mirror of
https://github.com/OSURoboticsClub/Rover_2017_2018.git
synced 2025-11-08 10:11:14 +00:00
Launching RoverVideeoCoordinator. Added working logging system and set up QSettings instance
This commit is contained in:
182
ground_station/.idea/workspace.xml
generated
182
ground_station/.idea/workspace.xml
generated
@@ -16,28 +16,96 @@
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@@ -343,7 +461,7 @@
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127
ground_station/Framework/LoggingSystems/Logger.py
Normal file
127
ground_station/Framework/LoggingSystems/Logger.py
Normal file
@@ -0,0 +1,127 @@
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#####################################
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# Imports
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#####################################
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# Python native imports
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from PyQt5 import QtCore
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from os import makedirs, rename, walk, unlink
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from os.path import exists, getmtime
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from os import environ
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import logging
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from datetime import datetime
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#####################################
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# Global Variables
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#####################################
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MAX_NUM_LOG_FILES = 30
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#####################################
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# Logger Definition
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#####################################
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class Logger(QtCore.QObject):
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def __init__(self, console_output=True):
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super(Logger, self).__init__()
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# ########## Local class variables ##########
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self.console_output = console_output
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# ########## Get the settings instance ##########
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self.settings = QtCore.QSettings()
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# # ########## Get the Pick And Plate instance of the logger ##########
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self.logger = logging.getLogger("groundstation")
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# ########## Set variables with useful paths ##########
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self.appdata_base_directory = environ["HOME"] + "/.groundstation"
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self.log_directory = self.appdata_base_directory + "//logs"
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self.log_file_path = self.log_directory + "//log.txt"
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# ########## Cleanup old log files ##########
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self.__cleanup_log_files()
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# ########## Set up logger with desired settings ##########
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self.__setup_logger()
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# ########## Place divider in log file to see new program launch ##########
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self.__add_startup_log_buffer_text()
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def __setup_logger(self):
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# Get the appdata directory and make the log path if it doesn't exist
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if not exists(self.log_directory):
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makedirs(self.log_directory)
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# Set the debugging level
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self.logger.setLevel(logging.DEBUG)
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# Make a formatter with the log line format wanted
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formatter = logging.Formatter(fmt='%(levelname)s : %(asctime)s : %(message)s', datefmt='%m/%d/%y %H:%M:%S')
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# Set up a file handler so everything can be saved and attach it to the logger
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file_handler = logging.FileHandler(filename=self.log_file_path)
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file_handler.setFormatter(formatter)
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file_handler.setLevel(logging.DEBUG)
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self.logger.addHandler(file_handler)
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# Enable console output if requested
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if self.console_output:
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console_handler = logging.StreamHandler()
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console_handler.setFormatter(formatter)
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console_handler.setLevel(logging.DEBUG)
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self.logger.addHandler(console_handler)
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def __cleanup_log_files(self):
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# This copies the existing log.txt file to an old version with a datetime stamp
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# It then checks if there are too many log files, and if so, deletes the oldest
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if exists(self.log_directory):
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# Get the number of log files
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num_log_files = self.__get_num_files_in_directory(self.log_directory)
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# Check that we actually have log files
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if num_log_files > 0:
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date_time = datetime.now().strftime("%Y%m%d-%H%M%S")
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# If we do, move the current logfile to a backup in the format old_log_datetime
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if exists(self.log_file_path):
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rename(self.log_file_path, self.log_directory + "\\old_log_" + date_time + ".txt")
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# If we have more than the max log files delete the oldest one
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||||
if num_log_files >= MAX_NUM_LOG_FILES:
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unlink(self.__get_name_of_oldest_file(self.log_directory))
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def __add_startup_log_buffer_text(self):
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# Prints a header saying when the program started
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||||
self.logger.info("########## Application Starting ##########")
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@staticmethod
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def __get_name_of_oldest_file(input_path):
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oldest_file_path = None
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||||
previous_oldest_time = 0
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||||
# Walk the directory passed in to get all folders and files
|
||||
for dir_path, dir_names, file_names in walk(input_path):
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# Go through all of the filenames found
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for file in file_names:
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# Recreate the full path and get the modified time of the file
|
||||
current_path = dir_path + "\\" + file
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time = getmtime(current_path)
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# Default case for if the variables above have not been initially set
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if previous_oldest_time == 0:
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previous_oldest_time = time
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oldest_file_path = current_path
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||||
# Saves the oldest time and file path of the current file if it's older (lower timestamp) than the
|
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# last file saved in the variables
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||||
if time < previous_oldest_time:
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previous_oldest_time = time
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oldest_file_path = current_path
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# Returns the path to the oldest file after checking all the files
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return oldest_file_path
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@staticmethod
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||||
def __get_num_files_in_directory(input_path):
|
||||
# Walk the directory passed in to get all the files
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||||
for _, _, file_names in walk(input_path):
|
||||
# Return the number of files found in the directory
|
||||
return len(file_names)
|
||||
0
ground_station/Framework/LoggingSystems/__init__.py
Normal file
0
ground_station/Framework/LoggingSystems/__init__.py
Normal file
@@ -24,9 +24,9 @@ FONT = cv2.FONT_HERSHEY_TRIPLEX
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#####################################
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# RoverVideoReceiver Class Definition
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#####################################
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class RoverVideoReceiver(QtCore.QThread):
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class RoverVideoCoordinator(QtCore.QThread):
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def __init__(self, shared_objects):
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super(RoverVideoReceiver, self).__init__()
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super(RoverVideoCoordinator, self).__init__()
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# ########## Reference to class init variables ##########
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self.shared_objects = shared_objects
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@@ -47,12 +47,22 @@ class RoverVideoReceiver(QtCore.QThread):
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def run(self):
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self.logger.debug("Starting Video Coordinator Thread")
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topics = rospy.get_published_topics("/cameras")
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for group in topics:
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main_topic = group[0]
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last_section_topic = main_topic.split("/")[-1]
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if "image_" in main_topic and "zed" not in main_topic and last_section_topic == "compressed" :
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print group[0]
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while self.run_thread_flag:
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self.msleep(100)
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self.logger.debug("Stopping Video Coordinator Thread")
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def _get_cameras(self):
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def connect_signals_and_slots(self):
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pass
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@@ -50,12 +50,6 @@ class RoverVideoReceiver(QtCore.QThread):
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# self.video_subscriber = rospy.Subscriber(self.topic_path, CompressedImage,
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# self.__image_data_received_callback) # type: rospy.Subscriber
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topics = rospy.get_published_topics(self.topic_path)
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for group in topics:
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if "image_" in group[0]:
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print group[0]
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self.subscription_queue_size = 10
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# Steam name variable
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@@ -103,7 +97,6 @@ class RoverVideoReceiver(QtCore.QThread):
|
||||
self.image_ready_signal.emit()
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||||
self.new_frame = False
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||||
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||||
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def __on_image_update_ready(self):
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self.video_display_label.setPixmap(self.pixmap)
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||||
|
||||
|
||||
@@ -10,6 +10,7 @@ import rospy
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||||
import qdarkstyle
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||||
|
||||
# Custom Imports
|
||||
import Framework.LoggingSystems.Logger as Logger
|
||||
import Framework.VideoSystems.RoverVideoCoordinator as RoverVideoCoordinator
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||||
|
||||
#####################################
|
||||
@@ -80,8 +81,10 @@ class GroundStation(QtCore.QObject):
|
||||
self.RIGHT_SCREEN_ID) # type: ApplicationWindow
|
||||
|
||||
# ##### Instantiate Simple Classes #####
|
||||
self.logger_setup_class = Logger.Logger(console_output=True) # Doesn't need to be shared
|
||||
|
||||
# ##### Instantiate Threaded Classes #####
|
||||
self.__add_thread("Video Coordinator", RoverVideoCoordinator.RoverVideoCoordinator(self.shared_objects))
|
||||
|
||||
# self.__add_thread("Primary Video",
|
||||
# RoverVideoReceiver.RoverVideoReceiver(
|
||||
@@ -152,6 +155,10 @@ if __name__ == "__main__":
|
||||
application = QtWidgets.QApplication(sys.argv) # Create the ase qt gui application
|
||||
application.setStyleSheet(qdarkstyle.load_stylesheet_pyqt5())
|
||||
|
||||
QtCore.QCoreApplication.setOrganizationName("OSURC")
|
||||
QtCore.QCoreApplication.setOrganizationDomain("http://osurobotics.club/")
|
||||
QtCore.QCoreApplication.setApplicationName("groundstation")
|
||||
|
||||
ground_station = GroundStation()
|
||||
|
||||
application.exec_() # Execute launching of the application
|
||||
|
||||
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