def display_default(self):
"""Displays the default screen.
"""
msg = InterfaceParams()
msg.interface_name = self.robot_type
msg.interface_type = 'default'
self._publish_params(msg)
def display_default(self):
"""Displays the default screen.
"""
msg = InterfaceParams()
msg.interface_name = self.robot_type
msg.interface_type = 'default'
self._publish_params(msg)
def display_message(self, message, duration=None, has_countdown=False):
"""Displays the given message on the screen.
If no duration is given, then the message is shown and this method
returns immediately. Otherwise, this method blocks for the given
duration while the message is being shown.
Args:
message: string. The message to show.
duration: float. The time, in seconds, to show the message, or None to
show the message indefinitely.
"""
msg = InterfaceParams()
msg.interface_type = 'display_message'
msg.interface_name = self.robot_type
msg.keys = ['message']
if has_countdown:
if duration is not None:
start_time = rospy.Time().now()
time_remaining = duration
displayed_time_remaining = None
while (time_remaining > 0):
if displayed_time_remaining != int(time_remaining):
displayed_time_remaining = int(time_remaining)
displayed_message = (message + '\n Time remaing:' +
str(displayed_time_remaining) +
' seconds')
msg.values = [displayed_message]
self._publish_params(msg)
time.sleep(0.05)
time_remaining = duration - (rospy.Time().now() -
start_time).to_sec()
self.display_default()
else:
rospy.logerr('Cannot count down without a specified duration.')
else:
msg.values = [message]
self._publish_params(msg)
if duration is not None:
rospy.sleep(duration)
self.display_default()
def display_message(self, message, duration=None, has_countdown=False):
"""Displays the given message on the screen.
If no duration is given, then the message is shown and this method
returns immediately. Otherwise, this method blocks for the given
duration while the message is being shown.
Args:
message: string. The message to show.
duration: float. The time, in seconds, to show the message, or None to
show the message indefinitely.
"""
msg = InterfaceParams()
msg.interface_type = 'display_message'
msg.interface_name = self.robot_type
msg.keys = ['message']
if has_countdown:
if duration is not None:
start_time = rospy.Time().now()
time_remaining = duration
displayed_time_remaining = None
while (time_remaining > 0):
if displayed_time_remaining != int(time_remaining):
displayed_time_remaining = int(time_remaining)
displayed_message = (message + '\n Time remaing:' +
str(displayed_time_remaining) + ' seconds')
msg.values = [displayed_message]
self._publish_params(msg)
time.sleep(0.05)
time_remaining = duration - (rospy.Time().now() - start_time).to_sec()
self.display_default()
else:
rospy.logerr('Cannot count down without a specified duration.')
else:
msg.values = [message]
self._publish_params(msg)
if duration is not None:
rospy.sleep(duration)
self.display_default()
def ask_choice(self, message, choices, timeout=None, has_countdown=False):
"""Asks the user a multiple choice question.
Displays a button for each choice in choices. This method blocks until
the given timeout. If the timeout is exceeded, then None is returned.
If no timeout is supplied, then this method blocks until a response is
given.
Args:
message: string. The question to ask.
choices: list of strings. The choices to offer to the user.
timeout: float. The time, in seconds, to wait for a response, or None
to wait forever.
Returns: string. The choice that was selected.
"""
msg = InterfaceParams()
msg.interface_type = 'ask_choice'
msg.interface_name = self.robot_type
prompt_id = str(random.randint(0, 1000000))
msg.keys = ['message', 'choices', 'prompt_id']
msg.values = [message, json.dumps(choices), prompt_id]
self._publish_params(msg)
# A workaround for the fact that you can't provide services in roslibjs.
# Normally, we would call a service to set the interface and get the user
# response, but we can only communicate over topics. We include a random ID
# with the request and response messages and check if the IDs match.
submission = None
response_prompt_id = None # The prompt_id returned in the response.
timeout_remaining = timeout
choice = None
while response_prompt_id != prompt_id:
start_time = rospy.Time().now()
submission = rospy.wait_for_message(
'robot_eup/interface/interface_submission',
InterfaceSubmission, timeout_remaining)
# If a timeout is set, then possibly break out of the loop.
wait_duration = (rospy.Time().now() - start_time).to_sec()
if timeout is not None:
timeout_remaining = timeout - wait_duration
if timeout_remaining <= 0:
break
if submission is None:
continue
if submission.interface_type != 'ask_choice':
continue
if len(submission.keys) != len(submission.values):
rospy.logerr('[Interface]: unequal keys and values.')
break
params = {}
for k, v in zip(submission.keys, submission.values):
params[k] = v
if 'prompt_id' not in params:
rospy.logerr('[Interface]: no prompt_id given.')
break
response_prompt_id = params['prompt_id']
if response_prompt_id != prompt_id:
continue
if 'choice' not in params:
rospy.logerr('[Interface]: no choice given.')
break
choice = params['choice']
self.display_default()
return choice
def ask_choice(self, message, choices, timeout=None, has_countdown=False):
"""Asks the user a multiple choice question.
Displays a button for each choice in choices. This method blocks until
the given timeout. If the timeout is exceeded, then None is returned.
If no timeout is supplied, then this method blocks until a response is
given.
Args:
message: string. The question to ask.
choices: list of strings. The choices to offer to the user.
timeout: float. The time, in seconds, to wait for a response, or None
to wait forever.
Returns: string. The choice that was selected.
"""
msg = InterfaceParams()
msg.interface_type = 'ask_choice'
msg.interface_name = self.robot_type
prompt_id = str(random.randint(0, 1000000))
msg.keys = ['message', 'choices', 'prompt_id']
msg.values = [message, json.dumps(choices), prompt_id]
self._publish_params(msg)
# A workaround for the fact that you can't provide services in roslibjs.
# Normally, we would call a service to set the interface and get the user
# response, but we can only communicate over topics. We include a random ID
# with the request and response messages and check if the IDs match.
submission = None
response_prompt_id = None # The prompt_id returned in the response.
timeout_remaining = timeout
choice = None
while response_prompt_id != prompt_id:
start_time = rospy.Time().now()
submission = rospy.wait_for_message(
'robot_eup/interface/interface_submission',
InterfaceSubmission, timeout_remaining)
# If a timeout is set, then possibly break out of the loop.
wait_duration = (rospy.Time().now() - start_time).to_sec()
if timeout is not None:
timeout_remaining = timeout - wait_duration
if timeout_remaining <= 0:
break
if submission is None:
continue
if submission.interface_type != 'ask_choice':
continue
if len(submission.keys) != len(submission.values):
rospy.logerr('[Interface]: unequal keys and values.')
break
params = {}
for k, v in zip(submission.keys, submission.values):
params[k] = v
if 'prompt_id' not in params:
rospy.logerr('[Interface]: no prompt_id given.')
break
response_prompt_id = params['prompt_id']
if response_prompt_id != prompt_id:
continue
if 'choice' not in params:
rospy.logerr('[Interface]: no choice given.')
break
choice = params['choice']
self.display_default()
return choice
