check_head_pan_adjust.py
Go to the documentation of this file.00001 #!/usr/bin/env python 00002 # 00003 # Software License Agreement (BSD License) 00004 # 00005 # Copyright (c) 2009, Willow Garage, Inc. 00006 # All rights reserved. 00007 # 00008 # Redistribution and use in source and binary forms, with or without 00009 # modification, are permitted provided that the following conditions 00010 # are met: 00011 # 00012 # * Redistributions of source code must retain the above copyright 00013 # notice, this list of conditions and the following disclaimer. 00014 # * Redistributions in binary form must reproduce the above 00015 # copyright notice, this list of conditions and the following 00016 # disclaimer in the documentation and/or other materials provided 00017 # with the distribution. 00018 # * Neither the name of the Willow Garage nor the names of its 00019 # contributors may be used to endorse or promote products derived 00020 # from this software without specific prior written permission. 00021 # 00022 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00023 # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00024 # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00025 # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00026 # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00027 # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00028 # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00029 # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00030 # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00031 # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00032 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00033 # POSSIBILITY OF SUCH DAMAGE. 00034 00035 PKG = 'qualification' 00036 import roslib 00037 roslib.load_manifest(PKG) 00038 import wx 00039 import sys 00040 00041 from pr2_self_test_msgs.srv import TestResult, TestResultRequest 00042 00043 import rospy 00044 00045 result = rospy.ServiceProxy('test_result', TestResult) 00046 00047 app = wx.PySimpleApp() 00048 ret = wx.MessageBox("The plot shows the encoder count of the head pan. Press OK if you can adjust the head pan so the backlash is less than 4 ticks. Press Cancel if you can't", "Adjust Head Pan", wx.YES_NO) 00049 if (ret == wx.NO): 00050 r = TestResultRequest() 00051 r.result = r.RESULT_FAIL 00052 r.text_summary = 'Operator was unable to adjust head pan' 00053 r.html_result = '<p>Unable to adjust head pan. May be operator error.</p>\n' 00054 else: 00055 r = TestResultRequest() 00056 r.result = r.RESULT_PASS 00057 r.text_summary = 'Head pan adjusted' 00058 r.html_result = '' 00059 00060 try: 00061 rospy.wait_for_service('test_result', 2) 00062 result.call(r) 00063 rospy.spin() 00064 except: 00065 # Timeout exceeded while waiting for service 00066 sys.exit(0)