root / scout / scoutsim / GUI.py @ ffaa3e81
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1 | 01f09975 | Yuyang Guo | #!/usr/bin/python
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2 | |||
3 | # Behavior GUI
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4 | |||
5 | # shell subprocess libs
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6 | import subprocess |
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7 | import shlex #for converting string commands to tokens |
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8 | 6ee555a3 | Priya | import sys |
9 | 01f09975 | Yuyang Guo | |
10 | # GUI libs
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11 | import wx |
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12 | import wx.lib.intctrl |
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13 | import wx.lib.agw.floatspin |
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14 | |||
15 | # not sure why these 2 are here
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16 | import string |
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17 | import signal |
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18 | |||
19 | # ros imports for spawning and killing scout
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20 | import rospy |
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21 | import roslib |
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22 | 6350051e | Alex | import os |
23 | 01f09975 | Yuyang Guo | roslib.load_manifest("scoutsim")
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24 | |||
25 | # scoutsim imports
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26 | from scoutsim.srv import * |
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27 | |||
28 | from collections import defaultdict |
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29 | |||
30 | 9a4d8398 | Yuyang Guo | |
31 | class Behaviors(object): |
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32 | def __init__(self): |
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33 | cfef1cdc | Yuyang Guo | self.behaviors = []
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34 | self.loadBehaviorList()
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35 | 9a4d8398 | Yuyang Guo | # this takes advantage of the fact that our behavior list start at 1
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36 | cfef1cdc | Yuyang Guo | #behaviors = ["Pause", "CW Circle", "CCW Circle", "Odometry",
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37 | # "Navigation Map", "Scheduler", "Warehouse",
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38 | # "Line Follow", "WL Test", "Maze Solve"]
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39 | # @classmethod
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40 | # def getListFromDir(self):
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41 | # behaviors = []
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42 | # for path, dirname, fnames in sorted(os.walk('../libscout/src')):
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43 | # if 'src/behaviors' in path or 'src/test_behaviors' in path:
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44 | # print "The path is!!!!!!!!!!!!", path
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45 | # path_parts = path.split('/')
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46 | #
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47 | # for f in sorted(fnames):
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48 | # # The pause_scout behavior needs to go first!
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49 | # print f
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50 | # if f.endswith('.h') and 'pause_scout' in f:
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51 | # behaviors.insert(0, f.split('.')[0])
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52 | # # Everything else goes in alphabetical order
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53 | # elif f.endswith('.h'):
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54 | # behaviors.append(f.split('.')[0])
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55 | # return behaviors
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56 | |||
57 | |||
58 | def loadBehaviorList(self): |
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59 | filename = "behaviorList.txt"
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60 | print "laoding behavior list!!!" |
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61 | with open(filename, "r") as f: |
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62 | for line in f.read().rstrip().split("\n"): |
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63 | self.behaviors+= [line]
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64 | |||
65 | 9a4d8398 | Yuyang Guo | def getNumber(self, behaviorName): |
66 | cfef1cdc | Yuyang Guo | if (behaviorName in self.behaviors): |
67 | return self.behaviors.index(behaviorName) |
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68 | 9a4d8398 | Yuyang Guo | |
69 | def getName(self, index): |
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70 | if (0 <= index < len(self.Behavior)): |
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71 | cfef1cdc | Yuyang Guo | return self.behaviors[index] |
72 | 9a4d8398 | Yuyang Guo | else:
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73 | return -1 |
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74 | |||
75 | def getBehaviors(self): |
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76 | # "Pause" is not considered a behavior in GUI
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77 | cfef1cdc | Yuyang Guo | return self.behaviors[1:] |
78 | 9a4d8398 | Yuyang Guo | |
79 | 01f09975 | Yuyang Guo | # each scout is represented by this class
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80 | class Scout(object): |
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81 | numOfScouts = 0 # class variable keeping track of scouts |
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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 |
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86 | if len(name) == 0: |
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87 | # automatically give name according to numOfScouts
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88 | name = self.autoNameGen(Scouts)
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89 | # set vars
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90 | self.name = name
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91 | self.behavior = "chilling" |
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92 | self.process = None# used to keep track of all processes |
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93 | # related to this scout
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94 | 9a4d8398 | Yuyang Guo | self.paused = False |
95 | 01f09975 | Yuyang Guo | self.valid = False |
96 | # these vars are right now just the original position
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97 | # but when ODOMETRY is done, we could actually use them
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98 | self.x, self.y = x, y |
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99 | self.theta = theta
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100 | |||
101 | cfef1cdc | Yuyang Guo | self.behaviors = behaviors
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102 | |||
103 | 01f09975 | Yuyang Guo | # spawn the scout if it is not scout1 (automatically spawned)
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104 | if (not oninit): |
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105 | if (self.SpawnInSimulator()): |
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106 | # spawned correctly
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107 | self.valid = True |
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108 | else:
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109 | Scout.numOfScouts -= 1;
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110 | |||
111 | |||
112 | def autoNameGen(self, Scouts): |
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113 | i = 1
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114 | while (True): |
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115 | if not (("scout%d"%i) in Scouts): |
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116 | return "scout%d"%i |
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117 | i+=1
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118 | |||
119 | |||
120 | # update the classvariable
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121 | |||
122 | |||
123 | def SpawnInSimulator(self): |
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124 | try:
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125 | # ros spawn routine
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126 | rospy.wait_for_service('/spawn');
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127 | service = rospy.ServiceProxy('/spawn', Spawn);
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128 | response = service(self.x, self.y, self.theta, self.name) |
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129 | return True |
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130 | except rospy.ServiceException as Error: |
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131 | return False |
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132 | 9a4d8398 | Yuyang Guo | |
133 | def terminateOldBehavior(self): |
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134 | if self.process != None: |
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135 | # now terminate the process
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136 | ffaa3e81 | Yuyang Guo | self.process.kill() #TODO: this kills the process |
137 | 9a4d8398 | Yuyang Guo | # but maybe not the rosnode
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138 | # change to "rosnode kill" instead
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139 | # make sure old behavior is terminated before we run the new one
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140 | self.process.wait()
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141 | 01f09975 | Yuyang Guo | |
142 | 9a4d8398 | Yuyang Guo | # the following lines causes lag and does not solve real issues
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143 | # first unregister the node
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144 | 1e52c76b | Yuyang Guo | cmd = "rosnode kill /%sBehavior"%self.name |
145 | ffaa3e81 | Yuyang Guo | temp = subprocess.Popen(shlex.split(cmd), shell=False)
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146 | 1e52c76b | Yuyang Guo | temp.wait() |
147 | 01f09975 | Yuyang Guo | |
148 | 9a4d8398 | Yuyang Guo | def changeBehavior(self, behavior): |
149 | self.behavior = behavior
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150 | if (behavior == "pause"): |
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151 | self.paused = True |
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152 | else:
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153 | self.paused = False |
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154 | self.terminateOldBehavior()
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155 | 01f09975 | Yuyang Guo | # do rosprocess calls for new behavior
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156 | 1e52c76b | Yuyang Guo | roscommand = ("rosrun libscout libscout %s %s"%
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157 | cfef1cdc | Yuyang Guo | (self.behaviors.getNumber(self.behavior), self.name)) |
158 | 1e52c76b | Yuyang Guo | self.process = subprocess.Popen(roscommand, shell=True) |
159 | 01f09975 | Yuyang Guo | |
160 | ab8736ac | Yuyang Guo | def teleop(self): |
161 | # teleop involved only one command \
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162 | self.terminateOldBehavior()
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163 | self.process = None |
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164 | cmd = "rosservice call /set_teleop %s"%self.name |
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165 | try:
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166 | subprocess.Popen(shlex.split(cmd), shell=False)
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167 | except:
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168 | #not sure why this is happening....
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169 | # seems to be a ros thing
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170 | print "warning, socket error, ignored" |
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171 | 1e52c76b | Yuyang Guo | |
172 | def sonar_viz(self, on_off): |
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173 | # teleop involved only one command \
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174 | cmd = "rosservice call /set_sonar_viz %s %s"%(on_off, self.name) |
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175 | try:
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176 | subprocess.Popen(shlex.split(cmd), shell=False)
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177 | except:
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178 | #not sure why this is happening....
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179 | # seems to be a ros thing
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180 | print "warning, socket error, ignored" |
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181 | ab8736ac | Yuyang Guo | |
182 | 01f09975 | Yuyang Guo | def killSelf(self): |
183 | # terminate its current behavior
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184 | 9a4d8398 | Yuyang Guo | self.terminateOldBehavior()
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185 | |||
186 | ffaa3e81 | Yuyang Guo | #terminate old behavior seems to not kill the processes related
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187 | # this brutally kill all the process related to the specific scout
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188 | cmd = "pkill -9 -f %s"%self.name |
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189 | subprocess.Popen(shlex.split(cmd), shell=False)
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190 | |||
191 | 01f09975 | Yuyang Guo | # ros call to kill scout in simulator
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192 | try:
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193 | rospy.wait_for_service("/kill")
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194 | service = rospy.ServiceProxy("/kill", Kill)
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195 | response = service(self.name)
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196 | Scout.numOfScouts -= 1
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197 | self.valid = False |
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198 | except rospy.ServiceException, e:
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199 | ab8736ac | Yuyang Guo | print "warning: kill scout unsuccessful" |
200 | 01f09975 | Yuyang Guo | self.valid = True |
201 | # remove from the class
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202 | |||
203 | |||
204 | # a wrapper for wx Frame
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205 | class Window(wx.App): |
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206 | def __init__(self, title=""): |
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207 | super(Window, self).__init__() |
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208 | self.initUIFrame()
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209 | |||
210 | def initUIFrame(self): |
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211 | self.GUIFrame = GUI(None, "hallo!") |
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212 | |||
213 | |||
214 | # actual GUI frame
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215 | class GUI(wx.Frame): |
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216 | def __init__(self, parent, title): |
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217 | super(GUI, self).__init__(parent, title=title, |
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218 | style=wx.DEFAULT_FRAME_STYLE ^ wx.RESIZE_BORDER, size=(600, 600)) |
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219 | |||
220 | # open up scoutsim race
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221 | 6ee555a3 | Priya | if len(sys.argv) > 1: |
222 | map_name = sys.argv[1]
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223 | else:
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224 | map_name = "race"
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225 | command = shlex.split("rosrun scoutsim scoutsim_node " + map_name)
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226 | 01f09975 | Yuyang Guo | self.simWindowProcess = subprocess.Popen(command, shell=False) |
227 | #rospy.wait_for_service('/spawn') #don't know why this is here
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228 | |||
229 | # register call back for on close cleanup
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230 | self.Bind(wx.EVT_CLOSE, self.onClose) |
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231 | |||
232 | |||
233 | self.initData()
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234 | self.initUI()
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235 | self.Show(True) |
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236 | |||
237 | # do clean up after user close the window
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238 | def onClose(self, event): |
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239 | print "Cleaning up all Processes" |
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240 | |||
241 | # kill all the behavior processes
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242 | for scout in self.scouts: |
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243 | process = self.scouts[scout].process
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244 | if (process != None): |
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245 | process.terminate() |
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246 | |||
247 | # kill the scout sim window
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248 | self.simWindowProcess.terminate()
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249 | print "done" |
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250 | self.Destroy()
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251 | |||
252 | def initData(self): |
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253 | self.scouts = {}
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254 | 9a4d8398 | Yuyang Guo | #FIXME: these arguments are not right...fix them!!!
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255 | cfef1cdc | Yuyang Guo | self.behaviors = Behaviors()
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256 | 01f09975 | Yuyang Guo | self.scouts["scout1"] = Scout(x=0, y=0, theta=0, name="scout1", |
257 | cfef1cdc | Yuyang Guo | behaviors=self.behaviors,
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258 | 01f09975 | Yuyang Guo | Scouts = self.scouts, oninit=True) |
259 | cfef1cdc | Yuyang Guo | |
260 | 01f09975 | Yuyang Guo | # addButton callback
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261 | def addScout(self, x_wx, y_wx, theta_wx, name_wx): |
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262 | # x, y, theta, name are given as wx Inputs
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263 | x = x_wx.GetValue() |
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264 | y = y_wx.GetValue() |
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265 | theta = theta_wx.GetValue() |
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266 | name = name_wx.GetValue() |
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267 | b2d280c7 | Yuyang Guo | newSc = Scout(x, y, theta, name, self.behaviors, self.scouts) |
268 | 01f09975 | Yuyang Guo | if (newSc.valid):
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269 | # successful
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270 | self.scouts[newSc.name] = newSc
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271 | self.addScoutBox(newSc.name)
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272 | # alert user spawn successful
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273 | wx.MessageBox(u"Scout '%s' created successfully at (%d,%d,%d\u00B0)"
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274 | %(newSc.name, newSc.x, newSc.y, newSc.theta), |
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275 | "Scout Created", wx.OK | wx.ICON_INFORMATION)
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276 | |||
277 | else:
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278 | #failed to create scout
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279 | wx.MessageBox("Scout Creation failed :( Check for duplicate name",
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280 | "Add Scout failed", wx.OK | wx.ICON_ERROR)
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281 | |||
282 | def removeScout(self, name): |
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283 | sct = self.scouts[name]
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284 | sct.killSelf() |
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285 | if (sct.valid == False): |
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286 | # successful, remove from the dictionary
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287 | del self.scouts[name] |
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288 | 9a4d8398 | Yuyang Guo | # delete the refresh the display
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289 | self.mainArea.Hide(self.sizer[name]) #required by wx before remove |
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290 | self.mainArea.Remove(self.sizer[name]) |
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291 | 01f09975 | Yuyang Guo | del self.sizer[name] |
292 | self.window.Layout()
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293 | self.window.Refresh()
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294 | self.window.Update()
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295 | else:
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296 | raise Exception |
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297 | ab8736ac | Yuyang Guo | |
298 | # runPressed
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299 | 9a4d8398 | Yuyang Guo | # change UI display and invoke change Behavior in scout
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300 | def changeBehavior(self, name, currBehaviorLabel, |
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301 | pauseButton, newBehavior): |
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302 | |||
303 | # to handle user pressing "Run" during pause
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304 | if (newBehavior != "Pause" and self.scouts[name].paused == True): |
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305 | self.correctPauseButton(name,
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306 | pauseButton, pauseToResume=True)
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307 | |||
308 | currBehaviorLabel.SetLabel(" | Current Behavior: %s"%newBehavior)
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309 | scout = self.scouts[name]
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310 | scout.changeBehavior(newBehavior) |
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311 | ab8736ac | Yuyang Guo | self.correctTeleopButton(None) |
312 | 9a4d8398 | Yuyang Guo | |
313 | |||
314 | def buttonDown(button): |
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315 | return button.GetValue()
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316 | |||
317 | def pauseResumeScout(self, name, pauseButton, currBehaviorLabel, dropMenu): |
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318 | if (pauseButton.GetValue() == True): # |
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319 | # change behavior to Pause
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320 | self.changeBehavior(name, currBehaviorLabel, pauseButton, "Pause") |
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321 | # change button to "Resume" & label to "Pause"
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322 | currBehaviorLabel.SetLabel("Pause")
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323 | self.correctPauseButton(name,
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324 | pauseButton, pauseToResume=False)
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325 | else:
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326 | # resume
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327 | # change behavior to whatever is in the drop down menu
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328 | self.changeBehavior(name, currBehaviorLabel, pauseButton,
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329 | dropMenu.GetStringSelection()) |
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330 | self.correctPauseButton(name,
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331 | pauseButton, pauseToResume=True)
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332 | ab8736ac | Yuyang Guo | |
333 | def teleop(self, name): |
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334 | self.correctTeleopButton(name)
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335 | self.scouts[name].teleop()
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336 | 9a4d8398 | Yuyang Guo | |
337 | 1e52c76b | Yuyang Guo | def sonar_viz(self, name, sonar_vizButton): |
338 | if (sonar_vizButton.GetValue() == True): |
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339 | # turn on the sonar viz
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340 | self.scouts[name].sonar_viz("on") |
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341 | else:
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342 | # turn off sonar viz
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343 | self.scouts[name].sonar_viz("off") |
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344 | |||
345 | 01f09975 | Yuyang Guo | ############################ UI stuff here ###########################
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346 | |||
347 | def initUI(self): |
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348 | ab8736ac | Yuyang Guo | self.allTeleopButtons = {}
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349 | 01f09975 | Yuyang Guo | self.initAddScoutArea()
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350 | ab8736ac | Yuyang Guo | |
351 | def correctTeleopButton(self, teleopingName): |
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352 | for name in self.allTeleopButtons: |
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353 | if name == teleopingName:
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354 | self.allTeleopButtons[name].SetValue(True) |
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355 | else:
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356 | self.allTeleopButtons[name].SetValue(False) |
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357 | |||
358 | |||
359 | def correctPauseButton(self, name, pauseButton, pauseToResume): |
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360 | if (pauseToResume):
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361 | print "correcting button!" |
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362 | self.scouts[name].paused = False |
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363 | pauseButton.SetValue(False) # unpress it |
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364 | pauseButton.SetLabel("Pause")
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365 | else:
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366 | self.scouts[name].paused = True |
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367 | pauseButton.SetValue(True) # press it |
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368 | pauseButton.SetLabel("Resume")
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369 | 01f09975 | Yuyang Guo | |
370 | # the labels and input boxes for adding a scout through GUI
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371 | def initAddScoutArea(self): |
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372 | # all the layout stuff copied over: using grid layout
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373 | # button callbacks are changed
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374 | self.totalCols = 8 |
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375 | self.window = wx.ScrolledWindow(self, style=wx.VSCROLL) |
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376 | self.mainArea = wx.GridSizer(cols=1) |
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377 | sizer = wx.FlexGridSizer(rows=4, cols=self.totalCols, hgap=5, vgap=5) |
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378 | |||
379 | # Labels
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380 | blankText = wx.StaticText(self.window, label="") |
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381 | newScout = wx.StaticText(self.window, label="New Scout") |
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382 | newScoutName = wx.StaticText(self.window, label="Name:") |
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383 | startXTitle = wx.StaticText(self.window, label="X:") |
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384 | startYTitle = wx.StaticText(self.window, label="Y:") |
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385 | startThetaTitle = wx.StaticText(self.window, label="Rad:") |
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386 | |||
387 | # Inputs
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388 | newScoutInput = wx.TextCtrl(self.window)
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389 | startX = wx.lib.agw.floatspin.FloatSpin(self.window, min_val=0, digits=5) |
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390 | startY = wx.lib.agw.floatspin.FloatSpin(self.window, min_val=0, digits=5) |
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391 | startTheta = wx.lib.agw.floatspin.FloatSpin(self.window, min_val=0, digits=5) |
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392 | addButton = wx.Button(self.window, id=wx.ID_ADD)
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393 | |||
394 | # Pretty Stuff
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395 | hLine = wx.StaticLine(self.window, size=(600, 5)) |
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396 | bottomHLine = wx.StaticLine(self.window, size=(600, 5)) |
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397 | |||
398 | # Row 0: just the label add scout
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399 | sizer.Add(newScout) |
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400 | for i in range(7): |
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401 | sizer.AddStretchSpacer(1)
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402 | # Row 1: input(name), x coord, y coord, rad,
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403 | sizer.AddMany([newScoutName, (newScoutInput, 0, wx.EXPAND), startXTitle,
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404 | startX, startYTitle, startY, startThetaTitle, startTheta]) |
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405 | # Row 2: just the add button to the right
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406 | for i in range(7): |
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407 | sizer.AddStretchSpacer(1)
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408 | sizer.Add(addButton) |
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409 | # Row 3
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410 | |||
411 | # Events
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412 | addButton.Bind(wx.EVT_BUTTON, lambda event: self.addScout( |
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413 | startX, startY, startTheta, newScoutInput)) |
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414 | |||
415 | sizer.AddGrowableCol(idx=1)
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416 | self.mainArea.Add(sizer, proportion=1, flag=wx.ALL|wx.EXPAND, border=10) |
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417 | self.window.SetSizer(self.mainArea) |
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418 | self.sizer = defaultdict()
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419 | self.window.Layout()
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420 | |||
421 | # make the scout1's controller
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422 | self.addScoutBox("scout1"); |
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423 | 1e52c76b | Yuyang Guo | |
424 | |||
425 | |||
426 | 01f09975 | Yuyang Guo | # copied over from old GUI
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427 | def addScoutBox(self, name): |
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428 | self.sizer[name] = wx.FlexGridSizer(rows=2, cols=5, hgap=5, vgap=5) |
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429 | # Labels
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430 | 9a4d8398 | Yuyang Guo | scoutName = wx.StaticText(self.window, label="Scout: %s"%name) |
431 | 01f09975 | Yuyang Guo | behaviorLabel = wx.StaticText(self.window, label="Behavior: ") |
432 | currBehaviorLabel = wx.StaticText(self.window,
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433 | label=" | Current Behavior: Slacking off")
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434 | |||
435 | # Inputs
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436 | # drop down menue
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437 | 9a4d8398 | Yuyang Guo | scoutChoices = wx.Choice(self.window,
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438 | cfef1cdc | Yuyang Guo | choices=self.behaviors.getBehaviors())
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439 | 01f09975 | Yuyang Guo | # buttons
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440 | pauseButton = wx.ToggleButton(self.window, label="Pause") |
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441 | runButton = wx.Button(self.window, label="Run") |
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442 | killButton = wx.Button(self.window, label="Kill") |
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443 | teleopButton = wx.ToggleButton(self.window, label="Teleop") |
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444 | 1e52c76b | Yuyang Guo | sonar_vizButton = wx.ToggleButton(self.window, label="sonar viz") |
445 | ab8736ac | Yuyang Guo | self.allTeleopButtons[name] = teleopButton
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446 | 01f09975 | Yuyang Guo | # row 0
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447 | self.sizer[name].Add(scoutName)
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448 | self.sizer[name].Add(currBehaviorLabel, wx.EXPAND | wx.ALIGN_RIGHT)
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449 | self.sizer[name].AddStretchSpacer(1) |
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450 | self.sizer[name].Add(killButton, wx.ALIGN_RIGHT)
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451 | 1e52c76b | Yuyang Guo | self.sizer[name].Add(sonar_vizButton)
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452 | 01f09975 | Yuyang Guo | |
453 | # row 1
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454 | self.sizer[name].Add(behaviorLabel)
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455 | self.sizer[name].Add(scoutChoices, wx.EXPAND)
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456 | self.sizer[name].Add(runButton)
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457 | self.sizer[name].Add(pauseButton, wx.ALIGN_RIGHT)
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458 | self.sizer[name].Add(teleopButton)
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459 | # Events
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460 | killButton.Bind(wx.EVT_BUTTON, lambda event: self.removeScout(name)) |
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461 | 9a4d8398 | Yuyang Guo | runButton.Bind(wx.EVT_BUTTON, |
462 | lambda event: self.changeBehavior(name, currBehaviorLabel, |
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463 | pauseButton, # needed to handle press "run" during pause
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464 | scoutChoices.GetStringSelection())) |
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465 | pauseButton.Bind(wx.EVT_TOGGLEBUTTON, |
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466 | lambda event: self.pauseResumeScout(name, pauseButton, |
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467 | currBehaviorLabel, scoutChoices)) |
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468 | ab8736ac | Yuyang Guo | teleopButton.Bind(wx.EVT_TOGGLEBUTTON, |
469 | lambda event: self.teleop(name)) |
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470 | 1e52c76b | Yuyang Guo | sonar_vizButton.Bind(wx.EVT_TOGGLEBUTTON, |
471 | lambda event:
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472 | self.sonar_viz(name, sonar_vizButton))
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473 | 01f09975 | Yuyang Guo | self.mainArea.Add(self.sizer[name], proportion=1, |
474 | flag=wx.ALL | wx.EXPAND, border=10)
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475 | self.window.Layout()
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476 | return True |
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477 | |||
478 | |||
479 | |||
480 | if __name__ == '__main__': |
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481 | # open up GUI
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482 | window = Window(title="Colony Scout Manager")
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483 | window.MainLoop() |