ui_responder.py

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#! /usr/bin/python
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#* Author: Eitan Marder-Eppstein
#***********************************************************
import roslib; roslib.load_manifest('ui_responder')
import rospy

from std_msgs.msg import Empty

from PyQt4 import QtGui, QtCore

import sys

class UIResponder(QtGui.QMessageBox):
    preempted = QtCore.pyqtSignal()
    def __init__(self):
        QtGui.QMessageBox.__init__(self)
        self.timeout_seconds = rospy.get_param('~timeout', 60)
        self.name = rospy.get_param('~name', 'task')
        self.details = rospy.get_param('~details', 'Make sure it is safe to let the robot do something else.')

        self.pub = rospy.Publisher(rospy.remap_name('action_ns') + '/preempt_response', Empty)
        self.sub = rospy.Subscriber(rospy.remap_name('action_ns') + '/preempt_request', Empty, self.req_cb)
        self.preempted.connect(self.handle_preempt)
        self.setWindowFlags(QtCore.Qt.WindowStaysOnTopHint)
        self.end_now_button = self.addButton("Safe to end " + self.name, QtGui.QMessageBox.YesRole)
        self.defer_button = self.addButton("Remind me later", QtGui.QMessageBox.NoRole)
        self.setWindowTitle("Robot Task Preempt Request")
        self.setText("Another application or user needs to take control of the robot.")
        self.setInformativeText(self.details)
        self.setDefaultButton(self.defer_button)
        self.setIcon(self.Critical)
        self.defer_timer = QtCore.QTimer()
        self.defer_timer.timeout.connect(self.recenter)
        self.defer_timer.start( 1000 * self.timeout_seconds )

    def recenter(self):
        self.adjustSize()
        self.move(QtGui.QApplication.desktop().screen().rect().center() - self.rect().center())

    def handle_preempt(self):
        try:
            rospy.loginfo("Displaying ui_responder popup")
            self.exec_()
            while self.clickedButton() == self.defer_button:
                print "defer!"
                self.defer_timer.start( 1000 * self.timeout_seconds )
                self.move(0,0)
                self.exec_()

        except:
            pass

        rospy.loginfo("Exiting ui_responder")
        #TODO: Quit the application, and shutdown ROS
        rospy.signal_shutdown('quit')
        QtGui.qApp.quit()
        sys.exit()

    def req_cb(self, msg):
        self.preempted.emit()

def main():
    rospy.init_node('ui_responder', None, False, 2, False, False, True)
    app = QtGui.QApplication(rospy.myargv(sys.argv))
    ui_r = UIResponder()

    # app.exec_() returns when UIResponder widget closes.  Since we
    # want our defer_timer to keep ticking, keep calling exec_().
    # Program ends when sys.exit() is called explicitly.
    while True:
        app.exec_()

if __name__ == '__main__':
    main()