v 2.1

gripper_control_02/visualizer.py

@@ -97,6 +97,62 @@ def fmt(value, unit="", width=0, precision=3):
     return f"{text}{unit}"
 
 
+STATE_TEXT = {
+    "open_wait": "等待触发",
+    "closing": "闭合中",
+    "gripping": "夹持加力",
+    "hold_check": "夹持检测",
+    "open_recover": "张开恢复",
+    "manual_close": "手动闭合",
+    "manual_hold": "手动保持",
+    "error": "错误",
+}
+
+ACTION_TEXT = {
+    "wait": "等待",
+    "waiting-for-sensor-samples": "等待传感器数据",
+    "open-wait-stabilizing": "等待稳定基准",
+    "open-wait-armed": "已就绪",
+    "side-trigger-close": "侧边触发闭合",
+    "closing-to-grip": "闭合寻找物体",
+    "object-detected-low-force": "检测到物体",
+    "close-timeout-open": "闭合超时张开",
+    "grip-ramp-up": "夹持加力",
+    "grip-hold": "夹持保持",
+    "hold-reference-armed": "记录夹持基准",
+    "adaptive-grip-ramp": "自适应加力",
+    "adaptive-grip-wait": "等待自适应加力",
+    "release-arm-delay": "释放检测延时",
+    "release-reference-armed": "释放检测就绪",
+    "hold-check": "保持检测",
+    "force-change-release-open": "力变化张开",
+    "open-recover-position": "张开位置恢复",
+    "open-recover-position-stabilizing": "张开位置稳定中",
+    "open-ready-position": "张开到位",
+    "open-recover-quiet": "力稳定恢复",
+    "open-recover-stabilizing": "恢复稳定中",
+    "open-recover-wait-force-clear": "等待力恢复",
+    "open-ready": "恢复完成",
+    "manual-open": "手动张开",
+    "manual-close": "手动闭合",
+    "manual-hold": "手动保持",
+    "manual-release": "手动释放",
+}
+
+
+def label_with_cn(value, mapping):
+    value = str(value or "--")
+    cn = mapping.get(value)
+    if cn is None:
+        for prefix, text in mapping.items():
+            if value.startswith(f"{prefix} "):
+                cn = text
+                break
+    if cn is None:
+        return value
+    return f"{value}（{cn}）"
+
+
 STYLE = """
 QMainWindow {
     background-color: #000000;
@@ -140,6 +196,22 @@ QLabel#StatusChip {
     font-weight: 600;
     padding: 8px 12px;
 }
+QFrame#StatusPanel {
+    background-color: #101010;
+    border: 1px solid #303030;
+    border-radius: 4px;
+}
+QLabel#StatusMain {
+    color: #00e5ff;
+    font-family: "Cascadia Code", "Consolas";
+    font-size: 17px;
+    font-weight: 600;
+}
+QLabel#StatusSub {
+    color: #9a9a9a;
+    font-family: "Cascadia Code", "Consolas";
+    font-size: 12px;
+}
 QLabel#ActionChip {
     background-color: #0b0b0b;
     border: 1px solid #262626;
@@ -332,8 +404,17 @@ class GripperDemo02Viewer(QMainWindow):
         top.setSpacing(8)
         title = QLabel("Orisys 夹爪")
         title.setObjectName("Title")
+        self.status_panel = QFrame()
+        self.status_panel.setObjectName("StatusPanel")
+        status_layout = QVBoxLayout(self.status_panel)
+        status_layout.setContentsMargins(10, 6, 10, 6)
+        status_layout.setSpacing(1)
         self.status_chip = QLabel("state=--")
-        self.status_chip.setObjectName("StatusChip")
+        self.status_chip.setObjectName("StatusMain")
+        self.action_label = QLabel("action=--")
+        self.action_label.setObjectName("StatusSub")
+        status_layout.addWidget(self.status_chip)
+        status_layout.addWidget(self.action_label)
         self.start_button = AnimatedButton("启动")
         self.start_button.setObjectName("StartButton")
         self.start_button.clicked.connect(self.start_control)
@@ -355,7 +436,7 @@ class GripperDemo02Viewer(QMainWindow):
         self.manual_hold_button.clicked.connect(self.toggle_manual_hold)
         self._set_button_state("idle")
         top.addWidget(title)
-        top.addWidget(self.status_chip)
+        top.addWidget(self.status_panel)
         top.addStretch(1)
         top.addWidget(self.start_button)
         top.addWidget(self.stop_button)
@@ -557,9 +638,11 @@ class GripperDemo02Viewer(QMainWindow):
             self._set_button_state("running")
 
         state = status.get("state", "--")
+        action = status.get("action", "--")
         unit = status.get("normal_unit", "N")
         shear_unit = status.get("shear_unit", "N")
-        self.status_chip.setText(f"state={state}")
+        self.status_chip.setText(f"state={label_with_cn(state, STATE_TEXT)}")
+        self.action_label.setText(f"action={label_with_cn(action, ACTION_TEXT)}")
         self.manual_hold_button.setText(
             "释放" if bool(status.get("manual_hold_active")) else "保持"
         )