RobotPlatform/test-updateAIS.py at main · ICO-Fantasy/RobotPlatform · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
import os
import sys

from OCC.Core.AIS import AIS_Shape
from OCC.Core.BRepBuilderAPI import BRepBuilderAPI_MakeEdge
from OCC.Core.BRepPrimAPI import BRepPrimAPI_MakeBox
from OCC.Core.gp import gp_Pnt, gp_Trsf, gp_Vec
from OCC.Core.Message import Message_ProgressRange
from OCC.Core.RWMesh import RWMesh_CoordinateSystem_Zup
from OCC.Core.RWObj import RWObj_CafReader
from OCC.Core.XCAFApp import XCAFApp_Application
from OCC.Core.XCAFDoc import XCAFDoc_DocumentTool

# PySide6
from PySide6.QtCore import QRect, Qt, Signal, Slot
from PySide6.QtGui import QGuiApplication
from PySide6.QtWidgets import QApplication, QMainWindow, QWidget

from pyOCC import getColor, readStep, readStepWithColor
from qtViewer3d import qtViewer3dWidget

# from test04 import ReadObjWithColor


class MainWindow(QMainWindow):
    def __init__(self):
        QMainWindow.__init__(self)
        self.setWindowTitle("机器人通用平台")
        primary_screen = QGuiApplication.primaryScreen().size()
        self.setGeometry(0, 0, primary_screen.width() * 0.8, primary_screen.height() * 0.8)
        self.canvas = qtViewer3dWidget(self)
        self.setCentralWidget(self.canvas)
        self.centerOnScreen()
        # 去掉窗口标题
        # self.setWindowFlags(Qt.FramelessWindowHint)

    # end alternate constructor
    def centerOnScreen(self):
        # 获取屏幕的尺寸
        primary_screen = QGuiApplication.primaryScreen().size()
        size = self.geometry()
        x = (primary_screen.width() - size.width()) // 2
        y = 0.7 * (primary_screen.height() - size.height()) // 2
        # 移动主窗口到中心位置
        self.move(x, y)

    # end def


def read_point(file_path, gui):
    from OCC.Core.BRepBuilderAPI import BRepBuilderAPI_MakeVertex

    point_list = []
    with open(file_path, "r") as f:
        for i in f:
            x, y, z = i.split(" ")
            # print(f"x:{x},y:{y},z:{z}")
            a_pnt = gp_Pnt(float(x), float(y), float(z))
            point_list.append(a_pnt)
    # end open file
    point_list
    for pnt in point_list:
        a_point_shape = BRepBuilderAPI_MakeVertex(pnt).Shape()
        a_ais_point = AIS_Shape(a_point_shape)
        gui.canvas.viewer3d.Context.Display(a_ais_point, False)
    gui.canvas.viewer3d.Context.UpdateCurrent()


# end def
def mainGUI():
    app = QApplication().instance()
    if not app:
        app = QApplication(sys.argv)
    gui = MainWindow()
    gui.show()
    gui.canvas.InitDriver()
    gui.canvas.qApp = app

    # 设置鼠标滑过时显示选择对象
    gui.canvas.viewer3d.Context.SetAutoActivateSelection(True)
    # 设置选择时的颜色
    aHighlightStyle = gui.canvas.viewer3d.Context.HighlightStyle()
    aHighlightStyle.SetColor(getColor(0, 125, 125))
    # 开启抗锯齿
    gui.canvas.viewer3d.EnableAntiAliasing()
    # gui.canvas.viewer3d.Context.HilightWithColor()
    """test"""
    from OCC.Extend.DataExchange import read_stl_file

    stl_shape = read_stl_file("2_InputRough_new.stl")
    ais_test = AIS_Shape(stl_shape)
    # # 创建 XCAF 应用程序和文档
    # an_app = XCAFApp_Application.GetApplication().GetApplication()
    # a_doc = an_app.NewDocument("MDTV-XCAF")
    # # 创建 RWObj_CafReader
    # obj_reader = RWObj_CafReader()
    # obj_reader.SetSinglePrecision(True)
    # system_unit = obj_reader.SystemLengthUnit()
    # obj_reader.SetSystemLengthUnit(system_unit * 0.001)
    # obj_reader.SetSystemCoordinateSystem(RWMesh_CoordinateSystem_Zup)
    # obj_reader.SetFileLengthUnit(0.001)
    # obj_reader.SetFileCoordinateSystem(RWMesh_CoordinateSystem_Zup)
    # obj_reader.SetDocument(a_doc)
    # # 读取 OBJ 文件
    # filename = "path/to/your/file.obj"
    # message = Message_ProgressRange()
    # obj_reader.Perform(filename, message)
    # # 获取形状
    # root_label = a_doc.Main()
    # shapes = XCAFDoc_DocumentTool.ShapeTool(root_label)
    # ref_shape = shapes.GetShape(root_label)
    # ais_test = ReadObjWithColor("blade_mesh.obj")
    # ais_test = ReadObjWithColor("maichongchuanganqi.obj")
    # 显示 AIS_Shape
    # ais_shape = AIS_Shape(ref_shape)
    # ais_test.SetColor(getColor(255, 0, 0))  # 设置颜色为红色
    gui.canvas.viewer3d.Context.Display(ais_test, False)
    gui.canvas.viewer3d.Context.Redisplay(ais_test, True)
    # gui.canvas.viewer3d.FitAll()
    "修改 AIS 对应的 TopoDShape"
    # a_box = BRepPrimAPI_MakeBox(5, 5, 5).Shape()
    # ais_box = AIS_Shape(a_box)
    # # print("ais_box:", id(ais_box))
    # gui.canvas.viewer3d.Context.Display(ais_box, True)
    # gui.canvas.viewer3d.FitAll()
    # new_box = BRepPrimAPI_MakeBox(5, 2, 5).Shape()
    # ais_box.SetShape(new_box)
    # # gui.canvas.viewer3d.Context.Display(ais_box, True)
    # gui.canvas.viewer3d.Context.Redisplay(ais_box, True)

    # # Set shape transparency, a float number from 0.0 to 1.0
    # context.SetTransparency(aisShape, 0, True)

    # shape=
    # ais = AIS_Shape(shape)
    # ais.SetColor(color)
    # gui.canvas.viewer3d.Context.Display(ais, True)
    # gui.canvas.viewer3d.DisplayMessage("中文测试", gp_Pnt(500, 5, 5), font_height=50)
    # gui.canvas.viewer3d.DisplayMessageOnScreen("屏幕显示测试")

    # gui.canvas.viewer3d.register_select_callback(move_ais)  # 注册选择回调函数
    gui.canvas.viewer3d.FitAll()
    """test"""
    # 窗口置顶
    gui.raise_()
    app.exec()


if __name__ == "__main__":
    mainGUI()
# end main