def __init__( self ):
self.scriptPath = os.path.dirname( __file__ )
self.cameraImagePixBuf = None
self.lastImage = None
# Connect to the robot via ROS
rospy.init_node( 'MaplinArmTeleop', anonymous=True )
self.cameraImageTopic = rospy.Subscriber( "/camera/image",
sensor_msgs.msg.Image, self.cameraImageCallback )
self.rosArmClient = ROS_ArmClient()
self.upButtonPressed = False
self.downButtonPressed = False
self.leftButtonPressed = False
self.rightButtonPressed = False
self.shoulderUpButtonPressed = False
self.shoulderDownButtonPressed = False
self.elbowUpButtonPressed = False
self.elbowDownButtonPressed = False
self.guideImagePixBuf = None
# Setup the GUI
builder = gtk.Builder()
builder.add_from_file( self.scriptPath + "/GUI/MaplinArmTeleop.glade" )
self.window = builder.get_object( "winMain" )
self.dwgCameraImage = builder.get_object( "dwgCameraImage" )
builder.connect_signals( self )
updateLoop = self.update()
gobject.idle_add( updateLoop.next )
self.window.show()
class MainWindow:
BASE_MOTOR_IDX = 0
SHOULDER_MOTOR_IDX = 1
ELBOW_MOTOR_IDX = 2
WRIST_MOTOR_IDX = 3
#---------------------------------------------------------------------------
def __init__( self ):
self.scriptPath = os.path.dirname( __file__ )
self.cameraImagePixBuf = None
self.lastImage = None
# Connect to the robot via ROS
rospy.init_node( 'MaplinArmTeleop', anonymous=True )
self.cameraImageTopic = rospy.Subscriber( "/camera/image",
sensor_msgs.msg.Image, self.cameraImageCallback )
self.rosArmClient = ROS_ArmClient()
self.upButtonPressed = False
self.downButtonPressed = False
self.leftButtonPressed = False
self.rightButtonPressed = False
self.shoulderUpButtonPressed = False
self.shoulderDownButtonPressed = False
self.elbowUpButtonPressed = False
self.elbowDownButtonPressed = False
self.guideImagePixBuf = None
# Setup the GUI
builder = gtk.Builder()
builder.add_from_file( self.scriptPath + "/GUI/MaplinArmTeleop.glade" )
self.window = builder.get_object( "winMain" )
self.dwgCameraImage = builder.get_object( "dwgCameraImage" )
builder.connect_signals( self )
updateLoop = self.update()
gobject.idle_add( updateLoop.next )
self.window.show()
#---------------------------------------------------------------------------
def onWinMainDestroy( self, widget, data = None ):
gtk.main_quit()
#---------------------------------------------------------------------------
def main( self ):
# All PyGTK applications must have a gtk.main(). Control ends here
# and waits for an event to occur (like a key press or mouse event).
gtk.main()
#---------------------------------------------------------------------------
def cameraImageCallback( self, rosImage ):
if rosImage.encoding == "rgb8" or rosImage.encoding == "bgr8":
# Display the image
self.cameraImagePixBuf = gtk.gdk.pixbuf_new_from_data(
rosImage.data,
gtk.gdk.COLORSPACE_RGB,
False,
8,
rosImage.width,
rosImage.height,
rosImage.step )
self.cameraImagePixBuf.add_alpha( False, 0, 0, 0 )
# Resize the drawing area if necessary
if self.dwgCameraImage.get_size_request() != ( rosImage.width, rosImage.height ):
self.dwgCameraImage.set_size_request( rosImage.width, rosImage.height )
# Add the guide
if self.guideImagePixBuf != None:
self.guideImagePixBuf.composite( self.cameraImagePixBuf, 0, 0,
self.guideImagePixBuf.get_width(), self.guideImagePixBuf.get_height(),
0, 0, 1.0, 1.0, gtk.gdk.INTERP_NEAREST, 255 )
self.dwgCameraImage.queue_draw()
self.lastImage = rosImage
else:
rospy.logerr( "Unhandled image encoding - " + rosImage.encoding )
#---------------------------------------------------------------------------
def onBtnUpPressed( self, widget ):
self.upButtonPressed = True
#---------------------------------------------------------------------------
def onBtnDownPressed( self, widget ):
self.downButtonPressed = True
#---------------------------------------------------------------------------
def onBtnLeftPressed( self, widget ):
self.leftButtonPressed = True
#---------------------------------------------------------------------------
def onBtnRightPressed( self, widget ):
self.rightButtonPressed = True
#---------------------------------------------------------------------------
def onBtnShoulderUpPressed( self, widget ):
self.shoulderUpButtonPressed = True
#---------------------------------------------------------------------------
def onBtnShoulderDownPressed( self, widget ):
self.shoulderDownButtonPressed = True
#---------------------------------------------------------------------------
def onBtnElbowUpPressed( self, widget ):
self.elbowUpButtonPressed = True
#---------------------------------------------------------------------------
def onBtnElbowDownPressed( self, widget ):
self.elbowDownButtonPressed = True
#---------------------------------------------------------------------------
def onBtnUpReleased( self, widget ):
self.upButtonPressed = False
#---------------------------------------------------------------------------
def onBtnDownReleased( self, widget ):
self.downButtonPressed = False
#---------------------------------------------------------------------------
def onBtnLeftReleased( self, widget ):
self.leftButtonPressed = False
#---------------------------------------------------------------------------
def onBtnRightReleased( self, widget ):
self.rightButtonPressed = False
#---------------------------------------------------------------------------
def onBtnShoulderUpReleased( self, widget ):
self.shoulderUpButtonPressed = False
#---------------------------------------------------------------------------
def onBtnShoulderDownReleased( self, widget ):
self.shoulderDownButtonPressed = False
#---------------------------------------------------------------------------
def onBtnElbowUpReleased( self, widget ):
self.elbowUpButtonPressed = False
#---------------------------------------------------------------------------
def onBtnElbowDownReleased( self, widget ):
self.elbowDownButtonPressed = False
#---------------------------------------------------------------------------
def onBtnSaveImageClicked( self, widget ):
if self.lastImage != None:
# Convert to an OpenCV image
cvImage = cv.CreateMatHeader( self.lastImage.height, self.lastImage.width, cv.CV_8UC3 )
cv.SetData( cvImage, self.lastImage.data, self.lastImage.step )
# Convert to BGR as OpenCV likes it
cv.CvtColor( cvImage, cvImage, cv.CV_RGB2BGR )
# Find a name for the image
nameFormatString = "/home/abroun/abroun-ros-pkg/gaffa_apps/object_detector/test_data/saliency/maplin_{0}.png"
imageIdx = 0
nameFound = False
while not nameFound:
imageName = nameFormatString.format( imageIdx )
if not os.path.exists( imageName ):
nameFound = True
else:
imageIdx += 1
# Save the image
cv.SaveImage( imageName, cvImage );
#---------------------------------------------------------------------------
def onDwgCameraImageExposeEvent( self, widget, data = None ):
if self.cameraImagePixBuf != None:
imgRect = self.getImageRectangleInWidget( widget,
self.cameraImagePixBuf.get_width(), self.cameraImagePixBuf.get_height() )
imgOffsetX = imgRect.x
imgOffsetY = imgRect.y
# Get the total area that needs to be redrawn
imgRect = imgRect.intersect( data.area )
srcX = imgRect.x - imgOffsetX
srcY = imgRect.y - imgOffsetY
widget.window.draw_pixbuf( widget.get_style().fg_gc[ gtk.STATE_NORMAL ],
self.cameraImagePixBuf, srcX, srcY,
imgRect.x, imgRect.y, imgRect.width, imgRect.height )
#---------------------------------------------------------------------------
def getImageRectangleInWidget( self, widget, imageWidth, imageHeight ):
# Centre the image inside the widget
widgetX, widgetY, widgetWidth, widgetHeight = widget.get_allocation()
imgRect = gtk.gdk.Rectangle( 0, 0, widgetWidth, widgetHeight )
if widgetWidth > imageWidth:
imgRect.x = (widgetWidth - imageWidth) / 2
imgRect.width = imageWidth
if widgetHeight > imageHeight:
imgRect.y = (widgetHeight - imageHeight) / 2
imgRect.height = imageHeight
return imgRect
#---------------------------------------------------------------------------
def chooseImageFile( self ):
result = None
dialog = gtk.FileChooserDialog(
title="Choose Image File",
action=gtk.FILE_CHOOSER_ACTION_SAVE,
buttons=(gtk.STOCK_CANCEL, gtk.RESPONSE_REJECT,
gtk.STOCK_OK, gtk.RESPONSE_ACCEPT) )
dialog.set_current_folder( self.scriptPath + "/../../config" )
filter = gtk.FileFilter()
filter.add_pattern( "*.png" )
filter.add_pattern( "*.bmp" )
filter.add_pattern( "*.jpg" )
filter.set_name( "Image Files" )
dialog.add_filter( filter )
dialog.set_filter( filter )
result = dialog.run()
if result == gtk.RESPONSE_ACCEPT:
result = dialog.get_filename()
dialog.destroy()
return result
#---------------------------------------------------------------------------
def onMenuItemLoadGuideActivate( self, widget ):
filename = self.chooseImageFile()
if filename != None:
self.guideImagePixBuf = gtk.gdk.pixbuf_new_from_file( filename )
#---------------------------------------------------------------------------
def onMenuItemQuitActivate( self, widget ):
self.onWinMainDestroy( widget )
#---------------------------------------------------------------------------
def update( self ):
UPDATE_RATE = 30.0 # Updates per second
lastTime = time.time()
while 1:
curTime = time.time()
if curTime - lastTime > 1.0/UPDATE_RATE:
# Work out whether the motors should be off or going forward/backwards
baseMotorState = MotorStates.OFF
shoulderMotorState = MotorStates.OFF
elbowMotorState = MotorStates.OFF
wristMotorState = MotorStates.OFF
if self.leftButtonPressed and not self.rightButtonPressed:
baseMotorState = MotorStates.BACKWARD
elif self.rightButtonPressed and not self.leftButtonPressed:
baseMotorState = MotorStates.FORWARD
if self.shoulderUpButtonPressed and not self.shoulderDownButtonPressed:
shoulderMotorState = MotorStates.FORWARD
elif self.shoulderDownButtonPressed and not self.shoulderUpButtonPressed:
shoulderMotorState = MotorStates.BACKWARD
if self.elbowUpButtonPressed and not self.elbowDownButtonPressed:
elbowMotorState = MotorStates.FORWARD
elif self.elbowDownButtonPressed and not self.elbowUpButtonPressed:
elbowMotorState = MotorStates.BACKWARD
if self.upButtonPressed and not self.downButtonPressed:
wristMotorState = MotorStates.FORWARD
elif self.downButtonPressed and not self.upButtonPressed:
wristMotorState = MotorStates.BACKWARD
# Send the motor states to the arm
self.rosArmClient.setArmMotorStates(
[ ( self.BASE_MOTOR_IDX, baseMotorState ),
( self.SHOULDER_MOTOR_IDX, shoulderMotorState ),
( self.ELBOW_MOTOR_IDX, elbowMotorState ),
( self.WRIST_MOTOR_IDX, wristMotorState ) ] )
# Save the update time
lastTime = curTime
yield True
yield False