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Started playing with the beginnings of this software. Video streams from 3 cameras works, and it broadcasts some simple drive control data.

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Corwin Perren
2017-11-18 01:45:33 -08:00
parent e17fbb3863
commit 03e268e4c9
13 changed files with 1113 additions and 0 deletions
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240
ground_station/RoverGroundStation.py Executable file
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#!/usr/bin/env python
"""
Main file used to launch the Rover Base Station
No other files should be used for launching this application.
"""
#####################################
# Imports
#####################################
# Python native imports
import sys
from PyQt5 import QtWidgets, QtCore, QtGui, uic
import signal
import rospy
import roslaunch
import os
import psutil
import subprocess
from cv_bridge import CvBridge, CvBridgeError
import cv2
import qimage2ndarray
from geometry_msgs.msg import Twist
from sensor_msgs.msg import CompressedImage
#from sensor_msgs.msg import Image, CompressedImage
# Custom Imports
#####################################
# Global Variables
#####################################
UI_FILE_LEFT = "resources/ui/left_screen.ui"
UI_FILE_RIGHT = "resources/ui/right_screen.ui"
#####################################
# Class Organization
#####################################
# Class Name:
# "init"
# "private methods"
# "public methods, minus slots"
# "slot methods"
# "static methods"
class VideoTest(QtCore.QThread):
ROS_CORE_COMMAND = ["roscore"]
publish_message_signal = QtCore.pyqtSignal()
image_ready_signal = QtCore.pyqtSignal()
def __init__(self, screen_label, video_size=None, sub_path=None):
super(VideoTest, self).__init__()
self.not_abort = True
self.right_screen_label = screen_label # type: QtGui.QPixmap
self.video_size = video_size
#rospy.init_node("video_test")
self.message = None
self.publisher = rospy.Subscriber(sub_path, CompressedImage, self.__receive_message)
self.raw_image = None
self.cv_image = None
self.pixmap = None
self.bridge = CvBridge()
# self.bridge.com
self.image_ready_signal.connect(self.__on_image_update_ready)
def run(self):
# TODO: Thread starting message here
while self.not_abort:
if self.raw_image:
self.cv_image = self.bridge.compressed_imgmsg_to_cv2(self.raw_image, "rgb8")
if self.video_size:
self.cv_image = cv2.resize(self.cv_image, self.video_size)
self.pixmap = QtGui.QPixmap.fromImage(qimage2ndarray.array2qimage(self.cv_image))
self.image_ready_signal.emit()
#print "doin stuff"
self.msleep(10)
# TODO: Thread ending message here
def __on_image_update_ready(self):
self.right_screen_label.setPixmap(self.pixmap)
def __receive_message(self, message):
#print "messgae"
self.raw_image = message
def setup_start_and_kill_signals(self, start_signal, kill_signal):
start_signal.connect(self.start)
kill_signal.connect(self.on_kill_threads_requested__slot)
def on_kill_threads_requested__slot(self):
self.not_abort = False
class DriveTest(QtCore.QThread):
ROS_CORE_COMMAND = ["roscore"]
publish_message_signal = QtCore.pyqtSignal()
def __init__(self):
super(DriveTest, self).__init__()
self.not_abort = True
self.message = None
self.publisher = rospy.Publisher("/cmd_vel", Twist, queue_size=10)
rospy.init_node("test")
def run(self):
# TODO: Thread starting message here
while self.not_abort:
self.message = Twist()
self.message.linear.x = 1.0
self.message.angular.z = 1.0
self.publisher.publish(self.message)
self.msleep(100)
# TODO: Thread ending message here
def __publish_message(self):
pass
def setup_start_and_kill_signals(self, start_signal, kill_signal):
start_signal.connect(self.start)
kill_signal.connect(self.on_kill_threads_requested__slot)
def on_kill_threads_requested__slot(self):
self.not_abort = False
#####################################
# ApplicationWindow Class Definition
#####################################
class ApplicationWindow(QtWidgets.QMainWindow):
exit_requested_signal = QtCore.pyqtSignal()
kill_threads_signal = QtCore.pyqtSignal()
def __init__(self, parent=None, ui_file_path=None):
super(ApplicationWindow, self).__init__(parent)
uic.loadUi(ui_file_path, self)
QtWidgets.QShortcut(QtGui.QKeySequence("Ctrl+Q"), self, self.exit_requested_signal.emit)
#####################################
# GroundStation Class Definition
#####################################
class GroundStation(QtCore.QObject):
LEFT_SCREEN_ID = 0
RIGHT_SCREEN_ID = 1
start_threads_signal = QtCore.pyqtSignal()
kill_threads_signal = QtCore.pyqtSignal()
def __init__(self, parent=None,):
# noinspection PyArgumentList
super(GroundStation, self).__init__(parent)
self.left_screen = self.create_application_window(UI_FILE_LEFT, "Rover Ground Station Left Screen",
self.LEFT_SCREEN_ID) # type: ApplicationWindow
self.right_screen = self.create_application_window(UI_FILE_RIGHT, "Rover Ground Station Right Screen",
self.RIGHT_SCREEN_ID) # type: ApplicationWindow
# Start ROSCORE
self.video_test = VideoTest(self.right_screen.primary_video_label, sub_path="/cam1/usb_cam1/image_raw/compressed")
self.video_test_1 = VideoTest(self.right_screen.secondary_video_label, (640, 360), sub_path="/cam2/usb_cam2/image_raw//compressed")
self.video_test_2 = VideoTest(self.right_screen.tertiary_video_label, (640, 360), sub_path="/zed/right/image_raw_color/compressed")
self.drive_test = DriveTest()
# Keep track of all threads
self.threads = []
self.threads.append(self.drive_test)
self.threads.append(self.video_test)
self.threads.append(self.video_test_1)
self.threads.append(self.video_test_2)
# Connect signals
for thread in self.threads:
thread.setup_start_and_kill_signals(self.start_threads_signal, self.kill_threads_signal)
self.__connect_signals_to_slots()
self.start_threads_signal.emit()
def __connect_signals_to_slots(self):
self.left_screen.exit_requested_signal.connect(self.on_exit_requested__slot)
self.right_screen.exit_requested_signal.connect(self.on_exit_requested__slot)
def on_exit_requested__slot(self):
self.kill_threads_signal.emit()
# Wait for Threads
for thread in self.threads:
thread.wait()
QtGui.QGuiApplication.exit()
@staticmethod
def create_application_window(ui_file_path, title, display_screen):
system_desktop = QtWidgets.QDesktopWidget() # This gets us access to the desktop geometry
app_window = ApplicationWindow(parent=None, ui_file_path=ui_file_path) # Make a window in this application
app_window.setWindowTitle(title) # Sets the window title
app_window.setWindowFlags(app_window.windowFlags() | # Sets the windows flags to:
QtCore.Qt.FramelessWindowHint | # remove the border and frame on the application,
QtCore.Qt.WindowStaysOnTopHint | # and makes the window stay on top of all others
QtCore.Qt.X11BypassWindowManagerHint) # This is needed to show fullscreen in gnome
app_window.setGeometry(
system_desktop.screenGeometry(display_screen)) # Sets the window to be on the first screen
app_window.showFullScreen() # Shows the window in full screen mode
return app_window
#####################################
# Main Definition
#####################################
if __name__ == "__main__":
signal.signal(signal.SIGINT, signal.SIG_DFL) # This allows the keyboard interrupt kill to work properly
application = QtWidgets.QApplication(sys.argv) # Create the ase qt gui application
ground_station = GroundStation()
application.exec_() # Execute launching of the application

80
ground_station/resources/ui/left_screen.ui Normal file
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@@ -0,0 +1,80 @@
<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>MainWindow</class>
<widget class="QMainWindow" name="MainWindow">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>1920</width>
<height>1080</height>
</rect>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>1920</width>
<height>1080</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>1920</width>
<height>1080</height>
</size>
</property>
<property name="windowTitle">
<string>MainWindow</string>
</property>
<property name="windowOpacity">
<double>1.000000000000000</double>
</property>
<property name="styleSheet">
<string notr="true">background-color: #201F1D;
color: #DCDCDC;</string>
</property>
<widget class="QWidget" name="centralwidget">
<layout class="QHBoxLayout" name="horizontalLayout_6">
<property name="spacing">
<number>0</number>
</property>
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number>
</property>
<item>
<widget class="QLabel" name="label">
<property name="font">
<font>
<pointsize>74</pointsize>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="text">
<string>UI File 1 (Left Screen)</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
</layout>
</widget>
</widget>
<resources/>
<connections/>
</ui>

149
ground_station/resources/ui/right_screen.ui Normal file
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@@ -0,0 +1,149 @@
<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>MainWindow</class>
<widget class="QMainWindow" name="MainWindow">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>1920</width>
<height>1080</height>
</rect>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>1920</width>
<height>1080</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>1920</width>
<height>1080</height>
</size>
</property>
<property name="windowTitle">
<string>MainWindow</string>
</property>
<property name="windowOpacity">
<double>1.000000000000000</double>
</property>
<property name="styleSheet">
<string notr="true">background-color: #201F1D;
color: #DCDCDC;</string>
</property>
<widget class="QWidget" name="centralwidget">
<layout class="QGridLayout" name="gridLayout">
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<item row="0" column="1">
<widget class="QLabel" name="primary_video_label">
<property name="minimumSize">
<size>
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<height>720</height>
</size>
</property>
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<property name="maximumSize">
<size>
<width>640</width>
<height>360</height>
</size>
</property>
<property name="styleSheet">
<string notr="true">background-color:darkgreen;</string>
</property>
<property name="text">
<string/>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="tertiary_video_label">
<property name="minimumSize">
<size>
<width>640</width>
<height>360</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>640</width>
<height>360</height>
</size>
</property>
<property name="styleSheet">
<string notr="true">background-color:maroon;</string>
</property>
<property name="text">
<string/>
</property>
</widget>
</item>
</layout>
</item>
<item row="0" column="0">
<spacer name="horizontalSpacer">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
</widget>
<resources/>
<connections/>
</ui>