Merge pull request #10 from captntuttle/master

SensorCore

software/ros_packages/ground_station/src/Framework/StatusSystems/StatusCore.py

@@ -0,0 +1,183 @@
+#!/usr/bin/env python
+
+import rospy
+from rover_status.msg import *
+from PyQt5 import QtWidgets, QtCore, QtGui, uic
+from std_msgs.msg import Empty
+
+REQUEST_UPDATE_TOPIC = "/rover_status/update_requested"
+
+
+class SensorCore(QtCore.QThread):
+
+    def __init__(self, screen):
+        super(SensorCore, self).__init__()
+
+        self.not_abort = True
+
+        self.screen_main_window = screen
+
+        self.cpu_read = self.screen_main_window.lineEdit  # type: QtWidgets.QLabel
+        self.ram_read = self.screen_main_window.lineEdit_2  # type: QtWidgets.QLabel
+
+        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
+        self.joystick = self.screen_main_window.joystick  # type: QtWidgets.QLabel
+        self.gps = self.screen_main_window.gps  # type: QtWidgets.QLabel
+        self.zed = self.screen_main_window.zed  # type: QtWidgets.QLabel
+        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  # type: QtWidgets.QLCDNumber
+        self.cpu = self.screen_main_window.cpu  # type: QtWidgets.QLabel
+        self.ram = self.screen_main_window.ram  # type: QtWidgets.QLabel
+
+
+        rospy.init_node('SensorCore')
+
+        # self.pub = rospy.Publisher('rover_statuses_chatter', RoverSysStatus, queue_size=10)
+
+        # Subscription examples on pulling data from system_statuses_node.py
+        rospy.Subscriber('camera_system_status_chatter', CameraStatuses, self.__camera_callback)
+        rospy.Subscriber('bogie_system_status_chatter', BogieStatuses, self.__bogie_callback)
+        rospy.Subscriber('FrSky_system_status_chatter', FrSkyStatus, self.__frsky_callback)
+        rospy.Subscriber('GPS_system_status_chatter', GPSInfo, self.__gps_callback)
+        rospy.Subscriber('jetson_system_status_chatter', JetsonInfo, self.__jetson_callback)
+        rospy.Subscriber('misc_system_status_chatter', MiscStatuses, self.__misc_callback)
+
+        self.camera_msg = CameraStatuses()
+        self.bogie_msg = BogieStatuses()
+        self.FrSky_msg = FrSkyStatus()
+        self.GPS_msg = GPSInfo()
+        self.jetson_msg = JetsonInfo()
+        self.misc_msg = MiscStatuses()
+
+        self.req = rospy.Publisher(REQUEST_UPDATE_TOPIC, Empty, queue_size=1)
+
+        self.req.publish(Empty())
+
+    def __camera_callback(self, data):
+        self.camera_msg.camera_zed = data.camera_zed
+        self.camera_msg.camera_undercarriage = data.camera_undercarriage
+        self.camera_msg.camera_chassis = data.camera_chassis
+        self.camera_msg.camera_main_navigation = data.camera_main_navigation
+
+        if self.camera_msg.camera_zed is False:
+            self.zed.setStyleSheet("background-color: red;")
+        else:
+            self.zed.setStyleSheet("")
+
+        if self.camera_msg.camera_undercarriage is False:
+            self.under_cam.setStyleSheet("background-color: red;")
+        else:
+            self.under_cam.setStyleSheet("")
+
+        if self.camera_msg.camera_chassis is False:
+            self.chassis_cam.setStyleSheet("background-color: red;")
+        else:
+            self.chassis_cam.setStyleSheet("")
+
+        if self.camera_msg.camera_main_navigation is False:
+            self.main_cam.setStyleSheet("background-color: red;")
+        else:
+            self.main_cam.setStyleSheet("")
+
+    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;")
+        else:
+            self.frsky.setStyleSheet("")
+
+    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 self.bogie_msg.bogie_connection_1 is False:
+            self.bogie_right.setStyleSheet("background-color: red;")
+        else:
+            self.bogie_right.setStyleSheet("")
+
+        if self.bogie_msg.bogie_connection_2 is False:
+            self.bogie_left.setStyleSheet("background-color: red;")
+        else:
+            self.bogie_left.setStyleSheet("")
+
+        if self.bogie_msg.bogie_connection_3 is False:
+            self.bogie_rear.setStyleSheet("background-color: red;")
+        else:
+            self.bogie_rear.setStyleSheet("")
+
+    def __jetson_callback(self, data):
+        self.jetson_msg.jetson_CPU = data.jetson_CPU
+
+        # self.cpu_read.setText(str(self.jetson_msg.jetson_CPU))
+        self.cpu.setText(str(self.jetson_msg.jetson_CPU))
+        if self.jetson_msg.jetson_CPU > 79:
+            self.cpu.setStyleSheet("background-color: orange;")
+        elif self.jetson_msg.jetson_CPU > 89:
+            self.cpu.setStyleSheet("background-color: red;")
+        else:
+            self.cpu.setStyleSheet("")
+
+        self.jetson_msg.jetson_RAM = data.jetson_RAM
+        self.ram.setText(str(self.jetson_msg.jetson_RAM))
+        if self.jetson_msg.jetson_RAM > 79:
+            self.ram.setStyleSheet("background-color: orange;")
+        elif self.jetson_msg.jetson_RAM > 89:
+            self.ram.setStyleSheet("background-color: red;")
+        else:
+            self.ram.setStyleSheet("")
+
+        self.jetson_msg.jetson_EMMC = data.jetson_EMMC
+        self.jetson_msg.jetson_NVME_SSD = data.jetson_NVME_SSD
+        #rospy.loginfo(self.jetson_msg)
+
+    def __gps_callback(self, data):
+        self.GPS_msg.UTC_GPS_time = data.UTC_GPS_time
+        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")
+        else:
+            self.gps.setStyleSheet("")
+
+    def __misc_callback(self, data):
+        self.misc_msg.arm_connection_status = data.arm_connection_status
+        self.misc_msg.arm_end_effector_connection_statuses = data.arm_end_effector_connection_statuses
+        self.misc_msg.sample_containment_connection_status = data.sample_containment_connection_status
+        self.misc_msg.tower_connection_status = data.tower_connection_status
+        self.misc_msg.chassis_pan_tilt_connection_status = data.chassis_pan_tilt_connection_status
+
+    def __display_time(self):
+        time = QtCore.QTime.currentTime()
+        temp = time.toString('hh:mm:ss')
+        self.clock.display(temp)
+
+    def run(self):
+        rospy.Subscriber('camera_system_status_chatter', CameraStatuses, self.__camera_callback)
+        rospy.Subscriber('bogie_system_status_chatter', BogieStatuses, self.__bogie_callback)
+        rospy.Subscriber('FrSky_system_status_chatter', FrSkyStatus, self.__frsky_callback)
+        rospy.Subscriber('GPS_system_status_chatter', GPSInfo, self.__gps_callback)
+        rospy.Subscriber('jetson_system_status_chatter', JetsonInfo, self.__jetson_callback)
+        rospy.Subscriber('misc_system_status_chatter', MiscStatuses, self.__misc_callback)
+        #self.gui_element = self.jetson_msg.jetson_CPU
+        #print(self.jetson_msg.jetson_CPU)
+        rospy.spin()
+
+    def on_kill_threads_requested__slot(self):
+        self.not_abort = False
+
+    def connect_signals_and_slots(self):
+        pass
+
+
+if __name__ == '__main__':
+    rover_statuses = SensorCore()
+    rover_statuses.run()

software/ros_packages/ground_station/src/Framework/StatusSystems/Timer.py

@@ -0,0 +1,64 @@
+#!/usr/bin/env python2
+
+import sys
+
+from PyQt5 import Qt
+from PyQt5.uic import loadUi
+
+# [ms]
+TICK_TIME = 2**6
+
+
+class Timer(Qt.QMainWindow):
+    def __init__(self, parent=None):
+        super().__init__(parent)
+
+        self.reset.clicked.connect(self.do_reset)
+        self.start.clicked.connect(self.do_start)
+
+        self.timer = Qt.QTimer()
+        self.timer.setInterval(TICK_TIME)
+        self.timer.timeout.connect(self.tick)
+
+        self.do_reset()
+
+    def keyPressEvent(self, event):
+        if event.key() == Qt.Qt.Key_Escape:
+            self.close()
+        else:
+            super().keyPressEvent(event)
+
+    def display(self):
+        self.lcd.display("%d:%05.2f" % (self.time // 60, self.time % 60))
+
+    @Qt.pyqtSlot()
+    def tick(self):
+        self.time += TICK_TIME/1000
+        self.display()
+
+    @Qt.pyqtSlot()
+    def do_start(self):
+        self.timer.start()
+        self.start.setText("Pause")
+        self.start.clicked.disconnect()
+        self.start.clicked.connect(self.do_pause)
+
+    @Qt.pyqtSlot()
+    def do_pause(self):
+        self.timer.stop()
+        self.start.setText("Start")
+        self.start.clicked.disconnect()
+        self.start.clicked.connect(self.do_start)
+
+    @Qt.pyqtSlot()
+    def do_reset(self):
+        self.time = 0
+        self.display()
+
+
+app = Qt.QApplication(sys.argv)
+
+timer = Timer()
+timer.show()
+
+app.exec_()

software/ros_packages/ground_station/src/Resources/Ui/left_screen.ui

@@ -39,7 +39,16 @@
     <property name="spacing">
      <number>0</number>
     </property>
-    <property name="margin">
+    <property name="leftMargin">
+     <number>0</number>
+    </property>
+    <property name="topMargin">
+     <number>0</number>
+    </property>
+    <property name="rightMargin">
+     <number>0</number>
+    </property>
+    <property name="bottomMargin">
      <number>0</number>
     </property>
     <item>
@@ -68,19 +77,58 @@
          </size>
         </property>
         <layout class="QGridLayout" name="gridLayout_4">
-         <property name="margin">
+         <property name="leftMargin">
+          <number>0</number>
+         </property>
+         <property name="topMargin">
+          <number>0</number>
+         </property>
+         <property name="rightMargin">
+          <number>0</number>
+         </property>
+         <property name="bottomMargin">
           <number>0</number>
          </property>
          <property name="spacing">
           <number>0</number>
          </property>
-         <item row="1" column="4">
+         <item row="0" column="3">
           <layout class="QGridLayout" name="gridLayout_5">
            <property name="spacing">
             <number>0</number>
            </property>
-           <item row="1" column="2">
+           <item row="1" column="4">
-            <widget class="QLabel" name="label_9">
+            <widget class="QLabel" name="label_4">
+             <property name="styleSheet">
+              <string notr="true">background-color: darkgreen;</string>
+             </property>
+             <property name="text">
+              <string>placeholder</string>
+             </property>
+            </widget>
+           </item>
+           <item row="1" column="0">
+            <widget class="QLabel" name="cpu">
+             <property name="styleSheet">
+              <string notr="true">background-color: darkgreen;</string>
+             </property>
+             <property name="text">
+              <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p align=&quot;center&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;CPU %&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+             </property>
+            </widget>
+           </item>
+           <item row="1" column="5">
+            <widget class="QLabel" name="label_5">
+             <property name="styleSheet">
+              <string notr="true">background-color: darkgreen;</string>
+             </property>
+             <property name="text">
+              <string>placeholder</string>
+             </property>
+            </widget>
+           </item>
+           <item row="3" column="2">
+            <widget class="QLabel" name="left_bogie">
              <property name="sizePolicy">
               <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
                <horstretch>0</horstretch>
@@ -121,8 +169,8 @@ Connected</string>
              </property>
             </widget>
            </item>
-           <item row="0" column="2">
+           <item row="2" column="2">
-            <widget class="QLabel" name="label_4">
+            <widget class="QLabel" name="frsky">
              <property name="sizePolicy">
               <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
                <horstretch>0</horstretch>
@@ -166,8 +214,8 @@ Connected</string>
              </property>
             </widget>
            </item>
-           <item row="1" column="3">
+           <item row="3" column="4">
-            <widget class="QLabel" name="label_10">
+            <widget class="QLabel" name="right_bogie">
              <property name="sizePolicy">
               <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
                <horstretch>0</horstretch>
@@ -208,8 +256,8 @@ Connected</string>
              </property>
             </widget>
            </item>
-           <item row="1" column="0">
+           <item row="3" column="0">
-            <widget class="QLabel" name="label_8">
+            <widget class="QLabel" name="gps">
              <property name="sizePolicy">
               <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
                <horstretch>0</horstretch>
@@ -250,8 +298,8 @@ Fix</string>
              </property>
             </widget>
            </item>
-           <item row="0" column="4">
+           <item row="2" column="5">
-            <widget class="QLabel" name="label_19">
+            <widget class="QLabel" name="joystick">
              <property name="sizePolicy">
               <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
                <horstretch>0</horstretch>
@@ -292,8 +340,8 @@ Connected</string>
              </property>
             </widget>
            </item>
-           <item row="1" column="4">
+           <item row="3" column="5">
-            <widget class="QLabel" name="label_20">
+            <widget class="QLabel" name="rear_bogie">
              <property name="sizePolicy">
               <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
                <horstretch>0</horstretch>
@@ -334,8 +382,8 @@ Connected</string>
              </property>
             </widget>
            </item>
-           <item row="0" column="0">
+           <item row="2" column="0">
-            <widget class="QLabel" name="label">
+            <widget class="QLabel" name="rover">
              <property name="sizePolicy">
               <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
                <horstretch>0</horstretch>
@@ -376,8 +424,8 @@ Connected</string>
              </property>
             </widget>
            </item>
-           <item row="0" column="3">
+           <item row="2" column="4">
-            <widget class="QLabel" name="label_5">
+            <widget class="QLabel" name="nav_mouse">
              <property name="sizePolicy">
               <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
                <horstretch>0</horstretch>
@@ -418,8 +466,8 @@ Connected</string>
              </property>
             </widget>
            </item>
-           <item row="2" column="0">
+           <item row="4" column="0">
-            <widget class="QLabel" name="label_7">
+            <widget class="QLabel" name="zed">
              <property name="sizePolicy">
               <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
                <horstretch>0</horstretch>
@@ -459,8 +507,8 @@ Connected</string>
              </property>
             </widget>
            </item>
-           <item row="2" column="2">
+           <item row="4" column="2">
-            <widget class="QLabel" name="label_21">
+            <widget class="QLabel" name="main_cam">
              <property name="sizePolicy">
               <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
                <horstretch>0</horstretch>
@@ -501,8 +549,8 @@ Connected</string>
              </property>
             </widget>
            </item>
-           <item row="2" column="3">
+           <item row="4" column="4">
-            <widget class="QLabel" name="label_11">
+            <widget class="QLabel" name="chassis_cam">
              <property name="sizePolicy">
               <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
                <horstretch>0</horstretch>
@@ -546,8 +594,11 @@ Connected</string>
              </property>
             </widget>
            </item>
-           <item row="2" column="4">
+           <item row="0" column="0" colspan="3">
-            <widget class="QLabel" name="label_6">
+            <widget class="QLCDNumber" name="clock"/>
+           </item>
+           <item row="4" column="5">
+            <widget class="QLabel" name="under_cam">
              <property name="sizePolicy">
               <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
                <horstretch>0</horstretch>
@@ -591,6 +642,19 @@ Connected</string>
              </property>
             </widget>
            </item>
+           <item row="0" column="5">
+            <widget class="QLCDNumber" name="timer"/>
+           </item>
+           <item row="1" column="2">
+            <widget class="QLabel" name="ram">
+             <property name="styleSheet">
+              <string notr="true">background-color: darkgreen;</string>
+             </property>
+             <property name="text">
+              <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p align=&quot;center&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;RAM&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+             </property>
+            </widget>
+           </item>
           </layout>
          </item>
         </layout>
@@ -752,7 +816,16 @@ Connected</string>
            </size>
           </property>
           <layout class="QGridLayout" name="gridLayout">
-           <property name="margin">
+           <property name="leftMargin">
+            <number>0</number>
+           </property>
+           <property name="topMargin">
+            <number>0</number>
+           </property>
+           <property name="rightMargin">
+            <number>0</number>
+           </property>
+           <property name="bottomMargin">
             <number>0</number>
            </property>
            <property name="spacing">

software/ros_packages/rover_status/msg/RoverSysStatus.msg

@@ -1,19 +1,20 @@
 int8 UTC_GPS_time
-int8 bogie_connection_1
+bool bogie_connection_1
-int8 bogie_connection_2
+bool bogie_connection_2
-int8 bogie_connection_3
+bool bogie_connection_3
-int8 arm_connection_status
+bool arm_connection_status
-int8 arm_end_effector_connection_statuses
+bool arm_end_effector_connection_statuses
-int8 camera_zed
+bool camera_zed
-int8 camera_undercarriage
+bool camera_undercarriage
-int8 camera_chassis
+bool camera_chassis
-int8 camera_main_navigation
+bool camera_main_navigation
-int8 sample_containment_connection_status
+bool sample_containment_connection_status
-int8 tower_connection_status
+bool tower_connection_status
-int8 chassis_pan_tilt_connection_status
+bool chassis_pan_tilt_connection_status
 int8 GPS_connection_status
-int8 jetson_CPU
+float64 jetson_CPU
-int8 jetson_RAM
+float64 jetson_RAM
-int8 jetson_EMMC
+float64 jetson_EMMC
-int8 jetson_NVME_SSD
+float64 jetson_NVME_SSD
-int8 FrSky_controller_connection_status
+float64 jetson_GPU_temp
+bool FrSky_controller_connection_status

software/ros_packages/rover_status/src/system_statuses_node.py

@@ -158,7 +158,7 @@ class SystemStatuses:
                 .replace("\n", "").replace("+", "").split()
             self.jetson_msg.jetson_GPU_temp = float(parsed_temps[4])
         except subprocess.CalledProcessError:
-            print 'sensors call failed (potential reason: on VM)'
+            print('sensors call failed (potential reason: on VM)')
             self.jetson_msg.jetson_GPU_temp = -1.0
 
     # EMMC and NVMe_SSD used % calculation