Colony » Colony Scout » Colony Scout OS

#!/usr/bin/python

# Behavior GUI

# shell subprocess libs

import subprocess

import shlex  #for converting string commands to tokens

# GUI libs

import wx

import wx.lib.intctrl

import wx.lib.agw.floatspin

# not sure why these 2 are here

import string

import signal

# ros imports for spawning and killing scout

import rospy

import roslib

roslib.load_manifest("scoutsim")

# scoutsim imports

from scoutsim.srv import *

from collections import defaultdict

# each scout is represented by this class

class Scout(object):

    numOfScouts = 0 # class variable keeping track of scouts

    def __init__(self, x=0, y=0, theta=0, name=u"",

                       Scouts=None, oninit = False):

        print (len(name))

        Scout.numOfScouts += 1 # reverted if not successful

        if len(name) == 0:

            # automatically give name according to numOfScouts

            name = self.autoNameGen(Scouts)

        # set vars

        self.name = name

        self.behavior = "chilling"

        self.process =  None# used to keep track of all processes

                        # related to this scout  

        self.valid = False

        # these vars are right now just the original position

        # but when ODOMETRY is done, we could actually use them

        self.x, self.y = x, y 

        self.theta = theta

        # spawn the scout if it is not scout1 (automatically spawned)

        if (not oninit): 

            if (self.SpawnInSimulator()):

                # spawned correctly

                self.valid = True

            else:

                Scout.numOfScouts -= 1;

    def autoNameGen(self, Scouts):

        i = 1

        while (True):

            if not (("scout%d"%i) in Scouts):

                return "scout%d"%i

            i+=1

        # update the classvariable

    def SpawnInSimulator(self):

        print "trying to spawn scout!!!"

        try:

            # ros spawn routine

            rospy.wait_for_service('/spawn');

            service = rospy.ServiceProxy('/spawn', Spawn);

            response = service(self.x, self.y, self.theta, self.name)

            return True

        except rospy.ServiceException as Error:

            print "things are bad!!!"

            print Error

            return False

    def changeBehavior(self, behavior):

        self.behavior = behavior

        # WARNING: Check this but ROS kills the old behavior for us

            # kill the old behavior

#        if self.process != None:

#            self.process.terminate() #TODO: this kills the process

#                                     #      but maybe not the rosnode

#                                     #      change to "rosnode kill" instead

#        # make sure the old behavior is terminated before we run the new one

#        self.process.wait()

        # do rosprocess calls for new behavior

        roscommand = shlex.split("rosrun libscout libscout %s %s"%

                                            (self.name, self.behavior))

        subprocess.Popen(roscommand, shell=False)

    def killSelf(self):

        # terminate its current behavior

        if self.process != None:

            self.process.terminate() # TODO: same here, try "rosnode kill"

            self.process.wait()

        # ros call to kill scout in simulator

        try:

            rospy.wait_for_service("/kill")

            service = rospy.ServiceProxy("/kill", Kill)

            response = service(self.name)

            Scout.numOfScouts -= 1

            self.valid = False

        except rospy.ServiceException, e:

            print "warning: kill scout unsuccessful" # TODO: change to alert

            self.valid = True

        # remove from the class

# a wrapper for wx Frame

class Window(wx.App):

    def __init__(self, title=""):

        super(Window, self).__init__()

        self.initUIFrame()

    def initUIFrame(self):

        self.GUIFrame = GUI(None, "hallo!")

# actual GUI frame

class GUI(wx.Frame):

    def __init__(self, parent, title):

        super(GUI, self).__init__(parent, title=title,

            style=wx.DEFAULT_FRAME_STYLE ^ wx.RESIZE_BORDER, size=(600, 600))

        # open up scoutsim race

        command = shlex.split("rosrun scoutsim scoutsim_node race")

        self.simWindowProcess = subprocess.Popen(command, shell=False)

        #rospy.wait_for_service('/spawn') #don't know why this is here

        # register call back for on close cleanup

        self.Bind(wx.EVT_CLOSE, self.onClose) 

        self.initData()

        self.initUI()

        self.Show(True)     

    # do clean up after user close the window

    def onClose(self, event):

        print "Cleaning up all Processes"

        # kill all the behavior processes

        for scout in self.scouts:

            process = self.scouts[scout].process

            if (process != None):

                process.terminate()

        # kill the scout sim window

        self.simWindowProcess.terminate()

        print "done"

        self.Destroy()

    def initData(self):

        self.scouts = {}

        self.scouts["scout1"] = Scout(x=0, y=0, theta=0, name="scout1",

                                      Scouts = self.scouts, oninit=True)

        #TODO: these arguments are not right...fix them!!!

    # addButton callback

    def addScout(self, x_wx, y_wx, theta_wx, name_wx):

        # x, y, theta, name are given as wx Inputs

        x = x_wx.GetValue()

        y = y_wx.GetValue()

        theta = theta_wx.GetValue()

        name = name_wx.GetValue()

        print "in GUI trying to add scout!"

        newSc = Scout(x, y, theta, name, self.scouts)

        if (newSc.valid):

            # successful

            self.scouts[newSc.name] = newSc

            self.addScoutBox(newSc.name)

            # alert user spawn successful

            wx.MessageBox(u"Scout '%s' created successfully at (%d,%d,%d\u00B0)"

                            %(newSc.name, newSc.x, newSc.y, newSc.theta), 

                            "Scout Created", wx.OK | wx.ICON_INFORMATION)

        else:

            #failed to create scout

            wx.MessageBox("Scout Creation failed :( Check for duplicate name",

                            "Add Scout failed", wx.OK | wx.ICON_ERROR)

    def removeScout(self, name):

        sct = self.scouts[name]

        print "removing scout %s"%name

        sct.killSelf()

        if (sct.valid == False):

            # successful, remove from the dictionary

            del self.scouts[name]

            # refresh the display

            print self.mainArea.Hide(self.sizer[name])

            print self.mainArea.Remove(self.sizer[name])

            del self.sizer[name]

            self.window.Layout()

            self.window.Refresh()

            self.window.Update()

        else:

            raise Exception

    ############################ UI stuff here ###########################

    def initUI(self):

        self.initAddScoutArea()

    # the labels and input boxes for adding a scout through GUI

    def initAddScoutArea(self):

        # all the layout stuff copied over: using grid layout

        # button callbacks are changed

        self.totalCols = 8

        self.window = wx.ScrolledWindow(self, style=wx.VSCROLL)

        self.mainArea = wx.GridSizer(cols=1)

        sizer = wx.FlexGridSizer(rows=4, cols=self.totalCols, hgap=5, vgap=5)

        # Labels

        blankText = wx.StaticText(self.window, label="")

        newScout = wx.StaticText(self.window, label="New Scout")

        newScoutName = wx.StaticText(self.window, label="Name:")

        startXTitle = wx.StaticText(self.window, label="X:")

        startYTitle = wx.StaticText(self.window, label="Y:")

        startThetaTitle = wx.StaticText(self.window, label="Rad:")

        # Inputs

        newScoutInput = wx.TextCtrl(self.window)

        startX = wx.lib.agw.floatspin.FloatSpin(self.window, min_val=0, digits=5)

        startY = wx.lib.agw.floatspin.FloatSpin(self.window, min_val=0, digits=5)

        startTheta = wx.lib.agw.floatspin.FloatSpin(self.window, min_val=0, digits=5)

        addButton = wx.Button(self.window, id=wx.ID_ADD)

        # Pretty Stuff

        hLine = wx.StaticLine(self.window, size=(600, 5))

        bottomHLine = wx.StaticLine(self.window, size=(600, 5))

        # Row 0: just the label add scout

        sizer.Add(newScout)

        for i in range(7):

            sizer.AddStretchSpacer(1)

        # Row 1: input(name), x coord, y coord, rad, 

        sizer.AddMany([newScoutName, (newScoutInput, 0, wx.EXPAND), startXTitle,

            startX, startYTitle, startY, startThetaTitle, startTheta])

        # Row 2: just the add button to the right

        for i in range(7):

            sizer.AddStretchSpacer(1)

        sizer.Add(addButton)

        # Row 3

        # Events

        addButton.Bind(wx.EVT_BUTTON, lambda event: self.addScout(

            startX, startY, startTheta, newScoutInput))

        sizer.AddGrowableCol(idx=1)

        self.mainArea.Add(sizer, proportion=1, flag=wx.ALL|wx.EXPAND, border=10)

        self.window.SetSizer(self.mainArea)

        self.sizer = defaultdict()

        self.window.Layout()

        # make the scout1's controller

        self.addScoutBox("scout1");

    # copied over from old GUI

    def addScoutBox(self, name):

        self.sizer[name] = wx.FlexGridSizer(rows=2, cols=5, hgap=5, vgap=5)

        # Labels

        scoutName = wx.StaticText(self.window, label="Scout: " + name)

        behaviorLabel = wx.StaticText(self.window, label="Behavior: ")

        currBehaviorLabel = wx.StaticText(self.window,

            label="  |  Current Behavior: Slacking off")

        # Inputs

        # drop down menue

        scoutChoices = wx.Choice(self.window) #choices=GetBehaviors())

        #   buttons

        pauseButton = wx.ToggleButton(self.window, label="Pause")

        runButton = wx.Button(self.window, label="Run")

        killButton = wx.Button(self.window, label="Kill")

        teleopButton = wx.ToggleButton(self.window, label="Teleop")

        # row 0

        self.sizer[name].Add(scoutName)

        self.sizer[name].Add(currBehaviorLabel, wx.EXPAND | wx.ALIGN_RIGHT)

        self.sizer[name].AddStretchSpacer(1)

        self.sizer[name].AddStretchSpacer(1)

        self.sizer[name].Add(killButton, wx.ALIGN_RIGHT)

        # row 1

        self.sizer[name].Add(behaviorLabel)

        self.sizer[name].Add(scoutChoices, wx.EXPAND)

        self.sizer[name].Add(runButton)

        self.sizer[name].Add(pauseButton, wx.ALIGN_RIGHT)

        self.sizer[name].Add(teleopButton) 

        # Events

        killButton.Bind(wx.EVT_BUTTON, lambda event: self.removeScout(name))

        self.mainArea.Add(self.sizer[name], proportion=1,

            flag=wx.ALL | wx.EXPAND, border=10)

        self.window.Layout()

        return True

if __name__ == '__main__':

    # open up GUI

    window = Window(title="Colony Scout Manager")

    window.MainLoop()