v 2.0

gripper_control_02/visualizer.py

@@ -37,13 +37,14 @@ try:
         QMainWindow,
         QPushButton,
         QSizePolicy,
+        QSplitter,
         QVBoxLayout,
         QWidget,
     )
 except Exception as exc:
     _QT_IMPORT_ERROR = exc
     Qt = QTimer = QPropertyAnimation = QEasingCurve = QFont = QImage = QPixmap = QApplication = None
-    QGridLayout = QHBoxLayout = QLabel = QPushButton = QSizePolicy = None
+    QGridLayout = QHBoxLayout = QLabel = QPushButton = QSizePolicy = QSplitter = None
     QVBoxLayout = QWidget = None
     QFrame = QGraphicsOpacityEffect = QMainWindow = object
 
@@ -207,6 +208,18 @@ QPushButton#HoldButton {
     color: #d8d8d8;
     border: 1px solid #363636;
 }
+QSplitter::handle {
+    background-color: #151515;
+}
+QSplitter::handle:hover {
+    background-color: #2a2a2a;
+}
+QSplitter::handle:horizontal {
+    width: 8px;
+}
+QSplitter::handle:vertical {
+    height: 8px;
+}
 """
 
 
@@ -241,26 +254,21 @@ else:
 
 
 class MetricBox(QFrame):
-    def __init__(self, title, value="--", sub=""):
+    def __init__(self, title, value="--"):
         super().__init__()
         self.setObjectName("Panel")
         layout = QVBoxLayout(self)
         layout.setContentsMargins(10, 8, 10, 8)
-        layout.setSpacing(3)
+        layout.setSpacing(4)
         self.title_label = QLabel(title)
         self.title_label.setObjectName("MetricLabel")
         self.value_label = QLabel(value)
         self.value_label.setObjectName("MetricValue")
-        self.sub_label = QLabel(sub)
-        self.sub_label.setObjectName("Subtle")
         layout.addWidget(self.title_label)
         layout.addWidget(self.value_label)
-        layout.addWidget(self.sub_label)
 
     def set_value(self, value, sub=None):
         self.value_label.setText(value)
-        if sub is not None:
-            self.sub_label.setText(sub)
 
 
 class ImageBox(QFrame):
@@ -326,8 +334,6 @@ class GripperDemo02Viewer(QMainWindow):
         title.setObjectName("Title")
         self.status_chip = QLabel("state=--")
         self.status_chip.setObjectName("StatusChip")
-        self.action_chip = QLabel("action=--")
-        self.action_chip.setObjectName("ActionChip")
         self.start_button = AnimatedButton("启动")
         self.start_button.setObjectName("StartButton")
         self.start_button.clicked.connect(self.start_control)
@@ -350,7 +356,7 @@ class GripperDemo02Viewer(QMainWindow):
         self._set_button_state("idle")
         top.addWidget(title)
         top.addWidget(self.status_chip)
-        top.addWidget(self.action_chip, 1)
+        top.addStretch(1)
         top.addWidget(self.start_button)
         top.addWidget(self.stop_button)
         top.addWidget(self.restart_button)
@@ -359,18 +365,29 @@ class GripperDemo02Viewer(QMainWindow):
         top.addWidget(self.manual_hold_button)
         outer.addLayout(top)
 
-        main = QGridLayout()
+        main_splitter = QSplitter(Qt.Horizontal)
-        main.setSpacing(8)
+        main_splitter.setChildrenCollapsible(False)
-        outer.addLayout(main, 1)
+        outer.addWidget(main_splitter, 1)
 
+        flow_splitter = QSplitter(Qt.Vertical)
+        flow_splitter.setChildrenCollapsible(False)
         self.left_flow = ImageBox("左侧光流")
         self.right_flow = ImageBox("右侧光流")
-        main.addWidget(self.left_flow, 0, 0)
+        flow_splitter.addWidget(self.left_flow)
-        main.addWidget(self.right_flow, 1, 0)
+        flow_splitter.addWidget(self.right_flow)
+        flow_splitter.setStretchFactor(0, 1)
+        flow_splitter.setStretchFactor(1, 1)
+        flow_splitter.setSizes([360, 360])
+        main_splitter.addWidget(flow_splitter)
 
-        side = QVBoxLayout()
+        side_widget = QWidget()
+        side = QVBoxLayout(side_widget)
+        side.setContentsMargins(0, 0, 0, 0)
         side.setSpacing(8)
-        main.addLayout(side, 0, 1, 2, 1)
+        main_splitter.addWidget(side_widget)
+        main_splitter.setStretchFactor(0, 2)
+        main_splitter.setStretchFactor(1, 4)
+        main_splitter.setSizes([520, 980])
 
         metrics_grid = QGridLayout()
         metrics_grid.setSpacing(8)
@@ -407,21 +424,6 @@ class GripperDemo02Viewer(QMainWindow):
         self.plot_widget.setMinimumHeight(240)
         side.addWidget(self.plot_widget, 1)
 
-        self.info_box = QFrame()
-        self.info_box.setObjectName("Panel")
-        info_layout = QVBoxLayout(self.info_box)
-        info_layout.setContentsMargins(10, 8, 10, 8)
-        self.info_label = QLabel("等待启动")
-        self.info_label.setObjectName("SmallValue")
-        self.info_label.setWordWrap(True)
-        info_layout.addWidget(self.info_label)
-        side.addWidget(self.info_box)
-
-        main.setColumnStretch(0, 2)
-        main.setColumnStretch(1, 4)
-        main.setRowStretch(0, 1)
-        main.setRowStretch(1, 1)
-
     def _configure_plot(self):
         self.plots = []
         self.curves = {}
@@ -444,6 +446,7 @@ class GripperDemo02Viewer(QMainWindow):
             plot.showGrid(x=False, y=True, alpha=0.12)
             plot.setLabel("bottom", "时间", units="s")
             plot.setLabel("left", "力", units="N")
+            plot.getAxis("bottom").setTickSpacing(major=1.0, minor=1.0)
             plot.setYRange(y_min, y_max, padding=0)
             plot.setLimits(yMin=y_min, yMax=y_max)
             plot.enableAutoRange(axis=pg.ViewBox.YAxis, enable=False)
@@ -481,12 +484,11 @@ class GripperDemo02Viewer(QMainWindow):
 
     def send_manual_command(self, command):
         if self.controller is None or self.control_thread is None or not self.control_thread.is_alive():
-            self.info_label.setText("请先启动控制器")
             return
         try:
             self.controller.request_manual_command(command)
         except Exception as exc:
-            self.info_label.setText(f"手动命令失败：{exc}")
+            print(f"manual command failed: {exc}")
 
     def toggle_manual_hold(self):
         command = "release" if self.manual_hold_button.text() == "释放" else "hold"
@@ -499,10 +501,6 @@ class GripperDemo02Viewer(QMainWindow):
         self.start_time = time.time()
         self._set_button_state("restarting" if from_restart else "starting")
         self.controller_finished = False
-        if from_restart:
-            self.info_label.setText("重启中：正在重新连接夹爪与两个触觉传感器")
-        else:
-            self.info_label.setText("启动中：正在连接夹爪与两个触觉传感器")
 
         self.controller = build_controller(
             self.argv,
@@ -520,7 +518,6 @@ class GripperDemo02Viewer(QMainWindow):
         if self.controller is not None:
             self.controller.stop()
         self._set_button_state("stopping")
-        self.info_label.setText("停止中：正在释放相机与夹爪")
 
     def restart_control(self):
         if self.control_thread is not None and self.control_thread.is_alive():
@@ -528,7 +525,6 @@ class GripperDemo02Viewer(QMainWindow):
             self._set_button_state("restarting")
             if self.controller is not None:
                 self.controller.stop()
-            self.info_label.setText("重启中：正在停止当前控制线程")
             return
         self.restart_pending = False
         self.start_control(from_restart=True)
@@ -561,54 +557,42 @@ 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.action_chip.setText(f"action={action}")
         self.manual_hold_button.setText(
             "释放" if bool(status.get("manual_hold_active")) else "保持"
         )
 
         self.left_force.set_value(
             fmt(status.get("left_normal"), unit),
-            f"raw FPS {self._sample_fps(status, 'left_sample')}",
         )
         self.right_force.set_value(
             fmt(status.get("right_normal"), unit),
-            f"raw FPS {self._sample_fps(status, 'right_sample')}",
         )
         self.left_shear_box.set_value(
             fmt(status.get("left_shear"), shear_unit),
-            f"x={fmt(status.get('left_shear_x'), shear_unit)} y={fmt(status.get('left_shear_y'), shear_unit)}",
         )
         self.right_shear_box.set_value(
             fmt(status.get("right_shear"), shear_unit),
-            f"x={fmt(status.get('right_shear_x'), shear_unit)} y={fmt(status.get('right_shear_y'), shear_unit)}",
         )
         self.force_pct_box.set_value(
             str(status.get("force_pct", "--")),
-            f"hold_pos={status.get('hold_pos')}",
         )
         self.target_force_box.set_value(
             str(status.get("adaptive_target_force", "--")),
-            f"adaptive={int(bool(status.get('adaptive_grip_enabled')))}",
         )
         self.speed_box.set_value(
             str(status.get("speed_pct", "--")),
-            "speed_pct",
         )
         self.trigger_box.set_value(
             f"{int(bool(status.get('trigger')))} / {int(bool(status.get('trigger_armed')))}",
-            "trigger / armed",
         )
         self.contact_box.set_value(
             str(int(bool(status.get("grip_contact")))),
-            self._contact_text(status),
         )
         self.release_box.set_value(
             str(int(bool(status.get("release_armed")))),
-            "release_armed",
         )
 
         left_sample = status.get("left_sample") or {}
@@ -632,20 +616,6 @@ class GripperDemo02Viewer(QMainWindow):
             self.force_history = self.force_history[-PLOT_POINTS:]
         self._update_plot()
 
-        self.info_label.setText(
-            " | ".join(
-                [
-                    f"min={fmt(status.get('min_normal'), unit)}",
-                    f"max={fmt(status.get('max_normal'), unit)}",
-                    f"L_shear={fmt(status.get('left_shear'), shear_unit)}",
-                    f"R_shear={fmt(status.get('right_shear'), shear_unit)}",
-                    f"target={status.get('adaptive_target_force', '--')}",
-                    f"release_armed={int(bool(status.get('release_armed')))}",
-                    f"flow L/R={self._flow_text(left_sample)} / {self._flow_text(right_sample)}",
-                ]
-            )
-        )
-
     def _update_plot(self):
         if not self.force_history:
             return
@@ -662,8 +632,8 @@ class GripperDemo02Viewer(QMainWindow):
         for idx, key in enumerate(keys, start=1):
             self.curves[key].setData(x, data[:, idx])
         if len(x) >= 2:
-            x_min = max(0.0, x[-1] - 6.0)
+            x_max = max(6.0, float(np.ceil(x[-1])))
-            x_max = max(6.0, x[-1])
+            x_min = max(0.0, x_max - 6.0)
             for plot in self.plots:
                 plot.setXRange(x_min, x_max, padding=0)
 
@@ -676,29 +646,9 @@ class GripperDemo02Viewer(QMainWindow):
             self.control_thread = None
         if self.restart_pending:
             self.restart_pending = False
-            self.info_label.setText("重启中：正在重新启动")
             self.start_control(from_restart=True)
             return
         self._set_button_state("idle")
-        if self.controller is not None:
-            self.info_label.setText("已停止")
-
-    def _sample_fps(self, status, key):
-        sample = status.get(key) or {}
-        fps = sample.get("fps")
-        if fps is None:
-            return "--"
-        return f"{fps:.1f}"
-
-    def _contact_text(self, status):
-        left = status.get("left_sample") or {}
-        right = status.get("right_sample") or {}
-        return f"L={int(bool(left.get('is_contact')))} R={int(bool(right.get('is_contact')))}"
-
-    def _flow_text(self, sample):
-        if not sample:
-            return "--"
-        return f"{sample.get('flow_mean', 0.0):.2f}/{sample.get('flow_max', 0.0):.2f}"
 
     def keyPressEvent(self, event):
         if event.key() == Qt.Key_Q:

start_gripper_demo_02.bat

@@ -0,0 +1,25 @@
+@echo off
+setlocal
+
+cd /d "%~dp0"
+
+set "CONDA_ENV=py311"
+
+call conda activate "%CONDA_ENV%"
+if errorlevel 1 (
+    echo Failed to activate conda environment: %CONDA_ENV%
+    echo Please check that conda is initialized and the environment exists.
+    pause
+    exit /b 1
+)
+
+python -m gripper_control_02.visualizer %*
+set EXIT_CODE=%ERRORLEVEL%
+
+if not "%EXIT_CODE%"=="0" (
+    echo.
+    echo Gripper Demo 02 exited with code %EXIT_CODE%.
+    pause
+)
+
+exit /b %EXIT_CODE%