caperren/osurc_mars_rover_2017_2018
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Renamed drive sender to joystick sender. Added qt broadcast of button presses for camera control. Added receiver to control gui elements. Need to be tested

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This commit is contained in:
Corwin Perren
2018-03-08 16:41:16 -08:00
parent 4a55fb2649
commit c9c2d29942
4 changed files with 89 additions and 8 deletions
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33
software/ros_packages/ground_station/src/Framework/DriveSystems/RoverDriveSender.py → software/ros_packages/ground_station/src/Framework/JoystickControlSystems/JoystickControlSender.py
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@@ -24,6 +24,9 @@ X_AXIS_DEADBAND = 0.05
THROTTLE_MIN = 0.05
CAMERA_CHANGE_TIME = 0.25
GUI_ELEMENT_CHANGE_TIME = 0.25
#####################################
# Controller Class Definition
@@ -124,13 +127,16 @@ class LogitechJoystick(QtCore.QThread):
#####################################
# Controller Class Definition
#####################################
class RoverDriveSender(QtCore.QThread):
class JoystickControlSender(QtCore.QThread):
set_speed_limit__signal = QtCore.pyqtSignal(int)
set_left_drive_output__signal = QtCore.pyqtSignal(int)
set_right_drive_output__signal = QtCore.pyqtSignal(int)
change_gui_element_selection__signal = QtCore.pyqtSignal(int)
change_camera_selection__signal = QtCore.pyqtSignal(int)
def __init__(self, shared_objects):
super(RoverDriveSender, self).__init__()
super(JoystickControlSender, self).__init__()
# ########## Reference to class init variables ##########
self.shared_objects = shared_objects
@@ -158,6 +164,9 @@ class RoverDriveSender(QtCore.QThread):
self.drive_paused = True
self.last_gui_element_change_time = time()
self.last_camera_change_time = time()
def run(self):
while self.run_thread_flag:
@@ -182,6 +191,10 @@ class RoverDriveSender(QtCore.QThread):
self.show_changed_pause_state()
def __update_and_publish(self):
self.publish_drive_command()
self.publish_camera_control_commands()
def publish_drive_command(self):
throttle_axis = max((255 - self.joystick.controller_states["throttle_axis"]) / 255.0, THROTTLE_MIN)
if self.drive_paused:
@@ -198,6 +211,22 @@ class RoverDriveSender(QtCore.QThread):
self.drive_command_publisher.publish(drive_message)
def publish_camera_control_commands(self):
three_pressed = self.joystick.controller_states["three_pressed"]
four_pressed = self.joystick.controller_states["four_pressed"]
five_pressed = self.joystick.controller_states["five_pressed"]
six_pressed = self.joystick.controller_states["six_pressed"]
if (five_pressed or six_pressed) and (time() - self.last_camera_change_time) > CAMERA_CHANGE_TIME:
change = -1 if five_pressed else 1
self.change_camera_selection__signal.emit(change)
self.last_camera_change_time = time()
if (three_pressed or four_pressed) and (time() - self.last_gui_element_change_time) > GUI_ELEMENT_CHANGE_TIME:
change = -1 if three_pressed else 1
self.change_gui_element_selection__signal.emit(change)
self.last_gui_element_change_time = time()
def get_drive_message(self, throttle_axis):
drive_message = DriveCommandMessage()

0
software/ros_packages/ground_station/src/Framework/DriveSystems/__init__.py → software/ros_packages/ground_station/src/Framework/JoystickControlSystems/__init__.py
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60
software/ros_packages/ground_station/src/Framework/VideoSystems/RoverVideoCoordinator.py
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@@ -38,6 +38,12 @@ class RoverVideoCoordinator(QtCore.QThread):
self.secondary_video_display_label = self.right_screen.secondary_video_label # type:QtWidgets.QLabel
self.tertiary_video_display_label = self.right_screen.tertiary_video_label # type:QtWidgets.QLabel
self.index_to_label_element = {
0: self.primary_video_display_label,
1: self.secondary_video_display_label,
2: self.tertiary_video_display_label
}
# ########## Get the settings instance ##########
self.settings = QtCore.QSettings()
@@ -57,13 +63,14 @@ class RoverVideoCoordinator(QtCore.QThread):
reset_camera_message = CameraControlMessage()
reset_camera_message.enable_small_broadcast = True
# Reset default cameras
rospy.Publisher("/cameras/chassis/camera_control", CameraControlMessage, queue_size=1).publish(reset_camera_message)
rospy.Publisher("/cameras/undercarriage/camera_control", CameraControlMessage, queue_size=1).publish(reset_camera_message)
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()
@@ -73,9 +80,14 @@ class RoverVideoCoordinator(QtCore.QThread):
self.secondary_label_current_setting = min(self.primary_label_current_setting + 1, len(self.valid_cameras))
self.tertiary_label_current_setting = min(self.secondary_label_current_setting + 1, len(self.valid_cameras))
self.primary_label_max_resolution = -1
self.secondary_label_max_resolution = -1
self.tertiary_label_max_resolution = -1
self.index_to_label_current_setting = {
0, self.primary_label_current_setting,
1, self.secondary_label_current_setting,
2, self.tertiary_label_current_setting
}
self.current_label_for_joystick_adjust = 0
self.gui_selection_update_needed = True
self.set_max_resolutions_flag = True
@@ -87,6 +99,7 @@ class RoverVideoCoordinator(QtCore.QThread):
while self.run_thread_flag:
self.__set_max_resolutions()
self.__toggle_background_cameras_if_needed()
self.__update_gui_element_selection()
self.msleep(10)
self.__wait_for_camera_threads()
@@ -115,6 +128,18 @@ class RoverVideoCoordinator(QtCore.QThread):
elif camera_index in enabled and camera_index not in self.disabled_cameras and not self.camera_threads[camera_name].video_enabled:
self.camera_threads[camera_name].toggle_video_display()
def __update_gui_element_selection(self):
if self.gui_selection_update_needed:
elements_to_reset = range(len(self.valid_cameras))
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[self.current_label_for_joystick_adjust].setStyleSheet("border: 2px solid orange")
self.gui_selection_update_needed = False
def __get_cameras(self):
topics = rospy.get_published_topics(CAMERA_TOPIC_PATH)
@@ -151,6 +176,11 @@ class RoverVideoCoordinator(QtCore.QThread):
self.secondary_video_display_label.mousePressEvent = self.__change_display_source_secondary_mouse_press_event
self.tertiary_video_display_label.mousePressEvent = self.__change_display_source_tertiary_mouse_press_event
self.shared_objects["threaded_classes"]["Joystick Sender"].change_gui_element_selection__signal.connect(
self.on_camera_gui_element_selection_changed)
self.shared_objects["threaded_classes"]["Joystick Sender"].change_camera_selection__signal.connect(
self.on_camera_selection_for_current_gui_element_changed)
def setup_signals(self, start_signal, signals_and_slots_signal, kill_signal):
start_signal.connect(self.start)
signals_and_slots_signal.connect(self.connect_signals_and_slots)
@@ -211,5 +241,27 @@ class RoverVideoCoordinator(QtCore.QThread):
except:
pass
def on_camera_gui_element_selection_changed(self, direction):
new_selection = self.current_label_for_joystick_adjust + direction
if new_selection < 0:
self.current_label_for_joystick_adjust = len(self.valid_cameras)
elif new_selection > len(self.valid_cameras):
self.current_label_for_joystick_adjust = 0
else:
self.current_label_for_joystick_adjust = new_selection
self.gui_selection_update_needed = True
def on_camera_selection_for_current_gui_element_changed(self, direction):
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)
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
def on_kill_threads_requested__slot(self):
self.run_thread_flag = False

4
software/ros_packages/ground_station/src/ground_station.py
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@@ -16,7 +16,7 @@ import Framework.StartupSystems.ROSMasterChecker as ROSMasterChecker
import Framework.LoggingSystems.Logger as Logger
import Framework.VideoSystems.RoverVideoCoordinator as RoverVideoCoordinator
import Framework.MapSystems.RoverMapCoordinator as RoverMapCoordinator
import Framework.DriveSystems.RoverDriveSender as RoverDriveSender
import Framework.JoystickControlSystems.JoystickControlSender as JoystickControlSender
#####################################
# Global Variables
@@ -99,7 +99,7 @@ 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("Rover Drive Sender", RoverDriveSender.RoverDriveSender(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()
self.start_threads_signal.emit()