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Added check for ros master on startup. More work on video coordinator.

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Corwin Perren
2018-01-23 12:54:01 -08:00
parent 6270f7380f
commit 03706408d3
6 changed files with 209 additions and 91 deletions
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95
ground_station/.idea/workspace.xml generated
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45
ground_station/Framework/StartupSystems/ROSMasterChecker.py Normal file
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@@ -0,0 +1,45 @@
#####################################
# Imports
#####################################
# Python native imports
from PyQt5 import QtCore, QtGui, QtWidgets
import time
import logging
import socket
import rospy
# Custom Imports
#####################################
# Global Variables
#####################################
#####################################
# RoverVideoReceiver Class Definition
#####################################
class ROSMasterChecker(QtCore.QThread):
def __init__(self):
super(ROSMasterChecker, self).__init__()
# ########## Class Variables ##########
self.ros_master_present = False
self.start_time = time.time()
self.start()
def run(self):
try:
master = rospy.get_master()
master.getPid()
self.ros_master_present = True
except socket.error:
return
def master_present(self, timeout):
while self.isRunning() and (time.time() - self.start_time) < timeout:
self.msleep(100)
return self.ros_master_present

0
ground_station/Framework/StartupSystems/__init__.py Normal file
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65
ground_station/Framework/VideoSystems/RoverVideoCoordinator.py
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@@ -14,15 +14,17 @@ from cv_bridge import CvBridge
from sensor_msgs.msg import CompressedImage from sensor_msgs.msg import CompressedImage
# Custom Imports # Custom Imports
import RoverVideoReceiver
##################################### #####################################
# Global Variables # Global Variables
##################################### #####################################
FONT = cv2.FONT_HERSHEY_TRIPLEX CAMERA_TOPIC_PATH = "/cameras"
EXCLUDED_CAMERAS = ["zed"]
##################################### #####################################
# RoverVideoReceiver Class Definition # RoverVideoCoordinator Class Definition
##################################### #####################################
class RoverVideoCoordinator(QtCore.QThread): class RoverVideoCoordinator(QtCore.QThread):
def __init__(self, shared_objects): def __init__(self, shared_objects):
@@ -44,24 +46,59 @@ class RoverVideoCoordinator(QtCore.QThread):
# ########## Thread Flags ########## # ########## Thread Flags ##########
self.run_thread_flag = True self.run_thread_flag = True
self.setup_cameras_flag = True
# ########## Class Variables ##########
self.global_start_signal = None
self.global_connect_signals_and_slots_signal = None
self.global_kill_signal = None
self.valid_cameras = []
self.camera_threads = {}
# ########## Setup cameras ##########
self.__get_cameras()
self.__setup_video_threads()
def run(self): def run(self):
self.logger.debug("Starting Video Coordinator Thread") self.logger.debug("Starting Video Coordinator Thread")
topics = rospy.get_published_topics("/cameras")
for group in topics:
main_topic = group[0]
last_section_topic = main_topic.split("/")[-1]
if "image_" in main_topic and "zed" not in main_topic and last_section_topic == "compressed" :
print group[0]
while self.run_thread_flag: while self.run_thread_flag:
if self.setup_cameras_flag:
self.setup_cameras_flag = False
self.msleep(100) self.msleep(100)
self.__wait_for_camera_threads()
self.logger.debug("Stopping Video Coordinator Thread") self.logger.debug("Stopping Video Coordinator Thread")
def _get_cameras(self): def __get_cameras(self):
topics = rospy.get_published_topics(CAMERA_TOPIC_PATH)
names = []
for topics_group in topics:
main_topic = topics_group[0]
camera_name = main_topic.split("/")[2]
names.append(camera_name)
names = set(names)
for camera in EXCLUDED_CAMERAS:
if camera in names:
names.remove(camera)
self.valid_cameras = list(names)
def __setup_video_threads(self):
for camera in self.valid_cameras:
self.camera_threads[camera] = RoverVideoReceiver.RoverVideoReceiver(camera)
def __wait_for_camera_threads(self):
for camera in self.camera_threads:
self.camera_threads[camera].wait()
def connect_signals_and_slots(self): def connect_signals_and_slots(self):
pass pass
@@ -71,5 +108,9 @@ class RoverVideoCoordinator(QtCore.QThread):
signals_and_slots_signal.connect(self.connect_signals_and_slots) signals_and_slots_signal.connect(self.connect_signals_and_slots)
kill_signal.connect(self.on_kill_threads_requested__slot) kill_signal.connect(self.on_kill_threads_requested__slot)
for camera in self.camera_threads:
self.camera_threads[camera].setup_signals(start_signal, signals_and_slots_signal, kill_signal)
def on_kill_threads_requested__slot(self): def on_kill_threads_requested__slot(self):
self.run_thread_flag = False self.run_thread_flag = False

29
ground_station/Framework/VideoSystems/RoverVideoReceiver.py
View File

@@ -28,13 +28,11 @@ class RoverVideoReceiver(QtCore.QThread):
publish_message_signal = QtCore.pyqtSignal() publish_message_signal = QtCore.pyqtSignal()
image_ready_signal = QtCore.pyqtSignal() image_ready_signal = QtCore.pyqtSignal()
def __init__(self, shared_objects, video_display_label, topic_path): def __init__(self, camera_name):
super(RoverVideoReceiver, self).__init__() super(RoverVideoReceiver, self).__init__()
# ########## Reference to class init variables ########## # ########## Reference to class init variables ##########
self.shared_objects = shared_objects self.camera_name = camera_name
self.video_display_label = video_display_label # type:QtWidgets.QLabel
self.topic_path = topic_path
# ########## Get the settings instance ########## # ########## Get the settings instance ##########
self.settings = QtCore.QSettings() self.settings = QtCore.QSettings()
@@ -46,14 +44,13 @@ class RoverVideoReceiver(QtCore.QThread):
self.run_thread_flag = True self.run_thread_flag = True
# ########## Class Variables ########## # ########## Class Variables ##########
self.camera_title_name = self.camera_name.replace("_", " ").title()
self.topic_path = "/cameras/" + self.camera_name + "/image_640x360/compressed"
# Subscription variables # Subscription variables
# self.video_subscriber = rospy.Subscriber(self.topic_path, CompressedImage, self.video_subscriber = rospy.Subscriber(self.topic_path, CompressedImage,
# self.__image_data_received_callback) # type: rospy.Subscriber self.__image_data_received_callback) # type: rospy.Subscriber
self.subscription_queue_size = 10
# Steam name variable
self.video_name = self.topic_path.split("/")[2].replace("_", " ").title()
# Image variables # Image variables
self.raw_image = None self.raw_image = None
@@ -69,7 +66,7 @@ class RoverVideoReceiver(QtCore.QThread):
self.__set_local_callbacks() self.__set_local_callbacks()
def run(self): def run(self):
self.logger.debug("Starting \"%s\" Thread") self.logger.debug("Starting \"%s\" Camera Thread" % self.camera_title_name)
while self.run_thread_flag: while self.run_thread_flag:
if self.video_enabled: if self.video_enabled:
@@ -79,7 +76,7 @@ class RoverVideoReceiver(QtCore.QThread):
self.msleep(18) self.msleep(18)
self.logger.debug("Stopping \"%s\" Thread") self.logger.debug("Stopping \"%s\" Camera Thread" % self.camera_title_name)
def __show_video_enabled(self): def __show_video_enabled(self):
if self.new_frame: if self.new_frame:
@@ -98,14 +95,16 @@ class RoverVideoReceiver(QtCore.QThread):
self.new_frame = False self.new_frame = False
def __on_image_update_ready(self): def __on_image_update_ready(self):
self.video_display_label.setPixmap(self.pixmap) pass
# self.video_display_label.setPixmap(self.pixmap)
def __image_data_received_callback(self, raw_image): def __image_data_received_callback(self, raw_image):
self.raw_image = raw_image self.raw_image = raw_image
self.new_frame = True self.new_frame = True
def __set_local_callbacks(self): def __set_local_callbacks(self):
self.video_display_label.mouseDoubleClickEvent = self.toggle_video_display pass
# self.video_display_label.mouseDoubleClickEvent = self.toggle_video_display
def toggle_video_display(self, _): def toggle_video_display(self, _):
if self.video_enabled: if self.video_enabled:

66
ground_station/RoverGroundStation.py
View File

@@ -7,9 +7,11 @@ import sys
from PyQt5 import QtWidgets, QtCore, QtGui, uic from PyQt5 import QtWidgets, QtCore, QtGui, uic
import signal import signal
import rospy import rospy
import logging
import qdarkstyle import qdarkstyle
# Custom Imports # Custom Imports
import Framework.StartupSystems.ROSMasterChecker as ROSMasterChecker
import Framework.LoggingSystems.Logger as Logger import Framework.LoggingSystems.Logger as Logger
import Framework.VideoSystems.RoverVideoCoordinator as RoverVideoCoordinator import Framework.VideoSystems.RoverVideoCoordinator as RoverVideoCoordinator
@@ -55,6 +57,8 @@ class GroundStation(QtCore.QObject):
LEFT_SCREEN_ID = 0 LEFT_SCREEN_ID = 0
RIGHT_SCREEN_ID = 1 RIGHT_SCREEN_ID = 1
exit_requested_signal = QtCore.pyqtSignal()
start_threads_signal = QtCore.pyqtSignal() start_threads_signal = QtCore.pyqtSignal()
connect_signals_and_slots_signal = QtCore.pyqtSignal() connect_signals_and_slots_signal = QtCore.pyqtSignal()
kill_threads_signal = QtCore.pyqtSignal() kill_threads_signal = QtCore.pyqtSignal()
@@ -63,7 +67,11 @@ class GroundStation(QtCore.QObject):
# noinspection PyArgumentList # noinspection PyArgumentList
super(GroundStation, self).__init__(parent) super(GroundStation, self).__init__(parent)
rospy.init_node("ground_station") # ##### Setup the Logger Immediately #####
self.logger_setup_class = Logger.Logger(console_output=True) # Doesn't need to be shared
# ########## Get the Pick And Plate instance of the logger ##########
self.logger = logging.getLogger("groundstation")
self.shared_objects = { self.shared_objects = {
"screens": {}, "screens": {},
@@ -71,7 +79,7 @@ class GroundStation(QtCore.QObject):
"threaded_classes": {} "threaded_classes": {}
} }
# ###### Instantiate Left And Right Screens ##### # ###### Instantiate Left And Right Screens ######
self.shared_objects["screens"]["left_screen"] = \ self.shared_objects["screens"]["left_screen"] = \
self.create_application_window(UI_FILE_LEFT, "Rover Ground Station Left Screen", self.create_application_window(UI_FILE_LEFT, "Rover Ground Station Left Screen",
self.LEFT_SCREEN_ID) # type: ApplicationWindow self.LEFT_SCREEN_ID) # type: ApplicationWindow
@@ -80,34 +88,27 @@ class GroundStation(QtCore.QObject):
self.create_application_window(UI_FILE_RIGHT, "Rover Ground Station Right Screen", self.create_application_window(UI_FILE_RIGHT, "Rover Ground Station Right Screen",
self.RIGHT_SCREEN_ID) # type: ApplicationWindow self.RIGHT_SCREEN_ID) # type: ApplicationWindow
# ##### Instantiate Simple Classes ##### # ###### Initialize the Ground Station Node ######
self.logger_setup_class = Logger.Logger(console_output=True) # Doesn't need to be shared rospy.init_node("ground_station")
# ##### Instantiate Threaded Classes ##### # ##### Instantiate Regular Classes ######
# ##### Instantiate Threaded Classes ######
self.__add_thread("Video Coordinator", RoverVideoCoordinator.RoverVideoCoordinator(self.shared_objects)) self.__add_thread("Video Coordinator", RoverVideoCoordinator.RoverVideoCoordinator(self.shared_objects))
# self.__add_thread("Primary Video",
# RoverVideoReceiver.RoverVideoReceiver(
# self.shared_objects,
# self.shared_objects["screens"]["right_screen"].primary_video_label,
# "/cameras/main_navigation/"))
# self.__add_thread("Secondary Video",
# RoverVideoReceiverOld.VideoTest(
# self.shared_objects,
# self.shared_objects["screens"]["right_screen"].secondary_video_label,
# (640, 360),
# sub_path="/cameras/chassis/image_640x360/compressed"))
# self.__add_thread("Tertiary Video",
# RoverVideoReceiverOld.VideoTest(
# self.shared_objects,
# self.shared_objects["screens"]["right_screen"].tertiary_video_label,
# (640, 360),
# sub_path="/cameras/undercarriage/image_640x360/compressed"))
self.connect_signals_and_slots_signal.emit() self.connect_signals_and_slots_signal.emit()
self.__connect_signals_to_slots() self.__connect_signals_to_slots()
self.start_threads_signal.emit() self.start_threads_signal.emit()
def ___ros_master_running(self):
checker = ROSMasterChecker.ROSMasterChecker()
if not checker.master_present(5):
self.logger.debug("ROS Master Not Found!!!! Exiting!!!")
QtGui.QGuiApplication.exit()
return False
return True
def __add_thread(self, thread_name, instance): def __add_thread(self, thread_name, instance):
self.shared_objects["threaded_classes"][thread_name] = instance self.shared_objects["threaded_classes"][thread_name] = instance
instance.setup_signals(self.start_threads_signal, self.connect_signals_and_slots_signal, instance.setup_signals(self.start_threads_signal, self.connect_signals_and_slots_signal,
@@ -121,8 +122,8 @@ class GroundStation(QtCore.QObject):
self.kill_threads_signal.emit() self.kill_threads_signal.emit()
# Wait for Threads # Wait for Threads
for thread in self.threads["threaded_classes"]: for thread in self.shared_objects["threaded_classes"]:
self.threads["threaded_classes"][thread].wait() self.shared_objects["threaded_classes"][thread].wait()
QtGui.QGuiApplication.exit() QtGui.QGuiApplication.exit()
@@ -152,13 +153,26 @@ class GroundStation(QtCore.QObject):
if __name__ == "__main__": if __name__ == "__main__":
signal.signal(signal.SIGINT, signal.SIG_DFL) # This allows the keyboard interrupt kill to work properly signal.signal(signal.SIGINT, signal.SIG_DFL) # This allows the keyboard interrupt kill to work properly
# ########## Start the QApplication Framework ##########
application = QtWidgets.QApplication(sys.argv) # Create the ase qt gui application application = QtWidgets.QApplication(sys.argv) # Create the ase qt gui application
application.setStyleSheet(qdarkstyle.load_stylesheet_pyqt5()) application.setStyleSheet(qdarkstyle.load_stylesheet_pyqt5())
# ########## Set Organization Details for QSettings ##########
QtCore.QCoreApplication.setOrganizationName("OSURC") QtCore.QCoreApplication.setOrganizationName("OSURC")
QtCore.QCoreApplication.setOrganizationDomain("http://osurobotics.club/") QtCore.QCoreApplication.setOrganizationDomain("http://osurobotics.club/")
QtCore.QCoreApplication.setApplicationName("groundstation") QtCore.QCoreApplication.setApplicationName("groundstation")
ground_station = GroundStation() # ########## Check ROS Master Status ##########
master_checker = ROSMasterChecker.ROSMasterChecker()
if not master_checker.master_present(5):
message_box = QtWidgets.QMessageBox()
message_box.setWindowTitle("Rover Ground Station")
message_box.setText("Connection to ROS Master Failed!!!\n" +
"Ensure ROS master is running or check for network issues.")
message_box.exec_()
exit()
# ########## Start Ground Station If Ready ##########
ground_station = GroundStation()
application.exec_() # Execute launching of the application application.exec_() # Execute launching of the application