caperren/osurc_mars_rover_2017_2018
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Started working on mapping waypoints and thinking about zoom/pan. Added watchdog for odometry. Fixed watchdog for IRIS. Changed voltage warning for rover, was too low. Added neat loading image for mapping on launch.

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This commit is contained in:
Corwin Perren
2018-07-21 20:45:59 -07:00
parent 8c78d5729f
commit 71cff19b77
10 changed files with 111 additions and 90 deletions
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23
software/ros_packages/ground_station/src/Framework/MapSystems/RoverMap.py
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@@ -392,7 +392,7 @@ class OverlayImage(object):
self.display_image_copy = self.display_image.copy()
self.generate_dot_and_hat()
self.load_rover_icon()
self.indicator.save("location.png")
def _get_cartesian(self, lat, lon):
@@ -431,29 +431,26 @@ class OverlayImage(object):
size = 5
draw = PIL.ImageDraw.Draw(self.big_image)
for element in navigation_list:
x, y = self._get_cartesian(float(element[2]), float(element[1]))
x, y = self._get_cartesian(float(element[1]), float(element[2]))
draw.ellipse((x - size, y - size, x + size, y + size), fill="red")
# for element in landmark_list:
# x, y = self._get_cartesian(element[1], element[2])
# draw.ellipsis((x-size, y-size, x+size, y+size), fill="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")
self._draw_rover(latitude, longitude, compass)
self._draw_coordinate_text(latitude, longitude)
self.update(latitude, longitude)
return self.display_image
def generate_dot_and_hat(self):
def load_rover_icon(self):
self.indicator = PIL.Image.open("Resources/Images/rover.png").resize((50, 50))
# self.indicator = self.helper.new_image(100, 100, True)
# draw = PIL.ImageDraw.Draw(self.indicator)
# draw.ellipse((50 - 12, 50 - 12, 50 + 12, 50 + 12), fill="red")
# draw.line((25, 40, 50, 12), fill="red", width=7)
# draw.line((50, 12, 75, 40), fill="red", width=7)
def _draw_coordinate_text(self, latitude, longitude):
location_text = "LAT: %+014.9f\nLON: %+014.9f" % (latitude, longitude)
# location_text = "LAT: " + str(latitude) + "\nLON: " + str(longitude)
font = PIL.ImageFont.truetype("UbuntuMono-R", size=20)
@@ -468,7 +465,7 @@ class OverlayImage(object):
def _draw_rover(self, lat, lon, angle=0):
x, y = self._get_cartesian(lat, lon)
x -= 25
x -= 25 # Half the height of the icon
y -= 25
rotated = self.indicator.copy()

22
software/ros_packages/ground_station/src/Framework/MapSystems/RoverMapCoordinator.py
View File

@@ -71,21 +71,12 @@ class RoverMapCoordinator(QtCore.QThread):
self.logger.debug("Stopping Map Coordinator Thread")
# def _setup_map_threads(self):
# self.google_maps_object = RoverMap.GMapsStitcher(1280,
# 720,
# 44.567161,
# -123.278432,
# 18,
# 'satellite',
# None, 20)
def _map_setup(self):
self.google_maps_object = RoverMap.GMapsStitcher(1280,
720,
44.5675721667,
-123.2750535,
18, # FIXME: Used to be 18
19, # FIXME: Used to be 18
'satellite',
None, 20)
self.overlay_image_object = (
@@ -102,11 +93,7 @@ class RoverMapCoordinator(QtCore.QThread):
if self.map_image:
self.map_image_copy = self.map_image.copy()
# self.overlay_image_object.update_new_location(44.567161,
# -123.278432,
# .7,
# [],
# [])
self.update_overlay()
self.map_image = self.map_image_copy.copy()
@@ -158,15 +145,14 @@ class RoverMapCoordinator(QtCore.QThread):
longitude = float(self.longitude)
navigation_list = self._get_table_elements(self.navigation_label)
# landmark_list = self._get_table_elements(self.landmark_label)
landmark_list = []
landmark_list = self._get_table_elements(self.landmark_label)
self.overlay_image = self.overlay_image_object.update_new_location(
latitude,
longitude,
self.last_heading,
navigation_list,
landmark_list)
self.last_heading = (self.last_heading + 5) % 360
# self.last_heading = (self.last_heading + 5) % 360
# self.overlay_image.save("something.png")
def gps_position_updated_callback(self, data):

100
software/ros_packages/ground_station/src/Framework/NavigationSystems/WaypointsCoordinator.py
View File

@@ -2,6 +2,10 @@ from PyQt5 import QtCore, QtWidgets, QtGui
import logging
import rospy
from sensor_msgs.msg import NavSatFix
GPS_POSITION_TOPIC = "/rover_odometry/fix"
class WaypointsCoordinator(QtCore.QThread):
new_manual_waypoint_entry = QtCore.pyqtSignal(str, float, float, int)
@@ -20,13 +24,10 @@ class WaypointsCoordinator(QtCore.QThread):
navigation_waypoints_table_widget)
self.landmark_label = self.left_screen.landmark_waypoints_table_widget
self.name_edit_label = (self.left_screen.
manual_waypoint_landmark_name_line_edit)
self.latitude_label = (self.left_screen.
manual_waypoint_decimal_lattitude_spin_box)
self.longitude_label = (self.left_screen.
manual_waypoint_decimal_longitude_spin_box)
self.name_edit_label = self.left_screen.manual_waypoint_landmark_name_line_edit
self.latitude_label = self.left_screen.manual_waypoint_decimal_lattitude_spin_box
self.longitude_label = self.left_screen.manual_waypoint_decimal_longitude_spin_box
self.latitude_degree_label = self.left_screen.manual_waypoint_degrees_lattitude_spin_box
self.longitude_degree_label = self.left_screen.manual_waypoint_degrees_longitude_spin_box
@@ -47,7 +48,7 @@ class WaypointsCoordinator(QtCore.QThread):
self.nav_set_button_label = (self.left_screen.
navigation_waypoints_set_button)
self.nav_add_manual_button_label = (
self.left_screen.navigation_waypoints_add_manual_button)
self.left_screen.navigation_waypoints_add_manual_button)
self.nav_add_gps_button_label = (self.left_screen.
navigation_waypoints_add_gps_button)
self.nav_delete_button_label = (self.left_screen.
@@ -58,7 +59,7 @@ class WaypointsCoordinator(QtCore.QThread):
landmark_waypoints_set_button)
self.land_add_manual_button_label = (
self.left_screen.landmark_waypoints_add_manual_button)
self.left_screen.landmark_waypoints_add_manual_button)
self.land_add_gps_button_label = (self.left_screen.
landmark_waypoints_add_gps_button)
@@ -70,6 +71,12 @@ class WaypointsCoordinator(QtCore.QThread):
self.logger = logging.getLogger("groundstation")
self.gps_position_subscriber = rospy.Subscriber(GPS_POSITION_TOPIC, NavSatFix,
self.gps_position_updated_callback)
self.longitude = None
self.latitude = None
def run(self):
while self.run_thread_flag:
self.msleep(3)
@@ -107,35 +114,33 @@ class WaypointsCoordinator(QtCore.QThread):
self.longitude_label.clear()
def _is_empty_inputs(self):
if self.name_edit_label.text().isEmpty():
if not self.name_edit_label.text():
return True
if self.latitude_label.text().isEmpty():
if not self.latitude_label.text():
return True
if self.longitude_label.text().isEmpty():
if not self.longitude_label.text():
return True
return False
def _nav_add_gps(self):
# request GPS data
name = self.navigation_label.rowCount()
lat = 44.567200
lng = -123.27860
distance = 200
self._add_to_table(str(name+1), str(lat),
str(lng), str(distance),
self.navigation_label)
self._clear_inputs()
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),
self.navigation_label)
self._clear_inputs()
def _nav_save(self):
if not self._is_empty_inputs():
lat = self.latitude_label.getText()
lng = self.longitude_label.getText()
lat = self.latitude_label.text()
lng = self.longitude_label.text()
self.navigation_label.setItem(
self.navigation_table_cur_click,
1,
QtWidgets.QTableWidgetItem(lat))
self.navigation_label.setItem(
self.navigation_label,
self.navigation_table_cur_click,
2,
QtWidgets.QTableWidgetItem(lng))
self._clear_inputs()
@@ -144,13 +149,13 @@ class WaypointsCoordinator(QtCore.QThread):
# request GPS data
if not self._is_empty_inputs():
name = self.navigation_label.rowCount()
lat = self.latitude_label.getText()
lng = self.longitude_label.getText()
lat = self.latitude_label.text()
lng = self.longitude_label.text()
distance = 200
self._add_to_table(str(name+1), lat,
self._add_to_table(str(name + 1), lat,
lng, str(distance),
self.navigation_label)
self._clear_inputs
self._clear_inputs()
def _nav_del(self):
if self.navigation_table_cur_click is not None:
@@ -160,24 +165,23 @@ class WaypointsCoordinator(QtCore.QThread):
self.navigation_label.setItem(x,
0,
QtWidgets.
QTableWidgetItem(str(x+1)))
QTableWidgetItem(str(x + 1)))
self._clear_inputs()
def _land_add_gps(self):
name = self.name_edit_label.getText()
lat = 44.19223
lng = -123.12394
distance = 200
self._add_to_table(name, str(lat),
str(lng), str(distance),
self.landmark_label)
self._clear_inputs()
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._clear_inputs()
def _land_add_manual(self):
if not self._is_empty_inputs():
name = self.name_edit_label.getText()
lat = self.latitude_label.getText()
lng = self.longitude_label.getText()
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),
@@ -192,14 +196,14 @@ class WaypointsCoordinator(QtCore.QThread):
self.navigation_label.setItem(x,
0,
QtWidgets.
QTableWidgetItem(str(x+1)))
QTableWidgetItem(str(x + 1)))
self._clear_inputs()
def _land_save(self):
if not self._is_empty_inputs():
name = self.name_edit_label.getText()
lat = self.latitude_label.getText()
lng = self.longitude_label.getText()
name = self.name_edit_label.text()
lat = self.latitude_label.text()
lng = self.longitude_label.text()
self.landmark_label.setItem(self.landmark_table_cur_click, 0,
QtWidgets.QTableWidgetItem(name))
@@ -228,7 +232,7 @@ class WaypointsCoordinator(QtCore.QThread):
lat_d = float(abs(int(lat)))
lat_m = float(int((abs(lat) - lat_d) * 60))
lat_s = ((abs(lat) - lat_d - (lat_m/60.0)) * 3600.)
lat_s = ((abs(lat) - lat_d - (lat_m / 60.0)) * 3600.)
if lat > 0.:
self.latitude_card_label.setCurrentText("N")
else:
@@ -239,7 +243,7 @@ class WaypointsCoordinator(QtCore.QThread):
lng_d = float(abs(int(lng)))
lng_m = float(int((abs(lng) - lng_d) * 60))
lng_s = ((abs(lng) - lng_d - (lng_m/60.0)) * 3600.)
lng_s = ((abs(lng) - lng_d - (lng_m / 60.0)) * 3600.)
if lng > 0.:
self.longitude_card_label.setCurrentText("E")
else:
@@ -267,3 +271,7 @@ class WaypointsCoordinator(QtCore.QThread):
float(self.landmark_label.item(row, 2).text()),
1
)
def gps_position_updated_callback(self, data):
self.latitude = data.latitude
self.longitude = data.longitude

6
software/ros_packages/ground_station/src/Framework/StatusSystems/StatusCore.py
View File

@@ -27,6 +27,8 @@ COLOR_GREEN = "background-color: darkgreen; border: 1px solid black;"
COLOR_ORANGE = "background-color: orange; border: 1px solid black;"
COLOR_RED = "background-color: darkred; border: 1px solid black;"
GPS_BEST_CASE_ACCURACY = 3
class SensorCore(QtCore.QThread):
# ########## create signals for slots ##########
@@ -215,7 +217,7 @@ class SensorCore(QtCore.QThread):
self.gps_heading_valid_update_ready__signal.emit("GPS Heading Valid\nFalse")
self.gps_num_satellites_update_ready__signal.emit("GPS Satellites\n%s" % data.num_satellites)
self.gps_accuracy_update_ready__signal.emit("GPS Accuracy\n%2.2f m" % data.horizontal_dilution)
self.gps_accuracy_update_ready__signal.emit("GPS Accuracy\n%2.2f m" % (data.horizontal_dilution * GPS_BEST_CASE_ACCURACY))
def __misc_callback(self, data):
self.misc_msg.arm_connection_status = data.arm_connection_status
@@ -227,7 +229,7 @@ class SensorCore(QtCore.QThread):
def __battery_callback(self, data):
voltage = data.battery_voltage / 1000.0
if voltage >= 20:
if voltage >= 21:
self.battery_voltage_stylesheet_change_ready__signal.emit(COLOR_GREEN)
else:
self.battery_voltage_stylesheet_change_ready__signal.emit(COLOR_RED)

20
software/ros_packages/ground_station/src/Resources/Settings/MappingLocations.py Normal file
View File

@@ -0,0 +1,20 @@
# Note that the lat and lon positions below correspond to the center point of the maps you want to download
# Proper zoom level selection determines total viewable area
MAPPING_LOCATIONS = {
"Graf Hall": {
"latitude": 44.5675721667,
"longitude": -123.2750535,
"default_zoom": 18,
"valid_zoom_options": [15, 16, 17, 18, 19, 20],
"pre_cache_map_zoom_levels": [18, 19, 20]
},
"Crystal Lake": {
"latitude": 44.547155,
"longitude": -123.251438,
"default_zoom": 18,
"valid_zoom_options": [15, 16, 17, 18, 19, 20],
"pre_cache_map_zoom_levels": [18, 19, 20]
}
}

0
software/ros_packages/ground_station/src/Resources/Settings/__init__.py Normal file
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16
software/ros_packages/ground_station/src/Resources/Ui/left_screen.ui
View File

@@ -2153,12 +2153,12 @@ QTableView QTableCornerButton::section{
</item>
<item row="0" column="1">
<property name="text">
<string>32.1665</string>
<string>44.5674</string>
</property>
</item>
<item row="0" column="2">
<property name="text">
<string>-112.1115</string>
<string>-123.2756</string>
</property>
</item>
<item row="0" column="3">
@@ -2173,12 +2173,12 @@ QTableView QTableCornerButton::section{
</item>
<item row="1" column="1">
<property name="text">
<string>33.1124</string>
<string>44.5677</string>
</property>
</item>
<item row="1" column="2">
<property name="text">
<string>-111.4334</string>
<string>-123.2748</string>
</property>
</item>
<item row="1" column="3">
@@ -2452,12 +2452,12 @@ QTableView QTableCornerButton::section{
</item>
<item row="0" column="1">
<property name="text">
<string>32.1665</string>
<string>44.56745</string>
</property>
</item>
<item row="0" column="2">
<property name="text">
<string>-112.1115</string>
<string>-123.2756</string>
</property>
</item>
<item row="0" column="3">
@@ -2472,12 +2472,12 @@ QTableView QTableCornerButton::section{
</item>
<item row="1" column="1">
<property name="text">
<string>33.1124</string>
<string>44.56775</string>
</property>
</item>
<item row="1" column="2">
<property name="text">
<string>-111.4334</string>
<string>-123.2748</string>
</property>
</item>
<item row="1" column="3">

0
software/ros_packages/ground_station/src/Resources/__init__.py Normal file
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3
software/ros_packages/rover_control/src/iris_controller/iris_controller.py
View File

@@ -118,11 +118,9 @@ class IrisController(object):
self.broadcast_drive_if_current_mode()
self.broadcast_arm_if_current_mode()
self.broadcast_iris_status()
self.iris_last_seen_time = time()
except Exception, error:
print "IRIS: Error occurred:", error
return
if (time() - self.iris_last_seen_time) > IRIS_LAST_SEEN_TIMEOUT:
print "Iris not seen for", IRIS_LAST_SEEN_TIMEOUT, "seconds. Exiting."
@@ -135,6 +133,7 @@ class IrisController(object):
def read_registers(self):
try:
self.registers = self.iris.read_registers(0, len(MODBUS_REGISTERS))
self.iris_last_seen_time = time()
except Exception, error:
self.iris_connected = False

11
software/ros_packages/rover_odometry/src/odometry.py
View File

@@ -28,6 +28,8 @@ DEFAULT_IMU_TOPIC = "imu/data"
DEFAULT_HERTZ = 100
ODOM_LAST_SEEN_TIMEOUT = 1 # seconds
#####################################
# DriveControl Class Definition
@@ -50,6 +52,8 @@ class Odometry(object):
self.sentence_publisher = rospy.Publisher(self.gps_sentence_topic, Sentence, queue_size=1)
self.imu_data_publisher = rospy.Publisher(self.imu_data_topic, Imu, queue_size=1)
self.odom_last_seen_time = time()
self.run()
def run(self):
@@ -58,9 +62,14 @@ class Odometry(object):
try:
self.process_messages()
self.odom_last_seen_time = time()
except Exception, error:
print "Error occurred:", error
pass
if (time() - self.odom_last_seen_time) > ODOM_LAST_SEEN_TIMEOUT:
print "Odometry not seen for", ODOM_LAST_SEEN_TIMEOUT, "seconds. Exiting."
return # Exit so respawn can take over
time_diff = time() - start_time