Flood Visualization

src/rov_msgs/CMakeLists.txt

@@ -29,6 +29,7 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "srv/AutonomousFlight.srv"
   "msg/Manip.msg"
   "msg/CameraControllerSwitch.msg"
+  "msg/Flooding.msg"
   DEPENDENCIES std_msgs
 )
 

src/rov_msgs/msg/Flooding.msg

@@ -0,0 +1,2 @@
+# True means the robot is actively flooding
+bool flooding

src/surface/gui/README.md

@@ -64,6 +64,16 @@ Has two buttons for arming and disarming the pixhawk.
 
     Sends a request to arm or disarm the pixhawk. Receives a confirmation about the success of the arm or disarm.
 
+### Flood Warnng
+
+Shows whether the robot is flooding or not on the GUI
+
+#### Subscribed Topics
+
+* **`/tether/flooding`** ([rov_msgs/msg/Flooding])
+
+    A custom message for whether the robot is actively flooding
+
 ### Logger
 
 Reads ROS logging information and displays it on the gui.

src/surface/gui/gui/pilot_app.py

@@ -1,5 +1,6 @@
 from gui.app import App
 from gui.widgets.arm import Arm
+from gui.widgets.flood_warning import FloodWarning
 from gui.widgets.video_widget import SwitchableVideoWidget
 from PyQt6.QtCore import Qt
 from PyQt6.QtWidgets import QHBoxLayout
@@ -23,6 +24,10 @@ def __init__(self) -> None:
                                                 "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)

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

@@ -0,0 +1,45 @@
+from gui.event_nodes.subscriber import GUIEventSubscriber
+from PyQt6.QtCore import pyqtSignal, pyqtSlot
+from PyQt6.QtGui import QFont
+from PyQt6.QtWidgets import QLabel, QVBoxLayout, QWidget
+
+from rov_msgs.msg import Flooding
+
+
+class FloodWarning(QWidget):
+
+    signal: pyqtSignal = pyqtSignal(Flooding)
+
+    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)
+        # Create a latch variable
+        self.warning_msg_latch: bool = False
+        # Create basic 2 vertical stacked boxes layout
+        self.flood_layour = QVBoxLayout()
+        # Create the label that tells us what this is
+        self.label: QLabel = QLabel('Flooding Indicator')
+        font: QFont = QFont("Arial", 14)
+        self.label.setFont(font)
+        self.flood_layour.addWidget(self.label)
+
+        self.indicator: QLabel = QLabel('No Water present')
+        self.indicator.setFont(font)
+        self.flood_layour.addWidget(self.indicator)
+        self.setLayout(self.flood_layour)
+
+    @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
+        else:
+            self.indicator.setText('No Water present')
+            if self.warning_msg_latch:
+                self.subscription.get_logger().warning("Robot flooding has reset itself.")
+                self.warning_msg_latch = False

src/surface/gui/launch/pilot_launch.py

@@ -13,7 +13,8 @@ def generate_launch_description() -> LaunchDescription:
         remappings=[("/surface/gui/mavros/cmd/arming", "/tether/mavros/cmd/arming"),
                     ("/surface/gui/camera_switch", "/surface/camera_switch"),
                     ("/surface/gui/bottom_cam/image_raw", "/tether/bottom_cam/image_raw"),
-                    ("/surface/gui/front_cam/image_raw", "/tether/front_cam/image_raw")],
+                    ("/surface/gui/front_cam/image_raw", "/tether/front_cam/image_raw"),
+                    ("/surface/gui/flooding", "/tether/flooding")],
         emulate_tty=True,
         output='screen'
     )