Revision 9a4d8398
ID | 9a4d83982992ee7a284d9603303041ed4d8ea7ea |
New GUI should be working now! (run, pause resume should all work
pretty robustly). Teleop is not working yet...
scout/scoutsim/GUI.py | ||
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25 | 25 |
|
26 | 26 |
from collections import defaultdict |
27 | 27 |
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class Behaviors(object): |
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def __init__(self): |
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print "Warning: You should not need to create an instance of Behaviors" |
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|
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# this takes advantage of the fact that our behavior list start at 1 |
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behaviors = ["Pause", "CW Circle", "CCW Circle", "Odometry", |
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"Navigation Map", "Scheduler", "Warehouse", |
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"Line Follow", "WL Test"] |
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@classmethod |
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def getNumber(self, behaviorName): |
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if (behaviorName in Behaviors.behaviors): |
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return Behaviors.behaviors.index(behaviorName) |
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|
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@classmethod |
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def getName(self, index): |
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if (0 <= index < len(self.Behavior)): |
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return Behaviors.behaviors[index] |
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else: |
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return -1 |
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@classmethod |
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def getBehaviors(self): |
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# "Pause" is not considered a behavior in GUI |
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return Behaviors.behaviors[1:] |
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|
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# each scout is represented by this class |
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class Scout(object): |
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numOfScouts = 0 # class variable keeping track of scouts |
31 | 57 |
|
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def __init__(self, x=0, y=0, theta=0, name=u"", |
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Scouts=None, oninit = False): |
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print (len(name)) |
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Scout.numOfScouts += 1 # reverted if not successful |
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if len(name) == 0: |
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# automatically give name according to numOfScouts |
... | ... | |
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self.behavior = "chilling" |
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self.process = None# used to keep track of all processes |
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# related to this scout |
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self.paused = False |
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self.valid = False |
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# these vars are right now just the original position |
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# but when ODOMETRY is done, we could actually use them |
... | ... | |
68 | 94 |
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def SpawnInSimulator(self): |
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print "trying to spawn scout!!!" |
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try: |
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# ros spawn routine |
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rospy.wait_for_service('/spawn'); |
... | ... | |
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response = service(self.x, self.y, self.theta, self.name) |
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return True |
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except rospy.ServiceException as Error: |
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print "things are bad!!!" |
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print Error |
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return False |
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|
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def changeBehavior(self, behavior): |
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self.behavior = behavior |
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def terminateOldBehavior(self): |
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if self.process != None: |
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# now terminate the process |
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self.process.terminate() #TODO: this kills the process |
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# but maybe not the rosnode |
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# change to "rosnode kill" instead |
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# make sure old behavior is terminated before we run the new one |
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self.process.wait() |
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# WARNING: Check this but ROS kills the old behavior for us |
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# kill the old behavior |
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# if self.process != None: |
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# self.process.terminate() #TODO: this kills the process |
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# # but maybe not the rosnode |
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# # change to "rosnode kill" instead |
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# # make sure the old behavior is terminated before we run the new one |
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# self.process.wait() |
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# the following lines causes lag and does not solve real issues |
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# first unregister the node |
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#cmd = "rosnode kill /%s_behavior"%self.name |
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#temp = subprocess.Popen(cmd, shell=True) |
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#temp.wait() |
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# this node loses contact but still is not cleaned up in rosnode |
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# however, this should not affect usage at all. |
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def changeBehavior(self, behavior): |
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self.behavior = behavior |
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if (behavior == "pause"): |
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self.paused = True |
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else: |
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self.paused = False |
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self.terminateOldBehavior() |
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# do rosprocess calls for new behavior |
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roscommand = shlex.split("rosrun libscout libscout %s %s"% |
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(self.name, self.behavior))
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subprocess.Popen(roscommand, shell=False) |
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(self.name, Behaviors.getNumber(self.behavior)))
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self.process = subprocess.Popen(roscommand, shell=False)
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def killSelf(self): |
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# terminate its current behavior |
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if self.process != None: |
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self.process.terminate() # TODO: same here, try "rosnode kill" |
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self.process.wait() |
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self.terminateOldBehavior() |
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|
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# ros call to kill scout in simulator |
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try: |
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rospy.wait_for_service("/kill") |
... | ... | |
161 | 195 |
|
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def initData(self): |
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self.scouts = {} |
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#FIXME: these arguments are not right...fix them!!! |
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self.scouts["scout1"] = Scout(x=0, y=0, theta=0, name="scout1", |
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Scouts = self.scouts, oninit=True) |
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#TODO: these arguments are not right...fix them!!! |
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# addButton callback |
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def addScout(self, x_wx, y_wx, theta_wx, name_wx): |
... | ... | |
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y = y_wx.GetValue() |
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theta = theta_wx.GetValue() |
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name = name_wx.GetValue() |
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print "in GUI trying to add scout!" |
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newSc = Scout(x, y, theta, name, self.scouts) |
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if (newSc.valid): |
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# successful |
... | ... | |
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def removeScout(self, name): |
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sct = self.scouts[name] |
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print "removing scout %s"%name |
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sct.killSelf() |
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if (sct.valid == False): |
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# successful, remove from the dictionary |
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del self.scouts[name] |
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# refresh the display |
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print self.mainArea.Hide(self.sizer[name])
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print self.mainArea.Remove(self.sizer[name])
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# delete the refresh the display
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self.mainArea.Hide(self.sizer[name]) #required by wx before remove
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self.mainArea.Remove(self.sizer[name]) |
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del self.sizer[name] |
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self.window.Layout() |
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self.window.Refresh() |
... | ... | |
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else: |
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raise Exception |
207 | 239 |
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# change UI display and invoke change Behavior in scout |
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def changeBehavior(self, name, currBehaviorLabel, |
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pauseButton, newBehavior): |
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|
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# to handle user pressing "Run" during pause |
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if (newBehavior != "Pause" and self.scouts[name].paused == True): |
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print "trying to do stuff!!!" |
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self.correctPauseButton(name, |
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pauseButton, pauseToResume=True) |
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|
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currBehaviorLabel.SetLabel(" | Current Behavior: %s"%newBehavior) |
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scout = self.scouts[name] |
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scout.changeBehavior(newBehavior) |
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def correctPauseButton(self, name, pauseButton, pauseToResume): |
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if (pauseToResume): |
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print "correcting button!" |
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self.scouts[name].paused = False |
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pauseButton.SetValue(False) # unpress it |
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pauseButton.SetLabel("Pause") |
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else: |
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self.scouts[name].paused = True |
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pauseButton.SetValue(True) # press it |
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pauseButton.SetLabel("Resume") |
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def buttonDown(button): |
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return button.GetValue() |
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def pauseResumeScout(self, name, pauseButton, currBehaviorLabel, dropMenu): |
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if (pauseButton.GetValue() == True): # |
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# change behavior to Pause |
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self.changeBehavior(name, currBehaviorLabel, pauseButton, "Pause") |
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# change button to "Resume" & label to "Pause" |
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currBehaviorLabel.SetLabel("Pause") |
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self.correctPauseButton(name, |
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pauseButton, pauseToResume=False) |
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else: |
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# resume |
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# change behavior to whatever is in the drop down menu |
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self.changeBehavior(name, currBehaviorLabel, pauseButton, |
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dropMenu.GetStringSelection()) |
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self.correctPauseButton(name, |
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pauseButton, pauseToResume=True) |
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|
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############################ UI stuff here ########################### |
209 | 287 |
|
210 | 288 |
def initUI(self): |
... | ... | |
268 | 346 |
def addScoutBox(self, name): |
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self.sizer[name] = wx.FlexGridSizer(rows=2, cols=5, hgap=5, vgap=5) |
270 | 348 |
# Labels |
271 |
scoutName = wx.StaticText(self.window, label="Scout: " + name)
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scoutName = wx.StaticText(self.window, label="Scout: %s"%name)
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behaviorLabel = wx.StaticText(self.window, label="Behavior: ") |
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currBehaviorLabel = wx.StaticText(self.window, |
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label=" | Current Behavior: Slacking off") |
275 | 353 |
|
276 | 354 |
# Inputs |
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# drop down menue |
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scoutChoices = wx.Choice(self.window) #choices=GetBehaviors()) |
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scoutChoices = wx.Choice(self.window, |
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choices=Behaviors.getBehaviors()) |
|
279 | 358 |
# buttons |
280 | 359 |
pauseButton = wx.ToggleButton(self.window, label="Pause") |
281 | 360 |
runButton = wx.Button(self.window, label="Run") |
... | ... | |
297 | 376 |
self.sizer[name].Add(teleopButton) |
298 | 377 |
# Events |
299 | 378 |
killButton.Bind(wx.EVT_BUTTON, lambda event: self.removeScout(name)) |
379 |
runButton.Bind(wx.EVT_BUTTON, |
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lambda event: self.changeBehavior(name, currBehaviorLabel, |
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pauseButton, # needed to handle press "run" during pause |
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scoutChoices.GetStringSelection())) |
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pauseButton.Bind(wx.EVT_TOGGLEBUTTON, |
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lambda event: self.pauseResumeScout(name, pauseButton, |
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currBehaviorLabel, scoutChoices)) |
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300 | 386 |
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301 | 387 |
self.mainArea.Add(self.sizer[name], proportion=1, |
302 | 388 |
flag=wx.ALL | wx.EXPAND, border=10) |
Also available in: Unified diff