Mapping color points with text workinggit add .git add .

software/ros_packages/ground_station/src/Framework/MapSystems/RoverMap.py

@@ -440,14 +440,15 @@ class OverlayImage(object):
 
         for element in navigation_list:
             x, y = self._get_cartesian(float(element[1]), float(element[2]))
-            draw.ellipse((x - size, y - size, x + size, y + size), fill="red")
+            draw.text((x + 10, y - 5), str(element[0]))
+            draw.ellipse((x - size, y - size, x + size, y + size), fill=(element[3].red(), element[3].green(), element[3].blue()))
 
         for element in landmark_list:
             x, y = self._get_cartesian(element[1], element[2])
-            draw.ellipse((x - size, y - size, x + size, y + size), fill="blue")
+            draw.text((x + 10, y - 5), str(element[0]))
+            draw.ellipse((x - size, y - size, x + size, y + size), fill=(element[3].red(), element[3].green(), element[3].blue()))
 
         self._draw_rover(latitude, longitude, compass)
-        # self._draw_coordinate_text(latitude, longitude)
         self.update(latitude, longitude)
 
         return self.display_image
@@ -455,8 +456,6 @@ class OverlayImage(object):
     def load_rover_icon(self):
         self.indicator = PIL.Image.open("Resources/Images/rover.png").resize((40, 40))
 
-
-
     def _draw_rover(self, lat, lon, angle=0):
         x, y = self._get_cartesian(lat, lon)
 

software/ros_packages/ground_station/src/Framework/MapSystems/RoverMapCoordinator.py

@@ -68,8 +68,8 @@ class RoverMapCoordinator(QtCore.QThread):
         self.map_pixmap = QtGui.QPixmap.fromImage(ImageQt(Image.open("Resources/Images/maps_loading.png").resize((1280, 720), Image.BICUBIC)))
         self.last_map_pixmap_cache_key = None
 
-        self.longitude = None
-        self.latitude = None
+        self.longitude = 0
+        self.latitude = 0
         self.last_heading = 0
 
         self.imu_data = None
@@ -168,6 +168,10 @@ class RoverMapCoordinator(QtCore.QThread):
         self.pixmap_ready_signal.emit()
 
     def _draw_coordinate_text(self, latitude, longitude):
+
+        if latitude == 0 and longitude == 0:
+            location_text = "LAT:    NO FIX\nLON:    NO FIX"
+        else:
             location_text = "LAT: %+014.9f\nLON: %+014.9f" % (latitude, longitude)
 
         font = PIL.ImageFont.truetype("UbuntuMono-R", size=20)
@@ -204,15 +208,15 @@ class RoverMapCoordinator(QtCore.QThread):
         temp_list = []
         count = UI_element.rowCount()
         for row in range(0, count):
-            num = UI_element.item(row, 0).text()
+            name = UI_element.item(row, 0).text()
             lat = float(UI_element.item(row, 1).text())
             lng = float(UI_element.item(row, 2).text())
-            temp_tuple = (num, lat, lng)
+            color = UI_element.item(row, 3).background().color()
+            temp_tuple = (name, lat, lng, color)
             temp_list.append(temp_tuple)
         return temp_list
 
     def update_overlay(self):
-        if self.latitude and self.longitude:
         if not numpy.isnan(self.latitude) and not numpy.isnan(self.longitude):
             latitude = float(self.latitude)
             longitude = float(self.longitude)

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

@@ -44,6 +44,13 @@ class WaypointsCoordinator(QtCore.QThread):
 
         self.longitude_card_label = self.left_screen.manual_waypoint_cardinal_longitude_combo_box
 
+        # Color Labels and Buttons
+        self.nav_color_label = self.left_screen.manual_waypoint_navigation_color_label
+        self.nav_color_set_button = self.left_screen.manual_waypoint_navigation_color_set_button
+
+        self.landmark_color_label = self.left_screen.manual_waypoint_landmark_color_label
+        self.landmark_color_set_button = self.left_screen.manual_waypoint_landmark_color_set_button
+
         # Nav Table Buttons
         self.nav_set_button_label = (self.left_screen.
                                      navigation_waypoints_set_button)
@@ -77,6 +84,17 @@ class WaypointsCoordinator(QtCore.QThread):
         self.longitude = None
         self.latitude = None
 
+        self.nav_color = QtCore.Qt.yellow
+        self.landmark_color = QtCore.Qt.blue
+
+        self.nav_color_dialog = QtWidgets.QColorDialog()
+        self.nav_color_dialog.setWindowFlags(
+            QtCore.Qt.WindowStaysOnTopHint | QtCore.Qt.X11BypassWindowManagerHint | QtCore.Qt.WindowTitleHint | QtCore.Qt.WindowCloseButtonHint)
+
+        self.landmark_color_dialog = QtWidgets.QColorDialog()
+        self.landmark_color_dialog.setWindowFlags(
+            QtCore.Qt.WindowStaysOnTopHint | QtCore.Qt.X11BypassWindowManagerHint | QtCore.Qt.WindowTitleHint | QtCore.Qt.WindowCloseButtonHint)
+
     def run(self):
         while self.run_thread_flag:
             self.msleep(3)
@@ -100,13 +118,22 @@ class WaypointsCoordinator(QtCore.QThread):
         self.navigation_label.cellClicked.connect(self._on_nav_clicked)
         self.landmark_label.cellClicked.connect(self._on_land_clicked)
 
-    def _add_to_table(self, name, lat, lng, dist, table):
+        self.nav_color_set_button.clicked.connect(self.nav_color_dialog.show)
+        self.landmark_color_set_button.clicked.connect(self.landmark_color_dialog.show)
+
+        self.nav_color_dialog.currentColorChanged.connect(self.__on_new_nav_color_selected)
+        self.landmark_color_dialog.currentColorChanged.connect(self.__on_new_landmark_color_selected)
+
+    def _add_to_table(self, name, lat, lng, color, table):
+        color_table_item = QtWidgets.QTableWidgetItem()
+        color_table_item.setBackground(color)
+
         count = table.rowCount()
         table.insertRow(count)
         table.setItem(count, 0, QtWidgets.QTableWidgetItem(name))
         table.setItem(count, 1, QtWidgets.QTableWidgetItem(lat))
         table.setItem(count, 2, QtWidgets.QTableWidgetItem(lng))
-        table.setItem(count, 3, QtWidgets.QTableWidgetItem(dist))
+        table.setItem(count, 3, color_table_item)
 
     def _clear_inputs(self):
         self.name_edit_label.clear()
@@ -125,9 +152,8 @@ class WaypointsCoordinator(QtCore.QThread):
     def _nav_add_gps(self):
         if self.longitude and self.latitude:
             name = self.navigation_label.rowCount()
-            distance = 0  # FIXME: this should be calculated from current to enterred position
             self._add_to_table(str(name + 1), str(self.latitude),
-                               str(self.longitude), str(distance),
+                               str(self.longitude), self.nav_color,
                                self.navigation_label)
             self._clear_inputs()
 
@@ -143,6 +169,14 @@ class WaypointsCoordinator(QtCore.QThread):
                 self.navigation_table_cur_click,
                 2,
                 QtWidgets.QTableWidgetItem(lng))
+
+            color_table_item = QtWidgets.QTableWidgetItem()
+            color_table_item.setBackground(self.nav_color)
+
+            self.navigation_label.setItem(
+                self.navigation_table_cur_click,
+                3,
+                color_table_item)
             self._clear_inputs()
 
     def _nav_add_manual(self):
@@ -151,9 +185,8 @@ class WaypointsCoordinator(QtCore.QThread):
             name = self.navigation_label.rowCount()
             lat = self.latitude_label.text()
             lng = self.longitude_label.text()
-            distance = 200
             self._add_to_table(str(name + 1), lat,
-                               lng, str(distance),
+                               lng, self.nav_color,
                                self.navigation_label)
             self._clear_inputs()
 
@@ -171,10 +204,7 @@ class WaypointsCoordinator(QtCore.QThread):
     def _land_add_gps(self):
         if self.longitude and self.latitude:
             name = self.name_edit_label.text()
-            distance = 200  # FIXME: this should be calculated from current to enterred position
-            self._add_to_table(name, str(self.latitude),
-                               str(self.longitude), str(distance),
-                               self.landmark_label)
+            self._add_to_table(name, str(self.latitude), str(self.longitude), self.landmark_color, self.landmark_label)
             self._clear_inputs()
 
     def _land_add_manual(self):
@@ -182,9 +212,8 @@ class WaypointsCoordinator(QtCore.QThread):
             name = self.name_edit_label.text()
             lat = self.latitude_label.text()
             lng = self.longitude_label.text()
-            distance = 200
             self._add_to_table(name, lat,
-                               lng, str(distance),
+                               lng, self.landmark_color,
                                self.landmark_label)
             self._clear_inputs()
 
@@ -213,6 +242,12 @@ class WaypointsCoordinator(QtCore.QThread):
             self.landmark_label.setItem(self.landmark_table_cur_click, 2,
                                         QtWidgets.QTableWidgetItem(lng))
 
+            color_table_item = QtWidgets.QTableWidgetItem()
+            color_table_item.setBackground(self.landmark_color)
+
+            self.landmark_label.setItem(self.landmark_table_cur_click, 3,
+                                        color_table_item)
+
             self._clear_inputs()
 
     def setup_signals(self, start_signal,
@@ -272,6 +307,18 @@ class WaypointsCoordinator(QtCore.QThread):
             1
         )
 
+    def __on_new_nav_color_selected(self, color):
+        self.nav_color_label.setStyleSheet(
+            "background-color: rgb(%s, %s, %s)" % (color.red(), color.green(), color.blue()))
+
+        self.nav_color = color
+
+    def __on_new_landmark_color_selected(self, color):
+        self.landmark_color_label.setStyleSheet(
+            "background-color: rgb(%s, %s, %s)" % (color.red(), color.green(), color.blue()))
+
+        self.landmark_color = color
+
     def gps_position_updated_callback(self, data):
         self.latitude = data.latitude
         self.longitude = data.longitude

software/ros_packages/ground_station/src/Resources/Ui/left_screen.ui

@@ -1892,6 +1892,125 @@ N/A</string>
                </item>
               </layout>
              </item>
+             <item>
+              <layout class="QHBoxLayout" name="horizontalLayout_4">
+               <property name="spacing">
+                <number>6</number>
+               </property>
+               <item>
+                <widget class="QLabel" name="label_11">
+                 <property name="font">
+                  <font>
+                   <weight>75</weight>
+                   <bold>true</bold>
+                  </font>
+                 </property>
+                 <property name="text">
+                  <string>Color</string>
+                 </property>
+                </widget>
+               </item>
+               <item>
+                <widget class="Line" name="line">
+                 <property name="orientation">
+                  <enum>Qt::Vertical</enum>
+                 </property>
+                </widget>
+               </item>
+               <item>
+                <widget class="QLabel" name="label_4">
+                 <property name="text">
+                  <string>Navigation</string>
+                 </property>
+                </widget>
+               </item>
+               <item>
+                <widget class="QLabel" name="manual_waypoint_navigation_color_label">
+                 <property name="minimumSize">
+                  <size>
+                   <width>25</width>
+                   <height>25</height>
+                  </size>
+                 </property>
+                 <property name="maximumSize">
+                  <size>
+                   <width>25</width>
+                   <height>25</height>
+                  </size>
+                 </property>
+                 <property name="styleSheet">
+                  <string notr="true">background-color:yellow;</string>
+                 </property>
+                 <property name="text">
+                  <string/>
+                 </property>
+                </widget>
+               </item>
+               <item>
+                <widget class="QPushButton" name="manual_waypoint_navigation_color_set_button">
+                 <property name="text">
+                  <string>Set</string>
+                 </property>
+                </widget>
+               </item>
+               <item>
+                <widget class="Line" name="line_7">
+                 <property name="orientation">
+                  <enum>Qt::Vertical</enum>
+                 </property>
+                </widget>
+               </item>
+               <item>
+                <widget class="QLabel" name="label_12">
+                 <property name="text">
+                  <string>Landmark</string>
+                 </property>
+                </widget>
+               </item>
+               <item>
+                <widget class="QLabel" name="manual_waypoint_landmark_color_label">
+                 <property name="minimumSize">
+                  <size>
+                   <width>25</width>
+                   <height>25</height>
+                  </size>
+                 </property>
+                 <property name="maximumSize">
+                  <size>
+                   <width>25</width>
+                   <height>25</height>
+                  </size>
+                 </property>
+                 <property name="styleSheet">
+                  <string notr="true">background-color:blue;</string>
+                 </property>
+                 <property name="text">
+                  <string/>
+                 </property>
+                </widget>
+               </item>
+               <item>
+                <widget class="QPushButton" name="manual_waypoint_landmark_color_set_button">
+                 <property name="text">
+                  <string>Set</string>
+                 </property>
+                </widget>
+               </item>
+               <item>
+                <spacer name="horizontalSpacer_2">
+                 <property name="orientation">
+                  <enum>Qt::Horizontal</enum>
+                 </property>
+                 <property name="sizeHint" stdset="0">
+                  <size>
+                   <width>40</width>
+                   <height>20</height>
+                  </size>
+                 </property>
+                </spacer>
+               </item>
+              </layout>
+             </item>
              <item>
               <widget class="Line" name="line_2">
                <property name="orientation">
@@ -2063,22 +2182,26 @@ N/A</string>
              </item>
              <item>
               <widget class="QTableWidget" name="navigation_waypoints_table_widget">
+               <property name="sizePolicy">
+                <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+                 <horstretch>0</horstretch>
+                 <verstretch>0</verstretch>
+                </sizepolicy>
+               </property>
+               <property name="minimumSize">
+                <size>
+                 <width>0</width>
+                 <height>0</height>
+                </size>
+               </property>
+               <property name="maximumSize">
+                <size>
+                 <width>16777215</width>
+                 <height>9999999</height>
+                </size>
+               </property>
                <property name="styleSheet">
-                <string notr="true">QTableView{
-	selection-background-color: #DE8D47;
-}
-
-QTableView QHeaderView{
-	background-color: #201F1D;
-}
-
-QTableView QHeaderView::section{
-	background-color: #201F1D;
-}
-
-QTableView QTableCornerButton::section{
-	background-color: #201F1D;
-}</string>
+                <string notr="true"/>
                </property>
                <property name="horizontalScrollBarPolicy">
                 <enum>Qt::ScrollBarAlwaysOff</enum>
@@ -2116,16 +2239,6 @@ QTableView QTableCornerButton::section{
                <attribute name="verticalHeaderDefaultSectionSize">
                 <number>30</number>
                </attribute>
-               <row>
-                <property name="text">
-                 <string>1</string>
-                </property>
-               </row>
-               <row>
-                <property name="text">
-                 <string>2</string>
-                </property>
-               </row>
                <column>
                 <property name="text">
                  <string>#</string>
@@ -2143,49 +2256,9 @@ QTableView QTableCornerButton::section{
                </column>
                <column>
                 <property name="text">
-                 <string>Dist</string>
+                 <string>Color</string>
                 </property>
                </column>
-               <item row="0" column="0">
-                <property name="text">
-                 <string>1</string>
-                </property>
-               </item>
-               <item row="0" column="1">
-                <property name="text">
-                 <string>44.5674</string>
-                </property>
-               </item>
-               <item row="0" column="2">
-                <property name="text">
-                 <string>-123.2756</string>
-                </property>
-               </item>
-               <item row="0" column="3">
-                <property name="text">
-                 <string>2.4 KM</string>
-                </property>
-               </item>
-               <item row="1" column="0">
-                <property name="text">
-                 <string>2</string>
-                </property>
-               </item>
-               <item row="1" column="1">
-                <property name="text">
-                 <string>44.5677</string>
-                </property>
-               </item>
-               <item row="1" column="2">
-                <property name="text">
-                 <string>-123.2748</string>
-                </property>
-               </item>
-               <item row="1" column="3">
-                <property name="text">
-                 <string>5.7 KM</string>
-                </property>
-               </item>
               </widget>
              </item>
              <item>
@@ -2193,6 +2266,9 @@ QTableView QTableCornerButton::section{
                <property name="spacing">
                 <number>2</number>
                </property>
+               <property name="bottomMargin">
+                <number>4</number>
+               </property>
                <item>
                 <widget class="QPushButton" name="navigation_waypoints_set_button">
                  <property name="sizePolicy">
@@ -2207,11 +2283,13 @@ QTableView QTableCornerButton::section{
                    <height>35</height>
                   </size>
                  </property>
+                 <property name="font">
+                  <font>
+                   <pointsize>8</pointsize>
+                  </font>
+                 </property>
                  <property name="styleSheet">
-                  <string notr="true">QPushButton{
-	color: #201F1D;
-	background-color: #868685;
-}</string>
+                  <string notr="true"/>
                  </property>
                  <property name="text">
                   <string>Set</string>
@@ -2232,11 +2310,13 @@ QTableView QTableCornerButton::section{
                    <height>35</height>
                   </size>
                  </property>
+                 <property name="font">
+                  <font>
+                   <pointsize>8</pointsize>
+                  </font>
+                 </property>
                  <property name="styleSheet">
-                  <string notr="true">QPushButton{
-	color: #201F1D;
-	background-color: #868685;
-}</string>
+                  <string notr="true"/>
                  </property>
                  <property name="text">
                   <string>Add
@@ -2258,11 +2338,13 @@ Manual</string>
                    <height>35</height>
                   </size>
                  </property>
+                 <property name="font">
+                  <font>
+                   <pointsize>8</pointsize>
+                  </font>
+                 </property>
                  <property name="styleSheet">
-                  <string notr="true">QPushButton{
-	color: #201F1D;
-	background-color: #868685;
-}</string>
+                  <string notr="true"/>
                  </property>
                  <property name="text">
                   <string>Add
@@ -2284,11 +2366,13 @@ GPS</string>
                    <height>35</height>
                   </size>
                  </property>
+                 <property name="font">
+                  <font>
+                   <pointsize>8</pointsize>
+                  </font>
+                 </property>
                  <property name="styleSheet">
-                  <string notr="true">QPushButton{
-	color: #201F1D;
-	background-color: #868685;
-}</string>
+                  <string notr="true"/>
                  </property>
                  <property name="text">
                   <string>Delete</string>
@@ -2359,22 +2443,26 @@ GPS</string>
              </item>
              <item>
               <widget class="QTableWidget" name="landmark_waypoints_table_widget">
+               <property name="sizePolicy">
+                <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+                 <horstretch>0</horstretch>
+                 <verstretch>0</verstretch>
+                </sizepolicy>
+               </property>
+               <property name="minimumSize">
+                <size>
+                 <width>0</width>
+                 <height>0</height>
+                </size>
+               </property>
+               <property name="maximumSize">
+                <size>
+                 <width>16777215</width>
+                 <height>9999999</height>
+                </size>
+               </property>
                <property name="styleSheet">
-                <string notr="true">QTableView{
-	selection-background-color: #DE8D47;
-}
-
-QTableView QHeaderView{
-	background-color: #201F1D;
-}
-
-QTableView QHeaderView::section{
-	background-color: #201F1D;
-}
-
-QTableView QTableCornerButton::section{
-	background-color: #201F1D;
-}</string>
+                <string notr="true"/>
                </property>
                <property name="horizontalScrollBarPolicy">
                 <enum>Qt::ScrollBarAlwaysOff</enum>
@@ -2415,16 +2503,6 @@ QTableView QTableCornerButton::section{
                <attribute name="verticalHeaderDefaultSectionSize">
                 <number>30</number>
                </attribute>
-               <row>
-                <property name="text">
-                 <string>1</string>
-                </property>
-               </row>
-               <row>
-                <property name="text">
-                 <string>2</string>
-                </property>
-               </row>
                <column>
                 <property name="text">
                  <string>Name</string>
@@ -2442,49 +2520,9 @@ QTableView QTableCornerButton::section{
                </column>
                <column>
                 <property name="text">
-                 <string>Dist</string>
+                 <string>Color</string>
                 </property>
                </column>
-               <item row="0" column="0">
-                <property name="text">
-                 <string>Astronaut</string>
-                </property>
-               </item>
-               <item row="0" column="1">
-                <property name="text">
-                 <string>44.56745</string>
-                </property>
-               </item>
-               <item row="0" column="2">
-                <property name="text">
-                 <string>-123.2756</string>
-                </property>
-               </item>
-               <item row="0" column="3">
-                <property name="text">
-                 <string>2.4 KM</string>
-                </property>
-               </item>
-               <item row="1" column="0">
-                <property name="text">
-                 <string>Water</string>
-                </property>
-               </item>
-               <item row="1" column="1">
-                <property name="text">
-                 <string>44.56775</string>
-                </property>
-               </item>
-               <item row="1" column="2">
-                <property name="text">
-                 <string>-123.2748</string>
-                </property>
-               </item>
-               <item row="1" column="3">
-                <property name="text">
-                 <string>5.7 KM</string>
-                </property>
-               </item>
               </widget>
              </item>
              <item>
@@ -2492,6 +2530,9 @@ QTableView QTableCornerButton::section{
                <property name="spacing">
                 <number>2</number>
                </property>
+               <property name="bottomMargin">
+                <number>4</number>
+               </property>
                <item>
                 <widget class="QPushButton" name="landmark_waypoints_set_button">
                  <property name="sizePolicy">
@@ -2506,11 +2547,13 @@ QTableView QTableCornerButton::section{
                    <height>35</height>
                   </size>
                  </property>
+                 <property name="font">
+                  <font>
+                   <pointsize>8</pointsize>
+                  </font>
+                 </property>
                  <property name="styleSheet">
-                  <string notr="true">QPushButton{
-	color: #201F1D;
-	background-color: #868685;
-}</string>
+                  <string notr="true"/>
                  </property>
                  <property name="text">
                   <string>Set</string>
@@ -2531,11 +2574,13 @@ QTableView QTableCornerButton::section{
                    <height>35</height>
                   </size>
                  </property>
+                 <property name="font">
+                  <font>
+                   <pointsize>8</pointsize>
+                  </font>
+                 </property>
                  <property name="styleSheet">
-                  <string notr="true">QPushButton{
-	color: #201F1D;
-	background-color: #868685;
-}</string>
+                  <string notr="true"/>
                  </property>
                  <property name="text">
                   <string>Add
@@ -2557,11 +2602,13 @@ Manual</string>
                    <height>35</height>
                   </size>
                  </property>
+                 <property name="font">
+                  <font>
+                   <pointsize>8</pointsize>
+                  </font>
+                 </property>
                  <property name="styleSheet">
-                  <string notr="true">QPushButton{
-	color: #201F1D;
-	background-color: #868685;
-}</string>
+                  <string notr="true"/>
                  </property>
                  <property name="text">
                   <string>Add
@@ -2583,11 +2630,13 @@ GPS</string>
                    <height>35</height>
                   </size>
                  </property>
+                 <property name="font">
+                  <font>
+                   <pointsize>8</pointsize>
+                  </font>
+                 </property>
                  <property name="styleSheet">
-                  <string notr="true">QPushButton{
-	color: #201F1D;
-	background-color: #868685;
-}</string>
+                  <string notr="true"/>
                  </property>
                  <property name="text">
                   <string>Delete</string>