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))