created rover_statuses.py for Ground Control data -- very very basic version without any GUI interaction, just data pulling from system_statuses topic

2025-11-08 18:21:15 +00:00 · 2018-01-20 14:27:56 -08:00
parent 0e99c86778
commit 5cfa5aef3b
3 changed files with 105 additions and 13 deletions
--- 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>
--- a/rover/system_statuses/scripts/rover_statuses.py
+++ 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()
--- 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
@@ -107,8 +105,8 @@ 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