First Stable Release: SentryBOT Robot Platform DeskGUI Module

This commit includes the PyQt5 based desktop control and monitoring interface developed for the SentryBOT robot platform. bugs expected

Author: SentryCoderDev

debug_imports.py

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+#!/usr/bin/env python3
+"""
+Debug Imports - Utility to check if all required modules are available
+"""
+
+import sys
+import os
+import importlib
+import traceback
+
+def check_imports(modules):
+    """Check if the given modules can be imported"""
+    results = {}
+    for module_name in modules:
+        try:
+            module = importlib.import_module(module_name)
+            version = getattr(module, '__version__', 'Unknown')
+            results[module_name] = {'status': 'OK', 'version': version}
+        except ImportError as e:
+            results[module_name] = {'status': 'FAIL', 'error': str(e)}
+        except Exception as e:
+            results[module_name] = {'status': 'ERROR', 'error': str(e)}
+    return results
+
+def main():
+    """Check imports for all required modules"""
+    print("Debug Imports - Checking for required modules")
+    print(f"Python version: {sys.version}")
+    print(f"Python executable: {sys.executable}")
+    print(f"Working directory: {os.getcwd()}")
+    print("-" * 60)
+    
+    required_modules = [
+        'PyQt5',
+        'cv2',
+        'numpy',
+        'face_recognition',
+        'json',
+        'pickle',
+        'requests',
+        'threading',
+        'pubsub',
+        'time',
+        'socket'
+    ]
+    
+    optional_modules = [
+        'fastapi',
+        'uvicorn',
+        'pyttsx3',
+        'speech_recognition'
+    ]
+    
+    print("Checking required modules:")
+    required_results = check_imports(required_modules)
+    for module, result in required_results.items():
+        if result['status'] == 'OK':
+            print(f"✅ {module} - {result['version']}")
+        else:
+            print(f"❌ {module} - {result['error']}")
+    
+    print("\nChecking optional modules:")
+    optional_results = check_imports(optional_modules)
+    for module, result in optional_results.items():
+        if result['status'] == 'OK':
+            print(f"✅ {module} - {result['version']}")
+        else:
+            print(f"⚠️ {module} - {result['error']}")
+    
+    # Check if we can import our own modules
+    print("\nChecking local modules:")
+    try:
+        sys.path.append(os.path.dirname(os.path.dirname(os.path.abspath(__file__))))
+        import desk_gui
+        print("✅ desk_gui module")
+    except ImportError as e:
+        print(f"❌ desk_gui module - {e}")
+        print(f"   sys.path: {sys.path}")
+    except Exception as e:
+        print(f"❌ desk_gui module - Unexpected error: {e}")
+        traceback.print_exc()
+
+if __name__ == "__main__":
+    main()
+

desk_gui.py

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+#!/usr/bin/env python3
+"""
+SentryBOT Desktop GUI
+Kullanım:
+    python desk_gui.py --robot-ip 192.168.137.52 --debug
+"""
+
+import sys
+from PyQt5.QtWidgets import QApplication
+from modules.gui.desk_gui_app import DeskGUI
+import multiprocessing
+import traceback
+
+def launch_gui(**kwargs):
+    """
+    SentryBOT GUI uygulamasını başlat
+    
+    Args:
+        **kwargs: DeskGUI sınıfına geçirilecek parametreler
+            robot_ip: Robot IP adresi
+            video_port: Video portu
+            command_port: Komut portu
+            ollama_url: Ollama API URL
+            ollama_model: Kullanılacak model
+            encodings_file: Yüz tanıma modeli dosyası
+            bluetooth_server: Bluetooth ses sunucusu
+            debug: Debug modu
+    """
+    try:
+        # On Windows, ensure that the multiprocessing functionality works
+        if sys.platform.startswith('win'):
+            multiprocessing.freeze_support()
+        
+        app = QApplication(sys.argv)
+        app.setStyle('Fusion')
+        
+        # Create and show the GUI
+        window = DeskGUI(**kwargs)
+        window.show()
+        
+        # Start the application event loop
+        sys.exit(app.exec_())
+    except Exception as e:
+        print(f"GUI başlatılırken hata oluştu: {e}")
+        traceback.print_exc()
+        sys.exit(1)
+
+if __name__ == "__main__":
+    import argparse
+    
+    parser = argparse.ArgumentParser(description='SentryBOT Masaüstü GUI')
+    parser.add_argument('--robot-ip', default='192.168.137.52', help='Robot IP adresi')
+    parser.add_argument('--video-port', type=int, default=8000, help='Video portu')
+    parser.add_argument('--command-port', type=int, default=8090, help='Komut portu')
+    parser.add_argument('--gui-listen-port', type=int, default=8091, help='GUI dinleme portu')
+    parser.add_argument('--ollama-url', default='http://localhost:11434/api', help='Ollama API URL')
+    parser.add_argument('--ollama-model', default='gemma2:2b', help='Kullanılacak model')
+    parser.add_argument('--encodings-file', default='encodings.pickle', help='Yüz tanıma modeli dosyası')
+    parser.add_argument('--bluetooth-server', default='192.168.1.100', help='Bluetooth ses sunucusu')
+    parser.add_argument('--debug', action='store_true', help='Debug modunu aktif et')
+    
+    args = parser.parse_args()
+    
+    config = vars(args)
+    launch_gui(**config)

encodings.pickle

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+import cv2
+from cvzone.HandTrackingModule import HandDetector
+import json # JSON kütüphanesini içe aktar
+
+# JSON haritasını yükle
+map_file_path = r'c:\Users\emirh\OneDrive\Masaüstü\hand_combinations_map.json' # Ham dize olarak tanımla
+try:
+    with open(map_file_path, 'r') as f:
+        hand_map = json.load(f)
+except FileNotFoundError:
+    print(f"Hata: Harita dosyası bulunamadı: {map_file_path}")
+    exit()
+except json.JSONDecodeError:
+    print(f"Hata: Harita dosyası geçerli bir JSON değil: {map_file_path}")
+    exit()
+
+cap = cv2.VideoCapture(0)
+
+# İki eli algılamak için maxHands=2 olarak ayarlandı
+detector = HandDetector(detectionCon=0.8, maxHands=2)
+
+fingerTip = [4, 8, 12, 16, 20]
+last_published_message = None # Son yayınlanan mesajı takip etmek için
+
+# 10 parmak için renkler (El 1: 0-4, El 2: 5-9)
+red = (0, 0, 255)
+yellow = (0, 255, 255)
+blue = (255, 0, 0)
+green = (0, 255, 0)
+purple = (255, 0, 255)
+orange = (0, 165, 255)
+pink = (203, 192, 255)
+cyan = (255, 255, 0)
+white = (255, 255, 255)
+lime = (0, 255, 127)
+
+colors = [red, yellow, blue, green, purple, # El 1 renkleri
+          orange, pink, cyan, white, lime] # El 2 renkleri
+
+while cap.isOpened():
+    success, img = cap.read()
+    if not success:
+        print("Kamera okunamadı.")
+        break
+        
+    # Elleri bul (en fazla 2 el)
+    hands, img = detector.findHands(img)
+    
+    currentHandsData = [""] * 2 # Bu frame'deki el verilerini tutmak için
+    currentHandTypes = [""] * 2 # Bu frame'deki el tiplerini tutmak için
+    num_hands = len(hands)
+
+    # Algılanan her el için döngü
+    for hand_idx, hand in enumerate(hands):
+        lmList = hand['lmList']
+        handType = hand['type']
+        currentHandTypes[hand_idx] = handType # El tipini sakla
+        
+        # Mevcut el için parmak değerlerini hesapla
+        current_fingerVal = [0] * 5
+
+        # Başparmak (Thumb)
+        if handType == "Right":
+            if lmList[fingerTip[0]][0] > lmList[fingerTip[0] - 1][0]:
+                current_fingerVal[0] = 1
+            else:
+                current_fingerVal[0] = 0
+        else: # Left hand
+            if lmList[fingerTip[0]][0] < lmList[fingerTip[0] - 1][0]:
+                current_fingerVal[0] = 1
+            else:
+                current_fingerVal[0] = 0
+
+        # Diğer 4 parmak
+        for i in range(1, 5):
+            if lmList[fingerTip[i]][1] < lmList[fingerTip[i] - 2][1]:
+                current_fingerVal[i] = 1
+            else:
+                current_fingerVal[i] = 0
+
+        # İşaretleri çiz (her parmak için ayrı renk)
+        for i in range(5):
+            if current_fingerVal[i] == 1:
+                # El indeksine göre renk seçimi (hand_idx * 5 + i)
+                color_index = hand_idx * 5 + i
+                cv2.circle(img, (lmList[fingerTip[i]][0], lmList[fingerTip[i]][1]), 15,
+                           colors[color_index], cv2.FILLED)
+
+        # Mevcut elin parmak durumunu string'e çevir
+        strVal = ''.join(map(str, current_fingerVal))
+        currentHandsData[hand_idx] = strVal # Mevcut frame verisine ekle
+
+    # --- El işleme döngüsü bitti, şimdi haritalama ve yayınlama ---
+    
+    message_to_publish = None
+
+    if num_hands == 1:
+        hand_type = currentHandTypes[0]
+        str_val = currentHandsData[0]
+        message_to_publish = hand_map.get(hand_type, {}).get(str_val)
+    elif num_hands == 2:
+        hand0_type = currentHandTypes[0]
+        hand0_str = currentHandsData[0]
+        hand1_type = currentHandTypes[1]
+        hand1_str = currentHandsData[1]
+
+        # Sol ve sağ eli belirle
+        left_str = None
+        right_str = None
+        if hand0_type == 'Left' and hand1_type == 'Right':
+            left_str = hand0_str
+            right_str = hand1_str
+        elif hand0_type == 'Right' and hand1_type == 'Left':
+            left_str = hand1_str
+            right_str = hand0_str
+
+        if left_str is not None and right_str is not None:
+            if left_str == right_str:
+                lookup_key = f"{left_str}_{left_str}"
+                message_to_publish = hand_map.get("Same", {}).get(lookup_key)
+            else:
+                lookup_key = f"{left_str}_{right_str}"
+                message_to_publish = hand_map.get("Combined", {}).get(lookup_key)
+
+    # Yayınlama Mantığı
+    if message_to_publish is not None:
+        if message_to_publish != last_published_message:
+            print(f"Durum: {message_to_publish}")
+            last_published_message = message_to_publish
+    elif num_hands == 0: # Eller kaybolduysa
+        if last_published_message is not None:
+             print("Durum: El algılanmadı")
+             last_published_message = None # Son mesajı sıfırla
+
+    cv2.imshow("Image", img)
+    key = cv2.waitKey(1)
+    if key == ord('q'):
+        break
+
+cap.release()
+cv2.destroyAllWindows()

finger/finger.py

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+{
+    "Right": {
+      "00000": "reset",
+      "01000": "move_up",
+      "00100": "move_down",
+      "00010": "move_left",
+      "00001": "move_right",
+      "01111": "wave_hand"
+    },
+    "Left": {
+      "00000": "reset",
+      "01000": "move_right",
+      "00100": "move_left",
+      "00010": "move_down",
+      "00001": "move_up",
+      "01111": "wave_hand"
+    },
+    "Combined": {
+      "01000_01000": "rainbow",
+      "00100_00100": "fire",
+      "01111_01111": "alert_red"
+    },
+    "Same": {
+      "01000_01000": "gradient",
+      "00100_00100": "wave" 
+    }
+  }