root / scout / scoutsim / GUI.py @ 4c9fb6ba
History | View | Annotate | Download (17.3 KB)
1 | 01f09975 | Yuyang Guo | #!/usr/bin/python
|
---|---|---|---|
2 | |||
3 | # Behavior GUI
|
||
4 | |||
5 | # shell subprocess libs
|
||
6 | import subprocess |
||
7 | import shlex #for converting string commands to tokens |
||
8 | 6ee555a3 | Priya | import sys |
9 | 01f09975 | Yuyang Guo | |
10 | # GUI libs
|
||
11 | import wx |
||
12 | import wx.lib.intctrl |
||
13 | import wx.lib.agw.floatspin |
||
14 | |||
15 | # not sure why these 2 are here
|
||
16 | import string |
||
17 | import signal |
||
18 | |||
19 | # ros imports for spawning and killing scout
|
||
20 | import rospy |
||
21 | import roslib |
||
22 | 6350051e | Alex | import os |
23 | 01f09975 | Yuyang Guo | roslib.load_manifest("scoutsim")
|
24 | |||
25 | # scoutsim imports
|
||
26 | from scoutsim.srv import * |
||
27 | |||
28 | from collections import defaultdict |
||
29 | |||
30 | 9a4d8398 | Yuyang Guo | |
31 | class Behaviors(object): |
||
32 | def __init__(self): |
||
33 | cfef1cdc | Yuyang Guo | self.behaviors = []
|
34 | self.loadBehaviorList()
|
||
35 | 9a4d8398 | Yuyang Guo | # this takes advantage of the fact that our behavior list start at 1
|
36 | cfef1cdc | Yuyang Guo | #behaviors = ["Pause", "CW Circle", "CCW Circle", "Odometry",
|
37 | # "Navigation Map", "Scheduler", "Warehouse",
|
||
38 | # "Line Follow", "WL Test", "Maze Solve"]
|
||
39 | # @classmethod
|
||
40 | # def getListFromDir(self):
|
||
41 | # behaviors = []
|
||
42 | # for path, dirname, fnames in sorted(os.walk('../libscout/src')):
|
||
43 | # if 'src/behaviors' in path or 'src/test_behaviors' in path:
|
||
44 | # print "The path is!!!!!!!!!!!!", path
|
||
45 | # path_parts = path.split('/')
|
||
46 | #
|
||
47 | # for f in sorted(fnames):
|
||
48 | # # The pause_scout behavior needs to go first!
|
||
49 | # print f
|
||
50 | # if f.endswith('.h') and 'pause_scout' in f:
|
||
51 | # behaviors.insert(0, f.split('.')[0])
|
||
52 | # # Everything else goes in alphabetical order
|
||
53 | # elif f.endswith('.h'):
|
||
54 | # behaviors.append(f.split('.')[0])
|
||
55 | # return behaviors
|
||
56 | |||
57 | |||
58 | def loadBehaviorList(self): |
||
59 | filename = "behaviorList.txt"
|
||
60 | print "laoding behavior list!!!" |
||
61 | with open(filename, "r") as f: |
||
62 | for line in f.read().rstrip().split("\n"): |
||
63 | self.behaviors+= [line]
|
||
64 | |||
65 | 9a4d8398 | Yuyang Guo | def getNumber(self, behaviorName): |
66 | cfef1cdc | Yuyang Guo | if (behaviorName in self.behaviors): |
67 | return self.behaviors.index(behaviorName) |
||
68 | 9a4d8398 | Yuyang Guo | |
69 | def getName(self, index): |
||
70 | if (0 <= index < len(self.Behavior)): |
||
71 | cfef1cdc | Yuyang Guo | return self.behaviors[index] |
72 | 9a4d8398 | Yuyang Guo | else:
|
73 | return -1 |
||
74 | |||
75 | def getBehaviors(self): |
||
76 | # "Pause" is not considered a behavior in GUI
|
||
77 | cfef1cdc | Yuyang Guo | return self.behaviors[1:] |
78 | 9a4d8398 | Yuyang Guo | |
79 | 01f09975 | Yuyang Guo | # each scout is represented by this class
|
80 | class Scout(object): |
||
81 | numOfScouts = 0 # class variable keeping track of scouts |
||
82 | |||
83 | cfef1cdc | Yuyang Guo | def __init__(self, x=0, y=0, theta=0, name=u"", behaviors=None, |
84 | 01f09975 | Yuyang Guo | Scouts=None, oninit = False): |
85 | Scout.numOfScouts += 1 # reverted if not successful |
||
86 | if len(name) == 0: |
||
87 | # automatically give name according to numOfScouts
|
||
88 | name = self.autoNameGen(Scouts)
|
||
89 | # set vars
|
||
90 | self.name = name
|
||
91 | self.behavior = "chilling" |
||
92 | self.process = None# used to keep track of all processes |
||
93 | # related to this scout
|
||
94 | 9a4d8398 | Yuyang Guo | self.paused = False |
95 | 01f09975 | Yuyang Guo | self.valid = False |
96 | # these vars are right now just the original position
|
||
97 | # but when ODOMETRY is done, we could actually use them
|
||
98 | self.x, self.y = x, y |
||
99 | self.theta = theta
|
||
100 | |||
101 | cfef1cdc | Yuyang Guo | self.behaviors = behaviors
|
102 | |||
103 | 01f09975 | Yuyang Guo | # spawn the scout if it is not scout1 (automatically spawned)
|
104 | if (not oninit): |
||
105 | if (self.SpawnInSimulator()): |
||
106 | # spawned correctly
|
||
107 | self.valid = True |
||
108 | else:
|
||
109 | Scout.numOfScouts -= 1;
|
||
110 | |||
111 | |||
112 | def autoNameGen(self, Scouts): |
||
113 | i = 1
|
||
114 | while (True): |
||
115 | if not (("scout%d"%i) in Scouts): |
||
116 | return "scout%d"%i |
||
117 | i+=1
|
||
118 | |||
119 | |||
120 | # update the classvariable
|
||
121 | |||
122 | |||
123 | def SpawnInSimulator(self): |
||
124 | try:
|
||
125 | # ros spawn routine
|
||
126 | rospy.wait_for_service('/spawn');
|
||
127 | service = rospy.ServiceProxy('/spawn', Spawn);
|
||
128 | response = service(self.x, self.y, self.theta, self.name) |
||
129 | return True |
||
130 | except rospy.ServiceException as Error: |
||
131 | return False |
||
132 | 9a4d8398 | Yuyang Guo | |
133 | def terminateOldBehavior(self): |
||
134 | if self.process != None: |
||
135 | # now terminate the process
|
||
136 | self.process.terminate() #TODO: this kills the process |
||
137 | # but maybe not the rosnode
|
||
138 | # change to "rosnode kill" instead
|
||
139 | # make sure old behavior is terminated before we run the new one
|
||
140 | self.process.wait()
|
||
141 | 01f09975 | Yuyang Guo | |
142 | 9a4d8398 | Yuyang Guo | # the following lines causes lag and does not solve real issues
|
143 | # first unregister the node
|
||
144 | 1e52c76b | Yuyang Guo | cmd = "rosnode kill /%sBehavior"%self.name |
145 | temp = subprocess.Popen(cmd, shell=True)
|
||
146 | temp.wait() |
||
147 | 9a4d8398 | Yuyang Guo | # this node loses contact but still is not cleaned up in rosnode
|
148 | # however, this should not affect usage at all.
|
||
149 | 01f09975 | Yuyang Guo | |
150 | 9a4d8398 | Yuyang Guo | def changeBehavior(self, behavior): |
151 | self.behavior = behavior
|
||
152 | if (behavior == "pause"): |
||
153 | self.paused = True |
||
154 | else:
|
||
155 | self.paused = False |
||
156 | self.terminateOldBehavior()
|
||
157 | 01f09975 | Yuyang Guo | # do rosprocess calls for new behavior
|
158 | 1e52c76b | Yuyang Guo | roscommand = ("rosrun libscout libscout %s %s"%
|
159 | cfef1cdc | Yuyang Guo | (self.behaviors.getNumber(self.behavior), self.name)) |
160 | 1e52c76b | Yuyang Guo | self.process = subprocess.Popen(roscommand, shell=True) |
161 | 01f09975 | Yuyang Guo | |
162 | ab8736ac | Yuyang Guo | def teleop(self): |
163 | # teleop involved only one command \
|
||
164 | self.terminateOldBehavior()
|
||
165 | self.process = None |
||
166 | cmd = "rosservice call /set_teleop %s"%self.name |
||
167 | try:
|
||
168 | subprocess.Popen(shlex.split(cmd), shell=False)
|
||
169 | except:
|
||
170 | #not sure why this is happening....
|
||
171 | # seems to be a ros thing
|
||
172 | print "warning, socket error, ignored" |
||
173 | 1e52c76b | Yuyang Guo | |
174 | def sonar_viz(self, on_off): |
||
175 | # teleop involved only one command \
|
||
176 | cmd = "rosservice call /set_sonar_viz %s %s"%(on_off, self.name) |
||
177 | try:
|
||
178 | subprocess.Popen(shlex.split(cmd), shell=False)
|
||
179 | except:
|
||
180 | #not sure why this is happening....
|
||
181 | # seems to be a ros thing
|
||
182 | print "warning, socket error, ignored" |
||
183 | ab8736ac | Yuyang Guo | |
184 | 01f09975 | Yuyang Guo | def killSelf(self): |
185 | # terminate its current behavior
|
||
186 | 9a4d8398 | Yuyang Guo | self.terminateOldBehavior()
|
187 | |||
188 | 01f09975 | Yuyang Guo | # ros call to kill scout in simulator
|
189 | try:
|
||
190 | rospy.wait_for_service("/kill")
|
||
191 | service = rospy.ServiceProxy("/kill", Kill)
|
||
192 | response = service(self.name)
|
||
193 | Scout.numOfScouts -= 1
|
||
194 | self.valid = False |
||
195 | except rospy.ServiceException, e:
|
||
196 | ab8736ac | Yuyang Guo | print "warning: kill scout unsuccessful" |
197 | 01f09975 | Yuyang Guo | self.valid = True |
198 | # remove from the class
|
||
199 | |||
200 | |||
201 | # a wrapper for wx Frame
|
||
202 | class Window(wx.App): |
||
203 | def __init__(self, title=""): |
||
204 | super(Window, self).__init__() |
||
205 | self.initUIFrame()
|
||
206 | |||
207 | def initUIFrame(self): |
||
208 | self.GUIFrame = GUI(None, "hallo!") |
||
209 | |||
210 | |||
211 | # actual GUI frame
|
||
212 | class GUI(wx.Frame): |
||
213 | def __init__(self, parent, title): |
||
214 | super(GUI, self).__init__(parent, title=title, |
||
215 | style=wx.DEFAULT_FRAME_STYLE ^ wx.RESIZE_BORDER, size=(600, 600)) |
||
216 | |||
217 | # open up scoutsim race
|
||
218 | 6ee555a3 | Priya | if len(sys.argv) > 1: |
219 | map_name = sys.argv[1]
|
||
220 | else:
|
||
221 | map_name = "race"
|
||
222 | command = shlex.split("rosrun scoutsim scoutsim_node " + map_name)
|
||
223 | 01f09975 | Yuyang Guo | self.simWindowProcess = subprocess.Popen(command, shell=False) |
224 | #rospy.wait_for_service('/spawn') #don't know why this is here
|
||
225 | |||
226 | # register call back for on close cleanup
|
||
227 | self.Bind(wx.EVT_CLOSE, self.onClose) |
||
228 | |||
229 | |||
230 | self.initData()
|
||
231 | self.initUI()
|
||
232 | self.Show(True) |
||
233 | |||
234 | # do clean up after user close the window
|
||
235 | def onClose(self, event): |
||
236 | print "Cleaning up all Processes" |
||
237 | |||
238 | # kill all the behavior processes
|
||
239 | for scout in self.scouts: |
||
240 | process = self.scouts[scout].process
|
||
241 | if (process != None): |
||
242 | process.terminate() |
||
243 | |||
244 | # kill the scout sim window
|
||
245 | self.simWindowProcess.terminate()
|
||
246 | print "done" |
||
247 | self.Destroy()
|
||
248 | |||
249 | def initData(self): |
||
250 | self.scouts = {}
|
||
251 | 9a4d8398 | Yuyang Guo | #FIXME: these arguments are not right...fix them!!!
|
252 | cfef1cdc | Yuyang Guo | self.behaviors = Behaviors()
|
253 | 01f09975 | Yuyang Guo | self.scouts["scout1"] = Scout(x=0, y=0, theta=0, name="scout1", |
254 | cfef1cdc | Yuyang Guo | behaviors=self.behaviors,
|
255 | 01f09975 | Yuyang Guo | Scouts = self.scouts, oninit=True) |
256 | cfef1cdc | Yuyang Guo | |
257 | 01f09975 | Yuyang Guo | # addButton callback
|
258 | def addScout(self, x_wx, y_wx, theta_wx, name_wx): |
||
259 | # x, y, theta, name are given as wx Inputs
|
||
260 | x = x_wx.GetValue() |
||
261 | y = y_wx.GetValue() |
||
262 | theta = theta_wx.GetValue() |
||
263 | name = name_wx.GetValue() |
||
264 | b2d280c7 | Yuyang Guo | newSc = Scout(x, y, theta, name, self.behaviors, self.scouts) |
265 | 01f09975 | Yuyang Guo | if (newSc.valid):
|
266 | # successful
|
||
267 | self.scouts[newSc.name] = newSc
|
||
268 | self.addScoutBox(newSc.name)
|
||
269 | # alert user spawn successful
|
||
270 | wx.MessageBox(u"Scout '%s' created successfully at (%d,%d,%d\u00B0)"
|
||
271 | %(newSc.name, newSc.x, newSc.y, newSc.theta), |
||
272 | "Scout Created", wx.OK | wx.ICON_INFORMATION)
|
||
273 | |||
274 | else:
|
||
275 | #failed to create scout
|
||
276 | wx.MessageBox("Scout Creation failed :( Check for duplicate name",
|
||
277 | "Add Scout failed", wx.OK | wx.ICON_ERROR)
|
||
278 | |||
279 | def removeScout(self, name): |
||
280 | sct = self.scouts[name]
|
||
281 | sct.killSelf() |
||
282 | if (sct.valid == False): |
||
283 | # successful, remove from the dictionary
|
||
284 | del self.scouts[name] |
||
285 | 9a4d8398 | Yuyang Guo | # delete the refresh the display
|
286 | self.mainArea.Hide(self.sizer[name]) #required by wx before remove |
||
287 | self.mainArea.Remove(self.sizer[name]) |
||
288 | 01f09975 | Yuyang Guo | del self.sizer[name] |
289 | self.window.Layout()
|
||
290 | self.window.Refresh()
|
||
291 | self.window.Update()
|
||
292 | else:
|
||
293 | raise Exception |
||
294 | ab8736ac | Yuyang Guo | |
295 | # runPressed
|
||
296 | 9a4d8398 | Yuyang Guo | # change UI display and invoke change Behavior in scout
|
297 | def changeBehavior(self, name, currBehaviorLabel, |
||
298 | pauseButton, newBehavior): |
||
299 | |||
300 | # to handle user pressing "Run" during pause
|
||
301 | if (newBehavior != "Pause" and self.scouts[name].paused == True): |
||
302 | self.correctPauseButton(name,
|
||
303 | pauseButton, pauseToResume=True)
|
||
304 | |||
305 | currBehaviorLabel.SetLabel(" | Current Behavior: %s"%newBehavior)
|
||
306 | scout = self.scouts[name]
|
||
307 | scout.changeBehavior(newBehavior) |
||
308 | ab8736ac | Yuyang Guo | self.correctTeleopButton(None) |
309 | 9a4d8398 | Yuyang Guo | |
310 | |||
311 | def buttonDown(button): |
||
312 | return button.GetValue()
|
||
313 | |||
314 | def pauseResumeScout(self, name, pauseButton, currBehaviorLabel, dropMenu): |
||
315 | if (pauseButton.GetValue() == True): # |
||
316 | # change behavior to Pause
|
||
317 | self.changeBehavior(name, currBehaviorLabel, pauseButton, "Pause") |
||
318 | # change button to "Resume" & label to "Pause"
|
||
319 | currBehaviorLabel.SetLabel("Pause")
|
||
320 | self.correctPauseButton(name,
|
||
321 | pauseButton, pauseToResume=False)
|
||
322 | else:
|
||
323 | # resume
|
||
324 | # change behavior to whatever is in the drop down menu
|
||
325 | self.changeBehavior(name, currBehaviorLabel, pauseButton,
|
||
326 | dropMenu.GetStringSelection()) |
||
327 | self.correctPauseButton(name,
|
||
328 | pauseButton, pauseToResume=True)
|
||
329 | ab8736ac | Yuyang Guo | |
330 | def teleop(self, name): |
||
331 | self.correctTeleopButton(name)
|
||
332 | self.scouts[name].teleop()
|
||
333 | 9a4d8398 | Yuyang Guo | |
334 | 1e52c76b | Yuyang Guo | def sonar_viz(self, name, sonar_vizButton): |
335 | if (sonar_vizButton.GetValue() == True): |
||
336 | # turn on the sonar viz
|
||
337 | self.scouts[name].sonar_viz("on") |
||
338 | else:
|
||
339 | # turn off sonar viz
|
||
340 | self.scouts[name].sonar_viz("off") |
||
341 | |||
342 | 01f09975 | Yuyang Guo | ############################ UI stuff here ###########################
|
343 | |||
344 | def initUI(self): |
||
345 | ab8736ac | Yuyang Guo | self.allTeleopButtons = {}
|
346 | 01f09975 | Yuyang Guo | self.initAddScoutArea()
|
347 | ab8736ac | Yuyang Guo | |
348 | def correctTeleopButton(self, teleopingName): |
||
349 | for name in self.allTeleopButtons: |
||
350 | if name == teleopingName:
|
||
351 | self.allTeleopButtons[name].SetValue(True) |
||
352 | else:
|
||
353 | self.allTeleopButtons[name].SetValue(False) |
||
354 | |||
355 | |||
356 | def correctPauseButton(self, name, pauseButton, pauseToResume): |
||
357 | if (pauseToResume):
|
||
358 | print "correcting button!" |
||
359 | self.scouts[name].paused = False |
||
360 | pauseButton.SetValue(False) # unpress it |
||
361 | pauseButton.SetLabel("Pause")
|
||
362 | else:
|
||
363 | self.scouts[name].paused = True |
||
364 | pauseButton.SetValue(True) # press it |
||
365 | pauseButton.SetLabel("Resume")
|
||
366 | 01f09975 | Yuyang Guo | |
367 | # the labels and input boxes for adding a scout through GUI
|
||
368 | def initAddScoutArea(self): |
||
369 | # all the layout stuff copied over: using grid layout
|
||
370 | # button callbacks are changed
|
||
371 | self.totalCols = 8 |
||
372 | self.window = wx.ScrolledWindow(self, style=wx.VSCROLL) |
||
373 | self.mainArea = wx.GridSizer(cols=1) |
||
374 | sizer = wx.FlexGridSizer(rows=4, cols=self.totalCols, hgap=5, vgap=5) |
||
375 | |||
376 | # Labels
|
||
377 | blankText = wx.StaticText(self.window, label="") |
||
378 | newScout = wx.StaticText(self.window, label="New Scout") |
||
379 | newScoutName = wx.StaticText(self.window, label="Name:") |
||
380 | startXTitle = wx.StaticText(self.window, label="X:") |
||
381 | startYTitle = wx.StaticText(self.window, label="Y:") |
||
382 | startThetaTitle = wx.StaticText(self.window, label="Rad:") |
||
383 | |||
384 | # Inputs
|
||
385 | newScoutInput = wx.TextCtrl(self.window)
|
||
386 | startX = wx.lib.agw.floatspin.FloatSpin(self.window, min_val=0, digits=5) |
||
387 | startY = wx.lib.agw.floatspin.FloatSpin(self.window, min_val=0, digits=5) |
||
388 | startTheta = wx.lib.agw.floatspin.FloatSpin(self.window, min_val=0, digits=5) |
||
389 | addButton = wx.Button(self.window, id=wx.ID_ADD)
|
||
390 | |||
391 | # Pretty Stuff
|
||
392 | hLine = wx.StaticLine(self.window, size=(600, 5)) |
||
393 | bottomHLine = wx.StaticLine(self.window, size=(600, 5)) |
||
394 | |||
395 | # Row 0: just the label add scout
|
||
396 | sizer.Add(newScout) |
||
397 | for i in range(7): |
||
398 | sizer.AddStretchSpacer(1)
|
||
399 | # Row 1: input(name), x coord, y coord, rad,
|
||
400 | sizer.AddMany([newScoutName, (newScoutInput, 0, wx.EXPAND), startXTitle,
|
||
401 | startX, startYTitle, startY, startThetaTitle, startTheta]) |
||
402 | # Row 2: just the add button to the right
|
||
403 | for i in range(7): |
||
404 | sizer.AddStretchSpacer(1)
|
||
405 | sizer.Add(addButton) |
||
406 | # Row 3
|
||
407 | |||
408 | # Events
|
||
409 | addButton.Bind(wx.EVT_BUTTON, lambda event: self.addScout( |
||
410 | startX, startY, startTheta, newScoutInput)) |
||
411 | |||
412 | sizer.AddGrowableCol(idx=1)
|
||
413 | self.mainArea.Add(sizer, proportion=1, flag=wx.ALL|wx.EXPAND, border=10) |
||
414 | self.window.SetSizer(self.mainArea) |
||
415 | self.sizer = defaultdict()
|
||
416 | self.window.Layout()
|
||
417 | |||
418 | # make the scout1's controller
|
||
419 | self.addScoutBox("scout1"); |
||
420 | 1e52c76b | Yuyang Guo | |
421 | |||
422 | |||
423 | 01f09975 | Yuyang Guo | # copied over from old GUI
|
424 | def addScoutBox(self, name): |
||
425 | self.sizer[name] = wx.FlexGridSizer(rows=2, cols=5, hgap=5, vgap=5) |
||
426 | # Labels
|
||
427 | 9a4d8398 | Yuyang Guo | scoutName = wx.StaticText(self.window, label="Scout: %s"%name) |
428 | 01f09975 | Yuyang Guo | behaviorLabel = wx.StaticText(self.window, label="Behavior: ") |
429 | currBehaviorLabel = wx.StaticText(self.window,
|
||
430 | label=" | Current Behavior: Slacking off")
|
||
431 | |||
432 | # Inputs
|
||
433 | # drop down menue
|
||
434 | 9a4d8398 | Yuyang Guo | scoutChoices = wx.Choice(self.window,
|
435 | cfef1cdc | Yuyang Guo | choices=self.behaviors.getBehaviors())
|
436 | 01f09975 | Yuyang Guo | # buttons
|
437 | pauseButton = wx.ToggleButton(self.window, label="Pause") |
||
438 | runButton = wx.Button(self.window, label="Run") |
||
439 | killButton = wx.Button(self.window, label="Kill") |
||
440 | teleopButton = wx.ToggleButton(self.window, label="Teleop") |
||
441 | 1e52c76b | Yuyang Guo | sonar_vizButton = wx.ToggleButton(self.window, label="sonar viz") |
442 | ab8736ac | Yuyang Guo | self.allTeleopButtons[name] = teleopButton
|
443 | 01f09975 | Yuyang Guo | # row 0
|
444 | self.sizer[name].Add(scoutName)
|
||
445 | self.sizer[name].Add(currBehaviorLabel, wx.EXPAND | wx.ALIGN_RIGHT)
|
||
446 | self.sizer[name].AddStretchSpacer(1) |
||
447 | self.sizer[name].Add(killButton, wx.ALIGN_RIGHT)
|
||
448 | 1e52c76b | Yuyang Guo | self.sizer[name].Add(sonar_vizButton)
|
449 | 01f09975 | Yuyang Guo | |
450 | # row 1
|
||
451 | self.sizer[name].Add(behaviorLabel)
|
||
452 | self.sizer[name].Add(scoutChoices, wx.EXPAND)
|
||
453 | self.sizer[name].Add(runButton)
|
||
454 | self.sizer[name].Add(pauseButton, wx.ALIGN_RIGHT)
|
||
455 | self.sizer[name].Add(teleopButton)
|
||
456 | # Events
|
||
457 | killButton.Bind(wx.EVT_BUTTON, lambda event: self.removeScout(name)) |
||
458 | 9a4d8398 | Yuyang Guo | runButton.Bind(wx.EVT_BUTTON, |
459 | lambda event: self.changeBehavior(name, currBehaviorLabel, |
||
460 | pauseButton, # needed to handle press "run" during pause
|
||
461 | scoutChoices.GetStringSelection())) |
||
462 | pauseButton.Bind(wx.EVT_TOGGLEBUTTON, |
||
463 | lambda event: self.pauseResumeScout(name, pauseButton, |
||
464 | currBehaviorLabel, scoutChoices)) |
||
465 | ab8736ac | Yuyang Guo | teleopButton.Bind(wx.EVT_TOGGLEBUTTON, |
466 | lambda event: self.teleop(name)) |
||
467 | 1e52c76b | Yuyang Guo | sonar_vizButton.Bind(wx.EVT_TOGGLEBUTTON, |
468 | lambda event:
|
||
469 | self.sonar_viz(name, sonar_vizButton))
|
||
470 | 01f09975 | Yuyang Guo | self.mainArea.Add(self.sizer[name], proportion=1, |
471 | flag=wx.ALL | wx.EXPAND, border=10)
|
||
472 | self.window.Layout()
|
||
473 | return True |
||
474 | |||
475 | |||
476 | |||
477 | if __name__ == '__main__': |
||
478 | # open up GUI
|
||
479 | window = Window(title="Colony Scout Manager")
|
||
480 | window.MainLoop() |