def cb_indicator(n, msg):
global Indicates
item = Indicates[n]
if msg.data:
timeout.set(functools.partial(cb_turnon, n), 0)
else:
if "sto" in item: timeout.clear(item["sto"])
timeout.set(functools.partial(cb_turnoff, n), 0)
def cb_edit_stat(msg):
global statcheck
flg = not msg.data
if statcheck:
timeout.clear(statcheck)
statcheck = 0
if msg.data:
if "stat_timeout" in Config:
statcheck = timeout.set(cb_button_normal, Config["stat_timeout"])
if check_button_chenge(flg):
timeout.set(functools.partial(cb_button_enable, flg), 0)
def cb_display(n):
global Displays
item = Displays[n]
widget = item["tag"]
val = item["label"]
try:
val_name = str(rospy.get_param(item["name"]))
if val_name == "":
val_name = '---'
val += val_name
except Exception:
val += '---'
if val != widget["text"]:
widget.configure(text=val)
n = n + 1
if n >= len(Displays): n = 0
timeout.set(functools.partial(cb_display, n), 0.5)
def cb_turnon(n):
global Indicates
item = Indicates[n]
item["tag"]["foreground"] = litcolor
item["tag"]["font"] = boldfont
if "sto" in item: timeout.clear(item["sto"])
item["sto"] = timeout.set(functools.partial(cb_turnoff, n),
item["timeout"])
def cb_load(msg):
global Param, RecipeName
if wRecipe is None: return
Param["recipe"] = msg.data
recipe = msg.data.split(':')
RecipeName = recipe[0]
timeout.set(functools.partial(cb_wRecipe, Param["recipe"]), 0)
if os.system("ls " + dirpath + "/" + RecipeName) == 0:
set_param_sync("/dashboard", Param)
commands.getoutput("rm " + linkpath)
commands.getoutput("ln -s " + dirpath + "/" + RecipeName + " " +
linkpath)
commands.getoutput("rosparam load " + linkpath + "/param.yaml")
if len(recipe) > 1:
commands.getoutput("rosparam load " + linkpath + "/" +
str(recipe[1]) + ".yaml")
pub_Y3.publish(mTrue)
else:
pub_E3.publish(mFalse)
def cb_button_enable(n, enable):
if enable:
item["button"]['state'] = tk.NORMAL
item["button"]["background"] = litcolor
if "sto" in item: timeout.clear(item["sto"])
item["sto"] = timeout.set(
functools.partial(cb_button_enable, n, False), item["timeout"])
else:
item["button"]['state'] = tk.DISABLED
item["button"]["background"] = maskcolor
if "sto" in item: item.pop("sto")
def cb_runstat(n):
global Launches
item = Launches[n]
if item["state"] == 1:
item["state"] = 2
timeout.set(functools.partial(cb_runstat, n), 1)
elif item["state"] == 2:
if item["process"].poll() is None:
timeout.set(functools.partial(cb_runstat, n), 1)
else:
item["state"] = 3
timeout.set(functools.partial(cb_stop, n), 0)
def cb_mbox_push(n, msg):
if n == 0:
timeout.set(functools.partial(mbox.push, msg), 0)
else:
timeout.set(functools.partial(ebox.push, msg), 0)
def cb_butt_enable(n, msg):
timeout.set(functools.partial(cb_button_enable, n, msg.data), 0)
def cb_redraw():
timeout.set(lambda: pub_redraw.publish(mTrue), 0)
def cb_run(n):
global Launches, msgBox, msgBoxWait
if msgBoxWait is not None: return
item = Launches[n]
if item["state"] == 0:
fg = True
if "pass" in item:
fg = False
alert = ""
w = item["tag"]
msgBox = tk.Toplevel()
geom = "300x130+" + str(
w.winfo_rootx()) + "+" + str(w.winfo_rooty() + 25)
msgBox.geometry(geom)
msgBoxWait = msgBox.after(1000, cb_wait_nop)
msg = "Enter password"
result = pymsgbox.password(root=msgBox, text=msg, geom=geom)
if result[0].startswith('O'): #OK
if result[1] == Config["password"]:
fg = True
else:
alert = "password is incorrect"
elif not result[0].startswith("C"): #Cancel
alert = "enter password error"
if alert:
msgBox.after_cancel(msgBoxWait)
msgBox.destroy()
msgBox = tk.Toplevel()
msgBox.geometry("250x100+" + str(w.winfo_rootx()) + "+" +
str(w.winfo_rooty()))
msgBoxWait = msgBox.after(500, cb_lift)
pymsgbox.alert(root=msgBox, text=alert)
msgBox.after_cancel(msgBoxWait)
msgBoxWait = None
msgBox.destroy()
if fg:
if ".launch" in item["file"]:
cmd = ["roslaunch", item["package"], item["file"]]
else:
cmd = ["xterm", "-e", "rosrun", item["package"], item["file"]]
if "args" in item:
for k in item["args"]:
cmd.append(k + ":=" + str(item["args"][k]))
proc = subprocess.Popen(cmd)
item["tag"]["foreground"] = litcolor
item["tag"]["font"] = boldfont
item["button"]["image"] = stopicon
item["process"] = proc
item["state"] = 1
timeout.set(functools.partial(cb_runstat, n), 3)
if "pre" in item:
print "dash pre", item["pre"]
subprocess.Popen(item["pre"].split())
elif item["state"] == 2:
if "confirm" in item:
if item["confirm"]:
w = item["tag"]
msgBox = tk.Toplevel()
msgBox.geometry("250x100+" + str(w.winfo_rootx()) + "+" +
str(w.winfo_rooty()))
msgBoxWait = msgBox.after(500, cb_lift)
msg = item["label"] + Config["confirm"]
if "message" in Config:
if "halt" in Config["message"]:
msg = Config["message"]["halt"]
elif "launch" in Config["message"]:
msg = Config["message"]["launch"]
elif "label" in Config:
if "confirm" in Config["label"]:
msg = Config["label"]["confirm"]
msg = item["label"] + msg
f = pymsgbox.confirm(root=msgBox,
text=msg,
buttons=['OK', 'CANCEL'])
msgBox.after_cancel(msgBoxWait)
msgBoxWait = None
msgBox.destroy()
if f.startswith("C"): #Cancel
return
item["process"].terminate()
item["state"] = 3
timeout.set(functools.partial(cb_stop, n), 1)
background=maskcolor,
foreground=unlitcolor)
wlabel.pack(side='left', fill='y', anchor='w')
wbtn = tk.Button(root,
image=starticon,
background=bgcolor,
bd=0,
highlightthickness=0,
command=functools.partial(cb_run, n))
wbtn.pack(side='left', fill='y', anchor='w', padx=(0, 10))
item["tag"] = wlabel
item["button"] = wbtn
item["state"] = 0
if "auto" in item:
if item["auto"] >= 0:
timeout.set(functools.partial(cb_run, n), item["auto"])
Launches.append(item)
tk.Button(root,
image=redrawicon,
bd=0,
background=bgcolor,
highlightthickness=0,
command=cb_redraw).pack(side='right', anchor='nw', padx=(0, 0))
#ckeys.sort(reverse=True)
for key in ckeys:
if key.startswith('indic'):
item = Config[key]
n = len(Indicates)
wlabel = tk.Label(root,
text=item["label"],
def cb_report(s):
ss = s.data[-1:-1]
dic = eval(s.data)
timeout.set(functools.partial(to_report, dic), 0)
def cb_update(s):
timeout.set(to_update, 0)
