Changed layout for organizational coherence.

software/ground_station/RoverGroundStation.py

@@ -0,0 +1,178 @@
+#!/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