Question

我正在使用add_attribute_listener从无人机获取数据，并想根据这些值更新我的小部件Qpainter。我在这里附上我的代码：

import sys
import math
from dronekit import connect, VehicleMode, LocationGlobalRelative
from PyQt5.QtWidgets import *
from PyQt5.QtGui import *
from PyQt5.QtCore import *
import DC_gimbal as backend #it is the drone connection script
from datetime import date
import time

def counterrotate(ox,oy,px,py,roll):

    angle=math.radians(roll)
    #counterclockwise
    qx= ox+ math.cos(angle)*(px-ox)-math.sin(angle)*(py-oy)
    qy= oy+ math.sin(angle)*(px-ox)+math.cos(angle)*(py-oy)
    return qx,qy

def rotate(ox,oy,px,py,roll):

    angle=math.radians(roll)
    #clockwise
    qx= ox+ math.cos(angle)*(px-ox)+math.sin(angle)*(py-oy)
    qy= oy+ math.sin(angle)*(px-ox)+math.cos(angle)*(py-oy)
    return qx,qy

def line_cord(x0,y0,x1,y1,ox,oy,pitch,roll):
    x0,y0 = rotate(ox,oy,x0,y0, roll*5)
    y0 -= pitch*20
    x1, y1 = counterrotate(ox,oy,x1,y1, roll*5)
    y1 -= pitch*20
    return x0,y0,x1,y1




class Manager(QObject):
    changedValue = pyqtSignal(tuple)
    def __init__(self):
        QObject.__init__(self)
        filename = "Attitude_data_Manual_1232018_1158.txt" # sample file
        res = self.read_content(filename)

        self.results = zip(*res)

        self.timer = QTimer(self)
        self.timer.timeout.connect(self.update_value)
        self.timer.start(50)

    @pyqtSlot()
    def update_value(self):
        try:
            self.changedValue.emit(next(self.results))
        except StopIteration:
            self.timer.stop()
    def read_content(self, filename):
        pitch = []
        roll = []
        yaw = []
        with open(filename,'r') as f :
            lines = f.readlines()[4:]
            for s in lines:
                a = s.split()
                if len(a) !=14:
                    print("point reached")
                    continue
                pitch.append(float(a[4]))
                roll.append(float(a[6]))
                yaw.append(float(a[8]))
        return pitch, roll, yaw


class Widget(QWidget):
    def __init__(self, parent=None):
        QWidget.__init__(self, parent)
        self.v = None

    @pyqtSlot(tuple)
    def update_value(self, v):
        self.v = v
        self.update()

    def paintEvent(self, event):
        QWidget.paintEvent(self, event)
        painter = QPainter(self)
        r = self.rect()
        font = QFont(self.font())
        font.setPixelSize(15)
        metrics = QFontMetricsF(font) 
        painter.setFont(font)
        painter.setPen(self.palette().color(QPalette.Shadow))



        if self.v:

            xc=r.center().x()
            yc= r.center().y()



            pitch, roll, yaw = self.v


            x0,y0,x1,y1 = line_cord(r.left()-200, r.center().y(), r.right()+200, r.center().y(),r.center().x(),r.center().y(),pitch,roll)


            posx0 = QPoint(x0,y0)
            posx1 = QPoint(x1, y1)

            upper_polygon = QPolygonF([r.topLeft(), posx0, posx1, r.topRight()])
            bottom_polygon = QPolygonF([posx0, posx1, r.bottomRight(), r.bottomLeft()])


            painter.setBrush(QColor("skyblue"))
            painter.drawPolygon(upper_polygon)

            painter.setBrush(QColor("green"))
            painter.drawPolygon(bottom_polygon)




        painter.drawLine(r.left(), r.center().y(), r.right(), r.center().y())



if __name__ == '__main__':

      app = QApplication(sys.argv)
      main()
      backend.vehicle_initialise() # here vehicle object is initiated
      manager = Manager()
      huds_Up()
      w = Widget()
      manager.changedValue.connect(w.update_value)
      w.show()
      sys.exit(app.exec_())

当前，我正在处理示例文件。我正在从文件中获取俯仰，侧倾和偏航值。我正在使用该俯仰和滚动值来显示用户界面的更改。我想对无人机的实时值做同样的事情。我了解了侦听器，但是在回调函数中我不能使用painter对象，因为它不能被paintevent继承。这是指向示例数据https://drive.google.com/file/d/10d65C_rLYKinf6wgB3C55T5xENj58y_l/view

的链接

我想对通过以下方法获得的无人机值做同样的事情：

last_attitude_cache = None
def attitude_callback(self, attr_name, value):
    # `attr_name` - the observed attribute (used if callback is used for multiple attributes)
    # `self` - the associated vehicle object (used if a callback is different for multiple vehicles)
    # `value` is the updated attribute value.
    global last_attitude_cache
    # Only publish when value changes
    if value!=last_attitude_cache:
        print " CALLBACK: Attitude changed to", value
        last_attitude_cache=value

print "\nAdd `attitude` attribute callback/observer on `vehicle`"     
vehicle.add_attribute_listener('attitude', attitude_callback)

这里的值是对象，它使我更改了无人机的实时值。其中value.pitch是无人机面的上下运动，value.roll是弧度，表示无人机倾斜了多少，而value.yaw是无人机的指南针值。如何在paintevent中使用这些无人机值来更改我的绘图？

由于我是与Qpainter UI集成的新型dronekit集成，因此提供的任何帮助都将受到高度赞赏。

如何通过无人机姿态改变在Qpainter上进行改变？

0 个答案: