Hi all,

I am trying to put a GUI together which will control some relays using ros_serial. When a button is clicked, the state of a button is changed and a custom message is published.

At least that is what i am trying to accomplish. When a button is clicked, the publisher just does not publish.

Does anyone had similar experience with Tkinter and ROS?

Below is the code, Kind regards

import rospy
import Tkinter as tk
from alpha_driver.msg import BtnCtrl

class interface(object):
    def __init__(self): 
        self.publisher = rospy.Publisher('/button_control', BtnCtrl, queue_size=10)
        self.window = tk.Tk()
        self.window.title("Alpha control")
        self.window.geometry('500x500')
        self.states = BtnCtrl()

        self.btn_1_state = False
        self.btn_2_state = False
        self.btn_3_state = False
        self.btn_4_state = False
        self.btn_5_state = False
        self.btn_6_state = False

        self.lbl_btn_1 = tk.Label(self.window, text="Switch Empty")
        self.lbl_btn_1.grid(column=0, row=0)
        self.lbl_btn_1 = tk.Label(self.window, text="Empty")
        self.lbl_btn_1.grid(column=2, row=0)
        self.btn_btn_1 = tk.Button(self.window, text="connect", bg="grey", fg="red", command = self.but1Event)
        self.btn_btn_1.grid(column=1, row=0)
        self.btn_btn_1.config( height = 2, width = 8 )

        self.lbl_btn_2 = tk.Label(self.window, text="PWR DRIVERS")
        self.lbl_btn_2.grid(column=0, row=1)
        self.btn_btn_2 = tk.Button(self.window, text="PWR", bg="grey", fg="red", command = self.but2Event)
        self.btn_btn_2.grid(column=1, row=1)
        self.btn_btn_2.config( height = 2, width = 8 )

        self.lbl_btn_3 = tk.Label(self.window, text="Reset base")
        self.lbl_btn_3.grid(column=0, row=2)
        self.btn_btn_3 = tk.Button(self.window, text="RST", bg="grey", fg="red", command = self.but3Event)
        self.btn_btn_3.grid(column=1, row=2)
        self.btn_btn_3.config( height = 2, width = 8 )

        self.lbl_btn_4 = tk.Label(self.window, text="Emergency STOP")
        self.lbl_btn_4.grid(column=0, row=3)
        self.btn_btn_4 = tk.Button(self.window, text="STOP", bg="grey", fg="red", command = self.but4Event)
        self.btn_btn_4.grid(column=1, row=3)
        self.btn_btn_4.config( height = 4, width = 8 )

        self.lbl_bat_4 = tk.Label(self.window, text=" ") 
        self.lbl_bat_4.grid(column=0, row=5)
        self.lbl_bat_4 = tk.Label(self.window, text="------------- Robot Status -------------") 
        self.lbl_bat_4.grid(column=0, row=6)

        self.lbl_stat_1 = tk.Label(self.window, text="Minimal")
        self.lbl_stat_1.grid(column=0, row=7)
        self.lbl_stat_val_1 = tk.Label(self.window, text="False", fg="red")
        self.lbl_stat_val_1.grid(column=1, row=7)

        self.lbl_stat_2 = tk.Label(self.window, text="Navigation")
        self.lbl_stat_2.grid(column=0, row=8)
        self.lbl_stat_val_2 = tk.Label(self.window, text="False", fg="red")
        self.lbl_stat_val_2.grid(column=1, row=8)

        self.lbl_stat_3 = tk.Label(self.window, text="Laser")
        self.lbl_stat_3.grid(column=0, row=9)
        self.lbl_stat_val_3 = tk.Label(self.window, text="False", fg="red")
        self.lbl_stat_val_3.grid(column=1, row=9)

        self.window.protocol("WM_DELETE_WINDOW", rospy.signal_shutdown('alpha_control_node'))

        self.window.mainloop()

    def destroyWindow(self):
        self.window.destroy()

    def but1Event(self): #CONNECT BATTERIES
        if self.btn_1_state == False:
            self.btn_btn_1.configure(bg="yellow")
            self.btn_1_state = True
        elif self.btn_1_state == True:
            self.btn_btn_1.configure(bg="grey")
            self.btn_1_state = False

        self.publish()

    def but2Event(self): #POWER DRIVERS
        if self.btn_2_state == False:
            self.btn_btn_2.configure(bg="yellow")
            self.btn_2_state = True
        elif self.btn_2_state == True:
            self.btn_btn_2.configure(bg="grey")
            self.btn_2_state = False

        self.publish()

    def but3Event(self): #RESET
            self.btn_btn_3.configure(bg="yellow")
            self.btn_3_state = True

            self.publish()

            rospy.sleep(2)
            self.btn_btn_3.configure(bg="grey")

            self.btn_1_state = False
            self.btn_2_state = False
            self.btn_3_state = False
            self.btn_4_state = False
            self.btn_5_state = False
            self.btn_6_state = False

            self.btn_btn_1.configure(bg="grey")
            self.btn_btn_2.configure(bg="grey")
            self.btn_btn_4.configure(bg="grey")

            self.publish()

    def but4Event(self): #E STOP
        if self.btn_4_state == False:
            self.btn_btn_4.configure(bg="yellow")
            self.btn_4_state = True
        elif self.btn_4_state == True:
            self.btn_btn_4.configure(bg="grey")
            self.btn_4_state = False

        self.publish()

    def publish(self):
        self.states.button_1 = self.btn_1_state
        self.states.button_2 = self.btn_2_state
        self.states.button_3 = self.btn_3_state
        self.states.button_4 = self.btn_4_state
        self.states.button_5 = self.btn_5_state
        self.states.button_6 = self.btn_6_state

        self.publisher.publish(self.states)

if __name__ == '__main__':
    rospy.init_node('alpha_interface_node', anonymous=False, disable_signals=True)
    r = rospy.Rate(10)
    ui = interface()