mirror of
https://github.com/OSURoboticsClub/Rover_2017_2018.git
synced 2025-11-08 10:11:14 +00:00
187 lines
7.4 KiB
Python
Executable File
187 lines
7.4 KiB
Python
Executable File
#!/usr/bin/env python
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#####################################
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# Imports
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#####################################
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# Python native imports
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import sys
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from PyQt5 import QtWidgets, QtCore, QtGui, uic
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import signal
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import rospy
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import logging
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import qdarkstyle
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import PIL.Image
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from PIL.ImageQt import ImageQt
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# Custom Imports
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import Framework.StartupSystems.ROSMasterChecker as ROSMasterChecker
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import Framework.LoggingSystems.Logger as Logger
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import Framework.VideoSystems.RoverVideoCoordinator as RoverVideoCoordinator
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import Framework.MapSystems.RoverMapCoordinator as RoverMapCoordinator
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import Framework.DriveSystems.RoverDriveSender as RoverDriveSender
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#####################################
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# Global Variables
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#####################################
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UI_FILE_LEFT = "Resources/Ui/left_screen.ui"
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UI_FILE_RIGHT = "Resources/Ui/right_screen.ui"
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#####################################
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# Class Organization
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#####################################
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# Class Name:
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# "init"
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# "run (if there)" - personal pref
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# "private methods"
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# "public methods, minus slots"
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# "slot methods"
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# "static methods"
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# "run (if there)" - personal pref
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#####################################
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# ApplicationWindow Class Definition
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#####################################
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class ApplicationWindow(QtWidgets.QMainWindow):
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exit_requested_signal = QtCore.pyqtSignal()
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kill_threads_signal = QtCore.pyqtSignal()
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def __init__(self, parent=None, ui_file_path=None):
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super(ApplicationWindow, self).__init__(parent)
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uic.loadUi(ui_file_path, self)
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QtWidgets.QShortcut(QtGui.QKeySequence("Ctrl+Q"), self, self.exit_requested_signal.emit)
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#####################################
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# GroundStation Class Definition
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#####################################
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class GroundStation(QtCore.QObject):
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LEFT_SCREEN_ID = 1
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RIGHT_SCREEN_ID = 0
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exit_requested_signal = QtCore.pyqtSignal()
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start_threads_signal = QtCore.pyqtSignal()
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connect_signals_and_slots_signal = QtCore.pyqtSignal()
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kill_threads_signal = QtCore.pyqtSignal()
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def __init__(self, parent=None,):
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# noinspection PyArgumentList
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super(GroundStation, self).__init__(parent)
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# ##### Setup the Logger Immediately #####
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self.logger_setup_class = Logger.Logger(console_output=True) # Doesn't need to be shared
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# ########## Get the Pick And Plate instance of the logger ##########
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self.logger = logging.getLogger("groundstation")
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self.shared_objects = {
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"screens": {},
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"regular_classes": {},
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"threaded_classes": {}
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}
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# ###### Instantiate Left And Right Screens ######
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self.shared_objects["screens"]["left_screen"] = \
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self.create_application_window(UI_FILE_LEFT, "Rover Ground Station Left Screen",
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self.LEFT_SCREEN_ID) # type: ApplicationWindow
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self.shared_objects["screens"]["right_screen"] = \
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self.create_application_window(UI_FILE_RIGHT, "Rover Ground Station Right Screen",
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self.RIGHT_SCREEN_ID) # type: ApplicationWindow
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# ###### Initialize the Ground Station Node ######
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rospy.init_node("ground_station")
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# ##### Instantiate Regular Classes ######
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# ##### Instantiate Threaded Classes ######
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self.__add_thread("Video Coordinator", RoverVideoCoordinator.RoverVideoCoordinator(self.shared_objects))
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self.__add_thread("Map Coordinator", RoverMapCoordinator.RoverMapCoordinator(self.shared_objects))
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self.__add_thread("Rover Drive Sender", RoverDriveSender.RoverDriveSender(self.shared_objects))
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self.connect_signals_and_slots_signal.emit()
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self.__connect_signals_to_slots()
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self.start_threads_signal.emit()
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compass_image = PIL.Image.open("Resources/Images/compass.png").resize((300, 300)) # PIL.Image
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self.shared_objects["screens"]["right_screen"].compass_label.setPixmap(QtGui.QPixmap.fromImage(ImageQt(compass_image)))
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def ___ros_master_running(self):
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checker = ROSMasterChecker.ROSMasterChecker()
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if not checker.master_present(5):
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self.logger.debug("ROS Master Not Found!!!! Exiting!!!")
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QtGui.QGuiApplication.exit()
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return False
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return True
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def __add_thread(self, thread_name, instance):
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self.shared_objects["threaded_classes"][thread_name] = instance
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instance.setup_signals(self.start_threads_signal, self.connect_signals_and_slots_signal,
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self.kill_threads_signal)
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def __connect_signals_to_slots(self):
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self.shared_objects["screens"]["left_screen"].exit_requested_signal.connect(self.on_exit_requested__slot)
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self.shared_objects["screens"]["right_screen"].exit_requested_signal.connect(self.on_exit_requested__slot)
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def on_exit_requested__slot(self):
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self.kill_threads_signal.emit()
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# Wait for Threads
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for thread in self.shared_objects["threaded_classes"]:
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self.shared_objects["threaded_classes"][thread].wait()
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QtGui.QGuiApplication.exit()
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@staticmethod
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def create_application_window(ui_file_path, title, display_screen):
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system_desktop = QtWidgets.QDesktopWidget() # This gets us access to the desktop geometry
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app_window = ApplicationWindow(parent=None, ui_file_path=ui_file_path) # Make a window in this application
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app_window.setWindowTitle(title) # Sets the window title
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app_window.setWindowFlags(app_window.windowFlags() | # Sets the windows flags to:
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QtCore.Qt.FramelessWindowHint | # remove the border and frame on the application,
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QtCore.Qt.WindowStaysOnTopHint | # and makes the window stay on top of all others
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QtCore.Qt.X11BypassWindowManagerHint) # This is needed to show fullscreen in gnome
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app_window.setGeometry(
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system_desktop.screenGeometry(display_screen)) # Sets the window to be on the first screen
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app_window.showFullScreen() # Shows the window in full screen mode
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return app_window
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#####################################
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# Main Definition
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#####################################
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if __name__ == "__main__":
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signal.signal(signal.SIGINT, signal.SIG_DFL) # This allows the keyboard interrupt kill to work properly
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# ########## Start the QApplication Framework ##########
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application = QtWidgets.QApplication(sys.argv) # Create the ase qt gui application
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application.setStyleSheet(qdarkstyle.load_stylesheet_pyqt5())
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# ########## Set Organization Details for QSettings ##########
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QtCore.QCoreApplication.setOrganizationName("OSURC")
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QtCore.QCoreApplication.setOrganizationDomain("http://osurobotics.club/")
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QtCore.QCoreApplication.setApplicationName("groundstation")
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# ########## Check ROS Master Status ##########
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master_checker = ROSMasterChecker.ROSMasterChecker()
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if not master_checker.master_present(5):
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message_box = QtWidgets.QMessageBox()
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message_box.setWindowTitle("Rover Ground Station")
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message_box.setText("Connection to ROS Master Failed!!!\n" +
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"Ensure ROS master is running or check for network issues.")
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message_box.exec_()
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exit()
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# ########## Start Ground Station If Ready ##########
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ground_station = GroundStation()
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application.exec_() # Execute launching of the application
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