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Added error handling for missing radio. More spacenav changes, testing nav launch file.

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This commit is contained in:
Corwin Perren
2018-04-12 11:15:24 -07:00
parent 6c95e9b3f1
commit 368401176b
4 changed files with 170 additions and 5 deletions
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19
software/ros_packages/ground_station/src/Framework/InputSystems/SpaceNavControlSender.py
View File

@@ -19,6 +19,9 @@ THREAD_HERTZ = 15
# Controller Class Definition
#####################################
class SpaceNavControlSender(QtCore.QThread):
GUI_MODE = 0
ARM_MODE = 1
def __init__(self, shared_objects):
super(SpaceNavControlSender, self).__init__()
@@ -90,6 +93,10 @@ class SpaceNavControlSender(QtCore.QThread):
5: "f_pressed"
}
self.current_control_mode = self.GUI_MODE
def run(self):
spnav.spnav_open()
@@ -108,20 +115,26 @@ class SpaceNavControlSender(QtCore.QThread):
if event:
if event.ev_type == spnav.SPNAV_EVENT_MOTION:
# FIXME: Make sure these divisors are correct. Should be for most. Check linear_z, is weird
self.spnav_states["linear_x"] = event.translation[0] / 350.0
self.spnav_states["linear_y"] = event.translation[2] / 350.0
self.spnav_states["linear_z"] = event.translation[1] / 350.0
self.spnav_states["angular_x"] = event.rotation[2] / 350.0
self.spnav_states["angular_y"] = event.rotation[0] / 350.0
self.spnav_states["angular_z"] = event.rotation[1] / 350.0
self.spnav_states["angular_y"] = -(event.rotation[0] / 350.0)
self.spnav_states["angular_z"] = -(event.rotation[1] / 350.0)
# print "x", self.spnav_states["linear_x"], "\t", "y", self.spnav_states["linear_y"], "\t", "z", self.spnav_states["linear_z"]
# print "x", self.spnav_states["angular_x"], "\t", "y", self.spnav_states["angular_y"], "\t", "z", self.spnav_states["angular_z"]
else:
self.spnav_states[self.event_mapping_to_button_mapping[event.bnum]] = event.press
def check_control_mode_change(self):
if self.spnav_states["1_pressed"]:
self.current_control_mode = self.GUI_MODE
elif self.spnav_states["2_pressed"]:
self.current_control_mode = self.ARM_MODE
def connect_signals_and_slots(self):
pass

7
software/ros_packages/ground_station/src/Framework/SettingsSystems/UbiquitiRadioSettings.py
View File

@@ -58,7 +58,12 @@ class UbiquitiRadioSettings(QtCore.QThread):
def run(self):
self.set_gui_elements_enabled__signal.emit(False)
self.setup_and_connect_ssh_client()
try:
self.setup_and_connect_ssh_client()
except Exception:
return
self.get_and_show_current_channel()
while self.run_thread_flag: