Added keyfile copy. Tried to keep map from updating too much. Modified left screen UI. Split TCP topoics out to own senders/receivers.

2025-11-08 18:21:15 +00:00 · 2018-03-15 16:33:03 -07:00
parent b79d6ea8f1
commit a88f5a6c58
8 changed files with 96 additions and 23 deletions
--- a/software/ros_packages/ground_station/scripts/ground_station_launch.sh
+++ b/software/ros_packages/ground_station/scripts/ground_station_launch.sh
@@ -11,6 +11,8 @@ launch_dir_length_without_current_folder=$(($launch_dir_length-$current_folder_n
 script_launch_path="${launch_dir:0:$launch_dir_length_without_current_folder}/src"
 cd $script_launch_path

+cp ~/key .
+
 sleep 1

 export DISPLAY=:0
--- a/software/ros_packages/ground_station/src/Framework/MapSystems/RoverMapCoordinator.py
+++ b/software/ros_packages/ground_station/src/Framework/MapSystems/RoverMapCoordinator.py
@@ -45,6 +45,7 @@ class RoverMapCoordinator(QtCore.QThread):
        self.overlay_image_object = None

        self.map_pixmap = None
+        self.last_map_pixmap_cache_key = None

    def run(self):
        self.logger.debug("Starting Map Coordinator Thread")
@@ -102,6 +103,9 @@ class RoverMapCoordinator(QtCore.QThread):
        # get overlay here
        qim = ImageQt(self.map_image)
        self.map_pixmap = QtGui.QPixmap.fromImage(qim)
+
+        if self.map_pixmap.cacheKey() != self.last_map_pixmap_cache_key:
+            self.last_map_pixmap_cache_key = self.map_pixmap.cacheKey()
            self.pixmap_ready_signal.emit()

    def connect_signals_and_slots(self):
--- a/software/ros_packages/ground_station/src/Framework/StatusSystems/StatusCore.py
+++ b/software/ros_packages/ground_station/src/Framework/StatusSystems/StatusCore.py
@@ -1,4 +1,5 @@
 #!/usr/bin/env python
+# coding=utf-8

 import rospy
 from rover_status.msg import *
@@ -158,7 +159,7 @@ class SensorCore(QtCore.QThread):
            self.bogie_connection_3_stylesheet_change_ready__signal.emit("background-color: darkgreen;")

    def __jetson_callback(self, data):
-        self.jetson_cpu_update_ready__signal.emit(str(data.jetson_CPU))
+        self.jetson_cpu_update_ready__signal.emit("Jetson CPU\n" + str(data.jetson_CPU) + "%")

        if data.jetson_CPU > 79:
            self.jetson_cpu_stylesheet_change_ready__signal.emit("background-color: orange;")
@@ -167,7 +168,7 @@ class SensorCore(QtCore.QThread):
        else:
            self.jetson_cpu_stylesheet_change_ready__signal.emit("background-color: darkgreen;")

-        self.jetson_ram_update_ready__signal.emit(str(data.jetson_RAM))
+        self.jetson_ram_update_ready__signal.emit("Jetson RAM\n" + str(data.jetson_RAM) + "%")

        if data.jetson_RAM > 79:
            self.jetson_ram_stylesheet_change_ready__signal.emit("background-color: orange;")
@@ -176,7 +177,7 @@ class SensorCore(QtCore.QThread):
        else:
            self.jetson_ram_stylesheet_change_ready__signal.emit("background-color: darkgreen;")

-        self.jetson_gpu_temp_update_ready__signal.emit(str(data.jetson_GPU_temp))
+        self.jetson_gpu_temp_update_ready__signal.emit("Jetson EMMC Used\n" + str(data.jetson_GPU_temp) + "%")

        if data.jetson_GPU_temp > 64:
            self.jetson_gpu_temp_stylesheet_change_ready__signal.emit("background-color: orange;")
@@ -185,7 +186,7 @@ class SensorCore(QtCore.QThread):
        else:
            self.jetson_gpu_temp_stylesheet_change_ready__signal.emit("background-color: darkgreen;")

-        self.jetson_emmc_update_ready__signal.emit(str(data.jetson_EMMC))
+        self.jetson_emmc_update_ready__signal.emit("Jetson Max Temp\n" + str(data.jetson_EMMC) + "°C")

        if data.jetson_EMMC > 79:
            self.jetson_emmc_stylesheet_change_ready__signal.emit("background-color: orange;")
--- a/software/ros_packages/ground_station/src/Resources/Ui/left_screen.ui
+++ b/software/ros_packages/ground_station/src/Resources/Ui/left_screen.ui
@@ -87,6 +87,9 @@
             <property name="text">
              <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p align=&quot;center&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;EMMC&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
             </property>
+             <property name="alignment">
+              <set>Qt::AlignCenter</set>
+             </property>
            </widget>
           </item>
           <item row="1" column="5">
@@ -97,6 +100,9 @@
             <property name="text">
              <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p align=&quot;center&quot;&gt;&lt;span style=&quot; font-size:9pt; font-weight:600;&quot;&gt;GPU Temp C&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
             </property>
+             <property name="alignment">
+              <set>Qt::AlignCenter</set>
+             </property>
            </widget>
           </item>
           <item row="4" column="4">
@@ -538,6 +544,9 @@ Connected</string>
             <property name="text">
              <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p align=&quot;center&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;RAM&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
             </property>
+             <property name="alignment">
+              <set>Qt::AlignCenter</set>
+             </property>
            </widget>
           </item>
           <item row="1" column="1">
@@ -548,6 +557,9 @@ Connected</string>
             <property name="text">
              <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p align=&quot;center&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;CPU %&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
             </property>
+             <property name="alignment">
+              <set>Qt::AlignCenter</set>
+             </property>
            </widget>
           </item>
           <item row="5" column="4">
--- a/software/ros_packages/rover_main/launch/ground_station/topic_transport_receivers.launch
+++ b/software/ros_packages/rover_main/launch/ground_station/topic_transport_receivers.launch
@@ -48,8 +48,28 @@
            <param name="port" value="17012" />
        </node>

-        <node name="rover_status" pkg="nimbro_topic_transport" type="tcp_receiver" output="screen">
+        <node name="bogie_status_tcp" pkg="nimbro_topic_transport" type="tcp_receiver" output="screen">
            <param name="port" value="17013" />
        </node>
+
+        <node name="camera_status_tcp" pkg="nimbro_topic_transport" type="tcp_receiver" output="screen">
+            <param name="port" value="17014" />
+        </node>
+
+        <node name="frsky_status_tcp" pkg="nimbro_topic_transport" type="tcp_receiver" output="screen">
+            <param name="port" value="17015" />
+        </node>
+
+        <node name="gps_status_tcp" pkg="nimbro_topic_transport" type="tcp_receiver" output="screen">
+            <param name="port" value="17016" />
+        </node>
+
+        <node name="jetson_status_tcp" pkg="nimbro_topic_transport" type="tcp_receiver" output="screen">
+            <param name="port" value="17017" />
+        </node>
+
+        <node name="misc_status_tcp" pkg="nimbro_topic_transport" type="tcp_receiver" output="screen">
+            <param name="port" value="17018" />
+        </node>
    </group>
 </launch>
--- a/software/ros_packages/rover_main/launch/ground_station/topic_transport_senders.launch
+++ b/software/ros_packages/rover_main/launch/ground_station/topic_transport_senders.launch
@@ -4,7 +4,7 @@

        <node name="ground_station_drive_udp_sender" pkg="nimbro_topic_transport" type="udp_sender" output="screen">
            <param name="destination_addr" value="$(arg target)" />
-            <param name="destination_port" value="17020" />
+            <param name="destination_port" value="17100" />
            <rosparam param="topics">
                [{name: "/rover_control/command_control/ground_station_drive", compress: true, rate: 15.0}]
            </rosparam>
@@ -12,14 +12,13 @@

        <node name="ground_station_tcp_sender" pkg="nimbro_topic_transport" type="tcp_sender" output="screen">
            <param name="destination_addr" value="$(arg target)" />
-            <param name="destination_port" value="17021" />
+            <param name="destination_port" value="17101" />
            <rosparam param="topics">
-                [{name: "/cameras/chassis/camera_control", compress: true, rate: 5.0},
-                {name: "/cameras/undercarriage/camera_control", compress: true, rate: 5.0},
-                {name: "/cameras/main_navigation/camera_control", compress: true, rate: 5.0},
-                {name: "/cameras/end_effector/camera_control", compress: true, rate: 5.0},
-                {name: "/cameras/chassis/camera_control", compress: true, rate: 1.0},
-                {name: "/rover_status/update_requested", compress: true, rate: 1.0}]
+                [{name: "/cameras/chassis/camera_control", compress: false, rate: 5.0},
+                {name: "/cameras/undercarriage/camera_control", compress: false, rate: 5.0},
+                {name: "/cameras/main_navigation/camera_control", compress: false, rate: 5.0},
+                {name: "/cameras/end_effector/camera_control", compress: false, rate: 5.0},
+                {name: "/rover_status/update_requested", compress: false, rate: 5.0}]
            </rosparam>
        </node>
    </group>
--- a/software/ros_packages/rover_main/launch/rover/topic_transport_receivers.launch
+++ b/software/ros_packages/rover_main/launch/rover/topic_transport_receivers.launch
@@ -1,11 +1,11 @@
 <launch>
    <group ns="rover_control">
        <node name="ground_station_drive_command" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
-            <param name="port" value="17020" />
+            <param name="port" value="17100" />
        </node>

        <node name="ground_station_tcp_topics" pkg="nimbro_topic_transport" type="tcp_receiver" output="screen">
-            <param name="port" value="17021" />
+            <param name="port" value="17101" />
        </node>
    </group>
 </launch>
--- a/software/ros_packages/rover_main/launch/rover/topic_transport_senders.launch
+++ b/software/ros_packages/rover_main/launch/rover/topic_transport_senders.launch
@@ -98,16 +98,51 @@
            </rosparam>
        </node>

-        <node name="rover_tcp_topics" pkg="nimbro_topic_transport" type="tcp_sender" output="screen">
+        <node name="bogie_status_tcp" pkg="nimbro_topic_transport" type="tcp_sender" output="screen">
            <param name="destination_addr" value="$(arg target)" />
            <param name="destination_port" value="17013" />
            <rosparam param="topics">
-                [{name: "/rover_status/bogie_status", compress: true, rate: 1.0},
-                {name: "/rover_status/camera_status", compress: true, rate: 1.0},
-                {name: "/rover_status/frsky_status", compress: true, rate: 1.0},
-                {name: "/rover_status/gps_status", compress: true, rate: 1.0},
-                {name: "/rover_status/jetson_status", compress: true, rate: 1.0},
-                {name: "/rover_status/misc_status", compress: true, rate: 1.0}]
+                [{name: "/rover_status/bogie_status", compress: false, rate: 1.0}]
+            </rosparam>
+        </node>
+
+        <node name="camera_status_tcp" pkg="nimbro_topic_transport" type="tcp_sender" output="screen">
+            <param name="destination_addr" value="$(arg target)" />
+            <param name="destination_port" value="17014" />
+            <rosparam param="topics">
+                [{name: "/rover_status/camera_status", compress: false, rate: 1.0}]
+            </rosparam>
+        </node>
+
+        <node name="frsky_status_tcp" pkg="nimbro_topic_transport" type="tcp_sender" output="screen">
+            <param name="destination_addr" value="$(arg target)" />
+            <param name="destination_port" value="17015" />
+            <rosparam param="topics">
+                [{name: "/rover_status/frsky_status", compress: false, rate: 1.0}]
+            </rosparam>
+        </node>
+
+        <node name="gps_status_tcp" pkg="nimbro_topic_transport" type="tcp_sender" output="screen">
+            <param name="destination_addr" value="$(arg target)" />
+            <param name="destination_port" value="17016" />
+            <rosparam param="topics">
+                [{name: "/rover_status/gps_status", compress: false, rate: 1.0}]
+            </rosparam>
+        </node>
+
+        <node name="jetson_status_tcp" pkg="nimbro_topic_transport" type="tcp_sender" output="screen">
+            <param name="destination_addr" value="$(arg target)" />
+            <param name="destination_port" value="17017" />
+            <rosparam param="topics">
+                [{name: "/rover_status/jetson_status", compress: false, rate: 1.0}]
+            </rosparam>
+        </node>
+
+        <node name="misc_status_tcp" pkg="nimbro_topic_transport" type="tcp_sender" output="screen">
+            <param name="destination_addr" value="$(arg target)" />
+            <param name="destination_port" value="17018" />
+            <rosparam param="topics">
+                [{name: "/rover_status/misc_status", compress: false, rate: 1.0}]
            </rosparam>
        </node>
    </group>