root / scout / scoutsim / BehaviorGUI.py @ 414d2b48
History | View | Annotate | Download (8.98 KB)
1 |
#!/usr/bin/python
|
---|---|
2 |
|
3 |
import wx |
4 |
import wx.lib.intctrl |
5 |
import wx.lib.agw.floatspin |
6 |
import string |
7 |
import subprocess |
8 |
import signal |
9 |
from collections import defaultdict |
10 |
|
11 |
# ROS imports
|
12 |
import roslib; roslib.load_manifest("scoutsim") |
13 |
import rospy |
14 |
from scoutsim.srv import * |
15 |
|
16 |
# Everyone global variables (PLEASE REFACTOR ME)
|
17 |
scouts = defaultdict(str) # Dict in the form [scout_name: current_behavior] |
18 |
processes = defaultdict() # Dict in the form [scout_name: process_handler]
|
19 |
|
20 |
#
|
21 |
# ROS functions
|
22 |
#
|
23 |
def AddToSimulator(name, x, y, theta): |
24 |
if name == "": |
25 |
return False |
26 |
if name in scouts: |
27 |
return False |
28 |
scouts[name] = ""
|
29 |
print "Calling ROS function to create scout "+name |
30 |
try:
|
31 |
rospy.wait_for_service('/spawn');
|
32 |
service = rospy.ServiceProxy('/spawn', Spawn);
|
33 |
resp = service(x, y, theta, name) |
34 |
return True |
35 |
except rospy.ServiceException, e:
|
36 |
return False |
37 |
|
38 |
def GetBehaviors(): |
39 |
return ["CW Circle", "CCW Circle", "Odometry", "Navigation Map", |
40 |
"Scheduler", "Warehouse", "Line Follow", "WL Test"] |
41 |
|
42 |
def SetBehavior(name, behaviorLabel, behaviorButton=False, behavior="Pause", selectedBehavior="Pause"): |
43 |
if behavior == "Pause": |
44 |
if name not in processes: |
45 |
return False |
46 |
if not behaviorButton.GetValue(): |
47 |
processes[name] = subprocess.Popen("rosrun libscout libscout "
|
48 |
+ name + " " + str(GetBehaviors().index(selectedBehavior) + 1) |
49 |
+ "", shell=True) |
50 |
print "Scout " + name + " was resumed." |
51 |
behaviorButton.SetLabel("Pause")
|
52 |
behaviorLabel.SetLabel(" | Current Behavior: " + scouts[name])
|
53 |
return True |
54 |
else:
|
55 |
if name in processes: |
56 |
subprocess.Popen("rosnode kill /" + name + "_behavior", shell=True) |
57 |
del processes[name]
|
58 |
processes[name] = subprocess.Popen("rosrun libscout libscout " + name + " 0", shell=True) |
59 |
print "Scout "+name+" was paused." |
60 |
behaviorButton.SetLabel("Resume")
|
61 |
behaviorLabel.SetLabel(" | Current Behavior: Paused")
|
62 |
return True |
63 |
if name in processes: |
64 |
subprocess.Popen("rosnode kill /" + name + "_behavior", shell=True) |
65 |
# TODO Running a new behavior while paused does not do anything and
|
66 |
# Gives lots of errors.
|
67 |
#
|
68 |
# -- Matt 11/30 --
|
69 |
# Might be fixed, can't run it to tell.
|
70 |
processes[name] = subprocess.Popen("rosrun libscout libscout " + name + " " |
71 |
+ str(GetBehaviors().index(behavior) + 1) + "", |
72 |
shell=True)
|
73 |
behaviorButton.SetValue(False)
|
74 |
behaviorButton.SetLabel("Pause")
|
75 |
print "Scout " + name + " was set to behavior: " + behavior |
76 |
behaviorLabel.SetLabel(" | Current Behavior: " + behavior)
|
77 |
scouts[name] = behavior |
78 |
|
79 |
def KillScout(name): |
80 |
try:
|
81 |
rospy.wait_for_service('/kill')
|
82 |
service = rospy.ServiceProxy('/kill', Kill)
|
83 |
if name in processes: |
84 |
subprocess.Popen("rosnode kill /" + name + "_behavior", shell=True) |
85 |
del processes[name]
|
86 |
resp = service(name) |
87 |
if name in scouts: |
88 |
del scouts[name]
|
89 |
return True |
90 |
except rospy.ServiceException, e:
|
91 |
return False |
92 |
|
93 |
def PauseScout(name, behaviorLabel, behaviorButton, selectedBehavior): |
94 |
return SetBehavior(name, behaviorLabel, behaviorButton,
|
95 |
"Pause", selectedBehavior)
|
96 |
#
|
97 |
# End ROS functions
|
98 |
#
|
99 |
|
100 |
class GUI(wx.Frame): |
101 |
def __init__(self, parent, title): |
102 |
super(GUI, self).__init__(parent, title=title, |
103 |
style=wx.DEFAULT_FRAME_STYLE ^ wx.RESIZE_BORDER, size=(600, 600)) |
104 |
self.InitUI()
|
105 |
self.Show()
|
106 |
self.AddScoutBox("scout1") |
107 |
|
108 |
def InitUI(self): |
109 |
self.window = wx.ScrolledWindow(self, style=wx.VSCROLL) |
110 |
self.mainArea = wx.GridSizer(cols=1) |
111 |
sizer = wx.FlexGridSizer(rows=4, cols=8, hgap=5, vgap=5) |
112 |
|
113 |
# Labels
|
114 |
blankText = wx.StaticText(self.window, label="") |
115 |
newScout = wx.StaticText(self.window, label="New Scout") |
116 |
newScoutName = wx.StaticText(self.window, label="Name:") |
117 |
startXTitle = wx.StaticText(self.window, label="X:") |
118 |
startYTitle = wx.StaticText(self.window, label="Y:") |
119 |
startThetaTitle = wx.StaticText(self.window, label="Rad:") |
120 |
|
121 |
# Inputs
|
122 |
newScoutInput = wx.TextCtrl(self.window)
|
123 |
startX = wx.lib.agw.floatspin.FloatSpin(self.window, min_val=0, digits=5) |
124 |
startY = wx.lib.agw.floatspin.FloatSpin(self.window, min_val=0, digits=5) |
125 |
startTheta = wx.lib.agw.floatspin.FloatSpin(self.window, min_val=0, digits=5) |
126 |
addButton = wx.Button(self.window, id=wx.ID_ADD)
|
127 |
|
128 |
# Pretty Stuff
|
129 |
hLine = wx.StaticLine(self.window, size=(600, 5)) |
130 |
bottomHLine = wx.StaticLine(self.window, size=(600, 5)) |
131 |
|
132 |
# Row 0
|
133 |
sizer.Add(newScout) |
134 |
for i in range(7): |
135 |
sizer.AddStretchSpacer(1)
|
136 |
# Row 1
|
137 |
sizer.AddMany([newScoutName, (newScoutInput, 0, wx.EXPAND), startXTitle,
|
138 |
startX, startYTitle, startY, startThetaTitle, startTheta]) |
139 |
# Row 2
|
140 |
for i in range(7): |
141 |
sizer.AddStretchSpacer(1)
|
142 |
sizer.Add(addButton) |
143 |
# Row 3
|
144 |
|
145 |
# Events
|
146 |
addButton.Bind(wx.EVT_BUTTON, lambda event: self.NewScout(event, |
147 |
newScoutInput, startX, startY, startTheta)) |
148 |
|
149 |
sizer.AddGrowableCol(idx=1)
|
150 |
self.mainArea.Add(sizer, proportion=1, flag=wx.ALL|wx.EXPAND, border=10) |
151 |
self.window.SetSizer(self.mainArea) |
152 |
self.sizer = defaultdict()
|
153 |
|
154 |
def NewScout(self, e, name, x, y, theta): |
155 |
if (name):
|
156 |
scoutCreated = self.AddScout(name.GetValue(), x.GetValue(),
|
157 |
y.GetValue(), theta.GetValue()) |
158 |
if (scoutCreated):
|
159 |
wx.MessageBox("Scout '" + name.GetValue()
|
160 |
+ "' created successfully at (" + str(x.GetValue()) + ", " |
161 |
+ str(y.GetValue()) + ") facing " + str(theta.GetValue()) |
162 |
+ u"\u00B0.", 'Scout Created', wx.OK | wx.ICON_INFORMATION) |
163 |
name.SetValue("")
|
164 |
x.SetValue(0)
|
165 |
y.SetValue(0)
|
166 |
theta.SetValue(0)
|
167 |
return True |
168 |
wx.MessageBox('Error creating scout. Please check that all information'
|
169 |
'was entered properly and there are no duplicate scout names.',
|
170 |
'Info', wx.OK | wx.ICON_ERROR)
|
171 |
|
172 |
def AddScoutBox(self, name): |
173 |
self.sizer[name] = wx.FlexGridSizer(rows=2, cols=4, hgap=5, vgap=5) |
174 |
# Labels
|
175 |
scoutName = wx.StaticText(self.window, label="Scout: " + name) |
176 |
behaviorLabel = wx.StaticText(self.window, label="Behavior: ") |
177 |
currBehaviorLabel = wx.StaticText(self.window,
|
178 |
label=" | Current Behavior: Slacking off")
|
179 |
|
180 |
# Inputs
|
181 |
scoutChoices = wx.Choice(self.window, choices=GetBehaviors())
|
182 |
pauseButton = wx.ToggleButton(self.window, label="Pause") |
183 |
runButton = wx.Button(self.window, label="Run") |
184 |
killButton = wx.Button(self.window, label="Kill") |
185 |
|
186 |
self.sizer[name].Add(scoutName)
|
187 |
self.sizer[name].Add(currBehaviorLabel, wx.EXPAND | wx.ALIGN_RIGHT)
|
188 |
self.sizer[name].AddStretchSpacer(1) |
189 |
self.sizer[name].Add(killButton, wx.ALIGN_RIGHT)
|
190 |
|
191 |
self.sizer[name].Add(behaviorLabel)
|
192 |
self.sizer[name].Add(scoutChoices, wx.EXPAND)
|
193 |
self.sizer[name].Add(runButton)
|
194 |
self.sizer[name].Add(pauseButton, wx.ALIGN_RIGHT)
|
195 |
|
196 |
# Events
|
197 |
pauseButton.Bind(wx.EVT_TOGGLEBUTTON, |
198 |
lambda event: PauseScout(name, currBehaviorLabel, pauseButton,
|
199 |
scoutChoices.GetStringSelection())) |
200 |
runButton.Bind(wx.EVT_BUTTON, |
201 |
lambda event: SetBehavior(name, currBehaviorLabel, pauseButton,
|
202 |
scoutChoices.GetStringSelection())) |
203 |
killButton.Bind(wx.EVT_BUTTON, lambda event: self.RemoveScout(name)) |
204 |
|
205 |
self.mainArea.Add(self.sizer[name], proportion=1, |
206 |
flag=wx.ALL | wx.EXPAND, border=10)
|
207 |
self.window.Layout()
|
208 |
return True |
209 |
|
210 |
def AddScout(self, name, x, y, theta): |
211 |
if AddToSimulator(name, x, y, theta):
|
212 |
return self.AddScoutBox(name) |
213 |
wx.MessageBox("ROS call failed!", 'ROS Error', wx.OK | wx.ICON_ERROR) |
214 |
return False |
215 |
|
216 |
def RemoveScout(self, name): |
217 |
print("Hidden scoutLayout for " + name + ": " |
218 |
+ str(self.mainArea.Hide(self.sizer[name], True))) |
219 |
print("Removed scoutLayout for " + name + ": " |
220 |
+ str(self.mainArea.Remove(self.sizer[name])) + " (Maybe...)") |
221 |
del self.sizer[name] |
222 |
if KillScout(name):
|
223 |
self.window.Layout()
|
224 |
self.window.Refresh()
|
225 |
self.window.Update()
|
226 |
return
|
227 |
|
228 |
if __name__ == '__main__': |
229 |
ScoutSimGui = subprocess.Popen("rosrun scoutsim scoutsim_node race", shell=True) |
230 |
rospy.wait_for_service('/spawn')
|
231 |
app = wx.App() |
232 |
GUI(None, title='Colony Scout Manager') |
233 |
app.MainLoop() |
234 |
#Figure out how to terminate this for reals.
|
235 |
for process in processes: |
236 |
process.terminate() |
237 |
subprocess.Popen("rosnode kill /scoutsim", shell=True) |