added humidity messages

Author: timothy Tamm

guiModule.py

@@ -20,7 +20,7 @@
 
 class GuiModule(rm.ProtoModule):
     def __init__(self, addr, port):
-        self.subscriptions = [MsgType.CAMERA_FRAME_MSG, MsgType.CTRL_MSG]
+        self.subscriptions = [MsgType.CAMERA_FRAME_MSG, MsgType.CTRL_MSG, MsgType.HUMIDITY_MSG]
         super().__init__(addr, port, message_buffers, MsgType, FREQUENCY, self.subscriptions)
         self.frames = {}
         pygame.init()
@@ -30,6 +30,7 @@ def __init__(self, addr, port):
         self.roll = 0
         self.yaw = 0
         self.pitch = 0
+        self.humidity = 0
 
     def msg_received(self, msg, msg_type):
         # This gets called whenever any message is received
@@ -40,6 +41,8 @@ def msg_received(self, msg, msg_type):
             self.roll = msg.roll * 90
             self.pitch = msg.pitch * 90
             self.yaw = msg.yaw * 90
+        elif msg_type = MsgType.HUMIDITY_MSG
+            self.humidity = msg.humidity
 
     def tick(self):
         for event in pygame.event.get():
@@ -48,9 +51,14 @@ def tick(self):
         self._display_frames()
         if self.navball_ticks % int(FREQUENCY/NAVBALL_FREQ) == 0:
             self.navball.draw(self.yaw, self.roll, self.pitch)
+        self._draw_sensor_values()
         pygame.display.update()
         self.navball_ticks += 1
 
+    def _draw_sensor_values(self):
+        hum_surface = self.font.render('Humidity={1:0.1f}%'.format(self.humidity), True, (255, 255, 255))
+        self.display.blit(hum_surface, (SCREEN_SIZE[0]-100, SCREEN_SIZE[1]-50))
+
     def _display_frames(self):
         cur_x = 0
         for frame_id in self.frames:

humidityModule.py

@@ -11,7 +11,7 @@
 FREQUENCY = 10
 SENSOR_PIN1 = 21
 
-class MockSensorModule(rm.ProtoModule):
+class HumidityModule(rm.ProtoModule):
     def __init__(self, addr, port):
         self.subscriptions = []
         super().__init__(addr, port, message_buffers, MsgType, FREQUENCY)
@@ -23,23 +23,14 @@ def msg_received(self, msg, msg_type):
     def tick(self):
         humidity, temperature = Adafruit_DHT.read_retry(self.sensor, SENSOR_PIN1)
 
-        # Note that sometimes you won't get a reading and
-        # the results will be null (because Linux can't
-        # guarantee the timing of calls to read the sensor).
-        # If this happens try again!
         if humidity is not None and temperature is not None:
-            print('Temp={0:0.1f}*C  Humidity={1:0.1f}%'.format(temperature, humidity))
-        else:
-            print('Failed to get reading. Try again!')
-        
-        msg = MockMsg()
-        msg.mockValue = random.randint(1, 9)
-        msg = msg.SerializeToString()
-        self.write(msg, MsgType.MOCK_MSG)
-
+            msg = HumidityMsg()
+            msg.humidity = humidity
+            msg = msg.SerializeToString()
+            self.write(msg, MsgType.HUMIDITY_MSG)
 
 def main():
-    module = MockSensorModule(ADDRESS, PORT)
+    module = HumidityModule(ADDRESS, PORT)
     module.run()
 
 if __name__ == "__main__":

messages/Makefile

@@ -1,4 +1,5 @@
-protobuf: mockMsg.proto cameraFrameMsg.proto ctrlMsg.proto
+protobuf: mockMsg.proto cameraFrameMsg.proto ctrlMsg.proto humidityMsg.proto
 	protoc -I=./ --python_out=./ ./mockMsg.proto
 	protoc -I=./ --python_out=./ ./cameraFrameMsg.proto
 	protoc -I=./ --python_out=./ ./ctrlMsg.proto
+	protoc -I=./ --python_out=./ ./humidityMsg.proto

messages/__init__.py

@@ -2,16 +2,19 @@
 from .mockMsg_pb2 import MockMsg
 from .cameraFrameMsg_pb2 import CameraFrameMsg
 from .ctrlMsg_pb2 import CtrlMsg
+from .humidityMsg_pb2 import HumidityMsg
 
 class MsgType(Enum):
     MOCK_MSG = 0
     CAMERA_FRAME_MSG = 1
     CTRL_MSG = 2
+    HUMIDITY_MSG = 3
 
 message_buffers = {
     MsgType.MOCK_MSG: MockMsg,
     MsgType.CAMERA_FRAME_MSG: CameraFrameMsg,
-    MsgType.CTRL_MSG: CtrlMsg
+    MsgType.CTRL_MSG: CtrlMsg,
+    MsgType.HUMIDITY_MSG: HumidityMsg
 }
 
-__all__ = ['MsgType', 'message_buffers', 'MockMsg', 'CameraFrameMsg', 'CtrlMsg']
+__all__ = ['MsgType', 'message_buffers', 'MockMsg', 'CameraFrameMsg', 'CtrlMsg', 'HumidityMsg']

messages/humidityMsg.proto

@@ -0,0 +1,8 @@
+syntax = "proto2";
+
+package mateROV;
+
+message HumidityMsg {
+
+  required float humidity = 1;
+}