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First Stable Release: SentryBOT Robot Platform DeskGUI Module
This commit includes the PyQt5 based desktop control and monitoring interface developed for the SentryBOT robot platform. bugs expected
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‎debug_imports.py‎

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

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

‎encodings.pickle‎

3.24 KB
Binary file not shown.

‎finger/finger.py‎

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

‎finger/hand_combinations_map.json‎

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

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