def OnChoiceTracker(self, evt, ctrl):
Publisher.sendMessage('Update status text in GUI',
_("Configuring tracker ..."))
if evt:
choice = evt.GetSelection()
else:
choice = self.tracker_id
if self.trk_init:
trck = self.trk_init[0]
else:
trck = None
# Conditions check if click was on current selection and if any other tracker
# has been initialized before
if trck and choice != 6:
self.ResetTrackerFiducials()
self.trk_init = dt.TrackerConnection(self.tracker_id, 'disconnect')
self.tracker_id = choice
if not self.trk_init[0]:
self.trk_init = dt.TrackerConnection(self.tracker_id,
'connect')
if not self.trk_init[0]:
dlg.NavigationTrackerWarning(self.tracker_id,
self.trk_init[1])
ctrl.SetSelection(0)
print "Tracker not connected!"
else:
ctrl.SetSelection(self.tracker_id)
print "Tracker connected!"
elif choice == 6:
if trck:
self.trk_init = dt.TrackerConnection(self.tracker_id,
'disconnect')
if not self.trk_init[0]:
dlg.NavigationTrackerWarning(self.tracker_id, 'disconnect')
self.tracker_id = 0
ctrl.SetSelection(self.tracker_id)
print "Tracker disconnected!"
else:
print "Tracker still connected!"
else:
ctrl.SetSelection(self.tracker_id)
else:
# If trk_init is None try to connect. If doesn't succeed show dialog.
if choice:
self.tracker_id = choice
self.trk_init = dt.TrackerConnection(self.tracker_id,
'connect')
if not self.trk_init[0]:
dlg.NavigationTrackerWarning(self.tracker_id,
self.trk_init[1])
self.tracker_id = 0
ctrl.SetSelection(self.tracker_id)
Publisher.sendMessage('Update status text in GUI', _("Ready"))
def DisconnectTracker(self):
if self.tracker_connected:
self.ResetTrackerFiducials()
Publisher.sendMessage('Update status text in GUI',
label=_("Disconnecting tracker ..."))
Publisher.sendMessage('Remove sensors ID')
Publisher.sendMessage('Remove object data')
Publisher.sendMessage('Robot navigation mode', robot_mode=False)
self.trk_init = dt.TrackerConnection(self.tracker_id,
self.trk_init[0],
'disconnect')
if not self.trk_init[0]:
self.tracker_connected = False
self.tracker_id = 0
if self.thread_coord:
self.event_coord.set()
self.thread_coord.join()
self.event_coord.clear()
Publisher.sendMessage('Update status text in GUI',
label=_("Tracker disconnected"))
print("Tracker disconnected!")
else:
Publisher.sendMessage('Update status text in GUI',
label=_("Tracker still connected"))
print("Tracker still connected!")
def SetTracker(self, new_tracker):
if new_tracker:
self.DisconnectTracker()
self.trk_init = dt.TrackerConnection(new_tracker, None, 'connect')
if not all(list(self.trk_init)):
dlg.ShowNavigationTrackerWarning(self.tracker_id,
self.trk_init[1])
self.tracker_id = 0
self.tracker_connected = False
else:
self.tracker_id = new_tracker
self.tracker_connected = True
self.thread_coord = dco.ReceiveCoordinates(
self.trk_init, self.tracker_id, self.TrackerCoordinates,
self.event_coord)
self.thread_coord.start()
def OnDisconnectTracker(self, pubsub_evt):
if self.tracker_id:
dt.TrackerConnection(self.tracker_id, 'disconnect')
