Lots o changes. Too tired to think

software/ros_packages/ground_station/src/Framework/MiscSystems/MiscArmCore.py

@@ -72,11 +72,11 @@ ARM_STOW_PROCEDURE = [
     [0.0, -0.035, -0.28, 0.0, 0.0, 0.0],
     [0.0, -0.035, -0.28, -0.25, 0.25, 0.0],
     [0.0, -0.035, -0.5, -0.25, 0.25, 0.0],
-    [0.0, -0.25, -0.5, -0.25, 0.25, 0.0]
+    [0.0, -0.25, -0.5, -0.25, 0.25, -0.25]
 ]
 
 ARM_UNSTOW_PROCEDURE = [
-    [0.0, -0.25, -0.5, -0.25, 0.25, 0.0],
+    [0.0, -0.25, -0.5, -0.25, 0.25, -0.25],
     [0.0, -0.035, -0.5, -0.25, 0.25, 0.0],
     [0.0, -0.035, -0.28, -0.25, 0.25, 0.0],
     [0.0, -0.035, -0.28, 0.0, 0.0, 0.0]

software/ros_packages/ground_station/src/Framework/MiscSystems/RDFCore.py

@@ -0,0 +1,91 @@
+# coding=utf-8
+#####################################
+# Imports
+#####################################
+# Python native imports
+from PyQt5 import QtCore, QtWidgets
+import logging
+import rospy
+from time import time
+
+from std_msgs.msg import Float64MultiArray
+
+#####################################
+# Global Variables
+#####################################
+RDF_DATA_TOPIC = "/rdf/data"
+
+THREAD_HERTZ = 5
+
+
+#####################################
+# UbiquitiRadioSettings Class Definition
+#####################################
+class RDF(QtCore.QThread):
+
+    lcd_number_update_ready__signal = QtCore.pyqtSignal(int)
+
+    def __init__(self, shared_objects):
+        super(RDF, self).__init__()
+
+        # ########## Reference to class init variables ##########
+        self.shared_objects = shared_objects
+        self.left_screen = self.shared_objects["screens"]["left_screen"]
+
+        self.rssi_lcdnumber = self.left_screen.rssi_lcdnumber  # type:QtWidgets.QLCDNumber
+
+        # ########## Get the settings instance ##########
+        self.settings = QtCore.QSettings()
+
+        # ########## Get the Pick And Plate instance of the logger ##########
+        self.logger = logging.getLogger("groundstation")
+
+        # ########## Thread Flags ##########
+        self.run_thread_flag = True
+
+        # ########## Class Variables ##########
+        self.wait_time = 1.0 / THREAD_HERTZ
+
+        self.rdf_subscriber = rospy.Subscriber(RDF_DATA_TOPIC, Float64MultiArray, self.new_rdf_message_received__callback)
+
+        self.data = []
+        self.data_limit = 100
+
+
+    def run(self):
+        self.logger.debug("Starting RDF Thread")
+
+        while self.run_thread_flag:
+            start_time = time()
+
+            temp = list(self.data)
+            if temp:
+                average = sum(temp) / len(temp)
+                self.lcd_number_update_ready__signal.emit(average)
+
+            time_diff = time() - start_time
+
+            self.msleep(max(int(self.wait_time - time_diff), 0))
+
+        self.logger.debug("Stopping RDF Thread")
+
+    def new_rdf_message_received__callback(self, data):
+        if len(self.data) >= self.data_limit:
+            del self.data[0]
+
+        # if len(self.times) >= self.data_limit:
+        #     del self.times[0]
+
+        self.data.append(data.data[0])
+        # self.times.append(data.data[1])
+
+    def connect_signals_and_slots(self):
+        self.lcd_number_update_ready__signal.connect(self.rssi_lcdnumber.display)
+
+    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)
+        kill_signal.connect(self.on_kill_threads_requested__slot)
+
+    def on_kill_threads_requested__slot(self):
+        self.run_thread_flag = False

software/ros_packages/ground_station/src/Resources/Ui/left_screen.ui

@@ -1392,6 +1392,16 @@ N/A</string>
         <property name="currentIndex">
          <number>0</number>
         </property>
+        <widget class="QWidget" name="tab_5">
+         <attribute name="title">
+          <string>RDF</string>
+         </attribute>
+         <layout class="QGridLayout" name="gridLayout_16">
+          <item row="0" column="0">
+           <widget class="QLCDNumber" name="rssi_lcdnumber"/>
+          </item>
+         </layout>
+        </widget>
         <widget class="QWidget" name="tab_4">
          <attribute name="title">
           <string>Arm</string>

software/ros_packages/ground_station/src/ground_station.py

@@ -27,6 +27,7 @@ import Framework.InputSystems.SpaceNavControlSender as SpaceNavControlSender
 import Framework.MiscSystems.MiningCore as MiningCore
 import Framework.MiscSystems.BashConsoleCore as BashConsoleCore
 import Framework.MiscSystems.MiscArmCore as MiscArmCore
+import Framework.MiscSystems.RDFCore as RDFCore
 
 #####################################
 # Global Variables
@@ -121,6 +122,7 @@ class GroundStation(QtCore.QObject):
         self.__add_thread("Spacenav Sender", SpaceNavControlSender.SpaceNavControlSender(self.shared_objects))
         self.__add_thread("Bash Console", BashConsoleCore.BashConsole(self.shared_objects))
         self.__add_thread("Misc Arm", MiscArmCore.MiscArm(self.shared_objects))
+        self.__add_thread("RDF", RDFCore.RDF(self.shared_objects))
 
         self.connect_signals_and_slots_signal.emit()
         self.__connect_signals_to_slots()