Merge pull request #106 from cwruRobotics/add-ip-to-debug

Add IP Address to gui debug tab

src/pi/pi_main/launch/pi_launch.py

@@ -80,7 +80,8 @@ def generate_launch_description() -> LaunchDescription:
         package='pi_main',
         executable='ip_publisher',
         emulate_tty=True,
-        output='screen'
+        output='screen',
+        remappings=[('/pi/ip_address', '/tether/ip_address')]
     )
 
     namespace_launch = GroupAction(

src/pi/pi_main/setup.py

@@ -21,7 +21,7 @@
         (os.path.join('share', PACKAGE_NAME, 'udev_rules'),
          glob('udev_rules/*'))
     ],
-    install_requires=['setuptools', 'flake8==4.0.1', 'mypy >= 1.7', 'socket'],
+    install_requires=['setuptools', 'flake8==4.0.1', 'mypy >= 1.7'],
     zip_safe=True,
     maintainer='Michael Carlstrom',
     maintainer_email='[email protected]',

src/rov_msgs/msg/IPAddress.msg

@@ -1,2 +1,3 @@
-string ethernet_address "N/A"
-string wireless_address "N/A"
+# IPv4 Addresses never longer than 15 characters
+string<=15 ethernet_address "N/A"
+string<=15 wireless_address "N/A"

src/surface/gui/gui/operator_app.py

@@ -1,10 +1,9 @@
 from gui.app import App
 from gui.widgets.logger import Logger
 from gui.widgets.debug_tab import DebugWidget
-from gui.widgets.seagrass import SeagrassWidget
 from gui.widgets.task_selector import TaskSelector
 from gui.widgets.timer import Timer
-from PyQt6.QtWidgets import QGridLayout, QTabWidget, QWidget
+from PyQt6.QtWidgets import QGridLayout, QTabWidget, QWidget, QVBoxLayout
 
 
 class OperatorApp(App):
@@ -15,26 +14,25 @@ def __init__(self) -> None:
 
         # Main tab
         main_tab = QWidget()
-        main_layout: QGridLayout = QGridLayout()
+        main_layout = QGridLayout()
         main_tab.setLayout(main_layout)
 
-        self.timer: Timer = Timer()
-        main_layout.addWidget(self.timer, 0, 1)
+        timer = Timer()
+        main_layout.addWidget(timer, 0, 1)
 
-        self.task_selector: TaskSelector = TaskSelector()
-        main_layout.addWidget(self.task_selector, 1, 1)
+        task_selector = TaskSelector()
+        main_layout.addWidget(task_selector, 1, 1)
 
-        self.logger: Logger = Logger()
-        main_layout.addWidget(self.logger, 1, 0)
+        logger = Logger()
+        main_layout.addWidget(logger, 1, 0)
 
         # Add tabs to root
-        root_layout: QGridLayout = QGridLayout()
+        root_layout = QVBoxLayout()
         self.setLayout(root_layout)
 
         tabs = QTabWidget()
         tabs.addTab(main_tab, "Main")
         tabs.addTab(DebugWidget(), "Debug")
-        tabs.addTab(SeagrassWidget(), "Seagrass")
 
         root_layout.addWidget(tabs)
 

src/surface/gui/gui/pilot_app.py

@@ -12,25 +12,27 @@ def __init__(self) -> None:
 
         self.setWindowTitle('Pilot GUI - CWRUbotix ROV 2024')
 
-        layout: QHBoxLayout = QHBoxLayout()
+        layout = QHBoxLayout()
         self.setLayout(layout)
 
-        self.video_area = SwitchableVideoWidget(["front_cam/image_raw",
-                                                 "bottom_cam/image_raw",
-                                                 "camera/color/image_raw"],
-                                                ["Front Camera",
-                                                 "Bottom Camera",
-                                                 "Depth Camera"],
-                                                "camera_switch")
-        layout.addWidget(self.video_area, alignment=Qt.AlignmentFlag.AlignCenter)
-
-        self.floodWidget: FloodWarning = FloodWarning()
-        layout.addWidget(self.floodWidget, alignment=Qt.AlignmentFlag.AlignRight
-                         | Qt.AlignmentFlag.AlignTop)
-
-        self.arm: Arm = Arm()
-        layout.addWidget(self.arm,
-                         alignment=Qt.AlignmentFlag.AlignRight | Qt.AlignmentFlag.AlignBottom)
+        # Look into QStackedLayout for possibly switching between
+        # 1 big camera feed and 2 smaller ones
+        video_area = SwitchableVideoWidget(["front_cam/image_raw",
+                                            "bottom_cam/image_raw",
+                                            "camera/color/image_raw"],
+                                           ["Front Camera",
+                                            "Bottom Camera",
+                                            "Depth Camera"],
+                                           "camera_switch")
+        layout.addWidget(video_area, alignment=Qt.AlignmentFlag.AlignCenter)
+
+        floodWidget = FloodWarning()
+        layout.addWidget(floodWidget, alignment=Qt.AlignmentFlag.AlignRight |
+                         Qt.AlignmentFlag.AlignTop)
+
+        arm = Arm()
+        layout.addWidget(arm, alignment=Qt.AlignmentFlag.AlignRight |
+                         Qt.AlignmentFlag.AlignBottom)
 
 
 def run_gui_pilot() -> None:

src/surface/gui/gui/widgets/debug_tab.py

@@ -1,23 +1,29 @@
+from gui.widgets.arm import Arm
+from gui.widgets.ip_widget import IPWidget
 from gui.widgets.logger import Logger
 from gui.widgets.thruster_tester import ThrusterTester
-from gui.widgets.arm import Arm
 from PyQt6.QtWidgets import QHBoxLayout, QVBoxLayout, QWidget
+from PyQt6.QtCore import Qt
 
 
 class DebugWidget(QWidget):
     def __init__(self) -> None:
         super().__init__()
 
+        top_bar = QHBoxLayout()
+        top_bar.addWidget(IPWidget(), alignment=Qt.AlignmentFlag.AlignTop |
+                          Qt.AlignmentFlag.AlignLeft)
+
         right_bar = QVBoxLayout()
         right_bar.addWidget(ThrusterTester())
         right_bar.addWidget(Arm())
-        right_bar.addStretch()
+        right_bar.setAlignment(Qt.AlignmentFlag.AlignRight)
 
-        top_pane = QHBoxLayout()
-        top_pane.addStretch(2)
-        top_pane.addLayout(right_bar)
+        top_bar.addStretch(2)
+        top_bar.addLayout(right_bar)
 
-        root_layout = QVBoxLayout(self)
-        root_layout.addLayout(top_pane)
+        root_layout = QVBoxLayout()
+        root_layout.addLayout(top_bar)
         root_layout.addStretch()
         root_layout.addWidget(Logger())
+        self.setLayout(root_layout)

src/surface/gui/gui/widgets/flood_warning.py

@@ -12,25 +12,23 @@ class FloodWarning(QWidget):
 
     def __init__(self) -> None:
         super().__init__()
-        # Boilerplate PyQt Setup to link to ROS through a signal/subscriber
+
         self.signal.connect(self.refresh)
-        self.subscription: GUIEventSubscriber = GUIEventSubscriber(Flooding,
-                                                                   'flooding',
-                                                                   self.signal)
+        self.subscription = GUIEventSubscriber(Flooding, 'flooding', self.signal)
         # Create a latch variable
         self.warning_msg_latch: bool = False
         # Create basic 2 vertical stacked boxes layout
-        self.flood_layour = QVBoxLayout()
+        self.flood_layout = QVBoxLayout()
         # Create the label that tells us what this is
-        self.label: QLabel = QLabel('Flooding Indicator')
-        font: QFont = QFont("Arial", 14)
+        self.label = QLabel('Flooding Indicator')
+        font = QFont("Arial", 14)
         self.label.setFont(font)
-        self.flood_layour.addWidget(self.label)
+        self.flood_layout.addWidget(self.label)
 
-        self.indicator: QLabel = QLabel('No Water present')
+        self.indicator = QLabel('No Water present')
         self.indicator.setFont(font)
-        self.flood_layour.addWidget(self.indicator)
-        self.setLayout(self.flood_layour)
+        self.flood_layout.addWidget(self.indicator)
+        self.setLayout(self.flood_layout)
 
     @pyqtSlot(Flooding)
     def refresh(self, msg: Flooding) -> None:

src/surface/gui/gui/widgets/ip_widget.py

@@ -0,0 +1,31 @@
+from gui.event_nodes.subscriber import GUIEventSubscriber
+from PyQt6.QtCore import pyqtSignal, pyqtSlot
+from PyQt6.QtWidgets import QLabel, QVBoxLayout, QWidget
+
+from rov_msgs.msg import IPAddress
+
+
+class IPWidget(QWidget):
+
+    signal = pyqtSignal(IPAddress)
+
+    def __init__(self) -> None:
+        super().__init__()
+
+        self.signal.connect(self.refresh)
+        self.sub = GUIEventSubscriber(IPAddress, 'ip_address', self.signal)
+
+        ip_layout = QVBoxLayout()
+        wired_str = f'Last known Pi Wired IP: {IPAddress.ETHERNET_ADDRESS__DEFAULT}'
+        wireless_str = f'Last known Pi Wireless IP: {IPAddress.WIRELESS_ADDRESS__DEFAULT}'
+        self.ethernet_label = QLabel(wired_str)
+        self.wireless_label = QLabel(wireless_str)
+
+        ip_layout.addWidget(self.ethernet_label)
+        ip_layout.addWidget(self.wireless_label)
+        self.setLayout(ip_layout)
+
+    @pyqtSlot(IPAddress)
+    def refresh(self, msg: IPAddress) -> None:
+        self.ethernet_label.setText(f'Last known Pi Wired IP:  {msg.ethernet_address}')
+        self.wireless_label.setText(f'Last known Pi Wireless IP: {msg.wireless_address}')

src/surface/gui/gui/widgets/thruster_tester.py

@@ -12,7 +12,7 @@
 class ThrusterTester(QWidget):
     """Widget to command the pixhawk to test the thrusters, and reassign thruster ports."""
 
-    TEST_LENGTH: float = 2.0  # time between adjecent tests of individual thrusters
+    TEST_LENGTH: float = 2.0  # time between adjacent tests of individual thrusters
     TEST_THROTTLE: float = 0.50  # 50%
     MOTOR_COUNT = 8
 
@@ -63,7 +63,7 @@ def __init__(self) -> None:
 
         test_button = QPushButton()
         test_button.setText("Test Thrusters")
-        test_button.clicked.connect(self.asnyc_send_message)
+        test_button.clicked.connect(self.async_send_message)
 
         layout.addWidget(heading)
         layout.addLayout(pin_numbers_grid)
@@ -105,7 +105,7 @@ def test_motor_for_time(self, motor_index: int, throttle: float, duration: float
 
             time.sleep(0.05)
 
-    def asnyc_send_message(self) -> None:
+    def async_send_message(self) -> None:
         Thread(target=self.send_test_message, daemon=True, name="thruster_test_thread").start()
 
     def send_test_message(self) -> None:

src/surface/gui/launch/operator_launch.py

@@ -1,7 +1,7 @@
+from launch.actions import GroupAction
 from launch.launch_description import LaunchDescription
 from launch.substitutions import LaunchConfiguration
 from launch_ros.actions import Node, PushRosNamespace
-from launch.actions import GroupAction
 
 
 def generate_launch_description() -> LaunchDescription:
@@ -18,7 +18,8 @@ def generate_launch_description() -> LaunchDescription:
                     ("/surface/gui/task_feedback", "/surface/task_feedback"),
                     ("/surface/gui/auto_docker_control", "/surface/auto_docker_control"),
                     ("/surface/gui/vehicle_state_event", "/surface/vehicle_state_event"),
-                    ("/surface/gui/mavros/cmd/arming", "/tether/mavros/cmd/arming")],
+                    ("/surface/gui/mavros/cmd/arming", "/tether/mavros/cmd/arming"),
+                    ("/surface/gui/ip_address", "/tether/ip_address")],
         emulate_tty=True,
         output='screen'
     )