def set_goal(self, goal):
if goal is None:
self.status_bg.SetBackgroundColour(wx.Colour(200, 0, 0))
self.status.SetLabel("Waiting For Goal...")
self.send_feedback.Disable()
self.succeed.Disable()
self.abort.Disable()
self.preempt.Disable()
self.goal.SetValue("")
else:
self.status_bg.SetBackgroundColour(wx.Colour(0, 200, 0))
self.status.SetLabel(
"Received Goal. Send feedback, succeed, or abort.")
self.send_feedback.Enable()
self.succeed.Enable()
self.abort.Enable()
self.preempt.Enable()
try:
self.goal.SetValue(to_yaml(goal))
except UnicodeDecodeError:
self.goal.SetValue(
"Cannot display goal due to unprintable characters")
def OnInit(self):
self.frame = wx.Frame(
None, -1,
self.action_name + ' - ' + self.action_type.name + ' - Standin'
)
self.sz = wx.BoxSizer(wx.VERTICAL)
tmp_feedback = self.action_type.feedback()
tmp_result = self.action_type.result()
self.goal = wx.TextCtrl(self.frame, -1, style=(wx.TE_MULTILINE | wx.TE_READONLY))
self.goal_st_bx = wx.StaticBox(self.frame, -1, "Goal")
self.goal_st = wx.StaticBoxSizer(self.goal_st_bx, wx.VERTICAL)
self.goal_st.Add(self.goal, 1, wx.EXPAND)
self.feedback = wx.TextCtrl(self.frame, -1, style=wx.TE_MULTILINE)
self.feedback.SetValue(to_yaml(tmp_feedback))
self.feedback_st_bx = wx.StaticBox(self.frame, -1, "Feedback")
self.feedback_st = wx.StaticBoxSizer(self.feedback_st_bx, wx.VERTICAL)
self.feedback_st.Add(self.feedback, 1, wx.EXPAND)
self.result = wx.TextCtrl(self.frame, -1, style=wx.TE_MULTILINE)
self.result.SetValue(to_yaml(tmp_result))
self.result_st_bx = wx.StaticBox(self.frame, -1, "Result")
self.result_st = wx.StaticBoxSizer(self.result_st_bx, wx.VERTICAL)
self.result_st.Add(self.result, 1, wx.EXPAND)
self.send_feedback = wx.Button(self.frame, -1, label="SEND FEEDBACK")
self.send_feedback.Bind(wx.EVT_BUTTON, self.on_feedback)
self.succeed = wx.Button(self.frame, -1, label="SUCCEED")
self.succeed.Bind(wx.EVT_BUTTON, self.on_succeed)
self.abort = wx.Button(self.frame, -1, label="ABORT")
self.abort.Bind(wx.EVT_BUTTON, self.on_abort)
self.preempt = wx.Button(self.frame, -1, label="PREEMPT")
self.preempt.Bind(wx.EVT_BUTTON, self.on_preempt)
self.status_bg = wx.Panel(self.frame, -1)
self.status_bg.SetBackgroundColour(wx.Colour(200, 0, 0))
self.status = wx.StaticText(self.status_bg, -1, label="Waiting For Goal...")
self.sz.Add(self.goal_st, 1, wx.EXPAND)
self.sz.Add(self.feedback_st, 1, wx.EXPAND)
self.sz.Add(self.result_st, 1, wx.EXPAND)
self.sz.Add(self.send_feedback, 0, wx.EXPAND)
self.sz.Add(self.succeed, 0, wx.EXPAND)
self.sz.Add(self.abort, 0, wx.EXPAND)
self.sz.Add(self.preempt, 0, wx.EXPAND)
self.sz.Add(self.status_bg, 0, wx.EXPAND)
self.frame.SetSizer(self.sz)
self.set_goal(None)
self.sz.Layout()
self.frame.Show()
return True
def OnInit(self):
self.frame = wx.Frame(
None, -1,
self.action_name + ' - ' + self.action_type.name + ' - GUI Client')
self.sz = wx.BoxSizer(wx.VERTICAL)
tmp_goal = self.action_type.goal()
self.goal = wx.TextCtrl(self.frame, -1, style=wx.TE_MULTILINE)
self.goal.SetValue(to_yaml(tmp_goal))
self.goal_st_bx = wx.StaticBox(self.frame, -1, "Goal")
self.goal_st = wx.StaticBoxSizer(self.goal_st_bx, wx.VERTICAL)
self.goal_st.Add(self.goal, 1, wx.EXPAND)
self.feedback = wx.TextCtrl(self.frame,
-1,
style=(wx.TE_MULTILINE | wx.TE_READONLY))
self.feedback_st_bx = wx.StaticBox(self.frame, -1, "Feedback")
self.feedback_st = wx.StaticBoxSizer(self.feedback_st_bx, wx.VERTICAL)
self.feedback_st.Add(self.feedback, 1, wx.EXPAND)
self.result = wx.TextCtrl(self.frame,
-1,
style=(wx.TE_MULTILINE | wx.TE_READONLY))
self.result_st_bx = wx.StaticBox(self.frame, -1, "Result")
self.result_st = wx.StaticBoxSizer(self.result_st_bx, wx.VERTICAL)
self.result_st.Add(self.result, 1, wx.EXPAND)
self.send_goal = wx.Button(self.frame, -1, label="SEND GOAL")
self.send_goal.Bind(wx.EVT_BUTTON, self.on_goal)
self.send_goal.Disable()
self.cancel_goal = wx.Button(self.frame, -1, label="CANCEL GOAL")
self.cancel_goal.Bind(wx.EVT_BUTTON, self.on_cancel)
self.cancel_goal.Disable()
self.status_bg = wx.Panel(self.frame, -1)
self.status_bg.SetBackgroundColour(wx.Colour(200, 0, 0))
self.status = wx.StaticText(self.status_bg, -1, label="No Goal")
self.server_status_bg = wx.Panel(self.frame, -1)
self.server_status_bg.SetBackgroundColour(wx.Colour(200, 0, 0))
self.server_status = wx.StaticText(self.server_status_bg,
-1,
label="Disconnected from server.")
self.sz.Add(self.goal_st, 1, wx.EXPAND)
self.sz.Add(self.feedback_st, 1, wx.EXPAND)
self.sz.Add(self.result_st, 1, wx.EXPAND)
self.sz.Add(self.send_goal, 0, wx.EXPAND)
self.sz.Add(self.cancel_goal, 0, wx.EXPAND)
self.sz.Add(self.status_bg, 0, wx.EXPAND)
self.sz.Add(self.server_status_bg, 0, wx.EXPAND)
self.frame.SetSizer(self.sz)
self.server_check_timer = wx.Timer(self.frame)
self.frame.Bind(wx.EVT_TIMER, self.server_check,
self.server_check_timer)
self.server_check_timer.Start(1000)
self.sz.Layout()
self.frame.Show()
return True
def set_feedback(self, feedback):
try:
self.feedback.SetValue(to_yaml(feedback))
except UnicodeDecodeError:
self.feedback.SetValue(
"Cannot display feedback due to unprintable characters")
def set_result(self, result):
try:
self.result.SetValue(to_yaml(result))
except UnicodeDecodeError:
self.result.SetValue(
"Cannot display result due to unprintable characters")