def fill_param_box(self, widget, data=None):
self.task_param_hbox.hide_all()
taskname = self.task_combobox.get_active_text()
for c in self.task_param_hbox.get_children():
self.task_param_hbox.remove(c)
selected_task = None
for t in tasks.get_all_tasks():
if t.__name__ == taskname:
selected_task = t
args = inspect.getargspec(selected_task.__init__)[0]
defaults = inspect.getargspec(selected_task.__init__)[3]
self.task_param_hbox.pack_start(self.task_combobox, False, False, 3)
#reslist = []
for i in range(len(args)):
a = args[i]
if a != 'self' and a != 'drone' and a != 'callback' and a != 'context':
l = gtk.Label(a)
e = gtk.Entry(10)
e.set_width_chars(10)
if defaults is not None and len(defaults) > 0 and i >= (len(args) - len(defaults)):
e.set_text(str(defaults[i - (len(args)-len(defaults))]))
e.set_visibility(True)
#reslist.append((a, e))
self.task_param_hbox.pack_start(l, False, False, 3)
self.task_param_hbox.pack_start(e, False, False, 3)
self.task_param_hbox.resize_children()
self.task_param_hbox.show_all()
self.task_param_hbox.show()
def build_gui(self):
self.colormap = gtk.gdk.colormap_get_system()
window = gtk.Window(gtk.WINDOW_TOPLEVEL)
window.set_title("Task Creator 1.0")
window.connect("destroy", self.stop)
window.set_size_request(800, 600)
import tabbed
self.tabs = tabbed.Tabs()
self.tabs.connect("switch-page", self.set_mode, 'set mode')
# Layout boxes
self.master_vbox = gtk.VBox(False, 2)
self.master_vbox.set_border_width( 5 )
self.task_vbox = gtk.VBox(False, 2)
self.task_vbox.set_border_width( 5 )
self.task_action_hbox = gtk.HBox(True, 2)
self.task_action_hbox.set_border_width( 5 )
self.task_param_hbox = gtk.HBox(False, 2)
self.task_param_hbox.set_border_width( 5 )
self.task_vbox.add(self.task_action_hbox)
self.task_vbox.add(self.task_param_hbox)
# Action buttons - task edit
self.task_combobox = gtk.combo_box_new_text()
for t in tasks.get_all_tasks():
self.task_combobox.append_text(str(t.__name__))
self.task_combobox.set_active(0)
self.task_combobox.connect("changed", self.fill_param_box)
self.task_add_button = gtk.Button("Add task")
self.task_add_button.connect("clicked", self.pushed_action, 'add task')
self.task_exe_button = gtk.Button("Execute task")
self.task_exe_button.connect("clicked", self.pushed_action, 'exe task')
self.task_del_task_button = gtk.Button("Delete task")
self.task_del_task_button.connect("clicked", self.pushed_action, 'del task')
self.task_kill_button = gtk.Button("Stop task")
self.task_kill_button.connect("clicked", self.pushed_action, 'kill task')
self.task_kill_all_button = gtk.Button("Stop all tasks")
self.task_kill_all_button.connect("clicked", self.pushed_action, 'kill all')
#self.task_action_hbox.add(self.task_combobox)
self.task_action_hbox.add(self.task_add_button)
self.task_action_hbox.add(self.task_del_task_button)
self.task_action_hbox.add(self.task_exe_button)
self.task_action_hbox.add(self.task_kill_button)
self.task_action_hbox.add(self.task_kill_all_button)
self.fill_param_box(None, None)
self.area = gtk.DrawingArea()
self.area.set_size_request(800, 600)
self.pixmap = None
self.pangolayout = self.area.create_pango_layout("")
self.sw = gtk.ScrolledWindow()
self.sw.add_with_viewport(self.area)
self.table = gtk.Table(2,2)
self.hruler = gtk.HRuler()
self.vruler = gtk.VRuler()
self.hruler.set_range(0, 400, 0, 400)
self.vruler.set_range(0, 300, 0, 300)
self.table.attach(self.hruler, 1, 2, 0, 1, yoptions=0)
self.table.attach(self.vruler, 0, 1, 1, 2, xoptions=0)
self.table.attach(self.sw, 1, 2, 1, 2)
self.area.set_events(gtk.gdk.EXPOSURE_MASK | gtk.gdk.LEAVE_NOTIFY_MASK | gtk.gdk.BUTTON_PRESS_MASK
| gtk.gdk.BUTTON_RELEASE_MASK | gtk.gdk.POINTER_MOTION_MASK | gtk.gdk.POINTER_MOTION_HINT_MASK)
self.master_vbox.pack_start(self.tabs, False, False, 2)
self.master_vbox.pack_start(self.table, True, True)
self.master_vbox.show_all()
self.tabs.create_tab('Edit Tasks', self.task_vbox)
window.add(self.master_vbox)
def motion_notify(ruler, event):
return ruler.emit("motion_notify_event", event)
self.area.connect_object("motion_notify_event", motion_notify,
self.hruler)
self.area.connect_object("motion_notify_event", motion_notify,
self.vruler)
self.area.connect("configure_event", self.configure_event)
self.area.connect("expose-event", self.area_expose_cb)
self.area.connect("button_press_event", self.pushed)
self.area.connect("button_release_event", self.released)
self.area.connect("motion_notify_event", self.motion)
self.hadj = self.sw.get_hadjustment()
self.vadj = self.sw.get_vadjustment()
def val_cb(adj, ruler, horiz):
if horiz:
span = self.sw.get_allocation()[3]
else:
span = self.sw.get_allocation()[2]
l,u,p,m = ruler.get_range()
v = adj.value
ruler.set_range(v, v+span, p, m)
while gtk.events_pending():
gtk.main_iteration()
self.hadj.connect('value-changed', val_cb, self.hruler, True)
self.vadj.connect('value-changed', val_cb, self.vruler, False)
def size_allocate_cb(wid, allocation):
x, y, w, h = allocation
l,u,p,m = self.hruler.get_range()
m = max(m, w)
self.hruler.set_range(l, l+w, p, m)
l,u,p,m = self.vruler.get_range()
m = max(m, h)
self.vruler.set_range(l, l+h, p, m)
self.sw.connect('size-allocate', size_allocate_cb)
self.area.show()
self.hruler.show()
self.vruler.show()
self.sw.show()
self.table.show()
window.show()
def pushed_action(self, widget, data):
self.clear()
if isinstance(widget, gtk.ToggleButton) and not widget.get_active():
return
if data == 'add task':
params = [self.drone, None, None]
for c in self.task_param_hbox.get_children():
if type(c) is gtk.Entry:
text = c.get_text()
if text == 'None':
val = None
else:
val = self.parseStr(text)
params.append(val)
print params, '\r'
taskname = self.task_combobox.get_active_text()
selected_task = None
for t in tasks.get_all_tasks():
if t.__name__ == taskname:
selected_task = t
inst = selected_task(*params)
x = 200+random.randint(-50, 50)
y = 100+random.randint(-50, 50)
#tasks.append(t)
self.selected_task = self.add_task(inst, x, y)
elif data == 'exe task':
if self.selected_task is not None:
exe = self.selected_task
task_manager = self.drone.get_task_manager()#.get_controller(settings.AUTOCONTROL)
# def cb(caller):
# task_manager.task_done(caller)
#self.toggle_video_window(None, None)
exe[2].callback = task_manager.task_done
# if not self.video_window.get_visible():
# self.toggle_video_window(None, None)
handle = task_manager.start_task(exe[2])
elif data == 'del task':
if self.selected_task is not None:
for t in self.tasks:
if issubclass(t[2].__class__, tasks.CompoundTask):
if self.selected_task[2] in t[2].subtasks:
t[2].remove_subtask(self.selected_task[2])
self.tasks.remove(self.selected_task)
elif data == 'kill task':
t = self.selected_task
if t is not None:
t[2].stop()
elif data == 'kill all':
task_manager = self.drone.get_task_manager()#.get_controller(settings.AUTOCONTROL)
task_manager.kill_tasks()
self.area.queue_draw()
