caperren/osurc_mars_rover_2017_2018
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Merge branch 'master' of https://github.com/OSURoboticsClub/Rover_2017_2018

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This commit is contained in:
Chris Pham
2018-04-12 12:21:16 -07:00
parent e8ddedcf42 58295c6adb
commit 9d25778631
1 changed files with 9 additions and 2 deletions
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11
software/ros_packages/ground_station/src/Framework/InputSystems/SpaceNavControlSender.py
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@@ -19,6 +19,8 @@ THREAD_HERTZ = 15
# Controller Class Definition # Controller Class Definition
##################################### #####################################
class SpaceNavControlSender(QtCore.QThread): class SpaceNavControlSender(QtCore.QThread):
spacenav_state_update__signal = QtCore.pyqtSignal(object)
GUI_MODE = 0 GUI_MODE = 0
ARM_MODE = 1 ARM_MODE = 1
@@ -93,8 +95,6 @@ class SpaceNavControlSender(QtCore.QThread):
5: "f_pressed" 5: "f_pressed"
} }
self.current_control_mode = self.GUI_MODE self.current_control_mode = self.GUI_MODE
def run(self): def run(self):
@@ -105,6 +105,8 @@ class SpaceNavControlSender(QtCore.QThread):
start_time = time() start_time = time()
self.process_spnav_events() self.process_spnav_events()
self.check_control_mode_change()
self.broadcast_control_state()
time_diff = time() - start_time time_diff = time() - start_time
@@ -134,6 +136,11 @@ class SpaceNavControlSender(QtCore.QThread):
elif self.spnav_states["2_pressed"]: elif self.spnav_states["2_pressed"]:
self.current_control_mode = self.ARM_MODE self.current_control_mode = self.ARM_MODE
def broadcast_control_state(self):
if self.current_control_mode == self.GUI_MODE:
self.spacenav_state_update__signal.emit(self.spnav_states)
elif self.current_control_mode == self.ARM_MODE:
pass
def connect_signals_and_slots(self): def connect_signals_and_slots(self):
pass pass