126 lines
4.8 KiB
Python
126 lines
4.8 KiB
Python
#!/usr/bin/env python3
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# *- coding: utf-8 --
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import sys
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import numpy as np
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import rospy
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from std_msgs.msg import Float32 # 假设电压数据是 Float32 类型
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from PyQt5.QtWidgets import QApplication, QWidget, QVBoxLayout
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from PyQt5.QtGui import QPainter, QColor, QBrush, QFont
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from PyQt5.QtCore import Qt, QTimer
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# 已知总电压与电量百分比（SoC）的对应关系
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total_voltages = [25.2, 24.6, 24.0, 23.4, 22.8, 22.2, 21.6, 21.0, 20.4, 19.8, 18.0]
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socs = [100, 90, 80, 70, 60, 50, 40, 30, 20, 10, 0]
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def get_soc_from_total_voltage(total_voltage):
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# 使用线性插值计算电量百分比（SoC）
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soc = np.interp(total_voltage, total_voltages[::-1], socs[::-1])
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return max(0, min(100, soc)) # 确保 SoC 在 0% 到 100% 之间
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class BatteryWidget(QWidget):
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def __init__(self, total_voltage=24.4):
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super().__init__()
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self.total_voltage = total_voltage
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self.soc = get_soc_from_total_voltage(self.total_voltage)
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def paintEvent(self, event):
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# 自定义绘制电池图标和百分比文字
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painter = QPainter(self)
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painter.setRenderHint(QPainter.Antialiasing) # 开启抗锯齿
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# 绘制电池轮廓（小尺寸以适应固定窗口）
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width, height = 80, 40 # 电池图标的宽度和高度
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x, y = (self.width() - width) // 2, 20 # 图标垂直居中
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painter.setPen(Qt.black) # 设置边框颜色为黑色
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painter.setBrush(QColor(200, 200, 200)) # 设置背景颜色为灰色
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painter.drawRoundedRect(x, y, width, height, 3, 3) # 绘制圆角矩形
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# 绘制电池正极（小尺寸终端）
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painter.setBrush(QColor(0, 0, 0)) # 设置正极颜色为黑色
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painter.drawRect(x + width, y + height // 4, width // 10, height // 2)
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# 根据电量百分比填充电池
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fill_height = int(height * 0.8) # 留出上下边距
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fill_width = int((width - 4) * (self.soc / 100)) # 根据 SoC 缩放填充宽度
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fill_color = self.get_battery_color(self.soc) # 获取电量对应的颜色
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painter.setBrush(QBrush(fill_color))
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painter.drawRect(x + 2, y + (height - fill_height) // 2, fill_width, fill_height)
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# 绘制百分比文字在电池图标下方
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font = QFont("Arial", 12) # 设置字体大小
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painter.setFont(font)
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text = f"{self.soc:.1f}%" # 百分比格式化为一位小数
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text_width = painter.fontMetrics().width(text) # 获取文字宽度
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text_height = painter.fontMetrics().height() # 获取文字高度
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painter.setPen(Qt.black) # 设置文字颜色为黑色
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painter.drawText(
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(self.width() - text_width) // 2, # 水平居中
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y + height + text_height + 5, # 放置在电池图标下方
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text
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)
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def get_battery_color(self, soc):
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# 根据电量百分比设置电池颜色
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if soc > 80:
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return QColor(0, 255, 0) # 绿色
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elif soc > 50:
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return QColor(255, 255, 0) # 黄色
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elif soc > 20:
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return QColor(255, 165, 0) # 橙色
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else:
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return QColor(255, 0, 0) # 红色
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def update_voltage(self, total_voltage):
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# 更新电池电压并重新绘制
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self.total_voltage = total_voltage
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self.soc = get_soc_from_total_voltage(self.total_voltage)
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self.update() # 触发重新绘制
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class MainWindow(QWidget):
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def __init__(self):
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super().__init__()
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# 初始化默认电压
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self.battery_voltage = 24.4 # 默认初始电压
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self.init_ui()
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self.init_ros()
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def init_ui(self):
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self.setWindowTitle("电池状态") # 设置窗口标题
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self.setFixedSize(300, 120) # 设置固定窗口大小
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# 创建电池组件
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self.battery_widget = BatteryWidget(total_voltage=self.battery_voltage) # 初始电压
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layout = QVBoxLayout()
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layout.addWidget(self.battery_widget)
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self.setLayout(layout)
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def init_ros(self):
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# 初始化 ROS 节点
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rospy.init_node("battery_status_gui", anonymous=True)
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rospy.Subscriber("/PowerVoltage", Float32, self.voltage_callback)
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self.timer = QTimer(self)
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self.timer.timeout.connect(self.ros_spin_once)
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self.timer.start(100) # 每 100ms 调用一次 ROS spin
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def voltage_callback(self, msg):
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# 订阅到电压数据时更新电池电压
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self.battery_voltage = msg.data
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self.battery_widget.update_voltage(self.battery_voltage)
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def ros_spin_once(self):
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# 手动调用 ROS spinOnce
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rospy.sleep(0.1)
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if __name__ == "__main__":
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app = QApplication(sys.argv)
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window = MainWindow()
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window.show()
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# 运行 PyQt 主循环
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try:
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sys.exit(app.exec_())
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except rospy.ROSInterruptException:
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pass
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