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Gui cameras #647

Merged
merged 9 commits into from
Feb 20, 2024
Merged

Gui cameras #647

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ad75c07
Graft changes from previous branch
sshapin Jan 24, 2024
fdbad68
GUI cleaned up, fixed message errors
sshapin Feb 7, 2024
c501439
Styled Code
sshapin Feb 11, 2024
693f399
Pulled changes from Integration
sshapin Feb 11, 2024
dc4349d
Actually saved this time lol
sshapin Feb 11, 2024
d1e9e29
Panorama button/rospy service implemented
sshapin Feb 14, 2024
9eebdde
pulled integration and fixed conflicts
neuenfeldttj Feb 20, 2024
7da8141
Format
qhdwight Feb 20, 2024
839c36b
Merge remote-tracking branch 'origin/integration' into gui-cameras
qhdwight Feb 20, 2024
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64 changes: 54 additions & 10 deletions src/teleoperation/backend/consumers.py
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Original file line number Diff line number Diff line change
Expand Up @@ -7,6 +7,8 @@
from channels.generic.websocket import JsonWebsocketConsumer
import rospy
import tf2_ros
import cv2
from cv_bridge import CvBridge
from geometry_msgs.msg import Twist
from mrover.msg import (
PDLB,
Expand All @@ -17,12 +19,15 @@
StateMachineStateUpdate,
Throttle,
CalibrationStatus,
Calibrated,
MotorsStatus,
CameraCmd,
Calibrated,
Velocity,
Position,
IK,
)
from mrover.srv import EnableAuton, ChangeCameras, CapturePanorama
from sensor_msgs.msg import NavSatFix, Temperature, RelativeHumidity, Image
from mrover.srv import EnableAuton
from sensor_msgs.msg import NavSatFix, Temperature, RelativeHumidity
from std_msgs.msg import String, Bool
Expand Down Expand Up @@ -88,18 +93,15 @@ def connect(self):
"/sa_humidity_data", RelativeHumidity, self.sa_humidity_data_callback
)

# Services
self.laser_service = rospy.ServiceProxy("enable_mosfet_device", SetBool)
self.calibrate_service = rospy.ServiceProxy("arm_calibrate", Trigger)
self.enable_auton = rospy.ServiceProxy("enable_auton", EnableAuton)

# Services
self.laser_service = rospy.ServiceProxy("enable_arm_laser", SetBool)
self.enable_auton = rospy.ServiceProxy("enable_auton", EnableAuton)
self.change_heater_srv = rospy.ServiceProxy("science_change_heater_auto_shutoff_state", SetBool)
self.calibrate_cache_srv = rospy.ServiceProxy("cache_calibrate", Trigger)
self.cache_enable_limit = rospy.ServiceProxy("cache_enable_limit_switches", SetBool)
self.calibrate_service = rospy.ServiceProxy("arm_calibrate", Trigger)
self.change_cameras_srv = rospy.ServiceProxy("change_cameras", ChangeCameras)
self.capture_panorama_srv: Any = rospy.ServiceProxy("capture_panorama", CapturePanorama)

# ROS Parameters
self.mappings = rospy.get_param("teleop/joystick_mappings")
Expand All @@ -119,6 +121,7 @@ def connect(self):
self.tf_listener = tf2_ros.TransformListener(self.tf_buffer)
self.flight_thread = threading.Thread(target=self.flight_attitude_listener)
self.flight_thread.start()

except rospy.ROSException as e:
rospy.logerr(e)

Expand Down Expand Up @@ -160,6 +163,12 @@ def receive(self, text_data):
self.auton_bearing()
elif message["type"] == "mast_gimbal":
self.mast_gimbal(message)
elif message["type"] == "max_streams":
self.send_res_streams()
elif message["type"] == "sendCameras":
self.change_cameras(msg=message)
elif message["type"] == "center_map":
self.send_center()
elif message["type"] == "enable_limit_switch":
self.limit_switch(message)
elif message["type"] == "center_map":
Expand Down Expand Up @@ -588,10 +597,45 @@ def mast_gimbal(self, msg):
up_down_pwr = msg["throttles"][1] * pwr["up_down_pwr"]
self.mast_gimbal_pub.publish(Throttle(["mast_gimbal_x", "mast_gimbal_y"], [rot_pwr, up_down_pwr]))

def send_center(self):
lat = rospy.get_param("gps_linearization/reference_point_latitude")
long = rospy.get_param("gps_linearization/reference_point_longitude")
self.send(text_data=json.dumps({"type": "center_map", "latitude": lat, "longitude": long}))
def change_cameras(self, msg):
try:
camera_cmd = CameraCmd(msg["device"], msg["resolution"])
rospy.logerr(camera_cmd)
result = self.change_cameras_srv(primary=msg["primary"], camera_cmd=camera_cmd)
rospy.logerr(result)
except rospy.ServiceException as e:
print(f"Service call failed: {e}")

def send_res_streams(self):
res = rospy.get_param("cameras/max_num_resolutions")
streams = rospy.get_param("cameras/max_streams")
self.send(text_data=json.dumps({"type": "max_resolution", "res": res}))
self.send(text_data=json.dumps({"type": "max_streams", "streams": streams}))

def capture_panorama(self) -> None:
try:
response = self.capture_panorama_srv()
image = response.panorama
self.image_callback(image)
except rospy.ServiceException as e:
print(f"Service call failed: {e}")

def image_callback(self, msg):
bridge = CvBridge()
try:
# Convert the image to OpenCV standard format
cv_image = bridge.imgmsg_to_cv2(msg, desired_encoding="passthrough")
except Exception as e:
rospy.logerr("Could not convert image message to OpenCV image: " + str(e))
return

# Save the image to a file (you could change 'png' to 'jpg' or other formats)
image_filename = "panorama.png"
try:
cv2.imwrite(image_filename, cv_image)
rospy.loginfo("Saved image to {}".format(image_filename))
except Exception as e:
rospy.logerr("Could not save image: " + str(e))

def send_center(self):
lat = rospy.get_param("gps_linearization/reference_point_latitude")
Expand Down
5 changes: 2 additions & 3 deletions src/teleoperation/frontend/src/components/AutonTask.vue
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Original file line number Diff line number Diff line change
Expand Up @@ -212,7 +212,6 @@ export default defineComponent({
}

@keyframes blinkAnimation {

0%,
100% {
background-color: var(--bs-success);
Expand Down Expand Up @@ -282,8 +281,8 @@ h2 {
cursor: pointer;
}

.help:hover~.helpscreen,
.help:hover~.helpimages {
.help:hover ~ .helpscreen,
.help:hover ~ .helpimages {
visibility: visible;
}

Expand Down
175 changes: 28 additions & 147 deletions src/teleoperation/frontend/src/components/AutonWaypointEditor.vue
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Original file line number Diff line number Diff line change
Expand Up @@ -9,25 +9,9 @@
</div>
<div class="form-group col-md-6">
<label for="waypointid">Tag ID:</label>
<input
v-if="type == 1"
class="form-control"
id="waypointid"
v-model="id"
type="number"
max="249"
min="0"
step="1"
/>
<input
v-else
class="form-control"
id="waypointid"
type="number"
placeholder="-1"
step="1"
disabled
/>
<input v-if="type == 1" class="form-control" id="waypointid" v-model="id" type="number" max="249" min="0"
step="1" />
<input v-else class="form-control" id="waypointid" type="number" placeholder="-1" step="1" disabled />
</div>
</div>

Expand All @@ -39,33 +23,15 @@
</select>

<div class="form-check form-check-inline">
<input
v-model="odom_format_in"
class="form-check-input"
type="radio"
id="radioD"
value="D"
/>
<input v-model="odom_format_in" class="form-check-input" type="radio" id="radioD" value="D" />
<label class="form-check-label" for="radioD">D</label>
</div>
<div class="form-check form-check-inline">
<input
v-model="odom_format_in"
class="form-check-input"
type="radio"
id="radioDM"
value="DM"
/>
<input v-model="odom_format_in" class="form-check-input" type="radio" id="radioDM" value="DM" />
<label class="form-check-label" for="radioDM">DM</label>
</div>
<div class="form-check form-check-inline">
<input
v-model="odom_format_in"
class="form-check-input"
type="radio"
id="radioDMS"
value="DMS"
/>
<input v-model="odom_format_in" class="form-check-input" type="radio" id="radioDMS" value="DMS" />
<label class="form-check-label" for="radioDMS">DMS</label>
</div>

Expand Down Expand Up @@ -119,55 +85,28 @@
class="dragArea"
draggable=".item'"
> -->
<WaypointItem
v-for="(waypoint, i) in storedWaypoints"
:key="i"
:waypoint="waypoint"
:in_route="false"
:index="i"
@delete="deleteItem($event)"
@togglePost="togglePost($event)"
@add="addItem($event)"
/>
<WaypointItem v-for="(waypoint, i) in storedWaypoints" :key="i" :waypoint="waypoint" :in_route="false"
:index="i" @delete="deleteItem($event)" @togglePost="togglePost($event)" @add="addItem($event)" />
<!-- </draggable> -->
</div>
</div>
</div>
<div class="col-wrap" style="left: 50%">
<!-- <div class="auton-check"> -->
<AutonModeCheckbox
ref="autonCheckbox"
class="auton-checkbox"
:name="autonButtonText"
:color="autonButtonColor"
@toggle="toggleAutonMode($event)"
/>
<AutonModeCheckbox ref="autonCheckbox" class="auton-checkbox" :name="autonButtonText" :color="autonButtonColor"
@toggle="toggleAutonMode($event)" />
<div class="stats">
<VelocityCommand />
</div>
<Checkbox
ref="teleopCheckbox"
class="teleop-checkbox"
:name="'Teleop Controls'"
@toggle="toggleTeleopMode($event)"
/>
<Checkbox ref="teleopCheckbox" class="teleop-checkbox" :name="'Teleop Controls'"
@toggle="toggleTeleopMode($event)" />
<!-- </div> -->
<Checkbox class="stuck-checkbox" name="Stuck" @toggle="roverStuck = !roverStuck"></Checkbox>
<h4 class="waypoint-headers">Current Course</h4>
<div class="box route">
<!-- <draggable v-model="route" class="dragArea" draggable=".item'"> -->
<WaypointItem
v-for="(waypoint, i) in route"
:id="id"
:key="i"
:waypoint="waypoint"
:in_route="true"
:index="i"
:name="name"
@delete="deleteItem($event)"
@togglePost="togglePost($event)"
@add="addItem($event)"
/>
<WaypointItem v-for="(waypoint, i) in route" :id="id" :key="i" :waypoint="waypoint" :in_route="true" :index="i"
:name="name" @delete="deleteItem($event)" @togglePost="togglePost($event)" @add="addItem($event)" />
<!-- </draggable> -->
</div>
</div>
Expand All @@ -186,94 +125,36 @@
<div class="modal-odom-format">
<h5>Waypoint format:</h5>
<div class="form-check form-check-inline">
<input
v-model="odom_format_in"
class="form-check-input"
type="radio"
id="radioD"
value="D"
/>
<input v-model="odom_format_in" class="form-check-input" type="radio" id="radioD" value="D" />
<label class="form-check-label" for="radioD">D</label>
</div>
<div class="form-check form-check-inline">
<input
v-model="odom_format_in"
class="form-check-input"
type="radio"
id="radioDM"
value="DM"
/>
<input v-model="odom_format_in" class="form-check-input" type="radio" id="radioDM" value="DM" />
<label class="form-check-label" for="radioDM">DM</label>
</div>
<div class="form-check form-check-inline">
<input
v-model="odom_format_in"
class="form-check-input"
type="radio"
id="radioDMS"
value="DMS"
/>
<input v-model="odom_format_in" class="form-check-input" type="radio" id="radioDMS" value="DMS" />
<label class="form-check-label" for="radioDMS">DMS</label>
</div>
</div>
<div
v-for="(header, index) in compModalHeaders"
:key="header"
class="comp-modal-inputs"
>
<div v-for="(header, index) in compModalHeaders" :key="header" class="comp-modal-inputs">
<h5>{{ header }}</h5>
<input
id="lat_deg"
v-model.number="compModalLatDeg[index]"
type="number"
min="-90"
max="90"
/>
<input id="lat_deg" v-model.number="compModalLatDeg[index]" type="number" min="-90" max="90" />
<label>º</label>
<input
v-if="min_enabled"
id="lat_min"
v-model.number="compModalLatMin[index]"
type="number"
min="0"
max="60"
/>
<input v-if="min_enabled" id="lat_min" v-model.number="compModalLatMin[index]" type="number" min="0"
max="60" />
<label v-if="min_enabled">'</label>
<input
v-if="sec_enabled"
id="lat_sec"
v-model.number="compModalLatSec[index]"
type="number"
min="0"
max="3600"
/>
<input v-if="sec_enabled" id="lat_sec" v-model.number="compModalLatSec[index]" type="number" min="0"
max="3600" />
<label v-if="sec_enabled">"</label>
<label>N &nbsp; &nbsp;</label>
<input
id="lon_deg"
v-model.number="compModalLonDeg[index]"
type="number"
min="-180"
max="180"
/>
<input id="lon_deg" v-model.number="compModalLonDeg[index]" type="number" min="-180" max="180" />
<label>º</label>
<input
v-if="min_enabled"
id="lon_min"
v-model.number="compModalLonMin[index]"
type="number"
min="0"
max="60"
/>
<input v-if="min_enabled" id="lon_min" v-model.number="compModalLonMin[index]" type="number" min="0"
max="60" />
<label v-if="min_enabled">'</label>
<input
v-if="sec_enabled"
id="lon_sec"
v-model.number="compModalLonSec[index]"
type="number"
min="0"
max="3600"
/>
<input v-if="sec_enabled" id="lon_sec" v-model.number="compModalLonSec[index]" type="number" min="0"
max="3600" />
<label v-if="sec_enabled">"</label>
<label>E</label>
</div>
Expand Down
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