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]
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("Tour Creator 1.0")
window.connect("destroy", self.stop)
window.set_size_request(800, 600)
self.video_window = presenter.VideoWindow(self.drone)
self.video_window.hide_on_delete()
# self.video_window.connect("delete_event", self.toggle_video_window)
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.world_action_hbox = gtk.HBox(False, 2)
self.world_action_hbox.set_border_width(5)
self.tour_action_hbox = gtk.HBox(True, 2)
self.tour_action_hbox.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 - world edit
self.world_select_button = gtk.ToggleButton("Select/Move")
self.world_select_button.connect("clicked", self.pushed_action, "world select")
self.add_button = gtk.ToggleButton("Add Position")
self.add_button.connect("clicked", self.pushed_action, "add")
self.del_button = gtk.ToggleButton("Remove Position")
self.del_button.connect("clicked", self.pushed_action, "del")
self.add_wifi_button = gtk.ToggleButton("Add/Update WIFI Sample")
self.add_wifi_button.connect("clicked", self.pushed_action, "add wifi")
self.clear_wifi_button = gtk.ToggleButton("Clear WIFI Sample")
self.clear_wifi_button.connect("clicked", self.pushed_action, "clear wifi")
self.world_action_hbox.pack_start(self.world_select_button, False, False, 2)
self.world_action_hbox.pack_start(self.add_button, False, False, 2)
self.world_action_hbox.pack_start(self.del_button, False, False, 2)
self.world_action_hbox.pack_start(self.add_wifi_button, False, False, 2)
self.world_action_hbox.pack_start(self.clear_wifi_button, False, False, 2)
# Action buttons - tour edit
self.tour_select_button = gtk.ToggleButton("Select/Move")
self.tour_select_button.connect("clicked", self.pushed_action, "tour select")
self.tour_add_a_button = gtk.Button("Add/Remove A")
self.tour_add_a_button.connect("clicked", self.pushed_action, "add a")
self.tour_add_b_button = gtk.Button("Add/Remove B")
self.tour_add_b_button.connect("clicked", self.pushed_action, "add b")
self.tour_del_segment_button = gtk.Button("Delete segment")
self.tour_del_segment_button.connect("clicked", self.pushed_action, "del segment")
self.tour_action_hbox.add(self.tour_select_button)
self.tour_action_hbox.add(self.tour_add_a_button)
self.tour_action_hbox.add(self.tour_add_b_button)
self.tour_action_hbox.add(self.tour_del_segment_button)
# 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_all_button = gtk.Button("Delete task")
self.task_kill_all_button.connect("clicked", self.pushed_action, "kill task")
self.task_action_hbox.add(self.task_combobox)
self.task_action_hbox.add(self.task_add_button)
self.task_action_hbox.add(self.task_exe_button)
self.task_action_hbox.add(self.task_del_task_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.mode_hbox, False, False)
# self.master_vbox.pack_start(self.world_action_hbox, False, False)
# self.master_vbox.pack_start(self.tour_action_hbox, False, False)
# self.master_vbox.pack_start(self.task_action_hbox, False, False)
# self.master_vbox.pack_start(self.task_param_hbox, False, False)
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.tour_action_hbox.hide()
# self.task_action_hbox.hide()
# self.task_param_hbox.hide()
self.tabs.create_tab("Edit Tasks", self.task_vbox)
self.tabs.create_tab("Edit Tour", self.tour_action_hbox)
self.tabs.create_tab("Edit World", self.world_action_hbox)
self.world_select_button.set_active(True)
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":
# print 'add'
if self.add_button.get_active():
self.world_select_button.set_active(False)
self.del_button.set_active(False)
self.add_wifi_button.set_active(False)
self.clear_wifi_button.set_active(False)
self.world_mode_sub = self.add_mode
if data == "add wifi":
if self.add_wifi_button.get_active():
self.world_select_button.set_active(False)
self.del_button.set_active(False)
self.add_button.set_active(False)
self.add_wifi_button.set_active(False)
self.world_mode_sub = self.add_wifi_mode
if data == "clear wifi":
if self.clear_wifi_button.get_active():
self.world_select_button.set_active(False)
self.del_button.set_active(False)
self.add_button.set_active(False)
self.world_mode_sub = self.clear_wifi_mode
elif data == "del":
# print 'del'
if self.del_button.get_active():
self.clear_wifi_button.set_active(False)
self.add_button.set_active(False)
self.world_select_button.set_active(False)
self.add_wifi_button.set_active(False)
self.world_mode_sub = self.del_mode
elif data == "world select":
# print 'select'
if self.world_select_button.get_active():
self.clear_wifi_button.set_active(False)
self.add_button.set_active(False)
self.del_button.set_active(False)
self.add_wifi_button.set_active(False)
self.world_mode_sub = self.select_mode
elif data == "tour select":
pass
# self.world_mode_sub = self.select_mode
elif data == "add a":
if self.selected_segment is not None:
if not "a" in self.selected_segment[2]:
self.selected_segment[2].append("a")
else:
self.selected_segment[2].remove("a")
elif data == "add b":
if self.selected_segment is not None:
if not "b" in self.selected_segment[2]:
self.selected_segment[2].append("b")
else:
self.selected_segment[2].remove("b")
elif data == "del segment":
if self.selected_segment is not None:
self.posmap.remove_tour_segment(self.selected_segment)
self.selected_segment = None
elif 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)
self.area.queue_draw()
