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Changed code so rover can run without FrSky for EXPO

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This commit is contained in:
Corwin Perren
2018-05-17 21:46:59 -07:00
parent 1d9797f00b
commit 23035c11ba
9 changed files with 291 additions and 79 deletions
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33
software/ros_packages/ground_station/src/Framework/StatusSystems/StatusCore.py
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@@ -67,9 +67,6 @@ class SensorCore(QtCore.QThread):
self.main_cam = self.screen_main_window.main_cam # type: QtWidgets.QLabel
self.chassis_cam = self.screen_main_window.chassis_cam # type: QtWidgets.QLabel
self.under_cam = self.screen_main_window.under_cam # type: QtWidgets.QLabel
self.bogie_right = self.screen_main_window.right_bogie # type: QtWidgets.QLabel
self.bogie_left = self.screen_main_window.left_bogie # type: QtWidgets.QLabel
self.bogie_rear = self.screen_main_window.rear_bogie # type: QtWidgets.QLabel
self.clock = self.screen_main_window.clock_qlcdnumber # type: QtWidgets.QLCDNumber
self.cpu = self.screen_main_window.cpu # type: QtWidgets.QLabel
self.ram = self.screen_main_window.ram # type: QtWidgets.QLabel
@@ -78,7 +75,6 @@ class SensorCore(QtCore.QThread):
# ########## 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)
self.gps_status = rospy.Subscriber(GPS_TOPIC_NAME, GPSInfo, self.__gps_callback)
self.jetson_status = rospy.Subscriber(JETSON_TOPIC_NAME, JetsonInfo, self.__jetson_callback)
@@ -140,32 +136,6 @@ class SensorCore(QtCore.QThread):
else:
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
self.bogie_msg.bogie_connection_2 = data.bogie_connection_2
self.bogie_msg.bogie_connection_3 = data.bogie_connection_3
if data.bogie_connection_1 is False:
# self.bogie_right.setStyleSheet("background-color: darkred;")
self.bogie_connection_1_stylesheet_change_ready__signal.emit("background-color: darkred;")
else:
# self.bogie_right.setStyleSheet("background-color: darkgreen;")
self.bogie_connection_1_stylesheet_change_ready__signal.emit("background-color: darkgreen;")
if data.bogie_connection_2 is False:
# self.bogie_left.setStyleSheet("background-color: darkred;")
self.bogie_connection_2_stylesheet_change_ready__signal.emit("background-color: darkred;")
else:
# self.bogie_left.setStyleSheet("background-color: darkgreen;")
self.bogie_connection_2_stylesheet_change_ready__signal.emit("background-color: darkgreen;")
if data.bogie_connection_3 is False:
# self.bogie_rear.setStyleSheet("background-color: darkred;")
self.bogie_connection_3_stylesheet_change_ready__signal.emit("background-color: darkred;")
else:
# 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_cpu_update_ready__signal.emit("TX2 CPU\n" + str(data.jetson_CPU) + "%")
@@ -238,9 +208,6 @@ class SensorCore(QtCore.QThread):
self.jetson_emmc_stylesheet_change_ready__signal.connect(self.emmc.setStyleSheet)
self.jetson_gpu_temp_update_ready__signal.connect(self.gpu_temp.setText)
self.jetson_gpu_temp_stylesheet_change_ready__signal.connect(self.gpu_temp.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)

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software/ros_packages/ground_station/src/Resources/Images/osurclogo.png
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207
software/ros_packages/ground_station/src/Resources/Ui/left_screen.ui
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@@ -277,7 +277,7 @@
</property>
</widget>
</item>
<item row="5" column="5">
<item row="9" column="5">
<widget class="QLabel" name="chassis_cam">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Preferred">
@@ -322,7 +322,7 @@ Connected</string>
</property>
</widget>
</item>
<item row="5" column="4">
<item row="9" column="4">
<widget class="QLabel" name="under_cam">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Preferred">
@@ -395,7 +395,7 @@ Connected</string>
</font>
</property>
<property name="styleSheet">
<string notr="true">background-color:darkred;</string>
<string notr="true">background-color:darkgreen;</string>
</property>
<property name="frameShape">
<enum>QFrame::NoFrame</enum>
@@ -443,7 +443,7 @@ Connected</string>
</font>
</property>
<property name="styleSheet">
<string notr="true">background-color:darkred;</string>
<string notr="true">background-color:darkgreen;</string>
</property>
<property name="text">
<string>FrSky
@@ -485,7 +485,7 @@ Connected</string>
<bool>false</bool>
</property>
<property name="styleSheet">
<string notr="true">background-color:darkred;</string>
<string notr="true">background-color:darkgreen;</string>
</property>
<property name="text">
<string>3D Nav Mouse
@@ -524,7 +524,7 @@ Connected</string>
</font>
</property>
<property name="styleSheet">
<string notr="true">background-color:darkred;</string>
<string notr="true">background-color:darkgreen;</string>
</property>
<property name="frameShape">
<enum>QFrame::NoFrame</enum>
@@ -538,7 +538,7 @@ Connected</string>
</property>
</widget>
</item>
<item row="5" column="2">
<item row="9" column="2">
<widget class="QLabel" name="main_cam">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Preferred">
@@ -611,7 +611,7 @@ Connected</string>
<bool>false</bool>
</property>
<property name="styleSheet">
<string notr="true">background-color:darkred;</string>
<string notr="true">background-color:darkgreen;</string>
</property>
<property name="text">
<string>GPS
@@ -623,7 +623,7 @@ Fix</string>
</widget>
</item>
<item row="4" column="4">
<widget class="QLabel" name="right_bogie">
<widget class="QLabel" name="middle_left_wheel_label">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Preferred">
<horstretch>0</horstretch>
@@ -656,8 +656,8 @@ Fix</string>
<string notr="true">background-color:darkred;</string>
</property>
<property name="text">
<string>Right Bogie
Connected</string>
<string>Middle Left Wheel
Disconnected</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
@@ -665,7 +665,7 @@ Connected</string>
</widget>
</item>
<item row="4" column="5">
<widget class="QLabel" name="rear_bogie">
<widget class="QLabel" name="rear_left_wheel_label">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Preferred">
<horstretch>0</horstretch>
@@ -692,13 +692,13 @@ Connected</string>
</font>
</property>
<property name="styleSheet">
<string notr="true">background-color:darkred;</string>
<string notr="true">background-color:darkgreen;</string>
</property>
<property name="frameShape">
<enum>QFrame::NoFrame</enum>
</property>
<property name="text">
<string>Rear Bogie
<string>Rear Left Wheel
Connected</string>
</property>
<property name="alignment">
@@ -707,7 +707,7 @@ Connected</string>
</widget>
</item>
<item row="4" column="2">
<widget class="QLabel" name="left_bogie">
<widget class="QLabel" name="front_left_wheel_label">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Preferred">
<horstretch>0</horstretch>
@@ -734,13 +734,13 @@ Connected</string>
</font>
</property>
<property name="styleSheet">
<string notr="true">background-color:darkred;</string>
<string notr="true">background-color:darkgreen;</string>
</property>
<property name="frameShape">
<enum>QFrame::NoFrame</enum>
</property>
<property name="text">
<string>Left Bogie
<string>Front Left Wheel
Connected</string>
</property>
<property name="alignment">
@@ -748,7 +748,7 @@ Connected</string>
</property>
</widget>
</item>
<item row="5" column="1">
<item row="9" column="1">
<widget class="QLabel" name="zed">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Preferred">
@@ -782,7 +782,8 @@ Connected</string>
<enum>QFrame::NoFrame</enum>
</property>
<property name="text">
<string>ZED Connected</string>
<string>ZED
Disconnected</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
@@ -815,6 +816,174 @@ Connected</string>
</property>
</widget>
</item>
<item row="6" column="2">
<widget class="QLabel" name="front_right_wheel_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;</string>
</property>
<property name="frameShape">
<enum>QFrame::NoFrame</enum>
</property>
<property name="text">
<string>Front Right Wheel
Connected</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="6" column="1">
<widget class="QLabel" name="battery_voltage_status_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:darkred;</string>
</property>
<property name="frameShape">
<enum>QFrame::NoFrame</enum>
</property>
<property name="text">
<string>Battery Voltage
N/A</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="6" column="4">
<widget class="QLabel" name="middle_right_wheel_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:darkred;</string>
</property>
<property name="frameShape">
<enum>QFrame::NoFrame</enum>
</property>
<property name="text">
<string>Middle Right Wheel
Disconnected</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="6" column="5">
<widget class="QLabel" name="rear_right_wheel_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;</string>
</property>
<property name="frameShape">
<enum>QFrame::NoFrame</enum>
</property>
<property name="text">
<string>Rear Right Wheel
Connected</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
</layout>
</item>
</layout>