pr2_motors.py

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from python_qt_binding.QtCore import QSize

from rqt_robot_dashboard.widgets import MenuDashWidget

class PR2Motors(MenuDashWidget):
    """
    Dashboard widget to display motor state and allow interaction.
    """
    def __init__(self, reset_callback, halt_callback):
        """
        :param context: the plugin context
        :type context: qt_gui.plugin.Plugin
        :param reset_callback: calback for the "reset" action
        :type reset_callback: function
        :param halt_callback: calback for the "reset" action
        :type halt_callback: function
        """
        ok_icon = ['bg-green.svg', 'ic-motors.svg']
        warn_icon = ['bg-yellow.svg', 'ic-motors.svg', 'ol-warn-badge.svg']
        err_icon = ['bg-red.svg', 'ic-motors.svg', 'ol-err-badge.svg']
        stale_icon = ['bg-grey.svg', 'ic-motors.svg', 'ol-stale-badge.svg']

        icons = [ok_icon, warn_icon, err_icon, stale_icon]
        super(PR2Motors, self).__init__('Motors', icons)
        self.update_state(3)

        self.add_action('Reset', reset_callback)
        self.add_action('Halt', halt_callback)
        self.setToolTip('Motors')

        self.setFixedSize(self._icons[0].actualSize(QSize(50,30)))

    def set_ok(self):
        self.update_state(0)

    def set_warn(self):
        self.update_state(1)

    def set_error(self):
        self.update_state(2)

    def set_stale(self):
        self.update_state(3)