confirm_conf.py

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#!/usr/bin/env python
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## Prompts the user with a Y/N message if MCB's aren't configured
# Called from configure/program_mcb.py through the mcb_conf_results service

PKG = 'qualification' 
NAME = 'confirm_conf'

import roslib
roslib.load_manifest(PKG) 
import wx 
from wx import xrc
from pr2_self_test_msgs.srv import ConfirmConf, ConfirmConfRequest, ConfirmConfResponse
import rospy 
import time
import os

import signal

prev_handler = None


app = wx.PySimpleApp(clearSigInt = True)
process_done = False
prompt_done = False
prompt_click =False
frame=wx.Frame(None)

#def shutdown(sig, stackframe):
#    rospy.logerr('confirm conf shutting down')
#    frame.Close()
#    app.Destroy()
#    if prev_handler is not None:
#        prev_handler(signal.SIGINT, None)
  
 
def msg_detail_prompt(msg, details):
  # Load MCB conf dialog box from gui.xrc
  xrc_path = os.path.join(roslib.packages.get_pkg_dir('qualification'), 'xrc/gui.xrc')
  xrc_resource = xrc.XmlResource(xrc_path)
  # See if it works to set a parent
  dialog = xrc_resource.LoadDialog(None, 'confirm_conf_dialog')
  # Set text in message text
  xrc.XRCCTRL(dialog, 'message_text').SetLabel(msg)
  xrc.XRCCTRL(dialog, 'message_text').Wrap(400)  
  xrc.XRCCTRL(dialog, 'detail_text').AppendText(details)

  global prompt_click, prompt_done
  
  dialog.Layout()
  #dialog.Fit()

  prompt_click = (dialog.ShowModal() == wx.ID_OK)
  prompt_done = True
  dialog.Destroy()
   
def check_w_user(req):
  global prompt_done, prompt_click

  wx.CallAfter(msg_detail_prompt, req.message, req.details)

  while(not prompt_done and not rospy.is_shutdown()):
    rospy.loginfo("Waiting for retry prompt . . .")
    for i in range(0, 20):
      time.sleep(0.5) 

  resp = ConfirmConfResponse()
  if prompt_click:
    resp.retry = ConfirmConfResponse.RETRY
  else:
    resp.retry = ConfirmConfResponse.FAIL

  prompt_done = False
  prompt_click = False
  return resp

 
def confirm_conf():
  rospy.init_node(NAME)
  s = rospy.Service('mcb_conf_results', ConfirmConf, check_w_user)  

  # Allow it to kill on exit w/o SIGKILL
  signal.signal(signal.SIGINT, signal.SIG_DFL)

  app.MainLoop()

  rospy.spin()
  time.sleep(1)
  

if __name__ == "__main__":  
  confirm_conf()