caperren/osurc_mars_rover_2017_2018
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change current outputs to signals/slots

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Ken Steinfeldt
2018-03-15 10:06:43 -07:00
parent 4e7c0fc4e3
commit 1c7646d07d
1 changed files with 74 additions and 22 deletions
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96
software/ros_packages/ground_station/src/Framework/StatusSystems/StatusCore.py
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@@ -17,9 +17,27 @@ MISC_TOPIC_NAME = "/rover_status/misc_status"
class SensorCore(QtCore.QThread):
# ########## create signals for slots ##########
jetson_cpu_update_ready__signal = QtCore.pyqtSignal(str)
jetson_cpu_stylesheet_change_ready__signal = QtCore.pyqtSignal(str)
jetson_ram_update_ready__signal = QtCore.pyqtSignal(str)
jetson_ram_stylesheet_change_ready__signal = QtCore.pyqtSignal(str)
bogie_connection_1_stylesheet_change_ready__signal = QtCore.pyqtSignal(str)
bogie_connection_2_stylesheet_change_ready__signal = QtCore.pyqtSignal(str)
bogie_connection_3_stylesheet_change_ready__signal = QtCore.pyqtSignal(str)
camera_zed_stylesheet_change_ready__signal = QtCore.pyqtSignal(str)
camera_under_stylesheet_change_ready__signal = QtCore.pyqtSignal(str)
camera_chassis_stylesheet_change_ready__signal = QtCore.pyqtSignal(str)
camera_main_stylesheet_change_ready__signal = QtCore.pyqtSignal(str)
gps_stylesheet_change_ready__signal = QtCore.pyqtSignal(str)
frsky_stylesheet_change_ready__signal = QtCore.pyqtSignal(str)
def __init__(self, shared_objects):
super(SensorCore, self).__init__()
@@ -32,6 +50,7 @@ class SensorCore(QtCore.QThread):
self.cpu_read = self.screen_main_window.lineEdit # type: QtWidgets.QLabel
self.ram_read = self.screen_main_window.lineEdit_2 # type: QtWidgets.QLabel
# ########## set vars to gui elements
self.rover_conn = self.screen_main_window.rover # type: QtWidgets.QLabel
self.frsky = self.screen_main_window.frsky # type: QtWidgets.QLabel
self.nav_mouse = self.screen_main_window.nav_mouse # type: QtWidgets.QLabel
@@ -48,7 +67,7 @@ class SensorCore(QtCore.QThread):
self.cpu = self.screen_main_window.cpu # type: QtWidgets.QLabel
self.ram = self.screen_main_window.ram # type: QtWidgets.QLabel
# Subscription examples on pulling data from system_statuses_node.py
# ########## subscriptions pulling data from system_statuses_node.py ##########
self.camera_status = rospy.Subscriber(CAMERA_TOPIC_NAME, CameraStatuses, self.__camera_callback)
self.bogie_status = rospy.Subscriber(BOGIE_TOPIC_NAME, BogieStatuses, self.__bogie_callback)
self.frsky_status = rospy.Subscriber(FRSKY_TOPIC_NAME, FrSkyStatus, self.__frsky_callback)
@@ -72,32 +91,40 @@ class SensorCore(QtCore.QThread):
self.camera_msg.camera_main_navigation = data.camera_main_navigation
if self.camera_msg.camera_zed is False:
self.zed.setStyleSheet("background-color: red;")
# self.zed.setStyleSheet("background-color: red;")
self.camera_zed_stylesheet_change_ready__signal.emit("background-color: red;")
else:
self.zed.setStyleSheet("background-color: darkgreen;")
# self.zed.setStyleSheet("background-color: darkgreen;")
self.camera_zed_stylesheet_change_ready__signal.emit("background-color: darkgreen;")
if self.camera_msg.camera_undercarriage is False:
self.under_cam.setStyleSheet("background-color: red;")
# self.under_cam.setStyleSheet("background-color: red;")
self.camera_under_stylesheet_change_ready__signal.emit("background-color: red;")
else:
self.under_cam.setStyleSheet("background-color: darkgreen;")
# self.under_cam.setStyleSheet("background-color: darkgreen;")
self.camera_under_stylesheet_change_ready__signal.emit("background-color: darkgreen;")
if self.camera_msg.camera_chassis is False:
self.chassis_cam.setStyleSheet("background-color: red;")
# self.chassis_cam.setStyleSheet("background-color: red;")
self.camera_chassis_stylesheet_change_ready__signal.emit("background-color: red;")
else:
self.chassis_cam.setStyleSheet("background-color: darkgreen;")
# self.chassis_cam.setStyleSheet("background-color: darkgreen;")
self.camera_chassis_stylesheet_change_ready__signal.emit("background-color: darkgreen;")
if self.camera_msg.camera_main_navigation is False:
self.main_cam.setStyleSheet("background-color: red;")
# self.main_cam.setStyleSheet("background-color: red;")
self.camera_main_stylesheet_change_ready__signal.emit("background-color: red;")
else:
self.main_cam.setStyleSheet("background-color: darkgreen;")
# self.main_cam.setStyleSheet("background-color: darkgreen;")
self.camera_main_stylesheet_change_ready__signal.emit("background-color: darkgreen;")
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.setStyleSheet("background-color: red;")
self.frsky_stylesheet_change_ready__signal.emit("background-color: red;")
else:
self.frsky.setStyleSheet("background-color: darkgreen;")
self.frsky_stylesheet_change_ready__signal.emit("background-color: darkgreen;")
def __bogie_callback(self, data):
self.bogie_msg.bogie_connection_1 = data.bogie_connection_1
@@ -105,19 +132,25 @@ class SensorCore(QtCore.QThread):
self.bogie_msg.bogie_connection_3 = data.bogie_connection_3
if self.bogie_msg.bogie_connection_1 is False:
self.bogie_right.setStyleSheet("background-color: red;")
# self.bogie_right.setStyleSheet("background-color: red;")
self.bogie_connection_1_stylesheet_change_ready__signal.emit("background-color: red;")
else:
self.bogie_right.setStyleSheet("background-color: darkgreen;")
# self.bogie_right.setStyleSheet("background-color: darkgreen;")
self.bogie_connection_1_stylesheet_change_ready__signal.emit("background-color: darkgreen;")
if self.bogie_msg.bogie_connection_2 is False:
self.bogie_left.setStyleSheet("background-color: red;")
# self.bogie_left.setStyleSheet("background-color: red;")
self.bogie_connection_2_stylesheet_change_ready__signal.emit("background-color: red;")
else:
self.bogie_left.setStyleSheet("background-color: darkgreen;")
# self.bogie_left.setStyleSheet("background-color: darkgreen;")
self.bogie_connection_2_stylesheet_change_ready__signal.emit("background-color: darkgreen;")
if self.bogie_msg.bogie_connection_3 is False:
self.bogie_rear.setStyleSheet("background-color: red;")
# self.bogie_rear.setStyleSheet("background-color: red;")
self.bogie_connection_3_stylesheet_change_ready__signal.emit("background-color: red;")
else:
self.bogie_rear.setStyleSheet("background-color: darkgreen;")
# self.bogie_rear.setStyleSheet("background-color: darkgreen;")
self.bogie_connection_3_stylesheet_change_ready__signal.emit("background-color: darkgreen;")
def __jetson_callback(self, data):
self.jetson_msg.jetson_CPU = data.jetson_CPU
@@ -128,13 +161,19 @@ class SensorCore(QtCore.QThread):
if self.jetson_msg.jetson_CPU > 79:
self.jetson_cpu_stylesheet_change_ready__signal.emit("background-color: orange;")
# self.cpu.setStyleSheet("background-color: orange;")
elif self.jetson_msg.jetson_CPU > 89:
self.jetson_cpu_stylesheet_change_ready__signal.emit("background-color: red;")
# self.cpu.setStyleSheet("background-color: red;")
else:
self.jetson_cpu_stylesheet_change_ready__signal.emit("background-color: darkgreen;")
# self.cpu.setStyleSheet("background-color: darkgreen;")
self.jetson_ram_update_ready__signal.emit(str(self.jetson_msg.jetson_RAM))
if self.jetson_msg.jetson_RAM > 79:
self.jetson_ram_stylesheet_change_ready__signal.emit("background-color: orange;")
elif self.jetson_msg.jetson_RAM > 89:
self.jetson_ram_stylesheet_change_ready__signal.emit("background-color: red;")
else:
self.jetson_ram_stylesheet_change_ready__signal.emit("background-color: darkgreen;")
# self.jetson_msg.jetson_RAM = data.jetson_RAM
# self.ram.setText(str(self.jetson_msg.jetson_RAM))
@@ -154,9 +193,11 @@ class SensorCore(QtCore.QThread):
self.GPS_msg.GPS_connection_status = data.GPS_connection_status
if self.GPS_msg.GPS_connection_status is False:
self.gps.setStyleSheet("background-color: red")
# self.gps.setStyleSheet("background-color: red")
self.gps_stylesheet_change_ready__signal.emit("background-color: red;")
else:
self.gps.setStyleSheet("background-color: darkgreen;")
# self.gps.setStyleSheet("background-color: darkgreen;")
self.gps_stylesheet_change_ready__signal.emit("background-color: darkgreen;")
def __misc_callback(self, data):
self.misc_msg.arm_connection_status = data.arm_connection_status
@@ -177,6 +218,17 @@ class SensorCore(QtCore.QThread):
def connect_signals_and_slots(self):
self.jetson_cpu_update_ready__signal.connect(self.cpu.setText)
self.jetson_cpu_stylesheet_change_ready__signal.connect(self.cpu.setStyleSheet)
self.jetson_ram_update_ready__signal.connect(self.ram.setText)
self.jetson_ram_stylesheet_change_ready__signal(self.ram.setStyleSheet)
self.bogie_connection_1_stylesheet_change_ready__signal.connect(self.bogie_right.setStyleSheet)
self.bogie_connection_2_stylesheet_change_ready__signal.connect(self.bogie_left.setStyleSheet)
self.bogie_connection_3_stylesheet_change_ready__signal.connect(self.bogie_rear.setStyleSheet)
self.camera_zed_stylesheet_change_ready__signal.connect(self.zed.setStyleSheet)
self.camera_under_stylesheet_change_ready__signal.connect(self.under_cam.setStyleSheet)
self.camera_chassis_stylesheet_change_ready__signal.connect(self.chassis_cam.setStyleSheet)
self.camera_main_stylesheet_change_ready__signal.connect(self.main_cam.setStyleSheet)
self.gps_stylesheet_change_ready__signal.connect(self.gps.setStyleSheet)
self.frsky_stylesheet_change_ready__signal.connect(self.frsky.setStyleSheet)
def setup_signals(self, start_signal, signals_and_slots_signal, kill_signal):
start_signal.connect(self.start)