def queue_program(username, password, label):
queue = ProgramQueue(username, password)
try:
rc = queue.login()
except:
rc = False
if not rc:
QMessageBox.critical(
main_window, main_window.tr('Login failed'),
main_window.tr('Could not log in to the program queue.'))
return
output = StringIO()
storage = SimpleFormat(output)
serialize(storage)
program_data = output.getvalue()
output.close()
try:
id = queue.upload_program(program_data, label)
except:
id = False
if not id:
QMessageBox.critical(
main_window, main_window.tr('Upload failed'),
main_window.tr('Could not upload program to queue.'))
return
try:
queue.logout()
except:
pass
QMessageBox.information(
main_window, main_window.tr('Uploaded program'),
main_window.tr('Uploaded program (%d) successfully.') % id)
def change_input_method():
global manniquin_controllers_loaded
global joint_observer
index = main_window.input_method_comboBox.currentIndex()
input_method = main_window.input_method_comboBox.itemData(index)
print 'change_input_method()', index
manniquin_controllers = ['r_arm_controller_loose', 'l_arm_controller_loose', 'head_traj_controller_loose']
standard_controllers = ['r_arm_controller', 'l_arm_controller', 'head_traj_controller']
if input_method == INPUT_METHOD_ROBOT:
# setup controllers for manniquin mode
if not manniquin_controllers_loaded:
# load controllers once
print 'change_input_method()', 'load manniquin controllers'
manniquin_controllers_loaded = load_controllers(manniquin_controllers)
if not manniquin_controllers_loaded:
QMessageBox.critical(main_window, main_window.tr('Loading controllers failed'), main_window.tr('Could not load manniquin controllers.'))
# switch to manniquin controllers
success = switch_controllers(manniquin_controllers, standard_controllers)
if success:
joint_observer.start()
else:
# restore standard controllers
success = switch_controllers(standard_controllers, manniquin_controllers)
if success:
joint_observer.stop()
if not success:
QMessageBox.critical(main_window, main_window.tr('Switching controllers failed'), main_window.tr('Could not switch controllers.'))
def queue_program(username, password, label):
queue = ProgramQueue(username, password)
try:
rc = queue.login()
except:
rc = False
if not rc:
QMessageBox.critical(main_window, main_window.tr('Login failed'), main_window.tr('Could not log in to the program queue.'))
return
output = StringIO()
storage = SimpleFormat(output)
serialize(storage)
program_data = output.getvalue()
output.close()
try:
id = queue.upload_program(program_data, label)
except:
id = False
if not id:
QMessageBox.critical(main_window, main_window.tr('Upload failed'), main_window.tr('Could not upload program to queue.'))
return
try:
queue.logout()
except:
pass
QMessageBox.information(main_window, main_window.tr('Uploaded program'), main_window.tr('Uploaded program (%d) successfully.') % id)
def save_screenshot():
path = os.path.expanduser('~')
filename_template = 'robot-%d.png'
serial = 1
while True:
filename = os.path.join(path, filename_template % serial)
if not os.path.exists(filename):
break
serial += 1
widget = robot_view.children()[0]
pixmap = QPixmap.grabWindow(widget.winId())
rc = pixmap.save(filename)
if rc:
QMessageBox.information(main_window, main_window.tr('Saved screenshot'), main_window.tr('Screenshot saved in file: %s') % filename)
else:
QMessageBox.critical(main_window, main_window.tr('Saving screenshot failed'), main_window.tr('Could not save screenshot.'))
def save_screenshot():
path = os.path.expanduser('~')
filename_template = 'robot-%d.png'
serial = 1
while True:
filename = os.path.join(path, filename_template % serial)
if not os.path.exists(filename):
break
serial += 1
widget = robot_view.children()[0]
pixmap = QPixmap.grabWindow(widget.winId())
rc = pixmap.save(filename)
if rc:
QMessageBox.information(
main_window, main_window.tr('Saved screenshot'),
main_window.tr('Screenshot saved in file: %s') % filename)
else:
QMessageBox.critical(main_window,
main_window.tr('Saving screenshot failed'),
main_window.tr('Could not save screenshot.'))
def change_input_method():
global manniquin_controllers_loaded
global joint_observer
index = main_window.input_method_comboBox.currentIndex()
input_method = main_window.input_method_comboBox.itemData(index)
print 'change_input_method()', index
manniquin_controllers = [
'r_arm_controller_loose', 'l_arm_controller_loose',
'head_traj_controller_loose'
]
standard_controllers = [
'r_arm_controller', 'l_arm_controller', 'head_traj_controller'
]
if input_method == INPUT_METHOD_ROBOT:
# setup controllers for manniquin mode
if not manniquin_controllers_loaded:
# load controllers once
print 'change_input_method()', 'load manniquin controllers'
manniquin_controllers_loaded = load_controllers(
manniquin_controllers)
if not manniquin_controllers_loaded:
QMessageBox.critical(
main_window, main_window.tr('Loading controllers failed'),
main_window.tr('Could not load manniquin controllers.'))
# switch to manniquin controllers
success = switch_controllers(manniquin_controllers,
standard_controllers)
if success:
joint_observer.start()
else:
# restore standard controllers
success = switch_controllers(standard_controllers,
manniquin_controllers)
if success:
joint_observer.stop()
if not success:
QMessageBox.critical(main_window,
main_window.tr('Switching controllers failed'),
main_window.tr('Could not switch controllers.'))
