power_state_control.py

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# Software License Agreement (BSD License)
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# Copyright (c) 2008, Willow Garage, Inc.
# Copyright (c) 2014, Aldebaran Robotics (c)
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#
# Ported from pr2_dashboard: Stefan Osswald, University of Freiburg, 2011.
#

from rqt_robot_dashboard.widgets import BatteryDashWidget

class PowerStateControl(BatteryDashWidget):
    """
    A Widget that interprets NAO's battery status and displays battery state
    """
    def __init__(self, name):
        """
        :param name: name of the plugin
        :type name: String
        """
        super(PowerStateControl, self).__init__(name)

    def set_power_state(self, msg):
        self.isStale = False
        for kv in msg:
            if kv.key == "Current":
                self.update_time(float(kv.value))
            elif kv.key == "Percentage":
                if kv.value == "unknown":
                    isStale = True
                    self.set_stale()
                else:
                    self.update_perc(float(kv.value))
            elif kv.key == "Discharging flag":
                self.set_charging(False)
            elif kv.key == "Charge Flag":
                self.set_charging(True)
            elif kv.key == "Full Charge Flag":
                self.setToolTip("Battery fully charged")

    def set_stale(self):
        self.setToolTip("Battery: Stale")
        self.isStale = True