cob_dashboard.py

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import roslib
roslib.load_manifest('cob_dashboard')
import rospy

from pr2_msgs.msg import PowerBoardState, DashboardState
import std_srvs.srv

from rqt_robot_dashboard.dashboard import Dashboard
from rqt_robot_dashboard.widgets import MonitorDashWidget, ConsoleDashWidget

from python_qt_binding.QtCore import QSize
from python_qt_binding.QtGui import QMessageBox

from cob_battery import COBBattery
from rqt_pr2_dashboard.pr2_runstop import PR2Runstops


class CobDashboard(Dashboard):
    """
    Dashboard for Care-O-bots

    :param context: the plugin context
    :type context: qt_gui.plugin.Plugin
    """
    def setup(self, context):
        self.name = 'CobDashboard'
        self.max_icon_size = QSize(50, 30)
        self.message = None

        self._dashboard_message = None
        self._last_dashboard_message_time = 0.0

        self._raw_byte = None
        self.digital_outs = [0, 0, 0]

        self._console = ConsoleDashWidget(self.context, minimal=False)
        self._monitor = MonitorDashWidget(self.context)
        self._runstop = PR2Runstops('RunStops')
        self._batteries = [COBBattery(self.context)]

        self._dashboard_agg_sub = rospy.Subscriber('dashboard_agg', DashboardState, self.dashboard_callback)

    def get_widgets(self):
        return [[self._monitor, self._console], [self._runstop], self._batteries]

    def dashboard_callback(self, msg):
        """
        callback to process dashboard_agg messages

        :param msg: dashboard_agg DashboardState message
        :type msg: pr2_msgs.msg.DashboardState
        """
        self._dashboard_message = msg
        self._last_dashboard_message_time = rospy.get_time()

        if (msg.power_state_valid):
            self._batteries[0].set_power_state(msg.power_state)
        else:
            self._batteries[0].set_stale()

        if (msg.power_board_state_valid):
            if msg.power_board_state.run_stop:
                self._runstop.set_ok()
                self._runstop.setToolTip(self.tr("Physical Runstop: OK\nWireless Runstop: OK"))
            elif msg.power_board_state.wireless_stop:
                self._runstop.set_physical_engaged()
                self._runstop.setToolTip(self.tr("Physical Runstop: Pressed\nWireless Runstop: OK"))
            if not msg.power_board_state.wireless_stop:
                self._runstop.set_wireless_engaged()
                self._runstop.setToolTip(self.tr("Physical Runstop: Unknown\nWireless Runstop: Pressed"))
        else:
            self._runstop.set_stale()
            self._runstop.setToolTip(self.tr("Physical Runstop: Stale\nWireless Runstop: Stale"))


    def shutdown_dashboard(self):
        self._dashboard_agg_sub.unregister()

    def save_settings(self, plugin_settings, instance_settings):
        self._console.save_settings(plugin_settings, instance_settings)
        self._monitor.save_settings(plugin_settings, instance_settings)

    def restore_settings(self, plugin_settings, instance_settings):
        self._console.restore_settings(plugin_settings, instance_settings)
        self._monitor.restore_settings(plugin_settings, instance_settings)