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RoverVideoCoordinator now kind of working with VideoReceiver dynamically

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This commit is contained in:
Corwin Perren
2018-01-23 14:44:51 -08:00
parent 03706408d3
commit 05c65645e9
3 changed files with 87 additions and 59 deletions
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64
ground_station/.idea/workspace.xml generated
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@@ -24,8 +24,8 @@
<file leaf-file-name="RoverVideoReceiverOld.py" pinned="false" current-in-tab="false">
<entry file="file://$PROJECT_DIR$/Framework/VideoSystems/RoverVideoReceiverOld.py">
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@@ -36,8 +36,8 @@
<file leaf-file-name="RoverVideoReceiver.py" pinned="false" current-in-tab="true">
<entry file="file://$PROJECT_DIR$/Framework/VideoSystems/RoverVideoReceiver.py">
<provider selected="true" editor-type-id="text-editor">
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@@ -66,11 +66,11 @@
</provider>
</entry>
</file>
<file leaf-file-name="RoverVideoCoordinator.py" pinned="false" current-in-tab="false">
<file leaf-file-name="RoverVideoCoordinator.py" pinned="false" current-in-tab="true">
<entry file="file://$PROJECT_DIR$/Framework/VideoSystems/RoverVideoCoordinator.py">
<provider selected="true" editor-type-id="text-editor">
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@@ -78,10 +78,10 @@
</provider>
</entry>
</file>
<file leaf-file-name="RoverGroundStation.py" pinned="false" current-in-tab="true">
<file leaf-file-name="RoverGroundStation.py" pinned="false" current-in-tab="false">
<entry file="file://$PROJECT_DIR$/RoverGroundStation.py">
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@@ -103,10 +103,10 @@
<option name="CHANGED_PATHS">
<list>
<option value="$PROJECT_DIR$/Framework/LoggingSystems/Logger.py" />
<option value="$PROJECT_DIR$/Framework/VideoSystems/RoverVideoCoordinator.py" />
<option value="$PROJECT_DIR$/Framework/VideoSystems/RoverVideoReceiver.py" />
<option value="$PROJECT_DIR$/Framework/StartupSystems/ROSMasterChecker.py" />
<option value="$PROJECT_DIR$/RoverGroundStation.py" />
<option value="$PROJECT_DIR$/Framework/VideoSystems/RoverVideoReceiver.py" />
<option value="$PROJECT_DIR$/Framework/VideoSystems/RoverVideoCoordinator.py" />
</list>
</option>
</component>
@@ -539,16 +539,6 @@
</entry>
<entry file="file://$USER_HOME$/.PyCharm2016.3/system/remote_sources/-1418177152/1376253408/cv_bridge/core.py" />
<entry file="file://$USER_HOME$/.PyCharm2016.3/system/remote_sources/-1418177152/1376253408/rospy/topics.py" />
<entry file="file://$PROJECT_DIR$/Framework/VideoSystems/RoverVideoReceiverOld.py">
<provider selected="true" editor-type-id="text-editor">
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<entry file="file://$USER_HOME$/.PyCharm2016.2/system/remote_sources/-1418177152/1376253408/rospy/client.py">
<provider selected="true" editor-type-id="text-editor">
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@@ -567,19 +557,19 @@
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</entry>
<entry file="file://$PROJECT_DIR$/Framework/VideoSystems/RoverVideoCoordinator.py">
<entry file="file://$PROJECT_DIR$/Framework/StartupSystems/ROSMasterChecker.py">
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<element signature="e#110#152#0" expanded="false" />
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<entry file="file://$PROJECT_DIR$/RoverGroundStation.py">
<provider selected="true" editor-type-id="text-editor">
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@@ -587,24 +577,34 @@
</state>
</provider>
</entry>
<entry file="file://$PROJECT_DIR$/Framework/StartupSystems/ROSMasterChecker.py">
<entry file="file://$PROJECT_DIR$/Framework/VideoSystems/RoverVideoReceiverOld.py">
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<entry file="file://$PROJECT_DIR$/Framework/VideoSystems/RoverVideoCoordinator.py">
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38
ground_station/Framework/VideoSystems/RoverVideoCoordinator.py
View File

@@ -27,6 +27,8 @@ EXCLUDED_CAMERAS = ["zed"]
# RoverVideoCoordinator Class Definition
#####################################
class RoverVideoCoordinator(QtCore.QThread):
pixmap_ready_signal = QtCore.pyqtSignal(str)
def __init__(self, shared_objects):
super(RoverVideoCoordinator, self).__init__()
@@ -34,8 +36,8 @@ class RoverVideoCoordinator(QtCore.QThread):
self.shared_objects = shared_objects
self.right_screen = self.shared_objects["screens"]["right_screen"]
self.primary_video_display_label = self.right_screen.primary_video_label # type:QtWidgets.QLabel
self.primary_video_display_label = self.right_screen.secondary_video_label # type:QtWidgets.QLabel
self.primary_video_display_label = self.right_screen.tertiary_video_label # type:QtWidgets.QLabel
self.secondary_video_display_label = self.right_screen.secondary_video_label # type:QtWidgets.QLabel
self.tertiary_video_display_label = self.right_screen.tertiary_video_label # type:QtWidgets.QLabel
# ########## Get the settings instance ##########
self.settings = QtCore.QSettings()
@@ -49,25 +51,26 @@ class RoverVideoCoordinator(QtCore.QThread):
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
# Camera variables
self.camera_threads = {}
self.valid_cameras = []
self.camera_threads = {}
# ########## Setup cameras ##########
# Setup cameras
self.__get_cameras()
self.__setup_video_threads()
self.primary_label_current_setting = 0
self.secondary_label_current_setting = 1
self.tertiary_label_current_setting = 0
self.camera_data = {x: {"new_opencv": False} for x in self.valid_cameras}
print self.camera_data
def run(self):
self.logger.debug("Starting Video Coordinator Thread")
while self.run_thread_flag:
if self.setup_cameras_flag:
self.setup_cameras_flag = False
self.msleep(100)
self.__wait_for_camera_threads()
@@ -101,7 +104,8 @@ class RoverVideoCoordinator(QtCore.QThread):
self.camera_threads[camera].wait()
def connect_signals_and_slots(self):
pass
for thread in self.camera_threads:
self.camera_threads[thread].image_ready_signal.connect(self.pixmap_ready__slot)
def setup_signals(self, start_signal, signals_and_slots_signal, kill_signal):
start_signal.connect(self.start)
@@ -111,6 +115,16 @@ class RoverVideoCoordinator(QtCore.QThread):
for camera in self.camera_threads:
self.camera_threads[camera].setup_signals(start_signal, signals_and_slots_signal, kill_signal)
def pixmap_ready__slot(self, camera):
if self.valid_cameras[self.primary_label_current_setting] == camera:
self.primary_video_display_label.setPixmap(self.camera_threads[camera].pixmap_1280x720_image)
if self.valid_cameras[self.secondary_label_current_setting] == camera:
self.secondary_video_display_label.setPixmap(self.camera_threads[camera].pixmap_640x360_image)
if self.valid_cameras[self.tertiary_label_current_setting] == camera:
self.tertiary_video_display_label.setPixmap(self.camera_threads[camera].pixmap_640x360_image)
def on_kill_threads_requested__slot(self):
self.run_thread_flag = False

44
ground_station/Framework/VideoSystems/RoverVideoReceiver.py
View File

@@ -25,8 +25,7 @@ FONT = cv2.FONT_HERSHEY_TRIPLEX
# RoverVideoReceiver Class Definition
#####################################
class RoverVideoReceiver(QtCore.QThread):
publish_message_signal = QtCore.pyqtSignal()
image_ready_signal = QtCore.pyqtSignal()
image_ready_signal = QtCore.pyqtSignal(str)
def __init__(self, camera_name):
super(RoverVideoReceiver, self).__init__()
@@ -54,12 +53,15 @@ class RoverVideoReceiver(QtCore.QThread):
# Image variables
self.raw_image = None
self.opencv_image = None
self.pixmap = None
self.opencv_1280x720_image = None
self.opencv_640x360_image = None
self.pixmap_1280x720_image = None
self.pixmap_640x360_image = None
# Processing variables
self.bridge = CvBridge() # OpenCV ROS Video Data Processor
self.video_enabled = False
self.video_enabled = True
self.new_frame = False
# Assign local callbacks
@@ -80,10 +82,26 @@ class RoverVideoReceiver(QtCore.QThread):
def __show_video_enabled(self):
if self.new_frame:
self.opencv_image = self.bridge.compressed_imgmsg_to_cv2(self.raw_image, "rgb8")
self.opencv_image = cv2.resize(self.opencv_image, (1280, 720))
self.pixmap = QtGui.QPixmap.fromImage(qimage2ndarray.array2qimage(self.opencv_image))
self.image_ready_signal.emit()
opencv_image = self.bridge.compressed_imgmsg_to_cv2(self.raw_image, "rgb8")
height, width, _ = opencv_image.shape
if width != 1280 and height != 720:
self.opencv_1280x720_image = cv2.resize(opencv_image, (1280, 720))
else:
self.opencv_1280x720_image = opencv_image
if width != 640 and height != 360:
self.opencv_640x360_image = cv2.resize(opencv_image, (640, 360))
else:
self.opencv_640x360_image = opencv_image
self.pixmap_1280x720_image = QtGui.QPixmap.fromImage(qimage2ndarray.array2qimage(
self.opencv_1280x720_image))
self.pixmap_640x360_image = QtGui.QPixmap.fromImage(qimage2ndarray.array2qimage(
self.opencv_640x360_image))
self.image_ready_signal.emit(self.camera_name)
self.new_frame = False
def __show_video_disabled(self):
@@ -91,13 +109,9 @@ class RoverVideoReceiver(QtCore.QThread):
fps_image = np.zeros((720, 1280, 3), np.uint8)
self.pixmap = QtGui.QPixmap.fromImage(qimage2ndarray.array2qimage(fps_image))
self.image_ready_signal.emit()
self.image_ready_signal.emit(self.camera_name)
self.new_frame = False
def __on_image_update_ready(self):
pass
# self.video_display_label.setPixmap(self.pixmap)
def __image_data_received_callback(self, raw_image):
self.raw_image = raw_image
self.new_frame = True
@@ -117,7 +131,7 @@ class RoverVideoReceiver(QtCore.QThread):
self.video_enabled = True
def connect_signals_and_slots(self):
self.image_ready_signal.connect(self.__on_image_update_ready)
pass
def setup_signals(self, start_signal, signals_and_slots_signal, kill_signal):
start_signal.connect(self.start)