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Merge branch 'master' of https://github.com/OSURoboticsClub/Rover_2017_2018

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Corwin Perren
2018-02-26 22:08:21 -08:00
parent 0d33eadcc5 18c135a853
commit 20dc332c06
4 changed files with 164 additions and 30 deletions
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188
software/ground_station/Framework/DriveSystems/RoverDriveSender.py
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@@ -1,50 +1,180 @@
import sys
from PyQt5 import QtWidgets, QtCore, QtGui, uic
import signal
#####################################
# Imports
#####################################
# Python native imports
from PyQt5 import QtCore, QtWidgets
import logging
from inputs import devices, GamePad
from time import time
import rospy
import time
from cv_bridge import CvBridge, CvBridgeError
import cv2
import qimage2ndarray
import numpy as np
from rover_control.msg import DriveCommandMessage
from geometry_msgs.msg import Twist
from sensor_msgs.msg import CompressedImage
#from sensor_msgs.msg import Image, CompressedImage
#####################################
# Global Variables
#####################################
GAME_CONTROLLER_NAME = "Logitech Logitech Extreme 3D Pro"
DEFAULT_DRIVE_COMMAND_TOPIC = "command_control/groundstation_drive"
class DriveTest(QtCore.QThread):
publish_message_signal = QtCore.pyqtSignal()
#####################################
# Controller Class Definition
#####################################
class LogitechJoystick(QtCore.QThread):
def __init__(self):
super(DriveTest, self).__init__()
super(LogitechJoystick, self).__init__()
self.not_abort = True
# ########## Thread Flags ##########
self.run_thread_flag = True
self.setup_controller_flag = True
self.data_acquisition_and_broadcast_flag = True
self.controller_acquired = False
self.message = None
self.publisher = rospy.Publisher("/cmd_vel", Twist, queue_size=10)
# ########## Class Variables ##########
self.gamepad = None # type: GamePad
rospy.init_node("test")
self.controller_states = {
"left_stick_x_axis": 0,
"left_stick_y_axis": 0,
"left_stick_center_pressed": 0,
"right_stick_x_axis": 0,
"right_stick_y_axis": 0,
"right_stick_center_pressed": 0,
"left_trigger_z_axis": 0,
"left_bumper_pressed": 0,
"right_trigger_z_axis": 0,
"right_bumper_pressed": 0,
"dpad_x": 0,
"dpad_y": 0,
"select_pressed": 0,
"start_pressed": 0,
"home_pressed": 0,
"a_pressed": 0,
"b_pressed": 0,
"x_pressed": 0,
"y_pressed": 0
}
self.raw_mapping_to_class_mapping = {
"ABS_X": "left_stick_x_axis",
"ABS_Y": "left_stick_y_axis",
"BTN_THUMBL": "left_stick_center_pressed",
"ABS_RX": "right_stick_x_axis",
"ABS_RY": "right_stick_y_axis",
"BTN_THUMBR": "right_stick_center_pressed",
"ABS_Z": "left_trigger_z_axis",
"BTN_TL": "left_bumper_pressed",
"ABS_RZ": "right_trigger_z_axis",
"BTN_TR": "right_bumper_pressed",
"ABS_HAT0X": "dpad_x",
"ABS_HAT0Y": "dpad_y",
"BTN_SELECT": "select_pressed",
"BTN_START": "start_pressed",
"BTN_MODE": "home_pressed",
"BTN_SOUTH": "a_pressed",
"BTN_EAST": "b_pressed",
"BTN_NORTH": "x_pressed",
"BTN_WEST": "y_pressed"
}
self.ready = False
self.start()
def run(self):
# TODO: Thread starting message here
while self.not_abort:
self.message = Twist()
self.message.linear.x = 1.0
self.message.angular.z = 1.0
while self.run_thread_flag:
if self.setup_controller_flag:
self.controller_acquired = self.__setup_controller()
self.setup_controller_flag = False
if self.data_acquisition_and_broadcast_flag:
self.__get_controller_data()
self.publisher.publish(self.message)
def __setup_controller(self):
for device in devices.gamepads:
if device.name == GAME_CONTROLLER_NAME:
self.gamepad = device
return True
return False
def __get_controller_data(self):
if self.controller_acquired:
events = self.gamepad.read()
for event in events:
if event.code in self.raw_mapping_to_class_mapping:
self.controller_states[self.raw_mapping_to_class_mapping[event.code]] = event.state
self.ready = True
# print "Logitech: %s" % self.controller_states
#####################################
# Controller Class Definition
#####################################
class RoverDriveSender(QtCore.QThread):
def __init__(self, shared_objects):
super(RoverDriveSender, self).__init__()
# ########## Reference to class init variables ##########
self.shared_objects = shared_objects
self.right_screen = self.shared_objects["screens"]["right_screen"]
self.primary_video_display_label = self.right_screen.primary_video_label # type:QtWidgets.QLabel
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
# ########## 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
self.joystick = LogitechJoystick()
while not self.joystick.ready:
self.msleep(100)
# TODO: Thread ending message here
def __publish_message(self):
# ########## Class Variables ##########
# Publishers
self.drive_command_publisher = rospy.Publisher(DEFAULT_DRIVE_COMMAND_TOPIC, DriveCommandMessage, queue_size=1)
def run(self):
while self.run_thread_flag:
start_time = time()
self.__update_and_publish()
time_diff = time() - start_time
self.msleep(max(self.wait_time - time_diff, 0))
def connect_signals_and_slots(self):
pass
def setup_start_and_kill_signals(self, start_signal, signals_and_slots_signal, kill_signal):
def __update_and_publish(self):
# axis = self.joystick.controller_states["left_stick_y_axis"]
print self.joystick.controller_states
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.not_abort = False
self.run_thread_flag = False

1
software/ground_station/Framework/MapSystems/RoverMapCoordinator.py
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@@ -92,5 +92,4 @@ class RoverMapCoordinator(QtCore.QThread):
kill_signal.connect(self.on_kill_threads_requested_slot)
def pixmap_ready__slot(self):
self.logger.info("Made it")
self.mapping_label.setPixmap(self.map_pixmap)

3
software/ground_station/Resources/Ui/right_screen.ui
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@@ -120,6 +120,9 @@
<property name="text">
<string/>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
</layout>

2
software/ground_station/RoverGroundStation.py
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@@ -17,6 +17,7 @@ import Framework.StartupSystems.ROSMasterChecker as ROSMasterChecker
import Framework.LoggingSystems.Logger as Logger
import Framework.VideoSystems.RoverVideoCoordinator as RoverVideoCoordinator
import Framework.MapSystems.RoverMapCoordinator as RoverMapCoordinator
import Framework.DriveSystems.RoverDriveSender as RoverDriveSender
#####################################
# Global Variables
@@ -99,6 +100,7 @@ class GroundStation(QtCore.QObject):
# ##### Instantiate Threaded Classes ######
self.__add_thread("Video Coordinator", RoverVideoCoordinator.RoverVideoCoordinator(self.shared_objects))
self.__add_thread("Map Coordinator", RoverMapCoordinator.RoverMapCoordinator(self.shared_objects))
self.__add_thread("Rover Drive Sender", RoverDriveSender.RoverDriveSender(self.shared_objects))
self.connect_signals_and_slots_signal.emit()
self.__connect_signals_to_slots()
self.start_threads_signal.emit()