# 通过GUI编辑要发送的json关键帧数据，可以调整机器人的body，footpoint的位置，然后通过websocket发送到服务器 # Websocket连接的地址为：ws://192.168.8.151:10710/getjson import os import tkinter as tk from tkinter import filedialog, simpledialog from tkinter import messagebox import json import threading import websocket import time # 通过UI编辑要发送的json关键帧数据，可以调整机器人的body，footpoint的位置，然后通过websocket发送到服务器 # 以10ms的频率发送到机器人 class DefaultValue: def __init__(self): self.pitch = 0 self.roll = 0 self.tran_x = 0 self.tran_y = 0 self.tran_z = 141.0 self.yaw = 0.0 self.pitch_head = 0.0 self.yaw_head = 0.0 self.front_left_leg_x = 75 self.front_left_leg_y = 55 self.front_left_leg_z = 0 self.front_right_leg_x = 75 self.front_right_leg_y = -55 self.front_right_leg_z = 0 self.back_left_leg_x = -75 self.back_left_leg_y = 55 self.back_left_leg_z = 0 self.back_right_leg_x = -75 self.back_right_leg_y = -55 self.back_right_leg_z = 0 self.acc = 'Fastest' self.speed = 'Fastest' self.time = 10 # 创建UI class KeyFrameUI: def __init__(self, master): self.ws = websocket.WebSocket() # 弹出对话框获取用户输入的IP地址 ip_address = simpledialog.askstring("Input", "Enter the IP address:", parent=master) if ip_address: self.ws.connect(f'ws://{ip_address}:10710/getjson') # 使用用户输入的IP地址 else: print("No IP address entered. Cannot connect to websocket.") self.ws.send('{"cmd":"Mode_Switch","target":"Edit_Mode"}') self.master = master self.master.title('KeyFrameUI') self.master.geometry('1024x1280') self.master.resizable(1, 1) self.master.protocol('WM_DELETE_WINDOW', self.on_closing) self.pitch = 0 self.roll = 0 self.tran_x = 0 self.tran_y = 0 self.tran_z = 141 self.yaw = 0.0 self.pitch_head = 0.0 self.yaw_head = 0.0 self.front_left_leg_x = 75 self.front_left_leg_y = 55 self.front_left_leg_z = 0 self.front_right_leg_x = 75 self.front_right_leg_y = -55 self.front_right_leg_z = 0 self.back_left_leg_x = -75 self.back_left_leg_y = 55 self.back_left_leg_z = 0 self.back_right_leg_x = -75 self.back_right_leg_y = -55 self.back_right_leg_z = 0 self.acc = 'Slowest' self.speed = 'Slowest' self.time = 10 self.mode = 'Edit_Mode' self.key_file_name = 'keyframe.txt' # 默认打开读写的关键帧文件名称 self.last_time = 0 # 关键帧文件上次修改时间 self.current_key_frame_index = 0 self.create_widgets() self.create_thread() # 创建控件 def create_widgets(self): # 创建控件 self.body_frame = tk.Frame(self.master) self.body_frame.pack() self.body_label = tk.Label(self.body_frame, text='Body') self.body_label.grid(row=0, column=0, columnspan=2) self.pitch_label = tk.Label(self.body_frame, text='pitch') self.pitch_label.grid(row=1, column=0) self.pitch_scale = tk.Scale(self.body_frame, from_=-1, to=1, resolution=0.01, length=500, orient=tk.HORIZONTAL, command=self.set_pitch) self.pitch_scale.grid(row=1, column=1) self.roll_label = tk.Label(self.body_frame, text='roll') self.roll_label.grid(row=2, column=0) self.roll_scale = tk.Scale(self.body_frame, from_=-1, to=1, resolution=0.01, length=500, orient=tk.HORIZONTAL, command=self.set_roll) self.roll_scale.grid(row=2, column=1) self.tran_x_label = tk.Label(self.body_frame, text='tran_x') self.tran_x_label.grid(row=3, column=0) self.tran_x_scale = tk.Scale(self.body_frame, from_=-50, to=50, resolution=0.01, length=500, orient=tk.HORIZONTAL, command=self.set_tran_x) self.tran_x_scale.grid(row=3, column=1) self.tran_y_label = tk.Label(self.body_frame, text='tran_y') self.tran_y_label.grid(row=4, column=0) self.tran_y_scale = tk.Scale(self.body_frame, from_=-50, to=50, resolution=0.01, length=500, orient=tk.HORIZONTAL, command=self.set_tran_y) self.tran_y_scale.grid(row=4, column=1) self.tran_z_label = tk.Label(self.body_frame, text='tran_z') self.tran_z_label.grid(row=5, column=0) # 设置tran_z的初始值141 self.tran_z_scale = tk.Scale(self.body_frame, from_=0, to=170, resolution=0.5, orient=tk.HORIZONTAL, command=self.set_tran_z, length=500, variable=tk.IntVar(value=self.tran_z)) self.tran_z_scale.grid(row=5, column=1) self.yaw_label = tk.Label(self.body_frame, text='yaw') self.yaw_label.grid(row=6, column=0) self.yaw_scale = tk.Scale(self.body_frame, from_=-1, to=1, resolution=0.01, length=500, orient=tk.HORIZONTAL, command=self.set_yaw) self.yaw_scale.grid(row=6, column=1) self.footpoint_frame = tk.Frame(self.master) self.footpoint_frame.pack() self.footpoint_label = tk.Label(self.footpoint_frame, text='FootPoint') self.footpoint_label.grid(row=0, column=0, columnspan=2) self.front_left_leg_x_label = tk.Label(self.footpoint_frame, text='front_left_leg_x') self.front_left_leg_x_label.grid(row=1, column=0) self.front_left_leg_x_scale = tk.Scale(self.footpoint_frame, from_=-25, to=175, resolution=1, length=300, orient=tk.HORIZONTAL, command=self.set_front_left_leg_x, variable=tk.IntVar(value=self.front_left_leg_x)) self.front_left_leg_x_scale.grid(row=1, column=1) self.front_left_leg_y_label = tk.Label(self.footpoint_frame, text='front_left_leg_y') self.front_left_leg_y_label.grid(row=2, column=0) self.front_left_leg_y_scale = tk.Scale(self.footpoint_frame, from_=-45, to=155, resolution=1, length=300, orient=tk.HORIZONTAL, command=self.set_front_left_leg_y, variable=tk.IntVar(value=self.front_left_leg_y)) self.front_left_leg_y_scale.grid(row=2, column=1) self.front_left_leg_z_label = tk.Label(self.footpoint_frame, text='front_left_leg_z') self.front_left_leg_z_label.grid(row=3, column=0) self.front_left_leg_z_scale = tk.Scale(self.footpoint_frame, from_=-100, to=100, resolution=1, length=300, orient=tk.HORIZONTAL, command=self.set_front_left_leg_z, variable=tk.IntVar(value=self.front_left_leg_z)) self.front_left_leg_z_scale.grid(row=3, column=1) self.front_right_leg_x_label = tk.Label(self.footpoint_frame, text='front_right_leg_x') self.front_right_leg_x_label.grid(row=4, column=0) self.front_right_leg_x_scale = tk.Scale(self.footpoint_frame, from_=-25, to=175, resolution=1, length=300, orient=tk.HORIZONTAL, command=self.set_front_right_leg_x, variable=tk.IntVar(value=self.front_right_leg_x)) self.front_right_leg_x_scale.grid(row=4, column=1) self.front_right_leg_y_label = tk.Label(self.footpoint_frame, text='front_right_leg_y') self.front_right_leg_y_label.grid(row=5, column=0) self.front_right_leg_y_scale = tk.Scale(self.footpoint_frame, from_=-155, to=45, resolution=1, length=300, orient=tk.HORIZONTAL, command=self.set_front_right_leg_y, variable=tk.IntVar(value=self.front_right_leg_y)) self.front_right_leg_y_scale.grid(row=5, column=1) self.front_right_leg_z_label = tk.Label(self.footpoint_frame, text='front_right_leg_z') self.front_right_leg_z_label.grid(row=6, column=0) self.front_right_leg_z_scale = tk.Scale(self.footpoint_frame, from_=-100, to=100, resolution=1, length=300, orient=tk.HORIZONTAL, command=self.set_front_right_leg_z, variable=tk.IntVar(value=self.front_right_leg_z)) self.front_right_leg_z_scale.grid(row=6, column=1) self.back_left_leg_x_label = tk.Label(self.footpoint_frame, text='back_left_leg_x') self.back_left_leg_x_label.grid(row=7, column=0) self.back_left_leg_x_scale = tk.Scale(self.footpoint_frame, from_=-175, to=25, resolution=1, length=300, orient=tk.HORIZONTAL, command=self.set_back_left_leg_x, variable=tk.IntVar(value=self.back_left_leg_x)) self.back_left_leg_x_scale.grid(row=7, column=1) self.back_left_leg_y_label = tk.Label(self.footpoint_frame, text='back_left_leg_y') self.back_left_leg_y_label.grid(row=8, column=0) self.back_left_leg_y_scale = tk.Scale(self.footpoint_frame, from_=-45, to=155, resolution=1, length=300, orient=tk.HORIZONTAL, command=self.set_back_left_leg_y, variable=tk.IntVar(value=self.back_left_leg_y)) self.back_left_leg_y_scale.grid(row=8, column=1) self.back_left_leg_z_label = tk.Label(self.footpoint_frame, text='back_left_leg_z') self.back_left_leg_z_label.grid(row=9, column=0) self.back_left_leg_z_scale = tk.Scale(self.footpoint_frame, from_=-100, to=100, resolution=1, length=300, orient=tk.HORIZONTAL, command=self.set_back_left_leg_z, variable=tk.IntVar(value=self.back_left_leg_z)) self.back_left_leg_z_scale.grid(row=9, column=1) self.back_right_leg_x_label = tk.Label(self.footpoint_frame, text='back_right_leg_x') self.back_right_leg_x_label.grid(row=10, column=0) self.back_right_leg_x_scale = tk.Scale(self.footpoint_frame, from_=-175, to=25, resolution=1, length=300, orient=tk.HORIZONTAL, command=self.set_back_right_leg_x, variable=tk.IntVar(value=self.back_right_leg_x)) self.back_right_leg_x_scale.grid(row=10, column=1) self.back_right_leg_y_label = tk.Label(self.footpoint_frame, text='back_right_leg_y') self.back_right_leg_y_label.grid(row=11, column=0) self.back_right_leg_y_scale = tk.Scale(self.footpoint_frame, from_=-155, to=45, resolution=1, length=300, orient=tk.HORIZONTAL, command=self.set_back_right_leg_y, variable=tk.IntVar(value=self.back_right_leg_y)) self.back_right_leg_y_scale.grid(row=11, column=1) self.back_right_leg_z_label = tk.Label(self.footpoint_frame, text='back_right_leg_z') self.back_right_leg_z_label.grid(row=12, column=0) self.back_right_leg_z_scale = tk.Scale(self.footpoint_frame, from_=-100, to=100, resolution=1, length=300, orient=tk.HORIZONTAL, command=self.set_back_right_leg_z, variable=tk.IntVar(value=self.back_right_leg_z)) self.back_right_leg_z_scale.grid(row=12, column=1) self.head_frame = tk.Frame(self.master) self.head_frame.pack() self.head_label = tk.Label(self.head_frame, text='Head') self.head_label.grid(row=0, column=0, columnspan=2) self.pitch_head_label = tk.Label(self.head_frame, text='pitch') self.pitch_head_label.grid(row=1, column=0) self.pitch_head_scale = tk.Scale(self.head_frame, from_=-1, to=1, resolution=0.01, length=500, orient=tk.HORIZONTAL, command=self.set_pitch_head) self.pitch_head_scale.grid(row=1, column=1) self.yaw_head_label = tk.Label(self.head_frame, text='yaw') self.yaw_head_label.grid(row=2, column=0) self.yaw_head_scale = tk.Scale(self.head_frame, from_=-1, to=1, resolution=0.01, length=500, orient=tk.HORIZONTAL, command=self.set_yaw_head) self.yaw_head_scale.grid(row=2, column=1) # 时间滑条 self.time_frame = tk.Frame(self.master) self.time_frame.pack() self.time_label = tk.Label(self.time_frame, text='Time') self.time_label.grid(row=0, column=0, columnspan=2) self.time_scale = tk.Scale(self.time_frame, from_=10, to=5000, resolution=1, length=500, orient=tk.HORIZONTAL, command=self.set_time, variable=tk.IntVar(value=self.time)) self.time_scale.grid(row=1, column=0, columnspan=2) # 速度和加速度下拉菜单 self.speed_frame = tk.Frame(self.master) self.speed_frame.pack() self.speed_label = tk.Label(self.speed_frame, text='Speed') self.speed_label.grid(row=0, column=0) self.acc_label = tk.Label(self.speed_frame, text='Acc') self.acc_label.grid(row=0, column=1) self.speed_var = tk.StringVar() self.acc_var = tk.StringVar() self.speed_var.set('Fastest') self.acc_var.set('Fastest') self.speed_menu = tk.OptionMenu(self.speed_frame, self.speed_var, 'Slowest', 'Slow', 'Fast', 'Fastest', command=self.set_speed) self.speed_menu.grid(row=1, column=0) self.acc_menu = tk.OptionMenu(self.speed_frame, self.acc_var, 'Slowest', 'Slow', 'Fast', 'Fastest', command=self.set_acc) self.acc_menu.grid(row=1, column=1) # 创建按钮 # 复位按钮 self.reset_button = tk.Button(self.master, text='Reset', command=self.reset) self.reset_button.pack() # 限幅按钮 self.limit_button = tk.Button(self.master, text='Limit', command=self.limit) self.limit_button.pack() # 解除限幅按钮 self.unlimit_button = tk.Button(self.master, text='Unlimit', command=self.unlimit) self.unlimit_button.pack() # 保存按钮 self.save_button = tk.Button(self.master, text='Save', command=self.save) self.save_button.pack() # 保存修改关键帧按钮 self.save_button = tk.Button(self.master, text='Change_KeyFrame', command=self.save_key_frame) self.save_button.pack() # 播放模式切换按钮(一行两个按键)，有编辑模式和播放模式，编辑模式下发送当前界面的关键帧，播放模式下播放keyframe.txt中的关键帧 self.mode_frame = tk.Frame(self.master) self.mode_frame.pack() self.mode_label = tk.Label(self.mode_frame, text='Mode') self.mode_label.grid(row=0, column=0, columnspan=2) self.edit_button = tk.Button(self.mode_frame, text='Edit_Mode', command=self.edit_mode) self.edit_button.grid(row=1, column=0) self.play_button = tk.Button(self.mode_frame, text='Play_Mode', command=self.play_mode) self.play_button.grid(row=1, column=1) self.play_button = tk.Button(self.mode_frame, text='Idle_Mode', command=self.idle_mode) self.play_button.grid(row=1, column=2) # 创建一个侧边窗口 创建一个列表(tk.Listbox)用于按顺序显示文件中关键帧的计数，点击列表的某一项，可以将该项的关键帧信息显示在主窗口上 # 该窗口上有打开文件按钮可以选择要打开的关键帧文件,默认情况下自动打开keyframe.txt，如果文件不存在则创建一个空的文件 self.side_window = tk.Toplevel() self.side_window.title('KeyFrameList') self.side_window.geometry('300x600') self.side_window.resizable(1, 1) self.side_window.protocol('WM_DELETE_WINDOW', self.on_closing) # 创建列表 self.key_frame_list = tk.Listbox(self.side_window, selectmode=tk.SINGLE) self.key_frame_list.pack(fill=tk.BOTH, expand=True) self.open_button = tk.Button(self.side_window, text='Open', command=self.open_file) self.open_button.pack() self.key_frame_list.bind('', self.show_key_frame) # 默认打开keyframe.txt文件 if not os.path.exists('keyframe.txt'): with open('keyframe.txt', 'w', encoding='utf-8') as f: f.write('') f.flush() with open('keyframe.txt', 'r', encoding='utf-8') as f: for line in f: self.key_frame_list.insert(tk.END, line) # 创建线程 def create_thread(self): self.t = threading.Thread(target=self.send_thread) self.t.start() # 发送json数据 def send(self): data = { "cmd": "Play_Keyframe", "acc": self.acc, "speed": self.speed, "time": 10, # GUI演示用时间固定为10ms "Body": { "pitch": self.pitch, "roll": self.roll, "tran_x": self.tran_x, "tran_y": self.tran_y, "tran_z": self.tran_z, "yaw": self.yaw }, "FootPoint": { "FrontLeftLeg": { "x": self.front_left_leg_x, "y": self.front_left_leg_y, "z": self.front_left_leg_z }, "FrontRightLeg": { "x": self.front_right_leg_x, "y": self.front_right_leg_y, "z": self.front_right_leg_z }, "BackLeftLeg": { "x": self.back_left_leg_x, "y": self.back_left_leg_y, "z": self.back_left_leg_z }, "BackRightLeg": { "x": self.back_right_leg_x, "y": self.back_right_leg_y, "z": self.back_right_leg_z } }, "Head": { "pitch": self.pitch_head, "yaw": self.yaw_head } } data = json.dumps(data) self.ws.send(data) print(data) # 序列化为json，保存到本地txt文件keyframe.txt def save(self): data = { "cmd": "Play_Keyframe", "acc": self.acc, "speed": self.speed, "time": self.time, "Body": { "pitch": self.pitch, "roll": self.roll, "tran_x": self.tran_x, "tran_y": self.tran_y, "tran_z": self.tran_z, "yaw": self.yaw }, "FootPoint": { "FrontLeftLeg": { "x": self.front_left_leg_x, "y": self.front_left_leg_y, "z": self.front_left_leg_z }, "FrontRightLeg": { "x": self.front_right_leg_x, "y": self.front_right_leg_y, "z": self.front_right_leg_z }, "BackLeftLeg": { "x": self.back_left_leg_x, "y": self.back_left_leg_y, "z": self.back_left_leg_z }, "BackRightLeg": { "x": self.back_right_leg_x, "y": self.back_right_leg_y, "z": self.back_right_leg_z } }, "Head": { "pitch": self.pitch_head, "yaw": self.yaw_head } } data = json.dumps(data) with open('keyframe.txt', 'a', encoding='utf-8') as f: f.write(data + '\n') f.flush() print(data) # 复位 def reset(self): self.pitch = DefaultValue().pitch self.roll = DefaultValue().roll self.tran_x = DefaultValue().tran_x self.tran_y = DefaultValue().tran_y self.tran_z = DefaultValue().tran_z self.yaw = DefaultValue().yaw self.pitch_head = DefaultValue().pitch_head self.yaw_head = DefaultValue().yaw_head self.front_left_leg_x = DefaultValue().front_left_leg_x self.front_left_leg_y = DefaultValue().front_left_leg_y self.front_left_leg_z = DefaultValue().front_left_leg_z self.front_right_leg_x = DefaultValue().front_right_leg_x self.front_right_leg_y = DefaultValue().front_right_leg_y self.front_right_leg_z = DefaultValue().front_right_leg_z self.back_left_leg_x = DefaultValue().back_left_leg_x self.back_left_leg_y = DefaultValue().back_left_leg_y self.back_left_leg_z = DefaultValue().back_left_leg_z self.back_right_leg_x = DefaultValue().back_right_leg_x self.back_right_leg_y = DefaultValue().back_right_leg_y self.back_right_leg_z = DefaultValue().back_right_leg_z self.pitch_scale.set(self.pitch) self.roll_scale.set(self.roll) self.tran_x_scale.set(self.tran_x) self.tran_y_scale.set(self.tran_y) self.tran_z_scale.set(self.tran_z) self.yaw_scale.set(self.yaw) self.pitch_head_scale.set(self.pitch_head) self.yaw_head_scale.set(self.yaw_head) self.front_left_leg_x_scale.set(self.front_left_leg_x) self.front_left_leg_y_scale.set(self.front_left_leg_y) self.front_left_leg_z_scale.set(self.front_left_leg_z) self.front_right_leg_x_scale.set(self.front_right_leg_x) self.front_right_leg_y_scale.set(self.front_right_leg_y) self.front_right_leg_z_scale.set(self.front_right_leg_z) self.back_left_leg_x_scale.set(self.back_left_leg_x) self.back_left_leg_y_scale.set(self.back_left_leg_y) self.back_left_leg_z_scale.set(self.back_left_leg_z) self.back_right_leg_x_scale.set(self.back_right_leg_x) self.back_right_leg_y_scale.set(self.back_right_leg_y) self.back_right_leg_z_scale.set(self.back_right_leg_z) self.ws.send('{"cmd":"Reset_Robot_Position"}') def limit(self): self.ws.send('{"cmd":"Set_Parameter","type":"AIA_FrontLeft","parameter":"Output_Torque", "value":"Limit"}') self.ws.send('{"cmd":"Set_Parameter","type":"AIA_FrontRight","parameter":"Output_Torque", "value":"Limit"}') self.ws.send('{"cmd":"Set_Parameter","type":"AIA_BackLeft","parameter":"Output_Torque", "value":"Limit"}') self.ws.send('{"cmd":"Set_Parameter","type":"AIA_BackRight","parameter":"Output_Torque", "value":"Limit"}') self.ws.send('{"cmd":"Set_Parameter","type":"AIA_Head","parameter":"Output_Torque", "value":"Limit"}') def unlimit(self): self.ws.send('{"cmd":"Set_Parameter","type":"AIA_FrontLeft","parameter":"Output_Torque", "value":"UnLimit"}') self.ws.send('{"cmd":"Set_Parameter","type":"AIA_FrontRight","parameter":"Output_Torque", "value":"UnLimit"}') self.ws.send('{"cmd":"Set_Parameter","type":"AIA_BackLeft","parameter":"Output_Torque", "value":"UnLimit"}') self.ws.send('{"cmd":"Set_Parameter","type":"AIA_BackRight","parameter":"Output_Torque", "value":"UnLimit"}') self.ws.send('{"cmd":"Set_Parameter","type":"AIA_Head","parameter":"Output_Torque", "value":"UnLimit"}') # 发送json数据线程 def send_thread(self): while True: # 当关键帧文件内容发生变化时，刷新关键帧列表 if os.path.getmtime(self.key_file_name) != self.last_time: self.last_time = os.path.getmtime(self.key_file_name) self.key_frame_list.delete(0, tk.END) with open(self.key_file_name, 'r', encoding='utf-8') as f: for line in f: self.key_frame_list.insert(tk.END, line) # 如果当前模式是编辑模式，则发送json数据 if self.mode == 'Edit_Mode': self.send() time.sleep(0.1) # 如果当前模式是播放模式，则发送keyframe.txt中的json数据,发送结束切换到空闲模式 elif self.mode == 'Play_Mode': with open('keyframe.txt', 'r', encoding='utf-8') as f: for line in f: self.ws.send(line) print(line) time.sleep(0.05) self.mode = 'Idle_Mode' # 设置pitch def set_pitch(self, value): self.pitch = float(value) # 设置roll def set_roll(self, value): self.roll = float(value) # 设置tran_x def set_tran_x(self, value): self.tran_x = float(value) # 设置tran_y def set_tran_y(self, value): self.tran_y = float(value) # 设置tran_z def set_tran_z(self, value): self.tran_z = float(value) # 设置yaw def set_yaw(self, value): self.yaw = float(value) # 设置front_left_leg_x def set_front_left_leg_x(self, value): self.front_left_leg_x = int(value) # 设置front_left_leg_y def set_front_left_leg_y(self, value): self.front_left_leg_y = int(value) # 设置front_left_leg_z def set_front_left_leg_z(self, value): self.front_left_leg_z = int(value) # 设置front_right_leg_x def set_front_right_leg_x(self, value): self.front_right_leg_x = int(value) # 设置front_right_leg_y def set_front_right_leg_y(self, value): self.front_right_leg_y = int(value) # 设置front_right_leg_z def set_front_right_leg_z(self, value): self.front_right_leg_z = int(value) # 设置back_left_leg_x def set_back_left_leg_x(self, value): self.back_left_leg_x = int(value) # 设置back_left_leg_y def set_back_left_leg_y(self, value): self.back_left_leg_y = int(value) # 设置back_left_leg_z def set_back_left_leg_z(self, value): self.back_left_leg_z = int(value) # 设置back_right_leg_x def set_back_right_leg_x(self, value): self.back_right_leg_x = int(value) # 设置back_right_leg_y def set_back_right_leg_y(self, value): self.back_right_leg_y = int(value) # 设置back_right_leg_z def set_back_right_leg_z(self, value): self.back_right_leg_z = int(value) # 设置pitch_head def set_pitch_head(self, value): self.pitch_head = float(value) # 设置yaw_head def set_yaw_head(self, value): self.yaw_head = float(value) # 设置time def set_time(self, value): self.time = int(value) # 设置速度 def set_speed(self, value): self.speed = value # 设置加速度 def set_acc(self, value): self.acc = value # 打开文件 def open_file(self): self.key_file_name = filedialog.askopenfilename() self.key_frame_list.delete(0, tk.END) with open(self.key_file_name, 'r', encoding='utf-8') as f: for line in f: self.key_frame_list.insert(tk.END, line) # 重新读取关键帧文件 def reread_key_frame(self, event): self.key_frame_list.delete(0, tk.END) with open(self.key_file_name, 'r', encoding='utf-8') as f: for line in f: self.key_frame_list.insert(tk.END, line) # 显示关键帧 def show_key_frame(self, event): # 记录当前选中的关键帧的索引 self.current_key_frame_index = self.key_frame_list.curselection() self.current_key_frame_index = self.current_key_frame_index[0] # 读取当前选中的关键帧 data = self.key_frame_list.get(self.current_key_frame_index) data = json.loads(data) self.pitch = data['Body']['pitch'] self.roll = data['Body']['roll'] self.tran_x = data['Body']['tran_x'] self.tran_y = data['Body']['tran_y'] self.tran_z = data['Body']['tran_z'] self.yaw = data['Body']['yaw'] self.pitch_head = data['Head']['pitch'] self.yaw_head = data['Head']['yaw'] self.front_left_leg_x = data['FootPoint']['FrontLeftLeg']['x'] self.front_left_leg_y = data['FootPoint']['FrontLeftLeg']['y'] self.front_left_leg_z = data['FootPoint']['FrontLeftLeg']['z'] self.front_right_leg_x = data['FootPoint']['FrontRightLeg']['x'] self.front_right_leg_y = data['FootPoint']['FrontRightLeg']['y'] self.front_right_leg_z = data['FootPoint']['FrontRightLeg']['z'] self.back_left_leg_x = data['FootPoint']['BackLeftLeg']['x'] self.back_left_leg_y = data['FootPoint']['BackLeftLeg']['y'] self.back_left_leg_z = data['FootPoint']['BackLeftLeg']['z'] self.back_right_leg_x = data['FootPoint']['BackRightLeg']['x'] self.back_right_leg_y = data['FootPoint']['BackRightLeg']['y'] self.back_right_leg_z = data['FootPoint']['BackRightLeg']['z'] self.time = data['time'] self.acc = data['acc'] self.speed = data['speed'] self.pitch_scale.set(self.pitch) self.roll_scale.set(self.roll) self.tran_x_scale.set(self.tran_x) self.tran_y_scale.set(self.tran_y) self.tran_z_scale.set(self.tran_z) self.yaw_scale.set(self.yaw) self.pitch_head_scale.set(self.pitch_head) self.yaw_head_scale.set(self.yaw_head) self.front_left_leg_x_scale.set(self.front_left_leg_x) self.front_left_leg_y_scale.set(self.front_left_leg_y) self.front_left_leg_z_scale.set(self.front_left_leg_z) self.front_right_leg_x_scale.set(self.front_right_leg_x) self.front_right_leg_y_scale.set(self.front_right_leg_y) self.front_right_leg_z_scale.set(self.front_right_leg_z) self.back_left_leg_x_scale.set(self.back_left_leg_x) self.back_left_leg_y_scale.set(self.back_left_leg_y) self.back_left_leg_z_scale.set(self.back_left_leg_z) self.back_right_leg_x_scale.set(self.back_right_leg_x) self.back_right_leg_y_scale.set(self.back_right_leg_y) self.back_right_leg_z_scale.set(self.back_right_leg_z) self.time_scale.set(self.time) self.speed_var.set(self.speed) self.acc_var.set(self.acc) # 编辑模式 def edit_mode(self): self.mode = 'Edit_Mode' # 播放模式 def play_mode(self): self.mode = 'Play_Mode' # 空闲模式 def idle_mode(self): self.mode = 'Idle_Mode' # 关闭窗口 def on_closing(self): if messagebox.askokcancel('Quit', 'Do you want to quit?'): self.ws.close() self.master.destroy() # 保存修改的关键帧 # 读取current_key_frame_index对应的关键帧，然后将当前界面的关键帧数据替换掉原来的关键帧数据 def save_key_frame(self): data = { "cmd": "Play_Keyframe", "acc": self.acc, "speed": self.speed, "time": self.time, "Body": { "pitch": self.pitch, "roll": self.roll, "tran_x": self.tran_x, "tran_y": self.tran_y, "tran_z": self.tran_z, "yaw": self.yaw }, "FootPoint": { "FrontLeftLeg": { "x": self.front_left_leg_x, "y": self.front_left_leg_y, "z": self.front_left_leg_z }, "FrontRightLeg": { "x": self.front_right_leg_x, "y": self.front_right_leg_y, "z": self.front_right_leg_z }, "BackLeftLeg": { "x": self.back_left_leg_x, "y": self.back_left_leg_y, "z": self.back_left_leg_z }, "BackRightLeg": { "x": self.back_right_leg_x, "y": self.back_right_leg_y, "z": self.back_right_leg_z } }, "Head": { "pitch": self.pitch_head, "yaw": self.yaw_head } } data = json.dumps(data) with open('keyframe.txt', 'r', encoding='utf-8') as f: lines = f.readlines() lines[self.current_key_frame_index] = data + '\n' with open('keyframe.txt', 'w', encoding='utf-8') as f: f.writelines(lines) self.key_frame_list.delete(0, tk.END) with open('keyframe.txt', 'r', encoding='utf-8') as f: for line in f: self.key_frame_list.insert(tk.END, line) # 主函数 if __name__ == '__main__': root = tk.Tk() app = KeyFrameUI(root) root.mainloop() # end of file