Added ground station mockup

rover_base_station_mockup/Framework/FlasherTestCore.py

@@ -0,0 +1,131 @@
+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

rover_base_station_mockup/Framework/VideoCore.py

@@ -0,0 +1,164 @@
+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