pr2_battery.py

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import rospy

from python_qt_binding.QtCore import QSize
from rqt_robot_dashboard.widgets import BatteryDashWidget


class PR2Battery(BatteryDashWidget):
    """
    Dashboard widget to display PR2 battery state.
    """
    #TODO When nonbutton Dashboard objects are available rebase this widget
    def __init__(self, context):
        """
        :param context: the plugin context
        :type context: qt_gui.plugin.Plugin
        """
        super(PR2Battery, self).__init__('PR2 Battery')

        self._power_consumption = 0.0
        self._pct = 0
        self._time_remaining = rospy.rostime.Duration(0)
        self._ac_present = 0
        self._plugged_in = False

        self.setFixedSize(self._icons[1].actualSize(QSize(50,30)))

        self.update_perc(0)

    def set_power_state(self, msg):
        """
        Sets button state based on msg

        :param msg: message containing the power state of the PR2
        :type msg: pr2_msgs.PowerState
        """
        last_pct = self._pct
        last_plugged_in = self._plugged_in
        last_time_remaining = self._time_remaining
  
        self._power_consumption = msg.power_consumption
        self._time_remaining = msg.time_remaining
        self._pct = msg.relative_capacity / 100.0
        self._plugged_in = msg.AC_present
        if (last_pct != self._pct or last_plugged_in != self._plugged_in or last_time_remaining != self._time_remaining):
            drain_str = "remaining"
            if (self._plugged_in):
                drain_str = "to full charge"
                self.setToolTip("Battery: %.2f%% \nTime %s: %d Minutes"%(self._pct * 100.0, drain_str, self._time_remaining.to_sec()/60.0))
                self.charging = True
            self.update_perc(msg.relative_capacity)

    def set_stale(self):
        self._plugged_in = 0
        self._pct = 0
        self._time_remaining = rospy.rostime.Duration(0)
        self._power_consumption = 0
        self.setToolTip("Battery: Stale")