串口搜索和摄像头搜索

gripper/ui/visualizer.py

@@ -18,6 +18,11 @@ if sys.platform.startswith("linux") and os.environ.get("WSL_DISTRO_NAME"):
 import cv2
 import numpy as np
 
+try:
+    from serial.tools import list_ports as serial_list_ports
+except Exception:
+    serial_list_ports = None
+
 
 def _fix_qt_plugin_path():
     try:
@@ -42,6 +47,7 @@ try:
         QApplication,
         QButtonGroup,
         QCheckBox,
+        QComboBox,
         QDialog,
         QFrame,
         QGraphicsOpacityEffect,
@@ -71,7 +77,7 @@ except Exception as exc:
     QColor = QLinearGradient = QPainter = QPen = QPolygonF = QRadialGradient = QVector3D = None
     QGridLayout = QHBoxLayout = QLabel = QPushButton = QSizeGrip = QSizePolicy = QSplitter = None
     QVBoxLayout = QWidget = None
-    QButtonGroup = QCheckBox = QDialog = QFrame = QGraphicsOpacityEffect = QLineEdit = QListWidget = QMessageBox = QMainWindow = object
+    QButtonGroup = QCheckBox = QComboBox = QDialog = QFrame = QGraphicsOpacityEffect = QLineEdit = QListWidget = QMessageBox = QMainWindow = object
     QProgressBar = QScrollArea = QSlider = QSpinBox = QStackedWidget = QTextEdit = None
 
 try:
@@ -92,6 +98,7 @@ else:
 
 from ..app import build_controller
 from ..common.paths import PACKAGE_DIR, REPO_ROOT
+from ..sensors.camera_discovery import camera_source_index, list_cameras
 
 
 PLOT_POINTS = 180
@@ -599,7 +606,7 @@ QSpinBox {
     border-radius: 4px;
     padding: 3px 5px;
 }
-QLineEdit, QTextEdit {
+QLineEdit, QTextEdit, QComboBox {
     background-color: #ffffff;
     color: #1f2933;
     border: 1px solid #d7dee8;
@@ -608,7 +615,7 @@ QLineEdit, QTextEdit {
     font-family: "Cascadia Code", "Consolas";
     font-size: 12px;
 }
-QLineEdit:focus, QTextEdit:focus {
+QLineEdit:focus, QTextEdit:focus, QComboBox:focus {
     border: 1px solid #7aa7e8;
 }
 QListWidget {
@@ -733,6 +740,12 @@ def _draw_top_icon(kind, color="#344054", size=22):
             painter.setBrush(QColor("#ffffff"))
             painter.drawEllipse(QPointF(knob_x, y), size * 0.075, size * 0.075)
             painter.setBrush(Qt.NoBrush)
+    elif kind == "search":
+        painter.drawEllipse(QRectF(size * 0.25, size * 0.23, size * 0.40, size * 0.40))
+        painter.drawLine(
+            QPointF(size * 0.60, size * 0.60),
+            QPointF(size * 0.76, size * 0.76),
+        )
     elif kind == "minimize":
         painter.drawLine(
             QPointF(size * 0.32, size * 0.62),
@@ -932,6 +945,7 @@ class ImageBox(QFrame):
         layout.setContentsMargins(6, 6, 6, 6)
         layout.setSpacing(5)
         header = QHBoxLayout()
+        self.header_layout = header
         header.setSpacing(6)
         self.title_label = QLabel(title)
         self.title_label.setObjectName("SectionTitle")
@@ -994,6 +1008,10 @@ class FloatingImageBox(ImageBox):
         self.image_label.setScaledContents(False)
         self.mode_toggle_button.setObjectName("FlowModeButton")
         self.mode_toggle_button.setText("光流")
+        self.camera_search_button = TopIconButton("search", "搜索并设置左右摄像头")
+        self.camera_search_button.setFixedSize(24, 24)
+        self.camera_search_button.setIconSize(QSize(17, 17))
+        self.header_layout.insertWidget(self.header_layout.count() - 1, self.camera_search_button)
         self._drag_mode = None
         self._drag_start_global = None
         self._start_geometry = None
@@ -2203,6 +2221,141 @@ class SliderControl(QFrame):
         return int(self.slider.value())
 
 
+class CameraDiscoveryDialog(QDialog):
+    def __init__(self, viewer):
+        super().__init__(viewer)
+        self.viewer = viewer
+        self._scan_id = 0
+        self._scan_result = None
+        self.setWindowTitle("双摄像头设置")
+        self.setWindowIcon(_load_company_icon(64))
+        # Keep the main window responsive while OpenCV probes devices in the
+        # worker thread. A modeless child also avoids a full-screen compositor
+        # flash caused by switching into a nested modal event loop.
+        self.setModal(False)
+        self.setMinimumWidth(520)
+
+        layout = QVBoxLayout(self)
+        layout.setContentsMargins(14, 14, 14, 14)
+        layout.setSpacing(10)
+        self.status_label = QLabel("正在搜索摄像头...")
+        self.status_label.setObjectName("MetricLabel")
+        layout.addWidget(self.status_label)
+
+        camera_grid = QGridLayout()
+        camera_grid.setHorizontalSpacing(10)
+        camera_grid.setVerticalSpacing(8)
+        self.camera_combos = {}
+        for row, (side, title) in enumerate((("left", "左侧摄像头"), ("right", "右侧摄像头"))):
+            label = QLabel(title)
+            label.setObjectName("MetricLabel")
+            combo = QComboBox()
+            combo.setMinimumHeight(32)
+            self.camera_combos[side] = combo
+            camera_grid.addWidget(label, row, 0)
+            camera_grid.addWidget(combo, row, 1)
+        camera_grid.setColumnStretch(1, 1)
+        layout.addLayout(camera_grid)
+
+        actions = QHBoxLayout()
+        self.refresh_button = AnimatedButton("重新搜索")
+        self.refresh_button.setObjectName("ManualButton")
+        self.refresh_button.clicked.connect(self._start_scan)
+        self.apply_button = AnimatedButton("应用左右摄像头")
+        self.apply_button.setObjectName("OpenActionButton")
+        self.apply_button.clicked.connect(self._apply)
+        cancel_button = AnimatedButton("取消")
+        cancel_button.setObjectName("ManualButton")
+        cancel_button.clicked.connect(self.reject)
+        actions.addWidget(self.refresh_button)
+        actions.addStretch(1)
+        actions.addWidget(self.apply_button)
+        actions.addWidget(cancel_button)
+        layout.addLayout(actions)
+
+        self.poll_timer = QTimer(self)
+        self.poll_timer.setInterval(100)
+        self.poll_timer.timeout.connect(self._poll_scan)
+        self._start_scan()
+
+    def _start_scan(self):
+        self._scan_id += 1
+        scan_id = self._scan_id
+        self._scan_result = None
+        self.status_label.setText("正在快速搜索摄像头（编号 0-3）...")
+        current_sources = self.viewer.camera_sources()
+        skip_indices = set()
+        for side, combo in self.camera_combos.items():
+            combo.clear()
+            current = current_sources.get(side, "")
+            if current:
+                combo.addItem(f"当前配置 {current}（可能正在使用）", current)
+                combo.setEnabled(True)
+                current_index = camera_source_index(current)
+                if current_index is not None:
+                    skip_indices.add(current_index)
+            else:
+                combo.setEnabled(False)
+        self.refresh_button.setEnabled(False)
+        self.apply_button.setEnabled(
+            all(combo.count() > 0 for combo in self.camera_combos.values())
+        )
+
+        def scan():
+            try:
+                self._scan_result = (
+                    scan_id,
+                    list_cameras(skip_indices=skip_indices),
+                    None,
+                )
+            except Exception as exc:
+                self._scan_result = (scan_id, [], str(exc))
+
+        threading.Thread(target=scan, daemon=True).start()
+        self.poll_timer.start()
+
+    def _poll_scan(self):
+        result = self._scan_result
+        if result is None:
+            return
+        scan_id, cameras, error = result
+        if scan_id != self._scan_id:
+            return
+        self.poll_timer.stop()
+        self.refresh_button.setEnabled(True)
+        current_sources = self.viewer.camera_sources()
+        found_sources = set()
+        for side, combo in self.camera_combos.items():
+            combo.clear()
+            for camera in cameras:
+                combo.addItem(camera.label(), camera.source)
+                found_sources.add(camera.source)
+            current = current_sources.get(side, "")
+            if current and current not in found_sources:
+                combo.addItem(f"当前配置 {current}（可能正在使用）", current)
+            current_index = combo.findData(current)
+            if current_index >= 0:
+                combo.setCurrentIndex(current_index)
+        if error:
+            self.status_label.setText(f"搜索失败：{error}")
+        elif cameras:
+            self.status_label.setText(f"找到 {len(cameras)} 个可用摄像头")
+        else:
+            self.status_label.setText("未发现空闲摄像头；正在使用的当前配置仍可保留")
+        has_both = all(combo.count() > 0 for combo in self.camera_combos.values())
+        for combo in self.camera_combos.values():
+            combo.setEnabled(combo.count() > 0)
+        self.apply_button.setEnabled(has_both)
+
+    def _apply(self):
+        left = self.camera_combos["left"].currentData()
+        right = self.camera_combos["right"].currentData()
+        if left is None or right is None:
+            return
+        if self.viewer.apply_camera_sources(str(left), str(right)):
+            self.accept()
+
+
 class VisualSettingsDialog(QDialog):
     CONFIG_GROUPS = [
         (
@@ -2595,6 +2748,21 @@ class VisualSettingsDialog(QDialog):
         return scroll
 
     def _make_control(self, key, value):
+        if key == "port":
+            container = QWidget()
+            layout = QHBoxLayout(container)
+            layout.setContentsMargins(0, 0, 0, 0)
+            layout.setSpacing(6)
+            control = QComboBox()
+            control.setEditable(True)
+            control.addItem(str(value), str(value))
+            control.setToolTip("port")
+            search_button = TopIconButton("search", "搜索可用串口")
+            search_button.clicked.connect(self._search_serial_ports)
+            layout.addWidget(control, 1)
+            layout.addWidget(search_button)
+            self.controls[key] = control
+            return container
         if isinstance(value, bool):
             control = QCheckBox()
             control.setChecked(value)
@@ -2612,6 +2780,11 @@ class VisualSettingsDialog(QDialog):
 
     def _control_value(self, key, original):
         control = self.controls[key]
+        if isinstance(control, QComboBox):
+            selected = control.currentData()
+            if control.currentIndex() >= 0 and selected is not None:
+                return str(selected)
+            return control.currentText().strip()
         if isinstance(original, bool):
             return bool(control.isChecked())
         if isinstance(original, (dict, list)):
@@ -2636,11 +2809,50 @@ class VisualSettingsDialog(QDialog):
             return
         if isinstance(control, QCheckBox):
             control.setChecked(bool(value))
+        elif isinstance(control, QComboBox):
+            text = "" if value is None else str(value)
+            index = control.findData(text)
+            if index < 0:
+                control.addItem(text, text)
+                index = control.count() - 1
+            control.setCurrentIndex(index)
         elif isinstance(control, QTextEdit):
             control.setPlainText(json.dumps(value, ensure_ascii=False, indent=2))
         elif isinstance(control, QLineEdit):
             control.setText("null" if value is None else str(value))
 
+    def _search_serial_ports(self):
+        control = self.controls.get("port")
+        if not isinstance(control, QComboBox):
+            return
+        current = self._control_value("port", self.config_data.get("port", ""))
+        if serial_list_ports is None:
+            QMessageBox.warning(self, "搜索失败", "PySerial 串口枚举模块未安装。")
+            return
+        try:
+            ports = list(serial_list_ports.comports())
+        except Exception as exc:
+            QMessageBox.warning(self, "搜索失败", f"无法枚举串口:\n{exc}")
+            return
+
+        control.clear()
+        selected_index = -1
+        for port in ports:
+            device = str(port.device)
+            description = str(port.description or "未知设备")
+            control.addItem(f"{device}  [{description}]", device)
+            if device == current:
+                selected_index = control.count() - 1
+        if current and selected_index < 0:
+            control.addItem(f"{current}  [当前配置]", current)
+            selected_index = control.count() - 1
+        if selected_index >= 0:
+            control.setCurrentIndex(selected_index)
+        if not ports:
+            QMessageBox.information(self, "搜索串口", "未发现可用串口，已保留当前配置。")
+            return
+        control.showPopup()
+
     def _reload(self):
         self._load_config()
         for key, value in self.config_data.items():
@@ -2665,12 +2877,26 @@ class VisualSettingsDialog(QDialog):
             QMessageBox.warning(self, "保存失败", f"无法写入配置文件:\n{exc}")
             return
 
+        try:
+            layout_path = self.viewer.save_current_layout()
+        except Exception as exc:
+            QMessageBox.warning(self, "画面保存失败", f"参数已写入，但画面旋转无法保存:\n{exc}")
+            return
+
         self.config_data = updated
-        QMessageBox.information(self, "已保存", "配置已写入 gripper.json。重启控制程序后完整生效。")
+        QMessageBox.information(
+            self,
+            "已保存",
+            f"配置已写入 gripper.json，画面旋转已写入:\n{layout_path}\n重启控制程序后完整生效。",
+        )
 
     def _adjust(self, side, action):
         self.viewer.adjust_visual_transform(side, action)
         self._refresh_labels()
+        try:
+            self.viewer.save_current_layout()
+        except Exception as exc:
+            QMessageBox.warning(self, "保存失败", f"画面已调整，但无法保存旋转配置:\n{exc}")
 
     def _refresh_labels(self):
         for side, title in (("left", "左侧光流"), ("right", "右侧光流")):
@@ -2726,7 +2952,7 @@ class GripperDemo02Viewer(QMainWindow):
         if pg is None:
             raise RuntimeError(f"pyqtgraph import failed: {_PYQTGRAPH_IMPORT_ERROR}")
 
-        self.setWindowTitle("Gripper Demo 02")
+        self.setWindowTitle("Orisys 夹爪")
         self.setWindowIcon(_load_company_icon(64))
         self.setStyleSheet(STYLE)
         self.controller = None
@@ -2745,6 +2971,7 @@ class GripperDemo02Viewer(QMainWindow):
         self.argv = argv
         self.layout_path = GUI_LAYOUT_PATH
         self.visual_settings_dialog = None
+        self.camera_discovery_dialog = None
         self._pending_runtime_speed = None
         self._pending_position_target = None
         self._pending_position_since = 0.0
@@ -2898,6 +3125,91 @@ class GripperDemo02Viewer(QMainWindow):
             config_path = REPO_ROOT / config_path
         return config_path
 
+    def camera_sources(self):
+        sources = {"left": "", "right": ""}
+        try:
+            with open(self._control_config_path(), "r", encoding="utf-8") as f:
+                data = json.load(f)
+            sources["left"] = str(data.get("video1", ""))
+            sources["right"] = str(data.get("video2", ""))
+        except Exception:
+            pass
+        return sources
+
+    def open_camera_search(self):
+        existing = self.camera_discovery_dialog
+        if existing is not None and existing.isVisible():
+            existing.raise_()
+            existing.activateWindow()
+            return
+        dialog = CameraDiscoveryDialog(self)
+        self.camera_discovery_dialog = dialog
+        dialog.finished.connect(lambda _result: setattr(self, "camera_discovery_dialog", None))
+        dialog.show()
+        dialog.raise_()
+
+    def _update_camera_argv(self, config_key, source):
+        args = list(self.argv or [])
+        option_names = {
+            "video1": ("--video1", "-v1"),
+            "video2": ("--video2", "-v2"),
+        }[config_key]
+        for index, arg in enumerate(args):
+            if arg in option_names and index + 1 < len(args):
+                args[index + 1] = source
+                self.argv = args
+                return
+            for option in option_names:
+                if str(arg).startswith(option + "="):
+                    args[index] = option + "=" + source
+                    self.argv = args
+                    return
+
+    def apply_camera_sources(self, left_source, right_source):
+        if left_source == right_source:
+            QMessageBox.warning(self, "摄像头冲突", "左右两侧需要选择不同的摄像头。")
+            return False
+        sources = self.camera_sources()
+        if left_source == sources.get("left") and right_source == sources.get("right"):
+            return True
+
+        config_path = self._control_config_path()
+        temp_path = config_path.with_suffix(config_path.suffix + ".tmp")
+        try:
+            with open(config_path, "r", encoding="utf-8") as f:
+                data = json.load(f)
+            if not isinstance(data, dict):
+                raise ValueError("配置文件根节点不是 JSON 对象")
+            data["video1"] = left_source
+            data["video2"] = right_source
+            config_path.parent.mkdir(parents=True, exist_ok=True)
+            with open(temp_path, "w", encoding="utf-8") as f:
+                json.dump(data, f, ensure_ascii=False, indent=2)
+                f.write("\n")
+            os.replace(temp_path, config_path)
+        except Exception as exc:
+            try:
+                if temp_path.exists():
+                    temp_path.unlink()
+            except OSError:
+                pass
+            QMessageBox.warning(self, "保存失败", f"无法保存摄像头配置:\n{exc}")
+            return False
+
+        self._update_camera_argv("video1", left_source)
+        self._update_camera_argv("video2", right_source)
+        if self.visual_settings_dialog is not None:
+            for config_key, source in (("video1", left_source), ("video2", right_source)):
+                self.visual_settings_dialog.config_data[config_key] = source
+                self.visual_settings_dialog._set_control_value(config_key, source)
+        QMessageBox.information(
+            self,
+            "双摄像头已切换",
+            f"左侧摄像头: {left_source}\n右侧摄像头: {right_source}\n控制程序将自动重启。",
+        )
+        self.restart_control()
+        return True
+
     def _load_position_config(self):
         open_pos = 0
         close_pos = 9000
@@ -3007,6 +3319,8 @@ class GripperDemo02Viewer(QMainWindow):
         self.right_flow = self.gripper_stage.right_flow
         self.left_flow.set_transform_label(self.visual_transforms["left"])
         self.right_flow.set_transform_label(self.visual_transforms["right"])
+        self.left_flow.camera_search_button.clicked.connect(self.open_camera_search)
+        self.right_flow.camera_search_button.clicked.connect(self.open_camera_search)
         visual_layout.addWidget(self.gripper_stage, 0, 0)
         visual_layout.setColumnStretch(0, 1)
         center_splitter.addWidget(visual_panel)