Rover arm now moves one axis via topics. Close to having the rest moving tomorrow.

software/ros_packages/ground_station/src/Framework/InputSystems/ControllerControlSender.py

@@ -35,51 +35,59 @@ class XBOXController(QtCore.QThread):
         self.gamepad = None  # type: GamePad
 
         self.controller_states = {
-            "x_axis": 512,
-            "y_axis": 512,
-            "z_axis": 128,
-            "throttle_axis": 128,
+            "left_x_axis": 0,
+            "left_y_axis": 0,
+            "left_stick_button": 0,
+
+            "right_x_axis": 0,
+            "right_y_axis": 0,
+            "right_stick_button": 0,
+
+            "left_trigger": 0,
+            "left_bumper": 0,
+
+            "right_trigger": 0,
+            "right_bumper": 0,
 
             "hat_x_axis": 0,
             "hat_y_axis": 0,
 
-            "trigger_pressed": 0,
-            "thumb_pressed": 0,
-            "three_pressed": 0,
-            "four_pressed": 0,
-            "five_pressed": 0,
-            "six_pressed": 0,
+            "back_button": 0,
+            "start_button": 0,
+            "xbox_button": 0,
 
-            "seven_pressed": 0,
-            "eight_pressed": 0,
-            "nine_pressed": 0,
-            "ten_pressed": 0,
-            "eleven_pressed": 0,
-            "twelve_pressed": 0,
+            "x_button": 0,
+            "a_button": 0,
+            "b_button": 0,
+            "y_button": 0
         }
 
         self.raw_mapping_to_class_mapping = {
-            "ABS_X": "x_axis",
-            "ABS_Y": "y_axis",
-            "ABS_RZ": "z_axis",
-            "ABS_THROTTLE": "throttle_axis",
+            "ABS_X": "left_x_axis",
+            "ABS_Y": "left_y_axis",
+            "BTN_THUMBL": "left_stick_button",
+
+            "ABS_RX": "right_x_axis",
+            "ABS_RY": "right_y_axis",
+            "BTN_THUMBR": "right_stick_button",
+
+            "ABS_Z": "left_trigger",
+            "BTN_TL": "left_bumper",
+
+            "ABS_RZ": "right_trigger",
+            "BTN_TR": "right_bumper",
 
             "ABS_HAT0X": "hat_x_axis",
             "ABS_HAT0Y": "hat_y_axis",
 
-            "BTN_TRIGGER": "trigger_pressed",
-            "BTN_THUMB": "thumb_pressed",
-            "BTN_THUMB2": "three_pressed",
-            "BTN_TOP": "four_pressed",
-            "BTN_TOP2": "five_pressed",
-            "BTN_PINKIE": "six_pressed",
+            "BTN_SELECT": "back_button",
+            "BTN_START": "start_button",
+            "BTN_MODE": "xbox_button",
 
-            "BTN_BASE": "seven_pressed",
-            "BTN_BASE2": "eight_pressed",
-            "BTN_BASE3": "nine_pressed",
-            "BTN_BASE4": "ten_pressed",
-            "BTN_BASE5": "eleven_pressed",
-            "BTN_BASE6": "twelve_pressed"
+            "BTN_NORTH": "x_button",
+            "BTN_SOUTH": "a_button",
+            "BTN_EAST": "b_button",
+            "BTN_WEST": "y_button"
         }
 
         self.ready = False
@@ -109,8 +117,12 @@ class XBOXController(QtCore.QThread):
             events = self.gamepad.read()
 
             for event in events:
-                print event.code
+                # For seeing codes you haven't added yet...
+                # if event.code not in self.raw_mapping_to_class_mapping and event.code != "SYN_REPORT":
+                #     print event.code, ":", event.state
+
                 if event.code in self.raw_mapping_to_class_mapping:
+                    # print event.code, ":", event.state
                     self.controller_states[self.raw_mapping_to_class_mapping[event.code]] = event.state
 
             self.ready = True
@@ -136,7 +148,7 @@ class ControllerControlSender(QtCore.QThread):
         self.logger = logging.getLogger("groundstation")
 
         # ########## Thread Flags ##########
-        self.run_thread_flag = False
+        self.run_thread_flag = True
 
         self.controller = XBOXController()
 
@@ -150,6 +162,8 @@ class ControllerControlSender(QtCore.QThread):
         while self.run_thread_flag:
             start_time = time()
 
+            # print self.controller.controller_states
+
             time_diff = time() - start_time
 
             self.msleep(max(int(self.wait_time - time_diff), 0))

software/ros_packages/ground_station/src/Framework/MiscSystems/BashConsoleCore.py

@@ -6,29 +6,26 @@
 from PyQt5 import QtCore, QtWidgets
 import logging
 from time import time
-import paramiko
+
 
 #####################################
 # Global Variables
 #####################################
-ACCESS_POINT_IP = "192.168.1.20"  # The channel only has to be set on the access point. The staion will adjust.
-ACCESS_POINT_USER = "ubnt"
-ACCESS_POINT_PASSWORD = "rover4lyfe^"  # We don't care about this password, don't freak out. Wifi is open anyways...
+THREAD_HERTZ = 5
 
 
 #####################################
 # UbiquitiRadioSettings Class Definition
 #####################################
-class SSHConsole(QtCore.QThread):
+class BashConsole(QtCore.QThread):
     def __init__(self, shared_objects):
-        super(SSHConsole, self).__init__()
+        super(BashConsole, self).__init__()
 
         # ########## Reference to class init variables ##########
         self.shared_objects = shared_objects
         self.left_screen = self.shared_objects["screens"]["left_screen"]
 
-        self.ubiquiti_channel_spin_box = self.left_screen.ssh_console_widget  # type: QtWidgets.QSpinBox
-        self.ubiquiti_channel_apply_button = self.left_screen.ubiquiti_channel_apply_button  # type: QtWidgets.QPushButton
+        self.ssh_widget = self.left_screen.ssh_console_widget  # type: QtWidgets.QSpinBox
 
         # ########## Get the settings instance ##########
         self.settings = QtCore.QSettings()
@@ -40,8 +37,23 @@ class SSHConsole(QtCore.QThread):
         self.run_thread_flag = True
 
         # ########## Class Variables ##########
+        self.wait_time = 1.0 / THREAD_HERTZ
 
-        self.connect_signals_and_slots()
+    def run(self):
+        while self.run_thread_flag:
+            start_time = time()
+
+            time_diff = time() - start_time
+
+            self.msleep(max(int(self.wait_time - time_diff), 0))
 
     def connect_signals_and_slots(self):
-        pass
+        pass
+
+    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

@@ -25,6 +25,7 @@ import Framework.StatusSystems.UbiquitiStatusCore as UbiquitiStatusCore
 import Framework.SettingsSystems.UbiquitiRadioSettings as UbiquitiRadioSettings
 import Framework.InputSystems.SpaceNavControlSender as SpaceNavControlSender
 import Framework.MiscSystems.MiningCore as MiningCore
+import Framework.MiscSystems.BashConsoleCore as BashConsoleCore
 
 #####################################
 # Global Variables
@@ -117,6 +118,7 @@ class GroundStation(QtCore.QObject):
         self.__add_thread("Ubiquiti Radio Settings", UbiquitiRadioSettings.UbiquitiRadioSettings(self.shared_objects))
         self.__add_thread("Waypoints Coordinator", WaypointsCoordinator.WaypointsCoordinator(self.shared_objects))
         self.__add_thread("Spacenav Sender", SpaceNavControlSender.SpaceNavControlSender(self.shared_objects))
+        self.__add_thread("Bash Console", BashConsoleCore.BashConsole(self.shared_objects))
 
         self.connect_signals_and_slots_signal.emit()
         self.__connect_signals_to_slots()