Revision da8ace01
| ID | da8ace011f01ce314d57da99026c818b868321ab |
Changed some more stuff, broke running things.
| scout/scoutsim/BehaviorGUI.py | ||
|---|---|---|
| 36 | 36 |
return ["CW Circle", "CCW Circle", "Odometry", "Navigation Map", |
| 37 | 37 |
"Scheduler", "Warehouse", "Line Follow", "WL Test"] |
| 38 | 38 |
|
| 39 |
def SetBehavior(name, behaviorLabel, behaviorButton=False, behavior="Pause", |
|
| 40 |
selectedBehavior="Pause"): |
|
| 41 |
if behavior == "Pause": |
|
| 42 |
if name not in processes: |
|
| 43 |
return False |
|
| 44 |
if not behaviorButton.GetValue(): |
|
| 45 |
processes[name] = subprocess.Popen("rosrun libscout libscout "
|
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| 46 |
+ name + " " |
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| 47 |
+ str(GetBehaviors().index(selectedBehavior) + 1) + "", |
|
| 48 |
shell=True) |
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| 49 |
print "Scout " + name + " was resumed." |
|
| 50 |
behaviorButton.SetLabel("Pause")
|
|
| 51 |
behaviorLabel.SetLabel(" | Current Behavior: " + scouts[name])
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|
| 39 |
def SetBehavior(name, behaviorLabel, behaviorButton=False, behavior="Pause", selectedBehavior="Pause"): |
|
| 40 |
if behavior == "Pause": |
|
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if name not in processes: |
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return False |
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| 43 |
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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| 49 |
behaviorLabel.SetLabel(" | Current Behavior: " + scouts[name])
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| 50 |
return True |
|
| 52 | 51 |
else: |
| 53 | 52 |
processes[name].terminate() |
| 54 | 53 |
del processes[name] |
| 55 |
subprocess.Popen("rosrun libscout libscout " + name + " 0",
|
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shell=True) |
|
| 54 |
subprocess.Popen("rosrun libscout libscout " + name + " 0", shell=True)
|
|
| 57 | 55 |
print "Scout "+name+" was paused." |
| 58 | 56 |
behaviorButton.SetLabel("Resume")
|
| 59 | 57 |
behaviorLabel.SetLabel(" | Current Behavior: Paused")
|
| 60 |
return True
|
|
| 61 |
if name in processes:
|
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| 62 |
processes[name].terminate()
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| 58 |
return True
|
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| 59 |
if name in processes:
|
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| 60 |
processes[name].terminate()
|
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| 63 | 61 |
# TODO Running a new behavior while paused does not do anything and |
| 64 | 62 |
# Gives lots of errors. |
| 65 |
#
|
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| 66 |
# -- Matt 11/30 --
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# Might be fixed, can't run it to tell.
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| 68 |
processes[name] = subprocess.Popen("rosrun libscout libscout " + name + " "
|
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| 69 |
+ str(GetBehaviors().index(behavior) + 1) + "",
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shell=True)
|
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| 71 |
behaviorButton.SetValue(False)
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| 72 |
behaviorButton.SetLabel("Pause")
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print "Scout " + name + " was set to behavior: " + behavior
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| 74 |
behaviorLabel.SetLabel(" | Current Behavior: " + behavior)
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| 75 |
scouts[name] = behavior
|
|
| 63 |
# |
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| 64 |
# -- 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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| 67 |
+ str(GetBehaviors().index(behavior) + 1) + "",
|
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| 68 |
shell=True)
|
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| 69 |
behaviorButton.SetValue(False)
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| 70 |
behaviorButton.SetLabel("Pause")
|
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| 71 |
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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| 76 | 74 |
|
| 77 | 75 |
def KillScout(name): |
| 78 | 76 |
try: |
| 79 | 77 |
rospy.wait_for_service('/kill')
|
| 80 | 78 |
service = rospy.ServiceProxy('/kill', Kill)
|
| 81 | 79 |
if name in processes: |
| 82 |
# TODO BUG: Pausing a scout and then killing it crashes the program. |
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# |
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# -- Matt 11/30 -- |
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# Should be fixed |
|
| 86 |
processes[name].terminate() |
|
| 80 |
processes[name].kill() |
|
| 87 | 81 |
del processes[name] |
| 88 | 82 |
resp = service(name) |
| 89 | 83 |
if name in scouts: |
| ... | ... | |
| 228 | 222 |
return |
| 229 | 223 |
|
| 230 | 224 |
if __name__ == '__main__': |
| 231 |
subprocess.Popen("rosrun scoutsim scoutsim_node race", shell=True)
|
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| 232 |
rospy.wait_for_service('/spawn')
|
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| 233 |
subprocess.Popen("rosservice call /spawn 1.4 0.275 0 scout1", shell=True)
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| 234 |
app = wx.App() |
|
| 235 |
GUI(None, title='Colony Scout Manager') |
|
| 236 |
app.MainLoop() |
|
| 225 |
ScoutSimGui = subprocess.Popen("rosrun scoutsim scoutsim_node race", shell=True)
|
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| 226 |
rospy.wait_for_service('/spawn')
|
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| 227 |
#subprocess.Popen("rosservice call /spawn 1.4 0.275 0 scout1", shell=True) # why was this here?
|
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| 228 |
app = wx.App() |
|
| 229 |
GUI(None, title='Colony Scout Manager') |
|
| 230 |
app.MainLoop() |
|
| 231 |
# This doesn't run. I'm sure there is a reason why. |
|
| 232 |
for process in processes: |
|
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process.kill() |
|
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ScoutSimGui.kill() |
|
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