Added in Chris' working mapping code. Fixed some joystick camera selection code.

software/ros_packages/ground_station/src/Framework/MapSystems/RoverMap.py

@@ -358,6 +358,8 @@ class OverlayImage(object):
         self.left_x = (self.center_x - (self.width/2))
         self.upper_y = (self.center_y - (self.height/2))
 
+        self.generate_image_files()
+
     def generate_image_files(self):
         """
         Creates big_image and display image sizes
@@ -410,17 +412,21 @@ class OverlayImage(object):
     def _draw_rover(self, lat, lon, size, scaler):
         x, y = self._get_cartesian(lat, lon)
         draw = PIL.ImageDraw.Draw(self.big_image)
-        draw.ellipsis((x-size, y-size, x+size, y+size), (255, 255, 255, 0))
+        draw.ellipse((x-size, y-size, x+size, y+size), fill="red")
+        point_1 = tuple((math.cos(x-2*size * scaler), math.sin(y * scaler)))
+        point_2 = tuple((math.cos(x * scaler), math.sin(y+2*size * scaler)))
+        point_3 = (math.cos(x+2*size * scaler), math.sin(y * scaler))
         draw.line( 
-            math.cos(x-2*size * scaler),
+            (point_1,
-            math.sin(y * scaler),
+            point_2), 
-            math.cos(x * scaler),
+            fill="red",
-            math.sin(y+2*size * scaler), (255, 255, 255, 0), 25)
+            width=600)
         draw.line(
-            math.cos(x+2*size * scaler),
+            (point_2,
-            math.sin(y * scaler),
+            point_3), 
-            math.cos(x * scaler),
+            fill="red", 
-            math.sin(y+2*size * scaler), (255, 255, 255, 0), 25)
+            width=600)
+        self.display_image.save("Something.png")
 
     def update(self):
         self.display_image.paste(self.big_image, (-self.left_x, -self.upper_y))

software/ros_packages/ground_station/src/Framework/MapSystems/RoverMapCoordinator.py

@@ -4,6 +4,7 @@
 # Python native imports
 from PyQt5 import QtCore, QtWidgets, QtGui
 from PIL.ImageQt import ImageQt
+from PIL import Image
 
 import logging
 
@@ -81,8 +82,11 @@ class RoverMapCoordinator(QtCore.QThread):
                                   1280, 720))
 
     def _get_map_image(self):
-        self.map_image = self.google_maps_object.display_image
+        while self.map_image is None:
-        # self.map_image.paste(self.overlay_image_object.display_image)
+            self.map_image = self.google_maps_object.display_image
+        self.overlay_image_object.update_new_location(44.567161,-123.278432, .7)
+        self.map_image.paste(self.overlay_image_object.display_image, (0,0), self.overlay_image_object.display_image)
+        # self.map_image = Image.alpha_composite(self.google_maps_object.display_image, self.overlay_image_object.display_image)
         # get overlay here
         qim = ImageQt(self.map_image)
         self.map_pixmap = QtGui.QPixmap.fromImage(qim)

software/ros_packages/ground_station/src/Framework/MapSystems/RoverMapHelper.py

@@ -12,7 +12,7 @@ class MapHelper(object):
         returns PIL.IMAGE OBJECT
         """
         if alpha is True:
-            return PIL.Image.new('RGBA', (width, height), (0, 0, 0, 255))
+            return PIL.Image.new('RGBA', (width, height), (0, 0, 0, 0))
         else:
             return PIL.Image.new('RGBA', (width, height))
 

software/ros_packages/ground_station/src/Framework/VideoSystems/RoverVideoCoordinator.py

@@ -70,7 +70,7 @@ class RoverVideoCoordinator(QtCore.QThread):
         rospy.Publisher("/cameras/main_navigation/camera_control", CameraControlMessage, queue_size=1).publish(reset_camera_message)
         rospy.Publisher("/cameras/end_effector/camera_control", CameraControlMessage, queue_size=1).publish(reset_camera_message)
 
-        # self.msleep(3000)
+        self.msleep(3000)
 
         # Setup cameras
         self.__get_cameras()
@@ -81,9 +81,9 @@ class RoverVideoCoordinator(QtCore.QThread):
         self.tertiary_label_current_setting = min(self.secondary_label_current_setting + 1, len(self.valid_cameras))
 
         self.index_to_label_current_setting = {
-            0, self.primary_label_current_setting,
+            0: self.primary_label_current_setting,
-            1, self.secondary_label_current_setting,
+            1: self.secondary_label_current_setting,
-            2, self.tertiary_label_current_setting
+            2: self.tertiary_label_current_setting
         }
 
         self.current_label_for_joystick_adjust = 0
@@ -130,11 +130,11 @@ class RoverVideoCoordinator(QtCore.QThread):
 
     def __update_gui_element_selection(self):
         if self.gui_selection_update_needed:
-            elements_to_reset = range(len(self.valid_cameras))
+            elements_to_reset = range(len(self.index_to_label_element))
             elements_to_reset.remove(self.current_label_for_joystick_adjust)
 
             for index in elements_to_reset:
-                self.index_to_label_element[index].setStyleSheet("background-color: transparent;")
+                self.index_to_label_element[index].setStyleSheet("")
 
             self.index_to_label_element[self.current_label_for_joystick_adjust].setStyleSheet("border: 2px solid orange")
 
@@ -242,11 +242,11 @@ class RoverVideoCoordinator(QtCore.QThread):
                 pass
 
     def on_camera_gui_element_selection_changed(self, direction):
-        new_selection = self.current_label_for_joystick_adjust + direction
+        new_selection = self.current_label_for_joystick_adjust - direction
 
         if new_selection < 0:
-            self.current_label_for_joystick_adjust = len(self.valid_cameras)
+            self.current_label_for_joystick_adjust = len(self.index_to_label_element) - 1
-        elif new_selection > len(self.valid_cameras):
+        elif new_selection == len(self.index_to_label_element):
             self.current_label_for_joystick_adjust = 0
         else:
             self.current_label_for_joystick_adjust = new_selection
@@ -257,8 +257,8 @@ class RoverVideoCoordinator(QtCore.QThread):
         new_label_setting = self.index_to_label_current_setting[self.current_label_for_joystick_adjust] + direction
 
         if new_label_setting < 0:
-            self.index_to_label_current_setting[self.current_label_for_joystick_adjust] = len(self.valid_cameras)
+            self.index_to_label_current_setting[self.current_label_for_joystick_adjust] = len(self.valid_cameras) - 1
-        elif new_label_setting > len(self.valid_cameras):
+        elif new_label_setting == len(self.valid_cameras):
             self.index_to_label_current_setting[self.current_label_for_joystick_adjust] = 0
         else:
             self.index_to_label_current_setting[self.current_label_for_joystick_adjust] = new_label_setting

software/ros_packages/ground_station/src/ground_station.py

@@ -98,7 +98,7 @@ class GroundStation(QtCore.QObject):
 
         # ##### Instantiate Threaded Classes ######
         self.__add_thread("Video Coordinator", RoverVideoCoordinator.RoverVideoCoordinator(self.shared_objects))
-        # self.__add_thread("Map Coordinator", RoverMapCoordinator.RoverMapCoordinator(self.shared_objects))
+        self.__add_thread("Map Coordinator", RoverMapCoordinator.RoverMapCoordinator(self.shared_objects))
         self.__add_thread("Joystick Sender", JoystickControlSender.JoystickControlSender(self.shared_objects))
         self.connect_signals_and_slots_signal.emit()
         self.__connect_signals_to_slots()