Skip to content

fixed a bug in the mission planner where settings would get duplicate… #175

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
jfkeller merged 1 commit into from
Dec 6, 2024
Merged

fixed a bug in the mission planner where settings would get duplicate… #175

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
31 changes: 18 additions & 13 deletions ..._station/ros_ws/src/rqt_ground_control_station/src/rqt_ground_control_station/template.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -182,18 +182,21 @@ def save_timeline(self):
timeline_widgets = self.get_timeline_widgets()
save_data = []
for t in timeline_widgets:
save_data.append(t.get_save_data())
filename = qt.QFileDialog.getSaveFileName(self.widget, 'Save Mission', '', 'Pickle Files (*.pickle)')[0]
if not filename.endswith('.pickle'):
filename += '.pickle'
s = t.get_save_data()
save_data.append(s)#t.get_save_data())
filename = qt.QFileDialog.getSaveFileName(self.widget, 'Save Mission', '', 'Mission Files (*.mission)')[0]
if filename == '':
return
if not filename.endswith('.mission'):
filename += '.mission'
with open(filename, 'wb') as handle:
pickle.dump(save_data, handle, protocol=pickle.HIGHEST_PROTOCOL)

def load_timeline(self):
self.clear_timeline()
filename = qt.QFileDialog.getOpenFileName(self.widget, 'Load Mission', '', 'Pickle Files (*.pickle)')[0]
filename = qt.QFileDialog.getOpenFileName(self.widget, 'Load Mission', '', 'Mission Files (*.mission)')[0]
if not os.path.isfile(filename):
return
self.clear_timeline()
with open(filename, 'rb') as handle:
save_data = pickle.load(handle)
for s in save_data:
Expand Down Expand Up @@ -504,9 +507,11 @@ def clear_content(self):


class TimelineEvent:
def __init__(self, global_settings, local_settings={}):
def __init__(self, global_settings, local_settings=None):
self.global_settings = global_settings
self.local_settings = local_settings
if self.local_settings == None:
self.local_settings = {}

self.done = False

Expand All @@ -526,7 +531,7 @@ def is_done(self):
return self.done

class RobotEvent(TimelineEvent):
def __init__(self, global_settings, local_settings={}):
def __init__(self, global_settings, local_settings=None):
super(RobotEvent, self).__init__(global_settings, local_settings)
if 'robot' not in self.local_settings.keys():
self.local_settings['robot'] = self.global_settings['robots'][0]
Expand All @@ -552,7 +557,7 @@ def robots_combo_box_change(self, index):
self.local_settings['robot'] = self.robots_combo_box.itemText(index)

class PublisherEvent(TimelineEvent):
def __init__(self, global_settings, local_settings={}):
def __init__(self, global_settings, local_settings=None):
super(PublisherEvent, self).__init__(global_settings, local_settings)

def init_widgets(self, parent_layout):
Expand All @@ -573,7 +578,7 @@ def play(self):
pub.publish(msg)

class CommandEvent(RobotEvent, PublisherEvent):
def __init__(self, global_settings, local_settings={}):
def __init__(self, global_settings, local_settings=None):
super(CommandEvent, self).__init__(global_settings, local_settings)
if 'command_title' not in self.local_settings.keys():
self.local_settings['command_title'] = self.global_settings['groups']['commands']['condition_titles'][0]
Expand All @@ -590,7 +595,7 @@ def get_message(self):
selected = self.local_settings['command_title']#self.commands_combo_box.currentText()
for i in range(self.commands_combo_box.count()):
command = BehaviorTreeCommand()
command.condition_name = self.local_settings['command_name']#self.commands_combo_box.itemData(i)
command.condition_name = self.commands_combo_box.itemData(i)
if selected == self.commands_combo_box.itemText(i):
command.status = Status.SUCCESS
else:
Expand All @@ -616,7 +621,7 @@ def commands_combo_box_change(self, index):
self.local_settings['command_name'] = self.commands_combo_box.itemData(index)

class TrajectoryEvent(RobotEvent, PublisherEvent):
def __init__(self, global_settings, local_settings={}):
def __init__(self, global_settings, local_settings=None):
super(TrajectoryEvent, self).__init__(global_settings, local_settings)
if 'trajectory_attributes' not in self.local_settings.keys():
self.local_settings['trajectory_attributes'] = collections.OrderedDict()
Expand Down Expand Up @@ -665,7 +670,7 @@ def click(s):
parent_layout.addWidget(widget)

class WaitEvent(TimelineEvent):
def __init__(self, global_settings, local_settings={}):
def __init__(self, global_settings, local_settings=None):
super(WaitEvent, self).__init__(global_settings, local_settings)
if 'wait_time' not in self.local_settings.keys():
self.local_settings['wait_time'] = 5.
Expand Down