Launching RoverVideeoCoordinator. Added working logging system and set up QSettings instance

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)

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
 

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)