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Merge pull request #11 from captntuttle/master

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Fills out statuses and changes over to signals/slots
This commit is contained in:
Ken Steinfeldt
2018-03-15 11:00:27 -07:00
committed by GitHub
parent 83c281917c d2e1b7e224
commit f68cb5f69c
2 changed files with 134 additions and 41 deletions
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134
software/ros_packages/ground_station/src/Framework/StatusSystems/StatusCore.py
View File

@@ -17,8 +17,29 @@ MISC_TOPIC_NAME = "/rover_status/misc_status"
class SensorCore(QtCore.QThread):
# ########## create signals for slots ##########
jetson_cpu_update_ready__signal = QtCore.pyqtSignal(str)
jetson_cpu_stylesheet_change_ready__signal = QtCore.pyqtSignal(str)
jetson_emmc_update_ready__signal = QtCore.pyqtSignal(str)
jetson_emmc_stylesheet_change_ready__signal = QtCore.pyqtSignal(str)
jetson_gpu_temp_update_ready__signal = QtCore.pyqtSignal(str)
jetson_gpu_temp_stylesheet_change_ready__signal = QtCore.pyqtSignal(str)
jetson_ram_update_ready__signal = QtCore.pyqtSignal(str)
jetson_ram_stylesheet_change_ready__signal = QtCore.pyqtSignal(str)
bogie_connection_1_stylesheet_change_ready__signal = QtCore.pyqtSignal(str)
bogie_connection_2_stylesheet_change_ready__signal = QtCore.pyqtSignal(str)
bogie_connection_3_stylesheet_change_ready__signal = QtCore.pyqtSignal(str)
camera_zed_stylesheet_change_ready__signal = QtCore.pyqtSignal(str)
camera_under_stylesheet_change_ready__signal = QtCore.pyqtSignal(str)
camera_chassis_stylesheet_change_ready__signal = QtCore.pyqtSignal(str)
camera_main_stylesheet_change_ready__signal = QtCore.pyqtSignal(str)
gps_stylesheet_change_ready__signal = QtCore.pyqtSignal(str)
frsky_stylesheet_change_ready__signal = QtCore.pyqtSignal(str)
def __init__(self, shared_objects):
super(SensorCore, self).__init__()
@@ -32,6 +53,7 @@ class SensorCore(QtCore.QThread):
self.cpu_read = self.screen_main_window.lineEdit # type: QtWidgets.QLabel
self.ram_read = self.screen_main_window.lineEdit_2 # type: QtWidgets.QLabel
# ########## set vars to gui elements
self.rover_conn = self.screen_main_window.rover # type: QtWidgets.QLabel
self.frsky = self.screen_main_window.frsky # type: QtWidgets.QLabel
self.nav_mouse = self.screen_main_window.nav_mouse # type: QtWidgets.QLabel
@@ -47,8 +69,10 @@ class SensorCore(QtCore.QThread):
self.clock = self.screen_main_window.clock # type: QtWidgets.QLCDNumber
self.cpu = self.screen_main_window.cpu # type: QtWidgets.QLabel
self.ram = self.screen_main_window.ram # type: QtWidgets.QLabel
self.gpu_temp = self.screen_main_window.gpu_temp # type: QtWidgets.QLabel
self.emmc = self.screen_main_window.emmc # type: QtWidgets.QLabel
# Subscription examples on pulling data from system_statuses_node.py
# ########## subscriptions pulling data from system_statuses_node.py ##########
self.camera_status = rospy.Subscriber(CAMERA_TOPIC_NAME, CameraStatuses, self.__camera_callback)
self.bogie_status = rospy.Subscriber(BOGIE_TOPIC_NAME, BogieStatuses, self.__bogie_callback)
self.frsky_status = rospy.Subscriber(FRSKY_TOPIC_NAME, FrSkyStatus, self.__frsky_callback)
@@ -72,32 +96,40 @@ class SensorCore(QtCore.QThread):
self.camera_msg.camera_main_navigation = data.camera_main_navigation
if self.camera_msg.camera_zed is False:
self.zed.setStyleSheet("background-color: red;")
# self.zed.setStyleSheet("background-color: red;")
self.camera_zed_stylesheet_change_ready__signal.emit("background-color: red;")
else:
self.zed.setStyleSheet("background-color: darkgreen;")
# self.zed.setStyleSheet("background-color: darkgreen;")
self.camera_zed_stylesheet_change_ready__signal.emit("background-color: darkgreen;")
if self.camera_msg.camera_undercarriage is False:
self.under_cam.setStyleSheet("background-color: red;")
# self.under_cam.setStyleSheet("background-color: red;")
self.camera_under_stylesheet_change_ready__signal.emit("background-color: red;")
else:
self.under_cam.setStyleSheet("background-color: darkgreen;")
# self.under_cam.setStyleSheet("background-color: darkgreen;")
self.camera_under_stylesheet_change_ready__signal.emit("background-color: darkgreen;")
if self.camera_msg.camera_chassis is False:
self.chassis_cam.setStyleSheet("background-color: red;")
# self.chassis_cam.setStyleSheet("background-color: red;")
self.camera_chassis_stylesheet_change_ready__signal.emit("background-color: red;")
else:
self.chassis_cam.setStyleSheet("background-color: darkgreen;")
# self.chassis_cam.setStyleSheet("background-color: darkgreen;")
self.camera_chassis_stylesheet_change_ready__signal.emit("background-color: darkgreen;")
if self.camera_msg.camera_main_navigation is False:
self.main_cam.setStyleSheet("background-color: red;")
# self.main_cam.setStyleSheet("background-color: red;")
self.camera_main_stylesheet_change_ready__signal.emit("background-color: red;")
else:
self.main_cam.setStyleSheet("background-color: darkgreen;")
# self.main_cam.setStyleSheet("background-color: darkgreen;")
self.camera_main_stylesheet_change_ready__signal.emit("background-color: darkgreen;")
def __frsky_callback(self, data):
self.FrSky_msg.FrSky_controller_connection_status = data.FrSky_controller_connection_status
if self.FrSky_msg.FrSky_controller_connection_status is False:
self.frsky.setStyleSheet("background-color: red;")
self.frsky_stylesheet_change_ready__signal.emit("background-color: red;")
else:
self.frsky.setStyleSheet("background-color: darkgreen;")
self.frsky_stylesheet_change_ready__signal.emit("background-color: darkgreen;")
def __bogie_callback(self, data):
self.bogie_msg.bogie_connection_1 = data.bogie_connection_1
@@ -105,19 +137,25 @@ class SensorCore(QtCore.QThread):
self.bogie_msg.bogie_connection_3 = data.bogie_connection_3
if self.bogie_msg.bogie_connection_1 is False:
self.bogie_right.setStyleSheet("background-color: red;")
# self.bogie_right.setStyleSheet("background-color: red;")
self.bogie_connection_1_stylesheet_change_ready__signal.emit("background-color: red;")
else:
self.bogie_right.setStyleSheet("background-color: darkgreen;")
# self.bogie_right.setStyleSheet("background-color: darkgreen;")
self.bogie_connection_1_stylesheet_change_ready__signal.emit("background-color: darkgreen;")
if self.bogie_msg.bogie_connection_2 is False:
self.bogie_left.setStyleSheet("background-color: red;")
# self.bogie_left.setStyleSheet("background-color: red;")
self.bogie_connection_2_stylesheet_change_ready__signal.emit("background-color: red;")
else:
self.bogie_left.setStyleSheet("background-color: darkgreen;")
# self.bogie_left.setStyleSheet("background-color: darkgreen;")
self.bogie_connection_2_stylesheet_change_ready__signal.emit("background-color: darkgreen;")
if self.bogie_msg.bogie_connection_3 is False:
self.bogie_rear.setStyleSheet("background-color: red;")
# self.bogie_rear.setStyleSheet("background-color: red;")
self.bogie_connection_3_stylesheet_change_ready__signal.emit("background-color: red;")
else:
self.bogie_rear.setStyleSheet("background-color: darkgreen;")
# self.bogie_rear.setStyleSheet("background-color: darkgreen;")
self.bogie_connection_3_stylesheet_change_ready__signal.emit("background-color: darkgreen;")
def __jetson_callback(self, data):
self.jetson_msg.jetson_CPU = data.jetson_CPU
@@ -128,35 +166,48 @@ class SensorCore(QtCore.QThread):
if self.jetson_msg.jetson_CPU > 79:
self.jetson_cpu_stylesheet_change_ready__signal.emit("background-color: orange;")
# self.cpu.setStyleSheet("background-color: orange;")
elif self.jetson_msg.jetson_CPU > 89:
self.jetson_cpu_stylesheet_change_ready__signal.emit("background-color: red;")
# self.cpu.setStyleSheet("background-color: red;")
else:
self.jetson_cpu_stylesheet_change_ready__signal.emit("background-color: darkgreen;")
# self.cpu.setStyleSheet("background-color: darkgreen;")
# self.jetson_msg.jetson_RAM = data.jetson_RAM
# self.ram.setText(str(self.jetson_msg.jetson_RAM))
# if self.jetson_msg.jetson_RAM > 79:
# self.ram.setStyleSheet("background-color: orange;")
# elif self.jetson_msg.jetson_RAM > 89:
# self.ram.setStyleSheet("background-color: red;")
# else:
# self.ram.setStyleSheet("background-color: darkgreen;")
#
# self.jetson_msg.jetson_EMMC = data.jetson_EMMC
# self.jetson_msg.jetson_NVME_SSD = data.jetson_NVME_SSD
#rospy.loginfo(self.jetson_msg)
self.jetson_ram_update_ready__signal.emit(str(self.jetson_msg.jetson_RAM))
if self.jetson_msg.jetson_RAM > 79:
self.jetson_ram_stylesheet_change_ready__signal.emit("background-color: orange;")
elif self.jetson_msg.jetson_RAM > 89:
self.jetson_ram_stylesheet_change_ready__signal.emit("background-color: red;")
else:
self.jetson_ram_stylesheet_change_ready__signal.emit("background-color: darkgreen;")
self.jetson_gpu_temp_update_ready__signal.emit(str(self.jetson_msg.jetson_GPU_temp))
if self.jetson_msg.jetson_GPU_temp > 64:
self.jetson_gpu_temp_stylesheet_change_ready__signal.emit("background-color: orange;")
elif self.jetson_msg.jetson_GPU_temp > 79:
self.jetson_gpu_temp_stylesheet_change_ready__signal.emit("background-color: red;")
else:
self.jetson_gpu_temp_stylesheet_change_ready__signal.emit("background-color: darkgreen;")
self.jetson_emmc_update_ready__signal.emit(str(self.jetson_msg.jetson_EMMC))
if self.jetson_msg.jetson_EMMC > 79:
self.jetson_emmc_stylesheet_change_ready__signal.emit("background-color: orange;")
elif self.jetson_msg.jetson_EMMC > 89:
self.jetson_emmc_stylesheet_change_ready__signal.emit("background-color: red;")
else:
self.jetson_emmc_stylesheet_change_ready__signal.emit("background-color: darkgreen")
def __gps_callback(self, data):
self.GPS_msg.UTC_GPS_time = data.UTC_GPS_time
self.GPS_msg.GPS_connection_status = data.GPS_connection_status
if self.GPS_msg.GPS_connection_status is False:
self.gps.setStyleSheet("background-color: red")
# self.gps.setStyleSheet("background-color: red")
self.gps_stylesheet_change_ready__signal.emit("background-color: red;")
else:
self.gps.setStyleSheet("background-color: darkgreen;")
# self.gps.setStyleSheet("background-color: darkgreen;")
self.gps_stylesheet_change_ready__signal.emit("background-color: darkgreen;")
def __misc_callback(self, data):
self.misc_msg.arm_connection_status = data.arm_connection_status
@@ -177,6 +228,21 @@ class SensorCore(QtCore.QThread):
def connect_signals_and_slots(self):
self.jetson_cpu_update_ready__signal.connect(self.cpu.setText)
self.jetson_cpu_stylesheet_change_ready__signal.connect(self.cpu.setStyleSheet)
self.jetson_ram_update_ready__signal.connect(self.ram.setText)
self.jetson_ram_stylesheet_change_ready__signal(self.ram.setStyleSheet)
self.jetson_emmc_update_ready__signal.connect(self.emmc.setText)
self.jetson_emmc_stylesheet_change_ready__signal.connect(self.emmc.setStyleSheet)
self.jetson_gpu_temp_update_ready__signal.connect(self.gpu_temp.setText)
self.jetson_gpu_temp_stylesheet_change_ready__signal(self.gpu_temp.setStyleSheet)
self.bogie_connection_1_stylesheet_change_ready__signal.connect(self.bogie_right.setStyleSheet)
self.bogie_connection_2_stylesheet_change_ready__signal.connect(self.bogie_left.setStyleSheet)
self.bogie_connection_3_stylesheet_change_ready__signal.connect(self.bogie_rear.setStyleSheet)
self.camera_zed_stylesheet_change_ready__signal.connect(self.zed.setStyleSheet)
self.camera_under_stylesheet_change_ready__signal.connect(self.under_cam.setStyleSheet)
self.camera_chassis_stylesheet_change_ready__signal.connect(self.chassis_cam.setStyleSheet)
self.camera_main_stylesheet_change_ready__signal.connect(self.main_cam.setStyleSheet)
self.gps_stylesheet_change_ready__signal.connect(self.gps.setStyleSheet)
self.frsky_stylesheet_change_ready__signal.connect(self.frsky.setStyleSheet)
def setup_signals(self, start_signal, signals_and_slots_signal, kill_signal):
start_signal.connect(self.start)

41
software/ros_packages/ground_station/src/Resources/Ui/left_screen.ui
View File

@@ -39,7 +39,16 @@
<property name="spacing">
<number>0</number>
</property>
<property name="margin">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number>
</property>
<item>
@@ -68,7 +77,16 @@
</size>
</property>
<layout class="QGridLayout" name="gridLayout_4">
<property name="margin">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number>
</property>
<property name="spacing">
@@ -80,22 +98,22 @@
<number>0</number>
</property>
<item row="1" column="4">
<widget class="QLabel" name="label_4">
<widget class="QLabel" name="emmc">
<property name="styleSheet">
<string notr="true">background-color: darkgreen;</string>
</property>
<property name="text">
<string>placeholder</string>
<string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p align=&quot;center&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;EMMC&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
</widget>
</item>
<item row="1" column="5">
<widget class="QLabel" name="label_5">
<widget class="QLabel" name="gpu_temp">
<property name="styleSheet">
<string notr="true">background-color: darkgreen;</string>
</property>
<property name="text">
<string>placeholder</string>
<string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p align=&quot;center&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;GPU &lt;/span&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Temp&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
</widget>
</item>
@@ -798,7 +816,16 @@ Fix</string>
</size>
</property>
<layout class="QGridLayout" name="gridLayout">
<property name="margin">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number>
</property>
<property name="spacing">