Added 2016-2017 rover code, and a ROB assignment

OSU Robotics Club/Mars Rover 2016-2017/ground_station/Interface/DataView/DataViewCore.py

@@ -0,0 +1,224 @@
+"""
+    This file contains the data view page sub-class
+"""
+
+#####################################
+# Imports
+#####################################
+# Python native imports
+from PyQt5 import QtCore, QtWidgets, QtGui
+import logging
+from Framework.MiniBoardIOCore import write_drive_motor_power, read_drive_motor_power, write_pause, write_arm_motors, write_soil_measure, write_soil_sensor_recv, read_soil_measurements, read_gps_position, read_gps_track
+from datetime import datetime
+from time import sleep
+
+#####################################
+# Global Variables
+#####################################
+JOYSTICK_AXIS_MIN = -144
+JOYSTICK_AXIS_MAX = 144
+
+
+#####################################
+# About Class Definition
+#####################################
+class DataView(QtCore.QObject):
+    send_miniboard_control_packet = QtCore.pyqtSignal(list)
+    get_data_from_probe_signal = QtCore.pyqtSignal(int)
+
+    def __init__(self, main_window):
+        super(DataView, self).__init__()
+
+        # ########## Reference to top level window ##########
+        self.main_window = main_window  # type: QtWidgets.QMainWindow
+        self.miniboard_class = main_window.miniboard_class
+        # ########## Get the settings instance ##########
+        self.settings = QtCore.QSettings()
+
+        # ########## Get the Pick And Plate instance of the logger ##########
+        self.logger = logging.getLogger("RoverBaseStation")
+
+        # ########## References to GUI Elements ##########
+        self.left_y_lb = self.main_window.left_y_lb
+        self.right_y_lb = self.main_window.right_y_lb
+
+        self.pause_mode = self.main_window.pause_mode
+        self.drive_mode = self.main_window.drive_mode
+
+        self.left_motor_power = self.main_window.left_motor
+        self.right_motor_power = self.main_window.right_motor
+
+        self.battery_voltage = self.main_window.battery_voltage
+
+        self.base_power = self.main_window.base
+        self.bicep_power = self.main_window.bicep
+        self.forearm_power = self.main_window.forearm
+        self.pitch_power = self.main_window.pitch
+        self.wrist_power = self.main_window.wrist
+
+        self.temp_label = self.main_window.temp_label
+        self.moisture_label = self.main_window.moisture_label
+        self.salinity_label = self.main_window.salinity_label
+
+        self.get_data_button = self.main_window.science_data_button
+        self.get_gps_button = self.main_window.gps_data_button
+
+        self.last_contact_label = self.main_window.last_contact_label
+        self.lat_label = self.main_window.gps_lat_label
+        self.lon_label = self.main_window.gps_lon_label
+        self.alt_label = self.main_window.gps_altitude_label
+        self.gps_heading_label = self.main_window.gps_heading_label
+        self.gps_speed_label = self.main_window.gps_speed_label
+
+        # self.time_label = self.main_window.time_label
+        # self.voltage_label = self.main_window.battery_voltage_label
+
+        # ########## Class Variables ##########
+        self.controller_states = None
+        self.sensor_read_timer = QtCore.QTimer()
+        self.sensor_read_timer.setSingleShot(True)
+
+        self.gps_valid = None
+        self.lat = None
+        self.lon = None
+        self.alt = None
+        self.gps_track_valid = None
+        self.gps_speed = None
+        self.gps_heading = None
+
+        # ########## Make signal/slot connections ##########
+        self.__connect_signals_to_slots()
+
+        # ########## Set flags ##########
+        self.xbox_connected = False
+        self.frysky_connected = False
+
+    def __connect_signals_to_slots(self):
+        # These are incorrect as they don't show the scaled versions
+        # self.main_window.frsky_controller_class.controller_update_ready_signal.connect(self.on_controller_update_ready__slot)
+        # self.main_window.frsky_controller_class.controller_connection_aquired.connect(self.frysky_connected__slot)
+        # self.main_window.xbox_controller_class.controller_connection_aquired.connect(self.xbox_connected__slot)
+
+        # the data signals pass dictionaries to our slots after read requested
+        self.main_window.miniboard_class.data_drive_motor_power.connect(self.__update_drive_power)
+        self.main_window.miniboard_class.data_battery_voltage.connect(self.__update_battery_voltage)
+        self.main_window.miniboard_class.data_arm_motors.connect(self.__update_arm_power)
+
+        self.get_data_button.clicked.connect(self.on_get_science_data_button_pressed__slot)
+        self.get_data_from_probe_signal.connect(self.sensor_read_timer.start)
+        self.sensor_read_timer.timeout.connect(self.on_science_measure_response_received__slot)
+        self.main_window.miniboard_class.data_soil_measurements.connect(self.on_science_data_received__slot)
+
+        self.main_window.miniboard_class.data_gps_position.connect(self.on_gps_coordinates_updated__slot)
+        self.main_window.miniboard_class.data_gps_track.connect(self.on_gps_track_updated__slot)
+
+        self.send_miniboard_control_packet.connect(self.main_window.miniboard_class.append)
+        self.main_window.miniboard_class.message_received_signal.connect(self.on_message_received__slot)
+
+        self.get_gps_button.clicked.connect(self.on_get_gps_button_pressed__slot)
+
+    def __update_drive_percentages(self):
+        if self.frysky_connected:
+            left_percentage = round((self.controller_states["left_stick_y_axis"] / JOYSTICK_AXIS_MAX * 100), 2)
+            right_percentage = round((self.controller_states["right_stick_y_axis"] / JOYSTICK_AXIS_MAX * 100), 2)
+
+            self.left_y_lb.setText(str(left_percentage) + "%")
+            self.right_y_lb.setText(str(right_percentage) + "%")
+
+    def __update_modes(self):
+        pause_mode = self.controller_states["sf_state"]
+        drive_mode = self.controller_states["se_state"]
+
+        self.pause_mode.setText(str(pause_mode))
+        self.drive_mode.setText(str(drive_mode))
+
+    def __update_drive_power(self, power_dict):
+        self.left_motor_power.setText("F:%3d M:%3d B:%3d" % (
+            power_dict["l_f_drive"],
+            power_dict["l_m_drive"],
+            power_dict["l_b_drive"],
+        ))
+        self.right_motor_power.setText("F:%3d M:%3d B:%3d" % (
+            power_dict["r_f_drive"],
+            power_dict["r_m_drive"],
+            power_dict["r_b_drive"],
+        ))
+
+    def __update_battery_voltage(self, battery_dict):
+        battery_visually_accurate = int(battery_dict["battery_voltage"]) / 1000
+        self.battery_voltage.setText("%0.2f V" % battery_visually_accurate)
+
+    def __update_arm_power(self, power_dict):
+        self.base_power.setText("%d" % power_dict["arm_motor_1"])
+        self.bicep_power.setText("%d" % power_dict["arm_motor_2"])
+        self.forearm_power.setText("%d" % power_dict["arm_motor_3"])
+        self.pitch_power.setText("%d" % power_dict["arm_motor_4"])
+        self.wrist_power.setText("%d" % power_dict["arm_motor_5"])
+
+    def on_update_other_gui_elements__slot(self, voltage, time):
+        # self.time_label.setText(time)
+        # self.voltage_label.setText(voltage)
+        pass
+
+    def on_controller_update_ready__slot(self, controller_states):
+        self.controller_states = controller_states
+        self.__update_drive_percentages()
+        self.__update_modes()
+
+    def xbox_connected__slot(self, connected):
+        self.xbox_connected = connected
+
+    def frysky_connected__slot(self, connected):
+        self.frysky_connected = connected
+
+    def on_get_science_data_button_pressed__slot(self):
+        self.temp_label.setText("Reading From Sensor")
+        self.moisture_label.setText("Reading From Sensor")
+        self.salinity_label.setText("Reading From Sensor")
+        write_soil_measure(self.send_miniboard_control_packet, 1)  # Request data
+        self.get_data_from_probe_signal.emit(5000)
+
+    def on_science_measure_response_received__slot(self):
+        read_soil_measurements(self.send_miniboard_control_packet)
+
+    def on_science_data_received__slot(self, sdict):
+        self.temp_label.setText(str(sdict["temperature"]/1000) + " °C")
+        self.moisture_label.setText(str(sdict["moisture"]/10) + " %")
+        self.salinity_label.setText(str(sdict["salinity"]/1000) + " g/L")
+        # self.logger.debug(sdict)
+
+    def on_gps_coordinates_updated__slot(self, sdict):
+        self.gps_valid = sdict["gps_pos_valid"]
+        self.lat = "{0:.6f}".format((sdict["latitude"] * 10 ** -5) / 60)
+        self.lon = "{0:.6f}".format((sdict["longitude"] * 10 ** -5) / 60)
+        self.alt = "{0:.6f}".format((sdict["altitude"] / 10))
+
+        if self.gps_valid:
+            self.lat_label.setText(str(self.lat))
+            self.lon_label.setText(str(self.lon))
+            self.alt_label.setText(str(self.alt))
+        else:
+            self.lat_label.setText("No GPS Lock")
+            self.lon_label.setText("No GPS Lock")
+            self.alt_label.setText("No GPS Lock")
+
+    def on_gps_track_updated__slot(self, sdict):
+        self.gps_track_valid = sdict["gps_track_valid"]
+        self.gps_speed = sdict["gps_speed"]
+        self.gps_heading = sdict["gps_heading"]
+
+        if self.gps_track_valid:
+            self.gps_speed_label.setText(str(self.gps_speed))
+            self.gps_heading_label(str(self.gps_heading))
+        else:
+            self.gps_speed_label.setText("No Movement")
+            self.gps_heading_label.setText("No Movement")
+
+    def on_get_gps_button_pressed__slot(self):
+        read_gps_position(self.send_miniboard_control_packet)
+        read_gps_track(self.send_miniboard_control_packet)
+
+    def on_message_received__slot(self):
+
+        self.last_contact_label.setText(datetime.now().strftime("%Y-%m-%d %I:%M:%S %p")
+)