Refactored JoystickSystems to InputSystems. Added base of spacenav control sender. Currently gets events and stores them.

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

@@ -0,0 +1,134 @@
+#####################################
+# Imports
+#####################################
+# Python native imports
+from PyQt5 import QtCore
+import logging
+from time import time
+import spnav
+
+import rospy
+
+#####################################
+# Global Variables
+#####################################
+THREAD_HERTZ = 15
+
+
+#####################################
+# Controller Class Definition
+#####################################
+class SpaceNavControlSender(QtCore.QThread):
+    def __init__(self, shared_objects):
+        super(SpaceNavControlSender, self).__init__()
+
+        # ########## Reference to class init variables ##########
+        self.shared_objects = shared_objects
+        self.right_screen = self.shared_objects["screens"]["left_screen"]
+
+        # ########## Get the settings instance ##########
+        self.settings = QtCore.QSettings()
+
+        # ########## Get the Pick And Plate instance of the logger ##########
+        self.logger = logging.getLogger("groundstation")
+
+        # ########## Thread Flags ##########
+        self.run_thread_flag = True
+
+        # ########## Class Variables ##########
+        self.wait_time = 1.0 / THREAD_HERTZ
+
+        self.spnav_states = {
+            "linear_x": 0,
+            "linear_y": 0,
+            "linear_z": 0,
+
+            "angular_x": 0,
+            "angular_y": 0,
+            "angular_z": 0,
+
+            "panel_pressed": 0,
+            "fit_pressed": 0,
+
+            "shift_pressed": 0,
+            "alt_pressed": 0,
+            "ctrl_pressed": 0,
+            "esc_pressed": 0,
+
+            "1_pressed": 0,
+            "2_pressed": 0,
+
+            "minus_pressed": 0,
+            "plus_pressed": 0,
+
+            "t_pressed": 0,
+            "l_pressed": 0,
+            "2d_pressed": 0,
+            "r_pressed": 0,
+            "f_pressed": 0
+        }
+
+        self.event_mapping_to_button_mapping = {
+            11: "panel_pressed",
+            10: "fit_pressed",
+
+            8: "shift_pressed",
+            7: "alt_pressed",
+            9: "ctrl_pressed",
+            6: "esc_pressed",
+
+            0: "1_pressed",
+            1: "2_pressed",
+
+            13: "minus_pressed",
+            12: "plus_pressed",
+
+            2: "t_pressed",
+            3: "l_pressed",
+            14: "2d_pressed",
+            4: "r_pressed",
+            5: "f_pressed"
+        }
+
+    def run(self):
+        spnav.spnav_open()
+
+        while self.run_thread_flag:
+
+            start_time = time()
+
+            self.process_spnav_events()
+
+            time_diff = time() - start_time
+
+            self.msleep(max(int(self.wait_time - time_diff), 0))
+
+    def process_spnav_events(self):
+        event = spnav.spnav_poll_event()
+
+        if event:
+            if event.ev_type == spnav.SPNAV_EVENT_MOTION:
+                # FIXME: Make sure these divisors are correct. Should be for most. Check linear_z, is weird
+                self.spnav_states["linear_x"] = event.translation[0] / 350.0
+                self.spnav_states["linear_y"] = event.translation[2] / 350.0
+                self.spnav_states["linear_z"] = event.translation[1] / 350.0
+
+                self.spnav_states["angular_x"] = event.rotation[2] / 350.0
+                self.spnav_states["angular_y"] = event.rotation[0] / 350.0
+                self.spnav_states["angular_z"] = event.rotation[1] / 350.0
+
+                # print "x", self.spnav_states["linear_x"], "\t", "y", self.spnav_states["linear_y"], "\t", "z", self.spnav_states["linear_z"]
+                # print "x", self.spnav_states["angular_x"], "\t", "y", self.spnav_states["angular_y"], "\t", "z", self.spnav_states["angular_z"]
+            else:
+                self.spnav_states[self.event_mapping_to_button_mapping[event.bnum]] = event.press
+
+    def connect_signals_and_slots(self):
+        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/Framework/MapSystems/RoverMap.py

@@ -428,7 +428,7 @@ class OverlayImage(object):
 
     def _draw_rover(self, lat, lon, angle=0):
         x, y = self._get_cartesian(lat, lon)
-        print x,y
+        # print x,y
         # Center of the circle on the indicator is (12.5, 37.5)
         x = x - 50
         y = y - 50

software/ros_packages/ground_station/src/Resources/Ui/left_screen.ui

@@ -132,6 +132,28 @@
              <property name="text">
               <string/>
              </property>
+             <property name="alignment">
+              <set>Qt::AlignCenter</set>
+             </property>
+            </widget>
+           </item>
+           <item>
+            <widget class="Line" name="line_4">
+             <property name="minimumSize">
+              <size>
+               <width>0</width>
+               <height>75</height>
+              </size>
+             </property>
+             <property name="maximumSize">
+              <size>
+               <width>16777215</width>
+               <height>75</height>
+              </size>
+             </property>
+             <property name="orientation">
+              <enum>Qt::Vertical</enum>
+             </property>
             </widget>
            </item>
            <item>
@@ -154,6 +176,28 @@
                <height>75</height>
               </size>
              </property>
+             <property name="frameShape">
+              <enum>QFrame::NoFrame</enum>
+             </property>
+            </widget>
+           </item>
+           <item>
+            <widget class="Line" name="line_3">
+             <property name="minimumSize">
+              <size>
+               <width>0</width>
+               <height>75</height>
+              </size>
+             </property>
+             <property name="maximumSize">
+              <size>
+               <width>16777215</width>
+               <height>75</height>
+              </size>
+             </property>
+             <property name="orientation">
+              <enum>Qt::Vertical</enum>
+             </property>
             </widget>
            </item>
            <item>
@@ -176,6 +220,28 @@
                <height>75</height>
               </size>
              </property>
+             <property name="frameShape">
+              <enum>QFrame::NoFrame</enum>
+             </property>
+            </widget>
+           </item>
+           <item>
+            <widget class="Line" name="line_5">
+             <property name="minimumSize">
+              <size>
+               <width>0</width>
+               <height>75</height>
+              </size>
+             </property>
+             <property name="maximumSize">
+              <size>
+               <width>16777215</width>
+               <height>75</height>
+              </size>
+             </property>
+             <property name="orientation">
+              <enum>Qt::Vertical</enum>
+             </property>
             </widget>
            </item>
           </layout>

software/ros_packages/ground_station/src/ground_station.py

@@ -15,12 +15,13 @@ import Framework.StartupSystems.ROSMasterChecker as ROSMasterChecker
 import Framework.LoggingSystems.Logger as Logger
 import Framework.VideoSystems.RoverVideoCoordinator as RoverVideoCoordinator
 import Framework.MapSystems.RoverMapCoordinator as RoverMapCoordinator
-import Framework.JoystickControlSystems.JoystickControlSender as JoystickControlSender
+import Framework.InputSystems.JoystickControlSender as JoystickControlSender
 import Framework.NavigationSystems.SpeedAndHeadingIndication as SpeedAndHeading
 import Framework.NavigationSystems.WaypointsCoordinator as WaypointsCoordinator
 import Framework.ArmSystems.ArmIndication as ArmIndication
 import Framework.StatusSystems.StatusCore as StatusCore
 import Framework.SettingsSystems.UbiquitiRadioSettings as UbiquitiRadioSettings
+import Framework.InputSystems.SpaceNavControlSender as SpaceNavControlSender
 
 #####################################
 # Global Variables
@@ -109,6 +110,7 @@ class GroundStation(QtCore.QObject):
         self.__add_thread("Rover Status", StatusCore.SensorCore(self.shared_objects))
         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.connect_signals_and_slots_signal.emit()
         self.__connect_signals_to_slots()