power_state_control.py

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#       modifications to power_state_control.py to work with p2os_dashboard
#       Copyright (C) 2010  David Feil-Seifer [dfseifer@usc.edu], Edward T. Kaszubski [kaszubsk@usc.edu]
#
#       This program is free software; you can redistribute it and/or modify
#       it under the terms of the GNU General Public License as published by
#       the Free Software Foundation; either version 2 of the License, or
#       (at your option) any later version.
#       
#       This program is distributed in the hope that it will be useful,
#       but WITHOUT ANY WARRANTY; without even the implied warranty of
#       MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
#       GNU General Public License for more details.
#       
#       You should have received a copy of the GNU General Public License
#       along with this program; if not, write to the Free Software
#       Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
#       MA 02110-1301, USA.

import roslib
roslib.load_manifest('p2os_dashboard')

import wx

#from pr2_msgs.msg import PowerState, PowerBoardState
#from pr2_power_board.srv import PowerBoardCommand, PowerBoardCommandRequest

from os import path

class PowerStateControl(wx.Window):
  def __init__(self, parent, id, icons_path):
    wx.Window.__init__(self, parent, id, wx.DefaultPosition, wx.Size(60, 32))
    
    self._pct = 0
    self._vlt = 0
    
    self._left_bitmap = wx.Bitmap(path.join(icons_path, "battery-minus.png"), wx.BITMAP_TYPE_PNG)
    self._right_bitmap = wx.Bitmap(path.join(icons_path, "battery-plus.png"), wx.BITMAP_TYPE_PNG)
    self._plug_bitmap = wx.Bitmap(path.join(icons_path, "battery-charging.png"), wx.BITMAP_TYPE_PNG)
    self._background_bitmap = wx.Bitmap(path.join(icons_path, "battery-background.png"), wx.BITMAP_TYPE_PNG)
    self._green = wx.Bitmap(path.join(icons_path, "battery-green-bar.png"), wx.BITMAP_TYPE_PNG)
    self._yellow = wx.Bitmap(path.join(icons_path, "battery-yellow-bar.png"), wx.BITMAP_TYPE_PNG)
    self._red = wx.Bitmap(path.join(icons_path, "battery-red-bar.png"), wx.BITMAP_TYPE_PNG)
    
    self.SetSize(wx.Size(self._left_bitmap.GetWidth() + self._right_bitmap.GetWidth() + self._background_bitmap.GetWidth(), 32))
    
    self._start_x = self._left_bitmap.GetWidth()
    self._end_x = self.GetSize().x - self._right_bitmap.GetWidth()
    self._width = self._end_x - self._start_x
    
    self._plugged_in = False
    
    self.Bind(wx.EVT_PAINT, self.on_paint)

  def on_paint(self, evt):
    dc = wx.BufferedPaintDC(self)

    dc.SetBackground(wx.Brush(self.GetBackgroundColour()))
    dc.Clear()
 
    w = self.GetSize().GetWidth()
    h = self._left_bitmap.GetHeight()
    
    color_bitmap = None
    if (self._pct > 0.5):
      color_bitmap = self._green
    elif (self._pct > 0.3):
      color_bitmap = self._yellow
    else:
      color_bitmap = self._red
    
    dc.DrawBitmap(self._background_bitmap, self._start_x, 0, True)
    
    color_image = color_bitmap.ConvertToImage()
    scaled_color_image = color_image.Rescale(round(self._width * self._pct), color_bitmap.GetHeight())
    color_bitmap = wx.BitmapFromImage(scaled_color_image)
    dc.DrawBitmap(color_bitmap, self._start_x, 0, True)
    dc.DrawBitmap(self._left_bitmap, 0, 0, True)
    dc.DrawBitmap(self._right_bitmap, self._end_x, 0, True)
          
  def set_power_state(self, msg):
        last_pct = self._pct
        last_vlt = self._vlt
        last_plugged_in = self._plugged_in

        self._pct = (msg.voltage - 11.3) / 2.2 #msg.relative_capacity / 100.0
        if self._pct > 1.0:
                self._pct = 1.0
        
        if self._pct < 0.0:
                self._pct = 0.0
        self._vlt = msg.voltage

        self.Refresh()
    
  def updateToolTip(self):
        self.SetToolTip(wx.ToolTip("Battery: %.2f%% (%.2f v)"%(self._pct * 100.0, self._vlt)))
        self.Refresh()

    
  def set_stale(self):
    self._plugged_in = 0
    self._pct = 0
    self._vlt = 0
    self.SetToolTip(wx.ToolTip("Battery: Stale"))
    
    self.Refresh()