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Map now shows coordinates and tiny rover in middle. Going to try to debug IRIS issues.

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This commit is contained in:
Corwin Perren
2018-07-21 18:22:51 -07:00
parent 5da9c8bd1d
commit c657048ccf
9 changed files with 4479 additions and 266 deletions
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4382
software/reference/design_reference/UI Design/maps_loading.svg Normal file
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98
software/ros_packages/ground_station/src/Framework/MapSystems/RoverMap.py
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@@ -26,8 +26,12 @@ from io import StringIO, BytesIO
import os
import time
import PIL.ImageDraw
import PIL.Image
import PIL.ImageFont
import signing
import RoverMapHelper as MapHelper
import cv2
import numpy as np
#####################################
# Constants
@@ -36,7 +40,8 @@ _KEYS = []
# Number of pixels in half the earth's circumference at zoom = 21
_EARTHPIX = 268435456
# Number of decimal places for rounding coordinates
_DEGREE_PRECISION = 4
_DEGREE_PRECISION = 6
_PRECISION_FORMAT = '%.' + str(_DEGREE_PRECISION) + 'f'
# Larget tile we can grab without paying
_TILESIZE = 640
# Fastest rate at which we can download tiles without paying
@@ -113,14 +118,14 @@ class GMapsStitcher(object):
# Make the url string for polling
# GET request header gets appended to the string
urlbase = 'https://maps.googleapis.com/maps/api/staticmap?'
urlbase += 'center=%.4f,%.4f&zoom=%d&maptype=%s'
urlbase += 'center=' + _PRECISION_FORMAT + ',' + _PRECISION_FORMAT + '&zoom=%d&maptype=%s'
urlbase += '&size=%dx%d&format=png&key=%s'
# Fill the formatting
specs = (self.helper.fast_round(latitude, _DEGREE_PRECISION),
self.helper.fast_round(longitude, _DEGREE_PRECISION),
self.zoom, self.maptype, _TILESIZE, _TILESIZE, _KEYS[0])
filename = 'Resources/Maps/' + ('%.4f_%.4f_%d_%s_%d_%d_%s' % specs)
filename = 'Resources/Maps/' + ((_PRECISION_FORMAT + '_' + _PRECISION_FORMAT + '_%d_%s_%d_%d_%s') % specs)
filename += '.png'
# Tile Image object
@@ -195,7 +200,7 @@ class GMapsStitcher(object):
lon_pixels = _EARTHPIX + self.longitude * math.radians(_PIXRAD)
sin_lat = math.sin(math.radians(self.latitude))
lat_pixels = _EARTHPIX - _PIXRAD * math.log((1+sin_lat)/(1-sin_lat))/2
lat_pixels = _EARTHPIX - _PIXRAD * math.log((1 + sin_lat) / (1 - sin_lat)) / 2
self.big_size = self.num_tiles * _TILESIZE
big_image = self.helper.new_image(self.big_size, self.big_size)
@@ -266,8 +271,8 @@ class GMapsStitcher(object):
Function to move the object/rover
"""
x, y = self._get_cartesian(lat, lon)
self._constrain_x(self.center_x-x)
self._constrain_y(self.center_y-y)
self._constrain_x(self.center_x - x)
self._constrain_y(self.center_y - y)
self.update()
def _get_cartesian(self, lat, lon):
@@ -309,9 +314,9 @@ class GMapsStitcher(object):
x, y = self._get_cartesian(lat, lon)
draw = PIL.ImageDraw.Draw(self.big_image)
if shape is "ellipsis":
draw.ellipsis((x-size, y-size, x+size, y+size), fill)
draw.ellipsis((x - size, y - size, x + size, y + size), fill)
else:
draw.rectangle([x-size, y-size, x+size, y+size], fill)
draw.rectangle([x - size, y - size, x + size, y + size], fill)
self.update()
def center_display(self, lat, lon):
@@ -322,8 +327,8 @@ class GMapsStitcher(object):
self.center_x = x
self.center_y = y
self.left_x = (self.center_x - (self.width/2))
self.upper_y = (self.center_y - (self.height/2))
self.left_x = (self.center_x - (self.width / 2))
self.upper_y = (self.center_y - (self.height / 2))
self.update()
# def update_rover_map_location(self, lat, lon):
@@ -348,7 +353,9 @@ class OverlayImage(object):
self.width = width
self.height = height
self.big_image = None
self.big_image_copy = None
self.display_image = None
self.display_image_copy = None
self.indicator = None
self.helper = MapHelper.MapHelper()
@@ -356,12 +363,19 @@ class OverlayImage(object):
self.center_x = x
self.center_y = y
self.left_x = (self.center_x - (self.width/2))
self.upper_y = (self.center_y - (self.height/2))
self.left_x = (self.center_x - (self.width / 2))
self.upper_y = (self.center_y - (self.height / 2))
self.generate_image_files()
self.write_once = True
# Text Drawing Variables
self.font = cv2.FONT_HERSHEY_TRIPLEX
self.font_thickness = 1
self.font_baseline = 0
self.nav_coordinates_text_image = None
def generate_image_files(self):
"""
Creates big_image and display image sizes
@@ -370,8 +384,14 @@ class OverlayImage(object):
"""
self.big_image = self.helper.new_image(self.big_width, self.big_height,
True)
self.big_image_copy = self.big_image.copy()
self.display_image = self.helper.new_image(self.width, self.height,
True)
self.display_image_copy = self.display_image.copy()
self.generate_dot_and_hat()
self.indicator.save("location.png")
@@ -406,43 +426,63 @@ class OverlayImage(object):
def update_new_location(self, latitude, longitude,
compass, navigation_list, landmark_list):
self.big_image = self.big_image_copy.copy()
self.display_image = self.display_image_copy.copy()
size = 5
draw = PIL.ImageDraw.Draw(self.big_image)
for element in navigation_list:
x, y = self._get_cartesian(float(element[2]), float(element[1]))
draw.ellipse((x-size, y-size, x+size, y+size), fill="red")
draw.ellipse((x - size, y - size, x + size, y + size), fill="red")
# for element in landmark_list:
# x, y = self._get_cartesian(element[1], element[2])
# draw.ellipsis((x-size, y-size, x+size, y+size), fill="blue")
self._draw_rover(longitude, latitude, compass)
self.update()
self._draw_rover(latitude, longitude, compass)
self._draw_coordinate_text(latitude, longitude)
self.update(latitude, longitude)
return self.display_image
def generate_dot_and_hat(self):
self.indicator = self.helper.new_image(100, 100, True)
draw = PIL.ImageDraw.Draw(self.indicator)
draw.ellipse((50-12, 50-12, 50+12, 50+12), fill="red")
draw.line((25, 40, 50, 12), fill="red", width=7)
draw.line((50, 12, 75, 40), fill="red", width=7)
self.indicator = PIL.Image.open("Resources/Images/rover.png").resize((50, 50))
# self.indicator = self.helper.new_image(100, 100, True)
# draw = PIL.ImageDraw.Draw(self.indicator)
# draw.ellipse((50 - 12, 50 - 12, 50 + 12, 50 + 12), fill="red")
# draw.line((25, 40, 50, 12), fill="red", width=7)
# draw.line((50, 12, 75, 40), fill="red", width=7)
def _draw_coordinate_text(self, latitude, longitude):
location_text = "LAT: %+014.9f\nLON: %+014.9f" % (latitude, longitude)
# location_text = "LAT: " + str(latitude) + "\nLON: " + str(longitude)
font = PIL.ImageFont.truetype("UbuntuMono-R", size=20)
new_image = PIL.Image.new('RGBA', (200, 45), "black")
draw = PIL.ImageDraw.Draw(new_image)
draw.multiline_text((5, 0), location_text, font=font)
self.display_image.paste(new_image, (0, 0))
def _draw_rover(self, lat, lon, angle=0):
x, y = self._get_cartesian(lat, lon)
# print x,y
# Center of the circle on the indicator is (12.5, 37.5)
x = x - 50
y = y - 50
x -= 25
y -= 25
rotated = self.indicator.copy()
rotated = rotated.rotate(angle, expand=True)
rotated.save("rotated.png")
rotated = rotated.rotate(angle, resample=PIL.Image.BICUBIC)
# rotated.save("rotated.png")
self.big_image.paste(rotated, (x, y), rotated)
if self.write_once:
self.display_image.save("Something.png")
# self.display_image.save("Something.png")
self.write_once = False
def update(self):
def update(self, latitude, longitude):
self.display_image.paste(self.big_image, (-self.left_x, -self.upper_y))
self._draw_coordinate_text(latitude, longitude)
def connect_signals_and_slots(self):
pass

21
software/ros_packages/ground_station/src/Framework/MapSystems/RoverMapCoordinator.py
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@@ -47,18 +47,20 @@ class RoverMapCoordinator(QtCore.QThread):
self.google_maps_object = None
self.map_image = None
self.map_image_copy = None
self.overlay_image = None
self.overlay_image_object = None
self.map_pixmap = None
self.map_pixmap = QtGui.QPixmap.fromImage(ImageQt(Image.open("Resources/Images/maps_loading.png").resize((1280, 720), Image.BICUBIC)))
self.last_map_pixmap_cache_key = None
self.longitude = None
self.latitude = None
self.last_heading = 0
def run(self):
self.logger.debug("Starting Map Coordinator Thread")
self.pixmap_ready_signal.emit() # This gets us the loading map
while self.run_thread_flag:
if self.setup_map_flag:
self._map_setup()
@@ -83,7 +85,7 @@ class RoverMapCoordinator(QtCore.QThread):
720,
44.5675721667,
-123.2750535,
20, # FIXME: Used to be 18
18, # FIXME: Used to be 18
'satellite',
None, 20)
self.overlay_image_object = (
@@ -97,12 +99,17 @@ class RoverMapCoordinator(QtCore.QThread):
def _get_map_image(self):
while self.map_image is None:
self.map_image = self.google_maps_object.display_image
if self.map_image:
self.map_image_copy = self.map_image.copy()
# self.overlay_image_object.update_new_location(44.567161,
# -123.278432,
# .7,
# [],
# [])
self.update_overlay()
self.map_image = self.map_image_copy.copy()
self.map_image.paste(self.overlay_image_object.display_image,
(0, 0),
self.overlay_image_object.display_image)
@@ -147,9 +154,8 @@ class RoverMapCoordinator(QtCore.QThread):
def update_overlay(self):
if self.latitude and self.longitude:
if not numpy.isnan(self.latitude) and not numpy.isnan(self.longitude):
longitude = self.latitude
latitude = self.longitude
latitude = float(self.latitude)
longitude = float(self.longitude)
navigation_list = self._get_table_elements(self.navigation_label)
# landmark_list = self._get_table_elements(self.landmark_label)
@@ -157,9 +163,10 @@ class RoverMapCoordinator(QtCore.QThread):
self.overlay_image = self.overlay_image_object.update_new_location(
latitude,
longitude,
70,
self.last_heading,
navigation_list,
landmark_list)
self.last_heading = (self.last_heading + 5) % 360
# self.overlay_image.save("something.png")
def gps_position_updated_callback(self, data):

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software/ros_packages/ground_station/src/Resources/Images/maps_loading.png Normal file
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software/ros_packages/ground_station/src/Resources/Images/rover.png Normal file
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220
software/ros_packages/ground_station/src/Resources/Ui/left_screen.ui
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@@ -1392,226 +1392,10 @@ N/A</string>
<property name="currentIndex">
<number>0</number>
</property>
<widget class="QWidget" name="tab_3">
<widget class="QWidget" name="tab">
<attribute name="title">
<string>Science Readouts</string>
<string>SSH Console</string>
</attribute>
<layout class="QHBoxLayout" name="horizontalLayout_4">
<item>
<layout class="QVBoxLayout" name="verticalLayout_6">
<item>
<widget class="QLabel" name="label_15">
<property name="font">
<font>
<pointsize>12</pointsize>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="text">
<string>Soil Probe</string>
</property>
<property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item>
<layout class="QGridLayout" name="gridLayout_9">
<item row="0" column="0">
<widget class="QLabel" name="label_20">
<property name="text">
<string>Soil Temperature:</string>
</property>
<property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_23">
<property name="text">
<string>N/A</string>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QLabel" name="label_22">
<property name="text">
<string>Soil PH:</string>
</property>
<property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_21">
<property name="text">
<string>N/A</string>
</property>
</widget>
</item>
<item row="0" column="2">
<spacer name="horizontalSpacer_3">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
</layout>
</item>
<item>
<spacer name="horizontalSpacer_6">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_5">
<item>
<widget class="QPushButton" name="pushButton_11">
<property name="text">
<string>Read Soil Probe</string>
</property>
</widget>
</item>
<item>
<spacer name="horizontalSpacer_5">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
</layout>
</item>
<item>
<spacer name="verticalSpacer_3">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>40</height>
</size>
</property>
</spacer>
</item>
</layout>
</item>
<item>
<widget class="Line" name="line">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
</widget>
</item>
<item>
<layout class="QVBoxLayout" name="verticalLayout_7">
<item>
<widget class="QLabel" name="label_19">
<property name="font">
<font>
<pointsize>12</pointsize>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="text">
<string>Dust Sensor</string>
</property>
<property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item>
<layout class="QGridLayout" name="gridLayout_8">
<item row="0" column="0">
<widget class="QLabel" name="label_12">
<property name="text">
<string>Small Dust Present:</string>
</property>
<property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QLabel" name="label_14">
<property name="text">
<string>Large Dust Present:</string>
</property>
<property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_11">
<property name="text">
<string>False</string>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_13">
<property name="text">
<string>False</string>
</property>
</widget>
</item>
<item row="0" column="2">
<spacer name="horizontalSpacer_2">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
</layout>
</item>
<item>
<spacer name="verticalSpacer_4">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>40</height>
</size>
</property>
</spacer>
</item>
</layout>
</item>
</layout>
</widget>
<widget class="QWidget" name="tab_2">
<attribute name="title">

2
software/ros_packages/rover_control/src/control_coordinators/drive_coordinator.py
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@@ -83,7 +83,7 @@ class DriveCoordinator(object):
try:
self.process_drive_commands()
except Exception, error:
print "Error occurred:", error
print "COORDINATOR: Error occurred:", error
time_diff = time() - start_time

2
software/ros_packages/rover_control/src/iris_controller/iris_controller.py
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@@ -121,7 +121,7 @@ class IrisController(object):
self.iris_last_seen_time = time()
except Exception, error:
print "Error occurred:", error
print "IRIS: Error occurred:", error
return
if (time() - self.iris_last_seen_time) > IRIS_LAST_SEEN_TIMEOUT:

0
software/ros_packages/rover_odometry/msg/odom.msg Normal file
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