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Added sonar widget #26

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Added sonar widget #26

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75 changes: 52 additions & 23 deletions surface/UI/gui.py
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Original file line number Diff line number Diff line change
Expand Up @@ -13,86 +13,115 @@
from PySide2extn.RoundProgressBar import roundProgressBar

from wurov.msg import system_stats
from sensor_msgs.msg import Imu, MagneticField, CompressedImage
from sensor_msgs.msg import Imu, MagneticField, CompressedImage, Image

import rospkg
from cv2 import circle as cv2_circle
from cv_bridge import CvBridge, CvBridgeError

import rospkg


# Configurations
fullscreenMode = True
# Enter Screen Resolution for surface station(Only if fullscreenMode is disabled)
height = 1080
width = 1920
FULL_SCREEN = True
# Enter Screen Resolution for surface station(Only if FULL_SCREEN is disabled)
HEIGHT = 1080
WIDTH = 1920
# Fonts
Header = QtGui.QFont("Roboto", 12, QtGui.QFont.Bold)
Body = QtGui.QFont("Roboto", 10)
HEADER_FONT = QtGui.QFont("Roboto", 12, QtGui.QFont.Bold)
BODY_FONT = QtGui.QFont("Roboto", 10)


class surface_ui(QWidget):
def __init__(self):
rospy.init_node('gui', anonymous=True)
rospy.Subscriber('/usb_cam/image_raw/compressed', CompressedImage, self.update_camera)
rospy.Subscriber('/usb_cam/image_raw/compressed',
CompressedImage, self.update_camera)
rospy.Subscriber('imu/data', Imu, self.update_filtered_imu)
rospy.Subscriber('/ping360_node/sonar/images',
Image, self.update_sonar)

rospack = rospkg.RosPack()
self.path = rospack.get_path('wurov')

# for sonar
self.cv_bridge = CvBridge()

# Style settings for GUI
super(surface_ui, self).__init__()
self.setGeometry(0, 0, width, height)
self.setGeometry(0, 0, WIDTH, HEIGHT)
self.setWindowTitle("WUROV Control")
self.setStyleSheet('background-color: ' + '#2C2F33' + ';color: ' + 'white')
self.setStyleSheet('background-color: ' +
'#2C2F33' + ';color: ' + 'white')

# Grid layout for GUI
self.widgets()
grid = QtWidgets.QGridLayout()

grid.addWidget(self.camera, 0,0)

grid.addWidget(self.camera, 0, 0)
grid.addWidget(self.speed, 1, 0)
self.setLayout(grid)
grid.addWidget(self.sonar, 0, 1)

self.setLayout(grid)

# NineDof labels to display sensor read outs

def widgets(self):
#Camera widget
# Camera widget
self.camera = QtWidgets.QLabel(self)
pixmap = QPixmap(f'{self.path}/surface/UI/default.jpg')
self.camera.setPixmap(pixmap)
#Speedometer widget
# Speedometer widget
self.speed = roundProgressBar()
self.speed.rpb_setRange(0, 1.5)
self.speed.rpb_setRange(0, 1.5)
self.speed.rpb_setTextFormat('Value')
self.speed.rpb_setValue(0)
# Sonar widget
self.sonar = QtWidgets.QLabel(self)
pixmap = QPixmap(f'{self.path}/surface/UI/default.jpg')
self.sonar.setPixmap(pixmap)

def update_filtered_imu(self, data):
acel_mag = math.sqrt(data.linear_acceleration.x**2 + data.linear_acceleration.y**2 + data.linear_acceleration.z**2)
acel_mag = math.sqrt(data.linear_acceleration.x**2 +
data.linear_acceleration.y**2 + data.linear_acceleration.z**2)
self.speed.rpb_setValue(acel_mag)

def update_camera(self, data): #update camera based on ROS message
def update_camera(self, data): # update camera based on ROS message
qimage = QtGui.QImage.fromData(data.data)
self.camera.setPixmap(QtGui.QPixmap.fromImage(qimage))

def update_sonar(self, data): # update sonar based on ROS message
try:
cv_image = self.cv_bridge.imgmsg_to_cv2(data.data, data.encoding)
except CvBridgeError as e:
print(e)
(rows, cols) = cv_image.shape
if cols > 60 and rows > 60:
cv2_circle(cv_image, (50, 50), 10, 255)
qimage = QtGui.QImage.fromData(cv_image.data)
# qimage = QtGui.QImage(cv_image.data, cv_image.shape[1], cv_image.shape[0], QtGui.QImage.Format_RGB888).rgbSwapped()

self.sonar.setPixmap(QtGui.QPixmap.fromImage(qimage))

def alert(self, s):
"""
This handle errors and displaying alerts.
"""
err = QErrorMessage(self)
err.showMessage(s)


# Code to be executed
if __name__ == "__main__":
import sys

app = QApplication(sys.argv)
win = surface_ui()


def window():
if fullscreenMode:
if FULL_SCREEN:
win.showFullScreen()
else:
win.show()
sys.exit(app.exec_())


window()
window()