Steph imu widget refactor

src/seahawk/seahawk_deck/dash.py

@@ -12,17 +12,18 @@
 from rclpy.publisher import Publisher
 from std_msgs.msg import String
 from rcl_interfaces.msg import ParameterEvent
-from sensor_msgs.msg import Image
+from sensor_msgs.msg import Image, Imu
 
 from seahawk_deck.dash_styling.color_palette import DARK_MODE, LIGHT_MODE
 from seahawk_deck.dash_widgets.countdown_widget import CountdownWidget
 from seahawk_deck.dash_widgets.numeric_data_widget import NumericDataWidget
 from seahawk_deck.dash_widgets.state_widget import StateWidget
 from seahawk_deck.dash_widgets.throttle_curve_widget import ThrtCrvWidget
 from seahawk_deck.dash_widgets.term_widget import TermWidget
-from seahawk_deck.set_remote_params import SetRemoteParams
 from seahawk_deck.dash_widgets.tri_numeric_data_widget import TriNumericDataWidget
 from seahawk_deck.dash_widgets.dynamic_plot_widget import DynamicPlotWidget
+from seahawk_deck.dash_widgets.imu_widget import ImuWidget
+from seahawk_deck.set_remote_params import SetRemoteParams
 from seahawk_msgs.msg import InputStates, DebugInfo, Bme280
 
 PATH = path.dirname(__file__)
@@ -44,6 +45,7 @@ class RosQtBridge(qtw.QWidget):
     new_com_param_sgl = qtc.pyqtSignal()
     new_debug_sgl = qtc.pyqtSignal()
     new_bme280_sgl = qtc.pyqtSignal()
+    new_linear_accel_msg_sgl = qtc.pyqtSignal()
     new_publisher_sgl = qtc.pyqtSignal()
     new_set_params_sgl = qtc.pyqtSignal()
 
@@ -60,6 +62,7 @@ def __init__(self):
         self.com = [0.0] * 3
         self.debug_msg = None
         self.bme280_msg = None
+        self.linear_accel_msg = None
         self.keystroke_pub = None
         self.pilot_input_set_params = None
 
@@ -152,6 +155,18 @@ def callback_bme280(self, msg: Bme280):
         self.bme280_msg = msg
         self.new_bme280_sgl.emit()
 
+    def callback_bno085(self, msg: Imu):
+        """
+        Called for each time a message is published to the `bno085` topic.
+        Collects the contents of the message sent and emits a `new_linear_accel_msg_sgl`
+        signal which is received by Qt.
+
+        Args:
+            msg: Linear acceleration values camera/top/h264from the `bno085` topic
+        """
+        self.linear_accel_msg = msg
+        self.new_linear_accel_msg_sgl.emit()
+
     def add_publisher(self, pub: Publisher):
         """
         Gives Qt access to a ROS publisher and emits a `new_publisher_sgl`.
@@ -306,6 +321,7 @@ def update_colors(self, new_colors: dict):
         self.tab_widget.temp_widget.set_colors(self.colors)
         self.tab_widget.depth_widget.set_colors(self.colors)
         self.tab_widget.countdown_widget.set_colors(self.colors)
+        self.tab_widget.imu_widget.set_colors(self.colors)
         self.tab_widget.term_widget.set_colors(self.colors)
         self.tab_widget.leak.set_colors(self.colors)
         self.tab_widget.humidity.set_colors(self.colors)
@@ -352,6 +368,7 @@ def __init__(self, parent: MainWindow, ros_qt_bridge: RosQtBridge, style_sheet_f
         self.ros_qt_bridge.new_cam_front_msg_sgl.connect(self.update_cam_front)
         self.ros_qt_bridge.new_debug_sgl.connect(self.update_debug)
         self.ros_qt_bridge.new_bme280_sgl.connect(self.update_bme280)
+        self.ros_qt_bridge.new_linear_accel_msg_sgl.connect(self.update_linear_accel_msg)
 
         # Define layout of tabs
         layout = qtw.QVBoxLayout(self)
@@ -394,7 +411,7 @@ def set_colors(self, new_colors: dict):
             new_colors: Hex codes to color widget with.
         """
         self.setStyleSheet(self.style_sheet.format(**new_colors))
-        self.demo_map.setPixmap(qtg.QPixmap(new_colors["MAP_IMG"]))
+        # self.demo_map.setPixmap(qtg.QPixmap(new_colors["MAP_IMG"]))
 
     def create_pilot_tab(self, tab: qtw.QWidget):
         """
@@ -427,36 +444,31 @@ def create_pilot_tab(self, tab: qtw.QWidget):
         self.depth_widget = NumericDataWidget(tab, "Depth", PATH + "/dash_styling/numeric_data_widget.txt", self.colors)
         self.countdown_widget = CountdownWidget(tab, PATH + "/dash_styling/countdown_widget.txt", self.colors, minutes=15, seconds=0)
 
+        # Initial value of CoM shift
+        self.com_shift_widget.update([0.0, 0.0, 0.0])
+
         # Add widgets to side vertical layout
         # Stretch modifies the ratios of the widgets (must add up to 100)
         vert_widgets_layout.addWidget(self.state_widget, stretch=18)
-        vert_widgets_layout.addWidget(self.com_shift_widget, stretch=8)
+        vert_widgets_layout.addWidget(self.com_shift_widget, stretch=10)
         vert_widgets_layout.addWidget(self.thrt_crv_widget, stretch=18)
-        vert_widgets_layout.addWidget(self.temp_widget, stretch=11)
-        vert_widgets_layout.addWidget(self.depth_widget, stretch=11)
+        vert_widgets_layout.addWidget(self.temp_widget, stretch=17)
+        vert_widgets_layout.addWidget(self.depth_widget, stretch=17)
         vert_widgets_layout.addWidget(self.countdown_widget, stretch=20)
 
         # Setup cameras
         self.cam_down = VideoFrame()
         self.cam_back = VideoFrame()
         self.cam_front = VideoFrame()
-
-        # Product demo map image
-        self.demo_map = qtw.QLabel()
-        # Dynamically sized, endures the image fits any aspect ratio. Will resize image to fit
-        self.demo_map.setScaledContents(True)
-        self.demo_map.setSizePolicy(qtw.QSizePolicy.Ignored, qtw.QSizePolicy.Ignored)
 
-        # Initial value of CoM shift
-        self.com_shift_widget.update([0.0, 0.0, 0.0])
+        self.imu_widget = ImuWidget(tab, PATH + "/dash_styling/imu_widget.txt", self.colors)
 
         # (0, 0)    (0, 1)
         # (1, 0)    (1, 1)
-
         cam_layout.addWidget(self.cam_back.label, 0, 0)
         cam_layout.addWidget(self.cam_front.label, 0, 1)
         cam_layout.addWidget(self.cam_down.label, 1, 0)
-        cam_layout.addWidget(self.demo_map, 1, 1)
+        cam_layout.addWidget(self.imu_widget, 1, 1)
 
         home_window_layout.addLayout(vert_widgets_layout, stretch=1)
         home_window_layout.addLayout(cam_layout, stretch=9)
@@ -538,6 +550,10 @@ def update_pilot_tab_input_states(self):
         self.state_widget.update(input_state_dict)
         self.thrt_crv_widget.update(self.ros_qt_bridge.input_state_msg.thrt_crv)
 
+    @qtc.pyqtSlot()
+    def update_linear_accel_msg(self):
+        self.imu_widget.update(self.ros_qt_bridge.linear_accel_msg)
+
     def create_debug_tab(self, tab: qtw.QWidget):
         # Setup layouts
         debug_layout = qtw.QHBoxLayout(tab)
@@ -628,6 +644,7 @@ def __init__(self, ros_qt_bridge: RosQtBridge):
         self.create_subscription(Image, "camera/back/image", ros_qt_bridge.callback_cam_back, 10)
         self.create_subscription(Image, "camera/front/image", ros_qt_bridge.callback_cam_front, 10)
         self.create_subscription(ParameterEvent, "parameter_events", ros_qt_bridge.callback_param_event, 10)
+        self.create_subscription(Imu,"bno085", ros_qt_bridge.callback_bno085, 10)
 
         ros_qt_bridge.add_publisher(self.create_publisher(String, "keystroke", 10))