Revision d2dedb17
| ID | d2dedb178d5d23dde64a73fb8db6121b9b039f79 |
Bugfix to BehaviorGUI causing crashes.
| scout/scoutsim/BehaviorGUI.py | ||
|---|---|---|
| 7 | 7 |
import subprocess |
| 8 | 8 |
import signal |
| 9 | 9 |
from collections import defaultdict |
| 10 |
|
|
| 10 | 11 |
# ROS imports |
| 11 | 12 |
import roslib; roslib.load_manifest("scoutsim")
|
| 12 | 13 |
import rospy |
| ... | ... | |
| 37 | 38 |
"Scheduler", "Warehouse", "Line Follow", "WL Test"] |
| 38 | 39 |
|
| 39 | 40 |
def SetBehavior(name, behaviorLabel, behaviorButton=False, behavior="Pause", selectedBehavior="Pause"): |
| 40 |
if behavior == "Pause":
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if name not in processes:
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return False
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if not behaviorButton.GetValue():
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processes[name] = subprocess.Popen("rosrun libscout libscout "
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+ name + " " + str(GetBehaviors().index(selectedBehavior) + 1)
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+ "", shell=True)
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print "Scout " + name + " was resumed."
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behaviorButton.SetLabel("Pause")
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behaviorLabel.SetLabel(" | Current Behavior: " + scouts[name])
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return True
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if behavior == "Pause":
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if name not in processes:
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return False
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if not behaviorButton.GetValue():
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processes[name] = subprocess.Popen("rosrun libscout libscout "
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+ name + " " + str(GetBehaviors().index(selectedBehavior) + 1)
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+ "", shell=True)
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print "Scout " + name + " was resumed."
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behaviorButton.SetLabel("Pause")
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behaviorLabel.SetLabel(" | Current Behavior: " + scouts[name])
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return True
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else: |
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processes[name].terminate() |
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del processes[name] |
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subprocess.Popen("rosrun libscout libscout " + name + " 0", shell=True)
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print "Scout "+name+" was paused." |
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behaviorButton.SetLabel("Resume")
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behaviorLabel.SetLabel(" | Current Behavior: Paused")
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return True |
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if name in processes: |
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processes[name].terminate() |
|
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if name in processes: |
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processes[name].terminate() |
|
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del processes[name] |
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subprocess.Popen("rosrun libscout libscout " + name + " 0", shell=True)
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print "Scout "+name+" was paused." |
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behaviorButton.SetLabel("Resume")
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behaviorLabel.SetLabel(" | Current Behavior: Paused")
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return True |
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if name in processes: |
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processes[name].terminate() |
|
| 61 | 63 |
# TODO Running a new behavior while paused does not do anything and |
| 62 | 64 |
# Gives lots of errors. |
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#
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# -- Matt 11/30 --
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# Might be fixed, can't run it to tell.
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processes[name] = subprocess.Popen("rosrun libscout libscout " + name + " "
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+ str(GetBehaviors().index(behavior) + 1) + "",
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shell=True)
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behaviorButton.SetValue(False)
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behaviorButton.SetLabel("Pause")
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print "Scout " + name + " was set to behavior: " + behavior
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behaviorLabel.SetLabel(" | Current Behavior: " + behavior)
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scouts[name] = behavior
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#
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# -- Matt 11/30 --
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# Might be fixed, can't run it to tell.
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processes[name] = subprocess.Popen("rosrun libscout libscout " + name + " "
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+ str(GetBehaviors().index(behavior) + 1) + "",
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shell=True)
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behaviorButton.SetValue(False)
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behaviorButton.SetLabel("Pause")
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print "Scout " + name + " was set to behavior: " + behavior
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behaviorLabel.SetLabel(" | Current Behavior: " + behavior)
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scouts[name] = behavior
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| 74 | 76 |
|
| 75 | 77 |
def KillScout(name): |
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try:
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rospy.wait_for_service('/kill')
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service = rospy.ServiceProxy('/kill', Kill)
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if name in processes:
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processes[name].kill()
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del processes[name]
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resp = service(name)
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if name in scouts:
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del scouts[name]
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return True
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except rospy.ServiceException, e:
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return False
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try:
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rospy.wait_for_service('/kill')
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service = rospy.ServiceProxy('/kill', Kill)
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if name in processes:
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processes[name].kill()
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del processes[name]
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resp = service(name)
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if name in scouts:
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del scouts[name]
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return True
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except rospy.ServiceException, e:
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return False
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| 88 | 90 |
|
| 89 | 91 |
def PauseScout(name, behaviorLabel, behaviorButton, selectedBehavior): |
| 90 | 92 |
return SetBehavior(name, behaviorLabel, behaviorButton, |
| ... | ... | |
| 222 | 224 |
return |
| 223 | 225 |
|
| 224 | 226 |
if __name__ == '__main__': |
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ScoutSimGui = subprocess.Popen("rosrun scoutsim scoutsim_node race", shell=True)
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rospy.wait_for_service('/spawn')
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#subprocess.Popen("rosservice call /spawn 1.4 0.275 0 scout1", shell=True) # why was this here?
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app = wx.App() |
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GUI(None, title='Colony Scout Manager') |
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app.MainLoop() |
|
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# This doesn't run. I'm sure there is a reason why. |
|
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for process in processes: |
|
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process.kill() |
|
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ScoutSimGui.kill() |
|
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ScoutSimGui = subprocess.Popen("rosrun scoutsim scoutsim_node race", shell=True)
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rospy.wait_for_service('/spawn')
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#subprocess.Popen("rosservice call /spawn 1.4 0.275 0 scout1", shell=True) # why was this here?
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app = wx.App() |
|
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GUI(None, title='Colony Scout Manager') |
|
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app.MainLoop() |
|
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# This doesn't run. I'm sure there is a reason why. |
|
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for process in processes: |
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process.kill() |
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ScoutSimGui.kill() |
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