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Viewing changes to shadow_robot/sr_control_gui/src/sr_control_gui/plugins/shadow_generic_plugin.py

  • Committer: Ugo Cupcic
  • Date: 2011-11-21 16:31:23 UTC
  • mfrom: (1.1.164 sr-ros-interface)
  • Revision ID: ugo@shadowrobot.com-20111121163123-k5q6e8l00w81f5hx
0.1.0

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shadow_robot/sr_control_gui/src/sr_control_gui/plugins/shadow_generic_plugin.py
 
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#!/usr/bin/env python
 
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#
 
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# Copyright 2011 Shadow Robot Company Ltd.
 
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#
 
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# This program is free software: you can redistribute it and/or modify it
 
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# under the terms of the GNU General Public License as published by the Free
 
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# Software Foundation, either version 2 of the License, or (at your option)
 
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# any later version.
 
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#
 
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# This program is distributed in the hope that it will be useful, but WITHOUT
 
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# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
 
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# FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
 
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# more details.
 
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#
 
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# You should have received a copy of the GNU General Public License along
 
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# with this program.  If not, see <http://www.gnu.org/licenses/>.
 
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#
 
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import roslib; roslib.load_manifest('sr_control_gui')
 
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import rospy
 
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from shadowhand_ros import ShadowHand_ROS
 
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from PyQt4 import QtCore, QtGui, Qt
 
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from generic_plugin import GenericPlugin
 
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from config import *
 
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class ShadowGenericPlugin(GenericPlugin):  
 
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    """
 
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    The mother of all plugins using the shadow robot ROS interface (Hand and Arm).
 
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    """
 
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    name = "Shadow Robot Generic Plugin"
 
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    def __init__(self):
 
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        GenericPlugin.__init__(self)
 
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    def activate(self):
 
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        GenericPlugin.activate(self)
 
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        # only activate the library if it hasn't been already loaded
 
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        if self.parent.parent.libraries.get("sr_library") == None:
 
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            self.parent.emit(QtCore.SIGNAL("messageToStatusbar(QString)"), 
 
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                             "Loading Shadowhand Library...")
 
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            self.parent.parent.libraries["sr_library"] = ShadowHand_ROS()
 
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            self.parent.emit(QtCore.SIGNAL("messageToStatusbar(QString)"), 
 
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                             "Shadowhand Library Loaded.")
 
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    def on_close(self):
 
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        GenericPlugin.on_close(self)
 
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    def depends(self):
 
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        return Config.shadowhand_plugin_config.dependencies