def OnInit(self):
try:
self._core_launcher = roslaunch_caller.launch_core()
except Exception, e:
print >> sys.stderr, 'Failed to launch core. Another core may already be running.\n\n'
wx.MessageBox('A ROS core is still running and preventing the qualification system from starting. Shut down ROS processes by using the "Kill ROS" icon.','ROS Already Running', wx.OK|wx.ICON_ERROR, None)
traceback.print_exc()
sys.exit(1)
def OnInit(self):
try:
self._core_launcher = roslaunch_caller.launch_core()
except Exception, e:
sys.stderr.write(
'Failed to launch core. Another core may already be running.\n\n'
)
traceback.print_exc()
sys.exit(5)
def LaunchCore(self, event):
print "launching core"
if self._core_launcher == None:
self._core_launcher = roslaunch_caller.launch_core()
self.core_status.SetBackgroundColour("Light Green")
else:
self._core_launcher.stop()
self._core_launcher = None
self.core_status.SetBackgroundColour("Red")
def OnInit(self, debug = False):
args = rospy.myargv()
debug = len(args) > 1 and args[1] == '--debug'
try:
self._core_launcher = roslaunch_caller.launch_core()
except Exception, e:
print >> sys.stderr, 'Failed to launch core. Another core may already be running.\n\n'
wx.MessageBox('A ROS core is still running and preventing the Test Manager system from starting. Shut down ROS processes by using the "Kill ROS" icon.','ROS Already Running', wx.OK|wx.ICON_ERROR, None)
traceback.print_exc()
sys.exit(1)
def OnInit(self):
# Launch roscore
#config = roslaunch.ROSLaunchConfig()
#config.master.auto = config.master.AUTO_RESTART
self._core_launcher = roslaunch_caller.launch_core()
rospy.init_node("life_test_manager")
self._frame = TestManagerFrame(None)
self._frame.SetSize(wx.Size(1600, 1100))
self._frame.Layout()
self._frame.Centre()
self._frame.Show(True)
return True
def handleROS(self, path, qdict):
global factory
global core_launcher
global tfclient
global launchers
path_parts = path.split('/')
# Get the command
cmd = path_parts[2].lower()
topic = '/' + "/".join(path_parts[p]
for p in range(3, len(path_parts)))
if cmd == "startup":
print "Startup[%s]" % topic
self.send_response(200)
self.send_header("Content-type", "text/html")
self.end_headers()
self.wfile.write("started")
robot = commands.getoutput('hostname')
if rosCoreUp == False:
core_launcher = roslaunch_caller.launch_core()
time.sleep(5)
scriptDir = commands.getoutput(
'rospack find webteleop') + '/launch/'
startupScript = ''
if robot.startswith('pr'):
startupScript = robot + ".launch"
else:
startupScript = 'gazebo.launch'
launch = launchScript(scriptDir + startupScript)
launchers[startupScript] = launch
time.sleep(20)
#launch = launchScript(scriptDir + '2dnav_pr2.launch')
#launchers['2dnav_pr2.launch'] = launch
#time.sleep(20)
rospy.init_node(CALLER_ID, disable_signals=True)
time.sleep(1)
if tfclient == None:
tfclient = TransformListener()
elif cmd == "shutdown":
print "Shutdown[%s]" % topic
# Stop all the launch scripts
for key in launchers:
if launchers[key] != None:
launchers[key].shutdown()
launchers[key] = None
time.sleep(10)
launchers = {}
# Stop the core
if core_launcher != None:
core_launcher.stop()
core_launcher = None
self.send_response(200)
self.send_header("Content-type", "text/html")
self.end_headers()
self.wfile.write("shutdown")
elif cmd == "launch":
print "Launch[%s]" % topic
script = commands.getoutput(
'rospack find webteleop') + '/launch' + topic
launch = launchScript(script)
launchers[topic] = launch
if launchers.has_key(topic):
print "HAS KEY!!!!"
self.send_response(200)
self.send_header("Content-type", "text/html")
self.end_headers()
self.wfile.write("launched")
elif cmd == "stop":
print "\n\n\n\n\nStop[%s]" % topic
if launchers.has_key(topic):
launchers[topic].shutdown()
time.sleep(10)
launchers[topic] = None
else:
print "\n\n\n\n\nDOESNT HAVE KEY"
self.send_response(200)
self.send_header("Content-type", "text/html")
self.end_headers()
self.wfile.write("stopped")
elif cmd == "subscribe":
print "Subscribe[%s]\n" % topic
rwt = factory.get(topic, qdict)
try:
rwt.init("subscriber")
except WebException, e:
traceback.print_exc()
self.send_response(404)
return
self.send_response(200)
self.send_header("Content-type", "text/html")
self.end_headers()
self.wfile.write("subscribed")