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Viewing changes to sr_control_gui/src/sr_control_gui/hand_step_player.py

  • Committer: Ugo Cupcic
  • Date: 2012-08-08 10:17:21 UTC
  • mfrom: (1.1.552 shadow_robot_ethercat)
  • Revision ID: ugo@shadowrobot.com-20120808101721-lutmwmwmt06srqya
1.0.0 stable release for the etherCAT hardware

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sr_control_gui/src/sr_control_gui/hand_step_player.py
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#!/usr/bin/python
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import sys
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sys.path.append("python_hand_library/")
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import time
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import subprocess
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#import wx GUI
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import wx
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#import other stuff
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from Grasp import Grasp
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from grasps_parser import GraspParser
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class StepPlayer(wx.StaticBox):
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    """
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    A GUI widget diplaying tools to replay recorded grasps from an xml file.
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    """
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    def __init__(self, parent, id, title,hand):
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        """
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        Initializes all the variables needed by the widget
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        @param parent : the wx.window component containing the widget
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        @param id : the identifying number of the widget
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        @param title : the title of the widget shown on the border
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        @param hand : the library connecting to ROS 
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        """
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        wx.StaticBox.__init__(self,parent,id, title)
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        self.myShadowHand = hand
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        self.panel = wx.Panel(parent, id)
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        self.file_to_play_tf = 0
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        self.frequency_cb = 0
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        self.frequency_tf = 0
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        self.button_play = 0
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        self.button_browse = 0
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        self.toSend = []
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        self.ready = False
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        self.lastSent = -1
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        self.drawStepPlayer()
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    def drawStepPlayer(self):
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        """
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        Actually draws the component
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        """
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        sizer = wx.FlexGridSizer(rows=2, cols=1, hgap=5, vgap = 5)
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        #sizer_top = wx.FlexGridSizer(cols=2)
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        sizer_down = wx.GridSizer(cols=2)
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        sizer_down_left = wx.FlexGridSizer(rows=2)
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        #self.file_to_play_tf = wx.TextCtrl(self.panel, -1)
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        #self.file_to_play_tf.SetEditable(False)
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        self.button_play = wx.Button(self.panel, -1, 'Play')
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        self.button_play.Enable(False)
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        self.button_browse = wx.FilePickerCtrl(self.panel, -1)
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        self.frequency_cb = wx.CheckBox(self.panel, -1, label='Play all the file')
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        self.frequency_tf = wx.TextCtrl(self.panel, -1)
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        self.frequency_tf.SetValue('Speed')
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        self.frequency_tf.Enable(False)
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        sizer.Add(self.button_browse, flag=wx.EXPAND)
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        sizer_down_left.Add(self.frequency_cb)
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        sizer_down_left.Add(self.frequency_tf)
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        sizer_down.Add(sizer_down_left)        
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        sizer_down.Add(self.button_play, 0, wx.ALIGN_CENTER)
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        #sizer.Add(sizer_top, flag= wx.EXPAND)
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        sizer.Add(sizer_down)
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        border = wx.BoxSizer()
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        border.Add(sizer, 0, wx.ALL, 15)
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        self.panel.SetSizer(border)
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        self.frequency_cb.Bind(wx.EVT_CHECKBOX, self.checkBoxEvent)
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        self.button_play.Bind(wx.EVT_BUTTON, self.playEvent)
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        self.button_browse.Bind(wx.EVT_FILEPICKER_CHANGED, self.chooseEvent)
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    def checkBoxEvent(self, event):
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        """
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        Binds the checkbox control, activates the speed field
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        @param event : the event thrown by the checkbox when clicked 
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        """
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        if self.frequency_cb.IsChecked():
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            self.frequency_tf.Enable(True)    
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        else : 
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            self.frequency_tf.Enable(False)
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    def chooseEvent(self, event):
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        """
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        Binds the browser to its action : parsing the choosen file    
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        @param event : the event thrown when the button is clicked
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        """
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        parser = GraspParser()
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        parser.parse_tree(self.button_browse.GetPath())
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        grasps = parser.grasps
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        for key, value in grasps.items():
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            self.toSend.append(value)
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        self.ready = True
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        self.button_play.Enable(True)
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    def playEvent(self, event):
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        """
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        Binds the play button to its action : reading the file with the specified options
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        @param event : the event thrown when the button is clicked
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        """
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        print self.button_browse.GetPath()
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        #print parser.grasps
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        if self.frequency_cb.IsChecked() and self.ready:
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            speed = float(self.frequency_tf.GetValue())
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            for index in range(0, len(self.toSend)):
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                time.sleep(speed)
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                self.myShadowHand.sendupdate_from_dict(self.toSend[index].joints_and_positions)
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        if (not self.frequency_cb.IsChecked()) and self.ready:
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            if self.lastSent != len(self.toSend)-1:
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                self.lastSent = self.lastSent+1
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