def __init__(self):
QtGui.QWidget.__init__(self)
UsarsimUi.__init__(self)
self.ui = UsarsimUi()
self.ui.setupUi(self)
''' Local variables, publishers and subscribers'''
self.initialize()
'''
Connect Buttons
'''
self.connect(self.ui.btn_connect, QtCore.SIGNAL("clicked()"), self.connect_to_sim)
self.connect(self.ui.btn_disconnect, QtCore.SIGNAL("clicked()"), self.disconnect_sim)
self.connect(self.ui.btn_spawn, QtCore.SIGNAL("clicked()"), self.spawn_robot)
self.connect(self.ui.btn_send_command, QtCore.SIGNAL("clicked()"), self.send_custom_command)
def __init__(self):
QtGui.QWidget.__init__(self)
UsarsimUi.__init__(self)
self.ui = UsarsimUi()
self.ui.setupUi(self)
''' Local variables, publishers and subscribers'''
self.initialize()
'''
Connect Buttons
'''
self.connect(self.ui.btn_connect, QtCore.SIGNAL("clicked()"),
self.connect_to_sim)
self.connect(self.ui.btn_disconnect, QtCore.SIGNAL("clicked()"),
self.disconnect_sim)
self.connect(self.ui.btn_spawn, QtCore.SIGNAL("clicked()"),
self.spawn_robot)
self.connect(self.ui.btn_send_command, QtCore.SIGNAL("clicked()"),
self.send_custom_command)
class UsarsimManager(QtGui.QWidget, UsarsimUi):
def __init__(self):
QtGui.QWidget.__init__(self)
UsarsimUi.__init__(self)
self.ui = UsarsimUi()
self.ui.setupUi(self)
''' Local variables, publishers and subscribers'''
self.initialize()
'''
Connect Buttons
'''
self.connect(self.ui.btn_connect, QtCore.SIGNAL("clicked()"),
self.connect_to_sim)
self.connect(self.ui.btn_disconnect, QtCore.SIGNAL("clicked()"),
self.disconnect_sim)
self.connect(self.ui.btn_spawn, QtCore.SIGNAL("clicked()"),
self.spawn_robot)
self.connect(self.ui.btn_send_command, QtCore.SIGNAL("clicked()"),
self.send_custom_command)
def initialize(self):
self.pub_status = rospy.Publisher('/executive_usarsim/status', String)
self.sub_status = rospy.Subscriber('/executive_usarsim/status', String,
self.status_callback)
self.ui.btn_disconnect.setEnabled(False)
self.ui.btn_spawn.setEnabled(False)
self.ui.btn_send_command.setEnabled(False)
def connect_to_sim(self):
rospy.loginfo("button clicked")
host = self.ui.line_edit_hostip.text()
port = int(self.ui.line_edit_port.text())
try:
self.sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
except socket.error as msg:
sys.stderr.write("[ERROR] %s\n" % msg)
sys.exit(1)
try:
self.sock.connect((host, port))
except socket.error as msg:
sys.stderr.write("[ERROR] %s\n" % msg)
sys.exit(2)
self.pub_status.publish(
'Connected to Simulator, sending spawn message...')
self.ui.btn_connect.setEnabled(False)
self.ui.btn_disconnect.setEnabled(True)
self.ui.btn_spawn.setEnabled(True)
self.ui.btn_send_command.setEnabled(True)
def disconnect_sim(self):
self.sock.close()
self.ui.btn_connect.setEnabled(True)
self.ui.btn_disconnect.setEnabled(False)
self.ui.btn_spawn.setEnabled(False)
self.ui.btn_send_command.setEnabled(False)
''' Spawn a robot in the simulation '''
def spawn_robot(self):
robot_name = str(self.ui.le_robot_name.text())
x = str(self.ui.loc_x.text())
y = str(self.ui.loc_y.text())
z = str(self.ui.loc_z.text())
spawn_str = 'INIT {ClassName USARBot.' + robot_name + '} {Location ' + x + ',' + y + ',' + z + '}'
print spawn_str
self.sock.send(spawn_str + '\r\n')
self.pub_status.publish('Spawned the Robot ' + robot_name + ' at ' +
x + ',' + y + ',' + z)
def send_custom_command(self):
command = str(self.ui.line_edit_command.text())
self.sock.send(command + '\r\n')
data = self.sock.recv(1024)
self.pub_status.publish('Command Response:' + str(data))
''' Log STATUS messages as they arrive'''
def status_callback(self, status):
msg = '[STATUS] ' + str(status.data)
self.ui.text_status.append(msg)
class UsarsimManager(QtGui.QWidget, UsarsimUi):
def __init__(self):
QtGui.QWidget.__init__(self)
UsarsimUi.__init__(self)
self.ui = UsarsimUi()
self.ui.setupUi(self)
''' Local variables, publishers and subscribers'''
self.initialize()
'''
Connect Buttons
'''
self.connect(self.ui.btn_connect, QtCore.SIGNAL("clicked()"), self.connect_to_sim)
self.connect(self.ui.btn_disconnect, QtCore.SIGNAL("clicked()"), self.disconnect_sim)
self.connect(self.ui.btn_spawn, QtCore.SIGNAL("clicked()"), self.spawn_robot)
self.connect(self.ui.btn_send_command, QtCore.SIGNAL("clicked()"), self.send_custom_command)
def initialize(self):
self.pub_status = rospy.Publisher('/executive_usarsim/status', String)
self.sub_status = rospy.Subscriber('/executive_usarsim/status', String, self.status_callback)
self.ui.btn_disconnect.setEnabled(False)
self.ui.btn_spawn.setEnabled(False)
self.ui.btn_send_command.setEnabled(False)
def connect_to_sim(self):
rospy.loginfo("button clicked")
host = self.ui.line_edit_hostip.text()
port = int( self.ui.line_edit_port.text() )
try:
self.sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
except socket.error as msg:
sys.stderr.write("[ERROR] %s\n" % msg)
sys.exit(1)
try:
self.sock.connect((host, port))
except socket.error as msg:
sys.stderr.write("[ERROR] %s\n" % msg)
sys.exit(2)
self.pub_status.publish('Connected to Simulator, sending spawn message...')
self.ui.btn_connect.setEnabled(False)
self.ui.btn_disconnect.setEnabled(True)
self.ui.btn_spawn.setEnabled(True)
self.ui.btn_send_command.setEnabled(True)
def disconnect_sim(self):
self.sock.close()
self.ui.btn_connect.setEnabled(True)
self.ui.btn_disconnect.setEnabled(False)
self.ui.btn_spawn.setEnabled(False)
self.ui.btn_send_command.setEnabled(False)
''' Spawn a robot in the simulation '''
def spawn_robot(self):
robot_name = str(self.ui.le_robot_name.text())
x = str(self.ui.loc_x.text())
y = str(self.ui.loc_y.text())
z = str(self.ui.loc_z.text())
spawn_str = 'INIT {ClassName USARBot.'+robot_name+'} {Location '+x+','+y+','+z+'}'
print spawn_str
self.sock.send(spawn_str+'\r\n')
self.pub_status.publish('Spawned the Robot '+robot_name+ ' at '+x+','+y+','+z)
def send_custom_command(self):
command = str(self.ui.line_edit_command.text())
self.sock.send(command+'\r\n')
data = self.sock.recv(1024)
self.pub_status.publish('Command Response:'+str(data))
''' Log STATUS messages as they arrive'''
def status_callback(self, status):
msg = '[STATUS] '+str(status.data)
self.ui.text_status.append(msg)