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Fixed some gui elements. Added pause / speed control to remote drive.

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This commit is contained in:
Corwin Perren
2018-03-01 17:14:34 -08:00
parent e29e88a81d
commit 6d9ed5d438
6 changed files with 772 additions and 98 deletions
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151
software/ros_packages/ground_station/src/Framework/DriveSystems/RoverDriveSender.py
View File

@@ -19,6 +19,11 @@ DEFAULT_DRIVE_COMMAND_TOPIC = "/rover_control/command_control/ground_station_dri
DRIVE_COMMAND_HERTZ = 15 DRIVE_COMMAND_HERTZ = 15
Y_AXIS_DEADBAND = 0.015
X_AXIS_DEADBAND = 0.025
THROTTLE_MIN = 0.05
##################################### #####################################
# Controller Class Definition # Controller Class Definition
@@ -37,59 +42,51 @@ class LogitechJoystick(QtCore.QThread):
self.gamepad = None # type: GamePad self.gamepad = None # type: GamePad
self.controller_states = { self.controller_states = {
"left_stick_x_axis": 0, "x_axis": 512,
"y_axis": 512, "y_axis": 512,
"left_stick_center_pressed": 0,
"right_stick_x_axis": 0,
"right_stick_y_axis": 0,
"right_stick_center_pressed": 0,
"left_trigger_z_axis": 0,
"left_bumper_pressed": 0,
"z_axis": 128, "z_axis": 128,
"right_bumper_pressed": 0, "throttle_axis": 128,
"dpad_x": 0, "hat_x_axis": 0,
"dpad_y": 0, "hat_y_axis": 0,
"select_pressed": 0, "trigger_pressed": 0,
"start_pressed": 0, "thumb_pressed": 0,
"home_pressed": 0, "three_pressed": 0,
"four_pressed": 0,
"five_pressed": 0,
"six_pressed": 0,
"a_pressed": 0, "eleven_pressed": 0,
"b_pressed": 0, "twelve_pressed": 0,
"x_pressed": 0, "thirteen_pressed": 0,
"y_pressed": 0 "fourteen_pressed": 0,
"fifteen_pressed": 0,
"sixteen_pressed": 0,
} }
self.raw_mapping_to_class_mapping = { self.raw_mapping_to_class_mapping = {
"ABS_X": "left_stick_x_axis", "ABS_X": "x_axis",
"ABS_Y": "y_axis", "ABS_Y": "y_axis",
"BTN_THUMBL": "left_stick_center_pressed",
"ABS_RX": "right_stick_x_axis",
"ABS_RY": "right_stick_y_axis",
"BTN_THUMBR": "right_stick_center_pressed",
"ABS_Z": "left_trigger_z_axis",
"BTN_TL": "left_bumper_pressed",
"ABS_RZ": "z_axis", "ABS_RZ": "z_axis",
"BTN_TR": "right_bumper_pressed", "ABS_THROTTLE": "throttle_axis",
"ABS_HAT0X": "dpad_x", "ABS_HAT0X": "hat_x_axis",
"ABS_HAT0Y": "dpad_y", "ABS_HAT0Y": "hat_y_axis",
"BTN_SELECT": "select_pressed", "BTN_TRIGGER": "trigger_pressed",
"BTN_START": "start_pressed", "BTN_THUMB": "thumb_pressed",
"BTN_MODE": "home_pressed", "BTN_THUMB2": "three_pressed",
"BTN_TOP": "four_pressed",
"BTN_TOP2": "five_pressed",
"BTN_PINKIE": "six_pressed",
"BTN_SOUTH": "a_pressed", "BTN_BASE5": "eleven_pressed",
"BTN_EAST": "b_pressed", "BTN_BASE6": "twelve_pressed",
"BTN_NORTH": "x_pressed", "BTN_BASE3": "thirteen_pressed",
"BTN_WEST": "y_pressed" "BTN_BASE4": "fourteen_pressed",
"BTN_BASE": "fifteen_pressed",
"BTN_BASE2": "sixteen_pressed",
} }
self.ready = False self.ready = False
@@ -121,23 +118,27 @@ class LogitechJoystick(QtCore.QThread):
for event in events: for event in events:
if event.code in self.raw_mapping_to_class_mapping: if event.code in self.raw_mapping_to_class_mapping:
self.controller_states[self.raw_mapping_to_class_mapping[event.code]] = event.state self.controller_states[self.raw_mapping_to_class_mapping[event.code]] = event.state
self.ready = True self.ready = True
# print "Logitech: %s" % self.controller_states
##################################### #####################################
# Controller Class Definition # Controller Class Definition
##################################### #####################################
class RoverDriveSender(QtCore.QThread): class RoverDriveSender(QtCore.QThread):
set_speed_limit__signal = QtCore.pyqtSignal(int)
set_left_drive_output__signal = QtCore.pyqtSignal(int)
set_right_drive_output__signal = QtCore.pyqtSignal(int)
def __init__(self, shared_objects): def __init__(self, shared_objects):
super(RoverDriveSender, self).__init__() super(RoverDriveSender, self).__init__()
# ########## Reference to class init variables ########## # ########## Reference to class init variables ##########
self.shared_objects = shared_objects self.shared_objects = shared_objects
self.right_screen = self.shared_objects["screens"]["right_screen"] self.right_screen = self.shared_objects["screens"]["right_screen"]
self.primary_video_display_label = self.right_screen.primary_video_label # type:QtWidgets.QLabel self.speed_limit_progress_bar = self.right_screen.speed_limit_progress_bar # type: QtWidgets.QProgressBar
self.secondary_video_display_label = self.right_screen.secondary_video_label # type:QtWidgets.QLabel self.left_drive_progress_bar = self.right_screen.left_drive_progress_bar # type: QtWidgets.QProgressBar
self.tertiary_video_display_label = self.right_screen.tertiary_video_label # type:QtWidgets.QLabel self.right_drive_progress_bar = self.right_screen.right_drive_progress_bar # type: QtWidgets.QProgressBar
# ########## Get the settings instance ########## # ########## Get the settings instance ##########
self.settings = QtCore.QSettings() self.settings = QtCore.QSettings()
@@ -154,34 +155,82 @@ class RoverDriveSender(QtCore.QThread):
# Publishers # Publishers
self.drive_command_publisher = rospy.Publisher(DEFAULT_DRIVE_COMMAND_TOPIC, DriveCommandMessage, queue_size=1) self.drive_command_publisher = rospy.Publisher(DEFAULT_DRIVE_COMMAND_TOPIC, DriveCommandMessage, queue_size=1)
self.wait_time = 1 / DRIVE_COMMAND_HERTZ self.wait_time = 1.0 / DRIVE_COMMAND_HERTZ
self.drive_paused = True
def run(self): def run(self):
while self.run_thread_flag: while self.run_thread_flag:
start_time = time() start_time = time()
self.check_and_set_pause_state()
self.__update_and_publish() self.__update_and_publish()
time_diff = time() - start_time time_diff = time() - start_time
self.msleep(max(self.wait_time - time_diff, 0)) self.msleep(max(int(self.wait_time - time_diff), 0))
def connect_signals_and_slots(self): def connect_signals_and_slots(self):
pass self.set_speed_limit__signal.connect(self.speed_limit_progress_bar.setValue)
self.set_left_drive_output__signal.connect(self.left_drive_progress_bar.setValue)
self.set_right_drive_output__signal.connect(self.right_drive_progress_bar.setValue)
def check_and_set_pause_state(self):
if self.joystick.controller_states["thumb_pressed"]:
self.drive_paused = not self.drive_paused
self.msleep(350)
self.show_changed_pause_state()
def __update_and_publish(self): def __update_and_publish(self):
throttle_axis = max((255 - self.joystick.controller_states["throttle_axis"]) / 255.0, THROTTLE_MIN)
if self.drive_paused:
drive_message = DriveCommandMessage()
else:
drive_message = self.get_drive_message(throttle_axis)
left_output = abs(drive_message.drive_twist.linear.x - drive_message.drive_twist.angular.z)
right_output = abs(drive_message.drive_twist.linear.x + drive_message.drive_twist.angular.z)
self.set_speed_limit__signal.emit(throttle_axis * 100)
self.set_left_drive_output__signal.emit(left_output * 100)
self.set_right_drive_output__signal.emit(right_output * 100)
self.drive_command_publisher.publish(drive_message)
def get_drive_message(self, throttle_axis):
drive_message = DriveCommandMessage() drive_message = DriveCommandMessage()
drive_message.drive_twist.linear.x = -(self.joystick.controller_states["y_axis"] - 512) / 1024.0 y_axis = throttle_axis * (-(self.joystick.controller_states["y_axis"] - 512) / 512.0)
drive_message.drive_twist.angular.z = -(self.joystick.controller_states["z_axis"] - 128) / 255.0 z_axis = throttle_axis * (-(self.joystick.controller_states["z_axis"] - 128) / 128.0)
self.drive_command_publisher.publish(drive_message) x_axis = throttle_axis * (-(self.joystick.controller_states["x_axis"] - 512) / 512.0)
# print self.joystick.controller_states["y_axis"], self.joystick.controller_states["z_axis"]
if abs(y_axis) < Y_AXIS_DEADBAND:
y_axis = 0
if abs(x_axis) < X_AXIS_DEADBAND and y_axis == 0:
twist = z_axis
else:
twist = x_axis if y_axis >= 0 else -x_axis
drive_message.drive_twist.linear.x = y_axis
drive_message.drive_twist.angular.z = twist
return drive_message
def setup_signals(self, start_signal, signals_and_slots_signal, kill_signal): def setup_signals(self, start_signal, signals_and_slots_signal, kill_signal):
start_signal.connect(self.start) start_signal.connect(self.start)
signals_and_slots_signal.connect(self.connect_signals_and_slots) signals_and_slots_signal.connect(self.connect_signals_and_slots)
kill_signal.connect(self.on_kill_threads_requested__slot) kill_signal.connect(self.on_kill_threads_requested__slot)
def show_changed_pause_state(self):
if self.drive_paused:
self.left_drive_progress_bar.setStyleSheet("background-color:darkred;")
self.right_drive_progress_bar.setStyleSheet("background-color:darkred;")
else:
self.left_drive_progress_bar.setStyleSheet("background-color: transparent;")
self.right_drive_progress_bar.setStyleSheet("background-color: transparent;")
def on_kill_threads_requested__slot(self): def on_kill_threads_requested__slot(self):
self.run_thread_flag = False self.run_thread_flag = False

6
software/ros_packages/ground_station/src/Framework/MapSystems/RoverMapCoordinator.py
View File

@@ -76,13 +76,13 @@ class RoverMapCoordinator(QtCore.QThread):
RoverMap.OverlayImage(44.567161, -123.278432, RoverMap.OverlayImage(44.567161, -123.278432,
self.google_maps_object.northwest, self.google_maps_object.northwest,
self.google_maps_object.southeast, self.google_maps_object.southeast,
self.google_maps_object.big_image[0], self.google_maps_object.big_image.size[0],
self.google_maps_object.big_image[1], self.google_maps_object.big_image.size[1],
1280, 720)) 1280, 720))
def _get_map_image(self): def _get_map_image(self):
self.map_image = self.google_maps_object.display_image self.map_image = self.google_maps_object.display_image
self.map_image.paste(self.overlay_image_object.display_image) # self.map_image.paste(self.overlay_image_object.display_image)
# get overlay here # get overlay here
qim = ImageQt(self.map_image) qim = ImageQt(self.map_image)
self.map_pixmap = QtGui.QPixmap.fromImage(qim) self.map_pixmap = QtGui.QPixmap.fromImage(qim)

707
software/ros_packages/ground_station/src/Resources/Ui/right_screen.ui
View File

@@ -42,7 +42,16 @@
<property name="sizeConstraint"> <property name="sizeConstraint">
<enum>QLayout::SetDefaultConstraint</enum> <enum>QLayout::SetDefaultConstraint</enum>
</property> </property>
<property name="margin"> <property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number> <number>0</number>
</property> </property>
<item> <item>
@@ -75,9 +84,425 @@
<height>720</height> <height>720</height>
</size> </size>
</property> </property>
<property name="styleSheet"> <layout class="QVBoxLayout" name="verticalLayout_44">
<string notr="true">background-color:black;</string> <item>
</property> <layout class="QHBoxLayout" name="horizontalLayout_9">
<item>
<widget class="QLabel" name="label_44">
<property name="font">
<font>
<pointsize>22</pointsize>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="text">
<string>Arm Joint Positions</string>
</property>
</widget>
</item>
<item>
<spacer name="horizontalSpacer_6">
<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>
<layout class="QHBoxLayout" name="horizontalLayout_10">
<item>
<layout class="QVBoxLayout" name="verticalLayout_39">
<item>
<widget class="QLabel" name="label_45">
<property name="font">
<font>
<pointsize>14</pointsize>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="text">
<string>Base Rotation</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item>
<widget class="QDial" name="dial_31">
<property name="minimumSize">
<size>
<width>305</width>
<height>185</height>
</size>
</property>
<property name="minimum">
<number>-180</number>
</property>
<property name="maximum">
<number>180</number>
</property>
<property name="pageStep">
<number>10</number>
</property>
<property name="value">
<number>0</number>
</property>
<property name="sliderPosition">
<number>0</number>
</property>
<property name="tracking">
<bool>true</bool>
</property>
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="invertedAppearance">
<bool>false</bool>
</property>
<property name="invertedControls">
<bool>false</bool>
</property>
<property name="wrapping">
<bool>true</bool>
</property>
<property name="notchTarget">
<double>90.000000000000000</double>
</property>
<property name="notchesVisible">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
</item>
<item>
<layout class="QVBoxLayout" name="verticalLayout_40">
<item>
<widget class="QLabel" name="label_46">
<property name="font">
<font>
<pointsize>14</pointsize>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="text">
<string>Shoulder Pitch</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item>
<widget class="QDial" name="dial_32">
<property name="minimumSize">
<size>
<width>305</width>
<height>185</height>
</size>
</property>
<property name="minimum">
<number>-180</number>
</property>
<property name="maximum">
<number>180</number>
</property>
<property name="pageStep">
<number>10</number>
</property>
<property name="value">
<number>0</number>
</property>
<property name="sliderPosition">
<number>0</number>
</property>
<property name="tracking">
<bool>true</bool>
</property>
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="invertedAppearance">
<bool>false</bool>
</property>
<property name="invertedControls">
<bool>false</bool>
</property>
<property name="wrapping">
<bool>true</bool>
</property>
<property name="notchTarget">
<double>90.000000000000000</double>
</property>
<property name="notchesVisible">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_11">
<item>
<spacer name="horizontalSpacer_7">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item>
<layout class="QVBoxLayout" name="verticalLayout_41">
<item>
<widget class="QLabel" name="label_47">
<property name="font">
<font>
<pointsize>14</pointsize>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="text">
<string>Elbow Pitch</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item>
<widget class="QDial" name="dial_33">
<property name="minimumSize">
<size>
<width>305</width>
<height>185</height>
</size>
</property>
<property name="minimum">
<number>-180</number>
</property>
<property name="maximum">
<number>180</number>
</property>
<property name="pageStep">
<number>10</number>
</property>
<property name="value">
<number>0</number>
</property>
<property name="sliderPosition">
<number>0</number>
</property>
<property name="tracking">
<bool>true</bool>
</property>
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="invertedAppearance">
<bool>false</bool>
</property>
<property name="invertedControls">
<bool>false</bool>
</property>
<property name="wrapping">
<bool>true</bool>
</property>
<property name="notchTarget">
<double>90.000000000000000</double>
</property>
<property name="notchesVisible">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
</item>
<item>
<spacer name="horizontalSpacer_8">
<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>
<layout class="QHBoxLayout" name="horizontalLayout_12">
<item>
<layout class="QVBoxLayout" name="verticalLayout_42">
<item>
<widget class="QLabel" name="label_48">
<property name="font">
<font>
<pointsize>14</pointsize>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="text">
<string>End Effector Pitch</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item>
<widget class="QDial" name="dial_34">
<property name="minimumSize">
<size>
<width>305</width>
<height>185</height>
</size>
</property>
<property name="minimum">
<number>-180</number>
</property>
<property name="maximum">
<number>180</number>
</property>
<property name="pageStep">
<number>10</number>
</property>
<property name="value">
<number>0</number>
</property>
<property name="sliderPosition">
<number>0</number>
</property>
<property name="tracking">
<bool>true</bool>
</property>
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="invertedAppearance">
<bool>false</bool>
</property>
<property name="invertedControls">
<bool>false</bool>
</property>
<property name="wrapping">
<bool>true</bool>
</property>
<property name="notchTarget">
<double>90.000000000000000</double>
</property>
<property name="notchesVisible">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
</item>
<item>
<layout class="QVBoxLayout" name="verticalLayout_43">
<item>
<widget class="QLabel" name="label_49">
<property name="font">
<font>
<pointsize>14</pointsize>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="text">
<string>End Effector Rotation</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item>
<widget class="QDial" name="dial_35">
<property name="minimumSize">
<size>
<width>305</width>
<height>185</height>
</size>
</property>
<property name="minimum">
<number>-180</number>
</property>
<property name="maximum">
<number>180</number>
</property>
<property name="pageStep">
<number>10</number>
</property>
<property name="value">
<number>0</number>
</property>
<property name="sliderPosition">
<number>0</number>
</property>
<property name="tracking">
<bool>true</bool>
</property>
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="invertedAppearance">
<bool>false</bool>
</property>
<property name="invertedControls">
<bool>false</bool>
</property>
<property name="wrapping">
<bool>true</bool>
</property>
<property name="notchTarget">
<double>90.000000000000000</double>
</property>
<property name="notchesVisible">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</item>
<item>
<spacer name="verticalSpacer">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>3</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget> </widget>
</item> </item>
<item> <item>
@@ -108,25 +533,134 @@
<height>360</height> <height>360</height>
</size> </size>
</property> </property>
<property name="styleSheet">
<string notr="true">background-color:black;;</string>
</property>
<layout class="QGridLayout" name="gridLayout"> <layout class="QGridLayout" name="gridLayout">
<property name="margin"> <property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number> <number>0</number>
</property> </property>
<property name="spacing"> <property name="spacing">
<number>0</number> <number>0</number>
</property> </property>
<item row="0" column="0"> <item row="0" column="0">
<widget class="QLabel" name="compass_label"> <layout class="QVBoxLayout" name="verticalLayout_5">
<property name="text"> <property name="spacing">
<string/> <number>0</number>
</property> </property>
<property name="alignment"> <item>
<set>Qt::AlignCenter</set> <layout class="QGridLayout" name="gridLayout_2">
</property> <property name="leftMargin">
</widget> <number>6</number>
</property>
<property name="rightMargin">
<number>6</number>
</property>
<property name="spacing">
<number>0</number>
</property>
<item row="0" column="0">
<widget class="QLabel" name="label_8">
<property name="font">
<font>
<pointsize>17</pointsize>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="text">
<string>Heading</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="1" column="2">
<widget class="QLabel" name="next_goal_label">
<property name="font">
<font>
<pointsize>14</pointsize>
</font>
</property>
<property name="text">
<string>258°</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="0" column="2">
<widget class="QLabel" name="label_10">
<property name="font">
<font>
<pointsize>17</pointsize>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="text">
<string>Next Goal</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QLabel" name="current_heading_label">
<property name="font">
<font>
<pointsize>14</pointsize>
</font>
</property>
<property name="text">
<string>260°</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="0" column="1">
<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="QLabel" name="compass_label">
<property name="minimumSize">
<size>
<width>275</width>
<height>275</height>
</size>
</property>
<property name="text">
<string/>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
</layout>
</item> </item>
</layout> </layout>
</widget> </widget>
@@ -152,6 +686,21 @@
</size> </size>
</property> </property>
<layout class="QVBoxLayout" name="verticalLayout"> <layout class="QVBoxLayout" name="verticalLayout">
<property name="spacing">
<number>6</number>
</property>
<property name="leftMargin">
<number>6</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>6</number>
</property>
<property name="bottomMargin">
<number>0</number>
</property>
<item> <item>
<widget class="QLabel" name="label"> <widget class="QLabel" name="label">
<property name="font"> <property name="font">
@@ -170,19 +719,35 @@
</widget> </widget>
</item> </item>
<item> <item>
<widget class="QLabel" name="label_2"> <layout class="QHBoxLayout" name="horizontalLayout_2">
<property name="font"> <item>
<font> <widget class="QLabel" name="label_2">
<pointsize>22</pointsize> <property name="font">
</font> <font>
</property> <pointsize>22</pointsize>
<property name="text"> </font>
<string>2.4 m/s</string> </property>
</property> <property name="text">
<property name="alignment"> <string>0.0</string>
<set>Qt::AlignCenter</set> </property>
</property> <property name="alignment">
</widget> <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_7">
<property name="font">
<font>
<pointsize>22</pointsize>
</font>
</property>
<property name="text">
<string>m/s</string>
</property>
</widget>
</item>
</layout>
</item> </item>
<item> <item>
<widget class="QLabel" name="label_3"> <widget class="QLabel" name="label_3">
@@ -202,13 +767,19 @@
</widget> </widget>
</item> </item>
<item> <item>
<widget class="QProgressBar" name="progressBar"> <widget class="QProgressBar" name="speed_limit_progress_bar">
<property name="maximum">
<number>100</number>
</property>
<property name="value"> <property name="value">
<number>50</number> <number>50</number>
</property> </property>
<property name="alignment"> <property name="alignment">
<set>Qt::AlignCenter</set> <set>Qt::AlignCenter</set>
</property> </property>
<property name="textVisible">
<bool>true</bool>
</property>
<property name="orientation"> <property name="orientation">
<enum>Qt::Horizontal</enum> <enum>Qt::Horizontal</enum>
</property> </property>
@@ -238,18 +809,72 @@
</widget> </widget>
</item> </item>
<item> <item>
<widget class="QProgressBar" name="progressBar_3"> <layout class="QFormLayout" name="formLayout">
<property name="value"> <item row="0" column="0">
<number>0</number> <widget class="QLabel" name="label_5">
</property> <property name="font">
</widget> <font>
</item> <weight>75</weight>
<item> <bold>true</bold>
<widget class="QProgressBar" name="progressBar_2"> </font>
<property name="value"> </property>
<number>0</number> <property name="text">
</property> <string> Left</string>
</widget> </property>
</widget>
</item>
<item row="0" column="1">
<widget class="QProgressBar" name="left_drive_progress_bar">
<property name="styleSheet">
<string notr="true">background-color:darkred;</string>
</property>
<property name="minimum">
<number>0</number>
</property>
<property name="maximum">
<number>100</number>
</property>
<property name="value">
<number>0</number>
</property>
<property name="textVisible">
<bool>true</bool>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QLabel" name="label_6">
<property name="font">
<font>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="text">
<string>Right</string>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QProgressBar" name="right_drive_progress_bar">
<property name="styleSheet">
<string notr="true">background-color:darkred;</string>
</property>
<property name="minimum">
<number>0</number>
</property>
<property name="maximum">
<number>100</number>
</property>
<property name="value">
<number>0</number>
</property>
<property name="textVisible">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
</item> </item>
</layout> </layout>
</widget> </widget>

2
software/ros_packages/ground_station/src/ground_station.py
View File

@@ -98,7 +98,7 @@ class GroundStation(QtCore.QObject):
# ##### Instantiate Threaded Classes ###### # ##### Instantiate Threaded Classes ######
self.__add_thread("Video Coordinator", RoverVideoCoordinator.RoverVideoCoordinator(self.shared_objects)) self.__add_thread("Video Coordinator", RoverVideoCoordinator.RoverVideoCoordinator(self.shared_objects))
self.__add_thread("Map Coordinator", RoverMapCoordinator.RoverMapCoordinator(self.shared_objects)) # self.__add_thread("Map Coordinator", RoverMapCoordinator.RoverMapCoordinator(self.shared_objects))
self.__add_thread("Rover Drive Sender", RoverDriveSender.RoverDriveSender(self.shared_objects)) self.__add_thread("Rover Drive Sender", RoverDriveSender.RoverDriveSender(self.shared_objects))
self.connect_signals_and_slots_signal.emit() self.connect_signals_and_slots_signal.emit()
self.__connect_signals_to_slots() self.__connect_signals_to_slots()

1
software/ros_packages/rover_control/src/control_coordinators/drive_coordinator.py
View File

@@ -117,7 +117,6 @@ class DriveCoordinator(object):
self.left_bogie_publisher.publish(left_drive) self.left_bogie_publisher.publish(left_drive)
self.right_bogie_publisher.publish(right_drive) self.right_bogie_publisher.publish(right_drive)
def iris_drive_command_callback(self, drive_command): def iris_drive_command_callback(self, drive_command):
self.drive_commands["iris"] = drive_command self.drive_commands["iris"] = drive_command
return return

1
software/ros_packages/rover_control/src/iris_controller/iris_controller.py
View File

@@ -118,6 +118,7 @@ class IrisController(object):
def read_registers(self): def read_registers(self):
self.registers = self.iris.read_registers(0, len(MODBUS_REGISTERS)) self.registers = self.iris.read_registers(0, len(MODBUS_REGISTERS))
# print self.registers
def broadcast_drive_if_current_mode(self): def broadcast_drive_if_current_mode(self):
if self.registers[MODBUS_REGISTERS[REGISTER_STATE_MAPPING["DRIVE_VS_ARM"]]] < SBUS_VALUES["SBUS_MID"]: if self.registers[MODBUS_REGISTERS[REGISTER_STATE_MAPPING["DRIVE_VS_ARM"]]] < SBUS_VALUES["SBUS_MID"]: