Ubiquiti radio statuses now working. Misc other items.

software/firmware/iris/iris.ino

@@ -46,7 +46,7 @@ uint8_t message_count = 0;
 uint8_t failSafe;
 uint16_t lostFrames = 0;
 
-uint16_t telem_24v_scalar = 37500;
+uint16_t telem_24v_scalar = 36680;
 
 ////////// Class Instantiations //////////
 SBUS x8r(SBUS_HARDWARE_PORT);

software/ros_packages/ground_station/src/Framework/InputSystems/SpaceNavControlSender.py

@@ -110,7 +110,7 @@ class SpaceNavControlSender(QtCore.QThread):
 
             time_diff = time() - start_time
 
-            self.msleep(max(int(self.wait_time - time_diff), 0))
+            self.msleep(max(int((self.wait_time - time_diff) * 1000), 0))
 
     def process_spnav_events(self):
         event = spnav.spnav_poll_event()

software/ros_packages/ground_station/src/Framework/StatusSystems/StatusCore.py

@@ -18,6 +18,11 @@ FRSKY_TOPIC_NAME = "/rover_status/frsky_status"
 GPS_TOPIC_NAME = "/rover_status/gps_status"
 JETSON_TOPIC_NAME = "/rover_status/jetson_status"
 MISC_TOPIC_NAME = "/rover_status/misc_status"
+BATTERY_TOPIC_NAME = "/rover_status/battery_status"
+
+COLOR_GREEN = "background-color: darkgreen; border: 1px solid black;"
+COLOR_ORANGE = "background-color: orange; border: 1px solid black;"
+COLOR_RED = "background-color: darkred; border: 1px solid black;"
 
 
 class SensorCore(QtCore.QThread):
@@ -44,6 +49,9 @@ class SensorCore(QtCore.QThread):
 
     frsky_stylesheet_change_ready__signal = QtCore.pyqtSignal(str)
 
+    battery_voltage_update_ready__signal = QtCore.pyqtSignal(str)
+    battery_voltage_stylesheet_change_ready__signal = QtCore.pyqtSignal(str)
+
     def __init__(self, shared_objects):
         super(SensorCore, self).__init__()
 
@@ -72,6 +80,7 @@ class SensorCore(QtCore.QThread):
         self.ram = self.screen_main_window.ram  # type: QtWidgets.QLabel
         self.gpu_temp = self.screen_main_window.gpu_temp  # type: QtWidgets.QLabel
         self.emmc = self.screen_main_window.emmc  # type: QtWidgets.QLabel
+        self.battery = self.screen_main_window.battery_voltage_status_label  # type: QtWidgets.QLabel
 
         # ########## subscriptions pulling data from system_statuses_node.py ##########
         self.camera_status = rospy.Subscriber(CAMERA_TOPIC_NAME, CameraStatuses, self.__camera_callback)
@@ -79,6 +88,7 @@ class SensorCore(QtCore.QThread):
         self.gps_status = rospy.Subscriber(GPS_TOPIC_NAME, GPSInfo, self.__gps_callback)
         self.jetson_status = rospy.Subscriber(JETSON_TOPIC_NAME, JetsonInfo, self.__jetson_callback)
         self.misc_status = rospy.Subscriber(MISC_TOPIC_NAME, MiscStatuses, self.__misc_callback)
+        self.battery_status = rospy.Subscriber(BATTERY_TOPIC_NAME, BatteryStatusMessage, self.__battery_callback)
 
         self.camera_msg = CameraStatuses()
         self.bogie_msg = BogieStatuses()
@@ -86,6 +96,7 @@ class SensorCore(QtCore.QThread):
         self.GPS_msg = GPSInfo()
         self.jetson_msg = JetsonInfo()
         self.misc_msg = MiscStatuses()
+        self.battery_msg = BatteryStatusMessage()
 
         self.update_requester = rospy.Publisher(REQUEST_UPDATE_TOPIC, Empty, queue_size=10)
 
@@ -102,84 +113,84 @@ class SensorCore(QtCore.QThread):
 
         if data.camera_zed is False:
             # self.zed.setStyleSheet("background-color: red;")
-            self.camera_zed_stylesheet_change_ready__signal.emit("background-color: darkred;")
+            self.camera_zed_stylesheet_change_ready__signal.emit(COLOR_RED)
         else:
-            # self.zed.setStyleSheet("background-color: darkgreen;")
+            # self.zed.setStyleSheet(COLOR_GREEN)
-            self.camera_zed_stylesheet_change_ready__signal.emit("background-color: darkgreen;")
+            self.camera_zed_stylesheet_change_ready__signal.emit(COLOR_GREEN)
 
         if data.camera_undercarriage is False:
-            # self.under_cam.setStyleSheet("background-color: darkred;")
+            # self.under_cam.setStyleSheet(COLOR_RED)
-            self.camera_under_stylesheet_change_ready__signal.emit("background-color: darkred;")
+            self.camera_under_stylesheet_change_ready__signal.emit(COLOR_RED)
         else:
-            # self.under_cam.setStyleSheet("background-color: darkgreen;")
+            # self.under_cam.setStyleSheet(COLOR_GREEN)
-            self.camera_under_stylesheet_change_ready__signal.emit("background-color: darkgreen;")
+            self.camera_under_stylesheet_change_ready__signal.emit(COLOR_GREEN)
 
         if data.camera_chassis is False:
-            # self.chassis_cam.setStyleSheet("background-color: darkred;")
+            # self.chassis_cam.setStyleSheet(COLOR_RED)
-            self.camera_chassis_stylesheet_change_ready__signal.emit("background-color: darkred;")
+            self.camera_chassis_stylesheet_change_ready__signal.emit(COLOR_RED)
         else:
-            # self.chassis_cam.setStyleSheet("background-color: darkgreen;")
+            # self.chassis_cam.setStyleSheet(COLOR_GREEN)
-            self.camera_chassis_stylesheet_change_ready__signal.emit("background-color: darkgreen;")
+            self.camera_chassis_stylesheet_change_ready__signal.emit(COLOR_GREEN)
 
         if data.camera_main_navigation is False:
-            # self.main_cam.setStyleSheet("background-color: darkred;")
+            # self.main_cam.setStyleSheet(COLOR_RED)
-            self.camera_main_stylesheet_change_ready__signal.emit("background-color: darkred;")
+            self.camera_main_stylesheet_change_ready__signal.emit(COLOR_RED)
         else:
-            # self.main_cam.setStyleSheet("background-color: darkgreen;")
+            # self.main_cam.setStyleSheet(COLOR_GREEN)
-            self.camera_main_stylesheet_change_ready__signal.emit("background-color: darkgreen;")
+            self.camera_main_stylesheet_change_ready__signal.emit(COLOR_GREEN)
 
     def __frsky_callback(self, data):
         self.FrSky_msg.FrSky_controller_connection_status = data.FrSky_controller_connection_status
 
         if self.FrSky_msg.FrSky_controller_connection_status is False:
-            self.frsky_stylesheet_change_ready__signal.emit("background-color: darkred;")
+            self.frsky_stylesheet_change_ready__signal.emit(COLOR_RED)
         else:
-            self.frsky_stylesheet_change_ready__signal.emit("background-color: darkgreen;")
+            self.frsky_stylesheet_change_ready__signal.emit(COLOR_GREEN)
 
     def __jetson_callback(self, data):
         self.jetson_cpu_update_ready__signal.emit("TX2 CPU\n" + str(data.jetson_CPU) + "%")
 
         if data.jetson_CPU > 85:
-            self.jetson_cpu_stylesheet_change_ready__signal.emit("background-color: orange;")
+            self.jetson_cpu_stylesheet_change_ready__signal.emit(COLOR_ORANGE)
         elif data.jetson_CPU > 95:
-            self.jetson_cpu_stylesheet_change_ready__signal.emit("background-color: darkred;")
+            self.jetson_cpu_stylesheet_change_ready__signal.emit(COLOR_RED)
         else:
-            self.jetson_cpu_stylesheet_change_ready__signal.emit("background-color: darkgreen;")
+            self.jetson_cpu_stylesheet_change_ready__signal.emit(COLOR_GREEN)
 
         self.jetson_ram_update_ready__signal.emit("TX2 RAM\n" + str(data.jetson_RAM) + "%")
 
         if data.jetson_RAM > 79:
-            self.jetson_ram_stylesheet_change_ready__signal.emit("background-color: orange;")
+            self.jetson_ram_stylesheet_change_ready__signal.emit(COLOR_ORANGE)
         elif data.jetson_RAM > 89:
-            self.jetson_ram_stylesheet_change_ready__signal.emit("background-color: darkred;")
+            self.jetson_ram_stylesheet_change_ready__signal.emit(COLOR_RED)
         else:
-            self.jetson_ram_stylesheet_change_ready__signal.emit("background-color: darkgreen;")
+            self.jetson_ram_stylesheet_change_ready__signal.emit(COLOR_GREEN)
 
         self.jetson_gpu_temp_update_ready__signal.emit("TX2 TEMP\n" + str(data.jetson_GPU_temp) + "°C")
 
         if data.jetson_GPU_temp > 64:
-            self.jetson_gpu_temp_stylesheet_change_ready__signal.emit("background-color: orange;")
+            self.jetson_gpu_temp_stylesheet_change_ready__signal.emit(COLOR_ORANGE)
         elif data.jetson_GPU_temp > 79:
-            self.jetson_gpu_temp_stylesheet_change_ready__signal.emit("background-color: darkred;")
+            self.jetson_gpu_temp_stylesheet_change_ready__signal.emit(COLOR_RED)
         else:
-            self.jetson_gpu_temp_stylesheet_change_ready__signal.emit("background-color: darkgreen;")
+            self.jetson_gpu_temp_stylesheet_change_ready__signal.emit(COLOR_GREEN)
 
         self.jetson_emmc_update_ready__signal.emit("TX2 EMMC\n" + str(data.jetson_EMMC) + "%")
 
         if data.jetson_EMMC > 79:
-            self.jetson_emmc_stylesheet_change_ready__signal.emit("background-color: orange;")
+            self.jetson_emmc_stylesheet_change_ready__signal.emit(COLOR_ORANGE)
         elif data.jetson_EMMC > 89:
-            self.jetson_emmc_stylesheet_change_ready__signal.emit("background-color: darkred;")
+            self.jetson_emmc_stylesheet_change_ready__signal.emit(COLOR_RED)
         else:
-            self.jetson_emmc_stylesheet_change_ready__signal.emit("background-color: darkgreen")
+            self.jetson_emmc_stylesheet_change_ready__signal.emit(COLOR_GREEN)
 
     def __gps_callback(self, data):
         self.GPS_msg.UTC_GPS_time = data.UTC_GPS_time
 
         if not data.GPS_connection_status:
-            self.gps_stylesheet_change_ready__signal.emit("background-color: darkred;")
+            self.gps_stylesheet_change_ready__signal.emit(COLOR_RED)
         else:
-            self.gps_stylesheet_change_ready__signal.emit("background-color: darkgreen;")
+            self.gps_stylesheet_change_ready__signal.emit(COLOR_GREEN)
 
     def __misc_callback(self, data):
         self.misc_msg.arm_connection_status = data.arm_connection_status
@@ -188,6 +199,16 @@ class SensorCore(QtCore.QThread):
         self.misc_msg.tower_connection_status = data.tower_connection_status
         self.misc_msg.chassis_pan_tilt_connection_status = data.chassis_pan_tilt_connection_status
 
+    def __battery_callback(self, data):
+        voltage = data.battery_voltage / 1000.0
+
+        if voltage >= 20:
+            self.battery_voltage_stylesheet_change_ready__signal.emit(COLOR_GREEN)
+        else:
+            self.battery_voltage_stylesheet_change_ready__signal.emit(COLOR_RED)
+
+        self.battery_voltage_update_ready__signal.emit("Battery Voltage\n" + str(voltage) + "V")
+
     def __display_time(self):
         time = QtCore.QTime.currentTime()
         temp = time.toString('hh:mm')
@@ -215,6 +236,9 @@ class SensorCore(QtCore.QThread):
         self.gps_stylesheet_change_ready__signal.connect(self.gps.setStyleSheet)
         self.frsky_stylesheet_change_ready__signal.connect(self.frsky.setStyleSheet)
 
+        self.battery_voltage_update_ready__signal.connect(self.battery.setText)
+        self.battery_voltage_stylesheet_change_ready__signal.connect(self.battery.setStyleSheet)
+
     def setup_signals(self, start_signal, signals_and_slots_signal, kill_signal):
         start_signal.connect(self.start)
         signals_and_slots_signal.connect(self.connect_signals_and_slots)

software/ros_packages/ground_station/src/Framework/StatusSystems/UbiquitiStatusCore.py

@@ -0,0 +1,126 @@
+# coding=utf-8
+#####################################
+# Imports
+#####################################
+# Python native imports
+from PyQt5 import QtCore, QtWidgets
+import logging
+from time import time
+import paramiko
+from pprint import pprint
+import json
+
+#####################################
+# Global Variables
+#####################################
+THREAD_HERTZ = 2
+
+ACCESS_POINT_IP = "192.168.1.20"  # The channel only has to be set on the access point. The staion will adjust.
+ACCESS_POINT_USER = "ubnt"
+ACCESS_POINT_PASSWORD = "rover4lyfe^"  # We don't care about this password, don't freak out. Wifi is open anyways...
+
+GENERAL_WIRELESS_INFO_COMMAND = "wstalist"
+
+
+#####################################
+# UbiquitiRadioSettings Class Definition
+#####################################
+class UbiquitiStatus(QtCore.QThread):
+    connection_quality_update_ready__signal = QtCore.pyqtSignal(str)
+    successful_transmission_update_ready__signal = QtCore.pyqtSignal(str)
+    radio_rates_update_ready__signal = QtCore.pyqtSignal(str)
+    radio_latency_update_ready__signal = QtCore.pyqtSignal(str)
+
+    def __init__(self, shared_objects):
+        super(UbiquitiStatus, self).__init__()
+
+        # ########## Reference to class init variables ##########
+        self.shared_objects = shared_objects
+        self.left_screen = self.shared_objects["screens"]["left_screen"]
+
+        self.connection_quality_label = self.left_screen.connection_quality_label
+        self.successful_transmit_label = self.left_screen.successful_transmit_label
+        self.radio_rates_label = self.left_screen.radio_rates_label
+        self.radio_latency_label = self.left_screen.radio_latency_label
+
+        # ########## 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.wait_time = 1.0 / THREAD_HERTZ
+
+        self.ssh_client = None
+
+    def run(self):
+        try:
+            self.setup_and_connect_ssh_client()
+        except Exception:
+            return
+
+        while self.run_thread_flag:
+            start_time = time()
+
+            try:
+                self.get_and_show_ubiquiti_status()
+            except Exception, e:
+                print e
+
+            time_diff = time() - start_time
+
+            self.msleep(max(int((self.wait_time - time_diff) * 1000), 0))
+
+    def setup_and_connect_ssh_client(self):
+        self.ssh_client = paramiko.SSHClient()
+        self.ssh_client.set_missing_host_key_policy(paramiko.AutoAddPolicy())
+        self.ssh_client.connect(ACCESS_POINT_IP, username=ACCESS_POINT_USER, password=ACCESS_POINT_PASSWORD,
+                                compress=True)
+
+    def get_and_show_ubiquiti_status(self):
+        ssh_stdin, ssh_stdout, ssh_stderr = self.ssh_client.exec_command(GENERAL_WIRELESS_INFO_COMMAND)
+
+        try:
+            output_json = json.loads(ssh_stdout.read())[0]
+
+            transmit_percent = output_json["ccq"]
+            quality = output_json["airmax"]["quality"]
+            # capacity = output_json["airmax"]["capacity"]
+            rx_rate = output_json["rx"]
+            tx_rate = output_json["tx"]
+            ground_tx_latency = output_json["tx_latency"]
+            rover_tx_latency = output_json["remote"]["tx_latency"]
+
+        except IndexError:
+            transmit_percent = 0
+            quality = 0
+            # capacity = output_json["airmax"]["capacity"]
+            rx_rate = 0
+            tx_rate = 0
+            ground_tx_latency = "----"
+            rover_tx_latency = "----"
+
+
+        self.connection_quality_update_ready__signal.emit("Connection Quality\n%s %%" % quality)
+        self.successful_transmission_update_ready__signal.emit("Successful Transmit\n%s %%" % transmit_percent)
+        self.radio_rates_update_ready__signal.emit("TX Rate: %s Mbps\nRX Rate: %s Mbps" % (tx_rate, rx_rate))
+        self.radio_latency_update_ready__signal.emit(
+            "TX Latency: %s ms\nRX Latency: %s ms" % (ground_tx_latency, rover_tx_latency))
+
+    def connect_signals_and_slots(self):
+        self.connection_quality_update_ready__signal.connect(self.connection_quality_label.setText)
+        self.successful_transmission_update_ready__signal.connect(self.successful_transmit_label.setText)
+        self.radio_rates_update_ready__signal.connect(self.radio_rates_label.setText)
+        self.radio_latency_update_ready__signal.connect(self.radio_latency_label.setText)
+
+    def setup_signals(self, start_signal, signals_and_slots_signal, kill_signal):
+        start_signal.connect(self.start)
+        signals_and_slots_signal.connect(self.connect_signals_and_slots)
+        kill_signal.connect(self.on_kill_threads_requested__slot)
+
+    def on_kill_threads_requested__slot(self):
+        self.run_thread_flag = False

software/ros_packages/ground_station/src/Resources/Ui/left_screen.ui

@@ -251,23 +251,17 @@
            <property name="spacing">
             <number>0</number>
            </property>
-           <item row="1" column="2">
+           <item row="5" column="4">
-            <widget class="QLabel" name="ram">
-             <property name="styleSheet">
-              <string notr="true">background-color: darkred;</string>
-             </property>
-             <property name="text">
-              <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p align=&quot;center&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;TX2 RAM&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-             </property>
-             <property name="alignment">
-              <set>Qt::AlignCenter</set>
-             </property>
-            </widget>
-           </item>
-           <item row="1" column="4">
             <widget class="QLabel" name="emmc">
+             <property name="font">
+              <font>
+               <pointsize>10</pointsize>
+               <weight>75</weight>
+               <bold>true</bold>
+              </font>
+             </property>
              <property name="styleSheet">
-              <string notr="true">background-color: darkred;</string>
+              <string notr="true">background-color:darkgreen; border: 0.5px solid black;</string>
              </property>
              <property name="text">
               <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p align=&quot;center&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;TX2 EMMC&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
@@ -277,7 +271,7 @@
              </property>
             </widget>
            </item>
-           <item row="9" column="5">
+           <item row="13" column="5">
             <widget class="QLabel" name="chassis_cam">
              <property name="sizePolicy">
               <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
@@ -311,7 +305,7 @@
               </font>
              </property>
              <property name="styleSheet">
-              <string notr="true">background-color:darkred;</string>
+              <string notr="true">background-color:darkgreen; border: 0.5px solid black;</string>
              </property>
              <property name="text">
               <string>Chassis Camera
@@ -322,7 +316,7 @@ Connected</string>
              </property>
             </widget>
            </item>
-           <item row="9" column="4">
+           <item row="13" column="4">
             <widget class="QLabel" name="under_cam">
              <property name="sizePolicy">
               <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
@@ -356,7 +350,7 @@ Connected</string>
               </font>
              </property>
              <property name="styleSheet">
-              <string notr="true">background-color:darkred;</string>
+              <string notr="true">background-color:darkgreen; border: 0.5px solid black;</string>
              </property>
              <property name="text">
               <string>Undercarriage Camera
@@ -395,7 +389,7 @@ Connected</string>
               </font>
              </property>
              <property name="styleSheet">
-              <string notr="true">background-color:darkgreen;</string>
+              <string notr="true">background-color:darkgreen; border: 0.5px solid black;</string>
              </property>
              <property name="frameShape">
               <enum>QFrame::NoFrame</enum>
@@ -443,7 +437,7 @@ Connected</string>
               </font>
              </property>
              <property name="styleSheet">
-              <string notr="true">background-color:darkgreen;</string>
+              <string notr="true">background-color:darkgreen; border: 0.5px solid black;</string>
              </property>
              <property name="text">
               <string>FrSky
@@ -485,7 +479,7 @@ Connected</string>
               <bool>false</bool>
              </property>
              <property name="styleSheet">
-              <string notr="true">background-color:darkgreen;</string>
+              <string notr="true">background-color:darkgreen; border: 0.5px solid black;</string>
              </property>
              <property name="text">
               <string>3D Nav Mouse
@@ -524,7 +518,7 @@ Connected</string>
               </font>
              </property>
              <property name="styleSheet">
-              <string notr="true">background-color:darkgreen;</string>
+              <string notr="true">background-color:darkgreen; border: 0.5px solid black;</string>
              </property>
              <property name="frameShape">
               <enum>QFrame::NoFrame</enum>
@@ -538,7 +532,7 @@ Connected</string>
              </property>
             </widget>
            </item>
-           <item row="9" column="2">
+           <item row="13" column="2">
             <widget class="QLabel" name="main_cam">
              <property name="sizePolicy">
               <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
@@ -566,7 +560,7 @@ Connected</string>
               </font>
              </property>
              <property name="styleSheet">
-              <string notr="true">background-color:darkred;</string>
+              <string notr="true">background-color:darkgreen; border: 0.5px solid black;</string>
              </property>
              <property name="frameShape">
               <enum>QFrame::NoFrame</enum>
@@ -580,7 +574,7 @@ Connected</string>
              </property>
             </widget>
            </item>
-           <item row="4" column="1">
+           <item row="8" column="1">
             <widget class="QLabel" name="gps">
              <property name="sizePolicy">
               <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
@@ -611,7 +605,7 @@ Connected</string>
               <bool>false</bool>
              </property>
              <property name="styleSheet">
-              <string notr="true">background-color:darkgreen;</string>
+              <string notr="true">background-color:darkgreen; border: 0.5px solid black;</string>
              </property>
              <property name="text">
               <string>GPS
@@ -622,7 +616,7 @@ Fix</string>
              </property>
             </widget>
            </item>
-           <item row="4" column="4">
+           <item row="8" column="4">
             <widget class="QLabel" name="middle_left_wheel_label">
              <property name="sizePolicy">
               <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
@@ -653,18 +647,18 @@ Fix</string>
               <bool>false</bool>
              </property>
              <property name="styleSheet">
-              <string notr="true">background-color:darkred;</string>
+              <string notr="true">background-color:darkgreen; border: 0.5px solid black;</string>
              </property>
              <property name="text">
               <string>Middle Left Wheel
-Disconnected</string>
+Connected</string>
              </property>
              <property name="alignment">
               <set>Qt::AlignCenter</set>
              </property>
             </widget>
            </item>
-           <item row="4" column="5">
+           <item row="8" column="5">
             <widget class="QLabel" name="rear_left_wheel_label">
              <property name="sizePolicy">
               <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
@@ -692,7 +686,7 @@ Disconnected</string>
               </font>
              </property>
              <property name="styleSheet">
-              <string notr="true">background-color:darkgreen;</string>
+              <string notr="true">background-color:darkgreen; border: 0.5px solid black;</string>
              </property>
              <property name="frameShape">
               <enum>QFrame::NoFrame</enum>
@@ -706,7 +700,7 @@ Connected</string>
              </property>
             </widget>
            </item>
-           <item row="4" column="2">
+           <item row="8" column="2">
             <widget class="QLabel" name="front_left_wheel_label">
              <property name="sizePolicy">
               <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
@@ -734,7 +728,7 @@ Connected</string>
               </font>
              </property>
              <property name="styleSheet">
-              <string notr="true">background-color:darkgreen;</string>
+              <string notr="true">background-color:darkgreen; border: 0.5px solid black;</string>
              </property>
              <property name="frameShape">
               <enum>QFrame::NoFrame</enum>
@@ -748,7 +742,7 @@ Connected</string>
              </property>
             </widget>
            </item>
-           <item row="9" column="1">
+           <item row="13" column="1">
             <widget class="QLabel" name="zed">
              <property name="sizePolicy">
               <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
@@ -776,7 +770,7 @@ Connected</string>
               </font>
              </property>
              <property name="styleSheet">
-              <string notr="true">background-color:darkred;</string>
+              <string notr="true">background-color:darkgreen; border: 0.5px solid black;</string>
              </property>
              <property name="frameShape">
               <enum>QFrame::NoFrame</enum>
@@ -790,10 +784,17 @@ Disconnected</string>
              </property>
             </widget>
            </item>
-           <item row="1" column="1">
+           <item row="5" column="1">
             <widget class="QLabel" name="cpu">
+             <property name="font">
+              <font>
+               <pointsize>10</pointsize>
+               <weight>75</weight>
+               <bold>true</bold>
+              </font>
+             </property>
              <property name="styleSheet">
-              <string notr="true">background-color: darkred;</string>
+              <string notr="true">background-color:darkgreen; border: 0.5px solid black;</string>
              </property>
              <property name="text">
               <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p align=&quot;center&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;TX2 CPU&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
@@ -803,10 +804,17 @@ Disconnected</string>
              </property>
             </widget>
            </item>
-           <item row="1" column="5">
+           <item row="5" column="5">
             <widget class="QLabel" name="gpu_temp">
+             <property name="font">
+              <font>
+               <pointsize>10</pointsize>
+               <weight>75</weight>
+               <bold>true</bold>
+              </font>
+             </property>
              <property name="styleSheet">
-              <string notr="true">background-color: darkred;</string>
+              <string notr="true">background-color:darkgreen; border: 0.5px solid black;</string>
              </property>
              <property name="text">
               <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p align=&quot;center&quot;&gt;&lt;span style=&quot; font-size:9pt; font-weight:600;&quot;&gt;TX2 TEMP&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
@@ -816,7 +824,7 @@ Disconnected</string>
              </property>
             </widget>
            </item>
-           <item row="6" column="2">
+           <item row="10" column="2">
             <widget class="QLabel" name="front_right_wheel_label">
              <property name="sizePolicy">
               <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
@@ -844,7 +852,7 @@ Disconnected</string>
               </font>
              </property>
              <property name="styleSheet">
-              <string notr="true">background-color:darkgreen;</string>
+              <string notr="true">background-color:darkgreen; border: 0.5px solid black;</string>
              </property>
              <property name="frameShape">
               <enum>QFrame::NoFrame</enum>
@@ -858,7 +866,7 @@ Connected</string>
              </property>
             </widget>
            </item>
-           <item row="6" column="1">
+           <item row="10" column="1">
             <widget class="QLabel" name="battery_voltage_status_label">
              <property name="sizePolicy">
               <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
@@ -886,7 +894,7 @@ Connected</string>
               </font>
              </property>
              <property name="styleSheet">
-              <string notr="true">background-color:darkred;</string>
+              <string notr="true">background-color:darkgreen; border: 0.5px solid black;</string>
              </property>
              <property name="frameShape">
               <enum>QFrame::NoFrame</enum>
@@ -900,7 +908,7 @@ N/A</string>
              </property>
             </widget>
            </item>
-           <item row="6" column="4">
+           <item row="10" column="4">
             <widget class="QLabel" name="middle_right_wheel_label">
              <property name="sizePolicy">
               <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
@@ -928,21 +936,41 @@ N/A</string>
               </font>
              </property>
              <property name="styleSheet">
-              <string notr="true">background-color:darkred;</string>
+              <string notr="true">background-color:darkgreen; border: 0.5px solid black;</string>
              </property>
              <property name="frameShape">
               <enum>QFrame::NoFrame</enum>
              </property>
              <property name="text">
               <string>Middle Right Wheel
-Disconnected</string>
+Connected</string>
              </property>
              <property name="alignment">
               <set>Qt::AlignCenter</set>
              </property>
             </widget>
            </item>
-           <item row="6" column="5">
+           <item row="5" column="2">
+            <widget class="QLabel" name="ram">
+             <property name="font">
+              <font>
+               <pointsize>10</pointsize>
+               <weight>75</weight>
+               <bold>true</bold>
+              </font>
+             </property>
+             <property name="styleSheet">
+              <string notr="true">background-color:darkgreen; border: 0.5px solid black;</string>
+             </property>
+             <property name="text">
+              <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p align=&quot;center&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;TX2 RAM&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+             </property>
+             <property name="alignment">
+              <set>Qt::AlignCenter</set>
+             </property>
+            </widget>
+           </item>
+           <item row="10" column="5">
             <widget class="QLabel" name="rear_right_wheel_label">
              <property name="sizePolicy">
               <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
@@ -970,7 +998,7 @@ Disconnected</string>
               </font>
              </property>
              <property name="styleSheet">
-              <string notr="true">background-color:darkgreen;</string>
+              <string notr="true">background-color:darkgreen; border: 0.5px solid black;</string>
              </property>
              <property name="frameShape">
               <enum>QFrame::NoFrame</enum>
@@ -984,6 +1012,174 @@ Connected</string>
              </property>
             </widget>
            </item>
+           <item row="2" column="1">
+            <widget class="QLabel" name="connection_quality_label">
+             <property name="sizePolicy">
+              <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+               <horstretch>0</horstretch>
+               <verstretch>0</verstretch>
+              </sizepolicy>
+             </property>
+             <property name="minimumSize">
+              <size>
+               <width>0</width>
+               <height>0</height>
+              </size>
+             </property>
+             <property name="maximumSize">
+              <size>
+               <width>9999999</width>
+               <height>9999999</height>
+              </size>
+             </property>
+             <property name="font">
+              <font>
+               <pointsize>10</pointsize>
+               <weight>75</weight>
+               <bold>true</bold>
+              </font>
+             </property>
+             <property name="styleSheet">
+              <string notr="true">background-color:darkgreen; border: 0.5px solid black;</string>
+             </property>
+             <property name="frameShape">
+              <enum>QFrame::NoFrame</enum>
+             </property>
+             <property name="text">
+              <string>Connection Quality
+0.0%</string>
+             </property>
+             <property name="alignment">
+              <set>Qt::AlignCenter</set>
+             </property>
+            </widget>
+           </item>
+           <item row="2" column="4">
+            <widget class="QLabel" name="radio_rates_label">
+             <property name="sizePolicy">
+              <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+               <horstretch>0</horstretch>
+               <verstretch>0</verstretch>
+              </sizepolicy>
+             </property>
+             <property name="minimumSize">
+              <size>
+               <width>0</width>
+               <height>0</height>
+              </size>
+             </property>
+             <property name="maximumSize">
+              <size>
+               <width>9999999</width>
+               <height>9999999</height>
+              </size>
+             </property>
+             <property name="font">
+              <font>
+               <pointsize>9</pointsize>
+               <weight>75</weight>
+               <bold>true</bold>
+              </font>
+             </property>
+             <property name="styleSheet">
+              <string notr="true">background-color:darkgreen; border: 0.5px solid black;</string>
+             </property>
+             <property name="frameShape">
+              <enum>QFrame::NoFrame</enum>
+             </property>
+             <property name="text">
+              <string>RX Rate: 240.0 Mbps
+TX Rate: 300 Mbps</string>
+             </property>
+             <property name="alignment">
+              <set>Qt::AlignCenter</set>
+             </property>
+            </widget>
+           </item>
+           <item row="2" column="2">
+            <widget class="QLabel" name="successful_transmit_label">
+             <property name="sizePolicy">
+              <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+               <horstretch>0</horstretch>
+               <verstretch>0</verstretch>
+              </sizepolicy>
+             </property>
+             <property name="minimumSize">
+              <size>
+               <width>0</width>
+               <height>0</height>
+              </size>
+             </property>
+             <property name="maximumSize">
+              <size>
+               <width>9999999</width>
+               <height>9999999</height>
+              </size>
+             </property>
+             <property name="font">
+              <font>
+               <pointsize>10</pointsize>
+               <weight>75</weight>
+               <bold>true</bold>
+              </font>
+             </property>
+             <property name="styleSheet">
+              <string notr="true">background-color:darkgreen; border: 0.5px solid black;</string>
+             </property>
+             <property name="frameShape">
+              <enum>QFrame::NoFrame</enum>
+             </property>
+             <property name="text">
+              <string>Successful Transmit
+0.0%</string>
+             </property>
+             <property name="alignment">
+              <set>Qt::AlignCenter</set>
+             </property>
+            </widget>
+           </item>
+           <item row="2" column="5">
+            <widget class="QLabel" name="radio_latency_label">
+             <property name="sizePolicy">
+              <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+               <horstretch>0</horstretch>
+               <verstretch>0</verstretch>
+              </sizepolicy>
+             </property>
+             <property name="minimumSize">
+              <size>
+               <width>0</width>
+               <height>0</height>
+              </size>
+             </property>
+             <property name="maximumSize">
+              <size>
+               <width>9999999</width>
+               <height>9999999</height>
+              </size>
+             </property>
+             <property name="font">
+              <font>
+               <pointsize>9</pointsize>
+               <weight>75</weight>
+               <bold>true</bold>
+              </font>
+             </property>
+             <property name="styleSheet">
+              <string notr="true">background-color:darkgreen; border: 0.5px solid black;</string>
+             </property>
+             <property name="frameShape">
+              <enum>QFrame::NoFrame</enum>
+             </property>
+             <property name="text">
+              <string>TX Latency: 10000 ms
+RX Latency: 10000 ms</string>
+             </property>
+             <property name="alignment">
+              <set>Qt::AlignCenter</set>
+             </property>
+            </widget>
+           </item>
           </layout>
          </item>
         </layout>

software/ros_packages/ground_station/src/ground_station.py

@@ -20,6 +20,7 @@ import Framework.NavigationSystems.SpeedAndHeadingIndication as SpeedAndHeading
 import Framework.NavigationSystems.WaypointsCoordinator as WaypointsCoordinator
 import Framework.ArmSystems.ArmIndication as ArmIndication
 import Framework.StatusSystems.StatusCore as StatusCore
+import Framework.StatusSystems.UbiquitiStatusCore as UbiquitiStatusCore
 import Framework.SettingsSystems.UbiquitiRadioSettings as UbiquitiRadioSettings
 import Framework.InputSystems.SpaceNavControlSender as SpaceNavControlSender
 
@@ -108,6 +109,7 @@ class GroundStation(QtCore.QObject):
         self.__add_thread("Speed and Heading", SpeedAndHeading.SpeedAndHeadingIndication(self.shared_objects))
         self.__add_thread("Arm Indication", ArmIndication.ArmIndication(self.shared_objects))
         self.__add_thread("Rover Status", StatusCore.SensorCore(self.shared_objects))
+        self.__add_thread("Ubiquiti Status", UbiquitiStatusCore.UbiquitiStatus(self.shared_objects))
         self.__add_thread("Ubiquiti Radio Settings", UbiquitiRadioSettings.UbiquitiRadioSettings(self.shared_objects))
         self.__add_thread("Waypoints Coordinator", WaypointsCoordinator.WaypointsCoordinator(self.shared_objects))
         self.__add_thread("Spacenav Sender", SpaceNavControlSender.SpaceNavControlSender(self.shared_objects))

software/ros_packages/rover_control/src/control_coordinators/drive_coordinator.py

@@ -71,7 +71,6 @@ class DriveCoordinator(object):
         self.left_bogie_publisher = rospy.Publisher(self.left_bogie_topic, DriveControlMessage, queue_size=1)
         self.right_bogie_publisher = rospy.Publisher(self.right_bogie_topic, DriveControlMessage, queue_size=1)
 
-
         self.last_message_time = time()
 
         # ########## Run the Class ##########

software/ros_packages/rover_control/src/drive_control/drive_control.py

@@ -34,7 +34,7 @@ COMMUNICATIONS_TIMEOUT = 0.01  # Seconds
 RX_DELAY = 0.01
 TX_DELAY = 0.01
 
-DEFAULT_HERTZ = 20
+DEFAULT_HERTZ = 30
 
 MODBUS_REGISTERS = {
     "DIRECTION": 0,

software/ros_packages/rover_main/launch/rover/control.launch

@@ -31,6 +31,6 @@
             <param name="second_motor_id" value="1"/>
         </node>
 
-        <node name="drive_coordinator" pkg="rover_control" type="drive_coordinator.py" output="screen"/>
+        <node name="drive_coordinator" pkg="rover_control" type="drive_coordinator.py" respawn="true" output="screen"/>
     </group>
 </launch>

software/ros_packages/rover_main/launch/rover/odometry.launch

@@ -3,6 +3,9 @@
     <!-- https://answers.ros.org/question/241222/fusing-imu-gps-with-robot_location-package/ -->
 
     <group ns="odometry">
+        <!-- ########## Processes GPS and IMU Messages ########## -->
+        <node name="odom_record" pkg="rosbag" type="record" args="-o /home/nvidia/BAGS/odometry /odometry/gps/fix /odometry/gps/sentence /odometry/imu/data /odometry/odometry/filtered /odometry/odometry/gps /odometry/vel" output="screen" />
+
         <!-- ########## Processes GPS and IMU Messages ########## -->
         <node name="gps_and_imu" pkg="rover_odometry" type="odometry.py" respawn="true" output="screen" />
 

software/ros_packages/rover_main/launch/rover/odometry2.launch

@@ -0,0 +1,68 @@
+<launch>
+    <!-- https://github.com/vikiboy/AGV_Localization/blob/master/robot_localization/launch/ekf.launch -->
+    <!-- https://answers.ros.org/question/241222/fusing-imu-gps-with-robot_location-package/ -->
+        <!-- ########## Processes GPS and IMU Messages ########## -->
+    <node name="gps_and_imu" pkg="rover_odometry" type="odometry.py" respawn="true" output="screen" >
+        <param name="gps_sentence_topic" value="/nmea_sentence"/>
+        <param name="imu_data_topic" value="/imu/data"/>
+        <!--<remap from="nmea_sentence" to="gps/sentence"/>-->
+        <!--<remap from="imu/data" to="/imu/data"/>-->
+    </node>
+    <!-- ########## Converts GPS Sentences to GPS Fix data ########## -->
+    <node name="navsat_driver" pkg="nmea_navsat_driver" type="nmea_topic_driver" output="screen">
+        <remap from="nmea_sentence" to="gps/sentence"/>
+    </node>
+
+    <node pkg="tf" type="static_transform_publisher" name="imu_tf" args="0 0 0 0 0 0 1 base_link imu 20"/>
+    <node pkg="tf" type="static_transform_publisher" name="gps_tf" args="0 0 0 0 0 0 1 base_link gps 20"/>
+
+    <node pkg="robot_localization" type="ekf_localization_node" name="ekf_localization" clear_params="true">
+        <param name="output_frame" value="odom"/>
+        <param name="frequency" value="20"/>
+        <param name="odom_used" value="true"/>
+        <param name="imu_used" value="true"/>
+        <param name="vo_used" value="false"/>
+        <param name="sensor_timeout" value="0.1"/>
+        <param name="two_d_mode" value="false"/>
+
+        <param name="map_frame"       value="map"/>
+        <param name="odom_frame"      value="odom"/>
+        <param name="base_link_frame" value="base_link"/>
+        <param name="world_frame"     value="odom"/>
+
+        <param name="odom0" value="/odometry/gps"/>
+        <param name="imu0"  value="/imu/data"/>
+
+        <rosparam param="odom0_config">[true, true, false,
+                                      false, false, false,
+                                      false , false, false,
+                                      false, false, false,
+                                      false, false, false]</rosparam>
+
+        <rosparam param="imu0_config">[false, false, false,
+                                     true , true , true,
+                                     false, false, false,
+                                     true , true , true ,
+                                     true , true , true ]</rosparam>
+
+        <param name="odom0_differential" value="false"/>
+        <param name="imu0_differential"  value="false"/>
+
+        <param name="imu0_remove_gravitational_acceleration" value="true"/>
+
+        <param name="odom0_relative" value="false"/>
+        <param name="imu0_relative"  value="false"/>
+
+        <param name="print_diagnostics" value="true"/>
+
+        <!-- ======== ADVANCED PARAMETERS ======== -->
+
+        <param name="odom0_queue_size" value="2"/>
+        <param name="imu0_queue_size" value="10"/>
+
+    </node>
+
+    <node name="navsat_transform" pkg="robot_localization" type="navsat_transform_node" output="screen">
+            <param name="broadcast_utm_transform" value="true"/>
+    </node>
+</launch>

software/ros_packages/rover_status/src/system_statuses_node.py

@@ -36,7 +36,7 @@ DEFAULT_IRIS_STATUS_TOPIC_NAME = "/rover_control/iris_status"
 DEFAULT_BOGIE_LEFT_TOPIC_NAME = '/rover_control/drive_status/left'
 DEFAULT_BOGIE_RIGHT_TOPIC_NAME = '/rover_control/drive_status/right'
 DEFAULT_BOGIE_REAR_TOPIC_NAME = '/rover_control/drive_status/rear'
-DEFAULT_GPS_NMEA_TOPIC_NAME = '/nmea_sentence'
+DEFAULT_GPS_NMEA_TOPIC_NAME = '/odometry/gps/sentence'
 
 
 #####################################

software/testing/ubiradio_testing.py

@@ -1,6 +1,6 @@
 import paramiko
 import json
-from pprint import pprint
+import time
 
 # ath0      21 channels in total; available frequencies :
 #           Channel 01 : 2.412 GHz
@@ -43,12 +43,25 @@ ssh.set_missing_host_key_policy(paramiko.AutoAddPolicy)
 # Before anyone complains, I'm not worried about this password being online.
 # We only set one because the web interfaces HAVE to have one
 ssh.connect("192.168.1.20", username="ubnt", password="rover4lyfe^", compress=True)
-ssh_stdin, ssh_stdout, ssh_stderr = ssh.exec_command(get_general_info)
 
-pprint( json.loads(ssh_stdout.read()) )
+while True:
+    ssh_stdin, ssh_stdout, ssh_stderr = ssh.exec_command(get_general_info)
 
-ssh_stdin, ssh_stdout, ssh_stderr = ssh.exec_command(set_wireless_frequency)
+    output_json = json.loads(ssh_stdout.read())[0]
-ssh_stdin, ssh_stdout, ssh_stderr = ssh.exec_command(get_wireless_info)
 
+    successful_transmit_percent = output_json["ccq"]
+    quality = output_json["airmax"]["quality"]
+    capacity = output_json["airmax"]["capacity"]
+    rx_rate = output_json["rx"]
+    tx_rate = output_json["tx"]
+    ground_tx_latency = output_json["tx_latency"]
+    rover_tx_latency = output_json["remote"]["tx_latency"]
+
+    print successful_transmit_percent, " | ", quality, " | ", capacity, " | ", rx_rate, " | ", tx_rate, " | ", ground_tx_latency, " | ", rover_tx_latency
+
+    time.sleep(0.25)
+# ssh_stdin, ssh_stdout, ssh_stderr = ssh.exec_command(set_wireless_frequency)
+# ssh_stdin, ssh_stdout, ssh_stderr = ssh.exec_command(get_wireless_info)
+#
+# print ssh_stdout.read()
 
-print ssh_stdout.read()