caperren/osurc_mars_rover_2017_2018
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Updated new location, _get_table return less, change update_overlay

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This commit is contained in:
Chris Pham
2018-03-15 10:53:34 -07:00
parent fdffd0d3e4
commit 102cdf0c77
2 changed files with 41 additions and 4 deletions
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12
software/ros_packages/ground_station/src/Framework/MapSystems/RoverMap.py
View File

@@ -405,7 +405,16 @@ class OverlayImage(object):
return int(x), int(y)
def update_new_location(self, latitude, longitude, compass):
def update_new_location(self, latitude, longitude,
compass, navigation_list, landmark_list):
size = 5
draw = PIL.ImageDraw.Draw(self.big_image)
for element in navigation_list:
x, y = self._get_cartesian(element[1], element[2])
draw.ellipsis((x-size, y-size, x+size, y+size), fill="red")
for element in navigation_list:
x, y = self._get_cartesian(element[1], element[2])
draw.ellipsis((x-size, y-size, x+size, y+size), fill="blue")
self._draw_rover(latitude, longitude, compass)
self.update()
@@ -430,3 +439,4 @@ class OverlayImage(object):
def update(self):
self.display_image.paste(self.big_image, (-self.left_x, -self.upper_y))

33
software/ros_packages/ground_station/src/Framework/MapSystems/RoverMapCoordinator.py
View File

@@ -21,6 +21,7 @@ import RoverMap
class RoverMapCoordinator(QtCore.QThread):
pixmap_ready_signal = QtCore.pyqtSignal()
change_waypoint_signal = QtCore.pyqtSignal()
def __init__(self, shared_objects):
super(RoverMapCoordinator, self).__init__()
@@ -28,6 +29,8 @@ class RoverMapCoordinator(QtCore.QThread):
self.shared_objects = shared_objects
self.left_screen = self.shared_objects["screens"]["left_screen"]
self.mapping_label = self.left_screen.mapping_label
self.navigation_label = self.left_screen.tableWidget
self.landmark_label = self.left_screen.tableWidget_2
self.setings = QtCore.QSettings()
@@ -84,9 +87,12 @@ class RoverMapCoordinator(QtCore.QThread):
def _get_map_image(self):
while self.map_image is None:
self.map_image = self.google_maps_object.display_image
self.overlay_image_object.update_new_location(44.567161,
-123.278432,
.7)
# self.overlay_image_object.update_new_location(44.567161,
# -123.278432,
# .7,
# [],
# [])
self.update_overlay()
self.map_image.paste(self.overlay_image_object.display_image,
(0, 0),
self.overlay_image_object.display_image)
@@ -100,6 +106,7 @@ class RoverMapCoordinator(QtCore.QThread):
def connect_signals_and_slots(self):
self.pixmap_ready_signal.connect(self.pixmap_ready__slot)
self.change_waypoint_signal.connect(self.update_waypoints)
def on_kill_threads_requested_slot(self):
self.run_thread_flag = False
@@ -112,3 +119,23 @@ class RoverMapCoordinator(QtCore.QThread):
def pixmap_ready__slot(self):
self.mapping_label.setPixmap(self.map_pixmap)
def _get_table_elements(self, UI_element):
temp_list = []
count = UI_element.rowCount()
for row in range(0, count):
num = UI_element.item(row, 0)
lat = UI_element.cellWidget(row, 1)
lng = UI_element.cellWidget(row, 2)
temp_tuple = (num, lat, lng)
temp_list.append(temp_tuple)
return temp_list
def update_overlay(self):
navigation_list = self._get_table_elements(self.navigation_label)
landmark_list = self._get_table_elements(self.landmark_label)
self.overlay_image_object.update_new_location(self.latitude,
self.longitude,
70,
navigation_list,
landmark_list)