From 6270f7380f6fd9b73c99193c93860d4042816e7b Mon Sep 17 00:00:00 2001
From: Corwin Perren <caperren@gmail.com>
Date: Tue, 23 Jan 2018 10:22:56 -0800
Subject: [PATCH] Launching RoverVideeoCoordinator. Added working logging
 system and set up QSettings instance

---
 ground_station/.idea/workspace.xml            | 182 +++++++++++++++++-
 .../Framework/LoggingSystems/Logger.py        | 127 ++++++++++++
 .../Framework/LoggingSystems/__init__.py      |   0
 .../VideoSystems/RoverVideoCoordinator.py     |  14 +-
 .../VideoSystems/RoverVideoReceiver.py        |   7 -
 ground_station/RoverGroundStation.py          |   7 +
 6 files changed, 318 insertions(+), 19 deletions(-)
 create mode 100644 ground_station/Framework/LoggingSystems/Logger.py
 create mode 100644 ground_station/Framework/LoggingSystems/__init__.py

diff --git a/ground_station/.idea/workspace.xml b/ground_station/.idea/workspace.xml
index 201bb79..c6756fc 100644
--- a/ground_station/.idea/workspace.xml
+++ b/ground_station/.idea/workspace.xml
@@ -16,28 +16,96 @@
   <component name="CreatePatchCommitExecutor">
     <option name="PATCH_PATH" value="" />
   </component>
+  <component name="DockManager">
+    <window id="1">
+      <content type="file-editors">
+        <state>
+          <leaf>
+            <file leaf-file-name="RoverVideoReceiverOld.py" pinned="false" current-in-tab="false">
+              <entry file="file://$PROJECT_DIR$/Framework/VideoSystems/RoverVideoReceiverOld.py">
+                <provider selected="true" editor-type-id="text-editor">
+                  <state relative-caret-position="-888">
+                    <caret line="0" column="0" selection-start-line="0" selection-start-column="0" selection-end-line="0" selection-end-column="0" />
+                    <folding>
+                      <element signature="e#0#10#0" expanded="true" />
+                    </folding>
+                  </state>
+                </provider>
+              </entry>
+            </file>
+            <file leaf-file-name="RoverVideoReceiver.py" pinned="false" current-in-tab="true">
+              <entry file="file://$PROJECT_DIR$/Framework/VideoSystems/RoverVideoReceiver.py">
+                <provider selected="true" editor-type-id="text-editor">
+                  <state relative-caret-position="306">
+                    <caret line="50" column="113" selection-start-line="50" selection-start-column="113" selection-end-line="50" selection-end-column="113" />
+                    <folding />
+                  </state>
+                </provider>
+              </entry>
+            </file>
+          </leaf>
+        </state>
+      </content>
+    </window>
+  </component>
   <component name="ExecutionTargetManager" SELECTED_TARGET="default_target" />
   <component name="FavoritesManager">
     <favorites_list name="ground_station" />
   </component>
   <component name="FileEditorManager">
     <leaf SIDE_TABS_SIZE_LIMIT_KEY="300">
-      <file leaf-file-name="RoverGroundStation.py" pinned="false" current-in-tab="true">
+      <file leaf-file-name="RoverGroundStation.py" pinned="false" current-in-tab="false">
         <entry file="file://$PROJECT_DIR$/RoverGroundStation.py">
           <provider selected="true" editor-type-id="text-editor">
-            <state relative-caret-position="-1860">
-              <caret line="9" column="17" selection-start-line="9" selection-start-column="17" selection-end-line="9" selection-end-column="17" />
-              <folding />
+            <state relative-caret-position="576">
+              <caret line="86" column="110" selection-start-line="86" selection-start-column="110" selection-end-line="86" selection-end-column="110" />
+              <folding>
+                <element signature="e#132#142#0" expanded="true" />
+              </folding>
+            </state>
+          </provider>
+        </entry>
+      </file>
+      <file leaf-file-name="Logger.py" pinned="false" current-in-tab="false">
+        <entry file="file://$PROJECT_DIR$/Framework/LoggingSystems/Logger.py">
+          <provider selected="true" editor-type-id="text-editor">
+            <state relative-caret-position="378">
+              <caret line="21" column="37" selection-start-line="21" selection-start-column="23" selection-end-line="21" selection-end-column="37" />
+              <folding>
+                <element signature="e#110#134#0" expanded="true" />
+              </folding>
+            </state>
+          </provider>
+        </entry>
+      </file>
+      <file leaf-file-name="RoverVideoCoordinator.py" pinned="false" current-in-tab="true">
+        <entry file="file://$PROJECT_DIR$/Framework/VideoSystems/RoverVideoCoordinator.py">
+          <provider selected="true" editor-type-id="text-editor">
+            <state relative-caret-position="864">
+              <caret line="63" column="25" selection-start-line="63" selection-start-column="25" selection-end-line="63" selection-end-column="25" />
+              <folding>
+                <element signature="e#110#152#0" expanded="true" />
+              </folding>
             </state>
           </provider>
         </entry>
       </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="$PROJECT_DIR$/Framework/VideoSystems/RoverVideoReceiver.py" />
+        <option value="$PROJECT_DIR$/Framework/LoggingSystems/Logger.py" />
         <option value="$PROJECT_DIR$/RoverGroundStation.py" />
+        <option value="$PROJECT_DIR$/Framework/VideoSystems/RoverVideoCoordinator.py" />
       </list>
     </option>
   </component>
@@ -95,6 +163,56 @@
               <option name="myItemType" value="com.intellij.ide.projectView.impl.nodes.PsiDirectoryNode" />
             </PATH_ELEMENT>
           </PATH>
+          <PATH>
+            <PATH_ELEMENT>
+              <option name="myItemId" value="ground_station" />
+              <option name="myItemType" value="com.intellij.ide.projectView.impl.nodes.ProjectViewProjectNode" />
+            </PATH_ELEMENT>
+            <PATH_ELEMENT>
+              <option name="myItemId" value="ground_station" />
+              <option name="myItemType" value="com.intellij.ide.projectView.impl.nodes.PsiDirectoryNode" />
+            </PATH_ELEMENT>
+            <PATH_ELEMENT>
+              <option name="myItemId" value="Framework" />
+              <option name="myItemType" value="com.intellij.ide.projectView.impl.nodes.PsiDirectoryNode" />
+            </PATH_ELEMENT>
+          </PATH>
+          <PATH>
+            <PATH_ELEMENT>
+              <option name="myItemId" value="ground_station" />
+              <option name="myItemType" value="com.intellij.ide.projectView.impl.nodes.ProjectViewProjectNode" />
+            </PATH_ELEMENT>
+            <PATH_ELEMENT>
+              <option name="myItemId" value="ground_station" />
+              <option name="myItemType" value="com.intellij.ide.projectView.impl.nodes.PsiDirectoryNode" />
+            </PATH_ELEMENT>
+            <PATH_ELEMENT>
+              <option name="myItemId" value="Framework" />
+              <option name="myItemType" value="com.intellij.ide.projectView.impl.nodes.PsiDirectoryNode" />
+            </PATH_ELEMENT>
+            <PATH_ELEMENT>
+              <option name="myItemId" value="VideoSystems" />
+              <option name="myItemType" value="com.intellij.ide.projectView.impl.nodes.PsiDirectoryNode" />
+            </PATH_ELEMENT>
+          </PATH>
+          <PATH>
+            <PATH_ELEMENT>
+              <option name="myItemId" value="ground_station" />
+              <option name="myItemType" value="com.intellij.ide.projectView.impl.nodes.ProjectViewProjectNode" />
+            </PATH_ELEMENT>
+            <PATH_ELEMENT>
+              <option name="myItemId" value="ground_station" />
+              <option name="myItemType" value="com.intellij.ide.projectView.impl.nodes.PsiDirectoryNode" />
+            </PATH_ELEMENT>
+            <PATH_ELEMENT>
+              <option name="myItemId" value="Framework" />
+              <option name="myItemType" value="com.intellij.ide.projectView.impl.nodes.PsiDirectoryNode" />
+            </PATH_ELEMENT>
+            <PATH_ELEMENT>
+              <option name="myItemId" value="LoggingSystems" />
+              <option name="myItemType" value="com.intellij.ide.projectView.impl.nodes.PsiDirectoryNode" />
+            </PATH_ELEMENT>
+          </PATH>
         </subPane>
       </pane>
       <pane id="Scope" />
@@ -343,7 +461,7 @@
       <window_info id="Database" active="false" anchor="right" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.33" sideWeight="0.5" order="3" side_tool="false" content_ui="tabs" />
       <window_info id="File Transfer" active="false" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.32908705" sideWeight="0.5" order="7" side_tool="false" content_ui="tabs" />
       <window_info id="Version Control" active="false" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="false" weight="0.33" sideWeight="0.5" order="7" side_tool="false" content_ui="tabs" />
-      <window_info id="Python Console" active="false" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.33" sideWeight="0.5" order="7" side_tool="false" content_ui="tabs" />
+      <window_info id="Python Console" active="false" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.32908705" sideWeight="0.5" order="7" side_tool="false" content_ui="tabs" />
       <window_info id="Run" active="false" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.32960325" sideWeight="0.5" order="2" side_tool="false" content_ui="tabs" />
       <window_info id="Structure" active="false" anchor="left" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.25" sideWeight="0.5" order="1" side_tool="false" content_ui="tabs" />
       <window_info id="Terminal" active="false" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.18259023" sideWeight="0.49807587" order="7" side_tool="false" content_ui="tabs" />
@@ -402,7 +520,9 @@
       <provider selected="true" editor-type-id="text-editor">
         <state relative-caret-position="0">
           <caret line="0" column="0" selection-start-line="0" selection-start-column="0" selection-end-line="0" selection-end-column="0" />
-          <folding />
+          <folding>
+            <element signature="e#132#142#0" expanded="true" />
+          </folding>
         </state>
       </provider>
     </entry>
@@ -410,17 +530,59 @@
       <provider selected="true" editor-type-id="text-editor">
         <state relative-caret-position="0">
           <caret line="0" column="0" selection-start-line="0" selection-start-column="0" selection-end-line="0" selection-end-column="0" />
-          <folding />
+          <folding>
+            <element signature="e#132#142#0" expanded="true" />
+          </folding>
         </state>
       </provider>
     </entry>
     <entry file="file://$USER_HOME$/.PyCharm2016.3/system/remote_sources/-1418177152/1376253408/cv_bridge/core.py" />
     <entry file="file://$USER_HOME$/.PyCharm2016.3/system/remote_sources/-1418177152/1376253408/rospy/topics.py" />
+    <entry file="file://$PROJECT_DIR$/Framework/VideoSystems/RoverVideoReceiverOld.py">
+      <provider selected="true" editor-type-id="text-editor">
+        <state relative-caret-position="-888">
+          <caret line="0" column="0" selection-start-line="0" selection-start-column="0" selection-end-line="0" selection-end-column="0" />
+          <folding>
+            <element signature="e#0#10#0" expanded="true" />
+          </folding>
+        </state>
+      </provider>
+    </entry>
+    <entry file="file://$PROJECT_DIR$/Framework/VideoSystems/RoverVideoReceiver.py">
+      <provider selected="true" editor-type-id="text-editor">
+        <state relative-caret-position="306">
+          <caret line="50" column="113" selection-start-line="50" selection-start-column="113" selection-end-line="50" selection-end-column="113" />
+          <folding />
+        </state>
+      </provider>
+    </entry>
+    <entry file="file://$PROJECT_DIR$/Framework/LoggingSystems/Logger.py">
+      <provider selected="true" editor-type-id="text-editor">
+        <state relative-caret-position="378">
+          <caret line="21" column="37" selection-start-line="21" selection-start-column="23" selection-end-line="21" selection-end-column="37" />
+          <folding>
+            <element signature="e#110#134#0" expanded="true" />
+          </folding>
+        </state>
+      </provider>
+    </entry>
     <entry file="file://$PROJECT_DIR$/RoverGroundStation.py">
       <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="-1860">
-          <caret line="9" column="17" selection-start-line="9" selection-start-column="17" selection-end-line="9" selection-end-column="17" />
-          <folding />
+        <state relative-caret-position="576">
+          <caret line="86" column="110" selection-start-line="86" selection-start-column="110" selection-end-line="86" selection-end-column="110" />
+          <folding>
+            <element signature="e#132#142#0" expanded="true" />
+          </folding>
+        </state>
+      </provider>
+    </entry>
+    <entry file="file://$PROJECT_DIR$/Framework/VideoSystems/RoverVideoCoordinator.py">
+      <provider selected="true" editor-type-id="text-editor">
+        <state relative-caret-position="864">
+          <caret line="63" column="25" selection-start-line="63" selection-start-column="25" selection-end-line="63" selection-end-column="25" />
+          <folding>
+            <element signature="e#110#152#0" expanded="true" />
+          </folding>
         </state>
       </provider>
     </entry>
diff --git a/ground_station/Framework/LoggingSystems/Logger.py b/ground_station/Framework/LoggingSystems/Logger.py
new file mode 100644
index 0000000..bbb222a
--- /dev/null
+++ b/ground_station/Framework/LoggingSystems/Logger.py
@@ -0,0 +1,127 @@
+#####################################
+# Imports
+#####################################
+# Python native imports
+from PyQt5 import QtCore
+from os import makedirs, rename, walk, unlink
+from os.path import exists, getmtime
+from os import environ
+import logging
+from datetime import datetime
+
+#####################################
+# Global Variables
+#####################################
+MAX_NUM_LOG_FILES = 30
+
+
+#####################################
+# Logger Definition
+#####################################
+class Logger(QtCore.QObject):
+    def __init__(self, console_output=True):
+        super(Logger, self).__init__()
+
+        # ########## Local class variables ##########
+        self.console_output = console_output
+
+        # ########## Get the settings instance ##########
+        self.settings = QtCore.QSettings()
+
+        # # ########## Get the Pick And Plate instance of the logger ##########
+        self.logger = logging.getLogger("groundstation")
+
+        # ########## Set variables with useful paths ##########
+        self.appdata_base_directory = environ["HOME"] + "/.groundstation"
+        self.log_directory = self.appdata_base_directory + "//logs"
+        self.log_file_path = self.log_directory + "//log.txt"
+
+        # ########## Cleanup old log files ##########
+        self.__cleanup_log_files()
+
+        # ########## Set up logger with desired settings ##########
+        self.__setup_logger()
+
+        # ########## Place divider in log file to see new program launch ##########
+        self.__add_startup_log_buffer_text()
+
+    def __setup_logger(self):
+        # Get the appdata directory and make the log path if it doesn't exist
+        if not exists(self.log_directory):
+            makedirs(self.log_directory)
+
+        # Set the debugging level
+        self.logger.setLevel(logging.DEBUG)
+
+        # Make a formatter with the log line format wanted
+        formatter = logging.Formatter(fmt='%(levelname)s : %(asctime)s : %(message)s', datefmt='%m/%d/%y %H:%M:%S')
+
+        # Set up a file handler so everything can be saved and attach it to the logger
+        file_handler = logging.FileHandler(filename=self.log_file_path)
+        file_handler.setFormatter(formatter)
+        file_handler.setLevel(logging.DEBUG)
+        self.logger.addHandler(file_handler)
+
+        # Enable console output if requested
+        if self.console_output:
+            console_handler = logging.StreamHandler()
+            console_handler.setFormatter(formatter)
+            console_handler.setLevel(logging.DEBUG)
+            self.logger.addHandler(console_handler)
+
+    def __cleanup_log_files(self):
+        # This copies the existing log.txt file to an old version with a datetime stamp
+        # It then checks if there are too many log files, and if so, deletes the oldest
+        if exists(self.log_directory):
+            # Get the number of log files
+            num_log_files = self.__get_num_files_in_directory(self.log_directory)
+
+            # Check that we actually have log files
+            if num_log_files > 0:
+                date_time = datetime.now().strftime("%Y%m%d-%H%M%S")
+
+                # If we do, move the current logfile to a backup in the format old_log_datetime
+                if exists(self.log_file_path):
+                    rename(self.log_file_path, self.log_directory + "\\old_log_" + date_time + ".txt")
+
+                # If we have more than the max log files delete the oldest one
+                if num_log_files >= MAX_NUM_LOG_FILES:
+                    unlink(self.__get_name_of_oldest_file(self.log_directory))
+
+    def __add_startup_log_buffer_text(self):
+        # Prints a header saying when the program started
+        self.logger.info("########## Application Starting ##########")
+
+    @staticmethod
+    def __get_name_of_oldest_file(input_path):
+        oldest_file_path = None
+        previous_oldest_time = 0
+
+        # Walk the directory passed in to get all folders and files
+        for dir_path, dir_names, file_names in walk(input_path):
+            # Go through all of the filenames found
+            for file in file_names:
+                # Recreate the full path and get the modified time of the file
+                current_path = dir_path + "\\" + file
+                time = getmtime(current_path)
+
+                # Default case for if the variables above have not been initially set
+                if previous_oldest_time == 0:
+                    previous_oldest_time = time
+                    oldest_file_path = current_path
+
+                # Saves the oldest time and file path of the current file if it's older (lower timestamp) than the
+                # last file saved in the variables
+                if time < previous_oldest_time:
+                    previous_oldest_time = time
+                    oldest_file_path = current_path
+
+        # Returns the path to the oldest file after checking all the files
+        return oldest_file_path
+
+    @staticmethod
+    def __get_num_files_in_directory(input_path):
+        # Walk the directory passed in to get all the files
+        for _, _, file_names in walk(input_path):
+            # Return the number of files found in the directory
+            return len(file_names)
\ No newline at end of file
diff --git a/ground_station/Framework/LoggingSystems/__init__.py b/ground_station/Framework/LoggingSystems/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/ground_station/Framework/VideoSystems/RoverVideoCoordinator.py b/ground_station/Framework/VideoSystems/RoverVideoCoordinator.py
index 24ef9c4..536ef6a 100644
--- a/ground_station/Framework/VideoSystems/RoverVideoCoordinator.py
+++ b/ground_station/Framework/VideoSystems/RoverVideoCoordinator.py
@@ -24,9 +24,9 @@ FONT = cv2.FONT_HERSHEY_TRIPLEX
 #####################################
 # RoverVideoReceiver Class Definition
 #####################################
-class RoverVideoReceiver(QtCore.QThread):
+class RoverVideoCoordinator(QtCore.QThread):
     def __init__(self, shared_objects):
-        super(RoverVideoReceiver, self).__init__()
+        super(RoverVideoCoordinator, self).__init__()
 
         # ########## Reference to class init variables ##########
         self.shared_objects = shared_objects
@@ -47,12 +47,22 @@ class RoverVideoReceiver(QtCore.QThread):
     def run(self):
         self.logger.debug("Starting Video Coordinator Thread")
 
+        topics = rospy.get_published_topics("/cameras")
+
+        for group in topics:
+            main_topic = group[0]
+            last_section_topic = main_topic.split("/")[-1]
+            if "image_" in main_topic and "zed" not in main_topic and last_section_topic == "compressed" :
+                print group[0]
+
         while self.run_thread_flag:
 
             self.msleep(100)
 
         self.logger.debug("Stopping Video Coordinator Thread")
 
+    def _get_cameras(self):
+
     def connect_signals_and_slots(self):
         pass
 
diff --git a/ground_station/Framework/VideoSystems/RoverVideoReceiver.py b/ground_station/Framework/VideoSystems/RoverVideoReceiver.py
index 56b4ded..e3e8b18 100644
--- a/ground_station/Framework/VideoSystems/RoverVideoReceiver.py
+++ b/ground_station/Framework/VideoSystems/RoverVideoReceiver.py
@@ -50,12 +50,6 @@ class RoverVideoReceiver(QtCore.QThread):
         # self.video_subscriber = rospy.Subscriber(self.topic_path, CompressedImage,
         #                                          self.__image_data_received_callback)  # type: rospy.Subscriber
 
-        topics = rospy.get_published_topics(self.topic_path)
-
-        for group in topics:
-            if "image_" in group[0]:
-                print group[0]
-
         self.subscription_queue_size = 10
 
         # Steam name variable
@@ -103,7 +97,6 @@ class RoverVideoReceiver(QtCore.QThread):
             self.image_ready_signal.emit()
             self.new_frame = False
 
-
     def __on_image_update_ready(self):
         self.video_display_label.setPixmap(self.pixmap)
 
diff --git a/ground_station/RoverGroundStation.py b/ground_station/RoverGroundStation.py
index 4935951..1c2851e 100755
--- a/ground_station/RoverGroundStation.py
+++ b/ground_station/RoverGroundStation.py
@@ -10,6 +10,7 @@ import rospy
 import qdarkstyle
 
 # Custom Imports
+import Framework.LoggingSystems.Logger as Logger
 import Framework.VideoSystems.RoverVideoCoordinator as RoverVideoCoordinator
 
 #####################################
@@ -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