breaker_control.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
00022 # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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('turtlebot_dashboard')
00035 
00036 import wx
00037 import rospy
00038 import string
00039 import turtlebot_node.srv 
00040 
00041 from status_control import StatusControl
00042 
00043 from os import path
00044 
00045 breaker_prefixes = ("digitalzero", "digitalone", "digitaltwo")
00046 
00047 class BreakerControl(StatusControl):
00048   def __init__(self, parent, id, breaker_index, breaker_name, icons_path):
00049     StatusControl.__init__(self, parent, id, icons_path, breaker_prefixes[breaker_index], True)
00050     
00051     self.Bind(wx.EVT_BUTTON, self.on_click)
00052     self._index = breaker_index
00053     self._name = breaker_name
00054     self.raw_byte = 0
00055     self._breaker_state = 0
00056     self._power_control = rospy.ServiceProxy('turtlebot_node/set_digital_outputs', turtlebot_node.srv.SetDigitalOutputs)
00057     self.digital_outs =[0,0,0]
00058 
00059 
00060     
00061   def on_click(self, evt):
00062     self.control(0)    
00063     return True
00064     
00065   def control(self, cmd):
00066     if (not self._breaker_state):
00067       wx.MessageBox("Cannot control breakers until we have received a power board state message", "Error", wx.OK|wx.ICON_ERROR)
00068       return False
00069         
00070     try:
00071       tmp = self._raw_byte
00072       for i in range(0,3):
00073         self.digital_outs[i]=tmp%2
00074         tmp = tmp >> 1
00075       self.digital_outs[self._index] = not self.digital_outs[self._index] 
00076       power_cmd = turtlebot_node.srv.SetDigitalOutputsRequest(self.digital_outs[0], self.digital_outs[1], self.digital_outs[2])
00077       #print power_cmd
00078       self._power_control(power_cmd)
00079       
00080       return True
00081     except rospy.ServiceException, e:
00082       wx.MessageBox("Service call failed with error: %s"%(e), "Error", wx.OK|wx.ICON_ERROR)
00083       return False
00084       
00085     return False
00086   
00087     
00088   def set_breaker_state(self, msg):
00089     self._breaker_state = True
00090     self._raw_byte = string.atoi(msg['Raw Byte'])
00091     tmp = self._raw_byte
00092     for i in range(0,3):
00093       self.digital_outs[i]=tmp%2
00094       tmp = tmp >> 1
00095 
00096     if(self.digital_outs[self._index]==0):
00097       self.set_error()
00098       status_msg = "Disabled"
00099     else:
00100       self.set_ok()
00101       status_msg = "Enabled"
00102 
00103     
00104   def reset(self):
00105     self.set_stale()
00106     self.SetToolTip(wx.ToolTip("%s: Stale"%(self._name)))


turtlebot_dashboard
Author(s): Melonee Wise
autogenerated on Mon Dec 2 2013 12:18:09