Revision 6e8c4ad2
Style changes to BehaviorGUI (line length, spacing)
scout/scoutsim/BehaviorGUI.py | ||
---|---|---|
19 | 19 |
# ROS functions |
20 | 20 |
# |
21 | 21 |
def AddToSimulator(name, x, y, theta): |
22 |
if name in scouts:
|
|
23 |
return False
|
|
24 |
scouts[name] = ""
|
|
25 |
print "Calling ROS function to create scout "+name
|
|
26 |
try:
|
|
27 |
rospy.wait_for_service('/spawn');
|
|
28 |
service = rospy.ServiceProxy('/spawn', Spawn);
|
|
29 |
resp = service(x, y, theta, name)
|
|
30 |
return True
|
|
31 |
except rospy.ServiceException, e:
|
|
32 |
return False
|
|
22 |
if name in scouts:
|
|
23 |
return False
|
|
24 |
scouts[name] = ""
|
|
25 |
print "Calling ROS function to create scout "+name
|
|
26 |
try:
|
|
27 |
rospy.wait_for_service('/spawn');
|
|
28 |
service = rospy.ServiceProxy('/spawn', Spawn);
|
|
29 |
resp = service(x, y, theta, name)
|
|
30 |
return True
|
|
31 |
except rospy.ServiceException, e:
|
|
32 |
return False
|
|
33 | 33 |
|
34 | 34 |
def GetBehaviors(): |
35 |
return ["CW Circle", "CCW Circle", "Odometry", "Navigation Map", "Scheduler", "Warehouse", "Line Follow", "WL Test"] |
|
36 |
|
|
37 |
def SetBehavior(name, behaviorLabel, behaviorButton=False, behavior="Pause", selectedBehavior="Pause"): |
|
38 |
if behavior == "Pause": |
|
39 |
if name not in processes: |
|
40 |
return False |
|
41 |
if not behaviorButton.GetValue(): |
|
42 |
processes[name] = subprocess.Popen("rosrun libscout libscout "+name+" "+str(GetBehaviors().index(selectedBehavior)+1)+"", shell=True) |
|
43 |
print "Scout "+name+" was resumed." |
|
44 |
behaviorButton.SetLabel("Pause") |
|
45 |
behaviorLabel.SetLabel(" | Current Behavior: "+scouts[name]) |
|
46 |
else: |
|
47 |
processes[name].kill() |
|
48 |
processes[name].wait() |
|
49 |
subprocess.Popen("rosrun libscout libscout "+name+" 0", shell=True) |
|
50 |
print "Scout "+name+" was paused." |
|
51 |
behaviorButton.SetLabel("Resume") |
|
52 |
behaviorLabel.SetLabel(" | Current Behavior: Paused") |
|
53 |
return True |
|
54 |
if name in processes: |
|
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. |
|
59 |
processes[name] = subprocess.Popen("rosrun libscout libscout "+name+" "+str(GetBehaviors().index(behavior)+1)+"", shell=True) |
|
60 |
behaviorButton.SetValue(False) |
|
61 |
behaviorButton.SetLabel("Pause") |
|
62 |
print "Scout "+name+" was set to behavior: "+behavior |
|
63 |
behaviorLabel.SetLabel(" | Current Behavior: "+behavior) |
|
64 |
scouts[name] = behavior |
|
35 |
return ["CW Circle", "CCW Circle", "Odometry", "Navigation Map", |
|
36 |
"Scheduler", "Warehouse", "Line Follow", "WL Test"] |
|
37 |
|
|
38 |
def SetBehavior(name, behaviorLabel, behaviorButton=False, behavior="Pause", |
|
39 |
selectedBehavior="Pause"): |
|
40 |
if behavior == "Pause": |
|
41 |
if name not in processes: |
|
42 |
return False |
|
43 |
if not behaviorButton.GetValue(): |
|
44 |
processes[name] = subprocess.Popen("rosrun libscout libscout " |
|
45 |
+ name + " " |
|
46 |
+ str(GetBehaviors().index(selectedBehavior) + 1) + "", |
|
47 |
shell=True) |
|
48 |
print "Scout " + name + " was resumed." |
|
49 |
behaviorButton.SetLabel("Pause") |
|
50 |
behaviorLabel.SetLabel(" | Current Behavior: " + scouts[name]) |
|
51 |
else: |
|
52 |
processes[name].kill() |
|
53 |
processes[name].wait() |
|
54 |
subprocess.Popen("rosrun libscout libscout " + name + " 0", |
|
55 |
shell=True) |
|
56 |
print "Scout "+name+" was paused." |
|
57 |
behaviorButton.SetLabel("Resume") |
|
58 |
behaviorLabel.SetLabel(" | Current Behavior: Paused") |
|
59 |
return True |
|
60 |
if name in processes: |
|
61 |
processes[name].kill() |
|
62 |
processes[name].wait() |
|
63 |
# Running a new behavior while paused does not do anything and |
|
64 |
# Gives lots of behaviors. |
|
65 |
processes[name] = subprocess.Popen("rosrun libscout libscout " + name + " " |
|
66 |
+ str(GetBehaviors().index(behavior) + 1) + "", |
|
67 |
shell=True) |
|
68 |
behaviorButton.SetValue(False) |
|
69 |
behaviorButton.SetLabel("Pause") |
|
70 |
print "Scout " + name + " was set to behavior: " + behavior |
|
71 |
behaviorLabel.SetLabel(" | Current Behavior: " + behavior) |
|
72 |
scouts[name] = behavior |
|
65 | 73 |
|
66 | 74 |
def KillScout(name): |
67 |
try:
|
|
68 |
rospy.wait_for_service('/kill');
|
|
69 |
service = rospy.ServiceProxy('/kill', Kill);
|
|
70 |
if name in processes:
|
|
71 |
# BUG: Pause-ing a scout and then killing it crashes the program.
|
|
72 |
processes[name].kill() # This is perhaps not working
|
|
73 |
resp = service(name)
|
|
74 |
del scouts[name]
|
|
75 |
del processes[name]
|
|
76 |
return True
|
|
77 |
except rospy.ServiceException, e:
|
|
78 |
return False
|
|
75 |
try:
|
|
76 |
rospy.wait_for_service('/kill');
|
|
77 |
service = rospy.ServiceProxy('/kill', Kill);
|
|
78 |
if name in processes:
|
|
79 |
# TODO BUG: Pausing a scout and then killing it crashes the program.
|
|
80 |
processes[name].kill() # This is perhaps not working
|
|
81 |
resp = service(name)
|
|
82 |
del scouts[name]
|
|
83 |
del processes[name]
|
|
84 |
return True
|
|
85 |
except rospy.ServiceException, e:
|
|
86 |
return False
|
|
79 | 87 |
|
80 | 88 |
def PauseScout(name, behaviorLabel, behaviorButton, selectedBehavior): |
81 |
return SetBehavior(name, behaviorLabel, behaviorButton, "Pause", selectedBehavior) |
|
89 |
return SetBehavior(name, behaviorLabel, behaviorButton, |
|
90 |
"Pause", selectedBehavior) |
|
82 | 91 |
# |
83 | 92 |
# End ROS functions |
84 | 93 |
# |
85 | 94 |
|
86 | 95 |
class GUI(wx.Frame): |
87 |
def __init__(self, parent, title): |
|
88 |
super(GUI, self).__init__(parent, title=title, style=wx.DEFAULT_FRAME_STYLE ^ wx.RESIZE_BORDER, size=(600, 600)) |
|
89 |
self.InitUI() |
|
90 |
self.Show() |
|
91 |
self.AddScoutBox("scout1") |
|
92 |
|
|
93 |
def InitUI(self): |
|
94 |
self.window = wx.ScrolledWindow(self, style=wx.VSCROLL) |
|
95 |
self.mainArea = wx.GridSizer(cols=1) |
|
96 |
sizer = wx.FlexGridSizer(rows=4, cols=8, hgap=5, vgap=5) |
|
97 |
|
|
98 |
# Labels |
|
99 |
blankText = wx.StaticText(self.window, label="") |
|
100 |
newScout = wx.StaticText(self.window, label="New Scout") |
|
101 |
newScoutName = wx.StaticText(self.window, label="Name:") |
|
102 |
startXTitle = wx.StaticText(self.window, label="X:") |
|
103 |
startYTitle = wx.StaticText(self.window, label="Y:") |
|
104 |
startThetaTitle = wx.StaticText(self.window, label="Rad:") |
|
105 |
|
|
106 |
# Inputs |
|
107 |
newScoutInput = wx.TextCtrl(self.window) |
|
108 |
startX = wx.lib.intctrl.IntCtrl(self.window, min=0) |
|
109 |
startY = wx.lib.intctrl.IntCtrl(self.window, min=0) |
|
110 |
startTheta = wx.lib.intctrl.IntCtrl(self.window, min=0, max=100) |
|
111 |
addButton = wx.Button(self.window, id=wx.ID_ADD) |
|
112 |
|
|
113 |
# Pretty Stuff |
|
114 |
hLine = wx.StaticLine(self.window, size=(600, 5)) |
|
115 |
bottomHLine = wx.StaticLine(self.window, size=(600, 5)) |
|
116 |
|
|
117 |
# Row 0 |
|
118 |
sizer.Add(newScout) |
|
119 |
for i in range(7): |
|
120 |
sizer.AddStretchSpacer(1) |
|
121 |
# Row 1 |
|
122 |
sizer.AddMany([newScoutName, (newScoutInput, 0, wx.EXPAND), startXTitle, startX, startYTitle, startY, startThetaTitle, startTheta]) |
|
123 |
# Row 2 |
|
124 |
for i in range(7): |
|
125 |
sizer.AddStretchSpacer(1) |
|
126 |
sizer.Add(addButton) |
|
127 |
# Row 3 |
|
128 |
|
|
129 |
# Events |
|
130 |
addButton.Bind(wx.EVT_BUTTON, lambda event: self.NewScout(event, newScoutInput, startX, startY, startTheta)) |
|
131 |
|
|
132 |
sizer.AddGrowableCol(idx=1) |
|
133 |
self.mainArea.Add(sizer, proportion=1, flag=wx.ALL|wx.EXPAND, border=10) |
|
134 |
self.window.SetSizer(self.mainArea) |
|
135 |
self.sizer = defaultdict() |
|
136 |
|
|
137 |
def NewScout(self, e, name, x, y, theta): |
|
138 |
if (name): |
|
139 |
scoutCreated = self.AddScout(name.GetValue(), x.GetValue(), y.GetValue(), theta.GetValue()) |
|
140 |
if (scoutCreated): |
|
141 |
wx.MessageBox("Scout '"+name.GetValue()+"' created successfully at ("+str(x.GetValue())+", "+str(y.GetValue())+") facing "+str(theta.GetValue())+u"\u00B0.", 'Scout Created', wx.OK | wx.ICON_INFORMATION) |
|
142 |
name.SetValue("") |
|
143 |
x.SetValue(0) |
|
144 |
y.SetValue(0) |
|
145 |
theta.SetValue(0) |
|
146 |
return True |
|
147 |
wx.MessageBox('Error creating scout. Please check that all information was entered properly and there are no duplicate scout names.', 'Info', wx.OK | wx.ICON_ERROR) |
|
148 |
|
|
149 |
def AddScoutBox(self, name): |
|
150 |
self.sizer[name] = wx.FlexGridSizer(rows=2, cols=4, hgap=5, vgap=5) |
|
151 |
# Labels |
|
152 |
scoutName = wx.StaticText(self.window, label="Scout: "+name) |
|
153 |
behaviorLabel = wx.StaticText(self.window, label="Behavior: ") |
|
154 |
currBehaviorLabel = wx.StaticText(self.window, label=" | Current Behavior: Slacking off") |
|
155 |
|
|
156 |
# Inputs |
|
157 |
scoutChoices = wx.Choice(self.window, choices=GetBehaviors()) |
|
158 |
pauseButton = wx.ToggleButton(self.window, label="Pause") |
|
159 |
runButton = wx.Button(self.window, label="Run") |
|
160 |
killButton = wx.Button(self.window, label="Kill") |
|
161 |
|
|
162 |
self.sizer[name].Add(scoutName) |
|
163 |
self.sizer[name].Add(currBehaviorLabel, wx.EXPAND|wx.ALIGN_RIGHT) |
|
164 |
self.sizer[name].AddStretchSpacer(1) |
|
165 |
self.sizer[name].Add(killButton, wx.ALIGN_RIGHT) |
|
166 |
|
|
167 |
self.sizer[name].Add(behaviorLabel) |
|
168 |
self.sizer[name].Add(scoutChoices, wx.EXPAND) |
|
169 |
self.sizer[name].Add(runButton) |
|
170 |
self.sizer[name].Add(pauseButton, wx.ALIGN_RIGHT) |
|
171 |
|
|
172 |
# Events |
|
173 |
pauseButton.Bind(wx.EVT_TOGGLEBUTTON, lambda event: PauseScout(name, currBehaviorLabel, pauseButton, scoutChoices.GetStringSelection())) |
|
174 |
runButton.Bind(wx.EVT_BUTTON, lambda event: SetBehavior(name, currBehaviorLabel, pauseButton, scoutChoices.GetStringSelection())) |
|
175 |
killButton.Bind(wx.EVT_BUTTON, lambda event: self.RemoveScout(name)) |
|
176 |
|
|
177 |
self.mainArea.Add(self.sizer[name], proportion=1, flag=wx.ALL|wx.EXPAND, border=10) |
|
178 |
self.window.Layout() |
|
179 |
return True |
|
180 |
|
|
181 |
def AddScout(self, name, x, y, theta): |
|
182 |
if AddToSimulator(name, x, y, theta): |
|
183 |
return self.AddScoutBox(name) |
|
184 |
wx.MessageBox("ROS call failed!", 'ROS Error', wx.OK | wx.ICON_ERROR) |
|
185 |
return False |
|
186 |
|
|
187 |
def RemoveScout(self, name): |
|
188 |
# I don't trust this bit. Remove() should work by itself, but it doesn't want to. |
|
189 |
# Hide()ing before Remove()ing does work for some reason though. It makes me think |
|
190 |
# the sizer is still around somewhere, sneakily leaking memory. |
|
191 |
# Alas, such is life. |
|
192 |
print "Hidden scoutLayout for "+name+": "+str(self.mainArea.Hide(self.sizer[name], True)) |
|
193 |
print "Removed scoutLayout for "+name+": "+str(self.mainArea.Remove(self.sizer[name]))+" (Maybe...)" |
|
194 |
del self.sizer[name] |
|
195 |
if KillScout(name): |
|
196 |
self.window.Layout() |
|
197 |
self.window.Refresh() |
|
198 |
self.window.Update() |
|
199 |
return |
|
96 |
def __init__(self, parent, title): |
|
97 |
super(GUI, self).__init__(parent, title=title, |
|
98 |
style=wx.DEFAULT_FRAME_STYLE ^ wx.RESIZE_BORDER, size=(600, 600)) |
|
99 |
self.InitUI() |
|
100 |
self.Show() |
|
101 |
self.AddScoutBox("scout1") |
|
102 |
|
|
103 |
def InitUI(self): |
|
104 |
self.window = wx.ScrolledWindow(self, style=wx.VSCROLL) |
|
105 |
self.mainArea = wx.GridSizer(cols=1) |
|
106 |
sizer = wx.FlexGridSizer(rows=4, cols=8, hgap=5, vgap=5) |
|
107 |
|
|
108 |
# Labels |
|
109 |
blankText = wx.StaticText(self.window, label="") |
|
110 |
newScout = wx.StaticText(self.window, label="New Scout") |
|
111 |
newScoutName = wx.StaticText(self.window, label="Name:") |
|
112 |
startXTitle = wx.StaticText(self.window, label="X:") |
|
113 |
startYTitle = wx.StaticText(self.window, label="Y:") |
|
114 |
startThetaTitle = wx.StaticText(self.window, label="Rad:") |
|
115 |
|
|
116 |
# Inputs |
|
117 |
newScoutInput = wx.TextCtrl(self.window) |
|
118 |
startX = wx.lib.intctrl.IntCtrl(self.window, min=0) |
|
119 |
startY = wx.lib.intctrl.IntCtrl(self.window, min=0) |
|
120 |
startTheta = wx.lib.intctrl.IntCtrl(self.window, min=0, max=100) |
|
121 |
addButton = wx.Button(self.window, id=wx.ID_ADD) |
|
122 |
|
|
123 |
# Pretty Stuff |
|
124 |
hLine = wx.StaticLine(self.window, size=(600, 5)) |
|
125 |
bottomHLine = wx.StaticLine(self.window, size=(600, 5)) |
|
126 |
|
|
127 |
# Row 0 |
|
128 |
sizer.Add(newScout) |
|
129 |
for i in range(7): |
|
130 |
sizer.AddStretchSpacer(1) |
|
131 |
# Row 1 |
|
132 |
sizer.AddMany([newScoutName, (newScoutInput, 0, wx.EXPAND), startXTitle, |
|
133 |
startX, startYTitle, startY, startThetaTitle, startTheta]) |
|
134 |
# Row 2 |
|
135 |
for i in range(7): |
|
136 |
sizer.AddStretchSpacer(1) |
|
137 |
sizer.Add(addButton) |
|
138 |
# Row 3 |
|
139 |
|
|
140 |
# Events |
|
141 |
addButton.Bind(wx.EVT_BUTTON, lambda event: self.NewScout(event, |
|
142 |
newScoutInput, startX, startY, startTheta)) |
|
143 |
|
|
144 |
sizer.AddGrowableCol(idx=1) |
|
145 |
self.mainArea.Add(sizer, proportion=1, flag=wx.ALL|wx.EXPAND, border=10) |
|
146 |
self.window.SetSizer(self.mainArea) |
|
147 |
self.sizer = defaultdict() |
|
148 |
|
|
149 |
def NewScout(self, e, name, x, y, theta): |
|
150 |
if (name): |
|
151 |
scoutCreated = self.AddScout(name.GetValue(), x.GetValue(), |
|
152 |
y.GetValue(), theta.GetValue()) |
|
153 |
if (scoutCreated): |
|
154 |
wx.MessageBox("Scout '" + name.GetValue() |
|
155 |
+ "' created successfully at (" + str(x.GetValue()) + ", " |
|
156 |
+ str(y.GetValue()) + ") facing " + str(theta.GetValue()) |
|
157 |
+ u"\u00B0.", 'Scout Created', wx.OK | wx.ICON_INFORMATION) |
|
158 |
name.SetValue("") |
|
159 |
x.SetValue(0) |
|
160 |
y.SetValue(0) |
|
161 |
theta.SetValue(0) |
|
162 |
return True |
|
163 |
wx.MessageBox('Error creating scout. Please check that all information' |
|
164 |
'was entered properly and there are no duplicate scout names.', |
|
165 |
'Info', wx.OK | wx.ICON_ERROR) |
|
166 |
|
|
167 |
def AddScoutBox(self, name): |
|
168 |
self.sizer[name] = wx.FlexGridSizer(rows=2, cols=4, hgap=5, vgap=5) |
|
169 |
# Labels |
|
170 |
scoutName = wx.StaticText(self.window, label="Scout: " + name) |
|
171 |
behaviorLabel = wx.StaticText(self.window, label="Behavior: ") |
|
172 |
currBehaviorLabel = wx.StaticText(self.window, |
|
173 |
label=" | Current Behavior: Slacking off") |
|
174 |
|
|
175 |
# Inputs |
|
176 |
scoutChoices = wx.Choice(self.window, choices=GetBehaviors()) |
|
177 |
pauseButton = wx.ToggleButton(self.window, label="Pause") |
|
178 |
runButton = wx.Button(self.window, label="Run") |
|
179 |
killButton = wx.Button(self.window, label="Kill") |
|
180 |
|
|
181 |
self.sizer[name].Add(scoutName) |
|
182 |
self.sizer[name].Add(currBehaviorLabel, wx.EXPAND | wx.ALIGN_RIGHT) |
|
183 |
self.sizer[name].AddStretchSpacer(1) |
|
184 |
self.sizer[name].Add(killButton, wx.ALIGN_RIGHT) |
|
185 |
|
|
186 |
self.sizer[name].Add(behaviorLabel) |
|
187 |
self.sizer[name].Add(scoutChoices, wx.EXPAND) |
|
188 |
self.sizer[name].Add(runButton) |
|
189 |
self.sizer[name].Add(pauseButton, wx.ALIGN_RIGHT) |
|
190 |
|
|
191 |
# Events |
|
192 |
pauseButton.Bind(wx.EVT_TOGGLEBUTTON, |
|
193 |
lambda event: PauseScout(name, currBehaviorLabel, pauseButton, |
|
194 |
scoutChoices.GetStringSelection())) |
|
195 |
runButton.Bind(wx.EVT_BUTTON, |
|
196 |
lambda event: SetBehavior(name, currBehaviorLabel, pauseButton, |
|
197 |
scoutChoices.GetStringSelection())) |
|
198 |
killButton.Bind(wx.EVT_BUTTON, lambda event: self.RemoveScout(name)) |
|
199 |
|
|
200 |
self.mainArea.Add(self.sizer[name], proportion=1, |
|
201 |
flag=wx.ALL | wx.EXPAND, border=10) |
|
202 |
self.window.Layout() |
|
203 |
return True |
|
204 |
|
|
205 |
def AddScout(self, name, x, y, theta): |
|
206 |
if AddToSimulator(name, x, y, theta): |
|
207 |
return self.AddScoutBox(name) |
|
208 |
wx.MessageBox("ROS call failed!", 'ROS Error', wx.OK | wx.ICON_ERROR) |
|
209 |
return False |
|
210 |
|
|
211 |
def RemoveScout(self, name): |
|
212 |
# I don't trust this bit. Remove() should work by itself, |
|
213 |
# but it doesn't want to. Hide()ing before Remove()ing does work |
|
214 |
# for some reason though. It makes me think the sizer is still around |
|
215 |
# somewhere, sneakily leaking memory. Alas, such is life. |
|
216 |
print("Hidden scoutLayout for " + name + ": " |
|
217 |
+ str(self.mainArea.Hide(self.sizer[name], True))) |
|
218 |
print("Removed scoutLayout for " + name + ": " |
|
219 |
+ str(self.mainArea.Remove(self.sizer[name])) + " (Maybe...)") |
|
220 |
del self.sizer[name] |
|
221 |
if KillScout(name): |
|
222 |
self.window.Layout() |
|
223 |
self.window.Refresh() |
|
224 |
self.window.Update() |
|
225 |
return |
|
200 | 226 |
|
201 | 227 |
if __name__ == '__main__': |
202 |
subprocess.Popen("rosrun scoutsim scoutsim_node race", shell=True) |
|
203 |
app = wx.App() |
|
204 |
GUI(None, title='Colony Scout Manager') |
|
205 |
app.MainLoop() |
|
228 |
subprocess.Popen("rosrun scoutsim scoutsim_node race", shell=True) |
|
229 |
rospy.wait_for_service('/spawn') |
|
230 |
subprocess.Popen("rosservice call /spawn 1.4 0.275 0 scout1", shell=True) |
|
231 |
app = wx.App() |
|
232 |
GUI(None, title='Colony Scout Manager') |
|
233 |
app.MainLoop() |
Also available in: Unified diff