Added silly spinny compass. It's the framwwork for later.

software/ros_packages/ground_station/src/Framework/NavigationSystems/SpeedAndHeadingIndication.py

@@ -0,0 +1,78 @@
+#####################################
+# Imports
+#####################################
+# Python native imports
+from PyQt5 import QtCore, QtWidgets, QtGui
+import logging
+from time import time
+import PIL.Image
+from PIL.ImageQt import ImageQt
+
+#####################################
+# Global Variables
+#####################################
+THREAD_HERTZ = 10
+
+
+#####################################
+# Controller Class Definition
+#####################################
+class SpeedAndHeadingIndication(QtCore.QThread):
+    show_compass_image__signal = QtCore.pyqtSignal()
+
+    def __init__(self, shared_objects):
+        super(SpeedAndHeadingIndication, self).__init__()
+
+        # ########## Reference to class init variables ##########
+        self.shared_objects = shared_objects
+        self.right_screen = self.shared_objects["screens"]["right_screen"]
+        self.heading_compass_label = self.right_screen.heading_compass_label  # type: QtWidgets.QLabel
+
+        # ########## Get the settings instance ##########
+        self.settings = QtCore.QSettings()
+
+        # ########## Get the Pick And Plate instance of the logger ##########
+        self.logger = logging.getLogger("groundstation")
+
+        # ########## Thread Flags ##########
+        self.run_thread_flag = True
+
+        # ########## Class Variables ##########
+        self.wait_time = 1.0 / THREAD_HERTZ
+
+        self.main_compass_image = PIL.Image.open("Resources/Images/compass.png").resize((300, 300))
+        self.compass_pixmap = None
+
+        self.current_rotation = 0
+
+        # compass_image = PIL.Image.open("Resources/Images/compass.png").resize((300, 300)).rotate(45)  # PIL.Image
+        # self.shared_objects["screens"]["right_screen"].heading_compass_label.setPixmap(QtGui.QPixmap.fromImage(ImageQt(compass_image)))
+
+    def run(self):
+        while self.run_thread_flag:
+
+            start_time = time()
+            self.current_rotation += 1
+
+            new_compass_image = self.main_compass_image.rotate(self.current_rotation)
+
+            self.compass_pixmap = QtGui.QPixmap.fromImage(ImageQt(new_compass_image))
+            self.show_compass_image__signal.emit()
+
+            time_diff = time() - start_time
+
+            self.msleep(max(int(self.wait_time - time_diff), 0))
+
+    def on_new_compass_image_ready__slot(self):
+        self.heading_compass_label.setPixmap(self.compass_pixmap)
+
+    def connect_signals_and_slots(self):
+        self.show_compass_image__signal.connect(self.on_new_compass_image_ready__slot)
+
+    def setup_signals(self, start_signal, signals_and_slots_signal, kill_signal):
+        start_signal.connect(self.start)
+        signals_and_slots_signal.connect(self.connect_signals_and_slots)
+        kill_signal.connect(self.on_kill_threads_requested__slot)
+
+    def on_kill_threads_requested__slot(self):
+        self.run_thread_flag = False

software/ros_packages/ground_station/src/ground_station.py

@@ -8,8 +8,7 @@ import signal
 import rospy
 import logging
 import qdarkstyle
-import PIL.Image
+
-from PIL.ImageQt import ImageQt
 
 # Custom Imports
 import Framework.StartupSystems.ROSMasterChecker as ROSMasterChecker
@@ -17,6 +16,7 @@ import Framework.LoggingSystems.Logger as Logger
 import Framework.VideoSystems.RoverVideoCoordinator as RoverVideoCoordinator
 import Framework.MapSystems.RoverMapCoordinator as RoverMapCoordinator
 import Framework.JoystickControlSystems.JoystickControlSender as JoystickControlSender
+import Framework.NavigationSystems.SpeedAndHeadingIndication as SpeedAndHeading
 
 #####################################
 # Global Variables
@@ -100,13 +100,11 @@ class GroundStation(QtCore.QObject):
         self.__add_thread("Video Coordinator", RoverVideoCoordinator.RoverVideoCoordinator(self.shared_objects))
         self.__add_thread("Map Coordinator", RoverMapCoordinator.RoverMapCoordinator(self.shared_objects))
         self.__add_thread("Joystick Sender", JoystickControlSender.JoystickControlSender(self.shared_objects))
+        self.__add_thread("Speed and Heading", SpeedAndHeading.SpeedAndHeadingIndication(self.shared_objects))
         self.connect_signals_and_slots_signal.emit()
         self.__connect_signals_to_slots()
         self.start_threads_signal.emit()
 
-        compass_image = PIL.Image.open("Resources/Images/compass.png").resize((300, 300))  # PIL.Image     
-        self.shared_objects["screens"]["right_screen"].heading_compass_label.setPixmap(QtGui.QPixmap.fromImage(ImageQt(compass_image)))
-
     def ___ros_master_running(self):
         checker = ROSMasterChecker.ROSMasterChecker()