Added 2016-2017 rover code, and a ROB assignment

OSU Robotics Club/Mars Rover 2016-2017/ground_station/RoverBaseStation.py

@@ -0,0 +1,149 @@
+#!/usr/bin python3.5
+
+"""
+    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, QtWebEngine, QtQuick, QtQml
+import signal
+import logging
+import time
+
+# Custom Imports
+from Framework.SettingsCore import Settings
+from Framework.LoggingCore import Logger
+from Interface.InterfaceCore import Interface
+from Framework.XBOXControllerCore import XBOXController
+from Framework.FreeSkyControllerCore import FreeSkyController
+from Framework.MiniBoardIOCore import MiniboardIO
+from Framework.MotionProcessorCore import MotionProcessor
+from Framework.ReadUpdaterCore import ReadUpdater
+from Framework.MapProcessorCore import MapProcessor
+
+#####################################
+# Global Variables
+#####################################
+UI_FILE_PATH = "Resources/new_ui_work_4-30-17/RoverBaseStation.ui"
+
+
+#####################################
+# Application Class Definition
+#####################################
+class ApplicationWindow(QtWidgets.QMainWindow):
+    connect_all_signals_to_slots_signal = QtCore.pyqtSignal()
+    start_all_threads = QtCore.pyqtSignal()
+    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 = []  # type: [QtCore.QThread]
+
+        # ########## 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.xbox_controller_class = XBOXController(self)
+        self.frsky_controller_class = FreeSkyController(self)
+        self.miniboard_class = MiniboardIO(self)
+        self.interface_class = Interface(self)
+        self.motion_processor_class = MotionProcessor(self)
+        self.read_updater = ReadUpdater(self)
+        self.map_processor = MapProcessor(self)
+
+        # ########## Add threads to list for easy access on program close ##########
+        self.threads.append(self.interface_class.live_logs_class)
+        self.threads.append(self.xbox_controller_class)
+        self.threads.append(self.frsky_controller_class)
+        self.threads.append(self.miniboard_class)
+        self.threads.append(self.motion_processor_class)
+        self.threads.append(self.read_updater)
+        self.threads.append(self.map_processor)
+
+        # ########## Setup signal/slot connections ##########
+        for thread in self.threads:
+            self.connect_all_signals_to_slots_signal.connect(thread.connect_signals_to_slots__slot)
+
+        self.connect_all_signals_to_slots_signal.emit()
+
+        # ########## Start all child threads ##########
+        for thread in self.threads:
+            self.start_all_threads.connect(thread.start)
+
+        self.start_all_threads.emit()
+
+        time.sleep(1)
+
+        # ########## Ensure all threads started properly ##########
+        for thread in self.threads:
+            if not thread.isRunning():
+                self.logger.error("Thread" + thread.__class__.__name__ + " failed to start! Exiting...")
+                for thread in self.threads:
+                    thread.terminate()
+                self.close()
+
+        self.logger.info("All threads started successfully!")
+
+    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
+
+    # ##### Center the window on the screen #####
+    geometry = app_window.frameGeometry()
+    screen = QtWidgets.QApplication.desktop().screenNumber(QtWidgets.QApplication.desktop().cursor().pos())
+    centerPoint = QtWidgets.QApplication.desktop().screenGeometry(screen).center()
+    geometry.moveCenter(centerPoint)
+    app_window.move(geometry.topLeft())
+
+    app_window.show()  # Show the window in the application
+    application.exec_()  # Execute launching of the application