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kdl_parser
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fixed crash when source_cb directly updates sliders

This commit is contained in:
Dorian Scholz 2013-05-27 18:48:07 +02:00 committed by Ioan Sucan
parent bf85de29b3
commit fbbd554b28
1 changed files with 9 additions and 1 deletions
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10
joint_state_publisher/joint_state_publisher/joint_state_publisher
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@ -3,6 +3,7 @@
import roslib; roslib.load_manifest('joint_state_publisher') import roslib; roslib.load_manifest('joint_state_publisher')
import rospy import rospy
import wx import wx
import wx.lib.newevent
import xml.dom.minidom import xml.dom.minidom
from sensor_msgs.msg import JointState from sensor_msgs.msg import JointState
from math import pi from math import pi
@ -143,7 +144,8 @@ class JointStatePublisher():
joint['effort'] = effort joint['effort'] = effort
if self.gui is not None: if self.gui is not None:
self.gui.update_sliders() # post an event here instead of directly calling the update_sliders method, to switch to the wx thread
wx.PostEvent(self.gui.GetEventHandler(), self.gui.UpdateSlidersEvent())
def loop(self): def loop(self):
@ -261,6 +263,9 @@ class JointStatePublisherGui(wx.Frame):
self.joint_map[name] = {'slidervalue':0, 'display':display, self.joint_map[name] = {'slidervalue':0, 'display':display,
'slider':slider, 'joint':joint} 'slider':slider, 'joint':joint}
self.UpdateSlidersEvent, self.EVT_UPDATESLIDERS = wx.lib.newevent.NewEvent()
self.Bind(self.EVT_UPDATESLIDERS, self.updateSliders)
### Buttons ### ### Buttons ###
self.ctrbutton = wx.Button(panel, 1, 'Center') self.ctrbutton = wx.Button(panel, 1, 'Center')
self.Bind(wx.EVT_SLIDER, self.sliderUpdate) self.Bind(wx.EVT_SLIDER, self.sliderUpdate)
@ -283,6 +288,9 @@ class JointStatePublisherGui(wx.Frame):
joint['position'] = value joint['position'] = value
self.update_sliders() self.update_sliders()
def updateSliders(self, event):
self.update_sliders()
def update_sliders(self): def update_sliders(self):
for (name,joint_info) in self.joint_map.items(): for (name,joint_info) in self.joint_map.items():
joint = joint_info['joint'] joint = joint_info['joint']