diagnostics_frame.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
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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 import roslib
00034 roslib.load_manifest('pr2_dashboard')
00035 
00036 import rospy
00037 from diagnostic_msgs.msg import DiagnosticStatus
00038 
00039 import threading
00040 import wx
00041 import robot_monitor
00042 from robot_monitor.robot_monitor_panel import RobotMonitorPanel
00043 
00044 class DiagnosticsFrame(wx.Frame):
00045   def __init__(self, parent, id, title):
00046     wx.Frame.__init__(self, parent, id, title, wx.DefaultPosition, wx.Size(400, 600))
00047     wx.Frame.Hide(self)
00048     
00049     self.Bind(wx.EVT_CLOSE, self.on_close)
00050     
00051     self._diagnostics_panel = None
00052     self._is_stale = True
00053     self._top_level_state = -1
00054     
00055     self._diagnostics_toplevel_state_sub = rospy.Subscriber('diagnostics_toplevel_state', DiagnosticStatus, self.dashboard_callback)
00056     self._stall_timer = None
00057     
00058   def on_close(self, evt):
00059     self.Hide()
00060     
00061   def Show(self):
00062     self._diagnostics_panel = RobotMonitorPanel(self)
00063     self._diagnostics_panel.SetSize(self.GetClientSize())
00064     wx.Frame.Show(self)
00065     
00066   def Hide(self):
00067     wx.Frame.Hide(self)
00068     if self._diagnostics_panel is not None:
00069       self._diagnostics_panel.Close()
00070       self._diagnostics_panel.Destroy()
00071       self._diagnostics_panel = None
00072       
00073   def dashboard_callback(self, msg):
00074     self._is_stale = False
00075     if self._stall_timer is not None:
00076       self._stall_timer.cancel()
00077     # timer to mark stalled when not receiving messages for some time
00078     self._stall_timer = threading.Timer(10, self._stalled)
00079     
00080     self._top_level_state = msg.level
00081     
00082   def _stalled(self, event):
00083     self._stall_timer = None
00084     self._is_stale = True
00085     
00086   def get_top_level_state(self):
00087     if (self._is_stale):
00088       return 3
00089       
00090     return self._top_level_state


pr2_dashboard
Author(s): Josh Faust
autogenerated on Sat Dec 28 2013 17:24:13