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Revision 8fa2bd2e

ID8fa2bd2eac72d68722a41597a349feaf6846326a
Parent 01aa3b6f
Child ca50f11f

Added by Matt Bryant over 11 years ago

Probably fixed the crashing bugs. Implemented floating point pickers.

View differences:

scout/scoutsim/BehaviorGUI.py
2 2

  
3 3
import wx
4 4
import wx.lib.intctrl 
5
import wx.lib.agw.floatspin
5 6
import string
6 7
import subprocess
7 8
import signal
......
12 13
from scoutsim.srv import *
13 14

  
14 15
# Everyone global variables (PLEASE REFACTOR ME)
15
scouts = defaultdict(str) # Associative array in the form [scout_name: current_behavior]
16
processes = defaultdict() # Associative array in the form [scout_name: process_handler]
16
scouts = defaultdict(str) # Dict in the form [scout_name: current_behavior]
17
processes = defaultdict() # Dict in the form [scout_name: process_handler]
17 18

  
18 19
#
19 20
# ROS functions
......
49 50
            behaviorButton.SetLabel("Pause")
50 51
            behaviorLabel.SetLabel("  |  Current Behavior: " + scouts[name])
51 52
        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")
53
			processes[name].terminate()
54
			del processes[name]
55
			subprocess.Popen("rosrun libscout libscout " + name + " 0",
56
				shell=True) 
57
			print "Scout "+name+" was paused."
58
			behaviorButton.SetLabel("Resume")
59
			behaviorLabel.SetLabel("  |  Current Behavior: Paused")
59 60
        return True
60 61
    if name in processes:
61
        processes[name].kill()
62
        processes[name].wait()
62
        processes[name].terminate()
63 63
        # TODO Running a new behavior while paused does not do anything and
64 64
        # Gives lots of errors.
65
		#
66
		# -- Matt 11/30 --
67
		# Might be fixed, can't run it to tell.
65 68
    processes[name] = subprocess.Popen("rosrun libscout libscout " + name + " "
66 69
        + str(GetBehaviors().index(behavior) + 1) + "",
67 70
        shell=True) 
......
72 75
    scouts[name] = behavior
73 76

  
74 77
def KillScout(name):
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
78
	try:
79
		rospy.wait_for_service('/kill')
80
		service = rospy.ServiceProxy('/kill', Kill)
81
		if name in processes:
82
			# TODO BUG: Pausing a scout and then killing it crashes the program.
83
			#
84
			# -- Matt 11/30 --
85
			# Should be fixed
86
			processes[name].terminate()
87
			del processes[name]
88
		resp = service(name)
89
		if name in scouts:
90
			del scouts[name]
91
		return True
92
	except rospy.ServiceException, e:
93
		return False
87 94

  
88 95
def PauseScout(name, behaviorLabel, behaviorButton, selectedBehavior):
89 96
    return SetBehavior(name, behaviorLabel, behaviorButton,
......
115 122

  
116 123
        # Inputs
117 124
        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)
125
        startX = wx.lib.agw.floatspin.FloatSpin(self.window, min_val=0, digits=5)
126
        startY = wx.lib.agw.floatspin.FloatSpin(self.window, min_val=0, digits=5)
127
        startTheta = wx.lib.agw.floatspin.FloatSpin(self.window, min_val=0, digits=5)
121 128
        addButton = wx.Button(self.window, id=wx.ID_ADD)
122 129

  
123 130
        # Pretty Stuff
......
209 216
        return False
210 217

  
211 218
    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.
216 219
        print("Hidden scoutLayout for " + name + ": "
217 220
            + str(self.mainArea.Hide(self.sizer[name], True)))
218 221
        print("Removed scoutLayout for " + name + ": "

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