Added Publisher, specified goals in Homepage.py

ros2/UI/ 🚗 Homepage.py

@@ -0,0 +1,61 @@
+import streamlit as st
+from streamlit import runtime
+from streamlit.web import cli as stcli
+import sys
+
+
+def runner():
+    st.header("Welcome to the IGVC Homepage!")
+    st.markdown('''
+             Please select an option on the sidebar to the right: This specifies which UI file you'd like to run   
+
+
+             Streamlit supports fast reloads: Just refresh the python script to get going!
+
+
+             Docs are here: https://docs.streamlit.io/library/api-reference
+             ''')
+    st.divider()
+    st.markdown('''
+             For the freshmen: This UI is designed to serve multiple purposes 
+             
+             #1. We need a way to render all of the openCV data we have: This is stuff like the lane or object detection.   
+
+             #2. We need a way to tune  parameters in an easy way, without refreshing every single page for small little tweaks.    
+
+             #3. We need to be able to control the state machines on the car: Each of the function tests is effectively it's own state machine.
+             We need to be able to control which test we're in, and visualize any important data in a direct manner. 
+                
+               
+             #4.  It makes us look professional, and adds quite a bit of useful fluff for our design report.
+             ''')
+    st.divider()
+    st.markdown('''
+    Of course, not a lot of this is in your control: We haven't built the state machines or finished all of our algorithms.   
+                However, Lane Detection is in the perfect place for you to familiarize yourself with both streamlit and the entire tech stack.   
+                I'm detailing all immediate tasks here: Please allocate amongst yourselves.   
+                I have taken the liberty of building a bespoke ros2 publisher and subscriber system (was not trivial), that should provide a solid framework.   
+                However, it will get extremely tedious to build a proper UI if you don't exploit some of the advantages of python.   
+                Read about list comprehension and get good.    
+                #1: Connecting all datastreams from the lane_detection algorithm into here.
+                Everything that is cv.imshow() is rendered in that, in a clean and effective manner.      
+                #2: Parametrizing all constants in that: anything that had a slider should be here, and it should be published.   
+                #3: Beautifying, and building more tabs & systems so this is the only interface we need with the car. 
+                We should not be opening up or handling multiple windows with the judges.
+                Debugging systems, sensor messages (E.g IMU, CAN) should all live here.   
+
+                ''')
+    st.warning("FIRST PRIORITY: https://docs.streamlit.io/develop/api-reference/widgets/st.page_link CHANGE THE PAGES SO NO MORE EMOJIS")
+
+
+# This allows the system to run without being in a dedicated streamlit session:
+if __name__ == "__main__":
+    if runtime.exists():
+        st.set_page_config(
+            page_title="IGVC Homepage",
+            page_icon="🚗")
+        st.sidebar.success("Select a System above.")
+        runner()
+    else:
+        sys.argv = ["streamlit", "run", sys.argv[0]]
+        sys.exit(stcli.main())

ros2/UI/pages/🛣 Lane_Detection.py

@@ -6,10 +6,10 @@
 from rclpy.qos import qos_profile_sensor_data
 from cv_bridge import CvBridge
 import time
+from std_msgs.msg import String
 
-
+## This class currently subscribes to some topics in cam_publisher, which I used to test. Please rewrite for lane Detection.
 class Image_Handler(Node):
-
     def __init__(self):
         self._tabs = None
         self._img = None
@@ -27,27 +27,41 @@ def __init__(self):
             self.hsvData_callback,
             qos_profile_sensor_data)
 
-
-    def tabs(self,tabs):
+    def tabs(self, tabs):
         self._tabs = tabs
         # SRC is cv2.VideoCapture FOR NOW: Will need to be tweaked in the future to rossify
         self._frame_containers = [tab.empty() for tab in self._tabs]
 
-
     def camData_callback(self, msg_in):
         raw = msg_in
         img = self._bridge.imgmsg_to_cv2(raw)
         self._frame_containers[0].image(img)
-     
+
     def hsvData_callback(self, msg_in):
         raw = msg_in
         img = self._bridge.imgmsg_to_cv2(raw)
         self._frame_containers[1].image(img)
 
-
+#This class is your publisher: Flesh it out and integrate accordingly
+class Publisher(Node):
+    def __init__(self):
+            super().__init__('Streamlit_Button_Publisher')
+            self.logger = self.get_logger()
+            self.button_pub = self.create_publisher(String, '/streamlit/button',10)
+
+def demo_publish():
+    msg = String()
+    msg.data = "Streamlit Button!"
+    st.session_state["pub_node"].button_pub.publish(msg)
+    st.success("Message Published!")
+
+
+
+
 # See ../../ros2/src/lanefollowingtest/LaneDetection.py
-# This page should render ALL images in there, as well as publish
+# This page should render ALL images in there, as well as publish important update data
 if __name__ == "__main__":
+    #How we Configure the page
     st.set_page_config(
         page_title="Lane Detection",
         page_icon="🛣")
@@ -58,20 +72,30 @@ def hsvData_callback(self, msg_in):
         "This should render all of the images related to Lane Detection, and relevant parameters.")
     tabs = st.tabs(["Original", "HSV", "Sliding Windows"])
 
-    if "node" not in st.session_state:
-            try:
-                rclpy.init()
-            except RuntimeError:
-                 st.warning("something went wrong performance may be degraded. Try restarting fully")
-            finally:                 
-                handler = Image_Handler()
-                handler.tabs(tabs)
-                st.session_state["node"] = handler
+
+    #This hunk initializes the ROS2 nodes without breaking anything :)
+    if "sub_node" not in st.session_state:
+        try:
+            rclpy.init()
+        except RuntimeError:
+            st.warning(
+                "something went wrong performance may be degraded. Try restarting fully.")
+        finally:
+            handler = Image_Handler()
+            handler.tabs(tabs)
+            st.session_state["sub_node"] = handler
+    if "pub_node" not in st.session_state:            
+            st.session_state["pub_node"] = Publisher()
+
+
+    st.button("Ros Topic Publisher Demo!",on_click=demo_publish)
+   # As this is an infinite loop, it should only be run at the end of the file.
     if render:
-            while(True):
-                try:
-                    rclpy.spin_once(st.session_state['node'])
-                    time.sleep(0.01)                     
-                except:
-                     st.warning("Something went wrong, perhaps tabs were clicked too quickly? Try restarting.")
-                     break
+        while (True):
+            try:
+                rclpy.spin_once(st.session_state['sub_node'])
+                time.sleep(0.01)
+            except:
+                st.warning(
+                    "Something went wrong, perhaps tabs were clicked too quickly? Try restarting.")
+                break