caperren/osurc_mars_rover_2017_2018
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change self only function in Overlay Class, and start on rover gps location

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Christopher Pham
2018-05-03 16:30:24 -07:00
parent 7ff1dd8d66
commit e4318a9242
2 changed files with 456 additions and 448 deletions
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4
software/ros_packages/ground_station/src/Framework/MapSystems/RoverMap.py
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@@ -414,7 +414,7 @@ class OverlayImage(object):
# for element in landmark_list: # for element in landmark_list:
# x, y = self._get_cartesian(element[1], element[2]) # x, y = self._get_cartesian(element[1], element[2])
# draw.ellipsis((x-size, y-size, x+size, y+size), fill="blue") # draw.ellipsis((x-size, y-size, x+size, y+size), fill="blue")
self._draw_rover(longitude, latitude, compass) self.draw_rover(longitude, latitude, compass)
self.update() self.update()
return self.display_image return self.display_image
@@ -426,7 +426,7 @@ class OverlayImage(object):
draw.line((25, 40, 50, 12), fill="red", width=7) draw.line((25, 40, 50, 12), fill="red", width=7)
draw.line((50, 12, 75, 40), fill="red", width=7) draw.line((50, 12, 75, 40), fill="red", width=7)
def _draw_rover(self, lat, lon, angle=0): def draw_rover(self, lat, lon, angle=0):
x, y = self._get_cartesian(lat, lon) x, y = self._get_cartesian(lat, lon)
# print x,y # print x,y
# Center of the circle on the indicator is (12.5, 37.5) # Center of the circle on the indicator is (12.5, 37.5)

8
software/ros_packages/ground_station/src/Framework/MapSystems/RoverMapCoordinator.py
View File

@@ -18,6 +18,7 @@ import RoverMap
##################################### #####################################
# put some stuff here later so you can remember # put some stuff here later so you can remember
GPS_TOPIC_NAME = "/rover_status/gps_status"
class RoverMapCoordinator(QtCore.QThread): class RoverMapCoordinator(QtCore.QThread):
pixmap_ready_signal = QtCore.pyqtSignal() pixmap_ready_signal = QtCore.pyqtSignal()
@@ -33,6 +34,7 @@ class RoverMapCoordinator(QtCore.QThread):
self.navigation_label = self.left_screen.navigation_waypoints_table_widget self.navigation_label = self.left_screen.navigation_waypoints_table_widget
self.landmark_label = self.left_screen.landmark_waypoints_table_widget self.landmark_label = self.left_screen.landmark_waypoints_table_widget
self.gps_status = rospy.Subscriber(GPS_TOPIC_NAME, GPSInfo, self.edit_rover_location)
self.setings = QtCore.QSettings() self.setings = QtCore.QSettings()
@@ -142,3 +144,9 @@ class RoverMapCoordinator(QtCore.QThread):
navigation_list, navigation_list,
landmark_list) landmark_list)
# self.overlay_image.save("something.png") # self.overlay_image.save("something.png")
def edit_rover_location(self, data):
#Need to parse data for lat, long, and angle
if data.GPS_connection_status:
self.overlay_image_object.draw_rover(data.something, data.something, data.gps_heading)
self.overlay_image_object.update()