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Mining system completegit add .!

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This commit is contained in:
Corwin Perren
2018-07-29 21:46:10 -07:00
parent b79693c855
commit 092318ec10
20 changed files with 1223 additions and 310 deletions
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44
software/ros_packages/ground_station/src/Framework/InputSystems/SpaceNavControlSender.py
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@@ -9,10 +9,20 @@ import spnav
import rospy
from rover_control.msg import MiningControlMessage
#####################################
# Global Variables
#####################################
THREAD_HERTZ = 15
THREAD_HERTZ = 100
MINING_CONTROL_TOPIC = "/rover_control/mining/control"
Y_ANGULAR_DEADBAND = 0.05
Z_LINEAR_DEADBAND = 0.15
MINING_LIFT_SCALAR = 5
MINING_TILT_SCALAR = 5
#####################################
@@ -21,7 +31,7 @@ THREAD_HERTZ = 15
class SpaceNavControlSender(QtCore.QThread):
spacenav_state_update__signal = QtCore.pyqtSignal(object)
GUI_MODE = 0
MINING_MODE = 0
ARM_MODE = 1
def __init__(self, shared_objects):
@@ -95,7 +105,10 @@ class SpaceNavControlSender(QtCore.QThread):
5: "f_pressed"
}
self.current_control_mode = self.GUI_MODE
# ##### Mining Control #####
self.mining_control_publisher = rospy.Publisher(MINING_CONTROL_TOPIC, MiningControlMessage, queue_size=1)
self.current_control_mode = self.MINING_MODE
def run(self):
spnav.spnav_open()
@@ -110,7 +123,7 @@ class SpaceNavControlSender(QtCore.QThread):
time_diff = time() - start_time
self.msleep(max(int((self.wait_time - time_diff) * 1000), 0))
# self.msleep(max(int((self.wait_time - time_diff) * 1000), 0))
def process_spnav_events(self):
event = spnav.spnav_poll_event()
@@ -132,16 +145,33 @@ class SpaceNavControlSender(QtCore.QThread):
def check_control_mode_change(self):
if self.spnav_states["1_pressed"]:
self.current_control_mode = self.GUI_MODE
self.current_control_mode = self.MINING_MODE
elif self.spnav_states["2_pressed"]:
self.current_control_mode = self.ARM_MODE
def broadcast_control_state(self):
if self.current_control_mode == self.GUI_MODE:
self.spacenav_state_update__signal.emit(self.spnav_states)
if self.current_control_mode == self.MINING_MODE:
self.send_mining_commands()
# self.spacenav_state_update__signal.emit(self.spnav_states)
elif self.current_control_mode == self.ARM_MODE:
pass
def send_mining_commands(self):
linear_z = self.spnav_states["linear_z"]
angular_y = self.spnav_states["angular_y"]
message = MiningControlMessage()
message.lift_set_absolute = 1024
message.tilt_set_absolute = 1024
message.lift_set_relative = linear_z * MINING_LIFT_SCALAR if abs(linear_z) > Z_LINEAR_DEADBAND else 0
message.tilt_set_relative = angular_y * MINING_TILT_SCALAR if abs(angular_y) > Y_ANGULAR_DEADBAND else 0
message.cal_factor = -1
self.mining_control_publisher.publish(message)
# print self.spnav_states["linear_z"], self.spnav_states["angular_y"]
def connect_signals_and_slots(self):
pass

139
software/ros_packages/ground_station/src/Framework/MiscSystems/MiningCore.py Normal file
View File

@@ -0,0 +1,139 @@
# coding=utf-8
#####################################
# Imports
#####################################
# Python native imports
from PyQt5 import QtCore, QtWidgets
import logging
import rospy
from rover_control.msg import MiningStatusMessage, MiningControlMessage
#####################################
# Global Variables
#####################################
MINING_STATUS_TOPIC = "/rover_control/mining/status"
MINING_CONTROL_TOPIC = "/rover_control/mining/control"
TRAVEL_POSITION_LIFT = 110
TRAVEL_POSITION_TILT = 1023
MEASURE_POSITION_LIFT = 350
MEASURE_POSITION_TILT = 1023
SCOOP_POSITION_LIFT = 228
SCOOP_POSITION_TILT = 215
#####################################
# UbiquitiRadioSettings Class Definition
#####################################
class Mining(QtCore.QObject):
lift_position_update_ready__signal = QtCore.pyqtSignal(int)
tilt_position_update_ready__signal = QtCore.pyqtSignal(int)
def __init__(self, shared_objects):
super(Mining, self).__init__()
# ########## Reference to class init variables ##########
self.shared_objects = shared_objects
self.left_screen = self.shared_objects["screens"]["left_screen"]
self.mining_qlcdnumber = self.left_screen.mining_qlcdnumber # type:QtWidgets.QLCDNumber
self.mining_tare_button = self.left_screen.mining_tare_button # type:QtWidgets.QPushButton
self.mining_measure_button = self.left_screen.mining_measure_button # type:QtWidgets.QPushButton
self.mining_cal_factor_spinbox = self.left_screen.mining_cal_factor_spinbox # type:QtWidgets.QSpinBox
self.mining_set_cal_factor_button = self.left_screen.mining_set_cal_factor_button # type:QtWidgets.QPushButton
self.lift_position_progress_bar = self.left_screen.lift_position_progress_bar # type:QtWidgets.QProgressBar
self.tilt_position_progress_bar = self.left_screen.tilt_position_progress_bar # type:QtWidgets.QProgressBar
self.mining_measure_move_button = self.left_screen.mining_measure_move_button # type:QtWidgets.QPushButton
self.mining_transport_move_button = self.left_screen.mining_transport_move_button # type:QtWidgets.QPushButton
self.mining_scoop_move_button = self.left_screen.mining_scoop_move_button # type:QtWidgets.QPushButton
# ########## Get the settings instance ##########
self.settings = QtCore.QSettings()
# ########## Get the Pick And Plate instance of the logger ##########
self.logger = logging.getLogger("groundstation")
# ########## Thread Flags ##########
self.run_thread_flag = True
# ########## Class Variables ##########
self.mining_status_subscriber = rospy.Subscriber(MINING_STATUS_TOPIC, MiningStatusMessage,
self.mining_status_message_received__callback)
self.mining_control_publisher = rospy.Publisher(MINING_CONTROL_TOPIC, MiningControlMessage, queue_size=1)
self.connect_signals_and_slots()
def connect_signals_and_slots(self):
self.mining_set_cal_factor_button.clicked.connect(self.on_mining_set_cal_factor_clicked__slot)
self.mining_tare_button.clicked.connect(self.on_mining_tare_clicked__slot)
self.mining_measure_button.clicked.connect(self.on_mining_measure_clicked__slot)
self.mining_measure_move_button.clicked.connect(self.on_mining_move_measure_clicked__slot)
self.mining_transport_move_button.clicked.connect(self.on_mining_move_transport_clicked__slot)
self.mining_scoop_move_button.clicked.connect(self.on_mining_move_scoop_clicked__slot)
self.tilt_position_update_ready__signal.connect(self.tilt_position_progress_bar.setValue)
self.lift_position_update_ready__signal.connect(self.lift_position_progress_bar.setValue)
def on_mining_set_cal_factor_clicked__slot(self):
message = MiningControlMessage()
message.tilt_set_absolute = 1024
message.lift_set_absolute = 1024
message.cal_factor = self.mining_cal_factor_spinbox.value()
self.mining_control_publisher.publish(message)
def on_mining_tare_clicked__slot(self):
message = MiningControlMessage()
message.tilt_set_absolute = 1024
message.lift_set_absolute = 1024
message.cal_factor = -1
message.tare = 1
self.mining_control_publisher.publish(message)
def on_mining_measure_clicked__slot(self):
message = MiningControlMessage()
message.tilt_set_absolute = 1024
message.lift_set_absolute = 1024
message.cal_factor = -1
message.measure = True
self.mining_control_publisher.publish(message)
def on_mining_move_transport_clicked__slot(self):
message = MiningControlMessage()
message.tilt_set_absolute = TRAVEL_POSITION_TILT
message.lift_set_absolute = TRAVEL_POSITION_LIFT
message.cal_factor = -1
self.mining_control_publisher.publish(message)
def on_mining_move_measure_clicked__slot(self):
message = MiningControlMessage()
message.tilt_set_absolute = MEASURE_POSITION_TILT
message.lift_set_absolute = MEASURE_POSITION_LIFT
message.cal_factor = -1
self.mining_control_publisher.publish(message)
def on_mining_move_scoop_clicked__slot(self):
message = MiningControlMessage()
message.tilt_set_absolute = SCOOP_POSITION_TILT
message.lift_set_absolute = SCOOP_POSITION_LIFT
message.cal_factor = -1
self.mining_control_publisher.publish(message)
def mining_status_message_received__callback(self, status):
status = status # type:MiningStatusMessage
self.tilt_position_update_ready__signal.emit(status.tilt_position)
self.lift_position_update_ready__signal.emit(status.lift_position)
self.mining_qlcdnumber.display(status.measured_weight)

328
software/ros_packages/ground_station/src/Resources/Ui/left_screen.ui
View File

@@ -1392,6 +1392,334 @@ N/A</string>
<property name="currentIndex">
<number>0</number>
</property>
<widget class="QWidget" name="tab_3">
<attribute name="title">
<string>Mining</string>
</attribute>
<layout class="QGridLayout" name="gridLayout_8">
<item row="5" column="0">
<layout class="QHBoxLayout" name="horizontalLayout_12">
<item>
<widget class="QLabel" name="label_15">
<property name="font">
<font>
<pointsize>12</pointsize>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="text">
<string>Lift Position</string>
</property>
</widget>
</item>
<item>
<widget class="QProgressBar" name="lift_position_progress_bar">
<property name="maximum">
<number>1023</number>
</property>
<property name="value">
<number>512</number>
</property>
<property name="format">
<string>%v</string>
</property>
</widget>
</item>
</layout>
</item>
<item row="6" column="0">
<layout class="QHBoxLayout" name="horizontalLayout_11">
<item>
<widget class="QLabel" name="label_14">
<property name="font">
<font>
<pointsize>12</pointsize>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="text">
<string>Tilt Position</string>
</property>
</widget>
</item>
<item>
<widget class="QProgressBar" name="tilt_position_progress_bar">
<property name="maximum">
<number>1023</number>
</property>
<property name="value">
<number>512</number>
</property>
<property name="format">
<string>%v</string>
</property>
</widget>
</item>
</layout>
</item>
<item row="0" column="0">
<widget class="QLabel" name="label_13">
<property name="font">
<font>
<pointsize>20</pointsize>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="text">
<string>Scoop Measurement</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="2" column="0">
<layout class="QHBoxLayout" name="horizontalLayout_5">
<item>
<spacer name="horizontalSpacer_3">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QPushButton" name="mining_tare_button">
<property name="text">
<string>Tare</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="mining_measure_button">
<property name="text">
<string>Measure</string>
</property>
</widget>
</item>
<item>
<spacer name="horizontalSpacer_5">
<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>
</item>
<item row="3" column="0">
<layout class="QHBoxLayout" name="horizontalLayout_6">
<item>
<spacer name="horizontalSpacer_10">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QSpinBox" name="mining_cal_factor_spinbox">
<property name="maximum">
<number>65535</number>
</property>
<property name="value">
<number>114</number>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="mining_set_cal_factor_button">
<property name="text">
<string>Set Cal Factor</string>
</property>
</widget>
</item>
<item>
<spacer name="horizontalSpacer_6">
<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>
</item>
<item row="1" column="0">
<layout class="QHBoxLayout" name="horizontalLayout_10">
<item>
<spacer name="horizontalSpacer_12">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QLCDNumber" name="mining_qlcdnumber">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>300</width>
<height>150</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>300</width>
<height>150</height>
</size>
</property>
<property name="font">
<font>
<pointsize>9</pointsize>
</font>
</property>
<property name="frameShape">
<enum>QFrame::NoFrame</enum>
</property>
<property name="value" stdset="0">
<double>0.000000000000000</double>
</property>
<property name="intValue" stdset="0">
<number>0</number>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_5">
<property name="font">
<font>
<pointsize>19</pointsize>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="text">
<string>g</string>
</property>
</widget>
</item>
<item>
<spacer name="horizontalSpacer_11">
<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>
</item>
<item row="8" column="0">
<spacer name="verticalSpacer">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>40</height>
</size>
</property>
</spacer>
</item>
<item row="4" column="0">
<widget class="Line" name="line_6">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
<item row="7" column="0">
<layout class="QHBoxLayout" name="horizontalLayout_13">
<item>
<spacer name="horizontalSpacer_13">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QPushButton" name="mining_transport_move_button">
<property name="text">
<string>Transport</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="mining_measure_move_button">
<property name="text">
<string>Measure</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="mining_scoop_move_button">
<property name="text">
<string>Scoop</string>
</property>
</widget>
</item>
<item>
<spacer name="horizontalSpacer_14">
<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>
</item>
</layout>
</widget>
<widget class="QWidget" name="tab">
<attribute name="title">
<string>SSH Console</string>

5
software/ros_packages/ground_station/src/ground_station.py
View File

@@ -23,6 +23,7 @@ import Framework.StatusSystems.StatusCore as StatusCore
import Framework.StatusSystems.UbiquitiStatusCore as UbiquitiStatusCore
import Framework.SettingsSystems.UbiquitiRadioSettings as UbiquitiRadioSettings
import Framework.InputSystems.SpaceNavControlSender as SpaceNavControlSender
import Framework.MiscSystems.MiningCore as MiningCore
#####################################
# Global Variables
@@ -101,6 +102,7 @@ class GroundStation(QtCore.QObject):
rospy.init_node("ground_station")
# ##### Instantiate Regular Classes ######
self.__add_non_thread("Mining System", MiningCore.Mining(self.shared_objects))
# ##### Instantiate Threaded Classes ######
self.__add_thread("Video Coordinator", RoverVideoCoordinator.RoverVideoCoordinator(self.shared_objects))
@@ -132,6 +134,9 @@ class GroundStation(QtCore.QObject):
instance.setup_signals(self.start_threads_signal, self.connect_signals_and_slots_signal,
self.kill_threads_signal)
def __add_non_thread(self, name, instance):
self.shared_objects["regular_classes"][name] = instance
def __connect_signals_to_slots(self):
self.shared_objects["screens"]["left_screen"].exit_requested_signal.connect(self.on_exit_requested__slot)
self.shared_objects["screens"]["right_screen"].exit_requested_signal.connect(self.on_exit_requested__slot)