root / scout / scoutsim / BehaviorGUI.py @ 16d4e150
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1 | 5755691e | Matt Bryant | #!/usr/bin/python
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2 | |||
3 | import wx |
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4 | import wx.lib.intctrl |
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5 | import string |
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6 | import subprocess |
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7 | import signal |
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8 | from collections import defaultdict |
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9 | # ROS imports
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10 | import roslib; roslib.load_manifest("scoutsim") |
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11 | import rospy |
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12 | from scoutsim.srv import * |
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13 | |||
14 | 27f73b95 | Matt Bryant | # Everyone global variables (PLEASE REFACTOR ME)
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15 | 5755691e | Matt Bryant | scouts = defaultdict(str) # Associative array in the form [scout_name: current_behavior] |
16 | processes = defaultdict() # Associative array in the form [scout_name: process_handler]
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17 | |||
18 | #
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19 | # ROS functions
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20 | #
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21 | def AddToSimulator(name, x, y, theta): |
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22 | if name in scouts: |
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23 | return False |
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24 | scouts[name] = ""
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25 | print "Calling ROS function to create scout "+name |
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26 | try:
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27 | rospy.wait_for_service('/spawn');
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28 | service = rospy.ServiceProxy('/spawn', Spawn);
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29 | resp = service(x, y, theta, name) |
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30 | return True |
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31 | except rospy.ServiceException, e:
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32 | return False |
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33 | |||
34 | def GetBehaviors(): |
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35 | return ["CW Circle", "CCW Circle", "Odometry", "Navigation Map", "Scheduler", "Warehouse", "Line Follow", "WL Test"] |
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36 | |||
37 | 16d4e150 | Priya | def SetBehavior(name, behaviorLabel, behaviorButton=False, behavior="Pause", selectedBehavior="Pause"): |
38 | 5755691e | Matt Bryant | if behavior == "Pause": |
39 | if name not in processes: |
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40 | return False |
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41 | if not behaviorButton.GetValue(): |
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42 | 16d4e150 | Priya | processes[name] = subprocess.Popen("rosrun libscout libscout "+name+" "+str(GetBehaviors().index(selectedBehavior)+1)+"", shell=True) |
43 | 5755691e | Matt Bryant | print "Scout "+name+" was resumed." |
44 | behaviorButton.SetLabel("Pause")
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45 | behaviorLabel.SetLabel(" | Current Behavior: "+scouts[name])
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46 | else:
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47 | 16d4e150 | Priya | processes[name].kill() |
48 | processes[name].wait() |
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49 | 9a88eb2e | Priya | subprocess.Popen("rosrun libscout libscout "+name+" 0", shell=True) |
50 | 5755691e | Matt Bryant | print "Scout "+name+" was paused." |
51 | behaviorButton.SetLabel("Resume")
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52 | behaviorLabel.SetLabel(" | Current Behavior: Paused")
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53 | return True |
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54 | if name in processes: |
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55 | processes[name].kill() |
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56 | 16d4e150 | Priya | processes[name].wait() |
57 | # Running a new behavior while paused does not do anything and
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58 | # Gives lots of behaviors.
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59 | 9a88eb2e | Priya | processes[name] = subprocess.Popen("rosrun libscout libscout "+name+" "+str(GetBehaviors().index(behavior)+1)+"", shell=True) |
60 | 27f73b95 | Matt Bryant | behaviorButton.SetValue(False)
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61 | behaviorButton.SetLabel("Pause")
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62 | 5755691e | Matt Bryant | print "Scout "+name+" was set to behavior: "+behavior |
63 | behaviorLabel.SetLabel(" | Current Behavior: "+behavior)
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64 | scouts[name] = behavior |
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65 | |||
66 | def KillScout(name): |
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67 | try:
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68 | rospy.wait_for_service('/kill');
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69 | service = rospy.ServiceProxy('/kill', Kill);
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70 | if name in processes: |
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71 | 16d4e150 | Priya | # BUG: Pause-ing a scout and then killing it crashes the program.
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72 | 5755691e | Matt Bryant | processes[name].kill() # This is perhaps not working
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73 | resp = service(name) |
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74 | del scouts[name]
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75 | del processes[name]
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76 | return True |
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77 | except rospy.ServiceException, e:
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78 | return False |
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79 | |||
80 | 16d4e150 | Priya | def PauseScout(name, behaviorLabel, behaviorButton, selectedBehavior): |
81 | return SetBehavior(name, behaviorLabel, behaviorButton, "Pause", selectedBehavior) |
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82 | 5755691e | Matt Bryant | #
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83 | # End ROS functions
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84 | #
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85 | |||
86 | class GUI(wx.Frame): |
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87 | def __init__(self, parent, title): |
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88 | super(GUI, self).__init__(parent, title=title, style=wx.DEFAULT_FRAME_STYLE ^ wx.RESIZE_BORDER, size=(600, 600)) |
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89 | self.InitUI()
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90 | self.Show()
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91 | 9a88eb2e | Priya | self.AddScoutBox("scout1") |
92 | 5755691e | Matt Bryant | |
93 | def InitUI(self): |
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94 | self.window = wx.ScrolledWindow(self, style=wx.VSCROLL) |
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95 | self.mainArea = wx.GridSizer(cols=1) |
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96 | sizer = wx.FlexGridSizer(rows=4, cols=8, hgap=5, vgap=5) |
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97 | |||
98 | # Labels
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99 | blankText = wx.StaticText(self.window, label="") |
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100 | newScout = wx.StaticText(self.window, label="New Scout") |
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101 | newScoutName = wx.StaticText(self.window, label="Name:") |
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102 | startXTitle = wx.StaticText(self.window, label="X:") |
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103 | startYTitle = wx.StaticText(self.window, label="Y:") |
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104 | 27f73b95 | Matt Bryant | startThetaTitle = wx.StaticText(self.window, label="Rad:") |
105 | 5755691e | Matt Bryant | |
106 | # Inputs
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107 | newScoutInput = wx.TextCtrl(self.window)
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108 | startX = wx.lib.intctrl.IntCtrl(self.window, min=0) |
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109 | startY = wx.lib.intctrl.IntCtrl(self.window, min=0) |
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110 | 27f73b95 | Matt Bryant | startTheta = wx.lib.intctrl.IntCtrl(self.window, min=0, max=100) |
111 | 5755691e | Matt Bryant | addButton = wx.Button(self.window, id=wx.ID_ADD)
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112 | |||
113 | # Pretty Stuff
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114 | hLine = wx.StaticLine(self.window, size=(600, 5)) |
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115 | bottomHLine = wx.StaticLine(self.window, size=(600, 5)) |
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116 | |||
117 | # Row 0
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118 | sizer.Add(newScout) |
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119 | for i in range(7): |
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120 | sizer.AddStretchSpacer(1)
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121 | # Row 1
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122 | sizer.AddMany([newScoutName, (newScoutInput, 0, wx.EXPAND), startXTitle, startX, startYTitle, startY, startThetaTitle, startTheta])
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123 | # Row 2
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124 | for i in range(7): |
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125 | sizer.AddStretchSpacer(1)
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126 | sizer.Add(addButton) |
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127 | # Row 3
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128 | |||
129 | # Events
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130 | addButton.Bind(wx.EVT_BUTTON, lambda event: self.NewScout(event, newScoutInput, startX, startY, startTheta)) |
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131 | |||
132 | sizer.AddGrowableCol(idx=1)
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133 | self.mainArea.Add(sizer, proportion=1, flag=wx.ALL|wx.EXPAND, border=10) |
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134 | self.window.SetSizer(self.mainArea) |
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135 | self.sizer = defaultdict()
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136 | |||
137 | def NewScout(self, e, name, x, y, theta): |
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138 | if (name):
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139 | scoutCreated = self.AddScout(name.GetValue(), x.GetValue(), y.GetValue(), theta.GetValue())
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140 | if (scoutCreated):
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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) |
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142 | name.SetValue("")
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143 | x.SetValue(0)
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144 | y.SetValue(0)
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145 | theta.SetValue(0)
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146 | return True |
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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) |
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148 | |||
149 | def AddScoutBox(self, name): |
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150 | self.sizer[name] = wx.FlexGridSizer(rows=2, cols=4, hgap=5, vgap=5) |
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151 | # Labels
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152 | scoutName = wx.StaticText(self.window, label="Scout: "+name) |
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153 | behaviorLabel = wx.StaticText(self.window, label="Behavior: ") |
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154 | currBehaviorLabel = wx.StaticText(self.window, label=" | Current Behavior: Slacking off") |
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155 | |||
156 | # Inputs
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157 | scoutChoices = wx.Choice(self.window, choices=GetBehaviors())
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158 | pauseButton = wx.ToggleButton(self.window, label="Pause") |
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159 | runButton = wx.Button(self.window, label="Run") |
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160 | killButton = wx.Button(self.window, label="Kill") |
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161 | |||
162 | self.sizer[name].Add(scoutName)
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163 | self.sizer[name].Add(currBehaviorLabel, wx.EXPAND|wx.ALIGN_RIGHT)
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164 | self.sizer[name].AddStretchSpacer(1) |
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165 | self.sizer[name].Add(killButton, wx.ALIGN_RIGHT)
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166 | |||
167 | self.sizer[name].Add(behaviorLabel)
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168 | self.sizer[name].Add(scoutChoices, wx.EXPAND)
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169 | self.sizer[name].Add(runButton)
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170 | self.sizer[name].Add(pauseButton, wx.ALIGN_RIGHT)
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171 | |||
172 | # Events
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173 | 16d4e150 | Priya | pauseButton.Bind(wx.EVT_TOGGLEBUTTON, lambda event: PauseScout(name, currBehaviorLabel, pauseButton, scoutChoices.GetStringSelection()))
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174 | 27f73b95 | Matt Bryant | runButton.Bind(wx.EVT_BUTTON, lambda event: SetBehavior(name, currBehaviorLabel, pauseButton, scoutChoices.GetStringSelection()))
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175 | 5755691e | Matt Bryant | 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) |
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178 | self.window.Layout()
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179 | return True |
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180 | |||
181 | def AddScout(self, name, x, y, theta): |
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182 | if AddToSimulator(name, x, y, theta):
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183 | return self.AddScoutBox(name) |
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184 | wx.MessageBox("ROS call failed!", 'ROS Error', wx.OK | wx.ICON_ERROR) |
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185 | return False |
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186 | |||
187 | def RemoveScout(self, name): |
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188 | # I don't trust this bit. Remove() should work by itself, but it doesn't want to.
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189 | # Hide()ing before Remove()ing does work for some reason though. It makes me think
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190 | # the sizer is still around somewhere, sneakily leaking memory.
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191 | # Alas, such is life.
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192 | print "Hidden scoutLayout for "+name+": "+str(self.mainArea.Hide(self.sizer[name], True)) |
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193 | print "Removed scoutLayout for "+name+": "+str(self.mainArea.Remove(self.sizer[name]))+" (Maybe...)" |
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194 | del self.sizer[name] |
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195 | if KillScout(name):
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196 | self.window.Layout()
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197 | self.window.Refresh()
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198 | self.window.Update()
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199 | return
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200 | |||
201 | if __name__ == '__main__': |
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202 | subprocess.Popen("rosrun scoutsim scoutsim_node race", shell=True) |
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203 | app = wx.App() |
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204 | GUI(None, title='Colony Scout Manager') |
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205 | app.MainLoop() |