From 5cfa5aef3b7d302a8c0f28d44065e7e11b988b05 Mon Sep 17 00:00:00 2001
From: MatthewTaylor24 <matcurtay@comcast.net>
Date: Sat, 20 Jan 2018 14:27:56 -0800
Subject: [PATCH] created rover_statuses.py for Ground Control data -- very
 very basic version without any GUI interaction, just data pulling from
 system_statuses topic

---
 .../scripts/.idea/workspace.xml               | 57 ++++++++++++++++---
 .../system_statuses/scripts/rover_statuses.py | 51 +++++++++++++++++
 .../scripts/system_statuses_node.py           | 10 ++--
 3 files changed, 105 insertions(+), 13 deletions(-)
 create mode 100755 rover/system_statuses/scripts/rover_statuses.py

diff --git a/rover/system_statuses/scripts/.idea/workspace.xml b/rover/system_statuses/scripts/.idea/workspace.xml
index f4b4512..36c5d6a 100644
--- a/rover/system_statuses/scripts/.idea/workspace.xml
+++ b/rover/system_statuses/scripts/.idea/workspace.xml
@@ -11,12 +11,26 @@
   </component>
   <component name="FileEditorManager">
     <leaf>
-      <file leaf-file-name="system_statuses_node.py" pinned="false" current-in-tab="true">
+      <file leaf-file-name="system_statuses_node.py" pinned="false" current-in-tab="false">
         <entry file="file://$PROJECT_DIR$/system_statuses_node.py">
           <provider selected="true" editor-type-id="text-editor">
-            <state relative-caret-position="372">
-              <caret line="105" column="55" lean-forward="true" selection-start-line="105" selection-start-column="55" selection-end-line="105" selection-end-column="55" />
-              <folding />
+            <state relative-caret-position="-732">
+              <caret line="17" column="63" lean-forward="false" selection-start-line="17" selection-start-column="36" selection-end-line="17" selection-end-column="63" />
+              <folding>
+                <element signature="e#22#43#0" expanded="true" />
+              </folding>
+            </state>
+          </provider>
+        </entry>
+      </file>
+      <file leaf-file-name="rover_statuses.py" pinned="false" current-in-tab="true">
+        <entry file="file://$PROJECT_DIR$/rover_statuses.py">
+          <provider selected="true" editor-type-id="text-editor">
+            <state relative-caret-position="708">
+              <caret line="43" column="40" lean-forward="false" selection-start-line="43" selection-start-column="40" selection-end-line="43" selection-end-column="40" />
+              <folding>
+                <element signature="e#22#43#0" expanded="true" />
+              </folding>
             </state>
           </provider>
         </entry>
@@ -35,12 +49,21 @@
       </file>
     </leaf>
   </component>
+  <component name="FileTemplateManagerImpl">
+    <option name="RECENT_TEMPLATES">
+      <list>
+        <option value="Python Script" />
+      </list>
+    </option>
+  </component>
   <component name="IdeDocumentHistory">
     <option name="CHANGED_PATHS">
       <list>
         <option value="$PROJECT_DIR$/camera_2_updater.py" />
         <option value="$PROJECT_DIR$/system_statuses.py" />
+        <option value="$PROJECT_DIR$/node_statuses.py" />
         <option value="$PROJECT_DIR$/system_statuses_node.py" />
+        <option value="$PROJECT_DIR$/rover_statuses.py" />
       </list>
     </option>
   </component>
@@ -159,6 +182,14 @@
   </component>
   <component name="editorHistoryManager">
     <entry file="file://$PROJECT_DIR$/system_statuses.py" />
+    <entry file="file://$PROJECT_DIR$/node_statuses.py">
+      <provider selected="true" editor-type-id="text-editor">
+        <state relative-caret-position="72">
+          <caret line="3" column="8" lean-forward="false" selection-start-line="3" selection-start-column="8" selection-end-line="3" selection-end-column="8" />
+          <folding />
+        </state>
+      </provider>
+    </entry>
     <entry file="file://$PROJECT_DIR$/camera_2_updater.py">
       <provider selected="true" editor-type-id="text-editor">
         <state relative-caret-position="216">
@@ -171,9 +202,21 @@
     </entry>
     <entry file="file://$PROJECT_DIR$/system_statuses_node.py">
       <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="372">
-          <caret line="105" column="55" lean-forward="true" selection-start-line="105" selection-start-column="55" selection-end-line="105" selection-end-column="55" />
-          <folding />
+        <state relative-caret-position="-732">
+          <caret line="17" column="63" lean-forward="false" selection-start-line="17" selection-start-column="36" selection-end-line="17" selection-end-column="63" />
+          <folding>
+            <element signature="e#22#43#0" expanded="true" />
+          </folding>
+        </state>
+      </provider>
+    </entry>
+    <entry file="file://$PROJECT_DIR$/rover_statuses.py">
+      <provider selected="true" editor-type-id="text-editor">
+        <state relative-caret-position="708">
+          <caret line="43" column="40" lean-forward="false" selection-start-line="43" selection-start-column="40" selection-end-line="43" selection-end-column="40" />
+          <folding>
+            <element signature="e#22#43#0" expanded="true" />
+          </folding>
         </state>
       </provider>
     </entry>
diff --git a/rover/system_statuses/scripts/rover_statuses.py b/rover/system_statuses/scripts/rover_statuses.py
new file mode 100755
index 0000000..4f57045
--- /dev/null
+++ b/rover/system_statuses/scripts/rover_statuses.py
@@ -0,0 +1,51 @@
+#!/usr/bin/env python
+import rospy, os.path
+from system_statuses.msg import RoverSysStatus
+
+
+class RoverStatuses:
+
+    def __init__(self):
+
+        rospy.init_node('RoverStatuses')
+
+        self.pub = rospy.Publisher('rover_statuses_chatter', RoverSysStatus, queue_size=10)
+
+        # Test Subscription for updating camera_undercarriage
+        rospy.Subscriber('rover_system_status_chatter', RoverSysStatus, self.__sub_callback)
+
+        self.msg = RoverSysStatus()
+
+    def __sub_callback(self, data):
+        self.msg.UTC_GPS_time = data.UTC_GPS_time
+        self.msg.bogie_connection_1 = data.bogie_connection_1
+        self.msg.bogie_connection_2 = data.bogie_connection_2
+        self.msg.bogie_connection_3 = data.bogie_connection_3
+        self.msg.arm_connection_status = data.arm_connection_status
+        self.msg.arm_end_effector_connection_statuses = data.arm_end_effector_connection_statuses
+        self.msg.camera_zed = data.camera_zed
+        self.msg.camera_undercarriage = data.camera_undercarriage
+        self.msg.camera_chassis = data.camera_chassis
+        self.msg.camera_main_navigation = data.camera_main_navigation
+        self.msg.sample_containment_connection_status = data.sample_containment_connection_status
+        self.msg.tower_connection_status = data.tower_connection_status
+        self.msg.chassis_pan_tilt_connection_status = data.chassis_pan_tilt_connection_status
+        self.msg.GPS_connection_status = data.GPS_connection_status
+        self.msg.jetson_CPU = data.jetson_CPU
+        self.msg.jetson_RAM = data.jetson_RAM
+        self.msg.jetson_EMMC = data.jetson_EMMC
+        self.msg.jetson_NVME_SSD = data.jetson_NVME_SSD
+        self.msg.FrSky_controller_connection_status = data.FrSky_controller_connection_status
+        rospy.loginfo(self.msg)
+
+    def run(self):
+        rospy.Subscriber('rover_system_status_chatter', RoverSysStatus, self.__sub_callback)
+
+        # Update GUI Here? (Most likely)
+
+        rospy.spin()
+
+
+if __name__ == '__main__':
+    rover_statuses = RoverStatuses()
+    rover_statuses.run()
diff --git a/rover/system_statuses/scripts/system_statuses_node.py b/rover/system_statuses/scripts/system_statuses_node.py
index 23e8368..382f12a 100755
--- a/rover/system_statuses/scripts/system_statuses_node.py
+++ b/rover/system_statuses/scripts/system_statuses_node.py
@@ -22,8 +22,6 @@ class SystemStatuses:
 
         self.msg = RoverSysStatus()
         self.__set_msg_values()
-        # self.__set_cameras()
-        # self.__UTC_GPS_Time()
 
         # Simple Subscriber test boolean -- camera_2_updated.py
         # self.hasCameraUndercarriageChanged = False
@@ -107,16 +105,16 @@ class SystemStatuses:
 
     def run(self):
         r = rospy.Rate(10)
-        rospy.loginfo(self.msg)
-        self.pub.publish(self.msg)
+        # rospy.loginfo(self.msg)
+        # self.pub.publish(self.msg)
         while not rospy.is_shutdown():
             if (self.msg.camera_zed != os.path.exists(self.system_path_locations[0]) or
                     self.msg.camera_undercarriage != os.path.exists(self.system_path_locations[1]) or
                     self.msg.camera_chassis != os.path.exists(self.system_path_locations[2]) or
                     self.msg.camera_main_navigation != os.path.exists(self.system_path_locations[3])):
                 self.__set_cameras()
-                rospy.loginfo(self.msg)
-                self.pub.publish(self.msg)
+            rospy.loginfo(self.msg)
+            self.pub.publish(self.msg)
             r.sleep()