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@NoahMollerstuen
NoahMollerstuen committed May 26, 2024
1 parent c1ed424 commit 375b5bc
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Showing 5 changed files with 40 additions and 200 deletions.
Binary file removed src/surface/gui/gui/images/CWRUbotix Logo.png
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162 changes: 40 additions & 122 deletions src/surface/gui/gui/pilot_app.py
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Original file line number Diff line number Diff line change
Expand Up @@ -4,33 +4,8 @@
from gui.widgets.flood_warning import FloodWarning
from gui.widgets.video_widget import (CameraDescription, CameraType,
SwitchableVideoWidget, VideoWidget)
from gui.widgets.livestream_header import LivestreamHeader

from PyQt6.QtCore import Qt
from PyQt6.QtWidgets import QHBoxLayout, QVBoxLayout
from PyQt6.QtGui import QScreen


FRONT_CAM_TOPIC = 'front_cam/image_raw'
BOTTOM_CAM_TOPIC = 'bottom_cam/image_raw'
DEPTH_CAM_TOPIC = 'depth_cam/image_raw'


def make_bottom_bar():
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)

arm = Arm()
bottom_screen_layout.addWidget(arm, alignment=Qt.AlignmentFlag.AlignRight |
Qt.AlignmentFlag.AlignBottom)

return bottom_screen_layout


class PilotApp(App):
Expand All @@ -53,112 +28,55 @@ def __init__(self) -> None:
depth_cam_type = CameraType.DEPTH

if gui_param.value == 'pilot':
self.setWindowTitle('Pilot GUI - CWRUbotix ROV 2024')

front_cam_description = CameraDescription(
front_cam_type,
FRONT_CAM_TOPIC,
"Front Camera",
1280, 720
)
bottom_cam_description = CameraDescription(
bottom_cam_type,
BOTTOM_CAM_TOPIC,
"Bottom Camera",
1280, 720
)
# depth_cam_description = CameraDescription(
# depth_cam_type,
# DEPTH_CAM_TOPIC,
# "Depth Cam",
# 640, 360
# )

main_layout.addWidget(VideoWidget(front_cam_description),
alignment=Qt.AlignmentFlag.AlignHCenter)
main_layout.addWidget(VideoWidget(bottom_cam_description),
alignment=Qt.AlignmentFlag.AlignHCenter)
main_layout.addLayout(make_bottom_bar())

self.show_on_monitor(1)

elif gui_param.value == 'livestream':
top_bar = QHBoxLayout()
top_bar.addWidget(LivestreamHeader())
top_bar.addWidget(TimerDisplay(), 2)
arm_widget = Arm()
arm_widget.setMaximumWidth(300)
top_bar.addWidget(arm_widget, 2)

main_layout.addLayout(top_bar)

self.setWindowTitle('Livestream GUI - CWRUbotix ROV 2024')

front_cam_description = CameraDescription(
front_cam_type,
FRONT_CAM_TOPIC,
"Front Camera",
1280, 720
)
bottom_cam_description = CameraDescription(
bottom_cam_type,
BOTTOM_CAM_TOPIC,
"Bottom Camera",
1280, 720
)
title = 'Pilot GUI - CWRUbotix ROV 2024'

video_layout: QHBoxLayout | QVBoxLayout = main_layout
front_cam_size = [1280, 720]
bottom_cam_size = front_cam_size
depth_cam_size = [640, 360]
else:
title = 'Debug GUI - CWRUbotix ROV 2024'

video_layout = QHBoxLayout()
main_layout.addLayout(video_layout)
front_cam_size = [721, 541]
bottom_cam_size = front_cam_size
depth_cam_size = [640, 360]

video_layout.addWidget(VideoWidget(front_cam_description),
alignment=Qt.AlignmentFlag.AlignHCenter)
video_layout.addWidget(VideoWidget(bottom_cam_description),
alignment=Qt.AlignmentFlag.AlignHCenter)
# 1 big camera feed and 2 smaller ones
front_cam_description = CameraDescription(front_cam_type,
'front_cam/image_raw',
'Front Camera', *front_cam_size)

main_layout.addLayout(video_layout)
main_layout.addStretch()
bottom_cam_description = CameraDescription(bottom_cam_type,
'bottom_cam/image_raw',
'Bottom Camera', *bottom_cam_size)
depth_cam_description = CameraDescription(depth_cam_type,
'depth_cam/image_raw',
'Depth Camera', *depth_cam_size)

self.show_on_monitor(2)
main_video = VideoWidget(front_cam_description)
video_area = SwitchableVideoWidget([bottom_cam_description, depth_cam_description],
"camera_switch")

else:
self.setWindowTitle('Debug GUI - CWRUbotix ROV 2024')

front_cam_description = CameraDescription(
front_cam_type,
FRONT_CAM_TOPIC,
"Front Camera",
721, 541
)
bottom_cam_description = CameraDescription(
bottom_cam_type,
BOTTOM_CAM_TOPIC,
"Bottom Camera",
721, 541
)
depth_cam_description = CameraDescription(
depth_cam_type,
DEPTH_CAM_TOPIC,
"Depth Cam",
640, 360
)
self.setWindowTitle(title)
video_layout.addWidget(main_video, alignment=Qt.AlignmentFlag.AlignHCenter)
video_layout.addWidget(video_area, alignment=Qt.AlignmentFlag.AlignHCenter)

video_layout = QHBoxLayout()
bottom_screen_layout = QHBoxLayout()

video_layout.addWidget(VideoWidget(front_cam_description),
alignment=Qt.AlignmentFlag.AlignHCenter)
video_layout.addWidget(
SwitchableVideoWidget([bottom_cam_description, depth_cam_description]),
alignment=Qt.AlignmentFlag.AlignHCenter
)
timer = TimerDisplay()
bottom_screen_layout.addWidget(timer)

main_layout.addLayout(video_layout)
main_layout.addLayout(make_bottom_bar())

def show_on_monitor(self, monitor_id):
monitors = QScreen.virtualSiblings(self.screen())
if len(monitors) > monitor_id:
monitor = monitors[monitor_id].availableGeometry()
self.move(monitor.left(), monitor.top())
self.showFullScreen()
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)

main_layout.addLayout(bottom_screen_layout)


def run_gui_pilot() -> None:
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40 changes: 0 additions & 40 deletions src/surface/gui/gui/widgets/livestream_header.py
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3 changes: 0 additions & 3 deletions src/surface/gui/setup.py
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Original file line number Diff line number Diff line change
Expand Up @@ -23,9 +23,6 @@
# Include all style files.
(os.path.join('share', PACKAGE_NAME, 'styles'),
glob('gui/styles/*.qss')),
# Include all images.
(os.path.join('share', PACKAGE_NAME, 'images'),
glob('gui/images/*')),
],
install_requires=['setuptools'],
zip_safe=True,
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35 changes: 0 additions & 35 deletions src/surface/surface_main/launch/competition_launch.py
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