def __init__(self, context):
super(MyPlugin, self).__init__(context)
# Give QObjects reasonable names
self.setObjectName('MyPlugin')
rp = rospkg.RosPack()
self._lrssivalue=0.0
self._rrssivalue=0.0
self._lcomvalue=0.0
self._rcomvalue=0.0
self._lbaroaltvalue = 0.0
self._rbaroaltvalue = 0.0
self._enable_gps=0
self._LOS_NLOS=1
self.imu_done=4
self.imu_run_stop_value=1
self.initial_heading=500
self.ros_run_stop_value=1
self.run_initial_scan=1
self.initial_scan_state=1
self.localimu=0
self.remoteimu=0
self.camera_run_save_stop_state=1
self.initial_map=1
self.rssi_test_gps_rssi=1
# Process standalone plugin command-line arguments
from argparse import ArgumentParser
parser = ArgumentParser()
# Add argument(s) to the parser.
parser.add_argument("-q", "--quiet", action="store_true",
dest="quiet",
help="Put plugin in silent mode")
args, unknowns = parser.parse_known_args(context.argv())
if not args.quiet:
print 'arguments: ', args
print 'unknowns: ', unknowns
## def goCoords():
## def resetError():
## # coordsEdit.setStyleSheet('')
##
## try:
## print("work")
## #latitude, longitude = coordsEdit.text().split(",")
##
## except ValueError:
## #coordsEdit.setStyleSheet("color: red;")
## QTimer.singleShot(500, resetError)
## else:
## map.centerAt(latitude, longitude)
## # map.moveMarker("MyDragableMark", latitude, longitude)
def onMarkerMoved(key, latitude, longitude):
print("Moved!!", key, latitude, longitude)
if key == 'local GPS':
l_coordsEdit.setText("{0:.8}, {1:.8}".format(latitude, longitude))
else:
r_coordsEdit.setText("{0:.8}, {1:.8}".format(latitude, longitude))
#coordsEdit.setText("{}, {}".format(latitude, longitude))
#self.map.moveMarker("local GPS",latitude+0.01, longitude+0.01)
def onMarkerRClick(key):
print("RClick on ", key)
# map.setMarkerOptions(key, draggable=False)
def onMarkerLClick(key):
print("LClick on ", key)
def onMarkerDClick(key):
print("DClick on ", key)
# map.setMarkerOptions(key, draggable=True)
def onMapMoved(latitude, longitude):
print("Moved to ", latitude, longitude)
def onMapRClick(latitude, longitude):
print("RClick on ", latitude, longitude)
def onMapLClick(latitude, longitude):
print("LClick on ", latitude, longitude)
def onMapDClick(latitude, longitude):
print("DClick on ", latitude, longitude)
def move_l_mark(lat_l,lon_l):
#onMarkerMoved("local gps",lat_,lon_)
#print("get location",lat_,lon_)
self.map.moveMarker("local GPS",lat_l,lon_l)
l_coordsEdit.setText("{0:.9}, {1:.9}".format(lat_l,lon_l))
if self.initial_map==1:
self.map.centerAt(lat_l,lon_l)
self.map.setZoom(15)
self.initial_map=0
#time.sleep(0.01)
def local_callback(llocation):
llat=llocation.data[0]
llon=llocation.data[1]
#move_mark(self,lat,lon)
self.l_location.emit(llat,llon)
def move_r_mark(lat_r,lon_r):
#onMarkerMoved("local gps",lat_,lon_)
#print("get location",lat_,lon_)
self.map.moveMarker("remote GPS",lat_r,lon_r)
r_coordsEdit.setText("{0:.9}, {1:.9}".format(lat_r,lon_r))
#time.sleep(0.01)
def remote_callback(rlocation):
rlat=rlocation.data[0]
rlon=rlocation.data[1]
#move_mark(self,lat,lon)
self.r_location.emit(rlat,rlon)
@pyqtSlot()
def change_los_nos_value():
if self._LOS_NLOS==1:
self._LOS_NLOS=0
initial_heading_calculation_button.setText("Run")
else:
self._LOS_NLOS=1
initial_heading_calculation_button.setText("Scan")
print(self._LOS_NLOS)
def optimize_channel_fun():
os.system(
"sudo /home/dnc2/Documents/catkin_ws/src/directional_antenna_system/src/directional_antenna_system/GetRSSI.sh")
if self._LOS_NLOS == 1:
a = localchangechannel.local_change_channel()
print("channel a", a)
time.sleep(2)
b = remotechangechannel.remote_change_channel()
print("channel b", b)
self.LOS_optimize_chal.emit(a,b)
# channel_textedit.setText("L:%s, R:%s" % (a, b))
else:
a = localchangechannel.local_change_channel()
self.NLOS_optimize_chal.emit(a)
# channel_textedit.setText("L:%s, R:N" % a)
@pyqtSlot()
def LOS_channel_testedit(vala,valb):
channel_textedit.setText("L:%s, R:%s" % (vala, valb))
@pyqtSlot()
def NLOS_channel_testedit(vala):
channel_textedit.setText("L:%s, R:N" % vala)
@pyqtSlot()
def channel_on_click():
optimize_channel_process= threading.Thread(target=optimize_channel_fun)
optimize_channel_process.start()
# optimize_channel_process.start()
# imu calibration *******************************************
def run_calibration_fun():
print("calibration")
if (self._LOS_NLOS == 1):
# print("calibrate two IMUs")
os.system("/home/dnc2/Documents/catkin_ws/devel/sshnode/stop_IMU_calibration.sh 1")
time.sleep(7)
os.system( "/home/dnc2/Documents/catkin_ws/devel/sshnode/start_IMU_calibration.sh 1")
else:
# print("calibrate local IMU")
os.system("/home/dnc2/Documents/catkin_ws/devel/sshnode/stop_IMU_calibration.sh 0")
time.sleep(7)
os.system( "/home/dnc2/Documents/catkin_ws/devel/sshnode/start_IMU_calibration.sh 0")
@pyqtSlot()
def imu_run_stop_click():
# imu_threading = threading.Thread(target=run_calibration_fun)
imu_threading= multiprocessing.Process(target=run_calibration_fun)
if self.imu_run_stop_value==1:
print("stat threading")
IMU_run_stop_button.setText("Stop")
IMU_state_state_label.setText("Working")
time.sleep(1)
self.imu_state_timer.start(60000)
imu_threading.start()
self.imu_run_stop_value = 0
else:
IMU_run_stop_button.setText("Run")
self.imu_run_stop_value = 1
IMU_state_state_label.setText("State")
os.system("/home/dnc2/Documents/catkin_ws/devel/sshnode/stop_IMU_calibration.sh 1")
# if imu_threading.isAlive():
# self.imu_threading = threading.Thread(target=run_calibration_fun(selqf, self._LOS_NLOS))
# self.imu_threading.start()
# parent_conn, child_conn = multiprocessing.Pipe()
# self.imu_processing = multiprocessing.Process(target=run_calibration_fun)
# self.imu_processing.start()
def stat_ros_nodes():
print("stat ROS node ...")
# os.system("/home/dnc2/Documents/catkin_ws/devel/sshnode/save_rosbag.sh")
# if self._LOS_NLOS==1:
if self.initial_heading==500:
os.system("/home/dnc2/Documents/catkin_ws/devel/sshnode/stop_ROS_nodes.sh %d" % (self._LOS_NLOS))
time.sleep(7)
os.system("/home/dnc2/Documents/catkin_ws/devel/sshnode/start_ros_no_initial.sh %d " % (self._LOS_NLOS))
else:
os.system("/home/dnc2/Documents/catkin_ws/devel/sshnode/stop_ROS_nodes.sh %d" % (self._LOS_NLOS))
time.sleep(7)
os.system("/home/dnc2/Documents/catkin_ws/devel/sshnode/start_ros_with_initial.sh %d %d" %(self._LOS_NLOS,self.initial_heading))
# else:
# os.system("/home/dnc2/Documents/catkin_ws/devel/sshnode/start_local.sh %d %f" % self._LOS_NLOS,self.initial_heading)
@pyqtSlot()
def stat_ros_click():
# self.imu_timer.stop();
start_ros_node_threading = threading.Thread(target=stat_ros_nodes)
# if not self.monitor_ccq.isRunning():
# self.monitor_ccq.start()
# start_save_threading = threading.Thread(target=start_save_data)
if self.ros_run_stop_value==1:
self.ros_run_stop_value=0
Ros_node_run_button.setText("Stop")
Ros_node_state_label.setText("Working")
IMU_run_stop_button.setEnabled(False)
self.distance_timer.start(10000)
IMU_run_stop_button.setStyleSheet(
"background-color: rgb(192,197,197);padding: 6px; border-radius:5px;text_align:left")
start_ros_node_threading.start()
else:
self.ros_run_stop_value=1
# self.monitor_ccq.terminate()
Ros_node_run_button.setText("Run")
Ros_node_state_label.setText("Done")
IMU_run_stop_button.setEnabled(True)
self.distance_timer.stop()
IMU_run_stop_button.setStyleSheet(
"background-color: rgb(245,128,38);padding: 6px; border-radius:5px;text_align:left")
os.system("/home/dnc2/Documents/catkin_ws/devel/sshnode/stop_ROS_nodes.sh %d" % (self._LOS_NLOS))
# if start_ros_node_threading.isAlive():
# start_save_threading.start()
def run_camera_nodes():
if self.camera_run_save_stop_state==1:
if infrared_camera.isChecked():
camera_comman=10
elif not infrared_camera.isChecked():
camera_comman=0
if optical_camera.isChecked():
opt_camera_comman=10
elif not optical_camera.isChecked():
opt_camera_comman=0
camera_run_button.setText("Confirm")
self.camera_run_save_stop_state = 2
os.system("/home/dnc2/Documents/catkin_ws/devel/sshnode/start_camera_nodes.sh %d %d" %(camera_comman,opt_camera_comman))
elif self.camera_run_save_stop_state==2:
if save_infrared.isChecked():
save_inf_var=1
else:
save_inf_var=0
if save_optical.isChecked():
save_opt_var=1
else:
save_opt_var=0
camera_run_button.setText("Stop")
self.camera_run_save_stop_state = 3
os.system("/home/dnc2/Documents/catkin_ws/devel/sshnode/save_camera_nodes.sh %d %d" % (save_inf_var, save_opt_var))
elif self.camera_run_save_stop_state==3:
camera_run_button.setText("Confirm")
self.camera_run_save_stop_state = 1
os.system("/home/dnc2/Documents/catkin_ws/devel/sshnode/stop_camera_nodes.sh")
# if optical_camera.isChecked() and infrared_camera.isChecked():
# os.system("/home/dnc2/Documents/catkin_ws/devel/sshnode/start_camera_nodes.sh 1 1")
# elif optical_camera.isChecked() and infrared_camera.isChecked()==0:
# os.system("/home/dnc2/Documents/catkin_ws/devel/sshnode/start_camera_nodes.sh 1 0")
# elif optical_camera.isChecked()==0 and infrared_camera.isChecked()==1:
# os.system("/home/dnc2/Documents/catkin_ws/devel/sshnode/start_camera_nodes.sh 0 1")
@pyqtSlot()
def start_camera_click():
start_camera_threading=threading.Thread(target=run_camera_nodes)
if optical_camera.isChecked() or infrared_camera.isChecked():
start_camera_threading.start()
def initial_scan_run():
os.system("/home/dnc2/Documents/catkin_ws/devel/sshnode/start_initial_scan.sh")
@pyqtSlot()
def calculate_Azimuth():
if self._LOS_NLOS==1 and self.run_initial_scan==1:
initial_heading_calculation_button.setText("Stop")
self.run_initial_scan = 0
IMU_run_stop_button.setEnabled(False)
IMU_run_stop_button.setStyleSheet("background-color: rgb(192,197,197);padding: 6px; border-radius:5px;text_align:left")
initial_scan_threading =threading.Thread(target=initial_scan_run)
initial_scan_threading.start()
elif self._LOS_NLOS ==1 and self.run_initial_scan==0:
initial_heading_calculation_button.setText("Run")
self.run_initial_scan = 1
IMU_run_stop_button.setEnabled(True)
IMU_run_stop_button.setStyleSheet(
"background-color: rgb(245,128,38);padding: 6px; border-radius:5px;text_align:left")
# os.system("/home/dnc2/Documents/catkin_ws/devel/sshnode/stop_initial_scan.sh")
if self._LOS_NLOS==0:
if l_coordsEdit.text() and l_coordsEdit.text().find(",") !=-1:
llocation_string = l_coordsEdit.text()
print(llocation_string)
l_lat_lon = llocation_string.split(",")
try:
l_latitiude = float(l_lat_lon[0])
l_longitude = float(l_lat_lon[1])
except:
Azimuth_warning()
return
if r_coordsEdit.text() and r_coordsEdit.text().find(",") != -1:
rlocation_string = r_coordsEdit.text()
print(rlocation_string)
r_lat_lon = rlocation_string.split(",")
try:
r_latitiude = float(r_lat_lon[0])
r_longitude = float(r_lat_lon[1])
temp_remote_gps_msg.data= [r_latitiude, r_longitude]
temp_remote_gps.publish(temp_remote_gps_msg)
# print("temp_gps_test1")
# temp_remote_gps.publish(temp_remote_gps_msg)
# print("temp_gps_test")
except:
Azimuth_warning()
return
try:
LON1 = l_longitude*0.0174532925199433
LAT1 = l_latitiude*0.0174532925199433
LON2 = r_longitude*0.0174532925199433
LAT2 = r_latitiude*0.0174532925199433
az = math.atan2(math.sin(LON2-LON1) * math.cos(LAT2),math.cos(LAT1) * math.sin(LAT2) - math.sin(LAT1) * math.cos(LAT2) * math.cos(LON2-LON1))
az = math.fmod(az, 9.118906528)
az = math.fmod(az, 6.283185307179586)*(57.2957795131)
if az<0 :
az = az+360
Azimuth =az
except:
Azimuth_warning()
return
initial_heading_display_label.setText(" %0.1f"%Azimuth)
self.initial_heading=int(Azimuth)
@pyqtSlot()
def calculate_distance():
if l_coordsEdit.text() and l_coordsEdit.text().find(",") != -1:
llocation_string = l_coordsEdit.text()
l_lat_lon = llocation_string.split(",")
try:
l_latitiude = float(l_lat_lon[0])
l_longitude = float(l_lat_lon[1])
except:
# Azimuth_warning()
# print("error1")
return
if r_coordsEdit.text() and r_coordsEdit.text().find(",") != -1:
rlocation_string = r_coordsEdit.text()
r_lat_lon = rlocation_string.split(",")
try:
r_latitiude = float(r_lat_lon[0])
r_longitude = float(r_lat_lon[1])
except:
# Azimuth_warning()
# print("error2")
return
try:
LON1 = l_longitude * 0.0174532925199433
LAT1 = l_latitiude * 0.0174532925199433
LON2 = r_longitude * 0.0174532925199433
LAT2 = r_latitiude * 0.0174532925199433
A =math.sin((LAT2-LAT1)/2)*math.sin((LAT2-LAT1)/2)+math.cos(LAT1)*math.cos(LAT2)*math.sin((LON2-LON1)/2)*math.sin((LON2-LON1)/2)
# print('A',A)
AB= 2*math.atan2(math.sqrt(A),math.sqrt(1-A))
# print('AB',AB)
AB_DIS=6371000*AB
# print('AB_DIS',AB_DIS)
# distance_text.setText("%0.1f m"%AB_DIS)
self.distance_label.setText("%0.1f m"%AB_DIS)
# distance_lable.setText("0.1f m"%AB_DIS)
except:
# print("error3")
# Azimuth_warning()
return
def Azimuth_warning():
msg = QMessageBox()
msg.setIcon(QMessageBox.Warning)
msg.setWindowTitle("Azimuth calculation")
msg.setText("The locations of local and remote UAVs cannot be empty.\nPlease input locations(latitude,longitude) correctly!")
msg.exec_()
# @pyqtSlot()
# def pub_new_Azimuth():
# try:
# N_Azimuth = float(Azimuth_data.text())
# except:
# Azimuth_warning()
# return
# if math.fabs(N_Azimuth)>= 360:
# Azimuth_warning()
# return
# pub_Azimuth.publish(N_Azimuth)
@pyqtSlot()
def change_baroalt():
# self._rrssivalue=str(rssi2)
r_baro_text.setText("%.1f" % self._rbaroaltvalue)
l_baro_text.setText("%.1f" % self._lbaroaltvalue)
time.sleep(0.01)
# time.sleep(0.01)
def l_baro_callback(lbaroinfo):
self._lbaroaltvalue = lbaroinfo.data[2]
def r_baro_callback(rbaroinfo):
self._rbaroaltvalue = rbaroinfo.data[2]
@pyqtSlot()
def change_rssi():
#self._rrssivalue=str(rssi2)
r_rssi_text.setText(str(self._rrssivalue))
l_rssi_text.setText(str(self._lrssivalue))
time.sleep(0.01)
#time.sleep(0.01)
def l_rssi_callback(rssil):
self._lrssivalue=rssil.data
# self.l_rssi.emit(rssil.data)
# del rssil
#l_rssi_text.update()
#l_rssi_text.setText(str(rssi.data))
def r_rssi_callback(rssir):
self._rrssivalue=rssir.data
# self.r_rssi.emit(rssir.data)
# self.memory_tracker.print_diff()
# print(sys.getsizeof(move_l_compass(headidng1)))
#r_rssi_text.setText(str(rssi.data))
@pyqtSlot()
def move_compass():
l_com_text.setText("%.1f" % self._lcomvalue)
time.sleep(0.01)
# print('work')
l_com_widget.setAngle(self._lcomvalue)
time.sleep(0.01)
r_com_text.setText("%.1f" % self._rcomvalue)
time.sleep(0.01)
r_com_widget.setAngle(self._rcomvalue)
time.sleep(0.01)
# def map_rssi_fun_click():
# if self.rssi_test_gps_rssi==1:
# for i in range(5):
# pub_gps_Azimuth_enable.publish(0)
# time.sleep(0.2)
# self.rssi_test_gps_rssi=0
# else:
# for i in range(5):
# pub_gps_Azimuth_enable.publish(1)
# time.sleep(0.2)
# self.rssi_test_gps_rssi = 1
def l_com_callback(heading):
self._lcomvalue=heading.data
# print('work1')
#l_com_text.setText("%.1f" % heading.data)
# self.l_com.emit(heading.data)
# heading.data =None
#self.update()
#l_com_widget.setAngle(heading.data)
def r_com_callback(heading):
self._rcomvalue=heading.data
#r_com_text.setText("%.1f" % heading.data)
# self.r_com.emit(heading.data)
# del heading
#r_com_widget.setAngle(heading.data)
def local_imucal_callback(l_imu_msg):
self.localimu=l_imu_msg.data
# if self.localimu == 1 and self.remoteimu == 1:
# imu_lock.acquire()
# try:
# IMU_state_state_label.setText("Done")
# finally:
# imu_lock.release()
def remote_imucal_callback(r_imu_msg):
self.remoteimu=r_imu_msg.data
# if self.localimu == 1 and self.remoteimu == 1:
# imu_lock.acquire()
# try:
# IMU_state_state_label.setText("Done")
# finally:
# imu_lock.release()
@pyqtSlot()
def imu_state_display():
if self._LOS_NLOS==1:
if self.remoteimu==1 and self.localimu==1:
IMU_state_state_label.setText("Done")
self.imu_state_timer.stop()
else:
if self.localimu == 1:
IMU_state_state_label.setText("Done")
self.imu_state_timer.stop()
@pyqtSlot()
def local_bbb_conn(var):
if var ==1:
lbbb_conn_icon.setPixmap(green_icon)
else:
lbbb_conn_icon.setPixmap(red_icon)
@pyqtSlot()
def remote_bbb_conn(var):
if var==1:
rbbb_conn_icon.setPixmap(green_icon)
else:
rbbb_conn_icon.setPixmap(red_icon)
@pyqtSlot()
def local_connection_indicator(): # var: RSSI
l_var = self._lrssivalue
r_var = self._rrssivalue
#r_var = -55
#l_var = -75
if l_var>=-60 and l_var<0:
l_con_ind_icon.setPixmap(ConnectionBar5)
elif l_var<-60 and l_var>=-70:
l_con_ind_icon.setPixmap(ConnectionBar4)
elif l_var <-70 and l_var>= -80:
l_con_ind_icon.setPixmap(ConnectionBar3)
elif l_var <-80 and l_var > -96:
l_con_ind_icon.setPixmap(ConnectionBar2)
else:
l_con_ind_icon.setPixmap(ConnectionBar1)
if r_var >= -60 and l_var<0:
r_con_ind_icon.setPixmap(ConnectionBar5)
elif r_var < -60 and r_var >= -70:
r_con_ind_icon.setPixmap(ConnectionBar4)
elif r_var < -70 and r_var >= -80:
r_con_ind_icon.setPixmap(ConnectionBar3)
elif r_var < -80 and r_var > -96:
r_con_ind_icon.setPixmap(ConnectionBar2)
else:
r_con_ind_icon.setPixmap(ConnectionBar1)
# def local_connection_indicator(): # var: RSSI
# #var = self._rrssivalue
# var = -55
# if var>=-60:
# l_con_ind_icon.setPixmap(ConnectionBar5)
# elif var<-60 and var>=-70:
# l_con_ind_icon.setPixmap(ConnectionBar4)
# elif var <-70 and var>= -80:
# l_con_ind_icon.setPixmap(ConnectionBar3)
# elif var <-80 and var > -96:
# l_con_ind_icon.setPixmap(ConnectionBar2)
# else:
# l_con_ind_icon.setPixmap(ConnectionBar1)
self._widget = QWidget()
gcv=QVBoxLayout(self._widget)
v = QVBoxLayout()
h = QHBoxLayout()
FUN_FONT= QFont()
FUN_FONT.setBold(True)
FUN_FONT.setPointSize(14)
FUN_FONT.setWeight(87)
pub_gps_Azimuth_enable = rospy.Publisher('lenablegpsazimuth', Int32, queue_size=10)
temp_remote_gps = rospy.Publisher('temp_gps_location', Float64MultiArray,queue_size=1)
temp_remote_gps_msg= Float64MultiArray()
#ros_threading
#############################
# star_ros_threading = threading.Thread(target= stat_ros_nodes)
# # save_file_processing = multiprocessing.Process(target= save_topic_fun)
# save_file_processing = threading.Thread(target= save_topic_fun)
# star_ros_manual_com_threading = threading.Thread(target= stat_ros_manual_com_nodes)
# imu_threading = threading.Thread(target=run_calibration_fun)
green_icon = QPixmap(("/home/dnc2/Documents/catkin_ws/src/directional_antenna_system/src/directional_antenna_system/greenenergy.png"))
green_icon = green_icon.scaled(40, 40, Qt.KeepAspectRatio)
red_icon = QPixmap(("/home/dnc2/Documents/catkin_ws/src/directional_antenna_system/src/directional_antenna_system/redenergy.png"))
red_icon = red_icon.scaled(40, 40, Qt.KeepAspectRatio)
ConnectionBar1 = QPixmap(("/home/dnc2/Documents/catkin_ws/src/directional_antenna_system/src/directional_antenna_system/ConnectionIndex1.png"))
ConnectionBar2 = QPixmap(("/home/dnc2/Documents/catkin_ws/src/directional_antenna_system/src/directional_antenna_system/ConnectionIndex2.png"))
ConnectionBar3 = QPixmap(("/home/dnc2/Documents/catkin_ws/src/directional_antenna_system/src/directional_antenna_system/ConnectionIndex3.png"))
ConnectionBar4 = QPixmap(("/home/dnc2/Documents/catkin_ws/src/directional_antenna_system/src/directional_antenna_system/ConnectionIndex4.png"))
ConnectionBar5 = QPixmap(("/home/dnc2/Documents/catkin_ws/src/directional_antenna_system/src/directional_antenna_system/ConnectionIndex5.png"))
ConnectionBar1 = ConnectionBar1.scaled(50, 110, Qt.KeepAspectRatio)
ConnectionBar2 = ConnectionBar2.scaled(50, 110, Qt.KeepAspectRatio)
ConnectionBar3 = ConnectionBar3.scaled(50, 110, Qt.KeepAspectRatio)
ConnectionBar4 = ConnectionBar4.scaled(50, 110, Qt.KeepAspectRatio)
ConnectionBar5 = ConnectionBar5.scaled(50, 110, Qt.KeepAspectRatio)
##################################
# local widget
local_widget = QWidget()
local_Vlayout = QVBoxLayout(local_widget)
local_widget.setStyleSheet("background-color: white")
l_coordsEdit = QLineEdit()
l_coordsEdit.setFont(FUN_FONT)
l_coordsEdit.setMinimumWidth(230)
lgps_label = QLabel('GPS:')
lgps_label.setFont(FUN_FONT)
l_com_widget = CompassWidget()
l_rssi_lable = QLabel('RSSI:')
l_rssi_lable.setFont(FUN_FONT)
l_rssi_text = QLineEdit()
l_rssi_text.setFont(FUN_FONT)
l_rssi_text.setMaximumWidth(70)
l_baro_lable = QLabel('Alt:')
l_baro_lable.setFont(FUN_FONT)
l_baro_text = QLineEdit()
l_baro_text.setFont(FUN_FONT)
l_baro_text.setMaximumWidth(80)
l_com_label = QLabel('Antenna Heading:')
l_com_label.setFont(FUN_FONT)
l_com_text = QLineEdit()
l_com_text.setFont(FUN_FONT)
# l_com_text.setText(self._lcomvalue)
l_com_text.setMaximumWidth(80)
l_h1 = QHBoxLayout()
l_h1.addStretch()
l_h1.addWidget(l_rssi_lable)
l_h1.addWidget(l_rssi_text)
l_h1.addWidget(l_com_label)
l_h1.addWidget(l_com_text)
l_h1.addStretch()
l_h2 = QHBoxLayout()
l_h2.addStretch()
l_h2.addWidget(lgps_label)
l_h2.addWidget(l_coordsEdit)
l_h2.addWidget(l_baro_lable)
l_h2.addWidget(l_baro_text)
l_h2.addStretch()
# l_h1.setSpacing(0)
local_Vlayout.addWidget(l_com_widget)
local_Vlayout.addLayout(l_h1)
local_Vlayout.addLayout(l_h2)
local_widget.setMinimumSize(450,300)
local_widget.setMaximumWidth(500)
lbbb_conn_icon=QLabel(l_com_widget)
lbbb_conn_icon.setText("ICON")
lbbb_conn_icon.setGeometry(380,200,40,40)
lbbb_conn_icon.setPixmap(red_icon)
l_con_ind_icon = QLabel(l_com_widget)
l_con_ind_icon.setText("ICON")
l_con_ind_icon.setGeometry(380,40,50,110)
l_con_ind_icon.setPixmap(ConnectionBar1)
##################################
# remote widget
remote_widget = QWidget()
remote_vlayout = QVBoxLayout(remote_widget)
remote_widget.setStyleSheet("background-color: white")
r_coordsEdit = QLineEdit()
r_coordsEdit.setFont(FUN_FONT)
r_coordsEdit.setMinimumWidth(230)
rgps_label = QLabel('GPS:')
rgps_label.setFont(FUN_FONT)
r_com_widget = RCompassWidget()
r_rssi_lable=QLabel('RSSI')
r_rssi_lable.setFont(FUN_FONT)
r_rssi_text=QLineEdit()
r_rssi_text.setFont(FUN_FONT)
r_rssi_text.setMaximumWidth(70)
r_baro_lable = QLabel('Alt:')
r_baro_lable.setFont(FUN_FONT)
r_baro_text = QLineEdit()
r_baro_text.setFont(FUN_FONT)
r_baro_text.setMaximumWidth(80)
r_com_label=QLabel('Antenna Heading:')
r_com_label.setFont(FUN_FONT)
r_com_text=QLineEdit()
r_com_text.setFont(FUN_FONT)
r_com_text.setMaximumWidth(80)
r_h1 = QHBoxLayout()
r_h1.addStretch()
r_h1.addWidget(r_rssi_lable)
r_h1.addWidget(r_rssi_text)
r_h1.addWidget(r_com_label)
r_h1.addWidget(r_com_text)
r_h1.addStretch()
r_h2 =QHBoxLayout()
r_h2.addStretch()
r_h2.addWidget(rgps_label)
r_h2.addWidget(r_coordsEdit)
r_h2.addWidget(r_baro_lable)
r_h2.addWidget(r_baro_text)
r_h2.addStretch()
remote_vlayout.addWidget(r_com_widget)
remote_vlayout.addLayout(r_h1)
remote_vlayout.addLayout(r_h2)
remote_widget.setMinimumSize(450,300)
# remote_widget.setMinimumSize(local_widget.width())
rbbb_conn_icon = QLabel(r_com_widget)
rbbb_conn_icon.setText("ICON")
rbbb_conn_icon.setGeometry(380, 200, 40, 40)
rbbb_conn_icon.setPixmap(red_icon)
r_con_ind_icon = QLabel(r_com_widget)
r_con_ind_icon.setText("ICON")
r_con_ind_icon.setGeometry(380, 40, 50, 110)
r_con_ind_icon.setPixmap(ConnectionBar1)
##################################
#distance and CCQ
distance_lable=QLabel("Distance")
distance_text=QLabel("")
CCQ_lable=QLabel("Transmit CCQ: ")
CCQ_text=QLabel()
DIS_CCQ_widget= QWidget()
DIS_CCQ_layout=QHBoxLayout(DIS_CCQ_widget)
DIS_CCQ_layout.addStretch(1)
DIS_CCQ_layout.addWidget(distance_lable)
DIS_CCQ_layout.addWidget(distance_text)
DIS_CCQ_layout.addStretch(2)
DIS_CCQ_layout.addWidget(CCQ_lable)
DIS_CCQ_layout.addWidget(CCQ_text)
DIS_CCQ_layout.addStretch(1)
DIS_CCQ_widget.setStyleSheet("background-color: white")
# functional buttons
func_widget = QWidget()
Func_widget_layout= QGridLayout(func_widget)
# Func_widget_layout.setRowStretch(0,1)
Func_widget_layout.setHorizontalSpacing(5)
# Func_widget_layout.setSpacing(1)
distan_option_label= QLabel("Distance Option: ")
LOS = QRadioButton("LOS")
LOS.setChecked(True)
NLOS = QRadioButton("NLOS")
NLOS.setChecked(False)
channel_selection_label= QLabel("Channel Selection: ")
channel_textedit= QLineEdit("CH")
channel_optimize= QPushButton("Optimize")
self.LOS_optimize_chal.connect(LOS_channel_testedit)
self.NLOS_optimize_chal.connect(NLOS_channel_testedit)
IMU_calibration_label= QLabel("IMU Calibration: ")
IMU_run_stop_button = QPushButton("Run")
# IMU_run_stop_button.seta
IMU_state_state_label= QLineEdit("state")
initial_heading_label=QLabel("Initial Heading: ")
initial_heading_display_label= QLineEdit("Default")
initial_heading_calculation_button = QPushButton("Scan")
ROS_node_label= QLabel("ROS Nodes: ")
Ros_node_run_button= QPushButton("Run")
Ros_node_state_label= QLineEdit("state")
camera_label =QLabel("Cameras in Use: ")
camera_group_widget=QWidget()
camera_group=QGridLayout(camera_group_widget)
# camera_group.setAlignment(Qt.AlignLeft)
optical_camera=QCheckBox("Optical")
optical_camera.setChecked(True)
infrared_camera=QCheckBox("Infrared")
infrared_camera.setChecked(True)
save_infrared=QCheckBox("Save")
save_optical=QCheckBox("Save")
camera_group.addWidget(optical_camera,0,0)
camera_group.addWidget(save_optical,0,1)
camera_group.addWidget(infrared_camera,1,0)
camera_group.addWidget(save_infrared,1,1)
camera_run_button= QPushButton("Confirm")
#map_rssi_button=QPushButton("RSSI_MAPING")
Func_widget_layout.addWidget(distan_option_label,0,0)
Func_widget_layout.addWidget(LOS,0,1)
Func_widget_layout.addWidget(NLOS,0,2)
Func_widget_layout.addWidget(channel_selection_label,1,0)
Func_widget_layout.addWidget(channel_textedit,1,2)
Func_widget_layout.addWidget(channel_optimize,1,1)
Func_widget_layout.addWidget(IMU_calibration_label,2,0)
Func_widget_layout.addWidget(IMU_run_stop_button,2,1)
Func_widget_layout.addWidget(IMU_state_state_label,2,2)
Func_widget_layout.addWidget(initial_heading_label,3,0)
Func_widget_layout.addWidget(initial_heading_display_label,3,2)
Func_widget_layout.addWidget(initial_heading_calculation_button,3,1)
Func_widget_layout.addWidget(ROS_node_label,4,0)
Func_widget_layout.addWidget(Ros_node_run_button,4,1)
Func_widget_layout.addWidget(Ros_node_state_label,4,2)
Func_widget_layout.addWidget(camera_label, 5,0)
Func_widget_layout.addWidget(camera_group_widget,5,1)
Func_widget_layout.addWidget(camera_run_button,5,2)
#Func_widget_layout.addWidget(map_rssi_button, 6,0)
Func_widget_layout.setColumnMinimumWidth(2,70)
# Func_widget_layout.set
func_widget.setStyleSheet("color:white;font:bold 15px")
# font1 = QFont()
# font1.setPointSize(20)
# # font1.setPixelSize(30)
# # font1.setBold(True)
# font1.setWeight(75)
LOS.setStyleSheet("background-color: rgb(245,128,38);padding: 6px; border-radius:5px")
channel_optimize.setStyleSheet("background-color: rgb(245,128,38);padding: 6px; border-radius:5px")
# channel_textedit.setStyleSheet("background-color: rgb(245,128,38)")
NLOS.setStyleSheet("background-color: rgb(245,128,38);padding: 6px; border-radius:5px")
camera_run_button.setStyleSheet("background-color: rgb(245,128,38);padding: 6px; border-radius:5px")
IMU_run_stop_button.setStyleSheet("background-color: rgb(245,128,38);padding: 6px; border-radius:5px;text_align:left")
# IMU_state_state_label.setStyleSheet("background-color: rgb(245,128,38)")
initial_heading_calculation_button.setStyleSheet("background-color: rgb(245,128,38);padding: 6px; border-radius:5px")
Ros_node_run_button.setStyleSheet("background-color: rgb(245,128,38);padding: 6px; border-radius:5px;text_align:left")
camera_run_button.setStyleSheet("background-color: rgb(245,128,38);padding: 6px; border-radius:5px")
#map_rssi_button.setStyleSheet("background-color: rgb(245,128,38);padding: 6px; border-radius:5px")
# camera_group.setStyleSheet("font:bold 11px")
###############################
LOS.toggled.connect(change_los_nos_value)
channel_optimize.clicked.connect(channel_on_click)
IMU_run_stop_button.clicked.connect(imu_run_stop_click)
initial_heading_calculation_button.clicked.connect(calculate_Azimuth)
Ros_node_run_button.clicked.connect(stat_ros_click)
camera_run_button.clicked.connect(start_camera_click)
#map_rssi_button.clicked.connect(map_rssi_fun_click)
# channel_button.clicked.connect(channel_on_click)
# ROS_button.clicked.connect(stat_ros_click)
# save_button.clicked.connect(save_file_click)
# Azimuth_button.clicked.connect(calculate_Azimuth)
# New_Azimuth_button.clicked.connect(pub_new_Azimuth)
# Enable_gps_Azimuth.clicked.connect(enable_disable_gps_Azimuth)
# manual_com.clicked.connect(stat_ros_manual_com_click)
mid_layout=QHBoxLayout()
#mid_layout.setSpacing(20)
mid_layout.addWidget(local_widget)
mid_layout.addWidget(remote_widget)
top_layout=QVBoxLayout()
# top_layout.addWidget(DIS_CCQ_widget)
top_layout.addLayout(mid_layout)
# top_layout.setStretchFactor(DIS_CCQ_layout,1)
# top_layout.setStretchFactor(mid_layout,9)
com_fun_layout= QHBoxLayout()
com_fun_layout.addLayout(top_layout)
com_fun_layout.addWidget(func_widget)
com_fun_layout.setStretchFactor(mid_layout,5)
com_fun_layout.setStretchFactor(func_widget,1.5)
# mid_layout.addWidget(func_widget)
# mid_layout.setStretchFactor(local_widget,4)
# mid_layout.setStretchFactor(remote_vlayout,4)
# mid_layout.setStretchFactor(func_widget,2)
# mid_layout.addStretch(1)
# gcv.addLayout(mid_layout)
gcv.addLayout(com_fun_layout)
# l.addRow('Coords:', coordsEdit)
# l.addRow('lcoords:',r_coordsEdit)
#h.addLayout(v)
#l = QFormLayout()
#h.addLayout(l)
#coordsEdit = QLineEdit()
#l.addRow('Coords:', coordsEdit)
#coordsEdit.editingFinished.connect(goCoords)
self.map = QOSM(self._widget)
self.map.mapMoved.connect(onMapMoved)
self.map.markerMoved.connect(onMarkerMoved)
self.map.mapClicked.connect(onMapLClick)
self.map.mapDoubleClicked.connect(onMapDClick)
self.map.mapRightClicked.connect(onMapRClick)
self.map.markerClicked.connect(onMarkerLClick)
self.map.markerDoubleClicked.connect(onMarkerDClick)
self.map.markerRightClicked.connect(onMarkerRClick)
self.l_location.connect(move_l_mark)
self.r_location.connect(move_r_mark)
self.distance_widget=QWidget(self.map)
self.distance_widget_layout=QHBoxLayout(self.distance_widget)
self.distance_widget_layout.addWidget(QLabel("Distance: "))
self.distance_label = QLabel()
self.distance_label.setText("the distance")
self.distance_widget_layout.addWidget(self.distance_label)
self.distance_widget.setGeometry(50,10,180,30)
self.distance_widget.setStyleSheet("background-color: white")
# self.distance_label.setGeometry(50,10,120,30)
# self.distance_label.setStyleSheet("background-color: rgb(245,128,38);padding: 6px; border-radius:5px")
# self.distance_label.setGeometry()
# self.distance_dock= QDockWidget()
# self.distance_dock.setWidget(self.distance_label)
# self.distance_dock.setFloating(True)
# self.addDockWidget(Qt.LeftDockWidgetArea,self.distance_dock)
# self._widget.addDockWidget(Qt.LeftDockWidgetArea, self.distance_dock)
gcv.addWidget(self.map)
gcv.setStretchFactor(com_fun_layout, 5)
gcv.setStretchFactor(self.map, 4)
self.map.setSizePolicy(
QSizePolicy.MinimumExpanding,
QSizePolicy.MinimumExpanding)
# l_com_timer = QTimer()
# self.l_com_timer.setSingleShot(True)
self.com_timer.timeout.connect(move_compass)
self.com_timer.start(200)
self.rssi_timer.timeout.connect(change_rssi)
self.rssi_timer.start(1000)
self.baro_timer.timeout.connect(change_baroalt)
self.baro_timer.start(1000)
self.ConnInd_timer.timeout.connect(local_connection_indicator)
self.ConnInd_timer.start(1000)
self.imu_state_timer=QTimer()
self.imu_state_timer.setInterval(2000)
# self.imu_state_timer.interval(2000)
self.imu_state_timer.timeout.connect(imu_state_display)
self.distance_timer = QTimer()
self.distance_timer.setInterval(1000)
self.distance_timer.timeout.connect(calculate_distance)
self.distance_timer.start()
# self.monitor_ccq = CCQ_threading()
self.CONN_state=conn_Test()
self.CONN_state.lBBB_conn.connect(local_bbb_conn)
self.CONN_state.rBBB_conn.connect(remote_bbb_conn)
self.CONN_state.start()
# self.memory_tracker=tracker.SummaryTracker(o)
# Get path to UI file which is a sibling of this file
# in this example the .ui and .py file are in the same folder
ui_file = os.path.join(rp.get_path('gps_com_node_v2'), 'resource', 'MyPlugin.ui')
# Extend the widget with all attributes and children from UI file
loadUi(ui_file, self._widget)
self._widget.setStyleSheet("background-color:rgb(0,68,124)")
# Give QObjects reasonable names
self._widget.setObjectName('MyPluginUi')
# Show _widget.windowTitle on left-top of each plugin (when
# it's set in _widget). This is useful when you open multiple
# plugins at once. Also if you open multiple instances of your
# plugin at once, these lines add number to make it easy to
# tell from pane to pane.
if context.serial_number() > 1:
self._widget.setWindowTitle(self._widget.windowTitle() + (' (%d)' % context.serial_number()))
# Add widget to the user interface
context.add_widget(self._widget)
self.map.waitUntilReady()
self.map.centerAt(32.731263, -97.114334)
#self.map.centerAt(38.833005, -77.117415)
self.map.setZoom(12)
# Many icons at: https://sites.google.com/site/gmapsdevelopment/
coords = self.map.center()
self.map.addMarker("local GPS", *coords, **dict(
icon="file:///home/dnc2/Documents/catkin_ws/src/gps_com_node _v2/src/gps_com_node_v2/local_uav.png",
draggable=True,
title="locat GPS marker!"
))
coords = coords[0] , coords[1]
self.map.addMarker("remote GPS", *coords, **dict(
# icon="https://thumb.ibb.co/bvE9FT/remote_uav.png",
icon= "file:///home/dnc2/Documents/catkin_ws/src/gps_com_node _v2/src/gps_com_node_v2/remote_uav.png",
draggable=True,
title="remote GPS marker"
))
sub1 = rospy.Subscriber("/local_gps", Float64MultiArray, local_callback)
sub2 = rospy.Subscriber("/remote_gps", Float64MultiArray, remote_callback)
sub3=rospy.Subscriber("/local_rssi",Int32,l_rssi_callback)
sub4=rospy.Subscriber("/remote_rssi",Int32,r_rssi_callback)
sub5=rospy.Subscriber("/local_com",Float64,l_com_callback)
sub6=rospy.Subscriber("/remote_com",Float64,r_com_callback)
sub7=rospy.Subscriber("/local_imucal_msg", Int32, local_imucal_callback)
sub8=rospy.Subscriber("/remote_imucal_msg", Int32, remote_imucal_callback)
sub9=rospy.Subscriber("/local_baro",Float64MultiArray,l_baro_callback)
sub10=rospy.Subscriber("/remote_baro",Float64MultiArray,r_baro_callback)
def __init__(self, context):
super(MyPlugin, self).__init__(context)
# Give QObjects reasonable names
self.setObjectName('MyPlugin')
rp = rospkg.RosPack()
self._lrssivalue = 0.0
self._rrssivalue = 0.0
self._lcomvalue = 0.0
self._rcomvalue = 0.0
self._enable_gps = 0
# Process standalone plugin command-line arguments
from argparse import ArgumentParser
parser = ArgumentParser()
# Add argument(s) to the parser.
parser.add_argument("-q",
"--quiet",
action="store_true",
dest="quiet",
help="Put plugin in silent mode")
args, unknowns = parser.parse_known_args(context.argv())
if not args.quiet:
print 'arguments: ', args
print 'unknowns: ', unknowns
## def goCoords():
## def resetError():
## # coordsEdit.setStyleSheet('')
##
## try:
## print("work")
## #latitude, longitude = coordsEdit.text().split(",")
##
## except ValueError:
## #coordsEdit.setStyleSheet("color: red;")
## QTimer.singleShot(500, resetError)
## else:
## map.centerAt(latitude, longitude)
## # map.moveMarker("MyDragableMark", latitude, longitude)
def onMarkerMoved(key, latitude, longitude):
print("Moved!!", key, latitude, longitude)
if key == 'local GPS':
l_coordsEdit.setText("{0:.8}, {1:.8}".format(
latitude, longitude))
else:
r_coordsEdit.setText("{0:.8}, {1:.8}".format(
latitude, longitude))
#coordsEdit.setText("{}, {}".format(latitude, longitude))
#self.map.moveMarker("local GPS",latitude+0.01, longitude+0.01)
def onMarkerRClick(key):
print("RClick on ", key)
# map.setMarkerOptions(key, draggable=False)
def onMarkerLClick(key):
print("LClick on ", key)
def onMarkerDClick(key):
print("DClick on ", key)
# map.setMarkerOptions(key, draggable=True)
def onMapMoved(latitude, longitude):
print("Moved to ", latitude, longitude)
def onMapRClick(latitude, longitude):
print("RClick on ", latitude, longitude)
def onMapLClick(latitude, longitude):
print("LClick on ", latitude, longitude)
def onMapDClick(latitude, longitude):
print("DClick on ", latitude, longitude)
def move_l_mark(lat_l, lon_l):
#onMarkerMoved("local gps",lat_,lon_)
#print("get location",lat_,lon_)
self.map.moveMarker("local GPS", lat_l, lon_l)
l_coordsEdit.setText("{0:.9}, {1:.9}".format(lat_l, lon_l))
#time.sleep(0.01)
def local_callback(llocation):
llat = llocation.data[0]
llon = llocation.data[1]
#move_mark(self,lat,lon)
self.l_location.emit(llat, llon)
def move_r_mark(lat_r, lon_r):
#onMarkerMoved("local gps",lat_,lon_)
#print("get location",lat_,lon_)
self.map.moveMarker("remote GPS", lat_r, lon_r)
r_coordsEdit.setText("{0:.9}, {1:.9}".format(lat_r, lon_r))
#time.sleep(0.01)
def remote_callback(rlocation):
rlat = rlocation.data[0]
rlon = rlocation.data[1]
#move_mark(self,lat,lon)
self.r_location.emit(rlat, rlon)
@pyqtSlot()
def channel_on_click(self):
print('test')
os.system("sudo /home/dnc2/Desktop/testpython")
print('done')
def stat_ros_nodes():
print("stat ROS node ...")
os.system(
"/home/dnc2/Documents/catkin_ws/devel/sshnode/start_local.sh")
def stat_ros_manual_com_nodes():
print("stat ROS manual com node ...")
os.system(
"/home/dnc2/Documents/catkin_ws/devel/sshnode/start_local_v4.sh"
)
@pyqtSlot()
def stat_ros_click():
if star_ros_threading.isAlive() == True:
pass
else:
# star_ros_threading._stop()
star_ros_threading.start()
@pyqtSlot()
def save_file_click():
if save_file_processing.is_alive() == True:
pass
else:
save_file_processing.start()
@pyqtSlot()
def stat_ros_manual_com_click():
if star_ros_manual_com_threading.isAlive() == True:
pass
else:
star_ros_manual_com_threading.start()
def save_topic_fun():
print("save date ...")
# self._pid= save_file_processing.pid
os.system("/home/dnc2/Desktop/save_rosbag.sh")
@pyqtSlot()
def calculate_Azimuth():
if l_coordsEdit.text() and l_coordsEdit.text().find(",") != -1:
llocation_string = l_coordsEdit.text()
l_lat_lon = llocation_string.split(",")
try:
l_latitiude = float(l_lat_lon[0])
l_longitude = float(l_lat_lon[1])
except:
Azimuth_warning()
return
if r_coordsEdit.text() and r_coordsEdit.text().find(",") != -1:
rlocation_string = r_coordsEdit.text()
r_lat_lon = rlocation_string.split(",")
try:
r_latitiude = float(r_lat_lon[0])
r_longitude = float(r_lat_lon[1])
except:
Azimuth_warning()
return
try:
LON1 = l_longitude * 0.0174532925199433
LAT1 = l_latitiude * 0.0174532925199433
LON2 = r_longitude * 0.0174532925199433
LAT2 = r_latitiude * 0.0174532925199433
az = math.atan2(
math.sin(LON2 - LON1) * math.cos(LAT2),
math.cos(LAT1) * math.sin(LAT2) -
math.sin(LAT1) * math.cos(LAT2) * math.cos(LON2 - LON1))
az = math.fmod(az, 9.118906528)
az = math.fmod(az, 6.283185307179586) * (57.2957795131)
if az < 0:
az = az + 360
Azimuth = az
except:
Azimuth_warning()
return
Azimuth_data.setText(" %0.1f" % Azimuth)
def Azimuth_warning():
msg = QMessageBox()
msg.setIcon(QMessageBox.Warning)
msg.setWindowTitle("Azimuth calculation")
msg.setText(
"The locations of local and remote UAVs cannot be empty.\nPlease input locations(latitude,longitude) correctly!"
)
msg.exec_()
@pyqtSlot()
def pub_new_Azimuth():
try:
N_Azimuth = float(Azimuth_data.text())
except:
Azimuth_warning()
return
if math.fabs(N_Azimuth) >= 360:
Azimuth_warning()
return
pub_Azimuth.publish(N_Azimuth)
@pyqtSlot()
def enable_disable_gps_Azimuth():
if self._enable_gps == 1:
self._enable_gps = 0
Enable_gps_Azimuth.setText("Disable GPS Azimuth")
for i in range(5):
pub_gps_Azimuth_enable.publish(self._enable_gps)
time.sleep(0.2)
else:
self._enable_gps = 1
Enable_gps_Azimuth.setText("Enable GPS Azimuth")
for i in range(5):
pub_gps_Azimuth_enable.publish(self._enable_gps)
time.sleep(0.2)
@pyqtSlot()
def change_rssi():
#self._rrssivalue=str(rssi2)
r_rssi_text.setText(str(self._rrssivalue))
l_rssi_text.setText(str(self._lrssivalue))
time.sleep(0.01)
#time.sleep(0.01)
def l_rssi_callback(rssil):
self._lrssivalue = rssil.data
# self.l_rssi.emit(rssil.data)
# del rssil
#l_rssi_text.update()
#l_rssi_text.setText(str(rssi.data))
def r_rssi_callback(rssir):
self._rrssivalue = rssir.data
# self.r_rssi.emit(rssir.data)
# self.memory_tracker.print_diff()
# print(sys.getsizeof(move_l_compass(headidng1)))
#r_rssi_text.setText(str(rssi.data))
@pyqtSlot()
def move_compass():
l_com_text.setText("%.1f" % self._lcomvalue)
time.sleep(0.01)
# print('work')
l_com_widget.setAngle(self._lcomvalue)
time.sleep(0.01)
r_com_text.setText("%.1f" % self._rcomvalue)
time.sleep(0.01)
r_com_widget.setAngle(self._rcomvalue)
time.sleep(0.01)
def l_com_callback(heading):
self._lcomvalue = heading.data
# print('work1')
#l_com_text.setText("%.1f" % heading.data)
# self.l_com.emit(heading.data)
# heading.data =None
#self.update()
#l_com_widget.setAngle(heading.data)
def r_com_callback(heading):
self._rcomvalue = heading.data
#r_com_text.setText("%.1f" % heading.data)
# self.r_com.emit(heading.data)
# del heading
#r_com_widget.setAngle(heading.data)
# def close_process():
#
# save_file_processing.terminate()
# print("close widget")
#
# Create QWidget
############################################
#public Azimuth
pub_Azimuth = rospy.Publisher('lnewazimuth', Float64, queue_size=10)
pub_gps_Azimuth_enable = rospy.Publisher('lenablegpsazimuth',
Int32,
queue_size=10)
# rospy.init_node('Azimuth', anonymous=True)
self._widget = QWidget()
gcv = QVBoxLayout(self._widget)
v = QVBoxLayout()
h = QHBoxLayout()
FUN_FONT = QFont()
FUN_FONT.setBold(True)
FUN_FONT.setPointSize(14)
FUN_FONT.setWeight(87)
#ros_threading
#############################
star_ros_threading = threading.Thread(target=stat_ros_nodes)
# save_file_processing = multiprocessing.Process(target= save_topic_fun)
save_file_processing = threading.Thread(target=save_topic_fun)
star_ros_manual_com_threading = threading.Thread(
target=stat_ros_manual_com_nodes)
##################################
# local widget
local_widget = QWidget()
local_Vlayout = QVBoxLayout(local_widget)
local_widget.setStyleSheet("background-color: white")
l_coordsEdit = QLineEdit()
l_coordsEdit.setFont(FUN_FONT)
l_coordsEdit.setMinimumWidth(230)
lgps_label = QLabel('GPS:')
lgps_label.setFont(FUN_FONT)
l_com_widget = CompassWidget()
l_rssi_lable = QLabel('RSSI:')
l_rssi_lable.setFont(FUN_FONT)
l_rssi_text = QLineEdit()
l_rssi_text.setFont(FUN_FONT)
l_rssi_text.setMaximumWidth(70)
l_com_label = QLabel('Antenna Heading:')
l_com_label.setFont(FUN_FONT)
l_com_text = QLineEdit()
l_com_text.setFont(FUN_FONT)
# l_com_text.setText(self._lcomvalue)
l_com_text.setMaximumWidth(80)
l_h1 = QHBoxLayout()
l_h1.addStretch()
l_h1.addWidget(l_rssi_lable)
l_h1.addWidget(l_rssi_text)
l_h1.addWidget(l_com_label)
l_h1.addWidget(l_com_text)
l_h1.addStretch()
l_h2 = QHBoxLayout()
l_h2.addStretch()
l_h2.addWidget(lgps_label)
l_h2.addWidget(l_coordsEdit)
l_h2.addStretch()
# l_h1.setSpacing(0)
local_Vlayout.addWidget(l_com_widget)
local_Vlayout.addLayout(l_h1)
local_Vlayout.addLayout(l_h2)
local_widget.setMinimumSize(450, 300)
local_widget.setMaximumWidth(500)
##################################
# remote widget
remote_widget = QWidget()
remote_vlayout = QVBoxLayout(remote_widget)
remote_widget.setStyleSheet("background-color: white")
r_coordsEdit = QLineEdit()
r_coordsEdit.setFont(FUN_FONT)
r_coordsEdit.setMinimumWidth(230)
rgps_label = QLabel('GPS:')
rgps_label.setFont(FUN_FONT)
r_com_widget = RCompassWidget()
r_rssi_lable = QLabel('RSSI')
r_rssi_lable.setFont(FUN_FONT)
r_rssi_text = QLineEdit()
r_rssi_text.setFont(FUN_FONT)
r_rssi_text.setMaximumWidth(70)
r_com_label = QLabel('Antenna Heading:')
r_com_label.setFont(FUN_FONT)
r_com_text = QLineEdit()
r_com_text.setFont(FUN_FONT)
r_com_text.setMaximumWidth(80)
r_h1 = QHBoxLayout()
r_h1.addStretch()
r_h1.addWidget(r_rssi_lable)
r_h1.addWidget(r_rssi_text)
r_h1.addWidget(r_com_label)
r_h1.addWidget(r_com_text)
r_h1.addStretch()
r_h2 = QHBoxLayout()
r_h2.addStretch()
r_h2.addWidget(rgps_label)
r_h2.addWidget(r_coordsEdit)
r_h2.addStretch()
remote_vlayout.addWidget(r_com_widget)
remote_vlayout.addLayout(r_h1)
remote_vlayout.addLayout(r_h2)
remote_widget.setMinimumSize(450, 300)
# remote_widget.setMinimumSize(local_widget.width())
##################################
# functional buttons
func_widget = QWidget()
Func_widget_layout = QVBoxLayout(func_widget)
one_master = QPushButton('One Master')
manual_com = QPushButton('manual compass')
master_layout = QHBoxLayout()
master_layout.addWidget(one_master)
master_layout.addWidget(manual_com)
save_button = QPushButton("Save File")
ROS_button = QPushButton("Start ROS\nNodes")
channel_button = QPushButton("Select\nChannel")
Azimuth_button = QPushButton("Azimuth")
save_channel_widget = QWidget()
save_channel_layout = QHBoxLayout(save_channel_widget)
save_channel_layout.addWidget(ROS_button)
save_channel_layout.addWidget(channel_button)
Azimuth_widget = QWidget()
Azimuth_data = QLineEdit('Heading')
Azimuth_widget_layout = QHBoxLayout(Azimuth_widget)
Azimuth_widget_layout.addWidget(Azimuth_data)
Azimuth_widget_layout.addWidget(Azimuth_button)
Enable_gps_Azimuth = QPushButton('Disable_GPS_Amizuth')
New_Azimuth_button = QPushButton('NEW Azimuth')
# font1 = QFont()
# font1.setPointSize(20)
# # font1.setPixelSize(30)
# # font1.setBold(True)
# font1.setWeight(75)
# save_button.setFont(font1)
one_master.setStyleSheet(
"color:white;background-color: rgb(245,128,38); padding: 12px; border-radius:20px; font:bold 20px "
)
manual_com.setStyleSheet(
"color:white;background-color: rgb(245,128,38); padding: 12px; border-radius:20px; font:bold 20px "
)
save_button.setStyleSheet(
"color:white;background-color: rgb(245,128,38); padding: 12px; border-radius:20px; font:bold 20px "
)
channel_button.setStyleSheet(
"color:white;background-color: rgb(245,128,38); padding: 15px; border-radius:20px; font:bold 20px "
)
ROS_button.setStyleSheet(
"color:white;background-color: rgb(245,128,38); padding: 15px; border-radius:20px; font:bold 20px "
)
Azimuth_button.setStyleSheet(
"color:white;background-color: rgb(245,128,38); padding: 12px; border-radius:20px; font:bold 20px "
)
Azimuth_data.setStyleSheet(
"color:white;background-color: rgb(245,128,38); padding: 12px; border-radius:20px; font:bold 20px "
)
New_Azimuth_button.setStyleSheet(
"color:white;background-color: rgb(245,128,38); padding: 12px; border-radius:20px; font:bold 20px "
)
Enable_gps_Azimuth.setStyleSheet(
"color:white;background-color: rgb(245,128,38); padding: 12px; border-radius:20px; font:bold 20px "
)
# button signals
###############################
channel_button.clicked.connect(channel_on_click)
ROS_button.clicked.connect(stat_ros_click)
save_button.clicked.connect(save_file_click)
Azimuth_button.clicked.connect(calculate_Azimuth)
New_Azimuth_button.clicked.connect(pub_new_Azimuth)
Enable_gps_Azimuth.clicked.connect(enable_disable_gps_Azimuth)
manual_com.clicked.connect(stat_ros_manual_com_click)
Func_widget_layout.addLayout(master_layout)
Func_widget_layout.addWidget(save_button)
# Func_widget_layout.addWidget(channel_button)
Func_widget_layout.addWidget(save_channel_widget)
# Func_widget_layout.addWidget(ROS_button)
Func_widget_layout.addWidget(Enable_gps_Azimuth)
Func_widget_layout.addWidget(New_Azimuth_button)
# Func_widget_layout.addWidget(Azimuth_button)
Func_widget_layout.addWidget(Azimuth_widget)
mid_layout = QHBoxLayout()
#mid_layout.setSpacing(20)
mid_layout.addWidget(local_widget)
mid_layout.addWidget(remote_widget)
mid_layout.addWidget(func_widget)
mid_layout.setStretchFactor(local_widget, 4)
mid_layout.setStretchFactor(remote_vlayout, 4)
mid_layout.setStretchFactor(func_widget, 2)
# mid_layout.addStretch(1)
gcv.addLayout(mid_layout)
# l.addRow('Coords:', coordsEdit)
# l.addRow('lcoords:',r_coordsEdit)
#h.addLayout(v)
#l = QFormLayout()
#h.addLayout(l)
#coordsEdit = QLineEdit()
#l.addRow('Coords:', coordsEdit)
#coordsEdit.editingFinished.connect(goCoords)
self.map = QOSM(self._widget)
self.map.mapMoved.connect(onMapMoved)
self.map.markerMoved.connect(onMarkerMoved)
self.map.mapClicked.connect(onMapLClick)
self.map.mapDoubleClicked.connect(onMapDClick)
self.map.mapRightClicked.connect(onMapRClick)
self.map.markerClicked.connect(onMarkerLClick)
self.map.markerDoubleClicked.connect(onMarkerDClick)
self.map.markerRightClicked.connect(onMarkerRClick)
self.l_location.connect(move_l_mark)
self.r_location.connect(move_r_mark)
gcv.addWidget(self.map)
gcv.setStretchFactor(mid_layout, 3)
gcv.setStretchFactor(self.map, 5)
self.map.setSizePolicy(QSizePolicy.MinimumExpanding,
QSizePolicy.MinimumExpanding)
# l_com_timer = QTimer()
# self.l_com_timer.setSingleShot(True)
self.com_timer.timeout.connect(move_compass)
self.com_timer.start(200)
self.rssi_timer.timeout.connect(change_rssi)
self.rssi_timer.start(1000)
# self.memory_tracker=tracker.SummaryTracker()
# Get path to UI file which is a sibling of this file
# in this example the .ui and .py file are in the same folder
ui_file = os.path.join(rp.get_path('gps_com_node_v2'), 'resource',
'MyPlugin.ui')
# Extend the widget with all attributes and children from UI file
loadUi(ui_file, self._widget)
self._widget.setStyleSheet("background-color:rgb(0,68,124)")
# Give QObjects reasonable names
self._widget.setObjectName('MyPluginUi')
# Show _widget.windowTitle on left-top of each plugin (when
# it's set in _widget). This is useful when you open multiple
# plugins at once. Also if you open multiple instances of your
# plugin at once, these lines add number to make it easy to
# tell from pane to pane.
if context.serial_number() > 1:
self._widget.setWindowTitle(self._widget.windowTitle() +
(' (%d)' % context.serial_number()))
# Add widget to the user interface
context.add_widget(self._widget)
self.map.waitUntilReady()
self.map.centerAt(33.214039, -97.128007)
self.map.setZoom(12)
# Many icons at: https://sites.google.com/site/gmapsdevelopment/
coords = self.map.center()
self.map.addMarker(
"local GPS", *coords,
**dict(
icon=
"file:///home/dnc2/Documents/catkin_ws/src/gps_com_node _v2/src/gps_com_node_v2/local_uav.png",
draggable=True,
title="locat GPS marker!"))
coords = coords[0], coords[1]
self.map.addMarker(
"remote GPS",
*coords,
**dict(
# icon="https://thumb.ibb.co/bvE9FT/remote_uav.png",
icon=
"file:///home/dnc2/Documents/catkin_ws/src/gps_com_node _v2/src/gps_com_node_v2/remote_uav.png",
draggable=True,
title="remote GPS marker"))
sub1 = rospy.Subscriber("/local_gps", Float64MultiArray,
local_callback)
sub2 = rospy.Subscriber("/remote_gps", Float64MultiArray,
remote_callback)
sub3 = rospy.Subscriber("/local_rssi", Int32, l_rssi_callback)
sub4 = rospy.Subscriber("/remote_rssi", Int32, r_rssi_callback)
sub5 = rospy.Subscriber("/local_com", Float64, l_com_callback)
sub6 = rospy.Subscriber("/remote_com", Float64, r_com_callback)
