test_manager.py

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#!/usr/bin/env python
#
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# Copyright (c) 2008, Willow Garage, Inc.
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PKG = 'life_test'
import roslib
roslib.load_manifest(PKG)

import wx

import rospy

import sys, os

from roslaunch_caller import roslaunch_caller

import traceback

class TestManagerApp(wx.App):
    def OnInit(self, debug = False):

        args = rospy.myargv()
        debug = len(args) > 1 and args[1] == '--debug'

        try:
          self._core_launcher = roslaunch_caller.launch_core()
        except Exception, e:
            print >> sys.stderr, 'Failed to launch core. Another core may already be running.\n\n'
            wx.MessageBox('A ROS core is still running and preventing the Test Manager system from starting. Shut down ROS processes by using the "Kill ROS" icon.','ROS Already Running', wx.OK|wx.ICON_ERROR, None)
            traceback.print_exc()
            sys.exit(1)
            
        import life_test.result_dir 
        if not life_test.result_dir.check_results_dir():
            print >> sys.stderr, "Unable to write to results directory. Permissions invalid"
            wx.MessageBox("Unable to write to the \"~/wg_hardware_test/test_manager\" directory. Open a terminal and type, \"sudo chmod +rwx -R ~/wg_hardware_test/test_manager\" to fix the offending directory. You will have to restart Test Manager",
                          "Unable to Write Results", wx.OK|wx.ICON_ERROR, None)
            sys.exit(1)

        img_path = os.path.join(roslib.packages.get_pkg_dir(PKG), 'xrc', 'splash.jpg')
        
        bitmap = wx.Bitmap(img_path, type=wx.BITMAP_TYPE_JPEG)
        self._splash = wx.SplashScreen(bitmap, wx.SPLASH_CENTRE_ON_SCREEN, 30000, None, -1)

        rospy.init_node("Test_Manager")

        import life_test.manager

        self._frame = life_test.manager.TestManagerFrame(None, debug)
        self._frame.SetSize(wx.Size(1600, 1100))
        self._frame.Layout()
        self._frame.Centre()

        self._splash.Destroy()
        self._splash = None

        self._frame.Show(True)

        return True

    def OnExit(self):
        self._core_launcher.stop()

        if self._splash:
          self._splash.Destroy()

if __name__ == '__main__':
  try:
    app = TestManagerApp(0)
    app.MainLoop()
  except Exception, e:
    print >> sys.stderr, "Caught exception in TestManagerApp Main Loop"
    import traceback
    traceback.print_exc()