Revision ab8736ac
added teleop to GUI, should be able to choose which scout to control now
| scout/scoutsim/GUI.py | ||
|---|---|---|
| 132 | 132 |
(self.name, Behaviors.getNumber(self.behavior))) |
| 133 | 133 |
self.process = subprocess.Popen(roscommand, shell=False) |
| 134 | 134 |
|
| 135 |
def teleop(self): |
|
| 136 |
# teleop involved only one command \ |
|
| 137 |
self.terminateOldBehavior() |
|
| 138 |
self.process = None |
|
| 139 |
cmd = "rosservice call /set_teleop %s"%self.name |
|
| 140 |
try: |
|
| 141 |
subprocess.Popen(shlex.split(cmd), shell=False) |
|
| 142 |
except: |
|
| 143 |
#not sure why this is happening.... |
|
| 144 |
# seems to be a ros thing |
|
| 145 |
print "warning, socket error, ignored" |
|
| 146 |
|
|
| 135 | 147 |
def killSelf(self): |
| 136 | 148 |
# terminate its current behavior |
| 137 | 149 |
self.terminateOldBehavior() |
| ... | ... | |
| 144 | 156 |
Scout.numOfScouts -= 1 |
| 145 | 157 |
self.valid = False |
| 146 | 158 |
except rospy.ServiceException, e: |
| 147 |
print "warning: kill scout unsuccessful" # TODO: change to alert
|
|
| 159 |
print "warning: kill scout unsuccessful" |
|
| 148 | 160 |
self.valid = True |
| 149 | 161 |
# remove from the class |
| 150 | 162 |
|
| ... | ... | |
| 236 | 248 |
self.window.Update() |
| 237 | 249 |
else: |
| 238 | 250 |
raise Exception |
| 239 |
|
|
| 251 |
|
|
| 252 |
# runPressed |
|
| 240 | 253 |
# change UI display and invoke change Behavior in scout |
| 241 | 254 |
def changeBehavior(self, name, currBehaviorLabel, |
| 242 | 255 |
pauseButton, newBehavior): |
| 243 | 256 |
|
| 244 | 257 |
# to handle user pressing "Run" during pause |
| 245 | 258 |
if (newBehavior != "Pause" and self.scouts[name].paused == True): |
| 246 |
print "trying to do stuff!!!" |
|
| 247 | 259 |
self.correctPauseButton(name, |
| 248 | 260 |
pauseButton, pauseToResume=True) |
| 249 | 261 |
|
| 250 | 262 |
currBehaviorLabel.SetLabel(" | Current Behavior: %s"%newBehavior)
|
| 251 | 263 |
scout = self.scouts[name] |
| 252 | 264 |
scout.changeBehavior(newBehavior) |
| 265 |
self.correctTeleopButton(None) |
|
| 253 | 266 |
|
| 254 | 267 |
|
| 255 |
def correctPauseButton(self, name, pauseButton, pauseToResume): |
|
| 256 |
if (pauseToResume): |
|
| 257 |
print "correcting button!" |
|
| 258 |
self.scouts[name].paused = False |
|
| 259 |
pauseButton.SetValue(False) # unpress it |
|
| 260 |
pauseButton.SetLabel("Pause")
|
|
| 261 |
else: |
|
| 262 |
self.scouts[name].paused = True |
|
| 263 |
pauseButton.SetValue(True) # press it |
|
| 264 |
pauseButton.SetLabel("Resume")
|
|
| 265 |
|
|
| 266 | 268 |
def buttonDown(button): |
| 267 | 269 |
return button.GetValue() |
| 268 | 270 |
|
| ... | ... | |
| 281 | 283 |
dropMenu.GetStringSelection()) |
| 282 | 284 |
self.correctPauseButton(name, |
| 283 | 285 |
pauseButton, pauseToResume=True) |
| 284 |
|
|
| 286 |
|
|
| 287 |
def teleop(self, name): |
|
| 288 |
self.correctTeleopButton(name) |
|
| 289 |
self.scouts[name].teleop() |
|
| 285 | 290 |
|
| 286 | 291 |
############################ UI stuff here ########################### |
| 287 | 292 |
|
| 288 | 293 |
def initUI(self): |
| 294 |
self.allTeleopButtons = {}
|
|
| 289 | 295 |
self.initAddScoutArea() |
| 296 |
|
|
| 297 |
def correctTeleopButton(self, teleopingName): |
|
| 298 |
for name in self.allTeleopButtons: |
|
| 299 |
if name == teleopingName: |
|
| 300 |
self.allTeleopButtons[name].SetValue(True) |
|
| 301 |
else: |
|
| 302 |
self.allTeleopButtons[name].SetValue(False) |
|
| 303 |
|
|
| 304 |
|
|
| 305 |
def correctPauseButton(self, name, pauseButton, pauseToResume): |
|
| 306 |
if (pauseToResume): |
|
| 307 |
print "correcting button!" |
|
| 308 |
self.scouts[name].paused = False |
|
| 309 |
pauseButton.SetValue(False) # unpress it |
|
| 310 |
pauseButton.SetLabel("Pause")
|
|
| 311 |
else: |
|
| 312 |
self.scouts[name].paused = True |
|
| 313 |
pauseButton.SetValue(True) # press it |
|
| 314 |
pauseButton.SetLabel("Resume")
|
|
| 290 | 315 |
|
| 291 | 316 |
# the labels and input boxes for adding a scout through GUI |
| 292 | 317 |
def initAddScoutArea(self): |
| ... | ... | |
| 360 | 385 |
runButton = wx.Button(self.window, label="Run") |
| 361 | 386 |
killButton = wx.Button(self.window, label="Kill") |
| 362 | 387 |
teleopButton = wx.ToggleButton(self.window, label="Teleop") |
| 363 |
|
|
| 388 |
self.allTeleopButtons[name] = teleopButton |
|
| 364 | 389 |
# row 0 |
| 365 | 390 |
self.sizer[name].Add(scoutName) |
| 366 | 391 |
self.sizer[name].Add(currBehaviorLabel, wx.EXPAND | wx.ALIGN_RIGHT) |
| ... | ... | |
| 383 | 408 |
pauseButton.Bind(wx.EVT_TOGGLEBUTTON, |
| 384 | 409 |
lambda event: self.pauseResumeScout(name, pauseButton, |
| 385 | 410 |
currBehaviorLabel, scoutChoices)) |
| 411 |
teleopButton.Bind(wx.EVT_TOGGLEBUTTON, |
|
| 412 |
lambda event: self.teleop(name)) |
|
| 386 | 413 |
|
| 387 | 414 |
self.mainArea.Add(self.sizer[name], proportion=1, |
| 388 | 415 |
flag=wx.ALL | wx.EXPAND, border=10) |
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