Revision cfef1cdc

View differences:

scout/libscout/generate_behavior_lists.py
66 66
                LAST_PATH_CODE : last_paths,
67 67
                BASE_NAME_CODE : base_names}
68 68

  
69
# Write all the replacements in R_FILES
70
for outfile_name in R_FILES.keys():
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    with open(outfile_name, 'w') as outfile:
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        with open(R_FILES[outfile_name], 'r') as infile:
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            # Write an obvious header so no one will edit our nicely
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            # generated file
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            outfile.write(AUTOGEN_HEADER)
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# also simultaneously write a txt file for the GUI to read from
70
with open("../scoutsim/behaviorList.txt", "w") as listFile:
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    # Write all the replacements in R_FILES
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    for outfile_name in sorted(R_FILES.keys()):
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        with open(outfile_name, 'w') as outfile:
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            with open(R_FILES[outfile_name], 'r') as infile:
75
                
76
                # Write an obvious header so no one will edit our nicely
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                # generated file
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                outfile.write(AUTOGEN_HEADER)
77 79

  
78
            for line in infile.readlines():
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                # If the line needs replacing, don't write the orgininal
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                # to the output file; rather, write many versions of the
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                # line replaced with each replacement value.
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                replaced = False
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                for r_key in replacements:
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                    if r_key in line:
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                        replaced = True
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                        for b in replacements[r_key]:
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                            outfile.write(line.replace(r_key, b))
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                # If it doesn't need replacing, just write the original
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                if not replaced:
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                    outfile.write(line)
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                for line in infile.readlines():
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                    # If the line needs replacing, don't write the orgininal
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                    # to the output file; rather, write many versions of the
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                    # line replaced with each replacement value.
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                    replaced = False
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                    for r_key in replacements:
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                        if r_key in line:
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                            replaced = True
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                            for b in replacements[r_key]:
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                                outfile.write(line.replace(r_key, b))
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                                if (r_key == BASE_NAME_CODE):
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                                    listFile.write(b+"\n")
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                    # If it doesn't need replacing, just write the original
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                    if not replaced:
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                        outfile.write(line)
95

  
96
    
scout/scoutsim/GUI.py
30 30

  
31 31
class Behaviors(object):
32 32
    def __init__(self):
33
        print "Warning: You should not need to create an instance of Behaviors"
34

  
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        self.behaviors = []
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        self.loadBehaviorList()
35 35
    # this takes advantage of the fact that our behavior list start at 1    
36
    behaviors = ["Pause", "CW Circle", "CCW Circle", "Odometry",
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                          "Navigation Map", "Scheduler", "Warehouse",
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                          "Line Follow", "WL Test", "Maze Solve"]
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    @classmethod
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    def getListFromDir(self):
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        behaviors = []
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        for path, dirname, fnames in os.walk('../libscout/src'):
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            if 'src/behaviors' in path or 'src/test_behaviors' in path:
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                path_parts = path.split('/')
45

  
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                for f in sorted(fnames):
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                    # The pause_scout behavior needs to go first!
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                    if f.endswith('.h') and 'pause_scout' in f:
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                        behaviors.insert(0, f.split('.')[0])
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                    # Everything else goes in alphabetical order
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                    elif f.endswith('.h'):
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                        behaviors.append(f.split('.')[0])
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        return behaviors
54

  
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    @classmethod
36
    #behaviors = ["Pause", "CW Circle", "CCW Circle", "Odometry",
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    #                      "Navigation Map", "Scheduler", "Warehouse",
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    #                      "Line Follow", "WL Test", "Maze Solve"]
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#    @classmethod
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#    def getListFromDir(self):
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#        behaviors = []
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#        for path, dirname, fnames in sorted(os.walk('../libscout/src')):
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#            if 'src/behaviors' in path or 'src/test_behaviors' in path:
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#                print "The path is!!!!!!!!!!!!", path
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#                path_parts = path.split('/')
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#
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#                for f in sorted(fnames):
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#                    # The pause_scout behavior needs to go first!
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#                    print f
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#                    if f.endswith('.h') and 'pause_scout' in f:
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#                        behaviors.insert(0, f.split('.')[0])
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#                    # Everything else goes in alphabetical order
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#                    elif f.endswith('.h'):
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#                        behaviors.append(f.split('.')[0])
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#        return behaviors
56

  
57
    
58
    def loadBehaviorList(self):
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        filename = "behaviorList.txt"
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        print "laoding behavior list!!!"
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        with open(filename, "r") as f:
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            for line in f.read().rstrip().split("\n"):
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                self.behaviors+= [line]
64
    
56 65
    def getNumber(self, behaviorName):
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        behaviors = self.getListFromDir()
58
        if (behaviorName in behaviors):
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            return behaviors.index(behaviorName)
66
        if (behaviorName in self.behaviors):
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            return self.behaviors.index(behaviorName)
60 68
    
61
    @classmethod
62 69
    def getName(self, index):
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        behaviors = self.getListFromDir()
64 70
        if (0 <= index < len(self.Behavior)):
65
            return behaviors[index]
71
            return self.behaviors[index]
66 72
        else:
67 73
            return -1
68 74
    
69
    @classmethod
70 75
    def getBehaviors(self):
71 76
        # "Pause" is not considered a behavior in GUI
72
        behaviors = self.getListFromDir()
73
        return behaviors[1:]
77
        return self.behaviors[1:]
74 78

  
75 79
# each scout is represented by this class
76 80
class Scout(object):
77 81
    numOfScouts = 0 # class variable keeping track of scouts
78 82
    
79
    def __init__(self, x=0, y=0, theta=0, name=u"",
83
    def __init__(self, x=0, y=0, theta=0, name=u"", behaviors=None,
80 84
                       Scouts=None, oninit = False):
81 85
        Scout.numOfScouts += 1 # reverted if not successful
82 86
        if len(name) == 0:
......
94 98
        self.x, self.y = x, y 
95 99
        self.theta = theta
96 100
        
101
        self.behaviors = behaviors
102

  
97 103
        # spawn the scout if it is not scout1 (automatically spawned)
98 104
        if (not oninit): 
99 105
            if (self.SpawnInSimulator()):
......
150 156
        self.terminateOldBehavior()
151 157
        # do rosprocess calls for new behavior
152 158
        roscommand = ("rosrun libscout libscout %s %s"%
153
                            (Behaviors.getNumber(self.behavior), self.name))
159
                            (self.behaviors.getNumber(self.behavior), self.name))
154 160
        self.process = subprocess.Popen(roscommand, shell=True)
155 161

  
156 162
    def teleop(self):
......
243 249
    def initData(self):
244 250
        self.scouts = {}
245 251
        #FIXME: these arguments are not right...fix them!!!
252
        self.behaviors = Behaviors()
246 253
        self.scouts["scout1"] = Scout(x=0, y=0, theta=0, name="scout1",
254
                                      behaviors=self.behaviors,
247 255
                                      Scouts = self.scouts, oninit=True)
248

  
256
    
249 257
    # addButton callback
250 258
    def addScout(self, x_wx, y_wx, theta_wx, name_wx):
251 259
        # x, y, theta, name are given as wx Inputs
......
253 261
        y = y_wx.GetValue()
254 262
        theta = theta_wx.GetValue()
255 263
        name = name_wx.GetValue()
256
        newSc = Scout(x, y, theta, name, self.scouts)
264
        newSc = Scout(x, y, theta, name, self.scouts, self.behaviors)
257 265
        if (newSc.valid):
258 266
            # successful
259 267
            self.scouts[newSc.name] = newSc
......
424 432
        # Inputs
425 433
        # drop down menue
426 434
        scoutChoices = wx.Choice(self.window, 
427
                                    choices=Behaviors.getBehaviors())
435
                                    choices=self.behaviors.getBehaviors())
428 436
        #   buttons
429 437
        pauseButton = wx.ToggleButton(self.window, label="Pause")
430 438
        runButton = wx.Button(self.window, label="Run")

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