fri_control.py
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00001 # Software License Agreement (BSD License)
00002 #
00003 # Copyright (c) 2008, Willow Garage, Inc.
00004 # All rights reserved.
00005 #
00006 # Redistribution and use in source and binary forms, with or without
00007 # modification, are permitted provided that the following conditions
00008 # are met:
00009 #
00010 #  * Redistributions of source code must retain the above copyright
00011 #    notice, this list of conditions and the following disclaimer.
00012 #  * Redistributions in binary form must reproduce the above
00013 #    copyright notice, this list of conditions and the following
00014 #    disclaimer in the documentation and/or other materials provided
00015 #    with the distribution.
00016 #  * Neither the name of the Willow Garage nor the names of its
00017 #    contributors may be used to endorse or promote products derived
00018 #    from this software without specific prior written permission.
00019 #
00020 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00021 # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00022 # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00023 # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00024 # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00025 # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00026 # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00027 # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00028 # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00029 # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00030 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00031 # POSSIBILITY OF SUCH DAMAGE.
00032 
00033 
00034 # 
00035 # 1 - monitor
00036 # 2 - command
00037 
00038 import roslib
00039 roslib.load_manifest('lwr_dashboard')
00040 import rospy
00041 
00042 import wx
00043 
00044 from os import path
00045 import std_msgs
00046 
00047 class FRIControl(wx.Window):
00048   def __init__(self, parent, id, icons_path):
00049     wx.Window.__init__(self, parent, id, wx.DefaultPosition, wx.Size(60, 40))
00050     
00051     bitmap = wx.Bitmap(path.join(icons_path, "long_buttons.png"), wx.BITMAP_TYPE_PNG)
00052     self._screen_bitmap = (bitmap.GetSubBitmap(wx.Rect(0,   0, 80, 40)),
00053                           bitmap.GetSubBitmap(wx.Rect( 80,  0, 80, 40)),
00054                           bitmap.GetSubBitmap(wx.Rect( 80, 40, 80, 40)),
00055                           bitmap.GetSubBitmap(wx.Rect( 0,  40, 80, 40)))
00056 
00057     self._status = {}
00058     self._stale = True
00059     
00060     self.SetSize(wx.Size(80, 40))
00061 
00062     self.Bind(wx.EVT_PAINT, self.on_paint)
00063 
00064   def on_paint(self, evt):
00065     dc = wx.BufferedPaintDC(self)
00066 
00067     dc.SetBackground(wx.Brush(self.GetBackgroundColour()))
00068     dc.Clear()
00069 
00070     w = self.GetSize().GetWidth()
00071     h = self.GetSize().GetHeight()
00072 
00073     qual = "?"
00074     rate = "?"
00075 
00076     if (self._stale):
00077         #dc.DrawBitmap(self._state_bitmap[2], 0, 0, True)
00078         dc.DrawBitmap(self._screen_bitmap[3], 0, 0, True)
00079     else:
00080         qual = self._status["Quality"]
00081         rate = "%.0f" % (1000*float(self._status["Desired Command Sample Time"]))
00082         
00083 #        if (self._status["State"] == "command"):
00084 #            dc.DrawBitmap(self._state_bitmap[0], 0, 0, True)
00085 #        else:
00086 #            dc.DrawBitmap(self._state_bitmap[1], 0, 0, True)
00087             
00088         if (qual == "PERFECT" or qual == "OK"):
00089             dc.DrawBitmap(self._screen_bitmap[0], 0, 0, True)
00090         if (qual == "BAD"): 
00091             dc.DrawBitmap(self._screen_bitmap[1], 0, 0, True)
00092         if (qual == "UNACCEPTABLE"):
00093             dc.DrawBitmap(self._screen_bitmap[2], 0, 0, True)
00094 
00095     
00096 #        dc.DrawBitmap(self._screen_bitmap[0], 80, 0, True)
00097 
00098     fnt = dc.GetFont()
00099     fnt.SetPointSize(7)
00100     dc.SetFont(fnt)
00101     dc.DrawLabel("Rate [ms]", wx.Rect(5, 5, 70, 32), wx.ALIGN_LEFT|wx.ALIGN_TOP)
00102     
00103     fnt.SetPointSize(14)
00104     fnt.SetWeight(wx.FONTWEIGHT_BOLD)
00105     dc.SetFont(fnt)
00106     dc.DrawLabel("%s" % rate, wx.Rect(5, 5, 70, 32), wx.ALIGN_RIGHT|wx.ALIGN_BOTTOM)
00107 
00108   def set_state(self, msg):
00109     self._stale = False
00110     self._status = msg;
00111     tooltip = ""
00112     
00113     for key, value in msg.items():
00114         tooltip = tooltip + "%s: %s\n" % (key, value)
00115     
00116     tool = wx.ToolTip(tooltip)
00117     tool.SetDelay(1)
00118     self.SetToolTip(tool)
00119     
00120     self.Refresh()
00121 
00122   def set_stale(self):
00123     self.SetToolTip(wx.ToolTip("FRI: Stale"))
00124     self._stale = True
00125     self.Refresh()
00126 
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lwr_dashboard
Author(s): Maciej StefaƄczyk
autogenerated on Thu Nov 14 2013 11:53:51