Modified rover_statuses.py for subscriber example on how to pull data from system_statuses_node.py for ground control station -- very rough idea, I expect only the subscription calls really being used in actual implementation

rover/system_statuses/scripts/.idea/workspace.xml

@@ -14,8 +14,8 @@
       <file leaf-file-name="system_statuses_node.py" pinned="false" current-in-tab="true">
         <entry file="file://$PROJECT_DIR$/system_statuses_node.py">
           <provider selected="true" editor-type-id="text-editor">
-            <state relative-caret-position="-648">
+            <state relative-caret-position="384">
-              <caret line="114" column="41" lean-forward="true" selection-start-line="114" selection-start-column="41" selection-end-line="114" selection-end-column="41" />
+              <caret line="16" column="9" lean-forward="false" selection-start-line="16" selection-start-column="9" selection-end-line="16" selection-end-column="9" />
               <folding>
                 <element signature="e#22#34#0" expanded="true" />
                 <element signature="e#4801#5092#0" expanded="false" />
@@ -33,8 +33,8 @@
       <file leaf-file-name="rover_statuses.py" pinned="false" current-in-tab="false">
         <entry file="file://$PROJECT_DIR$/rover_statuses.py">
           <provider selected="true" editor-type-id="text-editor">
-            <state relative-caret-position="168">
+            <state relative-caret-position="672">
-              <caret line="7" column="23" lean-forward="true" selection-start-line="7" selection-start-column="23" selection-end-line="7" selection-end-column="23" />
+              <caret line="28" column="17" lean-forward="false" selection-start-line="28" selection-start-column="17" selection-end-line="28" selection-end-column="17" />
               <folding>
                 <element signature="e#22#34#0" expanded="true" />
               </folding>
@@ -57,8 +57,8 @@
         <option value="$PROJECT_DIR$/system_statuses.py" />
         <option value="$PROJECT_DIR$/node_statuses.py" />
         <option value="$PROJECT_DIR$/camera_2_updater.py" />
-        <option value="$PROJECT_DIR$/rover_statuses.py" />
         <option value="$PROJECT_DIR$/system_statuses_node.py" />
+        <option value="$PROJECT_DIR$/rover_statuses.py" />
       </list>
     </option>
   </component>
@@ -143,15 +143,15 @@
     <layout>
       <window_info id="TODO" active="false" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.33" sideWeight="0.5" order="6" side_tool="false" content_ui="tabs" />
       <window_info id="Event Log" active="false" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.33" sideWeight="0.5" order="7" side_tool="true" content_ui="tabs" />
-      <window_info id="Version Control" active="false" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="false" weight="0.33" sideWeight="0.5" order="7" side_tool="false" content_ui="tabs" />
+      <window_info id="Version Control" active="false" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="false" weight="0.33" sideWeight="0.5" order="11" side_tool="false" content_ui="tabs" />
-      <window_info id="Python Console" active="false" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.33" sideWeight="0.5" order="7" side_tool="false" content_ui="tabs" />
+      <window_info id="Python Console" active="false" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.33" sideWeight="0.5" order="8" side_tool="false" content_ui="tabs" />
       <window_info id="Run" active="false" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.33" sideWeight="0.5" order="2" side_tool="false" content_ui="tabs" />
-      <window_info id="Terminal" active="false" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.33" sideWeight="0.5" order="7" side_tool="false" content_ui="tabs" />
+      <window_info id="Terminal" active="false" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.33" sideWeight="0.5" order="9" side_tool="false" content_ui="tabs" />
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-      <window_info id="Docker" active="false" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="false" weight="0.33" sideWeight="0.5" order="7" side_tool="false" content_ui="tabs" />
+      <window_info id="Docker" active="false" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="false" weight="0.33" sideWeight="0.5" order="10" side_tool="false" content_ui="tabs" />
       <window_info id="Database" active="false" anchor="right" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.33" sideWeight="0.5" order="3" side_tool="false" content_ui="tabs" />
       <window_info id="Find" active="false" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.3294347" sideWeight="0.5" order="1" side_tool="false" content_ui="tabs" />
-      <window_info id="SciView" active="false" anchor="right" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.33" sideWeight="0.5" order="3" side_tool="false" content_ui="tabs" />
+      <window_info id="SciView" active="false" anchor="right" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.33" sideWeight="0.5" order="4" side_tool="false" content_ui="tabs" />
       <window_info id="Structure" active="false" anchor="left" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.25" sideWeight="0.5" order="1" side_tool="false" content_ui="tabs" />
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       <window_info id="Debug" active="false" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.4" sideWeight="0.5" order="3" side_tool="false" content_ui="tabs" />
@@ -195,8 +195,8 @@
     </entry>
     <entry file="file://$PROJECT_DIR$/rover_statuses.py">
       <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="168">
+        <state relative-caret-position="672">
-          <caret line="7" column="23" lean-forward="true" selection-start-line="7" selection-start-column="23" selection-end-line="7" selection-end-column="23" />
+          <caret line="28" column="17" lean-forward="false" selection-start-line="28" selection-start-column="17" selection-end-line="28" selection-end-column="17" />
           <folding>
             <element signature="e#22#34#0" expanded="true" />
           </folding>
@@ -205,8 +205,8 @@
     </entry>
     <entry file="file://$PROJECT_DIR$/system_statuses_node.py">
       <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="-648">
+        <state relative-caret-position="384">
-          <caret line="114" column="41" lean-forward="true" selection-start-line="114" selection-start-column="41" selection-end-line="114" selection-end-column="41" />
+          <caret line="16" column="9" lean-forward="false" selection-start-line="16" selection-start-column="9" selection-end-line="16" selection-end-column="9" />
           <folding>
             <element signature="e#22#34#0" expanded="true" />
             <element signature="e#4801#5092#0" expanded="false" />

rover/system_statuses/scripts/rover_statuses.py

@@ -1,48 +1,75 @@
 #!/usr/bin/env python
 import rospy
-from system_statuses.msg import RoverSysStatus
+from system_statuses.msg import CameraStatuses, BogieStatuses, FrSkyStatus, GPSInfo, MiscStatuses, JetsonInfo
 
 
+# THIS IS A SUPER ROUGH EXAMPLE OF HOW TO PULL THE DATA
+# You can create your own message formats in the msg folder
+# This is a simple example of pulling data from system_statuses_node.py
+# and storing them into self values.
+# The ground control code sounds like it'll be fairly different in format.
+
 class RoverStatuses:
 
     def __init__(self):
 
         rospy.init_node('RoverStatuses')
 
-        self.pub = rospy.Publisher('rover_statuses_chatter', RoverSysStatus, queue_size=10)
+        # self.pub = rospy.Publisher('rover_statuses_chatter', RoverSysStatus, queue_size=10)
 
-        # Test Subscription for updating camera_undercarriage
+        # Subscription examples on pulling data from system_statuses_node.py
-        rospy.Subscriber('rover_system_status_chatter', RoverSysStatus, self.__sub_callback)
+        rospy.Subscriber('camera_system_status_chatter', CameraStatuses, self.__camera_callback)
+        rospy.Subscriber('bogie_system_status_chatter', BogieStatuses, self.__camera_callback)
+        rospy.Subscriber('FrSky_system_status_chatter', FrSkyStatus, self.__camera_callback)
+        rospy.Subscriber('GPS_system_status_chatter', GPSInfo, self.__camera_callback)
+        rospy.Subscriber('jetson_system_status_chatter', JetsonInfo, self.__camera_callback)
+        rospy.Subscriber('misc_system_status_chatter', MiscStatuses, self.__camera_callback)
 
-        self.msg = RoverSysStatus()
+        self.camera_msg = CameraStatuses()
+        self.bogie_msg = BogieStatuses()
+        self.FrSky_msg = FrSkyStatus()
+        self.GPS_msg = GPSInfo()
+        self.jetson_msg = JetsonInfo()
+        self.misc_msg = MiscStatuses()
 
-    def __sub_callback(self, data):
+    def __camera_callback(self, data):
-        self.msg.UTC_GPS_time = data.UTC_GPS_time
+        self.camera_msg.camera_zed = data.camera_zed
-        self.msg.bogie_connection_1 = data.bogie_connection_1
+        self.camera_msg.camera_undercarriage = data.camera_undercarriage
-        self.msg.bogie_connection_2 = data.bogie_connection_2
+        self.camera_msg.camera_chassis = data.camera_chassis
-        self.msg.bogie_connection_3 = data.bogie_connection_3
+        self.camera_msg.camera_main_navigation = data.camera_main_navigation
-        self.msg.arm_connection_status = data.arm_connection_status
+
-        self.msg.arm_end_effector_connection_statuses = data.arm_end_effector_connection_statuses
+    def __frsky_callback(self, data):
-        self.msg.camera_zed = data.camera_zed
+        self.FrSky_msg.FrSky_controller_connection_status = data.FrSky_controller_connection_status
-        self.msg.camera_undercarriage = data.camera_undercarriage
+
-        self.msg.camera_chassis = data.camera_chassis
+    def __bogie_callback(self, data):
-        self.msg.camera_main_navigation = data.camera_main_navigation
+        self.bogie_msg.bogie_connection_1 = data.bogie_connection_1
-        self.msg.sample_containment_connection_status = data.sample_containment_connection_status
+        self.bogie_msg.bogie_connection_2 = data.bogie_connection_2
-        self.msg.tower_connection_status = data.tower_connection_status
+        self.bogie_msg.bogie_connection_3 = data.bogie_connection_3
-        self.msg.chassis_pan_tilt_connection_status = data.chassis_pan_tilt_connection_status
+
-        self.msg.GPS_connection_status = data.GPS_connection_status
+    def __jetson_callback(self, data):
-        self.msg.jetson_CPU = data.jetson_CPU
+        self.jetson_msg.jetson_CPU = data.jetson_CPU
-        self.msg.jetson_RAM = data.jetson_RAM
+        self.jetson_msg.jetson_RAM = data.jetson_RAM
-        self.msg.jetson_EMMC = data.jetson_EMMC
+        self.jetson_msg.jetson_EMMC = data.jetson_EMMC
-        self.msg.jetson_NVME_SSD = data.jetson_NVME_SSD
+        self.jetson_msg.jetson_NVME_SSD = data.jetson_NVME_SSD
-        self.msg.FrSky_controller_connection_status = data.FrSky_controller_connection_status
+
-        rospy.loginfo(self.msg)
+    def __gps_callback(self, data):
+        self.GPS_msg.UTC_GPS_time = data.UTC_GPS_time
+        self.GPS_msg.GPS_connection_status = data.GPS_connection_status
+
+    def __misc_callback(self, data):
+        self.misc_msg.arm_connection_status = data.arm_connection_status
+        self.misc_msg.arm_end_effector_connection_statuses = data.arm_end_effector_connection_statuses
+        self.misc_msg.sample_containment_connection_status = data.sample_containment_connection_status
+        self.misc_msg.tower_connection_status = data.tower_connection_status
+        self.misc_msg.chassis_pan_tilt_connection_status = data.chassis_pan_tilt_connection_status
 
     def run(self):
-        rospy.Subscriber('rover_system_status_chatter', RoverSysStatus, self.__sub_callback)
+        rospy.Subscriber('camera_system_status_chatter', CameraStatuses, self.__camera_callback)
-
+        rospy.Subscriber('bogie_system_status_chatter', BogieStatuses, self.__camera_callback)
-        # Update GUI Here? (Most likely)
+        rospy.Subscriber('FrSky_system_status_chatter', FrSkyStatus, self.__camera_callback)
-
+        rospy.Subscriber('GPS_system_status_chatter', GPSInfo, self.__camera_callback)
+        rospy.Subscriber('jetson_system_status_chatter', JetsonInfo, self.__camera_callback)
+        rospy.Subscriber('misc_system_status_chatter', MiscStatuses, self.__camera_callback)
         rospy.spin()