源代码

src/page1.py

@@ -0,0 +1,83 @@
+# -*- coding: utf-8 -*-
+
+# Form implementation generated from reading ui file 'page1.ui'
+#
+# Created by: PyQt5 UI code generator 5.15.4
+#
+# WARNING: Any manual changes made to this file will be lost when pyuic5 is
+# run again.  Do not edit this file unless you know what you are doing.
+
+
+from PyQt5 import QtCore, QtGui, QtWidgets
+
+
+class Ui_Form1(object):
+    def setupUi(self, Form):
+        Form.setObjectName("Form")
+        Form.resize(1108, 767)
+        self.pushButton = QtWidgets.QPushButton(Form)
+        self.pushButton.setGeometry(QtCore.QRect(10, 740, 75, 23))
+        sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Fixed, QtWidgets.QSizePolicy.Fixed)
+        sizePolicy.setHorizontalStretch(0)
+        sizePolicy.setVerticalStretch(0)
+        sizePolicy.setHeightForWidth(self.pushButton.sizePolicy().hasHeightForWidth())
+        self.pushButton.setSizePolicy(sizePolicy)
+        self.pushButton.setObjectName("pushButton")
+        self.pushButton_2 = QtWidgets.QPushButton(Form)
+        self.pushButton_2.setGeometry(QtCore.QRect(90, 740, 75, 23))
+        sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Fixed, QtWidgets.QSizePolicy.Fixed)
+        sizePolicy.setHorizontalStretch(0)
+        sizePolicy.setVerticalStretch(0)
+        sizePolicy.setHeightForWidth(self.pushButton_2.sizePolicy().hasHeightForWidth())
+        self.pushButton_2.setSizePolicy(sizePolicy)
+        self.pushButton_2.setObjectName("pushButton_2")
+        self.radioButton = QtWidgets.QRadioButton(Form)
+        self.radioButton.setGeometry(QtCore.QRect(10, 40, 59, 16))
+        sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Fixed, QtWidgets.QSizePolicy.Fixed)
+        sizePolicy.setHorizontalStretch(0)
+        sizePolicy.setVerticalStretch(0)
+        sizePolicy.setHeightForWidth(self.radioButton.sizePolicy().hasHeightForWidth())
+        self.radioButton.setSizePolicy(sizePolicy)
+        self.radioButton.setMaximumSize(QtCore.QSize(100, 20))
+        self.radioButton.setObjectName("radioButton")
+        self.mdiArea = QtWidgets.QMdiArea(Form)
+        self.mdiArea.setGeometry(QtCore.QRect(9, 61, 1091, 671))
+        sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Preferred, QtWidgets.QSizePolicy.Preferred)
+        sizePolicy.setHorizontalStretch(0)
+        sizePolicy.setVerticalStretch(0)
+        sizePolicy.setHeightForWidth(self.mdiArea.sizePolicy().hasHeightForWidth())
+        self.mdiArea.setSizePolicy(sizePolicy)
+        self.mdiArea.setMaximumSize(QtCore.QSize(16777215, 16777215))
+        self.mdiArea.setObjectName("mdiArea")
+        self.pushButton_4 = QtWidgets.QPushButton(Form)
+        self.pushButton_4.setGeometry(QtCore.QRect(1020, 740, 75, 23))
+        sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Fixed, QtWidgets.QSizePolicy.Fixed)
+        sizePolicy.setHorizontalStretch(0)
+        sizePolicy.setVerticalStretch(0)
+        sizePolicy.setHeightForWidth(self.pushButton_4.sizePolicy().hasHeightForWidth())
+        self.pushButton_4.setSizePolicy(sizePolicy)
+        self.pushButton_4.setObjectName("pushButton_4")
+        self.pushButton_3 = QtWidgets.QPushButton(Form)
+        self.pushButton_3.setGeometry(QtCore.QRect(940, 740, 75, 23))
+        sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Fixed, QtWidgets.QSizePolicy.Fixed)
+        sizePolicy.setHorizontalStretch(0)
+        sizePolicy.setVerticalStretch(0)
+        sizePolicy.setHeightForWidth(self.pushButton_3.sizePolicy().hasHeightForWidth())
+        self.pushButton_3.setSizePolicy(sizePolicy)
+        self.pushButton_3.setObjectName("pushButton_3")
+        self.label = QtWidgets.QLabel(Form)
+        self.label.setGeometry(QtCore.QRect(10, 10, 101, 31))
+        self.label.setObjectName("label")
+
+        self.retranslateUi(Form)
+        QtCore.QMetaObject.connectSlotsByName(Form)
+
+    def retranslateUi(self, Form):
+        _translate = QtCore.QCoreApplication.translate
+        Form.setWindowTitle(_translate("Form", "page1"))
+        self.pushButton.setText(_translate("Form", "连接"))
+        self.pushButton_2.setText(_translate("Form", "断开"))
+        self.radioButton.setText(_translate("Form", "无连接"))
+        self.pushButton_4.setText(_translate("Form", "缩小"))
+        self.pushButton_3.setText(_translate("Form", "放大"))
+        self.label.setText(_translate("Form", "实时画面显示系统"))

src/page2.py

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+# -*- coding: utf-8 -*-
+
+# Form implementation generated from reading ui file 'page2.ui'
+#
+# Created by: PyQt5 UI code generator 5.15.4
+#
+# WARNING: Any manual changes made to this file will be lost when pyuic5 is
+# run again.  Do not edit this file unless you know what you are doing.
+
+
+from PyQt5 import QtCore, QtGui, QtWidgets
+from vedio_demo import Ui_MainWindow
+from PyQt5.QtWidgets import *
+from PyQt5.QtMultimedia import QMediaContent, QMediaPlayer
+
+class Ui_MainWindow1(object):
+    def setupUi(self, MainWindow):
+        MainWindow.setObjectName("MainWindow")
+        MainWindow.resize(1112, 766)
+        self.centralwidget = QtWidgets.QWidget(MainWindow)
+        self.centralwidget.setObjectName("centralwidget")
+        self.gridLayout = QtWidgets.QGridLayout(self.centralwidget)
+        self.gridLayout.setObjectName("gridLayout")
+        self.pushButton = QtWidgets.QPushButton(self.centralwidget)
+        self.pushButton.setObjectName("pushButton")
+        self.gridLayout.addWidget(self.pushButton, 2, 0, 1, 1)
+        self.mdiArea = QtWidgets.QMdiArea(self.centralwidget)
+        self.mdiArea.setObjectName("mdiArea")
+        self.gridLayout.addWidget(self.mdiArea, 1, 0, 1, 1)
+        self.pushButton_2 = QtWidgets.QPushButton(self.centralwidget)
+        self.pushButton_2.setObjectName("pushButton_2")
+        self.gridLayout.addWidget(self.pushButton_2, 3, 0, 1, 1)
+        self.label = QtWidgets.QLabel(self.centralwidget)
+        self.label.setObjectName("label")
+        self.gridLayout.addWidget(self.label, 0, 0, 1, 1)
+        MainWindow.setCentralWidget(self.centralwidget)
+        self.menubar = QtWidgets.QMenuBar(MainWindow)
+        self.menubar.setGeometry(QtCore.QRect(0, 0, 1112, 23))
+        self.menubar.setObjectName("menubar")
+        MainWindow.setMenuBar(self.menubar)
+        self.statusbar = QtWidgets.QStatusBar(MainWindow)
+        self.statusbar.setObjectName("statusbar")
+        MainWindow.setStatusBar(self.statusbar)
+        self.retranslateUi(MainWindow)
+        QtCore.QMetaObject.connectSlotsByName(MainWindow)
+        self.pushButton.clicked.connect(lambda: self.msg())
+    def msg(self):
+        MainWindow = QMainWindow()
+        ui = Ui_MainWindow()
+        ui.setupUi(MainWindow)
+        self.mdiArea.addSubWindow(MainWindow)
+        MainWindow.showMaximized()
+        ui.player = QMediaPlayer()
+        ui.player.setVideoOutput(ui.wgt_video)
+        ui.pushButton.clicked.connect(lambda: openVideoFile(ui))
+        ui.player.setMedia(QMediaContent(QFileDialog.getOpenFileUrl()[0]))
+        ui.pushButton_2.clicked.connect(lambda: pause(ui))
+        def pause(a):
+            a.player.pause()
+        def openVideoFile(a):
+            a.player.play()
+    def retranslateUi(self, MainWindow):
+        _translate = QtCore.QCoreApplication.translate
+        MainWindow.setWindowTitle(_translate("MainWindow", "MainWindow"))
+        self.pushButton.setText(_translate("MainWindow", "添加文件"))
+        self.pushButton_2.setText(_translate("MainWindow", "分析路径"))
+        self.label.setText(_translate("MainWindow", "路径分析界面"))

src/page2_2.py

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+# -*- coding: utf-8 -*-
+
+# Form implementation generated from reading ui file 'page2.ui'
+#
+# Created by: PyQt5 UI code generator 5.15.4
+#
+# WARNING: Any manual changes made to this file will be lost when pyuic5 is
+# run again.  Do not edit this file unless you know what you are doing.
+
+
+from PyQt5 import QtCore, QtGui, QtWidgets
+from vedio_demo import Ui_MainWindow
+from PyQt5.QtWidgets import *
+from PyQt5.QtMultimedia import QMediaContent, QMediaPlayer
+from Search_2D.Astar import AStar
+import os
+import sys
+sys.path.append(os.path.dirname(os.path.abspath(__file__)) +
+                "/../../Search_based_Planning/")
+from Search_2D import plotting
+
+class Ui_MainWindow1(object):
+    def setupUi(self, MainWindow):
+        MainWindow.setObjectName("MainWindow")
+        MainWindow.resize(1112, 766)
+        self.centralwidget = QtWidgets.QWidget(MainWindow)
+        self.centralwidget.setObjectName("centralwidget")
+        self.gridLayout = QtWidgets.QGridLayout(self.centralwidget)
+        self.gridLayout.setObjectName("gridLayout")
+        self.pushButton = QtWidgets.QPushButton(self.centralwidget)
+        self.pushButton.setObjectName("pushButton")
+        self.gridLayout.addWidget(self.pushButton, 2, 0, 1, 1)
+        self.mdiArea = QtWidgets.QMdiArea(self.centralwidget)
+        self.mdiArea.setObjectName("mdiArea")
+        self.gridLayout.addWidget(self.mdiArea, 1, 0, 1, 1)
+        self.pushButton_2 = QtWidgets.QPushButton(self.centralwidget)
+        self.pushButton_2.setObjectName("pushButton_2")
+        self.gridLayout.addWidget(self.pushButton_2, 3, 0, 1, 1)
+        self.label = QtWidgets.QLabel(self.centralwidget)
+        self.label.setObjectName("label")
+        self.gridLayout.addWidget(self.label, 0, 0, 1, 1)
+        MainWindow.setCentralWidget(self.centralwidget)
+        self.menubar = QtWidgets.QMenuBar(MainWindow)
+        self.menubar.setGeometry(QtCore.QRect(0, 0, 1112, 23))
+        self.menubar.setObjectName("menubar")
+        MainWindow.setMenuBar(self.menubar)
+        self.statusbar = QtWidgets.QStatusBar(MainWindow)
+        self.statusbar.setObjectName("statusbar")
+        MainWindow.setStatusBar(self.statusbar)
+        self.retranslateUi(MainWindow)
+        QtCore.QMetaObject.connectSlotsByName(MainWindow)
+        self.pushButton.clicked.connect(lambda: self.msg())
+        self.pushButton_2.clicked.connect(lambda: self.search())
+    def msg(self):
+        MainWindow = QMainWindow()
+        ui = Ui_MainWindow()
+        ui.setupUi(MainWindow)
+        self.mdiArea.addSubWindow(MainWindow)
+        MainWindow.showMaximized()
+        ui.player = QMediaPlayer()
+        ui.player.setVideoOutput(ui.wgt_video)
+        ui.pushButton.clicked.connect(lambda: openVideoFile(ui))
+        ui.player.setMedia(QMediaContent(QFileDialog.getOpenFileUrl()[0]))
+        ui.pushButton_2.clicked.connect(lambda: pause(ui))
+        def pause(a):
+            a.player.pause()
+        def openVideoFile(a):
+            a.player.play()
+    def search(self):
+        s_start = (5, 5)
+        s_goal = (45, 25)
+        astar = AStar(s_start, s_goal, "euclidean")
+        plot = plotting.Plotting(s_start, s_goal)
+        path, visited = astar.searching()
+        plot.animation(path, visited, "A*")
+    def retranslateUi(self, MainWindow):
+        _translate = QtCore.QCoreApplication.translate
+        MainWindow.setWindowTitle(_translate("MainWindow", "MainWindow"))
+        self.pushButton.setText(_translate("MainWindow", "添加文件"))
+        self.pushButton_2.setText(_translate("MainWindow", "分析路径"))
+        self.label.setText(_translate("MainWindow", "路径分析界面"))

src/system_main.py

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+# -*- coding: utf-8 -*-
+
+# Form implementation generated from reading ui file 'system_main.ui'
+#
+# Created by: PyQt5 UI code generator 5.15.4
+#
+# WARNING: Any manual changes made to this file will be lost when pyuic5 is
+# run again.  Do not edit this file unless you know what you are doing.
+
+
+from PyQt5 import QtCore, QtGui, QtWidgets
+import sys
+from PyQt5.QtWidgets import *
+from page1 import Ui_Form1
+from page2 import Ui_MainWindow1
+
+
+class Ui_MainWindow(object):
+    def setupUi(self, MainWindow):
+        MainWindow.setObjectName("MainWindow")
+        MainWindow.resize(1275, 896)
+        self.centralwidget = QtWidgets.QWidget(MainWindow)
+        self.centralwidget.setObjectName("centralwidget")
+        self.gridLayout = QtWidgets.QGridLayout(self.centralwidget)
+        self.gridLayout.setObjectName("gridLayout")
+        self.label = QtWidgets.QLabel(self.centralwidget)
+        self.label.setMinimumSize(QtCore.QSize(0, 20))
+        self.label.setMaximumSize(QtCore.QSize(200, 20))
+        self.label.setTextFormat(QtCore.Qt.AutoText)
+        self.label.setAlignment(QtCore.Qt.AlignCenter)
+        self.label.setObjectName("label")
+        self.gridLayout.addWidget(self.label, 1, 0, 1, 1)
+        self.groupBox = QtWidgets.QGroupBox(self.centralwidget)
+        sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Fixed, QtWidgets.QSizePolicy.Expanding)
+        sizePolicy.setHorizontalStretch(0)
+        sizePolicy.setVerticalStretch(0)
+        sizePolicy.setHeightForWidth(self.groupBox.sizePolicy().hasHeightForWidth())
+        self.groupBox.setSizePolicy(sizePolicy)
+        self.groupBox.setMaximumSize(QtCore.QSize(600, 16777215))
+        self.groupBox.setFlat(False)
+        self.groupBox.setCheckable(False)
+        self.groupBox.setObjectName("groupBox")
+        self.gridLayout_2 = QtWidgets.QGridLayout(self.groupBox)
+        self.gridLayout_2.setObjectName("gridLayout_2")
+        self.pushButton = QtWidgets.QPushButton(self.groupBox)
+        self.pushButton.setObjectName("pushButton")
+        self.gridLayout_2.addWidget(self.pushButton, 0, 0, 1, 1)
+        self.pushButton_2 = QtWidgets.QPushButton(self.groupBox)
+        self.pushButton_2.setObjectName("pushButton_2")
+        self.gridLayout_2.addWidget(self.pushButton_2, 1, 0, 1, 1)
+        self.gridLayout.addWidget(self.groupBox, 2, 0, 2, 1)
+        self.mdiArea = QtWidgets.QMdiArea(self.centralwidget)
+        self.mdiArea.setObjectName("mdiArea")
+        self.gridLayout.addWidget(self.mdiArea, 2, 1, 2, 1)
+        MainWindow.setCentralWidget(self.centralwidget)
+        self.menubar = QtWidgets.QMenuBar(MainWindow)
+        self.menubar.setGeometry(QtCore.QRect(0, 0, 1275, 23))
+        self.menubar.setObjectName("menubar")
+        MainWindow.setMenuBar(self.menubar)
+        self.statusbar = QtWidgets.QStatusBar(MainWindow)
+        self.statusbar.setObjectName("statusbar")
+        MainWindow.setStatusBar(self.statusbar)
+        self.pushButton.clicked.connect(lambda: self.open1())
+        self.pushButton_2.clicked.connect(lambda: self.open2())
+        self.retranslateUi(MainWindow)
+        QtCore.QMetaObject.connectSlotsByName(MainWindow)
+
+    def open1(self):
+        MainWindow = QMainWindow()
+        ui = Ui_Form1()
+        ui.setupUi(MainWindow)
+        self.mdiArea.addSubWindow(MainWindow)
+        MainWindow.showMaximized()
+
+    def open2(self):    
+        MainWindow = QMainWindow()
+        ui = Ui_MainWindow1()
+        ui.setupUi(MainWindow)
+        self.mdiArea.addSubWindow(MainWindow)
+        MainWindow.showMaximized()
+
+    def retranslateUi(self, MainWindow):
+        _translate = QtCore.QCoreApplication.translate
+        MainWindow.setWindowTitle(_translate("MainWindow", "无人机自动寻路系统"))
+        self.label.setText(_translate("MainWindow", "无人机自动寻路系统（主界面)"))
+        self.groupBox.setTitle(_translate("MainWindow", "菜单栏"))
+        self.pushButton.setText(_translate("MainWindow", "实时画面"))
+        self.pushButton_2.setText(_translate("MainWindow", "路径分析"))
+
+if __name__ == '__main__':
+    app = QApplication(sys.argv)
+    MainWindow = QMainWindow()
+    ui = Ui_MainWindow()
+    ui.setupUi(MainWindow)
+    MainWindow.show()
+    sys.exit(app.exec_())

src/vedio_demo.py

@@ -0,0 +1,50 @@
+# -*- coding: utf-8 -*-
+
+# Form implementation generated from reading ui file 'vedio_demo.ui'
+#
+# Created by: PyQt5 UI code generator 5.15.4
+#
+# WARNING: Any manual changes made to this file will be lost when pyuic5 is
+# run again.  Do not edit this file unless you know what you are doing.
+
+
+from PyQt5 import QtCore, QtGui, QtWidgets
+from PyQt5.QtMultimediaWidgets import QVideoWidget
+
+class Ui_MainWindow(object):
+    def setupUi(self, MainWindow):
+        MainWindow.setObjectName("MainWindow")
+        MainWindow.resize(1111, 676)
+        self.centralwidget = QtWidgets.QWidget(MainWindow)
+        self.centralwidget.setObjectName("centralwidget")
+        self.gridLayout = QtWidgets.QGridLayout(self.centralwidget)
+        self.gridLayout.setObjectName("gridLayout")
+        self.pushButton_2 = QtWidgets.QPushButton(self.centralwidget)
+        self.pushButton_2.setObjectName("pushButton_2")
+        self.gridLayout.addWidget(self.pushButton_2, 3, 0, 1, 1)
+        self.pushButton = QtWidgets.QPushButton(self.centralwidget)
+        self.pushButton.setObjectName("pushButton")
+        self.gridLayout.addWidget(self.pushButton, 2, 0, 1, 1)
+        self.wgt_video = QVideoWidget(self.centralwidget)
+        self.wgt_video.setObjectName("widget")
+        self.gridLayout.addWidget(self.wgt_video, 0, 0, 1, 1)
+        self.horizontalSlider = QtWidgets.QSlider(self.centralwidget)
+        self.horizontalSlider.setOrientation(QtCore.Qt.Horizontal)
+        self.horizontalSlider.setObjectName("horizontalSlider")
+        self.gridLayout.addWidget(self.horizontalSlider, 1, 0, 1, 1)
+        MainWindow.setCentralWidget(self.centralwidget)
+        self.menubar = QtWidgets.QMenuBar(MainWindow)
+        self.menubar.setGeometry(QtCore.QRect(0, 0, 1111, 23))
+        self.menubar.setObjectName("menubar")
+        MainWindow.setMenuBar(self.menubar)
+        self.statusbar = QtWidgets.QStatusBar(MainWindow)
+        self.statusbar.setObjectName("statusbar")
+        MainWindow.setStatusBar(self.statusbar)
+        self.retranslateUi(MainWindow)
+        QtCore.QMetaObject.connectSlotsByName(MainWindow)
+
+    def retranslateUi(self, MainWindow):
+        _translate = QtCore.QCoreApplication.translate
+        MainWindow.setWindowTitle(_translate("MainWindow", "MainWindow"))
+        self.pushButton_2.setText(_translate("MainWindow", "暂停"))
+        self.pushButton.setText(_translate("MainWindow", "播放"))