caperren/osurc_mars_rover_2017_2018
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Removed extra comments and now using spacenav for moving (hope)

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This commit is contained in:
Christopher Pham
2018-05-03 16:18:27 -07:00
parent aa4281388f
commit 7ff1dd8d66
1 changed files with 12 additions and 18 deletions
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30
software/ros_packages/ground_station/src/Framework/MapSystems/RoverMapCoordinator.py
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@@ -23,6 +23,7 @@ class RoverMapCoordinator(QtCore.QThread):
pixmap_ready_signal = QtCore.pyqtSignal() pixmap_ready_signal = QtCore.pyqtSignal()
change_waypoint_signal = QtCore.pyqtSignal() change_waypoint_signal = QtCore.pyqtSignal()
def __init__(self, shared_objects): def __init__(self, shared_objects):
super(RoverMapCoordinator, self).__init__() super(RoverMapCoordinator, self).__init__()
@@ -32,6 +33,7 @@ class RoverMapCoordinator(QtCore.QThread):
self.navigation_label = self.left_screen.navigation_waypoints_table_widget self.navigation_label = self.left_screen.navigation_waypoints_table_widget
self.landmark_label = self.left_screen.landmark_waypoints_table_widget self.landmark_label = self.left_screen.landmark_waypoints_table_widget
self.setings = QtCore.QSettings() self.setings = QtCore.QSettings()
self.logger = logging.getLogger("groundstation") self.logger = logging.getLogger("groundstation")
@@ -60,15 +62,6 @@ class RoverMapCoordinator(QtCore.QThread):
self.logger.debug("Stopping Map Coordinator Thread") 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): def _map_setup(self):
self.google_maps_object = RoverMap.GMapsStitcher(1280, self.google_maps_object = RoverMap.GMapsStitcher(1280,
720, 720,
@@ -88,19 +81,11 @@ class RoverMapCoordinator(QtCore.QThread):
def _get_map_image(self): def _get_map_image(self):
while self.map_image is None: while self.map_image is None:
self.map_image = self.google_maps_object.display_image self.map_image = self.google_maps_object.display_image
# self.overlay_image_object.update_new_location(44.567161,
# -123.278432,
# .7,
# [],
# [])
self.update_overlay() self.update_overlay()
self.map_image.paste(self.overlay_image_object.display_image, self.map_image.paste(self.overlay_image_object.display_image,
(0, 0), (0, 0),
self.overlay_image_object.display_image) self.overlay_image_object.display_image)
# self.map_image = Image.alpha_composite(
# self.google_maps_object.display_image,
# self.overlay_image_object.display_image)
# 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)
@@ -111,6 +96,7 @@ class RoverMapCoordinator(QtCore.QThread):
def connect_signals_and_slots(self): def connect_signals_and_slots(self):
self.pixmap_ready_signal.connect(self.pixmap_ready__slot) self.pixmap_ready_signal.connect(self.pixmap_ready__slot)
self.change_waypoint_signal.connect(self.update_overlay) self.change_waypoint_signal.connect(self.update_overlay)
self.spacenav_state_update__signal.connect(self.pan_space_nav)
def on_kill_threads_requested_slot(self): def on_kill_threads_requested_slot(self):
self.run_thread_flag = False self.run_thread_flag = False
@@ -135,6 +121,14 @@ class RoverMapCoordinator(QtCore.QThread):
temp_list.append(temp_tuple) temp_list.append(temp_tuple)
return temp_list return temp_list
def pan_space_nav(self, state):
self.google_maps_object.left_x += (5 * state["linear_x"])
self.google_maps_object.upper_y += (5 * state["linear_y"])
#Not going to implement zoomout yet
self.overlay_image_object.left_x += (5 * state["linear_x"])
self.overlay_image_object.upper_y += (5 * state["linear_y"])
self._get_map_image()
def update_overlay(self): def update_overlay(self):
longitude = 44.567161 longitude = 44.567161
latitude = -123.278432 latitude = -123.278432