class UICoreRos(UICore):
"""The class builds on top of UICore and adds ROS-related stuff and application logic.
Attributes:
user_status (UserStatus): current user tracking status
fsm (FSM): state machine maintaining current state of the interface and proper transitions between states
state_manager (interface_state_manager): synchronization of interfaces within the ARTable system
scene_pub (rospy.Publisher): publisher for scene images
last_scene_update (rospy.Time): time when the last scene image was published
scene_img_deq (Queue.Queue): thread-safe queue for scene images (which are published in separate thread)
projectors (list): array of ProjectorHelper instances
art (ArtApiHelper): easy access to ARTable services
"""
def __init__(self):
origin = rospy.get_param("scene_origin")
size = rospy.get_param("scene_size")
rpm = rospy.get_param("rpm")
port = rospy.get_param("scene_server_port")
super(UICoreRos, self).__init__(origin[0], origin[1], size[0], size[1],
rpm, port)
QtCore.QObject.connect(self, QtCore.SIGNAL('objects'),
self.object_cb_evt)
QtCore.QObject.connect(self, QtCore.SIGNAL('user_status'),
self.user_status_cb_evt)
QtCore.QObject.connect(self, QtCore.SIGNAL('interface_state'),
self.interface_state_evt)
QtCore.QObject.connect(self,
QtCore.SIGNAL('touch_calibration_points_evt'),
self.touch_calibration_points_evt)
QtCore.QObject.connect(self, QtCore.SIGNAL('touch_detected_evt'),
self.touch_detected_evt)
QtCore.QObject.connect(self, QtCore.SIGNAL('notify_user_evt'),
self.notify_user_evt)
QtCore.QObject.connect(self,
QtCore.SIGNAL('learning_request_done_evt'),
self.learning_request_done_evt)
self.user_state = None
self.program_list = None
self.program_vis = None
self.template = False # TODO this should be stored in program_vis?
self.last_prog_pos = (0.2, self.height - 0.2)
self.last_edited_prog_id = None
self.ph = ProgramHelper()
cursors = rospy.get_param("~cursors", [])
for cur in cursors:
PoseStampedCursorItem(self.scene, cur)
TouchTableItem(
self.scene, '/art/interface/touchtable/touch',
list(self.get_scene_items_by_type(PoseStampedCursorItem)))
self.stop_btn = ButtonItem(self.scene, 0, 0, "STOP", None,
self.stop_btn_clicked, 2.0, QtCore.Qt.red)
self.stop_btn.setPos(
self.scene.width() - self.stop_btn.boundingRect().width() - 300,
self.scene.height() - self.stop_btn.boundingRect().height() - 60)
self.stop_btn.set_enabled(True)
self.projectors = []
projs = rospy.get_param("~projectors", [])
for proj in projs:
self.projectors.append(ProjectorHelper(proj))
rospy.loginfo("Waiting for /art/brain/learning_request")
self.learning_action_cl = actionlib.SimpleActionClient(
'/art/brain/learning_request', LearningRequestAction)
self.learning_action_cl.wait_for_server()
self.art = ArtApiHelper()
self.projectors_calibrated_pub = rospy.Publisher(
"~projectors_calibrated", Bool, queue_size=1, latch=True)
self.projectors_calibrated_pub.publish(False)
self.start_learning_srv = rospy.ServiceProxy(
'/art/brain/learning/start',
startProgram) # TODO wait for service? where?
self.stop_learning_srv = rospy.ServiceProxy(
'/art/brain/learning/stop',
Trigger) # TODO wait for service? where?
self.program_pause_srv = rospy.ServiceProxy('/art/brain/program/pause',
Trigger)
self.program_resume_srv = rospy.ServiceProxy(
'/art/brain/program/resume', Trigger)
self.program_stop_srv = rospy.ServiceProxy('/art/brain/program/stop',
Trigger)
self.emergency_stop_srv = rospy.ServiceProxy(
'/pr2_ethercat/halt_motors',
EmptyService) # TODO wait for service? where?
self.emergency_stop_reset_srv = rospy.ServiceProxy(
'/pr2_ethercat/reset_motors',
EmptyService) # TODO wait for service? where?
self.program_error_resolve_srv = rospy.ServiceProxy(
'/art/brain/program/error_response',
ProgramErrorResolve) # TODO wait for service? where?
self.program_error_dialog = None
self.grasp_dialog = None
self.emergency_stopped = False
rospy.loginfo("Waiting for ART services...")
self.art.wait_for_api()
rospy.loginfo("Ready! Starting state machine.")
# TODO move this to ArtApiHelper ??
self.obj_sub = rospy.Subscriber('/art/object_detector/object_filtered',
InstancesArray,
self.object_cb,
queue_size=1)
self.user_status_sub = rospy.Subscriber('/art/user/status',
UserStatus,
self.user_status_cb,
queue_size=1)
self.touch_points = None
self.touch_calib_srv = rospy.Service(
'/art/interface/projected_gui/touch_calibration',
TouchCalibrationPoints, self.touch_calibration_points_cb)
self.notify_user_srv = rospy.Service(
'/art/interface/projected_gui/notify_user', NotifyUser,
self.notify_user_srv_cb)
proj_calib = True
if len(self.projectors) > 0:
rospy.loginfo("Waiting for projector nodes...")
for proj in self.projectors:
proj.wait_until_available()
if not proj.is_calibrated():
proj_calib = False
if proj_calib:
rospy.loginfo('Projectors already calibrated.')
self.projectors_calibrated_pub.publish(True)
else:
rospy.loginfo(
'Projectors not calibrated yet - waiting for command...')
self.projector_calib_srv = rospy.Service(
'/art/interface/projected_gui/calibrate_projectors', Trigger,
self.calibrate_projectors_cb)
self.state_manager = InterfaceStateManager("PROJECTED UI",
cb=self.interface_state_cb)
def touch_calibration_points_evt(self, pts):
for it in self.scene.items():
if isinstance(it, LabelItem):
continue
it.setVisible(False) # TODO remember settings (how?)
self.notif(translate(
"UICoreRos",
"Touch table calibration started. Please press the white point."),
temp=False)
self.touch_points = TouchPointsItem(self.scene, pts)
def save_gripper_pose_cb(self, idx):
topics = [
'/art/pr2/right_arm/gripper/pose', '/art/pr2/left_arm/gripper/pose'
]
# wait for message, set pose
try:
ps = rospy.wait_for_message(topics[idx], PoseStamped, timeout=2)
except (rospy.ROSException) as e:
rospy.logerr(str(e))
self.notif(translate("UICoreRos", "Failed to store gripper pose."),
temp=False)
return
self.notif(translate("UICoreRos", "Gripper pose stored."), temp=False)
self.program_vis.set_pose(ps)
def touch_calibration_points_cb(self, req):
resp = TouchCalibrationPointsResponse()
pts = []
for pt in req.points:
pts.append((pt.point.x, pt.point.y))
self.emit(QtCore.SIGNAL('touch_calibration_points_evt'), pts)
self.touched_sub = rospy.Subscriber(
'/art/interface/touchtable/touch_detected',
Empty,
self.touch_detected_cb,
queue_size=10)
resp.success = True
return resp
def touch_detected_evt(self, msg):
if self.touch_points is None:
return
if not self.touch_points.next():
self.notif(translate("UICoreRos", "Touch saved."), temp=True)
for it in self.scene.items():
if isinstance(it, LabelItem):
continue
# TODO fix this - in makes visible even items that are invisible by purpose
it.setVisible(True)
self.notif(translate("UICoreRos",
"Touch table calibration finished."),
temp=False)
self.scene.removeItem(self.touch_points)
self.touch_points = None
self.touched_sub.unregister()
else:
self.notif(translate("UICoreRos", "Touch saved."), temp=True)
self.notif(translate("UICoreRos", "Please press the next point."),
temp=False)
def touch_detected_cb(self, msg):
self.emit(QtCore.SIGNAL('touch_detected_evt'), msg)
def calibrate_projectors_cb(self, req):
resp = TriggerResponse()
resp.success = True
# call to start_projector_calibration is blocking
self.proj_calib_timer = rospy.Timer(rospy.Duration(0.001),
self.start_projector_calibration,
oneshot=True)
return resp
def notify_user_srv_cb(self, req):
self.emit(QtCore.SIGNAL('notify_user_evt'), req)
return NotifyUserResponse()
def notify_user_evt(self, req):
# TODO message should be displayed until user closes it
if req.duration == rospy.Duration(0):
self.notif(req.message, message_type=req.type)
else:
self.notif(req.message,
min_duration=req.duration.to_sec(),
temp=True,
message_type=req.type)
def stop_btn_clicked(self, btn):
try:
if self.emergency_stopped:
self.emergency_stop_reset_srv.call()
self.emergency_stopped = False
self.stop_btn.set_caption("STOP")
self.stop_btn.set_background_color(QtCore.Qt.red)
self.notif(translate("UICoreRos", "Resetting motors"),
temp=True)
else:
self.emergency_stop_srv.call()
self.emergency_stopped = True
self.stop_btn.set_caption("RUN")
self.stop_btn.set_background_color(QtCore.Qt.green)
self.notif(translate("UICoreRos", "Emergency stop pressed"),
temp=True)
except rospy.service.ServiceException:
self.notif(translate("UICoreRos", "Failed to stop/run robot."),
temp=True)
def program_error_dialog_cb(self, idx):
req = ProgramErrorResolveRequest()
req.user_response_type = idx + 1
resp = None
try:
resp = self.program_error_resolve_srv(req)
except rospy.ServiceException as e:
rospy.logerr("Service call failed: " + str(e))
if resp is None or not resp.success:
self.notif(translate("UICoreRos",
"System failure: failed to resolve error."),
temp=True)
self.scene.removeItem(self.program_error_dialog)
self.program_error_dialog = None
def interface_state_evt(self, old_state, state, flags):
system_state_changed = old_state.system_state != state.system_state
if system_state_changed:
rospy.logdebug("New system state: " + str(state.system_state) +
", was: " + str(old_state.system_state))
self.clear_all(True)
if state.error_severity == InterfaceState.NONE and self.program_error_dialog is not None:
# hide dialog
self.scene.removeItem(self.program_error_dialog)
self.program_error_dialog = None
# display info/warning/error if there is any - only once (on change)
if state.error_severity != old_state.error_severity:
if state.error_severity == InterfaceState.INFO:
self.notif(translate("UICoreRos", "Error occurred: ") +
error_strings.get_error_string(state.error_code),
temp=True)
elif state.error_severity == InterfaceState.WARNING:
# TODO translate error number to error message
self.program_error_dialog = DialogItem(
self.scene, self.width / 2, 0.1,
translate("UICoreRos", "Handle error: ") +
error_strings.get_error_string(state.error_code), [
translate("UICoreRos", "Try again"),
translate("UICoreRos", "Skip instruction"),
translate("UICoreRos", "Fail instruction"),
translate("UICoreRos", "End program")
], self.program_error_dialog_cb)
# TODO what to do with SEVERE?
if state.system_state == InterfaceState.STATE_PROGRAM_FINISHED:
if system_state_changed:
self.notif(translate("UICoreRos", "The program is done."))
elif state.system_state == InterfaceState.STATE_IDLE:
if system_state_changed:
self.show_program_list()
elif state.system_state == InterfaceState.STATE_LEARNING:
self.state_learning(old_state, state, flags, system_state_changed)
elif state.system_state in [
InterfaceState.STATE_PROGRAM_RUNNING,
InterfaceState.STATE_PROGRAM_STOPPED
]:
self.state_running(old_state, state, flags, system_state_changed)
def interface_state_cb(self, old_state, state, flags):
# print state
self.emit(QtCore.SIGNAL('interface_state'), old_state, state, flags)
def state_running(self, old_state, state, flags, system_state_changed):
if system_state_changed:
if not self.ph.load(self.art.load_program(state.program_id)):
self.notif(
translate("UICoreRos",
"Failed to load program from database."))
# TODO what to do?
return
stopped = state.system_state == InterfaceState.STATE_PROGRAM_STOPPED
self.show_program_vis(readonly=True, stopped=stopped)
if stopped:
self.notif(translate("UICoreRos", "Program paused."),
temp=True)
if not stopped and old_state.system_state == InterfaceState.STATE_PROGRAM_STOPPED:
self.notif(translate("UICoreRos", "Program resumed."),
temp=True)
# ignore not valid states
if state.block_id == 0 or state.program_current_item.id == 0:
rospy.logerr("Invalid state!")
return
# TODO if the item id is same - do rather update then clear + add everything?
self.clear_all()
self.program_vis.set_active(state.block_id,
state.program_current_item.id)
it = state.program_current_item
if it.type == ProgIt.GET_READY:
self.notif(translate("UICoreRos", "Robot is getting ready"))
elif it.type == ProgIt.WAIT_FOR_USER:
self.notif(translate("UICoreRos", "Waiting for user"))
elif it.type == ProgIt.WAIT_UNTIL_USER_FINISHES:
self.notif(translate("UICoreRos", "Waiting for user to finish"))
elif it.type == ProgIt.PICK_FROM_POLYGON:
obj_id = None
try:
obj_id = flags["SELECTED_OBJECT_ID"]
except KeyError:
rospy.logerr(
"PICK_FROM_POLYGON: SELECTED_OBJECT_ID flag not set")
if obj_id is not None:
self.select_object(obj_id)
obj = self.get_object(obj_id) # TODO notif - object type
if obj is not None:
self.notif(
translate("UICoreRos", "Going to pick object ID ") +
obj_id + translate("UICoreRos", " of type ") +
obj.object_type.name +
translate("UICoreRos", " from polygon."))
self.add_polygon(
translate("UICoreRos", "PICK POLYGON"),
poly_points=conversions.get_pick_polygon_points(it),
fixed=True)
elif it.type == ProgIt.PICK_FROM_FEEDER:
# TODO PICK_FROM_FEEDER
pass
elif it.type == ProgIt.PICK_OBJECT_ID:
self.notif(
translate("UICoreRos", "Picking object with ID=") +
it.object[0])
self.select_object(it.object[0])
elif it.type == ProgIt.PLACE_TO_POSE:
try:
obj_id = flags["SELECTED_OBJECT_ID"]
except KeyError:
rospy.logerr("PLACE_TO_POSE: SELECTED_OBJECT_ID flag not set")
return
obj = self.get_object(obj_id)
if obj is not None:
self.add_place(translate("UICoreRos", "OBJECT PLACE POSE"),
it.pose[0],
obj.object_type,
obj_id,
fixed=True)
elif it.type == ProgIt.PLACE_TO_GRID:
ref_msg = self.program_vis.get_ref_item(
it.ref_id) # obtaining reference instruction
if ref_msg.type == ProgIt.PICK_OBJECT_ID:
obj = self.get_object(ref_msg.object[0])
object_type = obj.object_type
self.program_vis.get_current_item().object[0] = obj.object_id
else:
object_type = self.art.get_object_type(ref_msg.object[0])
self.program_vis.get_current_item(
).object[0] = ref_msg.object[0]
self.notif(
translate("UICoreRos", "Going to place object into grid"))
self.add_square(
translate("UICoreRos", "PLACE SQUARE GRID"),
self.width / 2,
self.height / 2,
0.1,
0.075,
object_type,
it.pose,
grid_points=conversions.get_pick_polygon_points(it),
square_changed=self.square_changed,
fixed=True)
def show_program_vis(self, readonly=False, stopped=False):
rospy.logdebug("Showing ProgramItem with readonly=" + str(readonly) +
", stopped=" + str(stopped))
self.program_vis = ProgramItem(
self.scene,
self.last_prog_pos[0],
self.last_prog_pos[1],
self.ph,
done_cb=self.learning_done_cb,
item_switched_cb=self.active_item_switched,
learning_request_cb=self.learning_request_cb,
stopped=stopped,
pause_cb=self.pause_cb,
cancel_cb=self.cancel_cb)
self.program_vis.set_readonly(readonly)
def pause_cb(self):
if self.state_manager.state.system_state == InterfaceState.STATE_PROGRAM_STOPPED:
# TODO call trigger service method
try:
resp = self.program_resume_srv()
except rospy.ServiceException:
pass
if resp is not None and resp.success:
return True
else:
self.notif(translate("UICoreRos", "Failed to resume program."),
temp=True)
return False
elif self.state_manager.state.system_state == InterfaceState.STATE_PROGRAM_RUNNING:
try:
resp = self.program_pause_srv()
except rospy.ServiceException:
pass
if resp is not None and resp.success:
self.notif(translate("UICoreRos", "Program paused."),
temp=True)
return True
else:
self.notif(translate("UICoreRos", "Failed to pause program."),
temp=True)
return True
else:
rospy.logdebug(
"Attempt to pause/resume program in strange state: " +
str(self.state_manager.state.system_state))
return False
def cancel_cb(self):
if self.state_manager.state.system_state in [
InterfaceState.STATE_PROGRAM_RUNNING,
InterfaceState.STATE_PROGRAM_STOPPED
]:
try:
resp = self.program_stop_srv()
except rospy.ServiceException:
pass
if resp is not None and resp.success:
self.notif(translate("UICoreRos", "Program stopped."),
temp=True)
return True
else:
self.notif(translate("UICoreRos", "Failed to stop program."),
temp=True)
return True
else:
rospy.logdebug("Attempt to stop program in strange state: " +
str(self.state_manager.state.system_state))
return False
def clear_all(self, include_dialogs=False):
rospy.logdebug("Clear all")
super(UICoreRos, self).clear_all()
if include_dialogs:
for it in [self.program_list, self.program_vis]:
if it is None:
continue
try:
self.last_prog_pos = it.get_pos()
except AttributeError:
pass
break
for it in [
self.program_error_dialog, self.grasp_dialog,
self.program_vis, self.program_list
]:
if it is None:
continue
self.remove_scene_items_by_type(type(it))
it = None
def state_learning(self, old_state, state, flags, system_state_changed):
if system_state_changed:
self.last_edited_prog_id = state.program_id
if not self.ph.load(self.art.load_program(state.program_id)):
self.notif(
translate("UICoreRos",
"Failed to load program from database."))
# TODO what to do?
return
if state.block_id != 0 and state.program_current_item.id != 0:
# there may be unsaved changes - let's use ProgramItem from brain
self.ph.set_item_msg(state.block_id,
state.program_current_item)
self.show_program_vis()
if state.block_id == 0 or state.program_current_item.id == 0:
rospy.logerr("Invalid state!")
return
if old_state.block_id != state.block_id or old_state.program_current_item.id != state.program_current_item.id:
self.clear_all()
# TODO overit funkcnost - pokud ma state novejsi timestamp nez nas - ulozit ProgramItem
if old_state.timestamp == rospy.Time(
0
) or old_state.timestamp - state.timestamp > rospy.Duration(0):
rospy.logdebug('Got state with newer timestamp!')
item = self.ph.get_item_msg(state.block_id,
state.program_current_item.id)
item = state.program_current_item
self.clear_all()
self.learning_vis(state.block_id, state.program_current_item.id,
not state.edit_enabled)
def learning_vis(self, block_id, item_id, read_only):
if not self.ph.item_requires_learning(block_id, item_id):
self.notif(translate("UICoreRos", "Item has no parameters."))
return
self.program_vis.editing_item = not read_only
# TODO Edit/Done button not visible when there is work in progress!
if block_id != self.program_vis.block_id or item_id != self.program_vis.item_id:
self.program_vis.set_active(block_id, item_id)
msg = self.ph.get_item_msg(block_id, item_id)
if self.ph.item_learned(block_id, item_id):
self.notif(
translate("UICoreRos", "This program item seems to be done"))
else:
if msg.type in [
ProgIt.PICK_FROM_POLYGON, ProgIt.PICK_FROM_FEEDER,
ProgIt.PICK_OBJECT_ID, ProgIt.PLACE_TO_POSE
]:
self.notif(
translate("UICoreRos",
"Program current manipulation task"))
if msg.type == ProgIt.PICK_FROM_POLYGON:
if not self.ph.is_object_set(block_id, item_id):
self.notif(translate("UICoreRos",
"Select object type to be picked up"),
temp=True)
else:
self.select_object_type(msg.object[0])
if self.ph.is_polygon_set(block_id, item_id):
self.add_polygon(
translate("UICoreRos", "PICK POLYGON"),
poly_points=conversions.get_pick_polygon_points(msg),
polygon_changed=self.polygon_changed,
fixed=read_only)
elif msg.type == ProgIt.PICK_FROM_FEEDER:
if self.state_manager.state.edit_enabled and self.grasp_dialog is None:
self.grasp_dialog = DialogItem(self.scene, self.width / 2, 0.1,
"Save gripper pose",
["Right arm", "Left arm"],
self.save_gripper_pose_cb)
if self.ph.is_object_set(block_id, item_id):
self.select_object_type(msg.object[0])
else:
self.notif(translate("UICoreRos",
"Select object type to be picked up"),
temp=True)
# TODO show pick pose somehow (arrow??)
elif msg.type == ProgIt.PICK_OBJECT_ID:
if self.ph.is_object_set(block_id, item_id):
self.select_object(msg.object[0])
else:
self.notif(translate("UICoreRos",
"Select object to be picked up"),
temp=True)
elif msg.type == ProgIt.PLACE_TO_POSE:
if not self.ph.is_object_set(block_id, msg.ref_id[0]):
self.notif(
translate("UICoreRos",
"Select object to be picked up in ID=") +
str(msg.ref_id[0]))
else:
# TODO what to do with more than 1 reference?
ref_msg = self.ph.get_item_msg(block_id, msg.ref_id[0])
if ref_msg.type == ProgIt.PICK_OBJECT_ID:
obj = self.get_object(ref_msg.object[0])
object_type = obj.object_type
object_id = obj.object_id
self.select_object(ref_msg.object[0])
else:
object_type = self.art.get_object_type(ref_msg.object[0])
object_id = None
self.select_object_type(ref_msg.object[0])
if self.ph.is_object_set(block_id, msg.ref_id[0]):
if self.ph.is_pose_set(block_id, item_id):
if object_type is not None:
self.add_place(translate("UICoreRos",
"OBJECT PLACE POSE"),
msg.pose[0],
object_type,
object_id,
place_cb=self.place_pose_changed,
fixed=read_only)
else:
self.notif(
translate("UICoreRos",
"Set where to place picked object"))
self.add_place(translate("UICoreRos",
"OBJECT PLACE POSE"),
self.get_def_pose(),
object_type,
object_id,
place_cb=self.place_pose_changed,
fixed=read_only)
elif msg.type == ProgIt.PLACE_TO_GRID:
ref_msg = self.program_vis.get_ref_item(
msg.ref_id) # obtaining reference instruction
if ref_msg.type == ProgIt.PICK_OBJECT_ID:
obj = self.get_object(ref_msg.object[0])
object_type = obj.object_type
self.program_vis.get_current_item().object[0] = obj.object_id
else:
object_type = self.art.get_object_type(ref_msg.object[0])
self.program_vis.get_current_item(
).object[0] = ref_msg.object[0]
self.notif(translate("UICoreRos", "Place grid"))
self.add_square(
translate("UICoreRos", "PLACE SQUARE GRID"),
self.width / 2,
self.height / 2,
0.1,
0.075,
object_type,
msg.pose,
grid_points=conversions.get_pick_polygon_points(msg),
square_changed=self.square_changed,
fixed=read_only)
def active_item_switched(self, block_id, item_id, read_only=True):
rospy.logdebug("Program ID:" + str(self.ph.get_program_id()) +
", active item ID: " + str((block_id, item_id)))
self.clear_all()
if item_id is None:
# TODO hlaska
return
self.learning_vis(block_id, item_id, read_only)
self.state_manager.update_program_item(
self.ph.get_program_id(), block_id,
self.ph.get_item_msg(block_id, item_id))
def get_def_pose(self):
ps = PoseStamped()
ps.pose.position.x = self.width / 2
ps.pose.position.y = self.height / 2
ps.pose.orientation.w = 1.0
return ps
def place_pose_changed(self, place):
if self.program_vis.editing_item:
self.program_vis.set_place_pose(place)
self.state_manager.update_program_item(
self.ph.get_program_id(), self.program_vis.block_id,
self.program_vis.get_current_item())
def calib_done_cb(self, proj):
if proj.is_calibrated():
self.calib_proj_cnt += 1
while self.calib_proj_cnt < len(self.projectors):
if self.projectors[self.calib_proj_cnt].is_calibrated():
self.calib_proj_cnt += 1
continue
self.projectors[self.calib_proj_cnt].calibrate(
self.calib_done_cb)
return
rospy.loginfo('Projectors calibrated.')
self.projectors_calibrated_pub.publish(True)
else:
# calibration failed - let's try again
rospy.logerr('Calibration failed for projector: ' + proj.proj_id)
proj.calibrate(self.calib_done_cb)
def start_projector_calibration(self, evt):
if len(self.projectors) == 0:
rospy.loginfo('No projectors to calibrate.')
self.projectors_calibrated_pub.publish(True)
else:
self.projectors_calibrated_pub.publish(False)
rospy.loginfo('Starting calibration of ' +
str(len(self.projectors)) + ' projector(s)')
self.calib_proj_cnt = 0
for proj in self.projectors:
if proj.is_calibrated():
self.calib_proj_cnt += 1
continue
else:
if not proj.calibrate(self.calib_done_cb):
# TODO what to do?
rospy.logerr("Failed to start projector calibration")
return
rospy.loginfo('Projectors calibrated.')
self.projectors_calibrated_pub.publish(True)
def is_template(self):
return self.template
def learning_done_cb(self):
prog = self.ph.get_program()
# if it is template - save it with new id
if self.is_template():
self.template = False
headers = self.art.get_program_headers()
ids = []
for h in headers:
ids.append(h.id)
# is there a better way how to find not used ID for program?
for i in range(0, 2**16 - 1):
if i not in ids:
prog.header.id = i
break
else:
rospy.logerr("Failed to find available program ID")
if not self.art.store_program(prog):
self.notif(translate("UICoreRos", "Failed to store program"),
temp=True)
# TODO what to do?
self.notif(translate("UICoreRos", "Program stored with ID=") +
str(prog.header.id),
temp=True)
self.last_edited_prog_id = prog.header.id
resp = None
try:
resp = self.stop_learning_srv()
except rospy.ServiceException as e:
print "Service call failed: %s" % e
if resp is None or not resp.success:
rospy.logwarn("Failed to stop learning mode.")
return
def program_selected_cb(self, prog_id, run=False, template=False):
self.template = template
if run:
(started, error) = self.art.start_program(prog_id)
if not started:
self.notif(translate("UICoreRos", "Failed to start program."))
rospy.logerr("Brain refused to start program: " + error)
return
self.notif(translate("UICoreRos",
"Starting program ID=" + str(prog_id)),
temp=True)
self.program_list.set_enabled(False)
else:
if not self.ph.load(self.art.load_program(prog_id), template):
self.notif(
translate("UICoreRos",
"Failed to load program from database."))
# TODO what to do?
return
req = startProgramRequest()
req.program_id = prog_id
resp = None
try:
resp = self.start_learning_srv(req)
except rospy.ServiceException as e:
print "Service call failed: %s" % e
if resp is None or not resp.success:
self.notif(translate("UICoreRos",
"Failed to start edit mode."))
# else:
# self.clear_all()
# self.show_program_vis()
def learning_request_cb(self, req):
if req == LearningRequestGoal.GET_READY:
self.notif(
translate("UICoreRos", "Robot is getting ready for learning"))
elif req == LearningRequestGoal.DONE:
self.notif(
translate("UICoreRos", "Robot is getting into default state"))
if self.grasp_dialog is not None:
self.scene.removeItem(self.grasp_dialog)
self.grasp_dialog = None
elif req == LearningRequestGoal.EXECUTE_ITEM:
self.notif(
translate("UICoreRos",
"Robot is executing current program instruction"))
g = LearningRequestGoal()
g.request = req
self.learning_action_cl.send_goal(
g,
done_cb=self.learning_request_done_cb,
feedback_cb=self.learning_request_feedback_cb)
def learning_request_feedback_cb(self, fb):
rospy.logdebug('learning request progress: ' + str(fb.progress))
def learning_request_done_evt(self, status, result):
self.program_vis.learning_request_result(result.success)
def learning_request_done_cb(self, status, result):
self.emit(QtCore.SIGNAL('learning_request_done_evt'), status, result)
def show_program_list(self):
self.notif(translate("UICoreRos", "Please select a program"))
headers = self.art.get_program_headers()
d = {}
headers_to_show = []
for header in headers:
ph = ProgramHelper()
d[header.id] = None
if ph.load(self.art.load_program(header.id)):
headers_to_show.append(header)
d[header.id] = ph.program_learned()
self.program_list = ProgramListItem(self.scene, self.last_prog_pos[0],
self.last_prog_pos[1],
headers_to_show, d,
self.last_edited_prog_id,
self.program_selected_cb)
def object_cb(self, msg):
self.emit(QtCore.SIGNAL('objects'), msg)
def object_cb_evt(self, msg):
for obj_id in msg.lost_objects:
self.remove_object(obj_id)
self.notif(translate("UICoreRos", "Object") + " ID=" +
str(obj_id) + " " +
translate("UICoreRos", "disappeared"),
temp=True)
for inst in msg.instances:
obj = self.get_object(inst.object_id)
if obj:
obj.set_pos(inst.pose.position.x, inst.pose.position.y,
inst.pose.position.z)
obj.set_orientation(conversions.q2a(inst.pose.orientation))
else:
obj_type = self.art.get_object_type(inst.object_type)
self.add_object(inst.object_id, obj_type, inst.pose.position.x,
inst.pose.position.y, inst.pose.position.z,
conversions.q2a(inst.pose.orientation),
self.object_selected)
self.notif(translate("UICoreRos", "New object") + " ID=" +
str(inst.object_id),
temp=True)
def polygon_changed(self, pts):
if self.program_vis.editing_item:
self.program_vis.set_polygon(pts)
self.state_manager.update_program_item(
self.ph.get_program_id(), self.program_vis.block_id,
self.program_vis.get_current_item())
'''
Method which saves grid points and place poses of all objects in grid.
'''
def square_changed(self, pts, poses=None):
self.program_vis.set_place_grid(
pts) # saving grid points into the ProgramItem message
self.program_vis.set_place_poses(
poses) # saving place poses into the ProgramItem message
self.state_manager.update_program_item(
self.ph.get_program_id(), self.program_vis.block_id,
self.program_vis.get_current_item())
def object_selected(self, id, selected):
if self.program_vis is None or not self.program_vis.editing_item:
rospy.logdebug("not in edit mode")
return False
rospy.logdebug("attempt to select object id: " + id)
obj = self.get_object(id)
msg = self.program_vis.get_current_item()
if msg is None:
return False
if msg.type in [ProgIt.PICK_FROM_FEEDER, ProgIt.PICK_FROM_POLYGON]:
# this type of object is already set
if len(msg.object) > 0 and obj.object_type.name == msg.object[0]:
rospy.logdebug("object type " + obj.object_type.name +
" already selected")
return
else:
# TODO remove previously inserted polygon, do not insert new
# place
rospy.logdebug("selecting new object type: " +
obj.object_type.name)
pass
if msg.type == ProgIt.PICK_FROM_FEEDER:
self.program_vis.set_object(obj.object_type.name)
self.select_object_type(obj.object_type.name)
elif msg.type == ProgIt.PICK_OBJECT_ID:
self.program_vis.set_object(obj.object_id)
self.select_object(obj.object_id)
elif msg.type == ProgIt.PICK_FROM_POLYGON:
if obj.object_type.name not in self.selected_object_types:
self.remove_scene_items_by_type(PolygonItem)
poly_points = []
self.program_vis.set_object(obj.object_type.name)
self.select_object_type(obj.object_type.name)
for ob in self.get_scene_items_by_type(ObjectItem):
if ob.object_type.name != obj.object_type.name:
continue
poly_points.append(ob.get_pos())
self.add_polygon(translate("UICoreRos", "PICK POLYGON"),
poly_points,
polygon_changed=self.polygon_changed)
self.notif(translate("UICoreRos",
"Check and adjust pick polygon"),
temp=True)
self.state_manager.update_program_item(
self.ph.get_program_id(), self.program_vis.block_id,
self.program_vis.get_current_item())
return True
def user_status_cb(self, msg):
self.emit(QtCore.SIGNAL('user_status'), msg)
def user_status_cb_evt(self, msg):
if msg.user_state != self.user_state:
if msg.user_state == UserStatus.USER_NOT_CALIBRATED:
self.notif(
translate("UICoreRos", "Please do a calibration pose"))
elif msg.user_state == UserStatus.USER_CALIBRATED:
self.notif(translate("UICoreRos", "Successfully calibrated"))
elif msg.user_state == UserStatus.NO_USER:
self.notif(translate("UICoreRos", "Waiting for user..."))
self.user_state = msg
class TestProgramHelper(unittest.TestCase):
def setUp(self):
# TODO add more blocks
self.prog = Program()
self.ph = ProgramHelper()
self.prog.header.id = 666
self.prog.header.name = "Basic pick&place"
pb = ProgramBlock()
pb.id = 1 # can't be zero
pb.name = "First block"
pb.on_success = 1
pb.on_failure = 0
self.prog.blocks.append(pb)
p = ProgramItem()
p.id = 1
p.on_success = 2
p.on_failure = 0
p.type = ProgramItem.GET_READY
pb.items.append(deepcopy(p))
p = ProgramItem()
p.id = 2
p.on_success = 3
p.on_failure = 0
p.type = ProgramItem.WAIT_FOR_USER
pb.items.append(deepcopy(p))
p = ProgramItem()
p.id = 3
p.on_success = 31
p.on_failure = 0
p.type = ProgramItem.PICK_FROM_FEEDER
p.object.append("profile")
pf = PoseStamped()
pf.header.frame_id = "marker"
pf.pose.position.x = 0.75
pf.pose.position.y = 0.5
p.pose.append(pf)
pb.items.append(deepcopy(p))
p = ProgramItem()
p.id = 31
p.on_success = 4
p.on_failure = 0
p.type = ProgramItem.VISUAL_INSPECTION
p.ref_id.append(3)
pf = PoseStamped()
pf.header.frame_id = "marker"
pf.pose.position.x = 0.75
pf.pose.position.y = 0.5
pf.pose.position.z = 0.1
p.pose.append(pf)
pb.items.append(deepcopy(p))
p = ProgramItem()
p.id = 4
p.on_success = 5
p.on_failure = 0
p.type = ProgramItem.PLACE_TO_POSE
p.ref_id.append(3)
p.ref_id.append(5)
pp = PoseStamped()
pp.header.frame_id = "marker"
pp.pose.position.x = 0.75
pp.pose.position.y = 0.5
p.pose.append(pp)
pb.items.append(deepcopy(p))
p = ProgramItem()
p.id = 5
p.on_success = 6
p.on_failure = 0
p.type = ProgramItem.PICK_FROM_FEEDER
p.object.append("profile")
pf = PoseStamped()
pf.header.frame_id = "marker"
pf.pose.position.x = 0.75
pf.pose.position.y = 0.5
p.pose.append(pf)
pb.items.append(deepcopy(p))
p = ProgramItem()
p.id = 6
p.on_success = 7
p.on_failure = 0
p.type = ProgramItem.GET_READY
pb.items.append(deepcopy(p))
p = ProgramItem()
p.id = 7
p.on_success = 8
p.on_failure = 0
p.type = ProgramItem.WAIT_UNTIL_USER_FINISHES
pb.items.append(deepcopy(p))
p = ProgramItem()
p.id = 8
p.on_success = 9
p.on_failure = 0
p.type = ProgramItem.PICK_FROM_POLYGON
p.object.append("profile")
pp = PolygonStamped()
pp.header.frame_id = "marker"
pp.polygon.points.append(Point32(0.4, 0.1, 0))
pp.polygon.points.append(Point32(1.0, 0.1, 0))
pp.polygon.points.append(Point32(1.0, 0.6, 0))
pp.polygon.points.append(Point32(0.4, 0.6, 0))
p.polygon.append(pp)
pb.items.append(deepcopy(p))
p = ProgramItem()
p.id = 9
p.on_success = 4
p.on_failure = 0
p.type = ProgramItem.PLACE_TO_POSE
p.ref_id.append(8)
pp = PoseStamped()
pp.header.frame_id = "marker"
pp.pose.position.x = 0.75
pp.pose.position.y = 0.5
p.pose.append(pp)
pb.items.append(deepcopy(p))
def test_alt_prog_item(self):
prog = Program()
prog.header.id = 123
pb = ProgramBlock()
pb.id = 10
prog.blocks.append(pb)
pi = ProgramItem()
pi.id = 1
pi.type = ProgramItem.PICK_FROM_FEEDER
pi.object.append("obj1")
pi.pose.append(PoseStamped())
pi.on_success = 2
pb.items.append(pi)
pi = ProgramItem()
pi.id = 2
pi.type = ProgramItem.PLACE_TO_GRID
pi.polygon.append(PolygonStamped())
pi.ref_id.append(1)
for i in range(0, 3):
pi.pose.append(PoseStamped())
pi.on_success = 1
pi.on_failure = 3
pb.items.append(pi)
pi = ProgramItem()
pi.id = 3
pi.type = ProgramItem.DRILL_POINTS
pi.ref_id.append(2)
pi.pose.append(PoseStamped())
pi.on_success = 3
pi.on_failure = 1
pb.items.append(pi)
res = self.ph.load(prog)
self.assertEquals(res, True, "alt program")
ret = self.ph.get_object(10, 3)
self.assertEquals(ret[0][0], "obj1", "ref_id object")
self.assertEquals(ret[1], 1, "ref_id object - source item id")
ret = self.ph.get_polygon(10, 3)
self.assertEquals(len(ret[0]), 1, "ref_id polygon")
self.assertEquals(ret[1], 2, "ref_id polygon - source item id")
self.assertRaises(ValueError, self.ph.get_polygon, 10, 1)
def test_empty_program(self):
res = self.ph.load(Program())
self.assertEquals(res, False, "empty program")
def test_empty_block(self):
prog = Program()
prog.blocks.append(ProgramBlock())
res = self.ph.load(prog)
self.assertEquals(res, False, "empty block")
def test_invalid_block_id(self):
prog = deepcopy(self.prog)
prog.blocks[0].id = 0
res = self.ph.load(prog)
self.assertEquals(res, False, "invalid block id")
def test_invalid_item_id(self):
prog = deepcopy(self.prog)
prog.blocks[0].items[0].id = 0
res = self.ph.load(prog)
self.assertEquals(res, False, "invalid item id")
def test_invalid_item_on_success(self):
prog = deepcopy(self.prog)
prog.blocks[0].items[1].on_success = 1234
res = self.ph.load(prog)
self.assertEquals(res, False, "invalid item on_success")
def test_invalid_item_on_failure(self):
prog = deepcopy(self.prog)
prog.blocks[0].items[1].on_failure = 1234
res = self.ph.load(prog)
self.assertEquals(res, False, "invalid item on_failure")
def test_valid_program(self):
res = self.ph.load(self.prog)
self.assertEquals(res, True, "valid program")
def test_on_success(self):
res = self.ph.load(self.prog)
self.assertEquals(res, True, "on_success")
(block_id, item_id) = self.ph.get_id_on_success(1, 2)
self.assertEquals(block_id, 1, "on_success - block_id")
self.assertEquals(item_id, 3, "on_success - item_id")
def test_on_failure(self):
res = self.ph.load(self.prog)
self.assertEquals(res, True, "on_failure")
(block_id, item_id) = self.ph.get_id_on_failure(1, 4)
self.assertEquals(block_id, 0, "on_failure - block_id")
self.assertEquals(item_id, 0, "on_failure - item_id")
def test_get_item_msg(self):
res = self.ph.load(self.prog)
self.assertEquals(res, True, "get_item_msg")
msg = self.ph.get_item_msg(1, 4)
self.assertEquals(isinstance(msg, ProgramItem), True,
"get_item_msg - type")
self.assertEquals(msg.id, 4, "get_item_msg - id")
def test_get_block_msg(self):
res = self.ph.load(self.prog)
self.assertEquals(res, True, "get_block_msg")
msg = self.ph.get_block_msg(1)
self.assertEquals(isinstance(msg, ProgramBlock), True,
"get_block_msg - type")
self.assertEquals(msg.id, 1, "get_block_msg - id")
def test_get_first_block_id(self):
res = self.ph.load(self.prog)
self.assertEquals(res, True, "get_first_block_id")
block_id = self.ph.get_first_block_id()
self.assertEquals(block_id, self.prog.blocks[0].id,
"get_first_block_id")
def test_get_first_item_id(self):
res = self.ph.load(self.prog)
self.assertEquals(res, True, "get_first_block_id")
(block_id, item_id) = self.ph.get_first_item_id()
self.assertEquals(block_id, self.prog.blocks[0].id,
"get_first_item_id - block")
self.assertEquals(item_id, self.prog.blocks[0].items[0].id,
"get_first_item_id - item")
def test_get_program_id(self):
res = self.ph.load(self.prog)
self.assertEquals(res, True, "get_program_id")
prog_id = self.ph.get_program_id()
self.assertEquals(prog_id, 666, "get_program_id - id")
def test_template(self):
self.ph.load(self.prog)
self.assertEquals(self.ph.program_learned(), True, "test_template")
self.ph.load(self.prog, True)
self.assertEquals(self.ph.program_learned(), False, "test_template")
def test_invalid_ref_id(self):
prog = deepcopy(self.prog)
prog.blocks[0].items[0].ref_id.append(6587)
res = self.ph.load(prog)
self.assertEquals(res, False, "test_invalid_ref_id")
class ArtBrain:
UNKNOWN = -2 # should not happen!
NOP = -1 # no operation
GET_READY = 0 # retract arms etc.
MANIP_PICK = 1
MANIP_PLACE = 2 # TODO proc nepouzit ProgramItem.MANIP_PLACE?
MANIP_PICK_PLACE = 3
WAIT = 4
INST_OK = 100
INST_BAD_DATA = 101
INST_FAILED = 102
SYSTEM_UNKNOWN = 0 # TODO proc nepouzit SystemState.SYSTEM_UNKNOWN?
SYSTEM_START = 1
SYSTEM_CALIBRATING = 2
SYSTEM_STARTING_PROGRAM_SERVER = 3
SYSTEM_READY_FOR_PROGRAM_REQUESTS = 4
SYSTEM_STOPPING_PROGRAM_SERVER = 5
def __init__(self):
self.show_marker_service = rospy.get_param('show_marker_service', '/art/interface/projected_gui/show_marker')
self.hide_marker_service = rospy.get_param('hide_marker_service', '/art/interface/projected_gui/hide_marker')
self.table_localize_action = rospy.get_param('table_localize_action', '/umf_localizer_node_table/localize')
self.pr2_localize_action = rospy.get_param('pr2_localize_action', '/umf_localizer_node/localize')
self.calibrate_pr2 = rospy.get_param('calibrate_pr2', False)
self.calibrate_table = rospy.get_param('calibrate_table', False)
self.user_status_sub = rospy.Subscriber("/art/user/status", UserStatus, self.user_status_cb)
self.user_activity_sub = rospy.Subscriber("/art/user/activity", UserActivity, self.user_activity_cb)
self.srv_program_start = rospy.Service('/art/brain/program/start', startProgram, self.program_start_cb)
self.srv_program_stop = rospy.Service('/art/brain/program/stop', Empty, self.program_stop_cb)
# self.srv_program_pause = rospy.Service(/art/brain/program/pause', Empty, self.program_pause_cb)
# self.srv_program_resume = rospy.Service(/art/brain/program/resume', Empty, self.program_resume_cb)
self.state_manager = InterfaceStateManager(InterfaceState.BRAIN_ID) # TODO callback?
self.art = ArtApiHelper(brain=True)
self.ph = ProgramHelper()
self.user_activity = None
self.objects_sub = rospy.Subscriber("/art/object_detector/object_filtered", InstancesArray, self.objects_cb)
# TODO use this topic instead of system_state in InterfaceState (duplication) ??
# TODO move (pub/sub) to InterfaceStateManager?
self.state_publisher = rospy.Publisher("/art/brain/system_state", SystemState, queue_size=1)
self.pp_client = actionlib.SimpleActionClient('/art/pr2/left_arm/pp', pickplaceAction)
self.state = self.SYSTEM_START
self.user_id = 0
self.objects = InstancesArray()
self.executing_program = False
self.instruction = None
self.holding_object = None
self.stop_server = False
self.recalibrate = False
self.quit = False
self.art.wait_for_api()
def program_start_cb(self, req):
resp = startProgramResponse()
if self.executing_program:
resp.success = False
resp.error = 'Program already running'
return resp
rospy.loginfo('Loading program ' + str(req.program_id) + ' from db...')
program = self.art.load_program(req.program_id)
if not self.ph.load(program):
resp.success = False
resp.error = 'Cannot get program'
return resp
rospy.loginfo('Starting program')
self.executing_program = True
resp.success = True
return resp
def program_stop_cb(self, req):
rospy.loginfo('Stopping program ' + str(req.program_id) + '...')
self.executing_program = False
return EmptyResponse()
def instruction_switcher(self):
instructions = {
self.NOP: self.nop,
self.GET_READY: self.get_ready,
self.MANIP_PICK: self.manip_pick,
self.MANIP_PLACE: self.manip_place,
self.MANIP_PICK_PLACE: self.manip_pick_place,
self.WAIT: self.wait,
}
return instructions.get(self.instruction, self.unknown_instruction)
@staticmethod
def get_item_by_id(program, item_id): # TODO item should be specified using both block id and item id?
print "get_item_by_id: " + str(item_id)
for bl in program.blocks:
for it in bl.items:
if it.id == item_id:
return it
return None
def get_ready(self, instruction):
# TODO: call some service to set PR2 to ready position
self.state_manager.update_program_item(self.ph.get_program_id(), self.block_id, instruction)
return self.INST_OK
def get_pick_obj_id(self, instruction):
if instruction.spec == instruction.MANIP_ID:
obj_id = instruction.object
elif instruction.spec == instruction.MANIP_TYPE:
pick_polygon = []
pol = None
for point in instruction.pick_polygon.polygon.points: # TODO check frame_id and transform to table frame?
pick_polygon.append([point.x, point.y])
pick_polygon.append([0, 0])
if len(pick_polygon) > 0:
pol = mplPath.Path(np.array(pick_polygon), closed=True)
# shuffle the array to not get the same object each time
# random.shuffle(self.objects.instances)
print self.objects.instances
for obj in self.objects.instances:
if pol is None:
print "no polygon"
# if no pick polygon is specified - let's take the first object of that type
if obj.object_type == instruction.object:
obj_id = obj.object_id
break
else:
print "polygon"
# test if some object is in polygon and take the first one
if pol.contains_point([obj.pose.position.x, obj.pose.position.y]):
obj_id = obj.object_id
rospy.loginfo('Selected object: ' + obj_id)
break
else:
if pol is not None:
rospy.loginfo('No object in the specified polygon')
print pol
return self.INST_BAD_DATA
else:
print "strange instruction.spec: " + str(instruction.spec)
return self.INST_BAD_DATA
return obj_id
def get_place_pose(self, instruction):
# if self.holding_object is None:
# return None
if instruction.spec == instruction.MANIP_ID:
pose = instruction.place_pose
elif instruction.spec == instruction.MANIP_TYPE:
# pose = None
pose = instruction.place_pose
# TODO: how to get free position inside polygon? some perception node?
else:
return None
return pose
def manip_pick(self, instruction):
"""
:type instruction: ProgramItem
:return:
"""
obj_id = self.get_pick_obj_id(instruction)
self.state_manager.update_program_item(self.ph.get_program_id(), self.block_id, instruction, {"SELECTED_OBJECT_ID": obj_id})
if obj_id is None:
return self.INST_BAD_DATA
if self.pick_object(obj_id):
self.holding_object = obj_id
return self.INST_OK
else:
return self.INST_FAILED
def manip_place(self, instruction):
"""
:type instruction: ProgramItem
:return:
"""
pose = self.get_place_pose(instruction)
self.state_manager.update_program_item(self.ph.get_program_id(), self.block_id, instruction) # TODO place pose
if pose is None:
return self.INST_BAD_DATA
else:
if self.place_object(self.holding_object, pose):
self.holding_object = None
return self.INST_OK
else:
return self.INST_FAILED
def manip_pick_place(self, instruction):
print "manip_pick_place"
print self.objects
obj_id = self.get_pick_obj_id(instruction)
pose = self.get_place_pose(instruction)
self.state_manager.update_program_item(self.ph.get_program_id(), self.block_id, instruction, {"SELECTED_OBJECT_ID": obj_id})
# TODO also update p.i. with selected place pose when not given (place polygon)
if obj_id is None or pose is None:
print 'could not get obj_id or pose'
return self.INST_BAD_DATA
if self.pick_object(obj_id): # TODO call pick&place and not pick and then place
self.holding_object = obj_id
if self.place_object(obj_id, pose):
self.holding_object = None
return self.INST_OK
return self.INST_FAILED
def wait(self, instruction):
"""
:type instruction: ProgramItem
:return:
"""
print "waiting"
# return self.INST_OK
self.state_manager.update_program_item(self.ph.get_program_id(), self.block_id, instruction)
rate = rospy.Rate(10)
if instruction.spec == instruction.WAIT_FOR_USER:
while self.user_activity != UserActivity.READY:
rate.sleep()
elif instruction.spec == instruction.WAIT_UNTIL_USER_FINISHES:
while self.user_activity != UserActivity.WORKING:
rate.sleep()
else:
return self.INST_BAD_DATA
return self.INST_OK
def unknown_instruction(self, instruction):
print "F*ck it all, i don't know this instruction!"
return self.INST_FAILED
def nop(self, instruction=None):
return self.INST_OK
def user_activity_cb(self, data):
self.user_activity = data.activity
def user_status_cb(self, data):
"""
:type data: UserStatus
:return:
"""
self.user_id = data.user_id
pass
def objects_cb(self, objects_data):
"""
:type objects_data: InstancesArray
:return:
"""
self.objects = objects_data
def check_user_active(self):
return self.user_id != 0
def calibrate(self, action_name, server="unknown", timeout=5):
client = actionlib.SimpleActionClient(action_name, LocalizeAgainstUMFAction)
rospy.logdebug("Waiting for server (" + server + ")")
client.wait_for_server()
rospy.logdebug("Server ready (" + server + ")")
goal = LocalizeAgainstUMFGoal()
goal.timeout = rospy.Duration(timeout)
rospy.logdebug("Sending goal to server (" + server + ")")
client.send_goal(goal)
rospy.logdebug("Waiting for results (" + server + ")")
client.wait_for_result()
return not client.get_result().result
pass
def calibrate_all(self, table_calibration=True, pr2_calibration=True):
rospy.loginfo("Starting calibrating process")
rospy.logdebug("Waiting for service " + self.show_marker_service)
rospy.wait_for_service(self.show_marker_service)
try:
show_marker = rospy.ServiceProxy(self.show_marker_service, Empty)
show_marker()
except rospy.ServiceException, e:
rospy.logerr("Service call failed: " + str(e))
return False
while table_calibration:
if self.calibrate(self.table_localize_action, "table", 5):
table_calibration = False
rospy.loginfo("Table successfully calibrated")
else:
rospy.logwarn("Table calibration failed! Trying every 5 sec")
time.sleep(5)
while pr2_calibration:
if self.calibrate(self.pr2_localize_action, "pr2", 5):
pr2_calibration = False
rospy.loginfo("PR2 successfully calibrated")
else:
rospy.logwarn("PR2 calibration failed! Trying every 5 sec")
time.sleep(5)
rospy.loginfo("Calibration done, hiding umf marker")
rospy.logdebug("Waiting for service " + self.hide_marker_service)
rospy.wait_for_service(self.hide_marker_service)
try:
hide_marker = rospy.ServiceProxy(self.hide_marker_service, Empty)
hide_marker()
except rospy.ServiceException, e:
rospy.logerr("Service call failed: " + str(e))
return False
class TestProgramHelper(unittest.TestCase):
def setUp(self):
# TODO add more blocks
self.prog = Program()
self.ph = ProgramHelper()
self.prog.id = 666
self.prog.name = "Basic pick&place"
pb = ProgramBlock()
pb.id = 1 # can't be zero
pb.name = "First block"
pb.on_success = 1
pb.on_failure = 0
self.prog.blocks.append(pb)
p0 = ProgramItem()
p0.id = 1
p0.on_success = 2
p0.on_failure = 0
p0.type = ProgramItem.GET_READY
pb.items.append(p0)
p1 = ProgramItem()
p1.id = 2
p1.on_success = 3
p1.on_failure = 0
p1.type = ProgramItem.WAIT
p1.spec = ProgramItem.WAIT_FOR_USER
pb.items.append(p1)
p2 = ProgramItem()
p2.id = 3
p2.on_success = 4
p2.on_failure = 0
p2.type = ProgramItem.MANIP_PICK_PLACE
p2.spec = ProgramItem.MANIP_TYPE
p2.object = "profile"
p2.place_pose.header.frame_id = "marker"
p2.place_pose.pose.position.x = 0.75
p2.place_pose.pose.position.y = 0.5
pb.items.append(p2)
p3 = ProgramItem()
p3.id = 4
p3.on_success = 5
p3.on_failure = 0
p3.type = ProgramItem.WAIT
p3.spec = ProgramItem.WAIT_UNTIL_USER_FINISHES
pb.items.append(p3)
p4 = ProgramItem()
p4.id = 5
p4.on_success = 0
p4.on_failure = 0
p4.type = ProgramItem.MANIP_PICK_PLACE
p4.spec = ProgramItem.MANIP_TYPE
p4.object = "profile"
p4.pick_pose = p2.place_pose
p4.place_pose.header.frame_id = "marker"
p4.place_pose.pose.position.x = 0.25
p4.place_pose.pose.position.y = 0.5
pb.items.append(p4)
def test_empty_program(self):
res = self.ph.load(Program())
self.assertEquals(res, False, "empty program")
def test_empty_block(self):
prog = Program()
prog.blocks.append(ProgramBlock())
res = self.ph.load(prog)
self.assertEquals(res, False, "empty block")
def test_invalid_block_id(self):
self.prog.blocks[0].id = 0
res = self.ph.load(self.prog)
self.assertEquals(res, False, "invalid block id")
def test_invalid_item_id(self):
self.prog.blocks[0].items[0].id = 0
res = self.ph.load(self.prog)
self.assertEquals(res, False, "invalid item id")
def test_invalid_item_on_success(self):
self.prog.blocks[0].items[1].on_success = 1234
res = self.ph.load(self.prog)
self.assertEquals(res, False, "invalid item on_success")
def test_invalid_item_on_failure(self):
self.prog.blocks[0].items[1].on_failure = 1234
res = self.ph.load(self.prog)
self.assertEquals(res, False, "invalid item on_failure")
def test_valid_program(self):
res = self.ph.load(self.prog)
self.assertEquals(res, True, "valid program")
def test_on_success(self):
res = self.ph.load(self.prog)
self.assertEquals(res, True, "on_success")
(block_id, item_id) = self.ph.get_id_on_success(1, 2)
self.assertEquals(block_id, 1, "on_success - block_id")
self.assertEquals(item_id, 3, "on_success - item_id")
def test_on_failure(self):
res = self.ph.load(self.prog)
self.assertEquals(res, True, "on_failure")
(block_id, item_id) = self.ph.get_id_on_failure(1, 4)
self.assertEquals(block_id, 0, "on_failure - block_id")
self.assertEquals(item_id, 0, "on_failure - item_id")
def test_get_item_msg(self):
res = self.ph.load(self.prog)
self.assertEquals(res, True, "get_item_msg")
msg = self.ph.get_item_msg(1, 4)
self.assertEquals(isinstance(msg, ProgramItem), True, "get_item_msg - type")
self.assertEquals(msg.id, 4, "get_item_msg - id")
def test_get_block_msg(self):
res = self.ph.load(self.prog)
self.assertEquals(res, True, "get_block_msg")
msg = self.ph.get_block_msg(1)
self.assertEquals(isinstance(msg, ProgramBlock), True, "get_block_msg - type")
self.assertEquals(msg.id, 1, "get_block_msg - id")
def test_get_first_block_id(self):
res = self.ph.load(self.prog)
self.assertEquals(res, True, "get_first_block_id")
block_id = self.ph.get_first_block_id()
self.assertEquals(block_id, self.prog.blocks[0].id, "get_first_block_id")
def test_get_first_item_id(self):
res = self.ph.load(self.prog)
self.assertEquals(res, True, "get_first_block_id")
(block_id, item_id) = self.ph.get_first_item_id()
self.assertEquals(block_id, self.prog.blocks[0].id, "get_first_item_id - block")
self.assertEquals(item_id, self.prog.blocks[0].items[0].id, "get_first_item_id - item")
def test_get_program_id(self):
res = self.ph.load(self.prog)
self.assertEquals(res, True, "get_program_id")
prog_id = self.ph.get_program_id()
self.assertEquals(prog_id, 666, "get_program_id - id")