status_control.py

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import roslib
roslib.load_manifest('pr2_dashboard')

import wx

from os import path

class StatusControl(wx.Window):
  def __init__(self, parent, id, icons_path, base_name, toggleable):
    wx.Window.__init__(self, parent, id)
    self.SetSize(wx.Size(32, 32))
    
    if (toggleable):
      self._ok = (wx.Bitmap(path.join(icons_path, "%s-green-untoggled.png"%(base_name)), wx.BITMAP_TYPE_PNG), 
                  wx.Bitmap(path.join(icons_path, "%s-green-toggled.png"%(base_name)), wx.BITMAP_TYPE_PNG))
      self._warn = (wx.Bitmap(path.join(icons_path, "%s-yellow-untoggled.png"%(base_name)), wx.BITMAP_TYPE_PNG), 
                    wx.Bitmap(path.join(icons_path, "%s-yellow-toggled.png"%(base_name)), wx.BITMAP_TYPE_PNG))
      self._error = (wx.Bitmap(path.join(icons_path, "%s-red-untoggled.png"%(base_name)), wx.BITMAP_TYPE_PNG), 
                   wx.Bitmap(path.join(icons_path, "%s-red-toggled.png"%(base_name)), wx.BITMAP_TYPE_PNG))
      self._stale = (wx.Bitmap(path.join(icons_path, "%s-grey-untoggled.png"%(base_name)), wx.BITMAP_TYPE_PNG), 
                     wx.Bitmap(path.join(icons_path, "%s-grey-toggled.png"%(base_name)), wx.BITMAP_TYPE_PNG))
    else:
      ok = wx.Bitmap(path.join(icons_path, "%s-green.png"%(base_name)), wx.BITMAP_TYPE_PNG)
      warn = wx.Bitmap(path.join(icons_path, "%s-yellow.png"%(base_name)), wx.BITMAP_TYPE_PNG)
      error = wx.Bitmap(path.join(icons_path, "%s-red.png"%(base_name)), wx.BITMAP_TYPE_PNG)
      stale = wx.Bitmap(path.join(icons_path, "%s-grey.png"%(base_name)), wx.BITMAP_TYPE_PNG)
      self._ok = (ok, ok)
      self._warn = (warn, warn)
      self._error = (error, error)
      self._stale = (stale, stale)
    
    self._color = None
    self.set_stale()
    
    self.Bind(wx.EVT_PAINT, self.on_paint)
    self.Bind(wx.EVT_LEFT_UP, self.on_left_up)
    self.Bind(wx.EVT_LEFT_DOWN, self.on_left_down)
    self.Bind(wx.EVT_LEAVE_WINDOW, self.on_leave_window)
    self.Bind(wx.EVT_ENTER_WINDOW, self.on_enter_window)
    
    self._toggled = False
    self._left_down = False
    
  def toggle(self, tog):
    if (self._toggled == tog):
        return False
    
    self._toggled = tog
    self.Refresh()
    
    return True

  def on_left_down(self, evt):
    self.toggle(True)
    self._left_down = True
    self.Refresh()

  def on_left_up(self, evt):
    self.toggle(False)
    self._left_down = False
    x = evt.GetX()
    y = evt.GetY()
    if (x >= 0 and y >= 0 and x < self.GetSize().GetWidth() and y < self.GetSize().GetHeight()):
      event = wx.CommandEvent(wx.EVT_BUTTON._getEvtType(), self.GetId())
      wx.PostEvent(self, event)
      
    self.Refresh()

  def on_leave_window(self, evt):
    self.toggle(False)
    self.Refresh()
    
  def on_enter_window(self, evt):
    if (self._left_down):
      self.toggle(True)
      
    self.Refresh()

  def on_paint(self, evt):
    dc = wx.BufferedPaintDC(self)
    dc.SetBackground(wx.Brush(self.GetBackgroundColour()))
    dc.Clear()
    
    size = self.GetSize();
    
    bitmap = None
    if (self._toggled):
      bitmap = self._color[1]
    else:
      bitmap = self._color[0]
    
    dc.DrawBitmap(bitmap, (size.GetWidth() - bitmap.GetWidth()) / 2.0, (size.GetHeight() - bitmap.GetHeight()) / 2.0, True)

  def set_ok(self):
    if (self._color == self._ok):
        return False
    
    self._color = self._ok
    self.update()
    
    return True
    
  def set_warn(self):
    if (self._color == self._warn):
        return False
      
    self._color = self._warn
    self.update()
    
    return True
    
  def set_error(self):
    if (self._color == self._error):
        return False
      
    self._color = self._error
    self.update()
    
    return True
    
  def set_stale(self):
    if (self._color == self._stale):
        return False
      
    self._color = self._stale
    self.update()
    
    return True
    
  def update(self):
    self.Refresh()