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Ubiquiti radio statuses now working. Misc other items.

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This commit is contained in:
Corwin Perren
2018-07-08 21:01:53 -07:00
parent b9473eaf21
commit 1110dce885
14 changed files with 524 additions and 93 deletions
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2
software/firmware/iris/iris.ino
View File

@@ -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);

2
software/ros_packages/ground_station/src/Framework/InputSystems/SpaceNavControlSender.py
View File

@@ -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()

86
software/ros_packages/ground_station/src/Framework/StatusSystems/StatusCore.py
View File

@@ -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.camera_zed_stylesheet_change_ready__signal.emit("background-color: darkgreen;")
# self.zed.setStyleSheet(COLOR_GREEN)
self.camera_zed_stylesheet_change_ready__signal.emit(COLOR_GREEN)
if data.camera_undercarriage is False:
# self.under_cam.setStyleSheet("background-color: darkred;")
self.camera_under_stylesheet_change_ready__signal.emit("background-color: darkred;")
# self.under_cam.setStyleSheet(COLOR_RED)
self.camera_under_stylesheet_change_ready__signal.emit(COLOR_RED)
else:
# self.under_cam.setStyleSheet("background-color: darkgreen;")
self.camera_under_stylesheet_change_ready__signal.emit("background-color: darkgreen;")
# self.under_cam.setStyleSheet(COLOR_GREEN)
self.camera_under_stylesheet_change_ready__signal.emit(COLOR_GREEN)
if data.camera_chassis is False:
# self.chassis_cam.setStyleSheet("background-color: darkred;")
self.camera_chassis_stylesheet_change_ready__signal.emit("background-color: darkred;")
# self.chassis_cam.setStyleSheet(COLOR_RED)
self.camera_chassis_stylesheet_change_ready__signal.emit(COLOR_RED)
else:
# self.chassis_cam.setStyleSheet("background-color: darkgreen;")
self.camera_chassis_stylesheet_change_ready__signal.emit("background-color: darkgreen;")
# self.chassis_cam.setStyleSheet(COLOR_GREEN)
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.camera_main_stylesheet_change_ready__signal.emit("background-color: darkred;")
# self.main_cam.setStyleSheet(COLOR_RED)
self.camera_main_stylesheet_change_ready__signal.emit(COLOR_RED)
else:
# self.main_cam.setStyleSheet("background-color: darkgreen;")
self.camera_main_stylesheet_change_ready__signal.emit("background-color: darkgreen;")
# self.main_cam.setStyleSheet(COLOR_GREEN)
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)

126
software/ros_packages/ground_station/src/Framework/StatusSystems/UbiquitiStatusCore.py Normal file
View File

@@ -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

294
software/ros_packages/ground_station/src/Resources/Ui/left_screen.ui
View File

@@ -251,23 +251,17 @@
<property name="spacing">
<number>0</number>
</property>
<item row="1" column="2">
<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">
<item row="5" 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>

2
software/ros_packages/ground_station/src/ground_station.py
View File

@@ -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))

1
software/ros_packages/rover_control/src/control_coordinators/drive_coordinator.py
View File

@@ -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 ##########

2
software/ros_packages/rover_control/src/drive_control/drive_control.py
View File

@@ -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,

2
software/ros_packages/rover_main/launch/rover/control.launch
View File

@@ -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>

3
software/ros_packages/rover_main/launch/rover/odometry.launch
View File

@@ -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" />

68
software/ros_packages/rover_main/launch/rover/odometry2.launch Normal file
View File

@@ -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>

2
software/ros_packages/rover_status/src/system_statuses_node.py
View File

@@ -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'
#####################################

23
software/testing/ubiradio_testing.py
View File

@@ -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)
while True:
ssh_stdin, ssh_stdout, ssh_stderr = ssh.exec_command(get_general_info)
pprint( json.loads(ssh_stdout.read()) )
output_json = json.loads(ssh_stdout.read())[0]
ssh_stdin, ssh_stdout, ssh_stderr = ssh.exec_command(set_wireless_frequency)
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()