mirror of
https://github.com/OSURoboticsClub/Rover_2017_2018.git
synced 2025-11-08 18:21:15 +00:00
Changed layout for organizational coherence.
This commit is contained in:
15
ground_station/.idea/deployment.xml
generated
15
ground_station/.idea/deployment.xml
generated
@@ -1,15 +0,0 @@
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7
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7
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8
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8
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4
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4
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8
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8
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16
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16
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12
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699
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699
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<component name="webServersAuthStorage">
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</project>
|
||||
@@ -1,50 +0,0 @@
|
||||
import sys
|
||||
from PyQt5 import QtWidgets, QtCore, QtGui, uic
|
||||
import signal
|
||||
import rospy
|
||||
import time
|
||||
from cv_bridge import CvBridge, CvBridgeError
|
||||
import cv2
|
||||
import qimage2ndarray
|
||||
import numpy as np
|
||||
|
||||
from geometry_msgs.msg import Twist
|
||||
from sensor_msgs.msg import CompressedImage
|
||||
#from sensor_msgs.msg import Image, CompressedImage
|
||||
|
||||
|
||||
class DriveTest(QtCore.QThread):
|
||||
publish_message_signal = QtCore.pyqtSignal()
|
||||
|
||||
def __init__(self):
|
||||
super(DriveTest, self).__init__()
|
||||
|
||||
self.not_abort = True
|
||||
|
||||
self.message = None
|
||||
self.publisher = rospy.Publisher("/cmd_vel", Twist, queue_size=10)
|
||||
|
||||
rospy.init_node("test")
|
||||
|
||||
def run(self):
|
||||
# TODO: Thread starting message here
|
||||
while self.not_abort:
|
||||
self.message = Twist()
|
||||
|
||||
self.message.linear.x = 1.0
|
||||
self.message.angular.z = 1.0
|
||||
|
||||
self.publisher.publish(self.message)
|
||||
|
||||
self.msleep(100)
|
||||
# TODO: Thread ending message here
|
||||
|
||||
def __publish_message(self):
|
||||
pass
|
||||
|
||||
def setup_start_and_kill_signals(self, start_signal, signals_and_slots_signal, kill_signal):
|
||||
start_signal.connect(self.start)
|
||||
kill_signal.connect(self.on_kill_threads_requested__slot)
|
||||
|
||||
def on_kill_threads_requested__slot(self):
|
||||
self.not_abort = False
|
||||
@@ -1,127 +0,0 @@
|
||||
#####################################
|
||||
# Imports
|
||||
#####################################
|
||||
# Python native imports
|
||||
from PyQt5 import QtCore
|
||||
from os import makedirs, rename, walk, unlink
|
||||
from os.path import exists, getmtime
|
||||
from os import environ
|
||||
import logging
|
||||
from datetime import datetime
|
||||
|
||||
#####################################
|
||||
# Global Variables
|
||||
#####################################
|
||||
MAX_NUM_LOG_FILES = 30
|
||||
|
||||
|
||||
#####################################
|
||||
# Logger Definition
|
||||
#####################################
|
||||
class Logger(QtCore.QObject):
|
||||
def __init__(self, console_output=True):
|
||||
super(Logger, self).__init__()
|
||||
|
||||
# ########## Local class variables ##########
|
||||
self.console_output = console_output
|
||||
|
||||
# ########## Get the settings instance ##########
|
||||
self.settings = QtCore.QSettings()
|
||||
|
||||
# # ########## Get the Pick And Plate instance of the logger ##########
|
||||
self.logger = logging.getLogger("groundstation")
|
||||
|
||||
# ########## Set variables with useful paths ##########
|
||||
self.appdata_base_directory = environ["HOME"] + "/.groundstation"
|
||||
self.log_directory = self.appdata_base_directory + "//logs"
|
||||
self.log_file_path = self.log_directory + "//log.txt"
|
||||
|
||||
# ########## Cleanup old log files ##########
|
||||
self.__cleanup_log_files()
|
||||
|
||||
# ########## Set up logger with desired settings ##########
|
||||
self.__setup_logger()
|
||||
|
||||
# ########## Place divider in log file to see new program launch ##########
|
||||
self.__add_startup_log_buffer_text()
|
||||
|
||||
def __setup_logger(self):
|
||||
# Get the appdata directory and make the log path if it doesn't exist
|
||||
if not exists(self.log_directory):
|
||||
makedirs(self.log_directory)
|
||||
|
||||
# Set the debugging level
|
||||
self.logger.setLevel(logging.DEBUG)
|
||||
|
||||
# Make a formatter with the log line format wanted
|
||||
formatter = logging.Formatter(fmt='%(levelname)s : %(asctime)s : %(message)s', datefmt='%m/%d/%y %H:%M:%S')
|
||||
|
||||
# Set up a file handler so everything can be saved and attach it to the logger
|
||||
file_handler = logging.FileHandler(filename=self.log_file_path)
|
||||
file_handler.setFormatter(formatter)
|
||||
file_handler.setLevel(logging.DEBUG)
|
||||
self.logger.addHandler(file_handler)
|
||||
|
||||
# Enable console output if requested
|
||||
if self.console_output:
|
||||
console_handler = logging.StreamHandler()
|
||||
console_handler.setFormatter(formatter)
|
||||
console_handler.setLevel(logging.DEBUG)
|
||||
self.logger.addHandler(console_handler)
|
||||
|
||||
def __cleanup_log_files(self):
|
||||
# This copies the existing log.txt file to an old version with a datetime stamp
|
||||
# It then checks if there are too many log files, and if so, deletes the oldest
|
||||
if exists(self.log_directory):
|
||||
# Get the number of log files
|
||||
num_log_files = self.__get_num_files_in_directory(self.log_directory)
|
||||
|
||||
# Check that we actually have log files
|
||||
if num_log_files > 0:
|
||||
date_time = datetime.now().strftime("%Y%m%d-%H%M%S")
|
||||
|
||||
# If we do, move the current logfile to a backup in the format old_log_datetime
|
||||
if exists(self.log_file_path):
|
||||
rename(self.log_file_path, self.log_directory + "\\old_log_" + date_time + ".txt")
|
||||
|
||||
# If we have more than the max log files delete the oldest one
|
||||
if num_log_files >= MAX_NUM_LOG_FILES:
|
||||
unlink(self.__get_name_of_oldest_file(self.log_directory))
|
||||
|
||||
def __add_startup_log_buffer_text(self):
|
||||
# Prints a header saying when the program started
|
||||
self.logger.info("########## Application Starting ##########")
|
||||
|
||||
@staticmethod
|
||||
def __get_name_of_oldest_file(input_path):
|
||||
oldest_file_path = None
|
||||
previous_oldest_time = 0
|
||||
|
||||
# Walk the directory passed in to get all folders and files
|
||||
for dir_path, dir_names, file_names in walk(input_path):
|
||||
# Go through all of the filenames found
|
||||
for file in file_names:
|
||||
# Recreate the full path and get the modified time of the file
|
||||
current_path = dir_path + "\\" + file
|
||||
time = getmtime(current_path)
|
||||
|
||||
# Default case for if the variables above have not been initially set
|
||||
if previous_oldest_time == 0:
|
||||
previous_oldest_time = time
|
||||
oldest_file_path = current_path
|
||||
|
||||
# Saves the oldest time and file path of the current file if it's older (lower timestamp) than the
|
||||
# last file saved in the variables
|
||||
if time < previous_oldest_time:
|
||||
previous_oldest_time = time
|
||||
oldest_file_path = current_path
|
||||
|
||||
# Returns the path to the oldest file after checking all the files
|
||||
return oldest_file_path
|
||||
|
||||
@staticmethod
|
||||
def __get_num_files_in_directory(input_path):
|
||||
# Walk the directory passed in to get all the files
|
||||
for _, _, file_names in walk(input_path):
|
||||
# Return the number of files found in the directory
|
||||
return len(file_names)
|
||||
@@ -1,45 +0,0 @@
|
||||
#####################################
|
||||
# Imports
|
||||
#####################################
|
||||
# Python native imports
|
||||
from PyQt5 import QtCore, QtGui, QtWidgets
|
||||
import time
|
||||
import logging
|
||||
import socket
|
||||
|
||||
import rospy
|
||||
|
||||
# Custom Imports
|
||||
|
||||
#####################################
|
||||
# Global Variables
|
||||
#####################################
|
||||
|
||||
|
||||
#####################################
|
||||
# RoverVideoReceiver Class Definition
|
||||
#####################################
|
||||
class ROSMasterChecker(QtCore.QThread):
|
||||
def __init__(self):
|
||||
super(ROSMasterChecker, self).__init__()
|
||||
|
||||
# ########## Class Variables ##########
|
||||
self.ros_master_present = False
|
||||
|
||||
self.start_time = time.time()
|
||||
self.start()
|
||||
|
||||
def run(self):
|
||||
try:
|
||||
master = rospy.get_master()
|
||||
master.getPid()
|
||||
self.ros_master_present = True
|
||||
except socket.error:
|
||||
return
|
||||
|
||||
def master_present(self, timeout):
|
||||
while self.isRunning() and (time.time() - self.start_time) < timeout:
|
||||
self.msleep(100)
|
||||
|
||||
return self.ros_master_present
|
||||
|
||||
@@ -1,187 +0,0 @@
|
||||
#####################################
|
||||
# Imports
|
||||
#####################################
|
||||
# Python native imports
|
||||
from PyQt5 import QtCore, QtWidgets
|
||||
import logging
|
||||
|
||||
import rospy
|
||||
|
||||
# Custom Imports
|
||||
import RoverVideoReceiver
|
||||
|
||||
#####################################
|
||||
# Global Variables
|
||||
#####################################
|
||||
CAMERA_TOPIC_PATH = "/cameras/"
|
||||
EXCLUDED_CAMERAS = ["zed"]
|
||||
|
||||
PRIMARY_LABEL_MAX = (640, 360)
|
||||
SECONDARY_LABEL_MAX = (256, 144)
|
||||
TERTIARY_LABEL_MAX = (256, 144)
|
||||
|
||||
|
||||
#####################################
|
||||
# RoverVideoCoordinator Class Definition
|
||||
#####################################
|
||||
class RoverVideoCoordinator(QtCore.QThread):
|
||||
pixmap_ready_signal = QtCore.pyqtSignal(str)
|
||||
|
||||
def __init__(self, shared_objects):
|
||||
super(RoverVideoCoordinator, self).__init__()
|
||||
|
||||
# ########## Reference to class init variables ##########
|
||||
self.shared_objects = shared_objects
|
||||
self.right_screen = self.shared_objects["screens"]["right_screen"]
|
||||
self.primary_video_display_label = self.right_screen.primary_video_label # type:QtWidgets.QLabel
|
||||
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
|
||||
|
||||
# ########## 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
|
||||
|
||||
self.setup_cameras_flag = True
|
||||
|
||||
# ########## Class Variables ##########
|
||||
# Camera variables
|
||||
self.camera_threads = {}
|
||||
self.valid_cameras = []
|
||||
self.disabled_cameras = []
|
||||
|
||||
# Setup cameras
|
||||
self.__get_cameras()
|
||||
self.__setup_video_threads()
|
||||
|
||||
self.primary_label_current_setting = 0
|
||||
self.secondary_label_current_setting = 0
|
||||
self.tertiary_label_current_setting = 0
|
||||
|
||||
self.primary_label_max_resolution = -1
|
||||
self.secondary_label_max_resolution = -1
|
||||
self.tertiary_label_max_resolution = -1
|
||||
|
||||
def run(self):
|
||||
self.logger.debug("Starting Video Coordinator Thread")
|
||||
|
||||
self.__set_max_resolutions() # Do this initially so we don't try to disable cameras before they're set up
|
||||
self.msleep(500)
|
||||
|
||||
while self.run_thread_flag:
|
||||
self.__set_max_resolutions()
|
||||
# self.__toggle_background_cameras_if_needed()
|
||||
self.msleep(10)
|
||||
|
||||
self.__wait_for_camera_threads()
|
||||
|
||||
self.logger.debug("Stopping Video Coordinator Thread")
|
||||
|
||||
def __set_max_resolutions(self):
|
||||
self.primary_label_max_resolution = self.camera_threads[
|
||||
self.valid_cameras[self.primary_label_current_setting]].current_max_resolution
|
||||
self.secondary_label_max_resolution = self.camera_threads[
|
||||
self.valid_cameras[self.secondary_label_current_setting]].current_max_resolution
|
||||
self.tertiary_label_max_resolution = self.camera_threads[
|
||||
self.valid_cameras[self.tertiary_label_current_setting]].current_max_resolution
|
||||
|
||||
if self.primary_label_max_resolution != PRIMARY_LABEL_MAX:
|
||||
self.camera_threads[self.valid_cameras[self.primary_label_current_setting]].change_max_resolution_setting(
|
||||
PRIMARY_LABEL_MAX)
|
||||
|
||||
if self.secondary_label_max_resolution != SECONDARY_LABEL_MAX and self.secondary_label_current_setting != self.primary_label_current_setting:
|
||||
self.camera_threads[self.valid_cameras[self.secondary_label_current_setting]].change_max_resolution_setting(
|
||||
SECONDARY_LABEL_MAX)
|
||||
|
||||
if self.tertiary_label_max_resolution != TERTIARY_LABEL_MAX and self.tertiary_label_current_setting != self.primary_label_current_setting:
|
||||
self.camera_threads[self.valid_cameras[self.tertiary_label_current_setting]].change_max_resolution_setting(
|
||||
TERTIARY_LABEL_MAX)
|
||||
|
||||
def __toggle_background_cameras_if_needed(self):
|
||||
enabled = list({self.primary_label_current_setting, self.secondary_label_current_setting,
|
||||
self.tertiary_label_current_setting})
|
||||
|
||||
for camera_index, camera_name in enumerate(self.valid_cameras):
|
||||
if camera_index not in enabled:
|
||||
self.camera_threads[camera_name].toggle_video_display()
|
||||
self.disabled_cameras.append(camera_index)
|
||||
elif camera_index in self.disabled_cameras:
|
||||
self.camera_threads[camera_name].toggle_video_display()
|
||||
self.disabled_cameras.remove(camera_index)
|
||||
|
||||
def __get_cameras(self):
|
||||
topics = rospy.get_published_topics(CAMERA_TOPIC_PATH)
|
||||
|
||||
names = []
|
||||
|
||||
for topics_group in topics:
|
||||
main_topic = topics_group[0]
|
||||
camera_name = main_topic.split("/")[2]
|
||||
names.append(camera_name)
|
||||
|
||||
names = set(names)
|
||||
|
||||
for camera in EXCLUDED_CAMERAS:
|
||||
if camera in names:
|
||||
names.remove(camera)
|
||||
|
||||
self.valid_cameras = list(names)
|
||||
|
||||
def __setup_video_threads(self):
|
||||
for camera in self.valid_cameras:
|
||||
self.camera_threads[camera] = RoverVideoReceiver.RoverVideoReceiver(camera)
|
||||
|
||||
def __wait_for_camera_threads(self):
|
||||
for camera in self.camera_threads:
|
||||
self.camera_threads[camera].wait()
|
||||
|
||||
def connect_signals_and_slots(self):
|
||||
for thread in self.camera_threads:
|
||||
self.camera_threads[thread].image_ready_signal.connect(self.pixmap_ready__slot)
|
||||
|
||||
self.primary_video_display_label.mousePressEvent = self.__change_display_source_primary_mouse_press_event
|
||||
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
|
||||
|
||||
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)
|
||||
|
||||
for camera in self.camera_threads:
|
||||
self.camera_threads[camera].setup_signals(start_signal, signals_and_slots_signal, kill_signal)
|
||||
|
||||
def __change_display_source_primary_mouse_press_event(self, event):
|
||||
if event.button() == QtCore.Qt.LeftButton:
|
||||
self.primary_label_current_setting = (self.primary_label_current_setting + 1) % len(self.valid_cameras)
|
||||
elif event.button() == QtCore.Qt.RightButton:
|
||||
self.camera_threads[self.valid_cameras[self.primary_label_current_setting]].toggle_video_display()
|
||||
|
||||
def __change_display_source_secondary_mouse_press_event(self, event):
|
||||
if event.button() == QtCore.Qt.LeftButton:
|
||||
self.secondary_label_current_setting = (self.secondary_label_current_setting + 1) % len(self.valid_cameras)
|
||||
elif event.button() == QtCore.Qt.RightButton:
|
||||
self.camera_threads[self.valid_cameras[self.secondary_label_current_setting]].toggle_video_display()
|
||||
|
||||
def __change_display_source_tertiary_mouse_press_event(self, event):
|
||||
if event.button() == QtCore.Qt.LeftButton:
|
||||
self.tertiary_label_current_setting = (self.tertiary_label_current_setting + 1) % len(self.valid_cameras)
|
||||
elif event.button() == QtCore.Qt.RightButton:
|
||||
self.camera_threads[self.valid_cameras[self.tertiary_label_current_setting]].toggle_video_display()
|
||||
|
||||
def pixmap_ready__slot(self, camera):
|
||||
if self.valid_cameras[self.primary_label_current_setting] == camera:
|
||||
self.primary_video_display_label.setPixmap(self.camera_threads[camera].pixmap_1280x720_image)
|
||||
|
||||
if self.valid_cameras[self.secondary_label_current_setting] == camera:
|
||||
self.secondary_video_display_label.setPixmap(self.camera_threads[camera].pixmap_640x360_image)
|
||||
|
||||
if self.valid_cameras[self.tertiary_label_current_setting] == camera:
|
||||
self.tertiary_video_display_label.setPixmap(self.camera_threads[camera].pixmap_640x360_image)
|
||||
|
||||
def on_kill_threads_requested__slot(self):
|
||||
self.run_thread_flag = False
|
||||
@@ -1,233 +0,0 @@
|
||||
#####################################
|
||||
# Imports
|
||||
#####################################
|
||||
# Python native imports
|
||||
from PyQt5 import QtCore, QtGui, QtWidgets
|
||||
import logging
|
||||
import cv2
|
||||
import numpy as np
|
||||
import qimage2ndarray
|
||||
|
||||
import rospy
|
||||
from cv_bridge import CvBridge
|
||||
from sensor_msgs.msg import CompressedImage
|
||||
|
||||
# Custom Imports
|
||||
|
||||
#####################################
|
||||
# Global Variables
|
||||
#####################################
|
||||
CAMERA_TOPIC_PATH = "/cameras/"
|
||||
|
||||
|
||||
#####################################
|
||||
# RoverVideoReceiver Class Definition
|
||||
#####################################
|
||||
class RoverVideoReceiver(QtCore.QThread):
|
||||
image_ready_signal = QtCore.pyqtSignal(str)
|
||||
|
||||
def __init__(self, camera_name):
|
||||
super(RoverVideoReceiver, self).__init__()
|
||||
|
||||
# ########## Reference to class init variables ##########
|
||||
self.camera_name = camera_name
|
||||
|
||||
# ########## 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.camera_title_name = self.camera_name.replace("_", " ").title()
|
||||
|
||||
self.topic_base_path = CAMERA_TOPIC_PATH + self.camera_name
|
||||
self.camera_topics = {}
|
||||
|
||||
self.current_max_resolution = None
|
||||
|
||||
self.current_camera_settings = {
|
||||
"resolution": None,
|
||||
"quality_setting": 80,
|
||||
|
||||
}
|
||||
|
||||
self.previous_camera_settings = self.current_camera_settings.copy()
|
||||
|
||||
self.temp_topic_path = CAMERA_TOPIC_PATH + self.camera_name + "/image_640x360/compressed"
|
||||
|
||||
# Subscription variables
|
||||
self.video_subscriber = None # type: rospy.Subscriber
|
||||
|
||||
# Image variables
|
||||
self.raw_image = None
|
||||
self.opencv_1280x720_image = None
|
||||
self.opencv_640x360_image = None
|
||||
|
||||
self.pixmap_1280x720_image = None
|
||||
self.pixmap_640x360_image = None
|
||||
|
||||
# Processing variables
|
||||
self.bridge = CvBridge() # OpenCV ROS Video Data Processor
|
||||
self.video_enabled = True
|
||||
self.new_frame = False
|
||||
|
||||
# Text Drawing Variables
|
||||
self.font = cv2.FONT_HERSHEY_TRIPLEX
|
||||
self.font_thickness = 1
|
||||
self.font_baseline = 0
|
||||
|
||||
self.camera_name_opencv_1280x720_image = None
|
||||
self.camera_name_opencv_640x360_image = None
|
||||
|
||||
self.__create_camera_name_opencv_images()
|
||||
self.__get_camera_available_resolutions()
|
||||
|
||||
def run(self):
|
||||
self.logger.debug("Starting \"%s\" Camera Thread" % self.camera_title_name)
|
||||
|
||||
while self.run_thread_flag:
|
||||
if self.video_enabled:
|
||||
self.__show_video_enabled()
|
||||
else:
|
||||
self.__show_video_disabled()
|
||||
|
||||
self.msleep(10)
|
||||
|
||||
self.logger.debug("Stopping \"%s\" Camera Thread" % self.camera_title_name)
|
||||
|
||||
def __get_camera_available_resolutions(self):
|
||||
topics = rospy.get_published_topics(self.topic_base_path)
|
||||
|
||||
resolution_options = []
|
||||
|
||||
for topics_group in topics:
|
||||
main_topic = topics_group[0]
|
||||
camera_name = main_topic.split("/")[3]
|
||||
resolution_options.append(camera_name)
|
||||
|
||||
resolution_options = list(set(resolution_options))
|
||||
|
||||
for resolution in resolution_options:
|
||||
# Creates a tuple in (width, height) format that we can use as the key
|
||||
group = int(resolution.split("image_")[1].split("x")[0]), int(resolution.split("image_")[1].split("x")[1])
|
||||
self.camera_topics[group] = self.topic_base_path + "/" + resolution + "/compressed"
|
||||
|
||||
def __update_camera_subscription_and_settings(self):
|
||||
if self.current_camera_settings["resolution"] != self.previous_camera_settings["resolution"]:
|
||||
|
||||
if self.video_subscriber:
|
||||
self.video_subscriber.unregister()
|
||||
new_topic = self.camera_topics[self.current_camera_settings["resolution"]]
|
||||
self.video_subscriber = rospy.Subscriber(new_topic, CompressedImage, self.__image_data_received_callback)
|
||||
|
||||
self.new_frame = False
|
||||
while not self.new_frame:
|
||||
self.msleep(10)
|
||||
|
||||
self.previous_camera_settings["resolution"] = self.current_camera_settings["resolution"]
|
||||
|
||||
def __show_video_enabled(self):
|
||||
self.__update_camera_subscription_and_settings()
|
||||
if self.new_frame and self.current_camera_settings["resolution"]:
|
||||
# if self.raw_image:
|
||||
opencv_image = self.bridge.compressed_imgmsg_to_cv2(self.raw_image, "rgb8")
|
||||
|
||||
self.__create_final_pixmaps(opencv_image)
|
||||
|
||||
self.image_ready_signal.emit(self.camera_name)
|
||||
self.new_frame = False
|
||||
|
||||
def __show_video_disabled(self):
|
||||
blank_frame = np.zeros((720, 1280, 3), np.uint8)
|
||||
|
||||
self.__create_final_pixmaps(blank_frame)
|
||||
|
||||
self.image_ready_signal.emit(self.camera_name)
|
||||
|
||||
def __create_final_pixmaps(self, opencv_image):
|
||||
height, width, _ = opencv_image.shape
|
||||
|
||||
if width != 1280 and height != 720:
|
||||
self.opencv_1280x720_image = cv2.resize(opencv_image, (1280, 720))
|
||||
else:
|
||||
self.opencv_1280x720_image = opencv_image
|
||||
|
||||
if width != 640 and height != 360:
|
||||
self.opencv_640x360_image = cv2.resize(opencv_image, (640, 360))
|
||||
else:
|
||||
self.opencv_640x360_image = opencv_image
|
||||
|
||||
self.__apply_camera_name(self.opencv_1280x720_image, self.camera_name_opencv_1280x720_image)
|
||||
self.__apply_camera_name(self.opencv_640x360_image, self.camera_name_opencv_640x360_image)
|
||||
|
||||
self.pixmap_1280x720_image = QtGui.QPixmap.fromImage(qimage2ndarray.array2qimage(
|
||||
self.opencv_1280x720_image))
|
||||
self.pixmap_640x360_image = QtGui.QPixmap.fromImage(qimage2ndarray.array2qimage(
|
||||
self.opencv_640x360_image))
|
||||
|
||||
def __image_data_received_callback(self, raw_image):
|
||||
self.raw_image = raw_image
|
||||
self.new_frame = True
|
||||
|
||||
def __create_camera_name_opencv_images(self):
|
||||
camera_name_text_width, camera_name_text_height = \
|
||||
cv2.getTextSize(self.camera_title_name, self.font, self.font_thickness, self.font_baseline)[0]
|
||||
|
||||
camera_name_width_buffered = camera_name_text_width + 10
|
||||
camera_name_height_buffered = camera_name_text_height + 20
|
||||
|
||||
camera_name_opencv_image = np.zeros(
|
||||
(camera_name_height_buffered, camera_name_width_buffered, 3), np.uint8)
|
||||
|
||||
cv2.putText(
|
||||
camera_name_opencv_image,
|
||||
self.camera_title_name,
|
||||
((camera_name_width_buffered - camera_name_text_width) / 2, int((camera_name_height_buffered * 2) / 3)),
|
||||
self.font,
|
||||
1,
|
||||
(255, 255, 255),
|
||||
1,
|
||||
cv2.LINE_AA)
|
||||
|
||||
self.camera_name_opencv_1280x720_image = \
|
||||
cv2.resize(camera_name_opencv_image, (camera_name_width_buffered, camera_name_height_buffered))
|
||||
|
||||
self.camera_name_opencv_640x360_image = \
|
||||
cv2.resize(camera_name_opencv_image, (camera_name_width_buffered / 2, camera_name_height_buffered / 2))
|
||||
|
||||
def change_max_resolution_setting(self, resolution_max):
|
||||
self.current_max_resolution = resolution_max
|
||||
self.current_camera_settings["resolution"] = resolution_max
|
||||
|
||||
def toggle_video_display(self):
|
||||
if self.video_enabled:
|
||||
if self.video_subscriber:
|
||||
self.video_subscriber.unregister()
|
||||
self.new_frame = True
|
||||
self.video_enabled = False
|
||||
else:
|
||||
new_topic = self.camera_topics[self.current_camera_settings["resolution"]]
|
||||
self.video_subscriber = rospy.Subscriber(new_topic, CompressedImage, self.__image_data_received_callback)
|
||||
# self.video_subscriber = rospy.Subscriber(self.temp_topic_path, CompressedImage,
|
||||
# self.__image_data_received_callback)
|
||||
self.video_enabled = True
|
||||
|
||||
def connect_signals_and_slots(self):
|
||||
pass
|
||||
|
||||
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
|
||||
|
||||
@staticmethod
|
||||
def __apply_camera_name(opencv_image, font_opencv_image):
|
||||
opencv_image[0:0 + font_opencv_image.shape[0], 0:0 + font_opencv_image.shape[1]] = \
|
||||
font_opencv_image
|
||||
@@ -1,134 +0,0 @@
|
||||
import sys
|
||||
from PyQt5 import QtWidgets, QtCore, QtGui, uic
|
||||
import signal
|
||||
import rospy
|
||||
import time
|
||||
from cv_bridge import CvBridge, CvBridgeError
|
||||
import cv2
|
||||
import qimage2ndarray
|
||||
import numpy as np
|
||||
|
||||
from geometry_msgs.msg import Twist
|
||||
from sensor_msgs.msg import CompressedImage
|
||||
#from sensor_msgs.msg import Image, CompressedImage
|
||||
|
||||
|
||||
class VideoTest(QtCore.QThread):
|
||||
publish_message_signal = QtCore.pyqtSignal()
|
||||
image_ready_signal = QtCore.pyqtSignal()
|
||||
|
||||
def __init__(self, shared_objects, screen_label, video_size=None, sub_path=None):
|
||||
super(VideoTest, self).__init__()
|
||||
|
||||
self.not_abort = True
|
||||
|
||||
self.shared_objects = shared_objects
|
||||
|
||||
self.right_screen_label = screen_label # type: QtGui.QPixmap
|
||||
self.video_size = video_size
|
||||
|
||||
self.message = None
|
||||
|
||||
self.publisher = rospy.Subscriber(sub_path, CompressedImage, self.__receive_message)
|
||||
|
||||
self.raw_image = None
|
||||
self.cv_image = None
|
||||
self.pixmap = None
|
||||
self.bridge = CvBridge()
|
||||
# self.bridge.com
|
||||
|
||||
self.new_frame = False
|
||||
self.frame_count = 0
|
||||
self.last_frame_time = time.time()
|
||||
self.fps = 0
|
||||
|
||||
self.name = sub_path.split("/")[2].replace("_", " ").title()
|
||||
|
||||
self.font = cv2.FONT_HERSHEY_TRIPLEX
|
||||
|
||||
thickness = 1
|
||||
baseline = 0
|
||||
|
||||
text_size = cv2.getTextSize(self.name, self.font, thickness, baseline)
|
||||
print text_size
|
||||
|
||||
text_width, text_height = text_size[0]
|
||||
|
||||
width = text_width + 10
|
||||
height = text_height + 20
|
||||
|
||||
self.blank_image = np.zeros((height, width, 3), np.uint8)
|
||||
cv2.putText(self.blank_image, self.name, ((width - text_width) / 2, int((height * 2) / 3)), self.font, 1, (255, 255, 255), 1, cv2.LINE_AA)
|
||||
self.blank_image = cv2.resize(self.blank_image, (width / 2, height / 2))
|
||||
|
||||
def run(self):
|
||||
# TODO: Thread starting message here
|
||||
y_offset = 0
|
||||
x_offset = 0
|
||||
|
||||
while self.not_abort:
|
||||
if self.raw_image and self.new_frame:
|
||||
self.cv_image = self.bridge.compressed_imgmsg_to_cv2(self.raw_image, "rgb8")
|
||||
|
||||
self.cv_image = self.__show_fps(self.cv_image)
|
||||
|
||||
self.cv_image[y_offset:y_offset + self.blank_image.shape[0], x_offset:x_offset + self.blank_image.shape[1]] = self.blank_image
|
||||
|
||||
if self.video_size:
|
||||
self.cv_image = cv2.resize(self.cv_image, self.video_size)
|
||||
self.pixmap = QtGui.QPixmap.fromImage(qimage2ndarray.array2qimage(self.cv_image))
|
||||
self.image_ready_signal.emit()
|
||||
self.new_frame = False
|
||||
|
||||
if (time.time() - self.last_frame_time) >= 0.5:
|
||||
self.fps = int(self.frame_count / (time.time() - self. last_frame_time))
|
||||
|
||||
self.last_frame_time = time.time()
|
||||
self.frame_count = 0
|
||||
|
||||
self.msleep(18)
|
||||
# TODO: Thread ending message here
|
||||
|
||||
def __show_fps(self, image):
|
||||
thickness = 1
|
||||
baseline = 0
|
||||
|
||||
fps_string = str(self.fps)
|
||||
|
||||
text_size = cv2.getTextSize(fps_string, self.font, thickness, baseline)
|
||||
|
||||
text_width, text_height = text_size[0]
|
||||
|
||||
width = text_width + 10
|
||||
height = text_height + 20
|
||||
|
||||
fps_image = np.zeros((height, width, 3), np.uint8)
|
||||
|
||||
cv2.putText(fps_image, fps_string, ((width - text_width) / 2, int((height * 2) / 3)), self.font, 1, (255, 255, 255), 1, cv2.LINE_AA)
|
||||
fps_image = cv2.resize(fps_image, (width / 2, height / 2))
|
||||
|
||||
y_offset = 0
|
||||
x_offset = (image.shape[1] - fps_image.shape[1]) / 2
|
||||
|
||||
image[y_offset:y_offset + fps_image.shape[0], x_offset:x_offset + fps_image.shape[1]] = fps_image
|
||||
|
||||
return image
|
||||
|
||||
def __on_image_update_ready(self):
|
||||
self.right_screen_label.setPixmap(self.pixmap)
|
||||
|
||||
def __receive_message(self, message):
|
||||
self.raw_image = message
|
||||
self.new_frame = True
|
||||
self.frame_count += 1
|
||||
|
||||
def connect_signals_and_slots(self):
|
||||
self.image_ready_signal.connect(self.__on_image_update_ready)
|
||||
|
||||
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.not_abort = False
|
||||
@@ -1,10 +0,0 @@
|
||||
# Ground Station Software
|
||||
This code is for the ground station side of the Mars Rover project.
|
||||
|
||||
## Requirements
|
||||
* Python 3.X
|
||||
* PyQt5
|
||||
* ROS (Version TBD)
|
||||
|
||||
## How to Launch
|
||||
TBD
|
||||
@@ -1,246 +0,0 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<ui version="4.0">
|
||||
<class>MainWindow</class>
|
||||
<widget class="QMainWindow" name="MainWindow">
|
||||
<property name="geometry">
|
||||
<rect>
|
||||
<x>0</x>
|
||||
<y>0</y>
|
||||
<width>1920</width>
|
||||
<height>1080</height>
|
||||
</rect>
|
||||
</property>
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>1920</width>
|
||||
<height>1080</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>1920</width>
|
||||
<height>1080</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="windowTitle">
|
||||
<string>MainWindow</string>
|
||||
</property>
|
||||
<property name="windowOpacity">
|
||||
<double>1.000000000000000</double>
|
||||
</property>
|
||||
<property name="styleSheet">
|
||||
<string notr="true">background-color: #201F1D;
|
||||
color: #DCDCDC;</string>
|
||||
</property>
|
||||
<widget class="QWidget" name="centralwidget">
|
||||
<layout class="QHBoxLayout" name="horizontalLayout">
|
||||
<property name="spacing">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="margin">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<item>
|
||||
<layout class="QVBoxLayout" name="verticalLayout">
|
||||
<property name="spacing">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<item>
|
||||
<widget class="QWidget" name="widget_4" native="true">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>640</width>
|
||||
<height>540</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>640</width>
|
||||
<height>540</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="styleSheet">
|
||||
<string notr="true">background-color:lightgreen;</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QTabWidget" name="tabWidget">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>640</width>
|
||||
<height>540</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>640</width>
|
||||
<height>540</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="currentIndex">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<widget class="QWidget" name="tab">
|
||||
<attribute name="title">
|
||||
<string>Recording</string>
|
||||
</attribute>
|
||||
</widget>
|
||||
<widget class="QWidget" name="tab_2">
|
||||
<attribute name="title">
|
||||
<string>Settings</string>
|
||||
</attribute>
|
||||
</widget>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
<item>
|
||||
<layout class="QVBoxLayout" name="verticalLayout_2">
|
||||
<property name="spacing">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<item>
|
||||
<widget class="QLabel" name="label">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>1280</width>
|
||||
<height>720</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>1280</width>
|
||||
<height>720</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="styleSheet">
|
||||
<string notr="true">background-color:lightblue;</string>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<layout class="QHBoxLayout" name="horizontalLayout_2">
|
||||
<property name="spacing">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<item>
|
||||
<widget class="QWidget" name="widget" native="true">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>640</width>
|
||||
<height>360</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>640</width>
|
||||
<height>360</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="styleSheet">
|
||||
<string notr="true">background-color:salmon;</string>
|
||||
</property>
|
||||
<layout class="QGridLayout" name="gridLayout">
|
||||
<property name="margin">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="spacing">
|
||||
<number>0</number>
|
||||
</property>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QWidget" name="widget_3" native="true">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>320</width>
|
||||
<height>360</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>320</width>
|
||||
<height>360</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="styleSheet">
|
||||
<string notr="true">background-color:teal;</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QWidget" name="widget_2" native="true">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>320</width>
|
||||
<height>360</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>320</width>
|
||||
<height>360</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="styleSheet">
|
||||
<string notr="true">background-color:lightgreen</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</widget>
|
||||
<resources/>
|
||||
<connections/>
|
||||
</ui>
|
||||
@@ -1,236 +0,0 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<ui version="4.0">
|
||||
<class>MainWindow</class>
|
||||
<widget class="QMainWindow" name="MainWindow">
|
||||
<property name="geometry">
|
||||
<rect>
|
||||
<x>0</x>
|
||||
<y>0</y>
|
||||
<width>1920</width>
|
||||
<height>1080</height>
|
||||
</rect>
|
||||
</property>
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>1920</width>
|
||||
<height>1080</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>1920</width>
|
||||
<height>1080</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="windowTitle">
|
||||
<string>MainWindow</string>
|
||||
</property>
|
||||
<property name="windowOpacity">
|
||||
<double>1.000000000000000</double>
|
||||
</property>
|
||||
<property name="styleSheet">
|
||||
<string notr="true">background-color: #201F1D;
|
||||
color: #DCDCDC;</string>
|
||||
</property>
|
||||
<widget class="QWidget" name="centralwidget">
|
||||
<layout class="QHBoxLayout" name="horizontalLayout">
|
||||
<property name="spacing">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="sizeConstraint">
|
||||
<enum>QLayout::SetDefaultConstraint</enum>
|
||||
</property>
|
||||
<property name="margin">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<item>
|
||||
<layout class="QVBoxLayout" name="verticalLayout_2">
|
||||
<property name="spacing">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<item>
|
||||
<layout class="QVBoxLayout" name="verticalLayout_4">
|
||||
<property name="spacing">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<item>
|
||||
<widget class="QWidget" name="arm_visualization_widget" native="true">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>640</width>
|
||||
<height>720</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>640</width>
|
||||
<height>720</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="styleSheet">
|
||||
<string notr="true">background-color:orange;</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<layout class="QHBoxLayout" name="horizontalLayout_4">
|
||||
<property name="spacing">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="sizeConstraint">
|
||||
<enum>QLayout::SetNoConstraint</enum>
|
||||
</property>
|
||||
<item>
|
||||
<widget class="QWidget" name="heading_widget" native="true">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>320</width>
|
||||
<height>360</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>320</width>
|
||||
<height>360</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="styleSheet">
|
||||
<string notr="true">background-color:lightgreen;;</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QWidget" name="speed_limit_widget" native="true">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>320</width>
|
||||
<height>360</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>320</width>
|
||||
<height>360</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="styleSheet">
|
||||
<string notr="true">background-color:salmon;</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
<item>
|
||||
<layout class="QVBoxLayout" name="verticalLayout_3">
|
||||
<property name="spacing">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<item>
|
||||
<widget class="QLabel" name="primary_video_label">
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>1280</width>
|
||||
<height>720</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>1280</width>
|
||||
<height>720</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="styleSheet">
|
||||
<string notr="true">background-color: darkblue;</string>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<layout class="QHBoxLayout" name="horizontalLayout_3">
|
||||
<property name="spacing">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<item>
|
||||
<widget class="QLabel" name="secondary_video_label">
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>640</width>
|
||||
<height>360</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>640</width>
|
||||
<height>360</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="styleSheet">
|
||||
<string notr="true">background-color:darkgreen;</string>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QLabel" name="tertiary_video_label">
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>640</width>
|
||||
<height>360</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>640</width>
|
||||
<height>360</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="styleSheet">
|
||||
<string notr="true">background-color:maroon;</string>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</widget>
|
||||
<resources/>
|
||||
<connections/>
|
||||
</ui>
|
||||
@@ -1,178 +0,0 @@
|
||||
#!/usr/bin/env python
|
||||
#####################################
|
||||
# Imports
|
||||
#####################################
|
||||
# Python native imports
|
||||
import sys
|
||||
from PyQt5 import QtWidgets, QtCore, QtGui, uic
|
||||
import signal
|
||||
import rospy
|
||||
import logging
|
||||
import qdarkstyle
|
||||
|
||||
# Custom Imports
|
||||
import Framework.StartupSystems.ROSMasterChecker as ROSMasterChecker
|
||||
import Framework.LoggingSystems.Logger as Logger
|
||||
import Framework.VideoSystems.RoverVideoCoordinator as RoverVideoCoordinator
|
||||
|
||||
#####################################
|
||||
# Global Variables
|
||||
#####################################
|
||||
UI_FILE_LEFT = "Resources/Ui/left_screen.ui"
|
||||
UI_FILE_RIGHT = "Resources/Ui/right_screen.ui"
|
||||
|
||||
#####################################
|
||||
# Class Organization
|
||||
#####################################
|
||||
# Class Name:
|
||||
# "init"
|
||||
# "run (if there)" - personal pref
|
||||
# "private methods"
|
||||
# "public methods, minus slots"
|
||||
# "slot methods"
|
||||
# "static methods"
|
||||
# "run (if there)" - personal pref
|
||||
|
||||
|
||||
#####################################
|
||||
# ApplicationWindow Class Definition
|
||||
#####################################
|
||||
class ApplicationWindow(QtWidgets.QMainWindow):
|
||||
exit_requested_signal = QtCore.pyqtSignal()
|
||||
|
||||
kill_threads_signal = QtCore.pyqtSignal()
|
||||
|
||||
def __init__(self, parent=None, ui_file_path=None):
|
||||
super(ApplicationWindow, self).__init__(parent)
|
||||
|
||||
uic.loadUi(ui_file_path, self)
|
||||
|
||||
QtWidgets.QShortcut(QtGui.QKeySequence("Ctrl+Q"), self, self.exit_requested_signal.emit)
|
||||
|
||||
|
||||
#####################################
|
||||
# GroundStation Class Definition
|
||||
#####################################
|
||||
class GroundStation(QtCore.QObject):
|
||||
LEFT_SCREEN_ID = 0
|
||||
RIGHT_SCREEN_ID = 1
|
||||
|
||||
exit_requested_signal = QtCore.pyqtSignal()
|
||||
|
||||
start_threads_signal = QtCore.pyqtSignal()
|
||||
connect_signals_and_slots_signal = QtCore.pyqtSignal()
|
||||
kill_threads_signal = QtCore.pyqtSignal()
|
||||
|
||||
def __init__(self, parent=None,):
|
||||
# noinspection PyArgumentList
|
||||
super(GroundStation, self).__init__(parent)
|
||||
|
||||
# ##### Setup the Logger Immediately #####
|
||||
self.logger_setup_class = Logger.Logger(console_output=True) # Doesn't need to be shared
|
||||
|
||||
# ########## Get the Pick And Plate instance of the logger ##########
|
||||
self.logger = logging.getLogger("groundstation")
|
||||
|
||||
self.shared_objects = {
|
||||
"screens": {},
|
||||
"regular_classes": {},
|
||||
"threaded_classes": {}
|
||||
}
|
||||
|
||||
# ###### Instantiate Left And Right Screens ######
|
||||
self.shared_objects["screens"]["left_screen"] = \
|
||||
self.create_application_window(UI_FILE_LEFT, "Rover Ground Station Left Screen",
|
||||
self.LEFT_SCREEN_ID) # type: ApplicationWindow
|
||||
|
||||
self.shared_objects["screens"]["right_screen"] = \
|
||||
self.create_application_window(UI_FILE_RIGHT, "Rover Ground Station Right Screen",
|
||||
self.RIGHT_SCREEN_ID) # type: ApplicationWindow
|
||||
|
||||
# ###### Initialize the Ground Station Node ######
|
||||
rospy.init_node("ground_station")
|
||||
|
||||
# ##### Instantiate Regular Classes ######
|
||||
|
||||
# ##### Instantiate Threaded Classes ######
|
||||
self.__add_thread("Video Coordinator", RoverVideoCoordinator.RoverVideoCoordinator(self.shared_objects))
|
||||
|
||||
self.connect_signals_and_slots_signal.emit()
|
||||
self.__connect_signals_to_slots()
|
||||
self.start_threads_signal.emit()
|
||||
|
||||
def ___ros_master_running(self):
|
||||
checker = ROSMasterChecker.ROSMasterChecker()
|
||||
|
||||
if not checker.master_present(5):
|
||||
self.logger.debug("ROS Master Not Found!!!! Exiting!!!")
|
||||
QtGui.QGuiApplication.exit()
|
||||
return False
|
||||
return True
|
||||
|
||||
def __add_thread(self, thread_name, instance):
|
||||
self.shared_objects["threaded_classes"][thread_name] = instance
|
||||
instance.setup_signals(self.start_threads_signal, self.connect_signals_and_slots_signal,
|
||||
self.kill_threads_signal)
|
||||
|
||||
def __connect_signals_to_slots(self):
|
||||
self.shared_objects["screens"]["left_screen"].exit_requested_signal.connect(self.on_exit_requested__slot)
|
||||
self.shared_objects["screens"]["right_screen"].exit_requested_signal.connect(self.on_exit_requested__slot)
|
||||
|
||||
def on_exit_requested__slot(self):
|
||||
self.kill_threads_signal.emit()
|
||||
|
||||
# Wait for Threads
|
||||
for thread in self.shared_objects["threaded_classes"]:
|
||||
self.shared_objects["threaded_classes"][thread].wait()
|
||||
|
||||
QtGui.QGuiApplication.exit()
|
||||
|
||||
@staticmethod
|
||||
def create_application_window(ui_file_path, title, display_screen):
|
||||
system_desktop = QtWidgets.QDesktopWidget() # This gets us access to the desktop geometry
|
||||
|
||||
app_window = ApplicationWindow(parent=None, ui_file_path=ui_file_path) # Make a window in this application
|
||||
app_window.setWindowTitle(title) # Sets the window title
|
||||
|
||||
app_window.setWindowFlags(app_window.windowFlags() | # Sets the windows flags to:
|
||||
QtCore.Qt.FramelessWindowHint | # remove the border and frame on the application,
|
||||
QtCore.Qt.WindowStaysOnTopHint | # and makes the window stay on top of all others
|
||||
QtCore.Qt.X11BypassWindowManagerHint) # This is needed to show fullscreen in gnome
|
||||
|
||||
app_window.setGeometry(
|
||||
system_desktop.screenGeometry(display_screen)) # Sets the window to be on the first screen
|
||||
|
||||
app_window.showFullScreen() # Shows the window in full screen mode
|
||||
|
||||
return app_window
|
||||
|
||||
|
||||
#####################################
|
||||
# Main Definition
|
||||
#####################################
|
||||
if __name__ == "__main__":
|
||||
signal.signal(signal.SIGINT, signal.SIG_DFL) # This allows the keyboard interrupt kill to work properly
|
||||
|
||||
# ########## Start the QApplication Framework ##########
|
||||
application = QtWidgets.QApplication(sys.argv) # Create the ase qt gui application
|
||||
application.setStyleSheet(qdarkstyle.load_stylesheet_pyqt5())
|
||||
|
||||
# ########## Set Organization Details for QSettings ##########
|
||||
QtCore.QCoreApplication.setOrganizationName("OSURC")
|
||||
QtCore.QCoreApplication.setOrganizationDomain("http://osurobotics.club/")
|
||||
QtCore.QCoreApplication.setApplicationName("groundstation")
|
||||
|
||||
# ########## Check ROS Master Status ##########
|
||||
master_checker = ROSMasterChecker.ROSMasterChecker()
|
||||
|
||||
if not master_checker.master_present(5):
|
||||
message_box = QtWidgets.QMessageBox()
|
||||
message_box.setWindowTitle("Rover Ground Station")
|
||||
message_box.setText("Connection to ROS Master Failed!!!\n" +
|
||||
"Ensure ROS master is running or check for network issues.")
|
||||
message_box.exec_()
|
||||
exit()
|
||||
|
||||
# ########## Start Ground Station If Ready ##########
|
||||
ground_station = GroundStation()
|
||||
application.exec_() # Execute launching of the application
|
||||
Reference in New Issue
Block a user