def sendRobot(self, x, y, z, ox, oy, oz, ow, p, r, m): rospy.init_node('motar_interface') point_pub = rospy.Publisher("motar_mini/dprm", dprm, queue_size=10) dest = dprm() dest.destination.position.x = x dest.destination.position.y = y dest.destination.position.z = z dest.destination.orientation.x = ox dest.destination.orientation.y = oy dest.destination.orientation.z = oz dest.destination.orientation.w = ow dest.patient = p dest.room = r dest.medicine = m point_pub.publish(dest) text = "(" + str(x) + ", " + str(y) + ", " + str(z) + ")" self.P = np.append(self.P, p) self.D = np.append(self.D, text) self.DE = np.append(self.DE, text) self.R = np.append(self.R, r) self.M = np.append(self.M, m) self.S = np.append(self.S, "Not Reached") self.destinationpose.setText(str(self.DE))
def delbtnclicked(self): dest = dprm() dest.destination.position.x = 0 dest.destination.position.y = 0 dest.destination.position.z = 0 dest.destination.orientation.x = 0 dest.destination.orientation.y = 0 dest.destination.orientation.z = 0 dest.destination.orientation.w = -1 dest.patient = 1 dest.room = 6 dest.medicine = "none" point_pub.publish(dest) self.DE = np.delete(self.DE, -1) self.D = np.delete(self.D, -1) self.P = np.delete(self.P, -1) self.R = np.delete(self.R, -1) self.M = np.delete(self.M, -1) self.S = np.delete(self.S, -1) self.destinationpose.setText(str(self.DE)) if len(self.Text) > 0: r = len(self.Text) text = self.Text[r - 1] + " sending process has been aborted." self.list.addItem(text) self.Text = np.delete(self.Text, -1)
def combopressed(self, a): global cntnum x, y, z, t = self.selected() if a == 1: self.is_man_control(0) if x != 1: self.clicked("Delivering Medicine") text = ("for patient " + self.patient1.currentText() + " in room " + self.room1.currentText() + " medicine " + self.med1.currentText()) self.Text = np.append(self.Text, text) self.list.addItem(text + " is being sent.") self.setPRM(int(self.patient1.currentText()), int(self.room1.currentText()), self.med1.currentText()) if y != 2: self.clicked("Delivering Medicine") text = ("for patient " + self.patient2.currentText() + " in room " + self.room2.currentText() + " medicine " + self.med2.currentText()) self.Text = np.append(self.Text, text) self.list.addItem(text + " is being sent.") self.setPRM(int(self.patient2.currentText()), int(self.room2.currentText()), self.med2.currentText()) if z != 3: self.clicked("Delivering Medicine") text = ("for patient " + self.patient3.currentText() + " in room " + self.room3.currentText() + " medicine " + self.med3.currentText()) self.Text = np.append(self.Text, text) self.list.addItem(text + " is being sent.") self.setPRM(int(self.patient3.currentText()), int(self.room3.currentText()), self.med3.currentText()) if t != 4: self.clicked("Delivering Medicine") text = ("for patient " + self.patient4.currentText() + " in room " + self.room4.currentText() + " medicine " + self.med4.currentText()) self.Text = np.append(self.Text, text) self.list.addItem(text + " is being sent.") self.setPRM(int(self.patient4.currentText()), int(self.room4.currentText()), self.med4.currentText()) if a == 0: if len(self.Text) > 0: r = len(self.Text) for i in range(r): text = self.Text[r - i - 1] + " sending process has been aborted." self.list.addItem(text) self.Text = np.delete(self.Text, -1) dest = dprm() dest.patient = 1 dest.room = 7 dest.medicine = "none" point_pub.publish(dest) self.DE = np.delete(self.DE, np.s_[::1]) self.D = np.delete(self.D, np.s_[cntnum:]) self.P = np.delete(self.P, np.s_[cntnum:]) self.R = np.delete(self.R, np.s_[cntnum:]) self.M = np.delete(self.M, np.s_[cntnum:]) self.S = np.delete(self.S, np.s_[cntnum:]) self.destinationpose.setText(str(self.DE))