def main(args):
global state_manager
global ph
global art
global action_server
global left_gripper_pub
global right_gripper_pub
global gripper_timer
rospy.init_node('test_brain')
state_manager = InterfaceStateManager(InterfaceState.BRAIN_ID, callback)
ph = ProgramHelper()
state_manager.set_system_state(InterfaceState.STATE_IDLE)
rospy.Service('/art/brain/program/start', ProgramIdTrigger, start_program)
rospy.Service('/art/brain/learning/start', ProgramIdTrigger,
learning_srv_cb)
rospy.Service('/art/brain/learning/stop', Trigger, learning_srv_cb)
# rospy.Service('/art/brain/program/stop', stopProgram, stop_program)
art = ArtApiHelper()
action_server = actionlib.SimpleActionServer(
'/art/brain/learning_request',
LearningRequestAction,
execute_cb=learning_request_cb,
auto_start=False)
action_server.start()
left_gripper_pub = rospy.Publisher('/art/pr2/left_arm/gripper/pose',
PoseStamped,
queue_size=10)
right_gripper_pub = rospy.Publisher('/art/pr2/right_arm/gripper/pose',
PoseStamped,
queue_size=10)
gripper_timer = rospy.Timer(rospy.Duration(0.5), gripper_timer)
rospy.spin()
def __init__(self):
pkg = rospkg.RosPack().get_path('art_sound')
self.sounds = {
InterfaceState.INFO: os.path.join(pkg, 'sounds', 'info.mp3'),
InterfaceState.WARNING: os.path.join(pkg, 'sounds', 'warning.mp3'),
InterfaceState.ERROR: os.path.join(pkg, 'sounds', 'error.mp3')
}
self.manager = InterfaceStateManager("art_sound", cb=self.state_cb)
self.srv_info = rospy.Service("info", Empty, self.srv_info_cb)
self.srv_warning = rospy.Service("warning", Empty, self.srv_warning_cb)
self.srv_error = rospy.Service("error", Empty, self.srv_error_cb)
self.q = Queue()
self.th = Thread(target=self.thread_cb)
self.th.daemon = True
self.th.start()
def __init__(self):
origin = rospy.get_param("scene_origin")
size = rospy.get_param("scene_size")
rpm = rospy.get_param("rpm")
port = rospy.get_param("scene_server_port")
super(UICoreRos, self).__init__(origin[0], origin[1], size[0], size[1],
rpm, port)
QtCore.QObject.connect(self, QtCore.SIGNAL('objects'),
self.object_cb_evt)
QtCore.QObject.connect(self, QtCore.SIGNAL('user_status'),
self.user_status_cb_evt)
QtCore.QObject.connect(self, QtCore.SIGNAL('interface_state'),
self.interface_state_evt)
QtCore.QObject.connect(self,
QtCore.SIGNAL('touch_calibration_points_evt'),
self.touch_calibration_points_evt)
QtCore.QObject.connect(self, QtCore.SIGNAL('touch_detected_evt'),
self.touch_detected_evt)
QtCore.QObject.connect(self, QtCore.SIGNAL('notify_user_evt'),
self.notify_user_evt)
QtCore.QObject.connect(self,
QtCore.SIGNAL('learning_request_done_evt'),
self.learning_request_done_evt)
self.user_state = None
self.program_list = None
self.program_vis = None
self.template = False # TODO this should be stored in program_vis?
self.last_prog_pos = (0.2, self.height - 0.2)
self.last_edited_prog_id = None
self.ph = ProgramHelper()
cursors = rospy.get_param("~cursors", [])
for cur in cursors:
PoseStampedCursorItem(self.scene, cur)
TouchTableItem(
self.scene, '/art/interface/touchtable/touch',
list(self.get_scene_items_by_type(PoseStampedCursorItem)))
self.stop_btn = ButtonItem(self.scene, 0, 0, "STOP", None,
self.stop_btn_clicked, 2.0, QtCore.Qt.red)
self.stop_btn.setPos(
self.scene.width() - self.stop_btn.boundingRect().width() - 300,
self.scene.height() - self.stop_btn.boundingRect().height() - 60)
self.stop_btn.set_enabled(True)
self.projectors = []
projs = rospy.get_param("~projectors", [])
for proj in projs:
self.projectors.append(ProjectorHelper(proj))
rospy.loginfo("Waiting for /art/brain/learning_request")
self.learning_action_cl = actionlib.SimpleActionClient(
'/art/brain/learning_request', LearningRequestAction)
self.learning_action_cl.wait_for_server()
self.art = ArtApiHelper()
self.projectors_calibrated_pub = rospy.Publisher(
"~projectors_calibrated", Bool, queue_size=1, latch=True)
self.projectors_calibrated_pub.publish(False)
self.start_learning_srv = rospy.ServiceProxy(
'/art/brain/learning/start',
startProgram) # TODO wait for service? where?
self.stop_learning_srv = rospy.ServiceProxy(
'/art/brain/learning/stop',
Trigger) # TODO wait for service? where?
self.program_pause_srv = rospy.ServiceProxy('/art/brain/program/pause',
Trigger)
self.program_resume_srv = rospy.ServiceProxy(
'/art/brain/program/resume', Trigger)
self.program_stop_srv = rospy.ServiceProxy('/art/brain/program/stop',
Trigger)
self.emergency_stop_srv = rospy.ServiceProxy(
'/pr2_ethercat/halt_motors',
EmptyService) # TODO wait for service? where?
self.emergency_stop_reset_srv = rospy.ServiceProxy(
'/pr2_ethercat/reset_motors',
EmptyService) # TODO wait for service? where?
self.program_error_resolve_srv = rospy.ServiceProxy(
'/art/brain/program/error_response',
ProgramErrorResolve) # TODO wait for service? where?
self.program_error_dialog = None
self.grasp_dialog = None
self.emergency_stopped = False
rospy.loginfo("Waiting for ART services...")
self.art.wait_for_api()
rospy.loginfo("Ready! Starting state machine.")
# TODO move this to ArtApiHelper ??
self.obj_sub = rospy.Subscriber('/art/object_detector/object_filtered',
InstancesArray,
self.object_cb,
queue_size=1)
self.user_status_sub = rospy.Subscriber('/art/user/status',
UserStatus,
self.user_status_cb,
queue_size=1)
self.touch_points = None
self.touch_calib_srv = rospy.Service(
'/art/interface/projected_gui/touch_calibration',
TouchCalibrationPoints, self.touch_calibration_points_cb)
self.notify_user_srv = rospy.Service(
'/art/interface/projected_gui/notify_user', NotifyUser,
self.notify_user_srv_cb)
proj_calib = True
if len(self.projectors) > 0:
rospy.loginfo("Waiting for projector nodes...")
for proj in self.projectors:
proj.wait_until_available()
if not proj.is_calibrated():
proj_calib = False
if proj_calib:
rospy.loginfo('Projectors already calibrated.')
self.projectors_calibrated_pub.publish(True)
else:
rospy.loginfo(
'Projectors not calibrated yet - waiting for command...')
self.projector_calib_srv = rospy.Service(
'/art/interface/projected_gui/calibrate_projectors', Trigger,
self.calibrate_projectors_cb)
self.state_manager = InterfaceStateManager("PROJECTED UI",
cb=self.interface_state_cb)
def __init__(self):
origin = rospy.get_param("scene_origin")
size = rospy.get_param("scene_size")
rpm = rospy.get_param("rpm")
port = rospy.get_param("scene_server_port")
super(UICoreRos, self).__init__(origin[0], origin[1], size[0], size[1],
rpm, port)
QtCore.QObject.connect(self, QtCore.SIGNAL('objects'),
self.object_cb_evt)
QtCore.QObject.connect(self, QtCore.SIGNAL('user_status'),
self.user_status_cb_evt)
QtCore.QObject.connect(self, QtCore.SIGNAL('interface_state'),
self.interface_state_evt)
QtCore.QObject.connect(self,
QtCore.SIGNAL('touch_calibration_points_evt'),
self.touch_calibration_points_evt)
QtCore.QObject.connect(self, QtCore.SIGNAL('touch_detected_evt'),
self.touch_detected_evt)
QtCore.QObject.connect(self, QtCore.SIGNAL('notify_user_evt'),
self.notify_user_evt)
QtCore.QObject.connect(self,
QtCore.SIGNAL('learning_request_done_evt'),
self.learning_request_done_evt)
self.user_status = None
self.fsm = FSM()
# TODO do this automatically??
# map callbacks from FSM to this instance
self.fsm.cb_start_calibration = self.cb_start_calibration
self.fsm.cb_waiting_for_user = self.cb_waiting_for_user
self.fsm.cb_program_selection = self.cb_program_selection
self.fsm.cb_waiting_for_user_calibration = self.cb_waiting_for_user_calibration
self.fsm.cb_learning = self.cb_learning
self.fsm.cb_running = self.cb_running
self.fsm.is_template = self.is_template
self.program_vis = None
self.template = False # TODO this should be stored in program_vis?
self.state_manager = InterfaceStateManager("PROJECTED UI",
cb=self.interface_state_cb)
self.ph = ProgramHelper()
cursors = rospy.get_param("~cursors", [])
for cur in cursors:
PoseStampedCursorItem(self.scene, cur)
TouchTableItem(
self.scene, '/art/interface/touchtable/touch',
list(self.get_scene_items_by_type(PoseStampedCursorItem)))
self.stop_btn = ButtonItem(self.scene, 0, 0, "STOP", None,
self.stop_btn_clicked, 2.0, QtCore.Qt.red)
self.stop_btn.setPos(
self.scene.width() - self.stop_btn.boundingRect().width() - 300,
self.scene.height() - self.stop_btn.boundingRect().height() - 60)
self.stop_btn.set_enabled(True)
self.projectors = []
projs = rospy.get_param("~projectors", [])
for proj in projs:
self.add_projector(proj)
rospy.loginfo("Waiting for /art/brain/learning_request")
self.learning_action_cl = actionlib.SimpleActionClient(
'/art/brain/learning_request', LearningRequestAction)
self.learning_action_cl.wait_for_server()
self.art = ArtApiHelper()
self.projectors_calibrated_pub = rospy.Publisher(
"~projectors_calibrated", Bool, queue_size=1, latch=True)
self.projectors_calibrated_pub.publish(False)
self.start_learning_srv = rospy.ServiceProxy(
'/art/brain/learning/start',
Trigger) # TODO wait for service? where?
self.stop_learning_srv = rospy.ServiceProxy(
'/art/brain/learning/stop',
Trigger) # TODO wait for service? where?
self.emergency_stop_srv = rospy.ServiceProxy(
'/pr2_ethercat/halt_motors',
EmptyService) # TODO wait for service? where?
self.emergency_stop_reset_srv = rospy.ServiceProxy(
'/pr2_ethercat/reset_motors',
EmptyService) # TODO wait for service? where?
self.program_error_resolve_srv = rospy.ServiceProxy(
'/art/brain/program/error_response',
ProgramErrorResolve) # TODO wait for service? where?
self.program_error_dialog = None
self.grasp_dialog = None
self.emergency_stoped = False
