caperren/osurc_mars_rover_2017_2018
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Compass now responds to heading (when we get one) and moves nicely and smoothly on the GUI. Made a new compass image as the old one was bad.

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This commit is contained in:
Corwin Perren
2018-03-13 14:43:01 -07:00
parent 6a78b2e041
commit 42a92fc7bb
6 changed files with 1764 additions and 39 deletions
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68
software/ros_packages/ground_station/src/Framework/NavigationSystems/SpeedAndHeadingIndication.py
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@@ -1,3 +1,4 @@
# coding=utf-8
#####################################
# Imports
#####################################
@@ -11,7 +12,9 @@ from PIL.ImageQt import ImageQt
#####################################
# Global Variables
#####################################
THREAD_HERTZ = 10
THREAD_HERTZ = 20
ROTATION_SPEED_MODIFIER = 1
#####################################
@@ -19,6 +22,7 @@ THREAD_HERTZ = 10
#####################################
class SpeedAndHeadingIndication(QtCore.QThread):
show_compass_image__signal = QtCore.pyqtSignal()
heading_text_update_ready__signal = QtCore.pyqtSignal(str)
def __init__(self, shared_objects):
super(SpeedAndHeadingIndication, self).__init__()
@@ -26,7 +30,11 @@ class SpeedAndHeadingIndication(QtCore.QThread):
# ########## Reference to class init variables ##########
self.shared_objects = shared_objects
self.right_screen = self.shared_objects["screens"]["right_screen"]
self.heading_compass_label = self.right_screen.heading_compass_label # type: QtWidgets.QLabel
self.heading_text_label = self.right_screen.current_heading_label # type: QtWidgets.QLabel
self.next_goal_label = self.right_screen.next_goal_label # type: QtWidgets.QLabel
self.current_speed_label = self.right_screen.current_speed_label # type: QtWidgets.QLabel
# ########## Get the settings instance ##########
self.settings = QtCore.QSettings()
@@ -40,34 +48,78 @@ class SpeedAndHeadingIndication(QtCore.QThread):
# ########## Class Variables ##########
self.wait_time = 1.0 / THREAD_HERTZ
self.main_compass_image = PIL.Image.open("Resources/Images/compass.png").resize((300, 300))
self.main_compass_image = PIL.Image.open("Resources/Images/compass.png").resize((300, 300), PIL.Image.ANTIALIAS)
self.compass_pixmap = None
self.current_rotation = 0
self.current_heading = 0
self.current_heading_changed = True
self.shown_heading = (self.current_heading + 1) % 360
self.current_heading_shown_rotation_angle = 0
self.rotation_direction = 1
# compass_image = PIL.Image.open("Resources/Images/compass.png").resize((300, 300)).rotate(45) # PIL.Image
# self.shared_objects["screens"]["right_screen"].heading_compass_label.setPixmap(QtGui.QPixmap.fromImage(ImageQt(compass_image)))
def run(self):
self.on_heading_changed__slot(self.current_heading)
while self.run_thread_flag:
start_time = time()
self.current_rotation += 1
new_compass_image = self.main_compass_image.rotate(self.current_rotation)
if self.current_heading_changed:
self.update_heading_movement()
self.current_heading_changed = False
self.compass_pixmap = QtGui.QPixmap.fromImage(ImageQt(new_compass_image))
self.show_compass_image__signal.emit()
self.rotate_compass_if_needed()
time_diff = time() - start_time
self.msleep(max(int(self.wait_time - time_diff), 0))
def rotate_compass_if_needed(self):
if int(self.shown_heading) != self.current_heading:
self.shown_heading += self.rotation_direction * ROTATION_SPEED_MODIFIER
self.shown_heading %= 360
self.current_heading_shown_rotation_angle = int(self.shown_heading)
new_compass_image = self.main_compass_image.rotate(self.current_heading_shown_rotation_angle, resample=PIL.Image.BICUBIC)
self.compass_pixmap = QtGui.QPixmap.fromImage(ImageQt(new_compass_image))
self.show_compass_image__signal.emit()
def update_heading_movement(self):
current_minus_shown = (self.current_heading - self.shown_heading) % 360
if current_minus_shown >= 180:
self.rotation_direction = -1
else:
self.rotation_direction = 1
def on_heading_changed__slot(self, new_heading):
self.current_heading = new_heading
self.heading_text_update_ready__signal.emit(str(new_heading) + "°")
self.current_heading_changed = True
def __on_heading_clicked__slot(self, event):
new_heading = self.current_heading
if event.button() == QtCore.Qt.LeftButton:
new_heading = (self.current_heading + 10) % 360
elif event.button() == QtCore.Qt.RightButton:
new_heading = (self.current_heading - 10) % 360
self.on_heading_changed__slot(new_heading)
self.heading_text_update_ready__signal.emit(str(new_heading) + "°")
def on_new_compass_image_ready__slot(self):
self.heading_compass_label.setPixmap(self.compass_pixmap)
def connect_signals_and_slots(self):
self.show_compass_image__signal.connect(self.on_new_compass_image_ready__slot)
self.heading_text_update_ready__signal.connect(self.heading_text_label.setText)
self.heading_compass_label.mousePressEvent = self.__on_heading_clicked__slot
def setup_signals(self, start_signal, signals_and_slots_signal, kill_signal):
start_signal.connect(self.start)

32
software/ros_packages/ground_station/src/Framework/VideoSystems/RoverVideoCoordinator.py
View File

@@ -4,6 +4,7 @@
# Python native imports
from PyQt5 import QtCore, QtWidgets
import logging
from time import time
import rospy
@@ -21,6 +22,11 @@ PRIMARY_LABEL_MAX = (640, 360)
SECONDARY_LABEL_MAX = (640, 360)
TERTIARY_LABEL_MAX = (640, 360)
GUI_SELECTION_CHANGE_TIMEOUT = 3 # Seconds
STYLESHEET_SELECTED = "border: 2px solid orange; background-color:black;"
STYLESHEET_UNSELECTED = "background-color:black;"
#####################################
# RoverVideoCoordinator Class Definition
@@ -89,7 +95,8 @@ class RoverVideoCoordinator(QtCore.QThread):
}
self.current_label_for_joystick_adjust = 0
self.gui_selection_update_needed = True
self.gui_selection_changed = True
self.last_gui_selection_changed_time = time()
self.set_max_resolutions_flag = True
@@ -131,19 +138,27 @@ class RoverVideoCoordinator(QtCore.QThread):
self.camera_threads[camera_name].toggle_video_display()
def __update_gui_element_selection(self):
if self.gui_selection_update_needed:
self.update_element_stylesheet__signal.emit()
if (time() - self.last_gui_selection_changed_time) > GUI_SELECTION_CHANGE_TIMEOUT \
and self.gui_selection_changed:
elements_to_reset = range(len(self.index_to_label_element))
for index in elements_to_reset:
self.index_to_label_element[index].setStyleSheet(STYLESHEET_UNSELECTED)
self.gui_selection_changed = False
def __on_gui_element_stylesheet_update__slot(self):
elements_to_reset = range(len(self.index_to_label_element))
elements_to_reset.remove(self.current_label_for_joystick_adjust)
for index in elements_to_reset:
self.index_to_label_element[index].setStyleSheet("background-color:black;")
self.index_to_label_element[index].setStyleSheet(STYLESHEET_UNSELECTED)
self.index_to_label_element[self.current_label_for_joystick_adjust].setStyleSheet("border: 2px solid orange;")
self.index_to_label_element[self.current_label_for_joystick_adjust].setStyleSheet(STYLESHEET_SELECTED)
self.gui_selection_update_needed = False
self.gui_selection_changed = True
self.last_gui_selection_changed_time = time()
def __get_cameras(self):
topics = rospy.get_published_topics(CAMERA_TOPIC_PATH)
@@ -260,7 +275,7 @@ class RoverVideoCoordinator(QtCore.QThread):
else:
self.current_label_for_joystick_adjust = new_selection
self.gui_selection_update_needed = True
self.update_element_stylesheet__signal.emit()
def on_camera_selection_for_current_gui_element_changed(self, direction):
if self.current_label_for_joystick_adjust == 0: # primary
@@ -271,6 +286,7 @@ class RoverVideoCoordinator(QtCore.QThread):
self.tertiary_label_current_setting = (self.tertiary_label_current_setting + direction) % len(self.valid_cameras)
self.set_max_resolutions_flag = True
self.update_element_stylesheet__signal.emit()
def on_gui_selected_camera_toggled(self):
if self.current_label_for_joystick_adjust == 0: # primary
@@ -292,5 +308,7 @@ class RoverVideoCoordinator(QtCore.QThread):
self.disabled_cameras.append(self.tertiary_label_current_setting)
self.camera_threads[self.valid_cameras[self.tertiary_label_current_setting]].toggle_video_display()
self.update_element_stylesheet__signal.emit()
def on_kill_threads_requested__slot(self):
self.run_thread_flag = False

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software/ros_packages/ground_station/src/Resources/Images/compass.png
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After

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5
software/ros_packages/ground_station/src/Resources/Ui/left_screen.ui
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@@ -682,6 +682,11 @@ Connected</string>
</item>
</layout>
</widget>
<widget class="QWidget" name="tab_3">
<attribute name="title">
<string>Science Data</string>
</attribute>
</widget>
<widget class="QWidget" name="tab_2">
<attribute name="title">
<string>Settings</string>

59
software/ros_packages/ground_station/src/Resources/Ui/right_screen.ui
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@@ -42,16 +42,7 @@
<property name="sizeConstraint">
<enum>QLayout::SetDefaultConstraint</enum>
</property>
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<property name="margin">
<number>0</number>
</property>
<item>
@@ -562,16 +553,7 @@
</size>
</property>
<layout class="QGridLayout" name="gridLayout">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<property name="margin">
<number>0</number>
</property>
<property name="spacing">
@@ -630,6 +612,12 @@
</item>
<item row="0" column="0">
<widget class="QLabel" name="label_8">
<property name="minimumSize">
<size>
<width>115</width>
<height>0</height>
</size>
</property>
<property name="font">
<font>
<pointsize>17</pointsize>
@@ -647,6 +635,12 @@
</item>
<item row="0" column="2">
<widget class="QLabel" name="label_10">
<property name="minimumSize">
<size>
<width>115</width>
<height>0</height>
</size>
</property>
<property name="font">
<font>
<pointsize>17</pointsize>
@@ -677,6 +671,23 @@
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_2">
<property name="font">
<font>
<pointsize>19</pointsize>
<weight>50</weight>
<bold>false</bold>
</font>
</property>
<property name="text">
<string>↓</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
</layout>
</item>
<item>
@@ -824,7 +835,7 @@
<number>0</number>
</property>
<item>
<widget class="QLabel" name="label_2">
<widget class="QLabel" name="current_speed_label">
<property name="font">
<font>
<pointsize>22</pointsize>
@@ -1050,7 +1061,7 @@
</size>
</property>
<property name="styleSheet">
<string notr="true">background-color: darkblue;</string>
<string notr="true">background-color:black;</string>
</property>
<property name="text">
<string/>
@@ -1077,7 +1088,7 @@
</size>
</property>
<property name="styleSheet">
<string notr="true">background-color:darkgreen;</string>
<string notr="true">background-color:black;</string>
</property>
<property name="text">
<string/>
@@ -1099,7 +1110,7 @@
</size>
</property>
<property name="styleSheet">
<string notr="true">background-color:maroon;</string>
<string notr="true">background-color:black;</string>
</property>
<property name="text">
<string/>