如何解决运行此脚本时，Python/Kivy UI 变得无响应
你好，stackoverflow 的人们， 我创建了一个控制代码，用于从两个罗技 Extreme 3d pro 游戏杆获取输入并转换数据，然后将该数据发送到 arduino mega。控制代码运行完美，但是当我向其中添加 UI 代码（基于 kivy）时，当控制代码运行时，UI 变得无响应。我试过线程化应用程序，将控制代码移动到一个单独的文件，并使用 kivy 包含的 clock.schedule_interval 函数。这些解决方案似乎都不适合我。我已经为您提供了 .kv 文件、主 python 文件和控制代码文件。
import pygame
import serial
import os,sys
import numpy as np
from threading import Thread
# function to map servo/motor data dependent on joystick input
def map(joy,min,max,omin,omax):
return float((((joy - min) * (omax - omin)) / (max - min)) + omin)
# same as above but used for the corner values of the joystick
def mapc(joy1,joy2,min1,max1,min2,max2,omax):
return float((((((joy1 - min1) * (omax - omin)) / (max1 - min1)) + omin) + ((((joy2 - min2) * (omax - omin)) / (max2 - min2)) + omin)) / 2)
class JoysticksClass:
def __init__(self):
# Create the array with all the data
self.Data = [1500,1500,2200,0]
# Create the arduino port
self.ard = serial.Serial('dev/ttyACM0',230400,timeout = 0.01)
# Initialize pygame and the joysticks
pygame.init()
pygame.joystick.init()
# Connect the joysticks dumbfuck
# The while loop should only run if the joysticks arent connected
run = False
while run == False:
try:
self.Joy1 = pygame.joystick.Joystick(0)
self.Joy2 = pygame.joystick.Joystick(1)
except:
print("Connect the joysticks you dumb fuck")
time.sleep(5)
# Create the weights for turning and shit
self.x_weight = 0.4
self.y_weight = 0.4
self.z_height = 0.2
# Create the timer
self.Timer = 0
# This gathers the data from the joysticks
# DON'T FUCK WITH IT
def JoyRead(self):
self.Joy1X = self.Joy1.get_axis(0)
self.Joy1Y = self.Joy1.get_axis(1)
self.Joy1Z = self.Joy1.get_axis(2)
self.Joy1S = self.Joy1.get_axis(3)
self.Joy1B1 = self.Joy1.get_button(0)
self.Joy1B3 = self.Joy1.get_button(2)
self.Joy1B6 = self.Joy1.get_button(5)
self.Joy1B7 = self.Joy1.get_button(6)
self.Joy1B8 = self.Joy1.get_button(7)
self.Joy1B9 = self.Joy1.get_button(8)
self.Joy1B10 = self.Joy1.get_button(9)
self.Joy2X = self.Joy2.get_axis(0)
self.Joy2Y = self.Joy2.get_axis(1)
self.Joy2Z = self.Joy2.get_axis(2)
self.Joy2S = self.Joy2.get_axis(3)
self.Joy2B1 = self.Joy2.get_button(0)
self.Joy2B3 = self.Joy2.get_button(2)
self.Joy2B5 = self.Joy2.get_button(4)
self.Joy1H = self.Joy1.get_hat(0)
def JoyConv(self):
# Horizontal Movement
x_movement = self.Joy1X * 1
y_movement = self.Joy1Y * -1
z_movement = self.Joy1Z * 1
# Deadzones
if x_movement > -0.1 and x_movement < 0.1:
x_movement = 0
if y_movement > -0.1 and y_movement < 0.1:
y_movement = 0
if z_movement > -0.1 and z_movement < 0.1:
z_movement = 0
M1 = ((x_movement * self.x_weight) + (y_movement * self.y_weight) + (-z_movement * self.z_weight))
M2 = ((-x_movement * self.x_weight) + (y_movement * self.y_weight) + (z_movement * self.z_weight))
self.Data[0] = map(M1,-0.8,0.8,1000,2000)
self.Data[1] = map(M2,2000)
# Vertical movement
self.Data[2] = map(self.Joy1S,-1,1,2000)
# S1 = Tilt
if round(map(self.Joy2Y,2200)) > 1600 and self.S1_Data < 2200 and self.Timer % 50 == 0:
self.Data[3] = self.Data[3] + 7
elif round(map(self.Joy2Y,2200)) < 1400 and self.S1_Data > 1000 and self.Timer % 50 == 0:
self.Data[3] = self.Data[3] - 7
else:
self.Data[3] = self.Data[3]
# S2 = Twist
self.Data[4] = map(self.Joy2X,2000)
# S3 = Claw
self.Data[5] = map(self.Joy2S,1800)
# S4 = Camera
if self.Joy1H == (0,-1) and self.Data[6] <= 2200 and self.Timer % 10 == 0:
self.Data[6] = self.Data[6] + 5
elif self.Joy1H == (0,1) and self.Data[6] >= 800 and self.Timer % 10 == 0:
self.Data[6] = self.Data[6] - 5
else:
self.Data[6] = self.Data[6]
# Lights
if self.Joy1H == (1,0) and self.Timer % 5 == 0:
self.Data[7] = 1
if self.Joy1H == (-1,0) and self.Timer % 5 == 0:
self.Data[7] = 0
# Increment the timer
self.Timer = self.Timer + 1
# Send the data to the arduino
def STA(self):
MotorData = str(self.Data)
MotorData = MotorData.replace('[','')
MotorData = MotorData.replace(']','\n')
DataByteArray = bytearray(MotorData,'ascii')
if self.ard.inWaiting():
self.ard.write(DataByteArray)
data = self.ard.readline()
print(MotorData,data)
主python文件：
import control_code
# Call all the kivy dependent functions and libraries
from kivy.app import App
from kivy.uix.widget import Widget
from kivy.uix.gridlayout import GridLayout
from kivy.uix.image import Image
from kivy.uix.label import Label
from kivy.uix.button import Button
from kivy.clock import Clock
from kivy.graphics.texture import Texture
from kivy.lang import Builder
from kivy.uix.tabbedpanel import TabbedPanel
from kivy.properties import ObjectProperty,NumericProperty
# Define the main class to run everything else
class Main(GridLayout):
def start_Press(self):
self.joy = control_code.JoysticksClass()
Clock.schedule_interval(Control(),0.001)
def Transect_Press(self):
return 0
def Subway_Press(self):
return 0
def Mussels_Press(self):
return 0
def ImageRec_Press(self):
return 0
def Control(self):
self.joy.JoyRead()
self.joy.JoyConv()
self.joy.STA()
print(self.joy.Data)
def Transect(self):
return 0
def Subway(self):
return 0
def Mussels(self):
return 0
def ImageRec(self):
return 0
class MainClass(App):
def build(self):
self.load_kv('main.kv')
return Main()
if __name__ == '__main__':
MainClass().run()
以及与之配套的 kv 文件：
rows: 2
cols: 1
GridLayout:
rows: 1
cols: 2
size_hint: 1,1
Button:
text: "Autonomous Output Place Holder"
GridLayout:
rows: 4
cols: 1
size_hint: 0.3,1
Button:
text: "Start Button"
on_release: root.start_Press()
Button:
text: "Start Transect Line"
on_release: root.Transect_Press()
Button:
text: "Start Subway Car"
on_release: root.Subway_Press()
Button:
text: "Start Vision Recognition"
on_release: root.Mussels_Press()
GridLayout:
rows: 1
cols: 2
size_hint: 1,0.3
Button:
text: "Diagnostic Panel"
Button:
text: "Stop Button"
size_hint: 0.3,1
on_release: exit()
一如既往的任何帮助都会非常有帮助。 如果代码没有按照预期的方式格式化，我也很抱歉
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