caperren/osurc_mars_rover_2017_2018
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Map now loads. Changed launcher to match monitors.

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This commit is contained in:
Corwin Perren
2018-02-13 13:20:55 -08:00
parent bd4deb1b2a
commit aca4c0627c
2 changed files with 28 additions and 13 deletions
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31
software/ground_station/Framework/MapSystems/RoverMapCoordinator.py
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@@ -2,7 +2,9 @@
# Imports # Imports
##################################### #####################################
# Python native imports # Python native imports
from PyQt5 import QtCore, QtWidgets from PyQt5 import QtCore, QtWidgets, QtGui
from PIL.ImageQt import ImageQt
import logging import logging
import rospy import rospy
@@ -17,7 +19,7 @@ import RoverMap
class RoverMapCoordinator(QtCore.QThread): class RoverMapCoordinator(QtCore.QThread):
pixmap_ready_signal = QtCore.pyqtSignal(str) pixmap_ready_signal = QtCore.pyqtSignal()
def __init__(self, shared_objects): def __init__(self, shared_objects):
super(RoverMapCoordinator, self).__init__() super(RoverMapCoordinator, self).__init__()
@@ -37,15 +39,14 @@ class RoverMapCoordinator(QtCore.QThread):
self.map_image = None self.map_image = None
self.overlay_image = None self.overlay_image = None
# setup map self.map_pixmap = None
self._setup_map_threads()
def run(self): def run(self):
self.logger.debug("Starting Map Coordinator Thread") self.logger.debug("Starting Map Coordinator Thread")
while self.run_thread_flag: while self.run_thread_flag:
if self.setup_map_flag: if self.setup_map_flag:
self.__map_setup() self._map_setup()
self.setup_map_flag = False self.setup_map_flag = False
else: else:
self._get_map_image() self._get_map_image()
@@ -62,19 +63,33 @@ class RoverMapCoordinator(QtCore.QThread):
'terrain', 'terrain',
None, 20) None, 20)
def _map_setup(self):
self.google_maps_object = RoverMap.GMapsStitcher(1280,
720,
44.567161,
-123.278432,
18,
'terrain',
None, 20)
def _get_map_image(self): def _get_map_image(self):
self.map_image = self.google_maps_object.display_image self.map_image = self.google_maps_object.display_image
# get overlay here # get overlay here
qim = ImageQt(self.map_image)
self.map_pixmap = QtGui.QPixmap.fromImage(qim)
self.pixmap_ready_signal.emit() self.pixmap_ready_signal.emit()
def connect_signals_and_slots(self):
self.pixmap_ready_signal.connect(self.pixmap_ready__slot)
def on_kill_threads_requested_slot(self): def on_kill_threads_requested_slot(self):
self.run_thread_flag = False self.run_thread_flag = False
def setup_signals(self, start_signal, signals_and_slots_signal, def setup_signals(self, start_signal, signals_and_slots_signal,
kill_signal): kill_signal):
start_signal.connect(self.start) start_signal.connect(self.start)
signals_and_slots_signal(self.connect_signals_and_slots) signals_and_slots_signal.connect(self.connect_signals_and_slots)
kill_signal.connect(self.on_kill_threads_requested_slot) kill_signal.connect(self.on_kill_threads_requested_slot)
def connect_signals_and_slots(self): def pixmap_ready__slot(self):
self.image_ready_signal.connect(self.pixmap_ready_slot) self.logger.info("Made it")
self.mapping_label.setPixmap(self.map_pixmap)

4
software/ground_station/RoverGroundStation.py
View File

@@ -55,8 +55,8 @@ class ApplicationWindow(QtWidgets.QMainWindow):
# GroundStation Class Definition # GroundStation Class Definition
##################################### #####################################
class GroundStation(QtCore.QObject): class GroundStation(QtCore.QObject):
LEFT_SCREEN_ID = 0 LEFT_SCREEN_ID = 1
RIGHT_SCREEN_ID = 1 RIGHT_SCREEN_ID = 0
exit_requested_signal = QtCore.pyqtSignal() exit_requested_signal = QtCore.pyqtSignal()