Merge pull request #151 from cwruRobotics/combine-pilot-debug

Combine Pilot and Debug Gui
CWRUbotix · Apr 27, 2024 · 6244e27 · 6244e27
2 parents a97056a + d50f238
commit 6244e27
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Showing 4 changed files with 26 additions and 125 deletions.
diff --git a/src/surface/gui/gui/debug_app.py b/src/surface/gui/gui/debug_app.py
diff --git a/src/surface/gui/gui/pilot_app.py b/src/surface/gui/gui/pilot_app.py
@@ -12,12 +12,11 @@ class PilotApp(App):
     def __init__(self) -> None:
         super().__init__('pilot_gui_node')
 
-        self.setWindowTitle('Pilot GUI - CWRUbotix ROV 2024')
-
         main_layout = QVBoxLayout()
         self.setLayout(main_layout)
 
         simulation_param = self.node.declare_parameter('simulation', False)
+        gui_param = self.node.declare_parameter('gui', 'pilot')
 
         if simulation_param.value:
             front_cam_type = CameraType.SIMULATION
@@ -45,8 +44,20 @@ def __init__(self) -> None:
         video_area = SwitchableVideoWidget([bottom_cam_description, depth_cam_description],
                                            "camera_switch")
 
-        main_layout.addWidget(main_video, alignment=Qt.AlignmentFlag.AlignHCenter)
-        main_layout.addWidget(video_area, alignment=Qt.AlignmentFlag.AlignHCenter)
+        if gui_param.value == 'pilot':
+            self.setWindowTitle('Pilot GUI - CWRUbotix ROV 2024')
+
+            main_layout.addWidget(main_video, alignment=Qt.AlignmentFlag.AlignHCenter)
+            main_layout.addWidget(video_area, alignment=Qt.AlignmentFlag.AlignHCenter)
+        else:
+            self.setWindowTitle('Debug GUI - CWRUbotix ROV 2024')
+
+            video_layout = QHBoxLayout()
+
+            video_layout.addWidget(main_video, alignment=Qt.AlignmentFlag.AlignHCenter)
+            video_layout.addWidget(video_area, alignment=Qt.AlignmentFlag.AlignHCenter)
+
+            main_layout.addLayout(video_layout)
 
         bottom_screen_layout = QHBoxLayout()
 

diff --git a/src/surface/gui/launch/pilot_launch.py b/src/surface/gui/launch/pilot_launch.py
@@ -1,43 +1,17 @@
-from enum import Enum
-
 from launch.actions import GroupAction
-from launch.launch_description import DeclareLaunchArgument, LaunchDescription
+from launch.launch_description import LaunchDescription
 from launch.substitutions.launch_configuration import LaunchConfiguration
-from launch.substitutions.equals_substitution import EqualsSubstitution
-from launch.conditions.if_condition import IfCondition
 from launch_ros.actions import Node, PushRosNamespace
 
 
-class GUIVersion(str, Enum):
-    PILOT = 'pilot'
-    DEBUG = 'debug'
-
-
-def pilot_node_generator(executable: str, gui_version: GUIVersion,
-                         gui_version_substitution: LaunchConfiguration) -> Node:
-    """
-    Generate pilot nodes.
-
-    Parameters
-    ----------
-    executable : str
-        Name of the executable to run.
-    gui_version : GUIVersion
-        Enum for which gui being run
-    gui_version_substitution : LaunchConfiguration
-        LaunchConfiguration for the gui argument.
-
-    Returns
-    -------
-    Node
-        Return launch_ros Node.
-
-    """
-    return Node(
+def generate_launch_description() -> LaunchDescription:
+    """Asynchronously launches pilot's gui node."""
+    pilot_node = Node(
         package='gui',
-        executable=executable,
+        executable='run_pilot',
         parameters=[{'theme': LaunchConfiguration('theme', default='dark')},
-                    {'simulation': LaunchConfiguration('simulation', default='false')}],
+                    {'simulation': LaunchConfiguration('simulation', default='false')},
+                    {'gui': LaunchConfiguration('gui', default='pilot')}],
         remappings=[("/surface/gui/mavros/cmd/arming", "/tether/mavros/cmd/arming"),
                     ("/surface/gui/camera_switch", "/surface/camera_switch"),
                     ("/surface/gui/bottom_cam/image_raw", "/surface/bottom_cam/image_raw"),
@@ -46,26 +20,14 @@ def pilot_node_generator(executable: str, gui_version: GUIVersion,
                     ("/surface/gui/vehicle_state_event", "/surface/vehicle_state_event"),
                     ("/surface/gui/flooding", "/tether/flooding")],
         emulate_tty=True,
-        output='screen',
-        condition=IfCondition(EqualsSubstitution(gui_version.value, gui_version_substitution)))
-
-
-def generate_launch_description() -> LaunchDescription:
-    """Asynchronously launches pilot's gui node."""
-    gui_version_arg = DeclareLaunchArgument('gui', default_value=GUIVersion.PILOT,
-                                            choices=[GUIVersion.PILOT, GUIVersion.DEBUG])
-
-    gui_version_substitution = LaunchConfiguration('gui', default=GUIVersion.PILOT)
-    pilot_node = pilot_node_generator('run_pilot', GUIVersion.PILOT, gui_version_substitution)
-    debug_node = pilot_node_generator('run_debug', GUIVersion.DEBUG, gui_version_substitution)
+        output='screen'
+    )
 
     namespace_launch = GroupAction(
         actions=[
             PushRosNamespace('gui'),
-            pilot_node,
-            debug_node
+            pilot_node
         ]
     )
 
-    return LaunchDescription([namespace_launch,
-                              gui_version_arg])
+    return LaunchDescription([namespace_launch])
diff --git a/src/surface/gui/setup.py b/src/surface/gui/setup.py
@@ -34,7 +34,6 @@
     entry_points={
         'console_scripts': ['run_pilot = gui.pilot_app:run_gui_pilot',
                             'run_operator = gui.operator_app:run_gui_operator',
-                            'run_debug = gui.debug_app:run_gui_debug',
                             'run_timer = gui.gui_nodes.auxiliary_nodes.timer:run_timer'],
     },
 )