power_state_control.py

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# Copyright (c) 2008, Willow Garage, Inc.
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#
# Ported from pr2_dashboard: Stefan Osswald, University of Freiburg, 2011.
#

import roslib
roslib.load_manifest('nao_dashboard')

import wx

from os import path

class PowerStateControl(wx.Window):
  def __init__(self, parent, id, icons_path):
    wx.Window.__init__(self, parent, id, wx.DefaultPosition, wx.Size(60, 32))
    
    self._power_consumption = 0.0
    self._pct = 0
    
    self._left_bitmap = wx.Bitmap(path.join(icons_path, "battery-minus.png"), wx.BITMAP_TYPE_PNG)
    self._right_bitmap = wx.Bitmap(path.join(icons_path, "battery-plus.png"), wx.BITMAP_TYPE_PNG)
    self._plug_bitmap = wx.Bitmap(path.join(icons_path, "battery-charging.png"), wx.BITMAP_TYPE_PNG)
    self._background_bitmap = wx.Bitmap(path.join(icons_path, "battery-background.png"), wx.BITMAP_TYPE_PNG)
    self._green = wx.Bitmap(path.join(icons_path, "battery-green-bar.png"), wx.BITMAP_TYPE_PNG)
    self._yellow = wx.Bitmap(path.join(icons_path, "battery-yellow-bar.png"), wx.BITMAP_TYPE_PNG)
    self._red = wx.Bitmap(path.join(icons_path, "battery-red-bar.png"), wx.BITMAP_TYPE_PNG)
    
    self.SetSize(wx.Size(self._left_bitmap.GetWidth() + self._right_bitmap.GetWidth() + self._background_bitmap.GetWidth(), 32))
    
    self._start_x = self._left_bitmap.GetWidth()
    self._end_x = self.GetSize().x - self._right_bitmap.GetWidth()
    self._width = self._end_x - self._start_x
    
    self._discharging = False
    self._charging = False
    self._full = False
    self._plugged_in = False
    self.isStale = True
    
    self.Bind(wx.EVT_PAINT, self.on_paint)

  def on_paint(self, evt):
    dc = wx.BufferedPaintDC(self)

    dc.SetBackground(wx.Brush(self.GetBackgroundColour()))
    dc.Clear()
 
    w = self.GetSize().GetWidth()
    h = self._left_bitmap.GetHeight()
    
    color_bitmap = None
    if (self._pct > 0.5):
      color_bitmap = self._green
    elif (self._pct > 0.3):
      color_bitmap = self._yellow
    else:
      color_bitmap = self._red
    
    dc.DrawBitmap(self._background_bitmap, self._start_x, 0, True)
    
    color_image = color_bitmap.ConvertToImage()
    scaled_color_image = color_image.Rescale(round(self._width * self._pct), color_bitmap.GetHeight())
    color_bitmap = wx.BitmapFromImage(scaled_color_image)
    dc.DrawBitmap(color_bitmap, self._start_x, 0, True)
    dc.DrawBitmap(self._left_bitmap, 0, 0, True)
    dc.DrawBitmap(self._right_bitmap, self._end_x, 0, True)
    
    if (self._plugged_in):
      dc.DrawBitmap(self._plug_bitmap, 
                    (self._start_x + self._width) / 2.0 - (self._plug_bitmap.GetWidth() / 2.0), 
                    self.GetSize().GetHeight() / 2.0 - (self._plug_bitmap.GetHeight() / 2.0))
      
      
  def set_power_state(self, msg):
    last_pct = self._pct
    last_discharging = self._discharging
    last_charging = self._charging
    last_full = self._full
    last_plugged_in = self._plugged_in
    
    self.isStale = False
    for kv in msg:
        if kv.key == "Current":
            self._power_consumption = float(kv.value)
        elif kv.key == "Percentage":
            if kv.value == "unknown":
                isStale = True
                self.set_stale()
            else:
                self._pct = float(kv.value)/100.
        elif kv.key == "Discharging flag":
            self._discharging = (kv.value == "True")
        elif kv.key == "Charge Flag":
            self._charging = (kv.value == "True")
        elif kv.key == "Full Charge Flag":
            self._full = (kv.value == "True")
    
    self._plugged_in = ((self._charging or not self._discharging) and not self.isStale)
    if (last_pct != self._pct or last_discharging != self._discharging or last_charging != self._charging or last_full != self._full):
        if(self._full):
            self.SetToolTip(wx.ToolTip("Battery fully charged"))
        else:
            drain_str = "discharging"
            if (self._charging):
                drain_str = "charging"
                self.SetToolTip(wx.ToolTip("Battery: %.0f%% (%s)"%(self._pct * 100., drain_str)))
        self.Refresh()
    
  def set_stale(self):
    self._plugged_in = False
    self._discharging = 0
    self._pct = 0
    self._power_consumption = 0
    self.SetToolTip(wx.ToolTip("Battery: Stale"))
    self.isStale = True
    
    self.Refresh()