root / scout / scoutsim / BehaviorGUI.py @ 25694a03
History | View | Annotate | Download (7.46 KB)
1 |
#!/usr/bin/python
|
---|---|
2 |
|
3 |
import wx |
4 |
import wx.lib.intctrl |
5 |
import string |
6 |
import subprocess |
7 |
import signal |
8 |
from collections import defaultdict |
9 |
# ROS imports
|
10 |
import roslib; roslib.load_manifest("scoutsim") |
11 |
import rospy |
12 |
from scoutsim.srv import * |
13 |
|
14 |
# 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]
|
17 |
|
18 |
#
|
19 |
# ROS functions
|
20 |
#
|
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 |
33 |
|
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 |
65 |
|
66 |
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 |
79 |
|
80 |
def PauseScout(name, behaviorLabel, behaviorButton, selectedBehavior): |
81 |
return SetBehavior(name, behaviorLabel, behaviorButton, "Pause", selectedBehavior) |
82 |
#
|
83 |
# End ROS functions
|
84 |
#
|
85 |
|
86 |
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
|
200 |
|
201 |
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() |