Radio to Gui code

float/Tranciever_Reciever/Tranciever_Reciever.ino

@@ -14,15 +14,16 @@
 // Digital input pin where the input source(physical switch or GUI) will be coonnected.
 // High = submerge, Low = float
 // You might change pin number
-#define SyringeInput   9
+#define SYRINCE_INPUT   9
 
 // True = submerge, False = float
-bool SyringeCtrl = false;
+bool syringeCtrl = false;
 
 /************ Radio Setup ***************/
 
 //yes, the key is EEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEE. best key ever.
-uint8_t key[] = { 0xEE, 0xEE, 0xEE, 0xEE, 0xEE, 0xEE, 0xEE, 0xEE,
+uint8_t key[] = { 
+                  0xEE, 0xEE, 0xEE, 0xEE, 0xEE, 0xEE, 0xEE, 0xEE,
                   0xEE, 0xEE, 0xEE, 0xEE, 0xEE, 0xEE, 0xEE, 0xEE
                 };
 
@@ -137,7 +138,7 @@ void setup()
   rf69.setEncryptionKey(key);
 
   pinMode(LED, OUTPUT);
-  pinMode(SyringeInput, INPUT);
+  pinMode(SYRINCE_INPUT, INPUT);
 
   Serial.print("RFM69 radio @");  Serial.print((int)RF69_FREQ);  Serial.println(" MHz");
 }
@@ -146,16 +147,18 @@ void setup()
 void loop() {
   receiveData();
   // Check if serial signal recieved
-  if(Serial.available() == 1){
+  if (Serial.available() == 1) {
     String command;
     command = Serial.readString();
-    if(command == "submerge")
+    if (command == "submerge") {
       sendControlSignal("submerge");
-    else if (command == "extend")
+    } else if (command == "extend") {
       sendControlSignal("extend");
-    else if (command == "retract")
+    } else if (command == "retract") {
       sendControlSignal("retract");
-    else Serial.println("Invalid command");
+    } else {
+      Serial.println("Invalid command");
+    }
   }
 }
 
@@ -187,7 +190,7 @@ void sendControlSignal(char* message) {
 }
 
 
-void Blink(byte PIN, byte DELAY_MS, byte loops) {
+void blink(byte PIN, byte DELAY_MS, byte loops) {
   for (byte i = 0; i < loops; i++)  {
     digitalWrite(PIN, HIGH);
     delay(DELAY_MS);

float/Tranciever_Transmitter_WithUTC/Tranciever_Transmitter_WithUTC.ino

@@ -19,15 +19,16 @@ RTC_PCF8523 rtc;
 // Digital output pin where the syringe will be connected.
 // High = submerge, Low = float
 // You might change pin number
-#define SyringeOutput   9
+#define SYRINGE_OUTPUT   9
 
 // True = submerge, False = float
-bool SyringeCtrl = false;
+bool syringeCtrl = false;
 
 /************ Radio Setup ***************/
 
 //If you ever forget the key, just remember that it's EEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEE
-uint8_t key[] = { 0xEE, 0xEE, 0xEE, 0xEE, 0xEE, 0xEE, 0xEE, 0xEE,
+uint8_t key[] = { 
+                  0xEE, 0xEE, 0xEE, 0xEE, 0xEE, 0xEE, 0xEE, 0xEE,
                   0xEE, 0xEE, 0xEE, 0xEE, 0xEE, 0xEE, 0xEE, 0xEE
                 };
 
@@ -123,23 +124,23 @@ void setup()
 
     Serial.println("Assume year is 2023");
     Serial.println("Enter month [number format]");
-    while (Serial.available() == 0){}
+    while (Serial.available() == 0);
     int month = Serial.parseInt();
     Serial.println(month);
     Serial.println("Enter day");
-    while (Serial.available() == 0){}
+    while (Serial.available() == 0);
     int day = Serial.parseInt();
     Serial.println(day);
     Serial.println("Enter hour");
-    while (Serial.available() == 0){}
+    while (Serial.available() == 0);
     int hour = Serial.parseInt();
     Serial.println(hour);
     Serial.println("Enter minute [make sure you have enough time to enter seconds!]");
-    while (Serial.available() == 0){}
+    while (Serial.available() == 0);
     int minute = Serial.parseInt();
     Serial.println(minute);
     Serial.println("Enter second");
-    while (Serial.available() == 0){}
+    while (Serial.available() == 0);
     int second = Serial.parseInt();
     Serial.println(second);
 
@@ -191,9 +192,11 @@ void setup()
   rf69.setEncryptionKey(key);
 
   pinMode(LED, OUTPUT);
-  pinMode(SyringeOutput, OUTPUT);
+  pinMode(SYRINGE_OUTPUT, OUTPUT);
 
-  Serial.print("RFM69 radio @");  Serial.print((int)RF69_FREQ);  Serial.println(" MHz");
+  Serial.print("RFM69 radio @");  
+  Serial.print((int)RF69_FREQ);  
+  Serial.println(" MHz");
 }
 
 
@@ -243,7 +246,7 @@ void sendData() {
         Serial.println("Receive failed");
       }
       } else {
-      Serial.println("No reply.");
+        Serial.println("No reply.");
       }*/
 
     prevTime = now;
@@ -266,11 +269,11 @@ void receiveSubmergeSignal() {
       Serial.print("RSSI: ");
       Serial.println(rf69.lastRssi(), DEC);
 
-      if (strcmp((char*)buf, "su") == 0){
+      if (strcmp((char*)buf, "su") == 0) {
         submerge();
-      } else if (strcmp((char*)buf, "ex") == 0){
+      } else if (strcmp((char*)buf, "ex") == 0) {
         extend();
-      } else if (strcmp((char*)buf, "re") == 0){
+      } else if (strcmp((char*)buf, "re") == 0) {
         retract();
       } else {
         Serial.println("Invalid command");
@@ -283,29 +286,32 @@ void receiveSubmergeSignal() {
 
 void submerge() {
   char radiopacket[20] = "Submerging!";
-  Serial.print("Sending: "); Serial.println(radiopacket);
+  Serial.print("Sending: "); 
+  Serial.println(radiopacket);
 
   // Send a message!
   rf69.send((uint8_t *)radiopacket, strlen(radiopacket));
   rf69.waitPacketSent();
-  digitalWrite(SyringeOutput, HIGH);
+  digitalWrite(SYRINGE_OUTPUT, HIGH);
   delay(1000);
-  digitalWrite(SyringeOutput, LOW);
+  digitalWrite(SYRINGE_OUTPUT, LOW);
 }
 
-void extend(){
+void extend() {
   //extend code here
   char radiopacket[20] = "Extending!";
-  Serial.print("Sending: "); Serial.println(radiopacket);
+  Serial.print("Sending: "); 
+  Serial.println(radiopacket);
 
   // Send a message!
   rf69.send((uint8_t *)radiopacket, strlen(radiopacket));
   rf69.waitPacketSent();
 }
 
-void retract(){
+void retract() {
   char radiopacket[20] = "Retracting!";
-  Serial.print("Sending: "); Serial.println(radiopacket);
+  Serial.print("Sending: "); 
+  Serial.println(radiopacket);
 
   // Send a message!
   rf69.send((uint8_t *)radiopacket, strlen(radiopacket));

interfaces/msg/FloatCommand.msg

@@ -0,0 +1 @@
+string command

surface/gui/gui/modules/float_comm.py

@@ -2,14 +2,14 @@
 from PyQt5.QtWidgets import QPushButton, QHBoxLayout, QLabel, QWidget
 from gui.event_nodes.publisher import GUIEventPublisher
 from gui.event_nodes.subscriber import GUIEventSubscriber
-from std_msgs.msg import String
+from interfaces.msg import FloatCommand
 from PyQt5.QtCore import pyqtSignal, pyqtSlot
 
 
 class FloatComm(QWidget):
     """Arm widget for sending Arm Commands."""
 
-    handle_scheduler_response_signal: pyqtSignal = pyqtSignal(String)
+    handle_scheduler_response_signal: pyqtSignal = pyqtSignal(FloatCommand)
 
     def __init__(self):
         super().__init__()
@@ -44,25 +44,25 @@ def __init__(self):
         layout.addWidget(self.label)
 
         self.transceiver_publisher: GUIEventPublisher = GUIEventPublisher(
-            String,
+            FloatCommand,
             "transceiver_control"
         )
 
         self.transceiver_subscription: GUIEventSubscriber = GUIEventSubscriber(
-            String,
+            FloatCommand,
             "transceiver_data",
             self.handle_scheduler_response_signal
         )
 
-    @pyqtSlot(String)
-    def handle_text(self, msg: String):
-        self.label.setText(msg.data)
+    @pyqtSlot(FloatCommand)
+    def handle_text(self, msg: FloatCommand):
+        self.label.setText(msg.command)
 
     def submerge_clicked(self):
-        self.transceiver_publisher.publish(String(data="submerge"))
+        self.transceiver_publisher.publish(FloatCommand(command="submerge"))
 
     def extend_clicked(self):
-        self.transceiver_publisher.publish(String(data="extend"))
+        self.transceiver_publisher.publish(FloatCommand(command="extend"))
 
     def retract_clicked(self):
-        self.transceiver_publisher.publish(String(data="retract"))
+        self.transceiver_publisher.publish(FloatCommand(command="retract"))

surface/transceiver/transceiver/serial_reader.py

@@ -1,17 +1,17 @@
 import serial
 import rclpy
 from rclpy.node import Node
-from std_msgs.msg import String
+from interfaces.msg import FloatCommand
 
 
 class SerialReader(Node):
 
     def __init__(self):
         super().__init__('serial_reader',
                          parameter_overrides=[])
-        self.publisher_ = self.create_publisher(String, 'transceiver_data', 10)
+        self.publisher = self.create_publisher(FloatCommand, 'transceiver_data', 10)
         self.listener = self.create_subscription(
-            String,
+            FloatCommand,
             'transceiver_control',
             self.control_callback,
             10)
@@ -21,14 +21,14 @@ def __init__(self):
         self.i = 0
 
     def timer_callback(self):
-        msg = String()
-        msg.data = self.ser.readline().decode()
-        self.publisher_.publish(msg)
+        msg = FloatCommand()
+        msg.command = self.ser.readline().decode()
+        self.publisher.publish(msg)
         # self.get_logger().info('Publishing: "%s"' % msg.data)
         # self.i += 1
 
-    def control_callback(self, msg: String):
-        msg_encode: bytes = msg.data.encode()
+    def control_callback(self, msg: FloatCommand):
+        msg_encode: bytes = msg.command.encode()
         self.ser.write(msg_encode)
         self.get_logger().info(f'Command sent via serial monitor: {msg_encode}')