caperren/osurc_mars_rover_2017_2018
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Auto-sleep of background cameras works. Dynamic changing of resolutions also works.

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This commit is contained in:
Corwin Perren
2018-01-25 16:11:47 -08:00
parent 7397153412
commit 006f11af65
1 changed files with 16 additions and 10 deletions
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26
software/ground_station/Framework/VideoSystems/RoverVideoCoordinator.py
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@@ -66,6 +66,8 @@ class RoverVideoCoordinator(QtCore.QThread):
self.secondary_label_max_resolution = -1
self.tertiary_label_max_resolution = -1
self.first_image_received = False
def run(self):
self.logger.debug("Starting Video Coordinator Thread")
@@ -74,7 +76,7 @@ class RoverVideoCoordinator(QtCore.QThread):
while self.run_thread_flag:
self.__set_max_resolutions()
# self.__toggle_background_cameras_if_needed()
self.__toggle_background_cameras_if_needed()
self.msleep(10)
self.__wait_for_camera_threads()
@@ -102,16 +104,17 @@ class RoverVideoCoordinator(QtCore.QThread):
TERTIARY_LABEL_MAX)
def __toggle_background_cameras_if_needed(self):
enabled = list({self.primary_label_current_setting, self.secondary_label_current_setting,
self.tertiary_label_current_setting})
if self.first_image_received:
enabled = list({self.primary_label_current_setting, self.secondary_label_current_setting,
self.tertiary_label_current_setting})
for camera_index, camera_name in enumerate(self.valid_cameras):
if camera_index not in enabled:
self.camera_threads[camera_name].toggle_video_display()
self.disabled_cameras.append(camera_index)
elif camera_index in self.disabled_cameras:
self.camera_threads[camera_name].toggle_video_display()
self.disabled_cameras.remove(camera_index)
for camera_index, camera_name in enumerate(self.valid_cameras):
if camera_index not in enabled and camera_index not in self.disabled_cameras:
self.camera_threads[camera_name].toggle_video_display()
self.disabled_cameras.append(camera_index)
elif camera_index in enabled and camera_index in self.disabled_cameras:
self.camera_threads[camera_name].toggle_video_display()
self.disabled_cameras.remove(camera_index)
def __get_cameras(self):
topics = rospy.get_published_topics(CAMERA_TOPIC_PATH)
@@ -174,6 +177,9 @@ class RoverVideoCoordinator(QtCore.QThread):
self.camera_threads[self.valid_cameras[self.tertiary_label_current_setting]].toggle_video_display()
def pixmap_ready__slot(self, camera):
if not self.first_image_received:
self.first_image_received = True
if self.valid_cameras[self.primary_label_current_setting] == camera:
self.primary_video_display_label.setPixmap(self.camera_threads[camera].pixmap_1280x720_image)