├── README.md ├── build-process_and_control-unknown-Release ├── Makefile ├── control.o ├── copydll ├── libGLESv2.so.2 ├── libQt5Core.so.5 ├── libQt5Gui.so.5 ├── libQt5Widgets.so.5 ├── libX11.so.6 ├── libXau.so.6 ├── libXdmcp.so.6 ├── libavcodec-ffmpeg.so.56 ├── libavcodec.so.57 ├── libavformat.so.57 ├── libavutil-ffmpeg.so.54 ├── libavutil.so.55 ├── libbcm_host.so ├── libbluray.so.1 ├── libbz2.so.1.0 ├── libc.so.6 ├── libchromaprint.so.0 ├── libcom_err.so.2 ├── libdc1394.so.22 ├── libdl.so.2 ├── libexpat.so.1 ├── libffi.so.6 ├── libfontconfig.so.1 ├── libfreetype.so.6 ├── libgcc_s.so.1 ├── libgcrypt.so.20 ├── libglapi.so.0 ├── libglib-2.0.so.0 ├── libgme.so.0 ├── libgmp.so.10 ├── libgnutls.so.30 ├── libgobject-2.0.so.0 ├── libgomp.so.1 ├── libgpg-error.so.0 ├── libgraphite2.so.3 ├── libgsm.so.1 ├── libgssapi_krb5.so.2 ├── libharfbuzz.so.0 ├── libhogweed.so.4 ├── libicudata.so.55 ├── libicui18n.so.55 ├── libicuuc.so.55 ├── libidn.so.11 ├── libjasper.so.1 ├── libjpeg.so.8 ├── libk5crypto.so.3 ├── libkeyutils.so.1 ├── libkrb5.so.3 ├── libkrb5support.so.0 ├── liblzma.so.5 ├── libm.so.6 ├── libmmal_core.so ├── libmmal_util.so ├── libmmal_vc_client.so ├── libmodplug.so.1 ├── libmp3lame.so.0 ├── libnettle.so.6 ├── libogg.so.0 ├── libopencv_core.so.3.1 ├── libopencv_imgcodecs.so.3.1 ├── libopencv_imgproc.so.3.1 ├── libopencv_videoio.so.3.1 ├── libopenjp2.so.7 ├── libopenjpeg.so.5 ├── libopus.so.0 ├── liborc-0.4.so.0 ├── libp11-kit.so.0 ├── libpcre.so.3 ├── libpcre16.so.3 ├── libpng12.so.0 ├── libpthread.so.0 ├── libraw1394.so.11 ├── libresolv.so.2 ├── librt.so.1 ├── libschroedinger-1.0.so.0 ├── libshine.so.3 ├── libsnappy.so.1 ├── libsoxr.so.0 ├── libspeex.so.1 ├── libssh-gcrypt.so.4 ├── libstdc++.so.6 ├── libswresample-ffmpeg.so.1 ├── libswresample.so.2 ├── libswscale.so.4 ├── libtasn1.so.6 ├── libtheoradec.so.1 ├── libtheoraenc.so.1 ├── libtwolame.so.0 ├── libudev.so.1 ├── libusb-1.0.so.0 ├── libva.so.1 ├── libvchiq_arm.so ├── libvcos.so ├── libvcsm.so ├── libvorbis.so.0 ├── libvorbisenc.so.2 ├── libvpx.so.3 ├── libwavpack.so.1 ├── libwebp.so.5 ├── libx264.so.148 ├── libx265.so.79 ├── libxcb.so.1 ├── libxml2.so.2 ├── libxvidcore.so.4 ├── libz.so.1 ├── libzvbi.so.0 ├── main.o ├── mainwindow.o ├── moc_control.cpp ├── moc_control.o ├── moc_mainwindow.cpp ├── moc_mainwindow.o ├── moc_movepicture.cpp ├── moc_movepicture.o ├── movepicture.o ├── process_and_control ├── process_and_control.sh ├── qrc_res.cpp ├── qrc_res.o ├── ui_mainwindow.h └── 可疑图.png ├── process_and_control ├── control.cpp ├── control.h ├── image │ ├── bump.jpg │ ├── bump.png │ ├── down.jpg │ ├── left.jpg │ ├── play.jpg │ ├── right.jpg │ └── up.jpg ├── main.cpp ├── mainwindow.cpp ├── mainwindow.h ├── mainwindow.ui ├── move-picture.cpp.autosave ├── move_picture.cpp ├── move_picture.h ├── movepicture.cpp ├── movepicture.h ├── process_and_control.pro ├── process_and_control.pro.user ├── process_and_control.pro.user.2e663bb ├── process_and_control.pro.user.71f0cca ├── res.qrc └── res.qrc.autosave └── pythonDemo ├── README.md ├── back.py ├── cleanup.2.py ├── down.py ├── go.py ├── kill_pid_all.py ├── kill_pid_one.py ├── kill_pid_one_sleep.py ├── light.py ├── moveIcan_multi.py ├── turn-left.py ├── turn-right.py └── up.py /README.md: -------------------------------------------------------------------------------- 1 | # Underwater-robot- 2 | 水下机器人小组作品 3 | 4 | 版本1.0简介 5 | 6 | 一、作品简介 7 | 水下机器人由三部分组成：水下部分、水面部分和地上部分。水下部分是一个由水下探测器、及配重组成的水下探测系统，负责实时监控水下桥墩状况。水面部分是一个微型船只，与水下部分相连，接受水下部分传递的数据，并且给水下部分供电，水面部分还搭载有树莓派，在接受图像数据后，利用树莓派进行图像处理。识别出裂缝后，将裂缝照片及坐标以无线信号的形式输出。地上部分是一个指挥中心，可以人工遥控微型船只和水下探测器移动到制定的待检测区域，并过滤水下探测器的错误结果。 8 | 9 | 10 | 二、系统架构与原理 11 | 1. 系统架构 12 | 系统架构图./sys_design.png 13 | 14 | 15 | 2. 原理描述 16 | 水上部分由微型船体外壳、电源、动力系统、水下探测器收发装置、树莓派、控制电路，其中： 17 | 动力系统包括电动机和螺旋桨，用于前进及控制方向；水下探测器收发装置用于水下设备投放和位置控制；由水下设备采集的视频图像信息输入树莓派，经分析处理后输出裂缝图片和裂缝所处位置；控制电路用于控制无人船体和水下探测器收发装置； 18 | 无人船体由电源提供电能，操作人员通过控制电路远程控制动力系统，进而控制微型船体外壳的位置以及前进方向。当到达指定位置后，通过控制水下探测器收发装置对水下设备进行投放并控制水下设备的位置。当水下设备采集到桥墩裂缝的图像、视频信息后，通过水下探测器收发装置传输至微型船体外壳内部搭载的树莓派进行分析处理。通过wi-fi信号将识别到的裂缝图片及船体位置传递给其他地面辅助设备，达到水面人员的迅速定位裂缝位置，精准识别裂缝情况的效果。 19 | 20 | 21 | 水下部分由水下探测器、水下探测器收发装置以及配重组成，水下探测系统的主体是水下探测器，可回传视频，与无人船体上的树莓派结合进行图像处理以识别桥梁裂缝。水下探测器收发装置用于控制水下探测器的位置以及提供电能。配重用于控制水下探测器的潜入深度。 22 | 水下探测器的外表为圆柱形透明外壳，其作用为保证设备的密封性。圆柱形透明外壳内部中有摄像头和照明设备，可获取水下实时图像。水下探测器的动力系统包括电动机和螺旋桨，可以控制探测器的运动。当微型船体外壳到达指定位置时，水下探测器下潜。到达指定深度时，水下探测器依靠微型船只拖动在水中移动，水下探测器底物有两个电机，可通过两个电机的转动配合来微调水下摄像机的拍摄角度。水上无人船通过有线方式接收图像，利用树莓派进行图像处理，筛选识别后将有裂缝的图片及裂缝坐标以无线信号的方式传递给其他地上辅助设备。 23 | 24 | 25 | 地上部分包括控制台和监视器，工作人员可以通过控制台控制水上部分及水下部分；监视器实时显示识别到的裂缝照片及裂缝位置，工作人员可以通过监视器监测识别结果。 26 | 27 | 图像处理部分采用OpenCV 图像处理库。OpenCV是一个开源跨平台的计算机视觉库，可用于开发实时的图像处理、计算机视觉以及模式识别程序，具有使用方便、运行速度快等特点。探测器传回的图像和视频由树莓派处理，并实时标记坐标，将处理后的图像传回地上部分。 28 | -------------------------------------------------------------------------------- /build-process_and_control-unknown-Release/Makefile: -------------------------------------------------------------------------------- 1 | ############################################################################# 2 | # Makefile for building: process_and_control 3 | # Generated by qmake (3.0) (Qt 5.5.1) 4 | # Project: ../process_and_control/process_and_control.pro 5 | # Template: app 6 | # Command: /usr/lib/arm-linux-gnueabihf/qt5/bin/qmake -spec linux-g++ -o Makefile ../process_and_control/process_and_control.pro 7 | ############################################################################# 8 | 9 | MAKEFILE = Makefile 10 | 11 | ####### Compiler, tools and options 12 | 13 | CC = gcc 14 | CXX = g++ 15 | DEFINES = -DQT_NO_DEBUG -DQT_WIDGETS_LIB -DQT_GUI_LIB -DQT_CORE_LIB 16 | CFLAGS = -pipe -O2 -Wall -W -D_REENTRANT -fPIC $(DEFINES) 17 | CXXFLAGS = -pipe -O2 -Wall -W -D_REENTRANT -fPIC $(DEFINES) 18 | INCPATH = -I../process_and_control -I. -isystem /usr/local/include -isystem /usr/local/include/opencv -isystem /usr/local/include/opencv2 -isystem /usr/include/arm-linux-gnueabihf/qt5 -isystem /usr/include/arm-linux-gnueabihf/qt5/QtWidgets -isystem /usr/include/arm-linux-gnueabihf/qt5/QtGui -isystem /usr/include/arm-linux-gnueabihf/qt5/QtCore -I. -I. -I/usr/lib/arm-linux-gnueabihf/qt5/mkspecs/linux-g++ 19 | QMAKE = /usr/lib/arm-linux-gnueabihf/qt5/bin/qmake 20 | DEL_FILE = rm -f 21 | CHK_DIR_EXISTS= test -d 22 | MKDIR = mkdir -p 23 | COPY = cp -f 24 | COPY_FILE = cp -f 25 | COPY_DIR = cp -f -R 26 | INSTALL_FILE = install -m 644 -p 27 | INSTALL_PROGRAM = install -m 755 -p 28 | INSTALL_DIR = cp -f -R 29 | DEL_FILE = rm -f 30 | SYMLINK = ln -f -s 31 | DEL_DIR = rmdir 32 | MOVE = mv -f 33 | TAR = tar -cf 34 | COMPRESS = gzip -9f 35 | DISTNAME = process_and_control1.0.0 36 | DISTDIR = /home/tony/build-process_and_control-unknown-Release/.tmp/process_and_control1.0.0 37 | LINK = g++ 38 | LFLAGS = -Wl,-O1 39 | LIBS = $(SUBLIBS) /usr/local/lib/libopencv_highgui.so /usr/local/lib/libopencv_core.so /usr/local/lib/libopencv_imgproc.so /usr/local/lib/libopencv_imgcodecs.so /usr/local/lib/libopencv_videoio.so /usr/local/lib/libopencv_video.so /usr/local/lib/libopencv_videostab.so /usr/local/lib/libopencv_calib3d.so /usr/local/lib/libopencv_features2d.so /usr/local/lib/libopencv_flann.so /usr/local/lib/libopencv_ml.so /usr/local/lib/libopencv_objdetect.so /usr/local/lib/libopencv_photo.so /usr/local/lib/libopencv_shape.so /usr/local/lib/libopencv_stitching.so /usr/local/lib/libopencv_superres.so -lQt5Widgets -lQt5Gui -lQt5Core -lGLESv2 -lpthread 40 | AR = ar cqs 41 | RANLIB = 42 | SED = sed 43 | STRIP = strip 44 | 45 | ####### Output directory 46 | 47 | OBJECTS_DIR = ./ 48 | 49 | ####### Files 50 | 51 | SOURCES = ../process_and_control/main.cpp \ 52 | ../process_and_control/mainwindow.cpp \ 53 | ../process_and_control/control.cpp \ 54 | ../process_and_control/movepicture.cpp qrc_res.cpp \ 55 | moc_mainwindow.cpp \ 56 | moc_control.cpp \ 57 | moc_movepicture.cpp 58 | OBJECTS = main.o \ 59 | mainwindow.o \ 60 | control.o \ 61 | movepicture.o \ 62 | qrc_res.o \ 63 | moc_mainwindow.o \ 64 | moc_control.o \ 65 | moc_movepicture.o 66 | DIST = /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/features/spec_pre.prf \ 67 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/common/unix.conf \ 68 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/common/linux.conf \ 69 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/common/sanitize.conf \ 70 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/common/gcc-base.conf \ 71 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/common/gcc-base-unix.conf \ 72 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/common/g++-base.conf \ 73 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/common/g++-unix.conf \ 74 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/qconfig.pri \ 75 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/modules/qt_lib_bootstrap_private.pri \ 76 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/modules/qt_lib_concurrent.pri \ 77 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/modules/qt_lib_concurrent_private.pri \ 78 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/modules/qt_lib_core.pri \ 79 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/modules/qt_lib_core_private.pri \ 80 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/modules/qt_lib_dbus.pri \ 81 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/modules/qt_lib_dbus_private.pri \ 82 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/modules/qt_lib_eglfs_device_lib_private.pri \ 83 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/modules/qt_lib_gui.pri \ 84 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/modules/qt_lib_gui_private.pri \ 85 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/modules/qt_lib_network.pri \ 86 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/modules/qt_lib_network_private.pri \ 87 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/modules/qt_lib_opengl.pri \ 88 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/modules/qt_lib_opengl_private.pri \ 89 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/modules/qt_lib_openglextensions.pri \ 90 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/modules/qt_lib_openglextensions_private.pri \ 91 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/modules/qt_lib_platformsupport_private.pri \ 92 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/modules/qt_lib_printsupport.pri \ 93 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/modules/qt_lib_printsupport_private.pri \ 94 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/modules/qt_lib_sql.pri \ 95 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/modules/qt_lib_sql_private.pri \ 96 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/modules/qt_lib_testlib.pri \ 97 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/modules/qt_lib_testlib_private.pri \ 98 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/modules/qt_lib_widgets.pri \ 99 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/modules/qt_lib_widgets_private.pri \ 100 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/modules/qt_lib_xcb_qpa_lib_private.pri \ 101 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/modules/qt_lib_xml.pri \ 102 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/modules/qt_lib_xml_private.pri \ 103 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/features/qt_functions.prf \ 104 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/features/qt_config.prf \ 105 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/linux-g++/qmake.conf \ 106 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/features/spec_post.prf \ 107 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/features/exclusive_builds.prf \ 108 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/features/default_pre.prf \ 109 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/features/resolve_config.prf \ 110 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/features/default_post.prf \ 111 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/features/warn_on.prf \ 112 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/features/qt.prf \ 113 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/features/resources.prf \ 114 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/features/moc.prf \ 115 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/features/unix/opengl.prf \ 116 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/features/uic.prf \ 117 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/features/unix/thread.prf \ 118 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/features/testcase_targets.prf \ 119 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/features/exceptions.prf \ 120 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/features/yacc.prf \ 121 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/features/lex.prf \ 122 | ../process_and_control/process_and_control.pro ../process_and_control/mainwindow.h \ 123 | ../process_and_control/control.h \ 124 | ../process_and_control/movepicture.h ../process_and_control/main.cpp \ 125 | ../process_and_control/mainwindow.cpp \ 126 | ../process_and_control/control.cpp \ 127 | ../process_and_control/movepicture.cpp 128 | QMAKE_TARGET = process_and_control 129 | DESTDIR = #avoid trailing-slash linebreak 130 | TARGET = process_and_control 131 | 132 | 133 | first: all 134 | ####### Implicit rules 135 | 136 | .SUFFIXES: .o .c .cpp .cc .cxx .C 137 | 138 | .cpp.o: 139 | $(CXX) -c $(CXXFLAGS) $(INCPATH) -o "$@" "$<" 140 | 141 | .cc.o: 142 | $(CXX) -c $(CXXFLAGS) $(INCPATH) -o "$@" "$<" 143 | 144 | .cxx.o: 145 | $(CXX) -c $(CXXFLAGS) $(INCPATH) -o "$@" "$<" 146 | 147 | .C.o: 148 | $(CXX) -c $(CXXFLAGS) $(INCPATH) -o "$@" "$<" 149 | 150 | .c.o: 151 | $(CC) -c $(CFLAGS) $(INCPATH) -o "$@" "$<" 152 | 153 | ####### Build rules 154 | 155 | $(TARGET): ui_mainwindow.h $(OBJECTS) 156 | $(LINK) $(LFLAGS) -o $(TARGET) $(OBJECTS) $(OBJCOMP) $(LIBS) 157 | 158 | Makefile: ../process_and_control/process_and_control.pro /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/linux-g++/qmake.conf /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/features/spec_pre.prf \ 159 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/common/unix.conf \ 160 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/common/linux.conf \ 161 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/common/sanitize.conf \ 162 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/common/gcc-base.conf \ 163 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/common/gcc-base-unix.conf \ 164 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/common/g++-base.conf \ 165 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/common/g++-unix.conf \ 166 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/qconfig.pri \ 167 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/modules/qt_lib_bootstrap_private.pri \ 168 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/modules/qt_lib_concurrent.pri \ 169 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/modules/qt_lib_concurrent_private.pri \ 170 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/modules/qt_lib_core.pri \ 171 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/modules/qt_lib_core_private.pri \ 172 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/modules/qt_lib_dbus.pri \ 173 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/modules/qt_lib_dbus_private.pri \ 174 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/modules/qt_lib_eglfs_device_lib_private.pri \ 175 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/modules/qt_lib_gui.pri \ 176 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/modules/qt_lib_gui_private.pri \ 177 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/modules/qt_lib_network.pri \ 178 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/modules/qt_lib_network_private.pri \ 179 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/modules/qt_lib_opengl.pri \ 180 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/modules/qt_lib_opengl_private.pri \ 181 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/modules/qt_lib_openglextensions.pri \ 182 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/modules/qt_lib_openglextensions_private.pri \ 183 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/modules/qt_lib_platformsupport_private.pri \ 184 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/modules/qt_lib_printsupport.pri \ 185 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/modules/qt_lib_printsupport_private.pri \ 186 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/modules/qt_lib_sql.pri \ 187 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/modules/qt_lib_sql_private.pri \ 188 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/modules/qt_lib_testlib.pri \ 189 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/modules/qt_lib_testlib_private.pri \ 190 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/modules/qt_lib_widgets.pri \ 191 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/modules/qt_lib_widgets_private.pri \ 192 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/modules/qt_lib_xcb_qpa_lib_private.pri \ 193 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/modules/qt_lib_xml.pri \ 194 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/modules/qt_lib_xml_private.pri \ 195 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/features/qt_functions.prf \ 196 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/features/qt_config.prf \ 197 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/linux-g++/qmake.conf \ 198 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/features/spec_post.prf \ 199 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/features/exclusive_builds.prf \ 200 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/features/default_pre.prf \ 201 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/features/resolve_config.prf \ 202 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/features/default_post.prf \ 203 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/features/warn_on.prf \ 204 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/features/qt.prf \ 205 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/features/resources.prf \ 206 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/features/moc.prf \ 207 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/features/unix/opengl.prf \ 208 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/features/uic.prf \ 209 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/features/unix/thread.prf \ 210 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/features/testcase_targets.prf \ 211 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/features/exceptions.prf \ 212 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/features/yacc.prf \ 213 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/features/lex.prf \ 214 | ../process_and_control/process_and_control.pro \ 215 | ../process_and_control/res.qrc \ 216 | /usr/lib/arm-linux-gnueabihf/libQt5Widgets.prl \ 217 | /usr/lib/arm-linux-gnueabihf/libQt5Gui.prl \ 218 | /usr/lib/arm-linux-gnueabihf/libQt5Core.prl 219 | $(QMAKE) -spec linux-g++ -o Makefile ../process_and_control/process_and_control.pro 220 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/features/spec_pre.prf: 221 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/common/unix.conf: 222 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/common/linux.conf: 223 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/common/sanitize.conf: 224 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/common/gcc-base.conf: 225 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/common/gcc-base-unix.conf: 226 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/common/g++-base.conf: 227 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/common/g++-unix.conf: 228 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/qconfig.pri: 229 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/modules/qt_lib_bootstrap_private.pri: 230 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/modules/qt_lib_concurrent.pri: 231 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/modules/qt_lib_concurrent_private.pri: 232 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/modules/qt_lib_core.pri: 233 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/modules/qt_lib_core_private.pri: 234 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/modules/qt_lib_dbus.pri: 235 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/modules/qt_lib_dbus_private.pri: 236 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/modules/qt_lib_eglfs_device_lib_private.pri: 237 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/modules/qt_lib_gui.pri: 238 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/modules/qt_lib_gui_private.pri: 239 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/modules/qt_lib_network.pri: 240 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/modules/qt_lib_network_private.pri: 241 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/modules/qt_lib_opengl.pri: 242 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/modules/qt_lib_opengl_private.pri: 243 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/modules/qt_lib_openglextensions.pri: 244 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/modules/qt_lib_openglextensions_private.pri: 245 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/modules/qt_lib_platformsupport_private.pri: 246 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/modules/qt_lib_printsupport.pri: 247 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/modules/qt_lib_printsupport_private.pri: 248 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/modules/qt_lib_sql.pri: 249 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/modules/qt_lib_sql_private.pri: 250 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/modules/qt_lib_testlib.pri: 251 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/modules/qt_lib_testlib_private.pri: 252 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/modules/qt_lib_widgets.pri: 253 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/modules/qt_lib_widgets_private.pri: 254 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/modules/qt_lib_xcb_qpa_lib_private.pri: 255 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/modules/qt_lib_xml.pri: 256 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/modules/qt_lib_xml_private.pri: 257 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/features/qt_functions.prf: 258 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/features/qt_config.prf: 259 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/linux-g++/qmake.conf: 260 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/features/spec_post.prf: 261 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/features/exclusive_builds.prf: 262 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/features/default_pre.prf: 263 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/features/resolve_config.prf: 264 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/features/default_post.prf: 265 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/features/warn_on.prf: 266 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/features/qt.prf: 267 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/features/resources.prf: 268 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/features/moc.prf: 269 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/features/unix/opengl.prf: 270 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/features/uic.prf: 271 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/features/unix/thread.prf: 272 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/features/testcase_targets.prf: 273 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/features/exceptions.prf: 274 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/features/yacc.prf: 275 | /usr/lib/arm-linux-gnueabihf/qt5/mkspecs/features/lex.prf: 276 | ../process_and_control/process_and_control.pro: 277 | ../process_and_control/res.qrc: 278 | /usr/lib/arm-linux-gnueabihf/libQt5Widgets.prl: 279 | /usr/lib/arm-linux-gnueabihf/libQt5Gui.prl: 280 | /usr/lib/arm-linux-gnueabihf/libQt5Core.prl: 281 | qmake: FORCE 282 | @$(QMAKE) -spec linux-g++ -o Makefile ../process_and_control/process_and_control.pro 283 | 284 | qmake_all: FORCE 285 | 286 | 287 | all: Makefile $(TARGET) 288 | 289 | dist: distdir FORCE 290 | (cd `dirname $(DISTDIR)` && $(TAR) $(DISTNAME).tar $(DISTNAME) && $(COMPRESS) $(DISTNAME).tar) && $(MOVE) `dirname $(DISTDIR)`/$(DISTNAME).tar.gz . && $(DEL_FILE) -r $(DISTDIR) 291 | 292 | distdir: FORCE 293 | @test -d $(DISTDIR) || mkdir -p $(DISTDIR) 294 | $(COPY_FILE) --parents $(DIST) $(DISTDIR)/ 295 | $(COPY_FILE) --parents ../process_and_control/res.qrc $(DISTDIR)/ 296 | $(COPY_FILE) --parents ../process_and_control/mainwindow.h ../process_and_control/control.h ../process_and_control/movepicture.h $(DISTDIR)/ 297 | $(COPY_FILE) --parents ../process_and_control/main.cpp ../process_and_control/mainwindow.cpp ../process_and_control/control.cpp ../process_and_control/movepicture.cpp $(DISTDIR)/ 298 | $(COPY_FILE) --parents ../process_and_control/mainwindow.ui $(DISTDIR)/ 299 | 300 | 301 | clean: compiler_clean 302 | -$(DEL_FILE) $(OBJECTS) 303 | -$(DEL_FILE) *~ core *.core 304 | 305 | 306 | distclean: clean 307 | -$(DEL_FILE) $(TARGET) 308 | -$(DEL_FILE) Makefile 309 | 310 | 311 | ####### Sub-libraries 312 | 313 | mocclean: compiler_moc_header_clean compiler_moc_source_clean 314 | 315 | mocables: compiler_moc_header_make_all compiler_moc_source_make_all 316 | 317 | check: first 318 | 319 | compiler_rcc_make_all: qrc_res.cpp 320 | compiler_rcc_clean: 321 | -$(DEL_FILE) qrc_res.cpp 322 | qrc_res.cpp: ../process_and_control/res.qrc \ 323 | ../process_and_control/image/right.jpg \ 324 | ../process_and_control/image/left.jpg \ 325 | ../process_and_control/image/up.jpg \ 326 | ../process_and_control/image/down.jpg \ 327 | ../process_and_control/image/play.jpg 328 | /usr/lib/arm-linux-gnueabihf/qt5/bin/rcc -name res ../process_and_control/res.qrc -o qrc_res.cpp 329 | 330 | compiler_moc_header_make_all: moc_mainwindow.cpp moc_control.cpp moc_movepicture.cpp 331 | compiler_moc_header_clean: 332 | -$(DEL_FILE) moc_mainwindow.cpp moc_control.cpp moc_movepicture.cpp 333 | moc_mainwindow.cpp: ../process_and_control/control.h \ 334 | ../process_and_control/mainwindow.h 335 | /usr/lib/arm-linux-gnueabihf/qt5/bin/moc $(DEFINES) -I/usr/lib/arm-linux-gnueabihf/qt5/mkspecs/linux-g++ -I/home/tony/process_and_control -I/usr/local/include -I/usr/local/include/opencv -I/usr/local/include/opencv2 -I/usr/include/arm-linux-gnueabihf/qt5 -I/usr/include/arm-linux-gnueabihf/qt5/QtWidgets -I/usr/include/arm-linux-gnueabihf/qt5/QtGui -I/usr/include/arm-linux-gnueabihf/qt5/QtCore -I. -I/usr/include/c++/5 -I/usr/include/arm-linux-gnueabihf/c++/5 -I/usr/include/c++/5/backward -I/usr/lib/gcc/arm-linux-gnueabihf/5/include -I/usr/local/include -I/usr/lib/gcc/arm-linux-gnueabihf/5/include-fixed -I/usr/include/arm-linux-gnueabihf -I/usr/include ../process_and_control/mainwindow.h -o moc_mainwindow.cpp 336 | 337 | moc_control.cpp: ../process_and_control/control.h 338 | /usr/lib/arm-linux-gnueabihf/qt5/bin/moc $(DEFINES) -I/usr/lib/arm-linux-gnueabihf/qt5/mkspecs/linux-g++ -I/home/tony/process_and_control -I/usr/local/include -I/usr/local/include/opencv -I/usr/local/include/opencv2 -I/usr/include/arm-linux-gnueabihf/qt5 -I/usr/include/arm-linux-gnueabihf/qt5/QtWidgets -I/usr/include/arm-linux-gnueabihf/qt5/QtGui -I/usr/include/arm-linux-gnueabihf/qt5/QtCore -I. -I/usr/include/c++/5 -I/usr/include/arm-linux-gnueabihf/c++/5 -I/usr/include/c++/5/backward -I/usr/lib/gcc/arm-linux-gnueabihf/5/include -I/usr/local/include -I/usr/lib/gcc/arm-linux-gnueabihf/5/include-fixed -I/usr/include/arm-linux-gnueabihf -I/usr/include ../process_and_control/control.h -o moc_control.cpp 339 | 340 | moc_movepicture.cpp: ../process_and_control/movepicture.h 341 | /usr/lib/arm-linux-gnueabihf/qt5/bin/moc $(DEFINES) -I/usr/lib/arm-linux-gnueabihf/qt5/mkspecs/linux-g++ -I/home/tony/process_and_control -I/usr/local/include -I/usr/local/include/opencv -I/usr/local/include/opencv2 -I/usr/include/arm-linux-gnueabihf/qt5 -I/usr/include/arm-linux-gnueabihf/qt5/QtWidgets -I/usr/include/arm-linux-gnueabihf/qt5/QtGui -I/usr/include/arm-linux-gnueabihf/qt5/QtCore -I. -I/usr/include/c++/5 -I/usr/include/arm-linux-gnueabihf/c++/5 -I/usr/include/c++/5/backward -I/usr/lib/gcc/arm-linux-gnueabihf/5/include -I/usr/local/include -I/usr/lib/gcc/arm-linux-gnueabihf/5/include-fixed -I/usr/include/arm-linux-gnueabihf -I/usr/include ../process_and_control/movepicture.h -o moc_movepicture.cpp 342 | 343 | compiler_moc_source_make_all: 344 | compiler_moc_source_clean: 345 | compiler_uic_make_all: ui_mainwindow.h 346 | compiler_uic_clean: 347 | -$(DEL_FILE) ui_mainwindow.h 348 | ui_mainwindow.h: ../process_and_control/mainwindow.ui 349 | /usr/lib/arm-linux-gnueabihf/qt5/bin/uic ../process_and_control/mainwindow.ui -o ui_mainwindow.h 350 | 351 | compiler_yacc_decl_make_all: 352 | compiler_yacc_decl_clean: 353 | compiler_yacc_impl_make_all: 354 | compiler_yacc_impl_clean: 355 | compiler_lex_make_all: 356 | compiler_lex_clean: 357 | compiler_clean: compiler_rcc_clean compiler_moc_header_clean compiler_uic_clean 358 | 359 | ####### Compile 360 | 361 | main.o: ../process_and_control/main.cpp ../process_and_control/mainwindow.h \ 362 | ../process_and_control/control.h \ 363 | ../process_and_control/movepicture.h 364 | $(CXX) -c $(CXXFLAGS) $(INCPATH) -o main.o ../process_and_control/main.cpp 365 | 366 | mainwindow.o: ../process_and_control/mainwindow.cpp ../process_and_control/mainwindow.h \ 367 | ../process_and_control/control.h \ 368 | ui_mainwindow.h 369 | $(CXX) -c $(CXXFLAGS) $(INCPATH) -o mainwindow.o ../process_and_control/mainwindow.cpp 370 | 371 | control.o: ../process_and_control/control.cpp ../process_and_control/control.h \ 372 | ../process_and_control/mainwindow.h 373 | $(CXX) -c $(CXXFLAGS) $(INCPATH) -o control.o ../process_and_control/control.cpp 374 | 375 | movepicture.o: ../process_and_control/movepicture.cpp ../process_and_control/movepicture.h 376 | $(CXX) -c $(CXXFLAGS) $(INCPATH) -o movepicture.o ../process_and_control/movepicture.cpp 377 | 378 | qrc_res.o: qrc_res.cpp 379 | $(CXX) -c $(CXXFLAGS) $(INCPATH) -o qrc_res.o qrc_res.cpp 380 | 381 | moc_mainwindow.o: moc_mainwindow.cpp 382 | $(CXX) -c $(CXXFLAGS) $(INCPATH) -o moc_mainwindow.o moc_mainwindow.cpp 383 | 384 | moc_control.o: moc_control.cpp 385 | $(CXX) -c $(CXXFLAGS) $(INCPATH) -o moc_control.o moc_control.cpp 386 | 387 | moc_movepicture.o: moc_movepicture.cpp 388 | $(CXX) -c $(CXXFLAGS) $(INCPATH) -o moc_movepicture.o moc_movepicture.cpp 389 | 390 | ####### Install 391 | 392 | install: FORCE 393 | 394 | uninstall: FORCE 395 | 396 | FORCE: 397 | 398 | -------------------------------------------------------------------------------- /build-process_and_control-unknown-Release/control.o: -------------------------------------------------------------------------------- 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/build-process_and_control-unknown-Release/moc_control.cpp: -------------------------------------------------------------------------------- 1 | /**************************************************************************** 2 | ** Meta object code from reading C++ file 'control.h' 3 | ** 4 | ** Created by: The Qt Meta Object Compiler version 67 (Qt 5.5.1) 5 | ** 6 | ** WARNING! All changes made in this file will be lost! 7 | *****************************************************************************/ 8 | 9 | #include "../process_and_control/control.h" 10 | #include 11 | #include 12 | #if !defined(Q_MOC_OUTPUT_REVISION) 13 | #error "The header file 'control.h' doesn't include ." 14 | #elif Q_MOC_OUTPUT_REVISION != 67 15 | #error "This file was generated using the moc from 5.5.1. It" 16 | #error "cannot be used with the include files from this version of Qt." 17 | #error "(The moc has changed too much.)" 18 | #endif 19 | 20 | QT_BEGIN_MOC_NAMESPACE 21 | struct qt_meta_stringdata_control_t { 22 | QByteArrayData data[10]; 23 | char stringdata0[176]; 24 | }; 25 | #define QT_MOC_LITERAL(idx, ofs, len) \ 26 | Q_STATIC_BYTE_ARRAY_DATA_HEADER_INITIALIZER_WITH_OFFSET(len, \ 27 | qptrdiff(offsetof(qt_meta_stringdata_control_t, stringdata0) + ofs \ 28 | - idx * sizeof(QByteArrayData)) \ 29 | ) 30 | static const qt_meta_stringdata_control_t qt_meta_stringdata_control = { 31 | { 32 | QT_MOC_LITERAL(0, 0, 7), // "control" 33 | QT_MOC_LITERAL(1, 8, 21), // "pushbutton_move_right" 34 | QT_MOC_LITERAL(2, 30, 0), // "" 35 | QT_MOC_LITERAL(3, 31, 20), // "pushbutton_move_left" 36 | QT_MOC_LITERAL(4, 52, 18), // "pushbutton_move_go" 37 | QT_MOC_LITERAL(5, 71, 20), // "pushbutton_move_back" 38 | QT_MOC_LITERAL(6, 92, 21), // "pushbutton_move_close" 39 | QT_MOC_LITERAL(7, 114, 21), // "pushbutton_flashlight" 40 | QT_MOC_LITERAL(8, 136, 20), // "pushbutton_move_down" 41 | QT_MOC_LITERAL(9, 157, 18) // "pushbutton_move_up" 42 | 43 | }, 44 | "control\0pushbutton_move_right\0\0" 45 | "pushbutton_move_left\0pushbutton_move_go\0" 46 | "pushbutton_move_back\0pushbutton_move_close\0" 47 | "pushbutton_flashlight\0pushbutton_move_down\0" 48 | "pushbutton_move_up" 49 | }; 50 | #undef QT_MOC_LITERAL 51 | 52 | static const uint qt_meta_data_control[] = { 53 | 54 | // content: 55 | 7, // revision 56 | 0, // classname 57 | 0, 0, // classinfo 58 | 8, 14, // methods 59 | 0, 0, // properties 60 | 0, 0, // enums/sets 61 | 0, 0, // constructors 62 | 0, // flags 63 | 0, // signalCount 64 | 65 | // slots: name, argc, parameters, tag, flags 66 | 1, 0, 54, 2, 0x0a /* Public */, 67 | 3, 0, 55, 2, 0x0a /* Public */, 68 | 4, 0, 56, 2, 0x0a /* Public */, 69 | 5, 0, 57, 2, 0x0a /* Public */, 70 | 6, 0, 58, 2, 0x0a /* Public */, 71 | 7, 0, 59, 2, 0x0a /* Public */, 72 | 8, 0, 60, 2, 0x0a /* Public */, 73 | 9, 0, 61, 2, 0x0a /* Public */, 74 | 75 | // slots: parameters 76 | QMetaType::Void, 77 | QMetaType::Void, 78 | QMetaType::Void, 79 | QMetaType::Void, 80 | QMetaType::Void, 81 | QMetaType::Void, 82 | QMetaType::Void, 83 | QMetaType::Void, 84 | 85 | 0 // eod 86 | }; 87 | 88 | void control::qt_static_metacall(QObject *_o, QMetaObject::Call _c, int _id, void **_a) 89 | { 90 | if (_c == QMetaObject::InvokeMetaMethod) { 91 | control *_t = static_cast(_o); 92 | Q_UNUSED(_t) 93 | switch (_id) { 94 | case 0: _t->pushbutton_move_right(); break; 95 | case 1: _t->pushbutton_move_left(); break; 96 | case 2: _t->pushbutton_move_go(); break; 97 | case 3: _t->pushbutton_move_back(); break; 98 | case 4: _t->pushbutton_move_close(); break; 99 | case 5: _t->pushbutton_flashlight(); break; 100 | case 6: _t->pushbutton_move_down(); break; 101 | case 7: _t->pushbutton_move_up(); break; 102 | default: ; 103 | } 104 | } 105 | Q_UNUSED(_a); 106 | } 107 | 108 | const QMetaObject control::staticMetaObject = { 109 | { &QThread::staticMetaObject, qt_meta_stringdata_control.data, 110 | qt_meta_data_control, qt_static_metacall, Q_NULLPTR, Q_NULLPTR} 111 | }; 112 | 113 | 114 | const QMetaObject *control::metaObject() const 115 | { 116 | return QObject::d_ptr->metaObject ? QObject::d_ptr->dynamicMetaObject() : &staticMetaObject; 117 | } 118 | 119 | void *control::qt_metacast(const char *_clname) 120 | { 121 | if (!_clname) return Q_NULLPTR; 122 | if (!strcmp(_clname, qt_meta_stringdata_control.stringdata0)) 123 | return static_cast(const_cast< control*>(this)); 124 | return QThread::qt_metacast(_clname); 125 | } 126 | 127 | int control::qt_metacall(QMetaObject::Call _c, int _id, void **_a) 128 | { 129 | _id = QThread::qt_metacall(_c, _id, _a); 130 | if (_id < 0) 131 | return _id; 132 | if (_c == QMetaObject::InvokeMetaMethod) { 133 | if (_id < 8) 134 | qt_static_metacall(this, _c, _id, _a); 135 | _id -= 8; 136 | } else if (_c == QMetaObject::RegisterMethodArgumentMetaType) { 137 | if (_id < 8) 138 | *reinterpret_cast(_a[0]) = -1; 139 | _id -= 8; 140 | } 141 | return _id; 142 | } 143 | QT_END_MOC_NAMESPACE 144 | -------------------------------------------------------------------------------- /build-process_and_control-unknown-Release/moc_control.o: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/pythondu/Underwater-robot-/dec24802e90382255422a8c05a5b0965262ab4c6/build-process_and_control-unknown-Release/moc_control.o -------------------------------------------------------------------------------- /build-process_and_control-unknown-Release/moc_mainwindow.cpp: -------------------------------------------------------------------------------- 1 | /**************************************************************************** 2 | ** Meta object code from reading C++ file 'mainwindow.h' 3 | ** 4 | ** Created by: The Qt Meta Object Compiler version 67 (Qt 5.5.1) 5 | ** 6 | ** WARNING! All changes made in this file will be lost! 7 | *****************************************************************************/ 8 | 9 | #include "../process_and_control/mainwindow.h" 10 | #include 11 | #include 12 | #if !defined(Q_MOC_OUTPUT_REVISION) 13 | #error "The header file 'mainwindow.h' doesn't include ." 14 | #elif Q_MOC_OUTPUT_REVISION != 67 15 | #error "This file was generated using the moc from 5.5.1. It" 16 | #error "cannot be used with the include files from this version of Qt." 17 | #error "(The moc has changed too much.)" 18 | #endif 19 | 20 | QT_BEGIN_MOC_NAMESPACE 21 | struct qt_meta_stringdata_MainWindow_t { 22 | QByteArrayData data[10]; 23 | char stringdata0[80]; 24 | }; 25 | #define QT_MOC_LITERAL(idx, ofs, len) \ 26 | Q_STATIC_BYTE_ARRAY_DATA_HEADER_INITIALIZER_WITH_OFFSET(len, \ 27 | qptrdiff(offsetof(qt_meta_stringdata_MainWindow_t, stringdata0) + ofs \ 28 | - idx * sizeof(QByteArrayData)) \ 29 | ) 30 | static const qt_meta_stringdata_MainWindow_t qt_meta_stringdata_MainWindow = { 31 | { 32 | QT_MOC_LITERAL(0, 0, 10), // "MainWindow" 33 | QT_MOC_LITERAL(1, 11, 4), // "back" 34 | QT_MOC_LITERAL(2, 16, 0), // "" 35 | QT_MOC_LITERAL(3, 17, 2), // "go" 36 | QT_MOC_LITERAL(4, 20, 4), // "left" 37 | QT_MOC_LITERAL(5, 25, 5), // "right" 38 | QT_MOC_LITERAL(6, 31, 6), // "finish" 39 | QT_MOC_LITERAL(7, 38, 9), // "nextFrame" 40 | QT_MOC_LITERAL(8, 48, 7), // "process" 41 | QT_MOC_LITERAL(9, 56, 23) // "pushbutton_open_clicked" 42 | 43 | }, 44 | "MainWindow\0back\0\0go\0left\0right\0finish\0" 45 | "nextFrame\0process\0pushbutton_open_clicked" 46 | }; 47 | #undef QT_MOC_LITERAL 48 | 49 | static const uint qt_meta_data_MainWindow[] = { 50 | 51 | // content: 52 | 7, // revision 53 | 0, // classname 54 | 0, 0, // classinfo 55 | 8, 14, // methods 56 | 0, 0, // properties 57 | 0, 0, // enums/sets 58 | 0, 0, // constructors 59 | 0, // flags 60 | 5, // signalCount 61 | 62 | // signals: name, argc, parameters, tag, flags 63 | 1, 0, 54, 2, 0x06 /* Public */, 64 | 3, 0, 55, 2, 0x06 /* Public */, 65 | 4, 0, 56, 2, 0x06 /* Public */, 66 | 5, 0, 57, 2, 0x06 /* Public */, 67 | 6, 0, 58, 2, 0x06 /* Public */, 68 | 69 | // slots: name, argc, parameters, tag, flags 70 | 7, 0, 59, 2, 0x08 /* Private */, 71 | 8, 0, 60, 2, 0x08 /* Private */, 72 | 9, 0, 61, 2, 0x08 /* Private */, 73 | 74 | // signals: parameters 75 | QMetaType::Void, 76 | QMetaType::Void, 77 | QMetaType::Void, 78 | QMetaType::Void, 79 | QMetaType::Void, 80 | 81 | // slots: parameters 82 | QMetaType::Void, 83 | QMetaType::Void, 84 | QMetaType::Void, 85 | 86 | 0 // eod 87 | }; 88 | 89 | void MainWindow::qt_static_metacall(QObject *_o, QMetaObject::Call _c, int _id, void **_a) 90 | { 91 | if (_c == QMetaObject::InvokeMetaMethod) { 92 | MainWindow *_t = static_cast(_o); 93 | Q_UNUSED(_t) 94 | switch (_id) { 95 | case 0: _t->back(); break; 96 | case 1: _t->go(); break; 97 | case 2: _t->left(); break; 98 | case 3: _t->right(); break; 99 | case 4: _t->finish(); break; 100 | case 5: _t->nextFrame(); break; 101 | case 6: _t->process(); break; 102 | case 7: _t->pushbutton_open_clicked(); break; 103 | default: ; 104 | } 105 | } else if (_c == QMetaObject::IndexOfMethod) { 106 | int *result = reinterpret_cast(_a[0]); 107 | void **func = reinterpret_cast(_a[1]); 108 | { 109 | typedef void (MainWindow::*_t)(); 110 | if (*reinterpret_cast<_t *>(func) == static_cast<_t>(&MainWindow::back)) { 111 | *result = 0; 112 | } 113 | } 114 | { 115 | typedef void (MainWindow::*_t)(); 116 | if (*reinterpret_cast<_t *>(func) == static_cast<_t>(&MainWindow::go)) { 117 | *result = 1; 118 | } 119 | } 120 | { 121 | typedef void (MainWindow::*_t)(); 122 | if (*reinterpret_cast<_t *>(func) == static_cast<_t>(&MainWindow::left)) { 123 | *result = 2; 124 | } 125 | } 126 | { 127 | typedef void (MainWindow::*_t)(); 128 | if (*reinterpret_cast<_t *>(func) == static_cast<_t>(&MainWindow::right)) { 129 | *result = 3; 130 | } 131 | } 132 | { 133 | typedef void (MainWindow::*_t)(); 134 | if (*reinterpret_cast<_t *>(func) == static_cast<_t>(&MainWindow::finish)) { 135 | *result = 4; 136 | } 137 | } 138 | } 139 | Q_UNUSED(_a); 140 | } 141 | 142 | const QMetaObject MainWindow::staticMetaObject = { 143 | { &QMainWindow::staticMetaObject, qt_meta_stringdata_MainWindow.data, 144 | qt_meta_data_MainWindow, qt_static_metacall, Q_NULLPTR, Q_NULLPTR} 145 | }; 146 | 147 | 148 | const QMetaObject *MainWindow::metaObject() const 149 | { 150 | return QObject::d_ptr->metaObject ? QObject::d_ptr->dynamicMetaObject() : &staticMetaObject; 151 | } 152 | 153 | void *MainWindow::qt_metacast(const char *_clname) 154 | { 155 | if (!_clname) return Q_NULLPTR; 156 | if (!strcmp(_clname, qt_meta_stringdata_MainWindow.stringdata0)) 157 | return static_cast(const_cast< MainWindow*>(this)); 158 | return QMainWindow::qt_metacast(_clname); 159 | } 160 | 161 | int MainWindow::qt_metacall(QMetaObject::Call _c, int _id, void **_a) 162 | { 163 | _id = QMainWindow::qt_metacall(_c, _id, _a); 164 | if (_id < 0) 165 | return _id; 166 | if (_c == QMetaObject::InvokeMetaMethod) { 167 | if (_id < 8) 168 | qt_static_metacall(this, _c, _id, _a); 169 | _id -= 8; 170 | } else if (_c == QMetaObject::RegisterMethodArgumentMetaType) { 171 | if (_id < 8) 172 | *reinterpret_cast(_a[0]) = -1; 173 | _id -= 8; 174 | } 175 | return _id; 176 | } 177 | 178 | // SIGNAL 0 179 | void MainWindow::back() 180 | { 181 | QMetaObject::activate(this, &staticMetaObject, 0, Q_NULLPTR); 182 | } 183 | 184 | // SIGNAL 1 185 | void MainWindow::go() 186 | { 187 | QMetaObject::activate(this, &staticMetaObject, 1, Q_NULLPTR); 188 | } 189 | 190 | // SIGNAL 2 191 | void MainWindow::left() 192 | { 193 | QMetaObject::activate(this, &staticMetaObject, 2, Q_NULLPTR); 194 | } 195 | 196 | // SIGNAL 3 197 | void MainWindow::right() 198 | { 199 | QMetaObject::activate(this, &staticMetaObject, 3, Q_NULLPTR); 200 | } 201 | 202 | // SIGNAL 4 203 | void MainWindow::finish() 204 | { 205 | QMetaObject::activate(this, &staticMetaObject, 4, Q_NULLPTR); 206 | } 207 | QT_END_MOC_NAMESPACE 208 | -------------------------------------------------------------------------------- /build-process_and_control-unknown-Release/moc_mainwindow.o: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/pythondu/Underwater-robot-/dec24802e90382255422a8c05a5b0965262ab4c6/build-process_and_control-unknown-Release/moc_mainwindow.o -------------------------------------------------------------------------------- /build-process_and_control-unknown-Release/moc_movepicture.cpp: -------------------------------------------------------------------------------- 1 | /**************************************************************************** 2 | ** Meta object code from reading C++ file 'movepicture.h' 3 | ** 4 | ** Created by: The Qt Meta Object Compiler version 67 (Qt 5.5.1) 5 | ** 6 | ** WARNING! All changes made in this file will be lost! 7 | *****************************************************************************/ 8 | 9 | #include "../process_and_control/movepicture.h" 10 | #include 11 | #include 12 | #if !defined(Q_MOC_OUTPUT_REVISION) 13 | #error "The header file 'movepicture.h' doesn't include ." 14 | #elif Q_MOC_OUTPUT_REVISION != 67 15 | #error "This file was generated using the moc from 5.5.1. It" 16 | #error "cannot be used with the include files from this version of Qt." 17 | #error "(The moc has changed too much.)" 18 | #endif 19 | 20 | QT_BEGIN_MOC_NAMESPACE 21 | struct qt_meta_stringdata_movepic_t { 22 | QByteArrayData data[1]; 23 | char stringdata0[8]; 24 | }; 25 | #define QT_MOC_LITERAL(idx, ofs, len) \ 26 | Q_STATIC_BYTE_ARRAY_DATA_HEADER_INITIALIZER_WITH_OFFSET(len, \ 27 | qptrdiff(offsetof(qt_meta_stringdata_movepic_t, stringdata0) + ofs \ 28 | - idx * sizeof(QByteArrayData)) \ 29 | ) 30 | static const qt_meta_stringdata_movepic_t qt_meta_stringdata_movepic = { 31 | { 32 | QT_MOC_LITERAL(0, 0, 7) // "movepic" 33 | 34 | }, 35 | "movepic" 36 | }; 37 | #undef QT_MOC_LITERAL 38 | 39 | static const uint qt_meta_data_movepic[] = { 40 | 41 | // content: 42 | 7, // revision 43 | 0, // classname 44 | 0, 0, // classinfo 45 | 0, 0, // methods 46 | 0, 0, // properties 47 | 0, 0, // enums/sets 48 | 0, 0, // constructors 49 | 0, // flags 50 | 0, // signalCount 51 | 52 | 0 // eod 53 | }; 54 | 55 | void movepic::qt_static_metacall(QObject *_o, QMetaObject::Call _c, int _id, void **_a) 56 | { 57 | Q_UNUSED(_o); 58 | Q_UNUSED(_id); 59 | Q_UNUSED(_c); 60 | Q_UNUSED(_a); 61 | } 62 | 63 | const QMetaObject movepic::staticMetaObject = { 64 | { &QThread::staticMetaObject, qt_meta_stringdata_movepic.data, 65 | qt_meta_data_movepic, qt_static_metacall, Q_NULLPTR, Q_NULLPTR} 66 | }; 67 | 68 | 69 | const QMetaObject *movepic::metaObject() const 70 | { 71 | return QObject::d_ptr->metaObject ? QObject::d_ptr->dynamicMetaObject() : &staticMetaObject; 72 | } 73 | 74 | void *movepic::qt_metacast(const char *_clname) 75 | { 76 | if (!_clname) return Q_NULLPTR; 77 | if (!strcmp(_clname, qt_meta_stringdata_movepic.stringdata0)) 78 | return static_cast(const_cast< movepic*>(this)); 79 | return QThread::qt_metacast(_clname); 80 | } 81 | 82 | int movepic::qt_metacall(QMetaObject::Call _c, int _id, void **_a) 83 | { 84 | _id = QThread::qt_metacall(_c, _id, _a); 85 | if (_id < 0) 86 | return _id; 87 | return _id; 88 | } 89 | QT_END_MOC_NAMESPACE 90 | -------------------------------------------------------------------------------- /build-process_and_control-unknown-Release/moc_movepicture.o: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/pythondu/Underwater-robot-/dec24802e90382255422a8c05a5b0965262ab4c6/build-process_and_control-unknown-Release/moc_movepicture.o -------------------------------------------------------------------------------- /build-process_and_control-unknown-Release/movepicture.o: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/pythondu/Underwater-robot-/dec24802e90382255422a8c05a5b0965262ab4c6/build-process_and_control-unknown-Release/movepicture.o -------------------------------------------------------------------------------- /build-process_and_control-unknown-Release/process_and_control: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/pythondu/Underwater-robot-/dec24802e90382255422a8c05a5b0965262ab4c6/build-process_and_control-unknown-Release/process_and_control -------------------------------------------------------------------------------- /build-process_and_control-unknown-Release/process_and_control.sh: -------------------------------------------------------------------------------- 1 | #!/bin/sh 2 | appname=`basename $0 | sed s,\.sh$,,` 3 | 4 | dirname=`dirname $0` 5 | tmp="${dirname#?}" 6 | 7 | if [ "${dirname%$tmp}" != "/"]; then 8 | dirname= $PWD/$dirname 9 | fi 10 | LD_LIBRARY_PATH=$dirname 11 | export LD_LIBRARY_PATH 12 | $dirname/$appname"$@" 13 | -------------------------------------------------------------------------------- /build-process_and_control-unknown-Release/qrc_res.o: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/pythondu/Underwater-robot-/dec24802e90382255422a8c05a5b0965262ab4c6/build-process_and_control-unknown-Release/qrc_res.o -------------------------------------------------------------------------------- /build-process_and_control-unknown-Release/ui_mainwindow.h: -------------------------------------------------------------------------------- 1 | /******************************************************************************** 2 | ** Form generated from reading UI file 'mainwindow.ui' 3 | ** 4 | ** Created by: Qt User Interface Compiler version 5.5.1 5 | ** 6 | ** WARNING! All changes made in this file will be lost when recompiling UI file! 7 | ********************************************************************************/ 8 | 9 | #ifndef UI_MAINWINDOW_H 10 | #define UI_MAINWINDOW_H 11 | 12 | #include 13 | #include 14 | #include 15 | #include 16 | #include 17 | #include 18 | #include 19 | #include 20 | #include 21 | #include 22 | #include 23 | #include 24 | #include 25 | 26 | QT_BEGIN_NAMESPACE 27 | 28 | class Ui_MainWindow 29 | { 30 | public: 31 | QWidget *centralWidget; 32 | QLabel *label; 33 | QPushButton *pushButton_open; 34 | QPushButton *pushButton_up; 35 | QPushButton *pushButton_left; 36 | QPushButton *pushButton_down; 37 | QPushButton *pushButton_right; 38 | QPushButton *pushButton_show; 39 | QPushButton *pushButton_light; 40 | QWidget *layoutWidget; 41 | QHBoxLayout *horizontalLayout; 42 | QPushButton *pushButton_float; 43 | QPushButton *pushButton_sink; 44 | QMenuBar *menuBar; 45 | QMenu *menu; 46 | QToolBar *mainToolBar; 47 | 48 | void setupUi(QMainWindow *MainWindow) 49 | { 50 | if (MainWindow->objectName().isEmpty()) 51 | MainWindow->setObjectName(QStringLiteral("MainWindow")); 52 | MainWindow->resize(636, 407); 53 | centralWidget = new QWidget(MainWindow); 54 | centralWidget->setObjectName(QStringLiteral("centralWidget")); 55 | label = new QLabel(centralWidget); 56 | label->setObjectName(QStringLiteral("label")); 57 | label->setGeometry(QRect(300, 10, 281, 321)); 58 | pushButton_open = new QPushButton(centralWidget); 59 | pushButton_open->setObjectName(QStringLiteral("pushButton_open")); 60 | pushButton_open->setGeometry(QRect(110, 260, 81, 31)); 61 | pushButton_open->setStyleSheet(QStringLiteral("border-image: url(:/new/Icon/image/play.jpg);")); 62 | pushButton_open->setFlat(true); 63 | pushButton_up = new QPushButton(centralWidget); 64 | pushButton_up->setObjectName(QStringLiteral("pushButton_up")); 65 | pushButton_up->setGeometry(QRect(110, 220, 81, 31)); 66 | pushButton_up->setStyleSheet(QStringLiteral("border-image: url(:/new/Icon/image/up.jpg);")); 67 | pushButton_up->setFlat(true); 68 | pushButton_left = new QPushButton(centralWidget); 69 | pushButton_left->setObjectName(QStringLiteral("pushButton_left")); 70 | pushButton_left->setGeometry(QRect(20, 260, 81, 31)); 71 | pushButton_left->setStyleSheet(QStringLiteral("border-image: url(:/new/Icon/image/left.jpg);")); 72 | pushButton_left->setFlat(true); 73 | pushButton_down = new QPushButton(centralWidget); 74 | pushButton_down->setObjectName(QStringLiteral("pushButton_down")); 75 | pushButton_down->setGeometry(QRect(110, 300, 81, 31)); 76 | pushButton_down->setStyleSheet(QStringLiteral("border-image: url(:/new/Icon/image/down.jpg);")); 77 | pushButton_down->setFlat(true); 78 | pushButton_right = new QPushButton(centralWidget); 79 | pushButton_right->setObjectName(QStringLiteral("pushButton_right")); 80 | pushButton_right->setGeometry(QRect(200, 260, 81, 31)); 81 | pushButton_right->setStyleSheet(QStringLiteral("border-image: url(:/new/Icon/image/right.jpg);")); 82 | pushButton_right->setFlat(true); 83 | pushButton_show = new QPushButton(centralWidget); 84 | pushButton_show->setObjectName(QStringLiteral("pushButton_show")); 85 | pushButton_show->setGeometry(QRect(20, 10, 99, 27)); 86 | pushButton_light = new QPushButton(centralWidget); 87 | pushButton_light->setObjectName(QStringLiteral("pushButton_light")); 88 | pushButton_light->setGeometry(QRect(20, 40, 99, 27)); 89 | layoutWidget = new QWidget(centralWidget); 90 | layoutWidget->setObjectName(QStringLiteral("layoutWidget")); 91 | layoutWidget->setGeometry(QRect(50, 170, 206, 29)); 92 | horizontalLayout = new QHBoxLayout(layoutWidget); 93 | horizontalLayout->setSpacing(6); 94 | horizontalLayout->setContentsMargins(11, 11, 11, 11); 95 | horizontalLayout->setObjectName(QStringLiteral("horizontalLayout")); 96 | horizontalLayout->setContentsMargins(0, 0, 0, 0); 97 | pushButton_float = new QPushButton(layoutWidget); 98 | pushButton_float->setObjectName(QStringLiteral("pushButton_float")); 99 | 100 | horizontalLayout->addWidget(pushButton_float); 101 | 102 | pushButton_sink = new QPushButton(layoutWidget); 103 | pushButton_sink->setObjectName(QStringLiteral("pushButton_sink")); 104 | 105 | horizontalLayout->addWidget(pushButton_sink); 106 | 107 | MainWindow->setCentralWidget(centralWidget); 108 | menuBar = new QMenuBar(MainWindow); 109 | menuBar->setObjectName(QStringLiteral("menuBar")); 110 | menuBar->setGeometry(QRect(0, 0, 636, 31)); 111 | menu = new QMenu(menuBar); 112 | menu->setObjectName(QStringLiteral("menu")); 113 | MainWindow->setMenuBar(menuBar); 114 | mainToolBar = new QToolBar(MainWindow); 115 | mainToolBar->setObjectName(QStringLiteral("mainToolBar")); 116 | MainWindow->addToolBar(Qt::TopToolBarArea, mainToolBar); 117 | 118 | menuBar->addAction(menu->menuAction()); 119 | 120 | retranslateUi(MainWindow); 121 | 122 | QMetaObject::connectSlotsByName(MainWindow); 123 | } // setupUi 124 | 125 | void retranslateUi(QMainWindow *MainWindow) 126 | { 127 | MainWindow->setWindowTitle(QApplication::translate("MainWindow", "MainWindow", 0)); 128 | label->setText(QApplication::translate("MainWindow", "TextLabel", 0)); 129 | pushButton_open->setText(QString()); 130 | pushButton_up->setText(QString()); 131 | pushButton_left->setText(QString()); 132 | pushButton_down->setText(QString()); 133 | pushButton_right->setText(QString()); 134 | pushButton_show->setText(QApplication::translate("MainWindow", "Show Picture", 0)); 135 | pushButton_light->setText(QApplication::translate("MainWindow", "Flash Light", 0)); 136 | pushButton_float->setText(QApplication::translate("MainWindow", "Floating", 0)); 137 | pushButton_sink->setText(QApplication::translate("MainWindow", "Sink", 0)); 138 | menu->setTitle(QApplication::translate("MainWindow", "\346\260\264\344\270\213\346\234\272\345\231\250\344\272\272", 0)); 139 | } // retranslateUi 140 | 141 | }; 142 | 143 | namespace Ui { 144 | class MainWindow: public Ui_MainWindow {}; 145 | } // namespace Ui 146 | 147 | QT_END_NAMESPACE 148 | 149 | #endif // UI_MAINWINDOW_H 150 | -------------------------------------------------------------------------------- /build-process_and_control-unknown-Release/可疑图.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/pythondu/Underwater-robot-/dec24802e90382255422a8c05a5b0965262ab4c6/build-process_and_control-unknown-Release/可疑图.png -------------------------------------------------------------------------------- /process_and_control/control.cpp: -------------------------------------------------------------------------------- 1 | #include "control.h" 2 | #include "mainwindow.h" 3 | #include 4 | #include 5 | 6 | 7 | 8 | void control::run() 9 | { 10 | /*QProcess *move = new QProcess(); 11 | if(is_right) 12 | move->execute("python /home/tony/picture/right_all.py"); 13 | if(is_left) 14 | move->execute("python /home/tony/picture/left_all.py"); 15 | if(is_up) 16 | move->execute("python /home/tony/picture/up_all.py"); 17 | if(is_down) 18 | move->execute("python /home/tony/picture/down_all.py"); 19 | //exec();*/ 20 | } 21 | 22 | void control::stop() 23 | { 24 | control::quit(); 25 | } 26 | 27 | void control::pushbutton_move_right() 28 | { 29 | QProcess *p_right =new QProcess(); 30 | qDebug()<<"right"; 31 | p_right->start("python /home/zlm/picture/turn-right.py"); 32 | //is_right = true; 33 | } 34 | 35 | 36 | void control::pushbutton_move_left() 37 | { 38 | QProcess *p_left =new QProcess(); 39 | qDebug()<<"left"; 40 | p_left->start("python /home/zlm/picture/turn-left.py"); 41 | //is_left = true; 42 | } 43 | 44 | void control::pushbutton_move_back() 45 | { 46 | QProcess *p_back =new QProcess(); 47 | qDebug()<<"back"; 48 | p_back->start("python /home/zlm/picture/back.py"); 49 | //is_down = true; 50 | } 51 | 52 | void control::pushbutton_move_go() 53 | { 54 | QProcess *p_go =new QProcess(); 55 | qDebug()<<"go"; 56 | p_go->start("python /home/zlm/picture/go.py"); 57 | // is_up = true; 58 | } 59 | 60 | void control::pushbutton_move_down() 61 | { 62 | QProcess *p_down = new QProcess(); 63 | qDebug()<<"down"; 64 | p_down->start("python /home/zlm/picture/down.py"); 65 | } 66 | 67 | void control::pushbutton_move_up() 68 | { 69 | QProcess *p_up= new QProcess(); 70 | qDebug()<<"up"; 71 | p_up->start("python /home/zlm/picture/up.py"); 72 | } 73 | 74 | void control::pushbutton_flashlight() 75 | { 76 | QProcess *p_light= new QProcess(); 77 | qDebug()<<"lightening"; 78 | p_light->start("python /home/zlm/picture/light.py"); 79 | } 80 | 81 | void control::pushbutton_move_close() 82 | { 83 | QProcess *p_end = new QProcess(); 84 | //QProcess *p_clean = new QProcess(); 85 | qDebug()<<"quit"; 86 | p_end->start("python3 /home/zlm/picture/pid_copy.py"); 87 | //p_clean->start("python /home/tony/picture/cleanup_all.py"); 88 | //qDebug()<<"ok"; 89 | stop(); 90 | } 91 | 92 | 93 | -------------------------------------------------------------------------------- /process_and_control/control.h: -------------------------------------------------------------------------------- 1 | #ifndef CONTROL 2 | #define CONTROL 3 | #include 4 | 5 | 6 | 7 | /*extern bool is_right = false; 8 | extern bool is_left = false; 9 | extern bool is_up = false; 10 | extern bool is_down = false;*/ 11 | 12 | 13 | 14 | class control : public QThread 15 | { 16 | Q_OBJECT 17 | public: 18 | control(){} 19 | virtual ~control() {} 20 | void run(); 21 | void stop(); 22 | public slots: 23 | //void move_process(); 24 | void pushbutton_move_right(); 25 | void pushbutton_move_left(); 26 | void pushbutton_move_go(); 27 | void pushbutton_move_back(); 28 | void pushbutton_move_close(); 29 | void pushbutton_flashlight(); 30 | void pushbutton_move_down(); 31 | void pushbutton_move_up(); 32 | }; 33 | 34 | #endif // CONTROL 35 | 36 | -------------------------------------------------------------------------------- /process_and_control/image/bump.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/pythondu/Underwater-robot-/dec24802e90382255422a8c05a5b0965262ab4c6/process_and_control/image/bump.jpg -------------------------------------------------------------------------------- /process_and_control/image/bump.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/pythondu/Underwater-robot-/dec24802e90382255422a8c05a5b0965262ab4c6/process_and_control/image/bump.png -------------------------------------------------------------------------------- /process_and_control/image/down.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/pythondu/Underwater-robot-/dec24802e90382255422a8c05a5b0965262ab4c6/process_and_control/image/down.jpg -------------------------------------------------------------------------------- /process_and_control/image/left.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/pythondu/Underwater-robot-/dec24802e90382255422a8c05a5b0965262ab4c6/process_and_control/image/left.jpg -------------------------------------------------------------------------------- /process_and_control/image/play.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/pythondu/Underwater-robot-/dec24802e90382255422a8c05a5b0965262ab4c6/process_and_control/image/play.jpg -------------------------------------------------------------------------------- /process_and_control/image/right.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/pythondu/Underwater-robot-/dec24802e90382255422a8c05a5b0965262ab4c6/process_and_control/image/right.jpg -------------------------------------------------------------------------------- /process_and_control/image/up.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/pythondu/Underwater-robot-/dec24802e90382255422a8c05a5b0965262ab4c6/process_and_control/image/up.jpg -------------------------------------------------------------------------------- /process_and_control/main.cpp: -------------------------------------------------------------------------------- 1 | #include "mainwindow.h" 2 | #include "movepicture.h" 3 | #include "control.h" 4 | #include 5 | #include 6 | 7 | int main(int argc, char *argv[]) 8 | { 9 | QApplication a(argc, argv); 10 | MainWindow w; 11 | w.show(); 12 | 13 | 14 | //control b; 15 | movepic m ; 16 | m.start(); 17 | 18 | control n; 19 | n.start(); 20 | 21 | if(n.isFinished()) 22 | { 23 | qDebug()<<"finished"; 24 | } 25 | 26 | if(n.isRunning()) 27 | { 28 | qDebug()<<"runing"; 29 | } 30 | // c.start(); 31 | // b.start(); 32 | 33 | // c.wait(); 34 | //b.wait(); 35 | 36 | 37 | return a.exec(); 38 | } 39 | -------------------------------------------------------------------------------- /process_and_control/mainwindow.cpp: -------------------------------------------------------------------------------- 1 | #include "mainwindow.h" 2 | #include "ui_mainwindow.h" 3 | 4 | #include "qpainter.h" 5 | #include "qtimer.h" 6 | #include "qlabel.h" 7 | #include "qimage.h" 8 | #include "qpixmap.h" 9 | #include "qevent.h" 10 | #include 11 | #include 12 | #include 13 | #include 14 | #include 15 | #include 16 | 17 | 18 | using namespace cv; 19 | using namespace std; 20 | 21 | //-----------------------------------【全局变量声明部分】-------------------------------------- 22 | // 描述：全局变量的声明 23 | //----------------------------------------------------------------------------------------------- 24 | int g_nThresholdValue = 25; 25 | int g_nThresholdType = 0; 26 | char str[25]; 27 | 28 | //-----------------------------------【全局函数声明部分】-------------------------------------- 29 | // 描述：全局函数的声明 30 | //----------------------------------------------------------------------------------------------- 31 | //static void ShowHelpText();//输出帮助文字 32 | 33 | void drawDetectLines(cv::Mat & frame, const vector& lines, cv::Scalar & color) 34 | { 35 | // 将检测到的直线在图上画出来 36 | vector::const_iterator it = lines.begin(); 37 | while (it != lines.end()) 38 | { 39 | Point pt1((*it)[0], (*it)[1]); 40 | Point pt2((*it)[2], (*it)[3]); 41 | line(frame, pt1, pt2, color, 2); // 线条宽度设置为2 42 | ++it; 43 | } 44 | } 45 | 46 | 47 | MainWindow::MainWindow(QWidget *parent) : 48 | QMainWindow(parent), 49 | ui(new Ui::MainWindow) 50 | { 51 | ui->setupUi(this); 52 | ui->label->setScaledContents(true); 53 | setFocus(); 54 | 55 | con =new control(); 56 | 57 | /*QIcon ico_play(":/image/play.jpg"); 58 | QIcon ico_up(":/image/up.jpg"); 59 | QIcon ico_down(":/image/down.jpg"); 60 | QIcon ico_left(":/image/left.jpg"); 61 | QIcon ico_right(":/image/right.jpg");*/ 62 | 63 | ui->pushButton_down->setFlat(true); 64 | ui->pushButton_left->setFlat(true); 65 | ui->pushButton_open->setFlat(true); 66 | ui->pushButton_right->setFlat(true); 67 | ui->pushButton_up->setFlat(true); 68 | 69 | //control *con = new control(); 70 | 71 | /*ui->pushButton_open->setIcon(ico_play); 72 | //ui->pushButton_open->setIconSize(QSize(81,31)); 73 | ui->pushButton_up->setIcon(ico_up); 74 | //ui->pushButton_up->setIconSize(QSize(81,31)); 75 | ui->pushButton_down->setIcon(ico_down); 76 | // ui->pushButton_down->setIconSize(QSize(81,31)); 77 | ui->pushButton_left->setIcon(ico_left); 78 | //ui->pushButton_left->setIconSize(QSize(81,31)); 79 | ui->pushButton_right->setIcon(ico_right); 80 | //ui->pushButton_right->setIconSize(QSize(81,31));*/ 81 | 82 | 83 | connect(ui->pushButton_open,SIGNAL(clicked(bool)),this,SLOT(pushbutton_open_clicked())); 84 | //connect(ui->pushButton_move,SIGNAL(clicked(bool)),this,SLOT(pushbutton_move_process())); 85 | connect(ui->pushButton_right,SIGNAL(clicked(bool)),con,SLOT(pushbutton_move_right())); 86 | connect(ui->pushButton_left,SIGNAL(clicked(bool)),con,SLOT(pushbutton_move_left())); 87 | connect(ui->pushButton_down,SIGNAL(clicked(bool)),con,SLOT(pushbutton_move_back())); 88 | connect(ui->pushButton_up,SIGNAL(clicked(bool)),con,SLOT(pushbutton_move_go())); 89 | connect(ui->pushButton_light,SIGNAL(clicked(bool)),con,SLOT(pushbutton_flashlight())); 90 | 91 | 92 | connect(this,SIGNAL(up()),con,SLOT(pushbutton_move_up())); 93 | connect(this,SIGNAL(down()),con,SLOT(pushbutton_move_down())); 94 | connect(this,SIGNAL(left()),con,SLOT(pushbutton_move_left())); 95 | connect(this,SIGNAL(right()),con,SLOT(pushbutton_move_right())); 96 | connect(this,SIGNAL(finish()),con,SLOT(pushbutton_move_close())); 97 | 98 | connect(ui->pushButton_float,SIGNAL(clicked(bool)),con,SLOT(pushbutton_move_up())); 99 | connect(ui->pushButton_sink,SIGNAL(clicked(bool)),con,SLOT(pushbutton_move_down())); 100 | 101 | 102 | 103 | } 104 | 105 | MainWindow::~MainWindow() 106 | { 107 | delete ui; 108 | } 109 | 110 | 111 | QImage Mat2QImage(cv::Mat cvImg) 112 | { 113 | QImage qImg; 114 | if(cvImg.channels()==3) 115 | { 116 | cv::cvtColor(cvImg,cvImg,CV_BGR2RGB); 117 | qImg =QImage((const unsigned char*)(cvImg.data), 118 | cvImg.cols, cvImg.rows, 119 | cvImg.cols*cvImg.channels(), 120 | QImage::Format_RGB888); 121 | } 122 | else if(cvImg.channels()==1) 123 | { 124 | qImg =QImage((const unsigned char*)(cvImg.data), 125 | cvImg.cols,cvImg.rows, 126 | cvImg.cols*cvImg.channels(), 127 | QImage::Format_RGB888); 128 | } 129 | else 130 | { 131 | qImg =QImage((const unsigned char*)(cvImg.data), 132 | cvImg.cols,cvImg.rows, 133 | cvImg.cols*cvImg.channels(), 134 | QImage::Format_RGB888); 135 | } 136 | return qImg; 137 | } 138 | 139 | void MainWindow::process() 140 | { 141 | //char str[25]; 142 | vectorcompression_params; 143 | compression_params.push_back(IMWRITE_PNG_COMPRESSION); 144 | compression_params.push_back(9); 145 | cv::Mat dstImage; 146 | cvtColor(frame, dstImage, CV_BGR2GRAY); 147 | cv::Mat contours; 148 | Canny(dstImage, contours, 125, 350); 149 | threshold(contours, contours, 128, 255, THRESH_BINARY); 150 | //imwrite("Canny图" + (String)str + ".png", contours, compression_params); 151 | vector lines; 152 | // 检测直线，最小投票为90，线条不短于50，间隙不小于10 153 | HoughLinesP(contours, lines, 1, CV_PI / 180, 80, 50, 10); 154 | 155 | 156 | 157 | //筛选可疑的图片，并进行存储 158 | int numbers = lines.size(); 159 | cv::Scalar color = (0,255,0); 160 | if (numbers > 0) 161 | { 162 | //drawDetectLines(frame, lines, cv::Scalar(0, 255, 0)); 163 | drawDetectLines(frame, lines, color); 164 | imwrite("可疑图" + (String)str + ".png", frame, compression_params); 165 | } 166 | 167 | } 168 | 169 | void MainWindow::nextFrame() 170 | { 171 | capture >> frame; 172 | if(!frame.empty()) 173 | { 174 | image =Mat2QImage(frame); 175 | ui->label->setPixmap(QPixmap::fromImage(image)); 176 | } 177 | } 178 | 179 | 180 | void MainWindow::pushbutton_open_clicked() 181 | { 182 | if(capture.isOpened()) 183 | capture.release(); 184 | //capture.open("http://192.168.1.117:8080/?action=stream?dummy=param.mjpg"); 185 | capture.open(0); 186 | if (capture.isOpened()) 187 | { 188 | rate =capture.get(CV_CAP_PROP_FPS); 189 | capture >> frame; 190 | if(!frame.empty()) 191 | { 192 | image =Mat2QImage(frame); 193 | ui->label->setPixmap(QPixmap::fromImage(image)); 194 | timer = new QTimer(this); 195 | timer->setInterval(10/rate); //set timer match with FPS 196 | connect(timer,SIGNAL(timeout()),this,SLOT(nextFrame())); 197 | connect(timer,SIGNAL(timeout()),this,SLOT(process())); 198 | // connect(timer,SIGNAL(timeout()),this,SLOT(pushbutton_move_process())); 199 | timer->start(); 200 | 201 | /*timers = new QTimer(this); 202 | timers->setInterval(8000); 203 | connect(timers,SIGNAL(timeout()),this,SLOT(move_process())); 204 | timers->start();*/ 205 | } 206 | } 207 | } 208 | 209 | 210 | /*void MainWindow::move_process() 211 | { 212 | QProcess *proc= new QProcess(); 213 | proc->execute("python /home/tony/picture/moveIcan_multi.py"); 214 | }*/ 215 | 216 | /*void MainWindow::pushbutton_move_right() 217 | { 218 | QProcess *p_right =new QProcess(); 219 | p_right->execute("python /home/tony/picture/right.py"); 220 | } 221 | 222 | 223 | void MainWindow::pushbutton_move_left() 224 | { 225 | QProcess *p_left =new QProcess(); 226 | p_left->execute("python /home/tony/picture/left.py"); 227 | } 228 | 229 | void MainWindow::pushbutton_move_down() 230 | { 231 | QProcess *p_down =new QProcess(); 232 | p_down->execute("python /home/tony/picture/down.py"); 233 | } 234 | 235 | void MainWindow::pushbutton_move_up() 236 | { 237 | QProcess *p_up =new QProcess(); 238 | p_up->execute("python /home/tony/picture/up.py"); 239 | } 240 | */ 241 | 242 | void MainWindow::keyPressEvent(QKeyEvent *event) 243 | { 244 | if(event->key()==Qt::Key_A) 245 | { 246 | //pushbutton_move_left(); 247 | //is_left = true; 248 | emit left(); 249 | } 250 | if(event->key()==Qt::Key_W) 251 | { 252 | //pushbutton_move_up(); 253 | //is_up = true; 254 | emit go(); 255 | } 256 | if(event->key()==Qt::Key_D) 257 | { 258 | //pushbutton_move_right(); 259 | //con->start(); 260 | //is_right = true; 261 | emit right(); 262 | } 263 | if(event->key()==Qt::Key_S) 264 | { 265 | //pushbutton_move_down(); 266 | //con->start(); 267 | // is_down = true; 268 | emit back(); 269 | } 270 | /*if(event->key()==Qt::Key_T) 271 | { 272 | emit finish(); 273 | }*/ 274 | } 275 | 276 | void MainWindow::mousePressEvent(QMouseEvent *even) 277 | { 278 | emit finish(); 279 | } 280 | 281 | /*void MainWindow::closeEvent(QCloseEvent *eve) 282 | { 283 | 284 | }*/ 285 | /*void MainWindow::keyReleaseEvent(QKeyEvent *even) 286 | { 287 | if(even->key()==Qt::Key_A) 288 | { 289 | is_left = false; 290 | } 291 | if(even->key()==Qt::Key_W) 292 | { 293 | is_up = false; 294 | } 295 | if(even->key()==Qt::Key_D) 296 | { 297 | is_right = false; 298 | } 299 | if(even->key()==Qt::Key_S) 300 | { 301 | is_down = false; 302 | } 303 | }*/ 304 | /* 305 | void MyThread::move_process() 306 | { 307 | QProcess *proc= new QProcess(); 308 | proc->execute("python /home/tony/picture/moveIcan_multi.py"); 309 | } 310 | void MyThread::movepicture() 311 | { 312 | timers = new QTimer(this); 313 | timers->setInterval(100); //set timer match with FPS 314 | 315 | connect(timers,SIGNAL(timeout()),this,SLOT(move_process())); 316 | 317 | timers->start(); 318 | } 319 | */ 320 | -------------------------------------------------------------------------------- /process_and_control/mainwindow.h: -------------------------------------------------------------------------------- 1 | #ifndef MAINWINDOW_H 2 | #define MAINWINDOW_H 3 | 4 | #include 5 | #include 6 | #include 7 | #include 8 | #include 9 | #include "control.h" 10 | 11 | namespace Ui { 12 | class MainWindow; 13 | } 14 | 15 | 16 | /*class MyThread:public QThread 17 | { 18 | Q_OBJECT 19 | protected: 20 | void movepicture(); 21 | private: 22 | QTimer *timers; 23 | private slots: 24 | void move_process(); 25 | };*/ 26 | 27 | 28 | class MainWindow : public QMainWindow 29 | { 30 | Q_OBJECT 31 | 32 | public: 33 | explicit MainWindow(QWidget *parent = 0); 34 | ~MainWindow(); 35 | 36 | 37 | private: 38 | Ui::MainWindow *ui; 39 | cv::Mat frame; 40 | cv::VideoCapture capture; 41 | QImage image; 42 | QTimer *timer; 43 | //QTimer *timers; 44 | double rate; //FPS 45 | void keyPressEvent(QKeyEvent *event); 46 | void mousePressEvent(QMouseEvent *even); 47 | //void closeEvent(QCloseEvent *eve); 48 | //void keyReleaseEvent(QKeyEvent *even); 49 | control *con; 50 | signals: 51 | void back(); 52 | void go(); 53 | void left(); 54 | void right(); 55 | void finish(); 56 | 57 | private slots : 58 | void nextFrame(); 59 | void process(); 60 | void pushbutton_open_clicked(); 61 | //void move_process(); 62 | /*void pushbutton_move_right(); 63 | void pushbutton_move_left(); 64 | void pushbutton_move_up(); 65 | void pushbutton_move_down();*/ 66 | }; 67 | 68 | #endif // MAINWINDOW_H 69 | -------------------------------------------------------------------------------- /process_and_control/mainwindow.ui: -------------------------------------------------------------------------------- 1 | 2 | 3 | MainWindow 4 | 5 | 6 | 7 | 0 8 | 0 9 | 636 10 | 407 11 | 12 | 13 | 14 | MainWindow 15 | 16 | 17 | 18 | 19 | 20 | 300 21 | 10 22 | 281 23 | 321 24 | 25 | 26 | 27 | TextLabel 28 | 29 | 30 | 31 | 32 | 33 | 110 34 | 260 35 | 81 36 | 31 37 | 38 | 39 | 40 | border-image: url(:/new/Icon/image/play.jpg); 41 | 42 | 43 | 44 | 45 | 46 | true 47 | 48 | 49 | 50 | 51 | 52 | 110 53 | 220 54 | 81 55 | 31 56 | 57 | 58 | 59 | border-image: url(:/new/Icon/image/up.jpg); 60 | 61 | 62 | 63 | 64 | 65 | true 66 | 67 | 68 | 69 | 70 | 71 | 20 72 | 260 73 | 81 74 | 31 75 | 76 | 77 | 78 | border-image: url(:/new/Icon/image/left.jpg); 79 | 80 | 81 | 82 | 83 | 84 | true 85 | 86 | 87 | 88 | 89 | 90 | 110 91 | 300 92 | 81 93 | 31 94 | 95 | 96 | 97 | border-image: url(:/new/Icon/image/down.jpg); 98 | 99 | 100 | 101 | 102 | 103 | true 104 | 105 | 106 | 107 | 108 | 109 | 200 110 | 260 111 | 81 112 | 31 113 | 114 | 115 | 116 | border-image: url(:/new/Icon/image/right.jpg); 117 | 118 | 119 | 120 | 121 | 122 | true 123 | 124 | 125 | 126 | 127 | 128 | 20 129 | 10 130 | 99 131 | 27 132 | 133 | 134 | 135 | Show Picture 136 | 137 | 138 | 139 | 140 | 141 | 20 142 | 40 143 | 99 144 | 27 145 | 146 | 147 | 148 | Flash Light 149 | 150 | 151 | 152 | 153 | 154 | 50 155 | 170 156 | 206 157 | 29 158 | 159 | 160 | 161 | 162 | 163 | 164 | Floating 165 | 166 | 167 | 168 | 169 | 170 | 171 | Sink 172 | 173 | 174 | 175 | 176 | 177 | 178 | 179 | 180 | 181 | 0 182 | 0 183 | 636 184 | 31 185 | 186 | 187 | 188 | 189 | 水下机器人 190 | 191 | 192 | 193 | 194 | 195 | 196 | TopToolBarArea 197 | 198 | 199 | false 200 | 201 | 202 | 203 | 204 | 205 | 206 | 207 | -------------------------------------------------------------------------------- /process_and_control/move-picture.cpp.autosave: -------------------------------------------------------------------------------- 1 | #inc 2 | 3 | -------------------------------------------------------------------------------- /process_and_control/move_picture.cpp: -------------------------------------------------------------------------------- 1 | #include "move_picture.h" 2 | 3 | void movepic::run() 4 | { 5 | timers = new QTimer(this); 6 | timers->setInterval(8000); 7 | connect(timers,SIGNAL(timeout()),this,SLOT(move_process())); 8 | timers->start(); 9 | } 10 | 11 | void movepic::move_process() 12 | { 13 | QProcess *proc= new QProcess(); 14 | proc->execute("python /home/tony/picture/moveIcan_multi.py"); 15 | } 16 | -------------------------------------------------------------------------------- /process_and_control/move_picture.h: -------------------------------------------------------------------------------- 1 | #ifndef MOVEPICTURE 2 | #define MOVEPICTURE 3 | 4 | #include 5 | #include 6 | #include 7 | 8 | class movepic : public QThread 9 | { 10 | Q_OBJECT 11 | public: 12 | movepic() {} 13 | virtual ~movepic() {} 14 | void run(); 15 | void stop(); 16 | private: 17 | QTimer *timers; 18 | private slots: 19 | void move_process(); 20 | }; 21 | #endif // MOVEPICTURE 22 | 23 | -------------------------------------------------------------------------------- /process_and_control/movepicture.cpp: -------------------------------------------------------------------------------- 1 | #include "movepicture.h" 2 | #include 3 | 4 | void movepic::run() 5 | { 6 | /*timers = new QTimer(this); 7 | timers->setInterval(1000); 8 | connect(timers,SIGNAL(timeout()),this,SLOT(move_process())); 9 | timers->start();*/ 10 | while(1) 11 | { 12 | qDebug()<<"god is good"; 13 | QProcess proc; 14 | proc.start("python /home/zlm/picture/moveIcan_multi.py"); 15 | sleep(10); 16 | } 17 | } 18 | 19 | /*void movepic::move_process() 20 | { 21 | qDebug()<<"god is good"; 22 | QProcess *proc= new QProcess(); 23 | proc->start("python /home/tony/picture/moveIcan_multi.py"); 24 | } 25 | */ 26 | -------------------------------------------------------------------------------- /process_and_control/movepicture.h: -------------------------------------------------------------------------------- 1 | #ifndef MOVEPICTURE 2 | #define MOVEPICTURE 3 | 4 | #include 5 | #include 6 | //#include "qtimer.h" 7 | class movepic : public QThread 8 | { 9 | Q_OBJECT 10 | public: 11 | movepic() {} 12 | virtual ~movepic() {} 13 | void run(); 14 | void stop(); 15 | /*private: 16 | QTimer *timers;*/ 17 | /*private slots: 18 | void move_process();*/ 19 | }; 20 | #endif // MOVEPICTURE 21 | 22 | -------------------------------------------------------------------------------- /process_and_control/process_and_control.pro: -------------------------------------------------------------------------------- 1 | #------------------------------------------------- 2 | # 3 | # Project created by QtCreator 2017-08-03T14:55:02 4 | # 5 | #------------------------------------------------- 6 | 7 | QT += core gui 8 | 9 | greaterThan(QT_MAJOR_VERSION, 4): QT += widgets 10 | 11 | TARGET = process_and_control 12 | TEMPLATE = app 13 | 14 | 15 | SOURCES += main.cpp\ 16 | mainwindow.cpp \ 17 | control.cpp \ 18 | movepicture.cpp 19 | 20 | 21 | 22 | INCLUDEPATH += /usr/local/include \ 23 | /usr/local/include/opencv \ 24 | /usr/local/include/opencv2 25 | 26 | LIBS += /usr/local/lib/libopencv_highgui.so \ 27 | /usr/local/lib/libopencv_core.so \ 28 | /usr/local/lib/libopencv_imgproc.so \ 29 | /usr/local/lib/libopencv_imgcodecs.so\ 30 | /usr/local/lib/libopencv_videoio.so \ 31 | /usr/local/lib/libopencv_video.so \ 32 | /usr/local/lib/libopencv_videostab.so \ 33 | /usr/local/lib/libopencv_calib3d.so \ 34 | /usr/local/lib/libopencv_features2d.so \ 35 | /usr/local/lib/libopencv_flann.so \ 36 | /usr/local/lib/libopencv_ml.so \ 37 | /usr/local/lib/libopencv_objdetect.so \ 38 | /usr/local/lib/libopencv_photo.so \ 39 | /usr/local/lib/libopencv_shape.so \ 40 | /usr/local/lib/libopencv_stitching.so \ 41 | /usr/local/lib/libopencv_superres.so 42 | 43 | HEADERS += mainwindow.h \ 44 | control.h \ 45 | movepicture.h 46 | 47 | FORMS += mainwindow.ui 48 | 49 | RESOURCES += \ 50 | res.qrc 51 | -------------------------------------------------------------------------------- /process_and_control/process_and_control.pro.user: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | EnvironmentId 7 | {0c778919-7beb-478f-84d5-c77d01300b3a} 8 | 9 | 10 | ProjectExplorer.Project.ActiveTarget 11 | 0 12 | 13 | 14 | ProjectExplorer.Project.EditorSettings 15 | 16 | true 17 | false 18 | true 19 | 20 | Cpp 21 | 22 | CppGlobal 23 | 24 | 25 | 26 | QmlJS 27 | 28 | 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true 77 | 78 | false 79 | false 80 | false 81 | 82 | 83 | true 84 | Make 85 | 86 | Qt4ProjectManager.MakeStep 87 | 88 | -w 89 | -r 90 | 91 | false 92 | 93 | 94 | 95 | 2 96 | 构建 97 | 98 | ProjectExplorer.BuildSteps.Build 99 | 100 | 101 | 102 | true 103 | Make 104 | 105 | Qt4ProjectManager.MakeStep 106 | 107 | -w 108 | -r 109 | 110 | true 111 | clean 112 | 113 | 114 | 1 115 | 清理 116 | 117 | ProjectExplorer.BuildSteps.Clean 118 | 119 | 2 120 | false 121 | 122 | Debug 123 | 124 | Qt4ProjectManager.Qt4BuildConfiguration 125 | 2 126 | true 127 | 128 | 129 | /home/zlm/build-process_and_control-unknown-Release 130 | 131 | 132 | true 133 | qmake 134 | 135 | QtProjectManager.QMakeBuildStep 136 | false 137 | true 138 | 139 | false 140 | false 141 | false 142 | 143 | 144 | true 145 | Make 146 | 147 | Qt4ProjectManager.MakeStep 148 | 149 | -w 150 | -r 151 | 152 | false 153 | 154 | 155 | 156 | 2 157 | 构建 158 | 159 | ProjectExplorer.BuildSteps.Build 160 | 161 | 162 | 163 | true 164 | Make 165 | 166 | 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250 | false 251 | true 252 | false 253 | false 254 | true 255 | 256 | 1 257 | 258 | 259 | 260 | ProjectExplorer.Project.TargetCount 261 | 1 262 | 263 | 264 | ProjectExplorer.Project.Updater.FileVersion 265 | 18 266 | 267 | 268 | Version 269 | 18 270 | 271 | 272 | -------------------------------------------------------------------------------- /process_and_control/process_and_control.pro.user.71f0cca: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | EnvironmentId 7 | {71f0cca2-5c00-4013-b120-7eaa239ff54a} 8 | 9 | 10 | ProjectExplorer.Project.ActiveTarget 11 | 0 12 | 13 | 14 | ProjectExplorer.Project.EditorSettings 15 | 16 | true 17 | false 18 | true 19 | 20 | Cpp 21 | 22 | CppGlobal 23 | 24 | 25 | 26 | QmlJS 27 | 28 | QmlJSGlobal 29 | 30 | 31 | 2 32 | UTF-8 33 | false 34 | 4 35 | false 36 | 80 37 | true 38 | true 39 | 1 40 | true 41 | false 42 | 0 43 | true 44 | 0 45 | 8 46 | true 47 | 1 48 | true 49 | true 50 | true 51 | false 52 | 53 | 54 | 55 | ProjectExplorer.Project.PluginSettings 56 | 57 | 58 | 59 | ProjectExplorer.Project.Target.0 60 | 61 | 桌面 62 | 桌面 63 | {51bfdf70-b38b-4e7d-88dd-eefc916b2067} 64 | 1 65 | 0 66 | 0 67 | 68 | /home/tony/build-process_and_control-unknown-Debug 69 | 70 | 71 | true 72 | qmake 73 | 74 | QtProjectManager.QMakeBuildStep 75 | false 76 | true 77 | 78 | false 79 | false 80 | false 81 | 82 | 83 | true 84 | Make 85 | 86 | Qt4ProjectManager.MakeStep 87 | 88 | -w 89 | -r 90 | 91 | false 92 | 93 | 94 | 95 | 2 96 | 构建 97 | 98 | ProjectExplorer.BuildSteps.Build 99 | 100 | 101 | 102 | true 103 | Make 104 | 105 | Qt4ProjectManager.MakeStep 106 | 107 | -w 108 | -r 109 | 110 | true 111 | clean 112 | 113 | 114 | 1 115 | 清理 116 | 117 | ProjectExplorer.BuildSteps.Clean 118 | 119 | 2 120 | false 121 | 122 | Debug 123 | 124 | Qt4ProjectManager.Qt4BuildConfiguration 125 | 2 126 | true 127 | 128 | 129 | /home/tony/build-process_and_control-unknown-Release 130 | 131 | 132 | true 133 | qmake 134 | 135 | QtProjectManager.QMakeBuildStep 136 | false 137 | true 138 | 139 | false 140 | false 141 | false 142 | 143 | 144 | true 145 | Make 146 | 147 | Qt4ProjectManager.MakeStep 148 | 149 | -w 150 | -r 151 | 152 | false 153 | 154 | 155 | 156 | 2 157 | 构建 158 | 159 | ProjectExplorer.BuildSteps.Build 160 | 161 | 162 | 163 | true 164 | Make 165 | 166 | Qt4ProjectManager.MakeStep 167 | 168 | -w 169 | -r 170 | 171 | true 172 | clean 173 | 174 | 175 | 1 176 | 清理 177 | 178 | ProjectExplorer.BuildSteps.Clean 179 | 180 | 2 181 | false 182 | 183 | Release 184 | 185 | Qt4ProjectManager.Qt4BuildConfiguration 186 | 0 187 | true 188 | 189 | 2 190 | 191 | 192 | 0 193 | 部署 194 | 195 | ProjectExplorer.BuildSteps.Deploy 196 | 197 | 1 198 | 在本地部署 199 | 200 | ProjectExplorer.DefaultDeployConfiguration 201 | 202 | 1 203 | 204 | 205 | 206 | false 207 | false 208 | false 209 | false 210 | true 211 | 0.01 212 | 10 213 | true 214 | 1 215 | 25 216 | 217 | 1 218 | true 219 | false 220 | true 221 | valgrind 222 | 223 | 0 224 | 1 225 | 2 226 | 3 227 | 4 228 | 5 229 | 6 230 | 7 231 | 8 232 | 9 233 | 10 234 | 11 235 | 12 236 | 13 237 | 14 238 | 239 | 2 240 | 241 | process_and_control 242 | 243 | Qt4ProjectManager.Qt4RunConfiguration:/home/tony/process_and_control/process_and_control.pro 244 | 245 | process_and_control.pro 246 | false 247 | false 248 | 249 | 3768 250 | false 251 | true 252 | false 253 | false 254 | true 255 | 256 | 1 257 | 258 | 259 | 260 | ProjectExplorer.Project.TargetCount 261 | 1 262 | 263 | 264 | ProjectExplorer.Project.Updater.FileVersion 265 | 18 266 | 267 | 268 | Version 269 | 18 270 | 271 | 272 | -------------------------------------------------------------------------------- /process_and_control/res.qrc: -------------------------------------------------------------------------------- 1 | 2 | 3 | image/down.jpg 4 | image/left.jpg 5 | image/play.jpg 6 | image/right.jpg 7 | image/up.jpg 8 | 9 | 10 | -------------------------------------------------------------------------------- /process_and_control/res.qrc.autosave: -------------------------------------------------------------------------------- 1 | 2 | 3 | image/down.jpg 4 | image/left.jpg 5 | image/play.jpg 6 | image/right.jpg 7 | image/up.jpg 8 | image/bump.png 9 | 10 | 11 | -------------------------------------------------------------------------------- /pythonDemo/README.md: -------------------------------------------------------------------------------- 1 | python代码说明 2 | 3 | pythonDemo 中为qt中调用的外部Python程序 4 | 5 | 6 | 杀死进程相关 7 | 8 | kill_pid_all.py 9 | “”“ 10 | 杀死全部python进程 11 | ”“” 12 | 13 | kill_pid_one.py 14 | “”“ 15 | 杀死单一python进程 16 | ”“” 17 | 18 | kill_pid_one_sleep.py 19 | “”“ 20 | 杀死单一进程（睡眠） 21 | ”“” 22 | 23 | 控制水下部分的python程序，分别对应的方向为：后退、前进、下潜、上浮、右转、左转 24 | back.py 25 | go.py 26 | down.py 27 | up.py 28 | turn-right.py 29 | turn-left.py 30 | 31 | 控制灯的亮灭 32 | light.py 33 | 34 | 清除所有引脚状态 35 | cleanup.2.py 36 | 37 | 杀死上一个Python进程 38 | pid_copy.py 39 | 40 | 将产生的可疑图片定时移动到指定的路径下 41 | moveIcan_multi.py 42 | 43 | -------------------------------------------------------------------------------- /pythonDemo/back.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | # -*- coding: utf-8 -* 3 | 4 | #p5 p6 left-machin xiadianjiqudong in3 in4 5 | #p2 p3 right-machin xiadianjiqudong in1 in2 6 | #p9 p10 up-down-machin shangdianjiqudong in2 in1 7 | 8 | import RPi.GPIO as GPIO 9 | import time 10 | import signal 11 | import atexit 12 | import sys 13 | import time 14 | 15 | atexit.register(GPIO.cleanup) 16 | 17 | servopin1 = 1 18 | servopin2 = 2 19 | servopin3 = 3 20 | servopin4 = 4 21 | servopin5 = 5 22 | servopin6 = 6 23 | servopin7 = 7 24 | servopin8 = 8 25 | servopin9 = 9 26 | servopin10 = 10 27 | 28 | GPIO.setmode(GPIO.BCM) 29 | 30 | GPIO.setup(servopin1, GPIO.OUT, initial=False) 31 | GPIO.setup(servopin2, GPIO.OUT, initial=False) 32 | GPIO.setup(servopin3, GPIO.OUT, initial=False) 33 | GPIO.setup(servopin4, GPIO.OUT, initial=False) 34 | GPIO.setup(servopin5, GPIO.OUT, initial=False) 35 | GPIO.setup(servopin6, GPIO.OUT, initial=False) 36 | GPIO.setup(servopin7, GPIO.OUT, initial=False) 37 | GPIO.setup(servopin8, GPIO.OUT, initial=False) 38 | GPIO.setup(servopin9, GPIO.OUT, initial=False) 39 | GPIO.setup(servopin10, GPIO.OUT, initial=False) 40 | 41 | p1 = GPIO.PWM(servopin1,50) #50HZ 42 | p2 = GPIO.PWM(servopin2,50) #50HZ 43 | p3 = GPIO.PWM(servopin3,50) #50HZ 44 | p4 = GPIO.PWM(servopin4,50) #50HZ 45 | p5 = GPIO.PWM(servopin5,50) #50HZ 46 | p6 = GPIO.PWM(servopin6,50) #50HZ 47 | p7 = GPIO.PWM(servopin7,50) #50HZ 48 | p8 = GPIO.PWM(servopin8,50) #50HZ 49 | p9 = GPIO.PWM(servopin9,50) #50HZ 50 | p10 = GPIO.PWM(servopin10,50) #50HZ 51 | 52 | p1.start(0) 53 | p2.start(0) 54 | p3.start(0) 55 | p4.start(0) 56 | p5.start(0) 57 | p6.start(0) 58 | p7.start(0) 59 | p8.start(0) 60 | p9.start(0) 61 | p10.start(0) 62 | 63 | 64 | time.sleep(0.02) 65 | 66 | pin1 = 1 67 | pin2 = 2 68 | pin3 = 3 69 | pin4 = 4 70 | pin5 = 5 71 | pin6 = 6 72 | pin7 = 7 73 | pin8 = 8 74 | pin9 = 9 75 | pin10 = 10 76 | 77 | 78 | GPIO.setwarnings(False) 79 | GPIO.setup(pin1,GPIO.OUT) 80 | GPIO.setup(pin2,GPIO.OUT) 81 | GPIO.setup(pin3,GPIO.OUT) 82 | GPIO.setup(pin4,GPIO.OUT) 83 | GPIO.setup(pin5,GPIO.OUT) 84 | GPIO.setup(pin6,GPIO.OUT) 85 | GPIO.setup(pin7,GPIO.OUT) 86 | GPIO.setup(pin8,GPIO.OUT) 87 | GPIO.setup(pin9,GPIO.OUT) 88 | GPIO.setup(pin10,GPIO.OUT) 89 | 90 | 91 | while(True): 92 | #for i in range(0,100,1): 93 | GPIO.output(pin2,True) #left-machin 94 | GPIO.output(pin3,False) #turn-right 95 | 96 | GPIO.output(pin1,True) #light 97 | GPIO.output(pin4,False) 98 | 99 | GPIO.output(pin5,True) #right-machin 100 | GPIO.output(pin6,False) #turn-left 101 | 102 | #GPIO.output(pin9,False) #up down 103 | #GPIO.output(pin10,True) 104 | 105 | #GPIO.output(pin9,True) 106 | #GPIO.output(pin10,False) 107 | #time.sleep(0.01) 108 | #break 109 | 110 | 111 | -------------------------------------------------------------------------------- /pythonDemo/cleanup.2.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | # -*- coding: utf-8 -* 3 | 4 | 5 | import RPi.GPIO as GPIO 6 | import time 7 | import signal 8 | import atexit 9 | import sys 10 | import time 11 | 12 | atexit.register(GPIO.cleanup) 13 | 14 | servopin1 = 1 15 | servopin2 = 2 16 | servopin3 = 3 17 | servopin4 = 4 18 | servopin5 = 5 19 | servopin6 = 6 20 | servopin7 = 7 21 | servopin8 = 8 22 | 23 | GPIO.setmode(GPIO.BCM) 24 | 25 | GPIO.setup(servopin1, GPIO.OUT, initial=False) 26 | GPIO.setup(servopin2, GPIO.OUT, initial=False) 27 | GPIO.setup(servopin3, GPIO.OUT, initial=False) 28 | GPIO.setup(servopin4, GPIO.OUT, initial=False) 29 | GPIO.setup(servopin5, GPIO.OUT, initial=False) 30 | GPIO.setup(servopin6, GPIO.OUT, initial=False) 31 | GPIO.setup(servopin7, GPIO.OUT, initial=False) 32 | GPIO.setup(servopin8, GPIO.OUT, initial=False) 33 | 34 | p1 = GPIO.PWM(servopin1,50) #50HZ 35 | p2 = GPIO.PWM(servopin2,50) #50HZ 36 | p3 = GPIO.PWM(servopin3,50) #50HZ 37 | p4 = GPIO.PWM(servopin4,50) #50HZ 38 | p5 = GPIO.PWM(servopin5,50) #50HZ 39 | p6 = GPIO.PWM(servopin6,50) #50HZ 40 | p7 = GPIO.PWM(servopin7,50) #50HZ 41 | p8 = GPIO.PWM(servopin8,50) #50HZ 42 | 43 | p1.start(0) 44 | p2.start(0) 45 | p3.start(0) 46 | p4.start(0) 47 | p5.start(0) 48 | p6.start(0) 49 | p7.start(0) 50 | p8.start(0) 51 | 52 | time.sleep(0.02) 53 | 54 | pin1 = 1 55 | pin2 = 2 56 | pin3 = 3 57 | pin4 = 4 58 | pin5 = 5 59 | pin6 = 6 60 | pin7 = 7 61 | pin8 = 8 62 | 63 | 64 | GPIO.setwarnings(False) 65 | GPIO.setup(pin1,GPIO.OUT) 66 | GPIO.setup(pin2,GPIO.OUT) 67 | GPIO.setup(pin3,GPIO.OUT) 68 | GPIO.setup(pin4,GPIO.OUT) 69 | GPIO.setup(pin5,GPIO.OUT) 70 | GPIO.setup(pin6,GPIO.OUT) 71 | GPIO.setup(pin7,GPIO.OUT) 72 | GPIO.setup(pin8,GPIO.OUT) 73 | 74 | atexit.register(GPIO.cleanup) 75 | 76 | 77 | 78 | -------------------------------------------------------------------------------- /pythonDemo/down.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | # -*- coding: utf-8 -* 3 | 4 | #p2 p3 left-machin xiadianjiqudong in3 in4 5 | #p5 p6 right-machin xiadianjiqudong in1 in2 6 | #p9 p10 up-down-machin shangdianjiqudong in2 in1 7 | 8 | import RPi.GPIO as GPIO 9 | import time 10 | import signal 11 | import atexit 12 | import sys 13 | import time 14 | 15 | atexit.register(GPIO.cleanup) 16 | 17 | servopin1 = 1 18 | servopin2 = 2 19 | servopin3 = 3 20 | servopin4 = 4 21 | servopin5 = 5 22 | servopin6 = 6 23 | servopin7 = 7 24 | servopin8 = 8 25 | servopin9 = 9 26 | servopin10 = 10 27 | 28 | GPIO.setmode(GPIO.BCM) 29 | 30 | GPIO.setup(servopin1, GPIO.OUT, initial=False) 31 | GPIO.setup(servopin2, GPIO.OUT, initial=False) 32 | GPIO.setup(servopin3, GPIO.OUT, initial=False) 33 | GPIO.setup(servopin4, GPIO.OUT, initial=False) 34 | GPIO.setup(servopin5, GPIO.OUT, initial=False) 35 | GPIO.setup(servopin6, GPIO.OUT, initial=False) 36 | GPIO.setup(servopin7, GPIO.OUT, initial=False) 37 | GPIO.setup(servopin8, GPIO.OUT, initial=False) 38 | GPIO.setup(servopin9, GPIO.OUT, initial=False) 39 | GPIO.setup(servopin10, GPIO.OUT, initial=False) 40 | 41 | p1 = GPIO.PWM(servopin1,50) #50HZ 42 | p2 = GPIO.PWM(servopin2,50) #50HZ 43 | p3 = GPIO.PWM(servopin3,50) #50HZ 44 | p4 = GPIO.PWM(servopin4,50) #50HZ 45 | p5 = GPIO.PWM(servopin5,50) #50HZ 46 | p6 = GPIO.PWM(servopin6,50) #50HZ 47 | p7 = GPIO.PWM(servopin7,50) #50HZ 48 | p8 = GPIO.PWM(servopin8,50) #50HZ 49 | p9 = GPIO.PWM(servopin9,50) #50HZ 50 | p10 = GPIO.PWM(servopin10,50) #50HZ 51 | 52 | p1.start(0) 53 | p2.start(0) 54 | p3.start(0) 55 | p4.start(0) 56 | p5.start(0) 57 | p6.start(0) 58 | p7.start(0) 59 | p8.start(0) 60 | p9.start(0) 61 | p10.start(0) 62 | 63 | 64 | time.sleep(0.02) 65 | 66 | pin1 = 1 67 | pin2 = 2 68 | pin3 = 3 69 | pin4 = 4 70 | pin5 = 5 71 | pin6 = 6 72 | pin7 = 7 73 | pin8 = 8 74 | pin9 = 9 75 | pin10 = 10 76 | 77 | 78 | GPIO.setwarnings(False) 79 | GPIO.setup(pin1,GPIO.OUT) 80 | GPIO.setup(pin2,GPIO.OUT) 81 | GPIO.setup(pin3,GPIO.OUT) 82 | GPIO.setup(pin4,GPIO.OUT) 83 | GPIO.setup(pin5,GPIO.OUT) 84 | GPIO.setup(pin6,GPIO.OUT) 85 | GPIO.setup(pin7,GPIO.OUT) 86 | GPIO.setup(pin8,GPIO.OUT) 87 | GPIO.setup(pin9,GPIO.OUT) 88 | GPIO.setup(pin10,GPIO.OUT) 89 | 90 | 91 | while(True): 92 | #for i in range(0,100,1): 93 | #GPIO.output(pin2,False) #left machin 94 | #GPIO.output(pin3,True) 95 | 96 | GPIO.output(pin1,True) #light 97 | GPIO.output(pin4,False) 98 | 99 | #GPIO.output(pin5,False) #right 100 | #GPIO.output(pin6,True) 101 | 102 | GPIO.output(pin9,True) #down 103 | GPIO.output(pin10,False) 104 | 105 | #GPIO.output(pin9,True) 106 | #GPIO.output(pin10,False) 107 | #time.sleep(0.01) 108 | #break 109 | 110 | 111 | -------------------------------------------------------------------------------- /pythonDemo/go.py: -------------------------------------------------------------------------------- 1 | 2 | #!/usr/bin/env python 3 | # -*- coding: utf-8 -* 4 | 5 | #p5 p6 left-machin xiadianjiqudong in3 in4 6 | #p2 p3 right-machin xiadianjiqudong in1 in2 7 | #p9 p10 up-down-machin shangdianjiqudong in2 in1 8 | 9 | import RPi.GPIO as GPIO 10 | import time 11 | import signal 12 | import atexit 13 | import sys 14 | import time 15 | 16 | atexit.register(GPIO.cleanup) 17 | 18 | servopin1 = 1 19 | servopin2 = 2 20 | servopin3 = 3 21 | servopin4 = 4 22 | servopin5 = 5 23 | servopin6 = 6 24 | servopin7 = 7 25 | servopin8 = 8 26 | servopin9 = 9 27 | servopin10 = 10 28 | 29 | GPIO.setmode(GPIO.BCM) 30 | 31 | GPIO.setup(servopin1, GPIO.OUT, initial=False) 32 | GPIO.setup(servopin2, GPIO.OUT, initial=False) 33 | GPIO.setup(servopin3, GPIO.OUT, initial=False) 34 | GPIO.setup(servopin4, GPIO.OUT, initial=False) 35 | GPIO.setup(servopin5, GPIO.OUT, initial=False) 36 | GPIO.setup(servopin6, GPIO.OUT, initial=False) 37 | GPIO.setup(servopin7, GPIO.OUT, initial=False) 38 | GPIO.setup(servopin8, GPIO.OUT, initial=False) 39 | GPIO.setup(servopin9, GPIO.OUT, initial=False) 40 | GPIO.setup(servopin10, GPIO.OUT, initial=False) 41 | 42 | p1 = GPIO.PWM(servopin1,50) #50HZ 43 | p2 = GPIO.PWM(servopin2,50) #50HZ 44 | p3 = GPIO.PWM(servopin3,50) #50HZ 45 | p4 = GPIO.PWM(servopin4,50) #50HZ 46 | p5 = GPIO.PWM(servopin5,50) #50HZ 47 | p6 = GPIO.PWM(servopin6,50) #50HZ 48 | p7 = GPIO.PWM(servopin7,50) #50HZ 49 | p8 = GPIO.PWM(servopin8,50) #50HZ 50 | p9 = GPIO.PWM(servopin9,50) #50HZ 51 | p10 = GPIO.PWM(servopin10,50) #50HZ 52 | 53 | p1.start(0) 54 | p2.start(0) 55 | p3.start(0) 56 | p4.start(0) 57 | p5.start(0) 58 | p6.start(0) 59 | p7.start(0) 60 | p8.start(0) 61 | p9.start(0) 62 | p10.start(0) 63 | 64 | 65 | time.sleep(0.02) 66 | 67 | pin1 = 1 68 | pin2 = 2 69 | pin3 = 3 70 | pin4 = 4 71 | pin5 = 5 72 | pin6 = 6 73 | pin7 = 7 74 | pin8 = 8 75 | pin9 = 9 76 | pin10 = 10 77 | 78 | 79 | GPIO.setwarnings(False) 80 | GPIO.setup(pin1,GPIO.OUT) 81 | GPIO.setup(pin2,GPIO.OUT) 82 | GPIO.setup(pin3,GPIO.OUT) 83 | GPIO.setup(pin4,GPIO.OUT) 84 | GPIO.setup(pin5,GPIO.OUT) 85 | GPIO.setup(pin6,GPIO.OUT) 86 | GPIO.setup(pin7,GPIO.OUT) 87 | GPIO.setup(pin8,GPIO.OUT) 88 | GPIO.setup(pin9,GPIO.OUT) 89 | GPIO.setup(pin10,GPIO.OUT) 90 | 91 | 92 | while(True): 93 | #for i in range(0,100,1): 94 | GPIO.output(pin5,False) #left-machin 95 | GPIO.output(pin6,True) #turn-right 96 | 97 | #GPIO.output(pin1,True) #light 98 | #GPIO.output(pin4,False) 99 | 100 | GPIO.output(pin2,False) #right-machin 101 | GPIO.output(pin3,True) #turn-left 102 | 103 | #GPIO.output(pin9,False) #up down 104 | #GPIO.output(pin10,True) 105 | 106 | #GPIO.output(pin9,True) 107 | #GPIO.output(pin10,False) 108 | #time.sleep(0.01) 109 | #break 110 | 111 | 112 | -------------------------------------------------------------------------------- /pythonDemo/kill_pid_all.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | # -*- coding: utf-8 -* 3 | """ 4 | 同时结束多个的python脚本进程 5 | """ 6 | #导入相关的包 7 | import os 8 | import time 9 | import subprocess 10 | 11 | #将当前系统中执行python脚本的进程信息输出到临时文件文件 12 | os.system('ps -e | grep python >jincheng.txt') 13 | 14 | #time.sleep(1) 15 | 16 | #打开临时文件并读取每一行的数据 17 | with open('jincheng.txt','r') as f: 18 | lis=f.readlines() 19 | 20 | #遍历每一行的数据 21 | for li in lis: 22 | try: 23 | #截取PID并将其杀死 24 | string=int(li[0:5]) 25 | string=str(string) 26 | subprocess.call(['kill','-2',string]) 27 | except: 28 | print('没有杀死进程！！！') 29 | #string=f.read()[1:5] 30 | 31 | #pid = int(string) 32 | 33 | #kill -SIGINT pid 34 | 35 | #string='-SIGINT '+string 36 | 37 | #subprocess.call(['kill','-2',string]) 38 | 39 | #f.close() 40 | #关闭文件io 41 | os.remove('./jincheng.txt') 42 | -------------------------------------------------------------------------------- /pythonDemo/kill_pid_one.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | # -*- coding: utf-8 -* 3 | ''' 4 | 结束单一的python脚本进程 5 | ''' 6 | #导入包 7 | import os 8 | import time #定时模块 9 | import subprocess #执行终端命令模块 10 | 11 | #将当前系统中执行python脚本的进程信息输出到临时文件文件 12 | os.system('ps -e | grep python >jincheng.txt') 13 | 14 | #time.sleep(1) 15 | 16 | #打开临时文件 17 | f = open('jincheng.txt','r') 18 | #读取临时文件并提取其中的数据 19 | string=f.read()[1:5] 20 | 21 | #pid = int(string) 22 | 23 | #kill -SIGINT pid 24 | 25 | #string='-SIGINT '+string 26 | 27 | #杀死进程 28 | subprocess.call(['kill','-2',string]) 29 | 30 | #关闭文件IO 31 | f.close() 32 | 33 | #删除临时文件 34 | os.remove('./jincheng.txt') 35 | -------------------------------------------------------------------------------- /pythonDemo/kill_pid_one_sleep.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | # -*- coding: utf-8 -* 3 | ''' 4 | 结束单一的python脚本进程 5 | ''' 6 | #导入包 7 | import os 8 | import time 9 | import subprocess 10 | 11 | #将当前系统中执行python脚本的进程信息输出到临时文件文件 12 | os.system('ps -e | grep python >jincheng.txt') 13 | #睡眠10秒钟 14 | time.sleep(10) 15 | 16 | #打开文件 17 | f = open('jincheng.txt','r') 18 | 19 | #读取数据提取PID 20 | string=f.read()[1:5] 21 | 22 | #pid = int(string) 23 | 24 | #杀死进程 25 | subprocess.call(['kill',' -15 '+string]) 26 | #关闭文件 27 | f.close() 28 | #删除临时文件 29 | os.remove('./jincheng.txt') 30 | -------------------------------------------------------------------------------- /pythonDemo/light.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | # -*- coding: utf-8 -* 3 | 4 | import RPi.GPIO as GPIO 5 | import time 6 | import signal 7 | import atexit 8 | import sys 9 | import time 10 | 11 | atexit.register(GPIO.cleanup) 12 | 13 | servopin1 = 1 14 | servopin2 = 2 15 | servopin3 = 3 16 | servopin4 = 4 17 | servopin5 = 5 18 | servopin6 = 6 19 | servopin7 = 7 20 | servopin8 = 8 21 | servopin9 = 9 22 | servopin10 = 10 23 | servopin21 = 21 24 | 25 | GPIO.setmode(GPIO.BCM) 26 | 27 | GPIO.setup(servopin1, GPIO.OUT, initial=False) 28 | GPIO.setup(servopin2, GPIO.OUT, initial=False) 29 | GPIO.setup(servopin3, GPIO.OUT, initial=False) 30 | GPIO.setup(servopin4, GPIO.OUT, initial=False) 31 | GPIO.setup(servopin5, GPIO.OUT, initial=False) 32 | GPIO.setup(servopin6, GPIO.OUT, initial=False) 33 | GPIO.setup(servopin7, GPIO.OUT, initial=False) 34 | GPIO.setup(servopin8, GPIO.OUT, initial=False) 35 | GPIO.setup(servopin9, GPIO.OUT, initial=False) 36 | GPIO.setup(servopin10, GPIO.OUT, initial=False) 37 | GPIO.setup(servopin21, GPIO.OUT, initial=False) 38 | 39 | p1 = GPIO.PWM(servopin1,50) #50HZ 40 | p2 = GPIO.PWM(servopin2,50) #50HZ 41 | p3 = GPIO.PWM(servopin3,50) #50HZ 42 | p4 = GPIO.PWM(servopin4,50) #50HZ 43 | p5 = GPIO.PWM(servopin5,50) #50HZ 44 | p6 = GPIO.PWM(servopin6,50) #50HZ 45 | p7 = GPIO.PWM(servopin7,50) #50HZ 46 | p8 = GPIO.PWM(servopin8,50) #50HZ 47 | p9 = GPIO.PWM(servopin9,50) #50HZ 48 | p10 = GPIO.PWM(servopin10,50) #50HZ 49 | p21 = GPIO.PWM(servopin21,50) #50HZ 50 | 51 | p1.start(0) 52 | p2.start(0) 53 | p3.start(0) 54 | p4.start(0) 55 | p5.start(0) 56 | p6.start(0) 57 | p7.start(0) 58 | p8.start(0) 59 | p9.start(0) 60 | p10.start(0) 61 | p21.start(0) 62 | 63 | 64 | time.sleep(0.02) 65 | 66 | pin1 = 1 67 | pin2 = 2 68 | pin3 = 3 69 | pin4 = 4 70 | pin5 = 5 71 | pin6 = 6 72 | pin7 = 7 73 | pin8 = 8 74 | pin9 = 9 75 | pin10 = 10 76 | pin21 = 21 77 | 78 | 79 | GPIO.setwarnings(False) 80 | GPIO.setup(pin1,GPIO.OUT) 81 | GPIO.setup(pin2,GPIO.OUT) 82 | GPIO.setup(pin3,GPIO.OUT) 83 | GPIO.setup(pin4,GPIO.OUT) 84 | GPIO.setup(pin5,GPIO.OUT) 85 | GPIO.setup(pin6,GPIO.OUT) 86 | GPIO.setup(pin7,GPIO.OUT) 87 | GPIO.setup(pin8,GPIO.OUT) 88 | GPIO.setup(pin9,GPIO.OUT) 89 | GPIO.setup(pin10,GPIO.OUT) 90 | GPIO.setup(pin21,GPIO.OUT) 91 | 92 | 93 | while(True): 94 | #for i in range(0,100,1): 95 | #GPIO.output(pin2,False) #left-machin 96 | #GPIO.output(pin3,True) #turn-right 97 | 98 | GPIO.output(pin1,False) #light 99 | GPIO.output(pin4,True) 100 | 101 | #GPIO.output(pin5,False) #right-machin 102 | #GPIO.output(pin6,True) #turn-left 103 | 104 | #GPIO.output(pin9,False) #up down 105 | #GPIO.output(pin10,True) 106 | 107 | #GPIO.output(pin9,True) 108 | #GPIO.output(pin10,False) 109 | #time.sleep(0.01) 110 | #break 111 | 112 | 113 | -------------------------------------------------------------------------------- /pythonDemo/moveIcan_multi.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/python 2 | #-*- coding:UTF-8 -*- 3 | 4 | import os 5 | import shutil 6 | import time 7 | 8 | def moveFile(): 9 | # 原文件目录 10 | url = '/home/zlm/build-process_and_control-unknown-Debug/' 11 | # 目标目录 12 | desUrl = '/home/zlm/picture/' 13 | # 封装e判断目录 14 | file_names = os.listdir(url) 15 | for name_bat in file_names: 16 | # os.rename(url+name,url+'可疑图'+str(i)+'.jpg') 17 | # i+=1 18 | if name_bat.endswith('.bat'): 19 | # 实现文件转储 20 | shutil.move(url + name_bat, desUrl + name_bat) 21 | name_avi = name_bat.split('.')[0] 22 | os.rename(url+name_bat,desUrl+name_avi+'.avi') 23 | 24 | def main(): 25 | #定义临时变量 26 | temp = 0 27 | #i = 0 28 | #原文件目录 29 | url = '/home/zlm/build-process_and_control-unknown-Debug/' 30 | #目标目录 31 | desUrl = '/home/zlm/picture/' 32 | #封装e判断目录 33 | file_names = os.listdir(url) 34 | #获取目标目录 35 | des_dir = os.listdir(desUrl) 36 | temp = len(des_dir) 37 | for name in file_names: 38 | # os.rename(url+name,url+'可疑图'+str(i)+'.jpg') 39 | # i+=1 40 | if name.startswith('可疑'): 41 | #实现文件转储 42 | temp+=1 43 | shutil.move(url+name,desUrl+'可疑图'+str(temp)+'.'+name.split('.')[1]) 44 | 45 | #bat文件转储＋格式修改 46 | moveFile() 47 | if __name__=='__main__': 48 | main() 49 | -------------------------------------------------------------------------------- /pythonDemo/turn-left.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | # -*- coding: utf-8 -* 3 | 4 | #p5 p6 left-machin xiadianjiqudong in3 in4 5 | #p2 p3 right-machin xiadianjiqudong in1 in2 6 | #p9 p10 up-down-machin shangdianjiqudong in2 in1 7 | 8 | import RPi.GPIO as GPIO 9 | import time 10 | import signal 11 | import atexit 12 | import sys 13 | import time 14 | 15 | atexit.register(GPIO.cleanup) 16 | 17 | servopin1 = 1 18 | servopin2 = 2 19 | servopin3 = 3 20 | servopin4 = 4 21 | servopin5 = 5 22 | servopin6 = 6 23 | servopin7 = 7 24 | servopin8 = 8 25 | servopin9 = 9 26 | servopin10 = 10 27 | 28 | GPIO.setmode(GPIO.BCM) 29 | 30 | GPIO.setup(servopin1, GPIO.OUT, initial=False) 31 | GPIO.setup(servopin2, GPIO.OUT, initial=False) 32 | GPIO.setup(servopin3, GPIO.OUT, initial=False) 33 | GPIO.setup(servopin4, GPIO.OUT, initial=False) 34 | GPIO.setup(servopin5, GPIO.OUT, initial=False) 35 | GPIO.setup(servopin6, GPIO.OUT, initial=False) 36 | GPIO.setup(servopin7, GPIO.OUT, initial=False) 37 | GPIO.setup(servopin8, GPIO.OUT, initial=False) 38 | GPIO.setup(servopin9, GPIO.OUT, initial=False) 39 | GPIO.setup(servopin10, GPIO.OUT, initial=False) 40 | 41 | p1 = GPIO.PWM(servopin1,50) #50HZ 42 | p2 = GPIO.PWM(servopin2,50) #50HZ 43 | p3 = GPIO.PWM(servopin3,50) #50HZ 44 | p4 = GPIO.PWM(servopin4,50) #50HZ 45 | p5 = GPIO.PWM(servopin5,50) #50HZ 46 | p6 = GPIO.PWM(servopin6,50) #50HZ 47 | p7 = GPIO.PWM(servopin7,50) #50HZ 48 | p8 = GPIO.PWM(servopin8,50) #50HZ 49 | p9 = GPIO.PWM(servopin9,50) #50HZ 50 | p10 = GPIO.PWM(servopin10,50) #50HZ 51 | 52 | p1.start(0) 53 | p2.start(0) 54 | p3.start(0) 55 | p4.start(0) 56 | p5.start(0) 57 | p6.start(0) 58 | p7.start(0) 59 | p8.start(0) 60 | p9.start(0) 61 | p10.start(0) 62 | 63 | 64 | time.sleep(0.02) 65 | 66 | pin1 = 1 67 | pin2 = 2 68 | pin3 = 3 69 | pin4 = 4 70 | pin5 = 5 71 | pin6 = 6 72 | pin7 = 7 73 | pin8 = 8 74 | pin9 = 9 75 | pin10 = 10 76 | 77 | 78 | GPIO.setwarnings(False) 79 | GPIO.setup(pin1,GPIO.OUT) 80 | GPIO.setup(pin2,GPIO.OUT) 81 | GPIO.setup(pin3,GPIO.OUT) 82 | GPIO.setup(pin4,GPIO.OUT) 83 | GPIO.setup(pin5,GPIO.OUT) 84 | GPIO.setup(pin6,GPIO.OUT) 85 | GPIO.setup(pin7,GPIO.OUT) 86 | GPIO.setup(pin8,GPIO.OUT) 87 | GPIO.setup(pin9,GPIO.OUT) 88 | GPIO.setup(pin10,GPIO.OUT) 89 | 90 | 91 | while(True): 92 | #for i in range(0,100,1): 93 | #GPIO.output(pin5,False) #left 94 | #GPIO.output(pin6,True) 95 | 96 | GPIO.output(pin1,True) #light 97 | GPIO.output(pin4,False) 98 | 99 | GPIO.output(pin2,False) #right-machin 100 | GPIO.output(pin3,True) #turn-left 101 | 102 | #GPIO.output(pin9,False) #up down 103 | #GPIO.output(pin10,True) 104 | 105 | #GPIO.output(pin9,True) 106 | #GPIO.output(pin10,False) 107 | #time.sleep(0.01) 108 | #break 109 | 110 | 111 | -------------------------------------------------------------------------------- /pythonDemo/turn-right.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | # -*- coding: utf-8 -* 3 | 4 | #p5 p6 left-machin xiadianjiqudong in3 in4 5 | #p2 p3 right-machin xiadianjiqudong in1 in2 6 | #p9 p10 up-down-machin shangdianjiqudong in2 in1 7 | 8 | import RPi.GPIO as GPIO 9 | import time 10 | import signal 11 | import atexit 12 | import sys 13 | import time 14 | 15 | atexit.register(GPIO.cleanup) 16 | 17 | servopin1 = 1 18 | servopin2 = 2 19 | servopin3 = 3 20 | servopin4 = 4 21 | servopin5 = 5 22 | servopin6 = 6 23 | servopin7 = 7 24 | servopin8 = 8 25 | servopin9 = 9 26 | servopin10 = 10 27 | 28 | GPIO.setmode(GPIO.BCM) 29 | 30 | GPIO.setup(servopin1, GPIO.OUT, initial=False) 31 | GPIO.setup(servopin2, GPIO.OUT, initial=False) 32 | GPIO.setup(servopin3, GPIO.OUT, initial=False) 33 | GPIO.setup(servopin4, GPIO.OUT, initial=False) 34 | GPIO.setup(servopin5, GPIO.OUT, initial=False) 35 | GPIO.setup(servopin6, GPIO.OUT, initial=False) 36 | GPIO.setup(servopin7, GPIO.OUT, initial=False) 37 | GPIO.setup(servopin8, GPIO.OUT, initial=False) 38 | GPIO.setup(servopin9, GPIO.OUT, initial=False) 39 | GPIO.setup(servopin10, GPIO.OUT, initial=False) 40 | 41 | p1 = GPIO.PWM(servopin1,50) #50HZ 42 | p2 = GPIO.PWM(servopin2,50) #50HZ 43 | p3 = GPIO.PWM(servopin3,50) #50HZ 44 | p4 = GPIO.PWM(servopin4,50) #50HZ 45 | p5 = GPIO.PWM(servopin5,50) #50HZ 46 | p6 = GPIO.PWM(servopin6,50) #50HZ 47 | p7 = GPIO.PWM(servopin7,50) #50HZ 48 | p8 = GPIO.PWM(servopin8,50) #50HZ 49 | p9 = GPIO.PWM(servopin9,50) #50HZ 50 | p10 = GPIO.PWM(servopin10,50) #50HZ 51 | 52 | p1.start(0) 53 | p2.start(0) 54 | p3.start(0) 55 | p4.start(0) 56 | p5.start(0) 57 | p6.start(0) 58 | p7.start(0) 59 | p8.start(0) 60 | p9.start(0) 61 | p10.start(0) 62 | 63 | 64 | time.sleep(0.02) 65 | 66 | pin1 = 1 67 | pin2 = 2 68 | pin3 = 3 69 | pin4 = 4 70 | pin5 = 5 71 | pin6 = 6 72 | pin7 = 7 73 | pin8 = 8 74 | pin9 = 9 75 | pin10 = 10 76 | 77 | 78 | GPIO.setwarnings(False) 79 | GPIO.setup(pin1,GPIO.OUT) 80 | GPIO.setup(pin2,GPIO.OUT) 81 | GPIO.setup(pin3,GPIO.OUT) 82 | GPIO.setup(pin4,GPIO.OUT) 83 | GPIO.setup(pin5,GPIO.OUT) 84 | GPIO.setup(pin6,GPIO.OUT) 85 | GPIO.setup(pin7,GPIO.OUT) 86 | GPIO.setup(pin8,GPIO.OUT) 87 | GPIO.setup(pin9,GPIO.OUT) 88 | GPIO.setup(pin10,GPIO.OUT) 89 | 90 | 91 | while(True): 92 | #for i in range(0,100,1): 93 | GPIO.output(pin5,False) #left-machin 94 | GPIO.output(pin6,True) #turn-right 95 | 96 | #GPIO.output(pin1,True) #light 97 | #GPIO.output(pin4,False) 98 | 99 | #GPIO.output(pin2,False) #right-machin 100 | #GPIO.output(pin3,True) #turn-left 101 | 102 | #GPIO.output(pin9,False) #up down 103 | #GPIO.output(pin10,True) 104 | 105 | #GPIO.output(pin9,True) 106 | #GPIO.output(pin10,False) 107 | #time.sleep(0.01) 108 | #break 109 | 110 | 111 | -------------------------------------------------------------------------------- /pythonDemo/up.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | # -*- coding: utf-8 -* 3 | 4 | #p2 p3 left-machin xiadianjiqudong in3 in4 5 | #p5 p6 right-machin xiadianjiqudong in1 in2 6 | #p9 p10 up-down-machin shangdianjiqudong in2 in1 7 | 8 | import RPi.GPIO as GPIO 9 | import time 10 | import signal 11 | import atexit 12 | import sys 13 | 14 | atexit.register(GPIO.cleanup) 15 | 16 | servopin1 = 1 17 | servopin2 = 2 18 | servopin3 = 3 19 | servopin4 = 4 20 | servopin5 = 5 21 | servopin6 = 6 22 | servopin7 = 7 23 | servopin8 = 8 24 | servopin9 = 9 25 | servopin10 = 10 26 | 27 | GPIO.setmode(GPIO.BCM) 28 | 29 | GPIO.setup(servopin1, GPIO.OUT, initial=False) 30 | GPIO.setup(servopin2, GPIO.OUT, initial=False) 31 | GPIO.setup(servopin3, GPIO.OUT, initial=False) 32 | GPIO.setup(servopin4, GPIO.OUT, initial=False) 33 | GPIO.setup(servopin5, GPIO.OUT, initial=False) 34 | GPIO.setup(servopin6, GPIO.OUT, initial=False) 35 | GPIO.setup(servopin7, GPIO.OUT, initial=False) 36 | GPIO.setup(servopin8, GPIO.OUT, initial=False) 37 | GPIO.setup(servopin9, GPIO.OUT, initial=False) 38 | GPIO.setup(servopin10, GPIO.OUT, initial=False) 39 | 40 | p1 = GPIO.PWM(servopin1,50) #50HZ 41 | p2 = GPIO.PWM(servopin2,50) #50HZ 42 | p3 = GPIO.PWM(servopin3,50) #50HZ 43 | p4 = GPIO.PWM(servopin4,50) #50HZ 44 | p5 = GPIO.PWM(servopin5,50) #50HZ 45 | p6 = GPIO.PWM(servopin6,50) #50HZ 46 | p7 = GPIO.PWM(servopin7,50) #50HZ 47 | p8 = GPIO.PWM(servopin8,50) #50HZ 48 | p9 = GPIO.PWM(servopin9,50) #50HZ 49 | p10 = GPIO.PWM(servopin10,50) #50HZ 50 | 51 | p1.start(0) 52 | p2.start(0) 53 | p3.start(0) 54 | p4.start(0) 55 | p5.start(0) 56 | p6.start(0) 57 | p7.start(0) 58 | p8.start(0) 59 | p9.start(0) 60 | p10.start(0) 61 | 62 | 63 | time.sleep(0.02) 64 | 65 | pin1 = 1 66 | pin2 = 2 67 | pin3 = 3 68 | pin4 = 4 69 | pin5 = 5 70 | pin6 = 6 71 | pin7 = 7 72 | pin8 = 8 73 | pin9 = 9 74 | pin10 = 10 75 | 76 | 77 | GPIO.setwarnings(False) 78 | GPIO.setup(pin1,GPIO.OUT) 79 | GPIO.setup(pin2,GPIO.OUT) 80 | GPIO.setup(pin3,GPIO.OUT) 81 | GPIO.setup(pin4,GPIO.OUT) 82 | GPIO.setup(pin5,GPIO.OUT) 83 | GPIO.setup(pin6,GPIO.OUT) 84 | GPIO.setup(pin7,GPIO.OUT) 85 | GPIO.setup(pin8,GPIO.OUT) 86 | GPIO.setup(pin9,GPIO.OUT) 87 | GPIO.setup(pin10,GPIO.OUT) 88 | 89 | 90 | while(True): 91 | #for i in range(0,100,1): 92 | #GPIO.output(pin2,False) #left 93 | #GPIO.output(pin3,True) 94 | 95 | GPIO.output(pin1,True) #light 96 | GPIO.output(pin4,False) 97 | 98 | #GPIO.output(pin5,False) #right 99 | #GPIO.output(pin6,True) 100 | 101 | GPIO.output(pin9,False) #up 102 | GPIO.output(pin10,True) 103 | 104 | #GPIO.output(pin9,True) 105 | #GPIO.output(pin10,False) 106 | #time.sleep(0.01) 107 | #break 108 | 109 | 110 | --------------------------------------------------------------------------------