Revision 16d4e150
Fixed pause and resume. Kind of. There are lots of bugs with the GUI.
| scout/libscout/src/behaviors/pause_scout.cpp | ||
|---|---|---|
| 27 | 27 |
|
| 28 | 28 |
void pause_scout::run() |
| 29 | 29 |
{
|
| 30 |
motors->set_sides(0, 0, MOTOR_ABSOLUTE); |
|
| 30 |
while(ok()){
|
|
| 31 |
motors->set_sides(0, 0, MOTOR_ABSOLUTE); |
|
| 32 |
} |
|
| 31 | 33 |
} |
| scout/scoutsim/BehaviorGUI.py | ||
|---|---|---|
| 34 | 34 |
def GetBehaviors(): |
| 35 | 35 |
return ["CW Circle", "CCW Circle", "Odometry", "Navigation Map", "Scheduler", "Warehouse", "Line Follow", "WL Test"] |
| 36 | 36 |
|
| 37 |
def SetBehavior(name, behaviorLabel, behaviorButton=False, behavior="Pause"): |
|
| 37 |
def SetBehavior(name, behaviorLabel, behaviorButton=False, behavior="Pause", selectedBehavior="Pause"):
|
|
| 38 | 38 |
if behavior == "Pause": |
| 39 | 39 |
if name not in processes: |
| 40 | 40 |
return False |
| 41 | 41 |
if not behaviorButton.GetValue(): |
| 42 |
processes[name].send_signal(signal.SIGCONT)
|
|
| 42 |
processes[name] = subprocess.Popen("rosrun libscout libscout "+name+" "+str(GetBehaviors().index(selectedBehavior)+1)+"", shell=True)
|
|
| 43 | 43 |
print "Scout "+name+" was resumed." |
| 44 | 44 |
behaviorButton.SetLabel("Pause")
|
| 45 | 45 |
behaviorLabel.SetLabel(" | Current Behavior: "+scouts[name])
|
| 46 | 46 |
else: |
| 47 |
processes[name].send_signal(signal.SIGSTOP) |
|
| 47 |
processes[name].kill() |
|
| 48 |
processes[name].wait() |
|
| 48 | 49 |
subprocess.Popen("rosrun libscout libscout "+name+" 0", shell=True)
|
| 49 | 50 |
print "Scout "+name+" was paused." |
| 50 | 51 |
behaviorButton.SetLabel("Resume")
|
| ... | ... | |
| 52 | 53 |
return True |
| 53 | 54 |
if name in processes: |
| 54 | 55 |
processes[name].kill() |
| 56 |
processes[name].wait() |
|
| 57 |
# Running a new behavior while paused does not do anything and |
|
| 58 |
# Gives lots of behaviors. |
|
| 55 | 59 |
processes[name] = subprocess.Popen("rosrun libscout libscout "+name+" "+str(GetBehaviors().index(behavior)+1)+"", shell=True)
|
| 56 | 60 |
behaviorButton.SetValue(False) |
| 57 | 61 |
behaviorButton.SetLabel("Pause")
|
| ... | ... | |
| 64 | 68 |
rospy.wait_for_service('/kill');
|
| 65 | 69 |
service = rospy.ServiceProxy('/kill', Kill);
|
| 66 | 70 |
if name in processes: |
| 71 |
# BUG: Pause-ing a scout and then killing it crashes the program. |
|
| 67 | 72 |
processes[name].kill() # This is perhaps not working |
| 68 | 73 |
resp = service(name) |
| 69 | 74 |
del scouts[name] |
| ... | ... | |
| 72 | 77 |
except rospy.ServiceException, e: |
| 73 | 78 |
return False |
| 74 | 79 |
|
| 75 |
def PauseScout(name, behaviorLabel, behaviorButton): |
|
| 76 |
return SetBehavior(name, behaviorLabel, behaviorButton) |
|
| 80 |
def PauseScout(name, behaviorLabel, behaviorButton, selectedBehavior):
|
|
| 81 |
return SetBehavior(name, behaviorLabel, behaviorButton, "Pause", selectedBehavior)
|
|
| 77 | 82 |
# |
| 78 | 83 |
# End ROS functions |
| 79 | 84 |
# |
| ... | ... | |
| 165 | 170 |
self.sizer[name].Add(pauseButton, wx.ALIGN_RIGHT) |
| 166 | 171 |
|
| 167 | 172 |
# Events |
| 168 |
pauseButton.Bind(wx.EVT_TOGGLEBUTTON, lambda event: PauseScout(name, currBehaviorLabel, pauseButton)) |
|
| 173 |
pauseButton.Bind(wx.EVT_TOGGLEBUTTON, lambda event: PauseScout(name, currBehaviorLabel, pauseButton, scoutChoices.GetStringSelection()))
|
|
| 169 | 174 |
runButton.Bind(wx.EVT_BUTTON, lambda event: SetBehavior(name, currBehaviorLabel, pauseButton, scoutChoices.GetStringSelection())) |
| 170 | 175 |
killButton.Bind(wx.EVT_BUTTON, lambda event: self.RemoveScout(name)) |
| 171 | 176 |
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