Merge pull request #188 from cwruRobotics/horizontal-pilot-gui

Use livesteam gui as pilot gui

src/surface/gui/gui/operator_app.py

@@ -4,11 +4,11 @@
 from gui.widgets.float_comm import FloatComm
 from gui.widgets.timer import InteractiveTimer
 from gui.widgets.task_selector import TaskSelector
+from gui.widgets.flood_warning import FloodWarning
 from gui.widgets.temperature import TemperatureSensor
 from gui.widgets.heartbeat import HeartbeatWidget
 from gui.widgets.ip_widget import IPWidget
-from PyQt6.QtCore import Qt
-from PyQt6.QtWidgets import QGridLayout, QTabWidget, QWidget, QVBoxLayout
+from PyQt6.QtWidgets import QTabWidget, QWidget, QVBoxLayout, QHBoxLayout
 
 
 class OperatorApp(App):
@@ -19,32 +19,28 @@ def __init__(self) -> None:
 
         # Main tab
         main_tab = QWidget()
-        main_layout = QGridLayout()
+        main_layout = QHBoxLayout()
         main_tab.setLayout(main_layout)
 
-        right_bar = QVBoxLayout()
-        main_layout.addLayout(right_bar, 0, 1)
+        left_pane = QVBoxLayout()
+        right_pane = QVBoxLayout()
 
-        timer = InteractiveTimer()
-        right_bar.addWidget(timer)
-
-        temp_sensor = TemperatureSensor()
-        right_bar.addWidget(temp_sensor)
-
-        right_bar.addWidget(HeartbeatWidget(), alignment=Qt.AlignmentFlag.AlignTop |
-                            Qt.AlignmentFlag.AlignLeft)
-
-        right_bar.addWidget(IPWidget(), alignment=Qt.AlignmentFlag.AlignTop |
-                            Qt.AlignmentFlag.AlignLeft)
-
-        task_selector = TaskSelector()
-        main_layout.addWidget(task_selector, 1, 1)
+        main_layout.addLayout(left_pane)
+        main_layout.addLayout(right_pane)
 
         self.float_comm: FloatComm = FloatComm()
-        main_layout.addWidget(self.float_comm, 0, 0)
+        left_pane.addWidget(self.float_comm)
 
         logger = Logger()
-        main_layout.addWidget(logger, 1, 0)
+        left_pane.addWidget(logger)
+
+        right_pane.addWidget(InteractiveTimer())
+        right_pane.addWidget(HeartbeatWidget())
+        right_pane.addWidget(FloodWarning())
+        right_pane.addWidget(TemperatureSensor())
+        right_pane.addWidget(IPWidget())
+        right_pane.addStretch()
+        right_pane.addWidget(TaskSelector())
 
         # Add tabs to root
         root_layout = QVBoxLayout()

src/surface/gui/gui/pilot_app.py

@@ -10,26 +10,21 @@
 from PyQt6.QtWidgets import QHBoxLayout, QVBoxLayout
 from PyQt6.QtGui import QScreen
 
+import enum
+
 
 FRONT_CAM_TOPIC = 'front_cam/image_raw'
 BOTTOM_CAM_TOPIC = 'bottom_cam/image_raw'
 
 
-def make_bottom_bar() -> QHBoxLayout:
-    bottom_screen_layout = QHBoxLayout()
-
-    timer = TimerDisplay()
-    bottom_screen_layout.addWidget(timer)
-
-    flood_widget = FloodWarning()
-    bottom_screen_layout.addWidget(flood_widget, alignment=Qt.AlignmentFlag.AlignHCenter |
-                                   Qt.AlignmentFlag.AlignBottom)
+class GuiType(enum.Enum):
+    PILOT = "pilot"
+    LIVESTREAM = "livestream"
+    DEBUG = "debug"
 
-    arm = Arm()
-    bottom_screen_layout.addWidget(arm, alignment=Qt.AlignmentFlag.AlignRight |
-                                   Qt.AlignmentFlag.AlignBottom)
 
-    return bottom_screen_layout
+TWO_MONITOR_CONFIG: dict[GuiType, int | None] = {GuiType.PILOT: None, GuiType.LIVESTREAM: 1}
+THREE_MONITOR_CONFIG: dict[GuiType, int | None] = {GuiType.PILOT: 2, GuiType.LIVESTREAM: 1}
 
 
 class PilotApp(App):
@@ -49,7 +44,9 @@ def __init__(self) -> None:
             front_cam_type = CameraType.ETHERNET
             bottom_cam_type = CameraType.ETHERNET
 
-        if gui_param.value == 'pilot':
+        gui_type = GuiType(gui_param.value)
+
+        if gui_type == GuiType.PILOT:
             self.setWindowTitle('Pilot GUI - CWRUbotix ROV 2024')
 
             front_cam_description = CameraDescription(
@@ -72,11 +69,9 @@ def __init__(self) -> None:
                 alignment=Qt.AlignmentFlag.AlignHCenter
             )
 
-            main_layout.addLayout(make_bottom_bar())
-
-            self.show_on_monitor(1)
+            main_layout.addLayout(self.make_bottom_bar())
 
-        elif gui_param.value == 'livestream':
+        elif gui_type == GuiType.LIVESTREAM:
             top_bar = QHBoxLayout()
             top_bar.addWidget(LivestreamHeader())
             top_bar.addWidget(TimerDisplay(), 2)
@@ -92,13 +87,13 @@ def __init__(self) -> None:
                 front_cam_type,
                 FRONT_CAM_TOPIC,
                 "Forward Camera",
-                1280, 720
+                920, 690
             )
             bottom_cam_description = CameraDescription(
                 bottom_cam_type,
                 BOTTOM_CAM_TOPIC,
                 "Down Camera",
-                1280, 720
+                920, 690
             )
 
             video_layout = QHBoxLayout()
@@ -107,12 +102,11 @@ def __init__(self) -> None:
                                    alignment=Qt.AlignmentFlag.AlignHCenter)
             video_layout.addWidget(VideoWidget(bottom_cam_description),
                                    alignment=Qt.AlignmentFlag.AlignHCenter)
+            video_layout.setSpacing(0)
 
             main_layout.addLayout(video_layout)
             main_layout.addStretch()
 
-            self.show_on_monitor(2)
-
         else:
             self.setWindowTitle('Debug GUI - CWRUbotix ROV 2024')
 
@@ -139,18 +133,65 @@ def __init__(self) -> None:
             )
 
             main_layout.addLayout(video_layout)
-            main_layout.addLayout(make_bottom_bar())
+            main_layout.addLayout(self.make_bottom_bar())
+
+        self.apply_monitor_config(gui_type)
+
+    def make_bottom_bar(self) -> QHBoxLayout:
+        """Generate a bottom pane used by multiple gui types.
+
+        Returns
+        -------
+        QHBoxLayout
+            The layout containing the bottom bar widgets
+        """
+        bottom_screen_layout = QHBoxLayout()
+
+        timer = TimerDisplay()
+        bottom_screen_layout.addWidget(timer)
 
-    def show_on_monitor(self, monitor_id: int) -> None:
+        flood_widget = FloodWarning()
+        bottom_screen_layout.addWidget(flood_widget, alignment=Qt.AlignmentFlag.AlignHCenter |
+                                       Qt.AlignmentFlag.AlignBottom)
+
+        arm = Arm()
+        bottom_screen_layout.addWidget(arm, alignment=Qt.AlignmentFlag.AlignRight |
+                                       Qt.AlignmentFlag.AlignBottom)
+
+        return bottom_screen_layout
+
+    def apply_monitor_config(self, gui_type: GuiType) -> None:
+        """Fullscreen the app to a specific monitor, depending on gui_type and the monitor config.
+
+        Either fullscreens the app to a monitor specified by TWO_MONITOR_CONFIG or
+        THREE_MONITOR_CONFIG (depending on the number of monitors present), or does nothing if no
+        config exists for the number of monitors and gui type
+
+        Parameters
+        ----------
+        gui_type : GuiType
+            The type of gui that is being initialized
+        """
         screen = self.screen()
         if screen is None:
             return
 
         monitors = QScreen.virtualSiblings(screen)
-        if len(monitors) > monitor_id:
-            monitor = monitors[monitor_id].availableGeometry()
-            self.move(monitor.left(), monitor.top())
-            self.showFullScreen()
+
+        monitor_id: int | None
+        if len(monitors) == 2:
+            monitor_id = TWO_MONITOR_CONFIG[gui_type]
+        elif len(monitors) >= 3:
+            monitor_id = THREE_MONITOR_CONFIG[gui_type]
+        else:
+            return
+
+        if monitor_id is None:
+            return
+
+        monitor = monitors[monitor_id].availableGeometry()
+        self.move(monitor.left(), monitor.top())
+        self.showFullScreen()
 
 
 def run_gui_pilot() -> None:

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

@@ -1,11 +1,19 @@
 from gui.gui_nodes.event_nodes.subscriber import GUIEventSubscriber
 from gui.widgets.circle import CircleIndicator
-from PyQt6.QtCore import pyqtSignal, pyqtSlot
+from PyQt6.QtCore import pyqtSignal, pyqtSlot, QUrl
 from PyQt6.QtGui import QFont
 from PyQt6.QtWidgets import QHBoxLayout, QLabel, QVBoxLayout, QWidget
+from PyQt6.QtMultimedia import QSoundEffect
 
 from rov_msgs.msg import Flooding
 
+from ament_index_python.packages import get_package_share_directory
+import os
+
+
+# The 'Loop' enum has int values, not 'Loop', unbeknownst to mypy
+Q_SOUND_EFFECT_LOOP_FOREVER: int = QSoundEffect.Loop.Infinite.value  # type: ignore
+
 
 class FloodWarning(QWidget):
 
@@ -37,16 +45,28 @@ def __init__(self) -> None:
         flood_layout.addWidget(self.indicator)
         self.setLayout(flood_layout)
 
+        alarm_sound_path = os.path.join(
+            get_package_share_directory("gui"), "sounds", "alarm.wav"
+        )
+        self.alarm_sound = QSoundEffect()
+        self.alarm_sound.setSource(QUrl.fromLocalFile(alarm_sound_path))
+        self.alarm_sound.setLoopCount(Q_SOUND_EFFECT_LOOP_FOREVER)
+
     @pyqtSlot(Flooding)
     def refresh(self, msg: Flooding) -> None:
         if msg.flooding:
             self.indicator.setText('FLOODING')
             self.subscription.get_logger().error("Robot is actively flooding, do something!")
             self.warning_msg_latch = True
             self.indicator_circle.set_off()
+
+            if not self.alarm_sound.isPlaying():
+                self.alarm_sound.setLoopCount(Q_SOUND_EFFECT_LOOP_FOREVER)
+                self.alarm_sound.play()
         else:
             self.indicator.setText('No Water present')
             self.indicator_circle.set_on()
             if self.warning_msg_latch:
                 self.subscription.get_logger().warning("Robot flooding has reset itself.")
                 self.warning_msg_latch = False
+                self.alarm_sound.setLoopCount(0)

src/surface/gui/launch/operator_launch.py

@@ -18,7 +18,8 @@ def generate_launch_description() -> LaunchDescription:
                     ("/surface/gui/temperature", "/tether/temperature"),
                     ("/surface/gui/vehicle_state_event", "/surface/vehicle_state_event"),
                     ("/surface/gui/mavros/cmd/arming", "/tether/mavros/cmd/arming"),
-                    ("/surface/gui/ip_address", "/tether/ip_address")],
+                    ("/surface/gui/ip_address", "/tether/ip_address"),
+                    ("/surface/gui/flooding", "/tether/flooding")],
         emulate_tty=True,
         output='screen'
     )

src/surface/gui/launch/pilot_launch.py

@@ -17,8 +17,7 @@ def generate_launch_description() -> LaunchDescription:
                     ("/surface/gui/bottom_cam/image_raw", "/surface/bottom_cam/image_raw"),
                     ("/surface/gui/front_cam/image_raw", "/surface/front_cam/image_raw"),
                     ("/surface/gui/depth_cam/image_raw", "/tether/depth_cam/image_raw"),
-                    ("/surface/gui/vehicle_state_event", "/surface/vehicle_state_event"),
-                    ("/surface/gui/flooding", "/tether/flooding")],
+                    ("/surface/gui/vehicle_state_event", "/surface/vehicle_state_event")],
         emulate_tty=True,
         output='screen'
     )

src/surface/gui/setup.py

@@ -26,6 +26,9 @@
         # Include all images.
         (os.path.join('share', PACKAGE_NAME, 'images'),
          glob('gui/images/*')),
+        # Include all sounds.
+        (os.path.join('share', PACKAGE_NAME, 'sounds'),
+         glob('gui/sounds/*')),
     ],
     install_requires=['setuptools'],
     zip_safe=True,

src/surface/surface_main/launch/competition_launch.py

@@ -9,27 +9,16 @@
 def generate_launch_description() -> LaunchDescription:
 
     surface_path = get_package_share_directory('surface_main')
-    gui_path = get_package_share_directory('gui')
 
     all_launch = IncludeLaunchDescription(
         PythonLaunchDescriptionSource([
             os.path.join(
                 surface_path, 'launch', 'surface_all_nodes_launch.py'
             )
         ]),
-    )
-
-    # Launches livestream gui
-    gui_launch = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource([
-            os.path.join(
-                gui_path, 'launch', 'pilot_launch.py'
-            )
-        ]),
         launch_arguments=[('gui', 'livestream')]
     )
 
     return LaunchDescription([
         all_launch,
-        gui_launch
     ])