mirror of
https://github.com/OSURoboticsClub/Rover_2017_2018.git
synced 2025-11-08 18:21:15 +00:00
Added function to self to include the message in self
This commit is contained in:
Christopher Pham
@@ -35,6 +35,7 @@ class RoverMapCoordinator(QtCore.QThread):
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self.landmark_label = self.left_screen.landmark_waypoints_table_widget
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self.gps_status = rospy.Subscriber(GPS_TOPIC_NAME, GPSInfo, self.edit_rover_location)
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self.GPS_msg = GPSInfo()
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self.setings = QtCore.QSettings()
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@@ -1,262 +1,262 @@
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#!/usr/bin/env python
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# coding=utf-8
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import rospy
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from rover_status.msg import *
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from PyQt5 import QtWidgets, QtCore, QtGui, uic
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from std_msgs.msg import Empty
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import PIL.Image
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from PIL.ImageQt import ImageQt
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# import Timer
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REQUEST_UPDATE_TOPIC = "/rover_status/update_requested"
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CAMERA_TOPIC_NAME = "/rover_status/camera_status"
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BOGIE_TOPIC_NAME = "/rover_status/bogie_status"
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FRSKY_TOPIC_NAME = "/rover_status/frsky_status"
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GPS_TOPIC_NAME = "/rover_status/gps_status"
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JETSON_TOPIC_NAME = "/rover_status/jetson_status"
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MISC_TOPIC_NAME = "/rover_status/misc_status"
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class SensorCore(QtCore.QThread):
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# ########## create signals for slots ##########
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jetson_cpu_update_ready__signal = QtCore.pyqtSignal(str)
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jetson_cpu_stylesheet_change_ready__signal = QtCore.pyqtSignal(str)
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jetson_emmc_update_ready__signal = QtCore.pyqtSignal(str)
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jetson_emmc_stylesheet_change_ready__signal = QtCore.pyqtSignal(str)
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jetson_gpu_temp_update_ready__signal = QtCore.pyqtSignal(str)
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jetson_gpu_temp_stylesheet_change_ready__signal = QtCore.pyqtSignal(str)
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jetson_ram_update_ready__signal = QtCore.pyqtSignal(str)
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jetson_ram_stylesheet_change_ready__signal = QtCore.pyqtSignal(str)
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bogie_connection_1_stylesheet_change_ready__signal = QtCore.pyqtSignal(str)
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bogie_connection_2_stylesheet_change_ready__signal = QtCore.pyqtSignal(str)
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bogie_connection_3_stylesheet_change_ready__signal = QtCore.pyqtSignal(str)
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camera_zed_stylesheet_change_ready__signal = QtCore.pyqtSignal(str)
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camera_under_stylesheet_change_ready__signal = QtCore.pyqtSignal(str)
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camera_chassis_stylesheet_change_ready__signal = QtCore.pyqtSignal(str)
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camera_main_stylesheet_change_ready__signal = QtCore.pyqtSignal(str)
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gps_stylesheet_change_ready__signal = QtCore.pyqtSignal(str)
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frsky_stylesheet_change_ready__signal = QtCore.pyqtSignal(str)
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def __init__(self, shared_objects):
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super(SensorCore, self).__init__()
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self.run_thread_flag = True
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# ########## Reference to class init variables ##########
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self.shared_objects = shared_objects
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self.screen_main_window = self.shared_objects["screens"]["left_screen"]
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# self.cpu_read = self.screen_main_window.lineEdit # type: QtWidgets.QLabel
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# self.ram_read = self.screen_main_window.lineEdit_2 # type: QtWidgets.QLabel
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# ########## set vars to gui elements
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self.osurc_logo_label = self.screen_main_window.osurc_logo_label # type: QtWidgets.QLabel
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self.rover_conn = self.screen_main_window.rover # type: QtWidgets.QLabel
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self.frsky = self.screen_main_window.frsky # type: QtWidgets.QLabel
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self.nav_mouse = self.screen_main_window.nav_mouse # type: QtWidgets.QLabel
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self.joystick = self.screen_main_window.joystick # type: QtWidgets.QLabel
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self.gps = self.screen_main_window.gps # type: QtWidgets.QLabel
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self.zed = self.screen_main_window.zed # type: QtWidgets.QLabel
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self.main_cam = self.screen_main_window.main_cam # type: QtWidgets.QLabel
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self.chassis_cam = self.screen_main_window.chassis_cam # type: QtWidgets.QLabel
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self.under_cam = self.screen_main_window.under_cam # type: QtWidgets.QLabel
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self.bogie_right = self.screen_main_window.right_bogie # type: QtWidgets.QLabel
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self.bogie_left = self.screen_main_window.left_bogie # type: QtWidgets.QLabel
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self.bogie_rear = self.screen_main_window.rear_bogie # type: QtWidgets.QLabel
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self.clock = self.screen_main_window.clock_qlcdnumber # type: QtWidgets.QLCDNumber
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self.cpu = self.screen_main_window.cpu # type: QtWidgets.QLabel
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self.ram = self.screen_main_window.ram # type: QtWidgets.QLabel
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self.gpu_temp = self.screen_main_window.gpu_temp # type: QtWidgets.QLabel
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self.emmc = self.screen_main_window.emmc # type: QtWidgets.QLabel
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# ########## subscriptions pulling data from system_statuses_node.py ##########
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self.camera_status = rospy.Subscriber(CAMERA_TOPIC_NAME, CameraStatuses, self.__camera_callback)
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self.bogie_status = rospy.Subscriber(BOGIE_TOPIC_NAME, BogieStatuses, self.__bogie_callback)
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self.frsky_status = rospy.Subscriber(FRSKY_TOPIC_NAME, FrSkyStatus, self.__frsky_callback)
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self.gps_status = rospy.Subscriber(GPS_TOPIC_NAME, GPSInfo, self.__gps_callback)
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self.jetson_status = rospy.Subscriber(JETSON_TOPIC_NAME, JetsonInfo, self.__jetson_callback)
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self.misc_status = rospy.Subscriber(MISC_TOPIC_NAME, MiscStatuses, self.__misc_callback)
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self.camera_msg = CameraStatuses()
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self.bogie_msg = BogieStatuses()
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self.FrSky_msg = FrSkyStatus()
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self.GPS_msg = GPSInfo()
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self.jetson_msg = JetsonInfo()
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self.misc_msg = MiscStatuses()
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self.update_requester = rospy.Publisher(REQUEST_UPDATE_TOPIC, Empty, queue_size=10)
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# Apply OSURC Logo
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self.osurc_logo_pil = PIL.Image.open("Resources/Images/osurclogo.png").resize((210, 75), PIL.Image.BICUBIC)
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self.osurc_logo_pixmap = QtGui.QPixmap.fromImage(ImageQt(self.osurc_logo_pil))
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self.osurc_logo_label.setPixmap(self.osurc_logo_pixmap) # Init should be in main thread, should be fine
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def __camera_callback(self, data):
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self.camera_msg.camera_zed = data.camera_zed
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self.camera_msg.camera_undercarriage = data.camera_undercarriage
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self.camera_msg.camera_chassis = data.camera_chassis
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self.camera_msg.camera_main_navigation = data.camera_main_navigation
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if data.camera_zed is False:
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# self.zed.setStyleSheet("background-color: red;")
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self.camera_zed_stylesheet_change_ready__signal.emit("background-color: darkred;")
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else:
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# self.zed.setStyleSheet("background-color: darkgreen;")
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self.camera_zed_stylesheet_change_ready__signal.emit("background-color: darkgreen;")
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if data.camera_undercarriage is False:
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# self.under_cam.setStyleSheet("background-color: darkred;")
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self.camera_under_stylesheet_change_ready__signal.emit("background-color: darkred;")
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else:
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# self.under_cam.setStyleSheet("background-color: darkgreen;")
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self.camera_under_stylesheet_change_ready__signal.emit("background-color: darkgreen;")
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if data.camera_chassis is False:
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# self.chassis_cam.setStyleSheet("background-color: darkred;")
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self.camera_chassis_stylesheet_change_ready__signal.emit("background-color: darkred;")
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else:
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# self.chassis_cam.setStyleSheet("background-color: darkgreen;")
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self.camera_chassis_stylesheet_change_ready__signal.emit("background-color: darkgreen;")
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if data.camera_main_navigation is False:
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# self.main_cam.setStyleSheet("background-color: darkred;")
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self.camera_main_stylesheet_change_ready__signal.emit("background-color: darkred;")
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else:
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# self.main_cam.setStyleSheet("background-color: darkgreen;")
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self.camera_main_stylesheet_change_ready__signal.emit("background-color: darkgreen;")
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def __frsky_callback(self, data):
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self.FrSky_msg.FrSky_controller_connection_status = data.FrSky_controller_connection_status
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if self.FrSky_msg.FrSky_controller_connection_status is False:
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self.frsky_stylesheet_change_ready__signal.emit("background-color: darkred;")
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else:
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self.frsky_stylesheet_change_ready__signal.emit("background-color: darkgreen;")
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def __bogie_callback(self, data):
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self.bogie_msg.bogie_connection_1 = data.bogie_connection_1
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self.bogie_msg.bogie_connection_2 = data.bogie_connection_2
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self.bogie_msg.bogie_connection_3 = data.bogie_connection_3
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if data.bogie_connection_1 is False:
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# self.bogie_right.setStyleSheet("background-color: darkred;")
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self.bogie_connection_1_stylesheet_change_ready__signal.emit("background-color: darkred;")
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else:
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# self.bogie_right.setStyleSheet("background-color: darkgreen;")
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self.bogie_connection_1_stylesheet_change_ready__signal.emit("background-color: darkgreen;")
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if data.bogie_connection_2 is False:
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# self.bogie_left.setStyleSheet("background-color: darkred;")
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self.bogie_connection_2_stylesheet_change_ready__signal.emit("background-color: darkred;")
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else:
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# self.bogie_left.setStyleSheet("background-color: darkgreen;")
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self.bogie_connection_2_stylesheet_change_ready__signal.emit("background-color: darkgreen;")
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if data.bogie_connection_3 is False:
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# self.bogie_rear.setStyleSheet("background-color: darkred;")
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self.bogie_connection_3_stylesheet_change_ready__signal.emit("background-color: darkred;")
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else:
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# self.bogie_rear.setStyleSheet("background-color: darkgreen;")
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self.bogie_connection_3_stylesheet_change_ready__signal.emit("background-color: darkgreen;")
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def __jetson_callback(self, data):
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self.jetson_cpu_update_ready__signal.emit("TX2 CPU\n" + str(data.jetson_CPU) + "%")
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if data.jetson_CPU > 85:
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self.jetson_cpu_stylesheet_change_ready__signal.emit("background-color: orange;")
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elif data.jetson_CPU > 95:
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self.jetson_cpu_stylesheet_change_ready__signal.emit("background-color: darkred;")
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else:
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self.jetson_cpu_stylesheet_change_ready__signal.emit("background-color: darkgreen;")
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self.jetson_ram_update_ready__signal.emit("TX2 RAM\n" + str(data.jetson_RAM) + "%")
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if data.jetson_RAM > 79:
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self.jetson_ram_stylesheet_change_ready__signal.emit("background-color: orange;")
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elif data.jetson_RAM > 89:
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self.jetson_ram_stylesheet_change_ready__signal.emit("background-color: darkred;")
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else:
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self.jetson_ram_stylesheet_change_ready__signal.emit("background-color: darkgreen;")
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self.jetson_gpu_temp_update_ready__signal.emit("TX2 TEMP\n" + str(data.jetson_GPU_temp) + "°C")
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if data.jetson_GPU_temp > 64:
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self.jetson_gpu_temp_stylesheet_change_ready__signal.emit("background-color: orange;")
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elif data.jetson_GPU_temp > 79:
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self.jetson_gpu_temp_stylesheet_change_ready__signal.emit("background-color: darkred;")
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else:
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self.jetson_gpu_temp_stylesheet_change_ready__signal.emit("background-color: darkgreen;")
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self.jetson_emmc_update_ready__signal.emit("TX2 EMMC\n" + str(data.jetson_EMMC) + "%")
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if data.jetson_EMMC > 79:
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self.jetson_emmc_stylesheet_change_ready__signal.emit("background-color: orange;")
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elif data.jetson_EMMC > 89:
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self.jetson_emmc_stylesheet_change_ready__signal.emit("background-color: darkred;")
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else:
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self.jetson_emmc_stylesheet_change_ready__signal.emit("background-color: darkgreen")
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def __gps_callback(self, data):
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self.GPS_msg.UTC_GPS_time = data.UTC_GPS_time
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if not data.GPS_connection_status:
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self.gps_stylesheet_change_ready__signal.emit("background-color: darkred;")
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else:
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self.gps_stylesheet_change_ready__signal.emit("background-color: darkgreen;")
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def __misc_callback(self, data):
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self.misc_msg.arm_connection_status = data.arm_connection_status
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self.misc_msg.arm_end_effector_connection_statuses = data.arm_end_effector_connection_statuses
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self.misc_msg.sample_containment_connection_status = data.sample_containment_connection_status
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self.misc_msg.tower_connection_status = data.tower_connection_status
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self.misc_msg.chassis_pan_tilt_connection_status = data.chassis_pan_tilt_connection_status
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def __display_time(self):
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time = QtCore.QTime.currentTime()
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temp = time.toString('hh:mm')
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self.clock.display(temp)
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def run(self):
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while self.run_thread_flag:
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self.update_requester.publish(Empty())
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self.__display_time()
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self.msleep(1000)
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def connect_signals_and_slots(self):
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self.jetson_cpu_update_ready__signal.connect(self.cpu.setText)
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self.jetson_cpu_stylesheet_change_ready__signal.connect(self.cpu.setStyleSheet)
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self.jetson_ram_update_ready__signal.connect(self.ram.setText)
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self.jetson_ram_stylesheet_change_ready__signal.connect(self.ram.setStyleSheet)
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self.jetson_emmc_update_ready__signal.connect(self.emmc.setText)
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self.jetson_emmc_stylesheet_change_ready__signal.connect(self.emmc.setStyleSheet)
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self.jetson_gpu_temp_update_ready__signal.connect(self.gpu_temp.setText)
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self.jetson_gpu_temp_stylesheet_change_ready__signal.connect(self.gpu_temp.setStyleSheet)
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self.bogie_connection_1_stylesheet_change_ready__signal.connect(self.bogie_right.setStyleSheet)
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self.bogie_connection_2_stylesheet_change_ready__signal.connect(self.bogie_left.setStyleSheet)
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self.bogie_connection_3_stylesheet_change_ready__signal.connect(self.bogie_rear.setStyleSheet)
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self.camera_zed_stylesheet_change_ready__signal.connect(self.zed.setStyleSheet)
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self.camera_under_stylesheet_change_ready__signal.connect(self.under_cam.setStyleSheet)
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self.camera_chassis_stylesheet_change_ready__signal.connect(self.chassis_cam.setStyleSheet)
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self.camera_main_stylesheet_change_ready__signal.connect(self.main_cam.setStyleSheet)
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self.gps_stylesheet_change_ready__signal.connect(self.gps.setStyleSheet)
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self.frsky_stylesheet_change_ready__signal.connect(self.frsky.setStyleSheet)
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def setup_signals(self, start_signal, signals_and_slots_signal, kill_signal):
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start_signal.connect(self.start)
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signals_and_slots_signal.connect(self.connect_signals_and_slots)
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kill_signal.connect(self.on_kill_threads_requested__slot)
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def on_kill_threads_requested__slot(self):
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self.run_thread_flag = False
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if __name__ == '__main__':
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rover_statuses = SensorCore()
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rover_statuses.run()
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#!/usr/bin/env python
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# coding=utf-8
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import rospy
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from rover_status.msg import *
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from PyQt5 import QtWidgets, QtCore, QtGui, uic
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from std_msgs.msg import Empty
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import PIL.Image
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from PIL.ImageQt import ImageQt
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# import Timer
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REQUEST_UPDATE_TOPIC = "/rover_status/update_requested"
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CAMERA_TOPIC_NAME = "/rover_status/camera_status"
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BOGIE_TOPIC_NAME = "/rover_status/bogie_status"
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FRSKY_TOPIC_NAME = "/rover_status/frsky_status"
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GPS_TOPIC_NAME = "/rover_status/gps_status"
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JETSON_TOPIC_NAME = "/rover_status/jetson_status"
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MISC_TOPIC_NAME = "/rover_status/misc_status"
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class SensorCore(QtCore.QThread):
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# ########## create signals for slots ##########
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jetson_cpu_update_ready__signal = QtCore.pyqtSignal(str)
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jetson_cpu_stylesheet_change_ready__signal = QtCore.pyqtSignal(str)
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jetson_emmc_update_ready__signal = QtCore.pyqtSignal(str)
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jetson_emmc_stylesheet_change_ready__signal = QtCore.pyqtSignal(str)
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jetson_gpu_temp_update_ready__signal = QtCore.pyqtSignal(str)
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jetson_gpu_temp_stylesheet_change_ready__signal = QtCore.pyqtSignal(str)
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jetson_ram_update_ready__signal = QtCore.pyqtSignal(str)
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jetson_ram_stylesheet_change_ready__signal = QtCore.pyqtSignal(str)
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bogie_connection_1_stylesheet_change_ready__signal = QtCore.pyqtSignal(str)
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bogie_connection_2_stylesheet_change_ready__signal = QtCore.pyqtSignal(str)
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bogie_connection_3_stylesheet_change_ready__signal = QtCore.pyqtSignal(str)
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camera_zed_stylesheet_change_ready__signal = QtCore.pyqtSignal(str)
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camera_under_stylesheet_change_ready__signal = QtCore.pyqtSignal(str)
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camera_chassis_stylesheet_change_ready__signal = QtCore.pyqtSignal(str)
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camera_main_stylesheet_change_ready__signal = QtCore.pyqtSignal(str)
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gps_stylesheet_change_ready__signal = QtCore.pyqtSignal(str)
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frsky_stylesheet_change_ready__signal = QtCore.pyqtSignal(str)
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def __init__(self, shared_objects):
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super(SensorCore, self).__init__()
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self.run_thread_flag = True
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# ########## Reference to class init variables ##########
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self.shared_objects = shared_objects
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self.screen_main_window = self.shared_objects["screens"]["left_screen"]
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# self.cpu_read = self.screen_main_window.lineEdit # type: QtWidgets.QLabel
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# self.ram_read = self.screen_main_window.lineEdit_2 # type: QtWidgets.QLabel
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# ########## set vars to gui elements
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self.osurc_logo_label = self.screen_main_window.osurc_logo_label # type: QtWidgets.QLabel
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self.rover_conn = self.screen_main_window.rover # type: QtWidgets.QLabel
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self.frsky = self.screen_main_window.frsky # type: QtWidgets.QLabel
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self.nav_mouse = self.screen_main_window.nav_mouse # type: QtWidgets.QLabel
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self.joystick = self.screen_main_window.joystick # type: QtWidgets.QLabel
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self.gps = self.screen_main_window.gps # type: QtWidgets.QLabel
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self.zed = self.screen_main_window.zed # type: QtWidgets.QLabel
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self.main_cam = self.screen_main_window.main_cam # type: QtWidgets.QLabel
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self.chassis_cam = self.screen_main_window.chassis_cam # type: QtWidgets.QLabel
|
||||
self.under_cam = self.screen_main_window.under_cam # type: QtWidgets.QLabel
|
||||
self.bogie_right = self.screen_main_window.right_bogie # type: QtWidgets.QLabel
|
||||
self.bogie_left = self.screen_main_window.left_bogie # type: QtWidgets.QLabel
|
||||
self.bogie_rear = self.screen_main_window.rear_bogie # type: QtWidgets.QLabel
|
||||
self.clock = self.screen_main_window.clock_qlcdnumber # 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
|
||||
|
||||
# ########## 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)
|
||||
self.gps_status = rospy.Subscriber(GPS_TOPIC_NAME, GPSInfo, self.__gps_callback)
|
||||
self.jetson_status = rospy.Subscriber(JETSON_TOPIC_NAME, JetsonInfo, self.__jetson_callback)
|
||||
self.misc_status = rospy.Subscriber(MISC_TOPIC_NAME, MiscStatuses, self.__misc_callback)
|
||||
|
||||
self.camera_msg = CameraStatuses()
|
||||
self.bogie_msg = BogieStatuses()
|
||||
self.FrSky_msg = FrSkyStatus()
|
||||
self.GPS_msg = GPSInfo()
|
||||
self.jetson_msg = JetsonInfo()
|
||||
self.misc_msg = MiscStatuses()
|
||||
|
||||
self.update_requester = rospy.Publisher(REQUEST_UPDATE_TOPIC, Empty, queue_size=10)
|
||||
|
||||
# Apply OSURC Logo
|
||||
self.osurc_logo_pil = PIL.Image.open("Resources/Images/osurclogo.png").resize((210, 75), PIL.Image.BICUBIC)
|
||||
self.osurc_logo_pixmap = QtGui.QPixmap.fromImage(ImageQt(self.osurc_logo_pil))
|
||||
self.osurc_logo_label.setPixmap(self.osurc_logo_pixmap) # Init should be in main thread, should be fine
|
||||
|
||||
def __camera_callback(self, data):
|
||||
self.camera_msg.camera_zed = data.camera_zed
|
||||
self.camera_msg.camera_undercarriage = data.camera_undercarriage
|
||||
self.camera_msg.camera_chassis = data.camera_chassis
|
||||
self.camera_msg.camera_main_navigation = data.camera_main_navigation
|
||||
|
||||
if data.camera_zed is False:
|
||||
# self.zed.setStyleSheet("background-color: red;")
|
||||
self.camera_zed_stylesheet_change_ready__signal.emit("background-color: darkred;")
|
||||
else:
|
||||
# self.zed.setStyleSheet("background-color: darkgreen;")
|
||||
self.camera_zed_stylesheet_change_ready__signal.emit("background-color: darkgreen;")
|
||||
|
||||
if data.camera_undercarriage is False:
|
||||
# self.under_cam.setStyleSheet("background-color: darkred;")
|
||||
self.camera_under_stylesheet_change_ready__signal.emit("background-color: darkred;")
|
||||
else:
|
||||
# self.under_cam.setStyleSheet("background-color: darkgreen;")
|
||||
self.camera_under_stylesheet_change_ready__signal.emit("background-color: darkgreen;")
|
||||
|
||||
if data.camera_chassis is False:
|
||||
# self.chassis_cam.setStyleSheet("background-color: darkred;")
|
||||
self.camera_chassis_stylesheet_change_ready__signal.emit("background-color: darkred;")
|
||||
else:
|
||||
# self.chassis_cam.setStyleSheet("background-color: darkgreen;")
|
||||
self.camera_chassis_stylesheet_change_ready__signal.emit("background-color: darkgreen;")
|
||||
|
||||
if data.camera_main_navigation is False:
|
||||
# self.main_cam.setStyleSheet("background-color: darkred;")
|
||||
self.camera_main_stylesheet_change_ready__signal.emit("background-color: darkred;")
|
||||
else:
|
||||
# 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_stylesheet_change_ready__signal.emit("background-color: darkred;")
|
||||
else:
|
||||
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
|
||||
self.bogie_msg.bogie_connection_2 = data.bogie_connection_2
|
||||
self.bogie_msg.bogie_connection_3 = data.bogie_connection_3
|
||||
|
||||
if data.bogie_connection_1 is False:
|
||||
# self.bogie_right.setStyleSheet("background-color: darkred;")
|
||||
self.bogie_connection_1_stylesheet_change_ready__signal.emit("background-color: darkred;")
|
||||
else:
|
||||
# self.bogie_right.setStyleSheet("background-color: darkgreen;")
|
||||
self.bogie_connection_1_stylesheet_change_ready__signal.emit("background-color: darkgreen;")
|
||||
|
||||
if data.bogie_connection_2 is False:
|
||||
# self.bogie_left.setStyleSheet("background-color: darkred;")
|
||||
self.bogie_connection_2_stylesheet_change_ready__signal.emit("background-color: darkred;")
|
||||
else:
|
||||
# self.bogie_left.setStyleSheet("background-color: darkgreen;")
|
||||
self.bogie_connection_2_stylesheet_change_ready__signal.emit("background-color: darkgreen;")
|
||||
|
||||
if data.bogie_connection_3 is False:
|
||||
# self.bogie_rear.setStyleSheet("background-color: darkred;")
|
||||
self.bogie_connection_3_stylesheet_change_ready__signal.emit("background-color: darkred;")
|
||||
else:
|
||||
# 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_cpu_update_ready__signal.emit("TX2 CPU\n" + str(data.jetson_CPU) + "%")
|
||||
|
||||
if data.jetson_CPU > 85:
|
||||
self.jetson_cpu_stylesheet_change_ready__signal.emit("background-color: orange;")
|
||||
elif data.jetson_CPU > 95:
|
||||
self.jetson_cpu_stylesheet_change_ready__signal.emit("background-color: darkred;")
|
||||
else:
|
||||
self.jetson_cpu_stylesheet_change_ready__signal.emit("background-color: darkgreen;")
|
||||
|
||||
self.jetson_ram_update_ready__signal.emit("TX2 RAM\n" + str(data.jetson_RAM) + "%")
|
||||
|
||||
if data.jetson_RAM > 79:
|
||||
self.jetson_ram_stylesheet_change_ready__signal.emit("background-color: orange;")
|
||||
elif data.jetson_RAM > 89:
|
||||
self.jetson_ram_stylesheet_change_ready__signal.emit("background-color: darkred;")
|
||||
else:
|
||||
self.jetson_ram_stylesheet_change_ready__signal.emit("background-color: darkgreen;")
|
||||
|
||||
self.jetson_gpu_temp_update_ready__signal.emit("TX2 TEMP\n" + str(data.jetson_GPU_temp) + "°C")
|
||||
|
||||
if data.jetson_GPU_temp > 64:
|
||||
self.jetson_gpu_temp_stylesheet_change_ready__signal.emit("background-color: orange;")
|
||||
elif data.jetson_GPU_temp > 79:
|
||||
self.jetson_gpu_temp_stylesheet_change_ready__signal.emit("background-color: darkred;")
|
||||
else:
|
||||
self.jetson_gpu_temp_stylesheet_change_ready__signal.emit("background-color: darkgreen;")
|
||||
|
||||
self.jetson_emmc_update_ready__signal.emit("TX2 EMMC\n" + str(data.jetson_EMMC) + "%")
|
||||
|
||||
if data.jetson_EMMC > 79:
|
||||
self.jetson_emmc_stylesheet_change_ready__signal.emit("background-color: orange;")
|
||||
elif data.jetson_EMMC > 89:
|
||||
self.jetson_emmc_stylesheet_change_ready__signal.emit("background-color: darkred;")
|
||||
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
|
||||
|
||||
if not data.GPS_connection_status:
|
||||
self.gps_stylesheet_change_ready__signal.emit("background-color: darkred;")
|
||||
else:
|
||||
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
|
||||
self.misc_msg.arm_end_effector_connection_statuses = data.arm_end_effector_connection_statuses
|
||||
self.misc_msg.sample_containment_connection_status = data.sample_containment_connection_status
|
||||
self.misc_msg.tower_connection_status = data.tower_connection_status
|
||||
self.misc_msg.chassis_pan_tilt_connection_status = data.chassis_pan_tilt_connection_status
|
||||
|
||||
def __display_time(self):
|
||||
time = QtCore.QTime.currentTime()
|
||||
temp = time.toString('hh:mm')
|
||||
self.clock.display(temp)
|
||||
|
||||
def run(self):
|
||||
while self.run_thread_flag:
|
||||
self.update_requester.publish(Empty())
|
||||
self.__display_time()
|
||||
self.msleep(1000)
|
||||
|
||||
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.connect(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.connect(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)
|
||||
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
|
||||
|
||||
|
||||
if __name__ == '__main__':
|
||||
rover_statuses = SensorCore()
|
||||
rover_statuses.run()
|
||||
|
||||
Reference in New Issue
Block a user