Revision d2dedb17

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scout/scoutsim/BehaviorGUI.py
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import subprocess
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import signal
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from collections import defaultdict
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# ROS imports
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import roslib; roslib.load_manifest("scoutsim")
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import rospy
......
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        "Scheduler", "Warehouse", "Line Follow", "WL Test"]
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def SetBehavior(name, behaviorLabel, behaviorButton=False, behavior="Pause", selectedBehavior="Pause"):
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	if behavior == "Pause":
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		if name not in processes:
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			return False
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		if not behaviorButton.GetValue():
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			processes[name] = subprocess.Popen("rosrun libscout libscout " 
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					+ name + " " + str(GetBehaviors().index(selectedBehavior) + 1) 
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					+ "", shell=True)
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			print "Scout " + name + " was resumed."
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			behaviorButton.SetLabel("Pause")
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			behaviorLabel.SetLabel("  |  Current Behavior: " + scouts[name])
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			return True
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    if behavior == "Pause":
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        if name not in processes:
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            return False
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        if not behaviorButton.GetValue():
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            processes[name] = subprocess.Popen("rosrun libscout libscout " 
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                    + name + " " + str(GetBehaviors().index(selectedBehavior) + 1) 
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                    + "", shell=True)
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            print "Scout " + name + " was resumed."
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            behaviorButton.SetLabel("Pause")
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            behaviorLabel.SetLabel("  |  Current Behavior: " + scouts[name])
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            return True
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        else:
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			processes[name].terminate()
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			del processes[name]
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			subprocess.Popen("rosrun libscout libscout " + name + " 0", shell=True) 
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			print "Scout "+name+" was paused."
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			behaviorButton.SetLabel("Resume")
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			behaviorLabel.SetLabel("  |  Current Behavior: Paused")
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			return True
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	if name in processes:
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		processes[name].terminate()
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            if name in processes:
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                processes[name].terminate()
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                del processes[name]
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            subprocess.Popen("rosrun libscout libscout " + name + " 0", shell=True) 
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            print "Scout "+name+" was paused."
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            behaviorButton.SetLabel("Resume")
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            behaviorLabel.SetLabel("  |  Current Behavior: Paused")
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            return True
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    if name in processes:
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        processes[name].terminate()
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        # TODO Running a new behavior while paused does not do anything and
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        # Gives lots of errors.
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	#
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	# -- Matt 11/30 --
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	# Might be fixed, can't run it to tell.
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	processes[name] = subprocess.Popen("rosrun libscout libscout " + name + " "
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			+ str(GetBehaviors().index(behavior) + 1) + "",
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		shell=True) 
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	behaviorButton.SetValue(False)
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	behaviorButton.SetLabel("Pause")
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	print "Scout " + name + " was set to behavior: " + behavior
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	behaviorLabel.SetLabel("  |  Current Behavior: " + behavior)
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	scouts[name] = behavior
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    #
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    # -- Matt 11/30 --
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    # Might be fixed, can't run it to tell.
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    processes[name] = subprocess.Popen("rosrun libscout libscout " + name + " "
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            + str(GetBehaviors().index(behavior) + 1) + "",
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        shell=True) 
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    behaviorButton.SetValue(False)
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    behaviorButton.SetLabel("Pause")
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    print "Scout " + name + " was set to behavior: " + behavior
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    behaviorLabel.SetLabel("  |  Current Behavior: " + behavior)
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    scouts[name] = behavior
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def KillScout(name):
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	try:
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		rospy.wait_for_service('/kill')
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		service = rospy.ServiceProxy('/kill', Kill)
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		if name in processes:
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			processes[name].kill()
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			del processes[name]
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		resp = service(name)
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		if name in scouts:
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			del scouts[name]
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		return True
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	except rospy.ServiceException, e:
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		return False
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    try:
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        rospy.wait_for_service('/kill')
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        service = rospy.ServiceProxy('/kill', Kill)
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        if name in processes:
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            processes[name].kill()
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            del processes[name]
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        resp = service(name)
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        if name in scouts:
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            del scouts[name]
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        return True
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    except rospy.ServiceException, e:
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        return False
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def PauseScout(name, behaviorLabel, behaviorButton, selectedBehavior):
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    return SetBehavior(name, behaviorLabel, behaviorButton,
......
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        return
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if __name__ == '__main__':
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	ScoutSimGui = subprocess.Popen("rosrun scoutsim scoutsim_node race", shell=True)
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	rospy.wait_for_service('/spawn')
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	#subprocess.Popen("rosservice call /spawn 1.4 0.275 0 scout1", shell=True)  # why was this here?
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	app = wx.App()
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	GUI(None, title='Colony Scout Manager')
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	app.MainLoop()
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	# This doesn't run.  I'm sure there is a reason why.
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	for process in processes:
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		process.kill()
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	ScoutSimGui.kill()
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    ScoutSimGui = subprocess.Popen("rosrun scoutsim scoutsim_node race", shell=True)
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    rospy.wait_for_service('/spawn')
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    #subprocess.Popen("rosservice call /spawn 1.4 0.275 0 scout1", shell=True)  # why was this here?
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    app = wx.App()
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    GUI(None, title='Colony Scout Manager')
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    app.MainLoop()
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    # This doesn't run.  I'm sure there is a reason why.
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    for process in processes:
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        process.kill()
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    ScoutSimGui.kill()

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