class EthernetTest(BaseTest):
def __init__(self, parent, serial, func):
# Load the XRC resource
self.res2 = xrc.XmlResource(execution_path('ethernet_test.xrc'))
# Initialize the BaseTest with these parts
BaseTest.__init__(self, parent, serial, func, 'Ethernet Cable')
def instruct_panel_gen(self, parent):
return self.res2.LoadPanel(parent, 'instruct_panel')
def test_panel_gen(self, parent):
return self.res2.LoadPanel(parent, 'test_panel')
# This is what runs once the instructions are read
def Run(self):
thread.start_new_thread(self.RunThread, (None, ))
def RunThread(self, arg):
# Create a roslauncher
config = roslaunch.ROSLaunchConfig()
# Try loading the XML file
try:
loader = roslaunch.XmlLoader()
loader.load(execution_path('ethernet_test.xml'), config)
except roslaunch.XmlParseException, e:
wx.CallAfter(
self.Cancel,
'Could not load back-end XML to launch necessary nodes. Make sure the GUI is up to date.'
)
return
# Make sure we get a fresh master
config.master.auto = config.master.AUTO_RESTART
# Bring up the nodes
rl = roslaunch.ROSLaunchRunner(config)
rl.launch()
# Wait for our self-test service to come up
rospy.wait_for_service('ethernet/self_test', 5)
# Try to query the self_test service on the imu
try:
s = rospy.ServiceProxy('ethernet/self_test', SelfTest)
resp = s.call(SelfTestRequest(), 60)
except rospy.ServiceException, e:
print e
wx.CallAfter(
self.Cancel,
"Could not contact node via ROS.\nError was: %s\nMake sure GUI is built correctly: rosmake qualification"
% (e))
rl.stop()
return
def launch_core(self):
self.log('Launching ros core services')
# Create a roslauncher
config = roslaunch.ROSLaunchConfig()
config.master.auto = config.master.AUTO_RESTART
launcher = roslaunch.ROSLaunchRunner(config)
launcher.launch()
return launcher
def load_parameters(self):
'''Loads all global parameters into roscore.'''
run_id = self._run_id if self._run_id is not None \
else roslaunch.rlutil.get_or_generate_uuid(None, True)
runner = roslaunch.ROSLaunchRunner(run_id, self._config)
runner._load_parameters()
msg = 'Loaded %d parameters to parameter server.' \
% len(self._config.params)
self.sig_sysmsg.emit(msg)
rospy.logdebug(msg)
def launch(package, launch_name, args = []):
ros_master_id = rospy.get_param("/run_id")
pkg_path = rospkg.RosPack().get_path( package )
launch_path = "%s/launch/%s" % ( pkg_path, launch_name)
loader = roslaunch.XmlLoader()
config = roslaunch.ROSLaunchConfig()
loader.load( launch_path, config, argv=args )
runner = roslaunch.ROSLaunchRunner( ros_master_id, config )
runner.launch()
def launch_core():
# Launch the core, generate the run_id
# in the future this may need a rewrite as roslaunch gets the
# ability to remotely launch cores, but for now this is fine
config = roslaunch.ROSLaunchConfig()
config.master.auto = config.master.AUTO_START
run_id = roslaunch.core.generate_run_id()
core_launcher = roslaunch.ROSLaunchRunner(run_id, config)
core_launcher.launch()
return core_launcher
def launch_script(self, script):
self.log('Launching roslaunch file %s' % (script))
# Create a roslauncher
config = roslaunch.ROSLaunchConfig()
# Try loading the XML file
try:
loader = roslaunch.XmlLoader()
loader.load(script, config)
# Bring up the nodes
launcher = roslaunch.ROSLaunchRunner(config)
launcher.launch()
except roslaunch.RLException, e:
self.log('Failed to launch roslaunch file %s: %s' % (script, e))
return None
class ForearmTest(BaseTest):
def __init__(self, parent, serial, func):
self.ready = False
self.serial1 = serial[0:7]
print self.serial1
self.count = 1
self.finished = False
self.testcount = 1
# Load the XRC resource
self.res2 = xrc.XmlResource(execution_path('forearm_test.xrc'))
# Initialize the BaseTest with these parts
BaseTest.__init__(self, parent, serial, func, 'forearm Test')
self.roslaunch = None
self.topic = None
self.data_topic = None
self.response = DiagnosticMessage(None, [])
self.data_dict = {}
def instruct_panel_gen(self, parent):
# Load the instruction and test panels from the XRC resource
panel = 'instruct_panel_' + self.serial1
print panel
return self.res2.LoadPanel(parent, panel)
def test_panel_gen(self, parent):
test_panel = self.res2.LoadPanel(parent, 'test_panel')
test_panel.Bind(wx.EVT_BUTTON,
self.EStop,
id=xrc.XRCID('ESTOP_button'))
return self.res2.LoadPanel(parent, 'test_panel')
# This is what runs once the instructions are read
def Run(self):
thread.start_new_thread(self.RunThread, (None, ))
def RunThread(self, arg):
#Create a roslauncher
config = roslaunch.ROSLaunchConfig()
self.count = 1
self.finished = False
self.testcount = 1
self.ready = False
# Try loading the test XML file
try:
xmlFile = execution_path(
str('xml/' + self.serial1 + '_forearm_test.xml'))
loader = roslaunch.XmlLoader()
loader.load(xmlFile, config)
except roslaunch.XmlParseException, e:
wx.CallAfter(
self.Cancel,
'Could not load back-end XML to launch necessary nodes. Make sure the GUI is up to date.'
)
return
# Make sure we get a fresh master
config.master.auto = config.master.AUTO_RESTART
# Bring up the nodes
self.roslaunch = roslaunch.ROSLaunchRunner(config)
self.roslaunch.launch()
self.topic = rospy.TopicSub("/diagnostics", DiagnosticMessage,
self.OnMsg)
self.data_topic = rospy.TopicSub("/hysteresis_data", ChannelFloat32,
self.OnData)
