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Added ground station mockup

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Corwin Perren
2017-11-29 13:11:44 -08:00
parent edec011e69
commit 62a2b268c2
18 changed files with 2473 additions and 0 deletions
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131
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from PyQt5 import QtWidgets, QtCore, QtGui
import time
class Flasher(QtCore.QThread):
THREAD_DELAY = 100
FLASH_PERIOD = 1 # Per Second
update_label_status__signal = QtCore.pyqtSignal()
def __init__(self, label_gui_element, subject_text, good_text, warning_text, bad_text):
super(Flasher, self).__init__()
self.subject_text = subject_text
self.label = label_gui_element # type: QtWidgets.QLabel
self.not_abort = True
self.statuses = {
"GOOD": {
"style": "background-color: green;",
"text": good_text
},
"WARNING": {
"style": "background-color: yellow;",
"text": warning_text
},
"BAD": {
"style": "background-color: red;",
"text": bad_text
},
"NEUTRAL": {
"style": ""
},
"UNKNOWN": {
"style": "background-color: black;",
"text": "STATUS UNKNOWN"
}
}
self.label_status = "BAD"
self.current_label_status = self.label_status
self.last_label_status = self.current_label_status
self.connect_signals_to_slots()
self.last_time = time.time()
def run(self):
while self.not_abort:
if (time.time() - self.last_time) >= self.FLASH_PERIOD:
if self.current_label_status in ["BAD", "WARNING", "UNKNOWN"]:
self.current_label_status = "NEUTRAL"
elif self.current_label_status == "NEUTRAL":
self.current_label_status = self.label_status
self.update_label_status__signal.emit()
self.last_time = time.time()
self.msleep(self.THREAD_DELAY)
def connect_signals_to_slots(self):
self.update_label_status__signal.connect(self.set_style__slot)
def set_label_status__slot(self, status):
text = self.subject_text
if status in self.statuses:
self.label_status = status
text += "\n" + self.statuses[self.label_status]["text"]
else:
self.label_status = "UNKNOWN"
self.label.setText(text)
def set_style__slot(self):
self.label.setStyleSheet(self.statuses[self.current_label_status]["style"])
class FlasherTest(QtCore.QThread):
set_style_sheets_signal = QtCore.pyqtSignal()
start_flashers__signal = QtCore.pyqtSignal()
def __init__(self, main_window):
super(FlasherTest, self).__init__()
self.main_window = main_window
self.not_abort = True
self.label = self.main_window.label # type: QtWidgets.QLabel
self.label_2 = self.main_window.label_3 # type: QtWidgets.QLabel
self.label_3 = self.main_window.label_4 # type: QtWidgets.QLabel
self.rover_connected_flasher = Flasher(self.label, "ROVER", "CONNECTED", "INTERMITTENT", "DISCONNECTED")
self.controller_connected_flasher = Flasher(self.label_2, "CONTROLLER", "CONNECTED", "INTERMITTENT", "DISCONNECTED")
self.frsky_controller_connected_flasher = Flasher(self.label_3, "FRSKY", "CONNECTED", "INTERMITTENT", "DISCONNECTED")
self.rover_connected_flasher.set_label_status__slot("GOOD")
self.controller_connected_flasher.set_label_status__slot("WARNING")
self.frsky_controller_connected_flasher.set_label_status__slot("BAD")
self.start_flashers__signal.connect(self.rover_connected_flasher.start)
self.start_flashers__signal.connect(self.controller_connected_flasher.start)
self.start_flashers__signal.connect(self.frsky_controller_connected_flasher.start)
self.start_flashers__signal.emit()
self.main_window.kill_threads_signal.connect(self.on_kill_threads__slot)
def run(self):
start_time = time.time()
while self.not_abort:
if time.time() - start_time > 1:
self.set_style_sheets_signal.emit()
start_time = time.time()
self.msleep(100)
def set_style_sheets(self):
if not self.label_last_color:
self.label_2.setStyleSheet("background-color: yellow;")
self.label_last_color = "asdf"
else:
self.label_2.setStyleSheet("")
self.label_last_color = ""
def on_kill_threads__slot(self):
self.rover_connected_flasher.terminate()
self.not_abort = False

164
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from PyQt5 import QtWidgets, QtCore, QtGui, QtMultimediaWidgets
import time
import cv2
import qimage2ndarray
import PIL.Image
from PIL.ImageQt import ImageQt
CV_CAP_PROP_FRAME_WIDTH = 3
CV_CAP_PROP_FRAME_HEIGHT = 4
CV_CAP_PROP_FPS = 5
class Compass(QtCore.QThread):
compass_ready__signal = QtCore.pyqtSignal()
def __init__(self, main_window):
super(Compass, self).__init__()
self.main_window = main_window
self.not_abort = True
self.image = PIL.Image.open("Resources/Images/compass.png").resize((300, 300)) # PIL.Image
self.compass_dir = 1
self.compass_label = self.main_window.compass_label # type: QtWidgets.QLabel
self.compass_frame = None
self.compass_current_degrees_rotation = 0
self.main_window.kill_threads_signal.connect(self.on_kill_threads__slot)
self.compass_ready__signal.connect(self.on_compass_ready__slot)
self.start()
def run(self):
while self.not_abort:
new = self.image.rotate(int(self.compass_current_degrees_rotation))
if self.compass_current_degrees_rotation == 90:
self.compass_dir = 0
elif self.compass_current_degrees_rotation == -90:
self.compass_dir = 1
if self.compass_dir:
self.compass_current_degrees_rotation += 1
else:
self.compass_current_degrees_rotation -= 1
self.compass_frame = QtGui.QPixmap.fromImage(ImageQt(new))
self.compass_ready__signal.emit()
self.msleep(50)
def on_compass_ready__slot(self):
self.compass_label.setPixmap(self.compass_frame)
def on_kill_threads__slot(self):
self.not_abort = False
class VideoReader(QtCore.QThread):
video_frame_ready__signal = QtCore.pyqtSignal()
def __init__(self, main_window):
super(VideoReader, self).__init__()
self.main_window = main_window
self.not_abort = True
self.primary_display_label = self.main_window.primary_display_label # type: QtWidgets.QLabel
self.main_window.kill_threads_signal.connect(self.on_kill_threads__slot)
self.video_frame_ready__signal.connect(self.on_compass_ready__slot)
# self.video = cv2.imread("Resources/Videos/ROSS1.MOV")
self.video_frame = None
self.start()
def run(self):
while self.not_abort:
frame = self.video_camera.read()[1]
# frame = cv2.cvtColor(frame, cv2.COLOR_BGR2RGB)
# frame = cv2.resize(frame, (1280, 720))
# self.video_frame = QtGui.QPixmap.fromImage(qimage2ndarray.array2qimage(frame))
self.video_frame_ready__signal.emit()
self.msleep(50)
def on_compass_ready__slot(self):
self.primary_display_label.setPixmap(self.video_frame)
def on_kill_threads__slot(self):
self.not_abort = False
class Video(QtCore.QThread):
image_ready_signal = QtCore.pyqtSignal()
def __init__(self, main_window):
super(Video, self).__init__()
self.main_window = main_window
self.not_abort = True
self.primary_display_label = self.main_window.primary_display_label # type: QtWidgets.QLabel
self.secondary_display_label = self.main_window.secondary_display_label # type: QtWidgets.QLabel
self.tertiary_display_label = self.main_window.tertiary_display_label # type: QtWidgets.QLabel
self.video_camera = cv2.VideoCapture(0)
self.video_camera.set(CV_CAP_PROP_FRAME_WIDTH, 1280)
self.video_camera.set(CV_CAP_PROP_FRAME_HEIGHT, 720)
self.video_camera.set(CV_CAP_PROP_FPS, 15)
self.main_window.kill_threads_signal.connect(self.on_kill_threads__slot)
self.image_ready_signal.connect(self.on_image_ready__slot)
self.raw_frame = None
self.large_frame = None
self.small_frame = None
self.compass = Compass(self.main_window)
# self.video_reader = VideoReader(self.main_window)
self.start()
def run(self):
frame_count = 0
start_time = time.time()
while self.not_abort:
frame = self.video_camera.read()[1]
self.raw_frame = cv2.cvtColor(frame, cv2.COLOR_BGR2RGB)
self.large_frame = self.raw_frame
self.small_frame = cv2.resize(self.raw_frame, (640, 360))
self.large_frame = QtGui.QPixmap.fromImage(qimage2ndarray.array2qimage(self.large_frame))
self.small_frame = QtGui.QPixmap.fromImage(qimage2ndarray.array2qimage(self.small_frame))
self.image_ready_signal.emit()
frame_count += 1
fps = frame_count / (time.time() - start_time)
# print("FPS:", fps)
self.msleep(1)
self.compass.wait()
#self.video_reader.wait()
def on_image_ready__slot(self):
pass
self.primary_display_label.setPixmap(self.large_frame)
self.secondary_display_label.setPixmap(self.small_frame)
self.tertiary_display_label.setPixmap(self.small_frame)
def on_kill_threads__slot(self):
self.not_abort = False

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This was an example project using python, opencv, and pyqt to show a potential design for the rover gui.
There's lots of useful example code here, hence me keeping it.

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<widget class="QWidget" name="tab_2">
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<string>Autonomy</string>
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<string>1</string>
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128
rover_base_station_mockup/RoverBaseStation.py Normal file
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#!/usr/bin/env python
"""
Main file used to launch the Rover Base Station
No other files should be used for launching this application.
"""
__author__ = "Corwin Perren"
__credits__ = [""]
__license__ = "GPL (GNU General Public License) 3.0"
__version__ = "0.1"
__maintainer__ = "Corwin Perren"
__email__ = "caperren@caperren.com"
__status__ = "Development"
#####################################
# Imports
#####################################
# Python native imports
import sys
from PyQt5 import QtWidgets, QtCore, QtGui, uic
import signal
import ctypes
import logging
import time
# Custom Imports
from Framework.FlasherTestCore import FlasherTest
from Framework.VideoCore import Video
# from Framework.SettingsCore import Settings
# from Framework.LoggingCore import Logger
# from Interface.InterfaceCore import Interface
# from Framework.GameControllerCore import GameController
# from Framework.RoverControllerCore import RoverController
#####################################
# Global Variables
#####################################
UI_FILE_PATH = "Resources/UI/RoverGui.ui"
#####################################
# Application Class Definition
#####################################
class ApplicationWindow(QtWidgets.QMainWindow):
kill_threads_signal = QtCore.pyqtSignal()
def __init__(self, parent=None):
# noinspection PyArgumentList
super(ApplicationWindow, self).__init__(parent)
uic.loadUi(UI_FILE_PATH, self)
# ########## Class Variables ##########
self.num_threads_running = 0
self.threads = []
self.primary_display_label = self.primary_display_label # type: QtWidgets.QLabel
self.secondary_display_label = self.secondary_display_label # type: QtWidgets.QLabel
self.tertiary_display_label = self.tertiary_display_label # type: QtWidgets.QLabel
# self.primary_display_label.setPixmap(QtGui.QPixmap("Resources/Images/steller_at_terminus.png").scaledToHeight(1080))
# self.secondary_display_label.setPixmap(QtGui.QPixmap("Resources/Images/mountain_closeup.jpg"))
# self.tertiary_display_label.setPixmap(QtGui.QPixmap("Resources/Images/mountains_from_marys_peak.jpg"))
self.flasher = FlasherTest(self)
self.video = Video(self)
self.threads.append(self.flasher)
self.threads.append(self.video)
# self.gps_lock_button = self.gps_lock_button # type: QtWidgets.QPushButton
# self.gps_lock_button.setCheckable(True)
# ########## Instantiation of program classes ##########
# Settings class and version number set
# self.settings_class = Settings(self)
# self.settings = QtCore.QSettings()
# self.settings.setValue("miscellaneous/version", __version__)
# Uncomment these lines to completely reset settings and quit, then re-comment and rerun program
# self.settings.clear()
# self.close()
# Set up the global logger instance
# self.logger_class = Logger(console_output=True)
# self.logger = logging.getLogger("RoverBaseStation")
#
# # All interface elements
# self.controller_class = GameController(self)
# self.interface_class = Interface(self)
# self.rover_controller_class = RoverController(self)
#
# # ########## Add threads to list for easy access on program close ##########
# self.threads.append(self.interface_class.live_logs_class)
# self.threads.append(self.controller_class)
# self.threads.append(self.rover_controller_class)
# ########## Set up QT Application Window ##########
self.show()
def closeEvent(self, event):
# Tell all threads to die
self.kill_threads_signal.emit()
# Wait for all the threads to end properly
for thread in self.threads:
thread.wait()
# Print final log noting shutdown and shutdown the logger to flush to disk
# self.logger.debug("########## Application Stopping ##########")
logging.shutdown()
# Accept the close event to properly close the program
event.accept()
#####################################
# Main Definition
#####################################
if __name__ == "__main__":
signal.signal(signal.SIGINT, signal.SIG_DFL) # This allows the keyboard interrupt kill to work properly
application = QtWidgets.QApplication(sys.argv) # Create the base qt gui application
app_window = ApplicationWindow() # Make a window in this application
app_window.setWindowTitle("Rover Base Station") # Sets the window title
# app_window.setFixedSize(1920, 1080)
app_window.showFullScreen()
app_window.show() # Show the window in the application
application.exec_() # Execute launching of the application

150
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Width:  |  Height:  |  Size: 5.7 KiB