gui_service.py

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#!/usr/bin/env python
import Tkinter
import roslib
roslib.load_manifest('face_contour_detector')
import rospy
from face_contour_detector.srv import *
from face_contour_detector.msg import *
import image_selection_frame
import image_settings_frame
from portrait_robot_msgs.srv import *

## @package face_contour_detector.gui.gui_service
#  This modules initializes a new node that implements the service srv/ContourDetectorGUI. It accepts a list of autoselect_result as proposals and opens an ImageSelectionFrame. This opens an ImageSettingsFrame. Details can be found in the class documentation.
#  The name of the service is "display_on_gui"
#  @author Fabian Wenzelmann

## @brief Handler function that handles a display_on_gui service request
#  @param req ContourDetectorGUIRequest
#  @return Returns ContourDetectorGUIResponse - but this value is not really important since the main gui is called - but the method must returns a response
def show_handler(req):
    #global gui_opened
    #if gui_opened:
    #    msg_srv = rospy.ServiceProxy("/alubsc/status_msg", alubsc_status_msg)
    #    try:
    #        msg_srv(2, "a gui is already running".encode("ascii"))
    #    except:
    #        pass
    #    return ContourDetectorGUIResponse()
    #gui_opened = True
    props = req.proposals
    root = Tkinter.Tk()
    frame = image_selection_frame.ImageSelectionFrame(root, props)
    frame.pack()
    root.mainloop()
    service = rospy.ServiceProxy("/alubsc/edge_image", alubsc_node_instr)
    if image_settings_frame.current_image is None:
        service(False, [])
    else:
        service(True, [image_settings_frame.current_image])
    #gui_opened = False
    return ContourDetectorGUIResponse()

## @brief init the node
def init_gui_node():
    rospy.init_node("gui_server")
    s1 = rospy.Service("display_on_gui", ContourDetectorGUI, show_handler)
    rospy.spin()
    
if __name__ == "__main__":
    init_gui_node()