diff --git a/clients/dexhand_client.py b/clients/dexhand_client.py new file mode 100644 index 0000000..a7a3f82 --- /dev/null +++ b/clients/dexhand_client.py @@ -0,0 +1,503 @@ +import time +import threading +from typing import Optional, List +import numpy as np + +import grpc +from PyQt5.QtWidgets import (QApplication, QMainWindow, QWidget, QVBoxLayout, + QHBoxLayout, QLabel, QPushButton, QComboBox, + QSpinBox, QGroupBox, QGridLayout, QLineEdit, QMessageBox) +from PyQt5.QtCore import QTimer, Qt +from PyQt5.QtGui import QFont +import pyqtgraph as pg + +from clients._path_setup import ensure_paths + +ensure_paths() + +from cmvr.api import dexhand_service_pb2_grpc +from cmvr.api import dexhand_command_pb2 +from google.protobuf.timestamp_pb2 import Timestamp + + +class DexHandSensorClient: + """灵巧手传感器数据客户端""" + + def __init__(self, ip="192.168.0.222", port=50052, device_id="dexhand_001", timeout=2, retries=1): + self.ip = ip + self.port = port + self.address = f"{ip}:{port}" + self.device_id = device_id + self.timeout = timeout + self.retries = retries + self.channel = None + self.stub = None + self._connect_with_retry() + + def _connect_with_retry(self): + """连接gRPC服务器""" + attempt = 0 + while attempt <= self.retries: + print(f"Connecting to DexHand gRPC server at {self.address}... (Attempt {attempt + 1})") + try: + self.channel = grpc.insecure_channel(self.address) + grpc.channel_ready_future(self.channel).result(timeout=self.timeout) + self.stub = dexhand_service_pb2_grpc.DexHandServiceStub(self.channel) + print(f"Successfully connected to DexHand gRPC server: {self.address}") + print(f"Device ID: {self.device_id}") + return True + except grpc.FutureTimeoutError: + attempt += 1 + print(f"Connection timed out, attempt {attempt} failed") + if attempt > self.retries: + return False + print(f"Waiting {self.timeout}s before retrying...") + time.sleep(self.timeout) + except Exception as e: + print(f"Connection error: {e}") + return False + return False + + def get_sensor_data(self) -> Optional[dexhand_command_pb2.GetSensorDataCommand.Feedback]: + """获取传感器数据""" + if not self.stub: + print("No gRPC connection available") + return None + + try: + # 创建请求 + timestamp = Timestamp() + timestamp.GetCurrentTime() + + request = dexhand_command_pb2.GetSensorDataCommand.Request() + request.header.device_id = self.device_id + request.header.timestamp.CopyFrom(timestamp) + + # 发送请求 + feedback = self.stub.GetSensorData(request) + return feedback + + except grpc.RpcError as e: + print(f"gRPC error: {e.code()} - {e.details()}") + return None + except Exception as e: + print(f"Error getting sensor data: {e}") + return None + + def close(self): + """关闭连接""" + if self.channel: + self.channel.close() + print(f"Closed connection to DexHand gRPC server {self.address}") + + def is_connected(self): + """检查是否已连接""" + return self.channel is not None and self.stub is not None + + +class SensorDataPlotWidget(QWidget): + """传感器数据绘制窗口""" + + def __init__(self, parent=None): + super().__init__(parent) + self.client = None + self.update_timer = QTimer() + self.data_buffer = { + 'sum': [], # sum数据缓冲区 + 'peak': [] # peak数据缓冲区 + } + self.time_buffer = [] # 时间戳缓冲区 + self.max_points = 100 # 最大显示点数 + self.current_finger = dexhand_command_pb2.SensorData.INDEX # 默认食指 + self.current_part = dexhand_command_pb2.SensorData.TIP # 默认指端 + + self.setup_ui() + self.setup_plots() + + def setup_ui(self): + """设置UI""" + layout = QVBoxLayout() + self.setLayout(layout) + + # 标题 + title = QLabel("灵巧手传感器数据监控 - 食指指端") + title_font = QFont() + title_font.setPointSize(14) + title_font.setBold(True) + title.setFont(title_font) + title.setAlignment(Qt.AlignCenter) + layout.addWidget(title) + + # 控制面板 + control_group = QGroupBox("连接配置") + control_layout = QGridLayout() + control_group.setLayout(control_layout) + + # IP地址 + control_layout.addWidget(QLabel("服务器IP:"), 0, 0) + self.ip_edit = QLineEdit("192.168.0.222") + control_layout.addWidget(self.ip_edit, 0, 1) + + # 端口 + control_layout.addWidget(QLabel("端口:"), 1, 0) + self.port_edit = QLineEdit("50052") + control_layout.addWidget(self.port_edit, 1, 1) + + # 设备ID + control_layout.addWidget(QLabel("设备ID:"), 2, 0) + self.device_id_edit = QLineEdit("dexhand_001") + control_layout.addWidget(self.device_id_edit, 2, 1) + + # 完整地址显示 + control_layout.addWidget(QLabel("完整地址:"), 3, 0) + self.address_label = QLabel("192.168.0.222:50052") + self.address_label.setStyleSheet("font-weight: bold;") + control_layout.addWidget(self.address_label, 3, 1) + + # 连接按钮 + self.connect_btn = QPushButton("连接") + self.connect_btn.clicked.connect(self.toggle_connection) + self.connect_btn.setMinimumHeight(40) + self.connect_btn.setStyleSheet("font-weight: bold;") + control_layout.addWidget(self.connect_btn, 4, 0, 1, 2) + + # 连接状态 + self.status_label = QLabel("未连接") + self.status_label.setAlignment(Qt.AlignCenter) + self.status_label.setStyleSheet("color: red; font-weight: bold; padding: 5px;") + control_layout.addWidget(self.status_label, 5, 0, 1, 2) + + layout.addWidget(control_group) + + # 数据配置面板 + data_config_group = QGroupBox("数据配置") + data_config_layout = QGridLayout() + data_config_group.setLayout(data_config_layout) + + # 更新频率 + data_config_layout.addWidget(QLabel("更新频率(ms):"), 0, 0) + self.freq_spin = QSpinBox() + self.freq_spin.setRange(10, 1000) + self.freq_spin.setValue(50) + self.freq_spin.valueChanged.connect(self.set_update_interval) + data_config_layout.addWidget(self.freq_spin, 0, 1) + + # 显示点数 + data_config_layout.addWidget(QLabel("显示点数:"), 1, 0) + self.points_spin = QSpinBox() + self.points_spin.setRange(10, 500) + self.points_spin.setValue(100) + self.points_spin.valueChanged.connect(self.set_max_points) + data_config_layout.addWidget(self.points_spin, 1, 1) + + # 清空数据按钮 + self.clear_btn = QPushButton("清空数据") + self.clear_btn.clicked.connect(self.clear_data) + self.clear_btn.setEnabled(False) + data_config_layout.addWidget(self.clear_btn, 2, 0) + + # 测试连接按钮 + self.test_btn = QPushButton("测试连接") + self.test_btn.clicked.connect(self.test_connection) + data_config_layout.addWidget(self.test_btn, 2, 1) + + layout.addWidget(data_config_group) + + # 创建绘图区域 + plots_widget = QWidget() + plots_layout = QVBoxLayout() + plots_widget.setLayout(plots_layout) + + # SUM曲线图 + self.sum_plot_widget = pg.PlotWidget(title="食指指端传感器数据 - SUM值") + self.sum_plot_widget.setLabel('left', 'SUM值') + self.sum_plot_widget.setLabel('bottom', '时间 (秒)') + self.sum_plot_widget.showGrid(x=True, y=True, alpha=0.3) + self.sum_plot_widget.addLegend() + self.sum_curve = self.sum_plot_widget.plot(pen='y', name='SUM值', width=2) + plots_layout.addWidget(self.sum_plot_widget) + + # PEAK曲线图 + self.peak_plot_widget = pg.PlotWidget(title="食指指端传感器数据 - PEAK值") + self.peak_plot_widget.setLabel('left', 'PEAK值') + self.peak_plot_widget.setLabel('bottom', '时间 (秒)') + self.peak_plot_widget.showGrid(x=True, y=True, alpha=0.3) + self.peak_plot_widget.addLegend() + self.peak_curve = self.peak_plot_widget.plot(pen='r', name='PEAK值', width=2) + plots_layout.addWidget(self.peak_plot_widget) + + layout.addWidget(plots_widget) + + # 实时数据展示 + data_group = QGroupBox("当前数据") + data_layout = QHBoxLayout() + data_group.setLayout(data_layout) + + self.sum_label = QLabel("SUM: --") + self.sum_label.setStyleSheet("font-weight: bold; color: orange; font-size: 12pt;") + data_layout.addWidget(self.sum_label) + + self.peak_label = QLabel("PEAK: --") + self.peak_label.setStyleSheet("font-weight: bold; color: red; font-size: 12pt;") + data_layout.addWidget(self.peak_label) + + self.timestamp_label = QLabel("时间: --") + self.timestamp_label.setStyleSheet("font-size: 10pt;") + data_layout.addWidget(self.timestamp_label) + + layout.addWidget(data_group) + + # 连接输入变化信号 + self.ip_edit.textChanged.connect(self.update_address_label) + self.port_edit.textChanged.connect(self.update_address_label) + + def update_address_label(self): + """更新地址标签""" + ip = self.ip_edit.text().strip() + port = self.port_edit.text().strip() + if ip and port: + self.address_label.setText(f"{ip}:{port}") + else: + self.address_label.setText("--") + + def setup_plots(self): + """初始化绘图""" + self.sum_curve.setData([], []) + self.peak_curve.setData([], []) + + def test_connection(self): + """测试连接""" + ip = self.ip_edit.text().strip() + port = self.port_edit.text().strip() + device_id = self.device_id_edit.text().strip() + + if not ip or not port: + QMessageBox.warning(self, "警告", "请输入IP地址和端口") + return + + try: + port = int(port) + except ValueError: + QMessageBox.warning(self, "警告", "端口必须是数字") + return + + # 创建临时客户端测试连接 + test_client = DexHandSensorClient(ip, port, device_id, timeout=2, retries=0) + if test_client.is_connected(): + QMessageBox.information(self, "成功", "连接测试成功！") + test_client.close() + else: + QMessageBox.critical(self, "失败", "连接测试失败，请检查服务器地址和网络") + + def set_client(self, client: DexHandSensorClient): + """设置客户端""" + self.client = client + self.status_label.setText(f"已连接 (设备: {client.device_id})") + self.status_label.setStyleSheet("color: green; font-weight: bold; padding: 5px;") + self.connect_btn.setText("断开连接") + self.clear_btn.setEnabled(True) + self.ip_edit.setEnabled(False) + self.port_edit.setEnabled(False) + self.device_id_edit.setEnabled(False) + self.test_btn.setEnabled(False) + + def clear_client(self): + """清除客户端""" + self.client = None + self.status_label.setText("未连接") + self.status_label.setStyleSheet("color: red; font-weight: bold; padding: 5px;") + self.connect_btn.setText("连接") + self.clear_btn.setEnabled(False) + self.ip_edit.setEnabled(True) + self.port_edit.setEnabled(True) + self.device_id_edit.setEnabled(True) + self.test_btn.setEnabled(True) + + def toggle_connection(self): + """切换连接状态""" + if self.client is None or not self.client.is_connected(): + # 尝试连接 + ip = self.ip_edit.text().strip() + port = self.port_edit.text().strip() + device_id = self.device_id_edit.text().strip() + + if not ip or not port: + QMessageBox.warning(self, "警告", "请输入IP地址和端口") + return + + try: + port = int(port) + except ValueError: + QMessageBox.warning(self, "警告", "端口必须是数字") + return + + # 显示连接中状态 + self.status_label.setText("连接中...") + self.status_label.setStyleSheet("color: orange; font-weight: bold; padding: 5px;") + QApplication.processEvents() + + # 创建客户端 + try: + client = DexHandSensorClient(ip, port, device_id) + if client.is_connected(): + self.set_client(client) + self.start_updating() + else: + self.clear_client() + QMessageBox.critical(self, "错误", f"无法连接到服务器 {ip}:{port}") + except Exception as e: + self.clear_client() + QMessageBox.critical(self, "错误", f"连接失败: {str(e)}") + else: + # 断开连接 + self.stop_updating() + self.client.close() + self.clear_client() + self.clear_data() + + def start_updating(self): + """开始更新数据""" + self.update_timer.timeout.connect(self.update_data) + self.update_timer.start(self.freq_spin.value()) + + def stop_updating(self): + """停止更新数据""" + self.update_timer.stop() + try: + self.update_timer.timeout.disconnect() + except: + pass + + def set_update_interval(self, ms: int): + """设置更新间隔""" + if self.update_timer.isActive(): + self.update_timer.setInterval(ms) + + def set_max_points(self, points: int): + """设置最大显示点数""" + self.max_points = points + # 如果当前数据超过新限制，截断数据 + if len(self.time_buffer) > self.max_points: + self.time_buffer = self.time_buffer[-self.max_points:] + self.data_buffer['sum'] = self.data_buffer['sum'][-self.max_points:] + self.data_buffer['peak'] = self.data_buffer['peak'][-self.max_points:] + + def clear_data(self): + """清空数据""" + self.data_buffer['sum'].clear() + self.data_buffer['peak'].clear() + self.time_buffer.clear() + self.sum_curve.setData([], []) + self.peak_curve.setData([], []) + self.sum_label.setText("SUM: --") + self.peak_label.setText("PEAK: --") + + def extract_finger_data(self, feedback): + """提取食指指端的传感器数据""" + if not feedback or not feedback.sensor: + return None, None + + sum_values = [] + peak_values = [] + + for sensor in feedback.sensor: + # 检查是否为食指指端 + if (sensor.finger_type == self.current_finger and + sensor.part_type == self.current_part): + + # 处理传感器数据 + if sensor.data: + for row in sensor.data: + if row.values: + row_array = np.array(row.values) + sum_values.append(np.sum(row_array)) + peak_values.append(np.max(row_array)) + + if sum_values and peak_values: + return np.mean(sum_values), np.mean(peak_values) + return None, None + + def update_data(self): + """更新数据""" + if not self.client or not self.client.is_connected(): + return + + feedback = self.client.get_sensor_data() + if not feedback: + # 如果获取数据失败，可能连接已断开 + if self.client and not self.client.is_connected(): + self.toggle_connection() # 自动断开 + return + + # 提取食指指端数据 + sum_val, peak_val = self.extract_finger_data(feedback) + + if sum_val is not None and peak_val is not None: + # 更新时间戳 + current_time = time.time() + self.time_buffer.append(current_time) + self.data_buffer['sum'].append(sum_val) + self.data_buffer['peak'].append(peak_val) + + # 限制缓冲区大小 + if len(self.time_buffer) > self.max_points: + self.time_buffer.pop(0) + self.data_buffer['sum'].pop(0) + self.data_buffer['peak'].pop(0) + + # 更新曲线 + if len(self.time_buffer) > 1: + # 归一化时间显示（相对于第一个点） + t0 = self.time_buffer[0] + plot_time = [t - t0 for t in self.time_buffer] + + self.sum_curve.setData(plot_time, self.data_buffer['sum']) + self.peak_curve.setData(plot_time, self.data_buffer['peak']) + + # 自动调整Y轴范围 + self.sum_plot_widget.autoRange() + self.peak_plot_widget.autoRange() + + # 更新标签 + self.sum_label.setText(f"SUM: {sum_val:.2f}") + self.peak_label.setText(f"PEAK: {peak_val:.2f}") + self.timestamp_label.setText(f"时间: {time.strftime('%H:%M:%S')}") + + +class SensorDataWindow(QMainWindow): + """传感器数据监控主窗口""" + + def __init__(self): + super().__init__() + self.setWindowTitle("灵巧手传感器数据监控 - 可配置版") + self.setGeometry(100, 100, 900, 1000) + + # 设置中央部件 + central_widget = SensorDataPlotWidget() + self.setCentralWidget(central_widget) + + def closeEvent(self, event): + """关闭窗口时清理资源""" + central_widget = self.centralWidget() + if central_widget: + central_widget.stop_updating() + if central_widget.client: + central_widget.client.close() + event.accept() + + +def main(): + """主函数""" + import sys + + app = QApplication(sys.argv) + app.setStyle('Fusion') # 使用Fusion风格，看起来更现代 + + window = SensorDataWindow() + window.show() + + sys.exit(app.exec_()) + + +if __name__ == "__main__": + main() \ No newline at end of file diff --git a/clients/gui_camera_client..py b/clients/gui_camera_client..py new file mode 100644 index 0000000..6ef05b4 --- /dev/null +++ b/clients/gui_camera_client..py @@ -0,0 +1,727 @@ +# camera_player_qt.py +import sys +import cv2 +import av +import numpy as np +import grpc +import threading +import time +from datetime import datetime +from pathlib import Path +from PyQt5.QtWidgets import (QApplication, QMainWindow, QWidget, QVBoxLayout, + QHBoxLayout, QLabel, QPushButton, QLineEdit, + QFileDialog, QMessageBox, QStatusBar, QGroupBox, + QGridLayout, QComboBox, QSpinBox, QCheckBox, QFrame) +from PyQt5.QtCore import Qt, QThread, pyqtSignal, QTimer +from PyQt5.QtGui import QImage, QPixmap + +# 导入生成的protobuf模块 +from cmvr.api import camera_service_pb2_grpc +from cmvr.api import camera_command_pb2 +from cmvr.api.common_pb2 import CommandHeader +from google.protobuf.timestamp_pb2 import Timestamp + + +class StreamThread(QThread): + """流接收线程""" + frame_received = pyqtSignal(object, int, int) # frame, width, height + status_update = pyqtSignal(dict) + error_occurred = pyqtSignal(str) + keyframe_received = pyqtSignal() + + # 支持的编码格式 + CODECS = { + 'H.265 (HEVC)': 'hevc', + 'H.264 (AVC)': 'h264' + } + + def __init__(self, device_id, server_addr, codec='hevc', wait_for_keyframe=True): + super().__init__() + self.device_id = device_id + self.server_addr = server_addr + self.codec_name = codec + self.wait_for_keyframe = wait_for_keyframe + self.running = False + self.streaming = False + + # gRPC + self.channel = None + self.stub = None + + # 解码器 + self.codec = None + self._init_decoder() + + # 统计 + self.frame_count = 0 + self.fps_counter = 0 + self.fps_time = time.time() + self.fps = 0 + self.keyframe_count = 0 + + def _init_decoder(self): + """初始化解码器""" + try: + # 根据选择的编码创建解码器 + self.codec = av.CodecContext.create(self.codec_name, "r") + self.codec.thread_count = 1 + + # 设置低延迟模式 + if hasattr(self.codec, 'flags'): + try: + self.codec.flags |= av.codec.context.AV_CODEC_FLAG_LOW_DELAY + except: + pass + + print(f"✓ {self.codec_name.upper()}解码器初始化成功") + except Exception as e: + print(f"✗ 解码器初始化失败: {e}") + self.codec = None + + def _create_header(self): + """创建请求头""" + timestamp = Timestamp() + timestamp.GetCurrentTime() + return CommandHeader.Request( + device_id=self.device_id, + timestamp=timestamp + ) + + def connect(self): + """连接服务器""" + try: + self.channel = grpc.insecure_channel(self.server_addr) + grpc.channel_ready_future(self.channel).result(timeout=3) + self.stub = camera_service_pb2_grpc.CameraServiceStub(self.channel) + return True + except Exception as e: + self.error_occurred.emit(f"连接失败: {e}") + return False + + def start_camera(self): + """启动摄像头""" + try: + request = camera_command_pb2.StartCameraCommand.Request( + header=self._create_header() + ) + response = self.stub.StartCamera(request, timeout=3) + return response.header.success + except Exception as e: + self.error_occurred.emit(f"启动摄像头失败: {e}") + return False + + def stop_camera(self): + """停止摄像头""" + try: + request = camera_command_pb2.StopCameraCommand.Request( + header=self._create_header() + ) + self.stub.StopCamera(request, timeout=3) + except: + pass + + def run(self): + """线程主函数""" + if not self.connect(): + return + + if not self.start_camera(): + return + + self.running = True + self.streaming = True + self.frame_count = 0 + self.fps_counter = 0 + self.fps_time = time.time() + keyframe_received = False + + def request_gen(): + while self.streaming: + yield camera_command_pb2.GetRGBImageStreamCommand.Request( + header=self._create_header(), + eof=False + ) + time.sleep(0.001) + yield camera_command_pb2.GetRGBImageStreamCommand.Request( + header=self._create_header(), + eof=True + ) + + try: + responses = self.stub.GetRGBImageStream(request_gen()) + + for response in responses: + if not self.streaming: + break + + if response.header.success: + frame_data = response.color_frame.data + is_keyframe = response.color_frame.is_key_frame + + # 等待首个关键帧 + if self.wait_for_keyframe and not keyframe_received and not is_keyframe: + continue + + if is_keyframe and not keyframe_received: + keyframe_received = True + self.keyframe_count += 1 + self.keyframe_received.emit() + + # 解码 + if self.codec and frame_data: + packet = av.Packet(frame_data) + frames = self.codec.decode(packet) + + if frames: + # 转换为RGB (已经是RGB格式) + img = frames[0].to_ndarray(format='rgb24') + + # 更新统计 + self.fps_counter += 1 + self.frame_count += 1 + + # 计算FPS + now = time.time() + if now - self.fps_time >= 1.0: + self.fps = self.fps_counter + self.fps_counter = 0 + self.fps_time = now + + # 发送状态更新 + self.status_update.emit({ + 'fps': self.fps, + 'frames': self.frame_count, + 'keyframes': self.keyframe_count + }) + + # 发送帧到主线程 + h, w = img.shape[:2] + self.frame_received.emit(img, w, h) + + else: + print(f"流错误: {response.header.error_message}") + + except Exception as e: + self.error_occurred.emit(f"流错误: {e}") + finally: + self.stop_camera() + if self.channel: + self.channel.close() + self.running = False + self.streaming = False + + def stop(self): + """停止线程""" + self.streaming = False + self.wait(2000) # 等待最多2秒 + + +class CameraPlayerQt(QMainWindow): + """基于Qt的摄像头拉流播放器""" + + def __init__(self): + super().__init__() + self.setWindowTitle("摄像头拉流播放器 (Qt版)") + self.setMinimumSize(1000, 800) + + # 状态变量 + self.connected = False + self.streaming = False + self.recording = False + self.stream_thread = None + self.video_writer = None + + # 录制目录 + self.record_path = Path("./recordings") + self.record_path.mkdir(exist_ok=True) + + # 创建UI + self._create_ui() + + # 状态栏 + self.status_bar = QStatusBar() + self.setStatusBar(self.status_bar) + self.status_bar.showMessage("就绪") + + # 定时器用于更新显示 + self.display_timer = QTimer() + self.display_timer.timeout.connect(self._update_display) + self.display_timer.start(30) # 约33fps + + # 当前帧缓存 + self.current_frame = None + self.frame_width = 0 + self.frame_height = 0 + + def _create_ui(self): + """创建UI""" + central_widget = QWidget() + self.setCentralWidget(central_widget) + main_layout = QVBoxLayout(central_widget) + + # ========== 连接设置区域 ========== + conn_group = QGroupBox("连接设置") + conn_layout = QGridLayout() + + # 第一行：设备ID和编码格式 + conn_layout.addWidget(QLabel("设备ID:"), 0, 0) + self.device_id = QLineEdit("right_hand_cam") + conn_layout.addWidget(self.device_id, 0, 1) + + conn_layout.addWidget(QLabel("编码格式:"), 0, 2) + self.codec_combo = QComboBox() + self.codec_combo.addItems(['H.265 (HEVC)', 'H.264 (AVC)']) + self.codec_combo.setCurrentIndex(0) + self.codec_combo.setMinimumWidth(120) + conn_layout.addWidget(self.codec_combo, 0, 3) + + # 等待关键帧选项 + self.wait_keyframe = QCheckBox("等待关键帧") + self.wait_keyframe.setChecked(True) + conn_layout.addWidget(self.wait_keyframe, 0, 4) + + # 第二行：服务器地址 + conn_layout.addWidget(QLabel("服务器IP:"), 1, 0) + self.server_ip = QLineEdit("192.168.0.222") + conn_layout.addWidget(self.server_ip, 1, 1) + + conn_layout.addWidget(QLabel("端口:"), 1, 2) + self.server_port = QLineEdit("50052") + self.server_port.setMaximumWidth(80) + conn_layout.addWidget(self.server_port, 1, 3) + + # 超时设置 + conn_layout.addWidget(QLabel("超时(秒):"), 1, 4) + self.timeout_spin = QSpinBox() + self.timeout_spin.setRange(1, 10) + self.timeout_spin.setValue(3) + self.timeout_spin.setMaximumWidth(60) + conn_layout.addWidget(self.timeout_spin, 1, 5) + + # 第三行：录制目录 + conn_layout.addWidget(QLabel("录制目录:"), 2, 0) + self.record_dir = QLineEdit(str(self.record_path)) + conn_layout.addWidget(self.record_dir, 2, 1, 1, 4) + + self.browse_btn = QPushButton("浏览") + self.browse_btn.clicked.connect(self._browse_dir) + conn_layout.addWidget(self.browse_btn, 2, 5) + + # 第四行：控制按钮 + btn_layout = QHBoxLayout() + + self.connect_btn = QPushButton("连接") + self.connect_btn.clicked.connect(self._connect) + self.connect_btn.setMinimumWidth(80) + btn_layout.addWidget(self.connect_btn) + + self.preview_btn = QPushButton("预览") + self.preview_btn.clicked.connect(self._toggle_preview) + self.preview_btn.setEnabled(False) + self.preview_btn.setMinimumWidth(80) + btn_layout.addWidget(self.preview_btn) + + self.record_btn = QPushButton("录制") + self.record_btn.clicked.connect(self._toggle_recording) + self.record_btn.setEnabled(False) + self.record_btn.setMinimumWidth(80) + btn_layout.addWidget(self.record_btn) + + self.disconnect_btn = QPushButton("断开") + self.disconnect_btn.clicked.connect(self._disconnect) + self.disconnect_btn.setEnabled(False) + self.disconnect_btn.setMinimumWidth(80) + btn_layout.addWidget(self.disconnect_btn) + + btn_layout.addStretch() + + conn_layout.addLayout(btn_layout, 3, 0, 1, 6) + + conn_group.setLayout(conn_layout) + main_layout.addWidget(conn_group) + + # ========== 状态显示区域 ========== + status_group = QGroupBox("状态信息") + status_layout = QHBoxLayout() + + self.conn_status = QLabel("● 未连接") + self.conn_status.setStyleSheet("color: red;") + status_layout.addWidget(self.conn_status) + + status_layout.addWidget(QLabel("|")) + + self.codec_status = QLabel("编码: H.265") + status_layout.addWidget(self.codec_status) + + status_layout.addWidget(QLabel("|")) + + self.fps_status = QLabel("FPS: 0") + status_layout.addWidget(self.fps_status) + + status_layout.addWidget(QLabel("|")) + + self.frame_status = QLabel("帧数: 0") + status_layout.addWidget(self.frame_status) + + status_layout.addWidget(QLabel("|")) + + self.resolution_status = QLabel("分辨率: -") + status_layout.addWidget(self.resolution_status) + + status_layout.addWidget(QLabel("|")) + + self.keyframe_status = QLabel("关键帧: 等待") + self.keyframe_status.setStyleSheet("color: orange;") + status_layout.addWidget(self.keyframe_status) + + status_layout.addWidget(QLabel("|")) + + self.record_status = QLabel("录制: 未开始") + self.record_status.setStyleSheet("color: gray;") + status_layout.addWidget(self.record_status) + + status_layout.addStretch() + status_group.setLayout(status_layout) + main_layout.addWidget(status_group) + + # ========== 视频预览区域 ========== + video_group = QGroupBox("视频预览") + video_layout = QVBoxLayout() + + self.video_label = QLabel() + self.video_label.setAlignment(Qt.AlignCenter) + self.video_label.setMinimumSize(640, 480) + self.video_label.setStyleSheet("background-color: black; border: 1px solid gray;") + video_layout.addWidget(self.video_label) + + video_group.setLayout(video_layout) + main_layout.addWidget(video_group, 1) # 1表示拉伸因子 + + # ========== 操作说明 ========== + info_frame = QFrame() + info_frame.setFrameStyle(QFrame.StyledPanel | QFrame.Sunken) + info_layout = QHBoxLayout(info_frame) + + info_label = QLabel("操作说明: ①选择编码格式 ②连接 ③预览 ④录制 (按'停止预览'结束)") + info_label.setStyleSheet("color: gray; padding: 5px;") + info_layout.addWidget(info_label) + + main_layout.addWidget(info_frame) + + def _browse_dir(self): + """浏览目录""" + directory = QFileDialog.getExistingDirectory(self, "选择录制目录", + self.record_dir.text()) + if directory: + self.record_dir.setText(directory) + self.record_path = Path(directory) + self.record_path.mkdir(exist_ok=True) + + def _get_server_addr(self): + """获取服务器地址""" + return f"{self.server_ip.text()}:{self.server_port.text()}" + + def _get_codec(self): + """获取编码格式""" + codec_map = { + 'H.265 (HEVC)': 'hevc', + 'H.264 (AVC)': 'h264' + } + return codec_map[self.codec_combo.currentText()] + + def _connect(self): + """连接服务器""" + codec = self._get_codec() + self.status_bar.showMessage(f"正在连接服务器 (编码: {codec.upper()})...") + + # 更新编码状态显示 + self.codec_status.setText(f"编码: {self.codec_combo.currentText()}") + + # 创建流线程 + self.stream_thread = StreamThread( + self.device_id.text(), + self._get_server_addr(), + codec=codec, + wait_for_keyframe=self.wait_keyframe.isChecked() + ) + + # 连接信号 + self.stream_thread.frame_received.connect(self._on_frame_received) + self.stream_thread.status_update.connect(self._on_status_update) + self.stream_thread.error_occurred.connect(self._on_error) + self.stream_thread.keyframe_received.connect(self._on_keyframe_received) + + # 连接测试 + if self.stream_thread.connect(): + self.connected = True + self.conn_status.setText("● 已连接") + self.conn_status.setStyleSheet("color: green;") + self.connect_btn.setEnabled(False) + self.preview_btn.setEnabled(True) + self.disconnect_btn.setEnabled(True) + self.codec_combo.setEnabled(False) + self.wait_keyframe.setEnabled(False) + self.status_bar.showMessage("服务器连接成功", 3000) + else: + self.stream_thread = None + + def _disconnect(self): + """断开连接""" + # 停止预览 + if self.streaming: + self._stop_preview() + + # 停止录制 + if self.recording: + self._stop_recording() + + # 清理线程 + if self.stream_thread: + self.stream_thread.stop() + self.stream_thread = None + + self.connected = False + self.conn_status.setText("● 未连接") + self.conn_status.setStyleSheet("color: red;") + self.connect_btn.setEnabled(True) + self.preview_btn.setEnabled(False) + self.preview_btn.setText("预览") + self.record_btn.setEnabled(False) + self.record_btn.setText("录制") + self.disconnect_btn.setEnabled(False) + self.codec_combo.setEnabled(True) + self.wait_keyframe.setEnabled(True) + + # 清空画面 + self.video_label.clear() + self.current_frame = None + + # 重置状态 + self.keyframe_status.setText("关键帧: 等待") + self.keyframe_status.setStyleSheet("color: orange;") + self.fps_status.setText("FPS: 0") + self.frame_status.setText("帧数: 0") + self.resolution_status.setText("分辨率: -") + + self.status_bar.showMessage("已断开连接", 3000) + + def _toggle_preview(self): + """切换预览""" + if not self.streaming: + self._start_preview() + else: + self._stop_preview() + + def _start_preview(self): + """开始预览""" + if not self.stream_thread: + return + + self.streaming = True + self.stream_thread.streaming = True + self.stream_thread.start() + + self.preview_btn.setText("停止") + self.record_btn.setEnabled(True) + + if self.wait_keyframe.isChecked(): + self.keyframe_status.setText("关键帧: 等待中...") + self.keyframe_status.setStyleSheet("color: orange;") + else: + self.keyframe_status.setText("关键帧: 不等待") + self.keyframe_status.setStyleSheet("color: gray;") + + self.status_bar.showMessage("预览已启动...") + + def _stop_preview(self): + """停止预览""" + if self.stream_thread: + self.stream_thread.streaming = False + self.stream_thread.wait(2000) + + self.streaming = False + self.preview_btn.setText("预览") + self.record_btn.setEnabled(False) + + # 停止录制 + if self.recording: + self._stop_recording() + + self.keyframe_status.setText("关键帧: 等待") + self.keyframe_status.setStyleSheet("color: orange;") + + # 清空画面 + self.video_label.clear() + self.current_frame = None + + self.status_bar.showMessage("预览已停止", 3000) + + def _toggle_recording(self): + """切换录制""" + if not self.recording: + self._start_recording() + else: + self._stop_recording() + + def _start_recording(self): + """开始录制""" + if not self.streaming: + QMessageBox.warning(self, "警告", "请先启动预览") + return + + # 更新录制目录 + self.record_path = Path(self.record_dir.text()) + self.record_path.mkdir(parents=True, exist_ok=True) + + # 生成文件名 + timestamp = datetime.now().strftime("%Y%m%d_%H%M%S") + codec_name = self.codec_combo.currentText().replace(' ', '_') + filename = self.record_path / f"rec_{self.device_id.text()}_{codec_name}_{timestamp}.mp4" + + # 获取画面尺寸 + if self.current_frame is not None: + height, width = self.current_frame.shape[:2] + else: + width, height = 640, 480 + + # 创建VideoWriter + fourcc = cv2.VideoWriter_fourcc(*'mp4v') + self.video_writer = cv2.VideoWriter(str(filename), fourcc, 30.0, (width, height)) + + if self.video_writer.isOpened(): + self.recording = True + self.record_btn.setText("停止") + self.record_status.setText("● 录制中") + self.record_status.setStyleSheet("color: red;") + self.status_bar.showMessage(f"开始录制: {filename.name}", 3000) + else: + QMessageBox.critical(self, "错误", "无法创建视频文件") + + def _stop_recording(self): + """停止录制""" + if self.video_writer: + self.video_writer.release() + self.video_writer = None + + self.recording = False + self.record_btn.setText("录制") + self.record_status.setText("录制: 未开始") + self.record_status.setStyleSheet("color: gray;") + self.status_bar.showMessage("录制已停止", 3000) + + def _on_frame_received(self, frame, width, height): + """收到新帧""" + self.current_frame = frame + self.frame_width = width + self.frame_height = height + + # 录制 + if self.recording and self.video_writer: + # 转换为BGR用于录制 + frame_bgr = cv2.cvtColor(frame, cv2.COLOR_RGB2BGR) + self.video_writer.write(frame_bgr) + + def _update_display(self): + """更新显示""" + if self.current_frame is not None: + # 直接使用QImage，避免转换 + bytes_per_line = 3 * self.frame_width + qimage = QImage(self.current_frame.data, self.frame_width, + self.frame_height, bytes_per_line, QImage.Format_RGB888) + + # 缩放以适应标签大小 + label_size = self.video_label.size() + pixmap = QPixmap.fromImage(qimage).scaled( + label_size, Qt.KeepAspectRatio, Qt.SmoothTransformation) + + self.video_label.setPixmap(pixmap) + + # 更新分辨率显示 + self.resolution_status.setText(f"分辨率: {self.frame_width}x{self.frame_height}") + + def _on_status_update(self, stats): + """状态更新""" + self.fps_status.setText(f"FPS: {stats['fps']}") + self.frame_status.setText(f"帧数: {stats['frames']}") + + def _on_keyframe_received(self): + """收到关键帧""" + if self.wait_keyframe.isChecked(): + self.keyframe_status.setText("关键帧: 已接收") + self.keyframe_status.setStyleSheet("color: green;") + + def _on_error(self, msg): + """错误处理""" + QMessageBox.critical(self, "错误", msg) + self.status_bar.showMessage(f"错误: {msg}") + + def closeEvent(self, event): + """窗口关闭事件""" + # 停止预览 + if self.streaming: + self._stop_preview() + + # 停止录制 + if self.recording: + self._stop_recording() + + # 断开连接 + if self.connected: + self._disconnect() + + event.accept() + + +def main(): + app = QApplication(sys.argv) + + # 设置应用样式 + app.setStyle('Fusion') + + # 设置全局样式表 + app.setStyleSheet(""" + QGroupBox { + font-weight: bold; + border: 1px solid gray; + border-radius: 5px; + margin-top: 10px; + padding-top: 10px; + } + QGroupBox::title { + subcontrol-origin: margin; + left: 10px; + padding: 0 5px 0 5px; + } + QPushButton { + padding: 5px 10px; + } + QLineEdit { + padding: 3px; + } + QComboBox { + padding: 3px; + } + """) + + window = CameraPlayerQt() + window.show() + + print("\n" + "=" * 60) + print("摄像头拉流播放器 (Qt版) 启动") + print("=" * 60) + print("支持编码:") + print(" • H.265 (HEVC) - 高压缩率") + print(" • H.264 (AVC) - 兼容性好") + print("\n操作步骤:") + print("1. 选择编码格式") + print("2. 输入设备ID、服务器IP和端口") + print("3. 点击【连接】按钮") + print("4. 点击【预览】按钮开始观看") + print("5. 点击【录制】按钮开始/停止录制") + print("=" * 60 + "\n") + + sys.exit(app.exec_()) + + +if __name__ == "__main__": + main() \ No newline at end of file diff --git a/requirements.txt b/requirements.txt index 0f18092..b09854e 100644 --- a/requirements.txt +++ b/requirements.txt @@ -8,6 +8,8 @@ PyQt5==5.15.11 requests==2.32.5 yourdfpy uvicorn==0.38.0 +av>=10.0.0 +opencv-python>=4.0.0 numpy==1.26.4 opencv-contrib-python==4.10.0.84