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_run(n):
global Launches, msgBox, msgBoxWait
if msgBoxWait is not None: return
item = Launches[n]
if item["state"] == 0:
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, 2)), 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.Tk()
msgBox.title("Confirm")
msgBox.geometry("100x30+" + str(w.winfo_rootx()) + "+" +
str(w.winfo_rooty() + 30))
msgBoxWait = msgBox.after(Config["autoclose"] * 1000,
cb_autoclose)
msg = 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"]
f = tkMessageBox.askyesno("Confirm", msg, parent=msgBox)
if msgBoxWait is None: return
msgBox.after_cancel(msgBoxWait)
msgBoxWait = None
msgBox.destroy()
if f is False: return
item["process"].terminate()
item["state"] = 3
timeout.set(functools.partial(cb_stop, n), 1)
if "post" in item:
print "dash post", item["post"]
subprocess.Popen(item["post"].split())
def cb_display(n):
global Displays
item = Displays[n]
widget = item["tag"]
try:
val = str(rospy.get_param(item["name"]))
if val != widget["text"]:
widget.configure(text=val)
except Exception:
print "cb_display::get param failed", item["name"]
n = n + 1
if n >= len(Displays): n = 0
timeout.set(functools.partial(cb_display, n), 0.5)
def cb_load(msg):
if wRecipe is None: return
Param["recipe"]=msg.data
timeout.set(functools.partial(cb_wRecipe,Param["recipe"]),0)
if os.system("ls "+dirpath+"/"+Param["recipe"])==0:
rospy.set_param("/dashboard",Param)
commands.getoutput("rm "+linkpath+";ln -s "+dirpath+"/"+Param["recipe"]+" "+linkpath)
commands.getoutput("rosparam load "+linkpath+"/param.yaml")
res=Bool(); res.data=True; pub_Y3.publish(res)
pub_msg.publish("recipe_manager::cb_load "+Param["recipe"])
else:
pub_E3.publish(Bool())
pub_msg.publish("recipe_manager::cb_load failed "+Param["recipe"])
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_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_redraw():
timeout.set(lambda: pub_redraw.publish(mTrue), 0)
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_update(s): timeout.set(to_update,0)
def cb_report(s): ss=s.data[-1:-1] dic=eval(s.data) timeout.set(functools.partial(to_report,dic),0)
