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

software/firmware/freq_testing/freq_testing.ino

@@ -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);
+}

software/firmware/mining/mining.ino

@@ -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);

software/ros_packages/ground_station/src/Framework/MiscSystems/BashConsoleCore.py

@@ -14,9 +14,9 @@ import paramiko
 #####################################
 THREAD_HERTZ = 5
 
-IP = "192.168.1.127"
+IP = "192.168.1.10"
-USER = "caperren"
+USER = "nvidia"
-PASS = "ult1m2t3!"
+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)
 

software/ros_packages/ground_station/src/Framework/MiscSystems/RDFCore.py

@@ -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:
+                except Exception, e:
-                    pass
+                    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)

software/ros_packages/ground_station/src/Framework/VideoSystems/RoverVideoCoordinator.py

@@ -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:
+                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)
+                    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:
+                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.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

software/ros_packages/ground_station/src/Framework/VideoSystems/RoverVideoReceiver.py

@@ -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(

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

@@ -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>

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

@@ -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">

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

@@ -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>