from UIfile.SpeechRecognitionUI import Ui_SpeechRecognitionUI import mySpeechRecognition from PyQt5.QtCore import QTimer,pyqtSignal,QMutex,QThread,QWaitCondition,QObject from PyQt5.QtWidgets import QWidget from PyQt5.QtGui import QIcon,QCloseEvent import threading class speech_recognition_thread(QThread): '''语音识别线程''' send_speech_order_signal = pyqtSignal(bool, str) # 发送识别出的命令 send_LED_state = pyqtSignal(str) #传递LED灯应该显示的状态，两个颜色交替闪烁表示正在录音，显示一个颜色表示正在执行命令 def __init__(self): super(speech_recognition_thread, self).__init__() self.speechRecognition = mySpeechRecognition.mySpeechRecognition() self.daemon = True #是否后台运行 # self.paused = True #暂停标志 self.first_run = True #标记 self.threadLock = threading.Lock() self.timer = QTimer(self) self.timer.timeout.connect(self.run) def run(self): if self.first_run == True: self.first_run = False return else: self.threadLock.acquire() self.send_LED_state.emit('recording') #正在录音 self.speechRecognition.record() is_tellopy_order, order = self.speechRecognition.cognitive() # 返回两个值，第一个用于确定是不是tellopy的以速度为参数的命令，第二个是以步长为参数的send型的命令 self.send_LED_state.emit('executing') #识别完成，准备执行命令 # 当不是tellopy类型的命令时 if is_tellopy_order == False: # 当命令有效时 if order != 'False': self.send_speech_order_signal.emit(is_tellopy_order, order) # 触发信号，发送命令 else: self.threadLock.release() return # 当是tellopy类型的命令时 else: self.send_speech_order_signal.emit(is_tellopy_order, order) # 触发信号，发送命令 self.threadLock.release() class mySpeechRecognition_UI(QWidget,Ui_SpeechRecognitionUI): '''拓展的语音识别窗口类''' send_order_signal = pyqtSignal(bool, str) # 传递识别出的命令的信号，发给主窗口线程 when_closed = pyqtSignal() # 当窗口被关闭时发送信号 def __init__(self): super(mySpeechRecognition_UI, self).__init__() self.setupUi(self) self.btn_speech_pause_start.clicked.connect(self.btn_speech_pause_start_clicked) #开始/暂停按钮被按下时的触发动作 self.speechRecognition = mySpeechRecognition.mySpeechRecognition() #语音识别 self.isSpeechRecognition_started = False #标记语音识别是否开启 self.speech_recognition_thread = speech_recognition_thread() #语音识别线程 self.speech_recognition_thread.daemon = True self.speech_recognition_thread.send_speech_order_signal.connect(self.send_order_to_Tello) #发送命令到主进程 self.speech_order_text_already_received_for_show = '' #这个是要显示在子窗口下面的，已经发送给无人机的命令 self.set_control_Keys() self.speech_recognition_thread.start() def btn_speech_pause_start_clicked(self): '''当开始/暂停按钮按下时''' #当未开启语音识别或处于暂停状态时时 if self.isSpeechRecognition_started == False: self.isSpeechRecognition_started = True #更新标记 self.btn_speech_pause_start.setIcon(QIcon('../ico/pause_128px_1183436_easyicon.net.ico')) #更新按钮图标 self.btn_speech_pause_start.setText('关闭') # self.speech_recognition_thread.start() #放到上面去了 self.speech_recognition_thread.timer.start(3500) #当已经开启了语音识别时 elif self.isSpeechRecognition_started == True: self.isSpeechRecognition_started= False self.btn_speech_pause_start.setIcon(QIcon('../ico/play_128px_1183440_easyicon.net.ico')) #更新按钮图标 self.btn_speech_pause_start.setText('开始') self.speech_recognition_thread.timer.stop() def send_order_to_Tello(self, is_tellopy_order, order): '''发送命令到主窗口线程''' if order == '': return print('发送成功') self.send_order_signal.emit(is_tellopy_order,order) #更新窗口下面的显示命令 order_text = '' for key,val in self.controlKeys.items(): if val == order: order_text = key self.speech_order_text_already_received_for_show ='\n' + '>>>' + ' ' + order_text self.sentOrders.append(self.speech_order_text_already_received_for_show) def closeEvent(self, a0: QCloseEvent) -> None: '''当窗口关闭时触发函数''' self.when_closed.emit() self.dockWidget.close() self.speech_recognition_thread.timer.stop() def set_control_Keys(self): self.controlKeys = { '起飞' : 'T', '降落' : 'R', '向左飞' : 'left', '向右飞' : 'right', '向前飞' : 'forward', '向后飞' : 'back', '向上飞' : 'up', '向下飞' : 'down', '顺时针旋转' : 'cw', '逆时针旋转' : 'ccw', '向前翻滚' : 'FF', '向后翻滚' : 'FB', '向左翻滚' : 'FL', '向右翻滚' : 'FR', '悬停' : 'stop', '速度设为' : 'speed', '玄霆' : 'stop', '向前' : 'W', '向后' : 'S', '向左' : 'A', '向右' : 'D', '向上' : 'U', '向下' : 'I', '停' : 'P', '在我手上降落' : 'H' }