scoutos / scout / scoutsim / BehaviorGUI.py @ 28999371
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#!/usr/bin/python
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import wx |
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import wx.lib.intctrl |
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import string |
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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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from scoutsim.srv import * |
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# Everyone global variables (PLEASE REFACTOR ME)
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scouts = defaultdict(str) # Associative array in the form [scout_name: current_behavior] |
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processes = defaultdict() # Associative array in the form [scout_name: process_handler]
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#
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# ROS functions
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#
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def AddToSimulator(name, x, y, theta): |
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if name in scouts: |
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return False |
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scouts[name] = ""
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print "Calling ROS function to create scout "+name |
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try:
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rospy.wait_for_service('/spawn');
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service = rospy.ServiceProxy('/spawn', Spawn);
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resp = service(x, y, theta, 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 GetBehaviors(): |
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return ["CW Circle", "CCW Circle", "Odometry", "Navigation Map", |
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"Scheduler", "Warehouse", "Line Follow", "WL Test"] |
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def SetBehavior(name, behaviorLabel, behaviorButton=False, behavior="Pause", |
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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 + " "
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+ 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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else:
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processes[name].kill() |
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processes[name].wait() |
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subprocess.Popen("rosrun libscout libscout " + name + " 0", |
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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].kill() |
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processes[name].wait() |
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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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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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# TODO BUG: Pausing a scout and then killing it crashes the program.
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processes[name].kill() # This is perhaps not working
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resp = service(name) |
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del scouts[name]
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del processes[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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"Pause", selectedBehavior)
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#
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# End ROS functions
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#
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class GUI(wx.Frame): |
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def __init__(self, parent, title): |
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super(GUI, self).__init__(parent, title=title, |
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style=wx.DEFAULT_FRAME_STYLE ^ wx.RESIZE_BORDER, size=(600, 600)) |
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self.InitUI()
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self.Show()
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self.AddScoutBox("scout1") |
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def InitUI(self): |
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self.window = wx.ScrolledWindow(self, style=wx.VSCROLL) |
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self.mainArea = wx.GridSizer(cols=1) |
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sizer = wx.FlexGridSizer(rows=4, cols=8, hgap=5, vgap=5) |
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# Labels
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blankText = wx.StaticText(self.window, label="") |
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newScout = wx.StaticText(self.window, label="New Scout") |
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newScoutName = wx.StaticText(self.window, label="Name:") |
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startXTitle = wx.StaticText(self.window, label="X:") |
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startYTitle = wx.StaticText(self.window, label="Y:") |
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startThetaTitle = wx.StaticText(self.window, label="Rad:") |
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# Inputs
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newScoutInput = wx.TextCtrl(self.window)
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startX = wx.lib.intctrl.IntCtrl(self.window, min=0) |
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startY = wx.lib.intctrl.IntCtrl(self.window, min=0) |
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startTheta = wx.lib.intctrl.IntCtrl(self.window, min=0, max=100) |
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addButton = wx.Button(self.window, id=wx.ID_ADD)
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# Pretty Stuff
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hLine = wx.StaticLine(self.window, size=(600, 5)) |
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bottomHLine = wx.StaticLine(self.window, size=(600, 5)) |
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# Row 0
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sizer.Add(newScout) |
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for i in range(7): |
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sizer.AddStretchSpacer(1)
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# Row 1
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sizer.AddMany([newScoutName, (newScoutInput, 0, wx.EXPAND), startXTitle,
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startX, startYTitle, startY, startThetaTitle, startTheta]) |
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# Row 2
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for i in range(7): |
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sizer.AddStretchSpacer(1)
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sizer.Add(addButton) |
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# Row 3
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# Events
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addButton.Bind(wx.EVT_BUTTON, lambda event: self.NewScout(event, |
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newScoutInput, startX, startY, startTheta)) |
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sizer.AddGrowableCol(idx=1)
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self.mainArea.Add(sizer, proportion=1, flag=wx.ALL|wx.EXPAND, border=10) |
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self.window.SetSizer(self.mainArea) |
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self.sizer = defaultdict()
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def NewScout(self, e, name, x, y, theta): |
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if (name):
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scoutCreated = self.AddScout(name.GetValue(), x.GetValue(),
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y.GetValue(), theta.GetValue()) |
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if (scoutCreated):
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wx.MessageBox("Scout '" + name.GetValue()
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+ "' created successfully at (" + str(x.GetValue()) + ", " |
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+ str(y.GetValue()) + ") facing " + str(theta.GetValue()) |
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+ u"\u00B0.", 'Scout Created', wx.OK | wx.ICON_INFORMATION) |
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name.SetValue("")
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x.SetValue(0)
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y.SetValue(0)
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theta.SetValue(0)
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return True |
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wx.MessageBox('Error creating scout. Please check that all information'
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'was entered properly and there are no duplicate scout names.',
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'Info', wx.OK | wx.ICON_ERROR)
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def AddScoutBox(self, name): |
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self.sizer[name] = wx.FlexGridSizer(rows=2, cols=4, hgap=5, vgap=5) |
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# Labels
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scoutName = wx.StaticText(self.window, label="Scout: " + name) |
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behaviorLabel = wx.StaticText(self.window, label="Behavior: ") |
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currBehaviorLabel = wx.StaticText(self.window,
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label=" | Current Behavior: Slacking off")
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# Inputs
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scoutChoices = wx.Choice(self.window, choices=GetBehaviors())
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pauseButton = wx.ToggleButton(self.window, label="Pause") |
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runButton = wx.Button(self.window, label="Run") |
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killButton = wx.Button(self.window, label="Kill") |
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self.sizer[name].Add(scoutName)
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self.sizer[name].Add(currBehaviorLabel, wx.EXPAND | wx.ALIGN_RIGHT)
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self.sizer[name].AddStretchSpacer(1) |
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self.sizer[name].Add(killButton, wx.ALIGN_RIGHT)
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self.sizer[name].Add(behaviorLabel)
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self.sizer[name].Add(scoutChoices, wx.EXPAND)
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self.sizer[name].Add(runButton)
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self.sizer[name].Add(pauseButton, wx.ALIGN_RIGHT)
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# Events
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pauseButton.Bind(wx.EVT_TOGGLEBUTTON, |
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lambda event: PauseScout(name, currBehaviorLabel, pauseButton,
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scoutChoices.GetStringSelection())) |
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runButton.Bind(wx.EVT_BUTTON, |
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lambda event: SetBehavior(name, currBehaviorLabel, pauseButton,
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scoutChoices.GetStringSelection())) |
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killButton.Bind(wx.EVT_BUTTON, lambda event: self.RemoveScout(name)) |
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self.mainArea.Add(self.sizer[name], proportion=1, |
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flag=wx.ALL | wx.EXPAND, border=10)
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self.window.Layout()
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return True |
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def AddScout(self, name, x, y, theta): |
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if AddToSimulator(name, x, y, theta):
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return self.AddScoutBox(name) |
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wx.MessageBox("ROS call failed!", 'ROS Error', wx.OK | wx.ICON_ERROR) |
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return False |
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def RemoveScout(self, name): |
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# I don't trust this bit. Remove() should work by itself,
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# but it doesn't want to. Hide()ing before Remove()ing does work
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# for some reason though. It makes me think the sizer is still around
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# somewhere, sneakily leaking memory. Alas, such is life.
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print("Hidden scoutLayout for " + name + ": " |
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+ str(self.mainArea.Hide(self.sizer[name], True))) |
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print("Removed scoutLayout for " + name + ": " |
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+ str(self.mainArea.Remove(self.sizer[name])) + " (Maybe...)") |
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del self.sizer[name] |
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if KillScout(name):
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self.window.Layout()
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self.window.Refresh()
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self.window.Update()
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return
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if __name__ == '__main__': |
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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) |
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app = wx.App() |
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GUI(None, title='Colony Scout Manager') |
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app.MainLoop() |