caperren/osurc_mars_rover_2017_2018
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Minor changes to rdf and a low res mode for video.

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This commit is contained in:
Corwin Perren
2018-08-10 13:03:08 -07:00
parent c3a98cc0a7
commit 12ed32ef54
9 changed files with 276 additions and 27 deletions
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15
software/firmware/freq_testing/freq_testing.ino Normal file
View File

@@ -0,0 +1,15 @@
float freq = 1.5;
int pin = 13;
// convert freq to mills
float mills = (1/freq)*1000;
void setup(){
pinMode(pin, OUTPUT);
}
void loop(){
digitalWrite(pin,LOW);
delay(mills);
digitalWrite(pin, HIGH);
delay(mills);
}

9
software/firmware/mining/mining.ino
View File

@@ -22,6 +22,9 @@ enum HARDWARE {
MOTOR_TILT_EN = 33,
MOTOR_TILT_FB = A11,
CAMERA_CONTROL = 0,
CAMERA_VIDEO_EN = 1,
LED_13 = 13,
LED_RED = 20,
@@ -119,6 +122,10 @@ void setup_hardware() {
pinMode(HARDWARE::MOTOR_TILT_CS, INPUT);
pinMode(HARDWARE::MOTOR_TILT_FB, INPUT);
pinMode(HARDWARE::CAMERA_CONTROL, OUTPUT);
pinMode(HARDWARE::CAMERA_VIDEO_EN, OUTPUT);
pinMode(HARDWARE::LED_13, OUTPUT);
pinMode(HARDWARE::LED_RED, OUTPUT);
pinMode(HARDWARE::LED_BLUE, OUTPUT);
@@ -132,6 +139,8 @@ void setup_hardware() {
digitalWrite(HARDWARE::MOTOR_LIFT_EN, HIGH);
digitalWrite(HARDWARE::MOTOR_TILT_EN, HIGH);
digitalWrite(HARDWARE::CAMERA_VIDEO_EN, HIGH);
// Change motor PWM frequency so it's not in the audible range
analogWriteFrequency(HARDWARE::MOTOR_LIFT_PWM, 25000);
analogWriteFrequency(HARDWARE::MOTOR_TILT_PWM, 25000);

8
software/ros_packages/ground_station/src/Framework/MiscSystems/BashConsoleCore.py
View File

@@ -14,9 +14,9 @@ import paramiko
#####################################
THREAD_HERTZ = 5
IP = "192.168.1.127"
USER = "caperren"
PASS = "ult1m2t3!"
IP = "192.168.1.10"
USER = "nvidia"
PASS = "nvidia"
#####################################
@@ -81,6 +81,8 @@ class BashConsole(QtCore.QThread):
self.ssh_client.connect(IP, username=USER, password=PASS, compress=True)
except:
print "No connection"
if not self.run_thread_flag:
return
self.ssh_client = None
self.msleep(1000)

42
software/ros_packages/ground_station/src/Framework/MiscSystems/RDFCore.py
View File

@@ -20,6 +20,13 @@ RDF_DATA_TOPIC = "/rover_science/rdf/data"
THREAD_HERTZ = 5
COLOR_GREEN = "background-color:darkgreen;"
COLOR_RED = "background-color:darkred;"
ALLOWED_RDF_VARIANCE = 0.15
#####################################
# UbiquitiRadioSettings Class Definition
#####################################
@@ -28,6 +35,9 @@ class RDF(QtCore.QThread):
rssi_lcd_number_update_ready__signal = QtCore.pyqtSignal(int)
beacon_lcd_number_update_ready__signal = QtCore.pyqtSignal(float)
beacon_valid_text_change_ready__signal = QtCore.pyqtSignal(str)
beacon_valid_stylesheet_change_ready__signal = QtCore.pyqtSignal(str)
def __init__(self, shared_objects):
super(RDF, self).__init__()
@@ -37,6 +47,7 @@ class RDF(QtCore.QThread):
self.rssi_lcdnumber = self.left_screen.rssi_lcdnumber # type:QtWidgets.QLCDNumber
self.beacon_frequency_lcd_number = self.left_screen.beacon_frequency_lcd_number # type:QtWidgets.QLCDNumber
self.beacon_frequency_valid_label = self.left_screen.beacon_frequency_valid_label # type:QtWidgets.QLCDNumber
# ########## Get the settings instance ##########
self.settings = QtCore.QSettings()
@@ -58,6 +69,9 @@ class RDF(QtCore.QThread):
self.raw_data_timestamps = numpy.array([])
self.data_window_size = 200
self.previous_frequencies = []
self.num_previous_frequencies = 3
def run(self):
self.logger.debug("Starting RDF Thread")
@@ -92,9 +106,30 @@ class RDF(QtCore.QThread):
max_index = numpy.argmax(numpy.abs(yf))
freq = xf[max_index]
if len(self.previous_frequencies) == self.num_previous_frequencies:
del self.previous_frequencies[0]
self.previous_frequencies.append(freq)
if len(self.previous_frequencies) == self.num_previous_frequencies:
variance_too_large = False
if abs(self.previous_frequencies[0] - self.previous_frequencies[1]) > ALLOWED_RDF_VARIANCE:
variance_too_large = True
if abs(self.previous_frequencies[0] - self.previous_frequencies[2]) > ALLOWED_RDF_VARIANCE:
variance_too_large = True
if abs(self.previous_frequencies[1] - self.previous_frequencies[2]) > ALLOWED_RDF_VARIANCE:
variance_too_large = True
self.beacon_valid_stylesheet_change_ready__signal.emit(COLOR_GREEN if not variance_too_large else COLOR_RED)
self.beacon_valid_text_change_ready__signal.emit("Yes" if not variance_too_large else "No")
self.beacon_lcd_number_update_ready__signal.emit(freq)
except:
pass
except Exception, e:
print e
self.raw_data = numpy.array([])
self.raw_data_timestamps = numpy.array([])
@@ -119,6 +154,9 @@ class RDF(QtCore.QThread):
self.rssi_lcd_number_update_ready__signal.connect(self.rssi_lcdnumber.display)
self.beacon_lcd_number_update_ready__signal.connect(self.beacon_frequency_lcd_number.display)
self.beacon_valid_text_change_ready__signal.connect(self.beacon_frequency_valid_label.setText)
self.beacon_valid_stylesheet_change_ready__signal.connect(self.beacon_frequency_valid_label.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)

44
software/ros_packages/ground_station/src/Framework/VideoSystems/RoverVideoCoordinator.py
View File

@@ -22,11 +22,16 @@ PRIMARY_LABEL_MAX = (640, 360)
SECONDARY_LABEL_MAX = (640, 360)
TERTIARY_LABEL_MAX = (640, 360)
LOW_RES = (256, 144)
GUI_SELECTION_CHANGE_TIMEOUT = 3 # Seconds
STYLESHEET_SELECTED = "border: 2px solid orange; background-color:black;"
STYLESHEET_UNSELECTED = "background-color:black;"
COLOR_GREEN = "background-color: darkgreen;"
COLOR_RED = "background-color: darkred;"
#####################################
# RoverVideoCoordinator Class Definition
@@ -38,6 +43,9 @@ class RoverVideoCoordinator(QtCore.QThread):
pan_tilt_selection_changed__signal = QtCore.pyqtSignal(str)
low_res_button_text_update_ready__signal = QtCore.pyqtSignal(str)
low_res_button_stylesheet_update_ready__signal = QtCore.pyqtSignal(str)
def __init__(self, shared_objects):
super(RoverVideoCoordinator, self).__init__()
@@ -48,6 +56,8 @@ class RoverVideoCoordinator(QtCore.QThread):
self.secondary_video_display_label = self.right_screen.secondary_video_label # type:QtWidgets.QLabel
self.tertiary_video_display_label = self.right_screen.tertiary_video_label # type:QtWidgets.QLabel
self.low_res_mode_button = self.right_screen.low_res_mode_button # type: QtWidgets.QLabel
self.index_to_label_element = {
0: self.primary_video_display_label,
1: self.secondary_video_display_label,
@@ -107,6 +117,8 @@ class RoverVideoCoordinator(QtCore.QThread):
self.first_image_received = False
self.in_low_res_mode = False
def run(self):
self.logger.debug("Starting Video Coordinator Thread")
@@ -140,13 +152,17 @@ class RoverVideoCoordinator(QtCore.QThread):
def __set_max_resolutions(self):
if self.set_max_resolutions_flag:
self.camera_threads[self.valid_cameras[self.primary_label_current_setting]].set_hard_max_resolution(PRIMARY_LABEL_MAX)
if self.in_low_res_mode:
for camera in self.camera_threads:
self.camera_threads[camera].set_hard_max_resolution(LOW_RES)
else:
self.camera_threads[self.valid_cameras[self.primary_label_current_setting]].set_hard_max_resolution(PRIMARY_LABEL_MAX)
if self.secondary_label_current_setting != self.primary_label_current_setting:
self.camera_threads[self.valid_cameras[self.secondary_label_current_setting]].set_hard_max_resolution(SECONDARY_LABEL_MAX)
if self.secondary_label_current_setting != self.primary_label_current_setting:
self.camera_threads[self.valid_cameras[self.secondary_label_current_setting]].set_hard_max_resolution(SECONDARY_LABEL_MAX)
if self.tertiary_label_current_setting != self.primary_label_current_setting and self.tertiary_label_current_setting != self.secondary_label_current_setting:
self.camera_threads[self.valid_cameras[self.tertiary_label_current_setting]].set_hard_max_resolution(SECONDARY_LABEL_MAX)
if self.tertiary_label_current_setting != self.primary_label_current_setting and self.tertiary_label_current_setting != self.secondary_label_current_setting:
self.camera_threads[self.valid_cameras[self.tertiary_label_current_setting]].set_hard_max_resolution(SECONDARY_LABEL_MAX)
self.set_max_resolutions_flag = False
@@ -242,6 +258,10 @@ class RoverVideoCoordinator(QtCore.QThread):
self.shared_objects["threaded_classes"]["Joystick Sender"].toggle_selected_gui_camera__signal.connect(
self.on_gui_selected_camera_toggled)
self.low_res_mode_button.clicked.connect(self.on_low_res_button_clicked__slot)
self.low_res_button_text_update_ready__signal.connect(self.low_res_mode_button.setText)
self.low_res_button_stylesheet_update_ready__signal.connect(self.low_res_mode_button.setStyleSheet)
self.update_element_stylesheet__signal.connect(self.__on_gui_element_stylesheet_update__slot)
def setup_signals(self, start_signal, signals_and_slots_signal, kill_signal):
@@ -353,5 +373,19 @@ class RoverVideoCoordinator(QtCore.QThread):
self.update_element_stylesheet__signal.emit()
def on_low_res_button_clicked__slot(self):
if self.low_res_mode_button.text() == "ENABLED":
self.in_low_res_mode = False
self.set_max_resolutions_flag = True
self.low_res_button_text_update_ready__signal.emit("DISABLED")
self.low_res_button_stylesheet_update_ready__signal.emit(COLOR_GREEN)
else:
self.in_low_res_mode = False
self.set_max_resolutions_flag = True
self.low_res_button_text_update_ready__signal.emit("ENABLED")
self.low_res_button_stylesheet_update_ready__signal.emit(COLOR_RED)
def on_kill_threads_requested__slot(self):
self.run_thread_flag = False

2
software/ros_packages/ground_station/src/Framework/VideoSystems/RoverVideoReceiver.py
View File

@@ -146,6 +146,8 @@ class RoverVideoReceiver(QtCore.QThread):
self.current_resolution_index = min(self.current_resolution_index + 1, self.max_resolution_index)
elif current_fps <= MIN_FRAMERATE_BEFORE_ADJUST:
self.current_resolution_index = max(self.current_resolution_index - 1, 0)
else:
self.current_resolution_index = min(self.current_resolution_index, self.max_resolution_index)
if self.last_resolution_index != self.current_resolution_index:
self.camera_control_publisher.publish(

97
software/ros_packages/ground_station/src/Resources/Ui/left_screen.ui
View File

@@ -1390,14 +1390,14 @@ N/A</string>
</size>
</property>
<property name="currentIndex">
<number>0</number>
<number>1</number>
</property>
<widget class="QWidget" name="tab_5">
<attribute name="title">
<string>RDF</string>
</attribute>
<layout class="QGridLayout" name="gridLayout_16">
<item row="1" column="0">
<item row="2" column="0">
<spacer name="verticalSpacer_6">
<property name="orientation">
<enum>Qt::Vertical</enum>
@@ -1441,7 +1441,27 @@ N/A</string>
</layout>
</item>
<item>
<layout class="QVBoxLayout" name="verticalLayout_22">
<layout class="QVBoxLayout" name="verticalLayout_22"/>
</item>
</layout>
</item>
<item row="0" column="1">
<spacer name="horizontalSpacer_19">
<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 row="1" column="0">
<layout class="QHBoxLayout" name="horizontalLayout_20">
<item>
<layout class="QVBoxLayout" name="verticalLayout_23">
<item>
<widget class="QLabel" name="label_32">
<property name="font">
@@ -1468,21 +1488,57 @@ N/A</string>
</item>
</layout>
</item>
<item>
<widget class="Line" name="line_12">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
</widget>
</item>
<item>
<layout class="QVBoxLayout" name="verticalLayout_24">
<item>
<widget class="QLabel" name="label_33">
<property name="font">
<font>
<pointsize>16</pointsize>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="text">
<string>Frequency Valid</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="beacon_frequency_valid_label">
<property name="minimumSize">
<size>
<width>0</width>
<height>150</height>
</size>
</property>
<property name="font">
<font>
<pointsize>24</pointsize>
</font>
</property>
<property name="styleSheet">
<string notr="true">background-color:darkred;</string>
</property>
<property name="text">
<string>No</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</item>
<item row="0" column="1">
<spacer name="horizontalSpacer_19">
<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>
</widget>
<widget class="QWidget" name="tab_4">
@@ -1527,6 +1583,9 @@ N/A</string>
<layout class="QGridLayout" name="gridLayout_13">
<item row="3" column="0">
<widget class="QPushButton" name="arm_control_upright_zeroed_button">
<property name="styleSheet">
<string notr="true">background-color: darkred;</string>
</property>
<property name="text">
<string>Upright Zeroed</string>
</property>
@@ -1534,6 +1593,9 @@ N/A</string>
</item>
<item row="0" column="0">
<widget class="QPushButton" name="arm_controls_stow_arm_button">
<property name="styleSheet">
<string notr="true">background-color: darkred;</string>
</property>
<property name="text">
<string>Stow Arm</string>
</property>
@@ -1541,6 +1603,9 @@ N/A</string>
</item>
<item row="1" column="0">
<widget class="QPushButton" name="arm_controls_unstow_arm_button">
<property name="styleSheet">
<string notr="true">background-color: darkred;</string>
</property>
<property name="text">
<string>Unstow Arm</string>
</property>

82
software/ros_packages/ground_station/src/Resources/Ui/right_screen.ui
View File

@@ -975,6 +975,9 @@ Position</string>
<bold>false</bold>
</font>
</property>
<property name="styleSheet">
<string notr="true">color:red;</string>
</property>
<property name="text">
<string/>
</property>
@@ -1083,6 +1086,9 @@ Position</string>
<bold>false</bold>
</font>
</property>
<property name="styleSheet">
<string notr="true">color:red;</string>
</property>
<property name="text">
<string/>
</property>
@@ -1191,6 +1197,9 @@ Position</string>
<bold>false</bold>
</font>
</property>
<property name="styleSheet">
<string notr="true">color:red;</string>
</property>
<property name="text">
<string/>
</property>
@@ -2158,11 +2167,84 @@ Position</string>
</property>
<item>
<layout class="QVBoxLayout" name="verticalLayout_9">
<item>
<widget class="QLabel" name="label_9">
<property name="font">
<font>
<pointsize>14</pointsize>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="text">
<string>Low Res Mode</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_5">
<property name="bottomMargin">
<number>6</number>
</property>
<item>
<spacer name="horizontalSpacer">
<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="low_res_mode_button">
<property name="styleSheet">
<string notr="true">background-color:darkgreen</string>
</property>
<property name="text">
<string>DISABLED</string>
</property>
<property name="checkable">
<bool>false</bool>
</property>
</widget>
</item>
<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>
</layout>
</item>
<item>
<widget class="Line" name="line_3">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
<item>
<layout class="QVBoxLayout" name="verticalLayout_10">
<property name="spacing">
<number>0</number>
</property>
<property name="topMargin">
<number>6</number>
</property>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_2">
<property name="leftMargin">

4
software/ros_packages/rover_main/launch/rover/control.launch
View File

@@ -35,6 +35,8 @@
<node name="chassis_pan_tilt" pkg="rover_control" type="chassis_pan_tilt_control.py" respawn="true" output="screen"/>
<node name="effectors" pkg="rover_control" type="effectors_control.py" respawn="true" output="screen"/>
<!--<node name="effectors" pkg="rover_control" type="effectors_control.py" respawn="true" output="screen">-->
<!--<param name="port" value="/dev/rover/ttyARM"/>-->
<!--</node>-->
</group>
</launch>