")
self.frame = QtWidgets.QFrame(self.centralwidget) #设置左侧工具栏
self.frame.setGeometry(QtCore.QRect(370, 770, 421, 70)) self.vedio_control_bar = QtWidgets.QFrame(self.centralwidget)
self.frame.setStyleSheet("QPushButton{\n" self.vedio_control_bar.setGeometry(QtCore.QRect(370, 770, 421, 70))
self.vedio_control_bar.setStyleSheet("QPushButton{\n"
" border:none\n" " border:none\n"
"}") "}")
self.frame.setFrameShape(QtWidgets.QFrame.StyledPanel) self.vedio_control_bar.setFrameShape(QtWidgets.QFrame.StyledPanel)
self.frame.setFrameShadow(QtWidgets.QFrame.Raised) self.vedio_control_bar.setFrameShadow(QtWidgets.QFrame.Raised)
self.frame.setObjectName("frame") self.vedio_control_bar.setObjectName("vedio_control_bar")
self.horizontalLayout = QtWidgets.QHBoxLayout(self.frame) self.horizontalLayout = QtWidgets.QHBoxLayout(self.vedio_control_bar)
self.horizontalLayout.setObjectName("horizontalLayout") self.horizontalLayout.setObjectName("horizontalLayout")
self.pushButton = QtWidgets.QPushButton(self.frame) #设置快退按钮
self.pushButton.setMinimumSize(QtCore.QSize(50, 50)) self.vedio_back = QtWidgets.QPushButton(self.vedio_control_bar)
self.pushButton.setMaximumSize(QtCore.QSize(50, 50)) self.vedio_back.setMinimumSize(QtCore.QSize(50, 50))
self.pushButton.setText("") self.vedio_back.setMaximumSize(QtCore.QSize(50, 50))
self.vedio_back.setText("")
icon = QtGui.QIcon() icon = QtGui.QIcon()
icon.addPixmap(QtGui.QPixmap("window_png/快退.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off) icon.addPixmap(QtGui.QPixmap("window_png/快退.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off)
self.pushButton.setIcon(icon) self.vedio_back.setIcon(icon)
self.pushButton.setIconSize(QtCore.QSize(50, 50)) self.vedio_back.setIconSize(QtCore.QSize(50, 50))
self.pushButton.setObjectName("pushButton") self.vedio_back.setObjectName("vedio_back")
self.horizontalLayout.addWidget(self.pushButton) self.horizontalLayout.addWidget(self.vedio_back)
self.pushButton_2 = QtWidgets.QPushButton(self.frame) #设置播放按钮
self.pushButton_2.setMinimumSize(QtCore.QSize(50, 50)) self.vedio_play = QtWidgets.QPushButton(self.vedio_control_bar)
self.pushButton_2.setMaximumSize(QtCore.QSize(50, 50)) self.vedio_play.setMinimumSize(QtCore.QSize(50, 50))
self.pushButton_2.setText("") self.vedio_play.setMaximumSize(QtCore.QSize(50, 50))
self.vedio_play.setText("")
icon1 = QtGui.QIcon() icon1 = QtGui.QIcon()
icon1.addPixmap(QtGui.QPixmap("window_png/播放.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off) icon1.addPixmap(QtGui.QPixmap("window_png/播放.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off)
self.pushButton_2.setIcon(icon1) self.vedio_play.setIcon(icon1)
self.pushButton_2.setIconSize(QtCore.QSize(50, 50)) self.vedio_play.setIconSize(QtCore.QSize(50, 50))
self.pushButton_2.setObjectName("pushButton_2") self.vedio_play.setObjectName("vedio_play")
self.horizontalLayout.addWidget(self.pushButton_2) self.horizontalLayout.addWidget(self.vedio_play)
self.pushButton_3 = QtWidgets.QPushButton(self.frame) #设置快进按钮
self.pushButton_3.setMinimumSize(QtCore.QSize(50, 50)) self.vedio_forward = QtWidgets.QPushButton(self.vedio_control_bar)
self.pushButton_3.setMaximumSize(QtCore.QSize(50, 50)) self.vedio_forward.setMinimumSize(QtCore.QSize(50, 50))
self.pushButton_3.setText("") self.vedio_forward.setMaximumSize(QtCore.QSize(50, 50))
self.vedio_forward.setText("")
icon2 = QtGui.QIcon() icon2 = QtGui.QIcon()
icon2.addPixmap(QtGui.QPixmap("window_png/快进.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off) icon2.addPixmap(QtGui.QPixmap("window_png/快进.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off)
self.pushButton_3.setIcon(icon2) self.vedio_forward.setIcon(icon2)
self.pushButton_3.setIconSize(QtCore.QSize(50, 50)) self.vedio_forward.setIconSize(QtCore.QSize(50, 50))
self.pushButton_3.setObjectName("pushButton_3") self.vedio_forward.setObjectName("vedio_forward")
self.horizontalLayout.addWidget(self.pushButton_3) self.horizontalLayout.addWidget(self.vedio_forward)
self.widget = QVideoWidget(self.centralwidget) self.widget = QVideoWidget(self.centralwidget)
self.widget.setGeometry(QtCore.QRect(10, 20, 1191, 691)) self.widget.setGeometry(QtCore.QRect(10, 20, 1191, 691))
self.widget.setObjectName("widget") self.widget.setObjectName("widget")
self.frame_2 = QtWidgets.QFrame(self.centralwidget) #设置进度条窗口
self.frame_2.setGeometry(QtCore.QRect(10, 710, 1201, 61)) self.Progress_bar = QtWidgets.QFrame(self.centralwidget)
self.frame_2.setFrameShape(QtWidgets.QFrame.StyledPanel) self.Progress_bar.setGeometry(QtCore.QRect(10, 710, 1201, 61))
self.frame_2.setFrameShadow(QtWidgets.QFrame.Raised) self.Progress_bar.setFrameShape(QtWidgets.QFrame.StyledPanel)
self.frame_2.setObjectName("frame_2") self.Progress_bar.setFrameShadow(QtWidgets.QFrame.Raised)
self.sld_duration = QtWidgets.QSlider(self.frame_2) self.Progress_bar.setObjectName("Progress_bar")
#设置进度条控件
self.sld_duration = QtWidgets.QSlider(self.Progress_bar)
self.sld_duration.setGeometry(QtCore.QRect(20, 20, 1051, 22)) self.sld_duration.setGeometry(QtCore.QRect(20, 20, 1051, 22))
self.sld_duration.setOrientation(QtCore.Qt.Horizontal) self.sld_duration.setOrientation(QtCore.Qt.Horizontal)
self.sld_duration.setObjectName("sld_duration") self.sld_duration.setObjectName("sld_duration")
self.sld_duration.setEnabled(True) self.sld_duration.setEnabled(True)
self.lab_duration = QtWidgets.QLabel(self.frame_2) #设置显示时间控件
self.lab_duration = QtWidgets.QLabel(self.Progress_bar)
self.lab_duration.setGeometry(QtCore.QRect(1100, 20, 81, 21)) self.lab_duration.setGeometry(QtCore.QRect(1100, 20, 81, 21))
font = QtGui.QFont() font = QtGui.QFont()
font.setFamily("微软雅黑") font.setFamily("微软雅黑")
@ -95,11 +102,13 @@ class Ui_MainWindow1(object):
self.toolBar.setIconSize(QtCore.QSize(40, 40)) self.toolBar.setIconSize(QtCore.QSize(40, 40))
self.toolBar.setObjectName("toolBar") self.toolBar.setObjectName("toolBar")
MainWindow.addToolBar(QtCore.Qt.LeftToolBarArea, self.toolBar) MainWindow.addToolBar(QtCore.Qt.LeftToolBarArea, self.toolBar)
#设置添加文件按钮
self.actionl1 = QtWidgets.QAction(MainWindow) self.actionl1 = QtWidgets.QAction(MainWindow)
icon3 = QtGui.QIcon() icon3 = QtGui.QIcon()
icon3.addPixmap(QtGui.QPixmap("window_png/添加文件.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off) icon3.addPixmap(QtGui.QPixmap("window_png/添加文件.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off)
self.actionl1.setIcon(icon3) self.actionl1.setIcon(icon3)
self.actionl1.setObjectName("actionl1") self.actionl1.setObjectName("actionl1")
#设置路径分析按钮
self.actionl1_2 = QtWidgets.QAction(MainWindow) self.actionl1_2 = QtWidgets.QAction(MainWindow)
icon4 = QtGui.QIcon() icon4 = QtGui.QIcon()
icon4.addPixmap(QtGui.QPixmap("window_png/路径分析-2.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off) icon4.addPixmap(QtGui.QPixmap("window_png/路径分析-2.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off)
@ -107,20 +116,21 @@ class Ui_MainWindow1(object):
self.actionl1_2.setObjectName("actionl1_2") self.actionl1_2.setObjectName("actionl1_2")
self.toolBar.addAction(self.actionl1) self.toolBar.addAction(self.actionl1)
self.toolBar.addAction(self.actionl1_2) self.toolBar.addAction(self.actionl1_2)
self.frame_3 = QtWidgets.QFrame(self.centralwidget) self.vedio_bar = QtWidgets.QFrame(self.centralwidget)
self.frame_3.setGeometry(QtCore.QRect(800, 770, 150, 70)) self.vedio_bar.setGeometry(QtCore.QRect(800, 770, 150, 70))
self.frame.setStyleSheet("QPushButton{\n" self.vedio_control_bar.setStyleSheet("QPushButton{\n"
" border:none\n" " border:none\n"
"}") "}")
self.frame_3.setFrameShape(QtWidgets.QFrame.StyledPanel) self.vedio_bar.setFrameShape(QtWidgets.QFrame.StyledPanel)
self.frame_3.setFrameShadow(QtWidgets.QFrame.Raised) self.vedio_bar.setFrameShadow(QtWidgets.QFrame.Raised)
self.frame_3.setObjectName("frame_3") self.vedio_bar.setObjectName("vedio_bar")
self.sld = QtWidgets.QSlider(self.frame_3) #设置音量调节进度条
self.sld = QtWidgets.QSlider(self.vedio_bar)
self.sld.setGeometry(QtCore.QRect(50, 20, 50, 30)) self.sld.setGeometry(QtCore.QRect(50, 20, 50, 30))
self.sld.setOrientation(QtCore.Qt.Horizontal) self.sld.setOrientation(QtCore.Qt.Horizontal)
self.sld.setObjectName("sld") self.sld.setObjectName("sld")
self.sld.setEnabled(True) self.sld.setEnabled(True)
self.lab = QtWidgets.QLabel(self.frame_3) self.lab = QtWidgets.QLabel(self.vedio_bar)
self.lab.setGeometry(QtCore.QRect(100, 20, 40, 30)) self.lab.setGeometry(QtCore.QRect(100, 20, 40, 30))
font = QtGui.QFont() font = QtGui.QFont()
font.setFamily("微软雅黑") font.setFamily("微软雅黑")
@ -134,53 +144,54 @@ class Ui_MainWindow1(object):
" color:white\n" " color:white\n"
"}") "}")
self.lab.setObjectName("lab") self.lab.setObjectName("lab")
self.pushButton_9 = QtWidgets.QPushButton(self.frame_3) self.vedio_voice = QtWidgets.QPushButton(self.vedio_bar)
self.pushButton_9.setEnabled(False) self.vedio_voice.setEnabled(False)
self.pushButton_9.move(0, 10) self.vedio_voice.move(0, 10)
self.pushButton_9.setMinimumSize(QtCore.QSize(50, 50)) self.vedio_voice.setMinimumSize(QtCore.QSize(50, 50))
self.pushButton_9.setMaximumSize(QtCore.QSize(50, 50)) self.vedio_voice.setMaximumSize(QtCore.QSize(50, 50))
self.pushButton_9.setText("") self.vedio_voice.setText("")
icon9 = QtGui.QIcon() icon9 = QtGui.QIcon()
icon9.addPixmap(QtGui.QPixmap("window_png/音量.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off) icon9.addPixmap(QtGui.QPixmap("window_png/音量.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off)
self.pushButton_9.setIcon(icon9) self.vedio_voice.setIcon(icon9)
self.pushButton_9.setIconSize(QtCore.QSize(50, 50)) self.vedio_voice.setIconSize(QtCore.QSize(50, 50))
self.pushButton_9.setObjectName("pushButton_9") self.vedio_voice.setObjectName("vedio_voice")
self.retranslateUi(MainWindow) self.retranslateUi(MainWindow)
QtCore.QMetaObject.connectSlotsByName(MainWindow) QtCore.QMetaObject.connectSlotsByName(MainWindow)
#设置槽函数
self.player = QMediaPlayer() self.player = QMediaPlayer()
self.player.setVideoOutput(self.widget) self.player.setVideoOutput(self.widget)
#设置时间函数
self.timer = QTimer() self.timer = QTimer()
self.timer.start(1000) self.timer.start(1000)
self.timer.timeout.connect(lambda: self.onTimerOut()) self.timer.timeout.connect(lambda: self.onTimerOut())
self.actionl1.triggered.connect(lambda: self.openfile()) self.actionl1.triggered.connect(lambda: self.openfile())
self.pushButton_2.clicked.connect(lambda: self.playpause()) self.vedio_play.clicked.connect(lambda: self.playpause())
self.pushButton_3.clicked.connect(lambda: self.uptime()) self.vedio_forward.clicked.connect(lambda: self.uptime())
self.pushButton.clicked.connect(lambda: self.downtime()) self.vedio_back.clicked.connect(lambda: self.downtime())
self.sld_duration.sliderMoved.connect(lambda: self.changetime()) self.sld_duration.sliderMoved.connect(lambda: self.changetime())
self.sld.sliderMoved.connect(lambda: self.changevoice()) self.sld.sliderMoved.connect(lambda: self.changevoice())
#点击添加文件事件
def openfile(self): def openfile(self):
media_list = QMediaContent(QFileDialog.getOpenFileUrl()[0]) media_list = QMediaContent(QFileDialog.getOpenFileUrl()[0])
self.player.setMedia(media_list) self.player.setMedia(media_list)
self.player.play() self.player.play()
self.player.pause() self.player.pause()
#点击视频停止事件
def playpause(self): def playpause(self):
if self.player.state() == 1: if self.player.state() == 1:
self.player.pause() self.player.pause()
icon9 = QtGui.QIcon() icon9 = QtGui.QIcon()
icon9.addPixmap(QtGui.QPixmap("window_png/播放.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off) icon9.addPixmap(QtGui.QPixmap("window_png/播放.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off)
self.pushButton_2.setIcon(icon9) self.vedio_play.setIcon(icon9)
self.pushButton_2.setIconSize(QtCore.QSize(50, 50)) self.vedio_play.setIconSize(QtCore.QSize(50, 50))
else: else:
self.player.play() self.player.play()
icon9 = QtGui.QIcon() icon9 = QtGui.QIcon()
icon9.addPixmap(QtGui.QPixmap("window_png/暂停.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off) icon9.addPixmap(QtGui.QPixmap("window_png/暂停.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off)
self.pushButton_2.setIcon(icon9) self.vedio_play.setIcon(icon9)
self.pushButton_2.setIconSize(QtCore.QSize(50, 50)) self.vedio_play.setIconSize(QtCore.QSize(50, 50))
#设置时间函数
def onTimerOut(self): def onTimerOut(self):
alltime = self.player.duration() alltime = self.player.duration()
ms = self.player.position() ms = self.player.position()
@ -193,20 +204,21 @@ class Ui_MainWindow1(object):
self.sld_duration.setValue(ms) self.sld_duration.setValue(ms)
self.sld.setValue(self.player.volume()) self.sld.setValue(self.player.volume())
self.lab.setText('{}%'.format(self.player.volume())) self.lab.setText('{}%'.format(self.player.volume()))
#设置快进事件
def uptime(self): def uptime(self):
num = self.player.position() + int(self.player.duration() / 20) num = self.player.position() + int(self.player.duration() / 20)
self.player.setPosition(num) self.player.setPosition(num)
#设置快退事件
def downtime(self): def downtime(self):
num = self.player.position() - int(self.player.duration() / 20) num = self.player.position() - int(self.player.duration() / 20)
self.player.setPosition(num) self.player.setPosition(num)
#设置鼠标改变进度条事件
def changetime(self): def changetime(self):
self.timer.stop() self.timer.stop()
num = self.sld_duration.value() num = self.sld_duration.value()
self.player.setPosition(num) self.player.setPosition(num)
self.timer.start() self.timer.start()
#设置鼠标改变声音事件
def changevoice(self): def changevoice(self):
num = self.sld.value() num = self.sld.value()
self.player.setVolume(num) self.player.setVolume(num)

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