Got more statuses working, mainly GPS. Played with odom a bit more. Map now shows live GPS location!

2025-12-31 03:24:18 +00:00 · 2018-07-15 22:35:50 -07:00
parent 1b7f5437b9
commit a573f72c1c
8 changed files with 405 additions and 146 deletions
--- a/software/ros_packages/ground_station/src/Framework/InputSystems/JoystickControlSender.py
+++ b/software/ros_packages/ground_station/src/Framework/InputSystems/JoystickControlSender.py
@@ -18,7 +18,7 @@ GAME_CONTROLLER_NAME = "Logitech Logitech Extreme 3D Pro"
 DEFAULT_DRIVE_COMMAND_TOPIC = "/rover_control/command_control/ground_station_drive"
 DEFAULT_PAN_TILT_COMMAND_TOPIC = "/rover_control/pan_tilt/control"

-DRIVE_COMMAND_HERTZ = 15
+DRIVE_COMMAND_HERTZ = 20

 Y_AXIS_DEADBAND = 0.05
 X_AXIS_DEADBAND = 0.05
@@ -32,7 +32,7 @@ GUI_ELEMENT_CHANGE_TIME = 0.2
 CAMERA_TOGGLE_CHANGE_TIME = 0.35

 PAN_TILT_X_AXIS_SCALAR = 3
-PAN_TILT_Y_AXIS_SCALAR = 10
+PAN_TILT_Y_AXIS_SCALAR = 20


 #####################################
@@ -169,6 +169,9 @@ class JoystickControlSender(QtCore.QThread):
        self.drive_command_publisher = rospy.Publisher(DEFAULT_DRIVE_COMMAND_TOPIC, DriveCommandMessage, queue_size=1)
        self.tower_pan_tilt_command_publisher = rospy.Publisher(DEFAULT_PAN_TILT_COMMAND_TOPIC, TowerPanTiltControlMessage, queue_size=1)

+        self.last_hat_x_was_movement = False
+        self.last_hat_y_was_movement = False
+
        self.wait_time = 1.0 / DRIVE_COMMAND_HERTZ

        self.drive_paused = True
--- a/software/ros_packages/ground_station/src/Framework/MapSystems/RoverMapCoordinator.py
+++ b/software/ros_packages/ground_station/src/Framework/MapSystems/RoverMapCoordinator.py
@@ -12,12 +12,15 @@ import rospy

 # Custom Imports
 import RoverMap
+from sensor_msgs.msg import NavSatFix

 #####################################
 # Global Variables
 #####################################
 # put some stuff here later so you can remember

+GPS_POSITION_TOPIC = "/rover_odometry/fix"
+

 class RoverMapCoordinator(QtCore.QThread):
    pixmap_ready_signal = QtCore.pyqtSignal()
@@ -36,6 +39,8 @@ class RoverMapCoordinator(QtCore.QThread):

        self.logger = logging.getLogger("groundstation")

+        self.gps_position_subscriber = rospy.Subscriber(GPS_POSITION_TOPIC, NavSatFix, self.gps_position_updated_callback)
+
        self.run_thread_flag = True
        self.setup_map_flag = True

@@ -47,6 +52,9 @@ class RoverMapCoordinator(QtCore.QThread):
        self.map_pixmap = None
        self.last_map_pixmap_cache_key = None

+        self.longitude = None
+        self.latitude = None
+
    def run(self):
        self.logger.debug("Starting Map Coordinator Thread")

@@ -72,13 +80,13 @@ class RoverMapCoordinator(QtCore.QThread):
    def _map_setup(self):
        self.google_maps_object = RoverMap.GMapsStitcher(1280,
                                                         720,
-                                                         44.567161,
-                                                         -123.278432,
-                                                         18,
+                                                         44.5675721667,
+                                                         -123.2750535,
+                                                         20,  # FIXME: Used to be 18
                                                         'satellite',
                                                         None, 20)
        self.overlay_image_object = (
-            RoverMap.OverlayImage(44.567161, -123.278432,
+            RoverMap.OverlayImage(44.5675721667, -123.2750535,
                                  self.google_maps_object.northwest,
                                  self.google_maps_object.southeast,
                                  self.google_maps_object.big_image.size[0],
@@ -136,15 +144,22 @@ class RoverMapCoordinator(QtCore.QThread):
        return temp_list

    def update_overlay(self):
-        longitude = 44.567161
-        latitude = -123.278432
-        navigation_list = self._get_table_elements(self.navigation_label)
-        # landmark_list = self._get_table_elements(self.landmark_label)
-        landmark_list = []
-        self.overlay_image = self.overlay_image_object.update_new_location(
-                                                      latitude,
-                                                      longitude,
-                                                      70,
-                                                      navigation_list,
-                                                      landmark_list)
-        # self.overlay_image.save("something.png")
+        if self.latitude and self.longitude:
+            longitude = self.latitude
+            latitude = self.longitude
+
+            print self.longitude, "  :  ", self.latitude
+            navigation_list = self._get_table_elements(self.navigation_label)
+            # landmark_list = self._get_table_elements(self.landmark_label)
+            landmark_list = []
+            self.overlay_image = self.overlay_image_object.update_new_location(
+                                                          latitude,
+                                                          longitude,
+                                                          70,
+                                                          navigation_list,
+                                                          landmark_list)
+            # self.overlay_image.save("something.png")
+
+    def gps_position_updated_callback(self, data):
+        self.latitude = data.latitude
+        self.longitude = data.longitude
--- a/software/ros_packages/ground_station/src/Framework/StatusSystems/StatusCore.py
+++ b/software/ros_packages/ground_station/src/Framework/StatusSystems/StatusCore.py
@@ -7,6 +7,8 @@ from PyQt5 import QtWidgets, QtCore, QtGui, uic
 from std_msgs.msg import Empty
 import PIL.Image
 from PIL.ImageQt import ImageQt
+
+from std_msgs.msg import UInt16
 # import Timer

 REQUEST_UPDATE_TOPIC = "/rover_status/update_requested"
@@ -19,6 +21,7 @@ GPS_TOPIC_NAME = "/rover_status/gps_status"
 JETSON_TOPIC_NAME = "/rover_status/jetson_status"
 MISC_TOPIC_NAME = "/rover_status/misc_status"
 BATTERY_TOPIC_NAME = "/rover_status/battery_status"
+CO2_TOPIC_NAME = "/rover_control/tower/status/co2"

 COLOR_GREEN = "background-color: darkgreen; border: 1px solid black;"
 COLOR_ORANGE = "background-color: orange; border: 1px solid black;"
@@ -40,6 +43,13 @@ class SensorCore(QtCore.QThread):
    bogie_connection_2_stylesheet_change_ready__signal = QtCore.pyqtSignal(str)
    bogie_connection_3_stylesheet_change_ready__signal = QtCore.pyqtSignal(str)

+    gps_fix_update_ready__signal = QtCore.pyqtSignal(str)
+    gps_heading_valid_update_ready__signal = QtCore.pyqtSignal(str)
+    gps_num_satellites_update_ready__signal = QtCore.pyqtSignal(str)
+    gps_accuracy_update_ready__signal = QtCore.pyqtSignal(str)
+
+    co2_levels_update_ready__signal = QtCore.pyqtSignal(str)
+
    camera_zed_stylesheet_change_ready__signal = QtCore.pyqtSignal(str)
    camera_under_stylesheet_change_ready__signal = QtCore.pyqtSignal(str)
    camera_chassis_stylesheet_change_ready__signal = QtCore.pyqtSignal(str)
@@ -70,7 +80,10 @@ class SensorCore(QtCore.QThread):
        self.frsky = self.screen_main_window.frsky  # type: QtWidgets.QLabel
        self.nav_mouse = self.screen_main_window.nav_mouse  # type: QtWidgets.QLabel
        self.joystick = self.screen_main_window.joystick  # type: QtWidgets.QLabel
-        self.gps = self.screen_main_window.gps  # type: QtWidgets.QLabel
+        self.gps_fix_label = self.screen_main_window.gps_fix_label  # type: QtWidgets.QLabel
+        self.gps_heading_valid_label = self.screen_main_window.gps_heading_valid_label  # type: QtWidgets.QLabel
+        self.gps_num_satellites_label = self.screen_main_window.gps_num_satellites_label  # type: QtWidgets.QLabel
+        self.gps_accuracy_label = self.screen_main_window.gps_accuracy_label  # type: QtWidgets.QLabel
        self.zed = self.screen_main_window.zed  # type: QtWidgets.QLabel
        self.main_cam = self.screen_main_window.main_cam  # type: QtWidgets.QLabel
        self.chassis_cam = self.screen_main_window.chassis_cam  # type: QtWidgets.QLabel
@@ -81,6 +94,7 @@ class SensorCore(QtCore.QThread):
        self.gpu_temp = self.screen_main_window.gpu_temp  # type: QtWidgets.QLabel
        self.emmc = self.screen_main_window.emmc  # type: QtWidgets.QLabel
        self.battery = self.screen_main_window.battery_voltage_status_label  # type: QtWidgets.QLabel
+        self.co2_levels_label = self.screen_main_window.co2_levels_label  # type: QtWidgets.QLabel

        # ########## subscriptions pulling data from system_statuses_node.py ##########
        self.camera_status = rospy.Subscriber(CAMERA_TOPIC_NAME, CameraStatuses, self.__camera_callback)
@@ -89,6 +103,7 @@ class SensorCore(QtCore.QThread):
        self.jetson_status = rospy.Subscriber(JETSON_TOPIC_NAME, JetsonInfo, self.__jetson_callback)
        self.misc_status = rospy.Subscriber(MISC_TOPIC_NAME, MiscStatuses, self.__misc_callback)
        self.battery_status = rospy.Subscriber(BATTERY_TOPIC_NAME, BatteryStatusMessage, self.__battery_callback)
+        self.co2_status = rospy.Subscriber(CO2_TOPIC_NAME, UInt16, self.__co2_callback)

        self.camera_msg = CameraStatuses()
        self.bogie_msg = None # BogieStatuses()
@@ -185,13 +200,23 @@ class SensorCore(QtCore.QThread):
            self.jetson_emmc_stylesheet_change_ready__signal.emit(COLOR_GREEN)

    def __gps_callback(self, data):
-        self.GPS_msg.UTC_GPS_time = data.UTC_GPS_time

-        if not data.GPS_connection_status:
-            self.gps_stylesheet_change_ready__signal.emit(COLOR_RED)
-        else:
+        if data.gps_connected:
+            self.gps_fix_update_ready__signal.emit("GPS Fix\nTrue")
            self.gps_stylesheet_change_ready__signal.emit(COLOR_GREEN)

+        else:
+            self.gps_stylesheet_change_ready__signal.emit(COLOR_RED)
+            self.gps_fix_update_ready__signal.emit("GPS Fix\nFalse")
+
+        if data.gps_heading != -1:
+            self.gps_heading_valid_update_ready__signal.emit("GPS Heading Valid\nTrue")
+        else:
+            self.gps_heading_valid_update_ready__signal.emit("GPS Heading Valid\nFalse")
+
+        self.gps_num_satellites_update_ready__signal.emit("GPS Satellites\n%s" % data.num_satellites)
+        self.gps_accuracy_update_ready__signal.emit("GPS Accuracy\n%2.2f m" % data.horizontal_dilution)
+
    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
@@ -209,6 +234,12 @@ class SensorCore(QtCore.QThread):

        self.battery_voltage_update_ready__signal.emit("Battery Voltage\n" + str(voltage) + " V")

+    def __co2_callback(self, data):
+        if data.data != 9999:
+            self.co2_levels_update_ready__signal.emit("CO2 Levels\n%d ppm" % data.data)
+        else:
+            self.co2_levels_update_ready__signal.emit("CO2 Levels\n--- ppm")
+
    def __display_time(self):
        time = QtCore.QTime.currentTime()
        temp = time.toString('hh:mm')
@@ -233,9 +264,16 @@ class SensorCore(QtCore.QThread):
        self.camera_under_stylesheet_change_ready__signal.connect(self.under_cam.setStyleSheet)
        self.camera_chassis_stylesheet_change_ready__signal.connect(self.chassis_cam.setStyleSheet)
        self.camera_main_stylesheet_change_ready__signal.connect(self.main_cam.setStyleSheet)
-        self.gps_stylesheet_change_ready__signal.connect(self.gps.setStyleSheet)
+        self.gps_stylesheet_change_ready__signal.connect(self.gps_fix_label.setStyleSheet)
        self.frsky_stylesheet_change_ready__signal.connect(self.frsky.setStyleSheet)

+        self.gps_fix_update_ready__signal.connect(self.gps_fix_label.setText)
+        self.gps_heading_valid_update_ready__signal.connect(self.gps_heading_valid_label.setText)
+        self.gps_num_satellites_update_ready__signal.connect(self.gps_num_satellites_label.setText)
+        self.gps_accuracy_update_ready__signal.connect(self.gps_accuracy_label.setText)
+
+        self.co2_levels_update_ready__signal.connect(self.co2_levels_label.setText)
+
        self.battery_voltage_update_ready__signal.connect(self.battery.setText)
        self.battery_voltage_stylesheet_change_ready__signal.connect(self.battery.setStyleSheet)

--- a/software/ros_packages/ground_station/src/Resources/Ui/left_screen.ui
+++ b/software/ros_packages/ground_station/src/Resources/Ui/left_screen.ui
@@ -251,7 +251,7 @@
           <property name="spacing">
            <number>0</number>
           </property>
-           <item row="5" column="4">
+           <item row="5" column="3">
            <widget class="QLabel" name="emmc">
             <property name="font">
              <font>
@@ -275,7 +275,7 @@
             </property>
            </widget>
           </item>
-           <item row="13" column="5">
+           <item row="13" column="4">
            <widget class="QLabel" name="chassis_cam">
             <property name="sizePolicy">
              <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
@@ -320,7 +320,7 @@ Connected</string>
             </property>
            </widget>
           </item>
-           <item row="13" column="4">
+           <item row="13" column="3">
            <widget class="QLabel" name="under_cam">
             <property name="sizePolicy">
              <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
@@ -452,7 +452,7 @@ Connected</string>
             </property>
            </widget>
           </item>
-           <item row="0" column="4">
+           <item row="0" column="3">
            <widget class="QLabel" name="nav_mouse">
             <property name="sizePolicy">
              <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
@@ -494,7 +494,7 @@ Connected</string>
             </property>
            </widget>
           </item>
-           <item row="0" column="5">
+           <item row="0" column="4">
            <widget class="QLabel" name="joystick">
             <property name="sizePolicy">
              <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
@@ -578,49 +578,7 @@ Connected</string>
             </property>
            </widget>
           </item>
-           <item row="8" column="1">
-            <widget class="QLabel" name="gps">
-             <property name="sizePolicy">
-              <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
-               <horstretch>0</horstretch>
-               <verstretch>0</verstretch>
-              </sizepolicy>
-             </property>
-             <property name="minimumSize">
-              <size>
-               <width>0</width>
-               <height>0</height>
-              </size>
-             </property>
-             <property name="maximumSize">
-              <size>
-               <width>9999999</width>
-               <height>9999999</height>
-              </size>
-             </property>
-             <property name="font">
-              <font>
-               <pointsize>10</pointsize>
-               <weight>75</weight>
-               <bold>true</bold>
-              </font>
-             </property>
-             <property name="autoFillBackground">
-              <bool>false</bool>
-             </property>
-             <property name="styleSheet">
-              <string notr="true">background-color:darkgreen; border: 0.5px solid black;</string>
-             </property>
-             <property name="text">
-              <string>GPS
-Fix</string>
-             </property>
-             <property name="alignment">
-              <set>Qt::AlignCenter</set>
-             </property>
-            </widget>
-           </item>
-           <item row="8" column="4">
+           <item row="8" column="3">
            <widget class="QLabel" name="middle_left_wheel_label">
             <property name="sizePolicy">
              <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
@@ -662,7 +620,7 @@ Connected</string>
             </property>
            </widget>
           </item>
-           <item row="8" column="5">
+           <item row="8" column="4">
            <widget class="QLabel" name="rear_left_wheel_label">
             <property name="sizePolicy">
              <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
@@ -812,7 +770,7 @@ Disconnected</string>
             </property>
            </widget>
           </item>
-           <item row="5" column="5">
+           <item row="5" column="4">
            <widget class="QLabel" name="gpu_temp">
             <property name="font">
              <font>
@@ -878,49 +836,7 @@ Connected</string>
             </property>
            </widget>
           </item>
-           <item row="10" column="1">
-            <widget class="QLabel" name="battery_voltage_status_label">
-             <property name="sizePolicy">
-              <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
-               <horstretch>0</horstretch>
-               <verstretch>0</verstretch>
-              </sizepolicy>
-             </property>
-             <property name="minimumSize">
-              <size>
-               <width>0</width>
-               <height>0</height>
-              </size>
-             </property>
-             <property name="maximumSize">
-              <size>
-               <width>9999999</width>
-               <height>9999999</height>
-              </size>
-             </property>
-             <property name="font">
-              <font>
-               <pointsize>10</pointsize>
-               <weight>75</weight>
-               <bold>true</bold>
-              </font>
-             </property>
-             <property name="styleSheet">
-              <string notr="true">background-color:darkgreen; border: 0.5px solid black;</string>
-             </property>
-             <property name="frameShape">
-              <enum>QFrame::NoFrame</enum>
-             </property>
-             <property name="text">
-              <string>Battery Voltage
-N/A</string>
-             </property>
-             <property name="alignment">
-              <set>Qt::AlignCenter</set>
-             </property>
-            </widget>
-           </item>
-           <item row="10" column="4">
+           <item row="10" column="3">
            <widget class="QLabel" name="middle_right_wheel_label">
             <property name="sizePolicy">
              <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
@@ -986,7 +902,7 @@ Connected</string>
             </property>
            </widget>
           </item>
-           <item row="10" column="5">
+           <item row="10" column="4">
            <widget class="QLabel" name="rear_right_wheel_label">
             <property name="sizePolicy">
              <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
@@ -1070,7 +986,7 @@ Connected</string>
             </property>
            </widget>
           </item>
-           <item row="2" column="4">
+           <item row="2" column="3">
            <widget class="QLabel" name="radio_rates_label">
             <property name="sizePolicy">
              <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
@@ -1154,7 +1070,7 @@ TX Rate: --- Mbps</string>
             </property>
            </widget>
           </item>
-           <item row="2" column="5">
+           <item row="2" column="4">
            <widget class="QLabel" name="radio_latency_label">
             <property name="sizePolicy">
              <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
@@ -1196,6 +1112,258 @@ RX Latency: ----- ms</string>
             </property>
            </widget>
           </item>
+           <item row="3" column="4">
+            <widget class="QLabel" name="gps_accuracy_label">
+             <property name="sizePolicy">
+              <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+               <horstretch>0</horstretch>
+               <verstretch>0</verstretch>
+              </sizepolicy>
+             </property>
+             <property name="minimumSize">
+              <size>
+               <width>0</width>
+               <height>0</height>
+              </size>
+             </property>
+             <property name="maximumSize">
+              <size>
+               <width>9999999</width>
+               <height>9999999</height>
+              </size>
+             </property>
+             <property name="font">
+              <font>
+               <pointsize>10</pointsize>
+               <weight>75</weight>
+               <bold>true</bold>
+              </font>
+             </property>
+             <property name="autoFillBackground">
+              <bool>false</bool>
+             </property>
+             <property name="styleSheet">
+              <string notr="true">background-color:darkgreen; border: 0.5px solid black;</string>
+             </property>
+             <property name="text">
+              <string>GPS Accuracy
+ -- m</string>
+             </property>
+             <property name="alignment">
+              <set>Qt::AlignCenter</set>
+             </property>
+            </widget>
+           </item>
+           <item row="3" column="3">
+            <widget class="QLabel" name="gps_num_satellites_label">
+             <property name="sizePolicy">
+              <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+               <horstretch>0</horstretch>
+               <verstretch>0</verstretch>
+              </sizepolicy>
+             </property>
+             <property name="minimumSize">
+              <size>
+               <width>0</width>
+               <height>0</height>
+              </size>
+             </property>
+             <property name="maximumSize">
+              <size>
+               <width>9999999</width>
+               <height>9999999</height>
+              </size>
+             </property>
+             <property name="font">
+              <font>
+               <pointsize>10</pointsize>
+               <weight>75</weight>
+               <bold>true</bold>
+              </font>
+             </property>
+             <property name="autoFillBackground">
+              <bool>false</bool>
+             </property>
+             <property name="styleSheet">
+              <string notr="true">background-color:darkgreen; border: 0.5px solid black;</string>
+             </property>
+             <property name="text">
+              <string>GPS Satellites
+0</string>
+             </property>
+             <property name="alignment">
+              <set>Qt::AlignCenter</set>
+             </property>
+            </widget>
+           </item>
+           <item row="3" column="2">
+            <widget class="QLabel" name="gps_heading_valid_label">
+             <property name="sizePolicy">
+              <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+               <horstretch>0</horstretch>
+               <verstretch>0</verstretch>
+              </sizepolicy>
+             </property>
+             <property name="minimumSize">
+              <size>
+               <width>0</width>
+               <height>0</height>
+              </size>
+             </property>
+             <property name="maximumSize">
+              <size>
+               <width>9999999</width>
+               <height>9999999</height>
+              </size>
+             </property>
+             <property name="font">
+              <font>
+               <pointsize>10</pointsize>
+               <weight>75</weight>
+               <bold>true</bold>
+              </font>
+             </property>
+             <property name="autoFillBackground">
+              <bool>false</bool>
+             </property>
+             <property name="styleSheet">
+              <string notr="true">background-color:darkgreen; border: 0.5px solid black;</string>
+             </property>
+             <property name="text">
+              <string>GPS Heading Valid
+False</string>
+             </property>
+             <property name="alignment">
+              <set>Qt::AlignCenter</set>
+             </property>
+            </widget>
+           </item>
+           <item row="3" column="1">
+            <widget class="QLabel" name="gps_fix_label">
+             <property name="sizePolicy">
+              <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+               <horstretch>0</horstretch>
+               <verstretch>0</verstretch>
+              </sizepolicy>
+             </property>
+             <property name="minimumSize">
+              <size>
+               <width>0</width>
+               <height>0</height>
+              </size>
+             </property>
+             <property name="maximumSize">
+              <size>
+               <width>9999999</width>
+               <height>9999999</height>
+              </size>
+             </property>
+             <property name="font">
+              <font>
+               <pointsize>10</pointsize>
+               <weight>75</weight>
+               <bold>true</bold>
+              </font>
+             </property>
+             <property name="autoFillBackground">
+              <bool>false</bool>
+             </property>
+             <property name="styleSheet">
+              <string notr="true">background-color:darkgreen; border: 0.5px solid black;</string>
+             </property>
+             <property name="text">
+              <string>GPS Fix
+False</string>
+             </property>
+             <property name="alignment">
+              <set>Qt::AlignCenter</set>
+             </property>
+            </widget>
+           </item>
+           <item row="8" column="1">
+            <widget class="QLabel" name="battery_voltage_status_label">
+             <property name="sizePolicy">
+              <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+               <horstretch>0</horstretch>
+               <verstretch>0</verstretch>
+              </sizepolicy>
+             </property>
+             <property name="minimumSize">
+              <size>
+               <width>0</width>
+               <height>0</height>
+              </size>
+             </property>
+             <property name="maximumSize">
+              <size>
+               <width>9999999</width>
+               <height>9999999</height>
+              </size>
+             </property>
+             <property name="font">
+              <font>
+               <pointsize>10</pointsize>
+               <weight>75</weight>
+               <bold>true</bold>
+              </font>
+             </property>
+             <property name="styleSheet">
+              <string notr="true">background-color:darkgreen; border: 0.5px solid black;</string>
+             </property>
+             <property name="frameShape">
+              <enum>QFrame::NoFrame</enum>
+             </property>
+             <property name="text">
+              <string>Battery Voltage
+N/A</string>
+             </property>
+             <property name="alignment">
+              <set>Qt::AlignCenter</set>
+             </property>
+            </widget>
+           </item>
+           <item row="10" column="1">
+            <widget class="QLabel" name="co2_levels_label">
+             <property name="sizePolicy">
+              <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+               <horstretch>0</horstretch>
+               <verstretch>0</verstretch>
+              </sizepolicy>
+             </property>
+             <property name="minimumSize">
+              <size>
+               <width>0</width>
+               <height>0</height>
+              </size>
+             </property>
+             <property name="maximumSize">
+              <size>
+               <width>9999999</width>
+               <height>9999999</height>
+              </size>
+             </property>
+             <property name="font">
+              <font>
+               <pointsize>10</pointsize>
+               <weight>75</weight>
+               <bold>true</bold>
+              </font>
+             </property>
+             <property name="styleSheet">
+              <string notr="true">background-color:darkgreen; border: 0.5px solid black;</string>
+             </property>
+             <property name="frameShape">
+              <enum>QFrame::NoFrame</enum>
+             </property>
+             <property name="text">
+              <string>CO2 Levels
+--- ppm</string>
+             </property>
+             <property name="alignment">
+              <set>Qt::AlignCenter</set>
+             </property>
+            </widget>
+           </item>
          </layout>
         </item>
        </layout>