monitor_dash_widget.py
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00001 # Software License Agreement (BSD License)
00002 #
00003 # Copyright (c) 2012, 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 Willow Garage, Inc. 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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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 rospy
00034 from diagnostic_msgs.msg import DiagnosticStatus
00035 from QtCore import QMutex, QMutexLocker, QSize, QTimer
00036 from rqt_robot_monitor import RobotMonitorWidget
00037 from .icon_tool_button import IconToolButton
00038 
00039 
00040 class MonitorDashWidget(IconToolButton):
00041     """
00042     A widget which brings up the rqt_robot_monitor.
00043 
00044     :param context: The plugin context to create the monitor in.
00045     :type context: qt_gui.plugin_context.PluginContext
00046     """
00047     def __init__(self, context, icon_paths=[]):
00048         self._graveyard = []
00049         ok_icon = ['bg-green.svg', 'ic-diagnostics.svg']
00050         warn_icon = ['bg-yellow.svg', 'ic-diagnostics.svg', 'ol-warn-badge.svg']
00051         err_icon = ['bg-red.svg', 'ic-diagnostics.svg', 'ol-err-badge.svg']
00052         stale_icon = ['bg-grey.svg', 'ic-diagnostics.svg', 'ol-stale-badge.svg']
00053 
00054         icons = [ok_icon, warn_icon, err_icon, stale_icon]
00055 
00056         super(MonitorDashWidget, self).__init__('MonitorWidget', icons, icon_paths=icon_paths)
00057 
00058         self.setFixedSize(self._icons[0].actualSize(QSize(50, 30)))
00059 
00060         self._monitor = None
00061         self._close_mutex = QMutex()
00062         self._show_mutex = QMutex()
00063 
00064         self._last_update = rospy.Time.now()
00065 
00066         self.context = context
00067         self.clicked.connect(self._show_monitor)
00068 
00069         self._monitor_shown = False
00070         self.setToolTip('Diagnostics')
00071 
00072         self._diagnostics_toplevel_state_sub = rospy.Subscriber('diagnostics_toplevel_state', DiagnosticStatus, self.toplevel_state_callback)
00073         self._top_level_state = -1
00074         self._stall_timer = QTimer()
00075         self._stall_timer.timeout.connect(self._stalled)
00076         self._stalled()
00077         self._plugin_settings = None
00078         self._instance_settings = None
00079 
00080     def toplevel_state_callback(self, msg):
00081         self._is_stale = False
00082         self._stall_timer.start(5000)
00083 
00084         if self._top_level_state != msg.level:
00085             if (msg.level >= 2):
00086                 self.update_state(2)
00087                 self.setToolTip("Diagnostics: Error")
00088             elif (msg.level == 1):
00089                 self.update_state(1)
00090                 self.setToolTip("Diagnostics: Warning")
00091             else:
00092                 self.update_state(0)
00093                 self.setToolTip("Diagnostics: OK")
00094             self._top_level_state = msg.level
00095 
00096     def _stalled(self):
00097         self._stall_timer.stop()
00098         self._is_stale = True
00099         self.update_state(3)
00100         self.setToolTip("Diagnostics: Stale\nNo message received on dashboard_agg in the last 5 seconds")
00101 
00102     def _show_monitor(self):
00103         with QMutexLocker(self._show_mutex):
00104             try:
00105                 if self._monitor_shown:
00106                     self.context.remove_widget(self._monitor)
00107                     self._monitor_close()
00108                     self._monitor_shown = False
00109                 else:
00110                     self._monitor = RobotMonitorWidget(self.context, 'diagnostics_agg')
00111                     if self._plugin_settings:
00112                         self._monitor.restore_settings(self._plugin_settings, self._instance_settings)
00113                     self.context.add_widget(self._monitor)
00114                     self._monitor_shown = True
00115             except Exception:
00116                 if self._monitor_shown == False:
00117                     raise
00118                 #  TODO when closeEvents is available fix this hack (It ensures the button will toggle correctly)
00119                 self._monitor_shown = False
00120                 self._show_monitor()
00121 
00122     def _monitor_close(self):
00123         if self._monitor_shown:
00124             with QMutexLocker(self._close_mutex):
00125                 if self._plugin_settings:
00126                     self._monitor.save_settings(self._plugin_settings, self._instance_settings)
00127                 self._monitor.shutdown()
00128                 self._monitor.close()
00129                 self._graveyard.append(self._monitor)
00130                 self._monitor = None
00131 
00132     def shutdown_widget(self):
00133         if self._monitor:
00134             self._monitor.shutdown()
00135         self._diagnostics_toplevel_state_sub.unregister()
00136 
00137     def save_settings(self, plugin_settings, instance_settings):
00138         if self._monitor_shown:
00139             self._monitor.save_settings(self._plugin_settings, self._instance_settings)
00140 
00141     def restore_settings(self, plugin_settings, instance_settings):
00142         self._plugin_settings = plugin_settings
00143         self._instance_settings = instance_settings


rqt_robot_dashboard
Author(s): Ze'ev Klapow
autogenerated on Fri Jan 3 2014 11:56:25